rac servo systems
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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 Wire-saving incremental encoder Selectable output : NPN Output B… Encoder Specification : Absolute encoder Wire-saving incremental 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 15A,30A (option.setting) 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 Control Hardware Type 01‥‥‥ 15A 03‥‥‥ 30A Power Input 00 B ‥‥‥Pulse train interface Motor Type ‥‥‥Rotary Motor Optional Equipment RR1 ‥‥Standard Encoder Combination Description ‥‥‥Absolute encoder Power Unit RRP A R Series Multi-Axis Servo System Power Unit A 00 Power Input A‥‥AC200V E‥‥AC100V Control Hardware Type ‥‥‥Pulse train interface 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 Multi-Axis Servo System 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, Wire-saving incremental encoder L ‥‥NPN Output U‥‥PNP Output *Please set the parameters for your selected motor accordingly before using. 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 ‥‥‥Rotary Motor Power Input, Internal Registration Setting Model L A A L N E Input Voltage Internal Registration Resistor Amp. capacity 15A,30A (option.setting) W 15A,30A W/O AC200V 50A W W/O 50A W 15A,30A (option.setting) AC100V 15A,30A W/O *Please set the parameters for your selected motor accordingly before using. 7 Interface Type ‥‥‥Built-in Positioning Function Model 03‥‥‥ 30A 05‥‥‥ 50A Amplifier Motor Type ‥‥‥Rotary Motor Power Unit Motherboard System Configuration RR1A03AAB00 × 2 units RRPAA00 × 1 unit RRMA600 × 1 unit Amplifier Unit A Amp. capacity A‥‥DC280V E‥‥DC140V Specification Control Hardware Type 01‥‥‥ 15A 03‥‥‥ 30A Power Input 00 B Standard Specifications R Series Multi-Axis Servo System Amplifier Unit A ‥‥‥Pulse train interface Motor Type ‥‥‥Rotary Motor ‥‥Standard External Wiring Diagram 01 A Encoder Combination Description ‥‥‥Absolute encoder Dimensions RR1 *Please set the parameters for your selected motor accordingly before using. R Series Multi-Axis Servo System Power Unit A 00 Power Input A‥‥AC200V E‥‥AC100V Control Hardware Type ‥‥‥Pulse train interface Optional Equipment A Setup Software Power Unit RRP Specification ‥‥Standard Motherboard RRM A R Series Multi-Axis Servo System 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 Wire-saving incremental encoder L 15A,30A (option.setting) 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 15A,30A (option.setting) AC100V T… Full Closed-Loop EAmplifier Unit 15A,30A W/O × RR1A01AAB00 2 units Features and Functions Control Hardware Type Power Input, Internal Registration Setting 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 Multi-Axis Servo Amplifier 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 Single-Axis Servo Amplifier 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 (Do not connect pins11,18) Connect pin 20 25m MAX. Connect pin 17,19 (Do not connect pins12) Connect pin 18,20 (Do not connect pins11) 40m MAX. Connect pin 12,17,19 Connect pin 11,18,20 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 Operating Temperature: 0 to 40°C, Relative Humidity: 90% Maximum, no condensation 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] Multi-Axis Servo Amplifier 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) Battery backup type absolute encoder [ PA035C ] Use a twisted-pair shielded cable. 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. For the following encoders, please make inquiries: ・Absolute encoder without battery[ RA035C ] 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 Operating Temperature: 0 to 40°C, Relative Humidity: 90% Maximum, no condensation 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 Single-Axis Servo Amplifier 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 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 (Do not connect pins11,18) Connect pin 20 25m MAX. Connect pin 17,19 (Do not connect pins12) Connect pin 18,20 (Do not connect pins11) 40m MAX. Connect pin 12,17,19 Connect pin 11,18,20 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 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 Operating Temperature: 0 to 40°C, Relative Humidity: 90% Maximum, no condensation 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] Single-Axis Servo Amplifier 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) Use a twisted-pair shielded cable. Note 2) Encoder power connections depend on encoder cable length. See the following Encoder cable length +5V DC Wiring (Do not connect pins 9,12,17) (Do not connect pins 9,12) 10m MAX. Connect pin 17,19 20m MAX. Connect pin 12,17,19 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 Connect pin 11,18,20 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 Single-Axis Servo Amplifier 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 External Wiring Diagram 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 General-purpose output MC r Start ready OFF General-purpose output 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) Output selection 2 (SEL2) 36 34 Output selection 1 (SEL1) Output selection 3 (SEL3) 37 35 Output selection 2 (SEL2) (+1step) + 1 step feeding 38 Output selection 3 (SEL3) − 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. terminals using the short bar supplied. 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) terminals using the short bar supplied. 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 for use with lead type motor power line and brake line. 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 Either of the inputs can be selected. 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) General-purpose output General-purpose output 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 Operation Prep. Operation Prep. 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 for use with lead type motor power line and brake line. 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. Either of the inputs can be selected. 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 External Wiring Diagram Multi-Axis Servo Amplifier 1-phase(100V AC) 3-phase(200V AC) CNA User Devices Note 11) Emergency System Error Stop MC Note 10 ) Operation Prep. Operation Prep. 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. For the following encoders, please make inquiries: ・Absolute encoder without battery[ RA035C ] ・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 Servo Amplifier Dimensions(Unit : mm) 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 Servo Amplifier Dimensions(Unit : mm) 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*** Applicable Amplifiers:RS1*03*** 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 Applicable Amplifiers:RS1*05*** 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 Applicable Amplifiers:RS1*03*** For mounting on the front side of the amplifer Model No.:AL-00582788-01 Material:SPCC Applicable Amplifiers:RS1*01*** 65 50 5 7 50A Front Side 188 198 120 2 5 For mounting on the front side of the amplifer Model No.:AL-00582790-01 Material:SPCC Applicable Amplifiers:RS1*05*** Model No. AL-00582791-01 AL-00582792-01 AL-00582788-01 AL-00582789-01 AL-00582790-01 Contents Mounting Bracket : 1 Screws : 2 Mounting Bracket : 1 Screws : 2 Mounting Bracket : 1 Screws : 6 Mounting Bracket : 1 Screws : 6 Mounting Bracket : 1 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 Silicon Rubber Glass-braided Wire AWG20 0.5mm2 , White (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 Silicon Rubber Glass-braided Wire AWG18 0.75mm2 , Black 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 Silicon Rubber Glass-braided Wire AWG20 0.5mm2 , White 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 Silicon Rubber Glass-braided Wire AWG18 0.75mm2 , Black 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 CN2(Plug, Housing) 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 CN1,CN2(Plug, Housing) 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. CN1(Plug, Housing) AL - 00385594 CN2(Plug, Housing) AL - 00385596 CNA(Plug) AL - 00329461-02 CNB(Plug):Accessory AL - Y0000988-01 CNC(Plug) AL - 00329458-01 CN1,CN2(Plug, Housing) CNA,CNC(Plug) AL - 00492384 CN1,CN2(Plug, Housing) AL - 00292309 Manufacturer Sumitomo 3M Manufacturer's Part No. 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. CN1(Plug, Housing) AL - 00608710 CN2(Plug, Housing) AL - 00385596 CNA(Plug) AL - 00329461-01 Manufacturer Sumitomo 3M Manufacturer's Part No. 10114-3000PE+10314-52A0-008 10120-3000PE+10320-52A0-008 MSTB2.5/5-STF-5.08 CNB(Plug):Accessory AL - Y0000988-01 Phoenix Contact IC2.5/6-STF-5.08 CNC(Plug) AL - 00329458-01 IC2.5/3-STF-5.08 CN1,CN2(Plug, Housing) CNA,CNC(Plug) AL - 00661731 CN1,CN2(Plug, Housing) 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 Manufacturer's Part No. CN1(Plug, Housing) AL - 00608710 CN2(Plug, Housing) 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 CN1,CN2(Plug, Housing) 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 CN1,CN2(Plug, Housing) 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 CN1(Plug, Housing) Amplifier CN2(Plug, Housing) Unit CN6(Plug, Housing) Single Connectors Power Unit 29 Sumitomo 3M CNA(Plug) AL - 00632600 CNB(Plug):Accessory 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) Manufacturer's Part No. 55100-0670 36310-3200-008 36210-0100PL 04JFAT-SBXGF-I J-FATOT J.S.T.Mfg.CO.,LTD 05JFAT-SBXGF-I J-FATOT 06JFAT-SBXGF-I J-FATOT 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