Drive Servo Motor Omron

AC Servomotors/ Servo Drives
G Series
A Wide Variation of Models with the Functions and Performance
Demanded in Servo Systems
Series
» E a s y adjustment
» Quickly suppress vibration

» Built-in MECHATROLINK communications interface
Complete Reinforcement of Functions
and Performance Demanded
in Servo Systems
Features 2
Selection Guide 6
G-series Servomotors and Servo

Drives with General-purpose Inputs
System Configuration 8
Interpreting Model Numbers 10
Integrated Development Environment Ordering Information 12

Servo Drive-Servomotor Combinations 21
Cut Your TCO from Design to Maintenance. Servomotor and Decelerator Combinations 22
Servo Relay Units and Cables 23
MECHATROLINK-II-compatible AC Servomotors/Servo Drives Motion Control Unit Cables 23
Cable Combinations 24
One Cable Enables Setting and Monitoring Parameters
Servo Drive Specifications 29
Connect the PLC and Servo Drive with a single cable to reduce Servomotor Specifications 31
wiring. What's more, the parameters for many Servo Drives can Decelerator Specifications 42
be set and monitored at the same time between a personal Encoder, External Regeneration
computer and the Controller. Resistors, Reactor and Parameter 46
Unit Specifications
Connections 48
PLC I/O Circuit Diagrams 55

PC
Components and Functions 57
MECHATROLINK-II Parameter 59
Dimensions 62
About Manuals 85
G-series Servomotors and Servo Drives

with MECHATROLINK-II Communications
G Series
Note: MECHATROLINK-II is a registered trademark of the Interpreting Model Numbers 88
MECHATROLINK Members Association.
Ordering Information 90
Many CX-One Servomotor and Decelerator Combinations 101
Let the G Series solve Suitable for various
applications
Variations Easily Program Positioning and Communications Cable Combinations 102
your equipment problems. Easy host

With the CX-One FA Integrated Tool Package, parameters settings,
Servo Drive Specifications
Servomotor Specifications
106
109
Connectability program design, debugging, operation monitoring, alarms, error monitoring,
Increase Productivity! connections Decelerator Specifications 120
and maintenance of the Servo System can be handled with ease.
Encoder, External Regeneration
The many variations provided by G-series Servo Resistors, Reactor and Parameter 124
Systems features high-precision positioning with Setting & Programming FB
Unit Specifications
Setting Parameters
improved response and vibration control, making it Easy programming with the
Connections 126
suitable for a variety of applications. Programming Smart FB Library
Unit Configuration I/O Circuit Diagrams 131
Easy adjustments
Integrated Debugging Parameter Editing & Monitoring Parameter 134
Easy System Design
The Servomotor Dimensions 136
Operation & Maintenance parameters can be
About Manuals 159
edited, monitored, and
PC saved with the CX-Drive.
High Speed
& Note: CX-Drive (version 1.61) support for G-series
Alarm & Maintenance Servo Drives can be obtained by using the
Improved
High Precision PLC Easy monitoring of the NC CX-One V2 auto-update function from May
performance 30, 2008.
Unit & Drive errors
Note: CX-Drive (version 1.62) support for G-series
PT
Servo Drivers with MECHATROLINK-II
G Series Communications can be obtained by using
the CX-One V2/V3 auto-update function from
July 31, 2008.
OMRON, for Easy Setup, Easy Operation, Easy Connections, and Easy Monitoring
2 G Series: Features G Series: Features 3

Features 2
Selection Guide 6
G-series Servomotors and Servo

Drives with General-purpose Inputs
Interpreting Model Numbers 10
Integrated Development Environment Ordering Information 12

Cut Your TCO from Design to Maintenance. Servomotor and Decelerator Combinations 22
Servo Relay Units and Cables 23
MECHATROLINK-II-compatible AC Servomotors/Servo Drives Motion Control Unit Cables 23
Cable Combinations 24
One Cable Enables Setting and Monitoring Parameters
Connect the PLC and Servo Drive with a single cable to reduce Servomotor Specifications 31
wiring. What's more, the parameters for many Servo Drives can Decelerator Specifications 42
be set and monitored at the same time between a personal Encoder, External Regeneration
computer and the Controller. Resistors, Reactor and Parameter 46
Unit Specifications
Connections 48
PLC I/O Circuit Diagrams 55

PC
MECHATROLINK-II Parameter 59
Dimensions 62
About Manuals 87
G-series Servomotors and Servo Drives

with MECHATROLINK-II Communications
G Series
Note: MECHATROLINK-II is a registered trademark of the Interpreting Model Numbers 90
MECHATROLINK Members Association.
Ordering Information 92
CX-One Servomotor and Decelerator Combinations 103
Easily Program Positioning and Communications Cable Combinations 104
With the CX-One FA Integrated Tool Package, parameters settings,
Servomotor Specifications 111
program design, debugging, operation monitoring, alarms, error monitoring,
Decelerator Specifications 122
and maintenance of the Servo System can be handled with ease.
Encoder, External Regeneration
Resistors, Reactor and Parameter 126
Setting & Programming FB
Unit Specifications
Setting Parameters
Easy programming with the
Connections 128
Programming Smart FB Library
Unit Configuration I/O Circuit Diagrams 133
Integrated Debugging Parameter Editing & Monitoring Parameter 136
System Design
The Servomotor Dimensions 138
Operation & Maintenance parameters can be
About Manuals 163
edited, monitored, and
PC saved with the CX-Drive.
Alarm & Maintenance Servo Drives can be obtained by using the
PLC Easy monitoring of the NC CX-One V2 auto-update function from May
Unit & Drive errors 30, 2008.

PT
Servo Drivers with MECHATROLINK-II
G Series Communications can be obtained by using
the CX-One V2/V3 auto-update function from
July 31, 2008.
OMRON, for Easy Setup, Easy Operation, Easy Connections, and Easy Monitoring
G Series: Features 3
Wider Range of Compact Servomotors and Servo Drives with Increased Machine
Compatibility, Plus Fast Positioning with Improved Response and Vibration Control
Achieve Maximum Machine Performance with the Series
Easy! Advanced Performance! Advanced Functionality!

Easy Adjustment Reduce Tact Time Reduce Mechanical Vibration Flexible Application
Realtime autotuning sets the optimum gain. Significantly better speed response frequency. Quick suppression of vibration with an adaptive filter. Change the command control mode as
An autotuning function calculates the device load in The speed response frequency has been improved by a factor of 2.5 Even if the resonant frequency changes, realtime evaluation
required by the application.
realtime and automatically sets the optimum gain, compared to previous OMRON models. The stabilization time has been automatically follows the changes to reduce the effect of vibration Select from position control, speed control, and torque
simplifying the adjustment procedure. reduced, increasing machine speed and response performance. due to low mechanical rigidity, such as for conveyer belts. control for use in applications such as the pressing,
tension, and injection.
2.5 times better
Automatic than previous Automatically adjusts filter
to vibration frequency.
Application Examples
Load signal Gain Speed Response OMRON models
Setting Frequency Attaching Parts, Pressing, and Tightening Screws
1000 Hz Plus two notch filters CJ-series Programmable Programmable
Controller Terminal
Vibration Vibration is Quickly
suppresses vibration
Select the Optimum Motor Reduce Tact Time Reduce Tact Time CJ1W-NCF71
Position Control Unit
MECHATROLINK-II
A wide range of Servomotors is available to Fast positioning with improved command Reduce mechanical vibration with the
meet application needs. pulse frequency performance. vibration control function.
You can select a suitable Servomotor from a wide range The command pulse frequency is 4 times faster than previous By removing the vibration frequency components between the stop position
of Servomotor capacities to cater to various applications. OMRON models. This enables fast, accurate control. and the intermediate position, vibration that occurs due to low mechanical
Pressure applied with
4 times faster rigidity can be suppressed. (Control for two vibration frequencies) constant torque.
Speed(r/min)
3000 Command Pulse than previous Stop position

Frequency OMRON models Feed
2000 2,000,000 pps Previous Models
1000
Travel
Rollers and Conveyers
50W 300W 900W 1kW 3kW 5kW 6kW 7.5kW Continuous Intermittent
The rated speed is 1,500 r/min for 7.5 kW Servomotors only (Motor capacity) Vibration feed feed Intermittent operation
Heating sheet with Inverter
Reduce Control Panel Installation Space Improve Processing Accuracy Intermediate position
*1 Continuous
Even Smaller Servo Drives. All Servomotors contain a 17-bit encoder Control for two vibration
frequencies feed
Change
in position
Encoder
Dancer
for greater accuracy. Dancer roller 2
The footprint of the Servo Drives has been reduced by 32% compared to *2 Travel Servo 2: roller 1
Positioning is twice as accurate as previous OMRON models for Tension
Servo 3:
previous OMRON models, helping to reduce control panel size. Servo 1: Tension Control
submicron accuracy. This enables stable control in the low speed range. No vibration! Tension Control
55 Analog input
Control Analog output
130 40 1 m 0.5 m Analog output Analog input
Previous OMRON
132 Models 16 bits Resolution Stop position
Analog output
17 bits Pulse input
Footprint
160 Reduced
150 by 32 % Travel
FQM1-series Controller
*1 For Servomotors with absolute encoders. No vibration!

*2 Compared to previous OMRON models. (Servomotors with absolute encoders, 750 W max.)

Wider Range of Compact Servomotors and Servo Drives with Increased Machine
Compatibility, Plus Fast Positioning with Improved Response and Vibration Control
Achieve Maximum Machine Performance with the Series
Easy! Advanced Performance! Advanced Functionality!

Easy Adjustment Reduce Tact Time Reduce Mechanical Vibration Flexible Application
Realtime autotuning sets the optimum gain. Significantly better speed response frequency. Quick suppression of vibration with an adaptive filter. Change the command control mode as
An autotuning function calculates the device load in The speed response frequency has been improved by a factor of 2.5 Even if the resonant frequency changes, realtime evaluation
required by the application.
realtime and automatically sets the optimum gain, compared to previous OMRON models. The stabilization time has been automatically follows the changes to reduce the effect of vibration Select from position control, speed control, and torque
simplifying the adjustment procedure. reduced, increasing machine speed and response performance. due to low mechanical rigidity, such as for conveyer belts. control for use in applications such as the pressing,
tension, and injection.
2.5 times better
Automatic than previous Automatically adjusts filter
to vibration frequency.
Application Examples
Load signal Gain Speed Response OMRON models
Setting Frequency Attaching Parts, Pressing, and Tightening Screws
1000 Hz Plus two notch filters CJ-series Programmable Programmable
Controller Terminal
Vibration Vibration is Quickly
suppresses vibration
Select the Optimum Motor Reduce Tact Time Reduce Tact Time CJ1W-NCF71
MECHATROLINK-II
A wide range of Servomotors is available to Fast positioning with improved command Reduce mechanical vibration with the
meet application needs. pulse frequency performance. vibration control function.
You can select a suitable Servomotor from a wide range The command pulse frequency is 4 times faster than previous By removing the vibration frequency components between the stop position
of Servomotor capacities to cater to various applications. OMRON models. This enables fast, accurate control. and the intermediate position, vibration that occurs due to low mechanical
Pressure applied with
4 times faster rigidity can be suppressed. (Control for two vibration frequencies) constant torque.
Speed(r/min)
3000 Command Pulse than previous Stop position

Frequency OMRON models Feed
2000 2,000,000 pps Previous Models
1000
Travel
Rollers and Conveyers
50W 300W 900W 1kW 3kW 5kW 6kW 7.5kW Continuous Intermittent
The rated speed is 1,500 r/min for 7.5 kW Servomotors only (Motor capacity) Vibration feed feed Intermittent operation
Heating sheet with Inverter
Reduce Control Panel Installation Space Improve Processing Accuracy Intermediate position
*1 Continuous
Even Smaller Servo Drives. All Servomotors contain a 17-bit encoder Control for two vibration
frequencies feed
Change
in position
Encoder
Dancer
for greater accuracy. Dancer roller 2
The footprint of the Servo Drives has been reduced by 32% compared to *2 Travel Servo 2: roller 1
Positioning is twice as accurate as previous OMRON models for Tension
Servo 3:
previous OMRON models, helping to reduce control panel size. Servo 1: Tension Control
submicron accuracy. This enables stable control in the low speed range. No vibration! Tension Control
55 Analog input
Control Analog output
130 40 1 m 0.5 m Analog output Analog input
Previous OMRON
132 Models 16 bits Resolution Stop position
Analog output
17 bits Pulse input
Footprint
160 Reduced
150 by 32 % Travel
FQM1-series Controller
*1 For Servomotors with absolute encoders. No vibration!

*2 Compared to previous OMRON models. (Servomotors with absolute encoders, 750 W max.)

Selection Guide
The optimum combination can be found from a variety of functions and model variations
to handle various applications.
Servo Drive Variations Servomotor Variations

G Series G Series
Servo Drives with General-purpose Inputs MECHATROLINK-II* Compatible Servo Drives Servomotors with General-purpose Inputs and MECHATROLINK-II* Compatible Servomotors
R88D-GT R88D-GN -ML2 R88M-G

Power supply
AC100V Single-phase Single-phase
AC200V Single-phase Single/ Three-phase Single-phase Single/ Three-phase

Three-phase Three-phase
Motor type Cylinder type Cylinder type Flat type
AC100V 50 100 200 400 50 100 200 400
W W W W W W W W Rated speed 1000r/min 2000r/min 3000r/min
Motor capacity
50 100 200 400 50 100 200 400 INC

Single-phase 50W INC
W W W W W W W W ABS
AC200V Single/ 750 900 1 1.5 750 900 1 1.5 100W INC
INC
INC
INC
Three-phase W W kW kW W W kW kW ABS ABS
2 3 4 4.5 5 6 7.5 2 3 4 4.5 5 6 7.5 INC INC

Three-phase 200W INC INC
kW kW kW kW kW kW kW kW kW kW kW kW kW kW ABS ABS
Pulse INC INC

Interface Command type train Analog ML2 400W INC INC
ABS ABS
Control modes Tuning functions
Position Speed Torque Position Speed Torque INC

Control modes control control control control control control 750W INC
ABS
Mode Mode INC

Control mode switching switching switching 900W
ABS
Servomotor capacity
*1 *1 INC INC
Vibration control Vibration Vibration 1kW
control control ABS ABS
INC INC
Autotuning AUTO AUTO 1.5kW
ABS ABS
Realtime autotuning FIT Adaptive *2 Adaptive *2 2kW INC INC INC

GAIN filter filter ABS ABS ABS
Torque *1 Torque *1
Servo Drive functions
INC INC INC

Torque limits limit limit 3kW
ABS ABS ABS
INC INC
Encoder output ABS INC ABS INC 4kW
ABS ABS
8 INC
Internal set speeds speeds 4.5kW
ABS
*1. Two limits. *2. One adaptive filter and two notch filters. INC INC
5kW
ABS ABS
Functions 6kW INC

ABS
Pulse train: Analog: ML2: MECHATROLINK-II Position control: Control is Speed control: Control is applied to change the linear
Pulse The speed and travel Analog The speed and torque Position Speed or rotational speed. For example, speed control is used
train ML2 high-speed Servo control applied to move to the target INC *4
distance are input to the are input to the Servo communications motion position and then stop at the
control
for applications such as turning grindstones, controlling 7.5kW
ABS
Servo as pulse trains. as analog signals. network. (See note.) target position. welding speeds, and controlling feeding speeds.
*4. The rated speed is 1,500 r/min for 7.5 kW Servomotors only
Torque control: Control is applied to Command control mode switching
: Vibration control function: Autotuning: The motor is moved according to a
Torque adjust the rotational force. Torque control Mode Vibration Vibration is suppressed by AUTO command pattern automatically generated by the Servo
control switching Switching is possible between any two of control automatically setting a filter for
is suitable for applications such as parts
insertion, pressing, and screw tightening.
the three control modes: position control,
speed control, and torque control. the vibration frequency.
Drive, then estimates the load inertia from the torque
required at that time to automatically set the optimum Functions
Fit gain: The rigidity for the realtime Absolute output: When the Controller Incremental output: When Adaptive filter: The machine Torque limit: Switching is
FIT Adaptive load inertia is calculated in Torque possible between the first torque INC Incremental/absolute output: The Servomotor can be switched between an incremental Incremental output: When the Controller power supply is
GAIN autotuning for position control is set ABS power supply is turned ON, the Controller INC the Controller power supply is filter limit output and an absolute output. When an absolute output is selected and the Controller power INC turned ON, operation is always started from the origin point.
automatically. By repeatedly inputting reads the Servo absolute position data to turned ON, operation is always realtime and the result is used to limit and the second torque limit to ABS supply is turned ON, the Controller reads the Servo absolute position data to restore the absolute
a specific operation pattern, the restore the absolute position. started from the origin point. automatically set the optimum gain. limit the Servomotor output torque. position. *MECHATROLINK-II is a registered trademark of the MECHATROLINK Members Association
optimum rigidity is set automatically.

Selection Guide
The optimum combination can be found from a variety of functions and model variations
to handle various applications.
Servo Drive Variations Servomotor Variations

G Series G Series
Servo Drives with General-purpose Inputs MECHATROLINK-II* Compatible Servo Drives Servomotors with General-purpose Inputs and MECHATROLINK-II* Compatible Servomotors
R88D-GT R88D-GN -ML2 R88M-G

Power supply
AC100V Single-phase Single-phase
AC200V Single-phase Single/ Three-phase Single-phase Single/ Three-phase

Three-phase Three-phase
Motor type Cylinder type Cylinder type Flat type
AC100V 50 100 200 400 50 100 200 400
W W W W W W W W Rated speed 1000r/min 2000r/min 3000r/min
Motor capacity
50 100 200 400 50 100 200 400 INC

Single-phase 50W INC
W W W W W W W W ABS
AC200V Single/ 750 900 1 1.5 750 900 1 1.5 100W INC
INC
INC
INC
Three-phase W W kW kW W W kW kW ABS ABS
2 3 4 4.5 5 6 7.5 2 3 4 4.5 5 6 7.5 INC INC

Three-phase 200W INC INC
kW kW kW kW kW kW kW kW kW kW kW kW kW kW ABS ABS
Interface Command type Pulse Analog INC INC

train ML2 400W INC INC
ABS ABS
Control modes Tuning functions
Position Speed Torque Position Speed Torque INC

Control modes control control control control control control 750W INC
ABS
Mode Mode INC

Control mode switching switching switching 900W
ABS
Servomotor capacity
*1 *1 INC INC
Vibration control Vibration Vibration 1kW
control control ABS ABS
INC INC
Autotuning AUTO AUTO 1.5kW
ABS ABS
Realtime autotuning FIT Adaptive *2 Adaptive *2 2kW INC INC INC

GAIN filter filter ABS ABS ABS
Torque *1 Torque *1
Servo Drive functions
INC INC INC

Torque limits limit limit 3kW
ABS ABS ABS
INC INC
Encoder output ABS INC ABS INC 4kW
ABS ABS
8 INC
Internal set speeds speeds 4.5kW
ABS
*1. Two limits. *2. One adaptive filter and two notch filters. INC INC
5kW
ABS ABS
Functions 6kW INC

ABS
Pulse train: Analog: ML2: MECHATROLINK-II Position control: Control is Speed control: Control is applied to change the linear
Pulse The speed and travel Analog The speed and torque Position Speed or rotational speed. For example, speed control is used
train ML2 high-speed Servo control applied to move to the target control INC *4
distance are input to the are input to the Servo communications motion position and then stop at the for applications such as turning grindstones, controlling 7.5kW
ABS
Servo as pulse trains. as analog signals. network. (See note.) target position. welding speeds, and controlling feeding speeds.
*4. The rated speed is 1,500 r/min for 7.5 kW Servomotors only
Torque control: Control is applied to Command control mode switching
: Vibration control function: Autotuning: The motor is moved according to a
Torque adjust the rotational force. Torque control Mode Vibration Vibration is suppressed by AUTO command pattern automatically generated by the Servo
control switching Switching is possible between any two of control automatically setting a filter for
is suitable for applications such as parts the three control modes: position control, Drive, then estimates the load inertia from the torque
insertion, pressing, and screw tightening. speed control, and torque control. the vibration frequency. required at that time to automatically set the optimum Functions
Fit gain: The rigidity for the realtime Absolute output: When the Controller Incremental output: When Adaptive filter: The machine Torque limit: Switching is
FIT Adaptive load inertia is calculated in Torque possible between the first torque INC Incremental/absolute output: The Servomotor can be switched between an incremental Incremental output: When the Controller power supply is
GAIN autotuning for position control is set ABS power supply is turned ON, the Controller INC the Controller power supply is filter limit output and an absolute output. When an absolute output is selected and the Controller power INC turned ON, operation is always started from the origin point.
automatically. By repeatedly inputting reads the Servo absolute position data to turned ON, operation is always realtime and the result is used to limit and the second torque limit to ABS supply is turned ON, the Controller reads the Servo absolute position data to restore the absolute
a specific operation pattern, the restore the absolute position. started from the origin point. automatically set the optimum gain. limit the Servomotor output torque. position. *MECHATROLINK-II is a registered trademark of the MECHATROLINK Members Association
optimum rigidity is set automatically.

G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs
R88M-G/R88D-GT
Support for a Wide Range of Applications with Position Control,
Speed Control, Torque Control.
• High-speed Response settings can be made easily merely by setting the vibration
The G-series AC Servomotors and Servo Drives have frequency and filter values, and you are assured of stable
achieved high-speed response capabilities, with a high- operation even if the settings are inappropriate.
response frequency of 1 kHz. • High-speed Positioning via Resonance Suppression Control
• Suppressing Vibration of Low-rigidity Mechanisms during The realtime autotuning function automatically estimates
Acceleration/Deceleration the load inertia of the machine in realtime and sets the
The damping control function suppresses vibration of optimal gain. The adaptive filter automatically suppresses
low-rigidity mechanisms or devices whose ends tend to vibration caused by resonance. Also, two independent
vibrate. Two damping filters are provided to enable switching notch filters make it possible to reduce vibration of a
the vibration frequency automatically according to the direction mechanism with multiple resonance frequencies.
of rotation and also via an external signal. In addition, the
Note: CX-Drive (version 1.61) support for G-series Servo Drives can be obtained by using the CX-One V2
System Configuration auto-update function from May 30, 2008.
Controllers Monitor Software Parameter Unit

CX-Drive R88A-PR02G
See Note
CJ-series PLC FQM1-series PLC CS-series PLC

Personal Computer Monitor Cable
• Position Control Unit (High-speed type) R88A-CCG002P2
NC214
CN1
RUN SYNC
ERC ERH
1
2
A1
A2
B1
B2
AS
BS
MACH
Pulse Train Commands
AXIS1
No.
x10 1
x10 0
CN2
MPG
AXIS2
Direct Connection cable for CJ1W-NC@@4

AXIS1
AXIS2
CJ1W-NC214/-NC414 XW2Z-@@@J-G@
CJ1W-NC234/-NC434
• Position Control Unit • Flexible Motion Controller Analog Commands

with Analog I/O
feedback signals

CS1W-MC221-V1/-MC421-V1 FQM1-MMA22
Position Control Servo Relay Servo Drive
• Motion Control Unit • Flexible Motion Controller Unit Cables Units Cables
with Pulse I/O
XW2Z-@@@J-A@ XW2B-@@J@-@@@ XW2Z-@@@J-B@@
CJ1W-NC113/213/413 CS1W-NC113/213/413 FQM1-MMP22

CJ1W-NC133/233/433 CS1W-NC133/233/433
HCP22
IN
OUT
MACH
No.
RUN
ERC
0 1 2 3
OPN
ERH
8 9 10 11
0 1 2 3
X101
COMM
4 5 6 7
4 5 6 7
X100
Connector-Terminal Block Conversion Units and Cable
TOOL ON
OFF
A1
B1
A2
B2
PERIHERAL
1
XW2@-50G@ XW2Z-@@@J-B24
12
CN2
CN1
1
B
20
00906 A A
B
CJ1M-CPU21/22/23 Customizable Counter Unit

CS1W-HCP22-V1
Support Software
• CX-One FA Integrated Tool Package
CX-Programmer
CX-Position
CP1H/CP1L
8 G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT

• Command Control Mode Switching
Operation can be performed by switching between two of the
following control modes: Position control, speed control
(including internal speed) and torque control. Therefore, a
variety of applications can be supported by one Servo Drive.
• Simplified Speed Control with Internal Speed Settings
Eight internal speed settings allow you to change the speed
easily by using external signals.
AC Servo Drives AC Servomotors

Motor power signals
Power Cables
• Standard Cables
Without Brake
R88A-CAG@@@@S
With Brake
R88A-CAG@@@@B
• Robot Cable
• G-series Without Brakes • Model without Decelerators
AC Servo Drive R88A-CAG@@@@SR R88M-G
R88D-GT With Brake
R88A-CAG@@@@BR
feedback signals
Encoder Cables
• Standard Cables
50 W to 750 W
R88A-CRG@@@@C
900 W to 7.5 kW
R88A-CRGC@@@N
• Robot Cables
50 W to 750 W
R88A-CRG@@@@CR
900 W to 7.5 kW
R88A-CRGC@@@NR
Decelerators
Absolute Encoder Battery Cable
Peripheral Devices • Backlash: 3 Arcminutes Max.
R88A-CRGD0R3C (-BS) R88G-HPG
• Reactors (One Battery is included with Servo Drivers
) Backlash: 15 Arcminutes Max.
with model numbers ending in “BS.” R88G-VRSF
3G3AX-DL
3G3AX-AL
• External Regeneration Resistors *Not required if a battery is connected to the
R88A-RR control connector (CN1).
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT 9

Interpreting Model Numbers
● Servo Drive Model Numbers
The model number provides information such as the Servo Drive type, the applicable Servomotor capacity, and the power supply voltage.
R88D-GT01H
G-series
Servo Drive
Drive Type
T: Three-mode type
Applicable Servomotor Capacity
A5: 50 W
01: 100 W
02: 200 W
04: 400 W
08: 750 W
10: 1 kW
15: 1.5 kW
20: 2 kW
30: 3 kW Power Supply Voltage
50: 5 kW L: 100 VAC
75: 7.5 kW H: 200 VAC
● Servomotor Model Numbers
R88M-GP10030H-BOS2
G-series
Servomotor
Motor Type
Blank: Cylinder type
P: Flat type
Servomotor Capacity
050: 50 W
100: 100 W
200: 200 W
400: 400 W
750: 750 W
900: 900 W
1K0: 1 kW
1K5: 1.5 kW
2K0: 2 kW
3K0: 3 kW
4K0: 4 kW Rated Rotation Speed
4K5: 4.5 kW 10: 1,000 r/min
5K0: 5 kW 15: 1,500 r/min
6K0: 6 kW 20: 2,000 r/min
7K5: 7.5 kW 30: 3,000 r/min
Applied Voltage
H: 200 VAC with incremental encoder specifications
L: 100 VAC with incremental encoder specifications
T: 200 VAC with absolute encoder specifications
S: 100 VAC with absolute encoder specifications
Option
Blank: Straight shaft
B: With brake
O: With oil seal
S2: With key and tap

● Understanding Decelerator Model Numbers
Backlash = 3' Max.
R88G-HPG14A05100PBJ
Decelerator for
G-Series Servomotors
Backlash = 3’ Max.
Flange
: Size Number
11A: @40
14A: @60 Gear Ratio
20A: @90 05: 1/5
32A: @120 09: 1/9 (only frame number 11A)
50A: @170 11: 1/11 (except frame number 65A)
65A: @230 12: 1/12 (only frame number 65A)
20: 1/20 (only frame number 65A)
21: 1/21 (except frame number 65A)
25: 1/25 (only frame number 65A)
33: 1/33
45: 1/45
050: 50 W
100: 100 W
200: 200 W
400: 400 W Motor Type
750: 750 W Blank: 3,000-r/min cylindrical servomotors
900: 900 W P: flat servomotors
1K0: 1 kW S: 2,000-r/min servomotors
1K5: 1.5 kW T: 1,000-r/min servomotors
2K0: 2 kW
3K0: 3 kW Backlash
4K0: 4 kW B: 3’ max.
4K5: 4.5 kW
5K0: 5 kW Option
6K0: 6 kW Blank: Straight shaft
7K5: 7 kW J: With key and tap
Backlash = 15' Max.
R88G-VRSF09B100PCJ
Decelerator for
Gear Ratio
05: 1/5
09: 1/9
15: 1/15
25: 1/25
Flange Size Number

B: @52
C: @78
D: @98

050: 50 W
100: 100 W Motor Type
200: 200 W Blank: 3,000-r/min cylindrical servomotors
400: 400 W P: flat servomotors
750: 750 W
Backlash
C: 15’ max.
Option
J: With key and tap

Ordering Information
● Servo Drives
Specifications Model
50 W R88D-GTA5L
100 W R88D-GT01L
Single-phase 100 VAC
200 W R88D-GT02L
400 W R88D-GT04L
50 W
R88D-GT01H
100 W
200 W R88D-GT02H
400 W R88D-GT04H
750 W R88D-GT08H
1 kW R88D-GT10H
Single-phase/three-phase 200
900 W
VAC
1 kW R88D-GT15H
1.5 kW
2 kW R88D-GT20H
2 kW
R88D-GT30H
3 kW
3 kW
Three-phase 200 VAC 4 kW
R88D-GT50H
4.5 kW
5 kW
6 kW
R88D-GT75H
7.5 kW
● Servomotors
INC 3,000-r/min Cylindrical Servomotors
Model
Specifications
Straight shaft Straight shaft with key and tap
50 W R88M-G05030H R88M-G05030H-S2
100 W R88M-G10030L R88M-G10030L-S2
100 V
200 W R88M-G20030L R88M-G20030L-S2
Without brake
400 W R88M-G40030L R88M-G40030L-S2

50 W R88M-G05030H R88M-G05030H-S2
100 W R88M-G10030H R88M-G10030H-S2
200 V 200 W R88M-G20030H R88M-G20030H-S2
400 W R88M-G40030H R88M-G40030H-S2
750 W R88M-G75030H R88M-G75030H-S2
50 W R88M-G05030H-B R88M-G05030H-BS2
100 W R88M-G10030L-B R88M-G10030L-BS2
100 V
200 W R88M-G20030L-B R88M-G20030L-BS2
400 W
With brake
R88M-G40030L-B R88M-G40030L-BS2
50 W R88M-G05030H-B R88M-G05030H-BS2
100 W R88M-G10030H-B R88M-G10030H-BS2
200 V 200 W R88M-G20030H-B R88M-G20030H-BS2
400 W R88M-G40030H-B R88M-G40030H-BS2
750 W R88M-G75030H-B R88M-G75030H-BS2
Note: Models with oil seals are also available.

ABS/INC 3,000-r/min Cylindrical Servomotors
Model
Specifications
50 W R88M-G05030T R88M-G05030T-S2
100 V 100 W R88M-G10030S R88M-G10030S-S2
200 W R88M-G20030S R88M-G20030S-S2
400 W R88M-G40030S R88M-G40030S-S2
50 W R88M-G05030T R88M-G05030T-S2
100 W R88M-G10030T R88M-G10030T-S2
Without brake
200 W R88M-G20030T R88M-G20030T-S2

400 W R88M-G40030T R88M-G40030T-S2
750 W R88M-G75030T R88M-G75030T-S2
200 V
1 kW R88M-G1K030T R88M-G1K030T-S2
1.5 kW R88M-G1K530T R88M-G1K530T-S2
2 kW R88M-G2K030T R88M-G2K030T-S2
3 kW R88M-G3K030T R88M-G3K030T-S2
4 kW R88M-G4K030T R88M-G4K030T-S2
5 kW R88M-G5K030T R88M-G5K030T-S2
50 W R88M-G05030T-B R88M-G05030T-BS2
100 W R88M-G10030S-B R88M-G10030S-BS2
100 V
200 W R88M-G20030S-B R88M-G20030S-BS2
400 W R88M-G40030S-B R88M-G40030S-BS2
50 W R88M-G05030T-B R88M-G05030T-BS2
100 W R88M-G10030T-B R88M-G10030T-BS2
200 W
With brake
R88M-G20030T-B R88M-G20030T-BS2
400 W R88M-G40030T-B R88M-G40030T-BS2
750 W R88M-G75030T-B R88M-G75030T-BS2
200 V 1 kW R88M-G1K030T-B R88M-G1K030T-BS2
1.5 kW R88M-G1K530T-B R88M-G1K530T-BS2
2 kW R88M-G2K030T-B R88M-G2K030T-BS2
INC 3,000-r/min Flat Servomotors

Model
Specifications
100 W R88M-GP10030L R88M-GP10030L-S2
100 V 200 W R88M-GP20030L R88M-GP20030L-S2
Without brake
400 W R88M-GP40030L R88M-GP40030L-S2

100 W R88M-GP10030H R88M-GP10030H-S2
200 V 200 W R88M-GP20030H R88M-GP20030H-S2
400 W R88M-GP40030H R88M-GP40030H-S2
100 W R88M-GP10030L-B R88M-GP10030L-BS2
100 V 200 W R88M-GP20030L-B R88M-GP20030L-BS2
With brake
400 W R88M-GP40030L-B R88M-GP40030L-BS2

100 W R88M-GP10030H-B R88M-GP10030H-BS2
200 V 200 W R88M-GP20030H-B R88M-GP20030H-BS2
400 W R88M-GP40030H-B R88M-GP40030H-BS2

ABS/INC 3,000-r/min Flat Servomotors
Model
Specifications
100 W R88M-GP10030S R88M-GP10030S-S2
100 V 200 W R88M-GP20030S R88M-GP20030S-S2
Without brake
400 W R88M-GP40030S R88M-GP40030S-S2

100 W R88M-GP10030T R88M-GP10030T-S2
200 V 200 W R88M-GP20030T R88M-GP20030T-S2
400 W R88M-GP40030T R88M-GP40030T-S2
100 W R88M-GP10030S-B R88M-GP10030S-BS2
100 V 200 W R88M-GP20030S-B R88M-GP20030S-BS2
With brake
400 W R88M-GP40030S-B R88M-GP40030S-BS2

100 W R88M-GP10030T-B R88M-GP10030T-BS2
200 V 200 W R88M-GP20030T-B R88M-GP20030T-BS2
400 W R88M-GP40030T-B R88M-GP40030T-BS2

Model
Specifications
1 kW R88M-G1K020T R88M-G1K020T-S2
1.5 kW R88M-G1K520T R88M-G1K520T-S2
Without brake
2 kW R88M-G2K020T R88M-G2K020T-S2
200 V 3 kW R88M-G3K020T R88M-G3K020T-S2
4 kW R88M-G4K020T R88M-G4K020T-S2
5 kW R88M-G5K020T R88M-G5K020T-S2
7.5 kW R88M-G7K515T R88M-G7K515T-S2
With brake
Note: 1. Models with oil seals are also available.
Note: 2. The rated rotation speed for 7.5-kW Servomotors is 1,500 r/min.

Model
Specifications
900 W R88M-G90010T R88M-G90010T-S2
Without brake
2 kW R88M-G2K010T R88M-G2K010T-S2
200 V 3 kW R88M-G3K010T R88M-G3K010T-S2
4.5 kW R88M-G4K510T R88M-G4K510T-S2
6 kW R88M-G6K010T R88M-G6K010T-S2
900 W R88M-G90010T-B R88M-G90010T-BS2
With brake

● Decelerators
Backlash: 3 Arcminutes Max. Backlash: 3 Arcminutes Max.
Decelerators for 3,000-r/min Cylindrical Servomotors Decelerators for 3,000-r/min Flat Servomotors
Straight shaft Straight shaft
Specifications Specifications
Model Model
Motor capacity Gear ratio Motor capacity Gear ratio
1/5 R88G-HPG11A05100B 1/5 R88G-HPG11A05100PB
50 W 1/21 R88G-HPG14A21100B 100 W 1/21 R88G-HPG14A21100PB
1/5 R88G-HPG14A05400B
Note: 1. The standard models have a straight shaft.
1/11 R88G-HPG20A11400B Note: 2. To order a Servomotor with a straight shaft with key, add “J” to the end
400 W 1/21 R88G-HPG20A21400B of the model number.
1/33 R88G-HPG32A33400B
1/45 R88G-HPG32A45400B
1/5 R88G-HPG20A05750B
1/11 R88G-HPG20A11750B
750 W 1/21 R88G-HPG32A21750B
1/33 R88G-HPG32A33750B
1/45 R88G-HPG32A45750B
1/5 R88G-HPG32A051K0B
1/11 R88G-HPG32A111K0B
1 kW 1/21 R88G-HPG32A211K0B
1/33 R88G-HPG32A331K0B
1/45 R88G-HPG50A451K0B
1/5 R88G-HPG32A052K0B
1/11 R88G-HPG32A112K0B
1.5 kW 1/21 R88G-HPG32A211K5B
1/33 R88G-HPG50A332K0B
1/45 R88G-HPG50A451K5B
1/5 R88G-HPG32A052K0B
1/11 R88G-HPG32A112K0B
2 kW
1/21 R88G-HPG50A212K0B
1/33 R88G-HPG50A332K0B
1/5 R88G-HPG32A053K0B
3 kW 1/11 R88G-HPG50A113K0B
1/21 R88G-HPG50A213K0B
1/5 R88G-HPG32A054K0B
4 kW
1/11 R88G-HPG50A115K0B
1/5 R88G-HPG50A055K0B
5 kW
1/11 R88G-HPG50A115K0B

Note: 2. To order a Servomotor with a straight shaft with key, add “J” to the end
of the model number, in the place indicated by the box.
Example: R88G-HPG11B05100BJ

Decelerators for 2,000-r/min Cylindrical Servomotors Decelerators for 1,000-r/min Cylindrical Servomotors
Model Model
1/5 R88G-HPG32A053K0B 1/5 R88G-HPG32A05900TB
1/11 R88G-HPG32A112K0SB 1/11 R88G-HPG32A11900TB
900 W
1 kW 1/21 R88G-HPG32A211K0SB 1/21 R88G-HPG50A21900TB
1/45 R88G-HPG50A451K0SB 1/5 R88G-HPG32A052K0TB
1/5 R88G-HPG32A053K0B 1/11 R88G-HPG50A112K0TB
2 kW
1.5 kW
1/21 R88G-HPG50A213K0B 1/25 R88G-HPG65A255K0SB
1/33 R88G-HPG50A332K0SB 1/5 R88G-HPG50A055K0SB
3 kW
2 kW
1/5 R88G-HPG32A054K0B 4.5 kW 1/12 R88G-HPG65A127K5SB
3 kW
6 kW
1/5 R88G-HPG50A054K0SB Note: 1. The standard models have a straight shaft.
1/11 R88G-HPG50A114K0SB Note: 2. Models with a key and tap are indicated with "J" at the end of the model
4 kW number.
1/20 R88G-HPG65A204K0SB
1/25 R88G-HPG65A254K0SB
1/5 R88G-HPG50A055K0SB
1/11 R88G-HPG50A115K0SB
5 kW
1/20 R88G-HPG65A205K0SB
1/25 R88G-HPG65A255K0SB
7.5 kW
1/12 R88G-HPG65A127K5SB
of the model number.

Straight shaft with key and tap Straight shaft with key and tap
Model Model
1/5 R88G-VRSF05B100CJ 1/5 R88G-VRSF05B100PCJ
50 W 100 W
1/9 R88G-VRSF09B100CJ 1/9 R88G-VRSF09C200PCJ
100 W 200 W
1/9 R88G-VRSF09C200CJ 1/9 R88G-VRSF09C400PCJ
200 W 400 W
1/5 R88G-VRSF05C400CJ
400 W
1/9 R88G-VRSF09D750CJ
750 W

● Accessories and Cables
• Servomotor Power Cables (Standard Cables) • Servomotor Power Cables (Standard Cables)
For Servomotor without brake For Servomotor with brake
Specifications Model Specifications Model
3m R88A-CAGA003S 3m R88A-CAGB003B
10 m R88A-CAGA010S 10 m R88A-CAGB010B
15 m R88A-CAGA015S 3,000-r/min Servomotors of 1 to 1.5 kW, 15 m R88A-CAGB015B
3,000-r/min Servomotors of 50 to 750 W,
2,000-r/min Servomotors of 1 to 1.5 kW,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CAGA020S 20 m R88A-CAGB020B
1,000-r/min Servomotors of 900 W
3m R88A-CAGB003S 3m R88A-CAGC003B
10 m R88A-CAGB010S 10 m R88A-CAGC010B
3,000-r/min Servomotors of 1 to 1.5 kW, 15 m R88A-CAGB015S 15 m R88A-CAGC015B
3,000-r/min Servomotors of 2 kW,
20 m R88A-CAGB020S 2,000-r/min Servomotors of 2 kW 20 m R88A-CAGC020B
3m R88A-CAGC003S 3m R88A-CAGD003B
10 m R88A-CAGC010S 10 m R88A-CAGD010B
15 m R88A-CAGC015S 3,000-r/min Servomotors of 3 to 5 kW, 15 m R88A-CAGD015B
2,000-r/min Servomotors of 3 to 5 kW,
2,000-r/min Servomotors of 2 kW 20 m R88A-CAGC020S 20 m R88A-CAGD020B
1,000-r/min Servomotors of 2 to 4.5 kW
3m R88A-CAGD003S
5m R88A-CAGD005S • Brake Cables (Standard Cables)
10 m R88A-CAGD010S Specifications Model
3,000-r/min Servomotors of 3 to 5 kW, 15 m R88A-CAGD015S 3m R88A-CAGA003B
20 m R88A-CAGD020S 5m R88A-CAGA005B
30 m R88A-CAGD030S 10 m R88A-CAGA010B
40 m R88A-CAGD040S 3,000-r/min Servomotors of 50 to 750 W, 15 m R88A-CAGA015B

3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CAGA020B
50 m R88A-CAGD050S
3m R88A-CAGE003S 30 m R88A-CAGA030B
10 m R88A-CAGE010S 50 m R88A-CAGA050B
15 m R88A-CAGE015S 3m R88A-CAGE003B
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 6 kW 20 m R88A-CAGE020S 5m R88A-CAGE005B
30 m R88A-CAGE030S 10 m R88A-CAGE010B
40 m R88A-CAGE040S 1,500-r/min Servomotors of 7.5 kW, 15 m R88A-CAGE015B

1,000-r/min Servomotors of 6 kW 20 m R88A-CAGE020B
50 m R88A-CAGE050S
Note: There are separate connectors for power and brakes for 3,000-r/min Ser- 30 m R88A-CAGE030B
vomotors of 50 to 750 W, Flat Servomotors, and Servomotors of 6 kW or 40 m R88A-CAGE040B
higher. When a Servomotor with a brake is used, it is necessary to use
both a Power Cable for Servomotors without brakes and a Brake Cable. 50 m R88A-CAGE050B

• Encoder Cables (Standard Cables) • Servomotor Power Cables (Robot Cables)
Specifications Model For Servomotor without brake
3m R88A-CRGA003C Specifications Model
5m R88A-CRGA005C 3m R88A-CAGA003SR
10 m R88A-CRGA010C 5m R88A-CAGA005SR
3,000-r/min Servomotors of 50 to 750 W with
15 m R88A-CRGA015C 10 m R88A-CAGA010SR
an absolute encoder,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CRGA020C 3,000-r/min Servomotors of 50 to 750 W, 15 m R88A-CAGA015SR
with an absolute encoder 3,000-r/min Flat Servomotors of
30 m R88A-CRGA030C 100 to 400 W 20 m R88A-CAGA020SR
3m R88A-CRGB003C 50 m R88A-CAGA050SR
5m R88A-CRGB005C 3m R88A-CAGB003SR
10 m R88A-CRGB010C 5m R88A-CAGB005SR
15 m R88A-CRGB015C 10 m R88A-CAGB010SR
an incremental encoder,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CRGB020C 3,000-r/min Servomotors of 1 to 1.5 kW, 15 m R88A-CAGB015SR
with an incremental encoder 2,000-r/min Servomotors of 1 to 1.5 kW,
30 m R88A-CRGB030C 1,000-r/min Servomotors of 900 W 20 m R88A-CAGB020SR
3m R88A-CRGC003N 50 m R88A-CAGB050SR
5m R88A-CRGC005N 3m R88A-CAGC003SR
10 m R88A-CRGC010N 5m R88A-CAGC005SR
15 m R88A-CRGC015N 10 m R88A-CAGC010SR
1,500-r/min Servomotors of 7.5 kW, 20 m R88A-CRGC020N 15 m R88A-CAGC015SR
1,000-r/min Servomotors of 900 W to 6 kW
2,000-r/min Servomotors of 2 kW 20 m R88A-CAGC020SR
30 m R88A-CRGC030N
50 m R88A-CAGC050SR
• Absolute Encoder Battery Cable 3m R88A-CAGD003SR
Specifications Model 5m R88A-CAGD005SR
Absolute Encoder Battery Cable 10 m R88A-CAGD010SR
0.3 m R88A-CRGD0R3C
(Battery not included.)
3,000-r/min Servomotors of 3 to 5 kW, 15 m R88A-CAGD015SR
Absolute Encoder Battery Cable 2,000-r/min Servomotors of 3 to 5 kW,
0.3 m R88A-CRGD0R3C-BS 20 m R88A-CAGD020SR
(One R88A-BAT01G Battery included.) 1,000-r/min Servomotors of 2 to 4.5 kW
30 m R88A-CAGD030SR
• Absolute Encoder Backup Battery 40 m R88A-CAGD040SR
Specifications Model 50 m R88A-CAGD050SR
2,000 mA·h 3.6 V R88A-BAT01G

• Servomotor Power Cables (Robot Cables) • Encoder Cables (Robot Cables)
For Servomotor with brake Specifications Model
Specifications Model 3m R88A-CRGA003CR
3m R88A-CAGB003BR 5m R88A-CRGA005CR
5m R88A-CAGB005BR 10 m R88A-CRGA010CR
3,000-r/min Servomotors of 50 to 750 W
10 m R88A-CAGB010BR 15 m R88A-CRGA015CR
with an absolute encoder,
3,000-r/min Servomotors of 1 to 1.5 kW, 15 m R88A-CAGB015BR 3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CRGA020CR
2,000-r/min Servomotors of 1 to 1.5 kW, with an absolute encoder
1,000-r/min Servomotors of 900 W 20 m R88A-CAGB020BR 30 m R88A-CRGA030CR
50 m R88A-CAGB050BR 3m R88A-CRGB003CR
3m R88A-CAGC003BR 5m R88A-CRGB005CR
5m R88A-CAGC005BR 10 m R88A-CRGB010CR
10 m R88A-CAGC010BR 15 m R88A-CRGB015CR
with an incremental encoder,
15 m R88A-CAGC015BR 3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CRGB020CR
with an incremental encoder
2,000-r/min Servomotors of 2 kW 20 m R88A-CAGC020BR 30 m R88A-CRGB030CR
50 m R88A-CAGC050BR 3m R88A-CRGC003NR
3m R88A-CAGD003BR 5m R88A-CRGC005NR
5m R88A-CAGD005BR 10 m R88A-CRGC010NR
10 m R88A-CAGD010BR 15 m R88A-CRGC015NR
3,000-r/min Servomotors of 3 to 5 kW, 15 m R88A-CAGD015BR 1,500-r/min Servomotors of 7.5 kW, 20 m R88A-CRGC020NR
2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 900 W to 6 kW
1,000-r/min Servomotors of 2 to 4.5 kW 20 m R88A-CAGD020BR 30 m R88A-CRGC030NR
50 m R88A-CAGD050BR
• Communications Cables
• Brake Cables (Robot Cables) Specifications Model
Specifications Model Personal Computer Monitor Cable
2m R88A-CCG002P2
RS-232 Communications
3m R88A-CAGA003BR
0.5 m R88A-CCG0R5P4
5m R88A-CAGA005BR RS-485 Communications Cable
1m R88A-CCG001P4
10 m R88A-CAGA010BR
3,000-r/min Servomotors of 50 to 750 W, 15 m R88A-CAGA015BR

• Connectors
3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CAGA020BR
30 m R88A-CAGA030BR
Servomotor Connector for Absolute Encoder R88A-CNG01R
40 m R88A-CAGA040BR
Encoder Cable Incremental Encoder R88A-CNG02R
50 m R88A-CAGA050BR
Control I/O Connector (CN1) R88A-CNU01C
Encoder Connector (CN2) R88A-CNW01R
Power Cable Connector (750 W max.) R88A-CNG01A
Brake Cable Connector (750 W max.) R88A-CNG01B
• Servo Relay Units (for CN1)

For CS1W-NC113/-NC133
For CJ1W-NC113/-NC133 XW2B-20J6-1B
For C200HW-NC113
For CS1W-NC213/-NC413/-NC233/-NC433
For CJ1W-NC213/-NC413/-NC233/-NC433 XW2B-40J6-2B
For C200HW-NC213/-NC413
For CJ1M-CPU21/-CPU22/-CPU23 (for 1 axis) XW2B-20J6-8A
For CJ1M-CPU21/-CPU22/-CPU23 (for 2 axis) XW2B-40J6-9A
For FQM1-MMA22
XW2B-80J7-12A
For FQM1-MMP22

• Servo Relay Unit Cables (for Servo Drives) • Control Cables
For CJ1M-CPU21/-CPU22/-CPU23 1m XW2Z-100J-B31 1m R88A-CPG001M1

(XW2B-20J6-8A/XW2B-40J6-9A) 2m XW2Z-200J-B31 2m R88A-CPG002M1
Motion Control Unit Cables for 1 axis
1m XW2Z-100J-B27 CS1W-MC221-V1/-MC421-V1 3m R88A-CPG003M1
For FQM1-MMA22 (XW2B-80J7-12A)
2m XW2Z-200J-B27 5m R88A-CPG005M1
1m XW2Z-100J-B26 1m R88A-CPG001M2
For FQM1-MMP22 (XW2B-80J7-12A)
2m XW2Z-200J-B26 Motion Control Unit Cables for 2 axes 2m R88A-CPG002M2
CS1W-MC221-V1/-MC421-V1 3m R88A-CPG003M2
Note: You cannot use a Servo Relay Unit Cable for line-receiver inputs
(+CWLD: CN1 pin 44, -CWLD: CN1 pin 45, +CCWLD: CN1 pin 46,
5m R88A-CPG005M2
-CCWLD: CN1 pin 47).
Use a General-purpose Control Cable and wire the connector to match General-purpose Control Cables with 1m R88A-CPG001S
the controller. Connector on One End 2m R88A-CPG002S
• Servo Relay Unit Cables (for Position Control Units) Connector-Terminal Block Cables
1m XW2Z-100J-B24
2m XW2Z-200J-B24
M3 screw type XW2B-50G4
For CS1W-NC113, C200HW-NC113 0.5 m XW2Z-050J-A6
Connector Terminal Block
(XW2B-20J6-1B) M3.5 screw type XW2B-50G5
1m XW2Z-100J-A6 Conversion Unit
M3 screw type XW2D-50G6
For CS1W-NC213/-NC413, C200HW-NC213/ 0.5 m XW2Z-050J-A7
-NC413 (XW2B-20J6-2B) 1m XW2Z-100J-A7
• External Regeneration Resistors
0.5 m XW2Z-050J-A10
For CS1W-NC133 (XW2B-20J6-1B) Specifications Model
1m XW2Z-100J-A10
20 W, 50 Ω R88A-RR08050S
0.5 m XW2Z-050J-A11
For CS1W-NC233/-NC433 (XW2B-20J6-2B) 20 W, 100 Ω R88A-RR080100S
1m XW2Z-100J-A11
70 W, 47 Ω R88A-RR22047S
0.5 m XW2Z-050J-A14
For CJ1W-NC113 (XW2B-20J6-1B) 500 W, 20 Ω R88A-RR50020S
1m XW2Z-100J-A14
0.5 m XW2Z-050J-A15
For CJ1W-NC213/-NC413 (XW2B-20J6-2B) • Reactors
1m XW2Z-100J-A15
0.5 m XW2Z-050J-A18
For CJ1W-NC133 (XW2B-20J6-1B) R88D-GTA5L/-GT01H 3G3AX-DL2002
1m XW2Z-100J-A18
R88D-GT01L/-GT02H 3G3AX-DL2004
0.5 m XW2Z-050J-A19
For CJ1W-NC233/-NC433 (XW2B-20J6-2B) R88D-GT02L/-GT04H 3G3AX-DL2007
1m XW2Z-100J-A19
R88D-GT04L/-GT08H/-GT10H 3G3AX-DL2015
For CJ1M-CPU21/-CPU22/-CPU23 0.5 m XW2Z-050J-A33
R88D-GT15H 3G3AX-DL2022
(XW2B-20J6-8A/XW2B-40J6-9A) 1m XW2Z-100J-A33
R88D-GT08H/-GT10H/-GT15H 3G3AX-AL2025
0.5 m XW2Z-050J-A28
R88D-GT20H/-GT30H 3G3AX-AL2055
General-purpose I/O 1m XW2Z-100J-A28
R88D-GT50H 3G3AX-AL2110
For FQM1-MMA22 2m XW2Z-200J-A28
R88D-GT75H 3G3AX-AL2220
(XW2B-80J7-12A) 0.5 m XW2Z-050J-A31
Special I/O 1m XW2Z-100J-A31 • Mounting Brackets (L Brackets for Rack Mounting)
2m XW2Z-200J-A31
0.5 m XW2Z-050J-A28
R88D-GTA5L/-GT01L/-GT01H/-GT02H R88A-TK01G
General-purpose I/O 1m XW2Z-100J-A28
R88D-GT02L/-GT04H R88A-TK02G
For FQM1-MMP22 2m XW2Z-200J-A28
R88D-GT04L/-GT08H R88A-TK03G
(XW2B-80J7-12A) 0.5 m XW2Z-050J-A30
R88D-GT10H/-GT15H R88A-TK04G
Special I/O 1m XW2Z-100J-A30
2m XW2Z-200J-A30 • Parameter Unit
Parameter Unit R88A-PR02G

Servo Drive-Servomotor Combinations
Only the Servomotor and Servo Drive combinations listed here can be used. Do not use other combinations.
● 3,000-r/min Sylindrical Servomotors and Servo Drives

Servomotor
Voltage Servo Drive
Rated output With incremental encoder With absolute encoder
R88D-GTA5L 50 W R88M-G05030H-@ R88M-G05030T-@
R88D-GT01L 100 W R88M-G10030L-@ R88M-G10030S-@
100 V
R88D-GT02L 200 W R88M-G20030L-@ R88M-G20030S-@
R88D-GT04L 400 W R88M-G40030L-@ R88M-G40030S-@
R88D-GT01H 50 W R88M-G05030H-@ R88M-G05030T-@
R88D-GT01H 100 W R88M-G10030H-@ R88M-G10030T-@
Single-phase 200 V
R88D-GT02H 200 W R88M-G20030H-@ R88M-G20030T-@
R88D-GT04H 400 W R88M-G40030H-@ R88M-G40030T-@
R88D-GT08H 750 W R88M-G75030H-@ R88M-G75030T-@
Single-phase/
R88D-GT15H 1 kW --- R88M-G1K030T-@
three-phase 200 V
R88D-GT15H 1.5 kW --- R88M-G1K530T-@
R88D-GT20H 2 kW --- R88M-G2K030T-@
R88D-GT30H 3 kW --- R88M-G3K030T-@
Three-phase 200 V
R88D-GT50H 4 kW --- R88M-G4K030T-@
R88D-GT50H 5 kW --- R88M-G5K030T-@
● 3,000-r/min Flat Servomotors and Servo Drives

Servomotor
Voltage Servo Drive
R88D-GT01L 100 W R88M-GP10030L-@ R88M-GP10030S-@
100 V R88D-GT02L 200 W R88M-GP20030L-@ R88M-GP20030S-@
R88D-GT04L 400 W R88M-GP40030L-@ R88M-GP40030S-@
R88D-GT01H 100 W R88M-GP10030H-@ R88M-GP10030T-@
Single-phase 200 V R88D-GT02H 200 W R88M-GP20030H-@ R88M-GP20030T-@
R88D-GT04H 400 W R88M-GP40030H-@ R88M-GP40030T-@

Servomotor
Voltage Servo Drive
Rated output With absolute encoder
Single-phase/ R88D-GT10H 1 kW R88M-G1K020T-@

three-phase 200 V R88D-GT15H 1.5 kW R88M-G1K520T-@
R88D-GT20H 2 kW R88M-G2K020T-@
Three-phase 200 V R88D-GT50H 4 kW R88M-G4K020T-@
R88D-GT75H 7.5 kW R88M-G7K515T-@

Servomotor
Voltage Servo Drive
Single-phase/
R88D-GT15H 900 W R88M-G90010T-@
three-phase 200 V
Three-phase 200 V
R88D-GT50H 4.5 kW R88M-G4K510T-@

Servomotor and Decelerator Combinations
● 3,000-r/min Cylindrical Servomotors
1/11
Motor model 1/5 1/21 1/33 1/45
(1/9 for flange size No.11)
R88G-HPG11A05100B@ R88G-HPG14A21100B@
R88G-HPG11A09050B@
R88M-G05030@ (Also used with (Also used with R88G-HPG14A33050B@ R88G-HPG14A45050B@
(Gear ratio 1/9)
R88M-G10030@) R88M-G10030@)
R88M-G10030@ R88G-HPG11A05100B@ R88G-HPG14A11100B@ R88G-HPG14A21100B@ R88G-HPG20A33100B@ R88G-HPG20A45100B@
R88M-G1K030T R88G-HPG32A051K0B@ R88G-HPG32A111K0B@ R88G-HPG32A211K0B@ R88G-HPG32A331K0B@ R88G-HPG50A451K0B@
R88G-HPG32A052K0B@ R88G-HPG32A112K0B@ R88G-HPG50A332K0B@
R88M-G1K530T (Also used with (Also used with R88G-HPG32A211K5B@ (Also used with R88G-HPG50A451K5B@
R88M-G2K030T) R88M-G2K030T) R88M-G2K030T)
R88M-G2K030T R88G-HPG32A052K0B@ R88G-HPG32A112K0B@ R88G-HPG50A212K0B@ R88G-HPG50A332K0B@ ---
R88M-G3K030T R88G-HPG32A053K0B@ R88G-HPG50A113K0B@ R88G-HPG50A213K0B@ --- ---
R88G-HPG50A115K0B@
R88M-G4K030T R88G-HPG32A054K0B@ (Also used with --- --- ---
R88M-G5K030T)
R88M-G5K030T R88G-HPG50A055K0B@ R88G-HPG50A115K0B@ --- --- ---
● 3,000-r/min Flat Servomotors

Motor model 1/5 1/11 1/21 1/33 1/45
R88M-GP10030@ R88G-HPG11A05100PB@ R88G-HPG14A11100PB@ R88G-HPG14A21100PB@ R88G-HPG20A33100PB@ R88G-HPG20A45100PB@

1/11 1/21 1/33
Motor model 1/5 1/45
(1/12 for flange size No.65) (1/20 for flange size No.65) (1/25 for flange size No.65)
R88G-HPG32A053K0B@ R88G-HPG32A112K0SB@ R88G-HPG50A332K0SB@
R88M-G1K020T (Also used with (Also used with R88G-HPG32A211K0SB@ (Also used with R88G-HPG50A451K0SB@
R88G-HPG32A053K0B@ R88G-HPG32A112K0SB@ R88G-HPG50A213K0B@ R88G-HPG50A332K0SB@
R88M-G1K520T (Also used with (Also used with (Also used with (Also used with ---
R88M-G3K030T) R88M-G2K020T) R88M-G3K030T) R88M-G2K020T)
R88G-HPG32A053K0B@ R88G-HPG50A213K0B@
R88M-G2K020T (Also used with R88G-HPG32A112K0SB@ (Also used with R88G-HPG50A332K0SB@ ---
R88M-G3K030T) R88M-G3K030T)
R88M-G3K020T (Also used with (Also used with R88G-HPG50A213K0SB@ R88G-HPG65A253K0SB@ ---
R88M-G4K030T) R88M-G5K030T)
R88M-G4K020T R88G-HPG50A054K0SB@ R88G-HPG50A114K0SB@ R88G-HPG65A204K0SB@ R88G-HPG65A254K0SB@ ---
R88M-G7K515T R88G-HPG65A057K5SB@ R88G-HPG65A127K5SB@ --- --- ---

1/11 1/21 1/33
Motor model 1/5
R88M-G90010T R88G-HPG32A05900TB@ R88G-HPG32A11900TB@ R88G-HPG50A21900TB@ R88G-HPG50A33900TB@
R88G-HPG65A255K0SB@
R88M-G2K010T R88G-HPG32A052K0TB@ R88G-HPG50A112K0TB@ R88G-HPG50A212K0TB@
(Also used with R88M-G5K020T)
R88G-HPG50A055K0SB@ R88G-HPG50A115K0SB@ R88G-HPG65A205K0SB@ R88G-HPG65A255K0SB@
R88M-G3K010T
(Also used with R88M-G5K020T) (Also used with R88M-G5K020T) (Also used with R88M-G5K020T) (Also used with R88M-G5K020T)
R88G-HPG65A127K5SB@
R88M-G4K510T R88G-HPG50A054K5TB@ R88G-HPG65A204K5TB@ ---
R88G-HPG65A057K5SB@ R88G-HPG65A127K5SB@
R88M-G6K010T --- ---
(Also used with R88M-G7K515T) (Also used with R88M-G7K515T)

Servo Relay Units and Cables
● Servo Relay Units and Cables
Select the Servo Relay Unit and Cable according to the model number of the Position Control Unit being used.
Position Control Unit Position Control Unit Cable Servo Relay Unit Servo Drive Cable
CS1W-NC113
XW2Z-@@@J-A6 XW2B-20J6-1B
C200HW-NC113
CS1W-NC213
CS1W-NC413
XW2Z-@@@J-A7 XW2B-40J6-2B
C200HW-NC213
C200HW-NC413
CS1W-NC133 XW2Z-@@@J-A10 XW2B-20J6-1B
CS1W-NC233 XW2Z-@@@J-B25
XW2Z-@@@J-A11 XW2B-40J6-2B
CS1W-NC433
CJ1W-NC113 XW2Z-@@@J-A14 XW2B-20J6-1B
CJ1W-NC213
XW2Z-@@@J-A15 XW2B-40J6-2B
CJ1W-NC413
CJ1W-NC133 XW2Z-@@@J-A18 XW2B-20J6-1B
CJ1W-NC233
XW2Z-@@@J-A19 W2B-40J6-2B
CJ1W-NC433
CJ1M-CPU21
XW2B-20J6-8A (for 1 axes)
CJ1M-CPU22 XW2Z-@@@J-A33 XW2Z-@@@J-B31
CJ1M-CPU23 XW2B-40J6-9A (for 2 axes)
General-purpose I/O XW2Z-@@@J-A28

FQM1-MMP22 XW2Z-@@@J-B26
Special I/O XW2Z-@@@J-A30
XW2B-80J7-12A
General-purpose I/O XW2Z-@@@J-A28
FQM1-MMA22 XW2Z-@@@J-B27
Special I/O XW2Z-@@@J-A31
Note: 1. Insert the cable length into the boxes in the model number (@@@). Position Control Unit cables come in two lengths: 0.5 m and 1 m (some are also available
in lengths of 2 m). Servo Driver Cables also come in two lengths: 1 m and 2 m.
Note: 2. Two Servo Driver Cables are required if 2-axis control is performed using one Position Control Unit.
Note: 3. Direct cable is available for CJ1W-NC@@4 Position Control Unit (High-Speed type).
Specifications The number of axes Model

For CJ1W-NC214/-NC414 (open collector output type) 1 axis XW2Z-@@@J-G13
For CJ1W-NC214/-NC414 (open collector output type) 2 axis XW2Z-@@@J-G5
For CJ1W-NC234/-NC434 (line-driver output type) 1 axis XW2Z-@@@J-G9
For CJ1W-NC234/-NC434 (line-driver output type) 2 axis XW2Z-@@@J-G1
Motion Control Unit Cables

● Motion Control Unit Cable
There are special cables for 1-axis and 2-axis Motion Control Unit operation. Select the appropriate cable for the number of axes to be connected.
Motion Control Unit Cable Remarks
For 1 axis R88A-CPG@@@M1 The @@@ digits in the model number indicate the cable length.
CS1W-MC221-V1/421-V1 Motion Control Unit Cables come in four lengths: 1 m, 2 m, 3 m, and 5 m.
For 2 axes R88A-CPG@@@M2 Example model number for 2-m 1-axis cable: R88A-CPG002M1

Cable Combinations
Parameter Unit
Monitor Software for Windows
Motion Control Unit

(High-speed type)
NC414
CN1
CN2
RUN SYNC
ERC ERH
1
2
A1 3
A2 4
B1 A3
B2 A4
B3 AS
B4
BS
MACH
AXIS1
No.
x10 1
CN3 x10 0
CN4
AXIS2
AXIS1
AXIS2
20
21
22
0
23
1
24
2
25
3
26
4
27
5
28
6
29
7
30
8
31
9
32
10
33
11
34
12
35
13
36
14
37
15
38
16
39
17
18
19
Servo Relay Units Position Control Unit
* Brake Cable Combinations

Using the following Servomotors, with brake: PLC
Cylindrical Servomotors, 3,000 r/min, 50 to 750 W (Model with Pulse Outpu
Flat Servomotors, 3,000 r/min, 100 to 400 W
Cylindrical Servomotors, 2,000 r/min, 7.5 kW
Relay terminal block
Cylindrical Servomotors, 1,000 r/min,6 kW
Other Servomotors:
● Power Supply Cables (for CNB) (SR Connection Cables)

Symbol Name Connected to Model Description
Cylindrical Servomotors, R88A-CAGA@@@S [Servomotor Connector]
(50) L (50)
3,000 r/min, 50 to 750 W The empty boxes in the model Connector:
(6.2 dia.)
172159-1 (Tyco Electronics AMP KK)

Flat Servomotors, number are for the cable length. Connector pins:
3,000 r/min, 100 to 400 The cable can be 3, 5, 10, 15, 20, 170362-1 (Tyco Electronics AMP KK)
W 30, 40, or 50 m long.
Cylindrical Servomotors,
R88A-CAGB@@@S [Servomotor Connector]
3,000 r/min, 1 to 1.5 kW (70) L
The empty boxes in the model Straight plug:
(10.4 dia.)
Cylindrical Servomotors, N/MS3106B20-4S

number are for the cable length. (Japan Aviation Electronics Industry, Ltd.)
2,000 r/min, 1 to 1.5 kW
37.3 dia.
The cable can be 3, 5, 10, 15, 20, Cable clamp:

Cylindrical Servomotors, N/MS3057-12A
30, 40, or 50 m long. (Japan Aviation Electronics Industry, Ltd.)
1,000 r/min, 900 W
R88A-CAGC@@@S [Servomotor Connector]

Standard Servomotor Cylindrical Servomotors, (70) L Straight plug:
The empty boxes in the model
(10.4 dia.)
Power Cables for 3,000 r/min, 2 kW N/MS3106B20-4S

Servomotors without Cylindrical Servomotors, Cable clamp:
37.3 dia.
The cable can be 3, 5, 10, 15, 20, N/MS3057-12A

Brakes 2,000 r/min, 2 kW
Cylindrical Servomotors, [Servomotor Connector]

R88A-CAGD@@@S
3,000 r/min, 3 to 5 kW (70) L Straight plug:
(14.7 dia.)

2,000 r/min, 3 to 5 kW Cable clamp:
40.5 dia.

1,000 r/min, 2 to 4.5 kW
R88A-CAGE@@@S [Servomotor Connector]

Cylindrical Servomotors, L Straight plug:
(28.5 dia.)
1,500 r/min, 7.5 kW (120) N/MS3106B32-17S

56.4 dia
Cable clamp:
The cable can be 3, 5, 10, 15, 20,
1,000 r/min, 6 kW N/MS3057-20A

Cylindrical Servomotors, (70) L

R88A-CAGB@@@B [Servomotor Connector]
(10.4 dia.)
3,000 r/min, 1 to 1.5 kW Straight plug:
2,000 r/min, 1 to 1.5 kW
.)
Cable clamp:
The cable can be 3, 5, 10, 15, 20,
(5.4 dia
Cylindrical Servomotors, L N/MS3057-12A
1,000 r/min, 900 W (70)
(70) L
R88A-CAGC@@@B [Servomotor Connector]
(10.4 dia.)
Standard Servomotor Cylindrical Servomotors, Straight plug:
3,000 r/min, 2 kW N/MS3106B20-18S
37.3 dia.
Power Cables for number are for the cable length. (Japan Aviation Electronics Industry, Ltd.)
Servomotors with Cylindrical Servomotors,
a)
Cable clamp:
The cable can be 3, 5, 10, 15, 20,
(5.4 di
Brakes 2,000 r/min, 2 kW L N/MS3057-12A
(70)

R88A-CAGD@@@B [Servomotor Connector]
(14.7 dia.)
3,000 r/min, 3 to 5 kW Straight plug:
43.7 dia
2,000 r/min, 3 to 5 kW
ia.)
Cable clamp:
The cable can be 3, 5, 10, 15, 20,
(5.4 d
1,000 r/min, 2 to 4.5 kW (70)
R88A-CAGA@@@SR [Servomotor Connector]

Cylindrical Servomotors, (50) L (50)
The empty boxes in the model Connector:
3,000 r/min, 50 to 750 W
(6.9 dia)
number are for the cable length.
Flat Servomotors, Connector pins:
The cable can be 3, 5, 10, 15, 20, 170362-1 (Tyco Electronics AMP KK)
3,000 r/min, 100 to 400 W 170366-1 (Tyco Electronics AMP KK)
30, 40, or 50 m long.
R88A-CAGB@@@SR [Servomotor Connector]
3,000 r/min, 1 to 1.5 kW (70) L Straight plug:
(12.7 dia.)
2,000 r/min, 1 to 1.5 kW
37.3 dia.
Cable clamp:
The cable can be 3, 5, 10, 15, 20,
Robot Servomotor Cylindrical Servomotors, N/MS3057-12A
Power Cables for 1,000 r/min, 900 W
Servomotors without R88A-CAGC@@@SR [Servomotor Connector]
Brakes Cylindrical Servomotors, (70) L Straight plug:
(12.7 dia.)
3,000 r/min, 2 kW N/MS3106B20-4S
37.3 dia.
Cable clamp:
The cable can be 3, 5, 10, 15, 20,
2,000 r/min, 2 kW N/MS3057-12A
R88A-CAGD@@@SR [Servomotor Connector]
(15.6 dia.)

2,000 r/min, 3 to 5 kW
40.5 dia.
Cable clamp:
The cable can be 3, 5, 10, 15, 20,
1,000 r/min, 2 to 4.5 kW

[Servomotor Connector]
R88A-CAGB@@@BR
(12.7 dia.)

The empty boxes in the model N/MS3106B20-18S
2,000 r/min, 1 to 1.5 kW Cable clamp:
.)
The cable can be 3, 5, 10, 15, 20,

(6.1 dia
N/MS3057-12A
Cylindrical Servomotors, L
1,000 r/min, 900 W (70)
(70) L
R88A-CAGC@@@BR [Servomotor Connector]
(12.7 dia.)
Robot Servomotor Cylindrical Servomotors, Straight plug:

Power Cables for 3,000 r/min, 2 kW
37.3 dia.
Servomotors with Cylindrical Servomotors, Cable clamp:
.)
(6.1 dia

Brakes 2,000 r/min, 2 kW L
(70)

[Servomotor Connector]
R88A-CAGD@@@BR
(15.6 dia.)

43.7 dia.
) a.
The cable can be 3, 5, 10, 15, 20,

(6.1 di
N/MS3057-16A
(Japan Aviation Electronics Industry, Ltd.)
30, 40, or 50 m long.
1,000 r/min, 2 to 4.5 kW (70)

● Brake Cables
R88A-CAGA@@@B [Servomotor Connector]
3,000 r/min, 50 to 750 W
(5.4 dia.)
Standard Brake 30, 40, or 50 m long.
Cables R88A-CAGE@@@B [Servomotor Connector]
Cylindrical Servomotors, (70) L Straight plug:
(5.4 dia.)
1,500 r/min, 7.5 kW N/MS3106B14-2S
Cylindrical Servomotors, Cable clamp:
The cable can be 3, 5, 10, 15, 20,
1,000 r/min, 6 kW N/MS3057-6A
R88A-CAGA@@@BR [Servomotor Connector]

3,000 r/min, 50 to 750 W
(6.1 dia.)
Robot Brake Cables number are for the cable length.
30, 40, or 50 m long.
● Encoder Cables (for CN2)

[Servo Drive Connector] [Servomotor Connector]
R88A-CRGA@@@C Connector: Connector:
3,000 r/min, 50 to 750 W, 3 to 20 m: L 172161-1
The empty boxes in the model Crimped I/O connector: (Tyco Electronics AMP KK)
(7.5 dia.)
absolute encoder (Molex Japan Co., Ltd.) Connector pins:
Flat Servomotors, 3,000 r/min, 30 to 50 m: 55100-0670 170365-1
The cable can be 3, 5, 10, 15, (Molex Japan Co., Ltd.) (Tyco Electronics AMP KK)
100 to 400 W, absolute Connector pins: 171639-1
20, 30, 40, or 50 m long.
encoder 50639-8028 (Tyco Electronics AMP KK)
(Molex Japan Co., Ltd.)

R88A-CRGB@@@C Connector: Connector:
3,000 r/min, 50 to 750 W, 3 to 20 m: 172160-1
Standard Encoder incremental encoder The empty boxes in the model Crimped I/O connector: L (Tyco Electronics AMP KK)
number are for the cable length. (Molex Japan Co., Ltd.) (6.5 dia./6.8 dia.) Connector pins:
Cables with Flat Servomotors, 3,000 r/min, 30 to 50 m: 55100-0670 170365-1
Connectors 100 to 400 W, incremental Connector pins: 171639-1
20, 30, 40, or 50 m long.
3,000 r/min,1 to 1.5 kW
R88A-CRGC@@@N Connector: Straight plug:
Cylindrical Servomotors, 3 to 20 m: N/MS3106B20-29S
The empty boxes in the model Crimped I/O connector: L (Japan Aviation Electronics Industry, Ltd.)
2,000 r/min,1 to 5 kW (Molex Japan Co., Ltd.) (6.5 dia./6.8 dia.) Cable clamp:
Cylindrical Servomotors, 30 to 50 m: 55100-0670 N/MS3057-12A
The cable can be 3, 5, 10, 15, (Molex Japan Co., Ltd.) (Japan Aviation Electronics Industry, Ltd.)
1,500 r/min, 7.5 kW Connector pins:
20, 30, 40, or 50 m long.
Cylindrical Servomotors, 50639-8028
1,000 r/min, 900 W to 6 kW
R88A-CRGA@@@CR [Servo Drive Connector] [Servomotor Connector]
3,000 r/min,50 to 750 W, Connector: L Connector:
(7.5 dia.)
absolute encoder Crimped I/O connector: 172161-1

number are for the cable length. (Molex Japan Co., Ltd.) (Tyco Electronics AMP KK)
Flat Servomotors, 3,000 r/min, Connector pins: Connector pins:
The cable can be 3, 5, 10, 15,
100 to 400 W, absolute 50639-8028 170365-1
20, 30, 40, or 50 m long. (Molex Japan Co., Ltd.) (Tyco Electronics AMP KK)
encoder
R88A-CRGB@@@CR [Servo Drive Connector] [Servomotor Connector]
3,000 r/min, 50 to 750 W, Connector: LL
(7.5 dia.)
(7.5 dia.)
incremental encoder Crimped I/O connector: 172160-1

Robot Encoder number are for the cable length. (Molex Japan Co., Ltd.) (Tyco Electronics AMP KK)
Cables with The cable can be 3, 5, 10, 15,
100 to 400 W, incremental 50639-8028 170365-1
Connectors 20, 30, 40, or 50 m long. (Molex Japan Co., Ltd.) (Tyco Electronics AMP KK)
encoder
3,000 r/min,1 to 1.5 kW
R88A-CRGC@@@NR [Servo Drive Connector] [Servomotor Connector]
Cylindrical Servomotors, Connector: L Straight plug:
2,000 r/min,1 to 5 kW
(7.5 dia.)
Crimped I/O connector: N/MS3106B20-29S

number are for the cable length. (Molex Japan Co., Ltd.) (Japan Aviation Electronics Industry, Ltd.)
Cylindrical Servomotors, Connector pins: Cable clamp:
1,500 r/min, 7.5 kW 50639-8028 N/MS3057-12A
20, 30, 40, or 50 m long. (Molex Japan Co., Ltd.) (Japan Aviation Electronics Industry, Ltd.)
1,000 r/min, 900 W to 6 kW
● Absolute Encoder Backup Battery and Absolute Encoder Battery Cable

Symbol Name Contents Length (m) Model Description
Battery not included. 0.3 m R88A-CRGD0R3C 43.5 300 43.5

18.8
18.8
One R88A-BAT01G Battery

0.3 m R88A-CRGD0R3C-BS
included. t=12 Battery holder t=12
Absolute Encoder Backup Battery --- --- R88A-BAT01G ---

● Control Cables (for CN1)
Symbol Name Connected to Model
R88A-CPG@@@M♦
The empty boxes in the model number are for the cable length.
Motion Control Units
Control Cables The cable can be 1, 2, 3, or 5 m long.
(for all CS1/C200H)
The empty diamond in the model number is for the number of axes.
One axis: 1, Two axes: 2
XW2Z-@@@J-G9
Line-driver output type (High-speed type)
For 1 axis The empty boxes in the model number are for the cable length.
for CJ1W-NC234/434
The cable can be 1, 5, or 10 m long.
XW2Z-@@@J-G1
Line-driver output type (High-speed type)
Direct connection cable for CJ1W-NC234/434
The cable can be 1, 5, or 10 m long.
for Position Control Unit
XW2Z-@@@J-G13
(High-speed type) Open collector output type (High-speed type)
for CJ1W-NC214/NC414
The cable can be 1, or 3 m long.
XW2Z-@@@J-G5
Open collector output type (High-speed type)
for CJ1W-NC214/NC414
CJ1W-NC113/NC133
CS1W-NC113/NC133 XW2B-20J6-1B
(C200HW-NC113)
CJ1W-NC213/NC233/NC413/NC433
CS1W-NC213/NC233/NC413/NC433 XW2B-40J6-2B
Servo Relay Units (C200HW-NC213/NC413)
CJ1M-CPU21/CPU22/CPU23 (1 axis) XW2B-20J6-8A
CJ1M-CPU21/CPU22/CPU23 (2 axes) XW2B-40J6-9A
FQM1-MMA22
XW2B-80J7-12A
FQM1-MMP22
CJ1M-CPU21/-CPU22/-CPU23
XW2Z-@@@J-B31
(XW2B-20J6-8A and XW2B-40J6-9A)
XW2Z-@@@J-B27
Servo Relay Unit Cables FQM1-MMA22
for (XW2B-80J7-12A)
The cable can be 1 or 2 m long.
Servo Drives
XW2Z-@@@J-B26
FQM1-MMP22
(XW2B-80J7-12A)
XW2Z-@@@J-A18
CJ1W-NC133 The empty boxes in the model number are for the cable length.
The cable can be 0.5 or 1 m long.
XW2Z-@@@J-A19
CJ1W-NC233/NC433 The empty boxes in the model number are for the cable length.
XW2Z-@@@J-A10
CS1W-NC133 The empty boxes in the model number are for the cable length.
XW2Z-@@@J-A11
CS1W-NC233/NC433 The empty boxes in the model number are for the cable length.
XW2Z-@@@J-A14
CJ1W-NC113 The empty boxes in the model number are for the cable length.
XW2Z-@@@J-A15
CJ1W-NC213/NC413 The empty boxes in the model number are for the cable length.
Servo Relay Unit Cables
for
XW2Z-@@@J-A6
Position Control Units CS1W-NC113
C200HW-NC113
XW2Z-@@@J-A7
CS1W-NC213/NC413
C200HW-NC213/NC413
XW2Z-@@@J-A33
CJ1M-CPU21/CPU22/CPU23 The empty boxes in the model number are for the cable length.
The cable can be 0.5, 1, or 2 m long.
FQM1-MMA22 XW2Z-@@@J-A28
FQM1-MMP22 The empty boxes in the model number are for the cable length.
(General-purpose I/O) The cable can be 0.5 or 1 m long.
XW2Z-@@@J-A31
FQM1-MMA22 (Special I/O) The empty boxes in the model number are for the cable length.
XW2Z-@@@J-A30
FQM1-MMP22 (Special I/O) The empty boxes in the model number are for the cable length.

R88A-CPG@@@S
General-purpose Control
Cables for General-purpose Controllers The empty boxes in the model number are for the cable length.
Cables
XW2Z-@@@J-B24
Cables for General-purpose Controllers The empty boxes in the model number are for the cable length.
Cables
Conversion Unit for General-purpose Controllers
XW2B-50G4
(M3 screws)
Connector-Terminal Block Conversion Unit for General-purpose Controllers
XW2B-50G5
Conversion Units (M3.5 screws)
Conversion Unit for General-purpose Controllers
XW2D-50G6
(M3 screws)
Note: Use the following codes in @@@ for the cable length: 0.5 m: 050, 1 m: 100, 2 m: 200, 3 m: 300, 5 m: 500, and 10 m:10M.
However, for General-purpose Control Cables, use “001” for a 1-m cable.
● Communications Connector (for CN3)

Symbol Name Contents Length (m) Model
R88A-CCG@@@P4
RS485 Communications Cables --- --- The empty boxes in the model number are for the cable length.
Parameter Unit --- 1.5 m R88A-PR02G
for Windows
Personal Computer Monitor Cable 2m R88A-CCG002P2
RS232 Communications
● Control Cables
Servomoteor Connector for Encoder
--- for moter R88A-CNG01R
Cable, absolute Encoder
Cable, Incremental Encoder
--- Control I/O Connector (CN1) for drive R88A-CNU01C
--- Encoder Connector (CN2) --- R88A-CNW01R

--- Power Cable Connector (750 W max.) --- R88A-CNG01A
--- Brake Cable Connector (750 W max.) --- R88A-CNG01B

Servo Drive Specifications (R88D-GT)
● General Specifications
Item Specifications
Ambient operating temperature and operating humidity 0 to 55°C, 90% RH max. (with no condensation)
Ambient storage temperature and storage humidity −20 to 65°C, 90% RH max. (with no condensation)
Storage and operating atmosphere No corrosive gasses
Smaller of either 10 to 60 Hz with double amplitude of 0.1 mm or acceleration of 5.88 m/s2 max. in X,
Vibration resistance
Y, and Z directions.
Impact resistance Acceleration of 19.6 m/s2 max. 2 times each in X, Y, and Z directions
Insulation resistance Between power supply/power line terminals and frame ground: 0.5 MΩ. min. (at 500 VDC)
Between power supply/power line terminals and frame ground: 1,500 VAC for 1 min at 50/60 Hz
Dielectric strength
Between each control signal and frame ground: 500 VAC for 1 min
Protective structure Built into panel (IP10).
EMC EN 55011 class A group 1

EC Directive EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11
Directives
International Low voltage Directive EN 50178
standards UL standards UL 508C
CSA standards CSA C22.2 No.14
Korean Radio Regulations (KC) Certified
Note: 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
Note: 2. Always disconnect all connections to the Servo Drive before you perform insulation resistance tests on it. If you perform an insulation resistance test while the
Servo Drive is connected, the Servo Drive may be damaged.
Never perform dielectric strength tests on the Servo Drive. Failure to follow this precaution may result in damaging internal elements.
Note: 3. Depending on the operating conditions, some Servo Drive parts will require maintenance.
Note: 4. The service life of the Servo Drive is 28,000 hours at an average ambient temperature of 55°C at 100% of the rated torque.
● Characteristics
Servo Drives with 100-VAC Input Power
Item R88D-GTA5L R88D-GT01L R88D-GT02L R88D-GT04L
Continuous output current (rms) 1.3 A 1.8 A 2.4 A 4.9 A
Momentary maximum output current (rms) 3.9 A 5.4 A 7.2 A 14.7 A
Power supply capacity 0.4 KVA 0.4 KVA 0.5 KVA 0.9 KVA
Main circuit Power supply voltage Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
Input power
Rated current 1.4 A 2.2 A 3.7 A 6.6 A
supply
Power supply voltage Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
Control circuit
Heat Main circuit 10.1 W 14.4 W 18.4 W 41.4 W

generated Control circuit 4.4 W 4.4 W 4.4 W 4.4 W
Control method All-digital servo
Inverter method IGBT-driven PWM method
PWM frequency 12.0 kHz 6.0 kHz
Weight Approx. 0.8 kg Approx. 0.8 kg Approx. 1.1 kg Approx. 1.5 kg
Maximum applicable motor capacity 50 W 100 W 200 W 400 W
INC G05030H G10030L G20030L G40030L

3,000-r/min Servomotors
ABS G05030T G10030S G20030S G40030S
Applicable INC --- GP10030L GP20030L GP40030L

Servomotors 3,000-r/min Flat Servomotors
(R88M-) ABS --- GP10030S GP20030S GP40030S
2,000-r/min Servomotors ABS --- --- --- ---
Speed control range 1: 5000

Performance
Speed variability: Load characteristic 0.01% or less at 0% to 100% (at rated speed)
Speed variability: Voltage characteristic 0% at ±10% of rated voltage (at rated speed)
Speed variability: Temperature characteristic ±0.1% or less at 0 to 50°C (at rated speed)
Torque control reproducibility ±3%

Servo Drives with Single-phase 200-VAC Input Power
Item R88D-GT01H R88D-GT02H R88D-GT04H R88D-GT08H R88D-GT10H R88D-GT15H
Continuous output current (rms) 1.16 A 1.6 A 2.7 A 4.0 A 5.9 A 9.8 A
Momentary maximum output current (rms) 3.5 A 5.3 A 7.1 A 14.1 A 21.2 A 28.3 A
Power supply capacity 0.5 KVA 0.5 KVA 0.9 KVA 1.3 KVA 1.8 KVA 2.3 KVA
Single-phase 200 to 240 VAC Single-phase or three-phase 200 to 240 VAC
Main circuit Power supply voltage
Input power (170 to 264 V), 50/60 Hz (170 to 264 V), 50/60 Hz
supply Rated current 1.3 A 2.0 A 3.7 A 5.0/3.3 *1 A 7.5/4.1 *1 A 11/8.0 *1 A
Control circuit
Rated current 0.05 A 0.05 A 0.05 A 0.05 A 0.07 A 0.07 A
Heat Main circuit 14.3 W 14.8 W 23.6 W 38.7 W 52.9 W 105.9 W
generated Control circuit 4.5 W 4.5 W 4.5 W 4.3 W 6.1 W 6.1 W
Weight Approx. 0.8 kg Approx. 0.8 kg Approx. 1.1 kg Approx. 1.5 kg Approx. 1.7 kg Approx. 1.7 kg
Maximum applicable motor capacity 100 W 200 W 400 W 750 W 1kW 1.5 kW
G05030H
INC G10030H
G20030H G40030H G75030H --- ---
G05030T G1K030T
ABS G10030T
G20030T G40030T G75030T ---
G1K530T
Applicable
Servomotors INC GP10030H GP20030H GP40030H --- --- ---
3,000-r/min Flat Servomotors
(R88M-)
ABS GP10030T GP20030T GP40030T --- --- ---
2,000-r/min Servomotors ABS --- --- --- --- G1K020T G1K520T
1,000-r/min Servomotors ABS --- --- --- --- --- G90010T

Speed control range 1:5000
Performance
*1. The left value is for single-phase input power and the right value is for three-phase input power.
Servo Drives with Three-phase 200-VAC Input Power

Item R88D-GT20H R88D-GT30H R88D-GT50H R88D-GT75H
Power supply capacity 3.3 KVA 4.5 KVA 7.5 KVA 11 KVA
Main circuit Power supply voltage Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
Input power
supply
Control circuit
PWM frequency 6.0 kHz
Maximum applicable motor capacity 2 kW 3 kW 5 kW 7.5 kW
INC --- --- --- ---

G4K030T
ABS G2K030T G3K030T
G5K030T
---
Applicable INC --- --- --- ---

(R88M-) ABS --- --- --- ---
G4K020T
2,000-r/min Servomotors ABS G2K020T G3K020T
G5K020T
G7K515T
G3K010T
1,000-r/min Servomotors ABS --- G2K010T
G4K510T
G6K010T

Performance

Servomotor Specifications (R88M-G)
3,000-r/min Servomotors 3,000-r/min Flat
Item 2,000-r/min Servomotors
Servomotors
50 to 750 W 1 to 5 kW 900 W to 5 kW 6 to 7.5 kW
Ambient operating temperature
0 to 40°C, 85% RH max. (with no condensation)
and humidity
−20 to 65°C, 85% RH
Ambient storage temperature and
max. (with no −20 to 80°C, 85% RH max. (with no condensation)
humidity
condensation)
Storage and operating atmosphere No corrosive gases
10 to 2,500 Hz and 10 to 2,500 Hz and 10 to 2,500 Hz and
acceleration of acceleration of acceleration of 10 to 2,500 Hz and acceleration of 24.5 m/s2
Vibration resistance *1
49 m/s2 max. in the X, 24.5 m/s2 max. in the 49 m/s2 max. in the X, max. in the X, Y, and Z directions
Y, and Z directions X, Y, and Z directions Y, and Z directions
Acceleration of Acceleration of Acceleration of
98 m/s2 max. 3 times 98 m/s2 max. 3 times 98 m/s2 max. 3 times
Impact resistance Acceleration of 98 m/s2 max. 2 times vertically
each in the X, Y, and Z each in the X, Y, and Z each in the X, Y, and Z
directions directions directions
Insulation resistance 20 MΩ min. at 500 VDC between the power terminals and FG terminal
Dielectric strength 1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal
Operating position All directions
Insulation grade Type B Type F Type B Type F
Structure Totally enclosed, self-cooling
Protective structure IP65 (excluding the output shaft rotating section and lead wire ends)
Vibration grade V-15
Mounting method Flange-mounting
Low voltage
International standards
EC Directives IEC 60034-1/-5

Directive
UL standards UL1004-1
−
CSA standards CSA 22.2 No.100
*1. The amplitude may be amplified by mechanical resonance. Do not exceed 80% of the specified value for extended periods of time.
Note: 1. Do not use the cable when it is laying in oil or water.
Note: 2. Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself.

Servomoter Specifications (R88M-G)
● Characteristics
3,000-r/min Cylindrical Servomotors
100-VAC Input Power
Model (R88M-) G05030H G10030L G20030L G40030L
Item Unit G05030T G10030S G20030S G40030S
Rated output *1 W 50 100 200 400
Rated torque *1 N·m 0.16 0.32 0.64 1.3
Rated rotation speed r/min 3000
Max. momentary rotation speed r/min 5000
Max. momentary torque *1 N·m 0.45 0.93 1.78 3.6
Rated current *1 A (rms) 1.1 1.7 2.5 4.6
Max. momentary current *1 A (rms) 3.4 5.1 7.6 13.9
kg·m2
Rotor inertia 2.5 × 10−6 5.1 × 10−6 1.4 × 10−5 2.6 × 10−5
(GD2/4)
Applicable load inertia --- 30 times the rotor inertia max. *2
Torque constant *1 N·m/A 0.14 0.19 0.26 0.28
Power rate *1 kW/s 10.4 20.1 30.3 62.5
Mechanical time constant ms 1.56 1.11 0.72 0.55
Electrical time constant ms 0.7 0.8 2.5 2.9
Allowable radial load *3 N 68 68 245 245
Allowable thrust load *3 N 58 58 98 98
Without brake kg Approx. 0.3 Approx. 0.5 Approx. 0.8 Approx. 1.2
Weight
With brake kg Approx. 0.5 Approx. 0.7 Approx. 1.3 Approx. 1.7
Radiation shield dimensions (material) 100 × 80 × t10 (AI) 130 × 120 × t12 (AI)
Applicable Servo Drives (R88D-) GTA5L GT01L GT02L GT04L
kg·m2
Brake inertia 2 × 10-7 2 × 10-7 1.8 × 10-6 1.8 × 10-6
(GD2/4)
Excitation voltage *4 V 24 VDC ±5%
Power consumption (at 20°C) W 7 7 9 9
Current consumption (at 20°C) A 0.3 0.3 0.36 0.36
Static friction torque N·m 0.29 min. 0.29 min. 1.27 min. 1.27 min.
Brake specifications
Attraction time *5 ms 35 max. 35 max. 50 max. 50 max.

Release time *5 ms 20 max. 20 max. 15 max. 15 max.
Backlash ±1°
Allowable work per braking J 39.2 39.2 137 137
Allowable total work J 4.9 × 103 4.9 × 103 44.1 × 103 44.1 × 103
30,000 max.
Allowable angular acceleration rad/s2
(Speed of 2,800 r/min or more must not be changed in less than 10 ms)
Brake life --- 10,000,000 operations min.
Rating --- Continuous
Insulation grade --- Type F
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%). The maximum momentary torque shown above
indicates the standard value.
*2. Applicable Load Inertia:
• The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is
possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
• If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF
while the dynamic brake is enabled.
•The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the
dynamic brake. Otherwise the dynamic brake circuits may fail.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are
applied as shown in the following diagram.
Radial load
Thrust load
Center of shaft (LR/2)

*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).

Torque and Rotation Speed Characteristics
• 3,000-r/min Servomotors with 100-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
R88M-G05030H/T (50 W) R88M-G10030L/S (100 W) R88M-G20030L/S (200 W)
(N·m) (N·m) (N·m)
0.5 0.48 0.48 1.0 0.83 0.83 (3600) 2.0 1.78

0.75 1.78 (3500)
Repetitive usage Repetitive usage Repetitive usage
0.25 0.16 0.16 0.5 0.32 1.0 0.9
0.32 0.64 0.64
0.1 Continuous usage
Continuous usage 0.28 Continuous usage 0.6
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
(r/min) (r/min) (r/min)
R88M-G40030L/S (400 W)
(N·m)
4.0 3.6 3.6 (3000)

Repetitive usage
2.0 1.3 1.3 1.3
Continuous usage 0.6
0 1000 2000 3000 4000 5000

(r/min)

● Characteristics
200-VAC Input Power
Model (R88M-) G05030H G10030H G20030H G40030H G75030H --- --- --- --- --- ---
Item Unit G05030T G10030T G20030T G40030T G75030T G1K030T G1K530T G2K030T G3K030T G4K030T G5K030T
Rated output t *1 W 50 100 200 400 750 1000 1500 2000 3000 4000 5000
Rated torque *1 N·m 0.16 0.32 0.64 1.3 2.4 3.18 4.77 6.36 9.54 12.6 15.8
Max. momentary rotation speed r/min 5000 4500 5000 4500
Max. momentary torque *1 N·m 0.45 0.90 1.78 3.67 7.05 9.1 12.8 18.4 27.0 36.3 45.1
Rated current *1 A (rms) 1.1 1.1 1.6 2.6 4 7.2 9.4 13 18.6 24.7 28.5
Max. momentary current *1 A (rms) 3.4 3.4 4.9 7.9 12.1 21.4 28.5 40 57.1 75 85.7
kg·m2 2.5 × 5.1 × 1.4 × 2.6 × 8.7 × 1.69 × 2.59 × 3.46 × 6.77 × 1.27 × 1.78 ×
Rotor inertia
(GD2/4) 10−6 10−6 10−5 10−5 10−5 10−4 10−4 10−4 10−4 10−3 10−3
20 times
the rotor
Applicable load inertia --- 30 times the rotor inertia max. *2 15 times the rotor inertia max. *2
inertia
max. *2
Torque constant *1 N·m/A 0.14 0.19 0.41 0.51 0.64 0.44 0.51 0.48 0.51 0.51 0.57
Power rate *1 kW/s 10.4 20.1 30.3 62.5 66 60 88 117 134 125 140
Mechanical time constant ms 1.56 1.1 0.71 0.52 0.45 0.78 0.54 0.53 0.46 0.51 0.46
Electrical time constant ms 0.7 0.79 2.6 3 4.6 6.7 10 10.8 20 20 20
Allowable radial load *3 N 68 68 245 245 392 392 490 490 490 784 784
Allowable thrust load *3 N 58 58 98 98 147 147 196 196 196 343 343
Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx. Approx.
Without brake kg
0.3 0.5 0.8 1.2 2.3 4.5 5.1 6.5 9.3 12.9 17.3
Weight
With brake kg
0.5 0.7 1.3 1.7 3.1 5.1 6.5 7.9 11 14.8 19.2
320 × 320 ×
130 × 120 × t12 170 × 160 × t12
Radiation shield dimensions (material) 100 × 80 × t10 (AI) 300 × 300 × 380 × 350 × t30 (AI)
(AI) (AI)
t30 (AI) t20 (AI)
Applicable Servo Drives (R88D-) GT01H GT01H GT02H GT04H GT08H GT15H GT15H GT20H GT30H GT50H GT50H
kg·m2 1.8 × 1.8 × 7.5 × 2.5 × 3.3 × 3.3 × 3.3 × 1.35 × 1.35 ×
Brake inertia 2 × 10−7 2× 10−7
(GD2/4) 10−6 10−6 10−6 10−5 10−5 10−5 10−5 10−4 10−4
Excitation voltage *4 V 24 VDC ±5% 24 VDC ±10%
Power consumption (at 20°C) W 7 7 9 9 10 18 19 19 19 22 22
Current consumption (at 20°C) A 0.3 0.3 0.36 0.36 0.42 0.74 0.81 0.81 0.81 0.9 0.9
0.29 0.29 1.27 1.27 2.45 11.8 16.1 16.1
Static friction torque N·m 4.9 min. 7.8 min. 7.8 min.
min. min. min. min. min. min. min. min.
110 110
Attraction time *5 ms 35 max. 35 max. 50 max. 50 max. 70 max. 50 max. 50 max. 50 max. 80 max.
max. max.
Release time *5 ms 20 max. 20 max. 15 max. 15 max. 20 max. 15 max. 15 max. 15 max. 15 max. 50 max. 50 max.
Backlash ±1°
Allowable work per braking J 39.2 39.2 137 137 196 392 392 392 392 1470 1470
4.9 × 4.9 × 44.1 × 44.1 × 147 × 2.0 × 4.9 × 4.9 × 4.9 × 2.2 × 2.2 ×
Allowable total work J
103 103 103 103 103 105 105 105 105 106 106
30,000 max. 10,000 max.
Allowable angular acceleration rad/s2 (Speed of 2,800 r/min or more must not be changed (Speed of 900 r/min or more must not be changed in less than
in less than 10 ms) 10 ms)
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at
normal operating temperatures. The allowable radial loads are applied as shown in the following Radial load
diagram.
*4. This is an OFF brake. (It is reset when excitation voltage is applied). Thrust load
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500
manufactured by Okaya Electric Industries Co., Ltd.). Center of shaft (LR/2)

R88M-G05030H/T (50 W) R88M-G10030H/T (100 W) R88M-G20030H/T (200 W)
(N·m) (N·m) (N·m)
0.5 0.45 0.45 1.0 0.93 0.93

2.0 1.78 1.78 (4500)
Repetitive usage Repetitive usage Repetitive usage 1.5

0.25 0.16 0.5 0.32 0.32 1.0
0.16 0.64 0.64
Continuous usage 0.1 Continuous usage 0.28 Continuous usage 0.38
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
R88M-G40030H/T (400 W) R88M-G75030H/T (750 W) R88M-G1K030T (1 kW)

(N·m) (N·m) (N·m)
4.0 3.6 3.6 (3800) 8.0 7.05 7.05 (3600) 10 9.1 9.1 (4000)

2.0 1.3 4.0 2.4 2.4 4.0 5 3.18
1.3 1.7 3.18 4.8
Continuous usage 0.78 Continuous usage 1.0 Continuous usage
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
R88M-G1K530T (1.5 kW) R88M-G2K030T (2 kW) R88M-G3K030T (3 kW)

(N·m) (N·m) (N·m)
15 12.9 12.9 (3500) 30 27.0 27.0 (3400)

20 18.4 18.4 (3600)
Repetitive usage Repetitive usage
7.5 4.77 Repetitive usage 15 9.54
4.77 10 6.36 9.54
6.36 5.5
Continuous usage
3.6 6.0 Continuous usage
Continuous usage
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
(r/min) 0 1000 2000 3000 4000 5000 (r/min)
(r/min)
R88M-G4K030T (4 kW) R88M-G5K030T (5 kW)

(N·m) (N·m)
50 45.1 47.6 40 36.3 37.9

25 15.8 15.8 20 12.6 12.6
15.0
Continuous usage Continuous usage 10.0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
(r/min) (r/min)

Servomotor Specifications (R88M-GP)
● Characteristics
Model (R88M-) 100 VAC 200 VAC
GP10030L GP20030L GP40030L GP10030H GP20030H GP40030H
Item Unit GP10030S GP20030S GP40030S GP10030T GP20030T GP40030T
Rated output *1 W 100 200 400 100 200 400
Rated torque *1 N·m 0.32 0.64 1.3 0.32 0.64 1.3
Max. momentary rotation speed r/min 5000 4500 5000
Max. momentary torque *1 N·m 0.84 1.8 3.6 0.86 1.8 3.65
Rated current *1 A (rms) 1.6 2.5 4.4 1 1.6 2.5
Max. momentary current *1 A (rms) 4.9 7.5 13.3 3.1 4.9 7.5
kg·m2
Rotor inertia 1.0 × 10−5 3.5 × 10−5 6.5 × 10−5 1.0 × 10−5 3.5 × 10−5 6.4 × 10−5
(GD2/4)
Applicable load inertia --- 20 times the rotor inertia max.*2
Torque constant *1 N·m/A 0.21 0.27 0.3 0.34 0.42 0.54
Power rate *1 kW/s 10.2 11.7 26.0 10.2 11.5 25.5
Mechanical time constant ms 0.87 0.75 0.55 1.05 0.81 0.59
Electrical time constant ms 3.4 6.7 6.7 2.9 5.6 6.6
Allowable radial load *3 N 68 245 245 68 245 245
Allowable thrust load *3 N 58 98 98 58 98 98
Without brake kg Approx. 0.7 Approx. 1.3 Approx. 1.8 Approx. 0.7 Approx. 1.3 Approx. 1.8
Weight
With brake kg Approx. 0.9 Approx. 2 Approx. 2.5 Approx. 0.9 Approx. 2 Approx. 2.5
130 × 120 × t10 130 × 120 × t10
(AI) (AI)
Applicable Servo Drives (R88D-) GT01L GT02L GT04L GT01H GT02H GT04H
kg·m2
Brake inertia 3× 10−6 9× 10−6 3× 10−6 9× 10−6
(GD2/4)
Attraction time *5 ms 50 max. 50 max. 60 max.

Release time *5 ms 15 max.
Backlash ±1°
Allowable work per braking J 137 196 137 196
Allowable total work J 44.1 × 103 147 × 103 44.1 × 103 147 × 103
10,000 max.
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Rating --- Continuous Continuous
Radial load
Thrust load


R88M-GP10030L/S (100 W) R88M-GP20030L/S (200 W) R88M-GP40030L/S (400 W)
(N·m) (N·m) (N·m)
1.0 0.84 0.84 (3500) 2.0 1.8 1.8 (3400) 4.0 3.6 3.6 (3300)
0.5 0.32 0.32 1.0 0.64 2.0 1.3
0.32 0.64 1.3 1.5
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 4500

R88M-GP10030H/T (100 W) R88M-GP20030H/T (200 W) R88M-GP40030H/T (400 W)
(N·m) (N·m) (N·m)
1.0 0.86 2.0 1.8 1.8 (4500) 4.0 3.65 3.65 (3600)
0.86

0.5 0.32 1.0 0.64 0.64 2.0 1.3 2.0
0.32 1.3
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000

● Characteristics
200-VAC Input Power
Model (R88M-)
G1K020T G1K520T G2K020T G3K020T G4K020T G5K020T G7K515T
Item Unit
Rated output *1 W 1000 1500 2000 3000 4000 5000 7500
Rated torque *1 N·m 4.8 7.15 9.54 14.3 18.8 23.8 48
Rated rotation speed r/min 2000 1500
Max. momentary rotation speed r/min 3000 2000
Max. momentary torque *1 N·m 13.5 19.6 26.5 41.2 54.9 70.6 111
Rated current *1 A (rms) 5.6 9.4 12.3 17.8 23.4 28 46.6
Max. momentary current *1 A (rms) 17.1 28.5 37.1 54.2 71.4 85.7 117.8
kg·m2
Rotor inertia 6.17 × 10−4 1.12 × 10−3 1.52 × 10−3 2.23 × 10−3 4.25 × 10−3 6.07 × 10−3 8.9 × 10−3
(GD2/4)
Torque constant *1 N·m/A 0.88 0.76 0.78 0.81 0.81 0.85 1.03
Power rate *1 kW/s 37.3 45.8 60 91.6 83.2 93.5 230
Mechanical time constant ms 0.7 0.81 0.75 0.72 1 0.9 0.71
Electrical time constant ms 18 19 21 20 24 32 34
Allowable radial load *3 N 490 490 490 784 784 784 1176
Allowable thrust load *3 N 196 196 196 343 343 343 490
Without brake kg Approx. 6.8 Approx. 8.5 Approx. 10.6 Approx. 14.6 Approx. 18.8 Approx. 25 Approx. 41
Weight
With brake kg Approx. 8.7 Approx. 10.1 Approx. 12.5 Approx. 16.5 Approx. 21.3 Approx. 28.5 Approx. 45
380 × 350 ×
t30 (AI)
Applicable Servo Drives (R88D-) GT10H GT15H GT20H GT30H GT50H GT50H GT75H
kg·m2
Brake inertia 1.35 × 10−4 4.25 × 10−4 4.7 × 10−4 4.7 × 10−4
(GD2/4)
Power consumption (at 20°C) W 14 19 19 22 26 31 34
Current consumption (at 20°C) A 0.59 0.79 0.79 0.9 1.1 1.3 1.4
Static friction torque N·m 4.9 min. 13.7 min. 13.7 min. 16.1 min. 21.5 min. 24.5 min. 58.8 min.
Attraction time *5 ms 80 max. 100 max. 100 max. 110 max. 90 max. 80 max. 150 max.
Release time *5 ms 70 max. 50 max. 50 max. 50 max. 35 min. 25 min. 50 max.
Backlash ±1°
Allowable work per braking J 588 1176 1176 1170 1078 1372 1372
Allowable total work J 7.8 × 105 1.5 × 106 1.5 × 106 2.2 × 106 2.5 × 106 2.9 × 106 2.9 × 106
10,000 max.
Radial load
Thrust load


R88M-G1K020T (1 kW) R88M-G1K520T (1.5 kW) R88M-G2K020T (2 kW)
(N·m) (N·m) (N·m)
15 13.5 13.5 (2200)

20 19.6 19.6 (2200) 30 26.5 26.5 (2200)
10 Repetitive usage Repetitive usage

14.3 Repetitive usage
5.5 10 7.15 7.15 15 9.54
5 4.8 4.8 9.54 13.2
0 1000 2000 3000 (r/min) 0 1000 2000 3000 (r/min) 0 1000 2000 3000 (r/min)
R88M-G3K020T (3 kW) R88M-G4K020T (4 kW) R88M-G5K020T (5 kW)

(N·m) (N·m)
(N·m)
50 41.2 54.9 54.9 (2000) 70.6 70.6 (2000)

41.2 (2200) 50 70
25 14.3 14.3 35 23.8 23.8
14.3 25 18.8 18.8 25.0
23.0
Continuous usage 9.5 12.5 Continuous usage
0 1000 2000 3000 (r/min) 0 1000 2000 3000 (r/min)
0 1000 2000 3000 (r/min)
R88M-G7K515T (7.5 kW)

(N·m)
111 111
100 100
Repetitive usage
50 48 48
Continuous usage 36
0 1000 1500 2000 (r/min)

● Characteristics
200-VAC Input Power
Model (R88M-)
G90010T G2K010T G3K010T G4K510T G6K010T
Item Unit
Rated output *1 W 900 2000 3000 4500 6000
Rated torque *1 N·m 8.62 19.1 28.4 42.9 57.2
Max. momentary torque *1 N·m 18.4 41.5 60 101 130
Rated current *1 A (rms) 7.6 18.5 24 33 57.2
Max. momentary current *1 A (rms) 17.1 44 57.1 84.2 121.4
kg·m2
Rotor inertia 1.12 × 10−3 3.55 × 10−3 5.57 × 10−3 8.09 × 10−3 9.9 × 10−3
(GD2/4)
Torque constant *1 N·m/A 1.13 1 1.1 1.3 1.22
Power rate *1 kW/s 66.3 103 145 228 331
Mechanical time constant ms 0.88 0.97 0.74 0.7 0.65
Electrical time constant ms 20 25 30 31 46.2
Allowable radial load *3 N 686 1176 1470 1470 1764
Allowable thrust load *3 N 196 490 490 490 588
Without brake kg Approx. 8.5 Approx. 17.5 Approx. 25 Approx. 34 Approx. 41

Weight
With brake kg Approx. 10 Approx. 21 Approx. 28.5 Approx. 39.5 Approx. 45
Applicable Servo Drives (R88D-) GT15H GT30H GT50H GT50H GT75H
kg·m2
Brake inertia 1.35 × 10−4 4.7 × 10−4 4.7 × 10−4 4.7 × 10−4 4.7 × 10−4
(GD2/4)
Power consumption (at 20°C) W 19 31 34
Current consumption (at 20°C) A 0.79 1.3 1.4
Attraction time *5 ms 100 max. 80 max. 150 max.
Release time *5 ms 50 max. 25 max. 50 max.
Backlash ±1°
Allowable work per braking J 1176 1372
Allowable total work J 1.6 × 106 2.9 × 106

10,000 max.
normal operating temperatures. The allowable radial loads are applied as shown in the following Radial load
diagram.
*4. This is an OFF brake. (It is reset when excitation voltage is applied). Thrust load

R88M-G90010T (900 W) R88M-G2K010T (2 kW) R88M-G3K010T (3 kW)
(N·m) 20 18.4 18.4 (1600) (N·m) 50 41.5 41.5 (1600) (N·m) 70 60 60 (1350)
Repetitive usage Repetitive usage 34.9 Repetitive usage 38
10 8.62 8.62 10.0 25 19.1 19.1 35 28.4 28.4
0 1000 2000 (r/min) 0 1000 2000 (r/min) 0 1000 2000 (r/min)
R88M-G4K510 (4.5 kW) R88M-G6K010T (6 kW)

130 130 (1500)
101 101 (1300)
(N·m) 100
(N·m) 100
50 42.9 42.9 57.2 57.2 71
40
50
0 1000 2000 (r/min)
0 1000 2000 (r/min)

Decelerator Specifications (R88G-HPG/VRSF)
● Backlash: 3 Arcminutes Max.
Decelerators for 3,000-r/min Servomotors
Rated Maximum Maximum Allowable Allowable
Rated Decelerator
rotation Efficiency momentary momentary radial thrust Weight
Model torque inertia
speed rotation speed torque load load
r/min N·m % r/min N·m kg·m2 N N kg
1/5 R88G-HPG11A05100B 600 0.60 75 1000 1.68 5.00 × 10-7 135 538 0.29
1/9 R88G-HPG11A09050B 333 1.17 81 555 3.29 3.00 × 10-7 161 642 0.29
50 W 1/21 R88G-HPG14A21100B 143 2.18 65 238 6.13 5.00 × 10-6 340 1358 1.04
1/33 R88G-HPG14A33050B 91 3.73 71 151 10.5 4.40 × 10-6 389 1555 1.04
1/45 R88G-HPG14A45050B 67 5.09 71 111 14.3 4.40 × 10-6 427 1707 1.04
1/5 R88G-HPG11A05100B 600 1.37 86 1000 3.8 5.00 × 10-7 135 538 0.29
1/11 R88G-HPG14A11100B 273 2.63 75 454 7.39 6.00 × 10-6 280 1119 1.04
100 W 1/21 R88G-HPG14A21100B 143 5.40 80 238 15.2 5.00 × 10-6 340 1358 1.04
1/33 R88G-HPG20A33100B 91 6.91 65 151 19.4 6.50 × 10-5 916 3226 2.4
1/45 R88G-HPG20A45100B 67 9.42 65 111 26.5 6.50 × 10-5 1006 3541 2.4
1/5 R88G-HPG14A05200B 600 2.49 78 1000 6.93 2.07 × 10-5 221 883 1.02
1/11 R88G-HPG14A11200B 273 6.01 85 454 16.7 1.93 × 10-5 280 1119 1.09
200 W 1/21 R88G-HPG20A21200B 143 10.2 76 238 28.5 4.90 × 10-5 800 2817 2.9
1/33 R88G-HPG20A33200B 91 17.0 81 151 47.4 4.50 × 10-5 916 3226 2.9
1/45 R88G-HPG20A45200B 67 23.2 81 111 64.6 4.50 × 10-5 1006 3541 2.9
1/5 R88G-HPG14A05400B 600 5.66 87 1000 16.0 (15.7) 2.07 × 10-5 221 883 1.09
1/11 R88G-HPG20A11400B 273 11.7 82 454 33.1 (32.5) 5.70 × 10-5 659 2320 2.9
400 W 1/21 R88G-HPG20A21400B 143 23.5 86 238 66.5 (65.2) 4.90 × 10-5 800 2547 2.9
1/33 R88G-HPG32A33400B 91 34.7 81 151 98.2 (96.3) 6.20 × 10-5 1565 6240 7.5
1/45 R88G-HPG32A45400B 67 47.4 81 111 133.9 (131.4) 6.10 × 10-5 1718 6848 7.5
1/5 R88G-HPG20A05750B 600 9.94 83 1000 29.2 6.80 × 10-5 520 1832 2.9
1/11 R88G-HPG20A11750B 273 23.2 88 454 68.1 6.00 × 10-5 659 2320 3.1
750 W 1/21 R88G-HPG32A21750B 143 42.3 84 238 124.3 3.00 × 10-4 1367 5448 7.8
1/33 R88G-HPG32A33750B 91 69.7 88 151 204.7 2.70 × 10-4 1565 6240 7.8
1/45 R88G-HPG32A45750B 67 95.0 88 111 279.2 2.70 × 10-4 1718 6848 7.8
1/5 R88G-HPG32A051K0B 600 11.5 72 1000 32.9 3.90 × 10-4 889 3542 7.3
1/11 R88G-HPG32A111K0B 273 28.9 83 454 82.6 3.40 × 10-4 1126 4488 7.8
1 kW 1/21 R88G-HPG32A211K0B 143 58.1 87 238 166.1 3.00 × 10-4 1367 5488 7.8
1/33 R88G-HPG32A331K0B 91 94.3 90 151 270.0 2.80 × 10-4 1565 6240 7.8
1/45 R88G-HPG50A451K0B 67 124.2 87 100*1 355.4 4.70 × 10-4 4538 15694 19.0
1/5 R88G-HPG32A052K0B 600 19.1 80 1000 51.3 3.90 × 10-4 889 3542 7.4
1/11 R88G-HPG32A112K0B 273 45.7 87 454 122.5 3.40 × 10-4 1126 4488 7.9
1.5 kW 1/21 R88G-HPG32A211K5B 143 90.1 90 238 241.9 3.00 × 10-4 1367 5448 7.9
1/33 R88G-HPG50A332K0B 91 141.5 90 136*1 379.7 4.80 × 10-4 4135 14300 19.0
1/45 R88G-HPG50A451K5B 67 192.9 90 100*1 517.8 4.70 × 10-4 4538 15694 19.0
1/5 R88G-HPG32A052K0B 600 26.7 84 1000 77.4 3.90 × 10-4 889 3542 7.4
1/11 R88G-HPG32A112K0B 273 62.4 89 454 180.7 3.40 × 10-4 1126 4488 7.9
2 kW
1/21 R88G-HPG50A212K0B 143 118.9 89 214*1 343.9 5.80 × 10-4 3611 12486 19.0
1/33 R88G-HPG50A332K0B 91 191.8 91 136*1 555.0 4.80 × 10-4 4135 14300 19.0
1/5 R88G-HPG32A053K0B 600 42.0 88 1000 118.9 3.80 × 10-4 889 3542 7.3
3 kW 1/11 R88G-HPG50A113K0B 273 92.3 88 409*1 261.4 7.70 × 10-4 2974 10285 19.0
1/21 R88G-HPG50A213K0B 143 183.0 91 214*1 517.7 5.80 × 10-4 3611 12486 19.0
1/5 R88G-HPG32A054K0B 600 53.9 90 900*1 163.4 3.80 × 10-4 889 3542 7.9
4 kW
1/11 R88G-HPG50A115K0B 273 124.6 90 409*1 359.0 8.80 × 10-4 2974 10285 19.1
1/5 R88G-HPG50A055K0B 600 69.3 88 900*1 197.8 1.20 × 10-3 2347 8118 17.7
5 kW
1/11 R88G-HPG50A115K0B 273 158.4 91 409*1 451.9 8.80 × 10-4 2974 10285 19.1
Note: 1. The values inside parentheses ( ) are for 100-V Servomotors. Note: 4. The allowable radial load is the value at the T/2 position.
Note: 2. The Decelerator inertia is the Servomotor shaft conversion value. Note: 5. The standard models have a straight shaft. Models with a key and tap
Note: 3. The protective structure for Servomotors with Decelerators satisfies are indicated by adding "J" to the end of the model number (the suffix
IP44. in the box).

Decelerators for 3,000-r/min Flat Servomotors
Rated Decelerator
1/5 R88G-HPG11A05100PB 600 1.37 85 1000 3.67 (3.59) 5.00 × 10-7 135 538 0.34
1/11 R88G-HPG14A11100PB 273 2.63 75 454 7.06 (6.89) 6.00 × 10-6 280 1119 1.04
100 W 1/21 R88G-HPG14A21100PB 143 5.40 80 238 14.5 (14.2) 5.00 × 10-6 340 1358 1.04
1/33 R88G-HPG20A33100PB 91 6.91 65 151 18.6 (18.1) 4.50 × 10-5 916 3226 2.9
1/45 R88G-HPG20A45100PB 67 9.42 65 111 25.3 (24.7) 4.50 × 10-5 1006 3541 2.9
1/5 R88G-HPG14A05200PB 600 2.49 78 1000 7.01 2.07 × 10-5 221 883 0.99
1/11 R88G-HPG20A11200PB 273 4.75 68 454 13.4 5.80 × 10-5 659 2320 3.1
200 W 1/21 R88G-HPG20A21200PB 143 10.2 76 238 28.8 4.90 × 10-5 800 2817 3.1
1/33 R88G-HPG20A33200PB 91 17.0 81 151 47.9 4.50 × 10-5 916 3226 3.1
1/45 R88G-HPG20A45200PB 67 23.2 81 111 65.4 4.50 × 10-5 1006 3541 3.1
1/5 R88G-HPG20A05400PB 600 4.67 72 1000 (900) 13.1 (12.9) 7.10 × 10-5 520 1832 3.1
1/11 R88G-HPG20A11400PB 273 11.7 82 454 (409) 32.9 (32.4) 5.80 × 10-5 659 2320 3.1
400 W 1/21 R88G-HPG20A21400PB 143 23.5 86 238 (214) 66.2 (65.2) 4.90 × 10-5 800 2817 3.1
1/33 R88G-HPG32A33400PB 91 34.7 81 151 (136) 97.6 (96.2) 2.80 × 10-4 1565 6240 7.8
1/45 R88G-HPG32A45400PB 67 47.4 81 111 (100) 133.0 (131.2) 2.80 × 10-4 1718 6848 7.8
Note: 2. The Decelerator inertia is the Servomotor shaft conversion value. Note: 5. The standard models have a straight shaft. Models with a key and tap are
Note: 3. The protective structure for Servomotors with Decelerators satisfies IP44. indicated by adding "J" to the end of the model number (the suffix in the box).

Rated Decelerator
1/5 R88G-HPG32A053K0B 400 20.4 85 600 57.4 3.80 × 10-4 889 3542 7.3
1/11 R88G-HPG32A112K0SB 182 47.3 90 273 133.1 3.40 × 10-4 1126 4488 7.8
1 kW 1/21 R88G-HPG32A211K0SB 95 92.3 92 143 259.7 2.90 × 10-4 1367 5448 7.8
1/33 R88G-HPG50A332K0SB 60 144.9 92 91 407.6 4.70 × 10-4 4135 14300 19.0
1/45 R88G-HPG50A451K0SB 44 197.7 92 67 555.9 4.70 × 10-4 4538 15694 19.0
1/5 R88G-HPG32A053K0B 400 31.7 89 600 86.8 3.80 × 10-4 889 3542 7.3
1/11 R88G-HPG32A112K0SB 182 72.1 92 273 197.7 3.40 × 10-4 1126 4488 7.8
1.5 kW
1/21 R88G-HPG50A213K0B 95 137.5 92 143 377.0 5.80 × 10-4 3611 12486 19.0
1/33 R88G-HPG50A332K0SB 60 219.4 93 91 601.5 4.70 × 10-4 4135 14300 19.0
1/5 R88G-HPG32A053K0B 400 43.2 91 600 119.9 3.80 × 10-4 889 3542 7.3
1/11 R88G-HPG32A112K0SB 182 97.4 93 273 270.5 3.40 × 10-4 1126 4488 7.8
2 kW
1/21 R88G-HPG50A213K0B 95 185.6 93 143 515.9 5.80 × 10-4 3611 12486 19.0
1/33 R88G-HPG50A332K0SB 60 270.0*1 93 91 815.0 4.70 × 10-4 4135 14300 19.0
1/5 R88G-HPG32A054K0B 400 66.0 92 600 190.1 3.80 × 10-4 889 3542 7.9
1/11 R88G-HPG50A115K0B 182 145.2 92 273 418.3 8.80 × 10-4 2974 10285 19.1
3 kW
1/21 R88G-HPG50A213K0SB 95 260.0*1 93 143 806.4 6.90 × 10-4 3611 12486 19.1
1/25 R88G-HPG65A253K0SB 80 322.9 90 120 930.1 3.00 × 10-3 7846 28654 52.0
1/5 R88G-HPG50A054K0SB 400 85.8 91 600 250.3 1.20 × 10-3 2347 8118 18.6
1/11 R88G-HPG50A114K0SB 182 192.7 93 273 562.8 8.70 × 10-4 2974 10285 20.1
4 kW
1/20 R88G-HPG65A204K0SB 100 342.2 91 150 999.2 3.28 × 10-3 7338 26799 52.0
1/25 R88G-HPG65A254K0SB 80 430.9 92 120 1258.6 3.24 × 10-3 7846 28654 52.0
1/5 R88G-HPG50A055K0SB 400 109.8 92 600 325.5 1.10 × 10-3 2347 8118 22.0
1/11 R88G-HPG50A115K0SB 182 200.0*1 93 273 723.8 8.40 × 10-4 2974 10285 23.5
5 kW
1/20 R88G-HPG65A205K0SB 100 438.2 92 150 1300.5 2.85 × 10-3 7338 26799 55.4
1/25 R88G-HPG65A255K0SB 80 550.9 93 120 1634.4 2.81 × 10-3 7846 28654 55.4
1/5 R88G-HPG65A057K5SB 300 221.1 92 400 511.2 2.07 × 10-2 4841 17681 48.0
7.5 kW
1/12 R88G-HPG65A127K5SB 125 540.8 94 166 1250.7 2.02 × 10-2 6295 22991 52.0
*1. "Rated torque" indicates the allowable rated torque for the decelerator. Do not exceed this value.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value. Note: 3. The allowable radial load is the value at the T/2 position.
Note: 2. The protective structure for Servomotors with Decelerators satisfies Note: 4. The standard models have a straight shaft. Models with a key and tap are
IP44. indicated with "J" at the end of the model number (the suffix in the box).

Rated Decelerator
1/5 R88G-HPG32A05900TB 200 39.9 93 400 85.2 3.80 × 10-4 889 3542 7.9
1/11 R88G-HPG32A11900TB 90 89.0 94 182 190.1 3.40 × 10-4 1126 4488 8.4
900 W
1/21 R88G-HPG50A21900TB 47 169.8 94 95 362.4 7.00 × 10-4 3611 12486 19.1
1/33 R88G-HPG50A33900TB 30 268.5 94 60 573.2 5.90 × 10-4 4135 14300 19.1
1/5 R88G-HPG32A052K0TB 200 90.2 95 400 196.1 4.90 × 10-4 889 3542 8.9
1/11 R88G-HPG50A112K0TB 90 198.4 94 182 430.9 8.40 × 10-4 2974 10285 20.1
2 kW
1/21 R88G-HPG50A212K0TB 47 320.0*1 95 95 786.8 6.50 × 10-4 3611 12486 20.1
1/25 R88G-HPG65A255K0SB 40 446.7 94 80 971.1 2.81 × 10-3 7846 28654 55.4
1/5 R88G-HPG50A055K0SB 200 133.9 94 400 282.9 1.10 × 10-3 2347 8118 22.0
1/11 R88G-HPG50A115K0SB 90 246.0*1 95 182 684.0 8.40 × 10-4 2974 10285 23.5
3 kW
1/20 R88G-HPG65A205K0SB 50 534.7 94 100 1129.2 2.85 × 10-3 7338 26799 55.4
1/25 R88G-HPG65A255K0SB 40 669.9 94 80 1411.5 2.81 × 10-3 7846 28654 55.4
1/5 R88G-HPG50A054K5TB 200 203.5 95 400 479.2 1.20 × 10-3 2347 8118 22.0
4.5 kW 1/12 R88G-HPG65A127K5SB 83 485.6 94 166 1142.9 2.02 × 10-2 6295 22991 52.0
1/20 R88G-HPG65A204K5TB 50 813.1 95 100 1915.0 1.92 × 10-2 7338 26799 52.0
1/5 R88G-HPG65A057K5SB 200 268.1 94 400 609.7 2.07 × 10-2 4841 17681 48.0
6 kW
1/12 R88G-HPG65A127K5SB 83 650.3 95 166 1477.3 2.02 × 10-2 6295 22991 52.0
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
Note: 2. The protective structure for Servomotors with Decelerators satisfies IP44.
Note: 3. The allowable radial load is the value at the T/2 position.
Note: 4. The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of the model number (the suffix in the box).

Rated Decelerator
1/5 R88G-VRSF05B100CJ 600 0.52 65 1000 1.46 4.00 × 10-6 392 196 0.55
1/9 R88G-VRSF09B100CJ 333 0.93 65 556 2.63 3.50 × 10-6 441 220 0.55
50 W
1/15 R88G-VRSF15B100CJ 200 1.67 70 333 4.73 3.50 × 10-6 588 294 0.70
1/25 R88G-VRSF25B100CJ 120 2.78 70 200 7.88 3.25 × 10-6 686 343 0.70
1/5 R88G-VRSF05B100CJ 600 1.19 75 1000 3.38 4.00 × 10-6 392 196 0.55
1/9 R88G-VRSF09B100CJ 333 2.29 80 556 6.48 3.50 × 10-6 441 220 0.55
100 W
1/15 R88G-VRSF15B100CJ 200 3.81 80 333 10.8 3.50 × 10-6 588 294 0.70
1/25 R88G-VRSF25B100CJ 120 6.36 80 200 18.0 3.25 × 10-6 686 343 0.70
1/5 R88G-VRSF05B200CJ 600 2.70 85 1000 7.57 1.18 × 10-5 392 196 0.72
1/9 R88G-VRSF09C200CJ 333 3.77 66 556 10.6 2.75 × 10-5 931 465 1.70
200 W
1/15 R88G-VRSF15C200CJ 200 6.29 66 333 17.6 3.00 × 10-5 1176 588 2.10
1/25 R88G-VRSF25C200CJ 120 11.1 70 200 31.2 2.88 × 10-5 1323 661 2.10
1/5 R88G-VRSF05C400CJ 600 5.40 85 1000 15.6 (15.3) 3.63 × 10-5 784 392 1.70
1/9 R88G-VRSF09C400CJ 333 9.50 83 556 27.4 (26.8) 2.75 × 10-5 931 465 1.70
400 W
1/15 R88G-VRSF15C400CJ 200 15.8 83 333 45.7 (44.8) 3.00 × 10-5 1176 588 2.10
1/25 R88G-VRSF25C400CJ 120 26.4 83 200 76.1 (74.7) 2.88 × 10-5 1323 661 2.10
1/5 R88G-VRSF05C750CJ 600 10.7 90 1000 31.7 7.13 × 10-5 784 392 2.10
1/9 R88G-VRSF09D750CJ 333 18.2 85 556 53.9 6.50 × 10-5 1176 588 3.40
750 W
1/15 R88G-VRSF15D750CJ 200 30.4 85 333 89.9 7.00 × 10-5 1372 686 3.80
1/25 R88G-VRSF25D750CJ 120 50.7 85 200 149.8 6.80 × 10-5 1617 808 3.80
Note: 1. The values inside parentheses ( ) are for 100-V Servomotors.

Note: 5. The standard models have a straight shaft with a key.
Decelerators for 3,000-r/min Flat Servomotor

Rated Decelerator
1/5 R88G-VRSF05B100PCJ 600 1.19 75 1000 3.15 4.00 × 10-6 392 196 0.72
1/9 R88G-VRSF09B100PCJ 333 2.29 80 556 6.048 3.50 × 10-6 441 220 0.72
100 W
1/15 R88G-VRSF15B100PCJ 200 3.81 80 333 10.08 3.50 × 10-6 588 294 0.87
1/25 R88G-VRSF25B100PCJ 120 6.36 80 200 16.8 3.25 × 10-6 686 343 0.87
1/5 R88G-VRSF05B200PCJ 600 2.70 85 1000 7.65 1.18 × 10-5 392 196 0.85
1/9 R88G-VRSF09C200PCJ 333 3.77 66 556 10.692 2.75 × 10-5 931 465 1.80
200 W
1/15 R88G-VRSF15C200PCJ 200 6.29 66 333 17.82 3.00 × 10-5 1176 588 2.20
1/25 R88G-VRSF25C200PCJ 120 11.1 70 200 31.5 2.88 × 10-5 1323 661 2.20
1/5 R88G-VRSF05C400PCJ 600 5.40 85 1000 (900) 15.5 (15.3) 3.63 × 10-5 784 392 1.80
1/9 R88G-VRSF09C400PCJ 333 9.50 83 556 (500) 27.3 (26.9) 2.75 × 10-5 931 465 1.80
400 W
1/15 R88G-VRSF15C400PCJ 200 15.8 83 333 (300) 45.4 (44.8) 3.00 × 10-5 1176 588 2.20
1/25 R88G-VRSF25C400PCJ 120 26.4 83 200 (180) 75.7 (74.7) 2.88 × 10-5 1323 661 2.20


Encoder, External Regeneration Resistors, Reactor and Parameter Unit Specifications
● Encoder Specifications
Incremental Encoders
Item Specifications
Encoder system Optical encoder
No. of output pulses Phases A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation
Power supply voltage 5 VDC ±5%
Power supply current 180 mA (max.)
Output signals +S, −S
Output interface RS-485 compliance
Absolute Encoders
Item Specifications
Optical encoder
Encoder system
17 bits
Maximum rotations −32,768 to +32,767 rotations
Applicable battery voltage 3.6 VDC
180 μA for a maximum of 5 s right after power interruption
Current consumption of battery 100 μA for operation during power interruption
3.6 μA when power is supplied to Servo Drive
● External Regeneration Resistors Specifications

Regeneration
Nominal Heat radiation
Model Resistance absorption for 120°C Thermal switch output specifications
capacity condition
temperature rise
R88A-RR08050S 50 Ω Aluminum 250 × 250, Operating temperature: 150°C±5%, NC contact,
80 W 20 W
R88A-RR080100S 100 Ω Thickness: 3.0 Rated output: 30 VDC, 50 mA max.
Aluminum 350 × 350, Operating temperature: 170°C±5%, NC contact,

R88A-RR22047S1 47 Ω 220 W 70 W
Thickness: 3.0 Rated output: 3 A
Operating temperature: 200°C±7%, NC contact,
Aluminum 600 × 600,
R88A-RR50020S 20 Ω 500 W 180 W Rated output: 250 VAC, 0.2 A max.
Thickness: 3.0
24 VDC, 0.2 A max.
● Reactor Specifications
Reactor
Servo Drive Reactor type
Model Rated current Inductance Weight
R88D-GTA5L
3G3AX-DL2002 1.6 A 21.4 mH Approx. 0.8 kg Single-phase
R88D-GT01H
R88D-GT01L
R88D-GT02H
R88D-GT02L
R88D-GT04H
R88D-GT04L
R88D-GT08H 3G3AX-DL2015 9.3 A 3.51 mH Approx. 1.6 kg Single-phase
R88D-GT10H
R88D-GT15H 3G3AX-DL2022 13.8 A 2.51 mH Approx. 2.1 kg Single-phase
R88D-GT08H
R88D-GT10H 3G3AX-AL2025 10.0 A 2.8 mH Approx. 2.8 kg Three-phase
R88D-GT15H
R88D-GT20H
3G3AX-AL2055 20.0 A 0.88 mH Approx. 4.0 kg Three-phase
R88D-GT30H

● R88A-PR02G Parameter Unit Specifications
General Specifications
Item Specifications
Operating ambient temperature 0 to 55°C
Operating ambient humidity 90% max. (with no condensation)
Storage ambient temperature −20 to 80°C
Storage ambient humidity 90% max. (with no condensation)
Vibration resistance 5.9 m/s2 max.
Performance Specifications
Item Specifications
Type Hand-held
Cable length 1.5 m
Connectors Mini DIN 8-pin MD connector
Display 7-segment LED
External dimensions 62 × 114 × 15 mm (W × H × D)
Weight Approx. 0.1 kg (including cable that is provided)
Standard RS-232
Communications
Communications method Asynchronous (ASYNC)

specifications
Baud rate 9,600 bps

Start bits 1 bit
Data 8 bits
Parity None
Stop bits 1 bit

Connections
● Control I/O Connector Specifications (CN1)
Control I/O Signal Connections and External Signal Processing for Position Control
+24VCW 1 2.2 kΩ
Reverse
pulse +CW 3
11 BKIR
500 kpps max. −CW 4 220 Ω Brake Interlock Maximum
10 BKIRCOM operating
+24VCCW 2 2.2 kΩ
voltage:
Forward +CCW 5 35 READY 30 VDC
pulse
Servo Ready Output Maximum
−CCW 6 220 Ω 34 READYCOM output
current:
Reverse +CWLD 44 3 kΩ 43 kΩ 37 /ALM 50 mA DC
pulse
Alarm Output
110 Ω
2 Mpps max. −CWLD 45 36 ALMCOM
3 kΩ 43 kΩ
Forward +CCWLD 46 3 kΩ 43 kΩ 39 INPPositioning
pulse Completed Output
110 Ω 38 INPCOM
−CCWLD 47
3 kΩ 43 kΩ
12 OUTM1
12 to 24 VDC +24VIN 7 4.7 kΩ General-purpose Output 1
RUN Command 40 OUTM2

Input General-purpose Output 2
RUN 29
4.7 kΩ 41 COM
Vibration Filter 19 Z Phase-Z Output

Switch
DFSEL 26 (open collector output)
4.7 kΩ 25 ZCOM
Gain Switch 21 +A
Input Encoder Phase-A Line driver output
GSEL 27 Output
4.7 kΩ 22 −A Conforms to
EIA RS-422A
Electronic Gear 49 +B (Load resistance:
Switch Input Encoder Phase-B
GESEL 28 Output 120 Ω min.)
48 −B
4.7 kΩ
Deviation Counter 23 +Z
Reset Input Encoder Phase-Z
ECRST 30 Output
24 −Z
4.7 kΩ
Alarm Reset 100 Ω 20 SEN

Input Sensor ON
RESET 31
4.7 kΩ 4.7 kΩ
1 μF 13 SENGND
Control Mode
Switch Input
TVSEL 32 42 BAT Backup Battery Input *1
4.7 kΩ
Pulse Prohibit 43 BATCOM

Input
IPG 33
4.7 kΩ 10 kΩ 16 PCL Forward Torque Limit Input
Reverse Drive 3.83 kΩ

17 AGND
Prohibit Input
NOT 8
4.7 kΩ 10 kΩ 18 NCL Reverse Torque Limit Input
Forward Drive 3.83 kΩ
Prohibit Input 50 FG
POT 9
Frame ground
*1. If a backup battery is connected, a cable with a battery is not required.

Control I/O Signal Connections and External Signal Processing for Speed Control
Speed Command Input REF 14 20 kΩ 11 BKIR

Brake Interlock Maximum
3.83 kΩ 10 BKIRCOM operating
AGND 15
voltage:
Forward Torque 30 VDC
Limit Input PCL 16 10 kΩ 35 READY
3.83 kΩ 34 READYCOM output
AGND 17
current:
Reverse Torque 37 /ALM
50 mA DC
Limit Input NCL 18 10 kΩ
Alarm Output
3.83 kΩ 36 ALMCOM
Sensor ON Input SEN 20 100 Ω 39 TGON

Servomotor Rotation
Speed Detection Output
4.7 kΩ 38 TGONCOM
SENGND 13 1 μF
12 OUTM1

Input RUN 29 General-purpose Output 2
4.7 kΩ 41 COM
Zero Speed
Designation Input 19 Z
Phase-Z Output
VZERO 26 (open collector output)
4.7 kΩ 25 ZCOM
Gain Switch
Input
GSEL 27
4.7 kΩ
21 +A
Internally Set Encoder Phase-A Line driver output
Output
Speed Selection 3 22 −A Conforms to
VSEL3 28 EIA RS-422A
4.7 kΩ 49 +B (Load resistance:
Encoder Phase-B 120 Ω min.)
Internally Set Output
Speed Selection 2 48 −B
VSEL2 30
4.7 kΩ 23 +Z Encoder Phase-Z
Alarm Reset Output
Input 24 −Z
RESET 31
4.7 kΩ
Control Mode
Switch Input
TVSEL 32
4.7 kΩ
Internally Set
Speed Selection 1 42 BAT Backup Battery Input *1
VSEL1 33
4.7 kΩ 43 BATCOM
Reverse Drive
Prohibit Input
NOT 8
4.7 kΩ
Forward Drive
Prohibit Input 50 FG
POT 9
Frame ground

Control I/O Signal Connections and External Signal Processing for Torque Control
Torque Command
Input or
Speed Limit
Input TREF1/VLIM 14 20 kΩ 11 BKIR
Brake Interlock Maximum
3.83 kΩ 10 BKIRCOM operating
AGND 15
voltage:
Torque Command
35 READY 30 VDC
Input TREF2 16 10 kΩ
3.83 kΩ 34 READYCOM output
AGND 17
current:
37 /ALM
50 mA DC
SEN 20 100 Ω Alarm Output

Sensor ON
36 ALMCOM
4.7 kΩ
SENGND 13 1μF 39 TGON
Servomotor Rotation
Speed Detection Output
38 TGONCOM
12 OUTM1

Input RUN 29 General-purpose Output 2
4.7 kΩ 41 COM
Zero Speed
Designation Input 19 Z
Phase-Z Output
VZERO 26 (open collector output)
4.7 kΩ 25 ZCOM
Gain Switch
Input
GSEL 27 21 +A
4.7 kΩ Encoder Phase-A
Output Line driver output
22 −A Conforms to
Alarm Reset
Input EIA RS-422A
RESET 31 49 +B (Load resistance:
4.7 kΩ
Encoder Phase-B 120 Ω min.)
Output
48 −B
Control Mode
Switch Input
TVSEL 32 23 +Z
Encoder Phase-Z
4.7 kΩ Output
24 −Z
Reverse Drive
Prohibit Input
NOT 8 42 BAT Backup Battery Input *1
4.7 kΩ
43 BATCOM
Forward Drive
Prohibit Input
POT 9 50 FG
Frame ground

● Peripheral Device Connection Examples
R88D-GTA5L/-GT01L/-GT02L/-GT04L
R88D-GT01H/-GT02H/-GT04H/-GT08H/-GT10H/-GT15H
R T Single-phase 100 to 115 VAC, 50/60 Hz: R88D-GT@@L
Single-phase 200 to 240 VAC, 50/60 Hz: R88D-GT@@H
NFB
1 2
Noise filter
E NF
Main-circuit power supply
3 4 Main-circuit contactor
OFF ON
1MC
(Ground to
100 Ω or less.) X
Surge killer
X 1MC
PL
Servo error display
G-Series G-Series
AC Servo Drive AC Servomotor
Power Cable
CNA
XB (*2)
L1C
B
L2C CNB 24 VDC
1MC U
V
CNA M
W
L1
Reactor
L3
CNB
(Ground to
B1
Regeneration CN2 100 Ω or less.)
resistor (*3)
B3
(*4) Encoder Cable
B2
E
CN1
X 37 /ALM
24 VDC
36 ALMCOM
CN1
X 24 VDC
BKIR 11 XB
User (*1)
CN1 BKIRCOM 10
control
device
Control Cable
*1. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-Series Servomotors
with brakes.
*2. The brake is not affected by the polarity of the power supply.
*3. Connect B2-B3 for the models with a built-in regeneration resistor (GT04L, GT08H, GT10H, and GT15H).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.
*4. The models GTA5L to GT02L and GT01H to GT04H do not have a built-in regeneration resistor. If the amount of regeneration is large, an External Regeneration
Resistor must be connected to B1-B2.

R88D-GT08H/-GT10H/-GT15H
R S T
Three-phase 200 to 240 VAC, 50/60 Hz
NFB
1 2 3 Noise filter
E NF
4 5 6 Main-circuit contactor
OFF ON
1MC
(Ground to
100 Ω or less.) X
Surge killer
X 1MC
PL
Servo error display
G-Series G-Series
Power Cable
CNA
XB (*2)
L1C
B
L2C CNB
24 VDC
1MC U
V
M
CNA W
L1
Reactor
L2
L3 (Ground to
CN2 100 Ω or less.)
CNB
B1
Encoder Cable E
Regeneration (*3)
B3
resistor
B2
CN1
X 37 /ALM
24 VDC
36 ALMCOM
CN1
X
24 VDC
BKIR 11 XB
User (*1)
CN1 BKIRCOM 10
control
device
Control Cable
with brakes.
*3. Connect B2-B3 for the models with a built-in regeneration resistor (GT08H to GT15H).
If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2.The brake is not affected by the polarity of the
power supply.

R88D-GT20H/-GT30H/-GT50H
R S T
Three-phase 200 to 230 VAC 50/60 Hz
NFB
1 2 3 Noise filter
E NF
OFF ON
1MC
(Ground to
100 Ω or less.) X
Surge killer
X 1MC
PL
Servo error display
G-Series G-Series
TB1 Power Cable
XB (*2)
L1C
B
L2C TB1
U
1MC 24 VDC
V
M
W
TB1
L1
Reactor
L2
(Ground to
L3 CN2 100 Ω or less.)
B1 Encoder Cable E
Regeneration (*3)
B3
resistor
B2
CN1
X 37 /ALM
24 VDC
36 ALMCOM
CN1
X 24 VDC
BKIR 11 XB
User (*1)
CN1 BKIRCOM 10
control
device
Control Cable
with brakes.
*3. Connect B2-B3 for the models with a built-in regeneration resistor (GT20H to GT50H).

R88D-GT75H
R S T
Three-phase 200 to 230 VAC 50/60 Hz
NFB
1 2 3 Noise filter
E NF
Main-circuit power supply Main-circuit contactor
4 5 6 OFF ON
1MC
(Ground to
100 Ω or less.) X
Surge killer
X 1MC
PL
Servo error display
G-Series G-Series
Power Cable
TB2
XB (*2)
L1C
B
L2C TB1
24 VDC
U
1MC V
M
W
TB1
L1
Reactor
L2 (Ground to
CN2 100 Ω or less.)
L3
Regeneration B1
Encoder Cable E
resistor
(*3)
B2
TB2
FN(+)
CN1
FAN Stop
X 37 /ALM FN(−)
24 VDC
36 ALMCOM
CN1
X 24 VDC
BKIR 11 XB
User (*1)
CN1 BKIRCOM 10
control
device
Control Cable
with brakes.
*3. The model GT75H does not have a built-in regeneration resistor.
If the amount of regeneration is large, an External Regeneration Resistor must be connected to B1-B2.

I/O Circuit Diagrams
● Control Input Circuits
• Speed Command/Torque Command Input
20 kΩ
REF/TREF/VLIM 14 20 kΩ
– ADC
+ 1
15 AGND
+3.3 V
– 1 kΩ
PCL/TREF 16 10 kΩ + 1 kΩ
3.83 kΩ ADC
17 AGND 2
+3.3 V
– 1 kΩ
NCL 18 10 kΩ + 1 kΩ
3.83 kΩ
• The maximum allowable input voltage is ±10 V for each input. The VR must be 2 kΩ with B characteristics and 1/2 W minimum. R must be 200
Ω and 1/2 W minimum.
• Position Command Pulse Input (Photocoupler Input)

Line Driver Input (500 kpps Maximum)
(+CW:3, −CW:4, +CCW:5, −CCW:6)
Controller Servo Drive
+ +
Input current: 9 mA, 3 V
− − 220 Ω
Applicable line driver:

AM26LS31A or
the equivalent
Open-collector Input
• External 24-V power supply without a current-limiting resistor (200 kpps maximum)
(+24VCW: 1, −CW: 4, +24VCCW: 2, −CCW: 6)
Vcc 24 V
+ 2.2 KΩ
− 220 Ω
• External control power supply (200 kpps maximum)

(+CW: 3, −CW: 4, +CCW: 5, −CCW: 6)
Vcc
R
+
Input current: 7 to 15 mA
− 220 Ω
• Select a resistance R value so that the input current will be from 7 to 15 mA. Refer to the following table.
VCC R
Vcc - 1.5 24 V 2 kΩ (1/2 W)
≒ 10mA
R + 220 （7-15mA） 12 V 1 kΩ (1/2 W)
5V 0Ω (Shorted)

• Sequence Input
External power supply:
12 VDC ±5% to +24VIN 7 4.7 kΩ
24 VDC ±5%
Power supply capacity: Photocoupler input
50 mA min. (per Unit) RUN 29
Minimum ON time:
40 ms
To other input circuit ground commons To other input circuits
Signal Levels ON level: 10 V min.

OFF level: 3 V max.
• Sensor Input
Sensor ON Input ABS
Servo Drive
SEN 20 100 Ω
+5 V Input voltage:
When at high level:
Approx. 1 mA 4.7 k 0.1 μF 1 mA, to 5 VDC
SENGND 13
7406 or the equivalent
0V
Signal Levels High level: 4 V min.
Low level: 0.8 V max.
• A PNP transistor is recommended.
● Control Output Circuits

• Position Feedback Output
Servo Drive Controller
R = 120 to 180 Ω +5 V
21 +A +A
Phase A R Phase A
22 −A −A
Output line driver 49 +B +B

AM26C31 or Phase B 48 −B −B R Phase B
the equivalent
23 +Z +Z
Phase Z 24 −Z −Z R Phase Z
0V
25 ZCOM GND
0V 0 V Applicable line receiver
Shell FG
FG FG AM26C32 or the equivalent
• Phase-Z Output (Open-collector Output)

Servo Drive Controller
19 Z
Maximum operating voltage: 30 VDC
25 ZCOM Maximum output current: 50 mA
0V
• Sequence Output
Servo Drive To other output
circuits
X
External power supply
Di 24 VDC ±1 V
Maximum operating voltage: 30 VDC
Maximum output current: 50 mA
Di
Di: Diode for preventing surge voltage

(Use high-speed diodes.)

Components and Functions
● Servo Drive Part Names ● CN1 Control Inputs
Display area
Pin No. Symbol Name
Unit No. switch 1 +24VCW 24-V Open-collector Input for Command Pulse
2 +24VCCW 24-V Open-collector Input for Command Pulse
Settings area
Analog monitor 1 check pin (IM)
Check pin (G: GND)
3 +CW/PULS/FA Reverse Pulses Input/ Feed Pulses Input,
Analog monitor 2 check pin (SP)
RS-485 4 −CW/PULS/FA or 90° Phase Difference Pulse Input (Phase A)
Communications connector
Main-circuit power terminals
(CN3A) 5 +CCW/SIGN/FB Forward Pulse Input/ Direction Signal,
(L1, L2, L3) RS-232
Communications connector/ 6 −CCW/SIGN/FB or 90° Phase Difference Pulse Input (Phase B)
Control-circuit power terminals
(L1C, L2C) Parameter Unit connector
(CN3B) 7 +24VIN 12 to 24-VDC Power Supply Input
8 NOT Reverse Drive Prohibit Input
Control I/O connector (CN1)
9 POT Forward Drive Prohibit Input
External Regeneration Resistor REF Speed Command Input
connection terminals
(B1, B2, B3) 14 TREF Torque Command Input
Servomotor connection terminals VLIM Speed Limit Input

(U, V, W)
15 AGND Analog Input Ground
Encoder connector (CN2)
PCL Forward Torque Limit Input
16
Protective ground terminals TREF Torque Command Input
17 AGND Analog Input Ground
18 NCL Reverse Torque Limit Input
● Main Circuit Connector (CNA) 20 SEN

Sensor ON Input
13 SENGND
Symbol Name
VZERO Zero Speed Designation Input
L1
26 DFSEL Vibration Filter Switch
L2 Main circuits power supply input
PNSEL Speed Command Rotation Direction Switch
L3
GSEL Gain Switch
L1C 27
Control circuit power supply input TLSEL Torque Limit Switch
L2C
GESEL Electronic Gear Switch
28
VSEL3 Internally Set Speed Selection 3
● Servomotor Connector (CNB)
29 RUN RUN Command
Symbol Name
ECRST Deviation Counter Reset Input
B1 30
VSEL2 Internally Set Speed Selection 2
B2 External Regeneration Resistor connection terminals
31 RESET Alarm Reset Input
B3
32 TVSEL Control Mode Switch Input
U
IPG Pulse Prohibit Input
V 33
Servomotor connection terminals VSEL1 Internally Set Speed Selection 1
W
42 BAT
Backup Battery Input
43 BATGND
Frame ground 44 +CWLD Reverse Pulse
45 −CWLD (input for line driver only)
● Display Area 46 +CCWLD Forward Pulse

A 6-digit 7-segment LED display shows the Servo Drive status, alarm 47 −CCWLD (input for line driver only)
codes, parameters, and other information.
● Check Pins (IM, SP, and G)

The actual motor speed, command speed, torque, and number of
accumulated pulses can be measured based on the analog voltage
level by using an oscilloscope. The type of signal to output and the
output voltage level are set in the SP Selection (Pn07) and IM Selec-
tion (Pn08) parameters.
● Unit No. Switch

The Servo Drive number in serial communications is set to a value
from 0 to F. This number is used to identify which Servo Drive the
computer is accessing in RS-232/485 communications between mul-
tiple Servo Drives and a computer.

● CN1 Control Outputs ● Protective Functions
Pin No. Symbol Name Error detection
10 BKIRCOM Control power supply undervoltage
Brake Interlock Output
11 BKIR Overvoltage
12 OUTM1 General-purpose Output 1 Undervoltage
19 Z Phase-Z Output (open collector) Overcurrent
25 ZCOM Phase-Z Output (open collector) common Overheating
21 +A Encoder Phase-A + Output Overload
22 −A Encoder Phase-A − Output Regeneration overload
48 −B Encoder Phase-B − Output Encoder communications error
49 +B Encoder Phase-B + Output Encoder communications data error
23 +Z Encoder Phase-Z + Output Position deviation exceeded
24 −Z Encoder Phase-Z − Output Overspeed
35 READY Command pulse multiplying error
Servo Ready Output
34 READYCOM Overrun limit error
37 /ALM EEPROM parameter error
Alarm Output
36 ALMCOM EEPROM check code error
39 INP Drive prohibit input
Positioning Completed Output
38 INPCOM Excessive analog input
39 TGON Absolute encoder system down error
Servomotor Rotation Speed Detection Output
38 TGONCOM Absolute encoder counter overflow error ABS
40 OUTM2 General-purpose Output 2
Absolute encoder overspeed error ABS
41 COM General-purpose Output Common
Shell FG Frame Ground Absolute encoder one-turn counter error ABS
● Encoder Connector Specifications (CN2)

Absolute encoder multi-turn counter error ABS
Pin No. Symbol Name Absolute encoder status error ABS
1 E5V Encoder power supply +5 V Encoder phase Z error
2 E0V Encoder power supply GND Encoder PS signal error
3 BAT+ Battery + PCL input exceeded
4 BAT− Battery − NCL input exceeded
5 PS+ Encoder +phase S input Motor automatic recognition error
6 PS− Encoder −phaseS input CPU error
Shell FG Shield ground Encoder error
● Communications Connector Specifications (CN3A)

Pin No. Symbol Name
4 GND Ground
7 B+
RS-485 communications data
8 A−
● Parameter Unit Connector Specifications (CN3B)

Pin No. Symbol Name
3 TXD RS-232 send data
4 GND Ground
5 RXD RS-232 receive data
7 B+
RS-485 communications data
8 A−

Parameter
● R88A-RP02G : Parameter Unit Part Names ● Gain Parameters
LED Display (6 Digits) Parameter name Explanation
If an error occurs, all digits will flash and the
display will switch to the error display. Set to adjust position control system
Position Loop Gain
responsiveness.
Unit No. Display (2 Digits)
Displays the selected Servo Drive's unit Speed Loop Gain Set to adjust speed loop responsiveness.
number set in the Unit No. Setting (Pn00). Speed Loop Integration Set to adjust the speed loop integration time
In Parameter Setting Mode, displays the
2-digit parameter number.
Time Constant constant.
Speed Feedback Filter The encoder signal is converted to the speed
Mode Key
Time Constant signal via the low pass filter.
Switches between the following six modes.
• Monitor Mode • Autotuning Mode Torque Command Filter Set to adjust the primary lag filter time constant
• Parameter Setting Mode • Auxiliary Function Mode Time Constant for the torque command section.
• Parameter Write Mode • Copy Mode
Set the position control feed-forward
Feed-forward Amount
Increment/Decrement Key compensation value.
Increases or decreases parameter numbers
Feed-forward Command Set the time constant of the primary lag filter
or set values.
Filter used in the speed feed-forward section.
Shift Key
Set to adjust position control system
Shifts the digit being changed to the left. Position Loop Gain 2
responsiveness.
Data Key
Speed Loop Gain 2 Set to adjust speed loop responsiveness.
Switches between the parameter and setting
displays, saves settings, etc. Speed Loop Integration Set to adjust the speed loop integration time
Time Constant 2 constant.
● Function Selection Parameters Speed Feedback Filter The encoder signal is converted to the speed
Time Constant 2 signal via the low pass filter.
Parameter name Explanation
Torque Command Filter Set to adjust the primary lag filter time constant
Unit No. Setting Set the unit number. Time Constant 2 for the torque command section.
Set the data to display on the Parameter Unit Set the notch frequency of the resonance
Default Display Notch Filter 1 Frequency
when the power supply is turned ON. suppression notch filter.
Control Mode Selection Set the control mode to be used. Set the width to one of five levels for the
Set the torque limit method for forward and Notch Filter 1 Width resonance suppression notch filter. Normally,
Torque Limit Selection use the default setting.
reverse operation.
You can stop the Servomotor from rotating Set the ratio between the mechanical system
Drive Prohibit Input Inertia Ratio
beyond the device's travel distance range by inertia and the Servomotor rotor inertia.
Selection
setting limit inputs. Realtime Autotuning
Set the operating mode for realtime autotuning.
Command Speed Select the speed command when using speed Mode Selection
Selection control. Set the machine rigidity to one of 16 levels
Zero Speed Designation/ during realtime autotuning.
Set the function of the Zero-speed Designation The higher the machine rigidity, the greater the
Speed Command Realtime Autotuning
Input (VZERO). setting needs to be.
Direction Switch Machine Rigidity
The higher the setting, the higher the
Select the relation between the output voltage Selection
SP Selection responsiveness.
level and the speed. When the Parameter Unit is used, 0 cannot be
Select the relation between the output voltage set.
IM Selection
level and the torque or number of pulses. Adaptive Filter Selection Enable or disable the adaptive filter.
General-purpose Output Assign the function of General-purpose Output 2 Vibration Filter Selection Vibration filters 1 and 2 can be switched.
2 Selection (OUTM2).
Autotuning Operation
General-purpose Output Assign the function of General-purpose Output 1 Set the operating pattern for autotuning.
Setting
1 Selection (OUTM1).
Set the allowable operating range for the
Operation Switch When Set the operating method for the 17-bit absolute Overrun Limit Setting Servomotor. The overrun limit function is
Using Absolute Encoder encoder. disabled if the parameter is set to 0.
RS-232 Baud Rate Instantaneous Speed
Select the baud rate for the RS-232 port. Set the instantaneous speed observer.
Setting Observer Setting
RS-485 Baud Rate Select the baud rate for RS-485 Set the notch frequency of the resonance
Setting communications. Notch Filter 2 Frequency
suppression notch filter.
Front Key Protection Front panel key operation can be limited to Set the notch filter width to one of five levels for
Setting Monitor Mode. Notch Filter 2 Width the resonance suppression notch filter. Normally,
use the default setting.
Set the depth of the resonance suppression
Notch Filter 2 Depth
notch filter.
Set vibration frequency 1to suppress vibration at
Vibration Frequency 1
the end of the load in dampening control.
Set vibration filter 1 to suppress vibration at the
Vibration Filter 1 Setting
end of the load in dampening control.
Set vibration frequency 2 to suppress vibration
Vibration Frequency 2
at the end of the load in dampening control.
Set vibration filter 2 to suppress vibration at the
end of the load in dampening control.

● Position Control Parameters
Parameter name Explanation Parameter name Explanation
Displays the table entry number corresponding Selects whether to use photocoupler or line-
to the frequency for the adaptive filter. Command Pulse Input driver-only input for the command pulse input.
Adaptive Filter Table This parameter is set automatically and cannot Selection Note: To use a Servo Relay Unit Cable, set this
Number Display be changed if the adaptive filter is enabled (i.e., if parameter to 0 (photocoupler input).
Realtime Autotuning Mode Selection (Pn21) is 1
Command Pulse Set the Servomotor rotation direction for the
to 3 or 7).
Rotation Direction Switch command pulse input.
Enable or disable gain switching.
Set the form of the pulse inputs sent as
Gain Switching Input If gain switching is enabled, the setting of the
Command Pulse Mode command to the Servo Drive from a position
Operating Mode Gain Switch Setting (Pn31) is used as the
controller.
Selection condition for switching between gain 1 and gain
2. Command Pulse
Enable or disable the pulse disable input (IPG).
Prohibited Input Setting
Select the condition for switching between gain 1
Gain Switch 1 Setting and gain 2. Encoder Divider
The details depend on the control mode. Numerator Setting Set the number of encoder pulses (+A, −A, −B,
+B) output from the Servo Drive for each
This parameter is enabled when the Gain Switch Encoder Divider Servomotor rotation.
1 Setting (Pn31) is 3 to 10. Set the delay time Denominator Setting
Gain Switch 1 Time from the moment the condition set in the Gain
Encoder Output Direction
Switch 1 Setting (Pn31) is not met until returning Set the B-phase logic for pulse output (−B, +B).
Switch
to gain 1.
Electronic Gear Ratio
This parameter is enabled when the Gain Switch
Numerator 1 Set the pulse rate for command pulses and
1 Setting (Pn31) is 3 to 6, 9, or 10. Set the
Servomotor travel distance. If Pn48 or Pn49 is 0,
Gain Switch 1 Level judgment level for switching between gain 1 and Electronic Gear Ratio
Numerator 2 the encoder resolution is set to a numerator.
Setting gain 2.
Electronic Gear Ratio Numerator 1 (Pn48) Electronic Gear Ratio
The unit for the setting depends on the condition Electronic Gear Ratio or × 2 Numerator Exponent (Pn4A)
set in the Gain Switch 1 Setting (Pn31). Numerator Exponent
Electronic Gear Ratio Numerator 2 (Pn49)
Set the hysteresis width above and below the Electronic Gear Ratio Electronic Gear Ratio Denominator (Pn4B)
Gain Switch 1 Hysteresis
judgment level set in the Gain Switch 1 Level Denominator
Setting
Setting (Pn33).
Set the time constant for the primary lag filter for
When switching between gain 1 and gain 2 is the command pulse input.
Position Loop Gain Position Command Filter
enabled, set the phased switching time only for If the parameter is set to 0, the filter will not
Switching Time Time Constant Setting
the position loop gain at gain switching. function. The larger the setting, the larger the
Select the condition for switching between gain 1 time constant.
and gain 2 in speed control mode. Select the FIR filter time constant used for the
Gain Switch 2 Setting
The Gain Switching Input Operating Mode command pulse input.
Selection (Pn30) must be set to 1 (enabled). Smoothing Filter Setting
The higher the setting, the smoother the
This parameter is enabled when Gain Switch 2 command pulses.
Gain Switch 2 Time Setting (Pn36) is 3 to 5. Set the delay time for Deviation Counter Reset
returning from gain 2 to gain 1. Set the deviation counter reset conditions.
Condition Setting
This parameter is enabled when Gain Switch 2
Setting (Pn36) is 3 to 5. Set the judgment level
Gain Switch 2 Level
for switching between gain 1 and gain 2. The unit
Setting
depends on the setting of Gain Switch 2 Setting
(Pn36).
Set the hysteresis width above and below the
Gain Switch 2 Hysteresis judgment level set in the Gain Switch 2 Level
Setting Setting (Pn38). The unit depends on the setting
of the Gain Switch 2 Setting (Pn36).
Jog Speed Set the speed for jogging.

● Speed and Torque Control Parameters ● Sequence Parameters
Set the relation between the voltage applied to Positioning Completion Set the range for the Positioning Completed
Speed Command Scale the Speed Command Input (REF) and the Range Output (INP).
Servomotor speed.
Set the rotation speed to output for the general-
Command Speed Set to reverse the polarity of the speed Zero Speed Detection purpose output (zero speed detection output or
Rotation Direction Switch command input (REF). speed coincidence output).
Speed Command Offset Set to adjust the offset of the Speed Command Set the rotation speed for the Servomotor
Rotation Speed for Motor
Adjustment Input (REF). Rotation Detection Output (TGON) for Internally
Rotation Detection
Set Speed Control.
No. 1 Internally Set
Set the No. 1 internally set rotation speed.
Speed Positioning Completion Set the operation for positioning completion
Condition Setting output (INP).
Speed Select whether to activate the main power
Undervoltage Alarm supply undervoltage function (alarm code 13) if
Set the No. 3 internally set rotation speed. Selection the main power supply is interrupted for the
Speed
Momentary Hold Time (Pn6D) during Servo ON.
No. 4 Internally Set Set the operation used to decelerate to a stop
For torque control (when Pn5B = 0), set the
Speed Stop Selection for Drive after the Forward Drive Prohibit Input (POT) or
speed limit.
Prohibition Input Reverse Drive Prohibit Input (NOT) has been
No. 5 Internally Set received.
Speed
Set one of the following operations for after the
No. 6 Internally Set main power supply is cut off if the Undervoltage
Speed Stop Selection with Main Alarm Selection (Pn65) is set to 0.
Power OFF ·Operation during deceleration and after
Set the No. 7 internally set rotation speed. stopping
Speed
·Clearing the deviation counter
Set the No. 8 internally set rotation speed. Set the operation to be performed after stopping
Speed
Stop Selection for Alarm or during deceleration when any protective
Speed Command Filter Set the primary lag filter time constant in the Generation function of the Servo Drive operates and an error
Time Constant Speed Command Input (REF: CN1 pin 14). occurs.
Soft Start Acceleration Set the acceleration time for the speed Set the operation to be performed after the
Time command. Servomotor turns OFF (i.e., RUN ON to OFF).
Soft Start Deceleration Set the deceleration time for the speed Stop Selection with The relation between set values, operation, and
Time command. Servo OFF deviation counter processing for this parameter
is the same as for the Stop Selection with Main
S-curve Acceleration/ Set the pseudo-S-curve acceleration/ Power OFF (Pn67).
Deceleration Time deceleration value to add to the speed command
Setting to enable smooth operation. When the Servomotor is stopped and the RUN
Command Input (RUN) is turned OFF, the Brake
Torque Command/Speed Select the input for the torque command and Brake Timing when Interlock Signal (BKIR) will turn OFF, and the
Limit Selection speed limit. Stopped Servomotor will turn OFF after waiting for the
Set the relation between the voltage applied to time period set for this parameter (i.e., setting ×
Torque Command Scale the Speed Limit Input (VLIM) and the 2 ms).
Servomotor speed. When the Servomotor is stopped and the RUN
Torque Output Direction Set to reverse the polarity of the Torque Command Input (RUN) is turned OFF, the
Switch Command Input (REF/TREF or PCL/TREF). Servomotor will decelerate to reduce rotation
Brake Timing during speed, and the Brake Interlock Signal (BKIR) will
Set the limit to the Servomotor's maximum Operation turn OFF after the set time for the parameter
No. 1 Torque Limit
torque. (i.e., setting × 2 ms) has elapsed.
Set the limit to the Servomotor's maximum BKIR will also turn OFF if the speed drops to
No. 2 Torque Limit 30 r/min or lower before the set time elapses.
torque.
Regeneration Resistor Set whether to use a built-in resistor or to add an
Selection External Regeneration Resistor.
Set the amount of time required until shutoff is
Momentary Hold Time detected if the main power supply continues to
shut off.
Set the torque limit for the following cases.
·Drive prohibit deceleration with Stop Selection
for Drive Prohibit Input (Pn66) set to 2.
Emergency Stop Torque ·Deceleration with Stop Selection with Main
Power OFF (Pn67) set to 8 or 9.
·Deceleration with Stop Selection with Servo
OFF (Pn69) set to 8 or 9.
Deviation Counter
Set the deviation counter overflow level.
Overflow Level
Speed Command/Torque Set the overflow level for Speed Command Input
Command Input Overflow (REF) or Torque Command Input (TREF) using
Level Setting voltage after offset adjustment.
Overload Detection Level
Set the overload detection level.
Setting
Overspeed Detection
Set the overspeed detection level.
Level Setting

Dimensions (Unit: mm)
●Servo Drives
• Single-phase 100 VAC (50 to 100 W)

R88D-GTA5L
R88D-GT01L
R88D-GT01H
R88D-GT02H 40 70 130
Mounting Hole Dimensions
4
Two, M4
AC SERVO DRIVER
UNIT No.
DATA
IM SP G
140±0.5
150
150
6 28±0.5
40
• Single-phase 100 VAC (200 W)

R88D-GT02L
R88D-GT04H
55 70 130
4
Two, M4
AC SERVO DRIVER
UNIT No.
DATA
IM SP G
140±0.5
150
150
6 43±0.5
55

R88D-GT04L
• Single-phase/Three-phase 200 VAC (750 W)
R88D-GT08H
65 70 170 Mounting Hole Dimensions

4
Two, M4
AC SERVO DRIVER
UNIT No.
DATA
IM SP G
140±0.5
150
150
7.5 50±0.5
65
• Single-phase/Three-phase 200 VAC (900 W to 1.5 kW)

R88D-GT10H
R88D-GT15H
85 70 170
4 Mounting Hole Dimensions
Two, M4
AC SERVO DRIVER
UNIT No.
DATA
IM SP G
140±0.5
150
150
7.5 70±0.5
85

• Three-phase 200 VAC (2 kW)
R88D-GT20H
85
17.5 50 70 200 3.5
42.5 Mounting Hole Dimensions
5.2 5.2
Four, M4
R2.6 5.2 R2.6
dia.
AC SERVO DRIVER
UNIT No.
DATA
IM SP G
188±0.5
168
198
168
188
5.2 17.5 50±0.5

R2.6 dia. R2.6
3.5
5.2 5.2
85
42.5
17.5 50
• Three-phase 200 VAC (2 to 5 kW)

R88D-GT30H/-GT50H
130
15 100 70 200 3.5 Mounting Hole Dimensions
65
5.2 5.2 50±0.5 Six, M4
R2.6 5.2 dia. R2.6
AC SERVO DRIVER
UNIT No.
DATA
IM SP G
240±0.5
220
240
250
220
5.2 15 100±0.5
R2.6 dia. R2.6
5.2 5.2 3.5
65 130
15 100

• Three-phase 200 VAC (7.5 kW)
R88D-GT75H
Front Panel Mounting (Using Mounting Brackets)
37.5 90 90 70 339.3 (4)
82.5 90 45.1 Six, M4
5.2 5.2 5.2 (2.3)
(4)
235±0.5
229
220
235
250
Square hole
3
5.2 5.2 5.2 38.5 90±0.5 90±0.5
250
Four, 5.2 dia.
85

● Servomotors

• 50 W/100 W
INC ABS
R88M-G05030H (-S2) R88M-G05030T (-S2)
R88M-G10030L (-S2) R88M-G10030S (-S2)
R88M-G10030H (-S2) R88M-G10030T (-S2)
R88M-G05030H-B (S2) R88M-G05030T-B (S2)
R88M-G10030L-B (S2) R88M-G10030S-B (S2)
R88M-G10030H-B (S2) R88M-G10030T-B (S2)
Brake connector
Encoder Servomotor connector
Model LL LN connector
LL 25
R88M-G05030@ 72 26.5 6 3
R88M-G10030@ 92 46.5
R88M-G05030@-B 102 26.5
230
(Dimensions of shaft end
8 dia., height: 6
R88M-G10030@-B 122 46.5 with key and tap)
200 Two, 4.3 dia. 40 × 40 14
*The empty bax in the L, H, L, T or S.
12.5
Note: The standard models have a straight 3h9
30 dia., height: 7
shaft. A model with a key and tap is ia.
1.8
46 d
32
indicated by adding “S2” to the end LN
3
M3 (depth: 6)
• 200 W/400 W/750 W

INC ABS
R88M-G20030L (-S2) R88M-G20030S (-S2)
R88M-G40030L (-S2) R88M-G40030S (-S2)
R88M-G20030H (-S2) R88M-G20030T (-S2)
R88M-G40030H (-S2) R88M-G40030T (-S2)
R88M-G75030H (-S2) R88M-G75030T (-S2)
R88M-G20030L-B (S2) R88M-G20030S-B (S2)
R88M-G40030L-B (S2) R88M-G40030S-B (S2)
R88M-G20030H-B (S2) R88M-G20030T-B (S2)
R88M-G40030H-B (S2) R88M-G40030T-B (S2)
R88M-G75030H-B (S2) R88M-G75030T-B (S2)
Model LL LR S D1 D2 C G Z KL1 QK b h M t1 L
R88M-G20030@ 79.5 11 18 4h9 4 M4 2.5 8
30 70 50 60 6.5 4.5 43
R88M-G40030@ 99 14 22.5 5h9 5 3
M5 10
R88M-G75030@ 112.2 35 19 90 70 80 8 6 53 22 6h9 6 3.5
R88M-G20030@-B 116 11 18 4h9 4 M4 2.5 8
30 70 50 60 6.5 4.5 43
R88M-G40030@-B 135.5 14 22.5 5h9 5 3
M5 10
R88M-G75030@-B 149.2 35 19 90 70 80 8 6 53 22 6h9 6 3.5

Note: The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Brake connector
connector
LL LR
G 3
220

with key and tap)
200
Four, Z dia. C×C

S dia., height : 6
QK
D2 dia., height: 7
. b
KL1
dia
D1
t1
h
M
(effective depth: L)

• 1 kW/1.5 kW/2 kW
ABS
R88M-G1K030T (-S2) Servomotor
canon plug LL 55 C×C (Dimensions of shaft end
R88M-G1K530T (-S2)
Encoder with key and tap)
R88M-G2K030T (-S2) canon plug G 3 45
Four, Z dia.
19 dia., height: 6
R88M-G1K030T-B (S2) 42 6h9
KL1
R88M-G1K530T-B (S2)
3.5
84
D2 dia., height: 7
R88M-G2K030T-B (S2)
6
. D1
dia dia
D3 .
M5 (depth: 12)
Model LL D1 D2 C D3 G KL1 Z
R88M-G1K030T 175 100 80 90 120 7 98 6.6
R88M-G1K530T 180
115 95 100 135 10 103 9
R88M-G2K030T 205
R88M-G1K030T-B 200 100 80 90 120 7 98 6.6
R88M-G1K530T-B 205
115 95 100 135 10 103 9
R88M-G2K030T-B 230
Note: The standard models have a straight shaft.
A model with a key and tap is indicated by adding “S2” to the end of the model number.
• 3 kW
ABS Servomotor/brake
R88M-G3K030T (-S2) connector (Dimensions of the shaft end
LL 55 120 × 120
with key and tap)
22 dia., height: 6
R88M-G3K030T-B (S2) Encoder

connector 12 3 45
41 8h9
9
111
84
110 dia., height: 7
.
dia
4
130
Model LL
7
. 145
dia dia.
R88M-G3K030T 217 162
R88M-G3K030T-B 242
M5 (depth: 12)
• 4 kW/5 kW
ABS
R88M-G4K030T (-S2) Servomotor/brake
R88M-G5K030T (-S2) connector (Dimensions of shaft end
LL 65 130 × 130
R88M-G4K030T-B (S2) with key and tap)
Encoder
R88M-G5K030T-B (S2) connector 12 6 Four, 9 dia. 55
24 dia., height: 6
51 8h9
118
84
110 dia., height: 7
Model LL
7
R88M-G4K030T 240 dia.

165
R88M-G5K030T 280
M8 (depth: 20)
R88M-G4K030T-B 265
145 dia.
R88M-G5K030T-B 305


• 100 W/200 W/400 W
INC ABS
R88M-GP10030L (-S2) R88M-GP10030S (-S2)
R88M-GP20030L (-S2) R88M-GP20030S (-S2)
R88M-GP40030L (-S2) R88M-GP40030S (-S2)
R88M-GP10030H (-S2) R88M-GP10030T (-S2)
R88M-GP20030H (-S2) R88M-GP20030T (-S2)
R88M-GP40030H (-S2) R88M-GP40030T (-S2)
R88M-GP10030L-B (S2) R88M-GP10030S-B (S2)
R88M-GP20030L-B (S2) R88M-GP20030S-B (S2)
R88M-GP40030L-B (S2) R88M-GP40030S-B (S2)
R88M-GP10030H-B (S2) R88M-GP10030T-B (S2)
R88M-GP20030H-B (S2) R88M-GP20030T-B (S2)
R88M-GP40030H-B (S2) R88M-GP40030T-B (S2)
Model LL LR S D1 D2 C F G KL1 Z QK b h t1 M L
R88M-GP10030L
60.5
R88M-GP10030H
25 8 70 50 60 3 7 43 4.5 12.5 3h9 3 1.8 M3 6
R88M-GP10030S
87.5
R88M-GP10030T
R88M-GP20030L
67.5
R88M-GP20030H
11 18 4h9 4 2.5 M4 8
R88M-GP20030S
94.5
R88M-GP20030T
30 90 70 80 5 8 53 5.5
R88M-GP40030L
82.5
R88M-GP40030H
14 22.5 5h9 5 3.0 M5 10
R88M-GP40030S
109.5
R88M-GP40030T
R88M-GP10030L-B
84.5
R88M-GP10030H-B
25 8 70 50 60 3 7 43 4.5 12.5 3h9 3 1.8 M3 6
R88M-GP10030S-B
111.5
R88M-GP10030T-B
R88M-GP20030L-B
100
R88M-GP20030H-B
11 18 4h9 4 2.5 M4 8
R88M-GP20030S-B
127
R88M-GP20030T-B
30 90 70 80 5 8 53 5.5
R88M-GP40030L-B
115
R88M-GP40030H-B
14 22.5 5h9 5 3.0 M5 10
R88M-GP40030S-B
142
R88M-GP40030T-B
Encoder
connector Motor connector
LL LR
Brake connector
(7) G F C×C
220
(7) (Dimensions of shaft end

200
Four, Z dia. with key and tap)

S dia., height: 6
QK
b
KL1
D2 dia., height: 7
t1
.
dia
h
D1
M (depth: L)

• 200 VAC: 1 kW/1.5 kW
ABS
LL 55 130 × 130
R88M-G1K020T-B (S2) Encoder with key and tap)
22 dia., height: 6
41
8h9
118
84
110 dia., height: 7
4
Model LL
7
R88M-G1K020T 150 dia. 145
165 dia
.
R88M-G1K520T
175 M5 (depth: 12)
R88M-G1K020T-B
R88M-G1K520T-B 200

• 200 VAC: 2 kW/3 kW

ABS
Servomotor/brake
LL LR 130 × 130
R88M-G3K020T (-S2) Encoder with key and tap)
R88M-G2K020T-B (S2) connector 12 6 Four, 9 dia. LW
S dia., height: 6
R88M-G3K020T-B (S2) QK
118
8h9
84
110 dia., height: 7
4
7
dia. 145
165 dia
.
M (depth: L)
Model LL LR S LW QK M L
R88M-G2K020T 200 55 22 45 41 M5 12
R88M-G3K020T 250 65 24 55 51 M8 20
R88M-G2K020T-B 225 55 22 45 41 M5 12
R88M-G3K020T-B 275 65 24 55 51 M8 20

• 200 VAC : 4 kW/5 kW

R88M-G4K020T (-S2) connector LL LR C×C
R88M-G5K020T (-S2) Encoder (Dimensions of shaft end
connector with key and tap)
R88M-G4K020T-B (S2)
S dia., height: 6
18 3.2 Four, Z dia.

QK
KL1
R88M-G5K020T-B (S2) b
84
D2 dia., height: 7
t1
h
dia. D1
dia
D3 .
M (depth: L)
Model LL LR S D1 D2 C D3 KL1 Z QK b h t1 M L
R88M-G4K020T 242 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20
R88M-G5K020T 225 70 35 200 114.3 176 233 143 13.5 50 10h9 8 5 M12 25
R88M-G4K020T-B 267 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20
R88M-G5K020T-B 250 70 35 200 114.3 176 233 143 13.5 50 10h9 8 5 M12 25

• 7.5 kW
ABS Brake connector
R88M-G7K515T (-S2) Motor Eye-bolt
R88M-G7K515T-B (S2) connector Nominal diameter: 10 (Dimensions of shaft end
LL 113 176 × 176 with key and tap)
96
42 dia., height: 6
Encoder 24 3.2 Four, 13.5 dia.
connector 90
183
12h9
114.3 dia., height: 7

.
dia
84
233
8
Model LL
5
R88M-G7K515T 340.5 200
dia
.
R88M-G7K515T-B 380.5
M16 (depth: 32)

• 900 W/2 kW
ABS Encoder connector
R88M-G90010T (-S2)
Servomotor/brake connector
R88M-G2K010T (-S2)
R88M-G90010T-B (S2) LL LR
R88M-G2K010T-B (S2) C×C (Dimensions of shaft end
with key and tap)
G F
S dia., height: 6
Four, Z dia.
QK
b
KL1
84
D2 dia., height: 7
t1
h
. D1
dia dia
D3 .
M (depth: L)
Model LL LR S D1 D2 C D3 F G KL1 Z QK b h t1 M L
R88M-G90010T 175 70 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12
R88M-G2K010T 182 80 35 200 114.3 176 233 3.2 18 143 13.5 50 10h9 8 5 M12 25
R88M-G90010T-B 200 70 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12
R88M-G2K010T-B 207 80 35 200 114.3 176 233 3.2 18 143 13.5 50 10h9 8 5 M12 25
• 3 kW
ABS
R88M-G3K010T-B (S2) connector LL 80
176 × 176 with key and tap)
35 dia., height: 6
Encoder connector 50
18 3.2 Four, 13.5 dia.
10 height: 9
143
114.3 dia. height: 7
84
5
8
Model LL .
dia 200
233 dia
.
R88M-G3K010T 222
R88M-G3K010T-B 271 M12 (depth: 25)

• 4.5 kW
ABS
R88M-G4K510T (-S2) Servomotor/brake (Dimensions of shaft end
LL 113
R88M-G4K510T-B (S2) connector 176 × 176 with key and tap)
Eye-bolt
42 dia., height: 6
Nominal
diameter: 10 24 3.2 90
Encoder connector Four, 13.5 dia.
12 height: 9
143
5
84
8
. 200
dia
233 dia
.
Model LL
R88M-G4K510T 300.5 M12 (depth: 25)
R88M-G4K510T-B 337.5

• 6 kW
ABS Brake connector
96
42 dia. height: 6
Encoder 24 3.2 Four, 13.5 dia. 90

connector
183
12 height: 9
ia .
3d
84
23
5
Model LL 200
dia
.
R88M-G6K010T 340.5
M16 (depth: 32)
R88M-G6K010T-B 380.5


● Decelerators
Backlash: 3 Arcminutes Max.
<Cylinder Type>
● 3,000-r/min Servomotors (50 to 750 W)
Dimensions (mm)
Outline
Model
Drawings LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2
1/5 R88G-HPG11B05100B@ 1 *4 39.5 42 40 40 × 40 46 46 40 39.5 29 27 2.2 15

1/9 R88G-HPG11B09050B@ 1 *4 39.5 42 40 40 × 40 46 46 40 39.5 29 27 2.2 15
50W 1/21 R88G-HPG14A21100B@ 1 64.0 58 60 60 × 60 70 46 56 55.5 40 37 2.5 21
1/33 R88G-HPG14A33050B@ 1 64.0 58 60 60 × 60 70 46 56 55.5 40 37 2.5 21
1/45 R88G-HPG14A45050B@ 1 64.0 58 60 60 × 60 70 46 56 55.5 40 37 2.5 21
1/5 R88G-HPG11B05100B@ 1 *4 39.5 42 40 40 × 40 46 46 40 39.5 29 27 2.2 15
1/11 R88G-HPG14A11100B@ 1 64.0 58 60 60 × 60 70 46 56 55.5 40 37 2.5 21
100W 1/21 R88G-HPG14A21100B@ 1 64.0 58 60 60 × 60 70 46 56 55.5 40 37 2.5 21
1/33 R88G-HPG20A33100B@ 2 66.5 80 90 55 dia. 105 46 85 84 59 53 7.5 27
1/45 R88G-HPG20A45100B@ 2 66.5 80 90 55 dia. 105 46 85 84 59 53 7.5 27
1/5 R88G-HPG14A05200B@ 1 64.0 58 60 60 × 60 70 70 56 55.5 40 37 2.5 21
1/11 R88G-HPG14A11200B@ 1 64.0 58 60 60 × 60 70 70 56 55.5 40 37 2.5 21
200W 1/21 R88G-HPG20A21200B@ 1 71.0 80 90 90 × 90 105 70 85 84 59 53 7.5 27
1/33 R88G-HPG20A33200B@ 2 71.0 80 90 89 dia. 105 70 85 84 59 53 7.5 27
1/45 R88G-HPG20A45200B@ 2 71.0 80 90 89 dia. 105 70 85 84 59 53 7.5 27
1/5 R88G-HPG14A05400B@ 1 64 58 60 60 × 60 70 70 56 55.5 40 37 2.5 21
1/11 R88G-HPG20A11400B@ 2 71 80 90 89 dia. 105 70 85 84 59 53 7.5 27
400W 1/21 R88G-HPG20A21400B@ 2 71 80 90 89 dia. 105 70 85 84 59 53 7.5 27
1/33 R88G-HPG32A33400B@ 2 104 133 120 122 dia. 135 70 115 114 84 98 12.5 35
1/45 R88G-HPG32A45400B@ 2 104 133 120 122 dia. 135 70 115 114 84 98 12.5 35
1/5 R88G-HPG20A05750B@ 1 78 80 90 80 × 80 105 90 85 84 59 53 7.5 27
1/11 R88G-HPG20A11750B@ 1 78 80 90 80 × 80 105 90 85 84 59 53 7.5 27
750W
1/21 R88G-HPG32A21750B@ 2 104 133 120 122 dia. 135 90 115 114 84 98 12.5 35
(200V)
1/33 R88G-HPG32A33750B@ 2 104 133 120 122 dia. 135 90 115 114 84 98 12.5 35
1/45 R88G-HPG32A45750B@ 2 104 133 120 122 dia. 135 90 115 114 84 98 12.5 35
Note: 2. To order a Decelerator with a straight shaft with key and tap, add “J” to the end of the model number, in the place indicated by the box.
(e.g., R88G-HPG11B05100BJ)
Note: 3. The diameter of the motor shaft insertion portion is the same as the diameter of the shaft of the corresponding motor.
Note: 4. Applicable for the servomotors with key, if the key is removed.
Note: 5. The dimensional drawings in this document are designed to indicate only the main dimensions. They do not necessarily represent the detailed shapes of the products.
Outline Drawings 1
There is one set bolt.
Four,
Set bolt (AT) Z2 dia. Key and tap Dimensions
C1 E
QK
D3 dia., height: 7 *2
b
D1 dia. D2 dia.
t1
S dia., height: 7
h
D4 dia.
D5 dia.
M (depth: L)
T
F1 C2
Four, Z1 dia.
F2 G
LR LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8. *4. For the R88G-HPG11B series, two set bolts are positioned at an angle of
90° from each other.
Four,
Set bolt (AT) Z2 dia.
D2 dia.
C2

Dimensions (mm)
Key Dimensions Tap Dimensions Model
G S T Z1 Z2 AT*1
QK b h t1 M L
5 8 20 3.4 M4 × 9 M3 15 3 3 1.8 M3 6 R88G-HPG11B05100B@ 1/5
5 8 20 3.4 M4 × 9 M3 15 3 3 1.8 M3 6 R88G-HPG11B09050B@ 1/9
8 16 28 5.5 M4 × 10 M3 25 5 5 3 M4 8 R88G-HPG14A21100B@ 1/21 50W
8 16 28 5.5 M4 × 10 M3 25 5 5 3 M4 8 R88G-HPG14A33050B@ 1/33
8 16 28 5.5 M4 × 10 M3 25 5 5 3 M4 8 R88G-HPG14A45050B@ 1/45
5 8 20 3.4 M4 × 9 M3 15 3 3 1.8 M3 6 R88G-HPG11B05100B@ 1/5
8 16 28 5.5 M4 × 10 M3 25 5 5 3 M4 8 R88G-HPG14A11100B@ 1/11
8 16 28 5.5 M4 × 10 M3 25 5 5 3 M4 8 R88G-HPG14A21100B@ 1/21 100W
10 25 42 9 M4 × 10 M4 36 8 7 4 M6 12 R88G-HPG20A33100B@ 1/33
10 25 42 9 M4 × 10 M4 36 8 7 4 M6 12 R88G-HPG20A45100B@ 1/45
8 16 28 5.5 M4 × 10 M4 25 5 5 3 M4 8 R88G-HPG14A05200B@ 1/5
8 16 28 5.5 M4 × 10 M4 25 5 5 3 M4 8 R88G-HPG14A11200B@ 1/11
10 25 42 9 M4 × 10 M4 36 8 7 4 M6 12 R88G-HPG20A21200B@ 1/21 200W
10 25 42 9 M4 × 10 M4 36 8 7 4 M6 12 R88G-HPG20A33200B@ 1/33
10 25 42 9 M4 × 10 M4 36 8 7 4 M6 12 R88G-HPG20A45200B@ 1/45
8 16 28 5.5 M4 × 10 M4 25 5 5 3 M4 8 R88G-HPG14A05400B@ 1/5
10 25 42 9 M4 × 10 M4 36 8 7 4 M6 12 R88G-HPG20A11400B@ 1/11
10 25 42 9 M4 × 10 M4 36 8 7 4 M6 12 R88G-HPG20A21400B@ 1/21 400W
13 40 82 11 M4 × 10 M4 70 12 8 5 M10 20 R88G-HPG32A33400B@ 1/33
13 40 82 11 M4 × 10 M4 70 12 8 5 M10 20 R88G-HPG32A45400B@ 1/45
10 25 42 9 M5 × 12 M4 36 8 7 4 M6 12 R88G-HPG20A05750B@ 1/5
10 25 42 9 M5 × 12 M4 36 8 7 4 M6 12 R88G-HPG20A11750B@ 1/11
750W
13 40 82 11 M5 × 12 M6 70 12 8 5 M10 20 R88G-HPG32A21750B@ 1/21
(200V)
13 40 82 11 M5 × 12 M6 70 12 8 5 M10 20 R88G-HPG32A33750B@ 1/33
13 40 82 11 M5 × 12 M6 70 12 8 5 M10 20 R88G-HPG32A45750B@ 1/45
*1. This is the set bolt.
Outline Drawings 2
Set bolt (AT) Four, Key and tap Dimensions

C1 E Z2 dia.
QK
b
D1 dia. S dia., height: 7

h
D2 dia.
t1
D4
D5
M (depth: L)
T
F1 C2
Four, Z1 dia.
F2 G
LR LM
*3. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8.

<Cylinder Type>
● 3,000-r/min Servomotors (1 to 5 kW)
Dimensions (mm)
Outline
Model
1/5 R88G-HPG32A052K0B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1kW 1/21 R88G-HPG32A211K5B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1/33 R88G-HPG50A332K0B@ 2 123 156 170 170 dia. 190 115 165 163 122 103 12 53
1/45 R88G-HPG50A451K5B@ 2 123 156 170 170 dia. 190 115 165 163 122 103 12 53
1/5 R88G-HPG32A052K0B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1.5kW 1/21 R88G-HPG32A211K5B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1/33 R88G-HPG50A332K0B@ 2 123 156 170 170 dia. 190 115 165 163 122 103 12 53
1/45 R88G-HPG50A451K5B@ 2 123 156 170 170 dia. 190 115 165 163 122 103 12 53
1/5 R88G-HPG32A052K0B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
2kW
1/21 R88G-HPG50A212K0B@ 2 123 156 170 170 dia. 190 115 165 163 122 103 12 53
1/33 R88G-HPG50A332K0B@ 2 123 156 170 170 dia. 190 115 165 163 122 103 12 53
1/5 R88G-HPG32A053K0B@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
3kW 1/11 R88G-HPG50A113K0B@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/21 R88G-HPG50A213K0B@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/5 R88G-HPG32A054K0B@ 1 129 133 120 130 × 130 135 145 115 114 84 98 12.5 35
4kW
1/11 R88G-HPG50A115K0B@ 1 149 156 170 130 × 130 190 145 165 163 122 103 12 53
1/5 R88G-HPG50A055K0B@ 1 149 156 170 130 × 130 190 145 165 163 122 103 12 53
5kW
1/11 R88G-HPG50A115K0B@ 1 149 156 170 130 × 130 190 145 165 163 122 103 12 53

(e.g., R88G-HPG32A051K0BJ)
Outline Drawings 1
Four,
C1 E
QK
b
D1 dia. S dia., height: 7 D2 dia.

h
t1
D4 dia.
D5 dia.
M (depth: L)
T F1
C2
Four, Z1 dia.
F2 G
LR LM

Dimensions (mm)
G S T Z1 Z2 AT*1
QK b h t1 M L
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A052K0B@ 1/5
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A112K0B@ 1/11
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A211K5B@ 1/21 1kW
16 50 82 14 M8 × 10 M6 70 14 9 5.5 M10 20 R88G-HPG50A332K0B@ 1/33
16 50 82 14 M8 × 10 M6 70 14 9 5.5 M10 20 R88G-HPG50A451K5B@ 1/45
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A052K0B@ 1/5
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A112K0B@ 1/11
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A211K5B@ 1/21 1.5kW
16 50 82 14 M8 × 10 M6 70 14 9 5.5 M10 20 R88G-HPG50A332K0B@ 1/33
16 50 82 14 M8 × 10 M6 70 14 9 5.5 M10 20 R88G-HPG50A451K5B@ 1/45
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A052K0B@ 1/5
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A112K0B@ 1/11
2kW
16 50 82 14 M8 × 10 M6 70 14 9 5.5 M10 20 R88G-HPG50A212K0B@ 1/21
16 50 82 14 M8 × 10 M6 70 14 9 5.5 M10 20 R88G-HPG50A332K0B@ 1/33
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A053K0B@ 1/5
16 50 82 14 M8 × 16 M6 70 14 9 5.5 M10 20 R88G-HPG50A113K0B@ 1/11 3kW
16 50 82 14 M8 × 16 M6 70 14 9 5.5 M10 20 R88G-HPG50A213K0B@ 1/21
13 40 82 11 M8 × 25 M6 70 12 8 5 M10 20 R88G-HPG32A054K0B@ 1/5
4kW
16 50 82 14 M8 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A115K0B@ 1/11
16 50 82 14 M8 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A055K0B@ 1/5
5kW
16 50 82 14 M8 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A115K0B@ 1/11
Outline Drawings 2

C1 E Z2 dia.
QK
b

h
t1
D4 dia.
D5 dia.
M (depth: L)
T
F1 C2 dia.
Four, Z1 dia.
F2 G
LR LM

<Flat Servomotors>
Dimensions (mm)
Model
LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2
1/5 R88G-HPG11A05100PB 39.5 42 40 60×60 46 70 40.0 39.5 29 27 2.2 15

1/11 R88G-HPG14A11100PB 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21
100 W 1/21 R88G-HPG14A21100PB 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21
1/33 R88G-HPG20A33100PB 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27
1/45 R88G-HPG20A45100PB 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27
1/5 R88G-HPG14A05200PB 65.0 58 60 80×80 70 90 56.0 55.5 40 37 2.5 21
1/11 R88G-HPG20A11200PB 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
200 W 1/21 R88G-HPG20A21200PB 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
1/33 R88G-HPG20A33200PB 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
1/45 R88G-HPG20A45200PB 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
1/5 R88G-HPG20A05400PB 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
1/11 R88G-HPG20A11400PB 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
400 W 1/21 R88G-HPG20A21400PB 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
1/33 R88G-HPG32A33400PB 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35
1/45 R88G-HPG32A45400PB 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35

A model with a key and tap is indicated by adding “J” to the end of the model number.
Outline Drawings
C1 E Set bolt (AT) Four, Z2 dia. Key and Tap Dimensions
QK
D1 dia. D2 dia. b
S dia.,h: 7
D3 dia.
D4 dia.
D5 dia.
t1
M (depth: L)
T F1
Four, Z1 dia. C2
F2 G
LR LM

Dimensions (mm)
Key dimensions Tap dimensions Model
G S T Z1 Z2 AT*1
QK b h t1 M L
5 8 20 3.4 M4×9 M3 15 3 3 1.8 M3 6 R88G-HPG11A05100PB 1/5
8 16 28 5.5 M4×10 M3 25 5 5 3.0 M4 8 R88G-HPG14A11100PB 1/11
8 16 28 5.5 M4×10 M3 25 5 5 3.0 M4 8 R88G-HPG14A21100PB 1/21 100 W
10 25 42 9.0 M4×10 M3 36 8 7 4.0 M6 12 R88G-HPG20A33100PB 1/33
10 25 42 9.0 M4×10 M3 36 8 7 4.0 M6 12 R88G-HPG20A45100PB 1/45
8 16 28 5.5 M5×12 M4 25 5 5 3.0 M4 8 R88G-HPG14A05200PB 1/5
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 R88G-HPG20A11200PB 1/11
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 R88G-HPG20A21200PB 1/21 200 W
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 R88G-HPG20A33200PB 1/33
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 R88G-HPG20A45200PB 1/45
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 R88G-HPG20A05400PB 1/5
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 R88G-HPG20A11400PB 1/11
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 R88G-HPG20A21400PB 1/21 400 W
13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20 R88G-HPG32A33400PB 1/33
13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20 R88G-HPG32A45400PB 1/45

<Cylinder Type>
● 2,000-r/min Servomotors (1 to 7.5 kW)
Dimensions (mm)
Outline
Model
1/5 R88G-HPG32A053K0B@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0SB@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1kW 1/21 R88G-HPG32A211K0SB@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1/33 R88G-HPG50A332K0SB@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/45 R88G-HPG50A451K0SB@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/5 R88G-HPG32A053K0B@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0SB@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1.5kW
1/21 R88G-HPG50A213K0B@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/33 R88G-HPG50A332K0SB@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/5 R88G-HPG32A053K0B@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0SB@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
2kW
1/21 R88G-HPG50A213K0B@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/33 R88G-HPG50A332K0SB@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/5 R88G-HPG32A054K0B@ 1 129 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG50A115K0B@ 1 149 156 170 130 × 130 190 145 165 163 122 103 12 53
3kW
1/21 R88G-HPG50A213K0SB@ 1 149 156 170 130 × 130 190 145 165 163 122 103 12 53
1/25 R88G-HPG65A253K0SB@ 1 231 222 230 130 × 130 260 145 220 214 168 165 12 57
1/5 R88G-HPG50A055K0SB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12 53
1/11 R88G-HPG50A115K0SB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12 53
4kW
1/20 R88G-HPG65A205K0SB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 57
1/25 R88G-HPG65A255K0SB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 57
1/5 R88G-HPG50A055K0SB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12 53
1/11 R88G-HPG50A115K0SB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12 53
5kW
1/20 R88G-HPG65A205K0SB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 57
1/25 R88G-HPG65A255K0SB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 57
1/5 R88G-HPG65A057K5SB@ 1 184.5 222 230 180 × 180 260 200 220 214 168 165 12.0 57
7.5kW
1/12 R88G-HPG65A127K5SB@ 1 254.5 222 230 180 × 180 260 200 220 214 168 165 12.0 57

Outline Drawings 1
Four,
C1 E
QK
b

h
t1
D4 dia.
D5 dia.
M (depth: L)
T F1
C2
Four, Z1 dia.
F2 G
LR LM

Dimensions (mm)
G S T Z1 Z2 AT*1
QK b h t1 M L
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A053K0B@ 1/5
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A112K0SB@ 1/11
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A211K0SB@ 1/21 1kW
16 50 82 14 M8 × 16 M6 70 14 9 5.5 M10 20 R88G-HPG50A332K0SB@ 1/33
16 50 82 14 M8 × 16 M6 70 14 9 5.5 M10 20 R88G-HPG50A451K0SB@ 1/45
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A053K0B@ 1/5
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A112K0SB@ 1/11
1.5kW
16 50 82 14 M8 × 16 M6 70 14 9 5.5 M10 20 R88G-HPG50A213K0B@ 1/21
16 50 82 14 M8Å~16 M6 70 14 9 5.5 M10 20 R88G-HPG50A332K0SB@ 1/33
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A053K0B@ 1/5
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A112K0SB@ 1/11
2kW
16 50 82 14 M8 × 16 M6 70 14 9 5.5 M10 20 R88G-HPG50A213K0B@ 1/21
16 50 82 14 M8 × 16 M6 70 14 9 5.5 M10 20 R88G-HPG50A332K0SB@ 1/33
13 40 82 11 M8 × 25 M6 70 12 8 5 M10 20 R88G-HPG32A054K0B@ 1/5
16 50 82 14 M8 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A115K0B@ 1/11
3kW
16 50 82 14 M8 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A213K0SB@ 1/21
25 80 130 18 M8 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A253K0SB@ 1/25
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A055K0SB@ 1/5
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A115K0SB@ 1/11
4kW
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A205K0SB@ 1/20
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A255K0SB@ 1/25
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A055K0SB@ 1/5
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A115K0SB@ 1/11
5kW
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A205K0SB@ 1/20
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A255K0SB@ 1/25
25 80 130 18 M12 × 25 M8 110 22 14 9.0 M16 35 R88G-HPG65A057K5SB@ 1/5
7.5kW
25 80 130 18 M12 × 25 M8 110 22 14 9.0 M16 35 R88G-HPG65A127K5SB@ 1/12
Outline Drawings 2

C1 E Z2 dia.
QK
b

h
D2 dia.
t1
D4 dia.
D5 dia.
M (depth: L)
T F1
Four, Z1 dia. C2 dia.
F2 G
LR LM

<Cylinder Type>
● 1,000-r/min Servomotors (900 W to 6 kW)
Dimensions (mm)
Outline
Model
1/5 R88G-HPG32A05900TB@ 1 129 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG32A11900TB@ 1 129 133 120 130 × 130 135 145 115 114 84 98 12.5 35
900W
1/21 R88G-HPG50A21900TB@ 1 149 156 170 130 × 130 190 145 165 163 122 103 12 53
1/33 R88G-HPG50A33900TB@ 1 149 156 170 130 × 130 190 145 165 163 122 103 12 53
1/5 R88G-HPG32A052K0TB@ 1 129 133 120 180 × 180 135 200 115 114 84 98 12.5 35
1/11 R88G-HPG50A112K0TB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12 53
2kW
1/21 R88G-HPG50A212K0TB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 53
1/25 R88G-HPG65A255K0SB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 57
1/5 R88G-HPG50A055K0SB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12 53
1/11 R88G-HPG50A115K0SB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12 53
3kW
1/20 R88G-HPG65A205K0SB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 57
1/25 R88G-HPG65A255K0SB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 57
1/5 R88G-HPG50A054K5TB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12.0 53
4.5kW 1/12 R88G-HPG65A127K5SB@ 1 254.5 222 230 180 × 180 260 200 220 214 168 165 12.0 57
1/20 R88G-HPG65A204K5TB@ 1 254.5 222 230 180 × 180 260 200 220 214 168 165 12.0 57
1/5 R88G-HPG65A057K5SB@ 1 184.5 222 230 180 × 180 260 200 220 214 168 165 12.0 57
6kW
1/12 R88G-HPG65A127K5SB@ 1 254.5 222 230 180 × 180 260 200 220 214 168 165 12.0 57

(e.g., R88G-HPG32A05900TBJ)
Outline Drawings 1
Four,
C1 E
QK
b

h
t1
D4 dia.
D5 dia.
M (depth: L)
T
F1
Four, Z1 dia. C2
F2 G
LR LM

Dimensions (mm)
G S T Z1 Z2 AT*1
QK b h t1 M L
13 40 82 11 M8 × 25 M6 70 12 8 5 M10 20 R88G-HPG32A05900TB@ 1/5
13 40 82 11 M8 × 25 M6 70 12 8 5 M10 20 R88G-HPG32A11900TB@ 1/11
900W
16 50 82 14 M8 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A21900TB@ 1/21
16 50 82 14 M8 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A33900TB@ 1/33
13 40 82 11 M12 × 25 M6 70 12 8 5 M10 20 R88G-HPG32A052K0TB@ 1/5
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A112K0TB@ 1/11
2kW
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG50A212K0TB@ 1/21
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A255K0SB@ 1/25
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A055K0SB@ 1/5
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A115K0SB@ 1/11
3kW
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A205K0SB@ 1/20
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A255K0SB@ 1/25
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A054K5TB@ 1/5
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A127K5SB@ 1/12 4.5kW
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A204K5TB@ 1/20
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A057K5SB@ 1/5
6kW
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A127K5SB@ 1/12

<Cylinder Type>
Dimensions (mm)
Model
LM LR C1 C2 D1 D2 D3 D4 E3 F G
1/5 R88G-VRSF05B100CJ 67.5 32 52 40 46 60 50 45 10 3 6

1/9 R88G-VRSF09B100CJ 67.5 32 52 40 46 60 50 45 10 3 6
50 W
1/15 R88G-VRSF15B100CJ 78.0 32 52 40 46 60 50 45 10 3 6
1/25 R88G-VRSF25B050CJ 78.0 32 52 40 46 60 50 45 10 3 6
1/5 R88G-VRSF05B100CJ 67.5 32 52 40 46 60 50 45 10 3 6
1/9 R88G-VRSF09B100CJ 67.5 32 52 40 46 60 50 45 10 3 6
100 W
1/15 R88G-VRSF15B100CJ 78.0 32 52 40 46 60 50 45 10 3 6
1/25 R88G-VRSF25B100CJ 78.0 32 52 40 46 60 50 45 10 3 6
1/5 R88G-VRSF05B200CJ 72.5 32 52 60 70 60 50 45 10 3 10
1/9 R88G-VRSF09C200CJ 89.5 50 78 60 70 90 70 62 17 3 8
200 W
1/15 R88G-VRSF15C200CJ 100.0 50 78 60 70 90 70 62 17 3 8
1/25 R88G-VRSF25C200CJ 100.0 50 78 60 70 90 70 62 17 3 8
1/5 R88G-VRSF05C400CJ 89.5 50 78 60 70 90 70 62 17 3 8
1/9 R88G-VRSF09C400CJ 89.5 50 78 60 70 90 70 62 17 3 8
400 W
1/15 R88G-VRSF15C400CJ 100.0 50 78 60 70 90 70 62 17 3 8
1/25 R88G-VRSF25C400CJ 100.0 50 78 60 70 90 70 62 17 3 8
1/5 R88G-VRSF05C750CJ 93.5 50 78 80 90 90 70 62 17 3 10
1/9 R88G-VRSF09D750CJ 97.5 61 98 80 90 115 90 75 18 5 10
750 W
1/15 R88G-VRSF15D750CJ 110.0 61 98 80 90 115 90 75 18 5 10
1/25 R88G-VRSF25D750CJ 110.0 61 98 80 90 115 90 75 18 5 10

Outline Drawings
E3
F
Four, Z2 (effective depth: L)
Four, Z1
D2 d
D3 dia., height: 7
D1 d ia.
ia.
S dia., h: 6
D4 dia.
C2 × C2 G T C1 × C1
LM LR

Dimensions (mm)
Key dimensions Model
S T Z1 Z2 AT L
QK b h t1
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF05B100CJ 1/5
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF09B100CJ 1/9
50 W
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF15B100CJ 1/15
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF25B050CJ 1/25
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF05B100CJ 1/5
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF09B100CJ 1/9
100 W
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF15B100CJ 1/15
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF25B100CJ 1/25
12 20 M5 M5 M4 12 16 4 4 2.5 R88G-VRSF05B200CJ 1/5
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF09C200CJ 1/9
200 W
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF15C200CJ 1/15
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF25C200CJ 1/25
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF05C400CJ 1/5
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF09C400CJ 1/9
400 W
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF15C400CJ 1/15
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF25C400CJ 1/25
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF05C750CJ 1/5
24 40 M5 M8 M4 20 30 8 7 4 R88G-VRSF09D750CJ 1/9
750 W
24 40 M5 M8 M4 20 30 8 7 4 R88G-VRSF15D750CJ 1/15
24 40 M5 M8 M4 20 30 8 7 4 R88G-VRSF25D750CJ 1/25
Outline Drawings
Set bolt (AT) Key Dimensions

b
QK t1

<Flat Servomotors>
Dimensions (mm)
Model
1/5 R88G-VRSF05B100PCJ 67.5 32 52 60 70 60 50 45 10 3 8

1/9 R88G-VRSF09B100PCJ 67.5 32 52 60 70 60 50 45 10 3 8
100 W
1/15 R88G-VRSF15B100PCJ 78.0 32 52 60 70 60 50 45 10 3 8
1/25 R88G-VRSF25B100PCJ 78.0 32 52 60 70 60 50 45 10 3 8
1/5 R88G-VRSF05B200PCJ 72.5 32 52 80 90 60 50 45 10 3 12
1/9 R88G-VRSF09C200PCJ 89.5 50 78 80 90 90 70 62 17 3 12
200 W
1/15 R88G-VRSF15C200PCJ 100.0 50 78 80 90 90 70 62 17 3 12
1/25 R88G-VRSF25C200PCJ 100.0 50 78 80 90 90 70 62 17 3 12
1/5 R88G-VRSF05C400PCJ 89.5 50 78 80 90 90 70 62 17 3 12
1/9 R88G-VRSF09C400PCJ 89.5 50 78 80 90 90 70 62 17 3 12
400 W
1/15 R88G-VRSF15C400PCJ 100.0 50 78 80 90 90 70 62 17 3 12
1/25 R88G-VRSF25C400PCJ 100.0 50 78 80 90 90 70 62 17 3 12

Outline Drawings
E3
Four, Z1 F
D3 dia., height: 7
D1 d D2 d
ia. ia.
D4 dia.
S dia.,
h: 6
C1 × C1
C2 × C2 G T
LM LR

Dimensions (mm)
S T Z1 Z2 AT L
QK b h t1
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF05B100PCJ 1/5
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF09B100PCJ 1/9
100 W
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF15B100PCJ 1/15
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF25B100PCJ 1/25
12 20 M5 M5 M4 12 16 4 4 2.5 R88G-VRSF05B200PCJ 1/5
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF09C200PCJ 1/9
200 W
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF15C200PCJ 1/15
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF25C200PCJ 1/25
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF05C400PCJ 1/5
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF09C400PCJ 1/9
400 W
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF15C400PCJ 1/15
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF25C400PCJ 1/25
Outline Drawings

b
QK t1

● Parameter Unit
R88A-PR02G
(62) (24)
M3 (depth: 5)
(15)
(114)
(15)
(1500) Mini DIN 8-pin

MD connector
● External Regeneration Resistor

R88A-RR22047S1
Thermal switch output
(0.75mm2)
(0.3mm2)
1.5 dia.
3 dia.
4.2
48
62
6
t1.2 500 200
20 220
230
R88A-RR08050S/-RR080100S
(0.75mm2)
(0.3mm2)
1.5 dia.
3 dia.
4.2
43.5
28
6
t1.2 500 104
20 122
130
R88A-RR50020S
76
40
5.2
360
25 43 10 386
78 402

● Reactor
3G3AX-DL2002 3G3AX-AL2025
3G3AX-DL2004 3G3AX-AL2055 Model A C Y
Model L
Ground terminal (M5) 3G3AX-AL2025 120 82 67
3G3AX-DL2002 85 Six, M4 3G3AX-AL2055 120 98 75
3G3AX-DL2004 95 terminal screws
Terminal
72
90
block 60 40
Two, M4
Ro R So S To T
Ground terminal
56
(M4) 4-5.2 × 8 L
66
150
94
Ro R So S To T
Connection Diagram
50±1 Four, 6 dia. Y±1
98
(Notch)
A C
9.5
3G3AX-DL2015 Model L 3G3AX-AL2220 Terminal holes:
3G3AX-DL2007 105 Six, K dia.
3G3AX-DL2015 115 A D 55
Ro R So S To T
72
90
Two, M4
Ground terminal
(M4)
56 H
66 4-5.2 × 8
Ro R So S To T
H1
L
Connection Diagram
X±1 Y±1
W
Four, 6 dia. C
(Notch) W=Terminal width
98
Ground terminal (M6)
Model A C D H H1 X Y K W
3G3AX-AL2110 150 103 70 170 108 60 80 5.3 12
3G3AX-DL2022 3G3AX-AL2220 180 113 75 190 140 90 90 8.4 16.5
100
80
Two, M4
Ground terminal
(M4)
71
86 4-6 × 9
105
116
About Manuals
English Cat. No. Japanese Cat. No. Type Name
G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog
I562 SBCE-349 R88M-G/R88D-GT
Inputs User’s Manual
CXONE-@@@@C-V@/
W453 SBCE-337 CX-Drive OPERATION MANUAL
CXONE-@@@@D-V@

G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications
R88M-G/R88D-GN@-ML2
Saves Space and Enables MECHATROLINK-II Communications with
the Controller.
• Data transfer using MECHATROLINK-Ⅱ (See Note 1) Communications:
All control data that can be interfaced between the Servo Driver and the Controller is transmitted using data communications.
This enables maximizing the Servomotor performance without restricting the transmission performance of the control signals.
• Having a communications module built into the Servo Driver significantly saves space in the control panel.
Note: 1. MECHATROLINK-II is a registered trademark of the MECHATROLINK Members Association.

Note: 2. CX-Drive (version 1.62) support for G-series Servo Drivers with MECHATROLINK-II Communications can be
System Configuration obtained by using the CX-One V2/V3 auto-update function from July 31, 2008.
Controllers Monitor Software Parameter Unit

CX-Drive R88A-PR02G
See Note 2
CJ-series PLC CS-series PLC

Personal Computer Monitor Cable
R88A-CCG002P2
MECHATROLINK-II
MECHATROLINK-II Cables
CJ1W-NCF71 CS1W-NCF71
(With ring core and USB connector on both ends)
FNY-W6003-@@ (OMRON model number)
MECHATROLINK-II Repeater
Number of Maximum transmission distance
connected
devices 0 to 30 m 30 to 50 m 50 to 100 m
1 to 15 Repeater not required. Repeater not required. Repeater required.
16 Repeater not required. Repeater required. Repeater required.
Support Software
CX-One FA Integrated Tool Package (for Ver.2.0)
(Including CX-Motion-NCF (See Note 3)
and CX-Drive)
Note 3. The CX-Motion-NCF is supported from version 1.6.
88 G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2

AC Servo Drives Connector-Terminal Block
I/O signals Conversion Units and Cable
Connector-Terminal Block Conversion Unit
Power Cables XW2@-20G@
Standard Cables
Without Brake
R88A-CAG@@@@S
With Brake
R88A-CAG@@@@B Cable
Robot Cable XW2Z-@@@J-B33
Without Brakes
R88A-CAG@@@@SR
G-series
With Brake
AC Servo Drive
R88A-CAG@@@@BR
R88D-GN@@-ML2
AC Servomotors
Motor power signals

Model without Decelerators
R88M-G
feedback signals
Encoder Cables
Standard Cables
50 W to 750 W
R88A-CRG@@@@C
900 W to 7.5 kW
R88A-CRGC@@@N
Robot Cables
50 W to 750 W
R88A-CRG@@@@CR
900 W to 7.5 kW
R88A-CRGC@@@NR
Decelerators
Peripheral Devices R88A-CRGD0R3C (-BS)
R88G-HPG
Reactors
3G3AX-DL
( One Battery is included with Servo Drivers
with model numbers ending in “BS.” ) Backlash: 15 Arcminutes Max.
R88G-VRSF
3G3AX-AL
External Regeneration Resistors *Not required if a battery is connected to the
R88A-RR control connector (CN1).
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications R88M-G/R88D-GN@-ML2 89

Interpreting Model Numbers
● Servo Driver Model Numbers
The model number provides information such as the Servo Drive type, the applicable Servomotor capacity, and the power supply voltage.
R88D-GN01H-ML2
G-series
Servo Drive
Drive Type
N : Network type
A5: 50 W
01: 100 W
02: 200 W
04: 400 W
08: 750 W
10: 1 kW
15: 1.5 kW
20: 2 kW
30: 3 kW Power Supply Voltage
50: 5 kW L: 100 VAC
75: 7.5 kW H: 200 VAC
Network type
ML2: MECHATROLINK-II Communications
● Servomotor Model Numbers
R88M-GP10030H-BOS2
G-series
Servomotor
Motor Type
Blank: Cylinder type
P: Flat type
Servomotor Capacity
050: 50 W
100: 100 W
200: 200 W
400: 400 W
750: 750 W
900: 900 W
1K0: 1 kW
1K5: 1.5 kW
2K0: 2 kW
3K0: 3 kW
4K0: 4 kW Rated Rotation Speed
4K5: 4.5 kW 10: 1,000 r/min
5K0: 5 kW 15: 1,500 r/min
6K0: 6 kW 20: 2,000 r/min
7K5: 7.5 kW 30: 3,000 r/min
Applied Voltage
H: 200 VAC with incremental encoder specifications
L: 100 VAC with incremental encoder specifications
T: 200 VAC with absolute encoder specifications
S: 100 VAC with absolute encoder specifications
Option
Blank: Straight shaft
B: With brake
O: With oil seal
S2: Withkey and tap

● Understanding Decelerator Model Numbers
Backlash = 3' Max.
R88G-HPG14A05100PBJ
Decelerator for
Flange Size Number

11A :@40
14A :@60 Gear Ratio
20A :@90 05 :1/5
32A :@120 09 :1/9 (only frame number 11A)
50A :@170 11 :1/11 (except frame number 65A)
65A :@230 12 :1/12 (only frame number 65A)
20 :1/20 (only frame number 65A)
21 :1/21 (except frame number 65A)
25 :1/25 (only frame number 65A)
33 :1/33
45 :1/45
050 : 50 W
100 :100 W
200 :200 W
400 :400 W Motor Type
750 :750 W Blank :3,000-r/min cylindrical servomotors
900 :900 W P :flat servomotors
1K0 :1 kW S :2,000-r/min servomotors
1K5 :1.5 kW T :1,000-r/min servomotors
2K0 :2 kW
3K0 :3 kW Backlash
4K0 :4 kW B :3’ max.
4K5 :4.5 kW
5K0 :5 kW Option
6K0 :6 kW Blank :Straight shaft
7K5 :7 kW J :With key and tap
Backlash = 15' Max.
R88G-VRSF09B100PCJ
Decelerator for
Gear Ratio
05 :1/5
09 :1/9
15 :1/15
25 :1/25
Flange Size Number

B :@52
C :@78
D :@98

050 : 50 W
100 :100 W Motor Type
200 :200 W Blank :3,000-r/min cylindrical servomotors
400 :400 W P :flat servomotors
750 :750 W
Backlash
C :15’ max.
Option
J :With key and tap

Ordering Information
● Servo Drives
50 W R88D-GNA5L-ML2
100 W R88D-GN01L-ML2
50 W
R88D-GN01H-ML2
100 W
200 W R88D-GN02H-ML2
1 kW R88D-GN10H-ML2
Single-phase/three-phase 200
900 W
VAC
1 kW R88D-GN15H-ML2
1.5 kW
2 kW R88D-GN20H-ML2
2 kW
R88D-GN30H-ML2
3 kW
3 kW
Three-phase 200 VAC 4 kW
R88D-GN50H-ML2
4.5 kW
5 kW
6 kW
R88D-GN75H-ML2
7.5 kW

● Servomotors
INC
Model
Specifications
50 W R88M-G05030H R88M-G05030H-S2
100 W R88M-G10030L R88M-G10030L-S2
100 V
200 W R88M-G20030L R88M-G20030L-S2
Without brake
400 W R88M-G40030L R88M-G40030L-S2

50 W R88M-G05030H R88M-G05030H-S2
100 W R88M-G10030H R88M-G10030H-S2
200 V 200 W R88M-G20030H R88M-G20030H-S2
400 W R88M-G40030H R88M-G40030H-S2
750 W R88M-G75030H R88M-G75030H-S2
50 W R88M-G05030H-B R88M-G05030H-BS2
100 W R88M-G10030L-B R88M-G10030L-BS2
100 V
200 W R88M-G20030L-B R88M-G20030L-BS2
400 W
With brake
R88M-G40030L-B R88M-G40030L-BS2
50 W R88M-G05030H-B R88M-G05030H-BS2
100 W R88M-G10030H-B R88M-G10030H-BS2
200 V 200 W R88M-G20030H-B R88M-G20030H-BS2
400 W R88M-G40030H-B R88M-G40030H-BS2
750 W R88M-G75030H-B R88M-G75030H-BS2

Model
Specifications
50 W R88M-G05030T R88M-G05030T-S2
100 W R88M-G10030S R88M-G10030S-S2
100 V
200 W R88M-G20030S R88M-G20030S-S2
400 W R88M-G40030S R88M-G40030S-S2
50 W R88M-G05030T R88M-G05030T-S2
100 W R88M-G10030T R88M-G10030T-S2
Without brake
200 W R88M-G20030T R88M-G20030T-S2

400 W R88M-G40030T R88M-G40030T-S2
750 W R88M-G75030T R88M-G75030T-S2
200 V 1 kW R88M-G1K030T R88M-G1K030T-S2
1.5 kW R88M-G1K530T R88M-G1K530T-S2
2 kW R88M-G2K030T R88M-G2K030T-S2
3 kW R88M-G3K030T R88M-G3K030T-S2
4 kW R88M-G4K030T R88M-G4K030T-S2
5 kW R88M-G5K030T R88M-G5K030T-S2
50 W R88M-G05030T-B R88M-G05030T-BS2
100 W R88M-G10030S-B R88M-G10030S-BS2
100 V
200 W R88M-G20030S-B R88M-G20030S-BS2
400 W R88M-G40030S-B R88M-G40030S-BS2
50 W R88M-G05030T-B R88M-G05030T-BS2
100 W R88M-G10030T-B R88M-G10030T-BS2
200 W
With brake
R88M-G20030T-B R88M-G20030T-BS2
400 W R88M-G40030T-B R88M-G40030T-BS2
750 W R88M-G75030T-B R88M-G75030T-BS2

INC 3,000-r/min Flat Servomotors
Model
Specifications
100 W R88M-GP10030L R88M-GP10030L-S2
100 V 200 W R88M-GP20030L R88M-GP20030L-S2
Without brake
400 W R88M-GP40030L R88M-GP40030L-S2

100 W R88M-GP10030H R88M-GP10030H-S2
200 V 200 W R88M-GP20030H R88M-GP20030H-S2
400 W R88M-GP40030H R88M-GP40030H-S2
100 W R88M-GP10030L-B R88M-GP10030L-BS2
100 V 200 W R88M-GP20030L-B R88M-GP20030L-BS2
With brake
400 W R88M-GP40030L-B R88M-GP40030L-BS2

100 W R88M-GP10030H-B R88M-GP10030H-BS2
200 V 200 W R88M-GP20030H-B R88M-GP20030H-BS2
400 W R88M-GP40030H-B R88M-GP40030H-BS2
ABS/INC 3,000-r/min Flat Servomotors

Model
Specifications
100 W R88M-GP10030S R88M-GP10030S-S2
100 V 200 W R88M-GP20030S R88M-GP20030S-S2
Without brake
400 W R88M-GP40030S R88M-GP40030S-S2

100 W R88M-GP10030T R88M-GP10030T-S2
200 V 200 W R88M-GP20030T R88M-GP20030T-S2
400 W R88M-GP40030T R88M-GP40030T-S2
100 W R88M-GP10030S-B R88M-GP10030S-BS2
100 V 200 W R88M-GP20030S-B R88M-GP20030S-BS2
With brake
400 W R88M-GP40030S-B R88M-GP40030S-BS2

100 W R88M-GP10030T-B R88M-GP10030T-BS2
200 V 200 W R88M-GP20030T-B R88M-GP20030T-BS2
400 W R88M-GP40030T-B R88M-GP40030T-BS2

Model
Specifications
1 kW R88M-G1K020T R88M-G1K020T-S2
1.5 kW R88M-G1K520T R88M-G1K520T-S2
Without brake
2 kW R88M-G2K020T R88M-G2K020T-S2
200 V 3 kW R88M-G3K020T R88M-G3K020T-S2
4 kW R88M-G4K020T R88M-G4K020T-S2
5 kW R88M-G5K020T R88M-G5K020T-S2
7.5 kW R88M-G7K515T R88M-G7K515T-S2
With brake
Note: 1. Models with oil seals are also available.
Note: 2. The rated rotation speed for 7.5-kW Servomotors is 1,500 r/min.

Model
Specifications
900 W R88M-G90010T R88M-G90010T-S2
Without brake
2 kW R88M-G2K010T R88M-G2K010T-S2
200 V 3 kW R88M-G3K010T R88M-G3K010T-S2
4.5 kW R88M-G4K510T R88M-G4K510T-S2
6 kW R88M-G6K010T R88M-G6K010T-S2
900 W R88M-G90010T-B R88M-G90010T-BS2
With brake

● Decelerators
Model Model
1/5 R88G-HPG14A05400B Note: 1. The standard models have a straight shaft.
1/11 R88G-HPG20A11400B Note: 2. To order a Servomotor with a straight shaft with key, add “J” to the end
400 W 1/21 R88G-HPG20A21400B
1/33 R88G-HPG32A33400B
1/45 R88G-HPG32A45400B
1/5 R88G-HPG20A05750B
1/11 R88G-HPG20A11750B
750 W 1/21 R88G-HPG32A21750B
1/33 R88G-HPG32A33750B
1/45 R88G-HPG32A45750B
1/5 R88G-HPG32A051K0B
1/11 R88G-HPG32A111K0B
1 kW 1/21 R88G-HPG32A211K0B
1/33 R88G-HPG32A331K0B
1/45 R88G-HPG50A451K0B
1/5 R88G-HPG32A052K0B
1/11 R88G-HPG32A112K0B
1.5 kW 1/21 R88G-HPG32A211K5B
1/33 R88G-HPG50A332K0B
1/45 R88G-HPG50A451K5B
1/5 R88G-HPG32A052K0B
1/11 R88G-HPG32A112K0B
2 kW
1/21 R88G-HPG50A212K0B
1/33 R88G-HPG50A332K0B
1/5 R88G-HPG32A053K0B
3 kW 1/11 R88G-HPG50A113K0B
1/21 R88G-HPG50A213K0B
1/5 R88G-HPG32A054K0B
4 kW
1/11 R88G-HPG50A115K0B
1/5 R88G-HPG50A055K0B
5 kW
1/11 R88G-HPG50A115K0B


Decelerators for 2,000-r/min Cylindrical Servomotors Decelerators for 1,000-r/min Cylindrical Servomotors
Model Model
1/5 R88G-HPG32A053K0B 1/5 R88G-HPG32A05900TB
900 W
1 kW 1/21 R88G-HPG32A211K0SB 1/21 R88G-HPG50A21900TB
2 kW
1.5 kW
3 kW
2 kW
1/5 R88G-HPG32A054K0B 4.5 kW 1/12 R88G-HPG65A127K5SB
3 kW
6 kW
1/5 R88G-HPG50A054K0SB Note: 1. The standard models have a straight shaft.
1/11 R88G-HPG50A114K0SB Note: 2. Models with a key and tap are indicated with "J" at the end of the model
4 kW number.
1/20 R88G-HPG65A204K0SB
1/25 R88G-HPG65A254K0SB
1/11 R88G-HPG50A115K0SB
5 kW
1/20 R88G-HPG65A205K0SB
1/25 R88G-HPG65A255K0SB
7.5 kW
1/12 R88G-HPG65A127K5SB

Straight shaft with key and tap Straight shaft with key and tap
Model Model
50 W 100 W
100 W 200 W
200 W 400 W
400 W
750 W

● Accessories and Cables
• Servomotor Power Cables (Standard Cables) • Servomotor Power Cables (Standard Cables)
For Servomotor without brake For Servomotor with brake
15 m R88A-CAGA015S 3,000-r/min Servomotors of 1 to 1.5 kW, 15 m R88A-CAGB015B
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CAGA020S 20 m R88A-CAGB020B
3,000-r/min Servomotors of 1 to 1.5 kW, 15 m R88A-CAGB015S 15 m R88A-CAGC015B
20 m R88A-CAGB020S 2,000-r/min Servomotors of 2 kW 20 m R88A-CAGC020B
15 m R88A-CAGC015S 3,000-r/min Servomotors of 3 to 5 kW, 15 m R88A-CAGD015B
2,000-r/min Servomotors of 2 kW 20 m R88A-CAGC020S 20 m R88A-CAGD020B
3m R88A-CAGD003S
5m R88A-CAGD005S • Brake Cables (Standard Cables)
10 m R88A-CAGD010S Specifications Model
3,000-r/min Servomotors of 3 to 5 kW, 15 m R88A-CAGD015S 3m R88A-CAGA003B
20 m R88A-CAGD020S 5m R88A-CAGA005B
30 m R88A-CAGD030S 10 m R88A-CAGA010B
40 m R88A-CAGD040S 3,000-r/min Servomotors of 50 to 750 W, 15 m R88A-CAGA015B

3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CAGA020B
50 m R88A-CAGD050S
10 m R88A-CAGE010S 50 m R88A-CAGA050B
15 m R88A-CAGE015S 3m R88A-CAGE003B
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 6 kW 20 m R88A-CAGE020S 5m R88A-CAGE005B
30 m R88A-CAGE030S 10 m R88A-CAGE010B
40 m R88A-CAGE040S 1,500-r/min Servomotors of 7.5 kW, 15 m R88A-CAGE015B

1,000-r/min Servomotors of 6 kW 20 m R88A-CAGE020B
50 m R88A-CAGE050S
Note: There are separate connectors for power and brakes for 3,000-r/min Ser- 30 m R88A-CAGE030B
vomotors of 50 to 750 W, Flat Servomotors, and Servomotors of 6 kW or 40 m R88A-CAGE040B
higher. When a Servomotor with a brake is used, it is necessary to use
both a Power Cable for Servomotors without brakes and a Power Cable. 50 m R88A-CAGE050B

• Encoder Cables (Standard Cables) • Servomotor Power Cables (Robot Cables)
Specifications Model For Servomotor without brake
3m R88A-CRGA003C Specifications Model
5m R88A-CRGA005C 3m R88A-CAGA003SR
10 m R88A-CRGA010C 5m R88A-CAGA005SR
an absolute encoder,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CRGA020C 3,000-r/min Servomotors of 50 to 750 W, 15 m R88A-CAGA015SR
with an absolute encoder 3,000-r/min Flat Servomotors of
30 m R88A-CRGA030C 100 to 400 W 20 m R88A-CAGA020SR
3m R88A-CRGB003C 50 m R88A-CAGA050SR
5m R88A-CRGB005C 3m R88A-CAGB003SR
10 m R88A-CRGB010C 5m R88A-CAGB005SR
an incremental encoder,
3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CRGB020C 3,000-r/min Servomotors of 1 to 1.5 kW, 15 m R88A-CAGB015SR
with an incremental encoder 2,000-r/min Servomotors of 1 to 1.5 kW,
30 m R88A-CRGB030C 1,000-r/min Servomotors of 900 W 20 m R88A-CAGB020SR
3m R88A-CRGC003N 50 m R88A-CAGB050SR
5m R88A-CRGC005N 3m R88A-CAGC003SR
10 m R88A-CRGC010N 5m R88A-CAGC005SR
1,500-r/min Servomotors of 7.5 kW, 20 m R88A-CRGC020N 15 m R88A-CAGC015SR
1,000-r/min Servomotors of 900 W to 6 kW
2,000-r/min Servomotors of 2 kW 20 m R88A-CAGC020SR
30 m R88A-CRGC030N
50 m R88A-CAGC050SR
• Absolute Encoder Battery Cable 3m R88A-CAGD003SR
Specifications Model 5m R88A-CAGD005SR
Absolute Encoder Battery Cable 10 m R88A-CAGD010SR
0.3 m R88A-CRGD0R3C
(Battery not included.)
3,000-r/min Servomotors of 3 to 5 kW, 15 m R88A-CAGD015SR
Absolute Encoder Battery Cable 2,000-r/min Servomotors of 3 to 5 kW,
0.3 m R88A-CRGD0R3C-BS 20 m R88A-CAGD020SR
(One R88A-BAT01G Battery included.) 1,000-r/min Servomotors of 2 to 4.5 kW
30 m R88A-CAGD030SR
• Absolute Encoder Backup Battery 40 m R88A-CAGD040SR
Specifications Model 50 m R88A-CAGD050SR
2,000 mA·h 3.6 V R88A-BAT01G

• Servomotor Power Cables (Robot Cables) • Encoder Cables (Robot Cables)
For Servomotor with brake Specifications Model
Specifications Model 3m R88A-CRGA003CR
3m R88A-CAGB003BR 5m R88A-CRGA005CR
5m R88A-CAGB005BR 10 m R88A-CRGA010CR
with an absolute encoder,
3,000-r/min Servomotors of 1 to 1.5 kW, 15 m R88A-CAGB015BR 3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CRGA020CR
2,000-r/min Servomotors of 1 to 1.5 kW, with an absolute encoder
1,000-r/min Servomotors of 900 W 20 m R88A-CAGB020BR 30 m R88A-CRGA030CR
50 m R88A-CAGB050BR 3m R88A-CRGB003CR
3m R88A-CAGC003BR 5m R88A-CRGB005CR
5m R88A-CAGC005BR 10 m R88A-CRGB010CR
with an incremental encoder,
15 m R88A-CAGC015BR 3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CRGB020CR
with an incremental encoder
2,000-r/min Servomotors of 2 kW 20 m R88A-CAGC020BR 30 m R88A-CRGB030CR
50 m R88A-CAGC050BR 3m R88A-CRGC003NR
3m R88A-CAGD003BR 5m R88A-CRGC005NR
5m R88A-CAGD005BR 10 m R88A-CRGC010NR
3,000-r/min Servomotors of 3 to 5 kW, 15 m R88A-CAGD015BR 1,500-r/min Servomotors of 7.5 kW, 20 m R88A-CRGC020NR
2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 900 W to 6 kW
1,000-r/min Servomotors of 2 to 4.5 kW 20 m R88A-CAGD020BR 30 m R88A-CRGC030NR
50 m R88A-CAGD050BR
• Communications Cables
• Brake Cables (Robot Cables) Specifications Model
Specifications Model RS-232 Communications Cable
2m R88A-CCG002P2
(Personal Computer Monitor Cable)
3m R88A-CAGA003BR
5m R88A-CAGA005BR
• Connectors
10 m R88A-CAGA010BR
3,000-r/min Servomotors of 50 to 750 W, 15 m R88A-CAGA015BR
Servomotor Connector for Absolute Encoder R88A-CNG01R
3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CAGA020BR
Encoder Cable Incremental Encoder R88A-CNG02R
30 m R88A-CAGA030BR
Control I/O Connector (CN1) R88A-CNU01C
40 m R88A-CAGA040BR
Encoder Connector (CN2) R88A-CNW01R
50 m R88A-CAGA050BR
Power Cable Connector (750 W max.) R88A-CNG01A
Brake Cable Connector (750 W max.) R88A-CNG01B
• Control Cables
Connector Terminal Block 1m XW2Z-100J-B33

Cables 2m XW2Z-200J-B33
Connector Terminal Block M3.5 screw type XW2B-20G5

• External Regeneration Resistors • Mounting Brackets (L Brackets for Rack Mounting)
20 W, 50 Ω R88A-RR08050S R88D-GNA5L-ML2/-GN01L-ML2/-GN01H-ML2/
R88A-TK01G
-GN02H-ML2
20 W, 100 Ω R88A-RR080100S
R88D-GN02L-ML2/-GN04H-ML2 R88A-TK02G
70 W, 47 Ω R88A-RR22047S1
R88D-GN04L-ML2/-GN08H-ML2 R88A-TK03G
500 W, 20 Ω R88A-RR50020S
R88D-GN10H-ML2/-GN15H-ML2 R88A-TK04G
• Reactors
• Parameter Unit
R88D-GNA5L-ML2/-GN01H-ML2 3G3AX-DL2002
Parameter Unit R88A-PR02G
R88D-GN01L-ML2/-GN02H-ML2 3G3AX-DL2004
R88D-GN02L-ML2/-GN04H-ML2 3G3AX-DL2007
R88D-GN04L-ML2/-GN08H-ML2/-GT10H-ML2 3G3AX-DL2015
R88D-GN15H-ML2 3G3AX-DL2022
R88D-GN08H-ML2/-GN10H-ML2/-GN15H-ML2 3G3AX-AL2025
R88D-GN20H-ML2/-GN30H-ML2 3G3AX-AL2055
R88D-GN50H-ML2 3G3AX-AL2110
R88D-GN75H-ML2 3G3AX-AL2220
• MECHATROLINK-related Devices and Cables (Manufactured by Yaskawa Corporation)

Name OMRON model number Yaskawa model number
0.5 m FNY-W6002-A5 JEPMC-W6002-A5-E
MECHATROLINK-II Cables 1.0 m FNY-W6002-01 JEPMC-W6002-01-E
(without ring core and USB connector on both ends)
Can be connected to R88D-GN and R88D-KN only. 3.0 m FNY-W6002-03 JEPMC-W6002-03-E
5.0 m FNY-W6002-05 JEPMC-W6002-05-E
0.5 m FNY-W6003-A5 JEPMC-W6003-A5
1.0 m FNY-W6003-01 JEPMC-W6003-01
3.0 m FNY-W6003-03 JEPMC-W6003-03
MECHATROLINK-II Cables
5.0 m FNY-W6003-05 JEPMC-W6003-05
(with ring core and USB connector on both ends)
10.0 m FNY-W6003-10 JEPMC-W6003-10
20.0 m FNY-W6003-20 JEPMC-W6003-20
30.0 m FNY-W6003-30 JEPMC-W6003-30
MECHATROLINK-II Terminating Resistor Terminating resistance FNY-W6022 JEPMC-W6022
MECHATROLINK-II Repeater Communications Repeater FNY-REP2000 JEPMC-REP2000
Note: MECHATROLINK-related Devices and Cables are manufactured by Yaskawa Corporation, but they can be ordered directly from OMRON using the OMRON
model numbers. (Yaskawa-brand products will be delivered even when they are ordered from OMRON.)

Servo Drive-Servomotor Combinations
Only the Servomotor and Servo Drive combinations listed here can be used. Do not use other combinations.

Servomotor
Voltage Servo Drive
R88D-GNA5L-ML2 50 W R88M-G05030H-@ R88M-G05030T-@
R88D-GN01L-ML2 100 W R88M-G10030L-@ R88M-G10030S-@
100 V
R88D-GN01H-ML2 50 W R88M-G05030H-@ R88M-G05030T-@
Single-phase 200 V
Single-phase/
R88D-GN15H-ML2 1 kW --- R88M-G1K030T-@
three-phase 200 V
R88D-GN15H-ML2 1.5 kW --- R88M-G1K530T-@
R88D-GN20H-ML2 2 kW --- R88M-G2K030T-@
R88D-GN30H-ML2 3 kW --- R88M-G3K030T-@
Three-phase 200 V
R88D-GN50H-ML2 4 kW --- R88M-G4K030T-@
R88D-GN50H-ML2 5 kW --- R88M-G5K030T-@
● 3,000-r/min Flat Servomotors and Servo Drives

Servomotor
Voltage Servo Drive
R88D-GN01L-ML2 100 W R88M-GP10030L-@ R88M-GP10030S-@
100 V R88D-GN02L-ML2 200 W R88M-GP20030L-@ R88M-GP20030S-@
R88D-GN04L-ML2 400 W R88M-GP40030L-@ R88M-GP40030S-@
R88D-GN01H-ML2 100 W R88M-GP10030H-@ R88M-GP10030T-@
Single-phase 200 V R88D-GN02H-ML2 200 W R88M-GP20030H-@ R88M-GP20030T-@
R88D-GN04H-ML2 400 W R88M-GP40030H-@ R88M-GP40030T-@

Servomotor
Voltage Servo Drive
Single-phase/ R88D-GN10H-ML2 1 kW R88M-G1K020T-@

three-phase 200 V R88D-GN15H-ML2 1.5 kW R88M-G1K520T-@
R88D-GN20H-ML2 2 kW R88M-G2K020T-@
Three-phase 200 V R88D-GN50H-ML2 4 kW R88M-G4K020T-@
R88D-GN75H-ML2 7.5 kW R88M-G7K515T-@

Servomotor
Voltage Servo Drive
Single-phase/
R88D-GN15H-ML2 900 W R88M-G90010T-@
three-phase 200 V
Three-phase 200 V
R88D-GN50H-ML2 4.5 kW R88M-G4K510T-@

Servomotor and Decelerator Combinations
1/11
Motor model 1/5 1/21 1/33 1/45
(1/9 for flange size No.11)
R88G-HPG11A05100B@ R88G-HPG14A21100B@
R88G-HPG11A09050B@
R88M-G05030@ (Also used with (Also used with R88G-HPG14A33050B@ R88G-HPG14A45050B@
(Gear ratio 1/9)
R88M-G10030@) R88M-G10030@)
R88M-G1K030T R88G-HPG32A051K0B@ R88G-HPG32A111K0B@ R88G-HPG32A211K0B@ R88G-HPG32A331K0B@ R88G-HPG50A451K0B@
R88G-HPG32A052K0B@ R88G-HPG32A112K0B@ R88G-HPG50A332K0B@
R88M-G1K530T (Also used with (Also used with R88G-HPG32A211K5B@ (Also used with R88G-HPG50A451K5B@
R88M-G2K030T R88G-HPG32A052K0B@ R88G-HPG32A112K0B@ R88G-HPG50A212K0B@ R88G-HPG50A332K0B@ ---
R88M-G3K030T R88G-HPG32A053K0B@ R88G-HPG50A113K0B@ R88G-HPG50A213K0B@ --- ---
R88G-HPG50A115K0B@
R88M-G4K030T R88G-HPG32A054K0B@ (Also used with --- --- ---
R88M-G5K030T)
R88M-G5K030T R88G-HPG50A055K0B@ R88G-HPG50A115K0B@ --- --- ---
● 3,000-r/min Flat Servomotors

Motor model 1/5 1/11 1/21 1/33 1/45

1/11 1/21 1/33
Motor model 1/5 1/45
R88G-HPG32A053K0B@ R88G-HPG32A112K0SB@ R88G-HPG50A332K0SB@
R88M-G1K020T (Also used with (Also used with R88G-HPG32A211K0SB@ (Also used with R88G-HPG50A451K0SB@
R88G-HPG32A053K0B@ R88G-HPG32A112K0SB@ R88G-HPG50A213K0B@ R88G-HPG50A332K0SB@
R88M-G1K520T (Also used with (Also used with (Also used with (Also used with ---
R88M-G3K030T) R88M-G2K020T) R88M-G3K030T) R88M-G2K020T)
R88M-G2K020T (Also used with R88G-HPG32A112K0SB@ (Also used with R88G-HPG50A332K0SB@ ---
R88M-G3K030T) R88M-G3K030T)
R88M-G3K020T (Also used with (Also used with R88G-HPG50A213K0SB@ R88G-HPG65A253K0SB@ ---
R88M-G4K030T) R88M-G5K030T)
R88M-G7K515T R88G-HPG65A057K5SB@ R88G-HPG65A127K5SB@ --- --- ---

1/11 1/21 1/33
Motor model 1/5
R88M-G90010T R88G-HPG32A05900TB@ R88G-HPG32A11900TB@ R88G-HPG50A21900TB@ R88G-HPG50A33900TB@
R88G-HPG65A255K0SB@
R88M-G2K010T R88G-HPG32A052K0TB@ R88G-HPG50A112K0TB@ R88G-HPG50A212K0TB@
R88G-HPG50A055K0SB@ R88G-HPG50A115K0SB@ R88G-HPG65A205K0SB@ R88G-HPG65A255K0SB@
R88M-G3K010T
(Also used with R88M-G5K020T) (Also used with R88M-G5K020T) (Also used with R88M-G5K020T) (Also used with R88M-G5K020T)
R88G-HPG65A127K5SB@
R88M-G4K510T R88G-HPG50A054K5TB@ R88G-HPG65A204K5TB@ ---
R88G-HPG65A057K5SB@ R88G-HPG65A127K5SB@
R88M-G6K010T --- ---
(Also used with R88M-G7K515T) (Also used with R88M-G7K515T)

Cable Combinations
Parameter Unit
AC SERVO DRIVER
0 1
ADR
9 0 1
Monitor Software for Windows
2 3
2 3
7 8
4 5 6
X10 X1
COM
SP
IM

Conversion Unit
* Brake Cable Combinations

Using the following Servomotors, with brake:
Cylindrical Servomotors, 3,000 r/min, 50 to 750 W
Flat Servomotors, 3,000 r/min, 100 to 400 W
Cylindrical Servomotors, 2,000 r/min, 7.5 kW
Cylindrical Servomotors, 1,000 r/min,6 kW
Other Servomotors:
● Power Supply Cables (for CNB) (SR Connection Cables)

Cylindrical Servomotors, R88A-CAGA@@@S [Servomotor Connector]
(50) L (50)
3,000 r/min, 50 to 750 W The empty boxes in the model (6.2 dia.) Connector:
Flat Servomotors, number are for the cable length. Connector pins:
3,000 r/min, 100 to 400 The cable can be 3, 5, 10, 15, 20, 170362-1 (Tyco Electronics AMP KK)
W 30, 40, or 50 m long.
R88A-CAGB@@@S [Servomotor Connector]
3,000 r/min, 1 to 1.5 kW (70) L
The empty boxes in the model Straight plug:
(10.4 dia.)

2,000 r/min, 1 to 1.5 kW
37.3 dia.
The cable can be 3, 5, 10, 15, 20, Cable clamp:

1,000 r/min, 900 W
R88A-CAGC@@@S [Servomotor Connector]

Standard Servomotor Cylindrical Servomotors, (70) L Straight plug:
(10.4 dia.)

Servomotors without Cylindrical Servomotors, Cable clamp:
37.3 dia.

Brakes 2,000 r/min, 2 kW

R88A-CAGD@@@S
(14.7 dia.)
The cable can be 3, 5, 10, 15, 20,
40.5 dia.

1,000 r/min, 2 to 4.5 kW
R88A-CAGE@@@S [Servomotor Connector]

Cylindrical Servomotors, L Straight plug:
1,500 r/min, 7.5 kW N/MS3106B32-17S
(28.5 dia.)
(120)
56.4 dia
The cable can be 3, 5, 10, 15, 20,

1,000 r/min, 6 kW N/MS3057-20A


R88A-CAGB@@@B [Servomotor Connector]
(10.4 dia.)
2,000 r/min, 1 to 1.5 kW
.)
Cable clamp:
The cable can be 3, 5, 10, 15, 20,
(5.4 dia
1,000 r/min, 900 W (70)
(70) L
R88A-CAGC@@@B [Servomotor Connector]
(10.4 dia.)
Standard Servomotor Cylindrical Servomotors, Straight plug:
37.3 dia.
a)
The cable can be 3, 5, 10, 15, 20,
(5.4 di
Brakes 2,000 r/min, 2 kW L N/MS3057-12A
(70)

R88A-CAGD@@@B [Servomotor Connector]
(14.7 dia.)
43.7 dia
2,000 r/min, 3 to 5 kW
ia.)
Cable clamp:
The cable can be 3, 5, 10, 15, 20,
(5.4 d
1,000 r/min, 2 to 4.5 kW (70)
R88A-CAGA@@@SR [Servomotor Connector]

3,000 r/min, 50 to 750 W
(6.9 dia)
30, 40, or 50 m long.
R88A-CAGB@@@SR [Servomotor Connector]
3,000 r/min, 1 to 1.5 kW (70) L Straight plug:
(12.7 dia.)
2,000 r/min, 1 to 1.5 kW
37.3 dia.
Cable clamp:
The cable can be 3, 5, 10, 15, 20,
Robot Servomotor Cylindrical Servomotors, N/MS3057-12A
Power Cables for 1,000 r/min, 900 W
Servomotors without R88A-CAGC@@@SR [Servomotor Connector]
Brakes Cylindrical Servomotors, (70) L Straight plug:
(12.7 dia.)
3,000 r/min, 2 kW N/MS3106B20-4S
37.3 dia.
The cable can be 3, 5, 10, 15, 20,
2,000 r/min, 2 kW N/MS3057-12A
R88A-CAGD@@@SR [Servomotor Connector]
(15.6 dia.)

40.5 dia.
The cable can be 3, 5, 10, 15, 20,

1,000 r/min, 2 to 4.5 kW
Cylindrical Servomotors, (70) L [Servomotor Connector]

R88A-CAGB@@@BR
(12.7 dia.)

2,000 r/min, 1 to 1.5 kW Cable clamp:
.)
The cable can be 3, 5, 10, 15, 20,

(6.1 dia
N/MS3057-12A
1,000 r/min, 900 W (70)
(70) L [Servomotor Connector]

R88A-CAGC@@@BR
(12.7 dia.)
Robot Servomotor Cylindrical Servomotors, Straight plug:

Power Cables for 3,000 r/min, 2 kW
37.3 dia.
.)
The cable can be 3, 5, 10, 15, 20,

(6.1 dia
N/MS3057-12A
Brakes 2,000 r/min, 2 kW L
(70)
Cylindrical Servomotors, (70) L [Servomotor Connector]

R88A-CAGD@@@BR
(15.6 dia.)

43.7 dia.
a.)
The cable can be 3, 5, 10, 15, 20,

(6.1 di
N/MS3057-16A
Cylindrical Servomotors, L (Japan Aviation Electronics Industry, Ltd.)
30, 40, or 50 m long.
1,000 r/min, 2 to 4.5 kW (70)

● Brake Cables
R88A-CAGA@@@B [Servomotor Connector]
3,000 r/min, 50 to 750 W
(5.4 dia.)
Standard Brake 30, 40, or 50 m long.
Cables R88A-CAGE@@@B [Servomotor Connector]
Cylindrical Servomotors, (70) L Straight plug:
1,500 r/min, 7.5 kW
(5.4 dia.)
N/MS3106B14-2S
The cable can be 3, 5, 10, 15, 20,
1,000 r/min, 6 kW N/MS3057-6A
R88A-CAGA@@@BR [Servomotor Connector]

3,000 r/min, 50 to 750 W
(6.1 dia.)
Robot Brake Cables number are for the cable length.
30, 40, or 50 m long.
● Encoder Cables (for CN2)

R88A-CRGA@@@C Connector: Connector:
3,000 r/min, 50 to 750 W, 3 to 20 m:
L
172161-1
The empty boxes in the model Crimped I/O connector: (Tyco Electronics AMP KK)
absolute encoder
(7.5 dia.)
number are for the cable length. (Molex Japan Co., Ltd.) Connector pins:
Flat Servomotors, 3,000 r/min, 30 to 50 m: 55100-0670 170365-1
100 to 400 W, absolute Connector pins: 171639-1
20, 30, 40, or 50 m long. (Tyco Electronics AMP KK)
encoder 50639-8028

R88A-CRGB@@@C Connector: Connector:
3,000 r/min, 50 to 750 W, 3 to 20 m: 172160-1
Standard Encoder incremental encoder The empty boxes in the model Crimped I/O connector: L (Tyco Electronics AMP KK)
number are for the cable length. (Molex Japan Co., Ltd.) (6.5 dia./6.8 dia.) Connector pins:
Cables with Flat Servomotors, 3,000 r/min, 30 to 50 m: 55100-0670 170365-1
Connectors 100 to 400 W, incremental Connector pins: 171639-1
20, 30, 40, or 50 m long.
3,000 r/min,1 to 1.5 kW
R88A-CRGC@@@N Connector: Straight plug:
Cylindrical Servomotors, 3 to 20 m: N/MS3106B20-29S
The empty boxes in the model Crimped I/O connector: L (Japan Aviation Electronics Industry, Ltd.)
2,000 r/min,1 to 5 kW (Molex Japan Co., Ltd.) (6.5 dia./6.8 dia.) Cable clamp:
Cylindrical Servomotors, 30 to 50 m: 55100-0670 N/MS3057-12A
The cable can be 3, 5, 10, 15, (Molex Japan Co., Ltd.) (Japan Aviation Electronics Industry, Ltd.)
1,500 r/min, 7.5 kW Connector pins:
20, 30, 40, or 50 m long.
Cylindrical Servomotors, 50639-8028
1,000 r/min, 900 W to 6 kW
R88A-CRGA@@@CR [Servo Drive Connector]
3,000 r/min,50 to 750 W, Connector: L Connector:
(7.5 dia.)
absolute encoder Crimped I/O connector: 172161-1

number are for the cable length. (Molex Japan Co., Ltd.) (Tyco Electronics AMP KK)
100 to 400 W, absolute 50639-8028 170365-1
20, 30, 40, or 50 m long. (Molex Japan Co., Ltd.) (Tyco Electronics AMP KK)
encoder
R88A-CRGB@@@CR [Servo Drive Connector] [Servomotor Connector]
3,000 r/min, 50 to 750 W, Connector:
The empty boxes in the model L Connector:
incremental encoder Crimped I/O connector:
(7.5 dia.)
172160-1
Robot Encoder number are for the cable length. (Molex Japan Co., Ltd.) (Tyco Electronics AMP KK)
Cables with The cable can be 3, 5, 10, 15,
100 to 400 W, incremental 50639-8028 170365-1
Connectors 20, 30, 40, or 50 m long. (Molex Japan Co., Ltd.) (Tyco Electronics AMP KK)
encoder
3,000 r/min,1 to 1.5 kW
R88A-CRGC@@@NR [Servo Drive Connector] [Servomotor Connector]
Cylindrical Servomotors, Connector: Straight plug:
The empty boxes in the model L
2,000 r/min,1 to 5 kW Crimped I/O connector: N/MS3106B20-29S
(7.5 dia.)
number are for the cable length. (Molex Japan Co., Ltd.) (Japan Aviation Electronics Industry, Ltd.)
Cylindrical Servomotors, Connector pins: Cable clamp:
1,500 r/min, 7.5 kW 50639-8028 N/MS3057-12A
20, 30, 40, or 50 m long. (Molex Japan Co., Ltd.) (Japan Aviation Electronics Industry, Ltd.)
1,000 r/min, 900 W to 6 kW
● Absolute Encoder Backup Battery and Absolute Encoder Battery Cable

Symbol Name Contents Length (m) Model Description
Battery not included. 0.3 m R88A-CRGD0R3C 43.5 300 43.5

18.8
18.8
One R88A-BAT01G Battery

0.3 m R88A-CRGD0R3C-BS
included. t=12 Battery holder t=12
Absolute Encoder Backup Battery --- --- R88A-BAT01G ---

● RS-232 Communications Connector (for CN3)
Symbol Name Contents Length (m) Model
Parameter Unit --- 1.5 m R88A-PR02G
for Windows
Personal Computer Monitor Cable 2m R88A-CCG002P2
RS232 Communications
● MECHATROLINK-II Cable (for CN6)

Symbol Name Length (m) OMRON model Number Yasukawa model Nunber Description
0.5 m FNY-W6002-A5 JEPMC-W6002-A5-E (without ring core and USB connector on both ends)
MECHATROLINK-II
Communication Cable 1m FNY-W6002-01 JEPMC-W6002-01-E L
*Can be connected to R88D-GN and 3m FNY-W6002-03 JEPMC-W6002-03-E
R88D-KN only.
5m FNY-W6002-05 JEPMC-W6002-05-E
0.5 m FNY-W6003-A5 JEPMC-W6003-A5
1.0 m FNY-W6003-01 JEPMC-W6003-01
(without ring core and USB connector on both ends)
3.0 m FNY-W6003-03 JEPMC-W6003-03
L
MECHATROLINK-II
5.0 m FNY-W6003-05 JEPMC-W6003-05
Communication Cable
10 m FNY-W6003-10 JEPMC-W6003-10
With ferrite core
20 m FNY-W6003-20 JEPMC-W6003-20
30 m FNY-W6003-30 JEPMC-W6003-30
MECHATROLINK-II Termination resistor --- FNY-W6022 JEPMC-W6022 ---
● Control Cables (for CN1)

6 L 39
XW2Z-@@@J-B33
The empty boxes in the model number are
Connector Termial Block Cables ---
34.3
for the cable length.
30
t=14

Connector Terminal Block Conversion
M3.5 screw type XW2B-20G5 ---
Unit
● Control Cables
Cable, absolute Encoder
Cable, Incremental Encoder
Control I/O Connector (CN1) for drive R88A-CNU01C
--- Encoder Connector (CN2) --- R88A-CNW01R
--- Power Cable Connector (750 W max.) --- R88A-CNG01A
--- Brake Cable Connector (750 W max.) --- R88A-CNG01B

Servo Drive Specifications (R88D-GN@-ML2)
Item Specifications
Ambient operating temperature and humidity 0 to 55°C, 90% RH max. (with no condensation)
Ambient storage temperature and humidity −20 to 65°C, 90% RH max. (with no condensation)
Operating and storage atmosphere No corrosive gases
Smaller of either 10 to 60 Hz with double amplitude of 0.1 mm or acceleration of 5.88 m/s2 max. in X,
Vibration resistance
Y, and Z directions.
Impact resistance Acceleration of 19.6m/s2 max. 2 times each in X, Y, and Z directions
Insulation resistance Between power supply/power line terminals and frame ground: 0.5 MΩ min. (at 500 VDC)
Between power supply/power line terminals and frame ground: 1,500 VAC for 1 min at 50/60 Hz
Dielectric strength
Between each control signal and frame ground: 500 VAC for 1 min
Protective structure Built into panel (IP10).
EN 55011 Class A Group 1
EC EMC Directive
EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11
Directives
International Low Voltage Directive EN 50178
standards UL standards UL 508C
CSA standards CSA C22.2 No.14
Korean Radio Regulations (KC) Certified
Note: 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
Note: 3. Depending on the operating conditions, some Servo Drive parts will require maintenance.
Note: 4. The service life of the Servo Drive is 28,000 hours at an average ambient temperature of 55°C at 100% of the rated torque.
● Characteristics
Servo Drives with 100-VAC Input Power
Item R88D-GNA5L-ML2 R88D-GN01L-ML2 R88D-GN02L-ML2 R88D-GN04L-ML2
Power supply capacity 0.4 KVA 0.4 KVA 0.5 KVA 0.9 KVA
Main circuit Power supply voltage Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
Input power
supply
Control circuit

Maximum applicable motor capacity 50 W 100 W 200 W 400 W
INC G05030H G10030L G20030L G40030L

ABS G05030T G10030S G20030S G40030S
Applicable INC --- GP10030L GP20030L GP40030L

(R88M-) ABS --- GP10030S GP20030S GP40030S

Performance

Servo Drives with Single-phase 200-VAC Input Power
R88D-GN01H- R88D-GN02H- R88D-GN04H- R88D-GN08H- R88D-GN10H- R88D-GN15H-
Item
ML2 ML2 ML2 ML2 ML2 ML2
Continuous output current (rms) 1.16 A 1.6 A 2.7 A 4.0 A 5.9 A 9.8 A
Momentary maximum output current (rms) 3.5 A 5.3 A 7.1 A 14.1 A 21.2 A 28.3 A
Power supply capacity 0.5 KVA 0.5 KVA 0.9 KVA 1.3 KVA 1.8 KVA 2.3 KVA
Single-phase 200 to 240 VAC Single-phase or Three-phase
Main circuit Power supply voltage
(170 to 264 V), 50/60 Hz 200 to 240 VAC (170 to 264 V), 50/60 Hz
Input power
supply Rated current 1.3 A 2.0 A 3.7 A 5.0/3.3*1A 7.5/4.1*1A 11/8.0*1A
Control circuit
Rated current 0.05 A 0.05 A 0.05 A 0.05 A 0.07 A 0.07 A
Heat Main circuit 14.3 W 14.8 W 23.6 W 38.7 W 52.9 W 105.9 W

generated Control circuit 4.5 W 4.5 W 4.5 W 4.3 W 6.1 W 6.1 W
Weight Approx. 0.8 kg Approx. 0.8 kg Approx. 1.1 kg Approx. 1.5 kg Approx. 1.7 kg Approx. 1.7 kg
Maximum applicable motor capacity 100 W 200 W 400 W 750 W 1 kW 1.5 kW
G05030H
INC G10030H
G20030H G40030H G75030H --- ---
G05030T G1K030T
ABS G10030T
G20030T G40030T G75030T ---
G1K530T
Applicable
Servomotors
INC GP10030H GP20030H GP40030H --- --- ---
(R88M-)
ABS GP10030T GP20030T GP40030T --- --- ---
2,000-r/min Servomotors ABS --- --- --- --- G1K020T G1K520T
1,000-r/min Servomotors ABS --- --- --- --- --- G90010T

Performance
*1. The left value is for single-phase input power and the right value is for three-phase input power.

Servo Drives with Three-phase 200-VAC Input Power
Item R88D-GN20H-ML2 R88D-GN30H-ML2 R88D-GN50H-ML2 R88D-GN75H-ML2
Power supply capacity 3.3 KVA 4.5 KVA 7.5 KVA 11 KVA
Main circuit Power supply voltage Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
Input power
supply
Control circuit

PWM frequency 6.0 kHz
Maximum applicable motor capacity 2 kW 3 kW 5 kW 7.5 kW
INC --- --- --- ---

G4K030T
ABS G2K030T G3K030T
G5K030T
---
Applicable INC --- --- --- ---

(R88M-) ABS --- --- --- ---
G4K020T
2,000-r/min Servomotors ABS G2K020T G3K020T
G5K020T
G7K515T
G3K010T
1,000-r/min Servomotors ABS --- G2K010T
G4K510T
G6K010T

Performance

3,000-r/min 1,000-r/min Servomotors
Item Flat Servomotors 2,000-r/min Servomotors
50 to 750 W 1 to 5 kW 100 to 400 W 900 W to 5 kW 6 to 7.5 kW
Ambient operating
0 to 40°C, 85% RH max. (with no condensation)
temperature and humidity
Ambient storage
−20 to 65°C, 85% RH
temperature and humidity
max. (with no −20 to 80°C, 85% max. (with no condensation)
condensation)
Operating and storage
No corrosive gases
atmosphere
10 to 2,500 Hz 10 to 2,500 Hz 10 to 2,500 Hz
10 to 2,500 Hz
Acceleration of Acceleration of Acceleration of
Vibration resistance *1 Acceleration of 24.5 m/s2 max.
49 m/s2 max. in the X, 24.5 m/s2 max. in the 49 m/s2 max. in the X,
in the X, Y, and Z directions
Y, and Z directions X, Y, and Z directions Y, and Z directions
Acceleration of
Acceleration of 98 m/s2max.
Impact resistance 98 m/s2 max.
2 times vertically
3 times each in the X, Y, and Z directions
Insulation resistance 20 MΩ min. at 500 VDC between the power terminals and FG terminal
Dielectric strength 1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal
Operating position All directions
Insulation grade Type B Type F Type B Type F
Structure Totally enclosed, self-cooling
Protective structure IP65 (excluding the output shaft rotating section and lead wire ends)
Vibration grade V-15
Mounting method Flange-mounting
Low-voltage
International standards
EC Directives IEC 60034-1/-5

Directive
UL standards UL1004-1
−
CSA standards CSA 22.2 No.100
*1. The amplitude may be amplified by mechanical resonance. Do not exceed 80% of the specified value for extended periods of time.
Note: 1. Do not use the cable when it is laid in oil or water.
Note: 2. Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself.

Servomoter Specifications (R88M-G)
● Characteristics
100-VAC Input Power
Model (R88M-) G05030H G10030L G20030L G40030L
Item Unit G05030T G10030S G20030S G40030S
Rated output *1 W 50 100 200 400
Rated torque *1 N·m 0.16 0.32 0.64 1.3
Max. momentary torque *1 N·m 0.45 0.93 1.78 3.6
Rated current *1 A (rms) 1.1 1.7 2.5 4.6
Max. momentary current *1 A (rms) 3.4 5.1 7.6 13.9
kg·m2
Rotor inertia 2.5 × 10-6 5.1 × 10-6 1.4 × 10-5 2.6 × 10-5
(GD2/4)
Torque constant *1 N·m/A 0.14 0.19 0.26 0.28
Power rate *1 kW/s 10.4 20.1 30.3 62.5
Mechanical time constant ms 1.56 1.11 0.72 0.55
Electrical time constant ms 0.7 0.8 2.5 2.9
Allowable radial load *3 N 68 68 245 245
Allowable thrust load *3 N 58 58 98 98
Without brake kg Approx. 0.3 Approx. 0.5 Approx. 0.8 Approx. 1.2
Weight
With brake kg Approx. 0.5 Approx. 0.7 Approx. 1.3 Approx. 1.7
Applicable Servo Drives (R88D-) GNA5L-ML2 GN01L-ML2 GN02L-ML2 GN04L-ML2
kg·m2
Brake inertia 2 × 10-7 2 × 10-7 1.8 × 10-6 1.8 × 10-6
(GD2/4)
Static friction torque N·m 0.29 min. 0.29 min. 1.27 min. 1.27 min.
Attraction time *5 ms 35 max. 35 max. 50 max. 50 max.

Release time *5 ms 20 max. 20 max. 15 max. 15 max.
Backlash ±1°
Allowable work per braking J 39.2 39.2 137 137
Allowable total work J 4.9 × 103 4.9 × 103 44.1 × 103 44.1 × 103
30,000 max.
(Speed of 2,800 r/min or more must not be changed in less than 10 ms)
Brake life --- 10,000,000 operations
Radial load
Thrust load


R88M-G05030H/T (50 W) R88M-G10030L/S (100 W) R88M-G20030L/S (200 W)
(N·m) (N·m) (N·m)
0.5 0.48 0.48 1.0 0.83 0.83 (3600) 2.0 1.78

0.75 1.78 (3500)
0.25 0.16 0.16 0.5 0.32 1.0 0.9
0.32 0.64 0.64
0.1 Continuous usage
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
R88M-G40030L/S (400 W)
(N·m)
4.0 3.6 3.6 (3000)

Repetitive usage
2.0 1.3 1.3 1.3
0 1000 2000 3000 4000 5000

(r/min)

● Characteristics
200-VAC Input Power
Model (R88M-) G05030H G10030H G20030H G40030H G75030H --- --- --- --- --- ---
Item Unit G05030T G10030T G20030T G40030T G75030T G1K030T G1K530T G2K030T G3K030T G4K030T G5K030T
Rated output *1 W 50 100 200 400 750 1000 1500 2000 3000 4000 5000
Rated torque *1 N·m 0.16 0.32 0.64 1.3 2.4 3.18 4.77 6.36 9.54 12.6 15.8
Max. momentary rotation speed r/min 5000 4500 5000 4500
Max. momentary torque *1 N·m 0.45 0.90 1.78 3.67 7.05 9.1 12.8 18.4 27.0 36.3 45.1
Rated current *1 A (rms) 1.1 1.1 1.6 2.6 4 7.2 9.4 13 18.6 24.7 28.5
Max. momentary current *1 A (rms) 3.4 3.4 4.9 7.9 12.1 21.4 28.5 40 57.1 75 85.7
kg·m2
Rotor inertia 2.5 × 10-6 5.1 × 10-6 1.4 × 10-5 2.6 × 10-5 8.7 × 10-5 1.69 × 10-4 2.59 × 10-4 3.46 × 10-4 6.77 × 10-4 1.27 × 10-3 1.78 × 10-3
(GD2/4)
20 times
the rotor
Applicable load inertia --- 30 times the rotor inertia max.*2 15 times the rotor inertia max.*2
inertia
max.*2
Torque constant *1 N·m/A 0.14 0.19 0.41 0.51 0.64 0.44 0.51 0.48 0.51 0.51 0.57
Power rate *1 kW/s 10.4 20.1 30.3 62.5 66 60 88 117 134 125 140
Mechanical time constant ms 1.56 1.1 0.71 0.52 0.45 0.78 0.54 0.53 0.46 0.51 0.46
Electrical time constant ms 0.7 0.79 2.6 3 4.6 6.7 10 10.8 20 20 20
Allowable radial load *3 N 68 68 245 245 392 392 490 490 490 784 784
Allowable thrust load *3 N 58 58 98 98 147 147 196 196 196 343 343
Without brake kg
0.3 0.5 0.8 1.2 2.3 4.5 5.1 6.5 9.3 12.9 17.3
Weight
With brake kg
0.5 0.7 1.3 1.7 3.1 5.1 6.5 7.9 11 14.8 19.2
320 × 320 ×
Radiation shield dimensions (material) 100 × 80 × t10 (AI) 130 × 120 × t12 (AI) 170 × 160 × t12 (AI) 300 × t30 300 × t20 380 × 350 × t30 (AI)
(AI) (AI)
GN01H- GN01H- GN02H- GN04H- GN08H- GN15H- GN15H- GN20H- GN30H- GN50H- GN50H-
Applicable Servo Drives (R88D-)
ML2 ML2 ML2 ML2 ML2 ML2 ML2 ML2 ML2 ML2 ML2
kg·m2
Brake inertia 2 × 10-7 2 × 10-7 1.8 × 10-6 1.8 × 10-6 7.5 × 10-6 2.5 × 10-5 3.3 × 10-5 3.3 × 10-5 3.3 × 10-5 1.35 × 10-4 1.35 × 10-4
(GD2/4)
Excitation voltage *4 V 24 VDC ±5% 24 VDC ±10%
Power consumption (at 20°C) W 7 7 9 9 10 18 19 19 19 22 22
Current consumption (at 20°C) A 0.3 0.3 0.36 0.36 0.42 0.74 0.81 0.81 0.81 0.9 0.9
Static friction torque N·m 0.29 min. 0.29 min. 1.27 min. 1.27 min. 2.45 min. 4.9 min. 7.8 min. 7.8 min. 11.8 min. 16.1 min. 16.1 min.
Attraction time *5 ms 35 max. 35 max. 50 max. 50 max. 70 max. 50 max. 50 max. 50 max. 80 max. 110 max. 110 max.
Release time *5 ms 20 max. 20 max. 15 max. 15 max. 20 max. 15 max. 15 max. 15 max. 15 max. 50 max. 50 max.
Backlash ±1°
Allowable work per braking J 39.2 39.2 137 137 196 392 392 392 392 1470 1470
Allowable total work J 4.9 × 103 4.9 × 103 44.1 × 103 44.1 × 103 147 × 103 2.0 × 105 4.9 × 105 4.9 × 105 4.9 × 105 2.2 × 106 2.2 × 106
30,000 max. 10,000 max.
Allowable angular
rad/s2 (Speed of 2,800 r/min or more must not be changed (Speed of 900 r/min or more must not be changed in less than
acceleration
in less than 10 ms) 10 ms)
normal operating temperatures. The allowable radial loads are applied as shown in the following
Radial load
diagram.
Thrust load

R88M-G05030H/T (50 W) R88M-G10030H/T (100 W) R88M-G20030H/T (200 W)
(N·m) (N·m) (N·m)
0.5 0.45 0.45 1.0 0.93 0.93

2.0 1.78 1.78 (4500)
Repetitive usage Repetitive usage Repetitive usage 1.5

0.25 0.16 0.5 0.32 0.32 1.0
0.16 0.64 0.64
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
R88M-G40030H/T (400 W) R88M-G75030H/T (750 W) R88M-G1K030T (1 kW)

(N·m) (N·m) (N·m)
4.0 3.6 3.6 (3800) 8.0 7.05 7.05 (3600) 10 9.1 9.1 (4000)

2.0 1.3 4.0 2.4 2.4 4.0 5 3.18
1.3 1.7 3.18 4.8
Continuous usage 0.78 Continuous usage 1.0 Continuous usage
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
R88M-G1K530T (1.5 kW) R88M-G2K030T (2 kW) R88M-G3K030T (3 kW)

(N·m) (N·m) (N·m)
15 12.9 12.9 (3500) 30 27.0 27.0 (3400)

20 18.4 18.4 (3600)
7.5 4.77 Repetitive usage 15 9.54
4.77 10 6.36 9.54
6.36 5.5
Continuous usage
3.6 6.0 Continuous usage
Continuous usage
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
(r/min) 0 1000 2000 3000 4000 5000 (r/min)
(r/min)
R88M-G4K030T (4 kW) R88M-G5K030T (5 kW)

(N·m) (N·m)
40 36.3 37.9 50 45.1 47.6

20 12.6 25 15.8 15.8
12.6
15.0
Continuous usage 10.0 Continuous usage
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
(r/min) (r/min)

Servomotor Specifications (R88M-GP)
● Characteristics
100-VAC/200-VAC Input Powers
Model (R88M-) 100 VAC 200 VAC
GP10030L GP20030L GP40030L GP10030H GP20030H GP40030H
Item Unit GP10030S GP20030S GP40030S GP10030T GP20030T GP40030T
Rated output *1 W 100 200 400 100 200 400
Rated torque *1 N·m 0.32 0.64 1.3 0.32 0.64 1.3
Max. momentary rotation speed r/min 5000 4500 5000
Max. momentary torque *1 N·m 0.84 1.8 3.6 0.86 1.8 3.65
Rated current *1 A (rms) 1.6 2.5 4.4 1 1.6 2.5
Max. momentary current *1 A (rms) 4.9 7.5 13.3 3.1 4.9 7.5
kg·m2
Rotor inertia 1.0 × 10-5 3.5 × 10-5 6.5 × 10-5 1.0 × 10-5 3.5 × 10-5 6.4 × 10-5
(GD2/4)
Torque constant *1 N·m/A 0.21 0.27 0.3 0.34 0.42 0.54
Power rate *1 kW/s 10.2 11.7 26.0 10.2 11.5 25.5
Mechanical time constant ms 0.87 0.75 0.55 1.05 0.81 0.59
Electrical time constant ms 3.4 6.7 6.7 2.9 5.6 6.6
Allowable radial load *3 N 68 245 245 68 245 245
Allowable thrust load *3 N 58 98 98 58 98 98
Without brake kg Approx. 0.7 Approx. 1.3 Approx. 1.8 Approx. 0.7 Approx. 1.3 Approx. 1.8
Weight
With brake kg Approx. 0.9 Approx. 2 Approx. 2.5 Approx. 0.9 Approx. 2 Approx. 2.5
130 × 120 × t10 130 × 120 × t10
Radiation shield dimensions (material) 170 × 160 × t12(AI) 170 × 160 × t12 (AI)
(AI) (AI)
Applicable Servo Drives (R88D-) GN01L-ML2 GN02L-ML2 GN04L-ML2 GN01H-ML2 GN02H-ML2 GN04H-ML2
kg·m2
Brake inertia 3 × 10-6 9 × 10-6 3 × 10-6 9 × 10-6
(GD2/4)
Power consumption (at 20°C) W 7 10 10 7 10 10
Current consumption (at 20°C) A 0.29 0.41 0.41 0.29 0.41 0.41
Static friction torque N·m 0.29 min. 1.27 min. 1.27 min. 0.29 min. 1.27 min. 1.27 min.
Attraction time *5 ms 50 max. 60 max. 60 max. 50 max. 60 max. 60 max.

Release time *5 ms 15 max. 15 max. 15 max. 15 max. 15 max. 15 max.
Backlash ±1°
Allowable work per braking J 137 196 196 137 196 196
Allowable total work J 44.1 × 103 147 × 103 147 × 103 44.1 × 103 147 × 103 147 × 103
10,000 max.
Radial load
Thrust load


R88M-GP10030L/S (100 W) R88M-GP20030L/S (200 W) R88M-GP40030L/S (400 W)
(N·m) (N·m) (N·m)
1.0 0.84 0.84 (3500) 2.0 1.8 1.8 (3400) 4.0 3.6 3.6 (3300)
0.5 0.32 0.32 1.0 0.64 2.0 1.3
0.32 0.64 1.3 1.5
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 4500

R88M-GP10030H/T (100 W) R88M-GP20030H/T (200 W) R88M-GP40030H/T (400 W)
(N·m) (N·m) (N·m)
1.0 0.86 2.0 1.8 1.8 (4500) 4.0 3.65 3.65 (3600)
0.86

0.5 0.32 1.0 0.64 0.64 2.0 1.3 2.0
0.32 1.3
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000

● Characteristics
200-VAC Input Power
Model (R88M-)
G1K020T G1K520T G2K020T G3K020T G4K020T G5K020T G7K515T
Item Unit
Rated output *1 W 1000 1500 2000 3000 4000 5000 7500
Rated torque *1 N·m 4.8 7.15 9.54 14.3 18.8 23.8 48
Rated rotation speed r/min 2000 1500
Max. momentary rotation speed r/min 3000 2000
Max. momentary torque *1 N·m 13.5 19.6 26.5 41.2 54.9 70.6 111
Rated current *1 A (rms) 5.6 9.4 12.3 17.8 23.4 28 46.6
Max. momentary current *1 A (rms) 17.1 28.5 37.1 54.2 71.4 85.7 117.8
kg·m2
Rotor inertia 6.17 × 10-4 1.12 × 10-3 1.52 × 10-3 2.23 × 10-3 4.25 × 10-3 6.07 × 10-3 9.9 × 10-3
(GD2/4)
Torque constant *1 N·m/A 0.88 0.76 0.78 0.81 0.81 0.85 1.03
Power rate *1 kW/s 37.3 45.8 60 91.6 83.2 93.5 230
Mechanical time constant ms 0.7 0.81 0.75 0.72 1 0.9 0.71
Electrical time constant ms 18 19 21 20 24 32 34
Allowable radial load *3 N 490 490 490 784 784 784 1176
Allowable thrust load *3 N 196 196 196 343 343 343 490
Without brake kg Approx. 6.8 Approx. 8.5 Approx. 10.6 Approx. 14.6 Approx. 18.8 Approx. 25 Approx. 41
Weight
With brake kg Approx. 8.7 Approx. 10.1 Approx. 12.5 Approx. 16.5 Approx. 21.3 Approx. 28.5 Approx. 45
380 × 350 ×
t30 (AI)
Applicable Servo Drives (R88D-) GN10H-ML2 GN15H-ML2 GN20H-ML2 GN30H-ML2 GN50H-ML2 GN50H-ML2 GN75H-ML2
kg·m2
Brake inertia 1.35 × 10-4 4.25 × 10-4 4.7 × 10-4 4.7 × 10-4
(GD2/4)
Power consumption(at 20°C) W 14 19 19 22 26 31 34
Current consumption (at 20°C) A 0.59 0.79 0.79 0.9 1.1 1.3 1.4
Static friction torque N·m 4.9 min. 13.7 min. 13.7 min. 16.1 min. 21.5 min. 24.5 min. 58.8 min.
Attraction time *5 ms 80 max. 100 max. 100 max. 110 max. 90 max. 80 max. 150 max.
Release time *5 ms 70 max. 50 max. 50 max. 50 max. 35 min. 25 min. 50 max.
Backlash ±1°
Allowable work per braking J 588 1176 1176 1170 1078 1372 1372
Allowable total work J 7.8 × 105 1.5 × 106 1.5 × 106 2.2 × 106 2.5 × 106 2.9 × 106 2.9 × 106
10,000 max.
Radial load
Thrust load


R88M-G1K020T (1 kW) R88M-G1K520T (1.5 kW) R88M-G2K020T (2 kW)
(N·m) (N·m) (N·m)
15 13.5 13.5 (2200)

20 19.6 19.6 (2200) 30 26.5 26.5 (2200)
10 Repetitive usage Repetitive usage

14.3 Repetitive usage
5.5 10 7.15 7.15 15 9.54
5 4.8 4.8 9.54 13.2
0 1000 2000 3000 (r/min) 0 1000 2000 3000 (r/min) 0 1000 2000 3000 (r/min)
R88M-G3K020T (3 kW) R88M-G4K020T (4 kW) R88M-G5K020T (5 kW)

(N·m) (N·m)
(N·m)
50 41.2 54.9 54.9 (2000) 70.6 70.6 (2000)

41.2 (2200) 50 70
25 14.3 14.3 35 23.8 23.8
14.3 25 18.8 18.8 25.0
23.0
Continuous usage 9.5 12.5 Continuous usage
0 1000 2000 3000 (r/min) 0 1000 2000 3000 (r/min)
0 1000 2000 3000 (r/min)
R88M-G7K515T (7.5 kW)

(N·m)
111 111
100 100
Repetitive usage
50 48 48
Continuous usage 36
0 1000 1500 2000 (r/min)

● Characteristics
200-VAC Input Power
Model (R88M-)
G90010T G2K010T G3K010T G4K510T G6K010T
Item Unit
Rated output *1 W 900 2000 3000 4500 6000
Rated torque *1 N·m 8.62 19.1 28.4 42.9 57.2
Max. momentary torque *1 N·m 18.4 41.5 60 101 130
Rated current *1 A (rms) 7.6 18.5 24 33 57.2
Max. momentary current *1 A (rms) 17.1 44 57.1 84.2 121.4
kg·m2
Rotor inertia 1.12 × 10-3 3.55 × 10-3 5.57 × 10-3 8.09 × 10-3 9.9 × 10-3
(GD2/4)
Torque constant *1 N·m/A 1.13 1 1.1 1.3 1.22
Power rate *1 kW/s 66.3 103 145 228 331
Mechanical time constant ms 0.88 0.97 0.74 0.7 0.65
Electrical time constant ms 20 25 30 31 46.2
Allowable radial load *3 N 686 1176 1470 1470 1764
Allowable thrust load *3 N 196 490 490 490 588
Without brake kg Approx. 8.5 Approx. 17.5 Approx. 25 Approx. 34 Approx. 41
Weight
With brake kg Approx. 10 Approx. 21 Approx. 28.5 Approx. 39.5 Approx. 45
Radiation shield dimensions
275 × 260 × t15 (AI) 470 × 440 × t30 (AI)
(material)
Applicable Servo Drives (R88D-) GN15H-ML2 GN30H-ML2 GN50H-ML2 GN50H-ML2 GN75H-ML2
kg·m2
Brake inertia 1.35 × 10-4 4.7 × 10-4
(GD2/4)
Power consumption (at 20°C) W 19 31 34 34 34
Current consumption (at 20°C) A 0.79 1.3 1.4 1.4 1.4
Static friction torque N·m 13.7 min. 24.5 min. 58.8 min. 58.8 min. 58.8 min.
Attraction time *5 ms 100 max. 80 max. 150 max. 150 max. 150 max.
Release time *5 ms 50 max. 25 max. 50 max. 50 max. 50 max.
Backlash ±1°
Allowable work per braking J 1176 1372 1372 1372 1372
Allowable total work J 1.6 × 106 2.9 × 106 2.9 × 106 2.9 × 106 2.9 × 106
10,000 max.
Radial load
Thrust load


R88M-G90010T (900 W) R88M-G2K010T (2 kW) R88M-G3K010T (3 kW)
(N·m) 20 18.4 18.4 (1600) (N·m) 50 41.5 41.5 (1600) (N·m) 70 60 60 (1350)
Repetitive usage Repetitive usage 34.9 Repetitive usage 38
10 8.62 8.62 10.0 25 19.1 19.1 35 28.4 28.4
0 1000 2000 (r/min) 0 1000 2000 (r/min) 0 1000 2000 (r/min)
R88M-G4K510 (4.5 kW) R88M-G6K010T (6 kW)

130 130 (1500)
101 101 (1300)
(N·m) 100
(N·m) 100
50 42.9 42.9 57.2 57.2 71
40
50
0 1000 2000 (r/min)
0 1000 2000 (r/min)

Decelerator Specifications (R88G-HPG/VRSF)
Rated Decelerator
1/5 R88G-HPG11A05100B 600 0.60 75 1000 1.68 5.00 × 10-7 135 538 0.29
1/9 R88G-HPG11A09050B 333 1.17 81 555 3.29 3.00 × 10-7 161 642 0.29
50 W 1/21 R88G-HPG14A21100B 143 2.18 65 238 6.13 5.00 × 10-6 340 1358 1.04
1/33 R88G-HPG14A33050B 91 3.73 71 151 10.5 4.40 × 10-6 389 1555 1.04
1/45 R88G-HPG14A45050B 67 5.09 71 111 14.3 4.40 × 10-6 427 1707 1.04
1/5 R88G-HPG11A05100B 600 1.37 86 1000 3.8 5.00 × 10-7 135 538 0.29
1/11 R88G-HPG14A11100B 273 2.63 75 454 7.39 6.00 × 10-6 280 1119 1.04
100 W 1/21 R88G-HPG14A21100B 143 5.40 80 238 15.2 5.00 × 10-6 340 1358 1.04
1/33 R88G-HPG20A33100B 91 6.91 65 151 19.4 6.50 × 10-5 916 3226 2.4
1/45 R88G-HPG20A45100B 67 9.42 65 111 26.5 6.50 × 10-5 1006 3541 2.4
1/5 R88G-HPG14A05200B 600 2.49 78 1000 6.93 2.07 × 10-5 221 883 1.02
1/11 R88G-HPG14A11200B 273 6.01 85 454 16.7 1.93 × 10-5 280 1119 1.09
200 W 1/21 R88G-HPG20A21200B 143 10.2 76 238 28.5 4.90 × 10-5 800 2817 2.9
1/33 R88G-HPG20A33200B 91 17.0 81 151 47.4 4.50 × 10-5 916 3226 2.9
1/45 R88G-HPG20A45200B 67 23.2 81 111 64.6 4.50 × 10-5 1006 3541 2.9
1/5 R88G-HPG14A05400B 600 5.66 87 1000 16.0 (15.7) 2.07 × 10-5 221 883 1.09
1/11 R88G-HPG20A11400B 273 11.7 82 454 33.1 (32.5) 5.70 × 10-5 659 2320 2.9
400 W 1/21 R88G-HPG20A21400B 143 23.5 86 238 66.5 (65.2) 4.90 × 10-5 800 2547 2.9
1/33 R88G-HPG32A33400B 91 34.7 81 151 98.2 (96.3) 6.20 × 10-5 1565 6240 7.5
1/45 R88G-HPG32A45400B 67 47.4 81 111 133.9 (131.4) 6.10 × 10-5 1718 6848 7.5
1/5 R88G-HPG20A05750B 600 9.94 83 1000 29.2 6.80 × 10-5 520 1832 2.9
1/11 R88G-HPG20A11750B 273 23.2 88 454 68.1 6.00 × 10-5 659 2320 3.1
750 W 1/21 R88G-HPG32A21750B 143 42.3 84 238 124.3 3.00 × 10-4 1367 5448 7.8
1/33 R88G-HPG32A33750B 91 69.7 88 151 204.7 2.70 × 10-4 1565 6240 7.8
1/45 R88G-HPG32A45750B 67 95.0 88 111 279.2 2.70 × 10-4 1718 6848 7.8
1/5 R88G-HPG32A051K0B 600 11.5 72 1000 32.9 3.90 × 10-4 889 3542 7.3
1/11 R88G-HPG32A111K0B 273 28.9 83 454 82.6 3.40 × 10-4 1126 4488 7.8
1 kW 1/21 R88G-HPG32A211K0B 143 58.1 87 238 166.1 3.00 × 10-4 1367 5488 7.8
1/33 R88G-HPG32A331K0B 91 94.3 90 151 270.0 2.80 × 10-4 1565 6240 7.8
1/45 R88G-HPG50A451K0B 67 124.2 87 100*1 355.4 4.70 × 10-4 4538 15694 19.0
1/5 R88G-HPG32A052K0B 600 19.1 80 1000 51.3 3.90 × 10-4 889 3542 7.4
1/11 R88G-HPG32A112K0B 273 45.7 87 454 122.5 3.40 × 10-4 1126 4488 7.9
1.5 kW 1/21 R88G-HPG32A211K5B 143 90.1 90 238 241.9 3.00 × 10-4 1367 5448 7.9
1/33 R88G-HPG50A332K0B 91 141.5 90 136*1 379.7 4.80 × 10-4 4135 14300 19.0
1/45 R88G-HPG50A451K5B 67 192.9 90 100*1 517.8 4.70 × 10-4 4538 15694 19.0
1/5 R88G-HPG32A052K0B 600 26.7 84 1000 77.4 3.90 × 10-4 889 3542 7.4
1/11 R88G-HPG32A112K0B 273 62.4 89 454 180.7 3.40 × 10-4 1126 4488 7.9
2 kW
1/21 R88G-HPG50A212K0B 143 118.9 89 214*1 343.9 5.80 × 10-4 3611 12486 19.0
1/33 R88G-HPG50A332K0B 91 191.8 91 136*1 555.0 4.80 × 10-4 4135 14300 19.0
1/5 R88G-HPG32A053K0B 600 42.0 88 1000 118.9 3.80 × 10-4 889 3542 7.3
3 kW 1/11 R88G-HPG50A113K0B 273 92.3 88 409*1 261.4 7.70 × 10-4 2974 10285 19.0
1/21 R88G-HPG50A213K0B 143 183.0 91 214*1 517.7 5.80 × 10-4 3611 12486 19.0
1/5 R88G-HPG32A054K0B 600 53.9 90 900*1 163.4 3.80 × 10-4 889 3542 7.9
4 kW
1/11 R88G-HPG50A115K0B 273 124.6 90 409*1 359.0 8.80 × 10-4 2974 10285 19.1
1/5 R88G-HPG50A055K0B 600 69.3 88 900*1 197.8 1.20 × 10-3 2347 8118 17.7
5 kW
1/11 R88G-HPG50A115K0B 273 158.4 91 409*1 451.9 8.80 × 10-4 2974 10285 19.1
*1. Keep the maximum rotation speed at 4,500 r/min or less.

Note: 3. The protective structure for Servomotors with Decelerators satisfies indicated with "J" at the end of the model number (the suffix in the box).
IP44.

Decelerators for 3,000-r/min Flat Servomotors
Rated Decelerator
1/5 R88G-HPG11A05100PB 600 1.37 85 1000 3.67 (3.59) 5.00 × 10-7 135 538 0.34
1/11 R88G-HPG14A11100PB 273 2.63 75 454 7.06 (6.89) 6.00 × 10-6 280 1119 1.04
100 W 1/21 R88G-HPG14A21100PB 143 5.40 80 238 14.5 (14.2) 5.00 × 10-6 340 1358 1.04
1/33 R88G-HPG20A33100PB 91 6.91 65 151 18.6 (18.1) 4.50 × 10-5 916 3226 2.9
1/45 R88G-HPG20A45100PB 67 9.42 65 111 25.3 (24.7) 4.50 × 10-5 1006 3541 2.9
1/5 R88G-HPG14A05200PB 600 2.49 78 1000 7.01 2.07 × 10-5 221 883 0.99
1/11 R88G-HPG20A11200PB 273 4.75 68 454 13.4 5.80 × 10-5 659 2320 3.1
200 W 1/21 R88G-HPG20A21200PB 143 10.2 76 238 28.8 4.90 × 10-5 800 2817 3.1
1/33 R88G-HPG20A33200PB 91 17.0 81 151 47.9 4.50 × 10-5 916 3226 3.1
1/45 R88G-HPG20A45200PB 67 23.2 81 111 65.4 4.50 × 10-5 1006 3541 3.1
1/5 R88G-HPG20A05400PB 600 4.67 72 1000 (900) 13.1 (12.9) 7.10 × 10-5 520 1832 3.1
1/11 R88G-HPG20A11400PB 273 11.7 82 454 (409) 32.9 (32.4) 5.80 × 10-5 659 2320 3.1
400 W 1/21 R88G-HPG20A21400PB 143 23.5 86 238 (214) 66.2 (65.2) 4.90 × 10-5 800 2817 3.1
1/33 R88G-HPG32A33400PB 91 34.7 81 151 (136) 97.6 (96.2) 2.80 × 10-4 1565 6240 7.8
1/45 R88G-HPG32A45400PB 67 47.4 81 111 (100) 133.0 (131.2) 2.80 × 10-4 1718 6848 7.8
Note: 3. The protective structure for Servomotors with Decelerators satisfies IP44. indicated with "J" at the end of the model number (the suffix in the box).

Rated Decelerator
1/5 R88G-HPG32A053K0B 400 20.4 85 600 57.4 3.80 × 10-4 889 3542 7.3
1/11 R88G-HPG32A112K0SB 182 47.3 90 273 133.1 3.40 × 10-4 1126 4488 7.8
1 kW 1/21 R88G-HPG32A211K0SB 95 92.3 92 143 259.7 2.90 × 10-4 1367 5448 7.8
1/33 R88G-HPG50A332K0SB 60 144.9 92 91 407.6 4.70 × 10-4 4135 14300 19.0
1/45 R88G-HPG50A451K0SB 44 197.7 92 67 555.9 4.70 × 10-4 4538 15694 19.0
1/5 R88G-HPG32A053K0B 400 31.7 89 600 86.8 3.80 × 10-4 889 3542 7.3
1/11 R88G-HPG32A112K0SB 182 72.1 92 273 197.7 3.40 × 10-4 1126 4488 7.8
1.5 kW
1/21 R88G-HPG50A213K0B 95 137.5 92 143 377.0 5.80 × 10-4 3611 12486 19.0
1/33 R88G-HPG50A332K0SB 60 219.4 93 91 601.5 4.70 × 10-4 4135 14300 19.0
1/5 R88G-HPG32A053K0B 400 43.2 91 600 119.9 3.80 × 10-4 889 3542 7.3
1/11 R88G-HPG32A112K0SB 182 97.4 93 273 270.5 3.40 × 10-4 1126 4488 7.8
2 kW
1/21 R88G-HPG50A213K0B 95 185.6 93 143 515.9 5.80 × 10-4 3611 12486 19.0
1/33 R88G-HPG50A332K0SB 60 270.0*1 93 91 815.0 4.70 × 10-4 4135 14300 19.0
1/5 R88G-HPG32A054K0B 400 66.0 92 600 190.1 3.80 × 10-4 889 3542 7.9
1/11 R88G-HPG50A115K0B 182 145.2 92 273 418.3 8.80 × 10-4 2974 10285 19.1
3 kW
1/21 R88G-HPG50A213K0SB 95 260.0*1 93 143 806.4 6.90 × 10-4 3611 12486 19.1
1/25 R88G-HPG65A253K0SB 80 322.9 90 120 930.1 3.00 × 10-3 7846 28654 52.0
1/5 R88G-HPG50A054K0SB 400 85.8 91 600 250.3 1.20 × 10-3 2347 8118 18.6
1/11 R88G-HPG50A114K0SB 182 192.7 93 273 562.8 8.70 × 10-4 2974 10285 20.1
4 kW
1/20 R88G-HPG65A204K0SB 100 342.2 91 150 999.2 3.28 × 10-3 7338 26799 52.0
1/25 R88G-HPG65A254K0SB 80 430.9 92 120 1258.6 3.24 × 10-3 7846 28654 52.0
1/5 R88G-HPG50A055K0SB 400 109.8 92 600 325.5 1.10 × 10-3 2347 8118 22.0
1/11 R88G-HPG50A115K0SB 182 200.0*1 93 273 723.8 8.40 × 10-4 2974 10285 23.5
5 kW
1/20 R88G-HPG65A205K0SB 100 438.2 92 150 1300.5 2.85 × 10-3 7338 26799 55.4
1/25 R88G-HPG65A255K0SB 80 550.9 93 120 1634.4 2.81 × 10-3 7846 28654 55.4
1/5 R88G-HPG65A057K5SB 300 221.1 92 400 511.2 2.07 × 10-2 4841 17681 48.0
7.5 kW
1/12 R88G-HPG65A127K5SB 125 540.8 94 166 1250.7 2.02 × 10-2 6295 22991 52.0
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value. Note: 3. The allowable radial load is the value at the T/2 position.
Note: 2. The protective structure for Servomotors with Decelerators satisfies Note: 4. The standard models have a straight shaft. Models with a key and tap are
IP44. indicated with "J" at the end of the model number (the suffix in the box).

Rated Decelerator
1/5 R88G-HPG32A05900TB 200 39.9 93 400 85.2 3.80 × 10-4 889 3542 7.9
1/11 R88G-HPG32A11900TB 90 89.0 94 182 190.1 3.40 × 10-4 1126 4488 8.4
900 W
1/21 R88G-HPG50A21900TB 47 169.8 94 95 362.4 7.00 × 10-4 3611 12486 19.1
1/33 R88G-HPG50A33900TB 30 268.5 94 60 573.2 5.90 × 10-4 4135 14300 19.1
1/5 R88G-HPG32A052K0TB 200 90.2 95 400 196.1 4.90 × 10-4 889 3542 8.9
1/11 R88G-HPG50A112K0TB 90 198.4 94 182 430.9 8.40 × 10-4 2974 10285 20.1
2 kW
1/21 R88G-HPG50A212K0TB 47 320.0*1 95 95 786.8 6.50 × 10-4 3611 12486 20.1
1/25 R88G-HPG65A255K0SB 40 446.7 94 80 971.1 2.81 × 10-3 7846 28654 55.4
1/5 R88G-HPG50A055K0SB 200 133.9 94 400 282.9 1.10 × 10-3 2347 8118 22.0
1/11 R88G-HPG50A115K0SB 90 246.0*1 95 182 684.0 8.40 × 10-4 2974 10285 23.5
3 kW
1/20 R88G-HPG65A205K0SB 50 534.7 94 100 1129.2 2.85 × 10-3 7338 26799 55.4
1/25 R88G-HPG65A255K0SB 40 669.9 94 80 1411.5 2.81 × 10-3 7846 28654 55.4
1/5 R88G-HPG50A054K5TB 200 203.5 95 400 479.2 1.20 × 10-3 2347 8118 22.0
4.5 kW 1/12 R88G-HPG65A127K5SB 83 485.6 94 166 1142.9 2.02 × 10-2 6295 22991 52.0
1/20 R88G-HPG65A204K5TB 50 813.1 95 100 1915.0 1.92 × 10-2 7338 26799 52.0
1/5 R88G-HPG65A057K5SB 200 268.1 94 400 609.7 2.07 × 10-2 4841 17681 48.0
6 kW
1/12 R88G-HPG65A127K5SB 83 650.3 95 166 1477.3 2.02 × 10-2 6295 22991 52.0
Note: 4. The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of the model number (the suffix in the box).

Rated Decelerator
1/5 R88G-VRSF05B100CJ 600 0.52 65 1000 1.46 4.00 × 10-6 392 196 0.55
1/9 R88G-VRSF09B100CJ 333 0.93 65 556 2.63 3.50 × 10-6 441 220 0.55
50 W
1/15 R88G-VRSF15B100CJ 200 1.67 70 333 4.73 3.50 × 10-6 588 294 0.70
1/25 R88G-VRSF25B100CJ 120 2.78 70 200 7.88 3.25 × 10-6 686 343 0.70
1/5 R88G-VRSF05B100CJ 600 1.19 75 1000 3.38 4.00 × 10-6 392 196 0.55
1/9 R88G-VRSF09B100CJ 333 2.29 80 556 6.48 3.50 × 10-6 441 220 0.55
100 W
1/15 R88G-VRSF15B100CJ 200 3.81 80 333 10.8 3.50 × 10-6 588 294 0.70
1/25 R88G-VRSF25B100CJ 120 6.36 80 200 18.0 3.25 × 10-6 686 343 0.70
1/5 R88G-VRSF05B200CJ 600 2.70 85 1000 7.57 1.18 × 10-5 392 196 0.72
1/9 R88G-VRSF09C200CJ 333 3.77 66 556 10.6 2.75 × 10-5 931 465 1.70
200 W
1/15 R88G-VRSF15C200CJ 200 6.29 66 333 17.6 3.00 × 10-5 1176 588 2.10
1/25 R88G-VRSF25C200CJ 120 11.1 70 200 31.2 2.88 × 10-5 1323 661 2.10
1/5 R88G-VRSF05C400CJ 600 5.40 85 1000 15.6 (15.3) 3.63 × 10-5 784 392 1.70
1/9 R88G-VRSF09C400CJ 333 9.50 83 556 27.4 (26.8) 2.75 × 10-5 931 465 1.70
400 W
1/15 R88G-VRSF15C400CJ 200 15.8 83 333 45.7 (44.8) 3.00 × 10-5 1176 588 2.10
1/25 R88G-VRSF25C400CJ 120 26.4 83 200 76.1 (74.7) 2.88 × 10-5 1323 661 2.10
1/5 R88G-VRSF05C750CJ 600 10.7 90 1000 31.7 7.13 × 10-5 784 392 2.10
1/9 R88G-VRSF09D750CJ 333 18.2 85 556 53.9 6.50 × 10-5 1176 588 3.40
750 W
1/15 R88G-VRSF15D750CJ 200 30.4 85 333 89.9 7.00 × 10-5 1372 686 3.80
1/25 R88G-VRSF25D750CJ 120 50.7 85 200 149.8 6.80 × 10-5 1617 808 3.80

Decelerators for 3,000-r/min Flat Servomotor

Rated Decelerator
1/5 R88G-VRSF05B100PCJ 600 1.19 75 1000 3.15 4.00 × 10-6 392 196 0.72
1/9 R88G-VRSF09B100PCJ 333 2.29 80 556 6.048 3.50 × 10-6 441 220 0.72
100 W
1/15 R88G-VRSF15B100PCJ 200 3.81 80 333 10.08 3.50 × 10-6 588 294 0.87
1/25 R88G-VRSF25B100PCJ 120 6.36 80 200 16.8 3.25 × 10-6 686 343 0.87
1/5 R88G-VRSF05B200PCJ 600 2.70 85 1000 7.65 1.18 × 10-5 392 196 0.85
1/9 R88G-VRSF09C200PCJ 333 3.77 66 556 10.692 2.75 × 10-5 931 465 1.80
200 W
1/15 R88G-VRSF15C200PCJ 200 6.29 66 333 17.82 3.00 × 10-5 1176 588 2.20
1/25 R88G-VRSF25C200PCJ 120 11.1 70 200 31.5 2.88 × 10-5 1323 661 2.20
1/5 R88G-VRSF05C400PCJ 600 5.40 85 1000 (900) 15.5 (15.3) 3.63 × 10-5 784 392 1.80
1/9 R88G-VRSF09C400PCJ 333 9.50 83 556 (500) 27.3 (26.9) 2.75 × 10-5 931 465 1.80
400 W
1/15 R88G-VRSF15C400PCJ 200 15.8 83 333 (300) 45.4 (44.8) 3.00 × 10-5 1176 588 2.20
1/25 R88G-VRSF25C400PCJ 120 26.4 83 200 (180) 75.7 (74.7) 2.88 × 10-5 1323 661 2.20


Encoder, External Regeneration Resistors, Reactor and Parameter Unit Specifications
● Encoder Specifications
Incremental Encoders
Item Specifications
Encoder system Optical encoder
Absolute Encoders
Item Specifications
Optical encoder
Encoder system
17 bits
Maximum rotations −32,768 to +32,767 rotations
Applicable battery voltage 3.6 VDC
180 μA for a maximum of 5 s right after power interruption
Current consumption of battery 100 μA for operation during power interruption
3.6 μA when power is supplied to Servo Drive
● External Regeneration Resistors Specifications

Regeneration
Nominal Heat radiation
Model Resistance absorption for 120°C Thermal switch output specifications
capacity condition
temperature rise
R88A-RR08050S 50 Ω Aluminum 250 × 250, Operating temperature: 150°C±5%, NC contact,
80 W 20 W
R88A-RR080100S 100 Ω Thickness: 3.0 Rated output: 30 VDC, 50 mA max.
Aluminum 350 × 350, Operating temperature: 170°C±5%, NC contact,

R88A-RR22047S1 47 Ω 220 W 70 W
Thickness: 3.0 Rated output: 250 VAC, 0.2 A max.
Operating temperature: 200°C±7%, NC contact,
Aluminum 600 × 600,
R88A-RR50020S 20 Ω 500 W 180 W Rated output: 250 VAC, 0.2 A max.
Thickness: 3.0
24 VDC, 0.2 A max.
● Reactor Specifications
Reactor
Servo Drive Reactor type
Model Rated current Inductance Weight
R88D-GNA5L-ML2
R88D-GN01H-ML2
R88D-GN01L-ML2
R88D-GN02H-ML2
R88D-GN02L-ML2
R88D-GN04H-ML2
R88D-GN04L-ML2
R88D-GN08H-ML2 3G3AX-DL2015 9.3 A 3.51 mH Approx. 1.6 kg Single-phase
R88D-GN10H-ML2
R88D-GN15H-ML2 3G3AX-DL2022 13.8 A 2.51 mH Approx. 2.1 kg Single-phase
R88D-GN08H-ML2
R88D-GN10H-ML2 3G3AX-AL2025 10.0 A 2.8 mH Approx. 2.8 kg Three-phase
R88D-GN15H-ML2
R88D-GN20H-ML2
3G3AX-AL2055 20.0 A 0.88 mH Approx. 4.0 kg Three-phase
R88D-GN30H-ML2

● R88A-PR02G Parameter Unit Specifications
General Specifications
Item Specifications
Operating ambient temperature 0 to 55°C
Operating ambient humidity 90% max. (with no condensation)
Storage ambient temperature −20 to 80°C
Storage ambient humidity 90% max. (with no condensation)
Vibration resistance 5.9 m/s2 max.
Performance Specifications
Item Specifications
Type Hand-held
Cable length 1.5 m
Connectors Mini DIN 8-pin MD connector
Display 7-segment LED
External dimensions 62 × 114 × 15 mm (W × H × D)
Weight Approx. 0.1 kg (including cable that is provided)
Standard RS-232
Communications
Communications method Asynchronous (ASYNC)

specifications
Baud rate 9,600 bps

Start bits 1 bit
Data 8 bits
Parity None
Stop bits 1 bit

Connections
● Control I/O Connector Specifications (CN1)
Control I/O Signal Connections and External Signal Processing
12 to 24 VDC +24VIN 1 4.7kΩ

15 /ALM
Emergency Stop 1kΩ Alarm Output

STOP 2
16 ALMCOM
4.7kΩ
36 OUTM1
External 1kΩ
Latch 3 EXT3 3 General-purpose Output 1
4.7kΩ
35 OUTM1COM
External 1kΩ
29 OUTM2
Latch 2 EXT2 4
4.7kΩ General-purpose Output 2
30 OUTM2COM
External 1kΩ
Latch 1 EXT1 5
31 OUTM3
4.7kΩ
General-purpose Output 3
General-purpose 1kΩ
Input 1 32 OUTM3COM
IN1 6
4.7kΩ
Forword Torque 1kΩ

Limit Input PCL 7
4.7kΩ
Reverse Torque 1kΩ

Limit Input NCL 8
4.7kΩ
Forward Drive 1kΩ

Prohibit Input
POT 19
4.7kΩ
Reverse Drive
1kΩ
Prohibit Input
NOT 20
4.7kΩ
Origin Proximity 1kΩ

Input DEC 21
4.7kΩ
Backup Battery *1
1kΩ 34 BAT
General-purpose
Input0 IN0 22
4.7kΩ 33 BATCOM
General-purpose 1kΩ
Input 2 IN2 23
Shell FG

*2. Inputs for pins 19 and 20 are determined by parameter settings. The diagram shows the default configuration.

● Peripheral Device Connection Examples
R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN04L-ML2
R88D-GN01H-ML2/-GN02H-ML2/-GN04H-ML2/-GN08H-ML2/-GN10H-ML2/-GN15H-ML2
R T
Single-phase 100 to 115 VAC, 50/60 Hz: R88D-GN@@L-ML2
Single-phase 200 to 240 VAC, 50/60 Hz: R88D-GN@@H-ML2
NFB
1 2 Noise filter
E NF
3 4 Main-circuit contactor
OFF ON
1MC
(Ground to
100 Ω or less.) X
Surge killer
X 1MC
PL
Servo error display
G-Series G-Series
Power Cable
CNA
XB (*2)
L1C
B
L2C CNB 24 VDC
1MC U
CNA
L1 V
Reactor M
L3 W
CNB
B1
Regeneration (Ground to
resistor (*3)
B3 100 Ω or less.)
(*4) CN2
B2
Encoder Cable E
CN1
X 15 /ALM
24 VDC
16 ALMCOM
CN1
X
24 VDC
BKIR XB
(*1)
User BKIRCOM
CN1
control
device
Control Cable
with brakes.
*3. Connect B2-B3 for the models with a built-in regeneration resistor (GN04L-ML2, GN08H-ML2, GN10H-ML2, and GN15H-ML2).
*4. The models GNA5L-ML2 to GN02L-ML2 and GN01H-ML2 to GN04H-ML2 do not have a built-in regeneration resistor.

R88D-GN08H-ML2/-GN10H-ML2/-GN15H-ML2
R S T
NFB
1 2 3 Noise filter
E NF
OFF ON
(Ground to 1MC
100 Ω or less.) X
Surge killer
X 1MC
PL
Servo error display
G-Series G-Series
Power Cable
CNA
XB (*2)
L1C
B
L2C CNB
24 VDC
U
1MC
V
CNA
Reactor M
L1 W
L2
L3
(Ground to
CNB 100 Ω or less.)
CN2
B1
(*3) Encoder Cable E
Regeneration B3
resistor
B2
CN1
X 15 /ALM
24 VDC
16 ALMCOM
CN1
X 24 VDC
BKIR XB
User (*1)
CN1 BKIRCOM
control
device
Control Cable
with brakes.
*3. Connect B2-B3 for the models with a built-in regeneration resistor (GN08H-ML2 to GN15H-ML2).

R88D-GN20H-ML2/-GN30H-ML2/-GN50H-ML2
R S T
NFB
1 2 3 Noise filter
E NF
OFF ON
(Ground to 1MC
100 Ω or less.) X
Surge killer
X 1MC
PL
Servo error display
G-Series G-Series
Power Cable
TB1
XB (*2)
L1C
B
L2C TB1
24 VDC
U
1MC
V
TB1
Reactor M
L1 W
L2
L3
(Ground to
B1 CN2 100 Ω or less.)
(*3)
Regeneration B3
Encoder Cable E
resistor
B2
CN1
X 15 /ALM
24 VDC
16 ALMCOM
CN1
X
24 VDC
BKIR XB
User (*1)
CN1 BKIRCOM
control
device
Control Cable
with brakes.

R88D-GN75H-ML2
R S T
NFB
1 2 3 Noise filter
E NF
OFF ON
(Ground to 1MC
100 Ω or less.) X
Surge killer
X 1MC
PL
Servo error display
G-Series G-Series
TB2
Power Cable
XB (*2)
L1C
B
L2C TB1
24 VDC
U
1MC
V
TB1
Reactor M
L1 W
L2
L3
B1 (Ground to
Regeneration CN2 100 Ω or less.)
resistor (*3)
B2 Encoder Cable E
TB2
CN1 FN (+)
Fan Stop
X 15 /ALM FN(-)
24 VDC
16 ALMCOM
CN1
X
24 VDC
BKIR XB
User (*1)
CN1 BKIRCOM
control
device
Control Cable
with brakes.
*3. The model GN75H-ML2 does not have a built-in regeneration resistor.

I/O Circuit Diagrams
● Control Input Circuits
• Control Inputs
For the relay contact, use either a switch, or a transistor with an open-collector output.
External power supply:

12 VDC ±5% to +24VIN 1 4.7Ω
24 VDC ±5%
Power supply capacity: Photocoupler input
50 mA min. (per Unit)
To other input circuit ground commons To other input circuits
Signal Levels ON level: 10 V min.

OFF level: 3 V max.
● Control Output Circuits

• Control Outputs
Servo Drive To other output
circuits
+
X
External power supply
24 VDC ±1 V
Di
− Maximum operating voltage: 30 VDC
Maximum output current: 50 mA
+
X
Di
−
Di: Diode for preventing surge voltage
(Use high-speed diodes.)

Components and Functions
● Servo Drive Part Names ● R88D-GN20H-ML2/-GN30H-ML2/-GN50H-ML2
Display area • Main Circuit Terminal Block Specifications
Rotary switches Symbol Name
AC SERVO DRIVE
0 1
ADR
9 0 1
L1
MECHATROLINK-II
2 3
2 3
7 8
4 5 6
communications L2 Main circuit power supply input
X10 X1
COM status LED indicator
RS-232
SP
communications connector
L3
Analog monitor check pins
IM (CN3)
(SP, IM, G) L1C
G MECHATROLINK-II Control circuit power supply input
communications connector L2C
(CN6A, CN6B)
Main-circuit power terminals B1
(L1, L2, L3)
Control-circuit power terminals
(L1C, L2C)
B3
U
V
Servomotor connection terminals
W
External Regeneration Resistor
connection terminals Control I/O connector (CN1)
(B1, B2, B3)

Frame ground
(U, V, W)
● R88D-GN75H-ML2
Encoder connector (CN2)
• Main Circuit Terminal Block Specifications (TB1)
Protective ground terminals
Symbol Name
L1
● R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2 L2 Main circuit power supply input
R88D-GN04L-ML2/-GN01H-ML2/-GN02H-ML2 L3
R88D-GN04H-ML2/-GN08H-ML2/-GN10H-ML2 B1
R88D-GN15H-ML2 External Regeneration Resistor connection terminals
B2
• Main Circuit Connector (CNA) U
Symbol Name V
L1 W
L2 Main circuits power supply input
L3
Frame ground
L1C
Control circuit power supply input
L2C • Main Circuit Terminal Block Specifications (TB2)
Symbol Name
• Servomotor Connector (CNB)
L1C
Symbol Name Control circuit power supply input
L2C
B1
Frame ground
B3 FN (+)
Fan Stop Output
U FN (−)
V
W
Servomotor connection terminals ● Display Area
A 2-digit 7-segment LED display shows the Servo Drive status, alarm
codes, parameters, and other information.
Frame ground
● Analog Monitor Check Pins (SP, IM, and G)
The actual motor speed, command speed, torque, and number of
accumulated pulses can be measured based on the analog voltage
level by using an oscilloscope.
Set the type of signal to be output and the output voltage level by set-
ting the Speed Monitor (SP) Selection (Pn007) and Torque Monitor
(IM) Selection (Pn008).
● MECHATROLINK-II Status LED Indicator

Indicates the communications status of the MECHATROLINK-II.
● Rotary Switches
Sets the node address.

● CN1 Control Input Signals ● Protective Functions
Pin No. Symbol Name Error detection
1 +24VIN 12 to 24-VDC Power Supply Input Control power supply undervoltage
2 STOP Emergency Stop Input Overvoltage
3 EXT3 External Latch Signal 3 Undervoltage
4 EXT2 External Latch Signal 2 Overcurrent
5 EXT1 External Latch Signal 1 Overheating
6 IN1 External general-purpose Input 1 Overload
7 PCL Forward Torque Limit Input Regeneration overload
8 NCL Reverse Torque Limit Input Encoder communications error
POT Forward Drive Prohibit Input Encoder communications data error
19 to 20*
NOT Reverse Drive Prohibit Input Deviation counter overflow
21 DEC Origin Proximity Input Overspeed
22 IN0 External general-purpose Input 0 Command error
23 IN2 External general-purpose Input 2 Internal deviation counter overflow
34 BAT Overrun limit error
33 BATCOM
Backup Battery Input ABS Parameter error
*Forward and reverse rotation over travel input. Parameter corruption

Drive prohibit input error
● CN1 Control Output Signals Absolute encoder system down error ABS
Pin No. Symbol Name
Absolute encoder counter overflow error ABS
15 /ALM
Alarm Output Absolute encoder overspeed error ABS
16 ALMCOM
29 OUTM2 Absolute encoder one-turn counter error ABS
General-purpose Output 2 (READY)
30 OUTM2COM Absolute encoder multi-turn counter error ABS
31 OUTM3
General-purpose Output 3 (CLIM) Absolute encoder status error ABS
32 OUTM3COM
Encoder phase Z error
36 OUTM1
General-purpose Output 1 (BKIR) Encoder PS signal error
35 OUTM1COM
Node address setting error
Communications error
● Encoder Connector Specifications (CN2)
Transmission cycle error
Pin No. Symbol Name
Watchdog data error
1 E5V Encoder power supply +5 V
Emergency stop input error
2 E0V Encoder power supply GND
Transmission cycle setting error
3 BAT+ Battery +
SYNC command error
4 BAT− Battery −
Parameter setting error
5 PS+ Encoder +phase S Input
Servomotor non-conformity
6 PS− Encoder −phase S Input
Shell FG Shield ground
● Parameter Unit Connector Specifications (CN3)

Pin No. Symbol Name
3 TXD RS-232 send data
4 GND Ground
5 RXD RS-232 receive data

Parameter
● R88A-RP02G : Parameter Unit Part Names
LED Display (6 Digits) Parameter name Explanation
If an error occurs, all digits will flash and the
display will switch to the error display. Sets the notch frequency of notch filter 1 for
Notch Filter 1 Frequency
resonance suppression.
Unit No. Display (2 Digits)
Selects the notch width of notch filter 1 for
Displays the parameter type (servo, 16 bit, or Notch Filter 1 Width
8.8.8.8.8.8. 32 bit). resonance suppression.
In Parameter Setting Mode, displays the Selects the load inertia as a percentage of the
Inertia Ratio (RT)
8.8
2-digit parameter number.
Servomotor rotor inertia.
Mode Key Realtime Autotuning
Switches between the following six modes.
Sets the operating mode for realtime autotuning.
Mode Selection
• Monitor Mode • Normal mode autotuning
• Parameter Setting Mode • Auxiliary Function Mode Realtime Autotuning
• Parameter Write Mode • Copy Mode Machine Rigidity Sets the machine rigidity for realtime autotuning.
Selection
Increment/Decrement Key
Increases or decreases parameter numbers
Adaptive Filter Selection Enables or disables the adaptive filter.
or set values. Selects the vibration filter type and the switching
Shift Key Vibration Filter Selection
mode.
Shifts the digit being changed to the left.
Normal Mode Autotuning Sets the operating pattern for normal mode
Data Key Operation Setting autotuning.
Switches between the parameter and setting Sets the Servomotor’s allowable operating range
displays, saves settings, etc. Overrun Limit Setting
for the position command input range.
● Servo Parameters The Instantaneous Speed Observer improves

Instantaneous Speed speed detection accuracy, thereby improving
Parameter name Explanation Observer Setting (RT) responsiveness and reducing vibration when
stopping.
Selects the data to be displayed on the 7-
Default Display Sets the notch frequency of notch filter 2 for
segment LED display on the front panel. Notch Filter 2 Frequency
Selects the torque limit function, or the torque
Torque Limit Selection Selects the notch width of notch filter 2 for
feed-forward function during speed control. Notch Filter 2 Width
Selects the function for the Forward and Reverse
Drive Prohibit Input Selects the notch depth of notch filter 2 for
Drive Prohibit Inputs (CN1 POT: pin 19, NOT: pin Notch Filter 2 Depth
Selection resonance suppression.
20).
Controls errors and warnings for Sets the vibration frequency 1 for damping
Communications Control Vibration Frequency 1 control to suppress vibration at the end of the
MECHATROLINK-II communications.
load.
Power ON Address Sets the duration to display the node address
Display Duration Setting when the control power is turned ON. When setting Vibration Frequency 1 (Pn02B),
Vibration Filter 1 Setting reduce this setting if torque saturation occurs, or
Speed Monitor (SP) Selects the output to the Analog Speed Monitor increase it to make the movement faster.
Selection (SP on the front panel).
Sets the vibration frequency 2 for damping
Torque Monitor (IM) Selects the output to the Analog Torque Monitor Vibration Frequency 2 control to suppress vibration at the end of the
Selection (IM on the front panel). load.
Prohibit Parameter Allows/prohibits parameter changes via the Sets vibration filter 2 for damping control to
Changes via Network network. suppress vibration at the end of the load.
Operation Switch When Adaptive Filter Table Displays the table entry number corresponding
Selects how the absolute encoder is used.
Using Absolute Encoder Number Display to the frequency of the adaptive filter.
RS-232 Baud Rate Gain Switching Operating
Sets the baud rate for RS-232 communications. Enables or disables gain switching.
Setting Mode Selection (RT)
Position Loop Gain (RT) Sets the position loop responsiveness. Sets the trigger for gain switching.
Gain Switch Setting (RT)
The details depend on the control mode.
Speed Loop Gain (RT) Sets the speed loop responsiveness.
Enabled when the Gain Switch Setting (Pn031)
Speed Loop Integration is set to 3, or 5 to 10. Sets the lag time from the
Adjusts the speed loop integration time constant. Gain Switch Time (RT)
Time Constant (RT) trigger detection to actual gain switching when
Speed Feedback Filter Sets the type of speed detection filter time switching from gain 2 to gain 1.
Time Constant (RT) constant. Normally, use a setting of 0. Sets the judgment level to switch between Gain
Torque Command Filter Adjusts the first-order lag filter time constant for 1 and Gain 2 when the Gain Switch Setting
Gain Switch Level Setting
Time Constant (RT) the torque command section. (Pn031) is set to 3, 5, 6, 9, or 10. The unit for the
(RT)
setting depends on the condition set in the Gain
Speed Feed-forward Switch Setting (Pn031).
Sets the speed feed-forward amount.
Amount (RT)
Sets the hysteresis of the judgment level for the
Feed-forward Filter Time Sets the time constant for the speed feed- Gain Switch Level Setting (Pn033) when the
Constant (RT) forward first-order lag filter. Gain Switch Hysteresis Gain Switch Setting (Pn031) is set to 3, 5, 6, 9,
Position Loop Gain 2 Sets the position loop gain when using gain 2 Setting (RT) or 10.
(RT) switching. The unit for the setting depends on the condition
set for the Gain Switch Setting (Pn031).
Sets the speed loop gain when using gain 2
Speed Loop Gain 2 (RT) This parameter can prevent the position loop
switching.
Position Loop Gain gain from increasing suddenly when the position
Sets the speed loop integration time constant Switching Time (RT) loop gain and position loop gain 2 differ by a
Speed Loop Integration
when using gain 2 switching. large amount.
Time Constant 2 (RT)
Sets the jog operation speed with the Parameter
Jog Speed
Speed Feedback Filter Sets the speed detection filter when using gain 2 Unit or CX-Drive.
Time Constant 2 (RT) switching.
Emergency Stop Input
Enables the Emergency Stop Input (STOP).
Sets the first-order lag filter time constant for the Setting
Torque Command Filter
torque command section when using gain 2 Origin Proximity Input Sets the logic for the Origin Proximity Input
Time Constant 2 (RT)
switching. Logic Setting (DEC).

● 16-bit Positioning Parameters
Sets the relationship between polarity of Enables or disables the backlash compensation
Operating Direction Backlash Compensation
operation data sent over the network and the for position control, and sets the compensation
Setting Selection
direction of Servomotor rotation. direction.
Sets the terminal assignment for Drive Prohibit
Input Signal Selection Sets the backlash compensation amount for
Input. Backlash Compensation
position control.
Speed Limit Sets the speed limit for torque control mode.
Backlash Compensation Sets the backlash compensation time constant
Soft Start Acceleration Sets the acceleration time for speed control Time Constant for position control.
Time mode.
Soft Limit Enables or disables the soft limit.
Soft Start Deceleration Sets the deceleration time for speed control
Time mode. Sets the threshold for detecting the origin
Origin Range
(ZPOINT) in absolute values.
Speed Limit Selection Sets the speed limit for torque control mode.
Linear Acceleration
Sets the No.1 Torque Limit for the Servomotor Sets the acceleration for positioning operations.
No.1 Torque Limit Constant
output torque.
Linear Deceleration
Sets the No.2 Torque Limit for the Servomotor Sets the deceleration for positioning operations.
No.2 Torque Limit Constant
output torque.
Sets the positioning completion range when Sets the moving average time for position
Positioning Completion Moving Average Time
Positioning Completion 1 (INP1) Output is commands.
Range 1
selected. Origin Return Mode
Sets the direction for origin return.
Speed Conformity Signal Sets the detection width for the speed conformity Settings
Output Width detection (VCMP) signal. Sets the operating speed for origin return, from
Rotation Speed for Motor Sets the threshold level for the speed reached Origin Return Approach when the origin proximity signal is turned ON, to
Rotation Detection (TGON) signal. Speed 1 when it is turned OFF and the latch signal is
Positioning Completion Sets the positioning completion range when detected.
Range 2 Positioning Completion 2 (INP2) is selected. Sets the operating speed for origin return, from
Origin Return Approach
Enables or disables the offset component when the latch signal is detected, to when the
Speed 2
Motor Phase Current readjustment function of the Motor Phase Origin Return Final Distance (Pn204) is reached.
Offset Re-adjustment Current Detector (CT) for Servo ON command General-purpose Output 1 Selects the function for general-purpose output 1
Setting inputs. The readjustment is made when control Function Selection (OUTM1).
power is turned ON.
Selects the function for general-purpose output 2
Selects whether to activate the main power
General-purpose Output 2 (OUTM2).
supply undervoltage function (alarm code 13)
Undervoltage Alarm Function Selection The set values and the functions are the same
when the main power supply is interrupted for
Selection as for general-purpose output 1 (OUTM1).
the duration of the Momentary Hold Time
(Pn06D) during Servo ON. Selects the function for general-purpose output 3
Sets the operation used to decelerate to a stop General-purpose Output 3 (OUTM3).
Stop Selection for Drive Function Selection The set values and the functions are the same
when the Forward Drive Prohibit Input (POT) or
Prohibition Input as for general-purpose output 1 (OUTM1).
Reverse Drive Prohibit Input (NOT) is enabled.
Sets the operation to be performed during
deceleration and after stopping after the main ● 32-bit Positioning Parameters
Stop Selection with Main power supply is turned OFF with the
Power OFF Undervoltage Alarm Selection (Pn065) set to 0. Parameter name Explanation
The deviation counter will be reset when the
Sets the offset amount for the encoder position
power OFF is detected.
Absolute Origin Offset and the mechanical coordinate system position
Sets the deceleration process and stop status when using an absolute encoder.
Stop Selection for Alarm after an alarm is issued by the protective
Generation function. The deviation counter will be reset Forward Software Limit Sets the soft limit in the forward direction.
when an alarm is issued. Reverse Software Limit Sets the soft limit for the reverse direction.
Sets the operation after a Servo OFF.
Sets the distance to travel after detecting the
The relationship between set values, operation, Final Distance for
Stop Selection with latch signal input position when performing
and deviation counter processing for this External Input Positioning
Servo OFF external input positioning.
parameter is the same as for the Stop Selection
with Main Power OFF (Pn067). Sets the distance from the latch signal input
Origin Return Final
Brake Timing when Sets the duration from Brake Interlock (BKIR) position to the origin when performing origin
Distance
Stopped signal detection to Servo OFF. return.
Brake Timing during Sets the duration from Servo OFF to when the Electronic Gear Ratio 1
Sets the numerator for the electronic gear ratio.
Operation Brake Interlock (BKIR) signal is turned OFF. (Numerator)
Sets the regeneration resistor operation and the Electronic Gear Ratio 2 Sets the denominator for the electronic gear
regeneration overload (alarm code 18) (Denominator) ratio.
Regeneration Resistor
operation.
Selection Deviation Counter
Set this parameter to 0 if using the built-in Sets the deviation counter overflow level.
Overflow Level
regeneration resistor.
Sets the amount of time required to detect
shutoff when the main power supply continues to
Momentary Hold Time shut off.
The main power OFF detection will be disabled if
this parameter is set to 1000.
Sets the torque limit during deceleration
because of the Drive Prohibition Input when the
Emergency Stop Torque
Stop Selection for Drive Prohibition Input
(Pn066) is set to 2.
Overload Detection Level
Sets the overload detection level.
Setting
Overspeed Detection
Sets the overspeed detection level.
Level Setting

Dimensions (Unit: mm)
●Servo Drives

R88D-GNA5L-ML2
R88D-GN01L-ML2
R88D-GN01H-ML2
R88D-GN02H-ML2
40 70 132
4
Two, M4
AC SERVO DRIVER
ADR
0 1 9 0 1
2 3
2 3
7 8
4 5 6
X10 X1
COM
SP
IM
140±0.5
150
150
6 28±0.5
40

R88D-GN02L-ML2
R88D-GN04H-ML2
55 70 132
4
Two, M4
AC SERVO DRIVER
ADR
0 1 0 1
9
2 3
2 3
7 8
4 5 6
X10 X1
COM
SP
IM
G
140±0.5
150
150
6 43±0.5
55

R88D-GN04L-ML2
• Single-phase/Three-phase 200 VAC (750 W)
R88D-GN08H-ML2
65 70 172
4 Two, M4
AC SERVO DRIVER
ADR
0 1 0 1
9
2 3
2 3
7 8
4 5 6
X10 X1
COM
SP
IM
140±0.5
150
150
7.5 50±0.5
65
• Single-phase/Three-phase 200 VAC (900 W to 1.5 kW)

R88D-GN10H-ML2
R88D-GN15H-ML2
85 70 172
Two, M4
AC SERVO DRIVER
ADR
0 1 9 01
2 3
2 3
7 8
4 5 6
X10 X1
COM
SP
IM
140±0.5
150
150
7.5 70±0.5
85

• Three-phase 200 VAC (2 kW)
R88D-GN20H-ML2
85
17.5 50 70 200 3.5
42.5
5.2 5.2
R2.6 5.2 R2.6 Four, M4
dia.
AC SERVO DRIVER
ADR
0 1 0 1
9
2 3
2 3
7 8
4 5 6
X10 X1
COM
SP
IM
188±0.5
198
168
188
168
5.2
R2.6 dia. R2.6 17.5 50±0.5
3.5
5.2 5.2
85
42.5
17.5 50
• Three-phase 200 VAC (2 to 5 kW)

R88D-GN30H-ML2
R88D-GN50H-ML2
130
15 100 70 200 3.5 Mounting Hole Dimensions
65
5.2 5.2 50±0.5 Six, M4
R2.6 5.2 dia. R2.6
AC SERVO DRIVER
ADR
0 1 0 1
9
2 3
2 3
7 8
4 5 6
X10 X1
COM
SP
IM
240±0.5
220
220
240
250
R2.6 5.2 dia. R2.6 15 100±0.5

5.2 5.2 3.5
65 130
15 100

• Three-phase 200 VAC (7.5 kW)
R88D-GN75H-ML2
Front Panel Mounting (Using Mounting Brackets)
37.5 90 90 70 339.3 (4)
82.5 90 45.1 Six, M4
5.2 5.2 5.2 (2.3)
AC SERVO DRIVER
ADR
(4)
0 1 9 0 1
2 3
2 3
7 8
4
5 6
X10 X1
COM
SP
IM
L1
L2
L3
235±0.5
B1
220
235
250
229
B2
Square hole
V M
3
5.2 5.2 5.2 38.5 90±0.5 90±0.5
Four, 5.2 dia. 250

85

● Servomotors

• 50 W/100 W
INC ABS
R88M-G05030H (-S2) R88M-G05030T (-S2)
R88M-G10030L (-S2) R88M-G10030S (-S2)
R88M-G10030H (-S2) R88M-G10030T (-S2)
R88M-G05030H-B (S2) R88M-G05030T-B (S2)
R88M-G10030L-B (S2) R88M-G10030S-B (S2)
R88M-G10030H-B (S2) R88M-G10030T-B (S2)
Brake connector
Encoder
Model LL LN Servomotor connector
connector
LL 25
R88M-G05030@ 72 26.5
6 3
R88M-G10030@ 92 46.5
R88M-G05030@-B 102 26.5 (Dimensions of shaft end
230
with key and tap)
8 dia., height: 6
R88M-G10030@-B 122 46.5
200 Two, 4.3 dia. 14
40 × 40
*The empty bax in the L, H, L, T or S. 12.5
3h9
Note: The standard models have a straight
1.8
30 dia., height: 7
shaft. A model with a key and tap is
dia.
32
46
3
indicated by adding “S2” to the end of
LN
the model number.
M3 (depth: 6)
• 200 W/400 W/750 W

INC ABS
R88M-G20030L (-S2) R88M-G20030S (-S2)
R88M-G40030L (-S2) R88M-G40030S (-S2)
R88M-G20030H (-S2) R88M-G20030T (-S2)
R88M-G40030H (-S2) R88M-G40030T (-S2)
R88M-G75030H (-S2) R88M-G75030T (-S2)
R88M-G20030L-B (S2) R88M-G20030S-B (S2)
R88M-G40030L-B (S2) R88M-G40030S-B (S2)
R88M-G20030H-B (S2) R88M-G20030T-B (S2)
R88M-G40030H-B (S2) R88M-G40030T-B (S2)
R88M-G75030H-B (S2) R88M-G75030T-B (S2)
Model LL LR S D1 D2 C G Z KL1 QK b h M t1 L
R88M-G20030@ 79.5 11 18 4h9 4 M4 2.5 8
30 70 50 60 6.5 4.5 43
R88M-G40030@ 99 14 22.5 5h9 5 3
M5 10
R88M-G75030@ 112.2 35 19 90 70 80 8 6 53 22 6h9 6 3.5
R88M-G20030@-B 116 11 18 4h9 4 M4 2.5 8
30 70 50 60 6.5 4.5 43
R88M-G40030@-B 135.5 14 22.5 5h9 5 3
M5 10
R88M-G75030@-B 149.2 35 19 90 70 80 8 6 53 22 6h9 6 3.5

Brake connector
connector
LL LR
G 3

with key and tap)
220
200
Four, Z dia. C×C

S dia., height : 6
QK
b
t1
.
KL1
1 dia
D2 dia., height: 7
D
h
M
(effective depth: L)

• 1 kW/1.5 kW/2 kW
ABS
R88M-G1K030T (-S2) Servomotor
canon plug LL 55 C×C (Dimensions of shaft end
R88M-G1K530T (-S2) with key and tap)
Encoder
R88M-G2K030T (-S2) canon plug G 3 45
Four, Z dia.
19 dia., height: 6
R88M-G1K030T-B (S2) 42 6h9
KL1
R88M-G1K530T-B (S2)
3.5
84
D2 dia., height: 7
R88M-G2K030T-B (S2)
6
. D1
dia dia
D3 .
M5 (depth: 12)
Model LL D1 D2 C D3 G KL1 Z
R88M-G1K030T 175 100 80 90 120 7 98 6.6
R88M-G1K530T 180
115 95 100 135 10 103 9
R88M-G2K030T 205
R88M-G1K030T-B 200 100 80 90 120 7 98 6.6
R88M-G1K530T-B 205
115 95 100 135 10 103 9
R88M-G2K030T-B 230
• 3 kW
ABS
connector (Dimensions of the shaft end
LL 55 120×120
R88M-G3K030T-B (S2) with key and tap)
Encoder
connector 45
22 dia., height: 6
12 3
41 8h9
9
111
84
110 dia., height: 7
.
dia
4
Model LL
130
7
. 145
R88M-G3K030T 217 dia dia.
162
R88M-G3K030T-B 242
M5 (depth: 12)
• 4 kW/5 kW
ABS
R88M-G4K030T (-S2)
R88M-G4K030T-B (S2) connector LL 65 130 × 130 (Dimensions of shaft end
connector 12 6 Four, 9 dia. 55
24 dia., height: 6
51 8h9
118
Model LL
84
110 dia., height: 7
R88M-G4K030T 240
7
dia.
R88M-G5K030T 280 165
R88M-G4K030T-B 265
M8 (depth: 20)
R88M-G5K030T-B 305 145 dia.


• 100 W/200 W/400 W
INC ABS
R88M-GP10030L (-S2) R88M-GP10030S (-S2)
R88M-GP20030L (-S2) R88M-GP20030S (-S2)
R88M-GP40030L (-S2) R88M-GP40030S (-S2)
R88M-GP10030H (-S2) R88M-GP10030T (-S2)
R88M-GP20030H (-S2) R88M-GP20030T (-S2)
R88M-GP40030H (-S2) R88M-GP40030T (-S2)
R88M-GP10030L-B (S2) R88M-GP10030S-B (S2)
R88M-GP20030L-B (S2) R88M-GP20030S-B (S2)
R88M-GP40030L-B (S2) R88M-GP40030S-B (S2)
R88M-GP10030H-B (S2) R88M-GP10030T-B (S2)
R88M-GP20030H-B (S2) R88M-GP20030T-B (S2)
R88M-GP40030H-B (S2) R88M-GP40030T-B (S2)
Model LL LR S D1 D2 C F G KL1 Z QK b h t1 M L
R88M-GP10030L
60.5
R88M-GP10030H
25 8 70 50 60 3 7 43 4.5 12.5 3h9 3 1.8 M3 6
R88M-GP10030S
87.5
R88M-GP10030T
R88M-GP20030L
67.5
R88M-GP20030H
11 18 4h9 4 2.5 M4 8
R88M-GP20030S
94.5
R88M-GP20030T
30 90 70 80 5 8 53 5.5
R88M-GP40030L
82.5
R88M-GP40030H
14 22.5 5h9 5 3.0 M5 10
R88M-GP40030S
109.5
R88M-GP40030T
R88M-GP10030L-B
84.5
R88M-GP10030H-B
25 8 70 50 60 3 7 43 4.5 12.5 3h9 3 1.8 M3 6
R88M-GP10030S-B
111.5
R88M-GP10030T-B
R88M-GP20030L-B
100
R88M-GP20030H-B
11 18 4h9 4 2.5 M4 8
R88M-GP20030S-B
127
R88M-GP20030T-B
30 90 70 80 5 8 53 5.5
R88M-GP40030L-B
115
R88M-GP40030H-B
14 22.5 5h9 5 3.0 M5 10
R88M-GP40030S-B
142
R88M-GP40030T-B
Encoder
connector Motor connector
LL LR
Brake connector
(7) G F C×C
220
(7)
200
Four, Z dia.
with key and tap)
S dia., height: 6
QK
b
KL1
D2 dia., height: 7
t1
.
dia
D1
h
M (depth: L)

• 200 VAC: 1 kW/1.5 kW
ABS
R88M-G1K520T (-S2) connector LL 55 130 × 130 (Dimensions of shaft end
22 dia., height: 6
41
118
8h9
84
110 dia., height: 7
4
Model LL
7
dia. 145
R88M-G1K020T 150 165 dia
.
R88M-G1K520T
175 M5 (depth: 12)
R88M-G1K020T-B
R88M-G1K520T-B 200

• 200 VAC: 2 kW/3 kW

LL LR 130 × 130
Encoder with key and tap)
R88M-G3K020T (-S2)
R88M-G2K020T-B (S2) connector 12 6 Four, 9 dia. LW
S dia., height: 6
QK
118
R88M-G3K020T-B (S2) 8h9

84
110 dia., height: 7
4
7
dia. 145
165 dia
.
M (depth: L)
Model LL LR S LW QK M L
R88M-G2K020T 200 55 22 45 41 M5 12
R88M-G3K020T 250 65 24 55 51 M8 20
R88M-G2K020T-B 225 55 22 45 41 M5 12
R88M-G3K020T-B 275 65 24 55 51 M8 20

• 200 VAC : 4 kW/5 kW

R88M-G4K020T (-S2) connector LL LR C×C
R88M-G5K020T (-S2) Encoder (Dimensions of shaft end
R88M-G4K020T-B (S2) connector with key and tap)
S dia., height: 6
18 3.2 Four, Z dia.

R88M-G5K020T-B (S2) QK
KL1
b
84
D2 dia., height: 7
t1
h
dia. D1
dia
D3 .
M (depth: L)
Model LL LR S D1 D2 C D3 KL1 Z QK b h t1 M L
R88M-G4K020T 242 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20
R88M-G5K020T 225 70 35 200 114.3 176 233 143 13.5 50 10h9 8 5 M12 25
R88M-G4K020T-B 267 65 28 165 130 150 190 128 11 51 8h9 7 4 M8 20
R88M-G5K020T-B 250 70 35 200 114.3 176 233 143 13.5 50 10h9 8 5 M12 25

• 7.5 kW
ABS Brake connector
96
42 dia., height: 6
Encoder 24 3.2 Four, 13.5 dia.
connector 90
183
12h9

.
dia
84
233
5
Model LL
200
R88M-G7K515T 340.5 dia
.
R88M-G7K515T-B 380.5 M16 (depth: 32)


• 900 W/2 kW
ABS Encoder connector
R88M-G90010T (-S2)
Servomotor/brake connector
R88M-G2K010T (-S2)
R88M-G90010T-B (S2) LL LR
R88M-G2K010T-B (S2)
C×C (Dimensions of shaft end
with key and tap)
G F
S dia., height: 6
Four, Z dia.
QK
b
KL1
84
D2 dia., height: 7
t1
h
. D1
dia dia
D3 .
M (depth: L)
Model LL LR S D1 D2 C D3 F G KL1 Z QK b h t1 M L
R88M-G90010T 175 70 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12
R88M-G2K010T 182 80 35 200 114.3 176 233 3.2 18 143 13.5 50 10h9 8 5 M12 25
R88M-G90010T-B 200 70 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12
R88M-G2K010T-B 207 80 35 200 114.3 176 233 3.2 18 143 13.5 50 10h9 8 5 M12 25
• 3 kW
ABS
R88M-G3K010T (-S2) Servomotor/brake (Dimensions of shaft end
R88M-G3K010T-B (S2) connector LL 80
176 × 176
with key and tap)
50
35 dia., height: 6
Encoder connector 18 3.2 Four, 13.5 dia.

10 height: 9
143
114.3 dia. height: 7
84
5
8
. 200
dia
Model LL 233 dia
.
R88M-G3K010T 222
M12 (depth: 25)
R88M-G3K010T-B 271


• 4.5 kW
ABS
R88M-G4K510T (-S2)
R88M-G4K510T-B (S2) Servomotor/brake (Dimensions of shaft end
connector LL 113 with key and tap)
Eye-bolt 176 × 176
42 dia., height: 6
Nominal
24 3.2 90
diameter: 10
Encoder connector Four, 13.5 dia.
12 height: 9
143
5
84
8
Model LL dia
. 200
233 dia
.
R88M-G4K510T 300.5
M12 (depth: 25)
R88M-G4K510T-B 337.5

• 6 kW
Brake connector
ABS
Motor Eye-bolt
Nominal diameter: 10
R88M-G6K010T-B (S2) LL 176 × 176
with key and tap)
113
96
42 dia. height: 6
Encoder 24 3.2 Four, 13.5 dia. 90

connector
183
12 height: 9
ia .
3d
84
23
5
200
Model LL dia
.
R88M-G6K010T 340.5 M16 (depth: 32)

R88M-G6K010T-B 380.5


● Decelerators
<Cylinder Type>
Dimensions (mm)
Outline
Model
1/5 R88G-HPG11B05100B@ 1 *4 39.5 42 40 40 × 40 46 46 40 39.5 29 27 2.2 15

1/9 R88G-HPG11B09050B@ 1 *4 39.5 42 40 40 × 40 46 46 40 39.5 29 27 2.2 15
50W 1/21 R88G-HPG14A21100B@ 1 64.0 58 60 60 × 60 70 46 56 55.5 40 37 2.5 21
1/33 R88G-HPG14A33050B@ 1 64.0 58 60 60 × 60 70 46 56 55.5 40 37 2.5 21
1/45 R88G-HPG14A45050B@ 1 64.0 58 60 60 × 60 70 46 56 55.5 40 37 2.5 21
1/5 R88G-HPG11B05100B@ 1 *4 39.5 42 40 40 × 40 46 46 40 39.5 29 27 2.2 15
1/11 R88G-HPG14A11100B@ 1 64.0 58 60 60 × 60 70 46 56 55.5 40 37 2.5 21
100W 1/21 R88G-HPG14A21100B@ 1 64.0 58 60 60 × 60 70 46 56 55.5 40 37 2.5 21
1/33 R88G-HPG20A33100B@ 2 66.5 80 90 55 dia. 105 46 85 84 59 53 7.5 27
1/45 R88G-HPG20A45100B@ 2 66.5 80 90 55 dia. 105 46 85 84 59 53 7.5 27
1/5 R88G-HPG14A05200B@ 1 64.0 58 60 60 × 60 70 70 56 55.5 40 37 2.5 21
1/11 R88G-HPG14A11200B@ 1 64.0 58 60 60 × 60 70 70 56 55.5 40 37 2.5 21
200W 1/21 R88G-HPG20A21200B@ 1 71.0 80 90 90 × 90 105 70 85 84 59 53 7.5 27
1/33 R88G-HPG20A33200B@ 2 71.0 80 90 89 dia. 105 70 85 84 59 53 7.5 27
1/45 R88G-HPG20A45200B@ 2 71.0 80 90 89 dia. 105 70 85 84 59 53 7.5 27
1/5 R88G-HPG14A05400B@ 1 64 58 60 60 × 60 70 70 56 55.5 40 37 2.5 21
1/11 R88G-HPG20A11400B@ 2 71 80 90 89 dia. 105 70 85 84 59 53 7.5 27
400W 1/21 R88G-HPG20A21400B@ 2 71 80 90 89 dia. 105 70 85 84 59 53 7.5 27
1/33 R88G-HPG32A33400B@ 2 104 133 120 122 dia. 135 70 115 114 84 98 12.5 35
1/45 R88G-HPG32A45400B@ 2 104 133 120 122 dia. 135 70 115 114 84 98 12.5 35
1/5 R88G-HPG20A05750B@ 1 78 80 90 80 × 80 105 90 85 84 59 53 7.5 27
1/11 R88G-HPG20A11750B@ 1 78 80 90 80 × 80 105 90 85 84 59 53 7.5 27
750W
1/21 R88G-HPG32A21750B@ 2 104 133 120 122 dia. 135 90 115 114 84 98 12.5 35
(200V)
1/33 R88G-HPG32A33750B@ 2 104 133 120 122 dia. 135 90 115 114 84 98 12.5 35
1/45 R88G-HPG32A45750B@ 2 104 133 120 122 dia. 135 90 115 114 84 98 12.5 35
(e.g., R88G-HPG11B05100BJ)
Outline Drawings 1
There is one set bolt.
Four,
C1 E
QK
b
D1 dia. D2 dia.
t1
S dia., height: 7
h
D4 dia.
D5 dia.
M (depth: L)
T
F1 C2
Four, Z1 dia.
F2 G
LR LM
*2. The tolerance for the R88G-HPG50@ and R88G-HPG65@ is h8. *4. For the R88G-HPG11B series, two set bolts are positioned at an angle of
90° from each other.
Four,
Set bolt (AT) Z2 dia.
D2 dia.
C2

Dimensions (mm)
G S T Z1 Z2 AT*1
QK b h t1 M L
5 8 20 3.4 M4 × 9 M3 15 3 3 1.8 M3 6 R88G-HPG11B05100B@ 1/5
5 8 20 3.4 M4 × 9 M3 15 3 3 1.8 M3 6 R88G-HPG11B09050B@ 1/9
8 16 28 5.5 M4 × 10 M3 25 5 5 3 M4 8 R88G-HPG14A21100B@ 1/21 50W
8 16 28 5.5 M4 × 10 M3 25 5 5 3 M4 8 R88G-HPG14A33050B@ 1/33
8 16 28 5.5 M4 × 10 M3 25 5 5 3 M4 8 R88G-HPG14A45050B@ 1/45
5 8 20 3.4 M4 × 9 M3 15 3 3 1.8 M3 6 R88G-HPG11B05100B@ 1/5
8 16 28 5.5 M4 × 10 M3 25 5 5 3 M4 8 R88G-HPG14A11100B@ 1/11
8 16 28 5.5 M4 × 10 M3 25 5 5 3 M4 8 R88G-HPG14A21100B@ 1/21 100W
10 25 42 9 M4 × 10 M4 36 8 7 4 M6 12 R88G-HPG20A33100B@ 1/33
10 25 42 9 M4 × 10 M4 36 8 7 4 M6 12 R88G-HPG20A45100B@ 1/45
8 16 28 5.5 M4 × 10 M4 25 5 5 3 M4 8 R88G-HPG14A05200B@ 1/5
8 16 28 5.5 M4 × 10 M4 25 5 5 3 M4 8 R88G-HPG14A11200B@ 1/11
10 25 42 9 M4 × 10 M4 36 8 7 4 M6 12 R88G-HPG20A21200B@ 1/21 200W
10 25 42 9 M4 × 10 M4 36 8 7 4 M6 12 R88G-HPG20A33200B@ 1/33
10 25 42 9 M4 × 10 M4 36 8 7 4 M6 12 R88G-HPG20A45200B@ 1/45
8 16 28 5.5 M4 × 10 M4 25 5 5 3 M4 8 R88G-HPG14A05400B@ 1/5
10 25 42 9 M4 × 10 M4 36 8 7 4 M6 12 R88G-HPG20A11400B@ 1/11
10 25 42 9 M4 × 10 M4 36 8 7 4 M6 12 R88G-HPG20A21400B@ 1/21 400W
13 40 82 11 M4 × 10 M4 70 12 8 5 M10 20 R88G-HPG32A33400B@ 1/33
13 40 82 11 M4 × 10 M4 70 12 8 5 M10 20 R88G-HPG32A45400B@ 1/45
10 25 42 9 M5 × 12 M4 36 8 7 4 M6 12 R88G-HPG20A05750B@ 1/5
10 25 42 9 M5 × 12 M4 36 8 7 4 M6 12 R88G-HPG20A11750B@ 1/11
750W
13 40 82 11 M5 × 12 M6 70 12 8 5 M10 20 R88G-HPG32A21750B@ 1/21
(200V)
13 40 82 11 M5 × 12 M6 70 12 8 5 M10 20 R88G-HPG32A33750B@ 1/33
13 40 82 11 M5 × 12 M6 70 12 8 5 M10 20 R88G-HPG32A45750B@ 1/45
Outline Drawings 2

C1 E Z2 dia.
QK
b

h
D2 dia.
t1
D4
D5
M (depth: L)
T
F1 C2
Four, Z1 dia.
F2 G
LR LM

<Cylinder Type>
● 3,000-r/min Servomotors (1 to 5 kW)
Dimensions (mm)
Outline
Model
1/5 R88G-HPG32A052K0B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1kW 1/21 R88G-HPG32A211K5B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1/33 R88G-HPG50A332K0B@ 2 123 156 170 170 dia. 190 115 165 163 122 103 12 53
1/45 R88G-HPG50A451K5B@ 2 123 156 170 170 dia. 190 115 165 163 122 103 12 53
1/5 R88G-HPG32A052K0B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1.5kW 1/21 R88G-HPG32A211K5B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1/33 R88G-HPG50A332K0B@ 2 123 156 170 170 dia. 190 115 165 163 122 103 12 53
1/45 R88G-HPG50A451K5B@ 2 123 156 170 170 dia. 190 115 165 163 122 103 12 53
1/5 R88G-HPG32A052K0B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0B@ 2 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
2kW
1/21 R88G-HPG50A212K0B@ 2 123 156 170 170 dia. 190 115 165 163 122 103 12 53
1/33 R88G-HPG50A332K0B@ 2 123 156 170 170 dia. 190 115 165 163 122 103 12 53
1/5 R88G-HPG32A053K0B@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
3kW 1/11 R88G-HPG50A113K0B@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/21 R88G-HPG50A213K0B@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/5 R88G-HPG32A054K0B@ 1 129 133 120 130 × 130 135 145 115 114 84 98 12.5 35
4kW
1/11 R88G-HPG50A115K0B@ 1 149 156 170 130 × 130 190 145 165 163 122 103 12 53
1/5 R88G-HPG50A055K0B@ 1 149 156 170 130 × 130 190 145 165 163 122 103 12 53
5kW
1/11 R88G-HPG50A115K0B@ 1 149 156 170 130 × 130 190 145 165 163 122 103 12 53

Outline Drawings 1
Four,
C1 E
QK
b

h
t1
D4 dia.
D5 dia.
M (depth: L)
T F1
C2
Four, Z1 dia.
F2 G
LR LM

Dimensions (mm)
G S T Z1 Z2 AT*1
QK b h t1 M L
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A052K0B@ 1/5
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A112K0B@ 1/11
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A211K5B@ 1/21 1kW
16 50 82 14 M8 × 10 M6 70 14 9 5.5 M10 20 R88G-HPG50A332K0B@ 1/33
16 50 82 14 M8 × 10 M6 70 14 9 5.5 M10 20 R88G-HPG50A451K5B@ 1/45
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A052K0B@ 1/5
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A112K0B@ 1/11
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A211K5B@ 1/21 1.5kW
16 50 82 14 M8 × 10 M6 70 14 9 5.5 M10 20 R88G-HPG50A332K0B@ 1/33
16 50 82 14 M8 × 10 M6 70 14 9 5.5 M10 20 R88G-HPG50A451K5B@ 1/45
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A052K0B@ 1/5
13 40 82 11 M8 × 10 M6 70 12 8 5 M10 20 R88G-HPG32A112K0B@ 1/11
2kW
16 50 82 14 M8 × 10 M6 70 14 9 5.5 M10 20 R88G-HPG50A212K0B@ 1/21
16 50 82 14 M8 × 10 M6 70 14 9 5.5 M10 20 R88G-HPG50A332K0B@ 1/33
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A053K0B@ 1/5
16 50 82 14 M8 × 16 M6 70 14 9 5.5 M10 20 R88G-HPG50A113K0B@ 1/11 3kW
16 50 82 14 M8 × 16 M6 70 14 9 5.5 M10 20 R88G-HPG50A213K0B@ 1/21
13 40 82 11 M8 × 25 M6 70 12 8 5 M10 20 R88G-HPG32A054K0B@ 1/5
4kW
16 50 82 14 M8 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A115K0B@ 1/11
16 50 82 14 M8 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A055K0B@ 1/5
5kW
16 50 82 14 M8 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A115K0B@ 1/11
Outline Drawings 2

C1 E Z2 dia.
QK
b

h
t1
D4 dia.
D5 dia.
M (depth: L)
T
F1 C2 dia.
Four, Z1 dia.
F2 G
LR LM

<Flat Servomotors>
Dimensions (mm)
Model
LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2
1/5 R88G-HPG11A05100PB 39.5 42 40 60×60 46 70 40.0 39.5 29 27 2.2 15

1/11 R88G-HPG14A11100PB 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21
100 W 1/21 R88G-HPG14A21100PB 64.0 58 60 60×60 70 70 56.0 55.5 40 37 2.5 21
1/33 R88G-HPG20A33100PB 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27
1/45 R88G-HPG20A45100PB 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27
1/5 R88G-HPG14A05200PB 65.0 58 60 80×80 70 90 56.0 55.5 40 37 2.5 21
1/11 R88G-HPG20A11200PB 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
200 W 1/21 R88G-HPG20A21200PB 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
1/33 R88G-HPG20A33200PB 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
1/45 R88G-HPG20A45200PB 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
1/5 R88G-HPG20A05400PB 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
1/11 R88G-HPG20A11400PB 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
400 W 1/21 R88G-HPG20A21400PB 78.0 80 90 80×80 105 90 85.0 84.0 59 53 7.5 27
1/33 R88G-HPG32A33400PB 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35
1/45 R88G-HPG32A45400PB 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35

A model with a key and tap is indicated by adding “J” to the end of the model number.
Outline Drawings
C1 E Set bolt (AT) Four, Z2 dia. Key and Tap Dimensions
QK
D1 dia. D2 dia. b
S dia.,h: 7
D3 dia.
D4 dia.
D5 dia.
t1
M (depth: L)
T F1
Four, Z1 dia. C2
F2 G
LR LM

Dimensions (mm)
Key dimensions Tap dimensions Model
G S T Z1 Z2 AT*1
QK b h t1 M L
5 8 20 3.4 M4×9 M3 15 3 3 1.8 M3 6 R88G-HPG11A05100PB 1/5
8 16 28 5.5 M4×10 M3 25 5 5 3.0 M4 8 R88G-HPG14A11100PB 1/11
8 16 28 5.5 M4×10 M3 25 5 5 3.0 M4 8 R88G-HPG14A21100PB 1/21 100 W
10 25 42 9.0 M4×10 M3 36 8 7 4.0 M6 12 R88G-HPG20A33100PB 1/33
10 25 42 9.0 M4×10 M3 36 8 7 4.0 M6 12 R88G-HPG20A45100PB 1/45
8 16 28 5.5 M5×12 M4 25 5 5 3.0 M4 8 R88G-HPG14A05200PB 1/5
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 R88G-HPG20A11200PB 1/11
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 R88G-HPG20A21200PB 1/21 200 W
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 R88G-HPG20A33200PB 1/33
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 R88G-HPG20A45200PB 1/45
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 R88G-HPG20A05400PB 1/5
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 R88G-HPG20A11400PB 1/11
10 25 42 9.0 M5×12 M4 36 8 7 4.0 M6 12 R88G-HPG20A21400PB 1/21 400 W
13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20 R88G-HPG32A33400PB 1/33
13 40 82 11.0 M5×12 M6 70 12 8 5.0 M10 20 R88G-HPG32A45400PB 1/45

<Cylinder Type>
Dimensions (mm)
Outline
Model
1/5 R88G-HPG32A053K0B@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0SB@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1kW 1/21 R88G-HPG32A211K0SB@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1/33 R88G-HPG50A332K0SB@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/45 R88G-HPG50A451K0SB@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/5 R88G-HPG32A053K0B@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0SB@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1.5kW
1/21 R88G-HPG50A213K0B@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/33 R88G-HPG50A332K0SB@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/5 R88G-HPG32A053K0B@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG32A112K0SB@ 1 107 133 120 130 × 130 135 145 115 114 84 98 12.5 35
2kW
1/21 R88G-HPG50A213K0B@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/33 R88G-HPG50A332K0SB@ 2 123 156 170 170 dia. 190 145 165 163 122 103 12 53
1/5 R88G-HPG32A054K0B@ 1 129 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG50A115K0B@ 1 149 156 170 130 × 130 190 145 165 163 122 103 12 53
3kW
1/21 R88G-HPG50A213K0SB@ 1 149 156 170 130 × 130 190 145 165 163 122 103 12 53
1/25 R88G-HPG65A253K0SB@ 1 231 222 230 130 × 130 260 145 220 214 168 165 12 57
1/5 R88G-HPG50A055K0SB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12 53
1/11 R88G-HPG50A115K0SB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12 53
4kW
1/20 R88G-HPG65A205K0SB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 57
1/25 R88G-HPG65A255K0SB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 57
1/5 R88G-HPG50A055K0SB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12 53
1/11 R88G-HPG50A115K0SB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12 53
5kW
1/20 R88G-HPG65A205K0SB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 57
1/25 R88G-HPG65A255K0SB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 57
1/5 R88G-HPG65A057K5SB@ 1 184.5 222 230 180 × 180 260 200 220 214 168 165 12.0 57
7.5kW
1/12 R88G-HPG65A127K5SB@ 1 254.5 222 230 180 × 180 260 200 220 214 168 165 12.0 57

Outline Drawings 1
Four,
C1 E
QK
b

h
t1
D4 dia.
D5 dia.
M (depth: L)
T F1
C2
Four, Z1 dia.
F2 G
LR LM

Dimensions (mm)
G S T Z1 Z2 AT*1
QK b h t1 M L
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A053K0B@ 1/5
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A112K0SB@ 1/11
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A211K0SB@ 1/21 1kW
16 50 82 14 M8 × 16 M6 70 14 9 5.5 M10 20 R88G-HPG50A332K0SB@ 1/33
16 50 82 14 M8 × 16 M6 70 14 9 5.5 M10 20 R88G-HPG50A451K0SB@ 1/45
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A053K0B@ 1/5
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A112K0SB@ 1/11
1.5kW
16 50 82 14 M8 × 16 M6 70 14 9 5.5 M10 20 R88G-HPG50A213K0B@ 1/21
16 50 82 14 M8Å~16 M6 70 14 9 5.5 M10 20 R88G-HPG50A332K0SB@ 1/33
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A053K0B@ 1/5
13 40 82 11 M8 × 18 M6 70 12 8 5 M10 20 R88G-HPG32A112K0SB@ 1/11
2kW
16 50 82 14 M8 × 16 M6 70 14 9 5.5 M10 20 R88G-HPG50A213K0B@ 1/21
16 50 82 14 M8 × 16 M6 70 14 9 5.5 M10 20 R88G-HPG50A332K0SB@ 1/33
13 40 82 11 M8 × 25 M6 70 12 8 5 M10 20 R88G-HPG32A054K0B@ 1/5
16 50 82 14 M8 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A115K0B@ 1/11
3kW
16 50 82 14 M8 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A213K0SB@ 1/21
25 80 130 18 M8 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A253K0SB@ 1/25
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A055K0SB@ 1/5
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A115K0SB@ 1/11
4kW
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A205K0SB@ 1/20
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A255K0SB@ 1/25
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A055K0SB@ 1/5
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A115K0SB@ 1/11
5kW
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A205K0SB@ 1/20
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A255K0SB@ 1/25
25 80 130 18 M12 × 25 M8 110 22 14 9.0 M16 35 R88G-HPG65A057K5SB@ 1/5
7.5kW
25 80 130 18 M12 × 25 M8 110 22 14 9.0 M16 35 R88G-HPG65A127K5SB@ 1/12
Outline Drawings 2

C1 E Z2 dia.
QK
b

h
D2 dia.
t1
D4 dia.
D5 dia.
M (depth: L)
T F1
Four, Z1 dia. C2 dia.
F2 G
LR LM

<Cylinder Type>
Dimensions (mm)
Outline
Model
1/5 R88G-HPG32A05900TB@ 1 129 133 120 130 × 130 135 145 115 114 84 98 12.5 35
1/11 R88G-HPG32A11900TB@ 1 129 133 120 130 × 130 135 145 115 114 84 98 12.5 35
900W
1/21 R88G-HPG50A21900TB@ 1 149 156 170 130 × 130 190 145 165 163 122 103 12 53
1/33 R88G-HPG50A33900TB@ 1 149 156 170 130 × 130 190 145 165 163 122 103 12 53
1/5 R88G-HPG32A052K0TB@ 1 129 133 120 180 × 180 135 200 115 114 84 98 12.5 35
1/11 R88G-HPG50A112K0TB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12 53
2kW
1/21 R88G-HPG50A212K0TB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 53
1/25 R88G-HPG65A255K0SB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 57
1/5 R88G-HPG50A055K0SB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12 53
1/11 R88G-HPG50A115K0SB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12 53
3kW
1/20 R88G-HPG65A205K0SB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 57
1/25 R88G-HPG65A255K0SB@ 1 231 222 230 180 × 180 260 200 220 214 168 165 12 57
1/5 R88G-HPG50A054K5TB@ 1 149 156 170 180 × 180 190 200 165 163 122 103 12.0 53
4.5kW 1/12 R88G-HPG65A127K5SB@ 1 254.5 222 230 180 × 180 260 200 220 214 168 165 12.0 57
1/20 R88G-HPG65A204K5TB@ 1 254.5 222 230 180 × 180 260 200 220 214 168 165 12.0 57
1/5 R88G-HPG65A057K5SB@ 1 184.5 222 230 180 × 180 260 200 220 214 168 165 12.0 57
6kW
1/12 R88G-HPG65A127K5SB@ 1 254.5 222 230 180 × 180 260 200 220 214 168 165 12.0 57

(e.g., R88G-HPG32A05900TBJ)
Outline Drawings 1
Four,
C1 E
QK
b

h
t1
D4 dia.
D5 dia.
M (depth: L)
T
F1
Four, Z1 dia. C2
F2 G
LR LM

Dimensions (mm)
G S T Z1 Z2 AT*1
QK b h t1 M L
13 40 82 11 M8 × 25 M6 70 12 8 5 M10 20 R88G-HPG32A05900TB@ 1/5
13 40 82 11 M8 × 25 M6 70 12 8 5 M10 20 R88G-HPG32A11900TB@ 1/11
900W
16 50 82 14 M8 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A21900TB@ 1/21
16 50 82 14 M8 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A33900TB@ 1/33
13 40 82 11 M12 × 25 M6 70 12 8 5 M10 20 R88G-HPG32A052K0TB@ 1/5
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A112K0TB@ 1/11
2kW
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG50A212K0TB@ 1/21
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A255K0SB@ 1/25
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A055K0SB@ 1/5
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A115K0SB@ 1/11
3kW
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A205K0SB@ 1/20
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A255K0SB@ 1/25
16 50 82 14 M12 × 25 M6 70 14 9 5.5 M10 20 R88G-HPG50A054K5TB@ 1/5
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A127K5SB@ 1/12 4.5kW
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A204K5TB@ 1/20
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A057K5SB@ 1/5
6kW
25 80 130 18 M12 × 25 M8 110 22 14 9 M16 35 R88G-HPG65A127K5SB@ 1/12

<Cylinder Type>
Dimensions (mm)
Model
1/5 R88G-VRSF05B100CJ 67.5 32 52 40 46 60 50 45 10 3 6

1/9 R88G-VRSF09B100CJ 67.5 32 52 40 46 60 50 45 10 3 6
50 W
1/15 R88G-VRSF15B100CJ 78.0 32 52 40 46 60 50 45 10 3 6
1/25 R88G-VRSF25B050CJ 78.0 32 52 40 46 60 50 45 10 3 6
1/5 R88G-VRSF05B100CJ 67.5 32 52 40 46 60 50 45 10 3 6
1/9 R88G-VRSF09B100CJ 67.5 32 52 40 46 60 50 45 10 3 6
100 W
1/15 R88G-VRSF15B100CJ 78.0 32 52 40 46 60 50 45 10 3 6
1/25 R88G-VRSF25B100CJ 78.0 32 52 40 46 60 50 45 10 3 6
1/5 R88G-VRSF05B200CJ 72.5 32 52 60 70 60 50 45 10 3 10
1/9 R88G-VRSF09C200CJ 89.5 50 78 60 70 90 70 62 17 3 8
200 W
1/15 R88G-VRSF15C200CJ 100.0 50 78 60 70 90 70 62 17 3 8
1/25 R88G-VRSF25C200CJ 100.0 50 78 60 70 90 70 62 17 3 8
1/5 R88G-VRSF05C400CJ 89.5 50 78 60 70 90 70 62 17 3 8
1/9 R88G-VRSF09C400CJ 89.5 50 78 60 70 90 70 62 17 3 8
400 W
1/15 R88G-VRSF15C400CJ 100.0 50 78 60 70 90 70 62 17 3 8
1/25 R88G-VRSF25C400CJ 100.0 50 78 60 70 90 70 62 17 3 8
1/5 R88G-VRSF05C750CJ 93.5 50 78 80 90 90 70 62 17 3 10
1/9 R88G-VRSF09D750CJ 97.5 61 98 80 90 115 90 75 18 5 10
750 W
1/15 R88G-VRSF15D750CJ 110.0 61 98 80 90 115 90 75 18 5 10
1/25 R88G-VRSF25D750CJ 110.0 61 98 80 90 115 90 75 18 5 10

Outline Drawings
E3
F
Four, Z1
D3 dia., height: 7
D2 d
D1 d ia.
ia.
S dia., h: 6
D4 dia.
C2 × C2 G T C1 × C1
LM LR

Dimensions (mm)
S T Z1 Z2 AT L
QK b h t1
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF05B100CJ 1/5
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF09B100CJ 1/9
50 W
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF15B100CJ 1/15
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF25B050CJ 1/25
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF05B100CJ 1/5
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF09B100CJ 1/9
100 W
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF15B100CJ 1/15
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF25B100CJ 1/25
12 20 M5 M5 M4 12 16 4 4 2.5 R88G-VRSF05B200CJ 1/5
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF09C200CJ 1/9
200 W
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF15C200CJ 1/15
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF25C200CJ 1/25
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF05C400CJ 1/5
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF09C400CJ 1/9
400 W
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF15C400CJ 1/15
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF25C400CJ 1/25
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF05C750CJ 1/5
24 40 M5 M8 M4 20 30 8 7 4 R88G-VRSF09D750CJ 1/9
750 W
24 40 M5 M8 M4 20 30 8 7 4 R88G-VRSF15D750CJ 1/15
24 40 M5 M8 M4 20 30 8 7 4 R88G-VRSF25D750CJ 1/25
Outline Drawings
b
QK t1

<Flat Servomotors>
Dimensions (mm)
Model
1/5 R88G-VRSF05B100PCJ 67.5 32 52 60 70 60 50 45 10 3 8

1/9 R88G-VRSF09B100PCJ 67.5 32 52 60 70 60 50 45 10 3 8
100 W
1/15 R88G-VRSF15B100PCJ 78.0 32 52 60 70 60 50 45 10 3 8
1/25 R88G-VRSF25B100PCJ 78.0 32 52 60 70 60 50 45 10 3 8
1/5 R88G-VRSF05B200PCJ 72.5 32 52 80 90 60 50 45 10 3 12
1/9 R88G-VRSF09C200PCJ 89.5 50 78 80 90 90 70 62 17 3 12
200 W
1/15 R88G-VRSF15C200PCJ 100.0 50 78 80 90 90 70 62 17 3 12
1/25 R88G-VRSF25C200PCJ 100.0 50 78 80 90 90 70 62 17 3 12
1/5 R88G-VRSF05C400PCJ 89.5 50 78 80 90 90 70 62 17 3 12
1/9 R88G-VRSF09C400PCJ 89.5 50 78 80 90 90 70 62 17 3 12
400 W
1/15 R88G-VRSF15C400PCJ 100.0 50 78 80 90 90 70 62 17 3 12
1/25 R88G-VRSF25C400PCJ 100.0 50 78 80 90 90 70 62 17 3 12

Outline Drawings
E3
Four, Z1 F
D3 dia., height: 7
D1 d D2 d
ia. ia.
D4 dia.
S dia.,
h: 6
C1 × C1
C2 × C2 G T
LM LR

Dimensions (mm)
S T Z1 Z2 AT L
QK b h t1
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF05B100PCJ 1/5
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF09B100PCJ 1/9
100 W
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF15B100PCJ 1/15
12 20 M4 M5 M3 12 16 4 4 2.5 R88G-VRSF25B100PCJ 1/25
12 20 M5 M5 M4 12 16 4 4 2.5 R88G-VRSF05B200PCJ 1/5
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF09C200PCJ 1/9
200 W
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF15C200PCJ 1/15
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF25C200PCJ 1/25
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF05C400PCJ 1/5
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF09C400PCJ 1/9
400 W
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF15C400PCJ 1/15
19 30 M5 M6 M4 20 22 6 6 3.5 R88G-VRSF25C400PCJ 1/25
Outline Drawings

b
QK t1

● Parameter Unit
R88A-PR02G
(62) (24)
M3 (depth: 5)
(15)
(114)
(15)
(1500) Mini DIN 8-pin

MD connector
● External Regeneration Resistor

R88A-RR22047S1
(0.75mm2)
(0.3mm2)
1.5 dia.
3 dia.
4.2
48
62
6
t1.2 500 200
20 220
230
R88A-RR08050S/-RR080100S
(0.75mm2)
(0.3mm2)
1.5 dia.
3 dia.
4.2
43.5
28
6
t1.2 500 104
20 122
130
R88A-RR50020S
76
40
5.2
360
25 43 10 386
78 402

● Reactor
3G3AX-DL2004 Model L 3G3AX-AL2055 Model A C Y
3G3AX-DL2002 85 Ground terminal (M5) 3G3AX-AL2025 120 82 67
Six, M4
3G3AX-DL2004 95 terminal screws 3G3AX-AL2055 120 98 75
Terminal
72
90
block 60 40
Two, M4
Ro R So S To T
Ground terminal
56
(M4) Four, 5.2 × 8 L
66
150
94
Ro R So S To T
Connection Diagram
50±1 Four, 6 dia. Y±1
98
(Notch)
A C
9.5
3G3AX-DL2015 3G3AX-AL2220 Terminal holes:
Six, K dia.
Model L
A D 55
3G3AX-DL2007 105
Ro R So S To T
3G3AX-DL2015 115
72
90
Two, M4
Ground terminal
H
(M4)
56
Four, 5.2 × 8 Ro R So S To T
H1
66
L Connection Diagram
X±1 Y±1
W
Four, 6 dia. C
(Notch) W=Terminal width
Ground terminal (M6)
98
Model A C D H H1 X Y K W
3G3AX-AL2110 150 103 70 170 108 60 80 5.3 12
3G3AX-DL2022 3G3AX-AL2220 180 113 75 190 140 90 90 8.4 16.5
100
80
Two, M4
Ground terminal
(M4)
71
86 Four, 6 × 9
105
116
About Manuals
English Cat. No. Japanese Cat. No. Type Name
G-series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II
I566 SBCE-353 R88M-G/R88D-GN@-ML2
Communications User’s Manual
CXONE-@@@@C-V@/
W453 SBCE-375 CX-Drive OPERATION MANUAL
@@@@D-V@

MEMO
164
MEMO
165
MEMO
166
Read and Understand this Catalog
Please read and understand this catalog before purchasing the product. Please consult your OMRON representative if you have
any questions or comments.
Warranty and Limitations of Liability

WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year
(or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-INFRINGEMENT,
MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER
ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET
THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR
IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS
OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON
CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE
PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED,
INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE
MODIFICATION OR REPAIR.
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of the
product in the customer's application or use of the product.
Take all necessary steps to determine the suitability of the product for the systems, machines, and equipment with which it will
be used.
Know and observe all prohibitions of use applicable to this product.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT
ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON
PRODUCT IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR
SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof.
Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any time based on improvements and other reasons. Consult with
your OMRON representative at any time to confirm actual specifications of purchased product.
DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.
PERFORMANCE DATA
Performance data given in this catalog is provided as a guide for the user in determining suitability and does not constitute a
warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application
requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.
OMRON Corporation Industrial Automation Company Authorized Distributor:
Tokyo, JAPAN
Contact: www.ia.omron.com
Regional Headquarters
OMRON EUROPE B.V. OMRON ELECTRONICS LLC
Wegalaan 67-69-2132 JD Hoofddorp One Commerce Drive Schaumburg,
The Netherlands IL 60173-5302 U.S.A.
Tel: (31)2356-81-300/Fax: (31)2356-81-388 Tel: (1) 847-843-7900/Fax: (1) 847-843-7787
OMRON ASIA PACIFIC PTE. LTD. OMRON (CHINA) CO., LTD. © OMRON Corporation 2009-2012 All Rights Reserved.
No. 438A Alexandra Road # 05-05/08 (Lobby 2), Room 2211, Bank of China Tower, In the interest of product improvement,
Alexandra Technopark, 200 Yin Cheng Zhong Road, specifications are subject to change without notice.
Singapore 119967 PuDong New Area, Shanghai, 200120, China CSM_14_1_0514 Printed in Japan
Tel: (65) 6835-3011/Fax: (65) 6835-2711 Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200 Cat. No. I814-E1-04 0412 (0308)
Mouser Electronics
Authorized Distributor
Click to View Pricing, Inventory, Delivery & Lifecycle Information:
Omron:
R88M-G6K010T-OS2 R88D-GNA5L-ML2 R88M-G5K020T R88A-CNG01R R88M-G7K515T R88D-GT01L R88M-
G4K030T-OS2 R88D-GN01H-ML2 R88D-GT04H R88D-GT50H R88M-G7K515T-BOS2 R88M-G6K010T-BS2
R88D-GN02L-ML2 R88M-G7K515T-OS2 R88M-G6K010T-S2 R88M-G4K510T-B R88M-G5K020T-OS2 R88M-
G5K030T-O R88M-G4K020T-O R88M-G4K020T-S2 R88D-GT15H R88A-CCG002P2 R88M-G5K020T-BOS2 R88M-
G5K030T-OS2 R88D-GT01H R88M-G5K020T-BS2 R88M-G4K510T-O R88M-G7K515T-BS2 R88D-GT04L R88M-
G6K010T-B R88M-G4K030T-BOS2 R88M-G7K515T-S2 R88M-G5K020T-O R88D-GN01L-ML2 R88D-GT02L
R88M-G5K030T-B R88M-G7K515T-B R88M-G4K020T R88M-G4K510T-S2 R88M-G4K510T-BS2 R88D-GN02H-
ML2 R88M-G4K020T-OS2 R88D-GT75H R88D-GT10H R88M-G4K030T R88D-GN75H-ML2 R88M-G4K510T
R88A-CCG0R5P4 R88D-GT08H R88D-GT20H R88M-G5K030T R88M-G6K010T-O R88M-G4K030T-BS2 R88M-
G4K030T-BO R88D-GT30H R88M-G5K020T-B R88M-G4K030T-S2 R88A-CNG02R R88M-G4K020T-B R88D-
GN30H-ML2 R88M-G5K020T-S2 R88M-G4K030T-B R88D-GTA5L R88M-G5K030T-S2 R88M-G4K020T-BO R88M-
G6K010T-BO R88M-G6K010T-BOS2 R88D-GN20H-ML2 R88D-GT02H R88M-G7K515T-BO R88M-G5K020T-BO
R88M-G5K030T-BO R88M-G4K020T-BS2 R88A-CCG001P4 R88M-G6K010T R88D-GN08H-ML2 R88M-G4K510T-
BO R88D-GN04H-ML2 R88D-GN10H-ML2 R88M-G4K510T-BOS2 R88D-GN15H-ML2 R88M-G4K510T-OS2 R88M-
G5K030T-BOS2 R88D-GN50H-ML2 R88M-G4K030T-O R88M-G5K030T-BS2 R88M-G7K515T-O R88D-GN04L-ML2
R88M-G4K020T-BOS2 R88A-CRGB003C

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AC Servomotors/ Servo Drives

» Quickly suppress vibration

G-series Servomotors and Servo

Integrated Development Environment Ordering Information 12

PLC I/O Circuit Diagrams 55

G-series Servomotors and Servo Drives

your equipment problems. Easy host

2 G Series: Features G Series: Features 3

G-series Servomotors and Servo

Integrated Development Environment Ordering Information 12

PLC I/O Circuit Diagrams 55

G-series Servomotors and Servo Drives

Note: CX-Drive (version 1.62) support for G-series

Achieve Maximum Machine Performance with the Series

Easy! Advanced Performance! Advanced Functionality!

3000 Command Pulse than previous Stop position

*1 For Servomotors with absolute encoders. No vibration!

4 G Series: Features G Series: Features 5

Achieve Maximum Machine Performance with the Series

Easy! Advanced Performance! Advanced Functionality!

3000 Command Pulse than previous Stop position

*1 For Servomotors with absolute encoders. No vibration!

4 G Series: Features G Series: Features 5

Servo Drive Variations Servomotor Variations

R88D-GT R88D-GN -ML2 R88M-G

AC100V Single-phase Single-phase

AC200V Single-phase Single/ Three-phase Single-phase Single/ Three-phase

50 100 200 400 50 100 200 400 INC

2 3 4 4.5 5 6 7.5 2 3 4 4.5 5 6 7.5 INC INC

Pulse INC INC

Position Speed Torque Position Speed Torque INC

Mode Mode INC

Realtime autotuning FIT Adaptive *2 Adaptive *2 2kW INC INC INC

INC INC INC

Functions 6kW INC

6 G Series: Features G Series: Features 7

Servo Drive Variations Servomotor Variations

R88D-GT R88D-GN -ML2 R88M-G

AC100V Single-phase Single-phase

AC200V Single-phase Single/ Three-phase Single-phase Single/ Three-phase

50 100 200 400 50 100 200 400 INC

2 3 4 4.5 5 6 7.5 2 3 4 4.5 5 6 7.5 INC INC

Interface Command type Pulse Analog INC INC

Position Speed Torque Position Speed Torque INC

Mode Mode INC

Realtime autotuning FIT Adaptive *2 Adaptive *2 2kW INC INC INC

INC INC INC

Functions 6kW INC

6 G Series: Features G Series: Features 7

Controllers Monitor Software Parameter Unit

CJ-series PLC FQM1-series PLC CS-series PLC

Direct Connection cable for CJ1W-NC@@4

• Position Control Unit • Flexible Motion Controller Analog Commands

Pulse Train Commands

CJ1W-NC113/213/413 CS1W-NC113/213/413 FQM1-MMP22

CJ1M-CPU21/22/23 Customizable Counter Unit

8 G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT

AC Servo Drives AC Servomotors

G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT 9

● Servomotor Model Numbers

10 G-series AC Servomotors/Servo Drives with General-purpose Pulse-string or Analog Inputs R88M-G/R88D-GT

Backlash = 15' Max.

Flange Size Number

Realtime autotuning FIT Adaptive 2 Adaptive 2 2kW INC INC INC

Realtime autotuning FIT Adaptive 2 Adaptive 2 2kW INC INC INC