Omron R88M-W2K010H, R88M-W90010T, R88M-W2K010T, R88M-W45015T, R88M-W85015T User Manual

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Cat. No. I544-E1-05

USER’S MANUAL

OMNUC W SERIES

MODELS R88M-W@

(AC Servomotors)

MODELS R88D-WN@-ML2

(AC Servo Drivers)

AC SERVOMOTORS/SERVO DRIVERS

WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS

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

1.To ensure safe and proper use of your OMRON Servomotors and Servo Drivers, please read this manual (Cat. No. I544-E1) to gain sufficient knowledge of the products, safety information, and precautions before actual use.

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

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

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

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

NOTICE

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

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

The product contains dangerous high voltages inside. Turn OFF the power and wait for at least

3. five minutes to allow power to discharge before handling or working with the product. Never attempt to disassemble the product.

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

• Precautions on the dangers of high-voltage equipment.

• Precautions on touching the terminals of the product even after power has been turned OFF. (These terminals are live even with the power turned OFF.)

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

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

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

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

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

• Servomotors with incremental encoders: R88M-W@H-@

• Servomotors with absolute encoders: R88M-W@T- @

Items to Check After Unpacking

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

• Has the correct product been delivered (i.e., the correct model number and specifications)?

• Has the product been damaged in shipping?

• Are any screws or bolts loose?

USER’S MANUAL

OMNUC W SERIES

MODELS R88M-W@

(AC Servomotors)

MODELS R88D-WN@-ML2

(AC Servo Drivers)

AC SERVOMOTORS/SERVO DRIVERS

WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS

Notice:

r f

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

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

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

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

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

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

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

minor or moderate injury, or property damage.

OMRON Product References

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

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

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

Visual Aids

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

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

 OMRON, 2004

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

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

General Warnings

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

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

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

!WARNING Always connect the frame ground terminals of the Servo Driver and the Servomo-

tor to a class-3 ground (to 100 result in electric shock.

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

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

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

!WARNING Installation, operation, maintenance, or inspection must be performed by autho-

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

Ω or less). Not connecting to a class-3 ground may

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

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

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

Doing so may result in electric shock.

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

result in injury.

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

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

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

!WARNING Provide an external emergency stopping device that allows an instantaneous stop

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

!WARNING Do not come close to the machine immediately after resetting momentary power

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

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

incorrectly may result in fire or damage to the products.

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

fire, electric shock, or damage to the product.

• Locations subject to direct sunlight.

• Locations subject to temperatures or humidity outside the range specified in the specifications.

• Locations subject to condensation as the result of severe changes in temperature.

• Locations subject to corrosive or flammable gases.

• Locations subject to dust (especially iron dust) or salts.

• Locations subject to shock or vibration.

• Locations subject to exposure to water, oil, or chemicals.

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

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

Storage and Transportation Precautions

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

may result in injury or malfunction.

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

may result in injury or malfunction.

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

ing the machinery may result in injury or malfunction.

Installation and Wiring Precautions

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

injury.

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

the product. Doing so may result in fire.

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

malfunction.

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

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

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

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

injury, or malfunction.

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

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

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

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

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

voltage may result in malfunction or burning.

!Caution Take appropriate measures to ensure that the specified power with the rated volt-

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

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

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

!Caution Take appropriate and sufficient countermeasures when installing systems in the

following locations:

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields and magnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

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

ity may damage the battery or cause it to explode.

Operation and Adjustment Precautions

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

operation. Not doing so may result in equipment damage.

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

them. Not doing so may result in equipment damage.

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

unstable operation and injury.

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

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

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

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

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

result in malfunction.

Maintenance and Inspection Precautions

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

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

!Caution Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so

may result in malfunction, fire, or electric shock.

Warning Labels

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

Warning label

Precautions for Safe Use

Dispose of the product and batteries according to local ordinances as they apply.

Have qualified specialists properly dispose of used batteries as industrial waste.

Read and Understand this Manual

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

Warranty and Limitations of Liability

WARRANTY

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

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

LIMITATIONS OF LIABILITY

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

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

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

Application Considerations

SUITABILITY FOR USE

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

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

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

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

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

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

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

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

PROGRAMMABLE PRODUCTS

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

Disclaimers

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

DIMENSIONS AND WEIGHTS

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

PERFORMANCE DATA

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

ERRORS AND OMISSIONS

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

Table of Contents

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

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

1-2 System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1-3 Servo Driver Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5

1-4 Applicable Standards and Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1-5 System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-7

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

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

2-2 Servo Driver and Servomotor Combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16

2-3 External and Mounted Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18

2-4 Servo Driver Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-50

2-5 Servomotor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-71

2-6 Cable and Connector Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-93

2-7 External Regeneration Resistor Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-121

2-8 Absolute Encoder Backup Battery Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-122

2-9 Reactor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-124

2-10 MECHATROLINK-II Repeater Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-126

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

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

3-2 Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3-3 Regenerative Energy Absorption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32

3-4 Adjustments and Dynamic Braking When Load Inertia Is Large . . . . . . . . . . . . . . . . . . . . . 3-38

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

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

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

4-3 User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

4-4 Operation Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-75

4-5 Trial Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-96

4-6 Making Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-98

4-7 Advanced Adjustment Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-103

4-8 Using Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-130

4-9 Using Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-132

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

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

5-2 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

5-3 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12

5-4 Overload Characteristics (Electronic Thermal Characteristics) . . . . . . . . . . . . . . . . . . . . . . . 5-43

5-5 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45

5-6 Replacing the Absolute Encoder Battery (ABS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-47

Table of Contents

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

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

6-2 Parameter Setting Tables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6-3 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-1

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

Chapter 1

Introduction

1-1 Features

1-2 System Configuration

1-3 Servo Driver Nomenclature

1-4 Applicable Standards and Models

1-5 System Block Diagrams

Introduction

Chapter 1

1-1 Features

OMNUC W-series AC Servo Drivers with built-in MECHATROLINK-II Communications are designed specifically for use with the MECHATROLINK-II high-speed motion field network. Combining these Servo Drivers with MECHATROLINK-II-compatible Motion Control Units (CS1W-MCH71 or CJ1W-MCH71) or Position Control Units (CJ1W-NCF71) is an easy way to create a high-speed servo control system with a communications link between the Servo Drivers and the Controllers.

■ Data Transfer by MECHATROLINK-II Communications

When a Servo Driver is combined with a MECHATROLINK-II-compatible Motion Control Unit (CS1WMCH71 or CJ1W-MCH71) or Position Control Unit (CJ1W-NCF71), all control data is transferred between the Servo Driver and the Controller by means of data communications.

Control commands are transferred by means of data communications, so Servomotor performance is not limited by control interface specifications, such as response frequencies for input pulses and encoder feedback pulses. This allows the Servomotor to perform to its fullest capacity.

Moreover, system data control is simplified by having all Servo Driver parameters and monitor data managed by the host controller.

■ Built-in Communications Interface

The MECHATROLINK-II communications interface has been built into the Servo Driver. In comparison with earlier W-series Servo Drivers, in which the MECHATROLINK-II Application Module is installed, only 60% of the installation surface area is required. (for 200-V/100-W Servo Drivers). This allows a great saving of space in the control panel.

■ W-series Servomotor Compatibility

A W-series Servomotor can be used as is, including the encoder cable and power cable, so the system can be upgraded without changing the structural design.

The W-series product line offers 3,000-r/min Servomotors (Cylinder-style: 50-W to 3-kW; Flat-style: 100-W to 1.5-kw), 1,000-r/min Servomotors (300-W to 2-kW), and 1,500-r/min Servomotors (450-W to 1.8-kW). Also, IP67 (waterproof) Servomotors can be connected in the same way.

■ High-speed, High-precision Motion Control Capability

A less-deviation control function and a predictive control function are provided to shorten the Servomotor's settling time and achieving high tracking capability.

The W-series Servomotors handle motion control with increased speed and precision, including synchronous control in combination with CS1W-MCH71 or CJ1W-MCH71 Motion Control Units.

1-2

Introduction

■ Regenerative Power Processing

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

■ Conformity to Standards

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

■ High-frequency Current Countermeasures

On Servo Drivers of 1 kW and above, a current reactor connection terminal is provided to assist the user in controlling high-frequency current.

Chapter 1

1-3

Introduction

INC

ABS

Controller (MECHATROLINK-II Type)

MCH71

1-2 System Configuration

Controller (MECHATROLINK-II Type)

M L

U NIT

N o.

P A

2 0 5

E R

SYSMAC CJ1 Programmable Controller

R U

E R

R / A L

C J

P U

4 4

I N

H P R

O G

R A

M M

A B L E

P R P H

L C O

N T

R O

L L E

C O M

O P

E N

M C

P W

B U

S Y

1 0

2 4

I N

/ N

P ERI

E R

R U

U T

2 4

V D C

R T

CJ1W-NCF71 Position Control Unit

CJ1W-MCH71 Motion Control Unit

Chapter 1

MECHATRO

LINK-II

R88D-WN@@@-ML2

OMNUC W-series AC Servo Driver with builtin MECHATROLINK-II

Communications

MECHATRO

LINK-II

Controller (MECHATROLINK-II Type)

SYSMAC CS1 Programmable Controller

C H

7 1

R U N E R

H E R

3 E R

4 S S I

U N

T N o

. B

S S

I / O

M L

CS1W-MCH71 Motion Control Unit

INC

ABS

R88M-W@

OMNUC W-series

AC Servomotor

1-4

Introduction

1-3 Servo Driver Nomenclature

With Top Cover Open

SW1

CHARGE

1234

POWER

COM

DIP Switch

Used for MECHATROLINK-II communications settings.

Model Number

Rotary Switch (SW1)

Used for setting MECHATROLINK-II node address.

Charge Indicator

Lit when the main-circuit is powered. Also, for Servo Drivers of 1 kW or less, the indicator lights dimly when only the control power supply is ON. Even after the power is turned OFF, it remains lit as long as an electric charge remains in the main-circuit capacitor, so do not touch the Servo Driver's terminals during this period.

Main-circuit Power Terminals

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

R88D-WN01H-ML2

AC SERVO DRIVER

200

100

A/B

Chapter 1

Analog Monitor Connector (CN5)

Motor rotation speeds, torque command values, etc., can be monitored using a special cable.

Panel Display

Displays Servomotor status with a 7-segment LED display.

Power Indicator (POWER)

Lit when the control power is being supplied.

Communications Indicator (COM)

Lit when MECHATROLINK-II communications are in progress.

Input voltage

C N

Top cover

MECHATROLINK-II Communications Connectors (CN6A, CN6B)

Connect either a special cable for a MECHATROLINK-II system or a Terminating Resister.

Control Power Terminals

These are input terminals for the control power supply.

Regenerative Resistance Terminals

These are terminals for external regenerative resistance.

Servomotor Connector Terminals

These are connector terminals for Servomotor power line.

Ground Terminals

These are ground terminals for preventing electrical shock. Connect to 100 Ω or less.

U V W

Personal Computer Connector (CN3)

This is the connector for communications with a personal computer.

C N

I/O Signal Connector (CN1)

This is the connector for command input signals and sequence I/O signals.

Nameplate (Side Panel)

The nameplate shows the Servo Driver model number and ratings.

C N 2

C N 4

Encoder Connector (CN2)

This is the connector for the encoder provided for the Servomotor.

Expansion Connector (CN4)

This is a supplementary connector for future expansion. It cannot presently be used, so do not connect anything to it.

1-5

Introduction

Chapter 1

1-4 Applicable Standards and Models

■ EC Directives

EC Directive Product Applicable standard Remarks

Low Voltage AC Servo Drivers EN50178 Safety requirements for electrical equipment for

measurement, control, and laboratory use.

AC Servomotors IEC60034-8

EN60034-1, -5, -9

EMC AC Servo Drivers

and AC Servomotors

EN55011 class A group 1 Limits and methods for measuring radio distur-

EN61000-6-2 Electromagnetic compatibility generic immunity

Note Installation under the conditions specified in 3-2-5 Wiring for Conformity to EMC Directives is

required to conform to EMC Directives.

■ UL/cUL Standards

Rotating electrical machines.

bance characteristics of industrial, scientific, and medical (ISM) radio-frequency equipment.

standard in industrial environments

Standards Product Applicable standard File No. Remarks

UL AC Servo Drivers UL508C E179149 Power conversion equipment

AC Servomotors UL1004 E179189 Electric motors

cUL AC Servo Drivers cUL C22.2 No. 14 E179149 Industrial control equipment

AC Servomotors cUL C22.2 No. 100 E179189 Motors and generators

1-6

Introduction

Chapter 1

1-5 System Block Diagrams

■ 100 V AC: R88D-WNA5L-ML2/WN01L-ML2/-WL02L-ML2/-WN04L-ML2

Single-phase 100 to 115 V +10%/−15% (50/60 Hz)

Noise filter

1KM

L1C

L2C

Varistor

Voltage detection

Relay drive

Control power supply

Voltage detection

±5 V 15 V

B1/ B2

Servomotor

Gate drive

Gate drive overcurrent protection

Temperature detection

Current detection

Dynamic brake circuit

CN2

CN10

CN5

Analog voltage conversion

CN1

5 V ±12 V

ASIC (PWM control, etc.)

Analog monitor output

Encoder output

Power

Power ON

1KM

Open for servo alarm

1Ry

1KM

Surge protector

Status indicator

CN3

Personal computer

CPU (position, speed calculations, etc.)

I/O

Control I/O

CN6A

I/F

CN6B

MECHATROLINK-II

OFF

■ 200 V AC: R88D-WNA5H-ML2/WN01H-ML2/-WL02H-ML2/-WN04H-ML2

Single-phase 200 to 230 V +10%/−15% (50/60 Hz)

Noise filter

1KM

L1C

L2C

Varistor

Voltage detection

Varistor

Relay drive

Control power supply

Voltage detection

±5 V 15 V

HARG

5 V ±12 V

B1/ B2

Gate drive

Gate drive overcurrent protection

CN10

ASIC (PWM control, etc.)

Temperature detection

Current detection

Analog voltage conversion

Dynamic brake circuit

CN2

CN5

CN1

Servomoto

Analog monitor output

Encoder output

Power OFF

Power ON

1KM

Open for servo alarm

1Ry

1KM

Surge protector

Status indicator

CN3

Personal computer

CPU (position, speed calculations, etc.)

I/O

Control I/O

CN6A

I/F

CN6B

MECHATROLINK-II

1-7

Introduction

■ 200 V AC: R88D-WN05H-ML2/WN10H-ML2

Three-phase 200 to 230 V +10%/−15% (50/60 Hz)

Noise filter

1KM

Power OFF

L1C

L2C

Power ON

1KM

Varistor

Open for servo alarm

1Ry

Voltage detection

1KM

Surge protector

Relay drive

Control power supply

Status indicator

Personal computer

CN3

Voltage detection

±5 V 15 V

CHARGE

5 V ±12 V

B1/ B2 B3

Gate

Gate drive overcurrent protection

drive

CN10

CPU (position, speed calculations, etc.)

ASIC (PWM control, etc.)

Temperature detection

Current detection

Analog voltage conversion

Chapter 1

Dynamic brake circuit

CN2

CN5

CN1

I/O

CN6A

I/F

CN6B

Servomotor

Analog monitor output

Encoder output

Control I/O

MECHATROLINK-II

■ 200 V AC: R88D-WN08H-ML2

Single-phase 200 to 230 V +10%/−15% (50/60 Hz)

Noise filter

1KM

Power OFF

L1C

L2C

Power ON

1KM

Varistor

Open for servo alarm

1Ry

Voltage detection

1KM

Surge protector

Relay drive

Control power supply

Status indicator

Personal com

CN3

uter

Voltage detection

±5 V 15 V

CHARGE

5 V ±12 V

B1/ B2 B3

Gate

Gate drive overcurrent protection

drive

CN10

CPU (position, speed calculations, etc.)

ASIC (PWM control, etc.)

Temperature detection

Current detection

Analog voltage conversion

Dynamic brake circuit

I/O

I/F

CN2

CN5

CN1

CN6A

CN6B

Analog monitor output

Encoder output

Control I/O

MECHATROLINK-II

Servomotor

1-8

Introduction

■ 200 V AC: R88D-WN15H-ML2/-WN20H-ML2/-WN30H-ML2

Three-phase 200 to 230 V +10%/−15% (50/60 Hz)

B1/ B2 B3

Chapter 1

Noise filter

1KM

Power OFF

L1C

L2C

Power ON

1KM

Varistor

Open for servo alarm

1Ry

Voltage detection

1KM

Surge protector

Relay drive

Control power supply

Status indicator

Personal com

CN3

uter

Voltage detection

±5 V 15 V

CHARGE

5 V ±12 V

Gate drive

CPU (position, speed calculations, etc.)

Gate drive overcurrent protection

CN10

ASIC (PWM control, etc.)

Current detection

Analog voltage conversion

Dynamic brake circuit

I/O

I/F

CN2

CN5

CN1

CN6A

CN6B

Analog monitor output

Encoder output

Control I/O

MECHATROLINK-II

Servomotor

1-9

Introduction

Chapter 1

1-10

Chapter 2

Standard Models and Specifications

2-1 Standard Models

2-2 Servo Driver and Servomotor Combinations

2-3 External and Mounted Dimensions

2-4 Servo Driver Specifications

2-5 Servomotor Specifications

2-6 Cable and Connector Specifications

2-7 External Regeneration Resistor Specifications

2-8 Absolute Encoder Backup Battery Specifications

2-9 Reactor Specifications

2-10 MECHATROLINK-II Repeater Specifications

Standard Models and Specifications

2-1 Standard Models

Chapter 2

■ Servo Drivers

Specifications Model

Single-phase 100 V AC

Single-phase 200 V AC

Three-phase 200 V AC

■ Peripheral Cables and

50 W R88D-WNA5L-ML2 100 W R88D-WN01L-ML2 200 W R88D-WN02L-ML2 400 W R88D-WN04L-ML2 50 W R88D-WNA5H-ML2 100 W R88D-WN01H-ML2 200 W R88D-WN02H-ML2 400 W R88D-WN04H-ML2 750 W R88D-WN08H-ML2 500 W R88D-WN05H-ML2

1.0 kW R88D-WN10H-ML2

1.5 kW R88D-WN15H-ML2

2.0 kW R88D-WN20H-ML2

3.0 kW R88D-WN30H-ML2

Connectors

Specifications Model

Analog Monitor Cable (CN5)

Computer Monitor Cable (CN3)

Control I/O Connector (CN1) R88A-CNW01C Encoder Connector (CN2) R88A-CNW01R Encoder Connector for Motor

End Absolute Encoder Battery

Cable (with Battery)

DOS/V 2 m R88A-CCW002P2

1 m R88A-CMW001S

R88A-CNW02R

R88A-CRWC0R3C

Note Required when using a Servomotor with

an absolute encoder. The cable and connector are included.

■ Reactors

Specifications Model

For R88D-WNA5L-ML2/01L-ML2/ 02H-ML2

For R88D-WN02L-ML2/04H-ML2 R88A-PX5054 For R88D-WN04L-ML2/08H-ML2 R88A-PX5056 For R88D-WNA5H-ML2/01H-ML2 R88A-PX5052 For R88D-WT04H-ML2 R88A-PX5069 For R88D-WN05H-ML2/10H-ML2 R88A-PX5061 For R88D-WN15H-ML2/20H-ML2 R88A-PX5060 For R88D-WN30H-ML2 R88A-PX5059

■ Front-panel Brackets

Specifications Model

For R88D-WNA5L-ML2 to 04LML2

For R88D-WNA5H-ML2 to 10HML2

For R88D-WN15H-ML2 R88A-TK06W For R88D-WN20H-ML2/30H-ML2 R88A-TK07W

R88A-PX5053

R88A-TK05W

Note Required when mounting a Servo Driver

from the front panel.

Note In order to use a personal computer to

monitor a Servo Driver and set its parameters, Computer Monitor Cable and Computer Monitor Software are required. Please ask an OMRON representative for details.

■ Absolute Encoder Backup

Battery

Specifications Model

1,000 mA·h, 3.6 V R88A-BAT01W

2-2

Standard Models and Specifications

Chapter 2

■ Standard Encoder Cables (for

Incremental and Absolute Encoders)

Specifications Model

For 3,000-r/ min Servomotors

For 3,000-r/ min Flat-style Servomotors

For 1,000-r/ min Servomotors

For 1,500-r/ min Servomotors

30 to 750 W

1 to 3kW

100 W to

1.5 kW

300 W to

2.0 kW 450 W

1.8 kW

3 m R88A-CRWA003C 5 m R88A-CRWA005C 10 m R88A-CRWA010C 15 m R88A-CRWA015C 20 m R88A-CRWA020C 30 m R88A-CRWA030C 40 m R88A-CRWA040C 50 m R88A-CRWA050C 3 m R88A-CRWB003N 5 m R88A-CRWB005N 10 m R88A-CRWB010N 15 m R88A-CRWB015N 20 m R88A-CRWB020N 30 m R88A-CRWB030N 40 m R88A-CRWB040N 50 m R88A-CRWB050N 3 m R88A-CRWA003C 5 m R88A-CRWA005C 10 m R88A-CRWA010C 15 m R88A-CRWA015C 20 m R88A-CRWA020C 30 m R88A-CRWA030C 40 m R88A-CRWA040C 50 m R88A-CRWA050C 3 m R88A-CRWB003N 5 m R88A-CRWB005N 10 m R88A-CRWB010N 15 m R88A-CRWB015N 20 m R88A-CRWB020N 30 m R88A-CRWB030N 40 m R88A-CRWB040N 50 m R88A-CRWB050N

■ Standard Power Cable

● Power Cable for 3,000-r/min

Servomotors

Specifications Model

Without brake With brake

30 to 750 W

1 to 2kW

3 kW 3 m R88A-CAWD003S R88A-CAWD003B

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

3 m R88A-CAWA003S R88A-CAWA003B 5 m R88A-CAWA005S R88A-CAWA005B 10 m R88A-CAWA010S R88A-CAWA010B 15 m R88A-CAWA015S R88A-CAWA015B 20 m R88A-CAWA020S R88A-CAWA020B 30 m R88A-CAWA030S R88A-CAWA030B 40 m R88A-CAWA040S R88A-CAWA040B 50 m R88A-CAWA050S R88A-CAWA050B 3 m R88A-CAWC003S R88A-CAWC003B 5 m R88A-CAWC005S R88A-CAWC005B 10 m R88A-CAWC010S R88A-CAWC010B 15 m R88A-CAWC015S R88A-CAWC015B 20 m R88A-CAWC020S R88A-CAWC020B 30 m R88A-CAWC030S R88A-CAWC030B 40 m R88A-CAWC040S R88A-CAWC040B 50 m R88A-CAWC050S R88A-CAWC050B

5 m R88A-CAWD005S R88A-CAWD005B 10 m R88A-CAWD010S R88A-CAWD010B 15 m R88A-CAWD015S R88A-CAWD015B 20 m R88A-CAWD020S R88A-CAWD020B 30 m R88A-CAWD030S R88A-CAWD030B 40 m R88A-CAWD040S R88A-CAWD040B 50 m R88A-CAWD050S R88A-CAWD050B

Servomotors

Specifications Model

Without brake With brake

100 to 750 W

2-3

Standard Models and Specifications

Chapter 2

Specifications Model

Without brake With brake

1.5 kW 3 m R88A-CAWB003S R88A-CAWB003B 5 m R88A-CAWB005S R88A-CAWB005B 10 m R88A-CAWB010S R88A-CAWB010B 15 m R88A-CAWB015S R88A-CAWB015B 20 m R88A-CAWB020S R88A-CAWB020B 30 m R88A-CAWB030S R88A-CAWB030B 40 m R88A-CAWB040S R88A-CAWB040B 50 m R88A-CAWB050S R88A-CAWB050B

● Power Cable for 1,000-r/min

Servomotors

Specifications Model

Without brake With brake

300 to 900 W

1.2 to

2kW

3 m R88A-CAWC003S R88A-CAWC003B 5 m R88A-CAWC005S R88A-CAWC005B 10 m R88A-CAWC010S R88A-CAWC010B 15 m R88A-CAWC015S R88A-CAWC015B 20 m R88A-CAWC020S R88A-CAWC020B 30 m R88A-CAWC030S R88A-CAWC030B 40 m R88A-CAWC040S R88A-CAWC040B 50 m R88A-CAWC050S R88A-CAWC050B 3 m R88A-CAWD003S R88A-CAWD003B 5 m R88A-CAWD005S R88A-CAWD005B 10 m R88A-CAWD010S R88A-CAWD010B 15 m R88A-CAWD015S R88A-CAWD015B 20 m R88A-CAWD020S R88A-CAWD020B 30 m R88A-CAWD030S R88A-CAWD030B 40 m R88A-CAWD040S R88A-CAWD040B 50 m R88A-CAWD050S R88A-CAWD050B

● Power Cable for 1,500-r/min

Servomotors

Specifications Model

Without brake With brake

450 to

1.3 kW

1.8 kW 3 m R88A-CAWD003S R88A-CAWD003B

■ Encoder Cables for Robot

Cables (for Incremental and Absolute Encoders)

Specifications Model

For 3,000-r/ min Servomotors

30 to 750 W

1 to 3kW

3 m R88A-CRWA003CR 5 m R88A-CRWA005CR 10 m R88A-CRWA010CR 15 m R88A-CRWA015CR 20 m R88A-CRWA020CR 30 m R88A-CRWA030CR 40 m R88A-CRWA040CR 50 m R88A-CRWA050CR 3 m R88A-CRWB003NR 5 m R88A-CRWB005NR 10 m R88A-CRWB010NR 15 m R88A-CRWB015NR 20 m R88A-CRWB020NR 30 m R88A-CRWB030NR 40 m R88A-CRWB040NR 50 m R88A-CRWB050NR

2-4

Standard Models and Specifications

Chapter 2

Specifications Model

For 3,000-r/ min Flat-style Servomotors

100 W to

1.5 kW

3 m R88A-CRWA003CR 5 m R88A-CRWA005CR 10 m R88A-CRWA010CR 15 m R88A-CRWA015CR 20 m R88A-CRWA020CR 30 m R88A-CRWA030CR 40 m R88A-CRWA040CR 50 m R88A-CRWA050CR

For 1,000-r/ min Servomotors

For 1,500-r/ min Servomotors

300 W to

2.0 kW 450 W

1.8 kW

3 m R88A-CRWB003NR 5 m R88A-CRWB005NR 10 m R88A-CRWB010NR 15 m R88A-CRWB015NR 20 m R88A-CRWB020NR 30 m R88A-CRWB030NR 40 m R88A-CRWB040NR 50 m R88A-CRWB050NR

■ Power Cable for Robot Cables

● Power Cable for 3,000-r/min

Servomotors

Specifications Model

Without brake With brake

30 to 750 W

1 to 2kW

3 m R88A-CAWA003SR R88A-CAWA003BR 5 m R88A-CAWA005SR R88A-CAWA005BR 10 m R88A-CAWA010SR R88A-CAWA010BR 15 m R88A-CAWA015SR R88A-CAWA015BR 20 m R88A-CAWA020SR R88A-CAWA020BR 30 m R88A-CAWA030SR R88A-CAWA030BR 40 m R88A-CAWA040SR R88A-CAWA040BR 50 m R88A-CAWA050SR R88A-CAWA050BR 3 m R88A-CAWC003SR R88A-CAWC003BR 5 m R88A-CAWC005SR R88A-CAWC005BR 10 m R88A-CAWC010SR R88A-CAWC010BR 15 m R88A-CAWC015SR R88A-CAWC015BR 20 m R88A-CAWC020SR R88A-CAWC020BR 30 m R88A-CAWC030SR R88A-CAWC030BR 40 m R88A-CAWC040SR R88A-CAWC040BR 50 m R88A-CAWC050SR R88A-CAWC050BR

Specifications Model

Without brake With brake

3 kW 3 m R88A-CAWD003SR R88A-CAWD003BR

5 m R88A-CAWD005SR R88A-CAWD005BR 10 m R88A-CAWD010SR R88A-CAWD010BR 15 m R88A-CAWD015SR R88A-CAWD015BR 20 m R88A-CAWD020SR R88A-CAWD020BR 30 m R88A-CAWD030SR R88A-CAWD030BR 40 m R88A-CAWD040SR R88A-CAWD040BR 50 m R88A-CAWD050SR R88A-CAWD050BR

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

Servomotors

Specifications Model

Without brake With brake

100 to 750 W

1.5 kW 3 m R88A-CAWB003SR R88A-CAWB003BR

● Power Cable for 1,000-r/min

5 m R88A-CAWB005SR R88A-CAWB005BR 10 m R88A-CAWB010SR R88A-CAWB010BR 15 m R88A-CAWB015SR R88A-CAWB015BR 20 m R88A-CAWB020SR R88A-CAWB020BR 30 m R88A-CAWB030SR R88A-CAWB030BR 40 m R88A-CAWB040SR R88A-CAWB040BR 50 m R88A-CAWB050SR R88A-CAWB050BR

Servomotors

Specifications Model

Without brake With brake

300 to 900 W

3 m R88A-CAWC003SR R88A-CAWC003BR 5 m R88A-CAWC005SR R88A-CAWC005BR 10 m R88A-CAWC010SR R88A-CAWC010BR 15 m R88A-CAWC015SR R88A-CAWC015BR 20 m R88A-CAWC020SR R88A-CAWC020BR 30 m R88A-CAWC030SR R88A-CAWC030BR 40 m R88A-CAWC040SR R88A-CAWC040BR 50 m R88A-CAWC050SR R88A-CAWC050BR

2-5

Standard Models and Specifications

Specifications Model

Without brake With brake

1.2 to

2kW

● Power Cable for 1,500-r/min

Servomotors

Specifications Model

450 to

1.3 kW

1.8 kW 3 m R88A-CAWD003SR R88A-CAWD003BR

3 m R88A-CAWD003SR R88A-CAWD003BR 5 m R88A-CAWD005SR R88A-CAWD005BR 10 m R88A-CAWD010SR R88A-CAWD010BR 15 m R88A-CAWD015SR R88A-CAWD015BR 20 m R88A-CAWD020SR R88A-CAWD020BR 30 m R88A-CAWD030SR R88A-CAWD030BR 40 m R88A-CAWD040SR R88A-CAWD040BR 50 m R88A-CAWD050SR R88A-CAWD050BR

Without brake With brake

Chapter 2

2-6

Standard Models and Specifications

■ Servomotors

Specifications Model

With incremental encoder With absolute encoder

Straight shaft without

key

● 3,000-r/min Servomotors

Without brake

With brake

200 V 50 W R88M-W05030H R88M-W05030H-S1 R88M-W05030T R88M-W05030T-S1

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Straight shaft with key Straight shaft without

Chapter 2

Straight shaft with key

key

● 3,000-r/min Flat-style Servomotors

Without brake

With brake

200 V 100 W R88M-WP10030H R88M-WP10030H-S1 R88M-WP10030T R88M-WP10030T-S1

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

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

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

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

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

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

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

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

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

● 1,000-r/min Servomotors

Without brake

With brake

200 V 300 W R88M-W30010H R88M-W30010H-S2 R88M-W30010T R88M-W30010T-S2

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

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

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

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

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

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

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

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

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

2-7

Standard Models and Specifications

● 1,500-r/min Servomotors

Without brake

With brake

■ IP67 (Waterproof) Servomotors

● 3,000-r/min Servomotors

Without brake

With brake

200 V 450 W --- --- R88M-W45015T R88M-W45015T-S2

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

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

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

200 V 450 W --- --- R88M-W45015T-B R88M-W45015T-BS2

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

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

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

Specifications Model

With incremental encoder With absolute encoder

Straight shaft without

key

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

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

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

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

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

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

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

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

Straight shaft with key Straight shaft without

Chapter 2

Straight shaft with key

key

● 3,000-r/min Flat-style Servomotors

Without brake

With brake

200 V 100 W R88M-WP10030H-W R88M-WP10030H-WS1 R88M-WP10030T-W R88M-WP10030T-WS1

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

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

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

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

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

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

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

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

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

● 1,000-r/min Servomotors

Without brake

With brake

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

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

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

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

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

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

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

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

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

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

2-8

Standard Models and Specifications

● 1,500-r/min Servomotors

Without brake

With brake

200 V 450 W --- --- R88M-W45015TO R88M-W45015T-OS2

850 W --- --- R88M-W85015TO R88M-W85015T-OS2

1.3 kW --- --- R88M-W1K315TO R88M-W1K315T-OS2

1.8 kW --- --- R88M-W1K815TO R88M-W1K815T-OS2

200 V 450 W --- --- R88M-W45015T-BO R88M-W45015T-BOS2

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

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

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

Chapter 2

■ Servomotors with Gears

● Combination Table for Servomotors with Standard Gears

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

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

then the models cannot be combined.

3,000-r/min Servomotors

Specifications Basic model Gear (deceleration rate)

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

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

200 V 50 W R88M-W05030H/T Yes Yes Yes Yes

100 W R88M-W10030H/T Yes Yes Yes Yes

200 W R88M-W20030H/T Yes Yes Yes Yes

400 W R88M-W40030H/T Yes Yes Yes Yes

750 W R88M-W75030H/T Yes Yes Yes Yes

1 kW R88M-W1K030H/T Yes Yes Yes Yes Yes

1.5 kW R88M-W1K530H/T Yes Yes Yes Yes Yes

2 kW R88M-W2K030H/T Yes Yes Yes Yes Yes

3 kW R88M-W3K030H/T Yes Yes Yes Yes Yes

3,000-r/min Flat-style Servomotors

Specifications Basic model Gear (deceleration rate)

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

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

200 V 100 W R88M-WP10030H/T Yes Yes Yes Yes

200 W R88M-WP20030H/T Yes Yes Yes Yes

400 W R88M-WP40030H/T Yes Yes Yes Yes

750 W R88M-WP75030H/T Yes Yes Yes Yes

1.5 kW R88M-WP1K530H/T Yes Yes Yes Yes

2-9

Standard Models and Specifications

Chapter 2

1,000-r/min Servomotors

Specifications Basic model Gear (deceleration rate)

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

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

200 V 300 W R88M-W30010H/T Yes Yes Yes Yes Yes

600 W R88M-W60010H/T Yes Yes Yes Yes Yes

900 W R88M-W90010H/T Yes Yes Yes Yes Yes

1.2 kW R88M-W1K210H/T Yes Yes Yes Yes Yes

2 kW R88M-W2K010H/T Yes Yes Yes

1,500-r/min Servomotors

Specifications Basic model Gear (deceleration rate)

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

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

200 V 450 W R88M-W45015T Yes Yes Yes Yes Yes

850 W R88M-W85015T Yes Yes Yes Yes Yes

1.3 kW R88M-W1K315T Yes Yes Yes Yes Yes

1.8 kW R88M-W1K815T Yes Yes Yes Yes

■ Combination Table for Servomotors with Economy Gears

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

Note 1. The 1,000-r/min and 1,500-r/min Servomotors cannot be combined with Economy Gears. Note 2. A check mark in a box indicates that the two models can be combined. If the box is un-

checked, then the models cannot be combined.

3,000-r/min Servomotors

Specifications Basic model Gear (deceleration rate)

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

-G05CJ -G09CJ -G15C -G25CJ

200 V 50 W R88M-W05030H/T

100 W R88M-W10030H/T Yes Yes Yes Yes

200 W R88M-W20030H/T Yes Yes Yes Yes

400 W R88M-W40030H/T Yes Yes Yes Yes

750 W R88M-W75030H/T Yes Yes Yes Yes

1 kW R88M-W1K030H/T

1.5 kW R88M-W1K530H/T

2 kW R88M-W2K030H/T

3 kW R88M-W3K030H/T

2-10

Standard Models and Specifications

3,000-r/min Flat-style Servomotors

Specifications Basic model Gear (deceleration rate)

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

-G05CJ -G09CJ -G15C -G25CJ

200 V 100 W R88M-WP10030H/T Yes Yes Yes Yes

200 W R88M-WP20030H/T Yes Yes Yes Yes

400 W R88M-WP40030H/T Yes Yes Yes Yes

750 W R88M-WP75030H/T Yes Yes Yes Yes

1.5 kW R88M-WP1K530H/T

Chapter 2

2-11

Standard Models and Specifications

Chapter 2

● Servomotors with Standard Gears (Straight Shaft with Key)

3,000-r/min Servomotors

Specifications Model

With incremental encoder With absolute encoder

Without brake With brake Without brake With brake

200 V 50 W 1/5 R88M-W05030H-G05BJ R88M-W05030H-BG05BJ R88M-W05030T-G05BJ R88M-W05030T-BG05BJ

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

2-12

Standard Models and Specifications

Chapter 2

3,000-r/min Flat-style Servomotors

Specifications Model

With incremental encoder With absolute encoder

Without brake With brake Without brake With brake

200 V 100 W 1/5 R88M-WP10030H-G05BJ R88M-WP10030H-BG05BJ R88M-WP10030T-G05BJ R88M-WP10030T-BG05BJ

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

1.5 kW 1/5 R88M-WP1K530HG05BJ

1/11 R88M-WP1K530H-

G11BJ

1/21 R88M-WP1K530H-

G21BJ

1/33 R88M-WP1K530H-

G33BJ

R88M-WP1K530HBG05BJ

R88M-WP1K530HBG11BJ

R88M-WP1K530HBG21BJ

R88M-WP1K530HBG33BJ

R88M-WP1K530T-G05BJ R88M-WP1K530T-

R88M-WP1K530T-G11BJ R88M-WP1K530T-

R88M-WP1K530T-G21BJ R88M-WP1K530T-

R88M-WP1K530T-G33BJ R88M-WP1K530T-

BG05BJ

BG11BJ

BG21BJ

BG33BJ

2-13

Standard Models and Specifications

Chapter 2

1,000-r/min Servomotors

Specifications Model

With incremental encoder With absolute encoder

Without brake With brake Without brake With brake

200 V 300 W 1/5 R88M-W30010H-G05BJ R88M-W30010H-BG05BJ R88M-W30010T-G05BJ R88M-W30010T-BG05BJ

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

1,500-r/min Servomotors

Specifications Model

With incremental encoder With absolute encoder

Without brake With brake Without brake With brake

200 V 450 W 1/5 --- --- R88M-W45015T-G05BJ R88M-W45015T-BG05BJ

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

2-14

Standard Models and Specifications

Chapter 2

● Servomotors with Economy Gears (Straight Shaft with Key)

3,000-r/min Servomotors

Specifications Model

With incremental encoder With absolute encoder

Without brake With brake Without brake With brake

200 V 100 W 1/5 R88M-W10030H-G05CJ R88M-W10030H-BG05CJ R88M-W10030T-G05CJ R88M-W10030T-BG05CJ

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

3,000-r/min Flat-style Servomotors

Specifications Model

With incremental encoder With absolute encoder

Without brake With brake Without brake With brake

200 V 100 W 1/5 R88M-WP10030H-G05CJ R88M-WP10030H-BG05CJ R88M-WP10030T-G05CJ R88M-WP10030T-BG05CJ

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

2-15

Standard Models and Specifications

Chapter 2

2-2 Servo Driver and Servomotor Combinations

The tables in this section show the possible combinations of OMNUC W-series Servo Drivers (with built-in MECHATROLINK-II communications) and Servomotors. No other combinations are possible.

Note The boxes (-@) at the ends of the model numbers are for options such as shaft type, brake,

waterproofing, decelerator, and so on.

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

Voltage Servomotor Servo Driver

Rated

output

200 V 50 W R88M-W05030H-@ R88M-W05030T-@ R88D-WNA5H-ML2/A5L-M2

100 W R88M-W10030H-@ R88M-W10030T-@ R88D-WN01H-ML2/01L-ML2 200 W R88M-W20030H-@ R88M-W20030T-@ R88D-WN02H-ML2/02L-ML2 400 W R88M-W40030H-@ R88M-W40030T-@ R88D-WN04H-ML2/04L-ML2 750 W R88M-W75030H-@ R88M-W75030T-@ R88D-WN08H-ML2 1 kW R88M-W1K030H-@ R88M-W1K030T-@ R88D-WN10H-ML2

1.5 kW R88M-W1K530H-@ R88M-W1K530T-@ R88D-WN15H-ML2 2 kW R88M-W2K030H-@ R88M-W2K030T-@ R88D-WN20H-ML2 3 kW R88M-W3K030H-@ R88M-W3K030T-@ R88D-WN30H-ML2

With incremental

encoder

With absolute

encoder

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

Voltage Servomotor Servo Driver

Rated

output

200 V 100 W R88M-WP10030H-@ R88M-WP10030T-@ R88D-WN01H-ML2/01L-ML2

200 W R88M-WP20030H-@ R88M-WP20030T-@ R88D-WN02H-ML2/02L-ML2 400 W R88M-WP40030H-@ R88M-WP40030T-@ R88D-WN04H-ML2/04L-ML2 750 W R88M-WP75030H-@ R88M-WP75030T-@ R88D-WN08H-ML2

1.5 kW R88M-WP1K530H-@ R88M-WP1K530T-@ R88D-WN15H-ML2

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

Voltage Servomotor Servo Driver

Rated

output

200 V 300 W R88M-W30010H-@ R88M-W30010T-@ R88D-WN05H-ML2

600 W R88M-W60010H-@ R88M-W60010T-@ R88D-WN10H-ML2 900 W R88M-W90010H-@ R88M-W90010T-@ R88D-WN10H-ML2

1.2 kW R88M-W1K210H-@ R88M-W1K210T-@ R88D-WN15H-ML2 2 kW R88M-W2K010H-@ R88M-W2K010T-@ R88D-WN20H-ML2

With incremental

encoder

With incremental

encoder

With absolute

encoder

With absolute

encoder

2-16

Standard Models and Specifications

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

Voltage Servomotor Servo Driver

Rated

output

200 V 450 W --- R88M-W45015T-@ R88D-WN05H-ML2

850 W --- R88M-W85015T-@ R88D-WN10H-ML2

1.3 kW --- R88M-W1K315T-@ R88D-WN15H-ML2

1.8 kW --- R88M-W1K815T-@ R88D-WN20H-ML2

With incremental

encoder

With absolute

encoder

Chapter 2

2-17

Standard Models and Specifications

Chapter 2

2-3 External and Mounted Dimensions

2-3-1 AC Servo Drivers

■ Single-phase 100 V: R88D-WNA5L-ML2/-WN01L-ML2/-WN02L-ML2

(50 to 200 W) Single-phase 200 V: R88D-WNA5H-ML2/-WN01H-ML2/-WN02H-ML2 (50 to 200 W)

● Wall Mounting

External dimensions Mounted dimensions

Terminal

150

Block

Ground terminals Two M4 screws

(6)

(4.5)

(16)

Mounting Holes

Two M-4 holes

5.5

125

SW1

CHARGE

L1C

L2C

B1/

C N 6

CN6

A/B

CN3

C N 3

CN1

C N 1

C N

CN2

C N 4

CN4

Nameplate

(18)

(75)

130

±0.5

139.5

(Mounting pitch)

±0.5

2-18

Standard Models and Specifications

● Front Panel Mounting (Using Mounting Brackets)

Chapter 2

External dimensions

1.5

7.5170

150 17.5

185

Terminal Block

(7.5)

(17.5)

19.5

SW1

CHARGE

L1C

L2C

B1/

(7.5)

(25.5)

5 dia.

CN6

C N 6 A/B

CN3

C N 3

CN1

C N 1

CN2

C N 2

CN4

C N 4

Ground terminals Two M4 screws

Mounted dimensions

(6)

22.5 2 105.5 (4.5)

(16)

Mounting Holes

Two M-4 holes

7.5

125

(Mounting pitch)

150

156 min.

170 ±0.5

Nameplate

(18)

(75)

130

(7.5)

(10)

19.5

(7)

(25.5)

■ Single-phase 100 V: R88D-WN04L-ML2 (400 W)

● Wall Mounting

External dimensions

Terminal Block

Ground terminals Two M4 screws

150

Air flow

CN6

Air flow

C N 6 A/B

CN3

Air flow

C N 3

CN1

C N 1

CN2

C N

CN4

C N 4

(75)

SW1

CHARGE

L1C

L2C

B1/

125

(16)

(6)

Nameplate

Cooling fan

180

(4)

Mounted dimensions

Mounting Holes

Three M-4 holes

5.5

150

139.5 ±0.5

(Mounting pitch)

(5)

(Mounting pitch)

(6) 58 ±0.5 6

2-19

Standard Models and Specifications

● Front Panel Mounting (Using Mounting Brackets)

Chapter 2

External dimensions

(6)

125

(16)

24.5 2

Terminal Block

18.5

7.5170

36.5 (33.5)

(15.5)

5 dia.

Air flow

CN6

CN3

Air flow

185

150 17.5

CN1

CN2 CN4

Nameplate Cooling fan

)(

180

(7.5)

Ground terminals

(17.5)

Two M4 screws

Air flow

■ Single-phase 200 VAC: R88D-WN04H-ML2 (400 W)

(4)

Mounted dimensions

Mounting Holes

Two M-4 holes

(7.5)

(Mounting pitch)

150

156 min.

170 ±0.5

(7)

(10)

(7.5)

(33.5) 36.5

● Wall Mounting

External dimensions

Terminal Block

Ground terminals Two M4 screws

150

Mounted dimensions

(6)

(4)

(16)

125

SW1

CHARGE

L1C

L2C

B1/

CN6

C N 6 A/B

CN3

C N 3

CN1

C N 1

CN2

C N 2

CN4

C N 4

(18)

(75)

Nameplate

130

Mounting Holes

Two M-4 holes

5.5

139.5 ±0.5

(Mounting pitch)

(5)

(Mounting pitch)

47 ±0.510

(8)

2-20

Standard Models and Specifications

● Front Panel Mounting (Using Mounting Brackets)

Chapter 2

External dimensions

7.5170

185

150 17.5

Terminal Block

(7.5)

(17.5)

21.5

39.5

Mounted dimensions

(7.5)

(25.5)

5 dia.

(16)

(6)

125

105.522.5 2 (4)

CN6

CN3

CN1

CN2

CN4

Ground terminals Two M4

4520

screws

(75)

(18)

Nameplate

130

Mounting Holes

Two M-4 holes

7.5

150

(Mounting pitch)

156 min.

170 ±0.5

7)(

7.5 )(

39.5

10)(

(25.5)

■ Single-phase 200 VAC: R88D-WN08HML2 (750 W)

Three-phase 200 VAC: R88D-WN05H-ML2/-WN10H-ML2 (500 W to 1 kW)

● Wall Mounting

External dimensions

Terminal Block

150

Ground terminals Two M4 screws

CHARGE

SW1

L1C

L2C

B1/

Air flow

C N 6

A/B

C N 3

C N 1

C N 2

C N 4

CN6

CN3

Air flow

CN1

CN2

CN4

(75)

125

(16)

(6)

Nameplate

Cooling fan

180

Mounted dimensions

(4)

150

Mounting Holes

Three M-4 holes

5.5

139.5 ±0.5

(Mounting pitch)

(5)

(Mounting pitch)

(6) 58 ±0.5 6

2-21

Standard Models and Specifications

● Front Panel Mounting (Using Mounting Brackets)

Chapter 2

External dimensions

(6)

7.5170

36.5

3618.5

(15.5)

(33.5)

5 dia.

125

24.5 2

16)(

Air flow

Terminal Block

CN6

CN3

Air flow

185

150 17.5

CN1

CN2

CN4

Nameplate

75)( 180

Ground terminals

(17.5)

Two M4 screws

(7.5)

Air flow

■ Three-phase 200 V: R88D-WN15H-ML2 (1.5 kW)

(4)

Cooling fan

Mounted dimensions

Mounting Holes

(7.5)

170 ±0.5

Two M-4 holes

7 (7)

150

156 min.

(Mounting pitch)

(7.5)

(10)

36.5

(33.5)

● Wall Mounting

External dimensions

CHARGE

Terminal Block

150

Ground terminals Two M4 screws

Mounted dimensions

(6)

(16)

CN6

SW1

L1C

L2C

B1/ +

- 1

- 2

C N 6

A/B

CN3

C N 3

CN1

C N 1

CN2

C N

CN4

C N 4

125

(4)

Nameplate

(75)

180

Mounting Holes

5.5

150

139.5 ±0.5

(Mounting pitch)

(5)

Three M-4 holes

80 ±0.5

(Mounting pitch)

(5)

2-22

Standard Models and Specifications

● Front Panel Mounting (Using Mounting Brackets)

Chapter 2

External Dimensions

Terminal blocks

Ground terminals Two M4 screws

185

170 7.5(7.5)

15.5

154(15.5)

CHARGE

Air flow

L1C

L2C

B1/

Air flow

Two, 5 dia.

CN6

SW1

C N 6

A/B

CN3

C N 3

125˚

(6)

(16)

CN1

C N 1

CN2

CN4

C N 2

C N 4

Nameplate

(20)

(75) 180

24.518

Mounted Dimensions

7.5

7(7)

154

170 ±0.5

156 min.

(Mounting pitch)

(7.5)

(5)

90(2.2)

■ Three-phase 200 V: R88D-WN20H-ML2/-WN30H-ML2 (2 to 3 kW)

Mounting Holes

Four M-4 holes

50 ±0.5

(Mounting pitch)

(20)

● Wall Mounting

External dimensions

180

Terminal Block M4 screws

Ground terminals Two M4 screws

100

CN6

CN3

CN1

CN2 CN4

Mounted dimensions

(6)

(16)

125

(4)

180

Mounting Holes

170 ±0.5

Four M-4 holes

(Mounting pitch)

Nameplate

(5)

180(75)

90 ±0.5

(Mounting pitch)

100

(5)

2-23

Standard Models and Specifications

● Front Panel Mounting (Using Mounting Brackets)

Chapter 2

External dimensions

Terminal Block

215

(17.5)

Ground terminals Two M4 screws

17.5

180

2.2

7.5200(7.5)

2.2

Air flow

CHARGE

Air flow

25 50

100

102.2

Mounted dimensions

Mounting Holes

Two, 5 dia.

(6)

24.5

125˚

(16)

(7.5)

CN6

SW1

N 6

A/B

CN3

C N 3

CN1

C N 1

CN2

CN4

C N 2

C N

(75)

Nameplate

180

200 ±0.5

(7.5)

(5)

186 min.

(Mounting pitch)

(7)

Four M-4 holes

180

(10)

27.2

(Mounting pitch)

50 ±0.5

102.2

(25)

2-24

Standard Models and Specifications

2-3-2 AC Servomotors

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

● 200 V AC: 50 W/100 W

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

Chapter 2

Model

R88M-W05030@-@ R88M-W10030@-@

6 dia. 7 dia.

9.5

19.5 20

300 ±30

LL 25

21.5 5

Two, 4.3 dia.

46 dia.

S dia.

30h7 dia.

405 2.5

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

● 200 V AC: 50 W/100 W

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

Dimensions (mm)

SLL b h t1

94.5

1.2

1.8

M2.5l5

M3 6

Dimensions of shaft end with key (-S1)

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

M (effective depth: l)

6 dia. 7 dia.

19.5 27

9.5

300 ±30

LL 25

S dia.

30h7 dia.

Two, 4.3 dia.

46 dia.

Model

R88M-W05030@-B@ R88M-W10030@-B@

21.5 5

405 2.5

Dimensions (mm)

SLL b h t1

108.5

135

1.2

1.8

M2.5l5

M3 6

Dimensions of shaft end with key (-BS1)

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

M (effective depth: l)

2-25

Standard Models and Specifications

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

● 200 V AC: 200 W/400 W/750 W

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

Chapter 2

6 dia.

300 ±30

7 dia.

LL LR

300 ±30

S dia.

Four, Z dia.

D1 dia.

D2 dia.

Model

R88M-W20030@-@ R88M-W40030@-@ R88M-W75030@-@

21.5

Dimensions (mm)

LRLL C D1 D2

96.5

124.5

145

60 70

80 90

50h7

70h7

5.5

14h6

5.5

14h6

16h6

Dimensions of output section of 750-W Servomotors

Dimensions of shaft end with key (-S1)

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

(effective depth: 8)

2-26

Standard Models and Specifications

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

● 200 V AC: 200 W/400 W/750 W

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

Chapter 2

6 dia. 7 dia.

13 27

LL LR

300 ±30

R88M-W20030@-B@ R88M-W40030@-B@ R88M-W75030@-B@

Four, Z dia.

D1 dia.

S dia.

D2 dia.

Model

21.5

Dimensions (mm)

LRLL C D1 D2

136

164

189.5

60 70

80 90

50h7

70h7

5.5

14h6

5.5

14h6

16h6

Dimensions of output section of 750-W Servomotors

Dimensions of shaft end with key (-BS1)

Dimensions of shaft end with key

and tap (-BS2)

53M5

(effective depth: 8)

2-27

Standard Models and Specifications

Chapter 2

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

● 200 V AC: 1 kW/1.5 kW/2 kW/3 kW

R88M-W1K030H(-S2)/-W1K5030H(-S2)/-W2K030H(-S2)/-W3K030H(-S2) [Incremental] R88M-W1K030T(-S2)/-W1K5030T(-S2)/-W2K030T(-S2)/-W3K030T(-S2) [Absolute]

LL LR

D1 dia.

S dia.

D2 dia.

D3 dia.

KL2

KL1

Model

R88M-W1K030@-@ 149 R88M-W1K530@-@ 175 R88M-W2K030@-@ R88M-W3K030@-@

198

199 63 130 145 110

KB1

KB2

LRLL C D1 D2

KB1

KB2

KL1

KL2

128

45 100 115 95

102

154

125

177

124

178

114

Dimensions (mm)

G12Z9S

130

165

10 7 24h632

Note: The external dimensions are the same for IP67 (waterproof) models (-O@).

Four, Z dia.

Dimensions of shaft end with key (-S2)

(effective depth: 16)

2-28

Standard Models and Specifications

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

● 200 V AC: 1 kW/1.5 kW/2 kW/3 kW

R88M-W1K030H-B(S2)/-W1K5030H-B(S2)/-W2K030H-B(S2)/-W3K030H-B(S2) [Incremental] R88M-W1K030T-B(S2)/-W1K5030T-B(S2)/-W2K030T-B(S2)/-W3K030T-B(S2) [Absolute]

LL LR

S dia.

D2 dia.

KL2

KL1

Model

R88M-W1K030@-B@ 193 R88M-W1K530@-B@ 219 R88M-W2K030@-B@ R88M-W3K030@-B@

242

237 63 130 145 110

KB1

KB2

Dimensions (mm)

LRLL C D1 D2

KB1

KB2

KL1

KL2

171

45 100 115 95

197

102

116

220

114

216

119

G12Z9S

130

165

10 7 24h632

Note: The external dimensions are the same for IP67 (waterproof) models (-BO@).

D1 dia.

D3 dia.

Four, Z dia.

Dimensions of shaft end with key (-BS2)

(effective depth: 16)

Chapter 2

2-29

Standard Models and Specifications

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

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

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

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

-WP1K530T(-S1) [Absolute]

Model Dimensions (mm)

Basic servomotor dimensions

R88M-WP10030@-@ 62F25 60 70 50h73 6 5.5 8h614 3 3 1.8 R88M-WP20030@-@ 67 R88M-WP40030@-@ R88M-WP75030@-@ R88M-WP1K530@-@

300 ±30

6 dia.7 dia.

300 ±30

LRLL C D1 D2

30 80 90 70h7387

86.5 40 120 145 110h73.5 10 10

114.5

D1 dia.

S dia.

D2 dia.

G Z S QK b h t1

With key (shaft

end dimensions)

16 19

553

6 6 3.5

Dimensions of shaft end with key (-@S1)

Waterproof type

(flange dimensions)

W1 W2 DW1 DW2

1 4 39 22

3.5

1.5

Cable lead-in section

A1 A2 A3 A4 A5

74935

77755

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

IP67 (-W@) flange dimensions

Chapter 2

38 19

M (effective depth: l)

DW1 dia.

DW2 dia.

Tap

M l

M3 6

M5 8

M6 10

LL LR

Four, Z dia.

2-30

Standard Models and Specifications

Chapter 2

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

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

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

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

-WP1K530T-B(S1) [Absolute]

Model Dimensions (mm)

With key (shaft

end dimensions)

553

6 6 3.5

Basic servomotor dimensions

R88M-WP10030@-B@ 91F25 60 70 50h73 6 5.5 8h614 3 3 1.8 R88M-WP20030@-B@ 98.5 R88M-WP40030@-B@ R88M-WP75030@-B@

R88M-WP1K530@-B@

300 ±30

6 dia.7 dia.

300 ±30

LRLL C D1 D2

30 80 90 70h7387

118.5 120

40 120 145 110h73.5 10 10

148

D1 dia.

S dia.

D2 dia.

G Z S QK b h t1

Dimensions of shaft end with key (-B@S1)

Waterproof type

(flange dimensions)

W1 W2 DW1 DW2

1 4 39 22

3.5

1.5

Cable lead-in section

A1 A2 A3 A4 A5

74935

77755

38 26

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

IP67 (-BW@) flange dimensions

DW2 dia.

Tap

M l

M3 6

M5 8

M6 10

M (effective depth: l)

DW1 dia.

LL LR

Four, Z dia.

2-31

Standard Models and Specifications

Chapter 2

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

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

R88M-W30010H(-S2)/-W60010H(-S2)/-W90010H(-S2)/-W1K210H(-S2)/-W2K010H(-S2) [Incremental] R88M-W30010T(-S2)/-W60010T(-S2)/-W90010T(-S2)/-W1K210T(-S2)/-W2K010T(-S2) [Absolute]

Dimensions of output section of

LL LR

300-W to 900-W Servomotors

D1 dia.

S dia.

D2 dia.

D3 dia.

KL2

KL1

KB1

KB2

Model (mm)

R88M-W30010@-@ 138 R88M-W60010@-@ 161 R88M-W90010@-@ R88M-W1K210@-@ R88M-W2K010@-@

185

166

192

LRLL C D1 D2

KB1

KB2

KL1

KL2

117

140

109

140

58 130 145 110

112

164

115

144

170

79 180 200 114.3

Dimensions (mm)

−0.025

Note: The external dimensions are the same for IP67 (waterproof) models (-O@).

165

230

3.2

30 dia.

Dimensions of shaft end with key (-S2)

Four, Z dia.

G18Z

12 9

13.5

QK b

+0.01

M (Effective depth: l)

3.5

M12

2-32

Standard Models and Specifications

■ 1,000-r/min Servomotors with a Brake

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

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

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

-W2K010T-B(S2) [Absolute]

Dimensions of output section of

LL LR

300-W to 900-W Servomotors

Chapter 2

D1 dia.

S dia.

D2 dia.

D3 dia.

KL2

KL1

KB1

KB2

Model (mm)

R88M-W30010@-B@ 176 R88M-W60010@-B@ 199

R88M-W90010@-B@ R88M-W1K210@-B@ R88M-W2K010@-B@

LRLL C D1 D2

KB1

KB2

KL1

KL2

154

58 130 145 110

177

120

103

105

201

195

146

221

223

217

79 180 200 114.3

243

Dimensions (mm)

165

230

−0.025

Note: The external dimensions are the same for IP67 (waterproof) models (-BO@).

3.2

30 dia.

Dimensions of shaft end with key (-BS2)

M (Effective depth: l)

Four, Z dia.

G18Z

12 9

13.5

QK b

+0.01

M12

3.5

2-33

Standard Models and Specifications

Chapter 2

■ 1,500-r/min Servomotors without a Brake

● 200 V AC: 450 W/850 W/1.3 kW/1.8 kW

R88M-W45015T(-S2)/-W85015T(-S2)/-W1K315T(-S2)/-W1K815T(-S2) [Absolute]

Dimensions of output section of

LL LR

450-W to 1.3-kW Servomotors

D1 dia.

S dia.

D2 dia.

D3 dia.

KL2

KL1

KB1

KB2

Model (mm)

R88M-W45015T-@ 138 R88M-W85015T-@ 161 R88M-W1K315T-@ R88M-W1K815T-@

185

166 79 180 200 114.3

LRLL C D1 D2

KB1

KB2

KL1

KL2

117

58 130 145 110

140

109

112

164

144

140

Dimensions (mm)

−0.025

Note: The external dimensions are the same for IP67 (waterproof) models (O@).

165

230

3.2

30 dia.

Dimensions of shaft end with key (-S2)

M (Effective depth: l)

Four, Z dia.

G18Z

12 9

13.5

QK b

+0.01

M12

3.5

2-34

Standard Models and Specifications

Chapter 2

■ 1,500-r/min Servomotors with a Brake

● 200 V AC: 450 W/850 W/1.3 kW/1.8 kW

R88M-W45015T-B(S2)/-W85015T-B(S2)/-W1K315T-B(S2)/-W1K815T-B(S2) [Absolute]

Dimensions of output section of

LL LR

450-W to 1.3-kW Servomotors

D1 dia.

S dia.

D2 dia.

D3 dia.

KL2

KL1

KB1

KB2

Model (mm)

R88M-W45015T-B@

R88M-W85015T-B@

R88M-W1K315T-B@ R88M-W1K815T-B@

LRLL C D1 D2

KB1

KB2

KL1

KL2

176

199

223

217 79 180 200 114.3

154

58 130 145 110

177

120

103

201

195

146

Dimensions (mm)

165

230

−0.025

Note: The external dimensions are the same for IP67 (waterproof) models (-BO@).

3.2

30 dia.

Dimensions of shaft end with key (-BS2)

M (Effective depth: l)

Four, Z dia.

G18Z

12 9

13.5

QK b

+0.01

M12

3.5

2-35

Standard Models and Specifications

Chapter 2

2-3-3 AC Servomotors with Gears

■ AC Servomotors with Standard Gears

● 3,000-r/min Servomotors (30 to 750 W) with Standard Gears

Model Dia-

50 W 1/5 R88M-W05030@-@G05BJ 1, 1-1 77 108.5 28 55 60 40 80 70 56 55.5 40 ---

1/9 R88M-W05030@-@G09BJ 77 108.5 29 60 70 40 95 80 65 64.5 50 --1/21 R88M-W05030@-@G21BJ 1, 1-2 77 108.5 46 60 70 40 (92) 80 65 64.5 40 8 1/33 R88M-W05030@-@G33BJ 77 108.5 46 60 70 40 (92) 80 65 64.5 40 8

100 W 1/5 R88M-W10030@-@G05BJ 94.5 135 29 60 70 40 (92) 80 65 64.5 40 8

1/11 R88M-W10030@-@G11BJ 94.5 135 46 60 70 40 (92) 80 65 64.5 40 8 1/21 R88M-W10030@-@G21BJ 94.5 135 55 74 90 40 (120) 105 85 84 59 9 1/33 R88M-W10030@-@G33BJ 94.5 135 55 74 90 40 (120) 105 85 84 59 9

200 W 1/5 R88M-W20030@-@G05BJ 2 96.5 136 38 74 90 60 (120) 105 85 84 59 9

1/11 R88M-W20030@-@G11BJ 96.5 136 55 74 90 60 (120) 105 85 84 59 9 1/21 R88M-W20030@-@G21BJ 96.5 136 63 84 105 60 (139) 120 100 96 59 12 1/33 R88M-W20030@-@G33BJ 96.5 136 63 84 105 60 (139) 120 100 96 59 12

400 W 1/5 R88M-W40030@-@G05BJ 2 124.5 164 38 74 90 60 (120) 105 85 84 59 9

1/11 R88M-W40030@-@G11BJ 124.5 164 63 84 105 60 (139) 120 100 96 59 12 1/21 R88M-W40030@-@G21BJ 124.5 164 71 105 120 60 (158) 135 115 112 59 14 1/33 R88M-W40030@-@G33BJ 124.5 164 71 105 120 60 (158) 135 115 114 84 14

750 W 1/5 R88M-W75030@-@G05BJ 2 145 189.5 42 84 105 80 (139) 120 100 96 59 12

1/11 R88M-W75030@-@G11BJ 145 189.5 71 105 120 80 (158) 135 115 112 59 14 1/21 R88M-W75030@-@G21BJ 145 189.5 78 142 145 80 (192) 165 140 134 84 16 1/33 R88M-W75030@-@G33BJ 145 189.5 78 142 145 80 (192) 165 140 134 84 16

gram

No.

LL LM LR C1 C2 D1 D2 D3 D4 D5 D6

WOB* WB*

Note The values in parentheses are reference values.

Dimensions (mm)

Diagram 1

LL LM LR

C2 × C2

Key dimensions

Sh7 dia.

D5 dia.

D4 dia.

D3h7 dia.

M (Effective depth: l)

Diagram 1-1

Four, Z dia.

D2 dia.

D1 dia.

Diagram 1-2

D1 dia.

Four, Z dia.

C1 × C1

Four, RD6

D2 dia.

2-36

Standard Models and Specifications

Chapter 2

Note WOB and WB mean “without brake” and “with brake” respectively.

Dimensions (mm) Model

E1 E2 F G S T Z Key dimensions

QK b h t1 M l

27 35 6 8 14 25 5.5 20 5 5 3 M4 8 R88M-W05030@-@G05BJ 1/5 50 W 30 38 8 9 16 28 6.6 25 5 5 3 M4 8 R88M-W05030@-@G09BJ 1/9 30 39 8 9 16 28 6.6 25 5 5 3 M4 8 R88M-W05030@-@G21BJ 1/21 30 39 8 9 16 28 6.6 25 5 5 3 M4 8 R88M-W05030@-@G33BJ 1/33 30 39 8 9 16 28 6.6 25 5 5 3 M4 8 R88M-W10030@-@G05BJ 1/5 100 W 30 39 8 9 16 28 6.6 25 5 5 3 M4 8 R88M-W10030@-@G11BJ 1/11 38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10 R88M-W10030@-@G21BJ 1/21 38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10 R88M-W10030@-@G33BJ 1/33 38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10 R88M-W20030@-@G05BJ 1/5 200 W 38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10 R88M-W20030@-@G11BJ 1/11 44 55 12 12 25 42 9 36 8 7 4 M6 12 R88M-W20030@-@G21BJ 1/21 44 55 12 12 25 42 9 36 8 7 4 M6 12 R88M-W20030@-@G33BJ 1/33 38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10 R88M-W40030@-@G05BJ 1/5 400 W 44 55 12 12 25 42 9 36 8 7 4 M6 12 R88M-W40030@-@G11BJ 1/11 60 72 14 13 32 58 11 50 10 8 5 M8 16 R88M-W40030@-@G21BJ 1/21 60 72 12.5 13 32 58 11 50 10 8 5 M8 16 R88M-W40030@-@G33BJ 1/33 44 55 12 12 25 42 9 36 8 7 4 M6 12 R88M-W75030@-@G05BJ 1/5 750 W 60 72 14 13 32 58 11 50 10 8 5 M8 16 R88M-W75030@-@G11BJ 1/11 85 102 10 15 40 82 14 70 12 8 5 M10 20 R88M-W75030@-@G21BJ 1/21 85 102 10 15 40 82 14 70 12 8 5 M10 20 R88M-W75030@-@G33BJ 1/33

Diagram 2

× C 2 C

LL LM

Key dimensions

M (Effective depth: l)

C1 × C1

Sh7 dia.

D5 dia.

D4 dia.

D3h7 dia.

1 dia.

Four, Z dia.

Four, RD6

D2 dia.

2-37

Standard Models and Specifications

Chapter 2

● 3,000-r/min Servomotors (1 to 5 kW) with Standard Gears

Model Dia-

1 kW 1/5 R88M-W1K030@-@G05BJ 1 149 193 154 100 140 100 185 160 130 94 91

1/9 R88M-W1K030@-@G09BJ 149 193 166 100 140 100 185 160 130 94 91 1/20 R88M-W1K030@-@G20BJ 2 149 193 207 140 --- 100 245 220 190 135 130 1/29 R88M-W1K030@-@G29BJ 149 193 207 140 --- 100 245 220 190 135 130 1/45 R88M-W1K030@-@G45BJ 149 193 217 140 --- 100 245 220 190 135 130

1.5 kW 1/5 R88M-W1K530@-@G05BJ 1 175 219 154 100 140 100 185 160 130 94 91 1/9 R88M-W1K530@-@G09BJ 2 175 219 203 140 --- 100 245 220 190 135 130 1/20 R88M-W1K530@-@G20BJ 175 219 207 140 --- 100 245 220 190 135 130 1/29 R88M-W1K530@-@G29BJ 175 219 207 140 --- 100 245 220 190 135 130 1/45 R88M-W1K530@-@G45BJ 175 219 238 160 --- 100 310 280 240 186 182

2 kW 1/5 R88M-W2K030@-@G05BJ 1 198 242 154 100 140 100 185 160 130 94 91

1/9 R88M-W2K030@-@G09BJ 2 198 242 203 140 --- 100 245 220 190 135 130 1/20 R88M-W2K030@-@G20BJ 198 242 207 140 --- 100 245 220 190 135 130 1/29 R88M-W2K030@-@G29BJ 198 242 228 160 --- 100 310 280 240 186 182 1/45 R88M-W2K030@-@G45BJ 198 242 238 160 --- 100 310 280 240 186 182

3 kW 1/5 R88M-W3K030@-@G05BJ 2 199 237 201 140 --- 130 245 220 190 135 130

1/9 R88M-W3K030@-@G09BJ 199 237 228 140 --- 130 245 220 190 135 130 1/20 R88M-W3K030@-@G20BJ 199 237 253 160 --- 130 310 280 240 186 182 1/29 R88M-W3K030@-@G29BJ 199 237 253 160 --- 130 310 280 240 186 182 1/45 R88M-W3K030@-@G45BJ 199 237 263 160 --- 130 310 280 240 186 182

gram

No.

LL LM LR C1 C2 D1 D2 D3 D4 D5

WOB* WB*

Dimensions (mm)

Diagram 1

C2 × C2

LL LM LR

Key dimensions

Four, Z dia.

D2 dia.

D5 dia.

D4 dia.

Sh6 dia.

E1E3

D3h7 dia.

D1 dia.

C1 × C1

2-38

Standard Models and Specifications

Chapter 2

Note WOB and WB mean “without brake” and “with brake” respectively.

Dimensions (mm) Model

E1 E3 F G S T Z IE Key dimensions

QK b h t1

57 20 3 12 35 55 12 --- 47 10 8 5 R88M-W1K030@-@G05BJ 1/5 1 kW 57 20 3 12 35 55 12 --- 47 10 8 5 R88M-W1K030@-@G09BJ 1/9 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W1K030@-@G20BJ 1/20 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W1K030@-@G29BJ 1/29 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W1K030@-@G45BJ 1/45 57 20 3 12 35 55 12 --- 47 10 8 5 R88M-W1K530@-@G05BJ 1/5 1.5 kW 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W1K530@-@G09BJ 1/9 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W1K530@-@G20BJ 1/20 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W1K530@-@G29BJ 1/29 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W1K530@-@G45BJ 1/45 57 20 3 12 35 55 12 --- 47 10 8 5 R88M-W2K030@-@G05BJ 1/5 2 kW 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W2K030@-@G09BJ 1/9 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W2K030@-@G20BJ 1/20 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W2K030@-@G29BJ 1/29 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W2K030@-@G45BJ 1/45 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W3K030@-@G05BJ 1/5 3 kW 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W3K030@-@G09BJ 1/9 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W3K030@-@G20BJ 1/20 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W3K030@-@G29BJ 1/29 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W3K030@-@G45BJ 1/45

Diagram 2

LL LM LR

C2 × C2

Key dimensions

Six, Z dia.

2 dia.

D5 dia.

D4 dia.

Sh6 dia.

E1E3

D3h7 dia.

1 dia.

2-39

Standard Models and Specifications

)

Chapter 2

● 3,000-r/min Flat-style Servomotors (100 W to 1.5 kW) with Standard Gears

Model Dia-

100 W 1/5 R88M-WP10030@-@G05BJ 1 62 91 46 60 70 60 (92) 80 65 64.5 40 8

1/11 R88M-WP10030@-@G11BJ 629146607060(92)806564.5408 1/21 R88M-WP10030@-@G21BJ 629155749060(120)1058584599 1/33 R88M-WP10030@-@G33BJ 629155749060(120)1058584599

200 W 1/5 R88M-WP20030@-@G05BJ 1 67 98.5 56 74 90 80 (120) 105 85 84 59 9

1/11 R88M-WP20030@-@G11BJ 67 98.5 56 74 90 80 (120) 105 85 84 59 9 1/21 R88M-WP20030@-@G21BJ 67 98.5 64 84 105 80 (139) 120 100 96 59 12 1/33 R88M-WP20030@-@G33BJ 67 98.5 64 84 105 80 (139) 120 100 96 59 12

400 W 1/5 R88M-WP40030@-@G05BJ 1 87 118.5 56 74 90 80 (120) 105 85 84 59 9

1/11 R88M-WP40030@-@G11BJ 87 118.5 64 84 105 80 (139) 120 100 96 59 12 1/21 R88M-WP40030@-@G21BJ 87 118.5 71 105 120 80 (158) 135 115 112 59 14 1/33 R88M-WP40030@-@G33BJ 87 118.5 72 105 120 80 (158) 135 115 114 84 14

750 W 1/5 R88M-WP75030@-@G05BJ 1 86.5 120 64 84 105 120 (139) 120 100 96 59 12

1/11 R88M-WP75030@-@G11BJ 86.5 120 72 105 120 120 (158) 135 115 112 59 14 1/21 R88M-WP75030@-@G21BJ 86.5 120 88 142 145 120 (192) 165 140 134 84 16 1/33 R88M-WP75030@-@G33BJ 86.5 120 88 142 145 120 (192) 165 140 134 84 16

1.5 kW 1/5 R88M-WP1K530@-@G05BJ 1 114.5 148 72 105 120 120 (158) 135 115 114 84 14 1/11 R88M-WP1K530@-@G11BJ 114.5 148 88 142 145 120 (192) 165 140 134 84 16 1/21 R88M-WP1K530@-@G21BJ 2 114.5 148 94 156 170 120 215 190 165 163 135 --1/33 R88M-WP1K530@-@G33BJ 114.5 148 94 156 170 120 215 190 165 163 135 ---

gram

No.

LL LM LR C1 C2 D1 D2 D3 D4 D5 D6

WOB* WB*

Dimensions (mm)

Note The values in parentheses are reference values.

Diagram 1

LL LM

C2 × C2

Key dimensions

M (Effective depth: l

Sh7 dia.

D4 dia.

D5 dia.

D3 dia.

D1 dia.

C1 × C1

Four, Z dia.

Four, RD6

D2 dia.

2-40

Standard Models and Specifications

Chapter 2

Note WOB and WB mean “without brake” and “with brake” respectively.

Dimensions (mm) Model

E1 E2 F G S T Z Key dimensions

QK b h t1 M l

30 39 8 9 16 28 6.6 25 5 5 3 M4 8 R88M-WP10030@-@G05BJ 1/5 100 W 30 39 8 9 16 28 6.6 25 5 5 3 M4 8 R88M-WP10030@-@G11BJ 1/11 38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10 R88M-WP10030@-@G21BJ 1/21 38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10 R88M-WP10030@-@G33BJ 1/33 38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10 R88M-WP20030@-@G05BJ 1/5 200 W 38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10 R88M-WP20030@-@G11BJ 1/11 44 55 12 12 25 42 9 36 8 7 4 M6 12 R88M-WP20030@-@G21BJ 1/21 44 55 12 12 25 42 9 36 8 7 4 M6 12 R88M-WP20030@-@G33BJ 1/33 38 48 7.5 10 20 36 9 32 6 6 3.5 M5 10 R88M-WP40030@-@G05BJ 1/5 400 W 44 55 12 12 25 42 9 36 8 7 4 M6 12 R88M-WP40030@-@G11BJ 1/11 60 72 14 13 32 58 11 50 10 8 5 M8 16 R88M-WP40030@-@G21BJ 1/21 60 72 12.5 13 32 58 11 50 10 8 5 M8 16 R88M-WP40030@-@G33BJ 1/33 44 55 12 12 25 42 9 36 8 7 4 M6 12 R88M-WP75030@-@G05BJ 1/5 750 W 60 72 14 13 32 58 11 50 10 8 5 M8 16 R88M-WP75030@-@G11BJ 1/11 85 102 10 15 40 82 14 70 12 8 5 M10 20 R88M-WP75030@-@G21BJ 1/21 85 102 10 15 40 82 14 70 12 8 5 M10 20 R88M-WP75030@-@G33BJ 1/33 60 72 12.5 13 32 58 11 50 10 8 5 M8 16 R88M-WP1K530@-@G05BJ 1/5 1.5 kW 85 102 10 15 40 82 14 70 12 8 5 M10 20 R88M-WP1K530@-@G11BJ 1/11 86 105 16 16 45 82 14 70 14 9 5.5 M10 20 R88M-WP1K530@-@G21BJ 1/21 86 105 16 16 45 82 14 70 14 9 5.5 M10 20 R88M-WP1K530@-@G33BJ 1/33

Diagram 2

C2 × C2

Key dimensions

M (Effective depth: l)

D3 dia.

D5 dia.

D4 dia.

Sh7 dia.

Four, Z dia.

D2 dia.

D1 dia.

C1 × C1

2-41

Standard Models and Specifications

Chapter 2

● 1,000-r/min Servomotors (300 to 3 kW) with Standard Gears

Model Dia-

300 W 1/5 R88M-W30010@-@G05BJ 1 138 176 156 100 140 130 185 160 130 94 91

1/9 R88M-W30010@-@G09BJ 138 176 168 100 140 130 185 160 130 94 91 1/20 R88M-W30010@-@G20BJ 138 176 187 100 140 130 185 160 130 94 91 1/29 R88M-W30010@-@G29BJ 2 138 176 213 140 --- 130 245 220 190 135 130 1/45 R88M-W30010@-@G45BJ 138 176 223 140 --- 130 245 220 190 135 130

600 W 1/5 R88M-W60010@-@G05BJ 1 161 199 156 100 140 130 185 160 130 94 91

1/9 R88M-W60010@-@G09BJ 161 199 168 100 140 130 185 160 130 94 91 1/20 R88M-W60010@-@G20BJ 2 161 199 213 140 --- 130 245 220 190 135 130 1/29 R88M-W60010@-@G29BJ 161 199 213 140 --- 130 245 220 190 135 130 1/45 R88M-W60010@-@G45BJ 161 199 244 160 --- 130 310 280 240 186 182

900 W 1/5 R88M-W90010@-@G05BJ 1 185 223 156 100 140 130 185 160 130 94 91

1/9 R88M-W90010@-@G09BJ 2 185 223 209 140 --- 130 245 220 190 135 130 1/20 R88M-W90010@-@G20BJ 185 223 213 140 --- 130 245 220 190 135 130 1/29 R88M-W90010@-@G29BJ 185 223 234 160 --- 130 310 280 240 186 182 1/45 R88M-W90010@-@G45BJ 185 223 244 160 --- 130 310 280 240 186 182

1.2 kW 1/5 R88M-W1K210@-@G05BJ 2 166 217 203 140 --- 180 245 220 190 135 130 1/9 R88M-W1K210@-@G09BJ 166 217 230 140 --- 180 245 220 190 135 130 1/20 R88M-W1K210@-@G20BJ 166 217 255 160 --- 180 310 280 240 186 182 1/29 R88M-W1K210@-@G29BJ 166 217 255 160 --- 180 310 280 240 186 182 1/45 R88M-W1K210@-@G45BJ 166 217 265 160 --- 180 310 280 240 186 182

2 kW 1/5 R88M-W2K010@-@G05BJ 2 192 243 203 140 --- 180 245 220 190 135 130

1/9 R88M-W2K010@-@G09BJ 192 243 230 140 --- 180 245 220 190 135 130 1/20 R88M-W2K010@-@G20BJ 192 243 255 160 --- 180 310 280 240 186 182

gram

No.

LL LM LR C1 C2 D1 D2 D3 D4 D5

WOB* WB*

Dimensions (mm)

Diagram 1

C2 × C2

LL LM LR

Key dimensions

Four, Z dia.

D2 dia.

D5 dia.

D4 dia.

Sh6 dia.

E1E3

D3h7 dia.

D1 dia.

C1 × C1

2-42

Standard Models and Specifications

Chapter 2

Note WOB and WB mean “without brake” and “with brake” respectively.

Dimensions (mm) Model

E1 E3 F G S T Z IE Key dimensions

QK b h t1

57 20 3 12 35 55 12 --- 47 10 8 5 R88M-W30010@-@G05BJ 1/5 300 W 57 20 3 12 35 55 12 --- 47 10 8 5 R88M-W30010@-@G09BJ 1/9 57 20 3 12 35 55 12 --- 47 10 8 5 R88M-W30010@-@G20BJ 1/20 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W30010@-@G29BJ 1/29 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W30010@-@G45BJ 1/45 57 20 3 12 35 55 12 --- 47 10 8 5 R88M-W60010@-@G05BJ 1/5 600 W 57 20 3 12 35 55 12 --- 47 10 8 5 R88M-W60010@-@G09BJ 1/9 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W60010@-@G20BJ 1/20 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W60010@-@G29BJ 1/29 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W60010@-@G45BJ 1/45 57 20 3 12 35 55 12 --- 47 10 8 5 R88M-W90010@-@G05BJ 1/5 900 W 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W90010@-@G09BJ 1/9 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W90010@-@G20BJ 1/20 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W90010@-@G29BJ 1/29 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W90010@-@G45BJ 1/45 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W1K210@-@G05BJ 1/5 1.2 kW 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W1K210@-@G09BJ 1/9 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W1K210@-@G20BJ 1/20 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W1K210@-@G29BJ 1/29 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W1K210@-@G45BJ 1/45 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W2K010@-@G05BJ 1/5 2 kW 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W2K010@-@G09BJ 1/9 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W2K010@-@G20BJ 1/20

Diagram 2

LL LM LR

C2 × C2

Key dimensions

Six, Z dia.

2 dia.

D5 dia.

D4 dia.

Sh6 dia.

E1E3

D3h7 dia.

1 dia.

2-43

Standard Models and Specifications

Chapter 2

● 1,500-r/min Servomotors (450 W to 4.4 kW) with Standard Gears

Model Dia-

450 W 1/5 R88M-W45015T-@G05BJ 1 138 176 156 100 140 130 185 160 130 94 91

1/9 R88M-W45015T-@G09BJ 138 176 168 100 140 130 185 160 130 94 91 1/20 R88M-W45015T-@G20BJ 2 138 176 213 140 --- 130 245 220 190 135 130 1/29 R88M-W45015T-@G29BJ 138 176 213 140 --- 130 245 220 190 135 130 1/45 R88M-W45015T-@G45BJ 138 176 223 140 --- 130 245 220 190 135 130

850 W 1/5 R88M-W85015T-@G05BJ 1 161 199 156 100 140 130 185 160 130 94 91

1/9 R88M-W85015T-@G09BJ 161 199 168 100 140 130 185 160 130 94 91 1/20 R88M-W85015T-@G20BJ 2 161 199 213 140 --- 130 245 220 190 135 130 1/29 R88M-W85015T-@G29BJ 161 199 213 140 --- 130 245 220 190 135 130 1/45 R88M-W85015T-@G45BJ 161 199 244 160 --- 130 310 280 240 186 182

1.3 kW 1/5 R88M-W1K315T-@G05BJ 2 185 223 182 140 --- 130 245 220 190 135 130 1/9 R88M-W1K315T-@G09BJ 185 223 209 140 --- 130 245 220 190 135 130 1/20 R88M-W1K315T-@G20BJ 185 223 213 140 --- 130 245 220 190 135 130 1/29 R88M-W1K315T-@G29BJ 185 223 234 160 --- 130 310 280 240 186 182 1/45 R88M-W1K315T-@G45BJ 185 223 244 160 --- 130 310 280 240 186 182

1.8 kW 1/5 R88M-W1K815T-@G05BJ 2 166 217 203 140 --- 180 245 220 190 135 130 1/9 R88M-W1K815T-@G09BJ 166 217 230 140 --- 180 245 220 190 135 130 1/20 R88M-W1K815T-@G20BJ 166 217 255 160 --- 180 310 280 240 186 182 1/29 R88M-W1K815T-@G29BJ 166 217 255 160 --- 180 310 280 240 186 182

gram

No.

LL LM LR C1 C2 D1 D2 D3 D4 D5

WOB* WB*

Dimensions (mm)

Diagram 1

C2 × C2

LL LM LR

Key dimensions

Four, Z dia.

D2 dia.

D5 dia.

D4 dia.

Sh6 dia.

E1E3

D3h7 dia.

D1 dia.

C1 × C1

2-44

Standard Models and Specifications

Chapter 2

Note WOB and WB mean “without brake” and “with brake” respectively.

Dimensions (mm) Model

E1 E3 F G S T Z IE Key dimensions

QK b h t1

57 20 3 12 35 55 12 --- 47 10 8 5 R88M-W45015T-@G05BJ 1/5 450 W 57 20 3 12 35 55 12 --- 47 10 8 5 R88M-W45015T-@G09BJ 1/9 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W45015T-@G20BJ 1/20 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W45015T-@G29BJ 1/29 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W45015T-@G45BJ 1/45 57 20 3 12 35 55 12 --- 47 10 8 5 R88M-W85015T-@G05BJ 1/5 850 W 57 20 3 12 35 55 12 --- 47 10 8 5 R88M-W85015T-@G09BJ 1/9 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W85015T-@G20BJ 1/20 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W85015T-@G29BJ 1/29 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W85015T-@G45BJ 1/45 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W1K315T-@G05BJ 1/5 1.3 kW 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W1K315T-@G09BJ 1/9 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W1K315T-@G20BJ 1/20 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W1K315T-@G29BJ 1/29 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W1K315T-@G45BJ 1/45 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W1K815T-@G05BJ 1/5 1.8 kW 77 33 5 15 50 75 12 137 65 14 9 5.5 R88M-W1K815T-@G09BJ 1/9 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W1K815T-@G20BJ 1/20 92 38 5 18 60 90 14 171 78 18 11 7 R88M-W1K815T-@G29BJ 1/29

Diagram 2

LL LM LR

C2 × C2

Key dimensions

Six, Z dia.

2 dia.

D5 dia.

D4 dia.

Sh6 dia.

E1E3

D3h7 dia.

1 dia.

2-45

Standard Models and Specifications

Chapter 2

■ AC Servomotors with Economy Gears

● 3,000-r/min Servomotors (100 to 750 W) with Economy Reduction Gears

Model Dia-

100 W 1/5 R88M-W10030@-@G05CJ1 94.513567.5325240605045

1/9 R88M-W10030@-@G09CJ 94.513567.5325240605045 1/15 R88M-W10030@-@G15CJ 94.5 135 78 32 52 40 60 50 45 1/25 R88M-W10030@-@G25CJ 94.5 135 92 50 78 40 90 70 62

200 W 1/5 R88M-W20030@-@G05CJ2 96.513672.5325260605045

1/9 R88M-W20030@-@G09CJ 96.513689.5507860907062 1/15 R88M-W20030@-@G15CJ 96.5 136 100 50 78 60 90 70 62 1/25 R88M-W20030@-@G25CJ 96.5 136 100 50 78 60 90 70 62

400 W 1/5 R88M-W40030@-@G05CJ 2 124.5 164 89.5 50 78 60 90 70 62

1/9 R88M-W40030@-@G09CJ 124.516489.5507860907062 1/15 R88M-W40030@-@G15CJ 124.5 164 100 50 78 60 90 70 62 1/25 R88M-W40030@-@G25CJ 124.5 164 104 61 98 60 115 90 75

750 W 1/5 R88M-W75030@-@G05CJ 2 145 189.5 93.5 50 78 80 90 70 62

1/9 R88M-W75030@-@G09CJ 145 189.5 97.5 61 98 80 115 90 75 1/15 R88M-W75030@-@G15CJ 145 189.5 110 61 98 80 115 90 75 1/25 R88M-W75030@-@G25CJ 145 189.5 135 75 125 80 135 110 98

gram

No.

LL LM LR C1 C2 D2 D3 D4

WOB* WB*

Dimensions (mm)

Model Dimensions (mm)

E1 E3 F S T Z l Key dimensions

QK b h t1

100 W 1/5 R88M-W10030@-@G05CJ 22 10 3 12 20 M5 12 16 4 4 2.5

1/9 R88M-W10030@-@G09CJ 22 10 3 12 20 M5 12 16 4 4 2.5 1/15 R88M-W10030@-@G15CJ 22 10 3 12 20 M5 12 16 4 4 2.5 1/25 R88M-W10030@-@G25CJ 33 17 3 19 30 M6 20 22 6 6 3.5

200 W 1/5 R88M-W20030@-@G05CJ 22 10 3 12 20 M5 12 16 4 4 2.5

1/9 R88M-W20030@-@G09CJ 33 17 3 19 30 M6 20 22 6 6 3.5 1/15 R88M-W20030@-@G15CJ 33 17 3 19 30 M6 20 22 6 6 3.5 1/25 R88M-W20030@-@G25CJ 33 17 3 19 30 M6 20 22 6 6 3.5

400 W 1/5 R88M-W40030@-@G05CJ 33 17 3 19 30 M6 20 22 6 6 3.5

1/9 R88M-W40030@-@G09CJ 33 17 3 19 30 M6 20 22 6 6 3.5 1/15 R88M-W40030@-@G15CJ 33 17 3 19 30 M6 20 22 6 6 3.5 1/25 R88M-W40030@-@G25CJ 43 18 5 24 40 M8 20 30 8 7 4

750 W 1/5 R88M-W75030@-@G05CJ 33 17 3 19 30 M6 20 22 6 6 3.5

1/9 R88M-W75030@-@G09CJ 43 18 5 24 40 M8 20 30 8 7 4 1/15 R88M-W75030@-@G15CJ 43 18 5 24 40 M8 20 30 8 7 4 1/25 R88M-W75030@-@G25CJ58175 3255M102045108 5

Note WOB and WB mean “without brake” and “with brake” respectively.

2-46

Standard Models and Specifications

Diagram 1

Chapter 2

Key dimensions

LL LM LR

Diagram 2

C2 × C2

Sh6 dia.

D4 dia.

Four, Z dia. (Effective depth: l)

D2 dia.

D3h7 dia.

C1 × C1

Key dimensions

Four, Z dia. (Effective depth: l)

D2 dia.

C2 × C2

LL LM LR

Sh6 dia.

D4 dia.

D3h7 dia.

C1 × C1

2-47

Standard Models and Specifications

● 3,000-r/min Flat-style Servomotors (100 to 750 W) with Economy Gears

Model Dimensions (mm)

LL LM LR C1 C2 D2 D3 D4

WOB* WB*

100 W 1/5 R88M-WP10030@-@G05CJ629172.5325260605045

1/9 R88M-WP10030@-@G09CJ629172.5325260605045 1/15 R88M-WP10030@-@G15CJ629178325260605045 1/25 R88M-WP10030@-@G25CJ629192507860907062

200 W 1/5 R88M-WP20030@-@G05CJ6798.572.5325280605045

1/9 R88M-WP20030@-@G09CJ6798.589.5507880907062 1/15 R88M-WP20030@-@G15CJ 67 98.5 100 50 78 80 90 70 62 1/25 R88M-WP20030@-@G25CJ 67 98.5 100 50 78 80 90 70 62

400 W 1/5 R88M-WP40030@-@G05CJ87118.589.5507880907062

1/9 R88M-WP40030@-@G09CJ87118.589.5507880907062 1/15 R88M-WP40030@-@G15CJ 87 118.5 100 50 78 80 90 70 62 1/25 R88M-WP40030@-@G25CJ 87 118.5 104 61 98 80 115 90 75

750 W 1/5 R88M-WP75030@-@G05CJ 86.5 120 93.5 50 78 120 90 70 62

1/9 R88M-WP75030@-@G09CJ 86.5 120 97.5 61 98 120 115 90 75 1/15 R88M-WP75030@-@G15CJ 86.5 120 110 61 98 120 115 90 75 1/25 R88M-WP75030@-@G25CJ 86.5 120 135 75 125 120 135 110 98

Model Dimensions (mm)

E1 E3 F S T Z l Key dimensions

QK b h t1

100 W 1/5 R88M-WP10030@-@G05CJ 22 10 3 12 20 M5 12 16 4 4 2.5

1/9 R88M-WP10030@-@G09CJ 22 10 3 12 20 M5 12 16 4 4 2.5 1/15 R88M-WP10030@-@G15CJ 22 10 3 12 20 M5 12 16 4 4 2.5 1/25 R88M-WP10030@-@G25CJ 33 17 3 19 30 M6 20 22 6 6 3.5

200 W 1/5 R88M-WP20030@-@G05CJ 22 10 3 12 20 M5 12 16 4 4 2.5

1/9 R88M-WP20030@-@G09CJ 33 17 3 19 30 M6 20 22 6 6 3.5 1/15 R88M-WP20030@-@G15CJ 33 17 3 19 30 M6 20 22 6 6 3.5 1/25 R88M-WP20030@-@G25CJ 33 17 3 19 30 M6 20 22 6 6 3.5

400 W 1/5 R88M-WP40030@-@G05CJ 33 17 3 19 30 M6 20 22 6 6 3.5

1/9 R88M-WP40030@-@G09CJ 33 17 3 19 30 M6 20 22 6 6 3.5 1/15 R88M-WP40030@-@G15CJ 33 17 3 19 30 M6 20 22 6 6 3.5 1/25 R88M-WP40030@-@G25CJ 43 18 5 24 40 M8 20 30 8 7 4

750 W 1/5 R88M-WP75030@-@G05CJ 33 17 3 19 30 M6 20 22 6 6 3.5

1/9 R88M-WP75030@-@G09CJ 43 18 5 24 40 M8 20 30 8 7 4 1/15 R88M-WP75030@-@G15CJ 43 18 5 24 40 M8 20 30 8 7 4 1/25 R88M-WP75030@-@G25CJ58175 3255M102045108 5

Chapter 2

Note WOB and WB mean “without brake” and “with brake” respectively.

2-48

Standard Models and Specifications

Diagram

Chapter 2

Key dimensions

C2 × C2

LL LM LR

Four, Z dia. (Effective depth: l)

D2 dia.

Sh6 dia.

D4 dia.

D3h7 dia.

C1 × C1

2-49

Standard Models and Specifications

Chapter 2

2-4 Servo Driver Specifications

■ R88D-WN@-ML2/OMNUC W-series AC Servo Drivers (with Built-in

MECHATROLINK-II Communications)

Referring to 2-2 Servo Driver and Servomotor Combinations, select a Servo Driver to match the Ser- vomotor that is being used.

2-4-1 General Specifications

Item Specifications

Ambient operating temperature 0 Ambient operating humidity 90% max. (with no condensation) Ambient storage temperature Ambient storage humidity 90% max. (with no condensation) Storage and operating atmo-

sphere Vibration resistance 10 to 55 Hz in X, Y, and Z directions with 0.1-mm double amplitude; acceler-

Impact resistance

Insulation resistance Between power line terminals and case: 0.5 M Dielectric strength Between power line terminals and case: 1,500 V AC for 1 min at 50/60 Hz

Protective structure Built into panel (IP10). EC directives EMC directive EN55011 class A group 1

Low-voltage

directive UL standards UL508C cUL standards cUL C22.2 No. 14

° to 55°C

−20° to 85°C

No corrosive gasses.

ation: 4.9 m/s

Acceleration 19.6 m/s

Between each control signal and case: 500 V AC for 1 min

EN61000-6-2 EN50178

max.

max., in X, Y, and Z directions, three times

Ω min. (at 500 V DC)

Note 1. The above items reflect individual evaluation testing. The results may differ under compound

conditions.

Note 2. Absolutely do not conduct a withstand voltage test with a Megger tester on the Servo Driver.

If such tests are conducted, internal elements may be damaged.

2-50

Standard Models and Specifications

Chapter 2

Note 3. Depending on the operating conditions, some Servo Driver parts will require maintenance.

Refer to 5-5 Periodic Maintenance for details.

Note 4. The service life of the Servo Driver is 50,000 hours at an average ambient temperature of

°C at 80% of the rated torque.

2-4-2 Performance Specifications

■ Control Specifications

● 100-V AC Input Type

Item Model R88D-

WNA5L-ML2 WN01L-ML2 WN02L-ML2 WN04L-ML2

Continuous output current (rms) 0.66 A 0.91 A 2.1 A 2.8 A Momentary maximum output current (rms) 2.1 A 2.8 A 6.5 A 8.5 A Input power

supply

Heating value

Control method All-digital Servo Inverter method PWM method based on IGBT PWM frequency 10.667 kHz Weight Approx. 0.7 kg Approx. 0.7 kg Approx. 0.7 kg Approx. 1.4 kg Maximum applicable Servomotor wattage 50 W 100 W 200 W 400 W Applicable

Servomotor (R88M-)

Performance Speed control range 1:5,000

Main circuits Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz Control circuits Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz Main circuits 5.2 W 12 W 16.4 W 24 W Control circuits 13 W 13 W 13 W 13 W

3,000-r/min [Incremental] W05030H W10030H W20030H W40030H

[Absolute] W05030T W10030T W20030T W40030T

3,000-r/min Flat-style

1,000-r/min [Incremental] --- --- --- ---

1,500-r/min [Absolute] --- --- --- ---

Load fluctuation rate 0.01% max. at 0% to 100% (at rated rotation speed) Voltage fluctuation rate 0% at rated voltage Temperature fluctuation rate Frequency characteristics 600 Hz (at the same load as the rotor inertia) Torque control repeatability

[Incremental] --- WP10030H WP20030H WP40030H [Absolute] --- WP10030T WP20030T WP40030T

[Absolute] --- --- --- ---

±10% (at rated rotation speed)

±0.1% max. at 0 to 50°C (at rated rotation speed)

±1%

2-51

Standard Models and Specifications

● 200-V AC Input Type (Single-phase Input)

Item Model R88D-

WNA5H-ML2 WN01H-ML2 WN02H-ML2 WN04H-ML2 WN08H-ML2

Continuous output current (rms) 0.66 A 0.91 A 2.1 A 2.8 A 5.5 A Momentary maximum output cur-

rent (rms) Input

power supply

Heating value

PWM frequency 10.667 kHz Weight Approx.

Maximum applicable Servomotor wattage

Applicable Servomotor (R88M-)

Control method All-digital Servo Inverter method PWM method based on IGBT Perfor-

mance

Main circuits Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz Control circuits Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz

Main circuits 4.6 W 6.7 W 13.3 W 20 W 47 W Control circuits 13 W 13 W 13 W 13 W 15 W

3,000-r/ min

3,000-r/ min Flatstyle

1,000-r/ min

1,500-r/ min

Speed control range 1:5,000 Load fluctuation rate 0.01% max. at 0% to 100% (at rated rotation speed) Voltage fluctuation rate 0% at rated voltage Temperature fluctua-

tion rate Frequency characteris-

tics Torque control repeat-

ability

[Incremental]

[Absolute] W05030T W10030T W20030T W40030T W75030T [Incremen-

tal] [Absolute] --- WP10030T WP20030T WP40030T WP75030T [Incremen-

tal] [Absolute] --- --- --- --- --[Absolute] --- --- --- --- ---

2.1 A 2.8 A6.5 A8.5 A16.9 A

Approx.

0.7 kg 50 W 100 W 200 W 400 W 750 W

W05030H W10030H W20030H W40030H W75030H

--- WP10030H WP20030H WP40030H WP75030H

--- --- --- --- ---

±0.1% max. at 0 to 50°C (at rated rotation speed)

600 Hz (at the same load as the rotor inertia)

±1%

0.7 kg

±10% (at rated rotation speed)

Approx.

0.7 kg

Approx.

0.9 kg

Chapter 2

Approx.

1.4 kg

2-52

Standard Models and Specifications

● 200-V AC Input Type (Three-phase Input)

Item Model R88D-

WN05H-ML2 WN10H-ML2 WN15H-ML2 WN20H-ML2 WN30H-ML2

Continuous output current (rms) 3.8 A 7.6 A 11.6 A 18.5 A 18.9 A Momentary maximum output cur-

rent (rms) Input

power supply

Heating value

PWM frequency 10.667 kHz 8.000 kHz 4.000 kHz Weight Approx.

Maximum applicable Servomotor wattage

Applicable Servomotor (R88M-)

Control method All-digital Servo Inverter method PWM method based on IGBT Perfor-

mance

Main circuits Three-phase 200/230 V AC (170 to 253 V) 50/60 Hz Control circuits Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz

Main circuits 27 W 55 W 92 W 120 W 155 W Control circuits 15 W 15 W 15 W 15 W 15 W

3,000-r/ min

3,000-r/ min Flattype

1,000-r/ min

1,500-r/ min

Speed control range 1:5,000 Load fluctuation rate 0.01% max. at 0% to 100% (at rated rotation speed) Voltage fluctuation rate 0% at rated voltage Temperature fluctua-

tion rate Frequency characteris-

tics Torque control repeat-

ability

[Incremental]

[Absolute] --- W1K030T W1K530T W2K030T W3K030T [Incremen-

tal] [Absolute] --- --- WP1K530T --- --[Incremen-

tal] [Absolute] W30010T W60010T

[Absolute] W45015T W85015T W1K315T W1K815T ---

11.0 A 17.0 A 28.0 A 42.0 A 56.0 A

Approx.

1.4 kg 500 W 1 kW 1.5 kW 2 kW 3 kW

--- W1K030H W1K530H W2K030H W3K030H

--- --- WP1K530H --- ---

W30010H W60010H

±0.1% max. at 0 to 50°C (at rated rotation speed)

600 Hz (See note.) 400 Hz (See note.)

±1%

1.4 kg

W90010H

W90010T

±10% (at rated rotation speed)

Approx.

2.1 kg

W1K210H W2K010H ---

W1K210T W2K010T ---

Approx.

2.8 kg

Chapter 2

Approx.

2.8 kg

Note At a load inertia equivalent to the Servomotor's rotor inertia.

2-53

Standard Models and Specifications

■ Protective and Diagnostic Functions

Error detection function Contents

Parameter checksum error 1 The Servo Driver's internal parameter data is abnormal. Parameter format error 1 The Servo Driver's internal parameter data is abnormal. System parameter checksum

error 1 Parameter password error 1 The Servo Driver's internal parameter data is abnormal. Parameter checksum error 2 The Servo Driver's internal parameter data is abnormal. System parameter checksum

error 2 Main circuit detection error There is an error in the detection data for the power supply circuit. Parameter setting error 1 A parameter value exceeds the setting range. Parameter setting error 2 A parameter value exceeds the setting range. Dividing pulse output setting

error Parameter combination error A combination of multiple parameters is set out of range. Combination error The combined capacity of the Servomotor and the Servo Driver is unsuit-

Servo ON command invalid alarm

Overcurrent or overheating of radiation shield

Regeneration error The regeneration resistor is disconnected or the regeneration transistor is

Regeneration overload The regenerative energy exceeds the regeneration resistance. Main circuit power supply set-

ting error Overvoltage The main-circuit DC voltage is abnormally high. Low voltage The main-circuit DC voltage is low. Overspeed The Servomotor's rotation speed is abnormally high. Dividing pulse output over-

speed Vibration alarm Abnormal vibration was detected in the Servomotor rotation speed. Auto-tuning alarm The inertia ratio was in error during auto-tuning. Overload (momentary maxi-

mum load) Overload (continual maximum

load) DB overload During DB (dynamic braking) operation, rotation energy exceeds the DB

Inrush resistance overload The main-circuit power supply has frequently and repeatedly been turned

Overheat The Servo Driver's radiation shield overheated. Encoder backup error The encoder power supply was completely down, and position data was

Encoder checksum error The encoder memory checksum results are in error. Encoder battery error The absolute encoder backup battery voltage has dropped. Encoder data error The encoder's internal data is in error.

The Servo Driver's internal parameter data is abnormal.

The encoder divider rate setting is out of range or the set conditions are not satisfied.

able. After a function for executing Servo ON by means of Computer Monitor Soft-

ware was used, an attempt was made to execute Servo ON using a host command.

An overcurrent has occurred, or the Servo Driver's radiation shield has overheated.

faulty.

The method for providing power to the main circuit does not match the Pn001 setting.

The Servomotor rotation speed upper limit set for the encoder divider rate setting (Pn212) was exceeded.

Operated for several seconds to several tens of seconds at a torque greatly exceeding the rating.

Operated continually at a torque exceeding the rating.

capacity.

ON and OFF.

cleared.

Chapter 2

2-54

Standard Models and Specifications

Error detection function Contents

Encoder overspeed The encoder rotated at high speed when the power was ON. Encoder overheat The encoder's internal temperature is too high. Current detection error 1 The phase-U current detector is in error. Current detection error 2 The phase-V current detector is in error. Current detection error 3 The current detector is in error. MECHATROLINK communica-

tions ASIC error 1 MECHATROLINK communica-

tions ASIC error 2 System alarm 0 Servo Driver internal program error 0 occurred. System alarm 1 Servo Driver internal program error 1 occurred. System alarm 2 Servo Driver internal program error 2 occurred. System alarm 3 Servo Driver internal program error 3 occurred. System alarm 4 Servo Driver internal program error 4 occurred. Runaway detected Servomotor runaway occurred. Multi-turn data error Absolute encoder multi-turn data was cleared or could not be set correctly. Encoder communications error No communication possible between the encoder and Servo Driver. Encoder communications posi-

tion data error Encoder communications timer

error Encoder parameter error Encoder parameters are corrupted. Encoder echo-back error The contents of communications with the encoder are wrong. Multi-turn limit discrepancy The multi-turn limits for the encoder and the Servo Driver do not match. Deviation counter overflow Position deviation pulses exceeded the level set for Pn520. Deviation counter overflow

alarm at Servo ON Deviation counter overflow

alarm by speed limit at Servo ON

COM alarm 0 Servo Driver COM error 0 occurred. COM alarm 1 Servo Driver COM error 1 occurred. COM alarm 2 Servo Driver COM error 2 occurred. COM alarm 7 Servo Driver COM error 7 occurred. COM alarm 8 Servo Driver COM error 8 occurred. COM alarm 9 Servo Driver COM error 9 occurred. MECHATROLINK-II transmis-

sion cycle setting error MECHATROLINK-II synchroni-

zation error MECHATROLINK-II synchroni-

zation failure MECHATROLINK-II communi-

cations error MECHATROLINK-II transmis-

sion cycle error

The MECHATROLINK communications ASIC is in error.

A fatal error occurred in the MECHATROLINK communications ASIC.

An error occurred in the encoder's position data calculations.

An error occurred in the timer for communications between the encoder and Servo Driver.

When Servo ON was executed, the accumulated number of position deviation pulses reached or exceeded the number set for Pn526.

If Servo ON is executed with position deviation pulses accumulated, the speed is limited by the setting in Pn529. A command pulse was input during this period, without the limit being cleared, and the setting in Pn520 was exceeded.

There is an error in the setting for the MECHATROLINK-II communications transmission cycle.

A synchronization error occurred during MECHATROLINK-II communications.

A synchronization failure occurred during MECHATROLINK-II communications.

Communications errors occurred consecutively during MECHATROLINK-II communications.

An error occurred in the transmission cycle during MECHATROLINK-II communications.

Chapter 2

2-55

Standard Models and Specifications

Error detection function Contents

DRV alarm 0 Servo Driver DRV error 0 occurred. DRV alarm 1 Servo Driver DRV error 1 occurred. DRV alarm 2 Servo Driver DRV error 2 occurred. Internal command error A command error occurred in the Servo Driver. Missing phase detected One phase from the three-phase main circuit power supply is not connect-

ing.

Chapter 2

2-4-3 Terminal Block Specifications

Symbol Function Condition

L1 Main circuits power L2 L3

− 1

− 2

B1/ +

−

L1C Control circuits power L2C

B1/ +

B2 B3

U Servomotor connecVWhite WBlue

supply input

DC Reactor terminal for power supply harmonic control

Main circuit positive terminal

Main circuit negative terminal

supply input

External regeneration resistance connection terminal

tion terminals

Frame ground This is the ground terminal. Ground to a minimum of 100

R88D-WN@H-ML2 (50 to 400 W): Single-phase 200/230 VAC (170 to 253 V), 50/60 Hz (No L3 terminal)

R88D-WN08H-ML2 (750 W): Single-phase 200/230 VAC (170 to 253 V), 50/60 Hz Note: The L3 terminal is not used, so do not connect it.

R88D-WN@H-ML2 (500 W to 3.0 kW): Single-phase 200/230 VAC (170 to 253 V), 50/60 Hz

R88D-WN@L-ML2 (50 to 400 W): Single-phase 100/115 VAC (85 to 127 V), 50/60 Hz (No L3 terminal)

R88D-WN@H-ML2 (500 W to 3.0 kW) Normally short-circuit between If harmonic control measures are required, connect a DC Reactor between

Used for DC power supply input. The R88D-WN@H-ML2 (500 W to 3.0 kW) does not have a Use the

R88D-WN@H-ML2: Single-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz R88D-WN@L-ML2: Single-phase 100/115 V AC (85 to 127 V AC) 50/60 Hz

R88D-WN@H-ML2 (50 to 400 W) R88D-WN@L-ML2 (50 to 400 W) This terminal does not normally need to be connected. If regenerative energy is high, connect an External Regeneration Resistor between B1 and B2. (There is no B3 terminal.)

R88D-WN@H-ML2 (500 W to 3.0 kW) Short-circuit between B2 and B3. If regenerative energy is high, remove the short bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2.

Red These are the terminals for outputs to the Servomotor. Be

Green/ Ye l l o w

−1 and −2.

−2 terminal.

sure to wire these terminals correctly.

−1 and −2.

− terminal.

Ω (class-3).

2-56

Standard Models and Specifications

2-4-4 Communications Specifications (CN6)

■ MECHATROLINK-II Communications Specifications

Item Specifications

Communications specifications MECHATROLINK-II Baud rate 10 Mbps Maximum transmission dis-

tance Minimum distance between

nodes Transmission medium 2-core shielded twisted-pair cable Number of connected devices 30 Slaves max. Topology Bus Transmission time 250 Communications method Master/Slave total synchronization method Encoding Manchester encoding Data length Either 17 or 32 bytes can be selected.

50 m (See note.)

0.5 m

µs to 8 ms

Chapter 2

Note This is the total length of cable for connecting between devices. The maximum length will vary

depending on the number of devices connected. For details, refer to the section on wiring in 26-1 MECHATROLINK-II Communications Cable Specifications.

The following table shows whether or not a Communications Repeater is required in various combinations of numbers of connected MECHATROLINK-II devices and maximum transmission distances.

Maximum transmission distance

0 to 30 m 30 to 50 m

Number of connected devices

Maximum transmission

distance

Communications Repeater FNY-REP2000 JEPMC-REP2000

■ System Configuration

1 to 15 Repeater not required Repeater not required 16 Repeater not required Repeater required 17 to 30 Repeater required Repeater required

OMRON model number Yaskawa Electric model number

The following diagram shows the basic system configuration. For details on the number of devices that can be connected, refer to Transmission Time below.

2-57

Standard Models and Specifications

Chapter 2

● Connection Example: Connecting to a SYSMAC CS1W-MCH71, CJ1W-MCH71, or

CJ1W-NCF71

Host

Servo Driver Servo Driver

M M

Servomotor Servomotor

■ MECHATROLINK-II Communications Setup

This section describes the required switch settings for MECHATROLINK-II communications.

● Communications Specifications

MECHATROLINK-II communications specifications are set using DIP switch SW2. The settings are shown below. Changes to settings go into effect when the power is turned ON again.

Bit Name Setting Contents Default setting

Bit 1 Reserved for system. ON --- ON Bit 2 Reserved for system. ON --- ON Bit 3 Node address setting OFF Node address: 40H + SW1 OFF

ON Node address: 50H + SW1

Bit 4 Reserved for system. OFF --- OFF

OFF

234

SW2 (default setting)

SW1 (default setting)

● Transmission Time

The following table shows the transmission times that can be used with the Servo Driver, and the number of nodes that can be connected.

2-58

Standard Models and Specifications

Transmission time and number of connectable devices

Chapter 2

Number of

connectable

devices

0.25 ms (See

note 1.)

0 3 8 142025303030

0.5 ms 1.0 ms 1.5 ms 2.0 ms 2.5 ms 3.0 ms 3.5 ms 4.0 ms

Transmission time

Note 1. When the transmission time is 0.25 ms, set a communications time that is a multiple of

0.5 ms.

Note 2. If the actual number of connected devices is less than the possible number, the extra words

can be used as communications retry words. The number of communication retries equals the number of connectable devices minus the number of devices actually connected plus 1.

Note 3. When there are no communications retries, the number of connectable devices equals the

normal number of connectable devices plus 1.

Note 4. When a C2 Master is connected, the number of connectable devices equals the normal

number of connectable devices minus 1.

The node address is set as shown in the following table, using the rotary switch (SW1) and the DIP switch (bit 3 of SW2). Changes in settings go into effect when the power is turned ON again. The default setting for the node address is 41H (bit 3 of SW2: OFF; SW1: 1).

Node address settings

SW2 bit 3 SW1 Node address SW2 bit 3 SW1 Node address

OFF 0 Disabled ON 0 50H OFF 1 41H ON 1 51H OFF 2 42H ON 2 52H OFF 3 43H ON 3 53H OFF 4 44H ON 4 54H OFF 5 45H ON 5 55H OFF 6 46H ON 6 56H OFF 7 47H ON 7 57H OFF 8 48H ON 8 58H OFF 9 49H ON 9 59H OFF A 4AH ON A 5AH OFF B 4BH ON B 5BH OFF C 4CH ON C 5CH OFF D 4DH ON D 5DH OFF E 4EH ON E 5EH OFF F 4FH ON F 5FH

2-59

Standard Models and Specifications

2-4-5 I/O Signal Specifications (CN1)

■ External Signal Processing

Servo Driver

3.3 k

POT

NOT

DEC

EXT1

EXT2

EXT3

3.3 k

24 VDC

Forward rotation drive prohibit

Reverse rotation drive prohibit

Origin return deceleration switch

External latch signal 1

External latch signal 2

External latch signal 3

+24VIN

See note 4.

ALM

Alarm output

ALMCOM

SO1+

Brake interlock

SO1−

SO2+

SO2−

SO3+

SO3−

Encoder A phase outputs

−A

Encoder B phase outputs

−B

Encoder Z phase outputs

−Z

Chapter 2

Maximum operating voltage: 30 V DC Maximum output current: 50 mA

Line driver output EIA-RS422A conforming (Load resistance: 220 Ω min.)

General-purpose signal terminal

Backup battery

2.8 V to 4.5 V

SI0

BAT

BATGND

3.3 k GND16

Ground common

Shell

Frame ground

Note 1. The inputs at pins 7 to 12 and the outputs at pins 1,2, and 23 to 26 can be changed by pa-

rameter settings. The settings in the diagram are the defaults.

Note 2. Connect pin Nos. 14 and 15 when providing an external backup power supply for the abso-

lute encoder.

Note 3. The general-purpose input at pin No. 13 can be monitored through MECHATROLINK-II. Note 4. An automatic reset fuse is provided to protect output. If the fuse is activated for overcurrent,

it will automatically reset after a fixed period of time has lapsed without current flowing.

2-60

Standard Models and Specifications

■ Control I/O Signals

● CN1 Control Inputs

Pin No. Signal name Function Contents Control

7 to 9 DEC (9) [SI3] Origin return

deceleration switch signal

POT (7) [SI1] Forward drive pro-

hibit input

NOT (8) [SI2)] Reverse drive pro-

hibit input

10 to 12 EXT1 (10) [SI4] External latch sig-

nal 1

EXT2 (11) [SI5] External latch sig-

nal 2

EXT3 (12) [SI6] External latch sig-

nal 3

6 +24VIN Sequence signal

control power sup-

ply 14 BAT Backup battery 15 BATGND

13 (Not allocated)

[SI0]

inputs

General-purpose

input

This is the deceleration input for origin return. All

Forward rotation overtravel input. All

Reverse rotation overtravel input. All

This is the external signal input for latching the present feedback pulse counter.

This is the 24-VDC power supply input terminal for sequence inputs (pin Nos. 7 to 13).

These are the battery connection terminals for the absolute encoder power backup.

Note: Connect the battery either to these termi-

nals or to the absolute encoder battery cable.

This terminal can be monitored in the MECHATROLINK-II I/O monitor field.

Chapter 2

mode

All

All [absolute]

All

Note 1. Input signal DEC, POT, and NOT functions can be allocated to pin Nos. 7 to 13 [SI0 to SI6]

by setting parameters Pn50A, Pn50B, and Pn511.

Note 2. Input signal EXT1, EXT2, and EXT3 functions can be allocated to pin Nos. 10 to 12 [SI4 to

SI6] by setting Pn511.

Note 3. The general-purpose input at pin No. 13 [SI0] can be monitored through MECHATROLINK-

II.

Note 4. The numbers in parentheses ( ) show the default pin number allocations. The terminal name

is shown in brackets [ ].

2-61

Standard Models and Specifications

● CN1 Control Outputs

Pin No. Signal name Function Contents Control

3ALM 4ALMCOM 1 to 2

23 to 26

Shell FG Frame ground Connection terminal for cable's shielded wire

INP1 Positioning comINP1COM INP2 Positioning comINP2COM VCMP Speed conformity VCMPCOM

TGON Servomotor rotaTGONCOM

READY Servo ready output ON if no errors are discovered after powering READYCOM CLIMT Current limit detecCLIMTCOM VLIMT Speed limit detecVLIMTCOM BKIR (1) [SO1+] Brake interlock BKIRCOM (2)

[SO1

−]

WARN Warning output ON when an overload warning or regeneration WARNCOM (Not allocated)

(23) [SO2+] (Not allocated)

(24) [SO2 (Not allocated)

(25) [SO3+] (Not allocated)

(26) [SO3

−]

Alarm output When an alarm is generated for the Servo

Driver, the output is OFF.

ON when the position deviation is within the

pleted output 1

pleted output 2

output

tion detection output

tion output

output

General-purpose outputs

positioning completed range (Pn500).

ON when the position deviation is within the positioning completed range (Pn504).

ON when the Servomotor speed error is within the speed conformity signal output range (Pn503).

ON when the Servomotor rotation speed exceeds the value set for the Servomotor rotation detection speed (Pn502).

the main circuits.

ON if the output current is limited. All

ON if the speed is limited. Torque

Holding brake timing signals are output according to user parameters Pn506, Pn507, and Pn508.

overload warning is detected.

Allocations are set by the user parameters. All

and FG line.

Chapter 2

mode

All

Position

Speed

All

Note 1. Output signal INP1, INP2, VCMP, TGON, READY, CLIMT, VLIMT, BKIR, and WARN func-

tions can be allocated to pin Nos. 1 to 2 or 23 to 26 [S01 to S03] by setting parameters Pn50E to Pn510.

Note 2. The numbers in parentheses ( ) show the default pin number allocations. Terminal names

are shown in brackets [ ].

2-62

Standard Models and Specifications

■ CN1: Pin Arrangement

Chapter 2

BKIR(SO1+)

POT(SI1)

DEC(SI3)

EXT2(SI5)

ALM

SI0

Brake interlock output (See note 1.)

Servo alarm output

(See note 2.)

Forward drive prohibit input (See note 1.)

Origin return deceleration switch signal (See note 1.)

External latch signal 2 (See note 1.)

Generalpurpose input (See note 1.)

BKIRCOM

(SO1−)

ALMCOM

+24VIN

NOT(SI2)

EXT1(SI4)

EXT3(SI6)

Brake interlock output (See note 1.)

Servo alarm output

Sequence signal control power supply

Reverse drive prohibit input (See note 1.)

External latch signal 1 (See note 1.)

External latch signal 3 (See note 1.)

BAT

[absolute]

GND

−A

−Z

SO2−

SO3−

Backup battery + input (See note 3.)

Ground common

Encoder phase-A

− output

Encoder phase-B + output

Encoder phase-Z

− output

General-purpose output (See note 1.)

BATGND [absolute]

−B

SO2+

SO3+

Backup battery − input (See note 3.)

Encoder phase-A + output

Encoder phase-B

− output

Encoder phase-Z + output

General-purpose output (See note 1.)

Note 1. Function allocations for pin 7 to 13 sequence inputs and pin 1, 2, and 23 to 26 sequence

outputs can be set by means of user parameters Pn50A Pn50B, Pn511, and Pn50E to Pn510, respectively. The allocations shown in this table are the defaults.

Note 2. Do not wire the empty pins. Note 3. When using an absolute encoder, connect a battery (2.8 to 4.5 V) either to the backup bat-

tery inputs at pin Nos. 14 and 15 or to the absolute encoder battery cable. (Do not connect it to both of these locations.)

● CN1 Connectors (26P)

Servo Driver receptacle 10226-52A2JL (Sumitomo 3M) Cable solder plug 10126-3000VE (Sumitomo 3M) Cable case 10326-52A0-008 (Sumitomo 3M)

● Sequence Inputs

Servo Driver

3.3 k

6+24VIN

External power supply: 24 V ± 1 V DC Power supply capacity: 50 mA min. (per Unit)

To other in

Min. ON time: 2 ms

ut circuit GNDs To other input circuits

3.3 k

Signal Levels ON level: Minimum (+24VIN−11) V

OFF level: Maximum (+24VIN

−1) V

Photocoupler input: 24 V DC, 7 mA

2-63

Standard Models and Specifications

■ Control Output Circuits

● Position Feedback Output

Servo Driver

+A17

Phase A

−A18

R = 220 to 470 Ω

−A

Chapter 2

+5 V

16 3

Phase A

Output line driver SN75ALS174NS or equivalent

Phase B

Phase Z

0 V

Shell

● Sequence and Alarm Outputs

Servo Driver side

To other output circuits

−

See note.

+B20

−B19

+Z21

−Z22

GND16

−B

−Z

GND

External power

Di: Diode for preventing surge voltage

(Use speed diodes.)

supply 24 V DC ± 1 V

Maximum operating voltage: 30 V DC Maximum output current: 50 mA

4 5

12 11 8

0 V

Applicable line receiver

0 V

SN75175/MC3486/ AM26LS32

Phase B

Phase Z

Note An automatic reset fuse is provided to protect output. If the fuse is activated for overcurrent, it

will automatically reset after a fixed period of time has lapsed without current flowing.

■ Backup Battery + Input (14: BAT)

Backup Battery

− Input (15: BATGND)

• These are the connection terminals for a backup battery for when power to the absolute encoder is interrupted.

• Normally a Backup Battery Unit is used and the battery is connected to the battery holder for the absolute encoder battery cable, so do not connect anything to these terminals. (Absolutely do not connect to both of them, or it will cause damage.)

• The battery voltage is 2.8 to 4.5 V.

2-64

Standard Models and Specifications

Chapter 2

■ Forward Drive Prohibit (7: POT)

Reverse Drive Prohibit (8: NOT)

Note This is the default allocation. For either signal, the drive prohibition is normally disabled. This

setting can be changed by Pn50A.3/Pn50B.0.

• These two signals are the inputs for forward and reverse drive prohibit (overtravel).

• When they are input, driving is possible in the respective direction.

• When driving is prohibited, movement will stop according to the settings of Pn001.0 and Pn001.1. Refer to the diagram below.)

• Alarm status will not be generated at the Servo Driver while driving is prohibited.

Stopping Methods when Forward/Reverse Drive Prohibit is OFF

Deceleration Method Stopped Status

Dynamic brake

Free run

Emergency stop torque (Pn406)

Pn001.1

"2"

"1"

Servo unlocked

Servo locked

See note 1.

POT (NOT) is OFF

Pn001.1

"0"

"1" or "2"

Pn001.0

"0" or "1"

"2"

Note 1. The position loop will not operate for position control when stopping in this mode. Note 2. When torque control is being used, the stopping method is determined by Pn001.0 setting.

(The Pn001.1 setting is irrelevant.)

Note 3. With a vertical load, the load may fall due to its own weight if it is left at a drive prohibit input.

We recommend that you set the stop method for the drive prohibit input (Pn001.1) for decelerating with the emergency stop torque, and then set stopping with the servo locked (SV: 1) to prevent the load from falling.

■ Origin Return Deceleration Switch Signal (9: DEC)

Note This is the default allocation. The DEC signal is allocated in Pn511.0.

• This is the deceleration signal for origin search.

• When DEC is input (DEC: 1) during an origin search, the Servomotor speed is changed according to the origin return approach speed 1 (Pn817). Then, when the signal is turned OFF (DEC: 0), the Servo Driver is switched to latch operation.

2-65

Standard Models and Specifications

Chapter 2

Speed command

DEC

Latch signal

■ External latch signal 1 (10: EXT1)

Origin return approach speed 1 (Pn817)

Origin return approach speed 2 (Pn818)

Origin return final travel distance (Pn819)

External latch signal 2 (11: EXT2) External latch signal 3 (12: EXT3)

Note This is the default allocation. The EXT1, EXT2, and EXT3 signals are allocated in Pn511.1,

Pn511.2, and Pn511.3 respectively.

• This is the signal for latching the present feedback pulse counter.

■ Encoder Output (17: Phase A +)

Encoder Output (18: Phase A

−)

Encoder Output (20: Phase B +) Encoder Output (19: Phase B

−)

Encoder Output (21: Phase Z +) Encoder Output (22: Phase Z

■ Alarm output (3: ALM)

−)

Alarm output ground (4: ALMCOM)

• When the Servo Driver detects an error, outputs are turned OFF.

• This output is OFF at the time of powering up, and turns ON when the Servo Driver's initial processing is completed.

■ Positioning Completed Outputs 1, 2 (INP1, INP2)

Note As the default setting, these INP signals are not allocated. The INP1 signal is allocated in

Pn50E.0, and the INP2 signal in PN510.0.

• The INP1 signal turns ON when the number of accumulated pulses in the deviation counter is less than the value set in Pn522 (Positioning completed range 1). INP2 turns ON when the number is less than Pn524 (Positioning completed range 2).

• When the speed command is a low speed and the set value for the positioning completed range is large, the positioning completed outputs stay ON.

2-66

Standard Models and Specifications

Note These outputs are always OFF when the control mode is any mode other than position control.

■ Speed Conformity Output (VCMP)

Note As the default setting, the VCMP signal is not allocated. It is allocated in Pn50E.1.

• The VCMP signal turns ON when the difference between the speed command and the Servomotor rotation speed is equal to or less than the value set for Pn503 (Speed conformity signal output range).

• For example, if the speed command is for 3,000 r/min and the set value is for 50 r/min, it turns ON when the Servomotor rotation speed is between 2,950 and 3,050 r/min.

Note This output is always OFF when the control mode is any mode other than speed control.

■ Servomotor Rotation Detection Output (TGON)

Note As the default setting, the TGON signal is not allocated. It is allocated in Pn50E.2.

Chapter 2

• The TGON signal turns ON when the Servomotor rotation speed exceeds the value set for Pn502 (Rotation speed for motor rotation detection).

■ Servo Ready Output (READY)

Note As the default setting, the READY signal is not allocated. It is allocated in Pn50E.3.

• The READY signal turns ON if no errors are detected after the main circuits are powered up.

■ Current Limit Detection Output (CLIMT)

Note As the default setting, the CLIMT signal is not allocated. It is allocated in Pn50F.0.

• The CLIMT signal is turned ON in any of the following four cases.

• The output torque reaches the limit value set in Pn402 (Forward torque limit) or Pn403 (Reverse torque limit).

• With the CJ1W-NCF71, the output torque reaches the limit value set in Pn404 (Forward rotation external current limit) or Pn405 (Reverse rotation external current limit) while the torque limit (forward/reverse rotation current limit designation) is ON.

• With the CJ1W-NCF71, the output torque reaches the torque limit value specified by option command value 1 when Pn002.0 (Torque command input change) is set to 1.

• With the CJ1W-NCF71, the output torque reaches the torque limit value specified by option command value 1 or 2 with the torque limit (forward/reverse rotation current limit designation) set to ON when Pn002.0 (Torque command input change) is set to 3.

2-67

Standard Models and Specifications

■ Speed Limit Detection Output (VLIMT)

Chapter 2

Note As the default setting, the VLIMT signal is not allocated. It is allocated in Pn50F.1.

• The VLIMT signal is turned ON in either of the following two cases.

• The Servomotor rotation speed reaches the limit set in Pn407 (speed limit).

• With the CJ1W-NCF71, the Servomotor rotation speed reaches the speed limit specified by option command value 1 when Pn002.1 (speed command input change) is set to 1.

Note This output is always OFF when the control mode is any mode other than torque control.

■ Brake Interlock Output (1: BKIR)

Brake Interlock Output Common (2: BKIRCOM)

Note This is the default allocation. The BKIR signal is allocated in Pn50F.2.

• External brake timing signals are output according to the settings in Pn506 (Brake timing 1), Pn507 (Brake command speed), and Pn508 (Brake timing 2).

Note For details on the brake interlock function, refer to 4-4-6 Brake Interlock (All Operating Modes).

■ Warning Output (WARN)

Note As the default setting, the WARN signal is not allocated. It is allocated in Pn50F.3.

• The WARN signal is turned ON in any of the following three cases.

• The Servomotor output torque (effective value) exceeds 115% of the rated torque.

• The regenerative energy exceeds the tolerance of the internal regeneration resistance.

• When external regeneration resistance is used, the regenerative energy exceeds the value set for Pn600 (Regeneration resistance capacity).

2-4-6 Encoder Input Specifications (CN2)

Pin No. Symbol Signal name Function/Interface

1 E5V Encoder power supply

+5 V

2 E0V Encoder power supply

GND

3 BAT+ Battery + [absolute] Backup power output for encoder 4BAT

5 S+ Encoder + phase-S input Line driver input (conforming to EIA-RS422A) 6S Shell FG Shielded ground Cable shielded ground

− Battery − [absolute]

− Encoder − phase-S input

Power supply outlet for encoder: 5 V, 180 mA Note: An automatic reset fuse is provided to protect

output. If the fuse is activated due to overcurrent, it will automatically reset after a fixed period of time has lapsed without current flowing.

(3.6 V, 20 Servo Driver is being powered)

(Input impedance: 120

µA for backup or when stopped; 3 µA when

Ω)

2-68

Standard Models and Specifications

● CN2 Connectors Used (6P)

Chapter 2

Receptacle at Servo Driver 53460-0611 (Molex Japan Co., Ltd.) Cable plug 55100-0670 (Molex Japan Co., Ltd.)

2-4-7 Personal Computer Monitor Connector Specifications

(CN3)

Pin No. Symbol Signal name Function/Interface

1, 8 TXD+ Transmission data + This is data transmitted to a personal computer. 2, 9 TXD 3, 10 RXD+ Reception data + This is data received from a personal computer. 4, 6 RXD 5 PRMU Unit switching This is the terminal for switching the connection. 7 RT Termination resistance ter-

11, 12 --- (Not used.) (Do not connect.) 13 +5V +5 V output This is the +5-V power supply output. 14 GND Ground Shell FG Shielded ground Cable shielded ground

− Transmission data −

− Reception data −

minal

Line receiver input

This is the termination resistance terminal for the line receiver. 6-pin connection for RS-422 communications (final Servo Driver only).

● CN3 Connectors Used (14P)

Receptacle at Servo Driver 10214-52AJL (Sumitomo 3M) Cable plug with solder 10114-3000VE (Sumitomo 3M) Cable case 10314-50A0-008 (Sumitomo 3M)

2-4-8 Analog Monitor Output Connector Specifications (CN5)

Pin No. Symbol Signal name Function/Interface

1 NM Analog Monitor 2 Default setting: Servomotor rotation speed, 1 V per

1,000 r/min (Can be changed by Pn007.)

2 AM Analog Monitor 1 Default setting: Torque command: gravity compensation

torque, 1 V per 100% of rated torque (Can be changed

by Pn006.) 3 GND Analog Monitor Ground Grounds for analog monitors 1 and 2 4 GND Analog Monitor Ground

● CN5 Connectors Used (4P)

Pin header at Servo Driver DF11-4DP-2DS (Hirose Electric) Cable connector socket DF11-4DS-2C (Hirose Electric) Cable connector contact DF11-2428SCF (Hirose Electric)

2-69

Standard Models and Specifications

● Monitored Items and Scaling Changes

Monitored item Monitor output specifications Pn006, Pn007

Servomotor rotation speed

Speed command 1 V per 1,000 r/min; forward command:

Torque command: gravity compensation torque (Pn422)

Position deviation* 0.05 V / 1 command unit; plus error:

Position amp error* 0.05 V per encoder pulse unit; plus error:

Position command speed (rotation speed calculated value)

Not used. --- 06 Not used. --- 07 Positioning completed Positioning completed: 5 V; positioning not completed: 0 V 08 Speed feed forward 1 V per 1,000 r/min; forward rotation: − voltage; reverse rotation: +

Torque feed forward 1 V per 100% of rated torque; forward acceleration:

Not used. --- 0B to 1F

1 V per 1,000 r/min; forward rotation: voltage

mand: + voltage 1 V per 100% of rated torque; forward acceleration:

reverse acceleration: + voltage

age

voltage 1 V per 1,000 r/min; forward rotation:

voltage

reverse acceleration: + voltage

− voltage; reverse rotation: +

− voltage; reverse com-

− voltage;

− voltage; reverse error: + volt-

− voltage; minus error: +

− voltage; reverse rotation: +

− voltage;

Chapter 2

setting

Note 1. The table shows the specifications with no offset adjustment or scaling changes. Note 2. The maximum output voltage is

±8 V. Normal outputs will not be possible if this value is ex-

ceeded.

Note 3. The output accuracy is approximately

±15%.

Note 4. For items marked with an asterisk (*), the position deviation monitor signal is 0 when speed

control is in effect.

2-70

Standard Models and Specifications

2-5 Servomotor Specifications

■ OMNUC W-series AC Servomotors (R88M-W@)

There are three kinds of OMNUC W-Series AC Servomotors, as follows:

• 3,000-r/min Servomotors

• 3,000-r/min Flat-style Servomotors

• 1,000-r/min Servomotors

Chapter 2

• 1,500-r/min Servomotors

These Servomotors also have optional specifications, such as shaft type, with or without brake, waterproofing, with or without reduction gears, and so on. Select the appropriate Servomotor for your system according to the load conditions and installation environment.

2-5-1 General Specifications

Item 3,000-r/min Servomotors 3,000-r/min Flat-

50 to 750 W 1 to 3 kW

Ambient operating temperature

Ambient operating humidity

Ambient storage temperature

Ambient storage humidity 20% to 80% (with no condensation) Storage and operating

atmosphere Vibration resistance (See

note 1.)

Impact resistance Acceleration

Insulation resistance Between power line terminals and FG: 10 M Dielectric strength Between power line terminals and FG: 1,500 V AC for 1 min at 50/60 Hz

° to 40°C

20% to 80% (with no condensation)

−20° to 60°C

No corrosive gasses.

10 to 2,500 Hz in X, Y, and Z directions with accelera-

tion 49 m/s

490 m/s X, Y, and Z directions, two times

max.

max., in

10 to 2,500 Hz in X, Y, and Z directions with accelera-

tion 24.5 m/s Acceleration 490 m/s2 max., in

X, Y, and Z directions, two times

max.

10 to 2,500 Hz in X, Y, and Z directions with accelera-

tion 49 m/s Acceleration 490 m/s2 max., in

X, Y, and Z directions, two times

style

Servomotors

max.

Ω min. (at 500 V DC)

1,000-r/min and

1,500-r/min

Servomotors

10 to 2,500 Hz in X, Y, and Z directions with accelera-

tion 24.5 m/s Acceleration 490 m/s2 max., in

X, Y, and Z directions, two times

max.

2-71

Standard Models and Specifications

Chapter 2

Item 3,000-r/min Servomotors 3,000-r/min Flat-

50 to 750 W 1 to 3 kW

Run position All directions Insulation grade Type B Type F Type B Type F Structure Totally-enclosed self-cooling Vibration grade V-15 Mounting method Flange-mounting EC Direc-

tives

UL standards UL1004 cUL standards cUL C22.2 No. 100

EMC Directive

Low-voltage Directive

EN55011 class A group 1 EN61000-6-2 IEC60034-8, EN60034-1, -5, -9

style

Servomotors

1,000-r/min and

1,500-r/min

Servomotors

Note 1. Vibration may be amplified due to sympathetic resonance of machinery, so use the Servo-

motor Driver under conditions which will not exceed 80% of the specification values over a long period of time.

Note 2. Water-proof connectors must be used on the Power and Encoder Cables when used in en-

vironments subject to direct contact with water. Refer to 3-1-2 Servomotors for the recom- mended connectors.

Note 3. The above items reflect individual evaluation testing. The results may differ under compound

conditions.

Note 4. The Servomotors cannot be used in misty environments.

■ Protective Structure

The protective structure depends on the type of Servomotor, as shown in the following tables. Servomotors are available with and without oil seals. The oils seals prevent oil and grease from penetrating around the shaft. They do not prevent the penetration of water.

● 3,000-r/min Servomotors

30 to 750 W 1 to 5 kW

Without oil seal IP55 (except for through-shaft parts) IP67 (except for through-shaft parts)* With oil seal IP55 (except for through-shaft parts) IP67 (including through-shaft parts)*

● 3,000-r/min Flat Servomotors

Without oil seal IP55 (except for through-shaft parts) With oil seal IP55 (except for through-shaft parts) With water-resistance processing IP67 (except for through-shaft parts)

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

Without oil seal IP67 (except for through-shaft parts)* With oil seal IP67 (including through-shaft parts)*

Note The user can attach and remove oil seals for the Servomotors marked with an asterisk.

2-72

Omron R88M-W2K010H, R88M-W90010T, R88M-W2K010T, R88M-W45015T, R88M-W85015T User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

NOTICE

Notice:

General Warnings

Read and Understand this Manual

Introduction

1-1 Features

1-2 System Configuration

1-3 Servo Driver Nomenclature

1-4 Applicable Standards and Models

1-5 System Block Diagrams

Standard Models and Specifications

2-1 Standard Models

2-2 Servo Driver and Servomotor Combinations

2-3 External and Mounted Dimensions

2-3-1 AC Servo Drivers

2-3-2 AC Servomotors

2-3-3 AC Servomotors with Gears

2-4 Servo Driver Specifications

2-4-1 General Specifications

2-4-2 Performance Specifications

2-4-3 Terminal Block Specifications

2-4-4 Communications Specifications (CN6)

2-4-5 I/O Signal Specifications (CN1)

2-4-6 Encoder Input Specifications (CN2)

2-4-8 Analog Monitor Output Connector Specifications (CN5)

2-5 Servomotor Specifications

2-5-1 General Specifications