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R88M-G, R88D-GT

G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs

R88M-G, R88D-GT

Support for a Wide Range of Applications with Position Control, Speed Control, Torque Control.

Servo Drive Specifications (R88D-GT)

General Specifications

Item Specifications
Ambient operating temperature and
operating humidity
0 to 55 °C, 90% RH max. (with no condensation)
Ambient storage temperature and
storage humidity
-20 to 65 °C, 90% RH max. (with no condensation)
Storage and operating atmosphere No corrosive gasses
Vibration resistance 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.
Impact resistance Acceleration of 19.6 m/s2 max. 2 times each in X, Y, and Z directions
Insulation resistance Between power supply/power line terminals and frame ground: 0.5 MΩ.
min. (at 500 VDC)
Dielectric strength 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
Protective structure Built into panel (IP10).
International
standards
EC
Directives
EMC
Directive
EN 55011 class A group 1
EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11
Low voltage
Directive
EN 50178
UL standards UL 508C
CSA standards CSA C22.2 No.14
Korean Radio
Regulations (KC)
Certified

Note: 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
Note: 2. Always disconnect all connections to the Servo Drive before you perform insulation resistance tests on it. If you
               perform an insulation resistance test while the Servo Drive is connected, the Servo Drive may be damaged.
               Never perform dielectric strength tests on the Servo Drive. Failure to follow this precaution may result in
               damaging internal elements. Note: 3. Depending on the operating conditions, some Servo Drive parts will
               require maintenance.
Note: 4. The service life of the Servo Drive is 28,000 hours at an average ambient temperature of 55°C at 100% of the
               rated torque.

Characteristics

Servo Drives with 100-VAC Input Power

Item R88D-GTA5L R88D-GT01L R88D-GT02L R88D-GT04L
Continuous output current (rms) 1.3 A 1.8 A 2.4 A 4.9 A
Momentary maximum output current (rms) 3.9 A 5.4 A 7.2 A 14.7 A
Input power
supply
Main circuit Power supply
capacity
0.4 KVA 0.4 KVA 0.5 KVA 0.9 KVA
Power supply
voltage
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
Rated current 1.4 A 2.2 A 3.7 A 6.6 A
Control
circuit
Power supply
voltage
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
Rated current 0.09 A 0.09 A 0.09 A 0.09 A
Heat
generated
Main circuit 10.1 W 14.4 W 18.4 W 41.4 W
Control circuit 4.4 W 4.4 W 4.4 W 4.4 W
Control method All-digital servo
Inverter method IGBT-driven PWM method
PWM frequency 12.0 kHz 6.0 kHz
Weight Approx. 0.8 kg Approx. 0.8 kg Approx. 1.1 kg Approx. 1.5 kg
Maximum applicable motor capacity 50 W 100 W 200 W 400 W
Applicable
Servomotors
(R88M-)
3,000-r/min
Servomotors
[INC] G05030H G10030L G20030L G40030L
[ABS] G05030T G10030S G20030S G40030S
3,000-r/min
Flat
Servomotors
[INC] --- GP10030L GP20030L GP40030L
[ABS] --- GP10030S GP20030S GP40030S
2,000-r/min
Servomotors
[ABS] --- --- --- ---
1,000-r/min
Servomotors
[ABS] --- --- --- ---
Performance Speed control range 1: 5000
Speed variability: Load
characteristic
0.01% or less at 0% to 100% (at rated speed)
Speed variability: Voltage
characteristic
0% at ±10% of rated voltage (at rated speed)
Speed variability:
Temperature characteristic
± 0.1% or less at 0 to 50°C (at rated speed)
Torque control
reproducibility
± 3%

Servo Drives with Single-phase 200-VAC Input Power

Item R88D-
GT01H
R88D-
GT02H
R88D-
GT04H
R88D-
GT08H
R88D-
GT10H
R88D-
GT15H
Continuous output current (rms) 1.16 A 1.6 A 2.7 A 4.0 A 5.9 A 9.8 A
Momentary maximum output
current (rms)
3.5 A 5.3 A 7.1 A 14.1 A 21.2 A 28.3 A
Input
power
supply
Main circuit Power
supply
capacity
0.5 KVA 0.5 KVA 0.9 KVA 1.3 KVA 1.8 KVA 2.3 KVA
Power
supply
voltage
Single-phase 200 to 240 VAC
(170 to 264 V), 50/60 Hz
Single-phase or three-phase 200 to 240
VAC (170 to 264 V), 50/60 Hz
Rated
current
1.3 A 2.0 A 3.7 A 5.0/3.3 *1 A 7.5/4.1 *1 A 11/8.0 *1 A
Control
circuit
Power
supply
voltage
Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
Rated
current
0.05 A 0.05 A 0.05 A 0.05 A 0.07 A 0.07 A
Heat
gen-
erated
Main circuit 14.3 W 14.8 W 23.6 W 38.7 W 52.9 W 105.9 W
Control circuit 4.5 W 4.5 W 4.5 W 4.3 W 6.1 W 6.1 W
PWM frequency 12.0 kHz 6.0 kHz
Weight Approx.
0.8 kg
Approx.
0.8 kg
Approx.
1.1 kg
Approx.
1.5 kg
Approx.
1.7 kg
Approx.
1.7 kg
Maximum applicable motor
capacity
100 W 200 W 400 W 750 W 1 k W 1.5 kW
Appli-
cable
Servo-
motors
(R88M-)
3,000-r/min
Servomotors
[INC] G05030H
G10030H
G20030H G40030H G75030H --- ---
[ABS] G05030T
G10030T
G20030T G40030T G75030T --- G1K030T
G1K530T
3,000-r/min
Flat
Servomotors
[INC] GP10030H GP20030H GP40030H --- --- ---
[ABS] GP10030T GP20030T GP40030T --- --- ---
2,000-r/min
Servomotors
[ABS] --- --- --- --- G1K020T G1K520T
1,000-r/min
Servomotors
[ABS] --- --- --- --- --- G90010T
Control method All-digital servo
Inverter method IGBT-driven PWM method
Per-
form-
ance
Speed control range 1:5000
Speed variability: Load
characteristic
0.01% or less at 0% to 100% (at rated speed)
Speed variability: Voltage
characteristic
0% at ±10% of rated voltage (at rated speed)
Speed variability:
Temperature
characteristic
±0.1% or less at 0 to 50°C (at rated speed)
Torque control
reproducibility
±3%

*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 R88D-GT20H R88D-GT30H R88D-GT50H R88D-GT75H
Continuous output current (rms) 14.3 A 17.4 A 31.0 A 45.4 A
Momentary maximum output current (rms) 45.3 A 63.6 A 84.8 A 170.0 A
Input power
supply
Main circuit Power supply
capacity
3.3 KVA 4.5 KVA 7.5 KVA 11 KVA
Power supply
voltage
Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
Rated current 10.2 A 15.2 A 23.7 A 35.0 A
Control
circuit
Power supply
voltage
Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
Rated current 0.1 A 0.12 A 0.12 A 0.14 A
Heat
generated
Main circuit 112.3 W 219.6 W 391.7 W 376.2 W
Control circuit 10.7 W 13.3 W 13.3 W 13.8 W
PWM frequency 6.0 kHz
Weight Approx. 3.2 kg Approx. 6.0 kg Approx. 6.0 kg Approx. 16.4 kg
Maximum applicable motor capacity 2 kW 3 kW 5 kW 7.5 kW
Applicable
Servomotors
(R88M-)
3,000-r/min
Servomotors
[INC] --- --- --- ---
[ABS] G2K030T G3K030T G4K030T
G5K030T
---
3,000-r/min
Flat
Servomotors
[INC] --- --- --- ---
[ABS] --- --- --- ---
2,000-r/min
Servomotors
[ABS] G2K020T G3K020T G4K020T G7K515T
1,000-r/min
Servomotors
[ABS] --- G2K010T G3K010T
G4K510T
G6K010T
Control method All-digital servo
Inverter method IGBT-driven PWM method
Performance Speed control range 1:5000
Speed variability: Load
characteristic
0.01% or less at 0% to 100% (at rated speed)
Speed variability: Voltage
characteristic
0% at ±10% of rated voltage (at rated speed)
Speed variability:
Temperature characteristic
±0.1% or less at 0 to 50°C (at rated speed)
Torque control
reproducibility
±3%

Servomotor Specifications (R88M-G)

General Specifications

Item 3,000-r/min Servomotors 3,000-r/min
Flat
Servomotors
1,000-r/min Servomotors
2,000-r/min Servomotors
50 to 750 W 1 to 5 kW 900 W to 5 kW 6 to 7.5 kW
Ambient operating
temperature and humidity
0 to 40 °C, 85% RH max. (with no condensation)
Ambient storage temperature
and humidity
-20 to 65 °C,
85% RH max.
(with no
condensation)
-20 to 80 °C, 85% RH max. (with no condensation)
Storage and operating
atmosphere
No corrosive gases
Vibration resistance *1 10 to 2,500 Hz
and
acceleration of
49 m/s2 max.
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
10 to 2,500 Hz
and acceleration
of 49 m/s2 max.
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
Impact resistance Acceleration of
98 m/s2 max.
3 times each in
the X, Y, and Z
directions
Acceleration of
98 m/s2 max.
3 times each in
the X, Y, and Z
directions
Acceleration of
98 m/s2 max.
3 times each in
the X, Y, and Z
directions
Acceleration of 98 m/s2 max.
2 times vertically
Insulation resistance 20 MΩ min. at 500 VDC between the power terminals and FG terminal
Dielectric strength 1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal
Operating position All directions
Insulation grade Type B Type F Type B Type F
Structure Totally enclosed, self-cooling
Protective structure IP65 (excluding the output shaft rotating section and lead wire ends)
Vibration grade V-15
Mounting method Flange-mounting
Inter-
national
stand-
ards
EC Di-
rectives
Low
voltage
Directive
IEC 60034-1/-5
UL standards UL1004-1 -
CSA standards CSA 22.2 No.100

*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.
Note: 3. Always disconnect all connections to the Servo Drive before you perform insulation resistance tests on it. If you
               perform an insulation resistance test while the Servo Drive is connected, the Servo Drive may be damaged.
               Never perform dielectric strength tests on the Servo Drive. Failure to follow this precaution may result in
               damaging internal elements.

Characteristics

3,000-r/min Cylindrical Servomotors

100-VAC Input Power

Model (R88M-) G05030H G10030L G20030L G40030L
Item Unit G05030T G10030S G20030S G40030S
Rated output *1 W 50 100 200 400
Rated torque *1 N·m 0.16 0.32 0.64 1.3
Rated rotation speed r/min 3000
Max. momentary rotation speed r/min 5000
Max. momentary torque *1 Nm 0.45 0.93 1.78 3.6
Rated current *1 A (rms) 1.1 1.7 2.5 4.6
Max. momentary current *1 A (rms) 3.4 5.1 7.6 13.9
Rotor inertia kg·m2
(GD2/4)
2.5 × 10-6 5.1 × 10-6 1.4 × 10-5 2.6 × 10-5
Applicable load inertia --- 30 times the rotor inertia max. *2
Torque constant *1 N·m/A 0.14 0.19 0.26 0.28
Power rate *1 kW/s 10.4 20.1 30.3 62.5
Mechanical time constant ms 1.56 1.11 0.72 0.55
Electrical time constant ms 0.7 0.8 2.5 2.9
Allowable radial load *3 N 68 68 245 245
Allowable thrust load *3 N 58 58 98 98
Weight Without brake kg Approx. 0.3 Approx. 0.5 Approx. 0.8 Approx. 1.2
With brake kg Approx. 0.5 Approx. 0.7 Approx. 1.3 Approx. 1.7
Radiation shield dimensions (material) 100 × 80 × t10 (AI) 130 × 120 × t12 (AI)
Applicable Servo Drives (R88D-) GTA5L GT01L GT02L GT04L
Brake
specifi-
cations
Brake inertia kg·m2
(GD2/4)
2 × 10-7 2 × 10-7 1.8 × 10-6 1.8 × 10-6
Excitation voltage *4 V 24 VDC ± 5%
Power consumption
(at 20 °C)
W 7 7 9 9
Current consumption
(at 20 °C)
A 0.3 0.3 0.36 0.36
Static friction torque N·m 0.29 min. 0.29 min. 1.27 min. 1.27 min.
Attraction time *5 ms 35 max. 35 max. 50 max. 50 max.
Release time *5 ms 20 max. 20 max. 15 max. 15 max.
Backlash ± 1 °
Allowable work per
braking
J 39.2 39.2 137 137
Allowable total work J 4.9 × 103 4.9 × 103 44.1 × 103 44.1 × 103
Allowable angular
acceleration
rad/s2 30,000 max.
(Speed of 2,800 r/min or more must not be changed in less than 10 ms)
Brake life --- 10,000,000 operations min.
Rating --- Continuous
Insulation grade --- Type F

*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 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.
       • The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains
           stopped for at least 3 minutes after applying the dynamic brake. Otherwise the dynamic brake circuits may fail.
*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.

R88M-G, R88D-GT Specifications 15

*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.).

200-VAC Input Power

Model (R88M-) G05030H G10030H G20030H G40030H G75030H
Item Unit G05030T G10030T G20030T G40030T G75030T
Rated output t * 1 W 50 100 200 400 750
Rated torque * 1 N·m 0.16 0.32 0.64 1.3 2.4
Rated rotation speed r/min 3000
Max. momentary rotation speed r/min 5000 4500
Max. momentary torque * 1 N·m 0.45 0.90 1.78 3.67 7.05
Rated current * 1 A (rms) 1.1 1.1 1.6 2.6 4
Max. momentary current * 1 A (rms) 3.4 3.4 4.9 7.9 12.1
Rotor inertia kg·m2
(GD2/4)
2.5 × 10-6 5.1 × 10-6 1.4 × 10-5 2.6 × 10-5 8.7 × 10-5
Applicable load inertia --- 30 times the rotor inertia max. *2 20 times the
rotor inertia
max. *2
Torque constant * 1 N·m/A 0.14 0.19 0.41 0.51 0.64
Power rate * 1 kW/s 10.4 20.1 30.3 62.5 66
Mechanical time constant ms 1.56 1.1 0.71 0.52 0.45
Electrical time constant ms 0.7 0.79 2.6 3 4.6
Allowable radial load *3 N 68 68 245 245 392
Allowable thrust load *3 N 58 58 98 98 147
Weight Without brake kg Approx. 0.3 Approx. 0.5 Approx. 0.8 Approx. 1.2 Approx. 2.3
With brake kg Approx. 0.5 Approx. 0.7 Approx. 1.3 Approx. 1.7 Approx. 3.1
Radiation shield dimensions (material) 100 × 80 × t10 (AI) 130 × 120 × t12 (AI) 170 × 160 ×
t12 (AI)
Applicable Servo Drives (R88D-) GT01H GT01H GT02H GT04H GT08H
Brake
specifi-
cations
Brake inertia kg·m2
(GD2/4)
2 × 10-7 2 × 10-7 1.8 × 10-6 1.8 × 10-6 7.5 × 10-6
Excitation voltage *4 V 24 VDC ± 5%
Power consumption
(at 20 °C)
W 7 7 9 9 10
Current consumption
(at 20 °C)
A 0.3 0.3 0.36 0.36 0.42
Static friction torque N·m 0.29 min. 0.29 min. 1.27 min. 1.27 min. 2.45 min.
Attraction time *5 ms 35 max. 35 max. 50 max. 50 max. 70 max.
Release time *5 ms 20 max. 20 max. 15 max. 15 max. 20 max.
Backlash ± 1 °
Allowable work per
braking
J 39.2 39.2 137 137 196
Allowable total work J 4.9 × 103 4.9 × 103 44.1 × 103 44.1 × 103 147 × 103
Allowable angular
acceleration
rad/s2 30,000 max.
(Speed of 2,800 r/min or more must not be changed in less than 10 ms)
Brake life --- 10,000,000 operations min.
Rating --- Continuous
Insulation grade --- Type F

Model (R88M-) --- --- --- --- --- ---
Item Unit G1K030T G1K530T G2K030T G3K030T G4K030T G5K030T
Rated output t * 1 W 1000 1500 2000 3000 4000 5000
Rated torque * 1 N·m 3.18 4.77 6.36 9.54 12.6 15.8
Rated rotation speed r/min 3000
Max. momentary rotation
speed
r/min 5000 4500
Max. momentary torque * 1 N·m 9.1 12.8 18.4 27.0 36.3 45.1
Rated current * 1 A (rms) 7.2 9.4 13 18.6 24.7 28.5
Max. momentary current * 1 A (rms) 21.4 28.5 40 57.1 75 85.7
Rotor inertia kg·m2
(GD2/4)
1.69 × 10-4 2.59 × 10-4 3.46 × 10-4 6.77 × 10-4 1.27 × 10-3 1.78 × 10-3
Applicable load inertia --- 15 times the rotor inertia max. *2
Torque constant * 1 N·m/A 0.44 0.51 0.48 0.51 0.51 0.57
Power rate * 1 kW/s 60 88 117 134 125 140
Mechanical time constant ms 0.78 0.54 0.53 0.46 0.51 0.46
Electrical time constant ms 6.7 10 10.8 20 20 20
Allowable radial load *3 N 392 490 490 490 784 784
Allowable thrust load *3 N 147 196 196 196 343 343
Weight Without brake kg Approx. 4.5 Approx. 5.1 Approx. 6.5 Approx. 9.3 Approx.
12.9
Approx.
17.3
With brake kg Approx. 5.1 Approx. 6.5 Approx. 7.9 Approx. 11 Approx.
14.8
Approx.
19.2
Radiation shield dimensions (material) 170 × 160
× t12 (AI)
320 × 300
× t30 (AI)
320 × 300
× t20 (AI)
380 × 350 × t30 (AI)
Applicable Servo Drives (R88D-) GT15H GT15H GT20H GT30H GT50H GT50H
Brake
spec-
ifica-
tions
Brake inertia kg·m2
(GD2/4)
2.5 × 10-5 3.3 × 10-5 3.3 × 10-5 3.3 × 10-5 1.35 × 10-4 1.35 × 10-4
Excitation voltage *4 V 24 VDC ± 10%
Power consumption
(at 20 °C)
W 18 19 19 19 22 22
Current consumption
(at 20 °C)
A 0.74 0.81 0.81 0.81 0.9 0.9
Static friction torque N·m 4.9 min. 7.8 min. 7.8 min. 11.8 min. 16.1 min. 16.1 min.
Attraction time *5 ms 50 max. 50 max. 50 max. 80 max. 110 max. 110 max.
Release time *5 ms 15 max. 15 max. 15 max. 15 max. 50 max. 50 max.
Backlash ± 1 °
Allowable work per
braking
J 392 392 392 392 1470 1470
Allowable total work J 2.0 × 105 4.9 × 105 4.9 × 105 4.9 × 105 2.2 × 106 2.2 × 106
Allowable angular
acceleration
rad/s2 10,000 max.
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life --- 10,000,000 operations min.
Rating --- Continuous
Insulation grade --- Type F

*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 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.
       • The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains
           stopped for at least 3 minutes after applying the dynamic brake. Otherwise the dynamic brake circuits may fail.
*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.

R88M-G, R88D-GT Specifications 19

*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.).

3,000-r/min Flat Servomotors

Model (R88M-) 100 VAC 200 VAC
GP10030L GP20030L GP40030L GP10030H GP20030H GP40030H
Item Unit GP10030S GP20030S GP40030S GP10030T GP20030T GP40030T
Rated output *1 W 100 200 400 100 200 400
Rated torque *1 N·m 0.32 0.64 1.3 0.32 0.64 1.3
Rated rotation speed r/min 3000
Max. momentary rotation
speed
r/min 5000 4500 5000
Max. momentary torque *1 N·m 0.84 1.8 3.6 0.86 1.8 3.65
Rated current *1 A (rms) 1.6 2.5 4.4 1 1.6 2.5
Max. momentary current
*1
A (rms) 4.9 7.5 13.3 3.1 4.9 7.5
Rotor inertia kg·m2
(GD2/4)
1.0 × 10-5 3.5 × 10-5 6.5 × 10-5 1.0 × 10-5 3.5 × 10-5 6.4 × 10-5
Applicable load inertia --- 20 times the rotor inertia max. *2
Torque constant *1 N·m/A 0.21 0.27 0.3 0.34 0.42 0.54
Power rate *1 kW/s 10.2 11.7 26.0 10.2 11.5 25.5
Mechanical time constant ms 0.87 0.75 0.55 1.05 0.81 0.59
Electrical time constant ms 3.4 6.7 6.7 2.9 5.6 6.6
Allowable radial load *3 N 68 245 245 68 245 245
Allowable thrust load *3 N 58 98 98 58 98 98
Weight Without brake kg Approx. 0.7 Approx. 1.3 Approx. 1.8 Approx. 0.7 Approx. 1.3 Approx. 1.8
With brake kg Approx. 0.9 Approx. 2 Approx. 2.5 Approx. 0.9 Approx. 2 Approx. 2.5
Radiation shield dimensions (material) 130 × 120
× t10 (AI)
170 × 160 × t12 (AI) 130 × 120
× t10 (AI)
170 × 160 × t12 (AI)
Applicable Servo Drives (R88D-) GT01L GT02L GT04L GT01H GT02H GT04H
Brake
spec-
ifica-
tions
Brake inertia kg·m2
(GD2/4)
3 × 10-6 9 × 10-6 3 × 10-6 9 × 10-6
Excitation voltage
*4
V 24 VDC ± 10%
Power
consumption
(at 20 °C)
W 7 10 7 10
Current
consumption
(at 20 °C)
A 0.29 0.41 0.29 0.41
Static friction
torque
N·m 0.29 min. 0.29 min. 1.27 min.
Attraction time
*5
ms 50 max. 50 max. 60 max.
Release time *5 ms 15 max.
Backlash ± 1 °
Allowable work per
braking
J 137 196 137 196
Allowable total work J 44.1 × 103 147 × 103 44.1 × 103 147 × 103
Allowable angular
acceleration
rad/s2 10,000 max.
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life --- 10,000,000 operations min.
Rating --- Continuous Continuous
Insulation grade --- Type F

*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 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.
       • The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains
           stopped for at least 3 minutes after applying the dynamic brake. Otherwise the dynamic brake circuits may fail.
*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.

R88M-G, R88D-GT Specifications 22

*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.).

2,000-r/min Cylindrical Servomotors

200-VAC Input Power

Model (R88M-) G1K020T G1K520T G2K020T G3K020T G4K020T G5K020T G7K515T
Item Unit
Rated output *1 W 1000 1500 2000 3000 4000 5000 7500
Rated torque *1 N·m 4.8 7.15 9.54 14.3 18.8 23.8 48
Rated rotation
speed
r/min 2000 1500
Max. momentary
rotation speed
r/min 3000 2000
Max. momentary
torque *1
N·m 13.5 19.6 26.5 41.2 54.9 70.6 111
Rated current *1 A (rms) 5.6 9.4 12.3 17.8 23.4 28 46.6
Max. momentary
current *1
A (rms) 17.1 28.5 37.1 54.2 71.4 85.7 117.8
Rotor inertia kg·m2
(GD2/4)
6.17
× 10-4
1.12
× 10-3
1.52
× 10-3
2.23
× 10-3
4.25
× 10-3
6.07
× 10-3
8.9
× 10-3
Applicable load
inertia
--- 10 times the rotor inertia max. *2
Torque constant *1 N·m/A 0.88 0.76 0.78 0.81 0.81 0.85 1.03
Power rate *1 kW/s 37.3 45.8 60 91.6 83.2 93.5 230
Mechanical time
constant
ms 0.7 0.81 0.75 0.72 1 0.9 0.71
Electrical time
constant
ms 18 19 21 20 24 32 34
Allowable radial load
*3
N 490 490 490 784 784 784 1176
Allowable thrust
load *3
N 196 196 196 343 343 343 490
Weight Without
brake
kg Approx.
6.8
Approx.
8.5
Approx.
10.6
Approx.
14.6
Approx.
18.8
Approx.
25
Approx.
41
With brake kg Approx.
8.7
Approx.
10.1
Approx.
12.5
Approx.
16.5
Approx.
21.3
Approx.
28.5
Approx.
45
Radiation shield dimensions
(material)
275 × 260 × t15 (AI) 380 × 350
× t30 (AI)
470 × 440 × t30 (AI)
Applicable Servo Drives
(R88D-)
GT10H GT15H GT20H GT30H GT50H GT50H GT75H
Brake
spec-
ifica-
tions
Brake
inertia
kg·m2
(GD2/4)
1.35 × 10-4 4.25
× 10-4
4.7
× 10-4
4.7
× 10-4
Excitation
voltage *4
V 24 VDC ± 10%
Power
consumption
(at 20 °C)
W 14 19 19 22 26 31 34
Current
consumption
(at 20 °C)
A 0.59 0.79 0.79 0.9 1.1 1.3 1.4
Static
friction
torque
N·m 4.9 min. 13.7 min. 13.7 min. 16.1 min. 21.5 min. 24.5 min. 58.8 min.
Attraction
time *5
ms 80 max. 100 max. 100 max. 110 max. 90 max. 80 max. 150 max.
Release
time *5
ms 70 max. 50 max. 50 max. 50 max. 35 min. 25 min. 50 max.
Backlash ± 1 °
Allowable
work per
braking
J 588 1176 1176 1170 1078 1372 1372
Allowable
total work
J 7.8 × 105 1.5 × 106 1.5 × 106 2.2 × 106 2.5 × 106 2.9 × 106 2.9 × 106
Allowable
angular
acceleration
rad/s2 10,000 max.
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life --- 10,000,000 operations min.
Rating --- Continuous
Insulation
grade
--- Type F

*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 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.
       • The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains
           stopped for at least 3 minutes after applying the dynamic brake. Otherwise the dynamic brake circuits may fail.
*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.

R88M-G, R88D-GT Specifications 26

*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.).

1,000-r/min Cylindrical Servomotors

200-VAC Input Power

Model (R88M-) G90010T G2K010T G3K010T G4K510T G6K010T
Item Unit
Rated output *1 W 900 2000 3000 4500 6000
Rated torque *1 N·m 8.62 19.1 28.4 42.9 57.2
Rated rotation speed r/min 1000
Max. momentary rotation speed r/min 2000
Max. momentary torque *1 N·m 18.4 41.5 60 101 130
Rated current *1 A (rms) 7.6 18.5 24 33 57.2
Max. momentary current *1 A (rms) 17.1 44 57.1 84.2 121.4
Rotor inertia kg·m2
(GD2/4)
1.12 × 10-3 3.55 × 10-3 5.57 × 10-3 8.09 × 10-3 9.9 × 10-3
Applicable load inertia --- 10 times the rotor inertia max. *2
Torque constant *1 N·m/A 1.13 1 1.1 1.3 1.22
Power rate *1 kW/s 66.3 103 145 228 331
Mechanical time constant ms 0.88 0.97 0.74 0.7 0.65
Electrical time constant ms 20 25 30 31 46.2
Allowable radial load *3 N 686 1176 1470 1470 1764
Allowable thrust load *3 N 196 490 490 490 588
Weight Without brake kg Approx. 8.5 Approx. 17.5 Approx. 25 Approx. 34 Approx. 41
With brake kg Approx. 10 Approx. 21 Approx. 28.5 Approx. 39.5 Approx. 45
Radiation shield dimensions (material) 275 × 260
× t15 (AI)
470 × 440 × t30 (AI)
Applicable Servo Drives (R88D-) GT15H GT30H GT50H GT50H GT75H
Brake
specifi-
cations
Brake inertia kg·m2
(GD2/4)
1.35 × 10-4 4.7 × 10-4 4.7 × 10-4 4.7 × 10-4 4.7 × 10-4
Excitation voltage *4 V 24 VDC ± 10%
Power consumption
(at 20 °C)
W 19 31 34
Current consumption
(at 20 °C)
A 0.79 1.3 1.4
Static friction torque N·m 13.7 min. 24.5 min. 58.8 min.
Attraction time *5 ms 100 max. 80 max. 150 max.
Release time *5 ms 50 max. 25 max. 50 max.
Backlash ± 1 °
Allowable work per
braking
J 1176 1372
Allowable total work J 1.6 × 106 2.9 × 106
Allowable angular
acceleration
rad/s2 10,000 max.
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life --- 10,000,000 operations min.
Rating --- Continuous
Insulation grade --- Type F

*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 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.
       • The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains
           stopped for at least 3 minutes after applying the dynamic brake. Otherwise the dynamic brake circuits may fail.
*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.

R88M-G, R88D-GT Specifications 30

*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.).

Decelerator Specifications (R88G-HPG/VRSF)

Backlash: 3 Arcminutes Max.

Decelerators for 3,000-r/min Servomotors

Model
(R88G-)
Rated
ro-
tation
speed
Rated
torque
Effi-
cien-
cy
Maxi-
mum
mo-
mentary
rotation
speed
Maxi-
mum
mo-
men-
tary
torque
De-
celerator
inertia
Al-
low-
able
radial
load
Al-
low-
able
thrust
load
Weight
r/min N·m % r/min N·m kg·m2 N N kg
50
W
1/5 HPG11B05100B 600 0.50 63 1000 1.42 5.00 × 10-7 135 538 0.29
1/9 HPG11B09050B 333 1.12 78 555 3.16 3.00 × 10-7 161 642 0.29
1/21 HPG14A21100B 143 2.18 65 238 6.13 5.00 × 10-6 340 1358 1.04
1/33 HPG14A33050B 91 3.73 71 151 10.5 4.40 × 10-6 389 1555 1.04
1/45 HPG14A45050B 67 5.09 71 111 14.3 4.40 × 10-6 427 1707 1.04
100
W
1/5 HPG11B05100B 600 1.28 80 1000 3.6 5.00 × 10-7 135 538 0.29
1/11 HPG14A11100B 273 2.63 75 454 7.39 6.00 × 10-6 280 1119 1.04
1/21 HPG14A21100B 143 5.40 80 238 15.2 5.00 × 10-6 340 1358 1.04
1/33 HPG20A33100B 91 6.91 65 151 19.4 6.50 × 10-5 916 3226 2.4
1/45 HPG20A45100B 67 9.42 65 111 26.5 6.50 × 10-5 1006 3541 2.4
200
W
1/5 HPG14A05200B 600 2.49 78 1000 6.93 2.07 × 10-5 221 883 1.02
1/11 HPG14A11200B 273 6.01 85 454 16.7 1.93 × 10-5 280 1119 1.09
1/21 HPG20A21200B 143 10.2 76 238 28.5 4.90 × 10-5 800 2817 2.9
1/33 HPG20A33200B 91 17.0 81 151 47.4 4.50 × 10-5 916 3226 2.9
1/45 HPG20A45200B 67 23.2 81 111 64.6 4.50 × 10-5 1006 3541 2.9
400
W
1/5 HPG14A05400B 600 5.66 87 1000 16.0
(15.7)
2.07 × 10-5 221 883 1.09
1/11 HPG20A11400B 273 11.7 82 454 33.1
(32.5)
5.70 × 10-5 659 2320 2.9
1/21 HPG20A21400B 143 23.5 86 238 66.5
(65.2)
4.90 × 10-5 800 2547 2.9
1/33 HPG32A33400B 91 34.7 81 151 98.2
(96.3)
6.20 × 10-5 1565 6240 7.5
1/45 HPG32A45400B 67 47.4 81 111 133.9
(131.4)
6.10 × 10-5 1718 6848 7.5
750
W
1/5 HPG20A05750B 600 9.94 83 1000 29.2 6.80 × 10-5 520 1832 2.9
1/11 HPG20A11750B 273 23.2 88 454 68.1 6.00 × 10-5 659 2320 3.1
1/21 HPG32A21750B 143 42.3 84 238 124.3 3.00 × 10-4 1367 5448 7.8
1/33 HPG32A33750B 91 69.7 88 151 204.7 2.70 × 10-4 1565 6240 7.8
1/45 HPG32A45750B 67 95.0 88 111 279.2 2.70 × 10-4 1718 6848 7.8
1
kW
1/5 HPG32A051K0B 600 11.5 72 1000 32.9 3.90 × 10-4 889 3542 7.3
1/11 HPG32A111K0B 273 28.9 83 454 82.6 3.40 × 10-4 1126 4488 7.8
1/21 HPG32A211K0B 143 58.1 87 238 166.1 3.00 × 10-4 1367 5488 7.8
1/33 HPG32A331K0B 91 94.3 90 151 270.0 2.80 × 10-4 1565 6240 7.8
1/45 HPG50A451K0B 67 124.2 87 100 *1 355.4 4.70 × 10-4 4538 15694 19.0
1.5
kW
1/5 HPG32A052K0B 600 19.1 80 1000 51.3 3.90 × 10-4 889 3542 7.4
1/11 HPG32A112K0B 273 45.7 87 454 122.5 3.40 × 10-4 1126 4488 7.9
1/21 HPG32A211K5B 143 90.1 90 238 241.9 3.00 × 10-4 1367 5448 7.9
1/33 HPG50A332K0B 91 141.5 90 136 *1 379.7 4.80 × 10-4 4135 14300 19.0
1/45 HPG50A451K5B 67 192.9 90 100 *1 517.8 4.70 × 10-4 4538 15694 19.0
2
kW
1/5 HPG32A052K0B 600 26.7 84 1000 77.4 3.90 × 10-4 889 3542 7.4
1/11 HPG32A112K0B 273 62.4 89 454 180.7 3.40 × 10-4 1126 4488 7.9
1/21 HPG50A212K0B 143 118.9 89 214 *1 343.9 5.80 × 10-4 3611 12486 19.0
1/33 HPG50A332K0B 91 191.8 91 136 *1 555.0 4.80 × 10-4 4135 14300 19.0
3
kW
1/5 HPG32A053K0B 600 42.0 88 1000 118.9 3.80 × 10-4 889 3542 7.3
1/11 HPG50A113K0B 273 92.3 88 409 *1 261.4 7.70 × 10-4 2974 10285 19.0
1/21 HPG50A213K0B 143 183.0 91 214 *1 517.7 5.80 × 10-4 3611 12486 19.0
4
kW
1/5 HPG32A054K0B 600 53.9 90 900 *1 163.4 3.80 × 10-4 889 3542 7.9
1/11 HPG50A115K0B 273 124.6 90 409 *1 359.0 8.80 × 10-4 2974 10285 19.1
5
kW
1/5 HPG50A055K0B 600 69.3 88 900 *1 197.8 1.20 × 10-3 2347 8118 17.7
1/11 HPG50A115K0B 273 158.4 91 409 *1 451.9 8.80 × 10-4 2974 10285 19.1

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 T/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).

Decelerators for 3,000-r/min Flat Servomotors

Model
(R88G-)
Rated
ro-
tation
speed
Rated
torque
Effi-
cien-
cy
Maxi-
mum
mo-
mentary
rotation
speed
Maxi-
mum
mo-
men-
tary
torque
De-
celerator
inertia
Al-
low-
able
radial
load
Al-
low-
able
thrust
load
Weight
r/min N·m % r/min N·m kg·m2 N N kg
100
W
1/5 HPG11B05100PB 600 1.28 80 1000 3.44
(3.36)
5.00 × 10-7 135 538 0.34
1/11 HPG14A11100PB 273 2.63 75 454 7.06
(6.89)
6.00 × 10-6 280 1119 1.04
1/21 HPG14A21100PB 143 5.40 80 238 14.5
(14.2)
5.00 × 10-6 340 1358 1.04
1/33 HPG20A33100PB 91 6.91 65 151 18.6
(18.1)
4.50 × 10-5 916 3226 2.9
1/45 HPG20A45100PB 67 9.42 65 111 25.3
(24.7)
4.50 × 10-5 1006 3541 2.9
200
W
1/5 HPG14A05200PB 600 2.49 78 1000 7.01 2.07 × 10-5 221 883 0.99
1/11 HPG20A11200PB 273 4.75 68 454 13.4 5.80 × 10-5 659 2320 3.1
1/21 HPG20A21200PB 143 10.2 76 238 28.8 4.90 × 10-5 800 2817 3.1
1/33 HPG20A33200PB 91 17.0 81 151 47.9 4.50 × 10-5 916 3226 3.1
1/45 HPG20A45200PB 67 23.2 81 111 65.4 4.50 × 10-5 1006 3541 3.1
400
W
1/5 HPG20A05400PB 600 4.67 72 1000
(900)
13.1
(12.9)
7.10 × 10-5 520 1832 3.1
1/11 HPG20A11400PB 273 11.7 82 454
(409)
32.9
(32.4)
5.80 × 10-5 659 2320 3.1
1/21 HPG20A21400PB 143 23.5 86 238
(214)
66.2
(65.2)
4.90 × 10-5 800 2817 3.1
1/33 HPG32A33400PB 91 34.7 81 151
(136)
97.6
(96.2)
2.80 × 10-4 1565 6240 7.8
1/45 HPG32A45400PB 67 47.4 81 111
(100)
133.0
(131.2)
2.80 × 10-4 1718 6848 7.8

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 T/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).

Decelerators for 2,000-r/min Servomotors

Model
(R88G-)
Rated
ro-
tation
speed
Rated
torque
Effi-
cien-
cy
Maxi-
mum
mo-
mentary
rotation
speed
Maxi-
mum
mo-
men-
tary
torque
De-
celerator
inertia
Al-
low-
able
radial
load
Al-
low-
able
thrust
load
Weight
r/min N·m % r/min N·m kg·m2 N N kg
1
kW
1/5 HPG32A053K0B 400 20.4 85 600 57.4 3.80 × 10-4 889 3542 7.3
1/11 HPG32A112K0SB 182 47.3 90 273 133.1 3.40 × 10-4 1126 4488 7.8
1/21 HPG32A211K0SB 95 92.3 92 143 259.7 2.90 × 10-4 1367 5448 7.8
1/33 HPG50A332K0SB 60 144.9 92 91 407.6 4.70 × 10-4 4135 14300 19.0
1/45 HPG50A451K0SB 44 197.7 92 67 555.9 4.70 × 10-4 4538 15694 19.0
1.5
kW
1/5 HPG32A053K0B 400 31.7 89 600 86.8 3.80 × 10-4 889 3542 7.3
1/11 HPG32A112K0SB 182 72.1 92 273 197.7 3.40 × 10-4 1126 4488 7.8
1/21 HPG50A213K0B 95 137.5 92 143 377.0 5.80 × 10-4 3611 12486 19.0
1/33 HPG50A332K0SB 60 219.4 93 91 601.5 4.70 × 10-4 4135 14300 19.0
2
kW
1/5 HPG32A053K0B 400 43.2 91 600 119.9 3.80 × 10-4 889 3542 7.3
1/11 HPG32A112K0SB 182 97.4 93 273 270.5 3.40 × 10-4 1126 4488 7.8
1/21 HPG50A213K0B 95 185.6 93 143 515.9 5.80 × 10-4 3611 12486 19.0
1/33 HPG50A332K0SB 60 270.0 *1 93 91 815.0 4.70 × 10-4 4135 14300 19.0
3
kW
1/5 HPG32A054K0B 400 66.0 92 600 190.1 3.80 × 10-4 889 3542 7.9
1/11 HPG50A115K0B 182 145.2 92 273 418.3 8.80 × 10-4 2974 10285 19.1
1/21 HPG50A213K0SB 95 260.0 *1 93 143 806.4 6.90 × 10-4 3611 12486 19.1
1/25 HPG65A253K0SB 80 322.9 90 120 930.1 3.00 × 10-3 7846 28654 52.0
4
kW
1/5 HPG50A054K0SB 400 85.8 91 600 250.3 1.20 × 10-3 2347 8118 18.6
1/11 HPG50A114K0SB 182 192.7 93 273 562.8 8.70 × 10-4 2974 10285 20.1
1/20 HPG65A204K0SB 100 342.2 91 150 999.2 3.28 × 10-3 7338 26799 52.0
1/25 HPG65A254K0SB 80 430.9 92 120 1258.6 3.24 × 10-3 7846 28654 52.0
5
kW
1/5 HPG50A055K0SB 400 109.8 92 600 325.5 1.10 × 10-3 2347 8118 22.0
1/11 HPG50A115K0SB 182 200.0 *1 93 273 723.8 8.40 × 10-4 2974 10285 23.5
1/20 HPG65A205K0SB 100 438.2 92 150 1300.5 2.85 × 10-3 7338 26799 55.4
1/25 HPG65A255K0SB 80 550.9 93 120 1634.4 2.81 × 10-3 7846 28654 55.4
7.5
kW
1/5 HPG65A057K5SB 300 221.1 92 400 511.2 2.07 × 10-2 4841 17681 48.0
1/12 HPG65A127K5SB 125 540.8 94 166 1250.7 2.02 × 10-2 6295 22991 52.0

*1. "Rated torque" indicates the allowable rated torque for the decelerator. Do not exceed this value.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 2. The protective structure for Servomotors with Decelerators satisfies IP44.
Note: 3. The allowable radial load is the value at the T/2 position.
Note: 4. The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of the
               model number (the suffix in the box).

Decelerators for 1,000-r/min Servomotors

Model
(R88G-)
Rated
ro-
tation
speed
Rated
torque
Effi-
cien-
cy
Maxi-
mum
mo-
mentary
rotation
speed
Maxi-
mum
mo-
men-
tary
torque
De-
celerator
inertia
Al-
low-
able
radial
load
Al-
low-
able
thrust
load
Weight
r/min N·m % r/min N·m kg·m2 N N kg
900
W
1/5 HPG32A05900TB 200 39.9 93 400 85.2 3.80 × 10-4 889 3542 7.9
1/11 HPG32A11900TB 90 89.0 94 182 190.1 3.40 × 10-4 1126 4488 8.4
1/21 HPG50A21900TB 47 169.8 94 95 362.4 7.00 × 10-4 3611 12486 19.1
1/33 HPG50A33900TB 30 268.5 94 60 573.2 5.90 × 10-4 4135 14300 19.1
2
kW
1/5 HPG32A052K0TB 200 90.2 95 400 196.1 4.90 × 10-4 889 3542 8.9
1/11 HPG50A112K0TB 90 198.4 94 182 430.9 8.40 × 10-4 2974 10285 20.1
1/21 HPG50A212K0TB 47 320.0*1 95 95 786.8 6.50 × 10-4 3611 12486 20.1
1/25 HPG65A255K0SB 40 446.7 94 80 971.1 2.81 × 10-3 7846 28654 55.4
3
kW
1/5 HPG50A055K0SB 200 133.9 94 400 282.9 1.10 × 10-3 2347 8118 22.0
1/11 HPG50A115K0SB 90 246.0*1 95 182 684.0 8.40 × 10-4 2974 10285 23.5
1/20 HPG65A205K0SB 50 534.7 94 100 1129.2 2.85 × 10-3 7338 26799 55.4
1/25 HPG65A255K0SB 40 669.9 94 80 1411.5 2.81 × 10-3 7846 28654 55.4
4.5
kW
1/5 HPG50A054K5TB 200 203.5 95 400 479.2 1.20 × 10-3 2347 8118 22.0
1/12 HPG65A127K5SB 83 485.6 94 166 1142.9 2.02 × 10-2 6295 22991 52.0
1/20 HPG65A204K5TB 50 813.1 95 100 1915.0 1.92 × 10-2 7338 26799 52.0
6
kW
1/5 HPG65A057K5SB 200 268.1 94 400 609.7 2.07 × 10-2 4841 17681 48.0
1/12 HPG65A127K5SB 83 650.3 95 166 1477.3 2.02 × 10-2 6295 22991 52.0

*1. "Rated torque" indicates the allowable rated torque for the decelerator. Do not exceed this value.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 2. The protective structure for Servomotors with Decelerators satisfies IP44.
Note: 3. The allowable radial load is the value at the T/2 position.
Note: 4. The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of the
               model number (the suffix in the box).

Backlash: 15 Arcminutes Max.

Decelerators for 3,000-r/min Servomotors

Model
(R88G-)
Rated
ro-
tation
speed
Rated
torque
Effi-
cien-
cy
Maxi-
mum
mo-
mentary
rotation
speed
Maxi-
mum
mo-
men-
tary
torque
De-
celerator
inertia
Al-
low-
able
radial
load
Al-
low-
able
thrust
load
Weight
r/min N·m % r/min N·m kg·m2 N N kg
50
W
1/5 VRSF05B100CJ 600 0.52 65 1000 1.46 4.00 × 10-6 392 196 0.55
1/9 VRSF09B100CJ 333 0.93 65 556 2.63 3.50 × 10-6 441 220 0.55
1/15 VRSF15B100CJ 200 1.67 70 333 4.73 3.50 × 10-6 588 294 0.70
1/25 VRSF25B100CJ 120 2.78 70 200 7.88 3.25 × 10-6 686 343 0.70
100
W
1/5 VRSF05B100CJ 600 1.19 75 1000 3.38 4.00 × 10-6 392 196 0.55
1/9 VRSF09B100CJ 333 2.29 80 556 6.48 3.50 × 10-6 441 220 0.55
1/15 VRSF15B100CJ 200 3.81 80 333 10.8 3.50 × 10-6 588 294 0.70
1/25 VRSF25B100CJ 120 6.36 80 200 18.0 3.25 × 10-6 686 343 0.70
200
W
1/5 VRSF05B200CJ 600 2.70 85 1000 7.57 1.18 × 10-5 392 196 0.72
1/9 VRSF09C200CJ 333 3.77 66 556 10.6 2.75 × 10-5 931 465 1.70
1/15 VRSF15C200CJ 200 6.29 66 333 17.6 3.00 × 10-5 1176 588 2.10
1/25 VRSF25C200CJ 120 11.1 70 200 31.2 2.88 × 10-5 1323 661 2.10
400
W
1/5 VRSF05C400CJ 600 5.40 85 1000 15.6
(15.3)
3.63 × 10-5 784 392 1.70
1/9 VRSF09C400CJ 333 9.50 83 556 27.4
(26.8)
2.75 × 10-5 931 465 1.70
1/15 VRSF15C400CJ 200 15.8 83 333 45.7
(44.8)
3.00 × 10-5 1176 588 2.10
1/25 VRSF25C400CJ 120 26.4 83 200 76.1
(74.7)
2.88 × 10-5 1323 661 2.10
750
W
1/5 VRSF05C750CJ 600 10.7 90 1000 31.7 7.13 × 10-5 784 392 2.10
1/9 VRSF09D750CJ 333 18.2 85 556 53.9 6.50 × 10-5 1176 588 3.40
1/15 VRSF15D750CJ 200 30.4 85 333 89.9 7.00 × 10-5 1372 686 3.80
1/25 VRSF25D750CJ 120 50.7 85 200 149.8 6.80 × 10-5 1617 808 3.80

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 T/2 position.
Note: 5. The standard models have a straight shaft with a key.

Decelerators for 3,000-r/min Flat Servomotor

Model
(R88G-)
Rated
ro-
tation
speed
Rated
torque
Effi-
cien-
cy
Maxi-
mum
mo-
mentary
rotation
speed
Maxi-
mum
mo-
men-
tary
torque
De-
celerator
inertia
Al-
low-
able
radial
load
Al-
low-
able
thrust
load
Weight
r/min N·m % r/min N·m kg·m2 N N kg
100
W
1/5 VRSF05B100PCJ 600 1.19 75 1000 3.15 4.00 × 10-6 392 196 0.72
1/9 VRSF09B100PCJ 333 2.29 80 556 6.048 3.50 × 10-6 441 220 0.72
1/15 VRSF15B100PCJ 200 3.81 80 333 10.08 3.50 × 10-6 588 294 0.87
1/25 VRSF25B100PCJ 120 6.36 80 200 16.8 3.25 × 10-6 686 343 0.87
200
W
1/5 VRSF05B200PCJ 600 2.70 85 1000 7.65 1.18 × 10-5 392 196 0.85
1/9 VRSF09C200PCJ 333 3.77 66 556 10.692 2.75 × 10-5 931 465 1.80
1/15 VRSF15C200PCJ 200 6.29 66 333 17.82 3.00 × 10-5 1176 588 2.20
1/25 VRSF25C200PCJ 120 11.1 70 200 31.5 2.88 × 10-5 1323 661 2.20
400
W
1/5 VRSF05C400PCJ 600 5.40 85 1000
(900)
15.5
(15.3)
3.63 × 10-5 784 392 1.80
1/9 VRSF09C400PCJ 333 9.50 83 556
(500)
27.3
(26.9)
2.75 × 10-5 931 465 1.80
1/15 VRSF15C400PCJ 200 15.8 83 333
(300)
45.4
(44.8)
3.00 × 10-5 1176 588 2.20
1/25 VRSF25C400PCJ 120 26.4 83 200
(180)
75.7
(74.7)
2.88 × 10-5 1323 661 2.20

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 T/2 position.
Note: 5. The standard models have a straight shaft with a key.

Encoder, External Regeneration Resistors, Reactor and Parameter Unit Specifications

Encoder Specifications

Incremental Encoders

Item Specifications
Encoder system Optical encoder
No. of output pulses Phases A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation
Power supply voltage 5 VDC ± 5%
Power supply current 180 mA (max.)
Output signals +S, - S
Output interface RS-485 compliance

Absolute Encoders

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

External Regeneration Resistors Specifications

Model Resistance Nominal
capacity
Regeneration
absorption for
120 °C
temperature
rise
Heat radiation
condition
Thermal switch output
specifications
R88A-RR08050S 50 Ω 80 W 20 W Aluminum 250 × 250,
Thickness: 3.0
Operating temperature:
150 °C ± 5%, NC contact,
Rated output: 30 VDC, 50
mA max.
R88A-RR080100S 100 Ω
R88A-RR22047S1 47 Ω 220 W 70 W Aluminum 350 × 350,
Thickness: 3.0
Operating temperature:
170 °C ± 5%, NC contact,
Rated output: 3 A
R88A-RR50020S 20 Ω 500 W 180 W Aluminum 600 × 600,
Thickness: 3.0
Operating temperature:
200 °C ± 7%, NC contact,
Rated output: 250 VAC, 0.2
A max.
24 VDC, 0.2 A max.

Reactor Specifications

Servo Drive Reactor Reactor type
Model Rated current Inductance Weight
R88D-GTA5L
R88D-GT01H
3G3AX-DL2002 1.6 A 21.4 mH Approx. 0.8 kg Single-phase
R88D-GT01L
R88D-GT02H
3G3AX-DL2004 3.2 A 10.7 mH Approx. 1.0 kg Single-phase
R88D-GT02L
R88D-GT04H
3G3AX-DL2007 6.1 A 6.75 mH Approx. 1.3 kg Single-phase
R88D-GT04L
R88D-GT08H
R88D-GT10H
3G3AX-DL2015 9.3 A 3.51 mH Approx. 1.6 kg Single-phase
R88D-GT15H 3G3AX-DL2022 13.8 A 2.51 mH Approx. 2.1 kg Single-phase
R88D-GT08H
R88D-GT10H
R88D-GT15H
3G3AX-AL2025 10.0 A 2.8 mH Approx. 2.8 kg Three-phase
R88D-GT20H
R88D-GT30H
3G3AX-AL2055 20.0 A 0.88 mH Approx. 4.0 kg Three-phase
R88D-GT50H 3G3AX-AL2110 34.0 A 0.35 mH Approx. 5.0 kg Three-phase
R88D-GT75H 3G3AX-AL2220 67.0 A 0.18 mH Approx. 10.0 kg Three-phase

R88A-PR02G Parameter Unit Specifications

General Specifications

Item Specifications
Operating ambient temperature
Operating ambient humidity
0 to 55 °C
90% max. (with no condensation)
Storage ambient temperature
Storage ambient humidity
- 20 to 80 °C
90% max. (with no condensation)
Storage and operating atmosphere No corrosive gases
Vibration resistance 5.9 m/s2 max.

Performance Specifications

Item Specifications
Type Hand-held
Cable length 1.5 m
Connectors Mini DIN 8-pin MD connector
Display 7-segment LED
External dimensions 62 × 114 × 15 mm (W × H × D)
Weight Approx. 0.1 kg (including cable that is provided)
Communications specifications Standard RS-232
Communications method Asynchronous (ASYNC)
Baud rate 9,600 bps
Start bits 1 bit
Data 8 bits
Parity None
Stop bits 1 bit