Chapter 2
2-35
Standard Models and Specifications
■ 3,000-r/min Flat-style Servomotors
Item Unit R7M-
AP10030
R7M-
AP20030
R7M-
AP40030
R7M-
AP75030
Rated output* W 100 200 400 750
Rated torque* N
⋅m 0.318 0.637 1.27 2.39
Rated rotation speed r/min 3,000
Momentary maximum
rotation speed
r/min 4,500
Momentary maximum
torque*
N
⋅m 0.96 1.91 3.82 7.1
Rated current* A (rms) 0.89 2.0 2.6 4.1
Momentary maximum
current*
A (rms) 2.8 6.0 8.0 13.9
Rotor inertia
kg
⋅m
2
(GD
2
/4) 6.5 × 10
–6
2.09 × 10
–5
3.47 × 10
–5
2.11 × 10
–4
Torque constant* N⋅m/A 0.392 0.349 0.535 0.641
Induced voltage con-
stant*
mV/ (r/min) 13.7 12.2 18.7 22.4
Power rate* kW/s 15.7 19.4 46.8 26.9
Mechanical time con-
stant
ms 0.7 0.6 0.4 0.7
Winding resistance
Ω 5.53 1.13 1.04 0.43
Winding inductance mH 20.7 8.4 8.9 7.7
Electrical time con-
stant
ms 3.7 7.4 8.5 18
Allowable radial load N 78 245 245 392
Allowable thrust load N 49 68 68 147
Weight
Without brake kg Approx. 0.7 Approx. 1.4 Approx. 2.1 Approx. 4.2
With brake kg Approx. 0.9 Approx. 1.9 Approx. 2.6 Approx. 5.7
Radiation shield dimensions (mate-
rial)
t6
× @250 mm (Al) t12 × @300 mm
(Al)
Applicable Servo
Driver (R7D-)
100 VAC AP01L AP02L AP04L –
200 VAC AP01H AP02H AP04H AP08H
Brake specifications
Brake inertia
kg
⋅m
2
(GD
2
/4) 2.9 × 10
–6
1.09 × 10
–5
1.09 × 10
–5
8.75 × 10
–5
Excitation voltage V 24 V DC ±10%
Power consump-
tion (at 20
°C)
W6 5 7.6 7.5
Current consump-
tion (at 20
°C)
A 0.25 0.21 0.32 0.31
Static friction
torque
N
⋅m 0.4 min. 0.9 min. 1.9 min. 3.5 min.
Attraction time
(See note 3.)
ms 40 max. 40 max. 40 max. 40 max.
Release time (See
note 3.)
ms 20 max. 20 max. 20 max. 20 max.
Backlash 1
° (reference value)
Rating – Continuous
Insulation
grade
–Type F
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