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R88M-KE, R88D-KP

G5-series Pulse Train Input Type AC Servomotors/Servo Drives

R88M-KE, R88D-KP

High-performance Servo Optimal for positioning Application.

Related Contents

last update: August 06, 2014

Servo Drive

General Specifications

Item Specifications
Ambient operating temperature and operating
humidity		 0 to +50°C, 20 to 85%RH max. (with no condensation)
Storage ambient temperature and humidity -20 to +65°C, 20 to 85%RH. (with no condensation)
Maximum allowable temperature: 80°C for 72 hours maximum (with no condensation)
Operating and storage atmosphere No corrosive gases
Vibration resistance 10 to 60 Hz and at an acceleration of 5.88 m/s2 or less (Not to be run continuously at the resonance point)
Insulation resistance Between power supply/power line terminals and FG terminal: 0.5 MΩ min. (at 500 VDC Megger)
Dielectric strength Between power supply/power line terminals and FG terminal: 1,500 VAC for 1 min at 50/60 Hz
Protective structure Built into panel
International
standard		 EC
directives		 EMC directive EN55011, EN61000-6-2, IEC61800-3
Low voltage
directive		 EN61800-5-1
UL standards UL508C
CSA standards CSA22.2 No.14

Note: 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.

Note: 2. Never perform dielectric strength or other megameter tests on the Servo Drive. Failure to follow this guideline may result in damaging the internal elements.

Note: 3. Depending on the operating conditions, some Servo Drive parts will require maintenance. For details, refer to the G5-series Pulse Train Input Type USER'S MANUAL. Man.No. I584

Characteristics

Servo Drives with 200VAC Input Power

for Single-phase/Three-phase input type

Item R88D-KP01H R88D-KP02H R88D-KP04H R88D-KP08H R88D-KP10H R88D-KP15H
Continuous output current (rms) 1.2A 1.6A 2.6A 4.1A 5.9A 9.4A
Input power
supply		 Main circuit Power supply
capacity		 0.5KVA 0.5KVA 0.9KVA 1.3KVA 1.8KVA 2.3KVA
Power supply
voltage		 Single-phase or Three-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
Rated current 1.6/0.9A *2 2.4/1.3A *2 4.1/2.4A *2 6.6/3.6A *2 9.1/5.2A *2 14.2/8.1A *2
Heat value *1 14.3/13.7W *2 23/19W *2 33/24W *2 30/35.5W *2 57/49W *2 104/93W *2
Control circuit Power supply
voltage		 Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
Heat value *1 4W 4W 4W 4W 7W 7W
Weight Approx. 0.8 kg Approx. 0.8kg Approx. 1.0kg Approx. 1.6kg Approx. 1.8kg Approx. 1.8kg
Maximum applicable motor capacity 100W 200W 400W 750W 1kW 1.5kW
Applicable
Servomotors		 3,000 r/min
Servomotors		 INC KE05030H
KE10030H		 KE20030H KE40030H KE75030H - KE1K030H
KE1K530H
2,000 r/min
Servomotors		 INC - - - - KE1K020H KE1K520H
1,000 r/min
Servomotors		 INC - - - - - KE90010H

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

*2. The first value is for single-phase input power and the second value is for 3-phase input power.

Servo Drives with 200VAC Input Power

for Three-phase input type

Item R88D-KP20H R88D-KP30H R88D-KP50H
Continuous output current (rms) 13.4A 18.7A 33.0A
Input power
supply		 Main circuit Power supply
capacity		 3.3KVA 4.5KVA 6.0KVA
Power supply
voltage		 Three-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
Rated current 11.8A 15.1A 21.6A
Heat value *1 139W 108W 328W
Control circuit Power supply
voltage		 Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
Heat value *1 10W 13W 13W
Weight Approx.2.7kg Approx.4.8kg Approx.4.8kg
Maximum applicable motor capacity 2kW 3kW 5kW
Applicable
Servomotors		 3,000 r/min
Servomotors		 INC KE2K030H KE3K030H KE4K030H
KE5K030H
2,000 r/min
Servomotors		 INC KE2K020H KE3K020H KE4K020H
KE5K020H
1,000 r/min
Servomotors		 INC - KE2K010H KE3K010H

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

Functions

Basic control

Position control Internally set speed control
Switching control

Advanced control

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

Other functions

Realtime autotuning

Manual tuning

Various parameters

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

AC Servomotors

General Specifications

Item 3,000-r/min motors 2,000-r/min motors
3,000-r/min motors		 1,000-r/min motors
50 to 750W 1 to 5kW 900 W to 3kW
Ambient operating temperature and
operating humidity		 0 to 40°C
20 to 85% RH (with no condensation)
Storage ambient temperature and
humidity		 -20 to +65°C, 20% to 85% RH (with no condensation)
Maximum allowable temperature: 80°C for 72 hours maximum (standard humidity)
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 terminal and FG terminal: 20 MΩ min. (at 500 VDC Megger)
Dielectric strength 1,500 VAC between power terminal and FG terminal for 1 min (voltage 200 V)
1,000 VAC between brake terminal and FG terminal for 1 min
Insulation class Type B Type F
Protective structure IP65 (except for through-shaft parts and motor and encoder connector pins)
International
standard		 EC
directive		 Low voltage
directive		 EN60034-1/-5
UL standards UL1004-1
CSA standards CSA 22.2 No.100

* The amplitude may be amplified by machine 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.

Characteristics

Characteristics 3,000 r/min Servomotors (200 VAC Input Power)

50~750W

Model (R88M-)
KE05030H KE10030H KE20030H KE40030H KE75030H
Item Unit
Rated output*1 W 50 100 200 400 750
Rated torque*1 N • m 0.16 0.32 0.64 1.3 2.4
Rated rotation speed r/min 3000
Momentary maximum rotation speed r/min 5000 4500
Momentary maximum torque*1 N • m 0.48 0.95 1.91 3.8 7.1
Rated current*1 A (rms) 1.1 1.1 1.6 2.6 4
Momentary maximum current*1 A (rms) 4.7 4.7 6.9 11 17
Rotor inertia Without brake kg • m2 0.025×10-4 0.051×10-4 0.14×10-4 0.26×10-4 0.87×10-4
With brake kg • m2 0.027×10-4 0.054×10-4 0.16×10-4 0.28×10-4 0.97×10-4
Applicable load inertia - 30 times the rotor inertia max. *2 20 times
the rotor
inertia
max. *2
Torque constant *1 N • m/A 0.10±10% 0.21±10% 0.29±10% 0.36±10% 0.45±10%
Power rate *1 Without brake kW/s 10.4 20.1 30.3 62.5 66
With brake kW/s 9.3 19 25.8 57.2 58.9
Mechanical
time
constant		 Without
brake		 ms 1.56 1.08 0.71 0.52 0.45
With brake ms 1.74 1.14 0.84 0.57 0.51
Electrical time constant ms 0.7 0.79 2.6 3 4.6
Allowable radial load *3 N 68.6 68.6 245 245 392
Allowable thrust load *3 N 58.8 58.8 98 98 147
Weight Without
brake		 kg Approx.
0.32		 Approx.
0.47		 Approx.
0.82		 Approx.
1.2		 Approx.
2.3
With brake kg Approx.
0.32		 Approx.
0.68		 Approx.
1.3		 Approx.
1.7		 Approx.
3.1
Radiator plate dimensions
(material)		 100×80×t10 (AI) 130×120×t12 (AI) 170×160
×t12 (AI)
Applicable drivers (R88D-) KP01H KP01H KP02H KP04H KP08H
Brake
specifications		 Brake inertia kg • m2 2×10-7 2×10-7 1.8×10-6 1.8×10-6 7.5×10-6
Excitation voltage *4 V 24 VDC±5%
Power consumption
(at 20°C)		 W 7 7 9 9 10
Current consumption (at
20°C)		 A 0.3 0.3 0.36 0.36 0.42
Static friction torque N • m 0.29 min. 0.29 min. 1.27 min. 1.27 min. 2.45min.
Attraction time *5 ms 35 max. 35 max. 50 max. 50 max. 70max.
Release time *5 ms 20 max. 20 max. 15 max. 15 max. 20max.*6
Backlash ±1°
Allowable work per braking J 39.2 39.2 137 137 196
Allowable total work J 4.9×103 4.9×103 44.1×103 44.1×103 1.47×105
Allowable angular
acceleration		 rad/s2 30,000 max. (Speed of 2,800 r/min or more
must not be changed in less than 10 ms)		 10000
Brake limit - 10 million times min.
Rating - Continuous
Insulation class - Type F

1000~5000W

Model (R88M-)
KE1K030H KE1K530H KE2K030H KE3K030H KE4K030H KE5K030H
Item Unit
Rated output*1 W 1000 1500 2000 3000 4000 5000
Rated torque*1 N • m 3.18 4.77 6.37 9.55 12.7 15.9
Rated rotation speed r/min 3000
Momentary maximum rotation speed r/min 5000 4500
Momentary maximum torque*1 N • m 9.55 14.3 19.1 28.6 38.2 47.7
Rated current*1 A (rms) 6.6 8.2 11.3 18.1 19.6 24
Momentary maximum current*1 A (rms) 28 35 48 77 83 102
Rotor inertia Without brake kg • m2 2.03×10-4 2.84×10-4 3.68×10-4 6.50×10-4 12.9×10-4 17.4×10-4
With brake kg • m2 2.35×10-4 3.17×10-4 4.01×10-4 7.85×10-4 14.2×10-4 18.6×10-4
Applicable load inertia - 15 times the rotor inertia max. *2
Torque constant *1 N • m/A 0.37 0.45 0.44 0.41 0.49 0.49
Power rate *1 Without brake kW/s 49.8 80.1 110 140 126 146
With brake kW/s 43 71.8 101 116 114 136
Mechanical
time
constant		 Without
brake		 ms 0.61 0.49 0.44 0.41 0.51 0.5
With brake ms 0.71 0.55 0.48 0.49 0.56 0.54
Electrical time constant ms 5.8 6.3 6.7 11 12 13
Allowable radial load *3 N 490 490 490 490 784 784
Allowable thrust load *3 N 196 196 196 196 343 343
Weight Without
brake		 kg Approx.
3.5		 Approx.
4.4		 Approx.
5.3		 Approx.
8.3		 Approx.
11.0		 Approx.
14.0
With brake kg Approx.
4.5		 Approx.
5.4		 Approx.
6.3		 Approx.
9.4		 Approx.
12.6		 Approx.
16.0
Radiator plate dimensions
(material)		 320×300×t20 (AI) 380×350×t30 (AI)
Applicable drivers (R88D-) KP15H KP15H KP20H KP30H KP50H KP50H
Brake
specifications		 Brake inertia kg • m2 0.33×10-4 0.33×10-4 0.33×10-4 0.33×10-4 1.35×10-4 1.35×10-4
Excitation voltage *4 V 24 VDC±10%
Power consumption
(at 20°C)		 W 19 19 19 19 22 22
Current consumption (at
20°C)		 A 0.81±10% 0.81±10% 0.81±10% 0.81±10% 0.90±10% 0.90±10%
Static friction torque N • m 7.8min. 7.8min. 7.8min. 11.8min. 16.1min. 16.1min.
Attraction time *5 ms 50max. 50max. 50max. 80max. 110max. 110max.
Release time *5 ms 15max.*6 15max.*6 15max.*6 15max.*6 50max.*7 50max.*7
Backlash ±1°
Allowable work per braking J 392 392 392 392 1470 1470
Allowable total work J 4.9×105 4.9×105 4.9×106 4.9×106 2.2×106 2.2×106
Allowable angular
acceleration		 rad/s2 10000
Brake limit - 10 million times min.
Rating - Continuous
Insulation class - Type F

Characteristics 2,000 r/min Servomotors (200 VAC Input Power)

Model (R88M-)
KE1K020H KE1K520H KE2K020H KE3K020H KE4K020H KE5K020H
Item Unit
Rated output *1 W 1000 1500 2000 3000 4000 5000
Rated torque *1 N • m 4.77 7.16 9.55 14.3 19.1 23.9
Rated rotation speed r/min 2000
Momentary maximum rotation speed r/min 3000
Momentary maximum torque*1 N • m 14.3 21.5 28.6 43 57.3 71.6
Rated current *1 A (rms) 5.7 9.4 11.5 17.4 21 25.9
Momentary maximum current*1 A (rms) 24 40 49 74 89 110
Rotor inertia Without brake kg • m2 4.60×10-4 6.70×10-4 8.72×10-4 12.9×10-4 37.6×10-4 48.0×10-4
With brake kg • m2 5.90×10-4 7.99×10-4 10.0×10-4 14.2×10-4 38.6×10-4 48.8×10-4
Applicable load inertia - 10 times the rotor inertia max. *2
Torque constant *1 N • m/A 0.63 0.58 0.64 0.59 0.7 0.7
Power rate*1 Without brake kW/s 49.5 76.5 105 159 97.1 119
With brake kW/s 38.6 64.2 91.2 144 94.5 117
Mechanical
time
constant		 Without
brake		 ms 0.8 0.66 0.66 0.57 0.65 0.63
With brake ms 1.02 0.8 0.76 0.63 0.66 0.64
Electrical time constant ms 9.4 10 10 12 20 19
Allowable radial load *3 N 490 490 490 784 784 784
Allowable thrust load *3 N 196 196 196 343 343 343
Weight Without
brake		 kg Approx.5.2 Approx.6.7 Approx.8.0 Approx.11.0 Approx.15.5 Approx.18.6
With brake kg Approx.6.7 Approx.8.2 Approx.9.5 Approx.12.6 Approx.18.7 Approx.21.8
Radiator plate dimensions
(material)		 275×260×t15 (AI) 380×350×t30 (AI) 470×440×t30 (AI)
Applicable drivers (R88D-) KP10H KP15H KP20H KP30H KP50H KP50H
Brake
specifications		 Brake inertia kg • m2 1.35×10-4 1.35×10-4 1.35×10-4 1.35×10-4 4.7×10-4 4.7×10-4
Excitation voltage *4 V DC24V±10%
Power consumption
(at 20°C)		 W 14 19 19 22 31 31
Current consumption (at
20°C)		 A 0.59±10% 0.79±10% 0.79±10% 0.90±10% 1.3±10% 1.3±10%
Static friction torque N • m 4.9min. 13.7min. 13.7min. 16.2min. 24.5min. 24.5min.
Attraction time *5 ms 80max. 100max. 100max. 110max. 80max. 80max.
Release time *5 ms 70max. *6 50max. *6 50max. *6 50max. *6 25max. *7 25max. *7
Backlash ±1°
Allowable work per braking J 588 1176 1176 1470 1372 1372
Allowable total work J 7.8×105 1.5×106 1.5×106 2.2×106 2.9×106 2.9×106
Allowable angular
acceleration		 rad/s2 10000
Brake limit - 10 million times min.
Rating - Continuous
Insulation class - Type F

Characteristics 1,000 r/min Servomotors (200 VAC Input Power)

Model (R88M-)
KE90010H KE2K010H KE3K010H
Item Unit
Rated output *1 W 900 2000 3000
Rated torque *1 N • m 8.59 19.1 28.7
Rated rotation speed r/min 1000
Momentary maximum rotation speed r/min 2000
Momentary maximum torque*1 N • m 19.3 47.7 71.7
Rated current *1 A (rms) 7.6 17 22.6
Momentary maximum current*1 A (rms) 24 60 80
Rotor inertia Without brake kg • m2 6.70×10-4 30.3×10-4 48.4×10-4
With brake kg • m2 7.99×10-4 31.4×10-4 49.2×10-4
Applicable load inertia - 10 times the rotor inertia max. *2
Torque constant *1 N • m/A 0.86 0.88 0.96
Power rate *1 Without brake kW/s 110 120 170
With brake kW/s 92.4 116 167
Mechanical time constant Without brake ms 0.66 0.75 0.63
With brake ms 0.78 0.78 0.64
Electrical time constant ms 11 18 21
Allowable radial load *3 N 686 1176 1470
Allowable thrust load *3 N 196 490 490
Weight Without brake kg Approx.6.7 Approx.14.0 Approx.20.0
With brake kg Approx.8.2 Approx.17.5 Approx.23.5
Radiator plate dimensions (material) 270×260×t15 (AI)
Applicable drivers (R88D-) KP15H KP30H KP50H
Brake specifications Brake inertia kg • m2 1.35×10-4 4.7×10-4 4.7×10-4
Excitation voltage *4 V DC24V±10
Power consumption  (at 20°C) W 19 31 34
Current consumption (at 20°C) A 0.79±10% 1.3±10% 1.4±10%
Static friction torque N • m 13.7min. 24.5min. 58.8min.
Attraction time *5 ms 100max. 80max. 150max.
Release time *5 ms 50max. *6 25max. *7 50max. *7
Backlash ±1°
Allowable work per braking J 1176 1372 1372
Allowable total work J 1.5×10 6 2.9×106 2.9×106
Allowable angular acceleration rad/s2 10000
Brake limit - 10 million times min.
Rating - Continuous
Insulation class - Type F

*1. These are the values when the motor is combined with a driver at normal temperature (20°C, 65%). The momentary maximum torque indicatesthe standard value.
*2. Applicable load inertia.
• The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
• If the dynamic brake is activated frequently with high load inertia, the Dynamic Brake Resistor may burn. Do not repeatedly turn the servo ON/ OFF while the dynamic brake is enabled.
• The dynamic brake is designed only for emergency stops. Design the system so that the Servomotor remains stopped for at least 3 minutes after applying the dynamic brake. Otherwise the dynamic brake circuits may fail.
*3. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating temperatures. The allowableradial loads are applied as shown in the following diagram.

R88M-KE, R88D-KP Specifications 25

*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 by Okaya Electric Industries Co., Ltd.).
*6. Direct current switching with a varistor (Z15D151 by Ishizuka Electronics Co.).
*7. Direct current switching with a varistor (TNR9G820K by Nippon Chemi-Con Corporation).

Encoder Specifications

Incremental Encoders

Item Specifications
Encoder system Optical encoder
20 bits
No. of output pulses Phases A and B: 262,144 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

last update: August 06, 2014

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