G5 Series Linear Motor/Servo Drives with built-in EtherCAT Communications Linear Motor Type
R88L-EC, R88D-KN[]-ECT-L
Linear Motor for Higher-speed and Higher-precision
AC Servo Drives
General Specifications
Item | Specifications | |
Ambient operating temperature and humidity | 0 to 55 °C, 20% to 85% max. (with no condensation) | |
Storage ambient temperature and humidity | -20 to 65°C, 20% to 85% max. (with no condensation) | |
Operating and storage atmosphere | No corrosive gases | |
Vibration resistance | 10 to 60 Hz and at an acceleration of 5.88 m/s2 or less (Not to be run continuously at the resonance point) | |
Insulation resistance | Between power supply terminals/power terminals and FG terminal: 0.5 MΩ min. (at 500 VDC) | |
Dielectric strength | Between power supply/power terminals and FG terminal: 1,500 VAC for 1 min at 50/60 Hz | |
Protective structure | Built into panel | |
EU Directives and UK legislation* | EMC | EN 55011, EN 61000-6-2, EN 61800-3 |
Low Voltage | EN 61800-5-1 | |
Machinery | EN954-1 (Cat.3), EN ISO13849-1 (Cat.3) (PLc, d), ISO13849-1 (Cat.3) (PLc, d), EN61508 (SIL2), EN62061 (SIL2), EN61800-5-2 (STO), IEC61326-3-1 (SIL 2) | |
UL standards | UL 508C | |
CSA standards | CSA C22.2 No.14 | |
Korean Radio Regulations (KC) | Certified | |
* The certification from third party is issued in combination with the revolution type motor. The conformance as the whole system should be checked by machine builder.
Note: 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
Note: 2. Always disconnect all connections to the Servo Drive before you perform insulation resistance tests on it. If you perform an insulation resistance test while the Servo Drive is connected, the Servo Drive may be damaged. Never perform dielectric strength tests on the Servo Drive. Failure to follow this precaution may result in damaging internal elements.
Note: 3. Some Servo Drive parts will require maintenance. For details, refer to the G5 series USER'S MANUAL. Confirm the Manual No. that is listed in Related Manuals.
Note: 4. Vibration, unstable movement, or accoustic noise may occur by an exogenous noise. In such case, please reduce incoming noise as referred in G5 series user's manuals.
Note: 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
Note: 2. Always disconnect all connections to the Servo Drive before you perform insulation resistance tests on it. If you perform an insulation resistance test while the Servo Drive is connected, the Servo Drive may be damaged. Never perform dielectric strength tests on the Servo Drive. Failure to follow this precaution may result in damaging internal elements.
Note: 3. Some Servo Drive parts will require maintenance. For details, refer to the G5 series USER'S MANUAL. Confirm the Manual No. that is listed in Related Manuals.
Note: 4. Vibration, unstable movement, or accoustic noise may occur by an exogenous noise. In such case, please reduce incoming noise as referred in G5 series user's manuals.
Characteristics
100-VAC Input Models
for Single-phase input type
for Single-phase input type
Item | R88D-KN01L- ECT-L | R88D-KN02L- ECT-L | R88D-KN04L- ECT-L | ||
Input power supply | Main circuit | Power supply capacity | 0.4 KVA | 0.5 KVA | 0.9 KVA |
Power supply voltage | Single-phase 100 to 120 VAC (85 to 132 VAC) 50/60 Hz | ||||
Rated current | 2.6 A | 4.3 A | 7.6 A | ||
Heat value *1 | 16.6 W | 21 W | 25 W | ||
Control circuit | Power supply voltage | Single-phase 100 to 120 VAC (85 to 132 VAC) 50/60 Hz | |||
Heat value *1 | 4 W | 4 W | 4 W | ||
Mass | Approx. 0.8 kg | Approx. 1.0 kg | Approx. 1.6 kg | ||
Maximum motor capacity | Motor Rated Rms Current | 1.7 Arms | 2.5 Arms | 4.6 Arms | |
Maximum current of motor | 5.1 Arms | 7.5 Arms | 13.8 Arms | ||
*1. The heat value is given for rated operation.
200-VAC Input Models
for Single-phase/Three-phase input type
for Single-phase/Three-phase input type
Item | R88D- KN01H- ECT-L | R88D- KN02H- ECT-L | R88D- KN04H- ECT-L | R88D- KN08H- ECT-L | R88D- KN10H- ECT-L | R88D- KN15H- ECT-L | ||
Input power supply | Main circuit | Power supply capacity | 0.5 KVA | 0.5 KVA | 0.9 KVA | 1.3 KVA | 1.8 KVA | 2.3 KVA |
Power supply voltage | Single-phase or 3-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz | |||||||
Rated current | 1.6/0.9 A *1 | 2.4/1.3 A *1 | 4.1/2.4 A *1 | 6.6/3.6 A *1 | 9.1/5.2 A *1 | 14.2/8.1 A *1 | ||
Heat value *2 | 14.3/ 13.7 W *1 | 23/19 W *1 | 33/24 W *1 | 30/35.5 W *1 | 57/49 W *1 | 104/93 W *1 | ||
Control circuit | Power supply voltage | Single-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz | ||||||
Heat value *2 | 4 W | 4 W | 4 W | 4 W | 7 W | 7 W | ||
Mass | Approx. 0.8 kg | Approx. 0.8 kg | Approx. 1.0 kg | Approx. 1.6 kg | Approx. 1.8 kg | Approx. 1.8 kg | ||
Maximum motor capacity | Rated effective current of motor | 1.2 Arms | 1.6 Arms | 2.6 Arms | 4.1 Arms | 5.9 Arms | 9.4 Arms | |
Maximum current of motor | 3.6 Arms | 4.8 Arms | 7.8 Arms | 12.3 Arms | 16.9 Arms | 28.2 Arms | ||
*1. The first value is for single-phase input power and the second value is for 3-phase input power.
*2. The heat value is given for rated operation.
*2. The heat value is given for rated operation.
400-VAC Input Models
for Three-phase input type
for Three-phase input type
Item | R88D- KN06F- ECT-L | R88D- KN10F- ECT-L | R88D- KN15F- ECT-L | R88D- KN20F- ECT-L | R88D- KN30F- ECT-L | ||
Input power supply | Main circuit | Power supply capacity | 1.2 KVA | 1.8 KVA | 2.3 KVA | 3.8 KVA | 4.5 KVA |
Power supply voltage | 3-phase 380 to 480 VAC (323 to 528 VAC) 50/60 Hz | ||||||
Rated current | 2.1 A | 2.8 A | 3.9 A | 5.9 A | 7.6 A | ||
Heat value *1 | 32.2 W | 48 W | 49 W | 65 W | 108 W | ||
Control circuit | Power supply voltage | 24 VDC (20.4 to 27.6 VAC) | |||||
Heat value *1 | 7 W | 7 W | 7W | 10 W | 13 W | ||
Mass | Approx. 1.9 kg | Approx. 1.9 kg | Approx. 1.9 kg | Approx. 2.7 kg | Approx. 4.7 kg | ||
Maximum motor capacity | Rated effective current of motor | 1.5 Arms | 2.9 Arms | 4.7 Arms | 6.7 Arms | 9.4 Arms | |
Maximum current of motor | 4.5 Arms | 8.7 Arms | 14.1 Arms | 19.7 Arms | 28.2 Arms | ||
*1. The heat value is given for rated operation.
EtherCAT Communications Specifications
Item | Specification |
Communications standard | IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile |
Physical layer | 100BASE-TX (IEEE802.3) |
Connectors | RJ45 × 2 (shielded) ECAT IN: EtherCAT input ECAT OUT: EtherCAT output |
Communications media | Ethernet Category 5 (100BASE-TX) or higher (twisted-pair cable with double, aluminum tape and braided shielding) is recommended. |
Communications distance | Distance between nodes: 100 m max. |
Process data | Fixed PDO mapping |
Mailbox (CoE) | Emergency messages, SDO requests, SDO responses, and SDO information |
Distributed clock (DC) | Synchronization in DC mode. DC cycle: 250 μs, 500 μs, 1 ms, 2 ms, 4 ms |
LED indicators | L/A IN (Link/Activity IN) × 1 L/A OUT (Link/Activity OUT) × 1 RUN × 1 ERR × 1 |
CiA402 Drive Profile | Cyclic synchronous position mode Cyclic synchronous velocity mode Cyclic synchronous torque mode Profile position mode Homing mode Touch probe function (Latch function) Torque limit function |
Linear Motor
General Specifications
Iron-core Linear Motors
Item | Description | ||
Operating ambient temperature humidity | 0 to 40°C, 20% to 80% (with no condensation) | ||
Storage ambient temperature and humidity | - 20 to +65°C, 85% max. (with no condensation) | ||
Operating and storage atmosphere | No corrosive gases | ||
Vibration resistance * | Acceleration of 49 m/s2 max. in X, Y, and Z directions | ||
Impact resistance | Acceleration of 98 m/s2 max. 3 times each in X, Y, and Z directions | ||
Insulation resistance | Between power terminal and FG terminal: 10 MΩ min. (at 500 VDC) | ||
Dielectric strength | Between power terminal and FG terminal: 2,750 VDC for 1 s Between power terminal and sensor: 2,750 VDC for 1 s | ||
Protective structure | IP00 | ||
Maximum coil temperature (Motor Coil Unit) | 130°C | ||
Maximum magnet temperature (Magnet Track) | 70°C | ||
Insulation class | Class B | ||
Cooling method | Self-cooling | ||
International standard | EU Directives | Low voltage | EN60034-1 |
* The amplitude may be increased by machine resonance. As a guideline, do not exceed 80% of the specified value.
Ironless Linear Motors
Item | Description | ||
Operating ambient temperature humidity | 0 to 40°C, 20% to 80% (with no condensation) | ||
Storage ambient temperature and humidity | - 20 to +65°C, 85% max. (with no condensation) | ||
Operating and storage atmosphere | No corrosive gases | ||
Vibration resistance * | Acceleration of 49 m/s2 max. in X, Y, and Z directions | ||
Impact resistance | Acceleration of 98 m/s2 max. 3 times each in X, Y, and Z directions | ||
Insulation resistance | Between power terminal and FG terminal: 10 MΩ min. (at 500 VDC) | ||
Dielectric strength | Between power terminal and FG terminal: 2,250 VDC for 1 s Between power terminal and sensor: 2,250 VDC for 1 s | ||
Protective structure | IP00 | ||
Maximum coil temperature (Motor Coil Unit) | 110°C | ||
Maximum magnet temperature (Magnet Track) | 70°C | ||
Insulation class | Class B | ||
Cooling method | Self-cooling | ||
International standard | EU Directives | Low voltage | EN60034-1 |
* The amplitude may be increased by machine resonance. As a guideline, do not exceed 80% of the specified value.
Characteristics
Iron-core Linear Motors
Item | Unit | R88L-EC- | ||||||
FW- 0303- ANPC | FW- 0306- ANPC | FW- 0606- ANPC | FW- 0609- ANPC | FW- 0612- ANPC | FW- 1112- ANPC | FW- 1115- ANPC | ||
Maximum speed (100 VAC) | m/s | 2.5 | 2.5 | 2 | - | - | - | - |
Maximum speed (200 VAC) | m/s | 5 | 5 | 4 | 4 | 4 | 2 | 2 |
Maximum speed (400 VAC) | m/s | 10 | 10 | 8 | 8 | 8 | 4 | 4 |
Continuous force *1 | N | 48 | 96 | 160 | 240 | 320 | 608 | 760 |
Momentary maximum force *2 | N | 105 | 210 | 400 | 600 | 800 | 1,600 | 2,000 |
Continuous current *2 | Arms | 1.24 | 2.4 | 3.4 | 5.2 | 6.9 | 6.5 | 8.2 |
Momentary maximum current *1 | Arms | 3.1 | 6.1 | 10 | 15 | 20 | 20 | 25 |
Motor force constant | N/Arms | 39.7 | 39.7 | 46.5 | 46.5 | 46.5 | 93.0 | 93.0 |
Back electromotive force | V・s/m | 13.2 | 13.2 | 15.5 | 15.5 | 15.5 | 31 | 31 |
Motor constant | N/√W | 9.75 | 13.78 | 19.49 | 23.87 | 27.57 | 41.47 | 46.37 |
Phase resistance | Ω | 5.34 | 2.68 | 1.83 | 1.23 | 0.92 | 1.6 | 1.29 |
Phase inductance | mH | 34.7 | 17.4 | 13.7 | 9.2 | 6.9 | 12.8 | 10.3 |
Electrical time constant | ms | 6.5 | 6.5 | 7.5 | 7.5 | 7.5 | 8 | 8 |
Maximum continuous power consumption | W | 32 | 63 | 88 | 131 | 175 | 279 | 349 |
Thermal resistance | K/W | 2.20 | 1.10 | 0.78 | 0.52 | 0.39 | 0.23 | 0.18 |
Thermal time constant | s | 110 | 110 | 124 | 124 | 124 | 126 | 126 |
Magnetic attractive force | N | 300 | 500 | 1,020 | 1,420 | 1,820 | 3,640 | 4,440 |
Magnetic pole pitch | mm | 24 | 24 | 24 | 24 | 24 | 24 | 24 |
Mass (except cables) | kg | 0.48 | 0.78 | 1.31 | 1.84 | 2.37 | 4.45 | 5.45 |
Cooling plate dimensions | mm | 238 × 220 × 10 | 238 × 220 × 10 | 250 × 287 × 12 | 250 × 287 × 12 | 250 × 287 × 12 | 371 × 330 × 14 | 371 × 330 × 14 |
Application Servo Drives (R88D-[]-ECT-L) | KN01L/ KN02H/ KN06F | KN02L/ KN04H/ KN10F | KN04L/ KN08H/ KN15F | KN10H/ KN20F | KN15H/ KN30F | KN15H/ KN30F | KN15H/ KN30F | |
Magnet Trac (R88L-EC-) | FM-03096-A/ FM-03144-A/ FM-03384-A | FM-06192-A/FM-06288-A | FM-11192-A/ FM-11288-A | |||||
Magnet Trac Unit Length | mm | 96/144/384 | 192/288 | 192/288 | ||||
*1. This shows a value measured when the Motor Coil Unit is at 100°C and the Magnet Trac is at 25°C. The coil unit is mounted in the center of an aluminum moving table (heat sink) which has its size larger than indicated in table as cooling condition.
*2. The Motor Coil Unit is subjected to a temperature rise of 6 K/s.
*2. The Motor Coil Unit is subjected to a temperature rise of 6 K/s.
Ironless Linear Motors
Item | Unit | R88L-EC- | ||||||
GW-0303-ANPS | GW-0306-ANPS | GW-0309-ANPS | ||||||
Maximum speed (100VAC) | m/s | 8 | - | 8 | 8 | |||
Maximum speed (200VAC) | m/s | - | 16 | 16 | 16 | |||
Continuous force *1 | N | 26.5 | 53 | 80 | ||||
Momentary maximum force *2 | N | 100 | 96 | 200 | 300 | |||
Continuous current *2 | Arms | 1.33 | 2.66 | 4.0 | ||||
Momentary maximum current *1 | Arms | 5.0 | 4.8 | 10.0 | 15.0 | |||
Motor force constant | N/Arms | 19.9 | 19.9 | 19.9 | ||||
Back electromotive force | V・s/m | 6.6 | 6.6 | 6.6 | ||||
Motor constant | N/√W | 4.90 | 6.93 | 8.43 | ||||
Phase resistance | Ω | 5.5 | 2.8 | 1.8 | ||||
Phase inductance | mH | 1.8 | 0.9 | 0.6 | ||||
Electrical time constant | ms | 0.35 | 0.35 | 0.35 | ||||
Maximum continuous power consumption | W | 47 | 95 | 142 | ||||
Thermal resistance | K/W | 2.1 | 1.06 | 0.71 | ||||
Thermal time constant | s | 36 | 36 | 36 | ||||
Magnetic attractive force | N | 0 | 0 | 0 | ||||
Magnetic pole pitch | mm | 30 | 30 | 30 | ||||
Mass (except cables) | kg | 0.084 | 0.162 | 0.24 | ||||
Application Servo Drives (R88D-[]-ECT-L) | KN01L | KN02H | KN04L/KN08H | KN10H | ||||
Magnet Trac (R88L-EC-) | GM-03090-A/GM-03120-A/GM-03390-A | |||||||
Magnet Trac Unit Length | mm | 90/120/390 | ||||||
Item | Unit | R88L-EC- | ||||||
GW- 0503- ANPS | GW- 0506- ANPS | GW- 0509- ANPS | GW- 0703- ANPS | GW- 0706- ANPS | GW- 0709- ANPS | |||
Maximum speed (100VAC) | m/s | 2.2 | 2.2 | 2.2 | 1.2 | 1.2 | - | |
Maximum speed (200VAC) | m/s | 4.4 | 4.4 | 4.4 | 2.4 | 2.4 | 2.4 | |
Continuous force *1 | N | 58 | 117 | 175 | 117 | 232 | 348 | |
Momentary maximum force *2 | N | 240 | 480 | 720 | 552 | 1110 | 1730 | |
Continuous current *2 | Arms | 0.87 | 1.76 | 2.60 | 0.94 | 1.87 | 2.81 | |
Momentary maximum current *1 | Arms | 3.50 | 7.1 | 10.6 | 4.5 | 9.0 | 14 | |
Motor force constant | N/Arms | 68.0 | 68.0 | 68.0 | 124.0 | 124.0 | 124.0 | |
Back electromotive force | V・s/m | 22.7 | 22.7 | 22.7 | 41.3 | 41.3 | 41.3 | |
Motor constant | N/√W | 9.85 | 13.96 | 17.03 | 17.97 | 25.44 | 31.14 | |
Phase resistance | Ω | 15.9 | 8.0 | 5.3 | 15.8 | 7.9 | 5.3 | |
Phase inductance | mH | 13 | 6.5 | 4.2 | 28.0 | 14.0 | 9.0 | |
Electrical time constant | ms | 0.8 | 0.8 | 0.8 | 1.8 | 1.8 | 1.8 | |
Maximum continuous power consumption | W | 67 | 134 | 200 | 82 | 165 | 247 | |
Thermal resistance | K/W | 1.70 | 0.85 | 0.65 | 1.56 | 1.04 | 0.52 | |
Thermal time constant | s | 72 | 72 | 72 | 96 | 96 | 96 | |
Magnetic attractive force | N | 0 | 0 | 0 | 0 | 0 | 0 | |
Magnetic pole pitch | mm | 42 | 42 | 42 | 57 | 57 | 57 | |
Mass (except cables) | kg | 0.25 | 0.47 | 0.69 | 0.55 | 0.95 | 1.35 | |
Application Servo Drives (R88D-[]-ECT-L) | KN01L/ KN01H | KN02L/ KN04H | KN04L/ KN08H | KN02L/ KN04H | KN04L/ KN08H | KN10H | ||
Magnet Trac (R88L-EC-) | GM-05126-A/GM-05168-A/ GM-05210-A/GM-05546-A | GM-07114-A/GM-07171-A/ GM-07456-A | ||||||
Magnet Trac Unit Length | mm | 126/168/210/546 | 114/171/456 | |||||
*1. This shows a value measured when the Motor Coil Unit is at 100°C and the Magnet Trac is at 25°C.
*2. The Motor Coil Unit is subjected to a temperature rise of 40 K/s.
*2. The Motor Coil Unit is subjected to a temperature rise of 40 K/s.