AC Servo System. 1S Series. Optimized installation and setup Increased machine productivity Global availability and global conformance

Transcription

1 AC Servo System 1S Series Optimized installation and setup Increased machine productivity Global availability and global conformance

2 2 AC Servo System State of the art servo technology applied to general purpose Improved machine design. Increased machine productivity Designed to meet the machine requirements, the 1S servo technology optimizes the full cycle, through the machine design, installation and commissioning tasks and finally to the maintenance once in production. In addition to the traditional motion solution, the 1S servo offers high resolution multi-turn encoder without battery backup, safety network built-in and improved loop control allowing accurate and higher machine productivity. Optimized installation and commissioning tasks Cabinet size reduction: Compact servo drive with same height throughout the whole power range Servo features Power range from 5 W to 3 kw - 1/2/4V 23 bit high resolution encoder 35% momentary maximum torque (2 V, 75 W max.) Battery-free absolute multi-turn encoder Improved loop control for low overshoot and quick settling time Safety function built-in: Hardwired Safe Torque Off: EN ISO (Cat.3 PLe), EN6158(SIL3), EN6261(SIL3), EN (STO) Safety over EtherCAT(FSoE): EN ISO (Cat.3 PLd), EN6158(SIL2), EN6261(SIL2), EN (STO) Fast and secure screw-less push-in in control I/O connector and brake interlock connector Pluggable connectors in all connectors for easy pre-wiring and system maintenance Direct wiring of I/O signals. No need for terminal block units Pre-assembled motor cables Embedded relay for direct motor brake control

3 3 Simplified machine design and maintenance No battery, no maintenance No need for homing sequence improving machine uptime 23 bit high resolution encoder as standard Absolute multi-turn encoder design without mechanics: 16 bits, turns Compact and smaller motor size 5% setup time reduction* Servo sizing System configuration Servo sizing tool for the entire machine Graphical environment of the kinematic chain Electronic CAM import from Sysmac Studio Save 4% * NJ project auto-builder from servo sizing file Quick setup wizard for key parameters Parameters transfer in less than 4 ms Save 6% * Gain tuning & test run Best effort feature for quick stabilization time Easy tuning with intelligent gain search in less than 2 minutes Wizard for tuning, test run & monitoring Advanced tuning simulation to reduce testing effort and prevent machine damage Save 5% * *Performance comparison with previous Omron products based on Omron investigation in March 216.

4 4 AC Servo System Totally integrated, totally in control MACHINE SPEED 125 μs 1 ms 2 ms CYCLE TIME HIGHER PRODUCTIVITY 125 µs system cycle Faster machine speed keeping same accuracy Accurate profile generation in the controller The 23 bit high resolution encoder in combination with the improved loop control provide an accurate following profile NJ/NX series Machine Controller NX Safety INTEGRATED SAFETY Safety control via EtherCAT Simplified safety installation Reduction of safety devices Safety function built-in: Fail Safe over EtherCAT (FSoE) Safe Torque Off Safety approval: EN ISO (Cat.3 PLd), EN6158(SIL2), EN6261(SIL2), EN (STO) Troubleshooter integrated with Sysmac Studio

5 5 Servo sizing Setup Logic, Motion & Safety programming Simulation Commissioning TOTALLY IN CONTROL Sysmac Studio Simplified servo setup: Direct use of servo sizing calculation Open standard IEC programming Standard PLCopen Function Blocks for Motion and Safety Sysmac Library for fast engineering and optimized machine availability Application libraries Optimized productivity Predictive maintenance Reduced downtime 1S Servo

6 6 AC Servo System Sysmac Automation Platform The integrated platform Sysmac is an integrated automation platform dedicated to providing complete control and management of your automation plant. At the core of this platform, the Machine Controller series offers synchronous control of all machine devices and advanced functionality such as motion, robotics and database connectivity. This multidisciplinary concept allows you to simplify solution architecture, reduce programming and optimize productivity. Factory Offices HQ Information technologies IT devices Sales force Big Data Controller HMI Software Motion I/O Safety Vision Sensing Software Sysmac Studio, the integrated software One single tool for logic sequence, motion, safety, robotics, vision and HMI Fully compliant with open standard IEC PLCopen Function Blocks for Motion and Safety Supports Ladder, Structured Text and In-Line ST programming with a rich instruction set CAM editor for easy programming of complex motion profiles Database Connectivity Function Block library Sysmac Library The Sysmac Library is a collection of software functional components that can be used in programs for the NJ/NX Machine Automation Controllers. Please download it from following URL and install to Sysmac Studio. EtherCAT 1S Series Library: The EtherCAT 1S Series Library is used to initialize the absolute encoder, back up and restore the parameters for an OMRON 1S-series Servo Drive with built-in EtherCAT communications. You can use this library to reduce manpower of programming when implementing the processing for a Servo Drive.

7 7 Sysmac servo family Machine Controller NJ/NX/NY series Logic sequence, Motion, Safety, Robotics and Database connection functionality Scalable motion control: CPUs from 2 up to 256 axes IEC controller PLCopen Function Blocks for Motion Control and Safety Advanced motion with Robotics functionality Built-in EtherCAT and EtherNet/IP ports Motion G5 Servo System - Wide functionality and scalability Servo drive for rotary or linear motors Rotary motor: Up to 15 kw Iron-core and Ironless linear motor models: Up to 21 N peak force Safety function: STO Full closed loop control 1S Servo System - General purpose servo Servo drive for rotary motors Up to 3 kw Safety function: STO Sysmac is a trademark or registered trademark of OMRON Corporation in Japan and other countries for OMRON factory automation products. Windows and SQL Server are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. EtherCAT and Safety over EtherCAT are registered trademarks and patented technologies, licensed by Beckhoff Automation GmbH, Germany. EtherNet/IP TM is the trademark of ODVA. Other company names and product names in this document are the trademarks or registered trademarks of their respective companies. The product photographs and figures that are used in this catalog may vary somewhat from the actual products. Microsoft product screen shot(s) reprinted with permission from Microsoft Corporation.

8 ID VDC 7 ma COM AD42 MACH No RUN ERC ERH B1 A AC Servo System 1S-series 1@/R88D-1SN@-ECT Best Machine Architecture Simple installation and wiring contributes to board design efficiency EtherCAT Communications Cycle of 125 μs Achievement of Safety on EtherCAT Network Supports two-degree-of-freedom control Battery-free system reduces maintenance and space Comes equipped with a 23-bit ABS encoder 35% momentary maximum torque (2 V, 75 W max.) System Configuration Controller NJ/NX/NY Controller (with EtherCAT port) Support Software Automation Software Sysmac Studio Machine Automation Controller NJ/NX-series Industrial PC Platform NY-series IPC Machine Controller NY Controller PMAC Controller (With EtherCAT port) Industrial PC Platform NY-series IPC RTOS Controller Programmable Multi Axis Controller (PMAC) CK3E/CK3M/NY51 -A CJ-series CPU Unit + Position Control Unit (with EtherCAT Interface) Programmable Controller CJ -CPU Position Control Unit (NC) CJ1W-NC 8 Support Software FA Integrated Tool Package CX-One * (CX-Programmer included) 8 * You cannot use the CX-One to make the settings of 1S-series Servo Drives. Obtain the Sysmac Studio. Note: PMAC is an abbreviation for Programmable Multi Axis Controller.

9 FS L/A L/A OUT AC Servo System 1S-series Servo Drive Power signal Servomotor USB communications R88D-1SN RUN ERRIN EtherCAT Power cable Standard cable Without brake wire R88A-CA1 S With brake wire R88A-CA1 B Flexible cable Without brake wire R88A-CA1 SF R88A-CA1A SFR With brake wire R88A-CA1 BF EtherCAT communications 1S-series Servo Drive R88D-1SN -ECT 1 VAC 2 VAC 4 VAC Brake cable for 75 W max. Standard cable R88A-CA1A B Flexible cable R88A-CA1A BF R88A-CA1A BFR Feedback signal Encoder cable Standard cable R88A-CR1A C R88A-CR1B N Flexible cable R88A-CR1A CF R88A-CR1B NF 1S-series Servomotor 1L /-1M 3, r/min 2, r/min 1, r/min Decelerator Backlash: 3 Arcminutes Max. Backlash: 15 Arcminutes Max. R88G-VRXF 9

10 AC Servo Drives with Built-in EtherCAT Communications [1S-series] Contents Ordering Information Specifications EtherCAT Communication Specifications Version Information Names and Functions Dimensions Ordering Information Refer to the Ordering Information. Specifications General Specifications Item Specifications Operating ambient temperature and humidity to 55 C, 9% max. (with no condensation) Storage ambient temperature and humidity -2 to 65 C, 9% max. (with no condensation) Operating and storage atmosphere No corrosive gases Operating altitude 1, m max. Vibration resistance 1 to 6 Hz and at an acceleration of 5.88 m/s 2 or less (Not to be run continuously at the resonance frequency) Insulation resistance Between power supply terminals/power terminals and PE terminals:.5 MΩ min. (at 5 VDC) Dielectric strength Between power supply terminals/power terminals and PE terminals: 1,5 VAC for 1 min (at 5/6 Hz) Protective structure IP2 (Built into IP54 panel) EMC Directive EN second environment, C3 category (EN ; Functional Safety) EU Directives Low Voltage Directive EN International Machinery Directive EN ISO (Cat.3), EN 6158, EN 6261, EN standard UL standards UL CSA standards CSA C22.2 No. 274 Korean Radio Regulations (KC) Compliant Australian EMC Labelling Requirements (RCM) Compliant Note: The above items reflect individual evaluation testing. The results may differ under compound conditions. The detail of Machinery Directive is as follows: The STO function via safety input signals: EN ISO (Cat3 PLe), EN 6158 (SIL3), EN 6261 (SIL3), EN (STO) The STO function via EtherCAT communications: EN ISO (Cat.3 PLd), EN 6158 (SIL2), EN 6261 (SIL2), EN (STO) Precautions for Correct Use Disconnect all connections to the Servo Drive before attempting a megger test (insulation resistance measurement) on a Servo Drive. Not doing so may result in the Servo Drive failure. Do not perform a dielectric strength test on the Servo Drive. Internal elements may be damaged. 1

11 Characteristics 1-VAC Input s Servo Drive model (R88D-) 1SN1L-ECT 1SN2L-ECT 1SN4L-ECT Item 1 W 2 W 4 W Power supply voltage Single-phase 1 to 12 VAC (85 to 132 V) *1 Rise time 5 ms max. *2 Main circuit Frequency 5/6 Hz (47.5 to 63 Hz) *1 Input Control circuit Power supply voltage 24 VDC (21.6 to 26.4 V) Current consumption *3 6 ma Rated input current Single-phase [A (rms)] (Main circuit power supply voltage: 12 VAC) 3-phase Output Rated current [A (rms)] Maximum current [A (rms)] Heat value [W] Main circuit * Control circuit Applicable Servomotor rated output [W] Batteryless 3,-r/min Servomotor () 23-bit ABS Hold time at momentary power interruption (Main circuit power supply voltage: 1 VAC) 1M53S 1M13S 1M23S 1 ms (Load condition: rated output) *5 1M43S Weight [kg] *1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range of acceptable variation. *2. If the power supply is turned ON slowly, a Regeneration Circuit Error Detected during Power ON (Error No. 14.2) may occur. Check that the power supply has a capacity sufficiently greater than the total capacity of the Servo Drive and the peripheral devices. *3. Select a DC power supply in consideration of the current values that are specified in the current consumption. The rated current value that is printed on the product nameplate is a condition to apply the 1S-series product for the UL/Low Voltage Directive. Therefore, you do not need to consider it when you select a DC power supply for each model. *4. This is the maximum heating value in applicable Servomotors. Refer to the table on the page 14 for the Heating Values of Applicable Servomotors. *5. The control power supply is not specified here as long as a DC power supply that meets the following conditions is used. Reinforced insulation or double insulation, and the output hold time of 1 ms or more. 11

12 2-VAC Input s Input Servo Drive model (R88D-) 1SN1H-ECT 1SN2H-ECT 1SN4H-ECT 1SN8H-ECT Item 1 W 2 W 4 W 75 W Main circuit Control circuit Rated current [A (rms)] (Main circuit power supply voltage: 24 VAC) Power supply voltage Single-phase and 3-phase 2 to 24 VAC (17 to 252 V) *1 Rise time 5 ms max. *2 Frequency 5/6 Hz (47.5 to 63 Hz) *1 Power supply voltage 24 VDC (21.6 to 26.4 V) Current consumption *3 6 ma Single-phase phase Rated current [A (rms)] Output Maximum current [A (rms)] Main circuit *4 15.7/15.3 *5 15.2/14.6 *5 22.4/22.4 *5 4/39.7 *5 Heat value [W] Control circuit Applicable Servomotor rated output [W] Batteryless 3,-r/min Servomotor () 23-bit ABS Batteryless 2,-r/min Servomotor () 23-bit ABS Batteryless 1,-r/min Servomotor () 23-bit ABS Hold time at momentary power interruption (Main circuit power supply voltage: 2 VAC) 1M53T 1M13T 1M23T 1M43T 1M753T ms (Load condition: rated output) *6 Weight [kg] Servo Drive model (R88D-) 1SN1H-ECT 1SN15H-ECT 1SN2H-ECT 1SN3H-ECT Item 1 kw 1.5 kw 2 kw 3 kw Main circuit Power supply voltage 3-phase 2 to 24 VAC (17 to 252 V) *1 Single-phase and 3-phase 2 to 24 VAC (17 to 252 V) *1 3-phase 2 to 24 VAC (17 to 252 V) *1 Rise time 5 ms max. *2 Frequency 5/6 Hz (47.5 to 63 Hz) *1 Input Power supply 24 VDC (21.6 to 26.4 V) voltage Control circuit Current 6 ma 9 ma consumption *3 Rated current [A (rms)] Single-phase (Main circuit power supply voltage: 24 VAC) 3-phase Output Rated current [A (rms)] Maximum current [A (rms)] Heat value [W] Main circuit * /85.5 * Control circuit Applicable Servomotor rated output [W] 1, 1,5 2, 3, 3,-r/min Servomotor () Batteryless 23-bit ABS 1L1K3T 1L1K53T 1L2K3T 1L3K3T 2,-r/min Servomotor () Batteryless 23-bit ABS 1M1K2T 1M1K52T 1M2K2T 1M3K2T Batteryless 1,-r/min Servomotor () 23-bit ABS Hold time at momentary power interruption (Main circuit power supply voltage: 2 VAC) 1M91T --- 1M2K1T 1M3K1T 1 ms (Load condition: rated output) *6 Weight [kg] *1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range of acceptable variation. *2. If the power supply is turned ON slowly, a Regeneration Circuit Error Detected during Power ON (Error No. 14.2) may occur. Check that the power supply has a capacity sufficiently greater than the total capacity of the Servo Drive and the peripheral devices. *3. Select a DC power supply in consideration of the current values that are specified in the current consumption. The rated current value that is printed on the product nameplate is a condition to apply the 1S-series product for the UL/Low Voltage Directive. Therefore, you do not need to consider it when you select a DC power supply for each model. *4. This is the maximum heating value in applicable Servomotors. Refer to the table on the next page for the heating value of each applicable Servomotor. *5. The first value is for single-phase input power and the second value is for 3-phase input power. *6. The control power supply is not specified here as long as a DC power supply that meets the following conditions is used. Reinforced insulation or double insulation, and the output hold time of 1 ms or more. 12

13 4-VAC Input s Use a neutral grounded 4 VAC 3-phase power supply for the 4 VAC input models in order to satisfy the conditions to obtain the standards. Servo Drive model (R88D-) 1SN6F-ECT 1SN1F-ECT 1SN15F-ECT 1SN2F-ECT 1SN3F-ECT Item 6 W 1 kw 1.5 kw 2 kw 3 kw Power supply voltage 3-phase 38 to 48 VAC (323 to 54 V) *1 Rise time 5 ms max. *2 Main circuit Frequency 5/6 Hz (47.5 to 63 Hz) *1 Input Control circuit Current consumption *3 9 ma Power supply voltage 24 VDC (21.6 to 26.4 V) Rated current [A (rms)] (Main circuit power 3-phase supply voltage: 48 VAC) Output Rated current [A (rms)] Maximum current [A (rms)] Heat value [W] Main circuit * Control circuit Applicable Servomotor rated output [W] 6 1, 1,5 2, 3, Batteryless 3,-r/min Servomotor () 23-bit ABS Batteryless 2,-r/min Servomotor () 23-bit ABS Batteryless 1,-r/min Servomotor () 23-bit ABS Hold time at momentary power interruption (Main circuit power supply voltage: 4 VAC) --- 1M42C 1M62C 1L753C 1L1K3C 1L1K53C 1L2K3C 1L3K3C 1M1K2C 1M1K52C 1M2K2C 1M3K2C --- 1M91C --- 1M2K1C 1M3K1C 1 ms (Load condition: rated output) *5 Weight [kg] *1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range of acceptable variation. *2. If the power supply is turned ON slowly, a Regeneration Circuit Error Detected during Power ON (Error No. 14.2) may occur. Check that the power supply has a capacity sufficiently greater than the total capacity of the Servo Drive and the peripheral devices. *3. Select a DC power supply in consideration of the current values that are specified in the current consumption. The rated current value that is printed on the product nameplate is a condition to apply the 1S-series product for the UL/Low Voltage Directive. Therefore, you do not need to consider it when you select a DC power supply for each model. *4. This is the maximum heating value in applicable Servomotors. Refer to the table below for the heating value of each applicable Servomotor. *5. The control power supply is not specified here as long as a DC power supply that meets the following conditions is used. Reinforced insulation or double insulation, and the output hold time of 1 ms or more. 13

14 Heating Values of Applicable Servomotors Servo Drive model Servomotor model Main circuit heat value [W] R88D-1SN1L-ECT R88D-1SN1H-ECT 13.2/13.2 * 1M13T-@ 15.7/15.3 * 1L1K3T-@ 46.5 R88D-1SN1H-ECT 1M1K2T-@ M91T-@ 42.9 R88D-1SN15H-ECT 1L1K53T-@ 85.5/85.5 * 1M1K52T-@ 84/84 * 1L2K3T-@ R88D-1SN2H-ECT 1M2K2T-@ M2K1T-@ L3K3T-@ R88D-1SN3H-ECT 1M3K2T-@ M3K1T-@ R88D-1SN6F-ECT 1M42C-@ M62C-@ 2.2 1L753C-@ 51.1 R88D-1SN1F-ECT 1L1K3C-@ M1K2C-@ M91C-@ 4.2 R88D-1SN15F-ECT 1L1K53C-@ M1K52C-@ L2K3C-@ 16.8 R88D-1SN2F-ECT 1M2K2C-@ M2K1C-@ L3K3C-@ R88D-1SN3F-ECT 1M3K2C-@ M3K1C-@ * The first value is for single-phase input power and the second value is for 3-phase input power. 14

15 EtherCAT Communications Specifications AC Servo System 1S-series Item Communications standard Physical layer Connectors Communications media Communications distance Process data Mailbox (CoE) Synchronization mode and communications cycle Indicators CiA 42 Drive Profile Specifications IEC Type 12, IEC CiA 42 Drive Profile 1BASE-TX (IEEE82.3) RJ45 2 (shielded) ECAT IN: EtherCAT input ECAT OUT: EtherCAT output Recommended media: Twisted-pair cable, which is doubly shielded by the aluminum tape and braid, with Ethernet Category 5 (1BASE-TX) or higher Distance between nodes: 1 m max. Fixed PDO mapping Variable PDO mapping Emergency messages, SDO requests, SDO responses, and SDO information DC Mode (Synchronous with Sync Event) Communications cycle: 125 µs, 25 µs, 5 µs, 75 µs, 1 to 1 ms (in.25 ms increments) Free Run Mode ECAT-L/A IN (Link/Activity IN) 1 ECAT-L/A OUT (Link/Activity OUT) 1 ECAT-RUN 1 ECAT-ERR 1 Cyclic synchronous position mode Cyclic synchronous velocity mode Cyclic synchronous torque mode Profile position mode Profile velocity mode Homing mode Touch probe function Torque limit function Version Information 1S-series Servo Drive Corresponding version Unit version NJ/NX-series CPU Unit Sysmac Studio Version 1. NJ: Version 1.11 or later NX: Version 1.11 or later Version 1.16 or higher R88D-1SN@-ECT Version 1.1 NJ: Version 1.11 or later NX: Version 1.11 or later Version 1.18 or higher Version 1.2 NJ: Version 1.11 or later NX: Version 1.11 or later Version 1.22 or higher Functions That Were Added or Changed for Each Unit Version Function Addition/change Unit version Adjustment Function Multiple Drives Tuning Function Addition Ver.1.1 Machine - Inertia Ratio (31-1 hex) Change Ver.1.1 TDF Position Control - Command Following Gain Selection (312-1 hex) Addition Ver.1.1 TDF Position Control - Command Following Gain 2 ( hex) Addition Ver.1.1 TDF Velocity Control - Command Following Gain Selection ( hex) Addition Ver.1.1 TDF Velocity Control - Command Following Gain 2 ( hex) Addition Ver.1.1 Object Command Dividing Function - Interpolation Method Selection in csp (341-1 hex) Addition Ver.1.2 Runaway Detection (3B71 hex) Addition Ver.1.1 Function Output - Physical Outputs (462-F1 hex) Change Ver.1.2 External Brake Interlock Relay Output (4663 hex) Addition Ver.1.2 Digital outputs - Physical Outputs (6FE - 1 hex) Change Ver.1.2 Runaway Detection Addition Ver.1.1 Error detection function Synchronization Error Change Ver.1.1 Regeneration Circuit Error Detected during Power ON Addition Ver.1.2 Applied Functions Brake Interlock Addition Ver

16 F A x16 ID F A x1 CN7 x16 ID x1 AC Servo System 1S-series Part Names Servo Drive Part Names R88D-1SN1L-ECT/-1SN2L-ECT/-1SN4L-ECT/-1SN1H-ECT/ -1SN2H-ECT/-1SN4H-ECT/-1SN8H-ECT/-1SN1H-ECT Main circuit connector (CNA) terminal 7-segment LED display ID switches Status indicators B CDE A BC B CDE A BC Status indicators USB connector (CN7) Charge lamp EtherCAT communications connector (ECAT IN CN1) Control I/O connector (CN1) terminal EtherCAT communications connector (ECAT OUT CN11) Brake interlock connector (CN12) Motor connector (CNC) Encoder connector (CN2) terminal R88D-1SN15H-ECT/-1SN2H-ECT/-1SN3H-ECT/-1SN6F-ECT/ -1SN1F-ECT/-1SN15F-ECT/-1SN2F-ECT/-1SN3F-ECT Main circuit connector A (CNA) Control power supply connector (CND) Main circuit connector B (CNB) 7-segment LED display ID switches Status indicators Charge lamp Control I/O connector (CN1) terminal CHARGE CN1 ECAT IN CN11 ECAT OUT CN1 9 ABC 6789 ABCDEF ABC 6789 ABCDEF CN7 Status indicators USB connector (CN7) EtherCAT communications connector (ECAT IN CN1) EtherCAT communications connector (ECAT OUT Motor CN11) connector (CNC) Encoder connector (CN2) Brake interlock connector (CN12) terminal terminal Top view Servo Drive Functions Status Indicators The following seven indicators are mounted. Name Color Description PWR Green Displays the status of control power supply. ERR Red Gives the Servo Drive error status. ECAT-RUN ECAT-ERR Green Red Displays the EtherCAT communications status. ECAT-L/A IN, ECAT-L/A OUT Green Lights or flashes according to the status of a link in the EtherCAT physical layer. FS Red/green Displays the safety communications status. 16

17 7-segment LED Display A 2-digit 7-segment LED display shows error numbers, the Servo Drive status, and other information. ID Switches Two rotary switches ( to F hex) are used to set the EtherCAT node address. Charge Lamp Lights when the main circuit power supply carries electric charge. Control I/O Connector (CN1) Used for command input signals, I/O signals, and as the safety device connector. The short-circuit wire is installed on the safety signals before shipment. Encoder Connector (CN2) Connector for the encoder installed in the Servomotor. EtherCAT Communications Connectors (ECAT IN CN1, ECAT OUT CN11) These connectors are for EtherCAT communications. USB Connector (CN7) USB-Micro B Communications connector for the computer. This connector enables USB 2. Full Speed (12 Mbps) communications. Brake Interlock Connector (CN12) Used for brake interlock signals. Main Circuit Connector (CNA) Connector for the main circuit power supply input, control power supply input, external regeneration resistor, and DC reactor. Applicable models: R88D-1SN1L-ECT/-1SN2L-ECT/-1SN4L-ECT/-1SN1H-ECT/-1SN2H-ECT/-1SN4H-ECT/-1SN8H-ECT/-1SN1H-ECT Main Circuit Connector A (CNA) Connector for the main circuit power supply input and external regeneration resistor. Applicable models: R88D-1SN15H-ECT/-1SN2H-ECT/-1SN3H-ECT/-1SN6F-ECT/-1SN1F-ECT/-1SN15F-ECT/-1SN2F-ECT/-1SN3F-ECT Main Circuit Connector B (CNB) Connector for a DC reactor. Applicable models: R88D-1SN15H-ECT/-1SN2H-ECT/-1SN3H-ECT/-1SN6F-ECT/-1SN1F-ECT/-1SN15F-ECT/-1SN2F-ECT/-1SN3F-ECT Control Power Supply Connector (CND) Connector for control power supply input. Applicable models: R88D-1SN15H-ECT/-1SN2H-ECT/-1SN3H-ECT/-1SN6F-ECT/-1SN1F-ECT/-1SN15F-ECT/-1SN2F-ECT/-1SN3F-ECT Motor Connector (CNC) Connector for the power line to the phase U, V, and W of the Servomotor. The connector differs depending on the model. Terminal The number of terminals of the Servo Drives and their connection targets are as follows. R88D-1SN1L-ECT/-1SN2L-ECT/-1SN4L-ECT/ -1SN1H-ECT/-1SN2H-ECT/-1SN4H-ECT/ -1SN8H-ECT/-1SN1H-ECT R88D-1SN15H-ECT/-1SN2H-ECT/-1SN3H-ECT/ -1SN6F-ECT/-1SN1F-ECT/-1SN15F-ECT/ -1SN2F-ECT/-1SN3F-ECT Number of terminals 1 on top 2 on front 1 on bottom 1 on top 2 on front 1 on bottom Connection to PE wire of the main circuit power supply cable. FG wire inside the control panel, and FG wire for the motor cable and shielded wire. PE wire of the main circuit power supply cable. FG wire inside the control panel and the motor cable shielded wire. 17

18 Dimensions (Unit: mm) Single-phase 1 VAC: R88D-1SN1L-ECT (1 W) Single-phase/3-phase 2 VAC: R88D-1SN1H-ECT/-1SN2H-ECT (1 to 2 W) External dimensions M4 3.2 Mounting dimensions 2-M ±.5 2-M4 M ± Single-phase 1 VAC: R88D-1SN2L-ECT (2 W) Single-phase/3-phase 2 VAC: R88D-1SN4H-ECT (4 W) External dimensions Mounting dimensions M4 2-M ±.5 2-M4 7 M4 6 43± Single-phase 1 VAC: R88D-1SN4L-ECT (4 W) Single-phase/3-phase 2 VAC: R88D-1SN8H-ECT (75 W) 3-phase 2 VAC: R88D-1SN1H-ECT (1 kw) External dimensions Mounting dimensions M4 215 Air outlet M ±.5 2-M4 7 M4 Air intake 7.5 5±

19 Single-phase/3-phase 2 VAC: R88D-1SN15H-ECT (1.5 kw) 3-phase 2 VAC: R88D-1SN2H-ECT/-1SN3H-ECT (2 to 3 kw) 3-phase 4 VAC: R88D-1SN6F-ECT/-1SN1F-ECT/-1SN15F-ECT/-1SN2F-ECT/-1SN3F-ECT (6 W to 3 kw) External dimensions Mounting dimensions M4 Air outlet 3-M ±.5 2-M4 39± Air outlet Air intake M ±

20 AC Servomotors [1S-series] Contents Ordering Information Specifications Names and Functions External Dimensions Ordering Information Refer to the Ordering Information. Specifications General Specifications Item Specifications Operating ambient temperature and humidity Storage ambient temperature and humidity Operating and storage atmosphere Vibration resistance * Impact resistance Insulation resistance Dielectric strength Insulation class Protective structure International standard EU Directives CSA standards CSA C22.2 No.1 (with cul mark) * The amplitude may be increased by machine resonance. As a guideline, 8% of the specified value must not be exceeded. Note: 1. Do not use the cable when it is laying in oil or water. 2. Do not expose the cable outlet or connections to stress due to bending or its own weight. Encoder Specifications Low Voltage Directive to 4 C 2% to 9% (with no condensation) -2 to 65 C 2% to 9% (with no condensation) No corrosive gases Acceleration of 49 m/s m/s 2 max. in X, Y, and Z directions when the motor is stopped Acceleration of 98 m/s 2 max. 3 times each in X, Y, and Z directions Between power terminals and FG terminals: 1 MΩ min. (at 5 VDC Megger) Between power terminals and FG terminals: 1,5 VAC for 1 min (voltage 1 V, 2 V) Between power terminals and FG terminals: 1,8 VAC for 1 min (voltage 4 V) Between brake terminal and FG terminals: 1, VAC for 1 min Class F IP67 (except for the through-shaft part and connector pins) IP2 if you use a 3-meter or longer encoder cable. EN 634-1/-5 UL standards UL 14-1/-6 Item Specifications Encoder system Optical batteryless absolute encoder Resolution per rotation 23 bits Multi-rotation data hold 16 bits Power supply voltage 5 VDC±1% Current consumption 23 ma max. Output signal Serial communications Output interface RS485 compliant Note: It is possible to use an absolute encoder as an incremental encoder. Refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Communications User s Manual (Cat.No.I586) for details. 2

21 Characteristics 3,-r/min Servomotors () For models with an oil seal, the following derating is used due to increase in friction torque. 1 VAC Item Unit 1M53S 1M13S 1M23S 1M43S Rated output *1 *2 W Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 3, Maximum rotation speed r/min 6, Momentary maximum torque *1 N m Rated current *1 *2 A (rms) Momentary maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N Allowable thrust load *4 N Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t6 (aluminum) Excitation voltage *5 V 24 VDC±1% Current consumption (at 2 C) A Static friction torque N m.32 min..32 min min min. Attraction time ms 25 max. 25 max. 3 max. 3 max. Release time *6 ms 15 max. 15 max. 2 max. 2 max. Brake Backlash 1.2 max. 1.2 max. 1.2 max. 1.2 max. specifications Allowable braking work J Allowable total work J 9 9, 6, 6, Allowable angular acceleration rad/s 2 1, max. Brake lifetime (acceleration/ million times min. deceleration) Insulation class --- Class F () 1M53S-O/ -OS2/ 1M13S-O/ -OS2/ 1M23S-O/ -OS2/ 1M43S-O/ -OS2/ Item Unit -BO/ -BOS2 -BO/ -BOS2 -BO/ -BOS2 -BO/ -BOS2 Derating rate % Rated output W Rated current A (rms)

22 () 2 VAC Item Unit 1M53T 1M13T 1M23T 1M43T 1M753T Rated output *1 *2 W Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 3, Maximum rotation speed r/min 6, Momentary maximum torque *1 N m Rated current *1 *2 A (rms) Momentary maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N Allowable thrust load *4 N Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t6 (aluminum) Excitation voltage *5 V 24 VDC±1% Current consumption (at 2 C) A Static friction torque N m.32 min..32 min min min min. Attraction time ms 25 max. 25 max. 3 max. 3 max. 4 max. Release time *6 ms 15 max. 15 max. 2 max. 2 max. 35 max. Brake Backlash 1.2 max. 1.2 max. 1.2 max. 1.2 max. 1. max. specifications Allowable braking work J Allowable total work J 9 9, 6, 6, 25, Allowable angular acceleration rad/s 2 1, max. Brake lifetime (acceleration/ million times min. deceleration) Insulation class --- Class F ] For models with an oil seal, the following derating is used due to increase in friction torque. () 1M53T-O/ -OS2/ 1M13T-O/ 1M23T-O/ 1M43T-O/ 1M753T-O/ Item Unit -BO/ -BOS2 -OS2/ -BO/ -BOS2 -OS2/ -BO/ -BOS2 -OS2/ -BO/ -BOS2 -OS2/ -BO/ -BOS2 Derating rate % Rated output W Rated current A (rms)

23 () 2 VAC Item Unit 1L1K3T 1L1K53T 1L2K3T 1L3K3T Rated output *1 *2 W 1, 1,5 2, 3, Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 3, Maximum rotation speed r/min 5, Momentary maximum torque *1 N m Rated current *1 *2 A (rms) Momentary maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N 49 Allowable thrust load *4 N 196 Weight Without brake kg With brake kg Radiator plate dimensions (material) mm 4 4 t2 (aluminum) t2 (aluminum) Excitation voltage *5 V 24 VDC±1% Current consumption (at 2 C) A Static friction torque N m 9.3 min. 9.3 min. 9.3 min. 12. min. Attraction time ms 1 max. 1 max. 1 max. 1 max. Release time *6 ms 3 max. 3 max. 3 max. 3 max. Brake Backlash 1. max. 1. max. 1. max..8 max. specifications Allowable braking work J , Allowable total work J 9, 9, 9, 3,, Allowable angular acceleration rad/s 2 1, max. Brake lifetime (acceleration/ million times min. deceleration) Insulation class --- Class F 23

24 () 4 VAC Item Unit 1L753C 1L1K3C 1L1K53C Rated output *1 *2 W 75 1, 1,5 Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 3, Maximum rotation speed r/min 5, Momentary maximum torque *1 N m Rated current *1 *2 A (rms) Momentary maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N 49 Allowable thrust load *4 N 196 Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t2 (aluminum) 4 4 t2 (aluminum) Excitation voltage *5 V 24 VDC±1% Current consumption (at 2 C) A Static friction torque N m 9.3 min. 9.3 min. 9.3 min. Attraction time ms 1 max. 1 max. 1 max. Release time *6 ms 3 max. 3 max. 3 max. Brake specifications Backlash 1. max. 1. max. 1. max. Allowable braking work J Allowable total work J 9, 9, 9, Allowable angular acceleration rad/s 2 1, max. Brake lifetime (acceleration/ million times min. deceleration) Insulation class --- Class F 24

25 () 4 VAC Item Unit 1L2K3C 1L3K3C Rated output *1 *2 W 2, 3, Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 3, Maximum rotation speed r/min 5, Momentary maximum torque *1 N m Rated current *1 *2 A (rms) Momentary maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N 49 Allowable thrust load *4 N 196 Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t2 (aluminum) Excitation voltage *5 V 24 VDC±1% Current consumption (at 2 C) A.7.66 Static friction torque N m 9.3 min. 12 min. Attraction time ms 1 max. 1 max. Release time *6 ms 3 max. 3 max. Brake Backlash 1. max..8 max. specifications Allowable braking work J 5 1, Allowable total work J 9, 3,, Allowable angular acceleration rad/s 2 1, max. Brake lifetime (acceleration/ deceleration) million times min. Insulation class --- Class F *1. This is a typical value for when the Servomotor is used at a normal temperature (2 C, 65%) in combination with a Servo Drive. *2. The rated values are the values with which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. *3. This value is for models without options. *4. The allowable radial and thrust loads are the values determined for a limit of 2, 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) LR *5. This is a non-excitation brake. It is released when excitation voltage is applied. *6. This value is a reference value. 25

26 Torque-Rotation Speed Characteristics for 3,-r/min Servomotors (1 VAC) The following graphs show the characteristics with a 3-m standard cable and a 1 VAC input. 1M53S 1M13S 1M23S Torque[N m] Momentary.1 Continuous Rotation[r/min] 1M43S Torque[N m] Momentary Continuous Rotation[r/min] Torque[N m] Momentary.5 Continuous Rotation[r/min] Torque[N m] Momentary Continuous Rotation[r/min] Note: The continuous is the range in which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque. Torque-Rotation Speed Characteristics for 3,-r/min Servomotors (2 VAC) The following graphs show the characteristics with a 3-m standard cable and a 3-phase 2-VAC or single-phase 22-VAC input. 1M53T 1M13T 1M23T Torque[N m] Momentary.2 Continuous Rotation[r/min] Torque[N m] Momentary Continuous Rotation[r/min] Torque[N m] Momentary.5 Continuous Rotation[r/min] 1M43T 1M753T 1L1K3T Torque[N m] Momentary Continuous Rotation[r/min] Torque[N m] Momentary Continuous Rotation[r/min] Torque[N m] Momentary Continuous Rotation[r/min] 26

27 Torque[N m] 1L1K53T 1L2K3T 1L3K3T Momentary Continuous Rotation[r/min] Torque[N m] Momentary Continuous Rotation[r/min] Note: The continuous is the range in which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque. Torque-Rotation Speed Characteristics for 3,-r/min Servomotors (4 VAC) The following graphs show the characteristics with a 3-m standard cable and a 4 VAC input. 1L753C 1L1K3C 1L1K53C Torque[N m] Momentary Continuous Rotation[r/min] Torque[N m] Momentary Continuous Rotation[r/min] Torque[N m] Momentary Continuous Rotation[r/min] Torque[N m] Momentary Continuous Rotation[r/min] 1L2K3C Torque[N m] Momentary Continuous Rotation[r/min] 1L3K3C Torque[N m] Momentary Continuous Rotation[r/min] Note: The continuous is the range in which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque. 27

28 2,-r/min Servomotors () 2 VAC Item Unit 1M1K2T 1M1K52T 1M2K2T 1M3K2T Rated output *1 *2 W 1, 1,5 2, 3, Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 2, Maximum rotation speed r/min 3, Momentary maximum torque *1 N m Rated current *1 *2 A (rms) Momentary maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N Allowable thrust load *4 N Weight Without brake kg With brake kg Radiator plate dimensions (material) mm 4 4 t2 (aluminum) t2 (aluminum) Excitation voltage *5 V 24 VDC±1% Current consumption (at 2 C) A Static friction torque N m 9. min. 9. min. 12 min. 16 min. Attraction time ms 1 max. 1 max. 1 max. 15 max. Release time *6 ms 3 max. 3 max. 3 max. 5 max. Brake specifications Backlash.6 max..6 max..6 max..6 max. Allowable braking work J 1, 1, 1, 35 Allowable total work J 3,, 3,, 3,, 1,, Allowable angular acceleration rad/s 2 1, max. Brake lifetime (acceleration/ million times min. deceleration) Insulation class --- Class F 28

29 () 4 VAC Item Unit 1M42C 1M62C 1M1K2C Rated output *1 *2 W 4 6 1, Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 2, Maximum rotation speed r/min 3, Momentary maximum torque *1 N m Rated current *1 *2 A (rms) Momentary maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N 49 Allowable thrust load *4 N 196 Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t12 (aluminum) 4 4 t2 (aluminum) Excitation voltage *5 V 24 VDC±1% Current consumption (at 2 C) A Static friction torque N m 3.92 min min. 9. min. Attraction time ms 4 max. 4 max. 1 max. Release time *6 ms 25 max. 25 max. 3 max. Brake Backlash 1. max. 1. max..6 max. specifications Allowable braking work J , Allowable total work J 33, 33, 3,, Allowable angular acceleration rad/s 2 1, max. Brake lifetime (acceleration/ million times min. deceleration) Insulation class --- Class F 29

30 () 4 VAC Item Unit 1M1K52C 1M2K2C 1M3K2C Rated output *1 *2 W 1,5 2, 3, Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 2, Maximum rotation speed r/min 3, Momentary maximum torque *1 N m Rated current *1 *2 A (rms) Momentary maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N Allowable thrust load *4 N Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t2 (aluminum) Excitation voltage *5 V 24 VDC±1% Current consumption (at 2 C) A Static friction torque N m 9. min. 12 min. 16 min. Attraction time ms 1 max. 1 max. 15 max. Release time *6 ms 3 max. 3 max. 5 max. Brake Backlash.6 max..6 max..6 max. specifications Allowable braking work J 1, 1, 35 Allowable total work J 3,, 3,, 1,, Allowable angular acceleration rad/s 2 1, max. Brake lifetime (acceleration/ deceleration) million times min. Insulation class --- Class F *1. This is a typical value for when the Servomotor is used at a normal temperature (2 C, 65%) in combination with a Servo Drive. *2. The rated values are the values with which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. *3. This value is for models without options. *4. The allowable radial and thrust loads are the values determined for a limit of 2, hours at normal operating temperatures. The allowable radial loads are applied as shown in the following diagram. LR Radial load Thrust load Center of shaft (LR/2) *5. This is a non-excitation brake. It is released when excitation voltage is applied. *6. This value is a reference value. 3

31 Torque-Rotation Speed Characteristics for 2,-r/min Servomotors (2 VAC) The following graphs show the characteristics with a 3-m standard cable and a 3-phase 2-VAC or single-phase 22-VAC input. 1M1K2T 1M1K52T 1M2K2T Torque[N m] Momentary Continuous Rotation[r/min] Torque[N m] Momentary Continuous Rotation[r/min] Torque[N m] Momentary Continuous Rotation[r/min] 1M3K2T 5 Torque[N m] Momentary 1 Continuous Rotation[r/min] Note: The continuous is the range in which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque. Torque-Rotation Speed Characteristics for 2,-r/min Servomotors (4 VAC) The following graphs show the characteristics with a 3-m standard cable and a 4 VAC input. 1M42C 1M62C 1M1K2C Torque[N m] Momentary Continuous Rotation[r/min] Torque[N m] Momentary Continuous Rotation[r/min] Torque[N m] Momentary Continuous Rotation[r/min] 1M1K52C 1M2K2C 1M3K2C Torque[N m] Momentary Continuous Rotation[r/min] Torque[N m] Momentary Continuous Rotation[r/min] Torque[N m] Momentary Continuous Rotation[r/min] Note: The continuous is the range in which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque. 31

32 1,-r/min Servomotors () 2 VAC Item Unit 1M91T 1M2K1T 1M3K1T Rated output *1 *2 W 9 2, 3, Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 1, Maximum rotation speed r/min 2, Momentary maximum torque *1 N m Rated current *1 *2 A (rms) Momentary maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N 686 1,176 1,47 Allowable thrust load *4 N Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t2 (aluminum) t2 (aluminum) Excitation voltage *5 V 24 VDC±1% Current consumption (at 2 C) A Static friction torque N m 9. min. 22 min. 42 min. Attraction time ms 1 max. 12 max. 15 max. Release time *6 ms 3 max. 5 max. 6 max. Brake Backlash.6 max..8 max..8 max. specifications Allowable braking work J 1, 1,4 1,4 Allowable total work J 3,, 4,6, 4,6, Allowable angular acceleration rad/s 2 1, max. Brake lifetime (acceleration/ million times min. deceleration) Insulation class --- Class F 32

33 () 4 VAC Item Unit 1M91C 1M2K1C 1M3K1C Rated output *1 *2 W 9 2, 3, Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 1, Maximum rotation speed r/min 2, Momentary maximum torque *1 N m Rated current *1 *2 A (rms) Momentary maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N 686 1,176 1,47 Allowable thrust load *4 N Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t2 (aluminum) t2 (aluminum) Excitation voltage *5 V 24 VDC±1% Current consumption (at 2 C) A Static friction torque N m 9. min. 22 min. 42 min. Attraction time ms 1 max. 12 max. 15 max. Release time *6 ms 3 max. 5 max. 6 max. Brake Backlash.6 max..8 max..8 max. specifications Allowable braking work J 1, 1,4 1,4 Allowable total work J 3,, 4,6, 4,6, Allowable angular acceleration rad/s 2 1, max. Brake lifetime (acceleration/ deceleration) million times min. Insulation class --- Class F *1. This is a typical value for when the Servomotor is used at a normal temperature (2 C, 65%) in combination with a Servo Drive. *2. The rated values are the values with which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. *3. This value is for models without options. *4. The allowable radial and thrust loads are the values determined for a limit of 2, hours at normal operating temperatures. The allowable radial loads are applied as shown in the following diagram. LR Radial load Thrust load Center of shaft (LR/2) *5. This is a non-excitation brake. It is released when excitation voltage is applied. *6. This value is a reference value. 33

34 Torque-Rotation Speed Characteristics for 1,-r/min Servomotors (2 V/4 VAC) The following graphs show the characteristics with a 3-m standard cable and a 3-phase 2-VAC or single-phase 22/4-VAC input. 1M91T 1M2K1T 1M3K1T Torque[N m] Momentary Continuous 1 2 Rotation[r/min] M91C 1M2K1C 1M3K1C Torque[N m] Momentary Continuous 1 2 Rotation[r/min] Torque[N m] Torque[N m] Momentary Continuous 1 2 Rotation[r/min] Momentary Continuous 1 2 Rotation[r/min] Note: The continuous is the range in which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque. Torque[N m] Torque[N m] Momentary Continuous 1 2 Rotation[r/min] Momentary Continuous 1 2 Rotation[r/min] 34

35 Part Names Servomotor Part Names Flange Size of 8 8 or less AC Servo System 1S-series Power Connector Encoder Connector Brake Connector Power Connector Encoder Connector Shaft Flange Mating part Shaft Flange Mating part 1 VAC 1 W Servomotors (without Brake) 2 VAC 2 W Servomotors (with Brake) Flange Size of 1 1 or more Power/brake connector Encoder connector Shaft Flange Mating part 2 VAC 1.5 kw Servomotors (with Brake) Servomotor Functions Shaft The load is mounted on this shaft. The direction which is in parallel with the shaft is called the thrust direction, and the direction which is perpendicular to the shaft is called the radial direction. Flange Used for mounting the Servomotor on the equipment. Fit the mating part into the equipment and use the mounting holes to screw the Servomotor. Power Connector Used for supplying power to the phase U, V, and W of the Servomotor. For Servomotors with a brake and flange size of 1 1 or more, the pins for power and brake are set on the same connector. Encoder Connector Used for supplying power to the encoder of the Servomotor and communicating with the Servo Drive. Brake Connector Used for supplying power to the brake coil of the Servomotor. This part is attached only to the Servomotors with a brake and flange size of 8 8 or less. 35

36 External Dimensions 3,-r/min Servomotors (1 V and 2 V) 5 W (without Brake) 1M53S(-O/-S2/-OS2) 1M53T(-O/-S2/-OS2) Encoder connector Motor connector Shaft-end with key and tap (Unit: mm) (43) 5± ±.35 dia. R.5 max W U T QA QK dia. LL 2.5± ±.1 25± dia ±.8 46±.3 dia. QE (tap) LT (tap depth) Key and tap cross section LL QA QK W T U QE LT 1M53S(-S2) 1M53T(-S2) 67.5±1 1M53S (-S2/-OS2) M3 8 1M53S(-O/-OS2) 1M53T(-O/-OS2) 72.5±1 1M53T (-S2/-OS2) M3 8 5 W (with Brake) 1M53S-B(O/S2/OS2) 1M53T-B(O/S2/OS2) Encoder connector Brake connector Motor connector Shaft-end with key and tap (43) 5± ±.35 dia. R.5 max W U T QA QK dia. LL 2.5± ±.1 25± dia ±.8 46±.3 dia. QE (tap) LT (tap depth) Key and tap cross section LL QA QK W T U QE LT 1M53S-B(S2) 1M53T-B(S2) 13.5±1 1M53S-B (S2/OS2) M3 8 1M53S-B(O/OS2) 1M53T-B(O/OS2) 18.5±1 1M53T-B (S2/OS2) M3 8 36

37 1 W (without Brake) 1M13S(-O/-S2/-OS2) 1M13T(-O/-S2/-OS2) Encoder connector Motor connector Shaft-end with key and tap (43) 5± ±.35 dia. R.5 max W U T QA QK LL 2.5± ±.1 25± dia dia. 4 4±.8 46±.3 dia. QE (tap) LT (tap depth) Key and tap cross section LL QA QK W T U QE LT 1M13S(-S2) 1M13T(-S2) 9±1 1M13S(-S2/-OS2) M3 8 1M13S(-O/-OS2) 1M13T(-O/-OS2) 95±1 1M13T(-S2/-OS2) M3 8 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. 1 W (with Brake) 1M13S-B(O/S2/OS2) 1M13T-B(O/S2/OS2) Encoder connector Brake connector Motor connector Shaft-end with key and tap (43) 5± ±.35 dia. R.5 max W U T QA QK -.21 dia. LL 2.5± ±.1 25± dia ±.8 46±.3 dia. QE (tap) LT (tap depth) Key and tap cross section LL QA QK W T U QE LT 1M13S-B(S2) 1M13T-BS2) 126±1 1M13S-B(S2/OS2) M3 8 1M13S-B(O/OS2) 1M13T-B(O/OS2) 131±1 1M13T-B(S2/OS2) M3 8 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. 37

38 2 W/4 W (without Brake) 1M23S(-O/-S2/-OS2)/1M23T(-O/-S2/-OS2) 1M43S(-O/-S2/-OS2)/1M43T(-O/-S2/-OS2) (52.6) Encoder connector Motor connector 6±.5 R.5 max Shaft-end with key and tap W U T QA QK LL 3±.3 27±.1 3±.5 S dia ±.3 dia ±.35 dia. 6 6±.95 QE (tap) LT (tap depth) Key and tap cross section 1M23S(-S2) 1M23T(-S2) 1M43S(-S2) 1M43T(-S2) 1M23S(-O/-OS2) 1M23T(-O/-OS2) 1M43S(-O/-OS2) 1M43T(-O/-OS2) S -.11 LL 11 dia. 79.5± dia. 15.5± dia. 86.5± dia ±1 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. 1M23S(-S2/-OS2) 1M23T(-S2/-OS2) 1M43S(-S2/-OS2) 1M43T(-S2/-OS2) QA QK W T U QE LT M M M M W/4 W (with Brake) 1M23S-B(O/S2/OS2)/1M23T-B(O/S2/OS2) 1M43S-B(O/S2/OS2)/1M43T-B(O/S2/OS2) (52.6) Encoder connector Brake connector Motor connector 6±.5 R.5 max Shaft-end with key and tap W U T QA QK LL 3±.3 1M23S-B(S2) 1M23T-B(S2) 1M43S-B(S2) 1M43T-B(S2) 1M23S-B(O/OS2) 1M23T-B(O/OS2) 1M43S-B(O/OS2) 1M43T-B(O/OS2) 27±.1 3±.5 S -.25 dia. 5 7±.3 dia ±.35 dia. 6 6±.95 S LL dia. 17.5± dia ± dia ± dia. 14.5±1 QE (tap) LT (tap depth) 1M23S-B(S2/OS2) 1M23T-B(S2/OS2) 1M43S-B(S2/OS2) 1M43T-B(S2/OS2) Key and tap cross section QA QK W T U QE LT M M M M5 12 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. 38

39 75 W (without Brake) 1M753T(-O/-S2/-OS2) (63.2) Encoder connector Motor connector Shaft-end with key and tap -.3 8±.5 W U T QA QK dia. LL 3±.3 35±.8 dia ±.3 dia. 4-6±.5 dia. 8 8±.95 QE (tap) LT (tap depth) Key and tap cross section 1M753T(-S2) 117.3±1 1M753T(-O/-OS2) 124.3±1 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. LL 1M753T(-S2/-OS2) QA QK W T U QE LT M W (with Brake) 1M753T-B(O/S2/OS2) Encoder connector Brake connector Motor connector 8±.5 Shaft-end with key and tap W U T QA QK (63.2) LL 3±.3 35±.8 LL 1M753T-B(S2) 153±1 1M753T-B(O/OS2) 16±1 dia dia ±.3 dia. 4-6±.5 dia. 8 8±.95 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. QE (tap) LT (tap depth) 1M753T-B(S2/OS2) Key and tap cross section QA QK W T U QE LT M kw/1.5 kw/2 kw (without Brake) 1L1K3T(-O/-S2/-OS2)/1L1K53T(-O/-S2/-OS2)/ 1L2K3T(-O/-S2/-OS2) Encoder connector KB2 KB1 Motor connector R1.5 max 115±.2 dia. Shaft-end with key and tap W U T QA QK KL2 45±2 LL 1±.5 5±.8 3±.3 55±1 LL KB1 KB2 KL2 1L1K3T(-O/-S2/-OS2) 168±2 85±1 153±2 97±2 1L1K53T(-O/-S2/-OS2) 168±2 85±1 153±2 97±2 1L2K3T(-O/-S2/-OS2) 179±2 96±1 164±2 12± ±.5 dia. 1 1±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number dia. dia QE (tap) LT (tap depth) 1L1K3T(-S2/-OS2) 1L1K53T(-S2/-OS2) 1L2K3T(-S2/OS2) Key and tap cross section QA QK W T U QE LT M M M

40 1 kw/1.5 kw/2 kw (with Brake) 1L1K3T-B(O/S2/OS2)/1L1K53T-B(O/S2/OS2)/ 1L2K3T-B(O/S2/OS2) Encoder connector KB2 KB1 Motor and brake connector R1.5 max 115±.2 dia. Shaft-end with key and tap W U T QA QK 45±2 KL2 LL 1±.5 5±.8 3±.3 55±1 LL KB1 KB2 KL2 1L1K3T-B(O/S2/OS2) 29±3 85±1 194±2 97±2 1L1K53T-B(O/S2/OS2) 29±3 85±1 194±2 97±2 1L2K3T-B(O/S2/OS) 22±3 96±1 25±2 14± ±.5 dia. 1 1±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. -.13dia. 19 dia. QE (tap) LT (tap depth) 1L1K3T-B(S2/OS2) 1L1K53T-B(S2/OS2) 1L2K3T-B(S2/OS2) Key and tap cross section QA QK W T U QE LT M M M kw (without Brake) 1L3K3T(-O/-S2/-OS2) 116±2 45±2 Encoder connector 169±2 184±2 Motor connector 112±1 12±.5 5±.8 4±.4 55±1 R1.5 max ±.2 dia.4-9±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. dia. 22 dia. Shaft-end with key and tap M5(tap) 12(tap depth) Key and tap cross section kw (with Brake) 1L3K3T-B(O/S2/OS2) Encoder connector Motor and brake connector 215±2 112±1 R1.5 max Shaft-end with key and tap ±2 119±2 23±3 12±.5 5±.8 4±.4 55± ±.2 dia. 4-9±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. 22 dia. dia. M5(tap) 12(tap depth) Key and tap cross section 4

41 3,-r/min Servomotors (4 V) 75 W/1 kw/1.5 kw/2 kw (without Brake) 1L753C(-O/-S2/-OS2)/1L1K3C(-O/-S2/-OS2) 1L1K53C(-O/-S2/-OS2)/1L2K3C(-O/-S2/-OS2) Encoder connector Motor connector Shaft-end with key and tap KB2 KB1 115±.2 dia. W U T QA QK R1.5 max 45±2 97±2 1±.5 5±.8 3± dia. 95 dia ±.5 dia. QE (tap) LT (tap depth) Key and tap cross section LL 55±1 1 1±2 LL KB1 KB 1L753C(-O/-S2/-OS2) 139±2 56±1 124±2 1L1K3C(-O/-S2/-OS2) 168±2 85±1 153±2 1L1K53C(-O/-S2/-OS2) 168±2 85±1 153±2 1L2K3C(-O/-S2/-OS2) 179±2 96±1 164±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. 75 W/1 kw/1.5 kw/2 kw (with Brake) 1L753C-B(O/S2/OS2)/1L1K3C-B(O/S2/OS2) 1L1K53C-B(O/S2/OS2)/1L2K3C-B(O/S2/OS2) 1L753C(-S2/-OS2) 1L1K3C(-S2/-OS2) 1L1K53C(-S2/-OS2) 1L2K3C(-S2/-OS2) QA QK W T U QE LT M M M M5 12 Encoder connector KB2 KB1 Motor and brake connector 115±.2 dia. Shaft-end with key and tap W U T QA QK R1.5 max 14±2 45±2 1±.5 5±.8 3± dia dia. 4-9±.5 dia. QE (tap) LT (tap depth) Key and tap cross section LL 55±1 1 1±2 LL KB1 KB 1L753C-B(O/S2/OS2) 18±2 56±1 165±2 1L1K3C-B(O/S2/OS2) 29±3 85±1 194±2 1L1K53C-B(O/S2/OS2) 29±3 85±1 194±2 1L2K3C-B(O/S2/OS2) 22±3 96±1 25±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. 1L753C-B(S2/OS2) 1L1K3C-B(S2/OS2) 1L1K53C-B(S2/OS2) 1L2K3C-B(S2/OS2) QA QK W T U QE LT M M M M

42 3 kw (without Brake) 1L3K3C(-O/-S2/-OS2) Encoder connector 169±2 112±1 Motor connector R1.5 max Shaft-end with key and tap ±2 116±2 184±2 12±.5 5±.8 4±.4 55±1 dia dia ±.2 dia.4-9±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. M5(tap) 12(tap depth) Key and tap cross section 3 kw (with Brake) 1L3K3C-B(O/S2/OS2) 119±2 Encoder connector 215±2 Motor and brake connector 112±1 R1.5 max Shaft-end with key and tap ±2 23±3 12±.5 5±.8 4±.4 55± dia dia. 145±.2 dia. 4-9±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. M5(tap) 12(tap depth) Key and tap cross section 42

43 2,-r/min Servomotors (2 V) 1 kw/1.5 kw/2 kw (without Brake) 1M1K2T(-O/-S2/-OS2) 1M1K52T(-O/-S2/-OS2) 1M2K2T(-O/-S2/-OS2) KL2 76±2 Encoder connector Motor connector KB2 KB1 11.5±.5 LL 5±.8 4±.4 55±1 R1.5 max dia dia. 145±.2 dia. 4-9±.5 dia ±2 Shaft-end with key and tap QE (tap) LT (tap depth) W U T QA Key and tap cross section QK LL KB1 KB2 KL2 1M1K2T(-O/-S2/-OS2) 12.5±2 63±1 19±2 118±2 1M1K52T(-O/-S2/-OS2) 138±2 79±1 125±2 118±2 1M2K2T(-O/-S2/-OS2) 16±2 99±1 147±2 116±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. 1M1K2T(-S2/-OS2) 1M1K52T(-S2/-OS2) 1M2K2T(-S2/-OS2) QA QK W T U QE LT M M M kw/1.5 kw/2 kw (with Brake) 1M1K2T-B (O/S2/OS2) 1M1K52T-B(O/S2/OS2) 1M2K2T-B(O/S2/OS2) Encoder connector KB2 Motor and brake connector KB1 R1.5 max Shaft-end with key and tap W U T QA QK KL2 76±2 LL 11.5±.5 5±.8 4±.4 55± dia dia. 145±.2 dia. 4-9±.5 dia ±2 QE (tap) LT (tap depth) Key and tap cross section LL KB1 KB2 KL2 1M1K2T-B(O/S2/OS2) 162±2 63±1 149±2 118±2 1M1K52T-B(O/S2/OS2) 179±2 79±1 166±2 118±2 1M2K2T-B(O/S2/OS2) 21±3 99±1 189±2 119±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. 1M1K2T-B(S2/OS2) 1M1K52T-B(S2/OS2) 1M2K2T-B(S2/OS2) QA QK W T U QE LT M M M

44 3 kw (without Brake) 1M3K2T(-O/-S2/-OS2) Encoder connector 176±2 Motor connector 119±1 R1.5 max Shaft-end with key and tap 116± ±2 11.5±.5 191±2 6±.95 4±.4 65±1 -.13dia. 24 dia ±.2 dia. 4-9±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. M8 (tap) 2 (tap depth) Key and tap cross section 3 kw (with Brake) 1M3K2T-B(O/S2/OS2) Encoder connector 219±2 Motor and brake connector 118±1 R1.5 max Shaft-end with key and tap ±2 45±2 234±3 11.5±.5 6±.95 4±.4 65±1 145±.2 dia. 4-9±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number dia. 11 dia M8 (tap) 2 (tap depth) Key and tap cross section 44

45 2,-r/min Servomotors (4 V) 4 W/6 W (without Brake) 1M42C(-O/-S2/-OS2)/1M62C(-O/-S2/-OS2) Encoder connector KB2 Motor connector KB1 R.5 max Shaft-end with key and tap W U T QA QK 97±2 45±2 5±.8 dia. dia QE (tap) LT (tap depth) Key and tap cross section 1±.6 LL 3±.3 55± ±.2 dia. 4-9±.5 dia. 1 1±2 LL KB1 KB2 1M42C(-O/-S2/-OS2) 134.8±1 52±1 12.5±2 1M62C(-O/-S2/-OS2) 151.8±1 69± ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. 1M42C(-S2/-OS2) 1M62C(-S2/-OS2) QA QK W T U QE LT M M W/6 W (with Brake) 1M42C-B(O/S2/OS2)/1M62C-B(O/S2/OS2) 14±2 Encoder connector KB2 Motor and brake connector KB1 R.5 max Shaft-end with key and tap W U T QA QK 45±2 LL 1±.6 5±.8 3±.3 55± dia dia. 115±.2 dia. 4-9±.5 dia. 1 1±2 QE (tap) LT (tap depth) Key and tap cross section LL KB1 KB2 1M42C-B(O/S2/OS2) 152.3±1 52±1 138±2 1M62C-B(O/S2/OS2) 169.3±1 69±1 155±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. 1M42C-B(S2/OS2) 1M62C-B(S2/OS2) QA QK W T U QE LT M M

46 1 kw/1.5 kw/2 kw (without Brake) 1M1K2C(-O/-S2/-OS2) 1M1K52C(-O/-S2/-OS2) 1M2K2C(-O/-S2/-OS2) Encoder connector Motor connector KB2 KB1 Shaft-end with key and tap W U T QA QK R1.5 max 118±2 76±2 11.5±.5 LL 5±.8 4±.4 55± dia dia. 145±.2 dia. 4-9±.5 dia ±2 QE (tap) LT (tap depth) Key and tap cross section LL KB1 KB2 1M1K2C(-O/-S2/-OS2) 12.5±2 63±1 19±2 1M1K52C(-O/-S2/-OS2) 138±2 79±1 125±2 1M2K2C(-O/-S2/-OS2) 16±2 98±1 148±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. 1M1K2C(-S2/-OS2) 1M1K52C(-S2/-OS2) 1M2K2C(-S2/-OS2) QA QK W T U QE LT M M M kw/1.5 kw/2 kw (with Brake) 1M1K2C-B(O/S2/OS2) 1M1K52C-B(O/S2/OS2) 1M2K2C-B(O/S2/OS2) Encoder connector KB2 Motor and brake connector KB1 Shaft-end with key and tap W U T QA QK R1.5 max 119±2 76±2 LL 11.5±.5 5±.8 4±.4 55± dia dia. 145±.2 dia. 4-9±.5 dia ±2 QE (tap) LT (tap depth) Key and tap cross section LL KB1 KB2 1M1K2C-B(O/S2/OS2) 162±2 64±1 15±2 1M1K52C-B(O/S2/OS2) 179±2 81±1 167±2 1M2K2C-B(O/S2/OS2) 21±3 99±1 189±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. 1M1K2C-B(S2/OS2) 1M1K52C-B(S2/OS2) 1M2K2C-B(S2/OS2) QA QK W T U QE LT M M M

47 AC Servo System 1S-series 3 kw (without Brake) 1M3K2C(-O/-S2/-OS2) Encoder connector 176±2 Motor connector 119±1 R1.5 max Shaft-end with key and tap ±2 45±2 11.5±.5 191±2 6±.95 4±.4 65±1 dia dia ±.2 dia. 4-9±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. M8 (tap) 2 (tap depth) Key and tap cross section 3 kw (with Brake) 1M3K2C-B(O/S2/OS2) Encoder connector 219±2 Motor and brake connector 118±1 R1.5 max Shaft-end with key and tap ±2 119±2 234±3 11.5±.5 6±.95 4±.4 65± dia dia. 145±.2 dia. 4-9±.5 dia ±2 M8 (tap) 2 (tap depth) Key and tap cross section Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. 47

48 1,-r/min Servomotors (2 V) 9 W (without Brake) 1M91T(-O/-S2/-OS2) Encoder connector 118±2 Motor connector 76±2 125±2 79±1 11.5±.5 65±.95 4±.4 138±2 7±1 R1.5 max dia dia. 145±.2 dia. 4-9±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. Shaft-end with key and tap M5(tap) 12(tap depth) Key and tap cross section W (with Brake) 1M91T-B(O/S2/OS2) Encoder connector 166±2 Motor and brake connector 79±1 Shaft-end with key and tap ±2 76±2 179±2 11.5±.5 65±.95 4±.4 7±1 R1.5 max dia dia. 145±.2 dia. 4-9±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. M5(tap) 12(tap depth) Key and tap cross section 2 kw (without Brake) 1M2K1T(-O/-S2/-OS2) Encoder connector 141±2 145±2 Motor connector 93±1 16±.8 R1.5 max Shaft-end with key and tap ±2 3±.3 159±2 75±.95 8± dia dia. 2±.23 dia ±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. M12(tap) 25(tap depth) Key and tap cross section 48

49 2 kw (with Brake) 1M2K1T-B(O/S2/OS2) Motor and brake connector Shaft-end with key and tap Encoder connector 191±2 92±1 16±.8 Eye-bolt (2-M8) ±2 45±2 2-M8 (for eye-bolt) 26±3 75±.95 3±.3 8±1 R1.5 max dia dia. 2±.23 dia ±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. M12(tap) 25(tap depth) Key and tap cross section 3 kw (without Brake) 1M3K1T(-O/-S2/-OS2) Encoder connector Motor connector 213±2 162±1 19.5± ±.5 dia. Eye-bolt (2-M8) Shaft-end with key and tap ±2 45±2 2-M8 (for eye-bolt) 3±.3 228±3 75±.95 8±1 R2 max dia. 2±.23 dia dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. M12(tap) 25(tap depth) Key and tap cross section 3 kw (with Brake) 1M3K1T-B(O/S2/OS2) Encoder connector 26±2 Motor and brake connector 162±1 19.5± ±.5 dia. Eye-bolt (2-M8) Shaft-end with key and tap ±2 45±2 2-M8 (for eye-bolt) 274±3 3±.3 75±.95 8±1 R2 max dia. 2±.23 dia dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. M12(tap) 25(tap depth) Key and tap cross section 49

50 1,-r/min Servomotors (4 V) 9 W (without Brake) 1M91C(-O/-S2/-OS2) Encoder connector 118±2 76±2 125±2 138±2 Motor connector 79±1 11.5±.5 65±.95 4±.4 7±1 R1.5 max dia dia. 145±.2 dia. 4-9±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. Shaft-end with key and tap M5(tap) 12(tap depth) Key and tap cross section W (with Brake) 1M91C-B(O/S2/OS2) Encoder connector 119±2 76±2 167±2 179±2 Motor and brake connector 81±1 11.5±.5 65±.95 4±.4 7±1 R1.5 max dia dia. 145±.2 dia. 4-9±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. Shaft-end with key and tap M5(tap) 12(tap depth) Key and tap cross section kw (without Brake) 1M2K1C(-O/-S2/-OS2) Encoder connector 141±2 45±2 145±2 159±2 Motor connector 93±1 16±.8 75±.95 3±.3 8±1 R1.5 max dia dia. 2±.23 dia ±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. Shaft-end with key and tap M12(tap) 25(tap depth) Key and tap cross section

51 AC Servo System 1S-series 2 kw (with Brake) 1M2K1C-B(O/S2/OS2) Encoder connector 144±2 45±2 191±2 2-M8 (for eye-bolt) 26±3 Motor and brake connector 92±1 16±.8 75±.95 3±.3 8±1 R1.5 max dia dia. 2±.23 dia. Eye-bolt (2-M8) ±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. Shaft-end with key and tap M12(tap) 25(tap depth) Key and tap cross section kw (without Brake) 1M3K1C(-O/-S2/-OS2) Motor connector Encoder connector 141±2 213±2 162±1 19.5±1 R2 max 2±.23 dia. Eye-bolt (2-M8) Shaft-end with key and tap ±2 2-M8 (for eye-bolt) 228±3 3±.3 75±.95 8± dia dia ±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. M12(tap) 25(tap depth) Key and tap cross section 3 kw (with Brake) 1M3K1C-B(O/S2/OS2) Motor and brake connector Encoder connector 144±2 26±2 162±1 19.5±1 R2 max 2±.23 dia. Eye-bolt (2-M8) Shaft-end with key and tap ±2 2-M8 (for eye-bolt) 274±3 3±.3 75±.95 8± dia dia ±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the model number. s with an oil seal are indicated with O at the end of the model number. M12(tap) 25(tap depth) Key and tap cross section 51

52 Decelerator AC Servo System [1S-series] /VRXF Contents Ordering Information Specifications External Dimensions Ordering Information Refer to the Ordering Information. Specifications Backlash: 3 Arcminutes Max. For 3,-r/min Servomotors Servomotor rated output 5 W (1 V) 5 W (2 V) 1 W (1 V) 1 W (2 V) 2 W (1 V) 2 W (2 V) Reduction ratio Rated rotation speed Rated torque Efficiency Momentary maximum rotation speed Momentary maximum torque Decelerator inertia Allowable radial load Allowable thrust load r/min N m % r/min N m 1-4 kg m 2 N N kg 1/21 14A211B /33 14A335B /45 14A455B /21 14A211B /33 14A335B /45 14A455B /5 11B51B /11 14A111B /21 14A211B /33 2A331B /45 2A451B /5 11B51B /11 14A111B /21 14A211B /33 2A331B /45 2A451B /5 14A52B /11 14A112B /21 2A212B /33 2A332B /45 2A452B /5 14A52B /11 14A112B /21 2A212B /33 2A332B /45 2A452B Weight 52

53 Servomotor rated output 4 W (1 V) 4 W (2 V) 75 W (2 V) 75 W (4 V) 1 kw 1.5 kw 2 kw 3 kw Reduction ratio Rated rotation speed Rated torque Efficiency Momentary maximum rotation speed Momentary maximum torque Decelerator inertia 1/5 14A54B /11 2A114B /21 2A214B /33 32A334B /45 32A454B /5 14A54B /11 2A114B /21 2A214B /33 32A334B /45 32A454B /5 2A575B /11 2A1175B * /21 32A2175B /33 32A3375B /45 32A4575B * /5 32A52KB /11 32A112KB /21 32A211K5B /33 32A336SB /45 5A451K5B /5 32A52KB /11 32A112KB /21 32A211K5B /33 5A332KB /45 5A451K5B /5 32A52KB /11 32A112KB /21 32A211K5B /33 5A332KB /45 5A451K5B /5 32A52KB /11 32A112KB /21 5A212KB /33 5A332KB /5 32A53KB /11 5A113KB /21 5A213KB *1. The value is the allowable continuous output torque of the Decelerator. Take care so that this value is not exceeded. *2. The value is the maximum allowable torque of the Decelerator. Take care so that this value is not exceeded. Note: 1. The Decelerator inertia is the Servomotor shaft conversion value. 2. The protective structure rating of the Servomotor with the Decelerator is IP The Allowable radial load column shows the values obtained at the center of the shaft (T/2). Radial load Allowable radial load Allowable thrust load r/min N m % r/min N m 1-4 kg m 2 N N kg Weight Thrust load T Center of shaft (T/2) 4. The standard shaft type is a straight shaft. A model with a key and tap is indicated with J at of the model number. 5. Take care so that the surface temperature of the Decelerator does not exceed 7 C. 53

54 For 2,-r/min Servomotors Servomotor rated output 4 W 6 W 1 kw 1.5 kw 2 kw 3 kw Reduction ratio Rated rotation speed Rated torque Efficiency Momentary maximum rotation speed Momentary maximum torque Decelerator inertia *1. The value is the allowable continuous output torque of the Decelerator. Take care so that this value is not exceeded. *2. The value is the maximum allowable torque of the Decelerator. Take care so that this value is not exceeded. Note: 1. The Decelerator inertia is the Servomotor shaft conversion value. 2. The protective structure rating of the Servomotor with the Decelerator is IP The Allowable radial load column shows the values obtained at the center of the shaft (T/2). Radial load Allowable radial load Allowable thrust load r/min N m % r/min N m 1-4 kg m 2 N N kg 1/5 32A52KB /11 32A112KB /21 32A211K5B /33 32A336SB /45 32A454SB /5 32A52KB /11 32A112KB /21 32A211K5B /33 32A336SB /45 5A451K5B /5 32A53KB /11 32A112KSB /21 32A211KSB /33 5A332KSB /45 5A451KSB /5 32A53KB /11 32A112KSB /21 5A213KB /33 5A332KSB /5 32A53KB /11 32A112KSB /21 5A213KB /33 5A332KSB * * /5 32A54KB /11 5A115KB /21 5A213KSB * * /25 65A253KSB Weight Thrust load T Center of shaft (T/2) 4. The standard shaft type is a straight shaft. A model with a key and tap is indicated with J at of the model number. 5. Take care so that the surface temperature of the Decelerator does not exceed 7 C. 54

55 For 1,-r/min Servomotors Servomotor rated output 9 W 2 kw 3 kw Reduction ratio Rated rotation speed Rated torque Efficiency Momentary maximum rotation speed Momentary maximum torque Decelerator inertia *1. The value is the allowable continuous output torque of the Decelerator. Take care so that this value is not exceeded. *2. The value is the maximum allowable torque of the Decelerator. Take care so that this value is not exceeded. Note: 1. The Decelerator inertia is the Servomotor shaft conversion value. 2. The protective structure rating of the Servomotor with the Decelerator is IP The Allowable radial load column shows the values obtained at the center of the shaft (T/2). Radial load Allowable radial load Allowable thrust load r/min N m % r/min N m 1-4 kg m 2 N N kg 1/5 32A59TB /11 32A119TB /21 5A219TB /33 5A339TB /5 32A52KTB /11 5A112KTB /21 5A212KTB * * /25 65A255KSB /5 5A55KSB /11 5A115KSB * /2 65A25KSB /25 65A255KSB Weight Thrust load T Center of shaft (T/2) 4. The standard shaft type is a straight shaft. A model with a key and tap is indicated with J at of the model number. 5. Take care so that the surface temperature of the Decelerator does not exceed 7 C. 55

56 Backlash: 15 Arcminutes Max. For 3,-r/min Servomotors Servomotor rated output 5 W (1 V) 5 W (2 V) 1 W (1 V) 1 W (2 V) 2 W (1 V) 2 W (2 V) 4 W (1 V) 4 W (2 V) 75 W (2 V) Reduction ratio Rated rotation speed Rated torque Efficiency Momentary maximum rotation speed Momentary maximum torque Decelerator inertia Allowable radial load Allowable thrust load 1/25 R88G-VRXF25D75CJ Note: 1. The Decelerator inertia is the Servomotor shaft conversion value. 2. The protective structure rating of the Servomotor combined with the Decelerator is IP44. (Excluding decelerator and servo motor connecting parts.) 3. The Allowable radial load column shows the values obtained at the center of the shaft (T/2). Weight r/min N m % r/min N m 1-4 kg m 2 N N kg 1/5 R88G-VRXF5B1CJ /9 R88G-VRXF9B1CJ /15 R88G-VRXF15B1CJ /25 R88G-VRXF25B1CJ /5 R88G-VRXF5B1CJ /9 R88G-VRXF9B1CJ /15 R88G-VRXF15B1CJ /25 R88G-VRXF25B1CJ /5 R88G-VRXF5B1CJ /9 R88G-VRXF9B1CJ /15 R88G-VRXF15B1CJ /25 R88G-VRXF25B1CJ /5 R88G-VRXF5B1CJ /9 R88G-VRXF9B1CJ /15 R88G-VRXF15B1CJ /25 R88G-VRXF25B1CJ /5 R88G-VRXF5B2CJ /9 R88G-VRXF9C2CJ /15 R88G-VRXF15C2CJ /25 R88G-VRXF25C2CJ /5 R88G-VRXF5B2CJ /9 R88G-VRXF9C2CJ /15 R88G-VRXF15C2CJ /25 R88G-VRXF25C2CJ /5 R88G-VRXF5C4CJ /9 R88G-VRXF9C4CJ /15 R88G-VRXF15C4CJ /25 R88G-VRXF25C4CJ /5 R88G-VRXF5C4CJ /9 R88G-VRXF9C4CJ /15 R88G-VRXF15C4CJ /25 R88G-VRXF25C4CJ /5 R88G-VRXF5C75CJ /9 R88G-VRXF9D75CJ /15 R88G-VRXF15D75CJ Radial load Thrust load T Center of shaft (T/2) 4. The standard shaft type is a shaft with key and tap. (The key is temporarily assembled to the shaft.) 5. Take care so that the surface temperature of the Decelerator does not exceed 9 C. 56

57 External Dimensions (Unit: mm) Backlash: 3 Arcminutes Max. For 3,-r/min Servomotors (1 to 2 W) Servomotor rated output Reduction ratio Outline drawing LM LR C1 C2 D1 D2 D3 D4 D5 D6 *2 E F1 F2 5 W 1 W 2 W 1/21 14A211B /33 14A335B /45 14A455B /5 11B51B 1 * /11 14A111B /21 14A211B /33 2A331B dia /45 2A451B dia /5 14A52B /11 14A112B /21 2A212B dia /33 2A332B dia /45 2A452B dia Servomotor rated output 5 W 1 W 2 W Reduction ratio G S T Z1 Z2 AT *3 1/45 2A452B M4 1 M M6 12 *1. Two set bolts are positioned at 9 from each other. *2. D6 is the maximum diameter of the decelerator body between the flange side and Servomotor side. (See Outline Drawing) The value is given only when the diameter is larger than the diameters of these two sides. Take heed of this when you mount the decelerator to the machine. *3. Indicates set bolt. Note: 1. The standard shaft type is a straight shaft. 2. A model with a key and tap is indicated with J at of the model number. (Example: 11B51BJ) 3. The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding Servomotor. 4. You cannot use this type of Decelerator for the Servomotor with key. 5. The dimensional drawings in this document are for showing main dimensions only, and they do not give the details of the product shape. Key Tap QK b h t1 M L 1/21 14A211B M4 1 M M4 8 1/33 14A335B M4 1 M M4 8 1/45 14A455B M4 1 M M4 8 1/5 11B51B M4 9 M M3 6 1/11 14A111B M4 1 M M4 8 1/21 14A211B M4 1 M M4 8 1/33 2A331B M4 1 M M6 12 1/45 2A451B M4 1 M M6 12 1/5 14A52B M4 1 M M4 8 1/11 14A112B M4 1 M M4 8 1/21 2A212B M4 1 M M6 12 1/33 2A332B M4 1 M M

58 Outline Drawing 1 Flange side Servomotor side C1 C1 D1 dia. D3h7 dia. D4 dia. Sh7 dia. D5 dia. E D6 dia. Set bolt (AT) 4-Z2 D2 dia. Key and tap dimensions QK b h t1 4-Z1-dia. T LR F1 F2 G LM C2 C2 Note Only one set bolt For 11B series, two set bolts are positioned at 9 from each other. Set bolt (AT) 4-Z2 M (Depth L) D2 dia. Outline Drawing 2 C2 C2 Flange side C1 C1 D1 dia. D3h7 dia. D4 dia. Sh7 dia. D5 dia. E D6 dia. Servomotor side Set bolt (AT) 4-Z2 D2 dia. Key and tap dimensions QK b h t1 M (Depth L) 4-Z1-dia. T LR F1 F2 G LM C2 dia. 58

59 For 3,-r/min Servomotors (4 to 75 W) Servomotor rated output 4 W 75 W (2 V) 75 W (4 V) Reduction ratio Outline drawing LM LR C1 C2 D1 D2 D3 D4 D5 D6 *1 E F1 F2 1/5 14A54B /11 2A114B dia /21 2A214B dia /33 32A334B dia /45 32A454B dia /5 2A575B /11 2A1175B /21 32A2175B dia /33 32A3375B dia /45 32A4575B dia /5 32A52KB dia /11 32A112KB dia /21 32A211K5B dia /33 32A336SB dia /45 5A451K5B dia Servomotor rated output 4 W 75 W (2 V) 75 W (4 V) Reduction ratio 1/45 5A451K5B M8 1 M M1 2 *1. D6 is the maximum diameter of the decelerator body between the flange side and Servomotor side. (See Outline Drawing) The value is given only when the diameter is larger than the diameters of these two sides. Take heed of this when you mount the decelerator to the machine. *2. Indicates set bolt. Note: 1. The standard shaft type is a straight shaft. 2. A model with a key and tap is indicated with J at of the model number. (Example: 14A54BJ) 3. The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding Servomotor. 4. You cannot use this type of Decelerator for the Servomotor with key. 5. The dimensional drawings in this document are for showing main dimensions only, and they do not give the details of the product shape. Outline Drawing 1 G S T Z1 Z2 AT *2 Key Tap QK b h t1 M L 1/5 14A54B M4 1 M M4 8 1/11 2A114B M4 1 M M6 12 1/21 2A214B M4 1 M M6 12 1/33 32A334B M4 1 M M1 2 1/45 32A454B M4 1 M M1 2 1/5 2A575B M5 12 M M6 12 1/11 2A1175B M5 12 M M6 12 1/21 32A2175B M5 12 M M1 2 1/33 32A3375B M5 12 M M1 2 1/45 32A4575B M5 12 M M1 2 1/5 32A52KB M8 1 M M1 2 1/11 32A112KB M8 1 M M1 2 1/21 32A211K5B M8 1 M M1 2 1/33 32A336SB M8 1 M M1 2 Flange side Servomotor side C1 C1 E D6 dia. Set bolt (AT) 4-Z2 Key and tap dimensions D1 dia. D3h7 dia. D4 dia. Sh7 dia. D5 dia. D2 dia. QK h b t1 4-Z1-dia. T LR F1 F2 G LM C2 C2 M (Depth L) Outline Drawing 2 Flange side Servomotor side C1 C1 D1 dia. D3h7 dia. *3 D4 dia. Sh7 dia. D5 dia. E D6 dia. Set bolt (AT) 4-Z2 D2 dia. Key and tap dimensions QK b h t1 4-Z1-dia. T F1 F2 G C2 dia. M (Depth L) LR LM *3. The tolerance is h8 for 5. 59

60 For 3,-r/min Servomotors (1 to 3 kw) Servomotor rated output 1 kw 1.5 kw 2 kw 3 kw Servomotor rated output Reduction ratio 1/5 32A52KB M8 1 M M1 2 1/11 32A112KB M8 1 M M1 2 1 kw 1/21 32A211K5B M8 1 M M1 2 1/33 5A332KB M8 1 M M1 2 1/45 5A451K5B M8 1 M M1 2 1/5 32A52KB M8 1 M M1 2 1/11 32A112KB M8 1 M M kw 1/21 32A211K5B M8 1 M M1 2 1/33 5A332KB M8 1 M M1 2 1/45 5A451K5B M8 1 M M1 2 1/5 32A52KB M8 1 M M1 2 2 kw 1/11 32A112KB M8 1 M M1 2 1/21 5A212KB M8 1 M M1 2 1/33 5A332KB M8 1 M M1 2 1/5 32A53KB M8 18 M M1 2 3 kw 1/11 5A113KB M8 16 M M1 2 1/21 5A213KB M8 16 M M1 2 *1. D6 is the maximum diameter of the decelerator body between the flange side and Servomotor side. (See Outline Drawing) The value is given only when the diameter is larger than the diameters of these two sides. Take heed of this when you mount the decelerator to the machine. *2. Indicates set bolt. Note: 1. The standard shaft type is a straight shaft. 2. A model with a key and tap is indicated with J at of the model number. (Example: 32A52KBJ) 3. The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding Servomotor. 4. You cannot use this type of Decelerator for the Servomotor with key. 5. The dimensional drawings in this document are for showing main dimensions only, and they do not give the details of the product shape. Outline Drawing 1 Flange side C1 C1 D1 dia. Outline drawing LM LR C1 C2 D1 D2 D3 D4 D5 D6 *1 E F1 F2 1/5 32A52KB dia /11 32A112KB dia /21 32A211K5B dia /33 5A332KB dia /45 5A451K5B dia /5 32A52KB dia /11 32A112KB dia /21 32A211K5B dia /33 5A332KB dia /45 5A451K5B dia /5 32A52KB dia /11 32A112KB dia /21 5A212KB dia /33 5A332KB dia /5 32A53KB /11 5A113KB dia /21 5A213KB dia Reduction ratio D3h7 dia. D4 dia. Sh7 dia. D5 dia. E Key Tap G S T Z1 Z2 AT *2 QK b h t1 M L D6 dia. Servomotor side Set bolt (AT) D2 dia. 4-Z2 Key and tap dimensions QK h b t1 4-Z1-dia. Outline Drawing 2 T LR F1 F2 G LM C2 C2 M (Depth L) Flange side C1 C1 D1 dia. D3h7 dia. *3 D4 dia. Sh7 dia. D5 dia. E D6 dia. Servomotor side Set bolt (AT) 4-Z2 D2 dia. Key and tap dimensions QK b h t1 4-Z1-dia. T F1 F2 G LR LM *3. The tolerance is h8 for 5. C2 dia. M (Depth L) 6

61 For 2,-r/min Servomotors (4 W to 1 kw) Servomotor rated output 4 W (4 V) 6 W (4 V) 1 kw Servomotor rated output 4 W (4 V) 6 W (4 V) 1 kw Reduction ratio 1/45 5A451KSB M8 16 M M1 2 *1. D6 is the maximum diameter of the decelerator body between the flange side and Servomotor side. (See Outline Drawing) The value is given only when the diameter is larger than the diameters of these two sides. Take heed of this when you mount the decelerator to the machine. *2. Indicates set bolt. Note: 1. The standard shaft type is a straight shaft. 2. A model with a key and tap is indicated with J at of the model number. (Example: 32A53KBJ) 3. The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding Servomotor. 4. You cannot use this type of Decelerator for the Servomotor with key. 5. The dimensional drawings in this document are for showing main dimensions only, and they do not give the details of the product shape. Outline Drawing 1 Flange side C1 C1 Outline drawing LM LR C1 C2 D1 D2 D3 D4 D5 D6 *1 E F1 F2 1/5 32A52KB dia /11 32A112KB dia /21 32A211K5B dia /33 32A336SB dia /45 32A454SB dia /5 32A52KB dia /11 32A112KB dia /21 32A211K5B dia /33 32A336SB dia /45 5A451K5B dia /5 32A53KB /11 32A112KSB /21 32A211KSB /33 5A332KSB dia /45 5A451KSB dia Reduction ratio G S T Z1 Z2 AT *2 Key Tap QK b h t1 M L 1/5 32A52KB M8 1 M M1 2 1/11 32A112KB M8 1 M M1 2 1/21 32A211K5B M8 1 M M1 2 1/33 32A336SB M8 1 M M1 2 1/45 32A454SB M8 1 M M1 2 1/5 32A52KB M8 1 M M1 2 1/11 32A112KB M8 1 M M1 2 1/21 32A211K5B M8 1 M M1 2 1/33 32A336SB M8 1 M M1 2 1/45 5A451K5B M8 1 M M1 2 1/5 32A53KB M8 18 M M1 2 1/11 32A112KSB M8 18 M M1 2 1/21 32A211KSB M8 18 M M1 2 1/33 5A332KSB M8 16 M M1 2 E D6 dia. Servomotor side Set bolt (AT) 4-Z2 Key and tap dimensions D1 dia. D3h7 dia. D4 dia. Sh7 dia. D5 dia. D2 dia. QK h b t1 4-Z1-dia. Outline Drawing 2 T LR F1 F2 G LM C2 C2 M (Depth L) Flange side Servomotor side C1 C1 D1 dia. D3h7 dia. *3 D4 dia. Sh7 dia. D5 dia. E D6 dia. Set bolt (AT) 4-Z2 D2 dia. Key and tap dimensions QK b h t1 4-Z1-dia. T F1 F2 LR G LM C2 dia. M (Depth L) *3. The tolerance is h8 for 5. 61

62 For 2,-r/min Servomotors (1.5 to 3 kw) Servomotor rated output 1.5 kw 2 kw 3 kw Servomotor rated output 1.5 kw 2 kw 3 kw Reduction ratio Outline drawing LM LR C1 C2 D1 D2 D3 D4 D5 D6 *1 E F1 F2 1/5 32A53KB /11 32A112KSB /21 5A213KB dia /33 5A332KSB dia /5 32A53KB /11 32A112KSB /21 5A213KB dia /33 5A332KSB dia /5 32A54KB /11 5A115KB /21 5A213KSB /25 65A253KSB Reduction ratio G S T Z1 Z2 AT *2 1/25 65A253KSB M8 25 M M16 35 *1. D6 is the maximum diameter of the decelerator body between the flange side and Servomotor side. (See Outline Drawing) The value is given only when the diameter is larger than the diameters of these two sides. Take heed of this when you mount the decelerator to the machine. *2. Indicates set bolt. Note: 1. The standard shaft type is a straight shaft. 2. A model with a key and tap is indicated with J at of the model number. (Example: 32A59TBJ) 3. The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding Servomotor. 4. You cannot use this type of Decelerator for the Servomotor with key. 5. The dimensional drawings in this document are for showing main dimensions only, and they do not give the details of the product shape. Key Tap QK b h t1 M L 1/5 32A53KB M8 18 M M1 2 1/11 32A112KSB M8 18 M M1 2 1/21 5A213KB M8 16 M M1 2 1/33 5A332KSB M8 16 M M1 2 1/5 32A53KB M8 18 M M1 2 1/11 32A112KSB M8 18 M M1 2 1/21 5A213KB M8 16 M M1 2 1/33 5A332KSB M8 16 M M1 2 1/5 32A54KB M8 25 M M1 2 1/11 5A115KB M8 25 M M1 2 1/21 5A213KSB M8 25 M M1 2 Outline Drawing 1 Flange side C1 C1 (65)(65) 2-M1 2 Taps for eye bolts *4 E D6 dia. Servomotor side Set bolt (AT) 4-Z2 Key and tap dimensions D1 dia. D3h7 dia. *3 D4 dia. Sh7 dia. D5 dia. D2 dia. QK h b t1 4-Z1-dia. Outline Drawing 2 Flange side C1 C1 D1 dia. T LR F1 F2 G LM C2 C2 *3. The tolerance is h8 for 5@ and 65@. *4. The model 65@ has the taps for eye bolts. D3h7 dia. *5 D4 dia. Sh7 dia. D5 dia. E D6 dia. Servomotor side Set bolt (AT) D2 dia. 4-Z2 M (Depth L) Key and tap dimensions QK b h t1 4-Z1-dia. T LR F1 F2 G LM C2 dia. M (Depth L) *5. The tolerance is h8 for 5@. 62

63 For 1,-r/min Servomotors (9 W to 3 kw) Servomotor rated output 9 W 2 kw 3 kw Servomotor rated output 9 W 2 kw 3 kw Reduction ratio 1/25 65A255KSB M12 25 M M16 35 *1. D6 is the maximum diameter of the decelerator body between the flange side and Servomotor side. (See Outline Drawing) The value is given only when the diameter is larger than the diameters of these two sides. Take heed of this when you mount the decelerator to the machine. *2. Indicates set bolt. Note: 1. The standard shaft type is a straight shaft. 2. A model with a key and tap is indicated with J at of the model number. (Example: 32A59TBJ) 3. The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding Servomotor. 4. You cannot use this type of Decelerator for the Servomotor with key. 5. The dimensional drawings in this document are for showing main dimensions only, and they do not give the details of the product shape. Outline Drawing 1 Outline drawing LM LR C1 C2 D1 D2 D3 D4 D5 D6 *1 E F1 F2 1/5 32A59TB /11 32A119TB /21 5A219TB /33 5A339TB /5 32A52KTB /11 5A112KTB /21 5A212KTB /25 65A255KSB /5 5A55KSB /11 5A115KSB /2 65A25KSB /25 65A255KSB Reduction ratio G S T Z1 Z2 AT *2 Key Tap QK b h t1 M L 1/5 32A59TB M8 25 M M1 2 1/11 32A119TB M8 25 M M1 2 1/21 5A219TB M8 25 M M1 2 1/33 5A339TB M8 25 M M1 2 1/5 32A52KTB M12 25 M M1 2 1/11 5A112KTB M12 25 M M1 2 1/21 5A212KTB M12 25 M M1 2 1/25 65A255KSB M12 25 M M /5 5A55KSB M12 25 M M1 2 1/11 5A115KSB M12 25 M M1 2 1/2 65A25KSB M12 25 M M16 35 Flange side Servomotor side 2-M1 2 C1 C1 Taps for eye bolts *4 (65)(65) E Set bolt (AT) 4-Z2 Key and tap dimensions D6 dia. D1 dia. D3h7 dia. *3 D4 dia. Sh7 dia. D5 dia. D2 dia. QK h b t1 4-Z1-dia. T LR F1 F2 G LM C2 C2 *3. The tolerance is h8 for 5@ and 65@. *4. The model 65@ has the taps for eye bolts. M (Depth L) 63

64 Backlash: 15 Arcminutes Max. For 3,-r/min Servomotors 5 W 1 W 2 W 4 W 75 W (2 V) LM LR C1 C2 D1 D2 D3 F G S T 1/5 R88G-VRXF5B1CJ /9 R88G-VRXF9B1CJ /15 R88G-VRXF15B1CJ /25 R88G-VRXF25B1CJ /5 R88G-VRXF5B1CJ /9 R88G-VRXF9B1CJ /15 R88G-VRXF15B1CJ /25 R88G-VRXF25B1CJ /5 R88G-VRXF5B2CJ /9 R88G-VRXF9C2CJ /15 R88G-VRXF15C2CJ /25 R88G-VRXF25C2CJ /5 R88G-VRXF5C4CJ /9 R88G-VRXF9C4CJ /15 R88G-VRXF15C4CJ /25 R88G-VRXF25C4CJ /5 R88G-VRXF5C75CJ /9 R88G-VRXF9D75CJ /15 R88G-VRXF15D75CJ /25 R88G-VRXF25D75CJ W 1 W 2 W 4 W 75 W (2 V) Z1 Z2 AT * L 1/25 R88G-VRXF25D75CJ M5 M8 M M8 16 * Indicates set bolt. Note: 1. The standard shaft type is a shaft with key and tap. 2. The diameter of the motor shaft insertion hole is the same as the shaft diameter of the corresponding Servomotor. 3. You cannot use this type of Decelerator for the Servomotor with key. 4. The dimensional drawings in this document are for showing main dimensions only, and they do not give the details of the product shape. Key Tap QK b h t1 m l 1/5 R88G-VRXF5B1CJ M4 M5 M M5 1 1/9 R88G-VRXF9B1CJ M4 M5 M M5 1 1/15 R88G-VRXF15B1CJ M4 M5 M M5 1 1/25 R88G-VRXF25B1CJ M4 M5 M M5 1 1/5 R88G-VRXF5B1CJ M4 M5 M M5 1 1/9 R88G-VRXF9B1CJ M4 M5 M M5 1 1/15 R88G-VRXF15B1CJ M4 M5 M M5 1 1/25 R88G-VRXF25B1CJ M4 M5 M M5 1 1/5 R88G-VRXF5B2CJ M4 M5 M M5 1 1/9 R88G-VRXF9C2CJ M4 M6 M M6 12 1/15 R88G-VRXF15C2CJ M4 M6 M M6 12 1/25 R88G-VRXF25C2CJ M4 M6 M M6 12 1/5 R88G-VRXF5C4CJ M4 M6 M M6 12 1/9 R88G-VRXF9C4CJ M4 M6 M M6 12 1/15 R88G-VRXF15C4CJ M4 M6 M M6 12 1/25 R88G-VRXF25C4CJ M4 M6 M M6 12 1/5 R88G-VRXF5C75CJ M5 M6 M M6 12 1/9 R88G-VRXF9D75CJ M5 M8 M M8 16 1/15 R88G-VRXF15D75CJ M5 M8 M M

65 Outline Drawing Flange side 4-Z1 F Servomotor side 4-Z2 (Available depth L) Set bolt (AT) Key and tap dimensions D1 dia. Sh6 dia. D3h7 dia. D2 dia. QK b h t1 m (Depth l) C1 C1 G T C2 C2 LM LR 65

66 66 MEMO

67 Ordering Information Interpreting Numbers AC Servo Drives with Built-in EtherCAT Communications AC Servomotor Decelerator Backlash: 3 Arcminutes Max Table of AC Servomotor Variations... 7 Ordering Information AC Servo Drives with Built-in EtherCAT Communications AC Servomotors Decelerator (Backlash: 3 Arcminutes Max./15 Arcminutes Max.) Cables and Peripheral Devices Software Combination table Cable Connection Configuration Related Manuals... 9 Mechatronics Sizing Tool for AC Servo Motors

68 Interpreting Numbers AC Servo Drives with Built-in EtherCAT Communications R88D-1S N 1 H -ECT (1) (2) (3) (4) (5) AC Servomotor 1 M 1 3 S -BOS2 (1) (2) (3) (4) (5) (6) No Item Symbol Specifications (1) 1S-series Servo Drive (2) Servo Drive Type N Communication type 1 1 W 2 2 W 4 4 W Applicable 6 6 W (3) Servomotor 8 75 W rated output 1 1 kw kw 2 2 kw 3 3 kw L 1 VAC (4) Power Supply Voltage H 2 VAC F 4 VAC (5) Communications type ECT EtherCAT Communications No Item Symbol Specifications (1) 1S-series Servomotor L Low inertia (2) Servomotor Type M Middle inertia 5 5 W 1 1 W 2 2 W 4 4 W 6 6 W (3) Rated output W 9 9 W 1K 1 kw 1K5 1.5 kw 2K 2 kw 3K 3 kw 1 1, r/min Rated rotation (4) 2 2, r/min speed 3 3, r/min Servo Drive main S 1 VAC absolute encoder power supply (5) T 2 VAC absolute encoder voltage and encoder type C 4 VAC absolute encoder Options None Without brake Brake B With 24-VDC brake (6) None Without oil seal Oil seal O With oil seal Key and tap None Straight shaft S2 With key and tap 68

69 Decelerator Backlash: 3 Arcminutes Max. 14A 5 1 S B J (1) (2) (3) (4) (5) (6) (7) Backlash: 15 Arcminutes Max. R88G-VRXF 9 B 1 C J (1) (2) (3) (4) (5) (6) No Item Symbol Specifications (1) Decelerator for Servomotor Backlash: 3 Arcminutes max. 11B A 6 6 Flange size 2A 9 9 (2) number 32A A A /5 11 1/11 2 1/2 (3) Reduction ratio 21 1/ / / / W 1 1 W 2 2 W 4 4 W 6 6 W W Applicable (4) Servomotor rated 9 9 W output * 1K 1 kw 1K5 1.5 kw 2K 2 kw 3K 3 kw 4K 4 kw 5K 5 kw None 3,-r/min Servomotors (5) Motor type S 2,-r/min Servomotors T 1,-r/min Servomotors (6) Backlash B Backlash: 3 Arcminutes max. None Straight shaft (7) Option J With key and tap * This is based on the rated output of a typical applicable Servomotor. For the selection, check the Servomotor and Decelerator Combination Tables. No Item Symbol Specifications (1) Decelerator for Servomotor Backlash: 15 Arcminutes max. 5 1/5 (2) Gear Ratio 9 1/9 15 1/ /25 (3) Flange Size Number 1 5 W, 1 W (4) Applicable 2 2 W Servomotor rated output 4 4 W W (5) Backlash C Backlash: 15 Arcminutes Max (6) Option J With key and tap 69

70 Table of AC Servomotor Variations @@ (2) (3) (4) (5) (6) (7) (8) (2) (3) (4) Type M L M M M:Middle inertia L:Low inertia Rated output 5 W Rotation speed (5) (6) (7) (8) Power supply specifications ABS ABS ABS Brake Oil seal Shaft type C T S None B None O None S2 1M53 1 W 1M13 2 W 1M23 4 W 1M43 75 W 1M753 3, r/min 75 W 1L753 1 kw 1L1K3 1.5 kw 1L1K53 2 kw 1L2K3 3 kw 1L3K3 4 W 1M42 6 W 1M62 1 kw 1M1K2 2, r/min 1.5 kw 1M1K52 2 kw 1M2K2 3 kw 1M3K2 9 W 1M91 2 kw 1, r/min 1M2K1 3 kw 1M3K1 C: 4 VAC (with absolute None: None: encoder) ABS/INC None: Without 1: 1 W 1: 1, r/min Without brake Straight shaft T: 2 VAC (with absolute oil seal 1K: 1 kw 2: 2, r/min B: S2: encoder) ABS/INC O: 3K: 3 kw 3: 3, r/min With 24-VDC With key and S: 1 VAC (with absolute With oil seal brake tap encoder) ABS/INC 7

71 Ordering Information AC Servo Drives with Built-in EtherCAT Communications Power supply voltage Rated output Single-phase 1 VAC Single-phase/3-phase 2 VAC 3-phase 2 VAC 3-phase 4 VAC AC Servomotors 3,-r/min Servomotors Without brake With brake Specifications 1 VAC 2 VAC 4 VAC 1 VAC 2 VAC 4 VAC 1 W R88D-1SN1L-ECT 2 W R88D-1SN2L-ECT 4 W R88D-1SN4L-ECT 1 W R88D-1SN1H-ECT 2 W R88D-1SN2H-ECT 4 W R88D-1SN4H-ECT 75 W R88D-1SN8H-ECT 1.5 kw R88D-1SN15H-ECT 1 kw R88D-1SN1H-ECT 2 kw R88D-1SN2H-ECT 3 kw R88D-1SN3H-ECT 6 W R88D-1SN6F-ECT 1 kw R88D-1SN1F-ECT 1.5 kw R88D-1SN15F-ECT 2 kw R88D-1SN2F-ECT 3 kw R88D-1SN3F-ECT Without oil seal Straight shaft With key and tap 5 W 1M53S 1M53S-S2 1 W 1M13S 1M13S-S2 2 W 1M23S 1M23S-S2 4 W 1M43S 1M43S-S2 5 W 1M53T 1M53T-S2 1 W 1M13T 1M13T-S2 2 W 1M23T 1M23T-S2 4 W 1M43T 1M43T-S2 75 W 1M753T 1M753T-S2 1 kw 1L1K3T 1L1K3T-S2 1.5 kw 1L1K53T 1L1K53T-S2 2 kw 1L2K3T 1L2K3T-S2 3 kw 1L3K3T 1L3K3T-S2 75 W 1L753C 1L753C-S2 1 kw 1L1K3C 1L1K3C-S2 1.5 kw 1L1K53C 1L1K53C-S2 2 kw 1L2K3C 1L2K3C-S2 3 kw 1L3K3C 1L3K3C-S2 5 W 1M53S-B 1M53S-BS2 1 W 1M13S-B 1M13S-BS2 2 W 1M23S-B 1M23S-BS2 4 W 1M43S-B 1M43S-BS2 5 W 1M53T-B 1M53T-BS2 1 W 1M13T-B 1M13T-BS2 2 W 1M23T-B 1M23T-BS2 4 W 1M43T-B 1M43T-BS2 75 W 1M753T-B 1M753T-BS2 1 kw 1L1K3T-B 1L1K3T-BS2 1.5 kw 1L1K53T-B 1L1K53T-BS2 2 kw 1L2K3T-B 1L2K3T-BS2 3 kw 1L3K3T-B 1L3K3T-BS2 75 W 1L753C-B 1L753C-BS2 1 kw 1L1K3C-B 1L1K3C-BS2 1.5 kw 1L1K53C-B 1L1K53C-BS2 2 kw 1L2K3C-B 1L2K3C-BS2 3 kw 1L3K3C-B 1L3K3C-BS2 AC Servo System 1S-series 71

72 Specifications 1 VAC 2 VAC Without brake 4 VAC 1 VAC 2 VAC With brake 4 VAC With oil seal Straight shaft With key and tap 5 W 1M53S-O 1M53S-OS2 1 W 1M13S-O 1M13S-OS2 2 W 1M23S-O 1M23S-OS2 4 W 1M43S-O 1M43S-OS2 5 W 1M53T-O 1M53T-OS2 1 W 1M13T-O 1M13T-OS2 2 W 1M23T-O 1M23T-OS2 4 W 1M43T-O 1M43T-OS2 75 W 1M753T-O 1M753T-OS2 1 kw 1L1K3T-O 1L1K3T-OS2 1.5 kw 1L1K53T-O 1L1K53T-OS2 2 kw 1L2K3T-O 1L2K3T-OS2 3 kw 1L3K3T-O 1L3K3T-OS2 75 W 1L753C-O 1L753C-OS2 1 kw 1L1K3C-O 1L1K3C-OS2 1.5 kw 1L1K53C-O 1L1K53C-OS2 2 kw 1L2K3C-O 1L2K3C-OS2 3 kw 1L3K3C-O 1L3K3C-OS2 5 W 1M53S-BO 1M53S-BOS2 1 W 1M13S-BO 1M13S-BOS2 2 W 1M23S-BO 1M23S-BOS2 4 W 1M43S-BO 1M43S-BOS2 5 W 1M53T-BO 1M53T-BOS2 1 W 1M13T-BO 1M13T-BOS2 2W 1M23T-BO 1M23T-BOS2 4 W 1M43T-BO 1M43T-BOS2 75 W 1M753T-BO 1M753T-BOS2 1 kw 1L1K3T-BO 1L1K3T-BOS2 1.5 kw 1L1K53T-BO 1L1K53T-BOS2 2 kw 1L2K3T-BO 1L2K3T-BOS2 3 kw 1L3K3T-BO 1L3K3T-BOS2 75 W 1L753C-BO 1L753C-BOS2 1 kw 1L1K3C-BO 1L1K3C-BOS2 1.5 kw 1L1K53C-BO 1L1K53C-BOS2 2 kw 1L2K3C-BO 1L2K3C-BOS2 3 kw 1L3K3C-BO 1L3K3C-BOS2 72

73 2,-r/min Servomotors Specifications Without oil seal Straight shaft With key and tap 1 kw 1M1K2T 1M1K2T-S2 2 VAC 1.5 kw 1M1K52T 1M1K52T-S2 2 kw 1M2K2T 1M2K2T-S2 3 kw 1M3K2T 1M3K2T-S2 Without brake 4 W 1M42C 1M42C-S2 6 W 1M62C 1M62C-S2 4 VAC 1 kw 1M1K2C 1M1K2C-S2 1.5 kw 1M1K52C 1M1K52C-S2 2 kw 1M2K2C 1M2K2C-S2 3 kw 1M3K2C 1M3K2C-S2 1 kw 1M1K2T-B 1M1K2T-BS2 2 VAC 1.5 kw 1M1K52T-B 1M1K52T-BS2 2 kw 1M2K2T-B 1M2K2T-BS2 3 kw 1M3K2T-B 1M3K2T-BS2 Witht brake 4 W 1M42C-B 1M42C-BS2 6 W 1M62C-B 1M62C-BS2 4 VAC 1 kw 1M1K2C-B 1M1K2C-BS2 1.5 kw 1M1K52C-B 1M1K52C-BS2 2 kw 1M2K2C-B 1M2K2C-BS2 3 kw 1M3K2C-B 1M3K2C-BS2 Specifications 2 VAC Without brake 4 VAC 2 VAC Witht brake 4 VAC With oil seal Straight shaft With key and tap 1 kw 1M1K2T-O 1M1K2T-OS2 1.5 kw 1M1K52T-O 1M1K52T-OS2 2 kw 1M2K2T-O 1M2K2T-OS2 3 kw 1M3K2T-O 1M3K2T-OS2 4 W 1M42C-O 1M42C-OS2 6 W 1M62C-O 1M62C-OS2 1 kw 1M1K2C-O 1M1K2C-OS2 1.5 kw 1M1K52C-O 1M1K52C-OS2 2 kw 1M2K2C-O 1M2K2C-OS2 3 kw 1M3K2C-O 1M3K2C-OS2 1 kw 1M1K2T-BO 1M1K2T-BOS2 1.5 kw 1M1K52T-BO 1M1K52T-BOS2 2 kw 1M2K2T-BO 1M2K2T-BOS2 3 kw 1M3K2T-BO 1M3K2T-BOS2 4 W 1M42C-BO 1M42C-BOS2 6 W 1M62C-BO 1M62C-BOS2 1 kw 1M1K2C-BO 1M1K2C-BOS2 1.5 kw 1M1K52C-BO 1M1K52C-BOS2 2 kw 1M2K2C-BO 1M2K2C-BOS2 3 kw 1M3K2C-BO 1M3K2C-BOS2 73

74 1,-r/min Servomotors Specifications Without oil seal Straight shaft With key and tap 9 W 1M91T 1M91T-S2 2 VAC 2 kw 1M2K1T 1M2K1T-S2 Without brake 3 kw 1M3K1T 1M3K1T-S2 9 W 1M91C 1M91C-S2 4 VAC 2 kw 1M2K1C 1M2K1C-S2 3 kw 1M3K1C 1M3K1C-S2 9 W 1M91T-B 1M91T-BS2 2 VAC 2 kw 1M2K1T-B 1M2K1T-BS2 With brake 3 kw 1M3K1T-B 1M3K1T-BS2 9 W 1M91C-B 1M91C-BS2 4 VAC 2 kw 1M2K1C-B 1M2K1C-BS2 3 kw 1M3K1C-B 1M3K1C-BS2 Specifications 2 VAC Without brake 4 VAC 2 VAC With brake 4 VAC With oil seal Straight shaft With key and tap 9 W 1M91T-O 1M91T-OS2 2 kw 1M2K1T-O 1M2K1T-OS2 3 kw 1M3K1T-O 1M3K1T-OS2 9 W 1M91C-O 1M91C-OS2 2 kw 1M2K1C-O 1M2K1C-OS2 3 kw 1M3K1C-O 1M3K1C-OS2 9 W 1M91T-BO 1M91T-BOS2 2 kw 1M2K1T-BO 1M2K1T-BOS2 3 kw 1M3K1T-BO 1M3K1T-BOS2 9 W 1M91C-BO 1M91C-BOS2 2 kw 1M2K1C-BO 1M2K1C-BOS2 3 kw 1M3K1C-BO 1M3K1C-BOS2 74

75 Decelerator (Backlash: 3 Arcminutes Max.) For 3,-r/min Servomotors Servomotor rated output 5 W 1 W 2 W 4 W 75 W (2 V) 75 W (4 V) 1 kw 1.5 kw 2 kw 3 kw Reduction ratio (Straight shaft) * 1/21 14A211B@ 1/33 14A335B@ 1/45 14A455B@ 1/5 11B51B@ 1/11 14A111B@ 1/21 14A211B@ 1/33 2A331B@ 1/45 2A451B@ 1/5 14A52B@ 1/11 14A112B@ 1/21 2A212B@ 1/33 2A332B@ 1/45 2A452B@ 1/5 14A54B@ 1/11 2A114B@ 1/21 2A214B@ 1/33 32A334B@ 1/45 32A454B@ 1/5 2A575B@ 1/11 2A1175B@ 1/21 32A2175B@ 1/33 32A3375B@ 1/45 32A4575B@ 1/5 32A52KB@ 1/11 32A112KB@ 1/21 32A211K5B@ 1/33 32A336SB@ 1/45 5A451K5B@ 1/5 32A52KB@ 1/11 32A112KB@ 1/21 32A211K5B@ 1/33 5A332KB@ 1/45 5A451K5B@ 1/5 32A52KB@ 1/11 32A112KB@ 1/21 32A211K5B@ 1/33 5A332KB@ 1/45 5A451K5B@ 1/5 32A52KB@ 1/11 32A112KB@ 1/21 5A212KB@ 1/33 5A332KB@ 1/5 32A53KB@ 1/11 5A113KB@ 1/21 5A213KB@ * The standard shaft type is a straight shaft. A model with a key and tap is indicated with J of the Decelerator model number. e.g. 11B51BJ For 2,-r/min Servomotors Servomotor rated output Reduction ratio (Straight shaft) * 1/5 32A52KB@ 1/11 32A112KB@ 4 W 1/21 32A211K5B@ 1/33 32A336SB@ 1/45 32A454SB@ 1/5 32A52KB@ 1/11 32A112KB@ 6 W 1/21 32A211K5B@ 1/33 32A336SB@ 1/45 5A451K5B@ 1/5 32A53KB@ 1/11 32A112KSB@ 1 kw 1/21 32A211KSB@ 1/33 5A332KSB@ 1/45 5A451KSB@ 1/5 32A53KB@ 1.5 kw 1/11 32A112KSB@ 1/21 5A213KB@ 1/33 5A332KSB@ 1/5 32A53KB@ 2 kw 1/11 32A112KSB@ 1/21 5A213KB@ 1/33 5A332KSB@ 1/5 32A54KB@ 3 kw 1/11 5A115KB@ 1/21 5A213KSB@ 1/25 65A253KSB@ * The standard shaft type is a straight shaft. A model with a key and tap is indicated with J of the Decelerator model number. e.g. 11B51BJ For 1,-r/min Servomotors Servomotor rated output Reduction ratio (Straight shaft) * 1/5 32A59TB@ 9 W 1/11 32A119TB@ 1/21 5A219TB@ 1/33 5A339TB@ 1/5 32A52KTB@ 2 kw 1/11 5A112KTB@ 1/21 5A212KTB@ 1/25 65A255KSB@ 1/5 5A55KSB@ 3 kw 1/11 5A115KSB@ 1/2 65A25KSB@ 1/25 65A255KSB@ * The standard shaft type is a straight shaft. A model with a key and tap is indicated with J of the Decelerator model number. e.g. 11B51BJ 75

76 Decelerator (Backlash: 15 Arcminutes Max.) For 3,-r/min Servomotors Servomotor rated output 5 W 1 W 2 W 4 W 75 W (2 V) Reduction ratio Cables and Peripheral Devices Encoder Cables (Standard Cable) 1 V 2 V 2 V 4 V Applicable Servomotor 3,-r/min Servomotors of 5W, 1 W, 2 W, 4 W, and 75 W 2 V: 3,-r/min Servomotors of 1 kw or more 2,-r/min Servomotors 1,-r/min Servomotors 4 V: 3,-r/min Servomotors 2,-r/min Servomotors 1,-r/min Servomotors 1/5 R88G-VRXF5B1CJ 1/9 R88G-VRXF9B1CJ 1/15 R88G-VRXF15B1CJ 1/25 R88G-VRXF25B1CJ 1/5 R88G-VRXF5B1CJ 1/9 R88G-VRXF9B1CJ 1/15 R88G-VRXF15B1CJ 1/25 R88G-VRXF25B1CJ 1/5 R88G-VRXF5B2CJ 1/9 R88G-VRXF9C2CJ 1/15 R88G-VRXF15C2CJ 1/25 R88G-VRXF25C2CJ 1/5 R88G-VRXF5C4CJ 1/9 R88G-VRXF9C4CJ 1/15 R88G-VRXF15C4CJ 1/25 R88G-VRXF25C4CJ 1/5 R88G-VRXF5C75CJ 1/9 R88G-VRXF9D75CJ 1/15 R88G-VRXF15D75CJ 1/25 R88G-VRXF25D75CJ 3 m R88A-CR1A3C 5 m R88A-CR1A5C 1 m R88A-CR1A1C 15 m R88A-CR1A15C 2 m R88A-CR1A2C 3 m R88A-CR1A3C 4 m R88A-CR1A4C 5 m R88A-CR1A5C 3 m R88A-CR1B3N 5 m R88A-CR1B5N 1 m R88A-CR1B1N 15 m R88A-CR1B15N 2 m R88A-CR1B2N 3 m R88A-CR1B3N 4 m R88A-CR1B4N 5 m R88A-CR1B5N Brake Cables (Standard Cable) 1 V 2 V Applicable Servomotor 3,-r/min Servomotors of 1 W, 2 W, 4 W, and 75 W * 3 m R88A-CA1A3B 5 m R88A-CA1A5B 1 m R88A-CA1A1B 15 m R88A-CA1A15B 2 m R88A-CA1A2B 3 m R88A-CA1A3B 4 m R88A-CA1A4B 5 m R88A-CA1A5B * The Servomotors of 5 W are exempt from the applicable Servomotors. Use these combinations with caution. 76

77 Motor Power Cables (Standard Cable) 1 V 2 V 2 V 2 V 4 V 2 V 4 V Applicable Servomotor 3,-r/min Servomotors of 1 W, 2 W, 4 W, and 75 W * 3,-r/min Servomotors of 1 kw 2,-r/min Servomotors of 1 kw 1,-r/min Servomotors of 9 W 3,-r/min Servomotors of 1.5 kw 2,-r/min Servomotors of 1.5 kw 3,-r/min Servomotors of 75 W, 1 kw, 1.5 kw, and 2 kw 2,-r/min Servomotors of 4 W, 6 W, 1 kw, 1.5 kw, and 2 kw 1,-r/min Servomotors of 9 W 3,-r/min Servomotors of 2 kw (2 V) and 3 kw (2 V/4 V) 2,-r/min Servomotors of 2 kw (2 V) and 3 kw (2 V/4 V) 1,-r/min Servomotors of 2 kw (2 V/4 V) and 3 kw (4 V) 2 V 1,-r/min Servomotors of 3 kw Without brake wire With brake wire 3 m R88A-CA1A3S m R88A-CA1A5S m R88A-CA1A1S m R88A-CA1A15S m R88A-CA1A2S m R88A-CA1A3S m R88A-CA1A4S m R88A-CA1A5S m R88A-CA1B3S R88A-CA1B3B 5 m R88A-CA1B5S R88A-CA1B5B 1 m R88A-CA1B1S R88A-CA1B1B 15 m R88A-CA1B15S R88A-CA1B15B 2 m R88A-CA1B2S R88A-CA1B2B 3 m R88A-CA1B3S R88A-CA1B3B 4 m R88A-CA1B4S R88A-CA1B4B 5 m R88A-CA1B5S R88A-CA1B5B 3 m R88A-CA1C3S R88A-CA1C3B 5 m R88A-CA1C5S R88A-CA1C5B 1 m R88A-CA1C1S R88A-CA1C1B 15 m R88A-CA1C15S R88A-CA1C15B 2 m R88A-CA1C2S R88A-CA1C2B 3 m R88A-CA1C3S R88A-CA1C3B 4 m R88A-CA1C4S R88A-CA1C4B 5 m R88A-CA1C5S R88A-CA1C5B 3 m R88A-CA1C3S R88A-CA1D3B 5 m R88A-CA1C5S R88A-CA1D5B 1 m R88A-CA1C1S R88A-CA1D1B 15 m R88A-CA1C15S R88A-CA1D15B 2 m R88A-CA1C2S R88A-CA1D2B 3 m R88A-CA1C3S R88A-CA1D3B 4 m R88A-CA1C4S R88A-CA1D4B 5 m R88A-CA1C5S R88A-CA1D5B 3 m R88A-CA1E3S R88A-CA1E3B 5 m R88A-CA1E5S R88A-CA1E5B 1 m R88A-CA1E1S R88A-CA1E1B 15 m R88A-CA1E15S R88A-CA1E15B 2 m R88A-CA1E2S R88A-CA1E2B 3 m R88A-CA1E3S R88A-CA1E3B 4 m R88A-CA1E4S R88A-CA1E4B 5 m R88A-CA1E5S R88A-CA1E5B 3 m R88A-CA1F3S R88A-CA1F3B 5 m R88A-CA1F5S R88A-CA1F5B 1 m R88A-CA1F1S R88A-CA1F1B 15 m R88A-CA1F15S R88A-CA1F15B 2 m R88A-CA1F2S R88A-CA1F2B 3 m R88A-CA1F3S R88A-CA1F3B 4 m R88A-CA1F4S R88A-CA1F4B 5 m R88A-CA1F5S R88A-CA1F5B * The Servomotors of 5 W are exempt from the applicable Servomotors. Use these combinations with caution. 77

78 Encoder Cables (Flexible Cable) 1 V 2 V 2 V 4 V Applicable Servomotor 3,-r/min Servomotors of 5W, 1 W, 2 W, 4 W, and 75 W 2 V: 3,-r/min Servomotors of 1 kw or more For 2,-r/min Servomotors For 1,-r/min Servomotors 4 V: 3,-r/min Servomotors 2,-r/min Servomotors 1,-r/min Servomotors 3 m R88A-CR1A3CF 5 m R88A-CR1A5CF 1 m R88A-CR1A1CF 15 m R88A-CR1A15CF 2 m R88A-CR1A2CF 3 m R88A-CR1A3CF 4 m R88A-CR1A4CF 5 m R88A-CR1A5CF 3 m R88A-CR1B3NF 5 m R88A-CR1B5NF 1 m R88A-CR1B1NF 15 m R88A-CR1B15NF 2 m R88A-CR1B2NF 3 m R88A-CR1B3NF 4 m R88A-CR1B4NF 5 m R88A-CR1B5NF Brake Cables (Flexible Cable) 1 V 2 V Applicable Servomotor 3,-r/min Servomotors of 1 W, 2 W, 4 W, and 75 W * 3 m R88A-CA1A3BF 5 m R88A-CA1A5BF 1 m R88A-CA1A1BF 15 m R88A-CA1A15BF 2 m R88A-CA1A2BF 3 m R88A-CA1A3BF 4 m R88A-CA1A4BF 5 m R88A-CA1A5BF * The Servomotors of 5 W are exempt from the applicable Servomotors. Use these combinations with caution. Motor Power Cables (Flexible Cable) Applicable Servomotor Without brake wire With brake wire 3 m R88A-CA1A3SF m R88A-CA1A5SF m R88A-CA1A1SF V 3,-r/min Servomotors of 1 W, 2 W, 15 m R88A-CA1A15SF V 4 W, and 75 W * 2 m R88A-CA1A2SF m R88A-CA1A3SF m R88A-CA1A4SF m R88A-CA1A5SF m R88A-CA1B3SF R88A-CA1B3BF 5 m R88A-CA1B5SF R88A-CA1B5BF 1 m R88A-CA1B1SF R88A-CA1B1BF 2 V 3,-r/min Servomotors of 1 kw 15 m R88A-CA1B15SF R88A-CA1B15BF 2,-r/min Servomotors of 1 kw 1,-r/min Servomotors of 9 W 2 m R88A-CA1B2SF R88A-CA1B2BF 3 m R88A-CA1B3SF R88A-CA1B3BF 4 m R88A-CA1B4SF R88A-CA1B4BF 5 m R88A-CA1B5SF R88A-CA1B5BF 3 m R88A-CA1C3SF R88A-CA1C3BF 5 m R88A-CA1C5SF R88A-CA1C5BF 1 m R88A-CA1C1SF R88A-CA1C1BF 2 V 3,-r/min Servomotors of 1.5 kw 15 m R88A-CA1C15SF R88A-CA1C15BF 2,-r/min Servomotors of 1.5 kw 2 m R88A-CA1C2SF R88A-CA1C2BF 3 m R88A-CA1C3SF R88A-CA1C3BF 4 m R88A-CA1C4SF R88A-CA1C4BF 5 m R88A-CA1C5SF R88A-CA1C5BF 3 m R88A-CA1C3SF R88A-CA1D3BF 5 m R88A-CA1C5SF R88A-CA1D5BF 3,-r/min Servomotors of 75 W, 1 kw, 1 m R88A-CA1C1SF R88A-CA1D1BF 4 V 1.5 kw, and 2 kw 15 m R88A-CA1C15SF R88A-CA1D15BF 2,-r/min Servomotors of 4 W, 6 W, 1 kw, 1.5 kw, and 2 kw 2 m R88A-CA1C2SF R88A-CA1D2BF 1,-r/min Servomotors of 9 W 3 m R88A-CA1C3SF R88A-CA1D3BF 4 m R88A-CA1C4SF R88A-CA1D4BF 5 m R88A-CA1C5SF R88A-CA1D5BF * The Servomotors of 5 W are exempt from the applicable Servomotors. Use these combination. 78

79 2 V 4 V 2 V Applicable Servomotor 3,-r/min Servomotors of 2 kw (2 V) and 3 kw (2 V/4 V) 2,-r/min Servomotors of 2 kw (2 V) and 3 kw (2 V/4 V) 1,-r/min Servomotors of 2 kw (2 V/4 V) and 3 kw (4 V) The Servomotors of 5 W are exempt from the applicable Servomotors. Use these combinatio Without brake wire With brake wire 3 m R88A-CA1E3SF R88A-CA1E3BF 5 m R88A-CA1E5SF R88A-CA1E5BF 1 m R88A-CA1E1SF R88A-CA1E1BF 15 m R88A-CA1E15SF R88A-CA1E15BF 2 m R88A-CA1E2SF R88A-CA1E2BF 3 m R88A-CA1E3SF R88A-CA1E3BF 4 m R88A-CA1E4SF R88A-CA1E4BF 5 m R88A-CA1E5SF R88A-CA1E5BF 3 m R88A-CA1F3SF R88A-CA1F3BF 5 m R88A-CA1F5SF R88A-CA1F5BF 1 m R88A-CA1F1SF R88A-CA1F1BF 15 m R88A-CA1F15SF R88A-CA1F15BF 2 m R88A-CA1F2SF R88A-CA1F2BF 3 m R88A-CA1F3SF R88A-CA1F3BF 4 m R88A-CA1F4SF R88A-CA1F4BF 5 m R88A-CA1F5SF R88A-CA1F5BF Brake Cables (Non-load side, Flexible Cable) When you use the brake cable with cable on non-load side such as R88A-CA1A@@@BFR, use it in combination with the motor power cable with cable on non-load side such as R88A-CA1A@@@SFR. 1 V 2 V Applicable Servomotor 3-r/min Servomotors of 5 W, 2 W, 4 W, 75 W * 3 m R88A-CA1A3BFR 5 m R88A-CA1A5BFR 1 m R88A-CA1A1BFR 15 m R88A-CA1A15BFR 2 m R88A-CA1A2BFR * The Servomotors of 1 W are exempt from the applicable Servomotors. Use these combinations with caution. Motor Power Cables (Non-load side, Flexible Cable) When you use the motor power cable with cable on non-load side such as R88A-CA1A@@@SFR and the brake cable together, use the brake cable with cable on non-load side such as R88A-CA1A@@@BFR. 1 V 2 V Applicable Servomotor 3-r/min Servomotors of 5 W, 2 W, 4 W, 75 W * Without brake wire With brake wire 3 m R88A-CA1A3SFR m R88A-CA1A5SFR m R88A-CA1A1SFR m R88A-CA1A15SFR m R88A-CA1A2SFR --- * The Servomotors of 1 W are exempt from the applicable Servomotors. Use these combinations with caution. 79

80 Recommended EtherCAT Communications Cable Use a straight STP (shielded twisted-pair) cable of category 5 or higher with double shielding (braiding and aluminum foil tape) for EtherCAT. Cabel with Connectors Item Cable with Connectors on Both Ends (RJ45/RJ45) Standard RJ45 plugs type *1 Wire gauge and number of pairs: AWG26, 4-pair cable Cable sheath material: LSZH *2 Cable color: Yellow *3 Cable with Connectors on Both Ends (RJ45/RJ45) Rugged RJ45 plugs type *1 Wire gauge and number of pairs: AWG22, 2-pair cable Cable color: Light blue Cable with Connectors on Both Ends (M12 Straight/M12 Straight) Shield Strengthening Connector cable *4 M12/Smartclick Connectors Wire Gauge and Number of Pairs: AWG22, 2-pair cable Cable color: Black Cable with Connectors on Both Ends (M12 Straight/RJ45) Shield Strengthening Connector cable *4 M12/Smartclick Connectors Rugged RJ45 plugs type Wire Gauge and Number of Pairs: AWG22, 2-pair cable Cable color: Black Appearance *1. Standard type cables length.2,.3,.5, 1, 1.5, 2, 3, 5, 7.5, 1, 15 and 2 m are available. Rugged type cables length.3,.5, 1, 2, 3, 5, 1 and 15 m are available. For details, refer to Cat.No.G19. *2. The lineup features Low Smoke Zero Halogen cables for in-cabinet use and PUR cables for out-of-cabinet use. Although the LSZH cable is single shielded, its communications and noise characteristics meet the standards. *3. Cables colors are available in blue, yellow, or Green. *4. For details, contact your OMRON representative. Cables/Connectors Wire Gauge and Number of Pairs: AWG24, 4-pair Cable Item Appearance Recommended manufacturer --- Hitachi Metals, Ltd. NETSTAR-C5E SAB.5 4P * Cables --- Kuramo Electric Co. KETH-SB * --- SWCC Showa Cable Systems Co. FAE-54 * RJ45 Connectors --- Panduit Corporation MPS588-C * * We recommend you to use above cable and connector together. Wire Gauge and Number of Pairs: AWG22, 2-pair Cable Recommended manufacturer OMRON OMRON OMRON OMRON Cable length [m].3 XS6W-6LSZH8SS3CM-Y.5 XS6W-6LSZH8SS5CM-Y 1 XS6W-6LSZH8SS1CM-Y 2 XS6W-6LSZH8SS2CM-Y 3 XS6W-6LSZH8SS3CM-Y 5 XS6W-6LSZH8SS5CM-Y.3 XS5W-T421-AMD-K.5 XS5W-T421-BMD-K 1 XS5W-T421-CMD-K 2 XS5W-T421-DMD-K 5 XS5W-T421-GMD-K 1 XS5W-T421-JMD-K.5 XS5W-T421-BM2-SS 1 XS5W-T421-CM2-SS 2 XS5W-T421-DM2-SS 3 XS5W-T421-EM2-SS 5 XS5W-T421-GM2-SS 1 XS5W-T421-JM2-SS.5 XS5W-T421-BMC-SS 1 XS5W-T421-CMC-SS 2 XS5W-T421-DMC-SS 3 XS5W-T421-EMC-SS 5 XS5W-T421-GMC-SS 1 XS5W-T421-JMC-SS Item Appearance Recommended manufacturer Cables --- Kuramo Electric Co. KETH-PSB-OMR * --- JMACS Japan Co., Ltd. PNET/B * RJ45 Assembly Connector OMRON XS6G-T421-1 * * We recommend you to use above cable and connector together. 8

81 Peripheral Connector Servo Drive Side Connectors One of each of servo drive side connectors (except the encoder connector) are included with the AC Servo Drive. All connecters are also available separately for maintenance. Name and applications Main circuit connector (CNA) *1 For R88D-1SN1L-ECT/-1SN2L-ECT/-1SN4L-ECT/-1SN1H-ECT/-1SN2H-ECT/-1SN4H-ECT/-1SN8H-ECT/ -1SN1H-ECT Main circuit connector A (CNA) *2 For R88D-1SN15H-ECT/-1SN2H-ECT/-1SN3H-ECT/-1SN6F-ECT/-1SN1F-ECT/-1SN15F-ECT/-1SN2F-ECT/ -1SN3F-ECT Main circuit connector B (CNB) *2 For R88D-1SN15H-ECT/-1SN2H-ECT/-1SN3H-ECT/-1SN6F-ECT/-1SN1F-ECT/-1SN15F-ECT/-1SN2F-ECT/ -1SN3F-ECT Motor connector (CNC) For R88D-1SN1L-ECT/-1SN2L-ECT/-1SN4L-ECT/-1SN1H-ECT/-1SN2H-ECT/-1SN4H-ECT/-1SN8H-ECT/ -1SN1H-ECT Motor connector (CNC) For R88D-1SN15H-ECT/-1SN2H-ECT/-1SN3H-ECT/-1SN6F-ECT/-1SN1F-ECT/-1SN15F-ECT/-1SN2F-ECT/ -1SN3F-ECT Control power supply connector (CND) For R88D-1SN15H-ECT/-1SN2H-ECT/-1SN3H-ECT/-1SN6F-ECT/-1SN1F-ECT/-1SN15F-ECT/-1SN2F-ECT/ -1SN3F-ECT Control I/O connector (CN1) *3 Encoder connector (CN2) Brake interlock connector (CN12) *1. Two short-circuit wires are connected to the connector. *2. One short-circuit wire is connected to the connector. *3. Four short-circuit wires are connected to the connector. *4. One opener is included. R88A-CN12P *4 R88A-CN13P *4 R88A-CN14P *4 R88A-CN11A *4 R88A-CN12A *4 R88A-CN11P *4 R88A-CN11C R88A-CN11R R88A-CN11B Servomotor Side Connector Name and applications 1 V, 2 V For 3, r/min (5 to 75 W) R88A-CNK2R Encoder connector 1 V, 2 V For 3, r/min (1 to 3 kw), 2, r/min, 1, r/min 4 V For 3, r/min, 2, r/min, 1, r/min R88A-CN14R Power connector (For 75 W max.) * R88A-CN111A Brake connector (For 75 W max.) R88A-CN111B * This connector is used for power cables with cable on load side such as R88A-CA1A@@@S and R88A-CA1A@SF. This connector cannot be used for power cables with cable on non-load side such as R88A-CA1A@SFR. External Regeneration Resistors Applicable Servo Drive Specifications R88D-1SN1L-ECT/-1SN2L-ECT Regeneration process capacity: 24 W, 15 Ω R88A-RR1215 R88D-1SN1H-ECT/-1SN2H-ECT Regeneration process capacity: 24 W, 25 Ω R88A-RR1225 R88D-1SN2H-ECT/-1SN3H-ECT Regeneration process capacity: 6 W, 1 Ω R88A-RR31 R88D-1SN4L-ECT Regeneration process capacity: 6 W, 12 Ω R88A-RR312 R88D-1SN1L-ECT/-1SN2L-ECT Regeneration process capacity: 6 W, 15 Ω R88A-RR315 R88D-1SN15H-ECT Regeneration process capacity: 6 W, 17 Ω R88A-RR317 R88D-1SN8H-ECT/-1SN1H-ECT/-1SN2F-ECT */ -1SN3F-ECT * Regeneration process capacity: 6 W, 2 Ω R88A-RR32 R88D-1SN1H-ECT/-1SN2H-ECT/-1SN4H-ECT Regeneration process capacity: 6 W, 25 Ω R88A-RR325 R88D-1SN6F-ECT */-1SN1F-ECT */-1SN15F-ECT * Regeneration process capacity: 6 W, 33 Ω R88A-RR333 * Use two series-connected External Regeneration Resistors for this model. 81

82 External Regeneration Resistance Unit Applicable Servo Drive Specifications R88D-1SN2H-ECT/-1SN3H-ECT Regeneration process capacity: 64 W, 1 Ω R88A-RR1K61 R88D-1SN15H-ECT Regeneration process capacity: 64 W, 17 Ω R88A-RR1K617 R88D-1SN8H-ECT/-1SN1H-ECT/-1SN2F-ECT */ -1SN3F-ECT * * Use two series-connected External Regeneration Resistance Units for this model. DC Reactor Regeneration process capacity: 64 W, 2 Ω R88A-RR1K62 R88D-1SN2F-ECT/-1SN3F-ECT Regeneration process capacity: 64 W, 4 Ω R88A-RR1K64 R88D-1SN6F-ECT/-1SN1F-ECT/-1SN15F-ECT Regeneration process capacity: 64 W, 66 Ω R88A-RR1K666 R88D-1SN1L-ECT/-1SN1H-ECT/-1SN2H-ECT R88D-1SN2L-ECT/-1SN4H-ECT R88D-1SN4L-ECT/-1SN8H-ECT R88D-1SN1H-ECT/-1SN15H-ECT R88D-1SN2H-ECT R88D-1SN3H-ECT R88D-1SN6F-ECT R88D-1SN1F-ECT/-1SN15F-ECT R88D-1SN2F-ECT R88D-1SN3F-ECT Applicable Servomotor R88A-PD22 R88A-PD24 R88A-PD27 R88A-PD215 R88A-PD222 R88A-PD237 R88A-PD47 R88A-PD415 R88A-PD422 R88A-PD437 Footprint-type Noise Filter Applicable Servo Drive R88D-1SN1L-ECT/-1SN1H-ECT/-1SN2H-ECT (Single-phase input) R88D-1SN2L-ECT/-1SN4H-ECT (Single-phase input) R88D-1SN4L-ECT/-1SN8H-ECT (Single-phase input) R88D-1SN15H-ECT (Single-phase input) R88D-1SN1H-ECT/-1SN2H-ECT (3-phase input) R88D-1SN4H-ECT (3-phase input) R88D-1SN8H-ECT (3-phase input)/-1sn1h-ect R88D-1SN15H-ECT (3-phase input)/-1sn2h-ect/-1sn3h-ect R88D-1SN6F-ECT/-1SN1F-ECT-1SN15F-ECT/-1SN2F-ECT/-1SN3F-ECT R88A-FI1S13 R88A-FI1S15 R88A-FI1S19 R88A-FI1S116 R88A-FI1S22 R88A-FI1S23 R88A-FI1S23 R88A-FI1S28 R88A-FI1S216 R88A-FI1S39 82

83 Software Automation Software Sysmac Studio Please purchase a DVD and required number of licenses the first time you purchase the Sysmac Studio. DVDs and licenses are available individually. Each model of licenses does not include any DVD. Product name Specifications Number of Media licenses The Sysmac Studio is the software that provides an integrated environment for setting, programming, debugging and maintenance of machine automation controllers including the NJ/NX-series CPU Units, NY-series Industrial PC, EtherCat Slave, and the HMI. --- (Media only) DVD SYSMAC-SE2D Sysmac Studio Standard Edition Ver.1.@@ *1 Sysmac Studio runs on the following OS. Windows 7 (32-bit/64-bit version)/windows 8 (32-bit/64-bit version)/ Windows 8.1 (32-bit/64-bit version)/windows 1 (32-bit/64-bit version) The Sysmac Studio Standard Edition DVD includes Support Software to set up EtherNet/IP Units, DeviceNet slaves, Serial Communications Units, and Support Software for creating screens on HMIs (CX-Designer). 1 license *2 --- SYSMAC-SE21L For details, refer to your OMRON website. Sysmac Studio Drive Edition Ver.1.@@ Sysmac Studio Drive Edition is a limited license that provides selected functions required for 1S/G5 series Servo settings. This product is a license only. You need the Sysmac Studio Standard Edition DVD media to install it. With Drive Edition, you can use only the setup functions for 1S, G5-series Servo System 1 license --- SYSMAC-DE1L *1 The 1S series is supported by Sysmac Studio version 1.16 or higher. *2 Multi licenses are available for the Sysmac Studio (3, 1, 3, or 5 licenses). Collections of software functional components Sysmac Library Sysmac Library is POU Libraries (Function Block and Function) provided for NJ/NX-series Controller. Please download it from following URL and install to Sysmac Studio. Product Features EtherCAT 1S Series Library The EtherCAT 1S Series Library is used to initialize the absolute encoder, back up and restore the parameters for an OMRON 1S-series Servo Drive with built-in EtherCAT communications. You can use this library to reduce manpower of programming when implementing the processing for a Servo Drive. SYSMAC-XR11 83

84 Combination table Servo Drive and Servomotor Combinations The following tables show the possible combinations of 1S-series Servo Drives and Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations. at the end of the motor model number is for options, such as the shaft type and brake. 3,-r/min Servomotors and Servo Drives Main circuit power supply voltage Single-phase 1 VAC Single-phase/3-phase 2 VAC 3-phase 2 VAC 3-phase 4 VAC 2,-r/min Servomotors and Servo Drives Main circuit power supply voltage Servomotor rated output Servomotor Servo Drive 5 W 1M53S- R88D-1SN1L-ECT 1 W 1M13S- R88D-1SN1L-ECT 2 W 1M23S- R88D-1SN2L-ECT 4 W 1M43S- R88D-1SN4L-ECT 5 W 1M53T- R88D-1SN1H-ECT 1 W 1M13T- R88D-1SN1H-ECT 2 W 1M23T- R88D-1SN2H-ECT 4 W 1M43T- R88D-1SN4H-ECT 75 W 1M753T- R88D-1SN8H-ECT 1.5 kw 1L1K53T- R88D-1SN15H-ECT 1 kw 1L1K3T- R88D-1SN1H-ECT 2 kw 1L2K3T- R88D-1SN2H-ECT 3 kw 1L3K3T- R88D-1SN3H-ECT 75 W 1L753C- R88D-1SN1F-ECT 1 kw 1L1K3C- R88D-1SN1F-ECT 1.5 kw 1L1K53C- R88D-1SN15F-ECT 2 kw 1L2K3C- R88D-1SN2F-ECT 3 kw 1L3K3C- R88D-1SN3F-ECT Servomotor rated output Servomotor Servo Drive Single-phase/3-phase 2 VAC 1.5 kw 1M1K52T- R88D-1SN15H-ECT 3-phase 2 VAC 3-phase 4 VAC 1 kw 1M1K2T- R88D-1SN1H-ECT 2 kw 1M2K2T- R88D-1SN2H-ECT 3 kw 1M3K2T- R88D-1SN3H-ECT 4 W 1M42C- R88D-1SN6F-ECT 6 W 1M62C- R88D-1SN6F-ECT 1 kw 1M1K2C- R88D-1SN1F-ECT 1.5 kw 1M1K52C- R88D-1SN15F-ECT 2 kw 1M2K2C- R88D-1SN2F-ECT 3 kw 1M3K2C- R88D-1SN3F-ECT 1,-r/min Servomotors and Servo Drives Main circuit power supply voltage 3-phase 2 VAC 3-phase 4 VAC Servomotor rated output Servomotor Servo Drive 9 W 1M91T- R88D-1SN1H-ECT 2 kw 1M2K1T- R88D-1SN2H-ECT 3 kw 1M3K1T- R88D-1SN3H-ECT 9 W 1M91C- R88D-1SN1F-ECT 2 kw 1M2K1C- R88D-1SN2F-ECT 3 kw 1M3K1C- R88D-1SN3F-ECT 84

85 Servomotor and Decelerator Combinations 3,-r/min Servomotors and Decelerators (Backlash:3 Arcminutes Max.) Servomotor models * 1/5 1/11 1/21 1/33 1/45 1M M13 1M23 1M43 1M753 (2 VAC) 1L753 (4 VAC) 1L1K3 1L1K53 1L2K3 1L3K3 11B51B 14A52B 14A54B 2A575B 32A52KB 32A53KB 14A111B 14A112B 2A114B 2A1175B 32A112KB 5A113KB 14A211B 2A212B 2A214B 32A2175B 32A211K5B 5A212KB 5A213KB * You cannot use a Servomotor with a key and tap (model numbers with -S2 at the end) in combination with a Decelerator. 2,-r/min Servomotors and Decelerators (Backlash:3 Arcminutes Max.) * You cannot use a Servomotor with a key and tap (model numbers with -S2 at the end) in combination with a Decelerator. 1,-r/min Servomotors and Decelerators (Backlash:3 Arcminutes Max.) * You cannot use a Servomotor with a key and tap (model numbers with -S2 at the end) in combination with a Decelerator. 3,-r/min Servomotors and Decelerators (Backlash:15 Arcminutes Max.) 14A335B 2A331B 2A332B 32A334B 32A3375B 32A336SB 5A332KB 14A455B 2A451B 2A452B 32A454B 32A4575B 5A451K5B * You cannot use a Servomotor with a key and tap (model numbers with -S2 at the end) in combination with a Decelerator Servomotor models * 1/5 1/11 1/21 1/25 1/33 1/45 1M42 (4VAC) --- 1M62 (4VAC) 32A52KB 32A112KB 32A211K5B --- 1M1K2 32A53KB 32A112KSB 32A336SB 32A211KSB A332KSB --- 5A213KB 1M1K52 1M2K M3K2 32A54KB 5A115KB 5A213KSB 65A253KSB A454SB 5A451K5B 5A451KSB Servomotor models * 1/5 1/11 1/21 1/25 1/33 1/45 1M91 1M2K1 1M3K2 32A59TB 32A52KTB 5A55KSB 32A119TB --- 5A219TB --- 5A339TB 5A112KTB A212KTB 5A115KSB 65A25KSB 65A255KSB Servomotor models * Reduction ratio 1/5 1/9 1/15 1/25 1M53 1M13 R88G-VRXF5B1CJ R88G-VRXF9B1CJ R88G-VRXF15B1CJ R88G-VRXF25B1CJ 1M23 R88G-VRXF5B2CJ R88G-VRXF9C2CJ R88G-VRXF15C2CJ R88G-VRXF25C2CJ 1M43 R88G-VRXF5C4CJ R88G-VRXF9C4CJ R88G-VRXF15C4CJ R88G-VRXF25C4CJ 1M753 (2 VAC) R88G-VRXF5C75CJ R88G-VRXF9D75CJ R88G-VRXF15D75CJ R88G-VRXF25D75CJ 85

86 Cable Connection Configuration Select an appropriate cable for the Servomotor. Precautions for Correct Use The regulations for cables differ according to the country in use. (The regulations can also be different in the same country according to the region or where the Servomotors are installed.) Therefore, be sure to check to the respective certificate institution for a cable that conforms to the regulations of each country. Encoder Cables Connected to Connection configuration and external dimensions [mm] 1 V and 2 V: 3,-r/min Servomotors of 5 W, 1 W, 2 W, 4 W, and 75 W 2 V: 3,-r/min Servomotors of 1 kw, 2,-r/min Servomotors, and 1,-r/min Servomotors 4 V: 3,-r/min Servomotors, 2,-r/min Servomotors, and 1,-r/min Servomotors 1 V and 2 V: 3,-r/min Servomotors of 5 W, 1 W, 2 W, 4 W and 75 W 2 V: 3,-r/min Servomotors of 1 kw, 2,-r/min Servomotors, and 1,-r/min Servomotors 4 V: 3,-r/min Servomotors, 2,-r/min Servomotors, and 1,-r/min Servomotors Standard Cable R88A-CR1A C The empty boxes in the model number are for the cable length. (3 to 2 m: 5.3 dia. 3 to 5 m: 6. dia.) Standard Cable R88A-CR1B N The empty boxes in the model number are for the cable length. (6. dia.) Flexible Cable R88A-CR1A CF The empty boxes in the model number are for the cable length. (3 to 2 m: 5.3 dia. 3 to 5 m: 6. dia.) Flexible Cable R88A-CR1B NF The empty boxes in the model number are for the cable length. (6. dia.) Note: Cable length: 3 m, 5 m, 1 m, 15 m, 2 m, 3 m, 4 m, 5 m The empty boxes in the model number are put as follows: 3 m = 3, 5 m = 5, 1 m = 1. Power Cables without Brake Wire Servo Drive side connector Connector model Receptacle: 3E26-1KV (3M) Shell kit: 3E (3M) Servo Drive side connector Connector model Receptacle: 3E26-1KV (3M) Shell kit: 3E (3M) Servo Drive side connector Connector model Receptacle: 3E26-1KV (3M) Shell kit: 3E (3M) Servo Drive side connector Connector model Receptacle: 3E26-1KV (3M) Shell kit: 3E (3M) Connected to Connection configuration and external dimensions [mm] L L L L Servomotor side connector Angle clamp model JN6FR7SM1 Connector pin model LY1-C1-A1-1 Servomotor side connector Straight plug model JN2DS1SL1-R Contact model JN S-1 Servomotor side connector Angle clamp model JN6FR7SM1 Connector pin model LY1-C1-A1-1 Servomotor side connector Straight plug model JN2DS1SL1-R Contact model JN S-1 1 V and 2 V: 3,-r/min Servomotors of 1 W, 2 W, 4 W, and 75 W Standard Cable R88A-CA1A S The empty boxes in the model number are for the cable length. (6.8 dia.) 6 (8) Ferrite core L E4SR31334 (SEIWA ELECTRIC MFG CO. Ltd) Two turns on the core Note: Use the R88A- CN111A Power Connector/Socket Contact (Omron) for this cable V: 3,-r/min Servomotors of 1 kw, 2,-r/min Servomotors of 1 kw, and 1,-r/min Servomotors of 9 W Standard Cable R88A-CA1B S The empty boxes in the model number are for the cable length. (1.8 dia.) 6 (8) L E4SR31334 Ferrite core (SEIWA ELECTRIC MFG CO. Ltd) Two turns on the core 15 Servomotor side connector Connector JL1-6A2-4SE-EB Clamp JL4-222CK(12)-R 2 V: 3,-r/min Servomotors of 1.5 kw and 2,-r/min Servomotors of 1.5 kw 4 V: 3,-r/min Servomotors of 75 W, 1 kw, 1.5 kw, and 2 kw 2,-r/min Servomotors of 4 W, 6 W, 1 kw, 1.5 kw, and 2 kw 1,-r/min Servomotors of 9 W 2 V: 3,-r/min Servomotors of 2 kw and 3 kw 2,-r/min Servomotors of 2 kw and 3 kw 1,-r/min Servomotors of 2 kw 4 V: 3,-r/min Servomotors of 3 kw 2,-r/min Servomotors of 3 kw 1,-r/min Servomotors of 2 kw and 3 kw Standard Cable R88A-CA1C S The empty boxes in the model number are for the cable length. (1.8 dia.) Standard Cable R88A-CA1E S The empty boxes in the model number are for the cable length. (12. dia.) L L Servomotor side connector Connector JL1-6A2-4SE-EB Clamp JL4-222CK(12)-R Servomotor side connector Connector JL1-6A22-22SE-EB Clamp JL4-222CK(12)-R 86

87 Connected to Connection configuration and external dimensions [mm] 2 V: 1,-r/min Servomotors of 3 kw Standard Cable R88A-CA1F S The empty boxes in the model number are for the cable length. (14.5 dia.) L Servomotor side connector Connector JL1-6A22-22SE-EB Clamp JL4-222CK(14)-R 1 V and 2 V: 3,-r/min Servomotors of 1 W, 2 W, 4 W, and 75 W Flexible Cable R88A-CA1A SF The empty boxes in the model number are for the cable length. (6.8 dia.) 6 (8) Ferrite core L E4SR31334 (SEIWA ELECTRIC MFG CO. Ltd) Two turns on the core Note: Use the R88A- CN111A Power Connector/Socket Contact (Omron) for this cable V: 3,-r/min Servomotors of 1 kw, 2,-r/min Servomotors of 1 kw, and 1,-r/min Servomotors of 9 W Flexible Cable R88A-CA1B SF The empty boxes in the model number are for the cable length. (1.8 dia.) 6 (8) L E4SR31334 (SEIWA Ferrite core ELECTRIC MFG CO. Ltd) Two turns on the ferrite core 15 Servomotor side connector Connector JL1-6A2-4SE-EB Clamp JL4-222CK(12)-R 2 V: 3,-r/min Servomotors of 1.5 kw 2,-r/min Servomotors of 1.5 kw 4 V: 3,-r/min Servomotors of 75 W, 1 kw, 1.5 kw, and 2 kw 2,-r/min Servomotors of 4 W, 6 W, 1 kw, 1.5 kw, and 2 kw 1,-r/min Servomotors of 9 W 2 V: 3,-r/min Servomotors of 2 kw and 3 kw 2,-r/min Servomotors of 2 kw and 3 kw 1,-r/min Servomotors of 2 kw 4 V: 3,-r/min Servomotors of 3 kw 2,-r/min Servomotors of 3 kw 1,-r/min Servomotors of 2 kw and 3 kw 2 V: 1,-r/min Servomotors of 3 kw Flexible Cable R88A-CA1C SF The empty boxes in the model number are for the cable length. (1.8 dia.) Flexible Cable R88A-CA1E SF The empty boxes in the model number are for the cable length. (12. dia.) Flexible Cable R88A-CA1F SF The empty boxes in the model number are for the cable length. (14.5 dia.) Note: Cable length: 3 m, 5 m, 1 m, 15 m, 2 m, 3 m, 4 m, 5 m The empty boxes in the model number are put as follows: 3 m = 3, 5 m = 5, 1 m = 1. Power Cables with Brake Wire Connected to Connection configuration and external dimensions [mm] L L L Servomotor side connector Connector JJL1-6A2-4SE-EB Clamp JL4-222CK(12)-R Servomotor side connector Connector JL1-6A22-22SE-EB Clamp JL4-222CK(12)-R Servomotor side connector Connector JL1-6A22-22SE-EB Clamp JL4-222CK(14)-R 2 V: 3,-r/min Servomotors of 1 kw 2,-r/min Servomotors of 1 kw 1,-r/min Servomotors of 9 W Standard Cable R88A-CA1B B The empty boxes in the model number are for the cable length. (12.5 dia.) Ferrule (WAGO) 6 (8) Ferrite core L E4SR31334 (SEIWA ELECTRIC MFG CO. Ltd) Two turns on the ferrite core Servomotor side connector Connector JN6FS5SJ2 Socket contact ST-JN6-S-C1B-25 2 V: 3,-r/min Servomotors of 1.5 kw 2,-r/min Servomotors of 1.5 kw Standard Cable R88A-CA1C B The empty boxes in the model number are for the cable length. (12.5 dia.) Ferrule (WAGO) L Servomotor side connector Connector JL1-6A2-18SE-EB Clamp JL4-222CK(12)-R 87

88 Connected to Connection configuration and external dimensions [mm] 4 V: 3,-r/min Servomotors of 75 W, 1 kw, 1.5 kw, and 2 kw 2,-r/min Servomotors of 4 W, 6 W, 1 kw, 1.5 kw, and 2 kw 1,-r/min Servomotors of 9 W Standard Cable R88A-CA1D B The empty boxes in the model number are for the cable length. (12.5 dia.) Ferrule (WAGO) L Servomotor side connector Connector JL1-6A24-11SE-EB Clamp JL4-2428CK(14)-R 2 V: 3,-r/min Servomotors of 2 kw and 3 kw 2,-r/min Servomotors of 2 kw and 3 kw 1,-r/min Servomotors of 2 kw 4 V: 3,-r/min Servomotors of 3 kw 2,-r/min Servomotors of 3 kw 1,-r/min Servomotors of 2 kw and 3 kw Standard Cable R88A-CA1E B The empty boxes in the model number are for the cable length. (14. dia.) Ferrule (WAGO) L Servomotor side connector Connector JL1-6A24-11SE-EB Clamp JL4-2428CK(14)-R 2 V: 1,-r/min Servomotors of 3 kw Standard Cable R88A-CA1F B The empty boxes in the model number are for the cable length. (17. dia.) Ferrule (WAGO) 175 L Servomotor side connector Connector JN6FS5SJ2 Socket contact ST-JN5-S-C1B-25 2 V: 3,-r/min Servomotors of 1 kw 2,-r/min Servomotors of 1 kw 1,-r/min Servomotors of 9 W Flexible Cable R88A-CA1B BF The empty boxes in the model number are for the cable length. (12.5 dia.) Ferrule (WAGO) 6 (8) L E4SR31334 Ferrite core (SEIWA ELECTRIC MFG CO. Ltd) Two turns on the ferrite core Servomotor side connector Connector JL1-6A2-18SE-EB Clamp JL4-222CK(14)-R 2 V: 3,-r/min Servomotors of 1.5 kw 2,-r/min Servomotors of 1.5 kw Flexible Cable R88A-CA1C BF The empty boxes in the model number are for the cable length. (12.5 dia.) Ferrule (WAGO) L Servomotor side connector Connector JL1-6A2-18SE-EB Clamp JL4-222CK(12)-R 4 V: 3,-r/min Servomotors of 75 W, 1 kw, 1.5 kw, and 2 kw 2,-r/min Servomotors of 4 W, 6 W, 1 kw, 1.5 kw, and 2 kw 1,-r/min Servomotors of 9 W 2 V: 3,-r/min Servomotors of 2 kw and 3 kw 2,-r/min Servomotors of 2 kw and 3 kw 1,-r/min Servomotors of 2 kw 4 V: 3,-r/min Servomotors of 3 kw 2,-r/min Servomotors of 3 kw 1,-r/min Servomotors of 2 kw and 3 kw Flexible Cable R88A-CA1D BF The empty boxes in the model number are for the cable length. (12.5 dia.) Flexible Cable R88A-CA1E BF The empty boxes in the model number are for the cable length. (14.2 dia.) Ferrule (WAGO) Ferrule (WAGO) L L Servomotor side connector Connector JL1-6A24-11SE-EB Clamp JL4-2428CK(14)-R Servomotor side connector Connector JL1-6A24-11SE-EB Clamp JL4-2428CK(14)-R 2 V: 1,-r/min Servomotors of 3 kw Flexible Cable R88A-CA1F BF The empty boxes in the model number are for the cable length. (17. dia.) Ferrule (WAGO) L Servomotor side connector Connector JL1-6A24-11SE-EB Clamp JL4-2428CK(17)-R Note: Cable length: 3 m, 5 m, 1 m, 15 m, 2 m, 3 m, 4 m, 5 m The empty boxes in the model number are put as follows: 3 m = 3, 5 m = 5, 1 m = 1. 88

89 Brake Cables Connected to Connection configuration and external dimensions [mm] 1 V and 2 V: 3,-r/min Servomotors of 1 W, 2 W, 4 W, and 75 W 1 V and 2 V: 3,-r/min Servomotors of 1 W, 2 W, 4 W, and 75 W Standard Cable R88A-CA1A B The empty boxes in the model number are for the cable length. (5. dia.) Flexible Cable R88A-CA1A BF The empty boxes in the model number are for the cable length. (5. dia.) Ferrule (WAGO) Ferrule (WAGO) 4 L 5 dia. 4 L 5 dia. Note: Cable length: 3 m, 5 m, 1 m, 15 m, 2 m, 3 m, 4 m, 5 m The empty boxes in the model number are put as follows: 3 m = 3, 5 m = 5, 1 m = 1. Power Cables without Brake Wire (Non-load side, Flexible Cable) Connected to Connection configuration and external dimensions [mm] Servomotor side connector Connector JN6FR2SM1 Socket contact LY1-C1-A1-1 Servomotor side connector Connector JN6FR2SM1 Socket contact LY1-C1-A1-1 1 V, 2 V: 3,-r/min Servomotors of 5 W, 2 W, 4 W and 75 W Non-load side, Flexible Cable R88A-CA1A@@@SFR The empty boxes in the model number are for the cable length. (6.8 dia.) Note: Cable length: 3 m, 5 m, 1 m, 15 m, 2 m The empty boxes in the model number are put as follows: 3 m = 3, 5 m = 5, 1 m = (8) Ferrite core L E4SR31334 (SEIWA ELECTRIC MFG CO. Ltd) Two turns on the core Non-load side display label Servomotor side connector Connector JN6FS5SJ1 Socket contact ST-JN6-S-C1B-25 Brake Cables (Non-load side, Flexible Cable) Connected to Connection configuration and external dimensions [mm] 1 V, 2 V: 3,-r/min Servomotors of 5 W, 2 W, 4 W and 75 W Non-load side, Flexible Cable R88A-CA1A@@@BFR The empty boxes in the model number are for the cable length. (5. dia.) Ferrule (WAGO) Note: Cable length: 3 m, 5 m, 1 m, 15 m, 2 m The empty boxes in the model number are put as follows: 3 m = 3, 5 m = 5, 1 m = dia. L Non-load side display label Servomotor side connector Connector JN6FR2SM1 Socket contact LY1-C1-A1-1 89

90 Related Manuals English Man.No. Japanese Man.No. I586 SBCE /R88D-1SN -ECT Manual name AC Servomotors/Servo Drives 1S-Series with EtherCAT Communications User's Manual W535 SBCA-418 NX71- NX-series CPU Unit User's Manual (Hardware) W593 SBCA-462 NX12- NX-series NX12 CPU Unit Hardware User s Manual W578 W5 W51 W57 SBCA-448 SBCA-358 SBCA-359 SBCE-363 NX1P2- NX1P2-1 NJ51- NJ31- NJ11- NX71- NJ51- NJ31- NJ11- NX71- NJ51- NJ31- NJ11- NX-series NX1P2 CPU Unit User s Manual (Hardware) NJ-series CPU Unit User's Manual (Hardware) NJ-series / NX-series CPU Unit User's Manual (Software) NJ-series / NX-series CPU Unit User's Manual (Motion Control) Z93 SGFM-71 NX-SL NX-SI NX-series Safety Control Unit User's Manual NX-SO W54 SBCA-362 SYSMAC-SE2 Sysmac Studio Version 1 Operation Manual I589 SBCE-41 SYSMAC-SE2 Sysmac Studio Drive Function Operation Manual W487 SBCE-359 CJ1W-NC281 CJ1W-NC481 CJ1W-NC881 CJ1W-NCF81 CJ-series Position Control Unit Operation Manual CJ1W-NC482 CJ1W-NC882 CJ1W-NCF82 Z922 SJLB-36 G9SP-N1S G9SP-N1D G9SP-N2S G9SP Series Safety Controller Operation Manual 9

91 Mechatronics Sizing Tool for AC Servo Motors AC Servo System 1S-series AC Servo motors selection for the entire machine User can size all axes in one project with the corresponded Sysmac controller. Pre-defined system can be used for common applications. Selection of optimized drive, motor and gearbox combination. Multiple views are not required: design, adjust and validate at a glance. Import sizing file directly to Sysmac Studio for reducing the machine development time. Quick sizing and selection of AC servo motors High variety of mechanical system Import CAM from Sysmac Studio Kinematics chain architecture includes motor, reducer, loads and motion profile. Adjustments can be done in one view and results autorefreshed. Re-use work done during design phase Export sizing file result. Import sizing file result in Sysmac Studio. EtherCAT configuration, axes settings and drives parameters will be created automatically Compatible models 1S series EtherCAT Communications R88D-1SN -ECT G5 series EtherCAT Communications for Position Control R88D-KN -ECT(-R) G5 series EtherCAT Communications (Linear Motor Type) R88D-KN -ECT-L G5 series MECHATROLINK-II Communications R88D-KN -ML2 G5 series General-purpose Pulse Train or Analog Inputs R88D-KT G series MECHATROLINK-II Communications R88D-GN -ML2 G series General-purpose Pulse Train or Analog Inputs R88D-GT Smart Step 2 General-purpose Pulse Train R7D-BP 91