Omron R88M-W, OMNUC W, R88D-WT User Manual

Download

USER’S MANUAL

MODELS R88M-Wj

(AC Servomotors)

MODELS R88D-WTj

(AC Servo Drivers)

AC SERVOMOTORS/SERVO DRIVERS

OMNUC W SERIES

Cat. No. I531-E1-09

Thank you for choosing this OMNUC W-series product. Proper use and handling of the product will ensure proper product performance, will length product life, and may prevent possible accidents. Please read this manual thoroughly and handle and operate the product with care.

NOTICE

1. This manual describes the functions of the product and relations with other products. You should assume that anything not described in this manual is not possible.

2. Although care has been given in documenting the product, please contact your OMRON representative if you have any suggestions on improving this manual.

3. The product contains dangerous high voltages inside. Turn OFF the power and wait for at least five minutes to allow power to discharge before handling or working with the product. Never attempt to disassemble the product.

4. We recommend that you add the following precautions to any instruction manuals you prepare for the system into which the product is being installed.

S Precautions on the dangers of high-voltage equipment.

S Precautions on touching the terminals of the product even after power has been turned

OFF. (These terminals are live even with the power turned OFF.)

5. Specifications and functions may be changed without notice in order to improve product performance.

6. Positive and negative rotation of AC Servomotors described in this manual are defined as looking at the end of the output shaft of the motor as follows: counterclockwise rotation is positive and clockwise rotation is negative.

7. Do not perform withstand-voltage or other megameter tests on the product. Doing so may damage internal components.

8. Servomotors and Servo Drivers have a finite service life. Be sure to keep replacement products on hand and to consider the operating environment and other conditions affecting the service life.

9. The OMNUC W Series can control both incremental and absolute encoders. Differences in functions or specifications according to the encoder type are indicated in this manual. Be sure to check the model that is being used, and follow the relevant specifications.

S Servomotors with incremental encoders: R88M-WjH-j/-WjL-j

S Servomotors with absolute encoders: R88M-WjT-j/-WjS-j

Items to Check After Unpacking

Check the following items after removing the product from the package:

S Has the correct product been delivered (i.e., the correct model number and specifica-

tions)?

S Has the product been damaged in shipping?

S Are any screws or bolts loose?

1. To ensure safe and proper use of your OMRON Servomotors and Servo Drivers, please read this manual (Cat. No. I531-E1) to gain sufficient knowledge of the products, safety information, and precautions before actual use.

2. The products are illustrated without covers and shieldings to enable showing better detail in this manual. For actual use of the products, make sure to use the covers and shieldings as specified.

3. Copies of this manual and other related manuals must be delivered to the actual end users of the products.

4. Please keep a copy of this manual close at hand for future reference.

5. If a product has been left unused for a long time, please consult with your OMRON sales representative.

USER’S MANUAL

MODELS R88M-Wj

(AC Servomotors)

MODELS R88D-WTj

(AC Servo Drivers)

AC SERVOMOTORS/SERVO DRIVERS

OMNUC W SERIES

Notice:

OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property.

DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death

or serious injury. Additionally, there may be severe property damage.

WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death

or serious injury. Additionally, there may be severe property damage.

Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor

or moderate injury, or property damage.

OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means “word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PLC” means Programmable Controller and is not used as an abbreviation for anything else.

Visual Aids

The following headings appear in the left column of the manual to help you locate different types of information.

Note Indicates information of particular interest for efficient and convenient operation of the product.

 OMRON, 2000

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.

General Warnings

Observe the following warnings when using the OMNUC Servomotor and Servo Driver and all connected or peripheral devices.

This manual may include illustrations of the product with protective covers removed in order to describe the components of the product in detail. Make sure that these protective covers are on the product before use.

Consult your OMRON representative when using the product after a long period of storage.

WARNING Always connect the frame ground terminals of the Servo Driver and the Servomotor

to a class-3 ground (to 100 Ω or less). Not connecting to a class-3 ground may result in electric shock.

WARNING Do not touch the inside of the Servo Driver. Doing so may result in electric shock.

WARNING Do not remove the front cover, terminal covers, cables, Parameter Units, or optional

items while the power is being supplied. Doing so may result in electric shock.

WARNING Installation, operation, maintenance, or inspection must be performed by authorized

personnel. Not doing so may result in electric shock or injury.

WARNING Wiring or inspection must not be performed for at least five minutes after turning OFF

the power supply. Doing so may result in electric shock.

WARNING Do not damage, press, or put excessive stress or heavy objects on the cables. Doing

so may result in electric shock.

WARNING Do not touch the rotating parts of the Servomotor in operation. Doing so may result in

injury.

WARNING Do not modify the product. Doing so may result in injury or damage to the product.

Caution Use the Servomotors and Servo Drivers in a specified combination. Using them in-

correctly may result in fire or damage to the products.

Caution Do not store or install the product in the following places. Doing so may result in fire,

electric shock, or damage to the product.

S Locations subject to direct sunlight. S Locations subject to temperatures or humidity outside the range specified in the

specifications.

S Locations subject to condensation as the result of severe changes in temperature. S Locations subject to corrosive or flammable gases. S Locations subject to dust (especially iron dust) or salts. S Locations subject to shock or vibration. S Locations subject to exposure to water, oil, or chemicals.

Caution Do not touch the Servo Driver radiator, regeneration resistors or Servomotor while

the power is being supplied or soon after the power is turned OFF. Doing so may result in a burn injury due to the hot surface.

Storage and Transportation Precautions

Caution Do not hold the product by the cables or motor shaft while transporting it. Doing so

may result in injury or malfunction.

Caution Do not place any load exceeding the figure indicated on the product. Doing so may

result in injury or malfunction.

Caution Use the motor eye-bolts only for transporting the Motor. Using them for transporting

the machinery may result in injury or malfunction.

Installation and Wiring Precautions

Caution Do not step on or place a heavy object on the product. Doing so may result in injury.

Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering

the product. Doing so may result in fire.

Caution Be sure to install the product in the correct direction. Not doing so may result in mal-

function.

Caution Provide the specified clearances between the Servo Driver and the control panel or

with other devices. Not doing so may result in fire or malfunction.

Caution Do not apply any strong impact. Doing so may result in malfunction.

Caution Be sure to wire correctly and securely. Not doing so may result in motor runaway,

injury, or malfunction.

Caution Be sure that all the mounting screws, terminal screws, and cable connector screws

are tightened to the torque specified in the relevant manuals. Incorrect tightening torque may result in malfunction.

Caution Use crimp terminals for wiring. Do not connect bare stranded wires directly to termi-

nals. Connection of bare stranded wires may result in burning.

Caution Always use the power supply voltage specified in the User’s Manual. An incorrect

voltage may result in malfunction or burning.

Caution Take appropriate measures to ensure that the specified power with the rated voltage

and frequency is supplied. Be particularly careful in places where the power supply is unstable. An incorrect power supply may result in malfunction.

Caution Install external breakers and take other safety measures against short-circuiting in

external wiring. Insufficient safety measures against short-circuiting may result in burning.

Caution Provide an appropriate stopping device on the machine side to secure safety. (A

holding brake is not a stopping device for securing safety.) Not doing so may result in injury.

Caution Provide an external emergency stopping device that allows an instantaneous stop of

operation and power interruption. Not doing so may result in injury.

Caution Take appropriate and sufficient countermeasures when installing systems in the fol-

lowing locations:

S Locations subject to static electricity or other forms of noise. S Locations subject to strong electromagnetic fields and magnetic fields. S Locations subject to possible exposure to radioactivity. S Locations close to power supplies.

Caution Do not reverse the polarity of the battery when connecting it. Reversing the polarity

may damage the battery or cause it to explode.

Operation and Adjustment Precautions

Caution Confirm that no adverse effects will occur in the system before performing the test

operation. Not doing so may result in equipment damage.

Caution Confirm that no adverse effects will occur in the system before performing the test

operation. Not doing so may result in equipment damage.

Caution Check the newly set parameters for proper execution before actually running them.

Not doing so may result in equipment damage.

Caution Do not make any extreme adjustments or setting changes. Doing so may result in

unstable operation and injury.

Caution Separate the Servomotor from the machine, check for proper operation, and then

connect to the machine. Not doing so may cause injury.

Caution When an alarm occurs, remove the cause, reset the alarm after confirming safety,

and then resume operation. Not doing so may result in injury.

Caution Do not come close to the machine immediately after resetting momentary power in-

terruption to avoid an unexpected restart. (Take appropriate measures to secure safety against an unexpected restart.) Doing so may result in injury.

Caution Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may

result in malfunction.

Maintenance and Inspection Precautions

WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may

result in malfunction, fire, or electric shock.

Caution Resume operation only after transferring to the new Unit the contents of the data re-

quired for operation. Not doing so may result in an unexpected operation.

Warning Labels

Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the instructions given there.

Warning label

Example from R88D-WTA3HL

Precautions for Safe Use

Dispose of the product and batteries according to local ordinances as they apply. Have qualified specialists properly dispose of used batteries as industrial waste.

Read and Understand this Manual

Please read and understand this manual before using the product. Please consult your OMRON representative if you have any questions or comments.

Warranty and Limitations of Liability

WARRANTY

БББББББББББББББББББББББББББББББ

OMRON’s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON.

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON–INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

БББББББББББББББББББББББББББББББ

LIMITATIONS OF LIABILITY

БББББББББББББББББББББББББББББББ

OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.

In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON’S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

Application Considerations

SUITABILITY FOR USE

БББББББББББББББББББББББББББББББ

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer’s application or use of the products.

At the customer’s request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use.

The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products:

• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this manual.

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement machines, vehicles, safety equipment, and installations subject to separate industry or government regulations.

• Systems, machines, and equipment that could present a risk to life or property.

Please know and observe all prohibitions of use applicable to the products.

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

БББББББББББББББББББББББББББББББ

PROGRAMMABLE PRODUCTS

БББББББББББББББББББББББББББББББ

OMRON shall not be responsible for the user’s programming of a programmable product, or any consequence thereof.

Disclaimers

БББББББББББББББББББББББББББББББ

CHANGE IN SPECIFICATIONS

БББББББББББББББББББББББББББББББ

Product specifications and accessories may be changed at any time based on improvements and other reasons.

It is our practice to change model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the products may be changed without any notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.

БББББББББББББББББББББББББББББББ

DIMENSIONS AND WEIGHTS

БББББББББББББББББББББББББББББББ

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.

PERFORMANCE DATA

БББББББББББББББББББББББББББББББ

Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON’s test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.

БББББББББББББББББББББББББББББББ

ERRORS AND OMISSIONS

БББББББББББББББББББББББББББББББ

The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

Table of Contents

Chapter 1. Introduction 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1 Features 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2 System Configuration 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3 Servo Driver Nomenclature 1-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4 Applicable Standards and Models 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-5 System Block Diagrams 1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 2. Standard Models and Specifications 2-1. . . . . . . . . . . . . . . . .

2-1 Standard Models 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2 Servo Driver and Servomotor Combinations 2-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3 External and Mounted Dimensions 2-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-1 AC Servo Drivers 2-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-2 Parameter Units 2-32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-3 AC Servomotors 2-33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-4 AC Servomotors with Gears 2-49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4 Servo Driver Specifications 2-62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-1 General Specifications 2-62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-2 Performance Specifications 2-63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-3 Terminal Block Specifications 2-67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-4 Control I/O Specifications (CN1) 2-68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-5 Encoder Input Specifications (CN2) 2-89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-6 Parameter Unit Input Specifications (CN3) 2-90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-7 Monitor Output Connector Specifications (CN5) 2-90. . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-8 Battery Connector Specifications (CN8) 2-91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5 Servomotor Specifications 2-92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5-1 General Specifications 2-93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5-2 Performance Specifications 2-95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5-3 Specifications for Servomotors with Reduction Gears 2-114. . . . . . . . . . . . . . . . . . . . . . . .

2-5-4 Encoder Specifications 2-119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6 Cable and Connector Specifications 2-120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6-1 Control Cables 2-120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6-2 Motor Cable Specifications 2-131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6-3 Peripheral Cables and Connector Specifications 2-152. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-7 Servo Relay Units and Cable Specifications 2-156. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-7-1 Servo Relay Units 2-156. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-7-2 Cable for Servo Relay Units 2-159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-8 Parameter Unit and Cable Specifications 2-177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-8-1 Parameter Unit 2-177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-8-2 Parameter Unit Cable (R88A-CCW002C) 2-178. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-9 External Regeneration Resistors/Resistance Units 2-180. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-10 Absolute Encoder Backup Battery Specifications 2-182. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-11 DC Reactors 2-184. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 3. System Design and Installation 3-1. . . . . . . . . . . . . . . . . . . . . .

3-1 Installation Conditions 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1-1 Servo Drivers 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1-2 Servomotors 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2 Wiring 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-1 Connecting Cable 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-2 Peripheral Device Connection Examples 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents

3-2-3 Terminal Block Wiring 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-4 Wiring for Noise Resistance 3-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-5 Wiring for Conformity to EMC Directives 3-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3 Regenerative Energy Absorption 3-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3-1 Regenerative Energy Calculation 3-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3-2 Servo Driver Regenerative Energy Absorption Capacity 3-40. . . . . . . . . . . . . . . . . . . . . .

3-3-3 Regenerative Energy Absorption by External Regeneration Resistance 3-41. . . . . . . . . . .

3-4 Adjustments and Dynamic Braking When Load Inertia Is Large 3-46. . . . . . . . . . . . . . . . . . . . . . .

3-4-1 Adjustments When Load Inertia Is Large 3-46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-4-2 Dynamic Braking When Load Inertia Is Large 3-46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 4. Operation 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1 Operational Procedure 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2 Preparing for Operation 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2-1 Turning Power ON and Checking Indicators 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2-2 Absolute Encoder Setup and Battery Changes 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3 Trial Operation 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3-1 Operation Details 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3-2 Jog Operation 4-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4 User Parameters 4-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-1 Setting and Checking Parameters 4-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-2 Parameter Tables 4-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-3 Important Parameters 4-32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-4 Parameter Details 4-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5 Operation Functions 4-73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-1 Position Control (Position) 4-73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-2 Speed Control (Speed) 4-74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-3 Torque Control (Torque) 4-76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-4 Internally-set Speed Control 4-77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-5 Switching the Control Mode (Switching Control) 4-82. . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-6 Forward and Reverse Drive Prohibit (All Operating Modes) 4-85. . . . . . . . . . . . . . . . . . .

4-5-7 Encoder Dividing Function (All Operating Modes) 4-87. . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-8 Brake Interlock (All Operating Modes) 4-88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-9 Gain Reduction (Position, Speed, Internally-set speed Control) 4-90. . . . . . . . . . . . . . . . .

4-5-10 Torque Limit Function (All Operating Modes) 4-91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-11 Soft Start Function (Speed, Internally-set Speed Control) 4-93. . . . . . . . . . . . . . . . . . . . . .

4-5-12 Electronic Gear Function (Position) 4-94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-13 Position Command Filter Function (Position) 4-95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-14 Position Lock Function (Speed, Internally-set Speed Control) 4-97. . . . . . . . . . . . . . . . . .

4-5-15 Speed Limit Function (Torque) 4-98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-6 Trial Operation Procedure 4-99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-7 Making Adjustments 4-101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-7-1 Online Auto-tuning 4-101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-7-2 Manual Tuning 4-104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8 Advanced Adjustment Functions 4-109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-1 Bias Function (Position) 4-109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-2 Feed-forward Function (Position) 4-110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-3 Torque Feed-forward Function (Speed) 4-110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-4 Speed Feed-forward Function (Position) 4-112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-5 Gain Switching (Position, Speed, Internally-set Speed Control) 4-113. . . . . . . . . . . . . . . . .

4-8-6 Automatic Gain Switching (Position Control) 4-114. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-7 Notch Filter (Position, Speed, Internally-set Speed Control) 4-115. . . . . . . . . . . . . . . . . . .

Table of Contents

4-8-8 Speed Feedback Compensation (Position, Speed, Internally-set Time Control) 4-117. . . . .

4-8-9 Speed Feedback Filter (Position, Speed, Internally-set Speed Control) 4-118. . . . . . . . . . .

4-8-10 P Control Switching (Position, Speed, Internally-set Speed Control) 4-118. . . . . . . . . . . . .

4-9 Using Displays 4-120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-9-1 Power Supply Indicator and Charge Indicator 4-121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-9-2 Status Display Mode 4-121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-9-3 Monitor Mode (Unjjj) 4-123. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-10 Using Monitor Output 4-127. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11 System Check Mode 4-130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-1 Alarm History 4-131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-2 Online Auto-tuning Functions 4-133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-3 Servomotor Origin Search 4-135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-4 User Parameter Initialization 4-137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-5 Command Offset Adjustment 4-138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-6 Analog Monitor Output Adjustment 4-142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-7 Servomotor Current Detection Offset Adjustment 4-145. . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-8 Password Setting 4-149. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-9 Checking Servomotor Parameters 4-150. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-10 Checking the Version 4-152. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-11 Changing Absolute Encoder Rotation Setting (ABS) 4-153. . . . . . . . . . . . . . . . . . . . . . . .

4-11-12 Clearing Option Unit Detection Results 4-154. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 5. Troubleshooting 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1 Measures when Trouble Occurs 5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1-1 Preventive Checks Before Trouble Occurs 5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1-2 Precautions 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1-3 Replacing the Servomotor and Servo Driver 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2 Alarms 5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3 Troubleshooting 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-1 Error Diagnosis Using Alarm Display 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-2 Troubleshooting by Means of Operating Status 5-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-4 Overload Characteristics (Electron Thermal Characteristics) 5-20. . . . . . . . . . . . . . . . . . . . . . . . .

5-5 Periodic Maintenance 5-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-6 Replacing the Absolute Encoder Battery (ABS) 5-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 6. Appendix 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-1 Connection Examples 6-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2 Encoder Dividing Rate for Servo Controllers 6-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3 Single-phase Power for 3,000-r/min (750-W) Servomotors 6-14. . . . . . . . . . . . . . . . . . . . . . . . . . .

6-4 Parameter Setting Tables 6-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-5 Alarms and Warnings when a JUSP-NS115 MECHATROLINK-II Option Unit is Mounted 6-28.

Revision History R-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 1

Introduction

1-1 Features

1-2 System Configuration

1-3 Servo Driver Nomenclature

1-4 Applicable Standards and Models

1-5 System Block Diagrams

1-2

1-1 Features

With their superior performance and fast response, plus a wider selection of models, the OMNUC W-series AC Servomotors and Servo Drivers inherit the features of and surpass the previous OMNUC U Series.

H Faster Response and Rotation Speed

The W-series AC Servomotors and Servo Drivers provide faster response than the previous U-series models, with high-frequency responses of 400 Hz (compared to 250 Hz for the U Series). Moreover, the 3,000-r/min Servomotors provide rotation speeds of up to 5,000 r/min, as compared to 4,500 r/min for the U Series, for even faster positioning.

H Wider Selection

In addition to 3,000-r/min (30-W to 5-kW) Servomotors, the W-series product line offers 1,000-r/min (300-W to 5.5-kW) models and 1,500-r/min (450-W to 15-kW) models to choose from. They are ideal for applications requiring high torque. Included among the 3,000-r/min models are Flat-style (100-W to 1.5-kW) Servomotors that are ideal for applications requiring installation in tight spaces.

H IP67 (Waterproof) Servomotors

The 3,000-r/min (1- to 5-kW), 1,000 r/min (300 W to 5.5 kW), and 1,500 r/min (450 W to 15 kW) Servomotors have an enclosure rating of IP67 (waterproof, except for through-shaft parts). The 3,000-r/min (100 W to 1.5-kW) Flat-style Servomotors are also available with IP67 enclosure ratings that include waterproofing for through-shaft parts. Therefore, the W-series Servomotors can be used even in places where they may be exposed to water. (The standard cables, however, cannot be used with IP67 models, and the appropriate cables must be provided by the user.)

H Conformity to Standards

The W Series conforms to EC Directives (both low-voltage and EMC) as well as to UL and cUL, thereby assisting the user in meeting required standards.

H Built-in Regenerative Power Processing

In addition to the built-in regenerative power processing function using regeneration resistance, external regeneration resistance can also be connected, allowing the W Series to be used for applications with high regenerative energy on vertical axis.

H Harmonic Current Control Measures

Terminals for DC Reactor connections are provided to assist with harmonic current control.

H Online Autotuning

Autotuning is possible during normal operation with no need to switch to a special autotuning mode, making it easy to set the gain correctly.

Introduction Chapter 1

1-3

H Gain Changes

There are two types of gain settings, and the gain can be changed when the load changes during operation.

H Control Functions

Any one of the following 12 control modes can be selected in the parameter settings, thereby allowing various applications with a single Servo Driver.

Control mode

Speed control (analog commands) Position control (pulse train commands) [Default setting] Torque control (analog commands) Internal speed control settings Internal speed control settings ←→ Speed control (analog commands) Internal speed control settings ←→ Position control (pulse train commands) Internal speed control settings ←→ Torque control (analog commands) Position control (pulse train commands) ←→ Speed control (analog commands) Position control (pulse train commands) ←→ Torque control (analog commands) Speed control (analog commands) ←→ Torque control (analog commands) Speed control (analog commands) with position-lock stop Position control (pulse train commands) with pulse prohibit

H Password

A password can be required in order to make parameter changes.

H Parameter Initialization

Parameters can be returned to their default settings.

H Monitoring

The Servo Driver’s operating status is displayed. The following items can be monitored: Speed feedback, speed commands, torque commands, number of pulses from the origin, electrical angle, I/O signals, command pulse speed, position deviation, motor load rate, regenerative load rate, dynamic resistance load rate, input pulse counter, and feedback pulse counter.

H Jogging

The Servomotor can be set for either forward or reverse rotation, and the rotation speed can be set in the parameters.

H Servomotor Origin Search

The origin search function can be used to find the Servomotor’s origin (Z phase).

H Automatic Adjustment of Command Offsets (Speed and Torque

Control)

The offsets of the speed command input and torque command input can be adjusted automatically.

Introduction Chapter 1

1-4

H Monitor Output

The offset and scaling of the analog monitor outputs can be adjusted.

H Multi-turn Limit Changes

The multi-turn limits for absolute encoders can be changed.

H Electronic Gear (Position Control)

This function turns the Servomotor by the number of pulses obtained by applying the gear ratio to the number of command pulses. It can be effectively used in the following situations.

S When fine tuning positions and speeds while synchronizing two lines.

S When using a controller with a short command pulse frequency.

S When setting the mechanical movement per pulse to amounts such as 0.01 mm.

The electronic gear ratio is set in parameters (numerator: G1; denominator: G2). The setting range for G1 and G2 is 1 to 65,535, with 0.01  (G1/G2)  100.

H Encoder Dividing Function

The encoder signal output from the Servo Driver can be set to the desired number of pulses.

H Soft Start Function (Speed Control, Internally Set Speed Control

Settings)

This function causes the Servomotor to be started and stopped at the preset acceleration/deceleration times, allowing a simple position control system to be constructed without a Positioner or Host Controller.

The acceleration and deceleration times are set separately, and the setting range is 0 to 10 s for each.

H Position Acceleration/Deceleration Function

Applying acceleration and deceleration to command pulses enables smooth tracking of commands for rapid startups. Either primary delay or linear acceleration/decelerations can be selected for positioning.

H Warning Output

Overload and regeneration overload warnings are output. When a warning is output, taking measures, such as shortening the operation cycle, can prevent an alarm from being generated.

H Positioning Completed Output

The positioning completed range can be set in two stages, allowing peripheral device operations to begin sooner.

H Reverse Mode

Forward and reverse commands can be switched in the parameters, without changing the wiring to the Servomotor or encoder.

Introduction Chapter 1

1-5

H Brake Interlock Output

Timing signals interlocked with the Servomotor’s ON/OFF status and rotational speed are output, so the holding brakes of Servomotors with brakes can be operated reliably.

H Output Signal Selection

Any three output signals can be selected for output from among the following: Positioning completed 1/2, speed conformity, Servomotor rotation detection, servo preparation completed, current limit detection, speed limit detection, brake interlock, overload warning, and warning output signals. It is also possible to allocate multiple outputs to the same pin number. For example, the positioning completed 1 signal and the speed conformity signal could both be allocated to pin number 1.

H Overtravel Sequence

An overtravel sequence suitable for the system can be selected. There are three deceleration methods available: Dynamic brake deceleration, free-run deceleration, and emergency-stop torque deceleration (parameter setting).

H Feed-forward Function and Bias (Position Control)

These functions reduce the position control time.

S Feed-forward Function

Reduces the position control time by reducing the number of pulses accumulated in the deviation counter.

S Bias

Reduces the positioning time by adding the bias revolutions to the speed command when the deviation counter value exceeds the bias addition range.

H Computer Monitoring

The special Servo Driver Communications Software enables performing parameter setting, speed and current monitoring, speed and current waveform displays, I/O monitoring, autotuning, jogging, and other operations from a computer. It is also possible to perform multiple-axis communications that set the parameters and monitor operations for multiple Servo Drivers. For details, refer to user documentation on the Servo Driver Communications Software.

H DeviceNet Option Unit

A Servo Driver can function as a slave on a DeviceNet network if a DeviceNet Option Unit (R88A-NCW152-DRT) is mounted to it, enabling application of the Servo Driver as a network driver. Commands can be sent via DeviceNet communications to the DeviceNet Option Unit to produce outputs to the driver. Outputting positioning commands to the driver through the option unit connector enables positioning operations without a controller. Refer to the OMNUC W-series DeviceNet Option Unit User’s Manual (Cat. No. I538) for details.

Note The DeviceNet Option Unit is supported by W-series Servo Drivers with a software version of

r.0014 or later. Refer to 4-11-10 Checking the Version for methods of confirming the Servo Driver software version.

H MECHATROLINK-II Compatibility

The Servo Driver can be incorporated as a Slave in a MECHATROLINK network by installing the Yaskawa JUSP-NS115 MECHATROLINK-II Option Unit (OMRON model number: FNY-NS115) on the Servo Driver. This enables the Servo Driver to be used as a network Servo Driver.

Introduction Chapter 1

1-6

A wide range of motion control can be achieved in a MECHATROLINK-II network from the Motion Control Unit.

For details, refer to the SYSMAC CS-series CS1W-MCH71 Motion Control Unit Operation Manual (Cat. No. W426) and the JUSP-NS115 MECHATROLINK-II Application Module Operation Manual (This manual can be obtained from a Yaskawa Electric sales representative or downloaded from the OMRON website).

Note The MECHATROLINK-II Option Unit is compatible with a W-series Servo Driver with software

version r.0039 or later and MECHATROLINK-II Option Unit with software version VER.***03 (on the nameplate on the side of the Unit). Refer to 4-11-10 Checking the Version for methods of con- firming the Servo Driver software version.

Introduction Chapter 1

1-7

1-2 System Configuration

Position Control Unit CJ1W-NC113/213/413 CJ1W-NC133/233/433 CS1W-NC113/213/413 CS1W-NC133/233/433 C200HW-NC113/213/413 C500-NC113/211

Motion Control Unit CS1W-MC221/421(-V1) CV500-MC221/421 C200H-MC221

C500-NC222-E Position Control Unit

Controller with Voltage Output

Controller with Pulse Train Output

R88A-PR02W Parameter Unit (Hand-held)

OMNUC W-series AC Servo Driver R88D-WTj

OMNUC W-series AC Servomotor R88M-Wj

SYSMAC CS-, C-, or CV-series Programmable Controller

[Incremental] [Absolute]

Analog voltage

Pulse train

SYSMAC CJ, CS-, C-, or CV-series Programmable Controller

Single-axis Positioner with Pulse String Output

DeviceNet Single-axis Positioner 3F88M-DRT141

DeviceNet Option Unit R88A-NCW152-DRT

Controller (MECHATROLINK-II Compatible)

Programmable Controller SYSMAC CS Series

Motion Control Unit CS1W-MCH71

MECHATROLINK-II Option Unit JUSP-NS115 (OMRON model number: FNY-NS115)

MECHATROLINK-II

Note 1. Servomotors with absolute encoders can be used in combination with CS1W-

MC221/421(-V1), CV500-MC221/421, C200H-MC221, or CS1W-MCH71 Motion Control Units, with the 3F88M-DRT141 DeviceNet Single-axis Positioner, or with the R88A-NCW152-DRT DeviceNet Option Unit.

Introduction Chapter 1

1-8

Note 2. The DeviceNet Option Unit is supported by W-series Servo Drivers with a software version of

r.0014 or later.

Note 3. The MECHATROLINK-II Option Unit is supported when using MECHATROLINK-II Option

Unit software version VER.***03 (indicated on the nameplate on the side of the Unit) in combination with a W-series Servo Driver with software version r.0039 or later. Refer to 4-11-10 Checking the Version for methods of confirming the Servo Driver software version.

Introduction Chapter 1

1-9

1-3 Servo Driver Nomenclature

Control I/O Connector (CN1)

Encoder Connector (CN2)

Charge indicator

Parameter Unit Connector (CN3)

Battery holder

Holds the backup battery for when a Servomotor with an absolute encoder is used.

Top cover (See note.)

Lit when the main-circuit is powered. Even after the power is turned OFF, it remains lit as long as an electric charge remains in the main-circuit capacitor, so do not touch the Servo Driver’s terminals during this period.

Main-circuit power terminals

These are the input terminals for the main-circuit power supply.

Control-circuit power terminals

These are the connection terminals for the control-circuit power supply and the external regenerative energy resistance.

Servomotor connection terminals

These are the connection terminals for the Servomotor power lines.

Protective ground terminals

These are the ground terminals for preventing electric shock. Ground to 100 Ω or less.

Battery Connector (CN8)

Connects the backup battery for the absolute encoder.

Analog Monitor Output Connector (CN5)

Rotation speed, torque command values, etc., are output in analog voltage. A special cable is used.

Display Area

Displays Servo Driver status, alarm signals, parameters, etc., in five digits, 7-segment LED.

Settings Area

Used for setting parameters and monitoring Servo Driver status.

Power indicator

Lit when the control power is being supplied.

Used for connecting the Parameter Unit or for communicating with a computer.

Note: On the R88D-WT60H (6 kW), this connector is located to the left of the Display and Settings Areas.

Used for control I/O signals.

Connects the encoder provided with the Servomotor.

(With top cover opened)

Used for connecting a DeviceNet Option Unit.

Option Unit Connector (CN10)

Note The R88D-WT60H to R88D-WT150H models do not have a top cover. The Analog Monitor Out-

put Connector (CN5), the Battery Connector (CN8), and the battery holder are all located to the right of the display and operation areas. Also, the Terminal Block (for the control circuit, main circuit, and Servomotor) is mounted to the bottom of the Servo Driver.

Introduction Chapter 1

1-10

1-4 Applicable Standards and Models

H EC Directives

Directive

Product Applicable standard Remarks

Low voltage

AC Servo Drivers EN50178 Safety requirements for electrical

equipment for measurement, control, and laboratory use.

AC Servomotors IEC60034-8

EN60034-1, -5, -9

Rotating electrical machines.

EMC AC Servo Drivers

and AC Servomotors

EN55011 class A group 1

Limits and methods for measuring radio disturbance characteristics of industrial, scientific, and medical (ISM) radio-frequency equipment.

EN61000-6-2 Electromagnetic compatibility generic

immunity standard in industrial environments

Note Installation under the conditions specified in 3-2-5 Wiring Conditions Satisfying EMC Directives is

required to conform to EMC Directives.

H UL/cUL Standards

Standards Product Applicable standard File No. Remarks

AC Servo Drivers UL508C E179149 Power conversion equipment AC Servomotors UL1004 E179189 Electric motors

cUL

AC Servo Drivers cUL C22.2 No. 14 E179149 Industrial control equipment AC Servomotors cUL C22.2 No. 100 E179189 Motors and generators

Introduction Chapter 1

1-11

1-5 System Block Diagrams

H 200 V AC: R88D-WTA3H/-WTA5H/-WT01H/-WT02H/-WT04H

100 V AC: R88D-WTA3HL/-WTA5HL/-WT01HL/-WT02HL

AC Servo Driver

Thermistor

AC Servomotor

Battery Connector (CN8)

Encoder output

Command pulse input

Speed/torque command input

Control I/O

Serial port

Speed control

Current command processing

Position control

Command pulse processing

Divider

Encoder signal processing

Digital current amp

PWM generation

Current detection

Interface

Gate drive overcurrent protection

Gate drive

Voltage detection

Relay drive

Fuse

DC/DC conversion

Analog voltage conversion

Display/Settings Areas

CN5 Analog monitor output

CN3 Parameter Unit/computer

Voltage detection

Introduction Chapter 1

1-12

H 200 V AC: R88D-WT05H/-WT08H/-WT10H/-WT15H

AC Servo Driver

Thermistor

AC Servomotor

Fuse

0.5 to 1 kW

Interface

Gate drive overcurrent protection

Gate drive

Voltage detection

Relay drive

Serial port

Speed control

Current command processing

Position control

Command pulse processing

Divider

Encoder signal processing

Digital current amp

PWM generation

CN5 Analog monitor output

CN3 Parameter Unit/computer

Battery Connector (CN8)

Encoder output

Command pulse input

Speed/torque command input

Control I/O

DC/DC conversion

Analog voltage conversion

Display/Settings Area

Voltage detection

Current detection

H 200 V AC: R88D-WT20H/-WT30H/-WT50H

AC Servo Driver

AC Servomotor

Battery Connector (CN8)

Encoder output

Command pulse input

Speed/torque command input

Control I/O

CN5 Analog monitor output

CN3 Parameter Unit/computer

Display/Settings Area

Serial port

Speed control

Current command processing

Position control

Command pulse processing

Divider

Encoder signal processing

Digital current amp

PWM generation

Fuse

Gate drive

Voltage detection

Relay drive

DC/DC conversion

Voltage detection

Interface

Gate drive overcurrent protection

Current detection

Gate drive

Analog voltage conversion

Introduction Chapter 1

1-13

H 200 V AC: R88D-WT60H/-WT75H/-WT150H

AC Servo Driver

AC Servomotor

Current detection

Relay driver

Regeneration resistance (optional)

Voltage detection isolator

Fuse

DC/DC conversion

Thermistor

Voltage detection isolator

Serial port

Speed control

Current command processing

Position control

Command pulse processing

Divider

Encoder signal processing

Digital current amp

PWM generation

Battery Connector (CN8)

Encoder output

Command pulse input

Speed/torque command input

Control I/O

CN5 Analog monitor output

CN3 Parameter Unit/computer

Display/Settings Area

Analog voltage conversion

Gate drive overcurrent protection isolator

Gate drive isolator

Introduction Chapter 1

Chapter 2

Standard Models and Specifications

2-1 Standard Models

2-2 Servo Driver and Servomotor Combinations

2-3 External and Mounted Dimensions

2-4 Servo Driver Specifications

2-5 Servomotor Specifications

2-6 Cable and Connector Specifications

2-7 Servo Relay Units and Cable Specifications

2-8 Parameter Unit and Cable Specifications

2-9 External Regeneration Resistors/Resistance

Units

2-10 Absolute Encoder Backup Battery Specifica-

tions

2-11 DC Reactors

2-2

2-1 Standard Models

H Servo Drivers

Specifications Model

Single-phase 100 V

30 W R88D-WTA3HL

50 W R88D-WTA5HL

100 W R88D-WT01HL

200 W R88D-WT02HL

Single-phase 200 V

30 W R88D-WTA3H

50 W R88D-WTA5H

100 W R88D-WT01H

200 W R88D-WT02H

400 W R88D-WT04H

Three-phase 200 V

500 W R88D-WT05H

750 W R88D-WT08H

1 kW R88D-WT10H

1.5 kW R88D-WT15H

2 kW R88D-WT20H

3 kW R88D-WT30H

5 kW R88D-WT50H

6 kW R88D-WT60H

7.5 kW R88D-WT75H

15 kW R88D-WT150H

H Control Cable

Specifications Model

Motion Control Unit

1 m R88A-CPW001M1

Cable (1 axis)

2 m R88A-CPW002M1

3 m R88A-CPW003M1

5 m R88A-CPW005M1

Motion Control Unit

1 m R88A-CPW001M2

Cable (2 axes)

2 m R88A-CPW002M2

3 m R88A-CPW003M2

5 m R88A-CPW005M2

General Control

1 m R88A-CPW001S

Cable (with

connector

on one end)

2 m R88A-CPW002S

Connector Terminal

1 m R88A-CTW001N

Block Cable

2 m R88A-CTW002N

Connector Terminal Block XW2B-50G5

Note Connector Terminal Block Cable is required when a Con-

nector Terminal Block is used.

H Peripheral Cables and Connectors

Specifications Model

Analog Monitor Cable (CN5) 1 m R88A-CMW001S

Computer Monitor Cable (CN3)

DOS 2 m R88A-CCW002P2

Control I/O Connector (CN1) R88A-CNU11C

Encoder Connector (CN2) R88A-CNW01R

Encoder Connector for Motor End R88A-CNW02R

Note Computer Monitor Cable and OMNUC W-series Personal

Computer Monitor Software for Servo Drivers (Windowsbased) are required when a personal computer is used for setting Servo Driver parameters and for monitoring.

Standard Models and Specifications Chapter 2

2-3

H Servo Relay Units

Specifications Model

Servo Relay Unit

For CJ1W-NC113/133 For CS1W-NC113/133 For C200HW-NC113 For 3F88M-DRT141

XW2B-20J6-1B

For CJ1W-NC213/233/413/433 For CS1W-NC213/233/413/433 For C500-NC113/211 For C200HW-NC213/413

XW2B-40J6-2B

For CQM1H-PLB21 For CQM1-CPU43-EV1 For CS1W-HCP22-V1

XW2B-20J6-3B

Servo Driver Cable

1 m XW2Z-100J-B4

2 m XW2Z-200J-B4

Position

For C500-NC113/211

0.5 m XW2Z-050J-A2

Control

1 m XW2Z-100J-A2

Unit

Cable

For

0.5 m XW2Z-050J-A3

CQM1-CPU

43-EV1

For CQM1H-PLB21

1 m XW2Z-100J-A3

For CS1W-NC113

0.5 m XW2Z-050J-A6

For C200HW-NC113

1 m XW2Z-100J-A6

For CS1W-NC213/413

0.5 m XW2Z-050J-A7

C200HW-NC213/413

1 m XW2Z-100J-A7

For CS1W-NC133

0.5 m XW2Z-050J-A10

1 m XW2Z-100J-A10

For CS1W-NC233

0.5 m XW2Z-050J-A11

1 m XW2Z-100J-A11

For CJ1W-NC113

0.5 m XW2Z-050J-A14

1 m XW2Z-100J-A14

For CJ1W-NC213/413

0.5 m XW2Z-050J-A15

1 m XW2Z-100J-A15

For CJ1W-NC133

0.5 m XW2Z-050J-A18

1 m XW2Z-100J-A18

For CJ1W-NC233/433

0.5 m XW2Z-050J-A19

1 m XW2Z-100J-A19

For CS1W-HCP22-V1,

0.5 m XW2Z-050J-A22

1-axis

1 m XW2Z-100J-A22

For CS1W-HCP22-V1,

0.5 m XW2Z-050J-A23

2-axis

1 m XW2Z-100J-A23

For 3F88M-DRT141

0.5 m XW2Z-050J-A24

1 m XW2Z-100J-A24

H Option Units

Specifications Model

DeviceNet Option Unit R88A-NCW152-DRT

Note A DeviceNet Option Unit is required to set Servo Driver pa-

rameters or perform positioning via a DeviceNet network.

Refer to the OMNUC W-series DeviceNet Option Unit

User’s Manual (Cat. No. I538) for details.

H Parameter Units

Specifications Model

Hand-held (with 1-m cable) R88A-PR02W

Parameter Unit Cable (2 m) R88A-CCW002C

Note 1. A Parameter Unit is required for operating and monitor-

ing the Servo Driver at a remote location or with a control panel.

Note 2. If the 1-m cable provided with the Parameter Unit is not

long enough, purchase the 2-m Parameter Unit Cable and use it in place of the 1-m cable.

H External Regeneration Resistors/Units

Specifications Model

Resistor 220 W 47 Ω R88A-RR22047S

Resistance Unit

880 W 6.25 Ω R88A-RR88006

Note Required when the motor’s regenerative energy is too high.

H Absolute Encoder Backup Battery

Specifications Model

1,000 mAh, 3.6 V (for all Servo Drivers except the R88D-WT60H)

R88A-BAT01W

1,000 mAh, 3.6 V (for the R88D-WT60H/75H/150H)

R88A-BAT02W

Note Required when using a Servomotor with an absolute en-

coder. The cable and connector are included.

H DC Reactors

Specifications Model

For R88D-WTA3HL/A5HL/01HL R88A-PX5063

For R88D-WT02HL R88A-PX5062

For R88D-WTA3H/A5H/01H R88A-PX5071

For R88D-WT02H R88A-PX5070

For R88D-WT04H R88A-PX5069

For R88D-WT05H/08H/10H R88A-PX5061

For R88D-WT15H/20H R88A-PX5060

For R88D-WT30H R88A-PX5059

For R88D-WT50H R88A-PX5068

Note There is no DC Reactor for the R88D-WT60H/75H/150H.

H Front-panel Brackets

Specifications Model

For R88D-WTA3HL to WT02HL R88A-TK01W

For R88D-WTA3H to WT10H R88A-TK01W

For R88D-WT15H R88A-TK02W

For R88D-WT20H/30H/50H R88A-TK03W

Note 1. Required when mounting a Servo Driver from the front

panel.

Note 2. There are no front-panel brackets for the

R88D-WT60H, R88D-WT75H or R88D-WT150H.

Standard Models and Specifications Chapter 2

2-4

H Encoder Cables (For Incremental or

Absolute Encoders)

Specifications Model

For 3,000-r/min

30 to 750 W

3 m R88A-CRWA003C

Servomotors

5 m R88A-CRWA005C

10 m R88A-CRWA010C

15 m R88A-CRWA015C

20 m R88A-CRWA020C

30 m R88A-CRWA030C

40 m R88A-CRWA040C

50 m R88A-CRWA050C

1 to 5 kW

3 m R88A-CRWB003N

5 m R88A-CRWB005N

10 m R88A-CRWB010N

15 m R88A-CRWB015N

20 m R88A-CRWB020N

30 m R88A-CRWB030N

40 m R88A-CRWB040N

50 m R88A-CRWB050N

For 3,000-r/min

100 W to

3 m R88A-CRWA003C

Flat-style

1.5 kW 5 m R88A-CRWA005C

Servomotors

10 m R88A-CRWA010C

15 m R88A-CRWA015C

20 m R88A-CRWA020C

30 m R88A-CRWA030C

40 m R88A-CRWA040C

50 m R88A-CRWA050C

For 1,000-r/min

300 W to

3 m R88A-CRWB003N

Servomotors

5.5 kW 5 m R88A-CRWB005N

For 1,500-r/min

450 W to

10 m R88A-CRWB010N

Servomotors

15 kW

15 m R88A-CRWB015N

20 m R88A-CRWB020N

30 m R88A-CRWB030N

40 m R88A-CRWB040N

50 m R88A-CRWB050N

H Power Cables

• Power Cable for 3,000-r/min Servomotors

Specifications Model

Without brake With brake

30 to 750 W

3 m R88A-CAWA003S R88A-CAWA003B

5 m R88A-CAWA005S R88A-CAWA005B

10 m R88A-CAWA010S R88A-CAWA010B

15 m R88A-CAWA015S R88A-CAWA015B

20 m R88A-CAWA020S R88A-CAWA020B

30 m R88A-CAWA030S R88A-CAWA030B

40 m R88A-CAWA040S R88A-CAWA040B

50 m R88A-CAWA050S R88A-CAWA050B

1 to 2 kW

3 m R88A-CAWC003S R88A-CAWC003B

5 m R88A-CAWC005S R88A-CAWC005B

10 m R88A-CAWC010S R88A-CAWC010B

15 m R88A-CAWC015S R88A-CAWC015B

20 m R88A-CAWC020S R88A-CAWC020B

30 m R88A-CAWC030S R88A-CAWC030B

40 m R88A-CAWC040S R88A-CAWC040B

50 m R88A-CAWC050S R88A-CAWC050B

3 to 5 kW

3 m R88A-CAWD003S R88A-CAWD003B

5 m R88A-CAWD005S R88A-CAWD005B

10 m R88A-CAWD010S R88A-CAWD010B

15 m R88A-CAWD015S R88A-CAWD015B

20 m R88A-CAWD020S R88A-CAWD020B

30 m R88A-CAWD030S R88A-CAWD030B

40 m R88A-CAWD040S R88A-CAWD040B

50 m R88A-CAWD050S R88A-CAWD050B

Standard Models and Specifications Chapter 2

2-5

• Power Cable for 3,000-r/min Flat-style Servomotors

Specifications Model

Without brake With brake

100 to

3 m R88A-CAWA003S R88A-CAWA003B

750 W

5 m R88A-CAWA005S R88A-CAWA005B

10 m R88A-CAWA010S R88A-CAWA010B

15 m R88A-CAWA015S R88A-CAWA015B

20 m R88A-CAWA020S R88A-CAWA020B

30 m R88A-CAWA030S R88A-CAWA030B

40 m R88A-CAWA040S R88A-CAWA040B

50 m R88A-CAWA050S R88A-CAWA050B

1.5 kW

3 m R88A-CAWB003S R88A-CAWB003B

5 m R88A-CAWB005S R88A-CAWB005B

10 m R88A-CAWB010S R88A-CAWB010B

15 m R88A-CAWB015S R88A-CAWB015B

20 m R88A-CAWB020S R88A-CAWB020B

30 m R88A-CAWB030S R88A-CAWB030B

40 m R88A-CAWB040S R88A-CAWB040B

50 m R88A-CAWB050S R88A-CAWB050B

• Power Cable for 1,000-r/min Servomotors

Specifications Model

Without brake With brake

300 to

3 m R88A-CAWC003S R88A-CAWC003B

900 W

5 m R88A-CAWC005S R88A-CAWC005B

10 m R88A-CAWC010S R88A-CAWC010B

15 m R88A-CAWC015S R88A-CAWC015B

20 m R88A-CAWC020S R88A-CAWC020B

30 m R88A-CAWC030S R88A-CAWC030B

40 m R88A-CAWC040S R88A-CAWC040B

50 m R88A-CAWC050S R88A-CAWC050B

1.2 to 3 kW

3 m R88A-CAWD003S R88A-CAWD003B

5 m R88A-CAWD005S R88A-CAWD005B

10 m R88A-CAWD010S R88A-CAWD010B

15 m R88A-CAWD015S R88A-CAWD015B

20 m R88A-CAWD020S R88A-CAWD020B

30 m R88A-CAWD030S R88A-CAWD030B

40 m R88A-CAWD040S R88A-CAWD040B

50 m R88A-CAWD050S R88A-CAWD050B

4 kW

3 m R88A-CAWE003S R88A-CAWE003B

(See note.)

5 m R88A-CAWE005S R88A-CAWE005B

10 m R88A-CAWE010S R88A-CAWE010B

15 m R88A-CAWE015S R88A-CAWE015B

20 m R88A-CAWE020S R88A-CAWE020B

30 m R88A-CAWE030S R88A-CAWE030B

40 m R88A-CAWE040S R88A-CAWE040B

50 m R88A-CAWE050S R88A-CAWE050B

5.5 kW

3 m R88A-CAWF003S R88A-CAWE003B

(See note.)

5 m R88A-CAWF005S R88A-CAWE005B

10 m R88A-CAWF010S R88A-CAWE010B

15 m R88A-CAWF015S R88A-CAWE015B

20 m R88A-CAWF020S R88A-CAWE020B

30 m R88A-CAWF030S R88A-CAWE030B

40 m R88A-CAWF040S R88A-CAWE040B

50 m R88A-CAWF050S R88A-CAWE050B

Note For 4-kW and 5.5-kW Servomotors, there are separate

connectors for power and brakes. For that reason, when a Servomotor with a brake is used, it will require both a Power Cable for a Servomotor without a brake (i.e., R88A-CAWEjS or R88A-CAWFjS) and a Power Cable for a Servomotor with a brake (i.e., R88A-CAWEjB). The Power Cable for a Servomotor with a Brake is for brake line wiring only (2-core).

Standard Models and Specifications Chapter 2

2-6

• Power Cable for 1,500-r/min Servomotors

Specifications Model

Without brake With brake

450 to

3 m R88A-CAWC003S R88A-CAWC003B

1.3 kW 5 m R88A-CAWC005S R88A-CAWC005B

10 m R88A-CAWC010S R88A-CAWC010B

15 m R88A-CAWC015S R88A-CAWC015B

20 m R88A-CAWC020S R88A-CAWC020B

30 m R88A-CAWC030S R88A-CAWC030B

40 m R88A-CAWC040S R88A-CAWC040B

50 m R88A-CAWC050S R88A-CAWC050B

1.8 to

3 m R88A-CAWD003S R88A-CAWD003B

4.4 kW 5 m R88A-CAWD005S R88A-CAWD005B

10 m R88A-CAWD010S R88A-CAWD010B

15 m R88A-CAWD015S R88A-CAWD015B

20 m R88A-CAWD020S R88A-CAWD020B

30 m R88A-CAWD030S R88A-CAWD030B

40 m R88A-CAWD040S R88A-CAWD040B

50 m R88A-CAWD050S R88A-CAWD050B

5.5 kW

3 m R88A-CAWE003S R88A-CAWE003B

(See note

5 m R88A-CAWE005S R88A-CAWE005B

1.)

10 m R88A-CAWE010S R88A-CAWE010B

15 m R88A-CAWE015S R88A-CAWE015B

20 m R88A-CAWE020S R88A-CAWE020B

30 m R88A-CAWE030S R88A-CAWE030B

40 m R88A-CAWE040S R88A-CAWE040B

50 m R88A-CAWE050S R88A-CAWE050B

7.5 to

3 m R88A-CAWF003S R88A-CAWE003B

11 kW

5 m R88A-CAWF005S R88A-CAWE005B

(See note

1.)

10 m R88A-CAWF010S R88A-CAWE010B

)

15 m R88A-CAWF015S R88A-CAWE015B

20 m R88A-CAWF020S R88A-CAWE020B

30 m R88A-CAWF030S R88A-CAWE030B

40 m R88A-CAWF040S R88A-CAWE040B

50 m R88A-CAWF050S R88A-CAWE050B

Note 1. For Servomotors of 5.5 kW and higher, there are sepa-

rate connectors for power and brakes. Therefore, when a Servomotor with a brake is used, it will require both a Power Cable for a Servomotor without a brake (i.e., R88A-CAWEjS or R88A-CAWFjS) and a Power Cable for a Servomotor with a brake (i.e., R88A-CAWEjB). The Power Cable for a Servomotor of 5.5 kW or higher with a Brake is for brake line wiring only (2-core).

Note 2. For details on preparing Power Cable for 15-kW Servo-

motors, refer to Power Cable for 1,500-r/min Servomo- tors under 3-2-3 Terminal Block Wiring.

H Encoder Cables for Robot Cables (For

Incremental or Absolute Encoders)

Specifications Model

For 3,000-r/min

30 to

3 m R88A-CRWA003CR

Servomotors 750 W

5 m R88A-CRWA005CR

10 m R88A-CRWA010CR

15 m R88A-CRWA015CR

20 m R88A-CRWA020CR

30 m R88A-CRWA030CR

40 m R88A-CRWA040CR

50 m R88A-CRWA050CR

1 to 5 kW

3 m R88A-CRWB003NR

5 m R88A-CRWB005NR

10 m R88A-CRWB010NR

15 m R88A-CRWB015NR

20 m R88A-CRWB020NR

30 m R88A-CRWB030NR

40 m R88A-CRWB040NR

50 m R88A-CRWB050NR

For 3,000-r/min

100 W to

3 m R88A-CRWA003CR

Flat-style

1.5 kW 5 m R88A-CRWA005CR

Servomotors

10 m R88A-CRWA010CR

15 m R88A-CRWA015CR

20 m R88A-CRWA020CR

30 m R88A-CRWA030CR

40 m R88A-CRWA040CR

50 m R88A-CRWA050CR

For 1,000-r/min

300 W to

3 m R88A-CRWB003NR

Servomotors

5.5 kW 5 m R88A-CRWB005NR

For 1,500-r/min

450 W to

10 m R88A-CRWB010NR

Servomotors

15 kW

15 m R88A-CRWB015NR

20 m R88A-CRWB020NR

30 m R88A-CRWB030NR

40 m R88A-CRWB040NR

50 m R88A-CRWB050NR

Standard Models and Specifications Chapter 2

2-7

H Power Cables for Robot Cables

• Power Cable for 3,000-r/min Servomotors

Specifications Model

Without brake With brake

30 to

3 m R88A-CAWA003SR R88A-CAWA003BR

750 W

5 m R88A-CAWA005SR R88A-CAWA005BR

10 m R88A-CAWA010SR R88A-CAWA010BR

15 m R88A-CAWA015SR R88A-CAWA015BR

20 m R88A-CAWA020SR R88A-CAWA020BR

30 m R88A-CAWA030SR R88A-CAWA030BR

40 m R88A-CAWA040SR R88A-CAWA040BR

50 m R88A-CAWA050SR R88A-CAWA050BR

1 to

3 m R88A-CAWC003SR R88A-CAWC003BR

2 kW

5 m R88A-CAWC005SR R88A-CAWC005BR

10 m R88A-CAWC010SR R88A-CAWC010BR

15 m R88A-CAWC015SR R88A-CAWC015BR

20 m R88A-CAWC020SR R88A-CAWC020BR

30 m R88A-CAWC030SR R88A-CAWC030BR

40 m R88A-CAWC040SR R88A-CAWC040BR

50 m R88A-CAWC050SR R88A-CAWC050BR

3 to

3 m R88A-CAWD003SR R88A-CAWD003BR

5 kW

5 m R88A-CAWD005SR R88A-CAWD005BR

10 m R88A-CAWD010SR R88A-CAWD010BR

15 m R88A-CAWD015SR R88A-CAWD015BR

20 m R88A-CAWD020SR R88A-CAWD020BR

30 m R88A-CAWD030SR R88A-CAWD030BR

40 m R88A-CAWD040SR R88A-CAWD040BR

50 m R88A-CAWD050SR R88A-CAWD050BR

• Power Cable for 3,000-r/min Flat-style Servomotors

Specifications Model

Without brake With brake

100 to

3 m R88A-CAWA003SR R88A-CAWA003BR

750 W

5 m R88A-CAWA005SR R88A-CAWA005BR

10 m R88A-CAWA010SR R88A-CAWA010BR

15 m R88A-CAWA015SR R88A-CAWA015BR

20 m R88A-CAWA020SR R88A-CAWA020BR

30 m R88A-CAWA030SR R88A-CAWA030BR

40 m R88A-CAWA040SR R88A-CAWA040BR

50 m R88A-CAWA050SR R88A-CAWA050BR

1.5 kW

3 m R88A-CAWB003SR R88A-CAWB003BR

5 m R88A-CAWB005SR R88A-CAWB005BR

10 m R88A-CAWB010SR R88A-CAWB010BR

15 m R88A-CAWB015SR R88A-CAWB015BR

20 m R88A-CAWB020SR R88A-CAWB020BR

30 m R88A-CAWB030SR R88A-CAWB030BR

40 m R88A-CAWB040SR R88A-CAWB040BR

50 m R88A-CAWB050SR R88A-CAWB050BR

• Power Cable for 1,000-r/min Servomotors

Specifications Model

Without brake With brake

300 to

3 m R88A-CAWC003SR R88A-CAWC003BR

900 W

5 m R88A-CAWC005SR R88A-CAWC005BR

10 m R88A-CAWC010SR R88A-CAWC010BR

15 m R88A-CAWC015SR R88A-CAWC015BR

20 m R88A-CAWC020SR R88A-CAWC020BR

30 m R88A-CAWC030SR R88A-CAWC030BR

40 m R88A-CAWC040SR R88A-CAWC040BR

50 m R88A-CAWC050SR R88A-CAWC050BR

1.2 to

3 m R88A-CAWD003SR R88A-CAWD003BR

3 kW

5 m R88A-CAWD005SR R88A-CAWD005BR

10 m R88A-CAWD010SR R88A-CAWD010BR

15 m R88A-CAWD015SR R88A-CAWD015BR

20 m R88A-CAWD020SR R88A-CAWD020BR

30 m R88A-CAWD030SR R88A-CAWD030BR

40 m R88A-CAWD040SR R88A-CAWD040BR

50 m R88A-CAWD050SR R88A-CAWD050BR

• Power Cable for 1,500-r/min Servomotors

Specifications Model

Without brake With brake

450 to

3 m R88A-CAWC003SR R88A-CAWC003BR

1.3 kW 5 m R88A-CAWC005SR R88A-CAWC005BR

10 m R88A-CAWC010SR R88A-CAWC010BR

15 m R88A-CAWC015SR R88A-CAWC015BR

20 m R88A-CAWC020SR R88A-CAWC020BR

30 m R88A-CAWC030SR R88A-CAWC030BR

40 m R88A-CAWC040SR R88A-CAWC040BR

50 m R88A-CAWC050SR R88A-CAWC050BR

1.8 to

3 m R88A-CAWD003SR R88A-CAWD003BR

4.4 kW 5 m R88A-CAWD005SR R88A-CAWD005BR

10 m R88A-CAWD010SR R88A-CAWD010BR

15 m R88A-CAWD015SR R88A-CAWD015BR

20 m R88A-CAWD020SR R88A-CAWD020BR

30 m R88A-CAWD030SR R88A-CAWD030BR

40 m R88A-CAWD040SR R88A-CAWD040BR

50 m R88A-CAWD050SR R88A-CAWD050BR

Standard Models and Specifications Chapter 2

2-8

H Servomotors

• 3,000-r/min Servomotors

Specifications

Model

With incremental encoder With absolute encoder

Straight shaft without

key

Straight shaft with key Straight shaft without

key

Straight shaft with key

Without

100 V

30 W R88M-W03030L R88M-W03030L-S1 R88M-W03030S R88M-W03030S-S1

brake

50 W R88M-W05030L R88M-W05030L-S1 R88M-W05030S R88M-W05030S-S1

100 W R88M-W10030L R88M-W10030L-S1 R88M-W10030S R88M-W10030S-S1

200 W R88M-W20030L R88M-W20030L-S1 R88M-W20030S R88M-W20030S-S1

200 V

30 W R88M-W03030H R88M-W03030H-S1 R88M-W03030T R88M-W03030T-S1

50 W R88M-W05030H R88M-W05030H-S1 R88M-W05030T R88M-W05030T-S1

100 W R88M-W10030H R88M-W10030H-S1 R88M-W10030T R88M-W10030T-S1

200 W R88M-W20030H R88M-W20030H-S1 R88M-W20030T R88M-W20030T-S1

400 W R88M-W40030H R88M-W40030H-S1 R88M-W40030T R88M-W40030T-S1

750 W R88M-W75030H R88M-W75030H-S1 R88M-W75030T R88M-W75030T-S1

1 kW R88M-W1K030H R88M-W1K030H-S2 R88M-W1K030T R88M-W1K030T-S2

1.5 kW R88M-W1K530H R88M-W1K530H-S2 R88M-W1K530T R88M-W1K530T-S2

2 kW R88M-W2K030H R88M-W2K030H-S2 R88M-W2K030T R88M-W2K030T-S2

3 kW R88M-W3K030H R88M-W3K030H-S2 R88M-W3K030T R88M-W3K030T-S2

4 kW R88M-W4K030H R88M-W4K030H-S2 R88M-W4K030T R88M-W4K030T-S2

5 kW R88M-W5K030H R88M-W5K030H-S2 R88M-W5K030T R88M-W5K030T-S2

With

100 V

30 W R88M-W03030L-B R88M-W03030L-BS1 R88M-W03030S-B R88M-W03030S-BS1

brake

50 W R88M-W05030L-B R88M-W05030L-BS1 R88M-W05030S-B R88M-W05030S-BS1

100 W R88M-W10030L-B R88M-W10030L-BS1 R88M-W10030S-B R88M-W10030S-BS1

200 W R88M-W20030L-B R88M-W20030L-BS1 R88M-W20030S-B R88M-W20030S-BS1

200 V

30 W R88M-W03030H-B R88M-W03030H-BS1 R88M-W03030T-B R88M-W03030T-BS1

50 W R88M-W05030H-B R88M-W05030H-BS1 R88M-W05030T-B R88M-W05030T-BS1

100 W R88M-W10030H-B R88M-W10030H-BS1 R88M-W10030T-B R88M-W10030T-BS1

200 W R88M-W20030H-B R88M-W20030H-BS1 R88M-W20030T-B R88M-W20030T-BS1

400 W R88M-W40030H-B R88M-W40030H-BS1 R88M-W40030T-B R88M-W40030T-BS1

750 W R88M-W75030H-B R88M-W75030H-BS1 R88M-W75030T-B R88M-W75030T-BS1

1 kW R88M-W1K030H-B R88M-W1K030H-BS2 R88M-W1K030T-B R88M-W1K030T-BS2

1.5 kW R88M-W1K530H-B R88M-W1K530H-BS2 R88M-W1K530T-B R88M-W1K530T-BS2

2 kW R88M-W2K030H-B R88M-W2K030H-BS2 R88M-W2K030T-B R88M-W2K030T-BS2

3 kW R88M-W3K030H-B R88M-W3K030H-BS2 R88M-W3K030T-B R88M-W3K030T-BS2

4 kW R88M-W4K030H-B R88M-W4K030H-BS2 R88M-W4K030T-B R88M-W4K030T-BS2

5 kW R88M-W5K030H-B R88M-W5K030H-BS2 R88M-W5K030T-B R88M-W5K030T-BS2

Standard Models and Specifications Chapter 2

2-9

• 3,000-r/min Flat-style Servomotors

Specifications

Model

With incremental encoder With absolute encoder

Straight shaft without

key

Straight shaft with key Straight shaft without

key

Straight shaft with key

Without

100 V

100 W R88M-WP10030L R88M-WP10030L-S1 R88M-WP10030S R88M-WP10030S-S1

brake

200 W R88M-WP20030L R88M-WP20030L-S1 R88M-WP20030S R88M-WP20030S-S1

200 V

100 W R88M-WP10030H R88M-WP10030H-S1 R88M-WP10030T R88M-WP10030T-S1

200 W R88M-WP20030H R88M-WP20030H-S1 R88M-WP20030T R88M-WP20030T-S1

400 W R88M-WP40030H R88M-WP40030H-S1 R88M-WP40030T R88M-WP40030T-S1

750 W R88M-WP75030H R88M-WP75030H-S1 R88M-WP75030T R88M-WP75030T-S1

1.5 kW R88M-WP1K530H R88M-WP1K530H-S1 R88M-WP1K530T R88M-WP1K530T-S1

With

100 V

100 W R88M-WP10030L-B R88M-WP10030L-BS1 R88M-WP10030S-B R88M-WP10030S-BS1

brake

200 W R88M-WP20030L-B R88M-WP20030L-BS1 R88M-WP20030S-B R88M-WP20030S-BS1

200 V

100 W R88M-WP10030H-B R88M-WP10030H-BS1 R88M-WP10030T-B R88M-WP10030T-BS1

200 W R88M-WP20030H-B R88M-WP20030H-BS1 R88M-WP20030T-B R88M-WP20030T-BS1

400 W R88M-WP40030H-B R88M-WP40030H-BS1 R88M-WP40030T-B R88M-WP40030T-BS1

750 W R88M-WP75030H-B R88M-WP75030H-BS1 R88M-WP75030T-B R88M-WP75030T-BS1

1.5 kW R88M-WP1K530H-B R88M-WP1K530H-BS1 R88M-WP1K530T-B R88M-WP1K530T-BS1

• 1,000-r/min Servomotors

Specifications

Model

With incremental encoder With absolute encoder

Straight shaft without

key

Straight shaft with key Straight shaft without

key

Straight shaft with key

Without

200 V

300 W R88M-W30010H R88M-W30010H-S2 R88M-W30010T R88M-W30010T-S2

brake

600 W R88M-W60010H R88M-W60010H-S2 R88M-W60010T R88M-W60010T-S2

900 W R88M-W90010H R88M-W90010H-S2 R88M-W90010T R88M-W90010T-S2

1.2 kW R88M-W1K210H R88M-W1K210H-S2 R88M-W1K210T R88M-W1K210T-S2

2 kW R88M-W2K010H R88M-W2K010H-S2 R88M-W2K010T R88M-W2K010T-S2

3 kW R88M-W3K010H R88M-W3K010H-S2 R88M-W3K010T R88M-W3K010T-S2

4 kW R88M-W4K010H R88M-W4K010H-S2 R88M-W4K010T R88M-W4K010T-S2

5.5 kW R88M-W5K510H R88M-W5K510H-S2 R88M-W5K510T R88M-W5K510T-S2

With

200 V

300 W R88M-W30010H-B R88M-W30010H-BS2 R88M-W30010T-B R88M-W30010T-BS2

brake

600 W R88M-W60010H-B R88M-W60010H-BS2 R88M-W60010T-B R88M-W60010T-BS2

900 W R88M-W90010H-B R88M-W90010H-BS2 R88M-W90010T-B R88M-W90010T-BS2

1.2 kW R88M-W1K210H-B R88M-W1K210H-BS2 R88M-W1K210T-B R88M-W1K210T-BS2

2 kW R88M-W2K010H-B R88M-W2K010H-BS2 R88M-W2K010T-B R88M-W2K010T-BS2

3 kW R88M-W3K010H-B R88M-W3K010H-BS2 R88M-W3K010T-B R88M-W3K010T-BS2

4 kW R88M-W4K010H-B R88M-W4K010H-BS2 R88M-W4K010T-B R88M-W4K010T-BS2

5.5 kW R88M-W5K510H-B R88M-W5K510H-BS2 R88M-W5K510T-B R88M-W5K510T-BS2

Standard Models and Specifications Chapter 2

2-10

• 1,500-r/min Servomotors

Specifications

Model

With incremental encoder With absolute encoder

Straight shaft without

key

Straight shaft with key Straight shaft without

key

Straight shaft with key

Without

200 V

450 W --- --- R88M-W45015T R88M-W45015T-S2

brake

850 W --- --- R88M-W85015T R88M-W85015T-S2

1.3 kW --- --- R88M-W1K315T R88M-W1K315T-S2

1.8 kW --- --- R88M-W1K815T R88M-W1K815T-S2

2.9 kW --- --- R88M-W2K915T R88M-W2K915T-S2

4.4 kW --- --- R88M-W4K415T R88M-W4K415T-S2

5.5 kW --- --- R88M-W5K515T R88M-W5K515T-S2

7.5 kW --- --- R88M-W7K515T R88M-W7K515T-S2

11 kW --- --- R88M-W11K015T R88M-W11K015T-S2

15 kW --- --- R88M-W15K015T R88M-W15K015T-S2

With

200 V

450 W --- --- R88M-W45015T-B R88M-W45015T-BS2

brake

850 W --- --- R88M-W85015T-B R88M-W85015T-BS2

1.3 kW --- --- R88M-W1K315T-B R88M-W1K315T-BS2

1.8 kW --- --- R88M-W1K815T-B R88M-W1K815T-BS2

2.9 kW --- --- R88M-W2K915T-B R88M-W2K915T-BS2

4.4 kW --- --- R88M-W4K415T-B R88M-W4K415T-BS2

5.5 kW --- --- R88M-W5K515T-B R88M-W5K515T-BS2

7.5 kW --- --- R88M-W7K515T-B R88M-W7K515T-BS2

11 kW --- --- R88M-W11K015T-B R88M-W11K015T-BS2

15 kW --- --- R88M-W15K015T-B R88M-W15K015T-BS2

Standard Models and Specifications Chapter 2

2-11

H IP67 (Waterproof) Servomotors

• 3,000-r/min Servomotors

Specifications

Model

With incremental encoder With absolute encoder

Straight shaft without

key

Straight shaft with key Straight shaft without

key

Straight shaft with key

Without

200 V

1 kW R88M-W1K030H-O R88M-W1K030H-OS2 R88M-W1K030T-O R88M-W1K030T-OS2

brake

1.5 kW R88M-W1K530H-O R88M-W1K530H-OS2 R88M-W1K530T-O R88M-W1K530T-OS2

2 kW R88M-W2K030H-O R88M-W2K030H-OS2 R88M-W2K030T-O R88M-W2K030T-OS2

3 kW R88M-W3K030H-O R88M-W3K030H-OS2 R88M-W3K030T-O R88M-W3K030T-OS2

4 kW R88M-W4K030H-O R88M-W4K030H-OS2 R88M-W4K030T-O R88M-W4K030T-OS2

5 kW R88M-W5K030H-O R88M-W5K030H-OS2 R88M-W5K030T-O R88M-W5K030T-OS2

With

200 V

1 kW R88M-W1K030H-BO R88M-W1K030H-BOS2 R88M-W1K030T-BO R88M-W1K030T-BOS2

brake

1.5 kW R88M-W1K530H-BO R88M-W1K530H-BOS2 R88M-W1K530T-BO R88M-W1K530T-BOS2

2 kW R88M-W2K030H-BO R88M-W2K030H-BOS2 R88M-W2K030T-BO R88M-W2K030T-BOS2

3 kW R88M-W3K030H-BO R88M-W3K030H-BOS2 R88M-W3K030T-BO R88M-W3K030T-BOS2

4 kW R88M-W4K030H-BO R88M-W4K030H-BOS2 R88M-W4K030T-BO R88M-W4K030T-BOS2

5 kW R88M-W5K030H-BO R88M-W5K030H-BOS2 R88M-W5K030T-BO R88M-W5K030T-BOS2

• 3,000-r/min Flat-style Servomotors

Specifications

Model

With incremental encoder With absolute encoder

Straight shaft without

key

Straight shaft with key Straight shaft without

key

Straight shaft with key

Without

100 V

100 W R88M-WP10030L-W R88M-WP10030L-WS1 R88M-WP10030S-W R88M-WP10030S-WS1

brake

200 W R88M-WP20030L-W R88M-WP20030L-WS1 R88M-WP20030S-W R88M-WP20030S-WS1

200 V

100 W R88M-WP10030H-W R88M-WP10030H-WS1 R88M-WP10030T-W R88M-WP10030T-WS1

200 W R88M-WP20030H-W R88M-WP20030H-WS1 R88M-WP20030T-W R88M-WP20030T-WS1

400 W R88M-WP40030H-W R88M-WP40030H-WS1 R88M-WP40030T-W R88M-WP40030T-WS1

750 W R88M-WP75030H-W R88M-WP75030H-WS1 R88M-WP75030T-W R88M-WP75030T-WS1

1.5 kW R88M-WP1K530H-W R88M-WP1K530H-WS1 R88M-WP1K530T-W R88M-WP1K530T-WS1

With

100 V

100 W R88M-WP10030L-BW R88M-WP10030L-BWS1 R88M-WP10030S-BW R88M-WP10030S-BWS1

brake

200 W R88M-WP20030L-BW R88M-WP20030L-BWS1 R88M-WP20030S-BW R88M-WP20030S-BWS1

200 V

100 W R88M-WP10030H-BW R88M-WP10030H-BWS1 R88M-WP10030T-BW R88M-WP10030T-BWS1

200 W R88M-WP20030H-BW R88M-WP20030H-BWS1 R88M-WP20030T-BW R88M-WP20030T-BWS1

400 W R88M-WP40030H-BW R88M-WP40030H-BWS1 R88M-WP40030T-BW R88M-WP40030T-BWS1

750 W R88M-WP75030H-BW R88M-WP75030H-BWS1 R88M-WP75030T-BW R88M-WP75030T-BWS1

1.5 kW R88M-WP1K530H-BW R88M-WP1K530H-BWS1 R88M-WP1K530T-BW R88M-WP1K530T-BWS1

Standard Models and Specifications Chapter 2

2-12

• 1,000-r/min Servomotors

Specifications

Model

With incremental encoder With absolute encoder

Straight shaft without

key

Straight shaft with key Straight shaft without

key

Straight shaft with key

Without

200 V

300 W R88M-W30010H-O R88M-W30010H-OS2 R88M-W30010T-O R88M-W30010T-OS2

brake

600 W R88M-W60010H-O R88M-W60010H-OS2 R88M-W60010T-O R88M-W60010T-OS2

900 W R88M-W90010H-O R88M-W90010H-OS2 R88M-W90010T-O R88M-W90010T-OS2

1.2 kW R88M-W1K210H-O R88M-W1K210H-OS2 R88M-W1K210T-O R88M-W1K210T-OS2

2 kW R88M-W2K010H-O R88M-W2K010H-OS2 R88M-W2K010T-O R88M-W2K010T-OS2

3 kW R88M-W3K010H-O R88M-W3K010H-OS2 R88M-W3K010T-O R88M-W3K010T-OS2

4 kW R88M-W4K010H-O R88M-W4K010H-OS2 R88M-W4K010T-O R88M-W4K010T-OS2

5.5 kW R88M-W5K510H-O R88M-W5K510H-OS2 R88M-W5K510T-O R88M-W5K510T-OS2

With

200 V

300 W R88M-W30010H-BO R88M-W30010H-BOS2 R88M-W30010T-BO R88M-W30010T-BOS2

brake

600 W R88M-W60010H-BO R88M-W60010H-BOS2 R88M-W60010T-BO R88M-W60010T-BOS2

900 W R88M-W90010H-BO R88M-W90010H-BOS2 R88M-W90010T-BO R88M-W90010T-BOS2

1.2 kW R88M-W1K210H-BO R88M-W1K210H-BOS2 R88M-W1K210T-BO R88M-W1K210T-BOS2

2 kW R88M-W2K010H-BO R88M-W2K010H-BOS2 R88M-W2K010T-BO R88M-W2K010T-BOS2

3 kW R88M-W3K010H-BO R88M-W3K010H-BOS2 R88M-W3K010T-BO R88M-W3K010T-BOS2

4 kW R88M-W4K010H-BO R88M-W4K010H-BOS2 R88M-W4K010T-BO R88M-W4K010T-BOS2

5.5 kW R88M-W5K510H-BO R88M-W5K510H-BOS2 R88M-W5K510T-BO R88M-W5K510T-BOS2

• 1,500-r/min Servomotors

Specifications

Model

With incremental encoder With absolute encoder

Straight shaft without

key

Straight shaft with key Straight shaft without

key

Straight shaft with key

Without

200 V

450 W --- --- R88M-W45015T-O R88M-W45015T-OS2

brake

850 W --- --- R88M-W85015T-O R88M-W85015T-OS2

1.3 kW --- --- R88M-W1K315T-O R88M-W1K315T-OS2

1.8 kW --- --- R88M-W1K815T-O R88M-W1K815T-OS2

2.9 kW --- --- R88M-W2K915T-O R88M-W2K915T-OS2

4.4 kW --- --- R88M-W4K415T-O R88M-W4K415T-OS2

5.5 kW --- --- R88M-W5K515T-O R88M-W5K515T-OS2

7.5 kW --- --- R88M-W7K515T-O R88M-W7K515T-OS2

11 kW --- --- R88M-W11K015T-O R88M-W11K015T-OS2

15 kW --- --- R88M-W15K015T-O R88M-W15K015T-OS2

With

200 V

450 W --- --- R88M-W45015T-BO R88M-W45015T-BOS2

brake

850 W --- --- R88M-W85015T-BO R88M-W85015T-BOS2

1.3 kW --- --- R88M-W1K315T-BO R88M-W1K315T-BOS2

1.8 kW --- --- R88M-W1K815T-BO R88M-W1K815T-BOS2

2.9 kW --- --- R88M-W2K915T-BO R88M-W2K915T-BOS2

4.4 kW --- --- R88M-W4K415T-BO R88M-W4K415T-BOS2

5.5 kW --- --- R88M-W5K515T-BO R88M-W5K515T-BOS2

7.5 kW --- --- R88M-W7K515T-BO R88M-W7K515T-BOS2

11 kW --- --- R88M-W11K015T-BO R88M-W11K015T-BOS2

15 kW --- --- R88M-W15K015T-BO R88M-W15K015T-BOS2

Standard Models and Specifications Chapter 2

2-13

H Servomotors with Gears

D Combination Table for Servomotors with Standard Gears

Standard Gears are highly accurate gears, with a maximum backlash of 3 degrees. The standard shaft is a straight shaft with a key. (Models without keys can also be manufactured for 3,000-r/min motors from 30 to 750 W and for 3,000-r/min flat-style motors. Models without keys have a suffix of -GjjB.)

Note A check mark in a box indicates that the two models can be combined. If the box is unchecked,

then the models cannot be combined.

• 3,000-r/min Servomotors

Specifications Basic model

Gear (deceleration rate)

1/5 1/9 1/11 1/20 1/21 1/29 1/33 1/45

-G05BJ -G09BJ -G11BJ -G20BJ -G21BJ -G29BJ -G33BJ -G45BJ

100 V

30 W R88M-W03030L/S

n n n n

50 W R88M-W05030L/S

n n n n

100 W R88M-W10030L/S

n n n n

200 W R88M-W20030L/S

n n n n

200 V

30 W R88M-W03030H/T

n n n n

50 W R88M-W05030H/T

n n n n

100 W R88M-W10030H/T

n n n n

200 W R88M-W20030H/T

n n n n

400 W R88M-W40030H/T

n n n n

750 W R88M-W75030H/T

n n n n

1 kW R88M-W1K030H/T

n n n n n

1.5 kW R88M-W1K530H/T

n n n n n

2 kW R88M-W2K030H/T

n n n n n

3 kW R88M-W3K030H/T

n n n n n

4 kW R88M-W4K030H/T

n n n n

5 kW R88M-W5K030H/T

n n n

• 3,000-r/min Flat-style Servomotors

Specifications Basic model

Gear (deceleration rate)

1/5 1/9 1/11 1/20 1/21 1/29 1/33 1/45

-G05BJ -G09BJ -G11BJ -G20BJ -G21BJ -G29BJ -G33BJ -G45BJ

100 V

100 W R88M-WP10030L/S

n n n n

200 W R88M-WP20030L/S

n n n n

200 V

100 W R88M-WP10030H/T

n n n n

200 W R88M-WP20030H/T

n n n n

400 W R88M-WP40030H/T

n n n n

750 W R88M-WP75030H/T

n n n n

1.5 kW R88M-WP1K530H/T

n n n n

Standard Models and Specifications Chapter 2

2-14

• 1,000-r/min Servomotors

Specifications Basic model

Gear (deceleration rate)

1/5 1/9 1/11 1/20 1/21 1/29 1/33 1/45

-G05BJ -G09BJ -G11BJ -G20BJ -G21BJ -G29BJ -G33BJ -G45BJ

200 V

300 W R88M-W30010H/T

n n n n n

600 W R88M-W60010H/T

n n n n n

900 W R88M-W90010H/T

n n n n n

1.2 kW R88M-W1K210H/T

n n n n n

2 kW R88M-W2K010H/T

n n n

3 kW R88M-W3K010H/T

n n

4 kW R88M-W4K010H/T

5.5 kW R88M-W5K510H/T

• 1,500-r/min Servomotors

Specifications Basic model

Gear (deceleration rate)

1/5 1/9 1/11 1/20 1/21 1/29 1/33 1/45

-G05BJ -G09BJ -G11BJ -G20BJ -G21BJ -G29BJ -G33BJ -G45BJ

200 V

450 W R88M-W45015T

n n n n n

850 W R88M-W85015T

n n n n n

1.3 kW R88M-W1K315T

n n n n n

1.8 kW R88M-W1K815T

n n n n

2.9 kW R88M-W2K915T

n n n

4.4 kW R88M-W4K415T

n n

5.5 kW R88M-W5K515T

7.5 kW R88M-W7K515T

11 kW R88M-W11K015T

15 kW R88M-W15K015T

D Combination Table for Servomotors with Economy Gears

Economy Gears are low-cost gears, with a maximum backlash of 45 degrees. The shaft is a straight shaft with key. Models without keys are not available.

Note 1. The 1,000-r/min and 1,500-r/min Servomotors cannot be combined with Economy Gears.

Note 2. A check mark in a box indicates that the two models can be combined. If the box is unchecked,

then the models cannot be combined.

Standard Models and Specifications Chapter 2

2-15

• 3,000-r/min Servomotors

Specifications Basic model

Gear (deceleration rate)

1/5 1/9 1/15 1/25

-G05CJ -G09CJ -G15CJ -G25CJ

100 V

30 W R88M-W03030L/S

50 W R88M-W05030L/S

100 W R88M-W10030L/S

n n n n

200 W R88M-W20030L/S

n n n n

200 V

30 W R88M-W03030H/T

50 W R88M-W05030H/T

100 W R88M-W10030H/T

n n n n

200 W R88M-W20030H/T

n n n n

400 W R88M-W40030H/T

n n n n

750 W R88M-W75030H/T

n n n n

1 kW R88M-W1K030H/T

1.5 kW R88M-W1K530H/T

2 kW R88M-W2K030H/T

3 kW R88M-W3K030H/T

4 kW R88M-W4K030H/T

5 kW R88M-W5K030H/T

• 3,000-r/min Flat-style Servomotors

Specifications Basic model

Gear (deceleration rate)

1/5 1/9 1/15 1/25

-G05CJ -G09CJ -G15CJ -G25CJ

100 V

100 W R88M-WP10030L/S

n n n n

200 W R88M-WP20030L/S

n n n n

200 V

100 W R88M-WP10030H/T

n n n n

200 W R88M-WP20030H/T

n n n n

400 W R88M-WP40030H/T

n n n n

750 W R88M-WP75030H/T

n n n n

1.5 kW R88M-WP1K530H/T

Standard Models and Specifications Chapter 2

2-16

D Servomotors with Standard Gears (Straight Shaft with Key)

• 3,000-r/min Servomotors

Specifications

Model

Spec ca o s

With incremental encoder With absolute encoder

Without brake With brake Without brake With brake

100 V 30 W

1/5 R88M-W03030L-G05BJ R88M-W03030L-BG05BJ R88M-W03030S-G05BJ R88M-W03030S-BG05BJ

1/9 R88M-W03030L-G09BJ R88M-W03030L-BG09BJ R88M-W03030S-G09BJ R88M-W03030S-BG09BJ

1/21 R88M-W03030L-G21BJ R88M-W03030L-BG21BJ R88M-W03030S-G21BJ R88M-W03030S-BG21BJ

1/33 R88M-W03030L-G33BJ R88M-W03030L-BG33BJ R88M-W03030S-G33BJ R88M-W03030S-BG33BJ

50 W

1/5 R88M-W05030L-G05BJ R88M-W05030L-BG05BJ R88M-W05030S-G05BJ R88M-W05030S-BG05BJ

1/9 R88M-W05030L-G09BJ R88M-W05030L-BG09BJ R88M-W05030S-G09BJ R88M-W05030S-BG09BJ

1/21 R88M-W05030L-G21BJ R88M-W05030L-BG21BJ R88M-W05030S-G21BJ R88M-W05030S-BG21BJ

1/33 R88M-W05030L-G33BJ R88M-W05030L-BG33BJ R88M-W05030S-G33BJ R88M-W05030S-BG33BJ

100 W

1/5 R88M-W10030L-G05BJ R88M-W10030L-BG05BJ R88M-W10030S-G05BJ R88M-W10030S-BG05BJ

1/11 R88M-W10030L-G11BJ R88M-W10030L-BG11BJ R88M-W10030S-G11BJ R88M-W10030S-BG11BJ

1/21 R88M-W10030L-G21BJ R88M-W10030L-BG21BJ R88M-W10030S-G21BJ R88M-W10030S-BG21BJ

1/33 R88M-W10030L-G33BJ R88M-W10030L-BG33BJ R88M-W10030S-G33BJ R88M-W10030S-BG33BJ

200 W

1/5 R88M-W20030L-G05BJ R88M-W20030L-BG05BJ R88M-W20030S-G05BJ R88M-W20030S-BG05BJ

1/11 R88M-W20030L-G11BJ R88M-W20030L-BG11BJ R88M-W20030S-G11BJ R88M-W20030S-BG11BJ

1/21 R88M-W20030L-G21BJ R88M-W20030L-BG21BJ R88M-W20030S-G21BJ R88M-W20030S-BG21BJ

1/33 R88M-W20030L-G33BJ R88M-W20030L-BG33BJ R88M-W20030S-G33BJ R88M-W20030S-BG33BJ

200 V 30 W

1/5 R88M-W03030H-G05BJ R88M-W03030H-BG05BJ R88M-W03030T-G05BJ R88M-W03030T-BG05BJ

1/9 R88M-W03030H-G09BJ R88M-W03030H-BG09BJ R88M-W03030T-G09BJ R88M-W03030T-BG09BJ

1/21 R88M-W03030H-G21BJ R88M-W03030H-BG21BJ R88M-W03030T-G21BJ R88M-W03030T-BG21BJ

1/33 R88M-W03030H-G33BJ R88M-W03030H-BG33BJ R88M-W03030T-G33BJ R88M-W03030T-BG33BJ

50 W

1/5 R88M-W05030H-G05BJ R88M-W05030H-BG05BJ R88M-W05030T-G05BJ R88M-W05030T-BG05BJ

1/9 R88M-W05030H-G09BJ R88M-W05030H-BG09BJ R88M-W05030T-G09BJ R88M-W05030T-BG09BJ

1/21 R88M-W05030H-G21BJ R88M-W05030H-BG21BJ R88M-W05030T-G21BJ R88M-W05030T-BG21BJ

1/33 R88M-W05030H-G33BJ R88M-W05030H-BG33BJ R88M-W05030T-G33BJ R88M-W05030T-BG33BJ

100 W

1/5 R88M-W10030H-G05BJ R88M-W10030H-BG05BJ R88M-W10030T-G05BJ R88M-W10030T-BG05BJ

1/11 R88M-W10030H-G11BJ R88M-W10030H-BG11BJ R88M-W10030T-G11BJ R88M-W10030T-BG11BJ

1/21 R88M-W10030H-G21BJ R88M-W10030H-BG21BJ R88M-W10030T-G21BJ R88M-W10030T-BG21BJ

1/33 R88M-W10030H-G33BJ R88M-W10030H-BG33BJ R88M-W10030T-G33BJ R88M-W10030T-BG33BJ

200 W

1/5 R88M-W20030H-G05BJ R88M-W20030H-BG05BJ R88M-W20030T-G05BJ R88M-W20030T-BG05BJ

1/11 R88M-W20030H-G11BJ R88M-W20030H-BG11BJ R88M-W20030T-G11BJ R88M-W20030T-BG11BJ

1/21 R88M-W20030H-G21BJ R88M-W20030H-BG21BJ R88M-W20030T-G21BJ R88M-W20030T-BG21BJ

1/33 R88M-W20030H-G33BJ R88M-W20030H-BG33BJ R88M-W20030T-G33BJ R88M-W20030T-BG33BJ

400 W

1/5 R88M-W40030H-G05BJ R88M-W40030H-BG05BJ R88M-W40030T-G05BJ R88M-W40030T-BG05BJ

1/11 R88M-W40030H-G11BJ R88M-W40030H-BG11BJ R88M-W40030T-G11BJ R88M-W40030T-BG11BJ

1/21 R88M-W40030H-G21BJ R88M-W40030H-BG21BJ R88M-W40030T-G21BJ R88M-W40030T-BG21BJ

1/33 R88M-W40030H-G33BJ R88M-W40030H-BG33BJ R88M-W40030T-G33BJ R88M-W40030T-BG33BJ

750 W

1/5 R88M-W75030H-G05BJ R88M-W75030H-BG05BJ R88M-W75030T-G05BJ R88M-W75030T-BG05BJ

1/11 R88M-W75030H-G11BJ R88M-W75030H-BG11BJ R88M-W75030T-G11BJ R88M-W75030T-BG11BJ

1/21 R88M-W75030H-G21BJ R88M-W75030H-BG21BJ R88M-W75030T-G21BJ R88M-W75030T-BG21BJ

1/33 R88M-W75030H-G33BJ R88M-W75030H-BG33BJ R88M-W75030T-G33BJ R88M-W75030T-BG33BJ

1 kW

1/5 R88M-W1K030H-G05BJ R88M-W1K030H-BG05BJ R88M-W1K030T-G05BJ R88M-W1K030T-BG05BJ

1/9 R88M-W1K030H-G09BJ R88M-W1K030H-BG09BJ R88M-W1K030T-G09BJ R88M-W1K030T-BG09BJ

1/20 R88M-W1K030H-G20BJ R88M-W1K030H-BG20BJ R88M-W1K030T-G20BJ R88M-W1K030T-BG20BJ

1/29 R88M-W1K030H-G29BJ R88M-W1K030H-BG29BJ R88M-W1K030T-G29BJ R88M-W1K030T-BG29BJ

1/45 R88M-W1K030H-G45BJ R88M-W1K030H-BG45BJ R88M-W1K030T-G45BJ R88M-W1K030T-BG45BJ

1.5 kW

1/5 R88M-W1K530H-G05BJ R88M-W1K530H-BG05BJ R88M-W1K530T-G05BJ R88M-W1K530T-BG05BJ

1/9 R88M-W1K530H-G09BJ R88M-W1K530H-BG09BJ R88M-W1K530T-G09BJ R88M-W1K530T-BG09BJ

1/20 R88M-W1K530H-G20BJ R88M-W1K530H-BG20BJ R88M-W1K530T-G20BJ R88M-W1K530T-BG20BJ

1/29 R88M-W1K530H-G29BJ R88M-W1K530H-BG29BJ R88M-W1K530T-G29BJ R88M-W1K530T-BG29BJ

1/45 R88M-W1K530H-G45BJ R88M-W1K530H-BG45BJ R88M-W1K530T-G45BJ R88M-W1K530T-BG45BJ

Standard Models and Specifications Chapter 2

2-17

Specifications ModelSpecifications

With absolute encoderWith incremental encoder

Specifications

With brakeWithout brakeWith brakeWithout brake

200 V 2 kW

1/5 R88M-W2K030H-G05BJ R88M-W2K030H-BG05BJ R88M-W2K030T-G05BJ R88M-W2K030T-BG05BJ

1/9 R88M-W2K030H-G09BJ R88M-W2K030H-BG09BJ R88M-W2K030T-G09BJ R88M-W2K030T-BG09BJ

1/20 R88M-W2K030H-G20BJ R88M-W2K030H-BG20BJ R88M-W2K030T-G20BJ R88M-W2K030T-BG20BJ

1/29 R88M-W2K030H-G29BJ R88M-W2K030H-BG29BJ R88M-W2K030T-G29BJ R88M-W2K030T-BG29BJ

1/45 R88M-W2K030H-G45BJ R88M-W2K030H-BG45BJ R88M-W2K030T-G45BJ R88M-W2K030T-BG45BJ

3 kW

1/5 R88M-W3K030H-G05BJ R88M-W3K030H-BG05BJ R88M-W3K030T-G05BJ R88M-W3K030T-BG05BJ

1/9 R88M-W3K030H-G09BJ R88M-W3K030H-BG09BJ R88M-W3K030T-G09BJ R88M-W3K030T-BG09BJ

1/20 R88M-W3K030H-G20BJ R88M-W3K030H-BG20BJ R88M-W3K030T-G20BJ R88M-W3K030T-BG20BJ

1/29 R88M-W3K030H-G29BJ R88M-W3K030H-BG29BJ R88M-W3K030T-G29BJ R88M-W3K030T-BG29BJ

1/45 R88M-W3K030H-G45BJ R88M-W3K030H-BG45BJ R88M-W3K030T-G45BJ R88M-W3K030T-BG45BJ

4 kW

1/5 R88M-W4K030H-G05BJ R88M-W4K030H-BG05BJ R88M-W4K030T-G05BJ R88M-W4K030T-BG05BJ

1/9 R88M-W4K030H-G09BJ R88M-W4K030H-BG09BJ R88M-W4K030T-G09BJ R88M-W4K030T-BG09BJ

1/20 R88M-W4K030H-G20BJ R88M-W4K030H-BG20BJ R88M-W4K030T-G20BJ R88M-W4K030T-BG20BJ

1/29 R88M-W4K030H-G29BJ R88M-W4K030H-BG29BJ R88M-W4K030T-G29BJ R88M-W4K030T-BG29BJ

5 kW

1/5 R88M-W5K030H-G05BJ R88M-W5K030H-BG05BJ R88M-W5K030T-G05BJ R88M-W5K030T-BG05BJ

1/9 R88M-W5K030H-G09BJ R88M-W5K030H-BG09BJ R88M-W5K030T-G09BJ R88M-W5K030T-BG09BJ

1/20 R88M-W5K030H-G20BJ R88M-W5K030H-BG20BJ R88M-W5K030T-G20BJ R88M-W5K030T-BG20BJ

• 3,000-r/min Flat-style Servomotors

Specifications

Model

Spec ca o s

With incremental encoder With absolute encoder

Without brake With brake Without brake With brake

100 V 100 W

1/5 R88M-WP10030L-G05BJ R88M-WP10030L-BG05BJ R88M-WP10030S-G05BJ R88M-WP10030S-BG05BJ

1/11 R88M-WP10030L-G11BJ R88M-WP10030L-BG11BJ R88M-WP10030S-G11BJ R88M-WP10030S-BG11BJ

1/21 R88M-WP10030L-G21BJ R88M-WP10030L-BG21BJ R88M-WP10030S-G21BJ R88M-WP10030S-BG21BJ

1/33 R88M-WP10030L-G33BJ R88M-WP10030L-BG33BJ R88M-WP10030S-G33BJ R88M-WP10030S-BG33BJ

200 W

1/5 R88M-WP20030L-G05BJ R88M-WP20030L-BG05BJ R88M-WP20030S-G05BJ R88M-WP20030S-BG05BJ

1/11 R88M-WP20030L-G11BJ R88M-WP20030L-BG11BJ R88M-WP20030S-G11BJ R88M-WP20030S-BG11BJ

1/21 R88M-WP20030L-G21BJ R88M-WP20030L-BG21BJ R88M-WP20030S-G21BJ R88M-WP20030S-BG21BJ

1/33 R88M-WP20030L-G33BJ R88M-WP20030L-BG33BJ R88M-WP20030S-G33BJ R88M-WP20030S-BG33BJ

200 V 100 W

1/5 R88M-WP10030H-G05BJ R88M-WP10030H-BG05BJ R88M-WP10030T-G05BJ R88M-WP10030T-BG05BJ

1/11 R88M-WP10030H-G11BJ R88M-WP10030H-BG11BJ R88M-WP10030T-G11BJ R88M-WP10030T-BG11BJ

1/21 R88M-WP10030H-G21BJ R88M-WP10030H-BG21BJ R88M-WP10030T-G21BJ R88M-WP10030T-BG21BJ

1/33 R88M-WP10030H-G33BJ R88M-WP10030H-BG33BJ R88M-WP10030T-G33BJ R88M-WP10030T-BG33BJ

200 W

1/5 R88M-WP20030H-G05BJ R88M-WP20030H-BG05BJ R88M-WP20030T-G05BJ R88M-WP20030T-BG05BJ

1/11 R88M-WP20030H-G11BJ R88M-WP20030H-BG11BJ R88M-WP20030T-G11BJ R88M-WP20030T-BG11BJ

1/21 R88M-WP20030H-G21BJ R88M-WP20030H-BG21BJ R88M-WP20030T-G21BJ R88M-WP20030T-BG21BJ

1/33 R88M-WP20030H-G33BJ R88M-WP20030H-BG33BJ R88M-WP20030T-G33BJ R88M-WP20030T-BG33BJ

400 W

1/5 R88M-WP40030H-G05BJ R88M-WP40030H-BG05BJ R88M-WP40030T-G05BJ R88M-WP40030T-BG05BJ

1/11 R88M-WP40030H-G11BJ R88M-WP40030H-BG11BJ R88M-WP40030T-G11BJ R88M-WP40030T-BG11BJ

1/21 R88M-WP40030H-G21BJ R88M-WP40030H-BG21BJ R88M-WP40030T-G21BJ R88M-WP40030T-BG21BJ

1/33 R88M-WP40030H-G33BJ R88M-WP40030H-BG33BJ R88M-WP40030T-G33BJ R88M-WP40030T-BG33BJ

750 W

1/5 R88M-WP75030H-G05BJ R88M-WP75030H-BG05BJ R88M-WP75030T-G05BJ R88M-WP75030T-BG05BJ

1/11 R88M-WP75030H-G11BJ R88M-WP75030H-BG11BJ R88M-WP75030T-G11BJ R88M-WP75030T-BG11BJ

1/21 R88M-WP75030H-G21BJ R88M-WP75030H-BG21BJ R88M-WP75030T-G21BJ R88M-WP75030T-BG21BJ

1/33 R88M-WP75030H-G33BJ R88M-WP75030H-BG33BJ R88M-WP75030T-G33BJ R88M-WP75030T-BG33BJ

1.5 kW

1/5 R88M-WP1K530H-G05BJ R88M-WP1K530H-BG05BJ R88M-WP1K530T-G05BJ R88M-WP1K530T-BG05BJ

1/11 R88M-WP1K530H-G11BJ R88M-WP1K530H-BG11BJ R88M-WP1K530T-G11BJ R88M-WP1K530T-BG11BJ

1/21 R88M-WP1K530H-G21BJ R88M-WP1K530H-BG21BJ R88M-WP1K530T-G21BJ R88M-WP1K530T-BG21BJ

1/33 R88M-WP1K530H-G33BJ R88M-WP1K530H-BG33BJ R88M-WP1K530T-G33BJ R88M-WP1K530T-BG33BJ

Standard Models and Specifications Chapter 2

2-18

• 1,000-r/min Servomotors

Specifications

Model

Spec ca o s

With incremental encoder With absolute encoder

Without brake With brake Without brake With brake

200 V 300 W

1/5 R88M-W30010H-G05BJ R88M-W30010H-BG05BJ R88M-W30010T-G05BJ R88M-W30010T-BG05BJ

300

1/9 R88M-W30010H-G09BJ R88M-W30010H-BG09BJ R88M-W30010T-G09BJ R88M-W30010T-BG09BJ

1/20 R88M-W30010H-G20BJ R88M-W30010H-BG20BJ R88M-W30010T-G20BJ R88M-W30010T-BG20BJ

1/29 R88M-W30010H-G29BJ R88M-W30010H-BG29BJ R88M-W30010T-G29BJ R88M-W30010T-BG29BJ

1/45 R88M-W30010H-G45BJ R88M-W30010H-BG45BJ R88M-W30010T-G45BJ R88M-W30010T-BG45BJ

600 W

1/5 R88M-W60010H-G05BJ R88M-W60010H-BG05BJ R88M-W60010T-G05BJ R88M-W60010T-BG05BJ

600

1/9 R88M-W60010H-G09BJ R88M-W60010H-BG09BJ R88M-W60010T-G09BJ R88M-W60010T-BG09BJ

1/20 R88M-W60010H-G20BJ R88M-W60010H-BG20BJ R88M-W60010T-G20BJ R88M-W60010T-BG20BJ

1/29 R88M-W60010H-G29BJ R88M-W60010H-BG29BJ R88M-W60010T-G29BJ R88M-W60010T-BG29BJ

1/45 R88M-W60010H-G45BJ R88M-W60010H-BG45BJ R88M-W60010T-G45BJ R88M-W60010T-BG45BJ

900 W

1/5 R88M-W90010H-G05BJ R88M-W90010H-BG05BJ R88M-W90010T-G05BJ R88M-W90010T-BG05BJ

900

1/9 R88M-W90010H-G09BJ R88M-W90010H-BG09BJ R88M-W90010T-G09BJ R88M-W90010T-BG09BJ

1/20 R88M-W90010H-G20BJ R88M-W90010H-BG20BJ R88M-W90010T-G20BJ R88M-W90010T-BG20BJ

1/29 R88M-W90010H-G29BJ R88M-W90010H-BG29BJ R88M-W90010T-G29BJ R88M-W90010T-BG29BJ

1/45 R88M-W90010H-G45BJ R88M-W90010H-BG45BJ R88M-W90010T-G45BJ R88M-W90010T-BG45BJ

1.2 kW

1/5 R88M-W1K210H-G05BJ R88M-W1K210H-BG05BJ R88M-W1K210T-G05BJ R88M-W1K210T-BG05BJ

1/9 R88M-W1K210H-G09BJ R88M-W1K210H-BG09BJ R88M-W1K210T-G09BJ R88M-W1K210T-BG09BJ

1/20 R88M-W1K210H-G20BJ R88M-W1K210H-BG20BJ R88M-W1K210T-G20BJ R88M-W1K210T-BG20BJ

1/29 R88M-W1K210H-G29BJ R88M-W1K210H-BG29BJ R88M-W1K210T-G29BJ R88M-W1K210T-BG29BJ

1/45 R88M-W1K210H-G45BJ R88M-W1K210H-BG45BJ R88M-W1K210T-G45BJ R88M-W1K210T-BG45BJ

2 kW

1/5 R88M-W2K010H-G05BJ R88M-W2K010H-BG05BJ R88M-W2K010T-G05BJ R88M-W2K010T-BG05BJ

1/9 R88M-W2K010H-G09BJ R88M-W2K010H-BG09BJ R88M-W2K010T-G09BJ R88M-W2K010T-BG09BJ

1/20 R88M-W2K010H-G20BJ R88M-W2K010H-BG20BJ R88M-W2K010T-G20BJ R88M-W2K010T-BG20BJ

3 kW

1/5 R88M-W3K010H-G05BJ R88M-W3K010H-BG05BJ R88M-W3K010T-G05BJ R88M-W3K010T-BG05BJ

1/9 R88M-W3K010H-G09BJ R88M-W3K010H-BG09BJ R88M-W3K010T-G09BJ R88M-W3K010T-BG09BJ

Standard Models and Specifications Chapter 2

2-19

• 1,500-r/min Servomotors

Specifications

Model

Spec ca o s

With incremental encoder With absolute encoder

Without brake With brake Without brake With brake

200 V 450 W

1/5 --- --- R88M-W45015T-G05BJ R88M-W45015T-BG05BJ

1/9 --- --- R88M-W45015T-G09BJ R88M-W45015T-BG09BJ

1/20 --- --- R88M-W45015T-G20BJ R88M-W45015T-BG20BJ

1/29 --- --- R88M-W45015T-G29BJ R88M-W45015T-BG29BJ

1/45 --- --- R88M-W45015T-G45BJ R88M-W45015T-BG45BJ

850 W

1/5 --- --- R88M-W85015T-G05BJ R88M-W85015T-BG05BJ

850

1/9 --- --- R88M-W85015T-G09BJ R88M-W85015T-BG09BJ

1/20 --- --- R88M-W85015T-G20BJ R88M-W85015T-BG20BJ

1/29 --- --- R88M-W85015T-G29BJ R88M-W85015T-BG29BJ

1/45 --- --- R88M-W85015T-G45BJ R88M-W85015T-BG45BJ

1.3 kW

1/5 --- --- R88M-W1K315T-G05BJ R88M-W1K315T-BG05BJ

1/9 --- --- R88M-W1K315T-G09BJ R88M-W1K315T-BG09BJ

1/20 --- --- R88M-W1K315T-G20BJ R88M-W1K315T-BG20BJ

1/29 --- --- R88M-W1K315T-G29BJ R88M-W1K315T-BG29BJ

1/45 --- --- R88M-W1K315T-G45BJ R88M-W1K315T-BG45BJ

1.8 kW

1/5 --- --- R88M-W1K815T-G05BJ R88M-W1K815T-BG05BJ

1/9 --- --- R88M-W1K815T-G09BJ R88M-W1K815T-BG09BJ

1/20 --- --- R88M-W1K815T-G20BJ R88M-W1K815T-BG20BJ

1/29 --- --- R88M-W1K815T-G29BJ R88M-W1K815T-BG29BJ

2.9 kW

1/5 --- --- R88M-W2K915T-G05BJ R88M-W2K915T-BG05BJ

1/9 --- --- R88M-W2K915T-G09BJ R88M-W2K915T-BG09BJ

1/20 --- --- R88M-W2K915T-G20BJ R88M-W2K915T-BG20BJ

4.4 kW

1/5 --- --- R88M-W4K415T-G05BJ R88M-W4K415T-BG05BJ

1/9 --- --- R88M-W4K415T-G09BJ R88M-W4K415T-BG09BJ

Standard Models and Specifications Chapter 2

2-20

D Servomotors with Economy Gears (Straight Shaft with Key)

• 3,000-r/min Servomotors

Specifications

Model

Spec ca o s

With incremental encoder With absolute encoder

Without brake With brake Without brake With brake

100 V 100 W

1/5 R88M-W10030L-G05CJ R88M-W10030L-BG05CJ R88M-W10030S-G05CJ R88M-W10030S-BG05CJ

1/9 R88M-W10030L-G09CJ R88M-W10030L-BG09CJ R88M-W10030S-G09CJ R88M-W10030S-BG09CJ

1/15 R88M-W10030L-G15CJ R88M-W10030L-BG15CJ R88M-W10030S-G15CJ R88M-W10030S-BG15CJ

1/25 R88M-W10030L-G25CJ R88M-W10030L-BG25CJ R88M-W10030S-G25CJ R88M-W10030S-BG25CJ

200 W

1/5 R88M-W20030L-G05CJ R88M-W20030L-BG05CJ R88M-W20030S-G05CJ R88M-W20030S-BG05CJ

1/9 R88M-W20030L-G09CJ R88M-W20030L-BG09CJ R88M-W20030S-G09CJ R88M-W20030S-BG09CJ

1/15 R88M-W20030L-G15CJ R88M-W20030L-BG15CJ R88M-W20030S-G15CJ R88M-W20030S-BG15CJ

1/25 R88M-W20030L-G25CJ R88M-W20030L-BG25CJ R88M-W20030S-G25CJ R88M-W20030S-BG25CJ

200 V 100 W

1/5 R88M-W10030H-G05CJ R88M-W10030H-BG05CJ R88M-W10030T-G05CJ R88M-W10030T-BG05CJ

1/9 R88M-W10030H-G09CJ R88M-W10030H-BG09CJ R88M-W10030T-G09CJ R88M-W10030T-BG09CJ

1/15 R88M-W10030H-G15CJ R88M-W10030H-BG15CJ R88M-W10030T-G15CJ R88M-W10030T-BG15CJ

1/25 R88M-W10030H-G25CJ R88M-W10030H-BG25CJ R88M-W10030T-G25CJ R88M-W10030T-BG25CJ

200 W

1/5 R88M-W20030H-G05CJ R88M-W20030H-BG05CJ R88M-W20030T-G05CJ R88M-W20030T-BG05CJ

1/9 R88M-W20030H-G09CJ R88M-W20030H-BG09CJ R88M-W20030T-G09CJ R88M-W20030T-BG09CJ

1/15 R88M-W20030H-G15CJ R88M-W20030H-BG15CJ R88M-W20030T-G15CJ R88M-W20030T-BG15CJ

1/25 R88M-W20030H-G25CJ R88M-W20030H-BG25CJ R88M-W20030T-G25CJ R88M-W20030T-BG25CJ

400 W

1/5 R88M-W40030H-G05CJ R88M-W40030H-BG05CJ R88M-W40030T-G05CJ R88M-W40030T-BG05CJ

1/9 R88M-W40030H-G09CJ R88M-W40030H-BG09CJ R88M-W40030T-G09CJ R88M-W40030T-BG09CJ

1/15 R88M-W40030H-G15CJ R88M-W40030H-BG15CJ R88M-W40030T-G15CJ R88M-W40030T-BG15CJ

1/25 R88M-W40030H-G25CJ R88M-W40030H-BG25CJ R88M-W40030T-G25CJ R88M-W40030T-BG25CJ

750 W

1/5 R88M-W75030H-G05CJ R88M-W75030H-BG05CJ R88M-W75030T-G05CJ R88M-W75030T-BG05CJ

1/9 R88M-W75030H-G09CJ R88M-W75030H-BG09CJ R88M-W75030T-G09CJ R88M-W75030T-BG09CJ

1/15 R88M-W75030H-G15CJ R88M-W75030H-BG15CJ R88M-W75030T-G15CJ R88M-W75030T-BG15CJ

1/25 R88M-W75030H-G25CJ R88M-W75030H-BG25CJ R88M-W75030T-G25CJ R88M-W75030T-BG25CJ

Standard Models and Specifications Chapter 2

2-21

• 3,000-r/min Flat-style Servomotors

Specifications

Model

Spec ca o s

With incremental encoder With absolute encoder

Without brake With brake Without brake With brake

100 V 100 W

1/5 R88M-WP10030L-G05CJ R88M-WP10030L-BG05CJ R88M-WP10030S-G05CJ R88M-WP10030S-BG05CJ

1/9 R88M-WP10030L-G09CJ R88M-WP10030L-BG09CJ R88M-WP10030S-G09CJ R88M-WP10030S-BG09CJ

1/15 R88M-WP10030L-G15CJ R88M-WP10030L-BG15CJ R88M-WP10030S-G15CJ R88M-WP10030S-BG15CJ

1/25 R88M-WP10030L-G25CJ R88M-WP10030L-BG25CJ R88M-WP10030S-G25CJ R88M-WP10030S-BG25CJ

200 W

1/5 R88M-WP20030L-G05CJ R88M-WP20030L-BG05CJ R88M-WP20030S-G05CJ R88M-WP20030S-BG05CJ

1/9 R88M-WP20030L-G09CJ R88M-WP20030L-BG09CJ R88M-WP20030S-G09CJ R88M-WP20030S-BG09CJ

1/15 R88M-WP20030L-G15CJ R88M-WP20030L-BG15CJ R88M-WP20030S-G15CJ R88M-WP20030S-BG15CJ

1/25 R88M-WP20030L-G25CJ R88M-WP20030L-BG25CJ R88M-WP20030S-G25CJ R88M-WP20030S-BG25CJ

200 V 100 W

1/5 R88M-WP10030H-G05CJ R88M-WP10030H-BG05CJ R88M-WP10030T-G05CJ R88M-WP10030T-BG05CJ

1/9 R88M-WP10030H-G09CJ R88M-WP10030H-BG09CJ R88M-WP10030T-G09CJ R88M-WP10030T-BG09CJ

1/15 R88M-WP10030H-G15CJ R88M-WP10030H-BG15CJ R88M-WP10030T-G15CJ R88M-WP10030T-BG15CJ

1/25 R88M-WP10030H-G25CJ R88M-WP10030H-BG25CJ R88M-WP10030T-G25CJ R88M-WP10030T-BG25CJ

200 W

1/5 R88M-WP20030H-G05CJ R88M-WP20030H-BG05CJ R88M-WP20030T-G05CJ R88M-WP20030T-BG05CJ

1/9 R88M-WP20030H-G09CJ R88M-WP20030H-BG09CJ R88M-WP20030T-G09CJ R88M-WP20030T-BG09CJ

1/15 R88M-WP20030H-G15CJ R88M-WP20030H-BG15CJ R88M-WP20030T-G15CJ R88M-WP20030T-BG15CJ

1/25 R88M-WP20030H-G25CJ R88M-WP20030H-BG25CJ R88M-WP20030T-G25CJ R88M-WP20030T-BG25CJ

400 W

1/5 R88M-WP40030H-G05CJ R88M-WP40030H-BG05CJ R88M-WP40030T-G05CJ R88M-WP40030T-BG05CJ

1/9 R88M-WP40030H-G09CJ R88M-WP40030H-BG09CJ R88M-WP40030T-G09CJ R88M-WP40030T-BG09CJ

1/15 R88M-WP40030H-G15CJ R88M-WP40030H-BG15CJ R88M-WP40030T-G15CJ R88M-WP40030T-BG15CJ

1/25 R88M-WP40030H-G25CJ R88M-WP40030H-BG25CJ R88M-WP40030T-G25CJ R88M-WP40030T-BG25CJ

750 W

1/5 R88M-WP75030H-G05CJ R88M-WP75030H-BG05CJ R88M-WP75030T-G05CJ R88M-WP75030T-BG05CJ

1/9 R88M-WP75030H-G09CJ R88M-WP75030H-BG09CJ R88M-WP75030T-G09CJ R88M-WP75030T-BG09CJ

1/15 R88M-WP75030H-G15CJ R88M-WP75030H-BG15CJ R88M-WP75030T-G15CJ R88M-WP75030T-BG15CJ

1/25 R88M-WP75030H-G25CJ R88M-WP75030H-BG25CJ R88M-WP75030T-G25CJ R88M-WP75030T-BG25CJ

Standard Models and Specifications Chapter 2

2-22

2-2 Servo Driver and Servomotor Combinations

The tables in this section show the possible combinations of OMNUC W-series Servo Drivers and Servomotors. The boxes (-j) at the ends of the model numbers are for options such as shaft type, brake, waterproofing, decelerator, and so on.

H 3,000-r/min Servomotors and Servo Drivers

Voltage

Servomotor

Servo Driver

Rated output With incremental

encoder

With absolute

encoder

100 V

30 W

R88M-W03030L-j R88M-W03030S-j

R88D-WTA3HL

50 W

R88M-W05030L-j R88M-W05030S-j

R88D-WTA5HL

100 W

R88M-W10030L-j R88M-W10030S-j

R88D-WT01HL

200 W

R88M-W20030L-j R88M-W20030S-j

R88D-WT02HL

200 V

30 W

R88M-W03030H-j R88M-W03030T-j

R88D-WTA3H

50 W

R88M-W05030H-j R88M-W05030T-j

R88D-WTA5H

100 W

R88M-W10030H-j R88M-W10030T-j

R88D-WT01H

200 W

R88M-W20030H-j R88M-W20030T-j

R88D-WT02H

400 W

R88M-W40030H-j R88M-W40030T-j

R88D-WT04H

750 W

R88M-W75030H-j R88M-W75030T-j

R88D-WT08H

1 kW

R88M-W1K030H-j R88M-W1K030T-j

R88D-WT10H

1.5 kW

R88M-W1K530H-j R88M-W1K530T-j

R88D-WT15H

2 kW

R88M-W2K030H-j R88M-W2K030T-j

R88D-WT20H

3 kW

R88M-W3K030H-j R88M-W3K030T-j

R88D-WT30H

4 kW

R88M-W4K030H-j R88M-W4K030T-j

R88D-WT50H

5 kW

R88M-W5K030H-j R88M-W5K030T-j

R88D-WT50H

H 3,000-r/min Flat-style Servomotors and Servo Drivers

Voltage

Servomotor

Servo Driver

Rated output With incremental

encoder

With absolute

encoder

100 V

100 W

R88M-WP10030L-j R88M-WP10030S-j

R88D-WT01HL

200 W

R88M-WP20030L-j R88M-WP20030S-j

R88D-WT02HL

200 V

100 W

R88M-WP10030H-j R88M-WP10030T-j

R88D-WT01H

200 W

R88M-WP20030H-j R88M-WP20030T-j

R88D-WT02H

400 W

R88M-WP40030H-j R88M-WP40030T-j

R88D-WT04H

750 W

R88M-WP75030H-j R88M-WP75030T-j

R88D-WT08H

1.5 kW

R88M-WP1K530H-j R88M-WP1K530T-j

R88D-WT15H

Standard Models and Specifications Chapter 2

2-23

H 1,000-r/min Servomotors and Servo Drivers

Voltage

Servomotor

Servo Driver

Rated output With incremental

encoder

With absolute

encoder

200 V

300 W

R88M-W30010H-j R88M-W30010T-j

R88D-WT05H

600 W

R88M-W60010H-j R88M-W60010T-j

R88D-WT08H

900 W

R88M-W90010H-j R88M-W90010T-j

R88D-WT10H

1.2 kW

R88M-W1K210H-j R88M-W1K210T-j

R88D-WT15H

2 kW

R88M-W2K010H-j R88M-W2K010T-j

R88D-WT20H

3 kW

R88M-W3K010H-j R88M-W3K010T-j

R88D-WT30H

4 kW

R88M-W4K010H-j R88M-W4K010T-j

R88D-WT50H

5.5 kW

R88M-W5K510H-j R88M-W5K510T-j

R88D-WT60H

H 1,500-r/min Servomotors and Servo Drivers

Voltage

Servomotor

Servo Driver

Rated output With incremental

encoder

With absolute

encoder

200 V

450 W ---

R88M-W45015T-j

R88D-WT05H

850 W ---

R88M-W85015T-j

R88D-WT10H

1.3 kW ---

R88M-W1K315T-j

R88D-WT15H

1.8 kW ---

R88M-W1K815T-j

R88D-WT20H

2.9 kW ---

R88M-W2K915T-j

R88D-WT30H

4.4 kW ---

R88M-W4K415T-j

R88D-WT50H

5.5 kW ---

R88M-W5K515T-j

R88D-WT60H

7.5 kW ---

R88M-W7K515T-j

R88D-WT75H

11 kW ---

R88M-W11K015T-j

R88D-WT150H

15 kW ---

R88M-W15K015T-j

R88D-WT150H

Standard Models and Specifications Chapter 2

2-24

2-3 External and Mounted Dimensions

Dimensions are shown in millimeters.

2-3-1 AC Servo Drivers

H Single-phase 100 V: R88D-WTA3HL/-WTA5HL/-WT01HL (30 to 100 W)

Single-phase 200 V: R88D-WTA3H/-WTA5H/-WT01H/-WT02H (30 to 200 W)

D Wall Mounting

External dimensions Mounted dimensions

Two, M4

D Front Panel Mounting (Using Mounting Brackets)

External dimensions Mounted dimensions

5 dia.

Two, M4

Standard Models and Specifications

Chapter 2

2-25

H Single-phase 100 V: R88D-WT02HL (200 W)

Single-phase 200 V: R88D-WT04H (400 W)

D Wall Mounting

5 dia. Two, M4

External dimensions Mounted dimensions

D Front Panel Mounting (Using Mounting Brackets)

5 dia.

Two, M4

External dimensions Mounted dimensions

Standard Models and Specifications

Chapter 2

2-26

H Three-phase 200 V: R88D-WT05H/-WT08H/-WT10H (500 W to 1 kW)

D Wall Mounting

5 dia.

Two, M4

External dimensions Mounted dimensions

D Front Panel Mounting (Using Mounting Brackets)

5 dia.

Two, M4

External dimensions Mounted dimensions

Standard Models and Specifications

Chapter 2

2-27

H Three-phase 200 V: R88D-WT15H (1.5 kW)

D Wall Mounting

5 dia. Four, M4

External dimensions Mounted dimensions

D Front Panel Mounting (Using Mounting Brackets)

Two, 5 dia.

Four, M4

External dimensions Mounted dimensions

Standard Models and Specifications

Chapter 2

2-28

H Three-phase 200 V: R88D-WT20H/-WT30H (2 to 3 kW)

D Wall Mounting

Two, 6 dia.

Four, M5

External dimensions Mounted dimensions

D Front Panel Mounting (Using Mounting Brackets)

Four, M5

External dimensions Mounted dimensions

Standard Models and Specifications

Chapter 2

2-29

H Three-phase 200 V: R88D-WT50H (5 kW)

D Wall Mounting

Two, 5.7 dia.

Four, M5

5.7

3.2

External dimensions Mounted dimensions

D Front Panel Mounting (Using Mounting Brackets)

Four, M5

External dimensions Mounted dimensions

Standard Models and Specifications

Chapter 2

2-30

H Three-phase 200 V: R88D-WT60H/-WT75H (6 to 7.5 kW)

D Wall Mounting

External dimensions

230 max.

Mounting dimensions

230 max.

235 max.

Four, M6

350 max.

Two, 7 dia.

180±0.5

355 0.5

Standard Models and Specifications

Chapter 2

2-31

H Three-phase 200 V: R88D-WT150H (15 kW)

D Wall Mounting

External dimensions

Two, 7 dia.

Mounting dimensions

Four, M6

260

200±5

435 0.5

Standard Models and Specifications

Chapter 2

2-32

2-3-2 Parameter Units

H Hand-held Parameter Unit: R88A-PR02W

Two, 4.5 dia.

Standard Models and Specifications

Chapter 2

2-33

2-3-3 AC Servomotors

H 3,000-r/min Servomotors without a Brake

D 100 V AC: 30 W/50 W/100 W

R88M-W03030L(-S1)/-W05030L(-S1)/-W10030L(-S1) [Incremental] R88M-W03030S(-S1)/-W05030S(-S1)/-W10030S(-S1) [Absolute]

D 200 V AC: 30 W/50 W/100 W

R88M-W03030H(-S1)/-W05030H(-S1)/-W10030H(-S1) [Incremental] R88M-W03030T(-S1)/-W05030T(-S1)/-W10030T(-S1) [Absolute]

Dimensions of shaft end with key (-S1)

Two, 4.3 dia.

46 dia.

30h7 dia.

S dia.

Dimensions of shaft end with key and tap (-S2)

M (effective depth: )

7 dia.6 dia.

Model

Dimensions (mm)

LL S b h t1 M



R88M-W03030j-j

69.5 6h6 2 2 1.2

M2.5 5

R88M-W05030j-j

77 6h6 2 2 1.2

R88M-W10030j-j

94.5 8h6 3 3 1.8 M3 6

Standard Models and Specifications

Chapter 2

2-34

H 3,000-r/min Servomotors with a Brake

D 100 V AC: 30 W/50 W/100 W

R88M-W03030L-B(S1)/-W05030L-B(S1)/-W10030L-B(S1) [Incremental] R88M-W03030S-B(S1)/-W05030S-B(S1)/-W10030S-B(S1) [Absolute]

D 200 V AC: 30 W/50 W/100 W

R88M-W03030H-B(S1)/-W05030H-B(S1)/-W10030H-B(S1) [Incremental] R88M-W03030T-B(S1)/-W05030T-B(S1)/-W10030T-B(S1) [Absolute]

Two, 4.3 dia.

46 dia.

30h7 dia.

S dia.

Dimensions of shaft end with key (-BS1)

Dimensions of shaft end with key and tap (-BS2)

M (effective depth: )

7 dia.

6 dia.

Model

Dimensions (mm)

LL S b h t1 M



R88M-W03030j-Bj

101 6h6 2 2 1.2

M2.5 5

R88M-W05030j-Bj

108.5 6h6 2 2 1.2

R88M-W10030j-Bj

135 8h6 3 3 1.8 M3 6

Standard Models and Specifications

Chapter 2

2-35

H 3,000-r/min Servomotors without a Brake

D 100 V AC: 200 W

R88M-W20030L(-S1) [Incremental] R88M-W20030S(-S1) [Absolute]

D 200 V AC: 200 W/400 W/750 W

R88M-W20030H(-S1)/-W40030H(-S1)/-W75030H(-S1) [Incremental] R88M-W20030T(-S1)/-W40030T(-S1)/-W75030T(-S1) [Absolute]

Dimensions of output section of 750-W Servomotors

Four, Z dia.

D1 dia.

D2 dia.

S dia.

Dimensions of shaft end with key (-S1)

Dimensions of shaft end with key and tap (-S2)

7 dia.

6 dia.

M5 (effective depth: 8)

Model

Dimensions (mm)

LL LR C D1 D2 G Z S QK

R88M-W20030j-j

96.5 30 60 70 50h7 6 5.5 14h6 20

R88M-W40030j-j

124.5 30 60 70 50h7 6 5.5 14h6 20

R88M-W75030j-j

145 40 80 90 70h7 8 7 16h6 30

Standard Models and Specifications

Chapter 2

2-36

H 3,000-r/min Servomotors with a Brake

D 100 V AC: 200 W

R88M-W20030L-B(S1) [Incremental] R88M-W20030S-B(S1) [Absolute]

D 200 V AC: 200 W/400 W/750 W

R88M-W20030H-B(S1)/-W40030H-B(S1)/-W75030H-B(S1) [Incremental] R88M-W20030T-B(S1)/-W40030T-B(S1)/-W75030T-B(S1) [Absolute]

Four, Z dia.

D1 dia.

D2 dia.

S dia.

Dimensions of output section of 750-W Servomotors

Dimensions of shaft end with key (-BS1)

Dimensions of shaft end with key and tap (-BS2)

7 dia.6 dia.

M5 (effective depth: 8)

Model

Dimensions (mm)

LL LR C D1 D2 G Z S QK

R88M-W20030j-Bj

136 30 60 70 50h7 6 5.5 14h6 20

R88M-W40030j-Bj

164 30 60 70 50h7 6 5.5 14h6 20

R88M-W75030j-Bj

189.5 40 80 90 70h7 8 7 16h6 30

Standard Models and Specifications

Chapter 2

2-37

H 3,000-r/min Servomotors without a Brake

D 200 V AC: 1 kW/1.5 kW/2 kW/3 kW/4.0 kW/5.0 kW

R88M-W1K030H(-S2)/-W1K5030H(-S2)/-W2K030H(-S2)/-W3K030H(-S2)/

-W4K030H(-S2)/-W5K030H(-S2) [Incremental] R88M-W1K030T(-S2)/-W1K5030T(-S2)/-W2K030T(-S2)/-W3K030T(-S2)/

-W4K030T(-S2)/-W5K030T(-S2) [Absolute]

Effective depth: 16

Four, Z dia.

D2 dia.

S dia.

Dimensions of shaft end with key (-S2)

D3 dia.

D1 dia.

Model

Dimensions (mm)

LL LR KB1 KB2 KL1 KL2 C D1 D2 D3 F G Z S QK

R88M-W1K030j-j

148

76 128

96 88 100 115 95h7 130 3 10 7 24h6 32

R88M-W1K530j-j

175 102 154

R88M-W2K030j-j

198 125 177

R88M-W3K030j-j

199

124 178

114 88 130 145 110h7 165 6 12 9 28h6 50

R88M-W4K030j-j

236 161 215

R88M-W5K030j-j

276 201 255

Note The external dimensions are the same for IP67 (waterproof) models (-Oj).

Standard Models and Specifications

Chapter 2

2-38

H 3,000-r/min Servomotors with a Brake

D 200 V AC: 1 kW/1.5 kW/2 kW/3 kW/4.0 kW/5.0 kW

R88M-W1K030H-B(S2)/-W1K5030H-B(S2)/-W2K030H-B(S2)/-W3K030H-B(S2)/

-W4K030H-B(S2)/-W5K030H-B(S2) [Incremental] R88M-W1K030T-B(S2)/-W1K5030T-B(S2)/-W2K030T-B(S2)/-W3K030T-B(S2)/

-W4K030T-B(S2)/-W5K030T-B(S2) [Absolute]

(Effective depth: 16)

Four, Z dia.

D1 dia.

D2 dia.

D3 dia.

S dia.

Dimensions of shaft end with key (-BS2)

Model

Dimensions (mm)

LL LR KB1 KB2 KL1 KL2 C D1 D2 D3 F G Z S QK

R88M-W1K030j-Bj

193

67 171

102 88 100 115 95h7 130 3 10 7 24h6 32

R88M-W1K530j-Bj

219 93 197

R88M-W2K030j-Bj

242 116 220

R88M-W3K030j-Bj

237

114 216

119 88 130 145 110h7 165 6 12 9 28h6 50

R88M-W4K030j-Bj

274 151 253

R88M-W5K030j-Bj

314 191 293

Note The external dimensions are the same for IP67 (waterproof) models (-BOj).

Standard Models and Specifications

Chapter 2

2-39

H 3,000-r/min Flat-style Servomotors without a Brake

D 100 V AC: 100 W/200 W

R88M-WP10030L(-S1)/-WP20030L(-S1) [Incremental] R88M-WP10030S(-S1)/-WP20030S(-S1) [Absolute]

D 200 V AC: 100 W/200 W/400 W/750 W/1.5 kW

R88M-WP10030H(-S1)/-WP20030H(-S1)/-WP40030H(-S1)/-WP75030H(-S1)/

-WP1K530H(-S1) [Incremental] R88M-WP10030T(-S1)/-WP20030T(-S1)/-WP40030T(-S1)/-WP75030T(-S1)/

-WP1K530T(-S1) [Absolute]

IP67 (-Wj) flange dimensions

Four, Z dia.

D1 dia.

D2 dia.

S dia.

Dimensions of shaft end with key (-jS1)

DW1 dia.

DW2 dia.

Dimensions of shaft end with key and tap (-jS2)

7 dia.

M (effective depth: )

6 dia.

Model

Dimensions (mm)

Model

Basic servomotor dimensions With key (shaft end

dimensions)

Waterproof type (flange

dimensions)

Cable lead-in section Ta p

LL LR C D1 D2 F G Z S QK b h t1 W1 W2 DW1 DW2 A1 A2 A3 A4 A5 M



R88M-WP 10030j-j

62 25 60 70 50h7 3 6 5.5 8h6 14 3 3 1.8 1 4 39 22

9 18 25 21 14

M3 6

R88M-WP 20030j-j

30 80 90 70h7 3 8 7 14h6 16 5 5 3 3.5 7 49 35 M5 8

R88M-WP 40030j-j

R88M-WP 75030j-j

86.5

40 120 145 110h7 3.5 10 10

16h6

5 5 3

1.5 7 77 55 28 38 19

R88M-WP 1K530j-j

114.5 19h6 6 6 3.5 M6 10

Standard Models and Specifications

Chapter 2

2-40

H 3,000-r/min Flat-style Servomotors with a Brake

D 100 V AC: 100 W/200 W

R88M-WP10030L-B(S1)/-WP20030L-B(S1) [Incremental] R88M-WP10030S-B(S1)/-WP20030S-B(S1) [Absolute]

D 200 V AC: 100 W/200 W/400 W/750 W/1.5 kW

R88M-WP10030H-B(S1)/-WP20030H-B(S1)/-WP40030H-B(S1)/-WP75030H-B(S1)/

-WP1K530H-B(S1) [Incremental] R88M-WP10030T-B(S1)/-WP20030T-B(S1)/-WP40030T-B(S1)/-WP75030T-B(S1)/

-WP1K530T-B(S1) [Absolute]

Four, Z dia.

D1 dia.

D2 dia.

S dia.

IP67 (-BWj) flange dimensions

Dimensions of shaft end with key (-BjS1)

DW1 dia.

DW2 dia.

Dimensions of shaft end with key and tap (-BjS2)

7 dia.

M (effective depth: )

6 dia.

Model

Dimensions (mm)

Model

Basic servomotor dimensions With key (shaft end

dimensions)

Waterproof type (flange

dimensions)

Cable lead-in section Ta p

LL LR C D1 D2 F G Z S QK b h t1 W1 W2 DW1 DW2 A1 A2 A3 A4 A5 M



R88M-WP 10030j-Bj

91 25 60 70 50h7 3 6 5.5 8h6 14 3 3 1.8 1 4 39 22

9 18 25 21 23

M3 6

R88M-WP 20030j-Bj

98.5

30 80 90 70h7 3 8 7 14h6 16 5 5 3 3.5 7 49 35 M5 8

R88M-WP 40030j-Bj

118.5

R88M-WP 75030j-Bj

120

40 120 145 110h7 3.5 10 10

16h6

5 5 3

1.5 7 77 55 28 38 26

R88M-WP 1K530j-Bj

148 19h6 6 6 3.5 M6 10

Standard Models and Specifications

Chapter 2

2-41

H 1,000-r/min Servomotors without a Brake

D 200 V AC: 300 W/600 W/900 W/1.2 kW/2.0 kW/3.0 kW

R88M-W30010H(-S2)/-W60010H(-S2)/-W90010H(-S2)/-W1K210H(-S2)/

-W2K010H(-S2)/-W3K010H(-S2) [Incremental] R88M-W30010T(-S2)/-W60010T(-S2)/-W90010T(-S2)/-W1K210T(-S2)/

-W2K010T(-S2)/-W3K010T(-S2) [Absolute]

Four, Z dia.

D1 dia.

D2 dia.

D3 dia.

S dia.

Dimensions of output section of 300-W to 900-W Servomotors

Dimensions of shaft end with key (-S2)

M (Effective depth: )

30 dia.

Model

Dimensions (mm)

Model

LL LR KB1 KB2 KL1 KL2 C D1 D2 D3 F G Z S QK b h t1 M



R88M-W30010j-j

138

65 11 7

109 88 130 145 110h7 165 6 12 9 19h6 25 5 5 3 M5 12

R88M-W60010j-j

161

88 140

10988130

145

110h7

165612919h625553M512

R88M-W90010j-j

185 11 2 164 22h6 6 6 3.5

R88M-W1K210j-j

166

89 144

140 88 180 200

114.3

230 3.2 18 13.5

0.01

60 10 8 5 M12 25

R88M-W2K010j-j

192

115 170

14088180

200

114.3

–0.025

230

3.21813.5 35

0

601085M12

R88M-W3K010j-j

226 149 204

Note The external dimensions are the same for IP67 (waterproof) models (-Oj).

Standard Models and Specifications

Chapter 2

2-42

H 1,000-r/min Servomotors with a Brake

D 200 V AC: 300 W/600 W/900 W/1.2 kW/2.0 kW/3.0 kW

R88M-W30010H-B(S2)/-W60010H-B(S2)/-W90010H-B(S2)/-W1K210H-B(S2)/

-W2K010H-B(S2)/-W3K010H-B(S2) [Incremental] R88M-W30010T-B(S2)/-W60010T-B(S2)/-W90010T-B(S2)/-W1K210T-B(S2)/

-W2K010T-B(S2)/-W3K010T-B(S2) [Absolute]

Four, Z dia.

D1 dia.

D2 dia.

D3 dia.

S dia.

Dimensions of output section of 300-W to 900-W Servomotors

Dimensions of shaft end with key (-BS2)

M (Effective depth: )

30 dia.

Model

Dimensions (mm)

Model

LL LR KB1 KB2 KL1 KL2 C D1 D2 D3 F G Z S QK b h t1 M



R88M-W30010j-Bj

176

56 154

120 88 130 145 110h7 165 6 12 9 19h6 25 5 5 3 M5 12

R88M-W60010j-Bj

199

79 177

12088130

145

110h7

165612919h625553M512

R88M-W90010j-Bj

223 103 201 22h6 6 6 3.5

R88M-W1K210j-Bj

217

79 195

146 88 180 200

114.3

230 3.2 18 13.5

0.01

60 10 8 5 M12 25

R88M-W2K010j-Bj

243

105 221

14688180

200

114.3

–0.025

230

3.21813.5 35

0

601085M12

R88M-W3K010j-Bj

277 139 255

Note The external dimensions are the same for IP67 (waterproof) models (-BOj).

Standard Models and Specifications

Chapter 2

2-43

H 1,000-r/min Servomotors without a Brake

D 200 V AC: 4 kW/5.5 kW

R88M-W4K010H(-S2)/-W5K010H(-S2) [Incremental] R88M-W4K010T(-S2)/-W5K010T(-S2) [Absolute]

Four,

13.5 dia.

200 dia.

42h6 dia.

230 dia.

Dimensions of shaft end with key (-S2)

M16 (Effective depth: 32)

114.3 dia.

–0.025

Model

Dimensions (mm)

LL KB1 KB2

R88M-W4K010j-j

260 174 238

R88M-W5K010j-j

334 248 312

Note The external dimensions are the same for IP67 (waterproof) models (-Oj).

Standard Models and Specifications

Chapter 2

2-44

H 1,000-r/min Servomotors with a Brake

D 200 V AC: 4 kW/5.5 kW

R88M-W4K010H-B(S2)/-W5K510H-B(S2) [Incremental] R88M-W4K010T-B(S2)/-W5K510T-B(S2) [Absolute]

Four,

13.5 dia.

200 dia.

42h6 dia.

230 dia.

Dimensions of shaft end with key (-BS2)

M16 (Effective depth: 32)

114.3 dia.

–0.025

Model

Dimensions (mm)

LL KB1 KB2 KB3

R88M-W4K010j-Bj

311 174 289 231

R88M-W5K510j-Bj

365 248 363 305

Note The external dimensions are the same for IP67 (waterproof) models (-BOj).

Standard Models and Specifications

Chapter 2

2-45

H 1,500-r/min Servomotors without a Brake

D 200 V AC: 450 W/850 W/1.3 kW/1.8 kW/2.9 kW/4.4 kW

R88M-W45015T(-S2)/-W85015T(-S2)/-W1K315T(-S2)/-W1K815T(-S2)/-W2K915T(-S2))/

-W4K415T(-S2) [Absolute]

Dimensions of output section of 450-W to 1.3-kW Servomotors

Dimensions of shaft end with key (-S2)

M (Effective depth: )

Four, Z dia.

30 dia.

D2 dia.

S dia.

D1 dia.

D3 dia.

Model

Dimensions (mm)

Model

LL LR KB1 KB2 KL1 KL2 C D1 D2 D3 F G Z S QK b h t1 M



R88M-W45015T-j

138

65 11 7

109 88 130 145 110h7 165 6 12 9 19h6 25 5 5 3 M5 12

R88M-W85015T-j

161

88 140

10988130

145

110h7

165612919h625553M512

R88M-W1K315T-j

185 11 2 164 22h6 6 6 3.5

R88M-W1K815T-j

166

89 144

140 88 180 200

114.3

230 3.2 18 13.5

0.01

60 10 8 5 M12 25

R88M-W2K915T-j

192

115 170

14088180

200

114.3

–0.025

230

3.21813.5 35

0

601085M12

R88M-W4K415T-j

226 149 204

Note The external dimensions are the same for IP67 (waterproof) models (Oj).

Standard Models and Specifications

Chapter 2

2-46

H 1,500-r/min Servomotors with a Brake

D 200 V AC: 450 W/850 W/1.3 kW/1.8 kW/2.9 kW/4.4 kW

R88M-W45015T-B(S2)/-W85015T-B(S2)/-W1K315T-B(S2)/-W1K815T-B(S2)/

-W2K915T-B(S2)/-W4K415T-B(S2) [Absolute]

Dimensions of output section of 450-W to 1.3-kW Servomotors

Dimensions of shaft end with key (-BS2)

M (Effective depth: )

Four, Z dia.

30 dia.

D2 dia.

S dia.

D1 dia.

D3 dia.

Model

Dimensions (mm)

Model

LL LR KB1 KB2 KL1 KL2 C D1 D2 D3 F G Z S QK b h t1 M



R88M-W45015T-Bj

176

56 154

120 88 130 145 110h7 165 6 12 9 19h6 25 5 5 3 M5 12

R88M-W85015T-Bj

199

79 177

12088130

145

110h7

165612919h625553M512

R88M-W1K315T-Bj

223 103 201 22h6 6 6 3.5

R88M-W1K815T-Bj

217

79 195

146 88 180 200

114.3

230 3.2 18 13.5

0.01

60 10 8 5 M12 25

R88M-W2K915T-Bj

243

105 221

14688180

200

114.3

–0.025

230

3.21813.5 35

0

601085M12

R88M-W4K415T-Bj

277 139 255

Note The external dimensions are the same for IP67 (waterproof) models (-BOj).

Standard Models and Specifications

Chapter 2

2-47

H 1,500-r/min Servomotors without a Brake

D 200 V AC: 5.5 kW/7.5 kW/11 kW/15 kW

R88M-W5K515T(-S2)/-W7K515T(-S2)/-W11K015T(-S2)/-W15K015T(-S2) [Absolute]

Dimensions of shaft end with key (-S2)

M (Effective depth: )

Four, Z dia.

D2 dia.

S dia.

D1 dia.

D3 dia.

Dimensions of output section of 11-kW and 15-kW Servomotors

15 dia.

Model

Dimensions (mm)

Model

LL LR KB1 KB2 KL1 KL2 IE C D1 D2 D3 F G Z S QK b h t1 M



R88M-W5K515T-j

260

113

174 238

150 150 123 180 200

114.

230 3.2 18 13.5 42h6 90 12 8 5 M16 32

R88M-W7K515T-j

334

113

248 312

150

123

180

200

114.3

–0.025

230

3.21813.5

42h6901285

M16

R88M-W11K015T-j

338

116

251 317

168 168

142

220 235 200h7 270 4

13.5

42h6

12 8 5 M16 32

R88M-W15K015T-j

457

116

343 435

168

150

220

235

200h7

270

42013.5

0.030 0.011

16 10 6 M20 40

Note The external dimensions are the same for IP67 (waterproof) models (Oj).

Standard Models and Specifications

Chapter 2

2-48

H 1,500-r/min Servomotors with a Brake

D 200 V AC: 5.5 kW/7.5 kW/11 kW/15 kW

R88M-W5K515T-B(S2)/-W7K515T-B(S2)/-W11K015T-B(S2)/-W15K015T-B(S2) [Absolute]

Dimensions of shaft end with key (-BS2)

M (Effective depth: )

Four, Z dia.

D2 dia.

S dia.

D1 dia.

D3 dia.

Dimensions of output section of 11-kW and 15-kW Servomotors

15 dia.

Model

Dimensions (mm)

Model

LL LR KB1 KB2 KB3 KL1 KL2 KL3 IE C D1 D2 D3 F G Z S QK b h t1 M



R88M-W5K515T-Bj

311

113

174 289 231

150 88 123 123 180 200

114.3

0 –0.025

230 3.2 18 13.5 42h6 90 12 8 5 M16 32

R88M-W7K515T-Bj

385 248 363 305

114.3

0 –0.025

R88M-W11K015T-Bj

383

116

258 362 315

168 88 142

142

220 235

200h7

270 4

13.5

42h6

12 8 5 M16 32

R88M-W15K015T-Bj

519

116

343 497 415

16888142

150

220

235

200h7

270

42013.5

0.030 0.011

16 10 6 M20 40

Note The external dimensions are the same for IP67 (waterproof) models (-BOj).

Standard Models and Specifications

Chapter 2

2-49

2-3-4 AC Servomotors with Gears

H AC Servomotors with Standard Gears

D 3,000-r/min Servomotors (30 to 750 W) with Standard Gears

Model Dia-

Dimensions (mm)

ode

gram

LM LR C1 C2 D1 D2 D3 D4 D5 D6

WOB* WB*

CC356

30 W

1/5

R88M-W03030j-jG05BJ

1, 1-1

69.5 101 28 55 60 40 80 70 56 55.5 40 ---

1/9

R88M-W03030j-jG09BJ

69.5 101 28 55 60 40 80 70 56 55.5 40 ---

1/21

R88M-W03030j-jG21BJ

69.5 101 43 55 60 40 60 70 56 55.5 40 ---

1/33

R88M-W03030j-jG33BJ

69.5 101 43 55 60 40 80 70 56 55.5 40 ---

50 W

1/5

R88M-W05030j-jG05BJ

1, 1-1

77 108.5 28 55 60 40 80 70 56 55.5 40 ---

1/9

R88M-W05030j-jG09BJ

77 108.5 29 60 70 40 95 80 65 64.5 50 ---

1/21

R88M-W05030j-jG21BJ

1, 1-2

77 108.5 46 60 70 40 (92) 80 65 64.5 40 8

1/33

R88M-W05030j-jG33BJ

77 108.5 46 60 70 40 (92) 80 65 64.5 40 8

100 W

1/5

R88M-W10030j-jG05BJ

1, 1-2

94.5 135 29 60 70 40 (92) 80 65 64.5 40 8

1/11

R88M-W10030j-jG11BJ

94.5 135 46 60 70 40 (92) 80 65 64.5 40 8

1/21

R88M-W10030j-jG21BJ

94.5 135 55 74 90 40 (120) 105 85 84 59 9

1/33

R88M-W10030j-jG33BJ

94.5 135 55 74 90 40 (120) 105 85 84 59 9

200 W

1/5

R88M-W20030j-jG05BJ

96.5 136 38 74 90 60 (120) 105 85 84 59 9

1/11

R88M-W20030j-jG11BJ

96.5 136 55 74 90 60 (120) 105 85 84 59 9

1/21

R88M-W20030j-jG21BJ

96.5 136 63 84 105 60 (139) 120 100 96 59 12

1/33

R88M-W20030j-jG33BJ

96.5 136 63 84 105 60 (139) 120 100 96 59 12

400 W

1/5

R88M-W40030j-jG05BJ

124.5 164 38 74 90 60 (120) 105 85 84 59 9

1/11

R88M-W40030j-jG11BJ

124.5 164 63 84 105 60 (139) 120 100 96 59 12

1/21

R88M-W40030j-jG21BJ

124.5 164 71 105 120 60 (158) 135 11 5 112 59 14

1/33

R88M-W40030j-jG33BJ

124.5 164 71 105 120 60 (158) 135 11 5 114 84 14

750 W

1/5

R88M-W75030j-jG05BJ

145 189.5 42 84 105 80 (139) 120 100 96 59 12

1/11

R88M-W75030j-jG11BJ

145 189.5 71 105 120 80 (158) 135 11 5 112 59 14

1/21

R88M-W75030j-jG21BJ

145 189.5 78 142 145 80 (192) 165 140 134 84 16

1/33

R88M-W75030j-jG33BJ

145 189.5 78 142 145 80 (192) 165 140 134 84 16

Note 1. WOB and WB mean “without brake” and “with brake” respectively. Note 2. The values in parentheses are reference values.

Diagram 1

Key dimensions

M (Effective depth: )

Four, Z dia.

D1 dia.

D2 dia.

D3h7 dia.

D4 dia.

D5 dia.

Sh7 dia.

Diagram 1-1

Diagram 1-2

Four, RD6

D1 dia.

Four, Z dia.

D2 dia.

C1  C1

C2 x C2

Standard Models and Specifications

Chapter 2

2-50

Dimensions (mm)

Model

E1 E2 F G S T Z

Key dimensions

ode

QK b h t1 M 

27 35 6 8 14 25 5.5 20 5 5 3 M4 8

30 W

1/5

R88M-W03030j-jG05BJ

27 35 6 8 14 25 5.5 20 5 5 3 M4 8

1/9

R88M-W03030j-jG09BJ

27 35 6 8 14 25 5.5 20 5 5 3 M4 8 1/21

R88M-W03030j-jG21BJ

27 35 6 8 14 25 5.5 20 5 5 3 M4 8 1/33

R88M-W03030j-jG33BJ

27 35 6 8 14 25 5.5 20 5 5 3 M4 8

50 W

1/5

R88M-W05030j-jG05BJ

30 38 8 9 16 28 6.6 25 5 5 3 M4 8

1/9

R88M-W05030j-jG09BJ

30 39 8 9 16 28 6.6 25 5 5 3 M4 8 1/21

R88M-W05030j-jG21BJ

30 39 8 9 16 28 6.6 25 5 5 3 M4 8 1/33

R88M-W05030j-jG33BJ

30 39 8 9 16 28 6.6 25 5 5 3 M4 8

100 W

1/5

R88M-W10030j-jG05BJ

30 39 8 9 16 28 6.6 25 5 5 3 M4 8

1/11

R88M-W10030j-jG11BJ

38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10 1/21

R88M-W10030j-jG21BJ

38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10 1/33

R88M-W10030j-jG33BJ

38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10

200 W

1/5

R88M-W20030j-jG05BJ

38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10

1/11

R88M-W20030j-jG11BJ

44 55 12 12 25 42 9 36 8 7 4 M6 12 1/21

R88M-W20030j-jG21BJ

44 55 12 12 25 42 9 36 8 7 4 M6 12 1/33

R88M-W20030j-jG33BJ

38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10

400 W

1/5

R88M-W40030j-jG05BJ

44 55 12 12 25 42 9 36 8 7 4 M6 12

1/11

R88M-W40030j-jG11BJ

60 72 14 13 32 58 11 50 10 8 5 M8 16 1/21

R88M-W40030j-jG21BJ

60 72 12.5 13 32 58 11 50 10 8 5 M8 16 1/33

R88M-W40030j-jG33BJ

44 55 12 12 25 42 9 36 8 7 4 M6 12

750 W

1/5

R88M-W75030j-jG05BJ

60 72 14 13 32 58 11 50 10 8 5 M8 16

1/11

R88M-W75030j-jG11BJ

85 102 10 15 40 82 14 70 12 8 5 M10 20 1/21

R88M-W75030j-jG21BJ

85 102 10 15 40 82 14 70 12 8 5 M10 20 1/33

R88M-W75030j-jG33BJ

Diagram 2

Key dimensions

M (Effective depth: )

Four, RD6

D1 dia.

D3h7 dia.

D4 dia.

D5 dia.

Sh7 dia.

Four, Z dia.

D2 dia.

C1  C1

C2 x C2

Standard Models and Specifications

Chapter 2

2-51

D 3,000-r/min Servomotors (1 to 5 kW) with Standard Gears

Model Dia-

Dimensions (mm)

gram

LM LR C1 C2 D1 D2 D3 D4 D5

No.

WOB* WB*

1 kW

1/5

R88M-W1K030j-jG05BJ

149 193 154 100 140 100 185 160 130 94 91

1/9

R88M-W1K030j-jG09BJ

149 193 166 100 140 100 185 160 130 94 91

1/20

R88M-W1K030j-jG20BJ

149 193 207 140 – 100 245 220 190 135 130

1/29

R88M-W1K030j-jG29BJ

149 193 207 140 – 100 245 220 190 135 130

1/45

R88M-W1K030j-jG45BJ

149 193 217 140 – 100 245 220 190 135 130

1.5 kW

1/5

R88M-W1K530j-jG05BJ

1 175 219 154 100 140 100 185 160 130 94 91

1/9

R88M-W1K530j-jG09BJ

175 219 203 140 – 100 245 220 190 135 130

1/20

R88M-W1K530j-jG20BJ

175 219 207 140 – 100 245 220 190 135 130

1/29

R88M-W1K530j-jG29BJ

175 219 207 140 – 100 245 220 190 135 130

1/45

R88M-W1K530j-jG45BJ

175 219 238 160 – 100 310 280 240 186 182

2 kW

1/5

R88M-W2K030j-jG05BJ

1 198 242 154 100 140 100 185 160 130 94 91

1/9

R88M-W2K030j-jG09BJ

198 242 203 140 – 100 245 220 190 135 130

1/20

R88M-W2K030j-jG20BJ

198 242 207 140 – 100 245 220 190 135 130

1/29

R88M-W2K030j-jG29BJ

198 242 228 160 – 100 310 280 240 186 182

1/45

R88M-W2K030j-jG45BJ

198 242 238 160 – 100 310 280 240 186 182

3 kW

1/5

R88M-W3K030j-jG05BJ

199 237 201 140 – 130 245 220 190 135 130

1/9

R88M-W3K030j-jG09BJ

199 237 228 140 – 130 245 220 190 135 130

1/20

R88M-W3K030j-jG20BJ

199 237 253 160 – 130 310 280 240 186 182

1/29

R88M-W3K030j-jG29BJ

199 237 253 160 – 130 310 280 240 186 182

1/45

R88M-W3K030j-jG45BJ

199 237 263 160 – 130 310 280 240 186 182

4 kW

1/5

R88M-W4K030j-jG05BJ

236 274 201 140 – 130 245 220 190 135 130

1/9

R88M-W4K030j-jG09BJ

236 274 253 160 – 130 310 280 240 186 182

1/20

R88M-W4K030j-jG20BJ

236 274 253 160 – 130 310 280 240 186 182

1/29

R88M-W4K030j-jG29BJ

236 274 253 160 – 130 310 280 240 186 182

5 kW

1/5

R88M-W5K030j-jG05BJ

276 314 221 160 – 130 310 280 240 186 182

1/9

R88M-W5K030j-jG09BJ

276 314 253 160 – 130 310 280 240 186 182

1/20

R88M-W5K030j-jG20BJ

276 314 253 160 – 130 310 280 240 186 182

Note WOB and WB mean “without brake” and “with brake” respectively.

Diagram 1

Key dimensions

Four, Z dia.

D1 dia.

D2 dia.

D3h7 dia.

D4 dia.

D5 dia.

Sh6 dia.

Standard Models and Specifications

Chapter 2

2-52

Dimensions (mm)

Model

E1 E3 F G S T Z IE

Key dimensions

QK b h t1

57 20 3 12 35 55 12 – 47 10 8 5

1 kW

1/5

R88M-W1K030j-jG05BJ

57 20 3 12 35 55 12 – 47 10 8 5 1/9

R88M-W1K030j-jG09BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/20

R88M-W1K030j-jG20BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/29

R88M-W1K030j-jG29BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/45

R88M-W1K030j-jG45BJ

57 20 3 12 35 55 12 – 47 10 8 5

1.5 kW

1/5

R88M-W1K530j-jG05BJ

77 33 5 15 50 75 12 137 65 14 9 5.5

1/9

R88M-W1K530j-jG09BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/20

R88M-W1K530j-jG20BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/29

R88M-W1K530j-jG29BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/45

R88M-W1K530j-jG45BJ

57 20 3 12 35 55 12 – 47 10 8 5

2 kW

1/5

R88M-W2K030j-jG05BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/9

R88M-W2K030j-jG09BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/20

R88M-W2K030j-jG20BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/29

R88M-W2K030j-jG29BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/45

R88M-W2K030j-jG45BJ

77 33 5 15 50 75 12 137 65 14 9 5.5

3 kW

1/5

R88M-W3K030j-jG05BJ

77 33 5 15 50 75 12 137 65 14 9 5.5

1/9

R88M-W3K030j-jG09BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/20

R88M-W3K030j-jG20BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/29

R88M-W3K030j-jG29BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/45

R88M-W3K030j-jG45BJ

77 33 5 15 50 75 12 137 65 14 9 5.5

4 kW

1/5

R88M-W4K030j-jG05BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/9

R88M-W4K030j-jG09BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/20

R88M-W4K030j-jG20BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/29

R88M-W4K030j-jG29BJ

92 38 5 18 60 90 14 171 78 18 11 7

5 kW

1/5

R88M-W5K030j-jG05BJ

92 38 5 18 60 90 14 171 78 18 11 7

1/9

R88M-W5K030j-jG09BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/20

R88M-W5K030j-jG20BJ

Key dimensions

Six, Z dia.

D1 dia.

D2 dia.

D3h7 dia.

D4 dia.

D5 dia.

Sh7 dia.

Diagram 2

Standard Models and Specifications

Chapter 2

2-53

D 3,000-r/min Flat-style Servomotors (100 W to 1.5 kW) with Standard Gears

Model Dia-

Dimensions (mm)

ode

gram

LM LR C1 C2 D1 D2 D3 D4 D5 D6

WOB* WB*

CC356

100 W

1/5

R88M-WP10030j-jG05BJ

62 91 46 60 70 60 (92) 80 65 64.5 40 8

1/11

R88M-WP10030j-jG11BJ

62 91 46 60 70 60 (92) 80 65 64.5 40 8

1/21

R88M-WP10030j-jG21BJ

62 91 55 74 90 60 (120) 105 85 84 59 9

1/33

R88M-WP10030j-jG33BJ

62 91 55 74 90 60 (120) 105 85 84 59 9

200 W

1/5

R88M-WP20030j-jG05BJ

67 98.5 56 74 90 80 (120) 105 85 84 59 9

1/11

R88M-WP20030j-jG11BJ

67 98.5 56 74 90 80 (120) 105 85 84 59 9

1/21

R88M-WP20030j-jG21BJ

67 98.5 64 84 105 80 (139) 120 100 96 59 12

1/33

R88M-WP20030j-jG33BJ

67 98.5 64 84 105 80 (139) 120 100 96 59 12

400 W

1/5

R88M-WP40030j-jG05BJ

87 118.5 56 74 90 80 (120) 105 85 84 59 9

1/11

R88M-WP40030j-jG11BJ

87 118.5 64 84 105 80 (139) 120 100 96 59 12

1/21

R88M-WP40030j-jG21BJ

87 118.5 71 105 120 80 (158) 135 115 112 59 14

1/33

R88M-WP40030j-jG33BJ

87 118.5 72 105 120 80 (158) 135 115 114 84 14

750 W

1/5

R88M-WP75030j-jG05BJ

86.5 120 64 84 105 120 (139) 120 100 96 59 12

1/11

R88M-WP75030j-jG11BJ

86.5 120 72 105 120 120 (158) 135 11 5 112 59 14

1/21

R88M-WP75030j-jG21BJ

96.5 120 88 142 145 120 (192) 165 140 134 84 16

1/33

R88M-WP75030j-jG33BJ

96.5 120 88 142 145 120 (192) 165 140 134 84 16

1.5 kW

1/5

R88M-WP1K530j-jG05BJ

114.5 148 72 105 120 120 (158) 135 11 5 114 84 14

1/11

R88M-WP1K530j-jG11BJ

114.5 148 88 142 145 120 (192) 165 140 134 84 16

1/21

R88M-WP1K530j-jG21BJ

114.5 148 94 156 170 120 215 190 165 163 135 ---

1/33

R88M-WP1K530j-jG33BJ

114.5 148 94 156 170 120 215 190 165 163 135 ---

Note 1. WOB and WB mean “without brake” and “with brake” respectively. Note 2. The values in parentheses are reference values.

Diagram 1

Key dimensions

M (Effective depth: )

Four, Z dia.

D1 dia.

D2 dia.

D3h7 dia.

D4 dia.

D5 dia.

Sh7 dia.

Four, RD6

C1  C1

C2 x C2

Standard Models and Specifications

Chapter 2

2-54

Dimensions (mm)

Model

E1 E2 F G S T Z

Key dimensions

QK b h t1 M 

30 39 8 9 16 28 6.6 25 5 5 3 M4 8

100 W

1/5

R88M-WP10030j-jG05BJ

30 39 8 9 16 28 6.6 25 5 5 3 M4 8

1/11

R88M-WP10030j-jG11BJ

38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10 1/21

R88M-WP10030j-jG21BJ

38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10 1/33

R88M-WP10030j-jG33BJ

38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10

200 W

1/5

R88M-WP20030j-jG05BJ

38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10

1/11

R88M-WP20030j-jG11BJ

44 55 12 12 25 42 9 36 8 7 4 M6 12 1/21

R88M-WP20030j-jG21BJ

44 55 12 12 25 42 9 36 8 7 4 M6 12 1/33

R88M-WP20030j-jG33BJ

38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10

400 W

1/5

R88M-WP40030j-jG05BJ

44 55 12 12 25 42 9 36 8 7 4 M6 12

1/11

R88M-WP40030j-jG11BJ

60 72 14 13 32 58 11 50 10 8 5 M8 16 1/21

R88M-WP40030j-jG21BJ

60 72 12.5 13 32 58 11 50 10 8 5 M8 16 1/33

R88M-WP40030j-jG33BJ

44 55 12 12 25 42 9 36 8 7 4 M6 12

750 W

1/5

R88M-WP75030j-jG05BJ

60 72 14 13 32 58 11 50 10 8 5 M8 16

1/11

R88M-WP75030j-jG11BJ

85 102 10 15 40 82 14 70 12 8 5 M10 20 1/21

R88M-WP75030j-jG21BJ

85 102 10 15 40 82 14 70 12 8 5 M10 20 1/33

R88M-WP75030j-jG33BJ

60 72 12.5 13 32 58 11 50 10 8 5 M8 16

1.5 kW

1/5

R88M-WP1K530j-jG05BJ

85 102 10 15 40 82 14 70 12 8 5 M10 20

1/11

R88M-WP1K530j-jG11BJ

86 105 16 16 45 82 14 70 14 9 5.5 M10 20 1/21

R88M-WP1K530j-jG21BJ

86 105 16 16 45 82 14 70 14 9 5.5 M10 20 1/33

R88M-WP1K530j-jG33BJ

Diagram 2

Key dimensions

M (Effective depth: )

Four, Z dia.

D1 dia.

D2 dia.

Sh7 dia.

C1  C1

C2 x C2

D3h7 dia.

D5 dia.

D4 dia.

Standard Models and Specifications

Chapter 2

2-55

D 1,000-r/min Servomotors (300 to 3 kW) with Standard Gears

Model Dia-

Dimensions (mm)

gram

LM LR C1 C2 D1 D2 D3 D4 D5

WOB* WB*

300 W

1/5

R88M-W30010j-jG05BJ

138 176 156 100 140 130 185 160 130 94 91

300

1/9

R88M-W30010j-jG09BJ

138 176 168 100 140 130 185 160 130 94 91

1/20

R88M-W30010j-jG20BJ

138 176 187 100 140 130 185 160 130 94 91

1/29

R88M-W30010j-jG29BJ

138 176 213 140 – 130 245 220 190 135 130

1/45

R88M-W30010j-jG45BJ

138 176 223 140 – 130 245 220 190 135 130

600 W

1/5

R88M-W60010j-jG05BJ

161 199 156 100 140 130 185 160 130 94 91

600

1/9

R88M-W60010j-jG09BJ

161 199 168 100 140 130 185 160 130 94 91

1/20

R88M-W60010j-jG20BJ

161 199 213 140 – 130 245 220 190 135 130

1/29

R88M-W60010j-jG29BJ

161 199 213 140 – 130 245 220 190 135 130

1/45

R88M-W60010j-jG45BJ

161 199 244 160 – 130 310 280 240 186 182

900 W

1/5

R88M-W90010j-jG05BJ

1 185 223 156 100 140 130 185 160 130 94 91

900

1/9

R88M-W90010j-jG09BJ

185 223 209 140 – 130 245 220 190 135 130

1/20

R88M-W90010j-jG20BJ

185 223 213 140 – 130 245 220 190 135 130

1/29

R88M-W90010j-jG29BJ

185 223 234 160 – 130 310 280 240 186 182

1/45

R88M-W90010j-jG45BJ

185 223 244 160 – 130 310 280 240 186 182

1.2 kW

1/5

R88M-W1K210j-jG05BJ

166 217 203 140 – 180 245 220 190 135 130

1/9

R88M-W1K210j-jG09BJ

166 217 230 140 – 180 245 220 190 135 130

1/20

R88M-W1K210j-jG20BJ

166 217 255 160 – 180 310 280 240 186 182

1/29

R88M-W1K210j-jG29BJ

166 217 255 160 – 180 310 280 240 186 182

1/45

R88M-W1K210j-jG45BJ

166 217 265 160 – 180 310 280 240 186 182

2 kW

1/5

R88M-W2K010j-jG05BJ

192 243 203 140 – 180 245 220 190 135 130

1/9

R88M-W2K010j-jG09BJ

192 243 230 140 – 180 245 220 190 135 130

1/20

R88M-W2K010j-jG20BJ

192 243 255 160 – 180 310 280 240 186 182

3 kW

1/5

R88M-W3K010j-jG05BJ

226 277 223 160 – 180 310 280 240 186 182

1/9

R88M-W3K010j-jG11BJ

226 277 255 160 – 180 310 280 240 186 182

Note WOB and WB mean “without brake” and “with brake” respectively.

Diagram 1

Key dimensions

Four, Z dia.

D1 dia.

D2 dia.

D3h7 dia.

D4 dia.

D5 dia.

Sh6 dia.

Standard Models and Specifications

Chapter 2

2-56

Dimensions (mm)

Model

E1 E3 F G S T Z IE

Key dimensions

QK b h t1

57 20 3 12 35 55 12 – 47 10 8 5

300 W

1/5

R88M-W30010j-jG05BJ

57 20 3 12 35 55 12 – 47 10 8 5

300

1/9

R88M-W30010j-jG09BJ

57 20 3 12 35 55 12 – 47 10 8 5 1/20

R88M-W30010j-jG20BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/29

R88M-W30010j-jG29BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/45

R88M-W30010j-jG45BJ

57 20 3 12 35 55 12 – 47 10 8 5

600 W

1/5

R88M-W60010j-jG05BJ

57 20 3 12 35 55 12 – 47 10 8 5

600

1/9

R88M-W60010j-jG09BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/20

R88M-W60010j-jG20BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/29

R88M-W60010j-jG29BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/45

R88M-W60010j-jG45BJ

57 20 3 12 35 55 12 – 47 10 8 5

900 W

1/5

R88M-W90010j-jG05BJ

77 33 5 15 50 75 12 137 65 14 9 5.5

900

1/9

R88M-W90010j-jG09BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/20

R88M-W90010j-jG20BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/29

R88M-W90010j-jG29BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/45

R88M-W90010j-jG45BJ

77 33 5 15 50 75 12 137 65 14 9 5.5

1.2 kW

1/5

R88M-W1K210j-jG05BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/9

R88M-W1K210j-jG09BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/20

R88M-W1K210j-jG20BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/29

R88M-W1K210j-jG29BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/45

R88M-W1K210j-jG45BJ

77 33 5 15 50 75 12 137 65 14 9 5.5

2 kW

1/5

R88M-W2K010j-jG05BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/9

R88M-W2K010j-jG09BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/20

R88M-W2K010j-jG20BJ

92 38 5 18 60 90 14 171 78 18 11 7

3 kW

1/5

R88M-W3K010j-jG05BJ

92 38 5 18 60 90 14 171 78 18 11 7

1/9

R88M-W3K010j-jG11BJ

Diagram 2

Key dimensions

Six, Z dia.

D1 dia.

D2 dia.

D3h7 dia.

D4 dia.

D5 dia.

Sh6 dia.

Standard Models and Specifications

Chapter 2

2-57

D 1,500-r/min Servomotors (450 W to 4.4 kW) with Standard Gears

Model Dia-

Dimensions (mm)

gram

LM LR C1 C2 D1 D2 D3 D4 D5

WOB* WB*

450 W

1/5

R88M-W45015T-jG05BJ

138 176 156 100 140 130 185 160 130 94 91

1/9

R88M-W45015T-jG09BJ

138 176 168 100 140 130 185 160 130 94 91

1/20

R88M-W45015T-jG20BJ

138 176 213 140 – 130 245 220 190 135 130

1/29

R88M-W45015T-jG29BJ

138 176 213 140 – 130 245 220 190 135 130

1/45

R88M-W45015T-jG45BJ

138 176 223 140 – 130 245 220 190 135 130

850 W

1/5

R88M-W85015T-jG05BJ

161 199 156 100 140 130 185 160 130 94 91

850

1/9

R88M-W85015T-jG09BJ

161 199 168 100 140 130 185 160 130 94 91

1/20

R88M-W85015T-jG20BJ

161 199 213 140 – 130 245 220 190 135 130

1/29

R88M-W85015T-jG29BJ

161 199 213 140 – 130 245 220 190 135 130

1/45

R88M-W85015T-jG45BJ

161 199 244 160 – 130 310 280 240 186 182

1.3 kW

1/5

R88M-W1K315T-jG05BJ

185 223 182 140 – 130 245 220 190 135 130

1/9

R88M-W1K315T-jG09BJ

185 223 209 140 – 130 245 220 190 135 130

1/20

R88M-W1K315T-jG20BJ

185 223 213 140 – 130 245 220 190 135 130

1/29

R88M-W1K315T-jG29BJ

185 223 234 160 – 130 310 280 240 186 182

1/45

R88M-W1K315T-jG45BJ

185 223 244 160 – 130 310 280 240 186 182

1.8 kW

1/5

R88M-W1K815T-jG05BJ

166 217 203 140 – 180 245 220 190 135 130

1/9

R88M-W1K815T-jG09BJ

166 217 230 140 – 180 245 220 190 135 130

1/20

R88M-W1K815T-jG20BJ

166 217 255 160 – 180 310 280 240 186 182

1/29

R88M-W1K815T-jG29BJ

166 217 255 160 – 180 310 280 240 186 182

2.9 kW

1/5

R88M-W2K915T-jG05BJ

192 243 223 160 – 180 310 280 240 186 182

1/9

R88M-W2K915T-jG09BJ

192 243 255 160 – 180 310 280 240 186 182

1/20

R88M-W2K915T-jG20BJ

192 243 255 160 – 180 310 280 240 186 182

4.4 kW

1/5

R88M-W4K415T-jG05BJ

226 277 223 160 – 180 310 280 240 186 182

1/9

R88M-W4K415T-jG09BJ

226 277 255 160 – 180 310 280 240 186 182

Note WOB and WB mean “without brake” and “with brake” respectively.

Diagram 1

Key dimensions

Four, Z dia.

D5 dia.

Sh6 dia.

D1 dia.

D2 dia.

D4 dia.

D3h7 dia.

jC1

jC2

Standard Models and Specifications

Chapter 2

2-58

Dimensions (mm)

Model

E1 E3 F G S T Z IE

Key dimensions

QK b h t1

57 20 3 12 35 55 12 – 47 10 8 5

450 W

1/5

R88M-W45015T-jG05BJ

57 20 3 12 35 55 12 – 47 10 8 5

1/9

R88M-W45015T-jG09BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/20

R88M-W45015T-jG20BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/29

R88M-W45015T-jG29BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/45

R88M-W45015T-jG45BJ

57 20 3 12 35 55 12 – 47 10 8 5

850 W

1/5

R88M-W85015T-jG05BJ

57 20 3 12 35 55 12 – 47 10 8 5

850

1/9

R88M-W85015T-jG09BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/20

R88M-W85015T-jG20BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/29

R88M-W85015T-jG29BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/45

R88M-W85015T-jG45BJ

77 33 5 15 50 75 12 137 65 14 9 5.5

1.3 kW

1/5

R88M-W1K315T-jG05BJ

77 33 5 15 50 75 12 137 65 14 9 5.5

1/9

R88M-W1K315T-jG09BJ

77 33 5 15 50 75 12 137 65 14 9 5.5 1/20

R88M-W1K315T-jG20BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/29

R88M-W1K315T-jG29BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/45

R88M-W1K315T-jG45BJ

77 33 5 15 50 75 12 137 65 14 9 5.5

1.8 kW

1/5

R88M-W1K815T-jG05BJ

77 33 5 15 50 75 12 137 65 14 9 5.5

1/9

R88M-W1K815T-jG09BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/20

R88M-W1K815T-jG20BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/29

R88M-W1K815T-jG29BJ

92 38 5 18 60 90 14 171 78 18 11 7

2.9 kW

1/5

R88M-W2K915T-jG05BJ

92 38 5 18 60 90 14 171 78 18 11 7

1/9

R88M-W2K915T-jG09BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/20

R88M-W2K915T-jG20BJ

92 38 5 18 60 90 14 171 78 18 11 7

4.4 kW

1/5

R88M-W4K415T-jG05BJ

92 38 5 18 60 90 14 171 78 18 11 7 1/9

R88M-W4K415T-jG09BJ

Diagram 2

Key dimensions

Four, Z dia.

D5 dia.

Sh6 dia.

D1 dia.

D2 dia.

D4 dia.

D3h7 dia.

jC2

Standard Models and Specifications

Chapter 2

2-59

H AC Servomotors with Economy Gears

D 3,000-r/min Servomotors (100 to 750 W) with Economy Reduction Gears

Model

Dimensions (mm)

Model

LM LR C1 C2 D2 D3 D4 E1 E3 F S T Z

 Key dimensions

WOB* WB*

LMLRC1C2D2D3D4E1E3FSTZ



QK b h t1

100 W

1/5

R88M-W10030j

-jG05CJ

94.5 135 67.5 32 52 40 60 50 45 22 10 3 12 20 M5 12 16 4 4 2.5

1/9

R88M-W10030j

-jG09CJ

94.5 135 67.5 32 52 40 60 50 45 22 10 3 12 20 M5 12 16 4 4 2.5

1/15

R88M-W10030j

-jG15CJ

94.5 135 78 32 52 40 60 50 45 22 10 3 12 20 M5 12 16 4 4 2.5

1/25

R88M-W10030j

-jG25CJ

94.5 135 92 50 78 40 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

200 W

1/5

R88M-W20030j

-jG05CJ

96.5 136 72.5 32 52 60 60 50 45 22 10 3 12 20 M5 12 16 4 4 2.5

1/9

R88M-W20030j

-jG09CJ

96.5 136 89.5 50 78 60 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

1/15

R88M-W20030j

-jG15CJ

96.5 136 100 50 78 60 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

1/25

R88M-W20030j

-jG25CJ

96.5 136 100 50 78 60 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

400 W

1/5

R88M-W40030j

-jG05CJ

124.5 164 89.5 50 78 60 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

1/9

R88M-W40030j

-jG09CJ

124.5 164 89.5 50 78 60 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

1/15

R88M-W40030j

-jG15CJ

124.5 164 100 50 78 60 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

1/25

R88M-W40030j

-jG25CJ

124.5 164 104 61 98 60 115 90 75 43 18 5 24 40 M8 20 30 8 7 4

750 W

1/5

R88M-W75030j

-jG05CJ

145 189.5 93.5 50 78 80 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

1/9

R88M-W75030j

-jG09CJ

145 189.5 97.5 61 98 80 11 5 90 75 43 18 5 24 40 M8 20 30 8 7 4

1/15

R88M-W75030j

-jG15CJ

145 189.5 11 0 61 98 80 11 5 90 75 43 18 5 24 40 M8 20 30 8 7 4

1/25

R88M-W75030j

-jG25CJ

145 189.5 135 75 125 80 135 11 0 98 58 17 5 32 55 M10 20 45 10 8 5

Note WOB and WB mean “without brake” and “with brake” respectively.

Diagram 1

Key dimensions

Four, Z dia.

(Effective depth:

)

D2 dia.

D3h7 dia.

D4 dia.

Sh6 dia.

Standard Models and Specifications

Chapter 2

2-60

Diagram 2

Key dimensions

Four, Z dia.

(Effective depth:

)

D2 dia.

D3h7 dia.

D4 dia.

Sh6 dia.

Standard Models and Specifications

Chapter 2

2-61

D 3,000-r/min Flat-style Servomotors (100 to 750 W) with Economy Gears

Model

Dimensions (mm)

Model

LM LR C1 C2 D2 D3 D4 E1 E3 F S T Z

 Key dimensions

WOB* WB*

LMLRC1C2D2D3D4E1E3FSTZ



QK b h t1

100 W

1/5

R88M-WP10030 j-jG05CJ

62 91 72.5 32 52 60 60 50 45 22 10 3 12 20 M5 12 16 4 4 2.5

1/9

R88M-WP10030 j-jG09CJ

62 91 72.5 32 52 60 60 50 45 22 10 3 12 20 M5 12 16 4 4 2.5

1/15

R88M-WP10030 j-jG15CJ

62 91 78 32 52 60 60 50 45 22 10 3 12 20 M5 12 16 4 4 2.5

1/25

R88M-WP10030 j-jG25CJ

62 91 92 50 78 60 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

200 W

1/5

R88M-WP20030 j-jG05CJ

67 98.5 72.5 32 52 80 60 50 45 22 10 3 12 20 M5 12 16 4 4 2.5

1/9

R88M-WP20030 j-jG09CJ

67 98.5 89.5 50 78 80 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

1/15

R88M-WP20030 j-jG15CJ

67 98.5 100 50 78 80 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

1/25

R88M-WP20030 j-jG25CJ

67 98.5 100 50 78 80 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

400 W

1/5

R88M-WP40030 j-jG05CJ

87 118.5 89.5 50 78 80 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

1/9

R88M-WP40030 j-jG09CJ

87 118.5 89.5 50 78 80 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

1/15

R88M-WP40030 j-jG15CJ

87 118.5 100 50 78 80 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

1/25

R88M-WP40030 j-jG25CJ

87 118.5 104 61 98 80 115 90 75 43 18 5 24 40 M8 20 30 8 7 4

750 W

1/5

R88M-WP75030 j-jG05CJ

86.5 120 93.5 50 78 120 90 70 62 33 17 3 19 30 M6 20 22 6 6 3.5

1/9

R88M-WP75030 j-jG09CJ

86.5 120 97.5 61 98 120 11 5 90 75 43 18 5 24 40 M8 20 30 8 7 4

1/15

R88M-WP75030 j-jG15CJ

86.5 120 11 0 61 98 120 11 5 90 75 43 18 5 24 40 M8 20 30 8 7 4

1/25

R88M-WP75030 j-jG25CJ

86.5 120 135 75 125 120 135 110 98 58 17 5 32 55 M10 20 45 10 8 5

Note WOB and WB mean “without brake” and “with brake,” respectively.

Diagram

Key dimensions

Four, Z dia.

(Effective depth:

)

D2 dia.

D3h7 dia.

D4 dia.

Sh6 dia.

Standard Models and Specifications

Chapter 2

2-62

2-4 Servo Driver Specifications

H OMNUC W-series AC Servo Drivers (R88D-WTj)

Referring to 2-2 Servo Driver and Servomotor Combinations, select a Servo Driver to match the Servomotor that is being used.

OMNUC W-series AC Servomotor Drivers can handle either pulse inputs or analog inputs. The control mode is switched to match the controller being used. (The default setting is for position control by pulse train commands.)

2-4-1 General Specifications

Item Specifications

Ambient operating temperature 0 to 55°C Ambient operating humidity 90% max. (with no condensation) Ambient storage temperature –20 to 85°C Ambient storage humidity 90% max. (with no condensation) Storage and operating atmo-

sphere

No corrosive gasses.

Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.1-mm double amplitude; accel-

eration: 4.9 m/s

max. Impact resistance Acceleration 19.6 m/s2 max., in X, Y, and Z directions, three times Insulation resistance Between power line terminals and case: 0.5 MΩ min. (at 500 V DC) Dielectric strength Between power line terminals and case: 1,500 V AC for 1 min at 50/60 Hz

Between each control signal and case: 500 V AC for 1 min Protective structure Built into panel (IP10). EC directives EMC directive

EN55011 class A group1

EN61000-6-2

Low-voltage directive

EN50178

UL standards UL508C cUL standards cUL C22.2 No.14

Note 1. The above items reflect individual evaluation testing. The results may differ under compound

conditions.

Note 2. Absolutely do not conduct a withstand voltage test with a Megger tester on the Servo Driver. If

such tests are conducted, internal elements may be damaged.

Note 3. Depending on the operating conditions, some Servo Driver parts will require maintenance.

Refer to 5-5 Periodic Maintenance for details.

Note 4. The service life of the Servo Driver is 50,000 hours at an average ambient temperature of

40°C at 80% of the rated torque.

Standard Models and Specifications Chapter 2

2-63

2-4-2 Performance Specifications

H Control Specifications

D 100-V AC Input Type

Item R88D-WTA3HL R88D-WTA5HL R88D-WT01HL R88D-WT02HL

Continuous output current (rms) 0.66 A 0.95 A 2.4 A 3.0 A Momentary maximum output current (rms) 2.0 A 2.9 A 7.2 A 9.0 A Input power

Main circuits Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz

supply

Control circuits Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz

Heating value

Main circuits 3.5 W 5.2 W 12 W 16.4 W

Control circuits 13 W 13 W 13 W 13 W Control method All-digital servo Inverter method PWM method based on IGBT PWM frequency 11.7 kHz Weight Approx. 0.8 kg Approx. 0.8 kg Approx. 0.8 kg Approx. 1.1 kg Maximum applicable Servomotor wattage 30 W 50 W 100 W 200 W Applicable Ser-

3,000-r/min

[Incremental] W03030L W05030L W10030L W20030L

vomotor

[Absolute] W03030S W05030S W10030S W20030S

(R88M-)

3,000-r/min

[Incremental] – – WP10030L WP20030L

Flat-style

[Absolute] – – WP10030S WP20030S

1,000-r/min

[Incremental] – – – – [Absolute] – – – –

1,500-r/min

[Absolute] – – – –

Performance

Speed control range 1:5,000

Load fluctuation rate 0.01% max. at 0% to 100% (at rated rotation speed)

Voltage fluctuation rate 0% at rated voltage ±10% (at rated rotation speed)

Temperature fluctuation rate ±0.1% max. at 0 to +50°C (at rated rotation speed)

Frequency characteristics 400 Hz (at the same load as the rotor inertia)

Torque control repeatability ±2%

Standard Models and Specifications Chapter 2

2-64

D 200-V AC Input Type (Single-phase Input)

Item R88D-

WTA3H

R88D-

WTA5H

R88D-

WT01H

R88D-

WT02H

R88D-

WT04H

Continuous output current (rms) 0.44 A 0.64 A 0.91 A 2.1 A 2.8 A Momentary maximum output current (rms) 1.3 A 2.0 A 2.8 A 6.5 A 8.5 A Input power sup-

Main circuits Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz

pp p

ply

Control circuits Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz Heating value

Main circuits 3.1 W 4.6 W 6.7 W 13.3 W 20 W

Control circuits 13 W 13 W 13 W 13 W 13 W PWM frequency 11.7 kHz Weight Approx.

0.8 kg

Approx.

0.8 kg

Approx.

0.8 kg

Approx.

0.8 kg

Approx.

1.1 kg

Applicable Servomotor wattage 30 W 50 W 100 W 200 W 400 W Applicable Servo-

3,000-r/min

[Incremental] W03030H W05030H W10030H W20030H W40030H

motor

[Absolute] W03030T W05030T W10030T W20030T W40030T

(R88M-)

3,000-r/min

[Incremental] – – WP10030H WP20030H WP40030H

Flat-style

[Absolute] – – WP10030T WP20030T WP40030T

1,000-r/min

[Incremental] – – – – –

[Absolute] – – – – –

1,500-r/min [Absolute] – – – – –

Control method All-digital servo Inverter method PWM method based on IGBT Performance

Speed control range 1:5,000

Load fluctuation rate 0.01% max. at 0% to 100% (at rated rotation speed)

Voltage fluctuation rate 0% at rated voltage ±10% (at rated rotation speed)

Temperature fluctuation rate ±0.1% max. at 0 to +50°C (at rated rotation speed)

Frequency characteristics 400 Hz (at the same load as the rotor inertia)

Torque control repeatability ±2%

D 200-V AC Input Type (Three-phase Input)

Item R88D-

WT05H

R88D-

WT08H

R88D-

WT10H

R88D-

WT15H

R88D-

WT20H

R88D-

WT30H

R88D-

WT50H

R88D-

WT60H

R88D-

WT75H

R88D-

WT150H

Continuous output current (rms) 3.8 A 5.7 A 7.6 A 11.6 A 18.5 A 24.8 A 32.9 A 46.9 A 54.7 A 78 A

Momentary maximum output current (rms) 11.0 A 13.9 A 17 A 28 A 42 A 56 A 84 A 110 A 130 A 170 A

Input power

Main circuits Three-phase 200/230 V AC (170 to 253 V) 50/60 Hz (See note.)

Input power

supply

Control circuits Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz

Heating val-

Main circuits 27 W 41 W 55 W 123 W 120 W 155 W 240 W 290 W 330 W 490 W

Heating val

Control circuits 15 W 15 W 15 W 15 W 15 W 15 W 15 W 27 W 27 W 30 W

PWM frequency 11.7 kHz 3.9 kHz

Weight Approx.

1.7 kg

Approx.

1.7 kg

Approx.

1.7 kg

Approx. 2.8kgApprox. 3.8kgApprox.

3.8 kg

Approx.

5.5 kg

Approx. 15 kg

Approx. 26 kg

Applicable Servomotor wattage 500 W 750 W 1 kW 1.5 kW 2 kW 3 kW 5 kW 6 kW 7.5 kW 15 kW

Applicable Servomotor

3,000r/min

[Incremental] – W75030H W1K030H W1K530H W2K030H W3K030H W4K030H

W5K030H

– – –

Servomotor

(R88M-)

r/min

[Absolute] – W75030T W1K030T W1K530T W2K030T W3K030T W4K030T

W5K030T

– – –

3,000-

[Incremental] – WP75030H – WP1K530H – – – – – – r/min Flattype

[Absolute] – WP75030T – WP1K530T – – – – – –

1,000-

[Incremental] W30010H W60010H W90010H W1K210H W2K010H W3K010H W4K010H W5K510H – –

1,000

r/min

[Absolute] W30010T W60010T W90010T W1K210T W2K010T W3K010T W4K010T W5K510T – –

1,500r/min

[Absolute] W45015T – W85015T W1K315T W1K815T W2K915T W4K415T W5K515T W7K515T W11K015T

W15K015T

Control method All-digital servo Inverter method PWM method based on IGBT

Standard Models and Specifications Chapter 2

2-65

Item R88D-

WT150H

R88D-

WT75H

R88D-

WT60H

R88D-

WT50H

R88D-

WT30H

R88D-

WT20H

R88D-

WT15H

R88D-

WT10H

R88D-

WT08H

R88D-

WT05H

Performance

Speed control range

1:5,000

ace

Load fluctuation rate

0.01% max. at 0% to 100% (at rated rotation speed)

Voltage fluctuation rate

0% at rated voltage ±10% (at rated rotation speed)

Temperature fluctuation rate

±0.1% max. at 0 to +50°C (at rated rotation speed)

Frequency characteristics

400 Hz (at the same load as the rotor inertia)

Torque control repeatability

±2%

Note The input power specifications when using an R88D-WT08H with single-phase 200-V power sup-

ply are single-phase 220 to 230 V AC +10 to –15%, 50/60 Hz. For details, refer to 6-3 Single-phase Power for 3,000-r/min (750-W) Servomotors.

H Protective and Diagnostic Functions

Error detection function Contents

Parameter corruption The checksum for the parameters read from the EEP-ROM does

not match. Main circuit detection error There is an error in the detection data for the power supply circuit. Parameter setting error Incorrect parameter setting. Motor Mismatch The Servomotor does not match the Servo Driver. Overcurrent Overcurrent detected, or improper radiation shield temperature

rise detected. Regeneration error Regeneration circuit damaged due to large amount of regenerative

energy. Regeneration resistor overload Regenerative energy exceeded the regeneration resistance. Main circuit power supply setting error

(See note 1.)

The method set in Pn001.2 (AC/DC input selection) is different

from the AC/DC wiring method of the main circuit power supply. Overvoltage Main circuit DC voltage above the allowable range. Low voltage Main circuit DC voltage below the allowable range. Overspeed Servomotor rotation speed exceeded the maximum speed. Overload Detected at reverse limit characteristics when 245% of the rated

torque was exceeded.

Detected at reverse limit characteristics for 120% to 245% of the

rated torque. Dynamic brake overload Regenerative energy exceeded the dynamic brake resistance dur-

ing dynamic brake operation. Resistor for inrush current overload Inrush current exceeded the inrush resistance during power supply

inrush. Overheat Abnormal temperature rise detected in radiation shield. Backup error [Absolute] Encoder backup power supply dropped. Checksum error [Absolute] Checksum error for Encoder memory data. Battery error [Absolute] Encoder battery voltage dropped (to 2.7 V or lower). Absolute error Encoder internal data error

Standard Models and Specifications Chapter 2

2-66

Error detection function Contents

Overspeed error [Absolute] Servomotor rotation speed exceeded 200 r/min when Encoder

power was turned ON. Encoder overheating [Absolute] Improper Encoder temperature rise detected. Speed command input reading error The A/D end signal was not output from the A/D converter within a

fixed time. Torque command input reading error The A/D end signal was not output from the A/D converter within a

fixed time. System error A control circuit system error was detected. Runaway detected The Servomotor rotated in the opposite direction from the com-

mand. Multi-turn data error [Absolute] Absolute Encoder setup was incorrect. Encoder communications error No communication between the Encoder and the Servo Driver. Encoder parameter error The parameters in the Encoder are corrupted. Encoder data error Data from the Encoder is incorrect. Multi-turn limit data mismatch [Abso-

lute]

The multi-turn limits for the Encoder and the Servo Driver do not

match. Deviation counter overflow Deviation counter residual pulses exceeded level set for Pn505. Motor-load deviation over (See note 1.) The error for the full closed-loop or semiclosed-loop encoder ex-

ceeds the number of command units set in Pn51A. Option detection error (See note 1.) An Option Unit has been removed. Missing phase detected Main-circuit power supply missing phase or disconnection de-

tected. Motor current error (See note 2.) The current that flows to the Servomotor is abnormally small for

the torque command from the Servo Driver. Motor conduction error (See note 2.) When the Servomotor is ON, the baseblock condition continues,

regardless of the Servo Driver settings or external input. Parameter Unit transmission error Data could not be transmitted after the power was turned ON.

(CPF00)

Transmission timeout error (CPF01)

Note 1. These functions are supported for Servo Drivers with a software version of “r.0014” or later.

Note 2. These functions are supported for Servo Drivers with software version of “r.0037.”

Standard Models and Specifications Chapter 2

2-67

2-4-3 Terminal Block Specifications

Signal Function Condition

Main circuits power su

pply

input

R88D-WTjH (30 to 400 W): Sin

le-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz

er supply input

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

R88D-WTjH (500 W to 6 kW): Three-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz

Three phase 200/230 V AC (170 to 253 V AC) 50/60 Hz

R88D-WTjHL (30 to 200 W): Single-phase 100/115 V AC (85 to 127 V AC) 50/60 Hz

+ Main circuit DC

output (Forward)

Do not connect anything. This terminal is for the R88D-WT60H to R88D-WT150H.

DC Reactor terminal for power sup-

Normally short-circuit between +1 and +2.

If harmonic control measures are re

uired, connect a DC Reactor between

ply harmonic control

If harmonic control measures are required, connect a DC Reactor between

+1 and +2. (This terminal is not provided in R88D-WT60H to R88D-WT150H models.)

– Main circuit DC

output (Reverse)

Do not connect anything.

L1C

Control circuits

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

L2C

power supply input

gp ( )

R88D-WTjHL: Single-phase 100/115 V AC (85 to 127 V AC) 50/60 Hz

External regeneration resistance connection termi-

30 to 400 W: This terminal does not normally need to be connected. If regenerative energy is high, connect an External Regeneration Resistor between B1 and B2.

connection termi-

nal

B1 and B2

500 W to 5 kW: Short-circuit between B2 and B3. If regenerative energy is high, remove the short bar between B2 and B3 and connect an External Re-

generation Resistor between

B1 and B2

6 to 15 kW: Connect an External Regeneration Resistance Unit between B1 and B2.

Servomotor con-

Red

These are the terminals for outputs to the Servomotor. Be sure to

nection terminals

White

wire these terminals correctly.

W Black

Green/ Yellow

Frame ground This is the ground terminal. Ground to a minimum of 100 Ω (class-3).

Standard Models and Specifications Chapter 2

2-68

2-4-4 Control I/O Specifications (CN1)

H Control I/O and External Signals for Position Control

Reverse pulse

Forward pulse

Deviation counter reset

24 V DC

RUN command

Gain deceleration

Forward rotation drive prohibit

Alarm reset

Forward rotation current limit

Reverse rotation current limit

Reverse rotation drive prohibit

Line driver output EIA-RS422A conforming (Load resistance: 220 Ω min.)

Maximum operating voltage: 30 V DC Maximum output current: 50 mA

Maximum operating voltage: 30 V DC Maximum output current: 20 mA

Ground common

Positioning completed output 1

Servo ready

Alarm output

Alarm code outputs

Encoder A phase outputs

Frame ground

Encoder B phase outputs

Encoder Z phase outputs

Shell

Motor rotation detection

(See note 2.)

Note 1. The inputs at pins 40 to 46 and the outputs at pins 25 to 30 can be changed by parameter settings. The

settings in the diagram are the defaults.

Note 2. An automatic reset fuse is provided to protect output. If the fuse is activated for overcurrent, it will auto-

matically reset after a fixed period of time has lapsed without current flowing (supported by Servo Drivers with software version “r.0037” or later).

Standard Models and Specifications Chapter 2

2-69

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

Speed and Torque Control

Speed conformity

Motor rotation detection

Alarm output

Alarm code outputs

Encoder phase-A outputs

Encoder phase-B outputs

Encoder phase-Z outputs

RUN command

Gain deceleration

Forward rotation drive prohibit

Reverse rotation drive prohibit

Alarm reset

Forward rotation current limit

Reverse rotation current limit

Speed command

Torque command

Line driver output EIARS422A conforming (Load resistance: 220 Ω max.)

24 V DC

A/D converter

Backup battery (2.8 to 4.5 V)

Servo ready

Ground common

Frame ground

Maximum operating voltage: 30 V DC Maximum output current: 50 mA

Maximum operating voltage: 30 V DC Maximum output current: 20 mA

Shell

Sensor ON

(See note 4.)

Note 1. Parameter settings (control mode selection) are required for speed and torque control.

Standard Models and Specifications Chapter 2

2-70

Note 2. The inputs at pins 40 to 46 and the outputs at pins 25 to 30 can be changed by parameter

settings. The settings in the diagram are the defaults.

Note 3. Pins 2, 4, 21, and 22 are for use with an absolute encoder.

Note 4. An automatic reset fuse is provided to protect output. If the fuse is activated for overcurrent, it

will automatically reset after a fixed period of time has lapsed without current flowing (supported by Servo Drivers with software version “r.0037” or later).

H Control I/O Signals

D CN1 Control Inputs

Pin No.

Signal

name

Function Contents Control

mode

5 REF Speed command in-

put

Analog input terminal for speed commands. ±2 to ±10 V (Servomotor forward rotation with + voltage) Scale can be changed by means of user parameter

All

6 AGND Speed command in-

put ground

Scale can be changed by means of user parameter

Pn300 (speed command scale). Can be used as a speed limit input for torque control (by means of a Pn002.1 setting).

9 TREF Torque command in-

put

Analog input terminal for torque commands. ±1 to ±10 V (Forward torque with + voltage) Scale can be changed by means of user parameter

All

10 AGND Torque command in-

put ground

Pn400 (t

orque command scale). Can be used as a torque limit input or torque feed forward input for speed control or position control (by means of a Pn002.0 setting).

PCOM Open collector com-

To use open-collector output for inputting command

All

mand power supply

pppg

pulses and deviation counter resets, connect the + inputs

–

to these terminals and connect the – inputs to open-col

lector output terminals.

7 +PULS/

CW/A

Feed pulses, reverse pulses, or 90_ phase

Pulse string input terminals for position commands.

Line-driver input: 10 mA at 3 V

Position

8 –PULS/

CW/A

diff

erence pulses

phase)

Line driver input: 10 mA at 3 V

Maximum response frequency: 500 kpps

Open-collector input: 7 to 15 mA

11 +SIGN/

CCW/B

Direction signal, forward pulses, or 90_

Maximum response frequency: 200 kpps

Any of the following can be selected by means of a

12 –SIGN/

CCW/B

phase

diff

erence

pulses (B phase)

Pn200.0 setti

ng: feed pulses or

rection signals

(PULS/

SIGN); forward or reverse pulses (CW/CCW); 90_ phase difference (A/B phase) signals (A/B).

14 –ECRST

Deviation counter reset

Line-driver input: 10 mA at 3 V

Open-collector input: 25 mA at 5 V

Position

15 +ECRST

Open collector input: 25 mA at 5 V

ON: Pulse commands prohibited and deviation counter cleared.

4 SEN

Sensor ON input ON: Absolute encounter’s multi-turn amount and initial

All [absolute]

2 SENGND

incremental pulses sent

Required when using an absolute encoder.

21 BAT

Backup battery input Backup battery connector terminals for power interrup-

All [absolute]

22 BATGND

tion for absolute encoder

Connect the battery to either this terminal or CN8.

47 +24VIN +24-V power supply

input for control DC

Power supply input terminal (+24 V DC) for sequence inputs (pins 40 to 46).

All

Standard Models and Specifications Chapter 2

2-71

Pin No.

Control

mode

ContentsFunctionSignal

name

40 to

RUN [40] RUN command input ON: Servo ON (Starts power to Servomotor.) All

MING [41] Gain reduction input ON: Switches speed loop to P control and reduces

speed gain.

Position, speed, internally set speed

POT [42] Forward drive pro-

hibit input

Forward rotation overtravel input (OFF Prohibited; ON: Permitted).

All

NOT [43] Reverse drive pro-

hibit input

Reverse rotation overtravel input (OFF Prohibited; ON: Permitted).

All

RESET [44]

Alarm reset input ON: Servo alarm status is reset. All

PCL [45] Forward rotation cur-

rent limit input

ON: Output current is limited by the value set in Pn404 (forward rotation external current limit).

All

NCL [46] Reverse rotation cur-

rent limit input

ON: Output current is limited by the value set in Pn405 (reverse rotation external current limit).

All

RDIR [41] Rotation direction

command input

Specifies the direction of rotation for Servomotor rotation at the internally set speed.

OFF: Forward rotation, ON: Reverse rotation

Internally set speed

SPD1 [45] Speed selection

command 1 input

Selects the internally set speed (Pn301, Pn302, Pn303). Internally set

speed

SPD2 [46] Speed selection

command 2 input

speed

TVSEL [41]

Control mode switch input

ON: Change control mode Switch control

mode

PLOCK [41]

Position lock command input

ON: Position lock goes into effect when the motor rotation speed is no more than the position lock rotation speed (Pn501).

Speed control with position lock

IPG [41] Pulse disable input ON: Command pulse inputs are ignored and the motor

stops.

Position control with pulse-disable

GSEL Gain switching input ON: Changes gain to No.2 speed gain (Pn104, Pn105,

Pn106).

Internally set speed

PSEL (See note

2.)

Command pulse factor switching input

ON: Rotates the motor using the position command pulse multiplied by the value set in Pn217 (command pulse factor). (When Pn218.0 = 1)

Position

Note 1. Function allocations for pin 40 to 46 sequence inputs can be set by means of user parameters

Pn50A to Pn50D. In this table, the numbers enclosed in brackets indicate the default pin numbers (allocations). The allocations vary depending on the control mode.

Note 2. This I/O signal is supported by Servo Drivers with software version “r.0037.”

D CN1 Control Outputs

Pin No.

Signal name Function Contents Command

mode

1 GND Ground common Ground common terminal for the encoder output and

alarm code output

All

33 +A Encoder phase-A +

output

Outputs encoder pulses divided according to user parameter Pn201.

All

34 –A Encoder phase-A –

output

ee 0

Line driver output (conforming to RS-422A).

36 +B Encoder phase-B +

output

35 –B Encoder phase-B –

output

Standard Models and Specifications Chapter 2

Omron R88M-W, OMNUC W, R88D-WT User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual