AC Servo System 1S-series with Safety Functionality
R88M-1A[] / R88D-1SAN[]-ECT
Safer environment and higher productivity
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.
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
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
*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
*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.
• 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.
*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.
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.
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.
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.
*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/s2 max. in X, Y, and Z directions when the motor is stopped | ||
Impact resistance | Acceleration of 98 m/s2 max. 3 times each in X, Y, and Z directions | ||
Insulation resistance | Between power 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.
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.
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.
*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.
*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.
*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.
*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).
*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.
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)
*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.
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).
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.
5. Take care so that the surface temperature of the Decelerator does not exceed 90°C.