Compact Industrial SCARA
Compact Industrial Robot with light weight space saving arm. Its high speed operation is best suited for pick and place, labelling, tracking
last update: August 10, 2016
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 |
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.
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 |
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.
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 |
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.
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.
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 |
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 |
last update: January 24, 2013
Note: R88D-KN[]-ECT-L is the AC Servo Drives with Built-in EtherCAT Communications type.
last update: January 24, 2013
TITLE | DOCUMENT TYPE | SIZE |
R88L-EC, R88D-KN[]-ECT-L Series | Catalog | 19591 MB |
---|---|---|
R88L-EC, R88D-KN[]-ECT-L Series | Catalog | 12847 MB |
R88L-EC, R88D-KN[]-ECT-L Series | manual | 12847 MB |