High Precision Gearheads

High Precision Gearheads
The
includes gearheads
for high precision control
of ATC magazines, ATC arms, APC,
and turret drives of lathe
machining centers.
Series
Series
1
Table of Contents
Examples of Use 2 to 3
For Machining Center
For NC Lathe or Combined Lathe
Features and Confgurations 4
Principle of Operation 5
Rating Table 6 to 7
Glossary 8 to 9
Life Rating
Allowable Acceleration/Deceleration Torque
Momentary Maximum Allowable Torque
Allowable Output Speed [Continuous]
Allowable Output Speed [Intermittent]
Torsional Rigidity, Lost Motion, Backlash
Calculation of Torsion Angle
Allowable Moment and Maximum Thrust Load
Momentary Maximum Allowable Moment
Allowable Moment Diagram
Performance 10 to 11
Effciency
Low-temperature Characteristics
No-load Running Torque
Selection Flowchart 12 to 13
Engineering Notes 14 to 17
Appendix 1 Quick Selection Table of Product Codes
RA-EA Series (Case rotating type) 21 to 24
RA-EC Series (Shaft rotating type) 25 to 28
2
Examples of Use
For Machining Center
Contact us for NT Series rotary tables.
Cam drive for ATC arms
RA Series
APC drive
RA Series
ATC magazine drive
RA Series
Rotary table
NT Series
3
For NC lathe or combined lathe
RA-EA Series RA-EC Series
Lathe turret drive
RA Series
ATC magazine drive
RA Series
4
The rotation direction of
the output shaft is opposite
to that of the servo motor.
The rotation direction of the
output shaft is the same as
that of the servo motor.
Tool and holder
Sprocket
Reduction gear
Servo motor
Fixed frame
RA-EC Series
Tool and holder
Sprocket
Reduction gear
Servo motor
Fixed frame
RA-EA Series
Features and Congurations
High shock load capability
High rigidity
High precision
High torque
The double-ended support design and unique pin gear mecha-
nism provide the following advantages:
(1) Capable of high shock load 5 times the rated torque
(2) High torsional rigidity
(3) Small backlash [1 arc.min]
(4) High torque density (capable of high torque with downsized gear)
Heavy load support
A set of internal main bearings (large angular ball bearings)
enables complete support of heavy external loads.
1. Maintenance: Trouble free
2. Compact design with a reduced number of parts
3. Reduced man-hours (for design, assembly, and
adjustment)
Three benets
due to the
above features
5
Principle of Operation
1.
Rotation of the servo motor is transmitted through the
input gear to the spur gears, and the speed is reduced
according to the gear ratio between the input gear and
the spur gears. <Fig. 1>
2.
Since the crankshafts are directly connected to the
spur gears, they have the same rotational speed as
the spur gears. <Fig. 1>
3.
Two RV gears are mounted around the needle bear-
ings on the eccentric section of the crankshaft. (In
order to balance the equal amount of force, two RV
gears are mounted.) <Fig. 2>
4.
When the crankshafts rotate, the two RV gears mounted
on the eccentric sections also revolve eccentrically
around the input axis (crank movement). <Fig. 2>
5.
Pins are arrayed in a constant pitch in the grooves
inside the case. The number of pins is just one larger
than the number of RV gear teeth. <Fig. 3>
6.
As the crankshafts revolve one complete rotation, the
RV gears revolve eccentrically one pitch of a pin (crank
movement), with all the RV teeth in contact with all of
the pins. As a result, 1 RV gear tooth moves in the op-
posite direction of the crankshaft rotation. <Fig. 3>
7.
The rotation is then output to the shaft (output shaft)
via the crankshaft so that the crankshaft rotation
speed can be reduced in proportion to the number of
pins. <Fig. 3>
8.
The total reduction ratio is the product of the rst reduc-
tion ratio multiplied by the second reduction ratio.
Crankshaft
Input gear
Spur gear
Fig. 1. First reduction section
Crankshaft
Spur gear
Rotation
Eccentric
section
Needle
bearing
RV gear
Rotation
Eccentric
movement
Fig. 2. Crankshaft section
Crankshaft Rotation angle 0 Rotation angle 180 Rotation angle 360
Crankshaft
(connected to the spur gear)
Shaft
RV gear
Case
Pin
Fig. 3. Second reduction section
6
Rating Table
Model Speed Ratio
To No K Ts1 Ts2
Rated
Torque
Rated
Output
Speed
Rated
Life
Allowable
Acceleration/
Deceleration
Torque
Momentary
Maximum
Allowable
Torque
N-m
(kgf-m) rpm Hr
N-m
(kgf-m)
N-m
(kgf-m)
RA-EA Series
RA-20EA
80 104 120 140 160 167 15 6000 412 833
(17) (42) (85)
RA-40EA
80 104 120 152 412 15 6000 1029 2058
(42) (105) (210)
RA-80EA
80 100 120 152 784 15 6000 1960 3920
(80) (200) (400)
RA-160EA
80 100 128 144 170 1568 15 6000 3920 7840
(160) (400) (800)
RA-EC Series
RA-20EC
81 105 121 141 161 167 15 6000 412 833
(17) (42) (85)
RA-40EC
81 105 121 153 412 15 6000 1029 2058
(42) (105) (210)
RA-80EC
81 101 121 153 784 15 6000 1960 3920
(80) (200) (400)
RA-160EC
81 101 129 145 171 1568 15 6000 3920 7840
(160) (400) (800)
Note: 1. The Rating Table shows the specication values of each individual reduction gear.
2. The allowable output speed may be limited by heat depending on the operating rate.
3. For the inertia moment of the reduction gears, refer to the Product Summary Sheet.
4. For dimensions and L, refer to Allowable Moment and Maximum Thrust Load.
7
Capacity of main bearing
Ns1 Ns2 Mo Ms1 Fo L
Allowable
Output
Speed
[Continuous]
Allowable
Output
Speed
[Intermittent]
Backlash Lost
Motion
Torsional
Rigidity
(Spring
Constant)
Allowable
Moment
Momentary
Maximum
Allowable
Moment
Maximum
Thrust
Load
Dimension
Dimension
L
Mass
Note 4 Note 4
Note 2
rpm
Note 2
rpm arc.min. arc.min.
N-m/
arc.min.
(kgf-m/
arc.min.)
N-m
(kgf-m)
N-m
(kgf-m)
N
(kgf) mm mm kg
45 75 1.0 1.0 49 882 1764 3920 63.1 113.3 10
(5) (90) (180) (400)
42 70 1.0 1.0 108 1666 3332 5194 83.1 143.7 18.5
(11) (170) (340) (530)
42 70 1.0 1.0 196 2156 4312 7840 81.5 166 28
(20) (220) (440) (800)
27 45 1.0 1.0 392 3920 7840 14700 93.8 210.9 58
(40) (400) (800) (1500)
45 75 1.0 1.0 49 882 1764 3920 122.2 113.3 9.5
(5) (90) (180) (400)
42 70 1.0 1.0 108 1666 3332 5194 148.1 143.7 20
(11) (170) (340) (530)
42 70 1.0 1.0 196 2156 4312 7840 158.4 166 27
(20) (220) (440) (800)
27 45 1.0 1.0 392 3920 7840 14700 201.8 210.9 59
(40) (400) (800) (1500)
Rotating
part
(Shaft)
Fixed
part
Fixed
Servo motor
Fixed
part
Rotating part
(Case)
Fixed
Servo motor
RA-EC Series (Shaft rotating type) RA-EA Series (Case rotating type)
8
Glossary
Life Rating
The life time when driven at the rated torque and
rated output speed is called the life rating.
Allowable Acceleration/Deceleration Torque
When the machine starts or stops, the load torque to be
applied to the reduction gear is larger than the constant-
speed load torque due to the effect of the inertia torque
of the rotating part. In such a situation, the allowable
torque during acceleration/deceleration is referred to as
allowable acceleration/deceleration torque.
Note: Be careful so that the load torque, which
is applied during normal operation, does
not exceed the allowable acceleration/de-
celeration torque.
Momentary Maximum Allowable Torque
A large torque may be applied to the reduction gear due
to an emergency stop or an external shock. The allow-
able value of the momentary applied torque at this time
is referred to as momentary maximum allowable torque.
Note: Be careful so that the momentary exces-
sive torque does not exceed the momen-
tary maximum allowable torque.
L
o
a
d

t
o
r
q
u
e
Max. torque for startup
Momentary max. torque
Max. torque for stop
Constant torque
Time
Allowable Output Speed [Continuous]
The allowable output speed when the machine
starts and stops repeatedly is referred to as allow-
able output speed [Continuous].
Note: Maintain the environment and operation
conditions so that the temperature of the
reduction gear case is 60C or lower.
Allowable Output Speed [Intermittent]
The allowable output speed during the operation in
which the reduction gear is not activated frequently is
referred to as allowable output speed [Intermittent].
Note: Maintain the environment and operation
conditions so that the temperature of the
reduction gear case is 60C or lower.
Torsional Rigidity, Lost Motion, Backlash
When a torque is applied to the output shaft while
the input shaft is xed, torsion is generated accord-
ing to the torque value. The torsion can be shown in
the hysteresis curve.
The value of b/a is referred to as torsional rigidity.
The torsion angle at the mid point of the hysteresis
curve width within 3% of the rated torque is re-
ferred to as lost motion.
The torsion angle when the torque indicated by the
hysteresis curve is equal to zero is referred to as
backlash.
Hysteresis curve
Backlash
Lost
motion
a
b
100% rated torque
3% rated torque
Torsion
angle
Calculation of torsion angle
Taking RA-160E as an example, the torsion angle will
be calculated when torque is added in one direction.
1) When the load torque is 30 N-m .... Torsion angle (ST1)
When the load torque is within the lost motion area
ST1=
30
x
1 (arc.min.)
= 0.32 arc.min or less
47 2
2) When the load torque is 1,300 N-m .... Torsion angle (ST2)
When the load torque is within the rated torque area
ST2=
1
+
130047.0
= 3.70 arc.min.
2 392
Note: 1. The torsion angles that are calculated
above are for a single reduction gear.
2. For the customized specications of
the lost motion, contact us.
Models
Torsional rigidity
(Spring Constant)
N-m/arc.min.
Lost motion
Backlash
arc.min.
Lost motion
arc.min.
Measured
torque N-m
RA-20E 49
1.0
5.0
1.0
RA-40E 108 12.3
RA-80E 196 23.5
RA-160E 392 47.0

9
Allowable Moment and Maximum Thrust Load
The external load moment may be applied to the
reduction gear during normal operation. . The allow-
able values of the external moment and the external
axial load at this time are each referred to as allow-
able moment and maximum thrust load.
Mc : Load moment (N-m)
W1, W2 : Load (N)
L1, L2 : Distance to the point of load application
(mm)
: Designated dimension (mm)
(Refer to the Rating Table.)
L : Designated dimension (mm)
(Refer to the Rating Table.)
Mc =
W1 x (L1 + ) + W2 x L2
1000
Mc Allowable moment
Note: 1. When the load moment and the thrust
load are applied concurrently, ensure
that the reduction gear is used within
the corresponding allowable moment
range, which is indicated in the allow-
able moment diagram.
2. When W1 load is applied in the area of
the dimension L, use it within the allow-
able radial load, calculated using the
formula below.
Allowable radial load =
Allowable moment
: (N)
L
RA-EA
L
L1
W1
W2
L
2
RA-EC
W1
W2
L
2
L1
L
Momentary Maximum Allowable Moment
A large moment may be applied to the reduction
gear due to an emergency stop or external shock.
The allowable value of the momentary applied mo-
ment at this time is referred to as momentary maxi-
mum allowable moment.
Note: Be careful so that the momentary exces-
sive moment does not exceed the momen-
tary maximum allowable moment.
Allowable Moment Diagram
Load moment (N-m)
T
h
r
u
s
t

l
o
a
d

(
N
)
2156 3920 882 1666
2520 1660
7840
14700
5194
3920
3410
4890
3040
2040
1450 735
20E
80E
160E
40E
10
Performance
Efciency
RA Sries
Case temperature: 30C
Lubricant: Grease (Molywhite RE00)
Output torque (N-m)
20E 40E
80E 160E
10rpm
30rpm
60rpm
50 100 150 200
20
40
60
80
100
0
20
40
60
80
100
0
10rpm
25rpm
50rpm
100 200 300 400 500
10rpm
25rpm
50rpm
250 500 750 1000
20
40
60
80
100
0
20
40
60
80
100
0
10rpm
25rpm
40rpm
500 1000 1500 2000
E
f
f
i
c
i
e
n
c
y

(
%
)
E
f
f
i
c
i
e
n
c
y

(
%
)
E
f
f
i
c
i
e
n
c
y

(
%
)
E
f
f
i
c
i
e
n
c
y

(
%
)
Output torque (N-m)
Output torque (N-m)
Output torque (N-m)
20E
Case temperature (C)
N
o
-
l
o
a
d

r
u
n
n
i
n
g

t
o
r
q
u
e
I
n
p
u
t

a
x
i
s

(
N
-
m
)
N
o
-
l
o
a
d

r
u
n
n
i
n
g

t
o
r
q
u
e
I
n
p
u
t

a
x
i
s

(
N
-
m
)
N
o
-
l
o
a
d

r
u
n
n
i
n
g

t
o
r
q
u
e
I
n
p
u
t

a
x
i
s

(
N
-
m
)
N
o
-
l
o
a
d

r
u
n
n
i
n
g

t
o
r
q
u
e
I
n
p
u
t

a
x
i
s

(
N
-
m
)
Speed
ratio
Speed
ratio
Speed
ratio
Speed
ratio
57
105
141
0
1
2
-10 0 10 20
40E
80E 160E
57
121
153
0
1
2
3
4
5
-10 0 10 20
57
121
171
0
2
4
6
8
10
-10 0 10 20
81
129
171
0
5
10
15
-10 0 10 20
Low-temperature characteristics (No-load running torque for low-temperature range)
RA Series
RA Series: Input speed
11
No-load running torque
RA Series
Case temperature: 30C
The no-load running torque that is converted to the input shaft side
value should be calculated using the following equation:
No-load running torque on
the input shaft side (N-m)
=
No-load running torque on
the output shaft side (N-m)
Speed ratio
0 20 40 60 80 100
50
100
150
200
80E
20E
40E
0 10 20 30 40 50
50
100
150
200
250
300
350
400
450
500
550
160E
Output shaft speed (rpm)
N
o
-
l
o
a
d

r
u
n
n
i
n
g

t
o
r
q
u
e

o
n
t
h
e

o
u
t
p
u
t

s
h
a
f
t

s
i
d
e

(
N
-
m
)
N
o
-
l
o
a
d

r
u
n
n
i
n
g

t
o
r
q
u
e

o
n
t
h
e

o
u
t
p
u
t

s
h
a
f
t

s
i
d
e

(
N
-
m
)
Output shaft speed (rpm)
12
Selection Flowchart
Decrease the load
Calculation of life (Lh)
Examine the input
speed
T1orT3
Allowable
acceleration/
deceleration
torque
Tem
Momentary
maximum allowable
torque
Check the load torque applied to the reduction gear.
An example is shown in the load cycle diagram.
Tm=
t1 N1 T1 + t2 N2 T2 + ..... tn Nn Tn
t1 N1 + t2 N2 + ..... tn Nn
10
3
10
3
10
3
10
3
Nm=
t1 N1 + t2 N2 + ..... tn Nn
t1 + t2 + ..... tn
Lh = 6000 x x
No
Nm
To
Tm
( )
10
3
Cem =
60
Nem
40 x x tem
10
3 5 To
Tem
775 x
( )
NO
NO
YES
YES
YES
YES YES
YES
NO
NO
Tout: Assumed values
NO
Input
speed
Speed
Ratio
Maximum
allowable output
speed
Momentary
maximum allowable
torque
NO
Tout
(1)
Examine the load
characteristics
Examine the average
load torque (Tm)
Examine the average
output speed (Nm)
Temporary selection of
the model from the
rating table
Increase the
model number of
the reduction gear
Lh Required life
Examine the
acceleration/decelerati
on torque (T1, T3)
Examine the external
impact torque (Tem) due
to an emergency stop
Examine the external
impact torque (Tout)
when motor shaft is
not rotating.
Calculation of
allowable applied
speed (Cem)
Actual
applied
speed
Cem
Load cycle diagram
R
o
t
a
t
i
o
n

l
o
a
d

t
o
r
q
u
e
R
P
M
Max. torque for startup
External impact torque
Constant torque
Max. torque for stop
Shock time
tem Acceleration
time
Deceleration
time
Acceleration
time
Constant
drive time
Deceleration
time
T1
T2
0
T3
Tem
Nem
t1 t2 t3
N2
N1 N3
Time
13
Determine the model
END
NO
YES
NO
YES
(Refer to page 09)
Mc = {W1 x (1 + L1) + W2 x L2) x 10
-3
Mc Mo
Nm = = 15.6r.p.m.
0.2 x 10 + 0.5 x 20 + 0.2 x 10
0.2 + 0.5 + 0.2
Selection examples
Tm =
= 1,475N-m
0.2 x 10 + 0.5 x 20 + 0.2 x 10
10
3
10
3
10
3
10
3
0.2 x 10 x 2,500 + 0.5 x 20 x 500 +0.2x10x1,500
T1 = 2,500N-m T2 = 500N-m T3 = 1,500N-m Tem = 7,000N-m
t1 = 0.2sec t2 = 0.5sec t3 = 0.2sec tem = 0.05sec
N1 = N3 = 10r.p.m. N2 = 20r.p.m. Nem = 20r.p.m.
2,405.4N-m < 3,920N-m
Lh = 6000 x x = 7,073Hr
7,073 > 5,000
15
15.6
( )
1,568
1,475
10
3
Maximum allowable output speed
of RA-160EC [Continuous]
Allowable acceleration/deceleration
torque of RA-160EC
Momentary maximum allowable
torque of RA-160EC
Required life
Rated torque of RA-160EC
Mc =
(201.8 + 500)
1,000
200
1,000
( )
Cem = =1696 times
20
60
40 x x 0.05
10
3 51,568
7,000
775 x
External load conditions
W1 = 3,000N L1 = 500mm
W2 = 1,500N L2 = 200mm
Examine the thrust load
1,500N < 14,700N
Examine the load moment (RA-160EC)
RA-160EC is selected (All conditions are met)
(2) Examine the main bearing capacity
Examine the emergency stop and external impact torque
Tem = 7,000N-m < 7,840N-m
Examine the acceleration/deceleration torque
Tmax = T1 = 2,500N-m < 3,920N-m
= 2,405.4N-m
Maximum thrust load of RA-160EC
150 times < 1696 times
Actual applied speed
Allowable moment of RA-160EC
Examine the maximum output speed
20r.p.m. < 27r.p.m.
Maximum allowable output
speed of RA-160EC
Tentative selection of frame number
Temporarily select RA-160EC from the Tm and Nm values.
1,475N-m < 1,568N-m, 15.6r.p.m. < 27r.p.m.
Calculation of life
Calculation of average output speed
Calculation of average load torque
Usage conditions
(1) Examine the load characteristics
+ 1,500 x
3,000 x
(2)
Examine the main
bearing capacity
Check the external load applied
to the reduction gear.
When the load moment and the
thrust load are applied
concurrently, ensure that the
reduction gear is used within the
corresponding allowable
moment range, which is
indicated in the allowable
moment diagram.
Examine the thrust
load (W2)
Increase the model
number
Decrease W2
W2 Allowable thrust
(W)
Increase the model
number
Decrease the load
Examine the load
moment
Mc Allowable moment
(Mo)
14
Engineering Notes
1. Installation of the reduction gear and mounting it to the output shaft
When installing the reduction gear and mounting it to the output shaft, use hexagon socket head cap
screws and tighten them with the torque as specied below, in order to satisfy the momentary maximum
allowable torque, which is noted in the rating table.
Employment of the Belleville Spring Washer is recommended to prevent the hexagon socket head cap
screws and protect their seat surface from aws.
(1) Bolt tightening torque and tightening force
Hexagon socket
head cap screw
Nominal size x pitch
Tightening torque
(N-m)
Tightening force
F
(N)
Bolt specications
M5 x 0.8 9.01 0.49 9310 Hexagon socket head cap screw
M6 x 1.0 15.6 0.78 13180 JIS B 1176
M8 x 1.25 37.2 1.86 23960 Strength class
M10 x 1.5 73.5 3.43 38080 JIS B 1051 12.9
M12 x 1.75 128.4 6.37 55100 Thread
M14 x 2.0 204.8 10.2 75860 JIS B 0205 6g or class 2
M16 x 2.0 318.5 15.9 103410
Note: 1. The tightening torque values listed are for steel or cast iron material.
2. If softer material, such as aluminum or stainless steel, is used, limit the tightening torque.
Also, pay attention to the system requirements of the transmission torque.
(2) Calculation of allowable transmission torque of bolts.
T = F x
D x 10
-3

x x n
2
T Allowable transmission torque by tightening bolt (N-m)
F Bolt tightening force (N)
D Bolt mounting P.C.D (mm)
Friction factor
=0.15 ... When grease remains on the mating face
=0.20 .. When grease has been removed from the
mating face
n Number of bolts (pcs)
(3) Serrated lock washer for hexagon socket head cap screw
Name : Belleville Spring Washer (made by Heiwa Hatsujyo Industry Co., Ltd.)
Corporation symbol : Bell SW-2H (nominal size)
Material : S50CM to S65CM
Hardness : HRC40 to 48
(Unit: mm)
Normal
size
ID and OD of Belleville
Spring Washer
t H
d
Basic size
D
5 5.25 8.5 0.6 0.85
6 6.4 10 1.0 1.25
8 8.4 13 1.2 1.55
10 10.6 16 1.5 1.9
12 12.6 18 1.8 2.2
14 14.6 21 2.0 2.5
16 16.9 24 2.3 2.8
Note: When using any equivalent washer, select it with
special care given to its outer diameter.
15
2. Mounting the input gear
The following is a representative case for connecting an input gear to a servo motor shaft.
A *
B *
Motor shaft
Enlarged view
(4) Hexagon socket
head cap screw
(3) Wedge friction coupling
(1) Input gear
(2) Plate
(2) For straight shaft (without key)
Woodruff key
Bolt
width
Motor
shaft
(3) Hexagon socket
head cap screw
(1) Input gear
(2) Draw nut
(4) Seal washer
(3) For 1/10 tapered shaft
(1) Input gear
Key
Motor shaft
(2) Hexagon socket
head cap setscrew
(1) For straight shaft (with key)
* Adjust the deviation of A at the edge of the input gear to 70m
or less against B on the motor mounting pilot diameter.
3. Notes when assembling an input gear
(1) Remove the cap when assembling an input gear.
Cap
Detailed diagram of this product
at the time of delivery
16
(2) Insert the input gear directly downward with the reduction gear held vertical.
If the reduction gear is in a horizontal state, grease will run out from the input gear insertion area.
After inserting the input gear, remove one of the hexagon plugs (one of two) from the grease lling
and discharging hole to release the increased pressure inside the reduction gear, and then re-wrap
the sealing tape to re-install the gear.
At that time, tighten the hexagon plug (PT1/8) with a tightening torque of 12.3 N-m.
(3) RA-20E and 40E have two spur gears. Please remember this particularly when assembling the input gear.
If the input gear does not align with the spur gears, insert the input gear while changing the angle a little to-
ward the circumference. Then, without tilting the input gear, make sure there is no gap between the mount-
ing surfaces. At this time, do not tighten the input gear with bolts or the like.
If the ange surface is tilted, it may be in the state shown in the gure below.
Servo motor
Grease filling and
discharging hole
Servo motor
Grease runs out
4. Lubrication
The standard lubrication method for the RA reduction gears is greasing.
Before the reduction gear is shipped, it is lled with our recommended grease (VIGO GREASE RE0).
When operating a reduction gear lled with the appropriate amount of grease, the standard replacement
time due to deterioration of the grease is 20,000 hours.
When using the gear with deteriorated grease or under an inappropriate ambient temperature condition (40C
or more), check the deterioration condition of the grease and determine the appropriate replacement cycle.
Specied grease name
Grease name VIGOGREASE RE0
Manufacturer Nabtesco Corporation
Ambient temperature -10 to 40C
Correct insertion
position
Wrong insertion
position
Correct insertion
position
Wrong insertion
position
17
Amount of grease in the reduction gear
Models
Required input amount
Horizontal shaft installation Vertical shaft installation (1) Vertical shaft installation (2)
cc (g) cc (g) cc (g)
RA-EA Series
RA-20EA 86 (75) 85 (74) 71 (62)
RA-40EA 169 (147) 167 (145) 148 (128)
RA-80EA 381 (331) 383 (333) 324 (281)
RA-160EA 655 (570) 656 (571) 647 (563)
RA-EC Series
RA-20EC 169 (147) 163 (142) 176 (153)
RA-40EC 299 (260) 264 (230) 309 (269)
RA-80EC 473 (412) 427 (371) 439 (382)
RA-160EC 689 (599) 546 (474) 690 (600)
Note: After replacement, ll the reduction gear with the required amount of our recommended lubricant.
If it is lled excessively, however, the internal pressure increases and the oil seal may be damaged.
Greasing position
Grease position
Rotation
For grease filling
and discharging
Servo motor
For grease filling
and discharging
Grease
position
Rotation
Servo motor
For grease
filling and
discharging
For grease
filling and
discharging
Grease
position
Rotation
Servo motor
For grease filling
and discharging
For grease
filling and
discharging
Horizontal shaft installation Vertical shaft installation (1)
Vertical shaft installation (2)
18
19
Quick Selection
Table of Product
Codes
Appendix 1
20
Quick Selection Table of Product Codes
[How to select]
For example, an order item number, when the RA-40EA-120 is used with the servo motor xx/xxxxx that has a straight
shaft (with key), can be selected as described below.
(1) Refer to the relevant Quick Selection Table. (Ex.: RA-EA Series & Straight shaft (with key))
(2) The order item number will be found in the box, where the columns of the servo motor xx/xxxxx and RA-40 EA-120
are crossed, as in the directions of arrows in the table below.
(3) Order using the selected order item number (Ex.: 31RA003B).
Vodel
6peed
PaLlo
Appllcable m
++++++ Page
++++++ ++ ++++-+
++++++ ++ ++++-+ ++/++++
++++++ ++ ++++-+ ++/++++
++
++
++
++
++++++ ++ ++++-+ ++/++++
++++++ ++ ++++-+ ++/++++
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+ ++/++++
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+ ++/++++
++++++ ++ ++++-+
++++-+ ++/++++
++++++ ++ ++++-+ ++/++++
++++++ ++ ++++-+
++++++ ++ ++++-+ ++/++++
++++++ ++ ++++-+ ++/++++
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++++++ ++ ++++-+
++-+++
PA-4OLA
LL/LLLLL
J1PAOOJB+ 12O
MPA-LA 6erlec & 6LralgHL cHafL wlLH key)
loerLla momeoL
'l=C0`2/4)
lopuL axlc
cooverLed value
kg-m`2
PA-4OLA
LL/LLLLL
J1PAOOJB+ 12O
Order lLem
oumber
Note: 1. If the value achieved, by multiplying the momentary maximum torque of the motor by the speed ratio and efciency of
reduction gear, exceeds the momentary maximum torque of the reduction gear, or always exceeds the allowable accelera-
tion/deceleration torque, then restrict the motor torque.
2. The total length of the selected product is the value achieved by adding the total length of the outside dimension drawing (of
the reduction gear) and dimension D of the outside dimension drawing (of the motor ange).
3. The inertia moment I includes the values for both the reduction gear and the input gear.
4. The matching verication between the reduction gear and the motor in this quick selection table should be used as a refer-
ence; this is because they are matched based only on the torque comparisons during operation of the reduction gear. For
a more precise motor selection, the effective torque, load inertia moment, brake torque, and regene-rative ability, and so
forth, must also be considered.
21
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RA-EA Series
(Case rotating type)
Quick Selection Table of
Produkt Codes
22
MPA-LA 6erlec & 6LralgHL cHafL wlLH key)
loerLla momeoL
'l=GD`2/4)
lopuL axlc cooverLed
value kg-m`2
8O 21PAOO1B+ 2.871O`-6
1O4 21PAOO2B+ 2.661O`-6 : 1/6OOOl
12O 21PAOOJB+ 2.661O`-6 : 2/6OOOl J2
14O 21PAOO4B+ 2.481O`-6 : 2/6OOOlc
16O 21PAOO6B+ 2.4J1O`-6 ) 2/4OOOlc
8O 21PAO61B+ 4.6J1O`-6
1O4 21PAO62B+ 4.471O`-6
12O 21PAO6JB+ 4.J21O`-6 ) 4/4OOOlc J4
14O 21PAO64B+ 4.241O`-6
16O 21PAO66B+ 4.191O`-6
8O 21PAO11B+ 1.4J1O`-4
1O4 21PAO12B+ 1.411O`-4 HC-6F662K
12O 21PAO1JB+ 1.4O1O`-4 HC-6F61O2K 8O
14O 21PAO14B+ 1.J91O`-4
16O 21PAO16B+ 1.J81O`-4
8O 21PAO16B+ 6.J81O`-6
1O4 21PAO17B+ 6.161O`-6 1FK7O4O-6AK71-1
12O 21PAO18B+ 6.O71O`-6 1FK7O42-6AF71-1 1OO
14O 21PAO19B+ 6.991O`-6 1FK7O42-6AK71-1
16O 21PAO2OB+ 6.941O`-6
8O 21PAO21B+ 1.491O`-4
1O4 21PAO22B+ 1.471O`-4 1FK7O6O-6AF71-1
12O 21PAO2JB+ 1.461O`-4 1FK7O6O-6AH71-1 1O2
14O 21PAO24B+ 1.461O`-4 1FK7O6J-6AF71-1
16O 21PAO26B+ 1.461O`-4 1FK7O6J-6AH71-1
8O J1PAOO1B+ 9.641O`-6 : 4/4OOOl
1O4 J1PAOO2B+ 8.791O`-6 : 8/JOOOl
12O J1PAOOJB+ 8.471O`-6 : 8/4OOOlc
162 J1PAOO4B+ 8.O61O`-6 ) 8/JOOOlc
8O J1PAOO6B+ 7.691O`-6
1O4 J1PAOO6B+ 6.841O`-6 : 4/6OOOlc
12O J1PAOO7B+ 6.621O`-6 ) 4/4OOOlc
162 J1PAOO8B+ 6.111O`-6
8O J1PAOO9B+ 1.9O1O`-4
1O4 J1PAO1OB+ 1.821O`-4 HC-6F61O2K
12O J1PAO11B+ 1.791O`-4 HC-6F6162K
162 J1PAO12B+ 1.761O`-4
8O J1PAO1JB+ 1.7J1O`-4 1FK7O6O-6AF71-1
1O4 J1PAO14B+ 1.661O`-4 1FK7O6O-6AH71-1
12O J1PAO16B+ 1.621O`-4 1FK7O6J-6AF71-1
162 J1PAO16B+ 1.681O`-4 1FK7O6J-6AH71-1
8O J1PAO17B+ 2.861O`-4 1FK7O8O-6AF71-1
1O4 J1PAO18B+ 2.781O`-4 1FK7O8O-6AH71-1
12O J1PAO19B+ 2.761O`-4 1FK7O8J-6AF71-1
162 J1PAO2OB+ 2.711O`-4 1FK7O8J-6AH71-1
8O 41PAOO1B+ 1.671O`-4
1OO 41PAOO2B+ 1.6J1O`-4 : 8/JOOOl
12O 41PAOOJB+ 1.461O`-4 : 8/4OOOlc
162 41PAOO4B+ 1.J61O`-4 ) 8/JOOOlc
8O 41PAO49B+ 6.JO1O`-4
1OO 41PAO6OB+ 6.171O`-4 : 12/JOOOl
12O 41PAO61B+ 6.O81O`-4 HC-6F62O2K
162 41PAO62B+ 6.991O`-4
HC-6F6J62K
8O 41PAOO9B+ 2.491O`-4
1OO 41PAO1OB+ 2.J61O`-4 ) 12/JOOOlc
12O 41PAO11B+ 2.271O`-4 : 12/4OOOlc
162 41PAO12B+ 2.171O`-4
8O 41PAO1JB+ 2.691O`-4 1FK7O6O-6AF71-1
1OO 41PAO14B+ 2.461O`-4 1FK7O6O-6AH71-1
12O 41PAO16B+ 2.J71O`-4 1FK7O6J-6AF71-1
162 41PAO16B+ 2.271O`-4 1FK7O6J-6AH71-1
8O 41PAO17B+ 4.O21O`-4 1FK7O8O-6AF71-1
1OO 41PAO18B+ J.891O`-4 1FK7O8O-6AH71-1
12O 41PAO19B+ J.8O1O`-4 1FK7O8J-6AF71-1
162 41PAO2OB+ J.7O1O`-4 1FK7O8J-6AH71-1
8O 61PAO41B+ 1.O61O`-J : 12/JOOOl
1OO 61PAO42B+ 1.O11O`-J : 22/JOOOl
128 61PAO4JB+ 9.691O`-4 : 22/4OOOls 49 86
144 61PAO44B+ 9.491O`-4 ) 22/2OOOls HC-6F6J62K
17O 61PAO46B+ 9.J61O`-4
HC-6F66O2K
8O 61PAOO6B+ 6.261O`-4
1OO 61PAOO7B+ 4.791O`-4 : 12/4OOOlc
128 61PAOO8B+ 4.J91O`-4 ) 12/JOOOlc 62
144 61PAOO9B+ 4.191O`-4
17O 61PAO1OB+ 4.O61O`-4
8O 61PAO11B+ 7.471O`-4
1OO 61PAO12B+ 7.O11O`-4 1FK7O8O-6AF71-1
128 61PAO1JB+ 6.611O`-4 1FK7O8O-6AH71-1 112
144 61PAO14B+ 6.411O`-4 1FK7O8J-6AF71-1
17O 61PAO16B+ 6.271O`-4
1FK7O8J-6AH71-1
Page
J6
J9
82
Page Page 6lLVLN6 FANUC
PA-2OLA
47
1O8
11O
Vodel
6peed
PaLlo
1O4
Appllcable moLor
Order lLem
oumber
Vl16UBl6Hl
PA-4OLA
1O6
41
44 84
PA-8OLA
PA-16OLA
23
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P
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Note: 1. Use the Order item number for your order.
2. If the value achieved, by multiplying the momentary maximum torque of the motor by the speed ratio and efciency of reduc-
tion gear, exceeds the momentary maximum torque of the reduction gear, or always exceeds the allowable accele-ration/de-
celeration torque, then restrict the motor torque.
5. The matching verication between the reduction gear and the motor in this quick selection table should be used as a refe-
rence; this is because they are matched based only on the torque comparisons during operation of the reduction gear. For a
more precise motor selection, the effective torque, load inertia moment, brake torque, and regenerative ability, and so forth,
must also be considered.
MPA-LA 6erlec & 6LralgHL cHafL wlLHouL key)
loerLla momeoL
'l=GD`2/4)
value kg-m`2
8O 21PAO26B+ J.OJ1O`-4
1O4 21PAO27B+ J.O11O`-4 1FK7O4O-6AK71-1
12O 21PAO28B+ J.OO1O`-4 1FK7O42-6AF71-1 1O1
14O 21PAO29B+ 2.991O`-4 1FK7O42-6AK71-1
16O 21PAOJOB+ 2.991O`-4
8O 21PAOJ1B+ J.O61O`-4
1O4 21PAOJ2B+ J.O41O`-4 1FK7O6O-6AF71-1
12O 21PAOJJB+ J.OJ1O`-4 1FK7O6O-6AH71-1 1OJ
14O 21PAOJ4B+ J.O21O`-4 1FK7O6J-6AF71-1
16O 21PAOJ6B+ J.O11O`-4 1FK7O6J-6AH71-1
8O 21PAOJ6B+ J.OJ1O`-4
1O4 21PAOJ7B+ J.O11O`-4 HC-6F662
12O 21PAOJ8B+ J.OO1O`-4 HC-6F61O2 81
14O 21PAOJ9B+ 2.991O`-4
16O 21PAO4OB+ 2.991O`-4
8O J1PAO21B+ J.411O`-4 1FK7O6O-6AF71-1
1O4 J1PAO22B+ J.JJ1O`-4 1FK7O6O-6AH71-1
12O J1PAO2JB+ J.JO1O`-4 1FK7O6J-6AF71-1
162 J1PAO24B+ J.261O`-4 1FK7O6J-6AH71-1
8O J1PAO26B+ 6.661O`-4 1FK7O8O-6AF71-1
1O4 J1PAO26B+ 6.471O`-4 1FK7O8O-6AH71-1
12O J1PAO27B+ 6.441O`-4 1FK7O8J-6AF71-1
162 J1PAO28B+ 6.4O1O`-4 1FK7O8J-6AH71-1
8O J1PAO29B+ J.J41O`-4 : 4/4OOOl
1O4 J1PAOJOB+ J.271O`-4 : 8/JOOOl
12O J1PAOJ1B+ J.241O`-4 : 8/4OOOlc
162 J1PAOJ2B+ J.2O1O`-4 ) 8/JOOOlc
8O J1PAOJJB+ J.J61O`-4
1O4 J1PAOJ4B+ J.271O`-4 HC-6F61O2
12O J1PAOJ6B+ J.241O`-4 HC-6F6162
162 J1PAOJ6B+ J.2O1O`-4
8O 41PAO21B+ 6.461O`-4 1FK7O6O-6AF71-1
1OO 41PAO22B+ 6.J21O`-4 1FK7O6O-6AH71-1
12O 41PAO2JB+ 6.2J1O`-4 1FK7O6J-6AF71-1
162 41PAO24B+ 6.141O`-4 1FK7O6J-6AH71-1
8O 41PAO26B+ 6.O61O`-4 1FK7O8O-6AF71-1
1OO 41PAO26B+ 6.9J1O`-4 1FK7O8O-6AH71-1
12O 41PAO27B+ 6.841O`-4 1FK7O8J-6AF71-1
162 41PAO28B+ 6.761O`-4 1FK7O8J-6AH71-1
8O 41PAO29B+ 6.621O`-4
1OO 41PAOJOB+ 6.481O`-4 : 8/JOOOl
12O 41PAOJ1B+ 6.J91O`-4 : 8/4OOOlc
162 41PAOJ2B+ 6.JO1O`-4 ) 8/JOOOlc
8O 41PAOJJB+ 6.281O`-4
1OO 41PAOJ4B+ 6.161O`-4 : 12/JOOOl
12O 41PAOJ6B+ 6.O61O`-4 HC-6F62O2
162 41PAOJ6B+ 6.971O`-4 HC-6F6J62
8O 41PAOJ7B+ 6.JJ1O`-4
1OO 41PAOJ8B+ 6.2O1O`-4 ) 12/JOOOlc
12O 41PAOJ9B+ 6.111O`-4 : 12/4OOOlc
162 41PAO4OB+ 6.O21O`-4
8O 61PAO16B+ 1.611O`-J
1OO 61PAO17B+ 1.461O`-J 1FK7O8O-6AF71-1
128 61PAO18B+ 1.421O`-J 1FK7O8O-6AH71-1 11J
144 61PAO19B+ 1.4O1O`-J 1FK7O8J-6AF71-1
17O 61PAO2OB+ 1.J91O`-J 1FK7O8J-6AH71-1
8O 61PAO21B+ 1.711O`-J : 12/JOOOl
1OO 61PAO22B+ 1.671O`-J : 22/JOOOl
128 61PAO2JB+ 1.621O`-J : 22/4OOOls 6O 87
144 61PAO24B+ 1.611O`-J ) 22/2OOOls HC-6F6J62
17O 61PAO26B+ 1.691O`-J HC-6F66O2
8O 61PAO26B+ 1.611O`-J
1OO 61PAO27B+ 1.471O`-J : 12/4OOOlc
128 61PAO28B+ 1.4J1O`-J ) 12/JOOOlc 6J
144 61PAO29B+ 1.411O`-J
17O 61PAOJOB+ 1.J91O`-J
1O6
1O7
J7
1O9
111
42
46
8J
PA-8OLA
PA-16OLA
PA-4OLA
48
86
Appllcable moLor
Page Page Page Vl16UBl6Hl 6lLVLN6 FANUC
Vodel
6peed
PaLlo
PA-2OLA
Order lLem
oumber
24
MPA-LA 6erlec & 1/1O Lapered cHafL
loerLla momeoL
'l=GD`2/4)
value kg-m`2
8O 21PAO41B+ 2.861O`-6
1O4 21PAO42B+ 2.6J1O`-6 : 1/6OOOl
12O 21PAO4JB+ 2.641O`-6 : 2/6OOOl JJ
14O 21PAO44B+ 2.461O`-6 : 2/6OOOlc
16O 21PAO46B+ 2.411O`-6 ) 2/4OOOlc
8O 21PAO46B+ 4.OO1O`-6
1O4 21PAO47B+ J.781O`-6
12O 21PAO48B+ J.691O`-6 ) 4/4OOOlc J6
14O 21PAO49B+ J.611O`-6
16O 21PAO6OB+ J.661O`-6
8O J1PAOJ7B+ 9.861O`-6 : 4/4OOOl
1O4 J1PAOJ8B+ 9.111O`-6 : 8/JOOOl
12O J1PAOJ9B+ 8.791O`-6 : 8/4OOOlc
162 J1PAO4OB+ 8.J81O`-6 ) 8/JOOOlc
8O J1PAO41B+ 6.961O`-6
1O4 J1PAO42B+ 6.211O`-6 : 4/6OOOlc
12O J1PAO4JB+ 6.891O`-6 ) 4/4OOOlc
162 J1PAO44B+ 6.481O`-6
8O 41PAO41B+ 1.681O`-4 : 8/JOOOl
1OO 41PAO42B+ 1.661O`-4 : 8/4OOOlc
12O 41PAO4JB+ 1.461O`-4 ) 8/JOOOlc
162 41PAO44B+ 1.J71O`-4 ) 12/JOOOlc
8O 41PAO46B+ J.JJ1O`-4
1OO 41PAO46B+ J.2O1O`-4 : 12/JOOOl
12O 41PAO47B+ J.111O`-4
162 41PAO48B+ J.O21O`-4
8O 61PAOJ1B+ 6.J81O`-4
1OO 61PAOJ2B+ 6.921O`-4 : 12/JOOOl
128 61PAOJJB+ 6.621O`-4 : 22/JOOOl 61
144 61PAOJ4B+ 6.J21O`-4 : 22/4OOOls
17O 61PAOJ6B+ 6.181O`-4 ) 22/2OOOls
8O 61PAOJ6B+ 6.O91O`-4
1OO 61PAOJ7B+ 4.6J1O`-4 : 12/4OOOlc
128 61PAOJ8B+ 4.2J1O`-4 ) 12/JOOOlc 64
144 61PAOJ9B+ 4.OJ1O`-4
17O 61PAO4OB+ J.891O`-4
46
Appllcable moLor
Order lLem
oumber
Page
J8
4O
4J
FANUC
PA-8OLA
PA-16OLA
Vodel
6peed
PaLlo
PA-4OLA
PA-2OLA
25

R
A
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E
C

S
e
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k

S
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T
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o
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P
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C
o
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RA-EC Series
(Shaft rotating type)
Quick Selection Table of
Produkt Codes
26
MPA-LC 6erlec & 6LralgHL cHafL wlLH key)
loerLla momeoL
'l=GD`2/4)
value kg-m`2
81 2JPAOO1B+ 2.871O`-6
1O6 2JPAOO2B+ 2.661O`-6 : 1/6OOOl
121 2JPAOOJB+ 2.661O`-6 : 2/6OOOl 66
141 2JPAOO4B+ 2.481O`-6 : 2/6OOOlc
161 2JPAOO6B+ 2.4J1O`-6 ) 2/4OOOlc
81 2JPAOO6B+ 4.6J1O`-6
1O6 2JPAOO7B+ 4.471O`-6
121 2JPAOO8B+ 4.J21O`-6 ) 4/4OOOlc 68
141 2JPAOO9B+ 4.241O`-6
161 2JPAO1OB+ 4.191O`-6
81 2JPAO11B+ 1.4J1O`-4
1O6 2JPAO12B+ 1.411O`-4 HC-6F662K
121 2JPAO1JB+ 1.4O1O`-4 HC-6F61O2K 9O
141 2JPAO14B+ 1.J91O`-4
161 2JPAO16B+ 1.J81O`-4
81 2JPAO16B+ 6.J81O`-6
1O6 2JPAO17B+ 6.161O`-6 1FK7O4O-6AK71-1
121 2JPAO18B+ 6.O71O`-6 1FK7O42-6AF71-1 116
141 2JPAO19B+ 6.991O`-6 1FK7O42-6AK71-1
161 2JPAO2OB+ 6.941O`-6
81 2JPAO21B+ 1.491O`-4
1O6 2JPAO22B+ 1.471O`-4 1FK7O6O-6AF71-1
121 2JPAO2JB+ 1.461O`-4 1FK7O6O-6AH71-1 118
141 2JPAO24B+ 1.461O`-4 1FK7O6J-6AF71-1
161 2JPAO26B+ 1.461O`-4 1FK7O6J-6AH71-1
81 JJPAOO1B+ 9.641O`-6 : 4/4OOOl
1O6 JJPAOO2B+ 8.791O`-6 : 8/JOOOl
121 JJPAOOJB+ 8.471O`-6 : 8/4OOOlc
16J JJPAOO4B+ 8.O61O`-6 ) 8/JOOOlc
81 JJPAOO6B+ 7.691O`-6
1O6 JJPAOO6B+ 6.841O`-6 : 4/6OOOlc
121 JJPAOO7B+ 6.621O`-6 ) 4/4OOOlc
16J JJPAOO8B+ 6.111O`-6
81 JJPAOO9B+ 1.9O1O`-4
1O6 JJPAO1OB+ 1.821O`-4 HC-6F61O2K
121 JJPAO11B+ 1.791O`-4 HC-6F6162K
16J JJPAO12B+ 1.761O`-4
81 JJPAO1JB+ 1.7J1O`-4 1FK7O6O-6AF71-1
1O6 JJPAO14B+ 1.661O`-4 1FK7O6O-6AH71-1
121 JJPAO16B+ 1.621O`-4 1FK7O6J-6AF71-1
16J JJPAO16B+ 1.681O`-4 1FK7O6J-6AH71-1
81 JJPAO17B+ 2.861O`-4 1FK7O8O-6AF71-1
1O6 JJPAO18B+ 2.781O`-4 1FK7O8O-6AH71-1
121 JJPAO19B+ 2.761O`-4 1FK7O8J-6AF71-1
16J JJPAO2OB+ 2.711O`-4 1FK7O8J-6AH71-1
81 4JPAOO1B+ 1.671O`-4
1O1 4JPAOO2B+ 1.6J1O`-4 : 8/JOOOl
121 4JPAOOJB+ 1.461O`-4 : 8/4OOOlc
16J 4JPAOO4B+ 1.J61O`-4 ) 8/JOOOlc
81 4JPAOO6B+ 6.JO1O`-4
1O1 4JPAOO6B+ 6.171O`-4 : 12/JOOOl
121 4JPAOO7B+ 6.O81O`-4 HC-6F62O2K
16J 4JPAOO8B+ 6.991O`-4
HC-6F6J62K
81 4JPAOO9B+ 2.491O`-4
1O1 4JPAO1OB+ 2.J61O`-4 ) 12/JOOOlc
121 4JPAO11B+ 2.271O`-4 : 12/4OOOlc
16J 4JPAO12B+ 2.171O`-4
81 4JPAO1JB+ 2.691O`-4 1FK7O6O-6AF71-1
1O1 4JPAO14B+ 2.461O`-4 1FK7O6O-6AH71-1
121 4JPAO16B+ 2.J71O`-4 1FK7O6J-6AF71-1
16J 4JPAO16B+ 2.271O`-4 1FK7O6J-6AH71-1
81 4JPAO17B+ 4.O21O`-4 1FK7O8O-6AF71-1
1O1 4JPAO18B+ J.891O`-4 1FK7O8O-6AH71-1
121 4JPAO19B+ J.8O1O`-4 1FK7O8J-6AF71-1
16J 4JPAO2OB+ J.7O1O`-4 1FK7O8J-6AH71-1
81 6JPAOO1B+ 1.O61O`-J : 12/JOOOl
1O1 6JPAOO2B+ 1.O11O`-J : 22/JOOOl
129 6JPAOOJB+ 9.691O`-4 : 22/4OOOls 7J
146 6JPAOO4B+ 9.491O`-4 ) 22/2OOOls HC-6F6J62K
171 6JPAOO6B+ 9.J61O`-4
HC-6F66O2K
81 6JPAOO6B+ 6.261O`-4
1O1 6JPAOO7B+ 4.791O`-4 : 12/4OOOlc
129 6JPAOO8B+ 4.J91O`-4 ) 12/JOOOlc 76
146 6JPAOO9B+ 4.191O`-4
171 6JPAO1OB+ 4.O61O`-4
81 6JPAO11B+ 7.471O`-4
1O1 6JPAO12B+ 7.O11O`-4 1FK7O8O-6AF71-1
129 6JPAO1JB+ 6.611O`-4 1FK7O8O-6AH71-1 128
146 6JPAO14B+ 6.411O`-4 1FK7O8J-6AF71-1
171 6JPAO16B+ 6.271O`-4
1FK7O8J-6AH71-1
126
96
68 94
71
124
92
12O
122
66
Order lLem
oumber
Appllcable moLor
6O
6J
Page
PA-8OLC
PA-16OLC
PA-4OLC
Vl16UBl6Hl 6lLVLN6 FANUC Page Page
Vodel
6peed
PaLlo
PA-2OLC
27

R
A
-
E
C

S
e
r
i
e
s
Q
u
i
c
k

S
e
l
e
c
t
i
o
n

T
a
b
l
e

o
f

P
r
o
d
u
c
t

C
o
d
e
s
MPA-LC 6erlec & 6LralgHL cHafL wlLHouL key)
loerLla momeoL
'l=GD`2/4)
value kg-m`2
81 2JPAO26B+ J.OJ1O`-4
1O6 2JPAO27B+ J.O11O`-4 1FK7O4O-6AK71-1
121 2JPAO28B+ J.OO1O`-4 1FK7O42-6AF71-1 117
141 2JPAO29B+ 2.991O`-4 1FK7O42-6AK71-1
161 2JPAOJOB+ 2.991O`-4
81 2JPAOJ1B+ J.O61O`-4
1O6 2JPAOJ2B+ J.O41O`-4 1FK7O6O-6AF71-1
121 2JPAOJJB+ J.OJ1O`-4 1FK7O6O-6AH71-1 119
141 2JPAOJ4B+ J.O21O`-4 1FK7O6J-6AF71-1
161 2JPAOJ6B+ J.O11O`-4 1FK7O6J-6AH71-1
81 2JPAOJ6B+ J.OJ1O`-4
1O6 2JPAOJ7B+ J.O11O`-4 HC-6F662
121 2JPAOJ8B+ J.OO1O`-4 HC-6F61O2 91
141 2JPAOJ9B+ 2.991O`-4
161 2JPAO4OB+ 2.991O`-4
81 JJPAO46B+ J.411O`-4 1FK7O6O-6AF71-1
1O6 JJPAO46B+ J.JJ1O`-4 1FK7O6O-6AH71-1
121 JJPAO47B+ J.JO1O`-4 1FK7O6J-6AF71-1
16J JJPAO48B+ J.261O`-4 1FK7O6J-6AH71-1
81 JJPAO26B+ 6.661O`-4 1FK7O8O-6AF71-1
1O6 JJPAO26B+ 6.471O`-4 1FK7O8O-6AH71-1
121 JJPAO27B+ 6.441O`-4 1FK7O8J-6AF71-1
16J JJPAO28B+ 6.4O1O`-4 1FK7O8J-6AH71-1
81 JJPAO29B+ J.J41O`-4 : 4/4OOOl
1O6 JJPAOJOB+ J.271O`-4 : 8/JOOOl
121 JJPAOJ1B+ J.241O`-4 : 8/4OOOlc
16J JJPAOJ2B+ J.2O1O`-4 ) 8/JOOOlc
81 JJPAOJJB+ J.J61O`-4
1O6 JJPAOJ4B+ J.271O`-4 HC-6F61O2
121 JJPAOJ6B+ J.241O`-4 HC-6F6162
16J JJPAOJ6B+ J.2O1O`-4
81 4JPAO21B+ 6.461O`-4 1FK7O6O-6AF71-1
1O1 4JPAO22B+ 6.J21O`-4 1FK7O6O-6AH71-1
121 4JPAO2JB+ 6.2J1O`-4 1FK7O6J-6AF71-1
16J 4JPAO24B+ 6.141O`-4 1FK7O6J-6AH71-1
81 4JPAO26B+ 6.O61O`-4 1FK7O8O-6AF71-1
1O1 4JPAO26B+ 6.9J1O`-4 1FK7O8O-6AH71-1
121 4JPAO27B+ 6.841O`-4 1FK7O8J-6AF71-1
16J 4JPAO28B+ 6.761O`-4 1FK7O8J-6AH71-1
81 4JPAO29B+ 6.621O`-4
1O1 4JPAOJOB+ 6.481O`-4 : 8/JOOOl
121 4JPAOJ1B+ 6.J91O`-4 : 8/4OOOlc
16J 4JPAOJ2B+ 6.JO1O`-4 ) 8/JOOOlc
81 4JPAOJJB+ 6.281O`-4
1O1 4JPAOJ4B+ 6.161O`-4 : 12/JOOOl
121 4JPAOJ6B+ 6.O61O`-4 HC-6F62O2
16J 4JPAOJ6B+ 6.971O`-4 HC-6F6J62
81 4JPAOJ7B+ 6.JJ1O`-4
1O1 4JPAOJ8B+ 6.2O1O`-4 ) 12/JOOOlc
121 4JPAOJ9B+ 6.111O`-4 : 12/4OOOlc
16J 4JPAO4OB+ 6.O21O`-4
81 6JPAO16B+ 1.611O`-J
1O1 6JPAO17B+ 1.461O`-J 1FK7O8O-6AF71-1
129 6JPAO18B+ 1.421O`-J 1FK7O8O-6AH71-1 129
146 6JPAO19B+ 1.4O1O`-J 1FK7O8J-6AF71-1
171 6JPAO2OB+ 1.J91O`-J 1FK7O8J-6AH71-1
81 6JPAO21B+ 1.711O`-J : 12/JOOOl
1O1 6JPAO22B+ 1.671O`-J : 22/JOOOl
129 6JPAO2JB+ 1.621O`-J : 22/4OOOls 74 97
146 6JPAO24B+ 1.611O`-J ) 22/2OOOls HC-6F6J62
171 6JPAO26B+ 1.691O`-J HC-6F66O2
81 6JPAO26B+ 1.611O`-J
1O1 6JPAO27B+ 1.471O`-J : 12/4OOOlc
129 6JPAO28B+ 1.4J1O`-J ) 12/JOOOlc 77
146 6JPAO29B+ 1.411O`-J
171 6JPAOJOB+ 1.J91O`-J
121
12J
Order lLem
oumber
Page Page Page
Appllcable moLor
6lLVLN6
9J
Vl16UBl6Hl FANUC
72
Vodel
6peed
PaLlo
61
PA-2OLC
PA-8OLC
PA-16OLC
PA-4OLC
126
127
66
69 96
28
MPA-LC 6erlec & 1/1O Lapered cHafL
loerLla momeoL
'l=GD`2/4)
value kg-m`2
81 2JPAO61B+ 2.861O`-6
1O6 2JPAO62B+ 2.6J1O`-6 : 1/6OOOl
121 2JPAO6JB+ 2.641O`-6 : 2/6OOOl 67
141 2JPAO64B+ 2.461O`-6 : 2/6OOOlc
161 2JPAO66B+ 2.411O`-6 ) 2/4OOOlc
81 2JPAO46B+ 4.OO1O`-6
1O6 2JPAO47B+ J.781O`-6
121 2JPAO48B+ J.691O`-6 ) 4/4OOOlc 69
141 2JPAO49B+ J.611O`-6
161 2JPAO6OB+ J.661O`-6
81 JJPAOJ7B+ 9.861O`-6 : 4/4OOOl
1O6 JJPAOJ8B+ 9.111O`-6 : 8/JOOOl
121 JJPAOJ9B+ 8.791O`-6 : 8/4OOOlc
16J JJPAO4OB+ 8.J81O`-6 ) 8/JOOOlc
81 JJPAO41B+ 6.961O`-6
1O6 JJPAO42B+ 6.211O`-6 : 4/6OOOlc
121 JJPAO4JB+ 6.891O`-6 ) 4/4OOOlc
16J JJPAO44B+ 6.481O`-6
81 4JPAO41B+ 1.681O`-4 : 8/JOOOl
1O1 4JPAO42B+ 1.661O`-4 : 8/4OOOlc
121 4JPAO4JB+ 1.461O`-4 ) 8/JOOOlc
16J 4JPAO44B+ 1.J71O`-4 ) 12/JOOOlc
81 4JPAO46B+ J.JJ1O`-4
1O1 4JPAO46B+ J.2O1O`-4 : 12/JOOOl
121 4JPAO47B+ J.111O`-4
16J 4JPAO48B+ J.O21O`-4
81 6JPAOJ1B+ 6.J81O`-4
1O1 6JPAOJ2B+ 6.921O`-4 : 12/JOOOl
129 6JPAOJJB+ 6.621O`-4 : 22/JOOOl 76
146 6JPAOJ4B+ 6.J21O`-4 : 22/4OOOls
171 6JPAOJ6B+ 6.181O`-4 ) 22/2OOOls
81 6JPAOJ6B+ 6.O91O`-4
1O1 6JPAOJ7B+ 4.6J1O`-4 : 12/4OOOlc
129 6JPAOJ8B+ 4.2J1O`-4 ) 12/JOOOlc 78
146 6JPAOJ9B+ 4.OJ1O`-4
171 6JPAO4OB+ J.891O`-4
Page
Appllcable moLor
62
64
FANUC
PA-8OLC
PA-16OLC
PA-4OLC
67
7O
Vodel
6peed
PaLlo
Order lLem
oumber
PA-2OLC
Nabtesco Corporation guarantees that the RA Gearheads are free from defects in materials and
workmanship.
The term of guarantee shall be one year after delivery or 2,000 hours of operation after the installation
on an actual machine, whichever is earlier, on condition that the product is operated under the rated
operation conditions specified by us, and under normal assembly and lubrication conditions.
If any defect in the materials or workmanship is detected during the above guarantee term, the product
will be repaired or replaced at our expense, provided that the number of man-hours required for
demounting and remounting the product from the machine, transportation expenses for re-delivery,
warehousings and other incidental expenses shall be excluded from our obligation.
No compensation will be provided for the lost opportunities or any other type of loss due to a shutdown
of operation that was caused by a defect in the product.
If compensation under the guarantee is discharged monetarily, the upper limit of the amount shall not
exceed the selling price of the product which is the subject of the claim.
If any of the applicable units are disassembled/reassembled without prior notification to us, we shall not
be held responsible for any problems related to performance or safety, etc. that result from their
subsequent usage.
Guarantee
If the end user of this product is a military interest or the product is to be used in the manufacture of
weapons, the product may be subject to export regulations prescribed in the Foreign Exchange and Foreign
Trade Control Law. Confirm these conditions before exporting the product and take the necessary steps.
When using this product with devices (nuclear facilities, aerospace equipment, transportation
equipment, medical equipment, safety devices, etc.) that may directly affect the human body or
endanger human life due to an operational malfunction or failure, examination of individual situations is
required. In such a case, contact an agent or our nearest business office.
Although this product has been manufactured under strict quality control, if it is to be used in equipment
that could cause serious injury or damage to facilities as a result of failure of the product, all appropriate
safety measures must be taken.
When this product is used in a special environment (clean room, food handling facilities, etc.), please
contact an agent or our nearest business office.
Disassembling the product and analyzing the inside is prohibited under reverse engineering and other
related regulations.
Cautions for use of RA Series
Rev. 002
CAT. 080531
In North and South America
Nabtesco Motion Control Inc.
28850 Cabot Drive, Suite 300, Novi, MI 48337
PHONE: 1-248-553-3020 FAX: 1-248-553-3070
E-MAIL: info@nabtescomotion.com
Home Page: www.nabtescomotion.com
In Europe and Africa
Nabtesco Precision Europe GmbH
Klosterstrae 49, D-40211 Dsseldolf, Germany
PHONE: 49-211-173790 FAX: 49-211-364677
E-MAIL: info@nabtesco-precision.de
HomePage : www.nabtesco-precision.de
In Asia
Tokyo Head Office
1-9-18 Kaigan Minato-ku, Tokyo 105-0022, Japan
PHONE: 81-3-3578-7461 FAX: 81-3-3578-7471
E-MAIL: P_Information@nabtesco.com
Tsu Plant
594 Ichimachida, Katada-cho, Tsu-shi, Mie Pref. 514-8533, Japan
PHONE: 81-59-237-4600 FAX: 81-59-237-4610
Specifications are subject to change without notice.
www.nabtesco.com

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High Precision Gearheads

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