1 Linear motor axis R88L-EA-AF-@ Linear motor axis Advanced linear motor axis High-efficiency iron-core linear motors and magnet tracks in a wide range of over 100 standard linear motor axis. • Low moving mass to ensure a high degree of dynamism • Optimized stroke/product length ratio • Up to 5 m/s maximum speed with 1 μm repeatability • Compact and efficiency oriented design • Highly versatile and ready-to-use Ratings • 230/400 VAC 48 to 760 N (2000 N peak force) System configuration ADR Servo drive options (Refer to servo drive chapter) Power cable Hall & temperature sensors Hall & temperature sensors extension cable (optional) Linear encoder Linear encoder cable extension (optional) Serial converter unit (optional) Serial converter cable Linear motor axis G5 servo drive EtherCAT model Power
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G5 Linear Motor Axis Datasheet · 2020. 12. 14. · 2 Robot Linear motor axis Note: The standard linear motor axis includes 1 Vpp SinCos encoder. For another encoder options or customized
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1Linear motor axis
R88L-EA-AF-@
Linear motor axisAdvanced linear motor axisHigh-efficiency iron-core linear motors and magnet tracks in a wide range of over 100 standard linear motor axis.
• Low moving mass to ensure a high degree ofdynamism
• Optimized stroke/product length ratio• Up to 5 m/s maximum speed with 1 µm repeatability• Compact and efficiency oriented design• Highly versatile and ready-to-use
Ratings • 230/400 VAC 48 to 760 N (2000 N peak force)
System configuration
ADR
Servo drive options
(Refer to servo drive chapter)
Power cable
Hall & temperaturesensors
Hall & temperature sensorsextension cable (optional)
Linear encoder
Linear encoder cable extension(optional)
Serial converter unit (optional)
Serial converter cable
Linear motor axis
G5 servo drive EtherCAT model
Power
2 Robot
Linear motor axis
Note: The standard linear motor axis includes 1 Vpp SinCos encoder. For another encoder options or customized versions of linear axis please contact your OMRON representative.
Linear motor/servo drive combination
Linear axis Linear servo driveG5 EtherCAT
Type Voltage Rated force Peak force Model 230 V 400 VR88L-EA-AF-@
Linear motor axis230/ 400 V 48 N 105 N R88L-EA-AF-0303-@ R88D-KN02H-ECT-L R88D-KN10F-ECT-L
96 N 210 N R88L-EA-AF-0306-@ R88D-KN04H-ECT-L R88D-KN10F-ECT-L160 N 400 N R88L-EA-AF-0606-@ R88D-KN08H-ECT-L R88D-KN15F-ECT-L240 N 600 N R88L-EA-AF-0609-@ R88D-KN10H-ECT-L R88D-KN20F-ECT-L320 N 800 N R88L-EA-AF-0612-@ R88D-KN15H-ECT-L R88D-KN30F-ECT-L608 N 1600 N R88L-EA-AF-1112-@ R88D-KN15H-ECT-L R88D-KN30F-ECT-L760 N 2000 N R88L-EA-AF-1115-@ R88D-KN15H-ECT-L R88D-KN30F-ECT-L
Type designation
Linear motor axis
R88L - EA - AF - 0303 - 0110 -
Iron-core linear motor modelCode0303
Specifications30 mm active magnet width, 3 coil30 mm active magnet width, 6 coil60 mm active magnet width, 6 coil60 mm active magnet width, 9 coil60 mm active magnet width, 12 coil110 mm active magnet width, 12 coil
030606060609061211121115 110 mm active magnet width, 15 coil
Customized versions
Stroke length(for effective stroke distances available see dimensions section)
Linear motor axis 3
Linear motor axis R88L-EA-AF-@ (230/400 VAC)
All other values at 25°C (±10%).
Linear servomotor specifications
Voltage 230/400 VAC
Linear axis model R88L-EA-AF-@ 0303-@ 0306-@ 0606-@ 0609-@ 0612-@ 1112-@ 1115-@
Mo
tor
spec
ific
atio
ns
Linear servo motor coil used R88L-EC-FW- 0303 0306 0606 0609 0612 1112 1115
Peak force*1
*1 Coil temperature rising by 6K/s.
N 105 210 400 600 800 1600 2000
Peak current*1 Arms 3.1 6.1 10 15 20 20 25
Continuous force*2
*2 Values at 100°C coil temperature and magnets at 25°C. An airstream of 2.5 m/s (25°C) has to be applied.
Cable length 500 mm approx.Connector D-Sub 9 pins (male)
Pin No. Signal1 SDA*
23
SCL*
Not used
Ref signal (U0)
Cos signal (U2)
4/Cos signal (U2–)5
678
0 VNot used
910
Not used1112131415
/Sin signal (U1–)
Not used5 V
Sin signal (U1)Inner shield (IS)ShieldCase
/Ref signal (U0–)
6
9 5
1
Pin No.
1
2
3
4
5
6
7
8
9
Case
Name
5 V
Hall U
Hall V
Hall W
GND
PTC
PTC
KTY
KTY
Shield
Cable length 500 mm approx.Connector D-Sub 15 pins (male)
1
8
9
15
Cable length 500 mm approx.Connector HypertacLRRA06AMRPN182 (male)Pin article code: 021.279.1020
Mating connector:Plug type: LPRA06BFRBN170
*Reserved. Please do not use
12 Robot
Optional serial converter unit
Specifications
Note: As the 6, 7, 8, 9 pins in the CN2 and CN3 connectors are internally wired, the temperature sensor can be connected to both connectors. When the hall sensor is also required, use the same cable for hall & temperature signals and the CN2 connector.
Serial converter model R88A- SC01K-E SC02K-EDescription Serial converter from 1 Vpp to G5 serial data transmission and with hall sensor inputTemperature sensor KTY sensor detection of iron-core motor coil NTC sensor detection of ironless motor coilElectrical characteristics
Power supply voltage 5 VDC, max. 250 mA supplied by the driveStandard resolution Interpolation factor 100 plus quadrature countMax. input frequency 400 kHz 1 VppAnalog input signals (cos, sin, Ref) Differential input amplitude: 0.4 V to 1.2 V Input signal level: 1.5 V to 3.5 VOutput signals Position data, hall & temperature sensor information, and alarmsOutput method Serial data transmissionTransmission cycle <42 µs
Mechanical characteristics
Vibration resistance 98 m/s2 max. (1 to 2500 Hz) in three directionsShock resistance 980 m/s2, (11 ms) two times in three directions
Environmental conditions
Operating temperature 0 to 55CStorage temperature –20 to 80CHumidity 20% to 90% relative humidity (without condensation)
17.1
36.2
17.1
36.2
83.5
92.5
40
R2.5
87
47.1
104.5
Units: mm
Pin No. Signal1 SDA*23
SCL*
Not used
Ref signal (U0)
Cos signal (U2)
4 /Ref signal (U0–)/Cos signal (U2–)5
678
0 VNot used
910
Not used1112131415
/Sin signal (U1–)
Not used5 V
Sin signal (U1) Inner shield (IS)ShieldCase
Encoder input 1Vppwith programmable linesNUMERIK JENA standard
1
8
9
15
CN1
Connector D-Sub 15-pin (female)
*Reserved. Please do not use
Pin No. Signal1 PS23
/PS
Not used
Not used
Not used
4 Not usedNot used5
678
0 VNot used
910
Not used1112131415
Not used
Not used5 V
Not usedInner shieldShieldCase
Serial data output to linear servo drive
8
1
15
9
CN4
Connector D-Sub 15-pin (male)
Pin No. Signal1 5 V
Hall UHall V
Hall WGNDPTCPTCKTY/ NTC
KTY/ NTCShield
23456789
Case
Hall & temperature sensors interface
9
6 1
5
CN2
Connector D-Sub 9-pin (female)
Pin No. Signal1 Not used
Not usedNot used
Not usedNot usedPTCPTCKTY/ NTC
KTY/NTCShield
23456789
Case
Temperature sensor interfacewithout h all sensor
9
6 1
5
CN3
Connector D-Sub 9-pin (female)
Linear motor axis 13
Note: The symbols ABC... show the recommended sequence to select the servomotor, cables and serial converter for a linear motors system.
Linear motor axis
R88L-EA-AF-@
230 VAC single phase/400 VAC three phase
Note: For effective stroke distances available see dimensions section.
Ordering information
ADR
C
F
D E
G
Servo drive options(Refer to servo drive chapter)
Power cable
Hall & temperaturesensors
Hall & temperature sensorsextension cable (optional)
Linear encoder
Linear encoder cable extension(optional)
Serial converter unit (optional)
Serial converter cable
Power
A
B
G5 servo drive EtherCAT model
Linear motor axis
Symbol Specifications A Linear motor axis model B Linear servo drive
Rated force Peak force G5 EtherCAT
230 V 400 V
AB 48 N 120 N R88L-EA-AF-0303-@ R88D-KN02H-ECT-L R88D-KN10F-ECT-L
96 N 240 N R88L-EA-AF-0306-@ R88D-KN04H-ECT-L R88D-KN10F-ECT-L
160 N 450 N R88L-EA-AF-0606-@ R88D-KN08H-ECT-L R88D-KN15F-ECT-L
240 N 675 N R88L-EA-AF-0609-@ R88D-KN10H-ECT-L R88D-KN20F-ECT-L
320 N 900 N R88L-EA-AF-0612-@ R88D-KN15H-ECT-L R88D-KN30F-ECT-L
608 N 1800 N R88L-EA-AF-1112-@ R88D-KN15H-ECT-L R88D-KN30F-ECT-L
760 N 2250 N R88L-EA-AF-1115-@ R88D-KN15H-ECT-L R88D-KN30F-ECT-L
14 Robot
Servo driveB Refer to G5 servo drive chapter for detailed drive specifications and selection of drive accessories.
Serial converter unit
Note: If no temperature sensor is needed, then it does not matter which converter you use.
Serial converter cable to servo drive
Power cable
Linear encoder cable to serial converter
Hall and temperature sensors cable to serial converter
Connectors
Symbol Specifications Model
C Serial converter unit from 1 Vpp to G5 serial data transmission (with KTY sensor detection of iron-core motor coil) R88A-SC01K-ESerial converter unit from 1 Vpp to G5 serial data transmission (with NTC sensor detection of ironless motor coil) R88A-SC02K-E
Symbol Specifications Model Appearance
D G5 drive to serial converter cable.(Connectors R88A-CNK41L and DB-15)
1.5 m R88A-CRKN001-5CR-E3 m R88A-CRKN003CR-E5 m R88A-CRKN005CR-E10 m R88A-CRKN010CR-E15 m R88A-CRKN015CR-E20 m R88A-CRKN020CR-E
Symbol Specifications Model Appearance
E For linear motor axis R88L-EA-AF-0303-@R88L-EA-AF-0306-@
1.5 m R88A-CAWK001-5S-DE3 m R88A-CAWK003S-DE5 m R88A-CAWK005S-DE10 m R88A-CAWK010S-DE15 m R88A-CAWK015S-DE20 m R88A-CAWK020S-DE
For linear motor axis R88L-EA-AF-0606-@R88L-EA-AF-0609-@R88L-EA-AF-0612-@R88L-EA-AF-1112-@R88L-EA-AF-1115-@
1.5 m R88A-CAWL001-5S-DE3 m R88A-CAWL003S-DE5 m R88A-CAWL005S-DE10 m R88A-CAWL010S-DE15 m R88A-CAWL015S-DE20 m R88A-CAWL020S-DE
Symbol Specifications Model Appearance
H Extension cable from linear encoder to serial converter. (Connector DB-15) (This extension cable is optional)
1.5 m R88A-CFKA001-5CR-E3 m R88A-CFKA003CR-E5 m R88A-CFKA005CR-E10 m R88A-CFKA010CR-E15 m R88A-CFKA015CR-E
Symbol Specifications Model Appearance
G Extension cable from hall and tempera-ture sensors to serial converter.(Connector DB-9)(This extension cable is optional)
1.5 m R88A-CFKB001-5CR-E3 m R88A-CFKB003CR-E5 m R88A-CFKB005CR-E10 m R88A-CFKB010CR-E15 m R88A-CFKB015CR-E
To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.
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