Servomotor Omron_r88m.pdf

I105E-EN-01+SS2_motors+Datasheet.fm Seite 1 Mittwoch, 29. April 2009 4:21 16

R88M-G@, R88M-GP@

SmartStep 2 servo motors AC Servo systems

Another step forward in drive simplicity • SmartStep 2 motors can be controlled by G-Series drive • Flange compatible with SmartStep servo motors • Cylindrical and flat servo motor types are available • Easy to setup, easy to operate. SmartStep 2 is as easy to use as a stepper motor • Models with brake available • Easy to connect to the drive using prebuilt cables

Ratings • 230 VAC from 50 W to 400 W (0.16 Nm to 1.3 Nm)

System configuration SmartStep 2 Servo motor

SmartStep 2 Servo Drive Servo Drive controlled by pulses Power and encoder cables

R88M-GP (Flat type) Servo Motor 3,000 rpm (100-400 W)

R88M-G (cylindrical type) Servo Motor 3,000 rpm (50-400 W)

Servo motor type designation

R88M-GP10030H-BOS2 SmartStep2 Servomotor Motor Type Blank: Cylinder type P:

Flat type

Capacity 050 100 200 400

50 W 100 W 200 W 400 W

Rated Speed (r/min) 30

3000

SmartStep 2 servo motors

Shaft end specifications Blank Straigth shaft, no key Straigth, key, tapped S2

Oil seal specifications Blank No oil seal Oil seal O

Brake specifications Blank No brake Brake B

Voltage and encoder specifications H: 230 V with incremental encoder

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Servo motor / servo drive combination Family Cylindric

Flat

50 - 400 W

Voltage

Servo motor Speed Rated torque

230 V

3000 min-1

100-400W

Capacity

Servo drive SmartStep2

Model

G-Series

0.16 Nm

50 W

R88M-G05030H-@S2

R7D-BP01H

R88D-G@01H-@

0.32 Nm

100 W

R88M-G10030H-@S2

R7D-BP01H

R88D-G@01H-@

0.64 Nm

200 W

R88M-G20030H-@S2

R7D-BP02HH

R88D-G@02H-@

1.3 Nm

400 W

R88M-G40030H-@S2

R7D-BP04H

R88D-G@04H-@ R88D-G@01H-@

0.32 Nm

100 W

R88M-GP10030H-@S2

R7D-BP01H

0.64 Nm

200 W

R88M-GP20030H-@S2

R7D-BP02HH

R88D-G@02H-@

1.3 Nm

400 W

R88M-GP40030H-@S2

R7D-BP04H

R88D-G@04H-@

Note: 1. For servo motor and cable part numbers, refer to ordering information at the end of this chapter. 2. Refer to the servo drive chapter for drive options selection and detailed specifications.

Servo motor specifications General specifications Item Ambient operating temperature Ambient operating humidity Ambient storage temperature Ambient storage humidity Storage/operating atmosphere Vibration resistance Impact resistance Insulation resistance Dielectric strength Run position Insulation grade Structure Protective structure Vibration grade Mounting method International standards

Specification 0 to 40°C 85% max. (with no condensation) −20 to 65°C 85% max. (with no condensation) No corrosive gases 49 m/s2 max. in the X, Y, and Z directions Acceleration of 98 m/s2 max. 3 times each in the X, Y, and Z directions 20 MΩ min. at 500 VDC between the power terminals and FG terminal 1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal Any direction Type B Totally-enclosed, self-cooling IP65 (excluding the through-shaft portion) V-15 Flange-mounting Approval obtained for UL, cUL, and EN (EMC directive and low-voltage directive)

Performance specifications Cylindric servo motors Item Rated output Rated torque Rated rotation speed Momentary maximum rotation speed Momentary maximum torque Rated current Momentary maximum current Rotor inertia Power rate Allowable radial load Allowable thrust load Weight Without brake With brake Encoder resolution Radiation shield dimensions Brake Brake inertia specifications Excitation voltage Power consumption (at 20 °C) Current consumption (at 20 °C) Static friction torque Attraction time Release time Backlash Rating Brake life Applicable servo driver (R7D-)

2

Unit W N·m r/min r/min N·Em A (rms) A (rms)

R88M-G05030H 50 0.16

R88M-G10030H 100 0.32

0.48

0.95 1.1 3.4

kg·m2 kW/s N N kg kg -----

2.5 × 10-6 10.4

kg·m2 V W A N·m ms ms -

2.0 × 10-7

R88M-G20030H 200 0.64 3000 5000 1.78 1.6 4.9

R88M-G40030H 400 1.3

1.4 × 10-5 30.3

2.6× 10-5 62.5

5.1 × 10-6 20.1 68 58

0.3 0.5

3.60 2.6 7.9

245 98

0.5 0.8 1.2 0.7 1.3 1.7 Phase A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation 100 × 80 × t10 (Al) 130 × 120 × t12 (Al) 2.0 × 10-7

1.8 × 10-6

7.5 × 10-6

24 VDC ±10% 7 0.30 0.29 min. 35 max. 20 max. ±1° max. Continuous 10,000,000 operations min. BP01H

9 0.36 1.27 min. 50 max. 15 max.

BP02HH

BP04H

AC servo systems

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Flat servo motors Unit

R88M-GP10030H 100 0.32

W N·m r/min r/min N·Em A (rms) A (rms)

0.90 1.0 4.3 9.0 × 10-6

kg·m2 kW/s N N kg kg -----

Power rate Allowable radial load Allowable thrust load Weight Without brake With brake Encoder resolution Radiation shield dimensions Brake Brake inertia specifications Excitation voltage

R88M-G40030H 400 1.3

3.60 4.4 18.6 6.4 × 10-5

11.4 11.8 25.5 68 245 58 98 0.7 1.3 1.8 0.9 2.0 2.5 Phase A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation 130 × 120 × t10 (Al) 170 × 160 × t12 (Al) 3.0 × 10-6 9.0 × 10-6 9.0 × 10-6 24 VDC ±10% 7 10 0.29 0.41 0.29 min. 1.27 min. 50 max. 60 max. 15 max. ±1° max. Continuous 10,000,000 operations min. BP01H BP02HH BP04

kg·m2 V W A N·m ms ms -

Power consumption (at 20 °C) Current consumption (at 20 °C) Static friction torque Attraction time Release time Backlash Rating Brake life Applicable servo driver (R7D-)

R88M-G20030H 200 0.64 3000 5000 1.82 1.6 6.8 3.4 × 10-5

AC Servo systems

Item Rated output Rated torque Rated rotation speed Momentary maximum rotation speed Momentary maximum torque Rated current Momentary maximum current Rotor inertia

Torque-speed characteristics The following graphs show the characteristics with a 3 m standard cable and R7D-AP@H servo driver (200 VAC input)

Cylindric servo motor R88M-G05030H

R88M-G10030H

R88M-G20030H

(N·m)

(N·m)

(N·m) 2.0 1.82

0.5

0.48

1.0

0.95

R88M-G40030H (N·m) 4.0 3.60

1.82 (4300)

3.60 (3200)

1.65 0.4

0.8 Repetitive usage

0.3

1.5

3.0

Repetitive usage

0.6

Repetitive usage

Repetitive usage

1.0 0.2

0.16

0.4

0.16

0.32

0.64

0.32

0.64

1.3

0.5 0.1

Continuous usage 0

0.09

1000 2000 3000 4000 5000 (r/min)

0.2

0

1000 2000 3000 4000 5000 (r/min)

1.3

1.0

0.19

Continuous usage

2.1

2.0

0

0.88

0.36

Continuous usage

Continuous usage

1000 2000 3000 4000 5000 (r/min)

0

1000 2000 3000 4000 5000 (r/min)

Flat servo motors R88M-GP10030H

R88M-GP40030H

R88M-GP20030H

(N·m)

(N·m) 2.0 1.82

1.0 0.90

1.82 (4700)

0.90

0.8

3.0

Repetitive usage

Repetitive usage

Repetitive usage 2.0

1.0 0.4

0.32

0.64

0.32 Continuous usage

0

SmartStep 2 servo motors

1.3

1.0

0.16

1000 2000 3000 4000 5000 (r/min)

2.0 1.3

0.64

0.5 0.2

3.60 (3600)

1.75 1.5

0.6

(N·m) 4.0 3.60

Continuous usage 0

0.28

1000 2000 3000 4000 5000 (r/min)

Continuous usage 0

0.64

1000 2000 3000 4000 5000

(r/min)

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Dimensions Cylindrical type 3000 r/min (230 V, 50 - 100W) Dimensions (mm) Model R88M-G05030H-@S2 R88M-G10030H-@S2

Without brake LL 72 92

With brake LL 102 122

LN

Aprox. Mass (Kg) Without brake With brake 0.3 0.5 0.5 0.7

26.5 46.5

Brake Connector Motor Connector 25 3

1.8

(Dimensions of shaft end with key and tap) 12.5 3, height: 9

40 × 40

3

200

230

8 dia., height: 6

6

32

LL

30 dia., height: 7

Encoder Connector

LN

46

dia

M3 (depth: 6)

.

Two, 4.3 dia.

Cylindrical type 3000 r/min (230 V, 200 - 400W) Dimensions (mm) Model R88M-G20030H-@S2 R88M-G40030H-@S2 R88M-G75030H-@S2

Without brake LL 79.5 99 112.2

With brake LL 116 135.5 149.2

LR

KL1

Flange surface

Shaft end

30

43

D1 70

D2 50

C 60

G 6.5

Z 4.5

35

53

90

70

80

8

6

S 11 14 19

QK b 18 4h9 22.5 5h9 22 6h9

h 4 5 6

Aprox. Mass (Kg) t1 2.5 3 3.5

M M4 M5

L 8 10

Without brake 0.8 1.2 2.3

With brake 1.3 1.7 3.1

(Straight shaft with key) Brake connector Servomotor connector

QK

b

LL

t1

h

Encoder connector

30 3

6.5

60 × 60

ia.

70 d

43

50 dia., height: 7

S dia., height: 6

200

220

M (depth: L) Four, 4.5 dia.

Flat type 3000 r/min (230 V, 100 W - 400 W)

60.5 67.5 82.5

84.5 100 115

LR

25 30

KL1

43 53

Encoder connector

D1

D2

C

F

G

Z

70 90

50 70

60 80

3 5

7 8

4.5 5.5

S

QK

b

8 12.5 3h9 11 18 4h9 14 22.5 5h9

Aprox. Mass (Kg)

h

t1

3 4 5

1.8 2.5 3.0

Tap x Without brake depth M3x6 0.7 M4x8 1.3 M5x10 1.8

With brake 0.9 2 2.5

F Four, Z-dia.

CxC

(Straight shaft with key) QK ia 1d

.

b t1

G

(7)

Break connector

h

(7)

LR

200

220

Shaft end

Servomotor connector LL

4

Flange surface

KL1

R88M-GP10030H-@S2 R88M-GP20030H-@S2 R88M-GP40030H-@S2

With brake LL

S dia., height: 6

Model

Without brake LL

D dia., height: 7

Dimensions (mm)

D

M (depth: 6)

AC servo systems

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Ordering information

SmartStep 2 Servo motor

SmartStep 2 Servo Drive Servo Drive controlled by pulses

B

C

R88M-GP (Flat type) Servo Motor 3,000 rpm (100-400 W)

AC Servo systems

A

R88M-G (cylindrical type) Servo Motor 3,000 rpm (50-400 W)

Note: The symbols ABC... show the recommended sequence to select the servo motor and cables.

Servo motor Cylindrical servo motors (3,000-r/min) Symbol

Specifications

A

Design Cylindrical servo motors (3,000-r/min) Straight shaft with key

Servo motor model

Without brake

With brake

Rated torque 0.16 Nm 0.32 Nm 0.64 Nm 1.3 Nm 0.16 Nm 0.32 Nm 0.64 Nm 1.3 Nm

Capacity 50 W 100 W 200 W 400 W 50 W 100 W 200 W 400 W

R88M-G05030H-S2 R88M-G10030H-S2 R88M-G20030H-S2 R88M-G40030H-S2 R88M-G05030H-BS2 R88M-G10030H-BS2 R88M-G20030H-BS2 R88M-G40030H-BS2

Compatible servo drives B SmartStep 2 R7D-BP01H R7D-BP02HH R7D-BP04H R7D-BP01H R7D-BP02HH R7D-BP04H

Flat servo motors (3,000-r/min) Symbol

Specifications

Servo motor model

A

Design Flat servo motors (3,000-r/min)

Without brake

Straight shaft with key

With brake

Rated torque 0.32 Nm 0.64 Nm 1.3 Nm 0.32 Nm 0.64 Nm 1.3 Nm

Capacity 100 W 200 W 400 W 100 W 200 W 400 W

R88M-GP10030H-S2 R88M-GP20030H-S2 R88M-GP40030H-S2 R88M-GP10030H-BS2 R88M-GP20030H-BS2 R88M-GP40030H-BS2

Compatible servo drives B SmartStep 2 R7D-BP01H R7D-BP02HH R7D-BP04H R7D-BP01H R7D-BP02HH R7D-BP04H

Servo drive Note: 1. Refer to SmartStep 2 servo drive chapter for detailed drive specifications and selection of drive accessories.

SmartStep 2 servo motors

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Servo motor cables for SmartStep 2 drive Power cables (for CNB) Symbol Specifications Power cables for C SmartStep 2 Servo motors

Flexible cables shielded

1.5 m 3m 5m 10 m 15 m 20 m

Model R7A-CAB001-5SR-E R7A-CAB003SR-E R7A-CAB005SR-E R7A-CAB010SR-E R7A-CAB015SR-E R7A-CAB020SR-E

Appearance

1.5 m 3m 5m 10 m 15 m 20 m

Model Appearance R88A-CAGA001-5BR-E R88A-CAGA003BR-E R88A-CAGA005BR-E R88A-CAGA010BR-E R88A-CAGA015BR-E R88A-CAGA020BR-E

1.5 m 3m 5m 10 m 15 m 20 m

Model Appearance R88A-CRGB001-5CR-E R88A-CRGB003CR-E R88A-CRGB005CR-E R88A-CRGB010CR-E R88A-CRGB015CR-E R88A-CRGB020CR-E

Brake cables Symbol Specifications Brake cables for SmartStep 2 Flexible cables C Servo motors

Encoder cables (for CN2) Symbol Specifications Encoder cables for C SmartStep 2 Servo motors

Flexible cables shielded

Connectors Specifications Encoder Input Connector (CN2) Servomotor Connector for Encoder Cable Servomotor Connector for Servomotor Power Cable Brake Cable Connector

Model R88A-CNW01R R88A-CNG02R R88A-CNG01A R88A-CNG01B

ALL DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527. Cat. No. I105E-EN-01

6

In the interest of product improvement, specifications are subject to change without notice.

AC servo systems