Omron R88D-KN04L-ECT-R, R88D-KN01L-ECT-R, R88D-KN02L-ECT-R, R88D-KN02H-ECT-R, R88D-KN01H-ECT-R User Manual

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Cat. No. I573-E1-03

USER’S MANUAL

OMNUC G5 SERIES

R88M-K@

(AC Servomotors)

R88D-KN@-ECT-R

(AC Servo Drives)

AC SERVOMOTORS/SERVO DRIVES

WITH BUILT-IN EtherCAT COMMUNICATIONS



Trademarks and Copyrights

•

EtherCAT is registered trademark and patented technology, licensed by Bechhoff Automation



GmbH, Germany.

•

Other system names and product names that appear in this manual are the trademarks or registered trademarks of the relevant companies.

 OMRON, 2010

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

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

Introduction

Thank you for purchasing an OMNUC G5-series Servo Drive. This manual explains how to install and wire the Servo Drive, set parameters needed to operate the Servo Drive, and remedies to be taken and inspection methods to be used should problems occur.

Intended Readers

This manual is intended for the following individuals.

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

• Introducing FA equipment

• Designing FA systems

• Managing FA sites

Notice

This manual contains information you need to know to correctly use the Servo Drive and peripheral equipment. Before using the Servo Drive, read this manual and gain a full understanding of the information provided herein. After you finished reading this manual, keep it in a convenient place so that it can be referenced at any time. Make sure this manual is delivered to the end user.

Introduction

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties

z 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.

z 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.

z 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.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

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.

Terms and Conditions Agreement

Programmable Products

Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof.

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.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Safety Precautions

 To ensure that the OMNUC G5-series Servomotor and Servo Drive as well as peripheral equipment are used

safely and correctly, be sure to read this Safety Precautions section and the main text before using the product in order to learn items you should know regarding the equipment as well as required safety information and precautions.

 Make an arrangement so that this manual also gets to the end user of this product.  After reading this manual, keep it in a convenient place so that it can be referenced at any time.

Definition of Precautionary Information

 The precautions explained in this section describe important information regarding safety and must be followed

without fail.

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

Indicates an imminently hazardous situation which,

DANGER

if not avoided, will result in death or serious injury. Additionally, there may be severe property damage.

Caution

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

Precautions for Safe Use

Indicates precautions on what to do and what not to do to ensure using the product safely.

Precautions for Correct Use

Indicates precautions on what to do and what not to do to ensure proper operation and performance.

Reference

Indicates an item that helps deepen your understanding of the product or other useful tip.

Explanation of Symbols

This symbol indicates danger and caution.

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

Example of symbols

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

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

The specific instruction is indicated using an illustration or text inside or near . The symbol shown to the left indicates “disassembly prohibited,”

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

The specific instruction is indicated using an illustration or text inside or near . The symbol shown to the left indicates “grounding required,”

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Safety Precautions

Precautions for Safe Use of This Product

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

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

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

DANGER

Be sure to ground the frame ground terminals of the Servo Drive and Servomotor to 100 Ω or less. Electric shock may result.

Never touch the parts inside the Servo Drive. Electric shock may result.

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

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

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

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

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

Never modify the Servo Drive. Injury or equipment damage may result.

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

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

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

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

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

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Safety Precautions

Do not place flammable materials near the Servomotor, Servo Drive, or Regeneration Resistor. Fire may result.

Install the Servomotor, Servo Drive, and Regeneration Resistor on non-flammable materials such as metals. Fire may result.

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

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

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

DANGER

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

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

Caution

Use the Servomotor and Servo Drive in a specified combination. Fire or equipment damage may result.

Do not store or install the Servo Drive in the following locations:

• Location subject to direct sunlight

• Location where the ambient temperature exceeds the specified level

• Location where the relative humidity exceeds the specified level

• Location subject to condensation due to rapid temperature changes

• Location subject to corrosive or flammable gases

• Location subject to high levels of dust, salt content, or iron dust

• Location subject to splashes of water, oil, chemicals, etc.

• Location where the Servo Drive may receive vibration or impact directly

Installing or storing the Servo Drive in any of these locations may result in fire, electric shock, or equipment damage.

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

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Storage and Transportation

When transporting the Servo Drive, do not hold it by the cables or Servomotor shaft. Injury or failure may result.

Do not overload the Servo Drive or Servomotor. (Follow the instructions on the product label.) Injury or failure may result.

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

Safety Precautions

Caution

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Safety Precautions

Installation and Wiring

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

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

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

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

Do not apply strong impact on the Servomotor shaft or Servo Drive. Failure may result.

Caution

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

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

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

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

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

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

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

• Location subject to noise e.g., due to static electricity

• Location subject to a strong electric or magnetic field

• Location where exposure to radioactivity may occur

• Location near power supply lines

Using the Servo Drive in any of these locations may result in equipment damage.

Connect an immediate stop relay in series with the brake control relay. Injury or failure may result.

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

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Operation and Adjustment

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

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

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

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

Safety Precautions

Caution

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

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

Do not operate the Servomotor connected to an excessive load inertia. Failure may result.

Install safety devices to prevent idling or locking of the electromagnetic brake or the gear head, or leakage of grease from the gear head. Injury, damage, or taint damage result.

If the Servo Drive fails, cut off the power supply to the Servo Drive at the power supply. Fire may result.

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

Maintenance and Inspection

Caution

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

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

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

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Safety Precautions

Location of Warning Label

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

Warning label display location

VOLTAGE PHASE F L C FREQ POWER

SERIAL No.

OMRON Corporation

INPUT OUTPUT 100~120V 1Ø 3Ø

2.6A

50/60H

A09080004

0-120V

1.7A

0~500.0Hz

100W

MADE IN JAPAN

(R88D-KN02H-ECT-R)

Instructions on Warning Label

Disposal

• When disposing of the battery, insulate it using tape, and dispose of it by following the applicable ordinances of your local government.

• Dispose of the Servo Drive as industrial waste.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Items to Check after Unpacking

After unpacking, check the following items.

• Is this the model you ordered?

• Was there any damage sustained during shipment?

Accessories

Safety Precautions document x 1 copy

• Connectors, mounting screws, mounting brackets, and other accessories other than those in the table below are not supplied. They must be prepared by the customer.

• If any item is missing or a problem is found such as Servo Drive damage, contact the OMRON dealer or sales office where you purchased your product.

Specifications

Singlephase 100 VAC

Singlephase/3phase 200 VAC

3-phase 200 VAC

3-phase 400 VAC

50 W

100 W

200 W

400 W

100 W

200 W

400 W

750 W

1 kW

1.5 kW

2 kW

3 kW

5 kW

600 W

1 kW

1.5 kW

2 kW

3 kW

5 kW

Connector for main circuit

power supply terminals and

control circuit power supply

terminals

Connector for External

Regeneration Resistor

connection terminals and

Motor connection terminals

Included

− Included

Included

− Included

Safety bypass

connector

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Revision History

The manual revision code is a number appended to the end of the catalog number found in the bottom left-hand corner of the front or back cover.

Example

Cat. No.

Revision

code

01 March 2010 Original production

02 October 2010 Added models and made corrections.

03 July 2014 Added information and made corrections.

Revision Date Revised content

I573-E1-03

Revision code

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Structure of This Document

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

Structure of This Document

Outline

Chapter 1 Features and

System Configuration

Chapter 2 Standard Models

and External Dimensions

Chapter 3 Specifications This chapter provides the general specifications, characteristics,

Chapter 4 System Design This chapter explains the installation conditions for the Servo Drive,

Chapter 5 EtherCAT

Communications

Chapter 6 CiA 402 Drive

Profile

Chapter 7 Applied

Functions

Chapter 8 Safety Function This chapter gives an outline of application functions, such as

Chapter 9 Details on Servo

Parameters and Objects

Chapter 10 Operation This chapter gives the operating procedures and explains how to

Chapter 11 Adjustment

Functions

This chapter explains the features of the Servo Drive, name of each part, and applicable EC Directives and UL standards.

This chapter explains the models of Servo Drives, Servomotors, and peripheral equipment, and provides the external dimensions and mounting dimensions.

connector specifications, and I/O circuits of the Servo Drives as well as the general specifications, characteristics, encoder specifications of the Servomotors and other peripheral devices.

Servomotor, and Decelerator, wiring methods including wiring conforming to EMC Directives and regenerative energy calculation methods as well as the performance of External Regeneration Resistors.

This chapter describes EtherCAT communications under the assumption that the Servo Drive is connected to a CJ1W-NC281/ NC481/NC881/NCF81/NC482/NC882 Position Control Unit.

This chapter describes the profile that is used to control the Servo Drive.

This chapter outlines the applied functions such as the electronic gear, gain switching and soft start, and explains the settings.

electronic gears, gain switching, and soft start, and explains the settings.

This chapter explains the set values and contents of each object.

operate in each mode.

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

Chapter 12 Troubleshooting

and Maintenance

Appendix The appendix provides a list of objects and EtherCAT terminology.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

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

Table Of Contents

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

Terms and Conditions Agreement .........................................................2

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

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

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

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

Chapter 1 Features and System Configuration

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

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

Features of OMNUC G5-series Servo Drives.............................................................. 1-1

What Is EtherCAT?...................................................................................................... 1-2

Object Dictionary ......................................................................................................... 1-2

1-2 System Configuration ............................................................................ 1-3

1-3 Names and Functions............................................................................ 1-4

Servo Drive Part Names.............................................................................................. 1-4

Servo Drive Functions ................................................................................................. 1-5

1-4 System Block Diagram .......................................................................... 1-6

1-5 Applicable Standards........................................................................... 1-11

EC Directives............................................................................................................. 1-11

UL and cUL Standards .............................................................................................. 1-12

Chapter 2 Models and External Dimensions

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

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

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

Servomotors ................................................................................................................ 2-4

2-3 Model Tables ......................................................................................... 2-5

Servo Drive Model Table ............................................................................................. 2-5

Servomotor Model Tables ........................................................................................... 2-6

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

Cable and Peripheral Device Model Tables .............................................................. 2-12

2-4 External and Mounting Dimensions ..................................................... 2-21

Servo Drive Dimensions ............................................................................................ 2-21

Servomotor Dimensions ............................................................................................ 2-31

External Regeneration Resistor Dimensions ............................................................. 2-50

2-5 EMC Filter Dimensions ........................................................................ 2-51

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Table Of Contents

Chapter 3 Specifications

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

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

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

EtherCAT Communications Specifications.................................................................. 3-6

Main Circuit and Motor Connections ........................................................................... 3-7

EtherCAT Communications Connector Specifications (RJ45) .................................. 3-12

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

Control Input Circuits ................................................................................................. 3-16

Control Input Details .................................................................................................. 3-17

Control Output Circuits .............................................................................................. 3-19

Control Output Details ............................................................................................... 3-20

Encoder Connector Specifications (CN2).................................................................. 3-23

External Encoder Connector Specifications (CN4).................................................... 3-23

Analog Monitor Connector Specifications (CN5) ....................................................... 3-27

USB Connector Specifications (CN7)........................................................................ 3-28

Safety Connector Specifications (CN8) ..................................................................... 3-29

3-2 Overload Characteristics (Electronic Thermal Function) ......................3-31

Overload Characteristics Graphs .............................................................................. 3-31

3-3 Servomotor Specifications....................................................................3-32

General Specifications............................................................................................... 3-32

Characteristics........................................................................................................... 3-33

Encoder Specifications .............................................................................................. 3-56

3-4 Cable and Connector Specifications ....................................................3-57

Encoder Cable Specifications.................................................................................... 3-57

Absolute Encoder Battery Cable Specifications ........................................................ 3-59

Motor Power Cable Specifications............................................................................. 3-60

Connector Specifications........................................................................................... 3-67

EtherCAT Communications Cable Specifications ..................................................... 3-70

Analog Monitor Cable Specifications......................................................................... 3-73

Control Cable Specifications ..................................................................................... 3-75

3-5 External Regeneration Resistor Specifications ....................................3-80

External Regeneration Resistor Specifications ......................................................... 3-80

3-6 EMC Filter Specifications .....................................................................3-82

Chapter 4 System Design

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

Servo Drive Installation Conditions.............................................................................. 4-1

Servomotor Installation Conditions.............................................................................. 4-2

Decelerator Installation Conditions.............................................................................. 4-5

4-2 Wiring .....................................................................................................4-6

Peripheral Equipment Connection Examples.............................................................. 4-6

Main Circuit and Motor Connections ......................................................................... 4-12

4-3 Wiring Conforming to EMC Directives ..................................................4-20

Wiring Method ........................................................................................................... 4-20

Selecting Connection Component ............................................................................. 4-27

4-4 Regenerative Energy Absorption..........................................................4-41

Calculating the Regenerative Energy ........................................................................ 4-41

Servo Drive Regeneration Absorption Capacity ........................................................ 4-43

Regenerative Energy Absorption with an External Regeneration Resistor ............... 4-44

Connecting an External Regeneration Resistor ........................................................ 4-45

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Table Of Contents

Chapter 5 EtherCAT Communications

5-1 Display Area and Settings ..................................................................... 5-1

Node Address Setting.................................................................................................. 5-1

Status Indicators.......................................................................................................... 5-2

5-2 Structure of the CAN Application Protocol over EtherCAT .................... 5-3

5-3 EtherCAT State Machine ....................................................................... 5-4

5-4 Process Data Objects (PDOs) ............................................................... 5-5

PDO Mapping Settings ................................................................................................ 5-5

Sync Manager PDO Assignment Settings ................................................................... 5-6

Fixed PDO Mapping .................................................................................................... 5-6

5-5 Service Data Objects (SDOs) ................................................................ 5-7

Abort Codes................................................................................................................. 5-7

5-6 Synchronization with Distributed Clocks................................................ 5-8

Communications Cycle (DC Cycle) ............................................................................. 5-8

5-7 Emergency Messages ........................................................................... 5-9

Chapter 6 Drive Profile

6-1 Controlling the State Machine of the Servo Drive.................................. 6-1

State Machine.............................................................................................................. 6-1

6-2 Modes of Operation ............................................................................... 6-4

6-3 Cyclic Synchronous Position Mode ....................................................... 6-5

Related Objects ........................................................................................................... 6-6

Block Diagram for Position Control Mode.................................................................... 6-7

6-4 Torque Limit........................................................................................... 6-8

Related Objects ........................................................................................................... 6-8

6-5 Touch Probe Function (Latch Function) ................................................ 6-9

Related Objects ........................................................................................................... 6-9

Trigger Signal Settings ................................................................................................ 6-9

Operation Sequences................................................................................................ 6-10

6-6 Fully-closed Control ............................................................................. 6-12

Outline of Operation .................................................................................................. 6-12

Objects Requiring Settings ........................................................................................ 6-13

Parameter Block Diagram for Fully-closed Control Mode ......................................... 6-18

6-7 Object Dictionary ................................................................................. 6-19

Object Dictionary Area............................................................................................... 6-19

Data Types ................................................................................................................ 6-19

Object Description Format ......................................................................................... 6-20

Communication Objects ............................................................................................ 6-21

PDO Mapping Objects............................................................................................... 6-27

Sync Manager Communication Objects .................................................................... 6-29

Manufacturer Specific Objects................................................................................... 6-33

Servo Drive Profile Object ......................................................................................... 6-36

Reserved Objects ...................................................................................................... 6-52

6-8 Connecting with OMRON Controllers .................................................. 6-53

Related Objects ......................................................................................................... 6-53

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Table Of Contents

Chapter 7 Applied Functions

7-1 Sequence I/O Signals.............................................................................7-1

Input Signals................................................................................................................ 7-1

Output Signals ............................................................................................................. 7-4

7-2 Forward and Reverse Drive Prohibition Functions .................................7-6

Objects Requiring Settings .......................................................................................... 7-6

7-3 Overrun Protection .................................................................................7-9

Operating Conditions................................................................................................... 7-9

Objects Requiring Settings .......................................................................................... 7-9

Operation Example.................................................................................................... 7-10

7-4 Backlash Compensation.......................................................................7-11

Objects Requiring Settings ........................................................................................ 7-11

7-5 Brake Interlock......................................................................................7-13

Objects Requiring Settings ........................................................................................ 7-13

Operation Timing ....................................................................................................... 7-14

7-6 Electronic Gear Function ......................................................................7-18

Objects Requiring Settings ........................................................................................ 7-18

Operation Example.................................................................................................... 7-20

7-7 Torque Limit Switching .........................................................................7-21

Operating Conditions................................................................................................. 7-21

Objects Requiring Settings ........................................................................................ 7-21

7-8 Gain Switching Function.......................................................................7-23

Objects Requiring Settings ........................................................................................ 7-24

Gain Switching........................................................................................................... 7-25

Diagrams of Gain Switching Setting .......................................................................... 7-27

7-9 Gain Switching 3 Function....................................................................7-30

Operating Conditions................................................................................................. 7-30

Objects Requiring Settings ........................................................................................ 7-30

Operation Example.................................................................................................... 7-31

Chapter 8 Safety Function

8-1 Safe Torque OFF Function.....................................................................8-1

I/O Signal Specifications.............................................................................................. 8-2

8-2 Operation Example.................................................................................8-4

8-3 Connection Examples.............................................................................8-6

Chapter 9 Details on Servo Parameter Objects

9-1 Basic Settings.........................................................................................9-1

9-2 Gain Settings..........................................................................................9-6

9-3 Vibration Suppression Settings ............................................................9-15

9-4 Analog Control Objects.........................................................................9-21

9-5 Interface Monitor Settings.....................................................................9-24

9-6 Extended Objects .................................................................................9-32

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Table Of Contents

9-7 Special Objects.................................................................................... 9-38

9-8 Reserved Objects ................................................................................ 9-50

Chapter 10Operation

10-1 Operational Procedure......................................................................... 10-1

10-2 Preparing for Operation ....................................................................... 10-2

Items to Check Before Turning ON the Power Supply .............................................. 10-2

Turning ON the Power Supply................................................................................... 10-3

Checking the Displays ............................................................................................... 10-4

Absolute Encoder Setup............................................................................................ 10-6

Setting Up an Absolute Encoder from the CX-Drive.................................................. 10-6

10-3 Trial Operation ..................................................................................... 10-7

Preparations for Trial Operation ................................................................................ 10-7

Test Operation via USB Communications from the CX-Drive ................................... 10-8

Chapter 11Adjustment Functions

11-1 Analog Monitor..................................................................................... 11-1

Objects Requiring Settings ........................................................................................ 11-1

11-2 Gain Adjustment .................................................................................. 11-4

Purpose of the Gain Adjustment................................................................................ 11-4

Gain Adjustment Methods ......................................................................................... 11-4

Gain Adjustment Procedure ...................................................................................... 11-5

11-3 Realtime Autotuning ............................................................................ 11-6

Objects Requiring Settings ........................................................................................ 11-7

Setting Realtime Autotuning ...................................................................................... 11-7

Setting Machine Rigidity ............................................................................................ 11-8

11-4 Manual Tuning ................................................................................... 11-13

Basic Settings.......................................................................................................... 11-13

11-5 Damping Control................................................................................ 11-15

Outline of Operation ................................................................................................ 11-15

Objects Requiring Settings ...................................................................................... 11-15

11-6 Adaptive Filter.................................................................................... 11-18

Objects Requiring Settings ...................................................................................... 11-19

Operating Procedure ............................................................................................... 11-20

11-7 Notch Filters....................................................................................... 11-21

Objects Requiring Settings ...................................................................................... 11-22

11-8 Disturbance Observer Function ......................................................... 11-24

Operating Conditions............................................................................................... 11-24

Objects Requiring Settings ...................................................................................... 11-25

Operating Procedure ............................................................................................... 11-25

11-9 Friction Torque Compensation Function............................................ 11-26

Operating Conditions............................................................................................... 11-26

Objects Requiring Settings ...................................................................................... 11-26

Operation Example.................................................................................................. 11-27

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Table Of Contents

11-10 Hybrid Vibration Suppression Function .............................................11-28

Operating Conditions............................................................................................... 11-28

Objects Requiring Settings ...................................................................................... 11-28

Operating Procedure ............................................................................................... 11-28

11-11 Feed-forward Function ......................................................................11-29

Objects Requiring Settings ...................................................................................... 11-29

Operating Procedure ............................................................................................... 11-30

11-12 Instantaneous Speed Observer Function ..........................................11-32

Operating Conditions............................................................................................... 11-32

Objects Requiring Settings ...................................................................................... 11-32

Operating Procedure ............................................................................................... 11-33

Chapter 12Troubleshooting and Maintenance

12-1 Troubleshooting....................................................................................12-1

Preliminary Checks When a Problem Occurs ........................................................... 12-1

Precautions When a Problem Occurs ....................................................................... 12-2

Replacing the Servomotor or Servo Drive ................................................................. 12-2

12-2 Warnings ..............................................................................................12-4

Related Objects ......................................................................................................... 12-4

Warning List............................................................................................................... 12-5

12-3 Errors....................................................................................................12-7

Immediate Stop Operation at Errors........................................................................ 12-11

12-4 Troubleshooting..................................................................................12-13

Troubleshooting with Error Displays........................................................................ 12-13

Troubleshooting Using the Operation State ............................................................ 12-25

12-5 Periodic Maintenance .........................................................................12-31

Servomotor Life Expectancy.................................................................................... 12-31

Servo Drive Life Expectancy ................................................................................... 12-32

Replacing the Absolute Encoder Battery ................................................................ 12-33

Appendices

A-1 Object List.............................................................................................. A-1

A-2 EtherCAT Terminology ........................................................................ A-19

Index

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Features and System Configuration

This chapter explains the features of the Servo Drive, name of each part, and applicable EC Directives and UL standards.

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

1-2 System Configuration ..................................................1-3

1-3 Names and Functions ..................................................1-4

1-4 System Block Diagram.................................................1-6

1-5 Applicable Standards .................................................1-11

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

1-1 Outline

Outline of the OMNUC G5 Series

The OMNUC G5-series Servo Drives with Built-in EtherCAT Communications support 100Mbps EtherCAT. When you use the Servo Drive with a Position Control Unit with EtherCAT interface (CJ1WNC@8@), you can create a sophisticated positioning control system. Also, you need only one communications cable to connect the Servo Drive and the Controller. Therefore, you can realize a position control system easily with reduced wiring effort. With real time autotuning, adaptive filter, notch filter, and damping control, you can set up a system that provides stable operation by suppressing vibration in low-rigidity machines.

Features of OMNUC G5-series Servo Drives

OMNUC G5-series Servo Drives have the following features.

Data Transmission Using EtherCAT Communications

When you use it with a Position Control Unit with EtherCAT interface (CJ1W-NC@8@), you can exchange all control data between the Servo Drive and the Controller through high-speed data communications. Since the various control commands are transmitted via data communications, Servomotor's operational performance is maximized without being limited by interface specifications such as the response frequency of the encoder feedback pulses. You can use the Servo Drive's various control parameters and monitor data on a host controller, and unify the system data for management.

Features and System Configuration

Achievement of Accurate Positioning by Fully-closed Control

Feedback from the external encoder connected to the motor is used to accurately control positioning. Position control is not affected by deviations caused by ball screws or temperature changes.

Wide Range of Power Supplies to Meet Any Need

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

1-1

Safe Torque OFF (STO) Function to Ensure Safety

You can cut off the motor current to stop the motor based on a signal from an emergency stop button or other safety equipment. This can be used for an emergency stop circuit that is compliant with safety standards without using an external contactor. Even during the torque OFF status, the present position of the motor is monitored by the control circuits to eliminate the need to perform an origin search when restarting.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

1-1 Outline

Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/ Deceleration

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

What Is EtherCAT?

EtherCAT is an open high-speed industrial network system that conforms to Ethernet (IEEE

802.3). Each node achieves a short cycle time by transmitting Ethernet frames at high speed.

A mechanism that allows sharing clock information enables high-precision synchronization control with low communications jitter. EtherCAT is a registered trademark of Beckhoff Automation Gmbh (Germany). EtherCAT technology is protected by patents.

Object Dictionary

OMNUC G5-series Servo Drives with Built-in EtherCAT Communications use the object dictionary for CAN application protocol over EtherCAT (CoE) as a base for communications. An object is a special data structure inside a device that consists of data, parameters, and methods. An object dictionary is a data structure that describes the data type objects, communications objects, and application objects. All objects are assigned four-digit hexadecimal numbers in the areas shown in the following table.

Indexes Area Contents

0000 to 0FFF hex Data Type Area Definitions of data types.

1000 to 1FFF hex CoE Communications Area Definitions of variables that can be used by all

2000 to 2FFF hex Manufacturer Specific Area 1 Variables with common definitions for all

Features and System Configuration

servers for designated communications.

OMRON products.

3000 to 5FFF hex Manufacturer Specific Area 2 Variables with common definitions for all

OMNUC G5-series Servo Drives (servo parameters).

6000 to 9FFF hex Device Profile Area Variables defined in the Servo Drive's CiA402

drive profile.

A000 to FFFF hex Reserved Area Area reserved for future use.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

1-2

1-2 System Configuration

(EtherCAT

1-2 System Configuration

The system configuration for a OMNUC G5-Series AC Servo Drive with Built-in EtherCAT Communications is shown below.

Controller (EtherCAT

Programmable Controller SYSMAC CJ2

)

Position Control Unit CJ1W-NC@8@

EtherCAT

OMNUC G5 Series

AC Servo Drive

R88D-KN@-ECT-R

Features and System Configuration

INCNCABS

OMNUC G5 Series

AC Servomotor

R88M-K@

1-3

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

1-3 Names and Functions

This section describes the names and functions of Servo Drive parts.

Servo Drive Part Names

The Servo Drive part names are given below.

1-3 Names and Functions

EtherCAT status indicators

Seven-segment display

nalog monitor connector (CN5)

power supply terminals

External Regeneration

Resistor connection

terminals (B1, B2, and B3)

Main circuit

(L1, L2, and L3)

Control circuit

(L1C and L2C)

Charge lamp

ADR

Rotary switches for node address setting

USB connector (CN7)

EtherCAT communications connector: ECAT IN

EtherCAT communications connector: ECAT OUT

Safety connector (CN8)

Control I/O connector (CN1)

Features and System Configuration

Motor connection

terminals (U, V, and W)

External encoder connector (CN4)

Protective ground terminals

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Encoder connector (CN2)

1-4

1-3 Names and Functions

Servo Drive Functions

The functions of each part are described below.

Display

A 2-digit 7-segment display shows the node address, error codes, and other Servo Drive status.

Charge Lamp

Lights when the main circuit power supply is turned ON.

EtherCAT Status Indicators

These indicators show the status of EtherCAT communications. For details, refer to Status Indicators on page 5-2.

Control I/O Connector (CN1)

Used for command input signals and I/O signals.

Encoder Connector (CN2)

Connector for the encoder installed in the Servomotor.

External Encoder Connector (CN4)

Features and System Configuration

Connector for an encoder signal used during fully-closed control.

EtherCAT Communications Connectors (ECAT IN and ECAT OUT)

These connectors are for EtherCAT communications.

Analog Monitor Connector (CN5)

You can use a special cable to monitor values, such as the motor rotation speed, torque command value, etc.

1-5

USB Connector (CN7)

Communications connector for the computer.

Safety Connector (CN8)

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

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

1-4 System Block Diagram

This is the block diagram of the OMNUC G5-series AC Servo Drive with Built-in EtherCAT Communications. R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN02L-ECT-R R88D-KN01H-ECT-R/-KN02H-ECT-R/-KN04H-ECT-R

1-4 System Block Diagram

L1C

L2C

CN A

FUSE

15 V G1

5 V

3.3 V

2.5 V

1.5 V E5V ±12 V

−

SW power supply main circuit control

Internal control power supply

Volta ge detection

Relay drive

Regeneration control

MPU & ASIC

Position, speed, and torque calculation control area

• PWM control

Overcurrent detection

Gate drive

Current detection

Display and setting circuit area

CN B

U V

Features and System Configuration

ECAT

EtherCAT

communications

connector

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

ECAT

OUT

EtherCAT

communications

connector

Control

interface

CN2 CN4 CN5 CN7

Encoder

External encoder

Analog

monitor

CN8CN1

USB Safety

1-6

1-4 System Block Diagram

R88D-KN04L-ECT-R R88D-KN08H-ECT-R/-KN10H-ECT-R/-KN15H-ECT-R

L1C

L2C

CN A

FUSE

15 V G1

5 V

3.3 V

2.5 V

1.5 V E5V ±12 V

−

SW power supply main circuit control

Internal control power supply

Volta ge detection

Relay drive

MPU & ASIC

Position, speed, and torque calculation control area

• PWM control

Regeneration control

Overcurrent detection

Gate drive

Internal regeneration

resistor

Current detection

Display and setting circuit area

CN B

U V

Axial fan

ECAT

Features and System Configuration

EtherCAT

communications

connector

ECAT

OUT

EtherCAT

communications

connector

Control

interface

Encoder

CN4 CN5 CN7

External encoder

Analog

monitor

CN8CN2CN1

USB Safety

1-7

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

R88D-KN20H-ECT-R/-KN30H-ECT-R/-KN50H-ECT-R

1-4 System Block Diagram

L1C

L2C

CN A

FUSE

15 V G1

5 V

3.3 V

2.5 V

1.5 V E5V ±12 V

−

SW power supply main circuit control

Internal control power supply

Voltage detection

Relay drive

MPU & ASIC

Position, speed, and torque calculation control area

• PWM control

Regeneration control

Overcurrent detection

Gate drive

Internal regeneration

resistor

Current detection

Display and setting circuit area

CN C

CN B

U V

Features and System Configuration

Axial fan

communications

ECAT

EtherCAT

connector

ECAT

OUT

EtherCAT

communications

connector

Control

interface

Encoder

CN4 CN5 CN7

External encoder

Analog

monitor

CN8CN2CN1

USB Safety

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

1-8

1-4 System Block Diagram

R88D-KN06F-ECT-R/-KN10F-ECT-R/-KN15F-ECT-R/-KN20F-ECT-R

24 V

0 V

CN A

FUSE

CN C

FUSE

15 V G1

5 V

3.3 V

2.5 V

1.5 V E5V ±12 V

DC-DC

−

SW power supply main circuit control

Internal control power supply

CN D

CN B

U V

−

Volta ge detection

Relay drive

MPU & ASIC

Position, speed, and torque calculation control area

• PWM control

Regeneration control

Overcurrent detection

Gate drive

Internal regeneration

resistor

Current detection

Display and setting circuit area

Axial fan

ECAT

EtherCAT

communications

Features and System Configuration

connector

ECAT

OUT

EtherCAT

communications

connector

Control

interface

CN2CN1

Encoder

CN4 CN5 CN7

External encoder

Analog

monitor

CN8

USB Safety

1-9

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

R88D-KN30F-ECT-R/-KN50F-ECT-R

1-4 System Block Diagram

24 V

0 V

CN A

FUSE

CN C

FUSE

15 V G1

5 V

3.3 V

2.5 V

1.5 V E5V ±12 V

DC-DC

−

SW power supply main circuit control

Internal control power supply

CN D

CN B

U V

Features and System Configuration

−

Volta ge detection

Relay drive

MPU & ASIC

Position, speed, and torque calculation control area

• PWM control

Regeneration control

Overcurrent detection

Gate drive

Internal regeneration

resistor

Current detection

Display and setting circuit area

Axial fan

EtherCAT

communications

connector

ECAT

OUT

EtherCAT

communications

connector

Control

interface

CN2CN1

Encoder

CN4 CN5 CN7

External encoder

Analog

monitor

CN8

USB Safety

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

1-10

1-5 Applicable Standards

This section describes applicable EMC Directives.

EC Directives

Directive

Low Voltage Directive

EMC Directive

Machinery Directive

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

in 4-3 Wiring Conforming to EMC Directives on page 4-20.

Product Applicable standards

AC Servo Drives EN 61800-5-1

AC Servomotors EN 60034-1/-5

AC Servo Drives EN 55011 class A group 1

AC Servo Drives EN 954-1 (Category 3)

Features and System Configuration

IEC 61800-3

EN 61000-6-2

EN ISO 13849-1: 2008 (PLc, d) ISO 13849-1: 2006 (PLc, d) EN 61508 (SIL 2) EN 62061 (SIL 2) EN 61800-5-2 (STO) IEC 61326-3-1 (SIL 2)

1-11

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

UL and cUL Standards

Standard Product Applicable standards File number

UL standards

CSA standards

AC Servo Drives UL 508C E179149

AC Servomotors UL 1004-1 E331224

AC Servo Drives CSA 22.2 No. 14 E179149

AC Servomotors CSA 22.2 No. 100 E331224

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) 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 75°C or higher.

Servo Drive model number Rated current of circuit breaker (A)

R88D-KNA5L-ECT-R 10

R88D-KN01L-ECT-R 10

R88D-KN02L-ECT-R 10

R88D-KN04L-ECT-R 10

R88D-KN01H-ECT-R 10

R88D-KN02H-ECT-R 10

R88D-KN04H-ECT-R 10

R88D-KN08H-ECT-R 15

R88D-KN10H-ECT-R 15

R88D-KN15H-ECT-R 20

R88D-KN20H-ECT-R 30

Features and System Configuration

R88D-KN30H-ECT-R 50

R88D-KN50H-ECT-R 50

R88D-KN06F-ECT-R 15

R88D-KN10F-ECT-R 15

R88D-KN15F-ECT-R 15

R88D-KN20F-ECT-R 20

R88D-KN30F-ECT-R 30

R88D-KN50F-ECT-R 30

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

1-12

Models and External Dimensions

This chapter explains the models of Servo Drive, Servomotor, and peripheral devices, and provides the external dimensions and mounting dimensions.

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

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

2-3 Model Tables .................................................................2-5

2-4 External and Mounting Dimensions..........................2-21

2-5 EMC Filter Dimensions...............................................2-51

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-1 Servo System Configuration

Controller

SYSMAC PLC Position Control Unit with EtherCAT Interface

Programmable Controller SYSMAC CJ2

Position Control Unit (NC) CJ1W-NC@8@

Support Software

●

CX-One FA Integrated

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

Support Software

●

CX-One FA Integrated

Tool Package (Including CX-Drive)

●

CX-Drive

WS02-DRVC1

Models and External Dimensions

2-1

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-1 Servo System Configuration

communications

USB

EtherCAT

communications

AC Servo Drive

●

OMNUC G5-series Servo Drive R88D-KN@-ECT-R

100 VAC 200 VAC 400 VAC

Motor power signals

Power Cables

●

Flexible Cables

•

Without Brake

R88A-CA@@@@@SR-E

•

With Brake

R88A-CA@@@@@BR-E

Brake Cables (50 to 750 W max.)

●

Flexible Cable

R88A-CAKA@@@BR-E

Feedback Signals

Encoder Cables

●

Flexible Cables

750 W or less:

•

R88A-CRKA@@@CR-E

•

1 kW or more:

R88A-CRKC@@@NR-E

AC Servomotors

●

OMNUC G5-series Servomotor

R88M-K 3000 r/min 2000 r/min 1000 r/min

Models and External Dimensions

External

encoder

Peripheral Devices

● External

Regeneration Resistors

R88A-RR

Absolute Encoder Battery Cable

R88A-CRGD0R3C (-BS)

(A battery is included with model numbers ending in “BS.”)

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

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-2

2-2 How to Read Model Numbers

This section describes how to read and understand the model numbers of Servo Drives and Servomotors.

Servo Drive

The Servo Drive model number tells the Servo Drive type, applicable Servomotor capacity, power supply voltage, etc.

OMNUC G5-series Servo Drive

Drive Type

N: Network

Maximum Applicable Servomotor Capacity

: 50 W 01: 100 W 02: 200 W 04: 400 W 06: 600 W 08: 750 W 10: 1 kW 15: 1.5 kW 20: 2 kW 30: 3 kW 50: 5 kW

Models and External Dimensions

Power Supply Voltage

L: 100 VAC H: 200 VAC F: 400 VAC

R88D-KN01H-ECT-R

2-3

Communications Type

ECT: EtherCAT

Model

R: Model limited to connection to CJ1W-NC@8@

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Servomotors

The model number provides information such as the Servomotor type, motor capacity, rated rotation speed, and power supply voltage.

OMNUC G5-series Servomotor

2-2 How to Read Model Numbers

R88M-KP10030H-BOS2

Motor Type

Blank: Cylinder type

Servomotor Capacity

050: 50 W 100: 100 W 200: 200 W 400: 400 W 600: 600 W 750: 750 W 900: 900 W 1K0: 1 kW 1K5: 1.5 kW 2K0: 2 kW 3K0: 3 kW 4K0: 4 kW 5K0: 5 kW

Rated Rotation Speed

10: 1,000 r/min 20: 2,000 r/min 30: 3,000 r/min

pplied Voltage

F: 400 VAC (incremental encoder) H: 200 VAC (incremental encoder) L: 100 VAC (incremental encoder) C: 400 VAC (absolute encoder) T: 200 VAC (absolute encoder) S: 100 VAC (absolute encoder)

Models and External Dimensions

Options

No: Straight shaft B: With brake O: With oil seal S2: With key and tap

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-4

2-3 Model Tables

This section lists the standard models of Servo Drives, Servomotors, Cables, Connectors, and peripheral equipment.

Servo Drive Model Table

The table below lists the Servo Drive models.

Specifications Model

Single-phase 100 VAC 50 W R88D-KNA5L-ECT-R

100 W R88D-KN01L-ECT-R

200 W R88D-KN02L-ECT-R

400 W R88D-KN04L-ECT-R

Single-phase/3-phase 200 VAC 100 W R88D-KN01H-ECT-R

200 W R88D-KN02H-ECT-R

400 W R88D-KN04H-ECT-R

3-phase 200 VAC 2 kW R88D-KN20H-ECT-R

3-phase 400 VAC 600 W R88D-KN06F-ECT-R

Models and External Dimensions

750 W R88D-KN08H-ECT-R

1 kW R88D-KN10H-ECT-R

1.5 kW R88D-KN15H-ECT-R

3 kW R88D-KN30H-ECT-R

5 kW R88D-KN50H-ECT-R

1 kW R88D-KN10F-ECT-R

1.5 kW R88D-KN15F-ECT-R

2 kW R88D-KN20F-ECT-R

3 kW R88D-KN30F-ECT-R

5 kW R88D-KN50F-ECT-R

2-5

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Servomotor Model Tables

The following tables list the Servomotor models by the rated motor speed.

3,000-r/min Servomotors

2-3 Model Tables

Model

Specifications

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

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

100 V

200 W R88M-K20030L R88M-K20030L-S2 R88M-K20030S R88M-K20030S-S2

400 W R88M-K40030L R88M-K40030L-S2 R88M-K40030S R88M-K40030S-S2

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

100 W R88M-K10030H R88M-K10030H-S2 R88M-K10030T R88M-K10030T-S2

200 W R88M-K20030H R88M-K20030H-S2 R88M-K20030T R88M-K20030T-S2

400 W R88M-K40030H R88M-K40030H-S2 R88M-K40030T R88M-K40030T-S2

750 W R88M-K75030H R88M-K75030H-S2 R88M-K75030T R88M-K75030T-S2

200 V

Without brakes

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

1.5 kW R88M-K1K530H R88M-K1K530H-S2 R88M-K1K530T R88M-K1K530T-S2

2 kW R88M-K2K030H R88M-K2K030H-S2 R88M-K2K030T R88M-K2K030T-S2

3 kW R88M-K3K030H R88M-K3K030H-S2 R88M-K3K030T R88M-K3K030T-S2

4 kW R88M-K4K030H R88M-K4K030H-S2 R88M-K4K030T R88M-K4K030T-S2

5 kW R88M-K5K030H R88M-K5K030H-S2 R88M-K5K030T R88M-K5K030T-S2

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

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

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

Models and External Dimensions

1.5 kW R88M-K1K530F R88M-K1K530F-S2 R88M-K1K530C R88M-K1K530C-S2

400 V

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2 kW R88M-K2K030F R88M-K2K030F-S2 R88M-K2K030C R88M-K2K030C-S2

3 kW R88M-K3K030F R88M-K3K030F-S2 R88M-K3K030C R88M-K3K030C-S2

4 kW R88M-K4K030F R88M-K4K030F-S2 R88M-K4K030C R88M-K4K030C-S2

5 kW R88M-K5K030F R88M-K5K030F-S2 R88M-K5K030C R88M-K5K030C-S2

2-6

2-3 Model Tables

Model

Specifications

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

100 V

200 V

With brakes

100 W R88M-K10030L-B R88M-K10030L-BS2 R88M-K10030S-B R88M-K10030S-BS2

200 W R88M-K20030L-B R88M-K20030L-BS2 R88M-K20030S-B R88M-K20030S-BS2

400 W R88M-K40030L-B R88M-K40030L-BS2 R88M-K40030S-B R88M-K40030S-BS2

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

100 W R88M-K10030H-B R88M-K10030H-BS2 R88M-K10030T-B R88M-K10030T-BS2

200 W R88M-K20030H-B R88M-K20030H-BS2 R88M-K20030T-B R88M-K20030T-BS2

400 W R88M-K40030H-B R88M-K40030H-BS2 R88M-K40030T-B R88M-K40030T-BS2

750 W R88M-K75030H-B R88M-K75030H-BS2 R88M-K75030T-B R88M-K75030T-BS2

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

1.5 kW R88M-K1K530H-B R88M-K1K530H-BS2 R88M-K1K530T-B R88M-K1K530T-BS2

2 kW R88M-K2K030H-B R88M-K2K030H-BS2 R88M-K2K030T-B R88M-K2K030T-BS2

3 kW R88M-K3K030H-B R88M-K3K030H-BS2 R88M-K3K030T-B R88M-K3K030T-BS2

4 kW R88M-K4K030H-B R88M-K4K030H-BS2 R88M-K4K030T-B R88M-K4K030T-BS2

5 kW R88M-K5K030H-B R88M-K5K030H-BS2 R88M-K5K030T-B R88M-K5K030T-BS2

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

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

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

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

400 V

Models and External Dimensions

Note: Models with oil seals are also available.

2 kW R88M-K2K030F-B R88M-K2K030F-BS2 R88M-K2K030C-B R88M-K2K030C-BS2

3 kW R88M-K3K030F-B R88M-K3K030F-BS2 R88M-K3K030C-B R88M-K3K030C-BS2

4 kW R88M-K4K030F-B R88M-K4K030F-BS2 R88M-K4K030C-B R88M-K4K030C-BS2

5 kW R88M-K5K030F-B R88M-K5K030F-BS2 R88M-K5K030C-B R88M-K5K030C-BS2

2-7

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2,000-r/min Servomotors

Specifications

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

1.5 kW R88M-K1K520H R88M-K1K520H-S2 R88M-K1K520T R88M-K1K520T-S2

2 kW R88M-K2K020H R88M-K2K020H-S2 R88M-K2K020T R88M-K2K020T-S2

200 V

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

Model

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

2-3 Model Tables

Straight shaft

with key and tap

Without brakesWith brakes

4 kW R88M-K4K020H R88M-K4K020H-S2 R88M-K4K020T R88M-K4K020T-S2

5 kW R88M-K5K020H R88M-K5K020H-S2 R88M-K5K020T R88M-K5K020T-S2

400 W R88M-K40020F R88M-K40020F-S2 R88M-K40020C R88M-K40020C-BS2

600 W R88M-K60020F R88M-K60020F-S2 R88M-K60020C R88M-K60020C-BS2

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

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

400 V

2 kW R88M-K2K020F R88M-K2K020F-S2 R88M-K2K020C R88M-K2K020C-S2

3 kW R88M-K3K020F R88M-K3K020F-S2 R88M-K3K020C R88M-K3K020C-S2

4 kW R88M-K4K020F R88M-K4K020F-S2 R88M-K4K020C R88M-K4K020C-S2

5 kW R88M-K5K020F R88M-K5K020F-S2 R88M-K5K020C R88M-K5K020C-S2

1 kW R88M-K1K020H-B R88M-K1K020H-BS2 R88M-K1K020T-B R88M-K1K020T-BS2

1.5 kW R88M-K1K520H-B R88M-K1K520H-BS2 R88M-K1K520T-B R88M-K1K520T-BS2

2 kW R88M-K2K020H-B R88M-K2K020H-BS2 R88M-K2K020T-B R88M-K2K020T-BS2

200 V

3 kW R88M-K3K020H-B R88M-K3K020H-BS2 R88M-K3K020T-B R88M-K3K020T-BS2

4 kW R88M-K4K020H-B R88M-K4K020H-BS2 R88M-K4K020T-B R88M-K4K020T-BS2

5 kW R88M-K5K020H-B R88M-K5K020H-BS2 R88M-K5K020T-B R88M-K5K020T-BS2

400 W R88M-K40020F-B R88M-K40020F-BS2 R88M-K40020C-B R88M-K40020C-BS2

600 W R88M-K60020F-B R88M-K60020F-BS2 R88M-K60020C-B R88M-K60020C-BS2

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

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

400 V

2 kW R88M-K2K020F-B R88M-K2K020F-BS2 R88M-K2K020C-B R88M-K2K020C-BS2

3 kW R88M-K3K020F-B R88M-K3K020F-BS2 R88M-K3K020C-B R88M-K3K020C-BS2

4 kW R88M-K4K020F-B R88M-K4K020F-BS2 R88M-K4K020C-B R88M-K4K020C-BS2

Models and External Dimensions

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

Note: Models with oil seals are also available.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-8

2-3 Model Tables

1,000-r/min Servomotors

Model

Specifications

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

200 V

400 V

Without brakesWith brakes

200 V

400 V

Note: Models with oil seals are also available.

2 kW R88M-K2K010H R88M-K2K010H-S2 R88M-K2K010T R88M-K2K010T-S2

3 kW R88M-K3K010H R88M-K3K010H-S2 R88M-K3K010T R88M-K3K010T-S2

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

2 kW R88M-K2K010F R88M-K2K010F-S2 R88M-K2K010C R88M-K2K010C-S2

3 kW R88M-K3K010F R88M-K3K010F-S2 R88M-K3K010C R88M-K3K010C-S2

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

2 kW R88M-K2K010H-B R88M-K2K010H-BS2 R88M-K2K010T-B R88M-K2K010T-BS2

3 kW R88M-K3K010H-B R88M-K3K010H-BS2 R88M-K3K010T-B R88M-K3K010T-BS2

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

2 kW R88M-K2K010F-B R88M-K2K010F-BS2 R88M-K2K010C-B R88M-K2K010C-BS2

3 kW R88M-K3K010F-B R88M-K3K010F-BS2 R88M-K3K010C-B R88M-K3K010C-BS2

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

Models and External Dimensions

2-9

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Servo Drive and Servomotor Combination Tables

The tables in this section show the possible combinations of OMNUC G5-series Servo Drives and Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations. “-@” at the end of the motor model number is for options, such as the shaft type, brake, oil seal and key.

3,000-r/min Servomotors and Servo Drives

2-3 Model Tables

Servomotor

Voltage

Single-phase

100 V

Single-phase/

3-phase 100 V

Single-phase/

3-phase 200 V

3-phase 200 V 2 kW R88M-K2K030H-@ R88M-K2K030T-@ R88D-KN20H-ECT-R

Rated

output

50 W R88M-K05030H-@ R88M-K05030T-@ R88D-KNA5L-ECT-R

100 W R88M-K10030L-@ R88M-K10030S-@ R88D-KN01L-ECT-R

200 W R88M-K20030L-@ R88M-K20030S-@ R88D-KN02L-ECT-R

400 W R88M-K40030L-@ R88M-K40030S-@ R88D-KN04L-ECT-R

50 W R88M-K05030H-@ R88M-K05030T-@ R88D-KN01H-ECT-R*

100 W R88M-K10030H-@ R88M-K10030T-@ R88D-KN01H-ECT-R

200 W R88M-K20030H-@ R88M-K20030T-@ R88D-KN02H-ECT-R

400 W R88M-K40030H-@ R88M-K40030T-@ R88D-KN04H-ECT-R

750 W R88M-K75030H-@ R88M-K75030T-@ R88D-KN08H-ECT-R

1 kW R88M-K1K030H-@ R88M-K1K030T-@ R88D-KN15H-ECT-R*

1.5 kW R88M-K1K530H-@ R88M-K1K530T-@ R88D-KN15H-ECT-R

3 kW R88M-K3K030H-@ R88M-K3K030T-@ R88D-KN30H-ECT-R

4 kW R88M-K4K030H-@ R88M-K4K030T-@ R88D-KN50H-ECT-R

5 kW R88M-K5K030H-@ R88M-K5K030T-@ R88D-KN50H-ECT-R

With incremental

encoder

With absolute

encoder

Servo Drive

Models and External Dimensions

3-phase 400 V 750 W R88M-K75030F-@ R88M-K75030C-@ R88D-KN10F-ECT-R

1 kW R88M-K1K030F-@ R88M-K1K030C-@ R88D-KN15F-ECT-R*

1.5 kW R88M-K1K530F-@ R88M-K1K530C-@ R88D-KN15F-ECT-R

2 kW R88M-K2K030F-@ R88M-K2K030C-@ R88D-KN20F-ECT-R

3 kW R88M-K3K030F-@ R88M-K3K030C-@ R88D-KN30F-ECT-R

4 kW R88M-K4K030F-@ R88M-K4K030C-@ R88D-KN50F-ECT-R

5 kW R88M-K5K030F-@ R88M-K5K030C-@ R88D-KN50F-ECT-R

* Use these combination with caution because the Servo Drive and Servomotor have

different capacities.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-10

2-3 Model Tables

2,000-r/min Servomotors and Servo Drives

Voltage

Single-phase/ 3-phase 200 V

3-phase 200 V 2 kW R88M-K2K020H-@ R88M-K2K020T-@ R88D-KN20H-ECT-R

Servomotor

Rated

output

1 kW R88M-K1K020H-@ R88M-K1K020T-@ R88D-KN10H-ECT-R

1.5 kW R88M-K1K520H-@ R88M-K1K520T-@ R88D-KN15H-ECT-R

3 kW R88M-K3K020H-@ R88M-K3K020T-@ R88D-KN30H-ECT-R

4 kW R88M-K4K020H-@ R88M-K4K020T-@ R88D-KN50H-ECT-R

With incremental

encoder

With absolute

encoder

Servo Drive

3-phase 400 V 400 W R88M-K40020F-@ R88M-K40020C-@ R88D-KN06F-ECT-R

1,000-r/min Servomotors and Servo Drives

Voltage

Models and External Dimensions

Single-phase/ 3-phase 200 V

3-phase 200 V 2 kW R88M-K2K010H-@ R88M-K2K010T-@ R88D-KN30H-ECT-R*

3-phase 400 V 900 W R88M-K90010F-@ R88M-K90010C-@ R88D-KN15F-ECT-R*

5 kW R88M-K5K020H-@ R88M-K5K020T-@ R88D-KN50H-ECT-R

600 W R88M-K60020F-@ R88M-K60020C-@ R88D-KN06F-ECT-R

1 kW R88M-K1K020F-@ R88M-K1K020C-@ R88D-KN10F-ECT-R

1.5 kW R88M-K1K520F-@ R88M-K1K520C-@ R88D-KN15F-ECT-R

2 kW R88M-K2K020F-@ R88M-K2K020C-@ R88D-KN20F-ECT-R

3 kW R88M-K3K020F-@ R88M-K3K020C-@ R88D-KN30F-ECT-R

4 kW R88M-K4K020F-@ R88M-K4K020C-@ R88D-KN50F-ECT-R

5 kW R88M-K5K020F-@ R88M-K5K020C-@ R88D-KN50F-ECT-R

Servomotor

Rated

output

900 W R88M-K90010H-@ R88M-K90010T-@ R88D-KN15H-ECT-R*

3 kW R88M-K3K010H-@ R88M-K3K010T-@ R88D-KN50H-ECT-R*

With incremental

encoder

With absolute encoder

Servo Drive

2-11

2 kW R88M-K2K010F-@ R88M-K2K010C-@ R88D-KN30F-ECT-R*

3 kW R88M-K3K010F-@ R88M-K3K010C-@ R88D-KN50F-ECT-R*

* Use these combination with caution because the Servo Drive and Servomotor have

different capacities.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Cable and Peripheral Device Model Tables

The following tables list the models of cables and peripheral devices. The cables include motor power cables, brake cables, encoder cables, EtherCAT communications cables, and absolute encoder battery cables. The peripheral devices include Connectors, External Regeneration Resistors, and Mounting Brackets.

Encoder Cables (European Flexible Cables)

2-3 Model Tables

Specifications Model

[100 V and 200 V]

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

(for both absolute encoders and incremental encoders)

[100 V and 200 V]

3,000-r/min Servomotors of 1.0 kW or more

For 2,000-r/min Servomotors

For 1,000-r/min Servomotors

[400 V]

For 3,000-r/min Servomotors

For 2,000-r/min Servomotors

For 1,000-r/min Servomotors

1.5 m R88A-CRKA001-5CR-E

3 m R88A-CRKA003CR-E

5 m R88A-CRKA005CR-E

10 m R88A-CRKA010CR-E

15 m R88A-CRKA015CR-E

20 m R88A-CRKA020CR-E

1.5 m R88A-CRKC001-5NR-E

3 m R88A-CRKC003NR-E

5 m R88A-CRKC005NR-E

10 m R88A-CRKC010NR-E

15 m R88A-CRKC015NR-E

20 m R88A-CRKC020NR-E

Models and External Dimensions

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-12

2-3 Model Tables

Motor Power Cables (European Flexible Cables)

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

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

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

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

Models and External Dimensions

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

Specifications

Model

For motor without brake For motor with brake

1.5 m R88A-CAKA001-5SR-E (See note 1.)

3 m R88A-CAKA003SR-E

5 m R88A-CAKA005SR-E

10 m R88A-CAKA010SR-E

15 m R88A-CAKA015SR-E

20 m R88A-CAKA020SR-E

1.5 m R88A-CAGB001-5SR-E R88A-CAGB001-5BR-E

3 m R88A-CAGB003SR-E R88A-CAGB003BR-E

5 m R88A-CAGB005SR-E R88A-CAGB005BR-E

10 m R88A-CAGB010SR-E R88A-CAGB010BR-E

15 m R88A-CAGB015SR-E R88A-CAGB015BR-E

20 m R88A-CAGB020SR-E R88A-CAGB020BR-E

1.5 m R88A-CAGB001-5SR-E R88A-CAKF001-5BR-E

3 m R88A-CAGB003SR-E R88A-CAKF003BR-E

5 m R88A-CAGB005SR-E R88A-CAKF005BR-E

10 m R88A-CAGB010SR-E R88A-CAKF010BR-E

15 m R88A-CAGB015SR-E R88A-CAKF015BR-E

20 m R88A-CAGB020SR-E R88A-CAKF020BR-E

1.5 m R88A-CAGD001-5SR-E R88A-CAGD001-5BR-E

3 m R88A-CAGD003SR-E R88A-CAGD003BR-E

5 m R88A-CAGD005SR-E R88A-CAGD005BR-E

10 m R88A-CAGD010SR-E R88A-CAGD010BR-E

15 m R88A-CAGD015SR-E R88A-CAGD015BR-E

20 m R88A-CAGD020SR-E R88A-CAGD020BR-E

2-13

Note: It requires both, the power cable R88A-CAKA@@@SR-E and the separate brake cable R88A-

CAKA@@@BR-E. For the separate brake cable selection, see brake cables table in page 2-14.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Brake Cables (European Flexible Cables)

Specifications Model

2-3 Model Tables

[100 V and 200 V]

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

Encoder Cables (Global Non-flexible Cables)

Specifications Model

[100 V and 200 V]

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

(for both absolute encoders and incremental encoders)

1.5 m R88A-CAKA001-5BR-E

3 m R88A-CAKA003BR-E

5 m R88A-CAKA005BR-E

10 m R88A-CAKA010BR-E

15 m R88A-CAKA015BR-E

20 m R88A-CAKA020BR-E

Models and External Dimensions

3 m R88A-CRKA003C

5 m R88A-CRKA005C

10 m R88A-CRKA010C

15 m R88A-CRKA015C

20 m R88A-CRKA020C

30 m R88A-CRKA030C

40 m R88A-CRKA040C

[100 V and 200 V]

3,000-r/min Servomotors of 1.0 kW or more

For 2,000-r/min Servomotors

For 1,000-r/min Servomotors

[400 V]

For 3,000-r/min Servomotors

For 2,000-r/min Servomotors

For 1,000-r/min Servomotors

50 m R88A-CRKA050C

3 m R88A-CRKC003N

5 m R88A-CRKC005N

10 m R88A-CRKC010N

15 m R88A-CRKC015N

20 m R88A-CRKC020N

30 m R88A-CRKC030N

40 m R88A-CRKC040N

50 m R88A-CRKC050N

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-14

2-3 Model Tables

Motor Power Cables (Global Non-flexible Cables)

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

Specifications

Model

For motor without

brake

3 m R88A-CAKA003S (See note 1.)

5 m R88A-CAKA005S

10 m R88A-CAKA010S

15 m R88A-CAKA015S

For motor with brake

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

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

Models and External Dimensions

For 1,000-r/min Servomotors of 900 W

20 m R88A-CAKA020S

30 m R88A-CAKA030S

40 m R88A-CAKA040S

50 m R88A-CAKA050S

3 m R88A-CAGB003S R88A-CAGB003B

5 m R88A-CAGB005S R88A-CAGB005B

10 m R88A-CAGB010S R88A-CAGB010B

15 m R88A-CAGB015S R88A-CAGB015B

20 m R88A-CAGB020S R88A-CAGB020B

30 m R88A-CAGB030S R88A-CAGB030B

40 m R88A-CAGB040S R88A-CAGB040B

50 m R88A-CAGB050S R88A-CAGB050B

3 m R88A-CAGB003S R88A-CAKF003B

5 m R88A-CAGB005S R88A-CAKF005B

10 m R88A-CAGB010S R88A-CAKF010B

15 m R88A-CAGB015S R88A-CAKF015B

20 m R88A-CAGB020S R88A-CAKF020B

30 m R88A-CAGB030S R88A-CAKF030B

40 m R88A-CAGB040S R88A-CAKF040B

50 m R88A-CAGB050S R88A-CAKF050B

2-15

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

Note: It requires both, the power cable R88A-CAKA@@@S and the separate brake cable R88A-

CAKA@@@B. For the separate brake cable selection, see brake cables table in page 2-16.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

3 m R88A-CAGD003S R88A-CAGD003B

5 m R88A-CAGD005S R88A-CAGD005B

10 m R88A-CAGD010S R88A-CAGD010B

15 m R88A-CAGD015S R88A-CAGD015B

20 m R88A-CAGD020S R88A-CAGD020B

30 m R88A-CAGD030S R88A-CAGD030B

40 m R88A-CAGD040S R88A-CAGD040B

50 m R88A-CAGD050S R88A-CAGD050B

Brake Cables (Global Non-flexible Cables)

Specifications Model

2-3 Model Tables

[100 V and 200 V]

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

Encoder Cables (Global Flexible Cables)

Specifications Model

[100 V and 200 V]

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

(for both absolute encoders and incremental encoders)

3 m R88A-CAKA003B

5 m R88A-CAKA005B

10 m R88A-CAKA010B

15 m R88A-CAKA015B

20 m R88A-CAKA020B

30 m R88A-CAKA030B

40 m R88A-CAKA040B

50 m R88A-CAKA050B

3 m R88A-CRKA003CR

5 m R88A-CRKA005CR

10 m R88A-CRKA010CR

15 m R88A-CRKA015CR

20 m R88A-CRKA020CR

Models and External Dimensions

[100 V and 200 V]

3,000-r/min Servomotors of 1.0 kW or more

For 2,000-r/min Servomotors

For 1,000-r/min Servomotors

[400 V]

For 3,000-r/min Servomotors

For 2,000-r/min Servomotors

For 1,000-r/min Servomotors

30 m R88A-CRKA030CR

40 m R88A-CRKA040CR

50 m R88A-CRKA050CR

3 m R88A-CRKC003NR

5 m R88A-CRKC005NR

10 m R88A-CRKC010NR

15 m R88A-CRKC015NR

20 m R88A-CRKC020NR

30 m R88A-CRKC030NR

40 m R88A-CRKC040NR

50 m R88A-CRKC050NR

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-16

2-3 Model Tables

Motor Power Cables (Global Flexible Cables)

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

Specifications

Model

For motor without

brake

3 m R88A-CAKA003SR (See note 1.)

5 m R88A-CAKA005SR

10 m R88A-CAKA010SR

15 m R88A-CAKA015SR

For motor with brake

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

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

Models and External Dimensions

For 1,000-r/min Servomotors of 900 W

20 m R88A-CAKA020SR

30 m R88A-CAKA030SR

40 m R88A-CAKA040SR

50 m R88A-CAKA050SR

3 m R88A-CAGB003SR R88A-CAGB003BR

5 m R88A-CAGB005SR R88A-CAGB005BR

10 m R88A-CAGB010SR R88A-CAGB010BR

15 m R88A-CAGB015SR R88A-CAGB015BR

20 m R88A-CAGB020SR R88A-CAGB020BR

30 m R88A-CAGB030SR R88A-CAGB030BR

40 m R88A-CAGB040SR R88A-CAGB040BR

50 m R88A-CAGB050SR R88A-CAGB050BR

3 m R88A-CAGB003SR R88A-CAKF003BR

5 m R88A-CAGB005SR R88A-CAKF005BR

10 m R88A-CAGB010SR R88A-CAKF010BR

15 m R88A-CAGB015SR R88A-CAKF015BR

20 m R88A-CAGB020SR R88A-CAKF020BR

30 m R88A-CAGB030SR R88A-CAKF030BR

40 m R88A-CAGB040SR R88A-CAKF040BR

50 m R88A-CAGB050SR R88A-CAKF050BR

2-17

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

Note: It requires both, the power cable R88A-CAKA@@@SR and the separate brake cable R88A-

CAKA@@@BR. For the separate brake cable selection, see brake cables table in page 2-18.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

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

Brake Cables (Global Flexible Cables)

Specifications Model

2-3 Model Tables

[100 V and 200 V]

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

3 m R88A-CAKA003BR

5 m R88A-CAKA005BR

10 m R88A-CAKA010BR

15 m R88A-CAKA015BR

20 m R88A-CAKA020BR

30 m R88A-CAKA030BR

40 m R88A-CAKA040BR

50 m R88A-CAKA050BR

EtherCAT Communications Cable (Recommended)

Category 5 or higher (cable with double, aluminum tape and braided shielding) is recommended

Absolute Encoder Battery Cables

Name Model

Absolute Encoder Battery Cable (battery not supplied) 0.3 m R88A-CRGD0R3C

Absolute Encoder Battery Cable (R88A-BAT01G battery × 1 supplied) 0.3 m R88A-CRGD0R3C-BS

Models and External Dimensions

Absolute Encoder Backup Battery

Name Model

Absolute Encoder Backup Battery R88A-BAT01G

Analog Monitor Cable

Name Model

Analog Monitor Cable 1 m R88A-CMK001S

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-18

2-3 Model Tables

Connectors

Name and applications Model

Motor Connector for Encoder Cable [100 V and 200 V]

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

[100 V and 200 V] For 3,000-r/min of 1 to 5 kW For 2,000 r/min, 1,000 r/min [400 V] For 3,000 r/min, 2,000 r/min and 1,000 r/min

Control I/O Connector (CN1) R88A-CNW01C

Encoder Connector (CN2) R88A-CNW01R

External Encoder Connector (CN4) R88A-CNK41L

Safety Connector (CN8) R88A-CNK81S

Power Cable Connector (for 750 W max.) R88A-CNK11A

Brake Cable Connector (for 750 W max.) R88A-CNK11B

R88A-CNK02R

R88A-CNK04R

Control Cables

Name Model

Connector-terminal Block Cables 1 m XW2Z-100J-B34

2 m XW2Z-200J-B34

Connector-terminal Block M3 screws XW2B-20G4

Models and External Dimensions

External Regeneration Resistors

Regeneration process capacity: 20 W, 50 Ω (with 150°C thermal sensor) R88A-RR08050S

Regeneration process capacity: 20 W, 100 Ω (with 150°C thermal sensor) R88A-RR080100S

Regeneration process capacity: 70 W, 47 Ω (with 150°C thermal sensor) R88A-RR22047S1

Regeneration process capacity: 70 W, 47 Ω (with 170°C thermal sensor) R88A-RR22047S

Regeneration process capacity: 180 W, 20 Ω (with 200°C thermal sensor) R88A-RR50020S

M3.5 screws XW2B-20G5

M3 screws XW2D-20G6

Specifications Model

2-19

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-3 Model Tables

Mounting Brackets (L-brackets for Rack Mounting)

Applicable Servo Drives Model

R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN01H-ECT-R/-KN02H-ECT-R R88A-TK01K

R88D-KN02L-ECT-R/-KN04H-ECT-R R88A-TK02K

R88D-KN04L-ECT-R/-KN08H-ECT-R R88A-TK03K

R88D-KN10H-ECT-R/-KN15H-ECT-R/-KN06F-ECT-R/-KN10F-ECT-R/-

KN15F-ECT-R

R88A-TK04K

Models and External Dimensions

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-20

2-4 External and Mounting Dimensions

This section describes the external dimensions and the mounting dimensions of Servo Drives, Servomotors, and peripheral devices.

Servo Drive Dimensions

The dimensional description starts with a Servo Drive of the smallest motor capacity, which is followed by the next smallest, and so on.

Single-phase 100 VAC: R88D-KNA5L-ECT-R/-KN01L-ECT-R (50 to 100 W) Single-phase/3-phase 200 VAC: R88D-KN01H-ECT-R/-KN02H-ECT-R (100 to 200 W)

Wall Mounting

External dimensions Mounting dimensions

150

Models and External Dimensions

13270

150

φ5.2

140

2-21

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

19.5

φ5.2

180

170

150

2-4 External and Mounting Dimensions

132

2.5

170

Rectangular

φ5.2

hole

Models and External Dimensions

(158)*

R26

5.2

2.5

* Rectangular hole dimensions are reference values.

(42)*

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-22

2-4 External and Mounting Dimensions

Single-phase/3-phase 100 VAC: R88D-KN02L-ECT-R (200 W) Single-phase/3-phase 200 VAC: R88D-KN04H-ECT-R (400 W)

Wall Mounting

External dimensions Mounting dimensions

150

132

150

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

φ5.2

140

Models and External Dimensions

φ5.2

R2.6

180

170

150

5.2

19.5

2.5

132

170

* Rectangular hole dimensions are reference values.

φ5.2

Rectangular

hole

(57)*

(158)*

2-23

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-4 External and Mounting Dimensions

Single-phase/3-phase 100 VAC: R88D-KN04L-ECT-R (400 W) Single-phase/3-phase 200 VAC: R88D-KN08H-ECT-R (750 W)

Wall Mounting

External dimensions Mounting dimensions

150

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

19.5

2.5

φ5.2

172

φ5.2

Models and External Dimensions

150

7.5

140

φ5.2

180

170

150

R2.6

5.2

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2.5

* Rectangular hole dimensions are reference values.

170

Rectangular

hole

(67)*

(158)*

2-24

2-4 External and Mounting Dimensions

Single-phase/3-phase 200 VAC: R88D-KN10H-ECT-R/-KN15H-ECT-R (900 W to 1.5 kW)

Wall Mounting

External dimensions Mounting dimensions

150

172

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

φ5.2

19.5

2.5

172

150

8.5

70 86

φ5.2

140

φ5.2

Models and External Dimensions

170

180

150

R2.6

5.2

R2.6

2.5

Rectangular

hole

(88)*

(158)*

170

* Rectangular hole dimensions are reference values.

2-25

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

3-phase 200 VAC: R88D-KN20H-ECT-R (2 kW)

Wall Mounting

External dimensions Mounting dimensions

5017.5

R2.6 R2.6

42.5

5.2

φ5.2

168

188

198

2-4 External and Mounting Dimensions

195

1.8

168

φ5.2

188

Models and External Dimensions

R2.6

17.5

42.5 50

R2.6

5.25.2 φ5.2

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

R2.6

42.5

5.2

5017.5

5.2

φ5.2

168

R2.6

188

198

30.7

2.5

195

17.5

(176)*

50 86

Rectangular

hole

φ5.2

188

R2.6

17.5

42.5

R2.6

5.25.2 φ5.2

2.5

17.5 (88)*

* Rectangular hole dimensions are reference values.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-26

2-4 External and Mounting Dimensions

3-phase 200 VAC: R88D-KN30H-ECT-R/-KN50H-ECT-R (3 to 5 kW)

Wall Mounting

External dimensions Mounting dimensions

250

R2.6

5.2

130

100

φ5.2

5.2

φ5.2

R2.6

220

R2.6R2.6

240

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

214

3.5

220

100 130

φ5.2

240

5.2

130

100

φ5.2

5.2

φ5.2

R2.6

R2.6R2.6

220

240

250

Models and External Dimensions

R2.6

40.7

2.5

214

(228)*

Rectangular

hole

100

(132)*

φ5.2

240

* Rectangular hole dimensions

are reference values.

2-27

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-4 External and Mounting Dimensions

3-phase 400 VAC: R88D-KN06F-ECT-R/-KN10F-ECT-R (600 W to 1.0 kW) 3-phase 400 VAC: R88D-KN15F-ECT-R (1.5 kW)

Wall Mounting

External dimensions Mounting dimensions

150

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

φ5.2 φ5.2

19.5

2.5

172

φ5.2

Models and External Dimensions

150

14.5

140

φ5.2

170

180

150

R2.6

5.2 5.2 10

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2.5

* Rectangular hole dimensions are reference values.

Rectangular

(158)*

hole

(94)*

170

2-28

2-4 External and Mounting Dimensions

3-phase 400 VAC: R88D-KN20F-ECT-R (2 kW)

Wall Mounting

External dimensions Mounting dimensions

17.5

42.5

5.2

φ5.2

5.2

195 1.8

φ5.2

168

188

198

R2.6

5.2 5.2

17.5

φ5.2

R2.6

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

17.5

Models and External Dimensions

42.5

5.2

φ5.2

5.2

168

188

198

168

26.5 94

30.7

2.5

195

Rectangular

(176)*

hole

180

φ5.2

180

2-29

R2.6

5.2 5.2

17.5

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

φ5.2

R2.6

2.5

26.5 (96)*

* Rectangular hole dimensions are reference values.

2-4 External and Mounting Dimensions

3-phase 400 VAC: R88D-KN30F-ECT-R/-KN50F-ECT-R (3 to 5 kW)

Wall Mounting

External dimensions Mounting dimensions

R2.6

130 100

5.2 5.2

5.2 65

φ5.2

5.2 φ5.2

100

220

R2.6

240

250

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

214

3.5

220

φ5.2

240

100

130

Models and External Dimensions

R2.6

130 100

5.2 5.2

5.2 65

φ5.2

5.2 φ5.2

100

220

R2.6

240

250

φ5.2

240

2.5

214

40.7

Rectangular

(228)*

2.5

hole

100

(132)*

* Rectangular hole dimensions are reference values.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-30

2-4 External and Mounting Dimensions

Servomotor Dimensions

In this description, the Servomotors are grouped by rated rotation speed. The description starts with a Servomotor of the smallest capacity, which is followed by the next smallest, and so on.

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

50 W/100 W (without Brake)

R88M-K05030H (-S2)/-K10030@ (-S2)

Models and External Dimensions

R88M-K05030T (-S2)/-K10030@ (-S2)

Encoder connector

Motor connector

Model

R88M-K05030@ 72 48 23

R88M-K10030@ 92 68 43

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

end of the model number.

25LL

1.5 min.

INC

ABS

40×40

R3.7

8h6

φ30h7

Dimensions (mm)

LL LM LN

(Shaft end specifications with key and tap)

12.5

φ46±0.2

R4.2

2-φ4.3

6.2

3h9

M3 (depth 6)

2-31

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

50 W/100 W (with Brake)

2-4 External and Mounting Dimensions

R88M-K05030H-B (S2)/-K10030@-B (S2)

R88M-K05030T-B (S2)/-K10030@-B (S2)

INC

ABS

Encoder connector

Brake connector

Motor connector

1.5 min.

8h6

φ30h7

R3.7

40×40

(Shaft end specifications with key and tap)

12.5

φ46±0.2

R4.2

2-φ4.3

6.2

3h9

M3 (depth 6)

Dimensions (mm)

Model

LL LM LN

R88M-K05030@-B@ 102 78 23

R88M-K10030@-B@ 122 98 43

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

end of the model number.

Models and External Dimensions

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-32

2-4 External and Mounting Dimensions

200 W/400 W (without Brake)

R88M-K20030@ (-S2)/-K40030@ (-S2)

INC

ABS

Encoder connector

Motor connector

6.5

1.5 min.

Sh6

φ50h7

60×60

φ70±0.2

(Shaft end specifications with key and tap)

4-φ4.5

20 (200 W)

25 (400 W)

18 (200 W)

22.5 (400 W)

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

5 (400 W)

4 (200 W)

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

8.5

Dimensions (mm)

Model

LL LM S

R88M-K20030@ 79.5 56.5 11

R88M-K40030@ 99 76 14

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

end of the model number.

200 W/400 W (with Brake)

R88M-K20030@-B (S2)/-K40030@-B (S2)

Models and External Dimensions

Encoder connector

Brake connector

Motor connector

6.5

Model

R88M-K20030@-B@ 116 93 11

R88M-K40030@-B@ 135.5 112.5 14

1.5 min.

INC

ABS

4-φ4.5

φSh6

φ50h7

Dimensions (mm)

LL LM S

60×60

(Shaft end specifications with key and tap)

20 (200 W)

φ70±0.2

25 (400 W)

18 (200 W)

22.5 (400 W)

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

5 (400 W)

4 (200 W)

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

8.5

2-33

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

end of the model number.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

750 W (without Brake)

2-4 External and Mounting Dimensions

R88M-K75030H (-S2)

R88M-K75030T (-S2)

INC

ABS

Encoder connector

Motor connector

112.2

86.2 83

80×80

(Shaft end specifications with key and tap)

4-φ6

15.5

φ19h6

φ90±0.2

φ70h7

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

end of the model number.

750 W (with Brake)

6h9

M5 (depth 10)

Models and External Dimensions

R88M-K75030H-B (S2)

R88M-K75030T-B (S2)

INC

ABS

Encoder connector

Brake connector

Motor connector

148.2

122.2

80×80

(Shaft end specifications with key and tap)

4-φ6

25 22

6h9

M5 (depth 10)

15.5

19h6

φ90±0.2

φ70h7

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

end of the model number.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-34

2-4 External and Mounting Dimensions

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

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

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

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

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

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

Motor and brake connector

Encoder connector

101

R88M-K1K030@ 141 97 66 119

R88M-K1K530@ 159.5 115.5 84.5 137.5

R88M-K2K030@ 178.5 134.5 103.5 156.5

KB2

KB1

Model

INC

ABS

INC

ABS

55LL

100×100

19h6

φ95h7

Dimensions (mm)

LL LM KB1 KB2

(Shaft end specifications with key and tap)

4-φ9

φ135

φ115

M3, through

19h6

φ95h7

15.5

6h9

M5 (depth 12)

R88M-K1K030@-B@ 168 124 66 146

R88M-K1K530@-B@ 186.5 142.5 84.5 164.5

R88M-K2K030@-B@ 205.5 161.5 103.5 183.5

Models and External Dimensions

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

end of the model number.

2-35

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

3 kW (without Brake)

R88M-K3K030H (-S2)

R88M-K3K030T (-S2)

3 kW (with Brake)

R88M-K3K030H-B (S2)

R88M-K3K030T-B (S2)

2-4 External and Mounting Dimensions

INC

ABS

INC

ABS

Motor and brake connector

Encoder connector

KB2

112

113

55LL

120×120

312

22h6

φ110h7

(Shaft end specifications with key and tap)

4−φ9

φ162

φ145

M3, through

φ22h6

φ110h7

8h9

M5 (depth 12)

Dimensions (mm)

Model

LL LM KB2

R88M-K3K030@ 190 146 168

R88M-K3K030@-B@ 215 171 193

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

end of the model number.

Models and External Dimensions

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-36

2-4 External and Mounting Dimensions

4 kW/5 kW (without Brake)

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

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

4 kW/5 kW (with Brake)

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

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

Motor and brake connector

Encoder connector

118

R88M-K4K030@ 208 164 127 186

Model

KB2 KB1

INC

ABS

INC

ABS

65LL

130×130

612

24h6

φ110h7

Dimensions (mm)

LL LM KB1 KB2

(Shaft end specifications with key and tap)

4−φ9

φ145

φ165

M3, through

φ24h6

φ110h7

8h9

M8 (depth 20)

R88M-K5K030@ 243 199 162 221

R88M-K4K030@-B@ 236 192 127 214

R88M-K5K030@-B@ 271 227 162 249

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.

Models and External Dimensions

2-37

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

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

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

2-4 External and Mounting Dimensions

R88M-K75030F (-S2)/-K1K030F (-S2)/-K1K530F (-S2)/-K2K030F (-S2)

R88M-K75030C (-S2)/-K1K030C (-S2)/-K1K530C (-S2)/-K2K030C (-S2)

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

R88M-K75030F-B (S2)/-K1K030F-B (S2)/-K1K530F-B (S2)/-K2K030F-B (-S2)

R88M-K75030C-B (S2)/-K1K030C-B (S2)/-K1K530C-B (S2)/-K2K030C-B (-S2)

Motor and brake connector

Encoder connector

101 (without brake)

103 (with brake)

R88M-K75030@ 131.5 87.5 56.5 109.5

R88M-K1K030@ 141 97 66 119

KB2

KB1

Model

55LL

310

19h6

100×100

φ95h7

(Shaft end specifications with key and tap)

4-φ9

φ135

φ115

Dimensions (mm)

LL LM KB1 KB2

INC

ABS

M3, through

19h6

φ95h7

15.5

INC

ABS

Models and External Dimensions

6h9

M5 (depth 12)

R88M-K1K530@ 159.5 115.5 84.5 137.5

R88M-K2K030@ 178.5 134.5 103.5 156.5

R88M-K75030@-B@ 158.5 114.5 53.5 136.5

R88M-K1K030@-B@ 168 124 63 146

R88M-K1K530@-B@ 186.5 142.5 81.5 164.5

R88M-K2K030@-B@ 205.5 161.5 100.5 183.5

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

end of the model number.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-38

2-4 External and Mounting Dimensions

3 kW (without Brake)

3 kW (with Brake)

Motor and brake connector

Encoder connector

113

R88M-K3K030F (-S2)

R88M-K3K030C (-S2)

R88M-K3K030F-B (S2)

R88M-K3K030C-B (S2)

KB2

112

INC

ABS

INC

ABS

55LL

120×120

312

φ22h6

φ110h7

Dimensions (mm)

Model

LL LM KB2

R88M-K3K030@ 190 146 168

R88M-K3K030@-B@ 215 171 193

(Shaft end specifications with key and tap)

4-φ9

φ162

φ145

M3, through

φ22h6

φ110h7

8h9

M5 (depth 12)

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.

Models and External Dimensions

2-39

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

4 kW/5 kW (without Brake)

2-4 External and Mounting Dimensions

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

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

4 kW/5 kW (with Brake)

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

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

Motor and brake connector

Encoder connector

118

R88M-K4K030@ 208 164 127 186

Model

KB2

KB1

INC

ABS

INC

ABS

65LL

130×130

612

24h6

φ110h7

Dimensions (mm)

LL LM KB1 KB2

(Shaft end specifications with key and tap)

4−φ9

φ145

φ165

M3, through

φ24h6

φ110h7

8h9

M8 (depth 20)

Models and External Dimensions

R88M-K5K030@ 243 199 162 221

R88M-K4K030@-B@ 236 192 127 214

R88M-K5K030@-B@ 271 227 162 249

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

end of the model number.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-40

2-4 External and Mounting Dimensions

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

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

R88M-K1K020H (-S2)/-K1K520H (-S2)/-K2K020H (-S2)/-K3K020H (-S2)

R88M-K1K020T (-S2)/-K1K520T (-S2)/-K2K020T (-S2)/-K3K020T (-S2)

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

R88M-K1K020H-B (S2)/-K1K520H-B (S2)/-K2K020H-B (S2)/-K3K020H-B (S2)

R88M-K1K020T-B (S2)-K1K520T-B (S2)/-K2K020T-B (S2)/-K3K020T-B (S2)

Motor and brake connector

Encoder connector

KB2

116 (1.0 to 2.0 kW)

118 (3.0 kW)

Model

R88M-K1K020@ 138 55 94 22 60 116

KB1

LRLL

612

Sh6

(Shaft end specifications with key and tap)

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

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

M3, through

φSh6

φ110h7

18 (1.0 to 2.0 kW)

20 (3.0 kW)

φ110h7

130×130

4−φ9

φ145

φ165

Dimensions (mm)

LL LR LM S KB1 KB2

INC

ABS

INC

ABS

8h9

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

R88M-K1K520@ 155.5 55 111.5 22 77.5 133.5

R88M-K2K020@ 173 55 129 22 95 151

Models and External Dimensions

R88M-K3K020@ 208 65 164 24 127 186

R88M-K1K020@-B@ 166 55 122 22 60 144

R88M-K1K520@-B@ 183.5 55 139.5 22 77.5 161.5

R88M-K2K020@-B@ 201 55 157 22 95 179

R88M-K3K020@-B@ 236 65 192 24 127 214

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.

2-41

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

4 kW/5 kW (without Brake)

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

4 kW/5 kW (with Brake)

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

Motor and brake connector

Encoder connector

140

KB2

KB1

2-4 External and Mounting Dimensions

INC

ABS

INC

ABS

70LL

176×176

3.218

35h6

φ114.3h7

(Shaft end specifications with key and tap)

4−φ13.5

φ233

φ200

M3, through

10h9

φ35h6

φ114.3h7

M12 (depth 25)

Models and External Dimensions

Model

Dimensions (mm)

LL LM KB1 KB2

R88M-K4K020@ 177 133 96 155

R88M-K5K020@ 196 152 115 174

R88M-K4K020@-B@ 206 162 96 184

R88M-K5K020@-B@ 225 181 115 203

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

end of the model number.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-42

2-4 External and Mounting Dimensions

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

400 W/600 W (without Brake)

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

R88M-K40020C (-S2)/-K60020C (-S2)

400 W/600 W (with Brake)

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

R88M-K40020C-B (S2)/-K60020C-B (S2)

Motor and brake connector

Encoder connector

101 (without brake)

103 (with brake)

Model

R88M-K40020@ 131.5 87.5 56.5 109.5

KB2

KB1

INC

ABS

INC

ABS

55LL

100×100

310

φ19h6

95h7

Dimensions (mm)

LL LM KB1 KB2

(Shaft end specifications with key and tap)

M3, through

4-φ9

115

135

19h6

95h7

6h9

M5 (depth 12)

15.5

R88M-K60020@ 141 97 66 119

R88M-K40020@-B@ 158.5 114.5 53.5 136.5

R88M-K60020@-B@ 168 124 63 146

Models and External Dimensions

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

end of the model number.

2-43

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

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

2-4 External and Mounting Dimensions

R88M-K1K020F (-S2)/-K1K520F (-S2)/-K2K020F (-S2)/-K3K020F (-S2)

R88M-K1K020C (-S2)/-K1K520C (-S2)/-K2K020C (-S2)/-K3K020C (-S2)

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

R88M-K1K020F-B (S2)/-K1K520F-B (S2)/-K2K020F-B (S2)/-K3K020F-B (S2)

R88M-K1K020C-B (S2)/-K1K520C-B (S2)/-K2K020C-B (S2)/-K3K020C-B (S2)

Motor and brake connector

Encoder connector

116 (1 to 2 kW/without brake)

118 (3 kW/without brake)

118 (1 to 3 kW/with brake)

KB2

KB1

LRLL

612

φSh6

φ110h7

130×130

INC

ABS

INC

(Shaft end specifications with key and tap)

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

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

4-φ9

φ145

φ165

M3, through

φSh6

φ110h7

8h9

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

18 (1 to 2 kW)

20 (3 kW)

ABS

Models and External Dimensions

Model

Dimensions (mm)

LL LR LM S KB1 KB2

R88M-K1K020@ 13855942260116

R88M-K1K520@ 155.5 55 111.5 22 77.5 133.5

R88M-K2K020@ 173 55 129 22 95 151

R88M-K3K020@ 208 65 164 24 127 186

R88M-K1K020@-B@ 166 55 122 22 57 144

R88M-K1K520@-B@ 183.5 55 139.5 22 74.5 161.5

R88M-K2K020@-B@ 201 55 157 22 92 179

R88M-K3K020@-B@ 236 65 192 24 127 214

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

end of the model number.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-44

2-4 External and Mounting Dimensions

4 kW/5 kW (without Brake)

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

4 kW/5 kW (with Brake)

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

Motor and brake connector

Encoder connector

KB2

KB1

140

70LL

3.218

35h6

φ114.3h7

INC

ABS

INC

ABS

176×176

(Shaft end specifications with key and tap)

4-φ13.5

φ233

φ200

M3, through

φ35h6

φ114.3h7

10h9

M12 (depth 25)

Model

R88M-K4K020@ 177 133 96 155

R88M-K5K020@ 196 152 115 174

R88M-K4K020@-B@ 206 162 96 184

R88M-K5K020@-B@ 225 181 115 203

Models and External Dimensions

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

end of the model number.

Dimensions (mm)

LL LM KB1 KB2

2-45

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

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

900 W (without Brake)

2-4 External and Mounting Dimensions

R88M-K90010H (-S2)

R88M-K90010T (-S2)

900 W (with Brake)

R88M-K90010H-B (S2)

R88M-K90010T-B (S2)

Motor and brake connector

Encoder connector

116

KB2

77.5

INC

ABS

INC

ABS

70LL

130×130

(Shaft end specifications with key and tap)

612

4-φ9

145

φ22h6

110 h7

165

M3, through

φ22h6

110h7

8h9

M5 (depth 12)

Models and External Dimensions

Model

Dimensions (mm)

LL LM KB2

R88M-K90010@ 155.5 111.5 133.5

R88M-K90010@-B@ 183.5 139.5 161.5

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

end of the model number.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-46

2-4 External and Mounting Dimensions

2 kW/3 kW (without Brake)

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

2 kW/3 kW (with Brake)

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

Motor and brake connector

Encoder connector

140

KB2

KB1

3.218

35h6

φ114.3h7

INC

ABS

176×176

INC ABS

(Shaft end specifications with key and tap)

4−φ13.5

φ233

φ200

M3, through

φ35h6

φ114.3h7

10h9

M12 (depth 25)

Model

R88M-K2K010@ 163.5 119.5 82.5 141.5

R88M-K3K010@ 209.5 165.5 128.5 187.5

R88M-K2K010@-B@ 192.5 148.5 82.5 170.5

R88M-K3K010@-B@ 238.5 194.5 128.5 216.5

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

Models and External Dimensions

end of the model number.

Dimensions (mm)

LL LM KB1 KB2

2-47

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

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

900 W (without Brake)

2-4 External and Mounting Dimensions

R88M-K90010F (-S2)

R88M-K90010C (-S2)

900 W (with Brake)

R88M-K90010F-B (S2)

R88M-K90010C-B (S2)

Motor and brake connector

Encoder connector

116 (without brake)

118 (with brake)

KB2

KB1

INC

ABS

INC

ABS

70LL

130×130

612

φ22h6

110h7

(Shaft end specifications with key and tap)

4-φ9

145

165

M3, through

φ22h6

110h7

8h9

M5 (depth 12)

Models and External Dimensions

Model

Dimensions (mm)

LL LM KB1 KB2

R88M-K90010@ 155.5 111.5 77.5 133.5

R88M-K90010@-B@ 183.5 139.5 74.5 161.5

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

end of the model number.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-48

2-4 External and Mounting Dimensions

2 kW/3 kW (without Brake)

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

2 kW/3 kW (with Brake)

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

Motor and brake connector

Encoder connector

KB2

KB1

140

80LL

3.218

35h6

φ114.3h7

INC

ABS

176×176

INC

ABS

(Shaft end specifications with key and tap)

4−φ13.5

φ233

φ200

M3, through

φ35h6

φ114.3h7

10h9

M12 (depth 25)

Model

R88M-K2K010@ 163.5 119.5 82.5 141.5

R88M-K3K010@ 209.5 165.5 128.5 187.5

R88M-K2K010@-B@ 192.5 148.5 82.5 170.5

R88M-K3K010@-B@ 238.5 194.5 128.5 216.5

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

Models and External Dimensions

end of the model number.

Dimensions (mm)

LL LM KB1 KB2

2-49

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

2-4 External and Mounting Dimensions

External Regeneration Resistor Dimensions

External Regeneration Resistor

R88A-RR08050S/-RR080100S

Thermal switch output

)

ϕ1.5

(0.3 mm

ϕ3

(0.75 mm

4.2

43.5

t1.2 104

500

R88A-RR22047S/-RR22047S1

Thermal switch output

)

ϕ1.5

(0.3 mm

ϕ3

(0.75 mm

t1.2 200

500

122

130

220

230

4.2

Models and External Dimensions

R88A-RR50020S

360

4325 10

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

386 402

5.2

2-50

2-5 EMC Filter Dimensions

Drive mounts

Output flexes

Filter model

R88A-FIK102-RE 190 42 44 180 20

R88A-FIK104-RE 190 57 30 180 30

R88A-FIK107-RE 190 64 35 180 40

R88A-FIK114-RE 190 86 35 180 60

R88A-FIK304-RE 190 86 40 180 60

External dimensions Mount dimensions

H W D M1 M2

R88A-FIK306-RE 245 94 40 235 60

R88A-FIK312-RE 290 130 45 280 100

Models and External Dimensions

2-51

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Specifications

This chapter provides the general specifications, characteristics, connector specifications, and I/O circuits of the Servo Drives as well as the general specifications, characteristics, encoder specifications of the Servomotors and other peripheral devices.

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

3-2 Overload Characteristics

(Electronic Thermal Function)...................................3-31

3-3 Servomotor Specifications ........................................3-32

3-4 Cable and Connector Specifications ........................3-57

3-5 External Regeneration Resistor Specifications.......3-80

3-6 EMC Filter Specifications...........................................3-82

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

3-1 Servo Drive Specifications

General Specifications

Ambient operating temperature and operating humidity

Specifications

Storage ambient temperature and humidity

Operating and storage atmosphere

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

Insulation resistance Between power supply terminals/power terminals and FG terminal: 0.5 MΩ min. (at

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

Protective structure Built into panel

Item Specifications

EC Directives

Select a Servo Drive that matches the Servomotor to be used. Refer to Servo Drive and Servomotor Combination Tables on page 2-10.

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

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

No corrosive gases

or less (Not to be run continuously at

a resonance point)

500 VDC)

50/60 Hz

EMC Directive

Low Voltage Directive

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

EN 61800-5-1

Machinery Directive

UL standards UL 508C

International standard

CSA standards CSA22.2 No. 14

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

may result in damaging the internal elements.

Note 3. Depending on the operating conditions, some Servo Drive parts will require maintenance. For details, refer to

12-5 Periodic Maintenance on page 12-31.

EN954-1 (Category 3), EN ISO 13849-1: 2008 (PLc,d), ISO 13849-1: 2006 (PLc,d), EN61508 (SIL2), EN62061 (SIL2), EN61800-5-2 (STO), IEC61326-3-1 (SIL2)

3-1

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Characteristics

100-VAC Input Models

3-1 Servo Drive Specifications

Item

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

Input power supply

Control method All-digital servo

Inverter method IGBT-driven PWM

PWM frequency 12.0 kHz 6.0 kHz

Weight Approx. 0.8 kg Approx. 0.8 kg Approx. 1.0 kg Approx. 1.6 kg

Maximum applicable motor capacity 50 W 100 W 200 W 400 W

Main circuit

Control circuit

Power supply capacity

Power supply voltage

Rated current

Heat

value

Power supply voltage

Heat

value

R88D-

KNA5L-ECT-R

0.4 KVA 0.4 KVA 0.5 KVA 0.9 KVA

Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz

1.7 A 2.6 A 4.3 A 7.6 A

11 W 16.6 W 21 W 25 W

Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz

6 W6 W6 W6 W

R88D-

KN01L-ECT-R

R88D-

KN02L-ECT-R

R88D-

KN04L-ECT-R

Specifications

Applicable Servomotor

*1. The heat value is given for rated operation.

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

3,000 r/min

2,000 r/min

1,000 r/min

INC

ABS

K05030H K10030L K20030L K40030L

K05030T K10030S K20030S K40030S

−−−−

3-2

3-1 Servo Drive Specifications

200-VAC Input Models

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

Input power supply

PWM frequency 12.0 kHz 6.0 kHz

Weight Approx.

Specifications

Maximum applicable motor capacity

Item

Main circuit

Control circuit

Power supply capacity

Power supply voltage

Rated current

Heat

value

Power supply voltage

Heat

value

R88D-

KN01H-

ECT-R

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

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

1.6/0.9 A *

14.3/13.7 W *123/19 W *130/22 W *130/35.5 W *163/64 W *1104/93 W *

6 W 6 W6 W6 W8 W8 W

0.8 kg

100 W 200 W 400 W 750 W 1 kW 1.5 kW

R88D-

KN02H-

ECT-R

2.4/1.3 A*14.1/2.4 A*16.6/3.6 A*19.1/5.2 A*

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

Approx.

0.8 kg

R88D-

KN04H-

ECT-R

Approx.

1.0 kg

R88D-

KN08H-

ECT-R

Approx.

1.6 kg

R88D-

KN10H-

ECT-R

Approx.

1.8 kg

R88D-

KN15H-

ECT-R

14.2/8.1 A*

Approx.

1.8 kg

Applicable Servomotor

Control method All-digital servo

Inverter method IGBT-driven PWM

*1. The first value is for single-phase input power and the second value is for 3-phase input power. *2. The heat value is given for rated operation.

3,000 r/min

2,000 r/min

1,000 r/min

INC

ABS

INC

ABS

INC

ABS

K05030H K10030H

K05030T K10030T

− −−−K1K020H K1K520H

− −−−K1K020T K1K520T

− −−−−K90010H

− −−−−K90010T

K20030H K40030H K75030H −

K20030T K40030T K75030T −

K1K030H K1K530H

K1K030T K1K530T

3-3

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

3-1 Servo Drive Specifications

Item

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

Input power supply

PWM frequency 6.0 kHz

Weight Approx. 2.7 kg Approx. 4.8 kg Approx. 4.8 kg

Maximum applicable motor capacity 2 kW 3 kW 5 kW

Main circuit

Control circuit

Power supply capacity

Power supply voltage

Rated current

Heat

value

Power supply voltage

Heat

value

R88D-KN20H-

ECT-R

3.3 KVA 4.5 KVA 7.5 KVA

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

11.8 A 15.1 A 21.6 A

139 W 108 W 328 W

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

10 W 10 W 10 W

R88D-KN30H-

ECT-R

R88D-KN50H-

ECT-R

Specifications

Applicable Servomotor

3,000-r/ min

2,000-r/ min

INC

ABS

INC

K2K030H K3K030H

K2K030T K3K030T

K2K020H K3K020H

K2K020T K3K020T

ABS

1,000-r/ min

INC

ABS

Control method All-digital servo

Inverter method IGBT-driven PWM

*1. The heat value is given for rated operation.

− K2K010H K3K010H

− K2K010T

K4K030H K5K030H

K4K030T K5K030T

K4K020H K5K020H

K4K020T K5K020T

K3K010T K4K510T

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

3-4

3-1 Servo Drive Specifications

400-VAC Input Models

Continuous output current (rms)

Input power supply

PWM frequency 6.0 kHz

Weight Approx. 1.9 kgApprox. 1.9 kgApprox. 1.9 kgApprox. 2.7 kgApprox. 4.7 kgApprox. 4.7

Specifications

Maximum applicable motor capacity

Applicable Servomotor

Item

Main circuit

Control circuit

3,000r/min

Power supply voltage

Rated current

Heat value

Power supply voltage

Heat value

INC

R88D-

KN06F-

ECT-R

1.5 A 2.9 A 4.7 A 6.7 A 9.4 A 16.5 A

2.1 A 2.8 A 3.9 A 5.9 A 7.6 A 12.1 A

32.2 W 48 W 49 W 65 W 108 W 200 W

9.6 W 9.6 W 9.6 W 12 W 12 W 12 W

600 W 1 kW 1.5 kW 2 kW 3 kW 5 kW

R88D-

KN10F-

ECT-R

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

K75030F

R88D-

KN15F-

ECT-R

24 VDC (20.4 to 27.6 V)

K1K030F K1K530F

R88D-

KN20F-

ECT-R

K2K030F K3K030F

R88D-

KN30F-

ECT-R

R88D-

KN50F-

ECT-R

K4K030F K5K030F

K75030C

ABS

2,000r/min

INC

ABS

1,000r/min

INC

ABS

Control method All-digital servo

Inverter method IGBT-driven PWM

*1. The heat value is given for rated operation.

K40020F K60020F

K40020C K60020C

K1K020F K1K520F K2K020F K3K020F

K1K020C K1K520C K2K020C K3K020C

K1K030C K1K530C

K90010F

K90010C

K2K030C K3K030C

K4K030C K5K030C

K4K020F K5K020F

K4K020C K5K020C

K2K010F K3K010F

K2K010C K4K510C

3-5

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

EtherCAT Communications Specifications

Item Specification

Communications standard IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile

Physical layer 100BASE-TX (IEEE802.3)

Connectors RJ45 × 2 (shielded)

ECAT IN: EtherCAT input ECAT OUT: EtherCAT output

Communications media Category 5 or higher (cable with double, aluminum tape and braided

shielding) is recommended.

Communications distance Distance between nodes: 100 m max.

Process data Fixed PDO mapping

Mailbox (CoE) Emergency messages, SDO requests, SDO responses, and SDO

information

3-1 Servo Drive Specifications

Specifications

Distributed clock Synchronization in DC mode.

DC cycle: 250 µs, 500 µs, 1 ms, 2 ms, 4 ms

LED indicators L/A IN (Link/Activity IN) × 1

L/A OUT (Link/Activity OUT) × 1 RUN × 1 ERR × 1

CiA402 Drive Profile

 Cyclic synchronous position mode  Touch probe function (Latch function)  Torque limit function

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

3-6

3-1 Servo Drive Specifications

Main Circuit and Motor Connections

When wiring the main circuit, use proper wire sizes, grounding systems, and noise resistance.

R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN02L-ECT-R/-KN04L-ECT-R/

-KN01H-ECT-R/-KN02H-ECT-R/-KN04H-ECT-R/-KN08H-ECT-R/

-KN10H-ECT-R/-KN15H-ECT-R

Main Circuit Connector Specifications (CNA)

Symbol Name Function

L1 Main circuit power

supply input

R88D-KN@L-ECT-R 50 to 400 W: Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz 200 to 400 W: 3-phase: 200 to 240 VAC (170 to 264 V) 50/60 Hz R88D-KN@H-ECT-R 50 W to 1.5 kW: Single-phase: 200 to 240 VAC (170 to 264 V) 50/ 60 Hz 100 W to 1.5 kW: 3-phase: 200 to 240 VAC (170 to 264 V) 50/60 Hz

Specifications

Motor Connector Specifications (CNB)

Note: Single-phase should connect to L1 and L3.

L1C Control circuit power

supply input

L2C

Symbol Name Function

B1 External Regeneration

Resistor connection terminals

U Motor connection

terminals

V Phase V

W Phase W

R88D-KN@L-ECT-R : Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz R88D-KN@H-ECT-R : Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz

R88D-KNA5L-ECT-R/-KN01L-ECT-R/-KN02L-ECT-R/-KN01HECT-R/-KN02H-ECT-R/-KN04H-ECT-R: Normally, do not short B1 and B2. Doing so may result in malfunctioning. If there is high regenerative energy, connect an External Regeneration Resistor between B1 and B2. R88D-KN04L-ECT-R/-KN08H-ECT-R/-KN10H-ECT-R/-KN15HECT-R: Normally B2 and B3 are shorted. Do not short B1 and B2. Doing so may result in malfunctioning. If there is high regenerative energy, remove the short bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2.

Phase U These are the output terminals to the Servomotor.

Be sure to wire them correctly.

3-7

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

R88D-KN20H-ECT-R

Main Circuit Connector Specifications (CNA)

Symbol Name Function

3-1 Servo Drive Specifications

L1 Main circuit power

L1C Control circuit power

L2C

supply input

R88D-KN@H-ECT-R (2 kW) : 3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz

R88D-KN@H-ECT-R : Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz

Motor Connector Specifications (CNB)

Symbol Name Function

U Motor connection

V Phase V

W Phase W

terminals

Phase U These are the output terminals to the Servomotor.

Be sure to wire them correctly.

External Regeneration Resistor Connector Specifications (CNC)

Symbol Name Function

B1 External Regeneration

NC Do not connect.

Resistor connection terminals

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

Specifications

Precautions for Correct Use

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

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

3-8

3-1 Servo Drive Specifications

R88D-KN30H-ECT-R/R88D-KN50H-ECT-R

Main Circuit Terminal Block Specifications

Symbol Name Function

Specifications

L1 Main circuit power

L1C Control circuit power

L2C

B1 External Regeneration

NC Do not connect.

U Motor connection

V Phase V

W Phase W

supply input

Resistor connection terminals

terminals

R88D-KN@H-ECT-R (3 to 5 kW): 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz

R88D-KN@H-ECT-R : Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz

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

Phase U These are the output terminals to the Servomotor.

Be sure to wire them correctly.

Precautions for Correct Use

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

may be damaged.

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

3-9

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

3-1 Servo Drive Specifications

R88D-KN06F-ECT-R/-KN10F-ECT-R/-KN15F-ECT-R/-KN20F-ECT-R

Main Circuit Connector Specifications (CNA)

Symbol Name Function

L1 Main circuit power supply

input

R88D-KN@F-ECT-R 600 W to 1.5 kW: 3-phase: 380 to 480 VAC (323 to 528 V) 50/60 Hz

Motor Connector Specifications (CNB)

Symbol Name Function

U Motor connection

terminals

V Phase V

WPhase W

Phase U These are the output terminals to the Servomotor.

Be sure to wire them correctly.

Control Circuit Connector Specifications (CNC)

Symbol Name Function

24 V Control circuit power

0 V

supply input

24 VDC ± 15%

Specifications

External Regeneration Resistor Connector Specifications (CND)

Symbol Name Function

B1 External Regeneration

NC Do not connect.

Resistor connection terminals

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

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

3-10

3-1 Servo Drive Specifications

R88D-KN30F-ECT-R/R88D-KN50F-ECT-R

Main Circuit Terminal Block Specifications (TB1)

Symbol Name Function

Specifications

24 V Control circuit power

0 V

supply input

24 VDC ± 15%

Main Circuit Terminal Block Specifications (TB2)

Symbol Name Function

L1 Main circuit power supply

B1 External Regeneration

NC Do not connect.

U Motor connection

V Phase V

W Phase W

input

Resistor connection terminals

terminals

R88D-KN@F-ECT-R (3 to 5 kW): 3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz

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

Phase U These are the output terminals to the Servomotor.

Be sure to wire them correctly.

Precautions for Correct Use

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

may be damaged.

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

3-11

OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)

Omron R88D-KN04L-ECT-R, R88D-KN01L-ECT-R, R88D-KN02L-ECT-R, R88D-KN02H-ECT-R, R88D-KN01H-ECT-R User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Terms and Conditions Agreement

Safety Precautions

Items to Check after Unpacking

Revision History

Structure of This Document

1-1 Outline

Outline of the OMNUC G5 Series

Features of OMNUC G5-series Servo Drives

What Is EtherCAT?

Object Dictionary

1-2 System Configuration

Servo Drive Part Names

1-3 Names and Functions

Servo Drive Functions

1-4 System Block Diagram

1-5 Applicable Standards

EC Directives

UL and cUL Standards

2-1 Servo System Configuration

2-2 How to Read Model Numbers

Servo Drive

Servomotors

2-3 Model Tables

Servo Drive Model Table

Servomotor Model Tables

Servo Drive and Servomotor Combination Tables

Cable and Peripheral Device Model Tables

2-4 External and Mounting Dimensions

Servo Drive Dimensions

Servomotor Dimensions

External Regeneration Resistor Dimensions

2-5 EMC Filter Dimensions

3-1 Servo Drive Specifications

General Specifications

Characteristics

EtherCAT Communications Specifications

Main Circuit and Motor Connections