Omron OMNUC G5 User Manual

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Cat. No. I571-E1-01

USER’S MANUAL

OMNUC G5 SERIES

R88M-K@

(AC Servomotors)

R88D-KT

(AC Servo Drives)

AC SERVOMOTORS/SERVO DRIVES

Trademarks and Copyrights

•

Product names and system names in this manual are trademarks or registered trademarks of their respective companies.

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

Introduction

Thank you for purchasing the OMNUC G5 Series. This user's manual explains how to install and wire the OMNUC G5 Series, set parameters needed to operate the G5 Series, and remedies to be taken and inspection methods to be used should problems occur.

Intended Readers

This manual is intended for the following individuals.

Those having electrical knowledge (certified electricians or individuals having equivalent or more knowledge) and also being qualified for one of the following:

 Those in charge of introducing FA equipment  Those designing FA systems  Those managing FA sites

Notes

This manual contains the information you need to know to correctly use the OMNUC G5 Series and peripheral equipment. Before using the OMNUC G5 Series, read through this manual and gain a full understanding of the information provided herein. After you finished reading the manual, keep it in a convenient place so that the manual can be referenced at any time. Make sure this manual will also get to the end-user.

Introduction

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Items Requiring Acknowledgment

1. Terms of Warranty

(1) Warranty period

The warranty period of this product is 1 year after its purchase or delivery to the specified location.

(2) Scope of warranty

If the product fails during the above warranty period due to design, material or workmanship, we will provide a replacement unit or repair the faulty product free of charge at the location where you purchased the product.

Take note, however, that the following failures are excluded from the scope of warranty. a) Failure due to use or handling of the product in any condition or environment not

specified in the catalog, operation manual, etc. b) Failure not caused by this product c) Failure caused by any modification or repair not carried out by OMRON d) Failure caused by any use not intended for this product e) Failure that could not be predicted with the level of science and technology available

when the product was shipped from OMRON f) Failure caused by a natural disaster or any other reason for which OMRON is not held

responsible Take note that this warranty applies to the product itself, and losses induced by a failure

of the product are excluded from the scope of warranty.

2. Limited Liability

(1) OMRON shall not assume any responsibility whatsoever for any special damage, indirect

damage or passive damage arising from this product.

(2) OMRON shall not assume any responsibility for programming done by individuals not

belonging to OMRON, if the product is programmable, or outcomes of such programming.

3. Conditions for Intended Application

(1) If this product is combined with other product, the customer must check the standards and

regulations applicable to such combination. The customer must also check the compatibility of this product with any system, machinery or device used by the customer. If the above actions are not taken, OMRON shall not assume any responsibility regarding the compatibility of this product.

(2) If the product is used in the following applications, consult your OMRON sales representative

to check the necessary items according to the specification sheet, etc. Also make sure the product is used within the specified ratings and performance ranges with an ample margin and implement safety measures, such as designing a safety circuit, to minimize danger should the product fail.

a) Used in any outdoor application, application subject to potential chemical

contamination or electrical interference, or in any condition or environment not

specified in the catalog, operation manual, etc. b) Nuclear power control equipment, incineration equipment, railway, aircraft and vehicle

equipment, medical machinery, entertainment machinery, safety system or any other

device controlled by an administrative agency or industry regulation c) System, machinery or device that may threaten human life or property d) Gas, water or electricity supply system, system operated continuously for 24 hours or

any other equipment requiring high reliability e) Any other application where a high level of safety corresponding to a) to d) above is

required

(3) If the customer wishes to use this product in any application that may threaten human life or

property, be sure to confirm beforehand that the entire system is designed in such a way to notify dangers or ensure the necessary level of safety via design redundancy, and that the product is wired and installed appropriately in the system according to the intended

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Items Requiring Acknowledgment

application.

(4) Sample applications explained in the catalog, etc. are provided for reference purposes only.

When adopting any of these samples, check the function and safety of each equipment or device.

(5) Understand all prohibited items and notes on use provided herein, so that this product will be

used correctly and that customers or third parties will not suffer unexpected losses.

4. Specification Change

The product specifications and accessories explained in the catalog, operation manual, etc. are subject to change, if necessary, for the reasons of improvement, etc. Contact your OMRON sales representative to check the actual specifications of this product.

5. Scope of Service

The price of this product excludes costs of service such as dispatching engineers. If you have any request regarding service, consult your OMRON sales representative.

6. Scope of Application

The above paragraphs are based on the assumption that this product is traded and used in Japan. If you wish to trade or use this product outside Japan, consult your OMRON sales representative.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Safety Precautions Document

Safty Points

Precautions for Correct Use

Reference

Danger

Caution

When an incorrect handling can lead to a dangerous situation, which may result in a minor or moderate injury, and when only a property damage may occur

When an incorrect handling can lead to a dangerous situation, which may result in death or serious injury Or, when a serious property damage may occur

Safety Precautions Document



So that the OMNUC G5-Series Servomotor and Servo Drive and peripheral equipment are used safely and correctly, be sure to peruse this Safety Precautions document section and the mai n text before using the product in o rder to learn all items you should know regarding the equipment as well as all safety information and precautions.

Make an arrangement so that this manual also gets to the end-user of this product. After reading this manual, keep it with you at all times.

Explanation of Display



The precautions explained in this section describe important information regarding safety and must be followed without fail.

The display of precautions used in this manual and their meanings are explained below.

Even those items denoted by the caution symbol may lead to a serious outcome depending on the situation. Accordingly, be sure to observe all safety precautions.

This symbol indicates an item you should perform or avoid in order to use the product safely.

This symbol indicates an item you should perform or avoid in order to prevent inoperative, malfunction or any negative effect on performance or function.

This symbol indicates an item that helps deepen your understanding of the product or other useful tip.

Explanation of Symbols

Example of symbols

This symbol indicates danger and caution.

The specific instruction is described using an illustration or text inside or near . The symbol shown to the left indicates "beware of electric shock".

This symbol indicates a prohibited item (item you must not do).

The specific instruction is described using an illustration or text inside or near . The symbol shown to the left indicates "disassembly prohibited".

This symbol indicates a compulsory item (item that must be done).

The specific instruction is described using an illustration or text inside or near . The symbol shown to the left indicates "grounding required".

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Safety Precautions Document

Danger

For Safe Use of This Product

Illustrations contained in this manual sometimes depict conditions without covers and safety shields for the

purpose of showing the details. When using this product, be sure to install the covers and shields as specified and use the product according to this manual.

If the product has been stored for an extended period of time, contact your OMRON sales representative.

Be sure to ground the frame ground terminals of the driver and motor to 100 Ω or less. Electric shock may result.

Never touch the parts inside the driver. Electric shock may result.

While the power is supplied, do not remove the front cover, terminal covers, cables and options. Electric shock may result.

Installation, operation and maintenance or inspection by unauthorized personnel is prohibited. Electric shock or injury may result.

Before carrying out wiring or inspection, turn OFF the power supply and wait for at least 15 minutes. Electric shock may result.

Do not damage, pull, stress strongly or pinch the cables or place heavy articles on them. Electric shock, stopping of product operation or burn damage may result.

Never touch the rotating part of the motor during operation. Injury may result.

Never modify the product. Injury or equipment damage may result.

Install a stopping device on the machine side to ensure safety. * The holding brake is not a stopping device to ensure safety. Injury may result.

Install an immediate stop device externally to the machine so that the operation can be stopped and the power supply cut off immediately. Injury may result.

When the power is restored after a momentary power interruption, the machine may restart suddenly. Never come close to the machine. * Implement remedies to ensure safety of people nearby even when the machine is restarted. Injury may result.

After an earthquake, be sure to conduct safety checks. Electric shock, injury or fire may result.

Never drive the motor using an external drive source. Fire may result.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Safety Precautions Document

Caution

Do not place flammable materials near the motor, driver or Regeneration Resistor. Fire may result.

Install the motor, driver and Regeneration Resistor to non-flammable mate rials such as metals. Fire may result.

When you perform a system configuration using the safety function, be sure to fully understand the relevant safety standards and the descriptions in the operation manual, and apply them to the system design. Injury or damage may result.

Do not use the cable when it is laying in oil or water. Electric shock, injury or fire may result.

Never connect a commercial power supply directly to the motor. Fire or failure may result.

Danger

Do not perform wiring or any operation with wet hands. Electric shock, injury or fire may result.

Do not touch the key grooves with bare hands if a motor with shaft-end key grooves is being used. Injury may result.

Use the motor and driver in the specified combination. Fire or equipment damage may result.

Do not store or install the product in the following environment:

Location subject to direct sunlight Location where the ambient temperature exceeds the specified level Location where the relative humidity exceeds the specified level Location subject to condensation due to the rapid temperature change Location subject to corrosive or flammable gases Location subject to higher levels of dust, salt content or iron dust Location subject to splashes of water, oil, chemicals, etc. Location where the product may receive vibration or impact directly

Installing or storing the product in these locations may result in fire, electric shock or equipment damage.

The driver radiator, Regeneration Resistor, motor, etc. may become hot while the power is supplied or remain hot for a while even after the power supply is cut off. Never touch these components. A burn injury may result.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Storage and Transportation

Caution

When transporting the product, do not hold it by the cables or motor shaft. Injury or failure may result.

Do not overload the products. (Follow the instruction on the product label.) Injury or failure may result.

Use the motor eye-bolts only when transporting the motor. Do not use them to transport the machine. Injury or failure may result.

Safety Precautions Document

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Safety Precautions Document

Caution

Installation and Wiring

Do not step on the product or place heavy articles on it. Injury may result.

Do not block the intake or exhaust openings. Do not allow foreign objects to enter the product. Fire may result.

Be sure to observe the mounting direction. Failure may result.

Provide the specified clearance between the driver and the inner surface of the control panel or other equipment. Fire or failure may result.

Do not apply strong impact on the motor shaft or driver. Failure may result.

Wire the cables correctly and securely. Runaway motor, injury or failure may result.

Securely tighten the unit mounting screws, terminal block screws and cable screws. Failure may result.

Use crimp terminals for wiring. If simple twisted wires are connected directly to the protective ground terminal, fire may result.

Only use the power supply voltage specified in this manual. Burn damage may result.

In locations where the power supply infrastructure is poor, make sure the rated voltage can be supplied. Equipment damage may result.

Provide safety measures, such as a breaker, to protect against short circuiting of external wiring. Fire may result.

If the product is used in the following locations, provide sufficient shielding measures.

Location where noise generates due to static electricity, etc. Location where a strong electric or magnetic field generates Location where exposure to radioactivity may occur Location where power supply lines are running nearby

Using the product in these locations may result in equipment damage. Connect an immediate stop relay in series with the brake control relay.

Injury or failure may result.

When connecting the battery, make sure the correct polarity is connected. Battery damage or explosion may result.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Operation and Adjustment

Caution

Conduct a test operation after confirming that the equipment is not affected. Equipment damage may result.

Before operating the product in an actual environment, check if it operates correctly based on the parameters you have set. Equipment damage may result.

Never adjust or set parameters to extreme values, as it will make the operation unstable. Injury may result.

Separate the motor from the mechanical system and check its operation before installing the motor to the machine. Injury may result.

If an alarm generated, remove the cause of the alarm and ensure safety, and then reset the alarm and restart the operation. Injury may result.

Do not use the built-in brake of the motor for normal braking operation. Failure may result.

Safety Precautions Document

Do not operate the Servomotor when an excessive load inertia is installed. Failure may result.

Install safety devices to preven t idle running or lock of the electromagnetic brake or the gear head, or leakage of grease from the gear head. Injury, damage or taint damage may result.

If the driver fails, cut off the power supply to the driver on the power supply side. Fire may result.

Do not turn ON and OFF the main driver power supply frequently. Failure may result.

Maintenance and Inspection

After replacing the unit, transfer to the new unit all data needed to resume operation, before restarting the operation. Equipment damage may result.

Never repair the product by disassembling it. Electric shock or injury may result.

Be sure to turn OFF the power supply when the unit is not going to be used for a prolonged period of time. Injury may result.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Safety Precautions Document

Warning label display location

(R88D-KTA5L)

Location of Warning Label

This product bears a warning label at the following location to provide handling warnings. When handling the product, be sure to observe the instructions provided on this label.

Instructions on Warning Label

Disposal

 When disposing of the battery, insulate it using tape, etc. and dispose of it by following the

applicable ordinance of your local government.

 Dispose of the product as an industrial waste.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Items to Check after Unpacking

After unpacking, check the following items.

 Is this the model you ordered?  Is there any damage sustained during shipment?

Accessories of This Product

Safety Precautions document x 1 copy  Connectors, mounting screws, etc. other than those in the table below are not supplied. They must

be prepared by the customer.

 If any item is missing or a problem is found such as Servo Drive damage, contact the OMRON

dealer or sales office where you purchased your product.

Specifications

Single-

phase 100

VAC

Single-

phase/3-

phase 200

VAC

3-phase

200 VAC

3-phase

400 VAC

50 W 100 W 200 W 400 W 100 W 200 W 400 W 750 W

1 kW

1.5

kW 2 kW 3 kW 5 kW

600 W

1 kW

1.5

kW 2 kW

Main power

supply

connector

Control power

supply

connector

Motor

connector

Included

− Included

Included

Regeneration

Resistor

connector

Open

software

Safety

bypass

connector

3 kW

− Included

5 kW

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Manual Revision History

The manual revision symbol is an alphabet appended at the end of the manual number found in the bottom left-hand corner of the front or back cover.

Example

I571-E1-01

Revision symbol

Revision

symbol

01 September 2009 First print

Revision date Description of revision and revised page

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Structure of This Document

This manual consists of the following chapters. Read the necessary chapter or chapters referring to below.

Structure of This Document

Outline

Features and

Chapter 1

Chapter 2

Chapter 3 Specifications

Chapter 4 System Design

Chapter 5

Chapter 6

Chapter 7 Safety Function

Chapter 8

Chapter 9 Operation

System Configuration

Standard Models and External Dimensions

BASIC CONTROL mode

Applied Functions

Parameters Details

This chapter explains the features of this product, name of each part, and applicable EC directives and UL standards.

This chapter explains the models of Servo Drive, Servomotor, and peripheral equipment, as well as the external dimensions and mounting dimensions.

This chapter explains the general specifications, characteristics, connector specifications and I/O circuits of the Servo Drive, general specifications, characteristics, encoder specifications of the Servomotor, and all other specifications including those of peripheral equipment.

This chapter explains the installation conditions, wiring methods including wiring conforming to EMC directives and regenerative energy calculation methods regarding the Servo Drive, Servomotor and Decelerator, as well as the performance of External Regeneration Resistors, and so on.

This chapter explains an outline of operations available in various CONTROL modes and explains the contents of setting.

This chapter gives outline of applied functions such as damping control, electronic gears, gain switching and disturbance observer, and explains the contents of setting.

This function stops the motor based on a signal from a Safety Controller or safety sensor. An outline of the function is explained together with operation and connection examples.

This chapter explains the set value and contents of setting of each parameter.

This chapter explains the operating procedures and how to operate in each mode.

Chapter 10

Chapter 11

Chapter 12 Appendix

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Adjustment Functions

Error and Maintenance

This chapter explains the functions, setting methods and items to note regarding various gain adjustments.

This chapter explains the items to check when problems occur, error diagnosis using the alarm LED display and measures, error diagnosis based on the operating condition and measures, and periodic maintenance.

This chapter provides connection examples using OMRON's PLC and Position Controller, as well as a list of parameters.

Introduction......................................................................................1

Items Requiring Acknowledgment...................................................2

Safety Precautions Document.........................................................4

Items to Check after Unpacking.......................................................11

Manual Revision History..................................................................12

Structure of This Document.............................................................13

Chapter1 Features and System Configuration

1-1 Outline ................................................................................................1-1

1-2 System Configuration .........................................................................1-2

1-3 Names and Functions.........................................................................1-3

1-4 System Block Diagrams......................................................................1-5

1-5 Applicable Standards..........................................................................1-6

Chapter2 Standard Models and External Dimensions

2-1 Servo System Configuration...............................................................2-1

2-2 How to Read Model............................................................................2-3

2-3 Standard Model List............................................................................2-5

2-4 External and Mounting Dimensions....................................................2-22

2-5 EMC Filter Dimensions.......................................................................2-54

Chapter3 Specifications

3-1 Driver Specifications...........................................................................3-1

3-2 Overload Characteristics (Electronic Thermal Function) ....................3-53

3-3 Motor Specifications ...........................................................................3-54

3-4 Cable and Connector Specifications...................................................3-78

3-5 Servo Relay Units and Cable Specifications ......................................3-106

3-6 External Regeneration Resistor Specifications...................................3-136

3-7 EMC Filter Specifications....................................................................3-138

Chapter4 System Design

4-1 Installation Conditions.........................................................................4-1

4-2 Wiring..................................................................................................4-7

4-3 Wiring Conforming to EMC Directives................................................4-21

4-4 Regenerative Energy Absorption........................................................4-37

Chapter5 BASIC CONTROL Mode

5-1 Position Control ..................................................................................5-1

5-2 Speed Control.....................................................................................5-6

5-3 Torque Control....................................................................................5-12

5-4 Internally Set Speed Control...............................................................5-17

5-5 Switching Control................................................................................5-20

5-6 Full Closing Control ............................................................................5-23

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Table Of Contents

Chapter6 Applied Functions

6-1 Damping Control.................................................................................6-1

6-2 Adaptive Filter.....................................................................................6-5

6-3 Notch Filter.........................................................................................6-7

6-4 Electronic Gear Function.................................................................... 6-10

6-5 Encoder Dividing Function.................................................................. 6-13

6-6 Brake Interlock....................................................................................6-18

6-7 Gain Switching Function.....................................................................6-23

6-8 Torque Limit........................................................................................6-31

6-9 Sequence I/O Signal...........................................................................6-34

6-10 Forward and Reverse Drive Prohibition Functions............................. 6-40

6-11 Disturbance Observer Function..........................................................6-43

6-12 Gain Switching 3 Function..................................................................6-45

6-13 Friction Torque Compensation Function ............................................6-46

6-14 Inertia Ratio Switching Function......................................................... 6-48

6-15 Hybrid Vibration Suppression Function.............................................. 6-49

6-16 Feed-forward Function .......................................................................6-50

6-17 Instantaneous Speed Observer Function........................................... 6-54

Chapter7 Safety Function

7-1 Safe Torque OFF (STO) Function......................................................7-1

7-2 Operation Example.............................................................................7-4

7-3 Connection Examples.........................................................................7-6

Chapter8 Parameters Details

8-1 Basic Parameters...............................................................................8-1

8-2 Gain Parameters ................................................................................8-9

8-3 Vibration Suppression Parameters.....................................................8-20

8-4 Analog Control Parameters................................................................ 8-25

8-5 Interface Monitor Setting Parameters................................................. 8-36

8-6 Extended Parameters......................................................................... 8-46

8-7 Special Parameters............................................................................8-59

Chapter9 Operation

9-1 Operational Procedure .......................................................................9-1

9-2 Preparing for Operation...................................................................... 9-2

9-3 Using the Front Display......................................................................9-6

9-4 Setting the Mode ................................................................................9-7

9-5 Trial Operation....................................................................................9-33

Chapter10 Adjustment Functions

10-1 Gain Adjustment.................................................................................10-1

10-2 Realtime Autotuning...........................................................................10-3

10-3 Manual Tuning....................................................................................10-10

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Table Of Contents

Chapter11 Error and Maintenance

11-1 Error Processing.................................................................................11-1

11-2 Warning List........................................................................................11-4

11-3 Alarm List............................................................................................11-5

11-4 Troubleshooting..................................................................................11-9

11-5 Periodic Maintenance......................................................................... 11-20

Chapter12 Appendix

12-1 Connection Examples.........................................................................12-1

12-2 Parameter List....................................................................................12-11

Index

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Features and System Configuration

This chapter explains the features of this product, name of each part, and applicable EC directives and UL standards.

1-1 Outline...........................................................................1-1

Outline of the OMNUC G5 Series...................................................1-1

Features of the OMNUC G5 Series ................................................1-1

1-2 System Configuration..................................................1-2

1-3 Names and Functions..................................................1-3

Driver Part Names ..........................................................................1-3

Driver Functions..............................................................................1-4

1-4 System Block Diagrams...............................................1-5

1-5 Applicable Standards...................................................1-6

EC Directives..................................................................................1-6

UL and cUL Standards....................................................................1-6

Functional Safety............................................................................1-6

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

1-1 Outline

Outline of the OMNUC G5 Series

With the OMNUC G5 Series, you can perform full closing control in addition to position control, speed control and torque control. Various models are available supporting wide-ranging motor capacities from 50 W to 5 kW and input power supplies from 100 to 400 V. You will surely find a model that best suits your application. Motors with high-resolution 20-bit incremental encoders and 17-bit absolute/incremental encoders are available as standard models. The OMNUC G5 Series features realtime autotuning function and adaptive filter function that automatically perform complicated gain adjus tments. A notch filter can also be aut omatically set to suppress machine vibration by reducing machine resonance during operation. The damping control function of the Servomotor and Servo Drive realizes stable stopping performance in a mechanism which vibrates because of the low rigidity of the load.

Features of the OMNUC G5 Series

The OMNUC G5 Series has the following features.

7 Possible CONTROL modes Switching

You can switch among 7 CONTROL modes including the following: (1) position control, (2) speed control, (3) torque control, (4) position and speed control, (5) position and torque control, (6) speed and torque control, (7) full closing control. Desired modes can be selected with the flexible driver according to your need. A single driver supports various applications.

Features and System Configuration

Achievement of Accurate Positioning by Full Closing Control

Feedbacks from the external scale connected to the motor are used to accurately control positions. Accordingly, position control is not affected by deviation caused by ball screws or temperature.

Wide Range of Power Supplies to Match Any Necessity

The OMNUC G5 Series now has models supporting 400 V for use with large equipment, at overseas facilities and in wide-ranging applications and environment. Since the utilization ratio of facility equipment also increases, the TCO (Total Cost of Ownership) will come down.

Safe Torque OFF (STO) Function to Ensure Safety

You can cut off the motor current to stop the motor based on a signal from an immediate stop button or other safety equipment. In addition to the conventional stop method based on a control signal, the STO function that permits direct stopping without a need to involve the control circuit provides the immediate stop from 2 systems, thereby enhancin g safety.

1-1

Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/Deceleration

The damping control function suppresses vibration of low-rigidity mechanisms or devices whose tips tend to vibrate. 2 vibration filters are provided to enable switching the vibration frequency automatically according to the rotation direction and also via an external signal. In addition, the settings can be made easily merely by just setting the vibration frequency and filter values, and you are assured of stable operation even if the set values are inappropriate.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

1-2 System Configuration

OMNUC G5 Series

AC Servomotor

R88D-KTx

OMNUC G5 Series

AC Servomotor

R88M-Kx

INC ABS

Pulse train

Analog

voltage

SYSMAC + Position Control Unit (Pulse Train Output Type)

Programmable Controller SYSMAC CJ/CS

Position Control Unit CJ1W-NC113/213/413 CJ1W-NC133/233/433 CJ1W-NC214/414 CJ1W-NC234/434 CS1W-NC113/213/413 CS1W-NC133/233/433 C200HW-NC113/213/413

Flexible Motion Controller

FQM1-MMA22 FQM1-MMP22

Controller (Voltage Output Type)

Programmable Controller SYSMAC CS

Motion Control Unit CS1W-MC221/421 (-V1)

PA202

POWER

INPUT

AC100

-240V

L2/N

PERIPHERAL

ERR/ALM

RUN

INH

COMM

PRPHL

CONTROLLER

CJ1G-CPU44

SYSMAC

PROGRAMMABLE

PORT

OPEN

BUSY

MCPWR

MACH

x10

No.

NC414

CN1

CN2

RUN

A2 B2

3 4

A4 B4

AS BS

SYNC

ERC

ERH

AXIS1AXIS2

CN3 CN4

AXIS2 AXIS1

1-2 System Configuration

Features and System Configuration

 The following units support a motor with absolute encoder:

CJ1W-NC214/414 CJ1W-NC234/434 CS1W-MC221/421 (-V1) FQM1-MMA22

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

1-2

Display area

Operation area

USB connector (CN7)

Expansion connector (CN3)

Monitor connector (CN5)

Motor connection

terminals (U, V and W)

Control circuit

power supply terminals

(L1C and L2C)

Main circuit

power supply terminals

(L1, L2, and L3)

External Regeneration

Resistor connection

terminals (B1, B2 and B3)

Protective ground terminals

Control I/O connector (CN1)

Safety connector (CN8)

External scale connector (CN4)

Encoder connector (CN2)

Charge lamp

1-3 Names and Functions

Driver Part Names

Features and System Configuration

1-3

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Driver Functions

Display Area

A 6-digit 7-segment LED display shows the driver status, alarm codes, parameters, and other information.

1-3 Names and Functions

Operation Area

Monitors the parameter setting and driver condition.

Charge Lamp

Lits when the main circuit power supply is turned ON.

Control I/O Connector (CN1)

Used for command input signals and I/O signals.

Encoder Connector (CN2)

Connector for the encoder installed in the Servomotor.

Expansion Connector (CN3)

A spare connector for expansion. Do not connect anything.

Features and System Configuration

External Scale Connector (CN4)

Connector for an encoder signal used during full closing control.

Monitor Connector (CN5)

2 analog outputs to monitor values like motor rotation speed, torque command value, etc.

USB Connector (CN7)

Communications connector for the computer.

Safety Connector (CN8)

Connector for the safety devices. If no safety device is used, keep the factory-set safety bypass connector installed.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

1-4

1-4 System Block Diagrams

L1C L2C

CN A

FUSE

15 V G1

5 V

3.3 V

2.5 V

1.5 V E5 V ±12 V

−

SW power supply main circuit control

Internal control power supply

Voltage detection

Relay drive

Regeneration control

MPU&ASIC Position, speed and torque calculation control area

• PWM control

Overcurrent detection

Gate drive

Internal Regeneration

Resistor R88D-KT10H

or more only

Current detection

Display and setting circuit area

CN B

B1 B2 B3

U V

Cooling fan

Features and System Configuration

R88D-KT10H or more only

CN1

Control

interface

CN2 CN4 CN5 CN7

Encoder

External

scale

Analog

monitor

CN8

USB Safety

1-5

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

1-5 Applicable Standards

EC Directives

1-5 Applicable Standards

directive

Low voltage command

EMC directives

Note. To conform to EMC directives, the Servo Motor and Servo Drive must be installed under the conditions described

in "4-3 Wiring Conforming to EMC Directives" (P.4-21).

Product Applicable standards

AC Servo Drive EN 61800-5-1 AC Servomotor EN60034-1/-5 AC Servo Drive

AC Servomotor

EN 55011 class A group 1 IEC61800-3 EN61000-6-2

UL and cUL Standards

Standard Product Applicable standards File number

UL standards

CSA standards

AC Servo Drive UL508C E179149 AC Servomotor UL1004-1

[100 V, 200 V] 3,000 r/min 50 to 750 W

UL1004 E179189 AC Servo Drive CSA22.2 No. 14 E179149 AC Servomotor CSA22.2 No. 100

[100 V, 200 V]

3,000 r/min 50 to 750 W

E331224

Features and System Configuration

CSA22.2 No. 100 E179189

Functional Safety

Standard Product Applicable standards

Functional safety

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

AC Servo Drive EN954-1 (Category 3)

ISO13849-1 (Performance level D)

EN61508 (SIL2)

EN62061 (SIL2)

EV61800-5-2 (STO)

IEC61326-3-1 (SIL2)

1-6

Standard Models and External Dimensions

This chapter explains the models of Servo Drive, Servomotor, and peripheral equipment, as well as the external dimensions and mounting dimensions.

2-1 Servo System Configuration .......................................2-1

2-2 How to Read Model.......................................................2-3

Servo Drive.....................................................................................2-3

Servomotor .....................................................................................2-4

2-3 Standard Model List .....................................................2-5

Servo Drive Model List....................................................................2-5

Servomotor Model List....................................................................2-6

Servo Drive and Servomotor Combination List.............................2-10

Peripheral Equipment and Cable Model List.................................2-12

2-4 External and Mounting Dimensions..........................2-22

Servo Drive Dimensions ...............................................................2-22

Servomotor Dimensions................................................................2-34

External Regeneration Resistor Dimensions ................................2-53

2-5 EMC Filter Dimensions...............................................2-54

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Controller

Flexible Motion Controller

SYSMAC + Controller (Analog output type)

Position Control UnitCPU Unit

Pulse Train CommandsAnalog Commands

Pulse Train Commands/Feedback Signals

External Signal

Analog Commands/Feedback Signals

Pulse Train Commands

Programmable Controller SYSMAC CJ2

High-speed type

Position Control Unit (NC) CJ1W-NC214/414 CJ1W-NC234/434

Standard type

Programmable Controller SYSMAC CJ1/CS1

Position Control Unit (NC) CJ1W-NC@@3 CS1W-NC@@3 C200HW-NC@@3

CP1H/CP1L

CJ1M-CPU2

FQM1-MMA22 (Analog output)

FQM1-MMP22 (Pulse train output)

Motion Control Unit (MC) CS1W-MC221/421 (-V1)

Programmable Controller SYSMAC CS1

Available to build the Absolute System.

Built-in pulse I/O function type

XW2Z-@-B@

XW2B-@XW2Z-@-A@

XW2Z-@-B@

Servo Drive Cable

XW2Z-@-A@

Position Control Unit Cable (NC)

XW2Z-@@@J-G@

Direct connection cable for CJ1W-NC@@4

R88A-CPG

Control Cables (for Motion Control Unit)

•

CX-One FA Integrated

Tool Package Including CX-Programmer and CX-Position and CX-Motion

Support Software

•

CX-One FA Integrated

Tool Package (Including CX-Drive)

•

CX-Drive

WS02-DRVC1

Support Software

XW2B-80J7-12A

Servo Relay Units (for FQM1)

INC

servo 1

ABS _C

Servo Drive Cable

Servo Relay Unit

Position Control Unit Cable (NC)

XW2Z-@@@J-B24XW2@-50G@

Connector-Terminal Block Conversion Units and Cable

XW2Z-@X

Connector Terminal Block Conversion Unit

Position Control Unit Cable

XW2@-20G@

MACH

x10

No.

NC41

CN1

CN2

RUN

A 2 B2

A 4 B 4

SYNC

ERC

ERH

AXIS1

AXIS2

CN3 CN4

AXIS2 AXIS1

PERIFHER

ERR/ALM

RUN

INH

COMM

PRPHL

CONTROLLER

CJ1G-CPU4

SYSM

PROGRAMMABLE

PORT

O PE

BU SY

M C PW

PERIPHERAL

ERR/

ALM

RUN

INH

COMM BKUP

PRP

CONTROLLE

CPU64

CJ2H

SYSM

PROGRAMM

ABLE

PORT

OPE

C PW

NC113

RUN ERC ERH

X MACH No.

CN1

2-1 Servo System Configuration

Standard Models and External Dimensions

2-1

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-1 Servo System Configuration

Servo Drive

Peripheral Devices

•

Reactors

3G3AX-DL 3G3AX-AL

•

External

Regeneration Resistors

R88A-RR

External scale

AC Servomotors

Decelerators

• OMNUC G5 Series driver

R88D-KT

• OMNUC G5 Series motor

R88M-K

Motor power signals

Feedback Signals

Power Cables

•

Without Brake R88A-CA@@@@@S

•

With Brake R88A-CA@@@@@B

•

Without Brake R88A-CA@@@@@SR

•

With Brake R88A-CA@@@@@BR

•

Standard Cables

•

Robot Cable

Encoder Cables

•

Standard Cables

R88A-CRK@@@@@

Brake Cables (50 to 750 W max.)

•

Standard Cables

R88A-CAKA@@@B

•

Robot Cable

R88A-CAKA@@@BR

•

Robot Cable

R88A-CRK@@@@@R

USB communications

Absolute Encoder Battery Cable

* Not required if a battery is connected to the control connector (CN1).

(One Battery is included with Servo Drivers with model numbers ending in “BS.”)

R88A-CRGD0R3C (-BS)

100 VAC 200 VAC 400 VAC

3,000 r/min 2,000 r/min 1,000 r/min

Standard Models and External Dimensions

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-2

2-2 How to Read Model

Servo Drive

The Servo Drive model can be identified by the Servo Drive type, applicable Servomotor capacity, power supply voltage, etc.

R88D-KT01H

OMNUC G5 Series Servomotor

Driver Type

: Pulse/analog typeT

Maximum Applicable Servomotor Capacity

: 50 W

A5 01

: 100 W

: 200 W

: 400 W

: 750 W

: 1 kW

: 1.5 kW

: 2 kW

: 3 kW

: 5 kW

Power Supply Voltage

: 100 VAC

: 200 VAC

: 400 VAC

Standard Models and External Dimensions

2-3

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Servomotor

OMNUC G5 Series Servomotor

Motor Type

Blank: Cylinder type

Servomotor Capacity

050

: 50 W

100

: 100 W

200

: 200 W

400

: 400 W

600

: 600 W

750

: 750 W

900

: 900 W

1K0

: 1 kW

1K5

: 1.5 kW

2K0

: 2 kW

3K0

: 3 kW

4K0

: 4 kW

5K0

: 5 kW

2-2 How to Read Model

R88M-KP10030H-BOS2

Standard Models and External Dimensions

Rated Rotation Speed

: 1,000 r/min

: 2,000 r/min

: 3,000 r/min

Applied V oltage

: 400 VAC (incremental encoder specifications)

: 200 VAC (incremental encoder specifications)

: 100 VAC (incremental encoder specifications)

: 400 VAC (absolute encoder specifications)

: 200 VAC (absolute encoder specifications)

: 100 VAC (absolute encoder specifications)

Options

: Straight shaft

: With brake

: With oil seal

: With key

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-4

2-3 Standard Model List

Servo Drive Model List

Specifications Model

Single-phase 100 VAC 50 W R88D-KTA5L

100 W R88D-KT01L 200 W R88D-KT02L 400 W R88D-KT04L

Single-phase/3-phase 200 VAC 100 W R88D-KT01H

200 W R88D-KT02H 400 W R88D-KT04H

Standard Models and External Dimensions

750 W R88D-KT08H

1 kW R88D-KT10H

1.5 kW R88D-KT15H

3-phase 200 VAC 2 kW R88D-KT20H

3 kW R88D-KT30H 5 kW R88D-KT50H

3-phase 400 VAC 600 W R88D-KT06F

1 kW R88D-KT10F

1.5 kW R88D-KT15F 2 kW R88D-KT20F 3 kW R88D-KT30F 5 kW R88D-KT50F

2-5

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Servomotor Model List

Without brakes

3,000-r/min motors

Specifications

50 W R88M-K05030H R88M-K05030H-S2 R88M-K05030T R88M-K05030T-S2

100 W R88M-K10030L R88M-K10030L-S2 R88M-K10030S R88M-K10030S-S2

100 V

200 W R88M-K20030L R88M-K20030L-S2 R88M-K20030S R88M-K20030S-S2 400 W R88M-K40030L R88M-K40030L-S2 R88M-K40030S R88M-K40030S-S2

50 W R88M-K05030H R88M-K05030H-S2 R88M-K05030T R88M-K05030T-S2

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Model

2-3 Standard Model List

Straight shaft

without key

Straight shaft

with key and tap

Standard Models and External Dimensions

100 W R88M-K10030H R88M-K10030H-S2 R88M-K10030T R88M-K10030T-S2 200 W R88M-K20030H R88M-K20030H-S2 R88M-K20030T R88M-K20030T-S2 400 W R88M-K40030H R88M-K40030H-S2 R88M-K40030T R88M-K40030T-S2 750 W R88M-K75030H R88M-K75030H-S2 R88M-K75030T R88M-K75030T-S2

200 V

400 V

1 kW R88M-K1K030H R88M-K1K030H-S2 R88M-K1K030T R88M-K1K030T-S2

1.5 kW R88M-K1K530H R88M-K1K53 0H-S2 R88M-K1K530T R88M-K1K530T-S2 2 kW R88M-K2K030H R88M-K2K030H-S2 R88M-K2K030T R88M-K2K030T-S2 3 kW R88M-K3K030H R88M-K3K030H-S2 R88M-K3K030T R88M-K3K030T-S2 4 kW R88M-K4K030H R88M-K4K030H-S2 R88M-K4K030T R88M-K4K030T-S2 5 kW R88M-K5K030H R88M-K5K030H-S2 R88M-K5K030T R88M-K5K030T-S2

750 W R88M-K75030F R88M-K75030F-S2 R88M-K75030C R88M-K75030C-S2

1 kW R88M-K1K030F R88M-K1K030F-S2 R88M-K1K030C R88M-K1K030C-S2

1.5 kW R88M-K1K530F R88M-K1K530F-S2 R88M-K1K530C R88M-K1K530C-S2 2 kW R88M-K2K030F R88M-K2K030F-S2 R88M-K2K030C R88M-K2K030C-S2 3 kW R88M-K3K030F R88M-K3K030F-S2 R88M-K3K030C R88M-K3K030C-S2 4 kW R88M-K4K030F R88M-K4K030F-S2 R88M-K4K030C R88M-K4K030C-S2 5 kW R88M-K5K030F R88M-K5K030F-S2 R88M-K5K030C R88M-K5K030C-S2

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-6

2-3 Standard Model List

With brakes

Model

Specifications

50 W R88M-K05030H-B R88M-K05030H-BS2 R88M-K05030T-B R88M-K05030T-BS2

100 V

200 V

100 W R88M-K10030L-B R88M-K10030L-BS2 R88M-K10030S-B R88M-K10030S-BS2 200 W R88M-K20030L-B R88M-K20030L-BS2 R88M-K20030S-B R88M-K20030S-BS2 400 W R88M-K40030L-B R88M-K40030L-BS2 R88M-K40030S-B R88M-K40030S-BS2

50 W R88M-K05030H-B R88M-K05030H-BS2 R88M-K05030T-B R88M-K05030T-BS2 100 W R88M-K10030H-B R88M-K10030H-BS2 R88M-K10030T-B R88M-K10030T-BS2 200 W R88M-K20030H-B R88M-K20030H-BS2 R88M-K20030T-B R88M-K20030T-BS2 400 W R88M-K40030H-B R88M-K40030H-BS2 R88M-K40030T-B R88M-K40030T-BS2 750 W R88M-K75030H-B R88M-K75030H-BS2 R88M-K75030T-B R88M-K75030T-BS2

1 kW R88M-K1K030H-B R88M-K1K030H-BS2 R88M-K1K030T-B R88M-K1K030T-BS2

1.5 kW R88M-K1K530H-B R88M-K1K530H-BS2 R88M-K1K530T-B R88M-K1K530T-BS2 2 kW R88M-K2K030H-B R88M-K2K030H-BS2 R88M-K2K030T-B R88M-K2K030T-BS2 3 kW R88M-K3K030H-B R88M-K3K030H-BS2 R88M-K3K030T-B R88M-K3K030T-BS2 4 kW R88M-K4K030H-B R88M-K4K030H-BS2 R88M-K4K030T-B R88M-K4K030T-BS2 5 kW R88M-K5K030H-B R88M-K5K030H-BS2 R88M-K5K030T-B R88M-K5K030T-BS2

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

Standard Models and External Dimensions

750 W R88M-K75030F-B R88M-K75030F-BS2 R88M-K75030C-B R88M-K75030C -BS2

1 kW R88M-K1K030F-B R88M-K1K030F-BS2 R88M-K1K030C-B R88M-K1K030C-BS2

1.5 kW R88M-K1K530F-B R88M-K1K530F-BS2 R88M-K1K530C-B R88M-K1K530C-BS2

400 V

Note. Models with oil seals are also available.

2 kW R88M-K2K030F-B R88M-K2K030F-BS2 R88M-K2K030C-B R88M-K2K030C-BS2 3 kW R88M-K3K030F-B R88M-K3K030F-BS2 R88M-K3K030C-B R88M-K3K030C-BS2 4 kW R88M-K4K030F-B R88M-K4K030F-BS2 R88M-K4K030C-B R88M-K4K030C-BS2 5 kW R88M-K5K030F-B R88M-K5K030F-BS2 R88M-K5K030C-B R88M-K5K030C-BS2

2-7

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2,000-r/min Motors

Without brakes

With brakes

Specifications

1 kW R88M-K1K020H R88M-K1K020H-S2 R88M-K1K020T R88M-K1K020T-S2

1.5 kW R88M-K1K520H R88M-K1K52 0H-S2 R88M-K1K520T R88M-K1K520T-S2 2 kW R88M-K2K020H R88M-K2K020H-S2 R88M-K2K020T R88M-K2K020T-S2

200 V

3 kW R88M-K3K020H R88M-K3K020H-S2 R88M-K3K020T R88M-K3K020T-S2

2-3 Standard Model List

Model

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

4 kW R88M-K4K020H R88M-K4K020H-S2 R88M-K4K020T R88M-K4K020T-S2 5 kW R88M-K5K020H R88M-K5K020H-S2 R88M-K5K020T R88M-K5K020T-S2

400 W R88M-K40020F R88M-K40020F-S2 R88M-K40020C R88M-K40020C-BS2 600 W R88M-K60020F R88M-K60020F-S2 R88M-K60020C R88M-K60020C-BS2

1 kW R88M-K1K020F R88M-K1K020F-S2 R88M-K1K020C R88M-K1K020C-S2

1.5 kW R88M-K1K520F R88M-K1K520F-S2 R88M-K1K520C R88M-K1K520C-S2

400 V

2 kW R88M-K2K020F R88M-K2K020F-S2 R88M-K2K020C R88M-K2K020C-S2 3 kW R88M-K3K020F R88M-K3K020F-S2 R88M-K3K020C R88M-K3K020C-S2 4 kW R88M-K4K020F R88M-K4K020F-S2 R88M-K4K020C R88M-K4K020C-S2 5 kW R88M-K5K020F R88M-K5K020F-S2 R88M-K5K020C R88M-K5K020C-S2 1 kW R88M-K1K020H-B R88M-K1K020H-BS2 R88M-K1K020T-B R88M-K1K020T -BS2

1.5 kW R88M-K1K520H-B R88M-K1K520H-BS2 R88M-K1K520T-B R88M-K1K520T-BS2 2 kW R88M-K2K020H-B R88M-K2K020H-BS2 R88M-K2K020T-B R88M-K2K020T -BS2

200 V

3 kW R88M-K3K020H-B R88M-K3K020H-BS2 R88M-K3K020T-B R88M-K3K020T -BS2 4 kW R88M-K4K020H-B R88M-K4K020H-BS2 R88M-K4K020T-B R88M-K4K020T -BS2 5 kW R88M-K5K020H-B R88M-K5K020H-BS2 R88M-K5K020T-B R88M-K5K020T -BS2

400 W R88M-K40020F-B R88M-K40020F-BS2 R88M-K40020C-B R88M-K40020C-BS2 600 W R88M-K60020F-B R88M-K60020F-BS2 R88M-K60020C-B R88M-K60020C-BS2

1 kW R88M-K1K020F-B R88M-K1K020F-BS2 R88M-K1K020C-B R88M-K1K020C-BS2

1.5 kW R88M-K1K520F-B R88M-K1K520F-BS2 R88M-K1K520C-B R88M-K1K520C-BS2

400 V

2 kW R88M-K2K020F-B R88M-K2K020F-BS2 R88M-K2K020C-B R88M-K2K020C-BS2 3 kW R88M-K3K020F-B R88M-K3K020F-BS2 R88M-K3K020C-B R88M-K3K020C-BS2 4 kW R88M-K4K020F-B R88M-K4K020F-BS2 R88M-K4K020C-B R88M-K4K020C-BS2

Standard Models and External Dimensions

5 kW R88M-K5K020F-B R88M-K5K020F-BS2 R88M-K5K020C-B R88M-K5K020C-BS2

Note. Models with oil seals are also available.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-8

2-3 Standard Model List

Without brakes

With brakes

1,000-r/min Motors

Model

Specifications

900 kW R88M-K90010H R88M-K90010H-S2 R88M-K90010T R88M-K90010T-S2

200 V

400 V

200 V

400 V

Note. Models with oil seals are also available.

2 kW R88M-K2K010H R88M-K2K010H-S2 R88M-K2K010T R88M-K2K010T-S2 3 kW R88M-K3K010H R88M-K3K010H-S2 R88M-K3K010T R88M-K3K010T-S2

900 kW R88M-K90010F R88M-K90010F-S2 R88M-K90010C R88M-K90010C-S2

2 kW R88M-K2K010F R88M-K2K010F-S2 R88M-K2K010C R88M-K2K010C-S2 3 kW R88M-K3K010F R88M-K3K010F-S2 R88M-K3K010C R88M-K3K010C-S2

900 kW R88M-K90010H-B R88M-K90010H-BS2 R88M-K90010T-B R88M-K90010T-BS2

2 kW R88M-K2K010H-B R88M-K2K010H-BS2 R88M-K2K010T-B R88M-K2K010T-BS2 3 kW R88M-K3K010H-B R88M-K3K010H-BS2 R88M-K3K010T-B R88M-K3K010T-BS2

900 kW R88M-K90010F-B R88M-K90010F-BS2 R88M-K90010C-B R88M-K90010C-BS2

2 kW R88M-K2K010F-B R88M-K2K010F-BS2 R88M-K2K010C-B R88M-K2K010C-BS2 3 kW R88M-K3K010F-B R88M-K3K010F-BS2 R88M-K3K010C-B R88M-K3K010C-BS2

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

Standard Models and External Dimensions

2-9

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Servo Drive and Servomotor Combination List

The tables in this section show the possible combinations of OMNUC G5 Series Servo Drives and Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations.

-x at the end of the motor mo del num ber is for option s, such as the s haft typ e, brak e, oil seal and key.

3,000-r/min Motors and Drivers

2-3 Standard Model List

Voltage

Single-phase

100 V

Single-phase/

3-phase 100 V

Single-phase/

3-phase 200 V

Servomotor

Rated

output

50 W R88M-K05030H-x R88M-K05030T-x R88D-KT A 5L 100 W R88M-K10030L-x R88M-K10030S-x R88D-KT01L 200 W R88M-K20030L-x R88M-K20030S-x R88D-KT02L 400 W R88M-K40030L-x R88M-K40030S-x R88D-KT04L

50 W R88M-K05030H-x R88M-K05030T-x R88D-KT 01H 100 W R88M-K10030H-x R88M-K10030T-x R88D-KT01H 200 W R88M-K20030H-x R88M-K20030T-x R88D-KT02H 400 W R88M-K40030H-x R88M-K40030T-x R88D-KT04H 750 W R88M-K75030H-x R88M-K75030T-x R88D-KT08H

1 kW R88M-K1K030H-x R88M-K1K030T-x R88D-KT15H

1.5 kW R88M-K1K530H-x R88M-K1K530T-x R88D-KT15H 2 kW R88M-K2K030H-x R88M-K2K030T-x R88D-KT20H 3 kW R88M-K3K030H-x R88M-K3K030T-x R88D-KT30H 5 kW R88M-K5K030H-x R88M-K5K030T-x R88D-KT50H

750 W R88M-K75030F-x R88M-K75030C-x R88D-KT10F

With incremental

encoder

With absolute

encoder

Servo Drive

Standard Models and External Dimensions

1 kW R88M-K1K030F-x R88M-K1K030C-x R88D-KT15F

1.5 kW R88M-K1K530F-x R88M-K1K530C-x R88D-KT15F

3-phase 400 V

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2 kW R88M-K2K030F-x R88M-K2K030C-x R88D-KT20F 3 kW R88M-K3K030F-x R88M-K3K030C-x R88D-KT30F 4 kW R88M-K4K030F-x R88M-K4K030C-x R88D-KT50F 5 kW R88M-K5K030F-x R88M-K5K030C-x R88D-KT50F

2-10

2-3 Standard Model List

2,000-r/min Motors and Drivers

Voltage

Single-phase/

3-phase 200 V

Servomotor

Rated

output

1 kW R88M-K1K020H-x R88M-K1K020T-x R88D-KT10H

1.5 kW R88M-K1K520H-x R88M-K1K520T-x R88D-KT15H 2 kW R88M-K2K020H-x R88M-K2K020T-x R88D-KT20H 3 kW R88M-K3K020H-x R88M-K3K020T-x R88D-KT30H 4 kW R88M-K4K020H-x R88M-K4K020T-x R88D-KT50H

With incremental

encoder

With absolute

encoder

Servo Drive

Standard Models and External Dimensions

5 kW R88M-K5K020H-x R88M-K5K020T-x R88D-KT50H

400 W R88M-K40020F-x R88M-K40020C-x R88D-KT06F 600 W R88M-K60020F-x R88M-K60020C-x R88D-KT06F

1 kW R88M-K1K020F-x R88M-K1K020C-x R88D-KT10F

3-phase 400 V

1.5 kW R88M-K1K520F-x R88M-K1K520C-x R88D-KT15F 2 kW R88M-K2K020F-x R88M-K2K020C-x R88D-KT20F 3 kW R88M-K3K020F-x R88M-K3K020C-x R88D-KT30F 4 kW R88M-K4K020F-x R88M-K4K020C-x R88D-KT50F 5 kW R88M-K5K020F-x R88M-K5K020C-x R88D-KT50F

1,000-r/min Motors and Drivers

Voltage

Single-

phase/3-

phase 200 V

3-phase

200 V Single-

phase/3-

phase 400 V

Rated

output

900 W R88M-K90010H-x R88M-K90010T-x R88D-KT15H

2 kW R88M-K2K010H-x R88M-K2K010T-x R88D-KT30H 3 kW R88M-K3K010H-x R88M-K3K010T-x R88D-KT50H

900 W R88M-K90010F-x R88M-K90010C-x R88D-KT15F

With incremental

encoder

Servomotor

Servo Drive

With absolute encoder

2-11

3-phase

400 V

2 kW R88M-K2K010F-x R88M-K2K010C-x R88D-KT30F 3 kW R88M-K3K010F-x R88M-K3K010C-x R88D-KT50F

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Peripheral Equipment and Cable Model List

Encoder Cables (Non-Flexible Cables)

Specifications Model

[100 V and 200 V] For 3,000-r/min motors of 50 to 750 W (for both absolute encoders and incremental encoders)

2-3 Standard Model List

3 m R88A-CRKA003C

5 m R88A-CRKA005C 10 m R88A-CRKA010C 15 m R88A-CRKA015C 20 m R88A-CRKA020C 30 m R88A-CRKA030C 40 m R88A-CRKA040C 50 m R88A-CRKA050C

Standard Models and External Dimensions

[100 V and 200 V] 3,000-r/min motors of 1.0 kW or more For 2,000-r/min motors For 1,000-r/min motors

[400 V] For 3,000-r/min motors For 2,000-r/min motors For 1,000-r/min motors

3 m R88A-CRKC003N

5 m R88A-CRKC005N 10 m R88A-CRKC010N 15 m R88A-CRKC015N 20 m R88A-CRKC020N 30 m R88A-CRKC030N 40 m R88A-CRKC040N 50 m R88A-CRKC050N

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-12

2-3 Standard Model List

Motor Power Cables (Non-Flexible Cables)

[100 V and 200 V] For 3,000-r/min motors of 50 to 750 W

Specifications

Model

For motor without

brake

3 m R88A-CAKA003S −

5 m R88A-CAKA005S − 10 m R88A-CAKA010S − 15 m R88A-CAKA015S −

For motor with brake

Standard Models and External Dimensions

[200 V] For 3,000-r/min motors of 1 to 2 kW For 2,000-r/min motors of 1 to 2 kW For 1,000-r/min motors of 900 W

[400 V] For 3,000-r/min motors of 750 W to 2 kW For 2,000-r/min motors of 400 W to 2 kW For 1,000-r/min motors of 900 W

For 3,000-r/min motors of 3 to 5 kW For 2,000-r/min motors of 3 to 5 kW For 1,000-r/min motors of 2 to 3 kW

20 m R88A-CAKA020S − 30 m R88A-CAKA030S − 40 m R88A-CAKA040S − 50 m R88A-CAKA050S −

3 m R88A-CAGB003S R88A-CAGB003B

5 m R88A-CAGB005S R88A-CAGB005B 10 m R88A-CAGB010S R88A-CAGB010B 15 m R88A-CAGB015S R88A-CAGB015B 20 m R88A-CAGB020S R88A-CAGB020B 30 m R88A-CAGB030S R88A-CAGB030B 40 m R88A-CAGB040S R88A-CAGB040B 50 m R88A-CAGB050S R88A-CAGB050B

3 m R88A-CAGB003S R88A-CAKF003B

5 m R88A-CAGB005S R88A-CAKF005B 10 m R88A-CAGB010S R88A-CAKF010B 15 m R88A-CAGB015S R88A-CAKF015B 20 m R88A-CAGB020S R88A-CAKF020B 30 m R88A-CAGB030S R88A-CAKF030B 40 m R88A-CAGB040S R88A-CAKF040B 50 m R88A-CAGB050S R88A-CAKF050B

3 m R88A-CAGD003S R88A-CAGD003B

5 m R88A-CAGD005S R88A-CAGD005B 10 m R88A-CAGD010S R88A-CAGD010B

2-13

15 m R88A-CAGD015S R88A-CAGD015B 20 m R88A-CAGD020S R88A-CAGD020B 30 m R88A-CAGD030S R88A-CAGD030B 40 m R88A-CAGD040S R88A-CAGD040B 50 m R88A-CAGD050S R88A-CAGD050B

Note.There are separate connectors for power and brakes for 100 V and 200 V 3,000-r/min motors of 50

to 750 W. Therefore, when a motor with a brake is used, it will require both a power cable for a motor without a brake and a brake cable.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Brake Cables (Non-Flexible Cables)

Specifications Model

2-3 Standard Model List

[100 V and 200 V] For 3,000-r/min motors of 50 to 750 W

Encoder Cables (Non-Flexible Cables)

Specifications Model

[100 V and 200 V] For 3,000-r/min motors of 50 to 750 W (for both absolute encoders and incremental encoders)

3 m R88A-CAKA003B

5 m R88A-CAKA005B 10 m R88A-CAKA010B 15 m R88A-CAKA015B 20 m R88A-CAKA020B 30 m R88A-CAKA030B 40 m R88A-CAKA040B 50 m R88A-CAKA050B

3 m R88A-CRKA003CR

5 m R88A-CRKA005CR 10 m R88A-CRKA010CR 15 m R88A-CRKA015CR 20 m R88A-CRKA020CR

Standard Models and External Dimensions

[100 V and 200 V] 3,000-r/min motors of 1.0 kW or more For 2,000-r/min motors For 1,000-r/min motors

[400 V] For 3,000-r/min motors For 2,000-r/min motors For 1,000-r/min motors

30 m R88A-CRKA030CR 40 m R88A-CRKA040CR 50 m R88A-CRKA050CR

3 m R88A-CRKC003NR

5 m R88A-CRKC005NR 10 m R88A-CRKC010NR 15 m R88A-CRKC015NR 20 m R88A-CRKC020NR 30 m R88A-CRKC030NR 40 m R88A-CRKC040NR 50 m R88A-CRKC050NR

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-14

2-3 Standard Model List

Motor Power Cables (Non-Flexible Cables)

[100 V and 200 V] For 3,000-r/min motors of 50 to 750 W

Specifications

Model

For motor without

brake

3 m R88A-CAKA003SR −

5 m R88A-CAKA005SR − 10 m R88A-CAKA010SR − 15 m R88A-CAKA015SR −

For motor with brake

Standard Models and External Dimensions

[200 V] For 3,000-r/min motors of 1 to 2 kW For 2,000-r/min motors of 1 to 2 kW For 1,000-r/min motors of 900 W

[400 V] For 3,000-r/min motors of 750 W to 2 kW For 2,000-r/min motors of 400 W to 2 kW For 1,000-r/min motors of 900 W

For 3,000-r/min motors of 3 to 5 kW For 2,000-r/min motors of 3 to 5 kW For 1,000-r/min motors of 2 to 3 kW

20 m R88A-CAKA020SR − 30 m R88A-CAKA030SR − 40 m R88A-CAKA040SR − 50 m R88A-CAKA050SR −

3 m R88A-CAGB003SR R88A-CAGB003BR

5 m R88A-CAGB005SR R88A-CAGB005BR 10 m R88A-CAGB010SR R88A-CAGB010BR 15 m R88A-CAGB015SR R88A-CAGB015BR 20 m R88A-CAGB020SR R88A-CAGB020BR 30 m R88A-CAGB030SR R88A-CAGB030BR 40 m R88A-CAGB040SR R88A-CAGB040BR 50 m R88A-CAGB050SR R88A-CAGB050BR

3 m R88A-CAGB003SR R88A-CAKF003BR

5 m R88A-CAGB005SR R88A-CAKF005BR 10 m R88A-CAGB010SR R88A-CAKF010BR 15 m R88A-CAGB015SR R88A-CAKF015BR 20 m R88A-CAGB020SR R88A-CAKF020BR 30 m R88A-CAGB030SR R88A-CAKF030BR 40 m R88A-CAGB040SR R88A-CAKF040BR 50 m R88A-CAGB050SR R88A-CAKF050BR

3 m R88A-CAGD003SR R88A-CAGD003BR

5 m R88A-CAGD005SR R88A-CAGD005BR 10 m R88A-CAGD010SR R88A-CAGD010BR

2-15

15 m R88A-CAGD015SR R88A-CAGD015BR 20 m R88A-CAGD020SR R88A-CAGD020BR 30 m R88A-CAGD030SR R88A-CAGD030BR 40 m R88A-CAGD040SR R88A-CAGD040BR 50 m R88A-CAGD050SR R88A-CAGD050BR

Note.There are separate connectors for power and brakes for 100 V and 200 V 3,000-r/min motors of 50

to 750 W. Therefore, when a motor with a brake is used, it will require both a power cable for a motor without a brake and a brake cable.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Brake Cables (Non-Flexible Cables)

Specifications Model

2-3 Standard Model List

[100 V and 200 V] For 3,000-r/min motors of 50 to 750 W

3 m R88A-CAKA003BR

5 m R88A-CAKA005BR 10 m R88A-CAKA010BR 15 m R88A-CAKA015BR 20 m R88A-CAKA020BR 30 m R88A-CAKA030BR 40 m R88A-CAKA040BR 50 m R88A-CAKA050BR

Absolute Encoder Battery Cables

Specifications Model

ABS battery cable (battery not supplied) 0.3 m R88A-CRGD0R3C ABS battery cable (R88A-BAT01G battery × 1 supplied)

0.3 m

R88A-CRGD0R3C-BS

Analog Monitor Cable

Standard Models and External Dimensions

Specifications Model

Analog monitor cable 1 m R88A-CMK001S

Absolute Encoder Backup Battery

Specifications Model

2,000 mA•h 3.6 V R88A-BAT01G

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-16

2-3 Standard Model List

Connectors

Specifications Model

Motor connector for encoder cable [100 V and 200 V]

For 3,000-r/min of 50 to 750 W [100 V and 200 V]

For 3,000-r/min of 1 to 5 kW For 2,000 r/min, 1,000 r/min [400 V] For 3,000 r/min, 2,000 r/min and

1,000 r/min Control I/O connector (CN1) R88A-CNU11C Encoder connector (CN2) R88A-CNW01R External scale connector (CN4) R88A-CNK41L Safety connector (CN8) R88A-CNK81S Power cable connector (for 750 W max.) R88A-CNK11A Brake cable connector (for 750 W max.) R88A-CNK11B

R88A-CNK02R

R88A-CNK04R

Standard Models and External Dimensions

2-17

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Servo Relay Units (for CN1)

Specifications Model

2-3 Standard Model List

Servo Relay Unit For CS1W-NC113/-NC133

For CJ1W-NC113/-NC133 For C200HW-NC113

For CS1W-NC213/-NC413/-NC233/-NC433 For CJ1W-NC213/-NC413/-NC233/-NC433 For C200HW-NC213/-NC413

For CJ1M-CPU21/-CPU22/-CPU23 XW2B-20J6-8A

For FQM1-MMA22 For FQM1-MMP22

For CQM1-CPU43-V1 For CQM1H-PLB21

Servo Relay Unit Cables for Servo Drives

Specifications Model

Servo Drive cables For PCU (XW2B-xJ6-xB)

For CQM1 (XW2B-20J6-3B)

For CJM1 (XW2B-20J6-8A/XW2B-40J6-9A)

XW2B-20J6-1B

XW2B-40J6-2B

XW2B-40J6-9A XW2B-80J7-12A

XW2B-20J6-3B

1 m XW2Z-100J-B25 2 m XW2Z-200J-B25 1 m XW2Z-100J-B31 2 m XW2Z-200J-B31

Standard Models and External Dimensions

For FQM1-MMA22 (XW2B-80J7-12A)

For FQM1-MMP22 (XW2B-80J7-12A)

1 m XW2Z-100J-B27 2 m XW2Z-200J-B27 1 m XW2Z-100J-B26 2 m XW2Z-200J-B26

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-18

2-3 Standard Model List

Servo Relay Unit Cables for Position Control Units

Specifications Model

For CQM1H-PLB21 (XW2B-20J6-3B) 0.5 m XW2Z-050J-A3

1 m XW2Z-100J-A3

For CS1W-NC113, C200HW-NC113 (XW2B20J6-1B)

For CS1W-NC213/-NC413, C200HW-NC213/NC413 (XW2B-20J6-2B)

0.5 m XW2Z-050J-A6 1 m XW2Z-100J-A6

0.5 m XW2Z-050J-A7 1 m XW2Z-100J-A7

Standard Models and External Dimensions

Position Control Unit

cables

For CS1W-NC133 (XW2B-20J6-1B) 0.5 m XW2Z-050J-A10

1 m XW2Z-100J-A10

For CS1W-NC233/-NC433 (XW2B-20J6-2B) 0.5 m XW2Z-050J-A11

1 m XW2Z-100J-A11

For CJ1W-NC113 (XW2B-20J6-1B) 0.5 m XW2Z-050J-A14

1 m XW2Z-100J-A14

For CJ1W-NC213/-NC413 (XW2B-20J6-2B) 0.5 m XW2Z-050J-A15

1 m XW2Z-100J-A15

For CJ1W-NC133 (XW2B-20J6-1B) 0.5 m XW2Z-050J-A18

1 m XW2Z-100J-A18

For CJ1W-NC233/-NC433 (XW2B-20J6-2B) 0.5 m XW2Z-050J-A19

1 m XW2Z-100J-A19

For CJ1M-CPU21/-CPU22/-CPU23 (XW2B20J6-8A/XW2B-40J6-9A)

For FQM1-MMA22 (XW2B-80J7-12A)

General I/O 0.5 m XW2Z-050J-A28

Special I/O 0.5 m XW2Z-050J-A31

0.5 m XW2Z-050J-A33 1 m XW2Z-100J-A33

1 m XW2Z-100J-A28 2 m XW2Z-200J-A28

1 m XW2Z-100J-A31 2 m XW2Z-200J-A31

2-19

For FQM1-MMP22 (XW2B-80J7-12A)

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

General I/O 0.5 m XW2Z-050J-A28

1 m XW2Z-100J-A28 2 m XW2Z-200J-A28

Special I/O 0.5 m XW2Z-050J-A30

1 m XW2Z-100J-A30 2 m XW2Z-200J-A30

Control Cables

2-3 Standard Model List

Specifications Model

Specified cables for Position Control Unit (line-driver output for 1 axis) CJ1W-NC234/-NC434

Specified cables for Position Control Unit (open collector output for 1 axis) CJ1W-NC214/-NC414

Specified cables for Position Control Unit (line-driver output for 2 axes) CJ1W-NC234/-NC434

Specified cables for Position Control Unit (open collector output for 2 axes) CJ1W-NC214/-NC414

Specified cables for Motion Control Unit (for 1 axis) CS1W-MC221-V1/-MC421-V1

Specified cables for Motion Control Unit (for 2 axes) CS1W-MC221-V1/-MC421-V1

1 m XW2Z-100J-G9 5 m XW2Z-500J-G9

10 m XW2Z-10MJ-G9

1 m XW2Z-100J-G13

XW2Z-300J-G13

3 m 1 m XW2Z-100J-G13

5 m XW2Z-500J-G1

10 m XW2Z-10MJ-G1

1 m XW2Z-100J-G5

XW2Z-300J-G5

3 m 1 m R88A-CPG001M1

2 m R88A-CPG002M1 3 m R88A-CPG003M1 5 m R88A-CPG005M1 1 m R88A-CPG001M2 2 m R88A-CPG002M2 3 m R88A-CPG003M2 5 m R88A-CPG005M2

Standard Models and External Dimensions

General control cables (with connector on one end) 1 m R88A-CPG001S

2 m R88A-CPG002S

Connector-terminal block cables 1 m XW2Z-100J-B24

2 m XW2Z-200J-B24

Connector-terminal block M3 screw type XW2B-50G4

M3.5 screw type XW2B-50G5 M3 screw type XW2D-50G6

External Regeneration Resistors

Specifications Model

Regeneration process capacity: 20 W, 50 Ω (with 150°C thermal sensor) R88A-RR08050S Regeneration process capacity: 20 W, 100 Ω (with 150°C thermal sensor) R88A-RR080100S Regeneration process capacity: 70 W, 47 Ω (with 170°C thermal sensor) R88A-RR22047S Regeneration process capacity: 180 W, 20 Ω (with 200°C thermal sensor) R88A-RR50020S

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-20

2-3 Standard Model List

Reactors

R88D-KTA5L/-KT01H 3G3AX-DL2002 R88D-KT01L/-KT02H 3G3AX-DL2004 R88D-KT02L/-KT04H 3G3AX-DL2007 R88D-KT04L/-KT08H/-KT10H 3G3AX-DL2015 R88D-KT15H 3G3AX-DL2022 R88D-KT08H/-KT10H/-KT15H 3G3AX-AL2025

Specifications Model

R88D-KT20H/-KT30H 3G3AX-AL2055 R88D-KT50H 3G3AX-AL2110

Mounting Brackets (L-Brackets for Rack Mounting)

Specifications Model

R88D-KTA5L/-KT01L/-KT01H/-KT02H R88A-TK01K R88D-KT02L/-KT04H R88A-TK02K R88D-KT04L/-KT08H R88A-TK03K R88D-KT10H/-KT15H R88A-TK04K

Standard Models and External Dimensions

2-21

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-4 External and Mounting Dimensions

13070

150

(40)

±0.5

(150)

140

±0.5

φ5.2

2-4 External and Mounting Dimensions

Servo Drive Dimensions

Single-phase 100 VAC: R88D-KTA5L/-KT01L (50 to 100 W) Single-phase/3-phase 200 VAC: R88D-KT01H/-KT02H (100 to 200 W)

Wall Mounting

External dimensions Mounting dimensions

Standard Models and External Dimensions

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-22

Square hole

170

±0.5

180

170

150

5.2

R26

φ5.2

2.5

130

19.5

2.5

(40)

φ5.2

2-4 External and Mounting Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

Standard Models and External Dimensions

2-23

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-4 External and Mounting Dimensions

150

130

(150)

±0.5

(55)

140

±0.5

φ5.2

Square hole

φ5.2

180

170

150

5.2

R2.6

2.5

130

19.5

2.5

170

±0.5

φ5.2

Single-phase/3-phase 100 VAC: R88D-KT02L (200 W) Single-phase/3-phase 200 VAC: R88D-KT04H (400 W)

Wall Mounting

External dimensions Mounting dimensions

Standard Models and External Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-24

170

150

(150)

140

±0.5

7.5 (65)

φ5.2

Square hole

φ5.2

R2.6

5.2

180

170

150

170

2.5

19.5

2.5

170

±0.5

φ5.2

2-4 External and Mounting Dimensions

Single-phase/3-phase 100 VAC: R88D-KT04L (400 W) Single-phase/3-phase 200 VAC: R88D-KT08H (750 W)

Wall Mounting

External dimensions Mounting dimensions

Standard Models and External Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

2-25

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-4 External and Mounting Dimensions

150

170

φ5.2

140

±0.5

(150)

±0.5

8.5

(85)

Square hole

170

±0.5

2.5

R2.6

φ5.2

170

180

150

(86)

60 40

5.2

5.2 40

19.5

2.5

170

φ5.2

Single-phase/3-phase 200 VAC: R88D-KT10H/-KT15H (900 W to 1.5 kW)

Wall Mounting

External dimensions Mounting dimensions

Standard Models and External Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-26

(86)

5017.5

42.5

5.2

φ5.2

R2.6 R2.6

198

188

168

17.5

5.25.2

42.5

φ5.2

R2.6

193.5

3.5

±0.5

188

±0.5

(168)

(86)

±0.5

17.5

φ5.2

2-4 External and Mounting Dimensions

3-phase 200 VAC: R88D-KT20H (2 kW)

Wall Mounting

External dimensions

Mounting dimensions

Standard Models and External Dimensions

2-27

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-4 External and Mounting Dimensions

Square hole

±0.5

188

±0.5

17.5

φ5.2

Front Mounting (Using Front Mounting Brackets)

External dimensions

(86)

R2.6

42.5

5.2

5017.5 φ5.2

5.2

168

R2.6

188

198

30.7

193.5

2.5

Standard Models and External Dimensions

R2.6

17.5

42.5 50

Mounting dimensions

R2.6

5.25.2 φ5.2

2.5

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-28

2-4 External and Mounting Dimensions

3-phase 200 VAC: R88D-KT30H/-KT50H (3 to 5 kW)

Wall Mounting

External dimensions

5.2

130 100

100

φ5.2

5.2

R2.6

R2.6 R2.6

Mounting dimensions

220

240

250

212

Standard Models and External Dimensions

2-29

(220)

±0.5

100

130

±0.5

6-M4

±0.5

240

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-4 External and Mounting Dimensions

R2.6

φ5.2

R2.6R2.6

φ5.2

130

100

5.2

220

240

250

5.2

100

212

40.7

2.5

Square hole

6-M4

±0.5

240

±0.5

100

±0.5

130

Front Mounting (Using Front Mounting Brackets)

External dimensions

Standard Models and External Dimensions

Mounting dimensions

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-30

150

170

(150)

140

±0.5

14.5

φ5.2

Square hole

(92)

φ5.2 φ5.2

170

180

150

5.2 5.2 10

R2.6

170

2.5

19.5

2.5

±0.5

170

±0.5

φ5.2

2-4 External and Mounting Dimensions

3-phase 400 VAC: R88D-KT06F/-KT10F/-KT15F (600 W to 1.5 kW)

Wall Mounting

External dimensions Mounting dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

Standard Models and External Dimensions

2-31

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

3-phase 400 VAC: R88D-KT20F (2 kW)

Square hole

φ5.2

R2.6

φ5.2

±0.5

188

±0.5

2.5

193.5

30.7

5.2

17.5

42.5

168

188

198

5.2

17.5

5.2

2.5

5.2

φ5.2

Wall Mounting

17.5

42.5

5.2

2-4 External and Mounting Dimensions

External dimensions Mounting dimensions

85 50

φ5.2

5.2

168

188

198

193.5 1.5

(168)

±0.5

φ5.2

Standard Models and External Dimensions

±0.5

188

R2.6

5.2 5.2

17.5

R2.6

φ5.2

(94)

±0.5

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-32

φ5.2

R2.6

φ5.2

R2.6

100

5.2

5.2 65

130

100

5.2 5.2

220

240

250

±0.5

240

±0.5

(220)

(130)

100

±0.5

212

φ5.2

Square hole

φ5.2

5.2

R2.6

φ5.2

R2.6

250

240

220

100

5.2 5.2 65

5.2

130

10015

40.7

2.5

212

2.5

±0.5

240

±0.5

100

±0.5

φ5.2

2-4 External and Mounting Dimensions

3-phase 400 VAC: R88D-KT30F/-KT50F (3 to 5 kW)

Wall Mounting

External dimensions Mounting dimensions

Standard Models and External Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

2-33

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Servomotor Dimensions

INC

M3 (depth 6)

φ8h6

30h7

12.5

3h9

6.2

25LL

1.5 min. Boss insertion position

(only for the ones with oil seal)

R3.7

R4.2

2−φ4.3

φ46±0.2

40×40

(Key groove P9)

(Shaft end specifications with key and tap)

Encoder connector

Motor connector

3,000-r/min Motors (100 V and 200 V)

50 W/100 W (without Brake)

R88M-K05030H (-S2)/-K10030L (-S2)

2-4 External and Mounting Dimensions

R88M-K05030T (-S2)/-K10030S (-S2)

ABS

Dimensions (mm)

Model

LL LM LN

R88M-K05030x 72 48 23 R88M-K10030x 92 68 43

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

Standard Models and External Dimensions

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-34

2-4 External and Mounting Dimensions

ABS

M3 (depth 6)

12.5

3h9

6.2

R3.7

R4.2

2−φ4.3

φ46±0.2

40×40

(Key groove P9)

Motor connector

φ8h6

φ30h7

1.5 min. Boss insertion position

(only for the ones with oil seal)

(Shaft end specifications with key and tap)

Brake connector

Encoder connector

50 W/100 W (with Brake)

R88M-K05030H-B (S2)/-K10030L-B (S2)

INC

R88M-K05030T-B (S2)/-K10030S-B (S2)

Model

R88M-K05030x-Bx 102 78 23 R88M-K10030x-Bx 122 98 43

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

Dimensions (mm)

LL LM LN

Standard Models and External Dimensions

2-35

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

200 W/400 W (without Brake)

INC

ABS

φSh6

φ50h7

20 (200 W) 25 (400 W)

22.5 (400 W) 5 (400 W)

4 (200 W)

8.5

6.5

φ70±0.2

60×60

(Shaft end specifications with key and tap)

1.5 min. Boss insertion position

(only for the ones with oil seal)

(Key groove P9)

4h9 (200 W) 5h9 (400 W)

M4, depth 8 (200 W) M5, depth 10 (400 W)

18 (200 W)

4−φ4.5

Motor connector

Encoder connector

INC

20 (200 W) 25 (400 W)

22.5 (400 W)

5 (400 W)

4 (200 W)

8.5

φ70±0.2

60×60

(Shaft end specifications with key and tap)

1.5 min. Boss insertion position

(only for the ones with oil seal)

6.5

(Key groove P9)

4h9 (200 W) 5h9 (400 W)

M4, depth 8 (200 W) M5, depth 10 (400 W)

18 (200 W)

φSh6

φ50h7

4−ø4.5

Brake connector

Encoder connector

Motor connector

R88M-K20030x (-S2)/-K40030x (-S2) R88M-K20030x (-S2)/-K40030x (-S2)

2-4 External and Mounting Dimensions

Standard Models and External Dimensions

Model

Dimensions (mm)

LL LM S

R88M-K20030x 79.5 56.5 11 R88M-K40030x 99 76 14

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

200 W/400 W (with Brake)

R88M-K20030x-B (S2)/-K40030x-B (S2) R88M-K20030x-B (S2)/-K40030x-B (S2)

ABS

Model

R88M-K20030x-Bx 116 93 11

Dimensions (mm)

LL LM S

R88M-K40030x-Bx 135.5 112.5 14

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-36

2-4 External and Mounting Dimensions

Motor connector

Brake connector

Encoder connector

(Shaft end specifications with key and tap)

148.2

122.2

25 22

φ19h6

φ70h7

4−φ6

80×80

φ90±0.2

M5 (depth 10)

6h9

15.5

750 W (without Brake)

R88M-K75030H (-S2) R88M-K75030T (-S2)

INC

ABS

Encoder connector

Motor connector

112.2

86.2 83

80×80

(Shaft end specifications with key and tap)

4−φ6

25 22

15.5

φ19h6

φ90±0.2

φ70h7

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

750 W (with Brake)

6h9

M5 (depth 10)

Standard Models and External Dimensions

R88M-K75030H-B (S2) R88M-K75030T-B (S2)

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

ABS

end of the model number.

INC

2-37

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

1 kW/1.5 kW/2 kW (without Brake)

INC

ABS

KB2

KB1

55LL

101

φ19h6

φ95h7

φ115

4−φ9

φ135

100×100

Encoder connector

Motor and brake connector

M3, through

6h9

φ19h6

15.5

φ95h7

M5 (depth 12)

(Shaft end specifications with key and tap)

R88M-K1K030H (-S2)/-K1K530H (-S2)/-K2K030H (-S2)

2-4 External and Mounting Dimensions

R88M-K1K030T (-S2)/-K1K530T (-S2)/-K2K030T (-S2)

1 kW/1.5 kW/2 kW (with Brake)

R88M-K1K030H-B (S2)/-K1K530H-B (S2)/-K2K030H-B (S2) R88M-K1K030T-B (S2)/-K1K530T-B (S2)/-K2K030T-B (S2)

Dimensions (mm)

Model

LL LM KB1 KB2

R88M-K1K030x 141 97 66 119 R88M-K1K530x 159.5 115.5 84.5 137.5 R88M-K2K030x 178.5 134.5 103.5 156.5

ABS

Standard Models and External Dimensions

R88M-K1K030x-Bx 168 124 66 146 R88M-K1K530x-Bx 186.5 142.5 84.5 164.5 R88M-K2K030x-Bx 205.5 161.5 103.5 183.5

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-38

INC

ABS

INC

ABS

Encoder connector

Motor and brake connector

KB2

112

55LL

113

312

φ22h6

φ110h7

120×120

4−φ9

φ145

φ162

M3, through

M5 (depth 12)

φ22h6

φ110h7

8h9

(Shaft end specifications with key and tap)

2-4 External and Mounting Dimensions

3 kW (without Brake)

R88M-K3K030H (-S2) R88M-K3K030T (-S2)

3 kW (with Brake)

R88M-K3K030H-B (S2) R88M-K3K030T-B (S2)

Standard Models and External Dimensions

Model

Dimensions (mm)

LL LM KB2

R88M-K3K030x 190 146 168 R88M-K3K030x-Bx 215 171 193

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

2-39

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

4 kW/5 kW (without Brake)

ABS

INC

ABS

Encoder connector

Motor and brake connector

LM KB2 KB1

65LL

118

612

φ24h6

φ110h7

130×130

4−φ9

φ165

φ145

M3, through

M8 (depth 20)

φ24h6

φ110h7

8h9

(Shaft end specifications with key and tap)

2-4 External and Mounting Dimensions

R88M-K4K030H (-S2)/-K5K030H (-S2)

INC

R88M-K4K030T (-S2)/-K5K030T (-S2)

4 kW/5 kW (without Brake)

R88M-K4K030H-B (S2)/-K5K030H-B (S2) R88M-K4K030T-B (S2)/-K5K030T-B (S2)

Model

LL LM KB1 KB2

R88M-K4K030x 208 164 127 186

Dimensions (mm)

Standard Models and External Dimensions

R88M-K5K030x 243 199 162 221 R88M-K4K030x-Bx 233 189 127 211 R88M-K5K030x-Bx 268 224 162 246

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-40

2-4 External and Mounting Dimensions

INC

ABS

Encoder connector

Motor and brake connector

KB2

KB1

55LL

101 (without brake)

103 (with brake)

310

φ19h6

φ95h7

100×100

4−φ9

φ115

φ135

M3, through

M5 (depth 12)

φ19h6

φ95h7

6h9

15.5

(Shaft end specifications with key and tap)

3,000-r/min Motors (400 V)

750 W/1 kW/1.5 kW/2 kW (without Brake)

R88M-K75030F (-S2)/-K1K030F (-S2)/-K1K530F (-S2)/- K2K030F (-S2) R88M-K75030C (-S2)/-K1K030C (-S2)/-K1K530C (-S2)/-K2K030C (-S2 )

750 W/1 kW/1.5 kW/2 kW (with Brake)

R88M-K75030F-B (S2)/-K1K030F-B (S2)/-K1K530F-B (S 2)/-K2K030F-B (S2) R88M-K75030C-B (S2)/-K1K030C-B (S2)/-K1K530C-B (S2)/-K2K030C-B (S2)

Dimensions (mm)

Model

LL LM KB1 KB2

R88M-K75030x 131.5 87.5 56.5 109.5 R88M-K1K030x 141 97 66 119

INC

ABS

Standard Models and External Dimensions

2-41

R88M-K1K530x 159.5 115.5 84.5 137.5 R88M-K2K030x 178.5 134.5 103.5 156.5 R88M-K75030x-Bx 158.5 114.5 53.5 136.5 R88M-K1K030x-Bx 168 124 63 146 R88M-K1K530x-Bx 186.5 142.5 81.5 164.5 R88M-K2K030x-Bx 205.5 161.5 100.5 183.5

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

3 kW (without Brake)

INC

ABS

Encoder connector

Motor and brake connector

KB2

112

55LL

113

312

φ22h6

φ110h7

120×120

4-φ9

φ145

φ162

M3, through

M5 (depth 12)

φ22h6

φ110h7

8h9

(Shaft end specifications with key and tap)

R88M-K3K030F (-S2)

2-4 External and Mounting Dimensions

R88M-K3K030C (-S2)

ABS

3 kW (with Brake)

R88M-K3K030F-B (S2) R88M-K3K030C-B (S2)

Model

R88M-K3K030x 190 146 168 R88M-K3K030x-Bx 215 171 193

Dimensions (mm)

LL LM KB2

Standard Models and External Dimensions

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-42

2-4 External and Mounting Dimensions

ABS

4 kW/5 kW (without Brake)

R88M-K4K030F (-S2)/-K5K030F (-S2) R88M-K4K030C (-S2)/-K5K030C (-S2)

4 kW/5 kW (with Brake)

R88M-K4K030F-B (S2)/-K5K030F-B (S2) R88M-K4K030C-B (S2)/-K5K030C-B (S2)

Motor and brake connector

Encoder connector

118

R88M-K4K030x 208 164 127 186 R88M-K5K030x 243 199 162 221

Model

KB2

KB1

INC

ABS

INC

65LL

130×130

612

φ24h6

φ110h7

Dimensions (mm)

LL LM KB1 KB2

(Shaft end specifications with key and tap)

4−φ9

φ145

φ165

M3, through

φ24h6

φ110h7

8h9

M8 (depth 20)

Standard Models and External Dimensions

R88M-K4K030x-Bx 233 189 127 211 R88M-K5K030x-Bx 268 224 162 246

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

2-43

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-4 External and Mounting Dimensions

INC

ABS

Encoder connector

Motor and brake connector

KB2

KB1

LRLL

116 (1.0 to 2.0 kW)

118 (3.0 kW)

130×130

45 (1.0 to 2.0 kW) 55 (3.0 kW)

41 (1.0 to 2.0 kW) 51 (3.0 kW)

M3, through

M5, depth 12 (1.0 to 2.0 kW) M8, depth 20 (3.0 kW)

8h9

18 (1.0 to 2.0 kW)

20 (3.0 kW)

(Shaft end specifications with key and tap)

612

φSh6

φ110h7

4−φ9

φ165

φ145

φ110h7

2,000-r/min Motors (200 V)

1 kW/1.5 kW/2 kW/3 kW (without Brake)

R88M-K1K020H (-S2)/-K1K520H (-S2)/-K2K020H (-S2)/-K3K020H (-S2) R88M-K1K020T (-S2)/-K1K520T (-S2)/-K2K020T (-S2)/-K3K020T (-S2)

1 kW/1.5 kW/2 kW/3 kW (with Brake)

R88M-K1K020H-B (S2)/-K1K520H-B (S2)/-K2K020H-B (S2)/-K3K020H-B (S2) R88M-K1K020T-B (S2)-K1K520T-B (S2)/-K2K020T-B (S2)/-K3K020 T-B (S2)

Dimensions (mm)

Model

LL LR LM S KB1 KB2

R88M-K1K020x 138 55 94 22 60 116 R88M-K1K520x 155.5 55 111.5 22 77.5 133.5 R88M-K2K020x 173 55 129 22 95 151 R88M-K3K020x 208 65 164 24 127 186

INC

Standard Models and External Dimensions

R88M-K1K020x-Bx 163 55 119 22 60 141 R88M-K1K520x-Bx 180.5 55 136.5 22 77.5 158.5 R88M-K2K020x-Bx 198 55 154 22 95 176 R88M-K3K020x-Bx 233 65 189 24 127 211

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-44

Encoder connector

Motor and brake connector

KB2

KB1

70LL

140

176×176

M3, through

(Shaft end specifications with key and tap)

3.218

φ114.3h7

4−φ13.5

φ200

φ233

φ35h6

φ114.3h7

M12 (depth 25)

10h9

2-4 External and Mounting Dimensions

4 kW/5 kW (without Brake)

R88M-K4K020H (-S2)/-K5K020H (-S2) R88M-K4K020T (-S2)/-K5K020T (-S2)

4 kW/5 kW (with Brake)

R88M-K4K020H-B (S2)/-K5K020H-B (S2) R88M-K4K020T-B (S2)/-K5K020T-B (S2)

INC

ABS

INC

ABS

Standard Models and External Dimensions

Model

Dimensions (mm)

LL LM KB1 KB2

R88M-K4K020x 177 133 96 155 R88M-K5K020x 196 152 115 174 R88M-K4K020x-Bx 202 158 96 180 R88M-K5K020x-Bx 221 177 115 199

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

2-45

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2,000-r/min Motors (400 V)

ABS

INC

ABS

400 W/600 W (without Brake)

2-4 External and Mounting Dimensions

R88M-K40020F (-S2)/-K60020F (-S2) R88M-K40020F (-S2)/-K60020F (-S2)

400 W/600 W (with Brake)

R88M-K40020F-B (S2)/-K60020F-B (S2) R88M-K40020F-B (S2)/-K60020F-B (S2)

Motor and brake connector

Encoder connector

101 (without brake)

103 (with brake)

R88M-K40020x 131.5 87.5 56.5 109.5 R88M-K60020x 141 97 66 119

KB2

Model

KB1

INC

55LL

100×100

310

φ19h6

φ95h7

(Shaft end specifications with key and tap)

M3, through

4−φ9

φ135

φ115

φ19h6

φ95h7

6h9

M5 (depth 12)

15.5

Dimensions (mm)

LL LM KB1 KB2

Standard Models and External Dimensions

R88M-K40020x-Bx 158.5 114.5 53.5 136.5 R88M-K60020x-Bx 168 124 63 146

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-46

2-4 External and Mounting Dimensions

INC

ABS

Encoder connector

Motor and brake connector

KB2

KB1

LRLL

116 (1 to 2 kW/without brake)

118 (3 kW/without brake)

118 (1 to 3 kW/with brake)

130×130

45 (1 to 2 kW) 55 (3 kW)

41 (1 to 2 kW) 51 (3 kW)

M3, through

M5, depth 12 (1.0 to 2.0 kW) M8, depth 20 (3.0 kW)

8h9

18 (1 to 2 kW)

20 (3 kW)

(Shaft end specifications with key and tap)

612

φSh6

φ110h7

4-φ9

φ165

φ145

φSh6

φ110h7

1 kW/1.5 kW/2 kW/3 kW (without Brake)

R88M-K1K020F (-S2)/-K1K520F (-S2)/-K2K020F (-S2)/-K3K020F (-S2) R88M-K1K020C (-S2)/-K1K520C (-S2)/-K2K020C (-S2)/-K3K020C (-S2)

1 kW/1.5 kW/2 kW/3 kW (with Brake)

R88M-K1K020F-B (S2)/-K1K520F-B (S2)/-K2K020F-B (S2)/-K3K020F-B (S2) R88M-K1K020C-B (S2)/-K1K520C-B (S2)/-K2K020C-B (S2)/-K3K020C-B (S2)

Dimensions (mm)

Model

LL LR LM S KB1 KB2

R88M-K1K020x 138 55 94 22 60 116 R88M-K1K520x 155.5 55 111.5 22 77.5 133.5 R88M-K2K020x 173 55 129 22 95 151

INC

ABS

Standard Models and External Dimensions

2-47

R88M-K3K020x 208 65 164 24 127 186 R88M-K1K020x-Bx 163 55 119 22 57 141 R88M-K1K520x-Bx 180.5 55 136.5 22 74.5 158.5 R88M-K2K020x-Bx 198 55 154 22 92 176 R88M-K3K020x-Bx 233 65 189 24 127 211

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

4 kW/5 kW (without Brake)

ABS

INC

ABS

Encoder connector

Motor and brake connector

KB2

KB1

70LL

140

176×176

M3, through

(Shaft end specifications with key and tap)

3.218

φ35h6

φ114.3h7

4-φ13.5

φ200

φ233

φ35h6

φ114.3h7

M12 (depth 25)

10h9

2-4 External and Mounting Dimensions

R88M-K4K020F (-S2)/-K5K020F (-S2) R88M-K4K020C (-S2)/-K5K020C (-S2)

4 kW/5 kW (with Brake)

R88M-K4K020F-B (S2)/-K5K020F-B (S2) R88M-K4K020C-B (S2)/-K5K020C-B (S2)

INC

Standard Models and External Dimensions

Model

Dimensions (mm)

LL LM KB1 KB2

R88M-K4K020x 177 133 96 155 R88M-K5K020x 196 152 115 174 R88M-K4K020x-Bx 202 158 96 180 R88M-K5K020x-Bx 221 177 115 199

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-48

2-4 External and Mounting Dimensions

INC

Encoder connector

Motor and brake connector

KB2

77.5

55LL

116

130×130

M3, through

8h9

(Shaft end specifications with key and tap)

612

φ22h6

φ110h7

4-ø9

φ165

φ145

φ22h6

φ110h7

M5 (depth 12)

1,000-r/min Motors (200 V)

900 W (without Brake)

R88M-K90010H (-S2) R88M-K90010T (-S2)

900 W (with Brake)

R88M-K90010H-B (S2) R88M-K90010T-B (S2)

INC

ABS

Standard Models and External Dimensions

2-49

Model

Dimensions (mm)

LL LM KB2

R88M-K90010x 155.5 111.5 133.5 R88M-K90010x-Bx 180.5 136.5 158.5

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2 kW/3 kW (without Brake)

ABS

INC

Encoder connector

Motor and brake connector

KB2

KB1

140

176×176

M3, through

(Shaft end specifications with key and tap)

3.218

φ35h6

φ114.3h7

4−φ13.5

φ200

φ233

φ114.3h7

M12 (depth 25)

10h9

2-4 External and Mounting Dimensions

R88M-K2K010H (-S2)/-K3K010H (-S2) R88M-K2K010T (-S2)/-K3K010T (-S2)

2 kW/3 kW (without Brake)

R88M-K2K010H-B (S2)/-K3K010H-B (S2) R88M/-K2K010T-B (S2)/-K3K010T-B (S2)

INC

ABS

Standard Models and External Dimensions

Model

Dimensions (mm)

LL LM KB1 KB2

R88M-K2K010x 163.5 119.5 82.5 141.5 R88M-K3K010x 209.5 165.5 128.5 187.5 R88M-K2K010x-Bx 188.5 144.5 82.5 166.5 R88M-K3K010x-Bx 234.5 190.5 128.5 212.5

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-50

2-4 External and Mounting Dimensions

INC

Encoder connector

Motor and brake connector

KB2

KB1

55LL

130×130

M3, through

M5 (depth 10)

8h9

(Shaft end specifications with key and tap)

612

φ22h6

φ110h7

4-ø9

φ165

φ145

φ22h6

φ110h7

116 (without brake)

118 (with brake)

1,000-r/min Motors (400 V)

900 W (without Brake)

R88M-K90010F (-S2)

R88M-K90010C (-S2)

ABS

900 W (with Brake)

R88M-K90010F-B (S2) R88M-K90010C-B (S2)

Model

R88M-K90010x 155.5 111.5 77.5 133.5

INC ABS

Dimensions (mm)

LL LM KB1 KB2

Standard Models and External Dimensions

2-51

R88M-K90010x-Bx 180.5 136.5 74.5 158.5

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2 kW/3 kW (without Brake)

ABS

INC

2-4 External and Mounting Dimensions

R88M-K2K010F (-S2)/-K3K010F (-S2) R88M-K2K010C (-S2)/-K3K010C (-S2)

2 kW/3 kW (without Brake)

R88M-K2K010F-B (S2)/-K3K010F-B (S2) R88M-K2K010C-B (S2)/-K3K010C-B (S2)

Motor and brake connector

Encoder connector

140

KB2

KB1

INC

ABS

80LL

176×176

3.218

φ35h6

φ114.3h7

(Shaft end specifications with key and tap)

4−φ13.5

φ233

φ200

M3, through

φ35h6

φ114.3h7

10h9

M12 (depth 25)

Standard Models and External Dimensions

Model

Dimensions (mm)

LL LM KB1 KB2

R88M-K2K010x 163.5 119.5 82.5 141.5 R88M-K3K010x 209.5 165.5 128.5 187.5 R88M-K2K010x-Bx 188.5 144.5 82.5 166.5 R88M-K3K010x-Bx 234.5 190.5 128.5 212.5

Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the

end of the model number.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-52

t1.2 200

220 230

4.2

Thermal switch output

500

ϕ3

(0.75 mm

)

ϕ1.5

(0.3 mm

)

360 386 402

4325 10

5.2

2-4 External and Mounting Dimensions

External Regeneration Resistor Dimensions

External Regeneration Resistor

R88A-RR08050S/-RR080100S

Thermal switch output

)

ϕ1.5

(0.3 mm

ϕ3

(0.75 mm

t1.2 104

500

4.2 28

43.5

Standard Models and External Dimensions

R88A-RR22047S

R88A-RR50020S

122 130

2-53

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-5 EMC Filter Dimensions

drive mounts

output flexes

2-5 EMC Filter Dimensions

Standard Models and External Dimensions

Filter model

R88A-FIK102-RE 190 42 44 180 20 R88A-FIK104-RE 190 57 30 180 30 R88A-FIK107-RE 190 64 35 180 40 R88A-FIK114-RE 190 86 35 180 60 R88A-FIK304-RE 190 86 40 180 60 R88A-FIK306-RE 245 94 40 235 60 R88A-FIK312-RE 290 130 45 280 100

External dimensions Mount dimensions

H W D M1 M2

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

2-54

Specifications

3-1 Driver Specifications....................................................3-1

General Specifications........... ... ... ... ................................................3-1

Characteristics................................................................................3-2

Main Circuit and Motor Connections...............................................3-8

Control I/O Connector Specifications (CN1)................................. 3-13

Control Input Circuits ....................................................................3-23

Control Input Details .....................................................................3-27

Control Output Circuits..................................................................3-39

Control Output Details...................................................................3-40

Encoder Connector Specifications (CN2) .....................................3-45

External Encoder Connector Specifications (CN4).......................3-45

Monitor Connector Specifications (CN5).......................................3-49

USB Connector Specifications (CN7)...........................................3-50

Safety Connector Specifications (CN8) ........................................3-51

3-2 Overload Characteristics (Electronic Thermal Function) ... 3-53

Overload Characteristics Graphs..................................................3-53

3-3 Motor Specifications..................................................3-54

General Specifications........... ... ... ... ..............................................3-54

Characteristics..............................................................................3-55

Encoder Specifications .................................................................3-77

3-4 Cable and Connector Specifications........................3-78

Encoder Cable Specifications.......................................................3-78

Motor Power Cable Specifications................................................3-80

Connector Specifications..............................................................3-86

Analog Monitor Cable Specifications............................................3-89

Control Cable Specifications.........................................................3-91

3-5 Servo Relay Units and Cable Specifications..........3-106

Servo Relay Units Specifications................................................3-106

Servo Drive-Servo Relay Unit Cable Specifications ........ ...... ... .. 3-119

Position Control Unit-Servo Relay Unit Cable Specifications .....3-123

3-6 External Regeneration Resistor Specifications.....3-136

External Regeneration Resistor Specifications...........................3-136

3-7 EMC Filter Specifications.........................................3-138

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

3-1 Driver Specifications

International standard

3-1 Driver Specifications

General Specifications

Specifications

Ambient operating temperature and operating humidity

Storage ambient temperature and humidity

Operating and storage atmosphere

Vibration resistance 10 to 60 Hz and at an acceleration of 5.88 m/s

Impact resistance Acceleration of 19.6 m/s Insulation resistance Between power supply terminal/power terminal and FG terminal: 0.5 MΩ min. (at 500

Select the Servo Drive matching the Servomotor to be used.Refer to "Servo Drive and Servomotor Combination List"(P.2-10). The same OMNUC G5-Series AC Servo Drive can be used for either a pulse train input or analog input. You can change the CONTROL mode according to the controller. (The default setting is for position control with pulse train commands.)

Item Specifications

0 to +55C, 90% RH max. (with no condensation)

-20 to +65C, 90% RH max. (with no condensation)

No corrosive gases

or less (Not to be run continuously at

the resonance point)

max. 2 times each in X, Y, and Z directions

VDC Megger)

Dielectric strength Between power supply/power line terminals and FG terminal: 1,500 VAC for 1 min at

50/60 Hz

Protective structure Built into panel

EC directive

UL standards UL 508C CSA standards CSA22.2 No. 14 Functional safety EN954-1, ISO13849-1, EN61508, EN62061 and IEC61800-5-2, IEC 61326-3-1

Note 1.The above items reflect individual evaluation testing. The results may differ under compound conditions. Note 2.Never perform dielectric strength or other megameter tests on the Servo Drive. Failure to follow this guideline

may result in damaging the internal elements.

Note 3.Depending on the operating conditions, some Servo Drive parts will require maintena nce. For detai ls, refer to

"11-5 Periodic Maintenance" (P.11-20).

EMC directive

Low voltage command

EN 55011, EN 61000-6-2, IEC 61800-3

EN 61800-5-1

3-1

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

3-1 Driver Specifications

INC

ABS

Characteristics

100-VAC Input Type

Item R88D-KTA5L R88D-KT01L R88D-KT02L R88D-KT04L

Continuous output current (rms) 1.2 A 1.7 A 2.5 A 4.6 A Input power

supply

Control method All-digital servo

Main circuit

Control circuit

Power supply capacity

Power supply voltage

Rated current

Power supply voltage

0.4 KVA 0.4 KVA 0.5 KVA 0.9 KVA

Single-phase 100 to 115 VAC (85 to 127 V) 50/60 Hz

1.4 A 2.6 A 4.3 A 7.6 A

Single-phase 100 to 115 VAC (85 to 127 V) 50/60 Hz

Specifications

Inverter method IGBT-driven PWM method PWM frequency 12.0 kHz 6.0 kHz Weight Approx. 0.8 kg App r ox. 0.8 kg Approx. 1.0 kg Approx. 1.6 kg Maximum applicable motor capacity 50 W 100 W 200 W 400 W Applicable

motor

3,000 r/ min type

2,000-r/ min type

1,000-r/ min type

K05030H K10030L K20030L K40030L

K05030T K10030S K20030S K40030S

−−−−

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

3-2

3-1 Driver Specifications

INC

ABS

INC

ABS

INC

ABS

200-VAC Input Type

Continuous output current (rms) 1.2 A 1.6 A 2.6 A 4.1 A 5.9 A 9.4 A Input power

supply

PWM frequency 12.0 kHz 6.0 kHz Weight Approx.

Maximum applicable motor capacity 100 W 200 W 400 W 750 W 1 kW 1.5 kW Applicable

motor

Specifications

Item

Main circuit

Control circuit

3,000-r/ min type

2,000-r/ min type

Power supply capacity

Power supply voltage

Rated current

Power supply voltage

R88DKT01H

0.5 KVA 0.5 KVA 0.9 KVA 1.3 KVA 1.8 KVA 2.3KVA

Single-phase or 3-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz

1.3 A 2.4/1.3 *

0.8 kg

K05030H K10030H

K05030T K10030T

−−−−K1K020H K1K520H

R88D-

KT02H

Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz

Approx.

0.8 kg

K20030H K40030H K75030H −

K20030T K40030T K75030T −

R88D-

KT04H

A 4.1/2.4 *1 A 6.6/3.6 *1 A 9.1/5.9 *1 A

Approx.

1.1 kg

R88D-

KT08H

Approx.

1.6 kg

R88D-

KT10H

Approx.

1.8 kg

R88D-

KT15H

14.2/8.1 *1 A

Approx.

1.8 kg

K1K030H K1K530H

K1K030T K1K530T

−−−−K1K020T K1K520T

1,000-r/ min type

Control method All-digital servo Inverter method IGBT-driven PWM method

*1. The left value is for single-phase input power and the right value is for 3-phase input power.

−−−−−K90010H

−−−−−K90010T

3-3

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

3-1 Driver Specifications

ABS

INC

ABS

Item R88D-KT20H R88D-KT30H R88D-KT50H

Continuous output current (rms) 13.4 A 18.7 A 33.0 A Input power

supply

PWM frequency 6.0 kHz Weight Approx. 2.7 kg Approx. 4.8 kg Approx. 4.8 kg

Main circuit

Control circuit

Power supply capacity

Power supply voltage

Rated current

Power supply voltage

3.3 KVA 4.5 KVA 7.5 KVA

3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz

11.8 A 15.1 A 21.6 A

Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz

Maximum applicable motor capacity 2 kW 3 kW 5 kW Applicable

motor

Control method All-digital servo Inverter method IGBT-driven PWM method

3,000-r/ min type

2,000-r/ min type

1,000-r/ min type

INC

ABS

INC

K2K030H K3K030H

K2K030T K3K030T

K2K020H K3K020H

K2K020T K3K020T

− K2K010H K3K010H

− K2K010T

K4K030H K5K030H

K4K030T K5K030T

K4K020H K5K020H

K4K020T K5K020T

K3K010T K4K510T

Specifications

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

3-4

3-1 Driver Specifications

INC

ABS

400-VAC Input Type

Continuous output current (rms) 2.9 A 2.9 A 4.7 A 6.7 A 9.4 A 16.5 A

Input power

PWM frequency 6.0 kHz Weight Approx.

Maximum applicable motor capacity 600 W 1 kW 1.5 kW 2 kW 3 kW 5 kW Applicable

motor

Specifications

supply

Item

Main circuit

Control circuit

3,000-r/ min type

2,000-r/ min type

1,000-r/ min type

Power supply voltage

Rated current

Power supply voltage

INC

ABS

INC

R88D-

KT06F

2.8 A 2.8 A 4.7 A 5.9 A 7.6 A 12.1 A

1.9 kg

− K75030F

− K75030C

K40020F K60020F

K40020C K60020C

−−K90010F − K2K010F K3K010F

R88D-

KT10F

3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz

Approx.

1.9 kg

K1K020F K1K520F K2K020F K3K020F

K1K020C K1K520C K2K020C K3K020C

R88D-

KT15F

24 VDC (20.4 to 27.6 V)

Approx.

1.9 kg

K1K030F K1K530F

K1K030C K1K530C

R88DKT20F

Approx.

2.7 kg

K2K030F K3K030F

K2K030C K3K030C

R88DKT30F

Approx.

4.7 kg

R88D-

KT50F

Approx.

4.7 kg

K4K030F K5K030F

K4K030C K5K030C

K4K020F K5K020F

K4K020C K5K020C

−−K90010C − K2K010C K3K010C

Control method All-digital servo Inverter method IGBT-driven PWM method

3-5

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

3-1 Driver Specifications

ABS

Protective Functions

Error detection Description

Control power supply undervoltage The DC voltage of the main circuit fell below the specified value while the

operation command (RUN) input was ON. Overvoltage The DC voltage in the main circuit is abnormally high. Main power supply undervoltage The DC voltage of the main circuit is low.

Overcurrent Overcurrent flowed to the IGBT. Motor power line ground fault or short

circuit. Driver overheat The temperature of the driver radiator exceeded the specified value. Overload Operation was performed with torque significantly exceeding the rating for

several seconds to several tens of seconds. Regeneration overload The regenerative energy exceeds the processing capacity of the

Regeneration Resistor. Encoder communications error The encoder wiring is disconnected. Encoder communications data error Communications cannot be performed between the encoder and the driver. Error counter overflow The number of accumulated pulses in the error counter exceeded the set

value for the Error Counter Overflow Level (Pn014). Excessive hybrid error During full closing control, difference between position of load from external

scale and position of motor due to encoder was larger than the number of

pulses set by Internal/External Feedback Pulse Error Counter Overflow

Level (Pn328). Overspeed The motor rotation speed exceeded the maximum number of rotations. Electronic gear setting error The set value for the Electronic Gear Ratio (Pn009 to Pn010, Pn500 to

Pn503) is not appropriate. Error counter overflow Error counter value based on the encoder pulse reference exceeded 2

(536870912). Interface I/O setting error An error was detected in the interface I/O signal. Overrun limit error The motor exceeded the allowable operating range set in the Overrun Limit

Setting (Pn514) with respect to the position command input. Parameter error Data in the Parameter Save area was corrupted when the power supply

was turned ON and data was read from the EEPROM. Parameters destruction The checksum for the data read from the EEPROM when the power supply

was turned ON does not match. Drive prohibition input error The forward drive prohibition and reverse drive prohibition inputs are both

turned OFF. Excessive analog input A current exceeding the Excessive Analog Input (Pn424, Pn427 or Pn430)

was applied to the analog command input (pin 14). Absolute encoder system down error The voltage supplied to the absolute encoder is lower than the specified

value.

Specifications

Absolute encoder counter overflow error The multi-rotation counter of the absolute encoder exceeds the specified

ABS

Absolute encoder overspeed error The motor rotation speed exceeds the specified value when only the battery

ABS

Absolute encoder 1-rotation counter error

Absolute encoder multi-rotation counter

ABS

error Absolute encoder status error The rotation of the absolute encoder is higher than the specified value.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

value.

power supply of the absolute encoder is used.

A 1-turn counter error was detected.

A multi-rotation counter error or phase-AB signal error was detected.

3-6

3-1 Driver Specifications

Error detection Description

Encoder phase-Z error A phase Z pulse was not detected regularly. Encoder CS signal error A logic error was detected in the CS signal.

External scale communications error External scale status error An external scale error code was detected. Phases-A, B and Z connection error Motor non-conformity The combination of the Servomotor and Servo Drive is not appropriate.

An error was detected in external scale connection and communications data.

An error was generated for connection of phases A, B, and Z of external scale.

The encoder was not connected when the power supply was turned ON.

Specifications

3-7

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Main Circuit and Motor Connections

Precautions for Correct Use

When wiring the main circuit, use proper wire sizes, grounding systems, and no ise resistance.

R88D-KTA5L/-KT01L/-KT02L/-KT04L R88D-KT01H/-KT02H/-KT04H/-KT08H/-KT10H/-KT15H

Main Circuit Connector Specifications (CNA)

3-1 Driver Specifications

Symb

L1 Main circuit power

supply input

L1C Control circuit power

supply input

L2C

Name Function

R88D-KTxL (50 to 400 W) : Single-phase 100 to 115 VAC (85 to 127 V) 50/60 Hz (200 to 400 W) : 3-phase: 200 to 240 VAC (170 to 264 V) 50/60 Hz R88D-KTxH (50 W to 1.5 kW) : Single-phase: 200 to 240 VAC (170 to 264 V) 50/ 60 Hz (100 W to 1.5 kW) : 3-phase: 200 to 240 VAC (170 to 264 V) 50/60 Hz

Note. Single-phase should connect to L1 or L3. R88D-KTxL : Single-phase 100 to 115 VAC (85 to 127 V) 50/60 Hz

R88D-KTxH : Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz

Motor Connector Specifications (CNB)

Symb

B1 External Regeneration

Resistor connection

terminals

Name Function

Normally B2 and B3 are short-circuited. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2. (Models from 750 W)

Specifications

U Motor connection

terminals

V Phase V

WPhase W

 Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Phase U These are the output terminals to the Servomotor.

Be sure to wire them correctly.

3-8

3-1 Driver Specifications

Precautions for Correct Use

R88D-KT20H

Main Circuit Connector Specifications (CNA)

Specifications

Symb

L1 Main circuit power supply

input

L2 L3

L1C Control cir c ui t p ow er

supply input

L2C

Name Function

R88D-KTxH (2 kW) : 3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz

Note. Single-phase should connect to L1 or L3. R88D-KTxH : Single-phase 200 to 230 VAC (170 to 253 V) 50/60

Motor Connector Specifications (CNB)

Symb

U Motor connection

terminals

V Phase V

W Phase W

Name Function

Phase U These are the output terminals to the Servomotor.

Motor Connector Specifications (CNC)

Be sure to wire them correctly.

Symb

B1 External Regeneration

Resistor connection

terminals

NC Do not connect.

 Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).

Name Function

Normally B2 and B3 are short-circuited. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2.

3-9

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

R88D-KT30H/R88D-KT50H

Precautions for Correct Use

Main Circuit Terminal Block Specifications

3-1 Driver Specifications

Symb

L1 Main circuit power supply

input

L2 L3

L1C Control circuit power

supply input

L2C

B1 External Regeneration

Resistor connection

terminals

NC Do not connect.

U Motor connection

terminals

V Phase V

W Phase W

 Tighten the terminal block screws to the torque of 0.75 N•m (M4) or 1.5 N•m (M5).  If the torque for terminal block screws exceeds 1.2 N•m (M4) or 2.0 N•m (M5), the terminal block

may be damaged.

 Tighten the fixing screw of the terminal block cover to the torque of 0.2 N•m (M3).  Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).

Name Function

R88D-KTxH (3 to 5 kW): 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz

R88D-KTxH : Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz

Normally B2 and B3 are short-circuited. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2.

Phase U These are the output terminals to the Servomotor.

Be sure to wire them correctly.

Specifications

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

3-10

3-1 Driver Specifications

Precautions for Correct Use

R88D-KT06F/R88D-KT10F/R88D-KT15F/R88D-KT20F

Main Circuit Connector Specifications (CNA)

Specifications

Symb

L1 Main circuit power supply

input

L2 L3

Name Function

R88D-KTxF (600 W to 2 kW) : 3-phase: 380 to 480 VAC (323 to 528 V) 50/60 Hz

Motor Connector Specifications (CNB)

Symb

U Motor connection

terminals

V Phase V

W Phase W

Name Function

Phase U These are the output terminals to the Servomotor.

Motor Connector Specifications (CNC)

Symb

Name Function

Be sure to wire them correctly.

B1 External Regeneration

Resistor connection

terminals

NC Do not connect.

Normally B2 and B3 are short-circuited. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2.

Motor Connector Specifications (CND)

Symb

24 V Control circuit power

supply input

0 V

 Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).

Name Function

24 VDC ± 15%

3-11

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

R88D-KT30F/R88D-KT50F

Precautions for Correct Use

Main Circuit Terminal Block Specifications (TB1)

3-1 Driver Specifications

Symb

24 V Control circuit power

supply input

0 V

Name Function

24 VDC ± 15%

Main Circuit Terminal Block Specifications (TB2)

Symb

L1 Main circuit power supply

input

L2 L3 B1 External Regeneration

Resistor connection

terminals

NC Do not connect.

U Motor connection

terminals

V Phase V

Name Function

R88D-KTxH (3 to 5 kW): 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz

Normally B2 and B3 are short-circuited. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2.

Phase U These are the output terminals to the Servomotor.

Be sure to wire them correctly.

Specifications

W Phase W

 Tighten the terminal block screws to the torque of 0.75 N•m (M4) or 1.5 N•m (M5).  If the torque for terminal block screws exceeds 1.2 N•m (M4) or 2.0 N•m (M5), the terminal block

may be damaged.

 Tighten the fixing screw of the terminal block cover to the torque of 0.2 N•m (M3).  Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

3-12

3-1 Driver Specifications

3 kΩ

110 Ω

43 kΩ

3k Ω

220 Ω

Operation command

+CW

−CW

+CCW

−CCW

+CWLD

−CWLD

Reverse pulse

Forward pulse

BKIR

Brake interlock

Servo ready completed output

Alarm output

Positioning completion output

BKIRCOM

READY

READYCOM

ALMCOM

/ALM

INPCOM

INP

TVSEL

RESET

ECRST

GESEL1

GSEL

DFSEL1

RUN

+24 VIN

CONTROL mode switching

Alarm reset

Error counter reset

Electronic gear switching

Gain switching

Vibration filter switching

12 to 24 VDC

Maximum service voltage : 30 VDC Maximum output current : 50 mADC

Reverse pulse

110 Ω

43 kΩ

IPG

Pulse prohibition

500 kpps max.

2 Mpps max.

NOT

Reverse drive prohibition

POT

Forward drive prohibition

ZCOM

Phase-Z output (open-collector output)

10 k

3.83 k

PCL

NCL

AGND2

Forward torque limit input

Reverse torque limit input

3.83 k

10 k

Frame ground

4.7 kΩ

43 kΩ

3 kΩ

+CCWLD

−CCWLD

Forward pulse

Encoder phase-A output

Encoder phase-B output

Encoder phase-Z output

−A

−B

−Z

Line-driver output corresponding with the EIA RS-422A communications method (load resistance 120 Ω min.)

220 Ω

43 kΩ

3k Ω

4.7 kΩ

+24 VCW

2.2 kΩ

+24 VCCW

2.2 kΩ

100Ω

4.7 kΩ

1 μF

SEN

SENGND

Sensor ON

BAT

BATGND

Backup battery

Control I/O Connector Specifications (CN1)

Control I/O Signal Connections and External Signal Processing for Position Control

Specifications

*1. If a backup battery is connected, a cable with a battery is not required. Note 1. The inputs of pins 8, 9 and 26 to 33, and outputs of pins 10, 11, 34, 35, 38 and 39, can be changed via parameter

Note 2. Pins 13, 20, 42 and 43 represent signals which are applicable when an absolute encoder is used.

settings.

3-13

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

10kΩ

3.83 kΩ

Operation command

BKIR

Brake interlock

Servo ready completed output

Alarm output

Motor rotation speed detection output

BKIRCOM

READY

READYCOM

ALMCOM

/ALM37

TGONCOM

TGON

TVSEL

31RESET

30VSEL2

28VSEL3

GSEL

VZERO

29RUN

+24VIN

CONTROL mode switching

Alarm reset

Internally set speed selection 2

Internally set speed selection 3

Gain switching

Zero speed designation

12 to 24 VDC

Maximum service voltage : 30 VDC Maximum output current : 50 mADC

33VSEL1

Internally set speed selection 1

8NOT

Reverse drive prohibition

9POT

Forward drive prohibition

ZCOM

Phase-Z output (open-collector output)

Frame ground

4.7 kΩ

Encoder phase-A output

Encoder phase-B output

Encoder phase-Z output

−A22

+B49

−B48

+Z23

−Z24

Line-driver output corresponding with the EIA RS-422A communications method (load resistance 120 Ω min.)

4.7 kΩ

BAT

BATGND

Backup battery

100 Ω

4.7 kΩ 1 μF

SEN

REF

AGND

Speed command

3.83 kΩ

20 kΩ

3.83 kΩ

10 kΩ

PCL

NCL

AGND1

Forward torque limit input

Reverse torque limit input

SENGND

Sensor ON

3-1 Driver Specifications

Control I/O Signal Connections and External Signal Processing for Speed Control

Specifications

*1. If a backup battery is connected, a cable with a battery is not required. Note 1. The inputs of pins 8, 9 and 26 to 33, and outputs of pins 10, 11, 34, 35, 38 and 39, can be changed via parameter

Note 2. Pins 13, 20, 42 and 43 represent signals which are applicable when an absolute encoder is used.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

settings.

3-14

100 Ω

4.7 kΩ 1 μF

SEN

SENGND

Sensor ON

BAT

BATGND

Backup battery

Operation command

BKIR

Brake interlock

Servo ready completed output

Alarm output

Motor rotation speed detection output

BKIRCOM

READY

READYCOM

ALMCOM

/ALM37

TGONCOM

TGON

TVSEL

RESET

GSEL

VZERO

29RUN

+24VIN

CONTROL mode switching

Alarm reset

Gain switching

Zero speed designation

12 to 24 VDC

Maximum service voltage : 30 VDC Maximum output current : 50 mADC

NOT

Reverse drive prohibition

POT

Forward drive prohibition

ZCOM

Phase-Z output (open-collector output)

Frame ground

4.7 kΩ

Encoder phase-A output

Encoder phase-B output

Encoder phase-Z output

−A22

+B49

−B48

+Z23

−Z24

Line-driver output corresponding with the EIA RS-422A communications method (load resistance 120 Ω min.)

4.7 kΩ

TREF1/VLIM

AGND1

Torque command input or speed limit

3.83 kΩ

20 kΩ

3.83 kΩ

10 kΩ

TREF2

AGND2

Torque command input

3-1 Driver Specifications

Control I/O Signal Connections and External Signal Processing for Torque Control

Specifications

*1. If a backup battery is connected, a cable with a battery is not required. Note 1. The inputs of pins 8, 9 and 26 to 33, and outputs of pins 10, 11, 34, 35, 38 and 39, can be changed via parameter

Note 2. Pins 13, 20, 42 and 43 represent signals which are applicable when an absolute encoder is used.

3-15

settings.

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Control I/O Signal List

CN1 Control Inputs

3-1 Driver Specifications

number

44 +CWLD Reverse pulse (input fo r 45 -CWLD 46 +CCWLD Forward pulse (input for

47 -CCWLD

Symbol Name Function and interface

24-V open-collector

1 +24VCW

+CW/+puls/

2 +24VCW

+FA

-CW/-puls/-FA

+CW/+puls/

+FA

-CW/-puls/-FA

input for command pulse

Reverse pulse, feed pulse, or 90° phase difference signal (phase A)

24-V open-collector input for command pulse

Forward pulse, direction signal, or 90° phase difference signal (phase B)

line driver only)

Sensor ON Input This performs serial transmission of

ABS

20 SEN

Input terminals for position command pulses for both line driver and open collector. Changes to enable (set value: 0<default setting>) according to the setting of Command Pulse Input Selection (Pn005).

Input terminals for position command pulses dedicated to the line-driver output. Changes to enable (set value: 1) according to the setting of Command Pulse Input Selection (Pn005).

multi-rotation data of the absolute encoder and also outputs 1-rotation data as the initial incremental pulses. This input changes to enable (set value:

1) according to the setting of Absolute Interface Function Selection (Pn616).

CONTROL mode

Position

Speed

Torque

√√

Full

closing

Specifications

√√

√√√

13 SENGND Signal ground This is a sensor ON signal ground. 42 BAT Backup battery input Backup battery connection terminals

ABS

43 BATGND

Speed command input This is an analog input terminal for

REF

TREF1

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Torque command input 1Provides a torque command input (set

when the absolute encoder power is interrupted.(Connection to this terminal is not necessary if you use the absolute encoder battery cable for backup.)

speed command. Use the Speed Command Scale (Pn302) to change the rotation speed scale for the command input.

value: 0 or 2) according to the setting of Torque Command/Speed Limit Selection (Pn317). Use the Torque Command Scale (Pn319) to change the rotation speed scale for the command input.

√√√√

√

3-16

3-1 Driver Specifications

number

Specifications

14 VLIM

15 AGND1 Analog ground 1 This is an analog signal ground.

17 AGND1 Analog ground 1 This is an analog signal ground.

18 NCL

Symbol Name Function and interface

Speed limit input Provides a speed limit input (set value:

1) according to the setting of Torque Command/Speed Limit Selection (Pn317). Use the Speed Command Scale (Pn302) to change the limit speed scale for the analog input.

PCL

TREF2

7 +24VIN

Forward torque limit input

Torque command input 2Provides a torque command input (set

Reverse torque limit input

12 to 24-VDC power supply input

Provides a forward torque limit input (set value: 0 or 4) or forward/reverse torque limit input (set value: 5) according to the setting of Torque Limit Selection (Pn521).

value: 1) according to the setting of Torque Command/Speed Limit Selection (Pn317). Use the Torque Command Scale (Pn319) to change the rotation speed scale for the command input.

Provides a reverse torque limit input (set value: 0 or 4) according to the setti ng of Torque Limit Selection (Pn521).

This is the positive input terminal of the external DC power supply for sequence input (12 to 24 V).

CONTROL mode

Position

Speed

Torque

√√ √

√√√√

Full

closing

√

SI1 to SI10

8, 9, 26 to 33

NOT [8]

POT [9]

DFSEL1

[26]

Sequence input signal These allocate the following function and logics according to the

settings of Input Signal Selection 1 to 10 (Pn400 to 409).

Reverse drive prohibition input

Forward drive prohibition input

Vibration filter switching 1Changes to enable (set value: 1 or 2)

This performs the drive prohibition input in the reverse direction. Changes to enable (set value: 0 or 2) according to the setting of Drive Prohibition Input Selection (Pn504).

This performs the drive prohibition input in the forward direction. Changes to enable (set value: 0 or 2) according to the setting of Drive Prohibition Input Selection (Pn504).

according to the setting of Vibration Filter Selection (Pn213). If the set value of Vibration Filter Selection (Pn213) is 2, switching between 4 settings is possible by combining this with the vibration filter switching input 2 (DFSEL2).

√√√√

√√

3-17

OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Omron OMNUC G5 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Items Requiring Acknowledgment

Safety Precautions Document

Items to Check after Unpacking

Manual Revision History

Structure of This Document

Table Of Contents

1-1 Outline

Outline of the OMNUC G5 Series

Features of the OMNUC G5 Series

1-2 System Configuration

1-3 Names and Functions

Driver Part Names

Driver Functions

1-4 System Block Diagrams

EC Directives

1-5 Applicable Standards

UL and cUL Standards

Functional Safety

2-1 Servo System Configuration

2-2 How to Read Model

Servo Drive

Servomotor

2-3 Standard Model List

Servo Drive Model List

Servomotor Model List

Servo Drive and Servomotor Combination List

Peripheral Equipment and Cable Model List

2-4 External and Mounting Dimensions

Servo Drive Dimensions

Servomotor Dimensions

External Regeneration Resistor Dimensions

2-5 EMC Filter Dimensions

3-1 Driver Specifications

General Specifications

Characteristics

Main Circuit and Motor Connections

Control I/O Connector Specifications (CN1)