AC SERVO SYSTEMS R Ver. 3 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 A RT A ST d en sc Flat *available for single-axis only 1 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 Settling time (0ms) Position complete signal -30 -40 1 5 10 50 100 500 1000 1800 Frequency (Hz) 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 Disturbance observer function OFF Oscillation waveform of direct drive section Disturbance Without vibration suppression control 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 deviation0 is achieved. Position command Torque (Nm) 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 Low Cogging Torque 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%. Model Number Nomencalture Features and Functions Reduced Running Costs 100% One Rotation R motor 5.1x10-3Nm 1.6% (Comparison of Rated Torque) System Configuration 80% 70% 60% 50% Standard Specifications 2.56x10-3Nm 0.8% (Comparison of Rated Torque) Power loss reduction (%) 90% Comparison of cogging torque waveforms 40-0.1kW 40% 30% 20% 10% Current model External Wiring Diagram 0% One Rotation Current model SANMOTION R 15A (*Image) Dimensions High Resolution u 1 13 1 , 0 72 divisions) Abso l ute En co de Setup Software n tio t i 7b r Hig h Optional Equipment Re so l 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 00Standard 01With oil seal R Series Holding Brake XWithout Brake BWith Brake90V DC CWith Brake24V DC Motor Type Middle inertia Standard Identification M CE and UL 0 Without standard but with gear Maximum Rotation Speed Supply Voltage 6000min-1 200V Motor Gear type Gear ratio 1/3 Flange Size Rated Output 04 40mm 06 60mm 08 80mm 003 30W 005 50W 010 100W Encoder Type 020 200W 040 400W 075 750W PBattery backup method absolute encoderPA035C HAbsolute encoder for incremental SystemPA035S Encoder Specification Model Per rotation PA035C 131072(17bit) 65536(16bit) Battery backup method Absolute encoder PA035S 131072(17bit) Absolute Encoder for Incremental system Multiple Rotations Remarks Servo Amplifier Model Number Nomenclature Single-Axis Servo Amplifier Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage and 15A amplifier capacity. RS1 A 01 A A R Series Single-Axis Servo Amplifier Power Input and Internal Regeneration Setting 200V With Internal Regeneration Resistor L 15A,30AOption Setting Without Internal Regeneration Resistor A 15A,30A 5 Motor Type Rotary Motor Amp. capacity Control Hardware Type 01 15A 03 30A A Battery backup method absolute encoder T Full Closed-Loop Servo Amplifier Model Number Nomenclature Features and Functions Servo Amplifier With CANopen System Configuration L AMP. Capacity Motor Type 01 15A 03 30A Rotary Motor Power Input, Input Voltage Interface Type AMain Power : 200V AC, Control Power : 1200V AC J Main Power : 200V AC, Control Power : 24V DC L Interface SpecificationCAN open I/F Encoder SpecificationWire-saving incremental encoder, Battery backup method absolute encoder Note: Built - In Regenerative Circuit (External Regenerative Resistor) Built - In DB Circuit Multi-Axis Servo Amplifier Example: The model number shown below is a 4-axis "R" series multiaxis servo amplifier configuration with 200V AC input voltage, 2 units of 15A amplifiers, 2 units of 30A amplifiers, and pulse train interface. RR1A01AAB00 x 2 units RR1A03AAB00 x 2 units RRPAA00 x 1 unit RRMA600 x 1 unit Power Unit Motherboard Setup Software Amplifier Unit Amplifier Unit 01 A R Series Multi-Axis Servo System Amplifier Unit A Amp. capacity 01 15A 03 30A A 00 B Optional Equipment RR1 Control Hardware Type Specification Pulse train interface Standard Power Input Motor Type Encoder Combination Description 200V AC Rotary Motor Battery backup method absolute encoder Power Unit RRP A R Series Multi-Axis Servo System Power Unit A 00 Power Input Control Hardware Type Specification 200V AC Pulse train interface Standard Motherboard RRM A R Series Multi-Axis Servo System Motherboard 6 Standard Specifications R Series A External Wiring Diagram 01 A Dimensions RS1 Model Number Nomencalture 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. 00 Power Input Number of Slots (based on a 15A unit) Specification 200V AC 4 4 Slots 6 6 Slots 8 8 Slots Standard 6 System Configuration Single-Axis Amplifier Noise Filter Electromagnetic Contactor 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. AL-00490833-01 PC Circuit BreakerMCCB DC Reactor Cuts off power in the case of an overload, to protect the power line. 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. Host Devices TSR External Regenerative Resistor 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 Connectors for Single-Axis Amplifier Connections Contents Single Connectors CN1Plug, Housing AL - 00385594 CN2Plug, Housing AL - 00385596 CNAPlug AL - 00329461-01 CNBPlug: Accessory AL - Y0000988-01 CNCPlug AL - 00329458-01 CN1,CN2Plug, Housing Connector Sets CNA,CNCPlug CN1,CN2Plug, Housing 7 Model No. AL - 00393603 AL - 00292309 Dedicated controller (SANMOTION C* etc.), PC and PLC are available as the host device. *Communication Profile: DS-301 Device Profile: DSP-402 compliance Noise Filter Lithium battery Circuit BreakerMCCB Features and Functions Multi-Axis Amplifier Host Devices T S R Setup Software Parameter configuration and monitoring is possible via communication with a PC. Cuts off power in the case of an overload, to protect the power line. PLC PLC and controllers are available as the host device. System Configuration Protects the power line from external noise, and from noise generated by the servo amplifier. Model Number Nomencalture When using the unit with an absolute system, connect the optional battery to CN5. External Wiring Diagram Standard Specifications Electromagnetic Contactor Switches servo power on and off. Installation of a surge protector is required. Create the protective circuit. Setup Software Dimensions DC Reactor Optional Equipment Suppresses power harmonics. Remove the short bar between DL1-DL2 and connect this here, when needed for high frequency waves. External Regenerative Resistor Use as required, such as for heavy inertial load operations. 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. Connectors for Multi-Axis Amplifier Connections Contents CN1Plug, Housing Required for use when the servo motor is equipped with a brake. Amplifier CN2Plug, Housing Unit CN6Plug, Housing Single Connectors Power Unit Connector Sets Amplifier Unit Power Unit Model No. AL - Y0003305-01 AL - 00632607 AL - 00632607 CNCPlug AL - 00632604 CNAPlug AL - 00632600 CNBPlugAccessory AL - 00632602 CN1APlug, Housing AL - 00385594 CN1BPlug, Housing AL - 00385594 CN1,CN2Plug, Housing CN6,CNCPlug AL - 00632611 CNAPlug AL - 00632609 CN1A,CN1BPlug, Housing 8 Standard Specifications Motor Model and Flange Size in mm Status Symbol Servo Motor 200V System Capacity 40 mm to 80 mm 30W to 750W 9 models Features High Efficiency and Low Ripple (Medium Inertia) R2AA04005F R2AA04010F 40 40 40 30 50 100 Rated Output PR W Rated Speed NR min -1 Maximum Speed N max min -1 Rated Torque TR Nm 0.098 0.159 0.318 Continuous Torque at Stall TS Nm 0.108 0.167 0.318 Peak Torque at Stall TP Nm 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 NmArms 0.201 0.246 0.424 Voltage Constant Per Phase K E mVmin -1 7 8.6 14.8 Phase Resistance R 12 9 9.3 Rated Power Rate QR kWs 3.9 6.7 16 Electrical Time Constant te ms 0.55 0.67 0.82 Mechanical Time Constant (Not including Encoder) tm ms 2.2 1.7 0.97 Rotor Moment of Inertia (Not including Encoder) JM 2 2 x10 -4 kgmGD 4 0.0247 0.0376 0.0627 Rotor Moment of Inertia (Encoder) JS 2 2 x10 -4 kgmGD 4 Mass including Encoder WE kg Brake Static Friction Torque TB Nm 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 x10 -4 kgmGD 4 0.0078 Brake Mass W kg 3000 6000 0.0033 0.23 0.27 0.23 Motor Operating Temp, Rel. Humidity Operating Temperature: 0 to 40C, Relative Humidity: 90% Maximum, no condensation RS1A01AA Amplifier ModelSingle-Axis Amplifier ModelCANopen RS1A01AL Amplifier Model Multi-Axis RR1A01AA AC200V to 230V 10, -15% 50/60Hz 3Hz Amplifier Power Supply Amp. Operating Temp. and RH Operating Temperature: 0 to 55C (Note), Relative Humidity: 90% Maximum, no condensation Power Consumption 0.2 kVA Amplifier MassWeight [Single / CAN / Multi] * For models with oil seal or brake, reduction in rated value may become necessary. :Indicates a typical 0.8 0.4 1 0.2 0.1 value when the winding temperature is 20. 1.5 0.6 0.3 Torque [Nm] after warm-up and thermal stabilization, together with a standard amplifier. 0.5 Torque [Nm] :Indicates a typical value 0.4 0.9 1.0 0.48 kg Note) 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. Motor Dwgs P15 0.39 Torque [Nm] R2 R2AA04003F Unit 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 Amplifier SERVO AMPLIFIER CN2 ES ES- EBAT Note4 EBAT- 5V 0V SERVO MOTOR 13 14 1 2 9 10 11 12 17 18 19 20 Use a twisted-pair shielded cable. Note 2) Encoder power connections depend on encoder cable length. See the following EBAT- Encoder cable length +5V DC Wiring 10m MAX. Connect pin 19 25m MAX. Connect pin 17,19 (Do not connect pins12,17) (Do not connect pins12) 0V DC Wiring Connect pin 20 Connect pin 18,20 (Do not connect pins11,18) (Do not connect pins11) Encoder 40m MAX. Connect pin 12,17,19 Connect pin 11,18,20 Note 3) Use a 0.2mm2 encoder cable Red 5V Black 0V FGShielded 9 Note 1) Brown ES Blue ES- Pink EBAT Purple Note1 Note2 Note3 Plug10120-3000VE Shell10320-52A0-008 Battery backup type absolute encoder [ PA035C ] Absolute encoder for incremental systemPA035S Note 4) When the Absolute encoder for incremental system is used, battery lines (EBAT+, EBAT-) are not required. 100 200 400 200 400 750 3000 Unit W min -1 6000 min -1 0.318 0.637 1.273 0.637 1.27 2.39 Nm 0.353 0.686 1.372 0.686 1.37 2.55 Nm 1.13 2.2 4.8 2.2 4.4 8.5 Nm 0.86 1.5 2.8 1.4 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 NmArms 13.1 16.6 18.3 18.0 19.5 19.5 mVmin -1 4.8 2.7 1.36 2.3 0.93 0.4 8.6 19 39 8 16 31 kWs 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 x10 -4 kgmGD 4 0.59 0.84 1.3 1.2 1.6 2.6 0.0033 0.36 MIN. 1.37 MIN. 0.07 0.27 0.060 2 2 x10 -4 kgmGD 4 kg 2.55 MIN. Nm 0.11 0.32 0.12 0.37 A 0.060 0.25 2 2 x10 -4 kgmGD 4 0.35 0.85 kg DC90V DC24V 10 0.30 V Operating Temperature: 0 to 40C, Relative Humidity: 90% Maximum, no condensation RS1A01AA RS1A03AA RS1A01AA RS1A01AL RS1A03AL RS1A01AL RS1A03AL RR1A01AA RR1A03AA RR1A01AA RR1A03AA RS1A03AA AC200V to 230V 10, -15% 50/60Hz 3Hz Operating Temperature: 0 to 55CNote, Relative Humidity: 90% Maximum, no condensation 1.5 3 1 2 1.0 0.8 1.0 1.11 0.77 0.9 1.0 0.48 1.0 3 6 2 3 2 6 10 5 8 kVA kg 4 Torque [Nm] 1 Torque [Nm] 0.5 Torque [Nm] Torque [Nm] Torque [Nm] 5 4 1.7 1.0 1.11 0.77 Optional Equipment 0.8 0.9 1.0 0.48 1 1 Torque [Nm] 0.4 3 2 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 Amplifier SERVO AMPLIFIER +5V 0V +5V 0V N.C. N.C. ES+ ESEBAT+ EBAT- SERVO MOTOR Red Black 1 2 3 4 5 6 7 8 ESPink EBAT+ Purple EBAT- 9 10 Note 2) Note 1) 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. Encoder Brown ES+ Blue Battery backup type absolute encoder [ PA035C ] Note 1) +5 0V Features and Functions 80 Model Number Nomencalture R2AA08075F 80 System Configuration R2AA08040F 80 Standard Specifications R2AA08020F 60 External Wiring Diagram R2AA06040F 60 Dimensions R2AA06020F 60 Setup Software R2AA06010F 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 5V5%. 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. Note 3) Plug:36320-0100JL Shell:36310-3200-008 10 General Specifications CANopen Interface specifications Fieldbus specifications Bus Connection, Medium Fieldbus Communication Profile Device Profile Bit Rate Max. nodes per segment Connector Transceiver Max. Bus Length Communication Objects PDO Transfer Modes Mode of Operation 11 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) External Wiring Diagram Note 3) Features and Functions Single-Axis Amplifier Note 2) Note 11) 5060Hz Note 10) Internal Regeneration Resistor SERVO MOTOR CNC Operation Prep. Operation Prep. ON OFF MC Note 6) Black Orange (yellow) V White Orange (yellow) U Red W MC Emergency Model Number Nomencalture T S R t r RY1 90V 24V Holding Brake (install with Brake only) System Configuration DL1 DL2 P RB1 Note 4) CNA MC RB2 User Devices Green SERVO AMPLIFIER Stop System Error Encoder Connector CN2 +5 +5 Reverse Rotation Pulse SG F-PC 27 47 F-PC 28 R-PC SG 29 48 R-PC +5 +5 SG SG 20 Line Driver 26LS31 SG SG Note 12) 21 Note 5) SH Plug: 10120-3000PE Shell: 10320-52A-008 Standard Specifications SG SH Line Receiver 26LS32 26 SG T-REF / V-REF AO 3 AO 4 BO 5 BO 6 ZO 7 ZO 8 External Wiring Diagram CN1 Line Driver 26LS31 Normal Rotation Pulse Encoder SG PS 9 PS 10 ZOP 11 SG 12 22 T-COMP 23 SG SG SG Normal Reverse 18 F-TLA 17 SG 19 R-TLA SG SG Single-phase (200V AC) SG MON1 30 SG 31 OUT-PWR 49 OUT1 39 SG SG SG DC 3.6V Lithium Battery 1 BTP-I 2 BTN-I User Devices MC Single-phase AC Power 200 to 230V 50 / 60Hz DC12V Note 8) to 24V Setup Software SG Dimensions SG Monitor Output Note 10) Operation Prep. Operation Prep. ON OFF MC MC Note 8) DC5V to 24V 50 CONT-COM 37 CONT1 36 CONT2 35 CONT3 34 CONT4 Emergency Stop System Error OUT2 40 OUT3 41 OUT4 42 Note 1: Optional Equipment 3-phase AC power 200 to 230V CNB 3-phase(200V AC) Signifies shielded twisted-pair cable. Note 2: 33 CONT5 32 CONT6 +5 +5 Line Driver 13 CONT7 14 CONT7 OUT5 43 OUT6 44 OUT7 45 OUT8 46 OUT-COM 24 OUT-COM 25 Line Receiver 26LS32 +5 +5 SG SH 15 CONT8 16 38 CONT8 SG SG SG SG Note 12) Plug: 10150-3000PE Shell: 10350-52A0-008 SH 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. 12 External Wiring Diagram Single-Axis Amplifier With CANopen Main Power : 200V ACControl Power : 200V AC CNB Regenerative resistor - CNA MC Power supply 3 200 to 230V 50/60Hz T S R t r Note 11) Note 10) Start ready ON MC MC DL1 DL2 P RB1 RB2 Note 2) Note 3) Note 4) User unit + Start ready OFF SERVO AMPLIFIER System error SERVO MOTOR CNC Emergency stop CN3 CAN_H Note 12) W 1 2 5 3 7 CAN_L Terminator GND GND CAN TRANCEIVER Terminator GND GND Orange (Yellow) U Encoder connector Encoder 1/4W 12Q Note 5) Note 1) For the parts markde SH SH 1 2 5 3 7 Combination of Plug : 10120-3000PE, Shell : 10320-52A0-008 SG CN1 1 BTP-I 2 BTN-I OUT-PWR 14 OUT1 6 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 8) DC5V, DC12V to 24V 8 Note 8) 9 DC5V to 24V General-purpose output CONT -COM OUT2 , use a twisted pair 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. SH Battery input 90V (24V) Holding brake (for the type with a brake only) Green (Green/Yellow) Combination of Plug:TM21P-88P Lithium battery DC3.6V RY1 Red CN2 Note 7) CAN_L Orange (Yellow) White V SH Combination of Plug:TM21P-88P CN4 CAN_H Note 6) Black Note 4) The terminal and the P terminal are for maintenance (high-voltage circuit). Note 5) Refer to the Instruction Manual for instructions on the shielding process. 13 3 CONT1 10 CONT2 4 CONT3 Note 7) Refer to the encoder connection diagram regarding the encoder connector wiring. 11 CONT4 Note 8) Power should be supplied by the user. Either of the inputs can be selected. 5 CONT7 ,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. 12 CONT8 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. 7 OUT-COM SH Note 5) General-purpose input Note 10) It is recommended to use a ground fault interrupter conforming to the UL, IEC and EN standards. SH Note 11) Do not wire the S phase for a single-phase power amplifier. Combination of Plug : 10114-3000PE Shell : 10314-52A0-008 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. Main Power : 200V ACControl Power : 24V DC CNA Regenerative resistor - CNA MC Power supply 3 200 to 230V 50/60Hz T S R Note 10) Note 9) Start ready ON MC P RB1 RB2 Note 2) Note 3) User unit + Start ready OFF MC System error Emergency stop CNB DC24V 24V 24G 1 2 SERVO AMPLIFIER CN3 CAN_H CAN_L Terminator GND GND SERVO MOTOR CNC Note 11) Note 5) 1 2 5 3 7 CAN TRANCEIVER W V Orange (Yellow) White Orange (Yellow) Red U SH 1/4W 120Q RY1 90V (24V) Holding brake (for the type with a brake only) Green (Green/Yellow) Combination of Plug:TM21P-88P CAN_H Black Encoder connector CN2 Note 6) Encoder CN4 1 2 5 3 7 CAN_L Terminator GND GND SH SH SH Note 4) Combination of Plug : 10120-3000PE, Shell : 10320-52A0-008 SG Combination of Plug:TM21P-88P CN1 Lithium battery DC3.6V Battery input 1 BTP-I 2 BTN-I OUT-PWR 14 OUT1 6 Note 7) DC5V, DC12V to 24V Note 1) For the parts markde , use a twisted pair 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. terminal and the P terminal are for maintenance Note 3)The (high-voltage circuit). Note 4) Refer to the Instruction Manual for instructions on the shielding process. 8 Note 7) 9 DC5V to 24V General-purpose output CONT -COM 3 CONT1 10 CONT2 OUT2 13 Note 5)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. 7 OUT-COM SH Note 4) 4 CONT3 11 CONT4 5 CONT7 12 CONT8 General-purpose input Note 7) Power should be supplied by the user. Either of the inputs can be selected. ,P,RB1,RB2,U,V,W are high-voltage circuits, Note 8) R,S,T, all other lines are low-voltage. Ensure sufficient distance between the high- and low-voltage circuits. Note 9) It is recommended to use a ground fault interrupter conforming to the UL, IEC and EN standards. Note 10) Do not wire the S phase for a single-phase power amplifier. SH Combination of Plug : 10114-3000PE Shell : 10314-52A0-008 13 Note 6) Refer to the encoder connection diagram regarding the encoder connector wiring. Note 11) Insert RJ45 connector to which 1pin(CAN_H) and 5pin(Terminator) are short-circuited in CN3 or CN4 when the terminator is necessary. CNA User Devices Note 11) Emergency System Error Stop MC Note 10) Operation Prep. ON Operation Prep. OFF Internal Regeneration Resistor Model Number Nomencalture AC power 200 to 230V 50 / 60Hz POWER UNIT r t R S T 3-phase Features and Functions Multi-Axis Amplifier CNB Note 2) BR2 BR1 P DL2 DL1 MC Note 3) Note 4) 6 R-PC1 7 F-PC2 8 F-PC2 +5 Normal Rotation 2Axis Pulse Note 8) DC5V to 24V 6 F-PC5 7 F-PC5 8 9 R-PC5 10 F-PC6 11 F-PC6 12 11 F-PC3 12 F-PC3 +5 SG SG SG 13 R-PC3 R-PC6 13 R-PC3 SG R-PC6 SG 14 1518,41 SG SG SG SG 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 BATP BATN Monitor Output CH1 MON2 SG CNC SG AO 4 5 AO BO 6 7 BO CO 8 9 CO PS 10 PS Note 6) Red Orange Relay for releasing Holding Brake (yellow) White V Black W Green Note 7) Encoder Connector CN2 SG 1,2 3 CN5 2 1 U CH2 SG CN6 DC 3.6V Lithium Battery Note 13) DC 3.6V Lithium Battery Plug: 10150-3000PE. Shell: 10350-52A0-008 Note 13) Note 5) AMP UNIT Axis1 MON1 DC5V,DC12 to 24V 19 OUT3 Plug: 10150-3000PE. Shell: 10350-52A0-008 Note 1) 40 21 Note 5) Note 8) 48,49,50 20 DC 3.6V Lithium Battery Note 13) Reverse Rotation 6Axis Pulse Note 12) DC5V to 24V CONT16 19 Normal Rotation 6Axis Pulse SG CONT-COM 45,46,47 CONT1 48,49,50 Reverse Rotation 5Axis Pulse +5 14 1518,41 SG CONT-COM Normal Rotation 5Axis Pulse +5 SG +5 +5 Reverse Rotation 4Axis Pulse +5 R-PC5 +5 Line Driver 26LS31 Normal Rotation 4Axis Pulse +5 SG +5 5 R-PC4 R-PC2 26 General-purpose I/O +5 4 R-PC4 R-PC2 45,46,47 DC5V,DC12 to 24V SG F-PC4 Note 1) +5 9 +5 Reverse Rotation 3Axis Pulse Note 12) SG 3 10 +5 Normal Rotation 3Axis Pulse +5 +5 SG +5 Reverse Rotation 2Axis Pulse +5 +5 F-PC4 SH Plug: 36320-0100JL Shell: 36310-3200-008 Orange (yellow) Note 1: Note 2: Note 3: Plug: 36320-0100JL Shell: 36310-3200-008 SH CN1 General-purpose I/O Note 1) 3 IN1 4 IN2 1 OUT1 2 5 OUT2 COM Note 4: Note 5: Note 8)DC12V to 24V Note 6: 55100-0670 AMP UNIT Axis2 System Configuration R-PC1 CN1B +5 Standard Specifications F-PC1 5 +5 External Wiring Diagram 4 +5 Reverse Rotation 1Axis Pulse Line Receiver 26LS32 +5 Dimensions F-PC1 Setup Software +5 3 Optional Equipment CN1A General-purpose I/O Line Driver Note 1) Normal Rotation 1Axis Pulse Note 7: Note 8: Note 9: Note 10: Note 11: Note 12: Note 13: Signifies shielded twisted-pair cable. 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. 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. The and P terminals (high-voltage circuit) are reserved for maintenance. Do not wire these terminals. Refer to the Instruction Manual for instructions on the shielding process. 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. For wiriting of the encoder connectors, refer to the encoder wiring diagram. The user must supply the external power supply. 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. Installation of a UL compliant and IEC / EN compliant earth leakage circuit braker is recommended. When wiring the single-phase power supply, do not wire the S-phase to the amplifier. Always connect the SG (signal ground) between devices when using differential operation input signals. The internal battery power is common for all units. Please connect to either CN1A, CN1B or CN5 when using an absolute encoder. 14 Servo Motor DimensionsUnit : mm 0.07 M LC LR 0.02 LZ LH LA LG Q S LB LL1 LE 0.06 M KL M Teflon wire (for mounting) For Motor and Ground (50) 1100 100 (50) D3 (50) D2 D1 1100 100 QE Tapping Depth LT 1100 100 Oil seal (Option) Note1 Teflon wire (for mounting) For Brake Note2 Shield cable (for mounting) For Encoder *This is shown dimension for motor with brake R2 motor High Efficiency and Low RippleMedium Inertia Absolute Without With Brake Brake MODEL LL LL Motor Brake Absolute LG KL LA LB LE LH LC LZ LR 5 35.4 46 00-0.000 30-0.021 2.5 56 40 2-4.5 25 70 00-0.000 50-0.025 3 00-0.000 70-0.030 3 R2AA04003 51.5 87.5 R2AA04005 56.5 92.5 R2AA04010 72 108 R2AA06010 58.5 82.5 R2AA06020 69.5 97.5 6 44.6 82 60 54.4 90 108 80 R2AA08075 107.3 143 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. 15 LT 20 20 30 00-0.000 14-0.011 25 M5 12 30 00-0.000 14-0.011 25 M5 12 40 00-0.000 16-0.011 35 4-5.5 4-6.6 QE 00-0.000 08-0.009 R2AA08020 66.3 102 8 00-0.000 08-0.009 Q 25 R2AA06040 95.5 123.5 R2AA08040 78.3 114 S 00-0.000 06-0.008 D1 D2 D3 Oil Seal 6 5 5 None Note 1) Servo Amplifier DimensionsUnit : mm RS1A01AA (15A) Features and Functions Single-Axis Amplifier RS1A03AA (30A) 50.5 50.5 Screw M4 (70) (24) 5 50 130 135.5 38 7 4 System Configuration 7 5 33 4 (27) 130 135.5 (27) (70) (24) 45 Model Number Nomencalture Screw M4 AC SERVO SYSTEMS AC SERVO SYSTEMS CHARGE POWER Standard Specifications 160 168 160 168 P C Cooling fan Wind direction 5 External Wiring Diagram 5 Single-Axis Amplifier With CANopen RS1A03AL (30A) 50.5 50.5 130 135.5 48 4 ( 5) 7 5 60 5 ( 5) (70) (24) 7 (27) 48 4 (27) 60 130 135.5 Setup Software Screw M4 Screw M4 (70) (24) Dimensions RS1A01AL (15A) AC SERVO SYSTEMS Optional Equipment 160 168 160 168 AC SERVO SYSTEMS Cooling fan Wind direction 5 5 RS1J03AL (30A) 50.5 Screw M4 Screw M4 48 ( 5) 60 AC SERVO SYSTEMS 130 135.5 48 4 ( 5) 7 AC SERVO SYSTEMS POWER 168 160 168 CHARGE 160 4 (70) (24) 7 (27) 130 135.5 5 60 (27) (70) (24) 50.5 5 RS1J01AL (15A) Cooling fan Wind direction 5 5 16 Servo Amplifier DimensionsUnit : mm Multi-Axis Amplifier Amplifier Unit RR1A01AA (15A) RR1A03AA (30A) (140.7) 122.8 (70) 30 (70) 6 6 8 30 2- 5 130 120 130 120 5 5 8 (140.7) 122.8 60 5 Power Unit Motherboard 7.5 45 2- 5 2- 6 6 27.2 130 5 15 130 120 150 160 5 4 15 (140.7) 122.8 5 (100) 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 (100) 6 150 120 5 15 160 150 25 6 2- 5 25 3 2 1 8 6 4 No. Number of Slots 17 300 250 240 190 180 130 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. 18 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 19 Features and Functions Optional Equipment PC Interface Cable [Unit: mm] + 50 2850 - 10 Model No.:AL-00490833-01 CN1 A note regarding RS-232C communications: The user must provide s PC for computer interface. Parameter settings may require adijustment. Cable Model Number Nomencalture 9 1 Amp side System Configuration PC Side Lithium battery [Unit: mm] Model No. : AL-00494635-01 Standard Specifications 74.58 Lead Wire Red 24.5 505 Mounting Hardware [Unit: mm] Lithium battery Mass : 0.02kg Dimensions Pin 2 External Wiring Diagram 14.5 Lead Wire Black Connector 17MAX. Pin 1 * Supported For only Single-axis amplifier. 188 2 Optional Equipment 25 10 45 5 5 Setup Software 15A 30A Rear Side For mounting on the rear side of the amplifer Model No.:AL-00582791-01 Applicable Amplifiers:RS101 Applicable Amplifiers:RS103 Material:SPCC 30A Front Side 10 10 52 45 25 5 47 45 25 5 15A Front Side 188 198 5 188 198 120 120 2 2 5 For mounting on the front side of the amplifer Model No.:AL-00582788-01 Material:SPCC Applicable Amplifiers:RS101 For mounting on the front side of the amplifer Model No.:AL-00582789-01 Material:SPCC Applicable Amplifiers:RS103 Model No. AL-00582791-01 AL-00582788-01 AL-00582789-01 Contents Mounting Bracket : 1 Screws : 2 Mounting Bracket : 1 Screws : 6 Mounting Bracket : 1 Screws : 6 20 Optional Equipment External Regenerative Resistor Dimensions [Unit: mm] 132 122 100 300 20 0 182 300 1720.4 6 270 20 0 61 150 61 4.3 23.5 420.4 4.3 6 Silicon Rubber Glass-braided Wire 0.5mm2 , White 43 Silicon Rubber Glass-braided Wire 0.5mm2 , White (Thermostat) -0.3 0 270 (Thermostat) Silicon Rubber Glass-braided Wire 0.75mm2 , Black 1 1.2 20 20 Silicon Rubber Glass-braided Wire 0.7mm2 , Black Mass : 0.19kg Model No. Thermostat 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 61 200 +0.4 8 234 -1.2 Ground Mark 61 -0.3 0 Silicon Rubber Glass-braided Wire 0.5mm2 , White 4.3 (Thermostat) 60 80 42.7 M3 4.3 3 Thermostat Solderiess Terminal (for M5) 24.5 AWG24White 2-M5 Silicon Rubber Glass-braided Wire 2mm2 , White Silicon Rubber Glass-braided Wire 0.75mm2 , Black 70015 218 1.2 40 20 600.4 Model No. 1 4.5 230 2200.4 Mass : 0.24kg A Mass : 0.44kg Mass : 1.4kg Model No. Thermostat REGIST-220W20B Normal close 1 REGIST-500W20B 2 REGIST-220W50B Normal close 2 REGIST-500W20 3 REGIST-220W100B Normal close 4 REGIST-220W20B Normal close 1 21 Model No. A Thermostat 350 15 Thermostat, B-contact No Single Connectors Model No. Manufacturer Manufacturer's Part No. AL - 00385594 CN2Plug, Housing AL - 00385596 CNAPlug AL - 00329461-01 CNBPlugAccessory AL - Y0000988-01 CNCPlug AL - 00329458-01 IC2.5/3-STF-5.08 CN1,CN2Plug, Housing CNA,CNCPlug AL - 00393603 10150-3000VE+10350-52A0-008 10120-3000VE+10320-52A0-008 MSTB2.5/5-STF-5.08 IC2.5/3-STF-5.08 CN1,CN2Plug, Housing AL - 00292309 Connector Sets Sumitomo 3M 10150-3000VE+10350-52A0-008 10120-3000VE+10320-52A0-008 MSTB2.5/5-STF-5.08 Phoenix Contact Sumitomo 3M Phoenix Contact Sumitomo 3M Model Number Nomencalture Contents CN1Plug, Housing IC2.5/6-STF-5.08 System Configuration Usage Features and Functions Connectors for Single-Axis Amplifier Connections200V AC Input Type 10150-3000VE+10350-52A0-008 10120-3000VE+10320-52A0-008 Standard Specifications Connectors for Amplifier with CANopen Main Power : 200V AC, Control Power : 1 200V AC Connector Sets Manufacturer's Part No. CN2Plug, Housing AL - 00385596 CNAPlug AL - 00329461-01 MSTB2.5/5-STF-5.08 CNBPlugAccessory AL - Y0000988-01 Phoenix Contact IC2.5/6-STF-5.08 CNCPlug AL - 00329458-01 IC2.5/3-STF-5.08 CN1,CN2Plug, Housing CNA,CNCPlug AL - 00661731 CN1,CN2Plug, Housing AL - 00661729 Sumitomo 3M Sumitomo 3M Phoenix Contact Sumitomo 3M 10114-3000PE+10314-52A0-008 10120-3000PE+10320-52A0-008 External Wiring Diagram Manufacturer 10114-3000PE+10314-52A0-008 10120-3000PE+10320-52A0-008 MSTB2.5/6-STF-5.08 IC2.5/3-STF-5.08 Dimensions Single Connectors Model No. AL - 00608710 10114-3000PE+10314-52A0-008 10120-3000PE+10320-52A0-008 Setup Software Contents CN1Plug, Housing Main Power : 200V AC, Control Power : 24V DC Single Connectors Connector Sets Model No. Manufacturer Manufacturer's Part No. AL - 00608710 CN2Plug, Housing AL - 00385596 CNAPlug AL - Y0000988-02 IC2.5/7-STF-5.08 CNBPlug AL - 00329460-01 Phoenix Contact MSTB2.5/2-STF-5.08 CNCPlug AL - 00329458-01 IC2.5/3-STF-5.08 CN1,CN2Plug, Housing CNA,CNB,CNCPlug AL - 00667184 CN1,CN2Plug, Housing AL - 00661729 Sumitomo 3M Sumitomo 3M Phoenix Contact Sumitomo 3M 10114-3000PE+10314-52A0-008 10120-3000PE+10320-52A0-008 Optional Equipment Contents CN1Plug, Housing 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 10114 - 3000PE+10314-52A0-008 10120 - 3000PE+10320-52A0-008 Connectors for Multi-Axis Amplifier Connections Contents CN1Plug, Housing Amplifier CN2Plug, Housing Unit CN6Plug, Housing Single Connectors Power Unit Model No. Molex AL - 00632607 Sumitomo 3M CNCPlug AL - 00632604 CNAPlug AL - 00632600 CNBPlugAccessory AL - 00632602 CN1APlug, Housing CN1BPlug, Housing Manufacturer AL - Y0003305-01 AL - 00385594 AL - 00632611 Connector Sets Power Unit CNAPlug AL - 00632609 CN1A,CN1BPlug, Housing 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 J.S.T.Mfg.CO.,LTD Amplifier CN1,CN2Plug, Housing CN6,CNCPlug Unit Manufacturer's Part No. 55100-0670 10150-3000PE 10350-52A0-008 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 22 23 24 Optional Equipment Setup Software Dimensions External Wiring Diagram Standard Specifications System Configuration Model Number Nomencalture Features and Functions 25 Inquiry Check Sheet Company Name : Features and Functions Please provide the following infomation when placing an order or making an inquiry. Also feel free to include any questions that require our attention. Depatrtment : Telephone : Model Number Nomencalture Date : To contact us : Phone : +81 3 3917 5157 FAX : +81 3 3917 0643 Fax : System Configuration 1) Application : 2) Name of Machinery : Contents Name of target equipment Equipment name, category (transport, processing, test, other) Name of servo axis Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no) Manufacturer Name ( Positioning accuracy mm ) Series Name ( ) Motor Capacity ( ) Hydraulic, Mechanical, or New System ( Reference formula AccelerationG[m/s2] Feeding Speed[m/s] 5 Operation pattern ) m Feeding D[m]V[m/sec]x(t1+t2)[sec] Moving Distance[m] Speed 1G=9.8[m/s2]1[m/s2]0.1G [m/s2]V[m/sec]/t1[sec] Dimensions Current condition of above axis External Wiring Diagram Item 1 2 3 4 Standard Specifications 3) Number of Units : (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 WTtable mass kg WLwork mass kg WAmass of other drive parts WRrack mass kg WBbelt/chain mass kg WCcounterbalance mass kg Faexternal force axial direction N Fbball-screw preload N Troll pushing force N Dr1drive-side roll diameter mm Dr2follower-side roll diameter Lr1drive-side roll length mm Lr2follower-side roll length mm JGspeed-reducer inertia kgm2 JCcoupling inertia kgm2 JNnut inertia kgm2 JOother motor-axis conversion inertia kgm2 Dbball-screw diameter mm Lbball-screw axial length mm mm tppully thickness mm Dhtable-support dianeter mm LWload shift from axis mm Lstable shaft length mm kgcm3 friction coefficient between sheet and shiliding-surface/support-section/roll 1specific gravity of roll-1 material 2specific gravity of roll-2 material internal friction coefficient of preload nut TFfriction torque of motor axis conversion Encoder type Pbball -screw lead Lppinion axial length mm mm kgcm3 mechanical efficiency 9 mm Greduction ratio Dttable diameter Dstable shaft diameter mm Speed reducer kg Dppinion/pulley diameter mm specific gravity of ball-screw/pinion/pulley/table-shaft material 8 Setup Software Mechanism Customer-provided ( Nm Optional Equipment 6 kgcm3 JLload inertia of motor-axis conversion kgm2 Tuimbalance torque of motor axis conversion Nm )*Sanyo standard(planet/spur/no-backlash-planet ) other( ) Encoder type specified ( yes / no ) Yes: (incremental , optical absolute , optical absolute [resolver absolute with incremental function]) Resolution 0 A B C D E F Input format Position , velocity , torque , communications ( SERCOS / CAN / DeviceNet ) other ( Host equipment (controller) Sequencer , laptop , customer-developed product , Sanyo-provided , other ( ) ) Usage environment and other requirements Cutting , clean-room use , anti-dust measures , other ( Estimated production Single product: ( Development schedule Prototype period: ( Various measures Related documentation ( already submitted; send later by mail) Visit/PR desired ( yes / no ) Meeting desired ( yes / no ) ) units/mouth ( ) Year ( ) ) units/year ) Month Production period: ( ) Year ( ) Month Miscellaneous (questions, pending problems, unresolved issues, etc.) * Please consult us on selecting suitable reduction gears for your application. 26 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.com 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. 839-8 '08.1.N