R
AC SERVO SYSTEMS
Ver.3
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
Small Compact Servomotors
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)
Multi-Axis Servo Amplifier
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.
Water Protection
All motor models have IP67 protection.
All-in-One Control
Configurable parameters allow you to switch between
control modes for torque, position or velocity.
START
GOAL
Position
or
Velocity
Torque
control
Flat
Ascending
Power Supply Harmonic Suppression
Equipped with DC reactor connection terminals as
standard feature for supressing power supply
harmonics.
IP67
30% reduction
*available for single-axis only
*Shaft feedthrough and cable end are excluded.
2
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
Setup Software
5-digit LED Display, Built-in Operator
Parameter setting, monitoring and alarm tracing can
be easily done using the built-in operator.
Test Function (JOG)
On-board JOG operation function is available for
testing motor and amplifier connection without the
need to connect to host device.
Setup Software
The setup software allows you to set parameters,
view graphical displays of monitored position,
velocity or torque waveforms, and perform system
analysis.
Simultaneous Monitor Function
The setup software allows up to 15 amplifiers to be
monitored. This function can be used to monitor
waveforms in synchronized operations.
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 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.
*Use optional cable
AL-00490833-01 for PC
connection
Parameter settings Position, velocity,
torque waveforms Daisy chain up to 15 units
*PC connection cable is optional
RS232C
Maximum
15 units
Built-in
Regeneration
Resistor
External regenerative
resistor unit (Option)
Rotation speed
(min-1)
Time(s)
Controlled
state Dynamic braking state
*Multi-axis is done through a personal computer.
Capable of JOG operation
without connecting to host
device
*
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
Gain (dB)
Frequenc
y
(Hz)
Shorter Position Settling Time
A new algorithm drastically shortens positioning
settling time for equipment.
5ms/div
Position deviation
Position complete signal
Settling time (0ms)
Example of positioning settling time
in highly rigid machinery
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 control
With vibration suppression control
With vibration
suppression control Without vibration
suppression control
Disturbance Suppression
A new disturbance observer with expanded applicable
frequencies suppresses disturbance from other axes
in a multi-axis configuration.
Oscillation waveform
of direct drive section
Oscillation waveform
of direct drive section
Disturbance observer function ON Disturbance observer function OFF
Disturbance
Disturbance
Expanded Power Range
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.
07000600050004000300020001000
Rotation Speed
(
min-1
)
R motor
Current model
Increased torque
Increased rotation Speed
Torque (N・m )
Command Follow-up Control
Performance of the positioning doubled in comparison
with current models by adoption of new positioning
control algorithm and new speed control algorithm.
And position deviation≒0 is achieved.
20ms/div
Position deviation
Position command
4
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
Setup Software
Reduced Running
Costs
Low Cogging Torque
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.
H
i
g
h
R
e
s
o
l
u
t
i
o
n
1
7
b
i
t
（
1
3
1
,
0
7
2
d
i
v
i
s
i
o
n
s
)
A
b
s
o
l
u
t
e
E
n
c
o
d
e
r
20% Reduction in Power Loss
An energy conserving power module reduces main
circuit power loss by up to 20%.
SANMOTION R
15A
70%
60%
50%
40%
30%
20%
10%
0%
80%
90%
100%
Current model
Power loss reduction (%)
High Resolution
Support for encoders up to 17 bit (131,072 divisions) is
available for high resolution control.
5.1×10-3N・m
1.6% (Comparison of Rated Torque)
2.56×10-3N・m
0.8% (Comparison of Rated Torque)
R motor
Current model
One Rotation
One Rotation
Full Closed-Loop Control
Optional support for full closed-loop control using
linear scale and other high resolution encoders
mounted on device side.
Comparison of cogging torque waveforms
□40-0.1kW
Load
Highly accurate
positioning is possible
(*Image)
*available for single-axis only
R Series
Single-Axis Servo
Amplifier
Amp. capacity
01‥‥‥15A
03‥‥‥30A
Motor Type
‥‥‥Rotary Motor
Control Hardware Type
A‥‥
Battery backup method absolute encoder
T‥‥Full Closed-Loop
AAA01RS1
Power Input and Internal
Regeneration Setting 200V
With Internal Regeneration Resistor
L‥‥
15A,30A（Option Setting）
Without Internal Regeneration Resistor
A‥‥
15A,30A
5
Servo Motor Model Number Nomenclature
Gear type
‥‥Gear ratio1/3
AR
R Series
Motor Type
‥‥Middle inertia
Supply Voltage
‥‥‥200V Motor
Flange Size
04 ‥‥‥40mm
06 ‥‥‥60mm
08 ‥‥‥80mm
Rated Output
003 ‥‥‥ 30W
005 ‥‥‥ 50W
010 ‥‥‥ 100W
020 ‥‥‥200W
040 ‥‥‥ 400W
075 ‥‥‥ 750W
Maximum Rotation Speed
Holding Brake
‥‥6000min-1
Encoder Type
P‥Battery backup method absolute encoder「PA035C」
H‥Absolute encoder for incremental System「PA035S」
X‥‥Without Brake
B‥‥With Brake（90V DC）
C‥‥With Brake（24V DC）
00‥Standard
01‥With oil seal
Specification
Standard Identification
F C P M2 AA 06 020 00
M ‥‥CE and UL
0 ‥‥Without standard
but with gear
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.
Servo Motor
Encoder Specification
PA035C
PA035S
131072(17bit) 65536(16bit) Battery backup method Absolute encoder
131072(17bit) ーAbsolute Encoder for Incremental system
Per rotation
Multiple Rotations
Model Remarks
Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage and
15A amplifier capacity.
Single-Axis Servo Amplifier
Servo Amplifier Model Number Nomenclature
R Series
Multi-Axis Servo System
Motherboard
R Series
Multi-Axis Servo System
Amplifier Unit
Amp. capacity
01‥‥‥15A
03‥‥‥30A
Motor Type
‥‥‥Rotary Motor
Encoder Combination Description
‥‥‥Battery backup method absolute encoder
Control Hardware Type
‥‥‥Pulse train interface
AAA01RR1 B00
Power Input
‥‥
200V AC
Specification
‥‥Standard
Control Hardware Type
‥‥‥Pulse train interface
A
A
RRP 00
Power Input
‥‥
200V AC
Specification
‥‥Standard
Number of Slots (based on a 15A unit)
4‥‥‥‥‥‥‥‥ 4 Slots
6‥‥‥‥‥‥‥‥ 6 Slots
8‥‥‥‥‥‥‥‥ 8 Slots
6
A
RRM 00
Power Input
‥‥
200V AC
Specification
‥‥Standard
Motherboard
Power Unit
Amplifier Unit
R Series
Multi-Axis Servo System
Power Unit
R Series
AMP. Capacity Motor Type
Note: Built – In Regenerative Circuit (External RegenerativeResistor) Built – In DB Circuit
Power Input, Input Voltage
A‥‥Main Power : 200V AC, Control Power : 1φ200V AC
J ‥‥Main Power : 200V AC, Control Power : 24V DC
01‥‥‥ 15A
03‥‥‥ 30A ‥‥‥Rotary Motor
AA 01RS1
Interface Type
L‥‥Interface Specification：CAN open I/F
Encoder Specification：Wire-saving incremental encoder,
Battery backup method absolute encoder
L
6
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
Setup Software
Servo Amplifier With CANopen
Servo Amplifier Model Number Nomenclature
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.
Amplifier Unit RR1A01AAB00
× 2 units
RR1A03AAB00
× 2 units
Power Unit RRPAA00
× 1 unit
Motherboard RRMA600
× 1 unit
Multi-Axis Servo Amplifier
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.
7
System Configuration
Single-Axis Amplifier
Contents Model No.
Single
Connectors
CN1
（
Plug, Housing
）
AL - 00385594
CN2
（
Plug, Housing
）
AL - 00385596
CNA
（
Plug
）
AL - 00329461-01
CNB
（
Plug
）
: Accessory AL - Y0000988-01
CNC
（
Plug
）
AL - 00329458-01
Connector Sets
CN1,CN2
（
Plug, Housing
）
CNA,CNC
（
Plug
）
AL - 00393603
CN1,CN2
（
Plug, Housing
）
AL - 00292309
Connectors for Single-Axis Amplifier Connections
T S R
CN2
PC
AL-00490833-01
Wiring required for brake.
CN1 Host Devices
PLC and controllers are
available as the host device.
Parameter
configuration
and monitoring
is possible via
communication
with a PC.
Setup
Software
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
For special operations, such as
high frequency applications
that require greater power
dissipation than that provided
by the servo amplifier’s
internal regenerative resistor.
External Regenerative Resistor
Use as required, such as for
heavy inertial load
operations.
Switches servo power on and
off. Installation of a surge
protector is required.
Create the protective circuit.
DC Reactor
Suppresses power harmonics.
Remove the short bar between
DL1-DL2 and connect this here,
when needed for high
frequency waves.
Electromagnetic Contactor
Required for use when the
servo motor is equipped
with a brake.
Brake Power
PLC
When using the unit with an
absolute system, mount the
optional battery inside the
digital operator cover.
AL-00494635-01AL-00494635-01 Lithium battery
CANopen
Dedicated controller
(SANMOTION C* etc.),
PC and PLC are available
as the host device.
*Communication Profile: DS-301
Device Profile: DSP-402 compliance
Host Devices
T
S
R
Host Devices
Parameter configuration
and monitoring is possible
via communication with a
PC.
Setup Software
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
Required for use when the
servo motor is equipped
with a brake.
Brake Power
Wiring required for brake.
PLC and controllers are
available as the host device.
PLC
Switches servo power on and
off. Installation of a surge
protector is required.
Create the protective circuit.
Electromagnetic Contactor
DC Reactor
Suppresses power harmonics.
Remove the short bar between
DL1-DL2 and connect this here,
when needed for high
frequency waves.
For special operations, such as
high frequency applications
that require greater power
dissipation than that provided
by the servo amplifier’s
internal regenerative resistor.
External Regenerative Resistor
Use as required, such as for
heavy inertial load
operations.
When using the unit with
an absolute system,
connect the optional
battery to CN5.
Lithium battery
8
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
Setup Software
Multi-Axis Amplifier
Contents Model No.
Single
Connectors
Amplifier
Unit
CN1
（
Plug, Housing
）
AL - Y0003305-01
CN2
（
Plug, Housing
）
AL - 00632607
CN6
（
Plug, Housing
）
AL - 00632607
CNC
（
Plug
）
AL - 00632604
Power
Unit
CNA
（
Plug
）
AL - 00632600
CNB
（
Plug
）：
Accessory AL - 00632602
CN1A
（
Plug, Housing
）
AL - 00385594
CN1B
（
Plug, Housing
）
AL - 00385594
Connector
Sets
Amplifier
Unit
CN1,CN2
（
Plug, Housing
）
CN6,CNC
（
Plug
）
AL - 00632611
Power
Unit
CNA
（
Plug
）
CN1A,CN1B
（
Plug, Housing
）
AL - 00632609
Connectors for Multi-Axis Amplifier Connections
9
R2
Servo Motor
Capacity
□40mm to □80mm
30W to 750W
（9 models）
Features
High Efficiency and Low
Ripple (Medium Inertia)
Motor Model and Flange Size in mm R2AA04003F
《40》
R2AA04005F
《40》
R2AA04010F
《40》
Status Symbol
Unit
Rated Output ★PRW30 50 100
Rated Speed ★NRmin-1 3000
Maximum Speed ★Nmax min-1 6000
Rated Torque ★TRN・m0.098 0.159 0.318
Continuous Torque at Stall ★TSN・m0.108 0.167 0.318
Peak Torque at Stall ★TPN・m0.37 0.59 1.18
Rated Armature Current ★IRArms 0.51 0.67 0.81
Armature Current at Stall ★ISArms 0.56 0.69 0.81
Peak Armature Current at Stall ★IPArms 2.15 2.8 3.3
Torque Constant ☆KTN・m／Arms 0.201 0.246 0.424
Voltage Constant Per Phase ☆KEφmV／min-1 78.614.8
Phase Resistance ☆RφΩ12 9 9.3
Rated Power Rate ★QRkW／s3.9 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
×10-4 kg・m2
（GD2／4）
0.0247 0.0376 0.0627
Rotor Moment of Inertia (Encoder) JS
×10-4 kg・m2
（GD2／4）
0.0033
Mass including Encoder WE kg 0.23 0.27 0.39
Brake Static Friction Torque TB N・m0.32 MIN.
Brake Rated Voltage VB V DC90V ／DC24V ±10％
Brake Rated Current IB A 0.07 ／0.27
Rotor Moment of Inertia (Brake) JB
×10-4 kg・m2
（GD2／4）
0.0078
Brake Mass Wkg 0.23
Motor Operating Temp, Rel. Humidity
Operating Temperature: 0 to 40°C, Relative Humidity: 90% Maximum, no condensation
Amplifier Model
（Single-Axis
）
RS1A01AA
Amplifier Model
（CANopen
）
RS1A01AL
Amplifier Model
（Multi-Axis
）
RR1A01AA
Amplifier Power Supply AC200V to 230V ＋10, −15% 50/60Hz ±3Hz
Amp. Operating Temp. and RH
Operating Temperature: 0 to 55°C (Note), Relative Humidity: 90%
M
aximum, no condensation
Power Consumption kVA 0.2 0.4
Amplifier Mass
（
Weight
）
[Single / CAN / Multi]
kg 0.9 ／1.0 ／0.48
Motor Dwgs
P15
★: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℃.
200V System
Standard Specifications
ES＋
ES−
EBAT＋
EBAT−
ES＋
ES−
EBAT＋
EBAT−
CN2 13
14
1
2
9
10
11
12
17
18
19
20
＋5V
0V
Note4）
Note1）
Note2）
Note3）
Brown
Blue
Pink
Purple
Red
Black
＋5V
0V
FG（Shielded）
Encoder
Plug：10120-3000VE
Shell：10320-52A0-008
SERVO AMPLIFIER SERVO MOTOR
Note 1)
Note 2)
Note 3)
Note 4)
Use a 0.2mm2 encoder cable
When the Absolute encoder for incremental system is used,
battery lines (EBAT+, EBAT-) are not required.
+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 pins12)
Connect pin 18,20
(Do not connect pins11)
Connect pin 12,17,19
Connect pin 11,18,20
0V DC Wiring
10m MAX. 25m MAX. 40m MAX.
Use a twisted-pair shielded cable.
Encoder power connections depend on encoder cable length. See the following
Encoder cable length
Battery backup type absolute encoder [ PA035C ]
Absolute encoder for incremental system
「PA035S」
Encoder Wiring Diagram
Single-Axis Amplifier
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℃.
* For models with oil seal or brake, reduction in rated value
may become necessary.
0
7000600050004000300020001000
0
0.1
0.2
0.4
0.3
0.5
Speed [min-1]
Torque [N・m]
0
7000600050004000300020001000
0
Speed [min-1]
Torque [N・m]
0.2
0.4
0.6
0.8
0
7000600050004000300020001000
0
Speed [min-1]
Torque [N・m]
0.5
1
1.5
10
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
Setup Software
R2AA06010F
《60》
R2AA06020F
《60》
R2AA06040F
《60》
R2AA08020F
《80》
R2AA08040F
《80》R2AA08075F
《80》Unit
100 200 400 200 400 750 W
3000 min-1
6000 min-1
0.318 0.637 1.273 0.637 1.27 2.39 N・m
0.353 0.686 1.372 0.686 1.37 2.55 N・m
1.13 2.2 4.8 2.2 4.4 8.5 N・m
0.86 1.5 2.8 1.4 2.6 4.6 Arms
0.86 1.6 2.8 1.5 2.6 4.6 Arms
3.5 5.6 10.8 4.8 8.9 15.5 Arms
0.375 0.476 0.524 0.516 0.559 0.559 N・m／Arms
13.1 16.6 18.3 18.0 19.5 19.5 mV／min-1
4.8 2.7 1.36 2.3 0.93 0.4 Ω
8.6 19 39 81631 kW／s
2.0 2.6 3.2 2.2 2.5 3.0 ms
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
×10-4 kg・m2
（GD2／4）
0.0033
×10-4 kg・m2
（GD2／4）
0.59 0.84 1.3 1.2 1.6 2.6 kg
0.36 MIN. 1.37 MIN. 2.55 MIN. N・m
DC90V ／DC24V ±10％V
0.07 ／0.27 0.11 ／0.32 0.12 ／0.37 A
0.060 0.060 0.25
×10-4 kg・m2
（GD2／4）
0.30 0.35 0.85 kg
Operating Temperature: 0 to 40°C, Relative Humidity: 90%
M
aximum, no condensation
RS1A01AA RS1A03AA RS1A01AA RS1A03AA
RS1A01AL RS1A03AL RS1A01AL RS1A03AL
RR1A01AA RR1A03AA RR1A01AA RR1A03AA
AC200V to 230V ＋10, −15% 50/60Hz ±3Hz
Operating Temperature: 0 to 55°C （Note）, Relative Humidity: 90%
M
aximum, no condensation
0.4 0.8 1.0 0.8 1.0 1.7 kVA
0.9 ／1.0 ／0.48 1.0 ／1.11 ／0.77 0.9 ／1.0 ／0.48 1.0 ／1.11 ／0.77 kg
Multi-Axis Amplifier
SERVO AMPLIFIER SERVO MOTOR
0V
+5V
+5V
0V
+5
0V
1
2
3
4
5
6
N.C.
N.C.
10
9
8
7
EBAT
-
ES+
EBAT+
ES
-
EBAT
-
ES+
EBAT+
ES
-
Note 2)
Plug:36320-0100JL
Shell:36310-3200-008
Note 1)
Black
Red
Purple
Pink
Blue
Brown
Note 3)
The sheathed shield wire should be connected to the metal case (ground) on CN2 side,
before connecting to ground on encoder side.
Color symbols shown on the diagram for signal lines on encoder side refer to lead-wire
type sensors.
Note 1)
Note 2)
Note 3)
Note 4) The allowable connection distance between amplifier and encoder varies according to
the diameter(impedence) of the electric wire of the cable used. The power voltage
specification for encoders is 5V±5%. If the cable is too long, the voltage on encoder side
may fall below 5V.Measure the voltage on encoder side to ensure that the cable used is
within specification limits.
Use a twisted-pair shielded cable.
Encoder
Battery backup type absolute encoder [ PA035C ]
0
7000600050004000300020001000
0
Speed [min-1]
Torque [N・m]
2
4
8
6
10
0
7000600050004000300020001000
0
Speed [min-1]
Torque [N・m]
0.5
1
1.5
0
7000600050004000300020001000
0
Speed [min-1]
Torque [N・m]
1
2
3
0
7000600050004000300020001000
0
Speed [min-1]
Torque [N・m]
1
2
3
4
5
6
0
7000600050004000300020001000
0
Speed [min-1]
Torque [N・m]
1
2
3
0
7000600050004000300020001000
0
Speed [min-1]
Torque [N・m]
1
2
3
4
5
6
11
General Specifications
CANopen Interface specifications
Fieldbus specifications
Bus Connection, Medium CAN-Standard ISO-11898 (High-speed CAN)
Fieldbus CANopen
Communication Profile CiA DS301 Version 4.02
Device Profile CiA DSP402 (CANopen device profile for drive and motion control) Version 2.0
Bit 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 transceiver
Max. 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 Operation Homing Mode (h.m)
Profile Velocity Mode (p.v)
Profile Position Mode (p.p)
Interpolated Position Mode (i.p)
12
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
Setup Software
AC power
200 to 230V
50／60Hz
Note 10)
Internal Regeneration
W
V
U
CN2 Encoder Connector
CNC
SERVO MOTOR
Black RY1
90V
（24V）
Holding Brake
(install with Brake only)
Plug: 10120-3000PE
Shell: 10320-52A-008
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
ZOP
SG
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
CONT
7
CONT6
CONT5
CONT3
CONT2
CONT1
CONT-COM
CONT4
CONT
8
CONT
7
14
15
16
38
SG
SG
SG
R-PC
SG
SG
+5
+5
+5
+5
SG
SG
T-REF / V-REF
SG
T-COMP
SG
SG
MON1
PS
Orange
(yellow)
White
Red
Green
Encoder
CNB
DL1
DL2
RB1
RB2
P
MC
MC
MC
User Devices
CNA
T
t
r
S
R
Operation Prep.
System Error
Emergency
Stop
ON
Operation Prep.
OFF
ZO
BO
AO
AO
DC5V to 24V
DC12V
to 24V
BO
ZO
PS
F-PC
F-PC
R-PC
CONT
8
SG
SG
SH SG SG
SG
+5
+5
+5
+5
Note 3)
Note 4)
Note 6)
Note 5)
Note 2)
50 / 60Hz
200 to 230V
MC
MC
MC
3-phase Resistor
Orange
(yellow)
Line Driver
26LS31
Normal
Rotation
Pulse
Reverse
Rotation
Pulse
Note 12)
Line Receiver
26LS32
DC 3.6V
Lithium Battery
Normal
Reverse
Note 8)
Line Receiver
26LS32
Note 12)
Plug: 10150-3000PE
Shell: 10350-52A0-008
Line Driver
26LS31
Note 8)
Single-phase
User Devices
Single-phase
AC Power
Note 10)
Operation Prep.
ON
Operation Prep.
OFF
System Error
Emergency
Stop
Note 1: Signifies shielded twisted-pair cable.
Note 2: Connect a regenerative resistor between terminals RB1 - RB2.
When using an external regenerative resistor,
first remove the internal regenerative resistor wiring between
terminals RB1 and RB2, and then connect an external
regenerative resistor between terminals RB1 - RB2.
Note 3: Terminals DL1 and DL2 are dedicated for connecting
DC reactors. If a harmonic suppression reactor is not in use,
create a short circuit between DL1 and DL2 terminals with
the attached shorting bar.
Note 4: The and P terminals (high-voltage circuit) are reserved
for maintenance. Do not wire these terminals.
Note 5: Refer to the Instruction Manual for instructions on the
shielding process.
Note 6: Motor connection specifics may vary depending on the
motor specifications. Lead-type motor power and brake wires
are shown as red, white, black, green, and orange. When using
a cannon plug, cannect it according to the motor specifications.
Note 7: For wiriting of the encoder connectors, refer to the encoder
wiring diagram.
Note 8: The user must supply the external power supply.
Note 9: R, S, T, r, t, , P, DL2, RB1, RB2, U, V, W are
high-voltage circuits; all other signal lines are low-voltage circuits.
When wiring, maintain sufficient distance between high-voltage
and low-voltage circuits.
Note 10: Installation of a UL compliant and IEC / EN compliant
earth leakage circuit braker is recommended.
Note 11: When wiring the single-phase power supply, do not wire
the S-phase to the amplifier.
Note 12: Always connect the SG (signal ground) between devices
when using differential operation input signals.
Monitor
Output
(200V AC)
3-phase(200V AC)
Note 11)
SERVO AMPLIFIER
Line Driver
Single-Axis Amplifier
External Wiring Diagram
13
External Wiring Diagram
Single-Axis Amplifier With CANopen
General-purpose input
General-purpose output
Shell : 10314-52A0-008
Plug : 10114-3000PE
SH
Note 5)
SH
OUT-COM
7
5
CONT8
12
CONT3
CONT4
CONT7
11
4
Lithium battery
MC
DC3.6V
Note 8)
to 24V
DC5V
Battery input
System
error
Power supply 3φ
Note 10)
MC
Start
ready
ON
Start
ready
OFF
200 to 230V
50/60Hz
MC
CONT1
-COM
CONT2
3
10
9
BTP-I
BTN-I
1
2
OUT1 6
OUT2 13
OUT-PWR 14
to 24V
Note 8)
DC12V
Encoder
P
RB2
DL1
DL2
RB1
CNA
SERVO AMPLIFIER
Emergency
stop
CN1
T
S
t
r
R
+
Encoder connector
CN2
SH
Note 5)
Note 7)
Plug : 10120-3000PE,
Shell : 10320-52A0-008
SH
V
U
Regenerative
resistor
CNC
W
White
Red
Green
(Green/Yellow)
Black
MOTOR
SERVO
User unit
CNB
Orange 90V
(for the type with
Holding brake
a brake only)
(Yellow) (24V)
Orange
(Yellow) RY1
Note 11)
Note 6)
Note 2)
Note 3)
Note 4)
DC5V,
3
GND
Terminator
GND
GND
CAN_H
CAN_L
GND
3
7
SG
1
2
5
CN4
7
Terminator
CAN_L
CAN_H
2
1
5
CN3
1/4W 12Q
TRANCEIVER
CAN
Combination of
Combination of
8
CONT
Note 12)
Plug:TM21P-88P
Plug:TM21P-88P
Combination of
Combination of
SH
SH
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.
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 conforming
to the UL, IEC and EN standards.
Note 11) Do not wire the S phase for a single-phase power amplifier.
Note 12) Insert RJ45 connector to which 1pin(CAN_H) and
5pin(Terminator) are short-circuited in CN3 or CN4
when the terminator is necessary.
General-purpose input
General-purpose output
Shell : 10314-52A0-008
Plug : 10114- 3000P E
SH
Note 4)
SH
OUT-COM
7
5
CONT8
12
CONT3
CONT4
CONT7
11
4
Lithium battery
DC3.6V
Note 7)
to 24V
DC5V
Battery input
Power supply 3φ
Note 9)
200 to 230V
50/60Hz
MC
CONT1
-COM
CONT2
3
10
9
BTP-I
BTN-I
1
2
OUT1 6
OUT2 13
OUT-PWR 14
to 24V
Note 7)
DC12V
Encoder
P
-
RB2
RB1
CNA
SERVO AMPLIFIER
CN1
T
S
R
+
Encoder connector
CN2
SH
Note 4)
Note 6)
Plug : 10120-3000PE,
Shell : 10320-52A0-008
SH
V
U
Regenerative
resistor
CNC
W
White
Red
Green
(Green/Yellow)
Black
MOTOR
SERVO
User unit
CNA
Orange 90V
(for the type with
Holding brake
a brake only)
(Yellow) (24V)
Orange
(Yellow) RY1
Note 10) Do not wire the S phase for a single-phase power amplifier.
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.
Note 10)
Note 5)
Note 2)
Note 3)
DC5V,
3
GND
Terminator
GND
GND
CAN_H
CAN_L
GND
3
7
SG
1
2
5
CN4
7
Terminator
CAN_L
CAN_H
2
1
5
CN3
1/4W 120Q
TRANCEIVER
CAN
Combination of
Combination of
8
CONT
Note 11)
Plug:TM21P-88P
Plug:TM21P-88P
Combination of
Combination of
2
CNB
1
MC
MC
Emergency
24V
24G
DC24V
error
System
stop
Start
ready
ON
Start
ready
OFF
SH
SH
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.
Note 3)The ○
ー
terminal and the P terminal are for maintenance
(high-voltage circuit).
Note 4) Refer to the Instruction Manual for instructions on the shielding process.
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.
Note 6) Refer to the encoder connection diagram regarding
the encoder connector wiring.
Note 7) Power should be supplied by the user.
Either of the inputs can be selected.
Note 8) R,S,T,○
ー
,P,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 9) It is recommended to use a ground fault interrupter conforming
to the UL, IEC and EN standards.
■
Main Power : 200V AC／Control Power : 200V AC
■
Main Power : 200V AC／Control Power : 24V DC
14
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
Setup Software
POWER UNIT
AMP UNIT Axis1
AMP UNIT Axis2
User Devices
MC
MC
1Axis
Normal
Rotation
Pulse
1Axis
Reverse
Rotation
Pulse
2Axis
Normal
Rotation
Pulse
2Axis
Reverse
Rotation
Pulse
3Axis
Normal
Rotation
Pulse
3Axis
Reverse
Rotation
Pulse
4Axis
Normal
Rotation
Pulse
4Axis
Reverse
Rotation
Pulse
5Axis
Normal
Rotation
Pulse
5Axis
Reverse
Rotation
Pulse
6Axis
Normal
Rotation
Pulse
6Axis
Reverse
Rotation
Pulse
CNA
CNB
T
t
r
S
R
BR2
BR1
P
DL2
DL1
CN1A
Plug: 36320-0100JL
Shell:
36310-3200-008
Plug: 36320-0100JL
Shell: 36310-3200-008
55100-0670
SG
MON2
MON1
DC5V
to 24V
DC5V,DC12
to 24V
CN1B
CNC
CN2
CN5
CN1
CN6
1,2
3
4
5
6
7
8
9
10
3
4
1
2
5COM
OUT2
OUT1
IN1
IN2
SH
SH
Encoder
Connector
1
2
3
4
5
6
7
8
9
10
11
12
13
14
26
27
28
38
39
40
19
20
21
23
24
25
1
2
15〜18,41
45,46,47
48,49,50
42,43,44
3
4
5
6
7
8
9
10
11
12
13
14
26
27
28
38
39
40
19
20
21
23
24
25
1
2
15〜18,41
45,46,47
48,49,50
42,43,44
+5
+5
+5
+5
+5
+5
+5
+5
+5
+5
+5
+5
+5
+5
+5
+5
+5
+5
+5
+5
+5
+5
+5
+5
SGSG
SGSG
SGSG
SG
SG
CH1
CH2
SG
AO
AO
BO
BO
CO
CO
PS
PS
SGSG
SGSG
SGSG SG
CONT16
CONT-COM
CONT17
CONT18
CONT28
CONT29
CONT30
OUT-POW
OUT-COM
OUT7
OUT8
OUT9
OUT11
OUT12
ALM2
BATP-2
BATN-2
BATP
BATN
U
V
W
SG
F-PC4
F-PC5
F-PC6
R-PC6
R-PC6
F-PC6
F-PC5
R-PC5
R-PC5
F-PC4
R-PC4
R-PC4
CONT1
CONT-COM
CONT2
CONT3
CONT13
CONT14
CONT15
OUT-POW
OUT-COM
OUT1
OUT2
OUT3
OUT5
OUT6
ALM1
BATP-1
BATN-1
SG
SG
F-PC1
F-PC2
F-PC3
R-PC3
R-PC3
F-PC3
F-PC2
R-PC2
R-PC2
F-PC1
R-PC1
R-PC1
System Error
Emergency
Stop
Operation Prep.
ON Operation Prep.
OFF
AC power
3-phase
Internal Regeneration
Resistor
Line Driver
Note 1) Line Driver
26LS31
Note 1)
Line Receiver
26LS32
Note 12)Note 12)
DC 3.6V
Lithium Battery
DC 3.6V
Lithium Battery
DC 3.6V
Lithium Battery
Note 8)Note 8)
Note 5) Note 5)
Note 6)
Note 7)
Note 1)
Plug: 10150-3000PE.
Shell: 10350-52A0-008
Plug: 10150-3000PE.
Shell: 10350-52A0-008
Note 13)
Note 13)
Orange
(yellow)
Orange
(yellow)
Monitor
Output
Note 1)
Note 8)
Relay for releasing Holding Brake
Note 11)
Note 2)
Note 3)
Note 4)
Note 13)
General-purpose I/O General-purpose I/O
General-purpose I/O
Note 10)
200 to 230V
50 / 60Hz
DC5V to 24V
DC5V,DC12 to 24V
DC12V to 24V
Note 1: Signifies shielded twisted-pair cable.
Note 2: Connect a regenerative resistor between terminals RB1 - RB2.
When using an external regenerative resistor, first remove
the internal regenerative resistor wiring between terminals
RB1 and RB2, and then connect an external regenerative resistor
between terminals RB1 - RB2.
Note 3: Terminals DL1 and DL2 are dedicated for connecting
DC reactors. If a harmonic suppression reactor is not in use, create
a short circuit between DL1 and DL2 terminals with the attached
shorting bar.
Note 4: The and P terminals (high-voltage circuit) are reserved
for maintenance. Do not wire these terminals.
Note 5: Refer to the Instruction Manual for instructions on the
shielding process.
Note 6: Motor connection specifics may vary depending on the
motor specifications. Lead-type motor power and brake wires
are shown as red, white, black, green, and orange. When using
a cannon plug, cannect it according to the motor specifications.
Note 7: For wiriting of the encoder connectors, refer to the encoder
wiring diagram.
Note 8: The user must supply the external power supply.
Note 9: R, S, T, r, t, , P, DL2, RB1, RB2, U, V, W are
high-voltage circuits; all other signal lines are low-voltage circuits.
When wiring, maintain sufficient distance between high-voltage
and low-voltage circuits.
Note 10: Installation of a UL compliant and IEC / EN compliant
earth leakage circuit braker is recommended.
Note 11: When wiring the single-phase power supply, do not wire
the S-phase to the amplifier.
Note 12: Always connect the SG (signal ground) between devices
when using differential operation input signals.
Note 13: The internal battery power is common for all units.
Please connect to either CN1A, CN1B or CN5
when using an absolute encoder.
Black
White
Red
Green
Multi-Axis Amplifier
R2AA04003
R2AA04005
R2AA04010
R2AA06010
R2AA06020
R2AA06040
R2AA08020
R2AA08040
R2AA08075
△□◇
△□◇
△□◇
△□◇
△□◇
△□◇
△□◇
△□◇
△□◇
MODEL LL LL LG KL LA LB LE LH LC LR S Q QE LT D1 D2 D3 Oil Seal
With
Brake
Absolute
BrakeMotor
Absolute
Without
Brake
51.5
56.5
72
58.5
69.5
95.5
66.3
78.3
107.3
87.5
92.5
108
82.5
97.5
123.5
102
114
143
00-0.000
06-0.008
535.446 00-0.000
30-0.021 2.5 56 40 25 00-0.000
08-0.009
20 ーー
25 00-0.000
08-0.009 20 ーー
655
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.
644.670 00-0.000
50-0.025 38260
30 00-0.000
14-0.011 25 M5 12
854.490 00-0.000
70-0.030 3 108 80
40
30 00-0.000
14-0.011
00-0.000
16-0.011 35
25
M5 12
None
Note 1)
LZ
2-φ4.5
4-φ5.5
4-φ6.6
For Motor and Ground
Teflon wire (for mounting)
Teflon wire (for mounting)
For Brake Note2 For Encoder
Shield cable (for mounting)
(50)
(50)
(50)
0.06
0.07
0.02
M
M
φS
φLB
Q
LR
LE LG
LL±1
φD2
φD1 φD3
□LC
LZ
φLA
（φLH）
(Option) Note1
Oil seal
Depth LT
QE Tapping
KL
110 0 ±100
110 0 ±100
110 0 ±100
M
15
Servo Motor Dimensions
（Unit : mm）
R2 motor High Efficiency and Low Ripple （Medium Inertia）
*This is shown dimension for motor with brake
16
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
Setup Software
Servo Amplifier Dimensions （Unit : mm）
Single-Axis Amplifier
ScrewM4
ScrewM4
(70) 130
135.5(24)
(27)
60
168
4
48 7
5160
5
(φ 5)
AC SERVO SYSTEMS
(φ 5)
Cooling fan
Wind
direction
5
48 7
5160
4
130(70)
(24)
(27)
135.5
60
168
Screw M4
AC SERVO SYSTEMS
50
(70) 130
Screw M4
135.5(24)
(27)
38 7
5160
5
4
168
CHARGE POWER
P
C
Cooling fan
Wind
direction
AC SERVO SYSTEMS
Screw M4
45
168
(70)
(24)
(27)
130
135.5
4
33 7
5
160
5
AC SERVO SYSTEMS
RS1A01AL(15A)RS1A03AL(30A)
RS1A01AA(15A)RS1A03AA(30A)
RS1J01AL(15A)RS1J03AL(30A)
5±0.5
Screw M4
748
5160
5
4
130
135.5
(70)
(24)
60
168
(27)
(
φ5)
Cooling fan
Wind
direction
AC SERVO SYSTEMS
CHARGE POWER
48 7
5160
5
4
130(70)
(24)
(27)
135.5
60
168
(φ 5)
AC SERVO SYSTEMS
5±0.5
5±0.5
5±0.5 5±0.5
5±0.5
Single-Axis Amplifier With CANopen
17
Servo Amplifier Dimensions （Unit : mm）
RR1A03AA(30A)RR1A01AA(15A)
A
B
627.2
(100)
25
2515 120
150
160
55
6
25 B
A
150
457. 5
4
122.8
60
130
120
5
(140.7)(100)
2-
φ
5
60 122.8
(140.7)
8630
(70)
5
130
120
2-
φ
5
30 122.8
(140.7)
6
8
5
(70)
130
120
φ
5
2-
φ
6
2-φ6
51505
160
130 1515
3
2
1
No.
RRMA800
RRMA600
RRMA400
Model No.
8
6
4
Number of Slots
300
240
180
A
250
190
130
B
Supported size
3
2
1
No.
8
6
4
300
240
180
A
250
190
130
B
Multi-Axis Amplifier
Amplifier Unit
Power Unit Motherboard
System Dimensions
Number of Slots
Supported size
18
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
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.
Setup Software
19
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
20
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
Setup Software
Optional Equipment
PC Side
CN1
Cable
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]
Mounting Hardware [Unit: mm] * Supported For only Single-axis amplifier.
For mounting on the front side of the amplifer
Model No.:AL-00582789-01
Applicable Amplifiers:RS1＊03＊＊＊
Material:SPCC
For mounting on the front side of the amplifer
Model No.:AL-00582788-01
Applicable Amplifiers:RS1＊01＊＊＊
Material:SPCC
188
5
2
For mounting on the rear side of the amplifer
Model No.:AL-00582791-01
Applicable Amplifiers:RS1＊01＊＊＊
Applicable Amplifiers:RS1＊03＊＊＊
Material:SPCC
5
Rear Side
Front Side Front Side
120
47
45
25
10
45
25
5
10
2
5
198
188
2
120
52
45
25
5
10
5
198
188
15A ／30A
15A 30A
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
Lead Wire Black
Pin 2
50±5（24.5）
φ14.5
17MAX.
Lithium battery
Lead Wire Red
Pin 1
Connector
74.5±8Model No.: AL-00494635-01
Lithium battery [Unit: mm]
Mass : 0.02kg
21
Optional Equipment
External Regenerative Resistor Dimensions [Unit: mm]
Silicon Rubber Glass-braided Wire 0.5mm2 , White
132
122
300
6
φ4.3
6
270
120
Silicon Rubber Glass-braided Wire 0.7mm2, Black
(Thermostat)
100
200
220±0.4
230 300
270
φ4.3
6±1
6±1
60±0.4
42.7
20
1.2 4.3
Silicon Rubber Glass-braided Wire 0.5mm2 , White
Silicon Rubber Glass-braided Wire 0.75mm2 , Black
(Thermostat)
＋20
 0
＋15
 0
-0.3
0
A
218
AWG24White
Silicon Rubber Glass-braided Wire 2mm2 , White
Solderiess Terminal (for M5)
2−M5
2・φ4.5
234 -1.2 8
250
3
Ground Mark
700±15
40
80
4.5
M3
60
+0.4
Thermostat
Mass : 0.24kg
Mass : 0.44kg Mass :
1.4kg
Model No. Thermostat
1REGIST-080W100B Normal close
2REGIST-080W50B Normal close
Model No. Thermostat
1REGIST-220W20B Normal close
2REGIST-220W50B Normal close
3REGIST-220W100B Normal close
4REGIST-220W20B Normal close
Model No. A Thermostat
1REGIST-500W20B350
±
15
Thermostat, B-contact
2REGIST-500W20 No
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 0.5mm2 , White
Silicon Rubber Glass-braided Wire 0.75mm2 , Black
(Thermostat)
Model No. Thermostat
1REGIST-120W100BNormal close
2REGIST-120W50BNormal close
Mass : 0.19kg
22
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
Setup Software
Usage Contents Model No. Manufacturer Manufacturer's Part No.
Single
Connectors
CN1
（
Plug, Housing
）
AL - 00385594 Sumitomo 3M10150-3000VE+10350-52A0-008
CN2
（
Plug, Housing
）
AL - 00385596 10120-3000VE+10320-52A0-008
CNA
（
Plug
）
AL - 00329461-01
Phoenix Contact
MSTB2.5/5-STF-5.08
CNB
（
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 - 00393603 Sumitomo 3M
Phoenix Contact
10150-3000VE+10350-52A0-008
10120-3000VE+10320-52A0-008
MSTB2.5/5-STF-5.08
IC2.5/3-STF-5.08
CN1,CN2
（
Plug, Housing
）
AL - 00292309 Sumitomo 3M10150-3000VE+10350-52A0-008
10120-3000VE+10320-52A0-008
Connectors for Single-Axis Amplifier Connections
（200V AC Input Type）
Connectors for Multi-Axis Amplifier Connections
Contents Model No. Manufacturer Manufacturer's Part No.
Single
Connectors
CN1
（
Plug, Housing
）
AL - 00608710 Sumitomo 3M10114-3000PE+10314-52A0-008
CN2
（
Plug, Housing
）
AL - 00385596 10120-3000PE+10320-52A0-008
CNA
（
Plug
）
AL - 00329461-01
Phoenix Contact
MSTB2.5/5-STF-5.08
CNB
（
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 - 00661731 Sumitomo 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
CN1,CN2
（
Plug, Housing
）
AL - 00661729 Sumitomo 3M10114-3000PE+10314-52A0-008
10120-3000PE+10320-52A0-008
Connectors for Amplifier with CANopen
Contents Model No. Manufacturer Manufacturer's Part No.
Single
Connectors
CN1
（
Plug, Housing
）
AL - 00608710 Sumitomo 3M10114-3000PE+10314-52A0-008
CN2
（
Plug, Housing
）
AL - 00385596 10120-3000PE+10320-52A0-008
CNA
（
Plug
）
AL - Y0000988-02
Phoenix Contact
IC2.5/7-STF-5.08
CNB
（
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 - 00667184 Sumitomo 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
CN1,CN2
（
Plug, Housing
）
AL - 00661729 Sumitomo 3M10114 - 3000PE+10314-52A0-008
10120 - 3000PE+10320-52A0-008
②Main Power : 200V AC, Control Power : 24V DC
①Main Power : 200V AC, Control Power : 1 φ
200V AC
Contents Model No. Manufacturer Manufacturer's Part No.
Single
Connectors
Amplifier
Unit
CN1
（
Plug, Housing
）
AL - Y0003305-01 Molex 55100-0670
CN2
（
Plug, Housing
）
AL - 00632607 Sumitomo 3M36310-3200-008
CN6
（
Plug, Housing
）
36210-0100PL
CNC
（
Plug
）
AL - 00632604
J.S.T.Mfg.CO.,LTD
04JFAT-SBXGF-I
 
J-FATOT
Power
Unit
CNA
（
Plug
）
AL - 00632600 05JFAT-SBXGF-I
 
J-FATOT
CNB
（
Plug
）：
Accessory AL - 00632602 06JFAT-SBXGF-I
 
J-FATOT
CN1A
（
Plug, Housing
）
AL - 00385594 Sumitomo 3M10150-3000PE
CN1B
（
Plug, Housing
）
10350-52A0-008
Connector
Sets
Amplifier
Unit
CN1,CN2
（
Plug, Housing
）
CN6,CNC
（
Plug
）
AL - 00632611
J.S.T.Mfg.CO.,LTD 04JFAT-SBXGF-I
Molex 55100-0670
Sumitomo 3M36310-3200-008
36210-0100PL
Power
Unit
CNA
（
Plug
）
CN1A,CN1B
（
Plug, Housing
）
AL - 00632609 Sumitomo 3M10150-3000PE
10350-52A0-008
J.S.T.Mfg.CO.,LTD 05JFAT-SBXGF-I
23
24
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
Setup Software
25
Inquiry Check Sheet
1Name of target equipment Equipment name, category (transport, processing, test, other)
9Encoder type
Encoder type specified ( yes / no )
Yes: (incremental , optical absolute , optical absolute [resolver absolute with incremental function])
Resolution（      ）
2Name of servo axis Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no)
3Current condition of above axis
Manufacturer Name ( ) Series Name ( ) Motor Capacity ( ) Hydraulic, Mechanical, or New System ( )
4Positioning accuracy ±   mm・±   μm
5Operation 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)
6Mechanism
Ball-screw/screw-rotation type (horizontal), ball-screw/nut-rotation type (horizontal),
rack and pinion (horizontal), belt/chain (horizontal), rotary table, roll feed, instability
7Mechanical 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
0Input format Position , velocity , torque , communications ( SERCOS / CAN / DeviceNet ) other (       )
A
Host equipment (controller)
Sequencer , laptop , customer-developed product , Sanyo-provided , other (        )
CEstimated production Single product: (       ) units/mouth (       ) units/year
DDevelopment 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
F
Miscellaneous
(questions, pending problems,
unresolved issues, etc.)
B
Usage environment and other requirements
Cutting , clean-room use , anti-dust measures , other (       )
8Speed reducer Customer-provided ( ／ )・*Sanyo standard(planet/spur/no-backlash-planet ／ ) other( ／ )
ItemContents
Time
Please provide the following infomation when placing an order or making an inquiry.
Also feel free to include any questions that require our attention.
Company Name :
Depatrtment :
Telephone :
Fax :
1) Application :
2) Name of Machinery :
3) Number of Units :
Date :
To contact us :
Phone : +81
3
3917
5157
FAX : +81
3
3917
0643
* Please consult us on selecting suitable reduction gears for your application.
26
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
Setup Software
CATALOG NO. 839-8 ’08.1.N
＊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 goal
of lessening nevironmental impact, from
product 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.com
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