AC Servo Drives with Built-in EtherCAT Communications [1S-series with Safety Functionality]
Specifications
General Specifications
Item
Specifications
Operating ambient temperature and humidity
0 to 55°C, 90% max. (with no condensation)
Storage ambient temperature and humidity
-20 to 65°C, 90% max. (with no condensation)
Operating and storage atmosphere
No corrosive gases
Operating altitude
1,000 m max.
Vibration resistance
10 to 60 Hz and at an acceleration of 5.88 m/s2 or less (Not to
be run continuously at the resonance frequency)
Insulation resistance
Between power supply terminals/power terminals and PE
terminals: 0.5 MΩ min. (at 500 VDC)
Dielectric strength
Between power supply terminals/power terminals and PE
terminals: 1,500 VAC for 1 min (at 50/60 Hz)
Protective structure
IP20 (Built into IP54 panel)
International
standard
EU Directives
and

UK legislation
EMC
EN 61800-3 second environment, C3 category
(EN 61000-6-7; Functional Safety)
Low Voltage
EN61800-5-1
Machinery
EN ISO 13849-1, EN61508, EN62061, EN61800-5-2
UL standards
UL 61800-5-1
CSA standards
CSA C22.2 No. 274
Korean Radio Regulations (KC)
Compliant
Australian EMC Labeling
Requirements (RCM)
Compliant
SEMI standards
Can conform to the standard for momentary power interruptions
(for no-load operation).
Ship standards (NK/LR)
Not compliant
Note: 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
         2. Disconnect all connections to the Servo Drive before attempting a
megger test (insulation resistance measurement) on a Servo Drive. Not doing so may result in the Servo Drive failure. Do not perform a dielectric strength test on the Servo Drive. Internal elements may be damaged.
The detail of Machinery Directive is as follows:
The STO function via safety input signals: EN ISO13849-1 (Cat3
PLe), EN61508, EN62061, EN61800-5-2 (SIL3)
The safety function via
EtherCAT communications: EN ISO 13849-1 (STO/SS1/SBC: Cat.3 PLe, SS2/SLS/SDI/SOS/SLP: Cat.3 PLe), EN61508, EN62061, EN61800-5-2
Characteristics
200-VAC Input Models
Servo Drive model (R88D-)
1SAN02H-ECT
1SAN04H-ECT
1SAN08H-ECT
Item
200 W
400 W
750 W
Input
Main circuit
Power supply voltage
Single-phase and 3-phase 200 to 240 VAC (170 to 252 V) *1
Frequency
50/60 Hz (47.5 to 63 Hz) *1
Control circuit
Power supply voltage
24 VDC (21.6 to 26.4 V)
Current consumption *2
700 mA
Rated current [A
(rms)] (Main circuit
power supply

voltage: 240 VAC)
Singlephase
2.7
4.6
7.3
3-phase
1.5
2.7
4.0
Output
Rated current [A (rms)]
1.5
2.5
4.6
Maximum current [A (rms)]
5.6
9.1
16.9
Heating value [W]
Main circuit
17.0
25.0
42.0
Control circuit
11.9
11.9
14.5
Applicable Servomotor rated output [W]
200
400
750
3,000-r/min Servomotor
(R88M-)
Batteryless 20-bit ABS
1AM20030T
1AM40030T
1AM75030T
Hold time at momentary power interruption
(Main circuit power supply voltage: 200 VAC)
10 ms (Load condition: rated output) *4
SCCR [A (rms)]
5000
Weight [kg]
2.6
2.6
2.6
Servo Drive model (R88D-)
1SAN10H-ECT
1SAN15H-ECT
1SAN20H-ECT
1SAN30H-ECT
Item
1 kW
1.5 kW
2 kW
3 kW
Input
Main circuit
Power supply
voltage
3-phase
200 to 240 VAC

(170 to 252 V) *1
Single-phase
and 3-phase

200 to 240 VAC

(170 to 252 V) *1
3-phase 200 to 240 VAC
(170 to 252 V)

*1
Frequency
50/60 Hz (47.5 to 63 Hz) *1
Control circuit
Power supply
voltage
24 VDC (21.6 to 26.4 V)
Current
consumption *2
700 mA
1000 mA
Rated current [A
(
rms)] (Main circuit
power supply

voltage: 240 VAC)
Singlephase
---
15.7
---
---
3-phase
5.8
9.0
13.0
15.9
Output
Rated current [A (rms)]
7.7
9.7
16.2
22.3
Maximum current [A (rms)]
16.9
28.4
41.0
54.7
Heating value [W]
Main circuit *3
49.0
88.0
140.0
150.0
Control circuit
14.5
22.4
22.4
22.4
Applicable Servomotor rated output [W]
1,000
1,500
2,000
3,000
3,000-r/min Servomotor
(R88M-)
Batteryless
20-bit ABS
1AL1K030T
1AL1K530T
1AL2K030T
1AL2K630T
1,500-r/min Servomotor
(R88M-)
Batteryless
20-bit ABS
---
1AM1K515T
---
1AM2K715T
Hold time at momentary power interruption
(Main circuit power supply voltage: 200 VAC)
10 ms (Load condition: rated output) *4
SCCR [A (rms)]
5000
Weight [kg]
2.6
4.2
4.2
4.2
*1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range of acceptable variation.
*2. Select a DC power supply in consideration of the current values that are specified in the current consumption. The rated current value that is printed on the product nameplate is a condition to apply the 1S-series product for the UL/Low Voltage Directive. Therefore, you do not need to consider it when you select a DC power supply for each model.

*3. This is the maximum heating value in applicable Servomotors. Refer to Relationship between Servo Drive,
Servomotors and the Main Circuit Heating Value on below for the heating value of each applicable Servomotor.
*4. It is a hold time at momentary power interruption. Use a DC power supply to fulfill the following conditions so that the power supply of the control circuit is held during momentary power interruption. Reinforced insulation or double insulation, and the output hold time of 10 ms or more
400-VAC Input Models
Use a neutral grounded 400 VAC 3-phase power supply for the 400 VAC input models.
Servo Drive model (R88D-)
1SAN10F-ECT
1SAN15F-ECT
1SAN20F-ECT
1SAN30F-ECT
Item
1 kW
1.5 kW
2 kW
3 kW
Input
Main circuit
Power supply
voltage
3-phase 380 to 480 VAC (323 to 504 V) *1
Frequency
50/60 Hz (47.5 to 63 Hz) *1
Control circuit
Power supply
voltage
24 VDC (21.6 to 26.4 V)
Current
consumption *2
1000 mA
Rated current [A
(
rms)] (Main circuit
power supply

voltage: 480 VAC)
3-phase
3.1
4.3
6.5
8.4
Output
Rated current [A (rms)]
4.1
4.7
7.8
11.3
Maximum current [A (rms)]
9.6
14.1
19.8
28.3
Heating value [W]
Main circuit *3
56.0
81.0
120.0
150.0
Control circuit
22.4
22.4
22.4
22.4
Applicable Servomotor rated output [W]
1,000
1,500
2,000
3,000
3,000-r/min Servomotor
(R88M-)
Batteryless
20-bit ABS
1AL75030C
1AL1K030C
1AL1K530C
1AL2K030C
1AL3K030C
1,500-r/min Servomotor
(R88M-)
Batteryless
20-bit ABS
---
1AM1K515C
---
1AM3K015C
Hold time at momentary power interruption
(Main circuit power supply voltage: 400 VAC)
10 ms (Load condition: rated output) *4
SCCR [A (rms)]
5000
Weight [kg]
4.2
4.2
4.2
4.2
*1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range of acceptable variation.
*2. Select a DC power supply in consideration of the current values that are specified in the current consumption. The rated current value that is printed on the product nameplate is a condition to apply the 1S-series Servo Drive Advance type product for the UL/Low Voltage Directive. Therefore, you do not need to consider it when you select a DC power supply for each model.

*3. This is the maximum heating value in applicable Servomotors. Refer to Relationship between Servo Drive, Servomotors and the Main Circuit Heating Value on below for the heating value of each applicable Servomotor.

*4. It is a hold time at momentary power interruption. Use a DC power supply to fulfill the following conditions so that the power supply of the control circuit is held during momentary power interruption. Reinforced insulation or double insulation, and the output hold time of 10 ms or more
Relationship between Servo Drive, Servomotors and the Main Circuit Heating Value
Servo Drive model
Servomotor model
Main circuit heating value [W]
R88D-1SAN15H-ECT
R88M-1AL1K530T-[]
88
R88M-1AM1K515T-[]
69
R88D-1SAN30H-ECT
R88M-1AL2K630T-[]
150
R88M-1AM2K715T-[]
150
R88D-1SAN10F-ECT
R88M-1AL75030C-[]
55
R88M-1AL1K030C-[]
56
R88D-1SAN15F-ECT
R88M-1AL1K530C-[]
81
R88M-1AM1K515C-[]
52
R88D-1SAN30F-ECT
R88M-1AL3K030C-[]
150
R88M-1AM3K015C-[]
140
Outline of Safety Functions
Details about Safety Functions
Function
Description
Safe torque off (STO)
The function is used to cut off a motor current and stop the motor.
Safe stop 1 (SS1)
This function is used to stop a motor by activating STO function at any timing after
receiving a command from a safety controller.
Safes stop 2 (SS2)
This function is used to monitor a motor's stop by activating SOS function at any timing
after receiving a command from a safety controller.
Safe operating stop (SOS)
This function is used to monitor that a motor stops at any positions. Both a position and
velocity are monitored. Excessive limit value error occurs when the motor operates from

a position where it stops.
Safely-limited speed (SLS)
This function is used to monitor a safety present motor velocity. When the safety present
motor velocity exceeds the velocity limit for monitoring, excessive limit value error occurs.
Safely-limited position (SLP)
This function is used to monitor current positions. Excessive limit value error occurs
when the positions surpass a range for monitoring.
Safe direction (SDI)
This function is used to monitor motor's rotating direction. Excessive limit value error
occurs when a motor rotates toward the banned rotating direction.
Safe brake control (SBC)
This function is used to provide safety output for a holding brake. The function can be
used with STO, SS1 functions and the brake operation.
Safety Servo Drives have two type STO functions. Use either or both functions according to configuration of safety devices.
• STO function by safety input signals

• STO function via
EtherCAT communications
When you use just STO function by safety input signals, you do not need a setting related
EtherCAT network.
Achievable safety levels for each safety function at maximum are shown as the below table:
Function
Achievable safety level
Function
Achievable safety level
STO
SIL3/PLe
SLS
SIL3/PLe *1
SS1
SIL3/PLe
SLP
SIL3/PLe *2
SS2
SIL3/PLe
SDI
SIL3/PLe *1
SOS
SIL3/PLe *1
SBC
SIL3/PLe *3
*1. Achievable safety level varies in a basic control for use.
*2. Achievable safety level varies in Safety Origin Position Determination Method or SOPT input devices for use.

*3. Achievable safety level varies in Brake structure.

Refer to the AC Servomotors/Servo Drives 1S-series with Built-in
EtherCAT® Communications and Safety Functionality User's Manual (Cat. No. I621) for details.
Configuration for Safety System
To make devices enter into safe state, a combined control among a safety controller, a standard controller and a Servo Drive is required.
Typical roles of each device are shown as below.
Device
Role
Safety Controller
• Monitor safety input and output.
• Notify a standard controller of states of safety input and output.

• Issue commands to activate and interrupt safety functions to a Servo Drive.

• Issue commands to reset errors of safety functions to a Servo Drive.
Standard
Controller
• Issue commands to turn Servo ON/OFF and reset errors to a Servo Drive.
• Issue command to control a specified position, velocity and torque of a Servomotor to a Servo Drive.
Servo Drive
• Turn Servo ON/OFF and reset errors after receiving commands from a standard controller.
• Control a Servomotor after receiving commands from a standard controller.

• Activate and interrupt safety functions after receiving commands from a safety controller.

• Reset errors of safety functions after receiving commands from a safety controller.

• Stop a Servomotor when an error occurs.
A procedure for the control is described as follow:
1. A safety controller detects the following cases with a safety sensor and a safety switch.

   When workers entered exclusion zones

   When workers are about to touch hazardous sites of the device

   When workers come closely to the devices for the purpose of a check of devices/products, maintenance and supply of

   materials

2. A safety controller notifies a standard controller of the detected data.

3. A standard controller issues commands to decelerate and stop a Servomotor to a Servo Drive. At the same time, a safety

   controller issues commands to activate safety functions for use to a Servo Drive.

4. A Servo Drive receives and executes the commands from both controllers.
Thus, a safety controller and a standard controller must issue commands to a Servo Drive at an appropriate timing according to states of switches, sensors and devices, and then have the programs to issue the commands.
To secure the combined operation between a safety controller and a standard controller, design programs for each device with consideration of the following times. Without this consideration of the times mentioned earlier, when safety functions are activated, STO may be active and an excessive limit value error (Error display No.71.03) may occur.

• Time until safety functions starts the activations

   It refers to “Time until a safety controller issues command to activate safety functions + Delay time of safety functions”.

• Delay time of safety functions

   Time until STO becomes active or a Servo Drive starts monitoring after it receives commands of safety functions.

Refer to the AC Servomotors/Servo Drives 1S-series with Built-in
EtherCAT® Communications and Safety Functionality User's Manual (Cat. No. I621) for details.
This section describes a flow of control of each device with an example such as SLS function.
Safety system configuration equipment
Model
Standard Controller
NX701
EtherCAT Coupler Unit
NX-ECC201
NX-ECC202
Safety Controller
NX-SL3300
NX-SL3500
Safety Digital Input Unit
NX-SIH400
Guard Lock Safety Key Selector Switch
A22LK
Servo Drive
R88D-1SAN
*1. The safety key selector switch and the safety controller detect that workers come closer to devices due to the reason such as maintenance, etc.
*2. The standard controller reads data from the safety controller and checks a switch to maintenance mode. In such case, it issues a command to decelerate a velocity of the Servomotor and gives the command to the Servo Drive.

*3. The safety controller issues/gives a command to activate SLS function to the Servo Drive.

*4. The Servo Drive controls the motor's deceleration, following the command from the standard controller. In addition, it activates SLS function after receiving the command to activate SLS from the safety controller.
EtherCAT Communications Specifications
Item
Specifications
Communications
standard
IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile
Physical layer
100BASE-TX (IEEE802.3)
Connectors
RJ45 × 2 (shielded)
ECAT IN:
EtherCAT input
ECAT OUT:
EtherCAT output
Communications media
Recommended media:
Twisted-pair cable, which is doubly shielded by the aluminum tape and braid, with Ethernet

Category 5 (100BASE-TX) or higher
Communications
distance
Distance between nodes: 100 m max.
Process data
Fixed PDO mapping
Variable PDO mapping
Mailbox (CoE)
Emergency messages, SDO requests, SDO responses, and SDO information
Synchronization mode
and communications

cycle
DC Mode (Synchronous with Sync0 Event)
Communications cycle: 125
μs, 250 μs, 500 μs, 750 μs, 1 to 10 ms (in 0.25 ms increments)
Free Run Mode
Indicators
ECAT-L/A IN (Link/Activity IN) × 1
ECAT-L/A OUT (Link/Activity OUT) × 1

ECAT-RUN × 1

ECAT-ERR × 1
CiA 402 Drive Profile
• Cyclic synchronous position mode
• Cyclic synchronous velocity mode

• Cyclic synchronous torque mode

• Profile position mode

• Profile velocity mode

• Homing mode

• Touch probe function

• Torque limit function
Version Information
The following table gives the relationship between unit versions of 1S-series Servo Drives Advance type and the corresponding Sysmac Studio versions.
Unit version
Sysmac Studio
Version 1.0 *
Version 1.44.1 or higher
* Sysmac Studio version 1.44 or higher enables you to use the cable redundancy function and configure a ring topology.
AC Servomotors [1S-series with Safety Functionality]
Specifications
General Specifications
Item
Specifications
Operating ambient temperature and
humidity
0 to 40°C
20% to 90% (with no condensation)
Storage ambient temperature and
humidity
-20 to 65°C
20% to 90% (with no condensation)
Operating and storage atmosphere
No corrosive gases
Vibration resistance *
Acceleration of 49 m/s2
24.5 m/s
2 max. in X, Y, and Z directions when the motor is stopped
Impact resistance
Acceleration of 98 m/s2 max. 3 times each in X, Y, and Z directions
Insulation resistance
Between power terminals and FG terminals: 10 MΩ min. (at 500 VDC Megger)
Dielectric strength
Between power terminals and FG terminals: 1,500 VAC for 1 min (voltage
200 V)

Between power terminals and FG terminals: 1,800 VAC for 1 min (voltage

400 V)

Between brake terminal and FG terminals: 1,000 VAC for 1 min
Insulation class
Class F
Protective structure
IP67 (except for the through-shaft part and connector pins)
International
standard
EU Directives
and

UK legislation
Low Voltage
EN 60034-1/-5
UL standards
UL 1004-1/-6
CSA standards
CSA C22.2 No.100 (with cUR mark)
* The amplitude may be increased by machine resonance. As a guideline, 80% of the specified value must not be exceeded.
Note: 1. Do not use the cable when it is laying in oil or water.

         2. Do not expose the cable outlet or connections to stress due to bending or its own weight.
Encoder Specifications
Item
Specifications
Encoder system
Optical batteryless absolute encoder
Resolution per rotation
20 bits
Multi-rotation data hold
12 bits
Output signal
Serial communications
Output interface
RS485 compliant
Note: It is possible to use an absolute encoder as an incremental encoder.
         Refer to the AC Servomotors/Servo Drives 1S-series with Built-in
EtherCAT® Communications and Safety
         Functionality User's Manual (Cat.No.I621) for details.
Characteristics
3,000-r/min Servomotors
Model (R88M-)
200 VAC
Item
Unit
1AM20030T
1AM40030T
1AM75030T
Rated output *1*2
W
200
400
750
Rated torque *1*2
N·m
0.637
1.27
2.39
Rated rotation speed *1*2
r/min
3000
Maximum rotation speed
r/min
6000
Momentary maximum torque *1*3
N·m
2.2 *4
4.5 *4
8.4 *4
Rated current *1*2
A(rms)
1.5
2.5
4.6
Momentary maximum current *1
A(rms)
5.6
9.1
16.9
Rotor inertia
Without brake
× 10-4 kg·m2
0.224
0.446
1.825
With brake
× 10-4 kg·m2
0.284
0.506
2.075
Applicable load inertia
× 10-4 kg·m2
4.80
8.40
19.4
Torque constant *1
N·m/A(rms)
0.48
0.56
0.59
Power rate *1*5
kW/s
18.1
36.2
31.3
Mechanical time constant *5
ms
0.79
0.58
0.66
Electrical time constant
ms
2.4
2.6
3.3
Allowable radial load *6
N
245
245
490
Allowable thrust load *6
N
88
88
196
Weight
Without brake
kg
1.3
1.8
3.2
With brake
kg
1.7
2.2
4.1
Radiator plate dimensions (material)
mm
250 × 250 × t6 (aluminum)
Brake
specifications

*7
Excitation voltage *8
V
24 DC ±10%
Current consumption at 20°C)
A
0.32
0.32
0.37
Static friction torque
N·m
1.37 min.
1.37 min.
2.55 min.
Attraction time
ms
30 max.
30 max.
40 max.
Release time *9
ms
20 max.
20 max.
35 max.
Backlash
°
1.2 max.
1.2 max.
1.0 max.
Allowable braking work
J
60
60
250
Allowable total work
J
60,000
60,000
250,000
Allowable angular acceleration
rad/s2
10,000 max.
Brake lifetime
(acceleration/deceleration)
---
10 million times min.
Brake lifetime (ON/OFF), B10d
---
1 million times min.
Insulation class
---
Class F
For models with an oil seal the following derating is used due to increase in friction torque.
Model (R88M-)
1AM20030T-O/
-OS2/-BO/-BOS2
1AM40030T-O/
-OS2/-BO/-BOS2
1AM75030T-O/
-OS2/-BO/-BOS2
Item
Unit
Derating rate
%
95
80
90
Rated output
W
190
320
675
Rated current
A (rms)
1.5
2.1
4.2
Model (R88M-)
200 VAC
Item
Unit
1AL1K030T
1AL1K530T
1AL2K030T
1AL2K630T
Rated output *1*2
W
1,000
1,500
2,000
2,600
Rated torque *1*2
N·m
3.18
4.77
6.37
8.28
Rated rotation speed *1*2
r/min
3,000
Maximum rotation speed
r/min
5,000
Momentary maximum torque *1*3
N·m
9.55
14.3
19.1
24.8
Rated current *1*2
A(rms)
5.2
8.8
12.5
14.8
Momentary maximum current *1
A(rms)
16.9
28.4
41.0
47.3
Rotor
inertia
Without brake
× 10-4 kg·m2
2.105
2.105
2.405
6.813
With brake
× 10-4 kg·m2
2.555
2.555
2.855
7.313
Applicable load inertia
× 10-4 kg·m2
35.3
47.6
60.2
118
Torque constant *1
N·m/A(rms)
0.67
0.58
0.56
0.62
Power rate *1*5
kW/s
48
108
169
101
Mechanical time constant *5
ms
0.58
0.58
0.50
0.47
Electrical time constant
ms
5.9
6.1
6.4
11
Allowable radial load *6
N
490
Allowable thrust load *6
N
196
Weight
Without brake
kg
5.8
5.8
6.5
11.5
With brake
kg
7.5
7.5
8.2
13.5
Radiator plate dimensions (material)
mm
400 × 400 × t20
(aluminum)
470 × 470 × t20
(aluminum)
Brake
specifi-
cations
*7
Excitation voltage *8
V
24 VDC±10%
Current consumption (at 20°C)
A
0.70
0.70
0.70
0.66
Static friction torque
N·m
9.3 min.
9.3 min.
9.3 min.
12 min.
Attraction time
ms
100 max.
100 max.
100 max.
100 max.
Release time *9
ms
30 max.
30 max.
30 max.
30 max.
Backlash
°
1.0 max.
1.0 max.
1.0 max.
0.8 max.
Allowable braking work
J
500
500
500
1000
Allowable total work
J
900,000
900,000
900,000
3000,000
Allowable angular acceleration
rad/s2
10,000 max.
Brake lifetime
(acceleration/ deceleration)
---
10 million times min.
Brake lifetime (ON/OFF), B10d
---
1 million times min.
Insulation class
---
Class F
Model (R88M-)
AC400V
Item
Unit
1AL75030C
1AL1K030C
1AL1K530C
Rated output *1*2
W
750
1,000
1,500
Rated torque *1*2
N·m
2.39
3.18
4.77
Rated rotation speed *1*2
r/min
3,000
Maximum rotation speed
r/min
5,000
Momentary maximum torque *1*3
N·m
7.16
9.55
14.3
Rated current *1*2
A(rms)
3.0
3.0
4.5
Momentary maximum current *1
A(rms)
9.6
9.6
14.1
Rotor inertia
Without brake
× 10-4 kg·m2
1.305
2.105
2.105
With brake
× 10-4 kg·m2
1.755
2.555
2.555
Applicable load inertia
× 10-4 kg·m2
38.6
35.3
47.6
Torque constant *1
N·m/A(rms)
0.91
1.17
1.17
Power rate *1*5
kW/s
44
48
108
Mechanical time constant *5
ms
1.1
0.58
0.58
Electrical time constant
ms
4.3
5.9
5.9
Allowable radial load *6
N
490
Allowable thrust load *6
N
196
Weight
Without brake
kg
4.2
5.8
5.8
With brake
kg
5.9
7.5
7.5
Radiator plate dimensions (material)
mm
305 × 305 × t20
(aluminum)
400 × 400 × t20 (aluminum)
Brake
specifications

*7
Excitation voltage *8
V
24 VDC±10%
Current consumption (at 20°C)
A
0.70
0.70
0.70
Static friction torque
N·m
9.3 min.
9.3 min.
9.3 min.
Attraction time
ms
100 max.
100 max.
100 max.
Release time *9
ms
30 max.
30 max.
30 max.
Backlash
°
1.0 max.
1.0 max.
1.0 max.
Allowable braking work
J
500
500
500
Allowable total work
J
900,000
900,000
900,000
Allowable angular acceleration
rad/s2
10,000 max.
Brake lifetime
(acceleration/ deceleration)
---
10 million times min.
Brake lifetime (ON/OFF), B10d
---
1 million times min.
Insulation class
---
Class F
Model (R88M-)
AC400V
Item
Unit
1AL2K030C
1AL3K030C
Rated output *1*2
W
2,000
3,000
Rated torque *1*2
N·m
6.37
9.55
Rated rotation speed *1*2
r/min
3,000
Maximum rotation speed
r/min
5,000
Momentary maximum torque *1*3
N·m
19.1
28.7
Rated current *1*2
A(rms)
6.3
8.7
Momentary maximum current *1
A(rms)
19.8
27.7
Rotor inertia
Without brake
× 10-4 kg·m2
2.405
6.813
With brake
× 10-4 kg·m2
2.855
7.313
Applicable load inertia
× 10-4 kg·m2
60.2
118
Torque constant *1
N·m/A(rms)
1.15
1.23
Power rate *1*5
kW/s
169
134
Mechanical time constant *5
ms
0.52
0.49
Electrical time constant
ms
6.3
11
Allowable radial load *6
N
490
Allowable thrust load *6
N
196
Weight
Without brake
kg
6.5
11.5
With brake
kg
8.2
13.5
Radiator plate dimensions (material)
mm
470 × 470 × t20 (aluminum)
Brake
specifications

*7
Excitation voltage *8
V
24 VDC±10%
Current consumption (at 20°C)
A
0.70
0.66
Static friction torque
N·m
9.3 min.
12 min.
Attraction time
ms
100 max.
100 max.
Release time *9
ms
30 max.
30 max.
Backlash
°
1.0 max.
0.8 max.
Allowable braking work
J
500
1,000
Allowable total work
J
900,000
3,000,000
Allowable angular acceleration
rad/s2
10,000 max.
Brake lifetime
(acceleration/ deceleration)
---
10 million times min.
Brake lifetime (ON/OFF), B10d
---
1 million times min.
Insulation class
---
Class F
*1. This is a typical value for when the Servomotor is used at a normal temperature (20°C, 65%) in combination with a Servo Drive.
*2. The rated values are the values with which continuous operation is possible at an ambient temperature of 40°C when the Servomotor is horizontally installed on a specified radiator plate.

*3. The momentary maximum torque is approximately 300% of the rated torque, except for some models.

*4. The momentary maximum torque is approximately 350% of the rated torque. Output at the momentary maximum torque shortens detection time of the overload protection function. Refer to Electronic Thermal Function in the AC Servomotors/Servo Drives 1S-series with Built-in
EtherCAT® Communications and Safety Functionality User's Manual (Cat. No. I621) for details.
*5. This value is for models without options.

*6. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating

      temperatures.

      The allowable radial loads are applied as shown in the following diagram.
*7. When the brake is released for a vertical axis, refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and Safety Functionality User's Manual (Cat. No. I621) to set an appropriate value for Brake Interlock Output (4610 hex).
*8. This is a non-excitation brake. It is released when excitation voltage is applied.

*9. This value is a reference value.
Torque-Rotation Speed Characteristics for 3,000-r/min Servomotors (200 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 3-phase 200-VAC or single-phase 220-VAC input.
Torque-Rotation Speed Characteristics for 3,000-r/min Servomotors (400 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 3-phase 400-VAC input.
1,500-r/min Servomotors
Model (R88M-)
AC200V
Item
Unit
1AM1K515T
1AM2K715T
Rated output *1*2
W
1,500
2,700
Rated torque *1*2
N·m
9.55
17.2
Rated rotation speed *1*2
r/min
1,500
Maximum rotation speed
r/min
3,000
Momentary maximum torque *1
N·m
28.7
51.6
Rated current *1*2
A(rms)
8.6
14.6
Momentary maximum current *1
A(rms)
28.4
49.3
Rotor inertia
Without brake
× 10-4 kg·m2
12.413
40.013
With brake
× 10-4 kg·m2
13.013
45.113
Applicable load inertia
× 10-4 kg·m2
127.05
270.63
Torque constant *1
N·m/A(rms)
1.11
1.29
Power rate *1*3
kW/s
73
74
Mechanical time constant *3
ms
0.75
1.0
Electrical time constant
ms
17
19
Allowable radial load *4
N
490
1176
Allowable thrust load *4
N
196
490
Weight
Without brake
kg
11
18
With brake
kg
13
22
Radiator plate dimensions (material)
mm
470 × 470 × t20 (aluminum)
Brake
specifications

*5
Excitation voltage *6
V
24 VDC±10%
Current consumption (at 20°C)
A
0.66
1.20
Static friction torque
N·m
12 min.
22 min.
Attraction time
ms
100 max.
120 max.
Release time *7
ms
30 max.
50 max.
Backlash
°
0.6 max.
0.8 max.
Allowable braking work
J
1,000
1,400
Allowable total work
J
3,000,000
4,600,000
Allowable angular acceleration
rad/s2
10,000 max.
Brake lifetime
(acceleration/ deceleration)
---
10 million times min.
Brake lifetime (ON/OFF), B10d
---
1 million times min.
Insulation class
---
Class F
Model (R88M-)
AC400V
Item
Unit
1AM1K515C
1AM3K015C
Rated output *1*2
W
1,500
3,000
Rated torque *1*2
N·m
9.55
19.1
Rated rotation speed *1*2
r/min
1,500
Maximum rotation speed
r/min
3,000
Momentary maximum torque *1
N·m
28.7
57.3
Rated current *1*2
A(rms)
4.4
8.5
Momentary maximum current *1
A(rms)
14.1
28.3
Rotor inertia
Without brake
× 10-4 kg·m2
12.413
40.013
With brake
× 10-4 kg·m2
13.013
45.113
Applicable load inertia
× 10-4 kg·m2
127.05
270.63
Torque constant *1
N·m/A(rms)
2.21
2.46
Power rate *1*3
kW/s
73
91
Mechanical time constant *3
ms
0.75
1.2
Electrical time constant
ms
17
16
Allowable radial load *4
N
490
1176
Allowable thrust load *4
N
196
490
Weight
Without brake
kg
11
18
With brake
kg
13
22
Radiator plate dimensions (material)
mm
470 × 470 × t20 (aluminum)
Brake
specifications

*5
Excitation voltage *6
V
24 VDC±10%
Current consumption (at 20°C)
A
0.66
1.20
Static friction torque
N·m
12 min.
22 min.
Attraction time
ms
100 max.
120 max.
Release time *7
ms
30 max.
50 max.
Backlash
°
0.6 max.
0.8 max.
Allowable braking work
J
1,000
1,400
Allowable total work
J
3,000,000
4,600,000
Allowable angular acceleration
rad/s2
10,000 max.
Brake lifetime
(acceleration/ deceleration)
---
10 million times min.
Brake lifetime (ON/OFF), B10d
---
1 million times min.
Insulation class
---
Class F
*1. This is a typical value for when the Servomotor is used at a normal temperature (20°C, 65%) in combination with a Servo Drive.
*2. The rated values are the values with which continuous operation is possible at an ambient temperature of 40°C when the Servomotor is horizontally installed on a specified radiator plate.

*3. This value is for models without options.

*4. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating temperatures.

The allowable radial loads are applied as shown in the following diagram.
*5. When the brake is released for a vertical axis, refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and Safety Functionality User's Manual (Cat. No. I621) to set an appropriate value for Brake Interlock Output (4610 hex).
*6. This is a non-excitation brake. It is released when excitation voltage is applied.

*7. This value is a reference value.
Torque-Rotation Speed Characteristics for 1,500-r/min Servomotors (200 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 3-phase 200-VAC or single-phase 220-VAC input.
Torque-Rotation Speed Characteristics for 1,500-r/min Servomotors (400 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 3-phase 400-VAC input.
Decelerator AC Servo System [1S-series with Safety Functionality]
Specifications
Backlash: 3 Arcminutes Max.
For 3,000-r/min Servomotors
Servomotor
rated

output
Reduction
ratio
Model
Rated
rotation

speed
Rated
torque
Efficiency
Momentary
maximum

rotation speed
Momentary
maximum

torque
r/min
N·m
%
r/min
N·m
200 W
1/5
R88G-HPG14A05200B[]
600
2.4
75.4
1200
9.7
1/11
R88G-HPG14A11200B[]
272
5.8
82.6
545
21.8
1/21
R88G-HPG20A21200B[]
142
10.2
76.2
285
41.7
1/33
R88G-HPG20A33200B[]
90
17.0
80.6
181
66.5
1/45
R88G-HPG20A45200B[]
66
23.5
82.1
133
91.1
400 W
1/5
R88G-HPG14A05400B[]
600
5.3
84.2
1200
20.4
1/11
R88G-HPG20A11400B[]
272
11.4
81.6
545
45.5
1/21
R88G-HPG20A21400B[]
142
23.0
86.1
285
88.1
1/33
R88G-HPG32A33400B[]
90
33.8
80.7
181
136.2
1/45
R88G-HPG32A45400B[]
66
46.6
81.5
133
186.1
750 W
(200 V)
1/5
R88G-HPG20A05750B[]
600
9.9
82.9
1200
38.7
1/11
R88G-HPG20A11750B[]
272
20.0 *1
87.2
545
86.7
1/21
R88G-HPG32A21750B[]
142
42.1
84.0
285
163.3
1/33
R88G-HPG32A33750B[]
90
69.3
87.9
181
259.7
750 W
(400 V)
1/5
R88G-HPG32A052K0B[]
600
7.7
64.3
1000
30.6
1/11
R88G-HPG32A112K0B[]
272
20.5
78.0
454
70.9
1/21
R88G-HPG32A211K5B[]
142
42.1
84.0
238
138.3
1 kW
1/5
R88G-HPG32A052K0B[]
600
11.5
72.2
1000
42.0
1/11
R88G-HPG32A112K0B[]
272
28.9
82.5
454
96.1
1/21
R88G-HPG32A211K5B[]
142
58.1
86.9
238
186.5
1.5 kW
1/5
R88G-HPG32A052K0B[]
600
19.1
80.1
1000
64.8
1/11
R88G-HPG32A112K0B[]
272
45.7
87.0
454
146.3
1/21
R88G-HPG32A211K5B[]
142
90.1
90.0
238
282.2
1/33
R88G-HPG50A332K0B[]
90
141.3
89.8
151
443.2
1/45
R88G-HPG50A451K5B[]
66
194.8
90.8
111
606.5
2 kW
1/5
R88G-HPG32A052K0B[]
600
26.8
84.1
1000
87.9
1/11
R88G-HPG32A112K0B[]
272
62.5
89.3
454
197.0
2.6 kW
(200 V)
1/5
R88G-HPG32A053K0B[]
600
36.0
86.8
1000
115.2
3 kW
(400 V)
1/5
R88G-HPG32A053K0B[]
600
42.0
88.1
1000
134.0
Servomotor
rated output
Reduction
ratio
Model
Decelerator
inertia
Allowable
radial load
Allowable
thrust load
Weight
× 10-4 kg·m2
N
N
kg
200 W
1/5
R88G-HPG14A05200B[]
0.207
221
883
1.0
1/11
R88G-HPG14A11200B[]
0.197
280
1119
1.1
1/21
R88G-HPG20A21200B[]
0.49
800
2817
2.9
1/33
R88G-HPG20A33200B[]
0.45
916
3226
2.9
1/45
R88G-HPG20A45200B[]
0.45
1006
3541
2.9
400 W
1/5
R88G-HPG14A05400B[]
0.207
221
883
1.1
1/11
R88G-HPG20A11400B[]
0.57
659
2320
2.9
1/21
R88G-HPG20A21400B[]
0.49
800
2817
2.9
1/33
R88G-HPG32A33400B[]
0.62
1565
6240
7.5
1/45
R88G-HPG32A45400B[]
0.61
1718
6848
7.5
750 W
(200 V)
1/5
R88G-HPG20A05750B[]
0.68
520
1832
2.9
1/11
R88G-HPG20A11750B[]
0.6
659
2320
3.1
1/21
R88G-HPG32A21750B[]
3.0
1367
5448
7.8
1/33
R88G-HPG32A33750B[]
2.7
1565
6240
7.8
750 W
(400 V)
1/5
R88G-HPG32A052K0B[]
3.8
889
3542
7.4
1/11
R88G-HPG32A112K0B[]
3.4
1126
4488
7.9
1/21
R88G-HPG32A211K5B[]
3.0
1367
5448
7.9
1 kW
1/5
R88G-HPG32A052K0B[]
3.8
889
3542
7.4
1/11
R88G-HPG32A112K0B[]
3.4
1126
4488
7.9
1/21
R88G-HPG32A211K5B[]
3.0
1367
5448
7.9
1.5 kW
1/5
R88G-HPG32A052K0B[]
3.8
889
3542
7.4
1/11
R88G-HPG32A112K0B[]
3.4
1126
4488
7.9
1/21
R88G-HPG32A211K5B[]
3.0
1367
5448
7.9
1/33
R88G-HPG50A332K0B[]
4.8
4135
14300
19.0
1/45
R88G-HPG50A451K5B[]
4.7
4538
15694
19.0
2 kW
1/5
R88G-HPG32A052K0B[]
3.8
889
3542
7.4
1/11
R88G-HPG32A112K0B[]
3.4
1126
4488
7.9
2.6 kW
(200 V)
1/5
R88G-HPG32A053K0B[]
3.8
889
3542
7.3
3 kW
(400 V)
1/5
R88G-HPG32A053K0B[]
3.8
889
3542
7.3
*1. The value is the allowable continuous output torque of the Decelerator. Take care so that this value is not exceeded.
*2. The value is the maximum allowable torque of the Decelerator. Take care so that this value is not exceeded.

Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.

         2. The protective structure rating of the Servomotor with the Decelerator is IP44.

         3. The Allowable radial load column shows the values obtained at the center of the shaft (T/2).
          4. The standard shaft type is a straight shaft. A model with a key and tap is indicated with “J” at [] of the model
              number.

         5. Take care so that the surface temperature of the Decelerator does not exceed 70°C.
For 1,500-r/min Servomotors
Servomotor
rated

output
Reduction
ratio
Model
Rated
rotation

speed
Rated
torque
Efficiency
Momentary
maximum

rotation speed
Momentary
maximum

torque
r/min
N·m
%
r/min
N·m
1.5 kW
1/5
R88G-HPG32A053K0B[]
300
43.8
91.7
600
135.7
1/11
R88G-HPG32A112K0SB[]
136
98.1
93.4
272
299.0 *1
1/21
R88G-HPG50A21900TB[]
71
187.2
93.3
142
573.2
1/33
R88G-HPG50A33900TB[]
45
294.1 *2
94.1
90
849.0 *1
2.7 kW
(200 V)
1/5
R88G-HPG50A055K0SB[]
300
79.2
92.1
600
244.3
1/11
R88G-HPG50A115K0SB[]
136
177.8
94.0
272
541.1
1/20
R88G-HPG65A205K0SB[]
75
315.6
91.7
150
976.0
1/25
R88G-HPG65A255K0SB[]
60
396.8
92.3
120
1222.4
3 kW
(400 V)
1/5
R88G-HPG50A055K0SB[]
300
88.3
92.5
600
271.7
1/11
R88G-HPG50A115K0SB[]
136
197.9
94.2
272
601.2
1/20
R88G-HPG65A205K0SB[]
75
352.0
92.2
150
1085.5
1/25
R88G-HPG65A255K0SB[]
60
442.4
92.7
120
1359.2
Servomotor
rated output
Reduction
ratio
Model
Decelerator
inertia
Allowable
radial load
Allowable
thrust load
Weight
× 10-4 kg·m2
N
N
kg
1.5 kW
1/5
R88G-HPG32A053K0B[]
3.8
889
3542
7.3
1/11
R88G-HPG32A112K0SB[]
3.4
1126
4488
7.8
1/21
R88G-HPG50A21900TB[]
7.0
3611
12486
19.1
1/33
R88G-HPG50A33900TB[]
5.9
4135
14300
19.1
2.7 kW
(200 V)
1/5
R88G-HPG50A055K0SB[]
11
2347
8118
22.0
1/11
R88G-HPG50A115K0SB[]
8.4
2974
10285
23.5
1/20
R88G-HPG65A205K0SB[]
14
7338
26799
55.4
1/25
R88G-HPG65A255K0SB[]
14
7846
28654
55.4
3 kW
(400 V)
1/5
R88G-HPG50A055K0SB[]
11
2347
8118
22.0
1/11
R88G-HPG50A115K0SB[]
8.4
2974
10285
23.5
1/20
R88G-HPG65A205K0SB[]
14
7338
26799
55.4
1/25
R88G-HPG65A255K0SB[]
14
7846
28654
55.4
*1. The value is the allowable continuous output torque of the Decelerator. Take care so that this value is not exceeded.
*2. The value is the maximum allowable torque of the Decelerator. Take care so that this value is not exceeded.

Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.

         2. The protective structure rating of the Servomotor with the Decelerator is IP44.

         3. The Allowable radial load column shows the values obtained at the center of the shaft (T/2)
         4. The standard shaft type is a straight shaft. A model with a key and tap is indicated with “J” at [] of the model
             number.

         5. Take care so that the surface temperature of the Decelerator does not exceed 70°C.
Backlash: 15 Arcminutes Max.
For 3,000-r/min Servomotors
Servomotor
rated

output
Reduction
ratio
Model
Rated
rotation

speed
Rated
torque
Efficiency
Momentary
maximum

rotation speed
Momentary
maximum

torque
r/min
N·m
%
r/min
N·m
200 W
1/5
R88G-VRXF05B200CJ
600
2.93
92
1200
9.94 *
1/9
R88G-VRXF09C200CJ
333
4.76
83
667
16.43
1/15
R88G-VRXF15C200CJ
200
8.22
86
400
28.38
1/25
R88G-VRXF25C200CJ
120
13.70
86
240
47.30
400 W
1/5
R88G-VRXF05C400CJ
600
5.59
88
1200
19.80
1/9
R88G-VRXF09C400CJ
333
10.06
88
667
34.00 *
1/15
R88G-VRXF15C400CJ
200
16.95
89
400
56.70 *
1/25
R88G-VRXF25C400CJ
120
28.26
89
240
92.40 *
750 W
(200 V)
1/5
R88G-VRXF05C750CJ
600
10.99
92
1200
38.64
1/9
R88G-VRXF09D750CJ
333
19.57
91
667
63.70 *
1/15
R88G-VRXF15D750CJ
200
31.91
89
400
106.00 *
1/25
R88G-VRXF25D750CJ
120
53.18
89
240
177.00 *
Servomotor
rated output
Reduction
ratio
Model
Decelerator
inertia
Allowable
radial load
Allowable
thrust load
Weight
× 10-4 kg·m2
N
N
kg
200 W
1/5
R88G-VRXF05B200CJ
0.147
392
196
0.72
1/9
R88G-VRXF09C200CJ
0.273
931
465
1.70
1/15
R88G-VRXF15C200CJ
0.302
1176
588
2.10
1/25
R88G-VRXF25C200CJ
0.293
1323
661
2.10
400 W
1/5
R88G-VRXF05C400CJ
0.370
784
392
1.70
1/9
R88G-VRXF09C400CJ
0.273
931
465
1.70
1/15
R88G-VRXF15C400CJ
0.302
1176
588
2.10
1/25
R88G-VRXF25C400CJ
0.293
1323
661
2.10
750 W
(200 V)
1/5
R88G-VRXF05C750CJ
0.817
784
392
2.10
1/9
R88G-VRXF09D750CJ
0.755
1176
588
3.40
1/15
R88G-VRXF15D750CJ
0.685
1372
686
3.80
1/25
R88G-VRXF25D750CJ
0.658
1617
808
3.80
* The value is the maximum allowable torque of the Decelerator. Take care so that this value is not exceeded.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.

         2. The protective structure rating of the Servomotor combined with the Decelerator is IP44.

             (Excluding decelerator and servo motor connecting parts.)

         3. The Allowable radial load column shows the values obtained at the center of the shaft (T/2).
         4. The standard shaft type is a shaft with key and tap. (The key is temporarily assembled to the shaft.)
         5. Take care so that the surface temperature of the Decelerator does not exceed 90°C.