DataSheet

System Configuration ......................................................................................2

G5 Series AC Servomotor/Servo Drives with built-in EtherCAT Communications .. 2
G5 Series Linear Motor/Servo Drives with built-in EtherCAT Communications
Linear Motor Type................................................................................................... 4
G5-series AC Servomotors/Servo Drives with General-purpose Pulse Train
or Analog Inputs ...............................................................................................6
G5-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II
Communications...............................................................................................8
G5-series AC Servo Drives with Built-in EtherCAT Communications...................10
Contents
Ordering Information
Specifications
Components and Functions
Dimensions
G5-series AC Servo Drives with Built-in EtherCAT Communications Linear
Motor Type ......................................................................................................22
Contents
Ordering Information
Specifications
Components and Functions
Dimensions
G5-Series AC Servo Drives with General-purpose Pulse Train or Analog Inputs................. 27
Contents
Ordering Information
Specifications
Components and Functions
Dimensions
G5-series AC Servo Drives with Built-in MECHATROLINK-II Communications ..... 38
Contents
Ordering Information
Specifications
Components and Functions
Dimensions
G5-series AC Servomotors ............................................................................47
Contents
Ordering Information
Specifications
Dimensions
G5-series Linear Motor ..................................................................................74
Contents
Ordering Information
Specifications
Components and Functions
Dimensions
Related Manuals .............................................................................................89
Sysmac® is a trademark or registered trademark of OMRON Corporation in Japan and other countries for
OMRON factory automation products.
Windows is registered trademarks of Microsoft Corporation in the USA and other countries.
EtherCAT® is a registered trademark of Beckhoff Automation GmbH for their patented technology.
Other company names and product names in this document are the trademarks or registered trademarks
of their respective companies.

As a Sysmac Device, the G5-series AC Servomotor/Servo Drive with Built-in EtherCAT Communications
is designed to provide optimal functionality and enhanced operability when used in conjunction with a
Machine Automation Controller such as NJ series and the automation software Sysmac Studio.
Sysmac Device is a generic term for OMRON control devices such as an EtherCAT Slave, designed with
unified communications specifications and user interface specifications.

When connecting a Servo Drive to the NJ5 series Machine Automation Controller, it is recommended that
you use the Servo Drive with Built-in EtherCAT Communications, R88D-KN@@@-ECT, with unit version
2.1 or later.
 G5 Series AC Servomotor/Servo Drives with built-in EtherCAT Communications

R88M-K/R88D-KN@-ECT

System Configuration

Controllers

Automation Software
Sysmac Studio

Machine Automation Controller

NJ Series

EtherCAT Cables
Use a category 5 or higher cable
with double, aluminium tape and
braided shielding.

Support Software Support Software

Position Control Unit with
Programmable Controller CX-One FA Integrated CX-One FA Integrated
EtherCAT interface
CJ2/CJ1 Tool Package Tool Package
CJ1W-NC@81/NC@82
(Including CX-Programmer) (Including CX-Drive)

2
 AC Servomotor/Drive
G5-series
High-Speed and High-Precision

System Configuration
G5 Series EtherCAT Communications
with the Controller

G5-Series
• High-accuracy positioning with fully-closed control.
• Servo Drives for 400VAC globally widens applicable systems
and environment, including large-scale equipment.

EtherCAT Communications
• Safe design and Safe Torque Off (STO) function.
• Vibration can be suppressed in acceleration/deceleration

AC Servo Drive
even in low-rigidity mechanical systems.

EtherCAT Communications
Servo Drive I/O signals Connector-Terminal Block
Conversion Units and Cable

Linear Motor Type

Power Cables

AC Servo Drive
• Non-Flexible Cables Connector-Terminal Block
• Without Brake Conversion Unit
R88A-CA@@@@@S XW2@-20G@
• With Brake

R88A-CA@@@@@B
• Flexible Cables

General-purpose Inputs
• Without Brake

R88A-CA@@@@@SR Cable
• With Brake
XW2Z-@@@J-B34

AC Servo Drive
R88A-CA@@@@@BR

AC Servomotors
Brake Cables (50 to 750 W or less)

AC Servo Drive
• Non-Flexible Cables
R88A-CAKA@@@B

ML-II Type
• Flexible Cables
R88A-CAKA@@@BR
Motor power signals
EtherCAT Communications
Feedback Signals
Encoder Cables
G5 Series

AC Servomotors
Drives with Built-in • Non-Flexible Cables
EtherCAT Communications
• 750W or less
R88D-KN@@-ECT R88A-CRK@@@@C
• 1.0kW or more

R88A-CRKC@@@N G5 Series motor

• Flexible Cables R88M-K
• 750W or less 3000r/min
R88A-CRK@@@@CR 2000r/min
• 1.0kW or more 1500r/min
R88A-CRK@@@NR 1000r/min
Linear Motor

USB Communications
ABS
INC
INC

Peripheral Devices Absolute Encoder Battery Cable Decelerators

Reactors R88A-CRGD0R3C (-BS)
(One Battery is included with model numbers
3G3AX-DL
External ending in"BS")
3G3AX-AL
scale
External Regeneration
Resistors
Note: Not required if a battery is connected
R88A-RR to the control connector (CN1).

3
 G5 Series Linear Motor/Servo Drives with built-in EtherCAT Communications Linear Motor Type

R88L-EC/R88D-KN@-ECT-L

System Configuration

Controllers

Automation Software
Sysmac Studio

Machine Automation Controller

NJ Series

EtherCAT Cables
Use a category 5 or higher cable
with double, aluminium tape and
braided shielding.

Support Software Support Software

Position Control Unit with
Programmable Controller
EtherCAT interface
CX-One FA Integrated CX-One FA Integrated
CJ2/CJ1 Tool Package Tool Package
CJ1W-NC@81/NC@82
(Including CX-Programmer) (Including CX-Drive)

4
 AC Servomotor/Drive
G5-series
Linear Motor for Higher-speed

System Configuration
and Higher-precision
• Inherited functions and performance of G5

G5-Series
series and EtherCAT communications achieve
high-speed and high-precision positioning.
• Lineup of compact and high-thrust iron-core
motor type and cogging-free ironless motor type

EtherCAT Communications
with excellent speed stability.
• Same Iron-core motor type for 200V AC and

AC Servo Drive
400V AC.
• Quick setup by automatic setup function.

EtherCAT Communications
Servo Drive Connector-Terminal Block
Conversion Units and Cable

Linear Motor Type

AC Servo Drive
Connector-Terminal Block
Conversion Unit
XW2@-20G@
I/O signals

General-purpose Inputs
Cable
XW2Z-@@@J-B34

AC Servo Drive
Linear Moter

Iron-core Type

AC Servo Drive
ML-II Type
Motor power signals
Power Cables
Motor Coil Unit : R88L-EC-FW-@
EtherCAT Communications • Power Cable Magnet Trac : R88L-EC-FM-@
Supplied by the user.
Ironless Type
G5 Series

AC Servomotors
Drives with Built-in
EtherCAT Communications
Linear Motor type
R88D-KN@@-ECT-L
Motor Coil Unit : R88L-EC-GW-@
Magnet Trac : R88L-EC-GM-@

External encoder
USB Communications
Linear Motor

Feedback Signals • Commercial Product

External encoder Cables Supplied by the user.
• Serial Communications Cable Refer to the *External encoder
R88A-CRKE010SR on P26 for details.
Peripheral Devices

Reactors
3G3AX-DL
3G3AX-AL • 90° Phase Difference Input
Cable
External Regeneration
Resistors Supplied by the user
R88A-RR

5
 G5-series AC Servomotors/Servo Drives with General-purpose Pulse Train or Analog Inputs

R88M-K/R88D-KT

System Configuration

Support Software Support Software

• CX-One FA Integrated • CX-One FA Integrated
Controller Tool Package
Including CX-Programmer
Tool Package
(Including CX-Drive)
and CX-Position
and CX-Motion

High-speed type
Direct connection cable for CJ1W-NC@@4
XW2Z-@@@J-G@

Pulse Train Commands/Feedback Signals

Position Control Unit Cable Connector Terminal Block Conversion Unit

External Signal
Position Control Unit

Programmable Position Control Unit (NC) XW2Z-@X XW2@-20G@

Controller CJ1W-NC214/414
CJ2 CJ1W-NC234/434

Standard type

Position Control Unit Cable (NC) Servo Relay Unit Servo Drive Cable
Pulse Train Commands

XW2Z-@-A@ XW2B-@ XW2Z-@-B@

Programmable Position Control Unit (NC)

Controller CJ1W-NC@@3 CS1W-NC@@3
CJ1/CS1 C200HW-NC@@3

External Signal
Pulse I/O Module

Programmable Pulse I/O Module

Controller CJ2M-MD21@ *
CJ2
*CJ2M CPU Unit Ver.2.0 or later
Connector-Terminal Block Conversion Units and Cable
Built-in pulse XW2@-50G@ XW2Z-@@@J-B24
CPU Unit

I/O function type

Pulse Train Commands

CP1H/CP1L/CP1E

Flexible Motion Controller

Position Control Unit Cable (NC) Servo Relay Units (for FQM1) Servo Drive Cable
XW2Z-@-A@ XW2B-80J7-12A XW2Z-@-B@
FQM1-MMA22
(Analog output)
Analog Commands

FQM1-MMP22
(Pulse train output)

Programmable Controller + Controller (Analog output type)

Control Cables (for Motion Control Unit)
R88A-CPG
Analog Commands/Feedback Signals

Programmable Controller Motion Control Unit (MC)

CS1 CS1W-MC221/421 (-V1)

Available to build the Absolute System.

6
 AC Servomotor/Drive
G5-series
The Preeminent Servo That Revolutionizes

System Configuration
Motion Controll
• Industry Top-class Tracking Performance.

G5-Series
Speed Response Frequency of 2 kHz.
• Best Positioning Accuracy*.
Featuring a 20-bit high-resolution incremental encoder.
* 8 times the resolution of previous OMRON models

EtherCAT Communications
• High-precision Positioning.
Fully Closed Loop Control Is a Standard Feature.
• Conforms to the Latest International Standards.

AC Servo Drive
Safety and Productivity.
• Globalization. Lineup of 400 VAC Servomotors.

EtherCAT Communications
USB Servo Drive AC Servomotors
communications

Linear Motor Type

Motor power signals

AC Servo Drive
Power Cables
• Non-flexible Cables
• Without Brake
R88A-CA@@@@@S
• With Brake

R88A-CA@@@@@B

General-purpose Inputs
• Flexible Cables
• Without Brake

R88A-CA@@@@@SR

AC Servo Drive
• With Brake

R88A-CA@@@@@BR

AC Servo Drive
Brake Cables (50 to 750 W or less)
• Non-flexible Cables

ML-II Type
R88A-CAKA@@@B
• Flexible Cables
R88A-CAKA@@@BR

Feedback Signals
• G5 Series driver • G5 Series motor
R88D-KT R88M-K
100 VAC Encoder Cables 3,000 r/min

AC Servomotors
200 VAC • Non-Flexible Cables 2,000 r/min
400 VAC • 750W or less 1,500 r/min
R88A-CRK@@@@C 1,000 r/min
• 1.0kW or more
R88A-CRKC@@@N
• Flexible Cables
• 750W or less

R88A-CRK@@@@CR
• 1.0kW or more

R88A-CRK@@@NR
Linear Motor

Peripheral Devices Absolute Encoder Battery Cable Decelerators

• Reactors R88A-CRGD0R3C (-BS)
3G3AX-DL (One Battery is included with Servo
3G3AX-AL Drivers with model numbers ending
External scale in “BS.”)
• External
Regeneration
Resistors
* Not required if a battery is connected to
R88A-RR the control connector (CN1).

7
 G5-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications

R88M-K/R88D-KN@-ML2

System Configuration

Controllers (MECHATROLINK-II type)

Support Software Support Software

• CX-One FA Integrated • CX-One FA Integrated
Tool Package Tool Package
Including CX-Programmer (Including CX-Drive)
and CX-Position
and CX-Motion

Programmable Controller Position Control Unit

CJ1 CJ1W-NC@71

MECHATROLINK-II

MECHATROLINK-II Cables
(With ring core and USB connector on both ends)
FNY-W6003-@@ (OMRON model number)
(Without ring core USB connector on both ends)
FNY-W6002-@@ (OMRON model number)

Programmable Controller Position Control Unit

CS1 CS1W-NC@71 MECHATROLINK-II Repeater

Maximum transmission distance

0 to 30 m 30 to 50 m
Number of 1 to 15 Repeater not required. Repeater not required.
connected
devices 16 Repeater not required. Repeater required.

8
 AC Servomotor/Drive
G5-series
High-Speed and High-Precision

System Configuration
G5 Series MECHATROLINK-II
Communications with the Controller

G5-Series
• Data transfer using MECHATROLINK-II
Communications:
All control data that can be interfaced between the Servo Driver
and the Controller is transmitted using data communications. This

EtherCAT Communications
enables maximizing the Servomotor performance without
restricting the transmission performance of the control signals.

AC Servo Drive
• Having a communications module built into the Servo Driver
significantly saves space in the control panel.

EtherCAT Communications
Servo Drive I/O signals Connector-Terminal Block
Conversion Units and Cable

Linear Motor Type

Power Cables

AC Servo Drive
• Non-flexible Cables • Connector-Terminal Block
• Without Brake Conversion Unit
R88A-CA@@@@@S XW2@-20G@
• With Brake

USB R88A-CA@@@@@B
communi- • Flexible Cables

General-purpose Inputs
• Without Brake
cations
R88A-CA@@@@@SR
• With Brake
• Cable
XW2Z-@@@J-B34

AC Servo Drive
R88A-CA@@@@@BR

AC Servomotors
Brake Cables (50 to 750 W or less)

AC Servo Drive
• Non-flexible Cables
R88A-CAKA@@@B

ML-II Type
• Flexible Cables
R88A-CAKA@@@BR

Motor power signals

Feedback Signals
Encoder Cables
• G5 Series

AC Servomotors
driver • Non-Flexible Cables
R88D-KN@@-ML2 • 750W or less
R88A-CRK@@@@C
• 1.0kW or more
R88A-CRKC@@@N • G5 Series motor
• Flexible Cables R88M-K
• 750W or less
3000r/min
R88A-CRK@@@@CR 2000r/min
• 1.0kW or more 1000r/min
R88A-CRK@@@NR
Linear Motor

Peripheral Devices Absolute Encoder Battery Cable Decelerators

• Reactors R88A-CRGD0R3C (-BS)
3G3AX-DL (One Battery is included with Servo
3G3AX-AL Drivers with model numbers ending
External scale in “BS.”)
• External
Regeneration
Resistors
* Not required if a battery is connected to
R88A-RR the control connector (CN1).

9
 G5-series AC Servo Drives with Built-in EtherCAT Communications

R88D-KN@-ECT
Contents
• Ordering Information
• Specifications
General Specifications
Characteristics
• Servo Drives with Single-phase 100 VAC Input Power
• Servo Drives with Single-phase or Three-phase 200 VAC Input Power
• Servo Drives with Three-phase 400 VAC Input Power
EtherCAT Communication Specifications
• Version Information
• Names and Functions
Servo Drive Part Names
Functions
• Dimensions

Ordering Information
Refer to the Ordering Information.

Specifications
General Specifications
Item Specifications
Ambient operating temperature and
0 to 55°C, 90%RH max. (with no condensation)
operating humidity
Storage ambient temperature and
−20 to 65°C, 90%RH max. (with no condensation)
humidity
Operating and storage atmosphere No corrosive gases
Vibration resistance 10 to 60 Hz and at an acceleration of 5.88 m/s2 or less (Not to be run continuously at a resonance point)
Insulation resistance Between power supply terminals/power terminals and FG terminal: 0.5 MΩ min. (at 500 VDC)
Dielectric strength Between power supply/power line terminals and FG terminal: 1,500 VAC for 1 min at 50/60 Hz
Protective structure Built into panel
EMC
EN 55011, EN 61000-6-2, IEC 61800-3
Directive
Low Voltage
EC EN 61800-5-1
Directive
Directives
International EN954-1 (Cat.3), EN ISO 13849-1: 2008 (Category 3) (PLc,d), ISO 13849-1: 2006 (Category 3) (PLc,d),
Machinery
standard EN61508 (SIL2),
Directives
EN62061 (SIL2), EN61800-5-2 (STO), IEC61326-3-1 (SIL2)
UL standards UL 508C
CSA standards CSA22.2 No. 14
Korean Radio
Certified
Regulations (KC)
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. Some Servo Drive parts will require maintenance. For details, refer to the G5 series USER'S MANUAL. Confirm the Manual No. that is
listed in Related Manuals.

10
 AC Servomotor/Drive
G5-series

System Configuration
Characteristics
● Servo Drives with 100 VAC Input Power
for Single-phase input type

G5-Series
Item R88D-KNA5L-ECT R88D-KN01L-ECT R88D-KN02L-ECT R88D-KN04L-ECT
Continuous output current (rms) 1.2A 1.7A 2.5A 4.6A
Power supply
0.4KVA 0.4KVA 0.5KVA 0.9KVA
capacity

EtherCAT Communications
Power supply
Main circuit Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
voltage
Input power Rated current 1.7A 2.6A 4.3A 7.6A
supply

AC Servo Drive
Heat value*1 11W 16.6W 21W 25W
Power supply
Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
Control circuit voltage
Heat value*1 4W 4W 4W 4W
Weight Approx. 0.8kg Approx. 0.8kg Approx. 1.0kg Approx. 1.6kg
Maximum applicable motor capacity 50W 100W 200W 400 W

EtherCAT Communications
3,000 r/min
INC K05030H K10030L K20030L K40030L

Linear Motor Type

Servomotors
ABS K05030T K10030S K20030S K40030S

AC Servo Drive
Applicable
Servomotor 2,000 r/min
ABS − − − −
Servomotors
1,000 r/min
ABS − − − −
Servomotors

*1. The heat value is given for rated operation.

General-purpose Inputs
● Servo Drives with 200 VAC Input Power
for Single-phase/Three-phase input type

AC Servo Drive
R88D- R88D- R88D- R88D- R88D- R88D-
Item
KN01H-ECT KN02H-ECT KN04H-ECT KN08H-ECT KN10H-ECT KN15H-ECT
Continuous output current (rms) 1.2A 1.6A 2.6A 4.1A 5.9A 9.4A
Power supply
0.5KVA 0.5KVA *1 0.9KVA 1.3KVA 1.8KVA 2.3KVA
capacity
Power supply
Main circuit Single-phase or 3-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
voltage

AC Servo Drive
Input power Rated current 1.6/0.9A *1 2.4/1.3A *1 4.1/2.4A *1 6.6/3.6A *1 9.1/5.2A *1 14.2/8.1A *1
supply
Heat value*2 14.3/13.7W*1 23/19W *1 33/24W *1 30/35.5W *1 57/49W *1 104/93W*1

ML-II Type
Power supply
Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
Control circuit voltage
*2
Heat value 4W 4W 4W 4W 7W 7W
Approx. Approx. Approx. Approx. Approx. Approx.
Weight
0.8kg 0.8kg 1.0kg 1.6kg 1.8kg 1.8kg
Maximum applicable motor capacity 100W 200W 400W 750W 1kW 1.5kW
K05030H K1K030H
INC K20030H K40030H K75030H −

AC Servomotors
3,000 r/min K10030H K1K530H
Servomotors K05030T K1K030T
ABS K20030T K40030T K75030T −
K10030T K1K530T

INC − − − − K1K020H K1K520H

Applicable 2,000 r/min
Servomotor Servomotors
ABS − − − − K1K020T K1K520T

INC − − − − − K90010H
1,000 r/min
Servomotors
ABS − − − − − K90010T
Linear Motor

*1. The first value is for single-phase input power and the second value is for 3-phase input power.
*2. The heat value is given for rated operation.

11
 AC Servomotor/Drive
G5-series

● Servo Drives with 200 VAC Input Power

for Three-phase input type
R88D-KN150H-
Item R88D-KN20H-ECT R88D-KN30H-ECT R88D-KN50H-ECT R88D-KN75H-ECT
ECT
Continuous output current (rms) 13.4A 18.7A 33.0A 44.0A 66.1A
Power supply
3.3KVA 4.5KVA 7.5KVA 11.0KVA 22.0KVA
capacity
Power supply 3-phase 200 to 230 VAC (170 to 253V) 50/60Hz
Main circuit 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
voltage 280 to 325 VDC (238 to 357V)
Input power Rated current 11.8A 15.1A 21.6A 32.0A 58.0A
supply
Heat value *1 139W 108W 328W 381W 720W
Power supply Single-phase 200 to 230 VAC (170 to 253V) 50/60Hz
Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
Control circuit voltage 280 to 325 VDC (238 to 357V)
Heat value *1 10W 13W 13W 15W 17W
Weight Approx. 2.7kg Approx. 4.8kg Approx. 4.8kg Approx. 13.5kg Approx. 21.0kg
Maximum applicable motor capacity 2kW 3kW 5kW 7.5kW 15kW
K4K030H
INC K2K030H K3K030H − −
3,000 r/min K5K030H
Servomotors K4K030T
ABS K2K030T K3K030T − −
K5K030T
K4K020H
INC K2K020H K3K020H − −
Applicable 2,000 r/min K5K020H
Servomotor Servomotors K4K020T K11K015T
ABS K2K020T K3K020T
K5K020T
K7K515T
K15K015T

INC − K2K010H K3K010H − −

1,000 r/min
Servomotors K3K010T
ABS − K2K010T K6K010T −
K4K510T
*1. The heat value is given for rated operation.

● Servo Drives with 400 VAC Input Power

for Three-phase input type
R88D- R88D- R88D- R88D- R88D- R88D- R88D- R88D-
Item KN06F- KN10F- KN15F- KN20F- KN30F- KN50F- KN75F- KN150F-
ECT ECT ECT ECT ECT ECT ECT ECT
Continuous output current (rms) 1.5A 2.9A 4.7A 6.7A 9.4A 16.5A 22.0A 33.1A
Power supply
1.2KVA 1.8KVA 2.3KVA 3.8KVA 4.5KVA 6.0KVA 11.0KVA 22.0KVA
capacity
Power supply
Main circuit 3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz
voltage
Input power Rated current 2.1A 2.8A 4.7A 5.9A 7.6A 12.1A 16.0A 29.0A
supply
Heat value*1 32.2W 48W 49W 65W 108W 200W 300W 590W
Power supply
24 VDC (20.4 to 27.6 V)
Control circuit voltage
*1
Heat value 7W 7W 7W 10W 13W 13W 15W 22W
Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx.
Weight
1.9kg 1.9kg 1.9kg 2.7kg 4.7kg 4.7kg 13.5kg 21.0kg
Maximum applicable motor capacity 600W 1kW 1.5kW 2kW 3kW 5kW 7.5kW 15kW
K1K030F K4K030F
INC − K75030F K2K030F K3K030F − −
3,000 r/min K1K530F K5K030F
Servomotors K1K030C K4K030C
ABS − K75030C K2K030C K3K030C − −
K1K530C K5K030C
K40020F K4K020F
Applicable INC K1K020F K1K520F K2K020F K3K020F − −
2,000 r/min K60020F K5K020F
Servomotor
Servomotors K40020C K4K020C K11K015C
ABS K60020C
K1K020C K1K520C K2K020C K3K020C
K5K020C
K7K515C
K15K015C
− − K90010F − K2K010F K3K010F − −
1,000 r/min INC
Servomotors K3K010C
− − K90010C − K2K010C K6K010C −
K4K510C
*1. The heat value is given for rated operation.

12
 AC Servomotor/Drive
G5-series

System Configuration
EtherCAT Communications Specifications
Item Specification

G5-Series
Communications standard IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile
Physical layer 100BASE-TX (IEEE802.3)
RJ45 × 2 (shielded)
Connectors ECAT IN: EtherCAT input
ECAT OUT: EtherCAT output

EtherCAT Communications
Ethernet Category 5 (100BASE-TX) or higher (twisted-pair cable with double, aluminum tape and braided
Communications media
shielding) is recommended.
Communications distance Distance between nodes: 100 m max.
Process data Fixed PDO mapping

AC Servo Drive
Mailbox (CoE) Emergency messages, SDO requests, SDO responses, and SDO information
Synchronization in DC mode.
Distributed clock (DC)
DC cycle: 250 μs, 500 μs, 1 ms, 2 ms, 4 ms
L/A IN (Link/Activity IN) × 1
L/A OUT (Link/Activity OUT) × 1
LED indicators
RUN × 1

EtherCAT Communications
ERR × 1
• Cyclic synchronous position mode
• Cyclic synchronous velocity mode

Linear Motor Type

• Cyclic synchronous torque mode

AC Servo Drive
CiA402 Drive Profile • Profile position mode
• Homing mode
• Touch probe function (Latch function)
• Torque limit function

General-purpose Inputs
Version Information
Unit Versions

AC Servo Drive
Unit version
Unit Model
Unit version 1.0 Unit version 2.0 Unit version 2.1
AC Servo Drives G5-Series R88D-KN@-ECT-R Supported
built-in EtherCAT
Communications R88D-KN@-ECT Supported Supported
Compatible Sysmac Studio version Version 1.00 or higher *1 Version 1.00 or higher *2 Version1.00 or higher
Compatible CX-Drive version Version2.2 or higher Version2.3 or higher Version2.4 or higher

AC Servo Drive
*1. The function that was enhanced by the upgrade for Unit version2.0 can not be used. For detail, refer to "Function Support by Unit Version".
*2. The function that was enhanced by the upgrade for Unit version2.1 can not be used. For detail, refer to "Function Support by Unit Version".

ML-II Type
Function Support by Unit Version
Unit AC Servo Drives G5-Series built-in EtherCAT Communications
Model R88D-KN@-ECT-R R88D-KN@-ECT
Unit version
Unit version 1.0 Unit version 2.0 Unit version 2.1
Item

AC Servomotors
Sysmac Error Status No supported Supported
Saving the Node Address Setting No supported Supported
Sysmac Products Features Serial Number Display *1 No supported Supported
ESI Specification (Version 1.0) No supported Supported
SII Data Check No supported Supported
Fixed PDO mapping No supported Supported
Variable PDO mapping (1600 hex, 1A00 hex) No supported Supported
csp: Cyclic synchronous position mode Supported
csv: Cyclic synchronous velocity mode No supported Supported
Linear Motor

Available operation modes cst: Cyclic synchronous torque mode No supported Supported
pp: Profile position mode No supported Supported
hm: Homing mode No supported Supported
Supported*2
FIR filter function No supported (Available when the communications cycle is 1 ms or
above)
Excessive Speed Deviation Error No supported Supported
Error detection function
Interruptions Error No supported Supported
No supported*3
Electronic gear function Supported Supported
(only to 1:1)

13
 AC Servomotor/Drive
G5-series
Unit AC Servo Drives G5-Series built-in EtherCAT Communications
Model R88D-KN@-ECT-R R88D-KN@-ECT
Unit version
Unit version 1.0 Unit version 2.0 Unit version 2.1
Item
Available when the
communications cycle is 1
Available when the
ms or above at an
communications cycle is
Fully-closed Control *4 Supported electronic gear ratio of 1:1
500 μs or above in csp
and 2 ms or above at a
and 1 ms or above in hm.
gear ratio other than
1:1.*5
PDO mapping to 60E0/
Torque limit objects PDO mapping to 60E0/60E1 hex is possible.*6
60E1 hex is not possible.
Positioning Completion Range No supported Supported
Reference Position for CSP (4020 hex) No supported Supported
Data Setting Warning Detection Setting (3781) No supported Supported*7
Version indication on the unit label No supported Supported
*1. The function to show the serial number controlled by OMRON in 1018h-04 hex.
*2. Setting the communications cycle to 500 μs or less does not enable the FIR filter function, although doing so does not cause any error.
*3. Setting this to an electronic gear ratio other than 1:1 simply causes the G5-series AC Servo Drive to operate at 1:1 without any errors.
*4. If Fully-closed Control is not available, a Function Setting Error (Error No. 93.4) will occur.
*5. This is applicable only when the total size of the objects mapped to RxPDO is 12 bytes or less. For details, refer to the USER'S MANUAL.
*6. There are objects added (3013 hex/3522 hex) to or renamed (3525 hex/3526 hex) from unit version 1.0.
For details of these objects, refer to Torque Limit Selection (3521 hex) in Extended Objects of each manual.
*7. Only the following Servo Drive models support DC power input:
• R88D-KN75H-ECT • R88D-KN150H-ECT

14
 AC Servomotor/Drive
G5-series
Components and Functions

System Configuration
EtherCAT status indicators Display
Seven-segment display A 2-digit 7-segment display shows the node address, error codes, and other
Analog monitor connector (CN5) ADR Rotary switches for Servo Drive status.

G5-Series
node address setting
USB connector (CN7) Charge Lamp
Lights when the main circuit power supply is turned ON.
EtherCAT communications
connector: ECAT IN EtherCAT Status Indicators
Main circuit These indicators show the status of EtherCAT communications.
EtherCAT

EtherCAT Communications
power supply terminals For details, refer to the G5 series USER'S MANUAL (Cat.No.I576).
(L1, L2, and L3) communications
connector: ECAT OUT
Control circuit Control I/O Connector (CN1)
power supply terminals
Safety connector (CN8)
(L1C and L2C) Used for command input signals and I/O signals.

AC Servo Drive
Charge lamp Encoder Connector (CN2)
Control I/O connector (CN1) Connector for the encoder installed in the Servomotor.
External Regeneration
Resistor connection
terminals (B1, B2, and B3)
External Encoder Connector (CN4)*
Connector for an encoder signal used during fully-closed control.
Motor connection
terminals (U, V, and W) EtherCAT Communications Connectors (ECAT IN and ECAT OUT)

EtherCAT Communications
External encoder
connector (CN4)
These connectors are for EtherCAT communications.
Analog Monitor Connector (CN5)

Linear Motor Type

Protective ground terminals Encoder connector (CN2)
You can use a special cable to monitor values, such as the motor rotation

AC Servo Drive
speed, torque command value, etc.
USB Connector (CN7)
Communications connector for the computer.
Safety Connector (CN8)
Connector for safety devices.

General-purpose Inputs
If no safety devices are used, keep the factory-set safety bypass connector
installed.

AC Servo Drive
AC Servo Drive
ML-II Type
AC Servomotors
Linear Motor

15
 AC Servomotor/Drive
G5-series

*External Encoder
Contact the encoder manufacturer to find out the detailed specifications such as operating environment before use.
Resolution Maximum
External encoder type Maker Example of External encoder Supported speed *1 *4 speed *4
[μm] [m/s]
0 to 4 Mpps
90º phase difference output type *2*3 − Phase A/B type − −
(Multiplication × 4)
SR75 0.01 to 1 3.3
Serial communications type SR85 0.01 to 1 3.3
Magnescale Co., Ltd 0 to 400 Mpps
(Incremental type) *3 SL700+PL101RP/RHP 0.1 10
SL710+PL101RP/RHP 0.1 10
AT573A 0.05 2.5
Mitutoyo Corporation
ST778A(L) 0.1 5
SR77 0.01 to 1 3.3
Magnescale Co., Ltd
SR87 0.01 to 1 3.3
Serial communications type
0 to 400 Mpps 0.001 0.4
(Absolute type) *3
Renishaw Co. RESOLUTE 0.05 20
0.1 40
SAP/SVAP/GAP 0.05 2.5
FAGOR AUTOMATION
LAP 0.1 2
*1. The supported speed is the internal feedback pulse speed [external encoder pulse/s] of the external encoder that can be processed by the
Servo Drive.
Check the instruction manual of the external encoder for the speed range supported by your external encoder.
*2. These are the directions that the Drive counts a 90° phase difference output.
Count-down direction Count-up direction
t1 t1

EXA EXA

EXB EXB
t2 t2
EXB is 90° ahead of EXA. EXB is 90° behind EXA.
t1 > 0.25 μs t1 > 0.25 μs
t2 > 1.0 μs t2 > 1.0 μs
*3. For the external encoder connection direction, set the direction so that count-up occurs when the motor shaft is rotating counterclockwise, and
count-down occurs when the motor shaft is rotating clockwise. If the connection direction cannot be selected due to installation conditions or
any other reason, the count direction can be reversed using External Feedback Pulse Direction Switching (3326 hex).
*4. The resolution and maximum speed are the values for the G5-series Servo Drive. The resolution and maximum speed may be different from
the specifications of the feedback encoder due to restriction on the maximum pulse frequency of the Servo Drive.

16
 AC Servomotor/Drive
G5-series
Dimensions

System Configuration
<Wall Mounting>
Single-phase 100 VAC R88D-KNA5L-ECT/-KN01L-ECT (50 to 100 W)

G5-Series
R88D-KN01L-ECT-L (100 W)
Single-phase/Three-phase 200 VAC R88D-KN01H-ECT/-KN02H-ECT (100 to 200 W)
R88D-KN01H-ECT-L/-KN02H-ECT-L (100 to 200 W)

EtherCAT Communications
Mounting dimensions
40 70 132 5.2 dia. CAD data

AC Servo Drive
150 150 140

EtherCAT Communications
Linear Motor Type
6 28

AC Servo Drive
40

Single-phase 100 VAC R88D-KN02L-ECT (200 W)

R88D-KN02L-ECT-L (200 W)

General-purpose Inputs
Single-phase/Three-phase 200 VAC R88D-KN04H-ECT (400 W)

AC Servo Drive
R88D-KN04H-ECT-L (400 W)
Mounting dimensions
55 70 132 5.2 dia. CAD data

AC Servo Drive
150 150 140

ML-II Type
6 43
55

Single-phase 100 VAC R88D-KN04L-ECT (400 W)

AC Servomotors
R88D-KN04L-ECT-L (400 W)
Single-phase/Three-phase 200 VAC R88D-KN08H-ECT (750 W)
R88D-KN08H-ECT-L (750 W)
Mounting dimensions
65 70 172
4 CAD data
5.2 dia.
Linear Motor

150 150 140

7.5 50
65

Note: R88D-KN@-ECT-L is the AC Servo Drives with Built-in EtherCAT Communications type.

17
 AC Servomotor/Drive
G5-series

Single-phase/Three-phase 200 VAC R88D-KN10H-ECT/-KN15H-ECT (900 W to 1.5 kW)

R88D-KN10H-ECT-L/-KN15H-ECT-L (1 kW to 1.5 kW)
70 172
Mounting dimensions
4 CAD data
86 5.2 dia.

150 150 140

8.5 70
86

Three-phase 200 VAC R88D-KN20H-ECT (2 kW)

86
CAD data
85
17.5 50 Mounting dimensions
42.5 φ5.2 70 195 25 φ5.2
R2.6 5.2 5.2 R2.6

168
188 168 188
198

R2.6 5.2 5.2 R2.6 2.5 17.5 50

42.5 φ5.2
86
17.5 50

Three-phase 200 VAC R88D-KN30H-ECT/-KN50H-ECT (3 to 5 kW)

130 70 214 Mounting dimensions
15 CAD data
100
65 5.2 dia. 5.2 dia.
R2.6 5.2 R2.6 3.5 50
5.2

220 220 240

240
250

5.2 5.2 R2.6

R2.6 2.5 15
5.2 dia. 100
65
15 130
100

18
 AC Servomotor/Drive
G5-series

System Configuration
Three-phase 200 VAC R88D-KN75H-ECT (7.5 kW)
233 CAD data

G5-Series
222
207
162
117
72

EtherCAT Communications
27
Mounting dimensions
5.2 5.2 5.2 3.5
φ5.2 φ5.2 70 334
10-M4
45

AC Servo Drive
R2.6 R2.6 R2.6

EtherCAT Communications
220 235 250 220 235

Linear Motor Type

AC Servo Drive
R2.6 2.5 27
φ5.2 R2.6 φ5.2 R2.6 180
5.2 5.2 5.2 233
27

General-purpose Inputs
72

AC Servo Drive
117
162
207

Three-phase 200 VAC R88D-KN150H-ECT (15 kW)

Mounting dimensions

AC Servo Drive
4
261 CAD data
231 70 271 261

ML-II Type
30.5 30.5
φ7 φ7 200
4-M6
7.5 7.5

AC Servomotors
435 450 435 450

R3.5 R3.5 30.5

Linear Motor

231

19
 AC Servomotor/Drive
G5-series

Three-phase 400 VAC R88D-KN06F-ECT/-KN10F-ECT (600 W to 1.0 kW)

R88D-KN06F-ECT-L/-KN10F-ECT-L (600 W to 1.0 kW)
Three-phase 400 VAC R88D-KN15F-ECT (1.5 kW)
R88D-KN15F-ECT-L (1.5 kW)
Mounting dimensions
70 172 CAD data
4
92 5.2 dia.

150 150 5.2 dia. 140

14.5
70
92

Three-phase 400 VAC R88D-KN20F-ECT (2 kW)

R88D-KN20F-ECT-L (2 kW)
94
CAD data
85
17.5 Mounting dimensions
50
42.5 φ5.2 1.8
70 195
5.2 5.2 25 φ5.2

168 168 180

188
198

R2.6
2.5

5.2 5.2 R2.6 26.5 50

φ5.2 94
17.5 50

Three-phase 400 VAC R88D-KN30F-ECT/-KN50F-ECT (3 to 5 kW)

R88D-KN30F-ECT-L (3 kW)
Mounting dimensions
130 5.2 dia. CAD data
15 100 70 214 3.5 50
65 5.2 dia.
5.2 5.2

220 240

220
240
250

R2.6
2.5 15 100
5.2 5.2 R2.6 130
65 5.2 dia.
15 100

20
 AC Servomotor/Drive
G5-series

System Configuration
Three-phase 200 VAC R88D-KN75H-ECT (7.5 kW)

G5-Series
233 CAD data
222
207
162
117
72

EtherCAT Communications
27
Mounting dimensions
5.2 5.2 5.2 3.5
φ5.2 φ5.2 70 334
10-M4
45

AC Servo Drive
R2.6 R2.6 R2.6

220 235 250 220 235

EtherCAT Communications
Linear Motor Type
AC Servo Drive
R2.6 2.5 27
φ5.2 R2.6 φ5.2 R2.6 180
5.2 5.2 5.2 233
27

72

General-purpose Inputs
117
162

AC Servo Drive
207

Three-phase 400 VAC R88D-KN150F-ECT (15kW)

Mounting dimensions

AC Servo Drive
4
261 CAD data
231 271 261

ML-II Type
30.5 70
30.5
φ7 φ7 200
4-M6
7.5 7.5

AC Servomotors
435 450 435 450

R3.5 R3.5 30.5

Linear Motor

231

21
 G5-series AC Servo Drives with Built-in EtherCAT Communications Linear Motor Type

R88D-KN@-ECT-L
Contents
• Ordering Information
• Specifications
General Specifications
Characteristics
• Servo Drives with 100 VAC Input Power
• Servo Drives with 200 VAC Input Power
• Servo Drives with 400 VAC Input Power
EtherCAT Communication Specifications
• Version Information
• Names and Functions
Servo Drive Part Names
Functions
• Dimensions

Ordering Information
Refer to the Ordering Information.

Specifications
General Specifications
Item Specifications
Ambient operating temperature and humidity 0 to 55°C, 20% to 85% max. (with no condensation)
Storage ambient temperature and humidity –20 to 65°C, 20% to 85% max. (with no condensation)
Operating and storage atmosphere No corrosive gases
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 point)
Insulation resistance Between power supply terminals/power terminals and FG terminal: 0.5 MΩ min. (at 500 VDC)
Dielectric strength Between power supply/power terminals and FG terminal: 1,500 VAC for 1 min at 50/60 Hz
Protective structure Built into panel
EMC Directive EN 55011, EN 61000-6-2, EN 61800-3
Low Voltage
EN 61800-5-1
EC Directives* Directive
Machinery EN954-1(Cat.3), EN ISO13849-1 (Cat.3)(PLc, d), ISO13849-1(Cat.3)(PLc, d),EN61508(SIL2),
Directives EN62061(SIL2), EN61800-5-2 (STO), IEC61326-3-1 (SIL 2)
UL standards UL 508C
CSA standards CSA22.2 No.14
Korean Radio Regulations (KC) Certified
* The certification from third party is issued in combination with the revolution type motor. The conformance as the whole system should be
checked by machine builder.
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. Some Servo Drive parts will require maintenance. For details, refer to the G5 series USER'S MANUAL. Confirm the Manual No. that is
listed in Related Manuals.
Note: 4. Vibration, unstable movement, or accoustic noise may occur by an exogenous noise. In such case, please reduce incoming noise as
referred in G5 series user's manuals.

22
 AC Servomotor/Drive
G5-series

System Configuration
Characteristics
● 100-VAC Input Models

G5-Series
Item R88D-KN01L-ECT-L R88D-KN02L-ECT-L R88D-KN04L-ECT-L
Power supply
0.4 KVA 0.5 KVA 0.9 KVA
capacity
Power supply
Main circuit Single-phase 100 to 120 VAC (85 to 132 VAC) 50/60 Hz
voltage
Input power Rated current 2.6 A 4.3 A 7.6 A

EtherCAT Communications
supply
Heat value*1 16.6 W 21 W 25 W
Power supply
Single-phase 100 to 120 VAC (85 to 132 VAC) 50/60 Hz
voltage

AC Servo Drive
Control circuit
Heat value*1 4W 4W 4W
Mass Approx. 0.8 kg Approx. 1.0 kg Approx. 1.6 kg
Maximum Motor Rated Rms Current 1.7 Arms 2.5 Arms 4.6 Arms
motor
capacity Maximum current of motor 5.1 Arms 7.5 Arms 13.8 Arms
*1. The heat value is given for rated operation.

EtherCAT Communications
● 200-VAC Input Models

Linear Motor Type

AC Servo Drive
R88D-KN01H- R88D-KN02H- R88D-KN04H- R88D-KN08H- R88D-KN10H- R88D-KN15H-
Item
ECT-L ECT-L ECT-L ECT-L ECT-L ECT-L
Power supply
0.5 KVA 0.5 KVA 0.9 KVA 1.3 KVA 1.8 KVA 2.3 KVA
capacity
Power supply
Main circuit Single-phase or 3-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz
voltage
Input power Rated current 1.6/0.9 A*1 2.4/1.3 A*1 4.1/2.4 A*1 6.6/3.6 A*1 9.1/5.2 A*1 14.2/8.1 A*1

General-purpose Inputs
supply
Heat value*2 14.3/13.7 W*1 23/19 W*1 33/24 W*1 30/35.5 W*1 57/49 W*1 104/93 W*1
Power supply

AC Servo Drive
Single-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz
Control circuit voltage
*2
Heat value 4W 4W 4W 4W 7W 7W
Mass Approx. 0.8 kg Approx. 0.8 kg Approx. 1.0 kg Approx. 1.6 kg Approx. 1.8 kg Approx. 1.8 kg
Maximum Rated effective current of motor 1.2 Arms 1.6 Arms 2.6 Arms 4.1 Arms 5.9 Arms 9.4 Arms
motor
capacity Maximum current of motor 3.6 Arms 4.8 Arms 7.8 Arms 12.3 Arms 16.9 Arms 28.2 Arms
*1. The first value is for single-phase input power and the second value is for 3-phase input power.
*2. The heat value is given for rated operation.

AC Servo Drive
● 400-VAC Input Models

ML-II Type
R88D-KN06F- R88D-KN10F- R88D-KN15F- R88D-KN20F- R88D-KN30F-
Item
ECT-L ECT-L ECT-L ECT-L ECT-L
Power supply
1.2 KVA 1.8 KVA 2.3 KVA 3.8 KVA 4.5 KVA
capacity
Power supply
Main circuit 3-phase 380 to 480 VAC (323 to 528 VAC) 50/60 Hz
voltage
Input power Rated current 2.1 A 2.8 A 3.9 A 5.9 A 7.6 A
supply

AC Servomotors
Heat value*1 32.2 W 48 W 49 W 65 W 108 W
Power supply
24 VDC (20.4 to 27.6 VAC)
Control circuit voltage
*1
Heat value 7W 7W 7W 10 W 13 W
Mass Approx. 1.9 kg Approx. 1.9 kg Approx. 1.9 kg Approx. 2.7 kg Approx. 4.7 kg
Maximum Rated effective current of motor 1.5 Arms 2.9 Arms 4.7 Arms 6.7 Arms 9.4 Arms
motor
capacity Maximum current of motor 4.5 Arms 8.7 Arms 14.1 Arms 19.7 Arms 28.2 Arms
*1. The heat value is given for rated operation.
Linear Motor

23
 AC Servomotor/Drive
G5-series

EtherCAT Communications Specifications

Item Specification
Communications standard IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile
Physical layer 100BASE-TX (IEEE802.3)
RJ45 × 2 (shielded)
Connectors ECAT IN: EtherCAT input
ECAT OUT: EtherCAT output
Ethernet Category 5 (100BASE-TX) or higher (twisted-pair cable with double, aluminum tape and braided
Communications media
shielding) is recommended.
Communications distance Distance between nodes: 100 m max.
Process data Fixed PDO mapping
Mailbox (CoE) Emergency messages, SDO requests, SDO responses, and SDO information
Synchronization in DC mode.
Distributed clock (DC)
DC cycle: 250 μs, 500 μs, 1 ms, 2 ms, 4 ms
L/A IN (Link/Activity IN) × 1
L/A OUT (Link/Activity OUT) × 1
LED indicators
RUN × 1
ERR × 1
• Cyclic synchronous position mode
• Cyclic synchronous velocity mode
• Cyclic synchronous torque mode
CiA402 Drive Profile • Profile position mode
• Homing mode
• Touch probe function (Latch function)
• Torque limit function

Version Information
Unit Versions
● AC Servo Drives with built-in EtherCAT communications Linear motor type and Software
Unit version
Unit Model
Unit version 1.1
AC Servo Drives G5-Series
built-in EtherCAT
R88D-KN@@@-ECT-L Supported
Communications Linear Motor
Type
Compatible Sysmac Studio version Version 1.04 or higher
Compatible CX-Drive version Version 2.72 or higher

24
 AC Servomotor/Drive
G5-series
Components and Functions

System Configuration
EtherCAT status indicators Display
Seven-segment display A 2-digit 7-segment display shows the node address, error codes, and other
Analog monitor connector (CN5) ADR Rotary switches for Servo Drive status.

G5-Series
node address setting
USB connector (CN7) Charge Lamp
Lights when the main circuit power supply is turned ON.
EtherCAT communications
connector: ECAT IN EtherCAT Status Indicators
Main circuit These indicators show the status of EtherCAT communications.
EtherCAT

EtherCAT Communications
power supply terminals For details, refer to the G5 series USER'S MANUAL (Cat.No.I576).
(L1, L2, and L3) communications
connector: ECAT OUT
Control circuit Control I/O Connector (CN1)
power supply terminals
Safety connector (CN8)
(L1C and L2C) Used for command input signals and I/O signals.

AC Servo Drive
Charge lamp
External Encoder Connector (CN4)*
External Regeneration
Control I/O connector (CN1) Connector for an encoder signal used during fully-closed control.
Resistor connection
terminals (B1, B2, and B3) EtherCAT Communications Connectors (ECAT IN and ECAT OUT)
These connectors are for EtherCAT communications.
Motor connection
terminals (U, V, and W)
Analog Monitor Connector (CN5)

EtherCAT Communications
External encoder
connector (CN4) You can use a special cable to monitor values, such as the motor rotation
speed, torque command value, etc.

Linear Motor Type

Protective ground terminals Not used. (CN2)

AC Servo Drive
USB Connector (CN7)
Communications connector for the computer.
Safety Connector (CN8)
Connector for safety devices.
If no safety devices are used, keep the factory-set safety bypass connector
installed.

General-purpose Inputs
AC Servo Drive
AC Servo Drive
ML-II Type
AC Servomotors
Linear Motor

25
 AC Servomotor/Drive
G5-series

*External Encoder
Contact the encoder manufacturer to find out the detailed specifications such as operating environment before use.
Maximum
Resolution *4
External encoder type Maker Example of External encoder Supported speed*1 speed *4
[μm]
[m/s]
0 to 4 Mpps
90º phase difference output type*2*3 − Phase A/B type − −
(Multiplication × 4)
SR75 0.01 to 1 3.3
Serial communications type SR85 0.01 to 1 3.3
Magnescale Co., Ltd 0 to 400 Mpps
(Incremental type)*3 SL700+PL101RP/RHP 0.1 10
SL710+PL101RP/RHP 0.1 10
AT573A 0.05 2.5
Mitutoyo Corporation
ST778A(L) 0.1 5
SR77 0.01 to 1 3.3
Magnescale Co., Ltd
SR87 0.01 to 1 3.3
Serial communications type
0 to 400 Mpps 0.001 0.4
(Absolute type)*3
Renishaw Co. RESOLUTE 0.05 20
0.1 40
SAP/SVAP/GAP 0.05 2.5
FAGOR AUTOMATION
LAP 0.1 2
*1. The supported speed is the internal feedback pulse speed [external encoder pulse/s] of the external encoder that can be processed by the
Servo Drive.
Check the instruction manual of the external encoder for the speed range supported by your external encoder.
*2. These are the directions that the Drive counts a 90° phase difference output.
Count-down direction Count-up direction
t1 t1

EXA EXA

EXB EXB
t2 t2
EXB is 90° ahead of EXA. EXB is 90° behind EXA.
t1 > 0.25 μs t1 > 0.25 μs
t2 > 1.0 μs t2 > 1.0 μs
*3. For the external encoder connection direction, set the direction so that count-up occurs when the motor shaft is rotating counterclockwise, and
count-down occurs when the motor shaft is rotating clockwise. If the connection direction cannot be selected due to installation conditions or
any other reason, the count direction can be reversed using External Feedback Pulse Direction Switching (3326 hex).
*4. The resolution and maximum speed are the values for the G5-series Servo Drive. The resolution and maximum speed may be different from
the specifications of the feedback encoder due to restriction on the maximum pulse frequency of the Servo Drive.

Dimensions
Refer to the page of Dimensions of the built-in EtherCAT communication type.

26
 G5-Series AC Servo Drives with General-purpose Pulse Train or Analog Inputs

R88D-KT

System Configuration
G5-Series
Contents
• Ordering Information
• Specifications

EtherCAT Communications
General Specifications
Characteristics
• Servo Drives with Single-phase 100 VAC Input Power

AC Servo Drive
• Servo Drives with Single-phase or three-phase 200 VAC Input Power
• Servo Drives with Three-phase 200 VAC Input Power
• Servo Drives with 400 VAC Input Power
• Names and Functions

EtherCAT Communications
Servo Drive Part Names
Functions

Linear Motor Type

AC Servo Drive
• Dimensions

Ordering Information
Refer to the Ordering Information.

General-purpose Inputs
AC Servo Drive
Specifications
General Specifications
Item Specifications
Ambient operating 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

AC Servo Drive
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 point)
Insulation resistance Between power supply terminal/power terminal and FG terminal: 0.5 MΩ min. (at 500 VDC Megger)

ML-II Type
Dielectric strength Between power supply/power line terminals and FG terminal: 1,500 VAC for 1 min at 50/60 Hz
Protective structure Built into panel
EMC directive EN55011, EN61000-6-2, IEC61800-3
Low voltage
International standard

EN61800-5-1
EC directives command
Machinery EN954-1 (Cat.3), EN ISO 13849-1: 2008 (PLc,d), ISO 13849-1: 2006 (PLc,d), EN61508 (SIL2),

AC Servomotors
directives EN62061 (SIL2), EN61800-5-2 (STO), IEC61326-3-1 (SIL2)
UL standards UL508C
CSA standards CSA22.2 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. Some Servo Drive parts will require maintenance. For details, refer to the G5 series USER'S MANUAL. Confirm the Manual No. that is
listed in Related Manuals.
Note: 4. To conform EMC directive, the tips on wiring and installation written in the G5 series user's manual must be followed. Confirm the Manual
Linear Motor

No. that is listed in Related Manuals.

27
 AC Servomotor/Drive
G5-series

Characteristics
● Servo Drives with 100 VAC Input Power
for Single-phase input type
Item R88D-KTA5L R88D-KT01L R88D-KT02L R88D-KT04L
Continuous output current (rms) 1.2A 1.7A 2.5A 4.6A
Power supply
0.4KVA 0.4KVA 0.5KVA 0.9KVA
capacity
Power supply
Main circuit Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
voltage
Input power Rated current 1.7A 2.6A 4.3A 7.6A
supply
Heat value*1 11W 16.6W 21W 25W
Power supply
Single-phase 100 to 120 VAC (85 to 132 V), 50/60 Hz
Control circuit voltage
Heat value*1 4W 4W 4W 4W
Weight Approx. 0.8 kg Approx. 0.8kg Approx. 1.0kg Approx. 1.6kg
Maximum applicable motor capacity 50W 100W 200W 400W

INC K05030H K10030L K20030L K40030L

3,000 r/min
Servomotors
ABS K05030T K10030S K20030S K40030S
Applicable
Servomotors 2,000 r/min
Servomotors
ABS − − − −

1,000 r/min
Servomotors
ABS − − − −

*1. The heat value is given for rated operation.

● Servo Drives with 200 VAC Input Power

for Single-phase/Three-phase input type
Item R88D-KT01H R88D-KT02H R88D-KT04H R88D-KT08H R88D-KT10H R88D-KT15H
Continuous output current (rms) 1.2A 1.6A 2.6A 4.1A 5.9A 9.4A
Power supply
0.5KVA 0.5KVA 0.9KVA 1.3KVA 1.8KVA 2.3KVA
capacity
Power supply
Main circuit Single-phase or Three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
voltage
Input power Rated current 1.6/0.9A *1
2.4/1.3A *1 4.1/2.4A *1 6.6/3.6A *1 9.1/5.2A *1 14.2/8.1A *1
supply *2 *1 *1 *1 *1 *1
Heat value 14.3/13.7W 23/19W 33/24W 30/35.5W 57/49W 104/93W *1
Power supply
Single-phase 200 to 240VAC (170 to 264V), 50/60Hz
Control circuit voltage
*2
Heat value 4W 4W 4W 4W 7W 7W
Weight Approx. 0.8kg Approx. 0.8kg Approx. 1.1kg Approx. 1.6kg Approx. 1.8kg Approx. 1.8kg
Maximum applicable motor capacity 100W 200W 400W 750W 1kW 1.5kW
K05030H K1K030H
INC K20030H K40030H K75030H −
3,000 r/min K10030H K1K530H
Servomotors K05030T K1K030T
ABS K20030T K40030T K75030T −
K10030T K1K530T

INC − − − − K1K020H K1K520H

Applicable 2,000 r/min
Servomotors Servomotors
ABS − − − − K1K020T K1K520T

INC − − − − − K90010H
1,000 r/min
Servomotors
ABS − − − − − K90010T

*1. The left value is for single-phase input power and the right value is for three-phase input power.
*2. The heat value is given for rated operation.

28
 AC Servomotor/Drive
G5-series

System Configuration
● Servo Drives with 200 VAC Input Power
for Three-phase input type
Item R88D-KT20H R88D-KT30H R88D-KT50H R88D-KT75H R88D-KT150H

G5-Series
Continuous output current (rms) 13.4A 18.7A 33.0A 44.0A 66.1A
Power supply
3.3KVA 4.5KVA 7.5KVA 11.0KVA 22.0KVA
capacity
Power supply 3-phase 200 to 230 VAC (170 to 253V) 50/60Hz
Main circuit 3-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
voltage 280 to 325 VDC (238 to 357V)

EtherCAT Communications
Input power Rated current 11.8A 15.1A 21.6A 32.0A 58.0A
supply
Heat value*1 139W 108W 328W 381W 720W
Power supply Single-phase 200 to 230 VAC (170 to 253V) 50/60Hz

AC Servo Drive
Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
Control circuit voltage 280 to 325 VDC (238 to 357V)
Heat value*1 10W 13W 13W 15W 17W
Weight Approx. 2.7kg Approx. 4.8kg Approx. 4.8kg Approx. 13.5kg Approx. 21.0kg
Maximum applicable motor capacity 2kW 3kW 5kW 7.5kW 15kW
K4K030H
INC K2K030H K3K030H − −
3,000 r/min K5K030H

EtherCAT Communications
Servomotors K4K030T
ABS K2K030T K3K030T
K5K030T
− −

Linear Motor Type

K4K020H

AC Servo Drive
INC K2K020H K3K020H − −
Applicable 2,000 r/min K5K020H
Servomotors Servomotors K4K020T K11K015T
ABS K2K020T K3K020T
K5K020T
K7K515T
K15K015T

INC − K2K010H K3K010H − −

1,000 r/min
Servomotors K3K010T
INC − K2K010T K6K010T −

General-purpose Inputs
K4K510T
*1. The heat value is given for rated operation.

AC Servo Drive
● Servo Drives with 400 VAC Input Power
for Three-phase input type
R88D- R88D- R88D- R88D- R88D- R88D- R88D- R88D-
Item
KT06F KT10F KT15F KT20F KT30F KT50F KT75F KT150F
Continuous output current (rms) 1.5A 2.9A 4.7A 6.7A 9.4A 16.5A 22.0A 33.4A
Power supply
1.2KVA 1.8KVA 2.3KVA 3.8KVA 4.5KVA 6.0KVA 11.0KVA 22.0KVA
capacity

AC Servo Drive
Power supply
Main circuit 3-phase 380 to 480 VAC (323 to 528 V), 50/60 Hz
voltage
Input power Rated current 2.1A 2.8A 3.9A 5.9A 7.6A 12.1A 16.0A 29.0A

ML-II Type
supply
Heat value*1 32.2W 48W 49W 65W 108W 200W 300W 590W
Power supply
24 VDC (20.4 to 27.6)
Control circuit voltage
Heat value*1 7W 7W 7W 10W 13W 13W 15W 22W
Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx.
Weight
1.9kg 1.9kg 1.9kg 2.7kg 4.7kg 4.7kg 13.5kg 21.0kg
Maximum applicable motor capacity 600W 1kW 1.5kW 2kW 3kW 5kW 7.5kW 15kW

AC Servomotors
K1K030F K4K030F
INC − K75030F K2K030F K3K030F − −
3,000 r/min K1K530F K5K030F
Servomotors K1K030C K4K030C
ABS − K75030C
K1K530C
K2K030C K3K030C
K5K030C
− −

K40020F K4K020F
INC K1K020F K1K520F K2K020F K3K020F − −
Applicable 2,000 r/min K60020F K5K020F
Servomotors Servomotors K40020C K4K020C K11K015C
ABS K60020C
K1K020C K1K520C K2K020C K3K020C
K5K020C
K7K515C
K15K015C

INC − − K90010F − K2K010F K3K010F − −

1,000 r/min
Linear Motor

Servomotors K3K010C
ABS − − K90010C − K2K010C K6K010C −
K4K510C
*1. The heat value is given for rated operation.

29
 AC Servomotor/Drive
G5-series
Components and Functions
Servo Drive Part Names
Display area
Display area
A 6-digit 7-segment LED display shows the Servo Drive status, alarm
Monitor connector codes, parameters, and other information.
(CN5)
Operation area Operation area
Monitors the parameter setting and driver condition.
USB connector (CN7)
Charge Lamp
Expansion connector
Main circuit power (CN3) Lits when the main circuit power supply is turned ON.
suppy terminals
(L1, L2 and L3) Safety connector (CN8) Control I/O Connector (CN1)
Used for command input signals and I/O signals.
Control circuit power Encoder connector (CN2)
suppy terminals
(L1C and L2C) Connector for the encoder installed in the Servomotor.
Charge lamp Expansion Connector (CN3)
Control I/O connector
External Regeneration (CN1) A spare connector for expansion. Do not connect anything.
Resistor connection External Scale Connector (CN4)
terminals
(B1, B2 and B3) Connector for an encoder signal used during full closing control.
Motor connection Monitor Connector (CN5)
terminals External scale connector Uses a specified cable to monitor the motor rotation speed, torque
(U, V and W) (CN4)
command value, etc.
Protective ground Encoder connector USB connector (CN7)
terminals (CN2)
Communications connector for the computer.
Safety Connector (CN8)
Connector for the safety devices.
If no safety device is used, keep the factory-set safety bypass connector
installed.
Main Circuit Terminal (CNA)
Main-circuit power terminals (L1, L2, L3)
Control-circuit power terminals (CNA)
Motor connection terminals (CNB)
External Regeneration Resistor connection terminals (B1,B2,B3)
Servomotor connection terminals (U, V, W)

30
 AC Servomotor/Drive
G5-series

System Configuration
*External Encoder
Contact the encoder manufacturer to find out the detailed specifications such as operating environment before use.
Maximum
Resolution*4

G5-Series
External encoder type Maker Example of External encoder Supported speed*1 speed*4
[μm]
[m/s]
0 to 4 Mpps
90º phase difference output type*2*3 − Phase A/B type − −
(Multiplication × 4)
SR75 0.01 to 1 3.3

EtherCAT Communications
Serial communications type SR85 0.01 to 1 3.3
Magnescale Co., Ltd 0 to 400 Mpps
(Incremental type)*3 SL700+PL101RP/RHP 0.1 10
SL710+PL101RP/RHP 0.1 10

AC Servo Drive
*1. The supported speed is the internal feedback pulse speed [external encoder pulse/s] of the external encoder that can be processed by the
Servo Drive.
Check the instruction manual of the external encoder for the speed range supported by your external encoder.
*2. These are the directions that the Drive counts a 90° phase difference output.
Count-down direction Count-up direction
t1 t1

EtherCAT Communications
Linear Motor Type
EXA EXA

AC Servo Drive
EXB EXB
t2 t2
EXB is 90° ahead of EXA. EXB is 90° behind EXA.
t1 > 0.25 μs t1 > 0.25 μs

General-purpose Inputs
t2 > 1.0 μs t2 > 1.0 μs
*3. For the external encoder connection direction, set the direction so that count-up occurs when the motor shaft is rotating counterclockwise, and

AC Servo Drive
count-down occurs when the motor shaft is rotating clockwise. If the connection direction cannot be selected due to installation conditions or
any other reason, the count direction can be reversed using External Feedback Pulse Direction Switching (3326 hex).
*4. The resolution and maximum speed are the values for the G5-series Servo Drive. The resolution and maximum speed may be different from
the specifications of the feedback encoder due to restriction on the maximum pulse frequency of the Servo Drive.

AC Servo Drive
ML-II Type
AC Servomotors
Linear Motor

31
 AC Servomotor/Drive
G5-series

Functions
Basic control
Position control Internally set speed control
Speed control Switching control
Torque control Full closing control*
* Absolute type external encoder can not connected.

Advanced control
Vibration control Gain switching Friction torque compensation function
Adaptive filter Torque limit Inertia ratio switching function
Notch filter Sequence I/O signal Hybrid Vibration Suppression Function
Forward and reverse drive prohibition
Electronic gear function Feed-forward function
functions
Encoder dividing function Disturbance observer function Instantaneous speed observer function
Brake interlock Gain switching 3 function

Other functions
Safe Torque OFF (STO) Function
Realtime autotuning
Manual tuning

Various parameters
Basic Parameters Interface Monitor Setting Parameters
Gain Parameters Extended Parameters
Vibration Suppression Parameters Special Parameters
Analog Control Parameters

32
 AC Servomotor/Drive
G5-series
Dimensions

System Configuration
<Wall Mounting>
Single-phase 100 VAC R88D-KTA5L/-KT01L (50 to 100W)

G5-Series
Single-phase/Three-phase 200 VAC R88D-KT01H/-KT02H (100 to 200W)
Mounting dimensions
CAD data
40 70 130 5.2 dia.

EtherCAT Communications
AC Servo Drive
150 150 140

EtherCAT Communications
6
28
40

Linear Motor Type

AC Servo Drive
Single-phase/Three-phase 100 VAC R88D-KT02L (200W)
Single-phase/Three-phase 200 VAC R88D-KT04H (400W)
CAD data

General-purpose Inputs
Mounting dimensions

55 70 130 5.2 dia.

AC Servo Drive
150 150 140

AC Servo Drive
6 43

ML-II Type
55

Single-phase 100 VAC R88D-KT04L (400W)

Single-phase/Three-phase 200 VAC R88D-KT08H (750W)

AC Servomotors
Mounting dimensions
CAD data
65 70 170
4 5.2 dia.

150 150 140

Linear Motor

7.5 50
65

33
 AC Servomotor/Drive
G5-series

Single-phase/Three-phase 200 VAC R88D-KT10H/-KT15H (900W to 1.5kW)

Mounting dimensions
CAD data
70 170
4 5.2 dia.
86

150 150 140

8.5 70
(86)

Three-phase 200 VAC R88D-KT20H (2kW)

Mounting dimensions CAD data
86
85
17.5 50 70 193.5
42.5 5.2 dia.
R2.6 5.2 R2.6 25 5.2 dia.
5.2 3.5

198 188
188 168
168

R2.6 5.2 5.2 R2.6

18.5 50
42.5 5.2 dia.
17.5 (86)
50

Three-phase 200 VAC R88D-KT30H/-KT50H (3 to 5kW)

Mounting dimensions
CAD data
130 70 212
15
100
65 5.2 dia. 5.2 dia.
R2.6 5.2 5.2 R2.6 3 50

250
240
220 220 240

R2.6 5.2 5.2 R2.6 15 100

65 5.2 dia.
15 130
100

34
 AC Servomotor/Drive
G5-series

System Configuration
Three-phase 200 VAC R88D-KT75H (7.5kW)
233 Mounting dimensions CAD data

G5-Series
90 71
90 90 26 3.5
70 334
210 11
φ5.2 10-M4
R2.6 φ5.2 R2.6 R2.6
45

EtherCAT Communications
250

AC Servo Drive
235 220 235
220

EtherCAT Communications
R2.6 φ5.2 R2.6 R2.6 2.5 27
180
φ5.2 11
210 233
90 90 26

Linear Motor Type

90 71

AC Servo Drive
Three-phase 200 VAC R88D-KT150H (15kW)

General-purpose Inputs
Mounting dimensions CAD data

AC Servo Drive
261 261
4 200 30.5
231
φ7 φ7 30.5 70 270
4-M6
7.5

AC Servo Drive
ML-II Type
450 450
435 435

AC Servomotors

R3.5 R3.5 30.5

231
Linear Motor

35
 AC Servomotor/Drive
G5-series

Three-phase 400 VAC R88D-KT06F/-KT10F/-KT15F (600W to 1.5kW)

Mounting dimensions CAD data
70 170
4
92 5.2 dia.

150 150 140

14.5 70
(92)

Three-phase 400 VAC R88D-KT20F (2kW)

Mounting dimensions CAD data

94
85
17.5 50
5.2 dia. 3.5
42.5
70 193.5
5.2 5.2 5.2 dia.
25

168 188 198 168 188

R2.6

R2.6 26.5
5.2 5.2 5.2 dia. 50
17.5 50 94

Three-phase 400 VAC R88D-KT30F/-KT50F (3 to 5kW)

Mounting dimensions CAD data
130
15 100 70 212 3
65 5.2 dia. 5.2 dia.
5.2 5.2
50

250
240
220 220 240 2

R2.6

5.2 5.2 R2.6 15

65 5.2 dia. 100
15 130
100

36
 AC Servomotor/Drive
G5-series

System Configuration
Three-phase 400 VAC: R88D-KT75F (7.5kW)
Mounting dimensions CAD data

G5-Series
233
90 71
90 90 26 334 3.5
70
210 11
φ5.2 10-M4
R2.6 φ5.2 R2.6 R2.6 45

EtherCAT Communications
250

AC Servo Drive
235 220 235
220

2.5 27
R2.6 φ5.2 R2.6 R2.6 180

EtherCAT Communications
φ5.2 11
210 233
90 90 26
90 71

Linear Motor Type

AC Servo Drive
Three-phase 400 VAC R88D-KT150F (150kW)

General-purpose Inputs
Mounting dimensions CAD data

AC Servo Drive
261 4 261
231 70 270 200 30.5
φ7 φ7 30.5 4-M6
7.5

AC Servo Drive
ML-II Type
450
435
450
435

AC Servomotors
R3.5 R3.5 30.5
231
Linear Motor

37
 G5-series AC Servo Drives with Built-in MECHATROLINK-II Communications

R88D-KN@-ML2
Contents
• Ordering Information
• Specifications
General Specifications
Characteristics
• Servo Drives with Single-phase 100 VAC Input Power
• Servo Drives with Single-phase or three-phase 200 VAC Input Power
• Servo Drives with Three-phase 200 VAC Input Power
• Servo Drives with 400 VAC Input Power
• Names and Functions
Servo Drive Part Names
Functions
• Dimensions

Ordering Information
Refer to the Ordering Information.

Specifications
General Specifications
Item Specifications
Ambient operating temperature and operating
0 to +55C, 90% RH max. (with no condensation)
humidity
Storage ambient temperature and humidity -20 to +65C, 90% RH max. (with no condensation)
Operating and storage atmosphere No corrosive gases
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 point)
Insulation resistance Between power supply terminal/power terminal and FG terminal: 0.5 MΩ min. (at 500 VDC Megger)
Dielectric strength Between power supply/power line terminals and FG terminal: 1,500 VAC for 1 min at 50/60 Hz
Protective structure Built into panel
EMC directive EN55011, EN61000-6-2, IEC61800-3
Low voltage
EN61800-5-1
International standard

EC directives directive
Machinery EN954-1 (Cat.3), EN ISO 13849-1: 2008 (PLc,d), ISO 13849-1: 2006 (PLc,d), EN61508 (SIL2),
directives EN62061 (SIL2), EN61800-5-2 (STO), IEC61326-3-1 (SIL2)
UL standards UL508C
CSA standards CSA22.2 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. Some Servo Drive parts will require maintenance. For details, refer to the G5 series USER'S MANUAL. Confirm the Manual No. that is
listed in Related Manuals.

38
38
 AC Servomotor/Drive
G5-series

System Configuration
Characteristics
● Servo Driver with 100 VAC Input Power

G5-Series
for Single-phase input type
Item R88D-KNA5L-ML2 R88D-KN01L-ML2 R88D-KN02L-ML2 R88D-KN04L-ML2
Continuous output current (rms) 1.2A 1.7A 2.5A 4.6A
Power supply
0.4KVA 0.4KVA 0.5KVA 0.9KVA
capacity

EtherCAT Communications
Power supply
Main circuit Single-phase 100 to 120 VAC (85 to 132 V), 50/60 Hz
voltage
Input power Rated current 1.7A 2.6A 4.3A 7.6A

AC Servo Drive
supply
Heat value*1 11W 16.6W 21W 25W
Power supply
Single-phase 100 to 120 VAC (85 to 132 V), 50/60 Hz
Control circuit voltage
Heat value*1 4W 4W 4W 4W
Weight Approx. 0.8 kg Approx. 0.8kg Approx. 1.0kg Approx. 1.6kg

EtherCAT Communications
Maximum applicable motor capacity 50W 100W 200W 400W

INC K05030H K10030L K20030L K40030L

3,000 r/min

Linear Motor Type

Servomotors

AC Servo Drive
ABS K05030T K10030S K20030S K40030S
Applicable
Servomotors 2,000 r/min
Servomotors
ABS − − − −

1,000 r/min
Servomotors
ABS − − − −

*1. The heat value is given for rated operation.

General-purpose Inputs
● Servo Driver with 200 VAC Input Power

AC Servo Drive
for Single-phase/Three-phase input type
R88D-KN01H- R88D-KN02H- R88D-KN04H- R88D-KN08H- R88D-KN10H- R88D-KN15H-
Item
ML2 ML2 ML2 ML2 ML2 ML2
Continuous output current (rms) 1.2A 1.6A 2.6A 4.1A 5.9A 9.4A
Power supply
0.5KVA 0.5KVA 0.9KVA 1.3KVA 1.8KVA 2.3KVA
capacity
Power supply
Main circuit Single-phase or Three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
voltage

AC Servo Drive
Input power Rated current 1.6/0.9A *1 2.4/1.3A *1 4.1/2.4A *1 6.6/3.6A *1 9.1/5.2A *1 14.2/8.1A *1
supply
Heat value*2 14.3/13.7W *1 23/19 W *1 33/24 W *1 30/35.5 W *1 57/49 W *1 104/93 W *1

ML-II Type
Power supply
Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
Control circuit voltage
Heat value*2 4W 4W 4W 4W 7W 7W
Weight Approx. 0.8kg Approx. 0.8kg Approx. 1.1kg Approx. 1.6kg Approx. 1.8kg Approx. 1.8kg
Maximum applicable motor capacity 100W 200W 400W 750W 1kW 1.5kW
K05030H K1K030H
INC K20030H K40030H K75030H −
K10030H K1K530H

AC Servomotors
3,000 r/min
Servomotors K05030T K1K030T
ABS K20030T K40030T K75030T −
K10030T K1K530T

INC − − − − K1K020H K1K520H

Applicable 2,000 r/min
Servomotors Servomotors
ABS − − − − K1K020T K1K520T

INC − − − − − K90010H
1,000 r/min
Servomotors
ABS − − − − − K90010T
Linear Motor

*1. The left value is for single-phase input power and the right value is for three-phase input power.
*2. The heat value is given for rated operation.

39
 AC Servomotor/Drive
G5-series

● Servo Driver with 200 VAC Input Power

for Three-phase input type
Item R88D-KN20H-ML2 R88D-KN30H-ML2 R88D-KN50H-ML2
Continuous output current (rms) 13.4A 18.7A 33.0A
Power supply
3.3KVA 4.5KVA 7.5KVA
capacity
Power supply
Main circuit Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
voltage
Input power Rated current 11.8A 15.1A 21.6A
supply
Heat value*1 139W 108W 328W
Power supply
Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
Control circuit voltage
*1
Heat value 10W 13W 13W
Weight Approx. 2.7kg Approx. 4.8kg Approx. 4.8kg
Maximum applicable motor capacity 2kW 3kW 5kW
K4K030H
INC K2K030H K3K030H
K5K030H
3,000 r/min
Servomotors K4K030T
ABS K2K030T K3K030T
K5K030T
K4K020H
Applicable INC K2K020H K3K020H
K5K020H
2,000 r/min
Servomotors Servomotors K4K020T
ABS K2K020T K3K020T
K5K020T

INC − K2K010H K3K010H

1,000 r/min
Servomotors
INC − K2K010T K3K010T

*1. The heat value is given for rated operation.

● Servo Driver with 400 VAC Input Power

for Three-phase input type
R88D-KN06F- R88D-KN10F- R88D-KN15F- R88D-KN20F- R88D-KN30F- R88D-KN50F-
Item
ML2 ML2 ML2 ML2 ML2 ML2
Continuous output current (rms) 1.5A 2.9A 4.7A 6.7A 9.4A 16.5A
Power supply
1.2KVA 1.8KVA 2.3KVA 3.8KVA 4.5KVA 6.0KVA
capacity
Power supply
Main circuit Single-phase 380 to 480 VAC (323 to 528 V), 50/60 Hz
voltage
Input power Rated current 2.1A 2.8A 3.9A 5.9A 7.6A 12.1A
supply
Heat value*1 32.2W 48W 49W 65W 108W 200W
Power supply
24 VDC (20.4 to 27.6)
Control circuit voltage
Heat value*1 7W 7W 7W 10W 13W 13W
Weight Approx. 1.9kg Approx. 1.9kg Approx. 1.9kg Approx. 2.7kg Approx. 4.7kg Approx. 4.7kg
Maximum applicable motor capacity 600W 1kW 1.5kW 2kW 3kW 5kW
K1K030F K4K030F
INC − K75030F K2K030F K3K030F
3,000 r/min K1K530F K5K030F
Servomotors K1K030C K4K030C
ABS − K75030C
K1K530C
K2K030C K3K030C
K5K030C
K40020F K4K020F
Applicable INC K60020F
K1K020F K1K520F K2K020F K3K020F
K5K020F
2,000 r/min
Servomotors Servomotors K40020C K4K020C
ABS K60020C
K1K020C K1K520C K2K020C K3K020C
K5K020C

INC − − K90010F − K2K010F K3K010F

1,000 r/min
Servomotors
ABS − − K90010C − K2K010C K3K010C

*1. The heat value is given for rated operation.

40
40
 AC Servomotor/Drive
G5-series
Components and Functions

System Configuration
Servo Drive Part Names

Display area

G5-Series
MECHATROLINK-II status LED indicator
A 2-digit 7-segment LED indicator shows the node address,
Display area
alarm codes, and other driver status.
Analog monitor connector (CN5)
Charge Lamp
Rotary switches for node Lits when the main circuit power supply is turned ON.

EtherCAT Communications
address setting
MECHATROLINK-II Status LED Indicator
MECHATROLINK-II
communications connector Indicates the communications status of the MECHATROLINK-II.
Control I/O Connector (CN1)

AC Servo Drive
Used for command input signals and I/O signals.
Main circuit USB connector (CN7)
power supply terminals Encoder connector (CN2)
(L1, L2, and L3)
Connector for the encoder installed in the Servomotor.
Control circuit Safety connector (CN8)
power supply terminals External Encoder Connector (CN4)
(L1C and L2C) Connector for an encoder signal used during full closing control.

EtherCAT Communications
Charge lamp Analog Monitor Connector (CN5)
Control I/O connector (CN1) 2 analog outputs to monitor values like motor rotation speed,
torque command value, etc.

Linear Motor Type

External Regeneration

AC Servo Drive
Resistor connection
terminals (B1, B2 and B3) MECHATROLINK-II Communications Connectors (ML2A and
ML2B)
Motor connection
terminals (U, V and W) Connectors for MECHATROLINK-II communications.
External encoder
connector (CN4) USB Connector (CN7)
Communications Connector for the computer.
Encoder connector (CN2)

General-purpose Inputs
Protective ground terminals Safety Connector (CN8)
Connector for the safety devices.
If no safety device is used, keep the factory-set safety bypass

AC Servo Drive
connector installed.

AC Servo Drive
ML-II Type
AC Servomotors
Linear Motor

41
 AC Servomotor/Drive
G5-series

*External Encoder
Contact the encoder manufacturer to find out the detailed specifications such as operating environment before use.
Maximum
Resolution*4
External encoder type Maker Example of External encoder Supported speed*1 speed*4
[μm]
[m/s]
0 to 4 Mpps
90º phase difference output type*2*3 − Phase A/B type − −
(Multiplication × 4)
SR75 0.01 to 1 3.3
Serial communications type SR85 0.01 to 1 3.3
Magnescale Co., Ltd 0 to 400 Mpps
(Incremental type)*3 SL700+PL101RP/RHP 0.1 10
SL710+PL101RP/RHP 0.1 10
AT573A 0.05 2.5
Mitutoyo Corporation
ST778A(L) 0.1 5
SR77 0.01 to 1 3.3
Magnescale Co., Ltd
SR87 0.01 to 1 3.3
Serial communications type
0 to 400 Mpps 0.001 0.4
(Absolute type)*3
Renishaw Co. RESOLUTE 0.05 20
0.1 40
SAP/SVAP/GAP 0.05 2.5
FAGOR AUTOMATION
LAP 0.1 2
*1. The supported speed is the internal feedback pulse speed [external encoder pulse/s] of the external encoder that can be processed by the
Servo Drive.
Check the instruction manual of the external encoder for the speed range supported by your external encoder.
*2. These are the directions that the Drive counts a 90° phase difference output.
Count-down direction Count-up direction
t1 t1

EXA EXA

EXB EXB
t2 t2
EXB is 90° ahead of EXA. EXB is 90° behind EXA.
t1 > 0.25 μs t1 > 0.25 μs
t2 > 1.0 μs t2 > 1.0 μs
*3. For the external encoder connection direction, set the direction so that count-up occurs when the motor shaft is rotating counterclockwise, and
count-down occurs when the motor shaft is rotating clockwise. If the connection direction cannot be selected due to installation conditions or
any other reason, the count direction can be reversed using External Feedback Pulse Direction Switching (3326 hex).
*4. The resolution and maximum speed are the values for the G5-series Servo Drive. The resolution and maximum speed may be different from
the specifications of the feedback encoder due to restriction on the maximum pulse frequency of the Servo Drive.

42
42
 AC Servomotor/Drive
G5-series

System Configuration
Functions
Basic control

G5-Series
Position control Internally set speed control
Speed control Switching control
Torque control Full closing control

Advanced control

EtherCAT Communications
Vibration control Gain switching Friction torque compensation function
Adaptive filter Torque limit Inertia ratio switching function

AC Servo Drive
Notch filter Sequence I/O signal Hybrid Vibration Suppression Function
Forward and reverse drive prohibition
Electronic gear function Feed-forward function
functions
Encoder dividing function Disturbance observer function Instantaneous speed observer function
Brake interlock Gain switching 3 function

EtherCAT Communications
Other functions

Linear Motor Type

Safe Torque OFF (STO) Function

AC Servo Drive
Realtime autotuning
Manual tuning

Various parameters

General-purpose Inputs
Basic Parameters Interface Monitor Setting Parameters
Gain Parameters Extended Parameters

AC Servo Drive
Vibration Suppression Parameters Special Parameters
Analog Control Parameters

AC Servo Drive
ML-II Type
AC Servomotors
Linear Motor

43
 AC Servomotor/Drive
G5-series
Dimensions
<Wall Mounting>
Single-phase 100VAC R88D-KNA5L-ML2/-KN01L-ML2 (50 to 100W)
Single-phase/Three-phase 200VAC R88D-KN01H-ML2/-KN02H-ML2 (100 to 200W)
External dimensions Mounting dimensions

40 70 132 φ5.2

150 150 140

6
28
40

Single-phase/Three-phase 100VAC R88D-KN02L-ML2 (200W)

Single-phase/Three-phase 200VAC R88D-KN04H-ML2 (400W)
External dimensions Mounting dimensions

55 70 132 φ5.2

150 150 140

6
43
55

Single-phase/Three-phase 100VAC R88D-KN04L-ML2 (400W)

Single-phase/Three-phase 200VAC R88D-KN08H-ML2 (750W)
External dimensions Mounting dimensions

65 70 172
4 φ5.2

150 150 140

7.5
50
65

44
44
 AC Servomotor/Drive
G5-series

System Configuration
Single-phase/Three-phase 200VAC R88D-KN10H-ML2/-KN15H-ML2 (900 to 1.5kW)
External dimensions Mounting dimensions

G5-Series
70 172
4 φ5.2
86

EtherCAT Communications
150 150 140

AC Servo Drive
8.5
70
85

EtherCAT Communications
Three-phase 200VAC R88D-KN20H-ML2 (2kW)

Linear Motor Type

AC Servo Drive
External dimensions Mounting dimensions

86
85
17.5 70 195
50
42.5 φ5.2
R2.6 5.2 5.2 R2.6 1.8
25 φ5.2

General-purpose Inputs
AC Servo Drive
168
188 168 188
198

R2.6 5.2 5.2 R2.6

42.5 φ5.2 17.5 50

AC Servo Drive
17.5 86
50

ML-II Type
Three-phase 200VAC R88D-KN30H-ML2/-KN50H-ML2 (3 to 5kW)
External dimensions

130 70 213 Mounting dimensions

15
100
φ5.2 φ5.2
R2.6 65 5.2 R2.6 3.5 50
5.2

AC Servomotors

220
240 220 240
250
Linear Motor

R2.6 5.2 5.2 R2.6

φ5.2 15
100
15 65
100 130

45
 AC Servomotor/Drive
G5-series

Three-phase 400VAC R88D-KN06F-ML2/-KN10F-ML2 (600 to 1.0kW)

Three-phase 400VAC R88D-KN15F-ML2 (1.5kW)
External dimensions Mounting dimensions
70 172
4
92 φ5.2

150 150 140

14.5 70

Three-phase 400VAC R88D-KN20F-ML2 (2kW)

External dimensions Mounting dimensions

94
85
17.5
50
42.5 φ5.2 1.8
70 195
5.2 5.2 φ5.2
25

168 188 198 168 180

R2.6

R2.6
5.2 5.2 φ5.2 50
17.5 94
50

Three-phase 400VAC R88D-KN30F-ML2/-KN50F-ML2 (3 to 5kW)

External dimensions Mounting dimensions

130 φ5.2
15 100 70 213 3.5
φ5.2 50
65
5.2 5.2

220 220 240

240
250

R2.6
15
100
5.2 5.2 R2.6
φ5.2 130
65
15 100

46
46
 G5-series AC Servomotors

R88M-K INC

System Configuration
ABS/INC

G5-Series
Contents
• Ordering Information
• Specifications

EtherCAT Communications
General Specifications
Characteristics/Torque and Rotation Speed Characteristics
<Cylinder type>

AC Servo Drive
• 3,000 r/min servomotors (100V, 200V, 400V)
• 2,000 r/min servomotors (200V, 400V)
• 1,500 r/min servomotors (200V/400V)
• 1,000 r/min servomotors (200V/400V)

EtherCAT Communications
Encoder Specifications
• Dimensions

Linear Motor Type

AC Servo Drive
Ordering Information
Refer to the Ordering Information.

Specifications

General-purpose Inputs
General Specifications

AC Servo Drive
1,000-r/min motors
3,000-r/min motors 1,500-r/min motors
Item 2,000-r/min motors
50 to 750W 1 to 5kW 900 W to 15kW
Ambient operating temperature and 0 to 40°C
operating humidity 20 to 85% RH (with no condensation)
Storage ambient temperature and −20 to +65°C, 20% to 85% RH (with no condensation)
humidity Guaranteed maximum temperature: 72 hours at 80°C

AC Servo Drive
Operating and storage atmosphere No corrosive gases
*1 Acceleration of 49 m/s2
Vibration resistance
24.5 m/s2 max. in X, Y, and Z directions when the motor is stopped

ML-II Type
Impact resistance Acceleration of 98 m/s2 max. 3 times each in X, Y, and Z directions
Insulation resistance Between power terminal and FG terminal: 20 MΩ min. (at 500 VDC Megger)
1,500 VAC between power terminal and FG terminal (sensed current 10 mA) for 1 min (voltage 100 V, 200 V)
Dielectric strength 1,800 VAC between power terminal and FG terminal (sensed current 10 mA) for 1 min (voltage 400 V)
1,000 VAC between brake terminal and FG terminal (sensed current 10 mA) for 1 min
Insulation class Class B Class F
Protective structure IP67 (except for through-shaft parts and motor and encoder connector pins)

AC Servomotors
EC Low voltage
EN60034-1/-5
International directive directive
standard UL standards UL1004-1 UL1004-1,UL1004-6 *2
CSA standards CSA 22.2 No.100
*1. The amplitude may be amplified by machine resonance. Do not exceed 80% of the specified value for extended periods of time.
*2. UL 1004-6 applies only to 1,500-r/min Servomotors of 7.5 to 15 kW and 1,000-r/min Servomotors of 4.5 to 6 kW.
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 Motor before you perform insulation resistance tests on it. If you perform an insulation
resistance test while the Servo Motor is connected, the Servo Motor may be damaged. Never perform dielectric strength tests on the
Linear Motor

Servo Motor. Failure to follow this precaution may result in damaging internal elements.
Note: 4. To conform EMC directive, the tips on wiring and installation written in the G5 series user's manual must be followed.Confirm the Manual
No. that is listed in Related Manuals.

47
 AC Servomotor/Drive
G5-series

Characteristics/Torque and Rotation Speed Characteristics

Characteristics
<Cylinder type>
3,000 r/min Servomotors (100 VAC Input Power)
Model (R88M-) K05030H K10030L K20030L K40030L
Item Unit K05030T K10030S K20030S K40030S
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 3,000
Momentary maximum rotation speed r/min 6,000
Momentary maximum torque*1 N•m 0.48 0.95 1.91 3.8
Rated current *1 A (rms) 1.1 1.6 2.5 4.6
Momentary maximum current*1 A (0-p) 4.7 6.9 10.6 19.5
Without brake kg • m2 0.025×10-4 0.051×10-4 0.14×10-4 0.26×10-4
Rotor inertia
With brake kg • m2 0.027×10-4 0.054×10-4 0.16×10-4 0.28×10-4
*2
Applicable load inertia − 30 times the rotor inertia max.
Torque constant *1 N • m/A 0.11±10% 0.14±10% 0.20±10% 0.21±10%
Without brake kW/s 10.1 19.8 28.9 62.4
Power rate *1
With brake kW/s 9.4 18.7 25.3 37.8
Mechanical time Without brake ms 1.43 1.03 0.61 0.48
constant With brake ms 1.54 1.09 0.70 0.52
Electrical time constant ms 0.82 0.91 3.0 3.4
Allowable radial load *3 N 68 68 245 245
Allowable thrust load *3 N 58 58 98 98
Without brake kg Approx. 0.31 Approx. 0.45 Approx. 0.78 Approx. 1.2
Weight
With brake kg Approx. 0.51 Approx. 0.65 Approx. 1.2 Approx. 1.6
Radiator plate dimensions (material) 100×80×t10 (AI) 130×120×t12 (AI)
KTA5L/KNA5L-ML2/ KT01L/KN01L-ML2/ KT02L/KN02L-ML2/ KT04L/KN04L-ML2/
Applicable drivers (R88D-)
KNA5L-ECT KN01L-ECT KN02L-ECT KN04L-ECT
Brake inertia kg • m2 2×10-7 2×10-7 1.8×10-6 1.8×10-6
Excitation voltage *4 V 24 VDC±10%
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.
Brake specifications

Attraction time *5 ms 35 max. 35 max. 50 max. 50 max.

Release time *5 ms 20 max. 20 max. 15 max. 20 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 limit − 10 million times min.
Rating − Continuous
Insulation class − Type F
*1. These are the values when the motor is combined with a driver at normal temperature (20°C, 65%). The momentary maximum torque 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 servo ON/
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 limit of 20,000 hours at normal operating temperatures. The allowable
radial loads are applied as shown in the following diagram.

Radial load
Thrust load
Center of shaft (LR/2)
*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 by Okaya Electric Industries Co., Ltd.).

48
 AC Servomotor/Drive
G5-series

System Configuration
Torque and Rotation Speed Characteristics
3,000 r/min Servomotors (100 VAC Input Power)
The following graphs show the characteristics with a 3-m standard cable and a 100 VAC input.

G5-Series
• R88M-K05030H/T (50W) • R88M-K10030L/S (100W) • R88M-K20030L/S (200W)

(N • m) Power supply voltage (N • m) Power supply voltage (N • m)

dropped by 10% dropped by 10% Power supply voltage

0.5 0.48 0.48 (4,000) 1.0 0.95 0.95 (3,700) 2.0 1.91 1.91 (2,600) dropped by 10%

EtherCAT Communications
Momentary operation range 0.3 Momentary operation range
0.56 Momentary operation range
0.25 0.5 1.0
0.16 0.16 0.32 0.32 0.4 0.64 0.64 0.8
0.64

AC Servo Drive
0.08
Continuous operation range Continuous operation range4,300 0.16 Continuous operation range 0.32
3,100
0 1,000 2,000 3,000 4,000 5,000 6,000 0 1,000 2,000 3,000 4,000 5,000 6,000 0 1,000 2,000 3,000 4,000 5,000 6,000
(r/min) (r/min) (r/min)

• R88M-K40030L/S (400W)

(N • m) Power supply voltage

EtherCAT Communications
dropped by 10%
4.0 3.8 3.8 (2,600)

Linear Motor Type

Momentary operation range

AC Servo Drive
2.0 1.7
1.3 1.3
1.3
Continuous operation range 0.32
3,100
0 1,000 2,000 3,000 4,000 5,000 6,000
(r/min)

Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is

General-purpose Inputs
also possible. However,doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.

AC Servo Drive
AC Servo Drive
ML-II Type
AC Servomotors
Linear Motor

49
 AC Servomotor/Drive
G5-series

Characteristics
3,000 r/min Servomotors (200 VAC Input Power)
Model (R88M-) K05030H K10030H K20030H K40030H K75030H K1K030H K1K530H K2K030H K3K030H K4K030H K5K030H
Item Unit K05030T K10030T K20030T K40030T K75030T K1K030T K1K530T K2K030T K3K030T K4K030T K5K030T
Rated output *1 W 50 100 200 400 750 1000 1500 2000 3000 4000 5000
Rated torque *1 N•m 0.16 0.32 0.64 1.3 2.4 3.18 4.77 6.37 9.55 12.7 15.9
Rated rotation speed r/min 3,000
Momentary maximum rotation speed] r/min 6,000 5,000 4,500
Momentary maximum torque *1 N•m 0.48 0.95 1.91 3.8 7.1 9.55 14.3 19.1 28.6 38.2 47.7
Rated current *1 A (rms) 1.1 1.1 1.5 2.4 4.1 6.6 8.2 11.3 18.1 19.6 24.0
Momentary maximum
A (0-p) 4.7 4.7 6.5 10.2 28 35 48 77 83 102
current *1
2 -4 -4 -4 -4 -4 -4 -4 -4 -4 -4
Rotor Without brake kg • m 0.025×10 0.051×10 0.14×10 0.26×10 0.87×10 2.03×10 2.84×10 3.68×10 6.50×10 12.9×10 17.4×10-4
inertia With brake kg • m2 0.027×10-4 0.054×10-4 0.16×10-4 0.28×10-4 0.97×10-4 2.35×10-4 3.17×10-4 4.01×10-4 7.85×10-4 14.2×10-4 18.6×10-4
20 times the
15 times the rotor
Applicable load inertia − 30 times the rotor inertia max. *2 rotor inertia 15 times the rotor inertia max. *2
inertia max. *2
max. *2
Torque constant *1 N • m/A 0.11±10% 0.21±10% 0.32±10% 0.40±10% 0.45±10% 0.37 0.45 0.44 0.41 0.49 0.49
Power rate Without brake kW/s 10.1 19.8 28.9 62.3 65.4 49.8 80.1 110 140 126 146
*1
With brake kW/s 9.4 18.7 25.3 57.8 58.7 43.0 71.8 101 116 114 136
Mechanical Without brake ms 1.43 1.07 0.58 0.43 0.37 0.61 0.49 0.44 0.41 0.51 0.50
time
constant With brake ms 1.54 1.13 0.66 0.46 0.42 0.71 0.55 0.48 0.49 0.56 0.54
Electrical time constant ms 0.82 0.90 3.2 3.4 5.3 5.8 6.3 6.7 11 12 13
Allowable radial load *3 N 68 68 245 245 392 490 490 490 490 784 784
Allowable thrust load *3 N 58 58 98 98 147 196 196 196 196 343 343
Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx.
Without brake kg
0.31 0.46 0.79 1.2 2.3 3.5 4.4 5.3 8.3 11.0 14.0
Weight
Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx.
With brake kg
0.51 0.66 1.2 1.6 3.1 4.5 5.4 6.3 9.4 12.6 16.0
Radiator plate dimensions 170×160
100×80×t10 (AI) 130×120×t12 (AI) 320×300×t20 (AI) 380×350×t30 (AI)
(material) ×t12 (AI)
KT01H/ KT01H/ KT02H/ KT04H/ KT08H/ KT15H/ KT15H/ KT20H/ KT30H/ KT50H/ KT50H/
KN01H- KN01H- KN02H- KN04H- KN08H- KN15H- KN15H- KN20H- KN30H- KN50H- KN50H-
Applicable drives (R88D-) ML2/ ML2/ ML2/ ML2/ ML2/ ML2/ ML2/ ML2/ ML2/ ML2/ ML2/
KN01H- KN01H- KN02H- KN04H- KN08H- KN15H- KN15H- KN20H- KN30H- KN50H- KN50H-
ECT ECT ECT ECT ECT ECT ECT ECT ECT ECT ECT
Brake inertia kg • m2 2×10-7 2×10-7 1.8×10-6 1.8×10-6 0.33×10-4 0.33×10-4 0.33×10-4 0.33×10-4 0.33×10-4 1.35×10-4 1.35×10-4
Excitation voltage *4 V 24 VDC±10%
Power consumption (at 20°C) W 7 7 9 9 17 19 19 19 19 22 22
Current consumption (at 20°C) A 0.3 0.3 0.36 0.36 0.70±10% 0.81±10% 0.81±10± 0.81±10% 0.81±10% 0.90±10% 0.90±10%
Static friction torque N•m 0.29 min. 0.29 min. 1.27 min. 1.27 min. 2.5 min. 7.8 min. 7.8 min. 7.8 min. 11.8 min. 16.1 min. 16.1 min.
Brake specifications

Attraction time *5 ms 35 max. 35 max. 50 max. 50 max. 50 max. 50 max. 50 max. 50 max. 80 max. 110 max. 110 max.
Release time *5 ms 20 max. 20 max. 15 max. 15 max. 15 max. *6 15 max. *6 15 max. *6 15 max. *6 15 max. *6 50 max. *6 50 max. *6
Backlash ±1°
Allowable work per
J 39.2 39.2 137 137 392 392 392 392 392 1470 1470
braking
3 3 3 3 5 5 5 6 6 6
Allowable total work J 4.9×10 4.9×10 44.1×10 44.1×10 4.9×10 4.9×10 4.9×10 4.9×10 4.9×10 2.2×10 2.2×106
Allowable angular 30,000 max. (Speed of 2,800 r/min or more
rad/s2 10,000
acceleration must not be changed in less than 10 ms)
Brake limit − 10 million times min.
Rating − Continuous
Insulation class − Type F
*1. These are the values when the motor is combined with a driver at normal temperature (20°C, 65%). The momentary maximum torque 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 servo ON/
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 limit of 20,000 hours at normal operating temperatures. The allowable
radial loads are applied as shown in the following diagram.

Radial load
Thrust load
Center of shaft (LR/2)
*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a Spark Killer (CR50500 by Okaya Electric Industries Co., Ltd.).
*6. Direct current switching with a varistor (Z15D151 by SEMITEC Co.).

50
 AC Servomotor/Drive
G5-series

System Configuration
Torque and Rotation Speed Characteristics
3,000 r/min Servomotors (200 VAC Input Power)
The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input.

G5-Series
• R88M-K05030H/T (50W) • R88M-K10030H/T (100W) • R88M-K20030H/T (200W)
Power supply voltage
(N • m) Power supply voltage (N • m) (N • m) Power supply voltage
dropped by 10%
dropped by 10% dropped by 10%
0.5 0.48 0.48 (4000) 1.0 0.95 0.95 (5,000) 2.0 1.91 (4,000) 1.91 (4,600)

EtherCAT Communications
0.9
Momentary operation range 0.3 Momentary operation range Momentary operation range 1.3
0.25 0.5 1.0 1.1
0.16 0.16 0.32 0.32 0.64 0.64

AC Servo Drive
0.08
Continuous operation range Continuous operation range 0.16 Continuous operation range 0.32

0 1,000 2,000 3,000 4,000 5,000 6,000 0 1,000 2,000 3,000 4,000 5,000 6,000 0 1,000 2,000 3,000 4,000 5,000 6,000
(r/min) (r/min) (r/min)

• R88M-K40030H/T (400W) • R88M-K75030H/T (750W) • R88M-K1K030H/T (1kW)

EtherCAT Communications
(N • m) Power supply voltage (N • m) (N • m) Power supply voltage
Power supply voltage
dropped by 10% dropped by 10%
dropped by 10%
(3,100) 3.8 (3,600) (3,800)

Linear Motor Type

4.0 3.8 8.0 7.1 (3,200) 7.1 (3,600) 10 9.55 9.55 (4,200)

AC Servo Drive
Momentary operation range Momentary operation range Momentary operation range 6.0
2.0 2.0 4.0 3.4 5
1.3 1.3 1.7 2.4 2.4 3.18 3.18 4.0
3.0
0.64 Continuous operation range Continuous operation range 1.9
Continuous operation range 0.60
0 1,000 2,000 3,000 4,000 5,000 6,000 0 1,000 2,000 3,000 4,000 5,000 6,000 0 1,000 2,000 3,000 4,000 5,000
(r/min) (r/min) (r/min)

General-purpose Inputs
• R88M-K1K530H/T (1.5kW) • R88M-K2K030H/T (2kW) • R88M-K3K030H/T (3kW)

AC Servo Drive
(N • m) Power supply voltage (N • m) Power supply voltage (N • m) Power supply voltage
dropped by 10% dropped by 10% dropped by 10%
15 14.3 (3,200) 14.3 (3,600) 20 19.1 (3,300) 19.1 (3,700) 30 28.6 (3,100) 28.7 (3,400)

Momentary operation range Momentary operation range Momentary operation range

7.5 10 7.0 15 12.0
4.77 4.77 6.37 6.37 9.55 9.55
4.0 8.0
Continuous operation range Continuous operation range Continuous operation range 5.7

AC Servo Drive
0 1,000 2,000 3,000 4,000 5,000 0 1,000 2,000 3,000 4,000 5,000 0 1,000 2,000 3,000 4,000 5,000
(r/min) (r/min) (r/min)

ML-II Type
• R88M-K4K030H/T (4kW) • R88M-K5K030H/T (5kW)

Power supply voltage Power supply voltage

(N • m) (N • m)
dropped by 10% dropped by 10%

40 38.2 (2,800) 38.2 (3,100) 50 47.7 (2,800) 47.8 (3,200)

Momentary operation range Momentary operation range

20 25

AC Servomotors
12.7 12.7 15.9 15.9
10.0 15.0
Continuous operation range Continuous operation range

0 1,000 2,000 3,000 4,000 5,000 0 1,000 2,000 3,000 4,000 5,000
(r/min) (r/min)

Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is
also possible. However,doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.
Linear Motor

51
 AC Servomotor/Drive
G5-series

Characteristics
3,000 r/min Servomotors (400 VAC Input Power)
Model (R88M-) K75030F K1K030F K1K530F K2K030F K3K030F K4K030F K5K030F
Item Unit K75030C K1K030C K1K530C K2K030C K3K030C K4K030C K5K030C
Rated output *1 W 750 1,000 1,500 2,000 3,000 4,000 5,000
Rated torque *1 N•m 2.39 3.18 4.77 6.37 9.55 12.7 15.9
Rated rotation speed r/min 3,000
Momentary maximum rotation
r/min 5,000 4,500
speed
Momentary maximum torque*1 N•m 7.16 9.55 14.3 19.1 28.6 38.2 47.7
Rated current *1 A (rms) 2.4 3.3 4.2 5.7 9.2 9.9 12.0
*1
Momentary maximum current A (0-p) 10 14 18 24 39 42 51
Without brake kg • m2 1.61×10-4 2.03×10-4 2.84×10-4 3.68×10-4 6.50×10-4 12.9×10-4 17.4×10-4
Rotor inertia
With brake kg • m2 1.93×10-4 2.35×10-4 3.17×10-4 4.01×10-4 7.85×10-4 14.2×10-4 18.6×10-4
20 times the
Applicable load inertia − rotor inertia 15 times the rotor inertia max. *2
max. *2
Torque constant *1 N • m/A 0.78 0.75 0.89 0.87 0.81 0.98 0.98
Without brake kW/s 35.5 49.8 80.1 110 140 126 146
Power rate *1
With brake kW/s 29.6 43 71.8 101 116 114 136
Mechanical Without brake ms 0.67 0.60 0.49 0.45 0.40 0.51 0.50
time constant With brake ms 0.8 0.70 0.55 0.49 0.49 0.56 0.54
Electrical time constant ms 5.9 5.8 6.5 6.6 12 13 13
Allowable radial load *3 N 490 490 490 490 490 784 784
Allowable thrust load *3 N 196 196 196 196 196 343 343
Without brake kg Approx. 3.1 Approx. 3.5 Approx. 4.4 Approx. 5.3 Approx. 8.3 Approx. 11.0 Approx. 14.0
Weight
With brake kg Approx. 4.1 Approx. 4.5 Approx. 5.4 Approx. 6.3 Approx. 9.4 Approx. 12.6 Approx. 16.0
Radiator plate dimensions (material) 320×300×t20 (AI) 380×350×t30 (AI)
KT10F/ KT15F/ KT15F/ KT20F/ KT30F/ KT50F/ KT50F/
Applicable drives (R88D-) KN10F-ML2/ KN15F-ML2/ KN15F-ML2/ KN20F-ML2/ KN30F-ML2/ KN50F-ML2/ KN50F-ML2/
KN10F-ECT KN15F-ECT KN15F-ECT KN20F-ECT KN30F-ECT KN50F-ECT KN50F-ECT
Brake inertia kg • m2 0.33×10-4 0.33×10-4 0.33×10-4 0.33×10-4 0.33×10-4 0.33×10-4 1.35×10-4
*4
Excitation voltage V 24 VDC±10%
Power consumption (at
W 17 19 19 19 19 22 22
20°C)
Current consumption (at
A 0.70±10% 0.81±10% 0.81±10% 0.81±10% 0.81±10% 0.90±10% 0.90±10%
20°C)
Brake specifications

Static friction torque N•m 2.5 min. 7.8 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. 50 max. 80 max. 110 max. 110 max.
Release time *5 ms 15 max. *6 15 max. *6 15 max. *6 15 max. *6 15 max. *6 50 max. *6 50 max. *6
Backlash ±1°
Allowable work per braking J 392 392 392 392 392 1470 1470
Allowable total work J 4.9×105 4.9×105 4.9×105 4.9×105 4.9×105 2.2×106 2.2×106
Allowable angular
rad/s2 10,000
acceleration
Brake limit − 10 million times min.
Rating − Continuous
Insulation class − Type F
*1. These are the values when the motor is combined with a driver at normal temperature (20°C, 65%). The momentary maximum torque 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 servo ON/
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 limit of 20,000 hours at normal operating temperatures. The allowable
radial loads are applied as shown in the following diagram.

Radial load
Thrust load
Center of shaft (LR/2)
*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a Spark Killer (CR50500 by Okaya Electric Industries Co., Ltd.).
*6. Direct current switching with a varistor (Z15D151 by SEMITEC Co.).

52
 AC Servomotor/Drive
G5-series

System Configuration
Torque and Rotation Speed Characteristics
3,000 r/min Servomotors (400 VAC Input Power)
The following graphs show the characteristics with a 3 m standard cable and a 400 VAC input.

G5-Series
• R88M-K75030F/C (750W) • R88M-K1K030F/C (1kW) • R88M-K1K530F/C (1.5kW)

Power supply voltage Power supply voltage (N • m) Power supply voltage

(N • m) (N • m)
dropped by 10% dropped by 10% dropped by 10%

(3,800) 9.55 (4,200) 15 14.3 (3,200) 14.3 (3,600)

8 7.16 (3,500) 7.16 (3,800) 10 9.55

EtherCAT Communications
Momentary operation range Momentary operation range 6.0 Momentary operation range
4 5 7.5
2.6 3.18 3.18 4.0 4.77 4.77
2.39 2.39 4.0

AC Servo Drive
Continuous operation range 1.6 Continuous operation range 1.9 Continuous operation range

0 1,000 2,000 3,000 4,000 5,000 0 1,000 2,000 3,000 4,000 5,000 0 1,000 2,000 3,000 4,000 5,000
(r/min) (r/min) (r/min)

• R88M-K2K030F/C (2kW) • R88M-K3K030F/C (3kW) • R88M-K4K030F/C (4kW)

EtherCAT Communications
Power supply voltage Power supply voltage Power supply voltage
(N • m) dropped by 10% (N • m) (N • m)
dropped by 10% dropped by 10%

20 19.1 (3,300) 19.1 (3,700) 30 28.6 (3,100) 28.7 (3,400) 40 38.2 (2,800) 38.2 (3,100)

Linear Motor Type

AC Servo Drive
Momentary operation range Momentary operation range Momentary operation range
10 15 12.0 20
6.37 6.37 7.0 9.55 9.55 12.7 12.7
8.0 10
Continuous operation range 2.0 Continuous operation range 5.7 Continuous operation range

0 1,000 2,000 3,000 4,000 5,000 0 1,000 2000 3,000 4,000 5,000 0 1,000 2,000 3,000 4,000 5,000
(r/min) (r/min) (r/min)

General-purpose Inputs
• R88M-K5K030F/C (5kW)

AC Servo Drive
(N • m) Power supply voltage
dropped by 10%

50 47.7 (2,800) 47.7 (3,200)

Momentary operation range

25
15.9 15.9
15
Continuous operation range

0 1,000 2,000 3,000 4,000 5,000

AC Servo Drive
(r/min)

Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is

ML-II Type
also possible. However,doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.

AC Servomotors
Linear Motor

53
 AC Servomotor/Drive
G5-series

Characteristics
1,500 r/min, 2,000 r/min Servomotors (200 VAC Input Power)
Model (R88M-) K1K020H K1K520H K2K020H K3K020H K4K020H K5K020H − − −
Item Unit K1K020T K1K520T K2K020T K3K020T K4K020T K5K020T K7K515T K11K015T K15K015T
Rated output *1 W 1,000 1,500 2,000 3,000 4,000 5,000 7,500 11,000 15,000
Rated torque *1 N•m 4.77 7.16 9.55 14.3 19.1 23.9 47.8 70.0 95.0
Rated rotation speed r/min 2,000 1,500
Momentary maximum rotation
r/min 3,000 3,000 2,000
speed
Momentary maximum torque *1 N•m 14.3 21.5 28.6 43.0 57.3 71.6 119.0 175.0 224.0
Rated current *1 A (rms) 5.7 9.4 11.5 17.4 21.0 25.9 44.0 54.2 66.1
Momentary maximum current *1 A (0-p) 24 40 49 74 89 110 165 203 236
Without brake kg • m2 4.60×10-4 6.70×10-4 8.72×10-4 12.9×10-4 37.6×10-4 48.0×10-4 101×10-4 212×10-4 302×10-4
Rotor inertia
With brake kg • m2 5.90×10-4 7.99×10-4 10.0×10-4 14.2×10-4 38.6×10-4 48.8×10-4 107×10-4 220×10-4 311×10-4
Applicable load inertia − 10 times the rotor inertia max. *2
Torque constant *1 N • m/A 0.63 0.58 0.64 0.59 0.70 0.70 0.77 0.92 1.05
Without brake kW/s 49.5 76.5 105 159 97.1 119 226 231 302
Power rate *1
With brake kW/s 38.6 64.2 91.2 144 94.5 117 213 223 293
Mechanical Without brake ms 0.80 0.66 0.66 0.57 0.65 0.63 0.58 0.80 0.71
time constant With brake ms 1.02 0.80 0.76 0.63 0.66 0.64 0.61 0.83 0.74
Electrical time constant ms 9.4 10 10 12 20 19 21 31 32
Allowable radial load *3 N 490 490 490 784 784 784 1,176 2,254 2,254
Allowable thrust load *3 N 196 196 196 343 343 343 490 686 686
Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx.
Without brake kg
5.2 6.7 8.0 11.0 15.5 18.6 36.4 52.7 70.2
Weight
Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx.
With brake kg
6.7 8.2 9.5 12.6 18.7 21.8 40.4 58.9 76.3
380×350×t 550×520×t
Radiator plate dimensions (material) 275×260×t15 (AI) 470×440×t30 (AI) 670×630×t35 (AI)
30 (AI) 30 (AI)
KT10H/ KT15H/ KT20H/ KT30H/ KT50H/ KT50H/
KN10H- KN15H- KN20H- KN30H- KN50H- KN50H- KT75H/ KT150H/ KT150H/
Applicable drives (R88D-) ML2/ ML2/ ML2/ ML2/ ML2/ ML2/ KN75H- KN150H- KN150H-
KN10H- KN15H- KN20H- KN30H- KN50H- KN50H- ECT ECT ECT
ECT ECT ECT ECT ECT ECT
Brake inertia kg • m2 1.35×10-4 1.35×10-4 1.35×10-4 1.35×10-4 4.7×10-4 4.7×10-4 4.7×10-4 7.1×10-4 7.1×10-4
*4
Excitation voltage V 24 VDC±10%
Power consumption (at
W 14 19 19 22 31 31 34 26 26
20°C)
Current consumption (at
A 0.59±10% 0.79±10% 0.79±10% 0.90±10% 1.3±10% 1.3±10% 1.4±10% 1.08±10% 1.08±10%
20°C)
Brake specifications

Static friction torque N•m 4.9 min. 13.7 min. 13.7 min. 16.2 min. 24.5 min. 24.5 min. 58.8 min. 100 min. 100 min.
Attraction time *5 ms 80 max. 100 max. 100 max. 110 max. 80 max. 80 max. 150 max. 300 max. 300 max.
Release time *5 ms 70 max. *6 50 max. *6 50 max. *6 50 max. *6 25 max. *6 25 max. *6 50 max. 140 max. 140 max.
Backlash ±1°
Allowable work per braking J 588 1,176 1,176 1,470 1,372 1,372 1,372 2,000 2,000
Allowable total work J 7.8×105 1.5×106 1.5×106 2.2×106 2.9×106 2.9×106 2.9×106 4.0×106 4.0×106
Allowable angular
rad/s2 10,000 5,000 3,000
acceleration
Brake limit − 10 million times min.
Rating − Continuous
Insulation class − Type F
*1. These are the values when the motor is combined with a driver at normal temperature (20°C, 65%). The momentary maximum torque 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 servo ON/
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 limit of 20,000 hours at normal operating temperatures. The allowable
radial loads are applied as shown in the following diagram.

Radial load
Thrust load
Center of shaft (LR/2)
*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a Spark Killer (CR50500 by Okaya Electric Industries Co., Ltd.).
*6. Direct current switching with a varistor (Z15D151 by SEMITEC Co.).

54
 AC Servomotor/Drive
G5-series

System Configuration
Torque and Rotation Speed Characteristics
1,500 r/min, 2,000 r/min Servomotors (200 VAC Input Power)
The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input.

G5-Series
• R88M-K1K020H/T (1kW) • R88M-K1K520H/T (1.5kW) • R88M-K2K020H/T (2kW)
Power supply voltage Power supply voltage
Power supply voltage (N • m) dropped by 10%
(N • m) (N • m) dropped by 10%
dropped by 10%
21.5 (2,000) 21.5 (2,300)
15 14.3 (2,000) 14.3 (2,200) 30 28.6 (2,000) 28.6 (2,200)
20

EtherCAT Communications
Momentary operation range
10 Momentary operation range Momentary operation range
10 7.16 10.0 15.0
6.0 7.16 15
4.77 4.77 9.55 9.55 11.0

AC Servo Drive
5 4.0 6.0
Continuous operation range 4.8 6.4
Continuous operation range 3.2 Continuous operation range

0 1,000 2,000 3,000 (r/min) 0 1,000 2,000 3,000 (r/min) 0 1,000 2,000 3,000 (r/min)

• R88M-K3K020H/T (3kW) • R88M-K4K020H/T (4kW) • R88M-K5K020H/T (5kW)

Power supply voltage

EtherCAT Communications
(N • m) (N • m) Power supply voltage
dropped by 10%
(N • m) Power supply voltage dropped by 10%
57.3 (1,900) 57.3 (2,100)
dropped by 10%

Linear Motor Type

71.6 (1,900) 71.6 (2,100)
50

AC Servo Drive
50 43.0 70
(2,200) 43.0 (2,400)
Momentary operation range
Momentary operation range
Momentary operation range 28.0 25 25.0
25 19.1 19.1 35
20.0 23.9 23.9
14.3 14.3 20.0
13.0
9.5 Continuous operation range
Continuous operation range Continuous operation range
3.0
0 1,000 2,000 3,000 (r/min) 0 1,000 2,000 3,000 (r/min) 0 1,000 2,000 3,000 (r/min)

General-purpose Inputs
• R88M-K7K515T (7.5kW) • R88M-K11K015T (11kW) • R88M-K15K015T (15kW)
Power supply voltage Power supply voltage

AC Servo Drive
(N • m) Power supply voltage (N • m) dropped by 10% (N • m) dropped by 10%
dropped by 10% 175.0 (1700) 175.0(2000) 224.0 (1500) 224.0(1700)
119.0 (2200) 119.0(2500)
150
100 200 Momentary operation range
Momentary operation range Momentary operation range
130.0
60.0 100 95.5 95.5(1500)
50 47.8 47.8(1500) 75 70.0 70.0(1500) 95.5
52.5 Continuous operation range 57.0
Continuous operation range Continuous operation range
12.0

AC Servo Drive
0 1000 2000 (r/min)
0 1000 2000 3000 (r/min) 0 1000 2000 (r/min)
Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is

ML-II Type
also possible. However,doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.

AC Servomotors
Linear Motor

55
 AC Servomotor/Drive
G5-series

Characteristics
1,500 r/min, 2,000 r/min Servomotors (400 VAC Input Power)
Model (R88M-) K40020F K60020F K1K020F K1K520F K2K020F K3K020F K4K020F K5K020F − − −
Item Unit K40020C K60020C K1K020C K1K520C K2K020C K3K020C K4K020C K5K020C K7K515C K11K015C K15K015C
Rated output *1 W 400 600 1,000 1,500 2,000 3,000 4,000 5,000 7,500 11,000 15,000
Rated torque *1 N•m 1.91 2.86 4.77 7.16 9.55 14.3 19.1 23.9 47.8 70.0 95.9
Rated rotation speed r/min 2,000 1,500
Momentary maximum
r/min 3,000 2,000
rotation speed
Momentary maximum torque
*1 N•m 5.73 8.59 14.3 21.5 28.7 43.0 57.3 71.6 119.0 175.0 224.0
*1
Rated current A (rms) 1.2 1.5 2.8 4.7 5.9 8.7 10.6 13.0 22.0 27.1 33.1
Momentary maximum current
*1 A (0-p) 4.9 6.5 12 20 25 37 45 55 83 101 118
2 -4 -4 -4 -4 -4 -4 -4 -4 -4 -4
Without brake kg • m 1.61×10 2.03×10 4.60×10 6.70×10 8.72×10 12.9×10 37.6×10 48.0×10 101×10 212×10 302×10-4
Rotor inertia
With brake kg • m2 1.90×10-4 2.35×10-4 5.90×10-4 7.99×10-4 10.0×10-4 14.2×10-4 38.6×10-4 48.8×10-4 107×10-4 220×10-4 311×10-4
Applicable load inertia − 10 times the rotor inertia max. *2
Torque constant *1 N • m/A 1.27 1.38 1.27 1.16 1.27 1.18 1.40 1.46 1.54 1.84 2.10
Power rate Without brake kW/s 22.7 40.3 49.5 76.5 105 159 97.1 119 226 231 302
*1
With brake kW/s 19.2 34.8 38.6 64.2 91.2 144 94.5 117 213 223 293
Mechanical Without brake ms 0.70 0.62 0.79 0.66 0.68 0.56 0.60 0.60 0.58 0.80 0.71
time
constant With brake ms 0.83 0.72 1.01 0.79 0.78 0.61 0.61 0.61 0.61 0.83 0.74
Electrical time constant ms 5.7 5.9 10 10 10 12 21 19 21 31 32
Allowable radial load *3 N 490 490 490 490 490784 784 784 1,176 2,254 2,254
Allowable thrust load *3 N 196 196 196 196 196343 343 343 490 686 686
Approx. Approx. Approx. Approx. Approx.
Approx. Approx. Approx. Approx. Approx. Approx.
Without brake kg
3.1 3.5 5.2 6.7 8.0
11.0 15.5 18.6 36.4 52.7 70.2
Weight
Approx. Approx. Approx. Approx. Approx.
Approx. Approx. Approx. Approx. Approx. Approx.
With brake kg
4.1 4.5 6.7 8.2 9.5
12.6 18.7 21.8 40.4 58.9 76.3
Radiator plate dimensions 380×350 550×520
320×300×t20 (AI) 275×260×t15 (AI) 470×440×t30 (AI) 670×630×t35 (AI)
(material) ×t30 (AI) ×t30 (AI)
KT06F/ KT06F/ KT10F/ KT15F/ KT20F/ KT30F/ KT50F/ KT50F/
KN06F- KN06F- KN10F- KN15F- KN20F- KN30F- KN50F- KN50F- KT75F/ KT150F/ KT150F/
Applicable drives (R88D-) ML2/ ML2/ ML2/ ML2/ ML2/ ML2/ ML2/ ML2/ KN75F- KN150F- KN150F-
KN06F- KN06F- KN10F- KN15F- KN20F- KN30F- KN50F- KN50F- ECT ECT ECT
ECT ECT ECT ECT ECT ECT ECT ECT
Brake inertia kg • m2 1.35×10-4 1.35×10-4 1.35×10-4 1.35×10-4 1.35×10-4 1.35×10-4 4.7×10-4 4.7×10-4 4.7×10-4 7.1×10-4 7.1×10-4
Excitation voltage *4 V 24 VDC±10%
Power consumption
W 17 17 14 19 19 22 31 31 34 26 26
(at 20°C)
Current consumption
A 0.70±10% 0.70±10% 0.59±10% 0.79±10% 0.79±10% 0.90±10% 1.3±10% 1.3±10% 1.4±10% 1.08±10% 1.08±10%
(at 20°C)
Brake specifications

Static friction torque N•m 2.5 min. 2.5 min. 4.9 min. 13.7 min. 13.7 min. 16.2 min. 24.5 min. 24.5 min. 58.8 min. 100 min. 100 min.
Attraction time *5 ms 50 max. 50 max. 80 max. 100 max. 100 max. 110 max. 80 max. 80 max. 150 max. 300 max. 300 max.
Release time *5 ms 15 max. *7 15 max. *7 70 max. *6 50 max. *6 50 max. *6 50 max. *6 25 max. *6 25 max. *6 50 max. 140 max. 140 max.
Backlash ±1°
Allowable work per
J 392 392 588 1,176 1,176 1,470 1,372 1,372 1,372 2,000 2,000
braking
Allowable total work J 4.9×105 4.9×105 7.8×105 1.5×106 1.5×106 2.2×106 2.9×106 2.9×106 2.9×106 4.0×106 4.0×106
Allowable angular
rad/s2 10,000 5,000 3,000
acceleration
Brake limit − 10 million times min.
Rating − Continuous
Insulation class − Type F
*1. These are the values when the motor is combined with a driver at normal temperature (20°C, 65%). The momentary maximum torque 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 servo ON/
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 limit of 20,000 hours at normal operating temperatures. The allowable
radial loads are applied as shown in the following diagram.

Radial load
Thrust load
Center of shaft (LR/2)
*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a Spark Killer (CR50500 by Okaya Electric Industries Co., Ltd.).
*6. Direct current switching with a varistor (Z15D151 by SEMITEC Co.).

56
 AC Servomotor/Drive
G5-series

System Configuration
Torque and Rotation Speed Characteristics
1,500 r/min, 2,000 r/min Servomotors (400 VAC Input Power)
The following graphs show the characteristics with a 3 m standard cable and a 400 VAC input.

G5-Series
• R88M-K40020F/C (400W) • R88M-K60020F/C (600W) • R88M-K1K020F/C (1kW)
Power supply voltage Power supply voltage
(N • m) (N • m) Power supply voltage (N • m) dropped by 10%
dropped by 10%
dropped by 10%
6 5.73 (2,400) 5.73 (2,700) 10 15 14.3 (2,000) 14.3 (2,200)
8.59 (2,100) 8.59 (2,400)

EtherCAT Communications
Momentary operation range Momentary operation range 10 Momentary operation range
3.5
3 5 4.5
1.91 1.91 2.0 2.86 2.86 4.77 4.77 6.0
5

AC Servo Drive
4.0
Continuous operation range 1.3 Continuous operation range 1.9 Continuous operation range 3.2

0 1,000 2,000 3,000 (r/min) 0 1,000 2,000 3,000 (r/min) 0 1,000 2,000 3,000 (r/min)

• R88M-K1K520F/C (1.5kW) • R88M-K2K020F/C (2kW) • R88M-K3K020F/C (3kW)

Power supply voltage
(N • m) (N • m) (N • m)

EtherCAT Communications
dropped by 10% Power supply voltage
dropped by 10% Power supply voltage
21.5 (2,000) 21.5 (2,300) dropped by 10%
20 30 28.6 (2,000) 28.6 (2,200) 50 43.0 (2,200)

Linear Motor Type

43.0 (2,400)

AC Servo Drive
Momentary operation range
Momentary operation range
Momentary operation range 28.0
10 10.0 15 15.0 25
7.16 7.16 9.55 9.55 20.0
6.0 11.0 14.3 14.3
Continuous operation range 4.8 Continuous operation range 6.4 Continuous operation range 9.5

0 1,000 2,000 3,000 (r/min) 0 1,000 2,000 3,000 (r/min) 0 1,000 2,000 3,000 (r/min)

General-purpose Inputs
• R88M-K4K020F/C (4kW) • R88M-K5K020F/C (5kW) • R88M-K7K515C (7.5kW)
Power supply voltage Power supply voltage
dropped by 10% (N • m)
Power supply voltage (N • m)
dropped by 10%

AC Servo Drive
(N • m) dropped by 10%
57.3 (1,900) 57.3 (2,100) 119.0 (2200) 119.0(2500)
71.6 (1,900) 71.6 (2,100)
50 70 100 Momentary operation range

Momentary operation range Momentary operation range

47.8 60.0
25 19.1 19.1 25.0 35 50 47.8(1500)
23.9 23.9
13.0 20.0
Continuous operation range Continuous operation range
Continuous operation range 3.0 12.0
0 1,000 2,000 3,000 (r/min) 0 1,000 2,000 3,000 (r/min) 0 1000 2000 3000 (r/min)

AC Servo Drive
• R88M-K11K015C (11kW) • R88M-K15K015C (15kW)
Power supply voltage

ML-II Type
(N • m) dropped by 10% Power supply voltage
175.0 (1700) 175.0(2000) (N • m) dropped by 10%
224.0 (1500) 224.0(1700)
150
Momentary operation range
130.0 200 Momentary operation range

75 70.0 70.0(1500) 95.5 95.5(1500)

100 95.5

AC Servomotors
52.5
Continuous operation range Continuous operation range 57.0

0 1000 2000 (r/min) 0 1000 2000 (r/min)

Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is
also possible. However,doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.
Linear Motor

57
 AC Servomotor/Drive
G5-series

Characteristics
1,000 r/min Servomotors (200/400 VAC Input Power)
200 VAC 400 VAC
Model (R88M-) K90010H K2K010H K3K010H − − K90010F K2K010F K3K010F − −
Item Unit K90010T K2K010T K3K010T K4K510T K6K010T K90010C K2K010C K3K010C K4K510C K6K010C
Rated output *1 W 900 2,000 3,000 4,500 6,000 900 2,000 3,000 4,500 6,000
Rated torque *1 N•m 8.59 19.1 28.7 43.0 57.0 8.59 19.1 28.7 43.0 57.3
Rated rotation speed r/min 1,000
Momentary maximum rotation
r/min 2,000
speed
*1
Momentary maximum torque N•m 19.3 47.7 71.7 107.0 143.0 19.3 47.7 71.7 107.0 143.0
Rated current *1 A (rms) 7.6 17.0 22.6 29.7 38.8 3.8 8.5 11.3 14.8 19.4
Momentary maximum current *1 A (0-p) 24 60 80 110 149 12 30 40 55 74
Without brake kW/s 6.70×10-4 30.3×10-4 48.4×10-4 79.1×10-4 101×10-4 6.70×10-4 30.3×10-4 48.4×10-4 79.1×10-4 101×10-4
Rotor inertia
With brake kW/s 7.99×10-4 31.4×10-4 49.2×10-4 84.4×10-4 107×10-4 7.99×10-4 31.4×10-4 49.2×10-4 84.4×10-4 107×10-4
Applicable load inertia − 10 times the rotor inertia max. *2
Torque constant *1 N • m/A 0.86 0.88 0.96 1.02 1.04 1.72 1.76 1.92 2.05 2.08

*1
Without brake kW/s 110 120 170 233 325 110 120 170 233 325
Power rate
With brake kW/s 92.4 116 167 219 307 92.4 116 167 219 307
Mechanical Without brake ms 0.66 0.75 0.63 0.55 0.54 0.66 0.76 0.61 0.55 0.54
time constant With brake ms 0.78 0.78 0.64 0.63 0.57 0.79 0.78 0.62 0.63 0.57
Electrical time constant ms 11 18 21 20 23 11 18 22 20 23
Allowable radial load *3 N 686 1176 1470 1470 1764 686 1176 1470 1470 1764
Allowable thrust load *3 N 196 490 490 490 588 196 490 490 490 588
Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx.
Without brake kg
6.7 14.0 20.0 29.4 36.4 6.7 14.0 20.0 29.4 36.4
Weight
Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx.
With brake kg
8.2 17.5 23.5 33.3 40.4 8.2 17.5 23.5 33.3 40.4
470×440 550×520 270×260 550×520
Radiator plate dimensions (material) 270×260×t15 (AI) 470×440×t30 (AI)
×t30 (AI) ×t30 (AI) ×t15 (AI) ×t30 (AI)
KT15H/ KT30H/ KT50H/ KT15F/ KT30F/ KT50F/
KN15H- KN30H- KN50H- KT50H/ KT75H/ KN15F- KN30F- KN50F- KT50F/ KT75F/
Applicable drives (R88D-) ML2/ ML2/ ML2/ KN50H- KN75H- ML2/ ML2/ ML2/ KN50F- KN75F-
KN15H- KN30HF- KN50H- ECT ECT KN15F- KN30F- KN50F- ECT ECT
ECT ECT ECT ECT ECT ECT
Brake inertia kg • m2 1.35×10-4 4.7×10-4 4.7×10-4 4.7×10-4 4.7×10-4 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 34 34 19 31 34 34 34
Current consumption (at 20°C) A 0.79±10% 1.3±10% 1.4±10% 1.4±10% 1.4±10% 0.79±10% 1.3±10% 1.4±10% 1.4±10% 1.4±10%
Static friction torque N•m 13.7 min. 24.5 min. 58.8 min. 58.8 min. 58.8 min. 13.7 min. 24.5 min. 58.8 min. 58.8 min. 58.8 min.
Brake specifications

Attraction time *5 ms 100 max. 80 max. 150 max. 150 max. 150 max. 100 max. 80 max. 150 max. 150 max. 150 max.
Release time *5 ms 50 max. *6 25 max. *7 50 max. *7 50 max. 50 max. 50 max. *6 25 max. *6 50 max. *6 50 max. 50 max.
Backlash ±1°
Allowable work per braking J 1,176 1,372 1,372 1,372 1,372 1,176 1,372 1,372 1,372 1,372
Allowable total work J 1.5×106 2.9×106 2.9×106 2.9×106 2.9×106 1.5×106 2.9×106 2.9×106 2.9×106 2.9×106
Allowable angular
rad/s2 10,000 5,000 10,000 5,000
acceleration
Brake limit − 10 million times min.
Rating − Continuous
Insulation class − Type F
*1. These are the values when the motor is combined with a driver at normal temperature (20°C, 65%). The momentary maximum torque 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 servo ON/
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 limit of 20,000 hours at normal operating temperatures. The allowable
radial loads are applied as shown in the following diagram.

Radial load
Thrust load
Center of shaft (LR/2)
*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a Spark Killer (CR50500 by Okaya Electric Industries Co., Ltd.).
*6. Direct current switching with a varistor (Z15D151 by SEMITEC Co.).

58
 AC Servomotor/Drive
G5-series

System Configuration
Torque and Rotation Speed Characteristics The following graphs show the characteristics with a 3 m standard
1,000 r/min Servomotors (200/400 VAC Input Power) cable and a 200 VAC input.

• R88M-K90010H/T/F/C (900W) • R88M-K2K010H/T/F/C (2kW) • R88M-K3K010H/T/F/C (3kW)

G5-Series
Power supply voltage Power supply voltage
Power supply voltage
(N • m) (N • m) dropped by 10% (N • m) dropped by 10%
dropped by 10%
19.3 (1,600) 47.7 (1,400) 47.7 (1,600)
71.7 (1,400) 71.7 (1,600)
19.3 (1,800)
20 50 70

EtherCAT Communications
Momentary operation range 14.0 Momentary operation range Momentary operation range
28.0 40.0
10 8.59 8.59 25 19.1 19.1 35 28.7 28.7
8.0
18.0
4.3
20.0
Continuous operation range 9.6 Continuous operation range 14.0
Continuous operation range

AC Servo Drive
0 1,000 2,000 (r/min) 0 1,000 2,000 (r/min) 0 1,000 2,000 (r/min)

• R88M-K4K510T/C (4.5kW) • R88M-K6K010T/C (6kW)

Power supply voltage
dropped by 10% (N • m) Power supply voltage
(N • m)

EtherCAT Communications
107.0 (1500) 107.0(1700) dropped by 10%
143.0 (1500) 143.0(1700)
100 150

Linear Motor Type

Momentary operation range

AC Servo Drive
Momentary operation range
70.0 100.0
50 43.0 43.0 50.0 75
57.3 57.3
57.3
22.0 28.0
Continuous operation range Continuous operation range

0 1000 2000 (r/min) 0 1000 2000 (r/min)

General-purpose Inputs
Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is
also possible. However,doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.

AC Servo Drive
Encoder Specifications
Incremental Encoders Absolute Encoders
Item Specifications Item Specifications

AC Servo Drive
Optical encoder Optical encoder
Encoder system Encoder system
20 bits 17 bits

ML-II Type
Phases A and B: 262,144 pulses/rotation Phases A and B: 32,768 pulses/rotation
No. of output pulses No. of output pulses
Phase Z: 1 pulse/rotation Phase Z: 1 pulse/rotation
Power supply voltage 5 VDC±5% Maximum rotations −32,768 to +32,767 rotations
Power supply current 180 mA (max.) Power supply voltage 5 VDC±5%
Output signals +S, −S Power supply current 110 mA (max.)
Output interface RS-485 compliance Applicable battery
3.6 VDC
voltage

AC Servomotors
265 μA for a maximum of 5 s right after
power interruption
Current consumption of 100 μA for operation during power
battery interruption
3.6 μA when power is supplied to Servo
Drive
Output signals +S, −S
Output interface RS-485 compliance
Note: Multi-rotation Data Backup
• The multi-rotation data will be lost if the battery cable
connector is disconnected at the motor when connecting the
Linear Motor

battery cable for the absolute encoder and battery.

• The multi-rotation data will be lost if CN2 is disconnected
when connecting the battery to CN1 without the use of a
battery cable for the absolute encoder.

59
 AC Servomotor/Drive
G5-series
Dimensions
<Cylinder type>
3,000 r/min Servomotors (100/200 VAC)
50W/100W Dimensions (mm)
Model
• Without brake LL LM LN
• R88M-K05030H (-S2)/-K10030@ (-S2) INC R88M-K05030@ 72 48 23
• R88M-K05030T (-S2)/-K10030@ (-S2) ABS R88M-K10030@ 92 68 43

Encoder connector CAD data

Motor connector
40×40
LL 25 (Dimensions of shaft end with key and tap)
LM
25
6 3 14 3h9
12.5
R3.7 3
2
M3 (depth: 6)
LN 6.2

8h6 dia. 46 dia.±0.2

R4.2
30h7 dia. 2−4.3 dia.

Dimensions (mm)
• With brake Model
LL LM LN
• R88M-K05030H-B (S2)/-K10030@-B (S2) INC
R88M-K05030@-B@ 102 78 23
• R88M-K05030T-B (S2)/-K10030@-B (S2) ABS
R88M-K10030@-B@ 122 98 43
Encoder connector
Brake connector
CAD data
Motor connector
LL 25 40×40
LM (Dimensions of shaft end with key and tap)
25
6 3 14
3h9
12.5
3
R3.7
2
LN 6.2 M3 (depth: 6)

8h6 dia.
46 dia.±0.2
30h7 dia.
R4.2
2−4.3 dia.

200W/400W Dimensions (mm)

• Without brake Model
LL LM LN
• R88M-K20030@ (-S2)/-K40030@ (-S2) INC
R88M-K20030@ 79.5 56.5 11
• R88M-K20030@ (-S2)/-K40030@ (-S2) ABS
R88M-K40030@ 99 76 14

Encoder connector CAD data

Motor connector
LL 30 60×60
LM (Dimensions of shaft end with key and tap)
6.5 3 4−4.5 dia.
4 (200W)
30 20 (200W) 5 (400W)
25 (400W)
4h9 (200W)
18 (200W)
ia . ±0.2 22.5 (400W)
5h9 (400W)
70 d
M4 depth: 8 (200W)
M5 depth: 10 (400W)

Sh6 dia. 8.5 (200W)

11(400W)

50h7 dia.

Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

60
 AC Servomotor/Drive
G5-series
• With brake
Dimensions (mm)
• R88M-K20030@-B (S2)/-K40030@-B (S2) INC Model

System Configuration
LL LM S
• R88M-K20030@-B (S2)/-K40030@-B (S2) ABS
R88M-K20030@-B@ 116 93 11
R88M-K40030@-B@ 135.5 112.5 14

G5-Series
Encoder connector CAD data
Brake connector
Motor connector
LL 30 4−4.5 dia. 60×60
LM (Dimensions of shaft end with key and tap)
6.5 3

EtherCAT Communications
4 (200W)
30 20 (200W) 5 (400W)
25 (400W)
4h9 (200W)
18 (200W) 5h9 (400W)
22.5 (400W)
.2
ia.±0

AC Servo Drive
70 d M4 depth: 8 (200W)
M5 depth: 10 (400W)
8.5(200W)
115 (400W)
Sh6 dia.

50h7 dia.

EtherCAT Communications
750W
• Without brake

Linear Motor Type

AC Servo Drive
• R88M-K75030H (-S2) INC
• R88M-K75030T (-S2) ABS
Encoder connector CAD data
Motor connector

112.2 35
86.2 80×80

General-purpose Inputs
8 3 4−6 dia.
(Dimensions of shaft end with key and tap)

AC Servo Drive
90 dia.±0.2 35
25
22 6h9
6

M5 (depth: 10)
15.5
19h6 dia.

AC Servo Drive
70h7 dia.
•

• With brake

ML-II Type
• R88M-K75030H-B (S2) INC
• R88M-K75030T-B (S2) ABS
Encoder connector CAD data
Brake connector
Motor connector
148.2 35
122.2

AC Servomotors
80×80
8 3 4−6 dia.
(Dimensions of shaft end with key and tap)
90 dia.±0.2 35
25
22 6h9
6

M5 (depth: 10)
15.5
19h6 dia
Linear Motor

70h7 dia.

Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

61
 AC Servomotor/Drive
G5-series
1kW/1.5kW/2kW
• Without brake
• R88M-K1K030H (-S2)/-K1K530H (-S2)/-K2K030H (-S2) INC Dimensions (mm)
Model
• R88M-K1K030T (-S2)/-K1K530T (-S2)/-K2K030T (-S2) ABS LL LM KB1 KB2
R88M-K1K030@ 141 97 66 119
• With brake
• R88M-K1K030H-B (S2)/-K1K530H-B (S2)/-K2K030H-B (S2) INC R88M-K1K530@ 159.5 115.5 84.5 137.5
• R88M-K1K030T-B (S2)/-K1K530T-B (S2)/-K2K030T-B (S2) ABS R88M-K2K030@ 178.5 134.5 103.5 156.5
R88M-K1K030@-B@ 168 124 66 146
R88M-K1K530@-B@ 186.5 142.5 84.5 164.5
R88M-K2K030@-B@ 205.5 161.5 103.5 183.5
Servomotor/ LL 55
brake connector LM CAD data
KB2 (Dimensions of shaft end with key and tap)
Encoder 100×100
connector KB1
55
10 3 4−9 dia. 45 M3, through
101 42 6h9
135 dia.
60 15.5 6

19h6 dia. 115 dia. 19h6 dia. M5 (depth: 12)

95h7 dia. 95h7 dia.

3kW
• Without brake
• R88M-K3K030H (-S2) INC
• R88M-K3K030T (-S2) ABS
Dimensions (mm)
Model
LL LM KB2
• With brake
R88M-K3K030@ 190 146 168
• R88M-K3K030H-B (S2) INC
• R88M-K3K030T-B (S2) ABS R88M-K3K030@-B@ 215 171 193

Servomotor/ LL 55 CAD data

brake connector LM
KB2 (Dimensions of shaft end with key and tap)
Encoder 112 120×120
connector 55
45 M3, through
12 3 4−9 dia. 41
113 8h9
162 dia
60 18 7

145 dia. 22h6 dia. M5 (depth: 12)

22h6 dia.

110h7 dia. 110h7 dia.

4kW/5kW
Dimensions (mm)
• Without brake Model
LL LM KB1 KB2
• R88M-K4K030H (-S2)/-K5K030H (-S2) INC
• R88M-K4K030T (-S2)/-K5K030T (-S2) ABS R88M-K4K030@ 208 164 127 186
R88M-K5K030@ 243 199 162 221
• With brake R88M-K4K030@-B@ 233 189 127 211
• R88M-K4K030H-B (S2)/-K5K030H-B (S2) INC R88M-K5K030@-B@ 268 224 162 246
• R88M-K4K030T-B (S2)/-K5K030T-B (S2) ABS
Servomotor/ CAD data
brake connector LL 65
LM
(Dimensions of shaft end with key and tap)
KB2
Encoder KB1 130×130
connector 65
12 6 55 M3, through
4−9 dia. 51
118 8h9
60 145 dia. 20 7

165 dia. M8 (depth: 20)

24h6 dia. 24h6 dia.

110h7 dia. 110h7 dia.

Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

62
 AC Servomotor/Drive
G5-series
3,000 r/min Servomotors (400 VAC)

System Configuration
750W/1kW/1.5kW/2kW
• Without brake
• R88M-K75030F (-S2)/-K1K030F (-S2)/-K1K530F (-S2)/-K2K030F (-S2) INC
• R88M-K75030C (-S2)/-K1K030C (-S2)/-K1K530C (-S2)/-K2K030C (-S2) ABS

G5-Series
• With brake
• R88M-K75030F-B (S2)/-K1K030F-B (S2)/-K1K530F-B (S2)/-K2K030F-B (S2) INC
• R88M-K75030C-B (S2)/-K1K030C-B (S2)/-K1K530C-B (S2)/-K2K030C-B (S2) ABS

EtherCAT Communications
Servomotor/ LL 55 CAD data
brake connector LM
Encoder KB2
connector 100×100 (Dimensions of shaft end with key and tap)
KB1
55

AC Servo Drive
10 3 4−9 dia. 45 M3, through
42 6h9
60 135 dia. 6
15.5

101 (Without brake) 115 dia. M5 (depth: 12)

19h6 dia. 19h6 dia.
103 (With brake)
95h7 dia. 95h7 dia.

EtherCAT Communications
Dimensions (mm)
Model

Linear Motor Type

LL LM KB1 KB2

AC Servo Drive
R88M-K75030@ 131.5 87.5 56.5 109.5
R88M-K1K030@ 141 97 66 119
R88M-K1K530@ 159.5 115.5 84.5 137.5
R88M-K2K030@ 178.5 134.5 103.5 156.5
R88M-K75030@-B@ 158.5 114.5 53.5 136.5

General-purpose Inputs
R88M-K1K030@-B@ 168 124 63 146
R88M-K1K530@-B@ 186.5 142.5 81.5 164.5

AC Servo Drive
R88M-K2K030@-B@ 205.5 161.5 100.5 183.5

3kW
• Without brake
• R88M-K3K030F (-S2) INC
• R88M-K3K030C (-S2) ABS Dimensions (mm)
Model
LL LM KB2
• With brake
• R88M-K3K030F-B (S2) INC R88M-K3K030@ 190 146 168

AC Servo Drive
• R88M-K3K030C-B (S2) ABS R88M-K3K030@-B@ 215 171 193

ML-II Type
Servomotor/ LL 55 CAD data
brake connector LM
KB2 (Dimensions of shaft end with key and tap)
Encoder 112 120×120
connector 55
12 3 45 M3, through
4−9 dia.
41 8h9
113 162 dia.
60 18 7

AC Servomotors
145 dia. 22h6 dia. M5 (depth: 12)
22h6 dia.
110h7 dia. 110h7 dia.

Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
Linear Motor

63
 AC Servomotor/Drive
G5-series
4kW/5kW Dimensions (mm)
• Without brake Model
LL LM KB1 KB2
• R88M-K4K030F (-S2)/-K5K030F (-S2) INC
R88M-K4K030@ 208 164 127 186
• R88M-K4K030C (-S2)/-K5K030C (-S2) ABS
R88M-K5K030@ 243 199 162 221
• With brake R88M-K4K030@-B@ 233 189 127 211
• R88M-K4K030F-B (S2)/-K5K030F-B (S2) INC R88M-K5K030@-B@ 268 224 162 246
• R88M-K4K030C-B (S2)/-K5K030C-B (S2) ABS
Servomotor/ CAD data
brake connector LL 65
LM (Dimensions of shaft end with key and tap)
KB2
Encoder KB1 130×130
connector 65
12 6
55 M3, through
4-9 dia.
118 51 8h9
60 145 dia.

165 dia. 7
24h6 dia. 24h6 dia. 20 M8 (depth: 20)

110h7 dia. 110h7 dia.

Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

64
 AC Servomotor/Drive
G5-series
1,500r/min, 2,000 r/min Servomotors (200 VAC)

System Configuration
1kW/1.5kW/2kW/3kW
• Without brake
• R88M-K1K020H (-S2)/-K1K520H (-S2)/-K2K020H (-S2)/-K3K020H (-S2) INC
• R88M-K1K020T (-S2)/-K1K520T (-S2)/-K2K020T (-S2)/-K3K020T (-S2) ABS

G5-Series
• With brake
• R88M-K1K020H-B (S2)/-K1K520H-B (S2)/-K2K020H-B (S2)/-K3K020H-B (S2) INC
• R88M-K1K020T-B (S2)/-K1K520T-B (S2)/-K2K020T-B (S2)/-K3K020T-B (S2) ABS
(Dimensions of shaft end with key and tap)

EtherCAT Communications
Servomotor/brake connector CAD data
LL LR
LM 130×130 LR
45 (1 to 2kW)
Encoder connector KB2 55 (3kW)
KB1
41 (1 to 2kW)

AC Servo Drive
12 6
51 (3kW)
4−9 dia. M3, through
8h9
60 145 dia. 7

116 (1 to 2kW) 165 dia. M5 depth: 12 (1 to 2kW)

118 (3kW) Sh6 dia. Sh6 dia. M8 depth: 20 (3kW)

EtherCAT Communications
110h7 dia. 110h7 dia.
18 (1 to 2kW)
20 (3kW)

Linear Motor Type

AC Servo Drive
Dimensions (mm)
Model
LL LR LM S KB1 KB2
R88M-K1K020@ 138 55 94 22 60 116
R88M-K1K520@ 155.5 55 111.5 22 77.5 133.5
R88M-K2K020@ 173 55 129 22 95 151

General-purpose Inputs
R88M-K3K020@ 208 65 164 24 127 186
R88M-K1K020@-B@ 163 55 119 22 60 141
R88M-K1K520@-B@ 180.5 55 136.5 22 77.5 158.5

AC Servo Drive
R88M-K2K020@-B@ 198 55 154 22 95 176
R88M-K3K020@-B@ 233 65 189 24 127 211

4kW/5kW Dimensions (mm)

• Without brake Model
LL LM KB1 KB2
• R88M-K4K020H (-S2)/-K5K020H (-S2) INC
R88M-K4K020@ 177 133 96 155
• R88M-K4K020T (-S2)/-K5K020T (-S2) ABS
R88M-K5K020@ 196 152 115 174

AC Servo Drive
• With brake R88M-K4K020@-B@ 202 158 96 180
• R88M-K4K020H-B (S2)/-K5K020H-B (S2) INC

ML-II Type
R88M-K5K020@-B@ 221 177 115 199
• R88M-K4K020T-B (S2)/-K5K020T-B (S2) ABS
Servomotor/brake connector CAD data
LL 70
LM
KB2 (Dimensions of shaft end with key and tap)
176×176
Encoder connector KB1
18 3.2 70
4−13.5 dia. 55
50 M3, through

AC Servomotors
140 233 dia. 10h9
60 8

35h6 dia. M12 (depth: 25)

35h6 dia. 30
200 dia.
114.3h7 dia. 114.3h7 dia.

Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
Linear Motor

65
 AC Servomotor/Drive
G5-series
7.5kW
• Without brake
• R88M-K7K515T (-S2) ABS Dimensions (mm)
Model
LL LR LM S KB1 KB2 L1 L2 L3
• With brake
R88M-K7K515T@ 312 113 268 42 219 290 117.5 117.5 149
• R88M-K7K515T-B (S2) ABS
R88M-K7K515T-B@ 337 113 293 42 253 315 117.5 152.5 183

Brake connector CAD data

Motor
connector (for model with brake only)

Encoder 176 × 176

connector LL LR
44 LM
KB2 43.5 43.5
KB1
L3
L2
L1
48 4-13.5 dia. (Shaft end specifications with key and tap)
110 61.5 24
LR
184 3.2 Sh6 dia. 96
90 M4, through
233 dia. 45 12h9
8 (Key groove P9)
60
0
37-0.2
2 min. Sh6 dia.
Boss insertion position 200 dia. M16
114.3h7 dia. 114.3h7 dia. (depth 32 min.)

11kW/15kW
• Without brake
• R88M-K11K015T (-S2)/-K15K015T (-S2) ABS

• With brake
• R88M-K11K015T-B (S2)/R88M-K15K015T-B (S2) ABS

Brake connector CAD data

Motor (for model with brake only)
connector
Encoder LL LR 220 × 220
44 LM
connector KB2
KB1 57 57
110 L3
L2
L1
4-13.5 dia.
48 61.5 32
(Shaft end specifications with key and tap)
4
205 LR
98 M5, through
dia. 90 45
268 16h9
10
60 (Key groove P9)

235 M20
dia. Sm6 dia.
Sm6 dia. 49-0.2
0
(depth 40 min.)
2 min.
Boss insertion positon
200h7 dia. 200h7 dia.

Dimensions (mm)
Model
LL LR LM S KB1 KB2 L1 L2 L3
R88M-K11K015T@ 316 116 272 55 232 294 124.5 124.5 162
R88M-K15K015T@ 384 116 340 55 300 362 158.5 158.5 230
R88M-K11K015T-B@ 364 116 320 55 266 342 124.5 159.5 196
R88M-K15K015T-B@ 432 116 388 55 334 410 158.5 193.5 264

Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

66
 AC Servomotor/Drive
G5-series
1,500 r/min, 2,000 r/min Servomotors (400 VAC)

System Configuration
400W/600W
• Without brake Dimensions (mm)
Model
• R88M-K40020F (-S2)/-K60020F (-S2) INC LL LM KB1 KB2
• R88M-K40020C (-S2)/-K60020C (-S2) ABS

G5-Series
R88M-K40020@ 131.5 87.5 56.5 109.5

• With brake R88M-K60020@ 141 97 66 119

• R88M-K40020F-B (S2)/-K60020F-B (S2) INC R88M-K40020@-B@ 158.5 114.5 53.5 136.5
• R88M-K40020C-B (S2)/-K60020C-B (S2) ABS R88M-K60020@-B@ 168 124 63 146

Servomotor/brake connector

EtherCAT Communications
CAD data
LL 55
LM
Encoder connector KB2
100×100 (Dimensions of shaft end with key and tap)
KB1

AC Servo Drive
55
10 3 45 M3, through
4−9 dia. 42 6h9
135 dia.
60 6

101 (Without brake) 115 dia. M5 (depth: 12)

103 (With brake) 19h6 dia. 19h6 dia.
15.5

EtherCAT Communications
95h7 dia.
95h7 dia.

Linear Motor Type

1kW/1.5kW/2kW/3kW

AC Servo Drive
• Without brake
• R88M-K1K020F (-S2)/-K1K520F (-S2)/-K2K020F (-S2)/-K3K020F (-S2) INC
• R88M-K1K020C (-S2)/-K1K520C (-S2)/-K2K020C (-S2)/-K3K020C (-S2) ABS

• With brake
• R88M-K1K020F-B (S2)/-K1K520F-B (S2)/-K2K020F-B (S2)/-K3K020F-B (S2) INC
• R88M-K1K020C-B (S2)/-K1K520C-B (S2)/-K2K020C-B (S2)/-K3K020C-B (S2) ABS

General-purpose Inputs
CAD data
Servomotor/brake connector

AC Servo Drive
LL LR (Dimensions of shaft end with key and tap)
LM LR
130×130 45 (1 to 2kW)
Encoder connector KB2 55 (3kW)
KB1
12 6 41 (1 to 2kW)
51 (3kW)
4−9 dia. M3, through
8h9
60 145 dia. 7

116 (1 to 2kW/Without brake) 165 dia. Sh6 dia. M5 depth: 12 (1 to 2kW)

AC Servo Drive
118 (3kW/Without brake) sh6 dia. M8 depth: 20 (3kW)
118 (1 to 3kW/With brake)
18 (1 to 2kW)
110h7 dia. 110h7 dia. 20 (3kW)

ML-II Type
Dimensions (mm)
Model
LL LR LM S KB1 KB2
R88M-K1K020@ 138 55 94 22 60 116
R88M-K1K520@ 155.5 55 111.5 22 77.5 133.5
R88M-K2K020@ 173 55 129 22 95 151
R88M-K3K020@ 208 65 164 24 127 186

AC Servomotors
R88M-K1K020@-B@ 163 55 119 22 57 141
R88M-K1K520@-B@ 180.5 55 136.5 22 74.5 158.5
R88M-K2K020@-B@ 198 55 154 22 92 176
R88M-K3K020@-B@ 233 65 189 24 127 211

Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
Linear Motor

67
 AC Servomotor/Drive
G5-series
4kW/5kW
Dimensions (mm)
• Without brake Model
LL LM KB1 KB2
• R88M-K4K020F (-S2)/-K5K020F (-S2) INC
• R88M-K4K020C (-S2)/-K5K020C (-S2) ABS R88M-K4K020@ 177 133 96 155
R88M-K5K020@ 196 152 115 174
• With brake R88M-K4K020@-B@ 202 158 96 180
• R88M-K4K020F-B (S2)/-K5K020F-B (S2) INC R88M-K5K020@-B@ 221 177 115 199
• R88M-K4K020C-B (S2)/-K5K020C-B (S2) ABS
Servomotor/ CAD data
brake connector
LL 70
Encoder LM
connector KB2 176×176 (Dimensions of shaft end with key and tap)
KB1
18 3.2 70
55
4−13.5 dia. 50 M3, through
140 233 dia. 10h9
60 8

35h6 dia. 35h6 dia. 30

200 dia. M12 (depth: 25)

114.3h7 dia. 114.3h7 dia.

7.5kW
• Without brake
• R88M-K7K515C (-S2) ABS Dimensions (mm)
Model
LL LR LM S KB1 KB2 L1 L2 L3
• With brake R88M-K7K515C@ 312 133 268 42 219 290 117.5 117.5 149
• R88M-K7K515C-B (S2) ABS R88M-K7K515C-B@ 337 113 293 42 253 315 117.5 152.5 183

CAD data
Brake connector
(for model with brake only)
Motor
connector
176 × 176
Encoder LL LR
connector 44 LM
KB2 43.5 43.5
KB1
L3 (Shaft end specifications with key and tap)
L2
L1
48 4-13.5 dia.
110 61.5 24 LR
184 Sh6 dia. 96
3.2 dia. 90 M4, through
233 45 12h9
60 8 (Key groove P9)
0
37-0.2
2 min. Sh6 dia. M16
Boss insertion positon 20
0d (depth 32 min.)
114.3h7 dia. ia. 114.3h7 dia.

Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

68
 AC Servomotor/Drive
G5-series
11kW/15kW
• Without brake

System Configuration
• R88M-K11K015C (-S2)/-K15K015C (-S2) ABS

• With brake
• R88M-K11K015C-B (S2)/R88M-K15K015C-B (S2) ABS

G5-Series
Brake connector CAD data
Motor
connector (for model with brake only)

Encoder 44
LL
LM
LR 220 × 220

EtherCAT Communications
connector KB2
KB1 57 57
110 L3
L2
L1
4-13.5 dia.

AC Servo Drive
48 61.5 32 (Shaft end specifications with key and tap)
4 LR
205 M5, through
98
90
45 16h9
10
8 (Key groove P9)
60 φ26
φ235
M20
Sm6 dia. Sm6 dia. 0
49-0.2

EtherCAT Communications
(depth 40 min.)
2 min.
Boss insertion positon
200h7 dia. 200h7 dia.

Linear Motor Type

AC Servo Drive
Dimensions (mm)
Model
LL LR LM S KB1 KB2 L1 L2 L3
R88M-K11K015C@ 316 116 272 55 232 294 124.5 124.5 162
R88M-K15K015C@ 384 116 340 55 300 362 158.5 158.5 230
R88M-K11K015C-B@ 364 116 320 55 266 342 124.5 159.5 196
R88M-K15K015C-B@ 432 116 388 55 334 410 158.5 193.5 264

General-purpose Inputs
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.

AC Servo Drive
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

AC Servo Drive
ML-II Type
AC Servomotors
Linear Motor

69
 AC Servomotor/Drive
G5-series
1,000 r/min Servomotors (200 VAC)
900W
• Without brake
• R88M-K90010H (-S2) INC
• R88M-K90010T (-S2) ABS
Dimensions (mm)
Model
LL LM KB2
• With brake
• R88M-K90010H-B (S2) INC R88M-K90010@ 155.5 111.5 133.5
• R88M-K90010T-B (S2) ABS R88M-K90010@-B@ 180.5 136.5 158.5

Servomotor/brake CAD data

connector
LL 70
LM 130×130
Encoder connector KB2 (Dimensions of shaft end with key and tap)
77.5 70
12 6
45 M3, through
4−9 dia.
41 8h9
116
60 145 dia. 18 7

22h6 dia. 165 dia. M5 (depth: 12)

22h6 dia.

110h7 dia. 110h7 dia.

2kW/3kW
Dimensions (mm)
• Without brake Model
• R88M-K2K010H (-S2)/-K3K010H (-S2) INC LL LM KB1 KB2
• R88M-K2K010T (-S2)/-K3K010T (-S2) ABS R88M-K2K010@ 163.5 119.5 82.5 141.5
R88M-K3K010@ 209.5 165.5 128.5 187.5
• With brake R88M-K2K010@-B@ 188.5 144.5 82.5 166.5
• R88M-K2K010H-B (S2)/-K3K010H-B (S2) INC
R88M-K3K010@-B@ 234.5 190.5 128.5 212.5
• R88M-K2K010T-B (S2)/-K3K010T-B (S2) ABS
Servomotor/brake CAD data
connector LL 80
LM
Encoder KB2 176×176 (Dimensions of shaft end with key and tap)
connector KB1
80
18 55
3.2 4−13.5 dia. 50
M3, through
140 233 dia. 10h9
8
60

30 M12 (depth: 25)

35h6 dia. 35h6 dia.
200 dia.
114.3h7 dia. 114.3h7 dia.

4.5kW
• Without brake
• R88M-K4K510T (-S2) ABS Model
Dimensions (mm)
LL LR LM S KB1 KB2 L1 L2
• With brake R88M-K4K510T@ 266 113 222 42 185 244 98 98
• R88M-K4K510T-B (S2) ABS
R88M-K4K510T-B@ 291 113 247 42 185 269 98 133

Motor and LL LR 176 × 176 CAD data

brake 44 LM
connector KB2 43.5 43.5
Encoder KB1
connector L2
L1
(Shaft end specifications with key and tap)
61.5 24 4-13.5 dia.
3.2 LR
Sh6 dia. 96
233 dia. 90 M4, through
140 45 12h9
60 8 (Key groove P9)
0
37-0.2
2 min. M16
Boss insertion positon Sh6 dia.
200 dia. (depth 32 min.)
114.3h7 dia. 114.3h7 dia.

Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

70
 AC Servomotor/Drive
G5-series
6kW
• Without brake

System Configuration
• R88M-K6K010T (-S2) ABS Dimensions (mm)
Model
LL LR LM S KB1 KB2 L1 L2 L3
• With brake
R88M-K6K010T@ 312 113 268 42 219 290 117.5 117.5 149
• R88M-K6K010T-B (S2) ABS

G5-Series
R88M-K6K010T-B@ 337 113 293 42 253 315 117.5 152.5 183

Brake connector CAD data

Motor (for model with brake only)
connector
176 × 176
Encoder LL LR (Shaft end specifications with key and tap)

EtherCAT Communications
connector 44 LM
KB2 43.5 43.5
KB1
L3
L2
L1

AC Servo Drive
48 61.5 24
110 4-13.5 dia. LR
3.2 96
184 Sh6 dia. 90 M4, through
233 dia. 45 12h9
(Key groove P9)
60 8
0
37-0.2
2 min.
Boss insertion positon
φSh6 M16
200 dia. (depth 32 min.)
φ114.3h7

EtherCAT Communications
114.3h7 dia.

Linear Motor Type

Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.

AC Servo Drive
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

General-purpose Inputs
AC Servo Drive
AC Servo Drive
ML-II Type
AC Servomotors
Linear Motor

71
 AC Servomotor/Drive
G5-series
1,000 r/min Servomotors (400 VAC)
900W
• Without brake
• R88M-K90010F (-S2) INC
• R88M-K90010C (-S2) ABS
Dimensions (mm)
Model
LL LM KB1 KB2
• With brake
R88M-K90010@ 155.5 111.5 77.5 133.5
• R88M-K90010F-B (S2) INC
• R88M-K90010C-B (S2) ABS R88M-K90010@-B@ 180.5 136.5 74.5 158.5

Servomotor/ CAD data

brake connector
LL 70
Encoder LM 130×130 (Dimensions of shaft end with key and tap)
connector KB2
KB1 70
12 6
45
4−9 dia. M3, through
41 8h9
dia .
60 145 18 7

116 (Without brake) 165 M5 (depth: 12)

22h6 dia. dia. 22h6 dia.
118 (With brake)

110h7 dia. 110h7 dia.

2kW/3kW
• Without brake Dimensions (mm)
Model
• R88M-K2K010F (-S2)/-K3K010F (-S2) INC LL LM KB1 KB2
• R88M-K2K010C (-S2)/-K3K010C (-S2) ABS R88M-K2K010@ 163.5 119.5 82.5 141.5
R88M-K3K010@ 209.5 165.5 128.5 187.5
• With brake R88M-K2K010@-B@ 188.5 144.5 82.5 166.5
• R88M-K2K010F-B (S2)/-K3K010F-B (S2) INC R88M-K3K010@-B@ 234.5 190.5 128.5 212.5
• R88M-K2K010C-B (S2)/-K3K010C-B (S2) ABS
Servomotor/ CAD data
brake connector
LL 80
LM
KB2 176×176 (Dimensions of shaft end with key and tap)
Encoder
connector KB1
18 3.2 80
55
4−13.5 dia. 50
M3, through
140 233 dia. 10h9
60 8

M12 (depth: 25)

35h6 dia. 35h6 dia. 30
200 dia.
114.3h7 dia. 114.3h7 dia.

4.5kW
• Without brake Dimensions (mm)
• R88M-K4K510C (-S2) ABS Model
LL LR LM S KB1 KB2 L1 L2

• With brake R88M-K4K510T@ 266 113 222 42 185 244 98 98

• R88M-K4K510C-B (S2) ABS R88M-K4K510T-B@ 291 113 247 42 185 269 98 133

Motor and 44
LL LR
176 × 176
CAD data
brake LM
connector KB2
KB1 43.5 43.5
Encoder L2 (Shaft end specifications with key and tap)
connector L1
61.5 24 4-13.5 dia.
3.2 LR
96 M4, through
Sh6 dia. 90
140 233 dia. 45 12h9
60 8 (Key groove P9)
0
37-0.2
2 min. Sh6 dia. M16
Boss insertion positon 200 dia. (depth 32 min.)
114.3h7 dia. 114.3h7 dia.

Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

72
 AC Servomotor/Drive
G5-series
6kW
• Without brake

System Configuration
Dimensions (mm)
• R88M-K6K010C (-S2) ABS Model
LL LR LM S KB1 KB2 L1 L2 L3
• With brake R88M-K6K010C@ 312 113 268 42 219 290 117.5 117.5 149
• R88M-K6K010C-B (S2) ABS R88M-K6K010C-B@ 337 113 293 42 253 315 117.5 152.5 183

G5-Series
Brake connector CAD data
Motor (for model with brake only)
connector
176 × 176
Encoder LL LR (Shaft end specifications with key and tap)
connector 44 LM

EtherCAT Communications
KB2 43.5 43.5
KB1
L3
L2
L1
48 61.5 24

AC Servo Drive
110 4-13.5 dia. LR
3.2 96
184 Sh6 dia. 90 M4, through
233 dia. 45 12h9
(Key groove P9)
60 8
0
37-0.2
2 min.
Boss insertion positon
φSh6 M16
200 dia. (depth 32 min.)
114.3h7 dia. φ114.3h7

EtherCAT Communications
Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.

Linear Motor Type

Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.

AC Servo Drive
General-purpose Inputs
AC Servo Drive
AC Servo Drive
ML-II Type
AC Servomotors
Linear Motor

73
 G5-series Linear Motor

R88L-EC-@
Contents
• Ordering Information
• Specifications
General Specifications
• Iron-core Linear Motors
• Ironless Linear Motors
Characteristics
• Iron-core Linear Motors
• Ironless Linear Motors
• Dimensions

Ordering Information
Refer to the Ordering Information.

Specifications
General Specifications
● Iron-core Linear Motors ● Ironless Linear Motors
Item Description Item Description
Operating ambient temperature 0 to 40°C, 20% to 80% Operating ambient temperature 0 to 40°C, 20% to 80%
humidity (with no condensation) humidity (with no condensation)
Storage ambient temperature −20 to +65°C, 85% max. Storage ambient temperature −20 to +65°C, 85% max.
and humidity (with no condensation) and humidity (with no condensation)
Operating and storage Operating and storage
No corrosive gases No corrosive gases
atmosphere atmosphere
Acceleration of 49 m/s2 max. in X, Y, and Acceleration of 49 m/s2 max. in X, Y, and
Vibration resistance* Vibration resistance*
Z directions Z directions
Acceleration of 98 m/s2max. 3 times Acceleration of 98 m/s2 max. 3 times
Impact resistance Impact resistance
each in X, Y, and Z directions each in X, Y, and Z directions
Between power terminal and FG Between power terminal and FG
Insulation resistance Insulation resistance
terminal: 10 MΩ min. (at 500 VDC) terminal: 10 MΩ min. (at 500 VDC)
Between power terminal and FG Between power terminal and FG
terminal: 2,750 VDC for 1 s terminal: 2,250 VDC for 1 s
Dielectric strength Dielectric strength
Between power terminal and sensor: Between power terminal and sensor:
2,750 VDC for 1 s 2,250 VDC for 1 s
Protective structure IP00 Protective structure IP00
Maximum coil temperature Maximum coil temperature
130°C 110°C
(Motor Coil Unit) (Motor Coil Unit)
Maximum magnet temperature Maximum magnet temperature
70°C 70°C
(Magnet Track) (Magnet Track)
Insulation class Class B Insulation class Class B
Cooling method Self-cooling Cooling method Self-cooling
Low Low
International EC International EC
voltage EN60034-1 voltage EN60034-1
standard directive standard directive
directive directive
* The amplitude may be increased by machine resonance. As a guideline, do not exceed 80% of the specified value.

74
 AC Servomotor/Drive
G5-series

System Configuration
Characteristics/Speed - Force Characteristics
Characteristics

G5-Series
● Iron-core Linear Motors
R88L-EC-
Item Unit
FW-0303-ANPC FW-0306-ANPC FW-0606-ANPC FW-0609-ANPC FW-0612-ANPC FW-1112-ANPC FW-1115-ANPC
Maximum speed
m/s 2.5 2.5 2 - - - -

EtherCAT Communications
(100VAC)
Maximum speed
m/s 5 5 4 4 4 2 2
(200VAC)

AC Servo Drive
Maximum speed
m/s 10 10 8 8 8 4 4
(400VAC)
Continuous force*1 N 48 96 160 240 320 608 760
Momentary
N 105 210 400 600 800 1,600 2,000
maximum force*2
Continuous
Arms 1.24 2.4 3.4 5.2 6.9 6.5 8.2

EtherCAT Communications
current*2
Momentary
Arms 3.1 6.1 10 15 20 20 25
maximum current*1

Linear Motor Type

AC Servo Drive
Motor force
N/Arms 39.7 39.7 46.5 46.5 46.5 93.0 93.0
constant
Back
electromotive V⋅s/m 13.2 13.2 15.5 15.5 15.5 31 31
force
Motor constant N/√W 9.75 13.78 19.49 23.87 27.57 41.47 46.37

General-purpose Inputs
Phase resistance Ω 5.34 2.68 1.83 1.23 0.92 1.6 1.29
Phase inductance mH 34.7 17.4 13.7 9.2 6.9 12.8 10.3

AC Servo Drive
Electrical time
ms 6.5 6.5 7.5 7.5 7.5 8 8
constant
Maximum
continuous
W 32 63 88 131 175 279 349
power
consumption
Thermal
K/W 2.20 1.10 0.78 0.52 0.39 0.23 0.18
resistance
Thermal time

AC Servo Drive
s 110 110 124 124 124 126 126
constant
Magnetic
N 300 500 1,020 1,420 1,820 3,640 4,440

ML-II Type
attractive force
Magnetic pole
mm 24 24 24 24 24 24 24
pitch
Mass
kg 0.48 0.78 1.31 1.84 2.37 4.45 5.45
(except cables)
Cooling plate
mm 238×220×10 238×220×10 250×287×12 250×287×12 250×287×12 371×330×14 371×330×14
dimensions

AC Servomotors
Application Servo Drives KN01L/KN02H/ KN02L/KN04H/ KN04L/KN08H/
KN10H/KN20F KN15H/KN30F KN15H/KN30F KN15H/KN30F
(R88D-@-ECT-L) KN06F KN10F KN15F
FM-03096-A/FM-03144-A/
Magnet Trac (R88L-EC-) FM-06192-A/FM-06288-A FM-11192-A/FM-11288-A
FM-03384-A
Magnet Trac Unit
mm 96/144/384 192/288 192/288
Length
*1. This shows a value measured when the Motor Coil Unit is at 100°C and the Magnet Trac is at 25°C. The coil unit is mounted in the center of
an aluminum moving table (heat sink) which has its size larger than indicated in table as cooling condition.
*2. The Motor Coil Unit is subjected to a temperature rise of 6 K/s.
Linear Motor

75
 AC Servomotor/Drive
G5-series

Speed - Force Characteristics

The following graphs show the performance when the coil temperature of the Motor Coil Unit is 100°C.
The maximum operation speed is limited by considering the guide mechanism, encoder, and other aspects. If it is 5 m/s or higher, please consult
with your OMRON representative.

R88L-EC-FW-0303
100V AC 200V AC 400V AC
N N N
100 100 100
Momentary Momentary
operation range operation range Momentary
operation range

80 80 80

60 60 60

40 40 40

Continuous operation range Continuous operation range

20 20 20
Continuous
operation range

0 0 0
0 2 4 m/s 0 2 4 6 8 m/s 0 2 4 6 8 10 12 14 m/s

R88L-EC-FW-0306
100V AC 200V AC 400V AC
N N N

200 200 200

Momentary Momentary
operation range operation range Momentary
operation range

150 150 150

100 100 100

Continuous operation range Continuous operation range

50 50 50
Continuous
operation range

0 0 0
0 2 4 m/s 0 2 4 6 8 m/s 0 2 4 6 8 10 12 14 m/s

76
 AC Servomotor/Drive
G5-series

System Configuration
R88L-EC-FW-0606

G5-Series
100V AC 200V AC 400V AC
N N N
400 400 400

Momentary Momentary

EtherCAT Communications
operation range operation range

AC Servo Drive
Momentary
operation range

200 200 200

EtherCAT Communications
Continuous Continuous
operation range operation range Continuous
operation range

Linear Motor Type

AC Servo Drive
0 0 0
0 2 4 m/s 0 2 4 6 8 m/s 0 4 8 12 m/s

R88L-EC-FW-0609
100V AC 200V AC 400V AC

General-purpose Inputs
N N N
600 600 600

AC Servo Drive
Momentary
operation range Momentary
operation range

400 400 400

Momentary
operation range

AC Servo Drive
200 200 200

ML-II Type
Continuous
operation range Continuous
operation range Continuous
operation range

0 0 0
0 2 4 m/s 0 4 8 m/s 0 4 8 12 m/s

AC Servomotors
R88L-EC-FW-0612
N 100V AC N 200V AC N 400V AC
800 800 800
Momentary
operation range Momentary
operation range

600 600 600

Linear Motor

Momentary
operation range

400 400 400

Continuous
operation range
200 200 200
Continuous
operation range Continuous
operation range

0 0 0
0 2 4 m/s 0 2 4 6 m/s 0 4 8 12 m/s

77
 AC Servomotor/Drive
G5-series

R88L-EC-FW-1112
N 100V AC N 200V AC N 400V AC

1600 1600 1600

Momentary
operation range
Momentary
operation range
1200 1200 1200

Momentary
operation range
800 800 800

Continuous Continuous
operation range operation range
400 400 400
Continuous
operation range

0 0 0
0 1 2 m/s 0 2 4 m/s 0 2 4 6 m/s

R88L-EC-FW-1115
100V AC 200V AC 400V AC
N N N
2000 2000 2000

Momentary Momentary
operation range operation range

1500 1500 1500

Momentary
operation range
1000 1000 1000

Continuous Continuous
operation range operation range
500 500 500
Continuous
operation range

0 0 0
0 1 2 m/s 0 2 4 m/s 0 2 4 6 m/s

78
 AC Servomotor/Drive
G5-series

System Configuration
● Ironless Linear Motors
R88L-EC-
Item Unit GW-0303 GW-0306 GW-0309 GW-0503 GW-0506 GW-0509 GW-0703 GW-0706 GW-0709

G5-Series
-ANPS -ANPS -ANPS -ANPS -ANPS -ANPS -ANPS -ANPS -ANPS
Maximum speed
m/s 8 - 8 - 2.2 2.2 2.2 1.2 1.2 -
(100VAC)
Maximum speed
m/s - 16 16 16 4.4 4.4 4.4 2.4 2.4 2.4
(200VAC)

EtherCAT Communications
*1
Continuous force N 26.5 53 80 58 117 175 117 232 348
Momentary
N 100 96 200 300 240 480 720 552 1110 1730
maximum force*2

AC Servo Drive
Continuous
Arms 1.33 2.66 4.0 0.87 1.76 2.60 0.94 1.87 2.81
current*2
Momentary
Arms 5.0 4.8 10.0 15.0 3.50 7.1 10.6 4.5 9.0 14
maximum current*1
Motor force
N/Arms 19.9 19.9 19.9 68.0 68.0 68.0 124.0 124.0 124.0
constant

EtherCAT Communications
Back
electromotive V⋅s/m 6.6 6.6 6.6 22.7 22.7 22.7 41.3 41.3 41.3

Linear Motor Type

force

AC Servo Drive
Motor constant N/√W 4.90 6.93 8.43 9.85 13.96 17.03 17.97 25.44 31.14
Phase resistance Ω 5.5 2.8 1.8 15.9 8.0 5.3 15.8 7.9 5.3
Phase inductance mH 1.8 0.9 0.6 13 6.5 4.2 28.0 14.0 9.0
Electrical time
ms 0.35 0.35 0.35 0.8 0.8 0.8 1.8 1.8 1.8
constant

General-purpose Inputs
Maximum
continuous
W 47 95 142 67 134 200 82 165 247
power

AC Servo Drive
consumption
Thermal
K/W 2.1 1.06 0.71 1.70 0.85 0.65 1.56 1.04 0.52
resistance
Thermal time
s 36 36 36 72 72 72 96 96 96
constant
Magnetic
N 0 0 0 0 0 0 0 0 0
attractive force
Magnetic pole

AC Servo Drive
mm 30 30 30 42 42 42 57 57 57
pitch
Mass
kg 0.084 0.162 0.24 0.25 0.47 0.69 0.55 0.95 1.35

ML-II Type
(except cables)
Application Servo Drives KN04L/ KN01L/ KN02L/ KN04L/ KN02L/ KN04L/
KN01L KN02H KN10H KN10H
(R88D-@-ECT-L) KN08H KN01H KN04H KN08H KN04H KN08H
GM-03090-A/GM-03120-A/ GM-05126-A/GM-05168-A/ GM-07114-A/GM-07171-A/
Magnet Trac (R88L-EC-)
GM-03390-A GM-05210-A/GM-05546-A GM-07456-A
Magnet Trac Unit
mm 90/120/390 126/168/210/546 114/171/456
Length

AC Servomotors
*1. This shows a value measured when the Motor Coil Unit is at 100°C and the Magnet Trac is at 25°C.
*2. The Motor Coil Unit is subjected to a temperature rise of 40 K/s.
Linear Motor

79
 AC Servomotor/Drive
G5-series

Speed - Force Characteristics

The maximum operation speed is limited by considering the guide mechanism, encoder, and other aspects. If it is 5 m/s or higher, please consult
with your OMRON representative.

R88L-EC-GW-0303
100V AC 200V AC
N N
100 100
Momentary
operation range

Momentary
operation range

50 50

Continuous Continuous operation range

operation range

0 0
0 4 8 12 m/s 0 5 10 15 m/s

R88L-EC-GW-0306
100V AC 200V AC
N N
200 200
Momentary
operation range

Momentary
operation range

100 100

Continuous operation range Continuous operation range

0 0
0 5 10 m/s 0 5 10 15 m/s

R88L-EC-GW-0309
100V AC 200V AC
N N
300 300
Momentary
operation range

Momentary
operation range

200 200

100 100

Continuous operation range

Continuous operation range

0 0
0 4 8 m/s 0 4 8 12 16 m/s

80
 AC Servomotor/Drive
G5-series

System Configuration
R88L-EC-GW-0503

G5-Series
100V AC 200V AC
N N

200 200

EtherCAT Communications
Momentary

AC Servo Drive
operation range Momentary
operation range

100 100

EtherCAT Communications
Continuous operation range
Continuous operation range

Linear Motor Type

AC Servo Drive
0 0
0 1 2 3 m/s 0 2 4 6 m/s

R88L-EC-GW-0506
N N

General-purpose Inputs
100V AC 200V AC
600 600

AC Servo Drive
400 400

Momentary
Momentary operation range
operation range

AC Servo Drive
200 200

ML-II Type
Continuous Continuous operation range
operation range

0 0
0 2 4 m/s 0 2 4 6 m/s

AC Servomotors
R88L-EC-GW-0509
100V AC 200V AC
N N

600 600

Momentary
Momentary operation range
Linear Motor

operation range

400 400

200 200
Continuous Continuous operation range
operation range

0 0
0 2 4 m/s 0 2 4 6 m/s

81
 AC Servomotor/Drive
G5-series

R88L-EC-GW-0703
N N 200V AC
100V AC 600
600

Momentary
operation range

400 400

Momentary
operation range

200 200

Continuous Continuous
operation range operation range

0 0
0 0.5 1 1.5 2 m/s 0 2 4 m/s

R88L-EC-GW-0706
100V AC 200V AC
N N

1000 1000
Momentary
operation range

Momentary
operation range

500 500

Continuous Continuous
operation range operation range

0 0
0 1 2 m/s 0 1 2 3 m/s

R88L-EC-GW-0709
N N 200V AC
100V AC 2000
2000

Momentary
operation range
1500 1500

1000 1000
Momentary
operation range

500 500

Continuous Continuous operation range

operation range

0 0
0 1 2 m/s 0 0.5 1 1.5 2 2.5 3 m/s

82
 AC Servomotor/Drive
G5-series
Dimensions

System Configuration
Iron-core Linear Motors
Model L1 [mm] Number of holes [N] Mass[kg] *1
• Motor Coil Unit

G5-Series
• R88L-EC-FW-0303/-0306 R88L-EC-FW-0303 79 +0.15/–0.35 4 0.72
R88L-EC-FW-0306 127 +0.15/–0.35 6 1.03

N-M4, effective thread depth 5

(11)
20 48

EtherCAT Communications
AC Servo Drive
9

EtherCAT Communications
450min. L1
R2.5

Linear Motor Type

12.4±0.7

AC Servo Drive
23.9±0.7 9.5 0
28.6 -0.2
89º 37.1±0.1 *2
4.8 A
+0.1 18.6±0.7
28 -0.2
20.5±0.7
Enlarged view

General-purpose Inputs
+0.15 of portion A 0.3±0.1 *2
56 -0.35

AC Servo Drive
*1. The weight of 450-mm cables is included.
*2. These values indicate mounting dimensions.

• Magnet Trac
L2 L3 Number of
Model Mass [kg]
[mm] [mm] holes [N]
R88L-EC-FM-03096-A 96 48 4 Approx. 0.22

AC Servo Drive
R88L-EC-FM-03144-A 144 96 6 Approx. 0.32
R88L-EC-FM-03384-A 384 336 16 Approx. 0.85

ML-II Type
Enlarged view
of portion B
B
12
Depth 4 12 12 Ø5 Depth 4
*
N-Ø6
5

50
40

5.5
82
º

AC Servomotors
8.2
27.5 48 48 48 48 48 48 48 (20.5)
L3
L2

* Use M5 low head allen head bolts.

Linear Motor

83
 AC Servomotor/Drive
G5-series

• Motor Coil Unit

• R88L-EC-FW-0606/-0609/-0612
Number of
Model L1 [mm] Mass [kg] *1
holes [N]
R88L-EC-FW-0606 127 +0.15/–0.35 6 1.59
R88L-EC-FW-0609 175 +0.15/–0.35 8 2.15
R88L-EC-FW-0612 223 +0.15/–0.35 10 2.7

20 N-M4, effective thread depth 5 (11)

48

16

450min. L1
R2.5 12.4 ±0.7

23.9 ±0.7 9.5 0

89° 28.6 -0.2 37.1 ±0.1 *2
4.8 A

+0.1 30.6 ±0.7

40 -0.2
32.5 ±0.7
Enlarged view 0.3±0.1 *2
of portion A
+0.15
80 -0.35

*1. The weight of 450-mm cables is included.

*2. These values indicate mounting dimensions.

• Magnet Trac
Model L2 [mm] L3 [mm] Number of holes [N] Mass [kg]
R88L-EC-FM-06192-A 192 144 8 Approx. 0.77
R88L-EC-FM-06288-A 288 240 12 Approx. 1.15

Enlarged view
of portion B
12 B
Depth 4
12 6* 12 Ø5 Depth 4
N-Ø
5

5.5
80
70

86
º

27 48 48 48 48 48 (21) 8.2
L3
L2

* Use M5 low head allen head bolts.

84
 AC Servomotor/Drive
G5-series

System Configuration
• Motor Coil Unit
Model L1 [mm] Number of holes [N] Mass [kg] *1
• R88L-EC-FW-1112/-1115
R88L-EC-FW-1112 223 +0.15/–0.35 15 4.89

G5-Series
R88L-EC-FW-1115 271 +0.15/–0.35 18 5.94

N-M4, effective thread depth 5 (11)

20 48

EtherCAT Communications
36

AC Servo Drive
EtherCAT Communications
450 min. L1
R2.5 12.4±0.7
9.5

Linear Motor Type

23.9±0.7 0
28.6 -0.2

AC Servo Drive
89º 4.8 A
41.1±0.1 *2
+0.1
65 -0.2 55.6±0.7
57.5±0.7
Enlarged view
0.3±0.1 *2
+0.15 of portion A
130 -0.35

General-purpose Inputs
AC Servo Drive
*1. The weight of 450-mm cables is included.
*2. These values indicate mounting dimensions.

• Magnet Trac
Model L2 [mm] L3 [mm] Number of holes [N] Mass [kg]
R88L-EC-FM-11192-A 192 144 8 Approx. 2.12
R88L-EC-FM-11288-A 288 240 12 Approx. 3.18

AC Servo Drive
Enlarged view
of portion B
B

ML-II Type
12
Depth 8
12 6* 12 Ø5 Depth 8
N-Ø
5

5.5
130
120

AC Servomotors
88
º

12.2
26 48 48 48 48 48 (22)
L3
L2

* Use M5 low head allen head bolts.

Linear Motor

85
 AC Servomotor/Drive
G5-series

● Ironless Linear Motors

• Motor Coil Unit
• R88L-EC-GW-0303/-0306/-0309

Model L1 [mm] L2 [mm] Number of holes [N] Mass [kg] *

R88L-EC-GW-0303 78 60 4 0.2
R88L-EC-GW-0306 138 120 7 0.28
R88L-EC-GW-0309 198 180 10 0.36

950 min. L1

10 L2

5.3 20 N-φ3.5 3.5

18.5 10

3.2

* The weight of 950-mm cables is included.

• Magnet Trac
Model L3 [mm] L4 [mm] Number of holes [N] Mass [kg]
R88L-EC-GM-03090-A 90 60 3 Approx. 0.46
R88L-EC-GM-03120-A 120 90 4 Approx. 0.61
R88L-EC-GM-03390-A 390 360 13 Approx. 1.97

L3

49
(φ4.5)
φ7.5
(Depth4)

4.4
21 30 N-φ4.5 15
L4

• Combination diagram

5.5
5.5

68

21

0.05

0.05 A A

5.5±0.1

Motor Coil Unit mounting surface Magnet Track mounting surface

86
 AC Servomotor/Drive
G5-series

System Configuration
• Motor Coil Unit
• R88L-EC-GW-0503/-0506/-0509

Model L1 [mm] L2 [mm] Number of holes [N] Mass [kg] *

G5-Series
R88L-EC-GW-0503 106 84 4 0.48
R88L-EC-GW-0506 190 168 7 0.71
R88L-EC-GW-0509 274 252 10 0.94

EtherCAT Communications
950 min.
L1

L2
12

AC Servo Drive
N-φ4.5 5
28
φ5.8
13
24
φ4.9

EtherCAT Communications
Linear Motor Type
AC Servo Drive
* The weight of 950-mm cables is included.

• Magnet Trac
Model L3 [mm] L4 [mm] Number of holes [N] Mass [kg]
R88L-EC-GM-05126-A 126 84 3 Approx. 1.49

General-purpose Inputs
R88L-EC-GM-05168-A 168 126 4 Approx. 1.98
R88L-EC-GM-05210-A 210 168 5 Approx. 2.47

AC Servo Drive
R88L-EC-GM-05546-A 546 504 13 Approx. 6.43

L3

(φ5.5)
80 φ9.2
(Depth6)

AC Servo Drive
9

28.4 42 N-φ5.5 21

ML-II Type
L4

• Combination diagram
8.2
8.2

AC Servomotors
105

28.4
Linear Motor

0.1

0.05 A A

8.2±0.1

Motor Coil Unit mounting surface Magnet Track mounting surface

87
 AC Servomotor/Drive
G5-series

• Motor Coil Unit

• R88L-EC-GW-0703/-0706/-0709

Model L1 [mm] L2 [mm] Number of holes [N] Mass [kg] *

R88L-EC-GW-0703 134 114 4 0.9
R88L-EC-GW-0706 248 228 7 1.32
R88L-EC-GW-0709 362 342 10 1.74

950 min.
L1
L2
15 N-φ4.5 5 11.5
38
φ6.4
23.8
φ4.3

* The weight of 950-mm cables is included.

• Magnet Trac
Model L3 [mm] L4 [mm] Number of holes [N] Mass [kg]
R88L-EC-GM-07114-A 114 57 2 Approx. 2.88
R88L-EC-GM-07171-A 171 114 3 Approx. 4.31
R88L-EC-GM-07456-A 456 399 8 Approx. 11.5

L3

(φ6.5)
100
φ11
(Depth10)

11

48 N-φ6.5 28.5
57
L4

• Combination diagram

16.5
16.5

124.8

48

0.1

0.05 A A

16.5±0.1

Motor Coil Unit mounting surface Magnet Track mounting surface

88
 AC Servomotor/Drive
G5-series

System Configuration
Related Manuals
Please read the relevant manuals of G5-Series

G5-Series
English Cat. No. Japanese Cat. No. Type Name
G5-SERIES
I571 SBCE-357 R88D-KT/R88M-K
AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
G5-SERIES
I572 SBCE-358 R88D-KN@-ML2/R88M-K MECHATROLINK-II Communications
AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

EtherCAT Communications
G5-SERIES
I573 SBCE-360 R88D-KN@-ECT-R/R88M-K EtherCAT Communications for Position Control
AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL

AC Servo Drive
G5-SERIES
I576 SBCE-365 R88D-KN@-ECT/R88M-K EtherCAT Communications
AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
G5-SERIES EtherCAT Communications Linear Motor Type
I577 SBCE-366 E88D-KN@-ECT-L/R88L-EC
LINEARMOTOR AND DRIVE USER'S MANUAL
W487 SBCE-359 CJ1W-NC@81/CJ1W-NC@82 CJ-series Position Control Unit Operation Manual

EtherCAT Communications
W446 SBCA-337 CXONE-AL@@C-V@/-AL@@D-V@ CX-Programmer Operation Manual
W453 SBCE-375 CXONE-@@@@C-V@/@@@@D-V@ CX-Drive OPERATION MANUAL

Linear Motor Type

W504 SBCA-362 SYSMAC-SE2@@@ Sysmac Studio Version 1 Operation Manual

AC Servo Drive
General-purpose Inputs
AC Servo Drive
AC Servo Drive
ML-II Type
AC Servomotors
Linear Motor

89
 MEMO

90
 Read and Understand this Catalog
Please read and understand this catalog before purchasing the product. Please consult your OMRON representative if you have any
questions or comments.

Warranty and Limitations of Liability

WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other
period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-INFRINGEMENT,
MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES
THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS
OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR
COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT,
WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE PRODUCTS
UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED, INSTALLED, AND
MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in
the customer's application or use of the products.
At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use
that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in
combination with the end product, machine, system, or other application or use.
The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive
list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products:
• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this
catalog.
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement
machines, vehicles, safety equipment, and installations subject to separate industry or government regulations.
• Systems, machines, and equipment that could present a risk to life or property.
Please know and observe all prohibitions of use applicable to the products.
NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING
THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof.

Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any time based on improvements and other reasons. Consult with your
OMRON representative at any time to confirm actual specifications of purchased product.

DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.

PERFORMANCE DATA
Performance data given in this catalog is provided as a guide for the user in determining suitability and does not constitute a warranty.
It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual
performance is subject to the OMRON Warranty and Limitations of Liability.
OMRON Corporation Industrial Automation Company Authorized Distributor:
Tokyo, JAPAN
Contact: www.ia.omron.com
Regional Headquarters
OMRON EUROPE B.V. OMRON ELECTRONICS LLC
Wegalaan 67-69-2132 JD Hoofddorp One Commerce Drive Schaumburg,
The Netherlands IL 60173-5302 U.S.A.
Tel: (31)2356-81-300/Fax: (31)2356-81-388 Tel: (1) 847-843-7900/Fax: (1) 847-843-7787

OMRON ASIA PACIFIC PTE. LTD. OMRON (CHINA) CO., LTD. © OMRON Corporation 2009 All Rights Reserved.
No. 438A Alexandra Road # 05-05/08 (Lobby 2), Room 2211, Bank of China Tower, In the interest of product improvement,
Alexandra Technopark, 200 Yin Cheng Zhong Road, specifications are subject to change without notice.
Singapore 119967 PuDong New Area, Shanghai, 200120, China CSM_3_1_0114 Printed in Japan
Tel: (65) 6835-3011/Fax: (65) 6835-2711 Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200 Cat. No. I816-E1-06 1012 (1109) (IT)