SANMOTION R Medium Capacity (200VAC, 750W to 15kW)

AC200 V 750W-15kW 

Ver.4

Input voltage AC 200 V 

Servo amplifier 

Amp. capacity 

50A100A150A300A 

Q1 Servo motorQ2 Servo motorQ4 Servo motor 

Flange size 

86mm100mm120mm130mm180mm220mm 

Rated output 

750W1.0kW1.5kW2.0kW2.5kW3.0kW 

3.5kW4.0kW4.5kW5.0kW5.5kW7.0kW 

7.5kW11.0kW15.0kW

Index 

Features and Functions P. 3 

Standard Model Number List P. 7 

Model Number Nomenclature P. 11 

System Configuration P. 13 

Servo amplifier Specifications P. 15 

Standard SpecificationsP. 17 

External Wiring Diagram P. 23 

Dimensions P. 26 

Setup Software P. 30 

Servo Amplifier built-in 

positioning functionP. 32 

Standard SpecificationsP. 33 

Discontinued Models and 

Replacement Models P. 36

Easy Set-up for Optimal Operation 

Auto-Tuning 

A new auto-tuning algorithm improves system 

response by providing functions such as inertia 

identification, 5 auto-tuning modes, 30 levels of 

response, and parameter setting auto-save. 

Velocity command 

value 

Test Function (JOG) 

On-board JOG operation function is available for 

testing motor and amplifier connection without the 

need to connect to host device. 

Capable of JOG operation 

without connecting 

to host device 

Tuning start 

Detected velocity value 

Power Supply Harmonic Suppression 

Equipped with DC reactor connection terminals as 

standard feature for supressing power supply 

harmonics. 

5-digit LED Display, Built-in Operator 

Parameter setting, monitoring and alarm 

tracing can be easily done using the built-in operator. 

DL1 

DL2 

DC reactor 

Option 

Built-in Regeneration Resistor 

A built-in regeneration resistor can be used to absorb 

regenerative energy generated during motor 

deceleration. External regeneration resistors can be 

added if internal regeneration capacity is insufficient. 

Built-in Dynamic Brake 

A built-in dynamic brake provides emergency stop 

capability. The six kinds of motion sequences for the 

dynamic brake can be selected by parameter setting. 

Built-in Regeneration Resistor 

Rotation speed 

(min-1 ) 

Controlled 

state Dynamic braking state 

Time(s) 

External regenerative 

resistor (option) 

3

Setup Software 

The setup software allows you to set parameters, 

view graphical displays of monitored position, 

velocity or torque waveforms, and perform system 

analysis. 

Parameter settings 

Position, velocity, torque waveforms 

 

Multiaxial Monitor Function 

The setup software allows up to 15 amplifiers to be 

monitored. (Single axis only) 

RS232C 

Daisy chain up to 15 units 

Maximum 

15 units 

Features and 

Functions 

Model Number 

Nomencalture 

System 

Configuration 

Standard 

Specifications 

*Use optional cable 

AL-00490833-01 for PC connection 

(option) 

All-in-One Control 

Configurable parameters allow you to switch between 

control modes for torque, position or velocity. 

*PC connection cable is optional 

Dimensions External Wiring 

Diagram 

Position 

or 

Velocity 

Torque 

control 

 


 

Flat 

Ascending 

Optional 

Equipment 

*Uniaxial servo amplifier only 

Protection code IP67 

Protection code is IP67 for all models. 

IP67 

Water 

Dust 

*Shaft feedthrough, cable end and cooling fan are excluded. 

4

Improved Precision and Reduced Cycle Time 

High Response 

A 4th-order notch filter reduces phase delay to 

suppress mechanical resonance and improve velocity 

response of equipment. 

Vibration Suppression Control 

With feed-forward vibration suppression control, 

vibrations at the processing point and base of a 

machine can be suppressed through simple tuning 

procedures. Up to 4 types of vibration control 

frequencies can be selected. 

Position deviation during stop 

10 

With vibration suppression control 

Without vibration suppression control 

0 

Gain (dB) 

-10 

-20 

-30 

-40 

1 

5 10 50 100 500 1000 1800 

Frequency (Hz) 

With vibration 

suppression control 

Without vibration 

suppression control 

100ms/div 

Shorter Position Settling Time 

A new algorithm drastically shortens positioning 

settling time for equipment. 

Disturbance Suppression 

A new disturbance observer with expanded applicable 

frequencies suppresses disturbance from other axes 

in a multi-axis configuration. 

Disturbance observer function ON 

Oscillation waveform 

of direct drive section 

Position deviation 

Disturbance 

Position complete signal 

Settling time (0ms) 

Disturbance observer function OFF 

Oscillation waveform 

of direct drive section 

Example of positioning settling time 

in highly rigid machinery 

5ms/div 

Disturbance 

5

Reduced Running 

Costs 

High Resolution 

Support for encoders up to 17 bit (131,072 divisions) is 

available for high resolution control. 

20% Reduction in Power Loss 

An energy conserving power module reduces main 

circuit power loss by up to 20%. 

Features and 

Functions 

System 

Configuration 

Model Number 

Nomencalture 

High Resolution 17bit(131,072 divisions) Absolute Encoder 

Power loss reduction (%) 

100% 

90% 

80% 

70% 

60% 

50% 

40% 

30% 

20% 

10% 

0% 

Current model SANMOTION R 

PY 

50A 

Standard 



Diagram 


Command Follow-up Control 

Performance of the positioning doubled in comparison 

with current models by adoption of new positioning 

control algorithm and new speed control algorithm. 

And position deviation0 is achieved. 

Optional 

Equipment 

Position command 

Position deviation 

20ms/div 

6

Servo Motor Standard Model Number List 

Power Voltage Encoder models Rated Output Motor Flange Size Holding Brake Model No. 

1kW 

1.5kW 

100mm sq. 

2kW 

2.5kW 

1kW 

2kW 

120mm sq. 

3kW 

3kW 

4kW 

130mm sq. 

5kW 

4.5kW 

180mm sq. 

7.5kW 

750W 

86mm sq. 

1kW 

Wire-saving incremental 

1kW 

200V 

encoder 

100mm sq. 

(PP031/PP038/PP062) 

1.5kW 

1kW 

1.5kW 

130mm sq. 

2kW 

2kW 

3.5kW 

180mm sq. 

4.5kW 

5.5kW 

5.5kW 

220mm sq. 

7kW 

5.5kW 

180mm sq. 

7.5kW 

11kW 

220mm sq. 

15kW 

 

Q1AA10100DXS00 

yes24V Q1AA10100DCS00 

 



 



 



 



 



 



 



 



 



 

Q1AA18450MXS00 

yes24V Q1AA18450MCS00 

 

Q1AA18750HXS00 

yes24V Q1AA18750HCS00 

 



 



 



 



 



 



 



 



 



 



 

Q2AA18550RXS00 

yes24V Q2AA18550RCS00 

 

Q2AA22550BXS00 

yes24V Q2AA22550BCS00 

 

Q2AA22700SXS00 

yes24V Q2AA22700SCS00 

 



 

Q2AA18750LXS00 

yes24V Q2AA18750LCS00 

 

Q2AA2211KVXS00 

yes24V Q2AA2211KVCS00 

 

Q2AA2215KVXS00 

yes24V Q2AA2215KVCS00 

11kW 

 

Q4AA1811KBXS00 

180mm sq. 

15kW Q4AA1815KBXS00 

7


1kW 

1.5kW 

100mm sq. 

2kW 

2.5kW 

1kW 

2kW 

120mm sq. 

3kW 

3kW 

4kW 

130mm sq. 

5kW 

4.5kW 

180mm sq. 

7.5kW 

750W 

86mm sq. 

1kW 

Battery backup method 

1kW 

200V 

absolute encoder 

100mm sq. 

(PA035C) 

1.5kW 

1kW 

1.5kW 

130mm sq. 

2kW 

2kW 

3.5kW 

180mm sq. 

4.5kW 

5.5kW 

5.5kW 

220mm sq. 

7kW 

5.5kW 

180mm sq. 

7.5kW 

11kW 

220mm sq. 


 

Q1AA10100DXP00 

yes24V Q1AA10100DCP00 

 



 



 



 



 



 



 



 



 



 

Q1AA18450MXP00 

yes24V Q1AA18450MCP00 

 

Q1AA18750HXP00 

yes24V Q1AA18750HCP00 

 



 



 



 



 



 



 



 



 



 



 

Q2AA18550RXP00 

yes24V Q2AA18550RCP00 

 

Q2AA22550BXP00 

yes24V Q2AA22550BCP00 

 

Q2AA22700SXP00 

yes24V Q2AA22700SCP00 

 



 

Q2AA18750LXP00 

yes24V Q2AA18750LCP00 

 

Q2AA2211KVXP00 

yes24V Q2AA2211KVCP00 

 

Q2AA2215KVXP00 

yes24V Q2AA2215KVCP00 

11kW 

 

Q4AA1811KBXP00 

180mm sq. 

15kW Q4AA1815KBXP00 

Features and 

Functions 

Model Number 

Nomencalture 

System 

Configuration 

Standard 



Diagram 


Optional 

Equipment 

8

Servo Motor Standard Model Number List 


1kW 

1.5kW 

100mm sq. 

2kW 

2.5kW 

1kW 

2kW 

120mm sq. 

3kW 

3kW 

4kW 

130mm sq. 

5kW 

4.5kW 

180mm sq. 

7.5kW 

1kW 

86mm sq. 

1kW 

Absolute encoder 

100mm sq. 

200V 

without battery 

1.5kW 

(RA035C) 

1kW 

1.5kW 

130mm sq. 

2kW 

2kW 

3.5kW 

180mm sq. 

4.5kW 

5.5kW 

5.5kW 

220mm sq. 

7kW 

5.5kW 

180mm sq. 

7.5kW 

11kW 

220mm sq. 


 

Q1AA10100DXW00 

yes24V Q1AA10100DCW00 

 



 



 



 



 



 



 



 



 



 

Q1AA18450MXW00 

yes24V Q1AA18450MCW00 

 

Q1AA18750HXW00 

yes24V Q1AA18750HCW00 

 



 



 



 



 



 



 



 



 



 

Q2AA18550RXW00 

yes24V Q2AA18550RCW00 

 

Q2AA22550BXW00 

yes24V Q2AA22550BCW00 

 

Q2AA22700SXW00 

yes24V Q2AA22700SCW00 

 



 

Q2AA18750LXW00 

yes24V Q2AA18750LCW00 

 

Q2AA2211KVXW00 

yes24V Q2AA2211KVCW00 

 

Q2AA2215KVXW00 

yes24V Q2AA2215KVCW00 

11kW 

 

Q4AA1811KBXW00 

180mm sq. 

15kW Q4AA1815KBXW00 

9

Servo Amplifier Standard Model Number List 

Type 

CANopen 

Interface 

specifications 

Main Power 

AC200V 

System 

Control 

Power 

AC200V 

System 

DC24V 

AC200V 

System 

DC24V 

Encoder Type 

Wire-saving incremental encoder, 

Battery backup method absolute 

encoder 

Selectable 

Output 

NPN 

PNP 

Internal Registration 

Resistor 

Amplifier 

Capacity 

Model No. 

50A RS1L05AL 

With 50A RS1A05AL 

50A RS1J05AL 

With 50A RS1K05AL 

50A RS1L05AU 

With 50A RS1A05AU 

50A RS1J05AU 

With 50A RS1K05AU 

Features and 

Functions 

Model Number 

Nomencalture 

50A 

RS1L05AC 

Built-in 

positioning 

function model 

AC200V 

System 

AC200V 

System 

Wire-saving incremental encoder, 

Battery backup method absolute 

encoder 

NPN 

 

100A 

150A 

300A 

50A 

RS1L10AC 

RS1L15AC 

RS1A30AC 

RS1A05AC 

With 

100A 

RS1A10AC 

150A 

RS1A15AC 

Optional 

Equipment 


System 

Configuration 

Standard 



Diagram 

10

Servo Motor Model Number Nomenclature 

Servo Motor 

Example: The following model number defines a "Q2" servomotor with 130mm flange size, 2.0kW 

rated output, 3500min -1 maximum rotation speed, 24V brake, and an absolute encoder 

(131,072 divisions/rotation),CE approval. 

Q 2 AA 13 200 H C P 00 E 

Q Series 

Motor Type 

1Low-inertia 

2Medium-inertia 

4Low-inertia (high volume) 

Holding Brake 

XWithout Brake 

BWith Brake90V 

CWith Brake24V 

Specification 

Standard 

Supply Voltage 

200V Motor 

Maximum Rotation Speed 

S 1000min -1 H 3000 3500min -1 

M 1500min -1 L 3000min -1 

B 2000min -1 D 4500 5000min -1 

R 2500min -1 V 2000min -1 

Standard identification 

ECE Marking 

UUL 

MCE and UL 

Flange Size 

08 86mm 

10 100mm 

12 120mm 

13 130mm 

18 180mm 

22 220mm 

Rated Output 

075 750W 

100 1.0kW 

150 1.5kW 

200 2.0kW 

250 2.5kW 

300 3.0kW 

350 3.5kW 

400 4.0kW 

450 4.5kW 

500 5.0kW 

550 5.5kW 

700 7.0kW 

750 7.5kW 

11K 11.0kW 

15K 15.0kW 

Encoder Type 

PBattery backup method absolute encoderPA035C 

H Absolute encoder for incremental SystemPA035S 

WAbsolute encoder without batteryRA035C 

SWire-saving incremental encoderPP031T/PP038/PP062 

Encoder Specification 

Wire-saving Incremental Encoder 

Standard 

Supported Range 

Model 

Encoder Pulse Count Resolution Encoder Pulse Count Resolution 

2048P/R5000P/R 

8192 

PP031T/ 

20000 

PP038/ 

2000P/R 8000 

32768 

8192P/R10000P/R 

40000 

PP062 

80000 

20000P/R25000P/R 100000 

Absolute Encoder 

Resolution 

Model 

Remarks 

Single rotation Multiple Rotations 

PA035C 

PA035S 

RA035C 

Optical Detection 

System 

Optical Detection 

System 

Resolver 

System 

Absolute Type Incremental Type 

131072(17bit) 

131072(17bit) 

131072(17bit) 

65536(16bit) 

— 

65536(16bit) 

Battery backup method absolute encoder 

Absolute encoder with incremental output 

Absolute encoder without battery 

Remarks 

Wire-saving 

incremental encoder 

Please contact our Sales Division for assistance. 

Conformance to Overseas Standards 

Our standard servo amplifier has attained the UL, c-UL and ENstandards. 

You can also employ servo motors that have attained the UL and EN standards. 

11

Servo Amplifier Model Number Nomenclature 

Servo Amplifier with CANopen 

Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage and 50A 

amplifier capacity. 

Features and 

Functions 

RS1 

A 05 

A 

L 

Model Number 

Nomencalture 

R Series Amp. Capacity Motor Type 

05 50A 

Rotary Motor 

Power Input, Internal Registration Setting 

Model Control Power, 

Input Voltage 

Power Input, 

Input Voltage 

Internal 

Regeneration 

Amp. 

capacity 

resistor 

A AC200V AC200V W 50A 

L 

W/O 50A 

K DC24V AC200V W 50A 

J W/O 50A 

*The motor parameters need to be set for the amplifier for use. Use the setup software. 

RS1 

A 10 

A 

C 

Control Hardware Type 

Interface SpecificationCAN open I/F 

Encoder SpecificationAbsolute encoder, 


L NPN Output 

UPNP Output 

Single-Axis Servo Amplifier (built-in positioning function model) 

Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage 

(Main Power) and 100A amplifier capacity. 

System 

Configuration 

Standard 



Diagram 


R Series 

Single-Axis Servo 

Amplifier 

Motor Type 

Rotary Motor 

Optional 

Equipment 

Power Input, Internal Registration Setting 

Model Input Voltage Internal Regeneration resistor Amp. capacity 

A AC200V 

W 50A,100A,150A 

L 

W/O 50A,100A,150A 

A W/O 300A 

Amp. capacity 

05 50A 

10 100A 

15 150A 

30 300A 

Control Hardware Type 

CServo Amplifier built-in positioning 

function 

FServo Amplifier built-in positioning 

function serial interface model 

*The motor parameters need to be set for the amplifier for use. Use the setup software. 

12

System Configuration 

Circuit Breaker (MCCB) 

Noise Filter 

Electromagnetic Contactor 

R 

S 

T 

Cuts off power in the case 

of an overload, to protect 

the power line. 

Protects the power line 

from external noise, and 

from noise generated by 

the servo amplifier. 

Switches servo power on 

and off. Installation of 

a surge protector is required. 

Create the protective circuit. 

DC Reactor 

Suppresses power 

harmonics. 

Remove the short bar 

between DL1-DL2 and 

connect this here, when 

needed for high frequency 

waves. 

External Regenerative Resistor 

Use as required, such as for 

heavy inertial load 

operations. 

For special operations, such as 

high frequency applications that 

require greater power 

dissipation than that provided by 

the servo amplifier’s internal 

regenerative resistor. 

Remove the short bar between 

RB1-RB4 and connect this here. 

Brake Power 

Required for use when the 

servo motor is equipped 

with a brake. 

13

Model No. : AL-00494635-01 

Lithium battery 

Features and 

Functions 

Model No. : AL-00490833-01 

PC 

When using the unit with an 

absolute system, mount the 

optional battery inside the 

digital operator cover. 


Model Number 

Nomencalture 

System 

Configuration 

CN1 

Standard 


Parameter configuration and 

monitoring is possible via 

communication with a PC. 

Host Devices 


Diagram 

PLC 


CN2 

Optional 

Equipment 

Wiring required for brake. 

CANopen 

Host Devices 

Dedicated controller 

PC and PLC are available 

as the host device. 

*Communication Profile: DS-301 

Device Profile: DSP-402 compliance 

14

Servo Motor Amplifier Specifications 

RS 

Servo Amplifier 

Amplifier Capacity 50A to 300A 

Five Models 

Amplifiers for Q1 Motors 

200V AC Type 

Amplifier Model 

Amplifier Power Supply 

Operating Temp. and RH 

Power Consumption* 

Amplifier Mass 

Motor Model 

Motor Flange Dimension 

Motor Rated Output 

Unit 

kVA 

kg 

kW 

RS1A05ARS1A05A RS1A10A RS1A05A RS1A10A 

AC200V to 230V1015% 5060Hz 3 Hz 

Operating Temperature: 0 to 55°C, Relative Humidity: 90% maximum, no condensation 

2.5 

3.0 4.0 4.2 2.5 

4.0 5.0 

2.22.3 

5.2 

2.22.3 

5.2 

Q1AA10100D Q1AA10150D Q1AA10200D Q1AA10250D Q1AA12100D Q1AA12200D Q1AA12300D 

100 

100 

100 

100 

120 

120 

120 

1 

1.5 

2 

2.5 

1 

2 

3 

200V AC Type 









Unit 

kVA 

kg 

kW 

RS1A10A 

RS1A15A 

RS1A30A 



5.0 

5.2 

6.7 8.3 

6.5 

7.4 12.6 

9.8 

Q1AA13300D Q1AA13400D Q1AA13500D Q1AA18450M Q1AA18750H 

130 

130 

130 

180 

180 

3 

4 

5 

4.5 

7.5 


200V AC Type 









Unit 

kVA 

kg 

kW 

RS1A05A 

RS1A10A 



2.5 

3.0 

2.5 3.0 

5.0 

2.22.3 

2.22.3 

5.2 

Q2AA08100D Q2AA10100H Q2AA10150H Q2AA13100H Q2AA13150H Q2AA13200H Q2AA18200H 

86 

100 

100 

130 

130 

130 

180 

1 

1.5 

1.0 

1.5 

2 

2 

200V AC Type 









200V AC Type 









Unit 

kVA 

kg 

kW 

Unit 

kVA 

kg 

kW 

RS1A15A 



6.9 7.4 

8.4 

6.5 

Q2AA18350H 

Q2AA18450H 

Q2AA18550R 

180 

180 

180 

3.5 

4.5 

5.5 

RS1A15A 

RS1A30A 



10.1 

12.2 

6.5 

Q2AA22550B Q2AA22700S 

220 

220 

5.5 

7 

10.1 12.6 15.7 21.4 

9.8 

Q2AA18550H 

180 

5.5 

Q2AA18750L 

180 

7.5 

Q2AA2211KV 

220 

11 

Q2AA2215KV 

220 

15 


200V AC Type 









Unit 

kVA 

kg 

kW 

RS1A30A 



15.7 

21.4 

9.8 

Q4AA1811KB 

Q4AA1815KB 

180 

180 

11 

15 

*Actual power consumption depends on load impedence, and is shown here at the amplifier's rated output. 

15

CANopen Interface specifications 

Fieldbus specifications 

Bus Connection, Medium 

CAN-Standard ISO-11898 (High-speed CAN) 

Fieldbus 

CANopen 

Communication Profile CiA DS301 Version 4.02 

Device Profile CiA DSP402 (CANopen device profile for drive and motion control) Version 2.0 

Bit Rate 1Mbps, 800kbps, 500kbps(default setting), 250kbps, 125kbps, 50kbps , 20kbps , 10kbps (Selectable by R-Setup Software ) 

Max. nodes per segment 1 to 127 (Selectable by Double 16-position Rotary Switch or R-Setup Software ) 

RJ-45 type Modular connector (2 ports) 

- Pin 1 CAN_Hhigh bus line 

Connector 

- Pin 2 CAN_Llow bus line 

- Pin 3,7 CAN_GNDGround 

- Pin 6 CAN_SHIELDCable Shield 

- Pin 5 Terminator(120 ohm; if necessary, attach a jumper between Pin1 and Pin5) 

Transceiver 

ISO-11898 compliant high-speed transceiver 

Max. Bus Length 

25m ( for 1Mbps) 

SDO (Service Data Object) 

PDO (Process Data Object) 

Communication Objects 

EMCY (Emergency) 

NMT (Network Management) 

SYNC (Synchronization Object) 

Heartbeat 

PDO Transfer Modes Synchronous transmission Asynchronous transmission 

Mode of Operation 

Homing Mode (h.m) 

Profile Velocity Mode (p.v) 

Profile Torque Mode (t.q) 

Profile Position Mode (p.p) 

Interpolated Position Mode (i.p) 

Features and 

Functions 

Model Number 

Nomencalture 

System 

Configuration 

Standard 


PNP output 


Out Power 

DC24V 

Host unit 

NPN output 


Out Power 

Host unit 


Diagram 

50mA max 

Out 1~8 

Out 1~8 


The output port counts are differentdepending on the specification. 

Out Common 

The output port counts are different depending on the specification. 

Maximum current 

DC5V .......... 10mA 

DC12 to 15V ..... 30mA 

DC24V .......... 50mA 

Optional 

Equipment 

Single-Axis Servo Amplifier built-in positioning function serial interface model 

Item Content Default value Remark 

Protocol Modbus-RTU Binary mode fixed (ASCII mode is un-corresponding) 

Interface RS-4851N N=Maximum is 32 (Note) 

Band rate (bps) 4800, 9600, 19200, 38400, 57600, 115200 115200 Set with the setup software or the rotary switch on the front of the amplifier. 

Start bit 1 1 Fixed 

Data length (bit) 8 8 Fixed 

Parity None, even/odd number even 

Stop bit 1, 2 1 

Set with the setup software. 

Electric specification 

Based on RS-485 (half duplex 

Based on RS-485 (half duplex 

communication) 

communication) 

Fixed 

Connector RJ-45 

Note) Based on the specifications for a typical RS-485 physical layer (distance, terminating resistance), the number of servo amplifiers (or other slave 

devices) that can be connected to a single segment is a maximum of 31 axes (with no repeater). However, with this servo amplifier, the standard 

product can have a maximum of 8 axes connected. Please contact us if connecting 9 axes or more. 

16

Standard Specifications 

Q1 


200V System 


 

100mm to 180mm 

1kW to 7.5kW 

12 models 

Features 


Motor Model and Flange Dimension in mm 

Q1AA10100D 

100 

RS1A05A 

Q1AA10150D 

100 

Status Symbol Unit 

Rated Output PR kW 1 1.5 

Rated Speed NR min -1 3000 

Maximum Speed Nmax min -1 5000 4500 

Rated Torque TR Nm 3.19 4.79 

Continuous Torque at Stall TS Nm 3.92 4.9 

Peak Torque at Stall TP Nm 10.5 14.7 

Rated Armature Current IR Arms 6.5 8.2 

Armature Current at Stall IS Arms 7.8 8.2 

Peak Armature Current at Stall IP Arms 24.5 26.5 

Torque Constant KT NmArms 0.55 0.705 

Voltage Constant Per Phase K E mVmin -1 19.3 24.6 

Phase Resistance R 0.34 0.272 

Rated Power Rate Q R kWs 78.9 143 

Electrical Time Constant te ms 7.6 11.4 

Mechanical Time Constant (Not including Encoder) tm ms 0.43 0.26 

Rotor Moment of Inertia Note JM 10 -4 kgm GD 2 2 4 1.29 1.61 

Mass Note WE kg 5.4 6.5 

Brake Static Friction Torque TB Nm 3.92 9.8 

Brake Rated Voltage VB V DC90V DC24V 10 

Brake Rated Current IB A 0.2 0.61 0.2 0.83 

Rotor Moment of Inertia (Brake) JB 10 -4 kgm GD 2 2 4 0.15 0.4 

Brake Mass W kg 1.3 1.5 

Motor Operating Temp, Rel. Humidity 

Operating Temperature: 0 to 40C, Relative Humidity: 90% maximum, no condensation 

Note) including Wire-saving incremental encoder 

12 

9 

20 

15 

High Power Rate 

(Low Inertia) 

Torque [Nm] 

6 

3 

Torque [Nm] 

10 

5 

0 

0 1000 2000 3000 4000 5000 6000 

Speed [min -1 ] 

0 

0 1000 2000 3000 4000 5000 




Q1AA12300D 

120 

RS1A10A 

Q1AA13300D 

130 


Rated Output PR kW 3 




Continuous Torque at Stall TS Nm 11 10.8 

Peak Torque at Stall TP Nm 31 28.4 


Armature Current at Stall IS Arms 17.3 17.6 

Peak Armature Current at Stall IP Arms 55 55 




Rated Power Rate Q R kWs 143 184 




Mass Note WE kg 11.4 

Brake Static Friction Torque TB Nm 11.8 


Brake Rated Current IB A 0.28 1.0 

Rotor Moment of Inertia (Brake) JB 10 -4 kgm GD 2 2 4 0.5 

Brake Mass W kg 1.7 




40 

40 

Motor Dwgs P27 to P28 

30 

30 

:Indicates a typical value 

after warm-up and thermal 

stabilization, together with 

a standard amplifier. 

Torque [Nm] 

20 

10 

Torque [Nm] 

20 

10 

:Indicates a typical 

value when the winding 

temperature is 20. 

0 

0 1000 2000 3000 4000 5000 6000 


0 

0 1000 2000 3000 4000 5000 6000 


17

Torque [Nm] 

20 

15 

10 

5 

Q1AA10200D 

100 

RS1A10A RS1A05A RS1A10A 

Q1AA10250D 

100 

Q1AA12100D 

120 

Q1AA12200D 

120 Symbol Unit 

2 2.5 1 2 PR kW 

3000 NR min -1 

5000 Nmax min -1 

6.37 7.97 3.19 6.37 TR Nm 

7.36 8.82 3.92 7.36 TS Nm 

19.6 24.4 11 21 TP Nm 

15.9 16.6 6.2 14.3 IR Arms 

18 17.2 7.5 16.2 IS Arms 

55 55 24.5 53 IP Arms 

0.47 0.587 0.587 0.5 KT NmArms 

16.4 20.5 20.2 17.6 K E mVmin -1 

0.086 0.104 0.19 0.06 R 

189 240 45.2 93 Q R kWs 

12.1 13 13 20 te ms 

0.25 0.24 0.38 0.31 tm ms 

2.15 2.65 2.25 4.37 JM 10 -4 kgm GD 2 2 4 

8.7 9.4 5.4 8.7 WE kg 

9.8 9.8 9.0 9.0 TB Nm 

DC90V DC24V 10 VB V 

0.2 0.83 0.25 0.86 IB A 

0.4 0.5 0.5 JB 10 -4 kgm GD 2 2 4 

1.5 1.3 1.5 W kg 


0 

0 1000 2000 3000 4000 5000 6000 


Torque [Nm] 

40 

30 

20 

10 

0 

0 1000 2000 3000 4000 5000 6000 


Torque [Nm] 

20 

15 

10 

5 

0 

0 1000 2000 3000 4000 5000 6000 


Torque [Nm] 

40 

30 

20 

10 

0 

0 1000 2000 3000 4000 5000 6000 


Features and 

Functions 

Model Number 

Nomencalture 

System 

Configuration 

Standard 



Diagram 

Q1AA13400D 

130 

RS1A15A 

Q1AA13500D 

130 

Q1AA18450M 

180 

RS1A30A 

Q1AA18750H 


4 5 4.5 7.5 PR kW 

3000 1500 NR min -1 

4500 1500 3000 Nmax min -1 

12.7 15.7 28.5 48 TR Nm 

14.7 18.1 31.6 55 TS Nm 

39.2 47.6 105 125 TP Nm 

23.4 25.8 20 55 IR Arms 

26.4 27.5 22.2 60 IS Arms 

83 83 83 155 IP Arms 

0.612 0.724 1.71 0.91 KT NmArms 

21.4 25.3 59.6 31.7 K E mVmin -1 

0.048 0.0461 0.129 0.021 R 

251 291 295 443 Q R kWs 

19.2 20.8 25 23 te ms 

0.25 0.22 0.36 0.40 tm ms 

6.43 8.47 27.5 52 JM 10 -4 kgm GD 2 2 4 

14.4 16 21.7 47 WE kg 

19.6 32 54.9 TB Nm 


0.25 0.95 0.37 1.4 IB A 

0.58 5.5 5.5 JB 10 -4 kgm GD 2 2 4 

2.2 5 6 W kg 



Optional 

Equipment 

40 

80 

120 

150 

30 

60 

90 

100 

Torque [Nm] 

20 

10 

Torque [Nm] 

40 

20 

Torque [Nm] 

60 

30 

Torque [Nm] 

50 

0 

0 1000 2000 3000 4000 5000 6000 


0 

0 1000 2000 3000 4000 5000 6000 


0 

0 500 1000 1500 2000 


0 

0 1000 2000 3000 4000 


18


Q2 


200V System 


 


750W to 5.5kW 

17 models:750W to 15kW 

Features 



Q2AA08075D 

86 

RS1A05A 

Q2AA08100D 

86 


Rated Output PR kW 0.75 1 


Maximum Speed Nmax min -1 5000 


Continuous Torque at Stall TS Nm 2.941 3.92 

Peak Torque at Stall TP Nm 9 12.5 


Armature Current at Stall IS Arms 7 6.9 

Peak Armature Current at Stall IP Arms 23.7 25 









Brake Static Friction Torque TB Nm 2.94 2.94 


Brake Rated Current IB A 0.08/0.33 0.08 0.33 


Brake Mass W kg 0.8 0.8 




10 

8 

20 

15 

High Efficiency and Low 

Ripple (Medium Inertia) 

Torque [Nm] 

4 

2 

Torque [Nm] 

10 

5 

0 

0 1000 2000 3000 4000 5000 6000 


0 

0 1000 2000 3000 4000 5000 6000 




Q2AA13200H 

130 

RS1A10A 

Q2AA18200H 

180 


Rated Output PR kW 2 2 




Continuous Torque at Stall TS Nm 12 12 

Peak Torque at Stall TP Nm 30.5 31.0 

Rated Armature Current IR Arms 13.1 15 

Armature Current at Stall IS Arms 16.3 18 





Rated Power Rate Q R kWs 78 45.7 

Electrical Time Constant te ms 14 14.7 


Rotor Moment of Inertia Note JM 10 -4 kgm GD 2 2 4 12 20 


Brake Static Friction Torque TB Nm 12 32 




Brake Mass W kg 1.7 5 




40 

40 


30 

30 





Torque [Nm] 

20 

10 

Torque [Nm] 

20 

10 




0 

0 1000 2000 3000 4000 


0 

0 1000 2000 3000 4000 


19

Torque [Nm] 

20 

15 

10 

5 

Q2AA10100H 

100 

Q2AA10150H 

100 

RS1A05A 

Q2AA13100H 

130 

Q2AA13150H 


1 1.5 1.0 1.5 PR kW 

2000 2000 NR min -1 

3500 3000 3000 3500 Nmax min -1 

5 7.2 5 7.5 TR Nm 

6 8 6 9 TS Nm 

16.6 20.5 15 20.3 TP Nm 

6.8 8.6 7 8.7 IR Arms 

8.1 9.4 8.3 10.2 IS Arms 

24.5 25.5 23.7 26.5 IP Arms 

0.814 0.94 0.803 0.981 KT NmArms 

28.4 32.7 28.0 34.2 K E mVmin -1 

0.477 0.34 0.276 0.266 R 

46.0 65 46 71 Q R kWs 

4.8 6 12 12 te ms 

1.2 0.93 0.69 0.66 tm ms 

5.44 8 5.4 7.94 JM 10 -4 kgm GD 2 2 4 

5.4 6.5 6.5 7.8 WE kg 

9.8 9.8 9 9 TB Nm 


0.20 0.75 0.20 0.75 0.25 0.86 IB A 

0.4 0.4 0.5 0.5 JB 10 -4 kgm GD 2 2 4 

1.5 1.5 W kg 


0 

0 1000 2000 3000 4000 


Torque [Nm] 

40 

30 

20 

10 

0 

0 1000 2000 3000 4000 


Torque [Nm] 

20 

15 

10 

5 

0 

0 1000 2000 3000 4000 


Torque [Nm] 

40 

30 

20 

10 

0 

0 1000 2000 3000 4000 


Features and 

Functions 

Model Number 

Nomencalture 

System 

Configuration 

Standard 



Diagram 

Q2AA18350H 

180 

RS1A15A 

Q2AA18450H 

180 

Q2AA18550R 


3.5 4.5 5.5 PR kW 

2000 1500 NR min -1 

3500 3000 2500 Nmax min -1 

16.7 21.5 35 TR Nm 

21.1 27.1 37.3 TS Nm 

55 70 88 TP Nm 

22.6 24 32.2 IR Arms 

28 29 33.7 IS Arms 

83 81 83 IP Arms 

0.840 1.04 1.24 KT NmArms 

29.3 36.4 43.2 K E mVmin -1 

0.048 0.044 0.039 R 

73 84.0 180 Q R kWs 

15 18 21 te ms 

0.77 0.67 0.53 tm ms 

38 55 69 JM 10 -4 kgm GD 2 2 4 

17.7 20 30 WE kg 

32 32 54.9 TB Nm 


0.37 1.4 IB A 

5.5 JB 10 -4 kgm GD 2 2 4 

5 5 6 W kg 



Optional 

Equipment 

60 

50 

40 

80 

60 

120 

90 

Torque [Nm] 

30 

20 

10 

Torque [Nm] 

40 

20 

Torque [Nm] 

60 

30 

0 

0 1000 2000 3000 4000 


0 

0 1000 2000 3000 4000 


0 

0 1000 2000 3000 4000 


20


Q2 


200V System 


 


5.5kW to 15kW 

17 models:750W to 15kW 

Features 

High Efficiency and Low 

Ripple (Medium Inertia) 



Q2AA22550B 

220 

RS1A15A 

Q2AA22700S 

220 


Rated Output PR kW 5.5 7 

Rated Speed NR min -1 1500 1000 


Rated Torque TR Nm 35 67 

Continuous Torque at Stall TS Nm 42 70 

Peak Torque at Stall TP Nm 90 150 

Rated Armature Current IR Arms 30 34 

Armature Current at Stall IS Arms 35.1 34 

Peak Armature Current at Stall IP Arms 79.7 83 


Voltage Constant Per Phase K E mVmin -1 46 74.5 



Electrical Time Constant te ms 24 30 


Rotor Moment of Inertia Note JM 10 -4 kgm GD 2 2 4 95.3 185 

Mass Note WE kg 34.8 46 

Brake Static Friction Torque TB Nm 90 90 



Rotor Moment of Inertia (Brake) JB 10 -4 kgm GD 2 2 4 24 

Brake Mass W kg 10.4 




120 

90 

200 

150 









Torque [Nm] 

60 

30 

0 

0 1000 2000 3000 4000 


Torque [Nm] 

100 

50 

0 

0 500 1000 1500 2000 


Q4 


200V System 


 

180mm 

11kW to 15kW 

2 models:11kW to 15kW 

Features 

High Power Rate 

(Low Inertia) 

Motor Dwgs P26 










Q4AA1811KB 

180 

RS1A30A 

Q4AA1815KB 

180 


Rated Output PR kW 11 15 



Rated Torque TR Nm 70 95.5 

Continuous Torque at Stall TS Nm 70 95.5 

Peak Torque at Stall TP Nm 190 220 

Rated Armature Current IR Arms 54 61 

Armature Current at Stall IS Arms 53 59 





Rated Power Rate Q R kWs 780 1100 

Electrical Time Constant te ms 31 32 


Rotor Moment of Inertia Note JM 10 -4 kgm GD 2 2 4 63 85 

Mass Note WE kg 60 75 

Brake Static Friction Torque TB Nm 

Brake Rated Voltage VB V 

Brake Rated Current IB A 

Rotor Moment of Inertia (Brake) JB 10 -4 kgm GD 2 2 4 

Brake Mass W kg 



Cooling Fan PF W 39/33AC200V10Single phase 50/60HZ 


Torque [Nm] 

250 

200 

150 

100 

50 

0 

0 1000 2000 3000 4000 


Torque [Nm] 

300 

250 

200 

150 

100 

50 

0 

0 1000 2000 3000 4000 


21

Torque [Nm] 

150 

100 

50 

Q2AA18550H 

180 

Q2AA18750L 

180 

RS1A30A 

Q2AA2211KV 

220 

Q2AA2215KV 


5.5 7.5 11 15 PR kW 

1500 NR min -1 

3000 2000 Nmax min -1 

35 48 70 95.5 TR Nm 

37.3 54.9 80 95.5 TS Nm 

95 139 176 215 TP Nm 

47 52 60 66 IR Arms 

47 57 66 66 IS Arms 

155 160 155 157 IP Arms 

0.830 1.03 1.29 1.54 KT NmArms 

29.0 36.0 45.1 53.6 K E mVmin -1 

0.018 0.017 0.015 0.016 R 

170 240 260 360 Q R kWs 

17 20 33 33 te ms 

0.57 0.46 0.50 0.52 tm ms 

73 95 186 255 JM 10 -4 kgm GD 2 2 4 

31 40 58 70 WE kg 

54.9 90 90 TB Nm 


0.37 1.4 0.44 1.7 IB A 

5.5 24 JB 10 -4 kgm GD 2 2 4 

6 11 W kg 


0 

0 

0 1000 2000 3000 4000 

0 1000 2000 3000 4000 


Torque [Nm] 

150 

100 

50 


Torque [Nm] 

200 

150 

100 

50 

0 

0 1000 2000 3000 4000 


Torque [Nm] 

250 

200 

150 

100 

50 

0 

0 1000 2000 3000 4000 


Features and 

Functions 

Model Number 

Nomencalture 

System 

Configuration 

Standard 



Diagram 

Encoder Wiring Diagram 


Cannon plug and lead-wire types 

Battery backup method Absolute Encoder [ PA035C ] 

Absolute encoder for incremental System [ PA035S ] 

Absolute encoder without battery [ RA035C ] 

Cannon plug and lead-wire types 


Optional 

Equipment 

SERVO AMPLIFIER 

SERVO MOTOR 


SERVO MOTOR 

Note 2) 5V 

Note 2) 0V 

CN2 

A or U channel input 

 

A or U channel input 

B or V channel input 

 

B or V channel input 

C or W channel input 

 

C or W channel input 

Plug : 10120-3000PE 

Shell : 10320-52A0-008 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

16 

17 

18 

19 

20 

H (Shield Wire) 

Note 1) 

Note 3) 

Incremental encoder 

A Blue 

A or U channel output 

D Brown 

A or U channel output 

B Green 

B or V channel output 

E Purple 

B or V channel output 

F White 

C or W channel output 

G Yellow 

C or W channel output 

J Red 

5V 

N Black 

0V 

Note 4) 

FG (shielded) 

JA06A-20-29S-J1-R 

JA06A-20-29S-J1-EB-R 

JA08A-20-29S-J1-EB-R 

N/MS3106B20-29S 

N/MS3108B20-29S 

(With Cannon plug) 

Note 1) Use a twisted-pair shielded cable. 

Note 2) Encoder power connections depend on encoder cable length. 

See the following table: 

Note 2) 5V 

Note 2) 0V 

CN2 

ES 

ES 

EBAT 

EBAT 

13 

14 

1 

2 

9 

10 

11 

12 

17 

18 

19 

20 

Note 1) 

Note 3) 

E Brown 

ES 

F Blue 

ES 

T Pink 

EBAT 

SPurple 

Note 4) 

EBAT 

Note 5) 

HRed 

GBlack 

J 

Absolute encoder 

5V 

0V 

FG (shielded) 

Plug : 10120-3000PE 

JA06A-20-29S-J1-R 

Shell : 10320-52A0-008 

JA06A-20-29S-J1-EB-R 

JA08A-20-29S-J1-EB-R 

N/MS3106B20-29S 

N/MS3108B20-29S 

(With Cannon plug) 

Note 1) Use a twisted-pair shielded cable. 

Note 2) Encoder power connections depend on encoder cable length. 

See the following table: 

Encoder cable length 5m MAX. 

5V DC Wiring 

Connect pin 19 

(Do not connect pins 9, 12, 17) 

0V DC Wiring 


(Do not connect pins 10, 11, 16, 18) 

10m MAX. 

Connect pin 17,19 

(Do not connect pins 9, 12) 

Connect pin 18, 20 

(Do not connect pins10, 11, 16) 

20m MAX. 

Connect pin 12, 17, 19 

(Do not connect pins 9) 

Connect pin 11, 18, 20 

(Do not connect pins 10, 16) 

30m MAX. 

Connect pin 9,12,17,19 

Connect pin 10,11,16,18,20 

Encoder cable length 

5V DC Wiring 

0V DC Wiring 

10m 


(Do not connect pins12,17) 


(Do not connect pins11,18) 

25m 





40m 

Connect pin 12,17,19 

Connect pin 11,16,18,20 

Note 3) Use a AWG24 0.2mm 2 encoder cable 

Note 4) The color in ( ) shows the case of the encoder of the lead wire type. 

Note 3) Use a AWG24 0.2mm 2 encoder cable 

Note 4) When the Absolute encoder for incremental system or absolute encoder 

without battery is used, battery lines (EBAT+, EBAT-) are not required. 

Note 5) The color in ( ) shows the case of the encoder of the lead wire type. 

22

- 

External Wiring Diagram 

Single-Axis Servo Amplifier With CANopen 

Main Power : 200V ACControl Power : 200V ACDC24V 

Contorol Power DC24V 

3-phase 

AC power 

200 to 230V 

5060Hz 

Note 10) 

MC 

Operation Prep. 

ON Operation Prep. 

OFF 

MC 

MC 

Emergency 

System Error 

Stop 

User Unit 

50A : CNA 

100 to 300A : Terminalblock 

Note 11) 

CNB 

T 

S 

R 

DC24V 

24V 

24G 

Contorol Power AC200V 

User Unit 

1 

2 

Note 2) 

Note 3) 

Note 4) 

CNB 

Regenerative 


3-phase 

AC power 


5060Hz 

Note 10) 

MC 

50A : CNA 


T 

Note 11) S 

R 

t 

r 

DL1 

DL2 

P 

RB1 

RB2 

+ 


ON 


OFF 

MC 

MC 

Emergency 

System Error 


CAN_H 

CAN_L 

Terminator 

GND 

GND 

CN3 

1 

2 

5 

3 

7 

Note 12) 


CAN 

TRANCEIVER 

W 

V 

U 

50A : CNC 


Note 6) 

Black 

White 

Red 

Green 

(Green/Yellow) 

SERVO MOTOR 

Orange 

(Yellow) 

Orange 

(Yellow) 

RY1 

Holding brake 

(for the type with 

a brake only) 

90V 

(24V) 

CAN_H 

CAN_L 

Terminator 

SH 

Combination of 

Plug:TM21P-88P 

CN4 

1 

2 

5 

1/4W 120 

CN2 

Note 7) 

Note 5) 

Encoder connector 

SH 


SH 

Plug : 10120-3000PE 

Shell : 10320-52A0-008 

Encoder 

GND 

3 

GND 

7 

SH 


Plug:TM21P-88P 

SG 

CN1 

DC 3.6V 

Lithium Battery 

1 

BTP-I 

2 

8 

BTN-I 

NPN Output 

OUT-PWR 

14 

DC5V, Note 8) 

DC12V 

24V 

PNP Output 

OUT-PWR 

14 

Note 8) 

DC12V 

Note 8 ) 

DC5V to 24V 

9 

3 

CONT 

-COM 

CONT1 

OUT1 

6 

OUT1 

6 

10 CONT2 

OUT2 

13 

OUT2 

13 

OUT-COM 

7 

4 CONT3 

SH 

Note 5) 

SH 

Note 5) 

11 CONT4 

Note 1) 1) For For the the parts parts markde markde , use , use a twisted a twisted pair shielded pair shielded cable. cable. 

5 CONT7 

12 CONT8 


Plug : 10114-3000PE 

Shell : 10314-52A0-008 

Note 2)When using an an external regenetive resistor, resistor, connect connect it between it between RB1 and RB1 2. If RB1 and 2. If RB1 

and 2are connected to the to the internal internal amplifier's amplifier's resistor, resistor, if a shorting if a shorting bar is bar is 

connected between between RB1and RB1and 4, first 4, first disconnect disconnect them. them. 

Note 3) The DL1 and DL2 terminals are for connecting a DC reactor. If a DC reactor is not 

Note 3) used, The DL1 short and the DL2 DL1 and terminals DL2 terminals are for using connecting the short a DC bar reactor. supplied. If a DC reactor is not 

used, short the DL1 and DL2 terminals using the short bar supplied. 

Note 4) The terminal and the P terminal are for maintenance (high-voltage circuit). 

Note 4) The terminal and the P terminal are for maintenance (high-voltage circuit). 

Note 5) Refer to the Instruction Manual for instructions on the shielding process. 

Note 5) Refer to the Instruction Manual for instructions on the shielding process. 

Note 6) The motor-side connection depends on the motor specification. The red, white, 

Note 6) black The motor-side green and orange connection markings depends are for on use the with motor lead type specification. motor power The line red, and white, 

brake line. Refer to the motor specifications for cannon plug type connections. 

black green and orange markings are for use with lead type motor power line and 

Note 7) Refer brake to line. the encoder Refer to connection the motor diagram specifications regarding for the cannon encoder plug connector type connections. 

wiring. 

Note 8) 7) Power Refer should to the be encoder supplied connection by the user. diagram Either of regarding the inputs can the be encoder selected. connector wiring. 

Note 9) 8) R,S,T,t,r,,P,DL1,DL2,RB1,RB2,U,V,W Power should be supplied by the are user. high-voltage Either of circuits, the inputs all other can be lines selected. are 

low-voltage. Ensure sufficient distance between the high- and low-voltage circuits. 

Note 9) R,S,T,t,r,,P,DL1,DL2,RB1,RB2,U,V,W are high-voltage circuits, all other lines are 

Note 10) It low-voltage. is recommended Ensure to use sufficient a ground distance fault interrupter between conformingto the high- and the UL, low-voltage IEC and circuits. 

EN standards. 

Note Note 11) 10) Do It is not recommended wire the S phase to for use a single-phase a ground fault power interrupter amplifier. conformingto the UL, IEC and 

EN standards. 

Note 12) Insert RJ45 connector to which 1pin(CAN_H) and 5pin(Terminator) are 

Note 11) short-circuited Do not wire the in CN3 S phase or CN4 for when a single-phase the terminator power is necessary. amplifier. 

Note 12) Insert RJ45 connector to which 1pin(CAN_H) and 5pin(Terminator) are 

short-circuited in CN3 or CN4 when the terminator is necessary. 

23

- 

− 

− 

+ 

+ 

Servo Amplifer built-in positioning function model 

Main Power : 200V ACControl Power : 200V AC 

Features and 

Functions 

Single-phase (200V) Amp,capacity 50A 

User Unit 

Single-phase 

AC Powe 


5060Hz 

3-phase (200V) 

Note 10) 

3-phase 

AC power 


50/60Hz 

Note 10) 

MC 


ON Operation Prep. 

OFF 

MC 

MC 

Emergency 


System Error 

MC 

User Unit 



ON 

OFF 

MC 

MC 

Emergency 

System Error Stop 

External power source for output (+24V) 

Power ON ready (A-RDY) 

NC ready (NCRDY) 

Holding brake excitation timing output (HBON) 

Error output (Err) 

External operation effective (EXT) 

While operation (MOVE) 

Positioning complete (PFIN) 

Note 8) 

50A : CNA 


Note 11) 

CN1 

1 

2 

50 

3 

4 

5 

6 

7 

8 

T 

S 

R 

t 

r 

Amp,capacity 

50A 

Note 2) 

Note 3) 

Note 4) 

CNB 

DL1 

DL2 

P 

RB1 


Note 2) 

Regenerative 


+ 

RB2 

Amp,capacity 

100A150A 

Note 2) 

Note 3) 

Note 4) 

Terminal 

block 

DL1 

DL2 

P 

RB1 

RB4 

SH 

SH 

Plug : 10120-3000PE, 

Note 5) Shell : 10320-52A0-008 

External 

regenerative 


RB2 

Built-in 

regenerative 


Amp,capacity 

300A 

Note 2) 

Note 3) 

Note 4) 

50A : CNC 

SERVO MOTOR 


Note 6) 

Black 

Orange 

W 

RY1 

(Yellow) 

White 

V 

Orange 

90V 

(Yellow) 

(24V) 

Red 

U 

Holding brake 


Green 

a brake only) 


CN2 Encoder connector 

Note 7) 

Encoder 

Terminal 

block 

DL1 

DL2 

P 

RB1 

External 

regenerative 


RB2 

Model Number 

Nomencalture 

System 

Configuration 

Standard 



Diagram 

In-position (INPS) 

9 

Homing complete (ZFIN) 

General-purpose output 

OUT(1) 

OUT(2) 

OUT(3) 

OUT(4) 

OUT(5) 

OUT(6) 

OUT(7) 

OUT(8) 

Common for output external power (24G) 

10 

11 

12 

13 

14 

15 

16 

17 

18 

24 

25 


Optional 

Equipment 

External power source for input (+24G) 

Slow down before Home (SDN) 

Note 8) 

26 

19 

Over travel (+0T) 

Over travel (-0T) 

External data setting (E_STR) 

External Error (EXT_E) 

Start (RUN) 

Homing start (ZRT) 

Manual feeding (+JOG) 

Manual feeding (-JOG) 

Over ride (OVRID)/Manual high speed (RAP) 

Alarm reset (ARST) 

Cancel (CACL) 

Servo ON (S-ON) 

Output selection 1 (SEL1) 



1 step feeding (+1step) 

1 step feeding (-1step) 

Interruption start (I_RUN) 

MFIN (MFIN) 

IN(1) 

IN(2) 

20 

21 

22 

23 

27 

28 

29 

30 

31 

32 

33 

34 

35 

36 

37 

38 

39 

40 

41 

42 

43 

Note 1) For the parts marked , use a shielded cable. 

Note 2) AMP. capacity 50A 

When using an external regenerative resistor, connect it between 

RB1 and 2. If RB1 and 2are connected to the internal amplifier's 

resistor, or if a shorting bar is connected between RB1and 4, first 

disconnect them. 

AMP. capacity 100A,150A 

When using internal regenerative resistor, connectshort-circuit bar 

between RB1 and RB4 terminals. When using external regenerative 

resistor, connect it between RB1 and RB2 terminalsafter removing 

short-circuit bar between RB1 and RB4 terminals. 

AMP. capacity 300A 

Connect external regenerative resistor between RB1 and RB2 terminals. 

Note 3) 

The DL1 and DL2 terminals are for connecting a DC reactor. 

If a DC reactor is not used, short the DL1 and DL2 

terminals using the short bar supplied. 

Note 4) The terminal and the P terminal are for maintenance 

Note 5) Refer to the Instruction Manual for instructions on theshielding process. 

Note 6) 

Note 7) 

The motor-side connection depends on the motor specification. 

The red, white, black green and orange markings are 

for use with lead type motor power line and brake line. 

Refer to the motor specifications for cannon plug type connections. 

Refer to the encoder connection diagram regarding 

the encoder connector wiring. 

Point specification 

IN(4) 

IN(8) 

IN(16) 

IN(32) 

44 

45 

46 

47 

Note 8) 

Power should be supplied by the user. 

Either of the inputs can be selected. 

Note 9) R,S,T,t,r, ,P,DL1,DL2,RB1,RB2, RB4 (100A, 150A only), U,V,W are 

high-voltage circuits, all other lines are low-voltage. Ensure sufficient 

distance between the high- and low-voltage circuits. 

IN(64) 

48 

IN(128) 

49 

Note 10) 

It is recommended to use a ground fault interrupter conforming 

to the UL, IEC and EN standards. 

Plug :10150-3000PE 

Shell :10350-52A0-008 

Note 11) 

Do not wire the S phase for a single-phase power amplifier. 

24

External Wiring Diagram 


Single-phase (200V)Amp,capacity 50A 

User Unit 

Single-phase 

AC Power 


5060Hz 

Note 10 

3-phase (200V) 

3-phase 

AC Power 


5060Hz 

Note 10 

MC 



ON 

OFF 

MC 

MC 

Emergency 


System Error 

MC 

User Unit 

50A : CNA 

100 to 300A : 

Terminalblock 

Note 11 

T 

S 

R 

t 

r 

Amp,capacity 

50A 

Note 2 

Note 3 

Note 4 

CNB 

DL1 

DL2 

Regenerative 


P 

RB1 

RB2 

+ 

Amp,capacity 

100A150A 

Note 2 

Note 3 

Note 4 

Terminal 

block 

− 

DL1 

DL2 

P 

RB1 

RB4 

RB2 

Built-in 

regenerative 


+ 

External 

regenerative 


Amp,capacity 

300A 

Note 2 

Note 3 

Note 4 

Terminal 

block 

− 

DL1 

DL2 

P 

RB1 

+ 

External 

regenerative 


RB2 

Operation Prep. Operation Prep. 

ON OFF 

MC 

MC 


Emergency 


System Error 

B/B' 

A/A' 

GND 

Conbination of 

Plug : TM21P-88P 

Note 1 CN3 

SH 

4 

5 

8 

SW2 

1/4W 120 

RS-485 

TRANCEIVER 

CNC 

W 

V 

U 

CN2 

Note 7 

SH 

Note 6 

Black 

White 

Red 

Green 


Encoder connector 

SH 

SERVO MOTOR 

Encoder 

Orange 

(Yellow) 

Orange 

(Yellow) 

Holding brake 


a brake only) 

RY1 

90V 

(24V) 

B/B' 

A/A' 

Hirose 

CN4 

Note 1 

4 

5 

Note 5 

Conbination of 

Plug : 10120-3000PE, 

Shell : 10320-52A0-008 

3M 

GND 

8 

SH 

Combination 

Plug : TM21P-88P or equivalent 

Hirose 

SG 

OUT-PWR 9 

Note 8 

DC24V 

CN1 

OUT1 7 

DC24V 

Note 8 

1 

2 

CONT-COM 

CONT1 

OUT2 8 

General-purpose Outputs 

3 

CONT2 

OUT-COM 

6 

General-purpose Inputs 

SH 

4 

CONT3 

5 

CONT4 

Note 1) For the parts marked , use a shielded cable. 

SH 

Combination 

Plug kit: MUF-PK10K-X or equivalent 

J.S.T.Mfg.CO.,LTD 

Note 2) 

Note 3) 

Connect regenerative resistor between RB1 and RB2 terminals. 

The DL1 terminal and DL2 terminal are terminals to connect to the 

DC reactor. When a DC reactor is not used, short-circuit between 

DL1 and DL2 terminals with the supplied short-circuit bar. 

Note 4) The terminal and the P terminal are for maintenance 

Note 5) Refer to the Instruction Manual for instructions on the shielding 

process. 

Note 6) 

Note 7) 

Note 8) 

The motor-side connection depends on the motor specification. 

The red, white, black green and orange markings are 

for use with lead type motor power line and brake line. 

Refer to the motor specifications for cannon plug type connections. 

Refer to the encoder connection diagram regarding 

the encoder connector wiring. 

Power should be supplied by the user. 

Either of the inputs can be selected. 

Note 9) R,S,T,t,r, ,P,DL1,DL2,RB1,RB2,U,V,W are high-voltage circuits, 

all other lines are low-voltage. Ensure sufficient 

distance between the high- and low-voltage circuits. 

Note 10) 

Note 11) 

It is recommended to use a ground fault interrupter conforming 

to the UL, IEC and EN standards. 

Do not wire the S phase for a single-phase power amplifier. 

25

Servo Motor Dimensions (Unit : mm) 

 

86mm 

Q2 Servo Motor Series: High Efficiency / Low Ripple (Medium Inertia) 

Features and 

Functions 

(115) 

86 

4-6.6 

100 

0.07 M 

0.02 

0.06 M 

0 

800.030 

Standard 


0 

160.011 

2 

M 

35 LL 

3 

8 

30 

25 

A 

A 

55 

Model Number 

Nomencalture 

System 

Configuration 

S Type Oil seal 

M5 Tapping 

Depth 12 

(7.5) 

(5) 

Optional 

Equipment 

0 

50.030 

1100100 

(50) 

1100100 

(50) 

MODEL 

Q2AA08075 

Q2AA08100 

2 

5 

Section AA 

Incremental 

Without brake With brake 

LL 

LL 

146 

182 

163 

199 

Teflon wire (for mounting) 

(For Poewr, Brake and Ground) 

Shielded cable (for mounting) 

(For Encoder) 


Diagram 

 

180mm 

Q4 Servo Motor Series: High Power Rate (Low Inertia / High Torque) 


Eye Bolt 

2-M8 

(IE) 

(LH) 

Weight Caution Nameplate Key Position Key Position 

MS3102A32-17P (or Equivalent) MS3102A10SL-4P 

MS3102A20-29P (or Equivalent) 

(for motor) (for fan motor) (for encoder) 

LC 

M 

LL 

(50) (50) 

 

(KB1) (KB2) 7.5 

M 

LR 

(IL1) 

(IL2) 

LE (LG) 

Motor Nameplate 

(Opposite side) 

Arrow Nameplate 

(opposite) 

Q 

LA 

LB 

S 

QA QK 

A 

M 

 

A 

R1 

N.P. 

Exhaust 

N.P. 

Intake 

(115) (15) 

(KL3) (19) 

(KL1) 

(KL2) 

M10X1.5 

4-LZ1 

Depth LT 


2-LZ2 

W 

U 

T 

(IL1) 

(IL2) 

2-M8 Caution Nameplate 

For Eye Bolt 

Exhaust 

Min. of 50mm space needed 

(145) 

Section A-A 

Incremental 

Note 1) 


 

Without brake 

Motor, Ground 

MODEL LL KB2 MS3102A LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S Q QA QK W T U KB1 QE LT IE IF 

0 

0 

Q4AA1811K 497 

72 

0 

42-0.016 

12-0.043 8 3 337 84 

32-17P 19 144 22 79 200 

Q4AA1815K 

114.3-0.035 3 230 180 13.5 M8 79 0 75 3 67 0 

0.03 0.08 0.10 M10 25 124 50 

587 

55-0.019 

16-0.043 10 4 427 109 

Please inquire for the dimensions with the absolute encoder. 

IL1 IL2 

145 90 

155 170 

26

H 

Servo Amplifier Dimensions (Unit : mm) 

 


Q1 Servo Motor Series: High Power Rate (Low Inertia) 


LC 

4-LZ1 

M 

 

M 

LR 

LE (LG) (IL2) 

LL 

(IF) 2-M8 

(LH) 

LA 

QA 

Q 

QK 

H 

W 

 

LB 

S 

M 

(KL1) 

(19 ) (KL3) 

(IE) 

2-LZ2 


QE Tap 

Depth LT 

U 

T 

(IL1) 

(IL2) 

(KB1) 

(KB3) 

(KB2) 

( KL2 ) 

MS3102A20-29P(or Equivalent) 

(For Encoder) 

(IF) 

Eye bolt 

2-M8 

Section H-H 

MS3102A-(or Equivalent) 

(for motor, brake and ground) 

JL04V-2E10SL-3PE-B 

(For Brake) 

Q1 Servo Motor Series: High Power Rate (Low Inertia) 

Incremental Connector Note 1 

Without brake With brake Motor, Ground 

Brake Note 2 

(only when mounted) 

MODEL LL KB2 LL KB2 KB3 MS3102A JL04V-2E LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 

Q1AA10100 184 

219 

Q1AA10150 209 244 

80 

Q1AA10200 234 269 

116 51 20-15P 10SL-3PE-B 10 78 19 63 115 0 95-0.035 3 130 100 9 - 

Q1AA10250 259 294 

Q1AA12100 

Q1AA12200 

168 

205 72 

204 

241 108 45 24-11P 10SL-3PE-B 12 93 21 67 135 

Q1AA12300 242 278 

Q1AA13300 205 

254 

Q1AA13400 232 67 281 

12 98 21 80 145 

117 - 24-11P 

Q1AA13500 269 318 

Q1AA18450 288 67 338 16 123 21 

Q1AA18750 384 72 434 122 54 32-17P 10SL-3PE-B 19 144 22 

80 200 

0 

110-0.035 

0 

110-0.035 

0 

114.3-0.035 

3 162 120 9 - 

4 165 130 9 M6 

3 230 180 13.5 M8 

MODEL LR S Q QA QK W T U KB1 QE LT IE IF IL1 IL2 

Q1AA10100 

84 

Q1AA10150 0 

0 

109 

45 

40 3 32 

6 2.5 

Q1AA10200 22-0.013 

6-0.030 

134 

0.02 0.08 0.08 M6 20 - - - - 

Q1AA10250 159 

Q1AA12100 

0 

0 

76 

45 

40 3 32 

6 2.5 

M6 20 

Q1AA12200 22-0.013 

6-0.030 

113 

0.02 0.08 0.08 

- - - - 

Q1AA12300 55 

0 

0 

50 3 42 

28-0.013 

8-0.036 

7 3 150 M8 25 

Q1AA13300 

Q1AA13400 55 

0 

0 

50 3 42 

28-0.013 

8-0.036 

7 3 

117 

144 0.02 0.08 0.08 M8 25 - - - - 

Q1AA13500 181 

0 

0 

Q1AA18450 65 

60 3 50 

8 3 200 

M8 25 124 50 93 50 

35-0.016 

10-0.036 

0.02 0.08 0.08 

0 

0 

Q1AA18750 79 

75 3 67 

8 3 291 M10 25 124 50 85 145 

42-0.016 

12-0.043 

Note 1) Waterproof specification IP67 requires that the connector to be attached ; for IP67 compliance, use a waterproof connector for the mating plug. 

Note 2) All brake connectors are JL04V-2E10SL-3PE-B for CE compliant DC24V brakes. 


27


Incremental Connector Note 1 

Without brake With brake Motor, Ground 

Brake Note 2 

(only whenmounted) 

MODEL LL KB2 LL KB2 KB3 MS3102A JL04V-2E LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 

Q2AA10100 196 

231 0 

77 113 51 20-15P 10SL-3PE-B 10 78 19 67 115 

Q2AA10150 226 261 

95-0.035 

3 130 100 9 - 

Q2AA13100 152 

188 103 - 0 

Q2AA13150 169 205 

24-11P 12 98 21 80 145 

110-0.035 

4 165 130 9 M6 

Q2AA13200 186 226 107 - 

67 

Q2AA18200 171 221 

Q2AA18350 203 253 117 - 24-11P 16 123 21 80 200 

0 

114.3-0.035 

3 230 180 13.5 M8 

Q2AA18450 218 268 

Q2AA18550 282 

332 0 

72 122 54 32-17P 19 144 22 80 200 

Q2AA18750 332 382 

114.3-0.035 

3 230 180 13.5 M8 

Q2AA22550 252 

309 0 

83 141 82 24-11P 10SL-3PE-B 19 141 21 80 235 

Q2AA22700 310 368 

200-0.046 

4 270 220 13.5 M10 

Q2AA2211K 335 

393 

0 

73 61 131 32-17P 19 162 22 80 235 

Q2AA2215K 394 452 

200-0.046 

4 270 220 13.5 M10 

MODEL LR S Q QA QK W T U KB1 QE LT IE IF IL1 IL2 

Q2AA10100 

0 

0 

98 

45 

40 3 32 

6 2.5 

0.02 0.08 0.08 M6 20 - - - - 

Q2AA10150 22-0.013 

6-0.030 

128 

Q2AA13100 

0 

0 

64 

6 2.5 

M6 20 

Q2AA13150 22-0.013 

6-0.030 

81 

55 

50 3 42 

0.02 0.08 0.08 

- - - - 

0 

0 

Q2AA13200 

7 3 98 M8 25 

28-0.013 

8-0.036 

Q2AA18200 

83 

- - - - 

0 

0 

Q2AA18350 65 

60 3 50 

8 3 115 0.02 0.08 0.08 M8 25 

20 

35-0.016 

10-0.036 

124 50 61 

Q2AA18450 130 35 

Q2AA18550 

0 

0 

189 

50 

79 

75 3 67 

8 3 

0.02 0.08 0.08 M10 25 124 50 85 

Q2AA18750 42-0.016 

12-0.043 

239 100 

Q2AA22550 

0 

0 

149 

50 

79 

75 3 67 

10 4 

0.03 0.08 0.10 M10 25 142 60 55 

Q2AA22700 55-0.019 

16-0.043 

207 110 

Q2AA2211K 

0 

0 

241 

120 

79 

75 3 67 

10 4 

0.03 0.08 0.10 M10 25 142 60 69 

Q2AA2215K 55-0.019 

16-0.043 

300 180 

Note 1) Waterproof specification IP67 requires that the connector to be attached ; for IP67 compliance, use a waterproof connector for the mating plug. 

Note 2) All brake connectors are JL04V-2E10SL-3PE-B for CE compliant DC24V brakes. 


Features and 

Functions 

Model Number 

Nomencalture 

System 

Configuration 

Standard 



Diagram 

Electric wire diameters 

Voltage 

200V Type 

Maximum continuous Power receptacle Maximum wire size of connector Receptacle permissable 

Combined Amplifier Recommended motor power wire size 

current 

Wire size of main power , , *Note 1 

MODEL armature current 

MS Type JL04V Type 

Shell Size Contact Size 

Type 

Arms mm 2 mm 2 Arms supply R , S , T mm 2 AWG No. 

Q1AA10100D 7.8 

RS1A05 AWG12 3.5 #12 

Q1AA10150D 8.2 

20-15P #12 3.5 3.5 20/1 

Q1AA10200D 18 

RS1A10 AWG10 3.5 #12 

Q1AA10250D 17.2 

Q1AA12100D 7.5 

RS1A05 AWG12 3.5 #12 

Q1AA12200D 16.2 

24-11P #8 8 5.5 40/1 

Q1AA12300D 17.3 

RS1A10 AWG10 5.5 #10 

Q1AA13300D 17.6 

RS1A10 AWG10 5.5 #10 

Q1AA13400D 26.4 

24-11P #8 8 5.5 40/1 

Q1AA13500D 27.5 

RS1A15 AWG8 5.5 #10 

Q1AA18450M 24.8 

Q1AA18750H 60 32-17P #4 22 22 70/1 RS1A30 AWG6 14 #6 

Q2AA10100H 8.1 

Q2AA10150H 9.4 

20-15P #12 3.5 3.5 20/1 RS1A05 AWG12 3.5 #12 

Q2AA13100H 8.3 

Q2AA13150H 10.2 

RS1A05 AWG12 3.5 #12 

Q2AA13200H 16.3 

Q2AA18200H 18 

24-11P #8 8 5.5 40/1 RS1A10 AWG10 5.5 #10 

Q2AA18350H 28 

Q2AA18450H 29 

RS1A15 AWG8 5.5 #10 

Q2AA18550R 33.7 

RS1A15 AWG8 8 #8 

Q2AA18550H 47 

32-17P #4 22 22 70/1 

Q2AA18750L 57 

RS1A30 AWG6 14 #6 

Q2AA22550B 35.1 

Q2AA22700S 34 

24-11P #8 8 5.5 40/1 RS1A15 AWG8 5.5 #10 

Q2AA2211KV 66 

Q2AA2215KV 66 

32-17P #4 22 22 70/1 RS1A30 AWG6 14 #6 

Q4AA1811KB 53 

Q4AA1815KB 59 

32-17P #4 22 22 70/1 RS1A30 AWG6 14 #6 

*Note1Use of heat-resistant vinyl wire (HIV) is recommended 


Optional 

Equipment 

28

AC SERVO SYSTEMS 

CNA 

T 

S 

R 

t 

r 

CNB 

 

DL1 

DL2 

P 

RB1 

RB2 

CNC 

W 

V 

U 


MODE 

T 

S 

R 

t 

r 

 

DL1 

DL2 

P 

RB1 

RB2 

W 

V 

U 

 

CHARGE 

RUN 

ERR 

 

CHARGE 

C 

N 

B 

C 

N 

A 

WR/ 

POWER 

POWER 

CN3 

CN4 

P 

C 

C 

N 

1 

C 

N 

2 

RS1A05A* 

C 

N 

1 

C 

N 

2 

RB1 

RB2 

RB1 

RB2 

PC 

R 

S 

T 

DL1 

DL2 

P 

RB4 

RB1 

RB2 

U 

V 

W 


RS1A15A* 

MODE WR/ 

CHARGE POWER 

r 

t 

 

 

P 

C 

1 

2 


CNA 

T 

S 

R 

 

P 

RB1 

RB2 

CNB 

24V 

0V 

CNC 

W 

V 

U 

CHARGE 

RS1J05AL 

RUN 

ERR 

POWER 

CN3 

CN4 

PC 

DL1 

DL2 

P 

RB4 

RB1 

RB2 

U 

V 

W 


RS1A10A* 

MODE 

WR/ 

CHARGE POWER 

r 

t 

P 

C 

1 

2 

R 

S 

T 

RB1 RB2 

CHARGE 

r 

t 

DL2 

P 

U 

V 

W 

- 

DL1 


MODE 

 

 

POWER 

RS1A30A* 

WR/ 

 

P 

C 

C 

N 

1 

C 

N 

2 

Servo Amplifier Dimensions Unit : mm 

Single-Axis Servo Amplifier with CANopen 

RS1A05AC50A 

RS1J05AC50A 

5 

Screw M4 

5 

Screw M4 

168 

90 

R 

RS1A05AL 

(27) 

(70) 

(24) 

130 

135.5 

4 

160 5 

80 

5 

Fan 

168 

Wind direction 

90 

R 

(27) 

(70) 

(24) 

130 

135.5 

4 

160 5 

80 

5 

Fan 


C 

1 N 

2 NC 

5 

5 

Servo Amplifier built-in positioning function model 

RS1A05AC50A 

5 

Screw M4 

RS1A10AC100A 

168 

90 

 

C 

N 

C 

R 

(27) 

(70) 

(24) 

130 

135.5 

4 

160 5 

80 

5 

Fan 


2 

235 

5.5 

(70) 

(24) 

(27) 

235 

225 5 

6 

R 

S T 

100 

50 

6 

- 

R 

15 

205 

N C N C 

5 

Fan 

(6) 

(75) 


RS1A15AC150A 

RS1A30AC300A 

2 

235 

5.5 

(70) 

(24) 

(27) 

235 

225 5 

6 

130 

100 

50 

6 

- 

R 

15 

205 

N C N C 

2 

235 

(70) 

5.5 (24) 

(27) 

250 

235 10 

100 

7 

220 

100 

R 

205 30 

Fan 


(6) 

(75) 

Fan 


7 

29


(1) Setup Software Start-up Screen (2) Main Screen 

System 

Configuration 

Features and 

Functions 

Model Number 

Nomencalture 

(3) Parameter Configuration Screen 

a. Configuration of General Parameters : Enables 

parameter loading, saving, etc., via PC connection 

(4) Monitor Functions 

b. Configuration of Motor Parameters : Combined motors 

can be configured via PC connection 



Standard 

Diagram 


Optional 

Equipment 

a. Monitor Display : Observe Operation and Input/ 

Output signal status 

b. Multi-monitor Display : Simultaneous monitoring of 

operational status of multiple 

c. Alarm Record Display : Current and past alarm 

occurrence can be checked. 

30


(5) Test Run and Adjustment Function 

a. Speed Jog : Simplifies motor operation and 

the issuing of speed commands from a PC 

b. Pulse Forward Jog : Simplifies motor 

operation and the entering of distance and 

travel speed data from a PC 

c. Auto Notch Filter Tuning : Configures the 

appropriate notch filter settings 

d. System Analysis : Analyzes servo system frequency 

characteristics 

(6) Operation Trace Function 

Graphically displays servo motor speed, current, 

and terminal status 

Built-in Positioning Function Type Screen 

Point Data Setup 

Test Run 

31

Pass Point 1 Move to Point 2 Move to Point 3 

Servo Amplifier built-in positioning model 

General Specifications 

Positioning 

Function 

Input and 

Output 

Control Shaft Count 

Single Shaft 

Register Point Count Configurable up to 254 points (P000 to P253) 

Maximum No. of Commands From -2,147,483,648 to +2,147,483,647 

Command Unit 

Either mm or pulse is acceptable 

Fast-forward Speed 

2,147,483.647mm/sec (0.001mm/when“ pulse” is selected) 

Acceleration and Deceleration Automatic acceleration and deceleration (straight and S switch) 


Numerical input via PC, and setup by teaching 

Travel Point Number Setup Parallel 8 bits (binary code) 

Current Limit 

0 to 510% (at 100% rating), but less than instantaneous maximum stall current 

Software Limit 

Exists 

Travel Mode 

Zero Return, Manual (JOG, 1Step), and Point-specified Travel 

Zone Signal 

Maximum of 8 zones 

Sequence Input Signals 

Sequence Output Signals 

Servo ON, alarm reset, start up, zero return, manual, override/manual high-speed, cancel, deceleration before 

origin, external error, over-travel, external data setup1 step forward, interrupt activated, output selection, 

MFIN, point specified input 

NC ready, holding brake timing, error, external operation enabled, running, positioning completion, 

in-position output, zero return completion, general output (8 bits) 

Features and 

Functions 

Model Number 

Nomencalture 

System 

Configuration 

Standard 


Sample operations of the Servo Amplifer built-in Positioning Function model 

By starting up Point 1, Points 2 and 3 will be executed consecutively. 


Enables configuration and saving of parameters, and the 

reading of point data from a PC. 

Mode 1: [01]= Positioning Operation enabled; 

Mode 2: [00]= Final Travel, [01]= Continue to next Point Number 

Gear Change: Stop / Continue: [1]= Consecutive Gear Shift Operation 


Diagram 

Optional 

Equipment 


PLC 

OT Sensor Deceleration Signal 

Sensor 

+OT Sensor 

Starting Coordinates: Start-up Point 001 (P001) as 0.0 

P001:100.0 P002:150.0P003:180.0 

Motor Speed 

Point Input 

Point 1 (P001) ON only 

CN1-42 

0.0 100.0 200.0 

ON 

OFF 

Coordinate 

Start-up Signal Input 

CN1-27 

Running Output 

CN1-7 

ON 

OFF 

ON 

OFF 

Positioning Completion Signal 

CN1-8 

ON 

OFF 

32

Optional Equipment 

PC Interface Cable [unit: mm] 

Lithium battery [Unit: mm] 

9 

+ 50 

2850 - 10 

Cable 

CN1 

Lead Wire Red 

Pin 1 

74.58 

1 

PC Side 

Amp side 


Lead Wire Black 

Pin 2 

505 

24.5 

14.5 

17MAX. 

Lithium battery 

Model No.:AL-00490833-01 

A note regarding RS-232C communications: 

The user must provide s PC for computer interface. 

Parameter settings may require adijustment. 

Mass : 0.14kg 

Model No AL-00494635-01 

Mass : 0.02kg 

Mounting Hardware [unit: mm] 

50A Rear Side 

50A Front Side 

62 

50 6 

65 

188 

198 

120 

7 

5 

198 

5 188 

2 

50 

2 5 

5 

For mounting on the rear side of the amplifer 

Model No.:AL-00582792-01 

Applicable Amplifiers:RS105 

Material:SPCC 

Model No. 

Contents 

AL-00582792-01 

Mounting Bracket : 1 

Screws : 2 

For mounting on the front side of the amplifer 

Model No.:AL-00582790-01 Material:SPCC 

Applicable Amplifiers:RS105 

Model No. 

Contents 

AL-00582790-01 

Mounting Bracket : 1 

Screws : 6 

External Regenerative Resistor Dimensions [unit: mm] 

230 300 

15 

2200.4 

270 0 

200 

4.3 

20 

0 

61 

61 

4.5 

250 

234 

8 

24.5 

Ground Mark 

600.4 

42.7 

Thermostat 

2-M3 

60 

80 

-0.3 

0Silicon Rubber Glass-braided Wire AWG20 0.5mm 2 , White 

20 

1.2 4.3 

(Thermostat) 

Silicon Rubber Glass-braided Wire AWG18 0.75mm 2 , Black 

350 

Read wire AWG24 0.2mm 2 White 

3 

700 

35 

Solderless terminal (for M5) 

Read wire AWG14 2mm 2 White 

Mass : 0.44kg 

Model No. 

Thermostat 

1 REGIST-220W20B Normal close 



Mass : 1.5kg 

Model No. 

Thermostat 

1 REGIST-500CW20B Normal close 




33

Connectors for Servo Amplifier with CANopen 

Main Power : 200V AC, Control Power : 1 200V AC 

Single 

Connectors 

Connector Sets 

Single 



Usage Contents Model No. Manufacturer Manufacturer's Part No. Max. Amp. Capacity 

Single 



Contents Model No. Manufacturer Manufacturer's Part No. Max. Amp. Capacity 

CN1Plug, Housing 

AL-00608710 

10114-3000PE+10314-52A0-008 

Sumitomo 3M 

CN2Plug, Housing AL-00385596 10120-3000PE+10320-52A0-008 

CNAPlug 

AL-00329461-01 

MSTB2.5/5-STF-5.08 

CNBPlugAccessory AL-Y0000988-01 Phoenix Contact 

IC2.5/6-STF-5.08 

CNCPlug AL-00329458-01 IC2.5/3-STF-5.08 

CN1,CN2Plug, Housing 

CNA,CNCPlug 


AL-00385594 

10150-3000PE+10350-52A0-008 



CNAPlug 

AL-00329461-01 

MSTB2.5/5-STF-5.08 

CNBPlugAccessory AL-Y0000988-01 Phoenix Contact 

IC2.5/6-STF-5.08 



CNA,CNCPlug 

AL-00661731 

AL-00393603 


Phoenix Contact 

CN1,CN2Plug, Housing AL-00661729 Sumitomo 3M 

Main Power : 200V AC, Control Power : 24V DC 




10114-3000PE+10314-52A0-008 

10120-3000PE+10320-52A0-008 

MSTB2.5/6-STF-5.08 

IC2.5/3-STF-5.08 

10114-3000PE+10314-52A0-008 

10120-3000PE+10320-52A0-008 

Contents Model No. Manufacturer Manufacturer's Part No. Max. Amp. Capacity 


AL-00608710 

10114-3000PE+10314-52A0-008 



CNAPlug 

AL-Y0000988-02 

IC2.5/7-STF-5.08 

CNBPlug AL-00329460-01 Phoenix Contact 

MSTB2.5/2-STF-5.08 



CNA,CNB,CNCPlug 

AL-00667184 




Servo Amplifier Connections (AC200V Input Type) 

10114-3000PE+10314-52A0-008 

10120-3000PE+10320-52A0-008 

MSTB2.5/7-STF-5.08 

MSTB2.5/2-STF-5.08 

IC2.5/3-STF-5.08 

10114 - 3000PE+10314-52A0-008 

10120 - 3000PE+10320-52A0-008 

10150-3000PE+10350-52A0-008 

10120-3000PE+10320-52A0-008 

MSTB2.5/5-STF-5.08 

IC2.5/3-STF-5.08 

10150-3000PE+10350-52A0-008 

10120-3000PE+10320-52A0-008 

50A 

50A 

50A 

50A 

50A 

50A 

50A 

50A 

No Limit 

50A 

50A 

100A 

150A 

300A 

Features and 

Functions 

Model Number 

Nomencalture 

System 

Configuration 

Standard 



Diagram 


Optional 

Equipment 


Single 


Contents Model No. Manufacturer Manufacturer's Part No. 

CN1Plug, Housing AL-Y0004290-02 J.S.T.Mfg.CO.,LTD MUF-PK10K-X 

CN2, CNA, CNB, and CNC are the same as the connectors for the Servo Amplifier built-in positioning function model above. 

Servo Motor Encoder Connectors 

Motor Model No. 

All Q1, Q2, Q4 Models 

Encoder receptacle 

MS3102A20-29P 

Encoder Plug Standard Specifications TÜV-Conforming Plug (Cable Clamp) for Encoder 

Pin Layout Symbol 

(Cable Clamp) 

Waterproof Specification 

Reduced Wiring Incremental Encoder 

Straight Angle Straight Angle 

Absolute Encoder 

MS3106B20-29S MS3108B20-29S 

Depends on the encoder hookup diagram 

JA06A20-29S-J1-EB JA08A20-29S-J1-EB 

(MS3057-12A) 

(MS3057-12A) 

shown in the motor dimensional drawing or 

(JL04-2022CK(14) ) (JL04-2022CK(14) ) 

MS06B20-29S-12 MS08B20-29S-12 

instruction manual 

indicates the SANYO DENKI part numbers (Plug & Cable Clamp) 

Cooling Fan Connectors 


Cooling fan receptacle 

Standard plug (Cable Clamp) for Cooling Fan Waterproof plug (Cable Clamp) for Cooling Fan 

Straight Angle Straight Angle 


AC200V 10% 

Single phase 50/60Hz 

All Q4 Models 

MS3102A10SL-4P 

MS3106B10SL-4S 

(MS3057-4A) 

MS06B10SL-4S-4 

MS3108B10SL-4S 

(MS3057-4A) 

MS08B10SL-4S-4 

JA06A10SL-4S-J1 

(Conduit) 

The conduit is supplied by customer 

Please see the catalogs and instruction manuals of the connector manufacturer's (Japan Aviation Electronics Industry Limitedfor details, including the instructions for the connector and the precautions. 

indicates the SANYO DENKI part numbers (Plug & Cable Clamp) 

34

Optional Equipment 

Motor Connectors 

Voltage 

200V Type 


Q1AA10100D 

Q1AA10150D 

Q1AA10200D 

Q1AA10250D 

Q1AA12100D 

Q1AA12200D 

Q1AA12300D 

Q1AA13300D 

Q1AA13400D 

Q1AA13500D 

Q1AA18450M 

Motor power receptacle 

JL04V-2E20-15PE-B 

JL04V-2E24-11PE-B 

JL04V-2E24-11PE-B 

Brake receptacle 

Standard specifications, TÜV 

specifications: DC90V 

(*Note 1 TÜV: DC24V only) 

JL04V-2E-10SL-3PE-B 


Note 1 

(JL04V-2E-10SL-3PE-B) 

Q1AA18750H JL04V-2E32-17PE-B JL04V-2E-10SL-3PE-B 

Q2AA10100H 

Q2AA10150H 

Q2AA13100H 

Q2AA13150H 

Q2AA13200H 

Q2AA18200H 

Q2AA18350H 

Q2AA18450H 

Q2AA18550R 

Q2AA18550H 

Q2AA18750L 

Q2AA22550B 

Q2AA22700S 

Q2AA2211KV 

Q2AA2215KV 

Q4AA1811KB 

Q4AA1815KB 

JL04V-2E20-15PE-B 

JL04V-2E24-11PE-B 

JL04V-2E32-17PE-B 

JL04V-2E24-11PE-B 

JL04V-2E32-17PE-B 

JL04V-2E32-17PE-B 


Note 1 

(JL04V-2E-10SL-3PE-B) 




Standard power plug 

Cable Clamp) 

TÜV-Standard Plug Waterproof Specification 

Cable Clamp) 

TÜV-Standard Plug for Brake Waterproof Specification 

Cable Clamp) 

Straight Angle Straight Angle Straight Angle 

MS3106B20-15S 

(MS3057-12A) 

MS06B20-15S-12 

MS3106B24-11S 

(MS3057-16A) 

MS06B24-11S-16 

MS3106B24-11S 

(MS3057-16A) 

MS06B24-11S-16 

MS3106B32-17S 

(MS3057-20A) 

MS06B32-17S-20 

MS3106B20-15S 

(MS3057-12A) 

MS06B20-15S-12 

MS3106B24-11S 

(MS3057-16A) 

MS06B24-11S-16 

MS3106B32-17S 

(MS3057-20A) 

MS06B32-17S-20 

MS3106B24-11S 

(MS3057-16A) 

MS06B24-11S-16 

MS3106B32-17S 

(MS3057-20A) 

MS06B32-17S-20 

MS3106B32-17S 

(MS3057-20A) 

MS06B32-17S-20 

MS3108B20-15S 

(MS3057-12A) 

MS08B20-15S-12 

MS3108B24-11S 

(MS3057-16A) 

MS08B24-11S-16 

MS3108B24-11S 

(MS3057-16A) 

MS08B24-11S-16 

MS3108B32-17S 

(MS3057-20A) 

MS08B32-17S-20 

MS3108B20-15S 

(MS3057-12A) 

MS08B20-15S-12 

MS3108B24-11S 

(MS3057-16A) 

MS08B24-11S-16 

MS3108B32-17S 

(MS3057-20A) 

MS08B32-17S-20 

MS3108B24-11S 

(MS3057-16A) 

MS08B24-11S-16 

MS3108B32-17S 

(MS3057-20A) 

MS08B32-17S-20 

MS3108B32-17S 

(MS3057-20A) 

MS08B32-17S-20 

JL04V-6A20-15SE-EB 

(JL04-2022CK) 

332706X5 


(JL04-2428CK) 

332706X10 


(JL04-2428CK) 

332706X10 


(JL04-32CK) 

332706X11 


(JL04-2022CK) 

332706X5 


(JL04-2428CK) 

332706X10 


(JL04-32CK) 

332706X11 


(JL04-2428CK) 

332706X10 


(JL04-32CK) 

332706X11 


(JL04-32CK) 

332706X11 


(JL04-2022CK) 

332707X5 


(JL04-2428CK) 

332707X10 


(JL04-2428CK) 

332707X10 


(JL04-2022CK) 

332707X5 


(JL04-2428CK) 

332707X10 


(JL04-2428CK) 

332707X10 

JL04V-6A10SL-3SE-EB 

(JL04-1012CK ) 

332706X1 


(JL04-1012CK ) 

332706X1 


(JL04-1012CK ) 

332707X1 


(JL04-1012CK ) 

332707X1 

Note 1 Note 1 


(JL04-1012CK ) 

332706X1 


(JL04-1012CK ) 

332706X1 


(JL04-1012CK ) 

332707X1 


(JL04-1012CK ) 

332707X1 

Note 1 Note 1 


(JL04-1012CK ) 

332706X1 


(JL04-1012CK ) 

332706X1 


(JL04-1012CK ) 

332706X1 


(JL04-1012CK ) 

332707X1 


(JL04-1012CK ) 

332707X1 


(JL04-1012CK ) 

332707X1 

Voltage 



U phase V phase W phase Ground Brake 

Q1AA10100D 

Q1AA10150D 

Q1AA10200D 

Q1AA10250D 

Q1AA12100D 

Q1AA12200D 

Q1AA12300D 

Q1AA13300D 

Q1AA13400D 

Q1AA13500D 

Q1AA18450M 

A B C D A , B 

D E F G , A , B 

D E F G , A , B 

Q1AA18750H A B C D A , B 

200V Type 

Q2AA10100H 

Q2AA10150H 

Q2AA13100H 

Q2AA13150H 

Q2AA13200H 

Q2AA18200H 

Q2AA18350H 

Q2AA18450H 

Q2AA18550R 

Q2AA18550H 

Q2AA18750L 

Q2AA22550B 

Q2AA22700S 

A B C D A , B 

D E F G , A , B 

A B C D A , B 

D E F G , A , B 

Q2AA2211KV 

Q2AA2215KV 

Q4AA1811KB 

Q4AA1815KB 

A B C D A , B 

A B C D 

*Note 1: Both power and brake connectors are required for all motors equipped with TÜV compliant DC24V brakes. indicates the SANYO DENKI part numbers (Plug & Cable Clamp) 

35

Discontinued Models and Replacement Models 

Models discontinued in this catalog and replacement models are listed below. 

Please contact us for a catalog of replacement models. 

Features and 

Functions 


Single-Axis Servo Amplifier 

(Analog/Pulse input type) 

Discontinued model Replacement product Encoder type 

Type Power Model No. Model No. Motor encoder External motor encoder 

AC200V System 

RS1A05AA 

RS1A10AA 

RS1A15AA 

RS1A30AA 

RS1L05AA 

RS1L10AA 

RS1L15AA 

RS1A05AB 

RS1A10AB 

RS1A15AB 

RS1A30AB 

RS1L05AB 

RS1L10AB 

RS1L15AB 

RS2A05A0AA0 Serial encoder 

RS2A05A2AA0 Serial encoder Pulse encoder 

RS2A05A8AA0 Pulse encoder 







RS2A30A0AL0 Serial encoder 

RS2A30A2AL0 Serial encoder Pulse encoder 

RS2A30A8AL0 Pulse encoder 










RS2A05A0BA0 Serial encoder 

RS2A05A2BA0 Serial encoder Pulse encoder 

RS2A05A8BA0 Pulse encoder 







RS2A30A0BL0 Serial encoder 

RS2A30A2BL0 Serial encoder Pulse encoder 

RS2A30A8BL0 Pulse encoder 










RS1A05AT RS2A05AAAA0 Pulse encoder Pulse encoder 



RS1A30AT RS2A30AAAL0 Pulse encoder Pulse encoder 

RS1L05AT RS2A05AAAL0 Pulse encoder Pulse encoder 



* The discontinued products have the same hardware regardless of the motor encoder or external encoder of the combination motor, but the 

replacement products have different product model numbers depending on the motor encoder or external encoder of the combination motor. 

Model Number 

Nomencalture 

System 

Configuration 

Standard 



Diagram 


Optional 

Equipment 

36

Inquiry Check Sheet 

For more information regarding any products or services described here in, 

please contact your nearest office listed on the back of this catalog. 

To SANYO DENKI Co.,LTD. 

Date 

Company: 

Department: 

Name: 

Tel:FAX: 

E-mail: 

Item 

Contents 

➊ Name of target equipment Equipment name, category (transport, processing, test, other) 

❷ Name of servo axis Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no) 

❸ Current condition of above axis Manufacturer Name ( ) Series Name ( ) Motor Capacity ( ) Hydraulic, Mechanical, or New System ( ) 

❹ Positioning accuracy ±mm±m 

❺ 

Operation pattern 

Feeding 

Speed 

[m/sec] 

AccelerationG[m/s 2 ] 

Feeding Speed[m/s] 

Moving Distance[m] 

(Stroke) 

Reference formula 

1G=9.8[m/s 2 ]1[m/s 2 ]0.1G 

[m/s 2 ]V[m/sec]÷t1[sec] 

D[m]V[m/sec]×(t1+t2)[sec] 

Time 

❻ 

❼ 

Mechanism 

Mechanical structure 

Ball-screw/screw-rotation type (horizontal/vertical), ball-screw/nut-rotation type (horizontal/vertical), 

rack and pinion (horizontal/vertical), belt/chain (horizontal/vertical), rotary table, roll feed, other 

WTtable mass kg WLwork mass kg WAmass of other drive parts kg 

WRrack mass kg WBbelt/chain mass kg WCcounterbalance mass kg 

Faexternal force axial direction N Fbball-screw preload N Troll pushing force N 

Dr1drive-side roll diameter mm Dr2follower-side roll diameter mm 

Lr1drive-side roll length mm Lr2follower-side roll length mm Greduction ratio 

JGspeed-reducer inertia kgm 2 JCcoupling inertia kgm 2 

JNnut inertia kgm 2 JOother motor-axis conversion inertia kgm 2 

Dbball-screw diameter mm Lbball-screw axial length mm Pbball -screw leadmm 

Dppinion/pulley diameter mm Lppinion axial length mm tppully thickness mm 

Dttable diameter mm Dhtable-support dianeter mm LWload shift from axis mm 

Dstable shaft diameter mm Lstable shaft length mm 

specific gravity of ball-screw/pinion/pulley/table-shaft material kgcm 3 

friction coefficient between sheet and shiliding-surface/support-section/roll 1specific gravity of roll-1 material kgcm 3 

2specific gravity of roll-2 material kgcm 3 internal friction coefficient of preload nut 

mechanical efficiency JLload inertia of motor-axis conversion kgm 2 

TFfriction torque of motor axis conversion Nm Tuimbalance torque of motor axis conversion Nm 

❽ Speed reducer Customer-provided ()Sanyo denki standard(planet/spur/no-backlash-planet) other() 

❾ 

Encoder type 

Encoder type specified ( yes / no ) 

Yes:(incremental , optical absolute , optical absolute with incremental function, resolver absolute) 

Resolution 

❿ Input format Position , velocity , torque , other ( ) 

⓫ Host equipment (controller) Sequencer , laptop , customer-developed product , Sanyo dennki-provided , other ( ) 

⓬ Usage environment and other requirements Cutting , clean-room use , anti-dust measures , other ( ) 

⓭ Estimated production Single product: ( ) units/mouth ( ) units/year 

⓮ Development schedule Prototype period: () Year () Month Production period: () Year () Month 

⓯ 

Various measures Related documentation ( already submitted; send later by mail) Visit/PR desired ( yes / no ) Meeting desired ( yes / no ) 

⓰ 

Miscellaneous 

(questions, pending problems, 

unresolved issues, etc.) 

37

MEMO 

38

ECO PRODUCTS 

ECO PRODUCTS are designed with the goal 

of lessening nevironmental impact, from 

product development to disposal. 

Precautions For Adoption 

Cautions 

Failure to follow the precautions on the right may cause 

moderate injury and property damage, or in some 

circumstances,could lead to a serious accident. 

Always follow all listed precautions. 

For any question or inquiry regarding the above, contact our Sales Department. 

http://www.sanyodenki.com 

1-15-1, Kita-Otsuka, Toshima-ku, Tokyo 170-8451, Japan 

Phone: +81 3 3917 5157 

468 Amapola Avenue Torrance, CA 90501 U.S.A. 

Phone: +1 310 783 5400 

P.A. Paris Nord II 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France 

Phone: +33 1 48 63 26 61 

Frankfurter Strasse 63-69 65760 Eschborn Germany 

Phone: +49 6196 76113 0 

9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea 

Phone: +82 2 773 5623 

Phone: +86 21 6235 1107 

Room 1208,12F, No.96 Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C. 

Phone: +886 2 2511 3938 

Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong 

Phone: +852 2312 6250 

10 Hoe Chiang Road #14-03A/04 Keppel Towers Singapore 089315 

Phone: +65 6223 1071 

The names of companies and/or their products specified in this catalogue are the trade names, and/or trademarks and/or registered trademarks of such respective companies. 

Remarks : Specifications Are Subject To Change Without Notice. 

CATALOG NO. 841-10 ’10.8.IT

SANMOTION R Medium Capacity (200VAC, 750W to 15kW)

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