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R88M-1[] / R88D-1SN[]-ECT
AC Servo System 1S-series
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last update: June 10, 2024
AC Servo Drives with Built-in EtherCAT Communications [1S-series]
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
(EN61326-3-1 *1; Functional Safety) |
| Low Voltage | EN 61800-5-1 | ||
| Machinery | EN ISO 13849-1 (Cat.3), EN 61508, EN 62061, EN 61800-5-2 | ||
| UL standards | UL 61800-5-1 | ||
| CSA standards | CSA C22.2 No. 274 | ||
| Korean Radio Regulations (KC) | Compliant | ||
| Australian EMC Labelling
Requirements (RCM) |
Compliant | ||
| SEMI standards | Can conform to the standard for momentary power interruptions (for
no-load operation). |
||
| Ship standards (NK/LR) | Not compliant | ||
* The following product models are applicable to EN61000-6-7.
Applicable models: R88D-1SN55[]-ECT, R88D-1SN75[]-ECT, R88D-1SN150[]-ECT
Note: The above items reflect individual evaluation testing. The results may differ under compound conditions.
The detail of Machinery Directive is as follows:
The STO function via safety input signals: EN ISO 13849-1 (Cat3 PLe), EN 61508 (SIL3), EN 62061 (SIL3), EN 61800-5-2 (STO)
The STO function via EtherCAT communications: EN ISO 13849-1 (Cat.3 PLd), EN 61508 (SIL2), EN 62061 (SIL2), EN 61800-5-2 (STO)
Precautions for Correct Use
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.
Characteristics
100-VAC Input Models
| Servo Drive model (R88D-) | 1SN01L-ECT | 1SN02L-ECT | 1SN04L-ECT | ||
|---|---|---|---|---|---|
| Item | 100 W | 200 W | 400 W | ||
| Input | Main circuit | Power supply voltage | Single-phase 100 to 120 VAC (85 to 132 V) *1
Rise time 500 ms max. *2 |
||
| 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 *3 |
600 mA | ||||
| Rated input current
[A (rms)] (Main circuit power supply voltage: 120 VAC) |
Single-phase | 2.9 | 4.9 | 8.4 | |
| 3-phase | --- | --- | --- | ||
| Output | Rated current [A (rms)] | 1.5 | 2.5 | 4.8 | |
| Maximum current [A (rms)] | 4.7 | 8.4 | 14.7 | ||
| Heat value [W] | Main circuit *4 | 14.8 | 23.4 | 33.1 | |
| Control circuit | 11 | 11 | 13.2 | ||
| Applicable Servomotor rated output [W] | 100 | 200 | 400 | ||
| 3,000-r/min Servomotor (R88M-) | Batteryless
23-bit ABS |
1M05030S
1M10030S |
1M20030S | 1M40030S | |
| Hold time at momentary power interruption
(Main circuit power supply voltage: 100 VAC) |
10 ms (Load condition: rated output) *5 | ||||
| SCCR [A (rms)] | 5000 | ||||
| Weight [kg] | 1.2 | 1.5 | 1.9 | ||
*1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range of
acceptable variation.
*2. If the power supply is turned ON slowly, a Regeneration Circuit Error Detected during Power ON (Error No. 14.02) may
occur. Check that the power supply has a capacity sufficiently greater than the total capacity of the Servo Drive and the
peripheral devices.
*3. 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.
*4. This is the maximum heating value in applicable Servomotors.
Refer to the table on the page 14 for the Heating Values of Applicable Servomotors.
*5. This hold time at momentary power interruption is that of the main circuit. In order to maintain power supply to the
control circuit at momentary power interruption, use a DC power supply, which meets the following conditions, for the
control power supply:
Reinforced insulation or double insulation, and the output hold time of 10 ms or more.
acceptable variation.
*2. If the power supply is turned ON slowly, a Regeneration Circuit Error Detected during Power ON (Error No. 14.02) may
occur. Check that the power supply has a capacity sufficiently greater than the total capacity of the Servo Drive and the
peripheral devices.
*3. 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.
*4. This is the maximum heating value in applicable Servomotors.
Refer to the table on the page 14 for the Heating Values of Applicable Servomotors.
*5. This hold time at momentary power interruption is that of the main circuit. In order to maintain power supply to the
control circuit at momentary power interruption, use a DC power supply, which meets the following conditions, for the
control power supply:
Reinforced insulation or double insulation, and the output hold time of 10 ms or more.
200-VAC Input Models
| Servo Drive model (R88D-) | 1SN01H-ECT | 1SN02H-ECT | 1SN04H-ECT | 1SN08H-ECT | ||
|---|---|---|---|---|---|---|
| Item | 100 W | 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
Rise time 500 ms max. *2 |
|||
| 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 *3 |
600 mA | |||||
| Rated current [A (rms)]
(Main circuit power supply voltage: 240 VAC) |
Single-phase | 1.8 | 2.7 | 4.6 | 7.3 | |
| 3-phase | 1.0 | 1.5 | 2.7 | 4.0 | ||
| Output | Rated current [A (rms)] | 0.8 | 1.5 | 2.5 | 4.6 | |
| Maximum current [A (rms)] | 3.1 | 5.6 | 9.1 | 16.9 | ||
| Heat value [W] | Main circuit
*4 |
15.7/15.3 *5 | 15.2/14.6 *5 | 22.4/22.4 *5 | 40/39.7 *5 | |
| Control circuit | 11 | 11 | 11 | 13.2 | ||
| Applicable Servomotor rated output [W] | 100 | 200 | 400 | 750 | ||
| 3,000-r/min Servomotor (R88M-) | Batteryless
23-bit ABS |
1M05030T
1M10030T |
1M20030T | 1M40030T | 1M75030T | |
| 2,000-r/min Servomotor (R88M-) | Batteryless
23-bit ABS |
--- | --- | --- | --- | |
| 1,000-r/min Servomotor (R88M-) | Batteryless
23-bit ABS |
--- | --- | --- | --- | |
| Hold time at momentary power interruption
(Main circuit power supply voltage: 200 VAC) |
10 ms (Load condition: rated output) *6 | |||||
| SCCR [A (rms)] | 5000 | |||||
| Weight [kg] | 1.2 | 1.2 | 1.5 | 2.0 | ||
| Servo Drive model (R88D-) | 1SN10H-ECT | 1SN15H-ECT | 1SN20H-ECT | 1SN30H-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 |
|
| Rise time 500 ms max. *2 | ||||||
| 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 *3 |
600 mA | 900 mA | ||||
| Rated current
[A (rms)] (Main circuit power supply voltage: 240 VAC) |
Single-phase | --- | 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 | ||
| Heat value [W] | Main circuit
*4 |
46.5 | 85.5/85.5 *5 | 128.9 | 167.5 | |
| Control circuit | 13.2 | 20.4 | 20.4 | 20.4 | ||
| Applicable Servomotor rated output [W] | 1,000 | 1,500 | 2,000 | 3,000 | ||
| 3,000-r/min Servomotor
(R88M-) |
Batteryless
23-bit ABS |
1L1K030T | 1L1K530T | 1L2K030T | 1L3K030T | |
| 2,000-r/min Servomotor
(R88M-) |
Batteryless
23-bit ABS |
1M1K020T | 1M1K520T | 1M2K020T | 1M3K020T | |
| 1,000-r/min Servomotor
(R88M-) |
Batteryless
23-bit ABS |
1M90010T | --- | 1M2K010T | 1M3K010T | |
| Hold time at momentary power
interruption (Main circuit power supply voltage: 200 VAC) |
10 ms (Load condition: rated output) *6 | |||||
| SCCR [A (rms)] | 5000 | |||||
| Weight [kg] | 2.0 | 3.4 | 3.4 | 3.4 | ||
| Servo Drive model (R88D-) | 1SN55H-ECT | 1SN75H-ECT | 1SN150H-ECT | ||
|---|---|---|---|---|---|
| Item | 5.5 kW | 7.5 kW | 15 kW | ||
| Input | Main circuit | Power supply
voltage |
3-phase 200 to 240 VAC (170 to 252 V) *1
Rise time 500 ms max. *2 |
||
| 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 *3 |
900 mA | 1,200 mA | |||
| Rated current [A (rms)]
(Main circuit power supply voltage: 240 VAC) |
3-phase | 27.0 | 38.0 | 77.0 | |
| Output | Rated current [A (rms)] | 28.6 | 42.0 | 70.0 | |
| Maximum current [A (rms)] | 84.8 | 113 | 169.7 | ||
| Heat value [W] | Main circuit *4 | 290 | 360 | 610 | |
| Control circuit | 19.9 | 29.7 | |||
| Applicable Servomotor rated output [W] | 5,500 | 7,500 | 15,000 | ||
| 3,000-r/min Servomotor (R88M-) | Batteryless
23-bit ABS |
1L4K030T
1L4K730T |
--- | --- | |
| 2,000-r/min Servomotor (R88M-) | Batteryless
23-bit ABS |
--- | --- | --- | |
| 1,500-r/min Servomotor (R88M-) | Batteryless
23-bit ABS |
1M4K015T
1M5K015T |
1M7K515T | 1M11K015T
1M15K015T |
|
| 1,000-r/min Servomotor (R88M-) | Batteryless
23-bit ABS |
--- | --- | --- | |
| Hold time at momentary power interruption
(Main circuit power supply voltage: 200 VAC) |
10 ms (Load condition: rated output) *6 | ||||
| SCCR [A (rms)] | 5000 | ||||
| Weight [kg] | 9.4 | 9.4 | 21 | ||
*1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range of
acceptable variation.
*2. If the power supply is turned ON slowly, a Regeneration Circuit Error Detected during Power ON (Error No. 14.02) may
occur. Check that the power supply has a capacity sufficiently greater than the total capacity of the Servo Drive and the
peripheral devices.
*3. 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.
*4. This is the maximum heating value in applicable Servomotors.
Refer to the table below for the heating value of each applicable Servomotor.
*5. The first value is for single-phase input power and the second value is for 3-phase input power.
*6. This hold time at momentary power interruption is that of the main circuit. In order to maintain power supply to the
control circuit at momentary power interruption, use a DC power supply, which meets the following conditions, for the
acceptable variation.
*2. If the power supply is turned ON slowly, a Regeneration Circuit Error Detected during Power ON (Error No. 14.02) may
occur. Check that the power supply has a capacity sufficiently greater than the total capacity of the Servo Drive and the
peripheral devices.
*3. 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.
*4. This is the maximum heating value in applicable Servomotors.
Refer to the table below for the heating value of each applicable Servomotor.
*5. The first value is for single-phase input power and the second value is for 3-phase input power.
*6. This hold time at momentary power interruption is that of the main circuit. In order to maintain power supply to the
control circuit at momentary power interruption, use a DC power supply, which meets the following conditions, for the
control power supply:
Reinforced insulation or double insulation, and the output hold time of 10 ms or more.
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-) | 1SN06F-ECT | 1SN10F-ECT | 1SN15F-ECT | 1SN20F-ECT | ||
|---|---|---|---|---|---|---|
| Item | 600 W | 1 kW | 1.5 kW | 2 kW | ||
| Input | Main circuit | Power supply
voltage |
3-phase 380 to 480 VAC (323 to 504 V) *1
Rise time 500 ms max. *2 |
|||
| 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 *3 |
900 mA | |||||
| Rated current [A (rms)]
(Main circuit power supply voltage: 480 VAC) |
3-phase | 2.4 | 3.1 | 4.3 | 6.5 | |
| Output | Rated current [A (rms)] | 1.8 | 4.1 | 4.7 | 7.8 | |
| Maximum current [A (rms)] | 5.5 | 9.6 | 14.1 | 19.8 | ||
| Heat value [W] | Main circuit *4 | 20.2 | 52.1 | 77.5 | 106.8 | |
| Control circuit | 20.4 | 20.4 | 20.4 | 20.4 | ||
| Applicable Servomotor rated output [W] | 600 | 1,000 | 1,500 | 2,000 | ||
| 3,000-r/min Servomotor (R88M-) | Batteryless
23-bit ABS |
--- | 1L75030C
1L1K030C |
1L1K530C | 1L2K030C | |
| 2,000-r/min Servomotor (R88M-) | Batteryless
23-bit ABS |
1M40020C
1M60020C |
1M1K020C | 1M1K520C | 1M2K020C | |
| 1,000-r/min Servomotor (R88M-) | Batteryless
23-bit ABS |
-- | 1M90010C | --- | 1M2K010C | |
| Hold time at momentary power interruption
(Main circuit power supply voltage: 400 VAC) |
10 ms (Load condition: rated output) *5 | |||||
| SCCR [A (rms)] | 5000 | |||||
| Weight [kg] | 3.4 | 3.4 | 3.4 | 3.4 | ||
| Servo Drive model (R88D-) | 1SN30F-ECT | 1SN55F-ECT | 1SN75F-ECT | 1SN150F-ECT | ||
|---|---|---|---|---|---|---|
| Item | 3 kW | 5.5kW | 7.5kW | 15kW | ||
| Input | Main circuit | Power supply
voltage |
3-phase 380 to 480 VAC (323 to 504 V) *1
Rise time 500 ms max. *2 |
|||
| 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 *3 |
900 mA | 1,200 mA | ||||
| Rated current [A (rms)]
(Main circuit power supply voltage: 480 VAC) |
3-phase | 8.4 | 16.0 | 23.0 | 40.0 | |
| Output | Rated current [A (rms)] | 11.3 | 14.5 | 22.6 | 33.9 | |
| Maximum current [A (rms)] | 28.3 | 42.4 | 56.5 | 84.8 | ||
| Heat value [W] | Main circuit *4 | 143.3 | 280.0 | 280.0 | 440.0 | |
| Control circuit | 20.4 | 19.9 | 29.7 | |||
| Applicable Servomotor rated output [W] | 3,000 | 5,500 | 7,500 | 15,000 | ||
| 3,000-r/min Servomotor (R88M-) | Batteryless
23-bit ABS |
1L3K030C | 1L4K030C
1L5K030C |
--- | --- | |
| 2,000-r/min Servomotor (R88M-) | Batteryless
23-bit ABS |
1M3K020C | --- | --- | --- | |
| 1,500-r/min Servomotor (R88M-) | Batteryless
23-bit ABS |
--- | 1M4K015C
1M5K515C |
1M7K515C | 1M11K015C
1M15K015C |
|
| 1,000-r/min Servomotor (R88M-) | Batteryless
23-bit ABS |
1M3K010C | --- | --- | --- | |
| Hold time at momentary power interruption
(Main circuit power supply voltage: 400 VAC) |
10 ms (Load condition: rated output) *5 | |||||
| SCCR [A (rms)] | 5000 | |||||
| Weight [kg] | 3.4 | 9.4 | 9.4 | 21 | ||
*1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range of
acceptable variation.
*2. If the power supply is turned ON slowly, a Regeneration Circuit Error Detected during Power ON (Error No. 14.02) may
occur. Check that the power supply has a capacity sufficiently greater than the total capacity of the Servo Drive and the
peripheral devices.
*3. 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.
*4. This is the maximum heating value in applicable Servomotors.
Refer to the table below for the heating value of each applicable Servomotor.
*5. This hold time at momentary power interruption is that of the main circuit. In order to maintain power supply to the
control circuit at momentary power interruption, use a DC power supply, which meets the following conditions, for the
control power supply:
Reinforced insulation or double insulation, and the output hold time of 10 ms or more.
acceptable variation.
*2. If the power supply is turned ON slowly, a Regeneration Circuit Error Detected during Power ON (Error No. 14.02) may
occur. Check that the power supply has a capacity sufficiently greater than the total capacity of the Servo Drive and the
peripheral devices.
*3. 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.
*4. This is the maximum heating value in applicable Servomotors.
Refer to the table below for the heating value of each applicable Servomotor.
*5. This hold time at momentary power interruption is that of the main circuit. In order to maintain power supply to the
control circuit at momentary power interruption, use a DC power supply, which meets the following conditions, for the
control power supply:
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 heat value [W] |
|---|---|---|
| R88D-1SN01L-ECT | R88M-1M05030S-[] | 11.2 |
| R88M-1M10030S-[] | 14.8 | |
| R88D-1SN01H-ECT | R88M-1M05030T-[] | 13.2/13.2 * |
| R88M-1M10030T-[] | 15.7/15.3 * | |
| R88D-1SN10H-ECT | R88M-1L1K030T-[] | 46.5 |
| R88M-1M1K020T-[] | 37.7 | |
| R88M-1M90010T-[] | 42.9 | |
| R88D-1SN15H-ECT | R88M-1L1K530T-[] | 85.5/85.5 * |
| R88M-1M1K520T-[] | 84/84 * | |
| R88D-1SN20H-ECT | R88M-1L2K030T-[] | 128.9 |
| R88M-1M2K020T-[] | 91.3 | |
| R88M-1M2K010T-[] | 109.1 | |
| R88D-1SN30H-ECT | R88M-1L3K030T-[] | 167.5 |
| R88M-1M3K020T-[] | 125.5 | |
| R88M-1M3K010T-[] | 156.7 | |
| R88D-1SN55H-ECT | R88M-1L4K030T-[] | 250 |
| R88M-1M4K015T-[] | 270 | |
| R88M-1L4K730T-[] | 290 | |
| R88M-1M5K015T-[] | 290 | |
| R88D-1SN75H-ECT | R88M-1M7K515T-[] | 360 |
| R88D-1SN150H-ECT | R88M-1M11K015T-[] | 490 |
| R88M-1M15K015T-[] | 610 | |
| R88D-1SN06F-ECT | R88M-1M40020C-[] | 14.4 |
| R88M-1M60020C-[] | 20.2 | |
| R88D-1SN10F-ECT | R88M-1L75030C-[] | 51.1 |
| R88M-1L1K030C-[] | 52.1 | |
| R88M-1M1K020C-[] | 33.4 | |
| R88M-1M90010C-[] | 40.2 | |
| R88D-1SN15F-ECT | R88M-1L1K530C-[] | 77.5 |
| R88M-1M1K520C-[] | 47.9 | |
| R88D-1SN20F-ECT | R88M-1L2K030C-[] | 106.8 |
| R88M-1M2K020C-[] | 65.7 | |
| R88M-1M2K010C-[] | 79.6 | |
| R88D-1SN30F-ECT | R88M-1L3K030C-[] | 143.3 |
| R88M-1M3K020C-[] | 96.5 | |
| R88M-1M3K010C-[] | 115.5 | |
| R88D-1SN55F-ECT | R88M-1L4K030C-[] | 250 |
| R88M-1M4K015C-[] | 280 | |
| R88M-1L5K030C-[] | 250 | |
| R88M-1M5K515C-[] | 280 | |
| R88D-1SN75F-ECT | R88M-1M7K515C-[] | 280 |
| R88D-1SN150F-ECT | R88M-1M11K015C-[] | 390 |
| R88M-1M15K015C-[] | 440 |
* The first value is for single-phase input power and the second value is for 3-phase input power.
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
| 1S-series Servo Drive | Corresponding version | |
|---|---|---|
| Model | Unit version | Sysmac Studio |
| R88D-1SN[]-ECT | Version 1.0 | Version 1.16 or higher |
| Version 1.1 | Version 1.18 or higher | |
| Version 1.2 | Version 1.22 or higher | |
| Version 1.3 *1 | Version 1.27 or higher | |
| Version 1.4 *1 | Version 1.43 or higher | |
*1. Sysmac Studio version 1.44 or higher enables you to use the cable redundancy function and configure a ring topology.
Functions That Were Added or Changed for Each Unit Version
Functions That Were Added or Changed
| Function | Addition/change | Unit version | |
|---|---|---|---|
| EtherCAT
Communications |
Cable Redundancy Function | Addition | Ver.1.3 |
| Adjustment
Function |
Multiple Drives Tuning Function | Addition | Ver.1.1 |
| Object | Basic Functions - Control Method Selection (3000-03 hex) | Change | Ver.1.4 |
| Machine - Inertia Ratio (3001-01 hex) | Change | Ver.1.1 | |
| Position Command - Following Error After Interpolation (3010-92 hex) | Addition | Ver.1.4 | |
| Command Dividing Function - Interpolation Method Selection in csp (3041-10 hex) | Addition | Ver.1.2 | |
| TDF Position Control - Command Following Gain Selection (3120-10 hex) | Addition | Ver.1.1 | |
| TDF Position Control - Command Following Gain 2 (3120-11 hex) | Addition | Ver.1.1 | |
| TDF Velocity Control - Command Following Gain Selection (3121-10 hex) | Addition | Ver.1.1 | |
| TDF Velocity Control - Command Following Gain 2 (3121-11 hex) | Addition | Ver.1.1 | |
| Runaway Detection (3B71 hex) | Addition | Ver.1.1 | |
| Motor Advanced Setting (4412 hex) | Addition | Ver.1.4 | |
| Function Output - Bit Mask (4602-01 hex) | Change | Ver.1.4 | |
| Function Output - Physical Outputs (4602-F1 hex) | Change | Ver.1.2 | |
| Change | Ver.1.4 | ||
| Brake Interlock Output - Threshold Speed at Servo OFF (4610-03 hex) *1 | Change | Ver.1.4 | |
| External Brake Interlock Output (4663 hex) | Addition | Ver.1.2 | |
| Digital outputs - Physical Outputs (60FE - 01 hex) | Change | Ver.1.2 | |
| Change | Ver.1.4 | ||
| Digital outputs - Bit mask (60FE-02 hex) | Change | Ver.1.4 | |
| Error
detection function |
Runaway Detection | Addition | Ver.1.1 |
| Synchronization Error | Change | Ver.1.1 | |
| Regeneration Circuit Error Detected during Power ON | Addition | Ver.1.2 | |
| Delete | Ver.1.3 | ||
| Inrush Current Prevention Circuit Error | Addition | Ver.1.3 | |
| Regeneration Circuit Error | Addition | Ver.1.3 | |
| Applied
Functions |
Brake Interlock | Addition | Ver.1.2 |
| Change | Ver.1.4 | ||
*1. With the unit version Ver.1.4 or later, the default setting is changed. Refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (Cat.No.I586) for details.
Combinations of Unit Versions and Motor Power Cables
Motor power cables have two cable versions (version 1.0 and version 1.1) and are available in the following lengths: 3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, and 50 m. Use a Servo Drive unit version 1.2 or earlier with 20 m or less of motor power cable.
| Power Cables | Combination table | ||||||
|---|---|---|---|---|---|---|---|
| Unit version 1.2
or earlier |
Unit version 1.3
or later |
||||||
| Power Cable
model (R88A-) |
Cable length | Cable version | Cable version | Cable version | |||
| Ver.1.0 | Ver.1.1 | Ver.1.0 | Ver.1.1 | Ver.1.0 | Ver.1.1 | ||
| CA1A[][][]S
CA1A[][][]SF CA1A[][][]SFR CA1A[][][]B CA1A[][][]BF |
3 m, 5 m, 10 m, 15 m, 20 m | Yes | Yes | Available | Available | Available | Available |
| 30 m, 40 m, 50 m | --- | Yes | --- | Unavailable | --- | Available | |
| CA1B[][][]S
CA1B[][][]SF CA1B[][][]B CA1B[][][]BF |
3 m, 5 m, 10 m, 15 m, 20 m | Yes | Yes | Available | Available | Available | Available |
| 30 m, 40 m, 50 m | --- | Yes | --- | Unavailable | --- | Available | |
| CA1C[][][]S
CA1C[][][]SF CA1C[][][]B CA1C[][][]BF |
3 m, 5 m, 10 m, 15 m, 20 m | Yes | Yes | Available | Available | Available | Available |
| 30 m, 40 m, 50 m | --- | Yes | --- | Unavailable | --- | Available | |
| CA1D[][][]B
CA1D[][][]BF |
3 m, 5 m, 10 m, 15 m, 20 m | Yes | --- | Available | --- | Available | --- |
| 30 m, 40 m, 50 m | Yes | --- | Unavailable | --- | Available | --- | |
| CA1E[][][]S
CA1E[][][]SF CA1E[][][]B CA1E[][][]BF |
3 m, 5 m, 10 m, 15 m, 20 m | Yes | Yes | Available | Available | Available | Available |
| 30 m, 40 m, 50 m | --- | Yes | --- | Unavailable | --- | Available | |
| CA1F[][][]S
CA1F[][][]SF CA1F[][][]B CA1F[][][]BF |
3 m, 5 m, 10 m, 15 m, 20 m | Yes | --- | Available | --- | Available | --- |
| 30 m, 40 m, 50 m | Yes | --- | Unavailable | --- | Available | --- | |
| CA1H0[][]SF
CA1H0[][]BF |
3 m, 5 m, 10 m, 15 m, 20 m | Yes | --- | Available | --- | Available | --- |
| CA1HE[][]BF | 10 m, 20 m | Yes | --- | Unavailable
*1 |
--- | Available
*2 |
--- |
| CA1J0[][]SF
CA1J0[][]BF |
3 m, 5 m, 10 m, 15 m, 20 m | Yes | --- | Available | --- | Available | --- |
| CA1JE[][]BF | 10 m, 20 m | Yes | --- | Unavailable
*1 |
--- | Available
*2 |
--- |
| CA1K0[][]SF
CA1K0[][]BF |
3 m, 5 m, 10 m, 15 m, 20 m | Yes | --- | Available | --- | Available | --- |
| CA1KE[][]BF | 10 m, 20 m | Yes | --- | Unavailable
*1 |
--- | Available
*2 |
--- |
*1. The Servo Drive unit version 1.2 or earlier cannot be used with extension cables.
*2. The total length of motor power cables for a Servo Drive must not exceed 50 m. See Combinations of Motor Power Cables and Extension Power Cables on catalog for details.
AC Servomotors [1S-series]
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 *1 | Acceleration of 49 m/s2 *2
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
100 V, 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)
IP20 if you use a 30-meter or longer encoder cable. |
||
| 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) | ||
*1. The amplitude may be increased by machine resonance. As a guideline, 80% of the specified value must not be
exceeded.
*2. 24.5 m/s2 for servomotors of 7.5 kW or more.
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.
exceeded.
*2. 24.5 m/s2 for servomotors of 7.5 kW or more.
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 | 23 bits |
| Multi-rotation data hold | 16 bits |
| Power supply voltage | 5 VDC±10% |
| Current consumption | 230 mA max. |
| 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 User’s Manual (Cat.No.I586) for details.
Characteristics
3,000-r/min Servomotors
| Model (R88M-) | 100 VAC | |||||
|---|---|---|---|---|---|---|
| Item | Unit | 1M05030S | 1M10030S | 1M20030S | 1M40030S | |
| Rated output *1 *2 | W | 50 | 100 | 200 | 400 | |
| Rated torque *1 *2 | N·m | 0.159 | 0.318 | 0.637 | 1.27 | |
| Rated rotation speed *1 *2 | r/min | 3,000 | ||||
| Maximum rotation speed | r/min | 6,000 | ||||
| Momentary maximum torque *1 *3 | N·m | 0.48 | 0.95 | 1.91 | 3.8 | |
| Rated current *1 *2 | A (rms) | 1.20 | 1.50 | 2.50 | 4.8 | |
| Momentary maximum current *1 | A (rms) | 4.00 | 4.70 | 8.40 | 14.7 | |
| Rotor
inertia |
Without brake | × 10-4kg·m2 | 0.0418 | 0.0890 | 0.2232 | 0.4452 |
| With brake | × 10-4kg·m2 | 0.0496 | 0.0968 | 0.2832 | 0.5052 | |
| Applicable load inertia | × 10-4kg·m2 | 0.810 | 1.62 | 4.80 | 8.40 | |
| Torque constant *1 | N·m/ A (rms) | 0.14 | 0.24 | 0.28 | 0.30 | |
| Power rate *1 *5 | kW/s | 6.7 | 11.9 | 18.5 | 36.6 | |
| Mechanical time constant *5 | ms | 1.7 | 1.1 | 0.76 | 0.61 | |
| Electrical time constant | ms | 0.67 | 0.84 | 2.4 | 2.4 | |
| Allowable radial load *6 | N | 68 | 68 | 245 | 245 | |
| Allowable thrust load *6 | N | 58 | 58 | 88 | 88 | |
| Weight | Without brake | kg | 0.35 | 0.52 | 1.0 | 1.4 |
| With brake | kg | 0.59 | 0.77 | 1.3 | 1.9 | |
| Radiator plate dimensions (material) | mm | 250 × 250 × t6 (aluminum) | ||||
| Brake
specifi- cations *7 |
Excitation voltage *8 | V | 24 VDC±10% | |||
| Current consumption (at 20°C) | A | 0.27 | 0.27 | 0.32 | 0.32 | |
| Static friction torque | N·m | 0.32 min. | 0.32 min. | 1.37 min. | 1.37 min. | |
| Attraction time | ms | 25 max. | 25 max. | 30 max. | 30 max. | |
| Release time *9 | ms | 15 max. | 15 max. | 20 max. | 20 max. | |
| Backlash | ° | 1.2 max. | 1.2 max. | 1.2 max. | 1.2 max. | |
| Allowable braking work | J | 9 | 9 | 60 | 60 | |
| Allowable total work | J | 9000 | 9,000 | 60,000 | 60,000 | |
| Allowable angular acceleration | rad/s2 | 10,000 max. | ||||
| Brake lifetime
(acceleration/deceleration) |
--- | 10 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-) | 1M05030S-O/-OS2/
-BO/-BOS2 |
1M10030S-O/-OS2/
-BO/-BOS2 |
1M20030S-O/-OS2/
-BO/-BOS2 |
1M40030S-O/-OS2/
-BO/ -BOS2 |
|
|---|---|---|---|---|---|
| Item | Unit | ||||
| Derating rate | % | 90 | 95 | 95 | 80 |
| Rated output | W | 45 | 95 | 190 | 320 |
| Rated current | A (rms) | 1.20 | 1.50 | 2.50 | 4.0 |
| Model (R88M-) | 200 VAC | ||||||
|---|---|---|---|---|---|---|---|
| Item | Unit | 1M05030T | 1M10030T | 1M20030T | 1M40030T | 1M75030T | |
| Rated output *1 *2 | W | 50 | 100 | 200 | 400 | 750 | |
| Rated torque *1 *2 | N·m | 0.159 | 0.318 | 0.637 | 1.27 | 2.39 | |
| Rated rotation speed *1 *2 | r/min | 3,000 | |||||
| Maximum rotation speed | r/min | 6,000 | |||||
| Momentary maximum torque *1 *3 | N·m | 0.56 *4 | 1.11 *4 | 2.2 *4 | 4.5 *4 | 8.4 *4 | |
| Rated current *1 *2 | A (rms) | 0.67 | 0.84 | 1.5 | 2.5 | 4.6 | |
| Momentary maximum current *1 | A (rms) | 2.60 | 3.10 | 5.6 | 9.1 | 16.9 | |
| Rotor
inertia |
Without brake | × 10-4kg·m2 | 0.0418 | 0.0890 | 0.2232 | 0.4452 | 1.8242 |
| With brake | × 10-4kg·m2 | 0.0496 | 0.0968 | 0.2832 | 0.5052 | 2.0742 | |
| Applicable load inertia | × 10-4kg·m2 | 0.810 | 1.62 | 4.80 | 8.40 | 19.4 | |
| Torque constant *1 | N·m/ A (rms) | 0.25 | 0.42 | 0.48 | 0.56 | 0.59 | |
| Power rate *1 *5 | kW/s | 6.7 | 11.9 | 18.5 | 36.6 | 31.4 | |
| Mechanical time constant *5 | ms | 1.7 | 1.2 | 0.78 | 0.56 | 0.66 | |
| Electrical time constant | ms | 0.67 | 0.83 | 2.4 | 2.6 | 3.3 | |
| Allowable radial load *6 | N | 68 | 68 | 245 | 245 | 490 | |
| Allowable thrust load *6 | N | 58 | 58 | 88 | 88 | 196 | |
| Weight | Without brake | kg | 0.35 | 0.52 | 1.0 | 1.4 | 2.9 |
| With brake | kg | 0.59 | 0.77 | 1.3 | 1.9 | 3.9 | |
| Radiator plate dimensions
(material) |
mm | 250 × 250 × t6 (aluminum) | |||||
| Brake
specifi- cations *7 |
Excitation voltage *8 | V | 24 VDC±10% | ||||
| Current consumption
(at 20°C) |
A | 0.27 | 0.27 | 0.32 | 0.32 | 0.37 | |
| Static friction torque | N·m | 0.32 min. | 0.32 min. | 1.37 min. | 1.37 min. | 2.55 min. | |
| Attraction time | ms | 25 max. | 25 max. | 30 max. | 30 max. | 40 max. | |
| Release time *9 | ms | 15 max. | 15 max. | 20 max. | 20 max. | 35 max. | |
| Backlash | ° | 1.2 max. | 1.2 max. | 1.2 max. | 1.2 max. | 1.0 max. | |
| Allowable braking work | J | 9 | 9 | 60 | 60 | 250 | |
| Allowable total work | J | 9000 | 9,000 | 60,000 | 60,000 | 250,000 | |
| Allowable angular
acceleration |
rad/s2 | 10,000 max. | |||||
| Brake lifetime
(acceleration/ deceleration) |
--- | 10 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-) | 1M05030T-O/
-OS2/-BO/ -BOS2 |
1M10030T-O/
-OS2/-BO/ -BOS2 |
1M20030T-O/
-OS2/-BO/ -BOS2 |
1M40030T-O/
-OS2/-BO/ -BOS2 |
1M75030T-O/
-OS2/-BO/ -BOS2 |
|
|---|---|---|---|---|---|---|
| Item | Unit | |||||
| Derating rate | % | 90 | 95 | 95 | 80 | 90 |
| Rated output | W | 45 | 95 | 190 | 320 | 675 |
| Rated current | A (rms) | 0.67 | 0.84 | 1.5 | 2.1 | 4.2 |
| Model (R88M-) | 200 VAC | |||||||
|---|---|---|---|---|---|---|---|---|
| Item | Unit | 1L1K030T | 1L1K530T | 1L2K030T | 1L3K030T | 1L4K030T | 1L4K730T | |
| Rated output *1 *2 | W | 1,000 | 1,500 | 2,000 | 3,000 | 4,000 | 4,700 | |
| Rated torque *1 *2 | N·m | 3.18 | 4.77 | 6.37 | 9.55 | 12.7 | 15.0 | |
| 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 | 28.7 | 38.2 | 47.7 | |
| Rated current *1 *2 | A (rms) | 5.2 | 8.8 | 12.5 | 17.1 | 22.8 | 25.7 | |
| Momentary maximum
current *1 |
A (rms) | 16.9 | 28.4 | 41.0 | 54.7 | 74 | 84.8 | |
| Rotor
inertia |
Without brake | × 10-4kg·m2 | 2.1042 | 2.1042 | 2.4042 | 6.8122 | 8.8122 | 10.6122 |
| With brake | × 10-4kg·m2 | 2.5542 | 2.5542 | 2.8542 | 7.3122 | 11.3122 | 13.1122 | |
| Applicable load inertia | × 10-4kg·m2 | 35.3 | 47.6 | 60.2 | 118 | 213 | 279 | |
| Torque constant *1 | N·m/ A (rms) | 0.67 | 0.58 | 0.56 | 0.64 | 0.63 | 0.65 | |
| Power rate *1 *5 | kW/s | 48 | 108 | 169 | 134 | 183 | 209 | |
| Mechanical time
constant *5 |
ms | 0.58 | 0.58 | 0.50 | 0.47 | 0.37 | 0.37 | |
| Electrical time constant | ms | 5.9 | 6.1 | 6.4 | 11 | 12 | 12 | |
| Allowable radial load *6 | N | 490 | 880 | |||||
| Allowable thrust load *6 | N | 196 | 343 | |||||
| Weight | Without brake | kg | 5.7 | 5.7 | 6.4 | 11.5 | 13.5 | 16 |
| With brake | kg | 7.4 | 7.4 | 8.1 | 12.5 | 16 | 18.5 | |
| Radiator plate
dimensions (material) |
mm | 400 × 400 × t20 (aluminum) | 470 × 470 × t20 (aluminum) | 540 × 540 ×
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 | 0.6 | 0.6 | |
| Static friction
torque |
N·m | 9.3 min. | 9.3 min. | 9.3 min. | 12.0 min. | 16 min. | 16 min. | |
| Attraction time | ms | 100 max. | 100 max. | 100 max. | 100 max. | 150 max. | 150 max. | |
| Release time
*9 |
ms | 30 max. | 30 max. | 30 max. | 30 max. | 50 max. | 50 max. | |
| Backlash | ° | 1.0 max. | 1.0 max. | 1.0 max. | 0.8 max. | 0.6 max. | 0.6 max. | |
| Allowable
braking work |
J | 500 | 500 | 500 | 1,000 | 350 | 350 | |
| Allowable total
work |
J | 900,000 | 900,000 | 900,000 | 3,000,000 | 1,000,000 | 1,000,000 | |
| Allowable
angular acceleration |
rad/s2 | 10,000 max. | ||||||
| Brake lifetime
(acceleration/ deceleration) |
--- | 10 million times min. | ||||||
| Insulation class | --- | Class F | ||||||
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.
| Model (R88M-) | 400 VAC | ||||
|---|---|---|---|---|---|
| Item | Unit | 1L75030C | 1L1K030C | 1L1K530C | |
| 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 | × 10-4kg·m2 | 1.3042 | 2.1042 | 2.1042 |
| With brake | × 10-4kg·m2 | 1.7542 | 2.5542 | 2.5542 | |
| Applicable load inertia | × 10-4kg·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 | 1.09 | 0.6 | 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 | 4.1 | 5.7 | 5.7 |
| With brake | kg | 5.8 | 7.4 | 7.4 | |
| Radiator plate dimensions (material) | mm | 305 × 305 × t20
(aluminum) |
400 × 400 × 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 | |
| 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. | |||
| Insulation class | --- | Class F | |||
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.
| Model (R88M-) | 400 VAC | |||||
|---|---|---|---|---|---|---|
| Item | Unit | 1L2K030C | 1L3K030C | 1L4K030C | 1L5K030C | |
| Rated output *1 *2 | W | 2,000 | 3,000 | 4,000 | 5,000 | |
| Rated torque *1 *2 | N·m | 6.37 | 9.55 | 12.7 | 15.9 | |
| 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 | 38.2 | 47.7 | |
| Rated current *1 *2 | A (rms) | 6.3 | 8.7 | 12.8 | 13.6 | |
| Momentary maximum current *1 | A (rms) | 19.8 | 27.7 | 42.4 | 42.4 | |
| Rotor
inertia |
Without brake | × 10-4kg·m2 | 2.4042 | 6.8122 | 8.8122 | 10.6122 |
| With brake | × 10-4kg·m2 | 2.8542 | 7.3122 | 11.3122 | 13.1122 | |
| Applicable load inertia | × 10-4kg·m2 | 60.2 | 118 | 213 | 279 | |
| Torque constant *1 | N·m/ A (rms) | 1.15 | 1.23 | 1.11 | 1.32 | |
| Power rate *1 *5 | kW/s | 169 | 134 | 183 | 238 | |
| Mechanical time constant *5 | ms | 0.52 | 0.49 | 0.36 | 0.35 | |
| Electrical time constant | ms | 6.3 | 11 | 12 | 13 | |
| Allowable radial load *6 | N | 490 | 880 | |||
| Allowable thrust load *6 | N | 196 | 343 | |||
| Weight | Without brake | kg | 6.4 | 11.5 | 13.5 | 16 |
| With brake | kg | 8.1 | 12.5 | 16 | 18.5 | |
| Radiator plate dimensions (material) | mm | 470 × 470 × t20 (aluminum) | 540 × 540 × t20
(aluminum) |
|||
| Brake
specifi- cations *7 |
Excitation voltage *8 | V | 24 VDC±10% | |||
| Current consumption (at 20°C) | A | 0.70 | 0.66 | 0.6 | 0.6 | |
| Static friction torque | N·m | 9.3 min. | 12 min. | 16 min. | 16 min. | |
| Attraction time | ms | 100 max. | 100 max. | 150 max. | 150 max. | |
| Release time *9 | ms | 30 max. | 30 max. | 50 max. | 50 max. | |
| Backlash | ° | 1.0 max. | 0.8 max. | 0.6 max. | 0.6 max. | |
| Allowable braking work | J | 500 | 1,000 | 350 | 350 | |
| Allowable total work | J | 900,000 | 3,000,000 | 1,000,000 | 1,000,000 | |
| Allowable angular acceleration | rad/s2 | 10,000 max. | ||||
| Brake lifetime
(acceleration/deceleration) |
--- | 10 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 User’s Manual (Cat.No.I586) 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-1[] / R88D-1SN[]-ECT Specifications 45](/Images/3549_sp_16_121-263316.gif)
*7. When the brake is released for a vertical axis, refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (Cat.No.I586) 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.
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.
Torque-Rotation Speed Characteristics for 3,000-r/min Servomotors (100 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 100 VAC input.
![R88M-1[] / R88D-1SN[]-ECT Specifications 47](/Images/3549_sp_1721-263318.gif)
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-1[] / R88D-1SN[]-ECT Specifications 48](/Images/3549_sp_1821-263319.gif)
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-1[] / R88D-1SN[]-ECT Specifications 49](/Images/3549_sp_1921-263321.gif)
2,000-r/min Servomotors
| Model (R88M-) | 200 VAC | |||||
|---|---|---|---|---|---|---|
| Item | Unit | 1M1K020T | 1M1K520T | 1M2K020T | 1M3K020T | |
| Rated output *1 *2 | W | 1,000 | 1,500 | 2,000 | 3,000 | |
| Rated torque *1 *2 | N·m | 4.77 | 7.16 | 9.55 | 14.3 | |
| Rated rotation speed *1 *2 | r/min | 2,000 | ||||
| Maximum rotation speed | r/min | 3,000 | ||||
| Momentary maximum torque *1 | N·m | 14.3 | 21.5 | 28.7 | 43.0 | |
| Rated current *1 *2 | A (rms) | 5.2 | 8.6 | 11.3 | 15.7 | |
| Momentary maximum current *1 | A (rms) | 16.9 | 28.4 | 40.6 | 54.7 | |
| Rotor
inertia |
Without brake | × 10-4kg·m2 | 6.0042 | 9.0042 | 12.2042 | 15.3122 |
| With brake | × 10-4kg·m2 | 6.5042 | 9.5042 | 12.7042 | 17.4122 | |
| Applicable load inertia | × 10-4kg·m2 | 59.0 | 79.9 | 100 | 142 | |
| Torque constant *1 | N·m/ A (rms) | 0.93 | 0.83 | 0.85 | 0.93 | |
| Power rate *1 *3 | kW/s | 38 | 57 | 75 | 134 | |
| Mechanical time constant *3 | 0.94 | 0.78 | 0.81 | 0.80 | ||
| Electrical time constant | ms | 13 | 15 | 14 | 19 | |
| Allowable radial load *4 | N | 490 | 784 | |||
| Allowable thrust load *4 | N | 196 | 343 | |||
| Weight | Without brake | kg | 6.6 | 8.5 | 10 | 12 |
| With brake | kg | 8.6 | 10.5 | 12 | 15 | |
| Radiator plate dimensions (material) | mm | 400 × 400 × t20
(aluminum) |
470 × 470 × t20 (aluminum) | |||
| Brake
specifi- cations *5 |
Excitation voltage *6 | V | 24 VDC±10% | |||
| Current consumption (at 20°C) | A | 0.51 | 0.51 | 0.66 | 0.60 | |
| Static friction torque | N·m | 9.0 min. | 9.0 min. | 12 min. | 16 min. | |
| Attraction time | ms | 100 max. | 100 max. | 100 max. | 150 max. | |
| Release time *7 | ms | 30 max. | 30 max. | 30 max. | 50 max. | |
| Backlash | ° | 0.6 max. | 0.6 max. | 0.6 max. | 0.6 max. | |
| Allowable braking work | J | 1,000 | 1,000 | 1,000 | 350 | |
| Allowable total work | J | 3,000,000 | 3,000,000 | 3,000,000 | 1,000,000 | |
| Allowable angular acceleration | rad/s2 | 10,000 max. | ||||
| Brake lifetime
(acceleration/deceleration) |
--- | 10 million times min. | ||||
| Insulation class | --- | Class F | ||||
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.
| Model (R88M-) | 400 VAC | ||||
|---|---|---|---|---|---|
| Item | Unit | 1M40020C | 1M60020C | 1M1K020C | |
| Rated output *1 *2 | W | 400 | 600 | 1,000 | |
| Rated torque *1 *2 | N·m | 1.91 | 2.86 | 4.77 | |
| Rated rotation speed *1 *2 | r/min | 2,000 | |||
| Maximum rotation speed | r/min | 3,000 | |||
| Momentary maximum torque *1 | N·m | 5.73 | 8.59 | 14.3 | |
| Rated current *1 *2 | A (rms) | 1.1 | 1.6 | 2.9 | |
| Momentary maximum current *1 | A (rms) | 3.9 | 5.5 | 9.4 | |
| Rotor
inertia |
Without brake | × 10-4kg·m2 | 2.5042 | 3.9042 | 6.0042 |
| With brake | × 10-4kg·m2 | 2.8472 | 4.2472 | 6.5042 | |
| Applicable load inertia | × 10-4kg·m2 | 19.0 | 23.5 | 59.0 | |
| Torque constant *1 | N·m/ A (rms) | 1.75 | 1.84 | 1.69 | |
| Power rate *1 *3 | kW/s | 14.6 | 21.0 | 38 | |
| Mechanical time constant *3 | ms | 1.57 | 1.21 | 0.94 | |
| Electrical time constant | ms | 6.8 | 7.8 | 13 | |
| Allowable radial load *4 | N | 490 | |||
| Allowable thrust load *4 | N | 196 | |||
| Weight | Without brake | kg | 3.9 | 4.7 | 6.6 |
| With brake | kg | 4.8 | 5.8 | 8.6 | |
| Radiator plate dimensions (material) | mm | 305 × 305 × t12 (aluminum) | 400 × 400 × t20
(aluminum) |
||
| Brake
specifi- cations *5 |
Excitation voltage *6 | V | 24 VDC±10% | ||
| Current consumption (at 20°C) | A | 0.30 | 0.30 | 0.51 | |
| Static friction torque | N·m | 3.92 min. | 3.92 min. | 9.0 min. | |
| Attraction time | ms | 40 max. | 40 max. | 100 max. | |
| Release time *7 | ms | 25 max. | 25 max. | 30 max. | |
| Backlash | ° | 1.0 max. | 1.0 max. | 0.6 max. | |
| Allowable braking work | J | 330 | 330 | 1,000 | |
| Allowable total work | J | 330,000 | 330,000 | 3,000,000 | |
| Allowable angular acceleration | rad/s2 | 10,000 max. | |||
| Brake lifetime
(acceleration/deceleration) |
--- | 10 million times min. | |||
| Insulation class | --- | Class F | |||
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.
| Model (R88M-) | 400 VAC | ||||
|---|---|---|---|---|---|
| Item | Unit | 1M1K520C | 1M2K020C | 1M3K020C | |
| Rated output *1 *2 | W | 1,500 | 2,000 | 3,000 | |
| Rated torque *1 *2 | N·m | 7.16 | 9.55 | 14.3 | |
| Rated rotation speed *1 *2 | r/min | 2,000 | |||
| Maximum rotation speed | r/min | 3,000 | |||
| Momentary maximum torque *1 | N·m | 21.5 | 28.7 | 43.0 | |
| Rated current *1 *2 | A (rms) | 4.1 | 5.7 | 8.6 | |
| Momentary maximum current *1 | A (rms) | 13.5 | 19.8 | 28.3 | |
| Rotor
inertia |
Without brake | × 10-4kg·m2 | 9.0042 | 12.2042 | 15.3122 |
| With brake | × 10-4kg·m2 | 9.5042 | 12.7042 | 17.4122 | |
| Applicable load inertia | × 10-4kg·m2 | 79.9 | 100 | 142 | |
| Torque constant *1 | N·m/ A (rms) | 1.75 | 1.75 | 1.74 | |
| Power rate *1 *3 | kW/s | 57 | 75 | 134 | |
| Mechanical time constant *3 | ms | 0.85 | 0.80 | 0.76 | |
| Electrical time constant | ms | 13 | 14 | 20 | |
| Allowable radial load *4 | N | 490 | 784 | ||
| Allowable thrust load *4 | N | 196 | 343 | ||
| Weight | Without brake | kg | 8.5 | 10 | 12 |
| With brake | kg | 10.5 | 12 | 15 | |
| Radiator plate dimensions (material) | mm | 470 × 470 × t20 (aluminum) | |||
| Brake
specifi- cations *5 |
Excitation voltage *6 | V | 24 VDC±10% | ||
| Current consumption (at 20°C) | A | 0.51 | 0.66 | 0.60 | |
| Static friction torque | N·m | 9.0 min. | 12 min. | 16 min. | |
| Attraction time | ms | 100 max. | 100 max. | 150 max. | |
| Release time *7 | ms | 30 max. | 30 max. | 50 max. | |
| Backlash | ° | 0.6 max. | 0.6 max. | 0.6 max. | |
| Allowable braking work | J | 1,000 | 1,000 | 350 | |
| Allowable total work | J | 3,000,000 | 3,000,000 | 1,000,000 | |
| Allowable angular acceleration | rad/s2 | 10,000 max. | |||
| Brake lifetime
(acceleration/deceleration) |
--- | 10 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-1[] / R88D-1SN[]-ECT Specifications 55](/Images/3549_sp_22_121-263323.gif)
*5. When the brake is released for a vertical axis, refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (Cat.No.I586) 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.
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.
Torque-Rotation Speed Characteristics for 2,000-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-1[] / R88D-1SN[]-ECT Specifications 57](/Images/3549_sp_2321-263326.gif)
Torque-Rotation Speed Characteristics for 2,000-r/min Servomotors (400 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 400 VAC input.
![R88M-1[] / R88D-1SN[]-ECT Specifications 58](/Images/3549_sp_2421-263327.gif)
1,500-r/min Servomotors
| Model (R88M-) | 200 VAC | ||||||
|---|---|---|---|---|---|---|---|
| Item | Unit | 1M4K015T | 1M5K015T | 1M7K515T | 1M11K015T | 1M15K015T | |
| Rated output *1 *2 | W | 4,000 | 5,000 | 7,500 | 11,000 | 15,000 | |
| Rated torque *1 *2 | N·m | 25.5 | 31.8 | 47.8 | 70.0 | 95.5 | |
| Rated rotation speed *1 *2 | r/min | 1,500 | |||||
| Maximum rotation speed | r/min | 3,000 | 2,000 | ||||
| Momentary maximum torque
*1 |
N·m | 75 | 95 | 119 | 175 | 224 | |
| Rated current *1 *2 | A (rms) | 25.7 | 25.8 | 41.2 | 57 | 60.7 | |
| Momentary maximum
current *1 |
A (rms) | 84.8 | 84.8 | 113.0 | 150.0 | 150.0 | |
| Rotor
inertia |
Without brake | × 10-4kg·m2 | 54.0122 | 77.0122 | 113.0122 | 229.0122 | 340.0122 |
| With brake | × 10-4kg·m2 | 60.0122 | 83.0122 | 118.0122 | 253.0122 | 365.0122 | |
| Applicable load inertia | × 10-4kg·m2 | 687 | 955 | 1,070 | 2,200 | 3,110 | |
| Torque constant *1 | N·m/ A (rms) | 1.08 | 1.36 | 1.29 | 1.40 | 1.79 | |
| Power rate *1 *3 | kW/s | 120 | 131 | 202 | 214 | 268 | |
| Mechanical time constant *3 | ms | 1 | 1.1 | 0.75 | 0.61 | 0.56 | |
| Electrical time constant | ms | 19 | 19 | 24 | 32 | 32 | |
| Allowable radial load *4 | N | 1,200 | 1,470 | 1,470 | 2,500 | 2,500 | |
| Allowable thrust load *4 | N | 343 | 490 | 490 | 686 | 686 | |
| Weight | Without brake | kg | 21 | 29 | 39 | 63 | 85 |
| With brake | kg | 26 | 34 | 45 | 73 | 99 | |
| Radiator plate dimensions
(material) |
mm | 470 × 470 × t20
(aluminum) |
540 × 540 × t20
(aluminum) |
670 × 630 × t35
(aluminum) |
|||
| Brake
specifi- cations *5 |
Excitation voltage
*6 |
V | 24 VDC±10% | ||||
| Current
consumption (at 20°C) |
A | 1.0 | 1.0 | 1.4 | 1.7 | 0.92 | |
| Static friction
torque |
N·m | 32 min. | 42 min. | 54.9 min. | 90 min. | 100 min. | |
| Attraction time | ms | 150 max. | 150 max. | 300 max. | 300 max. | 600 max. | |
| Release time *7 | ms | 60 max. | 60 max. | 140 max. | 140 max. | 215 max. | |
| Backlash | ° | 0.8 max. | 0.8 max. | 0.2 max. | 0.2 max. | 0.2 max. | |
| Allowable braking
work |
J | 1,400 | 1,400 | 830 | 1,400 | 1,400 | |
| Allowable total
work |
J | 4,600,000 | 4,600,000 | 2,500,000 | 4,600,000 | 6,100,000 | |
| Allowable angular
acceleration |
rad/s2 | 10,000 max. | 5,000 max. | 3,000 max. | |||
| Brake lifetime
(acceleration/ deceleration) |
--- | 10 million times min. | |||||
| Insulation class | --- | Class F | |||||
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.
| Model (R88M-) | 400 VAC | ||||||
|---|---|---|---|---|---|---|---|
| Item | Unit | 1M4K015C | 1M5K515C | 1M7K515C | 1M11K015C | 1M15K015C | |
| Rated output *1 *2 | W | 4,000 | 5,500 | 7,500 | 11,000 | 15,000 | |
| Rated torque *1 *2 | N·m | 25.5 | 35.0 | 47.8 | 70 | 95.5 | |
| Rated rotation speed *1 *2 | r/min | 1,500 | |||||
| Maximum rotation speed | r/min | 3,000 | 2,000 | ||||
| Momentary maximum torque
*1 |
N·m | 75 | 95 | 119 | 175 | 224 | |
| Rated current *1 *2 | A (rms) | 12.8 | 14.0 | 22.0 | 31.4 | 33.3 | |
| Momentary maximum
current *1 |
A (rms) | 42.4 | 42.4 | 56.5 | 80.7 | 81.2 | |
| Rotor
inertia |
Without brake | × 10-4kg·m2 | 54.0122 | 77.0122 | 113.0122 | 229.0122 | 340.0122 |
| With brake | × 10-4kg·m2 | 60.0122 | 83.0122 | 118.0122 | 253.0122 | 365.0122 | |
| Applicable load inertia | × 10-4kg·m2 | 687 | 955 | 1070 | 2200 | 3110 | |
| Torque constant *1 | N·m/ A (rms) | 2.07 | 2.68 | 2.49 | 2.6 | 3.27 | |
| Power rate *1 *3 | kW/s | 120 | 159 | 202 | 214 | 268 | |
| Mechanical time constant *3 | ms | 1.2 | 1 | 0.78 | 0.63 | 0.62 | |
| Electrical time constant | ms | 18 | 19 | 23 | 29 | 29 | |
| Allowable radial load *4 | N | 1,200 | 1,470 | 1470 | 2,500 | 2,500 | |
| Allowable thrust load *4 | N | 343 | 490 | 490 | 686 | 686 | |
| Weight | Without brake | kg | 21 | 29 | 39 | 63 | 85 |
| With brake | kg | 26 | 34 | 45 | 73 | 99 | |
| Radiator plate dimensions
(material) |
mm | 470 × 470 ×
t20 |
540 x 540x t20
(aluminum) |
670 × 630 × t35
(aluminum) |
|||
| Brake
specifi- cations *5 |
Excitation voltage
*6 |
V | 24 VDC ± 10% | ||||
| Current
consumption (at 20°C) |
A | 1.0 | 1.0 | 1.4 | 1.7 | 0.92 | |
| Static friction
torque |
N·m | 32 min. | 42 min. | 54.9 min. | 90 min. | 100 min. | |
| Attraction time | ms | 150 max. | 150 max. | 300 max. | 300 max. | 600 max. | |
| Release time *7 | ms | 60 max. | 60 max. | 140 max. | 140 max. | 215 max. | |
| Backlash | ° | 0.8 max. | 0.8 max. | 0.2 max. | 0.2 max. | 0.2 max. | |
| Allowable braking
work |
J | 1,400 | 1,400 | 830 | 1,400 | 1,400 | |
| Allowable total
work |
J | 4,600,000 | 4,600,000 | 2,500,000 | 4,600,000 | 6,100,000 | |
| Allowable angular
acceleration |
rad/s2 | 10,000 max. | 5,000 max. | 3,000 max. | |||
| Brake lifetime
(acceleration/ deceleration) |
--- | 10 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.
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-1[] / R88D-1SN[]-ECT Specifications 62](/Images/3549_sp_3721-294101.gif)
*5. When the brake is released for a vertical axis, refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (Cat.No.I586) 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.
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.
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 input.
![R88M-1[] / R88D-1SN[]-ECT Specifications 64](/Images/3549_sp_3821-294102.gif)
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 400 VAC input.
![R88M-1[] / R88D-1SN[]-ECT Specifications 65](/Images/3549_sp_3921-294103.gif)
1,000-r/min Servomotors
| Model (R88M-) | 200 VAC | ||||
|---|---|---|---|---|---|
| Item | Unit | 1M90010T | 1M2K010T | 1M3K010T | |
| Rated output *1 *2 | W | 900 | 2,000 | 3,000 | |
| Rated torque *1 *2 | N·m | 8.59 | 19.1 | 28.7 | |
| Rated rotation speed *1 *2 | r/min | 1,000 | |||
| Maximum rotation speed | r/min | 2,000 | |||
| Momentary maximum torque *1 | N·m | 19.3 | 47.7 | 71.7 | |
| Rated current *1 *2 | A (rms) | 6.7 | 14.4 | 21.2 | |
| Momentary maximum current *1 | A (rms) | 16.9 | 40.6 | 54.7 | |
| Rotor
inertia |
Without brake | × 10-4kg·m2 | 9.0042 | 40.0122 | 68.0122 |
| With brake | × 10-4kg·m2 | 9.5042 | 45.1122 | 73.1122 | |
| Applicable load inertia | × 10-4kg·m2 | 79.9 | 314 | 492 | |
| Torque constant *1 | N·m/ A (rms) | 1.28 | 1.45 | 1.51 | |
| Power rate *1 *3 | kW/s | 82 | 91 | 121 | |
| Mechanical time constant *3 | ms | 0.77 | 1.0 | 0.83 | |
| Electrical time constant | ms | 15 | 18 | 22 | |
| Allowable radial load *4 | N | 686 | 1,176 | 1,470 | |
| Allowable thrust load *4 | N | 196 | 490 | ||
| Weight | Without brake | kg | 8.5 | 18 | 28 |
| With brake | kg | 10.5 | 22 | 33 | |
| Radiator plate dimensions (material) | mm | 470 × 470 × t20 (aluminum) | 540 × 540 × t20
(aluminum) |
||
| Brake
specifi- cations *5 |
Excitation voltage *6 | V | 24 VDC±10% | ||
| Current consumption (at 20°C) | A | 0.51 | 1.2 | 1.0 | |
| Static friction torque | N·m | 9.0 min. | 22 min. | 42 min. | |
| Attraction time | ms | 100 max. | 120 max. | 150 max. | |
| Release time *7 | ms | 30 max. | 50 max. | 60 max. | |
| Backlash | ° | 0.6 max. | 0.8 max. | 0.8 max. | |
| Allowable braking work | J | 1,000 | 1,400 | 1,400 | |
| Allowable total work | J | 3,000,000 | 4,600,000 | 4,600,000 | |
| Allowable angular acceleration | rad/s2 | 10,000 max. | |||
| Brake lifetime
(acceleration/deceleration) |
--- | 10 million times min. | |||
| Insulation class | --- | Class F | |||
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.
| Model (R88M-) | 400 VAC | ||||
|---|---|---|---|---|---|
| Item | Unit | 1M90010C | 1M2K010C | 1M3K010C | |
| Rated output *1 *2 | W | 900 | 2,000 | 3,000 | |
| Rated torque *1 *2 | N·m | 8.59 | 19.1 | 28.7 | |
| Rated rotation speed *1 *2 | r/min | 1,000 | |||
| Maximum rotation speed | r/min | 2,000 | |||
| Momentary maximum torque *1 | N·m | 19.3 | 47.7 | 71.7 | |
| Rated current *1 *2 | A (rms) | 3.6 | 7.1 | 10.6 | |
| Momentary maximum current *1 | A (rms) | 9.0 | 19.5 | 27.7 | |
| Rotor
inertia |
Without brake | × 10-4kg·m2 | 9.0042 | 40.0122 | 68.0122 |
| With brake | × 10-4kg·m2 | 9.5042 | 45.1122 | 73.1122 | |
| Applicable load inertia | × 10-4kg·m2 | 79.9 | 314 | 492 | |
| Torque constant *1 | N·m/A (rms) | 2.41 | 3.00 | 2.97 | |
| Power rate *1 *3 | kW/s | 82 | 91 | 121 | |
| Mechanical time constant *3 | ms | 0.88 | 1.2 | 0.92 | |
| Electrical time constant | ms | 13 | 16 | 19 | |
| Allowable radial load *4 | N | 686 | 1,176 | 1,470 | |
| Allowable thrust load *4 | N | 196 | 490 | ||
| Weight | Without brake | kg | 8.5 | 18 | 28 |
| With brake | kg | 10.5 | 22 | 33 | |
| Radiator plate dimensions (material) | mm | 470 × 470 × t20 (aluminum) | 540 × 540 × t20
(aluminum) |
||
| Brake
specifi- cations *5 |
Excitation voltage *6 | V | 24 VDC±10% | ||
| Current consumption (at 20°C) | A | 0.51 | 1.2 | 1.0 | |
| Static friction torque | N·m | 9.0 min. | 22 min. | 42 min. | |
| Attraction time | ms | 100 max. | 120 max. | 150 max. | |
| Release time *7 | ms | 30 max. | 50 max. | 60 max. | |
| Backlash | ° | 0.6 max. | 0.8 max. | 0.8 max. | |
| Allowable braking work | J | 1,000 | 1,400 | 1,400 | |
| Allowable total work | J | 3,000,000 | 4,600,000 | 4,600,000 | |
| Allowable angular acceleration | rad/s2 | 10,000 max. | |||
| Brake lifetime
(acceleration/deceleration) |
--- | 10 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-1[] / R88D-1SN[]-ECT Specifications 69](/Images/3549_sp_26_121-263330.gif)
*5. When the brake is released for a vertical axis, refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (Cat.No.I586) 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.
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.
Torque-Rotation Speed Characteristics for 1,000-r/min Servomotors (200 V/400 VAC)
The following graphs show the characteristics with a 3-m standard cable and a single-phase 220-VAC or 3-phase 400-VAC input.
![R88M-1[] / R88D-1SN[]-ECT Specifications 71](/Images/3549_sp_2721-263332.gif)
Decelerator AC Servo System [1S-series]
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 | |||
| 50 W
(100 V) |
1/21 | R88G-HPG14A21100B[] | 142 | 2.1 | 62.6 | 285 | 8.4 |
| 1/33 | R88G-HPG14A33050B[] | 90 | 3.6 | 68.4 | 181 | 13.4 | |
| 1/45 | R88G-HPG14A45050B[] | 66 | 4.9 | 68.4 | 133 | 18.3 | |
| 50 W
(200 V) |
1/21 | R88G-HPG14A21100B[] | 142 | 2.1 | 62.6 | 285 | 9.9 |
| 1/33 | R88G-HPG14A33050B[] | 90 | 3.6 | 68.4 | 181 | 15.9 | |
| 1/45 | R88G-HPG14A45050B[] | 66 | 4.9 | 68.4 | 133 | 21.7 | |
| 100 W
(100 V) |
1/5 | R88G-HPG11B05100B[] | 600 | 1.2 | 77.0 | 1200 | 4.2 |
| 1/11 | R88G-HPG14A11100B[] | 272 | 2.5 | 72.1 | 545 | 9.0 | |
| 1/21 | R88G-HPG14A21100B[] | 142 | 5.2 | 77.8 | 285 | 17.5 | |
| 1/33 | R88G-HPG20A33100B[] | 90 | 6.8 | 65.2 | 181 | 26.9 | |
| 1/45 | R88G-HPG20A45100B[] | 66 | 9.8 | 68.2 | 133 | 37.1 | |
| 100 W
(200 V) |
1/5 | R88G-HPG11B05100B[] | 600 | 1.2 | 77.0 | 1200 | 4.9 |
| 1/11 | R88G-HPG14A11100B[] | 272 | 2.5 | 72.1 | 545 | 10.6 | |
| 1/21 | R88G-HPG14A21100B[] | 142 | 5.2 | 77.8 | 285 | 20.7 | |
| 1/33 | R88G-HPG20A33100B[] | 90 | 6.8 | 65.2 | 181 | 31.9 | |
| 1/45 | R88G-HPG20A45100B[] | 66 | 9.8 | 68.2 | 133 | 44.0 | |
| 200 W
(100 V) |
1/5 | R88G-HPG14A05200B[] | 600 | 2.4 | 75.4 | 1200 | 8.3 |
| 1/11 | R88G-HPG14A11200B[] | 272 | 5.8 | 82.6 | 545 | 18.8 | |
| 1/21 | R88G-HPG20A21200B[] | 142 | 10.2 | 76.2 | 285 | 35.9 | |
| 1/33 | R88G-HPG20A33200B[] | 90 | 17.0 | 80.6 | 181 | 57.3 | |
| 1/45 | R88G-HPG20A45200B[] | 66 | 23.5 | 82.1 | 133 | 78.5 | |
| 200 W
(200 V) |
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
(100 V) |
1/5 | R88G-HPG14A05400B[] | 600 | 5.3 | 84.2 | 1200 | 17.1 |
| 1/11 | R88G-HPG20A11400B[] | 272 | 11.4 | 81.6 | 545 | 38.1 | |
| 1/21 | R88G-HPG20A21400B[] | 142 | 23.0 | 86.1 | 285 | 74.0 | |
| 1/33 | R88G-HPG32A33400B[] | 90 | 33.8 | 80.7 | 181 | 114.0 | |
| 1/45 | R88G-HPG32A45400B[] | 66 | 46.6 | 81.5 | 133 | 155.9 | |
| 400 W
(200 V) |
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 | |
| 1/45 | R88G-HPG32A45750B[] | 66 | 94.9 | 88.3 | 133 | 299.0 *2 | |
| 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 | |
| 1/33 | R88G-HPG32A33600SB[] | 90 | 69.3 | 87.9 | 151 | 220.4 | |
| 1/45 | R88G-HPG50A451K5B[] | 66 | 92.0 | 85.5 | 111 | 298.0 | |
| 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 | |
| 1/33 | R88G-HPG50A332K0B[] | 90 | 90.9 | 86.7 | 151 | 292.7 | |
| 1/45 | R88G-HPG50A451K5B[] | 66 | 126.1 | 88.1 | 111 | 401.3 | |
| 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 | |
| 1/21 | R88G-HPG50A212K0B[] | 142 | 119.0 | 89.0 | 238 | 375.7 | |
| 1/33 | R88G-HPG50A332K0B[] | 90 | 192.0 | 91.3 | 151 | 595.3 | |
| 3 kW | 1/5 | R88G-HPG32A053K0B[] | 600 | 42.0 | 88.1 | 1000 | 134.0 |
| 1/11 | R88G-HPG50A113K0B[] | 272 | 93.9 | 89.3 | 454 | 296.1 | |
| 1/21 | R88G-HPG50A213K0B[] | 142 | 183.1 | 91.3 | 238 | 569.2 | |
| 4 kW | 1/5 | R88G-HPG32A054K0B[] | 600 | 57.2 | 90.0 | 1000 | 179.6 |
| 1/11 | R88G-HPG50A115K0B[] | 272 | 127.1 | 91.0 | 454 | 396.4 | |
| 4.7 kW | 1/5 | R88G-HPG50A055K0B[] | 600 | 65.6 | 87.4 | 1000 | 222.5 |
| 1/11 | R88G-HPG50A115K0B[] | 272 | 151.4 | 91.8 | 454 | 496.7 | |
| 5 kW | 1/5 | R88G-HPG50A055K0B[] | 600 | 69.9 | 87.9 | 1000 | 222.5 |
| 1/11 | R88G-HPG50A115K0B[] | 272 | 160.9 | 92.0 | 454 | 496.7 |
| Servomotor
rated output |
Reduction
ratio |
Model | Decelerator
inertia |
Allowable
radial load |
Allowable
thrust load |
Weight |
|---|---|---|---|---|---|---|
| × 10-4 kg·m2 | N | N | kg | |||
| 50 W
(100 V) |
1/21 | R88G-HPG14A21100B[] | 0.05 | 340 | 1358 | 1.0 |
| 1/33 | R88G-HPG14A33050B[] | 0.044 | 389 | 1555 | 1.0 | |
| 1/45 | R88G-HPG14A45050B[] | 0.044 | 427 | 1707 | 1.0 | |
| 50 W
(200 V) |
1/21 | R88G-HPG14A21100B[] | 0.05 | 340 | 1358 | 1.0 |
| 1/33 | R88G-HPG14A33050B[] | 0.044 | 389 | 1555 | 1.0 | |
| 1/45 | R88G-HPG14A45050B[] | 0.044 | 427 | 1707 | 1.0 | |
| 100 W
(100 V) |
1/5 | R88G-HPG11B05100B[] | 0.005 | 135 | 538 | 0.3 |
| 1/11 | R88G-HPG14A11100B[] | 0.06 | 280 | 1119 | 1.0 | |
| 1/21 | R88G-HPG14A21100B[] | 0.05 | 340 | 1358 | 1.0 | |
| 1/33 | R88G-HPG20A33100B[] | 0.065 | 916 | 3226 | 2.4 | |
| 1/45 | R88G-HPG20A45100B[] | 0.063 | 1006 | 3541 | 2.4 | |
| 100 W
(200 V) |
1/5 | R88G-HPG11B05100B[] | 0.005 | 135 | 538 | 0.3 |
| 1/11 | R88G-HPG14A11100B[] | 0.06 | 280 | 1119 | 1.0 | |
| 1/21 | R88G-HPG14A21100B[] | 0.05 | 340 | 1358 | 1.0 | |
| 1/33 | R88G-HPG20A33100B[] | 0.065 | 916 | 3226 | 2.4 | |
| 1/45 | R88G-HPG20A45100B[] | 0.063 | 1006 | 3541 | 2.4 | |
| 200 W
(100 V) |
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 | |
| 200 W
(200 V) |
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
(100 V) |
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 | |
| 400 W
(200 V) |
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 | |
| 1/45 | R88G-HPG32A45750B[] | 2.7 | 1718 | 6848 | 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 | |
| 1/33 | R88G-HPG32A33600SB[] | 2.7 | 1565 | 6240 | 7.9 | |
| 1/45 | R88G-HPG50A451K5B[] | 4.7 | 4538 | 15694 | 19.0 | |
| 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 | |
| 1/33 | R88G-HPG50A332K0B[] | 4.8 | 4135 | 14300 | 19.0 | |
| 1/45 | R88G-HPG50A451K5B[] | 4.7 | 4538 | 15694 | 19.0 | |
| 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 | |
| 1/21 | R88G-HPG50A212K0B[] | 5.8 | 3611 | 12486 | 19.0 | |
| 1/33 | R88G-HPG50A332K0B[] | 4.8 | 4135 | 14300 | 19.0 | |
| 3 kW | 1/5 | R88G-HPG32A053K0B[] | 3.8 | 889 | 3542 | 7.3 |
| 1/11 | R88G-HPG50A113K0B[] | 7.7 | 2974 | 10285 | 19.0 | |
| 1/21 | R88G-HPG50A213K0B[] | 5.8 | 3611 | 12486 | 19.0 | |
| 4 kW | 1/5 | R88G-HPG32A054K0B[] | 3.8 | 889 | 3542 | 7.9 |
| 1/11 | R88G-HPG50A115K0B[] | 8.8 | 2974 | 10285 | 19.1 | |
| 4.7 kW | 1/5 | R88G-HPG50A055K0B[] | 12.0 | 2347 | 8118 | 18.6 |
| 1/11 | R88G-HPG50A115K0B[] | 8.8 | 2974 | 10285 | 19.1 | |
| 5 kW | 1/5 | R88G-HPG50A055K0B[] | 12.0 | 2347 | 8118 | 18.6 |
| 1/11 | R88G-HPG50A115K0B[] | 8.8 | 2974 | 10285 | 19.1 |
*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-1[] / R88D-1SN[]-ECT Specifications 76](/Images/3549_sp_28_121-263459.gif)
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 2,000-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 | |||
| 400 W | 1/5 | R88G-HPG32A052K0B[] | 400 | 6.5 | 68.4 | 600 | 24.9 |
| 1/11 | R88G-HPG32A112K0B[] | 181 | 16.8 | 79.9 | 272 | 57.1 | |
| 1/21 | R88G-HPG32A211K5B[] | 95 | 34.0 | 84.9 | 142 | 111.1 | |
| 1/33 | R88G-HPG32A33600SB[] | 60 | 55.6 | 88.2 | 90 | 176.6 | |
| 1/45 | R88G-HPG32A45400SB[] | 44 | 76.0 | 88.5 | 66 | 241.1 | |
| 600 W | 1/5 | R88G-HPG32A052K0B[] | 400 | 11.1 | 77.6 | 600 | 38.6 |
| 1/11 | R88G-HPG32A112K0B[] | 181 | 26.8 | 85.3 | 272 | 87.3 | |
| 1/21 | R88G-HPG32A211K5B[] | 95 | 53.2 | 88.6 | 142 | 168.7 | |
| 1/33 | R88G-HPG32A33600SB[] | 60 | 85.7 | 90.8 | 90 | 267.2 | |
| 1/45 | R88G-HPG50A451K5B[] | 44 | 115.1 | 89.4 | 66 | 362.6 | |
| 1 kW | 1/5 | R88G-HPG32A053K0B[] | 400 | 20.3 | 85.0 | 600 | 66.0 |
| 1/11 | R88G-HPG32A112K0SB[] | 181 | 47.0 | 89.6 | 272 | 147.6 | |
| 1/21 | R88G-HPG32A211K0SB[] | 95 | 91.7 | 91.5 | 142 | 283.8 | |
| 1/33 | R88G-HPG50A332K0SB[] | 60 | 143.9 | 91.4 | 90 | 445.8 | |
| 1/45 | R88G-HPG50A451K0SB[] | 44 | 197.6 | 92.1 | 66 | 609.3 | |
| 1.5 kW | 1/5 | R88G-HPG32A053K0B[] | 400 | 31.7 | 88.7 | 600 | 100.6 |
| 1/11 | R88G-HPG32A112K0SB[] | 181 | 72.2 | 91.7 | 272 | 223.7 | |
| 1/21 | R88G-HPG50A213K0B[] | 95 | 137.6 | 91.5 | 142 | 426.7 | |
| 1/33 | R88G-HPG50A332K0SB[] | 60 | 219.6 | 92.9 | 90 | 673.9 | |
| 2 kW | 1/5 | R88G-HPG32A053K0B[] | 400 | 43.2 | 90.5 | 600 | 135.1 |
| 1/11 | R88G-HPG32A112K0SB[] | 181 | 97.5 | 92.8 | 272 | 299.7 | |
| 1/21 | R88G-HPG50A213K0B[] | 95 | 185.8 | 92.7 | 142 | 571.9 | |
| 1/33 | R88G-HPG50A332K0SB[] | 60 | 270.0 *1 | 93.5 | 90 | 849.0 *2 | |
| 3 kW | 1/5 | R88G-HPG32A054K0B[] | 400 | 66.0 | 92.3 | 600 | 203.8 |
| 1/11 | R88G-HPG50A115K0B[] | 181 | 146.1 | 92.9 | 272 | 449.2 | |
| 1/21 | R88G-HPG50A213K0SB[] | 95 | 260.0 *1 | 93.6 | 142 | 849.0 *2 | |
| 1/25 | R88G-HPG65A253K0SB[] | 80 | 322.9 | 90.3 | 120 | 1011.7 |
| Servomotor
rated output |
Reduction
ratio |
Model | Decelerator
inertia |
Allowable
radial load |
Allowable
thrust load |
Weight |
|---|---|---|---|---|---|---|
| × 10-4 kg·m2 | N | N | kg | |||
| 400 W | 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-HPG32A33600SB[] | 2.7 | 1565 | 6240 | 7.9 | |
| 1/45 | R88G-HPG32A45400SB[] | 2.7 | 1718 | 6848 | 7.9 | |
| 600 W | 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-HPG32A33600SB[] | 2.7 | 1565 | 6240 | 7.9 | |
| 1/45 | R88G-HPG50A451K5B[] | 4.7 | 4538 | 15694 | 19.0 | |
| 1 kW | 1/5 | R88G-HPG32A053K0B[] | 3.8 | 889 | 3542 | 7.3 |
| 1/11 | R88G-HPG32A112K0SB[] | 3.4 | 1126 | 4488 | 7.8 | |
| 1/21 | R88G-HPG32A211K0SB[] | 2.9 | 1367 | 5448 | 7.8 | |
| 1/33 | R88G-HPG50A332K0SB[] | 4.7 | 4135 | 14300 | 19.0 | |
| 1/45 | R88G-HPG50A451K0SB[] | 4.7 | 4538 | 15694 | 19.0 | |
| 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-HPG50A213K0B[] | 5.8 | 3611 | 12486 | 19.0 | |
| 1/33 | R88G-HPG50A332K0SB[] | 4.7 | 4135 | 14300 | 19.0 | |
| 2 kW | 1/5 | R88G-HPG32A053K0B[] | 3.8 | 889 | 3542 | 7.3 |
| 1/11 | R88G-HPG32A112K0SB[] | 3.4 | 1126 | 4488 | 7.8 | |
| 1/21 | R88G-HPG50A213K0B[] | 5.8 | 3611 | 12486 | 19.0 | |
| 1/33 | R88G-HPG50A332K0SB[] | 4.7 | 4135 | 14300 | 19.0 | |
| 3 kW | 1/5 | R88G-HPG32A054K0B[] | 3.8 | 889 | 3542 | 7.9 |
| 1/11 | R88G-HPG50A115K0B[] | 8.8 | 2974 | 10285 | 19.1 | |
| 1/21 | R88G-HPG50A213K0SB[] | 6.9 | 3611 | 12486 | 19.1 | |
| 1/25 | R88G-HPG65A253K0SB[] | 14 | 7846 | 28654 | 52.0 |
*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-1[] / R88D-1SN[]-ECT Specifications 80](/Images/3549_sp_29_121-263458.gif)
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 | |||
| 4 kW | 1/5 | R88G-HPG50A055K0SB[] | 300 | 119.0 | 93.4 | 600 | 356.6 |
| 1/11 | R88G-HPG50A115K0SB[] | 136 | 217.9 * | 94.3 | 272 | 788.2 | |
| 1/20 | R88G-HPG65A205K0SB[] | 75 | 474.9 | 93.1 | 150 | 1425.3 | |
| 1/25 | R88G-HPG65A255K0SB[] | 60 | 596.0 | 93.5 | 120 | 1784.0 | |
| 5 kW | 1/5 | R88G-HPG50A054K5TB[] | 300 | 149.3 | 93.9 | 600 | 452.6 |
| 1/12 | R88G-HPG65A127K5SB[] | 125 | 354.1 | 92.8 | 250 | 1082.2 | |
| 1/20 | R88G-HPG65A204K5TB[] | 75 | 595.9 | 93.7 | 150 | 1809.3 | |
| 5.5 kW | 1/5 | R88G-HPG50A054K5TB[] | 300 | 164.6 | 94.1 | 600 | 452.6 |
| 1/12 | R88G-HPG65A127K5SB[] | 125 | 391.0 | 93.1 | 250 | 1082.2 | |
| 1/20 | R88G-HPG65A204K5TB[] | 75 | 657.3 | 93.9 | 150 | 1809.3 |
| Servomotor
rated output |
Reduction
ratio |
Model | Decelerator
inertia |
Allowable
radial load |
Allowable
thrust load |
Weight |
|---|---|---|---|---|---|---|
| × 10-4 kg·m2 | N | N | kg | |||
| 4 kW | 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 | |
| 5 kW | 1/5 | R88G-HPG50A054K5TB[] | 12 | 2347 | 8118 | 22.0 |
| 1/12 | R88G-HPG65A127K5SB[] | 66 | 6295 | 22991 | 52.0 | |
| 1/20 | R88G-HPG65A204K5TB[] | 53 | 7338 | 26799 | 52.0 | |
| 5.5 kW | 1/5 | R88G-HPG50A054K5TB[] | 12 | 2347 | 8118 | 22.0 |
| 1/12 | R88G-HPG65A127K5SB[] | 66 | 6295 | 22991 | 52.0 | |
| 1/20 | R88G-HPG65A204K5TB[] | 53 | 7338 | 26799 | 52.0 |
* The value is the allowable continuous output 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).
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-1[] / R88D-1SN[]-ECT Specifications 84](/Images/3549_sp_4021-294104.gif)
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 1,000-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 | |||
| 900 W | 1/5 | R88G-HPG32A05900TB[] | 200 | 39.8 | 92.6 | 400 | 91.2 |
| 1/11 | R88G-HPG32A11900TB[] | 90 | 88.7 | 93.9 | 181 | 201.8 | |
| 1/21 | R88G-HPG50A21900TB[] | 47 | 169.2 | 93.8 | 95 | 385.1 | |
| 1/33 | R88G-HPG50A33900TB[] | 30 | 267.5 | 94.4 | 60 | 606.8 | |
| 2 kW | 1/5 | R88G-HPG32A052K0TB[] | 200 | 90.2 | 94.5 | 400 | 227.5 |
| 1/11 | R88G-HPG50A112K0TB[] | 90 | 198.9 | 94.7 | 181 | 500.9 | |
| 1/21 | R88G-HPG50A212K0TB[] | 47 | 320.1 *1 | 94.8 | 95 | 849.0 *2 | |
| 1/25 | R88G-HPG65A255K0SB[] | 40 | 446.7 | 93.6 | 80 | 1133.1 | |
| 3 kW | 1/5 | R88G-HPG50A055K0SB[] | 200 | 135.4 | 94.4 | 400 | 341.8 |
| 1/11 | R88G-HPG50A115K0SB[] | 90 | 246.2 *1 | 94.9 | 181 | 754.4 | |
| 1/20 | R88G-HPG65A205K0SB[] | 50 | 540.4 | 94.2 | 100 | 1366.0 | |
| 1/25 | R88G-HPG65A255K0SB[] | 40 | 677.1 | 94.4 | 80 | 1709.1 |
| Servomotor
rated output |
Reduction
ratio |
Model | Decelerator
inertia |
Allowable
radial load |
Allowable
thrust load |
Weight |
|---|---|---|---|---|---|---|
| × 10-4 kg·m2 | N | N | kg | |||
| 900 W | 1/5 | R88G-HPG32A05900TB[] | 3.8 | 889 | 3542 | 7.9 |
| 1/11 | R88G-HPG32A11900TB[] | 3.4 | 1126 | 4488 | 8.4 | |
| 1/21 | R88G-HPG50A21900TB[] | 7.0 | 3611 | 12486 | 19.1 | |
| 1/33 | R88G-HPG50A33900TB[] | 5.9 | 4135 | 14300 | 19.1 | |
| 2 kW | 1/5 | R88G-HPG32A052K0TB[] | 5.2 | 889 | 3542 | 8.90 |
| 1/11 | R88G-HPG50A112K0TB[] | 8.4 | 2974 | 10285 | 20.1 | |
| 1/21 | R88G-HPG50A212K0TB[] | 6.5 | 3611 | 12486 | 20.1 | |
| 1/25 | R88G-HPG65A255K0SB[] | 14 | 7846 | 28654 | 55.4 | |
| 3 kW | 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-1[] / R88D-1SN[]-ECT Specifications 88](/Images/3549_sp_30_121-263457.gif)
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 | |||
| 50 W
(100 V) |
1/5 | R88G-VRXF05B100CJ | 600 | 0.65 | 82 | 1200 | 1.97 |
| 1/9 | R88G-VRXF09B100CJ | 333 | 1.17 | 82 | 667 | 3.54 | |
| 1/15 | R88G-VRXF15B100CJ | 200 | 1.84 | 77 | 400 | 5.54 | |
| 1/25 | R88G-VRXF25B100CJ | 120 | 3.06 | 77 | 240 | 9.24 | |
| 50 W
(200 V) |
1/5 | R88G-VRXF05B100CJ | 600 | 0.65 | 82 | 1200 | 2.30 |
| 1/9 | R88G-VRXF09B100CJ | 333 | 1.17 | 82 | 667 | 4.13 | |
| 1/15 | R88G-VRXF15B100CJ | 200 | 1.84 | 77 | 400 | 6.47 | |
| 1/25 | R88G-VRXF25B100CJ | 120 | 3.06 | 77 | 240 | 10.78 | |
| 100 W
(100 V) |
1/5 | R88G-VRXF05B100CJ | 600 | 1.43 | 90 | 1200 | 4.28 |
| 1/9 | R88G-VRXF09B100CJ | 333 | 2.58 | 90 | 667 | 7.70 | |
| 1/15 | R88G-VRXF15B100CJ | 200 | 4.10 | 86 | 400 | 12.26 | |
| 1/25 | R88G-VRXF25B100CJ | 120 | 6.84 | 86 | 240 | 20.43 | |
| 100 W
(200 V) |
1/5 | R88G-VRXF05B100CJ | 600 | 1.43 | 90 | 1200 | 5.00 |
| 1/9 | R88G-VRXF09B100CJ | 333 | 2.58 | 90 | 667 | 8.23 * | |
| 1/15 | R88G-VRXF15B100CJ | 200 | 4.10 | 86 | 400 | 14.10 * | |
| 1/25 | R88G-VRXF25B100CJ | 120 | 6.84 | 86 | 240 | 21.90 * | |
| 200 W
(100 V) |
1/5 | R88G-VRXF05B200CJ | 600 | 2.93 | 92 | 1200 | 8.79 |
| 1/9 | R88G-VRXF09C200CJ | 333 | 4.76 | 83 | 667 | 14.27 | |
| 1/15 | R88G-VRXF15C200CJ | 200 | 8.22 | 86 | 400 | 24.64 | |
| 1/25 | R88G-VRXF25C200CJ | 120 | 13.70 | 86 | 240 | 41.07 | |
| 200 W
(200 V) |
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
(100 V) |
1/5 | R88G-VRXF05C400CJ | 600 | 5.59 | 88 | 1200 | 16.72 |
| 1/9 | R88G-VRXF09C400CJ | 333 | 10.06 | 88 | 667 | 30.10 | |
| 1/15 | R88G-VRXF15C400CJ | 200 | 16.95 | 89 | 400 | 50.73 | |
| 1/25 | R88G-VRXF25C400CJ | 120 | 28.26 | 89 | 240 | 84.55 | |
| 400 W
(200 V) |
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 |
|---|---|---|---|---|---|---|
| × 10-4kg·m2 | N | N | kg | |||
| 50 W
(100 V) |
1/5 | R88G-VRXF05B100CJ | 0.060 | 392 | 196 | 0.55 |
| 1/9 | R88G-VRXF09B100CJ | 0.050 | 441 | 220 | 0.55 | |
| 1/15 | R88G-VRXF15B100CJ | 0.053 | 588 | 294 | 0.70 | |
| 1/25 | R88G-VRXF25B100CJ | 0.051 | 686 | 343 | 0.70 | |
| 50 W
(200 V) |
1/5 | R88G-VRXF05B100CJ | 0.060 | 392 | 196 | 0.55 |
| 1/9 | R88G-VRXF09B100CJ | 0.050 | 441 | 220 | 0.55 | |
| 1/15 | R88G-VRXF15B100CJ | 0.053 | 588 | 294 | 0.70 | |
| 1/25 | R88G-VRXF25B100CJ | 0.051 | 686 | 343 | 0.70 | |
| 100 W
(100 V) |
1/5 | R88G-VRXF05B100CJ | 0.060 | 392 | 196 | 0.55 |
| 1/9 | R88G-VRXF09B100CJ | 0.050 | 441 | 220 | 0.55 | |
| 1/15 | R88G-VRXF15B100CJ | 0.053 | 588 | 294 | 0.70 | |
| 1/25 | R88G-VRXF25B100CJ | 0.051 | 686 | 343 | 0.70 | |
| 100 W
(200 V) |
1/5 | R88G-VRXF05B100CJ | 0.060 | 392 | 196 | 0.55 |
| 1/9 | R88G-VRXF09B100CJ | 0.050 | 441 | 220 | 0.55 | |
| 1/15 | R88G-VRXF15B100CJ | 0.053 | 588 | 294 | 0.70 | |
| 1/25 | R88G-VRXF25B100CJ | 0.051 | 686 | 343 | 0.70 | |
| 200 W
(100 V) |
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 | |
| 200 W
(200 V) |
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
(100 V) |
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 | |
| 400 W
(200 V) |
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-1[] / R88D-1SN[]-ECT Specifications 93](/Images/3549_sp_31_121-278790.gif)
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.
last update: June 10, 2024
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