Q
AC SERVO SYSTEMS
Vol.3English
Save installation time and expense
Economical ĠSmaller profile, less wiring time needed
Quick Setup ĠNo adjustment needed; complete with
measurement functions and setup software
Reduced operating costs
Economical ĠEnergy efficient, boosts energy savings
Improved precision and speed
Stability ĠĠĠĠDoubled from earlier models
AccuracyĠĠĠĠMinimal positional deviation
(achieves zero deviation)
Vibration Control ĠRapid response with minimal vibration
Worldwide compatibility assured
ReliabilityĠĠĠImproved MTBF
Maintenance ĠReduced MTTR; offers preventative
maintenance functions,fault location
recognition, and setup software
Safety ĠĠĠĠConforms to international standards
Waterproofing: Entire line meets
IP67 protection standards
(optional for Q1 motors with diameter less than 76mm,and
Q2 motors less than 42mm; Q4 motor components rated at IP40)
INDEX
Features and Functions ĠĠĠp.3
System Configuration ĠĠĠĠp.9
Model Number Nomenclature
Ġp.13
Standard Specifications ĠĠĠp.15
External Wiring Diagram ĠĠp.29
Sensor Wiring Diagram ĠĠĠp.31
Dimensions ĠĠĠĠĠĠĠĠp.33
DC Motor / Amplifier System
Ġp.37
Setup SoftwareĠĠĠĠĠĠĠp.39
Positioning Amplifier Specs.
Ġp.41
Optional Equipment ĠĠĠĠp.43
One Input Point for
All Controls
Torque, position and speed control can be
configured specifically and precisely by modifying
user parameters.
Flat surface
Position
or
speed
Torque
Control
START
GOAL
Incline
Sanyo Denki Q Series Servo Systems reduce the time
and expense needed for system construction and
installation.
3
Real-time Auto
Tuning Function
Machine characteristics are automatically measured
to set the proper servo gain. Optimum settings are
easily achieved.
Tuning initiated
Detected speed value
Speed command value
5-digit LED with
Integrated Controls
Make on-site modifcations and monitor parameter
settings with ease, using the integrated operator
controls.
Test Operations
(JOG Functions)
Use the system's JOG Functions to check
connections between the motor and amplifier, for
simple testing-without having to enter position and
speed commands.
POWERCHARGE
MODE /WR
P
C
C
N
A
C
N
B
C
N
C
C
N
2
C
N
1
-
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
QS1A100A
Capable of JOG operations
without upper controller.
Operations are only tested
between the motor and amplifier.
DCAC P/A/T PF AC P/A/T PF
AC P/A/T AC P/A/T
Smart Motor Recognition/
Configuration Feature
Internal Regenerative
Resistor
Internal Dynamic
Brake
The internal dynamic brake provides emergency
stopcapability during power off or alarm events.
Dynamicbraking sequence parameters are open for
configuration.
4
The servo amplifier automatically configures itself
relative to the servo motor capacity and model type.
[Note that 131,072-division (17-bit) single-rotation
sensor resolution is supported only by PA035 and
PA062 reduced wiring absolute sensors.]
If the capacity of the internal regenerative resistor is
insufficient, an optional external regenerative
resistor can be added to boost power dissipation.
POWERCHARGE
MODE /WR
P
C
C
N
A
C
N
B
C
N
C
C
N
2
C
N
1
-
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
QS1A100A
Internal regenerative resistor
Optional external
regenerative resistor
Rotation speed(min−1)
Time(s)
POWERCHARGE
MODE /WR
P
C
C
N
A
C
N
B
C
N
C
C
N
2
C
N
1
-
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
QS1A100A
Controlled
state Dynamic
braking state
POWERCHARGE
MODE /WR
P
C
C
N
A
C
N
B
C
N
C
C
N
2
C
N
1
-
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
QS1A100A
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
Versatile I/O
Positioning Operation
The system offers simple positioning by means of
specifying point numbers via the I/O of the upper
controller (such as a PLC).
Point Number
Specify “1”
Point 1
Point 0
PLC
Q Motor
POWERCHARGE
MODE /WR
P
C
C
N
A
C
N
B
C
N
C
C
N
2
C
N
1
-
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
QS1A100A
AC P/A/T PF DCAC P/A/T PF
DCAC P/A/T PF PFAC
AC AC Input Type
DC DC Input Type PF Amplifer with
Positioning Function
P/A/TPulse/Analog/Torque
Command Track Control
A new position and speed controller algorithm
improves position control tracking ability to better
than twice that of earlier models. In addition, near-
zero position deviation has been achieved.
Position Deviation
Positioning Command
20ms/div
Faster Positioning
Stabilization
A new speed controller substantially shortens
position stabilization time, to one fifth that of earlier
models.
Stabilization Time
(0.7ms)
Position Completion Signal
Position Deviation
5ms/div
Major improvements in equipment precision and speed
5
Rapid Response
The high-performance CPU shortens sampling time
to half that of earlier models, providing a 600-Hz
frequency response.
1
-20
-30
-40
Gain(dB)
-10
0
10
5 10 50 100 500 1000 1800
Frequency(Hz)
Vibration Control
Vibration control functions such as high-order
torque command low-pass filter, broadband second-
order notch filter and vibration control monitoring
provide rapid-response, low-vibration performance.
Stopping Position Deviation
with vibration control
without vibration contro
100ms/div
AC P/A/T PF
AC P/A/T PF
AC P/A/T PF
AC P/A/T PF
Full-close Control
The system supports full-close control using
information from a high-resolution linear scale
encoder mounted on the load side.
POWERCHARGE
MODE /WR
P
C
C
N
A
C
N
B
C
N
C
C
N
2
C
N
1
-
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
QS1A100A
Load
Capable of precise and
accurate positioning
Power Rating
To decrease positioning stabilization time, the
magnetic circuit has been redesigned to increase the
maximum instantaneous power rating to nearly
twice that of earlier models. In addition, the
maximum rotation speed has been increased by
20% over that of earlier models, to 5000 min-1.
Maximum instantaneous power rating
(kW/s)
Increased maximum instantaneous power rating (Qp=Tp2/Jm)
Improved acceleration and deceleration performance
QMotor Earlier Model QMotor Earlier Model
40mm frame/0.1kw 130mm frame/4kw
0.5
0
1.0
1.5
2.0
2.5
High Resolution
The high-resolution absolute encoder (17 bits or
131,072 divisions) greatly improves positioning
resolution.
H
i
g
h
-
r
e
s
o
l
u
t
i
o
n
e
n
c
o
d
e
r
(
1
7
b
i
t
s
o
r
1
3
1
,
0
7
2
d
i
v
i
s
i
o
n
s
)
RA062 Resolver-type Absolute Encoder Sensor
Reduced Motor
Cogging Torque
New, patented motor technology reduces motor
cogging torque by 33%, to a fifth of that of earlier
models.
This smooth motor rotation is ideal for high-
precision processes and conveyance applications
that are adversely affected by vibration.
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
6
QMotor
Earlier model
0.14 N·m
(1.5% of rated torque)
0.029 N·m
(0.3% of rated torque)
one rotation
one rotation
AC P/A/T PF AC P/A/T PF
AC P/A/T PF AC P/A/T PF
AC AC Input Type
DC DC Input Type PF Amplifer with
Positioning Function
P/A/TPulse/Analog/Torque
Conforms to International
Standards
Standard specification SANMOTION Q Series servo
amplifiers comply with UL, CSA and EN inter-
national standards. SANYO DENKI also provides UL
and EN compliant servo motors, as well as EMC
filters to satisfy applicable EMC directives.
Harmonic Suppression
DC reactor connectors are provided for power
harmonic suppression.
POWERCHARGE
MODE /WR
P
C
C
N
A
C
N
B
C
N
C
C
N
2
C
N
1
-
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
QS1A100A
DL1
DL2
Optional
DC Reactor
Waterproof and Durable
An IP67 ingress protection rating for the entire
SANMOTION Q Series ensures environmental
endurance. (This rating is optional for the Q1 Series
motors of 76 mm dia. MAX. and for Q2 Series of 42
mm dia. Option.)
IP67
Note:The fan motor and fan motor housing of the Q4 Series are rated at IP 40
Rich Product Lineup
SANMOTION Q Series servo motors are available in
62 models, from small to medium capacities. Motors
equipped with brakes and gears are also available.
The small size and low weight of Q Series products
can greatly improve performance and suitability for
a wide range of applications.
Worldwide compatibility is assured
7
AC P/A/T AC P/A/T
AC AC P/A/T PF
Simultaneous
Monitoring Function
The Q Series Setup software can monitor up to 15
axes / amplifiers, a useful function when monitoring
waveforms of synchronous operations.
POWERCHARGE
MODE /WR
P
C
C
N
A
C
N
B
C
N
C
C
N
2
C
N
1
-
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
QS1A100A
POWERCHARGE
MODE /WR
P
C
C
N
A
C
N
B
C
N
C
C
N
2
C
N
1
-
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
QS1A100A
POWERCHARGE
MODE /WR
P
C
C
N
A
C
N
B
C
N
C
C
N
2
C
N
1
-
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
QS1A100A
POWERCHARGE
MODE /WR
P
C
C
N
A
C
N
B
C
N
C
C
N
2
C
N
1
-
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
QS1A100A
POWERCHARGE
MODE /WR
P
C
C
N
A
C
N
B
C
N
C
C
N
2
C
N
1
-
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
QS1A100A
Daisy chain connection for up to 15 axes
Note: Optional PC connection cable is available
RS232C
Max. of 15
amplifiers
Conserves 20% of
Lost Power
Power losses in the amplifier circuitry are reduced
by enhancements such as a low-loss power module.
Motor power losses are reduced by improvements
in the magnetic circuitry, particularly in the
windings. The result is an overall power loss
reduction of 20% as compared to earlier models.
88 to 90% efficiency
Loss is reduced 20%
Power Savings Results
Annual Power Reduction=[Reduced Loss]x[8760 hrs]
86mm flange/0.75kW: 245kWh/unit
130mm flange/2kW: 438kWh/unit
QMotor Previous Model QMotor Previous Model
86mm flange/750W
Relative Power Loss Reduction
(compared to previous models)
130mm flange/2kW
70%
60%
80%
90%
100%
Setup Software via PC
Optional setup software enables the user to set
parameters, graphically display monitoring wave-
forms of position, speed, and torque data, and
perform system analysis functions via a PC
connection
POWERCHARGE
MODE /WR
P
C
C
N
A
C
N
B
C
N
C
C
N
2
C
N
1
-
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
QS1A10A
Parameter setting:
Monitor position,
speed and torque
waveforms
Note: Use optional cable AL-00490833-01
for PC connection
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
8
Reduced Operating Cost
DCAC P/A/T PF
DCAC P/A/T PF
AC P/A/T PF
AC AC Input Type
DC DC Input Type PF Amplifer with
Positioning Function
P/A/TPulse/Analog/Torque
Pulse/Analog/Torque Input Amplifier System Configuration
9
CN1
CN2
CNA CNB CNC
Single
Connectors
Contents Model Number
CN1 (Plug, Housing)
CN1, CN2 (Plug, Housing)
CN1, CN2 (Plug, Housing)
CNA, CNC (Plug)
CN2 (Plug, Housing)
CNA (Plug)
CNB (Plug): Accessory
CNC (Plug)
AL-00385594
AL-00385596
AL-00329461-01
AL-Y0000988-01
AL-00329458-01
AL-00292309
AL-00393603
Connector
Sets
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
Suppresses power harmonics.
DC Reactor
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
Required for use when the
servo motor is equipped
with a brake.
Brake Power
Switches servo power on
and off. Installation of a
surge protector is required.
Electromagnetic Contactor
Use as required, such as for heavy
inertial load operations.
Wiring required for brake.
T
S
R
■Connectors for Amplifier Connections
■Connector Types
10
CN2
A
B
Parameter
configuration and
monitoring is possible
via communication
with a PC.
Monitoring Function
CN1
SANYO DENKI upper
controller devices permit
communication with
third-party products.
Upper Controller
PC
Motor Power Connectors
Cooling Fan Connectors
SMS-15
AL-00490833-01
MS3106B20-15S
(MS3057-12A)
MS3106B24-11S
(MS3057-16A)
MS3106B32-17S
(MS3057-20A)
MS3106B32-17S
(MS3057-20A)
MS3106B20-15S
(MS3057-12A)
MS3106B24-11S
(MS3057-16A)
*Order a plug that conforms to TUV standards for brakes with waterproof specification separately from the motor power connector.
Q1AA10100***
Q1AA10150***
Q1AA10200***
Q1AA10250***
Q1AA12100***
Q1AA12200***
Q1AA12300***
Q1AA13300***
Q1AA13400***
Q1AA13500***
Q1AA18450***
Q1AA18750***
Q2AA10100***
Q2AA10150***
Q2AA13050***
Q2AA13100***
Q2AA10150***
Q2AA13200***
Q2AA18200***
Q2AA18350***
Q2AA18450***
Q2AA18550***
Q2AA18750***
Q2AA2211K***
Q2AA2215K***
Q4AA2211K***
Q4AA2215K***
Motor Model No.
Standard Specification Plug
(Cable Clamp) for Power Side
TUV Standard Plug (Cable Clamp)
with Waterproof Spec. for Power
TUV Standard Plug (Cable Clamp)*
with Waterproof Spec. for Brake
Straight L-Angle Straight L-Angle
MotorModelNo Cooling Fan Standard Specifications
TUV Std. Plug, Waterproof
Straight L-Angle Straight
Straight L-Angle
MS3106B10SL-4S
(MS3057-4A)
MS3108B10SL-4S
(MS3057-4A)
JA06A-10SL-4S-J1
(Single-block)
A
C
Motor Encoder Connectors
MotorModelNo Standard Specification Plug
(Cable Clamp) for Encoder
TUV Standard Plug (Cable Clamp)
with Waterproof Spec. for Encoder
Straight L-Angle Straight L-Angle
MS3106B20-29S MS3108B20-29S
JA06A-20-29S-J1-EB JA06A-20-29S-J1-EB
(MS3057-12A) (MS3057-12A)
(JL04-2022CK)
(JL04-2022CK)
All Q1, Q2, and
Q4 Models
All Q4 Models
B
MS3106B32-17S
(MS3057-20A)
MS3108B20-15S
(MS3057-12A)
MS3108B24-11S
(MS3057-16A)
MS3108B32-17S
(MS3057-20A)
MS3108B32-17S
(MS3057-20A)
MS3108B20-15S
(MS3057-12A)
MS3108B24-11S
(MS3057-16A)
MS3108B32-17S
(MS3057-20A)
JL04V-6A20-15SE-EB
(JL04-2022CK)
JL04V-6A24-11SE-EB
(JL04-2428CK)
JL04V-6A32-17SE
(Single-block)
JL04V-6A32-17SE
(Single-block)
JL04V-6A20-15SE-EB
(JL04-2022CK)
JL04V-6A20-15SE-EB
(JL04-2022CK)
JL04V-8A20-15SE-EB
(JL04-2022CK)
JL04V-6A10SL-3SE-EB
(JL04-1012CK)
JL04V-8A10SL-3SE-EB
(JL04-1012CK)
JL04V-8A24-11SE-EB
(JL04-2428CK)
JL04V-8A20-15SE-EB
(JL04-2022CK)
JL04V-8A24-11SE-EB
(JL04-2428CK)
JL04V-6A10SL-3SE-EB
(JL04-1012CK)
JL04V-8A10SL-3SE-EB
(JL04-1012CK)
JL04V-6A32-17SE
(Single-block)
Setup Software
pp. 39 - 40
External Drawing
p. 29
CN2
A
B
See p.43
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
AC P/A/T
11
Amplifier System (with Positioning Function) Configuration
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
Suppresses power harmonics.
DC Reactor
Required for use when the
servo motor is equipped
with a brake.
Brake Power
Switches servo power on
and off. Requires
installation of a surge
protector.
Electromagnetic Contactor
T
S
R
CN1
CN2
CNA CNB CNC
■Connector Types
Wiring required for brake.
Single
Connectors
Contents Model Number
CN1 (Plug, Housing)
CN1, CN2 (Plug, Housing)
CN1, CN2 (Plug, Housing)
CNA, CNC (Plug)
CN2 (Plug, Housing)
CNA (Plug)
CNB (Plug): Accessory
CNC (Plug)
AL-00385594
AL-00385596
AL-00329461-01
AL-Y0000988-01
AL-00329458-01
AL-00292309
AL-00393603
Connector
Sets
■Connectors for Amplifier Connections
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 operation.
12
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
Parameter
configuration and
monitoring is
possible via
communication
with a PC.
Monitoring Function
CN2
SANYO DENKI
upper controller
devices permit
communication
with third-party
products.
External Drawing
p. 30
Upper Controller
PC
PLC
AL-00490833-01
A
B
CN1
Setup Software
pp. 39 - 40
Cooling Fan Connectors
MotorModelNo Cooling Fan Standard Specifications
TUV Std. Plug, Waterproof
Straight L-Angle Straight
MS3106B10SL-4S
(MS3057-4A)
MS3108B10SL-4S
(MS3057-4A)
JA06A-10SL-4S-J1
(Single-block)
C
Motor Encoder Connectors
MotorModelNo Standard Specification Plug
(Cable Clamp) for Encoder
TUV Standard Plug (Cable Clamp)
with Waterproof Spec. for Encoder
Straight L-Angle Straight L-Angle
MS3106B20-29S MS3108B20-29S
JA06A-20-29S-J1-EB JA06A-20-29S-J1-EB
(MS3057-12A) (MS3057-12A)
(JL04-2022CK)
(JL04-2022CK)
All Q1, Q2, and
Q4 Models
All Q4 Models
B
Motor Power Connectors
MS3106B20-15S
(MS3057-12A)
MS3106B24-11S
(MS3057-16A)
MS3106B32-17S
(MS3057-20A)
MS3106B32-17S
(MS3057-20A)
MS3106B20-15S
(MS3057-12A)
MS3106B24-11S
(MS3057-16A)
*Order a plug that conforms to TUV standards for brakes with waterproof specification separately from the motor power connector.
Q1AA10100***
Q1AA10150***
Q1AA10200***
Q1AA10250***
Q1AA12100***
Q1AA12200***
Q1AA12300***
Q1AA13300***
Q1AA13400***
Q1AA13500***
Q1AA18450***
Q1AA18750***
Q2AA10100***
Q2AA10150***
Q2AA13050***
Q2AA13100***
Q2AA10150***
Q2AA13200***
Q2AA18200***
Q2AA18350***
Q2AA18450***
Q2AA18550***
Q2AA18750***
Q2AA2211K***
Q2AA2215K***
Q4AA2211K***
Q4AA2215K***
Motor Model No.
Standard Specification Plug
(Cable Clamp) for Power Side
TUV Standard Plug (Cable Clamp)
with Waterproof Spec. for Power
TUV Standard Plug (Cable Clamp)*
with Waterproof Spec. for Brake
Straight L-Angle Straight L-Angle Straight L-Angle
A
MS3106B32-17S
(MS3057-20A)
MS3108B20-15S
(MS3057-12A)
MS3108B24-11S
(MS3057-16A)
MS3108B32-17S
(MS3057-20A)
MS3108B32-17S
(MS3057-20A)
MS3108B20-15S
(MS3057-12A)
MS3108B24-11S
(MS3057-16A)
MS3108B32-17S
(MS3057-20A)
JL04V-6A20-15SE-EB
(JL04-2022CK)
JL04V-6A24-11SE-EB
(JL04-2428CK)
JL04V-6A32-17SE
(Single-block)
JL04V-6A32-17SE
(Single-block)
JL04V-6A20-15SE-EB
(JL04-2022CK)
JL04V-6A24-11SE-EB
(JL04-2428CK)
JL04V-8A20-15SE-EB
(JL04-2022CK)
JL04V-6A10SL-3SE-EB
(JL04-1012CK)
JL04V-8A10SL-3SE-EB
(JL04-1012CK)
JL04V-8A24-11SE-EB
(JL04-2428CK)
JL04V-8A20-15SE-EB
(JL04-2022CK)
JL04V-8A24-11SE-EB
(JL04-2428CK)
JL04V-6A10SL-3SE-EB
(JL04-1012CK)
JL04V-8A10SL-3SE-EB
(JL04-1012CK)
JL04V-6A32-17SE
(Single-block) 
See p.43
AC PF
13
Servo Motor Model Number Nomenclature
Q
Q Series
Motor Type
1…Low-inertia
2…Medium-inertia
4…
Low-inertia (high volume)
Supply Votage
AA ……200V Motor
EA ……100V Motor
Flange Size
04 ………40 or 42mm
(1.57 or 1.65in)
05 ………54mm(2.13in)
06 ………60mm(2.36in)
07 ………76mm(2.99in)
08 ………86mm(3.39in)
10 ………100mm(3.94in)
12 ………120mm(4.72in)
13 ………130mm(5.12in)
18 ………180mm(7.09in)
22 ………220mm(8.66in)
Rated Output
003 …30W
005 …50W
006 …60W
010 …100W
020 …200W
030 …300W
040 …400W
050 …500W
075 …750W
Maximum Rotation Speed
Holding Brake
S…1000min-1
M…1500min-1
B…2000min-1
R…2500min-1
H…3000・ 3500min-1
L…3000min-1
D…4500・ 5000min-1
V…2000min-1
Sensor Type
S
…
Red. Wiring Incremental Encoder PP031/PP038/PP062
D
…Absolute (w/ incremental function) Encoder PA035M
P
…
Reduced Wiring Absolute Sensor PA035C
W
…
Reduced Wiring Absolute Sonsor RA062C
X…Without Brake
B…90V Brake
C…24V Brake
Specification
00…Standard
Standard Compliance
E
…
CE Marking
U
…
UL
M
…
CE and UL
Gear
A…A-type 1/3
100 …1kW
150 …1.5kW
200 …2.0kW
350 …3.5kW
450 …4.5kW
550 …5.5kW
750 …7.5kW
11K …11kW
15K …15kW
20K …20kW
D C P E A1 AA 06 020 00
Example: The following model number defines a Q1 (low-inertia) servomotor with a 60-mm square flange,200W
output rating, 5000 min-1 maximum rotation speed, brake (24V), absolute sensor (131,072 divisions/rotation),
CE Marking conformity and A-type 1/3 gear.
Servo Motor
Combined Motor/Sensor Specification
Please contact our Sales Division for assistance.
2000P/R
16384P/R
8000
8000
Standard Supported Range Flange Size
2000P/R・2048P/R 8000・8192
40mm (1.57 in) MIN
42mm (1.65 in) MIN
72mm (2.83 in) MIN
Red. Wiring Incremental
Red. Wiring Incremental
Red. Wiring Incremental
Encoder Pulse Count
Resolution
Encoder Pulse Count Resolution
Model Remarks
Dimension (sq.)
PA035C
PA035M
RA062C
131072(17bit)
8192(13bit)
131072(17bit)
Standard Flange Size
65536(16bit)
−
8192(13bit)
40mm (1.57 in) MIN
74mm (2.91 in) MIN
74mm (2.91 in) MIN
Red. Wiring Absolute
Absolute Incremental
Batteryless
Per rotation
Multiple Rotations
Model Remarks
Dimension (sq.)
PP031
PP038
PP062
−
2000P/R
2000P/R・2500P/R
2000P/R・2048P/R
5000P/R・8192P/R・10000P/R
4096P/R to 25000P/R
（2048・2500×2・4・8・10）
8000・8192・20000
32768・40000
Optical Detection
System
Optical Detection
System
Resolver
System
Incremental TypeAbsolute Type
AC P/A/T PF
14
Servo Amplifier Model Number Nomenclature
Applicable Motor Code
31
…
Q1AA04003D
32
…
Q1AA04005D
33
…
Q1AA04010D
34
…
Q1AA06020D
35
…
Q1AA06040D
36
…
Q1AA07075D
37
…
Q1AA10100D
38
…
Q1AA10150M
39
…
Q1AA10200D
3A
…
Q1AA10250D
3B
…
Q1AA12100D
3C
…
Q1AA12200D
3D
…
Q1AA12300D
3E
…
Q1AA13300D
3F
…
Q1AA13400D
3G
…
Q1AA13500D
3H
…
Q1AA18450M
3S
…
Q1EA04003D
3T
…
Q1EA04005D
3U
…
Q1EA04010D
3V
…
Q1EA06020D
Q1 Series
41
…
Q2AA04006D
42
…
Q2AA04010D
43
…
Q2AA05005D
44
…
Q2AA05010D
45
…
Q2AA05020D
46
…
Q2AA07020D
47
…
Q2AA07030D
48
…
Q2AA07040D
49
…
Q2AA07050D
4A
…
Q2AA08050D
4B
…
Q2AA08075D
4C
…
Q2AA08100D
4D
…
Q2AA10100H
4E
…
Q2AA10150H
4F
…
Q2AA13050H
4G
…
Q2AA13100H
4H
…
Q2AA13150H
4J
…
Q2AA13200H
4K
…
Q2AA18200H
4L
…
Q2AA18350H
4M
…
Q2AA18450R
4N
…
Q2AA18550R
4P
…
Q2AA22250H
4R
…
Q2AA22350H
4S
…
Q2AA22450R
4T
…
Q2AA22550B
4U
…
Q2AA22700S
7M
…
Q2AA18550H
7N
…
Q2AA18750L
7R
…
Q2AA2211KV
7S
…
Q2AA2215KV
4V
…
Q2EA04006D
4W
…
Q2EA04010D
4X
…
Q2EA05005D
4Y
…
Q2EA05010D
4Z
…
Q2EA05020D
71
…
Q2EA07020D
Q2 Series
A1
…
Q4AA1811KB
A2
…
Q4AA1815KB
Q4 Series
Q Series
Amp. capacity
01
…
15A
03
…
30A
05
…
50A
10
…
100A
15
…
150A
30
…
300A
Motor Type
A
…
Rotary Motor
L
…
Linear Motor
Control Section Hardware Type
A
…
Reduced Wiring Absolute Sensor
Red. Wiring Incremental Encoder
T
…
Full-close
C
…
Positioning Function
G
…
Linear Motor Support
Motor Combination
0… Q Motor Standard Comb.
Sensor Combination Description
01…Red. Wiring Incremental Encoder PP031/38/62 (2000P/R)
03
…
Absolute Incremental Encoder PA035M (2048P/R)
A3
…
Red. Wiring Absolute Sensor PA035C 2.5M 17bit
A8
…
Red. Wiring Absolute Sensor RA062C 2.5M 17bit
Interface Specification
S…Speed Control
T…Torque Control
P…Position Control
X…
Speed and Torque Switch
Y…
Position and Torque Switch
U…
Position and Speed Switch
V…
Internal Speed Control
A…
Direct Operation Type
(with positioning function)
Specification
00…Standard
A T 0A 01 34 A3QS1 P00
Input Power and Internal
Regeneration Setting
200V
With Internal Regeneration Resistor
L…15A, 30A, 300A(option.setting)
A…50A,100A,150A
Without Internal Registration Resistor
A…15A,30A,300A
L…50A,100A,150A
100V
With Internal Regeneration Resistor
N
…
15A, 30A
(option.setting)
Without Internal Registration Resistor
E
…
15A,30A
Servo Amplifier
Example: The model number shown below is for when a Q series servo amplifier with input voltage of AC200V, 15A
capacity, full clothesline receiver, and minimum wiring absolute sensor (131,072 divisions per second), and a
Q1 motor with a 200W rated output 60 mm flange size and position control are selected.
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
AC P/A/T PF
15
Servo Motor Amplifier Specifications
Operating Temperature: 0 to 55℃, Relative Humidity: 50% maximum, no condensation
QS1A01  QS1A03 QS1A05
1.25 (2.76) 1.3 (2.87) 2.2 (4.85)
Q1AA06040D
60
0.4
Q1AA07075D
76
0.75
Q1AA10100D
100
1
Q1AA04003D
40
0.03
Q1AA04010D
40
0.1
Q1AA06020D
60
0.2
Q1AA04005D
40
0.05
0.2 0.3 0.5 1.0 1.7 2.5
Motor Model
Motor Flange Dimension
Motor Rated Output
Amplifier Model
Amplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
200V AC Type
Unit
Refer.
Refer.
Refer.
Refer.
200V to 230V AC +10/-15%, 50/60Hz ±3 Hz
kW
kVA
kg(lbs)
Q1AA10150D
100
1.5
Q1AA10250D
100
2.5
Q1AA12100D
120
1
QS1A05 QS1A10 QS1A05 QS1A10
Q1AA12300D
120
Q1AA13300D
130
Q1AA10200D
100
2
3.0
2.2 (4.85)
4.0 4.2 2.5
2.2 (4.85)
4.0 5.0
Motor Model
Motor Flange Dimension
Motor Rated Output
Amplifier Model
Amplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
200V AC Type
Unit
200V to 230V AC +10/-15%, 50/60Hz ±3 Hz
Operating Temperature: 0 to 55℃, Relative Humidity: 50% maximum, no condensation
kW
kVA
kg(lbs) 5.5 (12.13) 5.5 (12.13)
Q1AA12200D
120
2
6.7 8.3 7.4 12.5
6.8 (14.99) 10 (22.05)
Q1AA13400D
130
4
Q1AA18450M
180
4.5
Q1AA18750H
180
7.5
QS1A15 QS1A30
Q1AA13500D
130
5
Motor Model
Motor Flange Dimension
Motor Rated Output
Amplifier Model
Amplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
200V AC Type
Unit
200V to 230V AC +10/-15%, 50/60Hz ±3 Hz
Operating Temperature: 0 to 55℃, RH: 50% maximum, no condensation
kW
kVA
kg(lbs)
0.2 0.3 0.5
Q1EA04003D
40
0.03
Q1EA04010D
40
0.1
Q1EA06020D
60
0.2
1.3 (2.87)1.25 (2.76)
Q1EA04005D
60
0.05
QS1E01  QS1E03
Motor Model
Motor Flange Dimension
Motor Rated Output
Amplifier Model
Amplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
100V AC Type
Unit
100V to 115V AC +10/-15%, 50/60Hz ±3 Hz
Operating Temperature: 0 to 55℃, RH: 50% maximum, no condensation
kW
kVA
kg(lbs)
Amplifiers for Q4 Motors
Amplifiers for Q1 Motors
3
Page 17 Page 18 Page 17
Page 19Page 18Page 17
Page 20
Page 27 Page 28
Refer.
12.5
Q4AA1811KB
180
11
10(2.76)
Q4AA1815KB
180
15
QS1A30 
Motor Model
Motor Flange Dimension
Motor Rated Output
Amplifier Model
Amplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
200V AC Type
Unit
200V to 230V AC +10/-15%, 50/60Hz ±3 Hz
Operating Temperature: 0 to 55℃, RH: 50% maximum, no condensation
kW
kVA
kg(lbs)
Page 19
*Actual power consumption depends on load impedence, and is shown here at the amplifier's rated output.
QS
Servo Amplifier
■Amplifier Capacity 15 to 300A
■Eight Models
16
0.5
Refer.
0.3 0.4 0.3 0.4 0.8 1.0
Motor Model
Motor Flange Dimension
Motor Rated Output
Amplifier Model
Amplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
200V AC Type
Q2AA04006D
42
0.06
Q2AA05005D
54
0.05
Unit
200V to 230V AC +10/-15%, 50/60Hz ±3 Hz
Operating Temperature: 0 to 55℃, Relative Humidity: 50% maximum, no condensation
Q2AA05010D
54
0.1
Q2AA05020D
54
QS1A01
1.25 (2.76)
Q2AA07020D
76
Q2AA7030D
76
0.3
kW
kVA
kg(lbs)
Q2AA04010D
42
0.1
A
mplifiers for Q2 Motors
1.3 1.5 2.0 2.5 3.0
Motor Model
Motor Flange Dimension
Motor Rated Output
Amplifier Model
Amplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
200V AC Type
Unit
200V to 230V AC +10/-15%, 50/60Hz ±3 Hz
Operating Temperature: 0 to 55℃, Relative Humidity: 50% maximum, no condensation
kW
kVA
kg(lbs)
Motor Model
Motor Flange Dimension
Motor Rated Output
Amplifier Model
Amplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
Unit
kW
kVA
kg(lbs)
Q2AA07040D
76
0.4
Q2AA08050D
86
Q2AA08075D
86
0.75
Q2AA08100D
86
QS1A03 QS1A05
1.3 (2.87) 2.2 (4.85)
Q2AA10100H
100
Q2AA10150H
100
1.5
Q2AA07050D
76
1.4 2.5 3.0 5.0 6.9 7.4
200V to 230V AC +10/-15%, 50/60Hz ±3 Hz
Operating Temperature: 0 to 55℃, Relative Humidity: 50% maximum, no condensation
Q2AA13050H
130
0.5
Q2AA13150H
130
1.5
Q2AA13200H
130
Q2AA18200H
180
1.3 (2.87) 2.2 (4.85) 5.5 (12.13) 6.8 (14.99)
Q2AA18350H
180
3.5
Q2AA18450H
180
4.5
QS1A03 QS1A05 QS1A10 QS1A15
Q2AA13100H
130
1.0
200V AC Type
Motor Model
Motor Flange Dimension
Motor Rated Output
Amplifier Model
Amplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
Unit
kW
kVA
kg(lbs)
200V AC Type
Motor Model
Motor Flange Dimension
Motor Rated Output
Amplifier Model
Amplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
Unit
kW
kVA
kg(lbs)
200V AC Type
Motor Model
Motor Flange Dimension
Motor Rated Output
Amplifier Model
Amplifier Power Supply
Operating Temp. and RH
Power Consumption*
Amplifier Mass
Unit
kW
kVA
kg(lbs)
100V AC Type
8.4 5.9 7.4
12.5 15.7 21.4
8.4 10.1 12.2
200V to 230V AC +10/-15%, 50/60Hz ±3 Hz
Operating Temperature: 0 to 55℃, Relative Humidity: 50% maximum, no condensation
Q2AA18550R
180
5.5
Q2AA22350H
220
3.5
Q2AA22450R
220
4.5
Q2AA22550B
220
5.5
6.8 (14.99) 6.8 (14.99)5.5 (12.13)
Q2AA22700S
220
7
Q2AA18550H
180
5.5
Q2AA22250H
220
2.5
QS1A10QS1A15 QS1A15 QS1A30
200V to 230V AC +10/-15%, 50/60Hz ±3 Hz
Op. Temp.: 0 to 55℃, RH: 50% maximum, no condensation
QS1A30
Q2AA18750L
180
7.5
Q2AA2211KV
220
11
Q2AA2215KV
220
15
Q2EA04006D
42
0.06
Q2EA05005D
54
0.05
Q2EA05010D
54
0.1
Q2EA05020D
54
QS1E01 QS1E03
Q2EA07020D
76
Q2EA04010D
42
0.1
0.3 0.5 0.3 0.5 1.0
1.3 (2.87)
100V to 115V AC +10/-15%, 50/60Hz ±3 Hz
Operating Temperature: 0 to 55℃, Relative Humidity: 50% maximum, no condensation
1.25 (2.76)
0.2
1
2
0.2
10 (22.05)
10 (22.05)
10.1
Page 21 Page 22 Page 21
Page 21 Page 22 Page 23
Page 24Page 23Page 24
Page 24
Page 25Page 26
Page 28Page 27
Page 25 Page 26
Refer.
Refer.
Refer.
Refer.
Refer.
*
Actual power consumption depends on load impedence, and is shown here at the amplifier's rated output.
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
Amplifier Dwgs p.35-36
AC P/A/T PF
17
Flange Size
40mm to 120mm
(1.57in to 4.72in)
30W to 2.5kW
(18 models)
Capacity
High Power
(Low Inertia)
Features
★: 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℃.
Note
: Actual power
consumption depends
on load impedance.
Servo Motor Standard Specifications
100V System p.27-28
Motor Dwgs p.33-34
Q1
Servo Motor
200V System
Rated Output
Rated Rotation Speed
Max. Rotation Speed
Rated Torque
Continuous Stall Torque
Inst. Max. Stall Torque
Rated Armature Current
Continuous Stall Armature Current
Instant. Max. Stall Armature Current
Torque Constant
Induced Voltage Constant
Per-Phase Armature Resistance
Rated Power Rate
Electrical Time Constant
Mechanical Time Constant
Rotor Inertia (INC)
Sensor: Reduced Wiring INC
Mass-including Red. Wiring INC
Brake Holding Torque
Brake Excitation Voltage
Brake Excitation Current
Brake Inertia
Brake Mass
Motor Operating Temp, Rel. Humidity
Status
★
★
★
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
Amplifier Model
Motor Model and Flange Dimension in mm(in)
QS1A01
3000
5000
2000
90/24
0.07/0.26
0.0078x10-4 (0.04)
0.24 (0.53)
0 to 40℃; maximum 90% RH (no condensation)
Q1AA04003D
40mm (1.57in)
0.03
0.098(13.88)
0.108 (15.29)
0.322 (45.60)
0.49
0.53
2.2
0.220
7.68
15
9.60
0.87
0.93
0.01x10-4 (0.05)
0.3 (0.66)
0.098 (13.88)
Q1AA04005D
40mm (1.57in)
0.05
0.159 (22.52)
0.159 (22.52)
0.477 (67.55)
0.80
0.80
2.9
0.230
8.0
8.1
18.8
0.8
0.6
0.0134x10-4 (0.07)
0.35 (0.77)
0.157 (22.23)
Rated Output
Rated Rotation Speed
Max. Rotation Speed
Rated Torque
Continuous Stall Torque
Inst. Max. Stall Torque
Rated Armature Current
Continuous Stall Armature Current
Instant. Max. Stall Armature Current
Torque Constant
Induced Voltage Constant
Per-Phase Armature Resistance
Rated Power Rate
Electrical Time Constant
Mechanical Time Constant
Rotor Inertia (INC)
Sensor: Reduced Wiring INC
Mass-including Red. Wiring INC
Brake Holding Torque
Brake Excitation Voltage
Brake Excitation Current
Brake Inertia
Brake Mass
Motor Operating Temp, Rel. Humidity
Status
★
★
★
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
Amplifier Model
Motor Model and Flange Dimension in mm(in)
QS1A05
3000
2000
90/24
0.2/0.75
0 to 40℃; maximum 90% RH (no condensation)
Q1AA10100D
100mm (3.94in)
1
5000
3.19 (451.73)
3.92 (555.10)
10.5 (1486.87)
6.5
7.8
24.5
0.55
19.3
0.34
78.9
7.6
0.43
1.29x10-4 (7.05)
5.4 (11.90)
3.92 (555.10)
0.15x10-4 (0.82)
1.3 (2.87)
Q1AA10150D
100mm (3.94in)
1.5
4500
4.79 (678.30)
4.9 (693.87)
14.7 (2081.62)
8.2
8.2
26.5
0.705
24.6
0.272
143
11.4
0.26
1.61x10-4 (8.80)
6.5 (14.33)
7.84 (1110.20)
0.4x10-4 (2.19)
1.5 (3.31)
18
Q1 QS
AC電源入力
DC電源入力
オプション Q2 Q4
セットアップソフトウェア
位置決め機能付の
機能と動作例 Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
10000 2000 3000 4000 5000 6000
0
0.5
1.0
1.5
2.0
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
0.5
1.0
1.5
2.0
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
1.0
2.0
3.0
4.0
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
2.0
4.0
6.0
8.0
Speed [min-1]
Torque [N.m]
30000 60005000400020001000
0
5
10
15
20
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
10
20
30
40
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
5
10
15
20
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
10
20
30
40
Speed [min-1]
Torque [N.m]
AC P/A/T PF
3000
5000
2000
90/24
0.07/0.31
0.06x10-4 (0.33)
0.44 (0.97)
0 to 40℃; maximum 90% RH (no condensation)
QS1A01 QS1A03
Q1AA04010D
40mm (1.57in)
0.1
0.318 (45.03)
0.318 (45.03)
0.955 (135.23)
1
1
3.6
0.360
12.6
7.6
43.4
0.97
0.41
0.0233x10-4 (0.13)
0.5 (1.10)
0.32 (45.31)
0.07/0.26
0.0078x10-4 (0.04)
0.24 (0.53)
Q1AA06020D
60mm (2.36in)
0.2
0.637 (90.20)
0.637 (90.20)
1.91 (270.47)
1.5
1.5
5.8
0.49
17.2
2.5
28.7
3.3
0.4
0.141x10-4 (0.77)
1.1 (2.43)
0.637 (90.20)
Q1AA06040D
60mm (2.36in)
0.4
1.27 (179.84)
1.27 (179.84)
3.82 (540.94)
2.9
2.9
10.5
0.510
17.8
1.3
65.3
3.7
0.4
0.247x10-4 (1.35)
1.73 (3.75)
1.274 (180.41)
Q1AA07075D
76mm (2.99in)
0.75
2.38 (337.02)
2.38 (337.02)
7.16 (1013.91)
4.5
4.5
15
0.61
21.4
0.63
89.1
6.3
0.32
0.636x10-4 (3.48)
3.3 (7.28)
2.38 (337.02)
0.08/0.37
0.343x10-4 (1.88)
0.8 (1.76)
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
3000
5000
2000
90/24
0.2/0.75
0 to 40℃; maximum 90% RH (no condensation)
QS1A10
0.4x10-4 (2.19)
1.5 (3.31)
Q1AA10200D
100mm (3.94in)
2
6.37 (902.04)
7.36 (1042.23)
19.6 (2775.50)
15.9
18
55
0.47
16.4
0.086
189
12.1
0.25
2.15x10-4 (11.76)
8.7 (19.18)
7.84 (1110.20)
Q1AA10250D
100mm (3.94in)
2.5
7.97 (1128.61)
8.82 (1248.97)
24.4 (3455.21)
16.6
17.2
55
0.587
20.5
0.104
240
13
0.24
2.65x10-4 (14.49)
9.4 (20.72)
9.8 (1387.75)
QS1A05
Q1AA12100D
120mm (4.72in)
1
3.19 (451.73)
3.92 (555.10)
11 (1557.68)
6.2
7.5
24.5
0.578
20.2
0.19
45.2
13
0.38
2.25x10-4 (12.30)
5.4 (11.90)
3.92 (555.10)
0.15x10-4 (0.82)
1.3 (2.87)
QS1A10
Q1AA12200D
120mm (4.72in)
2
6.37 (902.04)
7.36 (1042.23)
21 (2973.75)
14.3
16.2
53
0.5
17.6
0.06
93
20
0.31
4.37x10-4 (23.89)
8.7 (19.18)
7.84 (1110.20)
0.4x10-4 (2.19)
1.5 (3.31)
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
19
Servo Motor Standard Specifications
10000 2000 3000 4000
0
50
100
150
200
250
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000
0
100
50
150
200
250
300
Speed [min-1]
Torque [N.m]
Flange Size
120mm to 180mm
(4.72in to 7.09in)
3kW to 7.5kW
(18 models)
Capacity
High Power
(Low Inertia)
Features
Q1
Servo Motor
200V System
100V System p.27-28
Motor Dwgs p.33-34
Flange Size
180mm to 220mm
(3.94in to 8.66in)
11kW to 20kW
(3 models)
Capacity
High Power
(Low Inertia)
Features
Q4
Servo Motor
200V System
Motor Dwgs p.33-34
Rated Output
Rated Rotation Speed
Max. Rotation Speed
Rated Torque
Continuous Stall Torque
Inst. Max. Stall Torque
Rated Armature Current
Continuous Stall Armature Current
Instant. Max. Stall Armature Current
Torque Constant
Induced Voltage Constant
Per-Phase Armature Resistance
Rated Power Rate
Electrical Time Constant
Mechanical Time Constant
Rotor Inertia (INC)
Sensor: Reduced Wiring INC
Mass-including Red. Wiring INC
Brake Holding Torque
Brake Excitation Voltage
Brake Excitation Current
Brake Inertia
Brake Mass
Motor Operating Temp, Rel. Humidity
Status
★
★
★
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
Amplifier Model
Motor Model and Flange Dimension in mm(in)
QS1A10
3
3000
2000
11.4 (25.13)
11.8 (1670.96)
90/24
0.2/0.75
0.5x10-4 (2.73)
1.7(3.75)
0 to 40℃; maximum 90% RH (no condensation)
Q1AA12300D
120mm (4.72in)
5000
9.6 (1359.43)
11 (1557.68)
31 (4389.82)
16.2
17.3
55
0.73
25.4
0.075
143
13.9
0.3
6.4x10-4 (34.99)
Q1AA13300D
130mm (5.12in)
4500
9.5 (1345.27)
10.8 (1529.36)
28.4 (4021.64)
16.7
17.6
55
0.693
24.2
0.087
184
17.9
0.27
4.92x10-4 (26.90)
★: 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℃.
Note
: Actual power
consumption depends
on load impedance.
Rated Output
Rated Rotation Speed
Max. Rotation Speed
Rated Torque
Continuous Stall Torque
Inst. Max. Stall Torque
Rated Armature Current
Continuous Stall Armature Current
Instant. Max. Stall Armature Current
Torque Constant
Induced Voltage Constant
Per-Phase Armature Resistance
Rated Power Rate
Electrical Time Constant
Mechanical Time Constant
Rotor Inertia (INC)
Sensor: Reduced Wiring INC
Mass-including Red. Wiring INC
Brake Holding Torque
Brake Excitation Voltage
Brake Excitation Current
Brake Inertia
Brake Mass
Motor Operating Temp, Rel. Humidity
Cooling Fan Motor
Status
★
★
★
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
PF
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
W
Amplifier Model
Motor Model and Flange Dimension in mm(in)
QS1A30
1500
2000
2000
ーーーー
ーーーー
ーーーー
ーーーー
ーーーー
0 to 40℃; maximum 90% RH (no condensation)
39/33 200V AC +10% Single phase 50/60Hz
Q4AA1811KB
180mm (3.94in)
11
70 (9912.49)
70 (9912.49)
190 (26905.33)
54
53
155
1.42
49.7
0.025
780
31
0.23
63 (3444512.08)
60 (132.28)
Q4AA1815KB
180mm (8.66in)
15
95.5 (13523.47)
95.5 (13523.47)
220 (31153.54)
61
59
155
1.75
61.1
0.032
1100
32
0.27
85 (4647357.57)
75 (165.35)
★: 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℃.
Note
: Actual power
consumption depends
on load impedance.
20
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
10000 2000 3000 4000 5000 6000
0
10
20
30
40
Speed [min-1]
Torque [N.m]
10000 20001500500
0
30
60
90
120
Speed [min-1]
Torque [N.m]
0 2000 4000 5000 6000
0
50
100
150
1000 3000
Speed [min-1]
Torque [N.m]
30000 60005000400020001000
0
20
40
60
80
Speed [min-1]
Torque [N.m]
AC P/A/T PF
2000
90/24
0 to 40℃; maximum 90% RH (no condensation)
Q1AA13400D
130mm (5.12in)
4
12.7 (1798.41)
14.7 (2081.62)
39.2 (5550.99)
23.4
26.4
0.612
21.4
0.048
251
19.2
0.25
6.43x10-4 (3.17)
14.4 (31.75)
3000
4500
19.6 (2775.50)
0.25/0.95
0.58x10-4 (3.17)
2.2 (4.85)
1500
0.37/1.4
QS1A15
Q1AA13500D
130mm (5.12in)
5
15.7 (2223.23)
18.1 (2563.09)
47.6 (6740.49)
25.8
27.5
83
0.724
25.3
0.0461
291
20.8
0.22
8.47x10-4 (46.31)
18.1 (39.90)
Q1AA18450M
180mm (7.09in)
4.5
1500
28.5 (4035.80)
31.6 (4474.78)
105 (14868.73)
24.8
24.8
1.37
47.7
0.0838
295
24
0.37
27.5x10-4 (150.36)
21.7 (47.84)
32 (4531.42)
5.5x10-4 (30.07)
5 (11.02)
QS1A30
Q1AA18750H
180mm (7.09in)
7.5
3000
48 (6797.14)
55 (7788.38)
125 (17700.87)
55
60
155
0.91
31.7
0.021
443
23
0.40
52x10-4 (284.31)
47 (103.62)
54.9 (7774.22)
5.5x10-4 (30.07)
6 (13.23)
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
(Note 1)
Q4AA2220KB
220mm (8.66in)
20
1500
2000
127 (17984.09)
127 (17984.09)
305 (43190.13)
106
102
262
1.4
48.8
0.012
1600
46
0.19
102 (5576829.09)
2000
104 (22.928)
ーーーー
ーーーー
ーーーー
ーーーー
ーーーー
0 to 40℃; maximum 90% RH (no condensation)
39/33 200V AC +10% Single phase 50/60Hz
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
Note1: For those interested in the 20kW Q4 motor, please
contact our Sales Division for assistance.
21
Servo Motor Standard Specifications
10000 2000 3000 4000 5000 6000
0
1.0
2.0
3.0
4.0
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
2.0
4.0
6.0
8.0
Speed [min-1]
Torque [N.m]
Flange Size
42mm to 86mm
(1.65in to 3.39in)
50W to 1kW
(31 models)
Capacity
High Efficiency
and Low Ripple
(Medium Inertia)
Features
★: 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℃.
Note
: Actual power
consumption depends
on load impedance.
100V System p.27-28
Motor Dwgs p.33-34
Q2
Servo Motor
200V System
Rated Output
Rated Rotation Speed
Max. Rotation Speed
Rated Torque
Continuous Stall Torque
Inst. Max. Stall Torque
Rated Armature Current
Continuous Stall Armature Current
Instant. Max. Stall Armature Current
Torque Constant
Induced Voltage Constant
Per-Phase Armature Resistance
Rated Power Rate
Electrical Time Constant
Mechanical Time Constant
Rotor Inertia (INC)
Sensor: Reduced Wiring INC
Mass-including Red. Wiring INC
Brake Holding Torque
Brake Excitation Voltage
Brake Excitation Current
Brake Inertia
Brake Mass
Motor Operating Temp, Rel. Humidity
Status
★
★
★
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
Amplifier Model
Motor Model and Flange Dimension in mm(in)
QS1A01
3000
5000
2000
90/24
0.07/0.26
0.0078x10-4 (0.04)
0.24 (0.53)
0 to 40℃; maximum 90% RH (no condensation)
Q2AA04006D
42mm (1.65in)
0.06
0.191 (27.05)
0.216 (30.59)
0.65 (92.04)
0.67
0.67
2.7
0.310
10.97
11.3
6.46
0.69
1.94
0.0565x10-4 (0.31)
0.46 (1.01)
0.191 (27.05)
Q2AA04010D
42mm (1.65in)
0.1
0.318 (45.03)
0.353 (49.99)
1 (141.61)
1.1
1.2
3.6
0.325
11.34
6.77
11.8
0.56
1.7
0.086x10-4 (0.47)
0.59 (1.30)
0.319 (45.17)
Rated Output
Rated Rotation Speed
Max. Rotation Speed
Rated Torque
Continuous Stall Torque
Inst. Max. Stall Torque
Rated Armature Current
Continuous Stall Armature Current
Instant. Max. Stall Armature Current
Torque Constant
Induced Voltage Constant
Per-Phase Armature Resistance
Rated Power Rate
Electrical Time Constant
Mechanical Time Constant
Rotor Inertia (INC)
Sensor: Reduced Wiring INC
Mass-including Red. Wiring INC
Brake Holding Torque
Brake Excitation Voltage
Brake Excitation Current
Brake Inertia
Brake Mass
Motor Operating Temp, Rel. Humidity
Status
★
★
★
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
Amplifier Model
Motor Model and Flange Dimension in mm(in)
3000
5000
2000
90/24
0.08/0.3
0.245x10-4 (1.34)
0.57 (1.26)
0 to 40℃; maximum 90% RH (no condensation)
QS1A01
Q2AA07030D
76mm (2.99in)
0.3
0.955 (135.23)
0.98 (138.77)
3.4 (481.46)
2.1
2.5
7.9
0.519
18.1
2.22
20.3
2.5
1.1
0.45x10-4 (2.46)
1.7 (3.5)
0.98 (138.77)
QS1A03
Q2AA07040D
76mm (2.99in)
0.4
1.273 (180.27)
1.372 (194.28)
4.1 (580.59)
3.0
3.1
12
0.482
16.8
1.26
21.6
2.6
1.2
0.75x10-4 (4.10)
2.0 (4.41)
1.37 (194.00)
22
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
10000 2000 3000 4000 5000 6000
0
0.2
0.4
0.6
0.8
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
0.5
1.0
1.5
2.0
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
1.0
2.0
3.0
4.0
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
1.0
2.0
3.0
4.0
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
2.0
4.0
6.0
8.0
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
2.0
4.0
6.0
8.0
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
5
10
15
20
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
5
10
15
20
Speed [min-1]
Torque [N.m]
AC P/A/T PF
QS1A01
3000
5000
2000
90/24
0 to 40℃; maximum 90% RH (no condensation)
0.2
0.637 (90.20)
0.686 (97.14)
Q2AA05005D
54mm (2.13in)
0.05
0.159 (22.52)
0.167 (23.65)
0.518 (73.35)
0.86
0.88
3.3
0.210
7.26
4.72
3.78
0.70
2.2
0.067x10-4 (0.37)
0.53 (1.17)
0.167 (23.65)
Q2AA05010D
54mm (2.13in)
0.1
0.318 (45.03)
0.353 (49.99)
1.06 (150.10)
1.1
1.2
4.3
0.33
11.4
4.05
7.78
1.0
1.5
0.13x10-4 (0.71)
0.74 (1.63)
0.353 (49.99)
0.11/0.4
0.029x10-4 (0.16)
0.3 (0.66)
Q2AA05020D
54mm (2.13in)
2.05 (290.29)
1.6
1.7
5.9
0.435
15.2
3.24
16.2
0.92
1.3
0.25x10-4 (1.37)
1.1 (2.43)
0.353 (49.99)
Q2AA07020D
76mm (2.99in)
2.1 (297.37)
2.1
2.2
7.5
0.34
11.8
1.88
10.6
1.8
1.9
0.38x10-4 (2.08)
1.4 (3.09)
0.69 (97.71)
0.08/0.3
0.245x10-4 (1.34)
0.57 (1.26)
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
3000
5000
2000
90/24
0.08/0.33
0 to 40℃; maximum 90% RH (no condensation)
QS1A01
Q2AA07050D
76mm (2.99in)
0.5
1.59 (225.16)
1.85 (261.97)
5.2 (736.36)
4.3
5.0
15
0.442
15.4
0.8
27.3
2.6
1.3
0.85x10-4 (4.65)
2.3 (5.07)
1.85 (261.97)
0.245x10-4 (1.34)
0.57 (1.26)
Q2AA08050D
86mm (3.39in)
0.5
1.592 (225.44)
1.96 (277.55)
6.56 (928.94)
3.7
4.3
15
0.520
18.1
0.8
19.4
3.3
1.2
1.3x10-4 (7.11)
2.75 (5.95)
1.96 (277.55)
Q2AA08075D
86mm (3.39in)
0.75
2.387 (338.02)
2.941 (416.47)
9 (1274.46)
5.9
7.0
23.7
0.441
15.4
0.358
27.5
3.6
1.1
2.07x10-4 (11.32)
3.9 (8.60)
0.343x10-4 (1.88)
0.8 (1.76)
QS1A05
2.94 (16.32)
Q2AA08100D
86mm (3.39in)
1
3.18 (450.31)
3.92 (555.10)
12.5 (1770.09)
6.0
6.9
25
0.59
20.5
0.410
37
4.1
0.96
2.7x10-4 (14.76)
5.1 (11.24)
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
23
Servo Motor Standard Specifications
10000 2000 3000 4000
0
5
10
15
20
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000
0
10
20
30
40
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000
0
10
20
30
40
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000
0
10
20
30
50
40
60
Speed [min-1]
Torque [N.m]
Flange Size
100mm to 220mm
(3.94in to 8.66in)
500W to 5.5kW
(31 models)
Capacity
High Efficiency
and Low Ripple
(Medium Inertia)
Features
★: 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℃.
Note
: Actual power
consumption depends
on load impedance.
100V System p.27-28
Motor Dwgs p.33-34
Q2
Servo Motor
200V System
Rated Output
Rated Rotation Speed
Max. Rotation Speed
Rated Torque
Continuous Stall Torque
Inst. Max. Stall Torque
Rated Armature Current
Continuous Stall Armature Current
Instant. Max. Stall Armature Current
Torque Constant
Induced Voltage Constant
Per-Phase Armature Resistance
Rated Power Rate
Electrical Time Constant
Mechanical Time Constant
Rotor Inertia (INC)
Sensor: Reduced Wiring INC
Mass-including Red. Wiring INC
Brake Holding Torque
Brake Excitation Voltage
Brake Excitation Current
Brake Inertia
Brake Mass
Motor Operating Temp, Rel. Humidity
Status
★
★
★
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
Amplifier Model
Motor Model and Flange Dimension in mm(in)
QS1A05
2000
2000
90/24
0.20/0.75
0 to 40℃; maximum 90% RH (no condensation)
Q2AA10100H
100mm (3.94in)
1
3500
5 (708.03)
6 (849.64)
16.6 (2350.68)
6.8
8.1
24.5
0.814
28.4
0.477
46.0
4.8
1.2
5.44x10-4 (29.74)
5.4 (11.90)
3.92 (555.10)
0.15x10-4 (0.82)
1.3 (2.87)
Q2AA10150H
100mm (3.94in)
1.5
3000
7.2 (1019.57)
8 (1132.86)
20.5 (2902.94)
8.6
9.4
25.5
0.94
32.7
0.34
65
6
0.93
8x10-4 (43.74)
6.5 (14.33)
7.84 (1110.20)
0.4x10-4 (2.19)
1.5 (3.31)
Rated Output
Rated Rotation Speed
Max. Rotation Speed
Rated Torque
Continuous Stall Torque
Inst. Max. Stall Torque
Rated Armature Current
Continuous Stall Armature Current
Instant. Max. Stall Armature Current
Torque Constant
Induced Voltage Constant
Per-Phase Armature Resistance
Rated Power Rate
Electrical Time Constant
Mechanical Time Constant
Rotor Inertia (INC)
Sensor: Reduced Wiring INC
Mass-including Red. Wiring INC
Brake Holding Torque
Brake Excitation Voltage
Brake Excitation Current
Brake Inertia
Brake Mass
Motor Operating Temp, Rel. Humidity
Status
★
★
★
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
Amplifier Model
Motor Model and Flange Dimension in mm(in)
2000
3500
2000
90/24
0.37/1.4
5.5x10-4 (30.07)
5 (11.02)
0 to 40℃; maximum 90% RH (no condensation)
QS1A10
Q2AA18200H
180mm (7.09in)
2
9.5 (1345.27)
12 (1699.28)
27.9 (3950.84)
15
18
55
0.75
25.9
0.075
45.7
14.7
0.82
20x10-4 (109.3496)
13.6 (29.98)
12 (1699.28)
QS1A15
Q2AA18350H
180mm (7.09in)
3.5
16.7 (2364.84)
21.1 (2987.91)
55 (7788.38)
22.6
28
83
0.840
29.3
0.048
73
15
0.77
38x10-4 (207.76)
17.7 (39.02)
32 (4531.42)
24
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
30000 400020001000
0
20
40
60
80
Speed [min-1]
Torque [N.m]
30000 400020001000
0
30
60
90
120
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000
0
2.0
4.0
6.0
8.0
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000
0
5
10
15
20
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000
0
10
20
30
40
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000
0
10
20
30
40
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000
0
10
20
30
40
Speed [min-1]
Torque [N.m]
30000 400020001000
0
20
40
60
80
Speed [min-1]
Torque [N.m]
AC P/A/T PF
QS1A05
2000
2000
90/24
0.25/0.86
0.5x10-4 (2.73)
1.5 (3.31)
0 to 40℃; maximum 90% RH (no condensation)
3500
QS1A03
Q2AA13050H
130mm (5.12in)
0.5
3500
2.5 (354.02)
3 (424.82)
7.1 (1005.41)
4.6
5.2
15
0.607
21.2
0.442
22.3
8.5
1.0
2.8x10-4 (15.31)
4.7 (10.36)
3.5 (495.62)
0.25/0.91
1.3 (2.87)
Q2AA13100H
130mm (5.12in)
1.0
3000
5 (708.03)
6 (849.64)
15 (2124.10)
7
8.3
23.7
0.803
28.0
0.276
46
12
0.69
5.4x10-4 (29.52)
6.6 (14.55)
9 (1274.46)
Q2AA13150H
130mm (5.12in)
1.5
7.5 (1062.05)
9 (1274.46)
20.3 (2874.62)
8.7
10.2
26.5
0.981
34.2
0.266
64
12
0.73
8.8x10-4 (48.11)
7.8 (17.20)
9 (1274.46)
QS1A10
Q2AA13200H
130mm (5.12in)
2
9.55 (1352.35)
12 (1699.28)
30.5 (4319.01)
13.1
16.3
48
0.822
29.0
0.119
78
14
0.63
12x10-4 (65.61)
9.8 (21.61)
12 (1699.28)
0.28/1.0
1.7 (3.75)
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
2000
90/24
0 to 40℃; maximum 90% RH (no condensation)
QS1A15
0.37/1.4
Q2AA18450H
180mm (7.09in)
4.5
2000
3000
21.5 (3044.55)
27.1 (3837.55)
70 (9912.49)
24
29
81
1.04
36.4
0.044
84.0
18
0.67
55x10-4 (300.71)
21.7 (47.84)
32 (4531.42)
5.5x10-4 (30.07)
5 (11.02)
Q2AA18550R
180mm (7.09in)
5.5
1500
2500
35 (4956.24)
37.3 (5281.94)
88 (12461.42)
32.2
33.7
83
1.24
43.2
0.039
180
21
0.53
69x10-4 (377.26)
31.7 (69.89)
54.9 (7774.22)
5.5x10-4 (30.07)
6 (13.23)
QS1A10
Q2AA22250H
220mm (8.66in)
2.5
12 (1699.28)
13.5 (1911.69)
30 (4248.21)
19.6
21.8
55
0.685
23.9
0.0735
44.7
12
1.5
32.2x10-4 (176.05)
15.5 (34.17)
2000
3500
32 (4531.42)
0.42/1.6
9.9x10-4 (54.13)
5.9 (13.01)
QS1A15
Q2AA22350H
220mm (8.66in)
3.5
17 (2407.32)
22 (3115.35)
50 (7080.35)
23.3
29.8
78
0.814
28.4
0.0559
61.1
15
1.2
47.33x10-4 (258.78)
18.5 (40.79)
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
25
Servo Motor Standard Specifications
Flange Size
180mm to 220mm
(3.94in to 8.66in)
4.5KW to 15KW
(31 models from
50W to 15kW)
Capacity
High Efficiency
and Low Ripple
(Medium Inertia)
Features
★: 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℃.
Note
: Actual power
consumption depends
on load impedance.
100V System p.27-28
Motor Dwgs p.33-34
Q2
Servo Motor
200V System
Rated Output
Rated Rotation Speed
Max. Rotation Speed
Rated Torque
Continuous Stall Torque
Inst. Max. Stall Torque
Rated Armature Current
Continuous Stall Armature Current
Instant. Max. Stall Armature Current
Torque Constant
Induced Voltage Constant
Per-Phase Armature Resistance
Rated Power Rate
Electrical Time Constant
Mechanical Time Constant
Rotor Inertia (INC)
Sensor: Reduced Wiring INC
Mass-including Red. Wiring INC
Brake Holding Torque
Brake Excitation Voltage
Brake Excitation Current
Brake Inertia
Brake Mass
Motor Operating Temp, Rel. Humidity
Status
★
★
★
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
Amplifier Model
Motor Model and Flange Dimension in mm(in)
QS1A15
2000
90/24
0 to 40℃; maximum 90% RH (no condensation)
Q2AA22450R
220mm (8.66in)
4.5
2000
2500
21.5 (3044.55)
32 (4531.42)
70 (9912.49)
23
33
83
1.06
37.1
0.0497
68.5
19
0.89
67.45x10-4 (368.78)
22 (48.50)
32 (4531.42)
0.42/1.6
9.9x10-4 (54.13)
5.9 (13.01)
Q2AA22550B
220mm (8.66in)
5.5
1500
2000
35 (4956.24)
42 (5947.49)
90 (12744.63)
30
35.1
79.7
1.32
46
0.0464
128.5
24
0.76
95.3x10-4 (521.05)
34.8 (76.72)
90 (12744.63)
0.36/1.3
23x10-4 (125.75)
10.4 (22.93)
Rated Output
Rated Rotation Speed
Max. Rotation Speed
Rated Torque
Continuous Stall Torque
Inst. Max. Stall Torque
Rated Armature Current
Continuous Stall Armature Current
Instant. Max. Stall Armature Current
Torque Constant
Induced Voltage Constant
Per-Phase Armature Resistance
Rated Power Rate
Electrical Time Constant
Mechanical Time Constant
Rotor Inertia (INC)
Sensor: Reduced Wiring INC
Mass-including Red. Wiring INC
Brake Holding Torque
Brake Excitation Voltage
Brake Excitation Current
Brake Inertia
Brake Mass
Motor Operating Temp, Rel. Humidity
Status
★
★
★
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
Amplifier Model
Motor Model and Flange Dimension in mm(in)
QS1A01
Q2AA04006D
42mm (1.65in)
15
1500
2000
95.5 (13523.47)
95.5 (13523.47)
215 (30445.50)
66
66
157
1.54
53.6
0.016
360
33
0.52
255x10-4 (1394.21)
2000
70 (154.32)
90 (12744.63)
90/24
0.44/1.7
24x10-4 (131.22)
11 (24.25)
0 to 40℃; max. 90% RH (no condensation)
26
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
0 500 1000 1500 2000
0
50
100
150
200
Speed [min-1]
Torque [N.m]
0 2000 4000 5000 6000
0
50
100
150
1000 3000
Speed [min-1]
Torque [N.m]
0 2000 4000 5000 6000
0
50
100
150
1000 3000
Speed [min-1]
Torque [N.m]
0 1000 2000 3000
0
100
50
150
200
Speed [min-1]
Torque [N.m]
AC P/A/T PF
3000
2000
54.9 (7774.22)
90/24
0.37/1.4
5.5x10-4 (30.07)
6 (13.23)
0 to 40℃; maximum 90% RH (no condensation)
QS1A15
Q2AA22700S
220mm (8.66in)
7
1000
1000
67 (9487.67)
70 (9912.49)
150 (21241.05)
34
34
83
2.13
74.5
0.057
243
30
0.7
185x10-4 (1011.48)
52.8 (116.40)
90 (12744.63)
0.36/1.3
23x10-4 (125.75)
10.4 (22.93)
Q2AA18550H
180mm (7.09in)
5.5
35 (4956.24)
37.3 (5281.94)
107 (15151.95)
47
47
155
0.830
29.0
0.018
170
17
0.57
73x10-4 (399.13)
31 (68.34)
QS1A30
Q2AA18750L
180mm (7.09in)
7.5
1500
48 (6797.14)
55 (7788.38)
135 (19116.94)
52
57
155
1.03
36.0
0.017
240
20
0.46
95x10-4 (519.41)
40 (88.18)
Q2AA2211KV
220mm (8.66in)
11
2000
70 (9912.49)
80 (11328.56)
176 (24922.83)
60
66
155
1.29
45.1
0.015
260
33
0.50
186x10-4 (1016.95)
58 (127.87)
90 (12744.63)
0.44/1.7
24x10-4 (131.22)
11 (24.25)
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
27
Servo Motor Standard Specifications
10000 2000 3000 4000 5000 6000
0
0.2
0.4
0.6
0.8
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
0.3
0.6
0.9
1.2
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
0.1
0.2
0.3
0.4
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
0.2
0.4
0.6
0.8
Speed [min-1]
Torque [N.m]
Flange Size
40mm to 60mm
(1.57in to 2.36in)
30W to 200W
(4 models)
Capacity
High Power
Features
Q1
Servo Motor
100V System
100V System p.27-28
Flange Size
42mm to 76mm
(1.65in to 2.9in)
50W to 200W
(6 models)
Capacity
High Effieciency,
Low Ripple
(Medium Inertia)
Features
Q2
Servo Motor
100V System
Motor Dwgs p.33-34
Rated Output
Rated Rotation Speed
Max. Rotation Speed
Rated Torque
Continuous Stall Torque
Inst. Max. Stall Torque
Rated Armature Current
Continuous Stall Armature Current
Instant. Max. Stall Armature Current
Torque Constant
Induced Voltage Constant
Per-Phase Armature Resistance
Rated Power Rate
Electrical Time Constant
Mechanical Time Constant
Rotor Inertia (INC)
Sensor: Reduced Wiring INC
Mass-including Red. Wiring INC
Brake Holding Torque
Brake Excitation Voltage
Brake Excitation Current
Brake Inertia
Brake Mass
Motor Operating Temp, Rel. Humidity
Status
★
★
★
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
Amplifier Model
Motor Model and Flange Dimension in mm(in)
QS1E01
3000
5000
2000
90/24
0.07/0.26
0.0078x10-4 (0.04)
0.24 (0.53)
0 to 40℃; maximum 90% RH (no condensation)
Q1EA04003D
40mm (1.57in)
0.03
0.098 (13.88)
0.108 (15.29)
0.322 (45.60)
0.9
0.95
4
0.115
4.03
4.28
9.60
0.75
0.97
0.01x10-4 (0.05)
0.3 (0.66)
0.098 (13.88)
Q1EA04005D
60mm (2.36in)
0.05
0.159 (22.52)
0.159 (22.52)
0.477 (67.55)
1.90
1.90
7
0.096
3.3
1.4
18.8
0.8
0.6
0.0134x10-4 (0.07)
0.35 (0.77)
0.157 (22.23)
Rated Output
Rated Rotation Speed
Max. Rotation Speed
Rated Torque
Continuous Stall Torque
Inst. Max. Stall Torque
Rated Armature Current
Continuous Stall Armature Current
Instant. Max. Stall Armature Current
Torque Constant
Induced Voltage Constant
Per-Phase Armature Resistance
Rated Power Rate
Electrical Time Constant
Mechanical Time Constant
Rotor Inertia (INC)
Sensor: Reduced Wiring INC
Mass-including Red. Wiring INC
Brake Holding Torque
Brake Excitation Voltage
Brake Excitation Current
Brake Inertia
Brake Mass
Motor Operating Temp, Rel. Humidity
Status
★
★
★
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
Amplifier Model
Motor Model and Flange Dimension in mm(in)
QS1E01
3000
5000
2000
90/24
0.07/0.26
0.0078x10-4 (0.04)
0.24 (0.53)
0 to 40℃; maximum 90% RH (no condensation)
Q2EA04006D
42mm (1.65in)
0.06
0.191 (27.05)
0.216 (30.59)
0.65 (92.04)
1.9
1.9
7.9
0.117
4.09
1.5
6.46
0.62
1.9
0.0565x10-4 (0.31)
0.46 (1.01)
0.191 (27.05)
Q2EA04010D
42mm (1.65in)
0.1
0.318 (45.03)
0.353 (49.99)
1 (141.61)
2
2.2
7
0.188
6.55
1.9
11.8
0.59
1.39
0.086x10-4 (0.47)
0.59 (1.30)
0.319 (45.17)
★: 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℃.
Note
: Actual power
consumption depends
on load impedance.
★: 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℃.
Note
: Actual power
consumption depends
on load impedance.
10000 2000 3000 4000 5000 6000
0
0.3
0.6
0.9
1.2
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
0.5
1.0
1.5
2.0
Speed [min-1]
Torque [N.m]
28
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
10000 2000 3000 4000 5000 6000
0
0.2
0.4
0.6
0.8
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
0.3
0.6
0.9
1.2
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
1.0
2.0
3.0
4.0
Speed [min-1]
Torque [N.m]
10000 2000 3000 4000 5000 6000
0
1.0
2.0
3.0
4.0
Speed [min-1]
Torque [N.m]
AC P/A/T PF
QS1E01
Q1EA04010D
40mm (1.57in)
0.1
0.318 (45.03)
0.318 (45.03)
0.955 (135.23)
2.2
2.2
7.9
0.176
6.13
2.2
43.5
0.82
0.50
0.0233x10-4 (0.1274)
0.5 (1.10)
0.32 (45.31)
0.07/0.26
0.0078x10-4 (0.04)
0.24 (0.53)
3000
5000
2000
90/24
0 to 40℃; maximum 90% RH (no condensation)
QS1E03
Q1EA06020D
60mm (2.36in)
0.2
0.637 (90.20)
0.637 (90.20)
1.91 (270.47)
4.5
4.5
15.5
0.161
5.63
0.33
28.7
2.7
0.5
0.141x10-4 (0.77)
1.1 (2.43)
0.637 (90.20)
0.07/0.31
0.06x10-4 (0.33)
0.44 (0.97)
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
QS1E01
3000
5000
2000
90/24
0 to 40℃; maximum 90% RH (no condensation)
Q2AEA05005D
54mm (2.13in)
0.05
0.159 (22.52)
0.167 (23.65)
0.518 (73.35)
1.5
1.5
5.6
0.121
4.23
1.84
3.78
0.68
2.5
0.067x10-4 (0.37)
0.53 (1.17)
0.167 (23.65)
Q2EA05010D
54mm (2.13in)
0.1
0.318 (45.03)
0.353 (49.99)
1.03 (145.86)
2.1
2.3
7.9
0.169
5.9
1.22
7.8
0.96
1.7
0.13x10-4 (0.71)
0.74 (1.63)
0.353 (49.99)
0.11/0.4
0.0029x10-4 (0.16)
0.3 (0.66)
Q2EA05020D
54mm (2.13in)
0.2
0.637 (90.20)
0.686 (97.14)
2.1 (297.37)
3.9
4.1
15.5
0.184
6.41
0.64
16.2
0.98
1.4
0.25x10-4 (1.37)
1.1 (2.43)
0.353 (49.99)
Q2EA07020D
76mm (2.99in)
0.2
0.637 (90.20)
0.686 (97.14)
2.1 (297.37)
4.4
4.6
15.5
0.162
5.67
0.5
10.6
1.9
2.2
0.38x10-4 (2.08)
1.4 (3.09)
0.69 (97.71)
0.08/0.3
0.245x10-4 (1.34)
0.57 (1.26)
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
29
External Wiring Diagram
AC power
3-phase
200 - 230V
50／60Hz
Note 10)
Note 12)
Note 8)
Note 12)
Note 11)
Note 13)
Note 6)
Note 5)
Note 10)
Note 8)
Black
White
Red
Green
Encoder
Holding Brake
(install with Brake only)
Encoder Connector
Plug: 10120-3000VE.
Shell: 10320-52A-008
Plug: 10150-3000VE.
Shell: 10350-52A0-008
Note 2)Note 3)
Note 4)
Internal Regeneration
Resistor
W
V
U
CN2
CNC
SERVO MOTOR
RY1
90V
（24V）
SH SH
3
4
5
6
7
8
9
10
11
12
30
31
49
39
40
41
42
43
44
45
46
24
25
SH
OUT-COM
OUT-COM
OUT8
OUT7
OUT6
OUT5
OUT4
OUT3
OUT2
OUT1
OUT-PWR
SG
SG
SG
SG
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
SG
+5
+5
+5
+5
SG
SG
V-REF / T-REF
SG
T-COMP
SG
SG
MON1
PS
CNB
DL1
DL2
RB1
RB2
P
MC
MC MC
User Devices
CNA
T
t
r
S
R
OperationPrep.
ON
OperationPrep.
ON OperationPrep.
OFF
Orange
(yellow)
Orange
(yellow)
OperationPrep.
OFF
System Error
Line Driver
26LS31 Line Receiver
26LS32
Line Driver
26LS31
Monitor
Output
User Devices
Single-phase
AC Power
Line Receiver
26LS32
Position Command
Pulse Input
Divided Encoder Output Signal
General-purpose Outputs
Torque Command
Input/Speed Input
Torque Compensation
Input
Torque Limit
Input
Battery
Input
General-purpose Inputs
Normal
Reverse
DC 3.6V
Lithium Battery
Normal
Rotation
Pulse
Reverse
Rotation
Pulse
Emergency
Stop
System Error
Emergency
Stop
ZO
BO
AO
AO
DC5V -24V
DC12V
-24V
Single-phase (100V or 200V)
BO
ZO
PS
F-PC
F-PC
R-PC
CONT
8
SG
SG
SH SG SG
SG
SG
+5
+5
+5
+5
200V
50/60Hz
MC
MC
MC
Note 1: Signifies shielded twisted-pair cable.
Note 2: When using an external regeneration resistor, connect it
between RB1 and 2. If RB1 and 2 are connected to the internal
amplifiers resistor, or if a shorting bar is connected between RB1
and 4, first disconnect them.
Note 3: Terminals DL1 and DL2 are dedicated for connecting
DC reactors. If a harmonic suppression reactor is not in use, create
a short circuit between DL1 and DL2 terminals with the attached
shorting bar.
Note 4: The
○−
and P terminals (high-voltage circuit) are reserved
for maintenance. Do not wire these terminals.
Note 5: Refer to the Instruction Manual for instructions on the
shielding process.
Note 6: Motor connection specifics may vary depending on the
motor specifications. Lead-type motor power and brake wires
are shown as red, white, black, green, and orange. When using
a cannon plug, connect it according to the motor specifications.
Note 7: For wiring 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, DL1, 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 breaker 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: QS1*10 and QS1*15 models offer an RB4 terminal.
AC P/A/T
30
External Wiring Diagram
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
Note8)
Note8)
CN1
W
V
U
CNA
T
R
S
t
r
SERVO AMPLIFIER
RB2
CNB
(-)
DL1
P
DL2
RB1
+
OUT
(
1
)
OUT
(
4
)
OUT
(
3
)
OUT
(
2
)
OUT
(
5
)
OUT
(
6
)
OUT
(
7
)
OUT
(
8
)
IN（16）
IN（1）
IN（2）
IN（8）
IN（4）
IN（64）
IN（32）
IN（128）
1
2
7
3
4
6
5
8
9
10
11
14
12
13
15
16
24
17
18
26
25
19
27
20
21
22
23
28
29
30
31
33
32
34
35
36
39
37
38
40
41
46
42
43
45
44
47
48
50
49
CNC
SERVO MOTOR
CN2
SH SH
RY1
90V
(24V)
User Devices
AC power
3-phase
200 - 230V
50／60Hz
Note 10)
Note 11)
Note 4)
Note 3) Note 2)
Note 12)
Note 6)
Note 7)
MC
OperationPrep.
ON OperationPrep.
OFF
MC
MC
System Error
External Power Supply
(24V DC)
NC Ready (NCRDY)
Error (ERR)
Running (MOVE)
Positioning Finished(PFIN)
In-Position Output (INPS)
Zero Return Complete (ZFIN)
External Power Supply (24G)
External Power Supply (24V)
Deceleration before Origin (SDN)
(+) Overtravel (+OT)
(-) Overtravel (-OT)
External Data Setup (E_STR)
External Error (EXT-E)
Start (RUN)
Zero Return (ZRT)
(+) Manual (+ JOG)
(-) Manual (- JOG)
Alarm Reset (ARST)
Cancel (CACL)
Servo ON (S-ON)
Output Selection 2 (SEL2)
Output Selection 1 (SEL1)
Output Selection 3 (SEL3)
+1 Step Forward (+lstep)
-1 Step Forward (-lstep)
Interrupt Activated (I_RUN)
MFIN (MFIN)
External Power Supply (24G)
Point-specified Input
Override (OVRID)/
Manual High-speed (RAP)
General Outputs
External Operation Enabled (EXT)
Holding Brake Drive
Timing Output (HBON)
Emergency
Stop
Internal Regeneration
Resistor
Black
White
Red
Green
(Orange/Yellow)
Encoder Connector
Plug: 10120-3000VE.
Shell: 10320-52A0-008
Encoder
Orange
(yellow)
Orange
(yellow)
Holding Brake
(install with Brake only)
Note 1: Signifies shielded twisted-pair cable.
Note 2: When using an external regeneration resistor, connect it
between RB1 and 2. If RB1 and 2 are connected to the internal
amplifier’s resistor, or if a shorting bar is connected between RB1
and 4, first disconnect them.
Note 3: Terminals DL1 and DL2 are dedicated for connecting
DC reactors. If a harmonic suppression reactor is not in use,
create a short circuit between DL1 and DL2 terminals with the attached
shorting bar.
Note 4: The
○−
and P terminals (high-voltage circuit) are reserved
for maintenance. Do not wire these terminals.
Note 5: Refer to the Instruction Manual for instructions on the
shielding process.
Note 6: Motor connection specifics may vary depending on the
motor specifications. Lead-type motor power and brake wires
are shown as red, white, black, green, and orange. When using
a cannon plug, connect it according to the motor specifications.
Note 7: For wiring 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, DL1, 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 breaker is recommended.
Note 11: When wiring the single-phase power supply, do not wire
the S-phase to the amplifier.
Note 12: QS1*10 and QS1*15 models offer an RB4 terminal.
AC PF
31
External Wiring Diagram
JL04V-6A20-29S-J1(A72),
JL04V-8A20-29S-J1-EB,
JL04V-6A20-29S-J1-EB,
MS3108B20-29S,
MS3106B20-29S
A or U channel input
A or U channel input
B or V channel input
B or V channel input
C or W channel input
C or W channel input
CN2 3
4
5
6
7
8
9
10
11
12
16
17
18
19
20
A
D
B
E
F
G
J
N
DC 5V
GND(0V)
Note 2)
Note2）
Note2）
Note1）
Note2）
Case ground
(shield)
(With cannon plug)
Optical
Encoder
Sensor: Incremental encoder
Plug : 10120-3000VE,
Shell : 10320-52A0-008
H
(Shield Wire)
Blue
Brown
Green
Purple
White
Yellow
Red
Black
A or U channel output
A or U channel output
B or V channel output
B or V channel output
C or W channel output
C or W channel output
DC 5V
GND (OV)
__
__
_
_
__
__
_
_
SERVO AMPLIFIER SERVO MOTOR
Plug : 10120-3000VE,
Shell : 10320-52A0-008
JL04V-6A20-29S-J1(A72),
JL04V-8A20-29S-J1-EB,
JL04V-6A20-29S-J1-EB,
MS3108B20-29S,
MS3106B20-29S
3
4
5
6
7
8
13
14
1
2
15
16
9
10
11
12
17
18
19
20
A
B
C
D
K
L
E
F
T
S
R
H
G
(Wht/Blu)
(Blue)
(Wht/Ylw)
(Yellow)
(Wht/Org)
(Orange)
(Black)
(Wht/Blk)
(Green)
(Red)
(Wht/Red)
(Shield Wire)
J
CN2 EA＋
EA−
EB＋
EB−
EC＋
EC−
ES＋
ES−
EBAT＋
0V
ERES
EA＋
EA−
EB＋
EB−
EC＋
EC−
ES＋
ES−
EBAT＋
0V
ERES
＋5V
0V
SERVO AMPLIFIER SERVO MOTOR
＋5V
0V
ABS-E
FG
Note1）
Note3）
Note3）
Absolute EncoderSensor
Reduced Wiring Incremental Encoder PP031/PP038/PP062) (Cannon plug and lead-wire types)
Note1） Use a twisted-pair shielded cable.
Note2）Sensor power connections depend on sensor cable length. See the following table:
Note3）Sensor power connections depend on sensor cable length. See the following table:
Sensor cable length
＋5V DC Wiring Connect pin 19
(Do not connect pins 9,12,17)
Connect pin 20
(Do not connect 10,11,16,18)
Connect pins 17, 19
(Do not connect pins 9,12)
Connect pins 18, 20
(Do not connect pins 10,11,16)
Connect pins 12, 17, 19
(Do not connect pin9)
Connect pins 9, 12,
17, 19
Connect pins 10, 11,
16, 18, 20
Connect pins 9, 12,
17, 19
Connect pins 10, 11,
16, 18, 20
Connect pins 11,18, 20
(Do not connect 10, 16)
0V DC Wiring
5m MAX 10m MAX 20m MAX 30m MAX
Sensor cable length
＋5V DC Wiring Connect pin 19
(Do not connect pins 9,12,17)
Connect pins 16, 20
(Do not connect pins 10,11,18)
Connect pins 17, 19
(Do not connect pins 9,12)
Connect pins 16,18, 20
(Do not connect pins10, 11)
Connect pins 12, 17, 19
(Do not connect pin 9)
Connect pins 11,16,18,20
(Do not connect 10)
0V DC Wiring
5m MAX 10m MAX 15m MAX 25m MAX
 
Sensor Absolute Encoder PA035M (Cannon plug and lead-wire types)
32
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
AC P/A/T PF
ES＋
ES−
EBAT＋
EBAT−
ES＋
ES−
EBAT＋
EBAT−
CN2 13
14
1
2
9
10
11
12
17
18
19
20
＋5V
0V
Note3）
Note3）
Note1）
Note2）
(With cannon plug)
Note2）
E
F
T
S
H
G
(Brown)
(Blue)
(Pink)
(Purple)
(Red)
(Blk.)
＋5V
0V
J
FG
(Shield)
Wire-saving
Abolute Sensor
Plug : 10120-3000VE,
Shell : 10320-52A0-008
JL04V-6A20-29S-J1(A72),
JL04V-8A20-29S-J1-EB,
JL04V-6A20-29S-J1-EB,
MS3108B20-29S,
MS3106B20-29S
Absolute EncoderSensor:
Note: For the RA062C
(Resolver System and Start-Stop),
neither EBAT+ nor EBAT- wiring
is necessary, as it does not
use batteries.
SERVO AMPLIFIER SERVO MOTOR
Note3）Use 0.2mm2 sensor cable.
Sensor cable length
＋5V DC Wiring Connect pin 19
(Do not connect pins 12,17)
Connect pin 20
(Do not connect pins 11,18)
Connect pins 17, 19
(Do not connect pin 12)
Connect pins 18, 20
(Do not connect pin 11)
Connect pins 12, 17, 19
Connect pins 11,16, 18, 20
0V DC Wiring
10m MAX 25m MAX 40m MAX
Note1） Use a twisted-pair shielded cable.
Note2）Sensor power connections depend on sensor cable length. See the following table:
Sensor Absolute Encoder PA035C / RA062C (Cannon plug and lead-wire types)
33
Servo Motor Dimensions Unit:mm
LZ
Q1AA07075***
Q1AA06040***
Q1AA06020***
Q1AA04010***
Q1AA04005***
Q1AA04003***
171
50
179.5 8
70-0.030
90
0
100 76
30
41
MODEL
142
148.5
6
123.5
129.5
LL LL
5
LG
50-0.025
70
0
46
KL LA
30-0.021
0
LB
81 60
LE
54 40
LH LC
12
M5
7.5
16-0.011
40
0
35
14-0.011
8-0.009
30
0
6-0.008
25
LR
0
0
S
-
-
-
-
QE
Q
-
LT
7
4.7
D1 D2
Incremental
W/out
Brake With
Brake
Incremental
Note 1) If an oil seal is needed for Q2AA04, the ovearll motor length ill be slightly different.
Note 1) Waterproof specification IP67 requires that the connector be attached; for IP67 compliance, use a waterproof connector for the mating plug.
W/out
Brake With
Brake
Incremental
Connector
W/out Brake
Motor, Ground
Incre-
mental
Incre-
mental
Oil Seal
Oil Seal
Options
Options
Included
Weight Caution Nameplate
(opposite side)
Caution Nameplate
(Opposite side)
Eye Bolt
(Motor Removal Tap)
S Type
For Oil Seal Depth LT
MS3102A32-17P (suitable mod.)
(for motor)
MS3102A20-29P (suitable mod.)
(for sensor)
MS3102A10SL-4P
(for fan motor)
Arrow
Nameplate
(opposite)
Key Position
Motor Nameplate
(Opposite side)
Key Position
2 slot cuts
2 slot cuts
3
3
2.5 4.5
5.5
5.5
142
156
113
102
77
83
LG
Oil Seal
(Option)
QE Tapping
Depth LT
φLH
0.06
4- LZ
φ
φLA
φS
φLB
M
MLE
0.02
0.07 M
LR
1100±100
1100±100
φD1 φD2
LLMAX.
（50）
（50）
□ LC
KL
Teflon wire (for mounting)
For Motor, Brake, and Ground Shielded Cable (for mounting)
For Sensor
LZ
3.5
4.5
5.5
6.6
Q2AA08100***
Q2AA08075***
Q2AA08050***
Q2AA07040***
Q2AA07030***
Q2AA07020***
Q2AA05020***
Q2AA05010***
Q2AA05005***
Q2AA04010***
Q2AA04006***
50
558
8
100 0
80-0.030
90 0
70-0.030
86
76
KL
38
31
LL
MODEL
5
LL LG
534-0.025
60 0
50-0.025
LA
48
LB
0
54
LHLE LC
42
4.710 7.51.544225
0
M4
25
30
16-0.011
0
11-0.011
14-0.011
0
2552
2552
12
M5
12
M5
20
20
7-0.009
8-0.009
0
LR S
0
-7.5±0.2
QAQQK
-
UTW
6.5±0.2
8
M3
D1
7
LTQE
--
D2
Q2AA07050***
105 133
105
112
147
166
130 166
200
183
130
137
98 123
96 128
89 117
81 110
82 114
120 145
115
100
71.5
57
3
3
2.5
2
30
35
30
24
24
20
25
20
15
15
φ114.3-0.035
0
72
KB2LLMODEL
Q4AA1815K***
Q4AA1811K***
KL3 LHLEKL2 LAKL1LG LBMS3102A α
UW T KB1
QQAQK
S
LRLZ2LC LZ1
109
84
IL1IFIELT
QE
β IL2
γ
497 32-17P 19 144 22 79 200 3 230 180 13.5 M8 79 75 3 67 0.03 0.08 0.10 M10 25 124 50
33783
42710 4
145
155
90
170
587
N.P.
2-M8
2-M8
4-φLZ1
(50)(50) (KB1) (KB2) 7.5
LL
N.P.
C1
A
A
R1
M10X1.5
Section A-A
For Eye Bolt
Intake
Min. of 50mm space needed
Exhaust
Exhaust
(□145)
2-LZ2
LH)
(φ
φ
LA
□LC
βM
α
M
γ
Q
φS
LBφ
M
QKQA
(IL1) (IL2)
LR
LE (LG)
(IL2)(IL1)
(IE)
(115) (15)
(KL1)
(19)(KL3)
(KL2)
T
U
W
42-0.016
0
55-0.019
0
12-0.043
0
16-0.043
0
Note 1)
Note 1)
40mm to 76mm Flange Size
180mm Flange Size
Q2 Motor Series: High Efficiency / Low Ripple (Medium Inertia)
Q4 Motor Series: High Power (Low Inertia / High Volume)
Q1 Motor Series: High Power (Low Inertia)
34
MODEL
Q2AA10100***
Q2AA13150***
Q2AA13200***
Q2AA18200***
Q2AA18350***
Q2AA18450***
Q2AA22250***
Q2AA13050***
Q2AA13100***
Q2AA18550***
Q2AA10150***
Q2AA22450***
Q2AA22550***
Q2AA22700***
Q2AA22350***
150
181
252
310
163
95
149
207
64
77
65
82
40
50
110
10
20
227
309
368
196
209
140
111
KB2 KB1LL
196
152
135
169
171
186
203
218
282
226
115
130
189
83
98
72 54
73
64
47
81
128
98
67
77
LL IL2KB2 KB3
20
35
50
253
268
332
226
221
171
205
188
231
261
117
107
103
113
24-11P 141
19
16
21
MS3102A
24-11P
20-15P
10SL-4P32-17P
10SL-4P32-17P
KL1LG KL2
78
98
123
144
16
19
10
12
21
22
19
21
W
8-0.036
6-0.030
0
12-0.043
10-0.036
0
6-0.030
0
10-0.036
16-0.043
LZ1
13.5
13.5
13.5
200-0.046
80 235 02704
162 22 200-0.046
80 235 04
220
110-0.035
114.3-0.035
LBLAKL3
80
80
80
200
200
67
145
115
0
95-0.035
0
0
LHLE LC
130
165
230
230
3
3
4
3
180
180
100
130 9
9
55-0.019
35-0.016
M10
13.5270 220 M10
79
65
0
0
75
60
3
3
67
50
22-0.013
35-0.016
22-0.013
S
LRLZ2
M8
M8
65
79
M6
-
55
45
28-0.013
0
0
0
0
QKQAQ
60
75
3
3
50
40
3
3
50
67 0
0
42
32
0
0
0.08
10
80.02
0.080.03
0.080.03
4
3
0.10
0.08
M10
Q2AA2211K***
Q2AA2215K***
335
394
241
300
120
180
19 0
16-0.043
55-0.019
79 075 67 10 4 0.10 M10
M8
25 142
0.08
0.08
0.08
0.08
β
UT
2.5
2.5
8
8
7
6
6
0.02
0.02
3
3
3
α
0.02
0.02
IE
QE LT
0.08
0.08
M8
M10
M8
0.08
0.08
γ
M6
M6
25
25
25
124
124
20
20
50
55
60
25 142 6960
IL1IF
61
85
50
50
114.3-0.035
042-0.016
0
Q2AA18750*** 332 239 100382 122
112
117
116
108
117
KB2 KB3LLKB2LLMODEL
Q1AA12100***
Q1AA12200***
Q1AA13500***
Q1AA13400***
Q1AA13300***
Q1AA10150***
Q1AA10100***
Q1AA10200***
Q1AA10250***
Q1AA18450***
Q1AA12300***
288 67
269
232
205
67
338
318
281
249
259
168
205
242
72
234
209
184
80
294
204
241
278
269
244
219
KL3 LHLEKL2 LAKL1LG LBMS3102A
21
19
21
21
24-11P
32-17P 10SL-4P
20-15P
16
12
123
98
12
10
93
78
110-0.035
95-0.035
110-0.035
114.3-0.035
80
80
200
145
67
63
135
115
0
0
2303
1654
0
0
1623
1303 0.02
0.02
0.02
0.02
α
UW T KB1
QQAQK
S
LRLZ2LC LZ1
55
65
45
45
55
13.5180
130 9
M8
M6
120 9
100 9
-
-
28-0.013
28-0.013
35-0.016
0
0
60
50
22-0.013
22-0.013
0
0
0
40
50
40
8-0.036
503
423
10-0.036
8-0.036
0
0
32
42
3
3
323
6-0.030
0
0
6-0.030
0
38
73
200
117
144
181
6
7
2.5
3
6 2.5
159
76
113
150
134
109
84
IL1IFIELT
QE
β IL2
50
20
20
25
25
25
0.08
0.080.08
0.08
M8
M8
0.08
0.080.08
0.08
γ
M6
M8
M6
50124 93
122 54
Q1AA18750*** 384 72 434 2219 144 79 42-0.016
075 673 12-0.043
038 291 14525M10 50124 85
2-LZ2
Section H-H
LH)
(φ
φ
LA
□LC
4-φLZ1
MS3102A10SL-4P
Q
T
U
W
LB
φS
φ
M
QA
H
QK
H
(IL1) (IL2)
(KB1)
LR
LE (LG) (IL2)
(KB2)
(KB3)
(KL1)
KL2
( )
)(19 (KL3)
LL
(IF)
(IE)
2-M8
(IF) 2-M8
Oil Seal
(S-type)
QE tapping
Depth LT
MS3102A - (or comparable)
MS3102A20-29P(or comparable)
(for sensor)
Eye bolt
(for motor, brake and ground)
(Tap for removing motor)
Note 3
0.06 M
0.07 M
0.02
Incremental Connector
Without brake Motor
grounding
Brake(only
when mounted)
With brake
Incremental
Without
brake
With brake
Note 1
Note 2
Connector
Motor
grounding Brake(only
when mounted)
Note 1
Note 2
Note 1) Waterproof specification IP67 requires that the connector to be attached; for IP67 compliance, use a waterproof connector for the mating plug.
Note 2) Brake connector JL04V-2E10SL-3PE-B used for CE compliance.
Note 3) Brake is included only with Model Q1AA18750.
Note 1) Waterproof specification IP67 requires that the connector to be attached; for IP67 compliance, use a waterproof connector for the mating plug.
Note 2) Brake connector JL04V-2E10SL-3PE-B used for CE compliance.
Note 3) Brake is included only with Models Q2AA18550, Q2AA18750, Q2AA2211K and Q2AA2215K.
100mm to 220mm Flange Size
Q2 Motor Series: High Efficiency / Low Ripple (Medium Inertia)
Q1 Motor Series: High Power (Low Inertia)
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
AC P/A/T PF
35
Servo Motor Dimensions Unit:mm(inch)
7(.28)
5(.20)
5
33(1.30)
2-M4 2-M4
7(.28)
45(1.77) 130(5.12) 50(1.97)
38(1.50)
135.5(5.33)
130(5.12)
135.5(5.33)
70max.
(2.76max.)
70max.
(2.76max.)
5(.20)
160(6.30)
160(6.61)
160(6.30)
168(6.61)
3-M4
130(5.12)
135.5(5.33)
70max.
(2.76max.)
5
CHARGE
N
A
C
C
N
B
C
N
C
1
N
C
C
P
N
2
C
POWER
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
C
W
U
VC
C
NN
2
S
1
DL1
RB2
DL2
RB1
PB
N
C
R
r
t
C
N
C
A
N
CHARGE
T
POWER
P
C
r
W
U
VC
C
N
P
DL2
RB2
RB1
C
N
B
DL1
N
C
2
N
1
C
POWER
R
S
t
T
N
A
C
CHARGE
C
P
RB2
RB1
5(.20)
168(6.61)
160(6.30)
90(3.54)
80(3.15)
QS1A01 / QS1E01
QS1A05
QS1A03 / QS1E03
36
t
r
POWER
RB2
V
W
U
RB1
RB4
P
DL2
DL1
T
CHARGE
-
R
S
C
N
2
C
N
1
75(2.95)
100(3.94) 235(9.25)
2(.08)
205
235(9.25)
225(8.86)
t
r
POWER
RB2
V
W
U
RB1
RB4
P
DL2
DL1
T
CHARGE
-
R
S
C
N
2
C
N
1
ø6(ø0.24)
ø6(ø.24)
235(9.25)
2(.08)
15(.59)205(8.07)
225(8.86)
235(9.25)
75(2.95)
6(.24)
C
P
C
N
2
C
N
1
205(8.07)
220(8.66)
100(3.64) 100(3.64)
30(1.17)
15(.59)
V
W
P
DL2
U
DL1
-
T
R
S
POWERCHARGE
RB2RB1 r t
TION
WR/
SAN
M
AC SERVO SYSTEMS
MODE
▼
▲
Q
▲
QS1A30AA
φ7(φ.27)
φ14(φ.55)
235(9.25)
2(.08)
SANYO DENKI
O
70max.
(2.76max)
100(3.94)
50(1.97)
130(5.12)
6(.24)
6(.24)
50(1.97)
5(.20)
15
(.59)
6(.24)
5(.20)
250(9.84)
235(9.25)
7(.26)
10(.39)
Optional pitches (in parentheses) also permit mounting. Optional pitches (in parentheses) also permit mounting.
70max.
(2.76max)
70max.
(2.76max.)
QS1A15
QS1A30
QS1A10
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
AC P/A/T PF
37
DC Motor / Amplifier System
P50
P5 Series
Indicates servo motor
Square Flange-type
04 - 42mm
Max. Rotation
Speed
J - 4500min-1
Rated Output
005 - 50W
008 - 80W
Holding Brake
X - Without Brake
B - 90V Brake
C - 24V Brake
Sensor Type
S - Reduced Wiring Incremental Encoder PP038 (2000 P/R)
P - Reduced Wiring Absolute Sensor PA0135 (2.5M,17-bit)
Specification
00 - Standard
B S 00B 04 005 J
QS1
Q Series
Input Voltage
J - DC24V
With Internal Regeneration Resistor
Amplifier Capacity
03 - 30A
Control Section Hardware Type
A - Reduced Wiring Absolute Sensor
Reduced Wiring Incremental Encoder
Motor Type
A - Rotary Motor
Motor Combination
O - P Motor Combo.
Sensor Combination
01 - Reduced Wiring Incremental Encoder PP038 (2000 P/R)
A3- Reduced Wiring Absolute Encoder (2.5M, 17-bit)
Interface Specification
S - Speed Control Type
T - Torque Control Type
P - Position Control Type
Y - Pos. and Torque Switch
U - Pos. and Speed Switch
Applicable Motor
Code
WN - P05B04005J
WP - P05B04008J
0 WN A3J 03 A A
Specification
00 - Standard
P 00
Motor Model Number Nomenclature
Example: The following model number describes a P5 (compact, square shaft-type) servomotor with 50W rated output,
4500min-1 maximum rotation speed, 24V motor with 42mm flange, incremental sensor, and brake (90V DC).
Amplifier Model Number Nomenclature
Example: The following model number describes a Q Series position control-type servo amplifier with 24V input,
30A capacity, reduced wiring absolute sensor (2.5M, 17-bit), 50W P5 motor, 42-mm (1.65 in.) square flange.
1000 2000 3000 4000 5000 6000
0.1
0.2
0.3
0.4
0
Speed [min-1]
Torque [N.m]
Torque [oz.in]
50
40
30
20
10
1000 2000 3000 4000 5000 6000
0.2
0.4
0.6
0.8
0
Speed [min-1]
Torque [N.m]
Torque [oz.in]
100
80
60
40
20
Standard Specifications
Note: Actual operating temperature depends on mounting conditions and motor model.
Flange Size
42mm (1.65 in)
50W and 80W
Capacity
DC 24V System
Rated Output
Rated Rotation Speed
Max. Rotation Speed
Rated Torque
Continuous Stall Torque
Inst. Max. Stall Torque
Rated Armature Current
Continuous Stall Armature Current
Instant. Max. Stall Armature Current
Torque Constant
Induced Voltage Constant
Per-Phase Armature Resistance
Rated Power Rate
Electrical Time Constant
Mechanical Time Constant
Rotor Inertia (INC)
Sensor: Reduced Wiring INC
Mass-including Red. Wiring INC
Brake Holding Torque
Brake Excitation Voltage
Brake Excitation Current
Brake Inertia
Brake Mass
Motor Operating Temp, Rel. Humidity
Amplifier Power Supply
Amp. Operating Temp., Rel. Humidity
Power Consumption (rated output)
Amplifier Mass
Symbol
PR
NR
NMAX
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
WE
TB
VB
IB
JB
W
Unit
kW
min-1
min-1
N・m(oz・in)
N・m(oz・in)
N・m(oz・in)
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
kg・m
2
[GD
2
/4](oz・in
2
)
P/R
kg(lbs)
N・m(oz・in)
V
Arms
kg・m
2
[GD
2
/4](oz・in
2
)
kg(lbs)
kVA
kg (lbs)
Motor Model and Flange Dimension in mm(in)
Amplifier Model
3000
4000
2000
90/24
0.07/0.26
0.0078x10-4 (0.04)
0.24 (0.53)
0 to 40℃; maximum 90% RH (no condensation)
QS1J03
DC 24V+10%, -10%
0 to 55℃; maximum 90% RH (no condensation)
P50B04005JXS
42mm (1.65in)
0.05
0.159 (22.52)
0.159 (22.52)
0.318 (45.03)
3.82
3.55
8.24
0.048
1.67
0.25
5.1
1.4
1.6
0.054x10-4 (0.03)
0.46 (1.01)
0.191 (72.05)
0.1
0.6 (1.32)
P50B04008JXS
42mm (1.65 in)
0.08
0.255 (36.11)
0.255 (36.11)
0.509 (72.08)
6.1
5.8
12
0.049
1.71
0.15
8.8
1.5
1.4
0.079x10-4 (0.04)
0.59 (1.30)
0.319 (45.17)
0.16
0.6 (1.32)
38
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
12.5
(.49)
125(4.92)
5(.20)
140(5.51)
150(5.91)
5(.20)
20
(.79)
20(.79)
35(1.38) 95(3.74)
2
(.08)
70(2.76)max.
CNA 3
N
C
N
2
C
5
1
CNC
1
Q
TION
O
SANM
STATUS
C
4
N
POWER
C
1
N
1100±100
(43.31±3.94)
(43.31±3.94)
Sensor Shielded Cable (for mounting)
3-conductor 26 AWG
Motor and ground, 0.5mm2
Motor Cable (for mounting)
1100±100
21.5(.85)
38(1.50)
φ5(φ.20)
φ6
（φ.24）
(43.31±3.94)
Motor and ground, 0.5mm2
Motor Cable (for mounting)
1100±100
φ6
（φ.24）
22(.87)
φ38
(φ1.50)
31(1.22)
42sq.(1.65sq.)
25 (.98)
20(.79)
M
A
A
0.02
0.07 M
φ0.06 M
4-φ3.5
(.16-φ.14)
N.P.
0
φ
34-0.025 .0000
φ
1.34-.0010
（ ）
0
φ
7-0.009 .0000
φ
.28-.0004
（ ）
φ
48±.3
(
φ
1.89±.012)
42sq. (1.65sq.)
φ
57
(
φ
2.24)
4-φ3.5
(.16-φ.14)
φ
48±.3
(
φ
1.89±.012)
42sq. (1.65sq.)
φ
57
(
φ
2.24)
(.94±.031)
24±0.8
29.5
(1.16)
5(.20)
96 (3.78)MAX.
38(1.50)
109 (4.29)MAX.
8(.32)
20±0.3 (.79±.012)
15(.59)
2(.08)
0
φ
34-0.025 .0000
φ
1.34-.0010
（ ）
0
φ
7-0.009 .0000
φ
.28-.0004
（ ）
(.94±.031)
24±0.8
5(.20)
8(.32)
20±0.3 (.79±.012)
15(.59)
2(.08)
21.5
(.85)
1100±100
(43.31±3.94)
Sensor Shielded Cable (for mounting)
3-conductor 26 AWG
φ5(φ.20)
20(.79)
21.5
(.85)
42.5(1.67)
N.P.
φ5
(φ.20)
M
A
A
0.02
0.07 M
φ0.06 M
22(.87)
31(1.22)
φ38
(φ1.50)
25(.98)
P50B04005JXS
P50B04008JXS
42sq.(1.65sq.)
Motor External Dimensions [unit: mm(inch)]
External Wiring Diagram
MC
MC
EN
Note 1) indicates shielded twisted-pair cable.
Note 2) The connector must be properly shielded.
Note 3) When using an external registration resistor, connect it between RB1 and 2. If no optional
resistor is used, terminals RB1 and 2 should be open.
Note 4) I/O power connections must be provided by the user.
Note 5) The actual CNA pin configuration is 1 to 8, from the bottom moving up.
Note 6) CNA pins 2 and 4 connect to SG inside the amplifier.
Note 7) To connect the CNA and CNC wires, the use of a specialized tool, provided by Wago Co.
(Japan), is required.
F-PC
F-PC
R-PC
R-PC
V-REF
SG
AO
AO
BO
BO
ZO
ZO
SG
721-108/026-000
DC24V Power
(mfg. by Wago Co. of
Japan)
(mfg. by Wago Co. of
Japan)
Control Power
DC24V
General Purpose
Inputs
General Purpose
Outputs
Alarm Code
Output
Raw Pulse Inputs
(CCW)
Raw Pulse Inputs
(CCW)
Speed Command
Input
Encoder
Signal Outputs
Main Circuit
Power
DC24V
Operation
Preparation
OFF
Emergency
Stop
System Error
Operation
Preparation
ON
Regenerative
Resistor
SERVO AMPLIFIER
W
5
4
3
2
1
1
2
3
4
5
6
7
8
13
14
1
2
9
10
11
12
17
18
19
20
V
U
FG
ES+
ES-
EBAT+
EBAT-
SG
5V
5V
SG
SG
Shiold
5V
721-105/026-000
SERVO MOTOR
24V
（注1）
IL-2S-S3L-（N）
SG
26C31
SG
SG
BAT+
2
1BAT-
CN4
CN2CN1
CNA
CNC
5V
SG
MC
RB1
RB2
CP
CN
MP
MN
CONT-COM
CONT1
CONT2
CONT3
CONT4
OUT1
OUT2
ALM0
ALM1
ALM2
ALM-COM
1
2
3
4
5
10
11
12
13
6
7
8
9
14
15
16
17
25
26
18
19
20
21
22
23
24
Note 7)
Note 6)
Note 2)
Note 1)
(mfg. by Sumitomo 3M)
Plug: 10126-3000VE
Shell: 10326-52A0-008
(mfg. by Sumitomo 3M)
(mfg. by Japan Aviation Electronic
Industry, Ltd.)
Plug: 10120-3000VE
Shell: 10320-52A0-008
DC 3.6V
Lithium Battery Battery Input
Note 2)
Note 3)
Note 4)
DC24V
Note 5)
Black
Yellow
Yellow
Black
White
Red
Red
Green
Brown
Blue
Pink
Purple
(Green/Yellow)
Holding Brake
(if installed)
Wire-saving
Absolute Sensor
Amplifier External Dimensions [unit: mm(inch)]
DC
39
Setup Software
(1) Setup Software Start-up Screen (2) Main Screen
(3) Parameter Configuration Screen
(4) Monitor Functions
Shown: Setup Software start-up screen logo
Configuration of General Parameters:
Enables parameter loading, saving, etc., via PC connection Configuration of Motor Parameters:
Combined motors can be configured via PC connection
Monitor Display:
Observe Operation and Input/Output signal status Multi-monitor Display:
Simultaneous monitoring of operational status of multiple
servo amplifiers networked to a PC.
Alarm Record Display:
(Current and past alarm occurrence can be checked.)
■Pulse / Analog / Torque with Positioning Function Screen
40
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
(5) Test Run and Adjustment Function
Speed Jog:
Simplifies motor operation and the issuing of
speed commands from a PC
Pulse Forward Jog:
Simplifies motor operation and the entering of
distance and travel speed data from a PC
Auto Notch Filter Tuning:
Configures the appropriate notch filter settings System Analysis:
Analyzes servo system frequency characteristics
(6) Operation Trace Function
Graphically displays servo motor speed, current,
and terminal status
(1) Point Data Configuration (2) Test Run Operations
■Positioning Function Screen
AC DC P/A/T PF
Control Shaft Count
Register Point Count
Maximum No. of Commands
Command Unit
Fast-forward Speed
Acceleration and Deceleration
Point Data Setup
Travel Point Number Setup
Current Limit
Software Limit
Travel Mode
Zone Signal
Single Shaft
Configurable up to 254 points (P000 to P253)
From -2,147,483,648 to +2,147,483,647
Either mm or pulse is acceptable
2,147,483.647mm/sec (0.001mm/when “pulse” is selected)
Automatic acceleration and deceleration (straight and S switch)
Numerical input via PC, and setup by teaching
Parallel 8 bits (binary code)
0 to 510% (at 100% rating), but less than instantaneous maximum stall current
Exists
Zero Return, Manual (JOG, 1Step), and Point-specified Travel
Maximum of 8 zones
41
Positioning Amplifier General Specifications
Deceleration
Acceleration
-OT Sensor
PLC
Deceleration Signal
Sensor +OT Sensor
Power ON Position
POWERCHARGE
MODE /WR
P
C
C
N
A
C
N
B
C
N
C
C
N
2
C
N
1
-
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
QS1A100A
Motor Speed
CN1-19
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Zero Return (Low Speed)
Offset Quantity (compensation quantity)
Zero Return (High Speed)
Reverse
Deceleration
before Origin
(Input)
Encoder C-phase
Signal
Zero Return
Signal
(Input: CN 1-28)
（CN1-17）
Running Output
Positioning Completion Signal
（CN1-8）
(1) Zero Return Operation (example)
The system is capable of zero return operation by using sensor output for the zero return and deceleration signals.
■General Specifications
■Sample Operations of the Positioning-type Amplifier
Sequence Input Signals
Servo ON, alarm reset, start up, zero return, manual, override/manual high-speed,
cancel, deceleration before origin, external error, over-travel, external data setup1
step forward, interrupt activated, output selection, MFIN, point specified input
Sequence Output Signals
NC ready, holding brake timing, error, external operation enabled, running,
positioning completion, in-position output, zero return completion, general output (8
bits)
Positioning
Function
Input and
Output
42
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
PLC
Pass Point 1
Move to Point 2 Move to Point 3
-OT Sensor Deceleration Signal
Sensor +OT Sensor
POWERCHARGE
MODE /WR
P
C
C
N
A
C
N
B
C
N
C
C
N
2
C
N
1
-
T
S
R
t
r
DL1
DL2
P
RB1
RB2
W
V
U
QS1A100A
Point 1 (P001) ON only
Coordinate
Motor Speed
P001:100.0 P002:150.0 
ON
OFF
ON
OFF
ON
OFF
ON
OFF
0.0 100.0 200.0
P003:180.0
Point Input
（CN1-42）
Start-up Signal Input
（CN1-27）
Running Output
（CN1-7）
Positioning Completion Signal
（CN1-8）
(2) Positioning Operation with Speed Variation (example)
By starting up Point 1, Points 2 and 3 will be executed consecutively.
Point Data Setup: Enables configuration and saving of parameters, and the reading of point data from a PC.
Mode 1: [01]= Positioning Operation enabled; Mode 2: [00]= Final Travel, [01]= Continue to next Point Number
Gear Change: Stop / Continue: [1]= Consecutive Gear Shift Operation
Starting Coordinates: Start-up Point 001 (P001) as 0.0
AC PF
43
Optional Equipment
PC side
CN1
Cable
Amp side
2850 - 10
+ 50 112.2 - 0.39
+ 1.97
1
9
Model No.: AL-00490833-01
A note regarding RS-232C communications:
The user must provide a PC for computer interface.
Parameter settings may require adjustment.
(  
 
)
198 (7.80)
188 (7.40)
62 (2.44)
50 (1.97)
5 (.20)
For mounting on the rear side of the amplifer
Model No.: AL-00483543-01
Applicable Amplifiers: QS1*05***
Material: SPCC
Surface Finish: Chromate Plating (Green)
For mounting on the front side of the amplifer
Model No.: AL-00483544-01
Applicable Amplifiers: QS10*05***
Material: SPCC
Surface Finish: Chromate Plating (Green)
198 (7.80)
188 (7.40)
120 (4.72)
65 (2.56)
5 (.20)
7 (.28)
50 (1.97)
2 (.08) 5 (.20)
For mounting on the front side of the amplifer
Model No.: AL-00483542-01
Applicable Amplifiers: QS1*03***
Material: SPCC
Surface Finish: Chromate Plating (Green)
198 (7.80)
188 (7.40)
120 (4.72)
52 (2.56)
45 (1.77)
25 (.98)
2 (.08)
5 (.20)
5 (.20)
For mounting on the front side of the amplifer
Model No.: AL-00483541-01
Applicable Amplifiers: QS1*01***
Material: SPCC
Surface Finish: Chromate Plating (Green)
198 (7.80)
188 (7.40)
120 (4.72)
47 (1.85)
45 (1.77)
25 (.098)
2 (.08)
5 (.20)
188 (7.40)
45 (1.77)
25 (.098) 10(.39)
5(.20)
2 (.08)
For mounting on the rear side of the amplifer
Model No.: AL-00483540-01
Applicable Amplifiers: QS1*01***, QS1*03***
Material: SPCC
Surface Finish: Chromate Plating (Green)
5 (.20)
Rear Side
Front Side
6 (.24)
5 (.20)
2 (.08)
5 (.20)
10 (.39) 10 (.39)
■PC Interface Cable [unit: mm(inch)]
■Mounting Hardware [unit: mm(inch)]
Mounting Bracket: 1
Screws: 2
Mounting Bracket: 1
Screws: 6
Mounting Bracket: 1
Screws: 6
Contents
Model No. AL-00483540-01 AL-00483541-01 AL-00483542-01
Mounting Bracket: 1
Screws: 2
Mounting Bracket: 1
Screws: 6
Contents
Model No. AL-00483543-01 AL-00483544-01
44
■External Regenerative Resistor Dimensions [unit: mm(inch)]
Model Number Remarks
1 REGIST-220W50B
2 REGIST-220W20B
3 REGIST-220W100B
Thermostat,
B-contact
Thermostat,
B-contact
Thermostat,
B-contact
200 (7.87)
220±0.4 (8.66±.02)
230 (9.06) 300
270
φ4.3
(φ.17)
6±1 (.24±.04)
6±1 (.24±.04)
60±0.4
42.7
20 (.079)
1.2
(.05)
4.3
Silicon Rubber Glass-braided Wire 0.5mm2, White
Silicon Rubber Glass-braided Wire 0.75mm2, Black
(Thermostat)
＋20
 0(11.81 )
+.79
.0
＋15
 0(10.63 )
+.79
.0
-0.3
0
(1.69 )
-.11
.0
Model Number Remarks
Mass: 0.24kg
Mass: 1.4kg
Mass: 0.44kg
1 REGIST-120W100B
2 REGIST-120W50B
Thermostat,
B-contact
Thermostat,
B-contact
150 (5.91)
172±0.4 (6.77±.02)
182 (7.17) 300
270
φ4.3
(φ.17)
6±1 (.24±.04)
6±1 (.24±.04)
＋20
 0(11.81 )
+.79
.0
＋20
 0(10.63 )
+.79
.0
42±0.4 (1.65±.02)
23.5 (.093)
20 (.079)
1.2
(.05)
43 -0.3
0
(1.69 )
-.11
.0
Silicon Rubber Glass-braided Wire 0.5mm2, White
Silicon Rubber Glass-braided Wire 0.75mm2, Black
(Thermostat)
A
218 (8.58)
UL 1430 Electric Wire 0.2 mm2, White
Silicon Rubber Glass-braided Wire 2 mm2, White
Solderless Terminal (for M5)
2-M5 (0.8-M5)
2・φ4.5
234 -1.2 8
250 (9.84)
3 (.12)
Ground Mark
700±15
(27.56±.59)
40 (1.57)
80 (3.15)
4.5
(.18)
M3
60 (2.36)
+0.4 (9.21 -.047 )
+.016
(Thermostat)
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
AC DC P/A/T PF
Thermostat,
B-contact
350±15
(13.78±0.59)
――
350±15
(13.78±0.59)
――
350±15
(13.78±0.59)
――
350±15
(13.78±0.59)
――
No
Thermostat
Thermostat,
B-contact
No
Thermostat
Thermostat,
B-contact
No
Thermostat
Thermostat,
B-contact
No
Thermostat
Model Number A Remarks
1 REGIST-500W20B
2 REGIST-500W20
3 REGIST-500W10B
4 REGIST-500W10
5 REGIST-500W7B
6 REGIST-500W7
7 REGIST-500W14B
8 REGIST-500W14
45
Options
Note1: Please order the plug that conforms to the TÜV-standard waterproof specification separately from the motor power connector.
Motor Model No.
Encoder Plug Standard Specifications
(Cable Clamp)
TÜV-Conforming Plug (Cable Clamp) for Encoder
Waterproof Specification
Straight L-Angle Straight L-Angle
MS3106B20-29S MS3108B20-29S JA06A-20-29S-J1-EB JA06A-20-29S-J1-EB
(MS3057-12A) (MS3057-12A) (JL04-2022CK) (JL04-2022CK)
All Q1, Q2, Q4 Models
MS3106B20-15S MS3108B20-15S JL04V-6A20-15SE-EB JL04V-8A20-15SE-EB
JL04V-6A10SL-3SE-EB JL04V-8A10SL-3SE-EB
(MS3057-12A) (MS3057-12A) (JL04-2022CK) (JL04-2022CK)
(JL04-1012CK) (JL04-1012CK)
JL04V-6A10SL-3SE-EB JL04V-8A10SL-3SE-EB
(JL04-1012CK) (JL04-1012CK)
MS3106B24-11S MS3108B24-11S JL04V-6A24-11SE-EB JL04V-8A24-11SE-EB
(MS3057-16A) (MS3057-16A) (JL04-2428CK)
MS3106B32-17S MS3108B32-17S JL04V-6A32-17SE
(MS3057-20A) (MS3057-20A) (Single Block)
MS3106B32-17S MS3108B32-17S JL04V-6A32-17SE
(MS3057-20A) (MS3057-20A) (Single Block)
(JL04-2428CK)
MS3106B20-15S MS3108B20-15S JL04V-6A20-15SE-EB JL04V-8A20-15SE-EB
(MS3057-12A) (MS3057-12A) (JL04-2022CK) (JL04-2022CK)
MS3106B24-11S MS3108B24-11S JL04V-6A24-11SE-EB JL04V-8A24-11SE-EB
(MS3057-16A) (MS3057-16A) (JL04-2428CK) (JL04-2428CK)
Q1AA10100***
Q1AA10150***
Q1AA10200***
Q1AA10250***
Q1AA12100***
Q1AA12200***
Q1AA12300***
Q1AA13300***
Q1AA13400***
Q1AA13500***
Q1AA18450***
Q1AA18750
Q2AA10100***
Q2AA10150***
Q2AA13050***
Q2AA13100***
Q2AA10150***
Q2AA13200***
Q2AA18200***
Q2AA18350***
Q2AA18450***
Q2AA18550***
Q2AA18750***
Q2AA2211K***
Q2AA2215K***
Q4AA1811K***
Q4AA1815K***
MotorModelNo. Encoder Plug Standard Specifications
(Cable Clamp)
TÜV-Standard Plug (Cable Clamp)
Waterproof Specification
TÜV-Standard Plug (Cable Clamp) for Brake (Note 1)
Waterproof Specification
Straight L-Angle Straight L-Angle Straight L-Angle
MS3106B32-17S MS3108B32-17S JL04V-6A32-17SE
(MS3057-20A) (MS3057-20A) (Single Block)
Motor Model No. Cooling Fan Standard Specifications Waterproof Spec.
Straight L-Angle Straight
MS3106B10SL-4S
(MS3057-4A)
MS3108B10SL-4S
(MS3057-4A)
JA06A-10SL-4S-J1
(Single Block)
All Q4 Models
Amplifier Connectors (AC 100V Models)
Motor Encoder Connectors
Cooling Fan Connectors
Single Connectors
Contents Model No. Manufacturer Manufacturer's Part No. Max. Amp. Capacity
CN1 (Plug and Housing)
CN2 (Plug and Housing)
CNA (Plug)
CNB (Plug) - accessory
CNC (Plug)
CN1, CN2 (Plug, Housing)
CN1, CN2 (Plug, Housing)
CNA, CNC (Plug)
Sumitomo 3M
Sumitomo 3M
Sumitomo 3M
Phoenix Contact
Phoenix Contact
No Limit
100A Maximum
50A Maximum
50A Maximum
AL-00385594
AL-00385596
AL-00329461-01
AL-Y0000988-01
AL-00329458-01
10150-3000VE+10350-52A0-008
10120-3000VE+10320-52A0-008
MSTB2.5/5-STF-5.08
IC2.5/6-STF-5.08
IC2.5/3-STF-5.08
10150-3000VE+10350-52A0-008
10120-3000VE+10320-52A0-008
10150-3000VE+10350-52A0-008
10120-3000VE+10320-52A0-008
MSTB2.5/5-STF-5.08
IC2.5/3-STF-5.08
AL-00292309
AL-00393603
Connector Sets
Amplifier Connectors (AC 200V Models)
Amplifier Connectors (AC 100V Models)
Single Connectors
Low Voltage /
High Voltage
Connector Sets
CN1, CN2 (Plug, Housing)
CNA, CNC (Plug)
Usage
Usage
Model No.Contents Manufacturer Manufacturer's Part No.
AL-00492384
AL-00329461-02 MSTB2.5/4-STF-5.08
MSTB2.5/4-STF-5.08
IC2.5/3-STF-5.08
10150-3000VE
10350-52A0-008
10120-3000VE
10320-52A0-008
CNA (Plug) PhoenixContact
Sumitomo3M
PhoenixContact
AC
DC
Single Connectors
Contents Model No. Manufacturer Manufacturer's Part No. Max. Amp. Capacity
CN1 (Plug and Housing)
CN2 (Plug and Housing)
CNA (Plug)
CNC (Plug)
CNA, CNC (Plug)
CN1, CN2 (Plug, Housing)
Sumitomo 3M
Wago Japan
Sumitomo 3M
Wago Japan
AL-00549202
AL-00385596
AL-Y0001914-02
AL-Y0001914-01
10126-3000VE+10326-52A0-008
10120-3000VE+10320-52A0-008
721-108/026-000
721-105/026-000
721-108/026-000+231-131(Tool)
721-105/026-000
10126-3000VE+10326-52A0-008
10120-3000VE+10320-52A0-008
AL-00549204
AL-00549203
Connector Sets
Amplifier Connections (AC 100V Models)
Usage
DC 24V
Servo Amplifier
30A
46
Inquiry Check Sheet
Please provide the following information when placing an order or making an inquiry.
Also feel free to include any questions that require our attention.
Company Name:
Department:
Telephone :
Fax:
1) Application:
2) Name of Machinery:
3) Number of Units:
Date:
To contact us:
Phone: +81(03) 3917-5157
Fax : +81(03) 3917-0643
Name of target equipment
Name of servo axis
Mechanical structure
Speed reducer
Sensor type
Input format
Estimated production
Development schedule
Various measures
Miscellaneous
(questions, pending problems,
unresolved issues, etc.)
Usage environment and other requirements
Upper-level equipment (controller)
Current condition of above axis
Positioning accuracy
Operation pattern
Mechanism
Equipment name, category (transport, processing, test, other)
Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no)
Ball-screw/screw-rotation type (horizontal), ball-screw/nut-rotation type (horizontal),
rack and pinion (horizontal), belt/chain (horizontal), rotary table, roll feed, instability
Customer-provided ( / ); Sanyo standard (planet/spur/no-backlash-planet:: / ); other ( / )
Position , speed, torque, communications ( SERCOS / CAN / DeviceNet ) other ( )
Sequencer , laptop , customer-developed product , Sanyo-provided , other ( )
Cutting , clean-room use , anti-dust measures , other ( )
Single product: ( ) units/month ( ) units/year
Prototype period: ( )Year ( )Month Production period: ( )Year ( )Month
Related documentation ( already submitted ; send later by mail ) Visit/PR desired ( yes / no ) Meeting desired ( yes / no )
Sensor type specified ( yes / no )
Yes: ( incremental , optical absolute , optical absolute [resolver absolute with incremental function] )
Resolution ( )
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 in 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.m2JC (coupling inertia) kg.m2
JN (nut inertia) kg.m2JO
(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 (pulley thickness) mm
Dt (table diameter) mm Dh (table-support diameter) mm LW (load shift from axis) mm
Ds (table shaft diameter) mm Ls (table shaft length) mm
(specific gravity of ball-screw/pinion/pulley/table-shaft material) kg/cm3
(friction coefficient between sheet and sliding-surface/support-section/roll)
1 (specific gravity of roll-1 material) kg/cm3
2 (specific gravity of roll-2 material) kg/cm3 (internal friction coefficient of preload nut)
(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
Moving Distance
Moving Distance
Acceleration
Feeding Speed V [m/s]
[m/s2]
[m/sec]
t1 t2 t3 Time[sec]
G
(Stroke)
Feeding Speed
Reference formula:
[1G=9.8,m/s2),1(m/s2)≒0.1G]
[ (m/s2)=V(m/sec) t1(sec)]
[D(m)=V(m/sec) (t1+t2)(sec)]
Q1 QS AC Models
DC Models
Setup
Software
Positionng
General Spec
Options
Q2 Q4
AC DC P/A/T PF
＊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.
*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
CATALOG NO. 843-1 ’07.1.N