AC SERVO SYSTEMS R - SANYODENKI EUROPE · Single-Axis Servo Amplifier (Analog/Pulse input type)...
Transcript of AC SERVO SYSTEMS R - SANYODENKI EUROPE · Single-Axis Servo Amplifier (Analog/Pulse input type)...
Ver.3
R AMPLIFIERS / Q MOTORS200V AC 1kW to 15kW
AC SERVO SYSTEMS
R
1
Easy Set-up for Optimal Operation
Auto-Tuning
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.
Tuning start
Velocity command value
Detected velocity value
Test Function (JOG)
On-board JOG operation function is available for testing motor and amplifier connection without the need to connect to host device.
5-digit LED Display, Built-in Operator
Parameter setting, monitoring and alarm tracing can be easily done using the built-in operator.
Capable of JOG operationwithout connectingto host device
Power Supply Harmonic Suppression
Equipped with DC reactor connection terminals as standard feature for supressing power supply harmonics.
DL1
DL2
DC reactor(Option)
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Built-in Dynamic Brake
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.
Rot
atio
n s
peed
(min-1)Time(s)
Controlledstate Dynamic braking state
Setup Software
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
*Use optional cableAL-00490833-01 for PC connection(option)
Built-in Regeneration Resistor
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.
Built-in Regeneration Resistor
External regenerative resistor (option)
3
Improved Precision and Reduced Cycle Time
High Response
A 4th-order notch filter reduces phase delay to suppress mechanical resonance and improve velocity response of equipment.
1
-20
-30
-40
-10
0
10
5 10 50 100 500 1000 1800
Gai
n (d
B)
Frequency (Hz)
Vibration Suppression Control
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.
100ms/div
Position deviation during stop
Without vibration suppression controlWith vibration suppression control
With vibration suppression control
Without vibration suppression control
Shorter Position Settling Time
A new algorithm drastically shortens positioning settling time for equipment.
5ms/div
Position deviation
Position complete signalSettling time (0ms)
Example of positioning settling time in highly rigid machinery
Disturbance Suppression
A new disturbance observer with expanded applicable frequencies suppresses disturbance from other axes in a multi-axis configuration.
Oscillation waveformof direct drive section
Disturbance observer function OFF
Oscillation waveformof direct drive section
Disturbance observer function ON
Disturbance
Disturbance
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High Resolution
Support for encoders up to 17 bit (131,072 divisions) is available for high resolution control.
Hig
h Re
solu
tion 17bit(1
31,072 divisions) Absolute Encoder
20% Reduction in Power Loss
An energy conserving power module reduces main circuit power loss by up to 20%.
SANMOTION R
50A
70%
60%
50%
40%
30%
20%
10%
0%
80%
90%
100%
Current model
Pow
er lo
ss r
edu
ctio
n (
%)
Reduced Running Costs
Full Closed-Loop Control
Optional support for full closed-loop control usinglinear scale and other high resolution encodersmounted on device side.
Load
Highly accurate positioning is possible
(PY)
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Servo Motor Model Number Nomenclature
Q H C P E2 AA 13 200 00
Q Series
Motor Type1‥Low-inertia2‥Medium-inertia4‥Low-inertia (high volume)
Supply Voltage‥‥‥200V Motor
Flange Size08 ‥‥‥ 86mm10 ‥‥‥ 100mm 12 ‥‥‥ 120mm 13 ‥‥‥ 130mm18 ‥‥‥ 180mm 22 ‥‥‥ 220mm
100 ‥‥‥ 1kW150 ‥‥‥ 1.5kW200 ‥‥‥ 2.0kW350 ‥‥‥ 3.5kW450 ‥‥‥ 4.5kW
550 ‥‥‥ 5.5kW750 ‥‥‥ 7.5kW11K ‥‥‥ 11kW15K ‥‥‥ 15kW
Rated Output
S ‥ 1000min-1
M ‥ 1500min-1
B ‥ 2000min-1
R ‥ 2500min-1
H ‥ 3000・ 3500min-1
L ‥ 3000min-1
D ‥ 4500・ 5000min-1
V ‥ 2000min-1
Holding BrakeX‥‥Without BrakeB‥‥With Brake(90V)C‥‥With Brake(24V)
Specification‥‥Standard
E‥‥‥‥ CE MarkingU‥‥‥‥ ULM‥‥‥‥ CE and UL
Encoder TypeS‥Wire-saving incremental encoder[PP038/PP062]P‥Battery backup method absolute encoder[PA035C]H ‥Absolute encoder for incremental System[PA035S]W‥Absolute encoder without battery[RA035C]
Servo Motor
Please contact our Sales Division for assistance.
8000
Supported Range
Wire-savingincremental encoder
Encoder Pulse Count Resolution Encoder Pulse Count Resolution
PA035C
PA035M
RA035C
131072(17bit)
8192(13bit)
131072(17bit)
Battery backup method absolute encoder
Absolute encoder with incremental output
Absolute encoder without battery
Resolution
65536(16bit)
8192(13bit)
8192(13bit)
Single rotation Multiple RotationsRemarks
PP038/
PP0622000P/R
Model
RemarksStandard
Model
Ab
solu
te T
ype
Incr
emen
tal T
ype
Opt
ical
Det
ectio
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Optica
l Dete
ction
Syste
mRe
solve
rSy
stem
2048P/R・5000P/R
8192P/R・10000P/R
20000P/R・25000P/R
819220000327684000080000
100000
Wire-saving Incremental Encoder
Combined Motor/Encoder Specification
Absolute Encoder
Example: The following model number defines a "Q2" servomotor with 130mm flange size, 2.0kW rated output, 3500min-1 maximum rotation speed, 24V brake, and an absolute encoder (131,072 divisions/rotation),CE approval.
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.
Conformance to Overseas Standards
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A AA 10RS1
Power Input, Internal Registration Setting
A W 50A,100A,150AL W/OA W/O 300A
50A,100A,150A (option.setting)
Model Input Voltage Internal Regeneration resistor Amp. capacityAC200V
Amp. capacity05‥‥‥ 50A 10‥‥‥ 100A15‥‥‥ 150A 30‥‥‥ 300A
R SeriesMotor Type‥‥‥ Rotary Motor
Control Hardware Type A‥‥ Battery backup method absolute encoder Wire-saving incremental encoderT‥‥ Full Closed-Loop (Option Setting)B‥‥ PNP Output
Example: The model number shown below is "R" Series Servo Amplifier with AC200V input voltage and 100A amplifier capacity.
Single-Axis Servo Amplifier (Analog/Pulse input type)
Servo Amplifier Model Number Nomenclature
*Please set the parameters for your selected motor accordingly before using.
(3-Phase/Single Phase 200V Input)
Servo Amplifier with CANopen
R Series Amp. Capacity Motor Type
Power Input, Input VoltageA Note1)‥Main Power : AC 200V, Control Power : 1φAC 200VJ Note2)‥Main Power : AC 200V, Control Power : DC 24V
Note1) Built-in Regenerative Resister Built-in DB CircuitNote2) Built-in Regenerative Circuit(External Regenerative Resistor)Built-in DB Circuit
05‥‥‥ 50A ‥‥‥ Rotary Motor
A LA 05RS1
Control Hardware Type Interface Specification:CAN open I/FEncoder Specification:Absolute encoder, Wire-saving Incremental EncoderL‥‥NPN OutputU‥‥PNP Output
‥‥‥ Rotary Motor
A CA 10RS1
Control Hardware Type ‥‥‥Built-in Positioning Function model
R SeriesSingle-Axis Servo
Amplifier
Amp. capacity05‥‥‥ 50A10‥‥‥ 100A15‥‥‥ 150A30‥‥‥ 300A
Motor Type
Power Input, Internal Registration Setting
A W 50A,100A,150AL W/OA W/O 300A
50A,100A,150A (option.setting)
Model Input Voltage Internal Regeneration resistor Amp. capacityAC200V
Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage (Main Power) and 100A amplifier capacity.
Single-Axis Servo Amplifier (built-in positioning function model)
*Please set the parameters for your selected motor accordingly before using.
*Please set the parameters for your selected motor accordingly before using.
7
CN2
Wiring required for brake.
R
S
T
Cuts off power in the case of an overload, to protect the power line.
Circuit Breaker (MCCB)
Protects the power line from external noise, and from noise generated by the servo amplifier.
Noise Filter
Switches servo power on and off. Installation of a surge protector is required.Create the protective circuit.
Electromagnetic Contactor
Required for use when the servo motor is equipped with a brake.
Brake Power
For special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier’s internal regenerative resistor.Remove the short bar between RB1-RB4 and connect this here.
External Regenerative Resistor
Use as required, such as for heavy inertial load operations.
DC Reactor
Suppresses power harmonics.Remove the short bar between DL1-DL2 and connect this here, when needed for high frequency waves.
PC
Model No. : AL-00490833-01
CN1
Setup Software
Lithium battery
SANYO DENKI's host devices permit communication with third-party products.
Host Devices
PLC
Model No. : AL-00494635-01
Parameter configuration and monitoring is possible via communication with a PC.
When using the unit with an absolute system, mount the optional battery inside the digital operator cover.
System Configuration
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CN2
Wiring required for brake.
R
S
T
Cuts off power in the case of an overload, to protect the power line.
Circuit Breaker (MCCB)
Protects the power line from external noise, and from noise generated by the servo amplifier.
Noise Filter
Switches servo power on and off. Installation of a surge protector is required.Create the protective circuit.
Electromagnetic Contactor
Required for use when the servo motor is equipped with a brake.
Brake Power
For special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier’s internal regenerative resistor.Remove the short bar between RB1-RB4 and connect this here.
External Regenerative Resistor
Use as required, such as for heavy inertial load operations.
DC Reactor
Suppresses power harmonics.Remove the short bar between DL1-DL2 and connect this here, when needed for high frequency waves.
PC
Model No. : AL-00490833-01
CN1
Setup Software
Lithium battery
SANYO DENKI's host devices permit communication with third-party products.
Host Devices
PLC
Model No. : AL-00494635-01
Parameter configuration and monitoring is possible via communication with a PC.
When using the unit with an absolute system, mount the optional battery inside the digital operator cover.
CANopen
Dedicated controllerPC and PLC are availableas the host device.*Communication Profile: DS-301 Device Profile: DSP-402 compliance
Host Devices
System Configuration
9
Amplifiers for Q4 Motors
21.415.7
Q4AA1811KB180
11
9.8
Q4AA1815KB180
15
RS1A30A□Amplifier ModelAmplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
Motor Model
Motor Flange Dimension
Motor Rated Output
Unit
AC200V to 230V+10、-15%、 50/60Hz ±3 HzOperating Temperature: 0 to 55°C, Relative Humidity: 90% maximum, no condensation
kVA
kg
kW
*Actual power consumption depends on load impedence, and is shown here at the amplifier's rated output .
200V AC Type
Amplifier ModelAmplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
Motor Model
Motor Flange Dimension
Motor Rated Output
Unit
kVA
kg
kW
5.22.2/2.3
Amplifier ModelAmplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
Motor Model
Motor Flange Dimension
Motor Rated Output
Unit
kVA
kg
kW
3.0 4.0 4.2 2.5
2.2/2.3
4.0 5.05.2
5.0
5.2
AC200V to 230V+10、-15%、 50/60Hz ±3 HzOperating Temperature: 0 to 55°C, Relative Humidity: 90% maximum, no condensation
Operating Temperature: 0 to 55°C, Relative Humidity: 90% maximum, no condensation
AC200V to 230V+10、-15%、 50/60Hz ±3 Hz
6.7 7.4 12.5
9.8
RS1A05A□/RS1A05A□ RS1A10A□ RS1A05A□/RS1A05A□ RS1A10A□
RS1A10A□ RS1A15A□
8.3
6.5
RS1A30A□
Amplifiers for Q1 Motors
200V AC Type
200V AC Type
200V AC Type
Amplifier ModelAmplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
Motor Model
Motor Flange Dimension
Motor Rated Output
Unit
kVA
kg
kW
AC200V to 230V+10、-15%、 50/60Hz ±3 Hz
Operating Temperature: 0 to 55°C, Relative Humidity: 90% maximum, no condensation
10.1
Q2AA22550B220
5.5
6.5
RS1A15A□ RS1A30A□
12.2
Q2AA22700S220
7
Q2AA18550H180
5.5
10.1 12.5 15.7 21.4
Q2AA18750L180
7.5
Q2AA2211KV220
11
Q2AA2215KV220
15
9.8
Amplifiers for Q2 Motors
200V AC Type
200V AC Type
2.5 3.02.2/2.3
RS1A05A□/RS1A05A□
2.52.2/2.3
1
3.0
Amplifier Model Amplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
Motor Model
Motor Flange Dimension
Motor Rated Output
Q2AA08100D86
Unit
AC200V to 230V+10、-15%、 50/60Hz ±3 Hz
Operating Temperature: 0 to 55°C, Relative Humidity: 90% maximum, no condensation
RS1A05A□/RS1A05A□
kVA
kg
kW
Q2AA10100H100
5.05.2
RS1A10A□
Q2AA13150H130
1.5
Q2AA13100H130
1.0
Q2AA10150H100
1.5
Q2AA18200H180
2
Q2AA13200H130
2
2.5
Q1AA10100D100
1
Q1AA10150D
100
1.5
Q1AA10250D
100
2.5
Q1AA12100D
120
1
Q1AA10200D
100
2
Q1AA12200D
120
2
Q1AA12300D
120
3
Q1AA13300D130
3
Q1AA13400D130
4
Q1AA18450M180
4.5
Q1AA18750H180
7.5
Q1AA13500D130
5
Amplifier ModelAmplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
Motor Model
Motor Flange Dimension
Motor Rated Output
Unit
kVA
kg
kW
6.9 7.4
AC200V to 230V+10、-15%、 50/60Hz ±3 Hz
Operating Temperature: 0 to 55°C, Relative Humidity: 90% maximum, no condensation
6.5 6.5
RS1A15A□
Q2AA18350H180
3.5
Q2AA18450H180
4.5
8.4 5.9
Q2AA18550R180
5.5
5.2
Q2AA22250H220
2.5
RS1A10A□ RS1A15A□
7.4 8.4
Q2AA22350H220
3.5
Q2AA22450R220
4.5
Servo Motor Amplifier Specifications
RSServo Amplifier
Amplifier Capacity 50A to 300AFive Models
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Servo Motor Amplifier Specifications
CANopen Interface specifications
Fiel
dbus
spe
cific
atio
ns
Bus Connection, Medium CAN-Standard ISO-11898 (High-speed CAN)Fieldbus CANopenCommunication Profile CiA DS301 Version 4.02Device Profile CiA DSP402 (CANopen device profile for drive and motion control) Version 2.0Bit Rate 1Mbps, 800Kbps, 500Kbps(default setting), 250kbps, 125Kbps, 50Kbps , 20Kbps , 10Kbps (Selectable by R-Setup Software )Max. nodes per segment 1 to 127 (Selectable by Double 16-position Rotary Switch or R-Setup Software )
Connector
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)
Transceiver ISO-11898 compliant high-speed transceiverMax. Bus Length 25m ( for 1Mbps)
Communication Objects
SDO (Service Data Object)EMCY (Emergency)SYNC (Synchronization Object)Heartbeat
PDO (Process Data Object)NMT (Network Management)Node Guarding
PDO Transfer Modes Synchronous transmission Asynchronous transmission
Mode of OperationHoming Mode (h.m)Profile Velocity Mode (p.v)Profile Torque Mode (t.q)
Profile Position Mode (p.p)Interpolated Position Mode (i.p)
Servo amplifier
Out 1~8
Host unit
The output port counts are differentdepending on the specification.
DC24V
50mA max
Out Power
Servo amplifier
Out Power
Out 1~8
Out Common
Host unit
Maximum current
DC5V. . . . . . . . . . 10mADC12 to 15V. . . . . 30mADC24V . . . . . . . . . . 50mA
The output port counts are different depending on the specification.
PNP output NPN output
11
Q1Servo Motor
Capacity□100mm to □180mm
1kW to 7.5kW(12 models)
Features
High Power Rate(Low Inertia)
Amplifier Model RS1A05AA/RS1A05AL Motor Model and Flange Dimension in mm Q1AA10100D
《100》Q1AA10150D
《100》Status Symbol UnitRated Output ★ PR kW 1 1.5Rated Speed ★ NR min-1 3000Maximum Speed ★ Nmax min-1 5000 4500Rated Torque ★ TR N・m 3.19 4.79Continuous Torque at Stall ★ TS N・m 3.92 4.9Peak Torque at Stall ★ TP N・m 10.5 14.7Rated Armature Current ★ IR Arms 6.5 8.2Armature Current at Stall ★ IS Arms 7.8 8.2Peak Armature Current at Stall ★ IP Arms 24.5 26.5Torque Constant ☆ KT N・m/Arms 0.55 0.705Voltage Constant Per Phase ☆ KEφ mV/min-1 19.3 24.6Phase Resistance ☆ Rφ Ω 0.34 0.272Rated Power Rate ★ QR kW/s 78.9 143Electrical Time Constant ☆ te ms 7.6 11.4Mechanical Time Constant (Not including Encoder) ☆ tm ms 0.43 0.26Rotor Moment of Inertia (Not including Encoder) JM ×10-4kg・m2(GD2/4) 1.29 1.61Encoder: Wire-saving INC P/R 2000Mass including Encoder WE kg 5.4 6.5Brake Static Friction Torque TB N・m 3.92 7.84Brake Rated Voltage VB V DC90V / DC24V ± 10%Brake Rated Current IB A 0.2 / 0.75Rotor Moment of Inertia (Brake) JB ×10-4kg・m2(GD2/4) 0.15 0.4Brake Mass W kg 1.3 1.5Motor Operating Temp, Rel. Humidity Operating Temperature: 0 to 40°C, Relative Humidity: 90% maximum, no condensation
Amplifier Model RS1A10AA Motor Model and Flange Dimension in mm Q1AA12300D
《120》Q1AA13300D
《130》Status Symbol UnitRated Output ★ PR kW 3Rated Speed ★ NR min-1 3000Maximum Speed ★ Nmax min-1 5000 4500Rated Torque ★ TR N・m 9.6 9.5Continuous Torque at Stall ★ TS N・m 11 10.8Peak Torque at Stall ★ TP N・m 31 28.4Rated Armature Current ★ IR Arms 16.2 16.7Armature Current at Stall ★ IS Arms 17.3 17.6Peak Armature Current at Stall ★ IP Arms 55 55Torque Constant ☆ KT N・m/Arms 0.73 0.693Voltage Constant Per Phase ☆ KEφ mV/min-1 25.4 4.2Phase Resistance ☆ Rφ Ω 0.75 0.087Rated Power Rate ★ QR kW/s 143 184Electrical Time Constant ☆ te ms 13.9 17.9Mechanical Time Constant (Not including Encoder) ☆ tm ms 0.3 0.27Rotor Moment of Inertia (Not including Encoder) JM ×10-4kg・m2(GD2/4) 6.4 4.92Encoder: Wire-saving INC P/R 2000Mass including Encoder WE kg 11.4Brake Static Friction Torque TB N・m 11.8Brake Rated Voltage VB V DC90V / DC24V ± 10%Brake Rated Current IB A 0.2 / 0.75Rotor Moment of Inertia (Brake) JB ×10-4kg・m2(GD2/4) 0.5Brake Mass W kg 1.7Motor Operating Temp, Rel. Humidity Operating Temperature: 0 to 40°C, Relative Humidity: 90% maximum, no condensation
200V System
Motor Dwgs P21 to P22
★:Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier.
☆:Indicates a typical value when the winding temperature is 20℃.
1000 0 2000 3000 4000 5000 6000 0
10
20
30
40
Speed [min-1]
Torq
ue [N・
m]
1000 0 2000 3000 4000 5000 6000 0
3
6
9
12
Speed [min-1]
Torq
ue [N・
m]
3000 0 50004000 2000 1000 0
5
10
15
20
Speed [min-1]
Torq
ue [N・
m]
1000 0 2000 3000 4000 5000 6000 0
10
20
30
40
Speed [min-1]
Torq
ue [N・
m]
Standard Specifications
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RS1A10AA RS1A05AA/RS1A05AL RS1A10AAQ1AA10200D
《100》Q1AA10250D
《100》Q1AA12100D
《120》Q1AA12200D
《120》 Symbol Unit2 2.5 1 2 PR kW
3000 NR min-1
5000 Nmax min-1
6.37 7.97 3.19 6.37 TR N・m7.36 8.82 3.92 7.36 TS N・m19.6 24.4 11 21 TP N・m15.9 16.6 6.2 14.3 IR Arms18 17.2 7.5 16.2 IS Arms55 55 24.5 53 IP Arms
0.47 0.587 0.587 0.5 KT N・m/Arms16.4 20.5 20.2 17.6 KEφ mV/min-1
0.086 0.104 0.19 0.06 Rφ Ω189 240 45.2 93 QR kW/s12.1 13 13 20 te ms0.25 0.24 0.38 0.31 tm ms2.15 2.65 2.25 4.37 JM ×10-4kg・m2(GD2/4)
2000 P/R8.7 9.4 5.4 8.7 WE kg
7.84 9.8 3.92 7.84 TB N・mDC90V / DC24V ± 10% VB V
0.2 / 0.75 IB A0.4 0.15 0.4 JB ×10-4kg・m2(GD2/4)1.5 1.3 1.5 W kgOperating Temperature: 0 to 40°C, Relative Humidity: 90% maximum, no condensation
RS1A15AA RS1A30AAQ1AA13400D
《130》Q1AA13500D
《130》Q1AA18450M
《180》Q1AA18750H
《180》 Symbol Unit4 5 4.5 7.5 PR kW
3000 1500 NR min-1
4500 1500 3000 Nmax min-1
12.7 15.7 28.5 48 TR N・m14.7 18.1 31.6 55 TS N・m39.2 47.6 105 125 TP N・m23.4 25.8 24.8 55 IR Arms26.4 27.5 24.8 60 IS Arms
83 155 IP Arms0.612 0.724 1.37 0.91 KT N・m/Arms21.4 25.3 47.7 31.7 KEφ mV/min-1
0.048 0.0461 0.0838 0.021 Rφ Ω251 291 295 443 QR kW/s19.2 20.8 24 23 te ms0.25 0.22 0.37 0.40 tm ms6.43 8.47 27.5 52 JM ×10-4kg・m2(GD2/4)
2000 P/R14.4 18.1 21.7 47 WE kg
19.6 32 54.9 TB N・mDC90V / DC24V ± 10% VB V
0.25 / 0.95 0.37 / 1.4 IB A0.58 5.5 5.5 JB ×10-4kg・m2(GD2/4)2.2 5 6 W kgOperating Temperature: 0 to 40°C, Relative Humidity: 90% maximum, no condensation
3000 0 6000 5000 4000 2000 1000 0
5
10
15
20
Speed [min-1]
Torq
ue [N・
m]
1000 0 2000 3000 4000 5000 6000 0
10
20
30
40
Speed [min-1]
Torq
ue [N・
m]
1000 0 2000 3000 4000 5000 6000 0
5
10
15
20
Speed [min-1]
Torq
ue [N・
m]
1000 0 2000 3000 4000 5000 6000 0
10
20
30
40
Speed [min-1]To
rque
[N・
m]
1000 0 2000 3000 4000 5000 6000 0
10
20
30
40
Speed [min-1]
Torq
ue [N・
m]
3000 0 6000 5000 4000 2000 1000 0
20
40
60
80
Speed [min-1]
Torq
ue [N・
m]
1000 0 2000 1500 500 0
30
60
90
120
Speed [min-1]
Torq
ue [N・
m]
0 2000 4000 0
50
100
150
1000 3000
Speed [min-1]
Torq
ue [N・
m]
Standard Specifications
13
Q2Servo Motor
Capacity□86mm to □220mm
1kW to 5.5kW(19 models:1kW to 15kW)
Features
High Efficiency and Low
Ripple (Medium Inertia)
Amplifier Model RS1A05AA/RS1A05ALMotor Model and Flange Dimension in mm Q2AA08100D
《86》Q2AA10100H
《100》Status Symbol UnitRated Output ★ PR kW 1 1Rated Speed ★ NR min-1 3000 2000Maximum Speed ★ Nmax min-1 5000 3500Rated Torque ★ TR N・m 3.18 5Continuous Torque at Stall ★ TS N・m 3.92 6Peak Torque at Stall ★ TP N・m 12.5 16.6Rated Armature Current ★ IR Arms 6.0 6.8Armature Current at Stall ★ IS Arms 6.9 8.1Peak Armature Current at Stall ★ IP Arms 25 24.5Torque Constant ☆ KT N・m/Arms 0.59 0.814Voltage Constant Per Phase ☆ KEφ mV/min-1 20.5 28.4Phase Resistance ☆ Rφ Ω 0.410 0.477Rated Power Rate ★ QR kW/s 37 46.0Electrical Time Constant ☆ te ms 4.1 4.8Mechanical Time Constant (Not including Encoder) ☆ tm ms 0.96 1.2Rotor Moment of Inertia (Not including Encoder) JM ×10-4kg・m2(GD2/4) 2.7 5.44Encoder: Wire-saving INC P/R 2000Mass including Encoder WE kg 5.1 5.4Brake Static Friction Torque TB N・m 2.94 9.8Brake Rated Voltage VB V DC90V / DC24V ± 10%Brake Rated Current IB A 0.08 / 0.33 0.20 / 0.75Rotor Moment of Inertia (Brake) JB ×10-4kg・m2(GD2/4) 0.343 0.4Brake Mass W kg 0.8 1.5Motor Operating Temp, Rel. Humidity Operating Temperature: 0 to 40°C, Relative Humidity: 90% maximum, no condensation
Amplifier Model RS1A10AA Motor Model and Flange Dimension in mm Q2AA13200H
《130》Q2AA18200H
《180》Status Symbol UnitRated Output ★ PR kW 2 2Rated Speed ★ NR min-1 2000Maximum Speed ★ Nmax min-1 3500Rated Torque ★ TR N・m 9.55 9.5Continuous Torque at Stall ★ TS N・m 12 12Peak Torque at Stall ★ TP N・m 30.5 31.0Rated Armature Current ★ IR Arms 13.1 15Armature Current at Stall ★ IS Arms 16.3 18Peak Armature Current at Stall ★ IP Arms 48 55Torque Constant ☆ KT N・m/Arms 0.822 0.75Voltage Constant Per Phase ☆ KEφ mV/min-1 29.0 25.9Phase Resistance ☆ Rφ Ω 0.119 0.075Rated Power Rate ★ QR kW/s 78 45.7Electrical Time Constant ☆ te ms 14 14.7Mechanical Time Constant (Not including Encoder) ☆ tm ms 0.63 0.82Rotor Moment of Inertia (Not including Encoder) JM ×10-4kg・m2(GD2/4) 12 20Encoder: Wire-saving INC P/R 2000Mass including Encoder WE kg 9.8 13.6Brake Static Friction Torque TB N・m 12 32Brake Rated Voltage VB V DC90V / DC24V ± 10%Brake Rated Current IB A 0.28 / 1.0 0.37 / 1.4Rotor Moment of Inertia (Brake) JB ×10-4kg・m2(GD2/4) 0.5 5.5Brake Mass W kg 1.7 5Motor Operating Temp, Rel. Humidity Operating Temperature: 0 to 40°C, Relative Humidity: 90% maximum, no condensation
200V System
Motor Dwgs P20 to P22
★:Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier.
☆:Indicates a typical value when the winding temperature is 20℃.
1000 0 2000 3000 4000 5000 6000 0
5
10
15
20
Speed [min-1]
Torq
ue [N・
m]
1000 0 2000 3000 4000 0
5
10
15
20
Speed [min-1]
Torq
ue [N・
m]
1000 0 2000 3000 4000 0
10
20
30
40
Speed [min-1]
Torq
ue [N・
m]
1000 0 2000 3000 4000 0
10
20
30
40
Speed [min-1]
Torq
ue [N・
m]
Standard Specifications
14
Stan
dard
Spec
ifica
tions
Mod
el Nu
mbe
rNo
men
caltu
reSy
stem
Conf
igur
atio
nFe
atur
es an
dFu
nctio
nsO
ptio
nal
Equi
pmen
tD
imen
sion
sEx
terna
l Wiri
ngD
iagr
am
Setu
p Sof
twar
e
RS1A05AA/RS1A05ALQ2AA10150H
《100》Q2AA13100H
《130》Q2AA13150H
《130》 Symbol Unit1.5 1.0 1.5 PR kW
2000 NR min-1
3000 3000 3500 Nmax min-1
7.2 5 7.5 TR N・m8 6 9 TS N・m
20.5 15 20.3 TP N・m8.6 7 8.7 IR Arms9.4 8.3 10.2 IS Arms
25.5 23.7 26.5 IP Arms0.94 0.803 0.981 KT N・m/Arms32.7 28.0 34.2 KEφ mV/min-1
0.34 0.276 0.266 Rφ Ω65 46 64 QR kW/s6 12 12 te ms
0.93 0.69 0.73 tm ms8 5.4 8.8 JM ×10-4kg・m2(GD2/4)
2000 P/R6.5 6.6 7.8 WE kg9.8 9 9 TB N・m
DC90V / DC24V ± 10% VB V0.20 / 0.75 0.25 / 0.86 IB A
0.4 0.5 0.5 JB ×10-4kg・m2(GD2/4)1.5 W kg
Operating Temperature: 0 to 40°C, Relative Humidity: 90% maximum, no condensation
RS1A15AA RS1A10AAQ2AA18350H
《180》Q2AA18450H
《180》Q2AA18550R
《180》Q2AA22250H
《220》 Symbol Unit3.5 4.5 5.5 2.5 PR kW
2000 1500 2000 NR min-1
3500 3000 2500 3500 Nmax min-1
16.7 21.5 35 12 TR N・m21.1 27.1 37.3 13.5 TS N・m55 70 88 30 TP N・m
22.6 24 32.2 19.6 IR Arms28 29 33.7 21.8 IS Arms83 81 83 55 IP Arms
0.840 1.04 1.24 0.685 KT N・m/Arms29.3 36.4 43.2 23.9 KEφ mV/min-1
0.048 0.044 0.039 0.0735 Rφ Ω73 84.0 180 44.7 QR kW/s15 18 21 12 te ms
0.77 0.67 0.53 1.5 tm ms38 55 69 32.2 JM ×10-4kg・m2(GD2/4)
2000 P/R17.7 21.7 31.7 15.5 WE kg32 32 54.9 32 TB N・m
DC90V / DC24V ± 10% VB V0.37 / 1.4 0.42 / 1.6 IB A
5.5 9.9 JB ×10-4kg・m2(GD2/4)5 5 6 5.9 W kg
Operating Temperature: 0 to 40°C, Relative Humidity: 90% maximum, no condensation
1000 0 2000 3000 4000 0
10
20
30
40
Speed [min-1]
Torq
ue [N・
m]
1000 0 2000 3000 4000 0
5
10
15
20
Speed [min-1]
Torq
ue [N・
m]
1000 0 2000 3000 4000 0
10
20
30
40
Speed [min-1]
Torq
ue [N・
m]
1000 0 2000 3000 4000 0
10
20
30
50
40
60
Speed [min-1]
Torq
ue [N・
m]
3000 0 4000 2000 1000 0
20
40
60
80
Speed [min-1]
Torq
ue [N・
m]
3000 0 4000 2000 1000 0
30
60
90
120
Speed [min-1]
Torq
ue [N・
m]
1000 0 2000 3000 4000 0
10
20
30
40
Speed [min-1]
Torq
ue [N・
m]
Standard Specifications
15
Amplifier Model RS1A30AA ーMotor Model and Flange Dimension in mm Q4AA1811KB
《180》Q4AA1815KB
《180》Q4AA2220KB
《220》Status Symbol UnitRated Output ★ PR kW 11 15 20Rated Speed ★ NR min-1 1500Maximum Speed ★ Nmax min-1 2000Rated Torque ★ TR N・m 70 95.5 127Continuous Torque at Stall ★ TS N・m 70 95.5 127Peak Torque at Stall ★ TP N・m 190 220 305Rated Armature Current ★ IR Arms 54 61 106Armature Current at Stall ★ IS Arms 53 59 102Peak Armature Current at Stall ★ IP Arms 155 155 262Torque Constant ☆ KT N・m/Arms 1.42 1.75 1.4Voltage Constant Per Phase ☆ KEφ mV/min-1 49.7 61.1 48.8Phase Resistance ☆ Rφ Ω 0.025 0.032 0.012Rated Power Rate ★ QR kW/s 780 1100 1600Electrical Time Constant ☆ te ms 31 32 46Mechanical Time Constant (Not including Encoder) ☆ tm ms 0.23 0.27 0.19Rotor Moment of Inertia (Not including Encoder) JM ×10-4kg・m2(GD2/4) 63 85 102Encoder: Wire-saving INC P/R 2000Mass including Encoder WE kg 60 75 104Brake Static Friction Torque TB N・m ーBrake Rated Voltage VB V ーBrake Rated Current IB A ーRotor Moment of Inertia (Brake) JB ×10-4kg・m2(GD2/4) ーBrake Mass W kg ーMotor Operating Temp, Rel. Humidity Operating Temperature: 0 to 40°C, Relative Humidity: 90% maximum, no condensationCooling Fan PF W 39/33 AC200V±10% Single phase 50/60HZ
Q2Servo Motor200V System
Capacity□180mm to □220mm
3.5kW to 15kW(19 models:1kW to 15kW)FeaturesHigh Efficiency and Low Ripple (Medium Inertia)
★:Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier.
☆:Indicates a typical value when the winding temperature is 20℃.
Q4Servo Motor200V System
Capacity□180mm to □220mm
11kW to 20kW(3 models:11kW to 20kW)FeaturesHigh Power Rate(Low Inertia)
★:Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier.
☆:Indicates a typical value when the winding temperature is 20℃.
Motor Dwgs P21 to P22
Motor Dwgs P20
1000 0 2000 3000 4000 0
50
100
150
200
250
Speed [min-1]
Torq
ue [N・
m]
1000 0 2000 3000 4000 0
100
50
150
200
250
300
Speed [min-1]
Torq
ue [N・
m]
Standard Specifications
Amplifier Model RS1A15AAMotor Model and Flange Dimension in mm Q2AA22350H
《220》Q2AA22450R
《220》Q2AA22550B
《220》Status Symbol UnitRated Output ★ PR kW 3.5 4.5 5.5Rated Speed ★ NR min-1 2000 1500Maximum Speed ★ Nmax min-1 3500 2500 2000Rated Torque ★ TR N・m 17 21.5 35Continuous Torque at Stall ★ TS N・m 22 32 42Peak Torque at Stall ★ TP N・m 50 70 90Rated Armature Current ★ IR Arms 23.3 23 30Armature Current at Stall ★ IS Arms 29.8 33 35.1Peak Armature Current at Stall ★ IP Arms 78 83 79.7Torque Constant ☆ KT N・m/Arms 0.814 1.06 1.32Voltage Constant Per Phase ☆ KEφ mV/min-1 28.4 37.1 46Phase Resistance ☆ Rφ Ω 0.0559 0.0497 0.0464Rated Power Rate ★ QR kW/s 61.1 68.5 128.5Electrical Time Constant ☆ te ms 15 19 24Mechanical Time Constant (Not including Encoder) ☆ tm ms 1.2 0.89 0.76Rotor Moment of Inertia (Not including Encoder) JM ×10-4kg・m2(GD2/4) 47.33 67.45 95.3Encoder: Wire-saving INC P/R 2000Mass including Encoder WE kg 18.5 22 34.8Brake Static Friction Torque TB N・m 32 32 90Brake Rated Voltage VB V DC90V / DC24V ± 10%Brake Rated Current IB A 0.42 / 1.6 0.36 / 1.3Rotor Moment of Inertia (Brake) JB ×10-4kg・m2(GD2/4) 9.9Brake Mass W kg 5.9Motor Operating Temp, Rel. Humidity Operating Temperature: 0 to 40°C, Relative Humidity: 90% maximum, no condensation
3000 0 4000 2000 1000 0
20
40
60
80
Speed [min-1]
Torq
ue [N・
m]
3000 0 4000 2000 1000 0
20
40
60
80
Speed [min-1]
Torq
ue [N・
m]
1000 0 2000 3000 4000 0
30
60
90
120
Speed [min-1]
Torq
ue [N・
m]
16
Stan
dard
Spec
ifica
tions
Mod
el Nu
mbe
rNo
men
caltu
reSy
stem
Conf
igur
atio
nFe
atur
es an
dFu
nctio
nsO
ptio
nal
Equi
pmen
tD
imen
sion
sEx
terna
l Wiri
ngD
iagr
am
Setu
p Sof
twar
e
Standard Specifications
Encoder Wiring Diagram
A or U channel inputA or U channel inputB or V channel inputB or V channel inputC or W channel inputC or W channel input
-
-
-
-
-
-
A or U channel outputA or U channel outputB or V channel outputB or V channel outputC or W channel outputC or W channel output+5V0V
-
-
-
-
-
-
CN23456789
1011121617181920
ADBEFGJN
+5V0V
Note 2)
Note 2)Note 2)
Note 1)Note 3)
Case ground(shield)
(With Cannon plug)
Incremental encoder
Plug : 10120-3000PEShell : 10320-52A0-008
H (Shield Wire)
Blue Brown Green Purple White Yellow Red Black
SERVO AMPLIFIER SERVO MOTOR
JA06A-20-29S-J1-RJA06A-20-29S-J1-EB-RJA08A-20-29S-J1-EB-RN/MS3106B20-29SN/MS3108B20-29S
Note 1) Use a twisted-pair shielded cable.
Encoder power connections depend on encoder cable length. See the following table:
Encoder cable length
+5V DC Wiring Connect pin 19(Do not connect pins 9, 12, 17)
Connect pin 20(Do not connect pins 10, 11, 16, 18)
Connect pin 17,19(Do not connect pins 9, 12)
Connect pin 18, 20(Do not connect pins10, 11, 16)
Connect pin 12, 17, 19(Do not connect pins 9) Connect pin 9,12,17,19
Connect pin 10,11,16,18,20Connect pin 11, 18, 20(Do not connect pins 10, 16)0V DC Wiring
20m MAX. 30m MAX.
Note 2)
Use a AWG24 0.2mm2 encoder cableNote 3)
5m MAX. 10m MAX.
ES+ES-
EBAT+EBAT-
ES+ES-EBAT+EBAT-
CN21314129
10111217181920
+5V 0V
Note 2)Note 2)
Note 1)Note 3)
(With Cannon plug)
Note 2)
+5V0V
J FG(shielded)
Absolute encoder
Plug : 10120-3000PEShell : 10320-52A0-008
EFTS
HG
BrownBluePinkPurple
RedBlack
SERVO AMPLIFIER SERVO MOTOR
JA06A-20-29S-J1-RJA06A-20-29S-J1-EB-RJA08A-20-29S-J1-EB-RN/MS3106B20-29SN/MS3108B20-29S
Note 4)
Note 1) Use a twisted-pair shielded cable.
Encoder power connections depend on encoder cable length. See the following table:
Note 2)
Use a AWG24 0.2mm2 encoder cableNote 3)
Encoder cable length
+5V DC Wiring Connect pin 19(Do not connect pins12,17)
Connect pin 20(Do not connect pins11,18)
Connect pin 17, 19(Do not connect pins 12)
Connect pin 18, 20(Do not connect pins 11)
Connect pin 12,17,19
Connect pin 11,16,18,200V DC Wiring
40m MAX.25m MAX.10m MAX.
Note 4) When the Absolute encoder for incremental system or absolute encoder without battery is used, battery lines (EBAT+, EBAT-) are not required.
Wire-saving Incremental EncoderCannon plug and lead-wire types
RS1A15AA RS1A30AA Q2AA22700S
《220》Q2AA18550H
《180》Q2AA18750L
《180》Q2AA2211KV
《220》Q2AA2215KV
《220》 Symbol Unit7 5.5 7.5 11 15 PR kW
1000 1500 NR min-1
1000 3000 2000 Nmax min-1
67 35 48 70 95.5 TR N・m70 37.3 54.9 80 95.5 TS N・m
150 107 139 176 215 TP N・m34 47 52 60 66 IR Arms34 47 57 66 66 IS Arms83 155 160 155 157 IP Arms
2.13 0.830 1.03 1.29 1.54 KT N・m/Arms74.5 29.0 36.0 45.1 53.6 KEφ mV/min-1
0.057 0.018 0.017 0.015 0.016 Rφ Ω243 170 240 260 360 QR kW/s30 17 20 33 33 te ms0.7 0.57 0.46 0.50 0.52 tm ms185 73 95 186 255 JM ×10-4kg・m2(GD2/4)
2000 P/R52.8 31 40 58 70 WE kg90 54.9 90 90 TB N・m
DC90V / DC24V ± 10% VB V0.44 / 1.7 0.37 / 1.4 0.44 / 1.7 IB A
24 5.5 24 JB ×10-4kg・m2(GD2/4)10.4 6 11 W kg
Operating Temperature: 0 to 40°C, Relative Humidity: 90% maximum, no condensation
0 2000 4000 0
50
100
150
1000 3000
Speed [min-1]
Torq
ue [N・
m]
0 2000 4000 0
50
100
150
1000 3000
Speed [min-1]
Torq
ue [N・
m]
0 1000 2000 3000 4000 0
100
50
150
200
Speed [min-1]
Torq
ue [N・
m]
0 1000 2000 3000 4000 0
100
50
150
250
200
Speed [min-1]
Torq
ue [N・
m]
0 500 1000 1500 2000 0
50
100
150
200
Speed [min-1]
Torq
ue [N・
m]
Battery backup method Absolute Encoder [ PA035C ] Absolute encoder for incremental System [ PA035S ]Absolute encoder without battery [ RA035C ]Cannon plug and lead-wire types
17
External Wiring Diagram
Amp,capacity50A
DL1
DL2 RB
1
RB2P RB4−
+
Note 2)Note 3)Note 4)
Amp,capacity100A,150A
W
V
U
CN2
RY1
90V(24V)
SH SH
3
4
5
6
7
8
9
10
11
12
30
31
49
39
40
41
42
43
44
45
46
24
25
SH
OUT-COM
OUT-COM
OUT8
OUT7
OUT6
OUT5
OUT4
OUT3
OUT2
OUT1
OUT-PWR
SG
SG
SG
ZOPSG
SG
SG SG
SG
SG
SG
SG
SG
SG
CN1
26
27
47
28
29
48
21
20
22
23
18 F-TLA
R-TLA
BTP-I
BTN-I
17
19
1
2
50
37
36
35
34
33
32
13 CONT7
CONT6
CONT5
CONT3
CONT2
CONT1
CONT-COM
CONT4
CONT8
CONT714
15
16
38
SG
SG
SG
R-PC
SG
SG
+5+5
+5+5
SG
SG
V-REF / T-REF
SG
T-COMP
SG
SG
MON1
PS
CN
B
DL1
DL2 RB
1RB
2P
MC
MCMC
T
t
r
S
R
ZO
BO
AO
AO
DC12V~24V
BO
ZO
PS
F-PC
F-PC
R-PC
CONT8
SGSG
SHSG SG
SG
+5+5
+5+5
MC
MCMC
OUT-PWR
ZOP 11
SG
SG
MON1
12
30
SG
SG 31
49
DC24V
OUT1 39
OUT2
OUT3
40
41
OUT4 42
OUT5 43
OUT6 44
OUT7
OUT8
45
46
SH
Amp,capacity300A
DL1
DL2 RB
1P RB2
−
+
Note 2)Note 3)Note 4) Te
rmin
alb
lock
Externalregenerativeresistor
Single-phase (200V)
50/60Hz200 to 230V
Single-phaseAC Powe
Note 10)
User Devices
Operation Prep. ON Operation Prep.
OFF
System ErrorEmergency
Stop
AC power
200 - 230V
50/60Hz
Note 10)
User Devices
Operation Prep.
System Error
EmergencyStop
ON Operation Prep. OFF
3-phase (200V)
3-phase
Note 11)
Built-inregenerativeresistor
Note 3)
Note 4)
SERVO AMPLIFIER
Note 2)
Encoder Connector
SERVO MOTOR
Black
White
Red
Green
Note 6)
Holding Brake(install with Brake only)
Orange(yellow)
Encoder
Orange(yellow)
Plug: 10120-3000PEShell: 10320-52A-008
Note 5)
Line Driver26C31
Note 7)
NPN Output PNP OutputM
on
ito
rO
utp
ut
Mo
nit
or
Ou
tpu
t
Note 8)Note 12)
Note 12)
Plug: 10150-3000PEShell: 10350-52A0-008
Line Receiver26C32
Note 12)
Line Driver
Note 8)
DC5V to 24V
DC 3.6V Lithium Battery
Normal
Reverse
Line Driver
NormalRotation
Pulse
Reverse Rotation
Pulse
Note 12)
Note 1: Signifies shielded twisted-pair cable.
Note 2: When using an external regeneration resistor, connect it between RB1 and 2. If RB1 and 2 are connected to the internal amplifier's resistor, or if a shorting bar is connected between RB1 and 4, first disconnect them.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: RS1□10 and RS1□15 are equipped with RB4 terminal. Note 14: The CNA, CNB, CNC of RS1
are terminal blocks.
Term
inal
blo
ck
Built-inregenerativeresistor
50A
: CNA
100
to 3
00A
: Ter
min
alb
lock
50A : CNC 100 to 300A : Terminalblock
Amp,capacity 50A
Amp,capacity 50A to 300A
Single-Axis Servo Amplifier
■ Main Power : 200V AC/Control Power : 200V AC
Note 1: Signifies shielded twisted-pair cable.
Note 2: AMP. capacity 50A When using an external regenerative resistor, connect it between RB1 and 2. If RB1 and 2are connected to the internal amplifier's resistor, or if a shorting bar is connected between RB1and 4, first disconnect them. AMP. capacity 100A,150A When using internal regenerative resistor, connect short-circuit bar between RB1 and RB4 terminals. When using external regenerative resistor, connect it between RB1 and RB2 terminalsafter removing short-circuit bar between RB1 and RB4 terminals. AMP. capacity 300A Connect external regenerative resistor between RB1 and RB2 terminals.
Note 3: Terminals DL1 and DL2 are dedicated for connectingDC reactors. If a harmonic suppression reactor is not in use, createa short circuit between DL1 and DL2 terminals with the attached shorting bar.
Note 4: The and P terminals (high-voltage circuit) are reservedfor maintenance. Do not wire these terminals.Note 5: Refer to the Instruction Manual for instructions on theshielding process.
Note 6: Motor connection specifics may vary depending on themotor specifications. Lead-type motor power and brake wires are shown as red, white, black, green, and orange. When usinga cannon plug, cannect it according to the motor specifications.
Note 7: For wiriting of the encoder connectors, refer to the encoderwiring 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 compliantearth leakage circuit braker is recommended.
Note 11: When wiring the single-phase power supply, do not wirethe S-phase to the amplifier.
Note 12: Always connect the SG (signal ground) between devices when using differential operation input signals.
18
Stan
dard
Spec
ifica
tions
Mod
el Nu
mbe
rNo
men
caltu
reSy
stem
Conf
igur
atio
nFe
atur
es an
dFu
nctio
nsO
ptio
nal
Equi
pmen
tD
imen
sion
sEx
terna
l Wiri
ngD
iagr
am
Setu
p Sof
twar
e
External Wiring Diagram
Single-Axis Servo Amplifier With CANopen
Main Power : 200V AC/Control Power : 200V AC・DC24V
SERVO AMPLIFIERMC
MC
CN1
MC
S
T
t
R
r
SERVO MOTOR
W
U
V
CN2
RY1
90V(24V)
RB
1PDL2
DL1-
+
BTP-I
BTN-I
1
2
-COM
CONT1DC5V to 24V
9
3
10 CONT2
4 CONT3
11 CONT4
5 CONT7
12 CONT8
OUT-COM
13OUT2
6OUT1
14OUT-PWR
7
RB
2
SH SH
SHSH
CN
B
CN3
CAN_L
CAN_H
GND
GND
Terminator
CAN_L
CAN_H
GND
GND
Terminator
SG
CN4
5
3
7
1
2
5
3
7
1
2
1/4W 120Ω
CAN
TRANCEIVER
8
CONT
SH
SH
MC
S
T
R
DC24V24V24G
CNB
12
MCMC
13
6
14
OUT1
OUT2
OUT-PWR
Contorol Power AC200V
Contorol Power DC24V50A : CNA
100 to 300A : Terminalblock
50A : CNC 100 to 300A : Terminalblock
50A : CNA 100 to 300A : Terminalblock
3-phaseAC power
50/60Hz
200 to 230V
3-phaseAC power
50/60Hz
200 to 230V
Operation Prep. ON Operation Prep.
OFF
Emergency StopSystem Error
User Devices
User Devices
Operation Prep. ON Operation Prep.
OFF
Emergency StopSystem Error
Note 10)
Note 10)
Note 11)
Note 11)
Note 2)Note 3)Note 4)
Regenerativeresistor
Note 6)
Note 7)
Encoder connector
Note 5) Plug : 10120-3000PEShell : 10320-52A0-008
Combination of
Encoder
White
Red
Green(Green/Yellow)
Black
Orange
(for the type withHolding brake
a brake only)
(Yellow)
(Yellow)Orange
NPN Output PNP OutputDC5V,DC12Vto 24V
Note 8)DC12VNote 8)
Note 5)
Note 5)
Shell : 10314-52A0-008Plug : 10114-3000PE
Combination of
Note 8 )
DC 3.6V Lithium Battery
Plug:TM21P-88P
Plug:TM21P-88P
Combination of
Combination of
Note 12)
Note 1) For the parts markde , use a twisted pair shielded cable.
Note 2) When using an external regenerative resistor, connect it between RB1 and 2. If RB1 and 2are connected to the internal amplifier's resistor, or if a shorting bar is connected between RB1and 4, first disconnect them.
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.
Note 4) The ○ー terminal and the P terminal are for maintenance (high-voltage circuit).
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.
Note 9) R,S,T,t,r,○ー,P,DL1,DL2,RB1,RB2,U,V,W are high-voltage circuits, 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 conformingto 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.
SERVO AMPLIFIERMC
MC
CN1
MC
S
T
t
R
r
SERVO MOTOR
W
U
V
CN2
RY1
90V(24V)
RB
1PDL2
DL1-
+
BTP-I
BTN-I
1
2
-COM
CONT1DC5V to 24V
9
3
10 CONT2
4 CONT3
11 CONT4
5 CONT7
12 CONT8
OUT-COM
13OUT2
6OUT1
14OUT-PWR
7
RB
2
SH SH
SHSH
CN
B
CN3
CAN_L
CAN_H
GND
GND
Terminator
CAN_L
CAN_H
GND
GND
Terminator
SG
CN4
5
3
7
1
2
5
3
7
1
2
1/4W 120Ω
CAN
TRANCEIVER
8
CONT
SH
SH
MC
S
T
R
DC24V24V24G
CNB
12
MCMC
13
6
14
OUT1
OUT2
OUT-PWR
Contorol Power AC200V
Contorol Power DC24V50A : CNA
100 to 300A : Terminalblock
50A : CNC 100 to 300A : Terminalblock
50A : CNA 100 to 300A : Terminalblock
3-phaseAC power
50/60Hz
200 to 230V
3-phaseAC power
50/60Hz
200 to 230V
Operation Prep. ON Operation Prep.
OFF
Emergency StopSystem Error
User Devices
User Devices
Operation Prep. ON Operation Prep.
OFF
Emergency StopSystem Error
Note 10)
Note 10)
Note 11)
Note 11)
Note 2)Note 3)Note 4)
Regenerativeresistor
Note 6)
Note 7)
Encoder connector
Note 5) Plug : 10120-3000PEShell : 10320-52A0-008
Combination of
Encoder
White
Red
Green(Green/Yellow)
Black
Orange
(for the type withHolding brake
a brake only)
(Yellow)
(Yellow)Orange
NPN Output PNP OutputDC5V,DC12Vto 24V
Note 8)DC12VNote 8)
Note 5)
Note 5)
Shell : 10314-52A0-008Plug : 10114-3000PE
Combination of
Note 8 )
DC 3.6V Lithium Battery
Plug:TM21P-88P
Plug:TM21P-88P
Combination of
Combination of
Note 12)
Note 1) For the parts markde , use a twisted pair shielded cable.
Note 2) When using an external regenerative resistor, connect it between RB1 and 2. If RB1 and 2are connected to the internal amplifier's resistor, or if a shorting bar is connected between RB1and 4, first disconnect them.
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.
Note 4) The ○ー terminal and the P terminal are for maintenance (high-voltage circuit).
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.
Note 9) R,S,T,t,r,○ー,P,DL1,DL2,RB1,RB2,U,V,W are high-voltage circuits, 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 conformingto 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.
19
Amp,capacity50A
DL1
DL2 RB
1
RB2P RB4−
+
Amp,capacity100A,150A
Amp,capacity300A
DL1
DL2 RB
1P RB2
−
+
RB
2
CN
B
DL1- P
DL2
RB
1
+
Note 2)Note 3)Note 4)
Note 2)Note 3)Note 4)Te
rmin
alb
lock
Term
inal
blo
ck
Externalregenerativeresistor
Externalregenerativeresistor
MC
MCMC
Single-phase (200V)
50/60Hz200 to 230V
Single-phaseAC Powe
Note 10)
User Devices
Operation Prep. ON Operation Prep.
OFF
System ErrorEmergency
Stop
3-phase (200V)
Amp,capacity 50A
User unit
3-phase AC power
Note 10)
System ErrorEmergency
Stop
Operation Prep. ON
Operation Prep. OFF
External power source for output (+24V)
NC ready (NCRDY)
In-position (INPS)
Positioning complete (PFIN)
While operation (MOVE)
External operation effective (EXT)
Homing complete (ZFIN)
Holding brake excitation timing output (HBON)
Error output (Err)
Power ON ready (A-RDY)
Slow down before Home (SDN)External power source for input (+24G)
Common for output external power (24G)
1 step feeding (+1step)
1 step feeding (-1step)
Interruption start (I_RUN)
MFIN (MFIN)
External data setting (E_STR)
Output selection 3 (SEL3)
Over travel (-0T)
Over travel (+0T)
Manual feeding (+JOG)
Manual feeding (-JOG)
Over ride (OVRID)/Manual high speed (RAP)
Homing start (ZRT)
External Error (EXT_E)
Alarm reset (ARST)
Servo ON (S-ON)
Cancel (CACL)
Output selection 1 (SEL1)
Output selection 2 (SEL2)
Start (RUN)
+
-
+
-
+
-
Po
int
spec
ific
atio
n
200 to 230V50/60Hz
Note 11)
Note 2)Note 3)Note 4)
SERVO AMPLIFIER
Regenerative resistor
Shell : 10320-52A0-008Plug : 10120-3000PE,
SERVO MOTOR
Orange
(for the type withHolding brake
a brake only)
(Yellow)
Orange(Yellow)
Note 6)
White
Red
Green(Green/Yellow)
Black
EncoderEncoder connector
Note 5)
Note 7)
Note 2)
Note 8)
Gen
eral
-pu
rpo
se o
utp
ut
Note 8)
MC
MC
T
RS
tr
W
V
U
CN2
SH SH
RY1
90V(24V)
12
7
3
4
6
5
8
9
10
11
14
12
13
15
16
24
17
18
26
25
19
27
20
21
22
23
28
29
30
31
33
32
34
35
36
39
37
38
40
41
46
42
43
45
44
47
48
49
50
OUT(1)
OUT(4)
OUT(3)
OUT(2)
OUT(5)
OUT(6)
OUT(7)
OUT(8)
IN(16)
IN(1)
IN(2)
IN(8)
IN(4)
IN(64)
IN(32)
IN(128)
CN1
MC
○
○
Plug :10150-3000PEShell :10350-52A0-008
Built-inregenerativeresistor
Note 1) For the parts marked , use a shielded cable.
Note 2) AMP. capacity 50A When using an external regenerative resistor, connect it between RB1 and 2. If RB1 and 2are connected to the internal amplifier's resistor, or if a shorting bar is connected between RB1and 4, first disconnect them. AMP. capacity 100A,150A When using internal regenerative resistor, connect short-circuit bar between RB1 and RB4 terminals. When using external regenerative resistor, connect it between RB1 and RB2 terminalsafter removing short-circuit bar between RB1 and RB4 terminals. AMP. capacity 300A Connect external regenerative resistor between RB1 and RB2 terminals.
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.
Note 4) The terminal and the P terminal are for maintenance
Note 5) Refer to the Instruction Manual for instructions on theshielding 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.
Note 9) 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 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.
50A : CNA 100 to 300A : Terminalblock
50A : CNC 100 to 300A : Terminalblock
External Wiring Diagram
Servo Amplifer built-in positioning function model
Main Power : 200V AC/Control Power : 200V AC
20
Stan
dard
Spec
ifica
tions
Mod
el Nu
mbe
rNo
men
caltu
reSy
stem
Conf
igur
atio
nFe
atur
es an
dFu
nctio
nsO
ptio
nal
Equi
pmen
tD
imen
sion
sEx
terna
l Wiri
ngD
iagr
am
Setu
p Sof
twar
e
N.P.
2-M8
2-M8
4-φLZ1
(50)(50) (KB1) (KB2) 7.5LL
N.P
.
C1 A
A
R1
M10X1.5
MS3102A10SL-4P
(□145)
2-LZ2
LH)(φ φLA
□LC
β M
αMγ
Q
φSLB
φ
M
QKQA
(IL1) (IL2)
LRLE (LG)
(IL2)(IL1)
(IE
)
(115
)(1
5)
(KL1
)(1
9)(K
L3)
(KL2
)
T
U
W
(for motor) (for fan motor) (for encoder)
Intake
Caution Nameplate
Weight Caution Nameplate Key Position Key Position
Arrow Nameplate(opposite)
Min. of 50mm space neededFor Eye Bolt
Motor Nameplate (Opposite side)
Section A-A
Depth LTS Type Oil seal
Eye Bolt
Exhaust
Exhaust
MS3102A32-17P (or Equivalent) MS3102A20-29P (or Equivalent)
φ114.3-0.035072
KB2LLMODEL
Q4AA1815K△□◇Q4AA1811K△□◇
Without brake Motor, Ground
Incremental
KL3 LHLEKL2 LAKL1LG LBMS3102A
Connector Note 1)
αUW T KB1Q QA QKSLRLZ2LC LZ1
10984
IL1IFIELTQEβ IL2γ497
32-17P 19 144 22 79 200 3 230 180 13.5 M8 79 75 3 67 0.03 0.08 0.10 M10 25 124 503378 342710 4
145155
90170587
42-0.0160
55-0.0190
12-0.0430
16-0.0430
□ 86mm
□ 180mm
Q2 Servo Motor Series: High Efficiency / Low Ripple (Medium Inertia)
Q4 Servo Motor Series: High Power Rate (Low Inertia / High Torque)
S Type Oil seal
55
(For Poewr, Brake and Ground)Teflon wire (for mounting)
0
(50)
(50)
(For Encoder)Shielded cable (for mounting)
M0.06
252
M
0.02
M0.07
Depth 12
M5 Tapping
30
3
35 166MAX.
8
φ7.5 φ4.7
1100±
100
1100±
100
(φ115)
4-φ6.6
φ100
□86
A
A
5
Section AA
5 -0.
030
2
φ80-
0.03
00
φ16-
0.01
10
Servo Motor Dimensions (Unit : mm)
Please inquire for the dimensions with the absolute encoder.
21
Servo Amplifier Dimensions (Unit : mm)
Q1 Servo Motor Series: High Power Rate (Low Inertia)
Incremental Connector Note 1
Without brake With brake Motor, Ground BrakeNote 2
(only when mounted)
MODEL LL KB2 LL KB2 KB3 MS3102A JL04V-2E LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2Q1AA10100 △□◇ 184
80
219
116 51 20-15P 10SL-3PE-B 10 78 19 63 115 0 95-0.035 3 130 100 9 -Q1AA10150 △□◇ 209 244Q1AA10200 △□◇ 234 269Q1AA10250 △□◇ 259 294Q1AA12100 △□◇ 168
72204
108 45 24-11P 10SL-3PE-B 12 93 21 67 135 0110-0.035 3 162 120 9 -Q1AA12200 △□◇ 205 241
Q1AA12300 △□◇ 242 278Q1AA13300 △□◇ 205
67254
117 - 24-11P12 98 21 80 145 0
110-0.035 4 165 130 9 M6Q1AA13400 △□◇ 232 281Q1AA13500 △□◇ 269 318Q1AA18450 △□◇ 288 67 338 16 123 21
80 200 0114.3-0.035 3 230 180 13.5 M8
Q1AA18750 △□◇ 384 72 434 122 54 32-17P 10SL-3PE-B 19 144 22
MODEL LR S Q QA QK W T U KB1 α β γ QE LT IE IF IL1 IL2Q1AA10100 △□◇
45 022-0.013 40 3 32 0
6-0.030 6 2.5
84
0.02 0.08 0.08 M6 20 - - - -Q1AA10150 △□◇ 109Q1AA10200 △□◇ 134Q1AA10250 △□◇ 159Q1AA12100 △□◇
45 022-0.013 40 3 32 0
6-0.030 6 2.576
0.02 0.08 0.08M6 20
- - - -Q1AA12200 △□◇ 113
Q1AA12300 △□◇ 55 028-0.013 50 3 42 0
8-0.036 7 3 150 M8 25
Q1AA13300 △□◇55 0
28-0.013 50 3 42 08-0.036 7 3
1170.02 0.08 0.08 M8 25 - - - -Q1AA13400 △□◇ 144
Q1AA13500 △□◇ 181
Q1AA18450 △□◇ 65 035-0.016 60 3 50 0
10-0.036 8 3 2000.02 0.08 0.08
M8 25 124 50 93 50
Q1AA18750 △□◇ 79 042-0.016 75 3 67 0
12-0.043 8 3 291 M10 25 124 50 85 145
MODEL Q2AA10100△□◇
Q2AA13150△□◇Q2AA13200△□◇Q2AA18200△□◇Q2AA18350△□◇Q2AA18450△□◇
Q2AA22250△□◇
Q2AA13100△□◇
Q2AA18550△□◇
Q2AA10150△□◇
Q2AA22450△□◇Q2AA22550△□◇Q2AA22700△□◇
Q2AA22350△□◇158
189252310
171102149207
718465
83
4050110
1020
227309368393452
196209
141
104
KB2 KB1 LL 196
152169
171186
203218282
226
115130189
8398
72 54
44
82
61 13173
6481
128 98
67
77
LL IL2 KB2 KB3
203550
253268332
226221
205188
231 261
117
107
103
113 51
24-11P 141
19
1621
MS3102A
24-11P
24-11P
20-15P
JL04V-2E
10SL-3PE-B
32-17P
10SL-3PE-B
32-17P
KL1 LG KL2
78
98
123
144
16
19
10
12
21
22
19
21
W
8-0.036
6-0.030
0
12-0.043
10-0.0360
6-0.030
0
10-0.036
16-0.043
LZ1
13.5
13.5
13.5200-0.04680 235 0 2704
162 22 200-0.04680 235 0 4
220
110-0.035
114.3-0.035
LB LA KL3
80
80
80
200
200
67
145
115
0
95-0.035
0
0 LH LE LC
130
165
230
230
3
3
4
3
180
180
100
130 9
9
55-0.019
35-0.016M10
13.5270 220 M10
79
65
0
0
75
603
3
67
50
22-0.013
35-0.016
22-0.013
S LR LZ2
M8
M8
65
79
M6
-
55
45
28-0.0130
0
0
0 QK QA Q
60
75
3
3
50
40
3
3
50
67 0
042
32
0
0
0.08
10
8 0.02
0.080.03
0.080.03
4
3
0.10
0.08
M10
Q2AA2211K△□◇Q2AA2215K△□◇
335394
241300
120180
19 016-0.04355-0.01979 0 75 67 10 4 0.10 M10
M825 142
0.08
0.08
0.08
0.08
β U T
2.5
2.5
8
8
7
6
6
0.02
0.02
3
3
3
α
0.02
0.02
IE QE LT
0.08
0.08
M8
M10
M8
0.08
0.08
γ
M6
M6
25
25
25
124
124
20
20
50
55
60
25 142 6960
IL1 IF
61
85
50
50114.3-0.0350
42-0.0160
Q2AA18750△□◇ 332 239 100382122
117
116 51
45108
KB2 KB3 LL KB2 LL MODEL
Q1AA12100△□◇ Q1AA12200△□◇
Q1AA13500△□◇ Q1AA13400△□◇ Q1AA13300△□◇
Q1AA10150△□◇ Q1AA10100△□◇
Q1AA10200△□◇ Q1AA10250△□◇
Q1AA18450△□◇
Q1AA12300△□◇
288 67 269 232 205
67
338 318 281 254
259 168 205 242
72
234 209 184
80
294 204 241 278
269 244 219
KL3 LH LE KL2 LA KL1 LG LB MS3102A JL04V-2E
21
19
21
21
24-11P
32-17P 10SL-3PE-B
20-15P
24-11P
24-11P
10SL-3PE-B
10SL-3PE-B
16
12
123
98
12
10
93
78
110-0.035
95-0.035
110-0.035
114.3-0.035 80
80
200
145
67
63
135
115
0
0
230 3
165 4
0
0
162 3
130 3 0.02
0.02
0.02
0.02
α U W T KB1 Q QA QK S LR LZ2 LC LZ1
55
65
45
45
55
13.5 180
130 9
M8
M6
120 9
100 9
-
-
28-0.013
28-0.013
35-0.016 0
0
60
50
22-0.013
22-0.013 0
0
0
40
50
40
8-0.036
50 3
42 3
10-0.036
8-0.036
0
0
32
42
3
3
32 3
6-0.030 0
0
6-0.030 0
3 8
7 3
200
117 144 181
6
7
2.5
3
6 2.5
159 76 113 150
134 109 84
IL1 IF IE LT QE β IL2
50
20
20
25
25
25
0.08
0.08 0.08
0.08
M8
M8
0.08
0.08 0.08
0.08
γ
M6
M8
M6
50 124 93 122 54 Q1AA18750△□◇ 384 72 434 22 19 144 79 42-0.016
0 75 67 3 12-0.043 0 3 8 291 145 25 M10 50 124 85
MS3102A20-29P(or Equivalent)2-LZ2
LH) ( φ φ L
A
□LC
4-φLZ1
M
β M
α
γ
MS3102A□□-□□□(or Equivalent) JL04V-2E10SL-3PE-B
Q
T
U
W
LB
φ S
φ
M
QA
H
QK H
(IL1) (IL2)
(KB1)
LR
LE (LG) (IL2)
(KB2) (KB3)
(KL1
) K
L2
( )
) ( 1
9 (K
L3)
LL
(IF)
(IE
)
2-M8
(IF) 2-M8
Brake Note 2)
(only when mounted)With brakeWithout brake Motor, Ground
Incremental Connector Note 1)
Brake Note 2)
(only when mounted)
Incremental
Without brake Motor, GroundWith brake
Connector Note 1)
(for motor, brake and ground) (For Brake)
(For Encoder)
Eye bolt
Section H-H
QE TapDepth LT
S Type Oil seal
Note 1) Waterproof specification IP67 requires that the connector to be attached ; for IP67 compliance, use a waterproof connector for the mating plug.Note 2) All brake connectors are JL04V-2E10SL-3PE-B for CE compliant DC24V brakes.Please inquire for the dimensions with the absolute encoder.
□ 100mm to □ 220mm Q1 Servo Motor Series: High Power Rate (Low Inertia)Q2 Servo Motor Series: High Efficiency / Low Ripple (Medium Inertia)
22
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Servo Amplifier Dimensions (Unit : mm)
Q2 Servo Motor Series: High Efficiency / Low Ripple (Medium Inertia)
Volt
age
MODELMaximum continuous
armature currentPower receptacle Maximum wire size of connector Receptacle per-
missable current Combined Amplifier Recommended motor power wire size
(U , V , W) *Note 1Shell Size Contact Size
MS Type JL04V TypeType Wire size of main power
supply( R , S , T )Arms mm2 mm2 Arms mm2 AWG No.
200V
Typ
e
Q1AA10100D 7.8
20-15P #12 3.5 3.5 20/1 本RS1A05 AWG12 3.5 #12
Q1AA10150D 8.2Q1AA10200D 18
RS1A10 AWG10 3.5 #12Q1AA10250D 17.2Q1AA12100D 7.5
24-11P #8 8 5.5 40/1 本RS1A05 AWG12 3.5 #12
Q1AA12200D 16.2RS1A10 AWG10 5.5 #10
Q1AA12300D 17.3Q1AA13300D 17.6
24-11P #8 8 5.5 40/1 本
RS1A10 AWG10 5.5 #10Q1AA13400D 26.4
RS1A15 AWG8 5.5 #10Q1AA13500D 27.5Q1AA18450M 24.8Q1AA18750H 60 32-17P #4 22 22 70/1 本 RS1A30 AWG6 14 #6Q2AA10100H 8.1
20-15P #12 3.5 3.5 20/1 本 RS1A05 AWG12 3.5 #12Q2AA10150H 9.4Q2AA13100H 8.3
24-11P #8 8 5.5 40/1 本
RS1A05 AWG12 3.5 #12Q2AA13200H 16.3
RS1A10 AWG10 5.5 #10Q2AA18200H 18Q2AA18350H 28
RS1A15 AWG8 5.5 #10Q2AA18450H 29Q2AA18550R 33.7
32-17P #4 22 22 70/1 本RS1A15 AWG8 8 #8
Q2AA18550H 47RS1A30 AWG6 14 #6
Q2AA18750L 57Q2AA22250H 21.8
24-11P #8 8 5.5 40/1 本RS1A10 AWG10 5.5 #10
Q2AA22350H 29.8RS1A15 AWG8 5.5 #10
Q2AA22450R 33Q2AA22550B 35.1
24-11P #8 8 5.5 40/1 本 RS1A15 AWG8 5.5 #10Q2AA22700S 34Q2AA2211KV 66
32-17P #4 22 22 70/1 本 RS1A30 AWG6 14 #6Q2AA2215KV 66Q4AA1811KB 53
32-17P #4 22 22 70/1 本 RS1A30 AWG6 14 #6Q4AA1815KB 59
Electric wire diameters
Incremental ConnectorNote 1
Without brake With brake Motor, Ground BrakeNote 2
(only whenmounted)
MODEL LL KB2 LL KB2 KB3 MS3102A JL04V-2E LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2Q2AA10100 △□◇ 196
77231
113 51 20-15P 10SL-3PE-B 10 78 19 67 115 095-0.035 3 130 100 9 -
Q2AA10150 △□◇ 226 261Q2AA13100 △□◇ 152
67
188103 -
24-11P 12 98 21 80 145 0110-0.035 4 165 130 9 M6Q2AA13150 △□◇ 169 205
Q2AA13200 △□◇ 186 226 107 -Q2AA18200 △□◇ 171 221
117 - 24-11P 16 123 21 80 200 0114.3-0.035 3 230 180 13.5 M8Q2AA18350 △□◇ 203 253
Q2AA18450 △□◇ 218 268Q2AA18550 △□◇ 282
72332
122 54 32-17P
10SL-3PE-B
19 144 22 80 200 0114.3-0.035 3 230 180 13.5 M8
Q2AA18750 △□◇ 332 382Q2AA22250 △□◇ 158
65196
104 4424-11P
16141 21 80 235 0
200-0.046 4 270 220 13.5 M10Q2AA22350 △□◇ 171 209Q2AA22450 △□◇ 189 227Q2AA22550 △□◇ 252
83309
141 82 19Q2AA22700 △□◇ 310 368Q2AA2211K △□◇ 335
73393
61 131 32-17P 19 162 22 80 235 0200-0.046 4 270 220 13.5 M10
Q2AA2215K △□◇ 394 452
MODEL LR S Q QA QK W T U KB1 α β γ QE LT IE IF IL1 IL2Q2AA10100 △□◇
45 0 22-0.013 40 3 32 0
6-0.030 6 2.598
0.02 0.08 0.08 M6 20 - - - -Q2AA10150 △□◇ 128Q2AA13100 △□◇
55
022-0.013
50 3 42
06-0.030 6 2.5
64
0.02 0.08 0.08M6 20
- - - -Q2AA13150 △□◇ 81
Q2AA13200 △□◇ 028-0.013
08-0.036 7 3 98 M8 25
Q2AA18200 △□◇65 0
35-0.016 60 3 50 010-0.036 8 3
830.02 0.08 0.08 M8 25
- - - -Q2AA18350 △□◇ 115
124 50 6120
Q2AA18450 △□◇ 130 35Q2AA18550 △□◇
79 042-0.016 75 3 67 0
12-0.043 8 3189
0.02 0.08 0.08 M10 25 124 50 8550
Q2AA18750 △□◇ 239 100Q2AA22250 △□◇
65 035-0.016 60
350 0
10-0.036 8 371
0.02 0.08 0.08 M825 142 60
5010
Q2AA22350 △□◇ 84 20Q2AA22450 △□◇ 102 40Q2AA22550 △□◇
79 055-0.019 75 67 0
16-0.043 10 4149
0.03 0.08 0.10 M10 5550
Q2AA22700 △□◇ 207 110Q2AA2211K △□◇
79 055-0.019 75 3 67 0
16-0.043 10 4241
0.03 0.08 0.10 M10 25 142 60 69120
Q2AA2215K △□◇ 300 180
*Note1:Use of heat-resistant vinyl wire (HIV) is recommended
Note 1) Waterproof specification IP67 requires that the connector to be attached ; for IP67 compliance, use a waterproof connector for the mating plug.Note 2) All brake connectors are JL04V-2E10SL-3PE-B for CE compliant DC24V brakes.Please inquire for the dimensions with the absolute encoder.
23
r
t
U
W
V
RB4
RB1
RB2
S
T
DL1
DL2
P
-
CHARGE
1
2NC
NC
POWER
CP
R
Wind directionFan
RAC SERVO SYSTEMS
▲
RS1A15A*
2355.5
(70)(24)
(27)
50100
1520
5
(6)
2
225
523
5
6
φ6
(75)
130
▲ ▲
trRB1 RB2
U
W
V
DL2
P
2NC
1NC
CHARGET
-
DL1
S
R
POWER
PC
2352
(70)5.5 (24)
(27)
250
235
10100
220
7100
205
30
AC SERVO SYSTEMS
RS1A30A*
7
R▲
▲ ▲
Wind directionFan
r
t
U
W
V
RB4
RB1
RB2
ST
DL1
DL2
P
-
CHARGE
1
2NC
NC
POWER
CP
RRAC SERVO SYSTEMS
??
?
RS1A10A*
2355.5
(70)(24)
(27)
50100
1520
5
(6)
2
225
523
5
6
φ6
(75)
Wind direction
Fan
135.5130
4(24)
(70)
(27)
90
168
5
160
5
580
Screw M45±0.5
RB1RB2
V
W
U
NC
C2
CN
N
RB1
RB2
P B
○
DL2
DL1
C
CN1
T
t
S
R
r
C
AN
CP
▲ ?
AC SERVO SYSTEMS
RS1A05A*R
▲
-
Wind direction
Fan
PC
135.5130
4(24)
(70)
(27)
90
168
5
160
5
580
Screw M4
r
U
WV
DL2
RB2RB1
P
-
DL1
CN2
N1C
RS1A05AL
POWER
SRt
T
ERR
RUN
CHARGE
AC SERVO SYSTEMS
CN
CN
CN
CN
CN
RB1RB2
5±0.5
R
Wind direction
Fan
5±0.5
PC
135.5130
4(24)
(70)
(27)
90
168
5
160
5
580
Screw M4
AC SERVO SYSTEMS
CN
W
UV 2
NC
-
CN
24V0V
PRB1RB2
CN
SR
T
C
1N
CN
CHARGE
RUN
ERR
POWER
CN
RS1J05ALR
Wind direction
Fan
RS1J05AL/RS1J05AC(50A)
RS1A15AA/RS1A15AC(150A) RS1A30AA/RS1A30AC(300A)
RS1A05AL/RS1A05AC(50A)
Single-Axis Servo Amplifier with CANopen
RS1A05AA/RS1A05AC(50A) RS1A10AA/RS1A10AC(100A)
Single-Axis Servo Amplifier (Analog/Pulse input type, Built-in positioning function model)
Servo Amplifier Dimensions (Unit : mm)
24
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Setup Software
(1) Setup Software Start-up Screen (2) Main Screen
(3) Parameter Configuration Screen
a. Configuration of General Parameters : Enables parameter loading, saving, etc., via PC connection
b. Configuration of Motor Parameters : Combined motors can be configured via PC connection
(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.
25
Setup Software
(5) Test Run and Adjustment Function
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
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
Point Data Setup Test Run
Built-in Positioning Function Type Screen
26
Stan
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General Specifications
PLC
Pass Point 1 Move to Point 2 Move to Point 3
ーOT Sensor Deceleration Signal Sensor +OT Sensor
Point 1 (P001) ON only
Coordinate
Motor Speed
P001:100.0 P002:150.0
ONOFF
ONOFF
ONOFF
ONOFF
0.0 100.0 200.0
P003:180.0
Point Input
(CN1-42)
Start-up Signal Input(CN1-27)
Running Output(CN1-7)
Positioning Completion Signal(CN1-8)
Starting Coordinates: Start-up Point 001 (P001) as 0.0
PositioningFunction
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
Input and Output
Sequence Input SignalsServo 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 SignalsNC ready, holding brake timing, error, external operation enabled, running, positioning completion,
in-position output, zero return completion, general output (8 bits)
Servo Amplifier built-in positioning model
Sample operations of the Servo Amplifer built-in Positioning Function model
By starting up Point 1, Points 2 and 3 will be executed consecutively.
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
Point Data Setup Enables configuration and saving of parameters, and the reading of point data from a PC.
27
Optional Equipment
A
218
AWG24White
Silicon Rubber Glass-braided Wire AWG14 2mm2 , White
Solderiess Terminal (for M5)2−M52・φ4.5
234 -1.2 8
250
3
Ground Mark
700±15
40
80
4.5
M3
60
+0.4
Thermostat
Model No. A Thermostat
1 REGIST-500W20B 350± 15 Normal close
2 REGIST-500W20 No
3 REGIST-500W10B 350± 15 Normal close
4 REGIST-500W10 No
5 REGIST-500W7B 350± 15 Normal close
6 REGIST-500W7 No
7 REGIST-500W14B 350± 15 Normal close
8 REGIST-500W14 No Mass : 1.4kg
PC Side
CN1Cable
Amp side
2850 - 10+ 50
1
9
Model No.:AL-00490833-01
A note regarding RS-232C communications:The user must provide s PC for computer interface.Parameter settings may require adijustment.
PC Interface Cable [unit: mm]
External Regenerative Resistor Dimensions [unit: mm]
150
172±0.4
182 300
270
φ4.3
6±1
6±1
+20 0
+20 0
42±
0.4
23.5
20
1.2
43-0
.3 0 Silicon Rubber Glass-braided Wire AWG20 0.5mm2 , White
Silicon Rubber Glass-braided Wire AWG18 0.75mm2 , Black
(Thermostat)
200
220±0.4230 300
270
φ4.3
6±16±1
60±
0.4
42.7
20
1.2
4.3 (Thermostat)
+20 0
+15 0
-0.3
0 Silicon Rubber Glass-braided Wire AWG20 0.5mm2 , White
Silicon Rubber Glass-braided Wire AWG18 0.75mm2 , Black
Model No. Thermostat
1 REGIST-120W100B Normal close
2 REGIST-120W50B Normal close
Model No. Thermostat
1 REGIST-220W20B Normal close
2 REGIST-220W50B Normal close
3 REGIST-220W100B Normal close
Mass : 0.24kg Mass : 0.44kg
Mounting Hardware [unit: mm]
198188
120
655
750
25
For mounting on the front side of the ampliferModel No.:AL-00582790-01Applicable Amplifiers:RS1*05***
Material:SPCC Model No.
Contents Mounting Bracket : 1Screws : 6
AL-00582790-01
50A Rear Side
2
62 506 5
5 188198
For mounting on the rear side of the ampliferModel No.:AL-00582792-01Applicable Amplifiers:RS1*05***Material:SPCC
Model No.
Contents Mounting Bracket : 1Screws : 2
AL-00582792-01
50A Front Side
Lead Wire BlackPin 2
50±5 (24.5)
φ14
.5
17M
AX
.
Lithium battery
Lead Wire RedPin 1
Connector
74.5±8 Model No. : AL-00494635-01
Lithium battery [Unit: mm]
Mass : 0.02kg
PC Side
CN1Cable
Amp side
2850 - 10+ 50
1
9
Model No.:AL-00490833-01
A note regarding RS-232C communications:The user must provide s PC for computer interface.Parameter settings may require adijustment.
Mass : 0.14kg
Lead Wire BlackPin 2
50±5 (24.5)
φ14
.5
17M
AX
.
Lithium battery
Lead Wire RedPin 1
Connector
74.5±8 Model No. : AL-00494635-01
2
62 506 5
5 188198
For mounting on the rear side of the ampliferModel No.:AL-00582792-01Applicable Amplifiers:RS1*05***Material:SPCC
28
Stan
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Usage Contents Model No. Manufacturer Manufacturer's Part No. Max. Amp. Capacity
Single Connectors
CN1(Plug, Housing) AL-00385594Sumitomo 3M
10150-3000PE+10350-52A0-008No Limit
CN2(Plug, Housing) AL-00385596 10120-3000PE+10320-52A0-008
CNA(Plug) AL-00329461-01
Phoenix Contact
MSTB2.5/5-STF-5.08
50ACNB(Plug):Accessory AL-Y0000988-01 IC2.5/6-STF-5.08
CNC(Plug) AL-00329458-01 IC2.5/3-STF-5.08
Connector Sets
CN1,CN2(Plug, Housing)CNA,CNC(Plug)
AL-00393603Sumitomo 3M
Phoenix Contact
10150-3000PE+10350-52A0-00810120-3000PE+10320-52A0-008MSTB2.5/5-STF-5.08IC2.5/3-STF-5.08
50A
CN1,CN2(Plug, Housing) AL-00292309 Sumitomo 3M10150-3000PE+10350-52A0-008 100A
150A300A10120-3000PE+10320-52A0-008
Contents Model No. Manufacturer Manufacturer's Part No. Max. Amp. Capacity
Single Connectors
CN1(Plug, Housing) AL-00608710Sumitomo 3M
10114-3000PE+10314-52A0-00850A
CN2(Plug, Housing) AL-00385596 10120-3000PE+10320-52A0-008
CNA(Plug) AL-00329461-01
Phoenix Contact
MSTB2.5/5-STF-5.08
50ACNB(Plug):Accessory AL-Y0000988-01 IC2.5/6-STF-5.08
CNC(Plug) AL-00329458-01 IC2.5/3-STF-5.08
Connector Sets
CN1,CN2(Plug, Housing)CNA,CNC(Plug)
AL-00661731Sumitomo 3M
Phoenix Contact
10114-3000PE+10314-52A0-008 10120-3000PE+10320-52A0-008 MSTB2.5/6-STF-5.08 IC2.5/3-STF-5.08
50A
CN1,CN2(Plug, Housing) AL-00661729 Sumitomo 3M10114-3000PE+10314-52A0-00810120-3000PE+10320-52A0-008
50A
Contents Model No. Manufacturer Manufacturer's Part No. Max. Amp. Capacity
Single Connectors
CN1(Plug, Housing) AL-00608710Sumitomo 3M
10114-3000PE+10314-52A0-00850A
CN2(Plug, Housing) AL-00385596 10120-3000PE+10320-52A0-008
CNA(Plug) AL-Y0000988-02
Phoenix Contact
IC2.5/7-STF-5.08
50ACNB(Plug) AL-00329460-01 MSTB2.5/2-STF-5.08
CNC(Plug) AL-00329458-01 IC2.5/3-STF-5.08
Connector Sets
CN1,CN2(Plug, Housing)CNA,CNB,CNC(Plug)
AL-00667184Sumitomo 3M
Phoenix Contact
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
50A
CN1,CN2(Plug, Housing) AL-00661729 Sumitomo 3M10114 - 3000PE+10314-52A0-00810120 - 3000PE+10320-52A0-008
50A
② Main Power : 200V AC, Control Power : 24V DC
Servo Amplifier Connections (AC200V Input Type)
Connectors for Servo Amplifier with CANopen① Main Power : 200V AC, Control Power : 1φ 200V AC
Optional Equipment
Servo Motor Encoder Connectors
Cooling Fan Connectors
Please see the catalogs and instruction manuals of the connector manufacturer's (Japan Aviation Electronics Industry Limited)for details, including the instructions for the connector and the precautions.
【 】 indicates the SANYO DENKI part numbers (Plug & Cable Clamp)
【 】 indicates the SANYO DENKI part numbers (Plug & Cable Clamp)
Motor Model No. Encoder receptacle
Encoder Plug Standard Specifications(Cable Clamp)
TÜV-Conforming Plug (Cable Clamp) for Encoder Waterproof Specification
Pin Layout Symbol
Reduced Wiring Incremental Encoder Absolute EncoderStraight Angle Straight Angle
All Q1, Q2, Q4 Models MS3102A20-29PMS3106B20-29S(MS3057-12A)
【MS06B20-29S-12】
MS3108B20-29S(MS3057-12A)
【MS08B20-29S-12】
JA06A20-29S-J1-EB(JL04-2022CK(14) )
JA08A20-29S-J1-EB(JL04-2022CK(14) )
Depends on the encoder hookup diagram shown in the motor dimensional drawing or
instruction manual
Motor Model No. Cooling fan receptacleStandard plug (Cable Clamp) for Cooling Fan Waterproof plug (Cable Clamp) for Cooling Fan Pin Layout Symbol
AC200V ± 10%Single phase 50/60HzStraight Angle Straight Angle
All Q4 Models MS3102A10SL-4PMS3106B10SL-4S
(MS3057-4A)【MS06B10SL-4S-4】
MS3108B10SL-4S(MS3057-4A)
【MS08B10SL-4S-4】
JA06A10SL-4S-J1(Conduit)
The conduit is supplied by customer A B
29
Optional Equipment
Motor Connectors
*Note 1: Both power and brake connectors are required for all motors equipped with TÜV compliant DC24V brakes. 【 】 indicates the SANYO DENKI part numbers (Plug & Cable Clamp)
Vo
ltag
e
Motor Model No. Motor power receptacleBrake receptacle
Standard specifications, TÜV specifications: DC90V
(*Note 1 TÜV: DC24V only)
Standard power plug (Cable Clamp)
TÜV-Standard Plug Waterproof Specification(Cable Clamp)
TÜV-Standard Plug for Brake Waterproof Specification(Cable Clamp)
Straight Angle Straight Angle Straight Angle
200V
Typ
e
Q1AA10100D
JL04V-2E20-15PE-B JL04V-2E-10SL-3PE-BMS3106B20-15S(MS3057-12A)
【MS06B20-15S-12】
MS3108B20-15S(MS3057-12A)
【MS08B20-15S-12】
JL04V-6A20-15SE-EB(JL04-2022CK)【332706X5】
JL04V-8A20-15SE-EB(JL04-2022CK)【332707X5】
JL04V-6A10SL-3SE-EB(JL04-1012CK )【332706X1】
JL04V-8A10SL-3SE-EB(JL04-1012CK )【332707X1】
Q1AA10150D
Q1AA10200D
Q1AA10250D
Q1AA12100D
JL04V-2E24-11PE-B JL04V-2E-10SL-3PE-BMS3106B24-11S(MS3057-16A)
【MS06B24-11S-16】
MS3108B24-11S(MS3057-16A)
【MS08B24-11S-16】
JL04V-6A24-11SE-EB(JL04-2428CK)【332706X10】
JL04V-8A24-11SE-EB(JL04-2428CK)【332707X10】
JL04V-6A10SL-3SE-EB(JL04-1012CK )【332706X1】
JL04V-8A10SL-3SE-EB(JL04-1012CK )【332707X1】
Q1AA12200D
Q1AA12300D
Q1AA13300D
JL04V-2E24-11PE-B* Note 1
(JL04V-2E-10SL-3PE-B)
MS3106B24-11S(MS3057-16A)
【MS06B24-11S-16】
MS3108B24-11S(MS3057-16A)
【MS08B24-11S-16】
JL04V-6A24-11SE-EB(JL04-2428CK)【332706X10】
JL04V-8A24-11SE-EB(JL04-2428CK)【332707X10】
* Note 1 * Note 1Q1AA13400D
Q1AA13500D
Q1AA18450M
Q1AA18750H JL04V-2E32-17PE-B JL04V-2E-10SL-3PE-BMS3106B32-17S(MS3057-20A)
【MS06B32-17S-20】
MS3108B32-17S(MS3057-20A)
【MS08B32-17S-20】
JL04V-6A32-17SE-EB(JL04-32CK)
【332706X11】
JL04V-6A10SL-3SE-EB(JL04-1012CK )【332706X1】
JL04V-8A10SL-3SE-EB(JL04-1012CK )【332707X1】
Q2AA10100HJL04V-2E20-15PE-B JL04V-2E-10SL-3PE-B
MS3106B20-15S(MS3057-12A)
【MS06B20-15S-12】
MS3108B20-15S(MS3057-12A)
【MS08B20-15S-12】
JL04V-6A20-15SE-EB(JL04-2022CK)【332706X5】
JL04V-8A20-15SE-EB(JL04-2022CK)【332707X5】
JL04V-6A10SL-3SE-EB(JL04-1012CK )【332706X1】
JL04V-8A10SL-3SE-EB(JL04-1012CK )【332707X1】Q2AA10150H
Q2AA13100H
JL04V-2E24-11PE-B* Note 1
(JL04V-2E-10SL-3PE-B)
MS3106B24-11S(MS3057-16A)
【MS06B24-11S-16】
MS3108B24-11S(MS3057-16A)
【MS08B24-11S-16】
JL04V-6A24-11SE-EB(JL04-2428CK)【332706X10】
JL04V-8A24-11SE-EB(JL04-2428CK)【332707X10】
* Note 1 * Note 1
Q2AA13200H
Q2AA18200H
Q2AA18350H
Q2AA18450H
Q2AA18550R
JL04V-2E32-17PE-B JL04V-2E-10SL-3PE-BMS3106B32-17S(MS3057-20A)
【MS06B32-17S-20】
MS3108B32-17S(MS3057-20A)
【MS08B32-17S-20】
JL04V-6A32-17SE-EB(JL04-32CK)
【332706X11】
JL04V-6A10SL-3SE-EB(JL04-1012CK )【332706X1】
JL04V-8A10SL-3SE-EB(JL04-1012CK )【332707X1】
Q2AA18550H
Q2AA18750L
Q2AA22250H
JL04V-2E24-11PE-B JL04V-2E-10SL-3PE-BMS3106B24-11S(MS3057-16A)
【MS06B24-11S-16】
MS3108B24-11S(MS3057-16A)
【MS08B24-11S-16】
JL04V-6A24-11SE-EB(JL04-2428CK)【332706X10】
JL04V-8A24-11SE-EB(JL04-2428CK)【332707X10】
JL04V-6A10SL-3SE-EB(JL04-1012CK )【332706X1】
JL04V-8A10SL-3SE-EB(JL04-1012CK )【332707X1】
Q2AA22350H
Q2AA22450R
Q2AA22550BJL04V-2E24-11PE-B JL04V-2E-10SL-3PE-B
MS3106B24-11S(MS3057-16A)
【MS06B24-11S-16】
MS3108B24-11S(MS3057-16A)
【MS08B24-11S-16】
JL04V-6A24-11SE-EB(JL04-2428CK)【332706X10】
JL04V-8A24-11SE-EB(JL04-2428CK)【332707X10】
JL04V-6A10SL-3SE-EB(JL04-1012CK )【332706X1】
JL04V-8A10SL-3SE-EB(JL04-1012CK )【332707X1】Q2AA22700S
Q2AA2211KVJL04V-2E32-17PE-B JL04V-2E-10SL-3PE-B
MS3106B32-17S(MS3057-20A)
【MS06B32-17S-20】
MS3108B32-17S(MS3057-20A)
【MS08B32-17S-20】
JL04V-6A32-17SE-EB(JL04-32CK)
【332706X11】
JL04V-6A10SL-3SE-EB(JL04-1012CK )【332706X1】
JL04V-8A10SL-3SE-EB(JL04-1012CK )【332707X1】Q2AA2215KV
Q4AA1811KBJL04V-2E32-17PE-B
MS3106B32-17S(MS3057-20A)
【MS06B32-17S-20】
MS3108B32-17S(MS3057-20A)
【MS08B32-17S-20】
JL04V-6A32-17SE-EB(JL04-32CK)
【332706X11】Q4AA1815KB
Vo
ltag
e
Motor Model No.Pin Layout Symbol
U phase V phase W phase Ground Brake
200V
Typ
e
Q1AA10100D
A B C D A , BQ1AA10150D
Q1AA10200D
Q1AA10250D
Q1AA12100D
D E F G , H A , BQ1AA12200D
Q1AA12300D
Q1AA13300D
D E F G , H A , BQ1AA13400D
Q1AA13500D
Q1AA18450M
Q1AA18750H A B C D A , B
Q2AA10100HA B C D A , B
Q2AA10150H
Q2AA13100H
D E F G , H A , B
Q2AA13200H
Q2AA18200H
Q2AA18350H
Q2AA18450H
Q2AA18550R
A B C D A , BQ2AA18550H
Q2AA18750L
Q2AA22250H
D E F G , H A , BQ2AA22350H
Q2AA22450R
Q2AA22550BD E F G , H A , B
Q2AA22700S
Q2AA2211KVA B C D A , B
Q2AA2215KV
Q4AA1811KBA B C D
Q4AA1815KB
30
Stan
dard
Spec
ifica
tions
Mod
el Nu
mbe
rNo
men
caltu
reSy
stem
Conf
igur
atio
nFe
atur
es an
dFu
nctio
nsO
ptio
nal
Equi
pmen
tD
imen
sion
sEx
terna
l Wiri
ngD
iagr
am
Setu
p Sof
twar
e
1 Name of target equipment Equipment name, category (transport, processing, test, other)
9 Encoder type
Encoder type specified ( yes / no )
Yes:(incremental , optical absolute , optical absolute with incremental function, resolver absolute)
Resolution( )
2 Name of servo axis Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no)
3 Current condition of above axis Manufacturer Name ( ) Series Name ( ) Motor Capacity ( ) Hydraulic, Mechanical, or New System ( )
4 Positioning accuracy ± mm・± μm
5 Operation pattern
Accelerationα:__G・___[m/s2]
Feeding SpeedV:____[m/s]
Feeding
Speed
[m/sec]
【Reference formula】【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]
(Stroke)
6 MechanismBall-screw/screw-rotation type (horizontal), ball-screw/nut-rotation type (horizontal),
rack and pinion (horizontal), belt/chain (horizontal), rotary table, roll feed, instability
7 Mechanical structure
WT(table mass) kg WL(work mass) kg WA(mass of other drive parts) kg
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
Dr1(drive-side roll diameter) mm Dr2(follower-side roll diameter) mm
Lr1(drive-side roll length) mm Lr2(follower-side roll length) mm G(reduction ratio)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 Pb(ball -screw lead) mm
Dp(pinion/pulley diameter) mm Lp(pinion axial length) mm tp(pully thickness) mm
Dt(table diameter) mm Dh(table-support dianeter) mm LW(load shift from axis) mm
Ds(table shaft diameter) mm Ls(table shaft length) mm
ρ(specific gravity of ball-screw/pinion/pulley/table-shaft material) kg・cm3
μ(friction coefficient between sheet and shiliding-surface/support-section/roll) ρ1(specific gravity of roll-1 material) kg/cm3
ρ2(specific gravity of roll-2 material) kg/cm3 κ(internal friction coefficient of preload nut)η(mechanical efficiency) JL(load inertia of motor-axis conversion) kg・m2
TF(friction torque of motor axis conversion) N・m Tu(imbalance torque of motor axis conversion) N・m
0 Input format Position , velocity , torque , other ( )
A Host equipment (controller) Sequencer , laptop , customer-developed product , Sanyo dennki-provided , other ( )
C Estimated production Single product: ( ) units/mouth ( ) units/year
D 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 )E
FMiscellaneous
(questions, pending problems,
unresolved issues, etc.)
B Usage environment and other requirements Cutting , clean-room use , anti-dust measures , other ( )
8 Speed reducer Customer-provided ( / )・Sanyo denki standard(planet/spur/no-backlash-planet / ) other( / )
Item Contents
Time
Inquiry Check Sheet 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.
Company:
Department:
Name:
Tel: FAX:
E-mail:
*For any question or inquiry regarding the above, contact our Sales Department.
Cautions
■ Precautions For Adoption
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.
■ ECO PRODUCTS
ECO PRODUCTS are designed with the goalof lessening nevironmental impact, fromproduct development to disposal.
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.
http://www.sanyodenki.co.jp
Phone: +81 3 3917 5157
Phone: +49 6196 76113 0
Phone: +82 2 773 5623
Phone: +86 21 6235 1107
Phone: +1 310 783 5400
Phone: +33 1 48 63 26 61
Phone: +886 2 2511 3938
Phone: +852 2312 6250
Phone: +65 6223 1071
468 Amapola Avenue Torrance, CA 90501 U.S.A.
1-15-1, Kita-Otsuka, Toshima-ku, Tokyo 170-8451, Japan
P.A. Paris Nord II 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France
Frankfurter Strasse 63-69 65760 Eschborn Germany
10 Hoe Chiang Road #14-03A/04 Keppel Towers Singapore 089315
Room 2116, Bldg B, FAR EAST INTERNATIONAL PLAZA, No.317 XianXia Rd., Shanghai 200051 China
Room 1208,12F, No.96 Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C.
Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong
9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea
CATALOG NO. 841-8 ’08.11.N