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R88L-EC, R88D-KN[]-ECT-L

G5 Series Linear Motor/Servo Drives with built-in EtherCAT Communications Linear Motor Type

R88L-EC, R88D-KN[]-ECT-L

Linear Motor for Higher-speed and Higher-precision

AC Servo Drives

General Specifications

Item Specifications
Ambient operating temperature and humidity 0 to 55 °C, 20% to 85% max. (with no condensation)
Storage ambient temperature and humidity -20 to 65°C, 20% to 85% max. (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 terminals/power terminals and FG terminal:
0.5 MΩ min. (at 500 VDC)
Dielectric strength Between power supply/power terminals and FG terminal: 1,500 VAC
for 1 min at 50/60 Hz
Protective structure Built into panel
EC Directives * EMC Directive EN 55011, EN 61000-6-2, EN 61800-3
Low Voltage Directive EN 61800-5-1
Machinery Directives EN954-1 (Cat.3), EN ISO13849-1 (Cat.3) (PLc, d), ISO13849-1 (Cat.3)
(PLc, d), EN61508 (SIL2), EN62061 (SIL2), EN61800-5-2 (STO),
IEC61326-3-1 (SIL 2)
UL standards UL 508C
CSA standards CSA C22.2 No.14
Korean Radio Regulations (KC) Certified

* The certification from third party is issued in combination with the revolution type motor. The conformance as the whole
    system should be checked by machine builder.
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. Some Servo Drive parts will require maintenance. For details, refer to the G5 series USER'S MANUAL.
              Confirm the Manual No. that is listed in Related Manuals.
Note: 4. Vibration, unstable movement, or accoustic noise may occur by an exogenous noise. In such case, please
              reduce incoming noise as referred in G5 series user's manuals.

Characteristics

100-VAC Input Models
for Single-phase input type

Item R88D-KN01L-
ECT-L
R88D-KN02L-
ECT-L
R88D-KN04L-
ECT-L
Input
power
supply
Main
circuit
Power supply capacity 0.4 KVA 0.5 KVA 0.9 KVA
Power supply voltage Single-phase 100 to 120 VAC (85 to 132 VAC) 50/60 Hz
Rated current 2.6 A 4.3 A 7.6 A
Heat value *1 16.6 W 21 W 25 W
Control
circuit
Power supply voltage Single-phase 100 to 120 VAC (85 to 132 VAC) 50/60 Hz
Heat value *1 4 W 4 W 4 W
Mass Approx. 0.8 kg Approx. 1.0 kg Approx. 1.6 kg
Maximum
motor
capacity
Motor Rated Rms Current 1.7 Arms 2.5 Arms 4.6 Arms
Maximum current of motor 5.1 Arms 7.5 Arms 13.8 Arms

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

200-VAC Input Models
for Single-phase/Three-phase input type

Item R88D-
KN01H-
ECT-L
R88D-
KN02H-
ECT-L
R88D-
KN04H-
ECT-L
R88D-
KN08H-
ECT-L
R88D-
KN10H-
ECT-L
R88D-
KN15H-
ECT-L
Input
power
supply
Main
circuit
Power supply capacity 0.5 KVA 0.5 KVA 0.9 KVA 1.3 KVA 1.8 KVA 2.3 KVA
Power supply voltage Single-phase or 3-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz
Rated current 1.6/0.9 A
*1
2.4/1.3 A
*1
4.1/2.4 A
*1
6.6/3.6 A
*1
9.1/5.2 A
*1
14.2/8.1 A
*1
Heat value *2 14.3/
13.7 W *1
23/19 W
*1
33/24 W
*1
30/35.5 W
*1
57/49 W
*1
104/93 W
*1
Control
circuit
Power supply voltage Single-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz
Heat value *2 4 W 4 W 4 W 4 W 7 W 7 W
Mass Approx.
0.8 kg
Approx.
0.8 kg
Approx.
1.0 kg
Approx.
1.6 kg
Approx.
1.8 kg
Approx.
1.8 kg
Maximum
motor
capacity
Rated effective current of
motor
1.2 Arms 1.6 Arms 2.6 Arms 4.1 Arms 5.9 Arms 9.4 Arms
Maximum current of motor 3.6 Arms 4.8 Arms 7.8 Arms 12.3 Arms 16.9 Arms 28.2 Arms

*1. The first value is for single-phase input power and the second value is for 3-phase input power.
*2. The heat value is given for rated operation.

400-VAC Input Models
for Three-phase input type

Item R88D-
KN06F-
ECT-L
R88D-
KN10F-
ECT-L
R88D-
KN15F-
ECT-L
R88D-
KN20F-
ECT-L
R88D-
KN30F-
ECT-L
Input
power
supply
Main
circuit
Power supply capacity 1.2 KVA 1.8 KVA 2.3 KVA 3.8 KVA 4.5 KVA
Power supply voltage 3-phase 380 to 480 VAC (323 to 528 VAC) 50/60 Hz
Rated current 2.1 A 2.8 A 3.9 A 5.9 A 7.6 A
Heat value *1 32.2 W 48 W 49 W 65 W 108 W
Control
circuit
Power supply voltage 24 VDC (20.4 to 27.6 VAC)
Heat value *1 7 W 7 W 7W 10 W 13 W
Mass Approx.
1.9 kg
Approx.
1.9 kg
Approx.
1.9 kg
Approx.
2.7 kg
Approx.
4.7 kg
Maximum
motor
capacity
Rated effective current of
motor
1.5 Arms 2.9 Arms 4.7 Arms 6.7 Arms 9.4 Arms
Maximum current of motor 4.5 Arms 8.7 Arms 14.1 Arms 19.7 Arms 28.2 Arms

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

EtherCAT Communications Specifications

Item Specification
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 Ethernet Category 5 (100BASE-TX) or higher (twisted-pair cable with double,
aluminum tape and braided shielding) is recommended.
Communications distance Distance between nodes: 100 m max.
Process data Fixed PDO mapping
Mailbox (CoE) Emergency messages, SDO requests, SDO responses, and SDO information
Distributed clock (DC) Synchronization in DC mode.
DC cycle: 250 μs, 500 μs, 1 ms, 2 ms, 4 ms
LED indicators L/A IN (Link/Activity IN) × 1
L/A OUT (Link/Activity OUT) × 1
RUN × 1
ERR × 1
CiA402 Drive Profile Cyclic synchronous position mode
Cyclic synchronous velocity mode
Cyclic synchronous torque mode
Profile position mode
Homing mode
Touch probe function (Latch function)
Torque limit function

Linear Motor

General Specifications

Iron-core Linear Motors

Item Description
Operating ambient temperature
humidity
0 to 40°C, 20% to 80% (with no condensation)
Storage ambient temperature and
humidity
- 20 to +65°C, 85% max. (with no condensation)
Operating and storage atmosphere No corrosive gases
Vibration resistance * Acceleration of 49 m/s2 max. in X, Y, and Z directions
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: 10 MΩ min. (at 500 VDC)
Dielectric strength Between power terminal and FG terminal: 2,750 VDC for 1 s
Between power terminal and sensor: 2,750 VDC for 1 s
Protective structure IP00
Maximum coil temperature
(Motor Coil Unit)
130°C
Maximum magnet temperature
(Magnet Track)
70°C
Insulation class Class B
Cooling method Self-cooling
International
standard
EC
directive
Low voltage
directive
EN60034-1

* The amplitude may be increased by machine resonance. As a guideline, do not exceed 80% of the specified value.

Ironless Linear Motors

Item Description
Operating ambient temperature
humidity
0 to 40°C, 20% to 80% (with no condensation)
Storage ambient temperature and
humidity
- 20 to +65°C, 85% max. (with no condensation)
Operating and storage atmosphere No corrosive gases
Vibration resistance * Acceleration of 49 m/s2 max. in X, Y, and Z directions
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: 10 MΩ min. (at 500 VDC)
Dielectric strength Between power terminal and FG terminal: 2,250 VDC for 1 s
Between power terminal and sensor: 2,250 VDC for 1 s
Protective structure IP00
Maximum coil temperature
(Motor Coil Unit)
110°C
Maximum magnet temperature
(Magnet Track)
70°C
Insulation class Class B
Cooling method Self-cooling
International
standard
EC
directive
Low voltage
directive
EN60034-1

* The amplitude may be increased by machine resonance. As a guideline, do not exceed 80% of the specified value.

Characteristics

Iron-core Linear Motors

Item Unit R88L-EC-
FW-
0303-
ANPC
FW-
0306-
ANPC
FW-
0606-
ANPC
FW-
0609-
ANPC
FW-
0612-
ANPC
FW-
1112-
ANPC
FW-
1115-
ANPC
Maximum speed
(100 VAC)
m/s 2.5 2.5 2 - - - -
Maximum speed
(200 VAC)
m/s 5 5 4 4 4 2 2
Maximum speed
(400 VAC)
m/s 10 10 8 8 8 4 4
Continuous force *1 N 48 96 160 240 320 608 760
Momentary maximum
force *2
N 105 210 400 600 800 1,600 2,000
Continuous current *2 Arms 1.24 2.4 3.4 5.2 6.9 6.5 8.2
Momentary maximum
current *1
Arms 3.1 6.1 10 15 20 20 25
Motor force constant N/Arms 39.7 39.7 46.5 46.5 46.5 93.0 93.0
Back electromotive
force
V・s/m 13.2 13.2 15.5 15.5 15.5 31 31
Motor constant N/√W 9.75 13.78 19.49 23.87 27.57 41.47 46.37
Phase resistance Ω 5.34 2.68 1.83 1.23 0.92 1.6 1.29
Phase inductance mH 34.7 17.4 13.7 9.2 6.9 12.8 10.3
Electrical time
constant
ms 6.5 6.5 7.5 7.5 7.5 8 8
Maximum continuous
power consumption
W 32 63 88 131 175 279 349
Thermal resistance K/W 2.20 1.10 0.78 0.52 0.39 0.23 0.18
Thermal time
constant
s 110 110 124 124 124 126 126
Magnetic attractive
force
N 300 500 1,020 1,420 1,820 3,640 4,440
Magnetic pole pitch mm 24 24 24 24 24 24 24
Mass (except cables) kg 0.48 0.78 1.31 1.84 2.37 4.45 5.45
Cooling plate
dimensions
mm 238 ×
220 × 10
238 ×
220 × 10
250 ×
287 × 12
250 ×
287 × 12
250 ×
287 × 12
371 ×
330 × 14
371 ×
330 × 14
Application Servo Drives
(R88D-[]-ECT-L)
KN01L/
KN02H/
KN06F
KN02L/
KN04H/
KN10F
KN04L/
KN08H/
KN15F
KN10H/
KN20F
KN15H/
KN30F
KN15H/
KN30F
KN15H/
KN30F
Magnet Trac (R88L-EC-) FM-03096-A/
FM-03144-A/
FM-03384-A
FM-06192-A/FM-06288-A FM-11192-A/
FM-11288-A
Magnet Trac Unit
Length
mm 96/144/384 192/288 192/288

*1. This shows a value measured when the Motor Coil Unit is at 100°C and the Magnet Trac is at 25°C. The coil unit is
        mounted in the center of an aluminum moving table (heat sink) which has its size larger than indicated in table as
        cooling condition.
*2. The Motor Coil Unit is subjected to a temperature rise of 6 K/s.

Ironless Linear Motors

Item Unit R88L-EC-
GW-0303-ANPS GW-0306-ANPS GW-0309-ANPS
Maximum speed (100VAC) m/s 8 - 8 8
Maximum speed (200VAC) m/s - 16 16 16
Continuous force *1 N 26.5 53 80
Momentary maximum force *2 N 100 96 200 300
Continuous current *2 Arms 1.33 2.66 4.0
Momentary maximum current *1 Arms 5.0 4.8 10.0 15.0
Motor force constant N/Arms 19.9 19.9 19.9
Back electromotive force V・s/m 6.6 6.6 6.6
Motor constant N/√W 4.90 6.93 8.43
Phase resistance Ω 5.5 2.8 1.8
Phase inductance mH 1.8 0.9 0.6
Electrical time constant ms 0.35 0.35 0.35
Maximum continuous power
consumption
W 47 95 142
Thermal resistance K/W 2.1 1.06 0.71
Thermal time constant s 36 36 36
Magnetic attractive force N 0 0 0
Magnetic pole pitch mm 30 30 30
Mass (except cables) kg 0.084 0.162 0.24
Application Servo Drives (R88D-[]-ECT-L) KN01L KN02H KN04L/KN08H KN10H
Magnet Trac (R88L-EC-) GM-03090-A/GM-03120-A/GM-03390-A
Magnet Trac Unit Length mm 90/120/390

Item Unit R88L-EC-
GW-
0503-
ANPS
GW-
0506-
ANPS
GW-
0509-
ANPS
GW-
0703-
ANPS
GW-
0706-
ANPS
GW-
0709-
ANPS
Maximum speed (100VAC) m/s 2.2 2.2 2.2 1.2 1.2 -
Maximum speed (200VAC) m/s 4.4 4.4 4.4 2.4 2.4 2.4
Continuous force *1 N 58 117 175 117 232 348
Momentary maximum force *2 N 240 480 720 552 1110 1730
Continuous current *2 Arms 0.87 1.76 2.60 0.94 1.87 2.81
Momentary maximum current *1 Arms 3.50 7.1 10.6 4.5 9.0 14
Motor force constant N/Arms 68.0 68.0 68.0 124.0 124.0 124.0
Back electromotive force V・s/m 22.7 22.7 22.7 41.3 41.3 41.3
Motor constant N/√W 9.85 13.96 17.03 17.97 25.44 31.14
Phase resistance Ω 15.9 8.0 5.3 15.8 7.9 5.3
Phase inductance mH 13 6.5 4.2 28.0 14.0 9.0
Electrical time constant ms 0.8 0.8 0.8 1.8 1.8 1.8
Maximum continuous power
consumption
W 67 134 200 82 165 247
Thermal resistance K/W 1.70 0.85 0.65 1.56 1.04 0.52
Thermal time constant s 72 72 72 96 96 96
Magnetic attractive force N 0 0 0 0 0 0
Magnetic pole pitch mm 42 42 42 57 57 57
Mass (except cables) kg 0.25 0.47 0.69 0.55 0.95 1.35
Application Servo Drives (R88D-[]-ECT-L) KN01L/
KN01H
KN02L/
KN04H
KN04L/
KN08H
KN02L/
KN04H
KN04L/
KN08H
KN10H
Magnet Trac (R88L-EC-) GM-05126-A/GM-05168-A/
GM-05210-A/GM-05546-A
GM-07114-A/GM-07171-A/
GM-07456-A
Magnet Trac Unit Length mm 126/168/210/546 114/171/456

*1. This shows a value measured when the Motor Coil Unit is at 100°C and the Magnet Trac is at 25°C.
*2. The Motor Coil Unit is subjected to a temperature rise of 40 K/s.