OMRON OMNUC G Series Ac Servomotors Servo Drives Instruction Manual
- June 12, 2024
- Omron
Table of Contents
- OMRON OMNUC G Series Ac Servomotors Servo Drives
- Product Information
- Product Usage Instructions
- Trademarks
- Introduction
- Operation and Adjustment Precautions
- Items to Check When Unpacking
- Overview
- Standard Models and Dimensions
- Connectors
- Standard Models and Dimensions
- Specifications
- Read User Manual Online (PDF format)
- Download This Manual (PDF format)
OMRON OMNUC G Series Ac Servomotors Servo Drives
Product Information
| Cat. No. | I566-E1-06 |
|---|---|
| Product Name | OMNUC G Series |
| AC Servomotors | R88M-G@ |
| AC Servo Drives | R88D-GN@-ML2 |
| Communication | Built-in Mechatrolink-II |
Product Usage Instructions
Intended Readers
- Personnel in charge of introducing FA equipment
- Personnel in charge of designing FA systems
- Personnel in charge of managing FA systems and facilities
Important Notices
This manual contains information necessary to ensure safe and proper use of
the OMNUC G Series and its peripheral devices. Please read this manual
thoroughly and understand its contents before using the products. Please keep
this manual handy for future reference. Make sure this User’s Manual is
delivered to the actual end user of the products.
Terms and Conditions Agreement:
Omron provides an exclusive warranty that the Products will be free from
defects in materials and workmanship for a period of twelve months from the
date of sale. Omron disclaims all other warranties, express or implied. Omron
Companies shall not be liable for special, indirect, incidental, or
consequential damages, loss of profits or production, or commercial loss in
any way connected with the Products. The liability of Omron Companies shall
not exceed the individual price of the Product on which liability is asserted.
Application Considerations:
Omron Companies shall not be responsible for the user’s programming of a
programmable Product, or any consequence thereof.
Disclaimers:
Data presented in Omron Company websites, catalogs, and other materials is
provided as a guide for the user in determining suitability and does not
constitute a warranty. Actual performance is subject to Omron’s Warranty and
Limitations of Liability.
Cat. No. I566-E1-06
USER’S MANUAL
OMNUC G SERIES
R88M-G@ (AC Servomotors)
R88D-GN@-ML2 (AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS
NOTE
All rights reserved. No part of this publication may be reproduced, stored in
a retrieval system, or transmitted, in any form, or by any means, mechanical,
electronic, photocopying, recording, or otherwise, without the prior written
permission of OMRON. No patent liability is assumed with respect to the use of
the information contained herein. Moreover, because OMRON is constantly
striving to improve its high-quality products, the information contained in
this manual is subject to change without notice. Every precaution has been
taken in the preparation of this manual. Nevertheless, OMRON assumes no
responsibility for errors or omissions. Neither is any liability assumed for
damages resulting from the use of the information contained in this
publication.
Trademarks
· MECHATROLINK is a registered trademark of the MECHATROLINK Members
Association.
Other company names and product names in this document are the trademarks or
registered trademarks of their respective companies.
Copyrights
Microsoft product screen shots reprinted with permission from Microsoft
Corporation.
Introduction
Introduction
Thank you for choosing the OMNUC G Series. This User’s Manual describes
installation/wiring methods and parameter setting procedures required for the
operation of the OMNUC G Series as well as troubleshooting and inspection
methods.
Intended Readers
This manual is intended for the following personnel. Those with knowledge of
electrical systems (a qualified electrical engineer or the equivalent) as
follows: Personnel in charge of introducing FA equipment Personnel in charge
of designing FA systems Personnel in charge of managing FA systems and
facilities
NOTICE
This manual contains information necessary to ensure safe and proper use of
the OMNUC G Series and its peripheral devices. Please read this manual
thoroughly and understand its contents before using the products. Please keep
this manual handy for future reference. Make sure this User’s Manual is
delivered to the actual end user of the products.
1
Terms and Conditions Agreement
Terms and Conditions Agreement
Warranty, Limitations of Liability
Warranties
Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in
materials and workmanship for a period of twelve months from the date of sale
by Omron (or such other period expressed in writing by Omron). Omron disclaims
all other warranties, express or implied.
Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT NON-
INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE
PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS
WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. Omron further
disclaims all warranties and responsibility of any type for claims or expenses
based on infringement by the Products or otherwise of any intellectual
property right.
Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i)
replace (in the form originally shipped with Buyer responsible for labor
charges for removal or replacement thereof) the non-complying Product, (ii)
repair the non-complying Product, or (iii) repay or credit Buyer an amount
equal to the purchase price of the non-complying Product; provided that in no
event shall Omron be responsible for warranty, repair, indemnity or any other
claims or expenses 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.
Return of any Products by Buyer must be approved in writing by Omron before
shipment. Omron Companies shall not be liable for the suitability or
unsuitability or the results from the use of Products in combination with any
electrical or electronic components, circuits, system assemblies or any other
materials or substances or environments. Any advice, recommendations or
information given orally or in writing, are not to be construed as an
amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for
published information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY. Further, in no event shall liability
of Omron Companies exceed the individual price of the Product on which
liability is asserted.
2
Terms and Conditions Agreement
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards,
codes or regulations which apply to the combination of the Product in the
Buyer’s application or use of the Product. At Buyer’s request, Omron will
provide applicable third party certification documents identifying ratings and
limitations of use which apply to the Product. This information by itself is
not sufficient for a complete determination of the suitability of the Product
in combination with the end product, machine, system, or other application or
use. Buyer shall be solely responsible for determining appropriateness of the
particular Product with respect to Buyer’s application, product or system.
Buyer shall take application responsibility in all cases. 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(S) IS PROPERLY RATED AND INSTALLED FOR THE INTENDED
USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a
programmable Product, or any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials 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 user must correlate it to actual application requirements. Actual
performance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on
improvements and other reasons. It is our practice to change part numbers when
published ratings or features are changed, or when significant construction
changes are made. However, some specifications of the Product may be changed
without any notice. When in doubt, special part numbers may be assigned to fix
or establish key specifications for your application. Please consult with your
Omron’s representative at any time to confirm actual specifications of
purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to
be accurate; however, no responsibility is assumed for clerical, typographical
or proofreading errors or omissions.
3
Precautions for Safe Use
Precautions for Safe Use
To ensure safe and proper use of the OMNUC G Series and its peripheral
devices, read the “Precautions for Safe Use” and the rest of the manual
thoroughly to acquire sufficient knowledge of the devices, safety information,
and precautions before using the products.
Make sure this User’s Manual is delivered to the actual end users of the
products. Please keep this manual close at hand for future reference.
Explanation of Signal Words
The precautions indicated here provide important information for safety. Be
sure to heed the information provided with the precautions.
The following signal words are used to indicate and classify precautions in
this manual.
WARNING
Indicates a potentially hazardous situation which, if not avoided, will result in minor or moderate injury, or may result in serious injury or death. Additionally there may be significant property damage.
Caution
Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury or in property damage.
Failure to heed the precautions classified as “Caution” may also lead to serious results. Always heed these precautions.
Safety Precautions
This manual may include illustrations of the product with protective covers or
shields removed in order to show the components of the product in detail. Make
sure that these protective covers and shields are put in place as specified
before using the product.
Consult your OMRON representative when using the product after a long period
of storage.
WARNING
Always connect the frame ground terminals of the Servo Drive and the
Servomotor to 100 or less. Incorrect grounding may result in electric shock.
Do not touch the inside of the Servo Drive. Doing so may result in electric
shock.
When turning OFF the main circuit power supply, turn OFF the RUN command (RUN)
at the same time. Residual voltage may cause the Servomotor to continue
rotating and result in injury or equipment damage even if the main circuit
power supply is turned OFF externally, e.g., with an emergency stop. Do not
remove the front cover, terminal covers, cables, or optional items while the
power is being supplied. Doing so may result in electric shock.
4
Precautions for Safe Use
Installation, operation, maintenance, or inspection must be performed by
authorized personnel. Not doing so may result in electric shock or injury.
Wiring or inspection must not be performed for at least 15 minutes after
turning OFF the power supply. Doing so may result in electric shock. Do not
damage or pull on the cables, place heavy objects on them, or subject them to
excessive stress. Doing so may result in electric shock, stopping product
operation, or burning. Do not touch the rotating parts of the Servomotor
during operation. Doing so may result in injury. Do not modify the product.
Doing so may result in injury or damage to the product. Provide a stopping
mechanism on the machine to ensure safety. *The holding brake is not designed
as a stopping mechanism for safety purposes. Not doing so may result in
injury. Provide an external emergency stopping mechanism that can stop
operation and shut off the power supply immediately. Not doing so may result
in injury. Do not come close to the machine immediately after resetting
momentary power interruption to avoid an unexpected restart. Doing so may
result in injury. Take appropriate measures to secure safety against an
unexpected restart. Confirm safety after an earthquake has occurred. Failure
to do so may result in electric shock, injury, or fire. Do not use external
force to drive the Servomotor. Doing so may result in fire.
5
Precautions for Safe Use
WARNING
Do not place any flammable materials near the Servomotor, Servo Drive, or
Regeneration Resistor. Doing so may result in fire. Mount the Servomotor,
Servo Drive, and Regeneration Resistor on metal or other nonflammable
materials. Failure to do so may result in fire. Do not frequently and
repeatedly turn the main power supply ON and OFF. Doing so may result in
product failure.
Caution
Use the Servomotors and Servo Drives in a specified combination. Using them
incorrectly may result in fire or damage to the products.
Do not store or install the product in the following places. Doing so may
result in fire, electric shock, or damage to the product.
Locations subject to direct sunlight. Locations subject to temperatures
outside the specified range. Locations subject to humidity outside the
specified range. Locations subject to condensation as the result of severe
changes in temperature. Locations subject to corrosive or flammable gases.
Locations subject to dust (especially iron dust) or salts. Locations subject
to exposure to water, oil, or chemicals. Locations subject to shock or
vibration. Do not touch the Servo Drive radiator, Servo Drive regeneration
resistor, or Servomotor while the power is being supplied or soon after the
power is turned OFF. Doing so may result in burn injuries.
Storage and Transportation Precautions
Caution
Do not hold the product by the cables or motor shaft while transporting it.
Doing so may result in injury or malfunction.
Do not place any load exceeding the figure indicated on the product. Doing so
may result in injury or malfunction.
Use the motor eye-bolts only for transporting the Servomotor. Using them for
transporting the machinery may result in injury or malfunction.
6
Precautions for Safe Use
Installation and Wiring Precautions
Caution
Do not step on or place a heavy object on the product. Doing so may result in
injury.
Do not cover the inlet or outlet ports and prevent any foreign objects from
entering the product. Covering them or not preventing entry of foreign objects
may result in fire. Be sure to install the product in the correct direction.
Not doing so may result in malfunction.
Provide the specified clearances between the Servo Drive and the control panel
or with other devices. Not doing so may result in fire or malfunction. Do not
subject Servomotor shaft or Servo Drive to strong impacts. Doing so may result
in malfunction.
Be sure to wire correctly and securely. Not doing so may result in motor
runaway, injury, or malfunction.
Be sure that all the mounting screws, terminal screws, and cable connector
screws are tightened properly. Incorrect tightening torque may result in
malfunction. Use crimp terminals for wiring. Do not connect bare stranded
wires directly to the protective ground terminal. Doing so may result in
burning. Always use the power supply voltage specified in the User’s Manual.
An incorrect voltage may result in malfunction or burning.
Take appropriate measures to ensure that the specified power with the rated
voltage and frequency is supplied. Be particularly careful in places where the
power supply is unstable. An incorrect power supply may result in equipment
damage. Install external breakers and take other safety measures against
short-circuiting in external wiring. Insufficient safety measures against
short-circuiting may result in burning. Take appropriate and sufficient
shielding measures when installing systems in the following locations. Failure
to do so may result in damage to the product.
Locations subject to static electricity or other forms of noise. Locations
subject to strong electromagnetic fields and magnetic fields. Locations
subject to possible exposure to radioactivity. Locations close to power
supplies. Connect an emergency stop cutoff relay in series with the brake
control relay. Failure to do so may result in injury or product failure.
Do not reverse the polarity of the battery when connecting it. Reversing the
polarity may damage the battery or cause it to explode.
7
Precautions for Safe Use
Operation and Adjustment Precautions
Caution
Confirm that no adverse effects will occur in the system before performing the
test operation. Not doing so may result in equipment damage. Check the newly
set parameters for proper operation before actually running them. Not doing so
may result in equipment damage. Do not make any extreme adjustments or setting
changes. Doing so may result in unstable operation and injury. Separate the
Servomotor from the machine, check for proper operation, and then connect to
the machine. Not doing so may cause injury. When an alarm occurs, remove the
cause, reset the alarm after confirming safety, and then resume operation. Not
doing so may result in injury. Do not use the built-in brake of the Servomotor
for ordinary braking. Doing so may result in malfunction. Do not operate the
Servomotor connected to a load that exceeds the applicable load moment of
inertia. Doing so may result in malfunction.
Maintenance and Inspection Precautions
Caution
Resume operation only after transferring to the new Unit the contents of the
data required for operation. Not doing so may result in equipment damage. Do
not attempt to disassemble or repair any of the products. Any attempt to do so
may result in electric shock or injury.
8
Precautions for Safe Use
Security Measures
WARNING
Anti-virus protection Install the latest commercial-quality antivirus software
on the computer connected to the control system and maintain to keep the
software up-to-date.
Security measures to prevent unauthorized access Take the following measures
to prevent unauthorized access to our products. · Install physical controls so
that only authorized personnel can access control systems and
equipment. · Reduce connections to control systems and equipment via networks
to prevent access
from untrusted devices. · Install firewalls to shut down unused communications
ports and limit communications hosts
and isolate control systems and equipment from the IT network. · Use a virtual
private network (VPN) for remote access to control systems and equipment. ·
Adopt multifactor authentication to devices with remote access to control
systems and
equipment. · Set strong passwords and change them frequently. · Scan virus to
ensure safety of USB drives or other external storages before connecting
them to control systems and equipment. Data input and output protection
Validate backups and ranges to cope with unintentional modification of
input/output data to control systems and equipment. · Checking the scope of
data · Checking validity of backups and preparing data for restore in case of
falsification and
abnormalities · Safety design, such as emergency shutdown and fail-soft
operation in case of data
tampering and abnormalities Data recovery Backup data and keep the data up-to-
date periodically to prepare for data loss.
When using an intranet environment through a global address, connecting to an
unauthorized terminal such as a SCADA, HMI or to an unauthorized server may
result in network security issues such as spoofing and tampering. You must
take sufficient measures such as restricting access to the terminal, using a
terminal equipped with a secure function, and locking the installation area by
yourself. When constructing an intranet, communication failure may occur due
to cable disconnection or the influence of unauthorized network equipment.
Take adequate measures, such as restricting physical access to network
devices, by means such as locking the installation area. When using a device
equipped with the SD Memory Card function, there is a security risk that a
third party may acquire, alter, or replace the files and data in the removable
media by removing the removable media or unmounting the removable media.
Please take sufficient measures, such as restricting physical access to the
Controller or taking appropriate management measures for removable media, by
means of locking the installation area, entrance management, etc., by
yourself.
9
Precautions for Safe Use Warning Label Position
Warning labels are located on the product as shown in the following
illustration. Be sure to follow the instructions given there.
Location of warning label
(R88D-GN01H-ML2)
Warning Label Contents
Disposing of the Product
· Dispose of the batteries according to local ordinances and regulations. Wrap
the batteries in tape or other insulative material before disposing of them.
· Dispose of the product as industrial waste.
10
Items to Check When Unpacking
Items to Check When Unpacking
Check the following items after removing the product from the package. · Has the correct product been delivered? · Has the product been damaged in shipping?
Accessories Provided with Product
Safety Precautions document × 1
· No connectors or mounting screws are provided. They have to be prepared by
the user. · Should you find any problems (missing parts, damage to the Servo
Drive, etc.), please contact
your local sales representative or OMRON sales office.
Specifications
Connector for main circuit power supply terminals and control circuit power
supply
terminals
Connector for External Regeneration Resistor connection terminals and Motor
connection
terminals
Mounting Brackets
Single-phase 50 W
Included
–
100 VAC
100 W
200 W
400 W
Single-phase/ 3-phase 200 VAC
100 W 200 W 400 W
750 W
1 kW
1.5 kW
3-phase 200 2 kW
–
VAC
3 kW
5 kW
Included
7.5 kW
11
Items to Check When Unpacking
Understanding 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-GN01H-ML2
OMNUC G-Series Servo Drive Drive Type
N : Network type Applicable Servomotor Capacity
A5 : 50 W 01 : 100 W 02 : 200 W 04 : 400 W 08 : 750 W 10 : 1 kW 15 : 1.5 kW 20
: 2 kW 30 : 3 kW 50 : 5 kW 75 : 7.5 kW Power Supply Voltage L : 100 VAC H :
200 VAC Network Type ML2 : MECHATROLINK-II Communications
12
Items to Check When Unpacking
Understanding Servomotor Model Numbers
G-Series Servomotor
Motor Type
Blank: Cylinder type P: Flat type
Servomotor Capacity
050: 50 W 100: 100 W 200: 200 W 400: 400 W 750: 750 W 900: 900 W 1K0: 1 kW
1K5: 1.5 kW 2K0: 2 kW 3K0: 3 kW 4K0: 4 kW 4K5: 4.5 kW 5K0: 5 kW 6K0: 6 kW 7K5:
7.5 kW
Rated Rotation Speed
10: 1,000 r/min 15: 1,500 r/min 20: 2,000 r/min 30: 3,000 r/min
Applied Voltage
H: 200 VAC with incremental encoder specifications L: 100 VAC with incremental
encoder specifications T: 200 VAC with absolute encoder specifications S: 100
VAC with absolute encoder specifications
Option
Blank: Straight shaft B: With brake O: With oil seal S2: With key and tap
R88M-GP 10030 H-BOS 2
13
Items to Check When Unpacking
Understanding Decelerator Model Numbers (Backlash = 3′ Max.)
Decelerator for G-Series Servomotors
Backlash = 3′ Max.
Flange Size Number
11B :@40 14A :@60 20A :@90 32A :@120 50A :@170 65A :@230
Gear Ratio
05 :1/5 09 :1/9 (only frame number 11A) 11 :1/11 (except frame number 65A) 12
:1/12 (only frame number 65A) 20 :1/20 (only frame number 65A) 21 :1/21
(except frame number 65A) 25 :1/25 (only frame number 65A) 33 :1/33 45 :1/45
Applicable Servomotor Capacity
050 : 50 W 100 :100 W 200 :200 W 400 :400 W 750 :750 W 900 :900 W 1K0 :1 kW
1K5 :1.5 kW 2K0 :2 kW 3K0 :3 kW 4K0 :4 kW 4K5 :4.5 kW 5K0 :5 kW 6K0 :6 kW 7K5
: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
R88G-HPG14A05100PBJ
14
Items to Check When Unpacking
Understanding Decelerator Model Numbers (Backlash = 15′ Max.)
Decelerator for G-Series Servomotors
Backlash = 15′ Max.
Gear Ratio
05 :1/5 09 :1/9 15 :1/15 25 :1/25
Flange Size Number
B :@52 C :@78 D :@98
Applicable Servomotor Capacity
100 :50 W, 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
R88G-VRXF09B100PCJ
15
Items to Check When Unpacking
Decelerator for G-Series Servomotors
Backlash = 15′ Max.
Gear Ratio
05 :1/5 09 :1/9 15 :1/15 25 :1/25
Flange Size Number
B :@52 C :@78 D :@98
Applicable Servomotor Capacity
050 : 50 W 100 :100 W 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
R88G-VRSF09B100PCJ
16
About This Manual
About This Manual
This manual consists of the following chapters. Refer to this table and chose the required chapters of the manual.
Chapter 1 Chapter 2
Chapter 3
Chapter 4 Chapter 5 Chapter 6 Chapter 7 Chapter 8 Chapter 9
Overview
Features and System Describes the features and names of parts of the product as well
Configuration
as the EC Directives and the UL standards.
Standard Models and Dimensions
Provides the model numbers, external and mounting hole dimensions for Servo Drives, Servomotors, Decelerators, and peripheral devices.
Specifications
Provides the general specifications, characteristics, connector specifications, and I/O circuit specifications for Servo Drives, and the general specifications and characteristics for Servomotors, as well as specifications for accessories such as encoders.
System Design
Describes the installation conditions for Servo Drives, Servomotors, and Decelerators, EMC conforming wiring methods, calculations of regenerative energy, and performance information on the External Regeneration Resistor.
Operating Functions Describes the control functions, parameter settings, and operation.
Operation
Describes operating procedures and operating methods for each mode.
Adjustment Functions
Describes gain adjustment functions, setting methods, and precautions.
Troubleshooting
Describes items to check for troubleshooting, error diagnoses using alarm LED displays and the countermeasures, error diagnoses based on the operation status and the countermeasures, and periodic maintenance.
Appendix
Provides the parameter tables.
Features and System Configuration
Overview
The OMNUC G Series AC Servo Drives (with built-in MECHATROLINK-II
communications support) are a series of Servo Drives supporting the
MECHATROLINK-II high-speed motion field network. When used with the
MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1W-NCF71), a
sophisticated positioning control system can be made easily with one
communications cable connecting the Servo Drive and Controller. With realtime
autotuning, adaptive filter, notch filter, and damping control, you can set up
a system that provides stable operation by suppressing vibration in low-
rigidity machines.
Features
Data Transmission Using MECHATROLINK-II Communications
When used with the MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1W-
NCF71), all control data between the Servo Drive and Controller can be
exchanged through data communications. Since the various control commands are
transmitted via data communications, Servomotor`s operational performance is
maximized without being limited by interface specifications such as the
response frequency of the encoder feedback pulses. This makes it possible to
use the Servo Drive’s various control parameters and monitor data via a host
controller, allowing you to unify the system data control.
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 vibration filters are provided to
enable switching the vibration frequency automatically according to the
direction of the rotation. Furthermore, the settings can be made easily by
just 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. Two independent notch
filters make it possible to reduce the vibration of a mechanism with multiple
resonance frequencies.
Command Control Mode Switching
Operations can be performed by switching between two of the following control
modes: Position control, speed control, and torque control. Therefore, a
variety of applications can be supported by one Servo Drive.
1-1
Features and System Configuration
1-2 System Configuration
1-2 System Configuration
1
Controller (MECHATROLINK-ll type)
Programmable Controller SYSMAC CJ1
MECHATRO LINK-II
Position Control Unit CJ1W-NCF71
OMNUC G-Series AC Servo Drive R88D-GN@-ML2
MECHATRO LINK-II
Controller (MECHATROLINK-ll type)
Programmable Controller SYSMAC CS1
Position Control Unit CS1W-NCF71
INC ABS
OMNUC G-Series AC Servomotor R88M-G@
1-2
Features and System Configuration 78
1-3 Names of Parts and Functions
1 1-3 Names of Parts and Functions
Servo Drive Part Names
Analog monitor check pins (SP, IM, G)
Main-circuit power terminals (L1, L2, L3)
Control-circuit power terminals (L1C, L2C)
AC SERVO DRIVE 0 1 ADR 9 0 1
45 6
X10
X1
COM
SP IM
G
23 23
Display area
Rotary switches
MECHATROLINK-II communications status LED indicator RS-232 communications
connector (CN3) MECHATROLINK-II communications connector (CN6A, CN6B)
External Regeneration Resistor connection terminals (B1, B2, B3)
Servomotor connection terminals (U, V, W)
Protective ground terminals
Control I/O connector (CN1) Encoder connector (CN2)
1-3
Features and System Configuration
1-3 Names of Parts and Functions
1 Servo Drive Functions
Display Area
A 2-digit 7-segment LED display shows the Servo Drive status, alarm codes,
parameters, and other information.
Analog Monitor Check Pins (SP, IM, and G)
The actual motor speed, command speed, torque, and number of accumulated
pulses can be measured based on the analog voltage level by using an
oscilloscope. Set the type of signal to be output and the output voltage level
by setting the Speed Monitor (SP) Selection (Pn007) and Torque Monitor (IM)
Selection (Pn008). For details, refer to User Parameters on page 5-55.
MECHATROLINK-II Status LED Indicator
Indicates the communications status of the MECHATROLINK-II. For details, refer
to MECHATROLINK-II Status LED Indicator on page 6-4.
Rotary Switches
Sets the node address. For details, refer to Servo Drive Display and Settings
on page 6-3.
Forward and Reverse Motor Rotation
Reverse (CW) Forward (CCW)
When the motor output shaft is viewed from the end, counterclockwise (CCW) rotation is forward and clockwise (CW) rotation is reverse.
1-4
Features and System Configuration
CN2 encoder signal connector
1-4 System Block Diagrams
1 1-4 System Block Diagrams
R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN01H-ML2/ -GN02H-ML2/-GN04H-ML2
CN A L1 L3 L2
+ ~ ~-
FUSE L1C L2C
~+ ~-
Voltage detection
GR
15V
G1
VCC1 E5V
±VCC G2
SW power supply Main circuit control
Internal control power supply
Relay drive
Regenerative control
Overcurrent detection
Gate drive
MPU & ASIC Position, speed, and torque processor, PWM control
CN B B1 B2
OH
U V W
GR TH
Current detection
Display/ setting circuits
Control I/O interface
CN1 control I/O connector
MECHATROLINK-II interface
Encoder communications interface
RS-232 interface
CN6A
CN6B
connector connector
MECHATROLINK-II communications line
CN3 connector
RS-232 computer
RS ±S 485
+E5V EG
+BAT G
1-5
CN2 encoder signal connector
Features and System Configuration
1-4 System Block Diagrams
1 R88D-GN04L-ML2/-GN08H-ML2/-GN10H-ML2/-GN15H-ML2
CN A L1 L2 L3
~ ~+ ~
–
FUSE L1C L2C
~+ ~-
Voltage detection
GR
15V
G1
VCC1 E5V
±VCC G2
SW power supply Main circuit control
Internal control power supply
Relay drive
Regenerative control
Overcurrent detection
Gate drive
MPU & ASIC Position, speed, and torque processor, PWM control
CN B B1 B3
Internal regeneration resistor
B2
U V W
GR TH
Current detection
Display/ setting circuits
Cooling fan Except for the R88D-GN04L-ML2/-GN08H-ML2
Control I/O interface
CN1 control I/O connector
MECHATROLINK-II interface
Encoder communications interface
RS-232 interface
CN6A
CN6B
connector connector
MECHATROLINK-II communications line
CN3 connector
RS-232 computer
RS ±S 485
+E5V EG
+BAT G
1-6
Features and System Configuration
CN2 encoder signal connector
1-4 System Block Diagrams
1 R88D-GN20H-ML2
Terminals
L1 L2 L3
~ ~+ ~
–
FUSE L1C L2C
~+ ~-
GR
15V
G1
VCC1 E5V
±VCC G2
SW power supply Main circuit control
Internal control power supply
Relay drive
Regenerative control
Voltage detection
Gate drive
MPU & ASIC Position, speed, and torque processor, PWM control
Terminals B1 B3
Internal regeneration resistor
B2
U V W
GR TH
Current detection
Display/ setting circuits
Cooling fan
Control I/O interface CN1 control I/O connector
MECHATROLINK-II interface
Encoder communications interface
RS-232 interface
CN6A
CN6B
connector connector
MECHATROLINK-II communications line
CN3 connector
RS-232 computer
RS ±S 485
+E5V EG
+BAT G
1-7
CN2 encoder signal connector
Features and System Configuration
1-4 System Block Diagrams
1 R88D-GN30H-ML2/GN50H-ML2
Terminals
L1 L2 L3
~ ~+ ~
–
FUSE L1C L2C
~+ ~-
GR
15V
G1
VCC1 E5V
±VCC G2
SW power supply Main circuit control
Internal control power supply
Relay,Gate
drive
Regenerative control
Voltage detection
Gate drive
MPU & ASIC Position, speed, and torque processor, PWM control
Terminals B1 B3
Internal regeneration resistor
B2
U V W
GR TH
Current detection
Display/ setting circuits
Cooling fan Control I/O interface
MECHATROLINK-II interface
Encoder communications interface
RS-232 interface
CN1 control I/O connector
CN6A
CN6B
connector connector
MECHATROLINK-II communications line
CN3 connector
RS-232 computer
RS ±S 485
+E5V EG
+BAT G
1-8
Features and System Configuration
CN2 encoder signal connector
1-4 System Block Diagrams
1 R88D-GN75H-ML2
Terminals
L1 L2 L3
~ ~+ ~
–
FUSE L1C L2C
~+ ~-
Terminals B1 B2
TH
U V W
~ ~~
–
GR
15V
G1
VCC1 E5V
±VCC G2
SW power supply Main circuit control
Internal control power supply
Relay,Gate
drive
Regenerative control
Voltage detection
Gate drive
MPU & ASIC Position, speed, and torque processor, PWM control
Current detection
Display/ setting circuits
Cooling fan Control I/O interface
MECHATROLINK-II interface
Encoder communications interface
RS-232 interface
CN1 control I/O connector
CN6A
CN6B
connector connector
MECHATROLINK-II communications line
CN3 connector
RS-232 computer
RS ±S 485
+E5V EG
+BAT G
1-9
Features and System Configuration
1-5 Applicable Standards
1-5 Applicable Standards
1
EC Directives
EC Directives
Product
Applicable standards
Comments
Low Voltage AC Servo Drive
Directive
AC Servomotors
EN 61800-5-1 IEC 60034-1/-5
Safety requirements for electrical equipment for measurement, control, or
laboratory use
Rotating electrical machines
Limits of radio disturbance and measurement EN 55011 Class A Group 1 methods
for industrial, scientific, and medical
radio-frequency equipment
EN 61000-6-2
Electromagnetic compatibility (EMC) Immunity standard for industrial environments
EMC Directive
AC Servo Drive
IEC 61000-4-2 IEC 61000-4-3
Electrostatic discharge immunity testing Radio frequency radiation field immunity testing
IEC 61000-4-4
Electrical fast transient burst immunity testing
IEC 61000-4-5
Lightning surge immunity testing
IEC 61000-4-6
High-frequency conduction immunity testing
IEC 61000-4-11
Momentary power interruption immunity testing
Note To conform to the EMC Directives, the Servomotor and Servo Drive must be installed under the conditions described in Wiring Conforming to EMC Directives on page 4-28.
UL and CSA Standards
Standard
Product
Applicable standards
File number
UL standards
AC Servo Drive
UL 508C
AC Servomotors *1 UL 1004-1
E179149 E331224
CSA standards
AC Servomotors *1 CSA C22.2 No.100
E179189
*1. The approval of UL and CSA is pending for motor capacities of 6 to 7.5 kW.
Comments Power conversion equipment Electric motor
Motor and generator
1-10
Features and System Configuration
1-5 Applicable Standards
The Servo Drives and Servomotors comply with UL 508C (file No. E179149) as long as the following
installation conditions 1 and 2 are met.
1
(1) Use the Servo Drive in a pollution degree 1 or 2 environment as defined in IEC 60664-1
(example: installation in an IP54 control panel).
(2) Be sure to connect a circuit breaker or fuse, which is a UL-listed product with LISTED and
mark, between the power supply and noise filter.
Refer to the following table for the rated current of the circuit breaker or fuse. Use copper wiring with a temperature rating of 75°C or higher.
Drive model R88D-GNA5L-ML2 R88D-GN01L-ML2 R88D-GN02L-ML2 R88D-GN04L-ML2 R88D- GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN08H-ML2 R88D-GN10H-ML2 R88D- GN15H-ML2 R88D-GN20H-ML2 R88D-GN30H-ML2 R88D-GN50H-ML2 R88D-GN75H-ML2
Circuit breaker (rated current) (A) 10 10 10 10 10 10 10 15 15 20 30 50 50 60
Korean Radio Regulations (KC)
The G-series Servo Drives comply with the Korean Radio Regulations (KC). The
G-series Servomotors do not comply with the Korean Radio Regulations (KC).
SEMI F47
Some Servo Drives conform to the SEMI F47 standard for momentary power
interruptions (voltage sag immunity) for no-load or light-load operation.
This standard applies to semiconductor manufacturing equipment.
Note1. It does not apply to Servo Drivers with single-phase 100-V
specifications or with 24-VDC specifications for the control power input.
Note2. Always perform evaluation testing for SEMI F47 compliance in the actual
system.
1-11
Chapter 2
Standard Models and Dimensions
2-1 Standard Models ………………………………………… 2-1
Servo Drives ……………………………………………………………….2-1
Servomotors………………………………………………………………..2-2 Servo Drive-Servomotor Combinations
…………………………..2-5 Decelerators………………………………………………………………..2-7 Accessories and
Cables ……………………………………………….2-16
2-2 External and Mounting Hole Dimensions ……….. 2-25
Servo Drives ……………………………………………………………….2-25
Servomotors………………………………………………………………..2-35 Parameter Unit Dimensions
…………………………………………..2-45 Servomotor and Decelerator Combinations……………………..2-46
Decelerator Dimensions………………………………………………..2-49 External Regeneration Resistor
Dimensions ……………………2-67 Reactor Dimensions……………………………………………………..2-68
Standard Models and Dimensions
2-1 Standard Models
2-1 Standard Models
2 Servo Drives
Specifications Single-phase 100 VAC Single-phase 200 VAC
Single-phase/three-phase 200 VAC
Three-phase 200 VAC
Note R88D-GN75H-ML2 has been discontinued.
Model
50 W R88D-GNA5L-ML2
100 W R88D-GN01L-ML2
200 W R88D-GN02L-ML2
400 W R88D-GN04L-ML2
50 W R88D-GN01H-ML2
100 W
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 R88D-GN20H-ML2
2 kW 3 kW
R88D-GN30H-ML2
3 kW
4 kW R88D-GN50H-ML2
4.5 kW
5 kW
6 kW R88D-GN75H-ML2
7.5 kW
2-1
Standard Models and Dimensions
2-1 Standard Models
Servomotors
2
3,000-r/min Servomotors
Model
Specifications
With incremental encoder
Straight shaft without key
Straight shaft with key and tap
With absolute encoder
Straight shaft without key
Straight shaft with key and tap
50 W R88M-G05030H
R88M-G05030H-S2 R88M-G05030T
R88M-G05030T-S2
100 V 100 W R88M-G10030L 200 W R88M-G20030L
R88M-G10030L-S2 R88M-G20030L-S2
R88M-G10030S R88M-G20030S
R88M-G10030S-S2 R88M-G20030S-S2
400 W R88M-G40030L
R88M-G40030L-S2 R88M-G40030S
R88M-G40030S-S2
50 W R88M-G05030H
R88M-G05300H-S2 R88M-G05030T
R88M-G05030T-S2
100 W R88M-G10030H
R88M-G10030H-S2 R88M-G10030T
R88M-G10030T-S2
Without brake
200 W R88M-G20030H 400 W R88M-G40030H 750 W R88M-G75030H
R88M-G20030H-S2 R88M-G40030H-S2 R88M-G75030H-S2
R88M-G20030T R88M-G40030T R88M-G75030T
R88M-G20030T-S2 R88M-G40030T-S2 R88M-G75030T-S2
200 V 1 kW
—
—
R88M-G1K030T
R88M-G1K030T-S2
1.5kW
—
—
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-G05030H-B
R88M-G05030H-BS2 R88M-G05030T-B
R88M-G05030T-BS2
100 W R88M-G10030L-B 100 V
200 W R88M-G20030L-B
R88M-G10030L-BS2 R88M-G10030S-B R88M-G20030L-BS2 R88M-G20030S-B
R88M-G10030S-BS2 R88M-G20030S-BS2
400 W R88M-G40030L-B
R88M-G40030L-BS2 R88M-G40030S-B
R88M-G40030S-BS2
50 W R88M-G05030H-B
R88M-G05030H-BS2 R88M-G05030T-B
R88M-G05030T-BS2
100 W R88M-G10030H-B
R88M-G10030H-BS2 R88M-G10030T-B
R88M-G10030T-BS2
With brake
200 W R88M-G20030H-B 400 W R88M-G40030H-B 750 W R88M-G75030H-B
R88M-G20030H-BS2 R88M-G40030H-BS2 R88M-G75030H-BS2
R88M-G20030T-B R88M-G40030T-B R88M-G75030T-B
R88M-G20030T-BS2 R88M-G40030T-BS2 R88M-G75030T-BS2
200 V 1 kW
—
—
R88M-G1K030T-B R88M-G1K030T-BS2
1.5kW
—
—
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.
2-2
Standard Models and Dimensions
2-1 Standard Models
3,000-r/min Flat Servomotors
Model
Specifications
With incremental encoder
With absolute encoder
2
Straight shaft without key
Straight shaft with key and tap
Straight shaft without key
Straight shaft with key and tap
100 W R88M-GP10030L
R88M-GP10030L-S2 R88M-GP10030S
R88M-GP10030S-S2
100 V 200 W R88M-GP20030L
Without brake
400 W R88M-GP40030L 100 W R88M-GP10030H
200 V 200 W R88M-GP20030H
R88M-GP20030L-S2 R88M-GP40030L-S2 R88M-GP10030H-S2 R88M-GP20030H-S2
R88M-GP20030S R88M-GP40030S R88M-GP10030T R88M-GP20030T
R88M-GP20030S-S2 R88M-GP40030S-S2 R88M-GP10030T-S2 R88M-GP20030T-S2
400 W R88M-GP40030H
R88M-GP40030H-S2 R88M-GP40030T
R88M-GP40030T-S2
100 W R88M-GP10030L-B R88M-GP10030L-BS2 R88M-GP10030S-B R88M-GP10030S-BS2
100 V 200 W R88M-GP20030L-B R88M-GP20030L-BS2 R88M-GP20030S-B R88M-GP20030S- BS2
With
400 W R88M-GP40030L-B R88M-GP40030L-BS2 R88M-GP40030S-B R88M-GP40030S-BS2
brake
100 W R88M-GP10030H-B R88M-GP10030H-BS2 R88M-GP10030T-B R88M-GP10030T-BS2
200 V 200 W R88M-GP20030H-B R88M-GP20030H-BS2 R88M-GP20030T-B R88M-GP20030T- BS2
400 W R88M-GP40030H-B R88M-GP40030H-BS2 R88M-GP40030T-B R88M-GP40030T-BS2
Note Models with oil seals are also available.
2,000-r/min Servomotors
Model
Specifications
With absolute encoder
Straight shaft without key
Straight shaft with key and tap
1 kW R88M-G1K020T
R88M-G1K020T-S2
1.5 kW R88M-G1K520T
R88M-G1K520T-S2
With-
2 kW R88M-G2K020T
out 200 V 3 kW R88M-G3K020T
brake
4 kW R88M-G4K020T
R88M-G2K020T-S2 R88M-G3K020T-S2 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
With brake
200
V
3 kW
R88M-G3K020T-B
4 kW R88M-G4K020T-B
R88M-G2K020T-BS2 R88M-G3K020T-BS2 R88M-G4K020T-BS2
5 kW R88M-G5K020T-B
R88M-G5K020T-BS2
7.5 kW R88M-G7K515T-B
R88M-G7K515T-BS2
Note1. Models with oil seals are also available.
Note2. The rated rotation speed for 7.5-kW Servomotors is 1,500 r/min.
Note3. R88M-G7K515@ has been discontinued.
2-3
1,000-r/min Servomotors
Model
Specifications
With absolute encoder
Straight shaft without key
Straight shaft with key and tap
900 W R88M-G90010T
R88M-G90010T-S2
With-
2 kW R88M-G2K010T
out 200 V 3 kW R88M-G3K010T
brake
4.5 kW R88M-G4K510T
R88M-G2K010T-S2 R88M-G3K010T-S2 R88M-G4K510T-S2
6 kW R88M-G6K010T
R88M-G6K010T-S2
900 W R88M-G90010T-B
R88M-G90010T-BS2
2 kW R88M-G2K010T-B
With brake
200
V
3 kW
R88M-G3K010T-B
4.5 kW R88M-G4K510T-B
R88M-G2K010T-BS2 R88M-G3K010T-BS2 R88M-G4K510T-BS2
6 kW R88M-G6K010T-B
R88M-G6K010T-BS2
Note1. Models with oil seals are also available.
Note2. R88M-G6K010@ has been discontinued.
2-1 Standard Models
2
Standard Models and Dimensions
2-4
Standard Models and Dimensions
2-1 Standard Models
Servo Drive-Servomotor Combinations
2
The tables in this section show the possible combinations of OMNUC G-Series Servo Drives and
Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations.
The box (-@) at the end of the model number is for options, such as the shaft type, brake and
Decelerators.
3,000-r/min Servomotors and Servo Drives
Servomotor
Voltage
Rated output
With incremental encoder
With absolute encoder
Servo Drive
50 W R88M-G05030H-@
R88M-G05030T-@
R88D-GNA5L-ML2
100 V
100 W R88M-G10030L-@ 200 W R88M-G20030L-@
R88M-G10030S-@ R88M-G20030S-@
R88D-GN01L-ML2 R88D-GN02L-ML2
400 W R88M-G40030L-@ 50 W R88M-G05030H-@
R88M-G40030S-@ R88M-G05030T-@
R88D-GN04L-ML2 R88D-GN01H-ML2 *1
Single-
100 W R88M-G10030H-@
R88M-G10030T-@
R88D-GN01H-ML2
phase 200 V 200 W R88M-G20030H-@
R88M-G20030T-@
R88D-GN02H-ML2
400 W R88M-G40030H-@
R88M-G40030T-@
R88D-GN04H-ML2
Single-
750 W R88M-G75030H-@
phase/three- 1 kW
—
R88M-G75030T-@ R88M-G1K030T-@
R88D-GN08H-ML2 R88D-GN15H-ML2 *1
phase 200 V 1.5 kW
—
R88M-G1K530T-@
R88D-GN15H-ML2
2 kW
—
R88M-G2K030T-@
R88D-GN20H-ML2
Three-phase 3 kW
200 V
4 kW
—
R88M-G3K030T-@
R88D-GN30H-ML2
—
R88M-G4K030T-@
R88D-GN50H-ML2 *1
5 kW
—
R88M-G5K030T-@
R88D-GN50H-ML2
*1. Please note that the capacity of Servo Drive and Servomotor are not same in this combination.
3,000-r/min Flat Servomotors and Servo Drives
Voltage
100 V
Singlephase 200 V
Rated output 100 W 200 W 400 W 100 W 200 W 400 W
Servomotor
With incremental encoder
R88M-GP10030L-@ R88M-GP20030L-@ R88M-GP40030L-@ R88M-GP10030H-@ R88M-
GP20030H-@ R88M-GP40030H-@
With absolute encoder
R88M-GP10030S-@ R88M-GP20030S-@ R88M-GP40030S-@ R88M-GP10030T-@ R88M-
GP20030T-@ R88M-GP40030T-@
Servo Drive
R88D-GN01L-ML2 R88D-GN02L-ML2 R88D-GN04L-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2
R88D-GN04H-ML2
2-5
Standard Models and Dimensions
2-1 Standard Models
2,000-r/min Servomotors and Servo Drives
Servomotor
Voltage Single-
Rated output 1 kW
With absolute encoder R88M-G1K020T-@
Servo Drive R88D-GN10H-ML2
2
phase/threephase 200 V
1.5 kW
R88M-G1K520T-@
R88D-GN15H-ML2
2 kW R88M-G2K020T-@
R88D-GN20H-ML2
Three-phase 200 V
3 kW 4 kW 5 kW
R88M-G3K020T-@ R88M-G4K020T-@ R88M-G5K020T-@
R88D-GN30H-ML2 R88D-GN50H-ML2 *1
R88D-GN50H-ML2
7.5 kW R88M-G7K515T-@
R88D-GN75H-ML2
*1. Please note that the capacity of Servo Drive and Servomotor are not same in this combination.
1,000-r/min Servomotors and Servo Drives
Servomotor
Voltage
Rated output
With absolute encoder
Servo Drive
Singlephase/three- 900 W R88M-G90010T-@
R88D-GN15H-ML2 *1
phase 200 V
Three-phase 200 V
2 kW 3 kW 4.5 kW 6 kW
R88M-G2K010T-@ R88M-G3K010T-@ R88M-G4K510T-@ R88M-G6K010T-@
R88D-GN30H-ML2 1 R88D-GN50H-ML2 1 R88D-GN50H-ML2 1 R88D-GN75H-ML2 1
*1. Please note that the capacity of Servo Drive and Servomotor are not same in this combination.
2-6
Standard Models and Dimensions
2-1 Standard Models
Decelerators
The following types of Decelerators are available for OMNUC G-Series Servomotors. Select a
2
Decelerator based on the Servomotor capacity.
Backlash = 3′ Max.
Decelerators for 3,000-r/min Servomotors
Specifications
Motor capacity
Gear ratio
1/5
1/9
50 W
1/21
1/33
1/45
1/5
1/11
100 W
1/21
1/33
1/45
1/5
1/11
200 W
1/21
1/33
1/45
1/5
1/11
400 W
1/21
1/33
1/45
1/5
1/11
750 W
1/21
1/33
1/45
Model
R88G-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@
2-7
Standard Models and Dimensions
2-1 Standard Models
Specifications
Motor capacity
Gear ratio
Model
1/5
R88G-HPG32A051K0B@
2
1/11
R88G-HPG32A111K0B@
1 kW
1/21
R88G-HPG32A211K0B@
1/33
R88G-HPG32A331K0B@
1/45
R88G-HPG50A451K0B@
1/5
R88G-HPG32A052K0B@
1/11
R88G-HPG32A112K0B@
1.5 kW
1/21
R88G-HPG32A211K5B@
1/33
R88G-HPG50A332K0B@
1/45
R88G-HPG50A451K5B@
1/5
R88G-HPG32A052K0B@
2 kW
1/11
R88G-HPG32A112K0B@
1/21
R88G-HPG50A212K0B@
1/33
R88G-HPG50A332K0B@
1/5
R88G-HPG32A053K0B@
3 kW
1/11
R88G-HPG50A113K0B@
1/21
R88G-HPG50A213K0B@
4 kW
1/5
R88G-HPG32A054K0B@
1/11
R88G-HPG50A115K0B@
5 kW
1/5
R88G-HPG50A055K0B@
1/11
R88G-HPG50A115K0B@
Note1. The standard models have a straight shaft.
Note2. Models with a key and tap are indicated with “J” at the end of the
model number (the suffix shown in the box). (Example: R88G-HPG11A05100BJ)
2-8
Standard Models and Dimensions
2-1 Standard Models
Decelerators for 2,000-r/min Servomotors
Specifications
2
Motor capacity
Gear ratio
Model
1/5
R88G-HPG32A053K0B@
1/11
R88G-HPG32A112K0SB@
1 kW
1/21
R88G-HPG32A211K0SB@
1/33
R88G-HPG50A332K0SB@
1/45
R88G-HPG50A451K0SB@
1/5
R88G-HPG32A053K0B@
1.5 kW
1/11
R88G-HPG32A112K0SB@
1/21
R88G-HPG50A213K0B@
1/33
R88G-HPG50A332K0SB@
1/5
R88G-HPG32A053K0B@
2 kW
1/11
R88G-HPG32A112K0SB@
1/21
R88G-HPG50A213K0B@
1/33
R88G-HPG50A332K0SB@
1/5
R88G-HPG32A054K0B@
3 kW
1/11
R88G-HPG50A115K0B@
1/21
R88G-HPG50A213K0SB@
1/25
R88G-HPG65A253K0SB@
1/5
R88G-HPG50A054K0SB@
4 kW
1/11
R88G-HPG50A114K0SB@
1/20
R88G-HPG65A204K0SB@
1/25
R88G-HPG65A254K0SB@
1/5
R88G-HPG50A055K0SB@
5 kW
1/11
R88G-HPG50A115K0SB@
1/20
R88G-HPG65A205K0SB@
1/25
R88G-HPG65A255K0SB@
7.5 kW
1/5
R88G-HPG65A057K5SB@
1/12
R88G-HPG65A127K5SB@
Note1. The standard models have a straight shaft.
Note2. Models with a key and tap are indicated with “J” at the end of the
model number (the suffix shown in the box). (Example: R88G-HPG32A053K0BJ)
2-9
Standard Models and Dimensions
2-1 Standard Models
Decelerators for 1,000-r/min Servomotors
Specifications
Motor capacity
Gear ratio
Model
2
1/5
R88G-HPG32A05900TB@
900 W
1/11
R88G-HPG32A11900TB@
1/21
R88G-HPG50A21900TB@
1/33
R88G-HPG50A33900TB@
1/5
R88G-HPG32A052K0TB@
2 kW
1/11
R88G-HPG50A112K0TB@
1/21
R88G-HPG50A212K0TB@
1/25
R88G-HPG65A255K0SB@
1/5
R88G-HPG50A055K0SB@
3 kW
1/11
R88G-HPG50A115K0SB@
1/20
R88G-HPG65A205K0SB@
1/25
R88G-HPG65A255K0SB@
1/5
R88G-HPG50A054K5TB@
4.5 kW
1/12
R88G-HPG65A127K5SB@
1/20
R88G-HPG65A204K5TB@
6 kW
1/5
R88G-HPG65A057K5SB@
1/12
R88G-HPG65A127K5SB@
Note1. The standard models have a straight shaft.
Note2. Models with a key and tap are indicated with “J” at the end of the
model number (the suffix shown in the box). (Example: R88G-HPG32A05900TBJ)
2-10
Standard Models and Dimensions
2-1 Standard Models
Decelerators for 3,000-r/min Flat Servomotors
Specifications
2
Motor capacity
Gear ratio
Model
1/5
R88G-HPG11B05100PB@
1/11 R88G-HPG14A11100PB@
100 W
1/21 R88G-HPG14A21100PB@
1/33 R88G-HPG20A33100PB@
1/45 R88G-HPG20A45100PB@
1/5
R88G-HPG14A05200PB@
1/11 R88G-HPG20A11200PB@
200 W
1/21 R88G-HPG20A21200PB@
1/33 R88G-HPG20A33200PB@
1/45 R88G-HPG20A45200PB@
1/5
R88G-HPG20A05400PB@
1/11 R88G-HPG20A11400PB@
400 W
1/21 R88G-HPG20A21400PB@
1/33 R88G-HPG32A33400PB@
1/45 R88G-HPG32A45400PB@
Note1. The standard models have a straight shaft.
Note2. Models with a key and tap are indicated with “J” at the end of the
model number (the suffix shown in the box). (Example: R88G-HPG11B05100PBJ)
2-11
Standard Models and Dimensions
2-1 Standard Models
Backlash = 15′ Max.
Decelerators for 3,000-r/min Servomotors
Specifications
2
Motor capacity
Gear ratio
Model
1/5
R88G-VRXF05B100CJ
50 W
1/9
R88G-VRXF09B100CJ
1/15 R88G-VRXF15B100CJ
1/25 R88G-VRXF25B100CJ
1/5
R88G-VRXF05B100CJ
100 W
1/9
R88G-VRXF09B100CJ
1/15 R88G-VRXF15B100CJ
1/25 R88G-VRXF25B100CJ
1/5
R88G-VRXF05B200CJ
200 W
1/9
R88G-VRXF09C200CJ
1/15 R88G-VRXF15C200CJ
1/25 R88G-VRXF25C200CJ
1/5
R88G-VRXF05C400CJ
400 W
1/9
R88G-VRXF09C400CJ
1/15 R88G-VRXF15C400CJ
1/25 R88G-VRXF25C400CJ
1/5
R88G-VRXF05C750CJ
750 W
1/9
R88G-VRXF09D750CJ
1/15 R88G-VRXF15D750CJ
1/25 R88G-VRXF25D750CJ
Note For new use of a 15 Arcminutes Max. model, we recommend the successor model VRXF Series.
2-12
Standard Models and Dimensions
2-1 Standard Models
Decelerators for 3,000-r/min Flat Servomotors
Specifications
2
Motor capacity
Gear ratio
Model
1/5
R88G-VRXF05B100PCJ
100 W
1/9
R88G-VRXF09B100PCJ
1/15 R88G-VRXF15B100PCJ
1/25 R88G-VRXF25B100PCJ
1/5
R88G-VRXF05B200PCJ
200 W
1/9
R88G-VRXF09C200PCJ
1/15 R88G-VRXF15C200PCJ
1/25 R88G-VRXF25C200PCJ
1/5
R88G-VRXF05C400PCJ
400 W
1/9
R88G-VRXF09C400PCJ
1/15 R88G-VRXF15C400PCJ
1/25 R88G-VRXF25C400PCJ
Note For new use of a 15 Arcminutes Max. model, we recommend the successor model VRXF Series.
2-13
Standard Models and Dimensions
2-1 Standard Models
Decelerators for 3,000-r/min Servomotors (Straight Shaft with Key)
Specifications
Motor capacity
Gear ratio
Model
2
1/5
R88G-VRSF05B100CJ
50 W
1/9
R88G-VRSF09B100CJ
1/15 R88G-VRSF15B100CJ
1/25 R88G-VRSF25B100CJ
1/5
R88G-VRSF05B100CJ
100 W
1/9
R88G-VRSF09B100CJ
1/15 R88G-VRSF15B100CJ
1/25 R88G-VRSF25B100CJ
1/5
R88G-VRSF05B200CJ
200 W
1/9
R88G-VRSF09C200CJ
1/15 R88G-VRSF15C200CJ
1/25 R88G-VRSF25C200CJ
1/5
R88G-VRSF05C400CJ
400 W
1/9
R88G-VRSF09C400CJ
1/15 R88G-VRSF15C400CJ
1/25 R88G-VRSF25C400CJ
1/5
R88G-VRSF05C750CJ
750 W
1/9
R88G-VRSF09D750CJ
1/15 R88G-VRSF15D750CJ
1/25 R88G-VRSF25D750CJ
Note For new use of a 15 Arcminutes Max. model, we recommend the successor model VRXF Series.
2-14
Standard Models and Dimensions
2-1 Standard Models
Decelerators for 3,000-r/min Flat Servomotors (Straight Shaft with Key)
Specifications
2
Motor capacity
Gear ratio
Model
1/5
R88G-VRSF05B100PCJ
100 W
1/9
R88G-VRSF09B100PCJ
1/15 R88G-VRSF15B100PCJ
1/25 R88G-VRSF25B100PCJ
1/5
R88G-VRSF05B200PCJ
200 W
1/9
R88G-VRSF09C200PCJ
1/15 R88G-VRSF15C200PCJ
1/25 R88G-VRSF25C200PCJ
1/5
R88G-VRSF05C400PCJ
400 W
1/9
R88G-VRSF09C400PCJ
1/15 R88G-VRSF15C400PCJ
1/25 R88G-VRSF25C400PCJ
Note For new use of a 15 Arcminutes Max. model, we recommend the successor model VRXF Series.
2-15
Standard Models and Dimensions
Accessories and Cables
Encoder Cables (Standard Cables)
Specifications
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
2-1 Standard Models
2
Model 3 m R88A-CRGA003C 5 m R88A-CRGA005C 10 m R88A-CRGA010C 15 m R88A-
CRGA015C 20 m R88A-CRGA020C 30 m R88A-CRGA030C 40 m R88A-CRGA040C 50 m R88A-
CRGA050C 3 m R88A-CRGB003C 5 m R88A-CRGB005C 10 m R88A-CRGB010C 15 m R88A-
CRGB015C 20 m R88A-CRGB020C 30 m R88A-CRGB030C 40 m R88A-CRGB040C 50 m R88A-
CRGB050C 3 m R88A-CRGC003N 5 m R88A-CRGC005N 10 m R88A-CRGC010N 15 m R88A-
CRGC015N 20 m R88A-CRGC020N 30 m R88A-CRGC030N 40 m R88A-CRGC040N 50 m R88A-
CRGC050N
2-16
Standard Models and Dimensions
2-1 Standard Models
Servomotor Power Cables (Standard Cables)
Model
2
Specifications
For Servomotor without For Servomotor with
brake
brake
3 m R88A-CAGA003S
—
5 m R88A-CAGA005S
—
10 m R88A-CAGA010S
—
3,000-r/min Servomotors of 50 to 750 W, 15 m R88A-CAGA015S
—
3,000-r/min Flat Servomotors of
100 to 400 W
20 m R88A-CAGA020S
—
30 m R88A-CAGA030S
—
40 m R88A-CAGA040S
—
50 m R88A-CAGA050S
—
3 m R88A-CAGB003S
R88A-CAGB003B
5 m R88A-CAGB005S
R88A-CAGB005B
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
10 m 15 m 20 m 30 m
R88A-CAGB010S R88A-CAGB015S R88A-CAGB020S R88A-CAGB030S
R88A-CAGB010B R88A-CAGB015B R88A-CAGB020B R88A-CAGB030B
40 m R88A-CAGB040S
R88A-CAGB040B
50 m R88A-CAGB050S
R88A-CAGB050B
3 m R88A-CAGC003S
R88A-CAGC003B
5 m R88A-CAGC005S
R88A-CAGC005B
10 m R88A-CAGC010S
R88A-CAGC010B
3,000-r/min Servomotors of 2 kW, 2,000-r/min Servomotors of 2 kW
15 m R88A-CAGC015S 20 m R88A-CAGC020S
R88A-CAGC015B R88A-CAGC020B
30 m R88A-CAGC030S
R88A-CAGC030B
40 m R88A-CAGC040S
R88A-CAGC040B
50 m R88A-CAGC050S
R88A-CAGC050B
3 m R88A-CAGD003S
R88A-CAGD003B
5 m R88A-CAGD005S
R88A-CAGD005B
3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 4.5 kW
10 m 15 m 20 m 30 m
R88A-CAGD010S R88A-CAGD015S R88A-CAGD020S R88A-CAGD030S
R88A-CAGD010B R88A-CAGD015B R88A-CAGD020B R88A-CAGD030B
40 m R88A-CAGD040S
R88A-CAGD040B
50 m R88A-CAGD050S
R88A-CAGD050B
2-17
2-1 Standard Models
Specifications
Model
For Servomotor without For Servomotor with
brake
brake
3 m R88A-CAGE003S
—
2
5 m R88A-CAGE005S
—
10 m R88A-CAGE010S
—
1,500-r/min Servomotors of 7.5 kW,
15 m R88A-CAGE015S
—
1,000-r/min Servomotors of 6 kW
20 m R88A-CAGE020S
—
30 m R88A-CAGE030S
—
40 m R88A-CAGE040S
—
50 m R88A-CAGE050S
—
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. Therefore, when a Servomotor with a brake is used, it will require both a Power Cable for a Servomotor without a brake and a Brake Cable.
Standard Models and Dimensions
2-18
Standard Models and Dimensions
2-1 Standard Models
Brake Cables (Standard Cables)
Specifications
2
3,000-r/min Servomotors of 50 to 750 W, 3,000-r/min Flat Servomotors of 100 to
400 W
1,500-r/min Servomotors of 7.5 kW, 1,000-r/min Servomotors of 6 kW
Model 3 m R88A-CAGA003B 5 m R88A-CAGA005B 10 m R88A-CAGA010B 15 m R88A- CAGA015B 20 m R88A-CAGA020B 30 m R88A-CAGA030B 40 m R88A-CAGA040B 50 m R88A- CAGA050B 3 m R88A-CAGE003B 5 m R88A-CAGE005B 10 m R88A-CAGE010B 15 m R88A- CAGE015B 20 m R88A-CAGE020B 30 m R88A-CAGE030B 40 m R88A-CAGE040B 50 m R88A- CAGE050B
2-19
Standard Models and Dimensions
Encoder Cables (Robot Cables)
Specifications
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
2-1 Standard Models
Model
3 m R88A-CRGA003CR
2
5 m R88A-CRGA005CR
10 m R88A-CRGA010CR
15 m R88A-CRGA015CR
20 m R88A-CRGA020CR
30 m R88A-CRGA030CR
40 m R88A-CRGA040CR
50 m R88A-CRGA050CR
3 m R88A-CRGB003CR
5 m R88A-CRGB005CR
10 m R88A-CRGB010CR
15 m R88A-CRGB015CR
20 m R88A-CRGB020CR
30 m R88A-CRGB030CR
40 m R88A-CRGB040CR
50 m R88A-CRGB050CR
3 m R88A-CRGC003NR
5 m R88A-CRGC005NR
10 m R88A-CRGC010NR
15 m R88A-CRGC015NR
20 m R88A-CRGC020NR
30 m R88A-CRGC030NR
40 m R88A-CRGC040NR
50 m R88A-CRGC050NR
2-20
Standard Models and Dimensions
2-1 Standard Models
Servomotor Power Cables (Robot Cables)
Model
2
Specifications
For Servomotor without For Servomotor with
brake
brake
3 m R88A-CAGA003SR
—
5 m R88A-CAGA005SR
—
10 m R88A-CAGA010SR
—
3,000-r/min Servomotors of 50 to 750 W, 15 m R88A-CAGA015SR
—
3,000-r/min Flat Servomotors of
100 to 400 W
20 m R88A-CAGA020SR
—
30 m R88A-CAGA030SR
—
40 m R88A-CAGA040SR
—
50 m R88A-CAGA050SR
—
3 m R88A-CAGB003SR
R88A-CAGB003BR
5 m R88A-CAGB005SR
R88A-CAGB005BR
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
10 m R88A-CAGB010SR 15 m R88A-CAGB015SR 20 m R88A-CAGB020SR 30 m R88A- CAGB030SR
R88A-CAGB010BR R88A-CAGB015BR R88A-CAGB020BR R88A-CAGB030BR
40 m R88A-CAGB040SR
R88A-CAGB040BR
50 m R88A-CAGB050SR
R88A-CAGB050BR
3 m R88A-CAGC003SR R88A-CAGC003BR
5 m R88A-CAGC005SR R88A-CAGC005BR
10 m R88A-CAGC010SR R88A-CAGC010BR
3,000-r/min Servomotors of 2 kW, 2,000-r/min Servomotors of 2 kW
15 m R88A-CAGC015SR 20 m R88A-CAGC020SR
R88A-CAGC015BR R88A-CAGC020BR
30 m R88A-CAGC030SR R88A-CAGC030BR
40 m R88A-CAGC040SR R88A-CAGC040BR
50 m R88A-CAGC050SR R88A-CAGC050BR
3 m R88A-CAGD003SR R88A-CAGD003BR
5 m R88A-CAGD005SR R88A-CAGD005BR
3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 4.5 kW
10 m R88A-CAGD010SR 15 m R88A-CAGD015SR 20 m R88A-CAGD020SR 30 m R88A- CAGD030SR
R88A-CAGD010BR R88A-CAGD015BR R88A-CAGD020BR R88A-CAGD030BR
40 m R88A-CAGD040SR R88A-CAGD040BR
50 m R88A-CAGD050SR R88A-CAGD050BR
Note There are separate connectors for power and brakes for 3,000-r/min Servomotors of 50 to 750 W and Flat Servomotors. Therefore, when a Servomotor with a brake is used, it will require a Power Cable for a Servomotor without a brake, as well as a Brake Cable.
2-21
Standard Models and Dimensions
2-1 Standard Models
Brake Cables (Robot Cables)
Specifications
3,000-r/min Servomotors of 50 to 750 W, 3,000-r/min Flat Servomotors of 100 to
400 W
Model
3 m R88A-CAGA003BR
2
5 m R88A-CAGA005BR
10 m R88A-CAGA010BR
15 m R88A-CAGA015BR
20 m R88A-CAGA020BR
30 m R88A-CAGA030BR
40 m R88A-CAGA040BR
50 m R88A-CAGA050BR
Communications Cable
Specifications RS-232 Communications Cable
Model 2 m R88A-CCG002P2
MECHATROLINK-II Communications Cable
Specifications
MECHATROLINK-II Cable
MECHATROLINK-II termination resistor
Model 0.5 m FNY-W6003-A5 1 m FNY-W6003-01 3 m FNY-W6003-03 5 m FNY-W6003-05 10
m FNY-W6003-10 20 m FNY-W6003-20 30 m FNY-W6003-30
FNY-W6022
Absolute Encoder Battery Cables
Specifications Absolute Encoder Battery Cable (battery not supplied) Absolute Encoder Battery Cable (R88A-BAT01G battery × 1 supplied)
0.3 m 0.3 m
Model R88A-CRGD0R3C R88A-CRGD0R3C-BS
Absolute Encoder Backup Battery
Specifications Absolute Encoder Backup Battery
Model R88A-BAT01G
2-22
Standard Models and Dimensions
2-1 Standard Models
Connectors
Specifications
2
Servomotor Connector for Encoder Absolute Encoder
Cable
Incremental Encoder
Control I/O Connector (CN1)
Encoder Connector (CN2)
Power Cable Connector (750 W max.)
Brake Cable Connector (750 W max.)
Model R88A-CNG01R R88A-CNG02R R88A-CNU01C R88A-CNW01R R88A-CNG01A R88A-CNG01B
Control Cables
Specifications Connector Terminal Block Cables
Connector Terminal Block
1 m 2 m M3 screw type M3.5 screw type M3 screw type
Model XW2Z-100J-B33 XW2Z-200J-B33 XW2B-20G4 XW2B-20G5 XW2D-20G6
External Regeneration Resistors
Specifications Regeneration capacity: 20 W, 50 (with 150°C thermal switch)
Regeneration capacity: 20 W, 100 (with 150°C thermal switch) Regeneration
capacity: 70 W, 47 (with 170°C thermal switch) Regeneration capacity: 180 W,
20 (with 200°C thermal switch)
Model R88A-RR08050S R88A-RR080100S R88A-RR22047S1 R88A-RR50020S
Reactors
Specifications R88D-GNA5L-ML2/-GN01H-ML2 R88D-GN01L-ML2/-GN02H-ML2 R88D-GN02L-
ML2/-GN04H-ML2 R88D-GN04L-ML2/-GN08H-ML2/-GN10H-ML2 R88D-GN15H-ML2 R88D-GN08H-
ML2/-GN10H-ML2/-GN15H-ML2 R88D-GN20H-ML2/-GN30H-ML2 R88D-GN50H-ML2 R88D-GN75H-
ML2
Model 3G3AX-DL2002 3G3AX-DL2004 3G3AX-DL2007 3G3AX-DL2015 3G3AX-DL2022 3G3AX- AL2025 3G3AX-AL2055 3G3AX-AL2110 3G3AX-AL2220
2-23
2-1 Standard Models
Mounting Brackets (L Brackets for Rack Mounting)
Specifications
Model
R88D-GNA5L-ML2/-GN01L-ML2/-GN01H-ML2/-GN02H-ML2
R88A-TK01G
2
R88D-GN02L-ML2/-GN04H-ML2
R88A-TK02G
R88D-GN04L-ML2/-GN08H-ML2
R88A-TK03G
R88D-GN10H-ML2/-GN15H-ML2
R88A-TK04G
Standard Models and Dimensions
2-24
Standard Models and Dimensions 78
150 150 140 5
2-2 External and Mounting Hole Dimensions
2-2 External and Mounting Hole
Dimensions
2
Servo Drives
Single-phase 100 VAC: R88D-GNA5L-ML2/-GN01L-ML2 (50 to 100 W) Single-phase 200 VAC: R88D-GN01H-ML2/-GN02H-ML2 (50 to 200 W)
Wall Mounting
External Dimensions
40
70
23 23
AC SERVO DRIVER 0 1 ADR 9 0 1
45 6
X10
X1
COM
SP IM
G
Mounting Hole Dimensions
132 4
Two, M4
6 28 40
2-25
78
150 170 180 170 ±0.5 (158)* 6
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
21 7
5.2 dia.
AC SERVO DRIVER 0 1 ADR 9 0 1
456
X10
X1
COM
SP IM
G
23 23
70
132
24 2.6
Mounting Dimensions (Reference Values)
2
4 8 Two, M4
Square hole
R2.6
5.2 7
2.6 (42)*
Note The dimensions of the square hole are reference values.
2-26
2-2 External and Mounting Hole Dimensions
Single-phase 100 VAC: R88D-GN02L-ML2 (200 W) Single-phase 200 VAC: R88D-GN04H- ML2 (400 W)
2
Wall Mounting
External Dimensions
55
70
132
AC SERVO DRIVER 0 1 ADR 9 0 1
23
X10
X1
COM
SP IM
G
Mounting Hole Dimensions
4 Two, M4
150 140 5
Standard Models and Dimensions 78 150
456 456
23 23
78
150 170 180
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
5.2 dia.
55 28
7
AC SERVO DRIVER 0 1 ADR 9 0 1
23
X10
X1
COM
SP IM
G
70
132
24 2.6
6 43 55
Mounting Dimensions (Reference Values)
4 8 Two, M4
Square hole
170 (158)* 6
R2.6
5.2 7
2.6 (57)*
Note The dimensions of the square hole are reference values.
2-27
2-2 External and Mounting Hole Dimensions
Single-phase 100 VAC: R88D-GN04L-ML2 (400 W) Single-phase 200/Three phase VAC: R88D-GN08H-ML2 (750 W)
Wall Mounting
External Dimensions
65
70
AC SERVO DRIVER 0 1 ADR 9 0 1
X10
X1
COM
SP IM
G
2
Mounting Hole Dimensions
172 4
Two, M4
150 140 5
Standard Models and Dimensions
78
150
456 456
23
23 23
23
78
150 170 180
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
65 40 5.2 dia. 20
AC SERVO DRIVER 0 1 ADR 9 0 1
X10
X1
COM
SP IM
G
70
172
22
2.6
7.5
50
65
Mounting Dimensions (Reference Values)
4 21 Two, M4
Square hole
170 (158)* 6
R2.6 5.2
20 40
2.6 (67)*
Note The dimensions of the square hole are reference values.
2-28
2-2 External and Mounting Hole Dimensions
Single-phase/Three-phase 200 VAC: R88D-GN10H-ML2/-GN15H-ML2 (900 W to 1.5 kW)
2
Wall Mounting
External Dimensions
85
70
AC SERVO DRIVER 0 1 ADR 9 0 1
X10
X1
COM
SP IM
G
Mounting Hole Dimensions
172 4 Two, M4
150 140 5
Standard Models and Dimensions 78 150
456 456
23 23
23 23
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
10 5.2 dia.
85
60
40 5.2 dia.
AC SERVO DRIVER 0 1 ADR 9 0 1
X10
X1
COM
SP IM
G
70
172
22 2.6
7.5
70
(85)
Mounting Dimensions (Reference Values)
4 Four, M4
Square hole
78
150 170 180
170 (158)* 6
R2.6
R2.6
2.6
5.2
5.2
10
40
11
40
(87)*
Note The dimensions of the square hole are reference values.
2-29
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Three-phase 200 VAC: R88D-GN20H-ML2 (2 kW)
Wall Mounting
External Dimensions
85
17.5
50
70
200
R2.6
42.5
5.2 5.2 dia.
5.2 R2.6
23 23
AC SERVO DRIVER 0 1 ADR 9 0 1
456
X10
X1
COM
SP IM
G
2
3.5
78
168 188 198
R2.6
5.2 dia.
R2.6
3.5
5.2
5.2
42.5
17.5
50
Mounting Hole Dimensions
Four, M4
168 188±0.5
17.5
50
85
2-30
2-2 External and Mounting Hole Dimensions
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
2
85
17.5
50
70
200
42.5
32.1
5.2
5.2
R2.6
5.2 dia.
R2.6
2.6
23 23
AC SERVO DRIVER
ADR
01
9 01
456
X10
X1
COM
SP IM
G
Standard Models and Dimensions 78 168 188 198
R2.6 5.2
17.5
5.2 dia.
42.5 50
R2.6 5.2
Mounting Dimensions (Reference Values)
Four, M4
188
(176)*
Square hole
6
20.5
50
(89)*
Note The dimensions of the square hole are reference values.
2-31
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Three-phase 200 VAC: R88D-GN30H-ML2/-GN50H-ML2 (2 to 5 kW)
Wall Mounting
2
External Dimensions
130
15
100
70
200
3.5
65
5.2
5.2
R2.6
5.2 dia.
R2.6
23 23
AC SERVO DRIVER 0 1 ADR 9 0 1
456
X10
X1
COM
SP IM
G
78
220 240 250
R2.6
5.2 dia.
R2.6
5.2
5.2
3.5
65
15
100
Mounting Hole Dimensions
50
Six, M4
220 240
15
100
130
2-32
2-2 External and Mounting Hole Dimensions
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
2
130
15
100
65
5.2
5.2
R2.6
5.2 dia.
R2.6
70
200
32.3 2.6
23 23
AC SERVO DRIVER 0 1 ADR 9 0 1
456
X10
X1
COM
SP IM
G
Standard Models and Dimensions 78 220 240 250
R2.6
5.2 dia.
5.2
5.2
65
15
100
R2.6
Mounting Dimensions (Reference Values)
50
Six, M4
240
(228)*
Square hole
6
16
100
(132)*
Note The dimensions of the square hole are reference values.
2-33
(4)
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Three-phase 200 VAC: R88D-GN75H-ML2 (7.5 kW)
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
37.5
90
82.5
5.2
248 90
90 5.2
L1 L2 L3 B1 B2
U VM W
5.2
23 23
AC SERVO DRIVER
ADR
01
901
4 56
X10
X1
COM
SP IM
G
70 45.1
(2.3)
5.2
5.2
5.2
Four, 5.2 dia.
339.3
2
(4)
78
220 235 250 85
4.5
(226)*
Mounting Dimensions (Reference Values)
Six, M4
235
Square hole
38.5
90
90
(250)*
Note The dimensions of the square hole are reference values.
2-34
4.5
Standard Models and Dimensions 230 200 8 dia., h: 6 30 dia., h: 7 32 3
1.8
2-2 External and Mounting Hole Dimensions
Servomotors
2
3,000-r/min Servomotors
50 W/100 W
R88M-G05030H(-S2)/-G10030L(-S2)/-G10030H(-S2)/-G05030H-B(S2)
/-G10030L-B(S2)/-G10030H-B(S2) INC R88M-
G05030T(-S2)/-G10030S(-S2)/-G10030T(-S2)/-G05030T-B(S2)
/-G10030S-B(S2)/-G10030T-B(S2) ABS
Encoder connector
Brake connector Motor connector
LL
25
6
3
40 × 40
LN 46 dia.
Two, 4.3 dia.
(Dimensions of shaft end with key and tap)
14
12.5
Three, h: 9
M3 (depth: 6)
Model
R88M-G05030@ R88M-G10030@ R88M-G05030@-B@ R88M-G10030@-B@
Dimensions (mm)
LL
LN
72
26.5
92
46.5
102
26.5
122
46.5
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
2-35
220 200 S dia., h: 6 D2 dia., h: 7 KL1 h t1
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
3,000-r/min Servomotors
200 W/400 W/750 W
R88M-G20030L(-S2)/-G40030L(-S2)/-G20030H(-S2)/-G40030H(-S2)
2
/-G75030H(-S2)/-G20030L-B(S2)/-G40030L-B(S2)
/-G20030H-B(S2)/-G40030H-B(S2)/-G75030H-B(S2) INC
R88M-G20030S(-S2)/-G40030S(-S2)/-G20030T(-S2)/-G40030T(-S2)
/-G75030T(-S2)/-G20030S-B(S2)/-G40030S-B(S2)
/-G20030T-B(S2)/-G40030T-B(S2)/-G75030T-B(S2) ABS
Brake connector
Encoder connector
Motor connector
LL
LR
G
3
Four, Z dia.
C × C
D1 dia.
(Dimensions of shaft end with key and tap)
QK b
M (effective depth: L)
Model
R88M-G20030@ R88M-G40030@ R88M-G75030@ R88M-G20030@-B@ R88M-G40030@-B@
R88M-G75030@-B@
Dimensions (mm)
LL LR S D1 D2 C G KL1 Z QK b h M t1 L
79.5
11
18 4h9 4 M4 2.5 8
30
70 50 60 6.5 43 4.5
99
14
22.5 5h9 5
3
M5
10
112.2 35 19 90 70 80 8 53 6 22 6h9 6
3.5
116
11
18 4h9 4 M4 2.5 8
30
70 50 60 6.5 43 4.5
135.5 14
22.5 5h9 5
3
M5
10
149.2 35 19 90 70 80 8 53 6 22 6h9 6
3.5
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
2-36
Standard Models and Dimensions 84 19 dia., h: 6 D2 dia., h: 7 KL1 6 3.5
2-2 External and Mounting Hole Dimensions
3,000-r/min Servomotors
1 kW/1.5 kW/2 kW
2
R88M-G1K030T(-S2)/-G1K530T(-S2)/-G2K030T(-S2)/-G1K030T-B(S2)
/-G1K530T-B(S2)/-G2K030T-B(S2) ABS
Servomotor canon plug
Encoder canon plug
LL
55
G3
C × C
(Dimensions of shaft end with key and tap)
Four, Z dia.
45
42
Six, h: 9
D3 dia.
D1 dia.
M5 (depth: 12)
Model
R88M-G1K030@ R88M-G1K530@ R88M-G2K030@ R88M-G1K030@-B@ R88M-G1K530@-B@ R88M-
G2K030@-B@
Dimensions (mm) LL D1 D2 C D3 G KL1 Z 175 100 80 90 120 7 98 6.6 180
115 95 100 135 10 103 9 205 200 100 80 90 120 7 98 6.6 205
115 95 100 135 10 103 9 230
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
3,000-r/min Servomotors
3 kW R88M-G3K030T(-S2)/-G3K030T-B(S2) ABS
Servomotor/brake
connector
LL
55
Encoder
connector
12 3
120×120 9
(Dimensions of the shaft end with key and tap)
45
41
Eight, h: 9
84 22 dia., h: 6
110 dia., h: 7 111
130 dia. 7
4
162 dia.
145 dia.
M5 (depth: 12)
Model
R88M-G3K030@ R88M-G3K030@-B@
Dimensions (mm) LL 217 242
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
2-37
84 24 dia., h: 6
110 dia., h: 7 118
7 4
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
3,000-r/min Servomotors
4 kW/5 kW
R88M-G4K030T(-S2)/-G5K030T(-S2)/-G4K030T-B(S2)/-G5K030T-B(S2) ABS
2
Servomotor/brake
connector
LL
65
Encoder
connector
12 6
130×130 165 dia.
Four, 9 dia.
(Dimensions of shaft end with key and tap)
55
51
Eight, h: 9
145 dia.
M8 (depth: 20)
Model
R88M-G4K030@ R88M-G5K030@ R88M-G4K030@-B@ R88M-G5K030@-B@
Dimensions (mm) LL 240 280 265 305
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
2-38
2-2 External and Mounting Hole Dimensions
Standard Models and Dimensions 220 200 S dia., h: 6 D2 dia., h: 7
KL1 h
t1
3,000-r/min Flat Servomotors
100 W/200 W/400 W
2
R88M-GP10030L(-S2)/-GP20030L(-S2)/-GP40030L(-S2)/-GP10030H(-S2) /-GP20030H(-S2)/-GP40030H(-S2)/-GP10030L-B(S2)/-GP20030L-B(S2)
/-GP40030L-B(S2)/-GP10030H-B(S2)/-GP20030H-B(S2)/-GP40030H-B(S2) INC
R88M-GP10030S(-S2)/-GP20030S(-S2)/-GP40030S(-S2)/-GP10030T(-S2)
/-GP20030T(-S2)/-GP40030T(-S2)/-GP10030S-B(S2)/-GP20030S-B(S2)
/-GP40030S-B(S2)/-GP10030T-B(S2)/-GP20030T-B(S2)/-GP40030T-B(S2) ABS
Encoder connector
LL
Motor connector LR Brake connector
(7)
(7)
GF
Four, Z dia.
C × C D1 dia.
(Dimensions of shaft end with key and tap)
QK b
M (depth: L)
Model
R88M-GP10030L R88M-GP10030H R88M-GP10030S R88M-GP10030T R88M-GP20030L R88M-
GP20030H R88M-GP20030S R88M-GP20030T R88M-GP40030L R88M-GP40030H R88M-GP40030S
R88M-GP40030T R88M-GP10030L-B@ R88M-GP10030H-B@ R88M-GP10030S-B@ R88M-
GP10030T-B@ R88M-GP20030L-B@ R88M-GP20030H-B@ R88M-GP20030S-B@ R88M-
GP20030T-B@ R88M-GP40030L-B@ R88M-GP40030H-B@ R88M-GP40030S-B@ R88M-
GP40030T-B@
Dimensions (mm) LL LR S D1 D2 C F G KL1 Z QK b h t1 M L
60.5 25 8 70 50 60 3 7 43 4.5 12.5 3h9 3 1.8 M3 6
87.5
67.5
11
94.5
30
90 70 80 5
82.5
14
109.5
18 4h9 4 2.5 M4 8 8 53 5.5
22.5 5h9 5 3 M5 10
84.5 25 8 70 50 60 3 7 43 4.5 12.5 3h9 3 1.8 M3 6
111.5
100
11
127
30
90 70 80 5
115
14
142
18 4h9 4 2.5 M4 8 8 53 5.5
22.5 5h9 5 3 M5 10
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
2-39
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
2,000-r/min Servomotors
1 kW/1.5 kW
R88M-G1K020T(-S2)/-G1K520T(-S2)/-G1K020T-B(S2)/-G1K520T-B(S2) ABS
2
Servomotor/brake
connector Encoder
LL
55
connector
12 6
130 × 130
Four, 9 dia.
(Dimensions of shaft end with key and tap)
45
41
Eight, h: 9
4
84 22 dia., h: 6
110 dia., h: 7 118
7
165 dia.
145 dia.
M5 (depth: 12)
Model
R88M-G1K020@ R88M-G1K520@ R88M-G1K020@-B@ R88M-G1K520@-B@
Dimensions (mm) LL 150
175
200
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
2,000-r/min Servomotors
2 kW/3 kW R88M-G2K020T(-S2)/-G3K020T(-S2)/-G2K020T-B(S2)/-G3K020T-B(S2) ABS
Servomotor/brake
connector
LL
Encoder
connector
LR 12 6
130 × 130
(Dimensions of shaft end with key and tap)
LW
Four, 9 dia.
QK
Eight, h: 9
4
84 S dia., h: 6
110 dia., h: 7 118
7
165 dia.
145 dia.
M (depth: L)
Model
R88M-G2K020@ R88M-G3K020@ R88M-G2K020@-B@ R88M-G3K020@-B@
Dimensions (mm) LL LR S LW QK M L 200 55 22 45 41 M5 12 250 65 24 55 51 M8 20 225 55 22 45 41 M5 12 275 65 24 55 51 M8 20
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
2-40
Standard Models and Dimensions 84 S dia., h: 6 D2 dia., h: 7 KL1 h t1
2-2 External and Mounting Hole Dimensions
2,000-r/min Servomotors
4 kW/5 kW
2
R88M-G4K020T(-S2)/-G5K020T(-S2)/-G4K020T-B(S2)/-G5K020T-B(S2) ABS
Servomotor/brake
connector
LL
Encoder
connector
LR 18 3.2
C × C
Four, Z dia.
(Dimensions of shaft end with key and tap)
QK b
D3 dia.
D1 dia.
M (depth: L)
Model
R88M-G4K020@ R88M-G5K020@ R88M-G4K020@-B@ R88M-G5K020@-B@
Dimensions (mm) LL LR S D1 D2 C D3 KL1 Z QK b h 242 65 28 165 130 150 190 128 11 51 8h9 7 225 70 35 200 114.3 176 233 143 13.5 50 10h9 8 267 65 28 165 130 150 190 128 11 51 8h9 7 250 70 35 200 114.3 176 233 143 13.5 50 10h9 8
t1 M L 4 M8 20 5 M12 25 4 M8 20 5 M12 25
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
2-41
84 42 dia., h: 6 114.3 dia., h: 7 183 8 5
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
1,500-r/min Servomotors
7.5 kW
R88M-G7K515T(-S2)/-G7K515T-B(S2) ABS
2
Brake connector
Motor connector
Eye-bolt Nominal diameter: 10
(Dimensions of shaft end with key and tap)
Encoder connector
LL
113
24 3.2
176 × 176 96 90
Four, 13.5 dia.
12, h: 9
233 dia.
200 dia.
M16 (depth:32)
Model
R88M-G7K515@ R88M-G7K515@-B@
Dimensions (mm) LL
340.5 380.5
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
2-42
Standard Models and Dimensions 84 S dia., h: 6 D2 dia., h: 7 KL1
2-2 External and Mounting Hole Dimensions
1,000-r/min Servomotors
900 W/2 kW
2
R88M-G90010T(-S2)/-G2K010T(-S2)/-G90010T-B(S2)/-G2K010T-B(S2) ABS
Encoder connector
Servomotor/brake connector
LL
LR
GF
C × C
(Dimensions of shaft end with key and tap)
Four, Z dia.
QK
b
8 h
5 t1
D3 dia.
D1 dia.
M (depth: L)
Model
R88M-G90010@ R88M-G2K010@ R88M-G90010@-B@ R88M-G2K010@-B@
Dimensions (mm) LL LR S D1 D2 C D3 F G KL1 Z QK b h 175 70 22 145 110 130 165 6 12 118 9 41 8h9 7 182 80 35 200 114.3 176 233 3.2 18 143 13.5 50 10h9 8 200 70 22 145 110 130 165 6 12 118 9 41 8h9 7 207 80 35 200 114.3 176 233 3.2 18 143 13.5 50 10h9 8
t1 M L 4 M5 12 5 M12 25 4 M5 12 5 M12 25
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
1,000-r/min Servomotors
3 kW R88M-G3K010T(-S2)/-G3K010T-B(S2) ABS
Servomotor/brake connector
Encoder connector
LL
80
18 3.2
(Dimensions of shaft end with key and tap)
176 × 176
50
Four, 13.5 dia.
10, h: 9
84
35 dia., h: 6 114.3 dia., h: 7
143
233 dia.
200 dia.
M12 (depth: 25)
Model
R88M-G3K010@ R88M-G3K010@-B@
Dimensions (mm) LL 222 271
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
2-43
8 8
5 5
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
1,000-r/min Servomotors
4.5 kW
R88M-G4K510T(-S2)/-G4K510T-B(S2) ABS
2
Servomotor/brake connector
Encoder connector
LL
Eye-bolt
Nominal diameter: 10
113 24 3.2
(Dimensions of shaft end with key and tap)
176 × 176
90
Four, 13.5 dia.
12, h: 9
84
42 dia., h: 6 114.3 dia., h: 7
143
233 dia. 200 dia.
M16 (depth: 32)
Model
R88M-G4K510@ R88M-G4K510@-B@
Dimensions (mm) LL
300.5 337.5
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
1,000-r/min Servomotors
6 kW R88M-G6K010T(-S2)/-G6K010T-B(S2) ABS
Motor connector
Encoder connector
Brake connector
Eye-bolt Nominal diameter: 10
176 × 176
Four, 13.5 dia.
(Dimensions of shaft end with key and tap)
96 90
12, h: 9
42 dia., h: 6 114.3 dia., h: 7
233 dia.
200 dia.
M16 (depth: 32)
Model
R88M-G6K010@ R88M-G6K010@-B@
Dimensions (mm) LL
340.5 380.5
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of the model number.
2-44
Standard Models and Dimensions (114) (15)
2-2 External and Mounting Hole Dimensions
Parameter Unit Dimensions
2
R88A-PR02G Hand-held Parameter Unit
(62)
(24)
M3 (depth: 5)
(15)
(1500)
Mini DIN 8-pin MD connector
2-45
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Servomotor and Decelerator Combinations
3,000-r/min Servomotors
2
1/11
Motor model
1/5
(1/9 for flange size
1/21
1/33
1/45
No.11)
R88MG05030@
R88GHPG11B05100B@ (Also used with R88M-G10030@)
R88GHPG11B09050B@ (Gear ratio 1/9)
R88GHPG14A21100B@ (Also used with R88M-G10030@)
R88GHPG14A33050B@
R88GHPG14A45050B@
R88M-
R88G-
R88G-
R88G-
R88G-
R88G-
G10030@ HPG11B05100B@ HPG14A11100B@ HPG14A21100B@ HPG20A33100B@ HPG20A45100B@
R88M-
R88G-
R88G-
R88G-
R88G-
R88G-
G20030@ HPG14A05200B@ HPG14A11200B@ HPG20A21200B@ HPG20A33200B@ HPG20A45200B@
R88M-
R88G-
R88G-
R88G-
R88G-
R88G-
G40030@ HPG14A05400B@ HPG20A11400B@ HPG20A21400B@ HPG32A33400B@ HPG32A45400B@
R88M-
R88G-
R88G-
R88G-
R88G-
R88G-
G75030@ HPG20A05750B@ HPG20A11750B@ HPG32A21750B@ HPG32A33750B@ HPG32A45750B@
R88M-
R88G-
R88G-
R88G-
R88G-
R88G-
G1K030T HPG32A051K0B@ HPG32A111K0B@ HPG32A211K0B@ HPG32A331K0B@ HPG50A451K0B@
R88MG1K530T
R88GHPG32A052K0B@ (Also used with R88M-G2K030T)
R88GHPG32A112K0B@ (Also used with R88M-G2K030T)
R88GHPG32A211K5B@
R88GHPG50A332K0B@ (Also used with R88M-G2K030T)
R88GHPG50A451K5B@
R88MG2K030T
R88GHPG32A052K0B@
R88GHPG32A112K0B@
R88GHPG50A212K0B@
R88GHPG50A332K0B@
—
R88MG3K030T
R88GHPG32A053K0B@
R88GHPG50A113K0B@
R88GHPG50A213K0B@
—
—
R88G-
R88MG4K030T
R88GHPG32A054K0B@
HPG50A115K0B@ (Also used with
—
—
—
R88M-G5K030T)
R88MG5K030T
R88GHPG50A055K0B@
R88GHPG50A115K0B@
—
—
—
2-46
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
3,000-r/min Flat Servomotors
Motor model
1/5
1/11
1/21
1/33
1/45
2
R88M-
R88G-
R88G-
R88G-
R88G-
R88G-
GP10030@ HPG11B05100PB@ HPG14A11100PB@ HPG14A21100PB@ HPG20A33100PB@ HPG20A45100PB@
R88M-
R88G-
R88G-
R88G-
R88G-
R88G-
GP20030@ HPG14A05200PB@ HPG20A11200PB@ HPG20A21200PB@ HPG20A33200PB@ HPG20A45200PB@
R88M-
R88G-
R88G-
R88G-
R88G-
R88G-
GP40030@ HPG20A05400PB@ HPG20A11400PB@ HPG20A21400PB@ HPG32A33400PB@ HPG32A45400PB@
2,000-r/min Servomotors
Motor model
1/5
R88MG1K020T
R88MG1K520T
R88MG2K020T
R88MG3K020T
R88G-
HPG32A053K0B@
(Also used with R88M-G3K030T)
R88G-
HPG32A053K0B@
(Also used with R88M-G3K030T)
R88G-
HPG32A053K0B@
(Also used with R88M-G3K030T)
R88G-
HPG32A054K0B@
(Also used with R88M-G4K030T)
1/11
1/21
1/33
(1/12 for flange size (1/20 for flange size (1/25 for flange size
1/45
No.65)
No.65)
No.65)
R88G-
R88G-
HPG32A112K0SB@ R88G-
HPG50A332K0SB@ R88G-
(Also used with
HPG32A211K0SB@ (Also used with
HPG50A451K0SB@
R88M-G2K020T)
R88M-G2K020T)
R88G-
R88G-
HPG32A112K0SB@ HPG50A213K0B@
(Also used with
(Also used with
R88M-G2K020T) R88M-G3K030T)
R88G-
HPG50A332K0SB@
(Also used with
—
R88M-G2K020T)
R88G-
R88G-
HPG50A213K0B@
HPG32A112K0SB@ (Also used with
R88M-G3K030T)
R88G-
HPG50A332K0SB@
—
R88G-
HPG50A115K0B@
(Also used with R88M-G5K030T)
R88G-
HPG50A213K0SB@
R88G-
HPG65A253K0SB@
—
R88MG4K020T
R88G-
HPG50A054K0SB@
R88G-
HPG50A114K0SB@
R88G-
HPG65A204K0SB@
R88G-
HPG65A254K0SB@
—
R88MG5K020T
R88G-
HPG50A055K0SB@
R88G-
HPG50A115K0SB@
R88G-
HPG65A205K0SB@
R88G-
HPG65A255K0SB@
—
R88MG7K515T
R88G-
HPG65A057K5SB@
R88G-
HPG65A127K5SB@
—
—
—
2-47
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
1,000-r/min Servomotors
1/11
1/21
1/33
Motor model
1/5
(1/12 for flange size (1/20 for flange size (1/25 for flange size
No.65)
No.65)
No.65)
2
R88M-
R88G-
R88G-
R88G-
R88G-
G90010T HPG32A05900TB@ HPG32A11900TB@ HPG50A21900TB@ HPG50A33900TB@
R88MG2K010T
R88G-
R88G-
HPG32A052K0TB@ HPG50A112K0TB@
R88GHPG50A212K0TB@
R88GHPG65A255K0SB@ (Also used with R88MG5K020T)
R88MG3K010T
R88G-
R88G-
R88G-
R88G-
HPG50A055K0SB@ HPG50A115K0SB@ HPG65A205K0SB@ HPG65A255K0SB@
(Also used with R88M- (Also used with R88M- (Also used with R88M- (Also used with R88M-
G5K020T)
G5K020T)
G5K020T)
G5K020T)
R88MG4K510T
R88G-
R88GHPG50A054K5TB@
HPG65A127K5SB@ R88G(Also used with R88M- HPG65A204K5TB@
—
G7K515T)
R88G-
R88G-
R88MG6K010T
HPG65A057K5SB@ (Also used with R88M-
HPG65A127K5SB@ (Also used with R88M-
—
—
G7K515T)
G7K515T)
2-48
2-2 External and Mounting Hole Dimensions
Standard Models and Dimensions
Decelerator Dimensions
2
Backlash = 3′ Max.
Decelerators for 3,000-r/min Servomotors
Model
1/5 R88G-HPG11B05100B@ 1/9 R88G-HPG11B09050B@ 50 W 1/21 R88G-HPG14A21100B@
1/33 R88G-HPG14A33050B@ 1/45 R88G-HPG14A45050B@ 1/5 R88G-HPG11B05100B@ 1/11
R88G-HPG14A11100B@ 100 W 1/21 R88G-HPG14A21100B@ 1/33 R88G-HPG20A33100B@ 1/45
R88G-HPG20A45100B@ 1/5 R88G-HPG14A05200B@ 1/11 R88G-HPG14A11200B@ 200 W 1/21
R88G-HPG20A21200B@ 1/33 R88G-HPG20A33200B@ 1/45 R88G-HPG20A45200B@
Dimensions (mm) LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 39.5 42 40 40×40 46 46 40.0 39.5 29 27 2.2 15 39.5 42 40 40×40 46 46 40.0 39.5 29 27 2.2 15 64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 39.5 42 40 40×40 46 46 40.0 39.5 29 27 2.2 15 64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 66.5 80 90 55 dia. 105 46 85.0 84.0 59 53 7.5 27 66.5 80 90 55 dia. 105 46 85.0 84.0 59 53 7.5 27 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27
Model
1/5 R88G-HPG11B05100B@ 1/9 R88G-HPG11B09050B@ 50 W 1/21 R88G-HPG14A21100B@
1/33 R88G-HPG14A33050B@ 1/45 R88G-HPG14A45050B@ 1/5 R88G-HPG11B05100B@ 1/11
R88G-HPG14A11100B@ 100 W 1/21 R88G-HPG14A21100B@ 1/33 R88G-HPG20A33100B@ 1/45
R88G-HPG20A45100B@ 1/5 R88G-HPG14A05200B@ 1/11 R88G-HPG14A11200B@ 200 W 1/21
R88G-HPG20A21200B@ 1/33 R88G-HPG20A33200B@ 1/45 R88G-HPG20A45200B@
Dimensions (mm)
G
S
T Z1
Z2 AT*1
Key dimensions
Tap dimensions
QK b h t1 M L
5 8 20 3.4 M4×9 M3 15 3 3 1.8 M3 6
5 8 20 3.4 M4×9 M3 15 3 3 1.8 M3 6
8 16 28 5.5 M4×10 M3 25 5 5 3 M4 8
8 16 28 5.5 M4×10 M3 25 5 5 3 M4 8
8 16 28 5.5 M4×10 M3 25 5 5 3 M4 8
5 8 20 3.4 M4×9 M3 15 3 3 1.8 M3 6
8 16 28 5.5 M4×10 M3 25 5 5 3 M4 8
8 16 28 5.5 M4×10 M3 25 5 5 3 M4 8
10 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12
10 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12
8 16 28 5.5 M4×10 M4 25 5 5 3 M4 8
8 16 28 5.5 M4×10 M4 25 5 5 3 M4 8
10 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12
10 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12
10 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12
Note1. The standard models have a straight shaft.
Note2. Models with a key and tap are indicated with “J” at the end of the model number (the suffix shown in the box). (Example: R88G-HPG11B05100BJ)
Note3. Applicable for the servomotors with key, if the key is removed.
2-49
h t1
D3 dia., h: 7 D4 dia. D5 dia.
S dia., h: 7
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Model
LM LR C1
Dimensions (mm) C2 D1 D2 D3 D4 D5 E F1 F2
1/5 R88G-HPG14A05400B@ 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21
1/11 R88G-HPG20A11400B@ 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27
400 W 1/21 R88G-HPG20A21400B@ 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27
2
1/33 R88G-HPG32A33400B@ 104.0 133 120 122 dia. 135 70 115.0 114.0 84 98 12.5 35
1/45 R88G-HPG32A45400B@ 104.0 133 120 122 dia. 135 70 115.0 114.0 84 98 12.5 35
1/5 R88G-HPG20A05750B@ 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
1/11 R88G-HPG20A11750B@ 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
750 W 1/21 R88G-HPG32A21750B@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35
1/33 R88G-HPG32A33750B@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35
1/45 R88G-HPG32A45750B@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35
Model
1/5 R88G-HPG14A05400B@ 1/11 R88G-HPG20A11400B@ 400 W 1/21 R88G-HPG20A21400B@
1/33 R88G-HPG32A33400B@ 1/45 R88G-HPG32A45400B@ 1/5 R88G-HPG20A05750B@ 1/11
R88G-HPG20A11750B@ 750 W 1/21 R88G-HPG32A21750B@ 1/33 R88G-HPG32A33750B@ 1/45
R88G-HPG32A45750B@ *1. This is the set bolt.
Dimensions (mm)
G
S
T Z1
Z2 AT*1
Key dimensions
Tap dimensions
QK b h t1 M L
8 16 28 5.5 M4×10 M4 25 5 5 3 M4 8
10 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12
10 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12
13 40 82 11.0 M4×10 M4 70 12 8 5.0 M10 20
13 40 82 11.0 M4×10 M4 70 12 8 5.0 M10 20
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12
13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20
13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20
13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20
Outline Drawings
C1 × C1
E
Set bolt (AT)
Four, Z2
D1 dia.
D2 dia.
Four, Z1 dia. Key and Tap Dimensions
QK b
M (depth: L)
T
F1
F2 G
LR
LM
Set bolts (AT)
D2 dia.
C2 × C2
4-Z2 Set bolt (AT)
Four, Z2
D2 dia.
C2 dia. For the R88G-HPG11B Series, two set bolts
are positioned at 90° from each other.
C2 dia.
2-50
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Model
LM LR C1
Dimensions (mm) C2 D1 D2 D3 D4 D5 E F1 F2
1/5 R88G-HPG32A051K0B@ 104 133 120 122 dia. 135 100 115 114 84 98 12.5 35
1/11 R88G-HPG32A111K0B@ 104 133 120 122 dia. 135 100 115 114 84 98 12.5 35
2
1 kW 1/21 R88G-HPG32A211K0B@ 104 133 120 122 dia. 135 100 115 114 84 98 12.5 35
1/33 R88G-HPG32A331K0B@ 104 133 120 122 dia. 135 100 115 114 84 98 12.5 35
1/45 R88G-HPG50A451K0B@ 123 156 170 170 dia. 190 100 165 163 122 103 12.0 53
1/5 R88G-HPG32A052K0B@ 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0B@ 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1.5 kW 1/21 R88G-HPG32A211K5B@ 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1/33 R88G-HPG50A332K0B@ 123 156 170 170 dia. 190 115 165 163 122 103 12.0 53
1/45 R88G-HPG50A451K5B@ 123 156 170 170 dia. 190 115 165 163 122 103 12.0 53
1/5 R88G-HPG32A052K0B@ 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0B@ 2 kW
1/21 R88G-HPG50A212K0B@
110 133 120 135 dia. 135 115 115 114 84 98 12.5 35 123 156 170 170 dia. 190 115 165 163 122 103 12.0 53
1/33 R88G-HPG50A332K0B@ 123 156 170 170 dia. 190 115 165 163 122 103 12.0 53
1/5 R88G-HPG32A053K0B@ 107 133 120 130×130 135 145 115 114 84 98 12.5 35
3 kW 1/11 R88G-HPG50A113K0B@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/21 R88G-HPG50A213K0B@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/5 R88G-HPG32A054K0B@ 4 kW
1/11 R88G-HPG50A115K0B@
129 133 120 130×130 135 145 115 114 84 98 12.5 35 149 156 170 130×130 190 145 165 163 122 103 12.0 53
1/5 R88G-HPG50A055K0B@ 5 kW
1/11 R88G-HPG50A115K0B@
149 156 170 130×130 190 145 165 163 122 103 12.0 53 149 156 170 130×130 190 145 165 163 122 103 12.0 53
Note1. The standard models have a straight shaft. Note2. Models with a key and
tap are indicated with “J” at the end of the model number (the suffix shown in
the
box). (Example: R88G-HPG32A051K0BJ) Note3. Applicable for the servomotors with
key, if the key is removed.
2-51
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Dimensions (mm)
Model
G S T Z1
Z2
AT*1
Key dimensions
Tap dimensions
QK b h t1 M L
1/5 R88G-HPG32A051K0B@ 13 40 82 11 M6×12 M6 70 12 8 5.0 M10 20
1/11 R88G-HPG32A111K0B@ 13 40 82 11 M6×12 M6 70 12 8 5.0 M10 20
2
1 kW 1/21 R88G-HPG32A211K0B@ 13 40 82 11 M6×12 M6 70 12 8 5.0 M10 20
1/33 R88G-HPG32A331K0B@ 13 40 82 11 M6×12 M6 70 12 8 5.0 M10 20
1/45 R88G-HPG50A451K0B@ 16 50 82 14 M6×10 M6 70 14 9 5.5 M10 20
1/5 R88G-HPG32A052K0B@ 13 40 82 11 M8×10 M6 70 12 8 5.0 M10 20
1/11 R88G-HPG32A112K0B@ 13 40 82 11 M8×10 M6 70 12 8 5.0 M10 20
1.5 kW 1/21 R88G-HPG32A211K5B@ 13 40 82 11 M8×10 M6 70 12 8 5.0 M10 20
1/33 R88G-HPG50A332K0B@ 16 50 82 14 M8×10 M6 70 14 9 5.5 M10 20
1/45 R88G-HPG50A451K5B@ 16 50 82 14 M8×10 M6 70 14 9 5.5 M10 20
1/5 R88G-HPG32A052K0B@ 13 40 82 11 M8×10 M6 70 12 8 5.0 M10 20
1/11 R88G-HPG32A112K0B@ 2 kW
1/21 R88G-HPG50A212K0B@
13 40 82 11 M8×10 M6 70 12 8 5.0 M10 20 16 50 82 14 M8×10 M6 70 14 9 5.5 M10 20
1/33 R88G-HPG50A332K0B@ 16 50 82 14 M8×10 M6 70 14 9 5.5 M10 20
1/5 R88G-HPG32A053K0B@ 13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
3 kW 1/11 R88G-HPG50A113K0B@ 16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
1/21 R88G-HPG50A213K0B@ 16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
1/5 R88G-HPG32A054K0B@ 4 kW
1/11 R88G-HPG50A115K0B@
13 40 82 11 M8×25 M6 70 12 8 5.0 M10 20 16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20
1/5 R88G-HPG50A055K0B@ 5 kW
1/11 R88G-HPG50A115K0B@
16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20 16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20
*1. This is the set bolt.
Outline Drawings
C1 × C1
E
Set bolt (AT)
Four, Z2
D1 dia.
D2 dia.
S dia.,h: 7
D5 dia.
D4 dia.
D3 dia., h: 7*2
Four, Z1 dia. Key and Tap Dimensions
QK b
T
F1
F2 G
LR
LM
t1
h
M (depth: L) *2. With the R88G-HPG50@, the height tolerance is 8 mm (D3 dia., h: 8).
C2 × C2
Set bolt (AT)
Four, Z2
D2 dia.
C2 dia.
2-52
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Decelerators for 2,000-r/min Servomotors
Model
LM LR C1
Dimensions (mm) C2 D1 D2 D3 D4 D5 E F1 F2
2
1/5 R88G-HPG32A053K0B@
107 133 120 130×130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0SB@ 107 133 120 130×130 135 145 115 114 84 98 12.5 35
1 kW 1/21 R88G-HPG32A211K0SB@ 107 133 120 130×130 135 145 115 114 84 98 12.5 35
1/33 R88G-HPG50A332K0SB@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/45 R88G-HPG50A451K0SB@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/5 R88G-HPG32A053K0B@
107 133 120 130×130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0SB@ 1.5 kW
1/21 R88G-HPG50A213K0B@
107 133 120 130×130 135 145 115 114 84 98 12.5 35 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/33 R88G-HPG50A332K0SB@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/5 R88G-HPG32A053K0B@
107 133 120 130×130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0SB@ 2 kW
1/21 R88G-HPG50A213K0B@
107 133 120 130×130 135 145 115 114 84 98 12.5 35 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/33 R88G-HPG50A332K0SB@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/5 R88G-HPG32A054K0B@
129 133 120 130×130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG50A115K0B@ 3 kW
1/21 R88G-HPG50A213K0SB@
149 156 170 130×130 190 145 165 163 122 103 12.0 53 149 156 170 130×130 190 145 165 163 122 103 12.0 53
1/25 R88G-HPG65A253K0SB@ 231 222 230 130×130 260 145 220 214 168 165 12.0 57
Model
1/5 R88G-HPG32A053K0B@ 1/11 R88G-HPG32A112K0SB@ 1 kW 1/21 R88G-HPG32A211K0SB@
1/33 R88G-HPG50A332K0SB@ 1/45 R88G-HPG50A451K0SB@ 1/5 R88G-HPG32A053K0B@ 1/11
R88G-HPG32A112K0SB@ 1.5 kW 1/21 R88G-HPG50A213K0B@ 1/33 R88G-HPG50A332K0SB@
1/5 R88G-HPG32A053K0B@ 1/11 R88G-HPG32A112K0SB@ 2 kW 1/21 R88G-HPG50A213K0B@
1/33 R88G-HPG50A332K0SB@ 1/5 R88G-HPG32A054K0B@ 1/11 R88G-HPG50A115K0B@ 3 kW
1/21 R88G-HPG50A213K0SB@ 1/25 R88G-HPG65A253K0SB@
Dimensions (mm)
G S T Z1
Z2
AT*1
Key dimensions
Tap dimensions
QK b h t1 M L
13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
13 40 82 11 M8×25 M6 70 12 8 5.0 M10 20
16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20
16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20
25 80 130 18 M8×25 M8 110 22 14 9.0 M16 35
Note1. The standard models have a straight shaft. Note2. Models with a key and
tap are indicated with “J” at the end of the model number (the suffix shown in
the
box). (Example: R88G-HPG32A053K0BJ) Note3. Applicable for the servomotors with
key, if the key is removed.
2-53
h t1
D3 dia., h: 7*2 D4 dia. D5 dia.
S dia.,h: 7
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Model
LM LR C1
Dimensions (mm) C2 D1 D2 D3 D4 D5 E F1 F2
1/5 R88G-HPG50A054K0SB@ 149 156 170 180×180 190 165 165 163 122 103 12.0 53
1/11 R88G-HPG50A114K0SB@ 149 156 170 180×180 190 165 165 163 122 103 12.0 53
4 kW
1/20 R88G-HPG65A204K0SB@ 231 222 230 180×180 260 165 220 214 168 165 12.0 57
2
1/25 R88G-HPG65A254K0SB@ 231 222 230 180×180 260 165 220 214 168 165 12.0 57
1/5 R88G-HPG50A055K0SB@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53
1/11 R88G-HPG50A115K0SB@ 5 kW
1/20 R88G-HPG65A205K0SB@
149 156 170 180×180 190 200 165 163 122 103 12.0 53 231 222 230 180×180 260 200 220 214 168 165 12.0 57
1/25 R88G-HPG65A255K0SB@ 231 222 230 180×180 260 200 220 214 168 165 12.0 57
1/5 R88G-HPG65A057K5SB@ 7.5 kW
1/12 R88G-HPG65A127K5SB@
184.5 222 230 180×180 260 200 220 214 168 165 12.0 57 254.5 222 230 180×180 260 200 220 214 168 165 12.0 57
Model
4 kW
1/5 R88G-HPG50A054K0SB@ 1/11 R88G-HPG50A114K0SB@ 1/20 R88G-HPG65A204K0SB@ 1/25 R88G-HPG65A254K0SB@ 1/5 R88G-HPG50A055K0SB@
1/11 R88G-HPG50A115K0SB@ 5 kW
1/20 R88G-HPG65A205K0SB@ 1/25 R88G-HPG65A255K0SB@
1/5 R88G-HPG65A057K5SB@ 7.5 kW
1/12 R88G-HPG65A127K5SB@
*1. This is the set bolt.
G S T Z1
Dimensions (mm)
Z2 AT*1 Key dimensions QK b h t1
Tap dimensions
ML
16 50 82 14 M10×25 M6 70 14 9 5.5 M10 20
16 50 82 14 M10×25 M6 70 14 9 5.5 M10 20
25 80 130 18 M10×25 M8 110 22 14 9.0 M16 35
25 80 130 18 M10×25 M8 110 22 14 9.0 M16 35
16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20
16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20
25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
Outline Drawings
C1 × C1
E
Set bolt (AT)
Four, Z2
D1 dia.
D2 dia.
Four, Z1 dia. Key and Tap Dimensions
QK b
T
F1
F2 G
LR
LM
C2 × C2
Set bolt (AT)
Four, Z2
D2 dia.
M (depth: L) *2. With the R88G-HPG50@/-HPG65@, the height tolerance is 8 mm (D3 dia., h: 8).
C2 dia.
2-54
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Decelerators for 1,000-r/min Servomotors
Model
LM LR C1
Dimensions (mm) C2 D1 D2 D3 D4 D5 E F1 F2
2
1/5 R88G-HPG32A05900TB@ 129 133 120 130×130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG32A11900TB@ 129 133 120 130×130 135 145 115 114 84 98 12.5 35
900 W
1/21 R88G-HPG50A21900TB@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53
1/33 R88G-HPG50A33900TB@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53
1/5 R88G-HPG32A052K0TB@ 129 133 120 180×180 135 200 115 114 84 98 12.5 35
1/11 R88G-HPG50A112K0TB@ 2 kW
1/21 R88G-HPG50A212K0TB@
149 156 170 180×180 190 200 165 163 122 103 12.0 53 149 156 170 180×180 190 200 165 163 122 103 12.0 53
1/25 R88G-HPG65A255K0SB@ 231 222 230 180×180 260 200 220 214 168 165 12.0 57
1/5 R88G-HPG50A055K0SB@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53
1/11 R88G-HPG50A115K0SB@ 3 kW
1/20 R88G-HPG65A205K0SB@
149 156 170 180×180 190 200 165 163 122 103 12.0 53 231 222 230 180×180 260 200 220 214 168 165 12.0 57
1/25 R88G-HPG65A255K0SB@ 231 222 230 180×180 260 200 220 214 168 165 12.0 57
1/5 R88G-HPG50A054K5TB@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53
4.5 kW 1/12 R88G-HPG65A127K5SB@ 254.5 222 230 180×180 260 200 220 214 168 165 12.0 57
1/20 R88G-HPG65A204K5TB@ 254.5 222 230 180×180 260 200 220 214 168 165 12.0 57
1/5 R88G-HPG65A057K5SB@ 184.5 222 230 180×180 260 200 220 214 168 165 12.0 57
6 kW
1/12 R88G-HPG65A127K5SB@ 254.5 222 230 180×180 260 200 220 214 168 165 12.0 57
Note1. The standard models have a straight shaft.
Note2. Models with a key and tap are indicated with “J” at the end of the model number (the suffix shown in the box). (Example: R88G-HPG32A05900TBJ)
Note3. Applicable for the servomotors with key, if the key is removed.
2-55
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Dimensions (mm)
Model
G S T Z1
Z2
AT*1
Key dimensions
Tap dimensions
QK b h t1 M L
1/5 R88G-HPG32A05900TB@ 13 40 82 11 M8×25 M6 70 12 8 5.0 M10 20
1/11 R88G-HPG32A11900TB@
13 40 82 11 M8×25 M6 70 12 8 5.0 M10 20
2
900 W
1/21 R88G-HPG50A21900TB@
16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20
1/33 R88G-HPG50A33900TB@
16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20
1/5 R88G-HPG32A052K0TB@ 13 40 82 11 M12×25 M6 70 12 8 5.0 M10 20
1/11 R88G-HPG50A112K0TB@ 2 kW
1/21 R88G-HPG50A212K0TB@
16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20 16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20
1/25 R88G-HPG65A255K0SB@ 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
1/5 R88G-HPG50A055K0SB@ 16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20
1/11 R88G-HPG50A115K0SB@ 3 kW
1/20 R88G-HPG65A205K0SB@
16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
1/25 R88G-HPG65A255K0SB@ 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
1/5 R88G-HPG50A054K5TB@ 16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20
4.5 kW 1/12 R88G-HPG65A127K5SB@ 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
1/20 R88G-HPG65A204K5TB@ 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
1/5 R88G-HPG65A057K5SB@ 6 kW
1/12 R88G-HPG65A127K5SB@
25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
*1. This is the set bolt.
Outline Drawings
C1 × C1
E
Set bolt (AT)
Four, Z2
D1 dia.
D2 dia.
S dia.,h: 7
D5 dia.
D4 dia.
D dia., h: 7*2
Four, Z1 dia.
Key and Tap Dimensions
QK b
T
F1
F2 G
LR
LM
C2 × C2
t1
h
M (depth: L) *2. With the R88G-HPG50@/-HPG60@, the height tolerance is 8 mm (D3 dia., h: 8).
2-56
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Decelerators for 3,000-r/min Flat Servomotors
Model
Dimensions (mm) LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2
2
1/5 R88G-HPG11B05100PB@ 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
100 W 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
Model
1/5 R88G-HPG11B05100PB@ 1/11 R88G-HPG14A11100PB@ 100 W 1/21 R88G-
HPG14A21100PB@ 1/33 R88G-HPG20A33100PB@ 1/45 R88G-HPG20A45100PB@
Dimensions (mm)
G
S
T Z1
Z2 AT*1
Key dimensions
Tap dimensions
QK b h t1 M L
5 8 20 3.4 M4×9 M3 15 3 3 1.8 M3 6
8 16 28 5.5 M4×10 M3 25 5 5 3.0 M4 8
8 16 28 5.5 M4×10 M3 25 5 5 3.0 M4 8
10 25 42 9.0 M4×10 M3 36 8 7 4.0 M6 12
10 25 42 9.0 M4×10 M3 36 8 7 4.0 M6 12
Model
1/5 R88G-HPG14A05200PB@ 1/11 R88G-HPG20A11200PB@ 200 W 1/21 R88G-
HPG20A21200PB@ 1/33 R88G-HPG20A33200PB@ 1/45 R88G-HPG20A45200PB@
Dimensions (mm) LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 65.0 58 60 80×80 70 90 56.0 55.5 40 37 2.5 21 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
Model
1/5 R88G-HPG14A05200PB@ 1/11 R88G-HPG20A11200PB@ 200 W 1/21 R88G-
HPG20A21200PB@ 1/33 R88G-HPG20A33200PB@ 1/45 R88G-HPG20A45200PB@
Dimensions (mm)
G
S
T Z1
Z2 AT*1
Key dimensions
Tap dimensions
QK b h t1 M L
8 16 28 5.5 M5×12 M4 25 5 5 3.0 M4 8
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12
Note1. The standard models have a straight shaft.
Note2. Models with a key and tap are indicated with “J” at the end of the model number (the suffix shown in the box). (Example: R88G-HPG11B05100PBJ)
Note3. Applicable for the servomotors with key, if the key is removed.
2-57
h t1
D3 dia., h: 7 D4 dia. D5 dia.
S dia., h: 7
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Model
Dimensions (mm) LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2
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
400 W 1/21 R88G-HPG20A21400PB@ 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
2
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
Model
1/5 R88G-HPG20A05400PB@ 1/11 R88G-HPG20A11400PB@ 400 W 1/21 R88G-
HPG20A21400PB@ 1/33 R88G-HPG32A33400PB@ 1/45 R88G-HPG32A45400PB@ *1. This is
the set bolt.
Dimensions (mm)
G
S
T Z1
Z2 AT*1
Key dimensions
Tap dimensions
QK b h t1 M L
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12
13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20
13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20
Outline Drawings
C1 × C1
E
D1 dia.
Set bolt (AT)
Four, Z2
D2 dia.
Four, Z1 dia.
Key and Tap Dimensions QK b
M (depth: L)
T
F1
F2 G
LR
LM
Set bolts (AT)
D2 dia.
C2 × C2
4-Z2 Set bolt (AT)
Four, Z2
D2 dia.
C2 dia. For the R88G-HPG11B Series, two set bolts
are positioned at 90° from each other.
C2 dia.
2-58
Standard Models and Dimensions
Sh6 dia. D3h7 dia.
2-2 External and Mounting Hole Dimensions
Backlash = 15′ Max.
Decelerators for 3,000-r/min Servomotors
2
Dimensions (mm)
Model
LM LR C1 C2 D1 D2 D3 F G S T
1/5 R88G-VRXF05B100CJ
67.5 32 40 52 46 60 50 3 6 12 20
1/9 50 W
1/15 1/25
R88G-VRXF09B100CJ R88G-VRXF15B100CJ R88G-VRXF25B100CJ
67.5 32 40 52 46 60 50 3 78.0 32 40 52 46 60 50 3 78.0 32 40 52 46 60 50 3
6 12 20 6 12 20 6 12 20
1/5 R88G-VRXF05B100CJ
67.5 32 40 52 46 60 50 3 6 12 20
1/9 100 W
1/15 1/25
R88G-VRXF09B100CJ R88G-VRXF15B100CJ R88G-VRXF25B100CJ
67.5 32 40 52 46 60 50 3 78.0 32 40 52 46 60 50 3 78.0 32 40 52 46 60 50 3
6 12 20 6 12 20 6 12 20
1/5 R88G-VRXF05B200CJ
72.5 32 60 52 70 60 50 3 10 12 20
1/9 200 W
1/15 1/25 1/5
R88G-VRXF09C200CJ R88G-VRXF15C200CJ R88G-VRXF25C200CJ R88G-VRXF05C400CJ
89.5 50 60 78 70 90 70 3 100.0 50 60 78 70 90 70 3 100.0 50 60 78 70 90 70 3 89.5 50 60 78 70 90 70 3
8 19 30 8 19 30 8 19 30 8 19 30
1/9 400 W
1/15
R88G-VRXF09C400CJ R88G-VRXF15C400CJ
89.5 50 60 78 70 90 70 3 100.0 50 60 78 70 90 70 3
8 19 30 8 19 30
1/25 R88G-VRXF25C400CJ 1/5 R88G-VRXF05C750CJ
100.0 50 60 78 70 90 70 3 8 19 30 93.5 50 80 78 90 90 70 3 10 19 30
1/9 750 W
1/15
R88G-VRXF09D750CJ R88G-VRXF15D750CJ
97.5 61 80 98 90 115 90 5 10 24 40 110.0 61 80 98 90 115 90 5 10 24 40
1/25 R88G-VRXF25D750CJ
110.0 61 80 98 90 115 90 5 10 24 40
Note1. The standard shaft type is a shaft with key and tap.
Note2. The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding Servomotor.
Note3. Applicable for the servomotors with key, if the key is removed.
Note4. The dimensional drawings in this document are for showing main dimensions the details of the product shape.
Outline Drawings
D1 dia.
4-Z1
F 4-Z2 (Available depth L)
D2 dia.
C1×C1
G LM
T LR
C2×C2
2-59
b
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Model
Dimensions (mm)
Key dimensions
Tap
Z1 Z2 AT L
2
QK b h t1 m l
1/5 R88G-VRXF05B100CJ
M4 M5 M4 12 16 4 4 2.5 M5 10
1/9 50 W
1/15
R88G-VRXF09B100CJ R88G-VRXF15B100CJ
M4 M5 M4 12 16 4 M4 M5 M4 12 16 4
4 2.5 M5 10 4 2.5 M5 10
1/25 R88G-VRXF25B100CJ
M4 M5 M4 12 16 4 4 2.5 M5 10
1/5 R88G-VRXF05B100CJ
M4 M5 M4 12 16 4 4 2.5 M5 10
1/9 100 W
1/15
R88G-VRXF09B100CJ R88G-VRXF15B100CJ
M4 M5 M4 12 16 4 M4 M5 M4 12 16 4
4 2.5 M5 10 4 2.5 M5 10
1/25 R88G-VRXF25B100CJ
M4 M5 M4 12 16 4 4 2.5 M5 10
1/5 R88G-VRXF05B200CJ
M4 M5 M4 12 16 4 4 2.5 M5 10
1/9 200 W
1/15
R88G-VRXF09C200CJ R88G-VRXF15C200CJ
M4 M6 M5 20 22 6 M4 M6 M5 20 22 6
6 3.5 M6 12 6 3.5 M6 12
1/25 R88G-VRXF25C200CJ
M4 M6 M5 20 22 6 6 3.5 M6 12
1/5 R88G-VRXF05C400CJ
M4 M6 M5 20 22 6 6 3.5 M6 12
1/9 400 W
1/15
R88G-VRXF09C400CJ R88G-VRXF15C400CJ
M4 M6 M5 20 22 6 M4 M6 M5 20 22 6
6 3.5 M6 12 6 3.5 M6 12
1/25 R88G-VRXF25C400CJ
M4 M6 M5 20 22 6 6 3.5 M6 12
1/5 R88G-VRXF05C750CJ
M5 M6 M6 20 22 6 6 3.5 M6 12
1/9 750 W
1/15
R88G-VRXF09D750CJ R88G-VRXF15D750CJ
M5 M8 M6 20 30 8 7 4 M8 16 M5 M8 M6 20 30 8 7 4 M8 16
1/25 R88G-VRXF25D750CJ
M5 M8 M6 20 30 8 7 4 M8 16
Outline Drawings
Set bolt (AT)
Key dimensions
m (depth l) QK
t1
h
2-60
Standard Models and Dimensions
Sh6 dia. D3h7 dia.
2-2 External and Mounting Hole Dimensions
Decelerators for 3,000-r/min Flat Servomotors
Dimensions (mm)
Model
2
LM LR C1 C2 D1 D2 D3 F G S T
1/5 1/9 100 W 1/15 1/25 1/5 1/9 200 W 1/15 1/25 1/5 1/9 400 W 1/15 1/25
R88G-VRXF05B100PCJ R88G-VRXF09B100PCJ R88G-VRXF15B100PCJ R88G-VRXF25B100PCJ R88G-VRXF05B200PCJ R88G-VRXF09C200PCJ R88G-VRXF15C200PCJ R88G-VRXF25C200PCJ R88G-VRXF05C400PCJ R88G-VRXF09C400PCJ R88G-VRXF15C400PCJ R88G-VRXF25C400PCJ
67.5 32 60 52 70 60 50 67.5 32 60 52 70 60 50 83.5 32 60 52 70 60 50 83.5 32 60 52 70 60 50 77.5 32 80 52 90 60 50 94.5 50 80 78 90 90 70 105.0 50 80 78 90 90 70 105.0 50 80 78 90 90 70 94.5 50 80 78 90 90 70 94.5 50 80 78 90 90 70 105.0 50 80 78 90 90 70 105.0 50 80 78 90 90 70
3 15.5 12 20 3 15.5 12 20 3 15.5 12 20 3 15.5 12 20 3 21.5 12 20 3 21.5 19 30 3 21.5 19 30 3 21.5 19 30 3 21.5 19 30 3 21.5 19 30 3 21.5 19 30 3 21.5 19 30
Note1. The standard shaft type is a shaft with key and tap.
Note2. The diameter of the motor shaft insertion hole is the same as the shaft
diameter of the corresponding Servomotor.
Note3. Applicable for the servomotors with key, if the key is removed.
Note4. The dimensional drawings in this document are for showing main
dimensions the details of the product shape.
Outline Drawings
4-Z1 (Available depth M)
F
D1 dia.
4-Z2 (Available depth L) D2 dia.
C1×C1
G
T
LM
LR
C2×C2
2-61
b
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Dimensions (mm)
Model
Key dimensions
Tap
Z1 Z2 AT M L QK b h t1 m l
2
1/5 R88G-VRXF05B100PCJ
M4 M5 M4 9 12 16 4 4 2.5 M5 10
1/9 100 W
1/15
R88G-VRXF09B100PCJ R88G-VRXF15B100PCJ
M4 M5 M4 9 12 16 4 M4 M5 M4 9 12 16 4
4 2.5 M5 10 4 2.5 M5 10
1/25 R88G-VRXF25B100PCJ
M4 M5 M4 9 12 16 4 4 2.5 M5 10
1/5 R88G-VRXF05B200PCJ
M5 M5 M4 11 12 16 4 4 2.5 M5 10
1/9 200 W
1/15
R88G-VRXF09C200PCJ R88G-VRXF15C200PCJ
M5 M6 M5 11 20 22 6 M5 M6 M5 11 20 22 6
6 3.5 M6 12 6 3.5 M6 12
1/25 R88G-VRXF25C200PCJ
M5 M6 M5 11 20 22 6 6 3.5 M6 12
1/5 R88G-VRXF05C400PCJ
M5 M6 M5 11 20 22 6 6 3.5 M6 12
1/9 400 W
1/15
R88G-VRXF09C400PCJ R88G-VRXF15C400PCJ
M5 M6 M5 11 20 22 6 M5 M6 M5 11 20 22 6
6 3.5 M6 12 6 3.5 M6 12
1/25 R88G-VRXF25C400PCJ
M5 M6 M5 11 20 22 6 6 3.5 M6 12
Outline Drawings
Set bolt (AT)
Key Dimensions
m (depth l)
QK
t1
h
2-62
Standard Models and Dimensions
S dia., h: 6
D4 dia. D3 dia., h: 7
2-2 External and Mounting Hole Dimensions
Decelerators for 3,000-r/min Servomotors
Model
Dimensions (mm) LM LR C1 C2 D1 D2 D3 D4 E3 F G
2
1/5 R88G-VRSF05B100CJ 67.5 32 40 52 46 60 50 45 10 3 6
1/9 R88G-VRSF09B100CJ 50 W
1/15 R88G-VRSF15B100CJ
67.5 32 40 52 46 60 50 45 10 3 6 78.0 32 40 52 46 60 50 45 10 3 6
1/25 R88G-VRSF25B100CJ 78.0 32 40 52 46 60 50 45 10 3 6
1/5 R88G-VRSF05B100CJ 67.5 32 40 52 46 60 50 45 10 3 6
1/9 R88G-VRSF09B100CJ 100 W
1/15 R88G-VRSF15B100CJ
67.5 32 40 52 46 60 50 45 10 3 6 78.0 32 40 52 46 60 50 45 10 3 6
1/25 R88G-VRSF25B100CJ 78.0 32 40 52 46 60 50 45 10 3 6
1/5 R88G-VRSF05B200CJ 72.5 32 60 52 70 60 50 45 10 3 10
1/9 R88G-VRSF09C200CJ 200 W
1/15 R88G-VRSF15C200CJ
89.5 50 60 78 70 90 70 62 17 3 8 100.0 50 60 78 70 90 70 62 17 3 8
1/25 R88G-VRSF25C200CJ 100.0 50 60 78 70 90 70 62 17 3 8
1/5 R88G-VRSF05C400CJ 89.5 50 60 78 70 90 70 62 17 3 8
1/9 R88G-VRSF09C400CJ 400 W
1/15 R88G-VRSF15C400CJ
89.5 50 60 78 70 90 70 62 17 3 8 100.0 50 60 78 70 90 70 62 17 3 8
1/25 R88G-VRSF25C400CJ 100.0 50 60 78 70 90 70 62 17 3 8
1/5 R88G-VRSF05C750CJ 93.5 50 80 78 90 90 70 62 17 3 10
1/9 R88G-VRSF09D750CJ 750 W
1/15 R88G-VRSF15D750CJ
97.5 61 80 98 90 115 90 75 18 5 10 110.0 61 80 98 90 115 90 75 18 5 10
1/25 R88G-VRSF25D750CJ 110.0 61 80 98 90 115 90 75 18 5 10
Note1. The standard models have a straight shaft with a key.
Note2. Applicable for the servomotors with key, if the key is removed.
Outline Drawings
D1 dia.
Four, Z1
E3 F
Four, Z2 (effective depth: L)
D2 dia.
C1 × C1
G LM
T LR
C2 × C2
2-63
b
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Dimensions (mm)
Model
Key dimensions S T Z1 Z2 AT L
QK b h t1
1/5 R88G-VRSF05B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5
1/9 R88G-VRSF09B100CJ 50 W
12 20 M4 M5 M3 12 16 4 4 2.5
2
1/15 R88G-VRSF15B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5
1/25 R88G-VRSF25B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5
1/5 R88G-VRSF05B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5
1/9 R88G-VRSF09B100CJ 100 W
1/15 R88G-VRSF15B100CJ
12 20 M4 M5 M3 12 16 4 4 2.5 12 20 M4 M5 M3 12 16 4 4 2.5
1/25 R88G-VRSF25B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5
1/5 R88G-VRSF05B200CJ 12 20 M4 M5 M4 12 16 4 4 2.5
1/9 R88G-VRSF09C200CJ 200 W
1/15 R88G-VRSF15C200CJ
19 30 M4 M6 M4 20 22 6 6 3.5 19 30 M4 M6 M4 20 22 6 6 3.5
1/25 R88G-VRSF25C200CJ 19 30 M4 M6 M4 20 22 6 6 3.5
1/5 R88G-VRSF05C400CJ 19 30 M4 M6 M4 20 22 6 6 3.5
1/9 R88G-VRSF09C400CJ 400 W
1/15 R88G-VRSF15C400CJ
19 30 M4 M6 M4 20 22 6 6 3.5 19 30 M4 M6 M4 20 22 6 6 3.5
1/25 R88G-VRSF25C400CJ 19 30 M4 M6 M4 20 22 6 6 3.5
1/5 R88G-VRSF05C750CJ 19 30 M5 M6 M4 20 22 6 6 3.5
1/9 R88G-VRSF09D750CJ 750 W
1/15 R88G-VRSF15D750CJ
24 40 M5 M8 M4 20 30 8 7 4 24 40 M5 M8 M4 20 30 8 7 4
1/25 R88G-VRSF25D750CJ 24 40 M5 M8 M4 20 30 8 7 4
Outline Drawings
Set bolt (AT)
Key Dimensions
QK
t1
h
2-64
Standard Models and Dimensions
S dia., h: 6 D4 dia. D3 dia., h: 7
2-2 External and Mounting Hole Dimensions
Decelerators for 3,000-r/min Flat Servomotors
Model
Dimensions (mm) LM LR C1 C2 D1 D2 D3 D4 E3 F G
2
1/5 R88G-VRSF05B100PCJ 67.5 32 60 52 70 60 50 45 10 3 8
1/9 R88G-VRSF09B100PCJ 100 W
1/15 R88G-VRSF15B100PCJ
67.5 32 60 52 70 60 50 45 10 3 8 78.0 32 60 52 70 60 50 45 10 3 8
1/25 R88G-VRSF25B100PCJ 78.0 32 60 52 70 60 50 45 10 3 8
1/5 R88G-VRSF05B200PCJ 72.5 32 80 52 90 60 50 45 10 3 12
1/9 R88G-VRSF09C200PCJ 200 W
1/15 R88G-VRSF15C200PCJ
89.5 50 80 78 90 90 70 62 17 3 12 100.0 50 80 78 90 90 70 62 17 3 12
1/25 R88G-VRSF25C200PCJ 100.0 50 80 78 90 90 70 62 17 3 12
1/5 R88G-VRSF05C400PCJ 89.5 50 80 78 90 90 70 62 17 3 12
1/9 R88G-VRSF09C400PCJ 400 W
1/15 R88G-VRSF15C400PCJ
89.5 50 80 78 90 90 70 62 17 3 12 100.0 50 80 78 90 90 70 62 17 3 12
1/25 R88G-VRSF25C400PCJ 100.0 50 80 78 90 90 70 62 17 3 12
Note1. The standard models have a straight shaft with a key.
Note2. Applicable for the servomotors with key, if the key is removed.
Outline Drawings
Four, Z1
E3 F
Four, Z2 (effective depth: L)
D1 dia.
D2 dia.
C1 × C1
G
T
LM
LR
C2 × C2
2-65
b
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
Dimensions (mm)
Model
S T Z1 Z2
Key dimensions AT L
QK b h t1
1/5 R88G-VRSF05B100PCJ 12 20 M4 M5 M3 12 16 4 4 2.5
1/9 R88G-VRSF09B100PCJ 100 W
12 20 M4 M5 M3 12 16 4 4 2.5
2
1/15 R88G-VRSF15B100PCJ 12 20 M4 M5 M3 12 16 4 4 2.5
1/25 R88G-VRSF25B100PCJ 12 20 M4 M5 M3 12 16 4 4 2.5
1/5 R88G-VRSF05B200PCJ 12 20 M5 M5 M4 12 16 4 4 2.5
1/9 R88G-VRSF09C200PCJ 200 W
1/15 R88G-VRSF15C200PCJ
19 30 M5 M6 M4 20 22 6 6 3.5 19 30 M5 M6 M4 20 22 6 6 3.5
1/25 R88G-VRSF25C200PCJ 19 30 M5 M6 M4 20 22 6 6 3.5
1/5 R88G-VRSF05C400PCJ 19 30 M5 M6 M4 20 22 6 6 3.5
1/9 R88G-VRSF09C400PCJ 400 W
1/15 R88G-VRSF15C400PCJ
19 30 M5 M6 M4 20 22 6 6 3.5 19 30 M5 M6 M4 20 22 6 6 3.5
1/25 R88G-VRSF25C400PCJ 19 30 M5 M6 M4 20 22 6 6 3.5
Outline Drawings
Set bolt (AT)
Key Dimensions
QK
t1
h
2-66
4.2 28 43.5
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
External Regeneration Resistor Dimensions
2
External Regeneration Resistor
R88A-RR08050S/-RR080100S
Thermal switch output
1.5 dia. (0.3mm2) 3 dia. (0.75mm2)
6
t1.2
500
104
20
122
130
R88A-RR22047S1
Thermal switch output
1.5 dia. (0.3mm2) 3 dia. (0.75mm2)
6
t1.2
500
200
20
220
230
R88A-RR50020S
t1.6
360
25 43 10
386
78
402
4.2 48 62
5.3 40 76
2-67
Standard Models and Dimensions
Reactor Dimensions
3G3AX-DL2002
2-2 External and Mounting Hole Dimensions
2
90
72
Two, M4
Ground terminal (M4)
56 66
Four, 5.2 × 8
85
98
3G3AX-DL2004
9 0
72
Two, M4
Ground terminal
(M4)
56
66
Four, 5.2 × 8
95
98
2-68
Standard Models and Dimensions
2-2 External and Mounting Hole Dimensions
3G3AX-DL2007
2
Ground terminal (M4)
56 66
72
90
Two, M4
Four, 5.2 × 8 105
98
3G3AX-DL2015
90
72
Two, M4
Ground terminal
(M4)
56
66
Four, 5.2 × 8
115
98
2-69
2-2 External and Mounting Hole Dimensions
3G3AX-DL2022
2
100
80
Ground terminal (M4)
Two, M4
71
86
Four, 6 × 9
105
Standard Models and Dimensions
116
3G3AX-AL2025/-AL2055
Ground terminal (M5) Six, M4 terminal screws
Terminal block
Ro R So S To T
60 40
150 94
50±1 A
Four, 6 dia.
Y±1
(Notch)
C
Ro R So S To T Connection Diagram
9.5
Model
3G3AX-AL2025 3G3AX-AL2055
Dimensions (mm) ACY
120 82 67 120 98 75
2-70
Standard Models and Dimensions H H1
2-2 External and Mounting Hole Dimensions
3G3AX-AL2110/-AL2220
Terminal holes: Six, K dia.
2
A
D 55
Ro R So S To T
Ro R So S To T Connection Diagram
X±1
Four, 6 dia.
(Notch)
Y±1 C
Ground terminal (M6)
W W=Terminal width
Model
3G3AX-AL2110 3G3AX-AL2220
AC 150 103 180 113
Dimensions (mm) D H H1 X Y 70 170 108 60 80 75 190 140 90 90
KW 5.3 12 8.4 16.5
2-71
2-2 External and Mounting Hole Dimensions
MECHATROLINK-II Repeater Dimensions
FNY-REP2000
2
Dimensions
12 1
(97) 77 50
(20) 15
4.8 dia.
5
(34)
(4)
30
6 14 10 1
4.8 dia.
5
Standard Models and Dimensions
150
150
160
5
4.8
4.8
12
50
15
Dimensions
Bottom Mounting
50
M4 tap
5
4.8
Back Mounting
M4 tap
14
150
150
2-72
Chapter 3
Specifications
3-1 Servo Drive Specifications …………………………… 3-1
General Specifications ………………………………………………….3-1 Characteristics
…………………………………………………………….3-2 Main Circuit and Servomotor Connector
Specifications……..3-7 Control I/O Connector Specifications (CN1) …………………….3-10
Control Input Circuits ……………………………………………………3-14 Control Output
Circuits………………………………………………….3-14 Control Sequence Timing
……………………………………………..3-15 Encoder Connector Specifications (CN2) ………………………..3-16
Parameter Unit Connector Specifications (CN3) ………………3-16
3-2 Servomotor Specifications …………………………… 3-17
General Specifications ………………………………………………….3-17 Characteristics
…………………………………………………………….3-18 Encoder Specifications …………………………………………………3-31
3-3 Decelerator Specifications …………………………… 3-32
Standard Models and Specifications……………………………….3-32
3-4 Cable and Connector Specifications ……………… 3-45
Encoder Cable Specifications ………………………………………..3-45 Absolute Encoder Battery
Cable Specifications………………..3-51 Servomotor Power Cable
Specifications………………………….3-52 Communications Cable
Specifications…………………………….3-72 Connector Specifications ………………………………………………3-73
MECHATROLINK-II Communications Cable Specifications
………………………………………………………………3-76 Control Cable Specifications………………………………………….3-78
3-5 Parameter Unit Specifications………………………3-83 3-6 External Regeneration
Resistor
Specifications …………………………………………….3-84
External Regeneration Resistor Specifications…………………3-84
3-7 Reactor Specifications ………………………………..3-86 3-8 MECHATROLINK-II Repeater
Specifications …3-87
Specifications
3-1 Servo Drive Specifications
3-1 Servo Drive Specifications
Select the Servo Drive matching the Servomotor to be used. (For details, refer
to Servo DriveServomotor Combinations on page 2-5.) OMNUC G-series Servo
Drives are designed specifically for use with MECHATROLINK-II communication.
3
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 Impact 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.
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 M 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
Protective structure
Built into panel (IP10).
International standards
EC Directives
EMC Directive
Low Voltage Directive
UL standards
EN 55011 Class A Group 1 EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11 EN 61800-5-1 UL 508C
CSA standards
CSA C22.2 No.14
Korean Radio Regulations (KC)
Compliant
Note1. The above items reflect individual evaluation testing. The results may
differ under compound conditions.
Note2. Never perform withstand-voltage or other megameter tests on the Servo
Drive. Doing so may damage the internal elements.
Note3. Depending on the operating conditions, some Servo Drive parts will
require maintenance. For details, refer to Periodic Maintenance on page 8-22.
Note4. 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.
3-1
Performance
Specifications
3-1 Servo Drive Specifications
Characteristics
Servo Drives with 100-VAC Input Power
Item
R88D-GNA5L- R88D-GN01L- R88D-GN02L- R88D-GN04L-
ML2
ML2
ML2
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
3
Power
supply
0.4 KVA
0.4 KVA
0.5 KVA
0.9 KVA
capacity
Main circuit
Input power supply
Power supply voltage
Rated current
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
1.4 A
2.2 A
3.7 A
6.6 A
Control circuit
Power supply voltage
Rated current
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
0.09 A
0.09 A
0.09 A
0.09 A
Heat generated
Main circuit Control circuit
10.1 W 4.4 W
14.4 W 4.4 W
18.4 W 4.4 W
41.4 W 4.4 W
Control method
All-digital servo
Inverter method
IGBT-driven PWM method
PWM frequency
12.0 kHz
6.0 k
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