Industrial Automation

R88M-1A[] / R88D-1SAN[]-ECT

AC Servo System 1S-series with Safety Functionality

Safer environment and higher productivity

last update: June 10, 2024

AC Servo Drives with Built-in EtherCAT Communications [1S-series with Safety Functionality]

Specifications

General Specifications

Item			Specifications
Operating ambient temperature and humidity			0 to 55°C, 90% max. (with no condensation)
Storage ambient temperature and humidity			-20 to 65°C, 90% max. (with no condensation)
Operating and storage atmosphere			No corrosive gases
Operating altitude			1,000 m max.
Vibration resistance			10 to 60 Hz and at an acceleration of 5.88 m/s² or less (Not to be run continuously at the resonance frequency)
Insulation resistance			Between power supply terminals/power terminals and PE terminals: 0.5 MΩ min. (at 500 VDC)
Dielectric strength			Between power supply terminals/power terminals and PE terminals: 1,500 VAC for 1 min (at 50/60 Hz)
Protective structure			IP20 (Built into IP54 panel)
International standard	EU Directives and UK legislation	EMC	EN 61800-3 second environment, C3 category (EN 61000-6-7; Functional Safety)
		Low Voltage	EN61800-5-1
		Machinery	EN ISO 13849-1, EN61508, EN62061, EN61800-5-2
	UL standards		UL 61800-5-1
	CSA standards		CSA C22.2 No. 274
	Korean Radio Regulations (KC)		Compliant
	Australian EMC Labeling Requirements (RCM)		Compliant
	SEMI standards		Can conform to the standard for momentary power interruptions (for no-load operation).
	Ship standards (NK/LR)		Not compliant

Note: 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
2. Disconnect all connections to the Servo Drive before attempting a megger test (insulation resistance measurement)
on a Servo Drive.
Not doing so may result in the Servo Drive failure.
Do not perform a dielectric strength test on the Servo Drive. Internal elements may be damaged.

The detail of Machinery Directive is as follows:
The STO function via safety input signals: EN ISO13849-1 (Cat3 PLe), EN61508, EN62061, EN61800-5-2 (SIL3)
The safety function via EtherCAT communications: EN ISO 13849-1 (STO/SS1/SBC: Cat.3 PLe, SS2/SLS/SDI/SOS/SLP: Cat.3 PLe), EN61508, EN62061, EN61800-5-2

Characteristics

200-VAC Input Models

Servo Drive model (R88D-)			1SAN02H-ECT	1SAN04H-ECT	1SAN08H-ECT
Item			200 W	400 W	750 W
Input	Main circuit	Power supply voltage	Single-phase and 3-phase 200 to 240 VAC (170 to 252 V) *1
	Main circuit	Frequency	50/60 Hz (47.5 to 63 Hz) *1
	Control circuit	Power supply voltage	24 VDC (21.6 to 26.4 V)
	Control circuit	*Current consumption 2**	700 mA
	Rated current [A (rms)] (Main circuit power supply voltage: 240 VAC)	Singlephase	2.7	4.6	7.3
		3-phase	1.5	2.7	4.0
Output	Rated current [A (rms)]		1.5	2.5	4.6
Output	Maximum current [A (rms)]		5.6	9.1	16.9
Heating value [W]		Main circuit	17.0	25.0	42.0
Heating value [W]		Control circuit	11.9	11.9	14.5
Applicable Servomotor rated output [W]			200	400	750
3,000-r/min Servomotor (R88M-)		Batteryless 20-bit ABS	1AM20030T	1AM40030T	1AM75030T
Hold time at momentary power interruption (Main circuit power supply voltage: 200 VAC)			10 ms (Load condition: rated output) *4
SCCR [A (rms)]			5000
Weight [kg]			2.6	2.6	2.6

Servo Drive model (R88D-)			1SAN10H-ECT	1SAN15H-ECT	1SAN20H-ECT	1SAN30H-ECT
Item			1 kW	1.5 kW	2 kW	3 kW
Input	Main circuit	Power supply voltage	3-phase 200 to 240 VAC (170 to 252 V) *1	Single-phase and 3-phase 200 to 240 VAC (170 to 252 V) *1	3-phase 200 to 240 VAC (170 to 252 V) *1
	Main circuit	Frequency	50/60 Hz (47.5 to 63 Hz) *1
	Control circuit	Power supply voltage	24 VDC (21.6 to 26.4 V)
	Control circuit	Current consumption *2	700 mA	1000 mA
	Rated current [A (rms)] (Main circuit power supply voltage: 240 VAC)	Singlephase	---	15.7	---	---
		3-phase	5.8	9.0	13.0	15.9
Output	Rated current [A (rms)]		7.7	9.7	16.2	22.3
Output	Maximum current [A (rms)]		16.9	28.4	41.0	54.7
Heating value [W]		*Main circuit 3**	49.0	88.0	140.0	150.0
Heating value [W]		Control circuit	14.5	22.4	22.4	22.4
Applicable Servomotor rated output [W]			1,000	1,500	2,000	3,000
3,000-r/min Servomotor (R88M-)		Batteryless 20-bit ABS	1AL1K030T	1AL1K530T	1AL2K030T	1AL2K630T
1,500-r/min Servomotor (R88M-)		Batteryless 20-bit ABS	---	1AM1K515T	---	1AM2K715T
Hold time at momentary power interruption (Main circuit power supply voltage: 200 VAC)			10 ms (Load condition: rated output) *4
SCCR [A (rms)]			5000
Weight [kg]			2.6	4.2	4.2	4.2

*1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range of
acceptable variation.
*2. Select a DC power supply in consideration of the current values that are specified in the current consumption. The rated
current value that is printed on the product nameplate is a condition to apply the 1S-series product for the UL/Low
Voltage Directive.
Therefore, you do not need to consider it when you select a DC power supply for each model.
*3. This is the maximum heating value in applicable Servomotors.
Refer to Relationship between Servo Drive, Servomotors and the Main Circuit Heating Value on below for the heating
value of each applicable Servomotor.
*4. It is a hold time at momentary power interruption. Use a DC power supply to fulfill the following conditions so that the
power supply of the control circuit is held during momentary power interruption.
Reinforced insulation or double insulation, and the output hold time of 10 ms or more

400-VAC Input Models

Use a neutral grounded 400 VAC 3-phase power supply for the 400 VAC input models.

Servo Drive model (R88D-)			1SAN10F-ECT	1SAN15F-ECT	1SAN20F-ECT	1SAN30F-ECT
Item			1 kW	1.5 kW	2 kW	3 kW
Input	Main circuit	Power supply voltage	3-phase 380 to 480 VAC (323 to 504 V) *1
	Main circuit	Frequency	50/60 Hz (47.5 to 63 Hz) *1
	Control circuit	Power supply voltage	24 VDC (21.6 to 26.4 V)
	Control circuit	Current consumption *2	1000 mA
	Rated current [A (rms)] (Main circuit power supply voltage: 480 VAC)	3-phase	3.1	4.3	6.5	8.4
Output	Rated current [A (rms)]		4.1	4.7	7.8	11.3
Output	Maximum current [A (rms)]		9.6	14.1	19.8	28.3
Heating value [W]		*Main circuit 3**	56.0	81.0	120.0	150.0
Heating value [W]		Control circuit	22.4	22.4	22.4	22.4
Applicable Servomotor rated output [W]			1,000	1,500	2,000	3,000
3,000-r/min Servomotor (R88M-)		Batteryless 20-bit ABS	1AL75030C 1AL1K030C	1AL1K530C	1AL2K030C	1AL3K030C
1,500-r/min Servomotor (R88M-)		Batteryless 20-bit ABS	---	1AM1K515C	---	1AM3K015C
Hold time at momentary power interruption (Main circuit power supply voltage: 400 VAC)			10 ms (Load condition: rated output) *4
SCCR [A (rms)]			5000
Weight [kg]			4.2	4.2	4.2	4.2

*1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range of
acceptable variation.
*2. Select a DC power supply in consideration of the current values that are specified in the current consumption.
The rated current value that is printed on the product nameplate is a condition to apply the 1S-series Servo Drive
Advance type product for the UL/Low Voltage Directive.
Therefore, you do not need to consider it when you select a DC power supply for each model.
*3. This is the maximum heating value in applicable Servomotors.
Refer to Relationship between Servo Drive, Servomotors and the Main Circuit Heating Value on below for the heating
value of each applicable Servomotor.
*4. It is a hold time at momentary power interruption. Use a DC power supply to fulfill the following conditions so that the
power supply of the control circuit is held during momentary power interruption.
Reinforced insulation or double insulation, and the output hold time of 10 ms or more

Relationship between Servo Drive, Servomotors and the Main Circuit Heating Value

Servo Drive model	Servomotor model	Main circuit heating value [W]
R88D-1SAN15H-ECT	R88M-1AL1K530T-[]	88
R88D-1SAN15H-ECT	R88M-1AM1K515T-[]	69
R88D-1SAN30H-ECT	R88M-1AL2K630T-[]	150
R88D-1SAN30H-ECT	R88M-1AM2K715T-[]	150
R88D-1SAN10F-ECT	R88M-1AL75030C-[]	55
R88D-1SAN10F-ECT	R88M-1AL1K030C-[]	56
R88D-1SAN15F-ECT	R88M-1AL1K530C-[]	81
R88D-1SAN15F-ECT	R88M-1AM1K515C-[]	52
R88D-1SAN30F-ECT	R88M-1AL3K030C-[]	150
R88D-1SAN30F-ECT	R88M-1AM3K015C-[]	140

Outline of Safety Functions

Details about Safety Functions

Function	Description
Safe torque off (STO)	The function is used to cut off a motor current and stop the motor.
Safe stop 1 (SS1)	This function is used to stop a motor by activating STO function at any timing after receiving a command from a safety controller.
Safes stop 2 (SS2)	This function is used to monitor a motor's stop by activating SOS function at any timing after receiving a command from a safety controller.
Safe operating stop (SOS)	This function is used to monitor that a motor stops at any positions. Both a position and velocity are monitored. Excessive limit value error occurs when the motor operates from a position where it stops.
Safely-limited speed (SLS)	This function is used to monitor a safety present motor velocity. When the safety present motor velocity exceeds the velocity limit for monitoring, excessive limit value error occurs.
Safely-limited position (SLP)	This function is used to monitor current positions. Excessive limit value error occurs when the positions surpass a range for monitoring.
Safe direction (SDI)	This function is used to monitor motor's rotating direction. Excessive limit value error occurs when a motor rotates toward the banned rotating direction.
Safe brake control (SBC)	This function is used to provide safety output for a holding brake. The function can be used with STO, SS1 functions and the brake operation.

Safety Servo Drives have two type STO functions. Use either or both functions according to configuration of safety devices.
• STO function by safety input signals
• STO function via EtherCAT communications
When you use just STO function by safety input signals, you do not need a setting related EtherCAT network.

Achievable safety levels for each safety function at maximum are shown as the below table:

Function	Achievable safety level	Function	Achievable safety level
STO	SIL3/PLe	SLS	SIL3/PLe *1
SS1	SIL3/PLe	SLP	SIL3/PLe *2
SS2	SIL3/PLe	SDI	SIL3/PLe *1
SOS	SIL3/PLe *1	SBC	SIL3/PLe *3

*1. Achievable safety level varies in a basic control for use.
*2. Achievable safety level varies in Safety Origin Position Determination Method or SOPT input devices for use.
*3. Achievable safety level varies in Brake structure.
Refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and Safety Functionality User's Manual (Cat. No. I621) for details.

Configuration for Safety System

To make devices enter into safe state, a combined control among a safety controller, a standard controller and a Servo Drive is required.
Typical roles of each device are shown as below.

Device	Role
Safety Controller	• Monitor safety input and output. • Notify a standard controller of states of safety input and output. • Issue commands to activate and interrupt safety functions to a Servo Drive. • Issue commands to reset errors of safety functions to a Servo Drive.
Standard Controller	• Issue commands to turn Servo ON/OFF and reset errors to a Servo Drive. • Issue command to control a specified position, velocity and torque of a Servomotor to a Servo Drive.
Servo Drive	• Turn Servo ON/OFF and reset errors after receiving commands from a standard controller. • Control a Servomotor after receiving commands from a standard controller. • Activate and interrupt safety functions after receiving commands from a safety controller. • Reset errors of safety functions after receiving commands from a safety controller. • Stop a Servomotor when an error occurs.

A procedure for the control is described as follow:
1. A safety controller detects the following cases with a safety sensor and a safety switch.
When workers entered exclusion zones
When workers are about to touch hazardous sites of the device
When workers come closely to the devices for the purpose of a check of devices/products, maintenance and supply of
materials
2. A safety controller notifies a standard controller of the detected data.
3. A standard controller issues commands to decelerate and stop a Servomotor to a Servo Drive. At the same time, a safety
controller issues commands to activate safety functions for use to a Servo Drive.
4. A Servo Drive receives and executes the commands from both controllers.

Thus, a safety controller and a standard controller must issue commands to a Servo Drive at an appropriate timing according to states of switches, sensors and devices, and then have the programs to issue the commands.
To secure the combined operation between a safety controller and a standard controller, design programs for each device with consideration of the following times. Without this consideration of the times mentioned earlier, when safety functions are activated, STO may be active and an excessive limit value error (Error display No.71.03) may occur.
• Time until safety functions starts the activations
It refers to “Time until a safety controller issues command to activate safety functions + Delay time of safety functions”.
• Delay time of safety functions
Time until STO becomes active or a Servo Drive starts monitoring after it receives commands of safety functions.
Refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and Safety Functionality User's Manual (Cat. No. I621) for details.

This section describes a flow of control of each device with an example such as SLS function.

R88M-1A[] / R88D-1SAN[]-ECT Specifications 24

Safety system configuration equipment	Model
Standard Controller	NX701
EtherCAT Coupler Unit	NX-ECC201 NX-ECC202
Safety Controller	NX-SL3300 NX-SL3500
Safety Digital Input Unit	NX-SIH400
Guard Lock Safety Key Selector Switch	A22LK
Servo Drive	R88D-1SAN

*1. The safety key selector switch and the safety controller detect that workers come closer to devices due to the reason
such as maintenance, etc.
*2. The standard controller reads data from the safety controller and checks a switch to maintenance mode. In such case, it
issues a command to decelerate a velocity of the Servomotor and gives the command to the Servo Drive.
*3. The safety controller issues/gives a command to activate SLS function to the Servo Drive.
*4. The Servo Drive controls the motor's deceleration, following the command from the standard controller. In addition, it
activates SLS function after receiving the command to activate SLS from the safety controller.

EtherCAT Communications Specifications

Item	Specifications
Communications standard	IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile
Physical layer	100BASE-TX (IEEE802.3)
Connectors	RJ45 × 2 (shielded) ECAT IN: EtherCAT input ECAT OUT: EtherCAT output
Communications media	Recommended media: Twisted-pair cable, which is doubly shielded by the aluminum tape and braid, with Ethernet Category 5 (100BASE-TX) or higher
Communications distance	Distance between nodes: 100 m max.
Process data	Fixed PDO mapping Variable PDO mapping
Mailbox (CoE)	Emergency messages, SDO requests, SDO responses, and SDO information
Synchronization mode and communications cycle	DC Mode (Synchronous with Sync0 Event) Communications cycle: 125 μs, 250 μs, 500 μs, 750 μs, 1 to 10 ms (in 0.25 ms increments) Free Run Mode
Indicators	ECAT-L/A IN (Link/Activity IN) × 1 ECAT-L/A OUT (Link/Activity OUT) × 1 ECAT-RUN × 1 ECAT-ERR × 1
CiA 402 Drive Profile	• Cyclic synchronous position mode • Cyclic synchronous velocity mode • Cyclic synchronous torque mode • Profile position mode • Profile velocity mode • Homing mode • Touch probe function • Torque limit function

Version Information

The following table gives the relationship between unit versions of 1S-series Servo Drives Advance type and the corresponding Sysmac Studio versions.

Unit version	Sysmac Studio
Version 1.0 *	Version 1.44.1 or higher

* Sysmac Studio version 1.44 or higher enables you to use the cable redundancy function and configure a ring topology.

AC Servomotors [1S-series with Safety Functionality]

Specifications

General Specifications

Item			Specifications
Operating ambient temperature and humidity			0 to 40°C 20% to 90% (with no condensation)
Storage ambient temperature and humidity			-20 to 65°C 20% to 90% (with no condensation)
Operating and storage atmosphere			No corrosive gases
Vibration resistance *			Acceleration of 49 m/s² 24.5 m/s² max. in X, Y, and Z directions when the motor is stopped
Impact resistance			Acceleration of 98 m/s² max. 3 times each in X, Y, and Z directions
Insulation resistance			Between power terminals and FG terminals: 10 MΩ min. (at 500 VDC Megger)
Dielectric strength			Between power terminals and FG terminals: 1,500 VAC for 1 min (voltage 200 V) Between power terminals and FG terminals: 1,800 VAC for 1 min (voltage 400 V) Between brake terminal and FG terminals: 1,000 VAC for 1 min
Insulation class			Class F
Protective structure			IP67 (except for the through-shaft part and connector pins)
International standard	EU Directives and UK legislation	Low Voltage	EN 60034-1/-5
	UL standards		UL 1004-1/-6
	CSA standards		CSA C22.2 No.100 (with cUR mark)

* The amplitude may be increased by machine resonance. As a guideline, 80% of the specified value must not be exceeded.
Note: 1. Do not use the cable when it is laying in oil or water.
2. Do not expose the cable outlet or connections to stress due to bending or its own weight.

Encoder Specifications

Item	Specifications
Encoder system	Optical batteryless absolute encoder
Resolution per rotation	20 bits
Multi-rotation data hold	12 bits
Output signal	Serial communications
Output interface	RS485 compliant

Note: It is possible to use an absolute encoder as an incremental encoder.
Refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and Safety
Functionality User's Manual (Cat.No.I621) for details.

Characteristics

3,000-r/min Servomotors

Model (R88M-)			200 VAC
Item		Unit	1AM20030T	1AM40030T	1AM75030T
*Rated output 12*		W	200	400	750
*Rated torque 12*		N·m	0.637	1.27	2.39
*Rated rotation speed 12*		r/min	3000
Maximum rotation speed		r/min	6000
*Momentary maximum torque 13*		N·m	2.2 *4	4.5 *4	8.4 *4
*Rated current 12*		A(rms)	1.5	2.5	4.6
*Momentary maximum current 1**		A(rms)	5.6	9.1	16.9
Rotor inertia	Without brake	× 10^-4 kg·m²	0.224	0.446	1.825
Rotor inertia	With brake	× 10^-4 kg·m²	0.284	0.506	2.075
Applicable load inertia		× 10^-4 kg·m²	4.80	8.40	19.4
*Torque constant 1**		N·m/A(rms)	0.48	0.56	0.59
*Power rate 15*		kW/s	18.1	36.2	31.3
*Mechanical time constant 5**		ms	0.79	0.58	0.66
Electrical time constant		ms	2.4	2.6	3.3
*Allowable radial load 6**		N	245	245	490
*Allowable thrust load 6**		N	88	88	196
Weight	Without brake	kg	1.3	1.8	3.2
Weight	With brake	kg	1.7	2.2	4.1
Radiator plate dimensions (material)		mm	250 × 250 × t6 (aluminum)
Brake specifications *7	*Excitation voltage 8**	V	24 DC ±10%
	Current consumption at 20°C)	A	0.32	0.32	0.37
	Static friction torque	N·m	1.37 min.	1.37 min.	2.55 min.
	Attraction time	ms	30 max.	30 max.	40 max.
	*Release time 9**	ms	20 max.	20 max.	35 max.
	Backlash	°	1.2 max.	1.2 max.	1.0 max.
	Allowable braking work	J	60	60	250
	Allowable total work	J	60,000	60,000	250,000
	Allowable angular acceleration	rad/s²	10,000 max.
	Brake lifetime (acceleration/deceleration)	---	10 million times min.
	Brake lifetime (ON/OFF), B10d	---	1 million times min.
	Insulation class	---	Class F

For models with an oil seal the following derating is used due to increase in friction torque.

Model (R88M-)		1AM20030T-O/ -OS2/-BO/-BOS2	1AM40030T-O/ -OS2/-BO/-BOS2	1AM75030T-O/ -OS2/-BO/-BOS2
Item	Unit	1AM20030T-O/ -OS2/-BO/-BOS2	1AM40030T-O/ -OS2/-BO/-BOS2	1AM75030T-O/ -OS2/-BO/-BOS2
Derating rate	%	95	80	90
Rated output	W	190	320	675
Rated current	A (rms)	1.5	2.1	4.2

Model (R88M-)			200 VAC
Item		Unit	1AL1K030T	1AL1K530T	1AL2K030T	1AL2K630T
*Rated output 12*		W	1,000	1,500	2,000	2,600
*Rated torque 12*		N·m	3.18	4.77	6.37	8.28
*Rated rotation speed 12*		r/min	3,000
Maximum rotation speed		r/min	5,000
*Momentary maximum torque 13*		N·m	9.55	14.3	19.1	24.8
*Rated current 12*		A(rms)	5.2	8.8	12.5	14.8
*Momentary maximum current 1**		A(rms)	16.9	28.4	41.0	47.3
Rotor inertia	Without brake	× 10^-4 kg·m²	2.105	2.105	2.405	6.813
Rotor inertia	With brake	× 10^-4 kg·m²	2.555	2.555	2.855	7.313
Applicable load inertia		× 10^-4 kg·m²	35.3	47.6	60.2	118
*Torque constant 1**		N·m/A(rms)	0.67	0.58	0.56	0.62
*Power rate 15*		kW/s	48	108	169	101
*Mechanical time constant 5**		ms	0.58	0.58	0.50	0.47
Electrical time constant		ms	5.9	6.1	6.4	11
*Allowable radial load 6**		N	490
*Allowable thrust load 6**		N	196
Weight	Without brake	kg	5.8	5.8	6.5	11.5
Weight	With brake	kg	7.5	7.5	8.2	13.5
Radiator plate dimensions (material)		mm	400 × 400 × t20 (aluminum)		470 × 470 × t20 (aluminum)
Brake specifi- cations *7	*Excitation voltage 8**	V	24 VDC±10%
	Current consumption (at 20°C)	A	0.70	0.70	0.70	0.66
	Static friction torque	N·m	9.3 min.	9.3 min.	9.3 min.	12 min.
	Attraction time	ms	100 max.	100 max.	100 max.	100 max.
	*Release time 9**	ms	30 max.	30 max.	30 max.	30 max.
	Backlash	°	1.0 max.	1.0 max.	1.0 max.	0.8 max.
	Allowable braking work	J	500	500	500	1000
	Allowable total work	J	900,000	900,000	900,000	3000,000
	Allowable angular acceleration	rad/s²	10,000 max.
	Brake lifetime (acceleration/ deceleration)	---	10 million times min.
	Brake lifetime (ON/OFF), B10d	---	1 million times min.
	Insulation class	---	Class F

Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.

Model (R88M-)			AC400V
Item		Unit	1AL75030C	1AL1K030C	1AL1K530C
*Rated output 12*		W	750	1,000	1,500
*Rated torque 12*		N·m	2.39	3.18	4.77
*Rated rotation speed 12*		r/min	3,000
Maximum rotation speed		r/min	5,000
*Momentary maximum torque 13*		N·m	7.16	9.55	14.3
*Rated current 12*		A(rms)	3.0	3.0	4.5
*Momentary maximum current 1**		A(rms)	9.6	9.6	14.1
Rotor inertia	Without brake	× 10^-4 kg·m²	1.305	2.105	2.105
Rotor inertia	With brake	× 10^-4 kg·m²	1.755	2.555	2.555
Applicable load inertia		× 10^-4 kg·m²	38.6	35.3	47.6
*Torque constant 1**		N·m/A(rms)	0.91	1.17	1.17
*Power rate 15*		kW/s	44	48	108
*Mechanical time constant 5**		ms	1.1	0.58	0.58
Electrical time constant		ms	4.3	5.9	5.9
*Allowable radial load 6**		N	490
*Allowable thrust load 6**		N	196
Weight	Without brake	kg	4.2	5.8	5.8
Weight	With brake	kg	5.9	7.5	7.5
Radiator plate dimensions (material)		mm	305 × 305 × t20 (aluminum)	400 × 400 × t20 (aluminum)
Brake specifications *7	*Excitation voltage 8**	V	24 VDC±10%
	Current consumption (at 20°C)	A	0.70	0.70	0.70
	Static friction torque	N·m	9.3 min.	9.3 min.	9.3 min.
	Attraction time	ms	100 max.	100 max.	100 max.
	*Release time 9**	ms	30 max.	30 max.	30 max.
	Backlash	°	1.0 max.	1.0 max.	1.0 max.
	Allowable braking work	J	500	500	500
	Allowable total work	J	900,000	900,000	900,000
	Allowable angular acceleration	rad/s²	10,000 max.
	Brake lifetime (acceleration/ deceleration)	---	10 million times min.
	Brake lifetime (ON/OFF), B10d	---	1 million times min.
	Insulation class	---	Class F

Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.

Model (R88M-)			AC400V
Item		Unit	1AL2K030C	1AL3K030C
*Rated output 12*		W	2,000	3,000
*Rated torque 12*		N·m	6.37	9.55
*Rated rotation speed 12*		r/min	3,000
Maximum rotation speed		r/min	5,000
*Momentary maximum torque 13*		N·m	19.1	28.7
*Rated current 12*		A(rms)	6.3	8.7
*Momentary maximum current 1**		A(rms)	19.8	27.7
Rotor inertia	Without brake	× 10^-4 kg·m²	2.405	6.813
Rotor inertia	With brake	× 10^-4 kg·m²	2.855	7.313
Applicable load inertia		× 10^-4 kg·m²	60.2	118
*Torque constant 1**		N·m/A(rms)	1.15	1.23
*Power rate 15*		kW/s	169	134
*Mechanical time constant 5**		ms	0.52	0.49
Electrical time constant		ms	6.3	11
*Allowable radial load 6**		N	490
*Allowable thrust load 6**		N	196
Weight	Without brake	kg	6.5	11.5
Weight	With brake	kg	8.2	13.5
Radiator plate dimensions (material)		mm	470 × 470 × t20 (aluminum)
Brake specifications *7	*Excitation voltage 8**	V	24 VDC±10%
	Current consumption (at 20°C)	A	0.70	0.66
	Static friction torque	N·m	9.3 min.	12 min.
	Attraction time	ms	100 max.	100 max.
	*Release time 9**	ms	30 max.	30 max.
	Backlash	°	1.0 max.	0.8 max.
	Allowable braking work	J	500	1,000
	Allowable total work	J	900,000	3,000,000
	Allowable angular acceleration	rad/s²	10,000 max.
	Brake lifetime (acceleration/ deceleration)	---	10 million times min.
	Brake lifetime (ON/OFF), B10d	---	1 million times min.
	Insulation class	---	Class F

*1. This is a typical value for when the Servomotor is used at a normal temperature (20°C, 65%) in combination with a
Servo Drive.
*2. The rated values are the values with which continuous operation is possible at an ambient temperature of 40°C when
the Servomotor is horizontally installed on a specified radiator plate.
*3. The momentary maximum torque is approximately 300% of the rated torque, except for some models.
*4. The momentary maximum torque is approximately 350% of the rated torque. Output at the momentary maximum
torque shortens detection time of the overload protection function. Refer to Electronic Thermal Function in the AC
Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications and Safety Functionality User's Manual
(Cat. No. I621) for details.
*5. This value is for models without options.
*6. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating
temperatures.
The allowable radial loads are applied as shown in the following diagram.

R88M-1A[] / R88D-1SAN[]-ECT Specifications 46

*7. When the brake is released for a vertical axis, refer to the AC Servomotors/Servo Drives 1S-series with Built-in
EtherCAT® Communications and Safety Functionality User's Manual (Cat. No. I621) to set an appropriate value for Brake
Interlock Output (4610 hex).
*8. This is a non-excitation brake. It is released when excitation voltage is applied.
*9. This value is a reference value.
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.

Torque-Rotation Speed Characteristics for 3,000-r/min Servomotors (200 VAC)

The following graphs show the characteristics with a 3-m standard cable and a 3-phase 200-VAC or single-phase 220-VAC input.

R88M-1A[] / R88D-1SAN[]-ECT Specifications 48

Torque-Rotation Speed Characteristics for 3,000-r/min Servomotors (400 VAC)

The following graphs show the characteristics with a 3-m standard cable and a 3-phase 400-VAC input.

R88M-1A[] / R88D-1SAN[]-ECT Specifications 49

1,500-r/min Servomotors

Model (R88M-)			AC200V
Item		Unit	1AM1K515T	1AM2K715T
*Rated output 12*		W	1,500	2,700
*Rated torque 12*		N·m	9.55	17.2
*Rated rotation speed 12*		r/min	1,500
Maximum rotation speed		r/min	3,000
*Momentary maximum torque 1**		N·m	28.7	51.6
*Rated current 12*		A(rms)	8.6	14.6
*Momentary maximum current 1**		A(rms)	28.4	49.3
Rotor inertia	Without brake	× 10^-4 kg·m²	12.413	40.013
Rotor inertia	With brake	× 10^-4 kg·m²	13.013	45.113
Applicable load inertia		× 10^-4 kg·m²	127.05	270.63
*Torque constant 1**		N·m/A(rms)	1.11	1.29
*Power rate 13*		kW/s	73	74
*Mechanical time constant 3**		ms	0.75	1.0
Electrical time constant		ms	17	19
*Allowable radial load 4**		N	490	1176
*Allowable thrust load 4**		N	196	490
Weight	Without brake	kg	11	18
Weight	With brake	kg	13	22
Radiator plate dimensions (material)		mm	470 × 470 × t20 (aluminum)
Brake specifications *5	*Excitation voltage 6**	V	24 VDC±10%
	Current consumption (at 20°C)	A	0.66	1.20
	Static friction torque	N·m	12 min.	22 min.
	Attraction time	ms	100 max.	120 max.
	*Release time 7**	ms	30 max.	50 max.
	Backlash	°	0.6 max.	0.8 max.
	Allowable braking work	J	1,000	1,400
	Allowable total work	J	3,000,000	4,600,000
	Allowable angular acceleration	rad/s²	10,000 max.
	Brake lifetime (acceleration/ deceleration)	---	10 million times min.
	Brake lifetime (ON/OFF), B10d	---	1 million times min.
	Insulation class	---	Class F

Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.

Model (R88M-)			AC400V
Item		Unit	1AM1K515C	1AM3K015C
*Rated output 12*		W	1,500	3,000
*Rated torque 12*		N·m	9.55	19.1
*Rated rotation speed 12*		r/min	1,500
Maximum rotation speed		r/min	3,000
*Momentary maximum torque 1**		N·m	28.7	57.3
*Rated current 12*		A(rms)	4.4	8.5
*Momentary maximum current 1**		A(rms)	14.1	28.3
Rotor inertia	Without brake	× 10^-4 kg·m²	12.413	40.013
Rotor inertia	With brake	× 10^-4 kg·m²	13.013	45.113
Applicable load inertia		× 10^-4 kg·m²	127.05	270.63
*Torque constant 1**		N·m/A(rms)	2.21	2.46
*Power rate 13*		kW/s	73	91
*Mechanical time constant 3**		ms	0.75	1.2
Electrical time constant		ms	17	16
*Allowable radial load 4**		N	490	1176
*Allowable thrust load 4**		N	196	490
Weight	Without brake	kg	11	18
Weight	With brake	kg	13	22
Radiator plate dimensions (material)		mm	470 × 470 × t20 (aluminum)
Brake specifications *5	*Excitation voltage 6**	V	24 VDC±10%
	Current consumption (at 20°C)	A	0.66	1.20
	Static friction torque	N·m	12 min.	22 min.
	Attraction time	ms	100 max.	120 max.
	*Release time 7**	ms	30 max.	50 max.
	Backlash	°	0.6 max.	0.8 max.
	Allowable braking work	J	1,000	1,400
	Allowable total work	J	3,000,000	4,600,000
	Allowable angular acceleration	rad/s²	10,000 max.
	Brake lifetime (acceleration/ deceleration)	---	10 million times min.
	Brake lifetime (ON/OFF), B10d	---	1 million times min.
	Insulation class	---	Class F

R88M-1A[] / R88D-1SAN[]-ECT Specifications 53

*5. When the brake is released for a vertical axis, refer to the AC Servomotors/Servo Drives 1S-series with Built-in
EtherCAT® Communications and Safety Functionality User's Manual (Cat. No. I621) to set an appropriate value for
Brake Interlock Output (4610 hex).
*6. This is a non-excitation brake. It is released when excitation voltage is applied.
*7. This value is a reference value.
Note: 1. For the models listed in the table above, there is no derating for models with an oil seal.

Torque-Rotation Speed Characteristics for 1,500-r/min Servomotors (200 VAC)

The following graphs show the characteristics with a 3-m standard cable and a 3-phase 200-VAC or single-phase 220-VAC input.

R88M-1A[] / R88D-1SAN[]-ECT Specifications 55

Torque-Rotation Speed Characteristics for 1,500-r/min Servomotors (400 VAC)

The following graphs show the characteristics with a 3-m standard cable and a 3-phase 400-VAC input.

Decelerator AC Servo System [1S-series with Safety Functionality]

Specifications

Backlash: 3 Arcminutes Max.

For 3,000-r/min Servomotors

Servomotor rated output	Reduction ratio	Model	Rated rotation speed	Rated torque	Efficiency	Momentary maximum rotation speed	Momentary maximum torque
Servomotor rated output	Reduction ratio	Model	r/min	N·m	%	r/min	N·m
200 W	1/5	R88G-HPG14A05200B[]	600	2.4	75.4	1200	9.7
	1/11	R88G-HPG14A11200B[]	272	5.8	82.6	545	21.8
	1/21	R88G-HPG20A21200B[]	142	10.2	76.2	285	41.7
	1/33	R88G-HPG20A33200B[]	90	17.0	80.6	181	66.5
	1/45	R88G-HPG20A45200B[]	66	23.5	82.1	133	91.1
400 W	1/5	R88G-HPG14A05400B[]	600	5.3	84.2	1200	20.4
	1/11	R88G-HPG20A11400B[]	272	11.4	81.6	545	45.5
	1/21	R88G-HPG20A21400B[]	142	23.0	86.1	285	88.1
	1/33	R88G-HPG32A33400B[]	90	33.8	80.7	181	136.2
	1/45	R88G-HPG32A45400B[]	66	46.6	81.5	133	186.1
750 W (200 V)	1/5	R88G-HPG20A05750B[]	600	9.9	82.9	1200	38.7
	1/11	R88G-HPG20A11750B[]	272	20.0 *1	87.2	545	86.7
	1/21	R88G-HPG32A21750B[]	142	42.1	84.0	285	163.3
	1/33	R88G-HPG32A33750B[]	90	69.3	87.9	181	259.7
750 W (400 V)	1/5	R88G-HPG32A052K0B[]	600	7.7	64.3	1000	30.6
	1/11	R88G-HPG32A112K0B[]	272	20.5	78.0	454	70.9
	1/21	R88G-HPG32A211K5B[]	142	42.1	84.0	238	138.3
1 kW	1/5	R88G-HPG32A052K0B[]	600	11.5	72.2	1000	42.0
	1/11	R88G-HPG32A112K0B[]	272	28.9	82.5	454	96.1
	1/21	R88G-HPG32A211K5B[]	142	58.1	86.9	238	186.5
1.5 kW	1/5	R88G-HPG32A052K0B[]	600	19.1	80.1	1000	64.8
	1/11	R88G-HPG32A112K0B[]	272	45.7	87.0	454	146.3
	1/21	R88G-HPG32A211K5B[]	142	90.1	90.0	238	282.2
	1/33	R88G-HPG50A332K0B[]	90	141.3	89.8	151	443.2
	1/45	R88G-HPG50A451K5B[]	66	194.8	90.8	111	606.5
2 kW	1/5	R88G-HPG32A052K0B[]	600	26.8	84.1	1000	87.9
2 kW	1/11	R88G-HPG32A112K0B[]	272	62.5	89.3	454	197.0
2.6 kW (200 V)	1/5	R88G-HPG32A053K0B[]	600	36.0	86.8	1000	115.2
3 kW (400 V)	1/5	R88G-HPG32A053K0B[]	600	42.0	88.1	1000	134.0

Servomotor rated output	Reduction ratio	Model	Decelerator inertia	Allowable radial load	Allowable thrust load	Weight
Servomotor rated output	Reduction ratio	Model	× 10^-4 kg·m²	N	N	kg
200 W	1/5	R88G-HPG14A05200B[]	0.207	221	883	1.0
	1/11	R88G-HPG14A11200B[]	0.197	280	1119	1.1
	1/21	R88G-HPG20A21200B[]	0.49	800	2817	2.9
	1/33	R88G-HPG20A33200B[]	0.45	916	3226	2.9
	1/45	R88G-HPG20A45200B[]	0.45	1006	3541	2.9
400 W	1/5	R88G-HPG14A05400B[]	0.207	221	883	1.1
	1/11	R88G-HPG20A11400B[]	0.57	659	2320	2.9
	1/21	R88G-HPG20A21400B[]	0.49	800	2817	2.9
	1/33	R88G-HPG32A33400B[]	0.62	1565	6240	7.5
	1/45	R88G-HPG32A45400B[]	0.61	1718	6848	7.5
750 W (200 V)	1/5	R88G-HPG20A05750B[]	0.68	520	1832	2.9
	1/11	R88G-HPG20A11750B[]	0.6	659	2320	3.1
	1/21	R88G-HPG32A21750B[]	3.0	1367	5448	7.8
	1/33	R88G-HPG32A33750B[]	2.7	1565	6240	7.8
750 W (400 V)	1/5	R88G-HPG32A052K0B[]	3.8	889	3542	7.4
	1/11	R88G-HPG32A112K0B[]	3.4	1126	4488	7.9
	1/21	R88G-HPG32A211K5B[]	3.0	1367	5448	7.9
1 kW	1/5	R88G-HPG32A052K0B[]	3.8	889	3542	7.4
	1/11	R88G-HPG32A112K0B[]	3.4	1126	4488	7.9
	1/21	R88G-HPG32A211K5B[]	3.0	1367	5448	7.9
1.5 kW	1/5	R88G-HPG32A052K0B[]	3.8	889	3542	7.4
	1/11	R88G-HPG32A112K0B[]	3.4	1126	4488	7.9
	1/21	R88G-HPG32A211K5B[]	3.0	1367	5448	7.9
	1/33	R88G-HPG50A332K0B[]	4.8	4135	14300	19.0
	1/45	R88G-HPG50A451K5B[]	4.7	4538	15694	19.0
2 kW	1/5	R88G-HPG32A052K0B[]	3.8	889	3542	7.4
2 kW	1/11	R88G-HPG32A112K0B[]	3.4	1126	4488	7.9
2.6 kW (200 V)	1/5	R88G-HPG32A053K0B[]	3.8	889	3542	7.3
3 kW (400 V)	1/5	R88G-HPG32A053K0B[]	3.8	889	3542	7.3

*1. The value is the allowable continuous output torque of the Decelerator. Take care so that this value is not exceeded.
*2. The value is the maximum allowable torque of the Decelerator. Take care so that this value is not exceeded.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
2. The protective structure rating of the Servomotor with the Decelerator is IP44.
3. The Allowable radial load column shows the values obtained at the center of the shaft (T/2).

R88M-1A[] / R88D-1SAN[]-ECT Specifications 62

4. The standard shaft type is a straight shaft. A model with a key and tap is indicated with “J” at [] of the model
number.
5. Take care so that the surface temperature of the Decelerator does not exceed 70°C.

For 1,500-r/min Servomotors

Servomotor rated output	Reduction ratio	Model	Rated rotation speed	Rated torque	Efficiency	Momentary maximum rotation speed	Momentary maximum torque
Servomotor rated output	Reduction ratio	Model	r/min	N·m	%	r/min	N·m
1.5 kW	1/5	R88G-HPG32A053K0B[]	300	43.8	91.7	600	135.7
	1/11	R88G-HPG32A112K0SB[]	136	98.1	93.4	272	299.0 *1
	1/21	R88G-HPG50A21900TB[]	71	187.2	93.3	142	573.2
	1/33	R88G-HPG50A33900TB[]	45	294.1 *2	94.1	90	849.0 *1
2.7 kW (200 V)	1/5	R88G-HPG50A055K0SB[]	300	79.2	92.1	600	244.3
	1/11	R88G-HPG50A115K0SB[]	136	177.8	94.0	272	541.1
	1/20	R88G-HPG65A205K0SB[]	75	315.6	91.7	150	976.0
	1/25	R88G-HPG65A255K0SB[]	60	396.8	92.3	120	1222.4
3 kW (400 V)	1/5	R88G-HPG50A055K0SB[]	300	88.3	92.5	600	271.7
	1/11	R88G-HPG50A115K0SB[]	136	197.9	94.2	272	601.2
	1/20	R88G-HPG65A205K0SB[]	75	352.0	92.2	150	1085.5
	1/25	R88G-HPG65A255K0SB[]	60	442.4	92.7	120	1359.2

Servomotor rated output	Reduction ratio	Model	Decelerator inertia	Allowable radial load	Allowable thrust load	Weight
Servomotor rated output	Reduction ratio	Model	× 10^-4 kg·m²	N	N	kg
1.5 kW	1/5	R88G-HPG32A053K0B[]	3.8	889	3542	7.3
	1/11	R88G-HPG32A112K0SB[]	3.4	1126	4488	7.8
	1/21	R88G-HPG50A21900TB[]	7.0	3611	12486	19.1
	1/33	R88G-HPG50A33900TB[]	5.9	4135	14300	19.1
2.7 kW (200 V)	1/5	R88G-HPG50A055K0SB[]	11	2347	8118	22.0
	1/11	R88G-HPG50A115K0SB[]	8.4	2974	10285	23.5
	1/20	R88G-HPG65A205K0SB[]	14	7338	26799	55.4
	1/25	R88G-HPG65A255K0SB[]	14	7846	28654	55.4
3 kW (400 V)	1/5	R88G-HPG50A055K0SB[]	11	2347	8118	22.0
	1/11	R88G-HPG50A115K0SB[]	8.4	2974	10285	23.5
	1/20	R88G-HPG65A205K0SB[]	14	7338	26799	55.4
	1/25	R88G-HPG65A255K0SB[]	14	7846	28654	55.4

R88M-1A[] / R88D-1SAN[]-ECT Specifications 66

Backlash: 15 Arcminutes Max.

For 3,000-r/min Servomotors

Servomotor rated output	Reduction ratio	Model	Rated rotation speed	Rated torque	Efficiency	Momentary maximum rotation speed	Momentary maximum torque
Servomotor rated output	Reduction ratio	Model	r/min	N·m	%	r/min	N·m
200 W	1/5	R88G-VRXF05B200CJ	600	2.93	92	1200	9.94 *
	1/9	R88G-VRXF09C200CJ	333	4.76	83	667	16.43
	1/15	R88G-VRXF15C200CJ	200	8.22	86	400	28.38
	1/25	R88G-VRXF25C200CJ	120	13.70	86	240	47.30
400 W	1/5	R88G-VRXF05C400CJ	600	5.59	88	1200	19.80
	1/9	R88G-VRXF09C400CJ	333	10.06	88	667	34.00 *
	1/15	R88G-VRXF15C400CJ	200	16.95	89	400	56.70 *
	1/25	R88G-VRXF25C400CJ	120	28.26	89	240	92.40 *
750 W (200 V)	1/5	R88G-VRXF05C750CJ	600	10.99	92	1200	38.64
	1/9	R88G-VRXF09D750CJ	333	19.57	91	667	63.70 *
	1/15	R88G-VRXF15D750CJ	200	31.91	89	400	106.00 *
	1/25	R88G-VRXF25D750CJ	120	53.18	89	240	177.00 *

Servomotor rated output	Reduction ratio	Model	Decelerator inertia	Allowable radial load	Allowable thrust load	Weight
Servomotor rated output	Reduction ratio	Model	× 10^-4 kg·m²	N	N	kg
200 W	1/5	R88G-VRXF05B200CJ	0.147	392	196	0.72
	1/9	R88G-VRXF09C200CJ	0.273	931	465	1.70
	1/15	R88G-VRXF15C200CJ	0.302	1176	588	2.10
	1/25	R88G-VRXF25C200CJ	0.293	1323	661	2.10
400 W	1/5	R88G-VRXF05C400CJ	0.370	784	392	1.70
	1/9	R88G-VRXF09C400CJ	0.273	931	465	1.70
	1/15	R88G-VRXF15C400CJ	0.302	1176	588	2.10
	1/25	R88G-VRXF25C400CJ	0.293	1323	661	2.10
750 W (200 V)	1/5	R88G-VRXF05C750CJ	0.817	784	392	2.10
	1/9	R88G-VRXF09D750CJ	0.755	1176	588	3.40
	1/15	R88G-VRXF15D750CJ	0.685	1372	686	3.80
	1/25	R88G-VRXF25D750CJ	0.658	1617	808	3.80

* The value is the maximum allowable torque of the Decelerator. Take care so that this value is not exceeded.
Note: 1. The Decelerator inertia is the Servomotor shaft conversion value.
2. The protective structure rating of the Servomotor combined with the Decelerator is IP44.
(Excluding decelerator and servo motor connecting parts.)
3. The Allowable radial load column shows the values obtained at the center of the shaft (T/2).

R88M-1A[] / R88D-1SAN[]-ECT Specifications 71

4. The standard shaft type is a shaft with key and tap. (The key is temporarily assembled to the shaft.)
5. Take care so that the surface temperature of the Decelerator does not exceed 90°C.

last update: June 10, 2024

Product Category

Motion / Drives
- Servomotors / Servo Drivers
  - R88M-1A[] / R88D-1SAN[]-ECT
  - R88M-1[] / R88D-1SN[]-ECT
  - R88M-K, R88D-KN[]-ECT
  - R88L-EC, R88D-KN[]-ECT-L
  - R88M-K, R88D-KN[]-ML2
  - R88M-K, R88D-KT
  - R88M-G, R7D-BP
  - R88D-1SN[]-ECT-51
  - R88M-KE, R88D-KP

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