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Specifications
j Performance Specifications with an Absolute Encoder
Item
Unit
Rated output
W
(See note.)
Rated torque
q
N m
(See note.)
(S
)
kgf cm
Rated rotation
r/min
speed
Momentary maxi-
r/min
mum rotation
speed
Momentary maxi-
N m
mum torque (See
mum torque (See
kgf cm
note.)
Rated current
A (rms)
(See note.)
Momentary maxi-
A (rms)
mum current
(See note.)
2
Rotor inertia
kg m
2
(GD
/4)
kgf cm s
Torque constant
q
N m/A
(See note.)
(S
)
kgf cm/A
Induced voltage
mV/
constant (See
(r/min)
note.)
Power rate (See
kW/s
note.)
Mechanical time
ms
constant
Ω
Winding resis-
tance
Winding imped-
mH
ance
Electrical time
ms
constant
Momentary al-
N
lowable radial
lowable radial
kgf
load
Momentary al-
N
lowable thrust
lowable thrust
kgf
load
Allowable radial
N
l
load
d
kgf
Allowable thrust
N
load
l
d
kgf
Weight Without
kg
brake
With
kg
brake
5-18
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R88M
R88M
-U03030TA/
-U05030TA/
-U03030XA
-05030XA
30
50
0.095
0.159
0.974
1.62
3,000
4,500
0.29
0.48
2.92
4.87
0.42
0.60
1.3
1.9
–5
0.46
10
0.51
10
2
–4
0.47
10
0.53
10
0.255
0.286
2.60
2.92
8.89
9.98
4.36
9.63
1.5
0.9
15.8
9.64
23.1
16.9
1.5
1.8
186
19
127
13
68
7
54
5.5
Approx.
Approx.
0.45
0.55
Approx.
Approx.
0.75
0.85
R88M
R88M
-U10030TA/
-U20030TA/
-U10030XA
-U20030XA
100
200
0.318
0.637
3.25
6.49
0.96
1.91
9.75
19.5
0.87
2.0
2.8
6.0
–5
–5
0.65
10
1.48
10
–4
–4
0.67
10
1.52
10
0.408
0.355
4.16
3.62
14.0
12.4
25.4
32.8
0.5
0.4
6.99
1.34
13.2
7.2
1.9
5.4
490
50
176
18
78
245
8
25
49
68
5
7
Approx.
Approx. 1.2
0.65
Approx.
Approx. 1.7
0.95
Chapter 5
R88M
R88M
-U40030TA/
-U75030TA/
-U40030XA
-U75030XA
400
750
1.27
2.39
13.0
24.3
3.82
7.10
39.0
72.9
2.6
4.4
8.0
13.9
–5
–5
2.16
10
6.96
10
–4
–4
2.21
10
7.11
10
0.533
0.590
5.44
6.01
18.6
20.6
84.6
85.1
0.3
0.3
1.23
0.45
7.9
5.7
6.4
13
735
75
392
40
392
40
147
15
Approx. 1.8
Approx. 3.5
Approx. 2.3
Approx. 4.5
–5
–4
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Troubleshooting
