G Servo Datasheet

OMNUC G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT@
High-speed Response The G-series AC Servomotors and Servo Drives have achieved high-speed response capabilities exceeding OMRONs W-series models, with a high-response frequency of 1 kHz (compared to 400 Hz for the W Series). Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/Deceleration The damping control function suppresses vibration of low-rigidity mechanisms or devices whose ends tend to vibrate. Two damping filters are provided to enable switching the vibration frequency automatically according to the direction of rotation and also via an external signal. In
CSM_R88M-G_R88D-GT__DS_E_4_1
Support for a Wide Range of Applications with Position Control, Speed Control, Torque Control.
addition, the settings can be made easily merely by setting the vibration frequency and filter values, and you are assured of stable operation even if the settings are inappropriate. High-speed Positioning via Resonance Suppression Control The realtime autotuning function automatically estimates the load inertia of the machine in realtime and sets the optimal gain. The adaptive filter automatically suppresses vibration caused by resonance. Also, two independent notch filters make it possible to reduce vibration of a mechanism with multiple resonance frequencies.
System Configuration
Controllers Monitor Software
CX-Drive
Parameter Unit
R88A-PR02G
Available soon
SYSMAC CJ-series PLC
FQM1-series PLC
SYSMAC CS-series PLC
Personal Computer Monitor Cable

R88A-CCG002P2
Motion Control Unit
Flexible Motion Controller with Analog I/O
Analog Commands feedback signals

CS1W-MC221-V1/-MC421-V1 FQM1-MMA22
Pulse Train Commands
Position Control Unit
Flexible Motion Controller with Pulse I/O
Position Control Unit Cables

XW2Z-@@@J-A@
Servo Relay Units

XW2B-@@J@-@@@
Servo Drive Cables

XW2Z-@@@J-B@@
CJ1W-NC113/213/413 CJ1W-NC133/233/433
CS1W-NC113/213/413 CS1W-NC133/233/433
FQM1-MMP22
HCP22
RUN ERC
IN OUT
OPN ERH
COMM
MACH No.
0 1 2 3 4 5 6 7 8 9 10 11 0 1 2 3 4 5 6 7
Pulse Train Commands
TOOL ON
X101
OFF
X100
A1 B1 A2 B2
1
PERIHER AL
Connector-Terminal Block Conversion Units and Cable

XW2@-50G@ XW2Z-@@@J-B24
12
CN2 CN1
1
00906
20
A A B
CJ1M-CPU21/22/23
Customizable Counter Unit

CS1W-HCP22-V1
Support Software
CX-One FA Integrated Tool Package
CX-Programmer CX-Position SYSMAC CP1H/CP1L
R88M-G/R88D-GT@
Command Control Mode Switching Operation can be performed by switching between two of the following control modes: Position control, speed control (including internal speed) and torque control. Therefore, a variety of applications can be supported by one Servo Drive. Simplified Speed Control with Internal Speed Settings Eight internal speed settings allow you to change the speed easily by using external signals.
AC Servo Drives
AC Servomotors
Motor power signals
OMNUC G-series
AC Servo Drive R88D-GT
Power Cables *
Standard Cable Without brake
R88A-CAG@@@@S
Model without Decelerators

R88M-G
With brake
R88A-CAG@@@@B
feedback signals
Encoder Cables *
Standard Cable 50 W to 750 W
R88A-CRGA@@@C R88A-CRGB@@@C
900 W to 7.5 kW
R88A-CRGC@@@N
Absolute Encoder Battery Cable

Peripheral Devices
Reactors
3G3AX-DL 3G3AX-AL
Decelerators
Backlash: 3 Arcminutes Max.
R88G-HPG
Absolute Encoder Battery Cable 30 cm *

R88A-CRGD0R3C Available soon

R88G-VRSF
External Regeneration Resistors

R88A-RR
*Not required if a battery is connected to the control connector (CN1).
R88M-G/R88D-GT@
Interpreting Model Numbers

Servo Driver Model Numbers
The model number provides information such as the Servo Drive type, the applicable Servomotor capacity, and the power supply voltage.
R88D-GT01H
OMNUC G-series Servo Drive Drive Type T: Three-mode type Applicable Servomotor Capacity A5: 50 W 01: 100 W 02: 200 W 04: 400 W 08: 750 W 10: 1 kW 15: 1.5 kW 20: 2 kW 30: 3 kW Power Supply Voltage 50: 5 kW L : 100 VAC 75: 7.5 kW H: 200 VAC
Servomotor Model Numbers
R88M-GP10030H-BOS2
G-series Servomotor Motor Type
Blank: Cylinder type P: Flat type
Servomotor Capacity
050: 100: 200: 400: 750: 900: 1K0: 1K5: 2K0: 3K0: 4K0: 4K5: 5K0: 6K0: 7K5: 50 W 100 W 200 W 400 W 750 W 900 W 1 kW 1.5 kW 2 kW 3 kW 4 kW 4.5 kW 5 kW 6 kW 7.5 kW
Rated Rotation Speed

10: 15: 20: 30: 1,000 r/min 1,500 r/min 2,000 r/min 3,000 r/min
Applied Voltage
H: L: T: S: 200 VAC with incremental encoder specifications 100 VAC with incremental encoder specifications 200 VAC with absolute encoder specifications 100 VAC with absolute encoder specifications
Option
Blank: Straight shaft B: With brake O: With oil seal S2: With key and tap
R88M-G/R88D-GT@
Ordering Information
Servo Drives
Specifications 50 W Single-phase 100 VAC 100 W 200 W 400 W 50 W Single-phase 200 VAC 100 W 200 W 400 W 750 W 1 kW Single-phase/three-phase 200 VAC 900 W 1 kW 1.5 kW 2 kW 2 kW 3 kW 3 kW Three-phase 200 VAC 4 kW 4.5 kW 5 kW 6 kW 7.5 kW R88D-GT75H R88D-GT50H R88D-GT20H R88D-GT30H R88D-GT15H Model R88D-GTA5L R88D-GT01L R88D-GT02L R88D-GT04L R88D-GT01H R88D-GT02H R88D-GT04H R88D-GT08H R88D-GT10H
Servomotors
INC 3,000-r/min Cylindrical Servomotors
Specifications 50 W 100 V Without brake 100 W 200 W 400 W 50 W 100 W 200 V 200 W 400 W 750 W 50 W 100 V With brake 100 W 200 W 400 W 50 W 100 W 200 V 200 W 400 W 750 W Note: Models with oil seals are also available. Model Straight shaft R88M-G05030H R88M-G10030L R88M-G20030L R88M-G40030L R88M-G05030H R88M-G10030H R88M-G20030H R88M-G40030H R88M-G75030H R88M-G05030H-B R88M-G10030L-B R88M-G20030L-B R88M-G40030L-B R88M-G05030H-B R88M-G10030H-B R88M-G20030H-B R88M-G40030H-B R88M-G75030H-B Straight shaft with key and tap R88M-G05030H-S2 R88M-G10030L-S2 R88M-G20030L-S2 R88M-G40030L-S2 R88M-G05030H-S2 R88M-G10030H-S2 R88M-G20030H-S2 R88M-G40030H-S2 R88M-G75030H-S2 R88M-G05030H-BS2 R88M-G10030L-BS2 R88M-G20030L-BS2 R88M-G40030L-BS2 R88M-G05030H-BS2 R88M-G10030H-BS2 R88M-G20030H-BS2 R88M-G40030H-BS2 R88M-G75030H-BS2
R88M-G/R88D-GT@
ABS/INC 3,000-r/min Cylindrical Servomotors
Specifications 50 W 100 V 100 W 200 W 400 W 50 W 100 W Without brake 200 W 400 W 200 V 750 W 1 kW 1.5 kW 2 kW 3 kW 4 kW 5 kW 50 W 100 V 100 W 200 W 400 W 50 W 100 W With brake 200 W 400 W 750 W 200 V 1 kW 1.5 kW 2 kW 3 kW 4 kW 5 kW Note: Models with oil seals are also available. Model Straight shaft R88M-G05030T R88M-G10030S R88M-G20030S R88M-G40030S R88M-G05030T R88M-G10030T R88M-G20030T R88M-G40030T R88M-G75030T R88M-G1K030T R88M-G1K530T R88M-G2K030T R88M-G3K030T R88M-G4K030T R88M-G5K030T R88M-G05030T-B R88M-G10030S-B R88M-G20030S-B R88M-G40030S-B R88M-G05030T-B R88M-G10030T-B R88M-G20030T-B R88M-G40030T-B R88M-G75030T-B R88M-G1K030T-B R88M-G1K530T-B R88M-G2K030T-B R88M-G3K030T-B R88M-G4K030T-B R88M-G5K030T-B Straight shaft with key and tap R88M-G05030T-S2 R88M-G10030S-S2 R88M-G20030S-S2 R88M-G40030S-S2 R88M-G05030T-S2 R88M-G10030T-S2 R88M-G20030T-S2 R88M-G40030T-S2 R88M-G75030T-S2 R88M-G1K030T-S2 R88M-G1K530T-S2 R88M-G2K030T-S2 R88M-G3K030T-S2 R88M-G4K030T-S2 R88M-G5K030T-S2 R88M-G05030T-BS2 R88M-G10030S-BS2 R88M-G20030S-BS2 R88M-G40030S-BS2 R88M-G05030T-BS2 R88M-G10030T-BS2 R88M-G20030T-BS2 R88M-G40030T-BS2 R88M-G75030T-BS2 R88M-G1K030T-BS2 R88M-G1K530T-BS2 R88M-G2K030T-BS2 R88M-G3K030T-BS2 R88M-G4K030T-BS2 R88M-G5K030T-BS2
INC 3,000-r/min Flat Servomotors

Specifications 100 W Without brake 100 V 200 W 400 W 100 W 200 V 200 W 400 W 100 W With brake 100 V 200 W 400 W 100 W 200 V 200 W 400 W Note: Models with oil seals are also available. Model Straight shaft R88M-GP10030L R88M-GP20030L R88M-GP40030L R88M-GP10030H R88M-GP20030H R88M-GP40030H R88M-GP10030L-B R88M-GP20030L-B R88M-GP40030L-B R88M-GP10030H-B R88M-GP20030H-B R88M-GP40030H-B Straight shaft with key and tap R88M-GP10030L-S2 R88M-GP20030L-S2 R88M-GP40030L-S2 R88M-GP10030H-S2 R88M-GP20030H-S2 R88M-GP40030H-S2 R88M-GP10030L-BS2 R88M-GP20030L-BS2 R88M-GP40030L-BS2 R88M-GP10030H-BS2 R88M-GP20030H-BS2 R88M-GP40030H-BS2
R88M-G/R88D-GT@
ABS/INC 3,000-r/min Flat Servomotors
Specifications 100 W Without brake 100 V 200 W 400 W 100 W 200 V 200 W 400 W 100 W With brake 100 V 200 W 400 W 100 W 200 V 200 W 400 W Note: Models with oil seals are also available. Model Straight shaft R88M-GP10030S R88M-GP20030S R88M-GP40030S R88M-GP10030T R88M-GP20030T R88M-GP40030T R88M-GP10030S-B R88M-GP20030S-B R88M-GP40030S-B R88M-GP10030T-B R88M-GP20030T-B R88M-GP40030T-B Straight shaft with key and tap R88M-GP10030S-S2 R88M-GP20030S-S2 R88M-GP40030S-S2 R88M-GP10030T-S2 R88M-GP20030T-S2 R88M-GP40030T-S2 R88M-GP10030S-BS2 R88M-GP20030S-BS2 R88M-GP40030S-BS2 R88M-GP10030T-BS2 R88M-GP20030T-BS2 R88M-GP40030T-BS2

Specifications 1 kW 1.5 kW Without brake 2 kW 200 V 3 kW 4 kW 5 kW 7.5 kW 1 kW 1.5 kW With brake 2 kW 200 V 3 kW 4 kW 5 kW 7.5 kW * Model Straight shaft R88M-G1K020T R88M-G1K520T R88M-G2K020T R88M-G3K020T R88M-G4K020T R88M-G5K020T R88M-G7K515T R88M-G1K020T-B R88M-G1K520T-B R88M-G2K020T-B R88M-G3K020T-B R88M-G4K020T-B R88M-G5K020T-B R88M-G7K515T-B Straight shaft with key and tap R88M-G1K020T-S2 R88M-G1K520T-S2 R88M-G2K020T-S2 R88M-G3K020T-S2 R88M-G4K020T-S2 R88M-G5K020T-S2 R88M-G7K515T-S2 R88M-G1K020T-BS2 R88M-G1K520T-BS2 R88M-G2K020T-BS2 R88M-G3K020T-BS2 R88M-G4K020T-BS2 R88M-G5K020T-BS2 R88M-G7K515T-BS2
Note: 1. Models with oil seals are also available. Note: 2. The rated rotation speed for 7.5-kW Servomotors is 1,500 r/min. * UL:pending

Specifications 900 W Without brake 2 kW 200 V 3 kW 4.5 kW 6 kW 900 W With brake 2 kW 200 V 3 kW 4.5 kW 6 kW * Note: Models with oil seals are also available. * UL:pending Model Straight shaft R88M-G90010T R88M-G2K010T R88M-G3K010T R88M-G4K510T R88M-G6K010T R88M-G90010T-B R88M-G2K010T-B R88M-G3K010T-B R88M-G4K510T-B R88M-G6K010T-B Straight shaft with key and tap R88M-G90010T-S2 R88M-G2K010T-S2 R88M-G3K010T-S2 R88M-G4K510T-S2 R88M-G6K010T-S2 R88M-G90010T-BS2 R88M-G2K010T-BS2 R88M-G3K010T-BS2 R88M-G4K510T-BS2 R88M-G6K010T-BS2
R88M-G/R88D-GT@
Decelerators
Backlash: 3 Arcminutes Max. Decelerators for Cylindrical Servomotors
Specifications Motor capacity Gear ratio 1/5 1/9 50 W 1/21 1/33 1/45 1/5 1/11 100 W 1/21 1/33 1/45 1/5 1/11 200 W 1/21 1/33 1/45 1/5 1/11 400 W 1/21 1/33 1/45 1/5 1/11 750 W 1/21 1/33 1/45 Model R88G-HPG11A05100B R88G-HPG11A09050B R88G-HPG14A21100B R88G-HPG14A33050B R88G-HPG14A45050B R88G-HPG11A05100B R88G-HPG14A11100B R88G-HPG14A21100B R88G-HPG20A33100B R88G-HPG20A45100B R88G-HPG14A05200B R88G-HPG14A11200B R88G-HPG20A21200B R88G-HPG20A33200B R88G-HPG20A45200B R88G-HPG14A05400B R88G-HPG20A11400B R88G-HPG20A21400B R88G-HPG32A33400B R88G-HPG32A45400B R88G-HPG20A05750B R88G-HPG20A11750B R88G-HPG32A21750B R88G-HPG32A33750B R88G-HPG32A45750B 750 W 400 W 200 W 100 W 50 W
Backlash: 15 Arcminutes Max. Decelerators for Cylindrical Servomotors

Specifications Motor capacity Gear ratio 1/5 1/9 1/15 1/25 1/5 1/9 1/15 1/25 1/5 1/9 1/15 1/25 1/5 1/9 1/15 1/25 1/5 1/9 1/15 1/25 Model R88G-VRSF05B100CJ R88G-VRSF09B100CJ R88G-VRSF15B100CJ R88G-VRSF25B100CJ R88G-VRSF05B100CJ R88G-VRSF09B100CJ R88G-VRSF15B100CJ R88G-VRSF25B100CJ R88G-VRSF05B200CJ R88G-VRSF09C200CJ R88G-VRSF15C200CJ R88G-VRSF25C200CJ R88G-VRSF05C400CJ R88G-VRSF09C400CJ R88G-VRSF15C400CJ R88G-VRSF25C400CJ R88G-VRSF05C750CJ R88G-VRSF09D750CJ R88G-VRSF15D750CJ R88G-VRSF25D750CJ
Note: 1. The standard models have a straight shaft. Note: 2. To order a Servomotor with a straight shaft with key, add J to the end of the model number, in the place indicated by the box. Example: R88G-HPG11A05100BJ
Backlash: 3 Arcminutes Max. Decelerator for Flat Servomotors

Specifications Motor capacity Gear ratio 1/5 1/11 100 W 1/21 1/33 1/45 1/5 1/11 200 W 1/21 1/33 1/45 1/5 1/11 400 W 1/21 1/33 1/45 Model R88G-HPG11A05100PB R88G-HPG14A11100PB R88G-HPG14A21100PB R88G-HPG20A33100PB R88G-HPG20A45100PB R88G-HPG14A05200PB R88G-HPG20A11200PB R88G-HPG20A21200PB R88G-HPG20A33200PB R88G-HPG20A45200PB R88G-HPG20A05400PB R88G-HPG20A11400PB R88G-HPG20A21400PB R88G-HPG32A33400PB R88G-HPG32A45400PB
Backlash: 15 Arcminutes Max. Decelerators for Flat Servomotors

Specifications Motor capacity Gear ratio 1/5 100 W 1/9 1/15 1/25 1/5 200 W 1/9 1/15 1/25 1/5 400 W 1/9 1/15 1/25 Model R88G-VRSF05B100PCJ R88G-VRSF09B100PCJ R88G-VRSF15B100PCJ R88G-VRSF25B100PCJ R88G-VRSF05B200PCJ R88G-VRSF09C200PCJ R88G-VRSF15C200PCJ R88G-VRSF25C200PCJ R88G-VRSF05C400PCJ R88G-VRSF09C400PCJ R88G-VRSF15C400PCJ R88G-VRSF25C400PCJ
Note: 1. The standard models have a straight shaft. Note: 2. To order a Servomotor with a straight shaft with key, add J to the end of the model number, in the place indicated by the box. Example: R88G-HPG11A05100BJ
R88M-G/R88D-GT@
Accessories and Cables
Servomotor Power Cables (Standard Cables) For Servomotor without brake
Specifications 3m 5m 10 m 3,000-r/min Servomotors of 50 to 750 W, 3,000-r/min Flat Servomotors of 100 to 400 W 20 m 30 m 40 m 50 m 3m 5m 10 m 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, 1,000-r/min Servomotors of 900 W 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 3,000-r/min Servomotors of 2 kW, 2,000-r/min Servomotors of 2 kW 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 4.5 kW 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 1,500-r/min Servomotors of 7.5 kW, 1,000-r/min Servomotors of 6 kW 15 m 20 m 30 m 40 m 50 m 15 m Model R88A-CAGA003S R88A-CAGA005S R88A-CAGA010S R88A-CAGA015S R88A-CAGA020S R88A-CAGA030S R88A-CAGA040S R88A-CAGA050S R88A-CAGB003S R88A-CAGB005S R88A-CAGB010S R88A-CAGB015S R88A-CAGB020S R88A-CAGB030S R88A-CAGB040S R88A-CAGB050S R88A-CAGC003S R88A-CAGC005S R88A-CAGC010S R88A-CAGC015S R88A-CAGC020S R88A-CAGC030S R88A-CAGC040S R88A-CAGC050S R88A-CAGD003S R88A-CAGD005S R88A-CAGD010S R88A-CAGD015S R88A-CAGD020S R88A-CAGD030S R88A-CAGD040S R88A-CAGD050S R88A-CAGE003S R88A-CAGE005S R88A-CAGE010S R88A-CAGE015S R88A-CAGE020S R88A-CAGE030S R88A-CAGE040S R88A-CAGE050S 1,500-r/min Servomotors of 7.5 kW, 1,000-r/min Servomotors of 6 kW 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 4.5 kW 3,000-r/min Servomotors of 2 kW, 2,000-r/min Servomotors of 2 kW 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, 1,000-r/min Servomotors of 900 W
Servomotor Power Cables (Standard Cables) For Servomotor with brake

Specifications 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m Model R88A-CAGB003B R88A-CAGB005B R88A-CAGB010B R88A-CAGB015B R88A-CAGB020B R88A-CAGB030B R88A-CAGB040B R88A-CAGB050B R88A-CAGC003B R88A-CAGC005B R88A-CAGC010B R88A-CAGC015B R88A-CAGC020B R88A-CAGC030B R88A-CAGC040B R88A-CAGC050B R88A-CAGD003B R88A-CAGD005B R88A-CAGD010B R88A-CAGD015B R88A-CAGD020B R88A-CAGD030B R88A-CAGD040B R88A-CAGD050B
Brake Cables (Standard Cables)

Specifications 3m 5m 10 m 3,000-r/min Servomotors of 50 to 750 W, 3,000-r/min Flat Servomotors of 100 to 400 W 20 m 30 m 40 m 50 m 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m 15 m Model R88A-CAGA003B R88A-CAGA005B R88A-CAGA010B R88A-CAGA015B R88A-CAGA020B R88A-CAGA030B R88A-CAGA040B R88A-CAGA050B R88A-CAGE003B R88A-CAGE005B R88A-CAGE010B R88A-CAGE015B R88A-CAGE020B R88A-CAGE030B R88A-CAGE040B R88A-CAGE050B
Note: There are separate connectors for power and brakes for 3,000-r/min Servomotors of 50 to 750 W, Flat Servomotors, and Servomotors of 6 kW or higher. When a Servomotor with a brake is used, it is necessary to use both a Power Cable for Servomotors without brakes and a Power Cable.
R88M-G/R88D-GT@
Encoder Cables (Standard Cables)
Specifications 3m 5m 10 m 3,000-r/min Servomotors of 50 to 750 W with an absolute encoder, 3,000-r/min Flat Servomotors of 100 to 400 W with an absolute encoder 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 3,000-r/min Servomotors of 50 to 750 W with an incremental encoder, 3,000-r/min Flat Servomotors of 100 to 400 W with an incremental encoder 15 m 20 m 30 m 40 m 50 m 3m 5m 10 m 3,000-r/min Servomotors of 1 to 5 kW, 2,000-r/min Servomotors of 1 to 5 kW, 1,500-r/min Servomotors of 7.5 kW, 1,000-r/min Servomotors of 900 W to 6 kW 15 m 20 m 30 m 40 m 50 m Model R88A-CRGA003C R88A-CRGA005C RS-485 Communications Cable R88A-CRGA010C R88A-CRGA015C R88A-CRGA020C R88A-CRGA030C R88A-CRGA040C R88A-CRGA050C R88A-CRGB003C R88A-CRGB005C R88A-CRGB010C R88A-CRGB015C R88A-CRGB020C R88A-CRGB030C R88A-CRGB040C R88A-CRGB050C R88A-CRGC003N R88A-CRGC005N R88A-CRGC010N R88A-CRGC015N R88A-CRGC020N R88A-CRGC030N R88A-CRGC040N R88A-CRGC050N 1m R88A-CCG001P4
Communications Cables
Specifications RS-232 Communications Cable 2m 0.5 m Model R88A-CCG002P2 R88A-CCG0R5P4
Absolute Encoder Battery Cable

Specifications Absolute Encoder Battery Cable 0.3 m Model R88A-CRGD0R3C
Connectors
Specifications Servomotor Connector for Encoder Cable Control I/O Connector (CN1) Encoder Connector (CN2) Absolute Encoder Incremental Encoder Model R88A-CNG01R R88A-CNG02R R88A-CNU11C R88A-CNW01R
R88M-G/R88D-GT@
Servo Relay Units (for CN1)
Specifications For CS1W-NC113/-NC133 For CJ1W-NC113/-NC133 For C200HW-NC113 For CS1W-NC213/-NC413/-NC233/-NC433 For CJ1W-NC213/-NC413/-NC233/-NC433 For C200HW-NC213/-NC413 For CJ1M-CPU21/-CPU22/-CPU23 (for 1 axis) For CJ1M-CPU21/-CPU22/-CPU23 (for 2 axis) For FQM1-MMA22 For FQM1-MMP22 For CQM1H-PLB21 Model XW2B-20J6-1B
Servo Relay Unit Cables (for Position Control Units)

Specifications For CQM1H-PLB21 (XW2B-20J6-3B) 1m For CS1W-NC113, C200HW-NC113 (XW2B-20J6-1B) For CS1W-NC213/-NC413, C200HW-NC213/ -NC413 (XW2B-20J6-2B) For CS1W-NC133 (XW2B-20J6-1B) 1m For CS1W-NC233/-NC433 (XW2B-20J6-2B) 1m XW2Z-100J-A11 XW2Z-100J-A10 0.5 m XW2Z-050J-A11 XW2Z-100J-A3 0.5 m XW2Z-050J-A6 1m XW2Z-100J-A6 Model 0.5 m XW2Z-050J-A3
XW2B-40J6-2B XW2B-20J6-8A XW2B-40J6-9A XW2B-80J7-12A XW2B-20J6-3B
0.5 m XW2Z-050J-A7 1m XW2Z-100J-A7
0.5 m XW2Z-050J-A10
Servo Relay Unit Cables (for Servo Drives)

Specifications For Position Control Unit (XW2B-20J6-1B/XW2B-40J6-2B) For CQM1H-PLB21 (XW2B-20J6-3B) For CJ1M-CPU21/-CPU22/-CPU23 (XW2B-20J6-8A/XW2B-40J6-9A) For FQM1-MMA22 (XW2B-80J7-12A) 2m 1m For FQM1-MMP22 (XW2B-80J7-12A) 2m XW2Z-200J-B26 XW2Z-200J-B27 XW2Z-100J-B26 For CJ1M-CPU21/-CPU22/-CPU23 (XW2B-20J6-8A/XW2B-40J6-9A) 1m 2m 1m 2m 1m Model XW2Z-100J-B25 For CJ1W-NC213/-NC413 (XW2B-20J6-2B) XW2Z-200J-B25 XW2Z-100J-B31 XW2Z-200J-B31 XW2Z-100J-B27 For CJ1W-NC233/-NC433 (XW2B-20J6-2B) For CJ1W-NC133 (XW2B-20J6-1B) For CJ1W-NC113 (XW2B-20J6-1B)
0.5 m XW2Z-050J-A14 1m XW2Z-100J-A14
0.5 m XW2Z-050J-A15 1m XW2Z-100J-A15
0.5 m XW2Z-050J-A18 1m XW2Z-100J-A18
0.5 m XW2Z-050J-A19 1m XW2Z-100J-A19
0.5 m XW2Z-050J-A33 1m XW2Z-100J-A33
0.5 m XW2Z-050J-A28 General-purpose I/O Cables For FQM1-MMA22 (XW2B-80J7-12A) Special I/O Cables 1m 2m XW2Z-100J-A28 XW2Z-200J-A28
0.5 m XW2Z-050J-A31 1m 2m General-purpose I/O Cables XW2Z-100J-A31 XW2Z-200J-A31
0.5 m XW2Z-050J-A28 1m 2m XW2Z-100J-A28 XW2Z-200J-A28
For FQM1-MMP22 (XW2B-80J7-12A) Special I/O Cables
0.5 m XW2Z-050J-A30 1m 2m XW2Z-100J-A30 XW2Z-200J-A30
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R88M-G/R88D-GT@
Control Cables
Specifications 1m Motion Control Unit Cables for 1 axis CS1W-MC221-V1/-MC421-V1 2m 3m 5m 1m Motion Control Unit Cables for 2 axes CS1W-MC221-V1/-MC421-V1 2m 3m 5m General-purpose Control Cables with Connector on One End Connector-Terminal Block Cables 2m M3 screw type Connector Terminal Block Conversion Unit M3.5 screw type M3 screw type XW2Z-200J-B24 XW2B-50G4 XW2B-50G5 XW2D-50G6 1m 2m 1m Model R88A-CPG001M1 R88A-CPG002M1 R88A-CPG003M1 R88A-CPG005M1 R88A-CPG001M2 R88A-CPG002M2 R88A-CPG003M2 R88A-CPG005M2 R88A-CPG001S R88A-CPG002S XW2Z-100J-B24 Parameter Unit 2,000 mAh 3.6 V
Mounting Brackets (L Brackets for Rack Mounting)

Specifications R88D-GTA5L/-GT01L/-GT01H/-GT02H R88D-GT02L/-GT04H R88D-GT04L/-GT08H R88D-GT10H/-GT15H Model R88A-TK01G R88A-TK02G R88A-TK03G R88A-TK04G
Absolute Encoder Backup Battery

Specifications Model R88A-BAT01G
Parameter Unit
Specifications Model R88A-PR02G
External Regeneration Resistors

Specifications 80W 50 80 W 100 220 W 47 Model R88A-RR08050S R88A-RR080100S R88A-RR22047S
Reactors
Specifications R88D-GTA5L/-GT01H R88D-GT01L/-GT02H R88D-GT02L/-GT04H R88D-GT04L/-GT08H/-GT10H R88D-GT15H R88D-GT08H/-GT10H/-GT15H R88D-GT20H/-GT30H R88D-GT50H R88D-GT75H Model 3G3AX-DL2002 3G3AX-DL2004 3G3AX-DL2007 3G3AX-DL2015 3G3AX-DL2022 3G3AX-AL2025 3G3AX-AL2055 3G3AX-AL2110 3G3AX-AL2220
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R88M-G/R88D-GT@
Servo Driver-Servomotor Combinations

Only the Servomotor and Servo Drive combinations listed here can be used. Do not use other combinations.
3,000-r/min Sylindrical Servomotors and Servo Drives

Voltage Servo Drive R88D-GTA5L 100 V R88D-GT01L R88D-GT02L R88D-GT04L R88D-GT01H Single-phase 200 V R88D-GT01H R88D-GT02H R88D-GT04H R88D-GT08H Single-phase/ three-phase 200 V R88D-GT15H R88D-GT15H R88D-GT20H Three-phase 200 V R88D-GT30H R88D-GT50H R88D-GT50H Servomotor Rated output 50 W 100 W 200 W 400 W 50 W 100 W 200 W 400 W 750 W 1 kW 1.5 kW 2 kW 3 kW 4 kW 5 kW With incremental encoder R88M-G05030H-@ R88M-G10030L-@ R88M-G20030L-@ R88M-G40030L-@ R88M-G05030H-@ R88M-G10030H-@ R88M-G20030H-@ R88M-G40030H-@ R88M-G75030H-@ ------------With absolute encoder R88M-G05030T-@ R88M-G10030S-@ R88M-G20030S-@ R88M-G40030S-@ R88M-G05030T-@ R88M-G10030T-@ R88M-G20030T-@ R88M-G40030T-@ R88M-G75030T-@ R88M-G1K030T-@ R88M-G1K530T-@ R88M-G2K030T-@ R88M-G3K030T-@ R88M-G4K030T-@ R88M-G5K030T-@
3,000-r/min Flat Servomotors and Servo Drives

Voltage Servo Drive R88D-GT01L 100 V R88D-GT02L R88D-GT04L R88D-GT01H Single-phase 200 V R88D-GT02H R88D-GT04H Servomotor Rated output 100 W 200 W 400 W 100 W 200 W 400 W With incremental encoder R88M-GP10030L-@ R88M-GP20030L-@ R88M-GP40030L-@ R88M-GP10030H-@ R88M-GP20030H-@ R88M-GP40030H-@ With absolute encoder R88M-GP10030S-@ R88M-GP20030S-@ R88M-GP40030S-@ R88M-GP10030T-@ R88M-GP20030T-@ R88M-GP40030T-@

Voltage Single-phase/ three-phase 200 V Servo Drive R88D-GT10H R88D-GT15H R88D-GT20H R88D-GT30H Three-phase 200 V R88D-GT50H R88D-GT50H R88D-GT75H Servomotor Rated output 1 kW 1.5 kW 2 kW 3 kW 4 kW 5 kW 7.5 kW With absolute encoder R88M-G1K020T-@ R88M-G1K520T-@ R88M-G2K020T-@ R88M-G3K020T-@ R88M-G4K020T-@ R88M-G5K020T-@ R88M-G7K515T-@

Voltage Single-phase/ three-phase 200 V Servo Drive R88D-GT15H R88D-GT30H Three-phase 200 V R88D-GT50H R88D-GT50H R88D-GT75H Servomotor Rated output 900 W 2 kW 3 kW 4.5 kW 6 kW With absolute encoder R88M-G90010T-@ R88M-G2K010T-@ R88M-G3K010T-@ R88M-G4K510T-@ R88M-G6K010T-@
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R88M-G/R88D-GT@
Servo Relay Units and Cables, Motion Control Unit Cable

Servo Relay Units and Cables
Select the Servo Relay Unit and Cable according to the model number of the Position Control Unit being used.
Position Control Unit CQM1H-PLB21 CS1W-NC113 XW2Z-@@@J-A6 C200HW-NC113 CS1W-NC213 CS1W-NC413 XW2Z-@@@J-A7 C200HW-NC213 C200HW-NC413 CS1W-NC133 CS1W-NC233 XW2Z-@@@J-A11 CS1W-NC433 CJ1W-NC113 CJ1W-NC213 XW2Z-@@@J-A15 CJ1W-NC413 CJ1W-NC133 CJ1W-NC233 XW2Z-@@@J-A19 CJ1W-NC433 CJ1M-CPU21 CJ1M-CPU22 CJ1M-CPU23 General-purpose I/O Cables FQM1-MMP22 Special I/O Cables General-purpose I/O Cables FQM1-MMA22 Special I/O Cables XW2Z-@@@J-A31 XW2Z-@@@J-A30 XW2B-80J7-12A XW2Z-@@@J-A28 XW2Z-@@@J-B27 XW2Z-@@@J-A28 XW2Z-@@@J-B26 XW2Z-@@@J-A33 XW2B-40J6-9A (for 2 axes) XW2B-20J6-8A (for 1 axes) XW2Z-@@@J-B31 W2B-40J6-2B XW2Z-@@@J-A18 XW2B-20J6-1B XW2B-40J6-2B XW2Z-@@@J-A14 XW2B-20J6-1B XW2B-40J6-2B XW2Z-@@@J-A10 XW2B-20J6-1B XW2Z-@@@J-B25 XW2B-40J6-2B XW2B-20J6-1B Position Control Unit Cable XW2Z-@@@J-A3 Servo Relay Unit XW2B-20J6-3B Servo Drive Cable
Note: 1. Insert the cable length into the boxes in the model number (@@@). Position Control Unit cables come in two lengths: 0.5 m and 1 m (some are also available in lengths of 2 m). Servo Driver Cables also come in two lengths: 1 m and 2 m. Note: 2. Two Servo Driver Cables are required if 2-axis control is performed using one Position Control Unit.
Motion Control Unit Cable

There are special cables for 1-axis and 2-axis Motion Control Unit operation. Select the appropriate cable for the number of axes to be connected.
Motion Control Unit For 1 axis CS1W-MC221-V1/421-V1 For 2 axes R88A-CPG@@@M2 Cable R88A-CPG@@@M1 Remarks The @@@ digits in the model number indicate the cable length. Motion Control Unit Cables come in four lengths: 1 m, 2 m, 3 m, and 5 m. Example model number for 2-m 1-axis cable: R88A-CPG002M1
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R88M-G/R88D-GT@
Cable Combinations
Parameter Unit
Monitor Software for Windows
Motion Control Unit
20
21
0
22
1
23
2
24
3
25
4
26
5
27
6
28
7
29
8
30
9
31
10
32
11
33
12
34
13
35
14
36
15
37
16
38
17 18 19
Servo Relay Units * Brake Cable Combinations Using the following Servomotors, with brake: Cylindrical Servomotors, 3,000 r/min, 50 to 750 W Flat Servomotors, 3,000 r/min, 100 to 400 W Cylindrical Servomotors, 2,000 r/min, 7.5 kW Cylindrical Servomotors, 1,000 r/min,6 kW Other Servomotors:
39
Position Control Unit
PLC (Model with Pulse Output) Relay terminal block
Power Supply Cables (for CNB) (SR Connection Cables)

Symbol Name Connected to Cylindrical Servomotors, 3,000 r/min, 50 to 750 W Flat Servomotors, 3,000 r/min, 100 to 400 W Cylindrical Servomotors, 3,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 2,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 1,000 r/min, 900 W Standard Servomotor Power Cables for Servomotors without Brakes Cylindrical Servomotors, 3,000 r/min, 2 kW Cylindrical Servomotors, 2,000 r/min, 2 kW Cylindrical Servomotors, 3,000 r/min, 3 to 5 kW Cylindrical Servomotors, 2,000 r/min, 3 to 5 kW Cylindrical Servomotors, 1,000 r/min, 2 to 4.5 kW Cylindrical Servomotors, 1,500 r/min, 7.5 kW Cylindrical Servomotors, 1,000 r/min, 6 kW Model R88A-CAGA@@@S The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long. R88A-CAGB@@@S The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long. R88A-CAGC@@@S The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long. R88A-CAGD@@@S The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long. R88A-CAGE@@@S The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long.
(50) (6.2 dia.) L (50)
Description
[Servomotor Connector] Connector: 172159-1 (Tyco Electronics AMP KK) Connector pins: 170362-1 (Tyco Electronics AMP KK) 170366-1 (Tyco Electronics AMP KK)
(70) (10.4 dia.)
[Servomotor Connector] Straight plug: N/MS3106B20-4S (Japan Aviation Electronics Industry, Ltd.) Cable clamp: N/MS3057-12A (Japan Aviation Electronics Industry, Ltd.)
37.3 dia. L 37.3 dia. L 40.5 dia. L 40.5 dia.
[Servomotor Connector]
(70) (10.4 dia.)
Straight plug: N/MS3106B20-4S (Japan Aviation Electronics Industry, Ltd.) Cable clamp: N/MS3057-12A (Japan Aviation Electronics Industry, Ltd.)
(70) (14.7 dia.)
(70) (28.5 dia.)
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R88M-G/R88D-GT@
Symbol
Name
Connected to Cylindrical Servomotors, 3,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 2,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 1,000 r/min, 900 W
Model
(70) L (10.4 dia.)
Description
R88A-CAGB@@@B The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long.
(70)
(5.4 d
(70
ia.)
L
L (10.4 dia.)
Standard Servomotor Power Cables for Servomotors with Brakes
Cylindrical Servomotors, 3,000 r/min, 2 kW Cylindrical Servomotors, 2,000 r/min, 2 kW
R88A-CAGC@@@B The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long.
(5.4 d
ia.)
L
(70
(70)
Cylindrical Servomotors, 3,000 r/min, 3 to 5 kW Cylindrical Servomotors, 2,000 r/min, 3 to 5 kW Cylindrical Servomotors, 1,000 r/min, 2 to 4.5 kW Cylindrical Servomotors, 3,000 r/min, 50 to 750 W Flat Servomotors, 3,000 r/min, 100 to 400 W Cylindrical Servomotors, 3,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 2,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 1,000 r/min, 900 kW Cylindrical Servomotors, 3,000 r/min, 2 kW Cylindrical Servomotors, 2,000 r/min, 2 kW Cylindrical Servomotors, 3,000 r/min, 3 to 5 kW Cylindrical Servomotors, 2,000 r/min, 3 to 5 kW Cylindrical Servomotors, 1,000 r/min, 2 to 4.5 kW Cylindrical Servomotors, 3,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 2,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 1,000 r/min, 900 W Robot Servomotor Power Cables for Servomotors with Brakes Cylindrical Servomotors, 3,000 r/min, 2 kW Cylindrical Servomotors, 2,000 r/min, 2 kW Cylindrical Servomotors, 3,000 r/min, 3 to 5 kW Cylindrical Servomotors, 2,000 r/min, 3 to 5 kW Cylindrical Servomotors, 1,000 r/min, 2 to 4.5 kW
L (14.7 dia.)
R88A-CAGD@@@B The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long.
(5.4 d
ia.)
L
(70
Available soon
43.7 dia.
37.3 dia.
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Available soon
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Robot Servomotor Power Cables for Servomotors without Brakes
Available soon
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Available soon
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Available soon
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Available soon
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Available soon
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Brake Cables
Symbol Name Connected to Cylindrical Servomotors, 3,000 r/min, 50 to 750 W Flat Servomotors, 3,000 r/min, 100 to 400 W Cylindrical Servomotors, 1,500 r/min, 7.5 kW Cylindrical Servomotors, 1,000 r/min, 6 kW Cylindrical Servomotors, 3,000 r/min, 50 to 750 W Flat Servomotors, 3,000 r/min, 100 to 400 W Model R88A-CAGA@@@B The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long. R88A-CAGE@@@B The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long.
(70) (5.4 dia.) L (40)
Description
[Servomotor Connector] Connector: 172157-1 (Tyco Electronics AMP KK) Connector pins: 170362-1 (Tyco Electronics AMP KK) 170366-1 (Tyco Electronics AMP KK) [Servomotor Connector]
Standard Brake Cables
(70) (5.4 dia.)
Straight plug: N/MS3106B14-2S (Japan Aviation Electronics Industry, Ltd.) Cable clamp: N/MS3057-6A (Japan Aviation Electronics Industry, Ltd.)
Robot Brake Cables
Available soon
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R88M-G/R88D-GT@
Encoder Cables (for CN2)
Symbol Name Connected to Model R88A-CRGA@@@C The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long. R88A-CRGB@@@C The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long.
[Servo Driver Connector] Connector: 3 to 20 m: Crimped I/O connector: (Molex Japan Co., Ltd.) 30 to 50 m: 55100-0670 (Molex Japan Co., Ltd.) Connector pins: 50639-8028 (Molex Japan Co., Ltd.) [Servo Driver Connector] Connector: 3 to 20 m: Crimped I/O connector: (Molex Japan Co., Ltd.) 30 to 50 m: 55100-0670 (Molex Japan Co., Ltd.) Connector pins: 50639-8028 (Molex Japan Co., Ltd.)
Description
Cylindrical Servomotors, 3,000 r/min, 50 to 750 W, absolute encoder Flat Servomotors, 3,000 r/min, 100 to 400 W, absolute encoder
(6.5dia. / 6.8 dia.)
Standard Encoder Cables with Connectors
Cylindrical Servomotors, 3,000 r/min, 50 to 750 W, incremental encoder Flat Servomotors, 3,000 r/min, 100 to 400 W, incremental encoder Cylindrical Servomotors, 3,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 2,000 r/min, 1 to 5 kW Cylindrical Servomotors, 1,500 r/min, 7.5 kW Cylindrical Servomotors, 1,000 r/min, 900 W to 6 kW Cylindrical Servomotors, 3,000 r/min, 50 to 750 W, absolute encoder Flat Servomotors, 3,000 r/min, 100 to 400 W, absolute encoder Cylindrical Servomotors, 3,000 r/min, 50 to 750 W, incremental encoder Flat Servomotors, 3,000 r/min, 100 to 400 W, incremental encoder Cylindrical Servomotors, 3,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 2,000 r/min, 1 to 1.5 kW Cylindrical Servomotors, 2,000 r/min, 1.5 to 7.5 kW Cylindrical Servomotors, 1,000 r/min, 900 W to 6 kW
(6.5dia. / 6.8 dia.)
R88A-CRGC@@@N The empty boxes in the model number are for the cable length. The cable can be 3, 5, 10, 15, 20, 30, 40, or 50 m long.
[Servo Driver Connector] Connector: 3 to 20 m: Crimped I/O connector: (Molex Japan Co., Ltd.) 30 to 50 m: 55100-0670 (Molex Japan Co., Ltd.) Connector pins: 50639-8028 (Molex Japan Co., Ltd.)
[Servomotor Connector]
L (6.5 dia. / 6.8 dia.)
Straight plug: N/MS3106B20-29S (Japan Aviation Electronics Industry, Ltd.) Cable clamp: N/NS3057-12A (Japan Aviation Electronics Industry, Ltd.)
Available soon
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Available soon
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Robot Encoder Cables with Connectors
Available soon
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Control Cables (for CN1)

Symbol Name Connected to Model R88A-CPG@@@M The empty boxes in the model number are for the cable length. The cable can be 1, 2, 3, or 5 m long. The empty diamond in the model number is for the number of axes. One axis: 1, Two axes: 2 XW2B-20J6-1B
Control Cables
Motion Control Units (for all SYSMAC CS1/C200H)
CJ1W-NC113/NC133 CS1W-NC113/NC133 (C200HW-NC113) CJ1W-NC213/NC233/NC413/NC433 CS1W-NC213/NC233/NC413/NC433 (C200HW-NC213/NC413) CJ1M-CPU21/CPU22/CPU23 (1 axis) CJ1M-CPU21/CPU22/CPU23 (2 axes) FQM1-MMA22 FQM1-MMP22 CQM1H-PLB21
XW2B-40J6-2B XW2B-20J6-8A XW2B-40J6-9A XW2B-80J7-12A XW2B-20J6-3B
Servo Relay Units
16
R88M-G/R88D-GT@
Symbol
Name
Connected to NC Unit (XW2B-20J6-1B/XW2B-40J6-2B) CQM1H-PLB21 (XW2B-20J6-3B) CJ1M-CPU21/-CPU22/-CPU23 (XW2B-20J6-8A and XW2B-40J6-9A) FQM1-MMA22 (XW2B-80J7-12A) FQM1-MMP22 (XW2B-80J7-12A)
Model XW2Z-@@@J-B25 The empty boxes in the model number are for the cable length. The cable can be 1 or 2 m long. XW2Z-@@@J-B31 XW2Z-@@@J-B27 The empty boxes in the model number are for the cable length. The cable can be 1 or 2 m long. XW2Z-@@@J-B26 The empty boxes in the model number are for the cable length. The cable can be 1 or 2 m long. XW2Z-@@@J-A18 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A19 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A10 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A11 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A14 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A15 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A6 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A7 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A33 The empty boxes in the model number are for the cable length. The cable can be 0.5, 1, or 2 m long. XW2Z-@@@J-A28 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. XW2Z-@@@J-A31 The empty boxes in the model number are for the cable length. The cable can be 0.5, 1, or 2 m long. XW2Z-@@@J-A30 The empty boxes in the model number are for the cable length. The cable can be 0.5, 1, or 2 m long. XW2Z-@@@J-A3 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. R88A-CPG@@@S The empty boxes in the model number are for the cable length. The cable can be 1 or 2 m long. XW2Z-@@@J-B24 The empty boxes in the model number are for the cable length. The cable can be 1 or 2 m long. XW2B-50G4 XW2B-50G5 XW2D-50G6
Servo Relay Unit Cables for Servo Drives
CJ1W-NC133
CJ1W-NC233/NC433
CS1W-NC133
CS1W-NC233/NC433
CJ1W-NC113
CJ1W-NC213/NC413 Servo Relay Unit Cables for Position Control Units
CS1W-NC113 C200HW-NC113 CS1W-NC213/NC413 C200HW-NC213/NC413
CJ1M-CPU21/CPU22/CPU23 FQM1-MMA22 FQM1-MMP22 (General-purpose I/O Cable) FQM1-MMA22 (Special I/O Cable)
FQM1-MMP22 (Special I/O Cable)
CQM1H-PLB21
General-purpose Control Cables Connector Terminal Block Cables
Cables for General-purpose Controllers
Cables for General-purpose Controllers Conversion Unit for General-purpose Controllers (M3 screws)
Connector-Terminal Block Conversion Units
Conversion Unit for General-purpose Controllers (M3.5 screws) Conversion Unit for General-purpose Controllers (M3 screws)
CN3 Options
Symbol Name RS485 Communications Cables Parameter Unit Personal Computer Monitor Cable (2 m) --Connected to Model R88A-CCG@@@P4 The empty boxes in the model number are for the cable length. The cable can be 0.5 or 1 m long. R88A-PR02G R88A-CCG002P2
--Windows
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R88M-G/R88D-GT@
Servo Driver Specifications (R88D-GT)

General Specifications
Item Ambient operating temperature and operating humidity Ambient storage temperature and storage humidity Storage and operating atmosphere Vibration resistance Impact resistance Insulation resistance Dielectric strength Protective structure EC Directives UL standards CSA standards Note: 1. Note: 2. Note: 3. Note: 4. EMC Directive Low voltage Directive Specifications 0 to 55C, 90% RH max. (with no condensation) 20 to 65C, 90% RH max. (with no condensation) No corrosive gasses Smaller of either 10 to 60 Hz with double amplitude of 0.1 mm or acceleration of 5.88 m/s2 max. in X, Y, and Z directions. Acceleration of 19.6 m/s2 max. 2 times each in X, Y, and Z directions Between power supply/power line terminals and frame ground: 0.5 M. min. (at 500 VDC) Between power supply/power line terminals and frame ground: 1,500 VAC for 1 min at 50/60 Hz Between each control signal and frame ground: 500 VAC for 1 min Built into panel (IP10). EN 55011 class A group 1 EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11 EN 50178 UL 508C CSA C22.2 No.14
International standards
The above items reflect individual evaluation testing. The results may differ under compound conditions. Never perform withstand-voltage or other megameter tests on the Servo Drive. Doing so may damage the internal elements. Depending on the operating conditions, some Servo Drive parts will require maintenance. The service life of the Servo Drive is 28,000 hours at an average ambient temperature of 55C at 100% of the rated torque.
Characteristics
Servo Drives with 100-VAC Input Power
Item Continuous output current (rms) Momentary maximum output current (rms) Power supply capacity Main circuit Input power supply Control circuit Heat generated Main circuit Control circuit Power supply voltage Rated current Power supply voltage Rated current 0.09 A 10.1 W 4.4 W 1.4 A R88D-GTA5L 1.3 A 3.9 A 0.4 KVA R88D-GT01L 1.8 A 5.4 A 0.4 KVA R88D-GT02L 2.4 A 7.2 A 0.5 KVA R88D-GT04L 4.9 A 14.7 A 0.9 KVA
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz 2.2 A 3.7 A 6.6 A
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz 0.09 A 14.4 W 4.4 W All-digital servo IGBT-driven PWM method 12.0 kHz Approx. 0.8 kg 50 W Approx. 0.8 kg 100 W G10030L G10030S GP10030L GP10030S ----1: 5000 0.01% or less at 0% to 100% (at rated speed) 0% at 10% of rated voltage (at rated speed) 0.1% or less at 0 to 50C (at rated speed) 3% (at 20% to 100% of rated torque) Approx. 1.1 kg 200 W G20030L G20030S GP20030L GP20030S ----6.0 kHz Approx. 1.1 kg 400 W G40030L G40030S GP40030L GP40030S ----0.09 A 18.4 W 4.4 W 0.09 A 41.4 W 4.4 W
Control method Inverter method PWM frequency Weight Maximum applicable motor capacity
3,000-r/min Servomotors
INC ABS INC ABS ABS ABS
G05030H G05030T ---------
Applicable Servomotors
3,000-r/min Flat Servomotors
2,000-r/min Servomotors 1,000-r/min Servomotors Speed control range Performance Speed variability: Load characteristic Speed variability: Voltage characteristic
Speed variability: Temperature characteristic Torque control reproducibility
18
R88M-G/R88D-GT@
Servo Drives with Single-phase 200-VAC Input Power
Item Continuous output current (rms) Momentary maximum output current (rms) Power supply capacity Main circuit Input power supply Control circuit Heat generated Weight Maximum applicable motor capacity Main circuit Control circuit Power supply voltage Rated current Power supply voltage Rated current 0.05 A 14.3 W 4.5 W 12.0 kHz Approx. 0.8 kg 100 W G05030H G10030H G05030T G10030T GP10030H GP10030T ----Approx. 0.8 kg 200 W G20030H G20030T GP20030H GP20030T ----Approx. 1.1 kg 400 W G40030H G40030T GP40030H GP40030T ----All-digital servo IGBT-driven PWM method 1:5000 0.01% or less at 0% to 100% (at rated speed) 0% at 10% of rated voltage (at rated speed) 0.1% or less at 0 to 50C (at rated speed) 3% (at 20% to 100% of rated torque) 750 W G75030H G75030T --------R88D-GT01H 1.16 A 3.5 A 0.5 KVA R88D-GT02H 1.6 A 5.3 A 0.5 KVA R88D-GT04H 2.7 A 7.1 A 0.9 KVA R88D-GT08H 4.0 A 14.1 A 1.3 KVA R88D-GT10H 5.9 A 21.2 A 1.8 KVA R88D-GT15H 9.8 A 28.3 A 2.3 KVA
Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz 1.3 A 2.0 A 0.05 A 14.8 W 4.5 W 3.7 A 0.05 A 23.6 W 4.5 W
Single-phase or three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz 5.0/3.3 *1 A 0.05 A 38.7 W 4.3 W 6.0 kHz Approx. 1.5 kg Approx. 1.7 kg 1kW --------G1K020T --Approx. 1.7 kg 1.5 kW --G1K030T G1K530T ----G1K520T G90010T 7.5/4.1 *1 A 0.07 A 52.9 W 6.1 W 11/8.0 *1 A 0.07 A 105.9 W 6.1 W
Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
PWM frequency
INC
ABS
Applicable Servomotors 3,000-r/min Flat Servomotors
INC ABS ABS ABS
2,000-r/min Servomotors 1,000-r/min Servomotors Control method Inverter method Performance Speed control range Speed variability: Load characteristic Speed variability: Voltage characteristic
Speed variability: Temperature characteristic Torque control reproducibility
*1. The left value is for single-phase input power and the right value is for three-phase input power.
Servo Drives with Three-phase 200-VAC Input Power

Item Continuous output current (rms) Momentary maximum output current (rms) Power supply capacity Main circuit Input power supply Control circuit Heat generated Weight Maximum applicable motor capacity Main circuit Control circuit Power supply voltage Rated current Power supply voltage Rated current 0.1 A 112.3 W 10.7 W Approx. 3.2 kg 2 kW 10.2 A R88D-GT20H 14.3 A 45.3 A 3.3 KVA R88D-GT30H 17.4 A 63.6 A 4.5 KVA 15.2 A 0.12 A 219.6 W 13.3 W 6.0 kHz Approx. 6.0 kg 3 kW --G3K030T ----G3K020T G2K010T All-digital servo IGBT-driven PWM method 1:5000 0.01% or less at 0% to 100% (at rated speed) 0% at 10% of rated voltage (at rated speed) 0.1% or less at 0 to 50C (at rated speed) 3% (at 20% to 100% of rated torque) Approx. 6.0 kg 5 kW --G4K030T G5K030T ----G4K020T G5K020T G3K010T G4K510T Approx. 16.4 kg 7.5 kW --------G7K515T G6K010T R88D-GT50H 31.0 A 84.8 A 7.5 KVA 23.7 A 0.12 A 391.7 W 13.3 W R88D-GT75H 45.4 A 170.0 A 11 KVA 35.0 A 0.14 A 376.2 W 13.8 W
Three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
PWM frequency
INC
--G2K030T ----G2K020T ---
ABS INC ABS ABS ABS
Applicable Servomotors
2,000-r/min Servomotors 1,000-r/min Servomotors Control method Inverter method Performance Speed control range Speed variability: Load characteristic Speed variability: Voltage characteristic Speed variability: Temperature characteristic Torque control reproducibility
19
R88M-G/R88D-GT@
Servomotor Specifications (R88M-G)

Item Ambient operating temperature and humidity Ambient storage temperature and humidity Storage and operating atmosphere 10 to 2,500 Hz and acceleration of 49 m/s2 max. in the X, Y, and Z directions Acceleration of 98 m/s2 max. 3 times each in the X, Y, and Z directions 10 to 2,500 Hz and acceleration of 24.5 m/s2 max. in the X, Y, and Z directions Acceleration of 98 m/s2 max. 3 times each in the X, Y, and Z directions 20 to 65C, 85% RH max. (with no condensation) 3,000-r/min Servomotors 50 to 750 W 1 to 5 kW 3,000-r/min Flat Servomotors 1,000-r/min Servomotors 2,000-r/min Servomotors 900 W to 5 kW 6 to 7.5 kW
0 to 40C, 85% RH max. (with no condensation) 20 to 80C, 85% RH max. (with no condensation) No corrosive gases 10 to 2,500 Hz and acceleration of 49 m/s2 max. in the X, Y, and Z directions Acceleration of 98 m/s2 max. 3 times each in the X, Y, and Z directions 10 to 2,500 Hz and acceleration of 24.5 m/s2 max. in the X, Y, and Z directions
Vibration resistance
*1
Impact resistance
Acceleration of 98 m/s2 max. 2 times vertically
Insulation resistance Dielectric strength Operating position Insulation grade Structure Protective structure Vibration grade Mounting method International standards EMC Directive EC Directives Low voltage Directive UL standards CSA standards Type B
20 M min. at 500 VDC between the power terminals and FG terminal 1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal All directions Type F Type B Totally enclosed, self-cooling IP65 (excluding the output shaft rotating section and lead wire ends) V-15 Flange-mounting EN 55011 Class A Group 1 EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11 IEC 60034-1/-5 UL 1004 CSA 22.2 No.100 UL: pending Type F
*1. The amplitude may be amplified by mechanical resonance. Do not exceed 80% of the specified value for extended periods of time. Note: 1. Do not use the cable when it is laying in oil or water. Note: 2. Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself.
20
R88M-G/R88D-GT@
Servomoter Specifications (R88M-G)

Characteristics
3,000-r/min Cylindrical Servomotors 100-VAC Input Power
Model (R88M-) Item Rated output *1 Rated torque *1 Rated rotation speed Max. momentary rotation speed Max. momentary torque *1 Rated current
*1
G05030H G05030T 50 0.16
G10030L G10030S 100 0.32 3000 5000
G20030L G20030S 200 0.64
G40030L G40030S 400 1.3
Unit W Nm r/min r/min Nm A (rms) A (rms) kgm2 (GD2/4) --Nm/A kW/s ms ms N N kg kg
0.45 1.1 3.4 2.5 106
0.93 1.7 5.1 5.1 106
1.78 2.5 7.6 1.4 105
3.6 4.6 13.9 2.6 105
Max. momentary current *1 Rotor inertia Applicable load inertia Torque constant *1 Power rate *1 Mechanical time constant Electrical time constant Allowable radial load *3 Allowable thrust load *3 Weight Without brake With brake
30 times the rotor inertia max. *2 0.14 10.4 1.56 0.7 68 58 Approx. 0.3 Approx. 0.5 0.19 20.1 1.11 0.8 68 58 Approx. 0.5 Approx. 0.7 0.26 30.3 0.72 2.5 245 98 Approx. 0.8 Approx. 1.3 0.28 62.5 0.55 2.9 245 98 Approx. 1.2 Approx. 1.7
Radiation shield dimensions (material) Applicable Servo Drives (R88D-) Brake inertia Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Brake specifications Static friction torque Attraction time *5 Release time *5 Backlash Allowable work per braking Allowable total work Allowable angular acceleration Brake life Rating Insulation grade J J rad/s2 ------39.2 4.9 103 kgm2 (GD2/4) V W A Nm ms ms 7 0.3 0.29 min. 35 max. 20 max. GTA5L 2 10-7
100 80 t10 (AI) GT01L 2 10-7 24 VDC 5% 7 0.3 0.29 min. 35 max. 20 max. 1 (reference value) 39.2 4.9 103 137 9 0.36 GT02L
130 120 t12 (AI) GT04L 1.8 10-6
1.8 10-6
9 0.36 1.27 min. 50 max. 15 max.
1.27 min. 50 max. 15 max.
137 44.1 103
44.1 103
30,000 max. (Speed of 2,800 r/min or more must not be changed in less than 10 ms) 10,000,000 operations min. Continuous Type B
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque shown above indicates the standard value. *2. Applicable Load Inertia: The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible. If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled. *3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are applied as shown in the following diagram.
Radial load Thrust load Center of shaft (LR/2)

*4. This is an OFF brake. (It is reset when excitation voltage is applied). *5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
21
R88M-G/R88D-GT@
Torque and Rotation Speed Characteristics

3,000-r/min Cylindrical Servomotors 3,000-r/min Servomotors with 100-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
R88M-G05030H/T (50 W)
(Nm) 0.5 0.48 0.48
R88M-G10030L/S (100 W)
(Nm)
R88M-G20030L/S (200 W)
(Nm)
1.0 0.83
0.83 (3600)
0.75
2.0 1.78 1.0
1.78 (3500) 0.9 0.6
Repetitive usage
0.25 0.16 0.16 0.1
Repetitive usage
0.5 0.32 0.32 0.28 0
Repetitive usage
0.64 0.64 Continuous usage
Continuous usage
0
Continuous usage
0
1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 5000 (r/min)
R88M-G40030L/S (400 W)
(Nm)
4.0 3.6
3.6 (3000)
Repetitive usage 2.0 1.3 1.3 Continuous usage

0
1.3 0.6
1000 2000 3000 4000 5000 (r/min)
22
R88M-G/R88D-GT@

Characteristics
Model (R88M-) G05030H G10030H G20030H G40030H G75030H G1K030T G1K530T G2K030T G3K030T G4K030T G5K030T Item Rated output t *1 Rated torque *1 Rated rotation speed Max. momentary rotation speed Max. momentary torque *1 Rated current
*1
Unit W Nm r/min r/min Nm A (rms) A (rms) kgm2 (GD2/4)
G05030T G10030T G20030T G40030T G75030T G1K030T G1K530T G2K030T G3K030T G4K030T G5K030T 50 0.16 100 0.32 200 0.64 3000 5000 0.45 1.1 3.4 2.5 106 0.90 1.1 3.4 5.1 106 1.78 1.6 4.9 1.4 105 3.67 2.6 7.9 2.6 105 7.05 4 12.1 8.7 105 20 times the rotor inertia max. *2 0.64 66 0.45 4.6 392 147 Approx. 2.3 Approx. 3.1 170 160 t12 (AI) GT08H 7.5 106 0.44 60 0.78 6.7 392 147 Approx. 4.5 Approx. 5.1 170 160 t12 (AI) GT15H 2.5 105 9.1 7.2 21.4 1.69 104 12.8 9.4 28.5 2.59 104 5000 18.4 13 40 3.46 104 27.0 18.6 57.1 6.77 104 36.3 24.7 75 1.27 103 400 1.3 750 2.4 1000 3.18 1500 4.77 2000 6.36 3000 4500 45.1 28.5 85.7 1.78 103 3000 9.54 4000 12.6 5000 15.8
Max. momentary current *1 Rotor inertia
Applicable load inertia
---
30 times the rotor inertia max. *2
15 times the rotor inertia max. *2
Torque constant *1 Power rate *1 Mechanical time constant Electrical time constant Allowable radial load *3 Allowable thrust load *3 Without brake Weight With brake
Nm/A kW/s ms ms N N kg kg
0.14 10.4 1.56 0.7 68 58 Approx. 0.3 Approx. 0.5
0.19 20.1 1.1 0.79 68 58 Approx. 0.5 Approx. 0.7
0.41 30.3 0.71 2.6 245 98 Approx. 0.8 Approx. 1.3
0.51 62.5 0.52 3 245 98 Approx. 1.2 Approx. 1.7
0.51 88 0.54 10 490 196 Approx. 5.1 Approx. 6.5 320 300 t30 (AI) GT15H 3.3 105
0.48 117 0.53 10.8 490 196 Approx. 6.5 Approx. 7.9 320 300 t20 (AI) GH20H 3.3 105
0.51 134 0.46 20 490 196 Approx. 9.3 Approx. 11
0.51 125 0.51 20 784 343 Approx. 12.9 Approx. 14.8
0.57 140 0.46 20 784 434 Approx. 17.3 Approx. 19.2
Radiation shield dimensions (material) Applicable Servo Drives (R88D-) Brake inertia Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Static friction torque Brake specifications Attraction time *5 Release time *5 Backlash Allowable work per braking Allowable total work J J
100 80 t10 (AI) GT01H GT01H 2 107
130 120 t12 (AI) GT02H 1.8 106 24 VDC 5% GT04H 1.8 106
380 350 t30 (AI) GT30H 3.3 105 GT50H 1.35 104 GT50H 1.35 104
kgm2 2 107 (GD2/4) V W A Nm ms ms 7 0.3 0.29min. 35 max. 20 max.
24 VDC 10% 9 0.36 1.27 min. 50 max. 15 max. 10 0.42 2.45 min. 70 max. 20 max. 18 0.74 4.9 min. 50 max. 15 max. 19 0.81 7.8 min. 50 max. 15 max. 19 0.81 7.8 min. 50 max. 15 max. 19 0.81 11.8 min. 80 max. 15 max. 22 0.9 16.1 min. 110 max. 50 max. 22 0.9 16.1 min. 110 max. 50 max.
7 0.3 0.29 min. 35 max. 20 max.
9 0.36 1.27 min. 50 max. 15 max.
1 (reference value) 39.2 4.9 103 39.2 4.9 103 137 44.1 103 137 44.1 103 196 147 103 392 2.0 105 392 4.9 105 392 4.9 105 392 4.9 105 1470 2.2 106 1470 2.2 106
Allowable angular acceleration Brake life Rating Insulation grade
rad/s2 -------
30,000 max. (Speed of 2,800 r/min or more must not be changed in less than 10 ms)
10,000 max. (Speed of 900 r/min or more must not be changed in less than 10 ms)
10,000,000 operations min. Continuous Type B Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque shown above indicates the standard value. *2. Applicable Load Inertia: The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible. If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled. *3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are applied as shown in the following Radial load diagram. *4. This is an OFF brake. (It is reset when excitation voltage is applied). Thrust load *5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.). Center of shaft (LR/2)
23
R88M-G/R88D-GT@

R88M-G05030H/T (50 W)
(Nm) 0.5 0.45 0.45
R88M-G10030H/T (100 W)
(Nm)
R88M-G20030H/T (200 W)
(Nm)
1.0 0.93
0.93
2.0 1.78
1.78 (4500)
1.5

0 0.1
Repetitive usage
0.5 0.32 0.32 0.28
Repetitive usage
1.0 0.64 0.64
Continuous usage
0
Continuous usage
0
0.38
1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 5000 (r/min)
R88M-G40030H/T (400 W)
(Nm)
R88M-G75030H/T (750 W)
(Nm)
R88M-G1K030T (1 kW)
(Nm)
4.0 3.6
3.6 (3800)
8.0 7.05
7.05 (3600)
10 9.1
9.1 (3600)

0
1.7 0.78

0
4.0 1.0
Repetitive usage 5 3.18 3.18 Continuous usage

0
4.8
1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 5000 (r/min)
R88M-G1K530T (1.5 kW)

(Nm)
R88M-G2K030T (2 kW)
(Nm)
R88M-G3K030T (3 kW)
(Nm)
15 12.9
12.9 (3500)
20 18.4
18.4 (3600)
30 27.0
27.0 (3400)

0 3.6
Repetitive usage 10 6.36 6.36

6.0

0
5.5
Continuous usage
0 1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 5000 (r/min)
R88M-G4K030T (4 kW)
(Nm)
R88M-G5K030T (5 kW)
(Nm)
50 45.1
47.6
40 36.3
37.9

0
15.0

0
10.0
1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 5000 (r/min)
24
R88M-G/R88D-GT@
Servomotor Specifications (R88M-GP)

Characteristics
Model (R88M-) GP10030L Item Rated output *1 Rated torque *1 Rated rotation speed Max. momentary rotation speed Max. momentary torque *1 Rated current *1 Max. momentary current *1 Rotor inertia Applicable load inertia Torque constant Power rate *1 Mechanical time constant Electrical time constant Allowable radial load *3 Allowable thrust load *3 Weight Without brake With brake
*1
100 VAC GP20030L GP20030S 200 0.64 GP40030L GP40030S 400 1.3 3000 5000 0.84 1.6 4.9 1.0 105 1.8 2.5 7.5 3.5 105 4500 3.6 4.4 13.3 6.5 105 0.86 1 3.1 1.0 105 GP10030H GP10030T 100 0.32
200 VAC GP20030H GP20030T 200 0.64 GP40030H GP40030T 400 1.3
GP10030S 100 0.32
5000 1.8 1.6 4.9 3.5 105 3.65 2.5 7.5 6.4 105
20 times the rotor inertia max.*2 0.21 10.2 0.87 3.4 68 58 Approx. 0.7 Approx. 0.9 130 120 t10 (AI) GT01L 0.27 11.7 0.75 6.7 245 98 Approx. 1.3 Approx. 2 0.3 26.0 0.55 6.7 245 98 Approx. 1.8 Approx. 2.5 0.34 10.2 1.05 2.9 68 58 Approx. 0.7 Approx. 0.9 130 120 t10 (AI) GT01H 3 106 24 VDC 10% 7 0.29 0.29 min. 50 max. 15 max. 1 (reference value) 10 0.41 7 0.29 0.29 min. 50 max. 10 0.41 1.27 min. 60 max. 0.42 11.5 0.81 5.6 245 98 Approx. 1.3 Approx. 2 0.54 25.5 0.59 6.6 245 98 Approx. 1.8 Approx. 2.5
Radiation shield dimensions (material) Applicable Servo Drives (R88D-) Brake inertia Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Brake specifications Static friction torque Attraction time *5 Release time *5 Backlash Allowable work per braking Allowable total work Allowable angular acceleration Brake life Rating Insulation grade J J rad/s2 ------kgm2 (GD2/4) V W A Nm ms ms
170 160 t12 (AI) GT02L 9 106 GT04L
170 160 t12 (AI) GT02H 9 106 GT04H
3 106
137 44.1 10
3
196 147 10
3
137 44.1 10
3
196 147 103
10,000 max. (Speed of 900 r/min or more must not be changed in less than 10 ms) 10,000,000 operations min. Continuous Type B Continuous Type B

25
R88M-G/R88D-GT@

3,000-r/min Flat Servomotors 3,000-r/min Servomotors with 100-VAC Power Input
R88M-GP10030L/S (100 W)
(Nm)
R88M-GP20030L/S (200 W)
(Nm)
R88M-GP40030L/S (400 W)
(Nm)
1.0 0.84
0.84 (3500)
2.0 1.8
1.8 (3400)
4.0 3.6 2.0 1.3 0.38 0
3.6 (3300)

0
0.32 0.19

0
Repetitive usage 1.3 Continuous usage
1.5 0.78
1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 4500 (r/min)
3,000-r/min Servomotors with 200-VAC Power Input

R88M-GP10030H/T (100W)
(Nm)
R88M-GP20030H/T (200v)
(Nm)
R88M-GP40030H/T (400v)
(Nm)
1.0 0.86
0.86
2.0 1.8
1.8 (4500)
4.0 3.65
3.65 (3600) 2.0 0.78

0 0.19

0 0.38

0
1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 5000 (r/min)
1000 2000 3000 4000 5000 (r/min)
26
R88M-G/R88D-GT@

Characteristics
Model (R88M-) Item Rated output *1 Rated torque *1 Rated rotation speed Max. momentary rotation speed Max. momentary torque *1 Rated current
*1
G1K020T 1000 4.8
G1K520T 1500 7.15
G2K020T 2000 9.54 2000 3000
G3K020T 3000 14.3
G4K020T 4000 18.8
G5K020T 5000 23.8
G7K515T 7500 48 1500 2000
13.5 5.6 17.1 6.17 104
19.6 9.4 28.5 1.12 103
26.5 12.3 37.1 1.52 103
41.2 17.8 54.2 2.23 103
54.9 23.4 71.4 4.25 103
70.6 28 85.7 6.07 103
111 46.6 117.8 8.9 103
Max. momentary current *1 Rotor inertia Applicable load inertia Torque constant *1 Power rate *1 Mechanical time constant Electrical time constant Allowable radial load *3 Allowable thrust load *3 Weight Without brake With brake
10 times the rotor inertia max. *2 0.88 37.3 0.7 18 490 196 Approx. 6.8 Approx. 8.7 0.76 45.8 0.81 19 490 196 Approx. 8.5 Approx. 10.1 0.78 60 0.75 21 490 196 Approx. 10.6 Approx. 12.5 0.81 91.6 0.72 20 784 343 Approx. 14.6 Approx. 16.5 380 350 t30 (AI) GT20H GT30H GT50H 4.25 104 24 VDC 10% 14 0.59 4.9 min. 80 max. 70 max. 19 0.79 13.7 min. 100 max. 50 max. 19 0.79 13.7 min. 100 max. 50 max. 22 0.9 16.1 min. 110 max. 50 max. 1 (reference value) 26 1.1 21.5 min. 90 max. 35 min. 31 1.3 24.5 min. 80 max. 25 min. 34 1.4 58.8 min. 150 max. 50 max. 0.81 83.2 1 24 784 343 Approx. 18.8 Approx. 21.3 0.85 93.5 0.9 32 784 343 Approx. 25 Approx. 28.5 1.03 230 0.71 34 1176 490 Approx. 41 Approx. 45
Radiation shield dimensions (material) Applicable Servo Drives (R88D-) Brake inertia Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Brake specifications Static friction torque Attraction time *5 Release time *5 Backlash Allowable work per braking Allowable total work Allowable angular acceleration Brake life Rating Insulation grade J J rad/s2 ------588 7.8 105 kgm (GD2/4) V W A Nm ms ms
2
275 260 t15 (AI) GT10H GT15H
470 440 t30 (AI) GT50H 4.7 104 GT75H 4.7 104
1.35 104
1176 1.5 106
1176 1.5 106
1170 2.2 106
1078 2.5 106
1372 2.9 106
1372 2.9 106
10,000 max. (Speed of 900 r/min or more must not be changed in less than 10 ms) 10,000,000 operations min. Continuous Type F

27
R88M-G/R88D-GT@

R88M-G1K020T (1 kW)
(Nm)
R88M-G1K520T (1.5 kW)

(Nm)
R88M-G2K020T (2 kW)
(Nm)
15 13.5 10 5 4.8 0
13.5 (2200)
18.5
20
18.5 (2200)
30 26.5
26.5 (2200)
Repetitive usage
Repetitive usage
4.8 Continuous usage

1000 2000
5.5 3.2 3000 (r/min)
10 7.15
7.15
14.3 4.7 3000 (r/min)
Continuous usage
13.2 6.3 3000 (r/min)
1000
2000
1000
2000
R88M-G3K020T (3 kW)
(Nm)
R88M-G4K020T (4 kW)
(Nm)
R88M-G5K020T (5 kW)
(Nm)
50 41.2
41.2 (2200)
54.9 (2000)
70
70.6
70.6 (2000)
Repetitive usage
Repetitive usage
14.3 9.5 3000 (r/min)
35 23.8
Continuous usage
(r/min)
23.8
Continuous usage
23.0 15.8 3000 (r/min)
1000
2000
1000
2000
R88M-G7K520T (7.5 kW)

(Nm)
100 50
111
Repetitive usage
111 100
48 48 Continuous usage
1000 1500
36 2000 (r/min)
28
R88M-G/R88D-GT@

Characteristics
Model (R88M-) Item Rated output *1 Rated torque
*1
Unit W Nm r/min r/min Nm A (rms)

*1
G90010T 900 8.62
G2K010T 2000 19.1
G3K010T 3000 28.4 1000 2000
G4K510T 4500 42.9
G6K010T 6000 57.2
Rated rotation speed Max. momentary rotation speed Max. momentary torque *1 Rated current
*1
18.4 7.6 17.1 1.12 103
41.5 18.5 44 3.55 103
60 24 57.1 5.57 103 10 times the rotor inertia max. *2
101 33 84.2 8.09 103
130 57.2 121.4 9.9 103
Max. momentary current Rotor inertia Applicable load inertia Torque constant *1 Power rate
*1
A (rms) kgm (GD2/4) --Nm/A kW/s ms ms N N kg kg

2
1.13 66.3 0.88 20 686 196 Approx. 8.5 Approx. 10 275 260 t15 (AI) GT15H
1 103 0.97 25 1176 490 Approx. 17.5 Approx. 21
1.1 145 0.74 30 1470 490 Approx. 25 Approx. 28.5
1.3 228 0.7 31 1470 490 Approx. 34 Approx. 39.5
1.22 331 0.65 46.2 1764 588 Approx. 41 Approx. 45
Mechanical time constant Electrical time constant Allowable radial load *3 Allowable thrust load Weight With brake Radiation shield dimensions (material) Applicable Servo Drives (R88D-) Brake inertia Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Brake specifications Static friction torque Attraction time Release time Backlash Allowable work per braking Allowable total work Allowable angular acceleration Brake life Rating Insulation grade
*5 *5 *3
Without brake
470 440 t30 (AI) GT30H 4.7 104 GT50H 4.7 104 24 VDC 10% GT50H 4.7 104 GT75H 4.7 104
kgm2 (GD2/4) V W A Nm ms ms
1.35 104
19 0.79 13.7 min. 100 max. 50 max.
31 1.3 24.5 min. 80 max. 25 max. 1 (reference value)
34 1.4 58.8 min. 150 max. 50 max.
J J rad/s2 -------
1176 1.6 106
1372 2.9 106 10,000 max. (Speed of 900 r/min or more must not be changed in less than 10 ms) 10,000,000 operations min. Continuous Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque shown above indicates the standard value. *2. Applicable Load Inertia: The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible. If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled. *3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are applied as shown in the following Radial load diagram. *4. This is an OFF brake. (It is reset when excitation voltage is applied). Thrust load *5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.). Center of shaft (LR/2)
29
R88M-G/R88D-GT@

R88M-G90010T (900 W)
(Nm)
R88M-G2K010T (2 kW)
(Nm)
R88M-G3K010T (3 kW)
(Nm)
20 18.4 10 8.62
18.4 (1600)
50 41.5 25 19.1
41.5 (1600) 34.9 9.5 19.1
70 60 35 28.4
60 (1350)
Repetitive usage
Repetitive usage
Repetitive usage
8.62
10.0 4.31
38 14.2
28.4
Continuous usage
Continuous usage
Continuous usage
1000
2000 (r/min)
1000
2000 (r/min)
1000
2000 (r/min)
R88M-G4K510 (4.5 kW)

101
(Nm)
R88M-G6K010T (6 kW)
130
(Nm)
101 (1300)
130 (1500)
100
Repetitive usage
100 50
Repetitive usage
50 42.9
42.9
40 21.5
57.2
57.2
71 28.6
Continuous usage
Continuous usage
1000
2000 (r/min)
1000
2000 (r/min)
30
R88M-G/R88D-GT@
Decelerator Specifications
Decelerators for Cylindrical Servomotors
Model Rated rotation speed r/min 1/5 1/9 50 W 1/21 1/33 1/45 1/5 1/11 100 W 1/21 1/33 1/45 1/5 1/11 200 W 1/21 1/33 1/45 1/5 1/11 400 W 1/21 1/33 1/45 1/5 1/11 750 W 1/21 1/33 1/45 R88G-HPG11A05100B R88G-HPG11A09050B R88G-HPG14A21100B R88G-HPG14A33050B R88G-HPG14A45050B R88G-HPG11A05100B R88G-HPG14A11100B R88G-HPG14A21100B R88G-HPG20A33100B R88G-HPG20A45100B R88G-HPG14A05200B R88G-HPG14A11200B R88G-HPG20A21200B R88G-HPG20A33200B R88G-HPG20A45200B R88G-HPG14A05400B R88G-HPG20A11400B R88G-HPG20A21400B R88G-HPG32A33400B R88G-HPG32A45400B R88G-HPG20A05750B R88G-HPG20A11750B R88G-HPG32A21750B R88G-HPG32A33750B R88G-HPG32A45750B 600 333 143 91 67 600 273 143 91 67 600 273 143 91 67 600 273 143 91 67 600 273 143 91 67 Rated Efficiency torque Nm 0.60 1.17 2.18 3.73 5.09 1.37 2.63 5.40 6.91 9.42 2.49 6.01 10.2 17.0 23.2 5.66 11.73 23.56 34.79 47.44 9.94 23.23 42.34 69.70 95.04 % 75 81 65 71 71 86 75 80 65 65 78 85 76 81 81 87 82 86 81 81 83 88 84 88 88 Maximum momentary rotation speed r/min 1000 555 238 151 111 1000 454 238 151 111 1000 454 238 151 111 1000 454 238 151 111 1000 454 238 151 111 Maximum momentary torque Nm 1.68 3.29 6.13 10.5 14.3 3.8 7.39 15.2 19.4 26.5 6.93 16.7 28.5 47.4 64.6 16.0 (15.7) 33.1 (32.5) 66.5 (65.2) 98.2 (96.3) 133.9 (131.4) 29.2 68.1 124.3 204.7 279.2 Decelerator inertia kgm2 5.00 10
7
Allowable radial load N 135 161 340 389 427 135 280 340 916 1006 221 280 800 916 1006 221 659 800 1565 1718 520 659 1367 1565 1718
Allowable Weight thrust load N 538 642 1358 1555 1707 538 1119 1358 3226 3541 883 1119 2817 3226 3541 883 2320 2547 6240 6848 1832 2320 5448 6240 6848 kg 0.29 0.29 1.04 1.04 1.04 0.29 1.04 1.04 2.4 2.4 1.02 1.09 2.9 2.9 2.9 1.09 2.9 2.9 7.5 7.5 2.9 3.1 7.8 7.8 7.8
3.00 107 5.00 106 4.40 106 4.40 106 5.00 107 6.00 106 5.00 106 6.50 10
5
6.50 105 2.07 105 1.93 105 4.90 105 4.50 105 4.50 105 2.07 105 5.70 105 4.90 105 6.20 105 6.10 105 6.80 105 6.00 105 3.00 104 2.70 104 2.70 10
4
Note: 1. The values inside parentheses ( ) are for 100-V Servomotors. Note: 2. The Decelerator inertia is the Servomotor shaft conversion value. Note: 3. The protective structure for Servomotors with Decelerators satisfies IP44.
Note: 4. The allowable radial load is the value at the LR/2 position. Note: 5. The standard models have a straight shaft. Models with a key and tap are indicated by adding "J" to the end of the model number (the suffix in the box).
Decelerator for Flat Servomotors

Model Rated rotation speed r/min 1/5 1/11 100 W 1/21 1/33 1/45 1/5 1/11 200 W 1/21 1/33 1/45 1/5 1/11 400 W 1/21 1/33 1/45 R88G-HPG11A05100PB R88G-HPG14A11100PB R88G-HPG14A21100PB R88G-HPG20A33100PB R88G-HPG20A45100PB R88G-HPG14A05200PB R88G-HPG20A11200PB R88G-HPG20A21200PB R88G-HPG20A33200PB R88G-HPG20A45200PB R88G-HPG20A05400PB R88G-HPG20A11400PB R88G-HPG20A21400PB R88G-HPG32A33400PB R88G-HPG32A45400PB 600 273 143 91 67 600 273 143 91 67 600 273 143 91 67 Rated Efficiency torque Nm 1.37 2.63 5.40 6.91 9.42 2.49 4.75 10.2 17.0 23.2 4.67 11.7 23.5 34.7 47.4 % 85 75 80 65 65 78 68 76 81 81 72 82 86 81 81 Maximum momentary rotation speed r/min 1000 454 238 151 111 1000 454 238 151 111 1000 (900) 454 (409) 238 (214) 151 (136) 111 (100) Maximum momentary torque Nm 3.67 (3.59) 7.06 (6.89) 14.5 (14.2) 18.6 (18.1) 25.3 (24.7) 7.01 13.4 28.8 47.9 65.4 13.1 (12.9) 32.9 (32.4) 66.2 (65.2) 97.6 (96.2) 133.0 (131.2) Decelerator inertia kgm2 5.00 107 6.00 106 5.00 10
6
Allowable radial load N 135 280 340 916 1006 221 659 800 916 1006 520 659 800 1565 1718
Allowable Weight thrust load N 538 1119 1358 3226 3541 883 2320 2817 3226 3541 1832 2320 2817 6240 6848 kg 0.34 1.04 1.04 2.9 2.9 0.99 3.1 3.1 3.1 3.1 3.1 3.1 3.1 7.8 7.8
4.50 105 4.50 105 2.07 105 5.80 105 4.90 105 4.50 105 4.50 105 7.10 10
5
5.80 105 4.90 105 2.80 104 2.80 104
Note: 1. The values inside parentheses ( ) are for 100-V Servomotors. Note: 2. The Decelerator inertia is the Servomotor shaft conversion value. Note: 3. The protective structure for Servomotors with Decelerators satisfies IP44.
Note: 4. The allowable radial load is the value at the LR/2 position. Note: 5. The standard models have a straight shaft. Models with a key and tap are indicated by adding "J" to the end of the model number (the suffix in the box).
31
R88M-G/R88D-GT@
Decelerators for Cylindrical Servomotors
Rated rotation speed r/min 1/5 1/9 50 W 1/15 1/25 1/5 1/9 100 W 1/15 1/25 1/5 1/9 200 W 1/15 1/25 1/5 1/9 400 W 1/15 1/25 1/5 1/9 750 W 1/15 1/25 Note: 1. Note: 2. Note: 3. Note: 4. Note: 5. R88G-VRSF15D750CJ R88G-VRSF25D750CJ 200 120 30.4 50.7 85 85 333 200 89.9 149.8 R88G-VRSF15C400CJ R88G-VRSF25C400CJ R88G-VRSF05C750CJ R88G-VRSF09D750CJ 200 120 600 333 15.8 26.4 10.7 18.2 83 83 90 85 333 200 1000 556 45.7 (44.8) 76.1 (74.7) 31.7 53.9 R88G-VRSF15C200CJ R88G-VRSF25C200CJ R88G-VRSF05C400CJ R88G-VRSF09C400CJ 200 120 600 333 6.29 11.1 5.40 9.50 66 70 85 83 333 200 1000 556 17.6 31.2 15.6 (15.3) 27.4 (26.8) R88G-VRSF15B100CJ R88G-VRSF25B100CJ R88G-VRSF05B200CJ R88G-VRSF09C200CJ 200 120 600 333 3.81 6.36 2.70 3.77 80 80 85 66 333 200 1000 556 10.8 18.0 7.57 10.6 R88G-VRSF15B100CJ R88G-VRSF25B100CJ R88G-VRSF05B100CJ R88G-VRSF09B100CJ 200 120 600 333 1.67 2.78 1.19 2.29 70 70 75 80 333 200 1000 556 4.73 7.88 3.38 6.48 R88G-VRSF05B100CJ R88G-VRSF09B100CJ 600 333 Rated Efficiency torque Nm 0.52 0.93 % 65 65 Maximum momentary rotation speed r/min 1000 556 Maximum momentary torque Nm 1.46 2.63 Decelerator inertia kgm2 4.00 106 3.50 106 3.50 106 3.25 106 4.00 10
6
Model
Allowable radial load N 392 441 588 686 392 441 588 686 392 931 1176 1323 784 931 1176 1323 784 1176 1372 1617
Allowable thrust load N 196 220 294 343 196 220 294 343 196 465 588 661 392 465 588 661 392 588 686 808
Weight kg 0.55 0.55 0.70 0.70 0.55 0.55 0.70 0.70 0.72 1.70 2.10 2.10 1.70 1.70 2.10 2.10 2.10 3.40 3.80 3.80
3.50 106 3.50 106 3.25 10

6
1.18 105 2.75 10

5
3.00 105 2.88 105 3.63 10

5
2.75 105 3.00 105 2.88 105 7.13 105 6.50 10

5
7.00 105 6.80 105
The values inside parentheses ( ) are for 100-V Servomotors. The Decelerator inertia is the Servomotor shaft conversion value. The protective structure for Servomotors with Decelerators satisfies IP44. The allowable radial load is the value at the LR/2 position. The standard models have a straight shaft with a key.
Decelerators for Flat Servomotors

Rated rotation speed r/min 1/5 1/9 100 W 1/15 1/25 1/5 1/9 200 W 1/15 1/25 1/5 1/9 400 W 1/15 1/25 Note: 1. Note: 2. Note: 3. Note: 4. Note: 5. R88G-VRSF15C400PCJ R88G-VRSF25C400PCJ 200 120 15.8 26.4 83 83 333 (300) 200 (180) 45.4 (44.8) 75.7 (74.7) R88G-VRSF15C200PCJ R88G-VRSF25C200PCJ R88G-VRSF05C400PCJ R88G-VRSF09C400PCJ 200 120 600 333 6.29 11.1 5.40 9.50 66 70 85 83 333 200 1000 (900) 556 (500) 17.82 31.5 15.5 (15.3) 27.3 (26.9) R88G-VRSF15B100PCJ R88G-VRSF25B100PCJ R88G-VRSF05B200PCJ R88G-VRSF09C200PCJ 200 120 600 333 3.81 6.36 2.70 3.77 80 80 85 66 333 200 1000 556 10.08 16.8 7.65 10.692 R88G-VRSF05B100PCJ R88G-VRSF09B100PCJ 600 333 Rated Efficiency torque Nm 1.19 2.29 % 75 80 Maximum momentary rotation speed r/min 1000 556 Maximum momentary torque Nm 3.15 6.048 Decelerator inertia kgm2 4.00 106 3.50 106 3.50 106 3.25 10
6
Model
Allowable radial load N 392 441 588 686 392 931 1176 1323 784 931 1176 1323
Allowable thrust load N 196 220 294 343 196 465 588 661 392 465 588 661
Weight kg 0.72 0.72 0.87 0.87 0.85 1.80 2.20 2.20 1.80 1.80 2.20 2.20
1.18 105 2.75 105 3.00 10

5
2.88 105 3.63 105 2.75 10

5
3.00 105 2.88 105
The values inside parentheses ( ) are for 100-V Servomotors. The Decelerator inertia is the Servomotor shaft conversion value. The protective structure for Servomotors with Decelerators satisfies IP44. The allowable radial load is the value at the LR/2 position. The standard models have a straight shaft with a key.
32
R88M-G/R88D-GT@
Encoder, External Regeneration Resistors, Reactor and Parameter Unit Specifications

Encoder Specifications
Incremental Encoders
Item Encoder system No. of output pulses Power supply voltage Power supply current Output signals Output interface Optical encoder Phases A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation 5 VDC 5% 180 mA (max.) +S, S RS-485 compliance Specifications
Absolute Encoders
Item Encoder system No. of output pulses Maximum rotations Power supply voltage Power supply current Applicable battery voltage Current consumption of battery Output signals Output interface Optical encoder 17 bits Phases A and B: 32,768 pulses/rotation, Phase Z: 1 pulse/rotation 32,768 to +32,767 rotations or 0 to 65,534 rotations 5 VDC 5% 110 mA (max.) 3.6 VDC 180 A for a maximum of 5 s right after power interruption 100 A for operation during power interruption 3.6 A when power is supplied to Servo Drive +S, S RS-485 compliance Specifications
External Regeneration Resistors Specifications

Model R88A-RR08050S R88A-RR080100S R88A-RR22047S Resistance 50 100 47 Nominal capacity 80 W 220 W Regeneration absorption for 120C temperature rise 20 W 70 W Heat radiation condition Aluminum 250 250, Thickness: 3.0 Aluminum 350 350, Thickness: 3.0 Thermal switch output specifications Operating temperature: 150C5%, NC contact, Rated output: 30 VDC, 50 mA max. Operating temperature: 170C5%, NC contact, Rated output: 3 A
Reactor Specifications
Servo Drive R88D-GTA5L R88D-GT01H R88D-GT01L R88D-GT02H R88D-GT02L R88D-GT04H R88D-GT04L R88D-GT08H R88D-GT10H R88D-GT15H R88D-GT08H R88D-GT10H R88D-GT15H R88D-GT20H R88D-GT30H R88D-GT50H R88D-GT75H Reactor Model 3G3AX-DL2002 3G3AX-DL2004 3G3AX-DL2007 Rated current 1.6 A 3.2 A 6.1 A Inductance 21.4 mH 10.7 mH 6.75 mH Weight Approx. 0.8 kg Approx. 1.0 kg Approx. 1.3 kg Reactor type Single-phase Single-phase Single-phase
3G3AX-DL2015 3G3AX-DL2022 3G3AX-AL2025
9.3 A 13.8 A 10.0 A
3.51 mH 2.51 mH 2.8 mH
Approx. 1.6 kg Approx. 2.1 kg Approx. 2.8 kg
Single-phase Single-phase Three-phase
3G3AX-AL2055 3G3AX-AL2110 3G3AX-AL2220
20.0 A 34.0 A 67.0 A
0.88 mH 0.35 mH 0.18 mH
Approx. 4.0 kg Approx. 5.0 kg Approx. 10.0 kg
Three-phase Three-phase Three-phase
33
R88M-G/R88D-GT@
R88A-PR02G Parameter Unit Specifications
Item Operating ambient temperature Operating ambient humidity Storage ambient temperature Storage ambient humidity Storage and operating atmosphere Vibration resistance 0 to 55C 90% max. (with no condensation) 20 to 80C 90% max. (with no condensation) No corrosive gases 5.9 m/s2 max. Specifications
Performance Specifications
Item Type Cable length Connectors Display External dimensions Weight Standard Communications specifications Communications method Baud rate Start bits Data Parity Stop bits Hand-held 1.5 m Mini DIN 8-pin MD connector 7-segment LED 62 114 15 mm (W H D) Approx. 0.1 kg (including cable that is provided) RS-232 Asynchronous (ASYNC) 9,600 bps 1 bit 8 bits None 1 bit Specifications
34
R88M-G/R88D-GT@
Connections
Control I/O Connector Specifications (CN1)
Control I/O Signal Connections and External Signal Processing for Position Control
Reverse pulse 500 kpps max. Forward pulse Brake Interlock Maximum operating voltage: 30 VDC Maximum output current: 50 mA DC
Servo Ready Output
Reverse pulse 2 Mpps max. Forward pulse
Alarm Output
Positioning Completed Output
12 to 24 VDC RUN Command Input
General-purpose Output 1
Vibration Filter Switch
Phase-Z Output (open collector output)
Gain Switch Input

Encoder Phase-A Line driver output Output Conforms to EIA RS-422A (Load resistance: Encoder Phase-B 120 min.) Output
Electronic Gear Switch Input
Deviation Counter Reset Input
Alarm Reset Input
Encoder Phase-Z Output
Control Mode Switch Input Forward Torque Limit Input Pulse Prohibit Input Reverse Torque Limit Input Reverse Drive Prohibit Input
Forward Drive Prohibit Input
Ground common Frame ground
35
R88M-G/R88D-GT@
Control I/O Signal Connections and External Signal Processing for Speed Control
Speed Command Input REF 14 AGND 15 Forward Torque Limit Input PCL 16 AGND 17 Reverse Torque Limit Input NCL 18
11 BKIR
Brake Interlock
10 BKIRCOM 35 READY
Servo Ready Output

34 READYCOM 37 /ALM
Maximum operating voltage: 30 VDC Maximum output current: 50 mA DC
Alarm Output
36 ALMCOM
Sensor ON Input
SEN 20
SENGND 13 12 to 24 VDC
7
39 TGON Servomotor Rotation Speed Detection Output 38 TGONCOM 12 OUTM1
40 OUTM2
RUN Command Input RUN 29 Zero Speed Designation Input VZERO 26 Gain Switch Input
41 COM 19 Z Phase-Z Output
(open collector output)

25 ZCOM
GSEL 27
21
Internally Set Speed Selection 3 VSEL3 28 Internally Set Speed Selection 2 VSEL2 30 Alarm Reset Input RESET 31 Control Mode Switch Input TVSEL 32 Internally Set Speed Selection 1 VSEL1 33 Reverse Drive Prohibit Input NOT 8 Forward Drive Prohibit Input
22 49 48 23 24
Encoder Phase-A Output
Encoder Phase-B Output
Line driver output Conforms to EIA RS-422A (Load resistance: 120 min.)
42 BAT
Backup Battery Input *1
43 BATCOM
POT 9
50 FG
Frame ground
*1. If a backup battery is connected, a cable with a battery is not required.
36
R88M-G/R88D-GT@
Control I/O Signal Connections and External Signal Processing for Torque Control
Torque Command Input or Speed Limit Input TREF/VLIM 14 AGND 15 Torque Command Input TREF 16 AGND 17
11 BKIR
Brake Interlock
10 BKIRCOM
Y 35 READY Servo Ready Output

34 READYCOM 37 /ALM
Maximum operating voltage: 30 VDC Maximum output current: 50 mA DC
Alarm Output
36 ALMCOM 39 TGON Servomotor Rotation Speed Detection Output 38 TGONCOM 12 OUTM1
12 to 24 VDC
40 OUTM2
RUN Command Input RUN 29 Zero Speed Designation Input VZERO 26 Gain Switch Input
41 COM 19 Z Phase-Z Output
(open collector output)

25 ZCOM
GSEL 27
21 22
Encoder Phase-A Output
Alarm Reset Input RESET 31 Control Mode Switch Input TVSEL 32 Reverse Drive Prohibit Input NOT 8 Forward Drive Prohibit Input
49 48 23 24
Encoder Phase-B Output
Line driver output Conforms to EIA RS-422A (Load resistance: 120 min.)
13 SENGND
Ground common POT 9

50 FG
Frame ground
37
R88M-G/R88D-GT@
Peripheral Device Connection Examples
R88D-GTA5L/-GT01L/-GT02L/-GT04L R88D-GT01H/-GT02H/-GT04H/-GT08H/-GT10H/-GT15H
R T Single-phase 100 to 115 VAC, 50/60 Hz: R88D-GT@@L Single-phase 200 to 240 VAC, 50/60 Hz: R88D-GT@@H
NFB
1 E 3 (Ground to 100 or less.)
Noise filter OFF ON Main-circuit contactor

1MC
NF
4
1MC Surge killer

X PL
Servo error display
OMNUC G-series AC Servo Drive

CNA L1C L2C XB
OMNUC G-series AC Servomotor Power Cable (*2)
B
CNB
1MC
CNA L1 L2 CNB
24 VDC
U V
Reactor
M
W
Regeneration resistor (*4)
B1
(*3)
B3 B2 CN2 (Ground to 100 or less.)
CN1
E
Encoder Cable
X
24 VDC
37 /ALM 36 ALMCOM CN1
BKIR 11 CN1 BKIRCOM 10
XB (*1)
24 VDC
User control device Control Cable
*1. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-series Motors with Brakes. *2. The brake is not affected by the polarity of the power supply. *3. Connect B2-B3 for the models with a built-in regeneration resistor (GT04L, GT08H, GT10H, and GT15H). *4. If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2. *5. Models GTA5L to GT02L and GT01H to *6. GT04H do not have a built-in regeneration resistor. If the amount of regeneration is large, an External Regeneration Resistor must be connected to B1-B2.
38
R88M-G/R88D-GT@
R88D-GT08H/-GT10H/-GT15H/-GT20H/-GT30H/-GT50H/-GT75H
R S T Three-phase 200 to 240 VAC, 50/60 Hz
NFB
1 E 4 (Ground to 100 W or less.)
Noise filter OFF ON Main-circuit contactor

1MC
NF
5 6
1MC Surge killer

X PL
Servo error display
OMNUC G-series AC Servo Drive

CNA L1C L2C CNB U CNA L1 W L2 L3 CNB V XB
Power Cable (*2)
OMNUC G-series AC Servomotor
B
24 VDC
1MC Reactor
Regeneration resistor (*4)
B1
CN2
(Ground to 100 W or less.)
(*3)
B3 B2 CN1
E
Encoder Cable
X
24 VDC
37 /ALM 36 ALMCOM
CN1 BKIR 11
XB (*1)
24 VDC
User control device Control Cable
CN1
BKIRCOM 10
*1. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-series Motors with Brakes. *2. The brake is not affected by the polarity of the power supply. *3. Connect B2 and B3 for the models with a built-in regeneration resistor (GT08H to GT50H). If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2. *4. The GT75H does not have a built-in regeneration resistor. If the amount of regeneration is large, an External Regeneration Resistor must be connected to B1-B2.
39
R88M-G/R88D-GT@
I/O Circuit Diagrams

Control Input Circuits
Speed Command/Torque Command Input
REF/TREF/VLIM 14
ADC 1 +3.3 V
15 AGND
+
PCL/TREF 16
17 AGND
+
+3.3 V
ADC 2
NCL 18
The maximum allowable input voltage is 10 V for each input. The VR must be 2 k with B characteristics and 1/2 W minimum. R must be 200 and 1/2 W minimum.
Position Command Pulse Input (Photocoupler Input) Line Driver Input (500 kpps Maximum) (+CW:3, CW:4, +CCW:5, CCW:6)
Controller Servo Drive Input current: 9 mA, 3 V Applicable line driver: AM26LS31A or the equivalent
Open-collector Input
External 24-V power supply without a current-limiting resistor (200 kpps maximum) (+24VCW: 1, CW: 4, +24VCCW: 2, CCW: 6)
Controller Vcc 24 V
Servo Drive
External control power supply (200 kpps maximum) (+CW: 3, CW: 4, +CCW: 5, CCW: 6)
Controller Vcc R
Servo Drive
Input current: 7 to 15 mA
Select a resistance R value so that the input current will be from 7 to 15 mA. Refer to the following table.
VCC 24 V 12 V R 2 k (1/2 W) 1 k (1/2 W)
40
R88M-G/R88D-GT@
Sequence Input
External power supply: 12 VDC 5% to 24 VDC 5% Power supply capacity: 50 mA min. (per Unit) +24VIN 7 Photocoupler input RUN 29
Minimum ON time: 40 ms To other input circuit ground commons Signal Levels ON level: 10 V min. OFF level: 3 V max.
To other input circuits
Sensor Input Sensor ON Input
ABS
Servo Drive SEN 20 When at high level: 4.7 k Approx. 1 mA SENGND 13 Input voltage: 1 mA to 5 A DC
7406 or the equivalent 0V Signal Levels High level: 4 V min. Low level: 0.8 V max.
A PNP transistor is recommended.
Control Output Circuits

Position Feedback Output
Servo Drive 21 Phase A Output line driver AM26C31 or the equivalent 23 Phase Z 24 25 ZCOM 0V FG Shell FG GND R Phase Z 0V 0 V Applicable line receiver FG AM26C32 or the equivalent Phase B 22 48 49 R Phase B R Phase A Controller R = 120 to 180 5V
Phase-Z Output (Open-collector Output)

Servo Drive Controller
19 Z Maximum operating voltage: 30 VDC 25 ZCOM 0V Maximum output current: 50 mA
Sequence Output
Servo Drive To other output circuits X Di External power supply 24 VDC 1 V Maximum operating voltage: 30 VDC Maximum output current: 50 mA
X Di Di: Diode for preventing surge voltage (Use high-speed diodes.)
41
R88M-G/R88D-GT@
Components and Functions

Servo Drive Part Names
Display area Unit No. switch Settings area Analog monitor 1 check pin (IM) Analog monitor 2 check pin (SP) Check pin (G: GND) RS-485 Communications connector (CN3A) RS-232 Communications connector/ Parameter Unit connector (CN3B)
CN1 Control Inputs

Pin No. 1 2 3 4 5 6 7 8
Control I/O connector (CN1)
Symbol +24VCW +24VCCW +CW/PULS/FA CW/PULS/FA
Name 24-V Open-collector Input for Command Pulse 24-V Open-collector Input for Command Pulse Reverse Pulses Input/ Feed Pulses Input, or 90 Phase Difference Pulse Input (Phase A)
Main-circuit power terminals (L1, L2, L3) Control-circuit power terminals (L1C, L2C)
+CCW/SIGN/FB Forward Pulse Input/ Direction Signal, CCW/SIGN/FB or 90 Phase Difference Pulse Input (Phase B) +24VIN NOT POT REF 12 to 24-VDC Power Supply Input Reverse Drive Prohibit Input Forward Drive Prohibit Input Speed Command Input Torque Command Input Speed Limit Input Analog Input Ground Forward Torque Limit Input Torque Command Input Analog Input Ground Reverse Torque Limit Input Sensor ON Input Zero Speed Designation Input Vibration Filter Switch Speed Command Rotation Direction Switch Gain Switch Torque Limit Switch Electronic Gear Switch Internally Set Speed Selection 3 RUN Command Deviation Counter Reset Input Internally Set Speed Selection 2 Alarm Reset Input Control Mode Switch Input Pulse Prohibit Input Internally Set Speed Selection 1 Backup Battery Input Reverse Pulse (input for line driver only) Forward Pulse (input for line driver only)
External Regeneration Resistor connection terminals (B1, B2, B3) Servomotor connection terminals (U, V, W) Encoder connector (CN2)
14
TREF VLIM
15 16
AGND PCL TREF AGND NCL SEN SENGND VZERO
Protective ground terminals
17 18
Main Circuit Connector (CNA)

Symbol L1 L2 L3 L1C L2C Main circuits power supply input Name
20 13
26
DFSEL PNSEL
27 Control circuit power supply input 28
GSEL TLSEL GESEL VSEL3 RUN ECRST VSEL2 RESET TVSEL IPG VSEL1 BAT BATGND +CWLD CWLD +CCWLD CCWLD
Servomotor Connector (CNB)

Symbol B1 B2 B3 U V W Servomotor connection terminals External Regeneration Resistor connection terminals Name
29 30 31 32 33 42 43 44
Frame ground
45 46
Display Area
A 6-digit 7-segment LED display shows the Servo Drive status, alarm codes, parameters, and other information.
47
Check Pins (IM, SP, and G)

The actual motor speed, command speed, torque, and number of accumulated pulses can be measured based on the analog voltage level by using an oscilloscope. The type of signal to output and the output voltage level are set in the SP Selection (Pn07) and IM Selection (Pn08) parameters.
Unit No. Switch

The Servo Drive number in serial communications is set to a value from 0 to F. This number is used to identify which Servo Drive the computer is accessing in RS-232/485 communications between multiple Servo Drives and a computer.
42
R88M-G/R88D-GT@
CN1 Control Outputs
Pin No. 10 11 12 19 25 21 22 48 49 23 24 35 34 37 36 39 38 39 38 40 41 Shell Symbol BKIRCOM BKIR OUTM1 Z ZCOM +A A B +B +Z Z READY READYCOM /ALM ALMCOM INP INPCOM TGON TGONCOM OUTM2 COM FG Name Brake Interlock Output General-purpose Output 1 Phase-Z Output (open collector) Phase-Z Output (open collector) common Encoder Phase-A + Output Encoder Phase-A Output Encoder Phase-B Output Encoder Phase-B + Output Encoder Phase-Z + Output Encoder Phase-Z Output Servo Ready Output
Protective Functions
Error detection Control power supply undervoltage Overvoltage Undervoltage Overcurrent Overheating Overload Regeneration overload Encoder communications error Encoder communications data error Position deviation exceeded Overspeed Command pulse multiplying error Overrun limit error EEPROM parameter error EEPROM check code error Drive prohibit input Excessive analog input Absolute encoder system down error Absolute encoder counter overflow error
Alarm Output
Positioning Completed Output
Servomotor Rotation Speed Detection Output General-purpose Output 2 General-purpose Output Common Frame Ground
ABS ABS ABS ABS ABS
Absolute encoder overspeed error Absolute encoder one-turn counter error Absolute encoder multi-turn counter error Absolute encoder status error Encoder phase Z error Encoder PS signal error PCL input exceeded NCL input exceeded Motor automatic recognition error CPU error Encoder error
Encoder Connector Specifications (CN2)

Pin No. 1 2 3 4 5 6 Shell Symbol E5V E0V BAT+ BAT PS+ PS FG Name Encoder power supply +5 V Encoder power supply GND Battery + Battery Encoder +phase S input Encoder phaseS input Shield ground
Communications Connector Specifications (CN3A)

Pin No. 4 7 8 Symbol GND B+ A Ground RS-485 communications data Name
Parameter Unit Connector Specifications (CN3B)

Pin No. 3 4 5 7 8 Symbol TXD GND RXD B+ A RS-232 send data Ground RS-232 receive data RS-485 communications data Name
43
R88M-G/R88D-GT@
Parameter
R88A-RP02G : Parameter Unit Part Names
LED Display (6 Digits) If an error occurs, all digits will flash and the display will switch to the error display. Unit No. Display (2 Digits) Displays the selected Servo Drive's unit number set in the Unit No. Setting (Pn00). In Parameter Setting Mode, displays the 2digit parameter number. Mode Key Switches between the following six modes. Monitor Mode Autotuning Mode Parameter Setting Mode Auxiliary Function Mode Parameter Write Mode Copy Mode Increment/Decrement Key Increases or decreases parameter numbers or set values. Shift Key Shifts the digit being changed to the left. Data Key Switches between the parameter and setting displays, saves settings, etc.
Gain Parameters
Parameter name Position Loop Gain Speed Loop Gain Speed Loop Integration Time Constant Speed Feedback Filter Time Constant Torque Command Filter Time Constant Feed-forward Amount Feed-forward Command Filter Position Loop Gain 2 Speed Loop Gain 2 Speed Loop Integration Time Constant 2 Speed Feedback Filter Time Constant 2 Torque Command Filter Time Constant 2 Notch Filter 1 Frequency Explanation Set to adjust position control system responsiveness. Set to adjust speed loop responsiveness. Set to adjust the speed loop integration time constant. The encoder signal is converted to the speed signal via the low pass filter. Set to adjust the primary lag filter time constant for the torque command section. Set the position control feed-forward compensation value. Set the time constant of the primary lag filter used in the speed feed-forward section. Set to adjust position control system responsiveness. Set to adjust speed loop responsiveness. Set to adjust the speed loop integration time constant. The encoder signal is converted to the speed signal via the low pass filter. Set to adjust the primary lag filter time constant for the torque command section. Set the notch frequency of the resonance suppression notch filter. Set the width to one of five levels for the resonance suppression notch filter. Normally, use the default setting. Set the ratio between the mechanical system inertia and the Servomotor rotor inertia. Set the operating mode for realtime autotuning. Set the machine rigidity to one of 16 levels during realtime autotuning. The higher the machine rigidity, the greater the setting needs to be. The higher the setting, the higher the responsiveness. When the Parameter Unit is used, 0 cannot be set. Enable or disable the adaptive filter. Vibration filters 1 and 2 can be switched. Set the operating pattern for autotuning. Set the allowable operating range for the Servomotor. The overrun limit function is disabled if the parameter is set to 0. Set the instantaneous speed observer. Set the notch frequency of the resonance suppression notch filter. Set the notch filter width to one of five levels for the resonance suppression notch filter. Normally, use the default setting. Set the depth of the resonance suppression notch filter. Set vibration frequency 1to suppress vibration at the end of the load in dampening control. Set vibration filter 1 to suppress vibration at the end of the load in dampening control. Set vibration frequency 2 to suppress vibration at the end of the load in dampening control. Set vibration filter 2 to suppress vibration at the end of the load in dampening control.
Function Selection Parameters

Parameter name Unit No. Setting Default Display Control Mode Selection Torque Limit Selection Drive Prohibit Input Selection Command Speed Selection Zero Speed Designation/ Speed Command Direction Switch SP Selection IM Selection General-purpose Output 2 Selection General-purpose Output 1 Selection Operation Switch When Using Absolute Encoder RS-232 Baud Rate Setting RS-485 Baud Rate Setting Front Key Protection Setting Explanation Set the unit number. Set the data to display on the Parameter Unit when the power supply is turned ON. Set the control mode to be used. Set the torque limit method for forward and reverse operation. You can stop the Servomotor from rotating beyond the device's travel distance range by setting limit inputs. Select the speed command when using speed control. Set the function of the Zero-speed Designation Input (VZERO). Select the relation between the output voltage level and the speed. Select the relation between the output voltage level and the torque or number of pulses. Assign the function of General-purpose Output 2 (OUTM2). Assign the function of General-purpose Output 1 (OUTM1). Set the operating method for the 17-bit absolute encoder. Select the baud rate for the RS-232 port.
Notch Filter 1 Width
Inertia Ratio Realtime Autotuning Mode Selection
Realtime Autotuning Machine Rigidity Selection
Adaptive Filter Selection Vibration Filter Selection Autotuning Operation Setting Overrun Limit Setting Instantaneous Speed Observer Setting Notch Filter 2 Frequency
Select the baud rate for RS-485 communications. Front panel key operation can be limited to Monitor Mode. Notch Filter 2 Width
Notch Filter 2 Depth Vibration Frequency 1 Vibration Filter 1 Setting Vibration Frequency 2 Vibration Filter 2 Setting
44
R88M-G/R88D-GT@
Position Control Parameters
Parameter name Explanation Displays the table entry number corresponding to the frequency for the adaptive filter. This parameter is set automatically and cannot be changed if the adaptive filter is enabled (i.e., if Realtime Autotuning Mode Selection (Pn21) is 1 to 3 or 7). Enable or disable gain switching. If gain switching is enabled, the setting of the Gain Switch Setting (Pn31) is used as the condition for switching between gain 1 and gain 2. Select the condition for switching between gain 1 and gain 2. The details depend on the control mode. This parameter is enabled when the control Gain Switch 1 Setting (Pn31) is 3 to 10. Set the delay time from the moment the condition set in the Gain Switch 1 Setting (Pn31) is not met until returning to gain 1. This parameter is enabled when the control Gain Switch 1 Setting (Pn31) is 3 to 6, 9, or 10. Set the judgment level for switching between gain 1 and gain 2. The unit for the setting depends on the condition set in the control Gain Switch 1 Setting (Pn31). Set the hysteresis width above and below the judgment level set in the Gain Switch 1 Level Setting (Pn33). When switching between gain 1 and gain 2 is enabled, set the phased switching time only for the position loop gain at gain switching. Select the condition for switching between gain 1 and gain 2 when the Mode 2 is selected in composite modes. The Gain Switching Input Operating Mode Selection (Pn30) must be set to 1 (enabled). This parameter is enabled when control Gain Switch 2 Setting (Pn36) is 3 to 5. Set the delay time for returning from gain 2 to gain 1. This parameter is enabled when control Gain Switch 2 Setting (Pn36) is 3 to 5. Set the judgment level for switching between gain 1 and gain 2. The unit depends on the setting of control Gain Switch 2 Setting (Pn36). Set the hysteresis width above and below the judgment level set in the Gain Switch 2 Level Setting (Pn38). The unit depends on the setting of the control Gain Switch 2 Setting (Pn36). Set the speed for jogging. Parameter name Command Pulse Input Selection Explanation Selects whether to use photocoupler or linedriver-only input for the command pulse input.
Adaptive Filter Table Number Display
Command Pulse Set the Servomotor rotation direction for the Rotation Direction Switch command pulse input. Command Pulse Mode Command Pulse Prohibited Input Setting Encoder Divider Numerator Setting Encoder Divider Denominator Setting Encoder Output Direction Switch Electronic Gear Ratio Numerator 1 Electronic Gear Ratio Numerator 2 Electronic Gear Ratio Numerator Exponent Electronic Gear Ratio Denominator Set the form of the pulse inputs sent as command to the Servo Drive from a position controller. Enable or disable the pulse disable input (IPG). Set the number of encoder pulses (+A, A, B, +B) output from the Servo Drive for each Servomotor rotation. Set the B-phase logic for pulse output (B, +B).
Gain Switching Input Operating Mode Selection
Gain Switch 1 Setting
Gain Switch 1 Time
Set the pulse rate for command pulses and Servomotor travel distance. If Pn48 or Pn49 is 0, the encoder resolution is set to a numerator.
Electronic Gear Ratio Electronic Gear Ratio Numerator 1 (Pn48) or 2 Numerator Exponent (Pn4A) Electronic Gear Ratio Numerator 2 (Pn49)
Gain Switch 1 Level Setting
Electronic Gear Ratio Denominator (Pn4B)
Gain Switch 1 Hysteresis Setting Position Loop Gain Switching Time
Position Command Filter Time Constant Setting
Set the time constant for the primary lag filter for the command pulse input. If the parameter is set to 0, the filter will not function. The larger the setting, the larger the time constant. Select the FIR filter time constant used for the command pulse input. The higher the setting, the smoother the command pulses. Set the deviation counter reset conditions.
Control Gain Switch 2 Setting
Smoothing Filter Setting
Deviation Counter Reset Condition Setting
Gain Switch 2 Time
Gain Switch 2 Level Setting
Gain Switch 2 Hysteresis Setting Jog Speed
45
R88M-G/R88D-GT@
Speed and Torque Control Parameters
Parameter name Speed Command Scale Explanation Set the relation between the voltage applied to the Speed Command Input (REF) and the Servomotor speed.
Sequence Parameters
Parameter name Positioning Completion Range Zero Speed Detection Rotation Speed for Motor Rotation Detection Positioning Completion Condition Setting Undervoltage Alarm Selection Explanation Set the range for the Positioning Completed Output (INP). Set the rotation speed for the Warning Output for zero speed detection. Set the rotation speed for the Servomotor Rotation Detection Output (TGON) for Internally Set Speed Control. Set the operation for positioning completion output (INP). Select whether to activate the main power supply undervoltage function (alarm code 13) if the main power supply is interrupted for the Momentary Hold Time (Pn6D) during Servo ON. Set the operation used to decelerate to a stop after the Forward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input (NOT) has been received. Set one of the following operations for after the main power supply is cut off if the Undervoltage Alarm Selection (Pn65) is set to 0. Operation during deceleration and after stopping Clearing the deviation counter Set the operation to be performed after stopping or during deceleration when any protective function of the Servo Drive operates and an error occurs. Set the operation to be performed after the Servomotor turns OFF (i.e., RUN ON to OFF). The relation between set values, operation, and deviation counter processing for this parameter is the same as for the Stop Selection with Main Power OFF (Pn67). When the Servomotor is stopped and the RUN Command Input (RUN) is turned OFF, the Brake Interlock Signal (BKIR) will turn OFF, and the Servomotor will turn OFF after waiting for the time period set for this parameter (i.e., setting 2 ms). When the Servomotor is stopped and the RUN Command Input (RUN) is turned OFF, the Servomotor will decelerate to reduce rotation speed, and the Brake Interlock Signal (BKIR) will turn OFF after the set time for the parameter (i.e., setting 2 ms) has elapsed. BKIR will also turn OFF if the speed drops to 30 r/min or lower before the set time elapses. Set whether to use a built-in resistor or to add an External Regeneration Resistor. Set the amount of time required until shutoff is detected if the main power supply continues to shut off. Set the torque limit for the following cases. Drive prohibit deceleration with Stop Selection for Drive Prohibit Input (Pn66) set to 2. Deceleration with Stop Selection with Main Power OFF (Pn67) set to 8 or 9. Deceleration with Stop Selection with Servo OFF (Pn69) set to 8 or 9. Set the deviation counter overflow level. Set the overflow level for Speed Command Input (REF) or Torque Command Input (TREF) using voltage after offset adjustment. Set the overload detection level. Set the overspeed detection level.
Command Speed Set to reverse the polarity of the speed Rotation Direction Switch command input (REF). Speed Command Offset Adjustment No. 1 Internally Set Speed No. 2 Internally Set Speed No. 3 Internally Set Speed No. 4 Internally Set Speed No. 5 Internally Set Speed No. 6 Internally Set Speed No. 7 Internally Set Speed No. 8 Internally Set Speed Speed Command Filter Time Constant Soft Start Acceleration Time Soft Start Deceleration Time S-curve Acceleration/ Deceleration Time Setting Torque Command/Speed Limit Selection Torque Command Scale Torque Output Direction Switch No. 1 Torque Limit No. 2 Torque Limit Set to adjust the offset of the Speed Command Input (REF). Set the No. 1 internally set rotation speed. Set the No. 2 internally set rotation speed. Set the No. 3 internally set rotation speed. Set the No. 4 internally set rotation speed. For torque control (when Pn5B = 0), set the speed limit. Set the No. 5 internally set rotation speed. Set the No. 6 internally set rotation speed. Set the No. 7 internally set rotation speed. Set the No. 8 internally set rotation speed. Set the primary lag filter time constant in the Speed Command Input (REF: CN1 pin 14). Set the acceleration time for the speed command. Set the deceleration time for the speed command. Set the pseudo-S-curve acceleration/ deceleration value to add to the speed command to enable smooth operation. Select the input for the torque command and speed limit. Set the relation between the voltage applied to the Torque Command Input (TREF) and the Servomotor torque. Set to reverse the polarity of the Torque Command Input (REF/TREF or PCL/TREF). Set the limit to the Servomotor's maximum torque. Set the limit to the Servomotor's maximum torque.
Stop Selection for Drive Prohibition Input
Stop Selection with Main Power OFF
Stop Selection for Alarm Generation
Stop Selection with Servo OFF
Brake Timing when Stopped
Brake Timing during Operation
Regeneration Resistor Selection Momentary Hold Time
Emergency Stop Torque
Deviation Counter Overflow Level Speed Command/Torque Command Input Overflow Level Setting Overload Detection Level Setting Overspeed Detection Level Setting
46
R88M-G/R88D-GT@
Dimensions
Servo Drives
Single-phase 100 VAC (50 to 100 W) R88D-GTA5L R88D-GT01L Single-phase 200 VAC (50 to 200 W) R88D-GT01H R88D-GT02H 40
(Unit: mm)
130 4
Mounting Hole Dimensions

Two, M4
AC SERVO DRIVE
UNIT No.
DATA
IM
SP
280.5 (42)
Single-phase 100 VAC (200 W) R88D-GT02L Single-phase 200 VAC (400 W) R88D-GT04H
55 130 4 Two, M4
AC SERVO DRIVE
UNIT No.
DATA
IM
SP
430.5 57
1400.5
150
(150)
1400.5
150
(150)
47
R88M-G/R88D-GT@
Single-phase 100 VAC (400 W) R88D-GT04L Single-phase/Three-phase 200 VAC (750 W) R88D-GT08H
65 170 4

Two, M4
AC SERVO DRIVE
UNIT No.
DATA
IM
SP
(150)
8.5
500.5 (67)
Single-phase/Three-phase 200 VAC (900 W to 1.5 kW) R88D-GT10H R88D-GT15H

85 170 4

Two, M4
AC SERVO DRIVE
UNIT No.
DATA
IM
SP
1400.5 8.5 700.5 (87) 1400.5 (150)
150 150
48
R88M-G/R88D-GT@
Three-phase 200 VAC (2 kW) R88D-GT20H
85 17.5 50 42.5 5.2 R2.6
5.2 dia.
200
3.5

5.2 R2.6 Four, M4
AC SERVO DRIVE
UNIT No.
DATA
IM
SP
168
R2.6 5.2
5.2 dia.
188
198
R2.6 5.2
18.5 3.5
500.5 (87)
42.5 17.5 50
Three-phase 200 VAC (2 to 5 kW) R88D-GT30H/-GT50H

15 65 5.2 5.2 dia. 130 100 5.2 R2.6 200 3.5

500.5 Six, M4
R2.6
AC SERVO DRIVE
UNIT No.
DATA
IM
SP
1880.5 16 1000.5 132 2400.5
R2.6
5.2 dia.
R2.6 5.2 100 3.5
5.2 65 15
(220)
220
240
250
(168)
49
R88M-G/R88D-GT@
Three-phase 200 VAC (7.5 kW) R88D-GT75H Front Panel Mounting (Using Mounting Brackets)
248 37.5 82.5 5.2 90 90 5.2 90 5.2 45.1 (2.3) 339.3 (4)
Six, M4
(4)
Square hole
5.2
5.2
5.2 Four, 5.2 dia.
38.5
900.5 250
900.5
85
2400.5
220 235 250
229
50
R88M-G/R88D-GT@
Servomotors
3,000-r/min Cylindrical Servomotors 50W/100W
INC
R88M-G05030H (-S2) R88M-G10030L (-S2) R88M-G10030H (-S2) R88M-05030H-B (S2) R88M-G10030L-B (S2) R88M-G10030H-B (S2)
Model R88M-G05030@ R88M-G10030@ R88M-G05030@-B R88M-G10030@-B LL 72 92 102 122 LN 26.5 46.5
ABS
R88M-G05030T (-S2) R88M-G10030S (-S2) R88M-G10030T (-S2) R88M-G05030T-B (S2) R88M-G10030S-B (S2) R88M-G10030T-B (S2)
Encoder connector Brake connector Servomotor connector 25 6 3
LL
230
26.5 46.5
(Dimensions of shaft end with key and tap)

8 dia., height: 6 200
Two, 4.3 dia.
40 40
ia.
14 12.5
3h9 3 1.8
30 dia., height: 7
LN
32
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding S2 to the end of the model
46 d
M3 (depth: 6)
200W/400W/750W
INC
R88M-G20030L (-S2) R88M-G40030L (-S2) R88M-G20030H (-S2) R88M-G40030H (-S2) R88M-G75030H (-S2) R88M-G20030L-B (S2) R88M-G40030L-B (S2) R88M-G20030H-B (S2) R88M-G40030H-B (S2) R88M-G75030H-B (S2)
Model R88M-G20030@ R88M-G40030@ R88M-G75030@ R88M-G20030@-B R88M-G40030@-B R88M-G75030@-B LL 79.5 99 112.2 116 135.5 149.2 LR 30 35 30 35
ABS
R88M-G20030S (-S2) R88M-G40030S (-S2) R88M-G20030T (-S2) R88M-G40030T (-S2) R88M-G75030T (-S2) R88M-G20030S-B (S2) R88M-G40030S-B (S2) R88M-G20030T-B (S2) R88M-G40030T-B (S2) R88M-G75030T-B (S2)
S 11 14 19 11 14 19 D1 70 90 70 90 D2 50 70 50 70 C 60 80 60 80 G 6.5 8 6.5 8 Z 4.5 6 4.5 6 KL1 43 53 43 53 QK 18 22.5 22 18 22.5 22 b 4h9 5h9 6h9 4h9 5h9 6h9 h 4 5 6 4 5 6 M M4 M5 M4 M5 t1 2.5 3 3.5 2.5 3 3.5 L 8 10 8 10
Brake connector Servomotor connector Encoder connector LL 6.5 30 3
220

200 S dia., height : 6 Four, Z dia.
CC
QK b t1
D1 dia.
50 dia., height : 7
13
M4 (effective depth: L)
51
R88M-G/R88D-GT@
1kW/1.5kW/2kW
ABS
R88M-G1K030T (-S2) R88M-G1K530T (-S2) R88M-G2K030T (-S2) R88M-G1K030T-B (S2) R88M-G1K530T-B (S2) R88M-G2K030T-B (S2)
Servomotor canon plug Encoder canon plug
84 LL G 55 3
19 dia., h: 6
CC

Four, Z dia.
KL1
45 42 6
6h9 3.5
D2 dia., height: 7
D3
dia
D1
dia
M5 (depth: 12)
Model R88M-G1K030T R88M-G1K530T R88M-G2K030T R88M-G1K030T-B R88M-G1K530T-B R88M-G2K030T-B
LL 175 180 205 200 205 230
D1 100 115 100 115
D2 80 95 80 95
C 90 100 90 100
D3 120 135 120 135
G 7 10 7 10
KL1 98 103 98 103
Z 6.6 9 6.6 9
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding S2 to the end of the model number.
3kW
ABS
R88M-G3K030T (-S2) R88M-G3K030T-B (S2)
Servomotor/brake connector Encoder connector

84
LL 12
55 3
22 dia., h: 6
120 120 Four, 9 dia. 111

110 dia. height: 7
(Dimensions of the shaft end with key and tap)

45 41 7 8h9 4
Model R88M-G3K030T R88M-G3K030T-B
LL 217 242
165
dia
130/145 dia. (oval)
M5 (depth: 12)
4kW/5kW
ABS
R88M-G4K030T (-S2) R88M-G5K030T (-S2) R88M-G4K030T-B (S2) R88M-G5K030T-B (S2)
Model R88M-G4K030T R88M-G5K030T R88M-G4K030T-B R88M-G5K030T-B LL 240 280 265 305

84
LL 12
65 6
24 dia., h: 6
130 130 Four, 9 dia. 118

110 dia., height: 7

55 51 7 8h9 4
dia. 165
145 dia. (oval)
M8 (depth: 20)
52
R88M-G/R88D-GT@
3,000-r/min Flat Servomotors 100W/200W/400W
INC
R88M-GP10030L (-S2) R88M-GP20030L (-S2) R88M-GP40030L (-S2) R88M-GP10030H (-S2) R88M-GP20030H (-S2) R88M-GP40030H (-S2) R88M-GP10030L-B (S2) R88M-GP20030L-B (S2) R88M-GP40030L-B (S2) R88M-GP10030H-B (S2) R88M-GP20030H-B (S2) R88M-GP40030H-B (S2)
ABS
R88M-GP10030S (-S2) R88M-GP20030S (-S2) R88M-GP40030S (-S2) R88M-GP10030T (-S2) R88M-GP20030T (-S2) R88M-GP40030T (-S2) R88M-GP10030S-B (S2) R88M-GP20030S-B (S2) R88M-GP40030S-B (S2) R88M-GP10030T-B (S2) R88M-GP20030T-B (S2) R88M-GP40030T-B (S2)
Model R88M-GP10030L R88M-GP10030H R88M-GP10030S R88M-GP10030T R88M-GP20030L R88M-GP20030H R88M-GP20030S R88M-GP20030T R88M-GP40030L R88M-GP40030H R88M-GP40030S R88M-GP40030T R88M-GP10030L-B R88M-GP10030H-B R88M-GP10030S-B R88M-GP10030T-B R88M-GP20030L-B R88M-GP20030H-B R88M-GP20030S-B R88M-GP20030T-B R88M-GP40030L-B R88M-GP40030H-B R88M-GP40030S-B R88M-GP40030T-B
LL 60.5
LR
D1
D2
KL1
QK
t1
25 87.5 67.5
70
50
60
43
4.5
12.5
3h9
1.8
M3
11 94.5 30 82.5 14 109.5 84.5 25 111.5 100 11 127 30 115 14 142 90 70 80 5 8 53 5.5 8 70 50 60 3 7 43 4.5 90 70 80 5 8 53 5.5
18
4h9
2.5
M4
22.5
5h9
3.0
M5
10
12.5
3h9
1.8
M3
18
4h9
2.5
M4
22.5
5h9
3.0
M5
10
Encoder connector
LL
Motor connector
LR
Brake connector
220
(7)
(7) 200
G F Four, Z dia.
CC

QK b h t1
D2 dia., height: 7
S dia., h: 6
KL1
D1
dia
M (depth: L)
53
R88M-G/R88D-GT@
2,000-r/min Cylindrical Servomotors AC200V: 1kW/1.5kW
ABS
Model R88M-G1K020T R88M-G1K520T R88M-G1K020T-B R88M-G1K520T-B

84
LL 12
55 6
22 dia., h: 6 110 dia., height: 7
130 130
Four, 9 dia.

45 41 7 8h9 4
LL 150 175 200
118
165
dia.
145
dia
M5 (depth: 12)
AC200V: 2kW/3kW
ABS

84
LL 12
LR 6 118
S dia., h: 6 110 dia., height: 7
130 130 Four, 9dia.

LW QK 7 8h9 4
165
dia.
145
dia .
M (depth: L)
LL 200 250 225 275
LR 55 65 55 65
S 22 24 22 24
LW 45 55 45 55
QK 41 51 41 51
M M5 M8 M5 M8
L 12 20 12 20
AC200V :4kW/5kW
ABS

84
LL 18
LR 3.2
S dia.,h: 6 D2 dia., height: 7
CC Four, Z dia. KL1

QK h b t1
D3
dia.
D1
dia
M (depth: L)
LL 242 225 267 250
LR 65 70 65 70
S 28 35 28 35
D1 165 200 165 200
D2 130 114.3 130 114.3
C 150 176 150 176
D3 190 233 190 233
KL1 128 143 128 143
Z 11 13.5 11 13.5
QK 51 50 51 50
b 8h9 10h9 8h9 10h9
h 7 8 7 8
t1 4 5 4 5
M M8 M12 M8 M12
L 20 25 20 25
54
R88M-G/R88D-GT@
1,500-r/min Cylindrical Servomotors 7.5kW
ABS
R88M-G7K515T (-S2) R88M-G7K515T-B (S2)
Motor connector
LL
Brake connector Eye-bolt Nominal diameter: 10

42 dia., h: 6 114.3 dia., height: 7

96 90
Four, 13.5 dia.
113
176 176
183
Encoder connector
84
24 3.2
12h9 8
LL 340.5 380.5
233
dia
200
dia
M16 (depth: 32)
1,000-r/min Cylindrical Servomotors 900W/2kW
ABS
R88M-G90010T (-S2) R88M-G2K010T (-S2) R88M-G90010T-B (S2) R88M-G2K010T-B (S2)
Encoder connector Servomotor/brake connector

LL LR CC
S dia., height: 6

Four, Z dia.
G F 84
QK
b h t1
D2 dia., height: 7
KL1
D3
dia
D1
dia
M (depth: L)
Model R88M-G90010T R88M-G2K010T R88M-G90010T-B R88M-G2K010T-B
LL 175 182 200 207
LR 70 80 70 80
S 22 35 22 35
D1 145 200 145 200
D2 110 114.3 110 114.3
C 130 176 130 176
D3 165 233 165 233
F 6 3.2 6 3.2
G 12 18 12 18
KL1 118 143 118 143
Z 9 13.5 9 13.5
QK 41 50 41 50
b 8h9 10h9 8h9 10h9
h 7 8 7 8
t1 4 5 4 5
M M5 M12 M5 M12
L 12 25 12 25
3kW
ABS
R88M-G3K010T (-S2) R88M-G3K010T-B (S2)

84
LL
80 176 176 18 3.2 143

35 dia.

QK
Four, 13.5 dia.
114.3 dia. height: 7
b 8 5
LL 222 271
QK 50 50
b 10h9 10h9
233
dia
200
dia
M12 (depth: 25)
55
R88M-G/R88D-GT@
4.5kW
ABS
R88M-G4K510T (-S2) R88M-G4K510T-B (S2)

84
LL Eye-bolt
Nominal diameter: 10
113 24 3.2
42 dia.

176 176 Four, 13.5 dia. 143
114.3 dia., height: 7
QK b 8 5
233
dia
200
dia
LL 300.5 337.5
QK 90 90
b 12h9 12h9
M12 (depth: 25)
6kW
ABS
R88M-G6K010T (-S2) R88M-G6K010T-B (S2)
Motor connector
Brake connector Eye-bolt Nominal diameter: 10

176 176

96 90 12h9
42 dia. h:6
Encoder connector
Four, 13.5 dia.
114.3 dia., height: 7
LL 340.5 380.5
200
dia
233
. dia
M16 (depth: 32)
56
R88M-G/R88D-GT@
Decelerators
Decelerators for Cylindrical Servomotors Backlash: 3 Arcminutes Max.
Dimensions (mm) Model LM 1/5 1/9 50 W 1/21 1/33 1/45 1/5 1/11 100 W 1/21 1/33 1/45 1/5 1/11 200 W 1/21 1/33 1/45 1/5 1/11 400 W 1/21 1/33 1/45 1/5 1/11 750 W 1/21 1/33 1/45 R88G-HPG11A05100B R88G-HPG11A09050B R88G-HPG14A21100B R88G-HPG14A33050B R88G-HPG14A45050B R88G-HPG11A05100B R88G-HPG14A11100B R88G-HPG14A21100B R88G-HPG20A33100B R88G-HPG20A45100B R88G-HPG14A05200B R88G-HPG14A11200B R88G-HPG20A21200B R88G-HPG20A33200B R88G-HPG20A45200B R88G-HPG14A05400B R88G-HPG20A11400B R88G-HPG20A21400B R88G-HPG32A33400B R88G-HPG32A45400B R88G-HPG20A05750B R88G-HPG20A11750B R88G-HPG32A21750B R88G-HPG32A33750B R88G-HPG32A45750B 39.5 39.5 64.0 64.0 64.0 39.5 64.0 64.0 66.5 66.5 64.0 64.0 71.0 71.0 71.0 64.0 71.0 71.0 104.0 104.0 78.0 78.0 104.0 104.0 104.0 LR 42 42 58 58 58 42 58 58 80 80 58 58 80 80 80 58 80 80 133 133 80 80 133 133 133 C1 40 40 60 60 60 40 60 60 90 90 60 60 90 90 90 60 90 90 120 120 90 90 120 120 120 C2 4040 4040 6060 6060 6060 4040 6060 6060 55 dia. 55 dia. 6060 6060 89 dia. 89 dia. 89 dia. 6060 89 dia. 89 dia. 122 dia. 122 dia. 8080 8080 122 dia. 122 dia. 122 dia. D1 46 46 70 70 70 46 70 70 105 105 70 70 105 105 105 70 105 105 135 135 105 105 135 135 135 D2 46 46 46 46 46 46 46 46 46 46 70 46 70 70 70 70 70 70 70 70 90 90 90 90 90 D3 40.0 40.0 56.0 56.0 56.0 40.0 56.0 56.0 85.0 85.0 56.0 56.0 85.0 85.0 85.0 56.0 85.0 85.0 115.0 115.0 85.0 85.0 115.0 115.0 115.0 D4 39.5 39.5 55.5 55.5 55.5 39.5 55.5 55.5 84.0 84.0 55.5 55.5 84.0 84.0 84.0 55.5 84.0 84.0 114.0 114.0 84.0 84.0 114.0 114.0 114.0 D5 29 29 40 40 40 29 40 40 59 59 40 40 59 59 59 40 59 59 84 84 59 59 84 84 84 E 27 27 37 37 37 27 37 37 53 53 37 37 53 53 53 37 53 53 98 98 53 53 98 98 98 F1 2.2 2.2 2.5 2.5 2.5 2.2 2.5 2.5 7.5 7.5 2.5 2.5 7.5 7.5 7.5 2.5 7.5 7.5 12.5 12.5 7.5 7.5 12.5 12.5 12.5 F2 15 15 21 21 21 15 21 21 27 27 21 21 27 27 27 21 27 27 35 35 27 27 35 35 35
Note: 1. The standard models have a straight shaft. Note: 2. A model with a key and tap is indicated by adding J to the end of the model number (the suffix shown in the box). (Example: R88G-HPG11A05100BJ)
C1
Set bolt (AT)
Four, Z2 dia.
D3 dia.,h: 7 D4 dia. D5 dia. S dia.,h: 7
D1 dia.
D2 dia.
T Four, Z1 dia.
F1 F2 LR G LM
C2
57
R88M-G/R88D-GT@
Dimensions (mm) G 5 5 8 8 8 5 8 8 10 10 8 8 10 10 10 8 10 10 13 13 10 10 13 13 13 S 8 8 16 16 16 8 16 16 25 25 16 16 25 25 25 16 25 25 40 40 25 25 40 40 40 T 20 20 28 28 28 20 28 28 42 42 28 28 42 42 42 28 42 42 82 82 42 42 82 82 82 Z1 3.4 3.4 5.5 5.5 5.5 3.4 5.5 5.5 9.0 9.0 5.5 5.5 9.0 9.0 9.0 5.5 9.0 9.0 11.0 11.0 9.0 9.0 11.0 11.0 11.0 Z2 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M5 M5 M5 M5 M5 AT*1 QK M3 M3 M3 M3 M3 M3 M3 M3 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M6 M6 M6 15 15 25 25 25 15 25 25 36 36 25 25 36 36 36 25 36 36 70 70 36 36 70 70 70 Key dimensions b 3 3 5 5 5 3 5 5 8 8 5 5 8 8 8 5 8 8 12 12 8 8 12 12 12 h 3 3 5 5 5 3 5 5 7 7 5 5 7 7 7 5 7 7 8 8 7 7 8 8 8 t1 1.8 1.8 3 3 3 1.8 3 3 4.0 4.0 3 3 4.0 4.0 4.0 3 4.0 4.0 5.0 5.0 4.0 4.0 5.0 5.0 5.0 Tap dimensions M M3 M3 M4 M4 M4 M3 M4 M4 M6 M6 M4 M4 M6 M6 M6 M4 M6 M6 M10 M10 M6 M6 M10 M10 M10 L 6 6 8 8 8 6 8 8 12 12 8 8 12 12 12 8 12 12 20 20 12 12 20 20 20 R88G-HPG11A05100B R88G-HPG11A09050B R88G-HPG14A21100B R88G-HPG14A33050B R88G-HPG14A45050B R88G-HPG11A05100B R88G-HPG14A11100B R88G-HPG14A21100B R88G-HPG20A33100B R88G-HPG20A45100B R88G-HPG14A05200B R88G-HPG14A11200B R88G-HPG20A21200B R88G-HPG20A33200B R88G-HPG20A45200B R88G-HPG14A05400B R88G-HPG20A11400B R88G-HPG20A21400B R88G-HPG32A33400B R88G-HPG32A45400B R88G-HPG20A05750B R88G-HPG20A11750B R88G-HPG32A21750B R88G-HPG32A33750B R88G-HPG32A45750B 1/5 1/9 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 750 W 400 W 200 W 100 W 50 W Model
*1. *1This is the set bolt.
Key and Tap Dimensions

QK h
b t1 M (depth: L)
58
R88M-G/R88D-GT@
Decelerators for Flat Servomotors Backlash: 3 Arcminutes Max.
Dimensions (mm) Model LM 1/5 1/11 100 W 1/21 1/33 1/45 1/5 1/11 200 W 1/21 1/33 1/45 1/5 1/11 400 W 1/21 1/33 1/45 R88G-HPG11A05100PB R88G-HPG14A11100PB R88G-HPG14A21100PB R88G-HPG20A33100PB R88G-HPG20A45100PB R88G-HPG14A05200PB R88G-HPG20A11200PB R88G-HPG20A21200PB R88G-HPG20A33200PB R88G-HPG20A45200PB R88G-HPG20A05400PB R88G-HPG20A11400PB R88G-HPG20A21400PB R88G-HPG32A33400PB R88G-HPG32A45400PB 39.5 64.0 64.0 71.0 71.0 65.0 78.0 78.0 78.0 78.0 78.0 78.0 78.0 104.0 104.0 LR 42 58 58 80 80 58 80 80 80 80 80 80 80 133 133 C1 40 60 60 90 90 60 90 90 90 90 90 90 90 120 120 C2 6060 6060 6060 89 dia. 89 dia. 8080 8080 8080 8080 8080 8080 8080 8080 122 dia. 122 dia. D1 46 70 70 105 105 70 105 105 105 105 105 105 105 135 135 D2 70 70 70 70 70 90 90 90 90 90 90 90 90 90 90 D3 40.0 56.0 56.0 85.0 85.0 56.0 85.0 85.0 85.0 85.0 85.0 85.0 85.0 115.0 115.0 D4 39.5 55.5 55.5 84.0 84.0 55.5 84.0 84.0 84.0 84.0 84.0 84.0 84.0 114.0 114.0 D5 29 40 40 59 59 40 59 59 59 59 59 59 59 84 84 E 27 37 37 53 53 37 53 53 53 53 53 53 53 98 98 F1 2.2 2.5 2.5 7.5 7.5 2.5 7.5 7.5 7.5 7.5 7.5 7.5 7.5 12.5 12.5 F2 15 21 21 27 27 21 27 27 27 27 27 27 27 35 35
Note: 1. The standard models have a straight shaft. Note: 2. A model with a key and tap is indicated by adding J to the end of the model number (the suffix shown in the box). (Example: R88G-HPG11A05100PBJ)
C1
Set bolt (AT)
Four, Z2 dia.
D3 dia. D4 dia. D5 dia. S dia.,h: 7
D1 dia.
D2 dia.
T Four, Z1 dia.
F1 F2 LR G LM
C2
59
R88M-G/R88D-GT@
Dimensions (mm) G 5 8 8 10 10 8 10 10 10 10 10 10 10 13 13 S 8 16 16 25 25 16 25 25 25 25 25 25 25 40 40 T 20 28 28 42 42 28 42 42 42 42 42 42 42 82 82 Z1 3.4 5.5 5.5 9.0 9.0 5.5 9.0 9.0 9.0 9.0 9.0 9.0 9.0 11.0 11.0 Z2 M4 M4 M4 M4 M4 M5 M5 M5 M5 M5 M5 M5 M5 M5 M5 AT*1 QK M3 M3 M3 M3 M3 M4 M4 M4 M4 M4 M4 M4 M4 M6 M6 15 25 25 36 36 25 36 36 36 36 36 36 36 70 70 Key dimensions b 3 5 5 8 8 5 8 8 8 8 8 8 8 12 12 h 3 5 5 7 7 5 7 7 7 7 7 7 7 8 8 t1 1.8 3.0 3.0 4.0 4.0 3.0 4.0 4.0 4.0 4.0 4.0 4.0 4.0 5.0 5.0 Tap dimensions M M3 M4 M4 M6 M6 M4 M6 M6 M6 M6 M6 M6 M6 M10 M10 L 6 8 8 12 12 8 12 12 12 12 12 12 12 20 20 R88G-HPG11A05100PB R88G-HPG14A11100PB R88G-HPG14A21100PB R88G-HPG20A33100PB R88G-HPG20A45100PB R88G-HPG14A05200PB R88G-HPG20A11200PB R88G-HPG20A21200PB R88G-HPG20A33200PB R88G-HPG20A45200PB R88G-HPG20A05400PB R88G-HPG20A11400PB R88G-HPG20A21400PB R88G-HPG32A33400PB R88G-HPG32A45400PB 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 1/5 1/11 1/21 1/33 1/45 400 W 200 W 100 W Model
*1. *1This is the set bolt.
Key and Tap Dimensions

QK h
b t1 M (depth: L)
60
R88M-G/R88D-GT@
Decelerators for Cylindrical Servomotors Backlash: 15 Arcminutes Max.
Dimensions (mm) Model LM 1/5 1/9 50 W 1/15 1/25 1/5 1/9 100 W 1/15 1/25 1/5 1/9 200 W 1/15 1/25 1/5 1/9 400 W 1/15 1/25 1/5 1/9 750 W 1/15 1/25 R88G-VRSF15D750CJ R88G-VRSF25D750CJ 110.0 110.0 61 61 98 98 80 80 90 90 115 115 90 90 75 75 18 18 5 5 10 10 R88G-VRSF15C400CJ R88G-VRSF25C400CJ R88G-VRSF05C750CJ R88G-VRSF09D750CJ 100.0 100.0 93.5 97.5 50 50 50 61 78 78 78 98 60 60 80 80 70 70 90 90 90 90 90 115 70 70 70 90 62 62 62 75 17 17 17 18 3 3 3 5 8 8 10 10 R88G-VRSF15C200CJ R88G-VRSF25C200CJ R88G-VRSF05C400CJ R88G-VRSF09C400CJ 100.0 100.0 89.5 89.5 50 50 50 50 78 78 78 78 60 60 60 60 70 70 70 70 90 90 90 90 70 70 70 70 62 62 62 62 17 17 17 17 3 3 3 3 8 8 8 8 R88G-VRSF15B100CJ R88G-VRSF25B100CJ R88G-VRSF05B200CJ R88G-VRSF09C200CJ 78.0 78.0 72.5 89.5 32 32 32 50 52 52 52 78 40 40 60 60 46 46 70 70 60 60 60 90 50 50 50 70 45 45 45 62 10 10 10 17 3 3 3 3 6 6 10 8 R88G-VRSF15B100CJ R88G-VRSF25B050CJ R88G-VRSF05B100CJ R88G-VRSF09B100CJ 78.0 78.0 67.5 67.5 32 32 32 32 52 52 52 52 40 40 40 40 46 46 46 46 60 60 60 60 50 50 50 50 45 45 45 45 10 10 10 10 3 3 3 3 6 6 6 6 R88G-VRSF05B100CJ R88G-VRSF09B100CJ 67.5 67.5 LR 32 32 C1 52 52 C2 40 40 D1 46 46 D2 60 60 D3 50 50 D4 45 45 E3 10 10 F 3 3 G 6 6
Note: The standard models have a straight shaft with a key.

E3 F Four, Z2 (effective depth: L) Four, Z1 D3 dia., height: 7
D2 d D2 d ia.
S dia., h: 6
C2 C2
D4 dia.
ia.
G LM LR
C1 C1
61
R88M-G/R88D-GT@
Dimensions (mm) Key dimensions S 12 12 12 12 12 12 12 12 12 19 19 19 19 19 19 19 19 24 24 24 T 20 20 20 20 20 20 20 20 20 30 30 30 30 30 30 30 30 40 40 40 Z1 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M5 M5 M5 M5 Z2 M5 M5 M5 M5 M5 M5 M5 M5 M5 M6 M6 M6 M6 M6 M6 M6 M6 M8 M8 M8 AT M3 M3 M3 M3 M3 M3 M3 M3 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 M4 L QK 12 12 12 12 12 12 12 12 12 20 20 20 20 20 20 20 20 20 20 20 16 16 16 16 16 16 16 16 16 22 22 22 22 22 22 22 22 30 30 30 b 4 4 4 4 4 4 4 4 4 6 6 6 6 6 6 6 6 8 8 8 h 4 4 4 4 4 4 4 4 4 6 6 6 6 6 6 6 6 7 7 7 t1 2.5 2.5 2.5 2.5 2.5 2.5 2.5 2.5 2.5 3.5 3.5 3.5 3.5 3.5 3.5 3.5 3.5 4 4 4 R88G-VRSF05B100CJ R88G-VRSF09B100CJ R88G-VRSF15B100CJ R88G-VRSF25B050CJ R88G-VRSF05B100CJ R88G-VRSF09B100CJ R88G-VRSF15B100CJ R88G-VRSF25B100CJ R88G-VRSF05B200CJ R88G-VRSF09C200CJ R88G-VRSF15C200CJ R88G-VRSF25C200CJ R88G-VRSF05C400CJ R88G-VRSF09C400CJ R88G-VRSF15C400CJ R88G-VRSF25C400CJ R88G-VRSF05C750CJ R88G-VRSF09D750CJ R88G-VRSF15D750CJ R88G-VRSF25D750CJ 1/5 1/9 50 W 1/15 1/25 1/5 1/9 100 W 1/15 1/25 1/5 1/9 200 W 1/15 1/25 1/5 1/9 400 W 1/15 1/25 1/5 1/9 750 W 1/15 1/25 Model
Set bolt (AT)
Key Dimensions
QK
t1 h
62
R88M-G/R88D-GT@
Decelerators for Flat Servomotors Backlash: 15 Arcminutes Max.
Dimensions (mm) Model LM 1/5 1/9 100 W 1/15 1/25 1/5 1/9 200 W 1/15 1/25 1/5 1/9 400 W 1/15 1/25 R88G-VRSF15C400PCJ R88G-VRSF25C400PCJ 100.0 100.0 50 50 78 78 80 80 90 90 90 90 70 70 62 62 17 17 3 3 12 12 R88G-VRSF15C200PCJ R88G-VRSF25C200PCJ R88G-VRSF05C400PCJ R88G-VRSF09C400PCJ 100.0 100.0 89.5 89.5 50 50 50 50 78 78 78 78 80 80 80 80 90 90 90 90 90 90 90 90 70 70 70 70 62 62 62 62 17 17 17 17 3 3 3 3 12 12 12 12 R88G-VRSF15B100PCJ R88G-VRSF25B100PCJ R88G-VRSF05B200PCJ R88G-VRSF09C200PCJ 78.0 78.0 72.5 89.5 32 32 32 50 52 52 52 78 60 60 80 80 70 70 90 90 60 60 60 90 50 50 50 70 45 45 45 62 10 10 10 17 3 3 3 3 8 8 12 12 R88G-VRSF05B100PCJ R88G-VRSF09B100PCJ 67.5 67.5 LR 32 32 C1 52 52 C2 60 60 D1 70 70 D2 60 60 D3 50 50 D4 45 45 E3 10 10 F 3 3 G 8 8
Note: The standard models have a straight shaft with a key.
E3 Four, Z1 F Four, Z2 (effective depth: L) D3 dia., height: 7
D1 d
ia.
D2 d
ia.
D4 dia.
S dia., h: 6
C1 C1 C2 C2 G LM LR T
63
R88M-G/R88D-GT@
Dimensions (mm) Key dimensions S 12 12 12 12 12 19 19 19 19 19 19 19 T 20 20 20 20 20 30 30 30 30 30 30 30 Z1 M4 M4 M4 M4 M5 M5 M5 M5 M5 M5 M5 M5 Z2 M5 M5 M5 M5 M5 M6 M6 M6 M6 M6 M6 M6 AT M3 M3 M3 M3 M4 M4 M4 M4 M4 M4 M4 M4 L QK 12 12 12 12 12 20 20 20 20 20 20 20 16 16 16 16 16 22 22 22 22 22 22 22 b 4 4 4 4 4 6 6 6 6 6 6 6 h 4 4 4 4 4 6 6 6 6 6 6 6 t1 2.5 2.5 2.5 2.5 2.5 3.5 3.5 3.5 3.5 3.5 3.5 3.5 R88G-VRSF05B100PCJ R88G-VRSF09B100PCJ R88G-VRSF15B100PCJ R88G-VRSF25B100PCJ R88G-VRSF05B200PCJ R88G-VRSF09C200PCJ R88G-VRSF15C200PCJ R88G-VRSF25C200PCJ R88G-VRSF05C400PCJ R88G-VRSF09C400PCJ R88G-VRSF15C400PCJ R88G-VRSF25C400PCJ 1/5 1/9 100 W 1/15 1/25 1/5 1/9 200 W 1/15 1/25 1/5 1/9 400 W 1/15 1/25 Model
Set bolt (AT)
Key Dimensions
QK
t1 h
64
R88M-G/R88D-GT@
Parameter Unit
R88A-PR02G
(62) (24) M3 (depth: 5) (15) (15) (1500) Mini DIN 8-pin MD connector
External Regeneration Resistor

R88A-RR22047S
1.5 dia. (0.3mm2) 3 dia. (0.75mm2) Thermal switch output
(114)
4.2 48
6 t1.2 20 500 200 220 230
R88A-RR08050S/-RR080100S
1.5 dia. (0.3mm2) 3 dia. (0.75mm2) Thermal switch output
4.2
6 t1.2 20 500 104 122 130
43.5
28
62
65
R88M-G/R88D-GT@
Reactor
3G3AX-DL2002 3G3AX-DL2004
Model 3G3AX-DL2002 3G3AX-DL2004
72 90
3G3AX-AL2025 3G3AX-AL2055
L 85 95
Ground terminal (M5) Six, M4 terminal screws Terminal block
Model 3G3AX-AL2025 3G3AX-AL2055

60 40
A 130 140
C 82 98
Y 67 75
Two, M4
Ro R So S To T
Ground terminal (M4)
150
56 66
4-5.2 8
L 92 Ro R So S To
Connection Diagram 98 501 A

Four, 6 dia.
Y1 C 9.5
(Notch)
3G3AX-DL2007 3G3AX-DL2015
Model 3G3AX-DL2007 3G3AX-DL2015

72 90
L 105
3G3AX-AL2110 3G3AX-AL2220
A
Terminal holes: Six, K dia.
115
Ro R So S To T
55
Two, M4 Ground terminal (M4) 56 66 4-5.2 8 L H1 Ro R So S To T Connection Diagram
X1
Four, 6 dia.
Y1 C Ground terminal (M6)
W W=Terminal width
98
(Notch)
Model 3G3AX-AL2110 3G3AX-AL2220
A 160 180
C 103 113
D 70 75
H 170 190
H1 106 136
X 60 90
Y 80 90
K 5.3 8.4
W 12 16.5
3G3AX-DL2022
80 100 Ground terminal (M4) 71 86 Two, M4 4-6 9 105 116
66

G Servo Datasheet

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G Servo Datasheet

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