Omron R88D-GN01L-ML2, R88D-GN02L-ML2, R88D-GN01H-ML2, R88D-GN02H-ML2, R88D-GN04H-ML2 User Manual

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Cat. No. I566-E1-01

USER’S MANUAL

OMNUC G SERIES

R88M-G@

(AC Servomotors)

R88D-GN@-ML2

(AC Servo Drives)

AC SERVOMOTORS/SERVO DRIVES

WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS

Trademarks and Copyrights

•

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.

Product names and system names in this manual are trademarks or registered trademarks of their respective companies. MECHATROLINK is a registered trademark of the MECHATROLINK Members Association.

•

Introduction

Thank you for choosing the OMNUC G Series. This User’s Manual describes installation/wiring methods and parameter setting procedures required for the operation of the OMNUC G Series as well as troubleshooting and inspection methods.

Intended Readers

This manual is intended for the following personnel. Those with knowledge of electrical systems (a qualified electrical engineer or the equivalent) as follows:

 Personnel in charge of introducing FA equipment  Personnel in charge of designing FA systems  Personnel in charge of managing FA systems and facilities

NOTICE

This manual contains information necessary to ensure safe and proper use of the OMNUC G Series and its peripheral devices. Please read this manual thoroughly and understand its contents before using the products. Please keep this manual handy for future reference. Make sure this User’s Manual is delivered to the actual end user of the products.

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

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.

LIMITATIONS OF LIABILITY

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.

Read and Understand This Manual

Application Considerations

SUITABILITY FOR USE

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 e xamples of application s f or which particular attention must be giv en. 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 EQ UIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

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

Read and Understand This Manual

Disclaimers

CHANGE IN SPECIFICATIONS

Product specifications and accessories may be changed at an y time based on impro vements 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 mod el n umbers may be assigned to fix or establish key specifications f or your application on y our req uest. Please consult with your OMR ON representativ e at any time to confirm actual specifications of purchased products.

DIMENSIONS AND WEIGHTS

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

PERFORMANCE DATA

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.

ERRORS AND OMISSIONS

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.

Precautions for Safe Use

 To ensure safe and proper use of the OMNUC G Series and its peripheral devices, read the “Precautions for

Safe Use” and the rest of the manual thoroughly to acquire sufficient knowledge of the devices, safety information, and precautions before using the products.

 Make sure this User’s Manual is delivered to the actual end users of the products.  Please keep this manual close at hand for future reference.

Explanation of Signal Words

 The precautions indicated here provide important information for safety. Be sure to heed the information

provided with the precautions.

 The following signal words are used to indicate and classify precautions in this manual.

Failure to heed the precautions classified as “Caution” may also lead to serious results. Always heed these precautions.

Safety Precautions

 This manual may include illustrations of the product with protective covers or shields removed in order to show

the components of the product in detail. Make sure that these protective covers and shields are put in place as specified before using the product.

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

Always connect the frame ground terminals of the Servo Drive and the Servomotor to 100 Ω or less. Incorrect grounding may result in electric shock.

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

When turning OFF the main circuit power supply, turn OFF the RUN command (RUN) at the same time. Residual voltage may cause the Servomotor to continue rotating and result in injury or equipment damage even if the main circuit power supply is turned OFF externally, e.g., with an emergency stop.

Do not remove the front cover, terminal covers, cables, or optional items while the power is being supplied. Doing so may result in electric shock.

WARNING

Caution

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.

Additionally, there may be severe property damage.

Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.

WARNING

Precautions for Safe Use

Installation, operation, maintenance, or inspection must be performed by authorized personnel. Not doing so may result in electric shock or injury.

Wiring or inspection must not be performed for at least 15 minutes after turning OFF the power supply. Doing so may result in electric shock.

Do not damage or pull on the cables, place heavy objects on them, or subject them to excessive stress. Doing so may result in electric shock, stopping product operation, or burning.

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

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

Provide a stopping mechanism on the machine to ensure safety. *The holding brake is not designed as a stopping mechanism for safety purposes. Not doing so may result in injury.

Provide an external emergency stopping mechanism that can stop operation and shut off the power supply immediately. Not doing so may result in injury.

Do not come close to the machine immediately after resetting momentary power interruption to avoid an unexpected restart. Doing so may result in injury. Take appropriate measures to secure safety against an unexpected restart.

Confirm safety after an earthquake has occurred. Failure to do so may result in electric shock, injury, or fire.

Do not use external force to drive the Servomotor. Doing so may result in fire.

Precautions for Safe Use

 Storage and Transportation Precautions

Do not place any flammable materials near the Servomotor, Servo Drive, or Regeneration Resistor. Doing so may result in fire.

Mount the Servomotor, Servo Drive, and Regeneration Resistor on metal or other nonflammable materials. Failure to do so may result in fire.

Do not frequently and repeatedly turn the main power supply ON and OFF. Doing so may result in product failure.

Use the Servomotors and Servo Drives in a specified combination. Using them incorrectly may result in fire or damage to the products.

Do not store or install the product in the following places. Doing so may result in fire, electric shock, or damage to the product.

 Locations subject to direct sunlight.  Locations subject to temperatures outside the specified range.  Locations subject to humidity outside the specified range.  Locations subject to condensation as the result of severe changes in temperature.  Locations subject to corrosive or flammable gases.  Locations subject to dust (especially iron dust) or salts.  Locations subject to exposure to water, oil, or chemicals.  Locations subject to shock or vibration.

Do not touch the Servo Drive radiator, Servo Drive regeneration resistor, or Servomotor while the power is being supplied or soon after the power is turned OFF. Doing so may result in burn injuries.

Do not hold the product by the cables or motor shaft while transporting it. Doing so may result in injury or malfunction.

Do not place any load exceeding the figure indicated on the product. Doing so may result in injury or malfunction.

Use the motor eye-bolts only for transporting the Servomotor. Using them for transporting the machinery may result in injury or malfunction.

WARNING

Caution

Precautions for Safe Use

 Installation and Wiring Precautions

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

Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product. Covering them or not preventing entry of foreign objects may result in fire.

Be sure to install the product in the correct direction. Not doing so may result in malfunction.

Provide the specified clearances between the Servo Drive and the control panel or with other devices. Not doing so may result in fire or malfunction.

Do not subject Servomotor shaft or Servo Drive to strong impacts. Doing so may result in malfunction.

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

Be sure that all the mounting screws, terminal screws, and cable connector screws are tightened properly. Incorrect tightening torque may result in malfunction.

Use crimp terminals for wiring. Do not connect bare stranded wires directly to the protective ground terminal. Doing so may result in burning.

Always use the power supply voltage specified in the User’s Manual. An incorrect voltage may result in malfunction or burning.

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 equipment damage.

Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning.

Take appropriate and sufficient shielding measures when installing systems in the following locations. Failure to do so may result in damage to the product.

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

Connect an emergency stop cutoff relay in series with the brake control relay. Failure to do so may result in injury or product failure.

Do not reverse the polarity of the battery when connecting it. Reversing the polarity may damage the battery or cause it to explode.

Caution

Precautions for Safe Use

 Operation and Adjustment Precautions

 Maintenance and Inspection Precautions

Confirm that no adverse effects will occur in the system before performing the test operation. Not doing so may result in equipment damage.

Check the newly set parameters for proper operation before actually running them. Not doing so may result in equipment damage.

Do not make any extreme adjustments or setting changes. Doing so may result in unstable operation and injury.

Separate the Servomotor from the machine, check for proper operation, and then connect to the machine. Not doing so may cause injury.

When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation. Not doing so may result in injury.

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

Do not operate the Servomotor connected to a load that exceeds the applicable load moment of inertia. Doing so may result in malfunction.

Resume operation only after transferring to the new Unit the contents of the data required for operation. Not doing so may result in equipment damage.

Do not attempt to disassemble or repair any of the products. Any attempt to do so may result in electric shock or injury.

Caution

Precautions for Safe Use

 Warning Label Position

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

 Warning Label Contents

 Disposing of the Product

• Dispose of the batteries according to local ordinances and regulations. Wrap the batteries in tape or other insulative material before disposing of them.

• Dispose of the product as industrial waste.

(R88D-GN01H-ML2)

Location of warning label

Items to Check When Unpacking

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

• Has the correct product been delivered?

• Has the product been damaged in shipping?

 Accessories Provided with Product

Safety Precautions document × 1

• No connectors or mounting screws are provided. They have to be prepared by the user.

• Should you find any problems (missing parts, damage to the Servo Drive, etc.), please contact your local sales representative or OMRON sales office.

 Understanding Servo Drive Model Numbers

The model number provides information such as the Servo Drive type, the applicable Servomotor capacity, and the power supply voltage.

R88D-GN01H-ML2

Power Supply V oltage

L : 100 VAC H : 200 VAC

50 W 01 : 100 W 02 : 200 W 04 : 400 W 08 : 750 W 10 : 1 kW 15 : 1.5 kW 20 : 2 kW 30 : 3 kW 50 : 5 kW 75 : 7.5 kW

Network Type ML2 : MECHATROLINK-II Communications

OMNUC G-Series Servo Drive

Drive Type

Network type

Applicable Servomotor Capacity

Items to Check When Unpacking

 Understanding Servomotor Model Numbers

R88M-GP10030H-BOS2

G-Series

Servomotor

Servomotor Capacity

Rated Rotation Speed

Motor Type

Blank: Cylinder type P: Flat type

050: 100: 200: 400: 750: 900: 1K0: 1K5: 2K0: 3K0: 4K0: 4K5: 5K0: 6K0: 7K5:

10: 15: 20: 30:

50 W 100 W 200 W 400 W 750 W 900 W 1 kW

1.5 kW 2 kW 3 kW 4 kW

4.5 kW 5 kW 6 kW

7.5 kW

1,000 r/min 1,500 r/min 2,000 r/min 3,000 r/min

Applied V oltage

H: L: T: S:

200 VAC with incremental encoder specifications 100 VAC with incremental encoder specifications 200 V AC with absolute encoder specifications 100 V AC with absolute encoder specifications

Option

Blank: Straight shaft B: O: S2:

With brake

With oil seal With key and tap

Items to Check When Unpacking

 Understanding Decelerator Model Numbers (Backlash = 3' Max.)

R88G-HPG14A05100PBJ

Decelerator for G-Series Ser vomotors

Applicable Servomotor Capacity

050 100 200 400 750 900 1K0 1K5 2K0 3K0 4K0 4K5 5K0 6K0 7K5

: 50 W :100 W :200 W :400 W :750 W :900 W :1 kW :1.5 kW :2 kW :3 kW :4 kW :4.5 kW :5 kW :6 kW :7 kW

Backlash = 3’ Max.

Gear Ratio

05 09 11 12 20 21 25 33 45

:1/5 :1/9 (only frame number 11A) :1/11 (except frame number 65A) :1/12 (only frame number 65A) :1/20 (only frame number 65A) :1/21 (except frame number 65A) :1/25 (only frame number 65A) :1/33 :1/45

Flange Size Number

11A 14A 20A 32A 50A 65A

:@40 :@60 :@90 :@120 :@170 :@230

Motor Type

Blank P

:3,000-r/min cylindrical Servomotors :flat Servomotors :2,000-r/min Servomotors :1,000-r/min Servomotors

Backlash

B :3’ max.

Option

BlankJ:Straight shaft

:With key and tap

Items to Check When Unpacking

 Understanding Decelerator Model Numbers (Backlash = 15' Max.)

R88G-VRSF09B100PCJ

Applicable Servomotor Capacity

050 100 200 400 750

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

Option

J :With key and tap

Backlash

C :15’ max.

Motor Type

BlankP:3,000-r/min cylindrical Servomotors

:flat Servomotors

Decelerator for G-Series Ser vomotors

Backlash = 15’ Max.

Gear Ratio

05 09 15 25

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

Flange Size Number

B C D

:@52 :@78 :@98

About This Manual

This manual consists of the following chapters. Refer to this table and chose the required chapters of the manual.

Overview

Chapter 1

Features and System Configuration

Describes the features and names of parts of the product as well as the EC Directives and the UL standards.

Chapter 2

Standard Models and Dimensions

Provides the model numbers, external and mounting hole dimensions for Servo Drives, Servomotors, Decelerators, and peripheral devices.

Chapter 3 Specifications

Provides the general specifications, characteristics, connector specifications, and I/O circuit specifications for Servo Drives, and the general specifications and characteristics for Servomotors, as well as specifications for accessories such as encoders.

Chapter 4 System Design

Describes the installation conditions for Servo Drives, Servomotors, and Decelerators, EMC conforming wiring methods, calculations of regenerative energy, and performance information on the External Regeneration Resistor.

Chapter 5 Operating Functions Describes the control functions, parameter settings, and operation.

Chapter 6 Operation

Describes operating procedures and operating methods for each mode.

Chapter 7 Adjustment Functions

Describes gain adjustment functions, setting methods, and precautions.

Chapter 8 Troubleshooting

Describes items to check for troubleshooting, error diagnoses using alarm LED displays and the countermeasures, error diagnoses based on the operation status and the countermeasures, and periodic maintenance.

Chapter 9 Appendix Provides the parameter tables.

Table of Contents

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

Read and Understand This Manual.................................................2

Precautions for Safe Use.................................................................5

Items to Check When Unpacking ....................................................11

About This Manual...........................................................................15

Chapter 1 Features and System Configuration

1-1 Overview...........................................................................................1-1

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

1-3 Names of Parts and Functions.........................................................1-3

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

1-5 Applicable Standards........................................................................1-10

Chapter 2 Standard Models and Dimensions

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

2-2 External and Mounting Hole Dimensions .........................................2-23

Chapter 3 Specifications

3-1 Servo Drive Specifications................................................................3-1

3-2 Servomotor Specifications................................................................3-17

3-3 Decelerator Specifications................................................................3-32

3-4 Cable and Connector Specifications ................................................ 3-42

3-5 Parameter Unit Specifications..........................................................3-78

3-6 External Regeneration Resistor Specifications ................................ 3-79

3-7 Reactor Specifications......................................................................3-80

Chapter 4 System Design

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

4-2 Wiring ...............................................................................................4-11

4-3 Wiring Conforming to EMC Directives.............................................. 4-26

4-4 Regenerative Energy Absorption......................................................4-44

Table of Contents

Chapter 5 Operating Functions

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

5-2 Speed Control .................................................................................. 5-4

5-3 Torque Control................................................................................. 5-7

5-4 Forward and Reverse Drive Prohibit................................................ 5-10

5-5 Brake Interlock ................................................................................. 5-11

5-6 Torque Limit ..................................................................................... 5-16

5-7 Soft Start .......................................................................................... 5-18

5-8 Acceleration/Deceleration Time Settings ......................................... 5-19

5-9 Moving Average Time ...................................................................... 5-20

5-10 Electronic Gear ................................................................................ 5-21

5-11 Speed Limit ...................................................................................... 5-22

5-12 Sequence Input Signals ................................................................... 5-23

5-13 Sequence Output Signals ................................................................ 5-25

5-14 Backlash Compensation .................................................................. 5-27

5-15 Overrun Protection........................................................................... 5-29

5-16 Gain Switching ................................................................................. 5-31

5-17 Speed Feed-forward ........................................................................ 5-38

5-18 Torque Feed-forward ....................................................................... 5-39

5-19 Speed Feedback Filter Selection ..................................................... 5-40

5-20 P Control Switching.......................................................................... 5-41

5-21 Torque Command Filter Time Constant........................................... 5-42

5-22 Notch Filter....................................................................................... 5-43

5-23 Adaptive Filter .................................................................................. 5-45

5-24 Instantaneous Speed Observer ....................................................... 5-48

5-25 Damping Control .............................................................................. 5-50

5-26 User Parameters.............................................................................. 5-55

5-27 Details on Important Parameters ..................................................... 5-86

Chapter 6 Operation

6-1 Operational Procedure..................................................................... 6-1

6-2 Preparing for Operation.................................................................... 6-2

6-3 Using the Parameter Unit................................................................. 6-8

6-4 Setting the Mode.............................................................................. 6-9

6-5 Trial Operation ................................................................................. 6-31

Chapter 7 Adjustment Functions

7-1 Gain Adjustment............................................................................... 7-1

7-2 Realtime Autotuning......................................................................... 7-3

7-3 Normal Mode Autotuning ................................................................. 7-9

7-4 Manual Tuning ................................................................................. 7-14

Table of Contents

Chapter 8 Troubleshooting

8-1 Error Processing...............................................................................8-1

8-2 Alarm Table......................................................................................8-3

8-3 Troubleshooting................................................................................8-7

8-4 Overload Characteristics (Electronic Thermal Function).................. 8-20

8-5 Periodic Maintenance.......................................................................8-21

Chapter 9 Appendix

9-1 Parameter Tables.............................................................................9-1

Chapter 1

Features and System Configuration

1-1 Overview............................................................ 1-1

Overview...............................................................................1-1

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

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

1-3 Names of Parts and Functions........................... 1-3

Servo Drive Part Names .......................................................1-3

Servo Drive Functions...........................................................1-4

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

1-5 Applicable Standards......................................... 1-10

EC Directives........................................................................1-10

UL and CSA Standards.........................................................1-10

1-1

1-1 Overview

Features and System Configuration

1-1 Overview

Overview

The OMNUC G Series AC Servo Drives (with built-in MECHATROLINK-II communications support) are a series of Servo Drives supporting the MECHATROLINK-II high-speed motion field network. When used with the MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1W-NCF71), a sophisticated positioning control system can be made easily with one communications cable connecting the Servo Drive and Controller. With realtime autotuning, adaptive filter, notch filter, and damping control, you can set up a system that provides stable operation by suppressing vibration in low-rigidity machines.

Features

 Data Transmission Using MECHATROLINK-II Communications

When used with the MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1W-NCF71), all control data between the Servo Drive and Controller can be exchanged through data communications. Since the various control commands are transmitted via data communications, Servomotor‘s operational performance is maximized without being limited by interface specifications such as the response frequency of the encoder feedback pulses. This makes it possible to use the Servo Drive’s various control parameters and monitor data via a host controller, allowing you to unify the system data control.

 Suppressing Vibration of Low-rigidity Mechanisms during

Acceleration/Deceleration

The damping control function suppresses vibration of low-rigidity mechanisms or devices whose ends tend to vibrate. Two vibration filters are provided to enable switching the vibration frequency automatically according to the direction of the rotation. Furthermore, the settings can be made easily by just setting the vibration frequency and filter values, and you are assured of stable operation even if the settings are inappropriate.

 High-speed Positioning via Resonance Suppression Control

The realtime autotuning function automatically estimates the load inertia of the machine in realtime and sets the optimal gain. The adaptive filter automatically suppresses vibration caused by resonance. Two independent notch filters make it possible to reduce the vibration of a mechanism with multiple resonance frequencies.

 Command Control Mode Switching

Operations can be performed by switching between two of the following control modes: Position control, speed control, and torque control. Therefore, a variety of applications can be supported by one Servo Drive.

1-2

1-2 System Configuration

Features and System Configuration

1-2 System Configuration

INCINC ABSABS

MECHATRO

LINK-II

Programmable Controller SYSMAC CS1

Controller (MECHATROLINK-ll type)

Programmable Controller SYSMAC CJ1

Position Control Unit

MECHATRO

LINK-II

Controller (MECHATROLINK-ll type)

OMNUC G-Series AC Servo Drive R88D-GN@-ML2

OMNUC G-Series AC Servomotor R88M-G@

CJ1W-NCF71

Position Control Unit CS1W-NCF71

1-3

1-3 Names of Parts and Functions

Features and System Configuration

1-3 Names of Parts and Functions

Servo Drive Part Names

Display area

MECHATROLINK-II

communications connector (

CN6A, CN6B

)

Analog monitor check pins

(

SP, IM, G

)

Servomotor connection terminals

(U, V, W)

Control-circuit power terminals

(L1C, L2C)

Main-circuit power terminals

(L1, L2, L3)

External Regeneration Resistor

connection terminals

(B1, B2, B3)

Protective ground terminals

Control I/O connector (CN1)

RS-232

communications connector (

CN3

)

Encoder connector (CN2)

MECHATROLINK-II communications status LED indicator

Rotary switches

COM

X10

ADR

AC SERVO DRIVE

2 3

1-4

1-3 Names of Parts and Functions

Features and System Configuration

Servo Drive Functions

 Display Area

A 2-digit 7-segment LED display shows the Servo Drive status, alarm codes, parameters, and other information.

 Analog Monitor Check Pins (SP, IM, and G)

The actual motor speed, command speed, torque, and number of accumulated pulses can be measured based on the analog voltage level by using an oscilloscope. Set the type of signal to be output and the output voltage level by setting the Speed Monitor (SP) Selection (Pn007) and Torque Monitor (IM) Selection (Pn008). For details, refer to User Parameters on page 5-55.

 MECHATROLINK-II Status LED Indicator

Indicates the communications status of the MECHATROLINK-II. For details, refer to MECHATROLINK-II Status LED Indicator on page 6-4.

 Rotary Switches

Sets the node address. For details, refer to Servo Drive Display and Settings on page 6-3.

1-5

1-4 System Block Diagrams

Features and System Configuration

1-4 System Block Diagrams

R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN01H-ML2/

-GN02H-ML2/-GN04H-ML2

Control I/O interface

MECHATROLINK-II

interface

MECHATROLINK-II communications line

RS-232 computer

Display/ setting circuits

Gate drive

SW power supply

Main circuit control

Internal control power supply

RS-232 interface

CN6B connector

CN6A connector

CN3 connector

CN2 encoder signal connector

L2C

L1C

FUSE

CN A

−

~ ~

15V

VCC1 ±VCC

E5V

Overcurrent detection

Current detection

Voltage detection

Regenerative control

Relay

drive

CN1 control I/O connector

RS 485

±S

E5V

BAT

B1 B2

CN B

U V

MPU & ASIC Position, speed, and torque processor, PWM control

Encoder communications interface

1-6

1-4 System Block Diagrams

Features and System Configuration

R88D-GN04L-ML2/-GN08H-ML2/-GN10H-ML2/-GN15H-ML2

Gate drive

SW power supply

Main circuit control

Internal control power supply

L2C

L1C

L2 L3

FUSE

CN A

−

~ ~

−

~ ~

15V

VCC1

±VCC

E5V

Overcurrent detection

Current detection

Voltage detection

Regenerative control

Relay

drive

CN B

U V

B1 B3 B2

Internal regeneration resistor

Cooling fan

Control I/O interface

MECHATROLINK-II

interface

Display/ setting circuits

RS-232 interface

CN6B connector

CN6A connector

CN3 connector

CN2 encoder signal connector

CN1 control I/O connector

RS 485

±S

E5V

BAT

MPU & ASIC Position, speed, and torque processor, PWM control

Encoder communications interface

MECHATROLINK-II communications line

RS-232 computer

1-7

1-4 System Block Diagrams

Features and System Configuration

R88D-GN20H-ML2

Gate drive

SW power supply

Main circuit control

Internal control power supply

L2C

L1C

L2 L3

FUSE

−

~ ~

15V

VCC1 ±VCC

E5V

Voltage detection

Current detection

Regenerative control

Relay drive

TerminalsTerminals

U V

Cooling fan

B1 B3 B2

Internal regeneration resistor

Control I/O interface

MECHATROLINK-II

interface

RS-232 interface

CN6B connector

CN6A connector

CN3 connector

CN2 encoder signal connector

CN1 control I/O connector

RS 485

±S

E5V

BAT

MPU & ASIC Position, speed, and torque processor, PWM control

Encoder communications interface

Display/ setting circuits

MECHATROLINK-II communications line

RS-232 computer

1-8

1-4 System Block Diagrams

Features and System Configuration

R88D-GN30H-ML2/GN50H-ML2

Gate drive

SW power supply

Main circuit control

Internal control power supply

L2C

L1C

L2 L3

FUSE

−

~ ~

−

~ ~

15V

VCC1

±VCC

E5V

Voltage detection

Current detection

Regenerative control

Relay,Gate

drive

TerminalsTerminals

U V

Cooling fan

B1 B3 B2

Internal regeneration resistor

Control I/O interface

MECHATROLINK-II

interface

Display/ setting circuits

RS-232 interface

CN6B connector

CN6A connector

CN3 connector

CN2 encoder signal connector

CN1 control I/O connector

RS 485

±S

E5V

BAT

MPU & ASIC Position, speed, and torque processor, PWM control

Encoder communications interface

MECHATROLINK-II communications line

RS-232 computer

1-9

1-4 System Block Diagrams

Features and System Configuration

R88D-GN75H-ML2

Gate drive

SW power supply

Main circuit control

Internal control power supply

L2C

L1C

L2 L3

FUSE

−

~ ~

−

~ ~

15V

VCC1

±VCC

E5V

Voltage detection

Current detection

Regenerative control

Relay,Gate

drive

B1 B2

TerminalsTerminals

U V

Cooling fan

~~~

Control I/O interface

MECHATROLINK-II

interface

Display/ setting circuits

RS-232 interface

CN6B connector

CN6A connector

CN3 connector

CN2 encoder signal connector

CN1 control I/O connector

RS 485

±S

E5V

BAT

MPU & ASIC Position, speed, and torque processor, PWM control

Encoder communications interface

MECHATROLINK-II communications line

RS-232 computer

1-10

1-5 Applicable Standards

Features and System Configuration

1-5 Applicable Standards

EC Directives

Note To conform to the EMC Directives, the Servomotor and Servo Drive must be installed under

the conditions described in Wiring Conforming to EMC Directives on page 4-26.

UL and CSA Standards

*1. UL approval is pending for motor capacities of 6 to 7.5 kW.

EC Direc-

tives

Product Applicable standards Comments

Low Voltage Directive

AC Servo Drive EN 50178

Safety requirements for electrical equipment for measurement, control, or laboratory use

AC Servomotors IEC 60034-1/-5 Rotating electrical machines

EMC Directive

AC Servo Drive AC Servomotors

EN 55011 Class A Group 1

Limits of radio disturbance and measurement methods for industrial, scientific, and medical radio-frequency equipment

EN 61000-6-2

Electromagnetic compatibility (EMC) Immunity

standard for industrial environments IEC 61000-4-2 Electrostatic discharge immunity testing IEC 61000-4-3 Radio frequency radiation field immunity testing IEC 61000-4-4 Electrical fast transient burst immunity testing IEC 61000-4-5 Lightning surge immunity testing IEC 61000-4-6 High-frequency conduction immunity testing IEC 61000-4-11 Momentary power interruption immunity testing

Standard Product Applicable standards File number Comments

UL standards

AC Servo Drive UL 508C E179149 Power conversion equipment AC Servomotors

UL 1004 E179189 Electric motor

CSA standards

AC Servomotors

CSA22.2 No.100 E179189 Motor and generator

Chapter 2

Standard Models and Dimensions

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

Servo Drives .........................................................................2-1

Servomotors..........................................................................2-2

Servo Drive-Servomotor Combinations ................................2-5

Decelerators..........................................................................2-7

Accessories and Cables .......................................................2-14

2-2 External and Mounting Hole Dimensions...........2-23

Servo Drives .........................................................................2-23

Servomotors..........................................................................2-33

Parameter Unit Dimensions..................................................2-43

Servomotor and Decelerator Combinations..........................2-44

Decelerator Dimensions........................................................2-47

External Regeneration Resistor Dimensions........................2-61

Reactor Dimensions..............................................................2-62

2-1

2-1 Standard Models

Standard Models and Dimensions

2-1 Standard Models

Servo Drives

Specifications Model

Single-phase 100 VAC

50 W R88D-GNA5L-ML2 100 W R88D-GN01L-ML2 200 W R88D-GN02L-ML2 400 W R88D-GN04L-ML2

Single-phase 200 VAC

50 W

R88D-GN01H-ML2

100 W 200 W R88D-GN02H-ML2 400 W R88D-GN04H-ML2

Single-phase/three-phase 200 VAC

750 W R88D-GN08H-ML2

1 kW R88D-GN10H-ML2 900 W

R88D-GN15H-ML21 kW

1.5 kW

Three-phase 200 VAC

2 kW R88D-GN20H-ML2

2 kW

R88D-GN30H-ML2

3 kW

R88D-GN50H-ML2

4 kW

4.5 kW 5 kW 6 kW

R88D-GN75H-ML2

7.5 kW

2-2

2-1 Standard Models

Standard Models and Dimensions

Servomotors

 3,000-r/min Servomotors

Note Models with oil seals are also available.

Specifications

Model

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

With-

out

brake

100 V

50 W R88M-G05030H R88M-G05030H-S2 R88M-G05030T R88M-G05030T-S2 100 W R88M-G10030L R88M-G10030L-S2 R88M-G10030S R88M-G10030S-S2 200 W R88M-G20030L R88M-G20030L-S2 R88M-G20030S R88M-G20030S-S2 400 W R88M-G40030L R88M-G40030L-S2 R88M-G40030S R88M-G40030S-S2

200 V

50 W R88M-G05030H R88M-G05300H-S2 R88M-G05030T R88M-G05030T-S2 100 W R88M-G10030H R88M-G10030H-S2 R88M-G10030T R88M-G10030T-S2 200

W R88M-G20030H R88M-G20030H-S2 R88M-G20030T R88M-G20030T-S2 400 W R88M-G40030H R88M-G40030H-S2 R88M-G40030T R88M-G40030T-S2 750 W R88M-G75030H R88M-G75030H-S2 R88M-G75030T R88M-G75030T-S2

1 kW --- --- R88M-G1K030T R88M-G1K030T-S2

1.5kW --- --- R88M-G1K530T R88M-G1K530T-S2

2 kW --- --- R88M-G2K030T R88M-G2K030T-S2 3 kW --- --- R88M-G3K030T R88M-G3K030T-S2 4 kW --- --- R88M-

G4K030T

R88M-G4K030T-S2

5 kW --- --- R88M-G5K030T R88M-G5K030T-S2

With

brake

100 V

50 W R88M-G05030H-B

R88M-G05030H-BS2

R88M-G05030T-B

R88M-G05030T-BS2

100 W R88M-G10030L-B

R88M-G10030L-BS2

R88M-G10030S-B

R88M-G10030S-BS2

200 W R88M-G20030L-B

R88M-G20030L-BS2

R88M-G20030S-B

R88M-G20030S-BS2

400 W R88M-G40030L-B

R88M-G40030L-BS2

R88M-G40030S-B

R88M-G40030S-BS2

200 V

50 W R88M-G05030H-B

R88M-G05030H-BS2

R88M-G05030T-B

R88M-G05030T-BS2

100 W R88M-G10030H-B

R88M-G10030H-BS2

R88M-G10030T-B

R88M-G10030T-BS2

200 W R88M-G20030H-B

R88M-G20030H-BS2

R88M-G20030T-B

R88M-G20030T-BS2

400 W R88M-G40030H-B

R88M-G40030H-BS2

R88M-G40030T-B

R88M-G40030T-BS2

750 W R88M-G75030H-B

R88M-G75030H-BS2

R88M-G75030T-B

R88M-G75030T-BS2

1 kW --- --- R88M-G1K030T-B

R88M-G1K030T-BS2

1.5kW --- --- R88M-G1K530T-B

R88M-G1K530T-BS2

2 kW --- --- R88M-G2K030T-B

R88M-G2K030T-BS2

3 kW --- --- R88M-G3K030T-B

R88M-G3K030T-BS2

4 kW --- --- R88M-G4K030T-B

R88M-G4K030T-BS2

5 kW --- --- R88M-G5K030T-B

R88M-G5K030T-BS2

2-3

2-1 Standard Models

Standard Models and Dimensions

 3,000-r/min Flat Servomotors

Note Models with oil seals are also available.

 2,000-r/min Servomotors

Note1. Models with oil seals are also available. Note2. The rated rotation speed for 7.5-kW Servomotors is 1,500 r/min.

Specifications

Model

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

With-

out

brake

100 V

100 W R88M-GP10030L

R88M-GP10030L-S2

R88M-GP10030S

R88M-GP10030S-S2

200 W R88M-GP20030L

R88M-GP20030L-S2

R88M-GP20030S

R88M-GP20030S-S2

400 W R88M-GP40030L

R88M-GP40030L-S2

R88M-GP40030S

R88M-GP40030S-S2

200 V

100 W R88M-GP10030H

R88M-GP10030H-S2

R88M-GP10030T

R88M-GP10030T-S2

200 W R88M-GP20030H

R88M-GP20030H-S2

R88M-GP20030T

R88M-GP20030T-S2

400 W R88M-GP40030H

R88M-GP40030H-S2

R88M-GP40030T

R88M-GP40030T-S2

With

brake

100 V

100 W R88M-GP10030L-B

R88M-GP10030L-BS2

R88M-GP10030S-B

R88M-GP10030S-BS2

200 W R88M-GP20030L-B

R88M-GP20030L-BS2

R88M-GP20030S-B

R88M-GP20030S-BS2

400 W R88M-GP40030L-B

R88M-GP40030L-BS2

R88M-GP40030S-B

R88M-GP40030S-BS2

200 V

100 W R88M-GP10030H-B

R88M-GP10030H-BS2

R88M-GP10030T-B

R88M-GP10030T-BS2

200 W R88M-GP20030H-B

R88M-GP20030H-BS2

R88M-GP20030T-B

R88M-GP20030T-BS2

400 W R88M-GP40030H-B

R88M-GP40030H-BS2

R88M-GP40030T-B

R88M-GP40030T-BS2

Specifications

Model

With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

With-

out

brake

200 V

1 kW R88M-G1K020T R88M-G1K020T-S2

1.5 kW R88M-G1K520T R88M-G1K520T-S2 2 kW R88M-G2K020T R88M-G2K020T-S2 3 kW R88M-G3K020T R88M-G3K020T-S2 4 kW R88M-G4K020T R88M-G4K020T-S2 5 kW R88M-G5K020T R88M-G5K020T-S2

7.5 kW R88M-G7K515T R88M-G7K515T-S2

With

brake

200 V

1 kW R88M-G1K020T-B R88M-G1K020T-BS2

1.5 kW R88M-G1K520T-B R88M-G1K520T-BS2 2 kW R88M-G2K020T-B R88M-G2K020T-BS2 3 kW R88M-G3K020T-B R88M-G3K020T-BS2 4 kW R88M-G4K020T-B R88M-G4K020T-BS2 5 kW R88M-G5K020T-B R88M-G5K020T-BS2

7.5 kW R88M-G7K515T-B R88M-G7K515T-BS2

2-4

2-1 Standard Models

Standard Models and Dimensions

 1,000-r/min Servomotors

Note Models with oil seals are also available.

Specifications

Model

With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

With-

out

brake

200 V

900 W R88M-G90010T R88M-G90010T-S2

2 kW R88M-G2K010T R88M-G2K010T-S2 3 kW R88M-G3K010T R88M-G3K010T-S2

4.5 kW R88M-G4K510T R88M-G4K510T-S2 6 kW R88M-G6K010T R88M-G6K010T-S2

With

brake

200 V

900 W R88M-G90010T-B R88M-G90010T-BS2

2 kW R88M-G2K010T-B R88M-G2K010T-BS2 3 kW R88M-G3K010T-B R88M-G3K010T-BS2

4.5 kW R88M-G4K510T-B R88M-G4K510T-BS2 6 kW R88M-G6K010T-B R88M-G6K010T-BS2

2-5

2-1 Standard Models

Standard Models and Dimensions

Servo Drive-Servomotor Combinations

The tables in this section show the possible combinations of OMNUC G-Series Servo Drives and Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations. The box (-@) at the end of the model number is for options, such as the shaft type, brake and Decelerators.

 3,000-r/min Servomotors and Servo Drives

 3,000-r/min Flat Servomotors and Servo Drives

Voltage

Servomotor

Servo Drive

Rated output

With incremental encoder With absolute encoder

100 V

50 W R88M-G05030H-@ R88M-G05030T-@ R88D-GNA5L-ML2

100 W R88M-G10030L-

@ R88M-G10030S-@ R88D-GN01L-ML2

200 W R88M-G20030L-

@ R88M-G20030S-@ R88D-GN02L-ML2

400 W R88M-G40030L-

@ R88M-G40030S-@ R88D-GN04L-ML2

Single-

phase 200 V

50 W R88M-G05030H-

@ R88M-G05030T-@ R88D-GN01H-ML2

100 W R88M-G10030H-

@ R88M-G10030T-@ R88D-GN01H-ML2

200 W R88M-G20030H-

@ R88M-G20030T-@ R88D-GN02H-ML2

400 W R88M-G40030H-

@ R88M-G40030T-@ R88D-GN04H-ML2

Singlephase/threephase 200 V

750 W R88M-G75030H-

@ R88M-G75030T-@ R88D-GN08H-ML2

1 kW --- R88M-G1K030T-

@ R88D-GN15H-ML2

1.5 kW --- R88M-G1K530T-

@ R88D-GN15H-ML2

Three-phase

200 V

2 kW --- R88M-G2K030T-

@ R88D-GN20H-ML2

3 kW --- R88M-G3K030T-

@ R88D-GN30H-ML2

4 kW --- R88M-G4K030T-

@ R88D-GN50H-ML2

5 kW --- R88M-G5K030T-

@ R88D-GN50H-ML2

Voltage

Servomotor

Servo Drive

Rated

output

With incremental encoder With absolute encoder

100 V

100 W R88M-GP10030L-@ R88M-GP10030S-@ R88D-GN01L-ML2 200 W R88M-GP20030L-

@ R88M-GP20030S-@ R88D-GN02L-ML2

400 W R88M-GP40030L-

@ R88M-GP40030S-@ R88D-GN04L-ML2

Singlephase 200 V

100 W R88M-GP10030H-

@ R88M-GP10030T-@ R88D-GN01H-ML2

200 W R88M-GP20030H-

@ R88M-GP20030T-@ R88D-GN02H-ML2

400 W R88M-GP40030H-

@ R88M-GP40030T-@ R88D-GN04H-ML2

2-6

2-1 Standard Models

Standard Models and Dimensions

 2,000-r/min Servomotors and Servo Drives

 1,000-r/min Servomotors and Servo Drives

Voltage

Servomotor

Servo Drive

Rated output

With absolute encoder

Singlephase/threephase 200 V

1 kW R88M-G1K020T-@ R88D-GN10H-ML2

1.5 kW R88M-G1K520T-@ R88D-GN15H-ML2

Three-phase

200 V

2 kW R88M-G2K020T-

@ R88D-GN20H-ML2

3 kW R88M-G3K020T-

@ R88D-GN30H-ML2

4 kW R88M-G4K020T-

@ R88D-GN50H-ML2

5 kW R88M-G5K020T-

@ R88D-GN50H-ML2

7.5 kW R88M-G7K515T-

@ R88D-GN75H-ML2

Voltage

Servomotor

Servo Drive

Rated output

With absolute encoder

Singlephase/threephase 200 V

900 W R88M-G90010T-@ R88D-GN15H-ML2

Three-phase

200 V

2 kW R88M-G2K010T-

@ R88D-GN30H-ML2

3 kW R88M-G3K010T-

@ R88D-GN50H-ML2

4.5 kW R88M-G4K510T-

@ R88D-GN50H-ML2

6 kW R88M-G6K010T-

@ R88D-GN75H-ML2

2-7

2-1 Standard Models

Standard Models and Dimensions

Decelerators

The following types of Decelerators are available for OMNUC G-Series Servomotors. Select a Decelerator based on the Servomotor capacity.

 Backlash = 3’ Max.

Decelerators for 3,000-r/min Servomotors

Specifications

Model

Motor

capacity

Gear ratio

50 W

1/5 R88G-HPG11A05100B

1/9 R88G-HPG11A09050B@ 1/21 R88G-HPG14A21100B@ 1/33 R88G-HPG14A33050B@ 1/45 R88G-HPG14A45050B@

100 W

1/5 R88G-HPG11A05100B

1/11 R88G-HPG14A11100B@ 1/21 R88G-HPG14A21100B@ 1/33 R88G-HPG20A33100B@ 1/45 R88G-HPG20A45100B@

200 W

1/5 R88G-HPG14A05200B

1/11 R88G-HPG14A11200B@ 1/21 R88G-HPG20A21200B@ 1/33 R88G-HPG20A33200B@ 1/45 R88G-HPG20A45200B@

400 W

1/5 R88G-HPG14A05400B

1/11 R88G-HPG20A11400B@ 1/21 R88G-HPG20A21400B@ 1/33 R88G-HPG32A33400B@ 1/45 R88G-HPG32A45400B@

750 W

1/5 R88G-HPG20A05750B

1/11 R88G-HPG20A11750B@ 1/21 R88G-HPG32A21750B@ 1/33 R88G-HPG32A33750B@ 1/45 R88G-HPG32A45750B@

2-8

2-1 Standard Models

Standard Models and Dimensions

Note1. The standard models have a straight shaft. Note2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix

shown in the box). (Example: R88G-HPG11A05100BJ)

Specifications

Model

Motor

capacity

Gear ratio

1 kW

1/5 R88G-HPG32A051K0B

1/11 R88G-HPG32A111K0B@ 1/21 R88G-HPG32A211K0B@ 1/33 R88G-HPG32A331K0B@ 1/45 R88G-HPG50A451K0B@

1.5 kW

1/5 R88G-HPG32A052K0B

1/11 R88G-HPG32A112K0B@ 1/21 R88G-HPG32A211K5B@ 1/33 R88G-HPG50A332K0B@ 1/45 R88G-HPG50A451K5B@

2 kW

1/5 R88G-HPG32A052K0B

1/11 R88G-HPG32A112K0B@ 1/21 R88G-HPG50A212K0B@ 1/33 R88G-HPG50A332K0B@

3 kW

1/5 R88G-HPG32A053K0B

1/11 R88G-HPG50A113K0B@ 1/21 R88G-HPG50A213K0B@

4 kW

1/5 R88G-HPG32A054K0B

1/11 R88G-HPG50A115K0B@

5 kW

1/5 R88G-HPG50A055K0B

1/11 R88G-HPG50A115K0B@

2-9

2-1 Standard Models

Standard Models and Dimensions

Decelerators for 2,000-r/min Servomotors

Note1. The standard models have a straight shaft. Note2. Models with a key and tap are indicated with "J" at the end of the model number

(the suffix shown in the box). (Example: R88G-HPG32A053K0BJ)

Specifications

Model

Motor

capacity

Gear ratio

1 kW

1/5 R88G-HPG32A053K0B@ 1/11 R88G-HPG32A112K0SB@ 1/21 R88G-HPG32A211K0SB@ 1/33 R88G-HPG50A332K0SB@ 1/45 R88G-HPG50A451K0SB@

1.5 kW

1/5 R88G-HPG32A053K0B

1/11 R88G-HPG32A112K0SB@ 1/21 R88G-HPG50A213K0B@ 1/33 R88G-HPG50A332K0SB@

2 kW

1/5 R88G-HPG32A053K0B

1/11 R88G-HPG32A112K0SB@ 1/21 R88G-HPG50A213K0B@ 1/33 R88G-HPG50A332K0SB@

3 kW

1/5 R88G-HPG32A054K0B

1/11 R88G-HPG50A115K0B@ 1/21 R88G-HPG50A213K0SB@ 1/25 R88G-HPG65A253K0SB@

4 kW

1/5 R88G-HPG50A054K0SB

1/11 R88G-HPG50A114K0SB@ 1/20 R88G-HPG65A204K0SB@ 1/25 R88G-HPG65A254K0SB@

5 kW

1/5 R88G-HPG50A055K0SB

1/11 R88G-HPG50A115K0SB@ 1/20 R88G-HPG65A205K0SB@ 1/25 R88G-HPG65A255K0SB@

7.5 kW

1/5 R88G-HPG65A057K5SB

1/12 R88G-HPG65A127K5SB@

2-10

2-1 Standard Models

Standard Models and Dimensions

Decelerators for 1,000-r/min Servomotors

Note1. The standard models have a straight shaft. Note2. Models with a key and tap are indicated with "J" at the end of the model number

(the suffix shown in the box). (Example: R88G-HPG32A05900TBJ)

Specifications

Model

Motor

capacity

Gear ratio

900 W

1/5 R88G-HPG32A05900TB@ 1/11 R88G-HPG32A11900TB@ 1/21 R88G-HPG50A21900TB@ 1/33 R88G-HPG50A33900TB@

2 kW

1/5 R88G-HPG32A052K0TB

1/11 R88G-HPG50A112K0TB@ 1/21 R88G-HPG50A212K0TB@ 1/25 R88G-HPG65A255K0SB@

3 kW

1/5 R88G-HPG50A055K0SB

1/11 R88G-HPG50A115K0SB@ 1/20 R88G-HPG65A205K0SB@ 1/25 R88G-HPG65A255K0SB@

4.5 kW

1/5 R88G-HPG50A054K5TB

1/12 R88G-HPG65A127K5SB@ 1/20 R88G-HPG65A204K5TB@

6 kW

1/5 R88G-HPG65A057K5SB

1/12 R88G-HPG65A127K5SB@

2-11

2-1 Standard Models

Standard Models and Dimensions

Decelerators for 3,000-r/min Flat Servomotors

Note1. The standard models have a straight shaft. Note2. Models with a key and tap are indicated with "J" at the end of the model number

(the suffix shown in the box). (Example: R88G-HPG11A05100PBJ)

Specifications

Model

Motor

capacity

Gear ratio

100 W

1/5 R88G-HPG11A05100PB@ 1/11 R88G-HPG14A11100PB@ 1/21 R88G-HPG14A21100PB@ 1/33 R88G-HPG20A33100PB@ 1/45 R88G-HPG20A45100PB@

200 W

1/5 R88G-HPG14A05200PB

1/11 R88G-HPG20A11200PB@ 1/21 R88G-HPG20A21200PB@ 1/33 R88G-HPG20A33200PB@ 1/45 R88G-HPG20A45200PB@

400 W

1/5 R88G-HPG20A05400PB

1/11 R88G-HPG20A11400PB@ 1/21 R88G-HPG20A21400PB@ 1/33 R88G-HPG32A33400PB@ 1/45 R88G-HPG32A45400PB@

2-12

2-1 Standard Models

Standard Models and Dimensions

 Backlash = 15’ Max.

Decelerators for 3,000-r/min Servomotors (Straight Shaft with Key)

Specifications

Model

Motor

capacity

Gear ratio

50 W

1/5 R88G-VRSF05B100CJ

1/9 R88G-VRSF09B100CJ 1/15 R88G-VRSF15B100CJ 1/25 R88G-VRSF25B100CJ

100 W

1/5 R88G-VRSF05B100CJ

1/9 R88G-VRSF09B100CJ 1/15 R88G-VRSF15B100CJ 1/25 R88G-VRSF25B100CJ

200 W

1/5 R88G-VRSF05B200CJ

1/9 R88G-VRSF09C200CJ 1/15 R88G-VRSF15C200CJ 1/25 R88G-VRSF25C200CJ

400 W

1/5 R88G-VRSF05C400CJ

1/9 R88G-VRSF09C400CJ 1/15 R88G-VRSF15C400CJ 1/25 R88G-VRSF25C400CJ

750 W

1/5 R88G-VRSF05C750CJ

1/9 R88G-VRSF09D750CJ 1/15 R88G-VRSF15D750CJ 1/25 R88G-VRSF25D750CJ

2-13

2-1 Standard Models

Standard Models and Dimensions

Decelerators for 3,000-r/min Flat Servomotors (Straight Shaft with Key)

Specifications

Model

Motor

capacity

Gear ratio

100 W

1/5 R88G-VRSF05B100PCJ

1/9 R88G-VRSF09B100PCJ 1/15 R88G-VRSF15B100PCJ 1/25 R88G-VRSF25B100PCJ

200 W

1/5 R88G-VRSF05B200PCJ

1/9 R88G-VRSF09C200PCJ 1/15 R88G-VRSF15C200PCJ 1/25 R88G-VRSF25C200PCJ

400 W

1/5 R88G-VRSF05C400PCJ

1/9 R88G-VRSF09C400PCJ 1/15 R88G-VRSF15C400PCJ 1/25 R88G-VRSF25C400PCJ

2-14

2-1 Standard Models

Standard Models and Dimensions

Accessories and Cables

 Encoder Cables (Standard Cables)

Specifications Model

3,000-r/min Servomotors of 50 to 750 W with an absolute encoder, 3,000-r/min Flat Servomotors of 100 to 400 W with an absolute encoder

3 mR88A-CRGA003C

5 m R88A-CRGA005C 10 m R88A-CRGA010C 15 m R88A-CRGA015C 20 m R88A-CRGA020C 30 m R88A-CRGA030C 40 m R88A-CRGA040C 50 m R88A-CRGA050C

3,000-r/min Servomotors of 50 to 750 W with an incremental encoder, 3,000-r/min Flat Servomotors of 100 to 400 W with an incremental encoder

3 mR88A-CRGB003C

5 m R88A-CRGB005C 10 m R88A-CRGB010C 15 m R88A-CRGB015C 20 m R88A-CRGB020C 30 m R88A-CRGB030C 40 m R88A-CRGB040C 50 m R88A-CRGB050C

3,000-r/min Servomotors of 1 to 5 kW, 2,000-r/min Servomotors of 1 to 5 kW, 1,500-r/min Servomotors of 7.5 kW, 1,000-r/min Servomotors of 900 W to 6 kW

3 mR88A-CRGC003N

5 m R88A-CRGC005N 10 m R88A-CRGC010N 15 m R88A-CRGC015N 20 m R88A-CRGC020N 30 m R88A-CRGC030N 40

R88A-CRGC040N

50 m R88A-CRGC050N

2-15

2-1 Standard Models

Standard Models and Dimensions

 Servomotor Power Cables (Standard Cables)

Specifications

Model

For Servomotor without

brake

For Servomotor with

brake

3,000-r/min Servomotors of 50 to 750 W, 3,000-r/min Flat Servomotors of

100 to 400 W

3 mR88A-CAGA003S ---

5 m R88A-CAGA005S --- 10 m R88A-CAGA010S --- 15 m R88A-CAGA015S --- 20 m R88A-CAGA020S --- 30 m R88A-CAGA030S --40 m R88A-CAGA040S --- 50 m R88A-CAGA050S ---

3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, 1,000-r/min Servomotors of 900 W

3 mR88A-CAGB003SR88A-CAGB003B

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

3,000-r/min Servomotors of 2 kW, 2,000-r/min Servomotors of 2 kW

3 mR88A-CAGC003SR88A-CAGC003B

5 m

R88

A-CAGC005S R88A-CAGC005B 10 m R88A-CAGC010S R88A-CAGC010B 15 m R88A-CAGC015S R88A-CAGC015B 20 m R88A-CAGC020S R88A-CAGC020B 30 m R88A-CAGC030S R88A-CAGC030B 40 m R88A-CAGC040S R88A-CAGC040B 50 m R88A-CAGC050S R88A-CAGC050B

3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 4.5 kW

3 mR88A-CAGD003SR88A-CAGD003B

5 m R88A-CAGD005S R88A-CAGD005B 10 m R88A-CAGD010S R88A-CAGD010B 15 m R88A-CAGD015S R88A-CAGD015B 20 m R88A-CAGD020S R88A-CAGD020B 30 m R88A-CAGD030S R88A-CAGD030B 40 m R88A-CAGD040S R88A-CAGD040B 50 m R88A-CAGD050S R88A-CAGD050B

2-16

2-1 Standard Models

Standard Models and Dimensions

Note There are separate connectors for power and brakes for 3,000-r/min Servomotors of 50 to

750 W, Flat Servomotors, and Servomotors of 6 kW or higher. Therefore, when a Servomotor with a brake is used, it will require both a Power Cable for a Servomotor without a brake and a Brake Cable.

Specifications

Model

For Servomotor without

brake

For Servomotor with

brake

1,500-r/min Servomotors of 7.5 kW, 1,000-r/min Servomotors of 6 kW

3 mR88A-CAGE003S---

5 m R88A-CAGE005S --- 10 m R88A-CAGE010S --- 15 m R88A-CAGE015S --- 20 m R88A-CAGE020S --- 30 m R88A-CAGE030S --40 m R88A-CAGE040S --- 50 m R88A-CAGE050S ---

2-17

2-1 Standard Models

Standard Models and Dimensions

 Brake Cables (Standard Cables)

Specifications Model

3,000-r/min Servomotors of 50 to 750 W, 3,000-r/min Flat Servomotors of 100 to 400 W

3 mR88A-CAGA003B

5 m R88A-CAGA005B 10 m R88A-CAGA010B 15 m R88A-CAGA015B 20 m R88A-CAGA020B 30 m R88A-CAGA030B 40 m R88A-CAGA040B 50 m R88A-CAGA050B

1,500-r/min Servomotors of 7.5 kW, 1,000-r/min Servomotors of 6 kW

3 mR88A-CAGE003B

5 m R88A-CAGE005B 10 m R88A-CAGE010B 15 m R88A-CAGE015B 20 m R88A-CAGE020B 30 m R88A-CAGE030B 40 m R88A-CAGE040B 50 m R88A-CAGE050B

2-18

2-1 Standard Models

Standard Models and Dimensions

 Encoder Cables (Robot Cables)

Specifications Model

3,000-r/min Servomotors of 50 to 750 W with an absolute encoder, 3,000-r/min Flat Servomotors of 100 to 400 W with an absolute encoder

3 mR88A-CRGA003CR

5 m R88A-CRGA005CR 10 m R88A-CRGA010CR 15 m R88A-CRGA015CR 20 m R88A-CRGA020CR 30 m R88A-CRGA030CR 40 m R88A-CRGA040CR 50 m R88A-CRGA050CR

3,000-r/min Servomotors of 50 to 750 W with an incremental encoder, 3,000-r/min Flat Servomotors of 100 to 400 W with an incremental encoder

3 mR88A-CRGB003CR

5 m R88A-CRGB005CR 10 m R88A-CRGB010CR 15 m R88A-CRGB015CR 20 m R88A-CRGB020CR 30 m R88A-CRGB030CR 40 m R88A-CRGB040CR 50 m R88A-CRGB050CR

3,000-r/min Servomotors of 1 to 5 kW, 2,000-r/min Servomotors of 1 to 5 kW, 1,000-r/min Servomotors of 900 W to 4.5 kW

3 mR88A-CRGC003NR

5 m R88A-CRGC005NR 10 m R88A-CRGC010NR 15 m R88A-CRGC015NR 20 m R88A-CRGC020NR 30 m R88A-CRGC030NR 40 m R

88A-CRGC040

m R88A-CRGC050NR

2-19

2-1 Standard Models

Standard Models and Dimensions

 Servomotor Power Cables (Robot Cables)

Note There are separate connectors for power and brakes for 3,000-r/min Servomotors of 50 to

750 W and Flat Servomotors. Therefore, when a Servomotor with a brake is used, it will require a Power Cable for a Servomotor without a brake, as well as a Brake Cable.

Specifications

Model

For Servomotor without

brake

For Servomotor with

brake

3,000-r/min Servomotors of 50 to 750 W, 3,000-r/min Flat Servomotors of

100 to 400 W

3 mR88A-CAGA003SR ---

5 m R88A-CAGA005SR --- 10 m R88A-CAGA010SR --- 15 m R88A-CAGA015SR --- 20 m R88A-CAGA020SR --- 30 m R88A-CAGA030SR --40 m R88A-CAGA040SR --- 50 m R88A-CAGA050SR ---

3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, 1,000-r/min Servomotors of 900 W

3 mR88A-CAGB003SR R88A-CAGB003BR

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

3,000-r/min Servomotors of 2 kW, 2,000-r/min Servomotors of 2 kW

3 mR88A-CAGC003SR R88A-CAGC003BR

5 m

R88

A-CAGC005SR R88A-CAGC005BR 10 m R88A-CAGC010SR R88A-CAGC010BR 15 m R88A-CAGC015SR R88A-CAGC015BR 20 m R88A-CAGC020SR R88A-CAGC020BR 30 m R88A-CAGC030SR R88A-CAGC030BR 40 m R88A-CAGC040SR R88A-CAGC040BR 50 m R88A-CAGC050SR R88A-CAGC050BR

3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 4.5 kW

3 mR88A-CAGD003SR R88A-CAGD003BR

5 m R88A-CAGD005SR R88A-CAGD005BR 10 m R88A-CAGD010SR R88A-CAGD010BR 15 m R88A-CAGD015SR R88A-CAGD015BR 20 m R88A-CAGD020SR R88A-CAGD020BR 30 m R88A-CAGD030SR R88A-CAGD030BR 40 m R88A-CAGD040SR R88A-CAGD040BR 50 m R88A-CAGD050SR R88A-CAGD050BR

2-20

2-1 Standard Models

Standard Models and Dimensions

 Brake Cables (Robot Cables)

 Communications Cable

 MECHATROLINK-II Communications Cable

 Absolute Encoder Battery Cable

Specifications Model

3,000-r/min Servomotors of 50 to 750 W, 3,000-r/min Flat Servomotors of 100 to 400 W

3 mR88A-CAGA003BR

5 m R88A-CAGA005BR 10 m R88A-CAGA010BR 15 m R88A-CAGA015BR 20 m R88A-CAGA020BR 30 m R88A-CAGA030BR 40 m R88A-CAGA040BR 50 m R88A-CAGA050BR

Specifications Model

RS-232 Communications Cable 2 m R88A-CCG002P2

Specifications Model

MECHATROLINK-II Cable

0.5 m FNY-W6003-A5 1 m FNY-W6003-01 3 mFNY-W6003-03 5 m FNY-W6003-05

10 m FNY-W6003-10 20 m FNY-W6003-20 30 m FNY-W6003-30

MECHATROLINK-II termination resistor FNY-W6022

Specifications Model

Absolute Encoder Battery Cable 0.3 mR88A-CRGD0R3C

2-21

2-1 Standard Models

Standard Models and Dimensions

 Connectors

 Control Cables

 External Regeneration Resistors

 Reactors

Specifications Model

Servomotor Connector for Encoder Cable

Absolute Encoder R88A-CNG01R

Incremental Encoder R88A-CNG02R Control I/O Connector (CN1) R88A-CNU01C Encoder Connector (CN2) R88A-CNW01R Power Cable Connector (750 W max.) R88A-CNG01A Brake Cable Connector (750 W max.) R88A-CNG01B

Specifications Model

Connector Terminal Block Cables

1 m XW2Z-100J-B33 2 m XW2Z-200J-B33

Connector Terminal Block

M3 screw type XW2B-20G4 M3.5 screw type XW2B-20G5 M3 screw type XW2D-20G6

Specifications Model

Regeneration capacity: 20 W, 50 Ω (with 150

°C thermal switch) R88A-RR08050S

Regeneration capacity: 20 W, 100 Ω (with 150

°C thermal switch) R88A-RR080100S

Regeneration capacity: 70 W, 47 Ω (with 170

°C thermal switch) R88A-RR22047S

Regeneration capacity: 180 W, 20 Ω (with 200

°C thermal switch) R88A-RR50020S

Specifications Model R88D-GNA5L-ML2/-GN01H-ML2 3G3AX-DL2002 R88D-GN01L-ML2/-GN02H-ML2 3G3AX-DL2004 R88D-GN02L-ML2/-GN04H-ML2 3G3AX-DL2007 R88D-GN04L-ML2/-GN08H-ML2/-GN10H-ML2 3G3AX-DL2015 R88D-GN15H-ML2 3G3AX-DL2022 R88D-GN08H-ML2/-GN10H-ML2/-GN15H-ML2 3G3AX-AL2025 R88D-GN20H-ML2/-GN30H-ML2 3G3AX-AL2055 R88D-GN50H-ML2 3G3AX-AL2110 R88D-GN75H-ML2 3G3AX-AL2220

2-22

2-1 Standard Models

Standard Models and Dimensions

 Mounting Brackets (L Brackets for Rack Mounting)

 Absolute Encoder Backup Battery

Specifications Model R88D-GNA5L-ML2/-GN01L-ML2/-GN01H-ML2/-GN02H-ML2 R88A-TK01G R88D-GN02L-ML2/-GN04H-ML2 R88A-TK02G R88D-GN04L-ML2/-GN08H-ML2 R88A-TK03G R88D-GN10H-ML2/-GN15H-ML2 R88A-TK04G

Specifications Model 2,000 mA·h 3.6 V R88A-BAT01G

2-23

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

2-2 External and Mounting Hole

Dimensions

Servo Drives

 Single-phase 100 VAC: R88D-GNA5L-ML2/-GN01L-ML2 (50 to 100 W)

Single-phase 200 VAC: R88D-GN01H-ML2/-GN02H-ML2 (50 to 200 W)

Wall Mounting

External Dimensions Mounting Hole Dimensions

COM

X10

ADR

AC SERVO DRIVER

2 3

13270

150

±0.5

(42)

Two, M4

140

±0.5

(150)

2-24

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Front Panel Mounting (Using Mounting Brackets)

External Dimensions Mounting Hole Dimensions

(42)

Two, M4

158

170

±0.5

Square

hole

5.2

13270

180

170

150

5.2 dia.

R2.6

2.6

8 7

AC SERVO DRIVER

ADR

2 3

X10

COM

SP IM

2-25

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 Single-phase 100 VAC: R88D-GN02L-ML2 (200 W)

Single-phase 200 VAC: R88D-GN04H-ML2 (400 W)

Wall Mounting

External Dimensions Mounting Hole Dimensions

Front Panel Mounting (Using Mounting Brackets)

External Dimensions Mounting Hole Dimensions

±0.5

Two, M4

140

±0.5

(150)

13270

150

COM

X10

ADR

AC SERVO DRIVER

2 3

Two, M4

158

170

±0.5

Square

hole

5.2

13270

180

170

150

5.2 dia.

R2.6

2.6

COM

X10

ADR

AC SERVO DRIVER

2 3

2-26

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 Single-phase 100 VAC: R88D-GN04L-ML2 (400 W)

Single-phase 200/Three phase VAC: R88D-GN08H-ML2 (750 W)

Wall Mounting

External Dimensions Mounting Hole Dimensions

Front Panel Mounting (Using Mounting Brackets)

External Dimensions Mounting Hole Dimensions

±0.5

8.5 (67)

Two, M4

140

±0.5

(150)

COM

X10

ADR

AC SERVO DRIVER

2 3

17070

150

Two, M4

158

170

±0.5

Square hole

COM

X10

ADR

AC SERVO DRIVER

2 3

5.2

2.6

17070

180

170

150

5.2 dia.

R2.6

2.6

2-27

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 Single-phase/Three-phase 200 VAC: R88D-GN10H-ML2/-GN15H-ML2

(900 W to 1.5 kW)

Wall Mounting

External Dimensions Mounting Hole Dimensions

Front Panel Mounting (Using Mounting Brackets)

External Dimensions Mounting Hole Dimensions

±0.5

8.5 (87)

Two, M4

140

±0.5

(150)

17070

150

COM

X10

ADR

AC SERVO DRIVER

2 3

Four, M4

158

170

±0.5

Square hole

±0.5

5.25.2

17070

180

170

150

5.2 dia.

R2.6

10 40

85 60 4010

2.6

COM

X10

ADR

AC SERVO DRIVER

2-28

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 Three-phase 200 VAC: R88D-GN20H-ML2 (2 kW)

Wall Mounting

External Dimensions

Mounting Hole Dimensions

3.5

5.25.2

5.25.2 R2.6R2.6

R2.6 R2.6

5.2 dia.

20070

198

188

168

5017.5

42.5

COM

X10

ADR

AC SERVO DRIVER

2 3

(87)

Four, M4

(168)

188

±0.5

18.5 50

±0.5

2-29

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Front Panel Mounting (Using Mounting Brackets)

External Dimensions

Mounting Hole Dimensions

5.25.2

R2.6R2.6

R2.6 R2.6

5.2 dia.

20070

32.1

2.6

198

188

168

5017.5

42.5

COM

X10

ADR

AC SERVO DRIVER

2 3

Four, M4

176

Square hole

188

20.5 50

±0.5

2-30

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 Three-phase 200 VAC: R88D-GN30H-ML2/-GN50H-ML2 (2 to 5 kW)

Wall Mounting

External Dimensions

Mounting Hole Dimensions

5.25.2

10015

5.2 R2.6

R2.6

R2.6 R2.6

5.2 dia.

5.2

200

250

240

220

130 10015

3.5

COM

X10

ADR

AC SERVO DRIVER

2 3

132

Six, M4

(220)

240

±0.5

100

±0.5

2-31

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Front Panel Mounting (Using Mounting Brackets)

External Dimensions

Mounting Hole Dimensions

5.25.2

10015

5.2 R2.6

R2.6

R2.6 R2.6

5.2 dia.

5.2

20070

32.3

2.6

250

240

220

130 10015

COM

X10

ADR

AC SERVO DRIVER

2 3

132

Six, M4

228

Square hole

240

±0.5

100

±0.5

2-32

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 Three-phase 200 VAC: R88D-GN75H-ML2 (7.5 kW)

Front Panel Mounting (Using Mounting Brackets)

External Dimensions

Mounting Hole Dimensions

5.2 5.2 5.2

Four, 5.2 dia.

5.2 5.2 5.2

248

339.3

45.1

70 (4)

(2.3)

(4)

250

220

235

9082.5

9037.5

COM

X10

ADR

AC SERVO DRIVER

2 3

250

Six, M4

229

38.5

240

±0.5

Square hole

2-33

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Servomotors

 3,000-r/min Servomotors

50 W/100 W

R88M-G05030H(-S2)/-G10030L(-S2)/-G10030H(-S2)/-G05030H-B(S2) /-G10030L-B(S2)/-G10030H-B(S2) R88M-G05030T(-S2)/-G10030S(-S2)/-G10030T(-S2)/-G05030T-B(S2) /-G10030S-B(S2)/-G10030T-B(S2)

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

"S2" at the end of the model number.

Model

Dimensions (mm)

LL LN R88M-G05030@ 72 26.5 R88M-G10030

@ 92 46.5

R88M-G05030

@-B@ 102 26.5

R88M-G10030@-B@ 122 46.5

INC

ABS

230

200

LL 25

40 × 40

Motor connector

Encoder connector

8 dia., h: 6

46 dia.

Two, 4.3 dia.

30 dia., h: 7

Brake connector

Three, h: 9

12.5

M3 (depth: 6)

1.8

(Dimensions of shaft end with key and tap)

2-34

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 3,000-r/min Servomotors

200 W/400 W/750 W

R88M-G20030L(-S2)/-G40030L(-S2)/-G20030H(-S2)/-G40030H(-S2) /-G75030H(-S2)/-G20030L-B(S2)/-G40030L-B(S2) /-G20030H-B(S2)/-G40030H-B(S2)/-G75030H-B(S2) R88M-G20030S(-S2)/-G40030S(-S2)/-G20030T(-S2)/-G40030T(-S2) /-G75030T(-S2)/-G20030S-B(S2)/-G40030S-B(S2) /-G20030T-B(S2)/-G40030T-B(S2)/-G75030T-B(S2)

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

"S2" at the end of the model number.

Model

Dimensions (mm)

LL LR S D1 D2 C G KL1 Z QK b h M t1 L

R88M-G20030@ 79.5

70 50 60 6.5 43 4.5

18 4h9 4 M4 2.5 8

R88M-G40030

@ 99 14 22.5 5h9 5

R88M-G75030

@ 112.2 351990 70 80 8 53 6 22 6h9 6 3.5

R88M-G20030

@-B@ 116

70 50 60 6.5 43 4.5

18 4h9 4 M4 2.5 8

R88M-G40030

@-B@ 135.5 14 22.5 5h9 5

R88M-G75030

@-B@ 149.2 3519 90 70 80 8 53 6 22 6h9 6 3.5

INC

ABS

220

200

LL LR

S dia., h: 6

D1 dia.

Motor connector

Encoder connector

Four, Z dia.

D2 dia., h: 7

Brake connector

KL1

C × C

M(effective depth: L)

(Dimensions of shaft end with key and tap)

2-35

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 3,000-r/min Servomotors

1 kW/1.5 kW/2 kW

R88M-G1K030T(-S2)/-G1K530T(-S2)/-G2K030T(-S2)/-G1K030T-B(S2) /-G1K530T-B(S2)/-G2K030T-B(S2)

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

"S2" at the end of the model number.

 3,000-r/min Servomotors

3 kW

R88M-G3K030T(-S2)/-G3K030T-B(S2)

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

"S2" at the end of the model number.

Model

Dimensions (mm)

LL D1 D2 C D3 G KL1 Z

R88M-G1K030

@ 175 100 80 90 120 7 98 6.6

R88M-G1K530@ 180

115 95 100 13510103 9

R88M-G2K030

@ 205

R88M-G1K030

@-B@ 200 100 80 90 120 7 98 6.6

R88M-G1K530@-B@ 205

115 95 100 13510103 9

R88M-G2K030

@-B@ 230

Model

Dimensions (mm)

R88M-G3K030

@ 217

R88M-G3K030

@-B@ 242

ABS

M5 (depth: 12)

Six, h: 9

3.5

(Dimensions of shaft end with key and tap)

LL 55

KL1

C × C

Encoder canon plug

Servomotor canon plug

Four, Z dia.

D1 dia.

D2 dia., h: 7

19 dia., h: 6

D3 dia.

ABS

111

120×120

Encoder connector

Servomotor/brake connector

110 dia., h: 7

22 dia., h: 6

130 dia.

145 dia.

162 dia.

M5 (depth: 12)

Eight, h: 9

(Dimensions of the shaft end with key and tap)

2-36

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 3,000-r/min Servomotors

4 kW/5 kW

R88M-G4K030T(-S2)/-G5K030T(-S2)/-G4K030T-B(S2)/-G5K030T-B(S2)

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

"S2" at the end of the model number.

Model

Dimensions (mm)

LL R88M-G4K030@ 240 R88M-G5K030

@ 280

R88M-G4K030

@-B@ 265

R88M-G5K030@-B@ 305

ABS

118

130×130

Four, 9 dia.

110 dia., h: 7

24 dia., h: 6

165 dia.

Encoder connector

Servomotor/brake connector

145 dia.

Eight, h: 9

M8 (depth: 20)

(Dimensions of shaft end with key and tap)

2-37

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 3,000-r/min Flat Servomotors

100 W/200 W/400 W

R88M-GP10030L(-S2)/-GP20030L(-S2)/-GP40030L(-S2)/-GP10030H(-S2) /-GP20030H(-S2)/-GP40030H(-S2)/-GP10030L-B(S2)/-GP20030L-B(S2) /-GP40030L-B(S2)/-GP10030H-B(S2)/-GP20030H-B(S2)/-GP40030H-B(S2)

R88M-GP10030S(-S2)/-GP20030S(-S2)/-GP40030S(-S2)/-GP10030T(-S2) /-GP20030T(-S2)/-GP40030T(-S2)/-GP10030S-B(S2)/-GP20030S-B(S2) /-GP40030S-B(S2)/-GP10030T-B(S2)/-GP20030T-B(S2)/-GP40030T-B(S2)

Note The standard models have a straight shaft. Models with a ke y and tap are indicated with "S2" at the end of

the model number.

Model

Dimensions (mm)

LL LR S D1 D2 C F G KL1 Z QK b h t1 M L R88M-GP10030L R88M-GP10030H

60.5 25 8 70 50 60 3 743 4.5 12.5 3h9 3 1.8 M3 6

R88M-GP10030S R88M-GP10030T

87.5

R88M-GP20030L R88M-GP20030H

67.5

90 70 805 8 53 5.5

18 4h9 4 2.5 M4 8

R88M-GP20030S R88M-GP20030T

94.5

R88M-GP40030L R88M-GP40030H

82.5

14 22.5 5h9 5 3 M5 10

R88M-GP40030S R88M-GP40030T

109.5

R88M-GP10030L-B

R88M-GP10030H-B@

84.5

25 8 70 50 60 3 743 4.5 12.5 3h9 3 1.8 M3 6

R88M-GP10030S-B

R88M-GP10030T-B@

111.5

R88M-GP20030L-B

R88M-GP20030H-B@

100

90 70 805 8 53 5.5

18 4h9 4 2.5 M4 8

R88M-GP20030S-B

R88M-GP20030T-B@

127

R88M-GP40030L-B

R88M-GP40030H-B@

115

14 22.5 5h9 5 3 M5 10

R88M-GP40030S-B

R88M-GP40030T-B@

142

INC

ABS

LL LR

200

220

KL1

C × C

Brake connector

Motor connector

(7)

Encoder connector

Four, Z dia.

D2 dia., h: 7

S dia., h: 6

D1 dia.

M (depth: L)

(Dimensions of shaft end with key and tap)

2-38

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 2,000-r/min Servomotors

1 kW/1.5 kW

R88M-G1K020T(-S2)/-G1K520T(-S2)/-G1K020T-B(S2)/-G1K520T-B(S2)

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

“S2” at the end of the model number.

 2,000-r/min Servomotors

2 kW/3 kW

R88M-G2K020T(-S2)/-G3K020T(-S2)/-G2K020T-B(S2)/-G3K020T-B(S2)

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

"S2" at the end of the model number.

Model

Dimensions (mm)

R88M-G1K020

@ 150

R88M-G1K520

175

R88M-G1K020@-B@ R88M-G1K520@-B@ 200

Model

Dimensions (mm)

LL LR S LW QK M L

R88M-G2K020

@ 20055224541M512

R88M-G3K020@ 25065245551M8 20 R88M-G2K020

@-B@ 22555224541M512

R88M-G3K020

@-B@ 27565245551M8 20

ABS

Encoder connector

Servomotor/brake connector

LL 55

118

130 × 130

Four, 9 dia.

145 dia.

110 dia., h: 7

22 dia., h: 6

165 dia.

Eight, h: 9

M5 (depth: 12)

(Dimensions of shaft end with key and tap)

ABS

LL LR

S dia., h: 6

118

130 × 130

Four, 9 dia.

145 dia.

110 dia., h: 7

165 dia.

Encoder connector

Servomotor/brake connector

Eight, h: 9

M (depth: L)

(Dimensions of shaft end with key and tap)

2-39

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 2,000-r/min Servomotors

4 kW/5 kW

R88M-G4K020T(-S2)/-G5K020T(-S2)/-G4K020T-B(S2)/-G5K020T-B(S2)

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

"S2" at the end of the model number.

Model

Dimensions (mm)

LL LR S D1 D2 C D3 KL1 Z QK b h t1 M L

R88M-G4K020

@ 242 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20

R88M-G5K020@ 225 70 35 200 114.3 176 233 143 13.5 50 10h9 8 5 M12 25 R88M-G4K020

@-B@ 267 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20

R88M-G5K020

@-B@ 250 70 35 200 114.3 176 233 143 13.5 50 10h9 8 5 M12 25

ABS

LL LR

3.2

KL1

C × C

D1 dia.

D2 dia., h: 7

S dia.,h: 6

D3 dia.

Four, Z dia.

Encoder connector

Servomotor/brake connector

M (depth: L)

(Dimensions of shaft end with key and tap)

2-40

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 1,500-r/min Servomotors

7.5 kW

R88M-G7K515T(-S2)/-G7K515T-B(S2)

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

"S2" at the end of the model number.

Model

Dimensions (mm)

R88M-G7K515

@ 340.5

R88M-G7K515@-B@ 380.5

ABS

M16 (depth:32)

12, h: 9

(Dimensions of shaft end with key and tap)

Eye-bolt Nominal diameter: 10

Brake connector

LL 113

3.2 183

176 × 176

Four, 13.5 dia.

200 dia.

114.3 dia., h: 7

42 dia., h: 6

233 dia.

Motor connector

Encoder connector

2-41

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 1,000-r/min Servomotors

900 W/2 kW

R88M-G90010T(-S2)/-G2K010T(-S2)/-G90010T-B(S2)/-G2K010T-B(S2)

Note The standard models have a straight shaft. Models with a ke y and tap are indicated with "S2" at the end of

the model number.

 1,000-r/min Servomotors

3 kW

R88M-G3K010T(-S2)/-G3K010T-B(S2)

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

"S2" at the end of the model number.

Model

Dimensions (mm)

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

R88M-G90010

@ 175 70 22 145 110 130 165 6 12 118 9418h9 7 4 M5 12

R88M-G2K010

@ 182 80 35 200 114.3 176 233 3.2 18 143 13.5 50 10h9 8 5M1225

R88M-G90010

@-B@ 200 70 22 145 110 130 165 6 12 118 9418h9 7 4 M5 12

R88M-G2K010

@-B@ 207 80 35 200 114.3 176 233 3.2 18 143 13.5 50 10h9 8 5M1225

Model

Dimensions (mm)

LL R88M-G3K010@ 222 R88M-G3K010

@-B@ 271

ABS

C × C

S dia., h: 6

D2 dia., h: 7

FLLG

KL1

Encoder connector

Servomotor/brake connector

Four, Z dia.

D1 dia.

D3 dia.

M (depth: L)

(Dimensions of shaft end with key and tap)

ABS

35 dia

h: 6

114.3 dia

h: 7

3.2

176 × 176

143

Four, 13.5 dia.

Encoder connector

Servomotor/brake connector

233 dia.

200 dia.

10, h: 9

M12 (depth: 25)

(Dimensions of shaft end with key and tap)

2-42

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 1,000-r/min Servomotors

4.5 kW

R88M-G4K510T(-S2)/-G4K510T-B(S2)

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

"S2" at the end of the model number.

 1,000-r/min Servomotors

6 kW

R88M-G6K010T(-S2)/-G6K010T-B(S2)

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

"S2" at the end of the model number.

Model

Dimensions (mm)

R88M-G4K510

@ 300.5

R88M-G4K510

@-B@ 337.5

Model

Dimensions (mm)

R88M-G6K010

@ 340.5

R88M-G6K010

@-B@ 380.5

ABS

114.3 dia., h: 7

42 dia., h: 6

113

3.2

176 × 176

143

Four, 13.5 dia.

Encoder connector

Servomotor/brake connector

Eye-bolt

Nominal diameter: 10

200 dia.

233 dia.

12, h: 9

M16 (depth: 32)

(Dimensions of shaft end with key and tap)

ABS

Eye-bolt Nominal diameter: 10

Motor connector

Brake connector

Encoder connector

176 × 176

Four, 13.5 dia.

42 dia., h: 6

114.3 dia., h: 7

233 dia.

200 dia.

M16 (depth: 32)

12, h: 9

(Dimensions of shaft end with key and tap)

2-43

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Parameter Unit Dimensions

 R88A-PR02G Hand-held Parameter Unit

Mini DIN 8-pin MD connector

(62)

(24)

(15)

(1500)

M3 (depth: 5)

(114)

(15)

2-44

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Servomotor and Decelerator Combinations

3,000-r/min Servomotors

Motor model 1/5

1/11

(1/9 for flange size

No.11)

1/21 1/33 1/45

R88MG05030@

R88GHPG11A05100B

(Also used with R88M-G10030

)

R88GHPG11A09050B

(

Gear ratio 1/9

)

R88GHPG14A21100B

(Also used with R88M-G10030

)

R88GHPG14A33050B

R88GHPG14A45050B

R88MG10030@

R88GHPG11A05100B

R88GHPG14A11100B

R88GHPG14A21100B

R88GHPG20A33100B

R88GHPG20A45100B

R88MG20030@

R88GHPG14A05200B

R88GHPG14A11200B

R88GHPG20A21200B

R88GHPG20A33200B

R88GHPG20A45200B

R88MG40030@

R88GHPG14A05400B

R88GHPG20A11400B

R88GHPG20A21400B

R88GHPG32A33400B

R88GHPG32A45400B

R88MG75030@

R88GHPG20A05750B

R88GHPG20A11750B

R88GHPG32A21750B

R88GHPG32A33750B

R88GHPG32A45750B

R88MG1K030T

R88GHPG32A051K0B

R88GHPG32A111K0B

R88GHPG32A211K0B

R88GHPG32A331K0B

R88GHPG50A451K0B

R88MG1K530T

R88GHPG32A052K0B

(Also used with R88M-G2K030T)

R88GHPG32A112K0B

(Also used with R88M-G2K030T)

R88GHPG32A211K5B

R88GHPG50A332K0B

(Also used with R88M-G2K030T)

R88GHPG50A451K5B

R88MG2K030T

R88GHPG32A052K0B

R88GHPG32A112K0B

R88GHPG50A212K0B

R88GHPG50A332K0B

---

R88MG3K030T

R88GHPG32A053K0B

R88GHPG50A113K0B

R88GHPG50A213K0B

--- ---

R88MG4K030T

R88GHPG32A054K0B

R88GHPG50A115K0B

(Also used with R88M-G5K030T)

--- --- ---

R88MG5K030T

R88GHPG50A055K0B

R88GHPG50A115K0B

--- --- ---

2-45

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

3,000-r/min Flat Servomotors

,000-r/min Servomotors

Motor model 1/5 1/11 1/21 1/33 1/45

R88MGP10030@

R88GHPG11A05100PB

R88GHPG14A11100PB

R88GHPG14A21100PB

R88GHPG20A33100PB

R88GHPG20A45100PB

R88MGP20030

R88GHPG14A05200PB

R88GHPG20A11200PB

R88GHPG20A21200PB

R88GHPG20A33200PB

R88GHPG20A45200PB

R88MGP40030

R88GHPG20A05400PB

R88GHPG20A11400PB

R88GHPG20A21400PB

R88GHPG32A33400PB

R88GHPG32A45400PB

Motor model 1/5

1/11

(1/12 for flange size

No.65)

1/21

(1/20 for flange size

No.65)

1/33

(1/25 for flange size

No.65)

1/45

R88MG1K020T

R88GHPG32A053K0B

(Also used with R88M-G3K030T)

R88GHPG32A112K0SB

(Also used with R88M-G2K020T)

R88GHPG32A211K0SB

R88GHPG50A332K0SB

(Also used with R88M-G2K020T)

R88GHPG50A451K0SB

R88MG1K520T

R88GHPG32A053K0B

(Also used with R88M-G3K030T)

R88GHPG32A112K0SB

(Also used with R88M-G2K020T)

R88GHPG50A213K0B

(Also used with R88M-G3K030T)

R88GHPG50A332K0SB

(Also used with R88M-G2K020T)

---

R88MG2K020T

R88GHPG32A053K0B

(Also used with R88M-G3K030T)

R88GHPG32A112K0SB

R88GHPG50A213K0B

(Also used with R88M-G3K030T)

R88GHPG50A332K0SB

---

R88MG3K020T

R88GHPG32A054K0B

(Also used with R88M-G4K030T)

R88GHPG50A115K0B

(Also used with R88M-G5K030T)

R88GHPG50A213K0SB

R88GHPG65A253K0SB

---

R88MG4K020T

R88GHPG50A054K0SB

R88GHPG50A114K0SB

R88GHPG65A204K0SB

R88GHPG65A254K0SB

---

R88MG5K020T

R88GHPG50A055K0SB

R88GHPG50A115K0SB

R88GHPG65A205K0SB

R88GHPG65A255K0SB

---

R88MG7K515T

R88GHPG65A057K5SB

R88GHPG65A127K5SB

--- --- ---

2-46

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

1,000-r/min Servomotors

Motor model 1/5

1/11

(1/12 for flange size

No.65)

1/21

(1/20 for flange size

No.65)

1/33

(1/25 for flange size

No.65)

R88MG90010T

R88GHPG32A05900TB@

R88GHPG32A11900TB@

R88GHPG50A21900TB@

R88GHPG50A33900TB@

R88MG2K010T

R88GHPG32A052K0TB@

R88GHPG50A112K0TB@

R88GHPG50A212K0TB@

R88GHPG65A255K0SB@ (Also used with R88M- G5K020T)

R88MG3K010T

R88GHPG50A055K0SB@ (Also used with R88M- G5K020T)

R88GHPG50A115K0SB

(Also used with R88M- G5K020T)

R88GHPG65A205K0SB

(Also used with R88M- G5K020T)

R88GHPG65A255K0SB

(Also used with R88M- G5K020T)

R88MG4K510T

R88GHPG50A054K5TB

R88GHPG65A127K5SB@ (Also used with R88M- G7K515T)

R88GHPG65A204K5TB@

---

R88MG6K010T

R88GHPG65A057K5SB@ (Also used with R88M- G7K515T)

R88GHPG65A127K5SB@ (Also used with R88M- G7K515T)

--- ---

2-47

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Decelerator Dimensions

 Backlash = 3’ Max.

Decelerators for 3,000-r/min Servomotors

Note1. The standard models have a straight shaft. Note2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the

box). (Example: R88G-HPG11A05100BJ)

Model

Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2

50 W

1/5 R88G-HPG11A05100B@ 39.5 42 40 40×40 46 46 40.0 39.5 29 27 2.2 15

1/9 R88G-HPG11A09050B@ 39.5 42 40 40×40 46 46 40.0 39.5 29 27 2.2 15 1/21 R88G-HPG14A21100B@ 64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 1/33 R88G-HPG14A33050B

@ 64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21

1/45 R88G-HPG14A45050B@ 64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21

100 W

1/5 R88G-HPG11A05100B@ 39.5 42 40 40×40 46 46 40.0 39.5 29 27 2.2 15 1/11 R88G-HPG14A11100B@ 64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 1/21 R88G-HPG14A21100B

@ 64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21

1/33 R88G-HPG20A33100B@ 66.5 80 90 55 dia. 105 46 85.0 84.0 59 53 7.5 27 1/45 R88G-HPG20A45100B@ 66.5 80 90 55 dia. 105 46 85.0 84.0 59 53 7.5 27

200 W

1/5 R88G-HPG14A05200B@ 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21 1/11 R88G-HPG14A11200B@ 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21 1/21 R88G-HPG20A21200B@ 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27 1/33 R88G-HPG20A33200B

@ 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27

1/45 R88G-HPG20A45200B@ 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27

Model

Dimensions (mm)

G S T Z1 Z2 AT

Key dimensions

Tap

dimensions

QK b h t1 M L

50 W

1/5 R88G-HPG11A05100B@ 5 8 20 3.4 M4×9M3 15 3 3 1.8 M3 6

1/9 R88G-HPG11A09050B

@ 5 8 20 3.4 M4×9M3 15 3 3 1.8 M3 6

1/21 R88G-HPG14A21100B@ 8 16 28 5.5 M4×10 M3 25 5 5 3 M4 8 1/33 R88G-HPG14A33050B@ 8 16 28 5.5 M4×10 M3 25 5 5 3 M4 8 1/45 R88G-HPG14A45050B@ 8 16 28 5.5 M4×10 M3 25 5 5 3 M4 8

100 W

1/5 R88G-HPG11A05100B@ 5 8 20 3.4 M4×9M3 15 3 3 1.8 M3 6 1/11 R88G-HPG14A11100B@ 8 16 28 5.5 M4×10 M3 25 5 5 3 M4 8 1/21 R88G-HPG14A21100B@ 8 16 28 5.5 M4×10 M3 25 5 5 3 M4 8 1/33 R88G-HPG20A33100B

@ 10 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12

1/45 R88G-HPG20A45100B@ 10 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12

200 W

1/5 R88G-HPG14A05200B@ 8 16 28 5.5 M4×10 M4 25 5 5 3 M4 8 1/11 R88G-HPG14A11200B@ 8 16 28 5.5 M4×10 M4 25 5 5 3 M4 8 1/21 R88G-HPG20A21200B@ 10 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12 1/33 R88G-HPG20A33200B@ 10 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12 1/45 R88G-HPG20A45200B@ 10 25 42 9.0 M4×10 M4 36 8 74.0 M612

2-48

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

*1. This is the set bolt.

Outline Drawings

Model

Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2

400 W

1/5 R88G-HPG14A05400B@ 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21

1/11 R88G-HPG20A11400B@ 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27 1/21 R88G-HPG20A21400B@ 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27 1/33 R88G-HPG32A33400B@ 104.0 133 120 122 dia. 135 70 115.0 114.0 84 98 12.5 35

1/45 R88G-HPG32A45400B@ 104.0 133 120 122 dia. 135 70 115.0 114.0 84 98 12.5 35

750 W

1/5 R88G-HPG20A05750B@ 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27 1/11 R88G-HPG20A11750B@ 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27 1/21 R88G-HPG32A21750B@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35

1/33 R88G-HPG32A33750B@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35 1/45 R88G-HPG32A45750B@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35

Model

Dimensions (mm)

G S T Z1 Z2 AT

Key dimensions

Tap

dimensions

QK b h t1 M L

400 W

1/5 R88G-HPG14A05400B@ 8 16 28 5.5 M4×10 M4 25 5 5 3 M4 8

1/11 R88G-HPG20A11400B@ 10 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12 1/21 R88G-HPG20A21400B@ 10 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12 1/33 R88G-HPG32A33400B@ 13 40 82 11.0 M4×10 M4 70 12 8 5.0 M10 20 1/45 R88G-HPG32A45400B@ 13 40 82 11.0 M4×10 M4 70 12 8 5.0 M10 20

750 W

1/5 R88G-HPG20A05750B@ 10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12

1/11 R88G-HPG20A11750B@ 10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 1/21 R88G-HPG32A21750B@ 13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20 1/33 R88G-HPG32A33750B@ 13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20 1/45 R88G-HPG32A45750B@ 13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20

C1 × C1

Four, Z1 dia.

S dia.,h: 7

D5 dia.

D4 dia.

D3 dia.

F2LRG

C2 × C2

D2 dia.

D1 dia.

Four, Z2 dia.

Set bolt (AT)

C2 dia.

Four, Z2 dia.

Set bolt (AT)

D2 dia.

Key and Tap Dimensions

M (depth: L)

2-49

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Note1. The standard models have a straight shaft. Note2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the

box). (Example: R88G-HPG32A051K0BJ)

Model

Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2

1 kW

1/5 R88G-HPG32A051K0B

@ 104 133 120

122 dia.

135 100 115 114 8498 12.5 35

1/11 R88G-HPG32A111K0B@ 104 133 120

122 dia.

135 100 115 114 8498 12.5 35

1/21 R88G-HPG32A211K0B

@ 104 133 120

122 dia.

135 100 115 114 8498 12.5 35

1/33 R88G-HPG32A331K0B@ 104 133 120

122 dia.

135 100 115 114 8498 12.5 35

1/45 R88G-HPG50A451K0B

@ 123 156 170

170 dia.

190 100 165 163 122 103 12.0 53

1.5 kW

1/5 R88G-HPG32A052K0B@ 110 133 120

135 dia.

135 115 115 114 8498 12.5 35

1/11 R88G-HPG32A112K0B

@ 110 133 120

135 dia.

135 115 115 114 8498 12.5 35

1/21 R88G-HPG32A211K5B@ 110 133 120

135 dia.

135 115 115 114 8498 12.5 35

1/33 R88G-HPG50A332K0B

@ 123 156 170

170 dia.

190 115 165 163 122 103 12.0 53

1/45 R88G-HPG50A451K5B@ 123 156 170

170 dia.

190 115 165 163 122 103 12.0 53

2 kW

1/5 R88G-HPG32A052K0B

@ 110 133 120

135 dia.

135 115 115 114 8498 12.5 35

1/11 R88G-HPG32A112K0B@ 110 133 120

135 dia.

135 115 115 114 8498 12.5 35

1/21 R88G-HPG50A212K0B

@ 123 156 170

170 dia.

190 115 165 163 122 103 12.0 53

1/33 R88G-HPG50A332K0B@ 123 156 170

170 dia.

190 115 165 163 122 103 12.0 53

3 kW

1/5 R88G-HPG32A053K0B

@ 107 133 120 130×130135 145 115 114 8498 12.5 35

1/11 R88G-HPG50A113K0B@ 123 156 170

170 dia.

190 145 165 163 122 103 12.0 53

1/21 R88G-HPG50A213K0B

@ 123 156 170

170 dia.

190 145 165 163 122 103 12.0 53

4 kW

1/5 R88G-HPG32A054K0B@ 129 133 120 130×130135 145 115 114 8498 12.5 35

1/11 R88G-HPG50A115K0B

@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53

5 kW

1/5 R88G-HPG50A055K0B@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53

1/11 R88G-HPG50A115K0B

@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53

2-50

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

*1. This is the set bolt.

Outline Drawings

Model

Dimensions (mm)

G S T Z1 Z2 AT

Key dimensions

Tap

dimensions

QK b h t1 M L

1 kW

1/5 R88G-HPG32A051K0B@ 13 40 8211M6×12 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG32A111K0B

@ 13 40 8211M6×12 M6 70 12 8 5.0 M10 20

1/21 R88G-HPG32A211K0B@ 13 40 8211M6×12 M6 70 12 8 5.0 M10 20 1/33 R88G-HPG32A331K0B

@ 13 40 8211M6×12 M6 70 12 8 5.0 M10 20

1/45 R88G-HPG50A451K0B@ 16 50 8214M6×10 M6 70 14 9 5.5 M10 20

1.5 kW

1/5 R88G-HPG32A052K0B

@ 13 40 8211M8×10 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG32A112K0B@ 13 40 8211M8×10 M6 70 12 8 5.0 M10 20 1/21 R88G-HPG32A211K5B

@ 13 40 8211M8×10 M6 70 12 8 5.0 M10 20

1/33 R88G-HPG50A332K0B

@ 16 50 8214M8×10 M6 70 14 9 5.5 M10 20

1/45 R88G-HPG50A451K5B

@ 16 50 8214M8×10 M6 70 14 9 5.5 M10 20

2 kW

1/5 R88G-HPG32A052K0B

@ 13 40 8211M8×10 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG32A112K0B

@ 13 40 8211M8×10 M6 70 12 8 5.0 M10 20

1/21 R88G-HPG50A212K0B

@ 16 50 8214M8×10 M6 70 14 9 5.5 M10 20

1/33 R88G-HPG50A332K0B

@ 16 50 8214M8×10 M6 70 14 9 5.5 M10 20

3 kW

1/5 R88G-HPG32A053K0B@ 13 40 8211M8×18 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG50A113K0B

@ 16 50 8214M8×16 M6 70 14 9 5.5 M10 20

1/21 R88G-HPG50A213K0B@ 16 50 8214M8×16 M6 70 14 9 5.5 M10 20

4 kW

1/5 R88G-HPG32A054K0B

@ 13 40 8211M8×25 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG50A115K0B@ 16 50 8214M8×25 M6 70 14 9 5.5 M10 20

5 kW

1/5 R88G-HPG50A055K0B

@ 16 50 8214M8×25 M6 70 14 9 5.5 M10 20

1/11 R88G-HPG50A115K0B

@ 16 50 8214M8×25 M6 70 14 9 5.5 M10 20

F2LRG

S dia.,h: 7

D5 dia.

D4 dia.

D3 dia.

Four, Z2 dia.

Set bolt (AT)

C2 dia.

C1 × C1

D1 dia.

Four, Z1 dia.

D2 dia.

C2 × C2

Four, Z2 dia.

Set bolt (AT)

D2 dia.

Key and Tap Dimensions

M (depth: L)

2-51

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Decelerators for 2,000-r/min Servomotors

Note1. The standard models have a straight shaft. Note2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the

box). (Example: R88G-HPG32A053K0BJ)

Model

Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2

1 kW

1/5 R88G-HPG32A053K0B

@ 107 133 120 130×130135 145 115 114 8498 12.5 35

1/11 R88G-HPG32A112K0SB@ 107 133 120 130×130135 145 115 114 8498 12.5 35 1/21 R88G-HPG32A211K0SB

@ 107 133 120 130×130135 145 115 114 8498 12.5 35

1/33 R88G-HPG50A332K0SB@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53 1/45 R88G-HPG50A451K0SB

@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53

1.5 kW

1/5 R88G-HPG32A053K0B@ 107 133 120 130×130135 145 115 114 8498 12.5 35

1/11 R88G-HPG32A112K0SB

@ 107 133 120 130×130135 145 115 114 8498 12.5 35

1/21 R88G-HPG50A213K0B@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53 1/33 R88G-HPG50A332K0SB

@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53

2 kW

1/5 R88G-HPG32A053K0B@ 107 133 120 130×130135 145 115 114 8498 12.5 35

1/11 R88G-HPG32A112K0SB

@ 107 133 120 130×130135 145 115 114 8498 12.5 35

1/21 R88G-HPG50A213K0B@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53 1/33 R88G-HPG50A332K0SB

@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53

3 kW

1/5 R88G-HPG32A054K0B@ 129 133 120 130×130135 145 115 114 8498 12.5 35

1/11 R88G-HPG50A115K0B

@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53

1/21 R88G-HPG50A213K0SB@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53 1/25 R88G-HPG65A253K0SB

@ 231 222 230 130×130 260 145 220 214 168 165 12.0 57

Model

Dimensions (mm)

G S T Z1 Z2 AT

Key dimensions

Tap

dimensions

QK b h t1 M L

1 kW

1/5 R88G-HPG32A053K0B@ 13 40 8211M8×18 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG32A112K0SB

@ 13 40 8211M8×18 M6 70 12 8 5.0 M10 20

1/21 R88G-HPG32A211K0SB@ 13 40 8211M8×18 M6 70 12 8 5.0 M10 20 1/33 R88G-HPG50A332K0SB

@ 16 50 8214M8×16 M6 70 14 9 5.5 M10 20

1/45 R88G-HPG50A451K0SB

@ 16 50 8214M8×16 M6 70 14 9 5.5 M10 20

1.5 kW

1/5 R88G-HPG32A053K0B

@ 13 40 8211M8×18 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG32A112K0SB@ 13 40 8211M8×18 M6 70 12 8 5.0 M10 20 1/21 R88G-HPG50A213K0B

@ 16 50 8214M8×16 M6 70 14 9 5.5 M10 20

1/33 R88G-HPG50A332K0SB

@ 16 50 8214M8×16 M6 70 14 9 5.5 M10 20

2 kW

1/5 R88G-HPG32A053K0B

@ 13 40 8211M8×18 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG32A112K0SB

@ 13 40 8211M8×18 M6 70 12 8 5.0 M10 20

1/21 R88G-HPG50A213K0B

@ 16 50 8214M8×16 M6 70 14 9 5.5 M10 20

1/33 R88G-HPG50A332K0SB@ 16 50 8214M8×16 M6 70 14 9 5.5 M10 20

3 kW

1/5 R88G-HPG32A054K0B

@ 13 40 8211M8×25 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG50A115K0B@ 16 50 8214M8×25 M6 70 14 9 5.5 M10 20 1/21 R88G-HPG50A213K0SB

@ 16 50 8214M8×25 M6 70 14 9 5.5 M10 20

1/25 R88G-HPG65A253K0SB@ 25 8013018 M8×25 M8 110 22 14 9.0 M16 35

2-52

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

*1. This is the set bolt.

Outline Drawings

Model

Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2

4 kW

1/5 R88G-HPG50A054K0SB

@ 149 156 170 180×180 190 165 165 163 122 103 12.0 53

1/11 R88G-HPG50A114K0SB@ 149 156 170 180×180 190 165 165 163 122 103 12.0 53 1/20 R88G-HPG65A204K0SB

@ 231 222 230 180×180 260 165 220 214 168 165 12.0 57

1/25 R88G-HPG65A254K0SB@ 231 222 230 180×180 260 165 220 214 168 165 12.0 57

5 kW

1/5 R88G-HPG50A055K0SB

@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53

1/11 R88G-HPG50A115K0SB@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53 1/20 R88G-HPG65A205K0SB

@ 231 222 230 180×180 260 200 220 214 168 165 12.0 57

1/25 R88G-HPG65A255K0SB@ 231 222 230 180×180 260 200 220 214 168 165 12.0 57

7.5 kW

1/5 R88G-HPG65A057K5SB

@ 184.5 222 230 180×180 260 200 220 214 168 165 12.0 57

1/12 R88G-HPG65A127K5SB@ 254.5 222 230 180×180 260 200 220 214 168 165 12.0 57

Model

Dimensions (mm)

G S T Z1 Z2 AT

Key dimensions

Tap

dimensions

QK b h t1 M L

4 kW

1/5 R88G-HPG50A054K0SB@ 16 50 8214M10×25 M6 70 14 9 5.5 M10 20

1/11 R88G-HPG50A114K0SB

@ 16 50 8214M10×25 M6 70 14 9 5.5 M10 20

1/20 R88G-HPG65A204K0SB

@ 25 8013018 M10×25 M8 110 22 14 9.0 M16 35

1/25 R88G-HPG65A254K0SB@ 25 8013018 M10×25 M8 110 22 14 9.0 M16 35

5 kW

1/5 R88G-HPG50A055K0SB

@ 16 50 8214M12×25 M6 70 14 9 5.5 M10 20

1/11 R88G-HPG50A115K0SB@ 16 50 8214M12×25 M6 70 14 9 5.5 M10 20 1/20 R88G-HPG65A205K0SB

@ 25 8013018 M12×25 M8 110 22 14 9.0 M16 35

1/25 R88G-HPG65A255K0SB@ 25 8013018 M12×25 M8 110 22 14 9.0 M16 35

7.5 kW

1/5 R88G-HPG65A057K5SB

@ 25 8013018 M12×25 M8 110 22 14 9.0 M16 35

1/12 R88G-HPG65A127K5SB

@ 25 8013018 M12×25 M8 110 22 14 9.0 M16 35

F2LRG

S dia.,h: 7

D5 dia.

D4 dia.

D3 dia.

Four, Z2 dia.

Set bolt (AT)

C2 dia.

C1 × C1

D1 dia.

Four, Z1 dia.

D2 dia.

C2 × C2

Four, Z2 dia.

Set bolt (AT)

D2 dia.

Key and Tap Dimensions

M (depth: L)

2-53

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Decelerators for 1,000-r/min Servomotors

Note1. The standard models have a straight shaft. Note2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the

box). (Example: R88G-HPG32A05900TBJ)

Model

Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2

900 W

1/5 R88G-HPG32A05900TB

@ 129 133 120 130×130135 145 115 114 8498 12.5 35

1/11 R88G-HPG32A11900TB@ 129 133 120 130×130135 145 115 114 8498 12.5 35 1/21 R88G-HPG50A21900TB

@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53

1/33 R88G-HPG50A33900TB@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53

2 kW

1/5 R88G-HPG32A052K0TB

@ 129 133 120 180×180135 200 115 114 8498 12.5 35

1/11 R88G-HPG50A112K0TB@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53 1/21 R88G-HPG50A212K0TB

@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53

1/25 R88G-HPG65A255K0SB@ 231222 230 180×180 260 200 220 214 168 165 12.0 57

3 kW

1/5 R88G-HPG50A055K0SB

@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53

1/11 R88G-HPG50A115K0SB@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53 1/20 R88G-HPG65A205K0SB

@ 231222 230 180×180 260 200 220 214 168 165 12.0 57

1/25 R88G-HPG65A255K0SB@ 231222 230 180×180 260 200 220 214 168 165 12.0 57

4.5 kW

1/5 R88G-HPG50A054K5TB

@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53

1/12 R88G-HPG65A127K5SB@ 254.5 222 230 180×180 260 200 220 214 168 165 12.0 57 1/20 R88G-HPG65A204K5TB

@ 254.5 222 230 180×180 260 200 220 214 168 165 12.0 57

6 kW

1/5 R88G-HPG65A057K5SB@ 184.5 222 230 180×180 260 200 220 214 168 165 12.0 57

1/12 R88G-HPG65A127K5SB

@ 254.5 222 230 180×180 260 200 220 214 168 165 12.0 57

2-54

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

*1. This is the set bolt.

Outline Drawings

Model

Dimensions (mm)

G S T Z1 Z2 AT

Key dimensions

Tap

dimensions

QK b h t1 M L

900 W

1/5 R88G-HPG32A05900TB@ 13 40 8211M8×25 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG32A11900TB

@ 13 40 8211M8×25 M6 70 12 8 5.0 M10 20

1/21 R88G-HPG50A21900TB@ 16 50 8214M8×25 M6 70 14 9 5.5 M10 20 1/33 R88G-HPG50A33900TB

@ 16 50 8214 M8×25 M6 70 14 9 5.5 M10 20

2 kW

1/5 R88G-HPG32A052K0TB@ 13 40 8211M12×25 M6 70 12 8 5.0 M10 20

1/11 R88G-HPG50A112K0TB

@ 16 50 8214M12×25 M6 70 14 9 5.5 M10 20

1/21 R88G-HPG50A212K0TB@ 16 50 8214M12×25 M6 70 14 9 5.5 M10 20 1/25 R88G-HPG65A255K0SB

@ 25 8013018 M12×25 M8 110 22 14 9.0 M16 35

3 kW

1/5 R88G-HPG50A055K0SB

@ 16 50 8214M12×25 M6 70 14 9 5.5 M10 20

1/11 R88G-HPG50A115K0SB

@ 16 50 8214M12×25 M6 70 14 9 5.5 M10 20

1/20 R88G-HPG65A205K0SB

@ 25 8013018 M12×25 M8 110 22 14 9.0 M16 35

1/25 R88G-HPG65A255K0SB

@ 25 8013018 M12×25 M8 110 22 14 9.0 M16 35

4.5 kW

1/5 R88G-HPG50A054K5TB

@ 16 50 8214M12×25 M6 70 14 9 5.5 M10 20

1/12 R88G-HPG65A127K5SB

@ 25 8013018 M12×25 M8 110 22 14 9.0 M16 35

1/20 R88G-HPG65A204K5TB@ 25 8013018 M12×25 M8 110 22 14 9.0 M16 35

6 kW

1/5 R88G-HPG65A057K5SB

@ 25 8013018 M12×25 M8 110 22 14 9.0 M16 35

1/12 R88G-HPG65A127K5SB@ 25 8013018 M12×25 M8 110 22 14 9.0 M16 35

F2LRG

C1 × C1

Four, Z1 dia.

S dia.,h: 7

D5 dia.

D4 dia.

D3 dia.

D1 dia.

Four, Z2 dia.

Set bolt (AT)

D2 dia.

C2 × C2

Key and Tap Dimensions

M (depth: L)

2-55

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Decelerators for 3,000-r/min Flat Servomotors

Note1. The standard models have a straight shaft. Note2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the

box). (Example: R88G-HPG11A05100PBJ)

Model

Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2

100 W

1/5 R88G-HPG11A05100PB@ 39.5 42 40 60×60 46 70 40.0 39.5 29 27 2.2 15 1/11 R88G-HPG14A11100PB@ 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21 1/21 R88G-HPG14A21100PB@ 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21 1/33 R88G-HPG20A33100PB@ 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27 1/45 R88G-HPG20A45100PB@ 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27

Model

Dimensions (mm)

G S T Z1 Z2 AT

Key dimensions

Tap

dimensions

QK b h t1 M L

100 W

1/5 R88G-HPG11A05100PB@ 5 8 20 3.4 M4×9M3 15 33 1.8 M3 6 1/11 R88G-HPG14A11100PB@ 8 16 28 5.5 M4×10 M3 25 5 5 3.0 M4 8 1/21 R88G-HPG14A21100PB@ 8 16 28 5.5 M4×10 M3 25 5 5 3.0 M4 8 1/33 R88G-HPG20A33100PB@ 10 25 42 9.0 M4×10 M336 8 7 4.0 M6 12 1/45 R88G-HPG20A45100PB@ 10 25 42 9.0 M4×10 M336 8 7 4.0 M6 12

Model

Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2

200 W

1/5 R88G-HPG14A05200PB@ 65.0 58 60 80×80 70 90 56.0 55.5 40 37 2.5 21 1/11 R88G-HPG20A11200PB@ 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27 1/21 R88G-HPG20A21200PB@ 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27 1/33 R88G-HPG20A33200PB

@ 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27

1/45 R88G-HPG20A45200PB@ 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27

Model

Dimensions (mm)

G S T Z1 Z2 AT

Key dimensions

Tap

dimensions

QK b h t1 M L

200 W

1/5 R88G-HPG14A05200PB@ 8 16 28 5.5 M5×12 M4 25 5 5 3.0 M4 8 1/11 R88G-HPG20A11200PB@ 10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 1/21 R88G-HPG20A21200PB@ 10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 1/33 R88G-HPG20A33200PB@ 10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 1/45 R88G-HPG20A45200PB@ 10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12

2-56

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

*1. This is the set bolt.

Outline Drawings

Model

Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2

400 W

1/5 R88G-HPG20A05400PB@ 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27 1/11 R88G-HPG20A11400PB@ 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27 1/21 R88G-HPG20A21400PB@ 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27 1/33 R88G-HPG32A33400PB@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35 1/45 R88G-HPG32A45400PB@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35

Model

Dimensions (mm)

G S T Z1 Z2 AT

Key dimensions

Tap

dimensions

QK b h t1 M L

400 W

1/5 R88G-HPG20A05400PB@ 10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 1/11 R88G-HPG20A11400PB@ 10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 1/21 R88G-HPG20A21400PB@ 10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 1/33 R88G-HPG32A33400PB@ 13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20 1/45 R88G-HPG32A45400PB@ 13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20

C1 × C1

Four, Z1 dia.

S dia.,h: 7

D5 dia.

D4 dia.

D3 dia.

F2LRG

C2 × C2

D2 dia.

D1 dia.

Four, Z2 dia.

Set bolt (AT)

C2 dia.

Four, Z2 dia.

Set bolt (AT)

D2 dia.

Key and Tap Dimensions

M (depth: L)

2-57

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 Backlash = 15' Max.

Decelerators for 3,000-r/min Servomotors

Note The standard models have a straight shaft with a key.

Outline Drawings

Model

Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 E3 F G

50 W

1/5 R88G-VRSF05B100CJ 67.5 32405246605045103 6

1/9 R88G-VRSF09B100CJ 67.5 32405246605045103 6 1/15 R88G-VRSF15B100CJ 78.0 32405246605045103 6 1/25 R88G-VRSF25B050CJ 78.0 32405246605045103 6

100 W

1/5 R88G-VRSF05B100CJ 67.5 32405246605045103 6

1/9 R88G-VRSF09B100CJ 67.5 32405246605045103 6 1/15 R88G-VRSF15B100CJ 78.0 32405246605045103 6 1/25 R88G-VRSF25B100CJ 78.0 32405246605045103 6

200 W

1/5 R88G-VRSF05B200CJ 72.5 32605270605045103 10

1/9 R88G-VRSF09C200CJ 89.5 50 60 78 70 90 70 62 17 38 1/15 R88G-VRSF15C200CJ 100.0 50 60 78 70 90 70 62 17 38 1/25 R88G-VRSF25C200CJ 100.0 50 60 78 70 90 70 62 17 38

400 W

1/5 R88G-VRSF05C400CJ 89.5 50 60 78 70 90 70 62 17 38

1/9 R88G-VRSF09C400CJ 89.5 50 60 78 70 90 70 62 17 38 1/15 R88G-VRSF15C400CJ 100.0 50 60 78 70 90 70 62 17 38 1/25 R88G-VRSF25C400CJ 100.0 50 60 78 70 90 70 62 17 38

750 W

1/5 R88G-VRSF05C750CJ 93.5 50 8078 90 90 70 62 17 3 10

1/9 R88G-VRSF09D750CJ 97.5 61 8098 90 115 90 75 18 510 1/15 R88G-VRSF15D750CJ 110.0 61 8098 90 115 90 75 18 510 1/25 R88G-VRSF25D750CJ 110.0 61 8098 90 115 90 75 18 510

Four, Z2 (effective depth: L)

C2 × C2

C1 × C1

D1 dia.

D3 dia., h: 7

D4 dia.

S dia., h: 6

Four, Z1

D2 dia.

2-58

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Outline Drawings

Model

Dimensions (mm)

S T Z1 Z2 AT L

Key dimensions

QK b h t1

50 W

1/5 R88G-VRSF05B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5

1/9 R88G-VRSF09B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5 1/15 R88G-VRSF15B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5 1/25 R88G-VRSF25B050CJ 12 20 M4 M5 M3 12 16 4 4 2.5

100 W

1/5 R88G-VRSF05B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5

1/9 R88G-VRSF09B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5 1/15 R88G-VRSF15B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5 1/25 R88G-VRSF25B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5

200 W

1/5 R88G-VRSF05B200CJ 12 20 M4 M5 M4 12 16 4 4 2.5

1/9 R88G-VRSF09C200CJ 19 30M4M6M42022 6 6 3.5 1/15 R88G-VRSF15C200CJ 19 30M4M6M42022 6 6 3.5 1/25 R88G-VRSF25C200CJ 19 30M4M6M42022 6 6 3.5

400 W

1/5 R88G-VRSF05C400CJ 19 30M4M6M42022 6 6 3.5

1/9 R88G-VRSF09C400CJ 19 30M4M6M42022 6 6 3.5 1/15 R88G-VRSF15C400CJ 19 30M4M6M42022 6 6 3.5 1/25 R88G-VRSF25C400CJ 19 30M4M6M42022 6 6 3.5

750 W

1/5 R88G-VRSF05C750CJ 19 30M5M6M42022 6 6 3.5

1/9 R88G-VRSF09D750CJ 24 40 M5 M8 M4 20 30 8 74 1/15 R88G-VRSF15D750CJ 24 40 M5 M8 M4 20 30 8 74 1/25 R88G-VRSF25D750CJ 24 40 M5 M8 M4 20 30 8 74

Set bolt (AT)

Key Dimensions

2-59

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Decelerators for 3,000-r/min Flat Servomotors

Note The standard models have a straight shaft with a key.

Outline Drawings

Model

Dimensions (mm)

LM LR C1 C2 D1 D2 D3 D4 E3 F G

100 W

1/5 R88G-VRSF05B100PCJ 67.5 3260527060504510 38

1/9 R88G-VRSF09B100PCJ 67.5 3260527060504510 38 1/15 R88G-VRSF15B100PCJ 78.0 3260527060504510 38 1/25 R88G-VRSF25B100PCJ 78.0 3260527060504510 38

200 W

1/5 R88G-VRSF05B200PCJ 72.5 32 80529060504510 3 12

1/9 R88G-VRSF09C200PCJ 89.5 50 8078 90 90 70 62 17 3 12 1/15 R88G-VRSF15C200PCJ 100.0 50 8078 90 90 70 62 17 3 12 1/25 R88G-VRSF25C200PCJ 100.0 50 8078 90 90 70 62 17 3 12

400 W

1/5 R88G-VRSF05C400PCJ 89.5 50 8078 90 90 70 62 17 3 12

1/9 R88G-VRSF09C400PCJ 89.5 50 8078 90 90 70 62 17 3 12 1/15 R88G-VRSF15C400PCJ 100.0 50 8078 90 90 70 62 17 3 12 1/25 R88G-VRSF25C400PCJ 100.0 50 8078 90 90 70 62 17 3 12

Four, Z1

C1 × C1

D3 dia., h: 7

D4 dia.

S dia., h: 6

Four, Z2 (effective depth: L)

C2 × C2

D2 dia.

D1 dia.

2-60

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Outline Drawings

Model

Dimensions (mm)

S T Z1 Z2 AT L

Key dimensions

QK b h t1

100 W

1/5 R88G-VRSF05B100PCJ 12 20 M4 M5 M3 12 16 4 4 2.5

1/9 R88G-VRSF09B100PCJ 12 20 M4 M5 M3 12 16 4 4 2.5 1/15 R88G-VRSF15B100PCJ 12 20 M4 M5 M3 12 16 4 4 2.5 1/25 R88G-VRSF25B100PCJ 12 20 M4 M5 M3 12 16 4 4 2.5

200 W

1/5 R88G-VRSF05B200PCJ 12 20 M5 M5 M4 12 16 4 4 2.5

1/9 R88G-VRSF09C200PCJ 19 30M5 M6 M4 2022 6 6 3.5 1/15 R88G-VRSF15C200PCJ 19 30M5 M6 M4 2022 6 6 3.5 1/25 R88G-VRSF25C200PCJ 19 30M5 M6 M4 2022 6 6 3.5

400 W

1/5 R88G-VRSF05C400PCJ 19 30M5 M6 M4 2022 6 6 3.5

1/9 R88G-VRSF09C400PCJ 19 30M5 M6 M4 2022 6 6 3.5 1/15 R88G-VRSF15C400PCJ 19 30M5 M6 M4 2022 6 6 3.5 1/25 R88G-VRSF25C400PCJ 19 30M5 M6 M4 2022 6 6 3.5

Set bolt (AT)

Key Dimensions

2-61

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

External Regeneration Resistor Dimensions

 External Regeneration Resistor

R88A-RR08050S/-RR080100S

R88A-RR22047S

R88A-RR50020S

t1.2 104

122 130

43.5

4.2

Thermal switch output

500

1.5 dia.

(0.3mm

)

3 dia.

(0.75mm

)

t1.2 200

220 230

4.2

500

Thermal switch output

1.5 dia.

(0.3mm

)

3 dia.

(0.75mm

)

360 386 402

4325 10

5.2

2-62

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

Reactor Dimensions

 3G3AX-DL2002

 3G3AX-DL2004

Ground terminal (M4)

Four, 5.2 × 8

Two, M4

Ground terminal (M4)

Two, M4

Four, 5.2 × 8

2-63

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 3G3AX-DL2007

 3G3AX-DL2015

105

Ground terminal (M4)

Two, M4

Four, 5.2 × 8

115

Ground terminal (M4)

Two, M4

Four, 5.2 × 8

2-64

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 3G3AX-DL2022

 3G3AX-AL2025/-AL2055

Model

Dimensions (mm)

A C Y

3G3AX-AL2025 130 8267 3G3AX-AL2055 140 98 75

100

Four, 6 × 9

116

105

Ground terminal (M4)

Two, M4

Ground terminal (M5)

Six, M4 terminal screws

Terminal block

150

4060

Ro R So S To T

Connection Diagram

Y±1

50±1

Ro R So S To

9.5

Four, 6 dia.

(Notch)

2-65

2-2 External and Mounting Hole Dimensions

Standard Models and Dimensions

 3G3AX-AL2110/-AL2220

Model

Dimensions (mm)

A C D H H1 X Y K W

3G3AX-AL2110 160 103 70 170 106 60 805.3 12 3G3AX-AL2220 180113 75 190 13690 908.4 16.5

W=Terminal width

Ro RSo S To T

Y±1X±1

55D

Ro R So S To T

Ground terminal (M6)

Connection Diagram

Four, 6 dia.

(Notch)

Terminal holes:

Six, K dia.

Chapter 3

Specifications

3-1 Servo Drive Specifications................................. 3-1

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

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

Main Circuit and Servomotor Connector Specifications........3-7

Control I/O Connector Specifications (CN1) .........................3-10

Control Input Circuits ............................................................3-14

Control Output Circuits..........................................................3-14

Control Sequence Timing .....................................................3-15

Encoder Connector Specifications (CN2) .............................3-16

Parameter Unit Connector Specifications (CN3) ..................3-16

3-2 Servomotor Specifications ................................. 3-17

General Specifications..........................................................3-17

Characteristics......................................................................3-18

Encoder Specifications .........................................................3-31

3-3 Decelerator Specifications ................................. 3-32

Standard Models and Specifications.....................................3-32

3-4 Cable and Connector Specifications..................3-42

Encoder Cable Specifications...............................................3-42

Absolute Encoder Battery Cable Specifications....................3-48

Servomotor Power Cable Specifications...............................3-49

Communications Cable Specifications..................................3-67

Connector Specifications......................................................3-68

MECHATROLINK-II Communications Cable

Specifications........................................................................3-71

Control Cable Specifications.................................................3-73

3-5 Parameter Unit Specifications...........................3-78

3-6 External Regeneration Resistor

Specifications....................................................3-79

External Regeneration Resistor Specifications.....................3-79

3-7 Reactor Specifications ......................................3-80

3-1

3-1 Servo Drive Specifications

Specifications

3-1 Servo Drive Specifications

Select the Servo Drive matching the Servomotor to be used. (For details, refer to Servo DriveServomotor Combinations on page 2-5.)

OMNUC G-series Servo Drives are designed specifically for use with MECHATROLINK-II communication.

General Specifications

Note1. The above items reflect individual evaluation testing. The results may differ under compound conditions. Note2. Never perform withstand-voltage or other megameter tests on the Servo Drive. Doing so may damage the

internal elements.

Note3. Depending on the operating conditions, some Servo Drive parts will require maintenance. For details,

refer to Periodic Maintenance on page 8-21.

Note4. The service life of the Servo Drive is 28,000 hours at an average ambient temperature of 55

°C at 100%

of the rated torque.

Item Specifications

Ambient operating temperature and humidity

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

Ambient storage temperature and humidity

−20 to 65°C, 90% RH max. (with no condensation)

Operating and storage atmosphere

No corrosive gases

Vibration resistance

Smaller of either 10 to 60 Hz with double amplitude of 0.1 mm or acceleration of

5.88 m/s

max. in X, Y, and Z directions.

Impact resistance Acceleration of 19.6m/s

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

Insulation resistance

Between power supply/power line terminals and frame ground: 0.5 MΩ min. (at 500 VDC)

Dielectric strength

Between power supply/power line terminals and frame ground: 1,500 VAC for 1 min at 50/60 Hz Between each control signal and frame ground: 500 VAC for 1 min

Protective structure Built into panel (IP10).

International standards

EC Directives

EMC Directive

EN 55011 Class A Group 1 EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11

Low Voltage Directive

EN 50178

UL standards UL 508C CSA standards CSA 22.2 No.14

Omron R88D-GN01L-ML2, R88D-GN02L-ML2, R88D-GN01H-ML2, R88D-GN02H-ML2, R88D-GN04H-ML2 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual