100 V AC 30 W-200 W, 200 V AC 30 W

Transcription

100 V AC 30 W-200 W, 200 V AC 30 W-2 kW
Input voltage
100 V, 200 V AC
Servo amplifier
A mp. capacity
10
0 A, 20 A, 30 A, 50 A
Servo motor
Flange size
40
0 mm sq., 60 mm sq., 80 mm sq., 86 mm sq.,
10
00 mm sq., 130 mm sq.
R a te d output
30 W, 50 W, 80 W, 90 W, 100 W, 200 W
W,, 360
360 W,
W
400 W, 550 W, 750 W, 1.0 kW, 1.2 kW
kW,
W 1.8 kW, 2.0 kW
1
Contents
Features .............................................p. 3
How to Read Model Numbers .........p. 9
Standard Model Number List ........ p. 11
System Configuration ....................p. 20
Servo Amplifier Specifications ......p. 21
General-purpose Output Specifications.....p. 22
Servo Amplifier Dimensions ..........p. 23
Specifications - Servo Amplifier+
R2 Servo Motor (Medium Inertia)..............p. 25
R5 Servo Motor (Medium Inertia)..............p. 33
Encoder Wiring Diagram ................p. 35
External Wiring Diagram ................p. 36
Notes on Replacing Our
Conventional Products ...................p. 37
Servo Motor Dimensions ...............p. 38
Setup Software ...............................p. 40
Options ............................................p. 42
Selection Guide...............................p. 48
2
NEW PRODUCTS
High Performance AC Servo Systems
High Performance
Servo Amplifier
E’
s
The Power of 3
More evolved AC servo amplifiers that
provide improved basic performance
with high responsiveness, and are
more energy-efficient and easier to
use.
Ideal for chip mounters, semiconductor
equipment, machine tools, etc.
Evolved
Eco-efficient
Easy to use
3
Features
Evolved
Shorter takt time achieved through high-speed positioning control
How to Read Model Numbers
Standard Model Number List
Position
deviation
Position command frequency
0 [Pulse/s]
Current model
In-position range
System
Configuration
The 3E Model has a speed frequency
r e s p o n s e o f 2 . 2 k H z , a p p r ox i m a t e l y
twice that of our conventional product.*
Additionally, the position settling time has
been shortened to 1/3 of the original time.
Real-time switching between track control
and positioning control contributes to a
dramatic reduction of machine takt time.
0 [Pulse]
* Compared with our conventional AC servo amplifier, SANMOTION
R ADVANCED MODEL.
Settling time: 1/3 of current model
Increased
accuracy
High-gain control
Disturbance
Speed
Servo Motor
Current model
Vibration suppression by adaptive notch filter
Current model
Starts when
vibrations occur
After
adaptation
Encoder Wiring
Diagram
The 3E Model is equipped with a
gain increase function, a function
f o r s u p p r e s s i n g m i c r ov i b r a t i o n s a t
settling time, an adaptive notch filter
for suppressing mechanical resonance,
and a feed-forward vibration control
function. The 4th order notch filter of our
conventional products has been upgraded
to 5th order. Highly accurate machine tool
feed-axis control significantly improves
processing quality.
Servo Amplifier
Specifications
Improved control accuracy
Adaptive
notch filter
Motor torque off
Emergency
stop
Servo Motor
Dimensions
With the improved Safe Torque Off (STO)
function, the 3E Model conforms to
international standards, SIL3/IEC61508 and
PL=e/ISO13849-1. It is sufficiently reliable
for usage in devices requiring high safety,
such as medical devices.
External Wiring
Diagram
Improved safety performance through the Safe Torque Off function
Eco-efficient
Controls the fan
speed
(10 A is fanless)
The power consumption
monitoring function enables
power consumption to be
visualized. The servo amplifier
calculates power consumption
based on the motor current,
and displays it on the setup
software or digital operator.
Axis
Power consumption
Unit
X
0.41
kWh
Y
0.75
kWh
Z
0.21
kWh
Total
1.37
kWh
Options
By incorporating newgeneration power devices, the
3E Model decreases electric
power losses by up to 7%. The
3E Model has up to 10% lower
standby power consumption
as it limits unnecessary energy
consumption by controlling the
fan speed according to the internal
temperature of the servo amplifier.
Power consumption visualization
Selection Guide
Reduced power consumption
4
Easy to use
Easy startup
"SANMOTION MOTOR SETUP SOFTWARE" (see p. 40)
displays the parameters required for operation in an
Startup time can be
r e d u c e d b y b a t ch
setting the minimum
parameters required
by application.
easy-to-understand manner in order to enable fast and
easy equipment startup. The 3E Model has a virtual
motor operation function to simulate operation of the
motor and amplifier without moving the machine,
and a jog function for testing the motor and amplifier
connection, without the need to connect to a host
device.
Easy servo tuning
By connecting with the setup software the 3E Model
offers a variety of servo tuning support functions
such as automatic selection of optimal tuning mode
depending on mechanical and load conditions, basic
tuning mode for adjustment of up to two parameters,
and an application-specific tuning mode. This
dramatically shortens time required for servo tuning.
Easy troubleshooting
With a 1 ms time stamp and a drive recorder function
to record motor and amplifier operating status, details
of abnormal state occurrences such as alarms can be
accurately checked even at a later time, facilitating
troubleshooting.
The drive recorder
function allows for
the checking of past
operating status.
Encoder batteries with choice of mounting sites
When using a battery-backup method absolute
encoder, the required battery can be either a battery
box that connects directly to the lower part of the servo
amplifier, or an extension cable with battery. (See p. 45)
Extension cable with battery
Battery box
5
Model-based following control
Features
Common features of R 3E Model and R ADVANCED MODEL
Auto-tuning
The servo amplifier automatically optimizes servo gain
target value response, enhanced disturbance
and filter frequency in real time.
Model-based following control enables an improved
suppression, and greater robustness.
Model control system
Motor/machine model
Position/speed control
Motor/machine
Tuning start
System
Configuration
Position/speed control
Velocity
command
value
Detected velocity value
Servo Amplifier
Specifications
Position
command
Feedback control system
With feed-forward vibration suppression control,
vibrations at the end effector and base of a machine
can be suppressed through simple tuning procedures.
Vibration control frequencies are selectable.
Command following control
Servo Motor
Feed-forward vibration suppression control
Position command following performance doubled
in comparison with conventional models through
the adoption of new positioning and speed control
algorithms. Position deviation ≒ 0 has been achieved.
Position deviation during stop
Encoder Wiring
Diagram
Position command
With vibration suppression control
Without vibration suppression control
External Wiring
Diagram
100 ms/div
With vibration
Without vibration
suppression control suppression control
Position deviation
5-digit LED display, built-in operator
Configurable parameters allow switching between
The built-in operator allows you to change parameters
control modes for torque, position or velocity.
and monitor the amplifier status and alarm traces.
Position
or
Velocity
Torque
control
Options
All-in-one control
Servo Motor
Dimensions
20 ms/div
GO
AL
ng
T
AR
T
S
Selection Guide
i
nd
ce
As
Flat
6
Common features of R 3E Model and R ADVANCED MODEL
Multiaxial monitor function
Dual position feedback fully-closed loop control
The setup software allows up to 15 servo amplifier axes
to be monitored.
Dual position feedback fully-closed loop control is
possible by using information from two encoders, such
as a linear encoder mounted on the device and a high
resolution encoder. Even when there is high motor
shaft torsion from the load, servo gain can be improved
and high response achieved.
USB hub
Loa
d
Maximum 15 axes
2 types of servo motors for different applications
Two types of servo motor are available: R2 servo
motors with a wide lineup for positioning applications,
and R5 servo motor s that are ideal for smooth
operations such as for feed axes of small sized machine
tools.
Downsized servo motors
R2 series servo motors have been downsized by as
much as 30% in length and 25% in volume from our
conventional product, while still achieving high torque
and high performance.
* Our conventional product is "SANMOTION Q" AC servo motor.
R5 Servo Motor
Feed axes in machine tools
R2 Servo Motor
Positioning in robots,
injection molding
machines, general
industrial machinery, etc.
Low cogging torque
30% reduction
Waterproof and dustproof
Cogging torque has been reduced in comparison with
our conventional products, and we have achieved
smooth movement.
Comparison of cogging torque waveform
Our servo motors have high waterproof and dustproof
ratings, allowing them to work in severe environments.
Standard R2 series 130 mm sq. servo motors have IP65
protection levels. (IP67 is available as an option.) For
other servo motors IP65 or IP67 models can be selected.
Water
Current model
R Motor
(Representative example)
* Excluding shaft feedthrough and cable end.
7
Dust
Features
High Resolution Encoders
A 17 bit (131,072 divisions) encoder is included. An optional 20 bit (1,048,576 divisions) encoder is also available.
Control for high resolution encoders is also possible.
Serial encoder
Resolution
Encoder type
No. of partitions
during
per rotation
multiple
Encoder
model no.
Remarks
A small and slim multi-turn battery-backup method encoder.
Ideal for general industrial equipment, including robots. Requires battery. Batteries sold
separately. (See p. 45: Options)
17 bit
16 bit
(131072)
(65536)
PA035C
An optional 20 bit
encoder (1,048,576
divisions) is also
available.
PA035S
An optional 20 bit
encoder (1,048,576
divisions) is also
available.
Optical absolute encoder for incremental systems
A small and slim encoder that can output the absolute positions in 1 rotation by
converting them to incremental signals of phase A, B, and Z. Enables wire-saving for and
size-reduction of applications that use pulse encoder.
17 bit
(131072)
-
Servo Amplifier
Specifications
Optical battery-backup method absolute encoder
System
Configuration
rotations
Resolver method battery-less absolute encoder
16 bit
(131072)
(65536)
17 bit (131072)
16 bit
20 bit (1048576)
(65536)
RA035C
High-precision battery-less optical absolute encoder
Battery replacement maintenance is not required. This high precision optical encoder
is ideal for high precision equipment including robots and other general industrial
equipment.
HA062
Servo Motor
17 bit
Applicable motor
size:
100 mm sq. or more
Encoder Wiring
Diagram
Since it is battery-less, maintenance is not required. Being a resolver method encoder
with outstanding ruggedness, it is ideal for equipment with difficult usage environment,
like injection molding machines, robots.
Pulse encoder
Encoder
model no.
Optical wire-saving incremental encoder
An incremental encoder that easily connects with host equipment to output phases A, B,
and Z. Ideal for general industrial equipment, like chip mounters.
2000 P/R
No
PP031T
Remarks
Pulses can be set
up to 10000 P/R.
External Wiring
Diagram
rotations
Servo Motor
Dimensions
Multiple
Options
Pulse/rotation
Selection Guide
Encoder type
8
Not all combinations shown below are valid. For available models, refer to "Standard Model Number List" on pp. 11-19.
■ Servo Motor
Example: An R2 series servo motor model with a 60 mm sq. flange size, 200 W rated output, 6000 min-1 maximum
rotation speed, 24 V DC brake, and a battery-backup method absolute encoder (131072 partition number/
rotation), with UL/CE approval.
R
2
AA
06
020
F
C
P
00
M
Additional Specification Identification
E ... Conforms to CE
U ... Conforms to UL
M ... Conforms to CE and UL
Specification Identification
00 … Standard
Encoder Type
Serial Encoder
P … Optical battery-backup method absolute encoder (PA035C)
H … Optical absolute encoder for incremental systems (PA035S)
W … Resolver-method battery-less absolute encoder (RA035C)
R … High precision battery-less optical absolute encoder (HA062)
Pulse Encoder
S … Optical wire-saving incremental encoder (PP031T)
For encoder details, see p. 8.
Holding Brake
X … No brake
B … 90 V DC brake
C … 24 V DC brake
Maximum Rotation Speed
For the numeric values, see the specifications on pp. 25-34.
Rated Output
003 … 30 W
005 … 50 W
008 … 80 W
010 … 100 W
020 … 200 W
040 … 400 W
050 … 550 W
075 … 750 W
100 … 1.0 kW
120 … 1.2 kW
150 … 1.5 kW
180 … 1.8 kW
200 … 2.0 kW
A reduction in output might be required if an oil seal or brake is attached.
Contact us for details.
Flange Size
04 … 40 mm sq.
06 … 60 mm sq.
08 … 80 mm sq.
B8 … 86 mm sq.
10 … 100 mm sq.
13 … 130 mm sq.
Power Supply Voltage
AA … 200 V AC
EA … 100 V AC
Servo Motor Types
2 … Medium inertia
5 … Medium inertia
R ... R Series
・For speed reducer installation, contact us for details.
9
Example: An RS3 series servo amplifier model, with 200 V AC input voltage, 10 A amplifier capacity, internal
regenerative resistor, without safe torque off function.
A
01
A
0
A
A
0
RS3
Option 2
None
2
Available (without delay circuit)
4
Available (with delay circuit)
System
Configuration
Safe Torque Off function
0
Option 1
A ... Equipped with internal regenerative resistor, Equipped with DB resistor
L ... Not equipped with internal regenerative resistor, Equipped with DB
resistor
Servo Amplifier
Specifications
Interface Type
A…Analog pulse control, Sink type general-purpose output
(Current flows from load to output terminal when output is ON)
B…Analog pulse control, Source type general-purpose output
(Current flows from output terminal to load when output is ON)
For general-purpose output specifications, see p. 22.
Motor Encoder Type
Input Voltage
A … 200 V AC
E … 100 V AC
2
8
A
Serial encoder
(PA035C, PA035S, RA035C, HA062)
—
Pulse encoder
Pulse encoder (PP031T)
—
(PP031T)
Pulse encoder (PP031T)
For models with encoder classification "2", any one of serial encoders or pulse
encoders can be used for motor encoder.
Encoder Wiring
Diagram
Servo Amplifier Capacity
01 … 10 A
02 … 20 A
03 … 30 A
05 … 50 A
0
For servo amplifiers used in fully-closed systems, model "2" or "A" can be used.
Specify the model number suitable for motor encoder to be used.
Model numbers "0" or "8" are exclusively used in semi-closed systems. These
models cannot be used in a fully-closed system.
Servo amplifiers for fully-closed systems can be used in semi-closed systems.
External Wiring
Diagram
Servo Motor Type
A … Rotary motor
EN2 (Motor encoder or
external pulse encoder)
Servo Motor
EN1 (Motor encoder)
Features
■ Servo Amplifier
3E Model Series
Servo Motor
Dimensions
・Motor parameters need to be set for the amplifier before use.
Use the setup software.
Conformance to Safety Standards
Our standard servo amplifier achieves the KC Mark of safety and conforms to the
international UL, c-UL, EN standards.
Options
You can also employ servo motors that conform to the UL, c-UL and EN standards.
Selection Guide
We also provide express delivery service for products required earlier than the usual delivery time.
Ask the seller regarding applicable model number and delivery time.
10
Input voltage
100 V AC
R2 Servo Motor
Standard specifications
For specifications on other models, contact us for details.
Small Capacity, Medium Inertia
Output shaft: straight, oil seal: none, connection: cable (no connector)
Model no.
Rated
output
Motor
flange size
Protection
code
Holding
brake
CE and UL Battery-backup method
approved
absolute encoder
(PA035C)
Absolute encoder for
incremental systems
(PA035S)
Page
Specifications Dimensions
No
R2EA04003FXP00
R2EA04003FXH00
p. 25
p. 38
Yes
R2EA04003FXP00M
R2EA04003FXH00M
p. 25
p. 38
No
IP67
No
R2EA04003FCP00
R2EA04003FCH00
p. 25
p. 38
Yes
R2EA04003FCP00M
R2EA04003FCH00M
p. 25
p. 38
No
R2EA04003FXP03
R2EA04003FXH03
p. 25
p. 38
Yes
R2EA04003FXP03M
R2EA04003FXH03M
p. 25
p. 38
No
R2EA04003FCP03
R2EA04003FCH03
p. 25
p. 38
Yes
R2EA04003FCP03M
R2EA04003FCH03M
p. 25
p. 38
Yes (24 V DC)
30 W
40 mm sq.
No
IP65
Yes (24 V DC)
No
R2EA04005FXP00
R2EA04005FXH00
p. 25
p. 38
Yes
R2EA04005FXP00M
R2EA04005FXH00M
p. 25
p. 38
No
R2EA04005FCP00
R2EA04005FCH00
p. 25
p. 38
Yes
R2EA04005FCP00M
R2EA04005FCH00M
p. 25
p. 38
No
IP67
Yes (24 V DC)
50 W
40 mm sq.
No
R2EA04005FXP03
R2EA04005FXH03
p. 25
p. 38
Yes
R2EA04005FXP03M
R2EA04005FXH03M
p. 25
p. 38
No
R2EA04005FCP03
R2EA04005FCH03
p. 25
p. 38
Yes
R2EA04005FCP03M
R2EA04005FCH03M
p. 25
p. 38
No
R2EA04008FXP00
R2EA04008FXH00
p. 25
p. 38
Yes
R2EA04008FXP00M
R2EA04008FXH00M
p. 25
p. 38
No
IP65
Yes (24 V DC)
No
IP67
No
R2EA04008FCP00
R2EA04008FCH00
p. 25
p. 38
Yes
R2EA04008FCP00M
R2EA04008FCH00M
p. 25
p. 38
No
R2EA04008FXP03
R2EA04008FXH03
p. 25
p. 38
Yes
R2EA04008FXP03M
R2EA04008FXH03M
p. 25
p. 38
No
R2EA04008FCP03
R2EA04008FCH03
p. 25
p. 38
Yes
R2EA04008FCP03M
R2EA04008FCH03M
p. 25
p. 38
Yes (24 V DC)
80 W
40 mm sq.
No
IP65
Yes (24 V DC)
No
R2EA06010FXP00
R2EA06010FXH00
p. 26
p. 38
Yes
R2EA06010FXP00M
R2EA06010FXH00M
p. 26
p. 38
No
R2EA06010FCP00
R2EA06010FCP00
p. 26
p. 38
Yes
R2EA06010FCP00M
R2EA06010FCH00M
p. 26
p. 38
No
R2EA06010FXP03
R2EA06010FXH03
p. 26
p. 38
Yes
R2EA06010FXP03M
R2EA06010FXH03M
p. 26
p. 38
No
R2EA06010FCP03
R2EA06010FCH03
p. 26
p. 38
Yes
R2EA06010FCP03M
R2EA06010FCH03M
p. 26
p. 38
No
R2EA06020FXP00
R2EA06020FXH00
p. 26
p. 38
Yes
R2EA06020FXP00M
R2EA06020FXH00M
p. 26
p. 38
No
IP67
Yes (24 V DC)
100 W
60 mm sq.
No
IP65
Yes (24 V DC)
No
IP67
No
R2EA06020FCP00
R2EA06020FCH00
p. 26
p. 38
Yes
R2EA06020FCP00M
R2EA06020FCH00M
p. 26
p. 38
No
R2EA06020FXP03
R2EA06020FXH03
p. 26
p. 38
Yes
R2EA06020FXP03M
R2EA06020FXH03M
p. 26
p. 38
No
R2EA06020FCP03
R2EA06020FCH03
p. 26
p. 38
Yes
R2EA06020FCP03M
R2EA06020FCH03M
p. 26
p. 38
Yes (24 V DC)
200 W
60 mm sq.
No
IP65
Yes (24 V DC)
Note: Servo motors that come with oil seals (optional) may require an 80 to 95% reduction in output.
11
Features
100 V AC
Servo Amplifier
Main circuit
power supply
Control
power
Encoder
type
Internal
General
regenerative
output
resistor
Page
Safe torque off
function
No
Amplifier
capacity
Model no.
10 A
RS3E01A0AL0
p. 21
p. 23
20 A
RS3E02A0AL0
p. 21
p. 23
30 A
RS3E03A0AL0
p. 21
p. 24
10 A
RS3E01A0AL2
p. 21
p. 23
20 A
RS3E02A0AL2
p. 21
p. 23
30 A
RS3E03A0AL2
p. 21
p. 24
10 A
RS3E01A0AA0
p. 21
p. 23
20 A
RS3E02A0AA0
p. 21
p. 23
30 A
RS3E03A0AA0
p. 21
p. 24
10 A
RS3E01A0AA2
p. 21
p. 23
20 A
RS3E02A0AA2
p. 21
p. 23
30 A
RS3E03A0AA2
p. 21
p. 24
10 A
RS3E01A0BL0
p. 21
p. 23
20 A
RS3E02A0BL0
p. 21
p. 23
30 A
RS3E03A0BL0
p. 21
p. 24
10 A
RS3E01A0BL2
p. 21
p. 23
20 A
RS3E02A0BL2
p. 21
p. 23
30 A
RS3E03A0BL2
p. 21
p. 24
10 A
RS3E01A0BA0
p. 21
p. 23
20 A
RS3E02A0BA0
p. 21
p. 23
30 A
RS3E03A0BA0
p. 21
p. 24
10 A
RS3E01A0BA2
p. 21
p. 23
20 A
RS3E02A0BA2
p. 21
p. 23
30 A
RS3E03A0BA2
p. 21
p. 24
Type
Yes
System
Configuration
No
Sink
No
Yes
Serial
encoder
No
Servo Motor
100 V AC
System
100 to 120 V
AC
Single-phase
No
Yes
No
Encoder Wiring
Diagram
Source
Yes
Yes
Options
Servo Motor
Dimensions
* Our standard servo amplifier achieves the KC Mark of safety and conforms to the international UL, c-UL, EN standards.
Selection Guide
Analog/Pulse
input type
100 V AC
System
100 to 120 V
AC
Single-phase
Servo Amplifier
Specifications
Yes
External Wiring
Diagram
Input voltage
12
Input voltage
200 V AC
R2 Servo Motor
Output shaft: straight, oil seal: none, connection: cable
Model no.
Motor
flange size
Rated
output
Protection
code
Holding
brake
CE and UL Cable terminal Battery backup method
approved specifications*
absolute encoder
(PA035C)
No
No
No
Without connector R2AA04003FXP00
With connector
R2AA04003FXPA0
incremental systems
(PA035S)
Page
R2AA04003FXH00
p. 27
p. 38
No
p. 27
p. 38
Yes
Without connector R2AA04003FXP00M
R2AA04003FXH00M
p. 27
p. 38
No
Without connector R2AA04003FCP00
R2AA04003FCH00
p. 27
p. 38
No
p. 27
p. 38
IP67
Yes (24 V DC)
40 mm sq. 30 W
No
With connector
R2AA04003FCPA0
Yes
Without connector R2AA04003FCP00M
R2AA04003FCH00M
p. 27
p. 38
No
R2AA04003FXH03
p. 27
p. 38
Yes
R2AA04003FXH03M
p. 27
p. 38
No
IP65
No
R2AA04003FCH03
p. 27
p. 38
Yes
R2AA04003FCH03M
p. 27
p. 38
No
R2AA04005FXH00
p. 27
p. 38
No
p. 27
p. 38
Yes (24 V DC)
No
No
With connector
R2AA04005FXPA0
Yes
R2AA04005FXH00M
p. 27
p. 38
No
R2AA04005FCH00
p. 27
p. 38
No
p. 27
p. 38
IP67
Yes (24 V DC)
40 mm sq. 50 W
No
With connector
R2AA04005FCPA0
Yes
R2AA04005FCH00M
p. 27
p. 38
No
R2AA04005FXH03
p. 27
p. 38
Yes
R2AA04005FXH03M
p. 27
p. 38
No
IP65
No
R2AA04005FCH03
p. 27
p. 38
Yes
R2AA04005FCH03M
p. 27
p. 38
No
R2AA04010FXH00
p. 27
p. 38
Yes (24 V DC)
100 W
No
No
p. 27
p. 38
Yes
R2AA04010FXH00M
p. 27
p. 38
No
R2AA04010FCH00
p. 27
p. 38
No
With connector
R2AA04010FXPA0
IP67
40 mm sq.
90 W
Yes (24 V DC)
100 W
No
p. 27
p. 38
Yes
No
Without connector R2AA04010FCP00M6
With connector
R2AA04010FCPA0
R2AA04010FCH00M6
p. 27
p. 38
No
R2AA04010FXH03
p. 27
p. 38
Yes
R2AA04010FXH03M
p. 27
p. 38
No
R2AA04010FCH03
p. 27
p. 38
Yes
R2AA04010FCH03M6
p. 27
p. 38
No
R2AA06010FXH00
p. 27
p. 38
No
IP65
90 W
Yes (24 V DC)
No
No
No
p. 27
p. 38
Yes
With connector
R2AA06010FXPA0
R2AA06010FXH00M
p. 27
p. 38
No
R2AA06010FCH00
p. 27
p. 38
IP67
Yes (24 V DC)
60 mm sq. 100 W
No
p. 27
p. 38
Yes
R2AA06010FCH00M
p. 27
p. 38
No
R2AA06010FXH03
p. 27
p. 38
Yes
R2AA06010FXH03M
p. 27
p. 38
No
R2AA06010FCH03
p. 27
p. 38
Yes
R2AA06010FCH03M
p. 27
p. 38
No
With connector
R2AA06010FCPA0
No
IP65
Yes (24 V DC)
* Connectors are to be connected with an extension cable (see p. 45). Cable length for motors with connectors is 200 ± 30 mm.
13
200 V AC
R2 Servo Motor
Model no.
Motor
flange size
Rated
output
Protection
code
Holding
brake
absolute encoder
(PA035C)
No
No
No
With connector
R2AA06020FXPA0
incremental systems
(PA035S)
R2AA06020FXH00
Page
Features
Input voltage
p. 28
p. 38
No
p. 28
p. 38
Yes
R2AA06020FXH00M
p. 28
p. 38
No
R2AA06020FCH00
p. 28
p. 38
Yes (24 V DC)
60 mm sq. 200 W
No
No
p. 28
p. 38
Yes
With connector
R2AA06020FCPA0
R2AA06020FCH00M
p. 28
p. 38
No
R2AA06020FXH03
p. 28
p. 38
Yes
R2AA06020FXH03M
p. 28
p. 38
No
R2AA06020FCH03
p. 28
p. 38
Yes
R2AA06020FCH03M
p. 28
p. 38
No
R2AA08020FXH00
p. 28
p. 38
Yes
R2AA08020FXH00M
p. 28
p. 38
No
R2AA08020FCH00
p. 28
p. 38
Yes
R2AA08020FCH00M
p. 28
p. 38
System
Configuration
IP67
No
Servo Amplifier
Specifications
IP65
Yes (24 V DC)
No
IP67
80 mm sq. 200 W
No
R2AA08020FXH03
p. 28
p. 38
Yes
R2AA08020FXH03M
p. 28
p. 38
Servo Motor
Yes (24 V DC)
No
IP65
No
R2AA08020FCH03
p. 28
p. 38
Yes
R2AA08020FCH03M
p. 28
p. 38
No
R2AA06040FXH00
p. 28
p. 38
400 W
Yes (24 V DC)
No
No
p. 28
p. 38
Yes
R2AA06040FXH00M
p. 28
p. 38
No
R2AA06040FCH00
p. 28
p. 38
No
p. 28
p. 38
No
With connector
With connector
R2AA06040FXPA0
R2AA06040FCPA0
400 W
Yes
R2AA06040FCH00M6
p. 28
p. 38
No
Without connector R2AA06040HXP00
R2AA06040HXH00
p. 28
p. 38
Yes
Without connector R2AA06040HXP00M
R2AA06040HXH00M
p. 28
p. 38
External Wiring
Diagram
IP67
No
60 mm sq. 360 W
No
Without connector R2AA06040HCP00
R2AA06040HCH00
p. 28
p. 38
Yes
Without connector R2AA06040HCP00M6
R2AA06040HCH00M6
p. 28
p. 38
No
R2AA06040FXH03
p. 28
p. 38
Yes
R2AA06040FXH03M
p. 28
p. 38
No
R2AA06040FCH03
p. 28
p. 38
Yes
R2AA06040FCH03M6
p. 28
p. 38
No
Without connector R2AA06040HXP03
R2AA06040HXH03
p. 28
p. 38
Yes
Without connector R2AA06040HXP03M
R2AA06040HXH03M
p. 28
p. 38
Yes (24 V DC)
400 W
No
360 W
Servo Motor
Dimensions
360 W
No
Encoder Wiring
Diagram
Yes (24 V DC)
Yes (24 V DC)
400 W
No
360 W
Yes (24 V DC)
No
Without connector R2AA06040HCP03
R2AA06040HCH03
p. 28
p. 38
Yes
Without connector R2AA06040HCP03M6
R2AA06040HCH03M6
p. 28
p. 38
No
R2AA08040FXH00
p. 29
p. 38
Yes
R2AA08040FXH00M
p. 29
p. 38
No
R2AA08040FCH00
p. 29
p. 38
Yes
R2AA08040FCH00M
p. 29
p. 38
No
R2AA08040FXH03
p. 29
p. 38
Yes
R2AA08040FXH03M
p. 29
p. 38
No
R2AA08040FCH03
p. 29
p. 38
Yes
R2AA08040FCH03M
p. 29
p. 38
Options
IP65
No
IP67
80 mm sq. 400 W
Selection Guide
Yes (24 V DC)
No
IP65
Yes (24 V DC)
14
Input voltage
200 V AC
R2 Servo Motor
Model no.
Motor
flange size
Rated
output
Protection
code
Holding
brake
absolute encoder
(PA035C)
No
No
IP67
Yes (24 V DC)
80 mm sq.
No
IP65
Yes (24 V DC)
No
IP67
750 W
Yes (24 V DC)
86 mm sq.
No
IP65
Yes (24 V DC)
No
IP67
Yes (24 V DC)
100 mm sq.
No
IP65
Yes (24 V DC)
No
Yes (24 V DC)
IP67
No
Yes (24 V DC)
86 mm sq.
No
Yes (24 V DC)
1.0 kW
IP65
No
Yes (24 V DC)
No
IP67
Yes (24 V DC)
100 mm sq.
No
IP65
Yes (24 V DC)
No
With connector
R2AA08075FXPA0
incremental systems
(PA035S)
R2AA08075FXH00
p. 29
No
p. 29
p. 38
p. 38
Yes
R2AA08075FXH00M
p. 29
p. 38
No
R2AA08075FCH00
p. 29
p. 38
No
p. 29
p. 38
No
With connector
R2AA08075FCPA0
Yes
R2AA08075FCH00M
p. 29
p. 38
No
R2AA08075FXH03
p. 29
p. 38
Yes
R2AA08075FXH03M
p. 29
p. 38
No
R2AA08075FCH03
p. 29
p. 38
Yes
R2AA08075FCH03M
p. 29
p. 38
No
Without connector R2AAB8075FXP00
R2AAB8075FXH00
p. 31
p. 38
Yes
Without connector R2AAB8075FXP00M
R2AAB8075FXH00M
p. 31
p. 38
No
Without connector R2AAB8075FCP00
R2AAB8075FCH00
p. 31
p. 38
Yes
Without connector R2AAB8075FCP00M
R2AAB8075FCH00M
p. 31
p. 38
No
R2AAB8075FXH03
p. 31
p. 38
Yes
R2AAB8075FXH03M
p. 31
p. 38
No
R2AAB8075FCH03
p. 31
p. 38
Yes
R2AAB8075FCH03M
p. 31
p. 38
No
R2AA10075FXH00
p. 29
p. 38
Yes
R2AA10075FXH00M
p. 29
p. 38
No
R2AA10075FCH00
p. 29
p. 38
Yes
R2AA10075FCH00M
p. 29
p. 38
No
R2AA10075FXH03
p. 29
p. 38
Yes
R2AA10075FXP03M
p. 29
p. 38
No
R2AA10075FCP03
p. 29
p. 38
Yes
R2AA10075FCH03M
p. 29
p. 38
No
R2AAB8100FXH00
p. 31
p. 38
Yes
R2AAB8100FXH00M
p. 31
p. 38
No
R2AAB8100FCH00
p. 31
p. 38
Yes
R2AAB8100FCH00M
p. 31
p. 38
No
Without connector R2AAB8100HXP00
R2AAB8100HXH00
p. 29
p. 38
Yes
Without connector R2AAB8100HXP00M
R2AAB8100HXH00M
p. 29
p. 38
No
Without connector R2AAB8100HCP00
R2AAB8100HCH00
p. 29
p. 38
Yes
Without connector R2AAB8100HCP00M
R2AAB8100HCH00M
p. 29
p. 38
No
R2AAB8100FXH03
p. 31
p. 38
Yes
R2AAB8100FXH03M
p. 31
p. 38
No
R2AAB8100FCH03
p. 31
p. 38
Yes
R2AAB8100FCH03M
p. 31
p. 38
No
Without connector R2AAB8100HXP03
R2AAB8100HXH03
p. 29
p. 38
Yes
Without connector R2AAB8100HXP03M
R2AAB8100HXH03M
p. 29
p. 38
No
Without connector R2AAB8100HCP03
R2AAB8100HCH03
p. 29
p. 38
Yes
Without connector R2AAB8100HCP03M
R2AAB8100HCH03M
p. 29
p. 38
No
R2AA10100FXH00
p. 31
p. 38
Yes
R2AA10100FXH00M
p. 31
p. 38
No
R2AA10100FCH00
p. 31
p. 38
Yes
R2AA10100FCH00M
p. 31
p. 38
No
R2AA10100FXH03
p. 31
p. 38
Yes
R2AA10100FXH03M
p. 31
p. 38
No
R2AA10100FCH03
p. 31
p. 38
Yes
R2AA10100FCH03M
p. 31
p. 38
15
Page
200 V AC
R2 Servo Motor
Medium Capacity, Medium Inertia
Output shaft: with key, oil seal: yes, connection: circular connector*
Model no.
Rated
output
Motor
flange size
Protection
code
Holding
brake
CE and UL Battery-backup method
approved
absolute encoder
(PA035C)
incremental systems
(PA035S)
Page
Features
Input voltage
No
R2AA13050HXP00
R2AA13050HXH00
p. 30
p. 39
Yes
R2AA13050HXP00M
R2AA13050HXH00M
p. 30
p. 39
No
No
R2AA13050HCP00
R2AA13050HCH00
p. 30
p. 39
Yes
R2AA13050HCP00M
R2AA13050HCH00M
p. 30
p. 39
No
R2AA13050DXP00
R2AA13050DXH00
p. 30
p. 39
Yes
R2AA13050DXP00M
R2AA13050DXH00M
p. 30
p. 39
No
R2AA13050DCP00
R2AA13050DCH00
p. 30
p. 39
Yes
R2AA13050DCP00M
R2AA13050DCH00M
p. 30
p. 39
550 W 130 mm sq.
System
Configuration
Yes (24 V DC)
IP65
No
No
R2AA13120BXP00
R2AA13120BXH00
p. 30
p. 39
Yes
R2AA13120BXP00M
R2AA13120BXH00M
p. 30
p. 39
No
R2AA13120BCP00
R2AA13120BCH00
p. 30
p. 39
Yes
R2AA13120BCP00M
R2AA13120BCH00M
p. 30
p. 39
Servo Amplifier
Specifications
Yes (24 V DC)
No
No
R2AA13120LXP00
R2AA13120LXH00
p. 31
p. 39
Yes
R2AA13120LXP00M
R2AA13120LXH00M
p. 31
p. 39
No
R2AA13120LCP00
R2AA13120LCH00
p. 31
p. 39
Yes
R2AA13120LCP00M
R2AA13120LCH00M
p. 31
p. 39
No
R2AA13120DXP00
R2AA13120DXH00
p. 32
p. 39
Yes
R2AA13120DXP00M
R2AA13120DXH00M
p. 32
p. 39
Servo Motor
Yes (24 V DC)
No
1.2 kW 130 mm sq.
IP65
Yes (24 V DC)
No
R2AA13120DCP00
R2AA13120DCH00
p. 32
p. 39
Yes
R2AA13120DCP00M
R2AA13120DCH00M
p. 32
p. 39
No
R2AA13180HXP00
R2AA13180HXH00
p. 32
p. 39
Yes
R2AA13180HXP00M
R2AA13180HXH00M
p. 32
p. 39
No
R2AA13180HCP00
R2AA13180HCH00
p. 32
p. 39
Yes
R2AA13180HCP00M
R2AA13180HCH00M
p. 32
p. 39
Encoder Wiring
Diagram
No
Yes (24 V DC)
No
IP65
External Wiring
Diagram
1.8 kW 130 mm sq.
Yes (24 V DC)
No
R2AA13200LXP00
R2AA13200LXH00
p. 32
p. 39
Yes
R2AA13200LXP00M
R2AA13200LXH00M
p. 32
p. 39
No
R2AA13200LCP00
R2AA13200LCH00
p. 32
p. 39
Yes
R2AA13200LCP00M
R2AA13200LCH00M
p. 32
p. 39
No
2.0 kW 130 mm sq.
IP65
Servo Motor
Dimensions
Yes (24 V DC)
Selection Guide
Options
* Cables can also be provided for other specifications. (Cables cannot be detached)
16
Input voltage
200 V AC
R5 Servo Motor
Motor
flange size
Rated
output
Protection
code
Holding
brake
No
IP67
Yes (24 V DC)
No
IP65
60 mm sq. 200 W
Yes (24 V DC)
No
IP67
Yes (24 V DC)
No
IP65
Yes (24 V DC)
No
IP67
Yes (24 V DC)
No
IP65
60 mm sq. 400 W
Yes (24 V DC)
No
IP67
Yes (24 V DC)
No
IP65
Yes (24 V DC)
No
IP67
Yes (24 V DC)
No
IP65
80 mm sq. 750 W
Yes (24 V DC)
No
IP67
Yes (24 V DC)
No
IP65
Yes (24 V DC)
CE and UL Cable terminal
Model no.
No
Without connector
R5AA06020HXP00
R5AA06020HXH00
p. 33
No
With connector
R5AA06020HXPA0
No
p. 33
p. 38
Yes
Without connector
R5AA06020HXP00M
R5AA06020HXH00M
p. 33
p. 38
No
Without connector
R5AA06020HCP00
R5AA06020HCH00
p. 33
p. 38
No
With connector
R5AA06020HCPA0
No
p. 33
p. 38
Yes
Without connector
R5AA06020HCP00M
R5AA06020HCH00M
p. 33
p. 38
p. 38
No
Without connector
R5AA06020HXP03
R5AA06020HXH03
p. 33
p. 38
Yes
Without connector
R5AA06020HXP03M
R5AA06020HXH03M
p. 33
p. 38
No
Without connector
R5AA06020HCP03
R5AA06020HCH03
p. 33
p. 38
Yes
Without connector
R5AA06020HCP03M
R5AA06020HCH03M
p. 33
p. 38
No
Without connector
R5AA06020FXP00
R5AA06020FXH00
p. 34
p. 38
Yes
Without connector
R5AA06020FXP00M
R5AA06020FXH00M
p. 34
p. 38
No
Without connector
R5AA06020FCP00
R5AA06020FCH00
p. 34
p. 38
Yes
Without connector
R5AA06020FCP00M
R5AA06020FCH00M
p. 34
p. 38
No
Without connector
R5AA06020FXP03
R5AA06020FXH03
p. 34
p. 38
Yes
Without connector
R5AA06020FXP03M
R5AA06020FXH03M
p. 34
p. 38
No
Without connector
R5AA06020FCP03
R5AA06020FCH03
p. 34
p. 38
Yes
Without connector
R5AA06020FCP03M
R5AA06020FCH03M
p. 34
p. 38
No
Without connector
R5AA06040HXP00
R5AA06040HXH00
p. 33
p. 38
No
With connector
R5AA06040HXPA0
No
p. 33
p. 38
Yes
Without connector
R5AA06040HXP00M
R5AA06040HXH00M
p. 33
p. 38
No
Without connector
R5AA06040HCP00#
R5AA06040HCH00#
p. 33
p. 38
No
p. 33
p. 38
#
No
With connector
Yes
Without connector
R5AA06040HCP00M#
R5AA06040HCH00M#
p. 33
p. 38
R5AA06040HCPA0
No
Without connector
R5AA06040HXP03
R5AA06040HXH03
p. 33
p. 38
Yes
Without connector
R5AA06040HXP03M
R5AA06040HXH03M
p. 33
p. 38
No
Without connector
R5AA06040HCP03#
R5AA06040HCH03#
p. 33
p. 38
Yes
Without connector
R5AA06040HCP03M#
R5AA06040HCH03M#
p. 33
p. 38
No
Without connector
R5AA06040FXP00
R5AA06040FXH00
p. 34
p. 38
Yes
Without connector
R5AA06040FXP00M
R5AA06040FXH00M
p. 34
p. 38
No
Without connector
R5AA06040FCP00#
R5AA06040FCH00#
p. 34
p. 38
Yes
Without connector
R5AA06040FCP00M#
R5AA06040FCH00M#
p. 34
p. 38
No
Without connector
R5AA06040FXP03
R5AA06040FXH03
p. 34
p. 38
Yes
Without connector
R5AA06040FXP03M
R5AA06040FXH03M
p. 34
p. 38
No
Without connector
R5AA06040FCP03#
R5AA06040FCH03#
p. 34
p. 38
Yes
Without connector
R5AA06040FCP03M#
R5AA06040FCH03M#
p. 34
p. 38
No
Without connector
R5AA08075DXP00
R5AA08075DXH00
p. 33
p. 38
No
With connector
R5AA08075DXPA0
No
p. 33
p. 38
Yes
Without connector
R5AA08075DXP00M
R5AA08075DXH00M
p. 33
p. 38
No
Without connector
R5AA08075DCP00#
R5AA08075DCH00#
p. 33
p. 38
No
p. 33
p. 38
R5AA08075DCPA0
#
No
With connector
Yes
Without connector
R5AA08075DCP00M#
R5AA08075DCH00M#
p. 33
p. 38
No
Without connector
R5AA08075DXP03
R5AA08075DXH03
p. 33
p. 38
Yes
Without connector
R5AA08075DXP03M
R5AA08075DXH03M
p. 33
p. 38
No
Without connector
R5AA08075DCP03#
R5AA08075DCH03#
p. 33
p. 38
Yes
Without connector
R5AA08075DCP03M#
R5AA08075DCH03M#
p. 33
p. 38
No
Without connector
R5AA08075FXP00
R5AA08075FXH00
p. 34
p. 38
Yes
Without connector
R5AA08075FXP00M
R5AA08075FXH00M
p. 34
p. 38
No
Without connector
R5AA08075FCP00#
R5AA08075FCH00#
p. 34
p. 38
Yes
Without connector
R5AA08075FCP00M#
R5AA08075FCH00M#
p. 34
p. 38
No
Without connector
R5AA08075FXP03
R5AA08075FXH03
p. 34
p. 38
Yes
Without connector
R5AA08075FXP03M
R5AA08075FXH03M
p. 34
p. 38
No
Without connector
R5AA08075FCP03#
R5AA08075FCH03#
p. 34
p. 38
Yes
Without connector
R5AA08075FCP03M#
R5AA08075FCH03M#
p. 34
p. 38
Reduce the output for the model numbers indicated by “#”. The reduced output will be between 90 to 95% of the rated output shown in the table.
Servo motors that come with oil seals (optional) may require reduction in output. Contact us for details.
17
Page
Battery-backup method
absolute encoder (PA035C) incremental systems (PA035S)
200 V AC
Features
Input voltage
Servo Amplifier
Main circuit
power supply
Control
power
Encoder
type
Internal
General
regenerative
output
resistor
Safe torque off
function
Page
Amplifier
capacity
Model no.
10 A
RS3A01A0AL0
p. 21
p. 23
20 A
RS3A02A0AL0
p. 21
p. 23
30 A
RS3A03A0AL0
p. 21
p. 24
50 A
RS3A05A0AL0
p. 21
p. 24
Type
No
10 A
RS3A01A0AL2
p. 21
p. 23
20 A
RS3A02A0AL2
p. 21
p. 23
30 A
RS3A03A0AL2
p. 21
p. 24
50 A
RS3A05A0AL2
p. 21
p. 24
10 A
RS3A01A0AA0
p. 21
p. 23
20 A
RS3A02A0AA0
p. 21
p. 23
30 A
RS3A03A0AA0
p. 21
p. 24
System
Configuration
No
Yes
Servo Amplifier
Specifications
Sink
No
50 A
RS3A05A0AA0
p. 21
p. 24
10 A
RS3A01A0AA2
p. 21
p. 23
20 A
RS3A02A0AA2
p. 21
p. 23
30 A
RS3A03A0AA2
p. 21
p. 24
50 A
RS3A05A0AA2
p. 21
p. 24
10 A
RS3A01A0BL0
p. 21
p. 23
20 A
RS3A02A0BL0
p. 21
p. 23
30 A
RS3A03A0BL0
p. 21
p. 24
50 A
RS3A05A0BL0
p. 21
p. 24
Yes
200 V AC
system
200 to 240 V
AC
Single-phase
Serial
encoder
No
10 A
RS3A01A0BL2
p. 21
p. 23
20 A
RS3A02A0BL2
p. 21
p. 23
30 A
RS3A03A0BL2
p. 21
p. 24
50 A
RS3A05A0BL2
p. 21
p. 24
Encoder Wiring
Diagram
No
Yes
10 A
RS3A01A0BA0
p. 21
p. 23
20 A
RS3A02A0BA0
p. 21
p. 23
30 A
RS3A03A0BA0
p. 21
p. 24
50 A
RS3A05A0BA0
p. 21
p. 24
External Wiring
Diagram
Source
No
Yes
10 A
RS3A01A0BA2
p. 21
p. 23
20 A
RS3A02A0BA2
p. 21
p. 23
30 A
RS3A03A0BA2
p. 21
p. 24
50 A
RS3A05A0BA2
p. 21
p. 24
Options
* Our standard servo amplifier achieves the KC Mark of safety and conforms to the international UL, c-UL, EN standards.
Servo Motor
Dimensions
Yes
Selection Guide
Analog/Pulse
input type
200 V AC
system
200 to 240 V
AC
3-phase
Servo Motor
Yes
18
Input voltage
200 V AC
Set Model
We offer 30 to 750 W servo motors and servo amplifiers in sets with connectors.
Servo motor specifications
Protection code: IP67. CE/UL approval: no. Encoder classification: battery-backup method absolute encoder (PA035C).
Output shaft: straight. Oil seal: no. Connection: connect with an extension cable.
Servo amplifier specifications Main circuit power supply: 3-phase 200 to 240 V AC. Interface: analog/pulse. General output: sink. Internal regenerative
resistor. Safe torque off function: no.
Motor
flange size
Rated
output
30 W
40 mm sq. 50 W
100 W
90 W
100 W
60 mm sq. 200 W
400 W
360 W
80 mm sq. 750 W
Holding
brake
Ordered
model no.
ser model
Set components
Page
Motor model no.
No
SR403X01
R2AA04003FXPA0
p. 27
p. 38, 47
Yes (24 V DC)
SR403C01
R2AA04003FCPA0
p. 27
p. 38, 47
No
SR405X01
R2AA04005FXPA0
p. 27
p. 38, 47
Yes (24 V DC)
SR405C01
R2AA04005FCPA0
p. 27
p. 38, 47
No
SR410X01
R2AA04010FXPA0
p. 27
p. 38, 47
Yes (24 V DC)
SR410C01
R2AA04010FCPA0
p. 27
p. 38, 47
No
SR610X01
R2AA06010FXPA0
p. 27
p. 38, 47
Yes (24 V DC)
SR610C01
R2AA06010FCPA0
p. 27
p. 38, 47
No
SR620X02
R2AA06020FXPA0
p. 28
p. 38, 47
Yes (24 V DC)
SR620C02
R2AA06020FCPA0
p. 28
p. 38, 47
No
SR640X02
R2AA06040FXPA0
p. 28
p. 38, 47
Amplifier
model no.
RS3A01A0AA0
Yes (24 V DC)
SR640C02
R2AA06040FCPA0
p. 28
p. 38, 47
No
SR875X03
R2AA08075FXPA0
p. 29
p. 38, 47
Yes (24 V DC)
SR875C03
R2AA08075FCPA0
p. 29
p. 38, 47
Page
Connector
p. 21
Connector for connections
with host devices
(CN1)
Connector for input power,
regenerative resistor
connections (CNA)
RS3A02A0AA0
p. 21
p. 23
RS3A03A0AA0
p. 21
p. 24
Available Options
These items will be shipped together when purchased with a Set Model.
Cable length
(m)
Type
(1) For power
Se r vo m o t o r e x t e n s i o n
cable
(Amplifier ⇔ Motor)
(2) For encoder
(3) For brake
(4) Encoder extension cable with battery
(Encoder ⇔ Servo amplifier)
Model no.
Page
1
RS-CM4-01-R
p. 47
2
RS-CM4-02-R
p. 47
3
RS-CM4-03-R
p. 47
5
RS-CM4-05-R
p. 47
10
RS-CM4-10-R
p. 47
1
RS-CA4-01-R
p. 47
2
RS-CA4-02-R
p. 47
3
RS-CA4-03-R
p. 47
5
RS-CA4-05-R
p. 47
10
RS-CA4-10-R
p. 47
1
RS-CB3-01-R
p. 47
2
RS-CB3-02-R
p. 47
3
RS-CB3-03-R
p. 47
5
RS-CB3-05-R
p. 47
10
RS-CB3-10-R
p. 47
0.3
AL-00731792-01
p. 45
1
AL-00896515-01
p. 46
2
AL-00896515-02
p. 46
For connection when using an absolute encoder.
(5) USB communication cable
(cable for communication with PC for setup software)
19
p. 23
System Configuration
Features
Analog/Pulse Input Type Servo Amplifier
10 A to 50 A The photograph shows the 30 A model.
T S R
Option
Setup software
Circuit breaker (MCCB)
Used to protect the power line.
Cuts off power in the case of an
overload.
(To be arranged by the customer)
Parameter configuration and
monitoring is possible via
communication with a PC.
See p. 40
Servo Amplifier
Noise filter
Attached to prevent external noise
from the power source line. (To be
arranged by the customer)
USB communication
cable (See (5) on p. 19)
See p. 46
Electromagnetic contactor
Switches power on and off. Protective circuit must
be created. (To be arranged by the customer)
System
Configuration
Option
USB
Servo Amplifier
Specifications
CNA
Option
Servo Motor
Variety of connector types
See p. 42
CN1
Option
External regenerative resistor
Host devices
(To be arranged by
the customer)
CNB
CN4
Option
EN1
Encoder Wiring
Diagram
For normal operations, the
internal regenerative resistor
in the servo amplifier can be
used, but for special
operations, such as high cycle
applications that require
greater power dissipation than
that provided by the servo
amplifier's internal
regenerative resistor, use the
external regenerative resistor.
See p. 46
Battery extension
cable, with connectors
on both ends
(See (4) on p. 19)
CN3
External Wiring
Diagram
Connected when using an
absolute encoder.
See p. 45
Option
Battery box
Connected when using a battery-backup
method absolute encoder
See p. 45
For power
(p. 19, Note (1))
For encoder
(p. 19, Note (2))
For brake (p. 19, Note (3))
Brake power
Use when the servo motor is equipped
with a brake. Use stabilized DC power
supply or power supply with a
full-wave rectifier.
(To be arranged by the customer)
Servo Motor
Dimensions
Option
Extension cable for
servo motor (for power,
brake, or encoder)
Extension cable with
connectors on both ends.
See p. 47
Safety unit, safety
PLC, etc.
Selection Guide
Options
The I/O signals of the
Safe Torque Off function
are connected to devices
such as the safety unit or
safety PLC.
(To be arranged by the
customer)
* Standard specifications of servo motor connection part
∙ Servo motors with flange size of 100 mm or less: cable
without connector
Cables with connectors are also available for servo motors 80 mm
and less. See p. 13 to 17, 47
Servo motor
∙ Flange size of 130 mm or more: circular connector
20
Servo Amplifier Specifications
Control function Position control/Speed control/Torque control (Parameter switching)
Control system IGBT: PWM control sinusoidal drive
Main Circuit
Power Supply *1
3-phase:
200 to 240 V AC +10, -15%, 50/60 Hz±3 Hz
Single-phase: 200 to 240 V AC +10, -15%, 50/60 Hz±3 Hz *2
Control Power *1
Single-phase: 200 to 240 V AC +10, -15%, 50/60 Hz±3 Hz
Ambient temperature
0 to +55°C
-20 to +65°C
Operation/Storage humidity Below 90%RH (no condensation)
Elevation
Below 1000 m
Vibration
4.9 m/s2 freq. range 10 to 55 Hz tested for 2 hours in each X, Y and Z-axis directions
Shock
19.6 m/s2
Built-in tray type power supply
Storage temperature
Environment
Structure
*1
Power source voltage should be within
the specified range.
200 V AC power input type
Specified power supply range =
170 V AC to 264 V AC
100 V AC power input type
Specified power supply range =
85 V AC to 132 V AC
*2
The 200 V AC single-phase input type
corresponds only to RS3□01/RS3□
02/RS3□03/RS3□05.
*3
The 100 V AC single-phase input type
corresponds only to RS3□01/RS3□02/
RS3□03.
RoHS
■ Performance
Speed control range
1:5000 (Internal speed command)
Frequency characteristics 2200 Hz (In high frequency sampling mode)
Permissible load moment of inertia 10 times motor rotary inertia
■ Built-in functions
Protection functions
Over current, Current detection error, Overload, Regeneration error, Overheating, External disorder, Over voltage, Main circuit power low
voltage, Main circuit power supply open phase, Control power supply low voltage, Encoder error, Over speed, Speed control error, Speed
feedback error, Unreasonable position deviation, Position command pulse error, Built-in memory error, Parameter error, Cooling fan error
Status display, Monitor display, Alarm display, Parameter setting, Test run, Adjustment mode
Built-in
Regenerative process circuit Built-in
Speed monitor (VMON)
2.0 V±10% (at 1000 min−1)
Monitor
Torque command monitor (TCMON) 2.0 V±10% (at 100%)
Digital operator
Dynamic brake circuit
■ Safety standard
Servo amplifier type
Safety standards
North American safety standards (UL ratings) UL508C
Low-voltage directive ・EN61800-5-1
All models
Models with safety features
21
European directive
・EN55011 G1 ClassA
EMC directive ・EN61800-3
・EN61326-3-1
KC Mark (Korea Certification Mark)
KN61000-6-2，KN61000-6-4
Safety feature standards
・IEC61508，SIL3
・ISO13849-1，Cat.3，PL＝e
・IEC62061，SILCL3
Servo amplifier
39-46
Out 1 to 8
24
OUT-COM
25
OUT-COM
Servo Motor
49
OUT-PWR
Host device
load
Servo Amplifier
Specifications
Sink (NPN output)
System
Configuration
Out 1 to 8
Encoder Wiring
Diagram
39-46
External Wiring
Diagram
38
Servo Motor
Dimensions
OUT+COM
load
49
Options
Servo amplifier
Selection Guide
OUT-PWR
Host device
Features
General-purpose Output Specifications
Source (PNP output)
22
Servo Amplifier Dimensions [Unit : mm (inch)]
10 A
Mass: Without internal regenerative resistor 0.68 kg
With internal regenerative resistor 0.73 kg
5±0.5
(.2±.02)
40
(1.6)
(16.5)
((.65))
130
(5.2)
(5)
((.2))
30
(1.2)
5
(.2)
5°
(11
5
(.2)
(19.5)
((.77))
(70) ((2.8))
(3)
((0.12))
160
(6.4)
152
(6.08)
)
5
(.2)
20 A
5±0.5
(.2±.02)
(16.5)
((.65))
(5)
((.2))
30
(1.2)
152
(6.08)
160
(6.4)
)
5°
(11
5
(.2)
23
5
(.2)
5
(.2)
40
(1.6)
130
(5.2)
(3)
((0.12))
(19.5)
((.77))
(70) ((2.8))
Features
30 A
130
(5.2)
(5)
((.2))
40
(1.57)
5
(.2)
5°
(11
5
(.2)
Servo Amplifier
Specifications
Servo Motor
(3)
((0.12))
160
(6.4)
152
(6.08)
)
System
Configuration
50
(2)
(16.5)
((.65))
5
(.2)
(19.5)
((.77))
(70) ((2.8))
5±0.5
(.2±.02)
50 A
External Wiring
Diagram
Servo Motor
Dimensions
5
(.2)
Options
75
(3)
Selection Guide
(5)
((.2))
5
(.2)
)
5°
(11
160 (6.4)
130
(5.2)
152
(6.08)
85
(3.4)
(16.5)
((.65))
(3)
((0.12))
(19.5)
((.77))
(70) ((2.8))
Encoder Wiring
Diagram
5±0.5
(.2±.02)
24
Specifications
2 Servo Motor
Servo Amplifier ＋
Input voltage
100 V AC
Rated Output
Rated Speed
★
★
PR
NR
Maximum Speed
Rated Torque
Continuous Stall Torque
Peak Stall Torque
Rated Armature Current
Armature Stall Current
Peak Armature Stall Current
Torque Constant
Voltage Constant for each Phase
Phase Resistance
Rated Power Rate
Electrical Time Constant
Mechanical Time Constant (Not including Encoder)
★
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Nmax
TR
TS
TP
IR
IS
IP
KT
KE φ
Rφ
QR
te
tm
JM
Rotor Inertia *1
Absolute Encoder Inertia
Servo Motor Mass
*1
Brake Static Friction Torque
Brake Rated Voltage
Brake Rated Current
Rotor Moment of Inertia (Brake)
Brake Mass
Servo Motor Operating Temp, Rel.Humidity
Servo amplifier power supply capacity (rating)
CE and UL approved servo motors *5
Servo motor protection code
Size of aluminum plates for heat
radiation during measurement
Unit
kW
min-1
min-1
JS
N・m
N・m
N・m
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
×10-4kg・m2(GD2/4)
×10-4kg・m2(GD2/4)
WE
TB
VB
IB
JB
W
kg
N・m
V
A
×10-4kg・m2(GD2/4)
kg
kVA
RS3E01□□《10 A》
RS3E02□□《20 A》
R2EA04003F
《40 mm sq.》
R2EA04005F
《40 mm sq.》
R2EA04008F
《40 mm sq.》
0.03
3000
0.05*4
3000
0.08
3000
6000
0.098
0.108
0.37
0.94
1.0
3.7
0.116
4.04
4.0
3.9
0.55
2.2
0.0247
6000
0.159
0.167
0.59
1.2
1.3
4.9
0.142
4.97
3.0
6.7
0.67
1.7
0.0376
6000
0.255
0.255
0.86
1.3
1.3
4.5
0.22
7.7
2.9
10
0.81
0.98
0.0627
0.0033*1
0.35
0.39
0.51
0.32 Min.
90 V DC/24 V DC±10%
0.07/0.27
0.0078
0.27
0.27
0.27
Operating Temperature: 0 to 40°C. Relative Humidity: 90% max. No condensation.
0.2
0.2
0.4
Yes
IP67, IP65
250 × 250 × 6 mm
External Wiring Diagram
*1
RoHS
Power supply range 85 V AC to 132 V AC
Servo Amplifier Model No.《》indicates amplifier capacity
Servo Motor Model No.《》indicates flange size
Status Symbol
High Efficiency and Low Ripple (Medium Inertia)
p. 36
This is for the battery-backup method absolute encoder [PA035C].
For the following encoders, contact us for details.
・Battery-less absolute encoder
・Wire-saving incremental encoder
For the servo amplifier mass, see pp. 23 and 24.
*2
*3
*4
*5
Items with ★ and speed - torque characteristics indicate values after temperature
rise saturation when used with a standard servo amplifier. The values are the
typical values.
☆ : Indicates a typical value when the winding temperature is 20°C .
The values are the typical values.
Servo motors that come with oil seals (optional) may require an 80 to
95% reduction in output.
Our standard servo amplifiers are CE and UL approved.
■ Speed-Torque Characteristics
Servo Motor Model No./Flange Size/Rated Output
R2EA04003F/40 mm/0.03 kW
R2EA04005F/40 mm/0.05 kW
R2EA04008F/40 mm/0.08 kW
1.0
0.8
0.6
0.3
Instantaneous Zone
0.2
0.1
0
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
0.8
0.6
0.4
Instantaneous Zone
0.2
0
Torque (N∙m)
0.4
Torque (N∙m)
Torque (N∙m)
0.5
0.6
0.4
Instantaneous Zone
0.2
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
0
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
These values are for when the input power supply is 100 V AC. The area of the instantaneous zone decreases when the power supply voltage is less than 100 V AC.
25
Features
RS3E02□□《20 A》
RS3E03□□《30 A》
R2EA06010F
《60 mm sq.》
R2EA06020F
《60 mm sq.》
0.1
3000
0.2
3000
6000
0.318
0.318
1.0
1.7
1.7
5.6
0.206
7.2
1.5
8.6
1.9
1.2
0.117
6000
0.637
0.686
2.2
3.1
3.2
11.9
0.224
7.82
0.6
19
2.6
0.79
0.219
0.0033*1
0.71
0.96
0.36 Min.
1.37 Min.
90 V DC/24 V DC±10%
0.07/0.27
0.11/0.32
0.06
0.34
0.39
0.5
0.6
Yes
IP67, IP65
kg
N・m
V
A
×10-4kg・m2(GD2/4)
kg
Rated Output
Rated Speed
Nmax
TR
TS
TP
IR
IS
IP
KT
KEφ
Rφ
QR
te
tm
JM
★
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Maximum Speed
Rated Torque
Peak Stall Torque
Torque Constant
Phase Resistance
Rated Power Rate
Rotor Inertia *1
JS
WE
TB
VB
IB
JB
W
Servo Motor Mass *1
kVA
250 × 250 × 6 mm
Brake Rated Voltage
Brake Rated Current
Brake Mass
Servo Motor
Dimensions
p. 36
System
Configuration
★
★
Servo Amplifier
Specifications
N・m
N・m
N・m
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
×10-4kg・m2(GD2/4)
×10-4kg・m2(GD2/4)
PR
NR
Servo Motor
min-1
min-1
Symbol Status
Encoder Wiring
Diagram
kW
External Wiring
Diagram
Unit
R2EA06020F/60 mm/0.2 kW
2.5
1.2
2.0
0.6
Instantaneous Zone
0.4
1.5
Instantaneous Zone
1.0
Selection Guide
0.8
Torque (N∙m)
Torque (N∙m)
1.0
0.5
0.2
0
Options
R2EA06010F/60 mm/0.1 kW
Continuous Zone
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
0
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
26
Specifications
2 Servo Motor
Input voltage
200 V AC
Rotor Inertia *1
★ Nmax
★ TR
★ TS
TP
★
IR
★
IS
★
IP
★
☆ KT
☆ KE φ
☆ Rφ
★ QR
te
☆
☆ tm
JM
Servo Motor Mass
*1
Brake Rated Voltage
Brake Rated Current
Brake Mass
R2AA04005F
《40 mm sq.》
R2AA04010F
《40 mm sq.》
R2AA06010F
《60 mm sq.》
0.03
3000
0.05*4
3000
0.1(0.09)*4
3000
0.1
3000
6000
0.098
0.108
0.37
0.51
0.56
2.15
0.201
7.0
12
3.9
0.55
2.2
0.0247
6000
0.159
0.167
0.59
0.67
0.69
2.8
0.246
8.6
9
6.7
0.67
1.7
0.0376
6000
0.318
0.318
1.18
0.81
0.81
3.3
0.424
14.8
9.3
16
0.82
0.97
0.0627
6000
0.318
0.353
1.13
0.86
0.86
3.5
0.375
13.1
4.8
8.6
2
1.2
0.117
JS
WE
TB
VB
IB
JB
W
kg
N・m
V
A
×10-4kg・m2(GD2/4)
kg
kVA
0.0033*1
0.35
0.39
0.51
0.71
0.32 Min.
0.36 Min.
90 V DC/24 V DC±10%
0.07/0.27
0.0078
0.06
0.27
0.27
0.27
0.34
0.2
0.2
0.3
0.3
Yes
IP67, IP65
250 × 250 × 6 mm
p. 36
・Battery-less absolute encoder・Wire-saving incremental encoder
For the servo amplifier weight, see pp. 23 and 24.
*2
*3
*4
*5
R2AA04010F/40 mm/0.1 kW
R2AA06010F/60 mm/0.1 kW
0.8
2.0
2.0
0.3
0.6
1.5
1.5
0.2
Instantaneous Zone
0.1
0
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
0.4
Instantaneous Zone
0.2
0
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
Torque (N∙m)
0.4
Torque (N∙m)
Torque (N∙m)
R2AA04003F/40 mm/0.03 kW
R2AA04005F/40 mm/0.05 kW
typical values.
☆ : Indicates a typical value when the winding temperature is 20°C.
If enclosed in ( ), it comes with brake. Servo motors that come with
oil seals (optional) may require an 80 to 95% reduction in output.
1.0
Instantaneous Zone
0.5
0
Torque (N∙m)
*1
RS3A01□□《10 A》
R2AA04003F
《40 mm sq.》
min-1
N・m
N・m
N・m
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
×10-4kg・m2(GD2/4)
×10-4kg・m2(GD2/4)
RoHS
Status Symbol
Unit
kW
Rated Output
★ PR
Rated Speed
min-1
★ NR
Maximum Speed
Rated Torque
Peak Stall Torque
Torque Constant
Phase Resistance
Rated Power Rate
1.0
Instantaneous Zone
0.5
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
0
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
These values are for when the input power supply is a 3-phase 200 V AC circuit. The area of the instantaneous zone decreases when the power supply voltage is less than 200 V.
Contact us if the servo amp. power supply is a single-phase 200 V AC circuit.
27
Features
RS3A02□□《20 A》
0.4(0.36)*4
3000
0.2
3000
0.4(0.36)*4
3000
6000
0.637
0.686
2.2
1.5
1.6
5.6
0.476
16.6
2.7
19
2.6
0.78
0.219
3000
1.27
1.37
4.8
1.7
1.8
7.1
0.816
28.5
3.3
39
3.2
0.61
0.412
6000
0.637
0.686
2.2
1.5
1.5
4.8
0.516
18.0
2.3
8
2.2
1.3
0.52
6000
1.27
1.37
4.8
2.8
2.8
10.8
0.524
18.3
1.36
39
3.2
0.61
0.412
Unit
kW
min-1
min-1
N・m
N・m
N・m
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
×10-4kg・m2(GD2/4)
×10-4kg・m2(GD2/4)
0.0033*1
0.96
1.37 Min.
1.4
1.3
1.4
1.37 Min.
2.55 Min.
1.37 Min.
90 V DC/24 V DC±10%
0.11/0.32
0.11/0.32
0.12/0.37
0.11/0.32
0.06
0.060
0.25
0.06
0.39
0.39
0.89
0.39
0.6
1.0
0.6
1.0
Yes
IP67, IP65
Symbol Status
PR ★ Rated Output
NR ★ Rated Speed
Nmax ★ Maximum Speed
TR ★ Rated Torque
TS ★ Continuous Stall Torque
TP
★ Peak Stall Torque
IR
★ Rated Armature Current
IS
★ Armature Stall Current
IP
★ Peak Armature Stall Current
KT ☆ Torque Constant
KE φ ☆ Voltage Constant for each Phase
R φ ☆ Phase Resistance
QR ★ Rated Power Rate
te
☆ Electrical Time Constant
tm ☆ Mechanical Time Constant (Not including Encoder)
JM
Rotor Inertia *1
kg
N・m
V
A
×10-4kg・m2(GD2/4)
kg
JS
WE
TB
VB
IB
JB
W
Servo Motor Mass*1
kVA
250 × 250 × 6 mm
Brake Rated Voltage
Brake Rated Current
Brake Mass
Servo Motor
Dimensions
p. 36
System
Configuration
0.2
3000
Servo Amplifier
Specifications
R2AA06040F
《60 mm sq.》
Servo Motor
R2AA08020F
《80 mm sq.》
Encoder Wiring
Diagram
R2AA06040H
《60 mm sq.》
External Wiring
Diagram
R2AA06020F
《60 mm sq.》
6.0
R2AA06040F/60 mm/0.4 kW
4.0
8.0
3.0
6.0
Options
4.0
R2AA08020F/80 mm/0.2 kW
1.0
0
4.0
3.0
Instantaneous Zone
2.0
1.0
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
0
Continuous Zone
0
1000
2000
3000
Speed (min−1)
4000
2.0
Instantaneous Zone
1.0
0
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
Torque (N∙m)
Instantaneous Zone
Torque (N∙m)
2.0
Torque (N∙m)
Torque (N∙m)
5.0
3.0
4.0
Instantaneous Zone
2.0
0
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
28
Selection Guide
R2AA06020F/60 mm/0.2 kW
R2AA06040H/60 mm/0.4 kW
Specifications
2 Servo Motor
Input voltage
200 V AC
RoHS
Power range 170 V AC to 264 V AC
Servo Amplifier Model No.《》indicates amplifier capacity RS3A02□□《20 A》
RS3A03□□《30 A》
R2AA08040F
R2AA08075F
R2AAB8100H
R2AA10075F
《80 mm sq.》
《80 mm sq.》
《86 mm sq.》
《100 mm sq.》
Status Symbol
Unit
kW
Rated Output
Rated Speed
★
★
PR
NR
Maximum Speed
Rated Torque
Peak Stall Torque
Torque Constant
Phase Resistance
Rated Power Rate
★
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Nmax
TR
TS
TP
IR
IS
IP
KT
KE φ
Rφ
QR
te
tm
JM
Rotor Inertia *1
Servo Motor
Mass*1
Brake Rated Voltage
Brake Rated Current
Brake Mass
JS
N・m
N・m
N・m
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
4
×10 kg・m2(GD2/4)
×10-4kg・m2(GD2/4)
WE
TB
VB
IB
JB
W
kg
N・m
V
A
×10-4kg・m2(GD2/4)
kg
0.75*4
3000
1.0
3000
0.75
3000
6000
1.27
1.37
4.4
2.6
2.6
8.9
0.559
19.5
0.93
16
2.5
0.93
1.04
6000
2.39
2.55
8.5
4.6
4.6
15.5
0.559
19.5
0.4
31
3
0.7
1.82
3000
3.18
3.92
11.6
4.6
4.7
15.5
0.825
28.8
0.85
42
4.6
0.89
2.38
6000
2.39
2.55
8.6
4.4
4.6
15.5
0.582
20.3
0.69
29
7.0
1.2
2.00
0.0033*1
1.7
2.7
90 V DC/24 V DC±10%
0.09/0.30
0.343
0.89
0.89
0.84
0.9
1.0
1.6
2.0
1.7
Yes
IP67, IP65
kVA
250 × 250 × 6 mm
305 × 305 × 12 mm
p. 36
*2
*3
*4
*5
R2AA08040F/80 mm/0.4 kW
R2AA08075F/80 mm/0.75 kW
8.0
typical values.
Servo motors that come with oil seals (optional) may require an 80 to
95% reduction in output.
R2AAB8100H/86 mm/1.0 kW
10
R2AA10075F/100 mm/0.75 kW
10
15
8
Torque (N∙m)
Torque (N∙m)
4.0
Instantaneous Zone
2.0
Torque (N∙m)
8
6.0
6
4
Instantaneous Zone
10
Instantaneous Zone
5
0
1000
2000
3000
4000
Speed (min−1)
5000
6000
0
6
Instantaneous Zone
4
2
2
Continuous Zone
3.3
3.92 Min.
0.12/0.37
0.25
0
3.6
2.55 Min.
Torque (N∙m)
*1
min-1
min-1
0.4
3000
Continuous Zone
Continuous Zone
0
1000
2000
3000
4000
Speed (min−1)
5000
6000
0
0
500 1000 1500 2000 2500 3000 3500
Speed (min−1)
Continuous Zone
0
0 1000 2000 3000 4000 5000 6000 7000
Speed (min−1)
29
Features
1.2
2000
3500
2.6
3.0
9.0
4.2
4.6
15.5
0.67
23.5
0.65
22
14
1.3
3.1
5000
2.6
2.6
7.0
5.2
5.2
15.5
0.53
18.5
0.39
22
14
1.3
3.1
2000
5.7
6.0
16
5.2
5.2
15.5
1.09
37.8
0.64
54
16
0.98
6.0
0.0033*1
4.5
3.5 Min.
4.5
6.1
3.5 Min.
9.0 Min.
90 V DC/24 V DC±10%
0.15/0.41
0.15/0.41
0.17/0.51
0.5
0.5
0.5
1.3
1.3
1.5
Operating Temperature: 0 to 40°C. Relative Humidity: 90% max. No condensation
1.2
1.2
2.2
Yes
IP65
305 × 305 × 20 mm
Unit
kW
min-1
min-1
N・m
N・m
N・m
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
×10-4kg・m2(GD2/4)
×10-4kg・m2(GD2/4)
kg
N・m
V
A
×10-4kg・m2(GD2/4)
kg
Symbol Status
PR ★ Rated Output
NR ★ Rated Speed
Nmax ★ Maximum Speed
TR ★ Rated Torque
TS ★ Continuous Stall Torque
TP
IR
IS
IP
KT ☆ Torque Constant
KE φ ☆ Voltage Constant for each Phase
R φ ☆ Phase Resistance
QR ★ Rated Power Rate
te
tm ☆ Mechanical Time Constant (Not including Encoder)
JM
Rotor Inertia *1
JS
WE
TB
VB
IB
JB
W
Servo Motor Mass*1
kVA
400 × 400 × 20 mm
Brake Rated Voltage
Brake Rated Current
Brake Mass
Servo Motor
Dimensions
p. 37
System
Configuration
0.55
2000
Servo Amplifier
Specifications
0.55
2000
Servo Motor
R2AA13120B
《130 mm sq.》
Encoder Wiring
Diagram
R2AA13050D
《130 mm sq.》
External Wiring
Diagram
RS3A03□□《30 A》
R2AA13050H
《130 mm sq.》
6
4
2
25
8
20
6
4
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
15
Instantaneous Zone
10
5
2
Continuous Zone
0
Instantaneous Zone
Options
Instantaneous Zone
10
Torque (N∙m)
Torque (N∙m)
8
Torque (N∙m)
10
R2AA13120B/130 mm/1.2 kW
Continuous Zone
Continuous Zone
0
Selection Guide
R2AA13050H/130 mm/0.55 kW
R2AA13050D/130 mm/0.55 kW
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
0
0
1000
2000
3000
Speed (min−1)
30
Specifications
2 Servo Motor
Input voltage
200 V AC
RS3A05□□《50 A》
Status Symbol
Unit
kW
Rated Output
★ PR
Rated Speed
min-1
★ NR
R2AAB8075F
《86 mm sq.》
R2AAB8100F
《86 mm sq.》
R2AA10100F
《100 mm sq.》
R2AA13120L
《130 mm sq.》
0.75
3000
1.0
3000
1.0
3000
1.2
2000
Maximum Speed
★
Nmax
min-1
6000
6000
6000
3000
Rated Torque
Peak Stall Torque
Torque Constant
Phase Resistance
Rated Power Rate
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
TR
TS
TP
IR
IS
IP
KT
KE φ
Rφ
QR
te
tm
N・m
N・m
N・m
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
×10-4kg・m2(GD2/4)
2.38
2.94
11.0
4.7
5.5
23.7
0.547
19.1
0.62
35
4.2
1.00
3.18
3.92
14.3
6.0
6.8
25.7
0.582
20.3
0.44
42
4.3
0.93
3.18
3.92
14.3
5.7
6.8
25.7
0.584
20.4
0.35
29
8.3
1.1
5.7
6.0
20
7.6
8.4
26.5
0.77
27.0
0.35
54
15
1.1
1.64
2.38
3.50
6.0
Rotor Inertia *1
JM
JS
Servo Motor Mass*1
WE
TB
VB
IB
JB
W
Brake Rated Voltage
Brake Rated Current
Brake Mass
*1
RoHS
×10-4kg・m2(GD2/4)
kg
N・m
V
A
×10-4kg・m2(GD2/4)
kg
kVA
0.0033*1
3.6
4.1
6.1
3.92 Min.
3.92 Min.
9.0 Min.
90 V DC/24 V DC±10%
0.09/0.30
0.09/0.30
0.09/0.30
0.17/0.51
0.34
0.34
0.343
0.5
0.84
0.84
0.9
1.5
1.6
2.3
2.3
2.8
Yes
IP67, IP65
IP65
2.9
3.92 Min.
*2
305 × 305 × 12 mm
400 × 400 × 20 mm
p. 36
p. 37
typical values.
*3
*4
R2AAB8075F/86 mm/0.75 kW
R2AAB8100F/86 mm/1.0 kW
R2AA10100F/100 mm/1.0 kW
16
15
12
4
Instantaneous Zone
5
2
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
0
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
20
12
10
Instantaneous Zone
8
6
4
15
Instantaneous Zone
10
5
2
0
Torque (N∙m)
10
Instantaneous Zone
6
Torque (N∙m)
8
Torque (N∙m)
Torque (N∙m)
25
14
10
0
R2AA13120L/130 mm/1.2 kW
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
Continuous Zone
0
0
1000 2000 3000
4000
Speed (min−1)
31
Features
1.8
2000
2
2000
5000
3500
3000
5.7
6.0
16
9.1
9.3
25.4
0.65
22.7
0.23
54
16
0.98
8.6
10.0
22
11.0
11.8
26.5
0.89
31.1
0.23
82
18
0.78
9.5
12
24
11.0
12.0
26.5
0.97
33.7
0.22
74
17
0.86
6.0
9.0
12.2
Unit
kW
min-1
min-1
N・m
N・m
N・m
Arms
Arms
Arms
N・m/Arms
mV/min-1
Ω
kW/s
ms
ms
×10-4kg・m2(GD2/4)
Symbol Status
PR ★ Rated Output
NR ★ Rated Speed
Nmax
★ Maximum Speed
TR
TS
TP
IR
IS
IP
KT
KE φ
Rφ
QR
te
tm
★
★
★
★
★
★
☆
☆
☆
★
☆
☆
Rated Torque
Peak Stall Torque
Torque Constant
Phase Resistance
Rated Power Rate
JM
Rotor Inertia *1
0.0033*1
×10-4kg・m2(GD2/4)
JS
7.7
10
9.0 Min.
12 Min.
90 V DC/24 V DC±10%
0.17/0.51
0.17/0.51
0.17/0.66
0.5
0.5
0.5
1.5
1.5
1.5
2.8
3.6
4.0
Yes
IP65
kg
N・m
V
A
×10-4kg・m2(GD2/4)
kg
WE
TB
VB
IB
JB
W
Servo Motor Mass*1
6.1
9.0 Min.
kVA
470 × 470 × 20 mm
Brake Rated Voltage
Brake Rated Current
Brake Mass
Servo Motor
Dimensions
p. 37
System
Configuration
1.2
2000
Servo Amplifier
Specifications
R2AA13200L
《130 mm sq.》
Servo Motor
R2AA13180H
《130 mm sq.》
Encoder Wiring
Diagram
R2AA13120D
《130 mm sq.》
400 × 400 × 20 mm
External Wiring
Diagram
RS3A05□□《50 A》
20
15
Instantaneous Zone
10
5
20
Instantaneous Zone
15
10
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
Instantaneous Zone
15
10
5
5
Continuous Zone
0
Continuous Zone
Continuous Zone
0
Options
20
25
Selection Guide
25
R2AA13200L/130 mm/2.0 kW
Torque (N∙m)
25
Torque (N∙m)
Torque (N∙m)
R2AA13120D/130 mm/1.2 kW
R2AA13180H/130 mm/1.8 kW
0
1000
2000 3000 4000
Speed (min−1)
0
0
1000 2000 3000
4000
Speed (min−1)
32
Specifications
5 Servo Motor
Input voltage
200 V AC
High Efficiency and Ultra Low Ripple (Medium Inertia)
Low cogging torque RoHS
RS3A01□□《10 A》
RS3A02□□《20 A》
RS3A03□□《30 A》
Unit
R5AA06020H
《60 mm sq.》
R5AA06040H
《60 mm sq.》
R5AA08075D
《80 mm sq.》
PR
kW
0.2
0.4*4
0.75*4
Status Symbol
Rated Output
★
Rated Speed
★
NR
min-1
3000
3000
3000
Maximum Speed
★
Nmax
min-1
3000
3000
5000
Rated Torque
★
TR
0.637
1.27
2.39
★
TS
N・m
N・m
0.686
1.37
2.55
Peak Stall Torque
★
TP
4.8
8.5
★
IR
N・m
Arms
2.2
1.1
1.8
3.9
★
IS
Arms
1.1
1.8
3.9
★
IP
Arms
4.2
7.0
14.4
Torque Constant
☆
KT
0.649
0.836
0.763
☆
KE φ
N・m/Arms
mV/min-1
21.7
27.0
23.2
Phase Resistance
☆
Rφ
Ω
4.8
3.3
0.78
Rated Power Rate
★
QR
kW/s
20
39
35
☆
te
ms
4.3
5.5
13
Mechanical Time Constant (Not including Encoder) ☆
tm
ms
0.71
0.63
0.87
Rotor Inertia*1
JM
0.198
0.414
1.65
JS
×10-4kg・m2(GD2/4)
×10-4kg・m2(GD2/4)
0.96
0.0033*1
Servo Motor Mass*1
WE
kg
TB
1.37 Min.
Brake Rated Voltage
VB
N・m
V
Brake Rated Current
IB
A
0.11/0.32
JB
Brake Mass
W
×10-4kg・m2(GD2/4)
kg
3.6
2.55 Min.
90 V DC/24 V DC±10%
1.4
0.12/0.37
0.060
0.060
0.25
0.39
0.39
0.89
kVA
0.6
1.0
1.6
Yes
IP67, IP65
*1
250 × 250 × 6 mm
p. 36
*2
*3
typical values.
☆ : Indicates a typical value when the winding temperature is 20°C. The
values are the typical values.
*4
Servo motors that come with oil seals (optional) and with brakes may
require an 80 to 95% reduction in output.
*5
R5AA06020H/60 mm/0.2 kW
R5AA06040H/60 mm/0.4 kW
4
R5AA08075D/80 mm/0.75 kW
6
Instantaneous Zone
1
Continuous Zone
0
0
1000
2000 3000 4000
Speed (min−1)
4
3 Instantaneous Zone
2
1
0
Continuous Zone
0
1000 2000 3000 4000
Speed (min−1)
Torque (N∙m)
2
Torque (N∙m)
Torque (N∙m)
5
3
10
9
8
7
5
4
3
2 Continuous Zone
1
0
0 1000 2000 3000 4000 5000
Speed (min−1)
33
Features
3000
6000
6000
6000
0.637
1.27
2.39
0.686
1.37
2.55
2.2
4.8
7.5
1.5
2.8
1.6
2.8
kW
PR
min-1
min-1
NR
Nmax
N・m
N・m
TR
N・m
Arms
TP
4.5
4.5
Arms
IS
TS
IR
5.7
10.8
15.5
Arms
IP
0.476
0.525
0.607
KT
KE φ
16.1
17.3
18.9
N・m/Arms
mV/min-1
2.7
1.36
0.51
Ω
Rφ
20
39
35
kW/s
QR
4.2
5.5
12.7
ms
te
0.73
0.65
0.77
tm
0.198
0.414
1.65
ms
4
×10 kg・m2(GD2/4)
☆ Torque Constant
☆ Voltage Constant for each Phase
☆ Phase Resistance
★ Rated Power Rate
☆ Mechanical Time Constant (Not including Encoder)
Rotor Inertia *1
JS
3.6
kg
WE
Servo Motor Mass*1
2.55 Min.
N・m
V
TB
VB
Brake Rated Voltage
0.12/0.37
A
IB
Brake Rated Current
×10-4kg・m2(GD2/4)
kg
JB
W
Brake Mass
90 V DC/24 V DC±10%
0.11/0.32
★ Continuous Stall Torque
JM
1.4
1.37 Min.
★ Maximum Speed
★ Rated Torque
×10-4kg・m2(GD2/4)
0.0033*1
0.96
★ Rated Output
★ Rated Speed
0.060
0.060
0.25
0.39
0.39
0.89
0.6
1.0
1.6
System
Configuration
0.75
3000
Servo Amplifier
Specifications
0.4
3000
Symbol Status
Servo Motor
Unit
*4
Encoder Wiring
Diagram
R5AA08075F
《80 mm sq.》
*4
0.2
RS3A03□□《30 A》 Servo Amplifier Model No.《》indicates amplifier capacity
R5AA06040F
《60 mm sq.》
kVA
Yes
IP67, IP65
250 × 250 × 6 mm
Servo Motor
Dimensions
p. 37
External Wiring
Diagram
RS3A02□□《20 A》
R5AA06020F
《60 mm sq.》
R5AA08075F/80 mm/0.75 kW
6
2
Instantaneous Zone
1
0
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
4
2
1
0
Continuous Zone
0
1000 2000 3000 4000 5000 6000
Speed (min−1)
Torque (N∙m)
3
Torque (N∙m)
Torque (N∙m)
5
10
9
8
7
6
4
3
2
Continuous Zone
1
0
0 1000 2000 3000 4000 5000 6000
Options
4
Selection Guide
R5AA06020F/60 mm/0.2 kW
R5AA06040F/60 mm/0.4 kW
Speed (min−1)
34
Encoder Wiring Diagram
■ Serial Encoder
・Battery-backup method absolute encoder [PA035C]
・Absolute encoder for incremental systems [PA035S]
・Battery-less absolute encoder [RA035C, HA062]
Connector: 36210-0100PL
Shell kit: 36310-3200-008
Servo amplifier
EN1
ES＋
ES−
*3
BAT＋
BAT−
＋5 V
SG
Servo motor
*4
E/1(Brown)
8
F/2(Blue)
9
T/8(Pink)
10
S/4(Purple)
H/9(Red)
2
G/10(Black)
ES＋
ES−
EBAT＋
EBAT−
0V
*3
FG
(Shielded)
*1
Conductor resistance
*4
*2
SQ (mm2)
(Ω/km) *20°C
26
0.15
150 or less
5
24
0.2
100 or less
10
22
0.3
60 or less
15
20
0.5
40 or less
25
18
0.75
25 or less
40
When the absolute encoder for incremental systems or batteryless absolute encoder is used, battery lines (EBAT+, EBAT-) are
not required.
Lead wire colors are indicated in parentheses. For lead wire colors
and circular connector pin numbers, see the following table.
ES+
Circular connector Model No.
R2 Servo Motor
(Flange size: 130 mm sq.
or more)
Length (m)
AWG
Conductor resistance differs according to conductor specifications.
＋5 V
J/7
Use a twisted pair shielded cable.
Maximum cable lengths by conductor size of the power
supply cable (5V,SG)
Conductor size
Absolute encoder
7
1
*1
*2
JN2DS10SL1-R JN2FS10ML1-R
ES–
EBAT+
EBAT–
100 mm sq.
Brown Blue Pink *3 Purple*3
R2, R5 Servo or less
Motor
130 mm sq.
4*3
1
2
8*3
or more
+5V
Red
9
0V
FG
Black Shielded
10
7
■ Pulse Encoder
Shell kit: 36310-3200-008
Servo amplifier
*3
EN1
A
A
B
B
Z
Z
Servo motor
7
A/1(Blue)
8
D/4(Brown)
5
B/2(Green)
6
E/5(Purple)
9
F/3(White)
10
G/6(Yellow)
*1
*2
Incremental encoder
Maximum cable lengths by conductor size of the power
supply cable (5V,SG)
Conductor resistance
Conductor size
Length (m)
A
AWG
SQ (mm2)
(Ω/km) *20°C
A
26
0.15
150 or less
5
B
24
0.2
100 or less
10
B
22
0.3
60 or less
15
Z
20
0.5
40 or less
25
18
0.75
25 or less
40
Z
Conductor resistance differs according to conductor specifications.
＋5 V
SG
1
J/9(Red)
2
N/10(Black)
H/7
*1
＋5 V
0V
FG
(Shielded)
*2
Servo motor encoder connectors
A
R2, R5
Servo Motor 130 mm sq.
or more
Circular connector model No.
35
Lead wire colors are indicated in parentheses. For lead wire
colors and circular connector pin numbers, see the following
table:
100 mm sq.
or less
p. 43
R2 Servo Motor
(Flange size: 130 mm sq.
or more)
*3
A
B
Z
Z
Blue Brown Green Purple White Yellow
1
4
0V
FG
B
100 mm sq.
Black Shielded
R2, R5 Servo or less
Motor
130 mm sq.
10
7
or more
2
5
3
6
+5 V
Red
9
Features
■ For Servo Amplifier: Sink output, 3-phase 200 V AC power input type
CNA
R
S
T
r
t
Note
10)
Black
W
90 V
(24 V)
Holding brake (Install
only devices with brakes)
Green
(Green/Yellow)
EN1
NC
4
NC
HWGOFF1+
3
HWGOFF1-
SH
SH
Note 5)
Connector No.
CNA
Models
equipped with
the safe torque
off function only
RY1
Encoder
2
24 V DC
6
HWGOFF2+
5
HWGOFF2-
8
EDM+
7
CNB
CN1
Line driver
Equivalent to
HD26C31
EDM-
EN1
AO
3
AO
4
BO
5
BO
6
ZO
7
ZO
8
PS
9
PS
10
ZOP
11
SG
12
Name
Housing, Plug, Shell
Main power supply, Control
power, Input connector
Servo motor power
line connector
Connector for host
device input signal
Connector for
encoder signal
MSTBT2.5/8-STF-5.08LUB
MSTBT2.5/3-STF-5.08
Plug: 10150-3000PE
Shell: 10350-52A0-008
Shell kit: 36310-3200-008
CN1
Clockwise
pulse
26
VT
SG
Position
command
Pulse input
Counter
clockwise
pulse
Note 6)
+5 V
14
VT
SG
Velocity
command/Torque
command input
+5 V
150 Ω
F-PC
27
F-PC
47
SG
28
R-PC SG 150 Ω
29
R-PC
48
SG
21
V-REF/ SG
T-REF
20
SG
Encoder
Divided signal
output
Servo Motor
16
Line driver
Note 8)
+
Note 1)
SG
+
MON1 30
SG
31
OUT-PWR
49
OUT1
39
SG
SG
SG
18
F-TLA
Clockwise
side
17
SG
Counterclockwise side
19
R-TLA
SG
1
BTP-I
SG
2
BTN-I
50
CONT-COM
37
CONT1
Lithium battery
3.6 V DC
Battery input
The external power
supply is to be arranged
by the customer.
5 V ~24 V DC
36
SG
OUT2
40
OUT3
41
35
34
Note 3) ⊖ is a maintenance terminal (high
voltage circuit). Do not wire this
terminal.
Note 4) Motor connection differs by the
motor specifications. The indications
of red, white, black, green and
orange apply when the motor power
and brake lines are the lead type.
When they are the circular connector type, connect them according to
the motor specification.
CONT2
OUT4
General
output
42
43
OUT6
44
OUT7
45
OUT8
46
Note 7) R, S, T, r, t,⊖, RB1, RB2, U, V, W are
high-voltage circuits. All other lines
are low-voltage. Ensure that there is
sufficient distance between the highand low-voltage circuits.
CONT4
General input
33
32
13
CONT5
Note 8) Use a line driver with a differential
voltage difference (VT) from 2.5 V to
3.8 V. If the differential voltage is
less than 2.5 V or more than 3.8 V, it
may lead to malfunction due to
missing pulses.
CONT6
CONT7
OUT-COM 24
OUT-COM 25
15
CONT8
SH
SH
Shield processing
Note 5) Refer to the encoder connection
figure for the wiring of the connector for the encoder connection.
Note 6) B e s u r e t o c o n n e c t S G ( s i g n a l
ground) between the equipment and
the servo amplifier when you use a
difference input signal.
CONT3
OUT5
Encoder Wiring
Diagram
T-COMP
23
External Wiring
Diagram
22
Note 2) Connect the regenerative resistor
between the 'RB1-RB2 terminals.
When using the externally installed
regenerative resistor, remove the
Monitor
wiring of internal regenerative
output
resistor connected between RB1 and
The external power
RB2 terminals and then connect the
externally installed regenerative
by the customer.
resistor between RB1 and RB2
5 V DC,12 V
terminals.
to 24 V DC
SG
Servo Motor
Dimensions
Torque
compensation input
SG
Shield processing
Options
SG
Note 9) C N 4 i s a c o n n e c t o r f o r s a f e t y
function signals. To turn the servo
motor power ON, a safety device
must be connected and the wiring to
activate the safety function must be
done.When not using the safety
function, use an optional connector
(P.N: AL-00718251-01) inserted into
the CN4.
Selection Guide
SG
Torque control input
Orange
(Yellow)
CN4
1
24 V DC
The external power
by the customer.
Orange
(Yellow)
White
Servo amplifier
System error
The external power supply is to
be arranged by the customer.
Red
System
Configuration
Emergency
stop
Note 4)
V
Note 9)
MC
Servo motor
CNB
+
Start ready Start
ON ready OFF
MC
Internal regenerative
resistance
U
Servo Amplifier
Specifications
MC
RB1
Note 2)
Note 3)
RB2
An earth leakage circuit breaker
conforming to UL standard and either
IEC standards or EN Safety Standards
is recommended. Do not wire the S
phase for a single phase amplifier.
CNA
User unit
AC power 3φ
200 to 240 V
50/60 Hz
Note 10) Nothing should connect with CN4
pin 1 and 2.
36
Notes on Replacing Our Conventional Products
Note the following when replacing our conventional products such as servo amplifier SANMOTION R ADVANCED MODEL with
SANMOTION R 3E Model.
■ Position Command Pulse Input
There are constraints on the specifications of the available position pulse signals for the SANMOTION R 3E Model.
Also, for the open collector type, a wiring change is necessary.
ADVANCED MODEL
Host device
Amplifier
26(28)
26(28)
3E Model
Host device
Amplifier
26(28)
26(28)
VT
27(29)
27(29)
27(29)
27(29)
47(48)
47(48)
47(48)
Line driver
Line driver
Host device
Amplifier
Amplifier
Host device
Pulse output circuit
of the host devices
Wiring
compatibility
Constraint conditions
Differential output type
(Line driver)
Yes
Voltage difference of differential signal
(VT) : 2.5 to 3.8 V
Open collector
Type
No
Saturation voltage of the
transistor (VCE): 1.5 V max.
14(16)
26(28)
26(28)
26(28)
27(29)
47(48)
27(29)
Vce
47(48)
Open collector
Open collector
■ General input 7, 8
For the SANMOTION R 3E Model, differential (line driver) output type cannot be used as a host device side output circuit.
Also, a wiring change is necessary even if open collector output is used.
ADVANCED MODEL
Host device
3E Model
General output circuit
Wiring
of the host devises compatibility
Amplifier
CONT7
13
13
Host device
Amplifier
50
50
Differential output type
(Line driver)
13
13
Open collector
Type
CONT-COM
-
Constraint conditions
Change to open
collector type.
14
14
CONT7
CONT8
15
15
CONT8
15
15
16
16
SG
38
38
Open collector output
37
Open collector output
Wire in a similar way to
No
(Refer to the figure)
CONT1 to 6.
Servo Motor Dimensions [Unit : mm (inch)]
Features
40 mm sq. to 100 mm sq.
R2 Servo Motor
R5 Servo Motor
0.07 M
0.02
LR
0.06 M
LZ
(φ
LH
LE
Incremental encoder
LL±1
Q
φLB
φS
LA
φ
)
Absolute encoder
LL±1
LG
□LC
KL
KL
M
System
Configuration
Motor cable (for mounting)
Brake cable (for mounting)
(for power and GND)
*1
(50)
(50)
1100±100
(50)
1100±100
1100±100
*3
φD3
(50)
φD2
φD1
1100±100
φD3
QE Tap
Depth LT
Oil seal
(Option)
Shield cable (for mounting)
(for encoder)
Shield cable (for mounting)
(for encoder)
R2□A06010
R2□A06020
R2AA06040
R2AA08020
R2AA08040
R2AA08075
R2AAB8075
R2AAB8100
R2AA10075
R2AA10100
R5□□06020
R5□□06040
R5□□08075
*1
*2
*3
120(4.8)
89(3.56)
125(5)
LB
LE
0
0
5 35.4 46
2.5(.1)
(.2) (1.416) (1.84) 30 − 0.021 30 − .00084
(
)
6
44.6 70
0
0
(.24) (1.784) (2.8) 50 − 0.025 2 − .001
(
54.4
8 (2.176)
(.32)
59.4
(2.376)
)
90
0
0
(3.6) 70 − 0.030 2.8 − .012
(
)
LH
LC
LZ
LR
S
Q
0
0
6 − 0.008 .24 − .00032
(
56
(2.24)
40
(1.6)
82
60
(3.28) (2.4)
2-ø4.5
(2-ø.18) 25(1)
4-ø5.5
(4-ø.22)
(
)
(
20(.8)
)
0
0
14 − 0.011 .55 − .0003
(
)
LT
ー
ー
ー
ー
25(1)
M5 12(.48)
35(1.4)
115.5 86
4-ø6.6
(4.6) (3.38) (4-ø.264)
130
100
4-ø9
(5.11) (3.93) (4-ø.36)
45
(1.8)
40
(1.57) M6
82
60
4-ø5.5
30
(3.28) (2.4) (4-ø.22) (1.2)
108
80
4-ø6.6
40
(4.25) (3.14) (4-ø.264) (1.57)
D2
D3
6
(.23)
5
(.19)
5
(.19)
3(.12)
3(.12)
M5 12(.48)
40
0
0
(1.57) 16 − 0.011 .56 − .0003
35
0
0
(1.37) 16 − 0.011 .56 − .0003
(
)
(
)
0
0
22 − 0.013(.88 − .0005)
0
0
14 − 0.011(.55 − .0003)
0
0
16 − 0.011(.56 − .0003)
D1
10 66.8 115
0
0
(.4) (2.672) (4.6) 95 − 0.035 3.8 − .0014
)
25
0
0
(3.14) 8 − 0.009 .32 − .0003
30
(1.2)
108
80
4-ø6.6
(4.25) (3.14) (4-ø.264)
0
0
8 − 0.009 .32 − .0003
QE
3(.12)
100
0
0
(4) 80 − 0.030 3.2 − .0012
(
)
(
)
6
44.6 70
0
0
(.24) (1.784) (2.8) 50 − 0.025 (2 − .001)
8
54.4 90
0
0
110.3(4.343) 146(5.748) 117.3(4.618) 153(6.024) 134(5.276) 166.7(6.563) 141(5.551) 173.7(6.839) (.32)
(2.176) (3.6) 70 − 0.030 (2.8 − .0012)
30(1.2)
Servo Motor
84(3.36)
58.5(2.34) 82.5(3.3) 65.5(2.62) 89.5(3.58) 78.2(3.128) 106.2(4.248) 85.2(3.408) 113.2(4.528)
69.5(2.78) 97.5(3.9) 76.5(3.06) 104.5(4.18) 89.2(3.568) 117.2(4.688) 96.2(3.848) 124.2(4.968)
95.5(3.82) 123.5(4.94) 102.5(4.1) 130.5(5.22) 115.2(4.608) 143.2(5.728) 122.2(4.888) 150.2(6.008)
66.3(2.652) 102(4.08) 73.3(2.932) 109(4.36)
90(3.6) 122.7(4.908) 97(3.88) 129.7(5.188)
78.3(3.132) 114(4.56) 85.3(3.142) 121(4.84) 102(4.08) 134.7(5.388) 109(4.36) 141.7(5.6799)
107.3(4.292) 143(5.72) 114.3(4.572) 150(6)
131(5.24) 163.7(6.548) 138(5.52) 170.7(6.8279)
114.3(4.499) 140.2(5.519) 114.3(4.572) 140.2(5.519) 128.8(5.07) 154.7(6.09) 128.8(5.07) 154.7(6.09)
137(5.48) 163(6.52) 137(5.48) 163(6.52) 151.5(6.06) 177.4(7.096) 151.5(6.06) 177.4(7.096)
111.3(4.452) 128.8(5.152) 111.3(4.452) 128.8(5.152)
ー
ー
ー
ー
128.3(5.132) 145.8(5.832) 128.3(5.132) 145.8(5.832)
ー
ー
ー
ー
72.5(2.854) 100.5(3.957) 79.5(3.130) 107.5(4.232) 92.2(3.630) 120.2(4.732) 99.2(3.906) 127.2(5.008)
98.5(3.878) 126.5(4.980) 105.5(4.154) 133.5(5.256) 118.2(4.654) 146.2(5.756) 125.2(4.929) 153.2(6.031)
R2□A04003
R2□A04005
R2EA04008
R2AA04010
113(4.52)
LA
Encoder Wiring
Diagram
77(3.08)
KL
External Wiring
Diagram
108(4.25)
63.5(2.54) 99.5(3.98) 68.5(2.74) 104.5(4.18)
68.5(2.74) 104.5(4.18) 73.5(2.94) 109.5(4.38)
Servo Motor
Dimensions
Model No.
72(2.8)
92.5(3.7)
97.5(3.9)
With oil seal
W/out
With brake
brake
LL
LL
LG
M5 12(.48)
20(.8)
Options
R5□□08075
51.5(2.06) 87.5(3.44) 56.5(2.26)
56.5(2.26) 92.5(3.7) 61.5(2.46)
Incremental encoder
W/out oil seal
W/out
With brake
brake
LL
LL
25(1) M5 12(.48)
35
(1.37) M5 12(.48)
Brake connectors (cables) are not supplied for models without brakes.
A reduction in the rating might be needed if an oil seal or brake is attached.
Contact us for details.
The cable length of the motor with extension cable connector is 200±30 mm.
The connector is attached to the end of the cable. See p. 47
・ Resolver method battery-less absolute encoder [RA035C],
High precision battery-less optical absolute encoder [HA062]. (100 mm sq.
Min.)
38
Selection Guide
Model No.
R2□A04003
R2□A04005
R2EA04008
R2AA04010
R2□A06010
R2□A06020
R2AA06040
R2AA08020
R2AA08040
R2AA08075
R2AAB8075
R2AAB8100
R2AA10075
R2AA10100
R5□□06020
R5□□06040
Battery-backup method absolute encoder
Absolute encoder for incremental systems
W/out oil seal
With oil seal
W/out
W/out
With brake
With brake
brake
brake
LL
LL
LL
LL
Servo Amplifier
Specifications
Dimensions with brake but without extension cable connector
Servo Motor Dimensions [Unit : mm (inch)]
130 mm sq.
0.5 kW to 1.8 kW
0.08 M
LR
LE
0.02
0.08 M
A
φL
H
QE Tap
Depth LT
(7)
W
M
U
T
2-LZ2
(Tap for removing motor)
(KL1)
φLB
(φL
H)
Oil seal
Q
QK
H
φS
QA
LL
(LG)
JN2AS10ML2-R
(KB2)
(for encoder)
JL04V-2E24-11PE-B-R
(for power, brake and GND)
(KB1)
Section H-H
(KL2)
□LC
4-φLZ1
(KL3)
R2 Servo Motor
Dimensions with the battery-backup method absolute encoder and brake
W/out brake
LL
KB2
KL3
103
(4.12)
44
69
120.5
(1.76)
(2.76)
(4.82)
138
(5.52)
Model No.
R2AA13050
R2AA13120
R2AA13180
Model No.
R2AA13050
R2AA13120
With brake
KB2
KL3
81
(3.24)
69
84
(3.36) (2.76)
86
(3.44)
S
Q
QA
0
22 −0.013
0
.88 −.000052
50
(2)
3
42
(.12) (1.68)
(
R2AA13180
LL
139.5
(5.58)
160
(6.4)
179
(7.16)
)
QK
W
LG
LZ1
LZ2
LR
0
98
21 145 110 −0.035
4
165 130
9
12
(.16) (6.6) (5.2) (.36)
0
(.48) (3.92) (.84) (5.8)
4.4 −.0014
M6
55
(2.2)
KL2
LA
LB
(
T
U
KB1 QE
46
(1.84)
2.5
64
M6
(.1) (2.56)
81
(3.24)
0
6 −0.030
6
(.24)
0
.24 −.0012
(
KL1
)
LE
)
LH
LC
LT
20
(.8)
・Resolver method battery-less absolute encoder [RA035C], High precision battery-less optical absolute encoder [HA062].
130 mm sq.
R2 Servo Motor 2 kW
0.08 M
LR
LE
0.02
0.08 M
φLB
(φL
H)
Q
QK
H
φS
QA
H
W
(7)
M
(KL1)
A
φL
LL
(LG)
(KL3)
□LC
4-φLZ1
QE Tap
Depth LT
U
T
2-LZ2
(Tap for removing motor)
JN2AS10ML2-R
(for encoder)
(KB2)
JL04V-2E24-11PE-B-R
(for power, brake and GND)
(KB1)
Section H-H
(KL2)
Oil seal
Dimensions with the battery-backup method absolute encoder and brake
Model No.
LL
171
(6.84)
R2AA13200
Model No.
R2AA13200
W/out brake
KB2
KL3
57
(2.28)
(
S
0
28 −0.013
0
1.12 −.00052
)
38
(1.52)
Q
50
(2)
QA
LL
With brake
KB2
KL3
216
(8.64)
103
(4.12)
38
(1.52)
QK
LG
KL1
KL2
LB
LE
LH
LC LZ1 LZ2 LR
0
98
21 145 110 −0.035
4
165 130
9
12
55
M6
0
(.16) (6.6) (5.2) (.36)
(.48) (3.92) (.84) (5.8)
(2.2)
4.4 −.0014
W
T
U
KB1 QE
0
3
42
8 −0.036
7
3
99
M8
(.12) (1.68)
(.28) (.12) (3.96)
0
.32 −.0014
(
)
LA
(
)
LT
25
(1)
・Resolver method battery-less absolute encoder [RA035C], High precision battery-less optical absolute encoder [HA062].
39
Setup Software
Features
This software allows you to set servo system parameters from a PC.
It also allows you to easily start up or test run the servo system.
■ Setup software title:
SANMOTION MOTOR SETUP SOFTWARE
■ Main Functions
Parameter settings (settings by group, settings by function)
Diagnosis (alarm display, warning display, alarm cancellation)
Test run execution (speed JOG, position JOG, motor starting point search,
serial encoder clearance)
Servo tuning (notch filter tuning, FF vibration control frequency tuning)
Various measurement functions (operating waveform display, machinery
frequency response measurement)
Start-up screen
* Use a USB communication cable (mini-B socket) to connect the USB port of PC and
servo amplifier.
Servo Amplifier
Specifications
■ Supported OS
System
Configuration
The software can be downloaded from Product Information on our website. URL : http://www.sanyodenki.com
Windows XP (SP3 or higher) / Vista / 7
* See our website for details on supported versions.
External Wiring
Diagram
Encoder Wiring
Diagram
Servo Motor
Main screen
Function Parameter Edit
The minimum required parameters for operations can be
collectively set.
Selection Guide
Options
Servo Motor
Dimensions
Parameter Setting screen
Setting of each group Parameter
Parameters can be set, saved, and read from a PC.
40
Setup Software
Diagnosis screen
Test run
The current and previous 15 alarm occurrences can be
checked.
Causes and corrective actions can be checked based on
alarm status.
Simple test run of servo motor by issuing velocity commands
and position commands from a PC. (Position JOG in operation
shown in screen)
Servo tuning
Automatically sets up the notch filter and saves the tuning
results.
Measurement
Operation Trace
Graphically displays servo motor's speed, torque and internal
status.
41
System Analysis
Analyzes servo system frequency characteristics.
Options
Features
■ Connectors of Servo Amplifier Analog/Pulse input type
Single Connectors
Model No.
AL-00385594
AL-00632607
Manufacturer model No.
10150-3000PE, 10350-52A0-008
36210-0100PL, 36310-3200-008
AL-00686902-01
MSTBT2.5/8-STF-5.08LUB
AL-Y0004079-01
MSTBT2.5/3-STF-5.08
AL-00718251-01
2040978-1
AL-00718252-01
2013595-3
Manufacturer
Sumitomo 3M Limited
Connector No.
Item
CN1
To connect host device
EN1, EN2
To connect encoder
For input power supply, regenerative
CNA
resistor connection
CNB
To connect servo motor
To connect safety device
*1
CN4
(for short-circuiting)
To connect safety device (for wiring)
CN4
Phoenix Contact.K.K
Tyco Electronics
Japan G.K.
*1 When CN4 is not wired, make sure to insert safety device connector (for short-circuiting) to CN4 on servo amplifier.
System
Configuration
Connector sets (No safe torque off function)
RS3□□□A0□L0 RS3□□□A0□A0 RS3□□□A2□L0 RS3□□□A2□A0 RS3□□□A0□□0
RS3□□□A□□L0
RS3□□□A8□L0 RS3□□□A8□A0 RS3□□□AA□L0 RS3□□□AA□A0 RS3□□□A8□□0
No
Yes
No
Yes
No / Yes
Connector Set Model No.
AL-00723282
AL-00723284
AL-00723286
AL-00723288
AL-00723290
AL-00696037
CN1/ To connect host device
Yes
Yes
Yes
Yes
Yes
No
EN1/ To connect encoder
Yes
Yes
Yes
Yes
Yes
No
EN2/ To connect encoder
No
No
Yes
Yes
No
No
No
Yes
No
No
Yes
Connectors CNA/ To connect input power supply,
Yes
included in regenerative resistor
the set
CNB/For servo motor connection Yes
No
Yes
Yes
Yes
No
Yes
CN4/To connect safety device
No
(for short-circuiting)
No
No
No
No
No
CN4/To connect safety device (for wiring) No
No
No
No
No
No
Servo Amplifier
Specifications
Internal Regenerative Resistor
Servo Motor
Servo Amplifier Model No. For fully-closed For fully-closed
control systems control systems
Remarks
Servo Amplifier Model No.
RS3□□□A0□L2(4)
RS3□□□A8□L2(4)
RS3□□□A0□A2(4) RS3□□□A2□L2(4) RS3□□□A2□A2(4) RS3□□□A0□□2(4)
RS3□□□A8□A2(4) RS3□□□AA□L2(4) RS3□□□AA□A2(4) RS3□□□A8□□2(4)
Internal Regenerative Resistor
No
Yes
No
Yes
Connector Set Model No.
AL-00723155
AL-00723156
AL-00723157
AL-00723158
AL-00723159
CN1/To connect host device
Yes
Yes
Yes
Yes
Yes
EN1/To connect encoder
Yes
Yes
Yes
Yes
Yes
EN2/To connect encoder
No
No
Yes
Yes
No
No
Yes
No
No
No
No / Yes
Yes
Yes
No
No
No
No
CN4/To connect safety device (for wiring) Yes
Yes
Yes
Yes
Yes
For fully-closed
control systems
For fully-closed
control systems
Remarks
Servo Motor
Dimensions
Yes
CN4/To connect safety device (for short-circuiting) No
External Wiring
Diagram
Connectors
CNA/For input power supply,
Yes
included in
regenerative resistor connection
the set
CNB/For servo motor connection Yes
Encoder Wiring
Diagram
Connector sets (With safe torque off function)
Front mounting brackets
op. 44
Analog monitor
op. 45
Connector for input
power, regenerative
resistor (CNA)
External regenerative resistor
op. 46
Options
Connector for connections with host devices (CN1)
Host device
Connector for servo
motor connection
(CNB)
Connector for encoder
connections (EN1, EN2)
Servo motor with servo motor
extension cable / connector
Front mounting
brackets
op. 44
Selection Guide
Encoder extension cable
with battery
op. 45
Battery box
op. 45
* Front mounting bracket and battery box cannot be used together.
Figure shows the mounting position.
42
Options
■ Servo Motor Encoder Connectors Manufacturer: Japan Aviation Electronics Industry Limited
R2 Servo Motor
Combination plug for encoder
(with rubber bushing)
Motor type
All R2 Servo
Motor Models
Encoder receptacle
model number
(motor side)
Straight
Angle
JN2DS10SL1-R
JN2FS10SL1-R
JN2DS10SL2-R
JN2FS10SL2-R
JN2DS10SL3-R
JN2FS10SL3-R
Applicable cable
diameter (bushing
color phase)
Pin Layout Symbol
φ 5.7 to 7.3 mm
(Black)
φ 6.5 to 8.0 mm
(Gray)
JN2AS10ML2-R
See the encoder wiring diagram on Page 35.
φ 3.5 to 5.0 mm
(Black)
Select the correct plug and contacts for the size of cable to be used. The manufacturer's model number and the model number for parts procured from SANYO DENKI are the same number.
Applicable contact for encoder plug*1, 2
Contact size
Applicable contact
Category
Socket contact model No.
Applicable wire size
Manual crimp tool
JN1-22-20S-R-PKG100
AWG #20
type
JN1-22-22S-PKG100
AWG #21 to #25
*3,4
JN1-22-26S-PKG100
AWG #26 to #28
Solder type
JN1-22-22F-PKG100
AWG #20
#22
*1 : Select the correct plug and contacts for the size of cable to be used. The manufacturer's model number and the model number for parts procured from SANYO DENKI are the same number.
*2 : When removing a contact that has already been inserted, use a removal tool. Purchase the removal tool from the connector manufacturer (Japan Aviation Electronics Industry Limited).
*3 : For the manual crimp tool part number, see the instruction manuals from the connector manufacturer (Japan Aviation Electronics Industry Limited).
*4 : Purchase the semi-automatic crimp tool from the manufacturer (Japan Aviation Electronics Industry Limited).
*5 : For the connector and contact instructions, precautions, etc., see the catalogs and instruction manuals from the connector manufacturer (Japan Aviation Electronics Industry Limited).
Flange
size
(mm)
Motor model
no.
200 V Type
130 sq.
R2AA13050H
R2AA13050D
R2AA13120B
R2AA13120L
R2AA13120D
R2AA13180H
R2AA13200L
Voltage
Voltage
■ Motor connectors Manufacturer: Japan Aviation Electronics Industry Limited
Flange
size
(mm)
Motor model
no.
For power and brake waterproofing specifications,
TÜV standard plug
(1) Plug (manufacturer model no.)
(2) Cable clamp (manufacturer model no.)
(3) Plug + cable clamp (SANYO DENKI part numbers)
For power and brake standard specifications
(1) Plug (manufacturer model no.)
(2) Cable clamp (manufacturer model no.)
(3) Plug + cable clamp (SANYO DENKI part numbers)
Straight
Angle
(1) MS3106B24-11S
(2) MS3057-16A
(3) MS06B24-11S-16
(1) MS3108B24-11S
(2) MS3057-16A
(3) MS08B24-11S-16
Pin layout symbol
U phase V phase W phase Ground
Servo amplifier
model no.
Brake
Straight
(1) JL04V-6A24-11SE-EB-R
(2) JL04-2428CK-R
(3) 332706X10
Recommended motor power
wire size
(U, V, W, GND)
Receptacle for
power and brake
(motor side)
Angle
(1) JL04V-8A24-11SE-EB-R
(2) JL04-2428CK-R
(3) 332707X10
JL04V-2E24-11PE-B-R
Wire size of main power supply
(R, S, T, GND)
mm2
AWG No.
mm2
AWG No.
R2AA13050H
200 V Type
R2AA13050D
D
E
F
G,H
A,B
RS3A03
0.75
#19
2
#14
D
E
F
G,H
A,B
RS3A05
2
#14
2
#14
R2AA13120B
130 sq.
R2AA13120L
R2AA13120D
R2AA13180H
R2AA13200L
・See the catalogs and instruction manuals of the connector manufacturer (Japan Aviation Electronics Industry Limited) for details, including the instructions for the connector and the precautions.
・Conduit preparation to be handled by the customer.
Plug for power and brake (angle)
Cable clamp for power and brake
Cable
(to be arranged by the customer
after confirming the recommended
motor power wire)
Cable
(to be arranged by the customer after confirming
the recommended motor power wire)
Cable clamp for power and brake
Plug for power and brake (straight)
Combination plug for encoder (straight)
Combination plug for encoder (angle)
Encoder receptacle
43
Receptacle for power and brake
Features
■ Front mounting brackets
Brackets for mounting the servo amplifier on the front (connector side).
Model no.
Set contents
10 A, 20 A, 30 A (RS3 □ 01,02,03)
AL-00880390-01
Top/bottom mounting brackets: 1 each
Clamping screws: 4
50 A (RS3 □ 05)
AL-00880391-01
Top/bottom mounting brackets: 1 each
Clamping screws: 4
Applicable servo amplifiers
・Trivalent chrome plating is used. (Surface color is silver-blue, and different from body color.)
・Cannot be used with battery box.
2-φ
5
2
50
2
10
17.5
Servo Amplifier
Specifications
24
25
15
40
Lower side
Servo Motor
85
Lower side
30
22.5
15
10
10
15
85
2-5
2
17.5
2
50
External Wiring
Diagram
35
24
5
Encoder Wiring
Diagram
7.5
10
2-φ
5
15
System
Configuration
50 A
AL-00880391-01
Upper side
35
10 A, 20 A, 30 A
AL-00880390-01
Upper side
Servo Motor
Dimensions
50
4-M4
Options
3-M4
180
3-M4
Mounting
surface
42 or
more
21
Selection Guide
Mounting bracket
50 A
25
163 or more
30 A
25
163 or more
10 A, 20 A
180
Mounting
surface
Mounting board processing Reference dimensions drawing
180
20
163 or more
Mounting example
87 or more
52 or more
44
Options
■ Battery for Battery-backup Method Absolute Encoder and Related Parts
Name
Item
Model no.
No
1) Battery box *Cannot be used with the metal pieces attached to the front.
AL-00880402-01
Lithium battery: ER3VLY
Toshiba Home Appliances Co., Ltd
2) Battery for battery box (Lithium battery)
AL-00879511-01
3) Encoder cable attached to battery, with connectors on both ends
No
AL-00731792-01
4) Encoder cable attached to battery, with connectors on one end
No
AL-00697960- □□
5) Replacement battery for encoder cable (Lithium battery)
Dimensions (Unit : mm)
1) Battery box (model no.: AL-00880402-01)
(55)
25
Lithium battery: ER3VLY
Toshiba Consumer Marketing Ltd.
4) Encoder cable attached to battery, with connectors on
one end (model no.: AL-00697960-□□)
45
Battery unit
built-in battery
Battery
1
20
2
AL-00697958-01
RED
Servo amplifier
side connector
Absolute encoder side
BLACK
Cable length: L (m)
(40)
2) Battery for Battery box replacement
(model no.: AL-00879511-01)
95±5
L [m]
AL-00697960-01
3
2
AL-00697960-02
5
3
AL-00697960-03
10
(φ14.5)
BLACK
4
AL-00697960-04
15
5
AL-00697960-05
20
6
AL-00697960-06
25
3) Encoder cable attached to battery, with connectors on
both ends (model no.: AL-00731792-01)
Battery unit
built-in battery
Servo amplifier
side connector
5) Replacement battery for encoder cable
(model no.: AL-00697958-01)
Absolute encoder side
Chain connector
60±5
(24.5)
(φ14.5)
(382)
(40)
(42)
300±10
17MAX.
2
RED
17MAX.
Connector 1
Model no.
1
(24.5)
55±3
■ Analog Monitor and Related Parts
This is an analog monitor which can display the velocity waveform with an oscilloscope for system maintenance or when tuning.
Name
Item
Model no.
1) Monitor box
Monitor box body
2 dedicated cables
Q-MON-3
2) Dedicated cable
2 dedicated cables
AL-00690525-01
Dimensions (Unit : mm)
1) Monitor box (model no. : Q-MON-3)
2) Dedicated cable (model no. : AL-00690525-01)
Monitor box side
Brown
1B
2B
20±5
2000±50
20±5
Servo amplifier side
20±5 20±5
Black
1A
2A
44
29
*1 2 units of the dedicated cables per above 2) (PN# AL-00690525-01) are
attached to monitor box (PN#Q-MON-3).
*2 Power is supplied from the servo amplifier.
45
65
1
3
2
4
Cable length
(m)
USB communication cable
(cable for communication with PC for setup software)
Model no.
1
AL-00896515-01
2
AL-00896515-02
Type
Features
■ USB communication cable
■ External Regenerative Resistor Dimensions (Unit: mm)
300
182
300
172
6
270
6
150
φ4.3
4.3
42
23.5
26
44
6
φ4.3
System
Configuration
132
122
100
6
270
Silicon rubber glass-braided wire AWG20 0.5 mm2, White
4.3
(Thermostat)
(Thermostat)
Silicon rubber glass-braided wire AWG18 0.75 mm2, Black
1
1.2
Model no.
Thermostat
Model no.
Thermostat
1
REGIST-080W100B
Normally closed
1
REGIST-120W100B
Normally closed
2
REGIST-080W50B
Normally closed
2
REGIST-120W50B
Normally closed
250
300
270
Ground mark
42.7
2-M3
(Thermostat)
Encoder Wiring
Diagram
6
φ4.3
80
6
200
2-φ4.5
8
234
60
220
4.5
230
4.3
(Thermostat)
Lead wire AWG24 0.2 mm2, White
3
700
35
20
350
1.2
Solderless terminal (for M5)
Mass: 0.44 kg
Lead wire AWG14 0.2 mm2, White
Thermostat
1
REGIST-500CW20B
Normally closed
Normally closed
2
REGIST-500CW14B
Normally closed
Normally closed
3
REGIST-500CW10B
Normally closed
4
REGIST-500CW7B
Normally closed
Thermostat
REGIST-220W20B
Normally closed
2
REGIST-220W50B
3
REGIST-220W100B
1
Options
Model no.
Model no.
Servo Motor
Dimensions
Mass: 1.4 kg
Selection Guide
60
Mass: 0.24 kg
Servo Motor
Mass: 0.19 kg
External Wiring
Diagram
20
20
Servo Amplifier
Specifications
46
Options
■ Extension cable for servo motor dimensions
Encoder cable
Power cable
Connector: 1-480699-0
Contact: 350570-3
Tyco Electronics Japan G.K.
MSTBT2.5/3-STF-5.08
Phoenix Contact.K.K
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
Sumitomo 3M Limited
Cable length: L
Connector housing: 172161-1
Contact: 170359-3
Cable length: L
Black
White
Red
Amp side← →Motor side
(100)
Green/yellow
N1.25-4
J.S.T. Mfg. Co.,Ltd.
No.
1
2
3
4
Lead wire color
Red
White
Black
Green/yellow
No.
1
2
7
8
9
10
Lead wire color Signal name
5V
Red
0V
Black
ES+
Brown
ESBlue
EBAT+
Green
EBATPurple
Brake cable
No.
1
2
3
4
5
6
9
Model no.
Connector: 1-480699-0
Contact: 350570-3
Power cable
Cable length: L
100
N1.25-4
J.S.T. Mfg. Co.,Ltd.
No.
1
2
Brake cable
Encoder cable
Connector (for brake)
Housing: 1-480698-0
Pin: 350561-1
No.
1
2
Connector (for power)
Housing: 1-480702-0
Pin: 350218-1 (for power)
Pin: 350654-1 (for GND)
47
Lead wire color Phase
U
Red
V
White
W
Black
Green/yellow GND
Lead wire color
Yellow
Yellow
Cable length: L
(m)
RS-CM4-01-R
RS-CB3-01-R
RS-CA4-01-R
1
RS-CM4-02-R
RS-CB3-02-R
RS-CA4-02-R
2
RS-CM4-03-R
RS-CB3-03-R
RS-CA4-03-R
3
RS-CM4-05-R
RS-CB3-05-R
RS-CA4-05-R
5
RS-CM4-10-R
RS-CB3-10-R
RS-CA4-10-R
10
Lead wire color
White
Black
Refer to "Standard Model Number List" on pp. 13 to 17 for servo motors with connectors for extension cables.
Models with "cable terminal specification: with connector" are the applicable servo motors.
Connectors are connected as shown in the figure. The cable length is 200 ± 30 mm.
No.
1
2
3
4
Black
0V
Red
+5 V
Brown
ES+
Blue
ESGreen
EBAT+
Purple
EBATGND
White/Black (Shielded)
Connector (for encoder)
Housing: 172169-1
Socket: 1-770834-1
No.
1
2
3
4
5
6
9
0V
Black
+5 V
Red
ES+
Brown
ESBlue
EBAT+
Pink
EBATPurple
SHIELD
White/Black
Selection Guide
■ Servo motor capacity selection
Features
This is a method of calculating the required capacity of servo motors from the mechanical specifications.
Here we have introduced the basic selection procedure focusing on a ball screw (flat) mechanism.
operation pattern is the determined driving force plotted on the
speed/time axis.
Speed [min−1]
System
Configuration
Calculate the moment of load inertia from the machine
configuration.
N2
3. Calculation of load torque TL for motor shaft conversion
Calculate the load torque from the machine configuration.
ta
tr
tc
4. Provisional selection of servo motor capacity
(TR x 0.8) of rated torque of motor (TR).
JL ≦ JM × 10
TL ≦ TR × 0.8 5. Calculation of acceleration/deceleration torque
ts
t
Provisionally select a motor in which the load moment of
(JM) of servo motor, while the load torque (TL) is 80% or less
Time [s]
tb
Servo Amplifier
Specifications
N1
inertia (JL) is 10 times or less than the rotor moment of inertia
ta = Acceleration time [s]
tb = Deceleration time [s]
tr = Constant speed-time [s]
ts = Downtime [s]
t = 1 cycle [s]
2. Calculation of conversion of motor shaft moment of load inertia JL
Calculate the required acceleration/deceleration torque from
Load moment of inertia is the quantity showing inertia of a
the operation patterns.
rotating object.
Given below is the calculation method used in case of ball screw
6. Calculation of effective torque
(flat) mechanism.
Calculate the effective torque from the torque patterns.
■ Ball screw moment of inertia
7. Judgment
Ta ≦ Tp × 0.8
Tb ≦ Tp × 0.8
Trms ≦ TR × 0.8
If the judgment results cannot be applied in the
aforementioned equation, reconsider the servo motor
capacity, for example increasing the capacity.
8. Calculation of regenerative power
π×ρ×D4×L
［kg・m2］
External Wiring
Diagram
motor, and the effective torque (Trms) is 80% or less (TR x 0.8)
of rating torque (TR) of servo motor.
2
）×
32
G: Gear ratio
3
3
ρ : Ball screw specific gravity [kg/m ] [Iron: 7.8 × 10 ]
D: Ball screw diameter [m]
L: Ball screw length [m]
Servo Motor
Dimensions
Tb) is 80% or less (Tp x 0.8) of peak stall torque (Tp) of servo
1
JL1＝（ G
■ Work + table moment of inertia
1
JL2＝（ G
2
）×
P
W ×（ 2π
Calculate the regenerative power and select an external
G: Gear ratio
regenerative resistor if necessary.
W: Work + table mass [kg]
2
）［kg・m2］
Options
Determine whether the acceleration/deceleration torque (Ta,
2. Calculation of conversion of motor shaft moment of
load inertia JL
parts, positioning amount, positioning time, gear ratio, etc. An
Servo Motor
Create the operation patterns.
First, determine the equipment mechanism, dimensions of all
Encoder Wiring
Diagram
1. Creation of operation patterns
1. Creation of operation patterns
P: Ball screw pitch [m]
■ Conversion of motor shaft moment of load inertia.
JL ＝ JL1 ＋ JL2
* Moments of inertia of reducer and coupling are assumed to be
negligible and have therefore been omitted.
48
Selection Guide
Selection procedure
Selection Guide
3. Calculation of load torque TL for motor shaft conversion
Load torque is the power generated from the friction of the
driving part or from the gravity that is converted on the motor
shaft. When activated, this torque always acts as the load.
Given below is the calculation method used in the case of a ball
screw (flat) mechanism.
TL＝
（F＋μW）
×
η
P
2π
×
1
G
× 9.8 ［N・m］
7. Judgment
Our company's judgment criteria are as follows.
・ Load torque load factor TL ≦ TR × 0.8
(Load torque is 80% or less of rated torque)
・ Acceleration torque load factor Ta ≦ TP × 0.8
(Acceleration torque is 80% or less of peak stall torque)
TP: Peak stall torque
・ Deceleration torque load factor Tb ≦ TP × 0.8
(Deceleration torque is 80% or less of peak torque at stall)
TP: Peak stall torque
F: External force [kg]
η : Machine efficiency
μ: Coefficient of friction
・ Effective torque load factor Trms ≦ TR × 0.8
(Effective torque is 80% less than rated torque)
W: Work + table mass [kg]
P: Ball screw pitch [m]
G: Gear ratio
4. Provisional selection of servo motor capacity
Provisionally select the motors that apply to the following 2 conditions.
・ Load moment of inertia (JL) calculated in step 2 is 10 times or
less than the rotor moment of inertia (JM) of servo motor
JL ≦ JM × 10
・ Load torque (TL) calculated in step 3 is 80% or less (TR × 0.8) of
rated torque (TR) of servo motor
TL ≦ TR × 0.8
・ Moment of inertia ratio JL ≦ JM × 10
(Load moment of inertia is 10 times or less than the rotor
moment of inertia of motor)
Rise in motor temperature can be suppressed by keeping a large
margin in torque load factor. The moment of inertia ratio can be
controlled at 10 times or more, for example, by slowly rotating the
table mechanism. Testing with an actual machine is recommended.
8. Calculation of regenerative power
Calculate the regenerative efficient power (PM) to determine the
regenerative resistor to be used. From the calculation results,
determine whether an internal regenerative resistor can be used.
5. Calculation of acceleration/deceleration torque
Acceleration/deceleration torque is necessary for accelerating
and decelerating the motor and load.
■ Method of obtaining regenerative efficient power (PM) of horizontal drive shaft
Derive the regenerative energy.
2
Tb
Tb
1
EM ＝ Ehb ＝ × N × 3 × Keφ × × tb − × 3 × Rφ × tb
2
KT
KT
■ Method of obtaining acceleration torque (Ta)
Ta＝
2π（N2−N1）×（JL＋JM）
60×ta
EM: Regenerative energy in case of horizontal drive shaft [J]
＋ TL ［N・m］
Ehb: Regenerative energy during deceleration [J]
N2: Servo motor rotary speed after acceleration [min-1]
N1: Servo motor rotary speed before acceleration [min-1]
JL: Conversion of motor shaft moment of load inertia [kg・m2]
JM: Conversion of servo motor moment of rotor inertia [kg・m2]
TL: Calculation of load torque for motor shaft conversion [N・m]
ta: Acceleration time [s]
Ke φ : Induced voltage constant [Vrms/min-1] (motor constant)
KT: Torque constant [N・m/Arms] (motor constant)
N: Motor rotary speed [min-1]
R φ : Armature resistance [Ω] (motor constant)
tb: Deceleration time [s]
Tb: Deceleration torque [N・m]
Derive the regenerative efficient power from regenerative energy.
■ Method of obtaining deceleration torque (Tb)
PM =
Tb＝
2π（N2−N1）×（JL＋JM）
60×tb
− TL ［N・m］
EM
t
PM: Regenerative efficient power [W]
EM: Regenerative energy [J]
-1
N2: Servo motor rotary speed before deceleration [min ]
N1: Servo motor rotary speed after deceleration [min-1]
JL: Conversion of motor shaft moment of load inertia [kg・m2]
JM: Conversion of servo motor moment of rotor inertia [kg・m2]
TL: Calculation of load torque for motor shaft conversion [N・m]
tb: Deceleration time [s]
t: Cycle time [s]
■ Selection of regenerative resistor
Select a regenerative resistor that meets the following conditions.
・ In case of servo amplifiers with an internal regenerative resistor:
Permissible regenerative power [PR] that is less than efficient
regenerative power [PM] and can be used with internal regenerative
6. Calculation of effective torque
resistors
Effective torque is the value per unit time obtained from root mean
square of load torque / acceleration torque / deceleration torque .
・ In case of external regenerative resistor:
Permissible regenerative power [PRO] that is less than efficient
regenerative power [PM] and can be used with external regenerative
2
Trms＝
49
2
resistors
2
（Ta ×ta）＋（TL ×tr）＋（Tb ×tb）
t
［N・m］
Note that we have servo amplifier models both with and without
internal regenerative resistors for absorbing regenerative power.
Select the model accordingly.
Typical examples of mechanisms and items that require selection are shown below. Provide this information when
placing an order.
Rack & pinion
Work
External force
Work
External force
Ball screw
Rack
Table
Pinion
D
D
M
P
L
M
N
External force
F
W
kg
Work + rack mass
W
kg
Ball screw diameter
D
m
Pinion diameter
D
m
Ball screw length
L
m
Pinion thickness
L
m
Ball screw pitch
P
m
Pinion material specific gravity
ρ
kg/m3
Ball screw material specific gravity
ρ
kg/m3
Coefficient of friction
μ
Coefficient of friction
μ
Gear ratio *
G
Gear ratio *
G
Machine efficiency
η
Machine efficiency
η
External
force
L
Servo Motor
Roll feed
Work
N
System
Configuration
F
Servo Amplifier
Specifications
External force
W: Work + table mass
Belt drive
L
D
F
Timing belt
Features
■ Selection data for each mechanism
M
External force
F
N
Sheet tension
F
N
Work + belt mass
W
kg
Roll diameter
D
m
Pulley diameter
D
m
Roll width
L
m
Pulley width
L
m
Roll material specific gravity
ρ
kg/m3
Pulley material specific gravity
ρ
kg/m3
J
Gear ratio *
G
Machine efficiency
η
kg・m
Gear ratio *
G
Machine efficiency
η
Servo Motor
Dimensions
kg・m2
External Wiring
Diagram
Pulley moment of inertia
Roll moment of inertia J
2
Encoder Wiring
Diagram
D
M
Rotary table
Dt
Options
Dh
M
W
kg
Table diameter
Dt
m
Table support diameter
Dh
m
Table moment of inertia
J
kg・m2
Support part coefficient of friction
μ
Gear ratio *
G
Machine efficiency
η
* Derivation of gear ratio (G)
G2
Ball screw
Selection Guide
Table mass
M
G1
G=
Ball screw gear teeth (G2)
Motor gear teeth (G1)
50
■ 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.
＊For any question or inquiry regarding the above, contact our Sales Department.
http://www.sanyodenki.com
3-33-1, Minami-Otsuka, Toshima-ku, Tokyo, 170-8451, Japan
P.A. Paris Nord Ⅱ, 48 Allée des Erables-VILLEPINTE, BP.57286, F-95958 ROISSY CDG Cedex, France
468 Amapola Avenue Torrance, CA 90501, U.S.A.
Room 2106-2109, Bldg A, Far East International Plaza, No.319, Xianxia Road, Shanghai, 200051, China
Beijing Branch
Room1222, Tower B, Beijing COFCO Plaza, No.8 Jianguomennei Dajie, Dong Cheng District, Beijing 100005 China
Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Road, TST East, Kowloon, Hong Kong
Tianjin Representative Office
Room AB 16th Floor TEDA Building, No. 256 Jie Fang Nan Road, Hexi District, Tianjin 300042 China
Chengdu Representative Office
Room2105B, Block A, Times Plaza, 2 Zongfu Road, Jinjiang District, Chengdu, 610016 China
N-711, 7F, Chia Hsin 2nd Bldg., No.96, Sec.2, Zhongshan N. Rd., Taipei 10449, Taiwan (R.O.C.)
988 Toa Payoh North, #04-05/06/07/08, Singapore 319002
Indonesia Representative Office
Summitmas II 4th Floor, Jl. Jend. Sudirman Kav.61-62, Jakarta 12190, Indonesia
Frankfurter Strasse 92, 65760 Eschborn, Germany
9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea
Room01-05 2/F, Office Tower, Di Wang Commercial Centre Shun Hing Square, 5002 Shen Nan Road East, Shenzhen, China
388 Exchange Tower, 25th Floor, Unit 2501-1, Sukhumvit Road, Klongtoey, Klongtoey, Bangkok 10110 Thailand
TEL: +81 3 5927 1020
TEL: +33 1 48 63 26 61
TEL: +1 310 783 5400
TEL: +86 21 6235 1107
TEL: +86 10 6522 2160
TEL: +852 2312 6250
TEL: +86 22 2320 1186
TEL: +86 28 8661 6901
TEL: +886 2 2511 3938
TEL: +65 6223 1071
TEL: +62 21 252 3202
TEL: +49 6196 76113 0
TEL: +82 2 773 5623
TEL: +86 755 3337 3865
TEL: +66 2261 8670
The names of companies and/or their products specified in this catalog are the trade names, and/or trademarks and/or registered trademarks of such respective companies.
Specifications are subject to change without notice.
CATALOG NO. S1017B001 ’14.8 CR

100 V AC 30 W-200 W, 200 V AC 30 W

Transcription

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