AC SERVO SYSTEMS

AC SERVO SYSTEMS
R
5
Ver.
Easy Set-up for Optimal Operation
Auto-Tuning
Small Compact Servomotors
A new auto-tuning algorithm improves system
response by providing functions such as inertia
identification, 5 auto-tuning modes, 30 levels of
response, and parameter setting auto-save.
Motor size and volume is reduced by as much as 30%
and 25% respectively compared to current models.
The world's smallest high torque high performance
servomotor. (as of Sept 2006)
Velocity command
value
Tuning start
Detected velocity value
30% reduction
Multi-Axis Servo Amplifier
Protection code IP67
6-axis model can reduce installation width by up to
42% compared to six single-axis models.Power loss is
reduced by up to 20% compared to current single-axis
models.
Protection code is IP67 for all models.
IP67
Water
Dust
*Shaft feedthrough and cable end are excluded.
All-in-One Control
Power Supply Harmonic Suppression
Configurable parameters allow you to switch between
control modes for torque, position or velocity.
Equipped with DC reactor connection terminals as
standard feature for supressing power supply
harmonics.
Position
or
Velocity
GO
Torque
control
AL
g
in
T
AR
ST
c
As
Flat
*Uniaxial servo amplifier only
1
d
en
Features and
Functions
Test Function (JOG)
Parameter setting, monitoring and alarm tracing can
be easily done using the built-in operator.
On-board JOG operation function is available for
testing motor and amplifier connection without the
need to connect to host device.
Model Number
Nomencalture
5-digit LED Display, Built-in Operator
External Wiring
Diagram
Standard
Specifications
System
Configuration
Capable of JOG operation
without connecting to host
device
Multiaxial Monitor Function
The setup software allows you to set parameters,
view graphical displays of monitored position,
velocity or torque waveforms, and perform system
analysis.
Parameter settings Position, velocity,
torque waveforms
The setup software allows up to 15 amplifiers to be
monitored. (Single axis only)
Setup Software
Setup Software
Dimensions
*Multi-axis is done through a personal computer.
Optional
Equipment
Daisy chain up to 15 units
RS232C
Maximum
15 units
*
*Use optional cable
AL-00490833-01 for PC
connection
*PC connection cable is optional
Built-in Dynamic Brake
It is possible to choose whether to equip regenerative
resistance or not. If the regenerative resistance
capability is insufficient, it is possible to use an
external regenerative resistance unit.
A built-in dynamic brake provides emergency stop
capability. The six kinds of motion sequences for the
dynamic brake can be selected by parameter setting.
Built-in
Regeneration
Resistor
Rotation speed
Built-in Regeneration Resistor
Controlled
state Dynamic braking state
(min-1)
Time(s)
External regenerative
resistor unit (Option)
2
Improved Precision and Reduced Cycle Time
High Response
Shorter Position Settling Time
A 4th-order notch filter reduces phase delay to
suppress mechanical resonance and improve velocity
response of equipment.
A new algorithm drastically shortens positioning
settling time for equipment.
10
Position deviation
Gain (dB)
0
-10
-20
Settling time (0ms)
Position complete signal
-30
-40
1
5
10
50
100
500 1000 1800
Frequency (Hz)
Example of positioning settling time
in highly rigid machinery
5ms/div
Vibration Suppression Control
Disturbance Suppression
With feed-forward vibration suppression control,
vibrations at the processing point and base of a
machine can be suppressed through simple tuning
procedures. Up to 4 types of vibration control
frequencies can be selected.
It is possible to control impacts from other axes in
case of multiaxial constitution, by using the new
disturbance observer with extended applicable
frequency.
Position deviation during stop
With vibration suppression control
Without vibration suppression control
Disturbance observer function ON
Oscillation waveform
of direct drive section
100ms/div
With vibration
suppression control
Disturbance observer function OFF
Oscillation waveform
of direct drive section
Disturbance
Without vibration
suppression control
Disturbance
Expanded Power Range
Command Follow-up Control
Maximum instantaneous stall torque is improved by
5% to 26%, and maximum rotation speed is increased
from 5000min-1 to 6000min-1 compared to current
models.
Performance of the positioning doubled in comparison
with current models by adoption of new positioning
control algorithm and new speed control algorithm.
And position deviation≒0 is achieved.
Position command
Torque (N・m)
Increased torque
R motor
Current model
Increased rotation Speed
0
1000 2000 3000 4000 5000 6000 7000
Rotation Speed (min-1)
3
Position deviation
20ms/div
20% Reduction in Power Loss
Using our proprietary technology, the motor's low
cogging torque delivers smooth rotation that is ideal
for high precision processes and vibration-sensitive
conveyor applications.
An energy conserving power module reduces main
circuit power loss by up to 20%.
Model Number
Nomencalture
Low Cogging Torque
Features and
Functions
Reduced Running
Costs
100%
System
Configuration
80%
70%
60%
50%
Standard
Specifications
R motor
Power loss reduction (%)
90%
Comparison of cogging torque waveforms
40%
30%
20%
10%
Current model
Current model
External Wiring
Diagram
0%
SANMOTION R
15A
(*Image)
Dimensions
High Resolution
(13
1 ,0 7
2 d i vi s i o n s ) A b s o l u
te E
nc
od
Setup Software
u
n
ti o
bit
17
er
Optional
Equipment
Hig
h
Re
so
l
Support for encoders up to 17 bit (131,072 divisions) is
available for high resolution control.
Full Closed-Loop Control
Optional support for full closed-loop control using
linear scale and other high resolution encoders
mounted on device side.
Branching
Highly accurate
positioning is possible
Loa
d
*available for single-axis only
4
Servo Motor Standard Model Number List
200V System
Power Voltage
Encoder models
Rated Output
30W
50W
Motor Flange Size
40mm sq.
40mm sq.
40mm sq.
100W
60mm sq.
60mm sq.
Battery backup method
absolute encoder
200W
（PA035C）
80mm sq.
60mm sq.
400W
80mm sq.
750W
1000W
80mm sq.
86mm sq.
200V
30W
50W
40mm sq.
40mm sq.
40mm sq.
100W
60mm sq.
60mm sq.
Absolute encoder for
incremental System
200W
（PA035S）
80mm sq.
60mm sq.
400W
80mm sq.
750W
1000W
80mm sq.
86mm sq.
Holding Brake
CE·UL
―
―
yes（24V）
yes（24V）
―
―
yes（24V）
yes（24V）
―
―
―
―
yes（24V）
yes（24V）
―
―
yes（24V）
yes（24V）
―
―
yes（24V）
yes（24V）
―
―
―
―
yes（24V）
yes（24V）
―
―
yes（24V）
yes（24V）
―
―
yes（24V）
yes（24V）
―
―
yes（24V）
yes（24V）
―
―
yes（24V）
yes（24V）
―
―
―
―
yes（24V）
yes（24V）
―
―
yes（24V）
yes（24V）
―
―
yes（24V）
yes（24V）
―
―
―
―
yes（24V）
yes（24V）
―
―
yes（24V）
yes（24V）
―
―
yes（24V）
yes（24V）
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
―
Standard
Model No.
R2AA04003FXP00
R2AA04003FXP00M
R2AA04003FCP00
R2AA04003FCP00M
R2AA04005FXP00
R2AA04005FXP00M
R2AA04005FCP00
R2AA04005FCP00M
R2AA04010FXP00
R2AA04010FXP00M
R2AA06010FXP00
R2AA06010FXP00M
R2AA06010FCP00
R2AA06010FCP00M
R2AA06020FXP00
R2AA06020FXP00M
R2AA06020FCP00
R2AA06020FCP00M
R2AA08020FXP00
R2AA08020FXP00M
R2AA08020FCP00
R2AA08020FCP00M
R2AA06040FXP00
R2AA06040FXP00M
R2AA08040FXP00
R2AA08040FXP00M
R2AA08040FCP00
R2AA08040FCP00M
R2AA08075FXP00
R2AA08075FXP00M
R2AA08075FCP00
R2AA08075FCP00M
R2AAB8100FXP00
R2AAB8100FXP00M
R2AAB8100FCP00
R2AAB8100FCP00M
R2AA04003FXH00
R2AA04003FXH00M
R2AA04003FCH00
R2AA04003FCH00M
R2AA04005FXH00
R2AA04005FXH00M
R2AA04005FCH00
R2AA04005FCH00M
R2AA04010FXH00
R2AA04010FXH00M
R2AA06010FXH00
R2AA06010FXH00M
R2AA06010FCH00
R2AA06010FCH00M
R2AA06020FXH00
R2AA06020FXH00M
R2AA06020FCH00
R2AA06020FCH00M
R2AA08020FXH00
R2AA08020FXH00M
R2AA08020FCH00
R2AA08020FCH00M
R2AA06040FXH00
R2AA06040FXH00M
R2AA08040FXH00
R2AA08040FXH00M
R2AA08040FCH00
R2AA08040FCH00M
R2AA08075FXH00
R2AA08075FXH00M
R2AA08075FCH00
R2AA08075FCH00M
R2AAB8100FXH00
R2AAB8100FXH00M
R2AAB8100FCH00
R2AAB8100FCH00M
For specifications on other model, please contact us.
5
Servo Amplifier Standard Model Number List
NPN
With
Wire-saving incremental encoder,
Battery backup method absolute
encoder
Analog/Pulse
input type
―
―
AC200V System AC200V System
AC200 to 230V
AC200 to 230V
(3-phase)
(1-phase)
PNP
With
―
―
Full Closed
NPN
With
―
―
AC200V System
With
NPN
CANopen
Interface
AC200V System
specifications
DC24V
AC200V System
―
Wire-saving incremental encoder,
Battery backup method absolute
encoder
―
With
PNP
DC24V
Built-in
positioning
function
model
―
―
Wire-saving incremental encoder,
AC200V System AC200V System Battery backup method absolute
encoder
NPN
With
―
Model No.
RS1A01AA
RS1A03AA
RS1A05AA
RS1L01AA
RS1L03AA
RS1L05AA
RS1A01AB
RS1A03AB
RS1A05AB
RS1L01AB
RS1L03AB
RS1L05AB
RS1A01AT
RS1A03AT
RS1A05AT
RS1L01AT
RS1L03AT
RS1L05AT
RS1A01AL
RS1A03AL
RS1A05AL
RS1J01AL
RS1J03AL
RS1J05AL
RS1A01AU
RS1A03AU
RS1A05AU
RS1J01AU
RS1J03AU
RS1J05AU
RS1A01AC
RS1A03AC
RS1A05AC
RS1L01AC
RS1L03AC
RS1L05AC
Model Number
Nomencalture
―
Amplifier
Capacity
15A
30A
50A
15A
30A
50A
15A
30A
50A
15A
30A
50A
15A
30A
50A
15A
30A
50A
15A
30A
50A
15A
30A
50A
15A
30A
50A
15A
30A
50A
15A
30A
50A
15A
30A
50A
System
Configuration
Internal Registration
Resistor
Standard
Specifications
Selectable
Output
Encoder Type
External Wiring
Diagram
Control Power
Dimensions
Main Power
For specifications on other model, please contact us.
■
Multi-Axis Servo System Amplifier Unit
Type
Power Input
Encoder Type
Pulse train
interface
DC280V
Battery backup method
absolute encoder
Amplifier
Capacity
Model No.
15A
RR1A01AAB00
30A
RR1A03AAB00
NPN
Multi-Axis Servo System Power Unit
Type
Pulse train
interface
■
Selectable
Output
Optional
Equipment
■
Setup Software
Type
Features and
Functions
200V System
Power Input
Internal Registration Resistor
AC200V
With
Model No.
RRPAA00
Multi-Axis Servo System Motherboard
Power Input
AC200V
Number of Slots
Model No.
(based on a 15A unit)
4
RRMA400
6
RRMA600
8
RRMA800
6
Servo Motor Standard Model Number List
100V System
Power Voltage
Encoder models
Rated Output
30W
50W
Motor Flange Size
40mm sq.
40mm sq.
Battery backup method
absolute encoder
80W
40mm sq.
（PA035C）
100W
200W
60mm sq.
60mm sq.
100V
30W
50W
40mm sq.
40mm sq.
Absolute encoder for
incremental System
80W
40mm sq.
（PA035S）
100W
200W
60mm sq.
60mm sq.
Holding Brake
yes(24V)
yes(24V)
CE·UL
Standard
―
―
Standard
yes(24V)
yes(24V)
Standard
―
―
Standard
yes(24V)
yes(24V)
Standard
―
―
Standard
yes(24V)
yes(24V)
Standard
―
―
Standard
yes(24V)
yes(24V)
Standard
―
―
Standard
yes(24V)
yes(24V)
Standard
―
―
Standard
yes(24V)
yes(24V)
Standard
―
―
Standard
yes(24V)
yes(24V)
Standard
―
―
Standard
yes(24V)
yes(24V)
Standard
―
―
Standard
yes(24V)
yes(24V)
Standard
―
―
Standard
―
―
―
―
―
―
―
―
―
―
―
―
―
―
―
―
―
―
―
―
Model No.
R2EA04003FCP00
R2EA04003FCP00M
R2EA04003FXP00
R2EA04003FXP00M
R2EA04005FCP00
R2EA04005FCP00M
R2EA04005FXP00
R2EA04005FXP00M
R2EA04008FCP00
R2EA04008FCP00M
R2EA04008FXP00
R2EA04008FXP00M
R2EA06010FCP00
R2EA06010FCP00M
R2EA06010FXP00
R2EA06010FXP00M
R2EA06020FCP00
R2EA06020FCP00M
R2EA06020FXP00
R2EA06020FXP00M
R2EA04003FCH00
R2EA04003FCH00M
R2EA04003FXH00
R2EA04003FXH00M
R2EA04005FCH00
R2EA04005FCH00M
R2EA04005FXH00
R2EA04005FXH00M
R2EA04008FCH00
R2EA04008FCH00M
R2EA04008FXH00
R2EA04008FXH00M
R2EA06010FCH00
R2EA06010FCH00M
R2EA06010FXH00
R2EA06010FXH00M
R2EA06020FCH00
R2EA06020FCH00M
R2EA06020FXH00
R2EA06020FXH00M
For specifications on other model, please contact us.
7
Servo Amplifier Standard Model Number List
Selectable
Output
Encoder Type
Internal Registration
Resistor
With
NPN
Analog/Pulse
input type
Wire-saving incremental encoder,
Battery backup method absolute
encoder
―
With
PNP
AC100V System AC100V System
―
With
Full Closed
NPN
―
CANopen
Wire-saving incremental encoder,
Interface
AC100V System AC100V System Battery backup method absolute
specifications
encoder
With
NPN
―
Amplifier
Capacity
15A
30A
15A
30A
15A
30A
15A
30A
15A
30A
15A
30A
15A
30A
15A
30A
Model No.
RS1N01AA
RS1N03AA
RS1E01AA
RS1E03AA
RS1N01AB
RS1N03AB
RS1E01AB
RS1E03AB
RS1N01AT
RS1N03AT
RS1E01AT
RS1E03AT
RS1N01AC
RS1N03AC
RS1E01AC
RS1E03AC
Model Number
Nomencalture
Control Power
System
Configuration
Main Power
For specifications on other model, please contact us.
Power Input
Encoder Type
Pulse train
interface
DC140V
Battery backup method
absolute encoder
Amplifier
Capacity
Model No.
15A
RR1E01AAB00
30A
RR1E03AAB00
NPN
Power Input
Internal Registration Resistor
AC100V
With
Dimensions
Multi-Axis Servo System Power Unit
Type
Pulse train
interface
■
Selectable
Output
External Wiring
Diagram
Type
Model No.
RRPEA00
Multi-Axis Servo System Motherboard
Power Input
AC100V
Setup Software
■
Multi-Axis Servo System Amplifier Unit
Number of Slots
Model No.
(based on a 15A unit)
4
RRME400
6
RRME600
8
RRME800
Optional
Equipment
■
Standard
Specifications
Type
Features and
Functions
100V System
8
Servo Motor Model Number Nomenclature
Servo Motor
Example: The following model number defines a "R2" servomotor with 60mm flange size, 200W rated output,
6000min -1 maximum rotation speed, 24V brake, and an absolute encoder (131,072 divisions/
rotation),UL/CE approval and reduction ratio 1/3.(Planetary gear)
R
2
AA
06
02 0
F
C
P
00
M
A
Specification
00‥Standard
01‥With oil seal
R Series
Motor Type
モータ種別
Holding Brake
‥‥‥中慣性
‥‥Middle inertia
X‥‥Without Brake
B‥‥With Brake（90V DC）
C‥‥With Brake（24V DC）
Supply Voltage
AA‥200V Motor
EA‥100V Motor
Maximum Rotation Speed
‥‥6000min-1
Flange Size
Rated Output
04 ‥‥‥ 40mm
06 ‥‥‥ 60mm
08 ‥‥‥ 80mm
B8 ‥‥‥ 86mm
003 ‥‥‥
005 ‥‥‥
010 ‥‥‥
020 ‥‥‥
30W
50W
100W
200W
M ‥‥CE and UL
0 ‥‥Without standard
but with gear
040 ‥‥‥ 400W
075 ‥‥‥ 750W
100 ‥‥‥ 1kW
Encoder Type
P ‥Battery backup method absolute encoder［PA035C］
H ‥Absolute encoder for incremental System［PA035S］
W‥Absolute encoder without battery［RA035C］
S ‥Wire-saving incremental encoder［PP031T］
Partition number /
Multiple Rotations
rotation
Remarks
PA035C
131072(17bit)
65536(16bit)
Battery backup method Absolute encoder
PA035S
131072(17bit)
ー
Absolute encoder for Incremental system
RA035C
131072(17bit)
65536(16bit)
PP031T
8000(2000P/R)
ー
Absolute encoder without battery
Wire-saving incremental encoder
Maximum 40000(Partition number/ rotation)
Conformance to Overseas Standards
Our standard servo amplifier has attained the international
standards (UL, c-UL and EN Standards).
You can also employ servo motors that have attained the
9
1/9
1/15
1/25
Backlashless 1/5
planetary
1/11
gear
1/21
1/33
Please consult with us about the
combination for the decelerator.
Encoder Specification
international standards (UL, c-UL and EN Standards).
C
D
E
S
T
U
V
Standard Identification
A reduction in the rating might be needed if an oil seal
and Brake is attached. Please consult with us about the details.
Model
Symbol Reducer type Reduction ratio
1/3
A
Planetary
gear
1/5
B
Single-Axis Servo Amplifier (Analog/Pulse input type)
Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage and
15A amplifier capacity.
A
A
Model Number
Nomencalture
01
01‥‥‥ 15A
03‥‥‥ 30A
05‥‥‥ 50A
System
Configuration
Amp. capacity
Motor Type
Model
L
A
A
L
N
E
Input Voltage Internal Registration Resistor Amp. capacity
15A,30A
W
15A,30A
W/O
AC200V
50A
W
W/O
50A
W
15A,30A
AC100V
15A,30A
W/O
Control Hardware Type
A… Encoder Specification : Absolute encoder
Wire-saving incremental encoder
Selectable output : NPN Output
B… Encoder Specification : Absolute encoder
Wire-saving incremental encoder
Selectable output : PNP Output
T… Full Closed-Loop
Specification : Wire-saving incremental encoder
Incremental encoder for full close
Selectable output : NPN Output
Setup Software
Power Input, Internal Registration Setting
Standard
Specifications
‥‥‥Rotary Motor
External Wiring
Diagram
R Series
Single-Axis Servo
Amplifier
A
Dimensions
RS1
Features and
Functions
Servo Amplifier Model Number Nomenclature
Optional
Equipment
*The motor parameters need to be set for the amplifier for use. Use the setup software.
10
Servo Amplifier Model Number Nomenclature
Servo Amplifier with CANopen
Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage
(Main Power and Control Power) and 15A amplifier capacity.
RS1
01
A
R Series
Single-Axis Servo
Amplifier
A
L
AMP. Capacity
Motor Type
01‥‥‥ 15A
03‥‥‥ 30A
05‥‥‥ 50A
‥‥‥ Rotary Motor
Interface Type
Power Input, Internal Registration Setting
Model
Control Power Power Input, Internal Registration
AMP. Capacity
Input Voltage Input Voltage
Resistor
L
A
A
L
N
E
K
J
AC200V
AC200V
AC100V
AC100V
DC24V
AC200V
W
W/O
W
W/O
W
W/O
W
W/O
15A,30A
15A,30A
50A
50A
15A,30A
15A,30A
15A,30A,50A
15A,30A,50A
Interface Specification：CAN open I/F
Encoder Specification：Absolute encoder,
Wire-saving incremental encoder
L ‥‥NPN Output
U‥‥PNP Output
*The motor parameters need to be set for the amplifier for use. Use the setup software.
Single-Axis Servo Amplifier built-in Positioning Function model
Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage
(Main Power and Control Power) and 15A amplifier capacity.
RS1
R Series
Single-Axis Servo
Amplifier
A
01
A
C
Amp. capacity
01‥‥‥ 15A
03‥‥‥ 30A
05‥‥‥ 50A
Motor Type
‥‥‥Rotary Motor
Power Input, Internal Registration Setting
Model
L
A
A
L
N
E
Input Voltage Internal Registration Resistor
W
W/O
AC200V
W
W/O
W
AC100V
W/O
Interface Type
Amp. capacity
15A,30A
15A,30A
50A
50A
15A,30A
15A,30A
C‥‥Built-in Positioning Function Model
F ‥‥Built-in positioning function model
with serial interface
*The motor parameters need to be set for the amplifier for use. Use the setup software.
11
Example: The model number shown below is a 4-axis "R" series multiaxis servo amplifier configuration
with 200V AC input voltage, 4 units of 15A amplifiers, and pulse train interface.
Model Number
Nomencalture
RR1A01AAB00 × 4 units
RRPAA00 × 1 unit
RRMA400 × 1 unit
System
Configuration
Amplifier Unit
Power Unit
Motherboard
Amplifier Unit
R Series
Multi-Axis Servo System
Amplifier Unit
A
A
Amp. capacity
01‥‥‥ 15A
03‥‥‥ 30A
B
00
Control Hardware Type
Specification
‥‥‥Pulse train interface
‥‥Standard
Power Input
Motor Type
Encoder Combination Description
A‥‥DC280V
E‥‥DC140V
‥‥‥Rotary Motor
‥‥‥Absolute encoder
Standard
Specifications
01
A
External Wiring
Diagram
RR1
Features and
Functions
Multi-Axis Servo Amplifier
Dimensions
*The motor parameters need to be set for the amplifier for use. Use the setup software.
Power Unit
R Series
Multi-Axis Servo System
Power Unit
A
00
Setup Software
A
Power Input
A‥‥AC200V
E‥‥AC100V
Control Hardware Type
Specification
‥‥‥Pulse train interface
‥‥Standard
Optional
Equipment
RRP
Motherboard
RRM
A
R Series
Multi-Axis Servo System
Motherboard
4
00
Power Input
Number of Slots
Specification
A‥‥AC200V
E‥‥AC100V
4‥‥‥ 4 Slots
6‥‥‥ 6 Slots
8‥‥‥ 8 Slots
Amplifier Unit 15A:Use of 1 slot per 1 unit
Amplifier Unit 30A:Use of 2 slots per 1 unit
‥‥Standard
12
System Configuration
Single-Axis Servo Amplifier
Noise Filter
Electromagnetic Contactor
Model No.: AL-00494635-01
Attached to prevent
external noise from the
power source line.
Switches servo power on and
off. Installation of a surge
protector is required.
Create the protective circuit.
Model No.: AL-00490833-01
PC
Circuit Breaker(MCCBM)
Cuts off power in the case
of an overload, to protect
the power line.
TSR
DC Reactor
Lithium battery
When using the unit with an
absolute system, mount the
optional battery inside the
digital operator cover.
Setup
Software
Parameter
configuration
and monitoring
is possible via
communication
with a PC.
CN1
Suppresses power harmonics.
Remove the short bar between
DL1-DL2 and connect this here,
when needed for high
frequency waves.
External Regenerative Resistor
Host Devices
PLC
PLC and controllers are
available as the host device.
Use as necessary, for example
when operating loads with
large inertia.
CN2
For special operations, such as
high frequency applications
that require greater power
dissipation than that provided
by the servo amplifier’s
internal regenerative resistor.
Brake Power
Wiring required for brake.
Required for use when the
servo motor is equipped
with a brake.
CANopen
Host Devices
Dedicated controller
PC and PLC are available
as the host device.
*Communication Profile: DS-301
Device Profile: DSP-402 compliance
13
Noise Filter
Lithium battery
Circuit Breaker(MCCB)
Features and
Functions
Multi-Axis Servo Amplifier
Host Devices
Attached to prevent
external noise from the
power source line.
Cuts off power in the case
of an overload, to protect
the power line.
Setup Software
Parameter configuration
and monitoring is possible
via communication with a
PC.
PLC
PLC and controllers are
available as the host device.
System
Configuration
T
S
R
Model Number
Nomencalture
When using the unit with
an absolute system,
connect the battery to
CN5.
Model No.: AL-00490833-01
External Wiring
Diagram
Standard
Specifications
Electromagnetic Contactor
Switches servo power on and
off. Installation of a surge
protector is required.
Create the protective circuit.
Dimensions
External Regenerative Resistor
Setup Software
Use as necessary, for example
when operating loads with
large inertia.
Optional
Equipment
For special operations, such as
high frequency applications
that require greater power
dissipation than that provided
by the servo amplifier’s
internal regenerative resistor.
DC Reactor
Suppresses power harmonics.
Remove the short bar between
DL1-DL2 and connect this here,
when needed for high
frequency waves.
Brake Power
Wiring required for brake.
Required for use when the
servo motor is equipped
with a brake.
14
Standard Specifications
Motor Model and Flange Size in mm
R2
Servo Motor
200V System
R2AA04003F
R2AA04005F
R2AA04010F
Status
Symbol
Unit
《40》
《40》
《40》
Rated Output ★
PR
W
30
50
100
Rated Speed
★
NR
min -1
Maximum Speed
★
N max
min -1
Rated Torque
★
TR
N・m
0.098
0.159
0.318
Continuous Torque at Stall
★
TS
N・m
0.108
0.167
0.318
Peak Torque at Stall
★
TP
N・m
0.37
0.59
1.18
Rated Armature Current
★
IR
Arms
0.51
0.67
0.81
Armature Current at Stall
★
IS
Arms
0.56
0.69
0.81
Peak Armature Current at Stall
★
IP
Arms
2.15
2.8
3.3
Torque Constant
☆
KT
N・m／Arms
0.201
0.246
0.424
Voltage Constant Per Phase
☆
K Eφ
mV／min -1
7
8.6
14.8
Phase Resistance
☆
Rφ
Ω
12
9
9.3
Rated Power Rate
★
QR
kW／s
3.9
6.7
16
Electrical Time Constant
☆
te
ms
0.55
0.67
0.82
Mechanical Time Constant (Not including Encoder)
☆
3000
6000
tm
ms
2.2
1.7
0.97
Rotor Moment of Inertia (Not including Encoder)
JM
2
2
×10 -4 kg・m（GD
／4）
0.0247
0.0376
0.0627
Capacity
Rotor Moment of Inertia (Encoder)
JS
2
2
×10 -4 kg・m（GD
／4）
40mm sq. to 86mm sq.
30W to 1000W
Mass including Encoder
WE
kg
Brake Static Friction Torque
TB
N・m
0.32 MIN.
Brake Rated Voltage
VB
V
DC90V ／ DC24V ± 10％
Brake Rated Current
IB
A
0.07 ／ 0.27
Rotor Moment of Inertia (Brake)
JB
2
2
×10 -4 kg・m（GD
／4）
0.0078
Brake Mass
W
kg
High Efficiency and Low
Ripple (Medium Inertia)
Operating Temperature: 0 to 40°C, Relative Humidity: 90% Maximum, no condensation
Amplifier Model（Single-Axis）
RS1A01A □
Amplifier Model（Multi-Axis）
RR1A01AAB00
AC200V to 230V ＋10, −15% 50/60Hz ± 3Hz (Note 2)
Amp. Operating Temp. and RH
Operating Temperature: 0 to 55°C (Note1), Relative Humidity: 90% Maximum, no condensation
Power Consumption
☆:Indicates a typical
value when the winding
temperature is 20℃.
0.5
1.5
0.8
0.4
0.6
1
0.3
Torque [N・m]
Note 1) The multi-axis type Servo amplifier has an ambient
operating temperature of 0 to 40℃. The operating
temperature with forced air cooling is 0 to 55℃.
Note 2) In case of the amplifier for CANopen, there is also
control power source DC24V type.
Note 3) This is a instance with the battery-backup method
absolute encoder〔PA035〕. For the following encoders, please make inquiries:
・Absolute encoder without battery［ RA035C ］
・Red. Wiring Incremental Encoder［ PP031T ］
Note 4) The weight in the multi-axial specifications is of amplifier
unit only.
* For models with oil seal or brake, reduction in rated value
may become necessary.
0.4
0.9 ／ 1.0 ／ 0.48
kg
Torque [N・m]
after warm-up and thermal
stabilization, together with
a standard amplifier.
0.2
kVA
Amplifier Mass（Weight）[Single / CAN / Multi] (Note4)
★:Indicates a typical value
0.39
0.23
Motor Operating Temp, Rel. Humidity
Amplifier Power Supply
Motor Dwgs P24
0.27
0.2
0.1
Torque [N・m]
Features
0.0033 (Note 3)
0.23
0.4
0.2
0.5
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
Speed [min-1]
Speed [min-1]
Speed [min-1]
Encoder Wiring Diagram
Single-Axis Servo Amplifier
SERVO AMPLIFIER
CN2
ES＋
ES−
EBAT＋
EBAT−
＋5V
0V
SERVO MOTOR
13
14
1
2
9
10
11
12
17
18
19
20
Brown
ES＋
Blue
ES−
Pink
EBAT＋
Purple
Note4）
Note1）
Note2）
Note3）
15
Use a twisted-pair shielded cable.
Note 2) Encoder power connections depend on encoder cable length. See the following
Encoder
FG（Shielded）
Plug:10120-3000PE
Shell:10320-52A0-008
Note 1)
EBAT−
Red ＋5V
Black 0V
Battery backup type absolute encoder [ PA035C ]
Absolute encoder for incremental system [ PA035S ]
Absolute encoder without battery [ RA035C ]
Encoder cable length
+5V DC Wiring
10m MAX.
Connect pin 19
25m MAX.
Connect pin 17,19
(Do not connect pins12,17)
(Do not connect pins12)
0V DC Wiring
Connect pin 20
Connect pin 18,20
(Do not connect pins11,18)
(Do not connect pins11)
40m MAX.
Connect pin 12,17,19
Connect pin 11,18,20
Note 3) Use a Awg24 0.2mm encoder cable
2
Note 4) When the Absolute encoder for incremental system or absolute encoder
without battery is used, battery lines (EBAT+, EBAT-) are not required.
・Multi-Axis Servo Amplifier Wiring diagram → page17
R2AA06020F
R2AA06040F
R2AA08020F
R2AA08040F
R2AA08075F
R2AAB8100F
《60》
《60》
《60》
《80》
《80》
《80》
《86》
100
200
400
200
400
750
1000
Features and
Functions
R2AA06010F
3000
0.637
1.27
2.39
3.18
0.353
0.686
1.37
0.686
1.37
2.55
3.92
14.3
1.13
2.2
4.8
2.2
4.4
8.5
0.86
1.5
2.8
1.5
2.6
4.6
6.0
0.86
1.6
2.8
1.5
2.6
4.6
6.8
3.5
5.6
10.8
4.8
8.9
15.5
25.7
0.375
0.476
0.524
0.516
0.559
0.559
0.582
13.1
16.6
18.3
18.0
19.5
19.5
20.3
4.8
2.7
1.36
2.3
0.93
0.4
0.44
8.6
19
39
8
16
31
42
2.0
2.6
3.2
2.2
2.5
3.0
4.3
1.2
0.78
0.61
1.3
0.93
0.70
0.93
0.117
0.219
0.412
0.52
1.04
1.82
2.38
1.6
2.6
System
Configuration
1.27
Standard
Specifications
0.637
Model Number
Nomencalture
6000
0.318
0.0033 (Note 3)
0.84
1.3
1.37 MIN.
0.07 ／ 0.27
1.2
3.5
2.55 MIN.
3.92 MIN.
0.11 ／ 0.32
0.12 ／ 0.37
0.30 ／ 0.09
0.060
0.060
0.25
0.34
0.30
0.35
0.85
0.8
External Wiring
Diagram
0.59
0.36 MIN.
Dimensions
DC90V ／ DC24V ± 10％
Operating Temperature: 0 to 40°C, Relative Humidity: 90% Maximum, no condensation
RS1A01A □
RS1A03A □
RS1A01A □
RS1A03A □
RS1A05A □
RR1A01AAB00
RR1A03AAB00
RR1A01AAB00
RR1A03AAB00
―
Operating Temperature: 0 to 55°C（Note）, Relative Humidity: 90% Maximum, no condensation
0.8
0.9 ／ 1.0 ／ 0.48
3
1.5
6
1.0
3
5
1
2
Torque [N・m]
Torque [N・m]
Torque [N・m]
Torque [N・m]
0.5
4
3
2
2.5
2.2 ／ 2.3 ／ –
6
10
5
8
15
10
4
Torque [N・m]
2
1
1.7
1.0 ／ 1.1 ／ 0.77
1
1
3
2
6
Torque [N・m]
0.9 ／ 1.0 ／ 0.48
Optional
Equipment
1.0
1.0 ／ 1.1 ／ 0.77
0.8
Torque [N・m]
0.4
4
5
2
1
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
Speed [min-1]
Speed [min-1]
Speed [min-1]
Speed [min-1]
Speed [min-1]
Speed [min-1]
0
0 1000 2000 3000 4000 5000 6000 7000
Speed [min-1]
Single-Axis Servo Amplifier
SERVO AMPLIFIER
SERVO MOTOR
CN2
A
A
B
B
C
C
or
or
or
or
or
or
U channel input
U channel input
V channel input
V channel input
W channel input
W channel input
Note 3) ＋DC 5V
Note 3) GND(0V)
3
4
5
6
7
8
9
10
11
12
16
17
18
19
20
Blue
Brown
Green
Purple
White
Yellow
Red
Black
Incremental encoder
A or U channel output
A or U channel output
B or V channel output
B or V channel output
C or W channel output
C or W channel output
＋DC
5V
GND(0V)
Note 3)
Red. Wiring incremental encoder [ PP031T ]
Note 1)
Use a twisted-pair shielded cable.
Note 2) Encoder power connections depend on encoder cable length. See the following
Encoder cable length
Setup Software
AC200V to 230V ＋10, −15% 50/60Hz ± 3Hz (Note 2)
+5V DC Wiring
5m MAX.
Connect pin 19
10m MAX.
Connect pin 17,19
20m MAX.
Connect pin 12,17,19
(Do not connect pins 9,12,17)
(Do not connect pins 9,12)
(Do not connect pins 9)
0V DC Wiring
(Do not connect pins10,11,16,18) (Do not connect pins 10,11,16) (Do not connect pins 10,16) 10,11,16,18,20Connect pin
Connect pin 20
Connect pin 18,20
Connect pin 11,18,20
30m MAX.
9,12,17,19 Connect pin
Note 3) Use a Awg24 0.2mm2 encoder cable
FG(Shielded)
Note 1)
Note 2)
Plug : 10120-3000PE,
Shell : 10320-52A0-008
16
Standard Specifications
Motor Model and Flange Size in mm
Status Symbol
R2EA04003F
R2EA04005F
Unit
《40》
《40》
30
Rated Output ★
PR
W
Rated Speed
★
NR
min -1
Maximum Speed
★
N max
min -1
Rated Torque
★
TR
N・m
0.098
0.159
Continuous Torque at Stall
★
TS
N・m
0.108
0.167
Peak Torque at Stall
★
TP
N・m
0.37
0.59
Rated Armature Current
★
IR
Arms
0.94
1.2
Armature Current at Stall
★
IS
Arms
1.0
1.3
Peak Armature Current at Stall
★
IP
Arms
3.7
4.9
Torque Constant
☆
KT
N・m／Arms
0.116 ± 10%
0.142 ± 10%
Voltage Constant Per Phase
☆
K Eφ
mV／min -1
4.04 ± 10%
4.97 ± 10%
Phase Resistance
☆
Rφ
Ω
4
3
Rated Power Rate
★
QR
kW／s
3.9
6.7
Electrical Time Constant
☆
te
ms
0.55
0.67
Mechanical Time Constant (Not including Encoder)
☆
tm
ms
2.2
1.7
Rotor Moment of Inertia (Not including Encoder)
JM
2
2
×10 -4 kg・m（GD
／4）
0.0247
0.0376
Capacity
Rotor Moment of Inertia (Encoder)
JS
2
2
×10 -4 kg・m（GD
／4）
40mm sq. to 60mm sq.
30W to 200W
Mass including Encoder
WE
kg
Brake Static Friction Torque
TB
N・m
0.32 MIN.
Brake Rated Voltage
VB
V
DC90V ／ DC24V ± 10％
Brake Rated Current
IB
A
0.07 ／ 0.27
Rotor Moment of Inertia (Brake)
JB
2
2
×10 -4 kg・m（GD
／4）
0.0078
Brake Mass
W
kg
Servo Motor
100V System
（5 models）
Features
High Efficiency and Low
Ripple (Medium Inertia)
6000
0.0033 (Note 2)
0.23
0.23
Motor Operating Temp, Rel. Humidity
Operating Temperature: 0 to 40°C, Relative Humidity: 90% Maximum, no condensation
Amplifier Model（Single-Axis）
RS1E01A □
Amplifier Model（Multi-Axis）
RR1E01AAB
Amplifier Power Supply
AC100V to 115V ＋ 10，− 15％ 50/60Hz ± 3Hz
Amp. Operating Temp. and RH
Operating Temperature: 0 to 55°C (Note1), Relative Humidity: 90% Maximum, no condensation
Amplifier Mass（Weight）[Single / Multi]
★: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℃.
kVA
0.2
kg
0.9 ／ 0.48
Note 1) The multi-axis type Servo amplifier has an ambient
operating temperature of 0 to 40℃. The operating
temperature with forced air cooling is 0 to 55℃.
Note 2) This is a instance with the battery-backup method
absolute encoder〔PA035〕. For the following encoders, please make inquiries:
・Absolute encoder without battery［ RA035C ］
・Red. Wiring Incremental Encoder［ PP031T ］
Note 3) The weight in the multi-axial specifications is of amplifier
unit only.
* For models with oil seal or brake, reduction in rated value
may become necessary.
0.5
0.8
0.4
Torque [N・m]
Power Consumption
Motor Dwgs P24
0.27
0.6
0.3
Torque [N・m]
R2
50
3000
0.2
0.1
0.4
0.2
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
Speed [min-1]
Speed [min-1]
Encoder Wiring Diagram
Multi-Axis Servo Amplifier
SERVO AMPLIFIER
+5V
0V
+5V
0V
N.C.
N.C.
ES+
ESEBAT+
EBAT-
SERVO MOTOR
17
Note 1)
+5
0V
3
4
5
6
7
8
Brown
ES+
Blue
9
10
Pink
EBAT+
Purple
Note 2)
Plug:36320-0100JL
Shell:36310-3200-008
Red
Black
1
2
ES-
EBATFG（Shielded）
Note 3)
Use a twisted-pair shielded cable.
Note 2) The sheathed shield wire should be connected to the metal case (ground) on CN2 side,
before connecting to ground on encoder side.
Encoder
Note 1)
Battery backup type absolute encoder [ PA035C ]
Note 3) Color symbols shown on the diagram for signal lines on encoder side refer to lead-wire
type sensors.
Note 4) The allowable connection distance between amplifier and encoder varies according to
the diameter(impedence) of the electric wire of the cable used. The power voltage
specification for encoders is 5V±5%. If the cable is too long, the voltage on encoder side
may fall below 5V.Measure the voltage on encoder side to ensure that the cable used is
within specification limits.
For the following encoders, please make inquiries:
・Absolute encoder without battery［ RA035C ］
R2EA06010F
R2EA06020F
《40》
《60》
《60》
100
200
3000
W
min -1
6000
N・m
0.255
0.318
0.686
N・m
0.86
1.0
2.2
N・m
1.3
1.7
3.1
Arms
Arms
1.3
1.7
3.2
4.5
5.6
11.9
Arms
0.221 ± 10%
0.206 ± 10%
0.224 ± 10%
N・m／Arms
7.7 ± 10%
7.2 ± 10%
7.82 ± 10%
mV／min -1
2.9
1.5
0.6
Ω
10
8.6
19
kW／s
ms
0.81
1.9
2.6
0.98
1.2
0.79
ms
0.0627
0.117
0.219
2
2
×10 -4 kg・m（GD
／4）
0.0033 (Note 2)
0.59
0.84
kg
0.32 MIN.
0.36 MIN.
1.37 MIN.
N・m
0.11 ／ 0.32
A
DC90V ／ DC24V ± 10％
V
0.07 ／ 0.27
0.0078
0.06
0.23
External Wiring
Diagram
2
2
×10 -4 kg・m（GD
／4）
0.39
0.07 ／ 0.27
System
Configuration
0.637
Standard
Specifications
0.318
Model Number
Nomencalture
min -1
0.255
2
2
×10 -4 kg・m（GD
／4）
0.3
0.35
kg
Dimensions
80
Unit
Features and
Functions
R2EA04008F
Operating Temperature: 0 to 40°C, Relative Humidity: 90% Maximum, no condensation
RS1A01A □
RS1E03A □
RR1E01AAB
RR1E03AAB
Setup Software
AC100V to 115V ＋10, −15% 50/60Hz ± 3Hz
0.4
0.5
1.5
3
1
1
2
0.5
Torque [N・m]
1.5
Torque [N・m]
Torque [N・m]
0.9 ／ 0.48
0.5
0
0 1000 2000 3000 4000 5000 6000 7000
0
0 1000 2000 3000 4000 5000 6000 7000
Speed [min-1]
Speed [min-1]
0.8
kVA
1.0 ／ 0.77
kg
Optional
Equipment
Operating Temperature: 0 to 55°C (Note1), Relative Humidity: 90% Maximum, no condensation
1
0
0 1000 2000 3000 4000 5000 6000 7000
Speed [min-1]
18
General Specifications
CANopen Interface specifications
Fieldbus specifications
Bus Connection, Medium
Fieldbus
Communication Profile
Device Profile
Bit Rate
Max. nodes per segment
CAN-Standard ISO-11898 (High-speed CAN)
CANopen
CiA DS301 Version 4.02
CiA DSP402 (CANopen device profile for drive and motion control) Version 2.0
1Mbps, 800kbps, 500kbps(default setting), 250kbps, 125kbps, 50kbps , 20kbps , 10kbps (Selectable by R-Setup Software )
1 to 127 (Selectable by Double 16-position Rotary Switch or R-Setup Software )
RJ-45 type Modular connector (2 ports)
- Pin 1“CAN_H”high bus line
- Pin 2“CAN_L”low bus line
- Pin 3,7“CAN_GND”Ground
- Pin 6“CAN_SHIELD”Cable Shield
- Pin 5“Terminator”(120 ohm; if necessary, attach a jumper between Pin1 and Pin5)
ISO-11898 compliant high-speed transceiver
25m ( for 1Mbps)
PDO (Process Data Object)
SDO (Service Data Object)
NMT (Network Management)
EMCY (Emergency)
Heartbeat
SYNC (Synchronization Object)
Synchronous transmission
Asynchronous transmission
Homing Mode (h.m)
Profile Position Mode (p.p)
Profile Velocity Mode (p.v)
Interpolated Position Mode (i.p)
Profile Torque Mode (t.q)
Connector
Transceiver
Max. Bus Length
Communication Objects
PDO Transfer Modes
Mode of Operation
PNP output
NPN output
Host unit
Servo amplifier
Out Power
50mA max
DC24V
Host unit
Servo amplifier
Out Power
Out 1~8
Out 1~8
Out Common Maximum current
DC5V . . . . . . . . . . 10mA
DC12 to 15V . . . . . 30mA
DC24V . . . . . . . . . . 50mA
The output port counts are differentdepending on the specification.
19
The output port counts are different depending on the specification.
External Wiring Diagram
1-phase(100V AC)
Features and
Functions
Single-Axis Servo Amplifier
1-phase(200V AC)
User Devices
1-phase
AC power
User Devices
1-phase
AC power
MC
100 to 115V
MC
200 to 230V
Model Number
Nomencalture
50／60Hz
Note10）
Operation Prep.
Operation Prep.
ON
OFF
Operation Prep.
Operation Prep.
ON
OFF
MC
MC Emergency
Stop
MC Emergency
Stop
System Error
Note 3)
Note 2)
System
Configuration
System Error
T
Internal Regeneration
Resistor
SERVO MOTOR
S
t
r
Note10）
V
Operation Prep.
Operation Prep.
ON
OFF
Orange
(yellow)
White
Orange
(yellow)
SERVO AMPLIFIER
Red
U
MC
MC
Black
Note 6）
W
90V
（24V）
Holding Brake
(install with Brake only)
Green
Emergency
Stop
RY1
Standard
Specifications
CNC
R
50／60Hz
System Error
Encoder Connector
CN2
CN1
Line Driver
26
Normal
Rotation
Pulse
27
47
SG
Reverse
Rotation
Pulse
SG
Encoder
+5 +5
Shielded
Line Receiver
26C32
Corresponding
F-PC
F-PC
28
29
R-PC
48
SG
Plug: 10120-3000PE
Shell: 10320-52A-008
Line Driver
26C31
Corresponding
+5 +5
SG
R-PC SG
Note 5）
SG
AO
3
AO
4
BO
5
BO
6
ZO
7
ZO
8
Note 1) For the parts markde , use a shielded
cable.
Note 2) Connect a regenerative resistor between
terminals RB1 - RB2.When using an
external regenerative resistor,first remove
the internal regenerative resistor wiring
between terminals RB1 and RB2, and then
connect an external regenerative resistor
between terminals RB1 - RB2.
Note 12）
SG
SG
21
T-REF / V-REF
20
SG
SG
SG
22
T-COMP
23
SG
PS
9
PS
10
NPN Output
Note 3) Terminals DL1 and DL2 are dedicated for
connecting DC reactors. If a harmonic
suppression reactor is not in use, create a
short circuit between DL1 and DL2 terminals
with the attached shorting bar.
PNP Output
SG
ZOP
11
SG
12
SG
SG
19
R-TLA
MON1
SG
30
SG
SG
31
OUT-PWR
49
OUT1
39
SG
DC5V,
DC12V
to 24V
SG
DC 3.6V
Lithium Battery
Note 8）
1
BTP-I
2
BTN-I
50
CONT-COM
37
CONT1
36
CONT2
35
CONT3
DC5V∼24V
34
CONT4
33
CONT5
32
CONT6
OUT2
40
OUT3
41
OUT4
42
OUT5
+5 +5
Line Driver
13
CONT7
14
CONT7
11
SG
12
SG
MON1
30
SG
31
SG
44
OUT7
45
Line Driver
26C32
Corresponding
SH
CONT8
16
CONT8
OUT-COM
24
38
SG
OUT-COM
25
SG
SG
Refer to the Instruction Manual for
instructions on the shielding process.
OUT-PWR
49
OUT1
39
Note 6)
Motor connection specifics may vary
depending on the motor specifications.
Lead-type motor power and brake wires
are shown as red, white, black, green, and
orange. When using a cannon plug,
cannect it according to the motor
specifications.
OUT2
40
OUT3
41
OUT4
42
OUT5
43
OUT6
44
OUT7
45
OUT8
46
Note 7) For wiriting of the encoder connectors,
refer to the encoder wiring diagram.
Note 8)
The user must supply the external power
supply.
Note 9)
R, S, T, r, t, , P, DL2, RB1, RB2, U, V, W are
high-voltage circuits; all other signal lines
are low-voltage circuits. When wiring,
maintain sufficient distance between
high-voltage and low-voltage circuits.
Note 10) Installation of a UL compliant and IEC / EN
compliant earth leakage circuit braker is
recommended.
46
15
SG
Note 5)
Note 8）
DC24V
Note 11) When wiring the single-phase power
supply, do not wire the S-phase to the
amplifier.
+5 +5
SG
Note 4) The and P terminals (high-voltage circuit)
are reserved for maintenance. Do not wire
these terminals.
43
OUT6
OUT8
ZOP
Monitor
Output
17
SG
Monitor
Output
F-TLA
Note 8）
Normal
Reverse
18
SG
Note 12) Always connect the SG (signal ground)
between devices when using differential
operation input signals.
SH
Note 5)
Note 12）
SH
Note 5)
Plug: 10150-3000PE
Shell: 10350-52A0-008
20
External Wiring
Diagram
Note11）
200 to 230V
Note 13）
DL1
DL2
P
RB1
Note 4）
CNA
MC
RB2
User Devices
3-phase
AC power
CNB
3-phase(200V AC)
Dimensions
MC
Setup Software
Note10）
Optional
Equipment
50／60Hz
External Wiring Diagram
Single-Axis Servo Amplifier with CANopen
Contorol Power DC24V
User unit
CNA
MC
Power
supply 3φ
200 to 230V
50/60Hz
T
Note 10)
S
R
Start
ready
ON
Note 9)
Start
ready
OFF
MC
MC
Emergency
System
error
CNB
stop
1
2
CNA
MC
Power
supply 3φ
200 to 230V
50/60Hz
Regenerative
resistor
DL1
DL2
User unit
P
RB1
RB2
Note 2)
Note 3)
Note 4)
Contorol Power AC200V
CNB
DC24V
24V
24G
T
Note 11)
+
S
R
t
Note 10)
r
Start
ready
OFF
MC
MC
System
error
Note 6)
CN3
stop
Note 12)
1
CAN
CAN_L
2
TRANCEIVER
Terminator
5
GND
3
GND
7
White
V
SH
Encoder connector
Encoder
Note 7)
1/4W 120Ω
CN4
1
CAN_L
2
Terminator
5
GND
3
SH
Note 5)
NPN Output
7
SH
SG
Combination of
Plug:TM21P-88P
Battery input
CN1
1
BTP-I
2
BTN-I
8
9
CONT
-COM
3
CONT1
10
CONT2
4
CONT3
11
CONT4
5
CONT7
12
CONT8
DC5V to 24V
General-purpose output
SH
Combination of
Plug : 10120-3000PE,
Shell : 10320-52A0-008
Combination of
Plug : 10114-3000PE
Shell : 10314-52A0-008
Note 8)
OUT-PWR
14
OUT1
6
OUT2
13
OUT-COM
7
DC5V,
DC12V
∼24V
PNP Output
Note 8)
DC24V
OUT-PWR
General-purpose output
CAN_H
Note 8)
90V
(24V)
Holding brake
(for the type with
a brake only)
Green
(Green/Yellow)
Combination of
Plug:TM21P-88P
RY1
Orange
(Yellow)
Red
U
CN2
GND
Orange
(Yellow)
Black
W
CAN_H
Lithium battery
DC3.6V
SERVO
MOTOR
CNC
SERVO AMPLIFIER
Emergency
14
OUT1
6
OUT2
13
General-purpose output
Start
ready
ON
SH
SH
Note 5)
Note 5)
Note 1) For the parts markde , use a twisted pair shielded cable.
Note 2) Connect a regenerative resistor between terminals RB1-RB2.
When using an external regenerative resistor,
first remove the internal regenerative resistor wiring between
terminals RB1 and RB2, and then connect an external
regenerative resistor between terminals RB1-RB2.
Note 3) The DL1 and DL2 terminals are for connecting a DC reactor.
If a DC reactor is not used, short the DL1 and DL2
terminals using the short bar supplied.
Note 4) The ー
○ terminal and the P terminal are for maintenance
(high-voltage circuit).
Note 5) Refer to the Instruction Manual for instructions on the shielding
process.
Note 6) The motor-side connection depends on the motor specification.
The red, white, black green and orange markings are
for use with lead type motor power line and brake line.
Refer to the motor specifications for cannon plug type connections.
Note 7) Refer to the encoder connection diagram regarding
the encoder connector wiring.
Note 8) Power should be supplied by the user.
Either of the inputs can be selected.
ー,P,DL1,DL2,RB1,RB2,U,V,W are high-voltage circuits,
Note 9) R,S,T,t,r,○
all other lines are low-voltage. Ensure sufficient
distance between the high- and low-voltage circuits.
Note 10) It is recommended to use a ground fault interrupter conforming
to the UL, IEC and EN standards.
Note 11) Do not wire the S phase for a single-phase power amplifier.
Note 12) Insert RJ45 connector to which 1pin(CAN_H) and
5pin(Terminator) are short-circuited in CN3 or CN4
when the terminator is necessary.
21
1-phase(100V AC)
Features and
Functions
Single-Axis Servo Amplifier built-in positioning function model
1-phase(200V AC)
User unit
User Devices
1-phase
AC power
MC
MC
Model Number
Nomencalture
1-phase
AC power
200 to 230V
50/60Hz
100 to 115V
50／60Hz
Note 10)
Note10）
Operation Prep.
Operation Prep.
ON
OFF
Operation Prep.
Operation Prep.
ON
OFF
MC
MC Emergency
Stop
MC Emergency
Stop
System Error
Regenerative
resistor
User unit
−
CNA
T
Note 11)
200 to 230V
50/60Hz
SERVO MOTOR
＋
S
CNC
R
Note 10)
Note 6)
Black
W
t
r
Operation Prep. Operation Prep.
ON
OFF
MC
SERVO AMPLIFIER
MC
Encoder connector
Encoder
Note 7)
Note 8)
Power ON ready (A-RDY)
1
2
Note 2)
SH
50
Note 5)
NC ready (NCRDY)
6
While operation (MOVE)
7
Positioning complete (PFIN)
8
9
Homing complete (ZFIN)
10
OUT(1)
11
OUT(2)
12
OUT(3)
13
OUT(4)
14
OUT(5)
15
OUT(6)
16
OUT(7)
17
OUT(8)
Common for output external power (24G)
18
24
25
General-purpose output
In-position (INPS)
Note 8)
Dimensions
5
Setup Software
Error output (Err)
External operation effective (EXT)
Optional
Equipment
4
26
19
＋ Over travel (+0T)
20
− Over travel (-0T)
21
External data setting (E_STR)
22
External Error (EXT_E)
23
Start (RUN)
27
Homing start (ZRT)
28
＋ Manual feeding (+JOG)
29
− Manual feeding (-JOG)
30
Over ride (OVRID)/Manual high speed (RAP)
31
Alarm reset (ARST)
32
Cancel (CACL)
33
Servo ON (S-ON)
34
Output selection 1 (SEL1)
35
Output selection 2 (SEL2)
36
Output selection 3 (SEL3)
37
Note 1)
Note 2)
Note 1)
＋ 1 step feeding (+1step)
38
− 1 step feeding (-1step)
39
Interruption start (I_RUN)
40
MFIN (MFIN)
41
IN(1)
42
IN(2)
43
IN(4)
44
Point specification
SH
Plug : 10120-3000PE
Shell : 10320-52A0-008
3
Holding brake excitation timing output (HBON)
External power source for input (+24G)
Slow down before Home (SDN)
90V
(24V)
Holding brake
(for the type with
a brake only)
Green
(Green/Yellow)
CN2
CN1
RY1
Orange
(Yellow)
Red
U
Emergency
System Error Stop
External power source for output (+24V)
Orange
(Yellow)
White
V
Standard
Specifications
MC
External Wiring
Diagram
3-phase
AC power
P
RB1
RB2
CNB
Note 2)
Note 3)
Note 4)
3-phase(200V AC)
System
Configuration
System Error
DL1
DL2
MC
Note 2)
IN(8)
45
46
IN(32)
47
IN(64)
48
IN(128)
49
, use a shielded cable.
Connect regenerative resistor between RB1 and RB2 terminals.
using
external
regenerative
terminals.aWhen
using
Note 3) When
The DL1
and
DL2 terminals
areresistor,
for connecting
DC reactor.
external
resistor,
it between
If a DCregenerative
reactor is not
used, connect
short the
DL1 andRB1
DL2and RB2
terminals after removing the wiring of built-in regenerative resistor.
terminals using the short bar supplied.
Note 3)
The DL1 and DL2 terminals are for connecting a DC reactor.
Note 4) IfThe
terminal
andused,
the Pshort
terminal
areand
forDL2
maintenance
○reactor
a DC
is not
the DL1
terminals using the short bar supplied.
Note 5)
Note 4)
Refer to the Instruction Manual for instructions on the shielding
The
○ terminal and the P terminal are for maintenance
process.
Note 5)
the Instruction
Manual depends
for instructions
onmotor
the shielding
The to
motor-side
connection
on the
specification.
Note
6) Refer
process.
The red, white, black green and orange markings are
for use with lead type motor power line and brake line.
Note 6) The motor-side connection depends on the motor specification.
Refer
the motor
specifications
for
cannonare
plug type connections.
The
red,towhite,
black green
and orange
markings
for use with lead type motor power line and brake line.
Note 7) Refer
Refertoto
the
encoder
connection
diagram
regarding
the
motor
specifications
for cannon
plug
type connections.
the encoder connector wiring.
Note 7)
IN(16)
For the parts marked
Connect regenerative resistor between RB1 and RB2 terminals.
When using external regenerative resistor, terminals. When using
external
regenerative
connect
it between RB1 and RB2
For
the parts
marked
,resistor,
use a shielded
cable.
terminals after removing the wiring of built-in regenerative resistor.
Refer to the encoder connection diagram regarding
encoder
connector
wiring.by the user.
Note 8) the
Power
should
be supplied
Either of the inputs can be selected.
Note 8)
Note 9)
Note 9)
Note 10)
Note 10)
Note 11)
Note 11)
Power should be supplied by the user.
Either of the inputs can be selected.
R,S,T,t,r, ○,P,DL1,DL2,RB1,RB2,U,V,W are high-voltage circuits,
all other
lines
are low-voltage. Ensure
sufficient circuits,
R,S,T,t,r,
,DL1,DL2,RB1,RB2,U,V,W
are high-voltage
○,P
distance
between
the high-Ensure
and low-voltage
all
other lines
are low-voltage.
sufficient circuits.
distance between the high- and low-voltage circuits.
It is recommended to use a ground fault interrupter conforming
Itto
is the
recommended
to EN
use standards.
a ground fault interrupter conforming
UL, IEC and
to the UL, IEC and EN standards.
Do not wire the S phase for a single-phase power amplifier.
Do not wire the S phase for a single-phase power amplifier.
Plug : 10150-3000PE
Shell : 10350-52A0-008
22
External Wiring Diagram
Multi-Axis Servo Amplifier
1-phase(100V AC)
3-phase(200V AC)
CNA
User Devices
Note 11)
Emergency
System Error Stop
MC
Note 10 )
Operation Prep. Operation Prep.
ON
OFF
Emergency
System Error Stop
RB2
RB1
P
DL2
DL1
Note 4)
CN1A
MC
+5
Note 1)
Normal
Rotation 1Axis
Pulse
3
F-PC1
4
F-PC1
+5
Reverse
Rotation 1Axis
Pulse
Note 8)
6
7
F-PC2
F-PC5
7
8
F-PC2
F-PC5
8
+5
+5
SG
SG
SG
+5
9
R-PC2
R-PC5
9
R-PC2
R-PC5
10
11
F-PC3
12
F-PC3
+5
SG
SG
SG
R-PC6
13
R-PC6
SG
14
15∼18,41
SG
SG
SG
SG
CONT16
26
27
CONT2
CONT17
27
28
CONT3
CONT18
28
38
CONT13
CONT28
38
39
CONT14
CONT29
39
40
CONT15
CONT30
OUT-POW
OUT7
40
OUT2
OUT8
20
OUT3
OUT9
21
23
24
OUT5
OUT6
OUT11
OUT12
23
24
25
ALM1
ALM2
25
42,43,44
OUT-COM
OUT-COM
42,43,44
1
2
BATP-1
BATN-1
BATP-2
BATN-2
1
2
BATP
BATN
CH2
SG
AMP UNIT Axis1
1,2
3
SG
AO
4
5
AO
BO
6
7
BO
CO
8
9
CO
PS
10
PS
Plug: 10150-3000PE.
Shell: 10350-52A0-008
CN5
2
1
Note 13)
CNC Note 6)
Red
U
Black
W
Green
Note 7) Encoder
Connector
CN2
SH
Plug: 36320-0100JL
Shell: 36310-3200-008
Plug: 36320-0100JL
Shell: 36310-3200-008 SH CN1
3
IN1
4
IN2
1
OUT1
2
5
OUT2
COM
Note 8)DC12V to 24V
AMP UNIT Axis2
Relay for releasing
Holding
Orange
Brake
(yellow)
White
V
SG
CN6
DC 3.6V
Lithium Battery
Note 13)
DC 3.6V
Lithium Battery
Note 5)
Note 5)
CH1
DC5V,DC12 to 24V
19
21
MON2
SG
Note 12)
Note 8)
DC5V to 24V
48,49,50
20
MON1
Reverse
Rotation 6Axis
Pulse
SG
CONT-COM 45,46,47
CONT1
OUT-POW
OUT1
Normal
Rotation 6Axis
Pulse
+5
R-PC3
Plug: 10150-3000PE.
Shell: 10350-52A0-008
Monitor
Output
12
R-PC3
SG
19
55100-0670
11
F-PC6
13
48,49,50
Note 1)
F-PC6
14
15∼18,41
SG
CONT-COM
Reverse
Rotation 5Axis
Pulse
+5
SG
+5
+5
Normal
Rotation 5Axis
Pulse
+5
10
+5
Reverse
Rotation 4Axis
Pulse
+5
SG
+5
Normal
Rotation 4Axis
Pulse
+5
5
26
Note 1)
4
R-PC4
45,46,47
DC 3.6V
Lithium Battery
Note 13)
3
F-PC4
R-PC4
DC5V to 24V
DC5V,DC12 to 24V
Note 1) Line Driver
F-PC4
R-PC1
+5
Reverse
Rotation 3Axis
Pulse
Note 12)
+5
+5
CN1B
+5
R-PC1
+5
Normal
Rotation 3Axis
Pulse
+5
6
+5
Reverse
Rotation 2Axis
Pulse
Line Receiver
26C32
Corresponding
+5
5
+5
Normal
Rotation 2Axis
Pulse
General-purpose I/O
MC
Operation Prep.
Operation Prep.
OFF
ON
Note10）
CNB
Note 2)
Note 3)
General-purpose I/O
1-phase
AC power
100 to 115V
50／60Hz
Internal Regeneration
Resistor
MC
Line Driver
User Devices
POWER UNIT
r
t
R
S
T
General-purpose I/O
3-phase
AC power
200 to 230V
50 / 60Hz
Orange
(yellow)
Note 1) For the parts markde , use a shielded cable.
Note 2) Connect a regenerative resistor between terminals
RB1 - RB2.When using an external regenerative resistor,
first remove the internal regenerative resistor wiring
between terminals RB1 and RB2, and then connect an
external regenerative resistor between terminals RB1 - RB2.
Note 3) Terminals DL1 and DL2 are dedicated for connecting
DC reactors. If a harmonic suppression reactor is not in use,
create a short circuit between DL1 and DL2 terminals with
the attached shorting bar.
Note 4) The and P terminals (high-voltage circuit) are reserved
for maintenance. Do not wire these terminals.
Note 5) Refer to the Instruction Manual for instructions on the
shielding process.
Note 6) Motor connection specifics may vary depending on the
motor specifications. Lead-type motor power and brake
wires are shown as red, white, black, green, and orange.
When using a cannon plug, cannect it according to the
motor specifications.
Note 7) For wiriting of the encoder connectors, refer to the encoder
wiring diagram.
Note 8) The user must supply the external power supply.
Note 9) R, S, T, r, t, , P, DL2, RB1, RB2, U, V, W are
high-voltage circuits; all other signal lines are low-voltage
circuits. When wiring, maintain sufficient distance between
high-voltage and low-voltage circuits.
Note 10) Installation of a UL compliant and IEC / EN compliant
earth leakage circuit braker is recommended.
Note 11) When wiring the single-phase power supply, do not wire
the S-phase to the amplifier.
Note 12) Always connect the SG (signal ground) between devices
when using differential operation input signals.
Note 13) The internal battery power is common for all units.
tttPlease connect to either CN1A, CN1B or CN5
when using an absolute encoder.
23
Features and
Functions
Servo Motor Dimensions（Unit : mm）
0.07 M
LA
φ
LG
Q
φS
φLB
)
LL±1
LE
0.06 M
Model Number
Nomencalture
(φ
LH
LR
0.02
LZ
Motor cable (for mounting)
(For Power and Ground)
(50)
(50)
1100±100
(50)
φD3
φD2
φD1
1100±100
QE Tapping
Depth LT
1100±100
Oil seal
(Option) Note1
System
Configuration
KL
M
Brake cable (for mounting)
Note 2
Shield cable (for mounting)
(For Encoder)
*This is shown dimension for motor with brake
51.5
87.5
56.5
92.5
R2□A04005 △□◇
56.5
92.5
61.5
97.5
△□◇
R2AA04010
△□◇
KL
LA
LB
LE
LH
LC
LZ
LR
5
35.4
46
00-0.000
30-0.021
2.5
56
40
4.5
25
6
44.6
70
00-0.000
50-0.025
82
60
5.5
108
80
6.6
82
60
5.5
72
108
77
R2□A06010 △□◇
58.5
82.5
65.5
89.5
R2□A06020 △□◇
69.5
97.5
76.5
104.5
R2AA08020
△□◇
66.3
102
73.3
109
8
54.4
90
R2AA06040
△□◇
95.5
123.5
102.5
130.5
6
44.6
70
R2AA08040
△□◇
78.3
114
85.3
121
8
54.4
90
108
80
6.6
△□◇
107.3
143
114.3
150
00-0.000
70-0.030
3
R2AA08075
R2AAB8100
△□◇
137
163
137
163
8
59.4 100
00-0
80-0.030
3
115.5
86
6.6
MODEL
R2□A04003 △□◇
S
0
06-0.008
R2□A04005 △□◇
R2EA04008
△□◇
R2AA04010
△□◇
R2□A06010
△□◇
0
08-0.009
0
08-0.009
Q
QE
LT
20
ー
ー
25
ー
ー
25
M5
12
35
M5
12
30
M5
12
113
D1
D2
D3
6
5
5
00-0.000
70-0.030
00-0.000
50-0.025
Setup Software
R2EA04008
LG
Dimensions
R2□A04003 △□◇
25
3
30
Optional
Equipment
MODEL
Battery backup method
absolute encoder
W/out oil seal
With oil seal Note 1
W/out brake With brake W/out brake With brake
LL
LL
LL
LL
External Wiring
Diagram
R2 Servo Motor High Efficiency and Low Ripple（Medium Inertia）
40
35
R2□A06020 △□◇
R2AA08020
△□◇
R2AA06040
△□◇
R2AA08040
△□◇
R2AA08075
△□◇
R2AAB8100
△□◇
0
14-0.011
0
16-0.011
0
16-0.011
Standard
Specifications
□LC
Note 1: The total length of the motor varies when an oil seal is necessary. (Excluding 86mm sq.)
Note 2: Brake connectors (cables) are not supplied for models without brakes.
Note 3: A reduction in the rating might be needed if an oil seal and Brake is attached.Please consult with us about the details.
For the following encoders, please make inquiries:
・Absolute encoder without battery［ RA035C ］
・Red. Wiring Incremental Encoder［ PP031T ］
24
Servo Amplifier Dimensions（Unit : mm）
Single-Axis Servo Amplifier (Analog/Pulse input type , Built-in positioning function model)
RS1 □ 01A □ (15A)
RS1 □ 03A □ (30A)
5
Screw M4
(70)
(24)
7
5
50
130
135.5
38
7
4
5
33
4
(27)
45
130
135.5
(27)
(70)
(24)
5
Screw M4
AC SERVO SYSTEMS
AC SERVO SYSTEMS
CHARGE
POWER
160
168
160
168
P
C
Cooling
fan
Wind
direction
5
5
RS1 □ 05A □（50A）
5
Screw M4
(24)
130
135.5
80
(27)
4
5
5
(70)
90
RS1A05A*
▲
t
C
N
A
160
168
R
Cooling fan
P
C
T
S
▲
r
C
N
1
−
DL1
DL2
P
RB1
RB2
RB2
W
V
U
Wind direction
C
N
B
RB1
C
N
C
C
N
2
5
Single-Axis Servo Amplifier with CANopen (Power control AC200V)
RS1A03A □ (30A)
5
Screw M4
5
Screw M4
48
4
(φ5
)
(70)
(24)
7
60
(27)
130
135.5
5
60
(27)
(70)
(24)
130
135.5
48
4
(φ5
)
7
5
RS1A01A □ (15A)
AC SERVO SYSTEMS
160
168
160
168
AC SERVO SYSTEMS
Cooling
fan
Wind
direction
5
25
5
Servo Amplifier Dimensions（Unit : mm）
Features and
Functions
Single-Axis Servo Amplifier with CANopen (Power control AC200V)
RS1A05A □ (50A)
Model Number
Nomencalture
5
Screw M4
PC
130
135.5
(27)
5
5
80
4
System
Configuration
(70)
(24)
90
RS1A05AL
Cooling fan
T
S
160
168
R
t
r
Wind direction
DL2
P
Standard
Specifications
−
DL1
1
RB1
RB1
RB2
RB2
W
V
2
U
External Wiring
Diagram
5
(27)
(70)
(24)
7
60
(φ5
)
AC SERVO SYSTEMS
130
135.5
48
4
(φ5
)
Setup Software
48
4
5
Screw M4
7
5
130
135.5
5
(70)
(24)
60
RS1J03A □ (30A)
5
Screw M4
(27)
RS1J01A □ (15A)
Dimensions
Single-Axis Servo Amplifier with CANopen (Power control DC24V)
POWER
160
168
160
168
CHARGE
Optional
Equipment
AC SERVO SYSTEMS
Cooling
fan
Wind
direction
5
5
RS1J05A □ (50A)
5
Screw M4
PC
(24)
(27)
130
135.5
80
4
5
5
(70)
90
RS1J05AL
Cooling fan
T
R
160
168
S
−
P
RB1
RB2
24V
Wind direction
1
0V
W
V
2
U
5
26
Servo Amplifier Dimensions（Unit : mm）
Multi-Axis Sever Amplifier
Amplifier Unit
RR1A01AAB00 (15A)
RR1A03AAB00 (30A)
(140.7)
122.8
(70)
30
(70)
6
6
8
30
φ5
2-
130
120
130
120
5
5
8
(140.7)
122.8
60
φ5
Power Unit
Motherboard
RRPAA00
7.5
45
φ
2-
5
2 -φ
6
6
27.2
130
5
15
130
120
150
160
5
4
15
(140.7)
122.8
60
5
(100)
A
B
3
2
1
RRMA800
RRMA600
RRMA400
8
6
4
No.
Model No.
Number of Slots
300
250
240
190
180
130
A
B
Supported size
System Dimensions
A
B
25
6
(100)
6
150
120
5
15
160
150
25
2-φ
5
25
3
2
1
8
6
4
No. Number of Slots
27
300
250
240
190
180
130
A
B
Supported size
Setup Software
(2) Main Screen
Standard
Specifications
System
Configuration
Model Number
Nomencalture
Features and
Functions
(1) Setup Software Start-up Screen
Dimensions
External Wiring
Diagram
(3) Parameter Configuration Screen
b. Configuration of Motor Parameters : Combined motors
can be configured via PC connection
Setup Software
a. Configuration of General Parameters : Enables
parameter loading, saving, etc., via PC connection
Optional
Equipment
(4) Monitor Functions
a. Monitor Display : Observe Operation and Input/
Output signal status
b. Multi-monitor Display : Simultaneous monitoring of
operational status of multiple
c. Alarm Record Display : Current and past alarm
occurrence can be checked.
28
Setup Software
(5) Test Run and Adjustment Function
a. Speed Jog : Simplifies motor operation and
the issuing of speed commands from a PC
b. Pulse Forward Jog : Simplifies motor
operation and the entering of distance and
travel speed data from a PC
c. Auto Notch Filter Tuning : Configures the
appropriate notch filter settings
d. System Analysis : Analyzes servo system frequency
characteristics
(6) Operation Trace Function
Graphically displays servo motor speed, current,
and internal status
Built-in Positioning Function model Screen
Point Data Setup
29
Test Run
PC Interface Cable [Unit: mm]
Features and
Functions
Optional Equipment
Lithium battery [Unit: mm]
74.5
2850
Lead Wire Red
Pin 1
CN1
9
Model Number
Nomencalture
Model No.:AL-00490833-01
Mass:0.14kg
50
A note regarding RS-232C communications:
The user must provide s PC for computer interface.
Parameter settings may require adijustment.
（24.5）
Lithium battery
Model No. : AL-00494635-01
Mass : 0.02kg
Mounting Hardware [Unit: mm]
* Supported For only Single-axis amplifier.
15A／ 30A Rear Side
50A Rear Side
188
5
5
2
For mounting on the rear side of the amplifer
Model No.:AL-00582791-01
Applicable Amplifiers:RS1＊01＊＊＊
Applicable Amplifiers:RS1＊03＊＊＊
Material:SPCC
External Wiring
Diagram
62
50
6
5
25 10
45
198
188
2
Standard
Specifications
5
System
Configuration
PC Side
Pin 2
Connector
Amp side
φ14.5
Lead Wire Black
1
17MAX.
Cable
30A Front Side
Setup Software
10
10
52
45
25
5
47
45
25
5
15A Front Side
Dimensions
For mounting on the rear side of the amplifer
Model No.:AL-00582792-01
Applicable Amplifiers:RS1＊05＊＊＊
Material:SPCC
188
198
188
198
120
120
2
2
5
Optional
Equipment
5
For mounting on the front side of the amplifer
Model No.:AL-00582789-01
Material:SPCC
Applicable Amplifiers:RS1＊03＊＊＊
For mounting on the front side of the amplifer
Model No.:AL-00582788-01 Material:SPCC
Applicable Amplifiers:RS1＊01＊＊＊
65
50
5
7
50A Front Side
188
198
120
2
5
For mounting on the front side of the amplifer
Model No.:AL-00582790-01
Material:SPCC
Applicable Amplifiers:RS1＊05＊＊＊
Model No.
AL-00582791-01
AL-00582792-01
AL-00582788-01
AL-00582789-01
AL-00582790-01
Contents
Mounting Bracket : 1
Screws : 2
Mounting Bracket : 1
Screws : 2
Mounting Bracket : 1
Screws : 6
Mounting Bracket : 1
Screws : 6
Mounting Bracket : 1
Screws : 6
30
Servo Amplifier built-in positioning function
General Specifications
Positioning
Function
Control Shaft Count
Single Shaft
Register Point Count
Configurable up to 254 points (P000 to P253)
Maximum No. of Commands
From -2,147,483,648 to +2,147,483,647
Command Unit
Either mm or pulse is acceptable
Fast-forward Speed
2,147,483.647mm/sec (0.001mm/when“ pulse” is selected)
Acceleration and Deceleration
Automatic acceleration and deceleration (straight and S switch)
Point Data Setup
Numerical input via PC, and setup by teaching
Travel Point Number Setup
Parallel 8 bits (binary code)
Torque limit
0 to 510% (at 100% rating), but less than instantaneous maximum stall current
Software Limit
Exists
Travel Mode
Zero Return, Manual (JOG, 1Step), and Point-specified Travel
Zone Signal
Maximum of 8 zones
Sequence Input Signals
Servo ON, alarm reset, start up, zero return, manual, override/manual high-speed, cancel, deceleration before
origin, external error, over-travel, external data setup1 step forward, interrupt activated, output selection,
MFIN, point specified input
Sequence Output Signals
NC ready, holding brake timing, error, external operation enabled, running, positioning completion,
in-position output, zero return completion, general output (8 bits)
Input and
Output
Sample operations of the Servo Amplifer built-in positioning function model
By starting up Point 1, Points 2 and 3 will be executed consecutively.
Point Data Setup Enables configuration and saving of parameters, and the
reading of point data from a PC.
Mode 1: [01]= Positioning Operation enabled;
Mode 2: [00]= Final Travel, [01]= Continue to next Point Number
Gear Change: Stop / Continue: [1]= Consecutive Gear Shift Operation
Pass Point 1
Move to Point 2 Mo
ve to Point 3
PLC
ーOT Sensor
Starting Coordinates: Start-up Point 001 (P001) as 0.0
P001:100.0 P002:150.0 P003:180.0
Motor Speed
0.0
Point Input
Point 1 (P001) ON only
（CN1-42）
Start-up Signal Input
（CN1-27）
Running Output
（CN1-7）
Positioning Completion Signal
（CN1-8）
31
100.0
200.0
Coordinate
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Deceleration Signal
Sensor
+OT Sensor
Optional Equipment
182
300
300
172
6
270
6
150
4.3
42
23.5
26
44
6
φ4.3
φ4.3
6
270
Silicon Rubber Glass-braided Wire AWG20 0.5mm2 , White
4.3
Silicon Rubber Glass-braided Wire AWG20 0.5mm2 , White
(Thermostat)
(Thermostat)
Model Number
Nomencalture
132
122
100
Features and
Functions
External Regenerative Resistor Dimensions [Unit: mm]
Silicon Rubber Glass-braided Wire AWG18 0.75mm2 , Black
1
1.2
20
20
System
Configuration
Silicon Rubber Glass-braided Wire AWG18 0.75mm2 , Black
Thermostat
1
REGIST-080W100B
Normal close
2
REGIST-080W50B
Normal close
Model No.
Thermostat
1
REGIST-120W100B
Normal close
2
REGIST-120W50B
Normal close
External Wiring
Diagram
Model No.
Mass : 0.24kg
Standard
Specifications
Mass : 0.19kg
300
250
270
234
4.5
6
200
8
Ground Mark
6
60
80
3
Thermostat
Silicon Rubber Glass-braided Wire AWG20 0.5mm2 , White
4.3
Solderiess Terminal (for M5)
2・φ4.5
AWG24 0.2mm2 , White
(Thermostat)
2−M5
Silicon Rubber Glass-braided Wire AWG14 2mm2 , White
Silicon Rubber Glass-braided Wire AWG18 0.75mm2 , Black
700
1.2
40
20
218
350
Mass : 0.44kg
1
Mass : 1.4kg
Model No.
Thermostat
Model No.
Thermostat
REGIST-220W20B
Normal close
1
REGIST-500W20B
Normal close
2
REGIST-500W10B
Normal close
2
REGIST-220W50B
Normal close
3
REGIST-220W100B
Normal close
Connectors for Single-Axis Servo Amplifier Connections（200V AC Input Type）
Usage
Single
Connectors
Contents
Model No.
CN1（Plug, Housing）
AL - 00385594
CN2（Plug, Housing）
AL - 00385596
CNA（Plug）
AL - 00329461-01
CNB（Plug）：Accessory
AL - Y0000988-01
CNC（Plug）
AL - 00329458-01
CN1,CN2（Plug, Housing）
CNA,CNC（Plug）
AL - 00393603
CN1,CN2（Plug, Housing）
AL - 00292309
Connector Sets
Manufacturer
Sumitomo 3M
Manufacturer's Part No.
10150-3000PE+10350-52A0-008
10120-3000PE+10320-52A0-008
MSTB2.5/5-STF-5.08
Phoenix Contact
IC2.5/6-STF-5.08
IC2.5/3-STF-5.08
Sumitomo 3M
Phoenix Contact
Sumitomo 3M
10150-3000PE+10350-52A0-008
10120-3000PE+10320-52A0-008
MSTB2.5/5-STF-5.08
IC2.5/3-STF-5.08
10150-3000PE+10350-52A0-008
10120-3000PE+10320-52A0-008
32
Optional
Equipment
60
42.7
M3
φ4.3
Dimensions
220
Setup Software
230
Optional Equipment
Connectors for Single-Axis Servo Amplifier Connections（100V AC Input Type）
Contents
Single
Connectors
Model No.
CN1（Plug, Housing）
AL - 00385594
CN2（Plug, Housing）
AL - 00385596
CNA（Plug）
AL - 00329461-02
CNB（Plug）：Accessory
AL - Y0000988-01
CNC（Plug）
AL - 00329458-01
CN1,CN2（Plug, Housing）
CNA,CNC（Plug）
AL - 00492384
CN1,CN2（Plug, Housing）
AL - 00292309
Connector Sets
Manufacturer
Sumitomo 3M
Manufacturer's Part No.
10150-3000PE+10350-52A0-008
10120-3000PE+10320-52A0-008
MSTB2.5/4-STF-5.08
Phoenix Contact
IC2.5/6-STF-5.08
IC2.5/3-STF-5.08
Sumitomo 3M
Phoenix Contact
Sumitomo 3M
10150-3000PE+10350-52A0-008
10120-3000PE+10320-52A0-008
MSTB2.5/4-STF-5.08
IC2.5/3-STF-5.08
10150-3000PE+10350-52A0-008
10120-3000PE+10320-52A0-008
Connectors for Servo Amplifier with CANopen
① Main Power : 200V AC, Control Power : 1 φ 200V AC
Contents
Single
Connectors
Connector Sets
Model No.
Manufacturer
Manufacturer's Part No.
CN1（Plug, Housing）
AL - 00608710
CN2（Plug, Housing）
AL - 00385596
CNA（Plug）
AL - 00329461-01
CNB（Plug）：Accessory
AL - Y0000988-01 Phoenix Contact
IC2.5/6-STF-5.08
CNC（Plug）
AL - 00329458-01
IC2.5/3-STF-5.08
CN1,CN2（Plug, Housing）
CNA,CNC（Plug）
AL - 00661731
CN1,CN2（Plug, Housing）
AL - 00661729
Sumitomo 3M
10114-3000PE+10314-52A0-008
10120-3000PE+10320-52A0-008
MSTB2.5/5-STF-5.08
Sumitomo 3M
Phoenix Contact
Sumitomo 3M
10114-3000PE+10314-52A0-008
10120-3000PE+10320-52A0-008
MSTB2.5/6-STF-5.08
IC2.5/3-STF-5.08
10114-3000PE+10314-52A0-008
10120-3000PE+10320-52A0-008
② Main Power : 200V AC, Control Power : 24V DC
Contents
Single
Connectors
Connector Sets
Model No.
CN1（Plug, Housing）
AL - 00608710
CN2（Plug, Housing）
AL - 00385596
Manufacturer
Sumitomo 3M
Manufacturer's Part No.
10114-3000PE+10314-52A0-008
10120-3000PE+10320-52A0-008
CNA（Plug）
AL - Y0000988-02
IC2.5/7-STF-5.08
CNB（Plug）
AL - 00329460-01 Phoenix Contact
MSTB2.5/2-STF-5.08
CNC（Plug）
AL - 00329458-01
IC2.5/3-STF-5.08
CN1,CN2（Plug, Housing）
CNA,CNB,CNC（Plug）
AL - 00667184
10114-3000PE+10314-52A0-008
10120-3000PE+10320-52A0-008
MSTB2.5/7-STF-5.08
MSTB2.5/2-STF-5.08
IC2.5/3-STF-5.08
CN1,CN2（Plug, Housing）
AL - 00661729
Sumitomo 3M
Phoenix Contact
Sumitomo 3M
10114 - 3000PE+10314-52A0-008
10120 - 3000PE+10320-52A0-008
Connectors for Multi-Axis Servo Amplifier Connections
Contents
CN1（Plug, Housing）
Amplifier CN2（Plug, Housing）
Unit
CN6（Plug, Housing）
Single
Connectors
Power
Unit
Model No.
Molex
AL - 00632607
Sumitomo 3M
CNC（Plug）
AL - 00632604
CNA（Plug）
AL - 00632600
CNB（Plug）：Accessory
AL - 00632602
CN1A（Plug, Housing）
CN1B（Plug, Housing）
Amplifier CN1,CN2（Plug, Housing）
CN6,CNC（Plug）
Unit
AL - 00385594
AL - 00632611
Connector
Sets
Power
Unit
33
Manufacturer
AL - Y0003305-01
CNA（Plug）
AL - 00632609
CN1A,CN1B（Plug, Housing）
Manufacturer's Part No.
55100-0670
36310-3200-008
36210-0100PL
04JFAT-SBXGF-I J-FATOT
J.S.T.Mfg.CO.,LTD
05JFAT-SBXGF-I J-FATOT
06JFAT-SBXGF-I J-FATOT
Sumitomo 3M
10150-3000PE
10350-52A0-008
J.S.T.Mfg.CO.,LTD
04JFAT-SBXGF-I
Molex
55100-0670
Sumitomo 3M
36310-3200-008
36210-0100PL
Sumitomo 3M
10150-3000PE
10350-52A0-008
J.S.T.Mfg.CO.,LTD
05JFAT-SBXGF-I
For more information regarding any products or services described here in,
please contact your nearest office listed on the back of this catalog.
To SANYO DENKI Co.,LTD.
Date：
Features and
Functions
Inquiry Check Sheet
Model Number
Nomencalture
Company:
Department:
System
Configuration
Name:
Tel: FAX:
Item
Contents
Equipment name, category (transport, processing, test, other)
Name of servo axis
Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no)
Current condition of above axis
Manufacturer Name (
Positioning accuracy
± mm・± μm
) Series Name (
) Motor Capacity (
) Hydraulic, Mechanical, or New System (
【Reference formula】
Accelerationα：＿＿G・＿＿＿[m/s2]
Feeding SpeedＶ：＿＿＿＿[m/s]
5
Operation pattern
Feeding
【1G=9.8[m/s2]､1[m/s2]≒0.1G】
【α[m/s2]＝V[m/sec]÷t1[sec]】
【D[m]＝V[m/sec]×(t1+t2)[sec]】
Moving DistanceＤ：＿＿＿[m]
Speed
)
External Wiring
Diagram
Name of target equipment
Dimensions
1
2
3
4
Standard
Specifications
E-mail:
(Stroke)
[m/sec]
Time
7
Mechanical structure
Ball-screw/screw-rotation type (horizontal), ball-screw/nut-rotation type (horizontal),
rack and pinion (horizontal), belt/chain (horizontal), rotary table, roll feed, instability
WT
（table mass）
kg
WL（work mass）
kg
WA（mass of other drive parts）
WR（rack mass）
kg
WB（belt/chain mass）
kg
WC（counterbalance mass）
kg
Fa（external force axial direction）
N
Fb（ball-screw preload）
N
T（roll pushing force）
N
Dr2
（follower-side roll diameter）
Dr1
（drive-side roll diameter）
mm
Lr1（drive-side roll length）
mm
Lr2（follower-side roll length）
mm
JG（speed-reducer inertia）
kg・m2
JC
（coupling inertia）
kg・m2
JN
（nut inertia）
kg・m2
JO（other motor-axis conversion inertia）
kg・m2
Db（ball-screw diameter）
mm
Lb
（ball-screw axial length）
mm
Dp（pinion/pulley diameter）
mm
Lp（pinion axial length）
Dt（table diameter）
mm
Dh（table-support dianeter） mm
Ds
（table shaft diameter）
mm
Ls（table shaft length）
ρ
（specific gravity of ball-screw/pinion/pulley/table-shaft material）
Pb（ball -screw lead）
mm
mm
mm
kg・cm3
ρ1（specific gravity of roll-1 material）
N・m
mm
tp（pully thickness）
κ
（internal friction coefficient of preload nut）
kg／cm3
mm
LW（load shift from axis）
μ（friction coefficient between sheet and shiliding-surface/support-section/roll）
TF（friction torque of motor axis conversion）
Speed reducer
mm
kg
G（reduction ratio）
ρ2（specific gravity of roll-2 material）
η
（mechanical efficiency）
8
Setup Software
Mechanism
Optional
Equipment
6
kg／cm3
JL（load inertia of motor-axis conversion）
kg・m2
Tu（imbalance torque of motor axis conversion）
N・m
Customer-provided ( ／ )・Sanyo denki standard(planet/spur/no-backlash-planet ／ ) other( ／ )
Encoder type specified ( yes / no )
9
Encoder type
Yes:(Wiring saving incremental encoder, battery backup absolute encoder, absolute encoder for
incremental system, battery-less absolute encoder)
Resolution（ ）
0
A
B
C
D
E
F
Input format
Position , velocity , torque , other ( )
Host equipment (controller)
Sequencer , laptop , customer-developed product , Sanyo dennki-provided , other ( )
Usage environment and other requirements
Cutting , clean-room use , anti-dust measures , other ( )
Estimated production
Single product: ( ) units/mouth ( ) units/year
Development schedule
Prototype period: ( ) Year ( ) Month Production period: ( ) Year ( ) Month
Various measures
Related documentation ( already submitted; send later by mail) Visit/PR desired ( yes / no ) Meeting desired ( yes / no )
Miscellaneous
(questions, pending problems,
unresolved issues, etc.)
34
■ ECO PRODUCTS
ECO PRODUCTS are designed with the goal
of lessening nevironmental impact, from
product development to disposal.
■ Precautions For Adoption
Cautions
Failure to follow the precautions on the right may cause
moderate injury and property damage, or in some
circumstances,could lead to a serious accident.
Always follow all listed precautions.
＊For any question or inquiry regarding the above, contact our Sales Department.
CATALOG NO. 839-11 ’09.12.N