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R88M-1A[] / R88D-1SAN[]-ECT

AC Servo System 1S-series with Safety Functionality

R88M-1A[] / R88D-1SAN[]-ECT

Safer environment and higher productivity

相關資訊

更新日期 2023年10月2日

AC Servo Drives with Built-in EtherCAT Communications [1S-series with Safety Functionality]

Specifications

General Specifications

Item Specifications
Operating ambient temperature and humidity 0 to 55°C, 90% max. (with no condensation)
Storage ambient temperature and humidity -20 to 65°C, 90% max. (with no condensation)
Operating and storage atmosphere No corrosive gases
Operating altitude 1,000 m max.
Vibration resistance 10 to 60 Hz and at an acceleration of 5.88 m/s2 or less (Not to
be run continuously at the resonance frequency)
Insulation resistance Between power supply terminals/power terminals and PE
terminals: 0.5 MΩ min. (at 500 VDC)
Dielectric strength Between power supply terminals/power terminals and PE
terminals: 1,500 VAC for 1 min (at 50/60 Hz)
Protective structure IP20 (Built into IP54 panel)
International
standard		 EU Directives
and
UK legislation		 EMC EN 61800-3 second environment, C3 category
(EN 61000-6-7; Functional Safety)
Low Voltage EN61800-5-1
Machinery EN ISO 13849-1, EN61508, EN62061, EN61800-5-2
UL standards UL 61800-5-1
CSA standards CSA C22.2 No. 274
Korean Radio Regulations (KC) Compliant
Australian EMC Labeling
Requirements (RCM)		 Compliant
SEMI standards Can conform to the standard for momentary power interruptions
(for no-load operation).
Ship standards (NK/LR) Not compliant

Note: 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
         2. Disconnect all connections to the Servo Drive before attempting a megger test (insulation resistance measurement)
             on a Servo Drive.
             Not doing so may result in the Servo Drive failure.
             Do not perform a dielectric strength test on the Servo Drive. Internal elements may be damaged.

The detail of Machinery Directive is as follows:
The STO function via safety input signals: EN ISO13849-1 (Cat3 PLe), EN61508, EN62061, EN61800-5-2 (SIL3)
The safety function via EtherCAT communications: EN ISO 13849-1 (STO/SS1/SBC: Cat.3 PLe, SS2/SLS/SDI/SOS/SLP: Cat.3 PLe), EN61508, EN62061, EN61800-5-2

Characteristics

200-VAC Input Models

Servo Drive model (R88D-) 1SAN02H-ECT 1SAN04H-ECT 1SAN08H-ECT
Item 200 W 400 W 750 W
Input Main circuit Power supply voltage Single-phase and 3-phase 200 to 240 VAC (170 to 252 V) *1
Frequency 50/60 Hz (47.5 to 63 Hz) *1
Control circuit Power supply voltage 24 VDC (21.6 to 26.4 V)
Current consumption *2 700 mA
Rated current [A
(rms)] (Main circuit
power supply
voltage: 240 VAC)		 Singlephase 2.7 4.6 7.3
3-phase 1.5 2.7 4.0
Output Rated current [A (rms)] 1.5 2.5 4.6
Maximum current [A (rms)] 5.6 9.1 16.9
Heating value [W] Main circuit 17.0 25.0 42.0
Control circuit 11.9 11.9 14.5
Applicable Servomotor rated output [W] 200 400 750
3,000-r/min Servomotor
(R88M-)		 Batteryless 20-bit ABS 1AM20030T 1AM40030T 1AM75030T
Hold time at momentary power interruption
(Main circuit power supply voltage: 200 VAC)		 10 ms (Load condition: rated output) *4
SCCR [A (rms)] 5000
Weight [kg] 2.6 2.6 2.6

Servo Drive model (R88D-) 1SAN10H-ECT 1SAN15H-ECT 1SAN20H-ECT 1SAN30H-ECT
Item 1 kW 1.5 kW 2 kW 3 kW
Input Main circuit Power supply
voltage		 3-phase
200 to 240 VAC
(170 to 252 V) *1		 Single-phase
and 3-phase
200 to 240 VAC
(170 to 252 V) *1		 3-phase 200 to 240 VAC
(170 to 252 V)
*1
Frequency 50/60 Hz (47.5 to 63 Hz) *1
Control circuit Power supply
voltage		 24 VDC (21.6 to 26.4 V)
Current
consumption *2		 700 mA 1000 mA
Rated current [A
(rms)] (Main circuit
power supply
voltage: 240 VAC)		 Singlephase --- 15.7 --- ---
3-phase 5.8 9.0 13.0 15.9
Output Rated current [A (rms)] 7.7 9.7 16.2 22.3
Maximum current [A (rms)] 16.9 28.4 41.0 54.7
Heating value [W] Main circuit *3 49.0 88.0 140.0 150.0
Control circuit 14.5 22.4 22.4 22.4
Applicable Servomotor rated output [W] 1,000 1,500 2,000 3,000
3,000-r/min Servomotor
(R88M-)		 Batteryless
20-bit ABS		 1AL1K030T 1AL1K530T 1AL2K030T 1AL2K630T
1,500-r/min Servomotor
(R88M-)		 Batteryless
20-bit ABS		 --- 1AM1K515T --- 1AM2K715T
Hold time at momentary power interruption
(Main circuit power supply voltage: 200 VAC)		 10 ms (Load condition: rated output) *4
SCCR [A (rms)] 5000
Weight [kg] 2.6 4.2 4.2 4.2

*1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range of
      acceptable variation.
*2. Select a DC power supply in consideration of the current values that are specified in the current consumption. The rated
      current value that is printed on the product nameplate is a condition to apply the 1S-series product for the UL/Low
       Voltage Directive.
      Therefore, you do not need to consider it when you select a DC power supply for each model.
*3. This is the maximum heating value in applicable Servomotors.
      Refer to Relationship between Servo Drive, Servomotors and the Main Circuit Heating Value on below for the heating
      value of each applicable Servomotor.
*4. It is a hold time at momentary power interruption. Use a DC power supply to fulfill the following conditions so that the
      power supply of the control circuit is held during momentary power interruption.
      Reinforced insulation or double insulation, and the output hold time of 10 ms or more

400-VAC Input Models

Use a neutral grounded 400 VAC 3-phase power supply for the 400 VAC input models.

Servo Drive model (R88D-) 1SAN10F-ECT 1SAN15F-ECT 1SAN20F-ECT 1SAN30F-ECT
Item 1 kW 1.5 kW 2 kW 3 kW
Input Main circuit Power supply
voltage		 3-phase 380 to 480 VAC (323 to 504 V) *1
Frequency 50/60 Hz (47.5 to 63 Hz) *1
Control circuit Power supply
voltage		 24 VDC (21.6 to 26.4 V)
Current
consumption *2		 1000 mA
Rated current [A
(rms)] (Main circuit
power supply
voltage: 480 VAC)		 3-phase 3.1 4.3 6.5 8.4
Output Rated current [A (rms)] 4.1 4.7 7.8 11.3
Maximum current [A (rms)] 9.6 14.1 19.8 28.3
Heating value [W] Main circuit *3 56.0 81.0 120.0 150.0
Control circuit 22.4 22.4 22.4 22.4
Applicable Servomotor rated output [W] 1,000 1,500 2,000 3,000
3,000-r/min Servomotor
(R88M-)		 Batteryless
20-bit ABS		 1AL75030C
1AL1K030C		 1AL1K530C 1AL2K030C 1AL3K030C
1,500-r/min Servomotor
(R88M-)		 Batteryless
20-bit ABS		 --- 1AM1K515C --- 1AM3K015C
Hold time at momentary power interruption
(Main circuit power supply voltage: 400 VAC)		 10 ms (Load condition: rated output) *4
SCCR [A (rms)] 5000
Weight [kg] 4.2 4.2 4.2 4.2

*1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range of
      acceptable variation.
*2. Select a DC power supply in consideration of the current values that are specified in the current consumption.
      The rated current value that is printed on the product nameplate is a condition to apply the 1S-series Servo Drive
      Advance type product for the UL/Low Voltage Directive.
      Therefore, you do not need to consider it when you select a DC power supply for each model.
*3. This is the maximum heating value in applicable Servomotors.
      Refer to Relationship between Servo Drive, Servomotors and the Main Circuit Heating Value on below for the heating
      value of each applicable Servomotor.
*4. It is a hold time at momentary power interruption. Use a DC power supply to fulfill the following conditions so that the
      power supply of the control circuit is held during momentary power interruption.
      Reinforced insulation or double insulation, and the output hold time of 10 ms or more

Relationship between Servo Drive, Servomotors and the Main Circuit Heating Value

Servo Drive model Servomotor model Main circuit heating value [W]
R88D-1SAN15H-ECT R88M-1AL1K530T-[] 88
R88M-1AM1K515T-[] 69
R88D-1SAN30H-ECT R88M-1AL2K630T-[] 150
R88M-1AM2K715T-[] 150
R88D-1SAN10F-ECT R88M-1AL75030C-[] 55
R88M-1AL1K030C-[] 56
R88D-1SAN15F-ECT R88M-1AL1K530C-[] 81
R88M-1AM1K515C-[] 52
R88D-1SAN30F-ECT R88M-1AL3K030C-[] 150
R88M-1AM3K015C-[] 140

Outline of Safety Functions

Details about Safety Functions

Function Description
Safe torque off (STO) The function is used to cut off a motor current and stop the motor.
Safe stop 1 (SS1) This function is used to stop a motor by activating STO function at any timing after
receiving a command from a safety controller.
Safes stop 2 (SS2) This function is used to monitor a motor's stop by activating SOS function at any timing
after receiving a command from a safety controller.
Safe operating stop (SOS) This function is used to monitor that a motor stops at any positions. Both a position and
velocity are monitored. Excessive limit value error occurs when the motor operates from
a position where it stops.
Safely-limited speed (SLS) This function is used to monitor a safety present motor velocity. When the safety present
motor velocity exceeds the velocity limit for monitoring, excessive limit value error occurs.
Safely-limited position (SLP) This function is used to monitor current positions. Excessive limit value error occurs
when the positions surpass a range for monitoring.
Safe direction (SDI) This function is used to monitor motor's rotating direction. Excessive limit value error
occurs when a motor rotates toward the banned rotating direction.
Safe brake control (SBC) This function is used to provide safety output for a holding brake. The function can be
used with STO, SS1 functions and the brake operation.

Safety Servo Drives have two type STO functions. Use either or both functions according to configuration of safety devices.
• STO function by safety input signals
• STO function via EtherCAT communications
When you use just STO function by safety input signals, you do not need a setting related EtherCAT network.

Achievable safety levels for each safety function at maximum are shown as the below table:

Function Achievable safety level Function Achievable safety level
STO SIL3/PLe SLS SIL3/PLe *1
SS1 SIL3/PLe SLP SIL3/PLe *2
SS2 SIL3/PLe SDI SIL3/PLe *1
SOS SIL3/PLe *1 SBC SIL3/PLe *3

*1. Achievable safety level varies in a basic control for use.
*2. Achievable safety level varies in Safety Origin Position Determination Method or SOPT input devices for use.
*3. Achievable safety level varies in Brake structure.
Refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and Safety Functionality User's Manual (Cat. No. I621) for details.

Configuration for Safety System

To make devices enter into safe state, a combined control among a safety controller, a standard controller and a Servo Drive is required.
Typical roles of each device are shown as below.

Device Role
Safety Controller • Monitor safety input and output.
• Notify a standard controller of states of safety input and output.
• Issue commands to activate and interrupt safety functions to a Servo Drive.
• Issue commands to reset errors of safety functions to a Servo Drive.
Standard
Controller		 • Issue commands to turn Servo ON/OFF and reset errors to a Servo Drive.
• Issue command to control a specified position, velocity and torque of a Servomotor to a Servo Drive.
Servo Drive • Turn Servo ON/OFF and reset errors after receiving commands from a standard controller.
• Control a Servomotor after receiving commands from a standard controller.
• Activate and interrupt safety functions after receiving commands from a safety controller.
• Reset errors of safety functions after receiving commands from a safety controller.
• Stop a Servomotor when an error occurs.

A procedure for the control is described as follow:
1. A safety controller detects the following cases with a safety sensor and a safety switch.
   When workers entered exclusion zones
   When workers are about to touch hazardous sites of the device
   When workers come closely to the devices for the purpose of a check of devices/products, maintenance and supply of
   materials
2. A safety controller notifies a standard controller of the detected data.
3. A standard controller issues commands to decelerate and stop a Servomotor to a Servo Drive. At the same time, a safety
   controller issues commands to activate safety functions for use to a Servo Drive.
4. A Servo Drive receives and executes the commands from both controllers.

Thus, a safety controller and a standard controller must issue commands to a Servo Drive at an appropriate timing according to states of switches, sensors and devices, and then have the programs to issue the commands.
To secure the combined operation between a safety controller and a standard controller, design programs for each device with consideration of the following times. Without this consideration of the times mentioned earlier, when safety functions are activated, STO may be active and an excessive limit value error (Error display No.71.03) may occur.
• Time until safety functions starts the activations
   It refers to “Time until a safety controller issues command to activate safety functions + Delay time of safety functions”.
• Delay time of safety functions
   Time until STO becomes active or a Servo Drive starts monitoring after it receives commands of safety functions.
Refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and Safety Functionality User's Manual (Cat. No. I621) for details.

This section describes a flow of control of each device with an example such as SLS function.

R88M-1A[] / R88D-1SAN[]-ECT 額定/性能 24

Safety system configuration equipment Model
Standard Controller NX701
EtherCAT Coupler Unit NX-ECC201
NX-ECC202
Safety Controller NX-SL3300
NX-SL3500
Safety Digital Input Unit NX-SIH400
Guard Lock Safety Key Selector Switch A22LK
Servo Drive R88D-1SAN

*1. The safety key selector switch and the safety controller detect that workers come closer to devices due to the reason
      such as maintenance, etc.
*2. The standard controller reads data from the safety controller and checks a switch to maintenance mode. In such case, it
       issues a command to decelerate a velocity of the Servomotor and gives the command to the Servo Drive.
*3. The safety controller issues/gives a command to activate SLS function to the Servo Drive.
*4. The Servo Drive controls the motor's deceleration, following the command from the standard controller. In addition, it
      activates SLS function after receiving the command to activate SLS from the safety controller.

EtherCAT Communications Specifications

Item Specifications
Communications
standard		 IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile
Physical layer 100BASE-TX (IEEE802.3)
Connectors RJ45 × 2 (shielded)
ECAT IN: EtherCAT input
ECAT OUT: EtherCAT output
Communications media Recommended media:
Twisted-pair cable, which is doubly shielded by the aluminum tape and braid, with Ethernet
Category 5 (100BASE-TX) or higher
Communications
distance		 Distance between nodes: 100 m max.
Process data Fixed PDO mapping
Variable PDO mapping
Mailbox (CoE) Emergency messages, SDO requests, SDO responses, and SDO information
Synchronization mode
and communications
cycle		 DC Mode (Synchronous with Sync0 Event)
Communications cycle: 125 μs, 250 μs, 500 μs, 750 μs, 1 to 10 ms (in 0.25 ms increments)
Free Run Mode
Indicators ECAT-L/A IN (Link/Activity IN) × 1
ECAT-L/A OUT (Link/Activity OUT) × 1
ECAT-RUN × 1
ECAT-ERR × 1
CiA 402 Drive Profile • Cyclic synchronous position mode
• Cyclic synchronous velocity mode
• Cyclic synchronous torque mode
• Profile position mode
• Profile velocity mode
• Homing mode
• Touch probe function
• Torque limit function

Version Information

The following table gives the relationship between unit versions of 1S-series Servo Drives Advance type and the corresponding Sysmac Studio versions.

Unit version Sysmac Studio
Version 1.0 * Version 1.44.1 or higher

* Sysmac Studio version 1.44 or higher enables you to use the cable redundancy function and configure a ring topology.

AC Servomotors [1S-series with Safety Functionality]

Specifications

General Specifications

Item Specifications
Operating ambient temperature and
humidity		 0 to 40°C
20% to 90% (with no condensation)
Storage ambient temperature and
humidity		 -20 to 65°C
20% to 90% (with no condensation)
Operating and storage atmosphere No corrosive gases
Vibration resistance * Acceleration of 49 m/s2
24.5 m/s2 max. in X, Y, and Z directions when the motor is stopped
Impact resistance Acceleration of 98 m/s2 max. 3 times each in X, Y, and Z directions
Insulation resistance Between power terminals and FG terminals: 10 MΩ min. (at 500 VDC Megger)
Dielectric strength Between power terminals and FG terminals: 1,500 VAC for 1 min (voltage
200 V)
Between power terminals and FG terminals: 1,800 VAC for 1 min (voltage
400 V)
Between brake terminal and FG terminals: 1,000 VAC for 1 min
Insulation class Class F
Protective structure IP67 (except for the through-shaft part and connector pins)
International
standard		 EU Directives
and
UK legislation		 Low Voltage EN 60034-1/-5
UL standards UL 1004-1/-6
CSA standards CSA C22.2 No.100 (with cUR mark)

* The amplitude may be increased by machine resonance. As a guideline, 80% of the specified value must not be exceeded.
Note: 1. Do not use the cable when it is laying in oil or water.
         2. Do not expose the cable outlet or connections to stress due to bending or its own weight.

Encoder Specifications

Item Specifications
Encoder system Optical batteryless absolute encoder
Resolution per rotation 20 bits
Multi-rotation data hold 12 bits
Output signal Serial communications
Output interface RS485 compliant

Note: It is possible to use an absolute encoder as an incremental encoder.
         Refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and Safety
         Functionality User's Manual (Cat.No.I621) for details.

Characteristics

3,000-r/min Servomotors

Model (R88M-) 200 VAC
Item Unit 1AM20030T 1AM40030T 1AM75030T
Rated output *1*2 W 200 400 750
Rated torque *1*2 N·m 0.637 1.27 2.39
Rated rotation speed *1*2 r/min 3000
Maximum rotation speed r/min 6000
Momentary maximum torque *1*3 N·m 2.2 *4 4.5 *4 8.4 *4
Rated current *1*2 A(rms) 1.5 2.5 4.6
Momentary maximum current *1 A(rms) 5.6 9.1 16.9
Rotor inertia Without brake × 10-4 kg·m2 0.224 0.446 1.825
With brake × 10-4 kg·m2 0.284 0.506 2.075
Applicable load inertia × 10-4 kg·m2 4.80 8.40 19.4
Torque constant *1 N·m/A(rms) 0.48 0.56 0.59
Power rate *1*5 kW/s 18.1 36.2 31.3
Mechanical time constant *5 ms 0.79 0.58 0.66
Electrical time constant ms 2.4 2.6 3.3
Allowable radial load *6 N 245 245 490
Allowable thrust load *6 N 88 88 196
Weight Without brake kg 1.3 1.8 3.2
With brake kg 1.7 2.2 4.1
Radiator plate dimensions (material) mm 250 × 250 × t6 (aluminum)
Brake
specifications
*7		 Excitation voltage *8 V 24 DC ±10%
Current consumption at 20°C) A 0.32 0.32 0.37
Static friction torque N·m 1.37 min. 1.37 min. 2.55 min.
Attraction time ms 30 max. 30 max. 40 max.
Release time *9 ms 20 max. 20 max. 35 max.
Backlash ° 1.2 max. 1.2 max. 1.0 max.
Allowable braking work J 60 60 250
Allowable total work J 60,000 60,000 250,000
Allowable angular acceleration rad/s2 10,000 max.
Brake lifetime
(acceleration/deceleration)		 --- 10 million times min.
Brake lifetime (ON/OFF), B10d --- 1 million times min.
Insulation class --- Class F

For models with an oil seal the following derating is used due to increase in friction torque.

Model (R88M-) 1AM20030T-O/
-OS2/-BO/-BOS2		 1AM40030T-O/
-OS2/-BO/-BOS2		 1AM75030T-O/
-OS2/-BO/-BOS2
Item Unit
Derating rate % 95 80 90
Rated output W 190 320 675
Rated current A (rms) 1.5 2.1 4.2

Model (R88M-) 200 VAC
Item Unit 1AL1K030T 1AL1K530T 1AL2K030T 1AL2K630T
Rated output *1*2 W 1,000 1,500 2,000 2,600
Rated torque *1*2 N·m 3.18 4.77 6.37 8.28
Rated rotation speed *1*2 r/min 3,000
Maximum rotation speed r/min 5,000
Momentary maximum torque *1*3 N·m 9.55 14.3 19.1 24.8
Rated current *1*2 A(rms) 5.2 8.8 12.5 14.8
Momentary maximum current *1 A(rms) 16.9 28.4 41.0 47.3
Rotor
inertia		 Without brake × 10-4 kg·m2 2.105 2.105 2.405 6.813
With brake × 10-4 kg·m2 2.555 2.555 2.855 7.313
Applicable load inertia × 10-4 kg·m2 35.3 47.6 60.2 118
Torque constant *1 N·m/A(rms) 0.67 0.58 0.56 0.62
Power rate *1*5 kW/s 48 108 169 101
Mechanical time constant *5 ms 0.58 0.58 0.50 0.47
Electrical time constant ms 5.9 6.1 6.4 11
Allowable radial load *6 N 490
Allowable thrust load *6 N 196
Weight Without brake kg 5.8 5.8 6.5 11.5
With brake kg 7.5 7.5 8.2 13.5
Radiator plate dimensions (material) mm 400 × 400 × t20
(aluminum)		 470 × 470 × t20
(aluminum)
Brake
specifi-
cations
*7		 Excitation voltage *8 V 24 VDC±10%
Current consumption (at 20°C) A 0.70 0.70 0.70 0.66
Static friction torque N·m 9.3 min. 9.3 min. 9.3 min. 12 min.
Attraction time ms 100 max. 100 max. 100 max. 100 max.
Release time *9 ms 30 max. 30 max. 30 max. 30 max.
Backlash ° 1.0 max. 1.0 max. 1.0 max. 0.8 max.
Allowable braking work J 500 500 500 1000
Allowable total work J 900,000 900,000 900,000 3000,000
Allowable angular acceleration rad/s2 10,000 max.
Brake lifetime
(acceleration/ deceleration)		 --- 10 million times min.
Brake lifetime (ON/OFF), B10d --- 1 million times min.
Insulation class --- Class F

Model (R88M-) AC400V
Item Unit 1AL75030C 1AL1K030C 1AL1K530C
Rated output *1*2 W 750 1,000 1,500
Rated torque *1*2 N·m 2.39 3.18 4.77
Rated rotation speed *1*2 r/min 3,000
Maximum rotation speed r/min 5,000
Momentary maximum torque *1*3 N·m 7.16 9.55 14.3
Rated current *1*2 A(rms) 3.0 3.0 4.5
Momentary maximum current *1 A(rms) 9.6 9.6 14.1
Rotor inertia Without brake × 10-4 kg·m2 1.305 2.105 2.105
With brake × 10-4 kg·m2 1.755 2.555 2.555
Applicable load inertia × 10-4 kg·m2 38.6 35.3 47.6
Torque constant *1 N·m/A(rms) 0.91 1.17 1.17
Power rate *1*5 kW/s 44 48 108
Mechanical time constant *5 ms 1.1 0.58 0.58
Electrical time constant ms 4.3 5.9 5.9
Allowable radial load *6 N 490
Allowable thrust load *6 N 196
Weight Without brake kg 4.2 5.8 5.8
With brake kg 5.9 7.5 7.5
Radiator plate dimensions (material) mm 305 × 305 × t20
(aluminum)		 400 × 400 × t20 (aluminum)
Brake
specifications
*7		 Excitation voltage *8 V 24 VDC±10%
Current consumption (at 20°C) A 0.70 0.70 0.70
Static friction torque N·m 9.3 min. 9.3 min. 9.3 min.
Attraction time ms 100 max. 100 max. 100 max.
Release time *9 ms 30 max. 30 max. 30 max.
Backlash ° 1.0 max. 1.0 max. 1.0 max.
Allowable braking work J 500 500 500
Allowable total work J 900,000 900,000 900,000
Allowable angular acceleration rad/s2 10,000 max.
Brake lifetime
(acceleration/ deceleration)		 --- 10 million times min.
Brake lifetime (ON/OFF), B10d --- 1 million times min.
Insulation class --- Class F

Model (R88M-) AC400V
Item Unit 1AL2K030C 1AL3K030C
Rated output *1*2 W 2,000 3,000
Rated torque *1*2 N·m 6.37 9.55
Rated rotation speed *1*2 r/min 3,000
Maximum rotation speed r/min 5,000
Momentary maximum torque *1*3 N·m 19.1 28.7
Rated current *1*2 A(rms) 6.3 8.7
Momentary maximum current *1 A(rms) 19.8 27.7
Rotor inertia Without brake × 10-4 kg·m2 2.405 6.813
With brake × 10-4 kg·m2 2.855 7.313
Applicable load inertia × 10-4 kg·m2 60.2 118
Torque constant *1 N·m/A(rms) 1.15 1.23
Power rate *1*5 kW/s 169 134
Mechanical time constant *5 ms 0.52 0.49
Electrical time constant ms 6.3 11
Allowable radial load *6 N 490
Allowable thrust load *6 N 196
Weight Without brake kg 6.5 11.5
With brake kg 8.2 13.5
Radiator plate dimensions (material) mm 470 × 470 × t20 (aluminum)
Brake
specifications
*7		 Excitation voltage *8 V 24 VDC±10%
Current consumption (at 20°C) A 0.70 0.66
Static friction torque N·m 9.3 min. 12 min.
Attraction time ms 100 max. 100 max.
Release time *9 ms 30 max. 30 max.
Backlash ° 1.0 max. 0.8 max.
Allowable braking work J 500 1,000
Allowable total work J 900,000 3,000,000
Allowable angular acceleration rad/s2 10,000 max.
Brake lifetime
(acceleration/ deceleration)		 --- 10 million times min.
Brake lifetime (ON/OFF), B10d --- 1 million times min.
Insulation class --- Class F

*1. This is a typical value for when the Servomotor is used at a normal temperature (20°C, 65%) in combination with a
      Servo Drive.
*2. The rated values are the values with which continuous operation is possible at an ambient temperature of 40°C when
      the Servomotor is horizontally installed on a specified radiator plate.
*3. The momentary maximum torque is approximately 300% of the rated torque, except for some models.
*4. The momentary maximum torque is approximately 350% of the rated torque. Output at the momentary maximum
      torque shortens detection time of the overload protection function. Refer to Electronic Thermal Function in the AC
      Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and Safety Functionality User's Manual
      (Cat. No. I621) for details.
*5. This value is for models without options.
*6. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating
      temperatures.
      The allowable radial loads are applied as shown in the following diagram.

R88M-1A[] / R88D-1SAN[]-ECT 額定/性能 44

*7. When the brake is released for a vertical axis, refer to the AC Servomotors/Servo Drives 1S-series with Built-in
     EtherCAT® Communications and Safety Functionality User's Manual (Cat. No. I621) to set an appropriate value for Brake
     Interlock Output (4610 hex).
*8. This is a non-excitation brake. It is released when excitation voltage is applied.
*9. This value is a reference value.

Torque-Rotation Speed Characteristics for 3,000-r/min Servomotors (200 VAC)

The following graphs show the characteristics with a 3-m standard cable and a 3-phase 200-VAC or single-phase 220-VAC input.

R88M-1A[] / R88D-1SAN[]-ECT 額定/性能 46

Torque-Rotation Speed Characteristics for 3,000-r/min Servomotors (400 VAC)

The following graphs show the characteristics with a 3-m standard cable and a 3-phase 400-VAC input.

R88M-1A[] / R88D-1SAN[]-ECT 額定/性能 47

1,500-r/min Servomotors

Model (R88M-) AC200V
Item Unit 1AM1K515T 1AM2K715T
Rated output *1*2 W 1,500 2,700
Rated torque *1*2 N·m 9.55 17.2
Rated rotation speed *1*2 r/min 1,500
Maximum rotation speed r/min 3,000
Momentary maximum torque *1 N·m 28.7 51.6
Rated current *1*2 A(rms) 8.6 14.6
Momentary maximum current *1 A(rms) 28.4 49.3
Rotor inertia Without brake × 10-4 kg·m2 12.413 40.013
With brake × 10-4 kg·m2 13.013 45.113
Applicable load inertia × 10-4 kg·m2 127.05 270.63
Torque constant *1 N·m/A(rms) 1.11 1.29
Power rate *1*3 kW/s 73 74
Mechanical time constant *3 ms 0.75 1.0
Electrical time constant ms 17 19
Allowable radial load *4 N 490 1176
Allowable thrust load *4 N 196 490
Weight Without brake kg 11 18
With brake kg 13 22
Radiator plate dimensions (material) mm 470 × 470 × t20 (aluminum)
Brake
specifications
*5		 Excitation voltage *6 V 24 VDC±10%
Current consumption (at 20°C) A 0.66 1.20
Static friction torque N·m 12 min. 22 min.
Attraction time ms 100 max. 120 max.
Release time *7 ms 30 max. 50 max.
Backlash ° 0.6 max. 0.8 max.
Allowable braking work J 1,000 1,400
Allowable total work J 3,000,000 4,600,000
Allowable angular acceleration rad/s2 10,000 max.
Brake lifetime
(acceleration/ deceleration)		 --- 10 million times min.
Brake lifetime (ON/OFF), B10d --- 1 million times min.
Insulation class --- Class F

Model (R88M-) AC400V
Item Unit 1AM1K515C 1AM3K015C
Rated output *1*2 W 1,500 3,000
Rated torque *1*2 N·m 9.55 19.1
Rated rotation speed *1*2 r/min 1,500
Maximum rotation speed r/min 3,000
Momentary maximum torque *1 N·m 28.7 57.3
Rated current *1*2 A(rms) 4.4 8.5
Momentary maximum current *1 A(rms) 14.1 28.3
Rotor inertia Without brake × 10-4 kg·m2 12.413 40.013
With brake × 10-4 kg·m2 13.013 45.113
Applicable load inertia × 10-4 kg·m2 127.05 270.63
Torque constant *1 N·m/A(rms) 2.21 2.46
Power rate *1*3 kW/s 73 91
Mechanical time constant *3 ms 0.75 1.2
Electrical time constant ms 17 16
Allowable radial load *4 N 490 1176
Allowable thrust load *4 N 196 490
Weight Without brake kg 11 18
With brake kg 13 22
Radiator plate dimensions (material) mm 470 × 470 × t20 (aluminum)
Brake
specifications
*5		 Excitation voltage *6 V 24 VDC±10%
Current consumption (at 20°C) A 0.66 1.20
Static friction torque N·m 12 min. 22 min.
Attraction time ms 100 max. 120 max.
Release time *7 ms 30 max. 50 max.
Backlash ° 0.6 max. 0.8 max.
Allowable braking work J 1,000 1,400
Allowable total work J 3,000,000 4,600,000
Allowable angular acceleration rad/s2 10,000 max.
Brake lifetime
(acceleration/ deceleration)		 --- 10 million times min.
Brake lifetime (ON/OFF), B10d --- 1 million times min.
Insulation class --- Class F

*1. This is a typical value for when the Servomotor is used at a normal temperature (20°C, 65%) in combination with a
      Servo Drive.
*2. The rated values are the values with which continuous operation is possible at an ambient temperature of 40°C when
      the Servomotor is horizontally installed on a specified radiator plate.
*3. This value is for models without options.
*4. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating
      temperatures.
      The allowable radial loads are applied as shown in the following diagram.

R88M-1A[] / R88D-1SAN[]-ECT 額定/性能 50

*5. When the brake is released for a vertical axis, refer to the AC Servomotors/Servo Drives 1S-series with Built-in
      EtherCAT® Communications and Safety Functionality User's Manual (Cat. No. I621) to set an appropriate value for
      Brake Interlock Output (4610 hex).
*6. This is a non-excitation brake. It is released when excitation voltage is applied.
*7. This value is a reference value.

Torque-Rotation Speed Characteristics for 1,500-r/min Servomotors (200 VAC)

The following graphs show the characteristics with a 3-m standard cable and a 3-phase 200-VAC or single-phase 220-VAC input.

R88M-1A[] / R88D-1SAN[]-ECT 額定/性能 52

Torque-Rotation Speed Characteristics for 1,500-r/min Servomotors (400 VAC)

The following graphs show the characteristics with a 3-m standard cable and a 3-phase 400-VAC input.

R88M-1A[] / R88D-1SAN[]-ECT 額定/性能 53

Decelerator AC Servo System [1S-series with Safety Functionality]

Specifications

Backlash: 3 Arcminutes Max.

For 3,000-r/min Servomotors

Servomotor
rated
output		 Reduction
ratio		 Model Rated
rotation
speed		 Rated
torque		 Efficiency Momentary
maximum
rotation speed		 Momentary
maximum
torque
r/min N·m % r/min N·m
200 W 1/5 R88G-HPG14A05200B[] 600 2.4 75.4 1200 9.7
1/11 R88G-HPG14A11200B[] 272 5.8 82.6 545 21.8
1/21 R88G-HPG20A21200B[] 142 10.2 76.2 285 41.7
1/33 R88G-HPG20A33200B[] 90 17.0 80.6 181 66.5
1/45 R88G-HPG20A45200B[] 66 23.5 82.1 133 91.1
400 W 1/5 R88G-HPG14A05400B[] 600 5.3 84.2 1200 20.4
1/11 R88G-HPG20A11400B[] 272 11.4 81.6 545 45.5
1/21 R88G-HPG20A21400B[] 142 23.0 86.1 285 88.1
1/33 R88G-HPG32A33400B[] 90 33.8 80.7 181 136.2
1/45 R88G-HPG32A45400B[] 66 46.6 81.5 133 186.1
750 W
(200 V)		 1/5 R88G-HPG20A05750B[] 600 9.9 82.9 1200 38.7
1/11 R88G-HPG20A11750B[] 272 20.0 *1 87.2 545 86.7
1/21 R88G-HPG32A21750B[] 142 42.1 84.0 285 163.3
1/33 R88G-HPG32A33750B[] 90 69.3 87.9 181 259.7
750 W
(400 V)		 1/5 R88G-HPG32A052K0B[] 600 7.7 64.3 1000 30.6
1/11 R88G-HPG32A112K0B[] 272 20.5 78.0 454 70.9
1/21 R88G-HPG32A211K5B[] 142 42.1 84.0 238 138.3
1 kW 1/5 R88G-HPG32A052K0B[] 600 11.5 72.2 1000 42.0
1/11 R88G-HPG32A112K0B[] 272 28.9 82.5 454 96.1
1/21 R88G-HPG32A211K5B[] 142 58.1 86.9 238 186.5
1.5 kW 1/5 R88G-HPG32A052K0B[] 600 19.1 80.1 1000 64.8
1/11 R88G-HPG32A112K0B[] 272 45.7 87.0 454 146.3
1/21 R88G-HPG32A211K5B[] 142 90.1 90.0 238 282.2
1/33 R88G-HPG50A332K0B[] 90 141.3 89.8 151 443.2
1/45 R88G-HPG50A451K5B[] 66 194.8 90.8 111 606.5
2 kW 1/5 R88G-HPG32A052K0B[] 600 26.8 84.1 1000 87.9
1/11 R88G-HPG32A112K0B[] 272 62.5 89.3 454 197.0
2.6 kW
(200 V)		 1/5 R88G-HPG32A053K0B[] 600 36.0 86.8 1000 115.2
3 kW
(400 V)		 1/5 R88G-HPG32A053K0B[] 600 42.0 88.1 1000 134.0

Servomotor
rated output		 Reduction
ratio		 Model Decelerator
inertia		 Allowable
radial load		 Allowable
thrust load		 Weight
× 10-4 kg·m2 N N kg
200 W 1/5 R88G-HPG14A05200B[] 0.207 221 883 1.0
1/11 R88G-HPG14A11200B[] 0.197 280 1119 1.1
1/21 R88G-HPG20A21200B[] 0.49 800 2817 2.9
1/33 R88G-HPG20A33200B[] 0.45 916 3226 2.9
1/45 R88G-HPG20A45200B[] 0.45 1006 3541 2.9
400 W 1/5 R88G-HPG14A05400B[] 0.207 221 883 1.1
1/11 R88G-HPG20A11400B[] 0.57 659 2320 2.9
1/21 R88G-HPG20A21400B[] 0.49 800 2817 2.9
1/33 R88G-HPG32A33400B[] 0.62 1565 6240 7.5
1/45 R88G-HPG32A45400B[] 0.61 1718 6848 7.5
750 W
(200 V)		 1/5 R88G-HPG20A05750B[] 0.68 520 1832 2.9
1/11 R88G-HPG20A11750B[] 0.6 659 2320 3.1
1/21 R88G-HPG32A21750B[] 3.0 1367 5448 7.8
1/33 R88G-HPG32A33750B[] 2.7 1565 6240 7.8
750 W
(400 V)		 1/5 R88G-HPG32A052K0B[] 3.8 889 3542 7.4
1/11 R88G-HPG32A112K0B[] 3.4 1126 4488 7.9
1/21 R88G-HPG32A211K5B[] 3.0 1367 5448 7.9
1 kW 1/5 R88G-HPG32A052K0B[] 3.8 889 3542 7.4
1/11 R88G-HPG32A112K0B[] 3.4 1126 4488 7.9
1/21 R88G-HPG32A211K5B[] 3.0 1367 5448 7.9
1.5 kW 1/5 R88G-HPG32A052K0B[] 3.8 889 3542 7.4
1/11 R88G-HPG32A112K0B[] 3.4 1126 4488 7.9
1/21 R88G-HPG32A211K5B[] 3.0 1367 5448 7.9
1/33 R88G-HPG50A332K0B[] 4.8 4135 14300 19.0
1/45 R88G-HPG50A451K5B[] 4.7 4538 15694 19.0
2 kW 1/5 R88G-HPG32A052K0B[] 3.8 889 3542 7.4
1/11 R88G-HPG32A112K0B[] 3.4 1126 4488 7.9
2.6 kW
(200 V)		 1/5 R88G-HPG32A053K0B[] 3.8 889 3542 7.3
3 kW
(400 V)		 1/5 R88G-HPG32A053K0B[] 3.8 889 3542 7.3

*1. The value is the allowable continuous output torque of the Decelerator. Take care so that this value is not exceeded.
*2. The value is the maximum allowable torque of the Decelerator. Take care so that this value is not exceeded.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
         2. The protective structure rating of the Servomotor with the Decelerator is IP44.
         3. The Allowable radial load column shows the values obtained at the center of the shaft (T/2).

R88M-1A[] / R88D-1SAN[]-ECT 額定/性能 59

          4. The standard shaft type is a straight shaft. A model with a key and tap is indicated with “J” at [] of the model
              number.
         5. Take care so that the surface temperature of the Decelerator does not exceed 70°C.

For 1,500-r/min Servomotors

Servomotor
rated
output		 Reduction
ratio		 Model Rated
rotation
speed		 Rated
torque		 Efficiency Momentary
maximum
rotation speed		 Momentary
maximum
torque
r/min N·m % r/min N·m
1.5 kW 1/5 R88G-HPG32A053K0B[] 300 43.8 91.7 600 135.7
1/11 R88G-HPG32A112K0SB[] 136 98.1 93.4 272 299.0 *1
1/21 R88G-HPG50A21900TB[] 71 187.2 93.3 142 573.2
1/33 R88G-HPG50A33900TB[] 45 294.1 *2 94.1 90 849.0 *1
2.7 kW
(200 V)		 1/5 R88G-HPG50A055K0SB[] 300 79.2 92.1 600 244.3
1/11 R88G-HPG50A115K0SB[] 136 177.8 94.0 272 541.1
1/20 R88G-HPG65A205K0SB[] 75 315.6 91.7 150 976.0
1/25 R88G-HPG65A255K0SB[] 60 396.8 92.3 120 1222.4
3 kW
(400 V)		 1/5 R88G-HPG50A055K0SB[] 300 88.3 92.5 600 271.7
1/11 R88G-HPG50A115K0SB[] 136 197.9 94.2 272 601.2
1/20 R88G-HPG65A205K0SB[] 75 352.0 92.2 150 1085.5
1/25 R88G-HPG65A255K0SB[] 60 442.4 92.7 120 1359.2

Servomotor
rated output		 Reduction
ratio		 Model Decelerator
inertia		 Allowable
radial load		 Allowable
thrust load		 Weight
× 10-4 kg·m2 N N kg
1.5 kW 1/5 R88G-HPG32A053K0B[] 3.8 889 3542 7.3
1/11 R88G-HPG32A112K0SB[] 3.4 1126 4488 7.8
1/21 R88G-HPG50A21900TB[] 7.0 3611 12486 19.1
1/33 R88G-HPG50A33900TB[] 5.9 4135 14300 19.1
2.7 kW
(200 V)		 1/5 R88G-HPG50A055K0SB[] 11 2347 8118 22.0
1/11 R88G-HPG50A115K0SB[] 8.4 2974 10285 23.5
1/20 R88G-HPG65A205K0SB[] 14 7338 26799 55.4
1/25 R88G-HPG65A255K0SB[] 14 7846 28654 55.4
3 kW
(400 V)		 1/5 R88G-HPG50A055K0SB[] 11 2347 8118 22.0
1/11 R88G-HPG50A115K0SB[] 8.4 2974 10285 23.5
1/20 R88G-HPG65A205K0SB[] 14 7338 26799 55.4
1/25 R88G-HPG65A255K0SB[] 14 7846 28654 55.4

*1. The value is the allowable continuous output torque of the Decelerator. Take care so that this value is not exceeded.
*2. The value is the maximum allowable torque of the Decelerator. Take care so that this value is not exceeded.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
         2. The protective structure rating of the Servomotor with the Decelerator is IP44.
         3. The Allowable radial load column shows the values obtained at the center of the shaft (T/2)

R88M-1A[] / R88D-1SAN[]-ECT 額定/性能 63

         4. The standard shaft type is a straight shaft. A model with a key and tap is indicated with “J” at [] of the model
             number.
         5. Take care so that the surface temperature of the Decelerator does not exceed 70°C.

Backlash: 15 Arcminutes Max.

For 3,000-r/min Servomotors

Servomotor
rated
output		 Reduction
ratio		 Model Rated
rotation
speed		 Rated
torque		 Efficiency Momentary
maximum
rotation speed		 Momentary
maximum
torque
r/min N·m % r/min N·m
200 W 1/5 R88G-VRXF05B200CJ 600 2.93 92 1200 9.94 *
1/9 R88G-VRXF09C200CJ 333 4.76 83 667 16.43
1/15 R88G-VRXF15C200CJ 200 8.22 86 400 28.38
1/25 R88G-VRXF25C200CJ 120 13.70 86 240 47.30
400 W 1/5 R88G-VRXF05C400CJ 600 5.59 88 1200 19.80
1/9 R88G-VRXF09C400CJ 333 10.06 88 667 34.00 *
1/15 R88G-VRXF15C400CJ 200 16.95 89 400 56.70 *
1/25 R88G-VRXF25C400CJ 120 28.26 89 240 92.40 *
750 W
(200 V)		 1/5 R88G-VRXF05C750CJ 600 10.99 92 1200 38.64
1/9 R88G-VRXF09D750CJ 333 19.57 91 667 63.70 *
1/15 R88G-VRXF15D750CJ 200 31.91 89 400 106.00 *
1/25 R88G-VRXF25D750CJ 120 53.18 89 240 177.00 *

Servomotor
rated output		 Reduction
ratio		 Model Decelerator
inertia		 Allowable
radial load		 Allowable
thrust load		 Weight
× 10-4 kg·m2 N N kg
200 W 1/5 R88G-VRXF05B200CJ 0.147 392 196 0.72
1/9 R88G-VRXF09C200CJ 0.273 931 465 1.70
1/15 R88G-VRXF15C200CJ 0.302 1176 588 2.10
1/25 R88G-VRXF25C200CJ 0.293 1323 661 2.10
400 W 1/5 R88G-VRXF05C400CJ 0.370 784 392 1.70
1/9 R88G-VRXF09C400CJ 0.273 931 465 1.70
1/15 R88G-VRXF15C400CJ 0.302 1176 588 2.10
1/25 R88G-VRXF25C400CJ 0.293 1323 661 2.10
750 W
(200 V)		 1/5 R88G-VRXF05C750CJ 0.817 784 392 2.10
1/9 R88G-VRXF09D750CJ 0.755 1176 588 3.40
1/15 R88G-VRXF15D750CJ 0.685 1372 686 3.80
1/25 R88G-VRXF25D750CJ 0.658 1617 808 3.80

* The value is the maximum allowable torque of the Decelerator. Take care so that this value is not exceeded.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
         2. The protective structure rating of the Servomotor combined with the Decelerator is IP44.
             (Excluding decelerator and servo motor connecting parts.)
         3. The Allowable radial load column shows the values obtained at the center of the shaft (T/2).

R88M-1A[] / R88D-1SAN[]-ECT 額定/性能 68

         4. The standard shaft type is a shaft with key and tap. (The key is temporarily assembled to the shaft.)
         5. Take care so that the surface temperature of the Decelerator does not exceed 90°C.

更新日期 2023年10月2日

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