User manual OMRON G-SERIES SERVO MOTORS DATASHEET

[. . . ] R88M-G@ G-Series servo motors · Peak torque 300% of continuous torque during 3 seconds or more depending on model · Servomotors supported by SmartStep2, G-Series and Accurax G5 servo drives · Cylindrical and Flat servomotors types are available · Encoder accuracy of 10, 000 step/rev as standard and 17-bit INC/ABS encoder as optional · IP65 as standard and shaft oil seal available · Motors with brake as option AC Servo systems A wide range of compact servomotors to meet all application needs Ratings · 230 VAC Single-phase 50 W to 1. 5 kW (rated torque from 0. 16 to 8. 62 Nm) System configuration G-Series Cylindrical type Servo motor G-Series Servo drive AC SE DRIVER R VO 01 ADR 23 9 01 23 8 4 X10 COM SP IM G 3000 rpm (50-750W) Power cable 3000 rpm (1000-1500 W) 2000 rpm (1000-1500 W) 1000 rpm (900 W) Encoder cable SmartStep 2 Servo drive Servo drive controlled by pulses G-Series Flat type Servo motor 3000 rpm (100-400 W) G-Series servo motors 5 67 X1 115 Servo motor / servo drive combination Servo motor Family Cylindric 50-750 W Voltage 230 V Speed 3000 min -1 Servo drive Rated torque 0. 16 Nm 0. 32 Nm 0. 64 Nm 1. 3 Nm 2. 4 Nm Capacity 50 W 100 W 200 W 400 W 750 W 1000 W 1500 W 1000 W 1500 W 900 W 100 W 200 W 400 W Model R88M-G05030@-@S2 R88M-G10030@-@S2 R88M-G20030@-@S2 R88M-G40030@-@S2 R88M-G75030@-@S2 R88M-G1K030T-@S2 R88M-G1K530T-@S2 R88M-G1K020T-@S2 R88M-G1K520T-@S2 R88M-G90010T-@S2 R88M-GP10030@-@S2 R88M-GP20030@-@S2 R88M-GP40030@-@S2 SmartStep2*3 R7D-BP01H R7D-BP01H R7D-BP02HH R7D-BP04H R88D-GP08H R7D-BP01H R7D-BP02HH R7D-BP04H G-Series R88D-GN01H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 R88D-GN08H-ML2 R88D-GN15H-ML2 R88D-GN15H-ML2 R88D-GN10H-ML2 R88D-GN15H-ML2 R88D-GN15H-ML2 R88D-GN01H-ML2 R88D-GN02H-ML2 R88D-GN04H-ML2 900-1500 W 2000 min-1 1000 min-1 Flat 100-400 W 3000 min-1 3. 18 Nm 4. 77 Nm 4. 8 Nm 7. 15 Nm 8. 62 Nm 0. 32 Nm 0. 64 Nm 1. 3 Nm Note: 1. For servo motor and cables part numbers refer to ordering information at the end of this chapter 2. [. . . ] mass Brake specifications Rated voltage Holding brake moment of inertia J Power consumption (at 20°C) Current consumption (at 20°C) Static friction torque Rise time for holding torque Release time Rating Basic specifications Insulation grade Ambient operating/ storage temperature Ambient operating/ storage humidity Vibration class Insulation resistance Enclosure Vibration resistance Mounting kg·m2x10-4 W A N. m (minimum) ms (max. ) ms (max) Continuous Type B 0 to +40 °C/ -20 to 80°C 85% RH max. at 500 VDC between the power terminals and FG terminal Totally-enclosed, self-cooling, IP65 (excluding shaft opening and lead wire ends) Vibration acceleration 49 m/s2 Flange-mounted 0. 03 7 0. 29 0. 29 50 15 N N kg (without brake) kg (with brake) 68 58 0. 7 0. 9 1. 3 2 24VDC +/-10% 0. 09 10 0. 41 1. 27 60 W N·m N·m A (rms) A (rms) min-1 min-1 N·m/A (rms) kg·m2x10-4 Multiple of (JM) kW/s 10. 2 0. 34 0. 1 GP10030@ 100 0. 32 0. 86 1 3. 1 230 V GP20030@ 200 0. 64 1. 8 1. 6 4. 9 3000 5000 0. 42 0. 35 20 11. 5 Incremental (10000 pulses) Incremental /Absolute encoder(17 bits) 245 98 1. 8 2. 5 25. 5 0. 54 0. 64 GP40030@ 400 1. 3 3. 65 2. 5 7. 5 Torque-speed characteristics R88M-GP10030H/T (100 W) (N·m) R88M-GP20030H/T (200 W) (N·m) R88M-GP40030H/T (400 W) (N·m) 1. 0 0. 86 0. 86 2. 0 1. 8 1. 8 (4500) 4. 0 3. 65 3. 65 (3600) 2. 0 0. 78 Repetitive usage 0. 5 0. 32 0. 32 Continuous usage 0 0. 19 Repetitive usage 1. 0 0. 64 0. 64 Continuous usage 0 0. 38 Repetitive usage 2. 0 1. 3 1. 3 Continuous usage 0 1000 2000 3000 4000 5000 (r/min) 1000 2000 3000 4000 5000 (r/min) 1000 2000 3000 4000 5000 (r/min) 118 AC servo systems Dimensions Servo motors Cylindrical type 3000 r/min (230 V, 50-100 W) Dimensions (mm) Model R88M-G05030@-@S2 R88M-G10030@-@S2 Without brake LL 72 92 With brake LL 102 122 26. 5 46. 5 LN Flange surface D 30h7 Shaft end S 8h6 B 3h9 0. 3 0. 5 Aprox. mass (kg) Without brake With brake 0. 5 0. 7 AC Servo systems Encoder connector LL Brake connector Servomotor connector 25 6 3 (Dimensions of shaft end with key and tap) 230 14 12. 5 200 Two, 4. 3 dia. 32 LN S D 46 dia. M3 x 6L (Tap x Depth) Cylindrical type 3000 r/min (230 V, 200-750 W) Dimensions (mm) Model R88M-G20030@-@S2 R88M-G40030@-@S2 R88M-G75030@-@S2 Without brake LL 79. 5 99 112. 2 With brake LL 116 135. 5 149. 2 35 53 90 70h7 80 8 6 30 43 LR KL1 D1 70 Flange surface D2 50h7 C 60 G 6. 5 Z 4. 5 S 11h6 14h6 19h6 QK 18 22. 5 22 Shaft end B 4h9 5h9 6h9 H 4 5 6 T1 2. 5 3 3. 5 Aprox. mass (kg) Tap x depth Without brake With brake M4x8L M5x10L 0. 8 1. 2 2. 3 1. 3 1. 7 3. 1 Encoder connector LL Brake connector Servomotor connector LR 3 (Dimensions of shaft end with key and tap) G 220 200 Four, Z dia. C×C QK B H T1 KL1 D1 dia. S 3 G-Series servo motors D2 1. 8 40 × 40 B Tap x Depth 119 Cylindrical type 3000, 2000 and 1000 r/min (230 V, 900 kW - 1. 5 kW) Dimensions (mm) Model R88M-G1K030T-@S2 R88M-G1K530T-@S2 R88M-G1K020T-@S2 R88M-G1K520T-@S2 R88M-G90010T-@S2 Without brake With brake LR KL1 LL 175 180 150 175 175 LL 200 205 175 200 200 70 55 98 D1 100 Flange surface D2 D3 C 90 G 7 F Z S QK 42 41 Shaft end B 6h9 8h9 H 6 7 T1 3. 5 4 Tap x depth M5x12L Aprox. mass (kg) Without brake 4. 5 5. 1 22h6 6. 8 8. 5 With brake 5. 1 6. 5 8. 7 10. 1 10 80h7 120 3 6. 6 19h6 9 6 103 115 95h7 135 100 10 118 145 110h7 165 130 12 Servomotor/brake connector Encoder connector G 84 F KL1 Four, Z dia. (Dimensions of shaft end with key and tap) LL LR C×C QK H B T1 S D2 D3 dia. D1 dia . Tap x Depth Flat type 3000 r/min (230 V, 100 W - 400 W) Dimensions (mm) Model R88M-GP10030H-@S2 R88M-GP10030T-@S2 R88M-GP20030H-@S2 R88M-GP20030T-@S2 R88M-GP40030H-@S2 R88M-GP40030T-@S2 Encoder connector Without brake LL 60. 5 87. 5 67. 5 94. 5 82. 5 109. 5 With brake LL 84. 5 111. 5 100 127 115 142 LR KL1 D1 Flange surface D2 C F 3 5 G 7 8 Z 4. 5 S 8h6 QK 12. 5 18 B Shaft end H 3 4 5 T1 1. 8 2. 5 3. 0 Aprox. mass (kg) Tap x depth Without brake With brake M3x6L M4x8L M5x10L 0. 7 1. 3 1. 8 0. 9 2 2. 5 25 30 43 53 70 90 50h7 60 70h7 80 3h9 4h9 5h9 5. 5 11h6 14h6 22. 5 Motor connector LL LR Brake connector (Dimensions of shaft end with key and tap) 220 (7) (7) 200 GF Four, Z dia. C×C QK B H T1 KL1 120 D2 D1 dia S . Tap x Depth AC servo systems Ordering information A G-Series Cylindrical type Servo motor B G-Series Servo drive AC SE DRIVER R VO 01 ADR 23 9 01 23 8 4 X10 COM SP IM G 3000 rpm (50-750W) C Encoder cable D Absolute Encoder Battery cable 3000 rpm (1000-1500 W) 2000 rpm (1000-1500 W) 1000 rpm (900 W) B SmartStep 2 Servo drive Servo Drive controlled by pulses A G-Series Flat type Servo motor E Power cable F Brake cable 3000 rpm (100-400 W) Note: The symbols ABCDEF. . . . show the recommended sequence to select the servo motor and cables Servo motor A Select motor from Cylindrical and Flat types using motor tables in next pages. Servo drive B Refer to G-Series and SmartStep2 servo drive chapters for detailed drive specifications and selection of drive accessories. For servomotors from 50 to 750W with brake R88M-G(050/100/200/400/750)30@-BS2, R88M-GP(100/200/400)30@-BS2 3m 5m 10 m 15 m 20 m Model 1. 5 m R88A-CAGA001-5BR-E R88A-CAGA003BR-E R88A-CAGA005BR-E R88A-CAGA010BR-E R88A-CAGA015BR-E R88A-CAGA020BR-E Appearance F Connectors for power, encoder and brake cables Specifications Connectors for power cables Motor side Motor side Motor side Connectors for encoder cables Motor side Motor side Motor side Connector for brake cable Motor side Applicable Servomotor Drive side (CNB) R88M-G(050/100/200/400)30H@, R88M-GP(100/200/400)30H@ (SmartStep2 Servo drives only) R88M-G(050/100/200/400/750)30@, R88M-GP(100/200/400)30@ R88M-G(1K0/1K5)30@-S2, R88M-G(1K0/1K5)20@-S2, R88M-G90010@-S2 (without brake) R88M-G(1K0/1K5)30@-BS2, R88M-G(1K0/1K5)20@-BS2, R88M-G90010@-BS2 (with brake) R88M-G(050/100/200/400/750)30T-@, R88M-GP(100/200/400)30T-@ (Absolute encoder) R88M-G(050/100/200/400/750)30H-@, R88M-GP(100/200/400)30H-@ (Incremental encoder) R88M-G(1K0/1K5)30T-@, R88M-G(1K0/1K5)20T-@, R88M-G90010T-@ R88M-G(050/100/200/400/750)30@-BS2, R88M-GP(100/200/400)30@-BS2 Model R7A-CNB01A R88A-CNG01A MS3108E20-4S MS3108E20-18S R88A-CNW01R R88A-CNG01R R88A-CNG02R MS3108E20-29S R88A-CNG01B Drive side (CN2) - Note: 1. [. . . ] To convert grams into ounces, multiply by 0. 03527. I107E-EN-02A In the interest of product improvement, specifications are subject to change without notice. G-Series servo motors 123 AC Servo systems [. . . ]