Cat. No. I562-E1-04
USER’S MANUAL
OMNUC G SERIES
R88M-G@
(AC Servomotors)
R88D-GT@
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES
Trademarks and Copyrights
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Product names and system names in this manual are trademarks or registered trademarks of their
respective companies.
© OMRON, 2008
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in an
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 chang
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
ublication.
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
Introduction
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.
1
Terms and Conditions Agreement
Terms and Conditions Agreement
Warranty, Limitations of Liability
Warranties
Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed
in writing by Omron). Omron disclaims all other warranties, express or implied.
Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses 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. Return
of any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in
combination with any electrical or electronic components, circuits, system assemblies or any other
materials or substances or environments. Any advice, recommendations or information given orally
or in writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS
IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN
CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product
on which liability is asserted.
2
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine,
system, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer’s application, product or system. Buyer shall
take application responsibility in all cases.
NEVER USE THE PRODUCT 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 PRODUCT(S) IS PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product,
or any consequence thereof.
Terms and Conditions Agreement
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials 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 user must correlate it to actual application requirements. Actual
performance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and
other reasons. It is our practice to change part numbers when published ratings or features are
changed, or when significant construction changes are made. However, some specifications of the
Product may be changed without any notice. When in doubt, special part numbers may be assigned
to fix or establish key specifications for your application. Please consult with your Omron’s representative at any time to confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate;
however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
3
Precautions for Safe Use
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
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 Input (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.
4
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.
5
Precautions for Safe Use
WARNING
Caution
Caution
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.
Storage and Transportation Precautions
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.
6
Installation and Wiring Precautions
Caution
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.
Precautions for Safe Use
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.
7
Precautions for Safe Use
Caution
Caution
Operation and Adjustment 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.
Maintenance and Inspection Precautions
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.
8
Warning Label Position
Warning labels are located on the product as shown in the following illustration.
Be sure to follow the instructions given there.
(R88D-GT01H)
Precautions for Safe Use
Location of warning label
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.
9
Items to Check When Unpacking
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.
Specifications
Single-phase
100 VAC
Single-phase/
3-phase
200 VAC
3-phase 200
VAC
50 W
100 W
200 W
400 W
100 W
200 W
400 W
750 W
1 kW
1.5 kW
2 kW
3 kW
5 kW
7.5 kW
Connector for main circuit
power supply terminals and
control circuit power supply
terminals
Included −
− Included
Connector for External Re-
generation Resistor con-
nection terminals and
Motor connection terminals
Mounting
Brackets
10
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.
OMNUC G-Series
Servo Drive
Drive Type
T: Three-mode type
Applicable Servomotor Capacity
:
50 W
A5
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
Items to Check When Unpacking
R88D-GT01H
Power Supply Voltage
L: 100 VAC
H: 200 VAC
11
Items to Check When Unpacking
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 Voltage
H:
L:
T:
S:
200 VAC with incremental encoder specifications
100 VAC with incremental encoder specifications
200 VAC with absolute encoder specifications
100 VAC with absolute encoder specifications
Option
Blank: Straight shaft
B:
O:
S2:
With brake
With oil seal
With key and tap
Understanding Servomotor Model Numbers
12
Understanding Decelerator Model Numbers (Backlash = 3' Max.)
R88G-HPG14A05100PBJ
Decelerator for
G-Series Servomotors
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
:7.5 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
11B
14A
20A
32A
50A
65A
:@40
:@60
:@90
:@120
:@170
:@230
Motor Type
Blank
P
S
T
: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
13
Items to Check When Unpacking
Understanding Decelerator Model Numbers (Backlash = 15' Max.)
R88G-VRSF09B100PCJ
Decelerator for
G-Series Servomotors
Backlash = 15’ Max.
Gear Ratio
05
:1/5
09
:1/9
15
:1/15
25
:1/25
Flange Size Number
B
:@52
C
:@78
D
:@98
Applicable Servomotor Capacity
050
: 50 W
100
:100 W
200
:200 W
400
:400 W
750
:750 W
Motor Type
BlankP:3,000-r/min cylindrical Servomotors
:flat Servomotors
Backlash
C :15’ max.
Option
J :With key
14
About This Manual
This manual consists of the following chapters. Refer to this table and chose the required chapters
of the manual.
About This Manual
Overview
Chapter 1
Chapter 2
Chapter 3 Specifications
Chapter 4 System Design
Chapter 5 Operating Functions Describes the control functions, parameter settings, and operation.
Chapter 6 Operation
Chapter 7 Adjustment Functions
Chapter 8 Troubleshooting
Chapter 9 Appendix
Features and System
Configuration
Standard Models and
Dimensions
Describes the features and names of parts of the product as well
as the EC Directives and the UL standards.
Provides the model numbers, external and mounting hole dimensions for Servo Drives, Servomotors, Decelerators, and peripheral
devices.
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.
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.
Describes operating procedures and operating methods for each
mode.
Describes gain adjustment functions, setting methods, and precautions.
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.
Provides examples of connections with OMRON PLCs and Position Controllers, and the parameter tables.
15
Table of Contents
Introduction ...................................................................................... 1
Terms and Conditions Agreement ................................................... 2
Precautions for Safe Use................................................................. 4
Items to Check When Unpacking ....................................................10
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 ......................................... 2-25
Chapter 3 Specifications
3-1 Servo Drive Specifications................................................................ 3-1
3-2 Servomotor Specifications................................................................ 3-32
3-3 Decelerator Specifications................................................................ 3-47
3-4 Cable and Connector Specifications ................................................ 3-57
3-5 Servo Relay Units and Cable Specifications .................................... 3-99
3-6 Parameter Unit Specifications .......................................................... 3-129
3-7 External Regeneration Resistor Specifications ................................ 3-130
3-8 Reactor Specifications...................................................................... 3-132
Chapter 4 System Design
4-1 Installation Conditions ...................................................................... 4-1
4-2 Wiring ............................................................................................... 4-11
4-3 Wiring Conforming to EMC Directives .............................................. 4-27
4-4 Regenerative Energy Absorption...................................................... 4-45
16
Table of Contents
Chapter 5 Operating Functions
5-1 Position Control................................................................................ 5-1
5-2 Speed Control .................................................................................. 5-3
5-3 Internally Set Speed Control ............................................................ 5-5
5-4 Torque Control ................................................................................. 5-8
5-5 Switching the Control Mode ............................................................. 5-11
5-6 Forward and Reverse Drive Prohibit ................................................ 5-14
5-7 Encoder Dividing .............................................................................. 5-15
5-8 Electronic Gear ................................................................................ 5-16
5-9 Overrun Limit.................................................................................... 5-19
5-10 Brake Interlock ................................................................................. 5-21
5-11 Gain Switching ................................................................................. 5-25
5-12 Torque Limit ..................................................................................... 5-26
5-13 Soft Start .......................................................................................... 5-28
5-14 Position Command Filter.................................................................. 5-29
5-15 Speed Limit ...................................................................................... 5-30
5-16 User Parameters .............................................................................. 5-31
Chapter 6 Operation
6-1 Operational Procedure ..................................................................... 6-1
6-2 Preparing for Operation.................................................................... 6-2
6-3 Using the Parameter Unit................................................................. 6-6
6-4 Setting the Mode .............................................................................. 6-7
6-5 Trial Operation ................................................................................. 6-28
Chapter 7 Adjustment Functions
7-1 Gain Adjustment............................................................................... 7-1
7-2 Realtime Autotuning......................................................................... 7-4
7-3 Normal Mode Autotuning ................................................................. 7-14
7-4 Disabling the Automatic Gain Adjustment Function ......................... 7-19
7-5 Manual Tuning ................................................................................. 7-21
Chapter 8 Troubleshooting
8-1 Error Processing .............................................................................. 8-1
8-2 Alarm Table...................................................................................... 8-3
8-3 Troubleshooting ............................................................................... 8-6
8-4 Overload Characteristics (Electronic Thermal Function).................. 8-20
8-5 Periodic Maintenance....................................................................... 8-21
Chapter 9 Appendix
9-1 Connection Examples ...................................................................... 9-1
9-2 Parameter Tables............................................................................. 9-11
Revision History...................................................................................... R-1
17
Table of Contents
18
Chapter 1
Features and System Configuration
1-1 Overview ............................................................ 1-1
Overview of the G Series ......................................................1-1
Features of the G Series.......................................................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
Forward and Reverse Motor Rotation...................................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
Korean Radio Regulations (KC)............................................1-11
SEMI F47 ..............................................................................1-11
1-1 Overview
1
1-1 Overview
Overview of the G Series
The OMNUC G Series has been developed for a wide range of applications with position control,
speed control, and torque control. The Series offers a wide variety of Servomotor capacities,
ranging from 50 W to 7.5 kW. Servomotors with 2,500-pulse incremental encoders and highresolution 17-bit absolute/incremental encoders are available as standard models.
The OMNUC G Series features realtime autotuning and adaptive filter functions that automatically
perform complicated gain adjustments. A notch filter can also be automatically set to suppress
machine vibration by reducing mechanical resonance during operation. The damping control
function of the OMNUC G Series realizes stable stopping performance in a mechanism which
vibrates because of the low rigidity of the load.
Features of the G Series
The OMNUC G Series has the following features.
Features and System Configuration
High-speed Response
The G-Series AC Servomotors and Servo Drives have achieved high-speed response capabilities
exceeding OMRON’s W-Series models, with a high-response frequency of 1 kHz (compared to
400 Hz for the W Series).
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 rotation and also via an external signal. In addition, the
settings can be made easily merely by just setting the vibration frequency and filter values, and you
are assured of stable operation even if the 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. Also, two independent notch filters make it possible to reduce vibration of a mechanism
with multiple resonance frequencies.
Command Control Mode Switching
Operation can be performed by switching between two of the following control modes: Position
control, speed control (including internal speed) and torque control. Therefore, a variety of
applications can be supported by one Servo Drive.
Simplified Speed Control with Internal Speed Settings
Eight internal speed settings allow you to change the speed easily by using external signals.
1-1
1-2 System Configuration
INC
ABS
Controller with Voltage Output
Flexible Motion Controller
SYSMAC PLC and Position Control Unit
with pulse output functions
SYSMAC CS-series
Programmable
Controller
SYSMAC CJ/CS-series
Programmable
Controller
Motion Control Unit
CS1W-MC221/421(-V1)
Analog voltage
OMNUC G-Series
AC Servo Drive
R88D-G@
Pulse
string
OMNUC G-Series
AC Servomotor
R88M-G@
FQM1-MMA22
FQM1-MMP22
Position Control Unit
CJ1W-NC113/213/413
CJ1W-NC133/233/433
CS1W-NC113/213/413
CS1W-NC133/233/433
C200HW-NC113/213/413
1-2 System Configuration
1
Features and System Configuration
Servomotors with absolute encoders can be used in combination with CS1W-MC221/421(-V1)
Motion Control Units.
1-2
1-3 Names of Parts and Functions
Unit No. switch
Check pin (G: GND)
RS-485
Communications connector
(CN3A)
RS-232
Communications connector/
Parameter Unit connector
(CN3B)
Analog monitor 1 check pin (IM)
Analog monitor 2 check pin (SP)
External Regeneration Resistor
connection terminals
(B1, B2, B3)
Display area
Settings area
Encoder connector (CN2)
Control I/O connector (CN1)
Servomotor connection terminals
(U, V, W)
Protective ground terminals
Main-circuit power terminals
(L1, L2, L3)
Control-circuit power terminals
(L1C, L2C)
1
1-3 Names of Parts and Functions
Servo Drive Part Names
Features and System Configuration
1-3
Servo Drive Functions
When the motor output shaft is viewed from the end,
counterclockwise (CCW) rotation is forward and clockwise
(CW) rotation is reverse.
Forward (CCW)
Reverse (CW)
1-3 Names of Parts and Functions
Display Area
A 6-digit 7-segment LED display shows the Servo Drive status, alarm codes, parameters, and other
information.
Check Pins (IM, SP, and G)
The actual Servomotor speed, command speed, torque, and number of accumulated pulses can be
measured based on the analog voltage level by using an oscilloscope. The type of signal to output
and the output voltage level are set in the SP Selection (Pn07) and IM Selection (Pn08) parameters.
For details, refer to 5-16 User Parameters on page 5-31.
Unit No. Switch
The Servo Drive number in serial communications is set to a value from 0 to F. This number is used
to identify which Servo Drive the computer is accessing in RS-232/485 communications between
multiple Servo Drives and a computer.
Forward and Reverse Motor Rotation
1
Features and System Configuration
1-4
1-4 System Block Diagrams
1
1-4 System Block Diagrams
R88D-GTA5L/-GT01L/-GT02L/-GTA5H/-GT01H/-GT02H/-GT04H
Features and System Configuration
SW power
E5V
supply
Main circuit
control
Internal
control
power
supply
Relay
drive
MPU & ASIC
Position, speed, and torque processor,
PWM control
Regenerative
control
Voltage
detection
Overcurrent
detection
Gate drive
Current
detection
Display/
setting circuits
Control I/O interface
CN1 control I/O connector
RS-232
interface
CN3A
connector
Encoder
communications
interface
RS-485
interface
CN3B
connector
RS485
+E5V
CN2 encoder signal connector
1-5
R88D-GT04L/-GT08H/-GT10H/-GT15H
Voltage
detection
1-4 System Block Diagrams
1
Internal regeneration resistor
SW power
supply
Main circuit
control
E5V
Cooling fan
(except for the
R88D-GT04L/-GT08H)
Internal
control
power
supply
Relay
drive
Regenerative
control
Overcurrent
detection
Gate drive
MPU & ASIC
Position, speed, and torque processor,
PWM control
Control I/O interface
CN1 control I/O connector
RS-232
interface
CN3A
connector
Current
detection
Encoder
communications
interface
RS-485
interface
CN3B
connector
Display/
setting circuits
Features and System Configuration
RS485
+E5V
CN2 encoder signal connector
1-6
1-4 System Block Diagrams
R88D-GT20H
1
Terminals Terminals
SW power
E5V
supply
Main circuit
control
Internal
control
power
supply
Relay
drive
MPU & ASIC
Position, speed, and torque processor,
PWM control
Features and System Configuration
Regenerative
control
Voltage
detection
Gate drive
Internal regeneration resistor
Current
detection
Display/
setting circuits
Cooling fan
Control I/O interface
CN1 control I/O connector
RS-232
interface
CN3A
connector
Encoder
communications
interface
RS-485
interface
CN3B
connector
RS485
+E5V
CN2 encoder signal connector
1-7
R88D-GT30H/GT50H
E5V
+E5V
Terminals Terminals
CN3A
connector
CN3B
connector
MPU & ASIC
Position, speed, and torque processor,
PWM control
Control I/O interface
Encoder
communications
interface
Display/
setting circuits
Internal regeneration resistor
Regenerative
control
CN2 encoder signal connector
SW power
supply
Main circuit
control
Relay
Gate drive
Gate drive
Current
detection
CN1 control I/O connector
Cooling fan
Voltage
detection
Internal
control
power
supply
RS-232
interface
RS-485
interface
RS485
1-4 System Block Diagrams
1
Features and System Configuration
1-8
1-4 System Block Diagrams
R88D-GT75H
1
Terminals Terminals
SW power
supply
Main circuit
control
Relay
Gate drive
Internal
E5V
control
power
supply
MPU & ASIC
Position, speed, and torque processor,
PWM control
Features and System Configuration
Cooling fan
CN1 control I/O connector
Regenerative
control
Voltage
detection
Control I/O interface
Gate drive
RS-232
interface
CN3A
connector
Current
detection
Encoder
communications
interface
RS-485
interface
CN3B
connector
Display/
setting circuits
RS485
+E5V
CN2 encoder signal connector
1-9
1-5 Applicable Standards
1-5 Applicable Standards
EC Directives
EC Directive Product Applicable standards Comments
Low Voltage
Directive
EMC Directive AC Servo Drive
Note To conform to EMC Directives, the Servomotor and Servo Drive must be installed under the conditions
described in Wiring Conforming to EMC Directives on page 4-27.
AC Servo Drive EN 50178
AC Servomotor IEC 60034-1/-5 Rotating electrical machines
EN 55011 Class A Group1
EN 61000-6-2
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
Safety requirements for electrical equipment for
measurement, control, or laboratory use
Limits of radio disturbance and measurement
methods for industrial, scientific, and medical
radio-frequency equipment
Electromagnetic compatibility (EMC) Immunity
standard for industrial environments
1
Features and System Configuration
UL and CSA Standards
Standard Product Applicable standards File number Comments
UL
standard
CSA
standard
*1 The approval of UL and cUL is pending for motor capacities of 6 to 7.5 kW.
AC Servo Drive UL 508C E179149 Power conversion equipment
AC Servomotor
AC Servomotors
*1
UL1004-1 E331224 Electric motor
*1
CSA22.2 No.100 E179189 Motor and generator
1-10
1-5 Applicable Standards
The Servo Drives and Servomotors comply with UL 508C (file No. E179149) as long as the following
installation conditions 1 and 2 are met.
1
(1) Use the Servo Drive in a pollution degree 1 or 2 environment as defined in IEC 60664-1
(example: installation in an IP54 control panel).
(2) Be sure to connect a circuit breaker or fuse, which is a UL-listed product with LISTED and
mark, between the power supply and noise filter.
Refer to the following table for the rated current of the circuit breaker or fuse.
Use copper wiring with a temperature rating of 60°C or higher.
Drive model Circuit breaker (rated current) (A)
R88D-GTA5L 10
R88D-GT01L 10
R88D-GT02L 10
R88D-GT04L 10
R88D-GT01H 10
R88D-GT02H 10
R88D-GT04H 10
R88D-GT08H 15
R88D-GT10H 15
R88D-GT15H 20
R88D-GT20H 30
R88D-GT30H 50
R88D-GT50H 50
R88D-GT75H 60
Features and System Configuration
Korean Radio Regulations (KC)
The G-series Servo Drives comply with the Korean Radio Regulations (KC).
The G-series Servomotors do not comply with the Korean Radio Regulations (KC).
SEMI F47
Some Servo Drives conform to the SEMI F47 standard for momentary power interruptions (voltage
sag immunity) for no-load or light-load operation.
This standard applies to semiconductor manufacturing equipment.
Note 1. It does not apply to Servo Drivers with single-phase 100-V specifications or with
24-VDC specifications for the control power input.
Note 2. Always perform evaluation testing for SEMI F47 compliance in the actual system.
1-11
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 ........... 2-25
Servo Drives .........................................................................2-25
Servomotors..........................................................................2-35
Parameter Unit Dimensions ..................................................2-45
Servomotor and Decelerator Combinations..........................2-46
Decelerator Dimensions........................................................2-49
External Regeneration Resistor Dimensions ........................2-63
Reactor Dimensions..............................................................2-64
2-1 Standard Models
2-1 Standard Models
2
Servo Drives
Specifications Model
50 W R88D-GTA5L
Single-phase 100 VAC
Single-phase 200 VAC
Standard Models and Dimensions
Single-phase/three-phase 200 VAC
100 W R88D-GT01L
200 W R88D-GT02L
400 W R88D-GT04L
50 W
R88D-GT01H
100 W
200 W R88D-GT02H
400 W R88D-GT04H
750 W R88D-GT08H
1 kW R88D-GT10H
900 W
R88D-GT15H1 kW
1.5 kW
2 kW R88D-GT20H
2 kW
R88D-GT30H
3 kW
3 kW
2-1
Three-phase 200 VAC
4 kW
R88D-GT50H
4.5 kW
5 kW
6 kW
R88D-GT75H
7.5 kW
Servomotors
3,000-r/min Servomotors
2-1 Standard Models
Specifications
100 V
With-
out
brake
200 V
100 V
With
brake
200 V
With incremental encoder With absolute encoder
Straight shaft without
key
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
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 --- ---
1.5 kW --- --2 kW --- --3 kW --- --4 kW --- --5 kW --- --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
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 --- ---
1.5 kW --- --2 kW --- --3 kW --- --4 kW --- --5 kW --- ---
Straight shaft with key
and tap
Model
Straight shaft without
key
R88M-G1K030T R88M-G1K030T-S2
R88M-G1K530T R88M-G1K530T-S2
R88M-G2K030T R88M-G2K030T-S2
R88M-G3K030T R88M-G3K030T-S2
R88M-G4K030T R88M-G4K030T-S2
R88M-G5K030T R88M-G5K030T-S2
R88M-G1K030T-B R88M-G1K030T-BS2
R88M-G1K530T-B R88M-G1K530T-BS2
R88M-G2K030T-B R88M-G2K030T-BS2
R88M-G3K030T-B R88M-G3K030T-BS2
R88M-G4K030T-B R88M-G4K030T-BS2
R88M-G5K030T-B R88M-G5K030T-BS2
Straight shaft with key
and tap
2
Standard Models and Dimensions
Note Models with oil seals are also available.
2-2
2-1 Standard Models
3,000-r/min Flat Servomotors
Model
Specifications
2
With-
out
brake
With
brake
100 V
200 V
100 V
200 V
100 W
200 W
400 W
100 W
200 W
400 W
100 W
200 W
400 W
100 W
200 W
400 W
Straight shaft without
R88M-GP10030L R88M-GP10030L-S2 R88M-GP10030S R88M-GP10030S-S2
R88M-GP20030L R88M-GP20030L-S2 R88M-GP20030S R88M-GP20030S-S2
R88M-GP40030L R88M-GP40030L-S2 R88M-GP40030S R88M-GP40030S-S2
R88M-GP10030H R88M-GP10030H-S2 R88M-GP10030T R88M-GP10030T-S2
R88M-GP20030H R88M-GP20030H-S2 R88M-GP20030T R88M-GP20030T-S2
R88M-GP40030H R88M-GP40030H-S2 R88M-GP40030T R88M-GP40030T-S2
R88M-GP10030L-B R88M-GP10030L-BS2 R88M-GP10030S-B R88M-GP10030S-BS2
R88M-GP20030L-B R88M-GP20030L-BS2 R88M-GP20030S-B R88M-GP20030S-BS2
R88M-GP40030L-B R88M-GP40030L-BS2 R88M-GP40030S-B R88M-GP40030S-BS2
R88M-GP10030H-B R88M-GP10030H-BS2 R88M-GP10030T-B R88M-GP10030T-BS2
R88M-GP20030H-B R88M-GP20030H-BS2 R88M-GP20030T-B R88M-GP20030T-BS2
R88M-GP40030H-B R88M-GP40030H-BS2 R88M-GP40030T-B R88M-GP40030T-BS2
With incremental encoder With absolute encoder
key
Straight shaft with key
and tap
Straight shaft without
key
Straight shaft with key
and tap
Note Models with oil seals are also available.
2,000-r/min Servomotors
Model
Standard Models and Dimensions
Specifications
With-
out
200 V
brake
With
200 V
brake
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
7.5 kW
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
7.5 kW
Straight shaft without
R88M-G1K020T R88M-G1K020T-S2
R88M-G1K520T R88M-G1K520T-S2
R88M-G2K020T R88M-G2K020T-S2
R88M-G3K020T R88M-G3K020T-S2
R88M-G4K020T R88M-G4K020T-S2
R88M-G5K020T R88M-G5K020T-S2
R88M-G7K515T R88M-G7K515T-S2
R88M-G1K020T-B R88M-G1K020T-BS2
R88M-G1K520T-B R88M-G1K520T-BS2
R88M-G2K020T-B R88M-G2K020T-BS2
R88M-G3K020T-B R88M-G3K020T-BS2
R88M-G4K020T-B R88M-G4K020T-BS2
R88M-G5K020T-B R88M-G5K020T-BS2
R88M-G7K515T-B R88M-G7K515T-BS2
With absolute encoder
key
Straight shaft with key and
tap
Note 1. Models with oil seals are also available.
Note 2. The rated rotation speed for 7.5-kW Servomotors is 1,500 r/min.
2-3
1,000-r/min Servomotors
Model
Specifications
Straight shaft without key
900 W
R88M-G90010T R88M-G90010T-S2
2 kW
With-
out
200 V
brake
With
brake
Note Models with oil seals are also available.
4.5 kW
200 V
4.5 kW
R88M-G2K010T R88M-G2K010T-S2
3 kW
R88M-G3K010T R88M-G3K010T-S2
R88M-G4K510T R88M-G4K510T-S2
6 kW
R88M-G6K010T R88M-G6K010T-S2
900 W
R88M-G90010T-B R88M-G90010T-BS2
2 kW
R88M-G2K010T-B R88M-G2K010T-BS2
3 kW
R88M-G3K010T-B R88M-G3K010T-BS2
R88M-G4K510T-B R88M-G4K510T-BS2
6 kW
R88M-G6K010T-B R88M-G6K010T-BS2
With absolute encoder
2-1 Standard Models
Straight shaft with key
and tap
2
Standard Models and Dimensions
2-4
2-1 Standard Models
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
2
3,000-r/min Servomotors and Servo Drives
Decelerators.
Voltage
100 V
Single-
phase 200 V
Singlephase/threephase 200 V
Standard Models and Dimensions
Three-phase
200 V
Rated output With incremental encoder With absolute encoder
50 W
100 W
200 W
400 W
50 W
100 W
200 W
400 W
750 W
1 kW ---
1.5 kW --2 kW --3 kW --4 kW --5 kW ---
R88M-G05030H-@ R88M-G05030T-@ R88D-GTA5L
R88M-G10030L-@ R88M-G10030S-@ R88D-GT01L
R88M-G20030L-@ R88M-G20030S-@ R88D-GT02L
R88M-G40030L-@ R88M-G40030S-@ R88D-GT04L
R88M-G05030H-@ R88M-G05030T-@ R88D-GT01H
R88M-G10030H-@ R88M-G10030T-@ R88D-GT01H
R88M-G20030H-@ R88M-G20030T-@ R88D-GT02H
R88M-G40030H-@ R88M-G40030T-@ R88D-GT04H
R88M-G75030H-@ R88M-G75030T-@ R88D-GT08H
3,000-r/min Flat Servomotors and Servo Drives
Servomotor
Servo Drive
R88M-G1K030T-@ R88D-GT15H
R88M-G1K530T-@ R88D-GT15H
R88M-G2K030T-@ R88D-GT20H
R88M-G3K030T-@ R88D-GT30H
R88M-G4K030T-@ R88D-GT50H
R88M-G5K030T-@ R88D-GT50H
Voltage
100 V
Single-
phase 200 V
Servomotor
Rated output With incremental encoder With absolute encoder
100 W
200 W
400 W
100 W
200 W
400 W
R88M-GP10030L-@ R88M-GP10030S-@ R88D-GT01L
R88M-GP20030L-@ R88M-GP20030S-@ R88D-GT02L
R88M-GP40030L-@ R88M-GP40030S-@ R88D-GT04L
R88M-GP10030H-@ R88M-GP10030T-@ R88D-GT01H
R88M-GP20030H-@ R88M-GP20030T-@ R88D-GT02H
R88M-GP40030H-@ R88M-GP40030T-@ R88D-GT04H
Servo Drive
2-5
2,000-r/min Servomotors and Servo Drives
2-1 Standard Models
Voltage
Single-phase/
three-phase 200 V
Three-phase
200 V
Rated output With absolute encoder
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
7.5 kW
Servomotor
R88M-G1K020T-@ R88D-GT10H
R88M-G1K520T-@ R88D-GT15H
R88M-G2K020T-@ R88D-GT20H
R88M-G3K020T-@ R88D-GT30H
R88M-G4K020T-@ R88D-GT50H
R88M-G5K020T-@ R88D-GT50H
R88M-G7K515T-@ R88D-GT75H
1,000-r/min Servomotors and Servo Drives
Voltage
Single-phase/
three-phase 200 V
Three-phase 200 V
Rated output With absolute encoder
900 W
2 kW
3 kW
4.5 kW
6 kW
Servomotor
R88M-G90010T-@ R88D-GT15H
R88M-G2K010T-@ R88D-GT30H
R88M-G3K010T-@ R88D-GT50H
R88M-G4K510T-@ R88D-GT50H
R88M-G6K010T-@ R88D-GT75H
Servo Drive
2
Servo Drive
Standard Models and Dimensions
2-6
2-1 Standard Models
Decelerators
The following types of Decelerators are available for OMNUC G-Series Servomotors. Select a
Decelerator based on the Servomotor capacity.
2
Backlash = 3’ Max.
Decelerators for 3,000-r/min Servomotors
Specifications
Motor capacity Gear ratio
1/5
1/9
50 W
100 W
Standard Models and Dimensions
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
Model
R88G-HPG11B05100B@
R88G-HPG11B09050B@
R88G-HPG14A21100B@
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88G-HPG11B05100B@
R88G-HPG14A11100B@
R88G-HPG14A21100B@
R88G-HPG20A33100B@
R88G-HPG20A45100B@
200 W
400 W
750 W
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
R88G-HPG14A05200B@
R88G-HPG14A11200B@
R88G-HPG20A21200B@
R88G-HPG20A33200B@
R88G-HPG20A45200B@
R88G-HPG14A05400B@
R88G-HPG20A11400B@
R88G-HPG20A21400B@
R88G-HPG32A33400B@
R88G-HPG32A45400B@
R88G-HPG20A05750B@
R88G-HPG20A11750B@
R88G-HPG32A21750B@
R88G-HPG32A33750B@
R88G-HPG32A45750B@
2-7
Specifications
Motor
capacity
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
Gear ratio
Model
1/5 R88G-HPG32A051K0B
1/11 R88G-HPG32A111K0B@
1/21 R88G-HPG32A211K0B@
1/33 R88G-HPG32A331K0B@
1/45 R88G-HPG50A451K0B@
1/5 R88G-HPG32A052K0B
1/11 R88G-HPG32A112K0B@
1/21 R88G-HPG32A211K5B@
1/33 R88G-HPG50A332K0B@
1/45 R88G-HPG50A451K5B@
1/5 R88G-HPG32A052K0B
1/11 R88G-HPG32A112K0B@
1/21 R88G-HPG50A212K0B@
1/33 R88G-HPG50A332K0B@
1/5 R88G-HPG32A053K0B
1/11 R88G-HPG50A113K0B@
1/21 R88G-HPG50A213K0B@
1/5 R88G-HPG32A054K0B
1/11 R88G-HPG50A115K0B@
1/5 R88G-HPG50A055K0B
1/11 R88G-HPG50A115K0B@
2-1 Standard Models
@
@
@
@
2
Standard Models and Dimensions
@
@
Note 1. The standard models have a straight shaft.
Note 2. 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-HPG11B05100BJ)
2-8
2-1 Standard Models
Decelerators for 2,000-r/min Servomotors
Specifications
Motor
capacity
2
1 kW
1.5 kW
2 kW
3 kW
Standard Models and Dimensions
4 kW
5 kW
7.5 kW
Gear ratio
1/5 R88G-HPG32A053K0B
1/11 R88G-HPG32A112K0SB@
1/21 R88G-HPG32A211K0SB@
1/33 R88G-HPG50A332K0SB@
1/45 R88G-HPG50A451K0SB@
1/5 R88G-HPG32A053K0B
1/11 R88G-HPG32A112K0SB@
1/21 R88G-HPG50A213K0B@
1/33 R88G-HPG50A332K0SB@
1/5 R88G-HPG32A053K0B
1/11 R88G-HPG32A112K0SB@
1/21 R88G-HPG50A213K0B@
1/33 R88G-HPG50A332K0SB@
1/5 R88G-HPG32A054K0B
1/11 R88G-HPG50A115K0B@
1/21 R88G-HPG50A213K0SB@
1/25 R88G-HPG65A253K0SB@
1/5 R88G-HPG50A054K0SB
1/11 R88G-HPG50A114K0SB@
1/20 R88G-HPG65A204K0SB@
1/25 R88G-HPG65A254K0SB@
1/5 R88G-HPG50A055K0SB
1/11 R88G-HPG50A115K0SB@
1/20 R88G-HPG65A205K0SB@
1/25 R88G-HPG65A255K0SB@
1/5 R88G-HPG65A057K5SB
1/12 R88G-HPG65A127K5SB@
Model
@
@
@
@
@
@
@
2-9
Note 1. The standard models have a straight shaft.
Note 2. 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)
Decelerators for 1,000-r/min Servomotors
Specifications
Motor
capacity
900 W
2 kW
3 kW
4.5 kW
6 kW
Gear ratio
1/5 R88G-HPG32A05900TB
1/11 R88G-HPG32A11900TB@
1/21 R88G-HPG50A21900TB@
1/33 R88G-HPG50A33900TB@
1/5 R88G-HPG32A052K0TB
1/11 R88G-HPG50A112K0TB@
1/21 R88G-HPG50A212K0TB@
1/25 R88G-HPG65A255K0SB@
1/5 R88G-HPG50A055K0SB
1/11 R88G-HPG50A115K0SB@
1/20 R88G-HPG65A205K0SB@
1/25 R88G-HPG65A255K0SB@
1/5 R88G-HPG50A054K5TB
1/12 R88G-HPG65A127K5SB@
1/20 R88G-HPG65A204K5TB@
1/5 R88G-HPG65A057K5SB
1/12 R88G-HPG65A127K5SB@
Model
2-1 Standard Models
@
@
@
@
@
2
Standard Models and Dimensions
Note 1. The standard models have a straight shaft.
Note 2. 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)
2-10
2-1 Standard Models
Decelerators for 3,000-r/min Flat Servomotors
Specifications
Motor capacity Gear ratio
2
100 W
200 W
400 W
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
1/33
1/45
1/5
1/11
1/21
R88G-HPG11B05100PB@
R88G-HPG14A11100PB@
R88G-HPG14A21100PB@
R88G-HPG20A33100PB@
R88G-HPG20A45100PB@
R88G-HPG14A05200PB@
R88G-HPG20A11200PB@
R88G-HPG20A21200PB@
R88G-HPG20A33200PB@
R88G-HPG20A45200PB@
R88G-HPG20A05400PB@
R88G-HPG20A11400PB@
R88G-HPG20A21400PB@
Model
Standard Models and Dimensions
1/33
1/45
R88G-HPG32A33400PB@
R88G-HPG32A45400PB@
Note 1. The standard models have a straight shaft.
Note 2. 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-HPG11B05100PBJ)
2-11
Backlash = 15’ Max.
Decelerators for 3,000-r/min Servomotors (Straight Shaft with Key)
2-1 Standard Models
Specifications
Motor capacity Gear ratio
1/5
1/9
50 W
1/15
1/25
1/5
1/9
100 W
1/15
1/25
1/5
1/9
200 W
1/15
1/25
1/5
Model
R88G-VRSF05B100CJ
R88G-VRSF09B100CJ
R88G-VRSF15B100CJ
R88G-VRSF25B100CJ
R88G-VRSF05B100CJ
R88G-VRSF09B100CJ
R88G-VRSF15B100CJ
R88G-VRSF25B100CJ
R88G-VRSF05B200CJ
R88G-VRSF09C200CJ
R88G-VRSF15C200CJ
R88G-VRSF25C200CJ
R88G-VRSF05C400CJ
2
Standard Models and Dimensions
400 W
750 W
1/9
1/15
1/25
1/5
1/9
1/15
1/25
R88G-VRSF09C400CJ
R88G-VRSF15C400CJ
R88G-VRSF25C400CJ
R88G-VRSF05C750CJ
R88G-VRSF09D750CJ
R88G-VRSF15D750CJ
R88G-VRSF25D750CJ
2-12
2-1 Standard Models
Decelerators for 3,000-r/min Flat Servomotors (Straight Shaft with Key)
Specifications
Motor capacity Gear ratio
2
100 W
200 W
400 W
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
R88G-VRSF05B100PCJ
R88G-VRSF09B100PCJ
R88G-VRSF15B100PCJ
R88G-VRSF25B100PCJ
R88G-VRSF05B200PCJ
R88G-VRSF09C200PCJ
R88G-VRSF15C200PCJ
R88G-VRSF25C200PCJ
R88G-VRSF05C400PCJ
R88G-VRSF09C400PCJ
R88G-VRSF15C400PCJ
R88G-VRSF25C400PCJ
Model
Standard Models and Dimensions
2-13
Accessories and Cables
Encoder Cables (Standard Cables)
2-1 Standard Models
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
3,000-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 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
3 m
5 m
10 m
15 m
20 m
30 m
2
R88A-CRGA003C
R88A-CRGA005C
R88A-CRGA010C
R88A-CRGA015C
R88A-CRGA020C
R88A-CRGA030C
R88A-CRGA040C
R88A-CRGA050C
R88A-CRGB003C
R88A-CRGB005C
R88A-CRGB010C
R88A-CRGB015C
R88A-CRGB020C
Standard Models and Dimensions
R88A-CRGB030C
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
40 m
50 m
3 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
R88A-CRGB040C
R88A-CRGB050C
R88A-CRGC003N
R88A-CRGC005N
R88A-CRGC010N
R88A-CRGC015N
R88A-CRGC020N
R88A-CRGC030N
R88A-CRGC040N
R88A-CRGC050N
2-14
2-1 Standard Models
Servomotor Power Cables (Standard Cables)
Model
Specifications
For Servomotor without
brake
For Servomotor with
brake
2
3 m
R88A-CAGA003S
---
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to
400 W
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
Standard Models and Dimensions
5 m
10 m
15 m
20 m
30 m
40 m
50 m
3 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
R88A-CAGA005S
R88A-CAGA010S
R88A-CAGA015S
R88A-CAGA020S
R88A-CAGA030S
R88A-CAGA040S
R88A-CAGA050S
R88A-CAGB003S R88A-CAGB003B
R88A-CAGB005S R88A-CAGB005B
R88A-CAGB010S R88A-CAGB010B
R88A-CAGB015S R88A-CAGB015B
R88A-CAGB020S R88A-CAGB020B
R88A-CAGB030S R88A-CAGB030B
R88A-CAGB040S R88A-CAGB040B
R88A-CAGB050S R88A-CAGB050B
---
---
---
---
---
---
---
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
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 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
3 m
5 m
10 m
15 m
20 m
30 m
40 m
R88A-CAGC003S R88A-CAGC003B
R88A-CAGC005S R88A-CAGC005B
R88A-CAGC010S R88A-CAGC010B
R88A-CAGC015S R88A-CAGC015B
R88A-CAGC020S R88A-CAGC020B
R88A-CAGC030S R88A-CAGC030B
R88A-CAGC040S R88A-CAGC040B
R88A-CAGC050S R88A-CAGC050B
R88A-CAGD003S R88A-CAGD003B
R88A-CAGD005S R88A-CAGD005B
R88A-CAGD010S R88A-CAGD010B
R88A-CAGD015S R88A-CAGD015B
R88A-CAGD020S R88A-CAGD020B
R88A-CAGD030S R88A-CAGD030B
R88A-CAGD040S R88A-CAGD040B
2-15
50 m
R88A-CAGD050S R88A-CAGD050B
Specifications
2-1 Standard Models
For Servomotor without
brake
Model
For Servomotor with
brake
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 6 kW
3 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
R88A-CAGE003S
R88A-CAGE005S
R88A-CAGE010S
R88A-CAGE015S
R88A-CAGE020S
R88A-CAGE030S
R88A-CAGE040S
R88A-CAGE050S
---
---
---
---
---
---
---
---
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.
2
Standard Models and Dimensions
2-16
2-1 Standard Models
Brake Cables (Standard Cables)
Specifications Model
3 m
R88A-CAGA003B
2
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 6 kW
Standard Models and Dimensions
5 m
10 m
15 m
20 m
30 m
40 m
50 m
3 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
R88A-CAGA005B
R88A-CAGA010B
R88A-CAGA015B
R88A-CAGA020B
R88A-CAGA030B
R88A-CAGA040B
R88A-CAGA050B
R88A-CAGE003B
R88A-CAGE005B
R88A-CAGE010B
R88A-CAGE015B
R88A-CAGE020B
R88A-CAGE030B
R88A-CAGE040B
R88A-CAGE050B
2-17
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
3,000-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
3,000-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
2-1 Standard Models
3 m R88A-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 m R88A-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 m R88A-CRGC003NR
5 m R88A-CRGC005NR
10 m R88A-CRGC010NR
15 m R88A-CRGC015NR
20 m R88A-CRGC020NR
30 m R88A-CRGC030NR
40 m R88A-CRGC040NR
50 m R88A-CRGC050NR
2
Standard Models and Dimensions
2-18
2-1 Standard Models
Servomotor Power Cables (Robot Cables)
Specifications
2
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of
100 to 400 W
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
Standard Models and Dimensions
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
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
Model
For Servomotor without
brake
3 m R88A-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 m R88A-CAGB003SR R88A-CAGB003BR
5 m R88A-CAGB005SR R88A-CAGB005BR
10 m R88A-CAGB010SR R88A-CAGB010BR
15 m R88A-CAGB015SR R88A-CAGB015BR
20 m R88A-CAGB020SR R88A-CAGB020BR
30 m R88A-CAGB030SR R88A-CAGB030BR
40 m R88A-CAGB040SR R88A-CAGB040BR
50 m R88A-CAGB050SR R88A-CAGB050BR
3 m R88A-CAGC003SR R88A-CAGC003BR
5 m R88A-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 m R88A-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
For Servomotor with
brake
2-19
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 and a Brake Cable.
Brake Cables (Robot Cables)
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W
Communications Cable
2-1 Standard Models
Specifications Model
3 m R88A-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
2
RS-232 Communications Cable
RS-485 Communications Cable
Absolute Encoder Battery Cables
Specifications Model
Absolute Encoder Battery Cable (battery not supplied) 0.3 m R88A-CRGD0R3C
Absolute Encoder Battery Cable (R88A-BAT01G battery × 1 supplied)
Absolute Encoder Backup Battery
Specifications Model
Absolute Encoder Backup Battery R88A-BAT01G
2 m R88A-CCG002P2
0.5 m R88A-CCG0R5P4
1 m R88A-CCG001P4
Standard Models and Dimensions
0.3 m R88A-CRGD0R3C-BS
Connectors
Servomotor Connector for Encoder
Cable
Control I/O Connector (CN1) R88A-CNU11C
Encoder Connector (CN2) R88A-CNW01R
Power Cable Connector (750 W max.) R88A-CNG01A
Brake Cable Connector (750 W max.) R88A-CNG01B
Specifications Model
Absolute Encoder R88A-CNG01R
Incremental Encoder R88A-CNG02R
2-20
2-1 Standard Models
Servo Relay Units (for CN1)
Specifications Model
For CS1W-NC113/-NC133
2
Servo Relay Units
For CJ1W-NC113/-NC133
For C200HW-NC113
For CS1W-NC213/-NC413/-NC233/-NC433
For CJ1W-NC213/-NC413/-NC233/-NC433
For C200HW-NC213/-NC413
For CJ1M-CPU21/-CPU22/-CPU23
XW2B-20J6-1B
XW2B-40J6-2B
XW2B-20J6-8A
XW2B-40J6-9A
For FQM1-MMA22
For FQM1-MMP22
For CQM1-CPU43-V1 XW2B-20J6-3B
Servo Relay Unit Cables for Servo Drives
For Position Control Unit (XW2B-@J6-@B)
For CQM1 (XW2B-20J6-3B)
Standard Models and Dimensions
Servo Drive
Cables
Note Do not use a Servo Relay Unit Cable for line receiver inputs (+CWLD: CN1 pin 44,
-CWLD: CN1 pin 45, +CCWLD: CN1 pin 46, -CCWLD: CN1 pin 47).
Use a General-purpose Control Cable (R88A-CPG@S) and prepare wiring suited for the
controller to be connected.
For CJ1M (XW2B-20J6-8A/XW2B-40J6-9A)
For FQM1-MMA22 (XW2B-80J7-12A)
For FQM1-MMP22 (XW2B-80J7-12A)
XW2B-80J7-12A
Specifications Model
1 m
XW2Z-100J-B25
2 m
XW2Z-200J-B25
1 m
XW2Z-100J-B31
2 m
XW2Z-200J-B31
1 m
XW2Z-100J-B27
2 m
XW2Z-200J-B27
1 m
XW2Z-100J-B26
2 m
XW2Z-200J-B26
2-21
Servo Relay Unit Cables for Position Control Units
Specifications Model
2-1 Standard Models
Position Control
Unit Cables
For CQM1-CPU43-V1 (XW2B-20J6-3B)
For CS1W-NC113, C200HW-NC113
(XW2B-20J6-1B)
For CS1W-NC213/-NC413, C200HW-NC213/
-NC413 (XW2B-20J6-2B)
For CS1W-NC133 (XW2B-20J6-1B)
For CS1W-NC233/-NC433 (XW2B-20J6-2B)
For CJ1W-NC113 (XW2B-20J6-1B)
For CJ1W-NC213/-NC413 (XW2B-20J6-2B)
For CJ1W-NC133 (XW2B-20J6-1B)
For CJ1W-NC233/-NC433 (XW2B-20J6-2B)
0.5 m
1 m
0.5 m
1 m
0.5 m
1 m
0.5 m
1 m
0.5 m
1 m
0.5 m
1 m
0.5 m
1 m
0.5 m
1 m
0.5 m
1 m
XW2Z-050J-A3
XW2Z-100J-A3
XW2Z-050J-A6
XW2Z-100J-A6
XW2Z-050J-A7
XW2Z-100J-A7
XW2Z-050J-A10
XW2Z-100J-A10
XW2Z-050J-A11
XW2Z-100J-A11
XW2Z-050J-A14
XW2Z-100J-A14
XW2Z-050J-A15
XW2Z-100J-A15
XW2Z-050J-A18
XW2Z-100J-A18
XW2Z-050J-A19
XW2Z-100J-A19
2
Standard Models and Dimensions
For CJ1M-CPU21/-CPU22/-CPU23
(XW2B-20J6-8A/XW2B-40J6-9A)
General-purpose
I/O Cables
For FQM1-MMA22
(XW2B-80J7-12A)
Special I/O Cables
General-purpose
I/O Cables
For FQM1-MMP22
(XW2B-80J7-12A)
Special I/O Cables
0.5 m
1 m
0.5 m
1 m
2 m
0.5 m
1 m
2 m
0.5 m
1 m
2 m
0.5 m
1 m
2 m
XW2Z-050J-A33
XW2Z-100J-A33
XW2Z-050J-A28
XW2Z-100J-A28
XW2Z-200J-A28
XW2Z-050J-A31
XW2Z-100J-A31
XW2Z-200J-A31
XW2Z-050J-A28
XW2Z-100J-A28
XW2Z-200J-A28
XW2Z-050J-A30
XW2Z-100J-A30
XW2Z-200J-A30
2-22
2-1 Standard Models
Control Cables
Specifications Model
1 m
R88A-CPG001M1
2 m
2
Motion Control Unit Cables for 1 axis
CS1W-MC221-V1/-MC421-V1
Motion Control Unit Cables for 2 axes
CS1W-MC221-V1/-MC421-V1
General-purpose Control Cables with Connector on One End
Connector-Terminal Block Cables
R88A-CPG002M1
3 m
R88A-CPG003M1
5 m
R88A-CPG005M1
1 m
R88A-CPG001M2
2 m
R88A-CPG002M2
3 m
R88A-CPG003M2
5 m
R88A-CPG005M2
1 m
R88A-CPG001S
2 m
R88A-CPG002S
1 m
XW2Z-100J-B24
2 m
XW2Z-200J-B24
Connector Terminal Block
Standard Models and Dimensions
External Regeneration Resistors
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 150°C thermal switch) R88A-RR22047S1
Regeneration capacity: 180 W, 20 Ω (with 200°C thermal switch) R88A-RR50020S
Reactors
R88D-GTA5L/-GT01H 3G3AX-DL2002
M3 screw type XW2B-50G4
M3.5 screw type XW2B-50G5
M3 screw type XW2D-50G6
Specifications Model
Specifications Model
2-23
R88D-GT01L/-GT02H 3G3AX-DL2004
R88D-GT02L/-GT04H 3G3AX-DL2007
R88D-GT04L/-GT08H/-GT10H 3G3AX-DL2015
R88D-GT15H 3G3AX-DL2022
R88D-GT08H/-GT10H/-GT15H 3G3AX-AL2025
R88D-GT20H/-GT30H 3G3AX-AL2055
R88D-GT50H 3G3AX-AL2110
R88D-GT75H 3G3AX-AL2220
Mounting Brackets (L Brackets for Rack Mounting)
Specifications Model
R88D-GTA5L/-GT01L/-GT01H/-GT02H R88A-TK01G
2-1 Standard Models
R88D-GT02L/-GT04H R88A-TK02G
R88D-GT04L/-GT08H R88A-TK03G
R88D-GT10H/-GT15H R88A-TK04G
Absolute Encoder Backup Battery
Specifications Model
2,000 mA·h 3.6 V R88A-BAT01G
2
Standard Models and Dimensions
2-24
2-2 External and Mounting Hole Dimensions
UNIT No.
AC SERVO DRIVER
DATA
IM SP G
130
4
7040
28
±0.5
6
40
Two, M4
140
150
5
2-2 External and Mounting Hole
Dimensions
2
Servo Drives
Single-phase 100 VAC: R88D-GTA5L/-GT01L (50 to 100 W)
Single-phase 200 VAC: R88D-GT01H/-GT02H (50 to 200 W)
Wall Mounting
External Dimensions Mounting Hole Dimensions
Standard Models and Dimensions
2-25
2-2 External and Mounting Hole Dimensions
(42)*
Two, M4
(158)*
170
±0.5
Square
hole
6
5.2
7
13070
4
180
170
150
21
7
5.2 dia.
R2.6
2.6
22
2.6
8
Dimensions for front panel mounting are references values that provide leeway.
* The dimensions of
the square hole are
reference values.
Front Panel Mounting (Using Mounting Brackets)
External Dimensions Mounting Hole Dimensions (Reference)
2
Standard Models and Dimensions
2-26
2-2 External and Mounting Hole Dimensions
Dimensions for front panel mounting are references values that provide leeway.
* The dimensions of
the square hole are
reference values.
Single-phase 100 VAC: R88D-GT02L (200 W)
Single-phase 200 VAC: R88D-GT04H (400 W)
Wall Mounting
2
External Dimensions Mounting Hole Dimensions
55
AC SERVO DRIVER
UNIT No.
DATA
IM SP G
150
Standard Models and Dimensions
Front Panel Mounting (Using Mounting Brackets)
External Dimensions Mounting Hole Dimensions (Reference)
13070
4
Two, M4
150
436
55
140
5
5.2 dia.
R2.6
2.6
13070
4
8
Two, M4
Square hole
170
(57)*
(158)*
55
28
7
180
170
150
5.2
7
22
2.6
2-27
2-2 External and Mounting Hole Dimensions
UNIT No.
AC SERVO DRIVER
DATA
IM SP G
507.5
65
Two, M4
140
150
5
17070
4
150
65
(67)*
Two, M4
(158)*
170
Square hole
21
5.2
2.6
17070
4
180
170
150
5.2 dia.
R2.6
65
40
20
20
40
22
2.6
6
Dimensions for front panel mounting are references values that provide leeway.
* The dimensions of
the square hole are
reference values.
Single-phase 100 VAC: R88D-GT04L (400 W)
Single-phase/Three-phase 200 VAC: R88D-GT08H (750 W)
Wall Mounting
External Dimensions Mounting Hole Dimensions
2
Front Panel Mounting (Using Mounting Brackets)
Standard Models and Dimensions
External Dimensions Mounting Hole Dimensions (Reference)
2-28
2-2 External and Mounting Hole Dimensions
(87)*
Four, M4
(158)*
170
Square hole
4011
6
5.25.2
17070
4
180
170
150
5.2 dia.
5.2
dia.
R2.6
R2.6
10 40
85
60
4010
2.6
22
2.6
Dimensions for front panel mounting are references values that provide leeway.
* The dimensions of
the square hole are
reference values.
Single-phase/Three-phase 200 VAC: R88D-GT10H/-GT15H (900 W to 1.5 kW)
Wall Mounting
2
External Dimensions Mounting Hole Dimensions
85
AC SERVO DRIVER
UNIT No.
DATA
IM SP G
150
Front Panel Mounting (Using Mounting Brackets)
Standard Models and Dimensions
External Dimensions Mounting Hole Dimensions (Reference)
17070
4
Two, M4
150
707.5
85
140
5
2-29
2-2 External and Mounting Hole Dimensions
UNIT No.
AC SERVO DRIVER
DATA
IM SP G
3.5
3.5
5.25.2
5.25.2
R2.6R2.6
R2.6 R2.6
5.2
dia.
5.2
dia.
20070
198
188
168
85
5017.5
5017.5
42.5
42.5
85
Four, M4
168
188
±0.5
17.5 50
Three-phase 200 VAC: R88D-GT20H (2 kW)
Wall Mounting
External Dimensions
2
Standard Models and Dimensions
Mounting Hole Dimensions
2-30
2-2 External and Mounting Hole Dimensions
UNIT No.
AC SERVO DRIVER
DATA
IM SP G
5.25.2
5.25.2
R2.6R2.6
R2.6 R2.6
5.2
dia.
5.2
dia.
20070
32
2.6
198
188
168
85
5017.5
5017.5
42.5
42.5
(89)*
Four, M4
(176)*
Square hole
188
20.5 50
6
Dimensions for front panel mounting are references values that provide leeway.
* The dimensions of
the square hole are
reference values.
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
2
Standard Models and Dimensions
Mounting Hole Dimensions (Reference)
2-31
2-2 External and Mounting Hole Dimensions
GSPIM
DATA
AC SERVO DRIVER
UNIT No.
5.25.2
10015
65
5.2
R2.6
R2.6
R2.6 R2.6
5.2 dia.
5.2
dia.
5.2
20070
250
240
220
130
10015
65
3.5
3.5
130
Six, M4
220
15
240
100
50
Three-phase 200 VAC: R88D-GT30H/-GT50H (2 to 5 kW)
Wall Mounting
External Dimensions
2
Standard Models and Dimensions
Mounting Hole Dimensions
2-32
2-2 External and Mounting Hole Dimensions
GSPIM
DATA
AC SERVO DRIVER
UNIT No.
5.25.2
10015
65
5.2
R2.6
R2.6
R2.6 R2.6
5.2 dia.
5.2
dia.
5.2
20070
32.3
2.6
250
240
220
130
10015
65
(132)*
Six, M4
(228)*
Square hole
16
240
100
50
6
Dimensions for front panel mounting are references values that provide leeway.
* The dimensions of
the square hole are
reference values.
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
2
Standard Models and Dimensions
Mounting Hole Dimensions (Reference)
2-33
2-2 External and Mounting Hole Dimensions
5.2 5.2 5.2
Four, 5.2 dia.
5.2 5.2 5.2
248
339.370
45.1
(4)
(2.3)
(4)
250
220
235
85
90
9082.5
9037.5
(250)*
Six, M4
(226)*
Square hole
38.5
235
9090
4.5
* The dimensions of
the square hole are
reference values.
Dimensions for front panel mounting are references values that provide leeway.
Three-phase 200 VAC: R88D-GT75H (7.5 kW)
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
2
Standard Models and Dimensions
Mounting Hole Dimensions (Reference)
2-34
2-2 External and Mounting Hole Dimensions
INC
ABS
Servomotors
3,000-r/min Servomotors
2
Encoder
connector
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)
Brake connector
Motor connector
LL 25
36
230
200
LN
Standard Models and Dimensions
50 W/100 W
8 dia., h: 6
30 dia., h: 7
40 × 40
32
Two, 4.3 dia.
46 dia.
(Dimensions of shaft end
with key and tap)
14
12.5
Three, h: 9
3
M3 (depth: 6)
1.8
Model
R88M-G05030@
R88M-G10030@
R88M-G05030@-B@
R88M-G10030@-B@
Dimensions (mm)
LL LN
72 26.5
92 46.5
102 26.5
122 46.5
Note The standard models have a straight shaft. Models with a key and tap are indicated with
“S2” at the end of the model number.
2-35
3,000-r/min Servomotors
220
200
3G
LL LR
S dia., h: 6
D1 dia.
Motor connector
Encoder
connector
Four, Z dia.
D2 dia., h: 7
Brake connector
KL1
C × C
QK
M(effective depth: L)
b
t1
h
(Dimensions of shaft end
with key and tap)
200 W/400 W/750 W
R88M-G20030L(-S2)/-G40030L(-S2)/-G20030H(-S2)/-G40030H(-S2)
2-2 External and Mounting Hole Dimensions
/-G75030H(-S2)/-G20030L-B(S2)/-G40030L-B(S2)
/-G20030H-B(S2)/-G40030H-B(S2)/-G75030H-B(S2)
INC
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)
ABS
2
Standard Models and Dimensions
R88M-G20030@
R88M-G40030@
R88M-G75030@
R88M-G20030@-B@
R88M-G40030@-B@
R88M-G75030@-B@
Note The standard models have a straight shaft. Models with a key and tap are indicated with
Model
LL LR S D1 D2 C G KL1 Z QK b h M t1 L
79.5
99 14 22.5 5h9 5
112.2 35 19 90 70 80 8 53 6 22 6h9 6 3.5
116
135.5 14 22.5 5h9 5
149.2 35 19 90 70 80 8 53 6 22 6h9 6 3.5
11
30
11
30
“S2” at the end of the model number.
Dimensions (mm)
70 50 60 6.5 43 4.5
70 50 60 6.5 43 4.5
18 4h9 4 M4 2.5 8
3
M5
18 4h9 4 M4 2.5 8
3
M5
10
10
2-36
2-2 External and Mounting Hole Dimensions
ABS
45
42
M5 (depth: 12)
Six, h: 9
3.5
6
(Dimensions of shaft end
with key and tap)
LL 55
G
3
KL1
84
C × C
Encoder
canon plug
Servomotor
canon plug
Four, Z dia.
D1 dia.
D2 dia., h: 7
19 dia., h: 6
D3 dia.
LL
55
12
3
9
111
84
120×120
Encoder
connector
Servomotor/brake
connector
110 dia., h: 7
22 dia., h: 6
130 dia.
145 dia.
162 dia.
3,000-r/min Servomotors
1 kW/1.5 kW/2 kW
R88M-G1K030T(-S2)/-G1K530T(-S2)/-G2K030T(-S2)/-G1K030T-B(S2)
2
/-G1K530T-B(S2)/-G2K030T-B(S2)
Model
R88M-G1K030@
R88M-G1K530@
R88M-G2K030@
R88M-G1K030@-B@
R88M-G1K530@-B@
Standard Models and Dimensions
R88M-G2K030@-B@
Dimensions (mm)
LL D1 D2 C D3 G KL1 Z
175 100 80 90 120 7 98 6.6
180
115 95 100 135 10 103 9
205
200 100 80 90 120 7 98 6.6
205
115 95 100 135 10 103 9
230
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)
Model
R88M-G3K030@
R88M-G3K030@-B@
Dimensions (mm)
LL
217
242
ABS
(Dimensions of the shaft end
with key and tap)
45
41
Eight, h: 9
4
7
M5 (depth: 12)
2-37
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
LL
65
12
6
118
84
130×130
Four, 9 dia.
110 dia., h: 7
24 dia., h: 6
165 dia.
Encoder
connector
Servomotor/brake
connector
145 dia.
55
51
Eight, h: 9
4
7
M8 (depth: 20)
(Dimensions of shaft end
with key and tap)
4 kW/5 kW
R88M-G4K030T(-S2)/-G5K030T(-S2)/-G4K030T-B(S2)/-G5K030T-B(S2)
2-2 External and Mounting Hole Dimensions
ABS
2
Model
R88M-G4K030@
R88M-G5K030@
R88M-G4K030@-B@
R88M-G5K030@-B@
Dimensions (mm)
LL
240
280
265
305
Note The standard models have a straight shaft. Models with a key and tap are indicated with
“S2” at the end of the model number.
Standard Models and Dimensions
2-38
2-2 External and Mounting Hole Dimensions
ABS
b
QK
M (depth: L)
t1
h
(Dimensions of shaft end
with key and tap)
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)
2
/-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)
Encoder
connector
Motor connector
INC
LL LR
G
220
(7)
(7)
F
200
Standard Models and Dimensions
R88M-GP10030L
R88M-GP10030H
R88M-GP10030S
R88M-GP10030T
R88M-GP20030L
R88M-GP20030H
R88M-GP20030S
R88M-GP20030T
R88M-GP40030L
R88M-GP40030H
R88M-GP40030S
R88M-GP40030T
R88M-GP10030L-B@
R88M-GP10030H-B@
R88M-GP10030S-B@
R88M-GP10030T-B@
R88M-GP20030L-B@
R88M-GP20030H-B@
R88M-GP20030S-B@
R88M-GP20030T-B@
R88M-GP40030L-B@
R88M-GP40030H-B@
R88M-GP40030S-B@
R88M-GP40030T-B@
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of
the model number.
2-39
Model
LL LR S D1 D2 C F G KL1 Z QK b h t1 M L
60.5
25 8 70 50 60 3 7 43 4.5 12.5 3h9 3 1.8 M3 6
87.5
67.5
94.5
30
82.5
109.5
84.5
25 8 70 50 60 3 7 43 4.5 12.5 3h9 3 1.8 M3 6
111.5
100
127
30
115
142
Brake connector
C × C
Four, Z dia.
S dia., h: 6
KL1
D1 dia.
D2 dia., h: 7
Dimensions (mm)
11
18 4h9 4 2.5 M4 8
90 70 80 5 8 53 5.5
14 22.5 5h9 5 3 M5 10
11
18 4h9 4 2.5 M4 8
90 70 80 5 8 53 5.5
14 22.5 5h9 5 3 M5 10
2,000-r/min Servomotors
LL LR
12
6
84
S dia., h: 6
118
130 × 130
Four, 9 dia.
145 dia.
110 dia., h: 7
165 dia.
Encoder
connector
Servomotor/brake
connector
LW
QK
Eight, h: 9
4
7
M (depth: L)
(Dimensions of shaft end
with key and tap)
1 kW/1.5 kW
R88M-G1K020T(-S2)/-G1K520T(-S2)/-G1K020T-B(S2)/-G1K520T-B(S2)
2-2 External and Mounting Hole Dimensions
ABS
Servomotor/brake
connector
LL 55
Encoder
connector
84
Model
R88M-G1K020@
R88M-G1K520@
R88M-G1K020@-B@
R88M-G1K520@-B@
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
12
6
Dimensions (mm)
22 dia., h: 6
150
175
200
LL
130 × 130
Four, 9 dia.
118
145 dia.
165 dia.
110 dia., h: 7
(Dimensions of shaft end
with key and tap)
45
41
Eight, h: 9
7
4
M5 (depth: 12)
Standard Models and Dimensions
2
2 kW/3 kW
R88M-G2K020T(-S2)/-G3K020T(-S2)/-G2K020T-B(S2)/-G3K020T-B(S2)
Model
R88M-G2K020@
R88M-G3K020@
R88M-G2K020@-B@
R88M-G3K020@-B@
20055224541M512
25065245551M820
22555224541M512
27565245551M820
Dimensions (mm)
LL LR S LW QK M L
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.
ABS
2-40
2-2 External and Mounting Hole Dimensions
LL LR
18
3.2
KL1
84
C × C
D1 dia.
D2 dia., h: 7
S dia.,h: 6
D3 dia.
Four, Z dia.
Encoder
connector
Servomotor/brake
connector
QK
t1
h
b
M (depth: L)
(Dimensions of shaft end
with key and tap)
2,000-r/min Servomotors
4 kW/5 kW
R88M-G4K020T(-S2)/-G5K020T(-S2)/-G4K020T-B(S2)/-G5K020T-B(S2)
ABS
2
Model
R88M-G4K020@
R88M-G5K020@
R88M-G4K020@-B@
R88M-G5K020@-B@
LL LR S D1 D2 C D3 KL1 Z QK b h t1 M L
242 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20
225 70 35 200 114.3 176 233 143 13.5 50 10h9 8 5 M12 25
267 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20
250 70 35 200 114.3 176 233 143 13.5 50 10h9 8 5 M12 25
Note The standard models have a straight shaft. Models with a key and tap are indicated with
“S2” at the end of the model number.
Standard Models and Dimensions
Dimensions (mm)
2-41
1,500-r/min Servomotors
90
96
M16 (depth:32)
12, h: 9
8
5
(Dimensions of shaft end
with key and tap)
Eye-bolt
Nominal diameter: 10
Brake connector
LL 113
24
3.2
183
84
176 × 176
Four, 13.5 dia.
200 dia.
114.3 dia., h: 7
42 dia., h: 6
233 dia.
Motor
connector
Encoder
connector
7.5 kW
R88M-G7K515T(-S2)/-G7K515T-B(S2)
2-2 External and Mounting Hole Dimensions
ABS
2
Model
R88M-G7K515@
R88M-G7K515@-B@
Dimensions (mm)
LL
340.5
380.5
Note The standard models have a straight shaft. Models with a key and tap are indicated with
“S2” at the end of the model number.
Standard Models and Dimensions
2-42
2-2 External and Mounting Hole Dimensions
ABS
C × C
S dia., h: 6
D2 dia., h: 7
LR
FLLG
KL1
84
Encoder connector
Servomotor/brake connector
Four, Z dia.
D1 dia.
D3 dia.
QK
b
t1
h
M (depth: L)
(Dimensions of shaft end
with key and tap)
ABS
35 dia
.,
h: 6
114.3 dia
.,
h: 7
80
3.2
LL
18
84
176 × 176
143
Four, 13.5 dia.
Encoder connector
Servomotor/brake
connector
233 dia.
200 dia.
1,000-r/min Servomotors
900 W/2 kW
R88M-G90010T(-S2)/-G2K010T(-S2)/-G90010T-B(S2)/-G2K010T-B(S2)
2
Model
R88M-G90010@
R88M-G2K010@
R88M-G90010@-B@
R88M-G2K010@-B@
Standard Models and Dimensions
Note The standard models have a straight shaft. Models with a key and tap are indicated with “S2” at the end of
LL LR S D1 D2 C D3 F G KL1 Z QK b h t1 M L
175 70 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12
182 80 35 200 114.3 176 233 3.2 18 143 13.5 50 10h9 8 5 M12 25
200 70 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12
207 80 35 200 114.3 176 233 3.2 18 143 13.5 50 10h9 8 5 M12 25
the model number.
1,000-r/min Servomotors
3 kW
R88M-G3K010T(-S2)/-G3K010T-B(S2)
Dimensions (mm)
(Dimensions of shaft end
with key and tap)
50
10, h: 9
5
8
2-43
M12 (depth: 25)
Model
R88M-G3K010@
R88M-G3K010@-B@
Dimensions (mm)
LL
222
271
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
114.3 dia., h: 7
42 dia., h: 6
113
LL
24
3.2
84
176 × 176
143
Four, 13.5 dia.
Encoder connector
Servomotor/brake
connector
Eye-bolt
Nominal
diameter: 10
200 dia.
233 dia.
90
12, h: 9
5
8
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.
4.5 kW
R88M-G4K510T(-S2)/-G4K510T-B(S2)
2-2 External and Mounting Hole Dimensions
ABS
2
Model
R88M-G4K510@
R88M-G4K510@-B@
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)
Dimensions (mm)
LL
300.5
337.5
(Dimensions of shaft end
with key and tap)
96
90
12, h: 9
8
Standard Models and Dimensions
5
R88M-G6K010@
R88M-G6K010@-B@
Note The standard models have a straight shaft. Models with a key and tap are indicated with
Model
Dimensions (mm)
LL
340.5
380.5
“S2” at the end of the model number.
M16 (depth: 32)
2-44
2-2 External and Mounting Hole Dimensions
Parameter Unit Dimensions
R88A-PR02G Hand-held Parameter Unit
2
Standard Models and Dimensions
(62)
(1500)
(15)
(114)
Mini DIN 8-pin
MD connector
(24)
M3 (depth: 5)
(15)
2-45
2-2 External and Mounting Hole Dimensions
Servomotor and Decelerator Combinations
3,000-r/min Servomotors
1/11
Motor model 1/5
R88G-
R88MG05030@
HPG11B05100B@
(Also used with
R88M-G10030@)
(1/9 for flange size
No.11)
R88GHPG11B09050B
(
Gear ratio 1/9
@
)
R88GHPG14A21100B@
(Also used with
R88M-G10030@)
1/21 1/33 1/45
R88GHPG14A33050B@
R88GHPG14A45050B
2
@
R88MG10030
R88MG20030
R88MG40030
R88MG75030
R88MG1K030T
R88MG1K530T
R88MG2K030T
R88MG3K030T
R88MG4K030T
R88G-
@
HPG11B05100B
R88G-
@
HPG14A05200B
R88G-
@
HPG14A05400B
R88G-
@
HPG20A05750B
R88GHPG32A051K0B@
R88GHPG32A052K0B@
(Also used with
R88M-G2K030T)
R88GHPG32A052K0B@
R88GHPG32A053K0B@
R88GHPG32A054K0B
R88G-
@
HPG14A11100B
R88G-
@
HPG14A11200B
R88G-
@
HPG20A11400B
R88G-
@
HPG20A11750B
R88GHPG32A111K0B@
R88GHPG32A112K0B
(Also used with
R88M-G2K030T)
R88GHPG32A112K0B@
R88GHPG50A113K0B@
R88GHPG50A115K0B
@
(Also used with
R88M-G5K030T)
R88G-
@
HPG14A21100B
R88G-
@
HPG20A21200B
R88G-
@
HPG20A21400B
R88G-
@
HPG32A21750B
R88GHPG32A211K0B@
R88G-
@
HPG32A211K5B@
R88GHPG50A212K0B@
R88GHPG50A213K0B@
@
--- --- ---
R88G-
@
HPG20A33100B
R88G-
@
HPG20A33200B
R88G-
@
HPG32A33400B
R88G-
@
HPG32A33750B
R88GHPG32A331K0B@
R88GHPG50A332K0B@
(Also used with
R88M-G2K030T)
R88GHPG50A332K0B@
--- ---
R88G-
@
HPG20A45100B
R88G-
@
HPG20A45200B
R88G-
@
HPG32A45400B
R88G-
@
HPG32A45750B
R88GHPG50A451K0B@
R88GHPG50A451K5B@
---
@
@
@
@
Standard Models and Dimensions
R88MG5K030T
R88GHPG50A055K0B
R88G-
@
HPG50A115K0B
--- --- ---
@
2-46
2-2 External and Mounting Hole Dimensions
3,000-r/min Flat Servomotors
Motor
model
R88M-
2
Standard Models and Dimensions
GP10030
R88MGP20030
R88MGP40030
Motor
model
R88MG1K020T
R88MG1K520T
R88MG2K020T
R88MG3K020T
R88GHPG11B05100PB
@
R88GHPG14A05200PB
@
R88GHPG20A05400PB
@
,000-r/min Servomotors
2
R88GHPG32A053K0B
(Also used with
R88M-G3K030T)
R88GHPG32A053K0B@
(Also used with
R88M-G3K030T)
R88GHPG32A053K0B
(Also used with
R88M-G3K030T)
R88GHPG32A054K0B
(Also used with
R88M-G4K030T)
1/5 1/11 1/21 1/33 1/45
R88GHPG14A11100PB
@
R88GHPG20A11200PB
@
R88GHPG20A11400PB
@
1/11
1/5
(1/12 for flange size
No.65)
R88G-
@
HPG32A112K0SB
(Also used with
R88M-G2K020T)
R88GHPG32A112K0SB
(Also used with
R88M-G2K020T)
@
R88GHPG32A112K0SB@
R88G-
@
HPG50A115K0B
(Also used with
R88M-G5K030T)
R88GHPG14A21100PB
@
R88GHPG20A21200PB
@
R88GHPG20A21400PB
@
(1/20 for flange size
No.65)
@
R88GHPG32A211K0SB@
R88G-
@
HPG50A213K0B
(Also used with
R88M-G3K030T)
R88GHPG50A213K0B
(Also used with
R88M-G3K030T)
@
R88GHPG50A213K0SB@
1/21
R88GHPG20A33100PB
@
R88GHPG20A33200PB
@
R88GHPG32A33400PB
@
(1/25 for flange size
No.65)
R88GHPG50A332K0SB
(Also used with
R88M-G2K020T)
R88G-
@
HPG50A332K0SB
(Also used with
R88M-G2K020T)
@
R88GHPG50A332K0SB@
R88GHPG65A253K0SB
1/33
R88GHPG20A45100PB
@
R88GHPG20A45200PB
@
R88GHPG32A45400PB
@
1/45
@
R88GHPG50A451K0SB@
@
---
---
---
@
@
@
@
R88MG4K020T
R88MG5K020T
R88MG7K515T
R88GHPG50A054K0SB
R88GHPG50A055K0SB
R88GHPG65A057K5SB
R88GHPG50A114K0SB
@
R88GHPG50A115K0SB
@
R88GHPG65A127K5SB
@
R88GHPG65A204K0SB
@
R88GHPG65A205K0SB
@
--- --- ---
@
R88GHPG65A254K0SB
@
R88GHPG65A255K0SB
@
---
@
---
@
2-47
1,000-r/min Servomotors
2-2 External and Mounting Hole Dimensions
Motor model 1/5
R88MG90010T
R88MG2K010T
R88MG3K010T
R88MG4K510T
R88MG6K010T
R88GHPG32A05900TB@
R88GHPG32A052K0TB
R88GHPG50A055K0SB
(Also used with R88MG5K020T)
R88GHPG50A054K5TB@
R88GHPG65A057K5SB@
(Also used with R88MG7K515T)
1/11
(1/12 for flange size
No.65)
R88GHPG32A11900TB@
R88G-
@
HPG50A112K0TB
R88GHPG50A115K0SB
@
(Also used with R88MG5K020T)
R88GHPG65A127K5SB
(Also used with R88MG7K515T)
R88GHPG65A127K5SB
(Also used with R88MG7K515T)
1/21
(1/20 for flange size
No.65)
R88GHPG50A21900TB@
R88G-
@
HPG50A212K0TB
R88GHPG65A205K0SB
@
(Also used with R88MG5K020T)
R88G-
@
HPG65A204K5TB@
@
--- ---
1/33
(1/25 for flange size
No.65)
R88GHPG50A33900TB@
R88GHPG65A255K0SB@
@
(Also used with R88MG5K020T)
R88GHPG65A255K0SB
@
(Also used with R88MG5K020T)
---
2
@
Standard Models and Dimensions
2-48
2-2 External and Mounting Hole Dimensions
Decelerator Dimensions
Backlash = 3’ Max.
Decelerators for 3,000-r/min Servomotors
2
Model
1/5 R88G-HPG11B05100B@ 39.5 42 40 40×40 46 46 40.0 39.5 29 27 2.2 15 5
1/9 R88G-HPG11B09050B@ 39.5 42 40 40×40 46 46 40.0 39.5 29 27 2.2 15 5
50 W
1/21 R88G-HPG14A21100B@ 64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 8
1/33 R88G-HPG14A33050B@ 64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 8
1/45 R88G-HPG14A45050B@ 64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 8
1/5 R88G-HPG11B05100B@ 39.5 42 40 40×40 46 46 40.0 39.5 29 27 2.2 15 5
1/11 R88G-HPG14A11100B@ 64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 8
100 W
1/21 R88G-HPG14A21100B@ 64.0 58 60 60×60 70 46 56.0 55.5 40 37 2.5 21 8
1/33 R88G-HPG20A33100B@ 66.5 80 90
1/45 R88G-HPG20A45100B@ 66.5 80 90
1/5 R88G-HPG14A05200B@ 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21 8
1/11 R88G-HPG14A11200B@ 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21 8
200 W
1/21 R88G-HPG20A21200B@ 71.0 80 90
1/33 R88G-HPG20A33200B@ 71.0 80 90
1/45 R88G-HPG20A45200B@ 71.0 80 90
LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 G
55 dia.
55 dia.
89 dia.
89 dia.
89 dia.
Dimensions (mm)
105 46 85.0 84.0 59 53 7.5 27 10
105 46 85.0 84.0 59 53 7.5 27 10
105 70 85.0 84.0 59 53 7.5 27 10
105 70 85.0 84.0 59 53 7.5 27 10
105 70 85.0 84.0 59 53 7.5 27 10
Standard Models and Dimensions
1/5 R88G-HPG11B05100B@ 8 20 3.4 M4×9 M3 15 3 3 1.8 M3 6
1/9 R88G-HPG11B09050B@ 8 20 3.4 M4×9 M3 15 3 3 1.8 M3 6
50 W
1/21 R88G-HPG14A21100B@ 16 28 5.5 M4×10 M3 25 5 5 3 M4 8
1/33 R88G-HPG14A33050B@ 16 28 5.5 M4×10 M3 25 5 5 3 M4 8
1/45 R88G-HPG14A45050B@ 16 28 5.5 M4×10 M3 25 5 5 3 M4 8
1/5 R88G-HPG11B05100B@ 8 20 3.4 M4×9 M3 15 3 3 1.8 M3 6
1/11 R88G-HPG14A11100B@ 16 28 5.5 M4×10 M3 25 5 5 3 M4 8
100 W
1/21 R88G-HPG14A21100B@ 16 28 5.5 M4×10 M3 25 5 5 3 M4 8
1/33 R88G-HPG20A33100B@ 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12
1/45 R88G-HPG20A45100B@ 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12
1/5 R88G-HPG14A05200B@ 16 28 5.5 M4×10 M4 25 5 5 3 M4 8
1/11 R88G-HPG14A11200B@ 16 28 5.5 M4×10 M4 25 5 5 3 M4 8
200 W
1/21 R88G-HPG20A21200B@ 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12
1/33 R88G-HPG20A33200B@ 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12
1/45 R88G-HPG20A45200B@ 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12
Model
S T Z1 Z2 AT
Note 1. The standard models have a straight shaft.
Note 2. 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-HPG11B05100BJ)
Note 3. The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding
motors.
Dimensions (mm)
*1
Key dimensions
QK b h t1 M L
Tap
dimensions
2-49
2-2 External and Mounting Hole Dimensions
C1 × C1
Four, Z1 dia.
S dia.,h: 7
D5 dia.
D4 dia.
C2 × C2
D2 dia.
D1 dia.
Four, Z2
Set bolt (AT)
C2 dia.
Four, Z2
Set bolt (AT)
D2 dia.
E
T
F1
F2LRG
LM
D3 dia.,h: 7
For the R88G-HPG11B Series, two set bolts
are positioned at 90° from each other.
Set bolts (AT)
4-Z2
C2 × C2
D2 dia.
Model
1/5 R88G-HPG14A05400B@ 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21 8
1/11 R88G-HPG20A11400B@ 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27 10
400 W
1/21 R88G-HPG20A21400B@ 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27 10
1/33 R88G-HPG32A33400B@ 104.0 133 120 122 dia. 135 70 115.0 114.0 84 98 12.5 35 13
1/45 R88G-HPG32A45400B@ 104.0 133 120 122 dia. 135 70 115.0 114.0 84 98 12.5 35 13
1/5 R88G-HPG20A05750B@ 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27 10
1/11 R88G-HPG20A11750B@ 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27 10
1/21 R88G-HPG32A21750B@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35 13
750 W
1/33 R88G-HPG32A33750B@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35 13
1/45 R88G-HPG32A45750B@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35 13
Model
1/5 R88G-HPG14A05400B@ 16 28 5.5 M4
1/11 R88G-HPG20A11400B@ 25 42 9.0 M4
400 W
1/21 R88G-HPG20A21400B@ 25 42 9.0 M4×10 M4 36 8 7 4.0 M6 12
1/33 R88G-HPG32A33400B@ 40 82 11.0 M4
1/45 R88G-HPG32A45400B@ 40 82 11.0 M4
1/5 R88G-HPG20A05750B@ 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12
1/11 R88G-HPG20A11750B@ 25 42 9.0 M5
750 W
1/21 R88G-HPG32A21750B@ 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20
1/33 R88G-HPG32A33750B@ 40 82 11.0 M5
1/45 R88G-HPG32A45750B@ 40 82 11.0 M5
*1. This is the set bolt.
Outline Drawings
Dimensions (mm)
LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 G
Dimensions (mm)
Tap
dimensions
S T Z1 Z2 AT*1
Key dimensions
QK b h t1 M L
×10 M4 25 5 5 3 M4 8
×10 M4 36 8 7 4.0 M6 12
×10 M4 70 12 8 5.0 M10 20
×10 M4 70 12 8 5.0 M10 20
×12 M4 36 8 7 4.0 M6 12
×12 M6 70 12 8 5.0 M10 20
×12 M6 70 12 8 5.0 M10 20
2
Standard Models and Dimensions
Key and Tap Dimensions
QK
h
b
t1
M (depth: L)
2-50
2-2 External and Mounting Hole Dimensions
Model
1/5 R88G-HPG32A051K0B
1/11 R88G-HPG32A111K0B@ 104 133 120
1 kW
2
1.5 kW
Standard Models and Dimensions
Note 1. The standard models have a straight shaft.
1/21 R88G-HPG32A211K0B
1/33 R88G-HPG32A331K0B@ 104 133 120
1/45 R88G-HPG50A451K0B
1/5 R88G-HPG32A052K0B@ 110 133 120
1/11 R88G-HPG32A112K0B
1/21 R88G-HPG32A211K5B@ 110 133 120
1/33 R88G-HPG50A332K0B
1/45 R88G-HPG50A451K5B@ 123 156 170
1/5 R88G-HPG32A052K0B
1/11 R88G-HPG32A112K0B@ 110 133 120
2 kW
1/21 R88G-HPG50A212K0B
1/33 R88G-HPG50A332K0B@ 123 156 170
1/5 R88G-HPG32A053K0B
1/11 R88G-HPG50A113K0B@ 123 156 170
3 kW
1/21 R88G-HPG50A213K0B
4 kW
5 kW
1/5 R88G-HPG32A054K0B@ 129 133 120 130×130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG50A115K0B
1/5 R88G-HPG50A055K0B@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53
1/11 R88G-HPG50A115K0B
@ 104 133 120
@ 104 133 120
@ 123 156 170
@ 110 133 120
@ 123 156 170
@ 110 133 120
@ 123 156 170
@ 107 133 120 130×130 135 145 115 114 84 98 12.5 35
@ 123 156 170
@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53
@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53
Note 2. 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)
Note 3. The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding
motors.
Dimensions (mm)
LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2
122 dia.
122 dia.
122 dia.
122 dia.
170 dia.
135 dia.
135 dia.
135 dia.
170 dia.
170 dia.
135 dia.
135 dia.
170 dia.
170 dia.
170 dia.
170 dia.
135 100 115 114 84 98 12.5 35
135 100 115 114 84 98 12.5 35
135 100 115 114 84 98 12.5 35
135 100 115 114 84 98 12.5 35
190 100 165 163 122 103 12.0 53
135 115 115 114 84 98 12.5 35
135 115 115 114 84 98 12.5 35
135 115 115 114 84 98 12.5 35
190 115 165 163 122 103 12.0 53
190 115 165 163 122 103 12.0 53
135 115 115 114 84 98 12.5 35
135 115 115 114 84 98 12.5 35
190 115 165 163 122 103 12.0 53
190 115 165 163 122 103 12.0 53
190 145 165 163 122 103 12.0 53
190 145 165 163 122 103 12.0 53
2-51
Model
S dia.,h: 7
D5 dia.
D4 dia.
Four, Z2
Set bolt (AT)
C2 dia.
C1 × C1
D1 dia.
Four, Z1 dia.
D2 dia.
C2 × C2
Four, Z2
Set bolt (AT)
D2 dia.
E
T
F1
F2LRG
LM
D3 dia.,h: 7 *2
1/5 R88G-HPG32A051K0B@ 13 40 82 11 M6×12 M6 70 12 8 5.0 M10 20
1/11 R88G-HPG32A111K0B
1/21 R88G-HPG32A211K0B@ 13 40 82 11 M6×12 M6 70 12 8 5.0 M10 20
1 kW
1/33 R88G-HPG32A331K0B
1/45 R88G-HPG50A451K0B@ 16 50 82 14 M6×10 M6 70 14 9 5.5 M10 20
1/5 R88G-HPG32A052K0B
1/11 R88G-HPG32A112K0B@ 13 40 82 11 M8×10 M6 70 12 8 5.0 M10 20
1.5 kW
*1. This is the set bolt.
1/21 R88G-HPG32A211K5B
1/33 R88G-HPG50A332K0B
1/45 R88G-HPG50A451K5B
1/5 R88G-HPG32A052K0B
1/11 R88G-HPG32A112K0B
2 kW
1/21 R88G-HPG50A212K0B
1/33 R88G-HPG50A332K0B
1/5 R88G-HPG32A053K0B@ 13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
3 kW
1/11 R88G-HPG50A113K0B
1/21 R88G-HPG50A213K0B@ 16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
4 kW
5 kW
1/5 R88G-HPG32A054K0B
1/11 R88G-HPG50A115K0B@ 16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20
1/5 R88G-HPG50A055K0B
1/11 R88G-HPG50A115K0B
2-2 External and Mounting Hole Dimensions
Dimensions (mm)
Key dimensions
G S T Z1 Z2 AT
*1
QK b h t1 M L
@ 13 40 82 11 M6×12 M6 70 12 8 5.0 M10 20
@ 13 40 82 11 M6×12 M6 70 12 8 5.0 M10 20
@ 13 40 82 11 M8×10 M6 70 12 8 5.0 M10 20
@ 13 40 82 11 M8×10 M6 70 12 8 5.0 M10 20
@ 16 50 82 14 M8×10 M6 70 14 9 5.5 M10 20
@ 16 50 82 14 M8×10 M6 70 14 9 5.5 M10 20
@ 13 40 82 11 M8×10 M6 70 12 8 5.0 M10 20
@ 13 40 82 11 M8×10 M6 70 12 8 5.0 M10 20
@ 16 50 82 14 M8×10 M6 70 14 9 5.5 M10 20
@ 16 50 82 14 M8×10 M6 70 14 9 5.5 M10 20
@ 16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
@ 13 40 82 11 M8×25 M6 70 12 8 5.0 M10 20
@ 16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20
@ 16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20
Tap
dimensions
2
Standard Models and Dimensions
Outline Drawings
Key and Tap Dimensions
QK
b
h
t1
M (depth: L)
*2. With the R88G-HPG50@, the height tolerance is 8 mm (D3 dia., h: 8).
2-52
2-2 External and Mounting Hole Dimensions
Decelerators for 2,000-r/min Servomotors
Model
1/5 R88G-HPG32A053K0B
2
1.5 kW
1/11 R88G-HPG32A112K0SB@ 107 133 120 130×130 135 145 115 114 84 98 12.5 35
1 kW
1/21 R88G-HPG32A211K0SB
1/33 R88G-HPG50A332K0SB@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/45 R88G-HPG50A451K0SB
1/5 R88G-HPG32A053K0B@ 107 133 120 130×130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0SB
1/21 R88G-HPG50A213K0B@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/33 R88G-HPG50A332K0SB
1/5 R88G-HPG32A053K0B@ 107 133 120 130×130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0SB
2 kW
1/21 R88G-HPG50A213K0B@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/33 R88G-HPG50A332K0SB
1/5 R88G-HPG32A054K0B@ 129 133 120 130×130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG50A115K0B
3 kW
1/21 R88G-HPG50A213K0SB@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53
1/25 R88G-HPG65A253K0SB
Model
@ 107 133 120 130×130 135 145 115 114 84 98 12.5 35
@ 107 133 120 130×130 135 145 115 114 84 98 12.5 35
@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
@ 107 133 120 130×130 135 145 115 114 84 98 12.5 35
@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
@ 107 133 120 130×130 135 145 115 114 84 98 12.5 35
@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53
@ 231 222 230 130×130 260 145 220 214 168 165 12.0 57
Standard Models and Dimensions
1 kW
1.5 kW
2 kW
3 kW
1/5 R88G-HPG32A053K0B
1/11 R88G-HPG32A112K0SB@ 13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
1/21 R88G-HPG32A211K0SB
1/33 R88G-HPG50A332K0SB@ 16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
1/45 R88G-HPG50A451K0SB
1/5 R88G-HPG32A053K0B@ 13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
1/11 R88G-HPG32A112K0SB
1/21 R88G-HPG50A213K0B@ 16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
1/33 R88G-HPG50A332K0SB
1/5 R88G-HPG32A053K0B@ 13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
1/11 R88G-HPG32A112K0SB
1/21 R88G-HPG50A213K0B
1/33 R88G-HPG50A332K0SB
1/5 R88G-HPG32A054K0B@ 13 40 82 11 M8×25 M6 70 12 8 5.0 M10 20
1/11 R88G-HPG50A115K0B
1/21 R88G-HPG50A213K0SB@ 16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20
1/25 R88G-HPG65A253K0SB
@ 13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
@ 13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
@ 16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
@ 13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
@ 16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
@ 13 40 82 11 M8×18 M6 70 12 8 5.0 M10 20
@ 16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
@ 16 50 82 14 M8×16 M6 70 14 9 5.5 M10 20
@ 16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20
@ 25 80 130 18 M8×25 M8 110 22 14 9.0 M16 35
Dimensions (mm)
LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2
Dimensions (mm)
Tap
dimensions
G S T Z1 Z2 AT
Key dimensions
*1
QK b h t1 M L
Note 1. The standard models have a straight shaft.
Note 2. 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)
Note 3. The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding
motors.
2-53
2-2 External and Mounting Hole Dimensions
S dia.,h: 7
D5 dia.
D4 dia.
Four, Z2
Set bolt (AT)
C2 dia.
C1 × C1
D1 dia.
Four, Z1 dia.
D2 dia.
C2 × C2
Four, Z2
Set bolt (AT)
D2 dia.
E
T
F1
F2LRG
LM
D3 dia.,h: 7 *2
QK
Key and Tap Dimensions
b
h
t1
M (depth: L)
Model
1/5 R88G-HPG50A054K0SB
1/11 R88G-HPG50A114K0SB@ 149 156 170 180×180 190 165 165 163 122 103 12.0 53
4 kW
1/20 R88G-HPG65A204K0SB
1/25 R88G-HPG65A254K0SB@ 231 222 230 180×180 260 165 220 214 168 165 12.0 57
1/5 R88G-HPG50A055K0SB
1/11 R88G-HPG50A115K0SB@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53
5 kW
1/20 R88G-HPG65A205K0SB
1/25 R88G-HPG65A255K0SB@ 231 222 230 180×180 260 200 220 214 168 165 12.0 57
7.5 kW
4 kW
5 kW
7.5 kW
*1. This is the set bolt.
1/5 R88G-HPG65A057K5SB
1/12 R88G-HPG65A127K5SB@ 254.5 222 230 180×180 260 200 220 214 168 165 12.0 57
Model
1/5 R88G-HPG50A054K0SB@ 16 50 82 14 M10×25 M6 70 14 9 5.5 M10 20
1/11 R88G-HPG50A114K0SB
1/20 R88G-HPG65A204K0SB
1/25 R88G-HPG65A254K0SB@ 25 80 130 18 M10×25 M8 110 22 14 9.0 M16 35
1/5 R88G-HPG50A055K0SB
1/11 R88G-HPG50A115K0SB@ 16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20
1/20 R88G-HPG65A205K0SB
1/25 R88G-HPG65A255K0SB@ 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
1/5 R88G-HPG65A057K5SB
1/12 R88G-HPG65A127K5SB
Dimensions (mm)
LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2
@ 149 156 170 180×180 190 165 165 163 122 103 12.0 53
@ 231 222 230 180×180 260 165 220 214 168 165 12.0 57
@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53
@ 231 222 230 180×180 260 200 220 214 168 165 12.0 57
@ 184.5 222 230 180×180 260 200 220 214 168 165 12.0 57
Dimensions (mm)
Tap
dimensions
G S T Z1 Z2 AT
Key dimensions
*1
QK b h t1 M L
@ 16 50 82 14 M10×25 M6 70 14 9 5.5 M10 20
@ 25 80 130 18 M10×25 M8 110 22 14 9.0 M16 35
@ 16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20
@ 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
@ 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
@ 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
2
Standard Models and Dimensions
Outline Drawings
*2. With the R88G-HPG50@/-HPG65@, the height tolerance is 8 mm (D3 dia., h: 8).
2-54
2-2 External and Mounting Hole Dimensions
Decelerators for 1,000-r/min Servomotors
Model
1/5 R88G-HPG32A05900TB
2
Standard Models and Dimensions
900 W
4.5 kW
Note 1. The standard models have a straight shaft.
Note 2. Models with a key and tap are indicated with “J” at the end of the model number (the suffix shown in the
Note 3. The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding
1/11 R88G-HPG32A11900TB@ 129 133 120 130×130 135 145 115 114 84 98 12.5 35
1/21 R88G-HPG50A21900TB
1/33 R88G-HPG50A33900TB@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53
1/5 R88G-HPG32A052K0TB
1/11 R88G-HPG50A112K0TB@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53
2 kW
1/21 R88G-HPG50A212K0TB
1/25 R88G-HPG65A255K0SB@ 231 222 230 180×180 260 200 220 214 168 165 12.0 57
1/5 R88G-HPG50A055K0SB
1/11 R88G-HPG50A115K0SB@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53
3 kW
1/20 R88G-HPG65A205K0SB
1/25 R88G-HPG65A255K0SB@ 231 222 230 180×180 260 200 220 214 168 165 12.0 57
1/5 R88G-HPG50A054K5TB
1/12 R88G-HPG65A127K5SB@ 254.5 222 230 180×180 260 200 220 214 168 165 12.0 57
1/20 R88G-HPG65A204K5TB
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
box). (Example: R88G-HPG32A05900TBJ)
motors.
@ 129 133 120 130×130 135 145 115 114 84 98 12.5 35
@ 149 156 170 130×130 190 145 165 163 122 103 12.0 53
@ 129 133 120 180×180 135 200 115 114 84 98 12.5 35
@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53
@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53
@ 231 222 230 180×180 260 200 220 214 168 165 12.0 57
@ 149 156 170 180×180 190 200 165 163 122 103 12.0 53
@ 254.5 222 230 180×180 260 200 220 214 168 165 12.0 57
@ 254.5 222 230 180×180 260 200 220 214 168 165 12.0 57
Dimensions (mm)
LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2
2-55
900 W
C1 × C1
Four, Z1 dia.
S dia.,h: 7
D5 dia.
D4 dia.
D1 dia.
Four, Z2
Set bolt (AT)
D2 dia.
C2 × C2
E
T
F1
F2LRG
LM
D3 dia.,h: 7 *2
2 kW
3 kW
4.5 kW
6 kW
2-2 External and Mounting Hole Dimensions
Dimensions (mm)
Model
1/5 R88G-HPG32A05900TB@ 13 40 82 11 M8×25 M6 70 12 8 5.0 M10 20
1/11 R88G-HPG32A11900TB
1/21 R88G-HPG50A21900TB@ 16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20
1/33 R88G-HPG50A33900TB
1/5 R88G-HPG32A052K0TB@ 13 40 82 11 M12×25 M6 70 12 8 5.0 M10 20
1/11 R88G-HPG50A112K0TB
1/21 R88G-HPG50A212K0TB@ 16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20
1/25 R88G-HPG65A255K0SB
1/5 R88G-HPG50A055K0SB
1/11 R88G-HPG50A115K0SB
1/20 R88G-HPG65A205K0SB
1/25 R88G-HPG65A255K0SB
1/5 R88G-HPG50A054K5TB
1/12 R88G-HPG65A127K5SB
1/20 R88G-HPG65A204K5TB@ 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
1/5 R88G-HPG65A057K5SB
1/12 R88G-HPG65A127K5SB@ 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
@ 13 40 82 11 M8×25 M6 70 12 8 5.0 M10 20
@ 16 50 82 14 M8×25 M6 70 14 9 5.5 M10 20
@ 16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20
@ 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
@ 16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20
@ 16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20
@ 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
@ 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
@ 16 50 82 14 M12×25 M6 70 14 9 5.5 M10 20
@ 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
@ 25 80 130 18 M12×25 M8 110 22 14 9.0 M16 35
G S T Z1 Z2 AT
Key dimensions
*1
QK b h t1 M L
Tap
dimensions
2
*1. This is the set bolt.
Outline Drawings
Key and Tap Dimensions
QK
Standard Models and Dimensions
b
h
t1
M (depth: L)
*2. With the R88G-HPG50@/-HPG65@, the height tolerance is 8 mm (D3 dia., h: 8).
2-56
2-2 External and Mounting Hole Dimensions
Decelerators for 3,000-r/min Flat Servomotors
Model
1/5 R88G-HPG11B05100PB@ 39.5 42 40 60×60 46 70 40.0 39.5 29 27 2.2 15
2
Standard Models and Dimensions
1/11 R88G-HPG14A11100PB@ 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21
100 W
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
1/5 R88G-HPG11B05100PB@ 5 8 20 3.4 M4
1/11 R88G-HPG14A11100PB@ 8 16 28 5.5 M4
1/21 R88G-HPG14A21100PB@ 8 16 28 5.5 M4
100 W
1/33 R88G-HPG20A33100PB@ 10 25 42 9.0 M4
1/45 R88G-HPG20A45100PB@ 10 25 42 9.0 M4
Model
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
200 W
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
Dimensions (mm)
LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2
Dimensions (mm)
Tap
dimensions
G S T Z1 Z2 AT
Key dimensions
*
1
QK b h t1 M L
×9 M3 15 3 3 1.8 M3 6
×10 M3 25 5 5 3.0 M4 8
×10 M3 25 5 5 3.0 M4 8
×10 M3 36 8 7 4.0 M6 12
×10 M3 36 8 7 4.0 M6 12
Dimensions (mm)
LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2
Dimensions (mm)
Model
1/5 R88G-HPG14A05200PB@ 8 16 28 5.5 M5
1/11 R88G-HPG20A11200PB@ 10 25 42 9.0 M5
1/21 R88G-HPG20A21200PB@ 10 25 42 9.0 M5
200 W
1/33 R88G-HPG20A33200PB@ 10 25 42 9.0 M5
1/45 R88G-HPG20A45200PB@ 10 25 42 9.0 M5
G S T Z1 Z2 AT
Key dimensions
*1
QK b h t1 M L
×12 M4 25 5 5 3.0 M4 8
×12 M4 36 8 7 4.0 M6 12
×12 M4 36 8 7 4.0 M6 12
×12 M4 36 8 7 4.0 M6 12
×12 M4 36 8 7 4.0 M6 12
Tap
dimensions
Note 1. The standard models have a straight shaft.
Note 2. 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-HPG11B05100PBJ)
Note 3. The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding
motors.
2-57
2-2 External and Mounting Hole Dimensions
C1 × C1
Four, Z1 dia.
S dia.,h: 7
D5 dia.
D4 dia.
C2 × C2
D2 dia.
D1 dia.
Four, Z2
Set bolt (AT)
C2 dia.
Four, Z2
Set bolt (AT)
D2 dia.
E
T
F1
F2LRG
LM
D3 dia.,h: 7
QK
Key and Tap Dimensions
b
h
t1
M (depth: L)
Model
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
400 W
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
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
400 W
1/21 R88G-HPG20A21400PB@ 10 25 42 9.0 M5
1/33 R88G-HPG32A33400PB@ 13 40 82 11.0 M5
1/45 R88G-HPG32A45400PB@ 13 40 82 11.0 M5
*1 This is the set bolt.
Outline Drawings
Dimensions (mm)
LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2
Dimensions (mm)
Tap
dimensions
G S T Z1 Z2 AT
Key dimensions
*1
QK b h t1 M L
×12 M4 36 8 7 4.0 M6 12
×12 M4 36 8 7 4.0 M6 12
×12 M6 70 12 8 5.0 M10 20
×12 M6 70 12 8 5.0 M10 20
2
Standard Models and Dimensions
2-58
2-2 External and Mounting Hole Dimensions
Backlash = 15’ Max.
Decelerators for 3,000-r/min Servomotors
Model
2
LM LR C1 C2 D1 D2 D3 D4 E3 F G
1/5 R88G-VRSF05B100CJ 67.5 32 40 52 46 60 50 45 10 3 6
1/9 R88G-VRSF09B100CJ 67.5 32 40 52 46 60 50 45 10 3 6
50 W
1/15 R88G-VRSF15B100CJ 78.0 32 40 52 46 60 50 45 10 3 6
1/25 R88G-VRSF25B100CJ 78.0 32 40 52 46 60 50 45 10 3 6
1/5 R88G-VRSF05B100CJ 67.5 32 40 52 46 60 50 45 10 3 6
100 W
1/9 R88G-VRSF09B100CJ 67.5 32 40 52 46 60 50 45 10 3 6
1/15 R88G-VRSF15B100CJ 78.0 32 40 52 46 60 50 45 10 3 6
1/25 R88G-VRSF25B100CJ 78.0 32 40 52 46 60 50 45 10 3 6
1/5 R88G-VRSF05B200CJ 72.5 32 60 52 70 60 50 45 10 3 10
200 W
1/9 R88G-VRSF09C200CJ 89.5 50 60 78 70 90 70 62 17 3 8
1/15 R88G-VRSF15C200CJ 100.0 50 60 78 70 90 70 62 17 3 8
1/25 R88G-VRSF25C200CJ 100.0 50 60 78 70 90 70 62 17 3 8
1/5 R88G-VRSF05C400CJ 89.5 50 60 78 70 90 70 62 17 3 8
400 W
1/9 R88G-VRSF09C400CJ 89.5 50 60 78 70 90 70 62 17 3 8
1/15 R88G-VRSF15C400CJ 100.0 50 60 78 70 90 70 62 17 3 8
1/25 R88G-VRSF25C400CJ 100.0 50 60 78 70 90 70 62 17 3 8
1/5 R88G-VRSF05C750CJ 93.5 50 80 78 90 90 70 62 17 3 10
Standard Models and Dimensions
750 W
1/9 R88G-VRSF09D750CJ 97.5 61 80 98 90 115 90 75 18 5 10
1/15 R88G-VRSF15D750CJ 110.0 61 80 98 90 115 90 75 18 5 10
1/25 R88G-VRSF25D750CJ 110.0 61 80 98 90 115 90 75 18 5 10
Dimensions (mm)
Note 1. The standard models have a straight shaft with a key.
Note 2. The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding
motors.
Outline Drawings
E3
D1 dia.
C1 × C1
Four, Z1
F
G T
LM
LR
S dia., h: 6
D4 dia.
D3 dia., h: 7
Four, Z2 (effective depth: L)
D2 dia.
C2 × C2
2-59
2-2 External and Mounting Hole Dimensions
Set bolt (AT)
QK
h
t1
b
Key Dimensions
Dimensions (mm)
Model
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
50 W
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
1/5 R88G-VRSF05B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5
100 W
200 W
400 W
750 W
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
1/5 R88G-VRSF05B200CJ 12 20 M4 M5 M4 12 16 4 4 2.5
1/9 R88G-VRSF09C200CJ 19 30 M4 M6 M4 20 22 6 6 3.5
1/15 R88G-VRSF15C200CJ 19 30 M4 M6 M4 20 22 6 6 3.5
1/25 R88G-VRSF25C200CJ 19 30 M4 M6 M4 20 22 6 6 3.5
1/5 R88G-VRSF05C400CJ 19 30 M4 M6 M4 20 22 6 6 3.5
1/9 R88G-VRSF09C400CJ 19 30 M4 M6 M4 20 22 6 6 3.5
1/15 R88G-VRSF15C400CJ 19 30 M4 M6 M4 20 22 6 6 3.5
1/25 R88G-VRSF25C400CJ 19 30 M4 M6 M4 20 22 6 6 3.5
1/5 R88G-VRSF05C750CJ 19 30 M5 M6 M4 20 22 6 6 3.5
1/9 R88G-VRSF09D750CJ 24 40 M5 M8 M4 20 30 8 7 4
1/15 R88G-VRSF15D750CJ 24 40 M5 M8 M4 20 30 8 7 4
1/25 R88G-VRSF25D750CJ 24 40 M5 M8 M4 20 30 8 7 4
S T Z1 Z2 AT L
Key dimensions
QK b h t1
2
Standard Models and Dimensions
Outline Drawings
2-60
2-2 External and Mounting Hole Dimensions
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.
E3
F
LM
G T
LR
Decelerators for 3,000-r/min Flat Servomotors
Model
LM LR C1 C2 D1 D2 D3 D4 E3 F G
Dimensions (mm)
1/5 R88G-VRSF05B100PCJ 67.5 32 60 52 70 60 50 45 10 3 8
2
100 W
1/9 R88G-VRSF09B100PCJ 67.5 32 60 52 70 60 50 45 10 3 8
1/15 R88G-VRSF15B100PCJ 78.0 32 60 52 70 60 50 45 10 3 8
1/25 R88G-VRSF25B100PCJ 78.0 32 60 52 70 60 50 45 10 3 8
1/5 R88G-VRSF05B200PCJ 72.5 32 80 52 90 60 50 45 10 3 12
200 W
1/9 R88G-VRSF09C200PCJ 89.5 50 80 78 90 90 70 62 17 3 12
1/15 R88G-VRSF15C200PCJ 100.0 50 80 78 90 90 70 62 17 3 12
1/25 R88G-VRSF25C200PCJ 100.0 50 80 78 90 90 70 62 17 3 12
1/5 R88G-VRSF05C400PCJ 89.5 50 80 78 90 90 70 62 17 3 12
400 W
1/9 R88G-VRSF09C400PCJ 89.5 50 80 78 90 90 70 62 17 3 12
1/15 R88G-VRSF15C400PCJ 100.0 50 80 78 90 90 70 62 17 3 12
1/25 R88G-VRSF25C400PCJ 100.0 50 80 78 90 90 70 62 17 3 12
Note 1. The standard models have a straight shaft with a key.
Note 2. The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding
motors.
Outline Drawings
Standard Models and Dimensions
2-61
2-2 External and Mounting Hole Dimensions
Set bolt (AT)
QK
h
t1
b
Key Dimensions
Dimensions (mm)
Model
1/5 R88G-VRSF05B100PCJ 12 20 M4 M5 M3 12 16 4 4 2.5
100 W
200 W
400 W
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
1/5 R88G-VRSF05B200PCJ 12 20 M5 M5 M4 12 16 4 4 2.5
1/9 R88G-VRSF09C200PCJ 19 30 M5 M6 M4 20 22 6 6 3.5
1/15 R88G-VRSF15C200PCJ 19 30 M5 M6 M4 20 22 6 6 3.5
1/25 R88G-VRSF25C200PCJ 19 30 M5 M6 M4 20 22 6 6 3.5
1/5 R88G-VRSF05C400PCJ 19 30 M5 M6 M4 20 22 6 6 3.5
1/9 R88G-VRSF09C400PCJ 19 30 M5 M6 M4 20 22 6 6 3.5
1/15 R88G-VRSF15C400PCJ 19 30 M5 M6 M4 20 22 6 6 3.5
1/25 R88G-VRSF25C400PCJ 19 30 M5 M6 M4 20 22 6 6 3.5
S T Z1 Z2 AT L
Outline Drawings
Key dimensions
QK b h t1
2
Standard Models and Dimensions
2-62
2-2 External and Mounting Hole Dimensions
20
t1.2 104
122
130
43.5
28
4.2
6
Thermal switch output
500
1.5 dia.
(0.3mm
2
)
3 dia.
(0.75mm
2
)
20
t1.2 200
220
230
62
48
4.2
6
500
Thermal switch output
1.5 dia.
(0.3mm
2
)
3 dia.
(0.75mm
2
)
360
386
402
4325 10
78
76
40
5.2
External Regeneration Resistor Dimensions
External Regeneration Resistor
2
R88A-RR08050S/-RR080100S
R88A-RR22047S1
Standard Models and Dimensions
R88A-RR50020S
2-63
Reactor Dimensions
66
56
72
90
98
95
Ground terminal
(M4)
Two, M4
Four, 5.2 × 8
3G3AX-DL2002
2-2 External and Mounting Hole Dimensions
72
90
Two, M4
2
Ground terminal
(M4)
3G3AX-DL2004
56
66
Four, 5.2 × 8
98
85
Standard Models and Dimensions
2-64
2-2 External and Mounting Hole Dimensions
66
56
72
90
98
105
Ground terminal
(M4)
Two, M4
Four, 5.2 × 8
3G3AX-DL2007
2
3G3AX-DL2015
Standard Models and Dimensions
Ground terminal
(M4)
56
66
72
90
Two, M4
Four, 5.2 × 8
98
115
2-65
3G3AX-DL2022
Ground terminal (M5)
Six, M4
terminal screws
Terminal
block
150
94
C
4060
A
Ro R So S To T
Connection Diagram
Y±1
50±1
Ro R So S To
T
9.5
Four, 6 dia.
(Notch)
2-2 External and Mounting Hole Dimensions
Ground terminal
(M4)
3G3AX-AL2025/-AL2055
71
86
80
100
Two, M4
Four, 6 × 9
116
2
105
Standard Models and Dimensions
Model
3G3AX-AL2025 120 82 67
3G3AX-AL2055 120 98 75
Dimensions (mm)
A C Y
2-66
2-2 External and Mounting Hole Dimensions
3G3AX-AL2110/-AL2220
Terminal holes:
Six, K dia.
2
Ro R So S To T
A
H
55D
Four, 6 dia.
(Notch)
Model
3G3AX-AL2110 150 103 70 170 108 60 80 5.3 12
Standard Models and Dimensions
3G3AX-AL2220 180 113 75 190 140 90 90 8.4 16.5
A C D H H1 X Y K W
Y±1X±1
C
Ground terminal (M6)
Dimensions (mm)
H1
Ro R So S To T
Connection Diagram
W
W=Terminal width
2-67
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