User manual OMRON ACCURAX G5 SERVO MOTORS DATASHEET

[. . . ] R88M-K@ Accurax G5 servo motors · Peak torque 300% of rated torque during 3 seconds or more depending on model · High resolution serial encoder provided by 20 bits encoder · IP67 protection in all models · Ultra-light and compact size motor · Low speed ripple and low torque ripple due to low torque cogging · Various shaft, brake and seal options AC Servo systems Servo family for accurate motion control. High response, high speed and high torque. Ratings · 230 VAC from 50 W to 1. 5 kW (rated torque from 0. 16 to 8. 59 Nm) · 400 VAC from 400 W to 5 kW (rated torque from 1. 91 Nm to 28. 7 Nm) System configuration (Refer to servo drive chapter) Power cable Drive options Encoder cable Servo motor 3000 rpm (50 W-750 W) Servo motor 3000 rpm (1 kW-5 kW) Power cable MECHATROLINK-II models Analog/Pulse models Encoder cable Servo motor 2000 rpm (400 W-5 kW) Servo motor 1000 rpm (900 W-3 kW) Accurax G5 servo motors 101 Servo motor / servo drive combination Voltage 230 V Accurax G5 rotary servo motor Speed Rated torque Capacity 3000 min-1 0. 16 Nm 0. 32 Nm 0. 64 Nm 1. 3 Nm 2. 4 Nm 3. 18 Nm 4. 77 Nm 2. 39 Nm 3. 18 Nm 4. 77 Nm 6. 37 Nm 9. 55 Nm 12. 7 Nm 15. 9 Nm 4. 77 Nm 7. 16 Nm 1. 91 Nm 2. 86 Nm 4. 77 Nm 7. 16 Nm 9. 55 Nm 14. 3 Nm 19. 1 Nm 23. 9 Nm 8. 59 Nm 8. 59 Nm 19. 1 Nm 28. 7 Nm 50 W 100 W 200 W 400 W 750 W 1000 W 1500 W 750 W 1000 W 1500 W 2000 W 3000 W 4000 W 5000 W 1000 W 1500 W 400 W 600 W 1000 W 1500 W 2000 W 3000 W 4000 W 5000 W 900 W 900 W 2000 W 3000 W Model R88M-K05030(H/T)-@ R88M-K10030(H/T)-@ R88M-K20030(H/T)-@ R88M-K40030(H/T)-@ R88M-K75030(H/T)-@ R88M-K1K030(H/T)-@ R88M-K1K530(H/T)-@ R88M-K75030(F/C)-@ R88M-K1K030(F/C)-@ R88M-K1K530(F/C)-@ R88M-K2K030(F/C)-@ R88M-K3K030(F/C)-@ R88M-K4K030(F/C)-@ R88M-K5K030(F/C)-@ R88M-K1K020(H/T)-@ R88M-K1K520(H/T)-@ R88M-K40020(F/C)-@ R88M-K60020(F/C)-@ R88M-K1K020(F/C)-@ R88M-K1K520(F/C)-@ R88M-K2K020(F/C)-@ R88M-K3K020(F/C)-@ R88M-K4K020(F/C)-@ R88M-K5K020(F/C)-@ R88M-K90010(H/T)-@ R88M-K90010(F/C)-@ R88M-K2K010(F/C)-@ R88M-K3K010(F/C)-@ Accurax G5 servo drive MECHATROLINK-II model Analog/Pulse model 230 V 400 V 230 V 400 V R88D-KN01H-ML2 R88D-KT01H R88D-KN01H-ML2 R88D-KT01H R88D-KN02H-ML2 R88D-KT02H R88D-KN04H-ML2 R88D-KT04H R88D-KN08H-ML2 R88D-KT08H R88D-KN15H-ML2 R88D-KT15H R88D-KN15H-ML2 R88D-KT15H R88D-KN10F-ML2 R88D-KT10F R88D-KN15F-ML2 R88D-KT15F R88D-KN15F-ML2 R88D-KT15F R88D-KN20F-ML2 R88D-KT20F R88D-KN30F-ML2 R88D-KT30F R88D-KN50F-ML2 R88D-KT50F R88D-KN50F-ML2 R88D-KT50F R88D-KN10H-ML2 R88D-KT10H R88D-KN15H-ML2 R88D-KT15H R88D-KN06F-ML2 R88D-KT06F R88D-KN06F-ML2 R88D-KT06F R88D-KN10F-ML2 R88D-KT10F R88D-KN15F-ML2 R88D-KT15F R88D-KN20F-ML2 R88D-KT20F R88D-KN30F-ML2 R88D-KT30F R88D-KN50F-ML2 R88D-KT50F R88D-KN50F-ML2 R88D-KT50F R88D-KN15H-ML2 R88D-KT15H R88D-KN15F-ML2 R88D-KT15F R88D-KN30F-ML2 R88D-KT30F R88D-KN50F-ML2 R88D-KT50F 400 V 230 V 400 V 2000 min-1 230 V 400 V 1000 min-1 Note: 1. [. . . ] speed Torque constant Rotor moment of inertia (JM) 230 V 400 V 20-bit incremental encoder 1K020H-@ 1K520H-@ 40020F-@ 60020F-@ 1K020F-@ 1K520F-@ 2K020F-@ 3K020F-@ 4K020F-@ 5K020F-@ 17-bit absolute encoder 1K020T-@ 1K520T-@ 40020C-@ 60020C-@ 1K020C-@ 1K520C-@ 2K020C-@ 3K020C-@ 4K020C-@ 5K020C-@ 2000 3000 0. 63 4. 60 5. 90 49. 5 38. 6 0. 58 6. 70 7. 99 76. 5 64. 2 1. 27 1. 61 1. 90 22. 7 19. 2 1. 38 2. 03 2. 35 40. 3 34. 8 490 196 3. 5 4. 5 1. 35 14 19 0. 59±10% 0. 79±10% 17 0. 70 ±10% 14 0. 59±10% 19 0. 79 ±10% 1. 27 4. 60 5. 90 10 49. 5 38. 6 76. 5 64. 2 105 91. 2 159 144 97. 1 94. 5 784 343 15. 5 18. 7 119 117 1. 16 6. 70 7. 99 1. 27 8. 72 10 1. 18 12. 9 14. 2 1. 40 37. 6 38. 6 1. 46 48 48. 8 brake) kg·m2x10-4 (with brake) Max. load moment of inertia (JL) Multiple of (JM) Rated power rate Allowable radial load Allowable thrust load Approx. mass Brake specifications Rated voltage Holding brake moment inertia (J) kg·m2x10-4 Power consumption (20°C) W kW/s (without brake) kW/s (with brake) N N kg (without brake) kg (with brake) 5. 2 6. 7 6. 7 8. 2 24VDC ±10% 3. 1 4. 1 5. 2 6. 7 6. 7 8. 2 8 9. 5 11 12. 6 18. 6 21. 8 Current consumption (20°C) A 4. 7 22 31 0. 90±10% 1. 3±10% 1. 3 ±-10% 16. 2 110 24. 5 80 25 Static friction torque N. m (minimum) Rise time for holding torque ms (max. ) Release time ms (max) Time Rating Insulation class Ambient operating/ storage temperature Ambient operating/ storage humidity Vibration class Insulation resistance Enclosure Vibration resistance Mounting 4. 9 13. 7 2. 5 4. 9 13. 7 80 100 50 80 100 70 50 15 70 50 Continuous TypeF 0 to +40 °C/ -20 to 85°C 20% to 85% (non-condensing) V-15 20 M min. speed min-1 Torque constant N·m/A (rms) Rotor moment of inertia (JM) kg·m2x10-4 (without brake) kg·m2x10-4 (with brake) Allowable load moment of inertia (JL) Multiple of (JM) Rated power rate kW/s (without brake) kW/s (with brake) Allowable radial load N Allowable thrust load N Approx. mass kg (without brake) kg (with brake) Rated voltage Holding brake moment of inertia J kg·m2x10-4 Power consumption (at 20°C) W Current consumption (at 20°C) A Static friction torque N. m (minimum) Rise time for holding torque ms (max. ) Release time ms (max) Time Rating Insulation class Ambient operating/ storage temperature Ambient operating/ storage humidity Vibration class Insulation resistance Enclosure Vibration resistance Mounting Brake specifications 230 V 90010H-@ 90010T-@ 900 8. 59 19. 3 7. 6 24 3. 8 12 1000 2000 0. 86 6. 70 7. 99 10 110 92. 4 686 196 6. 7 8. 2 24VDC ±10% 1. 35 19 0. 79±10% 13. 7 100 50 4. 7 31 1. 3±10% 24. 5 80 25 34 1. 4±10% 58. 8 150 50 120 116 1176 490 14 17. 5 20 23. 5 170 167 1470 1. 72 1. 76 30. 3 31. 4 1. 92 48. 4 49. 2 90010F-@ 90010C-@ 900 400 V 2K010F-@ 2K010C-@ 2000 19. 1 47. 7 8. 5 30 3K010F-@ 3K010C-@ 3000 28. 7 71. 7 11. 3 40 Continuous Type F 0 to +40 °C/ -20 to 65°C 20% to 85% RH (non-condensing) V-15 20 M min. at 500 VDC between the power terminals and FG terminal Totally-enclosed, self-cooling, IP67 (excluding shaft opening) Vibration acceleration 49 m/s2 Flange-mounted Torque-speed characteristics Basic specifications R88M-K90010H/T/F/C (N-M) 20 19. 3 (1600) Power supply voltage dropped by 10% R88M-K2K010F/C (N-M) 50 47. 7 (1400) R88M-K3K010F/C (N-M) 19. 3(1800) 14. 0 8. 0 4. 3 47. 7(1600) Power supply voltage dropped by 10% 71. 7 70 (1400) 71. 7(1600) Power supply voltage dropped by 10% Momentary operation range Momentary operation range Momentary operation range 10 8. 59 8. 59 25 19. 1 28. 0 19. 1 Continuous operation range 18. 0 9. 6 35 28. 7 28. 7 40. 0 20. 0 14. 0 Continuous operation range Continuous operation range 0 1000 2000 (r/min) 0 1000 2000 (r/min) 0 1000 2000 (r/min) 106 AC servo systems Dimensions Servomotors Type 3000 r/min motors (230 V, 50 - 100 W) Dimensions (mm) Model R88M-K05030(H/T)-@S2 R88M-K10030(H/T)-@S2 Encoder connector Brake connector Motor connector LL LM 6 2 LN 3 2 8h6 8h6 30h7 LN 1. 5 min. 30h7 25 Without brake LL LM 72 48 92 68 With brake LL LM 102 78 122 98 LN 23 43 Shaft End Dimensions Tap × Depth M3 x 6L Approx. Mass (Kg) Without brake With brake 0. 32 0. 53 0. 47 0. 68 AC Servo systems With brake 4. 5 5. 4 4. 1 4. 5 5. 4 6. 3 9. 4 12. 6 16 Encoder connector Motor connector LL LM 25 6 3 R3. 7 14 12. 5 3 3h9 25 40×40 Shaft end 6. 2 Tap x depth 46 ±0. 1. 5 min. Models with brake Models without brake 2 R4. 2 2-4. 3 Type 3000 r/min motors (230 V, 200 - 750 W) Dimensions (mm) Without brake Model LL LM R88M-K20030(H/T)-@S2 79. 5 56. 5 R88M-K40030(H/T)-@S2 99 76 R88M-K75030(H/T)-@S2 112. 2 86. 2 Encoder connector Brake connector Motor connector LL LM LG LE LR With brake LR LL LM LB 116 93 30 50h7 135. 5 112. 5 148. 2 122. 2 35 70h7 Flange surface Shaft End Dimensions Approx. Mass Kg LC LD LE LG LZ S K QK H B T Tap × Depth Without brake With brake 60 70 3 6. 5 4. 5 11h6 20 18 8. 5 4h9 4 M4x8L 0. 82 1. 3 M5x10L 1. 2 1. 7 14h6 25 22. 5 11 5h9 5 80 90 8 6 19h6 22 15. 5 6h9 6 2. 3 3. 1 Encoder connector Motor connector LL LM LG LE LR LC×LC Shaft end 4-LZ LR K B H T Tap x depth S S LB Model with brake 1. 5 min. 1. 5 min. Model without brake Type 3000 r/min motors (230 V, 1 - 1. 5 kW/ 400V, 750 W - 5 kW) Dimensions (mm) Voltage Model LL Without brake LM KB1 KB2 KL1 LL With brake LM KB1 KB2 KL1 LR LA Flange surface LB LC LD LE LG S Shaft End Dimensions Tap x K QK H Depth BT Approx. Mass (Kg) Without brake 3. 5 4. 4 3. 1 3. 5 4. 4 5. 3 8. 3 11 14 R88M-K@ 230 1K030(H/T)-@S2 1K530(H/T)-@S2 400 75030(F/C)-@S2 1K030(F/C)-@S2 1K530(F/C)-@S2 2K030(F/C)-@S2 3K030(F/C)-@S2 4K030(F/C)-@S2 5K030(F/C)-@S2 141 159. 5 131. 5 141 159. 5 178. 5 190 208 243 97 115. 5 87. 5 97 115. 5 134. 5 146 164 199 66 84. 5 56. 5 66 84. 5 103. 5 112 127 162 119 101 168 124 66 146 101 55 135 95h7 100 115 3 10 19h6 137. 5 186. 5 142. 5 84. 5 164. 5 109. 5 158. 5 114. 5 53. 5 136. 5 103 119 168 124 63 146 137. 5 186. 5 142. 5 81. 5 164. 5 156. 5 205. 5 161. 5 100. 5 183. 5 12 22h6 168 113 215 171 112 193 113 162 110h7 120 145 186 118 233 189 127 211 118 65 165 130 6 24h6 221 268 224 162 246 LB ±0. 2 LD QK M5x 12L 45 42 15. 5 6h9 6 M8x 20L 41 18 8h9 7 55 51 20 Motor and brake connector Encoder connector LL LM KB2 KB1 LG LR LCxLC LR LE K 4-9 QK Shaft end KL1 60 S LB S LD LB H T Tap x depth LA B Accurax G5 servo motors 107 Type 2000 r/min motors (230 V, 1 - 1. 5 kW / 400 V, 400W - 5 kW) Dimensions (mm) Model LL Without brake LM KB1 KB2 KL1 LL With brake LM KB1 KB2 KL1 LR LA Flange surface LB LC LD LE LG LZ S Shaft End Dimensions K QK H B T Approx. Mass (Kg) Without brake With brake 6. 7 8. 2 4. 1 4. 5 6. 7 8. 2 9. 5 12. 6 Approx. Mass (Kg) Without brake With brake Voltage R88M-K@ 230 1K020(H/T)-@S2 1K520(H/T)-@S2 400 40020(F/C)-@S2 60020(F/C)-@S2 1K020(F/C)-@S2 1K520(F/C)-@S2 2K020(F/C)-@S2 3K020(F/C)-@S2 138 155. 5 131. 5 141 138 155. 5 173 208 94 111. 5 87. 5 97 94 111. 5 129 164 60 77. 5 56. 5 66 60 77. 5 95 127 116 133. 5 109. 5 119 116 133. 5 151 186 116 163 180. 5 101 158. 5 168 116 163 180. 5 198 118 233 119 136. 5 114. 5 124 119 136. 5 154 189 60 77. 5 53. 5 63 57 74. 5 92 127 141 116 55 165 110h7 130 145 6 12 158. 5 136. 5 103 135 95h7 100 115 3 10 146 141 118 165 110h7 130 145 6 12 158. 5 176 211 65 9 8h9 7 5. 2 6. 7 19h6 42 15. 5 6h9 6 3. 1 3. 5 22h6 41 18 8h9 7 5. 2 6. 7 8 11 24h6 M8x 55 51 20 12L 20L 22h6 M5x 45 41 18 4K020(F/C)-@S2 177 5K020(F/C)-@S2 196 133 96 155 140 202 152 115 174 221 158 96 180 140 70 233 114. 3h7 176 200 3. 2 18 13. 5 35h6 M12x 25L 177 115 199 Tap x Depth 50 30 10h9 8 15. 5 18. 7 18. 6 21. 8 Motor and brake connector Encoder connector LL LM KB2 KB1 LG LR LCxLC LR LE K 4-LZ LA Shaft end KL1 QK B S H LB T Tap x depth B T 60 S LB LD Type 1000 r/min motors (230 V, 900W / 400 V, 900W - 3 kW) Dimensions (mm) Model LL Without brake LM KB1 KB2 KL1 LL With brake LM KB1 KB2 KL1 LR Flange surface LA LB LC LD LE LG LZ S Shaft End Dimensions K QK H Voltage R88M-K@ 230 90010(H/T)-@S2 155. 5 111. 5 77. 5 133. 5 116 180. 5 136. 5 77. 5 158. 5 116 70 165 110h7 130 145 6 12 9 22h6 M5x12L 45 41 18 8h9 7 6. 7 8. 2 M5x10L 400 90010(F/C)-@S2 74. 5 118 2K010(F/C)-@S2 163. 5 119. 5 82. 5 141. 5 140 188. 5 144. 5 82. 5 166. 5 140 80 233 114. 3h7 176 200 3. 2 18 13. 5 35h6 M12x 55 50 30 10h9 8 14 17. 5 25L 3K010(F/C)-@S2 209. 5 165. 5 128. 5 187. 5 234. 5 190. 5 128. 5 212. 5 20 23. 5 Motor and brake connector Encoder connector LL LM KB2 KB1 LG LR LCxLC LR LE K 4-LZ LA Shaft end KL1 QK B S H LB T Tap x depth 60 S LB LD 108 Tap x Depth AC servo systems Ordering information (Refer to servo drive chapter) E Power cable C Encoder cable Drive options F Brake cable B B A Servo motor 3000 rpm (50 W-750 W) AC Servo systems A Servo motor 3000 rpm (1 kW-5 kW) E Power cable/ Power cable with brake MECHATROLINK-II models Analog/Pulse models C Encoder cable D Extension cable for A Servo motor 2000 rpm (400 W-5 kW) Absolute encoder (with battery holder) A Servo motor 1000 rpm (900 W-3 kW) Note: The symbols ABC. . . [. . . ] To convert grams into ounces, multiply by 0. 03527. I100E-EN-01A In the interest of product improvement, specifications are subject to change without notice. 114 AC servo systems [. . . ]