Omron R88M-K, R88D-KT, OMNUC G5 User Manual

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Cat. No. I571-E1-06

USER’S MANUAL

OMNUC G5 SERIES

R88M-K@

(AC Servomotors)

R88D-KT@

(AC Servo Drives)

AC SERVOMOTORS/SERVO DRIVES

Trademarks and Copyrights

•

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

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

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

Introduction

Thank you for purchasing 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 the 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 SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties

 Exclusive Warranty

Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.

 Limitations

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THA T THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.

Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right.

 Buyer Remedy

Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair , indemnity or any other claims or expenses regarding the Products unless Omron’s analysis confirms that the Products were properly handled, stored, installed and maintained and no t sub je ct to co ntaminatio n, abu se , 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 ab ove 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 SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

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 fo r determining appropriateness of the particular Product with respect to Buyer's a pplication, 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 PROPERL Y RA TED AND INST ALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

Programmable Products

Terms and Conditions Agreement

Omron Companies shall not be responsible for the userÅfs 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 OmronÅfs test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the OmronÅfs 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 OmronÅfs 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 SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Items Requiring Acknowledgment

1. Terms of Warranty

(1) Warranty period

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

(2) Scope of warranty

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

Take note, however, that the following failures are excluded from the scope of warranty.

a) Failure due to use or handling of the product in any condition or environment not

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

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

held responsible Take note that this warranty applies to the product itself, and losses induced by a failure of the product are excluded from the scope of warranty.

2. Limited Liability

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

indirect damage or passive damage arising from this product.

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

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

3. Conditions for Intended Application

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

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

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

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

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

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

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

vehicle equipment, medical machinery, entertainment machinery, safety system

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

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

is required

(3) If the customer wishes to use this p roduct in any application that may threaten human

life or property, be sure to confirm beforehand that the entire system is designed in

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

Items Requiring Acknowledgment

such a way to notify dangers or ensure the necessary level of safety via design redundancy, and that the product is wired and installed appropriately in the system according to the intended application.

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

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

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

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

4. Specification Change

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

5. Scope of Service

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

6. Scope of Application

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

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

Safety Precautions

Precautions for Safe Use

Precautions for Correct Use

Reference

DANGER

Caution

Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Additionally, there may be severe property damage.

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

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.

Explanation of Display



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.

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

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

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

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

Explanation of Symbols

Example of symbols

This symbol indicates danger and caution. The specific instruction is described using an illustration or text inside or near .

The symbol shown to the left indicates "beware of electric shock".

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

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

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

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

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

Safety Precautions

Danger

For Safe Use of This Product



Illustrations contained in this manual sometimes depict conditions without covers and safety shields for the purpose of showing the details. When using this product, be sure to install the covers and shields as specified and use the product according to this manual.



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

Always connect the frame ground terminals of a 100 V or 200 V type drive and motor to a type-D or higher ground. Always connect the ground terminals of a 400 V type to a type-C or higher ground. Improper grounding may result in electrical shock.

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 restarting 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 SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Safety Precautions

Caution

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 motor with shaft-end key grooves is being used. Injury may result.

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 higher 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 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 SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Storage and Transportation

Caution

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 instruction on the product label.) Injury or failure may result.

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

When lifting a 15 kW or higher Servo Drive du ring moving or installation, always have two people lift the product by grasping a metal part. Do not grasp a plastic part. Risk of injury or product damage.

Safety Precautions

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

Safety Precautions

Caution

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 product. 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.

Wire the cables correctly and securely. Runaway motor, 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 generates due to static electricity, etc. 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 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 SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Operation and Adjustment

Caution

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

Before operating the 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, as it will make the operation unstable. Injury may result.

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

Safety Precautions

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

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

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

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

If the 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.

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

Safety Precautions

Caution

Maintenance and Inspection

After replacing the Servo Drive, transfer to the new Servo Drive all data needed to resume operation, before restarting the 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 SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

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

(R88D-KTA5L)

Instructions on Warning Label

Disposal

 When disposing of the battery, insulate it using tape and dispose of it by following the

applicable ordinance of your local government.

 Dispose of the Servo Drive as an industrial waste.

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

Items to Check after Unpacking

After unpacking, check the following items.

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

Accessories of This Product

Safety Precautions document × 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.

The safety bypass connector is required when the safety function is not used. To use the

safety function, provide a Safety I/O Signal Connector separately.

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

OMRON dealer or sales office where you purcha se d yo ur produ ct.

Specifications

Singlephase 100 VAC

Singlephase/3phase 200 VAC

3-phase 200 VAC

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

1.5 kW 2 kW 3 kW 5 kW

7.5 kW

Connector for main

circuit power supply

terminals and control

circuit power supply

terminals

Included

−

Connector for External

Regeneration Resistor

connection terminals and

motor connection

terminals

Safety

bypass

connector

Included

Mounting

Brackets

−

Included

3-phase 400 VAC

15 kW 600 W

−

1 kW

Included

1.5 kW 2 kW 3 kW

Included

5 kW

−

7.5 kW 15 kW −

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

Revision History

I571-E1-06

Revision code

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

Example

Revision code Revision date Revised content 01 September 2009 Original production 02 June 2010 Made corrections and added explanations. 03 January 2011 Added models and made corrections.

Revision History

04 September 2011

05 September 2015 Made corrections and added explanations. 06 January 2018 Made corrections and added explanations.

Added DC input ratings for the R88D-KT75H/-KT150H and made corrections.

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

Structure of This Document

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

Outline

Features and

Chapter 1

Chapter 2

Chapter 3 Specifications

Chapter 4 System Design

System Configuration

Standard Models and External Dimensions

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.

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.

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

Chapter 5

Chapter 6

Chapter 7 Safety Function

Chapter 8

Chapter 9 Operation

Chapter 10

Chapter 11

Chapter 12 Appendix

Basic Control Modes

Applied Functions

Parameters Details

Adjustment Functions

Error and Maintenance

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

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

This function stops the Servomotor based on a signal from a safety controller or safety sensor. An outline of the function is given together with operation and connection examples.

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

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

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

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

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

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

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

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

Items Requiring Acknowledgment...................................................4

Safety Precautions...........................................................................6

Items to Check after Unpacking.......................................................14

Revision History...............................................................................15

Structure of This Document.............................................................16

Chapter1 Features and System Configuration

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

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

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

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

1-5 Applicable Standards..........................................................................1-15

1-6 Unit Versions ......................................................................................1-18

Chapter2 Standard Models and External Dimensions

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

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

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

2-4 External and Mounting Dimensions....................................................2-25

2-5 EMC Filter Dimensions.......................................................................2-71

2-6 Dimensions of Mounting Brackets (L-Brackets for Rack Mounting) ...2-72

Chapter3 Specifications

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

3-2 Overload Characteristics (Electronic Thermal Function) ....................3-58

3-3 Servomotor Specifications..................................................................3-59

3-4 Cable and Connector Specifications...................................................3-97

3-5 Servo Relay Units and Cable Specifications ......................................3-127

3-6 External Regeneration Resistor Specifications...................................3-146

3-7 EMC Filter Specifications....................................................................3-148

Chapter4 System Design

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

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

4-3 Wiring Conforming to EMC Directives................................................4-33

4-4 Regenerative Energy Absorption........................................................4-53

4-5 Large Load Inertia Adjustment and Dynamic Brake...........................4-61

4-6 Using DC Power.................................................................................4-62

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

Table Of Contents

Chapter5 Basic Control Mode

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

5-2 Speed Control.....................................................................................5-7

5-3 Torque Control....................................................................................5-14

5-4 Internally Set Speed Control...............................................................5-19

5-5 Switching Control................................................................................5-23

5-6 Fully-closed Control............................................................................ 5-26

Chapter6 Applied Functions

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

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

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

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

6-5 Encoder Dividing Function.................................................................. 6-14

6-6 Brake Interlock....................................................................................6-19

6-7 Gain Switching Function.....................................................................6-24

6-8 Torque Limit........................................................................................6-32

6-9 Sequence I/O Signal...........................................................................6-35

6-10 Forward and Reverse Drive Prohibition Functions............................. 6-41

6-11 Disturbance Observer Function.......................................................... 6-44

6-12 Gain Switching 3 Function..................................................................6-46

6-13 Friction Torque Compensation Function ............................................6-47

6-14 Inertia Ratio Switching Function......................................................... 6-49

6-15 Hybrid Vibration Suppression Function.............................................. 6-50

6-16 Feed-forward Function .......................................................................6-51

6-17 Instantaneous Speed Observer Function........................................... 6-55

Chapter7 Safety Function

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

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

7-3 Connection Example ..........................................................................7-6

Chapter8 Parameter Details

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

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

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

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

8-5 Interface Monitor Setting Parameters.................................................8-37

8-6 Extended Parameters.........................................................................8-47

8-7 Special Parameters............................................................................ 8-60

19OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

Table Of Contents

Chapter9 Operation

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

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

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

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

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

Chapter10 Adjustment Functions

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

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

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

Chapter11 Troubleshooting and Maintenance

11-1 Troubleshooting..................................................................................11-1

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

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

11-4 Troubleshooting..................................................................................11-10

11-5 Periodic Maintenance.........................................................................11-27

Chapter12 Appendix

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

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

Index

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

Features and System Configuration

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

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

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

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

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

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

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

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

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

1-5 Applicable Standards.................................................1-15

EC Directives................................................................................1-15

UL and cUL Standards..................................................................1-15

Korean Radio Regulations (KC)....................................................1-16

SEMI F47......................................................................................1-17

1-6 Unit Versions...............................................................1-18

Confirmation Method.....................................................................1-18

Unit Versions.................................................................................1-18

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

1-1 Outline

Outline of the OMNUC G5 Series

With the OMNUC G5 Series, you can perform fully-closed control in addition to position control, speed control and torque control. Various models are available supporting wide-ranging motor capacities from 50 W to 15 kW and input power supplies from 100 to 400 V. You will surely find a model that best suits your application. Motors with high-resolution 20-bit incremental encoders and 17-bit absolute/incremental encoders are available as standard models. The OMNUC G5 Series features realtime autotuning function and adaptive filter function that automatically perform complicated gain adjus tments. A notch filter can also be aut omatically set to suppress machine vibration by reducing machine resonance during operation. The damping control function of the Servomotor and Servo Drive realizes stable stopping performance in a mechanism which vibrates because of the low rigidity of the load.

Features of OMNUC G5-series Servo Drives

OMNUC G5-series Servo Drives have the following features.

Switching between Seven Control Modes

You can switch between seven control modes: 1) Position Control Mode, 2) Speed Control Mode, 3) Torque Control Mode, 4) Position and Speed Control Mode, 5) Position and Torque Control Mode, 6) Speed and Torque Control Mode, and 7) Fully-closed Contro l Mode. Desired modes can be selected with the flexible drive according to your need. A single drive supports various applications.

Features and System Configuration

Achievement of Accurate Positioning by Fully-closed Control

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

Wide Range of Power Supplies to 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.

Safe Torque OFF (STO) Function to Ensure Safety

1-1

You can cut off the motor current to stop the motor based on a signal from an emergen cy stop button or other safety equipment. This can be used for an emergency stop circuit that is compliant with safety standards without using an exte rn al co nta ctor.

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.

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

1-2 System Configuration

OMNUC G5 Series

AC Servomotor

R88D-KT@

OMNUC G5 Series

AC Servomotor

R88M-K@

INC ABS

Pulse train

Analog voltage

SYSMAC + Position Control Unit (Pulse Train Output Type)

Programmable Controller SYSMAC CJ/CS

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

Controller (Voltage Output Type)

Programmable Controller SYSMAC CS

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

PA202

POWE

INPUT

AC100

-240V

L2/N

PERIP

HERA

R/AL

RUN

P RPH

CONTROLLER

CJ1

G-C

PU44

SYSM

PROGRAMMABLE

PORT

OPEN

BUS

MACH

x10

No.

NC41

CN1

CN2

R UN

A 2 B2

3 4

B 3

A 4 B4

A S B S

ERC

AXIS1

AXIS2

CN3

CN4

AXIS2 AXIS1

1-2 System Configuration

Features and System Configuration

The following units support a motor with absolute encoder:

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

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

1-2

Display

Operation area

USB connector (CN7)

Expansion connector (CN3)

Analog monitor connector (CN5)

Motor connection

terminals (U, V and W)

Control circuit

power supply terminals

(L1C and L2C)

Main circuit

power supply terminals

(L1, L2, and L3)

External Regeneration

Resistor connection

terminals (B1, B2, and B3)

Protective ground terminals

Control I/O connector (CN1)

Safety connector (CN8)

External encoder connector (CN4

Encoder connector (CN2)

Charge lamp

1-3 Names and Functions

Servo Drive Part Names

Features and System Configuration

1-3

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

Servo Drive Functions

Display

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

1-3 Names and Functions

Operation Area

Monitors the parameter setting and drive condition.

Charge Lamp

Lights when the main circuit power supply is turned ON.

Control I/O Connector (CN1)

Used for command input signals and I/O signals.

Encoder Connector (CN2)

Connector for the encoder installed in the Servomotor.

Expansion Connector (CN3)

A spare connector for expansion. Do not connect anything.

Features and System Configuration

External Encoder Connector (CN4)

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

Analog monitor Connector (CN5)

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

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 SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

1-4

CN2 CN4 CN5 CN7 CN8CN1

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

L2C

L1C

FUSE

CN A

15 V G1

5 V

2.5 V

1.5 V

±12 V

E5 V

3.3 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

CN B

U V

MPU & ASIC

Position, speed, and torque calculation control area

• PWM control

Encoder

External encoder

Analog

monitor

USB

Safety

1-4 System Block Diagrams

R88D-KTA5L/-KT01L/-KT02L/-KT01H/-KT02H/-KT04H

Features and System Configuration

1-5

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

R88D-KT04L/-KT08H/-KT10H/-KT15H

L2C

L1C

FUSE

CN A

15 V G1

5 V

2.5 V

1.5 V E5 V

3.3 V

CN2 CN4 CN5 CN7

B1 B2 B3

CN B

U V

CN8 CN1

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

−

±12 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

MPU & ASIC

Position, speed, and torque calculation control area

• PWM control

Encoder

External encoder

Analog

monitor

USB

Safety

Internal Regeneration

Resistor

Axial-flow fan

(except for the R88D-KT04L/-KT08H)

1-4 System Block Diagrams

Features and System Configuration

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

1-6

L2C

L1C

FUSE

CN A

15V G1

2.5V

1.5V ±12V

E5V G2

3.3V

CN2 CN4 CN5 CN7

B1 B2 B3 NC

CN C

CN B

CN8

USB

CN1

U V

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

MPU & ASIC

Position, speed, and torque calculation control area

• PWM control

Encoder

External encoder

Analog

monitor

Safety

Internal Regeneration

Resistor

Axial-flow fan

1-4 System Block Diagrams

R88D-KT20H

Features and System Configuration

1-7

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

R88D-KT30H/-KT50H

L2C

L1C

FUSE

15 V G1

5 V

2.5 V

1.5 V E5 V

3.3 V

CN2 CN4 CN5 CN7

B1 B2 B3

CN B

U V

CN8 CN1

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

±12 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

MPU & ASIC

Position, speed, and torque calculation control area

• PWM control

Encoder

External encoder

Analog

monitor

USB

Safety

Internal Regeneration Resistor

Axial-flow fan

1-4 System Block Diagrams

Features and System Configuration

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

1-8

L2C

L1C

FUSE

15 V G1

5 V

2.5 V

1.5 V E5 V

3.3 V

CN2 CN4 CN5 CN7

B1 B2 N

U V

CN8CN1

DB1 DB2 DB3 DB4

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

±12 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

MPU & ASIC

Position, speed, and torque calculation control area

• PWM control

Encoder

External encoder

Analog

monitor

USB

Safety

Axial-flow fan × 3

Fuse

TB1

TB2

TB1

TB2

1-4 System Block Diagrams

R88D-KT75H

Features and System Configuration

1-9

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

R88D-KT150H

L2C

L1C

FUSE

15 V G1

5 V

2.5 V

1.5 V E5 V

3.3 V

CN2 CN4 CN5 CN7

B1 B2 N

U V

CN8 CN1

DB1 DB2

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

±12 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay

drive

Control

interface

MPU & ASIC

Position, speed, and torque calculation control area

• PWM control

Encoder

External encoder

Analog

monitor

USB

Safety

Axial-flow fan × 4

Fuse

TB2

TB1

TB2

TB1

1-4 System Block Diagrams

Features and System Configuration

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

1-10

0 V

24 V

FUSE

15 V G1

5 V

2.5 V

1.5 V E5 V

3.3 V

CN2 CN4 CN5 CN7

B1 B2 B3

U V

CN8 CN1

DC-DC

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

±12 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

MPU & ASIC

Position, speed, and torque calculation control area

• PWM control

Encoder

External encoder

Analog

monitor

USB

Safety

Internal Regeneration Resistor

Axial-flow fan

1-4 System Block Diagrams

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

Features and System Configuration

1-11

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

R88D-KT30F/-KT50F

0 V

24 V

FUSE

15 V G1

5 V

2.5 V

1.5 V E5 V

3.3 V

CN2 CN4 CN5 CN7

B1 B2 B3

U V

CN8 CN1

DC-DC

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

±12 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

MPU & ASIC

Position, speed, and torque calculation control area

• PWM control

Encoder

External encoder

Analog

monitor

USB

Safety

Internal Regeneration Resistor

Axial-flow fan

TB2

TB1

1-4 System Block Diagrams

Features and System Configuration

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

1-12

0 V

24 V

FUSE

15 V G1

5 V

2.5 V

1.5 V E5 V

3.3 V

CN2 CN4 CN5 CN7

B1 B2 NC

U V

CN8 CN1

DB1 DB2 DB3 DB4

DC-DC

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

±12 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

MPU & ASIC

Position, speed, and torque calculation control area

• PWM control

Encoder

External encoder

Analog

monitor

USB

Safety

Axial-flow fan × 3

Fuse

TB1

TB2

TB1

TB2

1-4 System Block Diagrams

R88D-KT75F

Features and System Configuration

1-13

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

R88D-KT150F

0 V

24 V

FUSE

15 V G1

5 V

2.5 V

1.5 V E5 V

3.3 V

CN4 CN5 CN7

B1 B2 NC

U V

CN8

DC-DC

CN2 CN1

DB1 DB2

Display and setting circuit area

Gate drive

SW power supply main circuit control

Internal control power supply

±12 V

Overcurrent detection

Current detection

Voltage detection

Regeneration control

Relay drive

Control

interface

MPU & ASIC

Position, speed, and torque calculation control area

• PWM control

Encoder

External encoder

Analog

monitor

USB

Safety

Axial-flow fan × 4

Fuse

TB2

TB1

TB2

1-4 System Block Diagrams

Features and System Configuration

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

1-14

1-5 Applicable Standards

EC Directives

Directives

Low Voltage Directive

EMC Directives

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" (P.4-33).

Product Applicable standards

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

AC Servo Drive EN 55011 class A group 1

AC Servo Drive EN954-1 (Category 3)

UL and cUL Standards

Features and System Configuration

IEC61800-3 EN61000-6-2

EN ISO13849-1: 2008 (Category 3) (PLc,d) ISO13849-1: 2006 (Category 3) (PLc,d) EN61508 (SIL2) EN62061 (SIL2) EV61800-5-2 (STO) IEC61326-3-1 (SIL2)

Standard Product Applicable standards File number

UL standards

CSA standards

*1: The R88D-KT20@ and lower capacity Servo Drives are UL-listed.

The R88D-KT30@ and higher capacity Servo Drives are UL-recognized.

*2: Applies to 1,500-r/min Servomotors of 7.5 to 15 kW and 1,000-r/min Servomotors of 4.5 to 6 kW.

AC Servo Drive UL508C AC Servomotor UL1004-1 E331224

UL1004-1, UL1004-6

AC Servo Drive CSA C22.2 No. 14 E179149 AC Servomotor CSA C22.2 No. 100 E331224

E179149

E331224

1-15

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

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 de fined 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.

Drive model Circuit breaker (rated current) (A)

R88D-KT01L 10 R88D-KT02L 10

R88D-KT04L 10 R88D-KT01H 10 R88D-KT02H 10 R88D-KT04H 10 R88D-KT08H 15 R88D-KT10H 15 R88D-KT15H 20 R88D-KT20H 30 R88D-KT30H 50 R88D-KT50H 50 R88D-KT75H 60 R88D-KT150H

R88D-KT06F 15 R88D-KT10F 15 R88D-KT15F 15 R88D-KT20F 20 R88D-KT30F 30

100/125 *

Features and System Configuration

R88D-KT50F 30 R88D-KT75F 30 R88D-KT150F

*1: 100 A when used in combination with the R88M-K11K015T-@. 125A when used in combination with

the R88M-K15K015T-@.

*2: 50 A when used in combination with the R88M-K11K015C-@. 60 A when used in combination with the

R88M-K15K015C-@.

50/60 *

Korean Radio Regulations (KC)

The G5-series Servo Drives comply with the Korean Radio Regulations (KC). The G5-series Servomotors and Linear Motors are exempt from the Korean Radio

Regulations (KC).

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

1-16

1-5 Applicable Standards

SEMI F47

 Some Servo Drives conform to the SEMI F47 standard for momentary power interruptions

(voltage sag immunity) for no-load or light-load operation.

 This standard applies to semiconductor manufacturing equipment. Note 1. It does not apply to Servo Drivers with single-phase 100-V specifications or with

24-VDC specifications for the control power input.

Note 2. Always perform evaluation testing for SEMI F47 compliance in the actual system.

Features and System Configuration

1-17

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

1-6 Unit Versions

(R88D-KTA5L)

Nameplate location

Unit V ersion Here, the unit version is 1.2.

Product Nameplate

The G5-series Servo Drive uses unit versions. Unit versions are used to manage differences in supported functions when product upgrades are made.

Confirmation Method

1-6 Unit Versions

The unit version of a G5-series Servo Drive is given on the product’s nameplate as shown below.

Unit Versions

Features and System Configuration

Unit version Upgraded content

Not indicated New release Ver. 1.80 or higher

Alarm 27.2 detection conditions have been

Ver.1.1

Ver.1.2

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

changed to support the increase of encoder resolution in the G series.

European area compliance No changes to existing Ver. 1.1 functions

Supported

CX-Drive versions

Ver. 1.80 or higher

1-18

Standard Models and External Dimensions

This chapter explains the models of Servo Dr ives, Servomotors, and peripher al equipment, and provides the external dimensions and mounting dimensions.

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

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

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

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

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

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

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

Servo Drive and Servomotor Combination Tables.................... ... .2-11

Peripheral Equipment and Cable Model Tables ...........................2-13

2-4 External and Mounting Dimensions..........................2-25

Servo Drive Dimensions ...............................................................2-25

Servomotor Dimensions................................................................2-43

External Regeneration Resistor Dimensions ................................2-70

2-5 EMC Filter Dimensions...............................................2-71

2-6 Dimensions of Mounting Brackets

(L-Brackets for Rack Mounting)................................2-72

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

Controller

SYSMAC + Controller (Analog output type)

Position Control UnitCPU Unit

Pulse Train CommandsAnalog Commands

Pulse Train Commands/Feedback Signals

External Signal

Analog Commands/Feedback Signals

Pulse Train Commands

•

CX-One FA Integrated

Tool Package

Including CX-Programmer and CX-Position and CX-Motion

Support Software

•

CX-One FA Integrated

Tool Package (Including CX-Drive)

•

CX-Drive

WS02-DRVC1

Support Software

Programmable Controller SYSMAC CJ2

High-speed type

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

Standard type

Programmable Controller SYSMAC CJ1/CS1

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

CP1H/CP1L

CJ1M-CPU2

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

Programmable Controller SYSMAC CS1

Available to build the Absolute System.

Built-in pulse I/O function type

XW2Z-@-B@

XW2B-@XW2Z-@-A@

XW2Z-@@@J-G@

Direct connection cable for CJ1W-NC@@4

R88A-CPG

Control Cables (for Motion Control Unit)

Servo Drive CableServo Relay Unit

Position Control Unit Cable (NC)

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

Connector-Terminal Block Conversion Units and Cable

XW2Z-@X

Connector Terminal Block Conversion Unit

Position Control Unit Cable

XW2@-20G@

MACH

x10

No.

414

CN1

CN2

RUN

A2 B2

A4 B4

AS BS

SYNCERC ERH

AXIS1AXI

CN3

CN4

AXIS2 AXIS1

PER

IFHERA

RR/A

R UN

IN H

C OMM

P R

PHL

CONTROLL

CJ1G-C

P U44

S Y

SMA

PROGRA

MMAB

PORT

P E

U S

W R

PERIPHERAL

ERR

/ALM

RUN

INH

COM

BKU

PRPHL

CONTROLLER

CPU64

CJ2H

SYSMA

PROGRAMM

ABLE

PORT

OPEN

U S

NC113

RUN ERC ERH

MAC

No.

CN1

2-1 Servo System Configuration

Standard Models and External Dimensions

2-1

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

2-1 Servo System Configuration

AC Servo Drive

Peripheral Devices

External Regeneration Resistors

R88A-RR

External encoder

AC Servomotors

•

OMNUC G5 Series Servo Drive

R88D-KT

•

OMNUC G5-series Servomotor

R88M-K

Motor power signals

Feedback Signals

Power Cables

•

Without Brake

R88A-CA@@@@@SR-E

•

With Brake

R88A-CA@@@@@BR-E

• Flexible Cables

Encoder Cables

Brake Cables (50 to 750 W max.)

•

Flexible Cables

R88A-CAKA@@@BR-E

Absolute Encoder Battery Cable

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

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

R88A-CRGD0R3C (-BS)

100 VAC 200 VAC 400 VAC

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

USB communications

• 750 W or less:

R88A-CRKA@@@CR-E

• 1 kW or more:

R88A-CRKC@@@NR-E

●

Flexible Cables

Standard Models and External Dimensions

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

2-2

2-2 How to Read Model Numbers

Servo Drive

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

R88D-KT01H

OMNUC G5-series Servo Drive Drive Type

: Pulse/analog typeT

Maximum Applicable Servomotor Capacity

: 50 W

: 100 W

: 200 W

: 400 W

: 600 W

: 750 W

: 1 kW

: 1.5 kW

: 2 kW

: 3 kW

: 5 kW

: 7.5 kW

150

: 15 kW

Power Supply Voltage

: 100 VAC

: 200 VAC

: 400 VAC

Standard Models and External Dimensions

2-3

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

Servomotor

R88M-K10030H-BOS2

OMNUC G5-series Servomotor

Servomotor Capacity

Rated Rotation Speed

050 100 200 400 600 750 900 1K0 1K5 2K0 3K0 4K0 4K5 5K0 6K0 7K5 11K0 15K0

: 50 W : 100 W : 200 W : 400 W : 600 W : 750 W : 900 W : 1 kW : 1.5 kW : 2 kW : 3 kW : 4 kW : 4.5 kW : 5 kW : 6 kW : 7.5 kW : 11 kW : 15 kW

10 15 20 30

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

Applied V oltage

F H L C T S

: 400 VAC (incremental encoder specifications) : 200 VAC (incremental encoder specifications) : 100 VAC (incremental encoder specifications) : 400 VAC (absolute encoder specifications) : 200 VAC (absolute encoder specifications) : 100 VAC (absolute encoder specifications)

Options

Blank B O S2

: Straight shaft, no key : With brake : With oil seal : With key and tap

2-2 How to Read Model Numbers

Standard Models and External Dimensions

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

2-4

2-3 Standard Model Tables

Servo Drive Model Table

Specifications Model

Single-phase 100 VAC 50 W R88D-KTA5L

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

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

200 W R88D-KT02H 400 W R88D-KT04H

Standard Models and External Dimensions

750 W R88D-KT08H 1 kW R88D-KT10H

1.5 kW R88D-KT15H

3-phase 200 VAC 2 kW R88D-KT20H

3 kW R88D-KT30H 5 kW R88D-KT50H

7.5 kW R88D-KT75H 15 kW R88D-KT150H

3-phase 400 VAC 600 W R88D-KT06F

1 kW R88D-KT10F

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

7.5 kW R88D-KT75F 15 kW R88D-KT150F

2-5

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

Servomotor Model Tables

Without brakes

3,000-r/min Servomotors

Specifications

50 W R88M-K05030H R88M-K05030H-S2 R88M-K05030T R88M-K05030T-S2 100 W R88M-K10030L R88M-K10030L-S2 R88M-K10030S R88M-K10030S-S2

100 V

200 W R88M-K20030L R88M-K20030L-S2 R88M-K20030S R88M-K20030S-S2 400 W R88M-K40030L R88M-K40030L-S2 R88M-K40030S R88M-K40030S-S2 50 W R88M-K05030H R88M-K05030H-S2 R88M-K05030T R88M-K05030T-S2

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Model

2-3 Standard Model Tables

Straight shaft

without key

Straight shaft

with key and tap

Standard Models and External Dimensions

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

200 V

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

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

400 V

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

Note. Models with oil seals are also available.

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

2-6

2-3 Standard Model Tables

With brakes

Model

Specifications

50 W R88M-K05030H-B R88M-K05030H-BS2 R88M-K05030T-B R88M-K05030T -BS2 100 W R88M-K10030L-B R88M-K10030L-BS2 R88M-K10030S-B R88M-K10030S-BS2

100 V

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

200 V

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

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

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

Standard Models and External Dimensions

750 W R88M-K75030F-B R88M-K75030F-BS2 R88M-K75030C-B R88M-K75030C-BS2 1 kW R88M-K1K030F-B R88M-K1K030F-BS2 R88M-K1K030C-B R88M-K1K030C-BS2

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

400 V

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

Note. Models with oil seals are also available.

2-7

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

1,500-r/min and 2,000-r/min Servomotors

Without brakes

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

200 V

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

7.5 kW --- --- R88M-K7K515T R88M-K7K515T-S2 11 kW --- --- R88 M-K11K015T R88M-K11K015T-S2 15 kW --- --- R88 M-K15K015T R88M-K15K015T-S2 400 W R88M-K40020F R88M-K40020F-S2 R88M-K40020C R88M-K40020C-BS2

2-3 Standard Model Tables

Model

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

Standard Models and External Dimensions

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

400 V

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

7.5 kW --- --- R88M-K7K515C R88M-K7K515C-S2 11 kW --- --- R88M-K11K015C R88M-K11K015C-S2 15 kW --- --- R88M-K15K015C R88M-K15K015C-S2

Note 1. Models with oil seals are also available. Note 2. The rated rotation speed of Servomotors of 7.5 to 15 kW is 1,500 r/min.

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

2-8

2-3 Standard Model Tables

With brakes

Model

Specifications

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

200 V

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

7.5 kW --- --- R88M-K7K515T-B R88M-K7K515T-BS2 11 kW --- --- R88M-K11K015T -B R88M-K11K015T-S2 15 kW --- --- R88M-K15K015T -B R88M-K15K015T-S2 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 2 kW R88M-K2K020F-B R88M-K2K020F-BS2 R88M-K2K020C-B R88M-K2K020C-BS2

400 V

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

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

Standard Models and External Dimensions

4 kW R88M-K4K020F-B R88M-K4K020F-BS2 R88M-K4K020C-B R88M-K4K020C-BS2 5 kW R88M-K5K020F-B R88M-K5K020F-BS2 R88M-K5K020C-B R88M-K5K020C-BS2

7.5 kW --- --- R88M-K7K515C-B R88M-K7K515C-BS2 11 kW --- --- R88M-K11K015C-B R88M-K11K015C-BS2 15 kW --- --- R88M-K15K015C-B R88M-K15K015C-BS2

Note 1. Models with oil seals are also available. Note 2. The rated rotation speed of Servomotors of 7.5 to 15 kW is 1,500 r/min.

2-9

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

1,000-r/min Servomotors

Without brakes

With brakes

2-3 Standard Model Tables

Model

Specifications

900 kW R88M-K9001 0H R88M-K90010H-S2 R88M-K90010T R88M-K9 0010T-S2 2 kW R88M-K2K010H R88M-K2K010H-S2 R88M-K2K010T R88M-K2K010T-S2

200 V

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

4.5 kW --- --- R88M-K4K510T R88M-K4K510T-S2 6 kW --- --- R88M-K6K010T R88M-K6K010T-S2 900 kW R88M-K9001 0F R88M-K90010F-S2 R88M-K90010C R88M-K90010C-S2 2 kW R88M-K2K010F R88M-K2K010F-S2 R88M-K2K010C R88M-K2K010C-S2

400 V

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

4.5 kW --- --- R88M-K4K510C R88M-K4K510C-S2 6 kW --- --- R88M-K6K010C R88M-K6K010C-S2 900 kW R88M-K9001 0H-B R88M-K90010H-BS2 R88M-K90010T-B R88M-K90010T-BS2 2 kW R88M-K2 K 010H-B R88M-K2K010H-BS2 R88M-K2K010T-B R88M-K2K010T-BS2

200 V

3 kW R88M-K3 K 010H-B R88M-K3K010H-BS2 R88M-K3K010T-B R88M-K3K010T-BS2

4.5 kW --- --- R88M-K4K510T-B R88M-K4K510T-BS2 6 kW --- --- R88M-K6K010T-B R88M-K6K010T-BS2 900 kW R88M-K9001 0F-B R88M-K90010F-BS2 R88M-K90010C-B R88M-K90010C-BS2 2 kW R88M-K2 K 010F-B R88M-K2K010F-BS2 R88M-K2K010C-B R88M-K2K010C-BS2

With incremental encoder With absolute encoder

Straight shaft

without key

Straight shaft

with key and tap

Straight shaft

without key

Straight shaft

with key and tap

Standard Models and External Dimensions

400 V

3 kW R88M-K3 K 010F-B R88M-K3K010F-BS2 R88M-K3K010C-B R88M-K3K010C-BS2

4.5 kW --- --- R88M-K4K510C-B R88M-K4K510C-BS2 6 kW --- --- R88M-K6K010C-B R88M-K6K010C-BS2

Note. Models with oil seals are also available.

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

2-10

2-3 Standard Model Tables

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 sha ft type, brake, oil seal and key.

3,000-r/min Servomotors and Servo Drives

Voltage

Single-phase 100 V

Single-phase/ 3-phase 100 V

Single-phase/ 3-phase 200 V

3-phase 200 V

Servomotor

Rated

output

50 W R88M-K05030H-@ R88M-K05030T-@ R88D-KTA5L 100 W R88M-K10030L-@ R88M-K10030S-@ R88D-KT01L 200 W R88M-K20030L-@ R88M-K20030S-@ R88D-KT02L 400 W R88M-K40030L-@ R88M-K40030S-@ R88D-KT04L 50 W* R88M-K05030H-@ R88M-K05030T-@ R88D-KT01H 100 W R88M-K10030H-@ R88M-K10030T-@ R88D-KT01H 200 W R88M-K20030H-@ R88M-K20030T-@ R88D-KT02H 400 W R88M-K40030H-@ R88M-K40030T-@ R88D-KT04H 750 W R88M-K75030H-@ R88M-K75030T-@ R88D-KT08H 1 kW* R88M-K1K030H-@ R88M-K1K030T-@ R88D-KT15H

1.5 kW R88M-K1K530H-@ R88M-K1K530T-@ R88D-KT15H 2 kW R88M-K2K030H-@ R88M-K2K030T-@ R88D-KT20H 3 kW R88M-K3K030H-@ R88M-K3K030T-@ R88D-KT30H 4 kW* R88M-K4K030H-@ R88M-K4K030T-@ R88D-KT50H 5 kW R88M-K5K030H-@ R88M-K5K030T-@ R88D-KT50H

With incremental

encoder

With absolute

encoder

Servo Drive

Standard Models and External Dimensions

2-11

750 W* R88M-K75030F-@ R88M-K75030C-@ R88D-KT10F 1 kW* R88M-K1K030F-@ R88M-K1K030C-@ R88D-KT15F

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

3-phase 400 V

2 kW R88M-K2K030F-@ R88M-K2K0 3 kW R8 4 kW* R88M-K4K030F-@ R88M-K4K030C-@ R88D-KT50F 5 kW R88M-K5K030F-@ R88M-K5K030C-@ R88D-KT50F

8M-K3K030F-@ R88M-K3K030C-@ R88D-KT30F

30C-@ R88D-KT20F

* Use these combination with caution because the Servo Drive and Se rvomotor h ave diffe rent

capacities.

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

2-3 Standard Model Tables

1,500-r/min and 2,000-r/min Servomotors and Servo Drives

Servomotor

Voltage

Single-phase/ 3-phase 200 V

Rated

output

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

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

With incremental

encoder

With absolute

encoder

Servo Drive

3-phase 200 V

3-phase 400 V

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

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

7.5 kW --- R88M-K7K515T-@ R88D-KT75H 11 kW* --- R88M-K11K015T-@ R88D-KT150H 15 kW --- R88M-K15K015T-@ R88D-KT150H 400 W* R88M-K40020F -@ R88M-K40020C-@ R88D-KT06F 600 W R88M-K60020F-@ R88M-K60020C-@ R88D-KT06F 1 kW R88M-K1K020F-@ R88M-K1K020C-@ R88D-KT10F

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

7.5 kW --- R88M-K7K515C-@ R88D-KT75F 11 kW* --- R88M-K11K015C-@ R88D-KT150F 15 kW --- R88M-K15K015C-@ R88D-KT150F

Standard Models and External Dimensions

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

2-12

2-3 Standard Model Tables

1,000-r/min Servomotors and Servo Drives

Voltage

Single-phase/ 3-phase 200 V

3-phase 200 V

Rated

output

900 W* R88M-K90010H-@ R88M-K90010T-@ R88D-KT15H

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

4.5 kW* --- R88M-K4K510T-@ R88D-KT50H

Servomotor

With incremental

encoder

With absolute encoder

Servo Drive

6 kW* --- R88M-K6K010T-@ R88D-KT75H 900 W* R88M-K90010F-@ R88M-K90010C-@ R88D-KT15F 2 kW* R88M-K2K010F-@ R88M-K2K010C-@ R88D-KT30F

3-phase 400 V

3 kW* R88M-K3K010F-@ R88M-K3K010C-@ R88D-KT50F

4.5 kW* --- R88M-K4K510C-@ R88D-KT50F 6 kW* --- R88M-K6K010C-@ R88D-KT75F

* Use these combination with caution because the Servo Drive and Se rvomotor h ave diffe rent

capacities.

Peripheral Equipment and Cable Model Tables

Encoder Cables (European 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-CRKA001-5CR-E 3 m R88A-CRKA003CR-E 5 m R88A-CRKA005CR-E

Standard Models and External Dimensions

2-13

[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

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

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

Motor Power Cables (European Flexible Cables)

2-3 Standard Model Tables

Specifications

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

4.5 kW

Model

For motor without brake For motor with brake

1.5 m R88A-CAKA001-5SR-E 3 m R88A-CAKA003SR-E 5 m R88A-CAKA005SR-E

(See note 1.)

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-CAKF001-5 B R-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

Standard Models and External Dimensions

Note 1.: Different connectors are used for the motor power and the brake on 100-V and 200-V, 3,000-r/

min Servomotors of 50 to 750 W and Servomotors of 6 to 15 kW. When using a Servomotor with a brake, two cables are required: a Power Cable without Brake and a Brake Cable.

Note 2.: For flexible power cables for Servomotors of 11 to 15 kW, refer to 4-2 Wiring (P. 4-7) and make

your own cable. For flexible power cables for Servomotors of 6 to 7.5 kW, refer to 3-4 Cable and Connector Specifications and make your own power cable.

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

2-14

2-3 Standard Model Tables

Brake Cables (European Flexible Cables)

Specifications Model

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

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

Note: For flexible brake cables for Servomotors of 6 to 15 kW, refer to 3-4 Cable and

Connector Specifications and make your own brake cable.

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)

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

Standard 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 1,500-r/min Servomotors For 1,000-r/min Servomotors

[400 V] For 3,000-r/min Servomotors For 2,000-r/min Servomotors For 1,500-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

2-15

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

Motor Power Cables (Global Non-Flexible Cables)

Specifications

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

3 m R88A-CAKA003S (See note 1.) 5 m R88A-CAKA005S 10 m R88A-CAKA010S 15 m R88A-CAKA015S

For motor without

brake

2-3 Standard Model Tables

Model

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 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

Standard Models and External Dimensions

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 4.5 kW

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

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

2-16

2-3 Standard Model Tables

Specifications

For 2,000-r/min Servomotors of 7.5 kW For 1,000-r/min Servomotors of 6 kW

Model

For motor without

brake

3 m R88A-CAGE003S 5 m R88A-CAGE005S 10 m R88A-CAGE010S 15 m R88A-CAGE015S 20 m R88A-CAGE020S 30 m R88A-CAGE030S 40 m R88A-CAGE040S -

For motor with brake

Standard Models and External Dimensions

50 m R88A-CAGE050S -

Note 1.: Different connectors are used for the motor power and the brake on 100-V and 200-V, 3,00 0-r/

min Servomotors of 50 to 750 W and Servomotors of 6 to 15 kW. When using a Servomotor with a brake, two cables are required: a Power Cable without Brake and a Brake Cable.

Note 2.: For non-flexible power cables for Servomotors of 11 or 15 kW, refer to 4-2 Wiring (P. 4-7) and

make your own cable.

Brake Cables (Global Non-Flexible Cables)

Specifications Model

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

For 1,500-r/min Servomotors of 7.5 to 15 kW For 1,000-r/min Servomotors of 6 kW

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-CAGE003B 5 m R88A-CAGE005B 10 m R88A-CAGE010B 15 m R88A-CAGE015B

2-17

20 m R88A-CAGE020B 30 m R88A-CAGE030B 40 m R88A-CAGE040B 50 m R88A-CAGE050B

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

Encoder Cables (Global Flexible Cables)

Specifications Model

2-3 Standard Model Tables

[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 1,500-r/min Servomotors For 1,000-r/min Servomotors

[400 V] For 3,000-r/min Servomotors For 2,000-r/min Servomotors For 1,500-r/min Servomotors For 1,000-r/min Servomotors

3 m R88A-CRKA003CR 5 m R88A-CRKA005CR 10 m R88A-CRKA010CR 15 m R88A-CRKA015CR 20 m R88A-CRKA020CR 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

Standard Models and External Dimensions

Motor Power Cables (Global Flexible Cables)

Specifications

[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

3 m R88A-CAKA003SR 5 m R88A-CAKA005SR 10 m R88A-CAKA010SR 15 m R88A-CAKA015SR 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

For motor without

brake

Model

For motor with brake

(See note 1.)

30 m R88A-CAGB030SR R88A-CAGB030BR 40 m R88A-CAGB040SR R88A-CAGB040BR 50 m R88A-CAGB050SR R88A-CAGB050BR

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

2-18

2-3 Standard Model Tables

Specifications

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

Model

For motor without

brake

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

For motor with brake

50 m R88A-CAGB050SR R88A-CAKF050BR

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

4.5 kW

Note 1.: Different connectors are used for the motor power and the brake on 100-V and 200-V, 3,00 0-r/

min Servomotors of 50 to 750 W and Servomotors of 6 to 15 kW. When using a Servomotor with a brake, two cables are required: a Power Cable without Brake and a Brake Cable.

Note 2.: For flexible power cables for Servomotors of 11 to 15 kW, refer to 4-2 Wiring (P. 4-7) and make

your own cable. For flexible power cables for Servomotors of 6 to 7.5 kW, refer to Motor Power Cable Specifications on page 3-100 and make your own power cable.

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)

Standard Models and External Dimensions

2-19

Specifications Model

[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

Note: For flexible brake cables for Servomotors of 6 to 15 kW, refer to 3-4 Cable and

Connector Specifications and make your own brake cable.

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

2-3 Standard Model Tables

Absolute Encoder Battery Cables

Specifications Model

Absolute Encoder Battery Cable (battery not supplied) 0.3 m R88A-CRGD0R3C Absolute Encoder Battery Cable (R88A-BAT01G battery × 1 supplied)

0.3 m

R88A-CRGD0R3C-BS

Absolute Encoder Backup Battery

Specifications Model

2,000 mA•h 3.6 V R88A-BAT01G

Analog Monitor Cable

Specifications Model

Analog monitor cable 1 m R88A-CMK001S

Connectors

Specifications Model

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

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

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

1,000 r/min Control I/O connector (CN1) R88A-CNU11C Encoder connector (CN2) R88A-CNW01R

R88A-CNK02R

R88A-CNK04R

Standard Models and External Dimensions

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

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

2-20

2-3 Standard Model Tables

Servo Relay Units (for CN1)

Specifications Model

Servo Relay Unit For CS1W-NC113/-NC133

For CJ1W-NC113/-NC133 For C200HW-NC113

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

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

For CQM1-CPU43-V1 For CQM1H-PLB21

Servo Relay Unit Cables for Servo Drives

Specifications Model

Servo Drive cables For CS1W-NC113/-NC133, CJ1W-NC113/-

NC133, C200HW-NC113 (XW2B-20J6-1B) For CS1W-NC213/-NC413/-NC233/-NC433, CJ1W-NC213/-NC413/-NC233/-NC433, C200HW-NC213/-NC413 (XW2B-40J6-2B) For CQM1-CPU43-V1 or CQM1H-PLB21 (XW2B-20J6-3B)

For CJ1M-CPU21/-CPU22/-CPU23 (XW2B-20J6-8A/XW2B-40J6-9A)

XW2B-20J6-1B

XW2B-40J6-2B

XW2B-40J6-9A XW2B-20J6-3B

1 m XW2Z-100J-B25

XW2Z-200J-B25

2 m

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

Standard Models and External Dimensions

Note: Do not use a Servo Relay Unit Cable for line receiver inputs (+CWLD: CN1 pin 44,

-CWLD: CN1 pin 45, +CCWLD: CN1 pin 46, -CCWLD: CN1 pin 47). Use a General-purpose Control Cable (R88A-CPG@S) and prepare wiring suited for the controller to be connected.

2-21

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

2-3 Standard Model Tables

Servo Relay Unit Cables for Position Control Units

Specifications Model

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

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

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

1 m XW2Z-100J-A3

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

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

Position Control Unit cables

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

1 m XW2Z-100J-A10

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

1 m XW2Z-100J-A11

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

1 m XW2Z-100J-A14

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

1 m XW2Z-100J-A15

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

1 m XW2Z-100J-A18

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

1 m XW2Z-100J-A19

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

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

Standard Models and External Dimensions

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

2-22

2-3 Standard Model Tables

Control Cables

Specifications Model

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

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

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

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

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

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

1 m XW2Z-100J-G9 5 m XW2Z-500J-G9 10 m XW2Z-10MJ-G9 1 m XW2Z-100J-G13

3 m 1 m XW2Z-100J-G1

5 m XW2Z-500J-G1 10 m XW2Z-10MJ-G1 1 m XW2Z-100J-G5

3 m 1 m R88A-CPG001M1

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

XW2Z-300J-G13

XW2Z-300J-G5

Standard Models and External Dimensions

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

2 m R88A-CPG002S

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

2 m XW2Z-200J-B24

Connector-terminal block M3 screw and for pin

terminals M3.5 screw and for fork/

round terminals

M3 screw and for fork/round terminals

XW2B-50G4

XW2B-50G5

XW2D-50G6

External Regeneration Resistors

Specifications Model

Regeneration process capacity: 20 W, 50 Ω (with 150°C thermal sensor) R88A-RR08050S Regeneration process capacity: 20 W, 100 Ω (with 150°C thermal sensor) R88A-RR080100S Regeneration process capacity: 70 W, 47 Ω (with 150°C thermal sensor) R88A-RR22047S1 Regeneration process capacity: 180 W, 20 Ω (with 200°C thermal sensor) R88A-RR50020S

2-23

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

2-3 Standard Model Tables

Mounting Brackets (L-Brackets for Rack Mounting)

Specifications Model

R88D-KTA5L/-KT01L/-KT01H/-KT02H R88A-TK01K R88D-KT02L/-KT04H R88A-TK02K R88D-KT04L/-KT08H R88A-TK03K R88D-KT10H/-KT15H/-KT06F/-KT10F/-KT15F R88A-TK04K

Standard Models and External Dimensions

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

2-24

13070

150

140

2-M4

2-4 External and Mounting Dimensions

Servo Drive Dimensions

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

Wall Mounting

External dimensions Mounting dimensions

Standard Models and External Dimensions

2-25

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

2-4 External and Mounting Dimensions

Rectangular

hole

170

180

170

150

5.2

R26

φ5.2

2.5

130

19.5

2.5

(42)*

2-M4

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

Standard Models and External Dimensions

* Rectangular hole dimensions are reference values.

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

2-26

150

130

150

140

2-M4

Rectangular

hole

φ5.2

180

170

150

5.2

R2.6

2.5

130

19.5

2.5

170

2-M4

(57)*

(158)*

2-4 External and Mounting Dimensions

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

Wall Mounting

External dimensions Mounting dimensions

Standard Models and External Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

* Rectangular hole dimensions are reference values.

2-27

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

2-4 External and Mounting Dimensions

170

150

140

7.5 65

2-M4

Rectangular

hole

φ5.2

R2.6

5.2

180

170

150

170

2.5

19.5

2.5

170

2-M4

(67)*

(158)*

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

Wall Mounting

External dimensions Mounting dimensions

Standard Models and External Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

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

* Rectangular hole dimensions are reference values.

2-28

150

170

2-M4

140

150

8.5 86

Rectangular

hole

2.5

R2.6

φ5.2

170

180

150

60 40

5.2

5.2 40

19.5

2.5

170

(158)*

4-M4

(88)*

2-4 External and Mounting Dimensions

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

Wall Mounting

External dimensions Mounting dimensions

Standard Models and External Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

* Rectangular hole dimensions are reference values.

2-29

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

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

5017.5

42.5

5.2

φ5.2

R2.6 R2.6

198

188

168

17.5

5.25.2

42.5

φ5.2

R2.6

193.5

3.5

Wall Mounting

External dimensions

2-4 External and Mounting Dimensions

Standard Models and External Dimensions

Mounting dimensions

168

18.5

6-M4

188

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

2-30

5017.5

42.5

5.2

198

188

168

17.5

5.25.2

42.5

φ5.2

R2.6

193.5

30.7

2.5

Rectangular

hole

188

(176)*

19.5

6-M4

(88)*

2-4 External and Mounting Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions

Standard Models and External Dimensions

Mounting dimensions

* Rectangular hole dimensions are reference values.

2-31

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

2-4 External and Mounting Dimensions

6-M4

240

100 130

220

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

Wall Mounting

External dimensions

5.2

130

100

φ5.2

5.2

R2.6

R2.6 R2.6

220

240

250

212

Standard Models and External Dimensions

Mounting dimensions

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

2-32

2-4 External and Mounting Dimensions

Rectangular

hole

6-M4

240

100

(132)*

(228)*

Front Mounting (Using Front Mounting Brackets)

External dimensions

R2.6

40.7

2.5

5.2

130

100

φ5.2

5.2

φ5.2

R2.6

R2.6R2.6

220

240

250

212

Standard Models and External Dimensions

* Rectangular hole dimensions are reference values.

Mounting dimensions

2-33

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

3-phase 200 VAC: R88D-KT75H (7.5 kW)

250

235

220

210 11

210

233

334

3.5

R2.6

φ5.2

R2.6 R2.6

R2.6

2.5

10-M4

235

220

180

233

Wall Mounting

External dimensions

2-4 External and Mounting Dimensions

Standard Models and External Dimensions

Mounting dimensions

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

2-34

250

235

220

210 11

210

233

334

R2.6

φ5.2

R2.6 R2.6

R2.6

2.5

10-M4

235

(227)*

27.8

180

(235)*

Rectangular

hole

2-4 External and Mounting Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions

Standard Models and External Dimensions

Mounting dimensions

* Rectangular hole dimensions are reference values.

2-35

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

3-phase 200 VAC: R88D-KT150H (15 kW)

261

231

30.5

450

7.5435

30.5

231

270

R3.5 R3.5

φ7φ7

Wall Mounting

External dimensions

2-4 External and Mounting Dimensions

Standard Models and External Dimensions

Mounting dimensions

261

200

30.5

435

4-M6

450

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

2-36

150

170

150

140

14.5 92

2-M4

Rectangular

hole

φ5.2 φ5.2

170

180

150

5.2 5.2 10

R2.6

170

2.5

19.5

2.5

(94)*

170

(158)*

4-M4

2-4 External and Mounting Dimensions

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

Wall Mounting

External dimensions Mounting dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

Standard Models and External Dimensions

* Rectangular hole dimensions are reference values.

2-37

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

2-4 External and Mounting Dimensions

φ5.2

R2.6

φ5.2

193.5 1.5

85 50

17.5

42.5

5.2

5.2 5.2 50

17.5

168

188

198

26.5

188

168

6-M4

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

Wall Mounting

External dimensions Mounting dimensions

Standard Models and External Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions Mounting dimensions

85 50

φ5.2

5.2

168

188

R2.6

5.2

φ5.2

17.5

42.5

5.2

R2.6

5.2

17.5

30.7

2.5

198

2.5

193.5

6-M4

Rectangular

(176)*

* Rectangular hole dimensions are reference values.

hole

5027.5

(96)*

188

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

2-38

2-4 External and Mounting Dimensions

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

Wall Mounting

External dimensions Mounting dimensions

130

R2.6

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

212

220

100

130

6-M4

240

Standard Models and External Dimensions

R2.6

130 10015

100

φ5.2

5.2

φ5.2

5.2

5.2 5.2 65

220

R2.6

240

250

2.5

212

(228)*

Rectangular

hole

100 (132)*

6-M4

240

40.7

2.5

* Rectangular hole dimensions are reference values.

2-39

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

3-phase 400 VAC: R88D-KT75F (7.5 kW)

250

235

220

210 11

210

233

334

3.5

R2.6

φ5.2

R2.6 R2.6

R2.6

2.5

10-M4

235

220

180

233

Wall Mounting

External dimensions

2-4 External and Mounting Dimensions

Standard Models and External Dimensions

Mounting dimensions

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

2-40

250

235

220

210 11

210

233

334

R2.6

φ5.2

R2.6 R2.6

R2.6

2.5

Rectangular

hole

10-M4

235

(227)*

27.8

180

(235)*

2-4 External and Mounting Dimensions

Front Mounting (Using Front Mounting Brackets)

External dimensions

Standard Models and External Dimensions

Mounting dimensions

* Rectangular hole dimensions are reference values.

2-41

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

3-phase 400 VAC: R88D-KT150F (15 kW)

261

231

30.5

450

7.5435

30.5

231

270

R3.5 R3.5

φ7φ7

261

450

435

200

30.5 4-M6

Wall Mounting

External dimensions

2-4 External and Mounting Dimensions

Standard Models and External Dimensions

Mounting dimensions

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

2-42

2-4 External and Mounting Dimensions

INC

M3 (depth 6)

φ8h6

30h7

12.5

3h9

6.2

25LL

1.5 min. Boss insertion position

(only for the ones with oil seal)

R3.7

R4.2

2−φ4.3

φ46±0.2

40×40

(Key groove P9)

(Shaft end specifications with key and tap)

Encoder connector

Motor connector

46.6

Servomotor Dimensions

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

50 W/100 W (without Brake)

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

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

ABS

Dimensions (mm)

Model

LL LM LN

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. Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

Standard Models and External Dimensions

2-43

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

50 W/100 W (with Brake)

INC

ABS

M3 (depth 6)

12.5

3h9

6.2

R3.7

R4.2

2−φ4.3

φ46±0.2

40×40

(Key groove P9)

Motor connector

φ8h6

φ30h7

1.5 min. Boss insertion position

(only for the ones with oil seal)

(Shaft end specifications

with key and tap)

Brake connector

Encoder connector

46.6

R88M-K05030H-B (S2)/-K10030L-B (S2) R88M-K05030T-B (S2)/-K10030S-B (S2)

2-4 External and Mounting Dimensions

Standard Models and External Dimensions

Model

Dimensions (mm)

LL LM LN

R88M-K05030@-Bx 102 78 23 R88M-K10030@-Bx 122 98 43

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

end of the model number. Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

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

2-44

INC

ABS

φSh6

φ50h7

20 (200 W) 25 (400 W)

22.5 (400 W) 5 (400 W)

4 (200 W)

8.5

6.5

φ70±0.2

60×60

(Shaft end specifications

with key and tap)

1.5 min. Boss insertion position

(only for the ones with oil seal)

(Key groove P9)

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

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

18 (200 W)

4−φ4.5

Motor connector

Encoder connector

52.5

INC

ABS

20 (200 W) 25 (400 W)

22.5 (400 W)

5 (400 W)

4 (200 W)

8.5

φ70±0.2

60×60

(Shaft end specifications with key and tap)

1.5 min.

6.5

(Key groove P9)

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

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

18 (200 W)

φSh6

φ50h7

4−ø4.5

Boss insertion position (only for the ones with oil seal)

Brake connector

Encoder connector

Motor connector

52.5

2-4 External and Mounting Dimensions

200 W/400 W (without Brake)

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

Standard Models and External Dimensions

Model

Dimensions (mm)

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. Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

200 W/400 W (with Brake)

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

R88M-K20030@-B@ 116 93 11 R88M-K40030@-B@ 135.5 112.5 14

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

2-45

Model

Dimensions (mm)

LL LM S

end of the model number. Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

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

750 W (without Brake)

(Shaft end specifications with key and tap)

35 25

6h9

15.5

112.2

86.2 83

φ19h6

φ70h7

Motor connector

Encoder connector

80×80

4−φ6

φ90±0.2

M5 (depth 10)

ABS

2-4 External and Mounting Dimensions

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

INC

ABS

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 with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

Standard Models and External Dimensions

750 W (with Brake)

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

61.6

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

INC

Encoder connector

Brake connector

148.2

122.2

end of the model number. Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

Motor connector

80×80

φ19h6

φ70h7

(Shaft end specifications

4−φ6

φ90±0.2

with key and tap)

25 22

15.5

6h9

M5 (depth 10)

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

2-46

2-4 External and Mounting Dimensions

INC

ABS

115

49

135

100100

M3, through

6h9

19h6

15.5

95h7

M5 (depth 12)

(Shaft end specifications with key and tap)

Encoder connector

Motor and brake connector

KB2

KB1

55LL

101



19h6

95h7

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)

Dimensions (mm)

Model

LL LM KB1 KB2

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

INC

ABS

Standard Models and External Dimensions

2-47

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

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 with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

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

3 kW (without Brake)

ABS

INC

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

3 kW (with Brake)

R88M-K3K030H-B (S2)

2-4 External and Mounting Dimensions

INC

Motor and brake connector

Encoder connector

R88M-K3K030T-B (S2)

KB2

112

113

ABS

55LL

312

22h6



110h7

120120

(Shaft end specifications with key and tap)

49

162

145

M3, through

22h6

110h7

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 with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

Standard Models and External Dimensions

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

2-48

2-4 External and Mounting Dimensions

ABS

130130

49

165

145

M3, through

M8 (depth 20)

24h6

110h7

8h9

(Shaft end specifications with key and tap)

Encoder connector

Motor and brake connector

LM KB2 KB1

65LL

118

612



24h6

110h7

4 kW/5 kW (without Brake)

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

INC

ABS

4 kW/5 kW (with Brake)

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

Model

LL LM KB1 KB2

R88M-K4K030@ 208 164 127 186

Dimensions (mm)

INC

Standard 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. Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

2-49

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

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

ABS

INC

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@ 1419766119

KB2

KB1

Model

55LL

310

19h6



100100

95h7

(Shaft end specifications with key and tap)

49

135

115

Dimensions (mm)

LL LM KB1 KB2

INC

M3, through

19h6

95h7

15.5

ABS

Standard 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. Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

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

2-50

2-4 External and Mounting Dimensions

INC

120120

4-9

145

162

M3, through

M5 (depth 12)

22h6

110h7

8h9

(Shaft end specifications with key and tap)

Encoder connector

Motor and brake connector

KB2

112

55LL

113

312

22h6

110h7

3 kW (without Brake)

3 kW (with Brake)

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

INC

ABS

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

Model

R88M-K3K030@ 190 146 168 R88M-K3K030@-B@ 215 171 193

ABS

Dimensions (mm)

LL LM KB2

Standard Models and External Dimensions

2-51

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 with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

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

4 kW/5 kW (without Brake)

ABS

INC

ABS

130130

49

165

145

M3, through

M8 (depth 20)

24h6

110h7

8h9

(Shaft end specifications with key and tap)

Encoder connector

Motor and brake connector

KB2

KB1

65LL

118

612



24h6

110h7

2-4 External and Mounting Dimensions

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

INC

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)

Model

LL LM KB1 KB2

R88M-K4K030@ 208 164 127 186 R88M-K5K030@ 243 199 162 221

Dimensions (mm)

Standard Models and External Dimensions

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 with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

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

2-52

2-4 External and Mounting Dimensions

INC

ABS

130130

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

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

M3, through

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

8h9

18 (1.0 to 2.0 kW)

20 (3.0 kW)

(Shaft end specifications with key and tap)

Sh6

49

165

145

110h7

Encoder connector

Motor and brake connector

116 (1.0 to 2.0 kW)

118 (3.0 kW)

KB2

KB1

LRLL

612



Sh6

110h7

1,500-r/min and 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)

Dimensions (mm)

Model

LL LR LM S KB1 KB2

R88M-K1K020@ 138 55 94 22 60 116 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

INC

Standard Models and External Dimensions

2-53

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. Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

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

4 kW/5 kW (without Brake)

INC

176176

M3, through

(Shaft end specifications with key and tap)

413.5

200

233

35h6

114.3h7

M12 (depth 25)

10h9

Encoder connector

Motor and brake connector

114.3h7

35h6

KB2

KB1

70LL

140

3.218

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)

2-4 External and Mounting Dimensions

INC

ABS

Standard 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. Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

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

2-54

ABS

M4, through

4-φ13.5

176 × 176

43.5

φ200

233

M16 (depth 32 min.)

12h9

-0.2

Sh6

φ114.3h7

Encoder connector

Motor connector

Brake connector

3.2

114.3h7

Sh6

LM KB2

KB1

110

61.5

184

(Shaft end specifications with key and tap)

(Key groove P9)

(for model with brake only)

2 min.

Boss insertion position

2-4 External and Mounting Dimensions

7.5 kW (without Brake)

R88M-K7K515T (-S2)

7.5 kW (with Brake)

R88M-K7K515T-B (S2)

Standard Models and External Dimensions

Model

Dimensions (mm)

LL LR LM S KB1 KB2 L1 L2 L3

R88M-K7K515T@ 312 113 268 42 219 290 117.5 117.5 149 R88M-K7K515T-B@ 337 113 293 42 253 315 117.5 152.5 183

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 with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

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

11 kW/15 kW (without Brake)

ABS

(Key groove P9)

M5, through

200h7

-0.2

16h9

Sm6

Encoder connector

Brake connector

Motor connector

4-φ13.5

205

61.5

220 × 220

Sm6

KB1

KB2

110

200h7

57 57

φ235

φ268

(Shaft end specifications with key and tap)

M20 (depth 40 min.)

(for model with brake only)

2 min.

Boss insertion position

R88M-K11K015T (-S2)/-K15K015T (-S2)

11 kW/15 kW (with Brake)

2-4 External and Mounting Dimensions

R88M-K11K015T-B (S2)/R88M-K15K015T-B (S2)

ABS

Dimensions (mm)

Model

LL LR LM S KB1 KB2 L1 L2 L3

R88M-K11K015T@ 316 116 272 55 232 294 124.5 124.5 162 R88M-K15K015T@ 384 116 340 55 300 362 158.5 158.5 230

Standard Models and External Dimensions

R88M-K11K015T-B@ 364 116 320 55 266 342 124.5 159.5 196 R88M-K15K015T-B@ 432 116 388 55 334 410 158.5 193.5 264

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 with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

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

2-56

2-4 External and Mounting Dimensions

ABS

INC

ABS

1,500-r/min and 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)

R88M-K40020@ 131.5 87.5 56.5 109.5 R88M-K60020@ 141 97 66 119

KB2

Model

KB1

INC

55LL

100100

310

19h6



95h7

Dimensions (mm)

LL LM KB1 KB2

(Shaft end specifications with key and tap)

M3, through

49

135

115

19h6

95h7

6h9

M5 (depth 12)

15.5

Standard Models and External Dimensions

R88M-K40020@-B@ 158.5 114.5 53.5 136.5 R88M-K60020@-B@ 168 124 63 146

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

end of the model number. Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

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

Omron R88M-K, R88D-KT, OMNUC G5 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Terms and Conditions Agreement

Items Requiring Acknowledgment

Safety Precautions

Items to Check after Unpacking

Revision History

Structure of This Document

Table Of Contents

1-1 Outline

1-2 System Configuration

1-3 Names and Functions

1-4 System Block Diagrams

1-5 Applicable Standards

1-6 Unit Versions

2-1 Servo System Configuration

2-2 How to Read Model Numbers

2-3 Standard Model Tables

2-4 External and Mounting Dimensions

Servo Drive Dimensions

Servomotor Dimensions