rac servo systems

Transkript

rac servo systems

AC SERVO SYSTEMS
R
4
Ver.
Easy Set-up for Optimal Operation
Auto-Tuning
Small Compact Servomotors
A new auto-tuning algorithm improves system
response by providing functions such as inertia
identification, 5 auto-tuning modes, 30 levels of
response, and parameter setting auto-save.
Motor size and volume is reduced by as much as 30%
and 25% respectively compared to current models.
The world's smallest high torque high performance
servomotor. (as of Sept 2006)
Velocity command
value
Tuning start
Detected velocity value
30% reduction
Multi-Axis Servo Amplifier
Water Protection
6-axis model can reduce installation width by up to
42% compared to six single-axis models.Power loss is
reduced by up to 20% compared to current single-axis
models.
All motor models have IP67 protection.
IP67
*Shaft feedthrough and cable end are excluded.
All-in-One Control
Power Supply Harmonic Suppression
Configurable parameters allow you to switch between
control modes for torque, position or velocity.
Equipped with DC reactor connection terminals as
standard feature for supressing power supply
harmonics.
Position
or
Velocity
GO
Torque
control
AL
g
in
T
AR
ST
c
As
Flat
*available for single-axis only
1
d
en
Features and
Functions
Test Function (JOG)
Parameter setting, monitoring and alarm tracing can
be easily done using the built-in operator.
On-board JOG operation function is available for
testing motor and amplifier connection without the
need to connect to host device.
Model Number
Nomencalture
5-digit LED Display, Built-in Operator
External Wiring
Diagram
Standard
Specifications
System
Configuration
Capable of JOG operation
without connecting to host
device
The setup software allows you to set parameters,
view graphical displays of monitored position,
velocity or torque waveforms, and perform system
analysis.
Parameter settings Position, velocity,
torque waveforms
The setup software allows up to 15 amplifiers to be
monitored. This function can be used to monitor
waveforms in synchronized operations.
Setup Software
Simultaneous Monitor Function
Daisy chain up to 15 units
RS232C
Maximum
15 units
*
*Use optional cable
AL-00490833-01 for PC
connection
*PC connection cable is optional
Built-in Dynamic Brake
A built-in regeneration resistor can be used to absorb
regenerative energy generated during motor
deceleration. External regeneration resistors can be
added if internal regeneration capacity is insufficient.
A built-in dynamic brake provides emergency stop
capability. The six kinds of motion sequences for the
dynamic brake can be selected by parameter setting.
Built-in
Regeneration
Resistor
Rotation speed
Built-in Regeneration Resistor
Controlled
state Dynamic braking state
(min-1)
Time(s)
External regenerative
resistor unit (Option)
2
Optional
Equipment
Setup Software
Dimensions
*Multi-axis is done through a personal computer.
Improved Precision and Reduced Cycle Time
High Response
Shorter Position Settling Time
A 4th-order notch filter reduces phase delay to
suppress mechanical resonance and improve velocity
response of equipment.
A new algorithm drastically shortens positioning
settling time for equipment.
10
Position deviation
Gain (dB)
0
-10
-20
Position complete signal
-30
-40
1
5
10
Frequency (Hz)
50
100
500 1000 1800
Settling time (0ms)
Example of positioning settling time
in highly rigid machinery
5ms/div
Vibration Suppression Control
Disturbance Suppression
With feed-forward vibration suppression control,
vibrations at the processing point and base of a
machine can be suppressed through simple tuning
procedures. Up to 4 types of vibration control
frequencies can be selected.
A new disturbance observer with expanded applicable
frequencies suppresses disturbance from other axes
in a multi-axis configuration.
Position deviation during stop
With vibration suppression control
Without vibration suppression control
Disturbance observer function ON
Oscillation waveform
of direct drive section
100ms/div
With vibration
suppression control
Without vibration
suppression control
Disturbance observer function OFF
Oscillation waveform
of direct drive section
Disturbance
Disturbance
Expanded Power Range
Command Follow-up Control
Maximum instantaneous stall torque is improved by
5% to 26%, and maximum rotation speed is increased
from 5000min-1 to 6000min-1 compared to current
models.
Performance of the positioning doubled in comparison
with current models by adoption of new positioning
control algorithm and new speed control algorithm.
And position deviation≒0 is achieved.
Position command
Torque (N・m)
Increased torque
R motor
Current model
Increased rotation Speed
0
1000 2000 3000 4000 5000 6000 7000
Rotation Speed (min-1)
3
Position deviation
20ms/div
20% Reduction in Power Loss
Using our proprietary technology, the motor's low
cogging torque delivers smooth rotation that is ideal
for high precision processes and vibration-sensitive
conveyor applications.
An energy conserving power module reduces main
circuit power loss by up to 20%.
One Rotation
R motor
5.1×10-3N・m
1.6% (Comparison of Rated Torque)
System
Configuration
90%
80%
70%
60%
50%
Standard
Specifications
2.56×10-3N・m
0.8% (Comparison of Rated Torque)
100%
Power loss reduction (%)
Comparison of cogging torque waveforms
□
40-0.1kW
Model Number
Nomencalture
Low Cogging Torque
Features and
Functions
Reduced Running
Costs
40%
30%
20%
0%
One Rotation
Current model
Current model
External Wiring
Diagram
10%
SANMOTION R
15A
(*Image)
Dimensions
High Resolution
(13
1 ,0 7
2 divisions) Absolu
te E
nc
od
er
Optional
Equipment
Hig
h
Re
so
l
u
n
ti o
bit
17
Setup Software
Support for encoders up to 17 bit (131,072 divisions) is
available for high resolution control.
Full Closed-Loop Control
Optional support for full closed-loop control using
linear scale and other high resolution encoders
mounted on device side.
Highly accurate
positioning is possible
Loa
d
*available for single-axis only
4
Servo Motor Model Number Nomenclature
Servo Motor
Example: The following model number defines a "R2" servomotor with 60mm flange size, 200W rated output,
6000min -1 maximum rotation speed, 24V brake, and an absolute encoder (131,072 divisions/
rotation),UL/CE approval and gear ratio 1/3.
R
2
AA
06
020
F
C
P
00
M
A
Specification
00‥Standard
01‥With oil seal
R Series
Holding Brake
X‥‥Without Brake
B‥‥With Brake（90V DC）
C‥‥With Brake（24V DC）
Motor Type
‥‥Middle inertia
‥‥6000min-1
‥‥‥200V Motor
04 ‥‥‥ 40mm
06 ‥‥‥ 60mm
08 ‥‥‥ 80mm
Gear type
‥‥Gear ratio 1/3
Rated Output
003 ‥‥‥ 30W
005 ‥‥‥ 50W
010 ‥‥‥ 100W
020 ‥‥‥ 200W
040 ‥‥‥ 400W
075 ‥‥‥ 750W
Encoder Type
P ‥Battery backup method absolute encoder［PA035C］
H ‥Absolute encoder for incremental System［PA035S］
W‥Absolute encoder without battery［RA035C］
S ‥Wire-saving incremental encoder［PP031T］
Encoder Specification
Model
Per rotation
PA035C
131072(17bit)
65536(16bit)
Battery backup method Absolute encoder
PA035S
131072(17bit)
ー
Absolute encoder for Incremental system
RA035C
131072(17bit)
65536(16bit)
Absolute encoder without battery
PP031T
40000(10000P/R)
ー
Wire-saving incremental encoder
Multiple Rotations
Remarks
Conformance to Overseas Standards
Our standard servo amplifier has attained the UL, c-UL and
ENstandards.
To comply with the EMC Directive, EMC filters can be used.You can
also employ servo motors that have attained the UL and EN standards.
5
M ‥‥CE and UL
0 ‥‥Without standard
but with gear
Maximum Rotation Speed
Supply Voltage
Flange Size
Standard Identification
Single-Axis Servo Amplifier (Analog/Pulse input type)
Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage and
15A amplifier capacity.
Model Number
Nomencalture
A
01‥‥‥ 15A
03‥‥‥ 30A
05‥‥‥ 50A
System
Configuration
Amp. capacity
Motor Type
‥‥‥Rotary Motor
Control Hardware Type
Power Input, Internal Registration Setting
Model
L
A
A
L
N
E
A… Encoder Specification : Absolute encoder
Selectable output : NPN Output
B… Encoder Specification : Absolute encoder
Selectable output : PNP Output
T… Full Closed-Loop
Input Voltage Internal Registration Resistor Amp. capacity
15A,30A (option.setting)
W
15A,30A
W/O
AC200V
50A
W
W/O
50A
W
AC100V
15A,30A
W/O
Setup Software
*Please set the parameters for your selected motor accordingly before using.
Amplifier Unit
01
A
R Series
Multi-Axis Servo System
Amplifier Unit
A
A
Amp. capacity
A‥‥DC280V
E‥‥DC140V
Specification
01‥‥‥ 15A
03‥‥‥ 30A
Power Input
00
B
‥‥‥Pulse train interface
Motor Type
Optional
Equipment
RR1
‥‥Standard
Encoder Combination Description
‥‥‥Absolute encoder
Power Unit
RRP
A
R Series
Power Unit
A
00
Power Input
A‥‥AC200V
E‥‥AC100V
Specification
‥‥Standard
Motherboard
RRM
Standard
Specifications
R Series
Single-Axis Servo
Amplifier
A
External Wiring
Diagram
01
A
Dimensions
RS1
Features and
Functions
Servo Amplifier Model Number Nomenclature
A
R Series
Motherboard
6
00
Power Input
A‥‥AC200V
E‥‥AC100V
Number of Slots (based on a 15A unit)
4‥‥‥‥‥‥‥‥ 4 Slots
6‥‥‥‥‥‥‥‥ 6 Slots
Specification
‥‥Standard
6
Servo Amplifier Model Number Nomenclature
Servo Amplifier with CANopen
Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage
(Main Power and Control Power) and 15A amplifier capacity.
RS1
01
A
A
L
R Series
AMP. Capacity
Motor Type
01‥‥‥ 15A
03‥‥‥ 30A
05‥‥‥ 50A
‥‥‥ Rotary Motor
Interface Type
Power Input, Input Voltage
A‥‥Main Power : 200V AC, Control Power : 1φ200V AC
J ‥‥Main Power : 200V AC, Control Power : 24V DC
Note: Built – In Regenerative Circuit (External Regenerative Resistor) Built – In DB Circuit
L‥‥ Interface Specification：CAN open I/F
Encoder Specification：Absolute encoder,
L ‥‥NPN Output
U‥‥PNP Output
Single-Axis Servo Amplifier built-in Positioning Function model
Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage
(Main Power and Control Power) and 15A amplifier capacity.
RS1
R Series
Single-Axis Servo
Amplifier
A
01
A
C
Amp. capacity
01‥‥‥ 15A
03‥‥‥ 30A
05‥‥‥ 50A
Motor Type
Model
L
A
A
L
N
E
Input Voltage Internal Registration Resistor Amp. capacity
W
15A,30A
W/O
AC200V
50A
W
W/O
50A
W
AC100V
15A,30A
W/O
7
Interface Type
‥‥‥Built-in Positioning Function Model
03‥‥‥ 30A
05‥‥‥ 50A
Amplifier
Motor Type
Power Unit
Motherboard
System
Configuration
RR1A03AAB00 × 2 units
RRPAA00 × 1 unit
RRMA600 × 1 unit
Amplifier Unit
A
Amp. capacity
A‥‥DC280V
E‥‥DC140V
Specification
01‥‥‥ 15A
03‥‥‥ 30A
Power Input
00
B
Standard
Specifications
R Series
Amplifier Unit
A
Motor Type
‥‥Standard
External Wiring
Diagram
01
A
Encoder Combination Description
‥‥‥Absolute encoder
Dimensions
RR1
R Series
Power Unit
A
00
Power Input
A‥‥AC200V
E‥‥AC100V
Optional
Equipment
A
Setup Software
Power Unit
RRP
Specification
‥‥Standard
Motherboard
RRM
A
R Series
Motherboard
6
00
Power Input
A‥‥AC200V
E‥‥AC100V
Model Number
Nomencalture
A… Encoder Specification : Absolute encoder
Model Input Voltage Internal Registration Resistor Amp. capacity
L
Multi-Axis
Servo Amplifier
W
Selectable output : NPN Output
A
15A,30A
W/O
AC200V
Example:
The model number
shown 50A
below is a 4-axis "R"B…
series
multiaxis
servo
amplifier
Encoder
Specification
: Absolute
encoder configuration
A
W
with
200V
AC
input
voltage,
2
units
of
15A
amplifiers,
2
units
of
30A
amplifiers,
and pulse
train
Wire-saving incremental
encoder
L
W/O
50A
interface.
Selectable output : PNP Output
N
W
AC100V
T… Full Closed-Loop
EAmplifier Unit
15A,30A
W/O
×
RR1A01AAB00
2 units
Features and
Functions
Number of Slots (based on a 15A unit)
4‥‥‥‥‥‥‥‥ 4 Slots
6‥‥‥‥‥‥‥‥ 6 Slots
8‥‥‥‥‥‥‥‥ 8 Slots
Specification
‥‥Standard
8
System Configuration
Single-Axis Servo Amplifier
Noise Filter
Electromagnetic Contactor
Model No.: AL-00494635-01
Switches servo power on and
off. Installation of a surge
protector is required.
Create the protective circuit.
Protects the power line
from external noise, and
from noise generated by
the servo amplifier.
Model No.: AL-00490833-01
PC
Circuit Breaker(MCCBM)
Cuts off power in the case
of an overload, to protect
the power line.
TSR
DC Reactor
Lithium battery
When using the unit with an
absolute system, mount the
optional battery inside the
digital operator cover.
Setup
Software
Parameter
configuration
and monitoring
is possible via
communication
with a PC.
CN1
Suppresses power harmonics.
Remove the short bar between
DL1-DL2 and connect this here,
when needed for high
frequency waves.
External Regenerative Resistor
Host Devices
PLC
PLC and controllers are
available as the host device.
Use as required, such as for
heavy inertial load
operations.
CN2
For special operations, such as
high frequency applications
that require greater power
dissipation than that provided
by the servo amplifier’s
internal regenerative resistor.
Brake Power
Wiring required for brake.
Required for use when the
servo motor is equipped
with a brake.
CANopen
Host Devices
Dedicated controller
PC and PLC are available
as the host device.
*Communication Profile: DS-301
Device Profile: DSP-402 compliance
9
Lithium battery
T
S
R
Protects the power line
from external noise, and
from noise generated by
the servo amplifier.
Host Devices
When using the unit with
an absolute system,
connect the optional
battery to CN5.
Cuts off power in the case
of an overload, to protect
the power line.
Model No.: AL-00494635-01
Model Number
Nomencalture
Circuit Breaker(MCCB)
Setup Software
Parameter configuration
and monitoring is possible
via communication with a
PC.
PLC
PLC and controllers are
available as the host device.
System
Configuration
Noise Filter
Features and
Functions
Model No.: AL-00490833-01
External Wiring
Diagram
Standard
Specifications
Electromagnetic Contactor
Switches servo power on and
off. Installation of a surge
protector is required.
Create the protective circuit.
Dimensions
External Regenerative Resistor
Setup Software
Use as required, such as for
heavy inertial load
operations.
Optional
Equipment
For special operations, such as
high frequency applications
that require greater power
dissipation than that provided
by the servo amplifier’s
internal regenerative resistor.
DC Reactor
Suppresses power harmonics.
Remove the short bar between
DL1-DL2 and connect this here,
when needed for high
frequency waves.
Brake Power
Wiring required for brake.
Required for use when the
servo motor is equipped
with a brake.
10
Standard Specifications
Motor Model and Flange Size in mm
Servo Motor
200V System
Capacity
40mm to 80mm
30W to 750W
□
□
（9 models）
Features
High Efficiency and Low
Ripple (Medium Inertia)
R2AA04005F
R2AA04010F
30
50
100
《40》
《40》
Unit
Rated Output　★
PR
W
Rated Speed
★
NR
min -1
Maximum Speed
★
N max
min -1
Rated Torque
★
TR
N・m
0.098
0.159
0.318
Continuous Torque at Stall
★
TS
N・m
0.108
0.167
0.318
Peak Torque at Stall
★
TP
N・m
0.37
0.59
1.18
Rated Armature Current
★
IR
Arms
0.51
0.67
0.81
Armature Current at Stall
★
IS
Arms
0.56
0.69
0.81
Peak Armature Current at Stall
★
IP
Arms
2.15
2.8
3.3
Torque Constant
☆
KT
N・m／Arms
0.201
0.246
0.424
Voltage Constant Per Phase
☆
K Eφ
mV／min -1
7
8.6
14.8
Phase Resistance
☆
Rφ
Ω
12
9
9.3
Rated Power Rate
★
QR
kW／s
3.9
6.7
16
Electrical Time Constant
☆
te
ms
0.55
0.67
0.82
Mechanical Time Constant (Not including Encoder)
☆
3000
6000
tm
ms
2.2
1.7
0.97
Rotor Moment of Inertia (Not including Encoder)
JM
2
2
×10 -4 kg・m（GD
／4）
0.0247
0.0376
0.0627
Rotor Moment of Inertia (Encoder)
JS
2
2
×10 -4 kg・m（GD
／4）
Mass including Encoder
WE
kg
Brake Static Friction Torque
TB
N・m
0.32 MIN.
Brake Rated Voltage
VB
V
DC90V ／ DC24V ± 10％
Brake Rated Current
IB
A
0.07 ／ 0.27
Rotor Moment of Inertia (Brake)
JB
2
2
×10 -4 kg・m（GD
／4）
0.0078
Brake Mass
W
kg
0.0033 (Note 3)
0.23
0.27
Operating Temperature: 0 to 40°C, Relative Humidity: 90% Maximum, no condensation
RS1A01AA
Amplifier Model（CANopen）
RS1A01AL
Amplifier Model（Multi-Axis）
RR1A01AAB00
AC200V to 230V ＋10, －15% 50/60Hz ± 3Hz (Note 2)
Amplifier Power Supply
Amp. Operating Temp. and RH
Operating Temperature: 0 to 55°C (Note1), Relative Humidity: 90% Maximum, no condensation
Power Consumption
☆:Indicates a typical
value when the winding
temperature is 20℃.
0.2
kVA
Amplifier Mass（Weight）[Single / CAN / Multi]
* For models with oil seal or brake, reduction in rated value
may become necessary.
0.5
1.5
0.8
0.4
0.6
1
0.3
Torque [N・m]
Note 1) The multi-axis type amplifier has an ambient
operating temperature of 0 to 40℃. The operating
temperature with forced air cooling is 0 to 55℃.
Note 2) In case of the amplifier for CANopen, there is also
control power source DC24V type.
Note 3) This is a instance with the battery-backup method
absolute encoder〔PA035〕.　For the following encoders, please make inquiries:
・Absolute encoder without battery［ RA035C ］
・Red. Wiring Incremental Encoder［ PP031T ］
0.4
0.9 ／ 1.0 ／ 0.48
kg
Torque [N・m]
★:Indicates a typical value
after warm-up and thermal
stabilization, together with
a standard amplifier.
0.39
0.23
Motor Operating Temp, Rel. Humidity
Amplifier Model（Single-Axis）
Motor Dwgs P20
《40》
Symbol
0.2
0.1
Torque [N・m]
R2
R2AA04003F
Status
0.4
0.2
0.5
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
Speed [min-1]
Speed [min-1]
Speed [min-1]
Encoder Wiring Diagram
SERVO AMPLIFIER
CN2
ES＋
ES−
EBAT＋
EBAT−
＋5V
0V
SERVO MOTOR
13
14
1
2
9
10
11
12
17
18
19
20
Brown
ES＋
Blue
ES−
Pink
EBAT＋
Purple
Note4）
Note1）
Note2）
Note3）
11
Use a twisted-pair shielded cable.
Note 2) Encoder power connections depend on encoder cable length. See the following
Encoder
FG（Shielded）
Plug:10120-3000VE
Shell:10320-52A0-008
Note 1)
EBAT−
Red ＋5V
Black 0V
Battery backup type absolute encoder [ PA035C ]
Absolute encoder for incremental system [ PA035S ]
Absolute encoder without battery [ RA035C ]
Encoder cable length
10m MAX.
Connect pin 19
+5V DC Wiring
(Do not connect pins12,17)
0V DC Wiring
Connect pin 20
25m MAX.
Connect pin 17,19
(Do not connect pins12)
Connect pin 18,20
40m MAX.
Connect pin 12,17,19
Note 3) Use a Awg24 0.2mm encoder cable
2
Note 4) When the Absolute encoder for incremental system or absolute encoder
without battery is used, battery lines (EBAT+, EBAT-) are not required.
For the following encoders, please make inquiries:
・Red. Wiring incremental encoder［ PP031T ］　Wiring diagram → page14
R2AA08075F
200
400
750
《80》
《80》
3000
Unit
W
min -1
6000
min -1
0.318
0.637
1.273
0.637
1.27
2.39
N・m
0.353
0.686
1.372
0.686
1.37
2.55
N・m
1.13
2.2
4.8
2.2
4.4
8.5
N・m
0.86
1.5
2.8
1.5
2.6
4.6
Arms
Arms
0.86
1.6
2.8
1.5
2.6
4.6
3.5
5.6
10.8
4.8
8.9
15.5
Arms
0.375
0.476
0.524
0.516
0.559
0.559
N・m／Arms
13.1
16.6
18.3
18.0
19.5
19.5
mV／min -1
4.8
2.7
1.36
2.3
0.93
0.4
Ω
8.6
19
39
8
16
31
kW／s
ms
2.0
2.6
3.2
2.2
2.5
3.0
1.2
0.78
0.61
1.3
0.93
0.70
ms
0.117
0.219
0.412
0.52
1.04
1.82
2
2
×10 -4 kg・m（GD
／4）
2
2
×10 -4 kg・m（GD
／4）
0.0033 (Note 3)
0.59
0.84
1.3
1.2
1.6
2.6
N・m
0.11 ／ 0.32
0.12 ／ 0.37
A
0.060
0.25
2
2
×10 -4 kg・m（GD
／4）
0.35
0.85
kg
1.37 MIN.
0.07 ／ 0.27
0.060
DC90V ／ DC24V ± 10％
0.30
kg
2.55 MIN.
0.36 MIN.
Features and
Functions
400
R2AA08040F
《80》
Model Number
Nomencalture
200
R2AA08020F
System
Configuration
100
《60》
Standard
Specifications
R2AA06040F
《60》
External Wiring
Diagram
R2AA06020F
《60》
V
Dimensions
R2AA06010F
RS1A01AA
RS1A03AA
RS1A01AA
RS1A01AL
RS1A03AL
RS1A01AL
RS1A03AA
RS1A03AL
RR1A01AAB00
RR1A03AAB00
RR1A01AAB00
RR1A03AAB00
Setup Software
AC200V to 230V ＋10, －15% 50/60Hz ± 3Hz (Note 2)
Operating Temperature: 0 to 55°C（Note）, Relative Humidity: 90% Maximum, no condensation
3
1.5
1.0
0.8
1.0 ／ 1.11 ／ 0.77
0.9 ／ 1.0 ／ 0.48
1.0
6
3
5
1
2
Torque [N・m]
Torque [N・m]
Torque [N・m]
Torque [N・m]
0.5
4
3
2
6
10
5
8
4
Torque [N・m]
2
1
1.7
1.0 ／ 1.11 ／ 0.77
1
1
3
2
kVA
kg
Optional
Equipment
0.8
0.9 ／ 1.0 ／ 0.48
Torque [N・m]
0.4
6
4
2
1
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
Speed [min-1]
Speed [min-1]
Speed [min-1]
Speed [min-1]
Speed [min-1]
Speed [min-1]
SERVO AMPLIFIER
+5V
0V
+5V
0V
N.C.
N.C.
ES+
ESEBAT+
EBAT-
SERVO MOTOR
Note 1)
+5
0V
3
4
5
6
7
8
Brown
ES+
Blue
9
10
Pink
EBAT+
Purple
Note 2)
Plug:36320-0100JL
Shell:36310-3200-008
Red
Black
1
2
Encoder
ES-
EBAT-
Note 1)
Note 3)
Note 2) The sheathed shield wire should be connected to the metal case (ground) on CN2 side,
before connecting to ground on encoder side.
Note 3) Color symbols shown on the diagram for signal lines on encoder side refer to lead-wire
type sensors.
Note 4) The allowable connection distance between amplifier and encoder varies according to
the diameter(impedence) of the electric wire of the cable used. The power voltage
specification for encoders is 5V±5%. If the cable is too long, the voltage on encoder side
may fall below 5V.Measure the voltage on encoder side to ensure that the cable used is
within specification limits.
12
Standard Specifications
Motor Model and Flange Size in mm
Status Symbol
R2
Servo Motor
100V System
Capacity
40mm to 60mm
30W to 200W
□
□
（5 models）
Features
High Efficiency and Low
Ripple (Medium Inertia)
R2EA04003F
R2EA04005F
《40》
Unit
《40》
Rated Output　★
PR
W
Rated Speed
★
NR
min -1
Maximum Speed
★
N max
min -1
Rated Torque
★
TR
N・m
0.098
0.159
Continuous Torque at Stall
★
TS
N・m
0.108
0.167
Peak Torque at Stall
★
TP
N・m
0.37
0.59
Rated Armature Current
★
IR
Arms
0.94
1.2
Armature Current at Stall
★
IS
Arms
1.0
1.3
Peak Armature Current at Stall
★
IP
Arms
3.7
4.9
Torque Constant
☆
KT
N・m／Arms
0.116 ± 10%
0.142 ± 10%
Voltage Constant Per Phase
☆
K Eφ
mV／min -1
4.04 ± 10%
4.97 ± 10%
Phase Resistance
☆
Rφ
Ω
4
3
Rated Power Rate
★
QR
kW／s
3.9
6.7
Electrical Time Constant
☆
te
ms
0.55
0.67
Mechanical Time Constant (Not including Encoder)
☆
tm
ms
2.2
1.7
Rotor Moment of Inertia (Not including Encoder)
JM
2
2
×10 -4 kg・m（GD
／4）
0.0247
0.0376
Rotor Moment of Inertia (Encoder)
JS
2
2
×10 -4 kg・m（GD
／4）
Mass including Encoder
WE
kg
Brake Static Friction Torque
TB
N・m
0.32 MIN.
Brake Rated Voltage
VB
V
DC90V ／ DC24V ± 10％
Brake Rated Current
IB
A
0.07 ／ 0.27
Rotor Moment of Inertia (Brake)
JB
2
2
×10 -4 kg・m（GD
／4）
0.0078
Brake Mass
W
kg
30
50
3000
6000
0.0033
0.23
0.27
0.23
Motor Operating Temp, Rel. Humidity
Amplifier Model（Single-Axis）
RS1E01AA
AC100V to 115V ＋ 10，－ 15％　50/60Hz　± 3Hz
Amplifier Power Supply
Power Consumption
0.2
kVA
* For models with oil seal or brake, reduction in rated value
may become necessary.
0.5
0.8
Motor Dwgs P20
0.6
0.3
Torque [N・m]
Torque [N・m]
0.4
0.2
0.1
★:Indicates a typical value
after warm-up and thermal
stabilization, together with
a standard amplifier.
0.4
0.2
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
Speed [min-1]
Speed [min-1]
☆:Indicates a typical
value when the winding
temperature is 20℃.
Encoder Wiring Diagram
SERVO AMPLIFIER
CN2
ES＋
ES−
EBAT＋
EBAT−
＋5V
0V
SERVO MOTOR
13
14
1
2
9
10
11
12
17
18
19
20
Brown
ES＋
Blue
ES−
Pink
EBAT＋
Purple
Note4）
Note1）
Note2）
Note3）
13
Encoder
FG（Shielded）
Plug:10120-3000VE
Shell:10320-52A0-008
Note 1)
EBAT−
Red ＋5V
Black 0V
Absolute encoder for incremental system [ PA035S ]
Absolute encoder without battery [ RA035C ]
10m MAX.
Connect pin 19
+5V DC Wiring
0V DC Wiring
Connect pin 20
25m MAX.
Connect pin 17,19
Connect pin 18,20
40m MAX.
Note 3) Use a Awg24 0.2mm encoder cable
2
Note 4) When the Absolute encoder for incremental system or absolute encoder
without battery is used, battery lines (EBAT+, EBAT-) are not required.
・Red. Wiring incremental encoder［ PP031T ］　Wiring diagram → page14
R2EA06020F
100
200
《60》
W
3000
min -1
6000
0.637
N・m
0.255
0.318
0.686
N・m
0.86
1.0
2.2
N・m
1.3
1.7
3.1
Arms
Arms
1.3
1.7
3.2
4.5
5.6
11.9
Arms
0.221 ± 10%
0.206 ± 10%
0.224 ± 10%
N・m／Arms
7.7 ± 10%
7.2 ± 10%
7.82 ± 10%
mV／min -1
2.9
1.5
0.6
Ω
10
8.6
19
kW／s
ms
0.81
1.9
2.6
0.98
1.2
0.79
ms
0.0627
0.117
0.219
2
2
×10 -4 kg・m（GD
／4）
2
2
×10 -4 kg・m（GD
／4）
0.0033
0.39
0.59
0.84
kg
0.32 MIN.
0.36 MIN.
1.37 MIN.
N・m
0.11 ／ 0.32
A
DC90V ／ DC24V ± 10％
0.07 ／ 0.27
V
0.07 ／ 0.27
0.0078
2
2
×10 -4 kg・m（GD
／4）
0.06
0.23
System
Configuration
0.318
Model Number
Nomencalture
min -1
0.255
Standard
Specifications
80
Unit
《60》
Features and
Functions
R2EA06010F
External Wiring
Diagram
《40》
0.3
0.35
kg
Dimensions
R2EA04008F
RS1A01AA
RS1E03AA
AC100V to 115V ＋10, －15% 50/60Hz ± 3Hz
0.8
1
1
2
0.5
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
Speed [min-1]
Speed [min-1]
kVA
1
Optional
Equipment
0.5
Torque [N・m]
3
Setup Software
0.5
1.5
Torque [N・m]
Torque [N・m]
0.4
1.5
0
0 1000 2000 3000 4000 5000 6000 7000
Speed [min-1]
SERVO AMPLIFIER
SERVO MOTOR
CN2
A
A
B
B
C
C
or
or
or
or
or
or
U channel input
U channel input
V channel input
V channel input
W channel input
W channel input
Note 3) ＋DC 5V
Note 3) GND(0V)
3
4
5
6
7
8
9
10
11
12
16
17
18
19
20
Blue
Brown
Green
Purple
White
Yellow
Red
Black
Incremental encoder
A or U channel output
A or U channel output
B or V channel output
B or V channel output
C or W channel output
C or W channel output
＋DC
5V
GND(0V)
Note 3)
Red. Wiring incremental encoder [ PP031T ]
Note 1)
+5V DC Wiring
(Do not connect pins 9,12,17)
(Do not connect pins 9,12)
10m MAX.
Connect pin 17,19
20m MAX.
0V DC Wiring
(Do not connect pins10,11,16,18) (Do not connect pins 10,11,16) (Do not connect pins 10,16) 10,11,16,18,20Connect pin
Connect pin 20
Connect pin 18,20
5m MAX.
Connect pin 19
(Do not connect pins 9)
30m MAX.
9,12,17,19 Connect pin
Note 3) Use a Awg24 0.2mm2 encoder cable
Shielded cable Shielded
Note 1)
Note 2)
Plug : 10120-3000PE,
Shell : 10320+52A0-008
14
General Specifications
CANopen Interface specifications
Fieldbus specifications
Bus Connection, Medium
Fieldbus
Communication Profile
Device Profile
Bit Rate
Max. nodes per segment
CAN-Standard ISO-11898 (High-speed CAN)
CANopen
CiA DS301 Version 4.02
CiA DSP402 (CANopen device profile for drive and motion control) Version 2.0
1Mbps, 800Kbps, 500Kbps(default setting), 250kbps, 125Kbps, 50Kbps , 20Kbps , 10Kbps (Selectable by R-Setup Software )
1 to 127 (Selectable by Double 16-position Rotary Switch or R-Setup Software )
RJ-45 type Modular connector (2 ports)
- Pin 1“CAN_H”high bus line
- Pin 2“CAN_L”low bus line
- Pin 3,7“CAN_GND”Ground
- Pin 6“CAN_SHIELD”Cable Shield
- Pin 5“Terminator”(120 ohm; if necessary, attach a jumper between Pin1 and Pin5)
ISO-11898 compliant high-speed transceiver
25m ( for 1Mbps)
SDO (Service Data Object)
PDO (Process Data Object)
EMCY (Emergency)
NMT (Network Management)
SYNC (Synchronization Object)
Node Guarding
Heartbeat
Synchronous transmission
Asynchronous transmission
Homing Mode (h.m)
Profile Position Mode (p.p)
Profile Velocity Mode (p.v)
Interpolated Position Mode (i.p)
Profile Torque Mode (t.q)
Connector
Transceiver
Max. Bus Length
Communication Objects
PDO Transfer Modes
Mode of Operation
PNP output
NPN output
Host unit
Servo amplifier
Out Power
50mA max
DC24V
Host unit
Servo amplifier
Out Power
Out 1~8
Out 1~8
Out Common Maximum current
DC5V . . . . . . . . . . 10mA
DC12 to 15V . . . . . 30mA
DC24V . . . . . . . . . . 50mA
The output port counts are differentdepending on the specification.
15
The output port counts are different depending on the specification.
External Wiring Diagram
1-phase(100V AC)
Features and
Functions
1-phase(200V AC)
User Devices
User Devices
MC
1-phase
AC power
MC
1-phase
AC power
100 to 115V
200 to 230V
Model Number
Nomencalture
50／60Hz
Note10）
Operation Prep.
Operation Prep.
ON
OFF
MC
MC Emergency
Stop
MC Emergency
Stop
System Error
Note 3)
Note 2)
System
Configuration
System Error
T
Internal Regeneration
Resistor
SERVO MOTOR
S
CNC
R
50／60Hz
W
t
r
Note10）
MC
MC
White
V
Operation Prep.
Operation Prep.
ON
OFF
SERVO AMPLIFIER
Orange
(yellow)
Black
Note 6）
Orange
(yellow)
Red
U
Encoder Connector
CN2
+5 +5
CN1
Line Driver
Normal
Rotation
Pulse
26
F-PC
27
F-PC
47
SG
Reverse
Rotation
Pulse
SG
28
29
R-PC
48
SG
Note 5）
SG
SG
SG
21
T-REF / V-REF
20
SG
Encoder
SH
Plug: 10120-3000PE
Shell: 10320-52A-008
Line Driver
26C31
Corresponding
+5 +5
SG
R-PC SG
Note 12）
SH
Line Receiver
26C32
Corresponding
90V
（24V）
Holding Brake
(install with Brake only)
Green
Emergency
Stop
System Error
RY1
Standard
Specifications
Note11）
200 to 230V
Note 13）
DL1
DL2
P
RB1
Note 4）
CNA
MC
RB2
User Devices
AO
3
AO
4
BO
5
BO
6
ZO
7
ZO
8
Note 1) For the parts markde , use a shielded
cable.
Note 2) Connect a regenerative resistor between
terminals RB1 - RB2.When using an
external regenerative resistor,first remove
the internal regenerative resistor wiring
between terminals RB1 and RB2, and then
connect an external regenerative resistor
between terminals RB1 - RB2.
SG
SG
T-COMP
23
SG
18
F-TLA
17
SG
19
R-TLA
SG
ZOP
11
SG
12
SG
MON1
SG
30
SG
SG
31
OUT-PWR
49
OUT1
39
OUT2
40
OUT3
41
OUT4
42
SG
DC 3.6V
Lithium Battery
Note 8）
BTP-I
2
BTN-I
50
CONT-COM
37
CONT1
36
CONT2
35
CONT3
34
CONT4
33
CONT5
32
CONT6
DC5V∼24V
+5 +5
13
CONT7
14
CONT7
11
SG
12
MON1
30
SG
31
SG
OUT-PWR
OUT5
Line Driver
DC12V
to 24V
ZOP
SG
Note 8）
SG
1
Note 3) Terminals DL1 and DL2 are dedicated for
connecting DC reactors. If a harmonic
suppression reactor is not in use, create a
short circuit between DL1 and DL2 terminals
with the attached shorting bar.
PNP Output
SG
Reverse
10
NPN Output
SG
Normal
9
PS
49
OUT1
39
OUT2
40
OUT3
41
OUT4
42
OUT5
43
44
OUT7
45
OUT6
44
Line Driver
26C32
Corresponding
OUT7
45
OUT8
46
SH
CONT8
16
CONT8
OUT-COM
24
38
SG
OUT-COM
25
SG
SG
Note 12）
Refer to the Instruction Manual for
instructions on the shielding process.
Note 6)
Motor connection specifics may vary
depending on the motor specifications.
Lead-type motor power and brake wires
are shown as red, white, black, green, and
orange. When using a cannon plug,
cannect it according to the motor
specifications.
Note 8)
The user must supply the external power
supply.
Note 9)
R, S, T, r, t, , P, DL2, RB1, RB2, U, V, W are
high-voltage circuits; all other signal lines
are low-voltage circuits. When wiring,
maintain sufficient distance between
high-voltage and low-voltage circuits.
Note 10) Installation of a UL compliant and IEC / EN
compliant earth leakage circuit braker is
recommended.
46
15
SG
Note 5)
Note 7) For wiriting of the encoder connectors,
refer to the encoder wiring diagram.
Note 11) When wiring the single-phase power
supply, do not wire the S-phase to the
amplifier.
+5 +5
SG
Note 4) The and P terminals (high-voltage circuit)
are reserved for maintenance. Do not wire
these terminals.
Note 8）
DC24V
43
OUT6
OUT8
Monitor
Output
22
PS
Monitor
Output
3-phase
AC power
CNB
3-phase(200V AC)
Note 12) Always connect the SG (signal ground)
between devices when using differential
operation input signals.
SH
Note 5)
SH
Note 5)
Plug: 10150-3000PE
Shell: 10350-52A0-008
16
External Wiring
Diagram
MC
Dimensions
Operation Prep.
Operation Prep.
ON
OFF
Setup Software
Note10）
Optional
Equipment
50／60Hz
Single-Axis Servo Amplifier with CANopen
Contorol Power DC24V
User unit
CNA
Power
supply 3φ
200 to 230V
50/60Hz
MC
T
Note 10)
MC
MC
Emergency
System
error
CNB
stop
1
2
Note 2)
Note 3)
Note 4)
Contorol Power AC200V
User unit
MC
Power
supply 3φ
200 to 230V
50/60Hz
Regenerative
resistor
DL1
DL2
CNA
P
RB1
RB2
24V
24G
Start
ready
OFF
CNB
DC24V
S
R
Start
ready
ON
Note 9)
T
Note 11)
+
S
R
t
Note 10)
MC
System
error
CN3
stop
Note 12)
1
CAN_L
CAN
2
Terminator
5
TRANCEIVER
GND
3
GND
7
SH
1
Terminator
5
GND
3
Note 5)
Encoder
SG
Combination of
Plug:TM21P-88P
SH
Combination of
Plug : 10120-3000PE,
Shell : 10320-52A0-008
NPN Output
7
SH
CN1
Battery input
90V
(24V)
Holding brake
(for the type with
a brake only)
Green
(Green/Yellow)
Note 7)
2
GND
1
BTP-I
2
BTN-I
8
Note 8)
OUT-PWR
14
OUT1
6
OUT2
13
OUT-COM
7
DC5V,
DC12V
∼24V
PNP Output
Note 8)
OUT-PWR
DC24V
14
OUT1
6
OUT2
13
9
CONT
-COM
3
CONT1
10
CONT2
Note 1) For the parts markde , use a twisted pair shielded cable.
4
CONT3
Note 2) Connect a regenerative resistor between terminals RB1-RB2.
When using an external regenerative resistor,
first remove the internal regenerative resistor wiring between
terminals RB1 and RB2, and then connect an external
regenerative resistor between terminals RB1-RB2.
11
CONT4
Note 3) The DL1 and DL2 terminals are for connecting a DC reactor.
If a DC reactor is not used, short the DL1 and DL2
terminals using the short bar supplied.
5
CONT7
Note 4) The ー
○ terminal and the P terminal are for maintenance
(high-voltage circuit).
12
CONT8
DC5V to 24V
General-purpose output
Red
Encoder connector
RY1
Orange
(Yellow)
1/4W 120Ω
CAN_L
Note 8)
White
U
SH
CN4
Orange
(Yellow)
Black
V
CN2
Combination of
Plug:TM21P-88P
Lithium battery
DC3.6V
Note 6)
W
CAN_H
CAN_H
SERVO
MOTOR
CNC
SERVO AMPLIFIER
Emergency
MC
r
Start
ready
OFF
Start
ready
ON
Combination of
Plug : 10114-3000PE
Shell : 10314-52A0-008
SH
Note 5)
SH
Note 5)
Note 5) Refer to the Instruction Manual for instructions on the shielding
process.
Note 6) The motor-side connection depends on the motor specification.
The red, white, black green and orange markings are
for use with lead type motor power line and brake line.
Refer to the motor specifications for cannon plug type connections.
Note 7) Refer to the encoder connection diagram regarding
the encoder connector wiring.
Note 8) Power should be supplied by the user.
Either of the inputs can be selected.
ー,P,DL1,DL2,RB1,RB2,U,V,W are high-voltage circuits,
Note 9) R,S,T,t,r,○
all other lines are low-voltage. Ensure sufficient
distance between the high- and low-voltage circuits.
Note 10) It is recommended to use a ground fault interrupter conforming
to the UL, IEC and EN standards.
Note 11) Do not wire the S phase for a single-phase power amplifier.
Note 12) Insert RJ45 connector to which 1pin(CAN_H) and
5pin(Terminator) are short-circuited in CN3 or CN4
when the terminator is necessary.
17
1-phase(100V AC)
1-phase(200V AC)
User unit
User Devices
1-phase
AC power
MC
1-phase
AC power
MC
200 to 230V
50/60Hz
100 to 115V
50／60Hz
Single-Axis Servo Amplifier built-in positioning function model
Operation Prep.
Operation Prep.
ON
OFF
Operation Prep.
Operation Prep.
ON
OFF
MC
MC Emergency
Stop
MC Emergency
Stop
System Error
System Error
1-phase(100V AC)
1-phase(200V AC)
User unit
MC
S
R
Stop
System Error
SERVO MOTOR
＋
MC Emergency
CNC
Stop
System Error
t
Note 10)
Note 10)
MC
NC ready (NCRDY)
Holding brake excitation timing output (HBON)
Operation Prep. Operation Prep.
ON
OFF
Error output (Err)
Note 8)
5
NC ready (NCRDY)
8
9
Error output (Err)
Homing complete (ZFIN)
10
External operation effective (EXT)
12
OUT(3)
In-position (INPS)
13
OUT(4)
Homing
complete (ZFIN)
14
10
15
11
OUT(2)
16
12
OUT(7)
OUT(3)
17
13
OUT(4)
18
24
25
OUT(5)
OUT(6)
14
15
16
Note 8)
26
OUT(7)
19
OUT(8)
travelexternal
(+0T) power (24G)
＋ Over
Common
for output
20
Note 8)
21
17
18
24
25
26
External data
setting
Slow
down(E_STR)
before Home (SDN)
22
External Error (EXT_E)
＋ Over travel (+0T)
23
20
Start −
(RUN)
Over travel (-0T)
27
21
External
setting (E_STR)
Homing
startdata
(ZRT)
28
22
External Error (EXT_E)
29
30
Over ride (OVRID)/Manual high speed (RAP)
31
Alarm reset (ARST)
32
Cancel (CACL)
33
＋ Manual feeding (+JOG)
− Manual feeding (-JOG)
Over ride (OVRID)/Manual high speed (RAP)
19
23
27
28
29
30
31
Servo ON (S-ON)
Alarm reset (ARST)
34
32
Output selection 1 (SEL1)
Cancel (CACL)
35
33
Servo ON (S-ON)
36
34
Output
selection 1 (SEL1)
Output selection
3 (SEL3)
37
35
Output
selection 2 (SEL2)
(+1step)
＋ 1 step feeding
38
− 1 step feeding (-1step)
39
Interruption start (I_RUN)
40
＋ 1 step feeding (+1step)
− 1 step feeding (-1step)
MFIN (MFIN)
36
37
38
39
41
40
Note 1)
Note 2)
Note 1)
Note 2)
For the parts marked
, use a shielded cable.
Connect regenerative resistor between RB1 and RB2 terminals.
When using external regenerative resistor, terminals. When using
external
regenerative
connect
it between RB1 and RB2
For
the parts
marked
,resistor,
use a shielded
cable.
terminals after removing the wiring of built-in regenerative resistor.
Connect regenerative resistor between RB1 and RB2 terminals.
using
external
regenerative
terminals.aWhen
using
Note 3) When
The DL1
and
DL2 terminals
areresistor,
for connecting
DC reactor.
external
resistor,
it between
If a DCregenerative
reactor is not
used, connect
short the
DL1 andRB1
DL2and RB2
terminals after removing the wiring of built-in regenerative resistor.
Note 3)
The DL1 and DL2 terminals are for connecting a DC reactor.
Note 4) IfThe
terminal
andused,
the Pshort
terminal
areand
forDL2
maintenance
○reactor
a DC
is not
the DL1
Note 5)
Note 4)
Refer to the Instruction Manual for instructions on the shielding
The
○ terminal and the P terminal are for maintenance
process.
Note 5)
the Instruction
Manual depends
for instructions
onmotor
the shielding
The to
motor-side
connection
on the
specification.
Note
6) Refer
process.
The red, white, black green and orange markings are
Note 6) The motor-side connection depends on the motor specification.
Refer
the motor
specifications
for
cannonare
plug type connections.
The
red,towhite,
black green
and orange
markings
IN(1)MFIN (MFIN)
42
IN(2)
IN(1)
43
42
IN(4)
IN(2)
44
43
IN(4)
45
44
IN(8)
46
45
encoder
connector
wiring.by the user.
Note 8) the
Power
should
be supplied
IN(16)
47
46
Note 9)
IN(8)
IN(16)
IN(32)
IN(64)
IN(128)
Point specification
Point specification
Interruption start (I_RUN)
P
RB1
RB2
9
OUT(1)
8
OUT(6)
Homing start (ZRT)
SH
Plug : 10120-3000PE
Shell : 10320-52A0-008
7
OUT(5)
− Manual feeding (-JOG)
SH
Note 5)
5
OUT(2)
Start (RUN)
Encoder
Note 7)
Note 2)
6
Positioning complete (PFIN)
＋ Manual feeding (+JOG)
Encoder connector
IN(32)
IN(64)
IN(128)
90V
(24V)
Holding brake
(for the type with
a brake only)
3
11
− Over travel (-0T)
Note 5)
RY1
Orange
(Yellow)
4
OUT(1)
While operation (MOVE)
External power source for input (+24G)
Orange
(Yellow)
SH
White
Plug : 10120-3000PE
Shell : 10320-52A0-008
Red
Green
(Green/Yellow)
50
In-position (INPS)
Black
SH
V
CN2
CN1
7
Holding brake excitation timing output (HBON)
Note 6)
W
4
Power
ON ready (A-RDY)
While operation
(MOVE)
Positioning complete (PFIN)
CNC
U
1
2
External power source for input (+24G)
Slow down before Home (SDN)
DL1
DL2
SERVO AMPLIFIER
6
External operation effective (EXT)
OUT(8)
Common for output external power (24G)
Note 2)
r
3
MC
Emergency
System Error Stop
External power source for output (+24V)
t
50
Encoder
SERVO MOTOR
Note 7)
R
Dimensions
Power ON ready (A-RDY)
＋
S
1
2
90V
(24V)
Holding brake
(for the type with
a brake only)
Green
(Green/Yellow)
Encoder connector
RY1
Orange
(Yellow)
Red
CN2
T
Note 11)
Note 8)
−
CN1
MC
200 to 230V
External power 50/60Hz
source for output (+24V)
CNA
Orange
(Yellow)
White
Regenerative
resistor U
CNB
Note 2)
Note 3)
Note 4)
Emergency
User unit
System Error Stop
3-phase
AC power
Black
V
SERVO AMPLIFIER
3-phase(200V
AC)
MC
MC
Note 6)
W
r
ON
OFF
Model Number
Nomencalture
Operation Prep.
Operation Prep.
ON
OFF
T
Note 11)
Setup Software
200 to 230V
50/60Hz
MC Emergency
Optional
Equipment
MC
−
CNA
Operation Prep.
Operation Prep.
ON
OFF
MC
System
Configuration
Note 10)
Note10）
3-phase
AC power
Regenerative
resistor
Standard
Specifications
User unit
DL1
DL2
50／60Hz
MC
Note 2)
Note 3)
Note 4)
200 to 230V
50/60Hz
External Wiring
Diagram
1-phase
AC power
MC
1-phase
AC power
3-phase(200V
100AC)
to 115V
P
RB1
RB2
User Devices
CNB
MC
Features and
Functions
Note 10)
Note10）
48
49
41
47
Note 7) Refer
Refertoto
the
encoder
connection
diagram
regarding
the
motor
specifications
for cannon
plug
type connections.
the encoder connector wiring.
Note 7)
Note 8)
Note 9)
48
49
Note 10)
Note 10)
Note 11)
Note 11)
Refer to the encoder connection diagram regarding
Power should be supplied by the user.
R,S,T,t,r, ○,P,DL1,DL2,RB1,RB2,U,V,W are high-voltage circuits,
all other
lines
are low-voltage. Ensure
sufficient circuits,
R,S,T,t,r,
,DL1,DL2,RB1,RB2,U,V,W
are high-voltage
○,P
distance
between
the high-Ensure
and low-voltage
all
other lines
are low-voltage.
sufficient circuits.
distance between the high- and low-voltage circuits.
It is recommended to use a ground fault interrupter conforming
Itto
is the
recommended
to EN
use standards.
a ground fault interrupter conforming
UL, IEC and
to the UL, IEC and EN standards.
Do not wire the S phase for a single-phase power amplifier.
Do not wire the S phase for a single-phase power amplifier.
Plug : 10150-3000PE
Plug : 10150-3000PE
Shell : 10350-52A0-008
Shell : 10350-52A0-008
18
1-phase(100V AC)
3-phase(200V AC)
CNA
User Devices
Note 11)
Emergency
System Error Stop
MC
Note 10 )
ON
OFF
MC
Note 1)
System Error Stop
BR2
BR1
P
DL2
DL1
Note 4)
CN1A
MC
+5
3
F-PC1
4
F-PC1
+5
Reverse
Rotation 1Axis
Pulse
Reverse
Rotation 2Axis
Pulse
Reverse
Rotation 3Axis
Pulse
Note 12)
Note 8)
6
7
F-PC2
F-PC5
7
8
F-PC2
F-PC5
8
+5
+5
SG
+5
SG
SG
+5
9
R-PC2
R-PC5
9
R-PC2
R-PC5
10
11
F-PC3
12
F-PC3
+5
SG
+5
SG
SG
Monitor
Output
11
F-PC6
12
13
R-PC3
R-PC6
13
R-PC3
SG
R-PC6
SG
14
15∼18,41
SG
SG
SG
SG
CONT16
26
27
CONT2
CONT17
27
28
CONT3
CONT18
28
38
CONT13
CONT28
38
39
CONT14
CONT29
39
40
CONT15
CONT30
OUT-POW
OUT7
OUT-POW
OUT1
OUT2
OUT8
20
OUT9
21
23
24
OUT5
OUT6
OUT11
OUT12
23
24
25
ALM1
ALM2
25
42,43,44
OUT-COM
OUT-COM
42,43,44
1
2
BATP-1
BATN-1
BATP-2
BATN-2
1
2
AMP UNIT Axis1
1,2
3
SG
AO
4
5
AO
BO
6
7
BO
CO
8
9
CO
PS
10
PS
DC 3.6V
Lithium Battery
Note 13)
DC 3.6V
Lithium Battery
Plug: 10150-3000PE.
Shell: 10350-52A0-008
CN5
2
1
Note 13)
CNC Note 6)
U
Black
W
Green
Note 7) Encoder
Connector
CN2
SH
Plug: 36320-0100JL
Shell: 36310-3200-008
Plug: 36320-0100JL
Shell: 36310-3200-008 SH CN1
3
IN1
4
IN2
1
OUT1
2
5
OUT2
COM
Red
Note 8)DC12V to 24V
AMP UNIT Axis2
Relay for releasing
Holding
Orange
Brake
(yellow)
White
V
SG
CN6
DC5V,DC12 to 24V
Note 5)
BATP
BATN
CH2
SG
Note 12)
Note 8)
DC5V to 24V
19
OUT3
CH1
Reverse
Rotation 6Axis
Pulse
40
21
MON2
SG
Normal
Rotation 6Axis
Pulse
48,49,50
20
MON1
Reverse
Rotation 5Axis
Pulse
SG
CONT-COM 45,46,47
CONT1
Note 5)
55100-0670
+5
F-PC6
14
15∼18,41
SG
CONT-COM
Normal
Rotation 5Axis
Pulse
+5
SG
+5
+5
Reverse
Rotation 4Axis
Pulse
+5
10
+5
Normal
Rotation 4Axis
Pulse
+5
SG
+5
Note 1) Line Driver
+5
5
Plug: 10150-3000PE.
Shell: 10350-52A0-008
Note 1)
4
R-PC4
19
Note 1)
3
F-PC4
R-PC4
48,49,50
DC 3.6V
Lithium Battery
Note 13)
F-PC4
R-PC1
26
DC5V,DC12 to 24V
+5
+5
CN1B
+5
R-PC1
45,46,47
DC5V to 24V
+5
6
+5
Normal
Rotation 3Axis
Pulse
Line Receiver
26C32
Corresponding
+5
5
+5
Normal
Rotation 2Axis
Pulse
General-purpose I/O
MC
Operation Prep.
Operation Prep.
OFF
ON
Note10）
Emergency
CNB
Note 2)
Normal
Rotation 1Axis
Pulse
General-purpose I/O
1-phase
AC power
100 to 115V
50／60Hz
Internal Regeneration
Resistor
Note 3)
Line Driver
User Devices
POWER UNIT
r
t
R
S
T
General-purpose I/O
3-phase
AC power
200 to 230V
50 / 60Hz
Orange
(yellow)
Note 1) For the parts markde , use a shielded cable.
Note 2) Connect a regenerative resistor between terminals
RB1 - RB2.When using an external regenerative resistor,
first remove the internal regenerative resistor wiring
between terminals RB1 and RB2, and then connect an
external regenerative resistor between terminals RB1 - RB2.
Note 3) Terminals DL1 and DL2 are dedicated for connecting
DC reactors. If a harmonic suppression reactor is not in use,
create a short circuit between DL1 and DL2 terminals with
the attached shorting bar.
Note 4) The and P terminals (high-voltage circuit) are reserved
for maintenance. Do not wire these terminals.
Note 5) Refer to the Instruction Manual for instructions on the
shielding process.
Note 6) Motor connection specifics may vary depending on the
motor specifications. Lead-type motor power and brake
wires are shown as red, white, black, green, and orange.
When using a cannon plug, cannect it according to the
motor specifications.
Note 7) For wiriting of the encoder connectors, refer to the encoder
wiring diagram.
Note 8) The user must supply the external power supply.
Note 9) R, S, T, r, t, , P, DL2, RB1, RB2, U, V, W are
high-voltage circuits; all other signal lines are low-voltage
circuits. When wiring, maintain sufficient distance between
high-voltage and low-voltage circuits.
Note 10) Installation of a UL compliant and IEC / EN compliant
earth leakage circuit braker is recommended.
Note 11) When wiring the single-phase power supply, do not wire
the S-phase to the amplifier.
Note 12) Always connect the SG (signal ground) between devices
when using differential operation input signals.
Note 13) The internal battery power is common for all units.
tttPlease connect to either CN1A, CN1B or CN5
when using an absolute encoder.
19
LA
φ
LG
Q
φS
φLB
)
LL±1
LE
0.06 M
Model Number
Nomencalture
(φ
LH
LR
0.02
LZ
Motor cable (for mounting)
(For Power and Ground)
(50)
(50)
1100±100
Brake cable (for mounting)
Note 2
φD3
(50)
φD2
φD1
1100±100
QE Tapping
Depth LT
1100±100
Oil seal
(Option) Note1
System
Configuration
KL
M
Shield cable (for mounting)
(For Encoder)
*This is shown dimension for motor with brake
LB
LE
LH
LC
LZ
LR
5
35.4
46
00-0.000
30-0.021
2.5
56
40
4.5
25
6
44.6
70
00-0.000
50-0.025
82
60
5.5
109
8
54.4
90
108
80
6.6
102.5
130.5
6
44.6
70
82
60
5.5
114
85.3
121
143
114.3
150
8
54.4
90
108
80
6.6
87.5
56.5
92.5
R2□A04005△□◇
56.5
92.5
61.5
97.5
72
108
77
113
R2□A06010△□◇
58.5
82.5
65.5
89.5
R2□A06020△□◇
69.5
97.5
76.5
104.5
R2AA08020 △□◇
66.3
102
73.3
R2AA06040 △□◇
95.5
123.5
R2AA08040 △□◇
78.3
R2AA08075 △□◇
107.3
MODEL
S
0
06-0.008
R2EA04008 △□◇
R2AA04010 △□◇
R2□A04003△□◇
R2□A04005△□◇
R2EA04008 △□◇
0
08-0.009
Q
QE
LT
ー
ー
25
ー
ー
25
M5
12
35
M5
12
20
D1
D2
D3
6
5
5
00-0.000
70-0.030
00-0.000
50-0.025
00-0.000
70-0.030
3
3
Dimensions
LA
51.5
Setup Software
KL
R2□A04003△□◇
25
30
Optional
Equipment
MODEL
W/out oil seal
With oil seal Note 1
Battery backup method Battery backup method
absolute encoder
absolute encoder
W/out brake With brake W/out brake With brake
LL
LL
LL
LL
LG
External Wiring
Diagram
R2 Servo Motor High Efficiency and Low Ripple（Medium Inertia）
40
R2AA04010 △□◇
R2□A06010 △□◇
0
08-0.009
R2□A06020△□◇
R2AA08020 △□◇
R2AA06040 △□◇
0
14-0.011
R2AA08040 △□◇
R2AA08075 △□◇
0
16-0.011
Standard
Specifications
0.07 M
□LC
Features and
Functions
Servo Motor Dimensions（Unit : mm）
Note 1: If an oil seal is needed ,the overall motor length is different.
Note 2: Brake connectors (cables) are not supplied for models without brakes.
・Red. Wiring Incremental Encoder［ PP031T ］
20
Servo Amplifier Dimensions（Unit : mm）
Single-Axis Servo Amplifier (Analog/Pulse input type , Built-in positioning function model)
RS1 □ 01A □ (15A)
RS1 □ 03A □ (30A)
5±0.5
Screw M4
(70)
(24)
7
5
50
130
135.5
38
7
4
5
33
4
(27)
45
130
135.5
(27)
(70)
(24)
5±0.5
Screw M4
AC SERVO SYSTEMS
AC SERVO SYSTEMS
CHARGE
POWER
160
168
160
168
P
C
Cooling
fan
Wind
direction
5
5
RS1 □ 05A □（50A）
5±0.5
Screw M4
(24)
(27)
130
135.5
4
80
5
5
(70)
90
RS1A05A*
▲
168
R
t
Cooling fan
P
C
T
S
C
N
A
160
▲
r
C
N
1
−
DL1
DL2
P
RB1
RB2
RB2
W
V
U
Wind direction
C
N
B
RB1
C
N
C
C
N
2
5
Single-Axis Servo Amplifier with CANopen (Power control AC200V)
RS1A03A □ (30A)
5±0.5
Screw M4
5±0.5
Screw M4
48
4
(φ5
)
(70)
(24)
7
60
(27)
130
135.5
5
60
(27)
(70)
(24)
130
135.5
48
4
(φ5
)
7
5
RS1A01A □ (15A)
AC SERVO SYSTEMS
160
168
160
168
AC SERVO SYSTEMS
Cooling
fan
Wind
direction
5
21
5
Features and
Functions
Single-Axis Servo Amplifier with CANopen (Power control AC200V)
RS1A05A □ (50A)
Model Number
Nomencalture
5±0.5
Screw M4
PC
(27)
4
80
5
System
Configuration
130
135.5
5
(70)
(24)
90
RS1A05AL
Cooling fan
T
S
160
168
R
t
r
Wind direction
DL2
P
1
RB1
RB2
RB1
RB2
W
V
U
Standard
Specifications
−
DL1
2
External Wiring
Diagram
5
(27)
(φ5
)
(70)
(24)
7
60
AC SERVO SYSTEMS
130
135.5
48
4
(φ5
)
Setup Software
48
4
5±0.5
Screw M4
7
5
130
135.5
5
(70)
(24)
60
RS1J03A □ (30A)
5±0.5
Screw M4
(27)
RS1J01A □ (15A)
Dimensions
Single-Axis Servo Amplifier with CANopen (Power control DC24V)
POWER
160
168
160
168
CHARGE
Optional
Equipment
AC SERVO SYSTEMS
Cooling
fan
Wind
direction
5
5
RS1J05A □ (50A)
5±0.5
Screw M4
PC
(24)
(27)
130
135.5
4
80
5
5
(70)
90
RS1J05AL
Cooling fan
T
R
160
168
S
−
P
RB1
RB2
24V
Wind direction
1
0V
W
V
2
U
5
22
Multi-Axis Sever Amplifier
Amplifier Unit
RR1A01AAB00 (15A)
RR1A03AAB00 (30A)
(140.7)
122.8
(70)
6
8
60
φ5
(70)
(140.7)
122.8
6
8
30
φ5
2-
130
120
130
120
5
5
30
Power Unit
Motherboard
RRPAA00
4
7.5
45
φ
2-
5
2 -φ
6
6
27.2
15
(140.7)
122.8
5
(100)
130
5
15
130
120
150
160
5
60
A
B
3
2
1
RRMA800
RRMA600
RRMA400
8
6
4
No.
Model No.
Number of Slots
300
250
240
190
180
130
A
B
Supported size
System Dimensions
A
B
25
6
(100)
6
150
120
5
15
160
150
25
2-φ
5
25
3
2
1
8
6
4
No. Number of Slots
23
300
250
240
190
180
130
A
B
Supported size
Setup Software
Features and
Functions
(2) Main Screen
Standard
Specifications
System
Configuration
Model Number
Nomencalture
(1) Setup Software Start-up Screen
Dimensions
External Wiring
Diagram
(3) Parameter Configuration Screen
b. Configuration of Motor Parameters : Combined motors
can be configured via PC connection
Setup Software
a. Configuration of General Parameters : Enables
parameter loading, saving, etc., via PC connection
Optional
Equipment
(4) Monitor Functions
a. Monitor Display : Observe Operation and Input/
Output signal status
b. Multi-monitor Display : Simultaneous monitoring of
operational status of multiple
c. Alarm Record Display : Current and past alarm
occurrence can be checked.
24
Setup Software
(5) Test Run and Adjustment Function
a. Speed Jog : Simplifies motor operation and
the issuing of speed commands from a PC
b. Pulse Forward Jog : Simplifies motor
operation and the entering of distance and
travel speed data from a PC
c. Auto Notch Filter Tuning : Configures the
appropriate notch filter settings
d. System Analysis : Analyzes servo system frequency
characteristics
(6) Operation Trace Function
Graphically displays servo motor speed, current,
and terminal status
Built-in Positioning Function model Screen
Point Data Setup
25
Test Run
Optional Equipment
PC Interface Cable [Unit: mm]
Features and
Functions
Lithium battery [Unit: mm]
74.5±8
+ 50
2850 - 10
Lead Wire Red
Pin 1
CN1
9
Model Number
Nomencalture
Pin 2
Model No.:AL-00490833-01
Mass:0.14kg
（24.5）
50±5
A note regarding RS-232C communications:
The user must provide s PC for computer interface.
Parameter settings may require adijustment.
Lithium battery
Model No. : AL-00494635-01
Mass : 0.02kg
Mounting Hardware [Unit: mm]
* Supported For only Single-axis amplifier.
15A／ 30A Rear Side
50A Rear Side
188
5
5
2
For mounting on the rear side of the amplifer
Model No.:AL-00582791-01
Applicable Amplifiers:RS1＊01＊＊＊
Material:SPCC
External Wiring
Diagram
62
50
6
5
25 10
45
198
188
2
Standard
Specifications
5
System
Configuration
Amp side
PC Side
φ14.5
Lead Wire Black
Connector
1
17MAX.
Cable
30A Front Side
Setup Software
10
10
52
45
25
5
47
45
25
5
15A Front Side
Dimensions
For mounting on the rear side of the amplifer
Model No.:AL-00582792-01
Material:SPCC
188
198
188
198
120
120
2
2
5
Optional
Equipment
5
For mounting on the front side of the amplifer
Model No.:AL-00582789-01
Material:SPCC
Model No.:AL-00582788-01 Material:SPCC
65
50
5
7
50A Front Side
188
198
120
2
5
Model No.:AL-00582790-01
Material:SPCC
Model No.
AL-00582791-01
AL-00582792-01
AL-00582788-01
AL-00582789-01
AL-00582790-01
Contents
Mounting Bracket : 1
Screws : 2
Screws : 2
Screws : 6
Screws : 6
Screws : 6
26
Servo Amplifier built-in positioning function
General Specifications
Positioning
Function
Input and
Output
Control Shaft Count
Single Shaft
Register Point Count
Configurable up to 254 points (P000 to P253)
Maximum No. of Commands
From -2,147,483,648 to +2,147,483,647
Command Unit
Either mm or pulse is acceptable
Fast-forward Speed
2,147,483.647mm/sec (0.001mm/when“ pulse” is selected)
Acceleration and Deceleration
Automatic acceleration and deceleration (straight and S switch)
Point Data Setup
Numerical input via PC, and setup by teaching
Travel Point Number Setup
Parallel 8 bits (binary code)
Current Limit
0 to 510% (at 100% rating), but less than instantaneous maximum stall current
Software Limit
Exists
Travel Mode
Zero Return, Manual (JOG, 1Step), and Point-specified Travel
Zone Signal
Maximum of 8 zones
Sequence Input Signals
Servo ON, alarm reset, start up, zero return, manual, override/manual high-speed, cancel, deceleration before
origin, external error, over-travel, external data setup1 step forward, interrupt activated, output selection,
MFIN, point specified input
Sequence Output Signals
NC ready, holding brake timing, error, external operation enabled, running, positioning completion,
in-position output, zero return completion, general output (8 bits)
Sample operations of the Servo Amplifer built-in positioning function model
By starting up Point 1, Points 2 and 3 will be executed consecutively.
Point Data Setup　Enables configuration and saving of parameters, and the
reading of point data from a PC.
Mode 1: [01]= Positioning Operation enabled;
Mode 2: [00]= Final Travel, [01]= Continue to next Point Number
Gear Change: Stop / Continue: [1]= Consecutive Gear Shift Operation
Pass Point 1
Move to Point 2 Mo
ve to Point 3
PLC
ーOT Sensor
Starting Coordinates: Start-up Point 001 (P001) as 0.0
P001:100.0 P002:150.0 P003:180.0
Motor Speed
0.0
Point Input
Point 1 (P001) ON only
（CN1-42）
Start-up Signal Input
（CN1-27）
Running Output
（CN1-7）
Positioning Completion Signal
（CN1-8）
27
100.0
200.0
Coordinate
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Deceleration Signal
Sensor
+OT Sensor
Optional Equipment
300 ＋20
0
172±0.4
6
270 ＋20
0
6±1
150
φ4.3
42±0.4
6
23.5
4.3
26
44
6±1
φ4.3
270
Silicon Rubber Glass-braided Wire AWG20 0.5mm2 , White
-0.3
0
(Thermostat)
43
(Thermostat)
Model Number
Nomencalture
182
300
132
122
100
Features and
Functions
External Regenerative Resistor Dimensions [Unit: mm]
Silicon Rubber Glass-braided Wire AWG18 0.75mm2 , Black
1
1.2
20
20
System
Configuration
1
REGIST-080W100B
Normal close
2
REGIST-080W50B
Normal close
Thermostat
REGIST-120W100B
Normal close
2
REGIST-120W50B
Normal close
300 ＋20
0
270 ＋15
0
250
6±1
+0.4
8
Ground Mark
-0.3
0
4.3
(Thermostat)
60
80
42.7
M3
φ4.3
234 -1.2
4.5
6±1
200
Dimensions
230
220±0.4
3
Thermostat
2・φ4.5
AWG24 0.2mm2 , White
Solderiess Terminal (for M5)
2−M5
Silicon Rubber Glass-braided Wire AWG14 2mm2 , White
700±15
1.2
40
20
218
A
Mass : 0.44kg
Mass : 1.4kg
Model No.
Thermostat
Model No.
A
Thermostat
REGIST-220W20B
Normal close
1
REGIST-500W20B
350 ± 15
Normal close
2
REGIST-220W50B
Normal close
2
REGIST-500W20
3
REGIST-220W100B
Normal close
1
No
Connectors for Single-Axis Servo Amplifier Connections（200V AC Input Type）
Usage
Single
Connectors
Connector Sets
Contents
Model No.
CN1（Plug, Housing）
AL - 00385594
AL - 00385596
CNA（Plug）
AL - 00329461-01
CNB（Plug）：Accessory
AL - Y0000988-01
CNC（Plug）
AL - 00329458-01
CN1,CN2（Plug, Housing）
CNA,CNC（Plug）
AL - 00393603
AL - 00292309
Manufacturer
Sumitomo 3M
Manufacturer's Part No.
10150-3000PE+10350-52A0-008
10120-3000PE+10320-52A0-008
MSTB2.5/5-STF-5.08
Phoenix Contact
IC2.5/6-STF-5.08
IC2.5/3-STF-5.08
Sumitomo 3M
Phoenix Contact
Sumitomo 3M
10150-3000PE+10350-52A0-008
10120-3000PE+10320-52A0-008
MSTB2.5/5-STF-5.08
IC2.5/3-STF-5.08
10150-3000PE+10350-52A0-008
10120-3000PE+10320-52A0-008
28
Optional
Equipment
60±0.4
Model No.
1
External Wiring
Diagram
Thermostat
Setup Software
Model No.
Mass : 0.24kg
Standard
Specifications
Mass : 0.19kg
Optional Equipment
Connectors for Single-Axis Servo Amplifier Connections（100V AC Input Type）
Usage
Contents
Single
Connectors
Connector Sets
Model No.
AL - 00385594
AL - 00385596
CNA（Plug）
AL - 00329461-02
AL - Y0000988-01
CNC（Plug）
AL - 00329458-01
CNA,CNC（Plug）
AL - 00492384
AL - 00292309
Manufacturer
Sumitomo 3M
10150-3000PE+10350-52A0-008
10120-3000PE+10320-52A0-008
MSTB2.5/4-STF-5.08
Phoenix Contact
IC2.5/6-STF-5.08
IC2.5/3-STF-5.08
Sumitomo 3M
Phoenix Contact
Sumitomo 3M
10150-3000PE+10350-52A0-008
10120-3000PE+10320-52A0-008
MSTB2.5/4-STF-5.08
IC2.5/3-STF-5.08
10150-3000PE+10350-52A0-008
10120-3000PE+10320-52A0-008
Connectors for Servo Amplifier with CANopen
① Main Power : 200V AC, Control Power : 1 φ 200V AC
Contents
Single
Connectors
Connector Sets
Model No.
AL - 00608710
AL - 00385596
CNA（Plug）
AL - 00329461-01
Manufacturer
Sumitomo 3M
10114-3000PE+10314-52A0-008
10120-3000PE+10320-52A0-008
MSTB2.5/5-STF-5.08
AL - Y0000988-01 Phoenix Contact
IC2.5/6-STF-5.08
CNC（Plug）
AL - 00329458-01
IC2.5/3-STF-5.08
CNA,CNC（Plug）
AL - 00661731
AL - 00661729
Sumitomo 3M
Phoenix Contact
Sumitomo 3M
10114-3000PE+10314-52A0-008
10120-3000PE+10320-52A0-008
MSTB2.5/6-STF-5.08
IC2.5/3-STF-5.08
10114-3000PE+10314-52A0-008
10120-3000PE+10320-52A0-008
② Main Power : 200V AC, Control Power : 24V DC
Contents
Single
Connectors
Connector Sets
Model No.
Manufacturer
AL - 00608710
AL - 00385596
CNA（Plug）
AL - Y0000988-02
IC2.5/7-STF-5.08
CNB（Plug）
AL - 00329460-01 Phoenix Contact
MSTB2.5/2-STF-5.08
CNC（Plug）
AL - 00329458-01
IC2.5/3-STF-5.08
CNA,CNB,CNC（Plug）
AL - 00667184
10114-3000PE+10314-52A0-008
10120-3000PE+10320-52A0-008
MSTB2.5/7-STF-5.08
MSTB2.5/2-STF-5.08
IC2.5/3-STF-5.08
AL - 00661729
Sumitomo 3M
Sumitomo 3M
Phoenix Contact
Sumitomo 3M
10114-3000PE+10314-52A0-008
10120-3000PE+10320-52A0-008
10114 - 3000PE+10314-52A0-008
10120 - 3000PE+10320-52A0-008
Connectors for Multi-Axis Servo Amplifier Connections
Contents
Amplifier CN2（Plug, Housing）
Unit
Single
Connectors
Power
Unit
29
Sumitomo 3M
CNA（Plug）
AL - 00632600
AL - 00632602
Amplifier CN1,CN2（Plug, Housing）
CN6,CNC（Plug）
Unit
Power
Unit
AL - 00632607
AL - 00632604
CN1A（Plug, Housing）
Manufacturer
Molex
CNC（Plug）
CN1B（Plug, Housing）
Connector
Sets
Model No.
AL - Y0003305-01
AL - 00385594
AL - 00632611
CNA（Plug）
AL - 00632609
CN1A,CN1B（Plug, Housing）
55100-0670
36310-3200-008
36210-0100PL
04JFAT-SBXGF-I　J-FATOT
J.S.T.Mfg.CO.,LTD
Sumitomo 3M
10150-3000PE
10350-52A0-008
J.S.T.Mfg.CO.,LTD
04JFAT-SBXGF-I
Molex
55100-0670
Sumitomo 3M
36310-3200-008
36210-0100PL
Sumitomo 3M
10150-3000PE
10350-52A0-008
J.S.T.Mfg.CO.,LTD
05JFAT-SBXGF-I
For more information regarding any products or services described here in,
please contact your nearest office listed on the back of this catalog.
Date：
To SANYO DENKI Co.,LTD.
Features and
Functions
Inquiry Check Sheet
Model Number
Nomencalture
Company:
Department:
System
Configuration
Name:
Tel: FAX:
Item
Contents
Equipment name, category (transport, processing, test, other)
Name of servo axis
Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no)
Current condition of above axis
Manufacturer Name (
Positioning accuracy
± mm・± μm
) Series Name (
) Motor Capacity (
) Hydraulic, Mechanical, or New System (
【Reference formula】
Accelerationα：＿＿G・＿＿＿[m/s2]
Feeding SpeedＶ：＿＿＿＿[m/s]
5
Operation pattern
Feeding
【1G=9.8[m/s2]､1[m/s2]≒0.1G】
【α[m/s2]＝V[m/sec]÷t1[sec]】
【D[m]＝V[m/sec]×(t1+t2)[sec]】
Moving DistanceＤ：＿＿＿[m]
Speed
)
External Wiring
Diagram
Name of target equipment
Dimensions
1
2
3
4
Standard
Specifications
E-mail:
(Stroke)
[m/sec]
Time
7
Mechanical structure
Ball-screw/screw-rotation type (horizontal), ball-screw/nut-rotation type (horizontal),
rack and pinion (horizontal), belt/chain (horizontal), rotary table, roll feed, instability
WT
（table mass）
kg
WL
（work mass）
kg
WA（mass of other drive parts）
WR
（rack mass）
kg
WB（belt/chain mass）
kg
WC（counterbalance mass）
kg
Fa（external force axial direction）
N
Fb（ball-screw preload）
N
T
（roll pushing force）
N
Dr2
（follower-side roll diameter）
Dr1
（drive-side roll diameter）
mm
Lr1（drive-side roll length）
mm
Lr2（follower-side roll length）
mm
JG（speed-reducer inertia）
kg・m2
JC
（coupling inertia）
kg・m2
JN（nut inertia）
kg・m2
JO（other motor-axis conversion inertia）
kg・m2
Db（ball-screw diameter）
mm
Lb
（ball-screw axial length）
mm
Dp（pinion/pulley diameter）
mm
Lp（pinion axial length）
Dt（table diameter）
mm
Dh（table-support dianeter） mm
Ds
（table shaft diameter）
mm
Ls（table shaft length）
ρ
（specific gravity of ball-screw/pinion/pulley/table-shaft material）
9
Encoder type
Pb（ball -screw lead）
mm
mm
mm
kg・cm3
ρ1（specific gravity of roll-1 material）
N・m
mm
tp
（pully thickness）
κ
（internal friction coefficient of preload nut）
kg／cm3
mm
LW（load shift from axis）
μ（friction coefficient between sheet and shiliding-surface/support-section/roll）
TF（friction torque of motor axis conversion）
Speed reducer
mm
kg
G（reduction ratio）
ρ2（specific gravity of roll-2 material）
η
（mechanical efficiency）
8
Setup Software
Mechanism
Optional
Equipment
6
kg／cm3
JL（load inertia of motor-axis conversion）
kg・m2
Tu（imbalance torque of motor axis conversion）
N・m
Customer-provided ( ／ )・Sanyo denki standard(planet/spur/no-backlash-planet ／ ) other( ／ )
Encoder type specified ( yes / no )
Yes:(incremental , optical absolute , optical absolute with incremental function, resolver absolute)
Resolution（）
0
A
B
C
D
E
F
Input format
Position , velocity , torque , other ( )
Host equipment (controller)
Sequencer , laptop , customer-developed product , Sanyo dennki-provided , other ( )
Usage environment and other requirements
Cutting , clean-room use , anti-dust measures , other ( )
Estimated production
Single product: ( ) units/mouth ( ) units/year
Development schedule
Prototype period: ( ) Year ( ) Month Production period: ( ) Year ( ) Month
Various measures
Related documentation ( already submitted; send later by mail) Visit/PR desired ( yes / no ) Meeting desired ( yes / no )
Miscellaneous
(questions, pending problems,
unresolved issues, etc.)
30
■ ECO PRODUCTS
ECO PRODUCTS are designed with the goal
of lessening nevironmental impact, from
product development to disposal.
■ Precautions For Adoption
Cautions
Failure to follow the precautions on the right may cause
moderate injury and property damage, or in some
circumstances,could lead to a serious accident.
Always follow all listed precautions.
＊For any question or inquiry regarding the above, contact our Sales Department.
http://www.sanyodenki.co.jp
1-15-1, Kita-Otsuka, Toshima-ku, Tokyo 170-8451, Japan
Phone: +81 3 3917 5157
468 Amapola Avenue Torrance, CA 90501 U.S.A.
Phone: +1 310 783 5400
P.A. Paris Nord II 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France
Phone: +33 1 48 63 26 61
Frankfurter Strasse 63-69 65760 Eschborn Germany
Phone: +49 6196 76113 0
9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea
Phone: +82 2 773 5623
Room 2116, Bldg B, FAR EAST INTERNATIONAL PLAZA, No.317 XianXia Rd., Shanghai 200051 China
Phone: +86 21 6235 1107
Room 1208,12F, No.96 Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C.
Phone: +886 2 2511 3938
Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong
Phone: +852 2312 6250
10 Hoe Chiang Road #14-03A/04 Keppel Towers Singapore 089315
Phone: +65 6223 1071
The names of companies and/or their products specified in this catalogue are the trade names, and/or trademarks and/or registered trademarks of such respective companies.
*Remarks : Specifications Are Subject To Change Without Notice.
CATALOG NO. 839-9 ’08.11.N

rac servo systems

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