AC Servomotors/ Servo Drives
G Series
A Wide Variation of Models with the Functions and Performance
Demanded in Servo Systems
Series
» E a s y adjustment
» Quickly suppress vibration
» Built-in MECHATROLINK communications interface
Complete Reinforcement of Functions
and Performance Demanded
in Servo Systems
Features
2
Selection Guide
6
G-series Servomotors and Servo
Drives with General-purpose Inputs
8
System Configuration
Interpreting Model Numbers
10
Ordering Information
12
Servo Drive-Servomotor Combinations
21
Servomotor and Decelerator Combinations
22
Servo Relay Units and Cables
23
MECHATROLINK-II-compatible AC Servomotors/Servo Drives
Motion Control Unit Cables
23
One Cable Enables Setting and Monitoring Parameters
Cable Combinations
24
Servo Drive Specifications
29
Connect the PLC and Servo Drive with a single cable to reduce
wiring. What's more, the parameters for many Servo Drives can
be set and monitored at the same time between a personal
computer and the Controller.
Servomotor Specifications
31
Decelerator Specifications
42
Encoder, External Regeneration
Resistors, Reactor and Parameter
Unit Specifications
46
Connections
48
I/O Circuit Diagrams
55
Components and Functions
57
Parameter
59
Dimensions
62
About Manuals
85
Integrated Development Environment
Cut Your TCO from Design to Maintenance.
PLC
PC
MECHATROLINK-II
G-series Servomotors and Servo Drives
with MECHATROLINK-II Communications
G Series
Note: MECHATROLINK-II is a registered trademark of the
MECHATROLINK Members Association.
Let the G Series solve
your equipment problems.
Suitable for various
applications
Increase Productivity!
The many variations provided by G-series Servo
Systems features high-precision positioning with
improved response and vibration control, making it
suitable for a variety of applications.
Programming
Unit Configuration
Easy adjustments
101
Cable Combinations
102
Servo Drive Specifications
106
Servomotor Specifications
109
Decelerator Specifications
120
Encoder, External Regeneration
Resistors, Reactor and Parameter
Unit Specifications
124
Connections
126
I/O Circuit Diagrams
131
Components and Functions
132
Parameter Editing & Monitoring
Parameter
134
The Servomotor
parameters can be
edited, monitored, and
saved with the CX-Drive.
Dimensions
136
About Manuals
159
Setting & Programming
Setting Parameters
Integrated Debugging
Easy
System Design
Operation & Maintenance
Improved
performance
High Speed
&
High Precision
PC
Easy programming with the
Smart FB Library
Alarm & Maintenance
Easy monitoring of the NC
Unit & Drive errors
PLC
PT
G Series
90
Servomotor and Decelerator Combinations
With the CX-One FA Integrated Tool Package, parameters settings,
program design, debugging, operation monitoring, alarms, error monitoring,
and maintenance of the Servo System can be handled with ease.
Connectability
88
Ordering Information
100
Easily Program Positioning and Communications
Easy host
connections
86
Interpreting Model Numbers
Servo Drive-Servomotor Combinations
CX-One
Many
Variations
System Configuration
FB
Note: CX-Drive (version 1.61) support for G-series
Servo Drives can be obtained by using the
CX-One V2 auto-update function from May
30, 2008.
Note: CX-Drive (version 1.62) support for G-series
Servo Drivers with MECHATROLINK-II
Communications can be obtained by using
the CX-One V2/V3 auto-update function from
July 31, 2008.
OMRON, for Easy Setup, Easy Operation, Easy Connections, and Easy Monitoring
2
G Series: Features
G Series: Features
3
Features
2
Selection Guide
6
G-series Servomotors and Servo
Drives with General-purpose Inputs
System Configuration
8
Interpreting Model Numbers
10
Ordering Information
12
Servo Drive-Servomotor Combinations
21
Servomotor and Decelerator Combinations
22
Servo Relay Units and Cables
23
MECHATROLINK-II-compatible AC Servomotors/Servo Drives
Motion Control Unit Cables
23
One Cable Enables Setting and Monitoring Parameters
Cable Combinations
24
Servo Drive Specifications
29
Connect the PLC and Servo Drive with a single cable to reduce
wiring. What's more, the parameters for many Servo Drives can
be set and monitored at the same time between a personal
computer and the Controller.
Servomotor Specifications
31
Decelerator Specifications
42
Encoder, External Regeneration
Resistors, Reactor and Parameter
Unit Specifications
46
Connections
48
I/O Circuit Diagrams
55
Components and Functions
57
Parameter
59
Dimensions
62
About Manuals
87
Integrated Development Environment
Cut Your TCO from Design to Maintenance.
PLC
PC
MECHATROLINK-II
G-series Servomotors and Servo Drives
with MECHATROLINK-II Communications
G Series
Note: MECHATROLINK-II is a registered trademark of the
MECHATROLINK Members Association.
103
Cable Combinations
104
Servo Drive Specifications
108
Servomotor Specifications
111
Decelerator Specifications
122
Encoder, External Regeneration
Resistors, Reactor and Parameter
Unit Specifications
126
Connections
128
I/O Circuit Diagrams
133
Components and Functions
134
Parameter Editing & Monitoring
Parameter
136
The Servomotor
parameters can be
edited, monitored, and
saved with the CX-Drive.
Dimensions
138
About Manuals
163
Setting & Programming
Easy programming with the
Smart FB Library
Unit Configuration
System Design
Operation & Maintenance
PC
Alarm & Maintenance
Easy monitoring of the NC
Unit & Drive errors
PLC
PT
G Series
92
Servomotor and Decelerator Combinations
With the CX-One FA Integrated Tool Package, parameters settings,
program design, debugging, operation monitoring, alarms, error monitoring,
and maintenance of the Servo System can be handled with ease.
Integrated Debugging
90
Ordering Information
102
Easily Program Positioning and Communications
Programming
88
Interpreting Model Numbers
Servo Drive-Servomotor Combinations
CX-One
Setting Parameters
System Configuration
FB
Note: CX-Drive (version 1.61) support for G-series
Servo Drives can be obtained by using the
CX-One V2 auto-update function from May
30, 2008.
Note: CX-Drive (version 1.62) support for G-series
Servo Drivers with MECHATROLINK-II
Communications can be obtained by using
the CX-One V2/V3 auto-update function from
July 31, 2008.
OMRON, for Easy Setup, Easy Operation, Easy Connections, and Easy Monitoring
G Series: Features
3
Wider Range of Compact Servomotors and
Compatibility, Plus Fast Positioning with
Servo Drives with Increased Machine
Improved Response and Vibration Control
Achieve Maximum Machine Performance with the
Easy!
Advanced Performance!
Series
Advanced Functionality!
Easy Adjustment
Reduce Tact Time
Reduce Mechanical Vibration
Flexible Application
Realtime autotuning sets the optimum gain.
Significantly better speed response frequency.
Quick suppression of vibration with an adaptive filter.
An autotuning function calculates the device load in
realtime and automatically sets the optimum gain,
simplifying the adjustment procedure.
The speed response frequency has been improved by a factor of 2.5
compared to previous OMRON models. The stabilization time has been
reduced, increasing machine speed and response performance.
Even if the resonant frequency changes, realtime evaluation
automatically follows the changes to reduce the effect of vibration
due to low mechanical rigidity, such as for conveyer belts.
Change the command control mode as
required by the application.
Automatic
Gain
Setting
Load signal
2.5 times better
than previous
OMRON models
Speed Response
Frequency
1000 Hz
Automatically adjusts filter
to vibration frequency.
Application Examples
Attaching Parts, Pressing, and Tightening Screws
CJ-series Programmable
Controller
Plus two notch filters
Vibration
Reduce Tact Time
A wide range of Servomotors is available to
meet application needs.
Fast positioning with improved command
pulse frequency performance.
Reduce mechanical vibration with the
vibration control function.
You can select a suitable Servomotor from a wide range
of Servomotor capacities to cater to various applications.
The command pulse frequency is 4 times faster than previous
OMRON models. This enables fast, accurate control.
By removing the vibration frequency components between the stop position
and the intermediate position, vibration that occurs due to low mechanical
rigidity can be suppressed. (Control for two vibration frequencies)
Speed(r/min)
Reduce Tact Time
4 times faster
than previous
OMRON models
Command Pulse
Frequency
2,000,000 pps
2000
Programmable
Terminal
Vibration is Quickly
suppresses vibration
Select the Optimum Motor
3000
Select from position control, speed control, and torque
control for use in applications such as the pressing,
tension, and injection.
CJ1W-NCF71
Position Control Unit
MECHATROLINK-II
Pressure applied with
constant torque.
Stop position
Feed
Previous Models
1000
Travel
50W
300W
900W
1kW
3kW
5kW
The rated speed is 1,500 r/min for 7.5 kW Servomotors only
6kW
7.5kW
(Motor capacity)
Reduce Control Panel Installation Space
The footprint of the Servo Drives has been reduced by 32% compared to
previous OMRON models, helping to reduce control panel size.
55
130
160
132
150
Improve Processing Accuracy
40
All Servomotors contain a 17-bit encoder
for greater accuracy.
Resolution
17 bits
G Series: Features
No vibration!
0.5 m
Stop position
Servo 1:
Tension
Control
Analog output
Travel
*1 For Servomotors with absolute encoders.
*2 Compared to previous OMRON models. (Servomotors with absolute encoders, 750 W max.)
4
Travel
Positioning is twice as accurate as previous OMRON models for
submicron accuracy. This enables stable control in the low speed range.
Previous OMRON
Models 16 bits
Footprint
Reduced
by 32 %
Continuous
feed
Control for two vibration
frequencies
*2
1 m
Continuous
feed
Heating sheet
Intermittent
feed
Intermittent operation
with Inverter
Intermediate position
*1
Even Smaller Servo Drives.
Rollers and Conveyers
Vibration
Encoder
Change
in position
Servo 2:
Tension
Control
Dancer
roller 1
Analog input
Analog output
Dancer
roller 2
Servo 3:
Tension Control
Analog output
Analog input
Pulse input
FQM1-series Controller
No vibration!
G Series: Features
5
Wider Range of Compact Servomotors and
Compatibility, Plus Fast Positioning with
Servo Drives with Increased Machine
Improved Response and Vibration Control
Achieve Maximum Machine Performance with the
Easy!
Advanced Performance!
Series
Advanced Functionality!
Easy Adjustment
Reduce Tact Time
Reduce Mechanical Vibration
Flexible Application
Realtime autotuning sets the optimum gain.
Significantly better speed response frequency.
Quick suppression of vibration with an adaptive filter.
An autotuning function calculates the device load in
realtime and automatically sets the optimum gain,
simplifying the adjustment procedure.
The speed response frequency has been improved by a factor of 2.5
compared to previous OMRON models. The stabilization time has been
reduced, increasing machine speed and response performance.
Even if the resonant frequency changes, realtime evaluation
automatically follows the changes to reduce the effect of vibration
due to low mechanical rigidity, such as for conveyer belts.
Change the command control mode as
required by the application.
Automatic
Gain
Setting
Load signal
2.5 times better
than previous
OMRON models
Speed Response
Frequency
1000 Hz
Automatically adjusts filter
to vibration frequency.
Application Examples
Attaching Parts, Pressing, and Tightening Screws
CJ-series Programmable
Controller
Plus two notch filters
Vibration
Reduce Tact Time
A wide range of Servomotors is available to
meet application needs.
Fast positioning with improved command
pulse frequency performance.
Reduce mechanical vibration with the
vibration control function.
You can select a suitable Servomotor from a wide range
of Servomotor capacities to cater to various applications.
The command pulse frequency is 4 times faster than previous
OMRON models. This enables fast, accurate control.
By removing the vibration frequency components between the stop position
and the intermediate position, vibration that occurs due to low mechanical
rigidity can be suppressed. (Control for two vibration frequencies)
Speed(r/min)
Reduce Tact Time
4 times faster
than previous
OMRON models
Command Pulse
Frequency
2,000,000 pps
2000
Programmable
Terminal
Vibration is Quickly
suppresses vibration
Select the Optimum Motor
3000
Select from position control, speed control, and torque
control for use in applications such as the pressing,
tension, and injection.
CJ1W-NCF71
Position Control Unit
MECHATROLINK-II
Pressure applied with
constant torque.
Stop position
Feed
Previous Models
1000
Travel
50W
300W
900W
1kW
3kW
5kW
The rated speed is 1,500 r/min for 7.5 kW Servomotors only
6kW
7.5kW
(Motor capacity)
Reduce Control Panel Installation Space
The footprint of the Servo Drives has been reduced by 32% compared to
previous OMRON models, helping to reduce control panel size.
55
130
160
132
150
Improve Processing Accuracy
40
All Servomotors contain a 17-bit encoder
for greater accuracy.
Resolution
17 bits
G Series: Features
No vibration!
0.5 m
Stop position
Servo 1:
Tension
Control
Analog output
Travel
*1 For Servomotors with absolute encoders.
*2 Compared to previous OMRON models. (Servomotors with absolute encoders, 750 W max.)
4
Travel
Positioning is twice as accurate as previous OMRON models for
submicron accuracy. This enables stable control in the low speed range.
Previous OMRON
Models 16 bits
Footprint
Reduced
by 32 %
Continuous
feed
Control for two vibration
frequencies
*2
1 m
Continuous
feed
Heating sheet
Intermittent
feed
Intermittent operation
with Inverter
Intermediate position
*1
Even Smaller Servo Drives.
Rollers and Conveyers
Vibration
Encoder
Change
in position
Servo 2:
Tension
Control
Dancer
roller 1
Analog input
Analog output
Dancer
roller 2
Servo 3:
Tension Control
Analog output
Analog input
Pulse input
FQM1-series Controller
No vibration!
G Series: Features
5
Selection Guide
The optimum combination can be found from
to handle various applications.
a variety of functions and model variations
Servo Drive Variations
Servomotor Variations
G Series
G Series
Servo Drives with General-purpose Inputs
R88D-GT
R88D-GN
Power supply
AC100V
Servomotors with General-purpose Inputs and MECHATROLINK-II* Compatible Servomotors
MECHATROLINK-II* Compatible Servo Drives
-ML2
Single-phase
R88M-G
Single-phase
Single/
Three-phase
Single/
Three-phase
Motor capacity
AC200V
Single-phase
AC100V
50
W
100
W
200
W
400
W
50
W
100
W
200
W
400
W
Rated speed
Single-phase
50
W
100
W
200
W
400
W
50
W
100
W
200
W
400
W
50W
INC
ABS
INC
AC200V Single/
Three-phase
750
W
900
W
1
kW
1.5
kW
750
W
900
W
1
kW
1.5
kW
100W
INC
ABS
INC
INC
ABS
INC
200W
INC
ABS
INC
INC
ABS
INC
400W
INC
ABS
INC
INC
ABS
INC
750W
INC
ABS
INC
Three-phase
2
kW
3
kW
4
kW
4.5
kW
Pulse
train
Interface Command type
5
kW
2
kW
3
kW
4
kW
4.5
kW
Mode
switching
Vibration control
Vibration
control
Autotuning
AUTO
Position
control
Servo Drive functions
Encoder output
6
kW
7.5
kW
Torque
control
Speed
control
*1
Vibration
control
900W
*1
AUTO
Adaptive *2
filter
Adaptive *2
filter
INC
ABS
5
kW
Motor type
Mode
switching
Torque *1
limit
Torque limits
Three-phase
ML2
Torque
control
Speed
control
FIT
GAIN
7.5
kW
Analog
Control mode switching
Realtime autotuning
6
kW
Single-phase
Servomotor capacity
Control modes Tuning functions
Position
control
Control modes
Three-phase
Pulse train:
Torque control: Control is applied to
is suitable for applications such as parts
insertion, pressing, and screw tightening.
Fit gain: The rigidity for the realtime
FIT
GAIN autotuning for position control is set
automatically. By repeatedly inputting
a specific operation pattern, the
optimum rigidity is set automatically.
G Series: Features
Analog:
Analog The speed and torque
Torque adjust the rotational force. Torque control
control
6
INC
ABS
INC
ABS
1.5kW
INC
ABS
INC
ABS
INC
ABS
Torque *1
limit
3kW
INC
ABS
INC
ABS
INC
ABS
INC
4kW
INC
ABS
INC
ABS
INC
ABS
INC
ABS
*2. One adaptive filter and two notch filters.
are input to the Servo
as analog signals.
ML2: MECHATROLINK-II
ML2 high-speed Servo
communications motion
network. (See note.)
Command control mode switching
:
Mode
switching Switching is possible between any two of
the three control modes: position control,
speed control, and torque control.
Absolute output: When the Controller
ABS power supply is turned ON, the Controller
reads the Servo absolute position data to
restore the absolute position.
Position control: Control is
Position
control applied to move to the target
position and then stop at the
target position.
Vibration control function:
Vibration Vibration is suppressed by
control automatically setting a filter for
the vibration frequency.
Incremental output: When
INC the Controller power supply is
turned ON, operation is always
started from the origin point.
INC
ABS
5kW
6kW
distance are input to the
Servo as pulse trains.
INC
ABS
1kW
4.5kW
Speed control: Control is applied to change the linear
Speed or rotational speed. For example, speed control is used
control
INC
ABS
7.5kW
for applications such as turning grindstones, controlling
welding speeds, and controlling feeding speeds.
Drive, then estimates the load inertia from the torque
required at that time to automatically set the optimum
Adaptive filter: The machine
Adaptive load inertia is calculated in
filter
realtime and the result is used to
automatically set the optimum gain.
Torque limit: Switching is
Torque possible between the first torque
limit
limit and the second torque limit to
limit the Servomotor output torque.
INC *4
ABS
*4. The rated speed is 1,500 r/min for 7.5 kW Servomotors only
Autotuning: The motor is moved according to a
AUTO command pattern automatically generated by the Servo
Flat type
3000r/min
INC
ABS
Functions
Pulse The speed and travel
train
2000r/min
INC
ABS
ABS
*1. Two limits.
1000r/min
Cylinder type
2kW
8
speeds
Internal set speeds
Cylinder type
Functions
INC Incremental/absolute output: The Servomotor can be switched between an incremental
output and an absolute output. When an absolute output is selected and the Controller power
ABS supply is turned ON, the Controller reads the Servo absolute position data to restore the absolute
position.
Incremental output: When the Controller power supply is
INC turned ON, operation is always started from the origin point.
*MECHATROLINK-II is a registered trademark of the MECHATROLINK Members Association
G Series: Features
7
Selection Guide
The optimum combination can be found from
to handle various applications.
a variety of functions and model variations
Servo Drive Variations
Servomotor Variations
G Series
G Series
Servo Drives with General-purpose Inputs
R88D-GT
R88D-GN
Power supply
AC100V
Servomotors with General-purpose Inputs and MECHATROLINK-II* Compatible Servomotors
MECHATROLINK-II* Compatible Servo Drives
-ML2
Single-phase
R88M-G
Single-phase
Single/
Three-phase
Single/
Three-phase
Motor capacity
AC200V
Single-phase
AC100V
50
W
100
W
200
W
400
W
50
W
100
W
200
W
400
W
Single-phase
50
W
100
W
200
W
400
W
50
W
100
W
200
W
400
W
50W
INC
ABS
INC
AC200V Single/
Three-phase
750
W
900
W
1
kW
1.5
kW
750
W
900
W
1
kW
1.5
kW
100W
INC
ABS
INC
INC
ABS
INC
200W
INC
ABS
INC
INC
ABS
INC
400W
INC
ABS
INC
INC
ABS
INC
750W
INC
ABS
INC
Three-phase
Single-phase
Three-phase
Three-phase
2
kW
3
kW
4
kW
4.5
kW
Pulse
train
Interface Command type
2
kW
3
kW
4
kW
4.5
kW
Mode
switching
Vibration control
Vibration
control
Autotuning
AUTO
Position
control
Servo Drive functions
Encoder output
7.5
kW
Torque
control
Speed
control
*1
Vibration
control
900W
*1
AUTO
Adaptive *2
filter
Adaptive *2
filter
INC
ABS
6
kW
Mode
switching
Torque *1
limit
Torque limits
5
kW
ML2
Torque
control
Speed
control
FIT
GAIN
7.5
kW
Analog
Control mode switching
Realtime autotuning
6
kW
Rated speed
Servomotor capacity
Control modes Tuning functions
Position
control
Control modes
5
kW
Pulse train:
Analog:
Analog The speed and torque
Torque control: Control is applied to
Torque adjust the rotational force. Torque control
control
is suitable for applications such as parts
insertion, pressing, and screw tightening.
Fit gain: The rigidity for the realtime
FIT
GAIN autotuning for position control is set
automatically. By repeatedly inputting
a specific operation pattern, the
optimum rigidity is set automatically.
G Series: Features
INC
ABS
INC
ABS
1.5kW
INC
ABS
INC
ABS
INC
ABS
Torque *1
limit
3kW
INC
ABS
INC
ABS
INC
ABS
INC
4kW
INC
ABS
INC
ABS
INC
ABS
INC
ABS
*2. One adaptive filter and two notch filters.
are input to the Servo
as analog signals.
ML2: MECHATROLINK-II
ML2 high-speed Servo
communications motion
network. (See note.)
Command control mode switching
:
Mode
switching Switching is possible between any two of
the three control modes: position control,
speed control, and torque control.
Absolute output: When the Controller
ABS power supply is turned ON, the Controller
reads the Servo absolute position data to
restore the absolute position.
Position control: Control is
Position
control applied to move to the target
position and then stop at the
target position.
Vibration control function:
Vibration Vibration is suppressed by
control automatically setting a filter for
the vibration frequency.
Incremental output: When
INC the Controller power supply is
turned ON, operation is always
started from the origin point.
INC
ABS
5kW
6kW
distance are input to the
Servo as pulse trains.
INC
ABS
1kW
4.5kW
Speed control: Control is applied to change the linear
Speed or rotational speed. For example, speed control is used
control
INC
ABS
7.5kW
for applications such as turning grindstones, controlling
welding speeds, and controlling feeding speeds.
Flat type
3000r/min
INC
ABS
Functions
Pulse The speed and travel
train
2000r/min
INC
ABS
8
speeds
Internal set speeds
1000r/min
Cylinder type
2kW
ABS
*1. Two limits.
6
Cylinder type
Motor type
INC *4
ABS
*4. The rated speed is 1,500 r/min for 7.5 kW Servomotors only
Autotuning: The motor is moved according to a
AUTO command pattern automatically generated by the Servo
Drive, then estimates the load inertia from the torque
required at that time to automatically set the optimum
Adaptive filter: The machine
Adaptive load inertia is calculated in
filter
realtime and the result is used to
automatically set the optimum gain.
Torque limit: Switching is
Torque possible between the first torque
limit
limit and the second torque limit to
limit the Servomotor output torque.
Functions
INC Incremental/absolute output: The Servomotor can be switched between an incremental
output and an absolute output. When an absolute output is selected and the Controller power
ABS supply is turned ON, the Controller reads the Servo absolute position data to restore the absolute
position.
Incremental output: When the Controller power supply is
INC turned ON, operation is always started from the origin point.
*MECHATROLINK-II is a registered trademark of the MECHATROLINK Members Association
G Series: Features
7
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Support for a Wide Range of Applications with Position Control,
Speed Control, Torque Control.
• High-speed Response
The G-series AC Servomotors and Servo Drives have
achieved high-speed response capabilities, with a highresponse frequency of 1 kHz.
• Suppressing Vibration of Low-rigidity Mechanisms during
Acceleration/Deceleration
The damping control function suppresses vibration of
low-rigidity mechanisms or devices whose ends tend to
vibrate. Two damping filters are provided to enable switching
the vibration frequency automatically according to the direction
of rotation and also via an external signal. In addition, the
settings can be made easily merely by setting the vibration
frequency and filter values, and you are assured of stable
operation even if the settings are inappropriate.
• High-speed Positioning via Resonance Suppression Control
The realtime autotuning function automatically estimates
the load inertia of the machine in realtime and sets the
optimal gain. The adaptive filter automatically suppresses
vibration caused by resonance. Also, two independent
notch filters make it possible to reduce vibration of a
mechanism with multiple resonance frequencies.
Note: CX-Drive (version 1.61) support for G-series Servo Drives can be obtained by using the CX-One V2
auto-update function from May 30, 2008.
System Configuration
Monitor Software
Controllers
Parameter Unit
R88A-PR02G
CX-Drive
See Note
FQM1-series PLC
CJ-series PLC
CS-series PLC
• Position Control Unit (High-speed type)
Personal Computer Monitor Cable
R88A-CCG002P2
NC214
CN1
RUN SYNC
2
A2
B2
ERC ERH
AS
BS
Pulse Train Commands
MACH
No.
x10 1
AXIS1
1
A1
B1
x10 0
MPG
Direct Connection cable for CJ1W-NC@@4
AXIS2
AXIS1
AXIS2
CN2
XW2Z-@@@J-G@
CJ1W-NC214/-NC414
CJ1W-NC234/-NC434
• Position Control Unit
• Flexible Motion Controller
Analog Commands
with Analog I/O
feedback signals
Pulse Train Commands
CS1W-MC221-V1/-MC421-V1
FQM1-MMA22
• Flexible Motion Controller
• Motion Control Unit
CJ1W-NC113/213/413
CJ1W-NC133/233/433
with Pulse I/O
CS1W-NC113/213/413
CS1W-NC133/233/433
Position Control
Unit Cables
XW2Z-@@@J-A@
Servo Relay
Units
Servo Drive
Cables
XW2B-@@J@-@@@
XW2Z-@@@J-B@@
FQM1-MMP22
Pulse Train Commands
HCP22
RUN
ERC
IN
OUT
OPN
ERH
COMM
0 1 2 3
4 5 6 7
8 9 10 11
0 1 2 3
4 5 6 7
MACH
No.
TOOL ON
X101
OFF
Connector-Terminal Block Conversion Units and Cable
X100
A1
B1
A2
B2
1
PERIHERAL
XW2@-50G@
XW2Z-@@@J-B24
12
CN2
CN1
1
B
00906
CJ1M-CPU21/22/23
20
A A
B
Customizable Counter Unit
CS1W-HCP22-V1
Support Software
• CX-One FA Integrated Tool Package
CX-Programmer
CX-Position
CP1H/CP1L
8
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
• Command Control Mode Switching
Operation can be performed by switching between two of the
following control modes: Position control, speed control
(including internal speed) and torque control. Therefore, a
variety of applications can be supported by one Servo Drive.
• Simplified Speed Control with Internal Speed Settings
Eight internal speed settings allow you to change the speed
easily by using external signals.
AC Servomotors
AC Servo Drives
Motor power signals
Power Cables
• Standard Cables
Without Brake
R88A-CAG@@@@S
With Brake
R88A-CAG@@@@B
• G-series
AC Servo Drive
R88D-GT
• Robot Cable
Without Brakes
R88A-CAG@@@@SR
• Model without Decelerators
R88M-G
With Brake
R88A-CAG@@@@BR
feedback signals
Encoder Cables
• Standard Cables
50 W to 750 W
R88A-CRG@@@@C
900 W to 7.5 kW
R88A-CRGC@@@N
• Robot Cables
50 W to 750 W
R88A-CRG@@@@CR
900 W to 7.5 kW
R88A-CRGC@@@NR
Decelerators
Absolute Encoder Battery Cable
Peripheral Devices
• Reactors
3G3AX-DL
3G3AX-AL
• External Regeneration Resistors
R88A-RR
R88A-CRGD0R3C (-BS)
Battery is included with Servo Drivers
(One
)
with model numbers ending in “BS.”
• Backlash: 3 Arcminutes Max.
R88G-HPG
Backlash: 15 Arcminutes Max.
R88G-VRSF
*Not required if a battery is connected to the
control connector (CN1).
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
9
Interpreting Model Numbers
● Servo Drive Model Numbers
The model number provides information such as the Servo Drive type, the applicable Servomotor capacity, and the power supply voltage.
R88D-GT01H
G-series
Servo Drive
Drive Type
T: Three-mode type
Applicable Servomotor Capacity
A5: 50 W
01: 100 W
02: 200 W
04: 400 W
08: 750 W
10: 1 kW
15: 1.5 kW
20: 2 kW
30: 3 kW
Power Supply Voltage
50: 5 kW
L: 100 VAC
75: 7.5 kW
H: 200 VAC
● Servomotor Model Numbers
R88M-GP10030H-BOS2
G-series
Servomotor
Motor Type
Blank: Cylinder type
P:
Flat type
Servomotor Capacity
050:
100:
200:
400:
750:
900:
1K0:
1K5:
2K0:
3K0:
4K0:
4K5:
5K0:
6K0:
7K5:
50 W
100 W
200 W
400 W
750 W
900 W
1 kW
1.5 kW
2 kW
3 kW
4 kW
4.5 kW
5 kW
6 kW
7.5 kW
Rated Rotation Speed
10:
15:
20:
30:
1,000 r/min
1,500 r/min
2,000 r/min
3,000 r/min
Applied Voltage
H:
L:
T:
S:
200 VAC with incremental encoder specifications
100 VAC with incremental encoder specifications
200 VAC with absolute encoder specifications
100 VAC with absolute encoder specifications
Option
Blank:
B:
O:
S2:
10
Straight shaft
With brake
With oil seal
With key and tap
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
● Understanding Decelerator Model Numbers
Backlash = 3' Max.
R88G-HPG14A05100PBJ
Decelerator for
G-Series Servomotors
Backlash = 3’ Max.
Flange
: Size Number
11A: @40
14A: @60
20A: @90
32A: @120
50A: @170
65A: @230
Gear Ratio
05:
09:
11:
12:
20:
21:
25:
33:
45:
1/5
1/9 (only frame number 11A)
1/11 (except frame number 65A)
1/12 (only frame number 65A)
1/20 (only frame number 65A)
1/21 (except frame number 65A)
1/25 (only frame number 65A)
1/33
1/45
Applicable Servomotor Capacity
050:
100:
200:
400:
750:
900:
1K0:
1K5:
2K0:
3K0:
4K0:
4K5:
5K0:
6K0:
7K5:
50 W
100 W
200 W
400 W
750 W
900 W
1 kW
1.5 kW
2 kW
3 kW
4 kW
4.5 kW
5 kW
6 kW
7 kW
Motor Type
Blank: 3,000-r/min cylindrical servomotors
flat servomotors
P:
S:
2,000-r/min servomotors
T:
1,000-r/min servomotors
Backlash
B:
3’ max.
Option
Blank: Straight shaft
J:
With key and tap
Backlash = 15' Max.
R88G-VRSF09B100PCJ
Decelerator for
G-Series Servomotors
Backlash = 15’ Max.
Gear Ratio
05:
09:
15:
25:
1/5
1/9
1/15
1/25
Flange Size Number
B:
C:
D:
@52
@78
@98
Applicable Servomotor Capacity
050: 50 W
100: 100 W
200: 200 W
400: 400 W
750: 750 W
Motor Type
Blank: 3,000-r/min cylindrical servomotors
P:
flat servomotors
Backlash
C:
15’ max.
Option
J:
With key and tap
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
11
Ordering Information
● Servo Drives
Specifications
Single-phase 100 VAC
Model
50 W
R88D-GTA5L
100 W
R88D-GT01L
200 W
R88D-GT02L
400 W
R88D-GT04L
50 W
Single-phase 200 VAC
Single-phase/three-phase 200
VAC
100 W
200 W
R88D-GT01H
R88D-GT02H
400 W
R88D-GT04H
750 W
R88D-GT08H
1 kW
R88D-GT10H
900 W
1 kW
R88D-GT15H
1.5 kW
2 kW
2 kW
3 kW
R88D-GT20H
R88D-GT30H
3 kW
Three-phase 200 VAC
4 kW
4.5 kW
R88D-GT50H
5 kW
6 kW
7.5 kW
R88D-GT75H
● Servomotors
INC 3,000-r/min Cylindrical Servomotors
Model
Specifications
Without brake
100 V
200 V
With brake
100 V
200 V
Straight shaft
Straight shaft with key and tap
50 W
R88M-G05030H
R88M-G05030H-S2
100 W
R88M-G10030L
R88M-G10030L-S2
200 W
R88M-G20030L
R88M-G20030L-S2
400 W
R88M-G40030L
R88M-G40030L-S2
50 W
R88M-G05030H
R88M-G05030H-S2
100 W
R88M-G10030H
R88M-G10030H-S2
200 W
R88M-G20030H
R88M-G20030H-S2
400 W
R88M-G40030H
R88M-G40030H-S2
750 W
R88M-G75030H
R88M-G75030H-S2
50 W
R88M-G05030H-B
R88M-G05030H-BS2
100 W
R88M-G10030L-B
R88M-G10030L-BS2
200 W
R88M-G20030L-B
R88M-G20030L-BS2
400 W
R88M-G40030L-B
R88M-G40030L-BS2
50 W
R88M-G05030H-B
R88M-G05030H-BS2
100 W
R88M-G10030H-B
R88M-G10030H-BS2
200 W
R88M-G20030H-B
R88M-G20030H-BS2
400 W
R88M-G40030H-B
R88M-G40030H-BS2
750 W
R88M-G75030H-B
R88M-G75030H-BS2
Note: Models with oil seals are also available.
12
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
ABS/INC 3,000-r/min Cylindrical Servomotors
Model
Specifications
Without brake
100 V
200 V
With brake
100 V
200 V
Straight shaft
Straight shaft with key and tap
50 W
R88M-G05030T
R88M-G05030T-S2
100 W
R88M-G10030S
R88M-G10030S-S2
200 W
R88M-G20030S
R88M-G20030S-S2
400 W
R88M-G40030S
R88M-G40030S-S2
50 W
R88M-G05030T
R88M-G05030T-S2
100 W
R88M-G10030T
R88M-G10030T-S2
200 W
R88M-G20030T
R88M-G20030T-S2
400 W
R88M-G40030T
R88M-G40030T-S2
750 W
R88M-G75030T
R88M-G75030T-S2
1 kW
R88M-G1K030T
R88M-G1K030T-S2
1.5 kW
R88M-G1K530T
R88M-G1K530T-S2
2 kW
R88M-G2K030T
R88M-G2K030T-S2
3 kW
R88M-G3K030T
R88M-G3K030T-S2
4 kW
R88M-G4K030T
R88M-G4K030T-S2
5 kW
R88M-G5K030T
R88M-G5K030T-S2
50 W
R88M-G05030T-B
R88M-G05030T-BS2
100 W
R88M-G10030S-B
R88M-G10030S-BS2
200 W
R88M-G20030S-B
R88M-G20030S-BS2
400 W
R88M-G40030S-B
R88M-G40030S-BS2
50 W
R88M-G05030T-B
R88M-G05030T-BS2
100 W
R88M-G10030T-B
R88M-G10030T-BS2
200 W
R88M-G20030T-B
R88M-G20030T-BS2
400 W
R88M-G40030T-B
R88M-G40030T-BS2
750 W
R88M-G75030T-B
R88M-G75030T-BS2
1 kW
R88M-G1K030T-B
R88M-G1K030T-BS2
1.5 kW
R88M-G1K530T-B
R88M-G1K530T-BS2
2 kW
R88M-G2K030T-B
R88M-G2K030T-BS2
3 kW
R88M-G3K030T-B
R88M-G3K030T-BS2
4 kW
R88M-G4K030T-B
R88M-G4K030T-BS2
5 kW
R88M-G5K030T-B
R88M-G5K030T-BS2
Note: Models with oil seals are also available.
INC 3,000-r/min Flat Servomotors
Model
Specifications
Straight shaft
With brake
Without brake
100 W
100 V
200 V
100 V
200 V
R88M-GP10030L
Straight shaft with key and tap
R88M-GP10030L-S2
200 W
R88M-GP20030L
R88M-GP20030L-S2
400 W
R88M-GP40030L
R88M-GP40030L-S2
100 W
R88M-GP10030H
R88M-GP10030H-S2
200 W
R88M-GP20030H
R88M-GP20030H-S2
400 W
R88M-GP40030H
R88M-GP40030H-S2
100 W
R88M-GP10030L-B
R88M-GP10030L-BS2
200 W
R88M-GP20030L-B
R88M-GP20030L-BS2
400 W
R88M-GP40030L-B
R88M-GP40030L-BS2
100 W
R88M-GP10030H-B
R88M-GP10030H-BS2
200 W
R88M-GP20030H-B
R88M-GP20030H-BS2
400 W
R88M-GP40030H-B
R88M-GP40030H-BS2
Note: Models with oil seals are also available.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
13
ABS/INC 3,000-r/min Flat Servomotors
Model
With brake
Without brake
Specifications
100 V
200 V
100 V
200 V
Straight shaft
Straight shaft with key and tap
100 W
R88M-GP10030S
R88M-GP10030S-S2
200 W
R88M-GP20030S
R88M-GP20030S-S2
400 W
R88M-GP40030S
R88M-GP40030S-S2
100 W
R88M-GP10030T
R88M-GP10030T-S2
200 W
R88M-GP20030T
R88M-GP20030T-S2
400 W
R88M-GP40030T
R88M-GP40030T-S2
100 W
R88M-GP10030S-B
R88M-GP10030S-BS2
200 W
R88M-GP20030S-B
R88M-GP20030S-BS2
400 W
R88M-GP40030S-B
R88M-GP40030S-BS2
100 W
R88M-GP10030T-B
R88M-GP10030T-BS2
200 W
R88M-GP20030T-B
R88M-GP20030T-BS2
400 W
R88M-GP40030T-B
R88M-GP40030T-BS2
Note: Models with oil seals are also available.
ABS/INC 2,000-r/min Cylindrical Servomotors
Model
With brake
Without brake
Specifications
200 V
200 V
Straight shaft
Straight shaft with key and tap
1 kW
R88M-G1K020T
R88M-G1K020T-S2
1.5 kW
R88M-G1K520T
R88M-G1K520T-S2
2 kW
R88M-G2K020T
R88M-G2K020T-S2
3 kW
R88M-G3K020T
R88M-G3K020T-S2
4 kW
R88M-G4K020T
R88M-G4K020T-S2
5 kW
R88M-G5K020T
R88M-G5K020T-S2
7.5 kW
R88M-G7K515T
R88M-G7K515T-S2
1 kW
R88M-G1K020T-B
R88M-G1K020T-BS2
1.5 kW
R88M-G1K520T-B
R88M-G1K520T-BS2
2 kW
R88M-G2K020T-B
R88M-G2K020T-BS2
3 kW
R88M-G3K020T-B
R88M-G3K020T-BS2
4 kW
R88M-G4K020T-B
R88M-G4K020T-BS2
5 kW
R88M-G5K020T-B
R88M-G5K020T-BS2
7.5 kW
R88M-G7K515T-B
R88M-G7K515T-BS2
Note: 1. Models with oil seals are also available.
Note: 2. The rated rotation speed for 7.5-kW Servomotors is 1,500 r/min.
ABS/INC 1,000-r/min Cylindrical Servomotors
Model
Without brake
Specifications
200 V
Straight shaft
R88M-G90010T
R88M-G90010T-S2
2 kW
R88M-G2K010T
R88M-G2K010T-S2
3 kW
R88M-G3K010T
R88M-G3K010T-S2
4.5 kW
R88M-G4K510T
R88M-G4K510T-S2
R88M-G6K010T
R88M-G6K010T-S2
With brake
6 kW
200 V
Straight shaft with key and tap
900 W
900 W
R88M-G90010T-B
R88M-G90010T-BS2
2 kW
R88M-G2K010T-B
R88M-G2K010T-BS2
3 kW
R88M-G3K010T-B
R88M-G3K010T-BS2
4.5 kW
R88M-G4K510T-B
R88M-G4K510T-BS2
6 kW
R88M-G6K010T-B
R88M-G6K010T-BS2
Note: Models with oil seals are also available.
14
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
● Decelerators
Backlash: 3 Arcminutes Max.
Decelerators for 3,000-r/min Cylindrical Servomotors
Straight shaft
Specifications
Motor capacity
50 W
100 W
200 W
400 W
750 W
Gear ratio
1.5 kW
2 kW
3 kW
4 kW
5 kW
Specifications
Motor capacity
Gear ratio
Model
1/5
R88G-HPG11A05100B
1/5
R88G-HPG11A05100PB
1/9
R88G-HPG11A09050B
1/11
R88G-HPG14A11100PB
1/21
R88G-HPG14A21100B
1/21
R88G-HPG14A21100PB
1/33
R88G-HPG14A33050B
1/33
R88G-HPG20A33100PB
1/45
R88G-HPG14A45050B
1/45
R88G-HPG20A45100PB
1/5
R88G-HPG11A05100B
1/5
R88G-HPG14A05200PB
1/11
R88G-HPG14A11100B
1/11
R88G-HPG20A11200PB
1/21
R88G-HPG14A21100B
1/21
R88G-HPG20A21200PB
1/33
R88G-HPG20A33100B
1/33
R88G-HPG20A33200PB
1/45
R88G-HPG20A45100B
1/45
R88G-HPG20A45200PB
1/5
R88G-HPG14A05200B
1/5
R88G-HPG20A05400PB
1/11
R88G-HPG14A11200B
1/11
R88G-HPG20A11400PB
1/21
R88G-HPG20A21200B
1/21
R88G-HPG20A21400PB
1/33
R88G-HPG20A33200B
1/33
R88G-HPG32A33400PB
1/45
R88G-HPG20A45200B
1/45
R88G-HPG32A45400PB
1/5
R88G-HPG14A05400B
1/11
R88G-HPG20A11400B
1/21
R88G-HPG20A21400B
1/33
R88G-HPG32A33400B
1/45
R88G-HPG32A45400B
1/5
R88G-HPG20A05750B
1/11
R88G-HPG20A11750B
1/21
R88G-HPG32A21750B
1/33
R88G-HPG32A33750B
1/45
1 kW
Model
Backlash: 3 Arcminutes Max.
Decelerators for 3,000-r/min Flat Servomotors
Straight shaft
100 W
200 W
400 W
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Servomotor with a straight shaft with key, add “J” to the end
of the model number.
R88G-HPG32A45750B
1/5
R88G-HPG32A051K0B
1/11
R88G-HPG32A111K0B
1/21
R88G-HPG32A211K0B
1/33
R88G-HPG32A331K0B
1/45
R88G-HPG50A451K0B
1/5
R88G-HPG32A052K0B
1/11
R88G-HPG32A112K0B
1/21
R88G-HPG32A211K5B
1/33
R88G-HPG50A332K0B
1/45
R88G-HPG50A451K5B
1/5
R88G-HPG32A052K0B
1/11
R88G-HPG32A112K0B
1/21
R88G-HPG50A212K0B
1/33
R88G-HPG50A332K0B
1/5
R88G-HPG32A053K0B
1/11
R88G-HPG50A113K0B
1/21
R88G-HPG50A213K0B
1/5
R88G-HPG32A054K0B
1/11
R88G-HPG50A115K0B
1/5
R88G-HPG50A055K0B
1/11
R88G-HPG50A115K0B
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Servomotor with a straight shaft with key, add “J” to the end
of the model number, in the place indicated by the box.
Example: R88G-HPG11B05100BJ
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
15
Backlash: 3 Arcminutes Max.
Decelerators for 2,000-r/min Cylindrical Servomotors
Straight shaft
Specifications
Motor capacity
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
7.5 kW
Gear ratio
Model
Backlash: 3 Arcminutes Max.
Decelerators for 1,000-r/min Cylindrical Servomotors
Straight shaft
Specifications
Motor capacity
Gear ratio
Model
1/5
R88G-HPG32A053K0B
1/5
R88G-HPG32A05900TB
1/11
R88G-HPG32A112K0SB
1/11
R88G-HPG32A11900TB
1/21
R88G-HPG32A211K0SB
1/21
R88G-HPG50A21900TB
1/33
R88G-HPG50A332K0SB
1/33
R88G-HPG50A33900TB
1/45
R88G-HPG50A451K0SB
1/5
R88G-HPG32A052K0TB
1/11
R88G-HPG50A112K0TB
1/5
R88G-HPG32A053K0B
1/11
R88G-HPG32A112K0SB
1/21
R88G-HPG50A213K0B
1/33
1/5
1/11
R88G-HPG32A112K0SB
1/21
900 W
2 kW
1/21
R88G-HPG50A212K0TB
1/25
R88G-HPG65A255K0SB
R88G-HPG50A332K0SB
1/5
R88G-HPG50A055K0SB
R88G-HPG32A053K0B
1/11
R88G-HPG50A115K0SB
1/20
R88G-HPG65A205K0SB
R88G-HPG50A213K0B
1/25
R88G-HPG65A255K0SB
1/33
R88G-HPG50A332K0SB
1/5
R88G-HPG50A054K5TB
1/5
R88G-HPG32A054K0B
1/12
R88G-HPG65A127K5SB
1/11
R88G-HPG50A115K0B
1/20
R88G-HPG65A204K5TB
1/21
R88G-HPG50A213K0SB
1/5
R88G-HPG65A057K5SB
1/25
R88G-HPG65A253K0SB
1/12
R88G-HPG65A127K5SB
1/5
R88G-HPG50A054K0SB
1/11
R88G-HPG50A114K0SB
1/20
R88G-HPG65A204K0SB
1/25
R88G-HPG65A254K0SB
1/5
R88G-HPG50A055K0SB
1/11
R88G-HPG50A115K0SB
1/20
R88G-HPG65A205K0SB
1/25
R88G-HPG65A255K0SB
1/5
R88G-HPG65A057K5SB
1/12
R88G-HPG65A127K5SB
3 kW
4.5 kW
6 kW
Note: 1. The standard models have a straight shaft.
Note: 2. Models with a key and tap are indicated with "J" at the end of the model
number.
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Servomotor with a straight shaft with key, add “J” to the end
of the model number.
Backlash: 15 Arcminutes Max.
Decelerators for 3,000-r/min Cylindrical Servomotors
Straight shaft with key and tap
Specifications
Motor capacity
50 W
100 W
200 W
400 W
750 W
16
Gear ratio
Model
Backlash: 15 Arcminutes Max.
Decelerators for 3,000-r/min Flat Servomotors
Straight shaft with key and tap
Specifications
Motor capacity
Gear ratio
Model
1/5
R88G-VRSF05B100CJ
1/5
R88G-VRSF05B100PCJ
1/9
R88G-VRSF09B100CJ
1/9
R88G-VRSF09B100PCJ
1/15
R88G-VRSF15B100CJ
1/15
R88G-VRSF15B100PCJ
1/25
R88G-VRSF25B100CJ
1/25
R88G-VRSF25B100PCJ
1/5
R88G-VRSF05B100CJ
1/5
R88G-VRSF05B200PCJ
1/9
R88G-VRSF09C200PCJ
1/15
R88G-VRSF15C200PCJ
100 W
1/9
R88G-VRSF09B100CJ
1/15
R88G-VRSF15B100CJ
1/25
R88G-VRSF25B100CJ
1/25
R88G-VRSF25C200PCJ
1/5
R88G-VRSF05B200CJ
1/5
R88G-VRSF05C400PCJ
1/9
R88G-VRSF09C200CJ
1/15
R88G-VRSF15C200CJ
1/25
R88G-VRSF25C200CJ
1/5
R88G-VRSF05C400CJ
1/9
R88G-VRSF09C400CJ
1/15
R88G-VRSF15C400CJ
1/25
R88G-VRSF25C400CJ
1/5
R88G-VRSF05C750CJ
1/9
R88G-VRSF09D750CJ
1/15
R88G-VRSF15D750CJ
1/25
R88G-VRSF25D750CJ
200 W
400 W
1/9
R88G-VRSF09C400PCJ
1/15
R88G-VRSF15C400PCJ
1/25
R88G-VRSF25C400PCJ
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
● Accessories and Cables
• Servomotor Power Cables (Standard Cables)
For Servomotor without brake
Specifications
Model
• Servomotor Power Cables (Standard Cables)
For Servomotor with brake
Specifications
Model
3m
R88A-CAGA003S
3m
R88A-CAGB003B
5m
R88A-CAGA005S
5m
R88A-CAGB005B
10 m
R88A-CAGA010S
10 m
R88A-CAGB010B
15 m
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m
R88A-CAGA015S
15 m
R88A-CAGB015B
20 m
R88A-CAGB020B
30 m
R88A-CAGA030S
30 m
R88A-CAGB030B
40 m
R88A-CAGA040S
40 m
R88A-CAGB040B
50 m
R88A-CAGA050S
50 m
R88A-CAGB050B
3m
R88A-CAGB003S
3m
R88A-CAGC003B
5m
R88A-CAGB005S
5m
R88A-CAGC005B
10 m
R88A-CAGB010S
10 m
R88A-CAGC010B
15 m
R88A-CAGB015S
15 m
R88A-CAGC015B
20 m
R88A-CAGB020S
20 m
R88A-CAGC020B
30 m
R88A-CAGB030S
30 m
R88A-CAGC030B
40 m
R88A-CAGB040S
40 m
R88A-CAGC040B
50 m
R88A-CAGB050S
50 m
R88A-CAGC050B
3m
R88A-CAGC003S
3m
R88A-CAGD003B
5m
R88A-CAGC005S
5m
R88A-CAGD005B
10 m
R88A-CAGC010S
10 m
R88A-CAGD010B
15 m
R88A-CAGC015S
15 m
R88A-CAGD015B
20 m
R88A-CAGC020S
20 m
R88A-CAGD020B
30 m
R88A-CAGC030S
30 m
R88A-CAGD030B
40 m
R88A-CAGC040S
40 m
R88A-CAGD040B
50 m
R88A-CAGC050S
50 m
R88A-CAGD050B
3m
R88A-CAGD003S
5m
R88A-CAGD005S
10 m
R88A-CAGD010S
15 m
R88A-CAGD015S
3m
R88A-CAGA003B
R88A-CAGD020S
5m
R88A-CAGA005B
30 m
R88A-CAGD030S
10 m
R88A-CAGA010B
40 m
R88A-CAGD040S
R88A-CAGA015B
50 m
R88A-CAGD050S
15 m
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m
3m
R88A-CAGE003S
30 m
R88A-CAGA030B
R88A-CAGE005S
40 m
R88A-CAGA040B
10 m
R88A-CAGE010S
50 m
R88A-CAGA050B
15 m
R88A-CAGE015S
3m
R88A-CAGE003B
R88A-CAGE020S
5m
R88A-CAGE005B
30 m
R88A-CAGE030S
10 m
R88A-CAGE010B
40 m
R88A-CAGE040S
15 m
R88A-CAGE015B
20 m
R88A-CAGE020B
30 m
R88A-CAGE030B
40 m
R88A-CAGE040B
50 m
R88A-CAGE050B
3,000-r/min Servomotors of 1 to 1.5 kW,
2,000-r/min Servomotors of 1 to 1.5 kW,
1,000-r/min Servomotors of 900 W
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
3,000-r/min Servomotors of 3 to 5 kW,
2,000-r/min Servomotors of 3 to 5 kW,
1,000-r/min Servomotors of 2 to 4.5 kW
20 m
5m
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 6 kW
20 m
50 m
R88A-CAGA020S
R88A-CAGE050S
3,000-r/min Servomotors of 1 to 1.5 kW,
2,000-r/min Servomotors of 1 to 1.5 kW,
1,000-r/min Servomotors of 900 W
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
3,000-r/min Servomotors of 3 to 5 kW,
2,000-r/min Servomotors of 3 to 5 kW,
1,000-r/min Servomotors of 2 to 4.5 kW
• Brake Cables (Standard Cables)
Specifications
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 6 kW
Note: There are separate connectors for power and brakes for 3,000-r/min Servomotors of 50 to 750 W, Flat Servomotors, and Servomotors of 6 kW or
higher. When a Servomotor with a brake is used, it is necessary to use
both a Power Cable for Servomotors without brakes and a Brake Cable.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
Model
R88A-CAGA020B
R88M-G/R88D-GT
17
• Encoder Cables (Standard Cables)
Specifications
Model
3,000-r/min Servomotors of 50 to 750 W with
an absolute encoder,
3,000-r/min Flat Servomotors of 100 to 400 W
with an absolute encoder
3,000-r/min Servomotors of 50 to 750 W with
an incremental encoder,
3,000-r/min Flat Servomotors of 100 to 400 W
with an incremental encoder
3,000-r/min Servomotors of 1 to 5 kW,
2,000-r/min Servomotors of 1 to 5 kW,
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 900 W to 6 kW
• Servomotor Power Cables (Robot Cables)
For Servomotor without brake
Specifications
Model
3m
R88A-CRGA003C
5m
R88A-CRGA005C
3m
R88A-CAGA003SR
10 m
R88A-CRGA010C
5m
R88A-CAGA005SR
15 m
R88A-CRGA015C
10 m
R88A-CAGA010SR
20 m
R88A-CRGA020C
15 m
R88A-CAGA015SR
20 m
R88A-CAGA020SR
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of
100 to 400 W
30 m
R88A-CRGA030C
40 m
R88A-CRGA040C
30 m
R88A-CAGA030SR
50 m
R88A-CRGA050C
40 m
R88A-CAGA040SR
3m
R88A-CRGB003C
50 m
R88A-CAGA050SR
5m
R88A-CRGB005C
3m
R88A-CAGB003SR
10 m
R88A-CRGB010C
5m
R88A-CAGB005SR
15 m
R88A-CRGB015C
10 m
R88A-CAGB010SR
20 m
R88A-CRGB020C
15 m
R88A-CAGB015SR
20 m
R88A-CAGB020SR
3,000-r/min Servomotors of 1 to 1.5 kW,
2,000-r/min Servomotors of 1 to 1.5 kW,
1,000-r/min Servomotors of 900 W
30 m
R88A-CRGB030C
40 m
R88A-CRGB040C
30 m
R88A-CAGB030SR
50 m
R88A-CRGB050C
40 m
R88A-CAGB040SR
3m
R88A-CRGC003N
50 m
R88A-CAGB050SR
5m
R88A-CRGC005N
3m
R88A-CAGC003SR
10 m
R88A-CRGC010N
5m
R88A-CAGC005SR
15 m
R88A-CRGC015N
10 m
R88A-CAGC010SR
20 m
R88A-CRGC020N
15 m
R88A-CAGC015SR
20 m
R88A-CAGC020SR
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
30 m
R88A-CRGC030N
40 m
R88A-CRGC040N
30 m
R88A-CAGC030SR
R88A-CRGC050N
40 m
R88A-CAGC040SR
50 m
R88A-CAGC050SR
3m
R88A-CAGD003SR
5m
R88A-CAGD005SR
10 m
R88A-CAGD010SR
15 m
R88A-CAGD015SR
20 m
R88A-CAGD020SR
30 m
R88A-CAGD030SR
40 m
R88A-CAGD040SR
50 m
R88A-CAGD050SR
50 m
• Absolute Encoder Battery Cable
Specifications
Model
Absolute Encoder Battery Cable
(Battery not included.)
0.3 m
Absolute Encoder Battery Cable
(One R88A-BAT01G Battery included.)
0.3 m
R88A-CRGD0R3C
R88A-CRGD0R3C-BS
3,000-r/min Servomotors of 3 to 5 kW,
2,000-r/min Servomotors of 3 to 5 kW,
1,000-r/min Servomotors of 2 to 4.5 kW
• Absolute Encoder Backup Battery
Specifications
2,000 mA·h 3.6 V
18
Model
R88A-BAT01G
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
• Servomotor Power Cables (Robot Cables)
For Servomotor with brake
Specifications
3,000-r/min Servomotors of 1 to 1.5 kW,
2,000-r/min Servomotors of 1 to 1.5 kW,
1,000-r/min Servomotors of 900 W
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
3,000-r/min Servomotors of 3 to 5 kW,
2,000-r/min Servomotors of 3 to 5 kW,
1,000-r/min Servomotors of 2 to 4.5 kW
• Encoder Cables (Robot Cables)
Specifications
Model
Model
3m
R88A-CRGA003CR
3m
R88A-CAGB003BR
5m
R88A-CRGA005CR
5m
R88A-CAGB005BR
R88A-CAGB010BR
15 m
R88A-CAGB015BR
20 m
R88A-CAGB020BR
10 m
3,000-r/min Servomotors of 50 to 750 W
15 m
with an absolute encoder,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m
with an absolute encoder
30 m
R88A-CRGA010CR
10 m
30 m
R88A-CAGB030BR
40 m
R88A-CRGA040CR
40 m
R88A-CAGB040BR
50 m
R88A-CRGA050CR
50 m
R88A-CAGB050BR
3m
R88A-CRGB003CR
3m
R88A-CAGC003BR
5m
R88A-CRGB005CR
5m
R88A-CAGC005BR
R88A-CAGC010BR
15 m
R88A-CAGC015BR
20 m
R88A-CAGC020BR
10 m
3,000-r/min Servomotors of 50 to 750 W
15 m
with an incremental encoder,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m
with an incremental encoder
30 m
R88A-CRGB010CR
10 m
30 m
R88A-CAGC030BR
40 m
R88A-CRGB040CR
40 m
R88A-CAGC040BR
50 m
R88A-CRGB050CR
50 m
R88A-CAGC050BR
3m
R88A-CRGC003NR
3m
R88A-CAGD003BR
5m
R88A-CRGC005NR
5m
R88A-CAGD005BR
10 m
R88A-CRGC010NR
10 m
R88A-CAGD010BR
15 m
R88A-CRGC015NR
15 m
R88A-CAGD015BR
20 m
R88A-CRGC020NR
20 m
R88A-CAGD020BR
30 m
R88A-CRGC030NR
30 m
R88A-CAGD030BR
40 m
R88A-CRGC040NR
40 m
R88A-CAGD040BR
50 m
R88A-CRGC050NR
50 m
R88A-CAGD050BR
3,000-r/min Servomotors of 1 to 5 kW,
2,000-r/min Servomotors of 1 to 5 kW,
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 900 W to 6 kW
R88A-CRGA015CR
R88A-CRGA020CR
R88A-CRGA030CR
R88A-CRGB015CR
R88A-CRGB020CR
R88A-CRGB030CR
• Communications Cables
• Brake Cables (Robot Cables)
Specifications
Specifications
Model
3m
R88A-CAGA003BR
5m
R88A-CAGA005BR
10 m
R88A-CAGA010BR
15 m
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m
R88A-CAGA015BR
30 m
R88A-CAGA030BR
R88A-CAGA020BR
Personal Computer Monitor Cable
RS-232 Communications
Model
2m
R88A-CCG002P2
0.5 m
R88A-CCG0R5P4
1m
R88A-CCG001P4
RS-485 Communications Cable
• Connectors
Specifications
40 m
R88A-CAGA040BR
50 m
R88A-CAGA050BR
Servomotor Connector for
Encoder Cable
Model
Absolute Encoder
R88A-CNG01R
Incremental Encoder
R88A-CNG02R
Control I/O Connector (CN1)
R88A-CNU01C
Encoder Connector (CN2)
R88A-CNW01R
Power Cable Connector (750 W max.)
R88A-CNG01A
Brake Cable Connector (750 W max.)
R88A-CNG01B
• Servo Relay Units (for CN1)
Specifications
Model
For CS1W-NC113/-NC133
For CJ1W-NC113/-NC133
For C200HW-NC113
XW2B-20J6-1B
For CS1W-NC213/-NC413/-NC233/-NC433
For CJ1W-NC213/-NC413/-NC233/-NC433
For C200HW-NC213/-NC413
XW2B-40J6-2B
For CJ1M-CPU21/-CPU22/-CPU23 (for 1 axis)
XW2B-20J6-8A
For CJ1M-CPU21/-CPU22/-CPU23 (for 2 axis)
XW2B-40J6-9A
For FQM1-MMA22
For FQM1-MMP22
XW2B-80J7-12A
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
19
• Servo Relay Unit Cables (for Servo Drives)
Specifications
For CJ1M-CPU21/-CPU22/-CPU23
(XW2B-20J6-8A/XW2B-40J6-9A)
• Control Cables
Model
1m
XW2Z-100J-B31
2m
XW2Z-200J-B31
1m
XW2Z-100J-B27
2m
XW2Z-200J-B27
1m
XW2Z-100J-B26
2m
XW2Z-200J-B26
Specifications
Model
Motion Control Unit Cables for 1 axis
CS1W-MC221-V1/-MC421-V1
1m
R88A-CPG001M1
2m
R88A-CPG002M1
3m
R88A-CPG003M1
5m
R88A-CPG005M1
1m
R88A-CPG001M2
2m
R88A-CPG002M2
3m
R88A-CPG003M2
5m
R88A-CPG005M2
1m
R88A-CPG001S
2m
R88A-CPG002S
1m
XW2Z-100J-B24
2m
XW2Z-200J-B24
For FQM1-MMA22 (XW2B-80J7-12A)
For FQM1-MMP22 (XW2B-80J7-12A)
Note: You cannot use a Servo Relay Unit Cable for line-receiver inputs
(+CWLD: CN1 pin 44, -CWLD: CN1 pin 45, +CCWLD: CN1 pin 46,
-CCWLD: CN1 pin 47).
Use a General-purpose Control Cable and wire the connector to match
the controller.
• Servo Relay Unit Cables (for Position Control Units)
Specifications
For CS1W-NC113, C200HW-NC113
(XW2B-20J6-1B)
For CS1W-NC213/-NC413, C200HW-NC213/
-NC413 (XW2B-20J6-2B)
Motion Control Unit Cables for 2 axes
CS1W-MC221-V1/-MC421-V1
General-purpose Control Cables with
Connector on One End
Connector-Terminal Block Cables
Model
0.5 m XW2Z-050J-A6
1m
XW2Z-100J-A6
Connector Terminal Block
Conversion Unit
0.5 m XW2Z-050J-A7
1m
XW2Z-100J-A7
0.5 m XW2Z-050J-A10
XW2Z-100J-A10
0.5 m XW2Z-050J-A11
For CS1W-NC233/-NC433 (XW2B-20J6-2B)
1m
XW2Z-100J-A11
0.5 m XW2Z-050J-A14
For CJ1W-NC113 (XW2B-20J6-1B)
1m
XW2Z-100J-A14
0.5 m XW2Z-050J-A15
For CJ1W-NC213/-NC413 (XW2B-20J6-2B)
1m
For CJ1W-NC133 (XW2B-20J6-1B)
1m
XW2Z-100J-A18
0.5 m XW2Z-050J-A19
For CJ1W-NC233/-NC433 (XW2B-20J6-2B)
1m
For CJ1M-CPU21/-CPU22/-CPU23
(XW2B-20J6-8A/XW2B-40J6-9A)
XW2Z-100J-A19
0.5 m XW2Z-050J-A33
1m
XW2Z-100J-A33
0.5 m XW2Z-050J-A28
General-purpose I/O
For FQM1-MMA22
(XW2B-80J7-12A)
1m
XW2Z-100J-A28
2m
XW2Z-200J-A28
XW2B-50G5
M3 screw type
XW2D-50G6
Specifications
Model
R88A-RR08050S
20 W, 100 Ω
R88A-RR080100S
70 W, 47 Ω
R88A-RR22047S
500 W, 20 Ω
R88A-RR50020S
• Reactors
Specifications
Model
R88D-GTA5L/-GT01H
3G3AX-DL2002
R88D-GT01L/-GT02H
3G3AX-DL2004
R88D-GT02L/-GT04H
3G3AX-DL2007
R88D-GT04L/-GT08H/-GT10H
3G3AX-DL2015
R88D-GT15H
3G3AX-DL2022
R88D-GT08H/-GT10H/-GT15H
3G3AX-AL2025
R88D-GT20H/-GT30H
3G3AX-AL2055
R88D-GT50H
3G3AX-AL2110
R88D-GT75H
3G3AX-AL2220
0.5 m XW2Z-050J-A31
Special I/O
1m
XW2Z-100J-A31
2m
XW2Z-200J-A31
0.5 m XW2Z-050J-A28
General-purpose I/O
For FQM1-MMP22
(XW2B-80J7-12A)
1m
XW2Z-100J-A28
2m
XW2Z-200J-A28
0.5 m XW2Z-050J-A30
Special I/O
1m
XW2Z-100J-A30
2m
XW2Z-200J-A30
• Mounting Brackets (L Brackets for Rack Mounting)
Specifications
Model
R88D-GTA5L/-GT01L/-GT01H/-GT02H
R88A-TK01G
R88D-GT02L/-GT04H
R88A-TK02G
R88D-GT04L/-GT08H
R88A-TK03G
R88D-GT10H/-GT15H
R88A-TK04G
• Parameter Unit
Specifications
Parameter Unit
20
M3.5 screw type
20 W, 50 Ω
XW2Z-100J-A15
0.5 m XW2Z-050J-A18
XW2B-50G4
• External Regeneration Resistors
For CS1W-NC133 (XW2B-20J6-1B)
1m
M3 screw type
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
Model
R88A-PR02G
R88M-G/R88D-GT
Servo Drive-Servomotor Combinations
Only the Servomotor and Servo Drive combinations listed here can be used. Do not use other combinations.
● 3,000-r/min Sylindrical Servomotors and Servo Drives
Voltage
100 V
Single-phase 200 V
Single-phase/
three-phase 200 V
Three-phase 200 V
Servo Drive
Servomotor
Rated output
With incremental encoder
With absolute encoder
R88D-GTA5L
50 W
R88M-G05030H-@
R88M-G05030T-@
R88D-GT01L
100 W
R88M-G10030L-@
R88M-G10030S-@
R88D-GT02L
200 W
R88M-G20030L-@
R88M-G20030S-@
R88D-GT04L
400 W
R88M-G40030L-@
R88M-G40030S-@
R88D-GT01H
50 W
R88M-G05030H-@
R88M-G05030T-@
R88D-GT01H
100 W
R88M-G10030H-@
R88M-G10030T-@
R88D-GT02H
200 W
R88M-G20030H-@
R88M-G20030T-@
R88D-GT04H
400 W
R88M-G40030H-@
R88M-G40030T-@
R88D-GT08H
750 W
R88M-G75030H-@
R88M-G75030T-@
R88D-GT15H
1 kW
---
R88M-G1K030T-@
R88D-GT15H
1.5 kW
---
R88M-G1K530T-@
R88D-GT20H
2 kW
---
R88M-G2K030T-@
R88D-GT30H
3 kW
---
R88M-G3K030T-@
R88D-GT50H
4 kW
---
R88M-G4K030T-@
R88D-GT50H
5 kW
---
R88M-G5K030T-@
Rated output
With incremental encoder
With absolute encoder
R88D-GT01L
100 W
R88M-GP10030L-@
R88M-GP10030S-@
R88D-GT02L
200 W
R88M-GP20030L-@
R88M-GP20030S-@
R88D-GT04L
400 W
R88M-GP40030L-@
R88M-GP40030S-@
R88D-GT01H
100 W
R88M-GP10030H-@
R88M-GP10030T-@
● 3,000-r/min Flat Servomotors and Servo Drives
Voltage
100 V
Single-phase 200 V
Servo Drive
Servomotor
R88D-GT02H
200 W
R88M-GP20030H-@
R88M-GP20030T-@
R88D-GT04H
400 W
R88M-GP40030H-@
R88M-GP40030T-@
● 2,000-r/min Sylindrical Servomotors and Servo Drives
Servomotor
Voltage
Servo Drive
Single-phase/
three-phase 200 V
R88D-GT10H
1 kW
R88D-GT15H
1.5 kW
R88M-G1K520T-@
R88D-GT20H
2 kW
R88M-G2K020T-@
R88D-GT30H
3 kW
R88M-G3K020T-@
Three-phase 200 V
Rated output
With absolute encoder
R88M-G1K020T-@
R88D-GT50H
4 kW
R88M-G4K020T-@
R88D-GT50H
5 kW
R88M-G5K020T-@
R88D-GT75H
7.5 kW
R88M-G7K515T-@
● 1,000-r/min Sylindrical Servomotors and Servo Drives
Voltage
Servo Drive
Single-phase/
three-phase 200 V
R88D-GT15H
Three-phase 200 V
Servomotor
Rated output
900 W
With absolute encoder
R88M-G90010T-@
R88D-GT30H
2 kW
R88M-G2K010T-@
R88D-GT50H
3 kW
R88M-G3K010T-@
R88D-GT50H
4.5 kW
R88M-G4K510T-@
R88D-GT75H
6 kW
R88M-G6K010T-@
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
21
Servomotor and Decelerator Combinations
● 3,000-r/min Cylindrical Servomotors
Motor model
1/5
1/11
(1/9 for flange size No.11)
1/21
1/33
1/45
R88M-G05030@
R88G-HPG11A05100B@
(Also used with
R88M-G10030@)
R88G-HPG11A09050B@
(Gear ratio 1/9)
R88G-HPG14A21100B@
(Also used with
R88M-G10030@)
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88M-G10030@
R88G-HPG11A05100B@
R88G-HPG14A11100B@
R88G-HPG14A21100B@
R88G-HPG20A33100B@
R88G-HPG20A45100B@
R88M-G20030@
R88G-HPG14A05200B@
R88G-HPG14A11200B@
R88G-HPG20A21200B@
R88G-HPG20A33200B@
R88G-HPG20A45200B@
R88M-G40030@
R88G-HPG14A05400B@
R88G-HPG20A11400B@
R88G-HPG20A21400B@
R88G-HPG32A33400B@
R88G-HPG32A45400B@
R88M-G75030@
R88G-HPG20A05750B@
R88G-HPG20A11750B@
R88G-HPG32A21750B@
R88G-HPG32A33750B@
R88G-HPG32A45750B@
R88G-HPG32A211K0B@
R88G-HPG32A331K0B@
R88G-HPG50A451K0B@
R88G-HPG32A211K5B@
R88G-HPG50A332K0B@
(Also used with
R88M-G2K030T)
R88G-HPG50A451K5B@
R88M-G1K030T
R88G-HPG32A051K0B@
R88G-HPG32A111K0B@
R88M-G1K530T
R88G-HPG32A052K0B@
(Also used with
R88M-G2K030T)
R88G-HPG32A112K0B@
(Also used with
R88M-G2K030T)
R88M-G2K030T
R88G-HPG32A052K0B@
R88G-HPG32A112K0B@
R88G-HPG50A212K0B@
R88G-HPG50A332K0B@
---
R88M-G3K030T
R88G-HPG32A053K0B@
R88G-HPG50A113K0B@
R88G-HPG50A213K0B@
---
---
R88M-G4K030T
R88G-HPG32A054K0B@
R88G-HPG50A115K0B@
(Also used with
R88M-G5K030T)
---
---
---
R88M-G5K030T
R88G-HPG50A055K0B@
R88G-HPG50A115K0B@
---
---
---
1/11
1/21
1/33
1/45
● 3,000-r/min Flat Servomotors
Motor model
1/5
R88M-GP10030@
R88G-HPG11A05100PB@ R88G-HPG14A11100PB@ R88G-HPG14A21100PB@ R88G-HPG20A33100PB@ R88G-HPG20A45100PB@
R88M-GP20030@
R88G-HPG14A05200PB@ R88G-HPG20A11200PB@ R88G-HPG20A21200PB@ R88G-HPG20A33200PB@ R88G-HPG20A45200PB@
R88M-GP40030@
R88G-HPG20A05400PB@ R88G-HPG20A11400PB@ R88G-HPG20A21400PB@ R88G-HPG32A33400PB@ R88G-HPG32A45400PB@
● 2,000-r/min Cylindrical Servomotors
1/11
1/21
1/33
(1/12 for flange size No.65) (1/20 for flange size No.65) (1/25 for flange size No.65)
Motor model
1/5
R88M-G1K020T
R88G-HPG32A053K0B@
(Also used with
R88M-G3K030T)
R88G-HPG32A112K0SB@
R88G-HPG50A332K0SB@
(Also used with
R88G-HPG32A211K0SB@
(Also used with
R88G-HPG50A451K0SB@
R88M-G2K020T)
R88M-G2K020T)
R88M-G1K520T
R88G-HPG32A053K0B@
(Also used with
R88M-G3K030T)
R88G-HPG32A112K0SB@
(Also used with
R88M-G2K020T)
R88G-HPG50A213K0B@
(Also used with
R88M-G3K030T)
R88G-HPG50A332K0SB@
(Also used with
R88M-G2K020T)
---
R88M-G2K020T
R88G-HPG32A053K0B@
(Also used with
R88M-G3K030T)
R88G-HPG32A112K0SB@
R88G-HPG50A213K0B@
(Also used with
R88M-G3K030T)
R88G-HPG50A332K0SB@
---
R88M-G3K020T
R88G-HPG32A054K0B@
(Also used with
R88M-G4K030T)
R88G-HPG50A115K0B@
(Also used with
R88M-G5K030T)
R88G-HPG50A213K0SB@ R88G-HPG65A253K0SB@
---
R88M-G4K020T
R88G-HPG50A054K0SB@ R88G-HPG50A114K0SB@ R88G-HPG65A204K0SB@ R88G-HPG65A254K0SB@
---
R88M-G5K020T
R88G-HPG50A055K0SB@ R88G-HPG50A115K0SB@ R88G-HPG65A205K0SB@ R88G-HPG65A255K0SB@
---
R88M-G7K515T
R88G-HPG65A057K5SB@ R88G-HPG65A127K5SB@
---
---
1/45
---
● 1,000-r/min Cylindrical Servomotors
Motor model
1/5
1/11
(1/12 for flange size No.65)
1/21
(1/20 for flange size No.65)
1/33
(1/25 for flange size No.65)
R88M-G90010T
R88G-HPG32A05900TB@
R88G-HPG32A11900TB@
R88G-HPG50A21900TB@
R88G-HPG50A33900TB@
R88M-G2K010T
R88G-HPG32A052K0TB@
R88G-HPG50A112K0TB@
R88G-HPG50A212K0TB@
R88G-HPG65A255K0SB@
(Also used with R88M-G5K020T)
R88M-G3K010T
R88G-HPG50A055K0SB@
(Also used with R88M-G5K020T)
R88G-HPG50A115K0SB@
(Also used with R88M-G5K020T)
R88G-HPG65A205K0SB@
(Also used with R88M-G5K020T)
R88G-HPG65A255K0SB@
(Also used with R88M-G5K020T)
R88M-G4K510T
R88G-HPG50A054K5TB@
R88G-HPG65A127K5SB@
(Also used with R88M-G7K515T)
R88G-HPG65A204K5TB@
---
R88M-G6K010T
R88G-HPG65A057K5SB@
(Also used with R88M-G7K515T)
R88G-HPG65A127K5SB@
(Also used with R88M-G7K515T)
---
---
22
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Servo Relay Units and Cables
● Servo Relay Units and Cables
Select the Servo Relay Unit and Cable according to the model number of the Position Control Unit being used.
Position Control Unit
Position Control Unit Cable
Servo Relay Unit
Servo Drive Cable
CS1W-NC113
XW2Z-@@@J-A6
XW2B-20J6-1B
XW2Z-@@@J-A7
XW2B-40J6-2B
XW2Z-@@@J-A10
XW2B-20J6-1B
XW2Z-@@@J-A11
XW2B-40J6-2B
XW2Z-@@@J-A14
XW2B-20J6-1B
XW2Z-@@@J-A15
XW2B-40J6-2B
XW2Z-@@@J-A18
XW2B-20J6-1B
XW2Z-@@@J-A19
W2B-40J6-2B
C200HW-NC113
CS1W-NC213
CS1W-NC413
C200HW-NC213
C200HW-NC413
CS1W-NC133
XW2Z-@@@J-B25
CS1W-NC233
CS1W-NC433
CJ1W-NC113
CJ1W-NC213
CJ1W-NC413
CJ1W-NC133
CJ1W-NC233
CJ1W-NC433
CJ1M-CPU21
XW2B-20J6-8A (for 1 axes)
CJ1M-CPU22
XW2Z-@@@J-B31
XW2Z-@@@J-A33
XW2B-40J6-9A (for 2 axes)
CJ1M-CPU23
General-purpose I/O
XW2Z-@@@J-A28
Special I/O
XW2Z-@@@J-A30
FQM1-MMP22
XW2Z-@@@J-B26
XW2B-80J7-12A
General-purpose I/O
XW2Z-@@@J-A28
Special I/O
XW2Z-@@@J-A31
FQM1-MMA22
XW2Z-@@@J-B27
Note: 1. Insert the cable length into the boxes in the model number (@@@). Position Control Unit cables come in two lengths: 0.5 m and 1 m (some are also available
in lengths of 2 m). Servo Driver Cables also come in two lengths: 1 m and 2 m.
Note: 2. Two Servo Driver Cables are required if 2-axis control is performed using one Position Control Unit.
Note: 3. Direct cable is available for CJ1W-NC@@4 Position Control Unit (High-Speed type).
Specifications
The number of axes
For CJ1W-NC214/-NC414 (open collector output type)
1 axis
Model
XW2Z-@@@J-G13
For CJ1W-NC214/-NC414 (open collector output type)
2 axis
XW2Z-@@@J-G5
For CJ1W-NC234/-NC434 (line-driver output type)
1 axis
XW2Z-@@@J-G9
For CJ1W-NC234/-NC434 (line-driver output type)
2 axis
XW2Z-@@@J-G1
Motion Control Unit Cables
● Motion Control Unit Cable
There are special cables for 1-axis and 2-axis Motion Control Unit operation. Select the appropriate cable for the number of axes to be connected.
Motion Control Unit
Cable
For 1 axis
R88A-CPG@@@M1
For 2 axes
R88A-CPG@@@M2
CS1W-MC221-V1/421-V1
Remarks
The @@@ digits in the model number indicate the cable length.
Motion Control Unit Cables come in four lengths: 1 m, 2 m, 3 m, and 5 m.
Example model number for 2-m 1-axis cable: R88A-CPG002M1
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
23
Cable Combinations
Parameter Unit
Monitor Software for Windows
Motion Control Unit
Position Control Unit
(High-speed type)
NC414
CN1
CN2
RUN SYNC
1
A1
B1
2
A2
B2
ERC ERH
3
A3
B3
4
A4
B4
AS
BS
AXIS1
MACH
No.
x10 1
38
39
10
11
12
13
14
19
18
17
16
15
37
36
35
34
33
32
9
31
8
30
7
29
6
28
5
27
4
26
3
25
2
24
1
23
0
22
21
20
AXIS2
AXIS2
x10 0
CN4
AXIS1
CN3
Servo Relay Units
* Brake Cable Combinations
Using the following Servomotors, with brake:
Cylindrical Servomotors, 3,000 r/min, 50 to 750 W
Flat Servomotors, 3,000 r/min, 100 to 400 W
Cylindrical Servomotors, 2,000 r/min, 7.5 kW
Cylindrical Servomotors, 1,000 r/min,6 kW
Other Servomotors:
Position Control Unit
PLC
(Model with Pulse Outpu
Relay terminal block
● Power Supply Cables (for CNB) (SR Connection Cables)
Model
Cylindrical Servomotors,
3,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
2,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
1,000 r/min, 2 to 4.5 kW
R88A-CAGD@@@S
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
R88A-CAGE@@@S
Cylindrical Servomotors,
The empty boxes in the model
1,500 r/min, 7.5 kW
number are for the cable length.
Cylindrical Servomotors,
The cable can be 3, 5, 10, 15, 20,
1,000 r/min, 6 kW
30, 40, or 50 m long.
24
(50)
Connector:
172159-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
(70)
[Servomotor Connector]
L
37.3 dia.
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
(70)
L
37.3 dia.
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
(70)
L
40.5 dia.
R88A-CAGC@@@S
Cylindrical Servomotors,
The empty boxes in the model
3,000 r/min, 2 kW
number are for the cable length.
Cylindrical Servomotors,
The cable can be 3, 5, 10, 15, 20,
2,000 r/min, 2 kW
30, 40, or 50 m long.
L
Straight plug:
N/MS3106B22-22S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
L
(120)
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
56.4 dia
R88A-CAGB@@@S
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
[Servomotor Connector]
(50)
(6.2 dia.)
Cylindrical Servomotors,
3,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
2,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
1,000 r/min, 900 W
Description
(10.4 dia.)
R88A-CAGA@@@S
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
(10.4 dia.)
Standard Servomotor
Power Cables for
Servomotors without
Brakes
Connected to
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W
Flat Servomotors,
3,000 r/min, 100 to 400
W
(14.7 dia.)
Name
(28.5 dia.)
Symbol
Straight plug:
N/MS3106B32-17S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-20A
(Japan Aviation Electronics Industry, Ltd.)
R88M-G/R88D-GT
Model
R88A-CAGB@@@BR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
Cylindrical Servomotors,
3,000 r/min, 2 kW
Cylindrical Servomotors,
2,000 r/min, 2 kW
R88A-CAGC@@@BR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
Cylindrical Servomotors,
3,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
2,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
1,000 r/min, 2 to 4.5 kW
R88A-CAGD@@@BR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
(10.4 dia.)
.)
(5.4 dia
37.3 dia.
(10.4 dia.)
a)
(5.4 di
43.7 dia
(14.7 dia.)
ia.)
(5.4 d
L
(70)
(50)
Straight plug:
N/MS3106B24-11S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-16A
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
(50)
L
(6.9 dia)
Connector:
172159-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
[Servomotor Connector]
(70)
L
37.3 dia.
Cylindrical Servomotors,
3,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
2,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
1,000 r/min, 900 W
[Servomotor Connector]
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
(70)
L
37.3 dia.
R88A-CAGD@@@SR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
L
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
(70)
L
40.5 dia.
Cylindrical Servomotors,
3,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
2,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
1,000 r/min, 2 to 4.5 kW
(70)
(70)
L
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
L
(70)
(70)
L
[Servomotor Connector]
L
(70)
(70)
Straight plug:
N/MS3106B22-22S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
37.3 dia.
R88A-CAGC@@@SR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
L
(70)
(12.7 dia.)
Cylindrical Servomotors,
3,000 r/min, 2 kW
Cylindrical Servomotors,
2,000 r/min, 2 kW
[Servomotor Connector]
L
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
43.7 dia.
Robot Servomotor
Power Cables for
Servomotors with
Brakes
R88A-CAGB@@@SR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
L
(12.7 dia.)
Robot Servomotor
Power Cables for
Servomotors without
Brakes
Cylindrical Servomotors,
3,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
2,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
1,000 r/min, 900 W
(70)
(12.7 dia.)
R88A-CAGA@@@SR
Cylindrical Servomotors,
The empty boxes in the model
3,000 r/min, 50 to 750 W
number are for the cable length.
Flat Servomotors,
The cable can be 3, 5, 10, 15, 20,
3,000 r/min, 100 to 400 W
30, 40, or 50 m long.
L
(70)
(15.6 dia.)
R88A-CAGD@@@B
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
.)
Cylindrical Servomotors,
3,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
2,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
1,000 r/min, 2 to 4.5 kW
[Servomotor Connector]
(6.1 dia
R88A-CAGC@@@B
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
L
(12.7 dia.)
Cylindrical Servomotors,
3,000 r/min, 2 kW
Cylindrical Servomotors,
2,000 r/min, 2 kW
(70)
.)
R88A-CAGB@@@B
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
(6.1 dia
Cylindrical Servomotors,
3,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
2,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
1,000 r/min, 900 W
Description
(15.6 dia.)
Standard Servomotor
Power Cables for
Servomotors with
Brakes
Connected to
)
Name
a.
(6.1 di
Symbol
L
Straight plug:
N/MS3106B24-11S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-16A
(Japan Aviation Electronics Industry, Ltd.)
(70)
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
25
● Brake Cables
Model
Description
R88A-CAGA@@@B
Cylindrical Servomotors,
The empty boxes in the model
3,000 r/min, 50 to 750 W
number are for the cable length.
Flat Servomotors,
The cable can be 3, 5, 10, 15, 20,
3,000 r/min, 100 to 400 W
30, 40, or 50 m long.
Standard Brake
Cables
Cylindrical Servomotors,
1,500 r/min, 7.5 kW
Cylindrical Servomotors,
1,000 r/min, 6 kW
Robot Brake Cables
R88A-CAGE@@@B
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
R88A-CAGA@@@BR
Cylindrical Servomotors,
The empty boxes in the model
3,000 r/min, 50 to 750 W
number are for the cable length.
Flat Servomotors,
The cable can be 3, 5, 10, 15, 20,
3,000 r/min, 100 to 400 W
30, 40, or 50 m long.
(50)
L
[Servomotor Connector]
(50)
Connector:
172157-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
(5.4 dia.)
Connected to
[Servomotor Connector]
(70)
L
Straight plug:
N/MS3106B14-2S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-6A
(Japan Aviation Electronics Industry, Ltd.)
(5.4 dia.)
Name
(50)
L
[Servomotor Connector]
(50)
Connector:
172157-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
(6.1 dia.)
Symbol
● Encoder Cables (for CN2)
Connected to
Model
Description
R88A-CRGA@@@C
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15,
20, 30, 40, or 50 m long.
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W,
Standard Encoder incremental encoder
Cables with
Flat Servomotors, 3,000 r/min,
Connectors
100 to 400 W, incremental
encoder
R88A-CRGB@@@C
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15,
20, 30, 40, or 50 m long.
Connector:
3 to 20 m:
Crimped I/O connector:
(Molex Japan Co., Ltd.)
30 to 50 m: 55100-0670
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
Connector:
172161-1
(Tyco Electronics AMP KK)
Connector pins:
170365-1
(Tyco Electronics AMP KK)
171639-1
(Tyco Electronics AMP KK)
L
(7.5 dia.)
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W,
absolute encoder
Flat Servomotors, 3,000 r/min,
100 to 400 W, absolute
encoder
Robot Encoder
Cables with
Connectors
[Servomotor Connector]
[Servo Drive Connector]
[Servomotor Connector]
[Servo Drive Connector]
Connector:
3 to 20 m:
Crimped I/O connector:
(Molex Japan Co., Ltd.)
30 to 50 m: 55100-0670
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
Cylindrical Servomotors,
3,000 r/min,1 to 1.5 kW
Cylindrical Servomotors,
2,000 r/min,1 to 5 kW
Cylindrical Servomotors,
1,500 r/min, 7.5 kW
Cylindrical Servomotors,
1,000 r/min, 900 W to 6 kW
R88A-CRGC@@@N
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15,
20, 30, 40, or 50 m long.
Connector:
3 to 20 m:
Crimped I/O connector:
(Molex Japan Co., Ltd.)
30 to 50 m: 55100-0670
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
Cylindrical Servomotors,
3,000 r/min,50 to 750 W,
absolute encoder
Flat Servomotors, 3,000 r/min,
100 to 400 W, absolute
encoder
R88A-CRGA@@@CR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15,
20, 30, 40, or 50 m long.
[Servo Drive Connector]
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W,
incremental encoder
Flat Servomotors, 3,000 r/min,
100 to 400 W, incremental
encoder
R88A-CRGB@@@CR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15,
20, 30, 40, or 50 m long.
[Servo Drive Connector]
Cylindrical Servomotors,
3,000 r/min,1 to 1.5 kW
Cylindrical Servomotors,
2,000 r/min,1 to 5 kW
Cylindrical Servomotors,
1,500 r/min, 7.5 kW
Cylindrical Servomotors,
1,000 r/min, 900 W to 6 kW
R88A-CRGC@@@NR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15,
20, 30, 40, or 50 m long.
[Servo Drive Connector]
L
(6.5 dia./6.8 dia.)
Straight plug:
N/MS3106B20-29S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
L
(6.5 dia./6.8 dia.)
[Servomotor Connector]
L
Connector:
172161-1
(Tyco Electronics AMP KK)
Connector pins:
170365-1
(Tyco Electronics AMP KK)
(7.5 dia.)
Connector:
Crimped I/O connector:
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
[Servomotor Connector]
LL
Connector:
Crimped I/O connector:
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
Connector:
Crimped I/O connector:
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
Connector:
172160-1
(Tyco Electronics AMP KK)
Connector pins:
170365-1
(Tyco Electronics AMP KK)
171639-1
(Tyco Electronics AMP KK)
[Servomotor Connector]
[Servo Drive Connector]
Connector:
172160-1
(Tyco Electronics AMP KK)
Connector pins:
170365-1
(Tyco Electronics AMP KK)
(7.5 dia.)
(7.5 dia.)
Name
[Servomotor Connector]
L
Straight plug:
N/MS3106B20-29S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
(7.5 dia.)
Symbol
● Absolute Encoder Backup Battery and Absolute Encoder Battery Cable
Absolute Encoder Battery Cable
Absolute Encoder Backup Battery
26
Contents
Length (m)
Model
Battery not included.
0.3 m
R88A-CRGD0R3C
One R88A-BAT01G Battery
included.
0.3 m
R88A-CRGD0R3C-BS
---
---
R88A-BAT01G
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
Description
43.5
300
43.5
18.8
Name
18.8
Symbol
t=12
Battery holder
t=12
---
R88M-G/R88D-GT
● Control Cables (for CN1)
Symbol
Name
Control Cables
Direct connection cable
for Position Control Unit
(High-speed type)
Connected to
Motion Control Units
(for all CS1/C200H)
Line-driver output type (High-speed type)
for CJ1W-NC234/434
For 1 axis
Line-driver output type (High-speed type)
for CJ1W-NC234/434
For 2 axis
Open collector output type (High-speed type)
For 1 axis
for CJ1W-NC214/NC414
Open collector output type (High-speed type)
For 2 axis
for CJ1W-NC214/NC414
Servo Relay Units
Servo Relay Unit Cables
for
Servo Drives
CJ1W-NC113/NC133
CS1W-NC113/NC133
(C200HW-NC113)
CJ1W-NC213/NC233/NC413/NC433
CS1W-NC213/NC233/NC413/NC433
(C200HW-NC213/NC413)
CJ1M-CPU21/CPU22/CPU23 (1 axis)
CJ1M-CPU21/CPU22/CPU23 (2 axes)
FQM1-MMA22
FQM1-MMP22
CJ1M-CPU21/-CPU22/-CPU23
(XW2B-20J6-8A and XW2B-40J6-9A)
FQM1-MMA22
(XW2B-80J7-12A)
FQM1-MMP22
(XW2B-80J7-12A)
CJ1W-NC133
CJ1W-NC233/NC433
CS1W-NC133
CS1W-NC233/NC433
CJ1W-NC113
Servo Relay Unit Cables
for
Position Control Units
CJ1W-NC213/NC413
CS1W-NC113
C200HW-NC113
CS1W-NC213/NC413
C200HW-NC213/NC413
CJ1M-CPU21/CPU22/CPU23
FQM1-MMA22
FQM1-MMP22
(General-purpose I/O)
FQM1-MMA22 (Special I/O)
FQM1-MMP22 (Special I/O)
Model
R88A-CPG@@@M♦
The empty boxes in the model number are for the cable length.
The cable can be 1, 2, 3, or 5 m long.
The empty diamond in the model number is for the number of axes.
One axis: 1, Two axes: 2
XW2Z-@@@J-G9
The empty boxes in the model number are for the cable length.
The cable can be 1, 5, or 10 m long.
XW2Z-@@@J-G1
The empty boxes in the model number are for the cable length.
The cable can be 1, 5, or 10 m long.
XW2Z-@@@J-G13
The empty boxes in the model number are for the cable length.
The cable can be 1, or 3 m long.
XW2Z-@@@J-G5
The empty boxes in the model number are for the cable length.
The cable can be 1, or 3 m long.
XW2B-20J6-1B
XW2B-40J6-2B
XW2B-20J6-8A
XW2B-40J6-9A
XW2B-80J7-12A
XW2Z-@@@J-B31
XW2Z-@@@J-B27
The empty boxes in the model number are for the cable length.
The cable can be 1 or 2 m long.
XW2Z-@@@J-B26
The empty boxes in the model number are for the cable length.
The cable can be 1 or 2 m long.
XW2Z-@@@J-A18
The empty boxes in the model number are for the cable length.
The cable can be 0.5 or 1 m long.
XW2Z-@@@J-A19
The empty boxes in the model number are for the cable length.
The cable can be 0.5 or 1 m long.
XW2Z-@@@J-A10
The empty boxes in the model number are for the cable length.
The cable can be 0.5 or 1 m long.
XW2Z-@@@J-A11
The empty boxes in the model number are for the cable length.
The cable can be 0.5 or 1 m long.
XW2Z-@@@J-A14
The empty boxes in the model number are for the cable length.
The cable can be 0.5 or 1 m long.
XW2Z-@@@J-A15
The empty boxes in the model number are for the cable length.
The cable can be 0.5 or 1 m long.
XW2Z-@@@J-A6
The empty boxes in the model number are for the cable length.
The cable can be 0.5 or 1 m long.
XW2Z-@@@J-A7
The empty boxes in the model number are for the cable length.
The cable can be 0.5 or 1 m long.
XW2Z-@@@J-A33
The empty boxes in the model number are for the cable length.
The cable can be 0.5, 1, or 2 m long.
XW2Z-@@@J-A28
The empty boxes in the model number are for the cable length.
The cable can be 0.5 or 1 m long.
XW2Z-@@@J-A31
The empty boxes in the model number are for the cable length.
The cable can be 0.5, 1, or 2 m long.
XW2Z-@@@J-A30
The empty boxes in the model number are for the cable length.
The cable can be 0.5, 1, or 2 m long.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
27
Symbol
Name
Connected to
General-purpose Control
Cables
Model
R88A-CPG@@@S
The empty boxes in the model number are for the cable length.
The cable can be 1 or 2 m long.
XW2Z-@@@J-B24
The empty boxes in the model number are for the cable length.
The cable can be 1 or 2 m long.
Cables for General-purpose Controllers
Connector Terminal Block
Cables for General-purpose Controllers
Cables
Conversion Unit for General-purpose Controllers
(M3 screws)
Connector-Terminal Block Conversion Unit for General-purpose Controllers
Conversion Units
(M3.5 screws)
Conversion Unit for General-purpose Controllers
(M3 screws)
XW2B-50G4
XW2B-50G5
XW2D-50G6
Note: Use the following codes in @@@ for the cable length: 0.5 m: 050, 1 m: 100, 2 m: 200, 3 m: 300, 5 m: 500, and 10 m:10M.
However, for General-purpose Control Cables, use “001” for a 1-m cable.
● Communications Connector (for CN3)
Symbol
Name
Contents
Length (m)
Model
R88A-CCG@@@P4
The empty boxes in the model number are for the cable length.
The cable can be 0.5 or 1 m long.
RS485 Communications Cables
---
---
Parameter Unit
---
1.5 m
for Windows
RS232 Communications
2m
Personal Computer Monitor Cable
R88A-PR02G
R88A-CCG002P2
● Control Cables
Symbol
Name
Connected to
Model
---
Servomoteor Connector for Encoder
Cable, absolute Encoder
for moter
R88A-CNG01R
---
Servomoteor Connector for Encoder
Cable, Incremental Encoder
for moter
R88A-CNG02R
---
Control I/O Connector (CN1)
for drive
---
Encoder Connector (CN2)
---
R88A-CNW01R
---
Power Cable Connector (750 W max.)
---
R88A-CNG01A
---
Brake Cable Connector (750 W max.)
---
R88A-CNG01B
28
R88A-CNU01C
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Servo Drive Specifications (R88D-GT)
● General Specifications
Item
Specifications
Ambient operating temperature and operating humidity
0 to 55°C, 90% RH max. (with no condensation)
Ambient storage temperature and storage humidity
−20 to 65°C, 90% RH max. (with no condensation)
Storage and operating atmosphere
No corrosive gasses
Vibration resistance
Smaller of either 10 to 60 Hz with double amplitude of 0.1 mm or acceleration of 5.88 m/s2 max. in X,
Y, and Z directions.
Impact resistance
Acceleration of 19.6 m/s2 max. 2 times each in X, Y, and Z directions
Insulation resistance
Between power supply/power line terminals and frame ground: 0.5 MΩ. min. (at 500 VDC)
Dielectric strength
Between power supply/power line terminals and frame ground: 1,500 VAC for 1 min at 50/60 Hz
Between each control signal and frame ground: 500 VAC for 1 min
Built into panel (IP10).
Protective structure
EC
Directives
International
standards
EMC
Directive
EN 55011 class A group 1
Low voltage Directive
EN 50178
EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11
UL standards
UL 508C
CSA standards
CSA C22.2 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. Depending on the operating conditions, some Servo Drive parts will require maintenance.
Note: 4. The service life of the Servo Drive is 28,000 hours at an average ambient temperature of 55°C at 100% of the rated torque.
● Characteristics
Servo Drives with 100-VAC Input Power
Item
R88D-GTA5L
R88D-GT01L
R88D-GT02L
R88D-GT04L
Continuous output current (rms)
1.3 A
1.8 A
2.4 A
4.9 A
Momentary maximum output current (rms)
3.9 A
5.4 A
7.2 A
14.7 A
0.4 KVA
0.5 KVA
0.9 KVA
Power supply capacity
Main circuit
Input power
supply
Heat
generated
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
1.4 A
Rated current
Control circuit
0.4 KVA
Power supply voltage
2.2 A
0.09 A
0.09 A
0.09 A
0.09 A
10.1 W
14.4 W
18.4 W
41.4 W
Control circuit
4.4 W
4.4 W
4.4 W
4.4 W
Rated current
All-digital servo
IGBT-driven PWM method
Inverter method
12.0 kHz
PWM frequency
6.0 kHz
Approx. 0.8 kg
Approx. 0.8 kg
Approx. 1.1 kg
Approx. 1.5 kg
50 W
100 W
200 W
400 W
INC
G05030H
G10030L
G20030L
G40030L
ABS
G05030T
G10030S
G20030S
G40030S
INC
---
GP10030L
GP20030L
GP40030L
ABS
---
GP10030S
GP20030S
GP40030S
2,000-r/min Servomotors
ABS
---
---
---
---
1,000-r/min Servomotors
ABS
---
---
---
---
Weight
Maximum applicable motor capacity
3,000-r/min Servomotors
3,000-r/min Flat Servomotors
Speed control range
Performance
6.6 A
Main circuit
Control method
Applicable
Servomotors
(R88M-)
3.7 A
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
Power supply voltage
1: 5000
Speed variability: Load characteristic
0.01% or less at 0% to 100% (at rated speed)
Speed variability: Voltage characteristic
0% at ±10% of rated voltage (at rated speed)
Speed variability: Temperature characteristic
Torque control reproducibility
±0.1% or less at 0 to 50°C (at rated speed)
±3%
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
29
Servo Drives with Single-phase 200-VAC Input Power
R88D-GT01H
R88D-GT02H
R88D-GT04H
R88D-GT08H
R88D-GT10H
Continuous output current (rms)
Item
1.16 A
1.6 A
2.7 A
4.0 A
5.9 A
9.8 A
Momentary maximum output current (rms)
3.5 A
5.3 A
7.1 A
14.1 A
21.2 A
28.3 A
0.5 KVA
0.5 KVA
0.9 KVA
1.3 KVA
1.8 KVA
2.3 KVA
Power supply capacity
Main circuit
Input power
supply
Heat
generated
Power supply voltage
1.3 A
Rated current
Control circuit
Single-phase 200 to 240 VAC
(170 to 264 V), 50/60 Hz
Single-phase or three-phase 200 to 240 VAC
(170 to 264 V), 50/60 Hz
3.7 A
5.0/3.3 *1 A
11/8.0 *1 A
0.05 A
0.05 A
0.05 A
0.05 A
0.07 A
0.07 A
Main circuit
14.3 W
14.8 W
23.6 W
38.7 W
52.9 W
105.9 W
Control circuit
4.5 W
4.5 W
4.5 W
4.3 W
6.1 W
6.1 W
Rated current
12.0 kHz
6.0 kHz
Approx. 0.8 kg
Approx. 0.8 kg
Approx. 1.1 kg
Approx. 1.5 kg
Approx. 1.7 kg
Approx. 1.7 kg
100 W
200 W
400 W
750 W
1kW
1.5 kW
INC
G05030H
G10030H
G20030H
G40030H
G75030H
---
---
ABS
G05030T
G10030T
G20030T
G40030T
G75030T
---
G1K030T
G1K530T
INC
GP10030H
GP20030H
GP40030H
---
---
---
ABS
GP10030T
GP20030T
GP40030T
---
---
---
2,000-r/min Servomotors
ABS
---
---
---
---
G1K020T
G1K520T
1,000-r/min Servomotors
ABS
---
---
---
---
---
G90010T
Weight
Maximum applicable motor capacity
3,000-r/min Servomotors
3,000-r/min Flat Servomotors
Control method
All-digital servo
Inverter method
IGBT-driven PWM method
Performance
7.5/4.1 *1 A
Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
Power supply voltage
PWM frequency
Applicable
Servomotors
(R88M-)
2.0 A
R88D-GT15H
1:5000
Speed control range
Speed variability: Load characteristic
0.01% or less at 0% to 100% (at rated speed)
Speed variability: Voltage characteristic
0% at ±10% of rated voltage (at rated speed)
±0.1% or less at 0 to 50°C (at rated speed)
Speed variability: Temperature characteristic
±3%
Torque control reproducibility
*1. The left value is for single-phase input power and the right value is for three-phase input power.
Servo Drives with Three-phase 200-VAC Input Power
R88D-GT20H
R88D-GT30H
R88D-GT50H
Continuous output current (rms)
Item
14.3 A
17.4 A
31.0 A
45.4 A
Momentary maximum output current (rms)
45.3 A
63.6 A
84.8 A
170.0 A
4.5 KVA
7.5 KVA
11 KVA
Power supply capacity
Main circuit
Input power
supply
Heat
generated
Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
Power supply voltage
10.2 A
Rated current
Control circuit
3.3 KVA
15.2 A
23.7 A
0.1 A
0.12 A
0.12 A
0.14 A
Main circuit
112.3 W
219.6 W
391.7 W
376.2 W
Control circuit
10.7 W
13.3 W
13.3 W
13.8 W
Rated current
6.0 kHz
Approx. 3.2 kg
Approx. 6.0 kg
Approx. 6.0 kg
Approx. 16.4 kg
2 kW
3 kW
5 kW
7.5 kW
INC
---
---
---
---
ABS
G2K030T
G3K030T
G4K030T
G5K030T
---
INC
---
---
---
---
ABS
---
---
---
--G7K515T
G6K010T
Weight
Maximum applicable motor capacity
3,000-r/min Servomotors
3,000-r/min Flat Servomotors
2,000-r/min Servomotors
ABS
G2K020T
G3K020T
G4K020T
G5K020T
1,000-r/min Servomotors
ABS
---
G2K010T
G3K010T
G4K510T
All-digital servo
Inverter method
IGBT-driven PWM method
Performance
Control method
30
35.0 A
Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
Power supply voltage
PWM frequency
Applicable
Servomotors
(R88M-)
R88D-GT75H
Speed control range
1:5000
Speed variability: Load characteristic
0.01% or less at 0% to 100% (at rated speed)
Speed variability: Voltage characteristic
0% at ±10% of rated voltage (at rated speed)
Speed variability: Temperature characteristic
Torque control reproducibility
±0.1% or less at 0 to 50°C (at rated speed)
±3%
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Servomotor Specifications (R88M-G)
● General Specifications
3,000-r/min Servomotors
Item
50 to 750 W
1 to 5 kW
Ambient operating temperature
and humidity
Ambient storage temperature and
humidity
1,000-r/min Servomotors
2,000-r/min Servomotors
3,000-r/min Flat
Servomotors
900 W to 5 kW
6 to 7.5 kW
0 to 40°C, 85% RH max. (with no condensation)
−20 to 65°C, 85% RH
max. (with no
condensation)
−20 to 80°C, 85% RH max. (with no condensation)
No corrosive gases
Storage and operating atmosphere
Vibration resistance *1
10 to 2,500 Hz and
acceleration of
49 m/s2 max. in the X,
Y, and Z directions
10 to 2,500 Hz and
acceleration of
24.5 m/s2 max. in the
X, Y, and Z directions
10 to 2,500 Hz and
acceleration of
49 m/s2 max. in the X,
Y, and Z directions
10 to 2,500 Hz and acceleration of 24.5 m/s2
max. in the X, Y, and Z directions
Impact resistance
Acceleration of
98 m/s2 max. 3 times
each in the X, Y, and Z
directions
Acceleration of
98 m/s2 max. 3 times
each in the X, Y, and Z
directions
Acceleration of
98 m/s2 max. 3 times
each in the X, Y, and Z
directions
Acceleration of 98 m/s2 max. 2 times vertically
Insulation resistance
20 MΩ min. at 500 VDC between the power terminals and FG terminal
Dielectric strength
1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal
Operating position
All directions
Insulation grade
Type B
Structure
Type F
Type B
Protective structure
IP65 (excluding the output shaft rotating section and lead wire ends)
Vibration grade
V-15
International standards
Mounting method
EC Directives
UL standards
CSA standards
Type F
Totally enclosed, self-cooling
Flange-mounting
Low voltage
Directive
IEC 60034-1/-5
UL1004-1
−
CSA 22.2 No.100
*1. The amplitude may be amplified by mechanical resonance. Do not exceed 80% of the specified value for extended periods of time.
Note: 1. Do not use the cable when it is laying in oil or water.
Note: 2. Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself.
Note: 3. Always disconnect all connections to the Servo Drive before you perform insulation resistance tests on it. If you perform an insulation resistance test while the
Servo Drive is connected, the Servo Drive may be damaged.
Never perform dielectric strength tests on the Servo Drive. Failure to follow this precaution may result in damaging internal elements.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
31
Servomoter Specifications (R88M-G)
● Characteristics
3,000-r/min Cylindrical Servomotors
100-VAC Input Power
Model (R88M-)
Item
G05030H
G10030L
G20030L
G40030L
Unit
G05030T
G10030S
G20030S
G40030S
W
50
100
200
400
N·m
0.16
0.32
0.64
1.3
3.6
Rated output *1
Rated torque
*1
Rated rotation speed
r/min
Max. momentary rotation speed
r/min
Max. momentary torque *1
N·m
0.45
0.93
1.78
Rated current *1
A (rms)
1.1
1.7
2.5
4.6
Max. momentary current *1
A (rms)
3.4
5.1
7.6
13.9
Rotor inertia
kg·m2
(GD2/4)
2.5 × 10−6
5.1 × 10−6
1.4 × 10−5
2.6 × 10−5
Applicable load inertia
Torque constant
3000
5000
30 times the rotor inertia max. *2
---
*1
N·m/A
0.14
0.19
0.26
0.28
kW/s
10.4
20.1
30.3
62.5
Mechanical time constant
ms
1.56
1.11
0.72
0.55
Electrical time constant
ms
0.7
0.8
2.5
2.9
Allowable radial load *3
N
68
68
245
245
Power rate *1
Allowable thrust load *3
N
58
58
98
98
Without brake
kg
Approx. 0.3
Approx. 0.5
Approx. 0.8
Approx. 1.2
With brake
kg
Approx. 0.5
Approx. 0.7
Approx. 1.3
Approx. 1.7
Weight
100 × 80 × t10 (AI)
Radiation shield dimensions (material)
Applicable Servo Drives (R88D-)
kg·m2
(GD2/4)
Brake specifications
Brake inertia
130 × 120 × t12 (AI)
GTA5L
GT01L
GT02L
GT04L
2 × 10-7
2 × 10-7
1.8 × 10-6
1.8 × 10-6
24 VDC ±5%
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
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
rad/s2
30,000 max.
(Speed of 2,800 r/min or more must not be changed in less than 10 ms)
Brake life
---
10,000,000 operations min.
Rating
---
Continuous
Insulation grade
---
Type F
Allowable angular acceleration
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%). The maximum momentary torque shown above
indicates the standard value.
*2. Applicable Load Inertia:
• The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is
possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
• If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF
while the dynamic brake is enabled.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are
applied as shown in the following diagram.
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
32
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Torque and Rotation Speed Characteristics
3,000-r/min Cylindrical Servomotors
• 3,000-r/min Servomotors with 100-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
R88M-G05030H/T (50 W)
R88M-G10030L/S (100 W)
(N·m)
0.5
R88M-G20030L/S (200 W)
(N·m)
0.48
0.48
0.75
2.0 1.78
Repetitive usage
0.5 0.32
0.16
0.1
Continuous usage
1000 2000 3000 4000 5000
(r/min)
0
0.83 (3600)
1.0 0.83
Repetitive usage
0.25 0.16
(N·m)
Continuous usage
0
1.0
0.32
0.28
1000 2000 3000 4000 5000
(r/min)
0
1.78 (3500)
Repetitive usage
0.64
0.64
Continuous usage
0.9
0.6
1000 2000 3000 4000 5000
(r/min)
R88M-G40030L/S (400 W)
(N·m)
4.0 3.6
3.6 (3000)
Repetitive usage
2.0 1.3
1.3
Continuous usage
0
1.3
0.6
1000 2000 3000 4000 5000
(r/min)
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
33
Servomotor Specifications (R88M-G)
● Characteristics
3,000-r/min Cylindrical Servomotors
200-VAC Input Power
Model (R88M-) G05030H G10030H G20030H G40030H G75030H
Item
Unit
---
---
---
---
---
---
G05030T G10030T G20030T G40030T G75030T G1K030T G1K530T G2K030T G3K030T G4K030T G5K030T
Rated output t *1
W
50
100
200
400
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
6.36
9.54
12.6
15.8
Rated rotation speed
r/min
Max. momentary rotation speed
Max. momentary torque
3000
r/min
*1
5000
4500
5000
4500
N·m
0.45
0.90
1.78
3.67
7.05
9.1
12.8
18.4
27.0
36.3
45.1
Rated current *1
A (rms)
1.1
1.1
1.6
2.6
4
7.2
9.4
13
18.6
24.7
28.5
Max. momentary current *1
A (rms)
3.4
3.4
4.9
7.9
12.1
21.4
28.5
40
57.1
75
85.7
Rotor inertia
kg·m2
(GD2/4)
2.5 ×
10−6
5.1 ×
10−6
1.4 ×
10−5
2.6 ×
10−5
8.7 ×
10−5
1.69 ×
10−4
2.59 ×
10−4
3.46 ×
10−4
6.77 ×
10−4
1.27 ×
10−3
1.78 ×
10−3
Applicable load inertia
---
30 times the rotor inertia max. *2
20 times
the rotor
inertia
max. *2
15 times the rotor inertia max. *2
Torque constant *1
N·m/A
0.14
0.19
0.41
0.51
0.64
0.44
0.51
0.48
0.51
0.51
Power rate *1
kW/s
10.4
20.1
30.3
62.5
66
60
88
117
134
125
140
Mechanical time constant
ms
1.56
1.1
0.71
0.52
0.45
0.78
0.54
0.53
0.46
0.51
0.46
Electrical time constant
ms
0.7
0.79
2.6
3
4.6
6.7
10
10.8
20
20
20
Allowable radial load *3
N
68
68
245
245
392
392
490
490
490
784
784
Allowable thrust load *3
N
58
58
98
98
147
147
196
196
196
343
343
Without brake
kg
Approx.
0.3
Approx.
0.5
Approx.
0.8
Approx.
1.2
Approx.
2.3
Approx.
4.5
Approx.
5.1
Approx.
6.5
Approx.
9.3
Approx.
12.9
Approx.
17.3
With brake
kg
Approx.
0.5
Approx.
0.7
Approx.
1.3
Approx.
1.7
Approx.
3.1
Approx.
5.1
Approx.
6.5
Approx.
7.9
Approx.
11
Approx.
14.8
Approx.
19.2
320 ×
300 ×
t30 (AI)
320 ×
300 ×
t20 (AI)
Weight
Radiation shield dimensions (material)
100 × 80 × t10 (AI)
Applicable Servo Drives (R88D-)
GT01H
Brake specifications
Brake inertia
kg·m2
2 × 10−7
(GD2/4)
GT01H
2×
10−7
130 × 120 × t12
(AI)
170 × 160 × t12
(AI)
0.57
380 × 350 × t30 (AI)
GT02H
GT04H
GT08H
GT15H
GT15H
GT20H
GT30H
GT50H
GT50H
1.8 ×
10−6
1.8 ×
10−6
7.5 ×
10−6
2.5 ×
10−5
3.3 ×
10−5
3.3 ×
10−5
3.3 ×
10−5
1.35 ×
10−4
1.35 ×
10−4
24 VDC ±5%
24 VDC ±10%
Excitation voltage *4
V
Power consumption (at 20°C)
W
7
7
9
9
10
18
19
19
19
22
22
Current consumption (at 20°C)
A
0.3
0.3
0.36
0.36
0.42
0.74
0.81
0.81
0.81
0.9
0.9
Static friction torque
N·m
0.29
min.
0.29
min.
1.27
min.
1.27
min.
2.45
min.
4.9 min.
7.8 min.
7.8 min.
11.8
min.
16.1
min.
16.1
min.
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.
15 max.
15 max.
15 max.
15 max.
50 max.
50 max.
±1°
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
J
39.2
39.2
137
137
196
392
392
392
392
1470
1470
J
4.9 ×
103
4.9 ×
103
44.1 ×
103
44.1 ×
103
147 ×
103
2.0 ×
105
4.9 ×
105
4.9 ×
105
4.9 ×
105
2.2 ×
106
2.2 ×
106
rad/s2
30,000 max.
(Speed of 2,800 r/min or more must not be changed
in less than 10 ms)
10,000 max.
(Speed of 900 r/min or more must not be changed in less than
10 ms)
Brake life
---
10,000,000 operations min.
Rating
---
Continuous
Insulation grade
---
Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%). The maximum momentary torque shown above
indicates the standard value.
*2. Applicable Load Inertia:
• The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is
possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
• If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF
while the dynamic brake is enabled.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at
normal operating temperatures. The allowable radial loads are applied as shown in the following
Radial load
diagram.
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
Thrust load
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500
manufactured by Okaya Electric Industries Co., Ltd.).
Center of shaft (LR/2)
34
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Torque and Rotation Speed Characteristics
3,000-r/min Cylindrical Servomotors
• 3,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-G05030H/T (50 W)
R88M-G10030H/T (100 W)
(N·m)
0.5
(N·m)
0.45
0.45
Continuous usage
1000 2000 3000 4000 5000
(r/min)
Continuous usage
1.7
1000 2000 3000 4000 5000
(r/min)
Continuous usage
R88M-G1K530T (1.5 kW)
0
12.9 (3500)
Continuous usage
3.6
1000 2000 3000 4000 5000
(r/min)
1.0
Continuous usage
R88M-G4K030T (4 kW)
0
4.8
1000 2000 3000 4000 5000
(r/min)
R88M-G3K030T (3 kW)
(N·m)
30 27.0
18.4 (3600)
Continuous usage
27.0 (3400)
Repetitive usage
15 9.54
9.54
Repetitive usage
10 6.36
6.36
0
9.1 (4000)
Repetitive usage
5 3.18
3.18
1000 2000 3000 4000 5000
(r/min)
20 18.4
Repetitive usage
7.5 4.77
4.77
0.38
1000 2000 3000 4000 5000
(r/min)
4.0
(N·m)
15 12.9
0
10 9.1
R88M-G2K030T (2 kW)
(N·m)
0.64
Continuous usage
R88M-G1K030T (1 kW)
7.05 (3600)
Repetitive usage
4.0 2.4
2.4
0.78
1.5
(N·m)
8.0 7.05
3.6 (3800)
0.64
0.28
(N·m)
Repetitive usage
2.0 1.3
1.3
Continuous usage
6.0
1000 2000 3000 4000 5000
(r/min)
0
5.5
1000 2000 3000 4000 5000
(r/min)
R88M-G5K030T (5 kW)
(N·m)
(N·m)
50 45.1
40 36.3
47.6
Repetitive usage
25 15.8
15.8
Continuous usage
0
0
1.78 (4500)
Repetitive usage
R88M-G75030H/T (750 W)
(N·m)
4.0 3.6
2.0 1.78
1.0
0.32
Continuous usage
0.1
R88M-G40030H/T (400 W)
0
0.93
0.5 0.32
1000 2000 3000 4000 5000
(r/min)
0
(N·m)
1.0 0.93
Repetitive usage
Repetitive usage
0.25 0.16
0.16
0
R88M-G20030H/T (200 W)
15.0
1000 2000 3000 4000 5000
(r/min)
37.9
Repetitive usage
20 12.6
12.6
Continuous usage
0
10.0
1000 2000 3000 4000 5000
(r/min)
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
35
Servomotor Specifications (R88M-GP)
● Characteristics
3,000-r/min Flat Servomotors
Model (R88M-)
100 VAC
200 VAC
GP10030L
GP20030L
GP40030L
GP10030H
GP20030H
GP40030H
Unit
GP10030S
GP20030S
GP40030S
GP10030T
GP20030T
GP40030T
Rated output *1
W
100
200
400
100
200
400
Rated torque *1
N·m
0.32
0.64
1.3
0.32
0.64
1.3
Rated rotation speed
r/min
Max. momentary rotation speed
r/min
Max. momentary torque *1
N·m
0.84
1.8
3.6
0.86
1.8
Rated current *1
A (rms)
1.6
2.5
4.4
1
1.6
2.5
Max. momentary current *1
A (rms)
4.9
7.5
13.3
3.1
4.9
7.5
Rotor inertia
kg·m2
(GD2/4)
1.0 × 10−5
3.5 × 10−5
6.5 × 10−5
1.0 × 10−5
3.5 × 10−5
6.4 × 10−5
N·m/A
0.21
0.27
0.42
0.54
Item
Applicable load inertia
5000
4500
*1
5000
3.65
20 times the rotor inertia max.*2
---
Torque constant *1
Power rate
3000
0.3
0.34
kW/s
10.2
11.7
26.0
10.2
11.5
25.5
Mechanical time constant
ms
0.87
0.75
0.55
1.05
0.81
0.59
Electrical time constant
ms
3.4
6.7
6.7
2.9
5.6
6.6
Allowable radial load *3
N
68
245
245
68
245
245
Allowable thrust load *3
N
58
98
98
58
98
98
Without brake
kg
Approx. 0.7
Approx. 1.3
Approx. 1.8
Approx. 0.7
Approx. 1.3
Approx. 1.8
With brake
kg
Approx. 0.9
Approx. 2
Approx. 2.5
Approx. 0.9
Approx. 2
Approx. 2.5
Weight
130 × 120 × t10
(AI)
Radiation shield dimensions (material)
Applicable Servo Drives (R88D-)
GT01L
kg·m2
(GD2/4)
Brake specifications
Brake inertia
3×
130 × 120 × t10
(AI)
170 × 160 × t12 (AI)
GT02L
GT04L
9×
10−6
GT01H
3×
10−6
10−6
170 × 160 × t12 (AI)
GT02H
GT04H
9×
10−6
24 VDC ±10%
Excitation voltage *4
V
Power consumption (at 20°C)
W
7
10
7
10
Current consumption (at 20°C)
A
0.29
0.41
0.29
0.41
0.29 min.
1.27 min.
50 max.
60 max.
Static friction torque
Attraction time
*5
Release time *5
N·m
0.29 min.
ms
50 max.
ms
15 max.
±1°
Backlash
Allowable work per braking
J
137
196
137
196
Allowable total work
J
44.1 × 103
147 × 103
44.1 × 103
147 × 103
rad/s2
10,000 max.
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
10,000,000 operations min.
Rating
---
Insulation grade
---
Allowable angular acceleration
Continuous
Continuous
Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%). The maximum momentary torque shown above
indicates the standard value.
*2. Applicable Load Inertia:
• The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is
possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
• If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF
while the dynamic brake is enabled.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are
applied as shown in the following diagram.
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
36
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Torque and Rotation Speed Characteristics
3,000-r/min Flat Servomotors
• 3,000-r/min Servomotors with 100-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
R88M-GP10030L/S (100 W)
R88M-GP20030L/S (200 W)
(N·m)
(N·m)
(N·m)
1.0 0.84
2.0 1.8
0.84 (3500)
0.32
Repetitive usage
1.0 0.64
0.64
Continuous usage
0.19
Continuous usage
1000 2000 3000 4000 5000
(r/min)
0
4.0 3.6
1.8 (3400)
Repetitive usage
0.5 0.32
0.32
0
R88M-GP40030L/S (400 W)
2.0 1.3
0.38
1000 2000 3000 4000 5000
(r/min)
0
3.6 (3300)
Repetitive usage
1.3
1.5
Continuous usage
0.78
1000 2000 3000 4000 4500
(r/min)
• 3,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-GP10030H/T (100 W)
R88M-GP20030H/T (200 W)
(N·m)
(N·m)
(N·m)
1.0 0.86
0.86
Continuous usage
1.8 (4500)
2.0 1.8
Repetitive usage
1.0 0.64
0.64
Repetitive usage
0.5 0.32
0.32
0
R88M-GP40030H/T (400 W)
Continuous usage
0.19
1000 2000 3000 4000 5000
(r/min)
0
4.0 3.65
3.65 (3600)
Repetitive usage
2.0 1.3
1.3
Continuous usage
0.38
1000 2000 3000 4000 5000
(r/min)
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
0
2.0
0.78
1000 2000 3000 4000 5000
(r/min)
R88M-G/R88D-GT
37
Servomotor Specifications (R88M-G)
● Characteristics
2,000-r/min Cylindrical Servomotors
200-VAC Input Power
Model (R88M-)
Item
G1K020T
G1K520T
G2K020T
G3K020T
G4K020T
G5K020T
G7K515T
W
1000
1500
2000
3000
4000
5000
7500
N·m
4.8
7.15
9.54
14.3
18.8
23.8
Unit
Rated output *1
Rated torque
*1
48
Rated rotation speed
r/min
Max. momentary rotation speed
r/min
Max. momentary torque *1
N·m
13.5
19.6
26.5
41.2
54.9
70.6
111
Rated current *1
A (rms)
5.6
9.4
12.3
17.8
23.4
28
46.6
Max. momentary current *1
A (rms)
17.1
28.5
37.1
54.2
71.4
85.7
117.8
Rotor inertia
kg·m2
(GD2/4)
6.17 × 10−4
1.12 × 10−3
1.52 × 10−3
2.23 × 10−3
4.25 × 10−3
6.07 × 10−3
8.9 × 10−3
1.03
Applicable load inertia
Torque constant
2000
3000
2000
10 times the rotor inertia max. *2
---
*1
1500
N·m/A
0.88
0.76
0.78
0.81
0.81
0.85
kW/s
37.3
45.8
60
91.6
83.2
93.5
230
Mechanical time constant
ms
0.7
0.81
0.75
0.72
1
0.9
0.71
Electrical time constant
ms
18
19
21
20
24
32
34
Allowable radial load *3
N
490
490
490
784
784
784
1176
Power rate *1
Allowable thrust load *3
N
196
196
196
343
343
343
490
Without brake
kg
Approx. 6.8
Approx. 8.5
Approx. 10.6
Approx. 14.6
Approx. 18.8
Approx. 25
Approx. 41
With brake
kg
Approx. 8.7
Approx. 10.1
Approx. 12.5
Approx. 16.5
Approx. 21.3
Approx. 28.5
Approx. 45
Weight
275 × 260 × t15 (AI)
Radiation shield dimensions (material)
Applicable Servo Drives (R88D-)
GT10H
Excitation voltage *4
V
Power consumption (at 20°C)
W
Current consumption (at 20°C)
Brake specifications
GT15H
kg·m2
(GD2/4)
Brake inertia
380 × 350 ×
t30 (AI)
GT20H
GT30H
1.35 × 10−4
470 × 440 × t30 (AI)
GT50H
GT50H
GT75H
4.25 × 10−4
4.7 × 10−4
4.7 × 10−4
26
31
34
24 VDC ±10%
14
19
19
22
A
0.59
0.79
0.79
0.9
1.1
1.3
1.4
Static friction torque
N·m
4.9 min.
13.7 min.
13.7 min.
16.1 min.
21.5 min.
24.5 min.
58.8 min.
Attraction time *5
ms
80 max.
100 max.
100 max.
110 max.
90 max.
80 max.
150 max.
Release time *5
ms
70 max.
50 max.
50 max.
50 max.
35 min.
25 min.
50 max.
±1°
Backlash
Allowable work per braking
J
588
1176
1176
1170
1078
1372
1372
Allowable total work
J
7.8 × 105
1.5 × 106
1.5 × 106
2.2 × 106
2.5 × 106
2.9 × 106
2.9 × 106
rad/s2
10,000 max.
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
10,000,000 operations min.
Rating
---
Continuous
Insulation grade
---
Type F
Allowable angular acceleration
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%). The maximum momentary torque shown above
indicates the standard value.
*2. Applicable Load Inertia:
• The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is
possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
• If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF
while the dynamic brake is enabled.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are
applied as shown in the following diagram.
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
38
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Torque and Rotation Speed Characteristics
2,000-r/min Cylindrical Servomotors
• 2,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-G1K020T (1 kW)
R88M-G1K520T (1.5 kW)
R88M-G2K020T (2 kW)
(N·m)
(N·m)
(N·m)
13.5 (2200)
15 13.5
Repetitive usage
10
5 4.8
5.5
3.2
4.8
Continuous usage
0
1000
2000
3000 (r/min)
R88M-G3K020T (3 kW)
19.6 (2200)
20 19.6
Repetitive usage
10 7.15
7.15
Continuous usage
0
1000
2000
14.3
4.7
3000 (r/min)
R88M-G4K020T (4 kW)
50 41.2
Continuous usage
1000
54.9 (2000)
70
50
2000
14.3
9.5
3000 (r/min)
25 18.8
18.8
Continuous usage
0
1000
2000
3000 (r/min)
1000
2000
70.6
70.6 (2000)
Repetitive usage
Repetitive usage
Repetitive usage
25 14.3
14.3
0
0
13.2
6.3
(N·m)
54.9
41.2 (2200)
Repetitive usage
15 9.54
9.54
Continuous usage
R88M-G5K020T (5 kW)
(N·m)
(N·m)
26.5 (2200)
30 26.5
25.0
35 23.8
3000 (r/min)
23.8
Continuous usage
12.5
0
1000
2000
23.0
15.8
3000 (r/min)
R88M-G7K515T (7.5 kW)
(N·m)
100
111
111
100
Repetitive usage
50
0
48
48
Continuous usage
1000
1500
36
2000 (r/min)
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
39
Servomotor Specifications (R88M-G)
● Characteristics
1,000-r/min Cylindrical Servomotors
200-VAC Input Power
Model (R88M-)
Item
Unit
G90010T
G2K010T
G3K010T
G4K510T
G6K010T
Rated output *1
W
900
2000
3000
4500
6000
Rated torque *1
N·m
8.62
19.1
28.4
42.9
57.2
Rated rotation speed
r/min
1000
r/min
2000
Max. momentary rotation speed
Max. momentary torque
Rated current
*1
*1
Max. momentary current
*1
Rotor inertia
N·m
18.4
41.5
60
101
130
A (rms)
7.6
18.5
24
33
57.2
A (rms)
17.1
44
57.1
84.2
121.4
kg·m2
(GD2/4)
1.12 × 10−3
3.55 × 10−3
5.57 × 10−3
8.09 × 10−3
9.9 × 10−3
Applicable load inertia
10 times the rotor inertia max. *2
---
Torque constant *1
N·m/A
1.13
1
1.1
1.3
1.22
Power rate *1
kW/s
66.3
103
145
228
331
Mechanical time constant
ms
0.88
0.97
0.74
0.7
0.65
Electrical time constant
ms
20
25
30
31
46.2
Allowable radial load
*3
N
686
1176
1470
1470
1764
Allowable thrust load
*3
N
196
490
490
490
588
Without brake
kg
Approx. 8.5
Approx. 17.5
Approx. 25
Approx. 34
Approx. 41
With brake
kg
Approx. 10
Approx. 21
Approx. 28.5
Approx. 39.5
Approx. 45
GT15H
GT30H
GT50H
GT50H
GT75H
1.35 × 10−4
4.7 × 10−4
4.7 × 10−4
4.7 × 10−4
4.7 × 10−4
Weight
275 × 260 × t15 (AI)
Radiation shield dimensions (material)
Applicable Servo Drives (R88D-)
kg·m2
(GD2/4)
Brake specifications
Brake inertia
470 × 440 × t30 (AI)
24 VDC ±10%
Excitation voltage *4
V
Power consumption (at 20°C)
W
19
31
34
Current consumption (at 20°C)
A
0.79
1.3
1.4
N·m
13.7 min.
24.5 min.
58.8 min.
ms
100 max.
80 max.
150 max.
ms
50 max.
25 max.
50 max.
Static friction torque
Attraction time
*5
Release time *5
±1°
Backlash
Allowable work per braking
J
1176
Allowable total work
J
1.6 × 106
1372
2.9 × 106
rad/s2
10,000 max.
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
10,000,000 operations min.
Rating
---
Continuous
Insulation grade
---
Type F
Allowable angular acceleration
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%). The maximum momentary torque shown above
indicates the standard value.
*2. Applicable Load Inertia:
• The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is
possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
• If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF
while the dynamic brake is enabled.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at
normal operating temperatures. The allowable radial loads are applied as shown in the following
Radial load
diagram.
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
Thrust load
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500
manufactured by Okaya Electric Industries Co., Ltd.).
Center of shaft (LR/2)
40
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Torque and Rotation Speed Characteristics
1,000-r/min Cylindrical Servomotors
• 1,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-G90010T (900 W)
(N·m)
20 18.4
R88M-G2K010T (2 kW)
18.4 (1600)
(N·m)
50 41.5
Repetitive usage
10 8.62
10.0
Continuous usage
4.31
1000
(N·m)
130
101 (1300)
(N·m)
Repetitive usage
50 42.9
42.9
40
Continuous usage
1000
1000
70 60
35 28.4
9.5
2000 (r/min)
60 (1350)
Repetitive usage
34.9
19.1
Continuous usage
0
(N·m)
38
28.4
Continuous usage
0
1000
14.2
2000 (r/min)
R88M-G6K010T (6 kW)
100
0
25 19.1
2000 (r/min)
R88M-G4K510 (4.5 kW)
101
41.5 (1600)
Repetitive usage
8.62
0
R88M-G3K010T (3 kW)
100
Repetitive usage
57.2
71
57.2
50
21.5
2000 (r/min)
130 (1500)
Continuous usage
0
1000
28.6
2000 (r/min)
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
41
Decelerator Specifications (R88G-HPG/VRSF)
● Backlash: 3 Arcminutes Max.
Decelerators for 3,000-r/min Servomotors
Model
50 W
100 W
200 W
400 W
750 W
1 kW
1.5 kW
Rated
rotation
speed
Rated
Efficiency
torque
Decelerator
inertia
N·m
%
r/min
N·m
kg·m2
Allowable
radial
load
Allowable
thrust
Weight
load
N
N
kg
1/5
R88G-HPG11A05100B
600
0.60
75
1000
1.68
5.00 × 10-7
135
538
0.29
1/9
R88G-HPG11A09050B
333
1.17
81
555
3.29
3.00 × 10-7
161
642
0.29
10-6
1/21
R88G-HPG14A21100B
143
2.18
65
238
6.13
5.00 ×
340
1358
1.04
1/33
R88G-HPG14A33050B
91
3.73
71
151
10.5
4.40 × 10-6
389
1555
1.04
1/45
R88G-HPG14A45050B
67
5.09
71
111
14.3
4.40 × 10-6
427
1707
1.04
1/5
R88G-HPG11A05100B
600
1.37
86
1000
3.8
5.00 × 10-7
135
538
0.29
10-6
1/11
R88G-HPG14A11100B
273
2.63
75
454
7.39
6.00 ×
280
1119
1.04
1/21
R88G-HPG14A21100B
143
5.40
80
238
15.2
5.00 × 10-6
340
1358
1.04
1/33
R88G-HPG20A33100B
91
6.91
65
151
19.4
6.50 × 10-5
916
3226
2.4
1/45
R88G-HPG20A45100B
67
9.42
65
111
26.5
6.50 × 10-5
1006
3541
2.4
10-5
1/5
R88G-HPG14A05200B
600
2.49
78
1000
6.93
2.07 ×
221
883
1.02
1/11
R88G-HPG14A11200B
273
6.01
85
454
16.7
1.93 × 10-5
280
1119
1.09
1/21
R88G-HPG20A21200B
143
10.2
76
238
28.5
4.90 × 10-5
800
2817
2.9
1/33
R88G-HPG20A33200B
91
17.0
81
151
47.4
4.50 × 10-5
916
3226
2.9
4.50 ×
10-5
1/45
R88G-HPG20A45200B
67
23.2
81
111
64.6
1006
3541
2.9
1/5
R88G-HPG14A05400B
600
5.66
87
1000
16.0 (15.7)
2.07 × 10-5
221
883
1.09
1/11
R88G-HPG20A11400B
273
11.7
82
454
33.1 (32.5)
5.70 × 10-5
659
2320
2.9
1/21
R88G-HPG20A21400B
143
23.5
86
238
66.5 (65.2)
4.90 × 10-5
800
2547
2.9
6.20 ×
10-5
7.5
1/33
R88G-HPG32A33400B
91
34.7
81
151
98.2 (96.3)
1565
6240
1/45
R88G-HPG32A45400B
67
47.4
81
111
133.9 (131.4)
6.10 × 10-5
1718
6848
7.5
1/5
R88G-HPG20A05750B
600
9.94
83
1000
29.2
6.80 × 10-5
520
1832
2.9
1/11
R88G-HPG20A11750B
273
23.2
88
454
68.1
6.00 × 10-5
659
2320
3.1
10-4
1/21
R88G-HPG32A21750B
143
42.3
84
238
124.3
3.00 ×
1367
5448
7.8
1/33
R88G-HPG32A33750B
91
69.7
88
151
204.7
2.70 × 10-4
1565
6240
7.8
1/45
R88G-HPG32A45750B
67
95.0
88
111
279.2
2.70 × 10-4
1718
6848
7.8
1/5
R88G-HPG32A051K0B
600
11.5
72
1000
32.9
3.90 × 10-4
889
3542
7.3
1/11
R88G-HPG32A111K0B
273
28.9
83
454
82.6
3.40 × 10-4
1126
4488
7.8
1/21
R88G-HPG32A211K0B
143
58.1
87
238
166.1
3.00 × 10-4
1367
5488
7.8
1/33
R88G-HPG32A331K0B
91
94.3
90
151
270.0
2.80 × 10-4
1565
6240
7.8
1/45
R88G-HPG50A451K0B
67
124.2
87
100*1
355.4
4.70 × 10-4
4538
15694
19.0
1/5
R88G-HPG32A052K0B
600
19.1
80
1000
51.3
3.90 × 10-4
889
3542
7.4
1/11
R88G-HPG32A112K0B
273
45.7
87
454
122.5
3.40 × 10-4
1126
4488
7.9
1/21
R88G-HPG32A211K5B
143
90.1
90
238
241.9
3.00 × 10-4
1367
5448
7.9
1/33
R88G-HPG50A332K0B
91
141.5
90
136*1
379.7
4.80 × 10-4
4135
14300
19.0
1/45
R88G-HPG50A451K5B
67
192.9
90
100*1
517.8
4.70 × 10-4
4538
15694
19.0
1/5
R88G-HPG32A052K0B
600
26.7
84
1000
77.4
3.90 × 10-4
889
3542
7.4
1/11
R88G-HPG32A112K0B
273
62.4
89
454
180.7
3.40 × 10-4
1126
4488
7.9
1/21
R88G-HPG50A212K0B
143
118.9
89
214*1
343.9
5.80 × 10-4
3611
12486
19.0
1/33
R88G-HPG50A332K0B
91
191.8
91
136*1
555.0
4.80 × 10-4
4135
14300
19.0
1/5
R88G-HPG32A053K0B
600
42.0
88
1000
118.9
3.80 × 10-4
889
3542
7.3
1/11
R88G-HPG50A113K0B
273
92.3
88
409*1
261.4
7.70 × 10-4
2974
10285
19.0
1/21
R88G-HPG50A213K0B
143
183.0
91
214*1
517.7
5.80 × 10-4
3611
12486
19.0
1/5
R88G-HPG32A054K0B
600
53.9
90
900*1
163.4
3.80 ×
889
3542
7.9
1/11
R88G-HPG50A115K0B
273
124.6
90
409*1
359.0
8.80 × 10-4
2974
10285
19.1
1/5
R88G-HPG50A055K0B
600
69.3
88
900*1
197.8
1.20 × 10-3
2347
8118
17.7
1/11
R88G-HPG50A115K0B
273
158.4
91
409*1
451.9
8.80 × 10-4
2974
10285
19.1
4 kW
5 kW
Note: 1. The values inside parentheses ( ) are for 100-V Servomotors.
Note: 2. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 3. The protective structure for Servomotors with Decelerators satisfies
IP44.
42
Maximum
momentary
torque
r/min
2 kW
3 kW
Maximum
momentary
rotation speed
10-4
Note: 4. The allowable radial load is the value at the T/2 position.
Note: 5. The standard models have a straight shaft. Models with a key and tap
are indicated by adding "J" to the end of the model number (the suffix
in the box).
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Decelerators for 3,000-r/min Flat Servomotors
Model
100 W
200 W
400 W
Rated
rotation
speed
Rated
Efficiency
torque
Maximum
momentary
rotation speed
Maximum
momentary
torque
Decelerator
inertia
Allowable
radial
load
Allowable
Weight
thrust
load
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
1/5
R88G-HPG11A05100PB
600
1.37
85
1000
3.67 (3.59)
5.00 × 10-7
135
538
0.34
1/11
R88G-HPG14A11100PB
273
2.63
75
454
7.06 (6.89)
6.00 × 10-6
280
1119
1.04
1/21
R88G-HPG14A21100PB
143
5.40
80
238
14.5 (14.2)
5.00 × 10-6
340
1358
1.04
1/33
R88G-HPG20A33100PB
91
6.91
65
151
18.6 (18.1)
4.50 × 10-5
916
3226
2.9
1/45
R88G-HPG20A45100PB
67
9.42
65
111
25.3 (24.7)
4.50 × 10-5
1006
3541
2.9
1/5
R88G-HPG14A05200PB
600
2.49
78
1000
7.01
2.07 × 10-5
221
883
0.99
1/11
R88G-HPG20A11200PB
273
4.75
68
454
13.4
5.80 × 10-5
659
2320
3.1
1/21
R88G-HPG20A21200PB
143
10.2
76
238
28.8
4.90 × 10-5
800
2817
3.1
1/33
R88G-HPG20A33200PB
91
17.0
81
151
47.9
4.50 × 10-5
916
3226
3.1
1/45
R88G-HPG20A45200PB
67
23.2
81
111
65.4
4.50 × 10-5
1006
3541
3.1
1/5
R88G-HPG20A05400PB
600
4.67
72
1000 (900)
13.1 (12.9)
7.10 × 10-5
520
1832
3.1
1/11
R88G-HPG20A11400PB
273
11.7
82
454 (409)
32.9 (32.4)
5.80 × 10-5
659
2320
3.1
1/21
R88G-HPG20A21400PB
143
23.5
86
238 (214)
66.2 (65.2)
4.90 × 10-5
800
2817
3.1
1/33
R88G-HPG32A33400PB
91
34.7
81
151 (136)
97.6 (96.2)
2.80 × 10-4
1565
6240
7.8
1/45
R88G-HPG32A45400PB
67
47.4
81
111 (100)
133.0 (131.2)
2.80 × 10-4
1718
6848
7.8
Note: 1. The values inside parentheses ( ) are for 100-V Servomotors.
Note: 2. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 3. The protective structure for Servomotors with Decelerators satisfies IP44.
Note: 4. The allowable radial load is the value at the T/2 position.
Note: 5. The standard models have a straight shaft. Models with a key and tap are
indicated by adding "J" to the end of the model number (the suffix in the box).
Decelerators for 2,000-r/min Servomotors
Model
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
7.5 kW
*1.
Rated
rotation
speed
Rated
Efficiency
torque
Maximum
momentary
rotation speed
Maximum
momentary
torque
Decelerator
inertia
Allowable
radial
load
Allowable
Weight
thrust
load
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
20.4
85
600
57.4
3.80 × 10-4
889
3542
7.3
7.8
1/5
R88G-HPG32A053K0B
400
1/11
R88G-HPG32A112K0SB
182
47.3
90
273
133.1
3.40 × 10-4
1126
4488
1/21
R88G-HPG32A211K0SB
95
92.3
92
143
259.7
2.90 × 10-4
1367
5448
7.8
1/33
R88G-HPG50A332K0SB
60
144.9
92
91
407.6
4.70 × 10-4
4135
14300
19.0
1/45
R88G-HPG50A451K0SB
44
197.7
92
67
555.9
4.70 × 10-4
4538
15694
19.0
1/5
R88G-HPG32A053K0B
400
31.7
89
600
86.8
3.80 × 10-4
889
3542
7.3
1/11
R88G-HPG32A112K0SB
182
72.1
92
273
197.7
3.40 × 10-4
1126
4488
7.8
1/21
R88G-HPG50A213K0B
95
137.5
92
143
377.0
5.80 × 10-4
3611
12486
19.0
1/33
R88G-HPG50A332K0SB
60
219.4
93
91
601.5
4.70 × 10-4
4135
14300
19.0
1/5
R88G-HPG32A053K0B
400
43.2
91
600
119.9
3.80 × 10-4
889
3542
7.3
1/11
R88G-HPG32A112K0SB
182
97.4
93
273
270.5
3.40 × 10-4
1126
4488
7.8
1/21
R88G-HPG50A213K0B
95
185.6
93
143
515.9
5.80 × 10-4
3611
12486
19.0
1/33
R88G-HPG50A332K0SB
60
270.0*1
93
91
815.0
4.70 × 10-4
4135
14300
19.0
1/5
R88G-HPG32A054K0B
400
66.0
92
600
190.1
3.80 × 10-4
889
3542
7.9
1/11
R88G-HPG50A115K0B
182
145.2
92
273
418.3
8.80 × 10-4
2974
10285
19.1
1/21
R88G-HPG50A213K0SB
95
260.0*1
93
143
806.4
6.90 × 10-4
3611
12486
19.1
1/25
R88G-HPG65A253K0SB
80
322.9
90
120
930.1
3.00 × 10-3
7846
28654
52.0
1/5
R88G-HPG50A054K0SB
400
85.8
91
600
250.3
1.20 × 10-3
2347
8118
18.6
1/11
R88G-HPG50A114K0SB
182
192.7
93
273
562.8
8.70 × 10-4
2974
10285
20.1
1/20
R88G-HPG65A204K0SB
100
342.2
91
150
999.2
3.28 × 10-3
7338
26799
52.0
1/25
R88G-HPG65A254K0SB
80
430.9
92
120
1258.6
3.24 × 10-3
7846
28654
52.0
1/5
R88G-HPG50A055K0SB
400
109.8
92
600
325.5
1.10 × 10-3
2347
8118
22.0
1/11
R88G-HPG50A115K0SB
182
200.0*1
93
273
723.8
8.40 × 10-4
2974
10285
23.5
1/20
R88G-HPG65A205K0SB
100
438.2
92
150
1300.5
2.85 × 10-3
7338
26799
55.4
1/25
R88G-HPG65A255K0SB
80
550.9
93
120
1634.4
2.81 × 10-3
7846
28654
55.4
1/5
R88G-HPG65A057K5SB
300
221.1
92
400
511.2
2.07 × 10-2
4841
17681
48.0
1/12
R88G-HPG65A127K5SB
125
540.8
94
166
1250.7
2.02 × 10-2
6295
22991
52.0
"Rated torque" indicates the allowable rated torque for the decelerator. Do not exceed this value.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 2. The protective structure for Servomotors with Decelerators satisfies
IP44.
Note: 3. The allowable radial load is the value at the T/2 position.
Note: 4. The standard models have a straight shaft. Models with a key and tap are
indicated with "J" at the end of the model number (the suffix in the box).
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
43
Decelerators for 1,000-r/min Servomotors
Model
Rated
rotation
speed
Rated
Efficiency
torque
Maximum
momentary
rotation speed
Maximum
momentary
torque
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
200
39.9
93
400
85.2
3.80 × 10-4
889
3542
7.9
1/11
R88G-HPG32A11900TB
90
89.0
94
182
190.1
3.40 × 10-4
1126
4488
8.4
1/21
R88G-HPG50A21900TB
47
169.8
94
95
362.4
7.00 × 10-4
3611
12486
19.1
1/33
R88G-HPG50A33900TB
30
268.5
94
60
573.2
5.90 × 10-4
4135
14300
19.1
1/5
R88G-HPG32A052K0TB
200
90.2
95
400
196.1
4.90 ×
889
3542
8.9
1/11
R88G-HPG50A112K0TB
90
198.4
94
182
430.9
8.40 × 10-4
2974
10285
20.1
1/21
R88G-HPG50A212K0TB
47
320.0*1
95
95
786.8
6.50 × 10-4
3611
12486
20.1
1/25
R88G-HPG65A255K0SB
40
446.7
94
80
971.1
2.81 × 10-3
7846
28654
55.4
1/5
R88G-HPG50A055K0SB
200
133.9
94
400
282.9
1.10 × 10-3
2347
8118
22.0
10-4
10-4
1/11
R88G-HPG50A115K0SB
90
246.0*1
95
182
684.0
8.40 ×
2974
10285
23.5
1/20
R88G-HPG65A205K0SB
50
534.7
94
100
1129.2
2.85 × 10-3
7338
26799
55.4
1/25
R88G-HPG65A255K0SB
40
669.9
94
80
1411.5
2.81 × 10-3
7846
28654
55.4
10-3
3 kW
1/5
R88G-HPG50A054K5TB
200
203.5
95
400
479.2
1.20 ×
2347
8118
22.0
1/12
R88G-HPG65A127K5SB
83
485.6
94
166
1142.9
2.02 × 10-2
6295
22991
52.0
1/20
R88G-HPG65A204K5TB
50
813.1
95
100
1915.0
1.92 × 10-2
7338
26799
52.0
1/5
R88G-HPG65A057K5SB
200
268.1
94
400
609.7
2.07 × 10-2
4841
17681
48.0
1/12
R88G-HPG65A127K5SB
83
650.3
95
166
1477.3
2.02 × 10-2
6295
22991
52.0
6 kW
"Rated torque" indicates the allowable rated torque for the decelerator. Do not exceed this value.
Note: 1.
Note: 2.
Note: 3.
Note: 4.
44
Allowable
Weight
thrust
load
R88G-HPG32A05900TB
2 kW
*1.
Allowable
radial
load
1/5
900 W
4.5 kW
Decelerator
inertia
The Decelerator inertia is the Servomotor shaft conversion value.
The protective structure for Servomotors with Decelerators satisfies IP44.
The allowable radial load is the value at the T/2 position.
The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of the model number (the suffix in the box).
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
● Backlash: 15 Arcminutes Max.
Decelerators for 3,000-r/min Servomotors
Model
Rated
rotation
speed
Rated
Efficiency
torque
Maximum
momentary
rotation speed
Maximum
momentary
torque
Decelerator
inertia
r/min
N·m
%
r/min
N·m
kg·m2
Allowable
thrust
load
Weight
N
N
kg
1/5
R88G-VRSF05B100CJ
600
0.52
65
1000
1.46
4.00 × 10-6
392
196
0.55
1/9
R88G-VRSF09B100CJ
333
0.93
65
556
2.63
3.50 × 10-6
441
220
0.55
1/15
R88G-VRSF15B100CJ
200
1.67
70
333
4.73
3.50 × 10-6
588
294
0.70
1/25
R88G-VRSF25B100CJ
120
2.78
70
200
7.88
3.25 × 10-6
686
343
0.70
10-6
50 W
1/5
R88G-VRSF05B100CJ
600
1.19
75
1000
3.38
4.00 ×
392
196
0.55
1/9
R88G-VRSF09B100CJ
333
2.29
80
556
6.48
3.50 × 10-6
441
220
0.55
10-6
100 W
1/15
R88G-VRSF15B100CJ
200
3.81
80
333
10.8
3.50 ×
588
294
0.70
1/25
R88G-VRSF25B100CJ
120
6.36
80
200
18.0
3.25 × 10-6
686
343
0.70
1/5
R88G-VRSF05B200CJ
600
2.70
85
1000
7.57
1.18 × 10-5
392
196
0.72
1/9
R88G-VRSF09C200CJ
333
3.77
66
556
10.6
2.75 ×
931
465
1.70
1/15
R88G-VRSF15C200CJ
200
6.29
66
333
17.6
3.00 × 10-5
1176
588
2.10
1/25
R88G-VRSF25C200CJ
120
11.1
70
200
31.2
2.88 × 10-5
1323
661
2.10
10-5
200 W
10-5
1/5
R88G-VRSF05C400CJ
600
5.40
85
1000
15.6 (15.3)
3.63 ×
784
392
1.70
1/9
R88G-VRSF09C400CJ
333
9.50
83
556
27.4 (26.8)
2.75 × 10-5
931
465
1.70
10-5
400 W
1/15
R88G-VRSF15C400CJ
200
15.8
83
333
45.7 (44.8)
3.00 ×
1176
588
2.10
1/25
R88G-VRSF25C400CJ
120
26.4
83
200
76.1 (74.7)
2.88 × 10-5
1323
661
2.10
1/5
R88G-VRSF05C750CJ
600
10.7
90
1000
31.7
7.13 × 10-5
784
392
2.10
10-5
1/9
R88G-VRSF09D750CJ
333
18.2
85
556
53.9
6.50 ×
1176
588
3.40
1/15
R88G-VRSF15D750CJ
200
30.4
85
333
89.9
7.00 × 10-5
1372
686
3.80
1/25
R88G-VRSF25D750CJ
120
50.7
85
200
149.8
6.80 × 10-5
1617
808
3.80
Maximum
momentary
rotation speed
Maximum
momentary
torque
Decelerator
inertia
Allowable
radial
load
Allowable
thrust
load
Weight
750 W
Note: 1.
Note: 2.
Note: 3.
Note: 4.
Note: 5.
Allowable
radial
load
The values inside parentheses ( ) are for 100-V Servomotors.
The Decelerator inertia is the Servomotor shaft conversion value.
The protective structure for Servomotors with Decelerators satisfies IP44.
The allowable radial load is the value at the T/2 position.
The standard models have a straight shaft with a key.
Decelerators for 3,000-r/min Flat Servomotor
Model
Rated
rotation
speed
Rated
Efficiency
torque
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
1/5
R88G-VRSF05B100PCJ
600
1.19
75
1000
3.15
4.00 × 10-6
392
196
0.72
1/9
R88G-VRSF09B100PCJ
333
2.29
80
556
6.048
3.50 × 10-6
441
220
0.72
1/15
R88G-VRSF15B100PCJ
200
3.81
80
333
10.08
3.50 × 10-6
588
294
0.87
10-6
100 W
1/25
R88G-VRSF25B100PCJ
120
6.36
80
200
16.8
3.25 ×
686
343
0.87
1/5
R88G-VRSF05B200PCJ
600
2.70
85
1000
7.65
1.18 × 10-5
392
196
0.85
1/9
R88G-VRSF09C200PCJ
333
3.77
66
556
10.692
2.75 × 10-5
931
465
1.80
10-5
200 W
1/15
R88G-VRSF15C200PCJ
200
6.29
66
333
17.82
3.00 ×
1176
588
2.20
1/25
R88G-VRSF25C200PCJ
120
11.1
70
200
31.5
2.88 × 10-5
1323
661
2.20
1/5
R88G-VRSF05C400PCJ
600
5.40
85
1000 (900)
15.5 (15.3)
3.63 × 10-5
784
392
1.80
1/9
R88G-VRSF09C400PCJ
333
9.50
83
556 (500)
27.3 (26.9)
2.75 ×
931
465
1.80
1/15
R88G-VRSF15C400PCJ
200
15.8
83
333 (300)
45.4 (44.8)
3.00 × 10-5
1176
588
2.20
1/25
R88G-VRSF25C400PCJ
120
26.4
83
200 (180)
75.7 (74.7)
2.88 × 10-5
1323
661
2.20
400 W
Note: 1.
Note: 2.
Note: 3.
Note: 4.
Note: 5.
10-5
The values inside parentheses ( ) are for 100-V Servomotors.
The Decelerator inertia is the Servomotor shaft conversion value.
The protective structure for Servomotors with Decelerators satisfies IP44.
The allowable radial load is the value at the T/2 position.
The standard models have a straight shaft with a key.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
45
Encoder, External Regeneration Resistors, Reactor and Parameter Unit Specifications
● Encoder Specifications
Incremental Encoders
Item
Specifications
Encoder system
Optical encoder
No. of output pulses
Phases A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation
Power supply voltage
5 VDC ±5%
Power supply current
180 mA (max.)
Output signals
+S, −S
Output interface
RS-485 compliance
Absolute Encoders
Item
Specifications
Optical encoder
Encoder system
17 bits
No. of output pulses
Phases A and B: 32,768 pulses/rotation, Phase Z: 1 pulse/rotation
Maximum rotations
−32,768 to +32,767 rotations
Power supply voltage
5 VDC ±5%
Power supply current
110 mA (max.)
Applicable battery voltage
3.6 VDC
Current consumption of battery
180 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
● External Regeneration Resistors Specifications
Model
Resistance
Nominal
capacity
Regeneration
absorption for 120°C
temperature rise
Heat radiation
condition
80 W
20 W
Aluminum 250 × 250,
Thickness: 3.0
Operating temperature: 150°C±5%, NC contact,
Rated output: 30 VDC, 50 mA max.
Thermal switch output specifications
R88A-RR08050S
50 Ω
R88A-RR080100S
100 Ω
R88A-RR22047S1
47 Ω
220 W
70 W
Aluminum 350 × 350,
Thickness: 3.0
Operating temperature: 170°C±5%, NC contact,
Rated output: 3 A
R88A-RR50020S
20 Ω
500 W
180 W
Aluminum 600 × 600,
Thickness: 3.0
Operating temperature: 200°C±7%, NC contact,
Rated output: 250 VAC, 0.2 A max.
24 VDC, 0.2 A max.
● Reactor Specifications
Servo Drive
46
Reactor
Reactor type
Model
Rated current
Inductance
Weight
R88D-GTA5L
R88D-GT01H
3G3AX-DL2002
1.6 A
21.4 mH
Approx. 0.8 kg
Single-phase
R88D-GT01L
R88D-GT02H
3G3AX-DL2004
3.2 A
10.7 mH
Approx. 1.0 kg
Single-phase
R88D-GT02L
R88D-GT04H
3G3AX-DL2007
6.1 A
6.75 mH
Approx. 1.3 kg
Single-phase
R88D-GT04L
R88D-GT08H
R88D-GT10H
3G3AX-DL2015
9.3 A
3.51 mH
Approx. 1.6 kg
Single-phase
R88D-GT15H
3G3AX-DL2022
13.8 A
2.51 mH
Approx. 2.1 kg
Single-phase
R88D-GT08H
R88D-GT10H
R88D-GT15H
3G3AX-AL2025
10.0 A
2.8 mH
Approx. 2.8 kg
Three-phase
R88D-GT20H
R88D-GT30H
3G3AX-AL2055
20.0 A
0.88 mH
Approx. 4.0 kg
Three-phase
R88D-GT50H
3G3AX-AL2110
34.0 A
0.35 mH
Approx. 5.0 kg
Three-phase
R88D-GT75H
3G3AX-AL2220
67.0 A
0.18 mH
Approx. 10.0 kg
Three-phase
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
● R88A-PR02G Parameter Unit Specifications
General Specifications
Item
Specifications
Operating ambient temperature
Operating ambient humidity
0 to 55°C
90% max. (with no condensation)
Storage ambient temperature
Storage ambient humidity
−20 to 80°C
90% max. (with no condensation)
Storage and operating atmosphere
No corrosive gases
Vibration resistance
5.9 m/s2 max.
Performance Specifications
Item
Specifications
Type
Hand-held
Cable length
1.5 m
Connectors
Mini DIN 8-pin MD connector
Display
7-segment LED
External dimensions
62 × 114 × 15 mm (W × H × D)
Communications
specifications
Weight
Approx. 0.1 kg (including cable that is provided)
Standard
RS-232
Communications method
Asynchronous (ASYNC)
Baud rate
9,600 bps
Start bits
1 bit
Data
8 bits
Parity
None
Stop bits
1 bit
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
47
Connections
● Control I/O Connector Specifications (CN1)
Control I/O Signal Connections and External Signal Processing for Position Control
+24VCW 1 2.2 kΩ
Reverse
pulse
+CW 3
11 BKIR
−CW 4 220 Ω
500 kpps max.
Brake Interlock
10 BKIRCOM
+24VCCW 2 2.2 kΩ
Forward
pulse
Reverse
pulse
+CCW 5
35 READY
−CCW 6 220 Ω
34 READYCOM
Servo Ready Output
+CWLD 44 3 kΩ 43 kΩ
−CWLD 45
2 Mpps max.
Forward
pulse
37 /ALM
Maximum
operating
voltage:
30 VDC
Maximum
output
current:
50 mA DC
Alarm Output
110 Ω
36 ALMCOM
3 kΩ 43 kΩ
39 INPPositioning
+CCWLD 46 3 kΩ 43 kΩ
−CCWLD 47
Completed Output
110 Ω
38 INPCOM
3 kΩ 43 kΩ
12 to 24 VDC
+24VIN 7
12 OUTM1
General-purpose Output 1
4.7 kΩ
RUN Command
Input
RUN 29
40 OUTM2
General-purpose Output 2
41 COM
4.7 kΩ
Vibration Filter
Switch
DFSEL 26
19 Z Phase-Z Output
(open collector output)
25 ZCOM
4.7 kΩ
Gain Switch
Input
21 +A
Encoder Phase-A Line driver output
Output
Conforms to
EIA RS-422A
49 +B
(Load resistance:
Encoder Phase-B
120 Ω min.)
Output
48 −B
GSEL 27
22 −A
4.7 kΩ
Electronic Gear
Switch Input
GESEL 28
4.7 kΩ
23 +Z
Deviation Counter
Reset Input
ECRST 30
Encoder Phase-Z
Output
24 −Z
4.7 kΩ
Alarm Reset
Input
RESET 31
100 Ω 20 SEN
4.7 kΩ
1 μF
Sensor ON
4.7 kΩ
13 SENGND
Control Mode
Switch Input
TVSEL 32
42 BAT
Backup Battery Input *1
4.7 kΩ
Pulse Prohibit
Input
43 BATCOM
IPG 33
4.7 kΩ
Reverse Drive
Prohibit Input
3.83 kΩ
Forward Torque Limit Input
17 AGND
NOT 8
4.7 kΩ
Forward Drive
Prohibit Input
10 kΩ 16 PCL
10 kΩ 18 NCL
Reverse Torque Limit Input
3.83 kΩ
POT 9
50 FG
Frame ground
*1. If a backup battery is connected, a cable with a battery is not required.
48
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Control I/O Signal Connections and External Signal Processing for Speed Control
11 BKIR
Speed Command Input REF 14 20 kΩ
Brake Interlock
3.83 kΩ
AGND 15
Forward Torque
Limit Input
10 BKIRCOM
35 READY
PCL 16 10 kΩ
AGND 17
Reverse Torque
Limit Input
Servo Ready Output
3.83 kΩ
34 READYCOM
37 /ALM
NCL 18 10 kΩ
Alarm Output
3.83 kΩ
36 ALMCOM
SEN 20 100 Ω
Sensor ON Input
SENGND 13
4.7 kΩ
Maximum
operating
voltage:
30 VDC
Maximum
output
current:
50 mA DC
1 μF
39 TGON
Servomotor Rotation
Speed Detection Output
38 TGONCOM
12 OUTM1
12 to 24 VDC
+24VIN 7
4.7 kΩ
40 OUTM2
RUN Command
Input
RUN 29
General-purpose Output 2
4.7 kΩ
Zero Speed
Designation Input
VZERO 26
Gain Switch
Input
General-purpose Output 1
41 COM
19 Z
Phase-Z Output
(open collector output)
4.7 kΩ
25 ZCOM
4.7 kΩ
21 +A
GSEL 27
Internally Set
Speed Selection 3
VSEL3 28
Encoder Phase-A
Output
22 −A
4.7 kΩ
Internally Set
Speed Selection 2
VSEL2 30
49 +B
Encoder Phase-B
Output
48 −B
4.7 kΩ
Alarm Reset
Input
Line driver output
Conforms to
EIA RS-422A
(Load resistance:
120 Ω min.)
23 +Z Encoder Phase-Z
Output
24 −Z
RESET 31
4.7 kΩ
Control Mode
Switch Input
TVSEL 32
4.7 kΩ
Internally Set
Speed Selection 1
VSEL1 33
42 BAT
4.7 kΩ
Backup Battery Input *1
43 BATCOM
Reverse Drive
Prohibit Input
NOT 8
4.7 kΩ
Forward Drive
Prohibit Input
POT 9
50 FG
Frame ground
*1. If a backup battery is connected, a cable with a battery is not required.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
49
Control I/O Signal Connections and External Signal Processing for Torque Control
Torque Command
Input or
Speed Limit
TREF1/VLIM 14 20 kΩ
Input
11 BKIR
Brake Interlock
3.83 kΩ
AGND 15
Torque Command
Input
10 BKIRCOM
35 READY
TREF2 16 10 kΩ
Servo Ready Output
3.83 kΩ
AGND 17
34 READYCOM
37 /ALM
Alarm Output
SEN 20 100 Ω
Sensor ON
SENGND 13
4.7 kΩ
Maximum
operating
voltage:
30 VDC
Maximum
output
current:
50 mA DC
36 ALMCOM
1μF
39 TGON
Servomotor Rotation
Speed Detection Output
38 TGONCOM
12 OUTM1
12 to 24 VDC
+24VIN 7
4.7 kΩ
40 OUTM2
RUN Command
Input
RUN 29
General-purpose Output 2
4.7 kΩ
Zero Speed
Designation Input
VZERO 26
41 COM
19 Z
Phase-Z Output
(open collector output)
4.7 kΩ
Gain Switch
Input
General-purpose Output 1
25 ZCOM
21 +A
GSEL 27
Encoder Phase-A
Output
4.7 kΩ
22 −A
Alarm Reset
Input
49 +B
RESET 31
4.7 kΩ
Control Mode
Switch Input
Encoder Phase-B
Output
48 −B
23 +Z
TVSEL 32
4.7 kΩ
Reverse Drive
Prohibit Input
NOT 8
Line driver output
Conforms to
EIA RS-422A
(Load resistance:
120 Ω min.)
Encoder Phase-Z
Output
24 −Z
42 BAT
Backup Battery Input *1
4.7 kΩ
Forward Drive
Prohibit Input
43 BATCOM
POT 9
50 FG
Frame ground
*1. If a backup battery is connected, a cable with a battery is not required.
50
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
● Peripheral Device Connection Examples
R88D-GTA5L/-GT01L/-GT02L/-GT04L
R88D-GT01H/-GT02H/-GT04H/-GT08H/-GT10H/-GT15H
R
T Single-phase 100 to 115 VAC, 50/60 Hz: R88D-GT@@L
Single-phase 200 to 240 VAC, 50/60 Hz: R88D-GT@@H
NFB
1
2
NF
E
3
4
Noise filter
Main-circuit power supply
OFF
ON
Main-circuit contactor
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
AC Servo Drive
Power Cable
CNA
XB
G-Series
AC Servomotor
(*2)
L1C
B
L2C
CNB
1MC
24 VDC
U
V
M
CNA
W
L1
Reactor
L3
CNB
B1
Regeneration
resistor
(*4)
(*3)
CN2
(Ground to
100 Ω or less.)
B3
Encoder Cable
B2
E
CN1
X
24 VDC
37 /ALM
36 ALMCOM
CN1
X
User
control
device
BKIR 11
CN1
BKIRCOM 10
XB
24 VDC
(*1)
Control Cable
*1. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-Series Servomotors
with brakes.
*2. The brake is not affected by the polarity of the power supply.
*3. Connect B2-B3 for the models with a built-in regeneration resistor (GT04L, GT08H, GT10H, and GT15H).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.
*4. The models GTA5L to GT02L and GT01H to GT04H do not have a built-in regeneration resistor. If the amount of regeneration is large, an External Regeneration
Resistor must be connected to B1-B2.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
51
R88D-GT08H/-GT10H/-GT15H
R S T
Three-phase 200 to 240 VAC, 50/60 Hz
NFB
1
2
3
NF
E
4
5
6
Noise filter
Main-circuit power supply
OFF
ON
Main-circuit contactor
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
AC Servo Drive
CNA
Power Cable
(*2)
XB
G-Series
AC Servomotor
L1C
B
CNB
L2C
U
1MC
24 VDC
V
M
W
CNA
L1
Reactor
L2
L3
CN2
CNB
(Ground to
100 Ω or less.)
B1
(*3)
Regeneration
resistor
Encoder Cable
E
B3
B2
CN1
X
24 VDC
37 /ALM
36 ALMCOM
CN1
X
BKIR 11
User
control
device
CN1
BKIRCOM 10
XB
24 VDC
(*1)
Control Cable
*1. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-Series Servomotors
with brakes.
*2. The brake is not affected by the polarity of the power supply.
*3. Connect B2-B3 for the models with a built-in regeneration resistor (GT08H to GT15H).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.The brake is not affected by the polarity of the
power supply.
52
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
R88D-GT20H/-GT30H/-GT50H
R S T
Three-phase 200 to 230 VAC 50/60 Hz
NFB
1
2
3
NF
E
4
5
6
Noise filter
Main-circuit power supply
OFF
ON
Main-circuit contactor
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
AC Servo Drive
G-Series
AC Servomotor
TB1
Power Cable
(*2)
XB
L1C
B
TB1
L2C
U
1MC
V
24 VDC
M
W
TB1
L1
Reactor
L2
(Ground to
100 Ω or less.)
CN2
L3
B1
(*3)
Regeneration
resistor
Encoder Cable
E
B3
B2
CN1
X
24 VDC
37 /ALM
36 ALMCOM
CN1
X
BKIR 11
User
control
device
CN1
BKIRCOM 10
XB
24 VDC
(*1)
Control Cable
*1. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-Series Servomotors
with brakes.
*2. The brake is not affected by the polarity of the power supply.
*3. Connect B2-B3 for the models with a built-in regeneration resistor (GT20H to GT50H).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
53
R88D-GT75H
R S T
Three-phase 200 to 230 VAC 50/60 Hz
NFB
1
2
3
NF
E
4
5
6
Noise filter
Main-circuit power supply
OFF
ON
Main-circuit contactor
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
AC Servo Drive
TB2
Power Cable
(*2)
XB
G-Series
AC Servomotor
L1C
B
TB1
L2C
24 VDC
U
V
1MC
M
W
TB1
Reactor
L1
(Ground to
100 Ω or less.)
L2
CN2
L3
Regeneration
resistor
(*3)
Encoder Cable
B1
B2
TB2
FN(+)
CN1
X
24 VDC
E
FAN Stop
37 /ALM
FN(−)
36 ALMCOM
CN1
X
BKIR 11
User
control
device
CN1
BKIRCOM 10
24 VDC
XB
(*1)
Control Cable
*1. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-Series Servomotors
with brakes.
*2. The brake is not affected by the polarity of the power supply.
*3. The model GT75H does not have a built-in regeneration resistor.
If the amount of regeneration is large, an External Regeneration Resistor must be connected to B1-B2.
54
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
I/O Circuit Diagrams
● Control Input Circuits
• Speed Command/Torque Command Input
REF/TREF/VLIM 14 20 kΩ
20 kΩ
–
+
ADC
1
15 AGND
+3.3 V
17 AGND
1 kΩ
–
+
PCL/TREF 16 10 kΩ
1 kΩ
3.83 kΩ
+3.3 V
1 kΩ
–
+
NCL 18 10 kΩ
ADC
2
1 kΩ
3.83 kΩ
• The maximum allowable input voltage is ±10 V for each input. The VR must be 2 kΩ with B characteristics and 1/2 W minimum. R must be 200
Ω and 1/2 W minimum.
• Position Command Pulse Input (Photocoupler Input)
Line Driver Input (500 kpps Maximum)
(+CW:3, −CW:4, +CCW:5, −CCW:6)
Controller
Servo Drive
+
+
−
−
Input current: 9 mA, 3 V
220 Ω
Applicable line driver:
AM26LS31A or
the equivalent
Open-collector Input
• External 24-V power supply without a current-limiting resistor (200 kpps maximum)
(+24VCW: 1, −CW: 4, +24VCCW: 2, −CCW: 6)
Servo Drive
Controller
Vcc 24 V
+
2.2 KΩ
−
220 Ω
• External control power supply (200 kpps maximum)
(+CW: 3, −CW: 4, +CCW: 5, −CCW: 6)
Controller
Vcc
R
Servo Drive
+
−
Input current: 7 to 15 mA
220 Ω
• Select a resistance R value so that the input current will be from 7 to 15 mA. Refer to the following table.
Vcc - 1.5
≒ 10mA
R + 220 （7-15mA）
VCC
R
24 V
2 kΩ (1/2 W)
12 V
1 kΩ (1/2 W)
5V
0Ω (Shorted)
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
55
• Sequence Input
External power supply:
12 VDC ±5% to
24 VDC ±5%
Power supply capacity:
50 mA min. (per Unit)
4.7 kΩ
+24VIN 7
Photocoupler input
RUN
Minimum ON time:
40 ms
To other input circuit ground commons
29
To other input circuits
Signal Levels ON level: 10 V min.
OFF level: 3 V max.
• Sensor Input
Sensor ON Input
ABS
Servo Drive
SEN 20 100 Ω
+5 V
When at high level:
4.7 k
Approx. 1 mA
SENGND 13
7406 or the equivalent
0.1 μF
Input voltage:
1 mA, to 5 VDC
0V
Signal Levels High level: 4 V min.
Low level: 0.8 V max.
• A PNP transistor is recommended.
● Control Output Circuits
• Position Feedback Output
Servo Drive
Controller
R = 120 to 180 Ω
Phase A
Output line driver
Phase B
AM26C31 or
the equivalent
Phase Z
21 +A
+A
22 −A
−A
49 +B
+B
48 −B
−B
23 +Z
+Z
24 −Z
−Z
R
Phase A
R
Phase B
R
Phase Z
0V
GND
25 ZCOM
0V
+5 V
0 V Applicable line receiver
Shell FG
FG AM26C32 or the equivalent
FG
• Phase-Z Output (Open-collector Output)
Servo Drive
Controller
19 Z
Maximum operating voltage: 30 VDC
25 ZCOM
0V
Maximum output current: 50 mA
• Sequence Output
Servo Drive
To other output
circuits
X
Di
External power supply
24 VDC ±1 V
Maximum operating voltage: 30 VDC
Maximum output current: 50 mA
X
Di
Di: Diode for preventing surge voltage
(Use high-speed diodes.)
56
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Components and Functions
● Servo Drive Part Names
● CN1 Control Inputs
Display area
Unit No. switch
Settings area
Analog monitor 1 check pin (IM)
Analog monitor 2 check pin (SP)
Check pin (G: GND)
RS-485
Communications connector
(CN3A)
Main-circuit power terminals
(L1, L2, L3)
RS-232
Communications connector/
Parameter Unit connector
(CN3B)
Control-circuit power terminals
(L1C, L2C)
Control I/O connector (CN1)
External Regeneration Resistor
connection terminals
(B1, B2, B3)
Pin No.
1
+24VCW
24-V Open-collector Input for Command Pulse
+24VCCW
24-V Open-collector Input for Command Pulse
3
+CW/PULS/FA
4
−CW/PULS/FA
Reverse Pulses Input/ Feed Pulses Input,
or 90° Phase Difference Pulse Input (Phase A)
5
6
+24VIN
8
NOT
Reverse Drive Prohibit Input
9
POT
Forward Drive Prohibit Input
REF
Speed Command Input
15
16
Protective ground terminals
17
Symbol
Name
Speed Limit Input
AGND
PCL
Main circuits power supply input
TREF
Torque Command Input
Analog Input Ground
NCL
SEN
13
SENGND
L3
L1C
Control circuit power supply input
L2C
27
28
● Servomotor Connector (CNB)
Symbol
Name
29
30
B1
External Regeneration Resistor connection terminals
B3
U
Sensor ON Input
Zero Speed Designation Input
DFSEL
Vibration Filter Switch
PNSEL
Speed Command Rotation Direction Switch
GSEL
Gain Switch
TLSEL
Torque Limit Switch
GESEL
Electronic Gear Switch
VSEL3
Internally Set Speed Selection 3
RUN
ECRST
RUN Command
Deviation Counter Reset Input
VSEL2
Internally Set Speed Selection 2
RESET
Alarm Reset Input
32
TVSEL
Control Mode Switch Input
Servomotor connection terminals
IPG
VSEL1
42
BAT
43
BATGND
44
+CWLD
45
−CWLD
● Display Area
46
+CCWLD
A 6-digit 7-segment LED display shows the Servo Drive status, alarm
codes, parameters, and other information.
47
−CCWLD
Frame ground
Reverse Torque Limit Input
31
33
V
Analog Input Ground
Forward Torque Limit Input
AGND
VZERO
L2
W
Torque Command Input
VLIM
20
26
12 to 24-VDC Power Supply Input
TREF
18
L1
B2
+CCW/SIGN/FB Forward Pulse Input/ Direction Signal,
−CCW/SIGN/FB or 90° Phase Difference Pulse Input (Phase B)
7
Encoder connector (CN2)
● Main Circuit Connector (CNA)
Name
2
14
Servomotor connection terminals
(U, V, W)
Symbol
Pulse Prohibit Input
Internally Set Speed Selection 1
Backup Battery Input
Reverse Pulse
(input for line driver only)
Forward Pulse
(input for line driver only)
● Check Pins (IM, SP, and G)
The actual motor speed, command speed, torque, and number of
accumulated pulses can be measured based on the analog voltage
level by using an oscilloscope. The type of signal to output and the
output voltage level are set in the SP Selection (Pn07) and IM Selection (Pn08) parameters.
● Unit No. Switch
The Servo Drive number in serial communications is set to a value
from 0 to F. This number is used to identify which Servo Drive the
computer is accessing in RS-232/485 communications between multiple Servo Drives and a computer.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
57
● Protective Functions
● CN1 Control Outputs
Pin No.
Symbol
10
BKIRCOM
11
BKIR
12
OUTM1
19
Z
25
ZCOM
21
Name
Brake Interlock Output
Error detection
Control power supply undervoltage
Overvoltage
General-purpose Output 1
Undervoltage
Phase-Z Output (open collector)
Overcurrent
Phase-Z Output (open collector) common
Overheating
+A
Encoder Phase-A + Output
Overload
22
−A
Encoder Phase-A − Output
Regeneration overload
48
−B
Encoder Phase-B − Output
Encoder communications error
49
+B
Encoder Phase-B + Output
Encoder communications data error
23
+Z
Encoder Phase-Z + Output
Position deviation exceeded
24
−Z
Encoder Phase-Z − Output
Overspeed
35
READY
34
READYCOM
37
/ALM
36
ALMCOM
39
INP
38
INPCOM
39
TGON
38
TGONCOM
40
OUTM2
41
COM
Shell
FG
Command pulse multiplying error
Servo Ready Output
Overrun limit error
EEPROM parameter error
Alarm Output
EEPROM check code error
Positioning Completed Output
Servomotor Rotation Speed Detection Output
Symbol
1
E5V
Excessive analog input
Absolute encoder system down error
Absolute encoder counter overflow error
ABS
Absolute encoder overspeed error
ABS
Absolute encoder one-turn counter error
ABS
Absolute encoder multi-turn counter error
ABS
Absolute encoder status error
ABS
General-purpose Output 2
General-purpose Output Common
Frame Ground
● Encoder Connector Specifications (CN2)
Pin No.
Drive prohibit input
Name
Encoder power supply +5 V
Encoder phase Z error
2
E0V
Encoder power supply GND
Encoder PS signal error
3
BAT+
Battery +
PCL input exceeded
4
BAT−
Battery −
NCL input exceeded
5
PS+
Encoder +phase S input
Motor automatic recognition error
6
PS−
Encoder −phaseS input
CPU error
Shell
FG
Shield ground
Encoder error
● Communications Connector Specifications (CN3A)
Pin No.
Symbol
4
GND
7
B+
8
A−
Name
Ground
RS-485 communications data
● Parameter Unit Connector Specifications (CN3B)
Pin No.
Symbol
3
TXD
4
GND
Ground
5
RXD
RS-232 receive data
7
B+
8
A−
58
Name
RS-232 send data
RS-485 communications data
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Parameter
● R88A-RP02G : Parameter Unit Part Names
LED Display (6 Digits)
If an error occurs, all digits will flash and the
display will switch to the error display.
Unit No. Display (2 Digits)
Displays the selected Servo Drive's unit
number set in the Unit No. Setting (Pn00).
In Parameter Setting Mode, displays the
2-digit parameter number.
Mode Key
Switches between the following six modes.
• Monitor Mode
• Autotuning Mode
• Parameter Setting Mode • Auxiliary Function Mode
• Parameter Write Mode • Copy Mode
Increment/Decrement Key
Increases or decreases parameter numbers
or set values.
Shift Key
Shifts the digit being changed to the left.
Data Key
Switches between the parameter and setting
displays, saves settings, etc.
● Function Selection Parameters
Parameter name
Explanation
● Gain Parameters
Parameter name
Explanation
Position Loop Gain
Set to adjust position control system
responsiveness.
Speed Loop Gain
Set to adjust speed loop responsiveness.
Speed Loop Integration
Time Constant
Set to adjust the speed loop integration time
constant.
Speed Feedback Filter
Time Constant
The encoder signal is converted to the speed
signal via the low pass filter.
Torque Command Filter
Time Constant
Set to adjust the primary lag filter time constant
for the torque command section.
Feed-forward Amount
Set the position control feed-forward
compensation value.
Feed-forward Command
Filter
Set the time constant of the primary lag filter
used in the speed feed-forward section.
Position Loop Gain 2
Set to adjust position control system
responsiveness.
Speed Loop Gain 2
Set to adjust speed loop responsiveness.
Speed Loop Integration
Time Constant 2
Set to adjust the speed loop integration time
constant.
Speed Feedback Filter
Time Constant 2
The encoder signal is converted to the speed
signal via the low pass filter.
Unit No. Setting
Set the unit number.
Torque Command Filter
Time Constant 2
Set to adjust the primary lag filter time constant
for the torque command section.
Default Display
Set the data to display on the Parameter Unit
when the power supply is turned ON.
Notch Filter 1 Frequency
Set the notch frequency of the resonance
suppression notch filter.
Control Mode Selection
Set the control mode to be used.
Torque Limit Selection
Set the torque limit method for forward and
reverse operation.
Notch Filter 1 Width
Set the width to one of five levels for the
resonance suppression notch filter. Normally,
use the default setting.
Drive Prohibit Input
Selection
You can stop the Servomotor from rotating
beyond the device's travel distance range by
setting limit inputs.
Inertia Ratio
Set the ratio between the mechanical system
inertia and the Servomotor rotor inertia.
Command Speed
Selection
Select the speed command when using speed
control.
Realtime Autotuning
Mode Selection
Set the operating mode for realtime autotuning.
Zero Speed Designation/
Speed Command
Direction Switch
Set the function of the Zero-speed Designation
Input (VZERO).
SP Selection
Select the relation between the output voltage
level and the speed.
Realtime Autotuning
Machine Rigidity
Selection
IM Selection
Select the relation between the output voltage
level and the torque or number of pulses.
Set the machine rigidity to one of 16 levels
during realtime autotuning.
The higher the machine rigidity, the greater the
setting needs to be.
The higher the setting, the higher the
responsiveness.
When the Parameter Unit is used, 0 cannot be
set.
Adaptive Filter Selection
Enable or disable the adaptive filter.
General-purpose Output
2 Selection
Assign the function of General-purpose Output 2
(OUTM2).
Vibration Filter Selection
Vibration filters 1 and 2 can be switched.
Autotuning Operation
Setting
Set the operating pattern for autotuning.
General-purpose Output
1 Selection
Assign the function of General-purpose Output 1
(OUTM1).
Operation Switch When
Using Absolute Encoder
Set the operating method for the 17-bit absolute
encoder.
Overrun Limit Setting
Set the allowable operating range for the
Servomotor. The overrun limit function is
disabled if the parameter is set to 0.
RS-232 Baud Rate
Setting
Select the baud rate for the RS-232 port.
Instantaneous Speed
Observer Setting
Set the instantaneous speed observer.
RS-485 Baud Rate
Setting
Select the baud rate for RS-485
communications.
Notch Filter 2 Frequency
Set the notch frequency of the resonance
suppression notch filter.
Front Key Protection
Setting
Front panel key operation can be limited to
Monitor Mode.
Notch Filter 2 Width
Set the notch filter width to one of five levels for
the resonance suppression notch filter. Normally,
use the default setting.
Notch Filter 2 Depth
Set the depth of the resonance suppression
notch filter.
Vibration Frequency 1
Set vibration frequency 1to suppress vibration at
the end of the load in dampening control.
Vibration Filter 1 Setting
Set vibration filter 1 to suppress vibration at the
end of the load in dampening control.
Vibration Frequency 2
Set vibration frequency 2 to suppress vibration
at the end of the load in dampening control.
Vibration Filter 2 Setting
Set vibration filter 2 to suppress vibration at the
end of the load in dampening control.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
59
● Position Control Parameters
Parameter name
Adaptive Filter Table
Number Display
Explanation
Displays the table entry number corresponding
to the frequency for the adaptive filter.
This parameter is set automatically and cannot
be changed if the adaptive filter is enabled (i.e., if
Realtime Autotuning Mode Selection (Pn21) is 1
to 3 or 7).
Gain Switching Input
Operating Mode
Selection
Enable or disable gain switching.
If gain switching is enabled, the setting of the
Gain Switch Setting (Pn31) is used as the
condition for switching between gain 1 and gain
2.
Gain Switch 1 Setting
Select the condition for switching between gain 1
and gain 2.
The details depend on the control mode.
Gain Switch 1 Time
This parameter is enabled when the Gain Switch
1 Setting (Pn31) is 3 to 10. Set the delay time
from the moment the condition set in the Gain
Switch 1 Setting (Pn31) is not met until returning
to gain 1.
Gain Switch 1 Level
Setting
This parameter is enabled when the Gain Switch
1 Setting (Pn31) is 3 to 6, 9, or 10. Set the
judgment level for switching between gain 1 and
gain 2.
The unit for the setting depends on the condition
set in the Gain Switch 1 Setting (Pn31).
Gain Switch 1 Hysteresis
Setting
Set the hysteresis width above and below the
judgment level set in the Gain Switch 1 Level
Setting (Pn33).
Position Loop Gain
Switching Time
When switching between gain 1 and gain 2 is
enabled, set the phased switching time only for
the position loop gain at gain switching.
Parameter name
Command Pulse Input
Selection
Explanation
Selects whether to use photocoupler or linedriver-only input for the command pulse input.
Note: To use a Servo Relay Unit Cable, set this
parameter to 0 (photocoupler input).
Command Pulse
Set the Servomotor rotation direction for the
Rotation Direction Switch command pulse input.
Command Pulse Mode
Set the form of the pulse inputs sent as
command to the Servo Drive from a position
controller.
Command Pulse
Prohibited Input Setting
Enable or disable the pulse disable input (IPG).
Encoder Divider
Numerator Setting
Encoder Divider
Denominator Setting
Encoder Output Direction
Switch
Electronic Gear Ratio
Numerator 1
Electronic Gear Ratio
Numerator 2
Electronic Gear Ratio
Numerator Exponent
Set the number of encoder pulses (+A, −A, −B,
+B) output from the Servo Drive for each
Servomotor rotation.
Set the B-phase logic for pulse output (−B, +B).
Set the pulse rate for command pulses and
Servomotor travel distance. If Pn48 or Pn49 is 0,
the encoder resolution is set to a numerator.
Electronic Gear Ratio
Electronic Gear Ratio Numerator 1 (Pn48)
or
× 2 Numerator Exponent (Pn4A)
Electronic Gear Ratio Numerator 2 (Pn49)
Electronic Gear Ratio Denominator (Pn4B)
Electronic Gear Ratio
Denominator
Position Command Filter
Time Constant Setting
Gain Switch 2 Setting
Select the condition for switching between gain 1
and gain 2 in speed control mode.
The Gain Switching Input Operating Mode
Selection (Pn30) must be set to 1 (enabled).
Set the time constant for the primary lag filter for
the command pulse input.
If the parameter is set to 0, the filter will not
function. The larger the setting, the larger the
time constant.
Smoothing Filter Setting
Gain Switch 2 Time
This parameter is enabled when Gain Switch 2
Setting (Pn36) is 3 to 5. Set the delay time for
returning from gain 2 to gain 1.
Select the FIR filter time constant used for the
command pulse input.
The higher the setting, the smoother the
command pulses.
Deviation Counter Reset
Condition Setting
Set the deviation counter reset conditions.
Gain Switch 2 Level
Setting
This parameter is enabled when Gain Switch 2
Setting (Pn36) is 3 to 5. Set the judgment level
for switching between gain 1 and gain 2. The unit
depends on the setting of Gain Switch 2 Setting
(Pn36).
Gain Switch 2 Hysteresis
Setting
Set the hysteresis width above and below the
judgment level set in the Gain Switch 2 Level
Setting (Pn38). The unit depends on the setting
of the Gain Switch 2 Setting (Pn36).
Jog Speed
Set the speed for jogging.
60
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
● Speed and Torque Control Parameters
Parameter name
Explanation
● Sequence Parameters
Parameter name
Explanation
Speed Command Scale
Set the relation between the voltage applied to
the Speed Command Input (REF) and the
Servomotor speed.
Positioning Completion
Range
Set the range for the Positioning Completed
Output (INP).
Command Speed
Rotation Direction Switch
Set to reverse the polarity of the speed
command input (REF).
Zero Speed Detection
Set the rotation speed to output for the generalpurpose output (zero speed detection output or
speed coincidence output).
Speed Command Offset
Adjustment
Set to adjust the offset of the Speed Command
Input (REF).
Rotation Speed for Motor
Rotation Detection
No. 1 Internally Set
Speed
Set the rotation speed for the Servomotor
Rotation Detection Output (TGON) for Internally
Set Speed Control.
Set the No. 1 internally set rotation speed.
No. 2 Internally Set
Speed
Positioning Completion
Condition Setting
Set the operation for positioning completion
output (INP).
Set the No. 2 internally set rotation speed.
Undervoltage Alarm
Selection
Select whether to activate the main power
supply undervoltage function (alarm code 13) if
the main power supply is interrupted for the
Momentary Hold Time (Pn6D) during Servo ON.
Stop Selection for Drive
Prohibition Input
Set the operation used to decelerate to a stop
after the Forward Drive Prohibit Input (POT) or
Reverse Drive Prohibit Input (NOT) has been
received.
Stop Selection with Main
Power OFF
Set one of the following operations for after the
main power supply is cut off if the Undervoltage
Alarm Selection (Pn65) is set to 0.
·Operation during deceleration and after
stopping
·Clearing the deviation counter
Stop Selection for Alarm
Generation
Set the operation to be performed after stopping
or during deceleration when any protective
function of the Servo Drive operates and an error
occurs.
Stop Selection with
Servo OFF
Set the operation to be performed after the
Servomotor turns OFF (i.e., RUN ON to OFF).
The relation between set values, operation, and
deviation counter processing for this parameter
is the same as for the Stop Selection with Main
Power OFF (Pn67).
Brake Timing when
Stopped
When the Servomotor is stopped and the RUN
Command Input (RUN) is turned OFF, the Brake
Interlock Signal (BKIR) will turn OFF, and the
Servomotor will turn OFF after waiting for the
time period set for this parameter (i.e., setting ×
2 ms).
Brake Timing during
Operation
When the Servomotor is stopped and the RUN
Command Input (RUN) is turned OFF, the
Servomotor will decelerate to reduce rotation
speed, and the Brake Interlock Signal (BKIR) will
turn OFF after the set time for the parameter
(i.e., setting × 2 ms) has elapsed.
BKIR will also turn OFF if the speed drops to
30 r/min or lower before the set time elapses.
Regeneration Resistor
Selection
Set whether to use a built-in resistor or to add an
External Regeneration Resistor.
Momentary Hold Time
Set the amount of time required until shutoff is
detected if the main power supply continues to
shut off.
Emergency Stop Torque
Set the torque limit for the following cases.
·Drive prohibit deceleration with Stop Selection
for Drive Prohibit Input (Pn66) set to 2.
·Deceleration with Stop Selection with Main
Power OFF (Pn67) set to 8 or 9.
·Deceleration with Stop Selection with Servo
OFF (Pn69) set to 8 or 9.
Deviation Counter
Overflow Level
Set the deviation counter overflow level.
Speed Command/Torque
Command Input Overflow
Level Setting
Set the overflow level for Speed Command Input
(REF) or Torque Command Input (TREF) using
voltage after offset adjustment.
Overload Detection Level
Setting
Set the overload detection level.
Overspeed Detection
Level Setting
Set the overspeed detection level.
No. 3 Internally Set
Speed
Set the No. 3 internally set rotation speed.
No. 4 Internally Set
Speed
Set the No. 4 internally set rotation speed.
For torque control (when Pn5B = 0), set the
speed limit.
No. 5 Internally Set
Speed
Set the No. 5 internally set rotation speed.
No. 6 Internally Set
Speed
Set the No. 6 internally set rotation speed.
No. 7 Internally Set
Speed
Set the No. 7 internally set rotation speed.
No. 8 Internally Set
Speed
Set the No. 8 internally set rotation speed.
Speed Command Filter
Time Constant
Set the primary lag filter time constant in the
Speed Command Input (REF: CN1 pin 14).
Soft Start Acceleration
Time
Set the acceleration time for the speed
command.
Soft Start Deceleration
Time
Set the deceleration time for the speed
command.
S-curve Acceleration/
Deceleration Time
Setting
Set the pseudo-S-curve acceleration/
deceleration value to add to the speed command
to enable smooth operation.
Torque Command/Speed
Limit Selection
Select the input for the torque command and
speed limit.
Torque Command Scale
Set the relation between the voltage applied to
the Speed Limit Input (VLIM) and the
Servomotor speed.
Torque Output Direction
Switch
Set to reverse the polarity of the Torque
Command Input (REF/TREF or PCL/TREF).
No. 1 Torque Limit
Set the limit to the Servomotor's maximum
torque.
No. 2 Torque Limit
Set the limit to the Servomotor's maximum
torque.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
61
Dimensions
(Unit: mm)
●Servo Drives
• Single-phase 100 VAC (50 to 100 W)
R88D-GTA5L
R88D-GT01L
• Single-phase 200 VAC (50 to 200 W)
R88D-GT01H
R88D-GT02H
40
70
130
Mounting Hole Dimensions
4
Two, M4
AC SERVO DRIVER
UNIT No.
DATA
140±0.5
G
150
SP
150
IM
6
28±0.5
40
• Single-phase 100 VAC (200 W)
R88D-GT02L
• Single-phase 200 VAC (400 W)
R88D-GT04H
70
55
130
Mounting Hole Dimensions
4
Two, M4
AC SERVO DRIVER
UNIT No.
DATA
140±0.5
G
150
SP
150
IM
6
43±0.5
55
62
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
• Single-phase 100 VAC (400 W)
R88D-GT04L
• Single-phase/Three-phase 200 VAC (750 W)
R88D-GT08H
70
65
170
Mounting Hole Dimensions
4
Two, M4
AC SERVO DRIVER
UNIT No.
DATA
G
150
140±0.5
SP
150
IM
50±0.5
7.5
65
• Single-phase/Three-phase 200 VAC (900 W to 1.5 kW)
R88D-GT10H
R88D-GT15H
85
70
170
Mounting Hole Dimensions
4
Two, M4
AC SERVO DRIVER
UNIT No.
DATA
140±0.5
G
150
SP
150
IM
7.5
70±0.5
85
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
63
• Three-phase 200 VAC (2 kW)
R88D-GT20H
85
17.5
70
50
200
3.5
Mounting Hole Dimensions
42.5
5.2
5.2
5.2
dia.
R2.6
Four, M4
R2.6
AC SERVO DRIVER
UNIT No.
DATA
5.2
dia.
R2.6
168
198
R2.6
5.2
188±0.5
G
188
SP
168
IM
3.5
50±0.5
17.5
5.2
85
42.5
17.5
50
• Three-phase 200 VAC (2 to 5 kW)
R88D-GT30H/-GT50H
130
100
15
65
5.2
5.2 dia.
R2.6
70
200
3.5
Mounting Hole Dimensions
5.2
50±0.5
Six, M4
R2.6
AC SERVO DRIVER
UNIT No.
DATA
5.2
dia.
5.2
65
R2.6
15
64
220
250
15
R2.6
5.2
240±0.5
G
240
SP
220
IM
100±0.5
3.5
130
100
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
• Three-phase 200 VAC (7.5 kW)
R88D-GT75H
Front Panel Mounting (Using Mounting Brackets)
Mounting Hole Dimensions
248
37.5
90
90
5.2
70
339.3
(4)
Six, M4
45.1
(2.3)
5.2
235±0.5
Square hole
3
220
235
250
229
(4)
82.5
5.2
90
5.2
5.2
5.2
38.5
90±0.5
90±0.5
250
85
Four, 5.2 dia.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
65
● Servomotors
3,000-r/min Cylindrical Servomotors
• 50 W/100 W
ABS
INC
46.5
R88M-G05030@-B
102
26.5
R88M-G10030@-B
122
46.5
6
3
*The empty bax in the L, H, L, T or S.
Note: The standard models have a straight
shaft. A model with a key and tap is
indicated by adding “S2” to the end
of the model number.
LN
(Dimensions of shaft end
with key and tap)
Two, 4.3 dia.
40 × 40
14
12.5
3h9
ia.
1.8
26.5
92
46 d
3
72
R88M-G10030@
Brake connector
Servomotor connector
25
LL
32
R88M-G05030@
Encoder
connector
30 dia., height: 7
LN
8 dia., height: 6
LL
200
Model
R88M-G05030T (-S2)
R88M-G10030S (-S2)
R88M-G10030T (-S2)
R88M-G05030T-B (S2)
R88M-G10030S-B (S2)
R88M-G10030T-B (S2)
230
R88M-G05030H (-S2)
R88M-G10030L (-S2)
R88M-G10030H (-S2)
R88M-G05030H-B (S2)
R88M-G10030L-B (S2)
R88M-G10030H-B (S2)
M3 (depth: 6)
• 200 W/400 W/750 W
ABS
INC
R88M-G20030L (-S2)
R88M-G40030L (-S2)
R88M-G20030H (-S2)
R88M-G40030H (-S2)
R88M-G75030H (-S2)
R88M-G20030L-B (S2)
R88M-G40030L-B (S2)
R88M-G20030H-B (S2)
R88M-G40030H-B (S2)
R88M-G75030H-B (S2)
Model
LL
R88M-G20030@
79.5
R88M-G40030@
99
R88M-G75030@
112.2
R88M-G20030@-B
116
R88M-G40030@-B
135.5
R88M-G75030@-B
149.2
R88M-G20030S (-S2)
R88M-G40030S (-S2)
R88M-G20030T (-S2)
R88M-G40030T (-S2)
R88M-G75030T (-S2)
R88M-G20030S-B (S2)
R88M-G40030S-B (S2)
R88M-G20030T-B (S2)
R88M-G40030T-B (S2)
R88M-G75030T-B (S2)
LR
30
35
30
35
S
D1
11
14
19
11
14
19
D2
C
G
Z
KL1
70
50
60
6.5
4.5
43
90
70
80
8
6
53
70
50
60
6.5
4.5
43
90
70
80
8
6
53
QK
b
h
M
t1
L
18
4h9
4
M4
2.5
8
22.5
5h9
5
22
6h9
6
18
4h9
4
22.5
5h9
5
22
6h9
6
M5
M4
M5
3
3.5
2.5
3
3.5
*The empty bax in the L, H, L, T or S.
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Brake connector
Servomotor connector
LR
3
Four, Z dia.
(Dimensions of shaft end
with key and tap)
C×C
QK
b
.
t1
dia
D1
h
KL1
200
220
G
S dia., height : 6
LL
D2 dia., height: 7
Encoder
connector
M
(effective depth: L)
66
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
10
8
10
• 1 kW/1.5 kW/2 kW
ABS
C×C
55
45
42
Four, Z dia.
3.5
6h9
6
3
(Dimensions of shaft end
with key and tap)
KL1
G
19 dia., height: 6
LL
D2 dia., height: 7
Servomotor
canon plug
Encoder
canon plug
84
R88M-G1K030T (-S2)
R88M-G1K530T (-S2)
R88M-G2K030T (-S2)
R88M-G1K030T-B (S2)
R88M-G1K530T-B (S2)
R88M-G2K030T-B (S2)
D3
D1
.
dia
dia
.
M5 (depth: 12)
LL
D1
D2
C
D3
G
KL1
Z
R88M-G1K030T
Model
175
100
80
90
120
7
98
6.6
R88M-G1K530T
180
R88M-G2K030T
205
115
95
100
135
10
103
9
R88M-G1K030T-B
200
100
80
90
120
7
98
6.6
R88M-G1K530T-B
205
R88M-G2K030T-B
230
115
95
100
135
10
103
9
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
LL
217
R88M-G3K030T-B
242
9
Model
R88M-G3K030T
45
41
8h9
162
.
dia
4
7
3
84
12
(Dimensions of the shaft end
with key and tap)
120 × 120
.
55
dia
LL
130
Servomotor/brake
connector
Encoder
connector
111
ABS
R88M-G3K030T (-S2)
R88M-G3K030T-B (S2)
22 dia., height: 6
110 dia., height: 7
• 3 kW
145
dia.
M5 (depth: 12)
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
• 4 kW/5 kW
ABS
R88M-G5K030T
280
R88M-G4K030T-B
265
R88M-G5K030T-B
305
Four, 9 dia.
55
51
8h9
4
118
6
7
LL
240
12
(Dimensions of shaft end
with key and tap)
130 × 130
65
24 dia., height: 6
Model
R88M-G4K030T
LL
110 dia., height: 7
Servomotor/brake
connector
Encoder
connector
84
R88M-G4K030T (-S2)
R88M-G5K030T (-S2)
R88M-G4K030T-B (S2)
R88M-G5K030T-B (S2)
165
dia.
M8 (depth: 20)
145 dia.
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
67
3,000-r/min Flat Servomotors
• 100 W/200 W/400 W
ABS
INC
R88M-GP10030L (-S2)
R88M-GP20030L (-S2)
R88M-GP40030L (-S2)
R88M-GP10030H (-S2)
R88M-GP20030H (-S2)
R88M-GP40030H (-S2)
R88M-GP10030L-B (S2)
R88M-GP20030L-B (S2)
R88M-GP40030L-B (S2)
R88M-GP10030H-B (S2)
R88M-GP20030H-B (S2)
R88M-GP40030H-B (S2)
Model
LL
R88M-GP10030L
R88M-GP10030H
60.5
R88M-GP10030S
R88M-GP10030T
87.5
R88M-GP20030L
R88M-GP20030H
67.5
R88M-GP20030S
R88M-GP20030T
94.5
R88M-GP40030L
R88M-GP40030H
82.5
R88M-GP40030S
R88M-GP40030T
109.5
R88M-GP10030L-B
R88M-GP10030H-B
84.5
R88M-GP10030S-B
R88M-GP10030T-B
111.5
R88M-GP20030L-B
R88M-GP20030H-B
100
R88M-GP20030S-B
R88M-GP20030T-B
127
R88M-GP40030L-B
R88M-GP40030H-B
115
R88M-GP40030S-B
R88M-GP40030T-B
142
R88M-GP10030S (-S2)
R88M-GP20030S (-S2)
R88M-GP40030S (-S2)
R88M-GP10030T (-S2)
R88M-GP20030T (-S2)
R88M-GP40030T (-S2)
R88M-GP10030S-B (S2)
R88M-GP20030S-B (S2)
R88M-GP40030S-B (S2)
R88M-GP10030T-B (S2)
R88M-GP20030T-B (S2)
R88M-GP40030T-B (S2)
LR
S
D1
D2
C
F
G
KL1
Z
QK
b
h
t1
M
L
25
8
70
50
60
3
7
43
4.5
12.5
3h9
3
1.8
M3
6
18
4h9
4
2.5
M4
8
22.5
5h9
5
3.0
M5
10
12.5
3h9
3
1.8
M3
6
18
4h9
4
2.5
M4
8
22.5
5h9
5
3.0
M5
10
11
30
90
70
80
5
8
53
5.5
14
25
8
70
50
60
3
7
43
4.5
11
30
90
70
80
5
8
53
5.5
14
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Encoder
connector
Motor connector
Brake connector
C×C
G F
QK
b
D1
.
dia
t1
D2 dia., height: 7
S dia., height: 6
68
(Dimensions of shaft end
with key and tap)
Four, Z dia.
h
(7)
KL1
(7)
LR
200
220
LL
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
M (depth: L)
R88M-G/R88D-GT
2,000-r/min Cylindrical Servomotors
• 200 VAC: 1 kW/1.5 kW
ABS
150
R88M-G1K520T
45
41
Four, 9 dia.
8h9
4
6
118
12
(Dimensions of shaft end
with key and tap)
130 × 130
55
7
LL
R88M-G1K020T
LL
84
Model
Servomotor/brake
connector
Encoder
connector
22 dia., height: 6
110 dia., height: 7
R88M-G1K020T (-S2)
R88M-G1K520T (-S2)
R88M-G1K020T-B (S2)
R88M-G1K520T-B (S2)
145
dia.
165
dia
.
175
R88M-G1K020T-B
R88M-G1K520T-B
M5 (depth: 12)
200
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
• 200 VAC: 2 kW/3 kW
LW
QK
Four, 9 dia.
8h9
4
6
7
12
(Dimensions of shaft end
with key and tap)
130 × 130
LR
118
LL
84
Servomotor/brake
connector
Encoder
connector
S dia., height: 6
110 dia., height: 7
ABS
R88M-G2K020T (-S2)
R88M-G3K020T (-S2)
R88M-G2K020T-B (S2)
R88M-G3K020T-B (S2)
165
145
dia.
dia
.
M (depth: L)
LL
LR
S
LW
QK
M
L
R88M-G2K020T
Model
200
55
22
45
41
M5
12
R88M-G3K020T
250
65
24
55
51
M8
20
R88M-G2K020T-B
225
55
22
45
41
M5
12
R88M-G3K020T-B
275
65
24
55
51
M8
20
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
• 200 VAC : 4 kW/5 kW
C×C
LR
(Dimensions of shaft end
with key and tap)
Four, Z dia.
QK
b
t1
3.2
84
18
h
LL
Encoder
connector
KL1
Servomotor/brake
connector
S dia., height: 6
D2 dia., height: 7
ABS
R88M-G4K020T (-S2)
R88M-G5K020T (-S2)
R88M-G4K020T-B (S2)
R88M-G5K020T-B (S2)
D3
dia.
D1
dia
.
M (depth: L)
LL
LR
S
D1
D2
C
D3
KL1
Z
QK
b
h
t1
M
L
R88M-G4K020T
Model
242
65
28
165
130
150
190
128
11
51
8h9
7
4
M8
20
R88M-G5K020T
225
70
35
200
114.3
176
233
143
13.5
50
10h9
8
5
M12
25
R88M-G4K020T-B
267
65
28
165
130
150
190
128
11
51
8h9
7
4
M8
20
R88M-G5K020T-B
250
70
35
200
114.3
176
233
143
13.5
50
10h9
8
5
M12
25
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
69
1,500-r/min Cylindrical Servomotors
• 7.5 kW
ABS
Brake connector
Eye-bolt
Nominal diameter: 10
R88M-G7K515T-B
380.5
96
90
183
Four, 13.5 dia.
12h9
233
200
.
dia
8
LL
340.5
24 3.2
84
Model
R88M-G7K515T
42 dia., height: 6
Encoder
connector
(Dimensions of shaft end
with key and tap)
176 × 176
113
LL
5
Motor
connector
114.3 dia., height: 7
R88M-G7K515T (-S2)
R88M-G7K515T-B (S2)
dia
.
M16 (depth: 32)
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
1,000-r/min Cylindrical Servomotors
• 900 W/2 kW
ABS
Encoder connector
R88M-G90010T (-S2)
R88M-G2K010T (-S2)
R88M-G90010T-B (S2)
R88M-G2K010T-B (S2)
Servomotor/brake connector
LL
LR
C×C
Four, Z dia.
QK
KL1
b
h
t1
D2 dia., height: 7
84
S dia., height: 6
G F
(Dimensions of shaft end
with key and tap)
D3
.
D1
dia
dia
.
M (depth: L)
Model
LL
LR
S
D1
D2
C
D3
F
G
KL1
Z
QK
b
h
t1
M
L
R88M-G90010T
175
70
22
145
110
130
165
6
12
118
9
41
8h9
7
4
M5
12
R88M-G2K010T
182
80
35
200
114.3
176
233
3.2
18
143
13.5
50
10h9
8
5
M12
25
R88M-G90010T-B
200
70
22
145
110
130
165
6
12
118
9
41
8h9
7
4
M5
12
R88M-G2K010T-B
207
80
35
200
114.3
176
233
3.2
18
143
13.5
50
10h9
8
5
M12
25
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
• 3 kW
ABS
LL
R88M-G3K010T
222
R88M-G3K010T-B
271
Four, 13.5 dia.
50
10 height: 9
5
18 3.2
(Dimensions of shaft end
with key and tap)
176 × 176
8
Model
80
143
84
Encoder connector
LL
35 dia., height: 6
Servomotor/brake
connector
114.3 dia. height: 7
R88M-G3K010T (-S2)
R88M-G3K010T-B (S2)
233
.
dia
200
dia
.
M12 (depth: 25)
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
70
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
• 4.5 kW
ABS
LL
113
Model
Four, 13.5 dia.
LL
R88M-G4K510T
300.5
R88M-G4K510T-B
337.5
90
12 height: 9
5
84
24 3.2
8
Nominal
diameter: 10
Encoder connector
42 dia., height: 6
Eye-bolt
(Dimensions of shaft end
with key and tap)
176 × 176
143
Servomotor/brake
connector
114.3 dia., height: 7
R88M-G4K510T (-S2)
R88M-G4K510T-B (S2)
233
.
dia
200
dia
.
M12 (depth: 25)
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
• 6 kW
ABS
Brake connector
Eye-bolt
Nominal diameter: 10
Model
LL
R88M-G6K010T
340.5
R88M-G6K010T-B
380.5
Four, 13.5 dia.
96
90
183
12 height: 9
23
ia
3d
200
.
8
24 3.2
42 dia. height: 6
84
Encoder
connector
(Dimensions of shaft end
with key and tap)
176 × 176
113
114.3 dia., height: 7
LL
5
R88M-G6K010T (-S2)
Motor
R88M-G6K010T-B (S2) connector
dia
.
M16 (depth: 32)
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
71
● Decelerators
Backlash: 3 Arcminutes Max.
● 3,000-r/min Servomotors (50 to 750 W)
Dimensions (mm)
Model
50W
100W
200W
400W
750W
(200V)
1/5
1/9
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
Outline
Drawings
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1 *4
1 *4
1
1
1
1 *4
1
1
2
2
1
1
1
2
2
1
2
2
2
2
1
1
2
2
2
39.5
39.5
64.0
64.0
64.0
39.5
64.0
64.0
66.5
66.5
64.0
64.0
71.0
71.0
71.0
64
71
71
104
104
78
78
104
104
104
42
42
58
58
58
42
58
58
80
80
58
58
80
80
80
58
80
80
133
133
80
80
133
133
133
40
40
60
60
60
40
60
60
90
90
60
60
90
90
90
60
90
90
120
120
90
90
120
120
120
40 × 40
40 × 40
60 × 60
60 × 60
60 × 60
40 × 40
60 × 60
60 × 60
55 dia.
55 dia.
60 × 60
60 × 60
90 × 90
89 dia.
89 dia.
60 × 60
89 dia.
89 dia.
122 dia.
122 dia.
80 × 80
80 × 80
122 dia.
122 dia.
122 dia.
46
46
70
70
70
46
70
70
105
105
70
70
105
105
105
70
105
105
135
135
105
105
135
135
135
46
46
46
46
46
46
46
46
46
46
70
70
70
70
70
70
70
70
70
70
90
90
90
90
90
40
40
56
56
56
40
56
56
85
85
56
56
85
85
85
56
85
85
115
115
85
85
115
115
115
39.5
39.5
55.5
55.5
55.5
39.5
55.5
55.5
84
84
55.5
55.5
84
84
84
55.5
84
84
114
114
84
84
114
114
114
29
29
40
40
40
29
40
40
59
59
40
40
59
59
59
40
59
59
84
84
59
59
84
84
84
27
27
37
37
37
27
37
37
53
53
37
37
53
53
53
37
53
53
98
98
53
53
98
98
98
2.2
2.2
2.5
2.5
2.5
2.2
2.5
2.5
7.5
7.5
2.5
2.5
7.5
7.5
7.5
2.5
7.5
7.5
12.5
12.5
7.5
7.5
12.5
12.5
12.5
15
15
21
21
21
15
21
21
27
27
21
21
27
27
27
21
27
27
35
35
27
27
35
35
35
R88G-HPG11B05100B@
R88G-HPG11B09050B@
R88G-HPG14A21100B@
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88G-HPG11B05100B@
R88G-HPG14A11100B@
R88G-HPG14A21100B@
R88G-HPG20A33100B@
R88G-HPG20A45100B@
R88G-HPG14A05200B@
R88G-HPG14A11200B@
R88G-HPG20A21200B@
R88G-HPG20A33200B@
R88G-HPG20A45200B@
R88G-HPG14A05400B@
R88G-HPG20A11400B@
R88G-HPG20A21400B@
R88G-HPG32A33400B@
R88G-HPG32A45400B@
R88G-HPG20A05750B@
R88G-HPG20A11750B@
R88G-HPG32A21750B@
R88G-HPG32A33750B@
R88G-HPG32A45750B@
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG11B05100BJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
There is one set bolt.
Key and tap Dimensions
QK
D2 dia.
S dia., height: 7
b
h
D3 dia., height: 7 *2
D4 dia.
D5 dia.
E
D1 dia.
Four,
Z2 dia.
Set bolt (AT)
t1
C1
M (depth: L)
T
F1
Four, Z1 dia.
LR
F2
C2
G
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
LM
*4. For the R88G-HPG11B series, two set bolts are positioned at an angle of
90° from each other.
Four,
Z2 dia.
Set bolt (AT)
D2 dia.
C2
72
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Dimensions (mm)
G
S
T
Z1
Z2
AT*1
5
5
8
8
8
5
8
8
10
10
8
8
10
10
10
8
10
10
13
13
10
10
13
13
13
8
8
16
16
16
8
16
16
25
25
16
16
25
25
25
16
25
25
40
40
25
25
40
40
40
20
20
28
28
28
20
28
28
42
42
28
28
42
42
42
28
42
42
82
82
42
42
82
82
82
3.4
3.4
5.5
5.5
5.5
3.4
5.5
5.5
9
9
5.5
5.5
9
9
9
5.5
9
9
11
11
9
9
11
11
11
M4 × 9
M4 × 9
M4 × 10
M4 × 10
M4 × 10
M4 × 9
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M5 × 12
M5 × 12
M5 × 12
M5 × 12
M5 × 12
M3
M3
M3
M3
M3
M3
M3
M3
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M6
M6
M6
Key Dimensions
b
h
3
3
3
3
5
5
5
5
5
5
3
3
5
5
5
5
8
7
8
7
5
5
5
5
8
7
8
7
8
7
5
5
8
7
8
7
12
8
12
8
8
7
8
7
12
8
12
8
12
8
QK
15
15
25
25
25
15
25
25
36
36
25
25
36
36
36
25
36
36
70
70
36
36
70
70
70
t1
1.8
1.8
3
3
3
1.8
3
3
4
4
3
3
4
4
4
3
4
4
5
5
4
4
5
5
5
Tap Dimensions
M
L
M3
6
M3
6
M4
8
M4
8
M4
8
M3
6
M4
8
M4
8
M6
12
M6
12
M4
8
M4
8
M6
12
M6
12
M6
12
M4
8
M6
12
M6
12
M10
20
M10
20
M6
12
M6
12
M10
20
M10
20
M10
20
Model
R88G-HPG11B05100B@
R88G-HPG11B09050B@
R88G-HPG14A21100B@
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88G-HPG11B05100B@
R88G-HPG14A11100B@
R88G-HPG14A21100B@
R88G-HPG20A33100B@
R88G-HPG20A45100B@
R88G-HPG14A05200B@
R88G-HPG14A11200B@
R88G-HPG20A21200B@
R88G-HPG20A33200B@
R88G-HPG20A45200B@
R88G-HPG14A05400B@
R88G-HPG20A11400B@
R88G-HPG20A21400B@
R88G-HPG32A33400B@
R88G-HPG32A45400B@
R88G-HPG20A05750B@
R88G-HPG20A11750B@
R88G-HPG32A21750B@
R88G-HPG32A33750B@
R88G-HPG32A45750B@
1/5
1/9
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
50W
100W
200W
400W
750W
(200V)
*1. This is the set bolt.
Outline Drawings 2
Key and tap Dimensions
QK
S dia., height: 7
D2 dia.
b
h
D3 dia., height: 7 *3
D4
D5
D1 dia.
Four,
Z2 dia.
Set bolt (AT)
E
t1
C1
M (depth: L)
T
F1
Four, Z1 dia.
LR
F2
C2
G
LM
*3. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
73
Backlash: 3 Arcminutes Max.
● 3,000-r/min Servomotors (1 to 5 kW)
Dimensions (mm)
Model
1kW
1.5kW
2kW
3kW
4kW
5kW
Outline
Drawings
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
R88G-HPG32A052K0B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/11
R88G-HPG32A112K0B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/21
R88G-HPG32A211K5B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/33
R88G-HPG50A332K0B@
2
123
156
170
170 dia.
190
115
165
163
122
103
12
53
1/45
R88G-HPG50A451K5B@
2
123
156
170
170 dia.
190
115
165
163
122
103
12
53
1/5
R88G-HPG32A052K0B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/11
R88G-HPG32A112K0B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/21
R88G-HPG32A211K5B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/33
R88G-HPG50A332K0B@
2
123
156
170
170 dia.
190
115
165
163
122
103
12
53
1/45
R88G-HPG50A451K5B@
2
123
156
170
170 dia.
190
115
165
163
122
103
12
53
1/5
R88G-HPG32A052K0B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/11
R88G-HPG32A112K0B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/21
R88G-HPG50A212K0B@
2
123
156
170
170 dia.
190
115
165
163
122
103
12
53
53
1/33
R88G-HPG50A332K0B@
2
123
156
170
170 dia.
190
115
165
163
122
103
12
1/5
R88G-HPG32A053K0B@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/11
R88G-HPG50A113K0B@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
53
53
1/21
R88G-HPG50A213K0B@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
1/5
R88G-HPG32A054K0B@
1
129
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/11
R88G-HPG50A115K0B@
1
149
156
170
130 × 130
190
145
165
163
122
103
12
53
1/5
R88G-HPG50A055K0B@
1
149
156
170
130 × 130
190
145
165
163
122
103
12
53
1/11
R88G-HPG50A115K0B@
1
149
156
170
130 × 130
190
145
165
163
122
103
12
53
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG32A051K0BJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
QK
D2 dia.
S dia., height: 7
b
h
D3 dia., height: 7 *2
D4 dia.
D5 dia.
D1 dia.
Key and tap Dimensions
t1
E
C1
Four,
Z2 dia.
Set bolt (AT)
M (depth: L)
T
F1
Four, Z1 dia.
LR
F2 G
C2
LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
74
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Dimensions (mm)
G
S
T
Z1
Z2
AT*1
13
40
82
11
M8 × 10
13
40
82
11
M8 × 10
13
40
82
11
16
50
82
14
16
50
82
13
40
82
13
40
13
Key Dimensions
Tap Dimensions
Model
QK
b
h
t1
M
L
M6
70
12
8
5
M10
20
R88G-HPG32A052K0B@
1/5
M6
70
12
8
5
M10
20
R88G-HPG32A112K0B@
1/11
M8 × 10
M6
70
12
8
5
M10
20
R88G-HPG32A211K5B@
1/21
M8 × 10
M6
70
14
9
5.5
M10
20
R88G-HPG50A332K0B@
1/33
14
M8 × 10
M6
70
14
9
5.5
M10
20
R88G-HPG50A451K5B@
1/45
11
M8 × 10
M6
70
12
8
5
M10
20
R88G-HPG32A052K0B@
1/5
82
11
M8 × 10
M6
70
12
8
5
M10
20
R88G-HPG32A112K0B@
1/11
40
82
11
M8 × 10
M6
70
12
8
5
M10
20
R88G-HPG32A211K5B@
1/21
16
50
82
14
M8 × 10
M6
70
14
9
5.5
M10
20
R88G-HPG50A332K0B@
1/33
16
50
82
14
M8 × 10
M6
70
14
9
5.5
M10
20
R88G-HPG50A451K5B@
1/45
13
40
82
11
M8 × 10
M6
70
12
8
5
M10
20
R88G-HPG32A052K0B@
1/5
13
40
82
11
M8 × 10
M6
70
12
8
5
M10
20
R88G-HPG32A112K0B@
1/11
16
50
82
14
M8 × 10
M6
70
14
9
5.5
M10
20
R88G-HPG50A212K0B@
1/21
16
50
82
14
M8 × 10
M6
70
14
9
5.5
M10
20
R88G-HPG50A332K0B@
1/33
13
40
82
11
M8 × 18
M6
70
12
8
5
M10
20
R88G-HPG32A053K0B@
1/5
16
50
82
14
M8 × 16
M6
70
14
9
5.5
M10
20
R88G-HPG50A113K0B@
1/11
1/21
16
50
82
14
M8 × 16
M6
70
14
9
5.5
M10
20
R88G-HPG50A213K0B@
13
40
82
11
M8 × 25
M6
70
12
8
5
M10
20
R88G-HPG32A054K0B@
1/5
16
50
82
14
M8 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A115K0B@
1/11
16
50
82
14
M8 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A055K0B@
1/5
16
50
82
14
M8 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A115K0B@
1/11
1kW
1.5kW
2kW
3kW
4kW
5kW
*1. This is the set bolt.
Outline Drawings 2
Key and tap Dimensions
QK
D2 dia.
b
t1
S dia., height: 7
h
D3 dia., height: 7 *3
D4 dia.
D5 dia.
D1 dia.
Four,
Z2 dia.
Set bolt (AT)
E
C1
M (depth: L)
T
F1
Four, Z1 dia.
LR
F2 G
C2 dia.
LM
*3. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
75
Backlash: 3 Arcminutes Max.
● 3,000-r/min Servomotors (100 to 400 W)
Dimensions (mm)
Model
100 W
200 W
400 W
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
R88G-HPG11A05100PB
39.5
42
40
60×60
46
70
40.0
39.5
29
27
2.2
15
1/11
R88G-HPG14A11100PB
64.0
58
60
60×60
70
70
56.0
55.5
40
37
2.5
21
1/21
R88G-HPG14A21100PB
64.0
58
60
60×60
70
70
56.0
55.5
40
37
2.5
21
1/33
R88G-HPG20A33100PB
71.0
80
90
89 dia.
105
70
85.0
84.0
59
53
7.5
27
1/45
R88G-HPG20A45100PB
71.0
80
90
89 dia.
105
70
85.0
84.0
59
53
7.5
27
1/5
R88G-HPG14A05200PB
65.0
58
60
80×80
70
90
56.0
55.5
40
37
2.5
21
1/11
R88G-HPG20A11200PB
78.0
80
90
80×80
105
90
85.0
84.0
59
53
7.5
27
1/21
R88G-HPG20A21200PB
78.0
80
90
80×80
105
90
85.0
84.0
59
53
7.5
27
1/33
R88G-HPG20A33200PB
78.0
80
90
80×80
105
90
85.0
84.0
59
53
7.5
27
1/45
R88G-HPG20A45200PB
78.0
80
90
80×80
105
90
85.0
84.0
59
53
7.5
27
1/5
R88G-HPG20A05400PB
78.0
80
90
80×80
105
90
85.0
84.0
59
53
7.5
27
1/11
R88G-HPG20A11400PB
78.0
80
90
80×80
105
90
85.0
84.0
59
53
7.5
27
1/21
R88G-HPG20A21400PB
78.0
80
90
80×80
105
90
85.0
84.0
59
53
7.5
27
1/33
R88G-HPG32A33400PB
104.0
133
120
122 dia.
135
90
115.0
114.0
84
98
12.5
35
1/45
R88G-HPG32A45400PB
104.0
133
120
122 dia.
135
90
115.0
114.0
84
98
12.5
35
Note: 1. The standard models have a straight shaft.
A model with a key and tap is indicated by adding “J” to the end of the model number.
Note: 2. Applicable for the servomotors with key, if the key is removed.
Outline Drawings
E
Four, Z2 dia.
D2 dia.
Key and Tap Dimensions
QK
b
h
D3 dia.
D4 dia.
D5 dia.
S dia.,h: 7
D1 dia.
Set bolt (AT)
t1
C1
M (depth: L)
T
F1
Four, Z1 dia.
F2
LR
76
C2
G
LM
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Dimensions (mm)
G
S
T
Z1
Z2
Key dimensions
AT*1
M3
Tap dimensions
Model
QK
b
h
t1
M
L
15
3
3
1.8
M3
6
R88G-HPG11A05100PB
1/5
5
8
20
3.4
M4×9
8
16
28
5.5
M4×10
M3
25
5
5
3.0
M4
8
R88G-HPG14A11100PB
1/11
8
16
28
5.5
M4×10
M3
25
5
5
3.0
M4
8
R88G-HPG14A21100PB
1/21
10
25
42
9.0
M4×10
M3
36
8
7
4.0
M6
12
R88G-HPG20A33100PB
1/33
10
25
42
9.0
M4×10
M3
36
8
7
4.0
M6
12
R88G-HPG20A45100PB
1/45
8
16
28
5.5
M5×12
M4
25
5
5
3.0
M4
8
R88G-HPG14A05200PB
1/5
10
25
42
9.0
M5×12
M4
36
8
7
4.0
M6
12
R88G-HPG20A11200PB
1/11
10
25
42
9.0
M5×12
M4
36
8
7
4.0
M6
12
R88G-HPG20A21200PB
1/21
10
25
42
9.0
M5×12
M4
36
8
7
4.0
M6
12
R88G-HPG20A33200PB
1/33
10
25
42
9.0
M5×12
M4
36
8
7
4.0
M6
12
R88G-HPG20A45200PB
1/45
10
25
42
9.0
M5×12
M4
36
8
7
4.0
M6
12
R88G-HPG20A05400PB
1/5
10
25
42
9.0
M5×12
M4
36
8
7
4.0
M6
12
R88G-HPG20A11400PB
1/11
10
25
42
9.0
M5×12
M4
36
8
7
4.0
M6
12
R88G-HPG20A21400PB
1/21
13
40
82
11.0
M5×12
M6
70
12
8
5.0
M10
20
R88G-HPG32A33400PB
1/33
13
40
82
11.0
M5×12
M6
70
12
8
5.0
M10
20
R88G-HPG32A45400PB
1/45
100 W
200 W
400 W
*1. This is the set bolt.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
77
Backlash: 3 Arcminutes Max.
● 2,000-r/min Servomotors (1 to 7.5 kW)
Dimensions (mm)
Model
1kW
1.5kW
2kW
3kW
4kW
5kW
7.5kW
Outline
Drawings
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
R88G-HPG32A053K0B@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/11
R88G-HPG32A112K0SB@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/21
R88G-HPG32A211K0SB@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/33
R88G-HPG50A332K0SB@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
53
1/45
R88G-HPG50A451K0SB@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
53
1/5
R88G-HPG32A053K0B@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/11
R88G-HPG32A112K0SB@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/21
R88G-HPG50A213K0B@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
53
1/33
R88G-HPG50A332K0SB@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
53
1/5
R88G-HPG32A053K0B@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/11
R88G-HPG32A112K0SB@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/21
R88G-HPG50A213K0B@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
53
1/33
R88G-HPG50A332K0SB@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
53
1/5
R88G-HPG32A054K0B@
1
129
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/11
R88G-HPG50A115K0B@
1
149
156
170
130 × 130
190
145
165
163
122
103
12
53
1/21
R88G-HPG50A213K0SB@
1
149
156
170
130 × 130
190
145
165
163
122
103
12
53
1/25
R88G-HPG65A253K0SB@
1
231
222
230
130 × 130
260
145
220
214
168
165
12
57
1/5
R88G-HPG50A055K0SB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12
53
1/11
R88G-HPG50A115K0SB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12
53
1/20
R88G-HPG65A205K0SB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
57
1/25
R88G-HPG65A255K0SB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
57
1/5
R88G-HPG50A055K0SB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12
53
1/11
R88G-HPG50A115K0SB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12
53
1/20
R88G-HPG65A205K0SB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
57
1/25
R88G-HPG65A255K0SB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
57
1/5
R88G-HPG65A057K5SB@
1
184.5
222
230
180 × 180
260
200
220
214
168
165
12.0
57
1/12
R88G-HPG65A127K5SB@
1
254.5
222
230
180 × 180
260
200
220
214
168
165
12.0
57
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG32A053K0BJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
Key and tap Dimensions
QK
S dia., height: 7
b
t1
D2 dia.
h
D1 dia.
D3 dia., height: 7 *2
D4 dia.
D5 dia.
C1
Four,
Z2 dia.
Set bolt (AT)
E
M (depth: L)
T
F1
Four, Z1 dia.
LR
F2 G
C2
LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
78
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Dimensions (mm)
G
S
T
Z1
Z2
AT*1
13
40
82
11
M8 × 18
13
40
82
11
M8 × 18
13
40
82
11
16
50
82
14
16
50
82
13
40
82
13
40
16
50
Key Dimensions
Tap Dimensions
Model
QK
b
h
t1
M
L
M6
70
12
8
5
M10
20
R88G-HPG32A053K0B@
1/5
M6
70
12
8
5
M10
20
R88G-HPG32A112K0SB@
1/11
M8 × 18
M6
70
12
8
5
M10
20
R88G-HPG32A211K0SB@
1/21
M8 × 16
M6
70
14
9
5.5
M10
20
R88G-HPG50A332K0SB@
1/33
14
M8 × 16
M6
70
14
9
5.5
M10
20
R88G-HPG50A451K0SB@
1/45
11
M8 × 18
M6
70
12
8
5
M10
20
R88G-HPG32A053K0B@
1/5
82
11
M8 × 18
M6
70
12
8
5
M10
20
R88G-HPG32A112K0SB@
1/11
82
14
M8 × 16
M6
70
14
9
5.5
M10
20
R88G-HPG50A213K0B@
1/21
1/33
16
50
82
14
M8Å~16
M6
70
14
9
5.5
M10
20
R88G-HPG50A332K0SB@
13
40
82
11
M8 × 18
M6
70
12
8
5
M10
20
R88G-HPG32A053K0B@
1/5
13
40
82
11
M8 × 18
M6
70
12
8
5
M10
20
R88G-HPG32A112K0SB@
1/11
16
50
82
14
M8 × 16
M6
70
14
9
5.5
M10
20
R88G-HPG50A213K0B@
1/21
16
50
82
14
M8 × 16
M6
70
14
9
5.5
M10
20
R88G-HPG50A332K0SB@
1/33
13
40
82
11
M8 × 25
M6
70
12
8
5
M10
20
R88G-HPG32A054K0B@
1/5
16
50
82
14
M8 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A115K0B@
1/11
16
50
82
14
M8 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A213K0SB@
1/21
1/25
25
80
130
18
M8 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A253K0SB@
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A055K0SB@
1/5
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A115K0SB@
1/11
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A205K0SB@
1/20
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A255K0SB@
1/25
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A055K0SB@
1/5
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A115K0SB@
1/11
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A205K0SB@
1/20
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A255K0SB@
1/25
25
80
130
18
M12 × 25
M8
110
22
14
9.0
M16
35
R88G-HPG65A057K5SB@
1/5
25
80
130
18
M12 × 25
M8
110
22
14
9.0
M16
35
R88G-HPG65A127K5SB@
1/12
1kW
1.5kW
2kW
3kW
4kW
5kW
7.5kW
*1. This is the set bolt.
Outline Drawings 2
Key and tap Dimensions
QK
D2 dia.
b
t1
S dia., height: 7
h
D3 dia., height: 7 *3
D4 dia.
D5 dia.
D1 dia.
Four,
Z2 dia.
Set bolt (AT)
E
C1
M (depth: L)
T
F1
Four, Z1 dia.
LR
F2 G
C2 dia.
LM
*3. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
79
Backlash: 3 Arcminutes Max.
● 1,000-r/min Servomotors (900 W to 6 kW)
Dimensions (mm)
Model
900W
2kW
3kW
4.5kW
6kW
Outline
Drawings
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
35
1/5
R88G-HPG32A05900TB@
1
129
133
120
130 × 130
135
145
115
114
84
98
12.5
1/11
R88G-HPG32A11900TB@
1
129
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/21
R88G-HPG50A21900TB@
1
149
156
170
130 × 130
190
145
165
163
122
103
12
53
1/33
R88G-HPG50A33900TB@
1
149
156
170
130 × 130
190
145
165
163
122
103
12
53
1/5
R88G-HPG32A052K0TB@
1
129
133
120
180 × 180
135
200
115
114
84
98
12.5
35
1/11
R88G-HPG50A112K0TB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12
53
1/21
R88G-HPG50A212K0TB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
53
1/25
R88G-HPG65A255K0SB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
57
1/5
R88G-HPG50A055K0SB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12
53
1/11
R88G-HPG50A115K0SB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12
53
1/20
R88G-HPG65A205K0SB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
57
1/25
R88G-HPG65A255K0SB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
57
1/5
R88G-HPG50A054K5TB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12.0
53
1/12
R88G-HPG65A127K5SB@
1
254.5
222
230
180 × 180
260
200
220
214
168
165
12.0
57
1/20
R88G-HPG65A204K5TB@
1
254.5
222
230
180 × 180
260
200
220
214
168
165
12.0
57
1/5
R88G-HPG65A057K5SB@
1
184.5
222
230
180 × 180
260
200
220
214
168
165
12.0
57
1/12
R88G-HPG65A127K5SB@
1
254.5
222
230
180 × 180
260
200
220
214
168
165
12.0
57
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG32A05900TBJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
Key and tap Dimensions
QK
t1
b
h
D2 dia.
S dia., height: 7
D4 dia.
D5 dia.
D1 dia.
D3 dia., height: 7 *2
C1
Four,
Z2 dia.
Set bolt (AT)
E
M (depth: L)
T
F1
Four, Z1 dia.
LR
F2 G
C2
LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
80
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Dimensions (mm)
G
S
T
Z1
Z2
AT*1
Key Dimensions
QK
b
h
Tap Dimensions
t1
M
Model
L
13
40
82
11
M8 × 25
M6
70
12
8
5
M10
20
R88G-HPG32A05900TB@
1/5
13
40
82
11
M8 × 25
M6
70
12
8
5
M10
20
R88G-HPG32A11900TB@
1/11
16
50
82
14
M8 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A21900TB@
1/21
16
50
82
14
M8 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A33900TB@
1/33
13
40
82
11
M12 × 25
M6
70
12
8
5
M10
20
R88G-HPG32A052K0TB@
1/5
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A112K0TB@
1/11
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG50A212K0TB@
1/21
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A255K0SB@
1/25
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A055K0SB@
1/5
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A115K0SB@
1/11
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A205K0SB@
1/20
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A255K0SB@
1/25
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A054K5TB@
1/5
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A127K5SB@
1/12
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A204K5TB@
1/20
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A057K5SB@
1/5
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A127K5SB@
1/12
900W
2kW
3kW
4.5kW
6kW
*1. This is the set bolt.
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
81
Backlash: 15 Arcminutes Max.
● 3,000-r/min Servomotors (50 to 750 W)
Dimensions (mm)
Model
50 W
100 W
200 W
400 W
750 W
LM
LR
C1
C2
D1
D2
D3
D4
E3
F
G
1/5
R88G-VRSF05B100CJ
67.5
32
52
40
46
60
50
45
10
3
6
1/9
R88G-VRSF09B100CJ
67.5
32
52
40
46
60
50
45
10
3
6
1/15
R88G-VRSF15B100CJ
78.0
32
52
40
46
60
50
45
10
3
6
1/25
R88G-VRSF25B050CJ
78.0
32
52
40
46
60
50
45
10
3
6
1/5
R88G-VRSF05B100CJ
67.5
32
52
40
46
60
50
45
10
3
6
1/9
R88G-VRSF09B100CJ
67.5
32
52
40
46
60
50
45
10
3
6
1/15
R88G-VRSF15B100CJ
78.0
32
52
40
46
60
50
45
10
3
6
1/25
R88G-VRSF25B100CJ
78.0
32
52
40
46
60
50
45
10
3
6
1/5
R88G-VRSF05B200CJ
72.5
32
52
60
70
60
50
45
10
3
10
1/9
R88G-VRSF09C200CJ
89.5
50
78
60
70
90
70
62
17
3
8
1/15
R88G-VRSF15C200CJ
100.0
50
78
60
70
90
70
62
17
3
8
1/25
R88G-VRSF25C200CJ
100.0
50
78
60
70
90
70
62
17
3
8
1/5
R88G-VRSF05C400CJ
89.5
50
78
60
70
90
70
62
17
3
8
1/9
R88G-VRSF09C400CJ
89.5
50
78
60
70
90
70
62
17
3
8
1/15
R88G-VRSF15C400CJ
100.0
50
78
60
70
90
70
62
17
3
8
1/25
R88G-VRSF25C400CJ
100.0
50
78
60
70
90
70
62
17
3
8
1/5
R88G-VRSF05C750CJ
93.5
50
78
80
90
90
70
62
17
3
10
1/9
R88G-VRSF09D750CJ
97.5
61
98
80
90
115
90
75
18
5
10
1/15
R88G-VRSF15D750CJ
110.0
61
98
80
90
115
90
75
18
5
10
1/25
R88G-VRSF25D750CJ
110.0
61
98
80
90
115
90
75
18
5
10
Note: 1. The standard models have a straight shaft with a key.
Note: 2. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 3. Applicable for the servomotors with key, if the key is removed.
Outline Drawings
E3
F
Four, Z2 (effective depth: L)
C2 × C2
G
T
LM
82
D4 dia.
S dia., h: 6
D1 d
ia.
D3 dia., height: 7
Four, Z1
D2 d
ia.
C1 × C1
LR
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Dimensions (mm)
Key dimensions
S
12
T
20
Z1
M4
Z2
M5
AT
M3
Model
L
12
QK
b
h
t1
16
4
4
2.5
R88G-VRSF05B100CJ
1/5
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF09B100CJ
1/9
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF15B100CJ
1/15
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF25B050CJ
1/25
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF05B100CJ
1/5
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF09B100CJ
1/9
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF15B100CJ
1/15
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF25B100CJ
1/25
12
20
M5
M5
M4
12
16
4
4
2.5
R88G-VRSF05B200CJ
1/5
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF09C200CJ
1/9
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF15C200CJ
1/15
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF25C200CJ
1/25
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF05C400CJ
1/5
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF09C400CJ
1/9
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF15C400CJ
1/15
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF25C400CJ
1/25
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF05C750CJ
1/5
24
40
M5
M8
M4
20
30
8
7
4
R88G-VRSF09D750CJ
1/9
24
40
M5
M8
M4
20
30
8
7
4
R88G-VRSF15D750CJ
1/15
24
40
M5
M8
M4
20
30
8
7
4
R88G-VRSF25D750CJ
1/25
50 W
100 W
200 W
400 W
750 W
Outline Drawings
Key Dimensions
b
Set bolt (AT)
QK
t1
h
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
83
Backlash: 15 Arcminutes Max.
● 3,000-r/min Servomotors (100 to 400 W)
Dimensions (mm)
Model
100 W
200 W
400 W
LM
LR
C1
C2
D1
D2
D3
D4
E3
F
G
1/5
R88G-VRSF05B100PCJ
67.5
32
52
60
70
60
50
45
10
3
8
1/9
R88G-VRSF09B100PCJ
67.5
32
52
60
70
60
50
45
10
3
8
1/15
R88G-VRSF15B100PCJ
78.0
32
52
60
70
60
50
45
10
3
8
1/25
R88G-VRSF25B100PCJ
78.0
32
52
60
70
60
50
45
10
3
8
1/5
R88G-VRSF05B200PCJ
72.5
32
52
80
90
60
50
45
10
3
12
1/9
R88G-VRSF09C200PCJ
89.5
50
78
80
90
90
70
62
17
3
12
1/15
R88G-VRSF15C200PCJ
100.0
50
78
80
90
90
70
62
17
3
12
1/25
R88G-VRSF25C200PCJ
100.0
50
78
80
90
90
70
62
17
3
12
1/5
R88G-VRSF05C400PCJ
89.5
50
78
80
90
90
70
62
17
3
12
1/9
R88G-VRSF09C400PCJ
89.5
50
78
80
90
90
70
62
17
3
12
1/15
R88G-VRSF15C400PCJ
100.0
50
78
80
90
90
70
62
17
3
12
1/25
R88G-VRSF25C400PCJ
100.0
50
78
80
90
90
70
62
17
3
12
Note: 1. The standard models have a straight shaft with a key.
Note: 2. Applicable for the servomotors with key, if the key is removed.
Outline Drawings
E3
F
Four, Z2 (effective depth: L)
D1 d
S dia.,
h: 6
D4 dia.
ia.
D3 dia., height: 7
Four, Z1
D2 d
ia.
C1 × C1
C2 × C2
G
T
LM
84
LR
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Dimensions (mm)
Key dimensions
Model
S
T
Z1
Z2
AT
L
QK
b
h
t1
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF05B100PCJ
1/5
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF09B100PCJ
1/9
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF15B100PCJ
1/15
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF25B100PCJ
1/25
12
20
M5
M5
M4
12
16
4
4
2.5
R88G-VRSF05B200PCJ
1/5
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF09C200PCJ
1/9
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF15C200PCJ
1/15
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF25C200PCJ
1/25
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF05C400PCJ
1/5
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF09C400PCJ
1/9
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF15C400PCJ
1/15
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF25C400PCJ
1/25
100 W
200 W
400 W
Outline Drawings
Key Dimensions
b
Set bolt (AT)
QK
t1
h
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
85
● Parameter Unit
R88A-PR02G
(62)
(24)
(114)
(15)
M3 (depth: 5)
(15)
Mini DIN 8-pin
MD connector
(1500)
Thermal switch output
48
62
28
43.5
4.2
3 dia.
(0.75mm2)
1.5 dia.
(0.3mm2)
● External Regeneration Resistor
R88A-RR22047S1
6
t1.2
500
200
20
220
230
Thermal switch output
4.2
3 dia.
(0.75mm2)
1.5 dia.
(0.3mm2)
R88A-RR08050S/-RR080100S
6
t1.2
500
20
104
122
130
25
86
43
78
10
40
76
5.2
R88A-RR50020S
360
386
402
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
● Reactor
3G3AX-DL2002
3G3AX-DL2004
Model
L
3G3AX-DL2002
85
3G3AX-DL2004
95
3G3AX-AL2025
3G3AX-AL2055
Ground terminal (M5)
Six, M4
terminal screws
72
90
Terminal
block
Model
A
C
Y
3G3AX-AL2025
120
82
67
3G3AX-AL2055
120
98
75
60
40
Two, M4
Ro R So S To T
4-5.2 × 8
L
94
56
66
150
Ground terminal
(M4)
Ro R So S To
T
Connection Diagram
Four, 6 dia.
98
50±1
Y±1
(Notch)
A
C
9.5
3G3AX-DL2007
3G3AX-DL2015
Model
L
3G3AX-DL2007
105
3G3AX-DL2015
115
3G3AX-AL2110
3G3AX-AL2220
Terminal holes:
Six, K dia.
A
D
55
T
72
90
Ro R So S To
Two, M4
H
Ground terminal
(M4)
56
66
H1
4-5.2 × 8
L
Ro
R So
S To
T
Connection Diagram
X±1
Y±1
W
C
Four, 6 dia.
W=Terminal width
98
(Notch)
Ground terminal (M6)
A
C
D
H
H1
X
Y
K
W
150
103
70
170
108
60
80
5.3
12
3G3AX-AL2220
180
113
75
190
140
90
90
8.4
16.5
80
100
3G3AX-DL2022
Model
3G3AX-AL2110
Two, M4
Ground terminal
(M4)
4-6 × 9
105
116
71
86
About Manuals
English Cat. No.
Japanese Cat. No.
Type
Name
I562
SBCE-349
R88M-G/R88D-GT
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog
Inputs User’s Manual
W453
SBCE-337
CXONE-@@@@C-V@/
CXONE-@@@@D-V@
CX-Drive OPERATION MANUAL
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
87
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Saves Space and Enables MECHATROLINK-II Communications with
the Controller.
• Data transfer using MECHATROLINK-Ⅱ (See Note 1) Communications:
All control data that can be interfaced between the Servo Driver and the Controller is transmitted using data communications.
This enables maximizing the Servomotor performance without restricting the transmission performance of the control signals.
• Having a communications module built into the Servo Driver significantly saves space in the control panel.
System Configuration
Note: 1. MECHATROLINK-II is a registered trademark of the MECHATROLINK Members Association.
Note: 2. CX-Drive (version 1.62) support for G-series Servo Drivers with MECHATROLINK-II Communications can be
obtained by using the CX-One V2/V3 auto-update function from July 31, 2008.
Controllers
Monitor Software
CX-Drive
Parameter Unit
R88A-PR02G
See Note 2
CJ-series PLC
CS-series PLC
Personal Computer Monitor Cable
R88A-CCG002P2
Position Control Unit
MECHATROLINK-II
MECHATROLINK-II Cables
CJ1W-NCF71
CS1W-NCF71
(With ring core and USB connector on both ends)
FNY-W6003-@@ (OMRON model number)
MECHATROLINK-II Repeater
Number of
connected
devices
1 to 15
16
Maximum transmission distance
0 to 30 m
30 to 50 m
50 to 100 m
Repeater not required. Repeater not required. Repeater required.
Repeater not required. Repeater required. Repeater required.
Support Software
CX-One FA Integrated Tool Package (for Ver.2.0)
(Including CX-Motion-NCF (See Note 3)
and CX-Drive)
Note 3. The CX-Motion-NCF is supported from version 1.6.
88
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Connector-Terminal Block
Conversion Units and Cable
AC Servo Drives
I/O signals
Connector-Terminal Block Conversion Unit
XW2@-20G@
Power Cables
Standard Cables
Without Brake
R88A-CAG@@@@S
With Brake
R88A-CAG@@@@B
Cable
XW2Z-@@@J-B33
Robot Cable
Without Brakes
G-series
AC Servo Drive
R88D-GN@@-ML2
R88A-CAG@@@@SR
With Brake
R88A-CAG@@@@BR
AC Servomotors
Motor power signals
Model without Decelerators
R88M-G
feedback signals
Encoder Cables
Standard Cables
50 W to 750 W
R88A-CRG@@@@C
900 W to 7.5 kW
R88A-CRGC@@@N
Robot Cables
50 W to 750 W
R88A-CRG@@@@CR
900 W to 7.5 kW
R88A-CRGC@@@NR
Absolute Encoder Battery Cable
Peripheral Devices
Reactors
3G3AX-DL
3G3AX-AL
External Regeneration Resistors
R88A-RR
R88A-CRGD0R3C (-BS)
(
One Battery is included with Servo Drivers
with model numbers ending in “BS.”
)
Decelerators
Backlash: 3 Arcminutes Max.
R88G-HPG
Backlash: 15 Arcminutes Max.
R88G-VRSF
*Not required if a battery is connected to the
control connector (CN1).
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
89
Interpreting Model Numbers
● Servo Driver Model Numbers
The model number provides information such as the Servo Drive type, the applicable Servomotor capacity, and the power supply voltage.
R88D-GN01H-ML2
G-series
Servo Drive
Drive Type
N : Network type
Applicable Servomotor Capacity
A5: 50 W
01: 100 W
02: 200 W
04: 400 W
08: 750 W
10: 1 kW
15: 1.5 kW
20: 2 kW
30: 3 kW
Power Supply Voltage
50: 5 kW
L: 100 VAC
75: 7.5 kW
H: 200 VAC
Network type
ML2: MECHATROLINK-II Communications
● Servomotor Model Numbers
R88M-GP10030H-BOS2
G-series
Servomotor
Motor Type
Blank: Cylinder type
P:
Flat type
Servomotor Capacity
050:
100:
200:
400:
750:
900:
1K0:
1K5:
2K0:
3K0:
4K0:
4K5:
5K0:
6K0:
7K5:
50 W
100 W
200 W
400 W
750 W
900 W
1 kW
1.5 kW
2 kW
3 kW
4 kW
4.5 kW
5 kW
6 kW
7.5 kW
Rated Rotation Speed
10:
15:
20:
30:
1,000 r/min
1,500 r/min
2,000 r/min
3,000 r/min
Applied Voltage
H:
L:
T:
S:
200 VAC with incremental encoder specifications
100 VAC with incremental encoder specifications
200 VAC with absolute encoder specifications
100 VAC with absolute encoder specifications
Option
Blank:
B:
O:
S2:
90
Straight shaft
With brake
With oil seal
Withkey and tap
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
● Understanding Decelerator Model Numbers
Backlash = 3' Max.
R88G-HPG14A05100PBJ
Decelerator for
G-Series Servomotors
Backlash = 3’ Max.
Flange Size Number
11A
14A
20A
32A
50A
65A
:@40
:@60
:@90
:@120
:@170
:@230
Gear Ratio
05
09
11
12
20
21
25
33
45
:1/5
:1/9 (only frame number 11A)
:1/11 (except frame number 65A)
:1/12 (only frame number 65A)
:1/20 (only frame number 65A)
:1/21 (except frame number 65A)
:1/25 (only frame number 65A)
:1/33
:1/45
Applicable Servomotor Capacity
050
100
200
400
750
900
1K0
1K5
2K0
3K0
4K0
4K5
5K0
6K0
7K5
: 50 W
:100 W
:200 W
:400 W
:750 W
:900 W
:1 kW
:1.5 kW
:2 kW
:3 kW
:4 kW
:4.5 kW
:5 kW
:6 kW
:7 kW
Motor Type
Blank :3,000-r/min cylindrical servomotors
P
:flat servomotors
S
:2,000-r/min servomotors
T
:1,000-r/min servomotors
Backlash
B
:3’ max.
Option
Blank :Straight shaft
J
:With key and tap
Backlash = 15' Max.
R88G-VRSF09B100PCJ
Decelerator for
G-Series Servomotors
Backlash = 15’ Max.
Gear Ratio
05
09
15
25
:1/5
:1/9
:1/15
:1/25
Flange Size Number
B
C
D
:@52
:@78
:@98
Applicable Servomotor Capacity
050
100
200
400
750
: 50 W
:100 W
:200 W
:400 W
:750 W
Motor Type
Blank :3,000-r/min cylindrical servomotors
P
:flat servomotors
Backlash
C
:15’ max.
Option
J
:With key and tap
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
91
Ordering Information
● Servo Drives
Specifications
Single-phase 100 VAC
Model
50 W
R88D-GNA5L-ML2
100 W
R88D-GN01L-ML2
200 W
R88D-GN02L-ML2
400 W
R88D-GN04L-ML2
50 W
Single-phase 200 VAC
Single-phase/three-phase 200
VAC
100 W
R88D-GN01H-ML2
200 W
R88D-GN02H-ML2
400 W
R88D-GN04H-ML2
750 W
R88D-GN08H-ML2
1 kW
R88D-GN10H-ML2
900 W
1 kW
R88D-GN15H-ML2
1.5 kW
2 kW
2 kW
3 kW
R88D-GN20H-ML2
R88D-GN30H-ML2
3 kW
Three-phase 200 VAC
4 kW
4.5 kW
R88D-GN50H-ML2
5 kW
6 kW
7.5 kW
92
R88D-GN75H-ML2
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
● Servomotors
3,000-r/min Cylindrical Servomotors
INC
Model
Specifications
Without brake
100 V
200 V
With brake
100 V
200 V
Straight shaft
Straight shaft with key and tap
50 W
R88M-G05030H
R88M-G05030H-S2
100 W
R88M-G10030L
R88M-G10030L-S2
200 W
R88M-G20030L
R88M-G20030L-S2
400 W
R88M-G40030L
R88M-G40030L-S2
50 W
R88M-G05030H
R88M-G05030H-S2
100 W
R88M-G10030H
R88M-G10030H-S2
200 W
R88M-G20030H
R88M-G20030H-S2
400 W
R88M-G40030H
R88M-G40030H-S2
750 W
R88M-G75030H
R88M-G75030H-S2
50 W
R88M-G05030H-B
R88M-G05030H-BS2
100 W
R88M-G10030L-B
R88M-G10030L-BS2
200 W
R88M-G20030L-B
R88M-G20030L-BS2
400 W
R88M-G40030L-B
R88M-G40030L-BS2
50 W
R88M-G05030H-B
R88M-G05030H-BS2
100 W
R88M-G10030H-B
R88M-G10030H-BS2
200 W
R88M-G20030H-B
R88M-G20030H-BS2
400 W
R88M-G40030H-B
R88M-G40030H-BS2
750 W
R88M-G75030H-B
R88M-G75030H-BS2
Note: Models with oil seals are also available.
ABS/INC 3,000-r/min Cylindrical Servomotors
Model
Specifications
Without brake
100 V
200 V
With brake
100 V
200 V
Straight shaft
Straight shaft with key and tap
50 W
R88M-G05030T
R88M-G05030T-S2
100 W
R88M-G10030S
R88M-G10030S-S2
200 W
R88M-G20030S
R88M-G20030S-S2
400 W
R88M-G40030S
R88M-G40030S-S2
50 W
R88M-G05030T
R88M-G05030T-S2
100 W
R88M-G10030T
R88M-G10030T-S2
200 W
R88M-G20030T
R88M-G20030T-S2
400 W
R88M-G40030T
R88M-G40030T-S2
750 W
R88M-G75030T
R88M-G75030T-S2
1 kW
R88M-G1K030T
R88M-G1K030T-S2
1.5 kW
R88M-G1K530T
R88M-G1K530T-S2
2 kW
R88M-G2K030T
R88M-G2K030T-S2
3 kW
R88M-G3K030T
R88M-G3K030T-S2
4 kW
R88M-G4K030T
R88M-G4K030T-S2
5 kW
R88M-G5K030T
R88M-G5K030T-S2
50 W
R88M-G05030T-B
R88M-G05030T-BS2
100 W
R88M-G10030S-B
R88M-G10030S-BS2
200 W
R88M-G20030S-B
R88M-G20030S-BS2
400 W
R88M-G40030S-B
R88M-G40030S-BS2
50 W
R88M-G05030T-B
R88M-G05030T-BS2
100 W
R88M-G10030T-B
R88M-G10030T-BS2
200 W
R88M-G20030T-B
R88M-G20030T-BS2
400 W
R88M-G40030T-B
R88M-G40030T-BS2
750 W
R88M-G75030T-B
R88M-G75030T-BS2
1 kW
R88M-G1K030T-B
R88M-G1K030T-BS2
1.5 kW
R88M-G1K530T-B
R88M-G1K530T-BS2
2 kW
R88M-G2K030T-B
R88M-G2K030T-BS2
3 kW
R88M-G3K030T-B
R88M-G3K030T-BS2
4 kW
R88M-G4K030T-B
R88M-G4K030T-BS2
5 kW
R88M-G5K030T-B
R88M-G5K030T-BS2
Note: Models with oil seals are also available.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
93
INC 3,000-r/min Flat Servomotors
Model
With brake
Without brake
Specifications
100 V
200 V
100 V
200 V
Straight shaft
Straight shaft with key and tap
100 W
R88M-GP10030L
R88M-GP10030L-S2
200 W
R88M-GP20030L
R88M-GP20030L-S2
400 W
R88M-GP40030L
R88M-GP40030L-S2
100 W
R88M-GP10030H
R88M-GP10030H-S2
200 W
R88M-GP20030H
R88M-GP20030H-S2
400 W
R88M-GP40030H
R88M-GP40030H-S2
100 W
R88M-GP10030L-B
R88M-GP10030L-BS2
200 W
R88M-GP20030L-B
R88M-GP20030L-BS2
400 W
R88M-GP40030L-B
R88M-GP40030L-BS2
100 W
R88M-GP10030H-B
R88M-GP10030H-BS2
200 W
R88M-GP20030H-B
R88M-GP20030H-BS2
400 W
R88M-GP40030H-B
R88M-GP40030H-BS2
Note: Models with oil seals are also available.
ABS/INC 3,000-r/min Flat Servomotors
Model
With brake
Without brake
Specifications
100 V
200 V
100 V
200 V
Straight shaft
Straight shaft with key and tap
100 W
R88M-GP10030S
R88M-GP10030S-S2
200 W
R88M-GP20030S
R88M-GP20030S-S2
400 W
R88M-GP40030S
R88M-GP40030S-S2
100 W
R88M-GP10030T
R88M-GP10030T-S2
200 W
R88M-GP20030T
R88M-GP20030T-S2
400 W
R88M-GP40030T
R88M-GP40030T-S2
100 W
R88M-GP10030S-B
R88M-GP10030S-BS2
200 W
R88M-GP20030S-B
R88M-GP20030S-BS2
400 W
R88M-GP40030S-B
R88M-GP40030S-BS2
100 W
R88M-GP10030T-B
R88M-GP10030T-BS2
200 W
R88M-GP20030T-B
R88M-GP20030T-BS2
400 W
R88M-GP40030T-B
R88M-GP40030T-BS2
Note: Models with oil seals are also available.
ABS/INC 2,000-r/min Cylindrical Servomotors
Model
With brake
Without brake
Specifications
200 V
200 V
Straight shaft
Straight shaft with key and tap
1 kW
R88M-G1K020T
R88M-G1K020T-S2
1.5 kW
R88M-G1K520T
R88M-G1K520T-S2
2 kW
R88M-G2K020T
R88M-G2K020T-S2
3 kW
R88M-G3K020T
R88M-G3K020T-S2
4 kW
R88M-G4K020T
R88M-G4K020T-S2
5 kW
R88M-G5K020T
R88M-G5K020T-S2
7.5 kW
R88M-G7K515T
R88M-G7K515T-S2
1 kW
R88M-G1K020T-B
R88M-G1K020T-BS2
1.5 kW
R88M-G1K520T-B
R88M-G1K520T-BS2
2 kW
R88M-G2K020T-B
R88M-G2K020T-BS2
3 kW
R88M-G3K020T-B
R88M-G3K020T-BS2
4 kW
R88M-G4K020T-B
R88M-G4K020T-BS2
5 kW
R88M-G5K020T-B
R88M-G5K020T-BS2
7.5 kW
R88M-G7K515T-B
R88M-G7K515T-BS2
Note: 1. Models with oil seals are also available.
Note: 2. The rated rotation speed for 7.5-kW Servomotors is 1,500 r/min.
94
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
ABS/INC 1,000-r/min Cylindrical Servomotors
Model
With brake
Without brake
Specifications
200 V
200 V
Straight shaft
Straight shaft with key and tap
900 W
R88M-G90010T
2 kW
R88M-G2K010T
R88M-G2K010T-S2
3 kW
R88M-G3K010T
R88M-G3K010T-S2
4.5 kW
R88M-G4K510T
R88M-G4K510T-S2
6 kW
R88M-G6K010T
R88M-G6K010T-S2
900 W
R88M-G90010T-B
R88M-G90010T-BS2
2 kW
R88M-G2K010T-B
R88M-G2K010T-BS2
3 kW
R88M-G3K010T-B
R88M-G3K010T-BS2
4.5 kW
R88M-G4K510T-B
R88M-G4K510T-BS2
6 kW
R88M-G6K010T-B
R88M-G6K010T-BS2
R88M-G90010T-S2
Note: Models with oil seals are also available.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
95
● Decelerators
Backlash: 3 Arcminutes Max.
Decelerators for 3,000-r/min Cylindrical Servomotors
Straight shaft
Specifications
Motor capacity
50 W
100 W
200 W
400 W
750 W
1 kW
1.5 kW
Gear ratio
Model
Backlash: 3 Arcminutes Max.
Decelerators for 3,000-r/min Flat Servomotors
Straight shaft
Specifications
Motor capacity
Gear ratio
Model
1/5
R88G-HPG11A05100B
1/5
R88G-HPG11A05100PB
1/9
R88G-HPG11A09050B
1/11
R88G-HPG14A11100PB
1/21
R88G-HPG14A21100B
1/21
R88G-HPG14A21100PB
1/33
R88G-HPG14A33050B
1/33
R88G-HPG20A33100PB
1/45
R88G-HPG14A45050B
1/45
R88G-HPG20A45100PB
1/5
R88G-HPG11A05100B
1/5
R88G-HPG14A05200PB
1/11
R88G-HPG14A11100B
1/11
R88G-HPG20A11200PB
1/21
R88G-HPG14A21100B
1/21
R88G-HPG20A21200PB
1/33
R88G-HPG20A33100B
1/33
R88G-HPG20A33200PB
1/45
R88G-HPG20A45100B
1/45
R88G-HPG20A45200PB
1/5
R88G-HPG14A05200B
1/5
R88G-HPG20A05400PB
1/11
R88G-HPG14A11200B
1/11
R88G-HPG20A11400PB
1/21
R88G-HPG20A21200B
1/21
R88G-HPG20A21400PB
1/33
R88G-HPG20A33200B
1/33
R88G-HPG32A33400PB
1/45
R88G-HPG20A45200B
1/45
R88G-HPG32A45400PB
1/5
R88G-HPG14A05400B
1/11
R88G-HPG20A11400B
1/21
R88G-HPG20A21400B
1/33
R88G-HPG32A33400B
1/45
R88G-HPG32A45400B
1/5
R88G-HPG20A05750B
1/11
R88G-HPG20A11750B
1/21
R88G-HPG32A21750B
1/33
R88G-HPG32A33750B
1/45
R88G-HPG32A45750B
1/5
R88G-HPG32A051K0B
1/11
R88G-HPG32A111K0B
1/21
R88G-HPG32A211K0B
1/33
R88G-HPG32A331K0B
1/45
R88G-HPG50A451K0B
1/5
R88G-HPG32A052K0B
1/11
R88G-HPG32A112K0B
1/21
R88G-HPG32A211K5B
1/33
R88G-HPG50A332K0B
1/45
R88G-HPG50A451K5B
1/5
R88G-HPG32A052K0B
1/11
R88G-HPG32A112K0B
1/21
R88G-HPG50A212K0B
1/33
R88G-HPG50A332K0B
1/5
R88G-HPG32A053K0B
1/11
R88G-HPG50A113K0B
100 W
200 W
400 W
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Servomotor with a straight shaft with key, add “J” to the end
of the model number.
2 kW
3 kW
1/21
R88G-HPG50A213K0B
1/5
R88G-HPG32A054K0B
1/11
R88G-HPG50A115K0B
1/5
R88G-HPG50A055K0B
1/11
R88G-HPG50A115K0B
4 kW
5 kW
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Servomotor with a straight shaft with key, add “J” to the end
of the model number.
96
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Backlash: 3 Arcminutes Max.
Decelerators for 2,000-r/min Cylindrical Servomotors
Straight shaft
Specifications
Motor capacity
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
7.5 kW
Gear ratio
Model
Backlash: 3 Arcminutes Max.
Decelerators for 1,000-r/min Cylindrical Servomotors
Straight shaft
Specifications
Motor capacity
Gear ratio
Model
1/5
R88G-HPG32A053K0B
1/5
R88G-HPG32A05900TB
1/11
R88G-HPG32A112K0SB
1/11
R88G-HPG32A11900TB
1/21
R88G-HPG32A211K0SB
1/21
R88G-HPG50A21900TB
1/33
R88G-HPG50A332K0SB
1/33
R88G-HPG50A33900TB
1/45
R88G-HPG50A451K0SB
1/5
R88G-HPG32A052K0TB
1/11
R88G-HPG50A112K0TB
1/5
R88G-HPG32A053K0B
1/11
R88G-HPG32A112K0SB
1/21
R88G-HPG50A213K0B
1/33
1/5
1/11
R88G-HPG32A112K0SB
1/21
900 W
2 kW
1/21
R88G-HPG50A212K0TB
1/25
R88G-HPG65A255K0SB
R88G-HPG50A332K0SB
1/5
R88G-HPG50A055K0SB
R88G-HPG32A053K0B
1/11
R88G-HPG50A115K0SB
1/20
R88G-HPG65A205K0SB
R88G-HPG50A213K0B
1/25
R88G-HPG65A255K0SB
1/33
R88G-HPG50A332K0SB
1/5
R88G-HPG50A054K5TB
1/5
R88G-HPG32A054K0B
1/12
R88G-HPG65A127K5SB
1/11
R88G-HPG50A115K0B
1/20
R88G-HPG65A204K5TB
1/21
R88G-HPG50A213K0SB
1/5
R88G-HPG65A057K5SB
1/25
R88G-HPG65A253K0SB
1/12
R88G-HPG65A127K5SB
1/5
R88G-HPG50A054K0SB
1/11
R88G-HPG50A114K0SB
1/20
R88G-HPG65A204K0SB
1/25
R88G-HPG65A254K0SB
1/5
R88G-HPG50A055K0SB
1/11
R88G-HPG50A115K0SB
1/20
R88G-HPG65A205K0SB
1/25
R88G-HPG65A255K0SB
1/5
R88G-HPG65A057K5SB
1/12
R88G-HPG65A127K5SB
3 kW
4.5 kW
6 kW
Note: 1. The standard models have a straight shaft.
Note: 2. Models with a key and tap are indicated with "J" at the end of the model
number.
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Servomotor with a straight shaft with key, add “J” to the end
of the model number.
Backlash: 15 Arcminutes Max.
Decelerators for 3,000-r/min Cylindrical Servomotors
Straight shaft with key and tap
Specifications
Motor capacity
50 W
100 W
200 W
400 W
750 W
Gear ratio
Model
Backlash: 15 Arcminutes Max.
Decelerators for 3,000-r/min Flat Servomotors
Straight shaft with key and tap
Specifications
Motor capacity
Gear ratio
Model
1/5
R88G-VRSF05B100CJ
1/5
R88G-VRSF05B100PCJ
1/9
R88G-VRSF09B100CJ
1/9
R88G-VRSF09B100PCJ
1/15
R88G-VRSF15B100CJ
1/15
R88G-VRSF15B100PCJ
1/25
R88G-VRSF25B100CJ
1/25
R88G-VRSF25B100PCJ
1/5
R88G-VRSF05B100CJ
1/5
R88G-VRSF05B200PCJ
1/9
R88G-VRSF09C200PCJ
1/15
R88G-VRSF15C200PCJ
100 W
1/9
R88G-VRSF09B100CJ
1/15
R88G-VRSF15B100CJ
1/25
R88G-VRSF25B100CJ
1/25
R88G-VRSF25C200PCJ
1/5
R88G-VRSF05B200CJ
1/5
R88G-VRSF05C400PCJ
1/9
R88G-VRSF09C200CJ
1/15
R88G-VRSF15C200CJ
1/25
R88G-VRSF25C200CJ
1/5
R88G-VRSF05C400CJ
1/9
R88G-VRSF09C400CJ
1/15
R88G-VRSF15C400CJ
1/25
R88G-VRSF25C400CJ
1/5
R88G-VRSF05C750CJ
1/9
R88G-VRSF09D750CJ
1/15
R88G-VRSF15D750CJ
1/25
R88G-VRSF25D750CJ
200 W
400 W
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
1/9
R88G-VRSF09C400PCJ
1/15
R88G-VRSF15C400PCJ
1/25
R88G-VRSF25C400PCJ
R88M-G/R88D-GN@-ML2
97
● Accessories and Cables
• Servomotor Power Cables (Standard Cables)
For Servomotor without brake
Specifications
Model
• Servomotor Power Cables (Standard Cables)
For Servomotor with brake
Specifications
Model
3m
R88A-CAGA003S
3m
R88A-CAGB003B
5m
R88A-CAGA005S
5m
R88A-CAGB005B
10 m
R88A-CAGA010S
10 m
R88A-CAGB010B
15 m
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m
R88A-CAGA015S
15 m
R88A-CAGB015B
20 m
R88A-CAGB020B
30 m
R88A-CAGA030S
30 m
R88A-CAGB030B
40 m
R88A-CAGA040S
40 m
R88A-CAGB040B
50 m
R88A-CAGA050S
50 m
R88A-CAGB050B
3m
R88A-CAGB003S
3m
R88A-CAGC003B
5m
R88A-CAGB005S
5m
R88A-CAGC005B
10 m
R88A-CAGB010S
10 m
R88A-CAGC010B
15 m
R88A-CAGB015S
15 m
R88A-CAGC015B
20 m
R88A-CAGB020S
20 m
R88A-CAGC020B
30 m
R88A-CAGB030S
30 m
R88A-CAGC030B
40 m
R88A-CAGB040S
40 m
R88A-CAGC040B
50 m
R88A-CAGB050S
50 m
R88A-CAGC050B
3m
R88A-CAGC003S
3m
R88A-CAGD003B
5m
R88A-CAGC005S
5m
R88A-CAGD005B
10 m
R88A-CAGC010S
10 m
R88A-CAGD010B
15 m
R88A-CAGC015S
15 m
R88A-CAGD015B
20 m
R88A-CAGC020S
20 m
R88A-CAGD020B
30 m
R88A-CAGC030S
30 m
R88A-CAGD030B
40 m
R88A-CAGC040S
40 m
R88A-CAGD040B
50 m
R88A-CAGC050S
50 m
R88A-CAGD050B
3m
R88A-CAGD003S
5m
R88A-CAGD005S
10 m
R88A-CAGD010S
15 m
R88A-CAGD015S
3m
R88A-CAGA003B
R88A-CAGD020S
5m
R88A-CAGA005B
30 m
R88A-CAGD030S
10 m
R88A-CAGA010B
40 m
R88A-CAGD040S
R88A-CAGA015B
50 m
R88A-CAGD050S
15 m
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m
3m
R88A-CAGE003S
30 m
R88A-CAGA030B
R88A-CAGE005S
40 m
R88A-CAGA040B
10 m
R88A-CAGE010S
50 m
R88A-CAGA050B
15 m
R88A-CAGE015S
3m
R88A-CAGE003B
R88A-CAGE020S
5m
R88A-CAGE005B
30 m
R88A-CAGE030S
10 m
R88A-CAGE010B
40 m
R88A-CAGE040S
15 m
R88A-CAGE015B
20 m
R88A-CAGE020B
30 m
R88A-CAGE030B
40 m
R88A-CAGE040B
50 m
R88A-CAGE050B
3,000-r/min Servomotors of 1 to 1.5 kW,
2,000-r/min Servomotors of 1 to 1.5 kW,
1,000-r/min Servomotors of 900 W
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
3,000-r/min Servomotors of 3 to 5 kW,
2,000-r/min Servomotors of 3 to 5 kW,
1,000-r/min Servomotors of 2 to 4.5 kW
20 m
5m
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 6 kW
20 m
50 m
R88A-CAGA020S
R88A-CAGE050S
3,000-r/min Servomotors of 1 to 1.5 kW,
2,000-r/min Servomotors of 1 to 1.5 kW,
1,000-r/min Servomotors of 900 W
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
3,000-r/min Servomotors of 3 to 5 kW,
2,000-r/min Servomotors of 3 to 5 kW,
1,000-r/min Servomotors of 2 to 4.5 kW
• Brake Cables (Standard Cables)
Specifications
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 6 kW
Note: There are separate connectors for power and brakes for 3,000-r/min Servomotors of 50 to 750 W, Flat Servomotors, and Servomotors of 6 kW or
higher. When a Servomotor with a brake is used, it is necessary to use
both a Power Cable for Servomotors without brakes and a Power Cable.
98
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
Model
R88A-CAGA020B
R88M-G/R88D-GN@-ML2
• Encoder Cables (Standard Cables)
Specifications
Model
3,000-r/min Servomotors of 50 to 750 W with
an absolute encoder,
3,000-r/min Flat Servomotors of 100 to 400 W
with an absolute encoder
3,000-r/min Servomotors of 50 to 750 W with
an incremental encoder,
3,000-r/min Flat Servomotors of 100 to 400 W
with an incremental encoder
3,000-r/min Servomotors of 1 to 5 kW,
2,000-r/min Servomotors of 1 to 5 kW,
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 900 W to 6 kW
• Servomotor Power Cables (Robot Cables)
For Servomotor without brake
Specifications
R88A-CRGA003C
5m
R88A-CRGA005C
3m
R88A-CAGA003SR
10 m
R88A-CRGA010C
5m
R88A-CAGA005SR
15 m
R88A-CRGA015C
10 m
R88A-CAGA010SR
20 m
R88A-CRGA020C
15 m
R88A-CAGA015SR
20 m
R88A-CAGA020SR
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of
100 to 400 W
30 m
R88A-CRGA030C
40 m
R88A-CRGA040C
30 m
R88A-CAGA030SR
50 m
R88A-CRGA050C
40 m
R88A-CAGA040SR
3m
R88A-CRGB003C
50 m
R88A-CAGA050SR
5m
R88A-CRGB005C
3m
R88A-CAGB003SR
10 m
R88A-CRGB010C
5m
R88A-CAGB005SR
15 m
R88A-CRGB015C
10 m
R88A-CAGB010SR
20 m
R88A-CRGB020C
15 m
R88A-CAGB015SR
20 m
R88A-CAGB020SR
3,000-r/min Servomotors of 1 to 1.5 kW,
2,000-r/min Servomotors of 1 to 1.5 kW,
1,000-r/min Servomotors of 900 W
30 m
R88A-CRGB030C
40 m
R88A-CRGB040C
30 m
R88A-CAGB030SR
50 m
R88A-CRGB050C
40 m
R88A-CAGB040SR
3m
R88A-CRGC003N
50 m
R88A-CAGB050SR
5m
R88A-CRGC005N
3m
R88A-CAGC003SR
10 m
R88A-CRGC010N
5m
R88A-CAGC005SR
15 m
R88A-CRGC015N
10 m
R88A-CAGC010SR
20 m
R88A-CRGC020N
15 m
R88A-CAGC015SR
20 m
R88A-CAGC020SR
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
30 m
R88A-CRGC030N
40 m
R88A-CRGC040N
30 m
R88A-CAGC030SR
R88A-CRGC050N
40 m
R88A-CAGC040SR
50 m
• Absolute Encoder Battery Cable
Specifications
Model
Absolute Encoder Battery Cable
(Battery not included.)
0.3 m
Absolute Encoder Battery Cable
(One R88A-BAT01G Battery included.)
0.3 m
R88A-CRGD0R3C
R88A-CRGD0R3C-BS
3,000-r/min Servomotors of 3 to 5 kW,
2,000-r/min Servomotors of 3 to 5 kW,
1,000-r/min Servomotors of 2 to 4.5 kW
• Absolute Encoder Backup Battery
Specifications
2,000 mA·h 3.6 V
Model
3m
Model
50 m
R88A-CAGC050SR
3m
R88A-CAGD003SR
5m
R88A-CAGD005SR
10 m
R88A-CAGD010SR
15 m
R88A-CAGD015SR
20 m
R88A-CAGD020SR
30 m
R88A-CAGD030SR
40 m
R88A-CAGD040SR
50 m
R88A-CAGD050SR
R88A-BAT01G
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
99
• Servomotor Power Cables (Robot Cables)
For Servomotor with brake
Specifications
3,000-r/min Servomotors of 1 to 1.5 kW,
2,000-r/min Servomotors of 1 to 1.5 kW,
1,000-r/min Servomotors of 900 W
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
3,000-r/min Servomotors of 3 to 5 kW,
2,000-r/min Servomotors of 3 to 5 kW,
1,000-r/min Servomotors of 2 to 4.5 kW
• Encoder Cables (Robot Cables)
Specifications
Model
Model
3m
R88A-CRGA003CR
3m
R88A-CAGB003BR
5m
R88A-CRGA005CR
5m
R88A-CAGB005BR
R88A-CAGB010BR
15 m
R88A-CAGB015BR
20 m
R88A-CAGB020BR
10 m
3,000-r/min Servomotors of 50 to 750 W
15 m
with an absolute encoder,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m
with an absolute encoder
30 m
R88A-CRGA010CR
10 m
30 m
R88A-CAGB030BR
40 m
R88A-CRGA040CR
40 m
R88A-CAGB040BR
50 m
R88A-CRGA050CR
50 m
R88A-CAGB050BR
3m
R88A-CRGB003CR
3m
R88A-CAGC003BR
5m
R88A-CRGB005CR
5m
R88A-CAGC005BR
R88A-CAGC010BR
15 m
R88A-CAGC015BR
20 m
R88A-CAGC020BR
10 m
3,000-r/min Servomotors of 50 to 750 W
15 m
with an incremental encoder,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m
with an incremental encoder
30 m
R88A-CRGB010CR
10 m
30 m
R88A-CAGC030BR
40 m
R88A-CRGB040CR
40 m
R88A-CAGC040BR
50 m
R88A-CRGB050CR
50 m
R88A-CAGC050BR
3m
R88A-CRGC003NR
3m
R88A-CAGD003BR
5m
R88A-CRGC005NR
5m
R88A-CAGD005BR
10 m
R88A-CRGC010NR
10 m
R88A-CAGD010BR
15 m
R88A-CRGC015NR
15 m
R88A-CAGD015BR
20 m
R88A-CRGC020NR
20 m
R88A-CAGD020BR
30 m
R88A-CRGC030NR
30 m
R88A-CAGD030BR
40 m
R88A-CRGC040NR
40 m
R88A-CAGD040BR
50 m
R88A-CRGC050NR
50 m
R88A-CAGD050BR
3,000-r/min Servomotors of 1 to 5 kW,
2,000-r/min Servomotors of 1 to 5 kW,
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 900 W to 6 kW
R88A-CRGA015CR
R88A-CRGA020CR
R88A-CRGA030CR
R88A-CRGB015CR
R88A-CRGB020CR
R88A-CRGB030CR
• Communications Cables
• Brake Cables (Robot Cables)
Specifications
Specifications
Model
3m
R88A-CAGA003BR
5m
R88A-CAGA005BR
10 m
R88A-CAGA010BR
15 m
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m
R88A-CAGA015BR
30 m
R88A-CAGA030BR
Model
RS-232 Communications Cable
(Personal Computer Monitor Cable)
2m
• Connectors
Specifications
R88A-CAGA020BR
40 m
R88A-CAGA040BR
50 m
R88A-CAGA050BR
R88A-CCG002P2
Servomotor Connector for
Encoder Cable
Model
Absolute Encoder
Incremental Encoder
R88A-CNG01R
R88A-CNG02R
Control I/O Connector (CN1)
R88A-CNU01C
Encoder Connector (CN2)
R88A-CNW01R
Power Cable Connector (750 W max.)
R88A-CNG01A
Brake Cable Connector (750 W max.)
R88A-CNG01B
• Control Cables
Specifications
Connector Terminal Block
Cables
Connector Terminal Block
100
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
Model
1m
XW2Z-100J-B33
2m
XW2Z-200J-B33
M3 screw type
XW2B-20G4
M3.5 screw type
XW2B-20G5
M3 screw type
XW2D-20G6
R88M-G/R88D-GN@-ML2
• External Regeneration Resistors
• Mounting Brackets (L Brackets for Rack Mounting)
Specifications
Model
Specifications
20 W, 50 Ω
R88A-RR08050S
20 W, 100 Ω
R88A-RR080100S
70 W, 47 Ω
R88A-RR22047S1
500 W, 20 Ω
R88A-RR50020S
• Reactors
Specifications
Model
R88D-GNA5L-ML2/-GN01L-ML2/-GN01H-ML2/
-GN02H-ML2
R88A-TK01G
R88D-GN02L-ML2/-GN04H-ML2
R88A-TK02G
R88D-GN04L-ML2/-GN08H-ML2
R88A-TK03G
R88D-GN10H-ML2/-GN15H-ML2
R88A-TK04G
• Parameter Unit
Model
Specifications
R88D-GNA5L-ML2/-GN01H-ML2
3G3AX-DL2002
R88D-GN01L-ML2/-GN02H-ML2
3G3AX-DL2004
R88D-GN02L-ML2/-GN04H-ML2
3G3AX-DL2007
R88D-GN04L-ML2/-GN08H-ML2/-GT10H-ML2
3G3AX-DL2015
R88D-GN15H-ML2
3G3AX-DL2022
R88D-GN08H-ML2/-GN10H-ML2/-GN15H-ML2
3G3AX-AL2025
R88D-GN20H-ML2/-GN30H-ML2
3G3AX-AL2055
R88D-GN50H-ML2
3G3AX-AL2110
R88D-GN75H-ML2
3G3AX-AL2220
Parameter Unit
Model
R88A-PR02G
• MECHATROLINK-related Devices and Cables (Manufactured by Yaskawa Corporation)
Name
MECHATROLINK-II Cables
(without ring core and USB connector on both ends)
Can be connected to R88D-GN and R88D-KN only.
MECHATROLINK-II Cables
(with ring core and USB connector on both ends)
MECHATROLINK-II Terminating Resistor
MECHATROLINK-II Repeater
OMRON model number
Yaskawa model number
0.5 m
FNY-W6002-A5
JEPMC-W6002-A5-E
1.0 m
FNY-W6002-01
JEPMC-W6002-01-E
3.0 m
FNY-W6002-03
JEPMC-W6002-03-E
5.0 m
FNY-W6002-05
JEPMC-W6002-05-E
0.5 m
FNY-W6003-A5
JEPMC-W6003-A5
1.0 m
FNY-W6003-01
JEPMC-W6003-01
3.0 m
FNY-W6003-03
JEPMC-W6003-03
5.0 m
FNY-W6003-05
JEPMC-W6003-05
10.0 m
FNY-W6003-10
JEPMC-W6003-10
20.0 m
FNY-W6003-20
JEPMC-W6003-20
30.0 m
FNY-W6003-30
JEPMC-W6003-30
FNY-W6022
JEPMC-W6022
FNY-REP2000
JEPMC-REP2000
Terminating resistance
Communications Repeater
Note: MECHATROLINK-related Devices and Cables are manufactured by Yaskawa Corporation, but they can be ordered directly from OMRON using the OMRON
model numbers. (Yaskawa-brand products will be delivered even when they are ordered from OMRON.)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
101
Servo Drive-Servomotor Combinations
Only the Servomotor and Servo Drive combinations listed here can be used. Do not use other combinations.
● 3,000-r/min Sylindrical Servomotors and Servo Drives
Voltage
Servo Drive
100 V
Single-phase 200 V
Single-phase/
three-phase 200 V
Three-phase 200 V
Servomotor
Rated output
With incremental encoder
With absolute encoder
R88D-GNA5L-ML2
50 W
R88M-G05030H-@
R88M-G05030T-@
R88D-GN01L-ML2
100 W
R88M-G10030L-@
R88M-G10030S-@
R88D-GN02L-ML2
200 W
R88M-G20030L-@
R88M-G20030S-@
R88D-GN04L-ML2
400 W
R88M-G40030L-@
R88M-G40030S-@
R88D-GN01H-ML2
50 W
R88M-G05030H-@
R88M-G05030T-@
R88D-GN01H-ML2
100 W
R88M-G10030H-@
R88M-G10030T-@
R88D-GN02H-ML2
200 W
R88M-G20030H-@
R88M-G20030T-@
R88D-GN04H-ML2
400 W
R88M-G40030H-@
R88M-G40030T-@
R88D-GN08H-ML2
750 W
R88M-G75030H-@
R88M-G75030T-@
R88D-GN15H-ML2
1 kW
---
R88M-G1K030T-@
R88D-GN15H-ML2
1.5 kW
---
R88M-G1K530T-@
R88D-GN20H-ML2
2 kW
---
R88M-G2K030T-@
R88D-GN30H-ML2
3 kW
---
R88M-G3K030T-@
R88D-GN50H-ML2
4 kW
---
R88M-G4K030T-@
R88D-GN50H-ML2
5 kW
---
R88M-G5K030T-@
Rated output
With incremental encoder
With absolute encoder
R88D-GN01L-ML2
100 W
R88M-GP10030L-@
R88M-GP10030S-@
R88D-GN02L-ML2
200 W
R88M-GP20030L-@
R88M-GP20030S-@
R88D-GN04L-ML2
400 W
R88M-GP40030L-@
R88M-GP40030S-@
R88D-GN01H-ML2
100 W
R88M-GP10030H-@
R88M-GP10030T-@
R88D-GN02H-ML2
200 W
R88M-GP20030H-@
R88M-GP20030T-@
R88D-GN04H-ML2
400 W
R88M-GP40030H-@
R88M-GP40030T-@
● 3,000-r/min Flat Servomotors and Servo Drives
Voltage
Servo Drive
100 V
Single-phase 200 V
Servomotor
● 2,000-r/min Sylindrical Servomotors and Servo Drives
Servomotor
Voltage
Servo Drive
Single-phase/
three-phase 200 V
R88D-GN10H-ML2
1 kW
R88M-G1K020T-@
R88D-GN15H-ML2
1.5 kW
R88M-G1K520T-@
R88D-GN20H-ML2
2 kW
R88M-G2K020T-@
R88D-GN30H-ML2
3 kW
R88M-G3K020T-@
R88D-GN50H-ML2
4 kW
R88M-G4K020T-@
R88D-GN50H-ML2
5 kW
R88M-G5K020T-@
R88D-GN75H-ML2
7.5 kW
R88M-G7K515T-@
Three-phase 200 V
Rated output
With absolute encoder
● 1,000-r/min Sylindrical Servomotors and Servo Drives
Servomotor
Voltage
Servo Drive
Single-phase/
three-phase 200 V
R88D-GN15H-ML2
900 W
R88M-G90010T-@
R88D-GN30H-ML2
2 kW
R88M-G2K010T-@
R88D-GN50H-ML2
3 kW
R88M-G3K010T-@
R88D-GN50H-ML2
4.5 kW
R88M-G4K510T-@
R88D-GN75H-ML2
6 kW
R88M-G6K010T-@
Three-phase 200 V
102
Rated output
With absolute encoder
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Servomotor and Decelerator Combinations
● 3,000-r/min Cylindrical Servomotors
Motor model
1/5
1/11
(1/9 for flange size No.11)
1/21
1/33
1/45
R88M-G05030@
R88G-HPG11A05100B@
(Also used with
R88M-G10030@)
R88G-HPG11A09050B@
(Gear ratio 1/9)
R88G-HPG14A21100B@
(Also used with
R88M-G10030@)
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88M-G10030@
R88G-HPG11A05100B@
R88G-HPG14A11100B@
R88G-HPG14A21100B@
R88G-HPG20A33100B@
R88G-HPG20A45100B@
R88M-G20030@
R88G-HPG14A05200B@
R88G-HPG14A11200B@
R88G-HPG20A21200B@
R88G-HPG20A33200B@
R88G-HPG20A45200B@
R88M-G40030@
R88G-HPG14A05400B@
R88G-HPG20A11400B@
R88G-HPG20A21400B@
R88G-HPG32A33400B@
R88G-HPG32A45400B@
R88M-G75030@
R88G-HPG20A05750B@
R88G-HPG20A11750B@
R88G-HPG32A21750B@
R88G-HPG32A33750B@
R88G-HPG32A45750B@
R88G-HPG32A211K0B@
R88G-HPG32A331K0B@
R88G-HPG50A451K0B@
R88G-HPG32A211K5B@
R88G-HPG50A332K0B@
(Also used with
R88M-G2K030T)
R88G-HPG50A451K5B@
R88M-G1K030T
R88G-HPG32A051K0B@
R88G-HPG32A111K0B@
R88M-G1K530T
R88G-HPG32A052K0B@
(Also used with
R88M-G2K030T)
R88G-HPG32A112K0B@
(Also used with
R88M-G2K030T)
R88M-G2K030T
R88G-HPG32A052K0B@
R88G-HPG32A112K0B@
R88G-HPG50A212K0B@
R88G-HPG50A332K0B@
---
R88M-G3K030T
R88G-HPG32A053K0B@
R88G-HPG50A113K0B@
R88G-HPG50A213K0B@
---
---
R88M-G4K030T
R88G-HPG32A054K0B@
R88G-HPG50A115K0B@
(Also used with
R88M-G5K030T)
---
---
---
R88M-G5K030T
R88G-HPG50A055K0B@
R88G-HPG50A115K0B@
---
---
---
1/11
1/21
1/33
1/45
● 3,000-r/min Flat Servomotors
Motor model
1/5
R88M-GP10030@
R88G-HPG11A05100PB@ R88G-HPG14A11100PB@ R88G-HPG14A21100PB@ R88G-HPG20A33100PB@ R88G-HPG20A45100PB@
R88M-GP20030@
R88G-HPG14A05200PB@ R88G-HPG20A11200PB@ R88G-HPG20A21200PB@ R88G-HPG20A33200PB@ R88G-HPG20A45200PB@
R88M-GP40030@
R88G-HPG20A05400PB@ R88G-HPG20A11400PB@ R88G-HPG20A21400PB@ R88G-HPG32A33400PB@ R88G-HPG32A45400PB@
● 2,000-r/min Cylindrical Servomotors
1/11
1/21
1/33
(1/12 for flange size No.65) (1/20 for flange size No.65) (1/25 for flange size No.65)
Motor model
1/5
R88M-G1K020T
R88G-HPG32A053K0B@
(Also used with
R88M-G3K030T)
R88G-HPG32A112K0SB@
R88G-HPG50A332K0SB@
(Also used with
R88G-HPG32A211K0SB@
(Also used with
R88G-HPG50A451K0SB@
R88M-G2K020T)
R88M-G2K020T)
R88M-G1K520T
R88G-HPG32A053K0B@
(Also used with
R88M-G3K030T)
R88G-HPG32A112K0SB@
(Also used with
R88M-G2K020T)
R88G-HPG50A213K0B@
(Also used with
R88M-G3K030T)
R88G-HPG50A332K0SB@
(Also used with
R88M-G2K020T)
---
R88M-G2K020T
R88G-HPG32A053K0B@
(Also used with
R88M-G3K030T)
R88G-HPG32A112K0SB@
R88G-HPG50A213K0B@
(Also used with
R88M-G3K030T)
R88G-HPG50A332K0SB@
---
R88M-G3K020T
R88G-HPG32A054K0B@
(Also used with
R88M-G4K030T)
R88G-HPG50A115K0B@
(Also used with
R88M-G5K030T)
R88G-HPG50A213K0SB@ R88G-HPG65A253K0SB@
---
R88M-G4K020T
R88G-HPG50A054K0SB@ R88G-HPG50A114K0SB@ R88G-HPG65A204K0SB@ R88G-HPG65A254K0SB@
---
R88M-G5K020T
R88G-HPG50A055K0SB@ R88G-HPG50A115K0SB@ R88G-HPG65A205K0SB@ R88G-HPG65A255K0SB@
---
R88M-G7K515T
R88G-HPG65A057K5SB@ R88G-HPG65A127K5SB@
---
---
1/45
---
● 1,000-r/min Cylindrical Servomotors
Motor model
1/5
1/11
(1/12 for flange size No.65)
1/21
(1/20 for flange size No.65)
1/33
(1/25 for flange size No.65)
R88M-G90010T
R88G-HPG32A05900TB@
R88G-HPG32A11900TB@
R88G-HPG50A21900TB@
R88G-HPG50A33900TB@
R88M-G2K010T
R88G-HPG32A052K0TB@
R88G-HPG50A112K0TB@
R88G-HPG50A212K0TB@
R88G-HPG65A255K0SB@
(Also used with R88M-G5K020T)
R88M-G3K010T
R88G-HPG50A055K0SB@
(Also used with R88M-G5K020T)
R88G-HPG50A115K0SB@
(Also used with R88M-G5K020T)
R88G-HPG65A205K0SB@
(Also used with R88M-G5K020T)
R88G-HPG65A255K0SB@
(Also used with R88M-G5K020T)
R88M-G4K510T
R88G-HPG50A054K5TB@
R88G-HPG65A127K5SB@
(Also used with R88M-G7K515T)
R88G-HPG65A204K5TB@
---
R88M-G6K010T
R88G-HPG65A057K5SB@
(Also used with R88M-G7K515T)
R88G-HPG65A127K5SB@
(Also used with R88M-G7K515T)
---
---
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
103
Cable Combinations
Parameter Unit
AC SERVO DRIVER
ADR
Monitor Software for Windows
9 0 1
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
SP
IM
G
Position Control Unit
Connector Terminal Block
Conversion Unit
* Brake Cable Combinations
Using the following Servomotors, with brake:
Cylindrical Servomotors, 3,000 r/min, 50 to 750 W
Flat Servomotors, 3,000 r/min, 100 to 400 W
Cylindrical Servomotors, 2,000 r/min, 7.5 kW
Cylindrical Servomotors, 1,000 r/min,6 kW
Other Servomotors:
● Power Supply Cables (for CNB) (SR Connection Cables)
Model
Cylindrical Servomotors,
3,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
2,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
1,000 r/min, 2 to 4.5 kW
R88A-CAGD@@@S
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
R88A-CAGE@@@S
Cylindrical Servomotors,
The empty boxes in the model
1,500 r/min, 7.5 kW
number are for the cable length.
Cylindrical Servomotors,
The cable can be 3, 5, 10, 15, 20,
1,000 r/min, 6 kW
30, 40, or 50 m long.
104
(50)
Connector:
172159-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
(70)
[Servomotor Connector]
L
37.3 dia.
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
(70)
L
37.3 dia.
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
(70)
L
40.5 dia.
R88A-CAGC@@@S
Cylindrical Servomotors,
The empty boxes in the model
3,000 r/min, 2 kW
number are for the cable length.
Cylindrical Servomotors,
The cable can be 3, 5, 10, 15, 20,
2,000 r/min, 2 kW
30, 40, or 50 m long.
L
Straight plug:
N/MS3106B22-22S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
L
(120)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
56.4 dia
R88A-CAGB@@@S
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
[Servomotor Connector]
(50)
(6.2 dia.)
Cylindrical Servomotors,
3,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
2,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
1,000 r/min, 900 W
Description
(10.4 dia.)
R88A-CAGA@@@S
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
(10.4 dia.)
Standard Servomotor
Power Cables for
Servomotors without
Brakes
Connected to
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W
Flat Servomotors,
3,000 r/min, 100 to 400
W
(14.7 dia.)
Name
(28.5 dia.)
Symbol
Straight plug:
N/MS3106B32-17S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-20A
(Japan Aviation Electronics Industry, Ltd.)
R88M-G/R88D-GN@-ML2
Model
Cylindrical Servomotors,
3,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
2,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
1,000 r/min, 900 W
R88A-CAGB@@@BR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
Cylindrical Servomotors,
3,000 r/min, 2 kW
Cylindrical Servomotors,
2,000 r/min, 2 kW
R88A-CAGC@@@BR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
Cylindrical Servomotors,
3,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
2,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
1,000 r/min, 2 to 4.5 kW
R88A-CAGD@@@BR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
(10.4 dia.)
.)
(5.4 dia
37.3 dia.
(10.4 dia.)
a)
(5.4 di
(5.4 d
ia.)
43.7 dia
(14.7 dia.)
[Servomotor Connector]
L
(70)
(50)
Straight plug:
N/MS3106B24-11S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-16A
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
(50)
L
(6.9 dia)
Connector:
172159-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
[Servomotor Connector]
(70)
L
37.3 dia.
R88A-CAGD@@@SR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
L
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
(70)
L
37.3 dia.
Cylindrical Servomotors,
3,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
2,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
1,000 r/min, 2 to 4.5 kW
(70)
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
(70)
L
40.5 dia.
R88A-CAGC@@@SR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
L
(70)
(70)
L
Straight plug:
N/MS3106B22-22S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
[Servomotor Connector]
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
L
(70)
(70)
L
[Servomotor Connector]
37.3 dia.
Cylindrical Servomotors,
3,000 r/min, 2 kW
Cylindrical Servomotors,
2,000 r/min, 2 kW
[Servomotor Connector]
L
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
(70)
(70)
L
[Servomotor Connector]
43.7 dia.
Robot Servomotor
Power Cables for
Servomotors with
Brakes
R88A-CAGB@@@SR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
L
(12.7 dia.)
Robot Servomotor
Power Cables for
Servomotors without
Brakes
Cylindrical Servomotors,
3,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
2,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
1,000 r/min, 900 W
(70)
(12.7 dia.)
R88A-CAGA@@@SR
Cylindrical Servomotors,
The empty boxes in the model
3,000 r/min, 50 to 750 W
number are for the cable length.
Flat Servomotors,
The cable can be 3, 5, 10, 15, 20,
3,000 r/min, 100 to 400 W
30, 40, or 50 m long.
L
(12.7 dia.)
R88A-CAGD@@@B
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
(70)
(15.6 dia.)
Cylindrical Servomotors,
3,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
2,000 r/min, 3 to 5 kW
Cylindrical Servomotors,
1,000 r/min, 2 to 4.5 kW
[Servomotor Connector]
.)
R88A-CAGC@@@B
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
L
(6.1 dia
Cylindrical Servomotors,
3,000 r/min, 2 kW
Cylindrical Servomotors,
2,000 r/min, 2 kW
(70)
(12.7 dia.)
R88A-CAGB@@@B
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
.)
Cylindrical Servomotors,
3,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
2,000 r/min, 1 to 1.5 kW
Cylindrical Servomotors,
1,000 r/min, 900 W
Description
(6.1 dia
Standard Servomotor
Power Cables for
Servomotors with
Brakes
Connected to
(15.6 dia.)
Name
a.)
(6.1 di
Symbol
L
Straight plug:
N/MS3106B24-11S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-16A
(Japan Aviation Electronics Industry, Ltd.)
(70)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
105
● Brake Cables
Model
Description
R88A-CAGA@@@B
Cylindrical Servomotors,
The empty boxes in the model
3,000 r/min, 50 to 750 W
number are for the cable length.
Flat Servomotors,
The cable can be 3, 5, 10, 15, 20,
3,000 r/min, 100 to 400 W
30, 40, or 50 m long.
Standard Brake
Cables
Cylindrical Servomotors,
1,500 r/min, 7.5 kW
Cylindrical Servomotors,
1,000 r/min, 6 kW
Robot Brake Cables
R88A-CAGE@@@B
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15, 20,
30, 40, or 50 m long.
R88A-CAGA@@@BR
Cylindrical Servomotors,
The empty boxes in the model
3,000 r/min, 50 to 750 W
number are for the cable length.
Flat Servomotors,
The cable can be 3, 5, 10, 15, 20,
3,000 r/min, 100 to 400 W
30, 40, or 50 m long.
(50)
L
[Servomotor Connector]
(50)
Connector:
172157-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
(5.4 dia.)
Connected to
[Servomotor Connector]
(70)
L
Straight plug:
N/MS3106B14-2S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-6A
(Japan Aviation Electronics Industry, Ltd.)
(5.4 dia.)
Name
(50)
L
[Servomotor Connector]
(50)
Connector:
172157-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
(6.1 dia.)
Symbol
● Encoder Cables (for CN2)
Connected to
Model
Description
R88A-CRGA@@@C
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15,
20, 30, 40, or 50 m long.
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W,
Standard Encoder incremental encoder
Cables with
Flat Servomotors, 3,000 r/min,
Connectors
100 to 400 W, incremental
encoder
R88A-CRGB@@@C
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15,
20, 30, 40, or 50 m long.
Connector:
3 to 20 m:
Crimped I/O connector:
(Molex Japan Co., Ltd.)
30 to 50 m: 55100-0670
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
Connector:
172161-1
(Tyco Electronics AMP KK)
Connector pins:
170365-1
(Tyco Electronics AMP KK)
171639-1
(Tyco Electronics AMP KK)
L
(7.5 dia.)
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W,
absolute encoder
Flat Servomotors, 3,000 r/min,
100 to 400 W, absolute
encoder
Robot Encoder
Cables with
Connectors
[Servomotor Connector]
[Servo Drive Connector]
[Servo Drive Connector]
Connector:
3 to 20 m:
Crimped I/O connector:
(Molex Japan Co., Ltd.)
30 to 50 m: 55100-0670
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
Cylindrical Servomotors,
3,000 r/min,1 to 1.5 kW
Cylindrical Servomotors,
2,000 r/min,1 to 5 kW
Cylindrical Servomotors,
1,500 r/min, 7.5 kW
Cylindrical Servomotors,
1,000 r/min, 900 W to 6 kW
R88A-CRGC@@@N
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15,
20, 30, 40, or 50 m long.
Connector:
3 to 20 m:
Crimped I/O connector:
(Molex Japan Co., Ltd.)
30 to 50 m: 55100-0670
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
Cylindrical Servomotors,
3,000 r/min,50 to 750 W,
absolute encoder
Flat Servomotors, 3,000 r/min,
100 to 400 W, absolute
encoder
R88A-CRGA@@@CR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15,
20, 30, 40, or 50 m long.
[Servo Drive Connector]
Cylindrical Servomotors,
3,000 r/min, 50 to 750 W,
incremental encoder
Flat Servomotors, 3,000 r/min,
100 to 400 W, incremental
encoder
R88A-CRGB@@@CR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15,
20, 30, 40, or 50 m long.
[Servo Drive Connector]
Cylindrical Servomotors,
3,000 r/min,1 to 1.5 kW
Cylindrical Servomotors,
2,000 r/min,1 to 5 kW
Cylindrical Servomotors,
1,500 r/min, 7.5 kW
Cylindrical Servomotors,
1,000 r/min, 900 W to 6 kW
R88A-CRGC@@@NR
The empty boxes in the model
number are for the cable length.
The cable can be 3, 5, 10, 15,
20, 30, 40, or 50 m long.
[Servo Drive Connector]
[Servomotor Connector]
L
(6.5 dia./6.8 dia.)
[Servo Drive Connector]
Straight plug:
N/MS3106B20-29S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
L
(6.5 dia./6.8 dia.)
[Servomotor Connector]
L
Connector:
172161-1
(Tyco Electronics AMP KK)
Connector pins:
170365-1
(Tyco Electronics AMP KK)
(7.5 dia.)
Connector:
Crimped I/O connector:
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
[Servomotor Connector]
Connector:
Crimped I/O connector:
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
Connector:
Crimped I/O connector:
(Molex Japan Co., Ltd.)
Connector pins:
50639-8028
(Molex Japan Co., Ltd.)
Connector:
172160-1
(Tyco Electronics AMP KK)
Connector pins:
170365-1
(Tyco Electronics AMP KK)
171639-1
(Tyco Electronics AMP KK)
[Servomotor Connector]
Connector:
172160-1
(Tyco Electronics AMP KK)
Connector pins:
170365-1
(Tyco Electronics AMP KK)
L
(7.5 dia.)
Name
[Servomotor Connector]
Straight plug:
N/MS3106B20-29S
(Japan Aviation Electronics Industry, Ltd.)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
L
(7.5 dia.)
Symbol
● Absolute Encoder Backup Battery and Absolute Encoder Battery Cable
Absolute Encoder Battery Cable
Absolute Encoder Backup Battery
106
Contents
Length (m)
Model
Battery not included.
0.3 m
R88A-CRGD0R3C
One R88A-BAT01G Battery
included.
0.3 m
R88A-CRGD0R3C-BS
---
Description
43.5
300
t=12
---
R88A-BAT01G
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
43.5
18.8
Name
18.8
Symbol
Battery holder
t=12
---
R88M-G/R88D-GN@-ML2
● RS-232 Communications Connector (for CN3)
Symbol
Name
Contents
Length (m)
---
1.5 m
for Windows
RS232 Communications
2m
Parameter Unit
Personal Computer Monitor Cable
Model
R88A-PR02G
R88A-CCG002P2
● MECHATROLINK-II Cable (for CN6)
Symbol
Name
MECHATROLINK-II
Communication Cable
*Can be connected to R88D-GN and
R88D-KN only.
MECHATROLINK-II
Communication Cable
MECHATROLINK-II Termination resistor
Length (m)
OMRON model Number Yasukawa model Nunber
Description
0.5 m
FNY-W6002-A5
JEPMC-W6002-A5-E
(without ring core and USB connector on both ends)
1m
FNY-W6002-01
JEPMC-W6002-01-E
L
3m
FNY-W6002-03
JEPMC-W6002-03-E
5m
FNY-W6002-05
JEPMC-W6002-05-E
0.5 m
FNY-W6003-A5
JEPMC-W6003-A5
1.0 m
FNY-W6003-01
JEPMC-W6003-01
3.0 m
FNY-W6003-03
JEPMC-W6003-03
5.0 m
FNY-W6003-05
JEPMC-W6003-05
10 m
FNY-W6003-10
JEPMC-W6003-10
20 m
FNY-W6003-20
JEPMC-W6003-20
30 m
FNY-W6003-30
JEPMC-W6003-30
FNY-W6022
JEPMC-W6022
(without ring core and USB connector on both ends)
L
---
With ferrite core
---
● Control Cables (for CN1)
Connected to
Connector Termial Block Cables
---
Model
XW2Z-@@@J-B33
The empty boxes in the model number are
for the cable length.
The cable can be 1, or 2 m long.
Description
6
L
39
34.3
Name
30
Symbol
t=14
M3 screw type
Connector Terminal Block Conversion
Unit
XW2B-20G4
M3.5 screw type
XW2B-20G5
M3 screw type
XW2D-20G6
---
● Control Cables
Symbol
Name
Connected to
Model
---
Servomoteor Connector for Encoder
Cable, absolute Encoder
for moter
R88A-CNG01R
---
Servomoteor Connector for Encoder
Cable, Incremental Encoder
for moter
R88A-CNG02R
Control I/O Connector (CN1)
for drive
R88A-CNU01C
---
Encoder Connector (CN2)
---
R88A-CNW01R
---
Power Cable Connector (750 W max.)
---
R88A-CNG01A
---
Brake Cable Connector (750 W max.)
---
R88A-CNG01B
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
107
Servo Drive Specifications (R88D-GN@-ML2)
● General Specifications
Item
Specifications
Ambient operating temperature and humidity
0 to 55°C, 90% RH max. (with no condensation)
Ambient storage temperature and humidity
−20 to 65°C, 90% RH max. (with no condensation)
Operating and storage atmosphere
No corrosive gases
Vibration resistance
Smaller of either 10 to 60 Hz with double amplitude of 0.1 mm or acceleration of 5.88 m/s2 max. in X,
Y, and Z directions.
Impact resistance
Acceleration of 19.6m/s2 max. 2 times each in X, Y, and Z directions
Insulation resistance
Between power supply/power line terminals and frame ground: 0.5 MΩ min. (at 500 VDC)
Dielectric strength
Between power supply/power line terminals and frame ground: 1,500 VAC for 1 min at 50/60 Hz
Between each control signal and frame ground: 500 VAC for 1 min
Built into panel (IP10).
Protective structure
EN 55011 Class A Group 1
EMC Directive
EC
Directives
EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11
Low Voltage Directive EN 50178
International
standards
UL standards
UL 508C
CSA standards
CSA C22.2 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. Depending on the operating conditions, some Servo Drive parts will require maintenance.
Note: 4. The service life of the Servo Drive is 28,000 hours at an average ambient temperature of 55°C at 100% of the rated torque.
● Characteristics
Servo Drives with 100-VAC Input Power
Item
R88D-GNA5L-ML2
R88D-GN01L-ML2
R88D-GN02L-ML2
Continuous output current (rms)
1.3 A
1.8 A
2.4 A
4.9 A
Momentary maximum output current (rms)
3.9 A
5.4 A
7.2 A
14.7 A
0.4 KVA
0.5 KVA
0.9 KVA
Power supply capacity
Main circuit
Input power
supply
Heat
generated
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
Power supply voltage
1.4 A
Rated current
Control circuit
0.4 KVA
2.2 A
6.6 A
0.09 A
0.09 A
0.09 A
0.09 A
Main circuit
10.1 W
14.4 W
18.4 W
41.4 W
Control circuit
4.4 W
4.4 W
4.4 W
4.4 W
Rated current
All-digital servo
IGBT-driven PWM method
Inverter method
12.0 kHz
PWM frequency
6.0 kHz
Approx. 0.8 kg
Approx. 0.8 kg
Approx. 1.1 kg
Approx. 1.5 kg
50 W
100 W
200 W
400 W
INC
G05030H
G10030L
G20030L
G40030L
ABS
G05030T
G10030S
G20030S
G40030S
INC
---
GP10030L
GP20030L
GP40030L
ABS
---
GP10030S
GP20030S
GP40030S
2,000-r/min Servomotors
ABS
---
---
---
---
1,000-r/min Servomotors
ABS
---
---
---
---
Weight
Maximum applicable motor capacity
3,000-r/min Servomotors
3,000-r/min Flat Servomotors
Speed control range
Performance
3.7 A
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
Power supply voltage
Control method
Applicable
Servomotors
(R88M-)
1:5000
Speed variability: Load characteristic
0.01% or less at 0% to 100% (at rated speed)
Speed variability: Voltage characteristic
0% at ±10% of rated voltage (at rated speed)
Speed variability: Temperature characteristic
Torque control reproducibility
108
R88D-GN04L-ML2
±0.1% or less at 0 to 50°C (at rated speed)
±3%
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Servo Drives with Single-phase 200-VAC Input Power
R88D-GN01H- R88D-GN02H- R88D-GN04H- R88D-GN08H- R88D-GN10H- R88D-GN15HML2
ML2
ML2
ML2
ML2
ML2
Item
Continuous output current (rms)
1.16 A
1.6 A
2.7 A
4.0 A
5.9 A
9.8 A
Momentary maximum output current (rms)
3.5 A
5.3 A
7.1 A
14.1 A
21.2 A
28.3 A
0.5 KVA
0.5 KVA
0.9 KVA
1.3 KVA
1.8 KVA
2.3 KVA
Power supply capacity
Main circuit
Input power
supply
Heat
generated
Power supply voltage
1.3 A
Rated current
Control circuit
Single-phase 200 to 240 VAC
(170 to 264 V), 50/60 Hz
3.7 A
5.0/3.3*1A
11/8.0*1A
0.05 A
0.05 A
0.05 A
0.05 A
0.07 A
0.07 A
Main circuit
14.3 W
14.8 W
23.6 W
38.7 W
52.9 W
105.9 W
Control circuit
4.5 W
4.5 W
4.5 W
4.3 W
6.1 W
6.1 W
Rated current
12.0 kHz
6.0 kHz
Approx. 0.8 kg
Approx. 0.8 kg
Approx. 1.1 kg
Approx. 1.5 kg
Approx. 1.7 kg
Approx. 1.7 kg
100 W
200 W
400 W
750 W
1 kW
1.5 kW
INC
G05030H
G10030H
G20030H
G40030H
G75030H
---
---
ABS
G05030T
G10030T
G20030T
G40030T
G75030T
---
G1K030T
G1K530T
INC
GP10030H
GP20030H
GP40030H
---
---
---
ABS
GP10030T
GP20030T
GP40030T
---
---
---
2,000-r/min Servomotors
ABS
---
---
---
---
G1K020T
G1K520T
1,000-r/min Servomotors
ABS
---
---
---
---
---
G90010T
Weight
Maximum applicable motor capacity
3,000-r/min Servomotors
3,000-r/min Flat Servomotors
Control method
All-digital servo
Inverter method
IGBT-driven PWM method
1:5000
Speed control range
Performance
7.5/4.1*1A
Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
Power supply voltage
PWM frequency
Applicable
Servomotors
(R88M-)
2.0 A
Single-phase or Three-phase
200 to 240 VAC (170 to 264 V), 50/60 Hz
Speed variability: Load characteristic
0.01% or less at 0% to 100% (at rated speed)
Speed variability: Voltage characteristic
0% at ±10% of rated voltage (at rated speed)
Speed variability: Temperature characteristic
±0.1% or less at 0 to 50°C (at rated speed)
Torque control reproducibility
±3%
*1. The left value is for single-phase input power and the right value is for three-phase input power.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
109
Servo Drives with Three-phase 200-VAC Input Power
Item
R88D-GN20H-ML2
R88D-GN30H-ML2
R88D-GN50H-ML2
Continuous output current (rms)
14.3 A
17.4 A
31.0 A
45.4 A
Momentary maximum output current (rms)
45.3 A
63.6 A
84.8 A
170.0 A
4.5 KVA
7.5 KVA
11 KVA
Power supply capacity
Main circuit
Input power
supply
Heat
generated
Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
Power supply voltage
10.2 A
Rated current
Control circuit
3.3 KVA
15.2 A
23.7 A
0.1 A
0.12 A
0.12 A
0.14 A
Main circuit
112.3 W
219.6 W
391.7 W
376.2 W
Control circuit
10.7 W
13.3 W
13.3 W
13.8 W
Rated current
6.0 kHz
Approx. 3.2 kg
Approx. 6.0 kg
Approx. 6.0 kg
Approx. 16.4 kg
2 kW
3 kW
5 kW
7.5 kW
INC
---
---
---
---
ABS
G2K030T
G3K030T
G4K030T
G5K030T
---
INC
---
---
---
---
ABS
---
---
---
---
2,000-r/min Servomotors
ABS
G2K020T
G3K020T
G4K020T
G5K020T
G7K515T
1,000-r/min Servomotors
ABS
---
G2K010T
G3K010T
G4K510T
G6K010T
Weight
Maximum applicable motor capacity
3,000-r/min Servomotors
3,000-r/min Flat Servomotors
Control method
All-digital servo
Inverter method
IGBT-driven PWM method
Performance
Speed control range
1:5000
Speed variability: Load characteristic
0.01% or less at 0% to 100% (at rated speed)
Speed variability: Voltage characteristic
0% at ±10% of rated voltage (at rated speed)
Speed variability: Temperature characteristic
Torque control reproducibility
110
35.0 A
Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
Power supply voltage
PWM frequency
Applicable
Servomotors
(R88M-)
R88D-GN75H-ML2
±0.1% or less at 0 to 50°C (at rated speed)
±3%
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Servomotor Specifications (R88M-G)
● General Specifications
3,000-r/min
Flat Servomotors
3,000-r/min Servomotors
Item
50 to 750 W
1 to 5 kW
Ambient operating
temperature and humidity
Ambient storage
temperature and humidity
100 to 400 W
−20 to 65°C, 85% RH
No corrosive gases
10 to 2,500 Hz
Acceleration of
49 m/s2 max. in the X,
Y, and Z directions
10 to 2,500 Hz
Acceleration of
24.5 m/s2 max. in the
X, Y, and Z directions
10 to 2,500 Hz
Acceleration of
49 m/s2 max. in the X,
Y, and Z directions
Acceleration of
98 m/s2 max.
3 times each in the X, Y, and Z directions
Insulation resistance
All directions
Insulation grade
Type B
Structure
Type F
Type B
Type F
Totally enclosed, self-cooling
Protective structure
IP65 (excluding the output shaft rotating section and lead wire ends)
Vibration grade
V-15
Mounting method
International standards
Acceleration of 98 m/s2max.
2 times vertically
1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal
Operating position
CSA standards
10 to 2,500 Hz
Acceleration of 24.5 m/s2 max.
in the X, Y, and Z directions
20 MΩ min. at 500 VDC between the power terminals and FG terminal
Dielectric strength
UL standards
6 to 7.5 kW
−20 to 80°C, 85% max. (with no condensation)
max. (with no
condensation)
Impact resistance
EC Directives
900 W to 5 kW
0 to 40°C, 85% RH max. (with no condensation)
Operating and storage
atmosphere
Vibration resistance *1
1,000-r/min Servomotors
2,000-r/min Servomotors
Flange-mounting
Low-voltage
Directive
IEC 60034-1/-5
UL1004-1
−
CSA 22.2 No.100
*1. The amplitude may be amplified by mechanical resonance. Do not exceed 80% of the specified value for extended periods of time.
Note: 1. Do not use the cable when it is laid in oil or water.
Note: 2. Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself.
Note: 3. Always disconnect all connections to the Servo Drive before you perform insulation resistance tests on it. If you perform an insulation resistance test while the
Servo Drive is connected, the Servo Drive may be damaged.
Never perform dielectric strength tests on the Servo Drive. Failure to follow this precaution may result in damaging internal elements.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
111
Servomoter Specifications (R88M-G)
● Characteristics
3,000-r/min Cylindrical Servomotors
100-VAC Input Power
Model (R88M-)
Item
G05030H
G10030L
G20030L
G40030L
G05030T
G10030S
G20030S
G40030S
W
50
100
200
400
N·m
0.16
0.32
0.64
1.3
3.6
Unit
Rated output *1
Rated torque
*1
Rated rotation speed
r/min
Max. momentary rotation speed
r/min
Max. momentary torque *1
N·m
0.45
0.93
1.78
Rated current *1
A (rms)
1.1
1.7
2.5
4.6
Max. momentary current *1
A (rms)
3.4
5.1
7.6
13.9
Rotor inertia
kg·m2
(GD2/4)
2.5 × 10-6
5.1 × 10-6
1.4 × 10-5
2.6 × 10-5
Applicable load inertia
Torque constant
3000
5000
30 times the rotor inertia max.*2
---
*1
N·m/A
0.14
0.19
0.26
0.28
kW/s
10.4
20.1
30.3
62.5
Mechanical time constant
ms
1.56
1.11
0.72
0.55
Electrical time constant
ms
0.7
0.8
2.5
2.9
Allowable radial load *3
N
68
68
245
245
Power rate *1
Allowable thrust load *3
N
58
58
98
98
Without brake
kg
Approx. 0.3
Approx. 0.5
Approx. 0.8
Approx. 1.2
With brake
kg
Approx. 0.5
Approx. 0.7
Approx. 1.3
Approx. 1.7
Weight
100 × 80 × t10 (AI)
Radiation shield dimensions (material)
Applicable Servo Drives (R88D-)
Brake specifications
GNA5L-ML2
GN01L-ML2
GN02L-ML2
GN04L-ML2
2 × 10-7
2 × 10-7
1.8 × 10-6
1.8 × 10-6
kg·m2
(GD2/4)
Brake inertia
130 × 120 × t12 (AI)
24 VDC ±5%
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
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
rad/s2
30,000 max.
(Speed of 2,800 r/min or more must not be changed in less than 10 ms)
Brake life
---
10,000,000 operations
Rating
---
Continuous
Insulation grade
---
Type F
Allowable angular acceleration
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%). The maximum momentary torque shown above
indicates the standard value.
*2. Applicable Load Inertia:
• The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is
possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
• If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF
while the dynamic brake is enabled.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are
applied as shown in the following diagram.
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
112
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Torque and Rotation Speed Characteristics
3,000-r/min Cylindrical Servomotors
• 3,000-r/min Servomotors with 100-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
R88M-G05030H/T (50 W)
R88M-G10030L/S (100 W)
(N·m)
0.5
R88M-G20030L/S (200 W)
(N·m)
0.48
0.48
0.75
2.0 1.78
Repetitive usage
0.5 0.32
0.16
0.1
Continuous usage
0
0.83 (3600)
1.0 0.83
Repetitive usage
0.25 0.16
(N·m)
1000 2000 3000 4000 5000
(r/min)
Continuous usage
0
1.0
0.32
0.28
1000 2000 3000 4000 5000
(r/min)
0
1.78 (3500)
Repetitive usage
0.64
0.64
Continuous usage
0.9
0.6
1000 2000 3000 4000 5000
(r/min)
R88M-G40030L/S (400 W)
(N·m)
4.0 3.6
3.6 (3000)
Repetitive usage
2.0 1.3
1.3
Continuous usage
0
1.3
0.6
1000 2000 3000 4000 5000
(r/min)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
113
Servomotor Specifications (R88M-G)
● Characteristics
3,000-r/min Cylindrical Servomotors
200-VAC Input Power
Model (R88M-) G05030H G10030H G20030H G40030H G75030H
Item
Unit
Rated output *1
Rated torque
*1
---
---
---
---
---
---
G05030T G10030T G20030T G40030T G75030T G1K030T G1K530T G2K030T G3K030T G4K030T G5K030T
W
50
100
200
400
750
N·m
0.16
0.32
0.64
1.3
2.4
1000
1500
2000
3000
4000
5000
3.18
4.77
6.36
9.54
12.6
15.8
Rated rotation speed
r/min
Max. momentary rotation speed
r/min
Max. momentary torque *1
N·m
0.45
0.90
1.78
3.67
7.05
9.1
12.8
18.4
27.0
36.3
45.1
Rated current *1
A (rms)
1.1
1.1
1.6
2.6
4
7.2
9.4
13
18.6
24.7
28.5
Max. momentary current *1
A (rms)
3.4
3.4
4.9
7.9
12.1
21.4
28.5
40
57.1
75
85.7
Rotor inertia
kg·m2
2.5 × 10-6
(GD2/4)
5.1 × 10-6
1.4 × 10-5
2.6 × 10-5
8.7 × 10-5
1.69 × 10-4 2.59 × 10-4 3.46 × 10-4 6.77 × 10-4 1.27 × 10-3 1.78 × 10-3
20 times
the rotor
inertia
max.*2
15 times the rotor inertia max.*2
Applicable load inertia
---
3000
5000
4500
30 times the rotor inertia max.*2
5000
4500
Torque constant *1
N·m/A
0.14
0.19
0.41
0.51
0.64
0.44
0.51
0.48
0.51
0.51
Power rate *1
kW/s
10.4
20.1
30.3
62.5
66
60
88
117
134
125
140
Mechanical time constant
ms
1.56
1.1
0.71
0.52
0.45
0.78
0.54
0.53
0.46
0.51
0.46
Electrical time constant
0.57
ms
0.7
0.79
2.6
3
4.6
6.7
10
10.8
20
20
20
*3
N
68
68
245
245
392
392
490
490
490
784
784
Allowable thrust load *3
N
58
58
98
98
147
147
196
196
196
343
343
Without brake
kg
Approx.
0.3
Approx.
0.5
Approx.
0.8
Approx.
1.2
Approx.
2.3
Approx.
4.5
Approx.
5.1
Approx.
6.5
Approx.
9.3
Approx.
12.9
Approx.
17.3
With brake
kg
Approx.
0.5
Approx.
0.7
Approx.
1.3
Approx.
1.7
Approx.
3.1
Approx.
5.1
Approx.
6.5
Approx.
7.9
Approx.
11
Approx.
14.8
Approx.
19.2
Allowable radial load
Weight
Radiation shield dimensions (material)
320 ×
320 ×
100 × 80 × t10 (AI) 130 × 120 × t12 (AI) 170 × 160 × t12 (AI) 300 × t30 300 × t20
(AI)
(AI)
Applicable Servo Drives (R88D-)
GN01HML2
GN01HML2
GN02HML2
GN04HML2
GN08HML2
GN15HML2
GN15HML2
GN20HML2
GN30HML2
2 × 10-7
2 × 10-7
1.8 × 10-6
1.8 × 10-6
7.5 × 10-6
2.5 × 10-5
3.3 × 10-5
3.3 × 10-5
3.3 × 10-5 1.35 × 10-4 1.35 × 10-4
Brake specifications
Brake inertia
kg·m2
(GD2/4)
24 VDC ±5%
380 × 350 × t30 (AI)
GN50HML2
GN50HML2
24 VDC ±10%
Excitation voltage *4
V
Power consumption (at 20°C)
W
7
7
9
9
10
18
19
19
19
22
22
Current consumption (at 20°C)
A
0.3
0.3
0.36
0.36
0.42
0.74
0.81
0.81
0.81
0.9
0.9
Static friction torque
N·m
0.29 min. 0.29 min. 1.27 min. 1.27 min. 2.45 min.
4.9 min.
7.8 min.
7.8 min.
Attraction time *5
ms
35 max.
35 max.
50 max.
50 max.
70 max.
50 max.
50 max.
50 max.
11.8 min. 16.1 min. 16.1 min.
80 max.
110 max. 110 max.
Release time *5
ms
20 max.
20 max.
15 max.
15 max.
20 max.
15 max.
15 max.
15 max.
15 max.
50 max.
50 max.
±1°
Backlash
Allowable work per braking
J
39.2
39.2
137
137
196
392
392
392
392
1470
1470
Allowable total work
J
4.9 × 103
4.9 × 103
44.1 × 103
44.1 × 103
147 × 103
2.0 × 105
4.9 × 105
4.9 × 105
4.9 × 105
2.2 × 106
2.2 × 106
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)
10,000 max.
(Speed of 900 r/min or more must not be changed in less than
10 ms)
Brake life
---
10,000,000 operations
Rating
---
Continuous
Insulation grade
---
Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%). The maximum momentary torque shown above
indicates the standard value.
*2. Applicable Load Inertia:
• The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is
possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
• If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF
while the dynamic brake is enabled.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at
normal operating temperatures. The allowable radial loads are applied as shown in the following
Radial load
diagram.
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
Thrust load
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500
manufactured by Okaya Electric Industries Co., Ltd.).
Center of shaft (LR/2)
114
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Torque and Rotation Speed Characteristics
3,000-r/min Cylindrical Servomotors
• 3,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-G05030H/T (50 W)
R88M-G10030H/T (100 W)
(N·m)
0.5
(N·m)
0.45
0.45
Continuous usage
0
1000 2000 3000 4000 5000
(r/min)
Repetitive usage
2.0 1.3
1.3
Continuous usage
1.7
1000 2000 3000 4000 5000
(r/min)
Continuous usage
R88M-G1K530T (1.5 kW)
0
12.9 (3500)
Continuous usage
3.6
1000 2000 3000 4000 5000
(r/min)
Repetitive usage
5 3.18
3.18
1.0
Continuous usage
R88M-G4K030T (4 kW)
0
4.8
1000 2000 3000 4000 5000
(r/min)
R88M-G3K030T (3 kW)
(N·m)
30 27.0
18.4 (3600)
27.0 (3400)
Repetitive usage
15 9.54
9.54
Repetitive usage
10 6.36
6.36
Continuous usage
6.0
Continuous usage
0
9.1 (4000)
4.0
1000 2000 3000 4000 5000
(r/min)
20 18.4
Repetitive usage
7.5 4.77
4.77
1000 2000 3000 4000 5000
(r/min)
10 9.1
(N·m)
15 12.9
0.38
R88M-G1K030T (1 kW)
R88M-G2K030T (2 kW)
(N·m)
0.64
Continuous usage
0
7.05 (3600)
Repetitive usage
4.0 2.4
2.4
0.78
1.5
(N·m)
8.0 7.05
3.6 (3800)
0.64
0.28
(N·m)
4.0 3.6
1.78 (4500)
Repetitive usage
1.0
R88M-G75030H/T (750 W)
(N·m)
1000 2000 3000 4000 5000
(r/min)
0
5.5
1000 2000 3000 4000 5000
(r/min)
R88M-G5K030T (5 kW)
(N·m)
(N·m)
40 36.3
50 45.1
37.9
Continuous usage
47.6
Repetitive usage
25 15.8
15.8
Repetitive usage
20 12.6
12.6
0
2.0 1.78
0.32
Continuous usage
0.1
R88M-G40030H/T (400 W)
0
0.93
0.5 0.32
1000 2000 3000 4000 5000
(r/min)
0
(N·m)
1.0 0.93
Repetitive usage
Repetitive usage
0.25 0.16
0.16
0
R88M-G20030H/T (200 W)
Continuous usage
10.0
1000 2000 3000 4000 5000
(r/min)
0
15.0
1000 2000 3000 4000 5000
(r/min)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
115
Servomotor Specifications (R88M-GP)
● Characteristics
3,000-r/min Flat Servomotors
100-VAC/200-VAC Input Powers
Model (R88M-)
Item
100 VAC
Unit
Rated output
*1
200 VAC
GP10030L
GP20030L
GP40030L
GP10030H
GP20030H
GP40030H
GP10030S
GP20030S
GP40030S
GP10030T
GP20030T
GP40030T
W
100
200
400
100
200
400
Rated torque *1
N·m
0.32
0.64
1.3
0.32
0.64
1.3
Rated rotation speed
r/min
Max. momentary rotation speed
r/min
Max. momentary torque *1
N·m
0.84
1.8
3.6
0.86
1.8
Rated current *1
A (rms)
1.6
2.5
4.4
1
1.6
2.5
Max. momentary current *1
A (rms)
4.9
7.5
13.3
3.1
4.9
7.5
Rotor inertia
kg·m2
(GD2/4)
1.0 × 10-5
3.5 × 10-5
6.5 × 10-5
1.0 × 10-5
3.5 × 10-5
6.4 × 10-5
Applicable load inertia
Torque constant
3000
5000
4500
3.65
20 times the rotor inertia max.*2
---
*1
5000
N·m/A
0.21
0.27
0.3
0.34
0.42
0.54
kW/s
10.2
11.7
26.0
10.2
11.5
25.5
Mechanical time constant
ms
0.87
0.75
0.55
1.05
0.81
0.59
Electrical time constant
ms
3.4
6.7
6.7
2.9
5.6
6.6
Allowable radial load *3
N
68
245
245
68
245
245
Allowable thrust load *3
N
58
98
98
58
98
98
Without brake
kg
Approx. 0.7
Approx. 1.3
Approx. 1.8
Approx. 0.7
Approx. 1.3
Approx. 1.8
With brake
kg
Approx. 0.9
Approx. 2
Approx. 2.5
Approx. 0.9
Approx. 2
Approx. 2.5
Power rate *1
Weight
130 × 120 × t10
(AI)
Radiation shield dimensions (material)
Applicable Servo Drives (R88D-)
GN01L-ML2
kg·m2
(GD2/4)
Brake specifications
Brake inertia
130 × 120 × t10
(AI)
170 × 160 × t12(AI)
GN02L-ML2
GN04L-ML2
GN01H-ML2
9 × 10-6
3 × 10-6
170 × 160 × t12 (AI)
GN02H-ML2
3 × 10-6
GN04H-ML2
9 × 10-6
24 VDC ±10%
Excitation voltage *4
V
Power consumption (at 20°C)
W
7
10
10
7
10
10
Current consumption (at 20°C)
A
0.29
0.41
0.41
0.29
0.41
0.41
Static friction torque
N·m
0.29 min.
1.27 min.
1.27 min.
0.29 min.
1.27 min.
1.27 min.
Attraction time *5
ms
50 max.
60 max.
60 max.
50 max.
60 max.
60 max.
Release time *5
ms
15 max.
15 max.
15 max.
15 max.
15 max.
15 max.
±1°
Backlash
Allowable work per braking
J
137
196
196
137
196
196
Allowable total work
J
44.1 × 103
147 × 103
147 × 103
44.1 × 103
147 × 103
147 × 103
rad/s2
10,000 max.
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
10,000,000 operations
Rating
---
Continuous
Insulation grade
---
Type F
Allowable angular acceleration
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%). The maximum momentary torque shown above
indicates the standard value.
*2. Applicable Load Inertia:
• The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is
possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
• If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF
while the dynamic brake is enabled.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are
applied as shown in the following diagram.
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
116
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Torque and Rotation Speed Characteristics
3,000-r/min Flat Servomotors
• 3,000-r/min Servomotors with 100-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
R88M-GP10030L/S (100 W)
R88M-GP20030L/S (200 W)
(N·m)
(N·m)
(N·m)
1.0 0.84
2.0 1.8
0.84 (3500)
0.32
Repetitive usage
1.0 0.64
0.64
Continuous usage
0.19
Continuous usage
1000 2000 3000 4000 5000
(r/min)
0
4.0 3.6
1.8 (3400)
Repetitive usage
0.5 0.32
0.32
0
R88M-GP40030L/S (400 W)
2.0 1.3
0.38
1000 2000 3000 4000 5000
(r/min)
0
3.6 (3300)
Repetitive usage
1.3
1.5
Continuous usage
0.78
1000 2000 3000 4000 4500
(r/min)
• 3,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-GP10030H/T (100 W)
R88M-GP20030H/T (200 W)
(N·m)
(N·m)
(N·m)
1.0 0.86
0.86
Continuous usage
1.8 (4500)
2.0 1.8
Repetitive usage
1.0 0.64
0.64
Repetitive usage
0.5 0.32
0.32
0
R88M-GP40030H/T (400 W)
Continuous usage
0.19
1000 2000 3000 4000 5000
(r/min)
0
4.0 3.65
3.65 (3600)
Repetitive usage
2.0 1.3
1.3
Continuous usage
0.38
1000 2000 3000 4000 5000
(r/min)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
0
2.0
0.78
1000 2000 3000 4000 5000
(r/min)
R88M-G/R88D-GN@-ML2
117
Servomotor Specifications (R88M-G)
● Characteristics
2,000-r/min Cylindrical Servomotors
200-VAC Input Power
Model (R88M-)
Item
G1K020T
G1K520T
G2K020T
G3K020T
G4K020T
G5K020T
G7K515T
W
1000
1500
2000
3000
4000
5000
7500
N·m
4.8
7.15
9.54
14.3
18.8
23.8
Unit
Rated output *1
Rated torque
*1
48
Rated rotation speed
r/min
Max. momentary rotation speed
r/min
Max. momentary torque *1
N·m
13.5
19.6
26.5
41.2
54.9
70.6
111
Rated current *1
A (rms)
5.6
9.4
12.3
17.8
23.4
28
46.6
Max. momentary current *1
A (rms)
17.1
28.5
37.1
54.2
71.4
85.7
117.8
Rotor inertia
kg·m2
(GD2/4)
6.17 × 10-4
1.12 × 10-3
1.52 × 10-3
2.23 × 10-3
4.25 × 10-3
6.07 × 10-3
9.9 × 10-3
1.03
Applicable load inertia
Torque constant
2000
3000
2000
10 times the rotor inertia max.*2
---
*1
1500
N·m/A
0.88
0.76
0.78
0.81
0.81
0.85
kW/s
37.3
45.8
60
91.6
83.2
93.5
230
Mechanical time constant
ms
0.7
0.81
0.75
0.72
1
0.9
0.71
Electrical time constant
ms
18
19
21
20
24
32
34
Allowable radial load *3
N
490
490
490
784
784
784
1176
Power rate *1
Allowable thrust load *3
N
196
196
196
343
343
343
490
Without brake
kg
Approx. 6.8
Approx. 8.5
Approx. 10.6
Approx. 14.6
Approx. 18.8
Approx. 25
Approx. 41
With brake
kg
Approx. 8.7
Approx. 10.1
Approx. 12.5
Approx. 16.5
Approx. 21.3
Approx. 28.5
Approx. 45
Weight
Radiation shield dimensions (material)
Applicable Servo Drives (R88D-)
GN10H-ML2
GN15H-ML2
GN30H-ML2
kg·m2
(GD2/4)
Brake inertia
Excitation voltage *4
V
Power consumption(at 20°C)
W
Current consumption (at 20°C)
Brake specifications
275 × 260 × t15 (AI)
380 × 350 ×
t30 (AI)
GN20H-ML2
470 × 440 × t30 (AI)
GN50H-ML2
GN50H-ML2
GN75H-ML2
4.25 × 10-4
4.7 × 10-4
4.7 × 10-4
26
31
34
1.35 × 10-4
24 VDC ±10%
14
19
19
22
A
0.59
0.79
0.79
0.9
1.1
1.3
1.4
Static friction torque
N·m
4.9 min.
13.7 min.
13.7 min.
16.1 min.
21.5 min.
24.5 min.
58.8 min.
Attraction time *5
ms
80 max.
100 max.
100 max.
110 max.
90 max.
80 max.
150 max.
Release time *5
ms
70 max.
50 max.
50 max.
50 max.
35 min.
25 min.
50 max.
±1°
Backlash
Allowable work per braking
J
588
1176
1176
1170
1078
1372
1372
Allowable total work
J
7.8 × 105
1.5 × 106
1.5 × 106
2.2 × 106
2.5 × 106
2.9 × 106
2.9 × 106
rad/s2
10,000 max.
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
10,000,000 operations
Rating
---
Continuous
Insulation grade
---
Type F
Allowable angular acceleration
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%). The maximum momentary torque shown above
indicates the standard value.
*2. Applicable Load Inertia:
• The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is
possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
• If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF
while the dynamic brake is enabled.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are
applied as shown in the following diagram.
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
118
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Torque and Rotation Speed Characteristics
2,000-r/min Cylindrical Servomotors
• 2,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-G1K020T (1 kW)
R88M-G1K520T (1.5 kW)
R88M-G2K020T (2 kW)
(N·m)
(N·m)
(N·m)
13.5 (2200)
15 13.5
Repetitive usage
10
5 4.8
5.5
3.2
4.8
Continuous usage
0
1000
2000
3000 (r/min)
R88M-G3K020T (3 kW)
19.6 (2200)
20 19.6
Repetitive usage
10 7.15
7.15
Continuous usage
0
1000
2000
Repetitive usage
15 9.54
9.54
Continuous usage
14.3
4.7
3000 (r/min)
R88M-G4K020T (4 kW)
50 41.2
Continuous usage
0
1000
54.9 (2000)
70
50
2000
14.3
9.5
3000 (r/min)
25 18.8
18.8
Continuous usage
0
2000
3000 (r/min)
1000
2000
70.6
70.6 (2000)
Repetitive usage
Repetitive usage
Repetitive usage
25 14.3
14.3
1000
(N·m)
54.9
41.2 (2200)
0
13.2
6.3
R88M-G5K020T (5 kW)
(N·m)
(N·m)
26.5 (2200)
30 26.5
35 23.8
25.0
23.8
Continuous usage
12.5
3000 (r/min)
0
1000
2000
23.0
15.8
3000 (r/min)
R88M-G7K515T (7.5 kW)
(N·m)
100
111
111
100
Repetitive usage
50
0
48
48
Continuous usage
1000
1500
36
2000 (r/min)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
119
Servomotor Specifications (R88M-G)
● Characteristics
1,000-r/min Cylindrical Servomotors
200-VAC Input Power
Model (R88M-)
Item
Unit
G90010T
G2K010T
G3K010T
G4K510T
G6K010T
Rated output *1
W
900
2000
3000
4500
6000
Rated torque *1
N·m
8.62
19.1
28.4
42.9
57.2
Rated rotation speed
r/min
Max. momentary rotation speed
r/min
Max. momentary torque *1
N·m
18.4
41.5
60
101
130
Rated current *1
A (rms)
7.6
18.5
24
33
57.2
Max. momentary current *1
A (rms)
17.1
44
57.1
84.2
121.4
Rotor inertia
kg·m2
(GD2/4)
1.12 × 10-3
3.55 × 10-3
5.57 × 10-3
8.09 × 10-3
9.9 × 10-3
1.22
Applicable load inertia
1000
2000
10 times the rotor inertia max.*2
---
Torque constant *1
N·m/A
1.13
1
1.1
1.3
Power rate *1
kW/s
66.3
103
145
228
331
Mechanical time constant
ms
0.88
0.97
0.74
0.7
0.65
Electrical time constant
ms
20
25
30
31
46.2
Allowable radial load *3
N
686
1176
1470
1470
1764
Allowable thrust load *3
N
196
490
490
490
588
Without brake
kg
Approx. 8.5
Approx. 17.5
Approx. 25
Approx. 34
Approx. 41
With brake
kg
Approx. 10
Approx. 21
Approx. 28.5
Approx. 39.5
Approx. 45
Weight
Radiation shield dimensions
(material)
275 × 260 × t15 (AI)
Applicable Servo Drives (R88D-)
Brake inertia
Brake specifications
GN15H-ML2
kg·m2
(GD2/4)
470 × 440 × t30 (AI)
GN30H-ML2
GN50H-ML2
GN50H-ML2
GN75H-ML2
4.7 × 10-4
1.35 × 10-4
24 VDC ±10%
Excitation voltage *4
V
Power consumption (at 20°C)
W
19
31
34
34
34
Current consumption (at 20°C)
A
0.79
1.3
1.4
1.4
1.4
Static friction torque
N·m
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.
Release time *5
ms
50 max.
25 max.
50 max.
50 max.
50 max.
±1°
Backlash
Allowable work per braking
J
1176
1372
1372
1372
1372
Allowable total work
J
1.6 × 106
2.9 × 106
2.9 × 106
2.9 × 106
2.9 × 106
rad/s2
10,000 max.
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
10,000,000 operations
Rating
---
Continuous
Insulation grade
---
Type F
Allowable angular acceleration
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%). The maximum momentary torque shown above
indicates the standard value.
*2. Applicable Load Inertia:
• The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is
possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
• If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF
while the dynamic brake is enabled.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are
applied as shown in the following diagram.
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
120
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Torque and Rotation Speed Characteristics
1,000-r/min Cylindrical Servomotors
• 1,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-G90010T (900 W)
(N·m)
20 18.4
R88M-G2K010T (2 kW)
18.4 (1600)
(N·m)
50 41.5
Repetitive usage
10 8.62
10.0
Continuous usage
4.31
1000
(N·m)
130
101 (1300)
(N·m)
Repetitive usage
50 42.9
42.9
40
Continuous usage
1000
1000
70 60
60 (1350)
Repetitive usage
34.9
35 28.4
19.1
Continuous usage
0
(N·m)
9.5
38
28.4
Continuous usage
2000 (r/min)
0
1000
14.2
2000 (r/min)
R88M-G6K010T (6 kW)
100
0
25 19.1
2000 (r/min)
R88M-G4K510 (4.5 kW)
101
41.5 (1600)
Repetitive usage
8.62
0
R88M-G3K010T (3 kW)
100
Repetitive usage
57.2
71
57.2
50
21.5
2000 (r/min)
130 (1500)
Continuous usage
0
1000
28.6
2000 (r/min)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
121
Decelerator Specifications (R88G-HPG/VRSF)
● Backlash: 3 Arcminutes Max.
Decelerators for 3,000-r/min Servomotors
Model
50 W
100 W
200 W
400 W
750 W
1 kW
1.5 kW
Rated
rotation
speed
Rated
Efficiency
torque
Maximum
momentary
torque
Decelerator
inertia
r/min
N·m
%
r/min
N·m
kg·m2
Allowable
radial
load
Allowable
thrust
Weight
load
N
N
kg
1/5
R88G-HPG11A05100B
600
0.60
75
1000
1.68
5.00 × 10-7
135
538
0.29
1/9
R88G-HPG11A09050B
333
1.17
81
555
3.29
3.00 × 10-7
161
642
0.29
10-6
1/21
R88G-HPG14A21100B
143
2.18
65
238
6.13
5.00 ×
340
1358
1.04
1/33
R88G-HPG14A33050B
91
3.73
71
151
10.5
4.40 × 10-6
389
1555
1.04
1/45
R88G-HPG14A45050B
67
5.09
71
111
14.3
4.40 × 10-6
427
1707
1.04
1/5
R88G-HPG11A05100B
600
1.37
86
1000
3.8
5.00 × 10-7
135
538
0.29
10-6
1/11
R88G-HPG14A11100B
273
2.63
75
454
7.39
6.00 ×
280
1119
1.04
1/21
R88G-HPG14A21100B
143
5.40
80
238
15.2
5.00 × 10-6
340
1358
1.04
1/33
R88G-HPG20A33100B
91
6.91
65
151
19.4
6.50 × 10-5
916
3226
2.4
1/45
R88G-HPG20A45100B
67
9.42
65
111
26.5
6.50 × 10-5
1006
3541
2.4
10-5
1/5
R88G-HPG14A05200B
600
2.49
78
1000
6.93
2.07 ×
221
883
1.02
1/11
R88G-HPG14A11200B
273
6.01
85
454
16.7
1.93 × 10-5
280
1119
1.09
1/21
R88G-HPG20A21200B
143
10.2
76
238
28.5
4.90 × 10-5
800
2817
2.9
1/33
R88G-HPG20A33200B
91
17.0
81
151
47.4
4.50 × 10-5
916
3226
2.9
4.50 ×
10-5
1/45
R88G-HPG20A45200B
67
23.2
81
111
64.6
1006
3541
2.9
1/5
R88G-HPG14A05400B
600
5.66
87
1000
16.0 (15.7)
2.07 × 10-5
221
883
1.09
1/11
R88G-HPG20A11400B
273
11.7
82
454
33.1 (32.5)
5.70 × 10-5
659
2320
2.9
1/21
R88G-HPG20A21400B
143
23.5
86
238
66.5 (65.2)
4.90 × 10-5
800
2547
2.9
6.20 ×
10-5
7.5
1/33
R88G-HPG32A33400B
91
34.7
81
151
98.2 (96.3)
1565
6240
1/45
R88G-HPG32A45400B
67
47.4
81
111
133.9 (131.4)
6.10 × 10-5
1718
6848
7.5
1/5
R88G-HPG20A05750B
600
9.94
83
1000
29.2
6.80 × 10-5
520
1832
2.9
1/11
R88G-HPG20A11750B
273
23.2
88
454
68.1
6.00 × 10-5
659
2320
3.1
10-4
1/21
R88G-HPG32A21750B
143
42.3
84
238
124.3
3.00 ×
1367
5448
7.8
1/33
R88G-HPG32A33750B
91
69.7
88
151
204.7
2.70 × 10-4
1565
6240
7.8
1/45
R88G-HPG32A45750B
67
95.0
88
111
279.2
2.70 × 10-4
1718
6848
7.8
1/5
R88G-HPG32A051K0B
600
11.5
72
1000
32.9
3.90 × 10-4
889
3542
7.3
1/11
R88G-HPG32A111K0B
273
28.9
83
454
82.6
3.40 × 10-4
1126
4488
7.8
1/21
R88G-HPG32A211K0B
143
58.1
87
238
166.1
3.00 × 10-4
1367
5488
7.8
1/33
R88G-HPG32A331K0B
91
94.3
90
151
270.0
2.80 × 10-4
1565
6240
7.8
1/45
R88G-HPG50A451K0B
67
124.2
87
100*1
355.4
4.70 × 10-4
4538
15694
19.0
1/5
R88G-HPG32A052K0B
600
19.1
80
1000
51.3
3.90 × 10-4
889
3542
7.4
1/11
R88G-HPG32A112K0B
273
45.7
87
454
122.5
3.40 × 10-4
1126
4488
7.9
1/21
R88G-HPG32A211K5B
143
90.1
90
238
241.9
3.00 × 10-4
1367
5448
7.9
1/33
R88G-HPG50A332K0B
91
141.5
90
136*1
379.7
4.80 × 10-4
4135
14300
19.0
1/45
R88G-HPG50A451K5B
67
192.9
90
100*1
517.8
4.70 × 10-4
4538
15694
19.0
1/5
R88G-HPG32A052K0B
600
26.7
84
1000
77.4
3.90 × 10-4
889
3542
7.4
1/11
R88G-HPG32A112K0B
273
62.4
89
454
180.7
3.40 × 10-4
1126
4488
7.9
1/21
R88G-HPG50A212K0B
143
118.9
89
214*1
343.9
5.80 × 10-4
3611
12486
19.0
1/33
R88G-HPG50A332K0B
91
191.8
91
136*1
555.0
4.80 × 10-4
4135
14300
19.0
1/5
R88G-HPG32A053K0B
600
42.0
88
1000
118.9
3.80 × 10-4
889
3542
7.3
1/11
R88G-HPG50A113K0B
273
92.3
88
409*1
261.4
7.70 × 10-4
2974
10285
19.0
1/21
R88G-HPG50A213K0B
143
183.0
91
214*1
517.7
5.80 × 10-4
3611
12486
19.0
2 kW
3 kW
Maximum
momentary
rotation speed
1/5
R88G-HPG32A054K0B
600
53.9
90
900*1
163.4
3.80 ×
889
3542
7.9
1/11
R88G-HPG50A115K0B
273
124.6
90
409*1
359.0
8.80 × 10-4
2974
10285
19.1
1/5
R88G-HPG50A055K0B
600
69.3
88
900*1
197.8
1.20 × 10-3
2347
8118
17.7
1/11
R88G-HPG50A115K0B
273
158.4
91
409*1
451.9
8.80 × 10-4
2974
10285
19.1
4 kW
5 kW
10-4
*1. Keep the maximum rotation speed at 4,500 r/min or less.
Note: 1. The values inside parentheses ( ) are for 100-V Servomotors.
Note: 2. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 3. The protective structure for Servomotors with Decelerators satisfies
IP44.
122
Note: 4. The allowable radial load is the value at the T/2 position.
Note: 5. The standard models have a straight shaft. Models with a key and tap are
indicated with "J" at the end of the model number (the suffix in the box).
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Decelerators for 3,000-r/min Flat Servomotors
Model
100 W
200 W
400 W
Rated
rotation
speed
Rated
Efficiency
torque
Maximum
momentary
rotation speed
Maximum
momentary
torque
Decelerator
inertia
Allowable
radial
load
Allowable
Weight
thrust
load
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
1/5
R88G-HPG11A05100PB
600
1.37
85
1000
3.67 (3.59)
5.00 × 10-7
135
538
0.34
1/11
R88G-HPG14A11100PB
273
2.63
75
454
7.06 (6.89)
6.00 × 10-6
280
1119
1.04
1/21
R88G-HPG14A21100PB
143
5.40
80
238
14.5 (14.2)
5.00 × 10-6
340
1358
1.04
1/33
R88G-HPG20A33100PB
91
6.91
65
151
18.6 (18.1)
4.50 × 10-5
916
3226
2.9
1/45
R88G-HPG20A45100PB
67
9.42
65
111
25.3 (24.7)
4.50 × 10-5
1006
3541
2.9
1/5
R88G-HPG14A05200PB
600
2.49
78
1000
7.01
2.07 × 10-5
221
883
0.99
1/11
R88G-HPG20A11200PB
273
4.75
68
454
13.4
5.80 × 10-5
659
2320
3.1
1/21
R88G-HPG20A21200PB
143
10.2
76
238
28.8
4.90 × 10-5
800
2817
3.1
1/33
R88G-HPG20A33200PB
91
17.0
81
151
47.9
4.50 × 10-5
916
3226
3.1
1/45
R88G-HPG20A45200PB
67
23.2
81
111
65.4
4.50 × 10-5
1006
3541
3.1
1/5
R88G-HPG20A05400PB
600
4.67
72
1000 (900)
13.1 (12.9)
7.10 × 10-5
520
1832
3.1
1/11
R88G-HPG20A11400PB
273
11.7
82
454 (409)
32.9 (32.4)
5.80 × 10-5
659
2320
3.1
1/21
R88G-HPG20A21400PB
143
23.5
86
238 (214)
66.2 (65.2)
4.90 × 10-5
800
2817
3.1
1/33
R88G-HPG32A33400PB
91
34.7
81
151 (136)
97.6 (96.2)
2.80 × 10-4
1565
6240
7.8
1/45
R88G-HPG32A45400PB
67
47.4
81
111 (100)
133.0 (131.2)
2.80 × 10-4
1718
6848
7.8
Note: 1. The values inside parentheses ( ) are for 100-V Servomotors.
Note: 2. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 3. The protective structure for Servomotors with Decelerators satisfies IP44.
Note: 4. The allowable radial load is the value at the T/2 position.
Note: 5. The standard models have a straight shaft. Models with a key and tap are
indicated with "J" at the end of the model number (the suffix in the box).
Decelerators for 2,000-r/min Servomotors
Model
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
7.5 kW
*1.
Rated
rotation
speed
Rated
Efficiency
torque
Maximum
momentary
rotation speed
Maximum
momentary
torque
Decelerator
inertia
Allowable
radial
load
Allowable
Weight
thrust
load
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
20.4
85
600
57.4
3.80 × 10-4
889
3542
7.3
7.8
1/5
R88G-HPG32A053K0B
400
1/11
R88G-HPG32A112K0SB
182
47.3
90
273
133.1
3.40 × 10-4
1126
4488
1/21
R88G-HPG32A211K0SB
95
92.3
92
143
259.7
2.90 × 10-4
1367
5448
7.8
1/33
R88G-HPG50A332K0SB
60
144.9
92
91
407.6
4.70 × 10-4
4135
14300
19.0
1/45
R88G-HPG50A451K0SB
44
197.7
92
67
555.9
4.70 × 10-4
4538
15694
19.0
1/5
R88G-HPG32A053K0B
400
31.7
89
600
86.8
3.80 × 10-4
889
3542
7.3
1/11
R88G-HPG32A112K0SB
182
72.1
92
273
197.7
3.40 × 10-4
1126
4488
7.8
1/21
R88G-HPG50A213K0B
95
137.5
92
143
377.0
5.80 × 10-4
3611
12486
19.0
1/33
R88G-HPG50A332K0SB
60
219.4
93
91
601.5
4.70 × 10-4
4135
14300
19.0
1/5
R88G-HPG32A053K0B
400
43.2
91
600
119.9
3.80 × 10-4
889
3542
7.3
1/11
R88G-HPG32A112K0SB
182
97.4
93
273
270.5
3.40 × 10-4
1126
4488
7.8
1/21
R88G-HPG50A213K0B
95
185.6
93
143
515.9
5.80 × 10-4
3611
12486
19.0
1/33
R88G-HPG50A332K0SB
60
270.0*1
93
91
815.0
4.70 × 10-4
4135
14300
19.0
1/5
R88G-HPG32A054K0B
400
66.0
92
600
190.1
3.80 × 10-4
889
3542
7.9
1/11
R88G-HPG50A115K0B
182
145.2
92
273
418.3
8.80 × 10-4
2974
10285
19.1
1/21
R88G-HPG50A213K0SB
95
260.0*1
93
143
806.4
6.90 × 10-4
3611
12486
19.1
1/25
R88G-HPG65A253K0SB
80
322.9
90
120
930.1
3.00 × 10-3
7846
28654
52.0
1/5
R88G-HPG50A054K0SB
400
85.8
91
600
250.3
1.20 × 10-3
2347
8118
18.6
1/11
R88G-HPG50A114K0SB
182
192.7
93
273
562.8
8.70 × 10-4
2974
10285
20.1
1/20
R88G-HPG65A204K0SB
100
342.2
91
150
999.2
3.28 × 10-3
7338
26799
52.0
1/25
R88G-HPG65A254K0SB
80
430.9
92
120
1258.6
3.24 × 10-3
7846
28654
52.0
1/5
R88G-HPG50A055K0SB
400
109.8
92
600
325.5
1.10 × 10-3
2347
8118
22.0
1/11
R88G-HPG50A115K0SB
182
200.0*1
93
273
723.8
8.40 × 10-4
2974
10285
23.5
1/20
R88G-HPG65A205K0SB
100
438.2
92
150
1300.5
2.85 × 10-3
7338
26799
55.4
1/25
R88G-HPG65A255K0SB
80
550.9
93
120
1634.4
2.81 × 10-3
7846
28654
55.4
1/5
R88G-HPG65A057K5SB
300
221.1
92
400
511.2
2.07 × 10-2
4841
17681
48.0
1/12
R88G-HPG65A127K5SB
125
540.8
94
166
1250.7
2.02 × 10-2
6295
22991
52.0
"Rated torque" indicates the allowable rated torque for the decelerator. Do not exceed this value.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 2. The protective structure for Servomotors with Decelerators satisfies
IP44.
Note: 3. The allowable radial load is the value at the T/2 position.
Note: 4. The standard models have a straight shaft. Models with a key and tap are
indicated with "J" at the end of the model number (the suffix in the box).
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
123
Decelerators for 1,000-r/min Servomotors
Model
Rated
rotation
speed
Rated
Efficiency
torque
Maximum
momentary
rotation speed
Maximum
momentary
torque
Allowable
Weight
thrust
load
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
R88G-HPG32A05900TB
200
39.9
93
400
85.2
3.80 × 10-4
889
3542
7.9
1/11
R88G-HPG32A11900TB
90
89.0
94
182
190.1
3.40 × 10-4
1126
4488
8.4
1/21
R88G-HPG50A21900TB
47
169.8
94
95
362.4
7.00 × 10-4
3611
12486
19.1
1/33
R88G-HPG50A33900TB
30
268.5
94
60
573.2
5.90 × 10-4
4135
14300
19.1
1/5
R88G-HPG32A052K0TB
200
90.2
95
400
196.1
4.90 ×
889
3542
8.9
1/11
R88G-HPG50A112K0TB
90
198.4
94
182
430.9
8.40 × 10-4
2974
10285
20.1
1/21
R88G-HPG50A212K0TB
47
320.0*1
95
95
786.8
6.50 × 10-4
3611
12486
20.1
1/25
R88G-HPG65A255K0SB
40
446.7
94
80
971.1
2.81 × 10-3
7846
28654
55.4
1/5
R88G-HPG50A055K0SB
200
133.9
94
400
282.9
1.10 × 10-3
2347
8118
22.0
10-4
2 kW
10-4
1/11
R88G-HPG50A115K0SB
90
246.0*1
95
182
684.0
8.40 ×
2974
10285
23.5
1/20
R88G-HPG65A205K0SB
50
534.7
94
100
1129.2
2.85 × 10-3
7338
26799
55.4
1/25
R88G-HPG65A255K0SB
40
669.9
94
80
1411.5
2.81 × 10-3
7846
28654
55.4
10-3
3 kW
1/5
R88G-HPG50A054K5TB
200
203.5
95
400
479.2
1.20 ×
2347
8118
22.0
1/12
R88G-HPG65A127K5SB
83
485.6
94
166
1142.9
2.02 × 10-2
6295
22991
52.0
1/20
R88G-HPG65A204K5TB
50
813.1
95
100
1915.0
1.92 × 10-2
7338
26799
52.0
1/5
R88G-HPG65A057K5SB
200
268.1
94
400
609.7
2.07 × 10-2
4841
17681
48.0
1/12
R88G-HPG65A127K5SB
83
650.3
95
166
1477.3
2.02 × 10-2
6295
22991
52.0
6 kW
*1.
Allowable
radial
load
1/5
900 W
4.5 kW
Decelerator
inertia
"Rated torque" indicates the allowable rated torque for the decelerator. Do not exceed this value.
Note: 1.
Note: 2.
Note: 3.
Note: 4.
124
The Decelerator inertia is the Servomotor shaft conversion value.
The protective structure for Servomotors with Decelerators satisfies IP44.
The allowable radial load is the value at the T/2 position.
The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of the model number (the suffix in the box).
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
● Backlash: 15 Arcminutes Max.
Decelerators for 3,000-r/min Servomotors
Model
Rated
rotation
speed
Rated
Efficiency
torque
Maximum
momentary
rotation speed
Maximum
momentary
torque
Decelerator
inertia
r/min
N·m
%
r/min
N·m
kg·m2
Allowable
thrust
load
Weight
N
N
kg
1/5
R88G-VRSF05B100CJ
600
0.52
65
1000
1.46
4.00 × 10-6
392
196
0.55
1/9
R88G-VRSF09B100CJ
333
0.93
65
556
2.63
3.50 × 10-6
441
220
0.55
1/15
R88G-VRSF15B100CJ
200
1.67
70
333
4.73
3.50 × 10-6
588
294
0.70
1/25
R88G-VRSF25B100CJ
120
2.78
70
200
7.88
3.25 × 10-6
686
343
0.70
10-6
50 W
1/5
R88G-VRSF05B100CJ
600
1.19
75
1000
3.38
4.00 ×
392
196
0.55
1/9
R88G-VRSF09B100CJ
333
2.29
80
556
6.48
3.50 × 10-6
441
220
0.55
10-6
100 W
1/15
R88G-VRSF15B100CJ
200
3.81
80
333
10.8
3.50 ×
588
294
0.70
1/25
R88G-VRSF25B100CJ
120
6.36
80
200
18.0
3.25 × 10-6
686
343
0.70
1/5
R88G-VRSF05B200CJ
600
2.70
85
1000
7.57
1.18 × 10-5
392
196
0.72
1/9
R88G-VRSF09C200CJ
333
3.77
66
556
10.6
2.75 ×
931
465
1.70
1/15
R88G-VRSF15C200CJ
200
6.29
66
333
17.6
3.00 × 10-5
1176
588
2.10
1/25
R88G-VRSF25C200CJ
120
11.1
70
200
31.2
2.88 × 10-5
1323
661
2.10
10-5
200 W
10-5
1/5
R88G-VRSF05C400CJ
600
5.40
85
1000
15.6 (15.3)
3.63 ×
784
392
1.70
1/9
R88G-VRSF09C400CJ
333
9.50
83
556
27.4 (26.8)
2.75 × 10-5
931
465
1.70
10-5
400 W
1/15
R88G-VRSF15C400CJ
200
15.8
83
333
45.7 (44.8)
3.00 ×
1176
588
2.10
1/25
R88G-VRSF25C400CJ
120
26.4
83
200
76.1 (74.7)
2.88 × 10-5
1323
661
2.10
1/5
R88G-VRSF05C750CJ
600
10.7
90
1000
31.7
7.13 × 10-5
784
392
2.10
10-5
1/9
R88G-VRSF09D750CJ
333
18.2
85
556
53.9
6.50 ×
1176
588
3.40
1/15
R88G-VRSF15D750CJ
200
30.4
85
333
89.9
7.00 × 10-5
1372
686
3.80
1/25
R88G-VRSF25D750CJ
120
50.7
85
200
149.8
6.80 × 10-5
1617
808
3.80
Maximum
momentary
rotation speed
Maximum
momentary
torque
Decelerator
inertia
Allowable
radial
load
Allowable
thrust
load
Weight
750 W
Note: 1.
Note: 2.
Note: 3.
Note: 4.
Note: 5.
Allowable
radial
load
The values inside parentheses ( ) are for 100-V Servomotors.
The Decelerator inertia is the Servomotor shaft conversion value.
The protective structure for Servomotors with Decelerators satisfies IP44.
The allowable radial load is the value at the T/2 position.
The standard models have a straight shaft with a key.
Decelerators for 3,000-r/min Flat Servomotor
Model
Rated
rotation
speed
Rated
Efficiency
torque
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
1/5
R88G-VRSF05B100PCJ
600
1.19
75
1000
3.15
4.00 × 10-6
392
196
0.72
1/9
R88G-VRSF09B100PCJ
333
2.29
80
556
6.048
3.50 × 10-6
441
220
0.72
1/15
R88G-VRSF15B100PCJ
200
3.81
80
333
10.08
3.50 × 10-6
588
294
0.87
10-6
100 W
1/25
R88G-VRSF25B100PCJ
120
6.36
80
200
16.8
3.25 ×
686
343
0.87
1/5
R88G-VRSF05B200PCJ
600
2.70
85
1000
7.65
1.18 × 10-5
392
196
0.85
1/9
R88G-VRSF09C200PCJ
333
3.77
66
556
10.692
2.75 × 10-5
931
465
1.80
10-5
200 W
1/15
R88G-VRSF15C200PCJ
200
6.29
66
333
17.82
3.00 ×
1176
588
2.20
1/25
R88G-VRSF25C200PCJ
120
11.1
70
200
31.5
2.88 × 10-5
1323
661
2.20
1/5
R88G-VRSF05C400PCJ
600
5.40
85
1000 (900)
15.5 (15.3)
3.63 × 10-5
784
392
1.80
1/9
R88G-VRSF09C400PCJ
333
9.50
83
556 (500)
27.3 (26.9)
2.75 ×
931
465
1.80
1/15
R88G-VRSF15C400PCJ
200
15.8
83
333 (300)
45.4 (44.8)
3.00 × 10-5
1176
588
2.20
1/25
R88G-VRSF25C400PCJ
120
26.4
83
200 (180)
75.7 (74.7)
2.88 × 10-5
1323
661
2.20
400 W
Note: 1.
Note: 2.
Note: 3.
Note: 4.
Note: 5.
10-5
The values inside parentheses ( ) are for 100-V Servomotors.
The Decelerator inertia is the Servomotor shaft conversion value.
The protective structure for Servomotors with Decelerators satisfies IP44.
The allowable radial load is the value at the T/2 position.
The standard models have a straight shaft with a key.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
125
Encoder, External Regeneration Resistors, Reactor and Parameter Unit Specifications
● Encoder Specifications
Incremental Encoders
Item
Specifications
Encoder system
Optical encoder
No. of output pulses
Phases A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation
Power supply voltage
5 VDC ±5%
Power supply current
180 mA (max.)
Output signals
+S, −S
Output interface
RS-485 compliance
Absolute Encoders
Item
Specifications
Optical encoder
Encoder system
17 bits
No. of output pulses
Phases A and B: 32,768 pulses/rotation, Phase Z: 1 pulse/rotation
Maximum rotations
−32,768 to +32,767 rotations
Power supply voltage
5 VDC ±5%
Power supply current
110 mA (max.)
Applicable battery voltage
3.6 VDC
Current consumption of battery
180 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
● External Regeneration Resistors Specifications
Model
Resistance
Nominal
capacity
Regeneration
absorption for 120°C
temperature rise
Heat radiation
condition
80 W
20 W
Aluminum 250 × 250,
Thickness: 3.0
Operating temperature: 150°C±5%, NC contact,
Rated output: 30 VDC, 50 mA max.
Thermal switch output specifications
R88A-RR08050S
50 Ω
R88A-RR080100S
100 Ω
R88A-RR22047S1
47 Ω
220 W
70 W
Aluminum 350 × 350,
Thickness: 3.0
Operating temperature: 170°C±5%, NC contact,
Rated output: 250 VAC, 0.2 A max.
R88A-RR50020S
20 Ω
500 W
180 W
Aluminum 600 × 600,
Thickness: 3.0
Operating temperature: 200°C±7%, NC contact,
Rated output: 250 VAC, 0.2 A max.
24 VDC, 0.2 A max.
● Reactor Specifications
Servo Drive
Reactor
Reactor type
Model
Rated current
Inductance
Weight
R88D-GNA5L-ML2
R88D-GN01H-ML2
3G3AX-DL2002
1.6 A
21.4 mH
Approx. 0.8 kg
Single-phase
R88D-GN01L-ML2
R88D-GN02H-ML2
3G3AX-DL2004
3.2 A
10.7 mH
Approx. 1.0 kg
Single-phase
R88D-GN02L-ML2
R88D-GN04H-ML2
3G3AX-DL2007
6.1 A
6.75 mH
Approx. 1.3 kg
Single-phase
R88D-GN04L-ML2
R88D-GN08H-ML2
R88D-GN10H-ML2
3G3AX-DL2015
9.3 A
3.51 mH
Approx. 1.6 kg
Single-phase
R88D-GN15H-ML2
3G3AX-DL2022
13.8 A
2.51 mH
Approx. 2.1 kg
Single-phase
R88D-GN08H-ML2
R88D-GN10H-ML2
R88D-GN15H-ML2
3G3AX-AL2025
10.0 A
2.8 mH
Approx. 2.8 kg
Three-phase
R88D-GN20H-ML2
R88D-GN30H-ML2
3G3AX-AL2055
20.0 A
0.88 mH
Approx. 4.0 kg
Three-phase
R88D-GN50H-ML2
3G3AX-AL2110
34.0 A
0.35 mH
Approx. 5.0 kg
Three-phase
R88D-GN75H-ML2
3G3AX-AL2220
67.0 A
0.18 mH
Approx. 10.0 kg
Three-phase
126
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
● R88A-PR02G Parameter Unit Specifications
General Specifications
Item
Specifications
Operating ambient temperature
Operating ambient humidity
0 to 55°C
90% max. (with no condensation)
Storage ambient temperature
Storage ambient humidity
−20 to 80°C
90% max. (with no condensation)
Storage and operating atmosphere
No corrosive gases
Vibration resistance
5.9 m/s2 max.
Performance Specifications
Item
Specifications
Type
Hand-held
Cable length
1.5 m
Connectors
Mini DIN 8-pin MD connector
Display
7-segment LED
External dimensions
62 × 114 × 15 mm (W × H × D)
Communications
specifications
Weight
Approx. 0.1 kg (including cable that is provided)
Standard
RS-232
Communications method
Asynchronous (ASYNC)
Baud rate
9,600 bps
Start bits
1 bit
Data
8 bits
Parity
None
Stop bits
1 bit
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
127
Connections
● Control I/O Connector Specifications (CN1)
Control I/O Signal Connections and External Signal Processing
+24VIN 1
4.7kΩ
Emergency Stop
STOP 2
1kΩ
12 to 24 VDC
4.7kΩ
External
Latch 3
1kΩ
1kΩ
EXT2 4
4.7kΩ
External
Latch 1
Alarm Output
16 ALMCOM
36 OUTM1
General-purpose Output 1
EXT3 3
4.7kΩ
External
Latch 2
15 /ALM
1kΩ
EXT1 5
4.7kΩ
35 OUTM1COM
29 OUTM2
General-purpose Output 2
30 OUTM2COM
31 OUTM3
General-purpose Output 3
General-purpose
Input 1
IN1 6
1kΩ
32 OUTM3COM
4.7kΩ
Forword Torque
Limit Input
PCL 7
1kΩ
4.7kΩ
Reverse Torque
Limit Input
NCL 8
1kΩ
4.7kΩ
Forward Drive
Prohibit Input
1kΩ
POT 19
4.7kΩ
Reverse Drive
Prohibit Input
1kΩ
NOT 20
4.7kΩ
Origin Proximity
Input
DEC 21
1kΩ
4.7kΩ
General-purpose
Input0
IN0 22
1kΩ
4.7kΩ
General-purpose
Input 2
IN2 23
Backup Battery *1
34 BAT
33 BATCOM
1kΩ
Shell FG
*1. If a backup battery is connected, a cable with a battery is not required.
*2. Inputs for pins 19 and 20 are determined by parameter settings. The diagram shows the default configuration.
128
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
● Peripheral Device Connection Examples
R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN04L-ML2
R88D-GN01H-ML2/-GN02H-ML2/-GN04H-ML2/-GN08H-ML2/-GN10H-ML2/-GN15H-ML2
R
T
Single-phase 100 to 115 VAC, 50/60 Hz: R88D-GN@@L-ML2
Single-phase 200 to 240 VAC, 50/60 Hz: R88D-GN@@H-ML2
NFB
1
2
Noise filter
4
Main-circuit power supply
OFF
ON
NF
E
3
Main-circuit contactor
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
AC Servo Drive
CNA
Power Cable
(*2)
XB
L1C
G-Series
AC Servomotor
B
L2C
CNB
24 VDC
U
1MC
CNA
Reactor
L1
V
L3
W
M
CNB
B1
Regeneration
resistor
(*4)
(*3)
(Ground to
100 Ω or less.)
B3
CN2
B2
Encoder Cable
E
CN1
X
15 /ALM
24 VDC
16 ALMCOM
CN1
X
User
control
device
BKIR
CN1
BKIRCOM
24 VDC
XB
(*1)
Control Cable
*1. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-Series Servomotors
with brakes.
*2. The brake is not affected by the polarity of the power supply.
*3. Connect B2-B3 for the models with a built-in regeneration resistor (GN04L-ML2, GN08H-ML2, GN10H-ML2, and GN15H-ML2).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.
*4. The models GNA5L-ML2 to GN02L-ML2 and GN01H-ML2 to GN04H-ML2 do not have a built-in regeneration resistor.
If the amount of regeneration is large, an External Regeneration Resistor must be connected to B1-B2.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
129
R88D-GN08H-ML2/-GN10H-ML2/-GN15H-ML2
R S T
Three-phase 200 to 240 VAC, 50/60 Hz
NFB
1
2
3
Noise filter
6
Main-circuit power supply
OFF
ON
NF
E
4
5
Main-circuit contactor
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
AC Servo Drive
Power Cable
CNA
XB
G-Series
AC Servomotor
(*2)
L1C
B
CNB
L2C
24 VDC
U
1MC
V
CNA
Reactor
M
L1
W
L2
L3
CNB
(Ground to
100 Ω or less.)
CN2
B1
(*3)
Regeneration
resistor
Encoder Cable
B3
E
B2
CN1
X
24 VDC
15 /ALM
16 ALMCOM
CN1
X
BKIR
User
control
device
CN1
BKIRCOM
24 VDC
XB
(*1)
Control Cable
*1. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-Series Servomotors
with brakes.
*2. The brake is not affected by the polarity of the power supply.
*3. Connect B2-B3 for the models with a built-in regeneration resistor (GN08H-ML2 to GN15H-ML2).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.
*4. Connect B2-B3 for the models with a built-in regeneration resistor (GN08H-ML2 to GN15H-ML2).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.
130
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
R88D-GN20H-ML2/-GN30H-ML2/-GN50H-ML2
R S T
Three-phase 200 to 230 VAC, 50/60 Hz
NFB
1
2
3
Noise filter
6
Main-circuit power supply
OFF
ON
NF
E
4
5
Main-circuit contactor
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
AC Servo Drive
TB1
Power Cable
(*2)
XB
L1C
G-Series
AC Servomotor
B
TB1
L2C
24 VDC
U
1MC
V
TB1
Reactor
M
L1
W
L2
L3
B1
(*3)
Regeneration
resistor
(Ground to
100 Ω or less.)
CN2
B3
Encoder Cable
E
B2
CN1
X
15 /ALM
24 VDC
16 ALMCOM
CN1
X
BKIR
User
control
device
CN1
BKIRCOM
XB
24 VDC
(*1)
Control Cable
*1. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-Series Servomotors
with brakes.
*2. The brake is not affected by the polarity of the power supply.
*3. Connect B2-B3 for the models with a built-in regeneration resistor (GN08H-ML2 to GN15H-ML2).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
131
R88D-GN75H-ML2
R S T
Three-phase 200 to 230 VAC, 50/60 Hz
NFB
1
2
3
Noise filter
6
Main-circuit power supply
OFF
ON
NF
E
4
5
Main-circuit contactor
1MC
(Ground to
100 Ω or less.)
X
Surge killer
1MC
X
PL
Servo error display
G-Series
AC Servomotor
G-Series
AC Servo Drive
TB2
Power Cable
(*2)
XB
L1C
B
TB1
L2C
24 VDC
U
1MC
V
TB1
Reactor
M
L1
W
L2
L3
B1
Regeneration
resistor (*3)
(Ground to
100 Ω or less.)
CN2
B2
Encoder Cable
E
TB2
FN (+)
CN1
X
Fan Stop
15 /ALM
FN(-)
24 VDC
16 ALMCOM
CN1
X
BKIR
User
control
device
CN1
BKIRCOM
XB
24 VDC
(*1)
Control Cable
*1. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-Series Servomotors
with brakes.
*2. The brake is not affected by the polarity of the power supply.
*3. The model GN75H-ML2 does not have a built-in regeneration resistor.
If the amount of regeneration is large, an External Regeneration Resistor must be connected to B1-B2.
132
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
I/O Circuit Diagrams
● Control Input Circuits
• Control Inputs
For the relay contact, use either a switch, or a transistor with an open-collector output.
External power supply:
12 VDC ±5% to
24 VDC ±5%
Power supply capacity:
50 mA min. (per Unit)
+24VIN 1
4.7Ω
Photocoupler input
To other input circuit ground commons
To other input circuits
Signal Levels ON level: 10 V min.
OFF level: 3 V max.
● Control Output Circuits
• Control Outputs
Servo Drive
To other output
circuits
+
−
+
−
X
Di
External power supply
24 VDC ±1 V
Maximum operating voltage: 30 VDC
Maximum output current: 50 mA
X
Di
Di: Diode for preventing surge voltage
(Use high-speed diodes.)
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
133
Components and Functions
● Servo Drive Part Names
Display area
Rotary switches
AC SERVO DRIVE
ADR
9 0 1
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
MECHATROLINK-II
communications
status LED indicator
RS-232
Analog monitor check pins
(SP, IM, G)
SP
communications connector
(CN3)
IM
G
● R88D-GN20H-ML2/-GN30H-ML2/-GN50H-ML2
• Main Circuit Terminal Block Specifications
Symbol
L2
Main circuit power supply input
L3
L1C
MECHATROLINK-II
communications connector
(CN6A, CN6B)
Name
L1
L2C
Control circuit power supply input
B1
Main-circuit power terminals
(L1, L2, L3)
B2
Control-circuit power terminals
(L1C, L2C)
External Regeneration Resistor connection terminals
B3
U
V
W
External Regeneration Resistor
connection terminals
(B1, B2, B3)
Servomotor connection terminals
Control I/O connector (CN1)
Frame ground
Servomotor connection terminals
(U, V, W)
Encoder connector (CN2)
Protective ground terminals
● R88D-GN75H-ML2
• Main Circuit Terminal Block Specifications (TB1)
Symbol
Name
L1
● R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2
R88D-GN04L-ML2/-GN01H-ML2/-GN02H-ML2
R88D-GN04H-ML2/-GN08H-ML2/-GN10H-ML2
R88D-GN15H-ML2
• Main Circuit Connector (CNA)
Symbol
Name
B1
B2
L2C
V
Frame ground
Control circuit power supply input
Symbol
Name
• Main Circuit Terminal Block Specifications (TB2)
Symbol
L1C
L2C
B1
FN (+)
U
FN (−)
V
Servomotor connection terminals
Name
Control circuit power supply input
Frame ground
External Regeneration Resistor connection terminals
B3
W
Servomotor connection terminals
Main circuits power supply input
• Servomotor Connector (CNB)
B2
External Regeneration Resistor connection terminals
U
L3
L1C
Main circuit power supply input
L3
W
L1
L2
L2
Fan Stop Output
● Display Area
A 2-digit 7-segment LED display shows the Servo Drive status, alarm
codes, parameters, and other information.
Frame ground
● Analog Monitor Check Pins (SP, IM, and G)
The actual motor speed, command speed, torque, and number of
accumulated pulses can be measured based on the analog voltage
level by using an oscilloscope.
Set the type of signal to be output and the output voltage level by setting the Speed Monitor (SP) Selection (Pn007) and Torque Monitor
(IM) Selection (Pn008).
● MECHATROLINK-II Status LED Indicator
Indicates the communications status of the MECHATROLINK-II.
● Rotary Switches
Sets the node address.
134
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
● Protective Functions
● CN1 Control Input Signals
Pin No.
Symbol
Name
Error detection
1
+24VIN
12 to 24-VDC Power Supply Input
Control power supply undervoltage
2
STOP
Emergency Stop Input
Overvoltage
3
EXT3
External Latch Signal 3
Undervoltage
4
EXT2
External Latch Signal 2
Overcurrent
5
EXT1
External Latch Signal 1
Overheating
6
IN1
External general-purpose Input 1
Overload
7
PCL
Forward Torque Limit Input
Regeneration overload
8
NCL
Reverse Torque Limit Input
Encoder communications error
POT
Forward Drive Prohibit Input
Encoder communications data error
NOT
Reverse Drive Prohibit Input
Deviation counter overflow
21
DEC
Origin Proximity Input
Overspeed
22
IN0
External general-purpose Input 0
Command error
23
IN2
External general-purpose Input 2
Internal deviation counter overflow
34
BAT
33
BATCOM
19 to 20*
Backup Battery Input
ABS
Overrun limit error
Parameter error
Parameter corruption
*Forward and reverse rotation over travel input.
Drive prohibit input error
● CN1 Control Output Signals
Pin No.
Symbol
15
/ALM
16
ALMCOM
29
OUTM2
30
OUTM2COM
31
OUTM3
32
OUTM3COM
36
OUTM1
35
OUTM1COM
Name
Alarm Output
Absolute encoder system down error
ABS
Absolute encoder counter overflow error
ABS
Absolute encoder overspeed error
ABS
Absolute encoder one-turn counter error
ABS
Absolute encoder multi-turn counter error
ABS
Absolute encoder status error
ABS
General-purpose Output 2 (READY)
General-purpose Output 3 (CLIM)
Encoder phase Z error
General-purpose Output 1 (BKIR)
Encoder PS signal error
Node address setting error
● Encoder Connector Specifications (CN2)
Pin No.
Symbol
Name
1
E5V
Encoder power supply +5 V
2
E0V
Encoder power supply GND
3
BAT+
Battery +
4
BAT−
Battery −
5
PS+
Encoder +phase S Input
6
PS−
Encoder −phase S Input
Shell
FG
Shield ground
Communications error
Transmission cycle error
Watchdog data error
Emergency stop input error
Transmission cycle setting error
SYNC command error
Parameter setting error
Servomotor non-conformity
● Parameter Unit Connector Specifications (CN3)
Pin No.
Symbol
3
TXD
Name
4
GND
Ground
5
RXD
RS-232 receive data
RS-232 send data
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
135
Parameter
● R88A-RP02G : Parameter Unit Part Names
LED Display (6 Digits)
If an error occurs, all digits will flash and the
display will switch to the error display.
8.8.8.8.8.8.
8.8
Unit No. Display (2 Digits)
Displays the parameter type (servo, 16 bit, or
32 bit).
In Parameter Setting Mode, displays the
2-digit parameter number.
Mode Key
Switches between the following six modes.
• Monitor Mode
• Normal mode autotuning
• Parameter Setting Mode • Auxiliary Function Mode
• Parameter Write Mode • Copy Mode
Increment/Decrement Key
Increases or decreases parameter numbers
or set values.
Shift Key
Shifts the digit being changed to the left.
Parameter name
Explanation
Notch Filter 1 Frequency
Sets the notch frequency of notch filter 1 for
resonance suppression.
Notch Filter 1 Width
Selects the notch width of notch filter 1 for
resonance suppression.
Inertia Ratio (RT)
Selects the load inertia as a percentage of the
Servomotor rotor inertia.
Realtime Autotuning
Mode Selection
Sets the operating mode for realtime autotuning.
Realtime Autotuning
Machine Rigidity
Selection
Sets the machine rigidity for realtime autotuning.
Adaptive Filter Selection
Enables or disables the adaptive filter.
Vibration Filter Selection
Selects the vibration filter type and the switching
mode.
Normal Mode Autotuning
Operation Setting
Sets the operating pattern for normal mode
autotuning.
Overrun Limit Setting
Sets the Servomotor’s allowable operating range
for the position command input range.
Instantaneous Speed
Observer Setting (RT)
Default Display
Selects the data to be displayed on the 7segment LED display on the front panel.
The Instantaneous Speed Observer improves
speed detection accuracy, thereby improving
responsiveness and reducing vibration when
stopping.
Notch Filter 2 Frequency
Torque Limit Selection
Selects the torque limit function, or the torque
feed-forward function during speed control.
Sets the notch frequency of notch filter 2 for
resonance suppression.
Notch Filter 2 Width
Drive Prohibit Input
Selection
Selects the function for the Forward and Reverse
Drive Prohibit Inputs (CN1 POT: pin 19, NOT: pin
20).
Selects the notch width of notch filter 2 for
resonance suppression.
Notch Filter 2 Depth
Selects the notch depth of notch filter 2 for
resonance suppression.
Communications Control
Controls errors and warnings for
MECHATROLINK-II communications.
Vibration Frequency 1
Power ON Address
Display Duration Setting
Sets the duration to display the node address
when the control power is turned ON.
Sets the vibration frequency 1 for damping
control to suppress vibration at the end of the
load.
Vibration Filter 1 Setting
Speed Monitor (SP)
Selection
Selects the output to the Analog Speed Monitor
(SP on the front panel).
When setting Vibration Frequency 1 (Pn02B),
reduce this setting if torque saturation occurs, or
increase it to make the movement faster.
Torque Monitor (IM)
Selection
Selects the output to the Analog Torque Monitor
(IM on the front panel).
Vibration Frequency 2
Sets the vibration frequency 2 for damping
control to suppress vibration at the end of the
load.
Prohibit Parameter
Changes via Network
Allows/prohibits parameter changes via the
network.
Vibration Filter 2 Setting
Sets vibration filter 2 for damping control to
suppress vibration at the end of the load.
Operation Switch When
Selects how the absolute encoder is used.
Using Absolute Encoder
Adaptive Filter Table
Number Display
Displays the table entry number corresponding
to the frequency of the adaptive filter.
RS-232 Baud Rate
Setting
Sets the baud rate for RS-232 communications.
Gain Switching Operating
Mode Selection (RT)
Enables or disables gain switching.
Position Loop Gain (RT)
Sets the position loop responsiveness.
Gain Switch Setting (RT)
Speed Loop Gain (RT)
Sets the speed loop responsiveness.
Sets the trigger for gain switching.
The details depend on the control mode.
Speed Loop Integration
Time Constant (RT)
Adjusts the speed loop integration time constant.
Gain Switch Time (RT)
Speed Feedback Filter
Time Constant (RT)
Sets the type of speed detection filter time
constant. Normally, use a setting of 0.
Enabled when the Gain Switch Setting (Pn031)
is set to 3, or 5 to 10. Sets the lag time from the
trigger detection to actual gain switching when
switching from gain 2 to gain 1.
Torque Command Filter
Time Constant (RT)
Adjusts the first-order lag filter time constant for
the torque command section.
Gain Switch Level Setting
(RT)
Speed Feed-forward
Amount (RT)
Sets the speed feed-forward amount.
Sets the judgment level to switch between Gain
1 and Gain 2 when the Gain Switch Setting
(Pn031) is set to 3, 5, 6, 9, or 10. The unit for the
setting depends on the condition set in the Gain
Switch Setting (Pn031).
Feed-forward Filter Time
Constant (RT)
Sets the time constant for the speed feedforward first-order lag filter.
Position Loop Gain 2
(RT)
Sets the position loop gain when using gain 2
switching.
Gain Switch Hysteresis
Setting (RT)
Sets the hysteresis of the judgment level for the
Gain Switch Level Setting (Pn033) when the
Gain Switch Setting (Pn031) is set to 3, 5, 6, 9,
or 10.
The unit for the setting depends on the condition
set for the Gain Switch Setting (Pn031).
Speed Loop Gain 2 (RT)
Sets the speed loop gain when using gain 2
switching.
Position Loop Gain
Switching Time (RT)
This parameter can prevent the position loop
gain from increasing suddenly when the position
loop gain and position loop gain 2 differ by a
large amount.
Jog Speed
Sets the jog operation speed with the Parameter
Unit or CX-Drive.
Emergency Stop Input
Setting
Enables the Emergency Stop Input (STOP).
Origin Proximity Input
Logic Setting
Sets the logic for the Origin Proximity Input
(DEC).
Data Key
Switches between the parameter and setting
displays, saves settings, etc.
● Servo Parameters
Parameter name
Speed Loop Integration
Time Constant 2 (RT)
Explanation
Sets the speed loop integration time constant
when using gain 2 switching.
Speed Feedback Filter
Time Constant 2 (RT)
Sets the speed detection filter when using gain 2
switching.
Torque Command Filter
Time Constant 2 (RT)
Sets the first-order lag filter time constant for the
torque command section when using gain 2
switching.
136
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
● 16-bit Positioning Parameters
Parameter name
Explanation
Parameter name
Explanation
Operating Direction
Setting
Sets the relationship between polarity of
operation data sent over the network and the
direction of Servomotor rotation.
Backlash Compensation
Selection
Enables or disables the backlash compensation
for position control, and sets the compensation
direction.
Input Signal Selection
Sets the terminal assignment for Drive Prohibit
Input.
Backlash Compensation
Sets the backlash compensation amount for
position control.
Backlash Compensation
Time Constant
Sets the backlash compensation time constant
for position control.
Soft Limit
Enables or disables the soft limit.
Origin Range
Sets the threshold for detecting the origin
(ZPOINT) in absolute values.
Linear Acceleration
Constant
Sets the acceleration for positioning operations.
Speed Limit
Sets the speed limit for torque control mode.
Soft Start Acceleration
Time
Sets the acceleration time for speed control
mode.
Soft Start Deceleration
Time
Sets the deceleration time for speed control
mode.
Speed Limit Selection
Sets the speed limit for torque control mode.
No.1 Torque Limit
Sets the No.1 Torque Limit for the Servomotor
output torque.
No.2 Torque Limit
Sets the No.2 Torque Limit for the Servomotor
output torque.
Linear Deceleration
Constant
Sets the deceleration for positioning operations.
Positioning Completion
Range 1
Sets the positioning completion range when
Positioning Completion 1 (INP1) Output is
selected.
Moving Average Time
Sets the moving average time for position
commands.
Speed Conformity Signal
Output Width
Sets the detection width for the speed conformity
detection (VCMP) signal.
Origin Return Mode
Settings
Sets the direction for origin return.
Rotation Speed for Motor
Rotation Detection
Sets the threshold level for the speed reached
(TGON) signal.
Origin Return Approach
Speed 1
Positioning Completion
Range 2
Sets the positioning completion range when
Positioning Completion 2 (INP2) is selected.
Sets the operating speed for origin return, from
when the origin proximity signal is turned ON, to
when it is turned OFF and the latch signal is
detected.
Motor Phase Current
Offset Re-adjustment
Setting
Enables or disables the offset component
readjustment function of the Motor Phase
Current Detector (CT) for Servo ON command
inputs. The readjustment is made when control
power is turned ON.
Origin Return Approach
Speed 2
Sets the operating speed for origin return, from
when the latch signal is detected, to when the
Origin Return Final Distance (Pn204) is reached.
General-purpose Output 1
Function Selection
Selects the function for general-purpose output 1
(OUTM1).
Undervoltage Alarm
Selection
Selects whether to activate the main power
supply undervoltage function (alarm code 13)
when the main power supply is interrupted for
the duration of the Momentary Hold Time
(Pn06D) during Servo ON.
General-purpose Output 2
Function Selection
Selects the function for general-purpose output 2
(OUTM2).
The set values and the functions are the same
as for general-purpose output 1 (OUTM1).
Stop Selection for Drive
Prohibition Input
Sets the operation used to decelerate to a stop
when the Forward Drive Prohibit Input (POT) or
Reverse Drive Prohibit Input (NOT) is enabled.
General-purpose Output 3
Function Selection
Selects the function for general-purpose output 3
(OUTM3).
The set values and the functions are the same
as for general-purpose output 1 (OUTM1).
Stop Selection with Main
Power OFF
Sets the operation to be performed during
deceleration and after stopping after the main
power supply is turned OFF with the
Undervoltage Alarm Selection (Pn065) set to 0.
The deviation counter will be reset when the
power OFF is detected.
Stop Selection for Alarm
Generation
Sets the deceleration process and stop status
after an alarm is issued by the protective
function. The deviation counter will be reset
when an alarm is issued.
Stop Selection with
Servo OFF
Sets the operation after a Servo OFF.
The relationship between set values, operation,
and deviation counter processing for this
parameter is the same as for the Stop Selection
with Main Power OFF (Pn067).
Brake Timing when
Stopped
Sets the duration from Brake Interlock (BKIR)
signal detection to Servo OFF.
Brake Timing during
Operation
● 32-bit Positioning Parameters
Parameter name
Explanation
Absolute Origin Offset
Sets the offset amount for the encoder position
and the mechanical coordinate system position
when using an absolute encoder.
Forward Software Limit
Sets the soft limit in the forward direction.
Reverse Software Limit
Sets the soft limit for the reverse direction.
Sets the distance to travel after detecting the
Final Distance for
latch signal input position when performing
External Input Positioning
external input positioning.
Origin Return Final
Distance
Sets the distance from the latch signal input
position to the origin when performing origin
return.
Sets the duration from Servo OFF to when the
Brake Interlock (BKIR) signal is turned OFF.
Electronic Gear Ratio 1
(Numerator)
Sets the numerator for the electronic gear ratio.
Regeneration Resistor
Selection
Sets the regeneration resistor operation and the
regeneration overload (alarm code 18)
operation.
Set this parameter to 0 if using the built-in
regeneration resistor.
Electronic Gear Ratio 2
(Denominator)
Sets the denominator for the electronic gear
ratio.
Deviation Counter
Overflow Level
Sets the deviation counter overflow level.
Momentary Hold Time
Sets the amount of time required to detect
shutoff when the main power supply continues to
shut off.
The main power OFF detection will be disabled if
this parameter is set to 1000.
Emergency Stop Torque
Sets the torque limit during deceleration
because of the Drive Prohibition Input when the
Stop Selection for Drive Prohibition Input
(Pn066) is set to 2.
Overload Detection Level
Setting
Sets the overload detection level.
Overspeed Detection
Level Setting
Sets the overspeed detection level.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
137
Dimensions
(Unit: mm)
●Servo Drives
• Single-phase 100 VAC (50 to 100 W)
R88D-GNA5L-ML2
R88D-GN01L-ML2
• Single-phase 200 VAC (50 to 200 W)
R88D-GN01H-ML2
R88D-GN02H-ML2
70
40
132
Mounting Hole Dimensions
4
Two, M4
AC SERVO DRIVER
9 0 1
2 3
2 3
7 8
ADR
0 1
4 5 6
X10
X1
COM
SP
IM
150
150
140±0.5
G
6
28±0.5
40
• Single-phase 100 VAC (200 W)
R88D-GN02L-ML2
• Single-phase 200 VAC (400 W)
R88D-GN04H-ML2
70
55
132
Mounting Hole Dimensions
4
Two, M4
AC SERVO DRIVER
ADR
9
0 1
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
SP
IM
140±0.5
150
150
G
6
43±0.5
55
138
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
• Single-phase 100 VAC (400 W)
R88D-GN04L-ML2
• Single-phase/Three-phase 200 VAC (750 W)
R88D-GN08H-ML2
Mounting Hole Dimensions
70
65
172
Two, M4
4
AC SERVO DRIVER
ADR
9
0 1
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
SP
IM
150
150
140±0.5
G
7.5
50±0.5
65
• Single-phase/Three-phase 200 VAC (900 W to 1.5 kW)
R88D-GN10H-ML2
R88D-GN15H-ML2
85
70
172
Mounting Hole Dimensions
4
Two, M4
AC SERVO DRIVER
ADR
9 01
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
SP
IM
140±0.5
150
150
G
7.5
70±0.5
85
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
139
• Three-phase 200 VAC (2 kW)
R88D-GN20H-ML2
85
17.5
70
50
200
3.5
Mounting Hole Dimensions
42.5
5.2
5.2
5.2
dia.
R2.6
Four, M4
R2.6
AC SERVO DRIVER
ADR
9
0 1
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
SP
IM
5.2
dia.
R2.6
R2.6
5.2
188±0.5
168
198
188
168
G
3.5
50±0.5
17.5
5.2
85
42.5
17.5
50
• Three-phase 200 VAC (2 to 5 kW)
R88D-GN30H-ML2
R88D-GN50H-ML2
130
100
15
65
5.2
5.2 dia.
R2.6
70
200
3.5
Mounting Hole Dimensions
50±0.5
5.2
Six, M4
R2.6
AC SERVO DRIVER
ADR
9
0 1
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
SP
IM
5.2 dia.
5.2
65
R2.6
15
140
15
R2.6
5.2
240±0.5
220
250
240
220
G
100±0.5
3.5
130
100
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
• Three-phase 200 VAC (7.5 kW)
R88D-GN75H-ML2
Front Panel Mounting (Using Mounting Brackets)
248
37.5
Mounting Hole Dimensions
90
90
82.5
5.2
70
90
5.2
339.3
(4)
45.1
(2.3)
5.2
Six, M4
9 0 1
2 3
5 6
2 3
7 8
ADR
X10
4
0 1
(4)
AC SERVO DRIVER
X1
COM
SP
IM
G
L1
L2
229
220
235
250
B1
B2
Square hole
235±0.5
L3
U
V M
3
W
5.2
5.2
5.2
38.5
90±0.5
90±0.5
250
85
Four, 5.2 dia.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
141
● Servomotors
3,000-r/min Cylindrical Servomotors
• 50 W/100 W
ABS
INC
R88M-G10030@
92
46.5
R88M-G05030@-B
102
26.5
R88M-G10030@-B
122
46.5
LL
6
3
*The empty bax in the L, H, L, T or S.
Note: The standard models have a straight
shaft. A model with a key and tap is
indicated by adding “S2” to the end of
the model number.
(Dimensions of shaft end
with key and tap)
Two, 4.3 dia.
LN
14
12.5
40 × 40
46
3h9
1.8
26.5
dia.
3
72
Brake connector
Servomotor connector
25
32
R88M-G05030@
Encoder
connector
30 dia., height: 7
LN
8 dia., height: 6
LL
200
Model
R88M-G05030T (-S2)
R88M-G10030S (-S2)
R88M-G10030T (-S2)
R88M-G05030T-B (S2)
R88M-G10030S-B (S2)
R88M-G10030T-B (S2)
230
R88M-G05030H (-S2)
R88M-G10030L (-S2)
R88M-G10030H (-S2)
R88M-G05030H-B (S2)
R88M-G10030L-B (S2)
R88M-G10030H-B (S2)
M3 (depth: 6)
• 200 W/400 W/750 W
ABS
INC
R88M-G20030L (-S2)
R88M-G40030L (-S2)
R88M-G20030H (-S2)
R88M-G40030H (-S2)
R88M-G75030H (-S2)
R88M-G20030L-B (S2)
R88M-G40030L-B (S2)
R88M-G20030H-B (S2)
R88M-G40030H-B (S2)
R88M-G75030H-B (S2)
Model
LL
R88M-G20030@
79.5
R88M-G40030@
99
R88M-G75030@
112.2
R88M-G20030@-B
116
R88M-G40030@-B
135.5
R88M-G75030@-B
149.2
R88M-G20030S (-S2)
R88M-G40030S (-S2)
R88M-G20030T (-S2)
R88M-G40030T (-S2)
R88M-G75030T (-S2)
R88M-G20030S-B (S2)
R88M-G40030S-B (S2)
R88M-G20030T-B (S2)
R88M-G40030T-B (S2)
R88M-G75030T-B (S2)
LR
S
D1
11
30
14
35
19
11
30
14
35
19
D2
C
G
Z
KL1
70
50
60
6.5
4.5
43
90
70
80
8
6
53
70
50
60
6.5
4.5
43
90
70
80
8
6
53
QK
b
h
M
t1
L
18
4h9
4
M4
2.5
8
22.5
5h9
5
22
6h9
6
18
4h9
4
22.5
5h9
5
22
6h9
6
M5
M4
M5
3
3.5
2.5
3
3.5
10
8
10
*The empty bax in the L, H, L, T or S.
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Brake connector
Servomotor connector
LL
142
LR
3
(Dimensions of shaft end
with key and tap)
Four, Z dia.
C×C
QK
D
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
t1
.
1 dia
h
KL1
b
D2 dia., height: 7
200
220
G
S dia., height : 6
Encoder
connector
M
(effective depth: L)
R88M-G/R88D-GN@-ML2
• 1 kW/1.5 kW/2 kW
ABS
C×C
55
Four, Z dia.
45
42
3.5
6h9
6
3
(Dimensions of shaft end
with key and tap)
KL1
G
19 dia., height: 6
LL
D2 dia., height: 7
Servomotor
canon plug
Encoder
canon plug
84
R88M-G1K030T (-S2)
R88M-G1K530T (-S2)
R88M-G2K030T (-S2)
R88M-G1K030T-B (S2)
R88M-G1K530T-B (S2)
R88M-G2K030T-B (S2)
D3
D1
.
dia
dia
.
M5 (depth: 12)
LL
D1
D2
C
D3
G
KL1
Z
R88M-G1K030T
Model
175
100
80
90
120
7
98
6.6
R88M-G1K530T
180
R88M-G2K030T
205
115
95
100
135
10
103
9
R88M-G1K030T-B
200
100
80
90
120
7
98
6.6
R88M-G1K530T-B
205
R88M-G2K030T-B
230
115
95
100
135
10
103
9
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
• 3 kW
ABS
217
R88M-G3K030T-B
242
45
41
.
8h9
4
dia
162
7
130
3
111
12
(Dimensions of the shaft end
with key and tap)
120×120
55
22 dia., height: 6
110 dia., height: 7
LL
R88M-G3K030T
LL
9
Model
Servomotor/brake
connector
Encoder
connector
84
R88M-G3K030T (-S2)
R88M-G3K030T-B (S2)
145
.
dia
dia.
M5 (depth: 12)
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
• 4 kW/5 kW
ABS
240
R88M-G5K030T
280
R88M-G4K030T-B
265
R88M-G5K030T-B
305
Four, 9 dia.
55
51
8h9
4
118
6
7
R88M-G4K030T
12
(Dimensions of shaft end
with key and tap)
130 × 130
65
24 dia., height: 6
LL
LL
110 dia., height: 7
Model
Servomotor/brake
connector
Encoder
connector
84
R88M-G4K030T (-S2)
R88M-G5K030T (-S2)
R88M-G4K030T-B (S2)
R88M-G5K030T-B (S2)
165
dia.
M8 (depth: 20)
145 dia.
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
143
3,000-r/min Flat Servomotors
• 100 W/200 W/400 W
ABS
INC
R88M-GP10030L (-S2)
R88M-GP20030L (-S2)
R88M-GP40030L (-S2)
R88M-GP10030H (-S2)
R88M-GP20030H (-S2)
R88M-GP40030H (-S2)
R88M-GP10030L-B (S2)
R88M-GP20030L-B (S2)
R88M-GP40030L-B (S2)
R88M-GP10030H-B (S2)
R88M-GP20030H-B (S2)
R88M-GP40030H-B (S2)
Model
R88M-GP10030S (-S2)
R88M-GP20030S (-S2)
R88M-GP40030S (-S2)
R88M-GP10030T (-S2)
R88M-GP20030T (-S2)
R88M-GP40030T (-S2)
R88M-GP10030S-B (S2)
R88M-GP20030S-B (S2)
R88M-GP40030S-B (S2)
R88M-GP10030T-B (S2)
R88M-GP20030T-B (S2)
R88M-GP40030T-B (S2)
LL
R88M-GP10030L
R88M-GP10030H
60.5
R88M-GP10030S
R88M-GP10030T
87.5
R88M-GP20030L
R88M-GP20030H
67.5
R88M-GP20030S
R88M-GP20030T
94.5
R88M-GP40030L
R88M-GP40030H
82.5
R88M-GP40030S
R88M-GP40030T
109.5
R88M-GP10030L-B
R88M-GP10030H-B
84.5
R88M-GP10030S-B
R88M-GP10030T-B
111.5
R88M-GP20030L-B
R88M-GP20030H-B
100
R88M-GP20030S-B
R88M-GP20030T-B
127
R88M-GP40030L-B
R88M-GP40030H-B
115
R88M-GP40030S-B
R88M-GP40030T-B
142
LR
S
D1
D2
C
F
G
KL1
Z
QK
b
h
t1
M
L
25
8
70
50
60
3
7
43
4.5
12.5
3h9
3
1.8
M3
6
18
4h9
4
2.5
M4
8
22.5
5h9
5
3.0
M5
10
12.5
3h9
3
1.8
M3
6
18
4h9
4
2.5
M4
8
22.5
5h9
5
3.0
M5
10
11
30
90
70
80
5
8
53
5.5
14
25
8
70
50
60
3
7
43
4.5
11
30
90
70
80
5
8
53
14
5.5
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Encoder
connector
Motor connector
Brake connector
C×C
G F
QK
D1
.
dia
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
b
t1
D2 dia., height: 7
S dia., height: 6
144
(Dimensions of shaft end
with key and tap)
Four, Z dia.
h
(7)
KL1
(7)
LR
200
220
LL
M (depth: L)
R88M-G/R88D-GN@-ML2
2,000-r/min Cylindrical Servomotors
• 200 VAC: 1 kW/1.5 kW
ABS
6
LL
150
R88M-G1K520T
45
41
Four, 9 dia.
8h9
4
12
(Dimensions of shaft end
with key and tap)
7
Model
R88M-G1K020T
130 × 130
55
118
LL
84
Servomotor/brake
connector
Encoder
connector
22 dia., height: 6
110 dia., height: 7
R88M-G1K020T (-S2)
R88M-G1K520T (-S2)
R88M-G1K020T-B (S2)
R88M-G1K520T-B (S2)
165
145
dia.
dia
.
M5 (depth: 12)
175
R88M-G1K020T-B
R88M-G1K520T-B
200
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
• 200 VAC: 2 kW/3 kW
LW
QK
Four, 9 dia.
8h9
4
6
7
12
(Dimensions of shaft end
with key and tap)
130 × 130
LR
118
LL
S dia., height: 6
110 dia., height: 7
Servomotor/brake
connector
Encoder
connector
84
ABS
R88M-G2K020T (-S2)
R88M-G3K020T (-S2)
R88M-G2K020T-B (S2)
R88M-G3K020T-B (S2)
165
145
dia.
dia
.
M (depth: L)
Model
LL
LR
S
LW
QK
M
L
R88M-G2K020T
200
55
22
45
41
M5
12
R88M-G3K020T
250
65
24
55
51
M8
20
R88M-G2K020T-B
225
55
22
45
41
M5
12
R88M-G3K020T-B
275
65
24
55
51
M8
20
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
• 200 VAC : 4 kW/5 kW
C×C
LR
(Dimensions of shaft end
with key and tap)
Four, Z dia.
QK
b
t1
3.2
84
18
h
LL
Encoder
connector
KL1
Servomotor/brake
connector
S dia., height: 6
D2 dia., height: 7
ABS
R88M-G4K020T (-S2)
R88M-G5K020T (-S2)
R88M-G4K020T-B (S2)
R88M-G5K020T-B (S2)
D3
dia.
D1
dia
.
M (depth: L)
LL
LR
S
D1
D2
C
D3
KL1
Z
QK
b
h
t1
M
L
R88M-G4K020T
Model
242
65
28
165
130
150
190
128
11
51
8h9
7
4
M8
20
R88M-G5K020T
225
70
35
200
114.3
176
233
143
13.5
50
10h9
8
5
M12
25
R88M-G4K020T-B
267
65
28
165
130
150
190
128
11
51
8h9
7
4
M8
20
R88M-G5K020T-B
250
70
35
200
114.3
176
233
143
13.5
50
10h9
8
5
M12
25
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
145
1,500-r/min Cylindrical Servomotors
• 7.5 kW
ABS
Brake connector
Eye-bolt
Nominal diameter: 10
Model
LL
R88M-G7K515T
340.5
R88M-G7K515T-B
380.5
96
90
Four, 13.5 dia.
12h9
.
dia
233
200
8
84
24 3.2
183
42 dia., height: 6
Encoder
connector
(Dimensions of shaft end
with key and tap)
176 × 176
113
LL
5
Motor
connector
114.3 dia., height: 7
R88M-G7K515T (-S2)
R88M-G7K515T-B (S2)
dia
.
M16 (depth: 32)
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
1,000-r/min Cylindrical Servomotors
• 900 W/2 kW
ABS
Encoder connector
R88M-G90010T (-S2)
R88M-G2K010T (-S2)
R88M-G90010T-B (S2)
R88M-G2K010T-B (S2)
Servomotor/brake connector
LL
LR
(Dimensions of shaft end
with key and tap)
Four, Z dia.
QK
KL1
b
h
t1
D2 dia., height: 7
84
G F
S dia., height: 6
C×C
D3
.
D1
dia
dia
.
M (depth: L)
Model
LL
LR
S
D1
D2
C
D3
F
G
KL1
Z
QK
b
h
t1
M
L
R88M-G90010T
175
70
22
145
110
130
165
6
12
118
9
41
8h9
7
4
M5
12
R88M-G2K010T
182
80
35
200
114.3
176
233
3.2
18
143
13.5
50
10h9
8
5
M12
25
R88M-G90010T-B
200
70
22
145
110
130
165
6
12
118
9
41
8h9
7
4
M5
12
R88M-G2K010T-B
207
80
35
200
114.3
176
233
3.2
18
143
13.5
50
10h9
8
5
M12
25
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
• 3 kW
ABS
Model
LL
R88M-G3K010T
222
R88M-G3K010T-B
271
80
176 × 176
50
Four, 13.5 dia.
10 height: 9
5
8
18 3.2
(Dimensions of shaft end
with key and tap)
143
84
Encoder connector
LL
114.3 dia. height: 7
Servomotor/brake
connector
35 dia., height: 6
R88M-G3K010T (-S2)
R88M-G3K010T-B (S2)
233
.
dia
200
dia
.
M12 (depth: 25)
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
146
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
• 4.5 kW
ABS
LL
113
84
Model
LL
R88M-G4K510T
300.5
R88M-G4K510T-B
337.5
90
Four, 13.5 dia.
12 height: 9
5
24 3.2
8
Nominal
diameter: 10
Encoder connector
(Dimensions of shaft end
with key and tap)
176 × 176
143
Eye-bolt
42 dia., height: 6
Servomotor/brake
connector
114.3 dia., height: 7
R88M-G4K510T (-S2)
R88M-G4K510T-B (S2)
233
.
dia
200
dia
.
M12 (depth: 25)
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
• 6 kW
R88M-G6K010T
340.5
R88M-G6K010T-B
380.5
Four, 13.5 dia.
96
90
12 height: 9
200
.
5
23
ia
3d
8
84
LL
24 3.2
(Dimensions of shaft end
with key and tap)
176 × 176
113
183
LL
Encoder
connector
Model
Eye-bolt
Nominal diameter: 10
42 dia. height: 6
R88M-G6K010T (-S2)
R88M-G6K010T-B (S2)
Brake connector
Motor
connector
114.3 dia., height: 7
ABS
dia
.
M16 (depth: 32)
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
147
● Decelerators
Backlash: 3 Arcminutes Max.
● 3,000-r/min Servomotors (50 to 750 W)
Dimensions (mm)
Model
50W
100W
200W
400W
750W
(200V)
1/5
1/9
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
Outline
Drawings
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1 *4
1 *4
1
1
1
1 *4
1
1
2
2
1
1
1
2
2
1
2
2
2
2
1
1
2
2
2
39.5
39.5
64.0
64.0
64.0
39.5
64.0
64.0
66.5
66.5
64.0
64.0
71.0
71.0
71.0
64
71
71
104
104
78
78
104
104
104
42
42
58
58
58
42
58
58
80
80
58
58
80
80
80
58
80
80
133
133
80
80
133
133
133
40
40
60
60
60
40
60
60
90
90
60
60
90
90
90
60
90
90
120
120
90
90
120
120
120
40 × 40
40 × 40
60 × 60
60 × 60
60 × 60
40 × 40
60 × 60
60 × 60
55 dia.
55 dia.
60 × 60
60 × 60
90 × 90
89 dia.
89 dia.
60 × 60
89 dia.
89 dia.
122 dia.
122 dia.
80 × 80
80 × 80
122 dia.
122 dia.
122 dia.
46
46
70
70
70
46
70
70
105
105
70
70
105
105
105
70
105
105
135
135
105
105
135
135
135
46
46
46
46
46
46
46
46
46
46
70
70
70
70
70
70
70
70
70
70
90
90
90
90
90
40
40
56
56
56
40
56
56
85
85
56
56
85
85
85
56
85
85
115
115
85
85
115
115
115
39.5
39.5
55.5
55.5
55.5
39.5
55.5
55.5
84
84
55.5
55.5
84
84
84
55.5
84
84
114
114
84
84
114
114
114
29
29
40
40
40
29
40
40
59
59
40
40
59
59
59
40
59
59
84
84
59
59
84
84
84
27
27
37
37
37
27
37
37
53
53
37
37
53
53
53
37
53
53
98
98
53
53
98
98
98
2.2
2.2
2.5
2.5
2.5
2.2
2.5
2.5
7.5
7.5
2.5
2.5
7.5
7.5
7.5
2.5
7.5
7.5
12.5
12.5
7.5
7.5
12.5
12.5
12.5
15
15
21
21
21
15
21
21
27
27
21
21
27
27
27
21
27
27
35
35
27
27
35
35
35
R88G-HPG11B05100B@
R88G-HPG11B09050B@
R88G-HPG14A21100B@
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88G-HPG11B05100B@
R88G-HPG14A11100B@
R88G-HPG14A21100B@
R88G-HPG20A33100B@
R88G-HPG20A45100B@
R88G-HPG14A05200B@
R88G-HPG14A11200B@
R88G-HPG20A21200B@
R88G-HPG20A33200B@
R88G-HPG20A45200B@
R88G-HPG14A05400B@
R88G-HPG20A11400B@
R88G-HPG20A21400B@
R88G-HPG32A33400B@
R88G-HPG32A45400B@
R88G-HPG20A05750B@
R88G-HPG20A11750B@
R88G-HPG32A21750B@
R88G-HPG32A33750B@
R88G-HPG32A45750B@
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG11B05100BJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
There is one set bolt.
Key and tap Dimensions
QK
D2 dia.
S dia., height: 7
b
h
D3 dia., height: 7 *2
D4 dia.
D5 dia.
E
D1 dia.
Four,
Z2 dia.
Set bolt (AT)
t1
C1
M (depth: L)
T
F1
Four, Z1 dia.
LR
F2
C2
G
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
LM
*4. For the R88G-HPG11B series, two set bolts are positioned at an angle of
90° from each other.
Four,
Z2 dia.
Set bolt (AT)
D2 dia.
C2
148
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Dimensions (mm)
G
S
T
Z1
Z2
AT*1
5
5
8
8
8
5
8
8
10
10
8
8
10
10
10
8
10
10
13
13
10
10
13
13
13
8
8
16
16
16
8
16
16
25
25
16
16
25
25
25
16
25
25
40
40
25
25
40
40
40
20
20
28
28
28
20
28
28
42
42
28
28
42
42
42
28
42
42
82
82
42
42
82
82
82
3.4
3.4
5.5
5.5
5.5
3.4
5.5
5.5
9
9
5.5
5.5
9
9
9
5.5
9
9
11
11
9
9
11
11
11
M4 × 9
M4 × 9
M4 × 10
M4 × 10
M4 × 10
M4 × 9
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M4 × 10
M5 × 12
M5 × 12
M5 × 12
M5 × 12
M5 × 12
M3
M3
M3
M3
M3
M3
M3
M3
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M6
M6
M6
Key Dimensions
b
h
3
3
3
3
5
5
5
5
5
5
3
3
5
5
5
5
8
7
8
7
5
5
5
5
8
7
8
7
8
7
5
5
8
7
8
7
12
8
12
8
8
7
8
7
12
8
12
8
12
8
QK
15
15
25
25
25
15
25
25
36
36
25
25
36
36
36
25
36
36
70
70
36
36
70
70
70
t1
1.8
1.8
3
3
3
1.8
3
3
4
4
3
3
4
4
4
3
4
4
5
5
4
4
5
5
5
Tap Dimensions
M
L
M3
6
M3
6
M4
8
M4
8
M4
8
M3
6
M4
8
M4
8
M6
12
M6
12
M4
8
M4
8
M6
12
M6
12
M6
12
M4
8
M6
12
M6
12
M10
20
M10
20
M6
12
M6
12
M10
20
M10
20
M10
20
Model
R88G-HPG11B05100B@
R88G-HPG11B09050B@
R88G-HPG14A21100B@
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88G-HPG11B05100B@
R88G-HPG14A11100B@
R88G-HPG14A21100B@
R88G-HPG20A33100B@
R88G-HPG20A45100B@
R88G-HPG14A05200B@
R88G-HPG14A11200B@
R88G-HPG20A21200B@
R88G-HPG20A33200B@
R88G-HPG20A45200B@
R88G-HPG14A05400B@
R88G-HPG20A11400B@
R88G-HPG20A21400B@
R88G-HPG32A33400B@
R88G-HPG32A45400B@
R88G-HPG20A05750B@
R88G-HPG20A11750B@
R88G-HPG32A21750B@
R88G-HPG32A33750B@
R88G-HPG32A45750B@
1/5
1/9
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
50W
100W
200W
400W
750W
(200V)
*1. This is the set bolt.
Outline Drawings 2
Key and tap Dimensions
QK
S dia., height: 7
D2 dia.
b
h
D3 dia., height: 7 *3
D4
D5
D1 dia.
Four,
Z2 dia.
Set bolt (AT)
E
t1
C1
M (depth: L)
T
F1
Four, Z1 dia.
LR
F2
C2
G
LM
*3. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
149
Backlash: 3 Arcminutes Max.
● 3,000-r/min Servomotors (1 to 5 kW)
Dimensions (mm)
Model
1kW
1.5kW
2kW
3kW
4kW
5kW
Outline
Drawings
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
R88G-HPG32A052K0B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/11
R88G-HPG32A112K0B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/21
R88G-HPG32A211K5B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/33
R88G-HPG50A332K0B@
2
123
156
170
170 dia.
190
115
165
163
122
103
12
53
1/45
R88G-HPG50A451K5B@
2
123
156
170
170 dia.
190
115
165
163
122
103
12
53
1/5
R88G-HPG32A052K0B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/11
R88G-HPG32A112K0B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/21
R88G-HPG32A211K5B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/33
R88G-HPG50A332K0B@
2
123
156
170
170 dia.
190
115
165
163
122
103
12
53
1/45
R88G-HPG50A451K5B@
2
123
156
170
170 dia.
190
115
165
163
122
103
12
53
1/5
R88G-HPG32A052K0B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/11
R88G-HPG32A112K0B@
2
110
133
120
135 dia.
135
115
115
114
84
98
12.5
35
1/21
R88G-HPG50A212K0B@
2
123
156
170
170 dia.
190
115
165
163
122
103
12
53
53
1/33
R88G-HPG50A332K0B@
2
123
156
170
170 dia.
190
115
165
163
122
103
12
1/5
R88G-HPG32A053K0B@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/11
R88G-HPG50A113K0B@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
53
53
1/21
R88G-HPG50A213K0B@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
1/5
R88G-HPG32A054K0B@
1
129
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/11
R88G-HPG50A115K0B@
1
149
156
170
130 × 130
190
145
165
163
122
103
12
53
1/5
R88G-HPG50A055K0B@
1
149
156
170
130 × 130
190
145
165
163
122
103
12
53
1/11
R88G-HPG50A115K0B@
1
149
156
170
130 × 130
190
145
165
163
122
103
12
53
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG32A051K0BJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
QK
D2 dia.
S dia., height: 7
b
h
D3 dia., height: 7 *2
D4 dia.
D5 dia.
D1 dia.
Key and tap Dimensions
t1
E
C1
Four,
Z2 dia.
Set bolt (AT)
M (depth: L)
T
F1
Four, Z1 dia.
LR
F2 G
C2
LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
150
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Dimensions (mm)
G
S
T
Z1
Z2
AT*1
13
40
82
11
M8 × 10
13
40
82
11
M8 × 10
13
40
82
11
16
50
82
14
16
50
82
13
40
82
13
40
13
Key Dimensions
Tap Dimensions
Model
QK
b
h
t1
M
L
M6
70
12
8
5
M10
20
R88G-HPG32A052K0B@
1/5
M6
70
12
8
5
M10
20
R88G-HPG32A112K0B@
1/11
M8 × 10
M6
70
12
8
5
M10
20
R88G-HPG32A211K5B@
1/21
M8 × 10
M6
70
14
9
5.5
M10
20
R88G-HPG50A332K0B@
1/33
14
M8 × 10
M6
70
14
9
5.5
M10
20
R88G-HPG50A451K5B@
1/45
11
M8 × 10
M6
70
12
8
5
M10
20
R88G-HPG32A052K0B@
1/5
82
11
M8 × 10
M6
70
12
8
5
M10
20
R88G-HPG32A112K0B@
1/11
40
82
11
M8 × 10
M6
70
12
8
5
M10
20
R88G-HPG32A211K5B@
1/21
16
50
82
14
M8 × 10
M6
70
14
9
5.5
M10
20
R88G-HPG50A332K0B@
1/33
16
50
82
14
M8 × 10
M6
70
14
9
5.5
M10
20
R88G-HPG50A451K5B@
1/45
13
40
82
11
M8 × 10
M6
70
12
8
5
M10
20
R88G-HPG32A052K0B@
1/5
13
40
82
11
M8 × 10
M6
70
12
8
5
M10
20
R88G-HPG32A112K0B@
1/11
16
50
82
14
M8 × 10
M6
70
14
9
5.5
M10
20
R88G-HPG50A212K0B@
1/21
16
50
82
14
M8 × 10
M6
70
14
9
5.5
M10
20
R88G-HPG50A332K0B@
1/33
13
40
82
11
M8 × 18
M6
70
12
8
5
M10
20
R88G-HPG32A053K0B@
1/5
16
50
82
14
M8 × 16
M6
70
14
9
5.5
M10
20
R88G-HPG50A113K0B@
1/11
1/21
16
50
82
14
M8 × 16
M6
70
14
9
5.5
M10
20
R88G-HPG50A213K0B@
13
40
82
11
M8 × 25
M6
70
12
8
5
M10
20
R88G-HPG32A054K0B@
1/5
16
50
82
14
M8 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A115K0B@
1/11
16
50
82
14
M8 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A055K0B@
1/5
16
50
82
14
M8 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A115K0B@
1/11
1kW
1.5kW
2kW
3kW
4kW
5kW
*1. This is the set bolt.
Outline Drawings 2
Key and tap Dimensions
QK
D2 dia.
b
t1
S dia., height: 7
h
D3 dia., height: 7 *3
D4 dia.
D5 dia.
D1 dia.
Four,
Z2 dia.
Set bolt (AT)
E
C1
M (depth: L)
T
F1
Four, Z1 dia.
LR
F2 G
C2 dia.
LM
*3. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
151
Backlash: 3 Arcminutes Max.
● 3,000-r/min Servomotors (100 to 400 W)
Dimensions (mm)
Model
100 W
200 W
400 W
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
R88G-HPG11A05100PB
39.5
42
40
60×60
46
70
40.0
39.5
29
27
2.2
15
1/11
R88G-HPG14A11100PB
64.0
58
60
60×60
70
70
56.0
55.5
40
37
2.5
21
1/21
R88G-HPG14A21100PB
64.0
58
60
60×60
70
70
56.0
55.5
40
37
2.5
21
1/33
R88G-HPG20A33100PB
71.0
80
90
89 dia.
105
70
85.0
84.0
59
53
7.5
27
1/45
R88G-HPG20A45100PB
71.0
80
90
89 dia.
105
70
85.0
84.0
59
53
7.5
27
1/5
R88G-HPG14A05200PB
65.0
58
60
80×80
70
90
56.0
55.5
40
37
2.5
21
1/11
R88G-HPG20A11200PB
78.0
80
90
80×80
105
90
85.0
84.0
59
53
7.5
27
1/21
R88G-HPG20A21200PB
78.0
80
90
80×80
105
90
85.0
84.0
59
53
7.5
27
1/33
R88G-HPG20A33200PB
78.0
80
90
80×80
105
90
85.0
84.0
59
53
7.5
27
1/45
R88G-HPG20A45200PB
78.0
80
90
80×80
105
90
85.0
84.0
59
53
7.5
27
1/5
R88G-HPG20A05400PB
78.0
80
90
80×80
105
90
85.0
84.0
59
53
7.5
27
1/11
R88G-HPG20A11400PB
78.0
80
90
80×80
105
90
85.0
84.0
59
53
7.5
27
1/21
R88G-HPG20A21400PB
78.0
80
90
80×80
105
90
85.0
84.0
59
53
7.5
27
1/33
R88G-HPG32A33400PB
104.0
133
120
122 dia.
135
90
115.0
114.0
84
98
12.5
35
1/45
R88G-HPG32A45400PB
104.0
133
120
122 dia.
135
90
115.0
114.0
84
98
12.5
35
Note: 1. The standard models have a straight shaft.
A model with a key and tap is indicated by adding “J” to the end of the model number.
Note: 2. Applicable for the servomotors with key, if the key is removed.
Outline Drawings
E
Four, Z2 dia.
D2 dia.
Key and Tap Dimensions
QK
b
h
D3 dia.
D4 dia.
D5 dia.
S dia.,h: 7
D1 dia.
Set bolt (AT)
t1
C1
M (depth: L)
T
F1
Four, Z1 dia.
F2
LR
152
C2
G
LM
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Dimensions (mm)
G
S
T
Z1
Z2
Key dimensions
AT*1
M3
Tap dimensions
Model
QK
b
h
t1
M
L
15
3
3
1.8
M3
6
R88G-HPG11A05100PB
1/5
5
8
20
3.4
M4×9
8
16
28
5.5
M4×10
M3
25
5
5
3.0
M4
8
R88G-HPG14A11100PB
1/11
8
16
28
5.5
M4×10
M3
25
5
5
3.0
M4
8
R88G-HPG14A21100PB
1/21
10
25
42
9.0
M4×10
M3
36
8
7
4.0
M6
12
R88G-HPG20A33100PB
1/33
10
25
42
9.0
M4×10
M3
36
8
7
4.0
M6
12
R88G-HPG20A45100PB
1/45
8
16
28
5.5
M5×12
M4
25
5
5
3.0
M4
8
R88G-HPG14A05200PB
1/5
10
25
42
9.0
M5×12
M4
36
8
7
4.0
M6
12
R88G-HPG20A11200PB
1/11
10
25
42
9.0
M5×12
M4
36
8
7
4.0
M6
12
R88G-HPG20A21200PB
1/21
10
25
42
9.0
M5×12
M4
36
8
7
4.0
M6
12
R88G-HPG20A33200PB
1/33
10
25
42
9.0
M5×12
M4
36
8
7
4.0
M6
12
R88G-HPG20A45200PB
1/45
10
25
42
9.0
M5×12
M4
36
8
7
4.0
M6
12
R88G-HPG20A05400PB
1/5
10
25
42
9.0
M5×12
M4
36
8
7
4.0
M6
12
R88G-HPG20A11400PB
1/11
10
25
42
9.0
M5×12
M4
36
8
7
4.0
M6
12
R88G-HPG20A21400PB
1/21
13
40
82
11.0
M5×12
M6
70
12
8
5.0
M10
20
R88G-HPG32A33400PB
1/33
13
40
82
11.0
M5×12
M6
70
12
8
5.0
M10
20
R88G-HPG32A45400PB
1/45
100 W
200 W
400 W
*1. This is the set bolt.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
153
Backlash: 3 Arcminutes Max.
● 2,000-r/min Servomotors (400 W to 5 kW)
Dimensions (mm)
Model
1kW
1.5kW
2kW
3kW
4kW
5kW
7.5kW
Outline
Drawings
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
1/5
R88G-HPG32A053K0B@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/11
R88G-HPG32A112K0SB@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/21
R88G-HPG32A211K0SB@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/33
R88G-HPG50A332K0SB@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
53
1/45
R88G-HPG50A451K0SB@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
53
1/5
R88G-HPG32A053K0B@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/11
R88G-HPG32A112K0SB@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/21
R88G-HPG50A213K0B@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
53
1/33
R88G-HPG50A332K0SB@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
53
1/5
R88G-HPG32A053K0B@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/11
R88G-HPG32A112K0SB@
1
107
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/21
R88G-HPG50A213K0B@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
53
1/33
R88G-HPG50A332K0SB@
2
123
156
170
170 dia.
190
145
165
163
122
103
12
53
1/5
R88G-HPG32A054K0B@
1
129
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/11
R88G-HPG50A115K0B@
1
149
156
170
130 × 130
190
145
165
163
122
103
12
53
1/21
R88G-HPG50A213K0SB@
1
149
156
170
130 × 130
190
145
165
163
122
103
12
53
1/25
R88G-HPG65A253K0SB@
1
231
222
230
130 × 130
260
145
220
214
168
165
12
57
1/5
R88G-HPG50A055K0SB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12
53
1/11
R88G-HPG50A115K0SB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12
53
1/20
R88G-HPG65A205K0SB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
57
1/25
R88G-HPG65A255K0SB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
57
1/5
R88G-HPG50A055K0SB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12
53
1/11
R88G-HPG50A115K0SB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12
53
1/20
R88G-HPG65A205K0SB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
57
1/25
R88G-HPG65A255K0SB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
57
1/5
R88G-HPG65A057K5SB@
1
184.5
222
230
180 × 180
260
200
220
214
168
165
12.0
57
1/12
R88G-HPG65A127K5SB@
1
254.5
222
230
180 × 180
260
200
220
214
168
165
12.0
57
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG32A053K0BJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
Key and tap Dimensions
QK
S dia., height: 7
b
t1
D2 dia.
h
D1 dia.
D3 dia., height: 7 *2
D4 dia.
D5 dia.
C1
Four,
Z2 dia.
Set bolt (AT)
E
M (depth: L)
T
F1
Four, Z1 dia.
LR
F2 G
C2
LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
154
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Dimensions (mm)
G
S
T
Z1
Z2
AT*1
13
40
82
11
M8 × 18
13
40
82
11
M8 × 18
13
40
82
11
16
50
82
14
16
50
82
13
40
82
13
40
16
50
Key Dimensions
Tap Dimensions
Model
QK
b
h
t1
M
L
M6
70
12
8
5
M10
20
R88G-HPG32A053K0B@
1/5
M6
70
12
8
5
M10
20
R88G-HPG32A112K0SB@
1/11
M8 × 18
M6
70
12
8
5
M10
20
R88G-HPG32A211K0SB@
1/21
M8 × 16
M6
70
14
9
5.5
M10
20
R88G-HPG50A332K0SB@
1/33
14
M8 × 16
M6
70
14
9
5.5
M10
20
R88G-HPG50A451K0SB@
1/45
11
M8 × 18
M6
70
12
8
5
M10
20
R88G-HPG32A053K0B@
1/5
82
11
M8 × 18
M6
70
12
8
5
M10
20
R88G-HPG32A112K0SB@
1/11
82
14
M8 × 16
M6
70
14
9
5.5
M10
20
R88G-HPG50A213K0B@
1/21
1/33
16
50
82
14
M8Å~16
M6
70
14
9
5.5
M10
20
R88G-HPG50A332K0SB@
13
40
82
11
M8 × 18
M6
70
12
8
5
M10
20
R88G-HPG32A053K0B@
1/5
13
40
82
11
M8 × 18
M6
70
12
8
5
M10
20
R88G-HPG32A112K0SB@
1/11
16
50
82
14
M8 × 16
M6
70
14
9
5.5
M10
20
R88G-HPG50A213K0B@
1/21
16
50
82
14
M8 × 16
M6
70
14
9
5.5
M10
20
R88G-HPG50A332K0SB@
1/33
13
40
82
11
M8 × 25
M6
70
12
8
5
M10
20
R88G-HPG32A054K0B@
1/5
16
50
82
14
M8 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A115K0B@
1/11
16
50
82
14
M8 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A213K0SB@
1/21
1/25
25
80
130
18
M8 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A253K0SB@
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A055K0SB@
1/5
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A115K0SB@
1/11
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A205K0SB@
1/20
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A255K0SB@
1/25
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A055K0SB@
1/5
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A115K0SB@
1/11
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A205K0SB@
1/20
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A255K0SB@
1/25
25
80
130
18
M12 × 25
M8
110
22
14
9.0
M16
35
R88G-HPG65A057K5SB@
1/5
25
80
130
18
M12 × 25
M8
110
22
14
9.0
M16
35
R88G-HPG65A127K5SB@
1/12
1kW
1.5kW
2kW
3kW
4kW
5kW
7.5kW
*1. This is the set bolt.
Outline Drawings 2
Key and tap Dimensions
QK
D2 dia.
b
t1
S dia., height: 7
h
D3 dia., height: 7 *3
D4 dia.
D5 dia.
D1 dia.
Four,
Z2 dia.
Set bolt (AT)
E
C1
M (depth: L)
T
F1
Four, Z1 dia.
LR
F2 G
C2 dia.
LM
*3. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
155
Backlash: 3 Arcminutes Max.
● 1,000-r/min Servomotors (900 W to 6 kW)
Dimensions (mm)
Model
900W
2kW
3kW
4.5kW
6kW
Outline
Drawings
LM
LR
C1
C2
D1
D2
D3
D4
D5
E
F1
F2
35
1/5
R88G-HPG32A05900TB@
1
129
133
120
130 × 130
135
145
115
114
84
98
12.5
1/11
R88G-HPG32A11900TB@
1
129
133
120
130 × 130
135
145
115
114
84
98
12.5
35
1/21
R88G-HPG50A21900TB@
1
149
156
170
130 × 130
190
145
165
163
122
103
12
53
1/33
R88G-HPG50A33900TB@
1
149
156
170
130 × 130
190
145
165
163
122
103
12
53
1/5
R88G-HPG32A052K0TB@
1
129
133
120
180 × 180
135
200
115
114
84
98
12.5
35
1/11
R88G-HPG50A112K0TB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12
53
1/21
R88G-HPG50A212K0TB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
53
1/25
R88G-HPG65A255K0SB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
57
1/5
R88G-HPG50A055K0SB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12
53
1/11
R88G-HPG50A115K0SB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12
53
1/20
R88G-HPG65A205K0SB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
57
1/25
R88G-HPG65A255K0SB@
1
231
222
230
180 × 180
260
200
220
214
168
165
12
57
1/5
R88G-HPG50A054K5TB@
1
149
156
170
180 × 180
190
200
165
163
122
103
12.0
53
1/12
R88G-HPG65A127K5SB@
1
254.5
222
230
180 × 180
260
200
220
214
168
165
12.0
57
1/20
R88G-HPG65A204K5TB@
1
254.5
222
230
180 × 180
260
200
220
214
168
165
12.0
57
1/5
R88G-HPG65A057K5SB@
1
184.5
222
230
180 × 180
260
200
220
214
168
165
12.0
57
1/12
R88G-HPG65A127K5SB@
1
254.5
222
230
180 × 180
260
200
220
214
168
165
12.0
57
Note: 1. The standard models have a straight shaft.
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG32A05900TBJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
Key and tap Dimensions
QK
t1
b
h
D2 dia.
S dia., height: 7
D4 dia.
D5 dia.
D1 dia.
D3 dia., height: 7 *2
C1
Four,
Z2 dia.
Set bolt (AT)
E
M (depth: L)
T
F1
Four, Z1 dia.
LR
F2 G
C2
LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.
156
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Dimensions (mm)
G
S
T
Z1
Z2
AT*1
Key Dimensions
QK
b
h
Tap Dimensions
t1
M
Model
L
13
40
82
11
M8 × 25
M6
70
12
8
5
M10
20
R88G-HPG32A05900TB@
1/5
13
40
82
11
M8 × 25
M6
70
12
8
5
M10
20
R88G-HPG32A11900TB@
1/11
16
50
82
14
M8 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A21900TB@
1/21
16
50
82
14
M8 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A33900TB@
1/33
13
40
82
11
M12 × 25
M6
70
12
8
5
M10
20
R88G-HPG32A052K0TB@
1/5
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A112K0TB@
1/11
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG50A212K0TB@
1/21
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A255K0SB@
1/25
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A055K0SB@
1/5
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A115K0SB@
1/11
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A205K0SB@
1/20
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A255K0SB@
1/25
16
50
82
14
M12 × 25
M6
70
14
9
5.5
M10
20
R88G-HPG50A054K5TB@
1/5
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A127K5SB@
1/12
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A204K5TB@
1/20
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A057K5SB@
1/5
25
80
130
18
M12 × 25
M8
110
22
14
9
M16
35
R88G-HPG65A127K5SB@
1/12
900W
2kW
3kW
4.5kW
6kW
*1. This is the set bolt.
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
157
Backlash: 15 Arcminutes Max.
● 3,000-r/min Servomotors (50 to 750 W)
Dimensions (mm)
Model
50 W
100 W
200 W
400 W
750 W
LM
LR
C1
C2
D1
D2
D3
D4
E3
F
G
1/5
R88G-VRSF05B100CJ
67.5
32
52
40
46
60
50
45
10
3
6
1/9
R88G-VRSF09B100CJ
67.5
32
52
40
46
60
50
45
10
3
6
1/15
R88G-VRSF15B100CJ
78.0
32
52
40
46
60
50
45
10
3
6
1/25
R88G-VRSF25B050CJ
78.0
32
52
40
46
60
50
45
10
3
6
6
1/5
R88G-VRSF05B100CJ
67.5
32
52
40
46
60
50
45
10
3
1/9
R88G-VRSF09B100CJ
67.5
32
52
40
46
60
50
45
10
3
6
1/15
R88G-VRSF15B100CJ
78.0
32
52
40
46
60
50
45
10
3
6
1/25
R88G-VRSF25B100CJ
78.0
32
52
40
46
60
50
45
10
3
6
1/5
R88G-VRSF05B200CJ
72.5
32
52
60
70
60
50
45
10
3
10
1/9
R88G-VRSF09C200CJ
89.5
50
78
60
70
90
70
62
17
3
8
1/15
R88G-VRSF15C200CJ
100.0
50
78
60
70
90
70
62
17
3
8
1/25
R88G-VRSF25C200CJ
100.0
50
78
60
70
90
70
62
17
3
8
1/5
R88G-VRSF05C400CJ
89.5
50
78
60
70
90
70
62
17
3
8
1/9
R88G-VRSF09C400CJ
89.5
50
78
60
70
90
70
62
17
3
8
1/15
R88G-VRSF15C400CJ
100.0
50
78
60
70
90
70
62
17
3
8
1/25
R88G-VRSF25C400CJ
100.0
50
78
60
70
90
70
62
17
3
8
1/5
R88G-VRSF05C750CJ
93.5
50
78
80
90
90
70
62
17
3
10
1/9
R88G-VRSF09D750CJ
97.5
61
98
80
90
115
90
75
18
5
10
1/15
R88G-VRSF15D750CJ
110.0
61
98
80
90
115
90
75
18
5
10
1/25
R88G-VRSF25D750CJ
110.0
61
98
80
90
115
90
75
18
5
10
Note: 1. The standard models have a straight shaft with a key.
Note: 2. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 3. Applicable for the servomotors with key, if the key is removed.
Outline Drawings
E3
F
Four, Z2 (effective depth: L)
C2 × C2
G
D2 d
ia.
T
LM
158
D3 dia., height: 7
S dia., h: 6
D1 d
ia.
D4 dia.
Four, Z1
C1 × C1
LR
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Dimensions (mm)
Key dimensions
S
12
T
20
Z1
M4
Z2
M5
AT
M3
Model
L
12
QK
b
h
t1
16
4
4
2.5
R88G-VRSF05B100CJ
1/5
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF09B100CJ
1/9
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF15B100CJ
1/15
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF25B050CJ
1/25
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF05B100CJ
1/5
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF09B100CJ
1/9
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF15B100CJ
1/15
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF25B100CJ
1/25
12
20
M5
M5
M4
12
16
4
4
2.5
R88G-VRSF05B200CJ
1/5
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF09C200CJ
1/9
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF15C200CJ
1/15
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF25C200CJ
1/25
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF05C400CJ
1/5
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF09C400CJ
1/9
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF15C400CJ
1/15
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF25C400CJ
1/25
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF05C750CJ
1/5
24
40
M5
M8
M4
20
30
8
7
4
R88G-VRSF09D750CJ
1/9
24
40
M5
M8
M4
20
30
8
7
4
R88G-VRSF15D750CJ
1/15
24
40
M5
M8
M4
20
30
8
7
4
R88G-VRSF25D750CJ
1/25
50 W
100 W
200 W
400 W
750 W
Outline Drawings
Key Dimensions
b
Set bolt (AT)
QK
t1
h
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
159
Backlash: 15 Arcminutes Max.
● 3,000-r/min Servomotors (100 to 400 W)
Dimensions (mm)
Model
100 W
200 W
400 W
LM
LR
C1
C2
D1
D2
D3
D4
E3
F
G
1/5
R88G-VRSF05B100PCJ
67.5
32
52
60
70
60
50
45
10
3
8
1/9
R88G-VRSF09B100PCJ
67.5
32
52
60
70
60
50
45
10
3
8
1/15
R88G-VRSF15B100PCJ
78.0
32
52
60
70
60
50
45
10
3
8
1/25
R88G-VRSF25B100PCJ
78.0
32
52
60
70
60
50
45
10
3
8
1/5
R88G-VRSF05B200PCJ
72.5
32
52
80
90
60
50
45
10
3
12
1/9
R88G-VRSF09C200PCJ
89.5
50
78
80
90
90
70
62
17
3
12
1/15
R88G-VRSF15C200PCJ
100.0
50
78
80
90
90
70
62
17
3
12
1/25
R88G-VRSF25C200PCJ
100.0
50
78
80
90
90
70
62
17
3
12
1/5
R88G-VRSF05C400PCJ
89.5
50
78
80
90
90
70
62
17
3
12
1/9
R88G-VRSF09C400PCJ
89.5
50
78
80
90
90
70
62
17
3
12
1/15
R88G-VRSF15C400PCJ
100.0
50
78
80
90
90
70
62
17
3
12
1/25
R88G-VRSF25C400PCJ
100.0
50
78
80
90
90
70
62
17
3
12
Note: 1. The standard models have a straight shaft with a key.
Note: 2. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 3. Applicable for the servomotors with key, if the key is removed.
Outline Drawings
E3
F
Four, Z2 (effective depth: L)
D1 d
S dia.,
h: 6
D4 dia.
ia.
D3 dia., height: 7
Four, Z1
D2 d
ia.
C1 × C1
C2 × C2
G
T
LM
160
LR
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Dimensions (mm)
Key dimensions
S
12
T
20
Z1
M4
Z2
M5
AT
M3
Model
L
12
QK
b
h
t1
16
4
4
2.5
R88G-VRSF05B100PCJ
1/5
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF09B100PCJ
1/9
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF15B100PCJ
1/15
12
20
M4
M5
M3
12
16
4
4
2.5
R88G-VRSF25B100PCJ
1/25
12
20
M5
M5
M4
12
16
4
4
2.5
R88G-VRSF05B200PCJ
1/5
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF09C200PCJ
1/9
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF15C200PCJ
1/15
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF25C200PCJ
1/25
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF05C400PCJ
1/5
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF09C400PCJ
1/9
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF15C400PCJ
1/15
19
30
M5
M6
M4
20
22
6
6
3.5
R88G-VRSF25C400PCJ
1/25
100 W
200 W
400 W
Outline Drawings
Key Dimensions
b
Set bolt (AT)
QK
t1
h
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
161
● Parameter Unit
R88A-PR02G
(62)
(24)
(114)
(15)
M3 (depth: 5)
(15)
Mini DIN 8-pin
MD connector
(1500)
Thermal switch output
62
48
4.2
3 dia.
(0.75mm2)
1.5 dia.
(0.3mm2)
● External Regeneration Resistor
R88A-RR22047S1
6
t1.2
500
200
20
220
230
Thermal switch output
28
43.5
4.2
3 dia.
(0.75mm2)
1.5 dia.
(0.3mm2)
R88A-RR08050S/-RR080100S
6
t1.2
500
20
104
122
130
25
162
43
78
10
40
76
5.2
R88A-RR50020S
360
386
402
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
● Reactor
3G3AX-DL2002
3G3AX-DL2004
Model
L
3G3AX-DL2002
85
3G3AX-DL2004
95
3G3AX-AL2025
3G3AX-AL2055
Ground terminal (M5)
Six, M4
terminal screws
72
90
Terminal
block
Model
A
C
Y
3G3AX-AL2025
120
82
67
3G3AX-AL2055
120
98
75
60
40
Two, M4
Ro R So S To T
L
Four, 5.2 × 8
94
56
66
150
Ground terminal
(M4)
Ro R So S To
T
Connection Diagram
Four, 6 dia.
98
50±1
Y±1
(Notch)
A
C
9.5
3G3AX-DL2007
3G3AX-DL2015
3G3AX-AL2110
3G3AX-AL2220
Model
L
3G3AX-DL2007
105
115
A
Ro R So S To
D
55
T
72
90
3G3AX-DL2015
Terminal holes:
Six, K dia.
Two, M4
H
Ground terminal
(M4)
56
66
Ro
H1
Four, 5.2 × 8
L
R So
S To
T
Connection Diagram
X±1
Y±1
W
C
Four, 6 dia.
W=Terminal width
(Notch)
98
Ground terminal (M6)
A
C
D
H
H1
X
Y
K
W
150
103
70
170
108
60
80
5.3
12
3G3AX-AL2220
180
113
75
190
140
90
90
8.4
16.5
80
100
3G3AX-DL2022
Model
3G3AX-AL2110
Two, M4
Ground terminal
(M4)
Four, 6 × 9
105
116
71
86
About Manuals
English Cat. No.
Japanese Cat. No.
Type
Name
I566
SBCE-353
R88M-G/R88D-GN@-ML2
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II
Communications User’s Manual
W453
SBCE-375
CXONE-@@@@C-V@/
@@@@D-V@
CX-Drive OPERATION MANUAL
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
163
MEMO
164
MEMO
165
MEMO
166
Read and Understand this Catalog
Please read and understand this catalog before purchasing the product. Please consult your OMRON representative if you have
any questions or comments.
Warranty and Limitations of Liability
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year
(or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-INFRINGEMENT,
MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER
ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET
THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR
IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS
OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON
CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE
PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED,
INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE
MODIFICATION OR REPAIR.
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of the
product in the customer's application or use of the product.
Take all necessary steps to determine the suitability of the product for the systems, machines, and equipment with which it will
be used.
Know and observe all prohibitions of use applicable to this product.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT
ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON
PRODUCT IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR
SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof.
Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any time based on improvements and other reasons. Consult with
your OMRON representative at any time to confirm actual specifications of purchased product.
DIMENSIONS AND WEIGHTS
Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.
PERFORMANCE DATA
Performance data given in this catalog is provided as a guide for the user in determining suitability and does not constitute a
warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application
requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.
OMRON Corporation
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 2009-2012 All Rights Reserved.
In the interest of product improvement,
specifications are subject to change without notice.
CSM_14_1_0514
Printed in Japan
Cat. No. I814-E1-04
0412 (0308)
