SANMOTION R Medium Capacity (200VAC, 750W to 15kW)
SANMOTION R Medium Capacity (200VAC, 750W to 15kW)
SANMOTION R Medium Capacity (200VAC, 750W to 15kW)
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AC200 V <strong>750W</strong>-<strong>15kW</strong><br />
Ver.4
Input voltage AC 200 V<br />
Servo amplifier<br />
Amp. capacity<br />
50A100A150A300A<br />
Q1 Servo mo<strong>to</strong>rQ2 Servo mo<strong>to</strong>rQ4 Servo mo<strong>to</strong>r<br />
Flange size<br />
86mm100mm120mm130mm180mm220mm<br />
Rated output<br />
<strong>750W</strong>1.0kW1.5kW2.0kW2.5kW3.0kW<br />
3.5kW4.0kW4.5kW5.0kW5.5kW7.0kW<br />
7.5kW11.0kW15.0kW
Index<br />
Features and Functions P. 3<br />
Standard Model Number List P. 7<br />
Model Number Nomenclature P. 11<br />
System Configuration P. 13<br />
Servo amplifier Specifications P. 15<br />
Standard SpecificationsP. 17<br />
External Wiring Diagram P. 23<br />
Dimensions P. 26<br />
Setup Software P. 30<br />
Servo Amplifier built-in<br />
positioning functionP. 32<br />
Standard SpecificationsP. 33<br />
Discontinued Models and<br />
Replacement Models P. 36
Easy Set-up for Optimal Operation<br />
Au<strong>to</strong>-Tuning<br />
A new au<strong>to</strong>-tuning algorithm improves system<br />
response by providing functions such as inertia<br />
identification, 5 au<strong>to</strong>-tuning modes, 30 levels of<br />
response, and parameter setting au<strong>to</strong>-save.<br />
Velocity command<br />
value<br />
Test Function (JOG)<br />
On-board JOG operation function is available for<br />
testing mo<strong>to</strong>r and amplifier connection without the<br />
need <strong>to</strong> connect <strong>to</strong> host device.<br />
Capable of JOG operation<br />
without connecting<br />
<strong>to</strong> host device<br />
Tuning start<br />
Detected velocity value<br />
Power Supply Harmonic Suppression<br />
Equipped with DC reac<strong>to</strong>r connection terminals as<br />
standard feature for supressing power supply<br />
harmonics.<br />
5-digit LED Display, Built-in Opera<strong>to</strong>r<br />
Parameter setting, moni<strong>to</strong>ring and alarm<br />
tracing can be easily done using the built-in opera<strong>to</strong>r.<br />
DL1<br />
DL2<br />
DC reac<strong>to</strong>r<br />
Option<br />
Built-in Regeneration Resis<strong>to</strong>r<br />
A built-in regeneration resis<strong>to</strong>r can be used <strong>to</strong> absorb<br />
regenerative energy generated during mo<strong>to</strong>r<br />
deceleration. External regeneration resis<strong>to</strong>rs can be<br />
added if internal regeneration capacity is insufficient.<br />
Built-in Dynamic Brake<br />
A built-in dynamic brake provides emergency s<strong>to</strong>p<br />
capability. The six kinds of motion sequences for the<br />
dynamic brake can be selected by parameter setting.<br />
Built-in Regeneration Resis<strong>to</strong>r<br />
Rotation speed<br />
(min-1 )<br />
Controlled<br />
state Dynamic braking state<br />
Time(s)<br />
External regenerative<br />
resis<strong>to</strong>r (option)<br />
3
Setup Software<br />
The setup software allows you <strong>to</strong> set parameters,<br />
view graphical displays of moni<strong>to</strong>red position,<br />
velocity or <strong>to</strong>rque waveforms, and perform system<br />
analysis.<br />
Parameter settings<br />
Position, velocity, <strong>to</strong>rque waveforms<br />
<br />
Multiaxial Moni<strong>to</strong>r Function<br />
The setup software allows up <strong>to</strong> 15 amplifiers <strong>to</strong> be<br />
moni<strong>to</strong>red. (Single axis only)<br />
RS232C<br />
Daisy chain up <strong>to</strong> 15 units<br />
Maximum<br />
15 units<br />
Features and<br />
Functions<br />
Model Number<br />
Nomencalture<br />
System<br />
Configuration<br />
Standard<br />
Specifications<br />
*Use optional cable<br />
AL-00490833-01 for PC connection<br />
(option)<br />
All-in-One Control<br />
Configurable parameters allow you <strong>to</strong> switch between<br />
control modes for <strong>to</strong>rque, position or velocity.<br />
*PC connection cable is optional<br />
Dimensions External Wiring<br />
Diagram<br />
Position<br />
or<br />
Velocity<br />
Torque<br />
control<br />
<br />
Setup Software<br />
<br />
Flat<br />
Ascending<br />
Optional<br />
Equipment<br />
*Uniaxial servo amplifier only<br />
Protection code IP67<br />
Protection code is IP67 for all models.<br />
IP67<br />
Water<br />
Dust<br />
*Shaft feedthrough, cable end and cooling fan are excluded.<br />
4
Improved Precision and Reduced Cycle Time<br />
High Response<br />
A 4th-order notch filter reduces phase delay <strong>to</strong><br />
suppress mechanical resonance and improve velocity<br />
response of equipment.<br />
Vibration Suppression Control<br />
With feed-forward vibration suppression control,<br />
vibrations at the processing point and base of a<br />
machine can be suppressed through simple tuning<br />
procedures. Up <strong>to</strong> 4 types of vibration control<br />
frequencies can be selected.<br />
Position deviation during s<strong>to</strong>p<br />
10<br />
With vibration suppression control<br />
Without vibration suppression control<br />
0<br />
Gain (dB)<br />
-10<br />
-20<br />
-30<br />
-40<br />
1<br />
5 10 50 100 500 1000 1800<br />
Frequency (Hz)<br />
With vibration<br />
suppression control<br />
Without vibration<br />
suppression control<br />
100ms/div<br />
Shorter Position Settling Time<br />
A new algorithm drastically shortens positioning<br />
settling time for equipment.<br />
Disturbance Suppression<br />
A new disturbance observer with expanded applicable<br />
frequencies suppresses disturbance from other axes<br />
in a multi-axis configuration.<br />
Disturbance observer function ON<br />
Oscillation waveform<br />
of direct drive section<br />
Position deviation<br />
Disturbance<br />
Position complete signal<br />
Settling time (0ms)<br />
Disturbance observer function OFF<br />
Oscillation waveform<br />
of direct drive section<br />
Example of positioning settling time<br />
in highly rigid machinery<br />
5ms/div<br />
Disturbance<br />
5
Reduced Running<br />
Costs<br />
High Resolution<br />
Support for encoders up <strong>to</strong> 17 bit (131,072 divisions) is<br />
available for high resolution control.<br />
20% Reduction in Power Loss<br />
An energy conserving power module reduces main<br />
circuit power loss by up <strong>to</strong> 20%.<br />
Features and<br />
Functions<br />
System<br />
Configuration<br />
Model Number<br />
Nomencalture<br />
High Resolution 17bit(131,072 divisions) Absolute Encoder<br />
Power loss reduction (%)<br />
100%<br />
90%<br />
80%<br />
70%<br />
60%<br />
50%<br />
40%<br />
30%<br />
20%<br />
10%<br />
0%<br />
Current model <strong>SANMOTION</strong> R<br />
PY<br />
50A<br />
Standard<br />
Specifications<br />
Dimensions External Wiring<br />
Diagram<br />
Setup Software<br />
Command Follow-up Control<br />
Performance of the positioning doubled in comparison<br />
with current models by adoption of new positioning<br />
control algorithm and new speed control algorithm.<br />
And position deviation0 is achieved.<br />
Optional<br />
Equipment<br />
Position command<br />
Position deviation<br />
20ms/div<br />
6
Servo Mo<strong>to</strong>r Standard Model Number List<br />
Power Voltage Encoder models Rated Output Mo<strong>to</strong>r Flange Size Holding Brake Model No.<br />
1kW<br />
1.5kW<br />
100mm sq.<br />
2kW<br />
2.5kW<br />
1kW<br />
2kW<br />
120mm sq.<br />
3kW<br />
3kW<br />
4kW<br />
130mm sq.<br />
5kW<br />
4.5kW<br />
180mm sq.<br />
7.5kW<br />
<strong>750W</strong><br />
86mm sq.<br />
1kW<br />
Wire-saving incremental<br />
1kW<br />
200V<br />
encoder<br />
100mm sq.<br />
(PP031/PP038/PP062)<br />
1.5kW<br />
1kW<br />
1.5kW<br />
130mm sq.<br />
2kW<br />
2kW<br />
3.5kW<br />
180mm sq.<br />
4.5kW<br />
5.5kW<br />
5.5kW<br />
220mm sq.<br />
7kW<br />
5.5kW<br />
180mm sq.<br />
7.5kW<br />
11kW<br />
220mm sq.<br />
<strong>15kW</strong><br />
<br />
Q1AA10100DXS00<br />
yes24V Q1AA10100DCS00<br />
<br />
Q1AA10150DXS00<br />
yes24V Q1AA10150DCS00<br />
<br />
Q1AA10200DXS00<br />
yes24V Q1AA10200DCS00<br />
<br />
Q1AA10250DXS00<br />
yes24V Q1AA10250DCS00<br />
<br />
Q1AA12100DXS00<br />
yes24V Q1AA12100DCS00<br />
<br />
Q1AA12200DXS00<br />
yes24V Q1AA12200DCS00<br />
<br />
Q1AA12300DXS00<br />
yes24V Q1AA12300DCS00<br />
<br />
Q1AA13300DXS00<br />
yes24V Q1AA13300DCS00<br />
<br />
Q1AA13400DXS00<br />
yes24V Q1AA13400DCS00<br />
<br />
Q1AA13500DXS00<br />
yes24V Q1AA13500DCS00<br />
<br />
Q1AA18450MXS00<br />
yes24V Q1AA18450MCS00<br />
<br />
Q1AA18750HXS00<br />
yes24V Q1AA18750HCS00<br />
<br />
Q2AA08075DXS00<br />
yes24V Q2AA08075DCS00<br />
<br />
Q2AA08100DXS00<br />
yes24V Q2AA08100DCS00<br />
<br />
Q2AA10100HXS00<br />
yes24V Q2AA10100HCS00<br />
<br />
Q2AA10150HXS00<br />
yes24V Q2AA10150HCS00<br />
<br />
Q2AA13100HXS00<br />
yes24V Q2AA13100HCS00<br />
<br />
Q2AA13150HXS00<br />
yes24V Q2AA13150HCS00<br />
<br />
Q2AA13200HXS00<br />
yes24V Q2AA13200HCS00<br />
<br />
Q2AA18200HXS00<br />
yes24V Q2AA18200HCS00<br />
<br />
Q2AA18350HXS00<br />
yes24V Q2AA18350HCS00<br />
<br />
Q2AA18450HXS00<br />
yes24V Q2AA18450HCS00<br />
<br />
Q2AA18550RXS00<br />
yes24V Q2AA18550RCS00<br />
<br />
Q2AA22550BXS00<br />
yes24V Q2AA22550BCS00<br />
<br />
Q2AA22700SXS00<br />
yes24V Q2AA22700SCS00<br />
<br />
Q2AA18550HXS00<br />
yes24V Q2AA18550HCS00<br />
<br />
Q2AA18750LXS00<br />
yes24V Q2AA18750LCS00<br />
<br />
Q2AA2211KVXS00<br />
yes24V Q2AA2211KVCS00<br />
<br />
Q2AA2215KVXS00<br />
yes24V Q2AA2215KVCS00<br />
11kW<br />
<br />
Q4AA1811KBXS00<br />
180mm sq.<br />
<strong>15kW</strong> Q4AA1815KBXS00<br />
7
Power Voltage Encoder models Rated Output Mo<strong>to</strong>r Flange Size Holding Brake Model No.<br />
1kW<br />
1.5kW<br />
100mm sq.<br />
2kW<br />
2.5kW<br />
1kW<br />
2kW<br />
120mm sq.<br />
3kW<br />
3kW<br />
4kW<br />
130mm sq.<br />
5kW<br />
4.5kW<br />
180mm sq.<br />
7.5kW<br />
<strong>750W</strong><br />
86mm sq.<br />
1kW<br />
Battery backup method<br />
1kW<br />
200V<br />
absolute encoder<br />
100mm sq.<br />
(PA035C)<br />
1.5kW<br />
1kW<br />
1.5kW<br />
130mm sq.<br />
2kW<br />
2kW<br />
3.5kW<br />
180mm sq.<br />
4.5kW<br />
5.5kW<br />
5.5kW<br />
220mm sq.<br />
7kW<br />
5.5kW<br />
180mm sq.<br />
7.5kW<br />
11kW<br />
220mm sq.<br />
<strong>15kW</strong><br />
<br />
Q1AA10100DXP00<br />
yes24V Q1AA10100DCP00<br />
<br />
Q1AA10150DXP00<br />
yes24V Q1AA10150DCP00<br />
<br />
Q1AA10200DXP00<br />
yes24V Q1AA10200DCP00<br />
<br />
Q1AA10250DXP00<br />
yes24V Q1AA10250DCP00<br />
<br />
Q1AA12100DXP00<br />
yes24V Q1AA12100DCP00<br />
<br />
Q1AA12200DXP00<br />
yes24V Q1AA12200DCP00<br />
<br />
Q1AA12300DXP00<br />
yes24V Q1AA12300DCP00<br />
<br />
Q1AA13300DXP00<br />
yes24V Q1AA13300DCP00<br />
<br />
Q1AA13400DXP00<br />
yes24V Q1AA13400DCP00<br />
<br />
Q1AA13500DXP00<br />
yes24V Q1AA13500DCP00<br />
<br />
Q1AA18450MXP00<br />
yes24V Q1AA18450MCP00<br />
<br />
Q1AA18750HXP00<br />
yes24V Q1AA18750HCP00<br />
<br />
Q2AA08075DXS00<br />
yes24V Q2AA08075DCS00<br />
<br />
Q2AA08100DXP00<br />
yes24V Q2AA08100DCP00<br />
<br />
Q2AA10100HXP00<br />
yes24V Q2AA10100HCP00<br />
<br />
Q2AA10150HXP00<br />
yes24V Q2AA10150HCP00<br />
<br />
Q2AA13100HXP00<br />
yes24V Q2AA13100HCP00<br />
<br />
Q2AA13150HXP00<br />
yes24V Q2AA13150HCP00<br />
<br />
Q2AA13200HXP00<br />
yes24V Q2AA13200HCP00<br />
<br />
Q2AA18200HXP00<br />
yes24V Q2AA18200HCP00<br />
<br />
Q2AA18350HXP00<br />
yes24V Q2AA18350HCP00<br />
<br />
Q2AA18450HXP00<br />
yes24V Q2AA18450HCP00<br />
<br />
Q2AA18550RXP00<br />
yes24V Q2AA18550RCP00<br />
<br />
Q2AA22550BXP00<br />
yes24V Q2AA22550BCP00<br />
<br />
Q2AA22700SXP00<br />
yes24V Q2AA22700SCP00<br />
<br />
Q2AA18550HXP00<br />
yes24V Q2AA18550HCP00<br />
<br />
Q2AA18750LXP00<br />
yes24V Q2AA18750LCP00<br />
<br />
Q2AA2211KVXP00<br />
yes24V Q2AA2211KVCP00<br />
<br />
Q2AA2215KVXP00<br />
yes24V Q2AA2215KVCP00<br />
11kW<br />
<br />
Q4AA1811KBXP00<br />
180mm sq.<br />
<strong>15kW</strong> Q4AA1815KBXP00<br />
Features and<br />
Functions<br />
Model Number<br />
Nomencalture<br />
System<br />
Configuration<br />
Standard<br />
Specifications<br />
Dimensions External Wiring<br />
Diagram<br />
Setup Software<br />
Optional<br />
Equipment<br />
8
Servo Mo<strong>to</strong>r Standard Model Number List<br />
Power Voltage Encoder models Rated Output Mo<strong>to</strong>r Flange Size Holding Brake Model No.<br />
1kW<br />
1.5kW<br />
100mm sq.<br />
2kW<br />
2.5kW<br />
1kW<br />
2kW<br />
120mm sq.<br />
3kW<br />
3kW<br />
4kW<br />
130mm sq.<br />
5kW<br />
4.5kW<br />
180mm sq.<br />
7.5kW<br />
1kW<br />
86mm sq.<br />
1kW<br />
Absolute encoder<br />
100mm sq.<br />
200V<br />
without battery<br />
1.5kW<br />
(RA035C)<br />
1kW<br />
1.5kW<br />
130mm sq.<br />
2kW<br />
2kW<br />
3.5kW<br />
180mm sq.<br />
4.5kW<br />
5.5kW<br />
5.5kW<br />
220mm sq.<br />
7kW<br />
5.5kW<br />
180mm sq.<br />
7.5kW<br />
11kW<br />
220mm sq.<br />
<strong>15kW</strong><br />
<br />
Q1AA10100DXW00<br />
yes24V Q1AA10100DCW00<br />
<br />
Q1AA10150DXW00<br />
yes24V Q1AA10150DCW00<br />
<br />
Q1AA10200DXW00<br />
yes24V Q1AA10200DCW00<br />
<br />
Q1AA10250DXW00<br />
yes24V Q1AA10250DCW00<br />
<br />
Q1AA12100DXW00<br />
yes24V Q1AA12100DCW00<br />
<br />
Q1AA12200DXW00<br />
yes24V Q1AA12200DCW00<br />
<br />
Q1AA12300DXW00<br />
yes24V Q1AA12300DCW00<br />
<br />
Q1AA13300DXW00<br />
yes24V Q1AA13300DCW00<br />
<br />
Q1AA13400DXW00<br />
yes24V Q1AA13400DCW00<br />
<br />
Q1AA13500DXW00<br />
yes24V Q1AA13500DCW00<br />
<br />
Q1AA18450MXW00<br />
yes24V Q1AA18450MCW00<br />
<br />
Q1AA18750HXW00<br />
yes24V Q1AA18750HCW00<br />
<br />
Q2AA08100DXW00<br />
yes24V Q2AA08100DCW00<br />
<br />
Q2AA10100HXW00<br />
yes24V Q2AA10100HCW00<br />
<br />
Q2AA10150HXW00<br />
yes24V Q2AA10150HCW00<br />
<br />
Q2AA13100HXW00<br />
yes24V Q2AA13100HCW00<br />
<br />
Q2AA13150HXW00<br />
yes24V Q2AA13150HCW00<br />
<br />
Q2AA13200HXW00<br />
yes24V Q2AA13200HCW00<br />
<br />
Q2AA18200HXW00<br />
yes24V Q2AA18200HCW00<br />
<br />
Q2AA18350HXW00<br />
yes24V Q2AA18350HCW00<br />
<br />
Q2AA18450HXW00<br />
yes24V Q2AA18450HCW00<br />
<br />
Q2AA18550RXW00<br />
yes24V Q2AA18550RCW00<br />
<br />
Q2AA22550BXW00<br />
yes24V Q2AA22550BCW00<br />
<br />
Q2AA22700SXW00<br />
yes24V Q2AA22700SCW00<br />
<br />
Q2AA18550HXW00<br />
yes24V Q2AA18550HCW00<br />
<br />
Q2AA18750LXW00<br />
yes24V Q2AA18750LCW00<br />
<br />
Q2AA2211KVXW00<br />
yes24V Q2AA2211KVCW00<br />
<br />
Q2AA2215KVXW00<br />
yes24V Q2AA2215KVCW00<br />
11kW<br />
<br />
Q4AA1811KBXW00<br />
180mm sq.<br />
<strong>15kW</strong> Q4AA1815KBXW00<br />
9
Servo Amplifier Standard Model Number List<br />
Type<br />
CANopen<br />
Interface<br />
specifications<br />
Main Power<br />
AC200V<br />
System<br />
Control<br />
Power<br />
AC200V<br />
System<br />
DC24V<br />
AC200V<br />
System<br />
DC24V<br />
Encoder Type<br />
Wire-saving incremental encoder,<br />
Battery backup method absolute<br />
encoder<br />
Selectable<br />
Output<br />
NPN<br />
PNP<br />
Internal Registration<br />
Resis<strong>to</strong>r<br />
Amplifier<br />
<strong>Capacity</strong><br />
Model No.<br />
50A RS1L05AL<br />
With 50A RS1A05AL<br />
50A RS1J05AL<br />
With 50A RS1K05AL<br />
50A RS1L05AU<br />
With 50A RS1A05AU<br />
50A RS1J05AU<br />
With 50A RS1K05AU<br />
Features and<br />
Functions<br />
Model Number<br />
Nomencalture<br />
50A<br />
RS1L05AC<br />
Built-in<br />
positioning<br />
function model<br />
AC200V<br />
System<br />
AC200V<br />
System<br />
Wire-saving incremental encoder,<br />
Battery backup method absolute<br />
encoder<br />
NPN<br />
<br />
100A<br />
150A<br />
300A<br />
50A<br />
RS1L10AC<br />
RS1L15AC<br />
RS1A30AC<br />
RS1A05AC<br />
With<br />
100A<br />
RS1A10AC<br />
150A<br />
RS1A15AC<br />
Optional<br />
Equipment<br />
Setup Software<br />
System<br />
Configuration<br />
Standard<br />
Specifications<br />
Dimensions External Wiring<br />
Diagram<br />
10
Servo Mo<strong>to</strong>r Model Number Nomenclature<br />
Servo Mo<strong>to</strong>r<br />
Example: The following model number defines a "Q2" servomo<strong>to</strong>r with 130mm flange size, 2.0kW<br />
rated output, 3500min -1 maximum rotation speed, 24V brake, and an absolute encoder<br />
(131,072 divisions/rotation),CE approval.<br />
Q 2 AA 13 200 H C P 00 E<br />
Q Series<br />
Mo<strong>to</strong>r Type<br />
1Low-inertia<br />
2<strong>Medium</strong>-inertia<br />
4Low-inertia (high volume)<br />
Holding Brake<br />
XWithout Brake<br />
BWith Brake90V<br />
CWith Brake24V<br />
Specification<br />
Standard<br />
Supply Voltage<br />
200V Mo<strong>to</strong>r<br />
Maximum Rotation Speed<br />
S 1000min -1 H 3000 3500min -1<br />
M 1500min -1 L 3000min -1<br />
B 2000min -1 D 4500 5000min -1<br />
R 2500min -1 V 2000min -1<br />
Standard identification<br />
ECE Marking<br />
UUL<br />
MCE and UL<br />
Flange Size<br />
08 86mm<br />
10 100mm<br />
12 120mm<br />
13 130mm<br />
18 180mm<br />
22 220mm<br />
Rated Output<br />
075 <strong>750W</strong><br />
100 1.0kW<br />
150 1.5kW<br />
200 2.0kW<br />
250 2.5kW<br />
300 3.0kW<br />
350 3.5kW<br />
400 4.0kW<br />
450 4.5kW<br />
500 5.0kW<br />
550 5.5kW<br />
700 7.0kW<br />
750 7.5kW<br />
11K 11.0kW<br />
15K 15.0kW<br />
Encoder Type<br />
PBattery backup method absolute encoderPA035C<br />
H Absolute encoder for incremental SystemPA035S<br />
WAbsolute encoder without batteryRA035C<br />
SWire-saving incremental encoderPP031T/PP038/PP062<br />
Encoder Specification<br />
Wire-saving Incremental Encoder<br />
Standard<br />
Supported Range<br />
Model<br />
Encoder Pulse Count Resolution Encoder Pulse Count Resolution<br />
2048P/R5000P/R<br />
8192<br />
PP031T/<br />
20000<br />
PP038/<br />
2000P/R 8000<br />
32768<br />
8192P/R10000P/R<br />
40000<br />
PP062<br />
80000<br />
20000P/R25000P/R 100000<br />
Absolute Encoder<br />
Resolution<br />
Model<br />
Remarks<br />
Single rotation Multiple Rotations<br />
PA035C<br />
PA035S<br />
RA035C<br />
Optical Detection<br />
System<br />
Optical Detection<br />
System<br />
Resolver<br />
System<br />
Absolute Type Incremental Type<br />
131072(17bit)<br />
131072(17bit)<br />
131072(17bit)<br />
65536(16bit)<br />
—<br />
65536(16bit)<br />
Battery backup method absolute encoder<br />
Absolute encoder with incremental output<br />
Absolute encoder without battery<br />
Remarks<br />
Wire-saving<br />
incremental encoder<br />
Please contact our Sales Division for assistance.<br />
Conformance <strong>to</strong> Overseas Standards<br />
Our standard servo amplifier has attained the UL, c-UL and ENstandards.<br />
You can also employ servo mo<strong>to</strong>rs that have attained the UL and EN standards.<br />
11
Servo Amplifier Model Number Nomenclature<br />
Servo Amplifier with CANopen<br />
Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage and 50A<br />
amplifier capacity.<br />
Features and<br />
Functions<br />
RS1<br />
A 05<br />
A<br />
L<br />
Model Number<br />
Nomencalture<br />
R Series Amp. <strong>Capacity</strong> Mo<strong>to</strong>r Type<br />
05 50A<br />
Rotary Mo<strong>to</strong>r<br />
Power Input, Internal Registration Setting<br />
Model Control Power,<br />
Input Voltage<br />
Power Input,<br />
Input Voltage<br />
Internal<br />
Regeneration<br />
Amp.<br />
capacity<br />
resis<strong>to</strong>r<br />
A AC200V AC200V W 50A<br />
L<br />
W/O 50A<br />
K DC24V AC200V W 50A<br />
J W/O 50A<br />
*The mo<strong>to</strong>r parameters need <strong>to</strong> be set for the amplifier for use. Use the setup software.<br />
RS1<br />
A 10<br />
A<br />
C<br />
Control Hardware Type<br />
Interface SpecificationCAN open I/F<br />
Encoder SpecificationAbsolute encoder,<br />
Wire-saving Incremental Encoder<br />
L NPN Output<br />
UPNP Output<br />
Single-Axis Servo Amplifier (built-in positioning function model)<br />
Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage<br />
(Main Power) and 100A amplifier capacity.<br />
System<br />
Configuration<br />
Standard<br />
Specifications<br />
Dimensions External Wiring<br />
Diagram<br />
Setup Software<br />
R Series<br />
Single-Axis Servo<br />
Amplifier<br />
Mo<strong>to</strong>r Type<br />
Rotary Mo<strong>to</strong>r<br />
Optional<br />
Equipment<br />
Power Input, Internal Registration Setting<br />
Model Input Voltage Internal Regeneration resis<strong>to</strong>r Amp. capacity<br />
A AC200V<br />
W 50A,100A,150A<br />
L<br />
W/O 50A,100A,150A<br />
A W/O 300A<br />
Amp. capacity<br />
05 50A<br />
10 100A<br />
15 150A<br />
30 300A<br />
Control Hardware Type<br />
CServo Amplifier built-in positioning<br />
function<br />
FServo Amplifier built-in positioning<br />
function serial interface model<br />
*The mo<strong>to</strong>r parameters need <strong>to</strong> be set for the amplifier for use. Use the setup software.<br />
12
System Configuration<br />
Circuit Breaker (MCCB)<br />
Noise Filter<br />
Electromagnetic Contac<strong>to</strong>r<br />
R<br />
S<br />
T<br />
Cuts off power in the case<br />
of an overload, <strong>to</strong> protect<br />
the power line.<br />
Protects the power line<br />
from external noise, and<br />
from noise generated by<br />
the servo amplifier.<br />
Switches servo power on<br />
and off. Installation of<br />
a surge protec<strong>to</strong>r is required.<br />
Create the protective circuit.<br />
DC Reac<strong>to</strong>r<br />
Suppresses power<br />
harmonics.<br />
Remove the short bar<br />
between DL1-DL2 and<br />
connect this here, when<br />
needed for high frequency<br />
waves.<br />
External Regenerative Resis<strong>to</strong>r<br />
Use as required, such as for<br />
heavy inertial load<br />
operations.<br />
For special operations, such as<br />
high frequency applications that<br />
require greater power<br />
dissipation than that provided by<br />
the servo amplifier’s internal<br />
regenerative resis<strong>to</strong>r.<br />
Remove the short bar between<br />
RB1-RB4 and connect this here.<br />
Brake Power<br />
Required for use when the<br />
servo mo<strong>to</strong>r is equipped<br />
with a brake.<br />
13
Model No. : AL-00494635-01<br />
Lithium battery<br />
Features and<br />
Functions<br />
Model No. : AL-00490833-01<br />
PC<br />
When using the unit with an<br />
absolute system, mount the<br />
optional battery inside the<br />
digital opera<strong>to</strong>r cover.<br />
Setup Software<br />
Model Number<br />
Nomencalture<br />
System<br />
Configuration<br />
CN1<br />
Standard<br />
Specifications<br />
Parameter configuration and<br />
moni<strong>to</strong>ring is possible via<br />
communication with a PC.<br />
Host Devices<br />
Dimensions External Wiring<br />
Diagram<br />
PLC<br />
Setup Software<br />
CN2<br />
Optional<br />
Equipment<br />
Wiring required for brake.<br />
CANopen<br />
Host Devices<br />
Dedicated controller<br />
PC and PLC are available<br />
as the host device.<br />
*Communication Profile: DS-301<br />
Device Profile: DSP-402 compliance<br />
14
Servo Mo<strong>to</strong>r Amplifier Specifications<br />
RS<br />
Servo Amplifier<br />
Amplifier <strong>Capacity</strong> 50A <strong>to</strong> 300A<br />
Five Models<br />
Amplifiers for Q1 Mo<strong>to</strong>rs<br />
200V AC Type<br />
Amplifier Model<br />
Amplifier Power Supply<br />
Operating Temp. and RH<br />
Power Consumption*<br />
Amplifier Mass<br />
Mo<strong>to</strong>r Model<br />
Mo<strong>to</strong>r Flange Dimension<br />
Mo<strong>to</strong>r Rated Output<br />
Unit<br />
kVA<br />
kg<br />
kW<br />
RS1A05ARS1A05A RS1A10A RS1A05A RS1A10A<br />
AC200V <strong>to</strong> 230V1015% 5060Hz 3 Hz<br />
Operating Temperature: 0 <strong>to</strong> 55°C, Relative Humidity: 90% maximum, no condensation<br />
2.5<br />
3.0 4.0 4.2 2.5<br />
4.0 5.0<br />
2.22.3<br />
5.2<br />
2.22.3<br />
5.2<br />
Q1AA10100D Q1AA10150D Q1AA10200D Q1AA10250D Q1AA12100D Q1AA12200D Q1AA12300D<br />
100<br />
100<br />
100<br />
100<br />
120<br />
120<br />
120<br />
1<br />
1.5<br />
2<br />
2.5<br />
1<br />
2<br />
3<br />
200V AC Type<br />
Amplifier Model<br />
Amplifier Power Supply<br />
Operating Temp. and RH<br />
Power Consumption*<br />
Amplifier Mass<br />
Mo<strong>to</strong>r Model<br />
Mo<strong>to</strong>r Flange Dimension<br />
Mo<strong>to</strong>r Rated Output<br />
Unit<br />
kVA<br />
kg<br />
kW<br />
RS1A10A<br />
RS1A15A<br />
RS1A30A<br />
AC200V <strong>to</strong> 230V1015% 5060Hz 3 Hz<br />
Operating Temperature: 0 <strong>to</strong> 55°C, Relative Humidity: 90% maximum, no condensation<br />
5.0<br />
5.2<br />
6.7 8.3<br />
6.5<br />
7.4 12.6<br />
9.8<br />
Q1AA13300D Q1AA13400D Q1AA13500D Q1AA18450M Q1AA18750H<br />
130<br />
130<br />
130<br />
180<br />
180<br />
3<br />
4<br />
5<br />
4.5<br />
7.5<br />
Amplifiers for Q2 Mo<strong>to</strong>rs<br />
200V AC Type<br />
Amplifier Model<br />
Amplifier Power Supply<br />
Operating Temp. and RH<br />
Power Consumption*<br />
Amplifier Mass<br />
Mo<strong>to</strong>r Model<br />
Mo<strong>to</strong>r Flange Dimension<br />
Mo<strong>to</strong>r Rated Output<br />
Unit<br />
kVA<br />
kg<br />
kW<br />
RS1A05A<br />
RS1A10A<br />
AC200V <strong>to</strong> 230V1015% 5060Hz 3 Hz<br />
Operating Temperature: 0 <strong>to</strong> 55°C, Relative Humidity: 90% maximum, no condensation<br />
2.5<br />
3.0<br />
2.5 3.0<br />
5.0<br />
2.22.3<br />
2.22.3<br />
5.2<br />
Q2AA08100D Q2AA10100H Q2AA10150H Q2AA13100H Q2AA13150H Q2AA13200H Q2AA18200H<br />
86<br />
100<br />
100<br />
130<br />
130<br />
130<br />
180<br />
1<br />
1.5<br />
1.0<br />
1.5<br />
2<br />
2<br />
200V AC Type<br />
Amplifier Model<br />
Amplifier Power Supply<br />
Operating Temp. and RH<br />
Power Consumption*<br />
Amplifier Mass<br />
Mo<strong>to</strong>r Model<br />
Mo<strong>to</strong>r Flange Dimension<br />
Mo<strong>to</strong>r Rated Output<br />
200V AC Type<br />
Amplifier Model<br />
Amplifier Power Supply<br />
Operating Temp. and RH<br />
Power Consumption*<br />
Amplifier Mass<br />
Mo<strong>to</strong>r Model<br />
Mo<strong>to</strong>r Flange Dimension<br />
Mo<strong>to</strong>r Rated Output<br />
Unit<br />
kVA<br />
kg<br />
kW<br />
Unit<br />
kVA<br />
kg<br />
kW<br />
RS1A15A<br />
AC200V <strong>to</strong> 230V1015% 5060Hz 3 Hz<br />
Operating Temperature: 0 <strong>to</strong> 55°C, Relative Humidity: 90% maximum, no condensation<br />
6.9 7.4<br />
8.4<br />
6.5<br />
Q2AA18350H<br />
Q2AA18450H<br />
Q2AA18550R<br />
180<br />
180<br />
180<br />
3.5<br />
4.5<br />
5.5<br />
RS1A15A<br />
RS1A30A<br />
AC200V <strong>to</strong> 230V1015% 5060Hz 3 Hz<br />
Operating Temperature: 0 <strong>to</strong> 55°C, Relative Humidity: 90% maximum, no condensation<br />
10.1<br />
12.2<br />
6.5<br />
Q2AA22550B Q2AA22700S<br />
220<br />
220<br />
5.5<br />
7<br />
10.1 12.6 15.7 21.4<br />
9.8<br />
Q2AA18550H<br />
180<br />
5.5<br />
Q2AA18750L<br />
180<br />
7.5<br />
Q2AA2211KV<br />
220<br />
11<br />
Q2AA2215KV<br />
220<br />
15<br />
Amplifiers for Q4 Mo<strong>to</strong>rs<br />
200V AC Type<br />
Amplifier Model<br />
Amplifier Power Supply<br />
Operating Temp. and RH<br />
Power Consumption*<br />
Amplifier Mass<br />
Mo<strong>to</strong>r Model<br />
Mo<strong>to</strong>r Flange Dimension<br />
Mo<strong>to</strong>r Rated Output<br />
Unit<br />
kVA<br />
kg<br />
kW<br />
RS1A30A<br />
AC200V <strong>to</strong> 230V1015% 5060Hz 3 Hz<br />
Operating Temperature: 0 <strong>to</strong> 55°C, Relative Humidity: 90% maximum, no condensation<br />
15.7<br />
21.4<br />
9.8<br />
Q4AA1811KB<br />
Q4AA1815KB<br />
180<br />
180<br />
11<br />
15<br />
*Actual power consumption depends on load impedence, and is shown here at the amplifier's rated output.<br />
15
CANopen Interface specifications<br />
Fieldbus specifications<br />
Bus Connection, <strong>Medium</strong><br />
CAN-Standard ISO-11898 (High-speed CAN)<br />
Fieldbus<br />
CANopen<br />
Communication Profile CiA DS301 Version 4.02<br />
Device Profile CiA DSP402 (CANopen device profile for drive and motion control) Version 2.0<br />
Bit Rate 1Mbps, 800kbps, 500kbps(default setting), 250kbps, 125kbps, 50kbps , 20kbps , 10kbps (Selectable by R-Setup Software )<br />
Max. nodes per segment 1 <strong>to</strong> 127 (Selectable by Double 16-position Rotary Switch or R-Setup Software )<br />
RJ-45 type Modular connec<strong>to</strong>r (2 ports)<br />
- Pin 1 CAN_Hhigh bus line<br />
Connec<strong>to</strong>r<br />
- Pin 2 CAN_Llow bus line<br />
- Pin 3,7 CAN_GNDGround<br />
- Pin 6 CAN_SHIELDCable Shield<br />
- Pin 5 Termina<strong>to</strong>r(120 ohm; if necessary, attach a jumper between Pin1 and Pin5)<br />
Transceiver<br />
ISO-11898 compliant high-speed transceiver<br />
Max. Bus Length<br />
25m ( for 1Mbps)<br />
SDO (Service Data Object)<br />
PDO (Process Data Object)<br />
Communication Objects<br />
EMCY (Emergency)<br />
NMT (Network Management)<br />
SYNC (Synchronization Object)<br />
Heartbeat<br />
PDO Transfer Modes Synchronous transmission Asynchronous transmission<br />
Mode of Operation<br />
Homing Mode (h.m)<br />
Profile Velocity Mode (p.v)<br />
Profile Torque Mode (t.q)<br />
Profile Position Mode (p.p)<br />
Interpolated Position Mode (i.p)<br />
Features and<br />
Functions<br />
Model Number<br />
Nomencalture<br />
System<br />
Configuration<br />
Standard<br />
Specifications<br />
PNP output<br />
Servo amplifier<br />
Out Power<br />
DC24V<br />
Host unit<br />
NPN output<br />
Servo amplifier<br />
Out Power<br />
Host unit<br />
Dimensions External Wiring<br />
Diagram<br />
50mA max<br />
Out 1~8<br />
Out 1~8<br />
Setup Software<br />
The output port counts are differentdepending on the specification.<br />
Out Common<br />
The output port counts are different depending on the specification.<br />
Maximum current<br />
DC5V .......... 10mA<br />
DC12 <strong>to</strong> 15V ..... 30mA<br />
DC24V .......... 50mA<br />
Optional<br />
Equipment<br />
Single-Axis Servo Amplifier built-in positioning function serial interface model<br />
Item Content Default value Remark<br />
Pro<strong>to</strong>col Modbus-RTU Binary mode fixed (ASCII mode is un-corresponding)<br />
Interface RS-4851N N=Maximum is 32 (Note)<br />
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.<br />
Start bit 1 1 Fixed<br />
Data length (bit) 8 8 Fixed<br />
Parity None, even/odd number even<br />
S<strong>to</strong>p bit 1, 2 1<br />
Set with the setup software.<br />
Electric specification<br />
Based on RS-485 (half duplex<br />
Based on RS-485 (half duplex<br />
communication)<br />
communication)<br />
Fixed<br />
Connec<strong>to</strong>r RJ-45 <br />
Note) Based on the specifications for a typical RS-485 physical layer (distance, terminating resistance), the number of servo amplifiers (or other slave<br />
devices) that can be connected <strong>to</strong> a single segment is a maximum of 31 axes (with no repeater). However, with this servo amplifier, the standard<br />
product can have a maximum of 8 axes connected. Please contact us if connecting 9 axes or more.<br />
16
Standard Specifications<br />
Q1<br />
Servo Mo<strong>to</strong>r<br />
200V System<br />
<strong>Capacity</strong><br />
<br />
100mm <strong>to</strong> 180mm<br />
1kW <strong>to</strong> 7.5kW<br />
12 models<br />
Features<br />
Amplifier Model<br />
Mo<strong>to</strong>r Model and Flange Dimension in mm<br />
Q1AA10100D<br />
100<br />
RS1A05A<br />
Q1AA10150D<br />
100<br />
Status Symbol Unit<br />
Rated Output PR kW 1 1.5<br />
Rated Speed NR min -1 3000<br />
Maximum Speed Nmax min -1 5000 4500<br />
Rated Torque TR Nm 3.19 4.79<br />
Continuous Torque at Stall TS Nm 3.92 4.9<br />
Peak Torque at Stall TP Nm 10.5 14.7<br />
Rated Armature Current IR Arms 6.5 8.2<br />
Armature Current at Stall IS Arms 7.8 8.2<br />
Peak Armature Current at Stall IP Arms 24.5 26.5<br />
Torque Constant KT NmArms 0.55 0.705<br />
Voltage Constant Per Phase K E mVmin -1 19.3 24.6<br />
Phase Resistance R 0.34 0.272<br />
Rated Power Rate Q R kWs 78.9 143<br />
Electrical Time Constant te ms 7.6 11.4<br />
Mechanical Time Constant (Not including Encoder) tm ms 0.43 0.26<br />
Ro<strong>to</strong>r Moment of Inertia Note JM 10 -4 kgm GD 2 2 4 1.29 1.61<br />
Mass Note WE kg 5.4 6.5<br />
Brake Static Friction Torque TB Nm 3.92 9.8<br />
Brake Rated Voltage VB V DC90V DC24V 10<br />
Brake Rated Current IB A 0.2 0.61 0.2 0.83<br />
Ro<strong>to</strong>r Moment of Inertia (Brake) JB 10 -4 kgm GD 2 2 4 0.15 0.4<br />
Brake Mass W kg 1.3 1.5<br />
Mo<strong>to</strong>r Operating Temp, Rel. Humidity<br />
Operating Temperature: 0 <strong>to</strong> 40C, Relative Humidity: 90% maximum, no condensation<br />
Note) including Wire-saving incremental encoder<br />
12<br />
9<br />
20<br />
15<br />
High Power Rate<br />
(Low Inertia)<br />
Torque [Nm]<br />
6<br />
3<br />
Torque [Nm]<br />
10<br />
5<br />
0<br />
0 1000 2000 3000 4000 5000 6000<br />
Speed [min -1 ]<br />
0<br />
0 1000 2000 3000 4000 5000<br />
Speed [min -1 ]<br />
Amplifier Model<br />
Mo<strong>to</strong>r Model and Flange Dimension in mm<br />
Q1AA12300D<br />
120<br />
RS1A10A<br />
Q1AA13300D<br />
130<br />
Status Symbol Unit<br />
Rated Output PR kW 3<br />
Rated Speed NR min -1 3000<br />
Maximum Speed Nmax min -1 5000 4500<br />
Rated Torque TR Nm 9.6 9.5<br />
Continuous Torque at Stall TS Nm 11 10.8<br />
Peak Torque at Stall TP Nm 31 28.4<br />
Rated Armature Current IR Arms 16.2 16.7<br />
Armature Current at Stall IS Arms 17.3 17.6<br />
Peak Armature Current at Stall IP Arms 55 55<br />
Torque Constant KT NmArms 0.73 0.693<br />
Voltage Constant Per Phase K E mVmin -1 25.4 24.2<br />
Phase Resistance R 0.082 0.087<br />
Rated Power Rate Q R kWs 143 184<br />
Electrical Time Constant te ms 13.9 17.9<br />
Mechanical Time Constant (Not including Encoder) tm ms 0.3 0.27<br />
Ro<strong>to</strong>r Moment of Inertia Note JM 10 -4 kgm GD 2 2 4 6.4 4.92<br />
Mass Note WE kg 11.4<br />
Brake Static Friction Torque TB Nm 11.8<br />
Brake Rated Voltage VB V DC90V DC24V 10<br />
Brake Rated Current IB A 0.28 1.0<br />
Ro<strong>to</strong>r Moment of Inertia (Brake) JB 10 -4 kgm GD 2 2 4 0.5<br />
Brake Mass W kg 1.7<br />
Mo<strong>to</strong>r Operating Temp, Rel. Humidity<br />
Operating Temperature: 0 <strong>to</strong> 40C, Relative Humidity: 90% maximum, no condensation<br />
Note) including Wire-saving incremental encoder<br />
40<br />
40<br />
Mo<strong>to</strong>r Dwgs P27 <strong>to</strong> P28<br />
30<br />
30<br />
:Indicates a typical value<br />
after warm-up and thermal<br />
stabilization, <strong>to</strong>gether with<br />
a standard amplifier.<br />
Torque [Nm]<br />
20<br />
10<br />
Torque [Nm]<br />
20<br />
10<br />
:Indicates a typical<br />
value when the winding<br />
temperature is 20.<br />
0<br />
0 1000 2000 3000 4000 5000 6000<br />
Speed [min -1 ]<br />
0<br />
0 1000 2000 3000 4000 5000 6000<br />
Speed [min -1 ]<br />
17
Torque [Nm]<br />
20<br />
15<br />
10<br />
5<br />
Q1AA10200D<br />
100<br />
RS1A10A RS1A05A RS1A10A<br />
Q1AA10250D<br />
100<br />
Q1AA12100D<br />
120<br />
Q1AA12200D<br />
120 Symbol Unit<br />
2 2.5 1 2 PR kW<br />
3000 NR min -1<br />
5000 Nmax min -1<br />
6.37 7.97 3.19 6.37 TR Nm<br />
7.36 8.82 3.92 7.36 TS Nm<br />
19.6 24.4 11 21 TP Nm<br />
15.9 16.6 6.2 14.3 IR Arms<br />
18 17.2 7.5 16.2 IS Arms<br />
55 55 24.5 53 IP Arms<br />
0.47 0.587 0.587 0.5 KT NmArms<br />
16.4 20.5 20.2 17.6 K E mVmin -1<br />
0.086 0.104 0.19 0.06 R <br />
189 240 45.2 93 Q R kWs<br />
12.1 13 13 20 te ms<br />
0.25 0.24 0.38 0.31 tm ms<br />
2.15 2.65 2.25 4.37 JM 10 -4 kgm GD 2 2 4<br />
8.7 9.4 5.4 8.7 WE kg<br />
9.8 9.8 9.0 9.0 TB Nm<br />
DC90V DC24V 10 VB V<br />
0.2 0.83 0.25 0.86 IB A<br />
0.4 0.5 0.5 JB 10 -4 kgm GD 2 2 4<br />
1.5 1.3 1.5 W kg<br />
Operating Temperature: 0 <strong>to</strong> 40C, Relative Humidity: 90% maximum, no condensation<br />
0<br />
0 1000 2000 3000 4000 5000 6000<br />
Speed [min -1 ]<br />
Torque [Nm]<br />
40<br />
30<br />
20<br />
10<br />
0<br />
0 1000 2000 3000 4000 5000 6000<br />
Speed [min -1 ]<br />
Torque [Nm]<br />
20<br />
15<br />
10<br />
5<br />
0<br />
0 1000 2000 3000 4000 5000 6000<br />
Speed [min -1 ]<br />
Torque [Nm]<br />
40<br />
30<br />
20<br />
10<br />
0<br />
0 1000 2000 3000 4000 5000 6000<br />
Speed [min -1 ]<br />
Features and<br />
Functions<br />
Model Number<br />
Nomencalture<br />
System<br />
Configuration<br />
Standard<br />
Specifications<br />
Dimensions External Wiring<br />
Diagram<br />
Q1AA13400D<br />
130<br />
RS1A15A<br />
Q1AA13500D<br />
130<br />
Q1AA18450M<br />
180<br />
RS1A30A<br />
Q1AA18750H<br />
180 Symbol Unit<br />
4 5 4.5 7.5 PR kW<br />
3000 1500 NR min -1<br />
4500 1500 3000 Nmax min -1<br />
12.7 15.7 28.5 48 TR Nm<br />
14.7 18.1 31.6 55 TS Nm<br />
39.2 47.6 105 125 TP Nm<br />
23.4 25.8 20 55 IR Arms<br />
26.4 27.5 22.2 60 IS Arms<br />
83 83 83 155 IP Arms<br />
0.612 0.724 1.71 0.91 KT NmArms<br />
21.4 25.3 59.6 31.7 K E mVmin -1<br />
0.048 0.0461 0.129 0.021 R <br />
251 291 295 443 Q R kWs<br />
19.2 20.8 25 23 te ms<br />
0.25 0.22 0.36 0.40 tm ms<br />
6.43 8.47 27.5 52 JM 10 -4 kgm GD 2 2 4<br />
14.4 16 21.7 47 WE kg<br />
19.6 32 54.9 TB Nm<br />
DC90V DC24V 10 VB V<br />
0.25 0.95 0.37 1.4 IB A<br />
0.58 5.5 5.5 JB 10 -4 kgm GD 2 2 4<br />
2.2 5 6 W kg<br />
Operating Temperature: 0 <strong>to</strong> 40C, Relative Humidity: 90% maximum, no condensation<br />
Setup Software<br />
Optional<br />
Equipment<br />
40<br />
80<br />
120<br />
150<br />
30<br />
60<br />
90<br />
100<br />
Torque [Nm]<br />
20<br />
10<br />
Torque [Nm]<br />
40<br />
20<br />
Torque [Nm]<br />
60<br />
30<br />
Torque [Nm]<br />
50<br />
0<br />
0 1000 2000 3000 4000 5000 6000<br />
Speed [min -1 ]<br />
0<br />
0 1000 2000 3000 4000 5000 6000<br />
Speed [min -1 ]<br />
0<br />
0 500 1000 1500 2000<br />
Speed [min -1 ]<br />
0<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
18
Standard Specifications<br />
Q2<br />
Servo Mo<strong>to</strong>r<br />
200V System<br />
<strong>Capacity</strong><br />
<br />
86mm <strong>to</strong> 180mm<br />
<strong>750W</strong> <strong>to</strong> 5.5kW<br />
17 models:<strong>750W</strong> <strong>to</strong> <strong>15kW</strong><br />
Features<br />
Amplifier Model<br />
Mo<strong>to</strong>r Model and Flange Dimension in mm<br />
Q2AA08075D<br />
86<br />
RS1A05A<br />
Q2AA08100D<br />
86<br />
Status Symbol Unit<br />
Rated Output PR kW 0.75 1<br />
Rated Speed NR min -1 3000<br />
Maximum Speed Nmax min -1 5000<br />
Rated Torque TR Nm 2.387 3.18<br />
Continuous Torque at Stall TS Nm 2.941 3.92<br />
Peak Torque at Stall TP Nm 9 12.5<br />
Rated Armature Current IR Arms 5.9 6.0<br />
Armature Current at Stall IS Arms 7 6.9<br />
Peak Armature Current at Stall IP Arms 23.7 25<br />
Torque Constant KT NmArms 0.441 0.59<br />
Voltage Constant Per Phase K E mVmin -1 15.4 20.5<br />
Phase Resistance R 0.358 0.410<br />
Rated Power Rate Q R kWs 27.5 37<br />
Electrical Time Constant te ms 3.6 4.1<br />
Mechanical Time Constant (Not including Encoder) tm ms 1.1 0.96<br />
Ro<strong>to</strong>r Moment of Inertia Note JM 10 -4 kgm GD 2 2 4 2.07 2.7<br />
Mass Note WE kg 3.9 5.1<br />
Brake Static Friction Torque TB Nm 2.94 2.94<br />
Brake Rated Voltage VB V DC90V DC24V 10<br />
Brake Rated Current IB A 0.08/0.33 0.08 0.33<br />
Ro<strong>to</strong>r Moment of Inertia (Brake) JB 10 -4 kgm GD 2 2 4 0.343 0.343<br />
Brake Mass W kg 0.8 0.8<br />
Mo<strong>to</strong>r Operating Temp, Rel. Humidity<br />
Operating Temperature: 0 <strong>to</strong> 40C, Relative Humidity: 90% maximum, no condensation<br />
Note) including Wire-saving incremental encoder<br />
10<br />
8<br />
20<br />
15<br />
High Efficiency and Low<br />
Ripple (<strong>Medium</strong> Inertia)<br />
Torque [Nm]<br />
4<br />
2<br />
Torque [Nm]<br />
10<br />
5<br />
0<br />
0 1000 2000 3000 4000 5000 6000<br />
Speed [min -1 ]<br />
0<br />
0 1000 2000 3000 4000 5000 6000<br />
Speed [min -1 ]<br />
Amplifier Model<br />
Mo<strong>to</strong>r Model and Flange Dimension in mm<br />
Q2AA13200H<br />
130<br />
RS1A10A<br />
Q2AA18200H<br />
180<br />
Status Symbol Unit<br />
Rated Output PR kW 2 2<br />
Rated Speed NR min -1 2000<br />
Maximum Speed Nmax min -1 3500<br />
Rated Torque TR Nm 9.55 9.5<br />
Continuous Torque at Stall TS Nm 12 12<br />
Peak Torque at Stall TP Nm 30.5 31.0<br />
Rated Armature Current IR Arms 13.1 15<br />
Armature Current at Stall IS Arms 16.3 18<br />
Peak Armature Current at Stall IP Arms 48 55<br />
Torque Constant KT NmArms 0.822 0.75<br />
Voltage Constant Per Phase K E mVmin -1 29.0 25.9<br />
Phase Resistance R 0.119 0.075<br />
Rated Power Rate Q R kWs 78 45.7<br />
Electrical Time Constant te ms 14 14.7<br />
Mechanical Time Constant (Not including Encoder) tm ms 0.63 0.82<br />
Ro<strong>to</strong>r Moment of Inertia Note JM 10 -4 kgm GD 2 2 4 12 20<br />
Mass Note WE kg 9.8 13.6<br />
Brake Static Friction Torque TB Nm 12 32<br />
Brake Rated Voltage VB V DC90V DC24V 10<br />
Brake Rated Current IB A 0.28 1.0 0.37 1.4<br />
Ro<strong>to</strong>r Moment of Inertia (Brake) JB 10 -4 kgm GD 2 2 4 0.5 5.5<br />
Brake Mass W kg 1.7 5<br />
Mo<strong>to</strong>r Operating Temp, Rel. Humidity<br />
Operating Temperature: 0 <strong>to</strong> 40C, Relative Humidity: 90% maximum, no condensation<br />
Note) including Wire-saving incremental encoder<br />
40<br />
40<br />
Mo<strong>to</strong>r Dwgs P26 <strong>to</strong> P28<br />
30<br />
30<br />
:Indicates a typical value<br />
after warm-up and thermal<br />
stabilization, <strong>to</strong>gether with<br />
a standard amplifier.<br />
Torque [Nm]<br />
20<br />
10<br />
Torque [Nm]<br />
20<br />
10<br />
:Indicates a typical<br />
value when the winding<br />
temperature is 20.<br />
0<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
0<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
19
Torque [Nm]<br />
20<br />
15<br />
10<br />
5<br />
Q2AA10100H<br />
100<br />
Q2AA10150H<br />
100<br />
RS1A05A<br />
Q2AA13100H<br />
130<br />
Q2AA13150H<br />
130 Symbol Unit<br />
1 1.5 1.0 1.5 PR kW<br />
2000 2000 NR min -1<br />
3500 3000 3000 3500 Nmax min -1<br />
5 7.2 5 7.5 TR Nm<br />
6 8 6 9 TS Nm<br />
16.6 20.5 15 20.3 TP Nm<br />
6.8 8.6 7 8.7 IR Arms<br />
8.1 9.4 8.3 10.2 IS Arms<br />
24.5 25.5 23.7 26.5 IP Arms<br />
0.814 0.94 0.803 0.981 KT NmArms<br />
28.4 32.7 28.0 34.2 K E mVmin -1<br />
0.477 0.34 0.276 0.266 R <br />
46.0 65 46 71 Q R kWs<br />
4.8 6 12 12 te ms<br />
1.2 0.93 0.69 0.66 tm ms<br />
5.44 8 5.4 7.94 JM 10 -4 kgm GD 2 2 4<br />
5.4 6.5 6.5 7.8 WE kg<br />
9.8 9.8 9 9 TB Nm<br />
DC90V DC24V 10 VB V<br />
0.20 0.75 0.20 0.75 0.25 0.86 IB A<br />
0.4 0.4 0.5 0.5 JB 10 -4 kgm GD 2 2 4<br />
1.5 1.5 W kg<br />
Operating Temperature: 0 <strong>to</strong> 40C, Relative Humidity: 90% maximum, no condensation<br />
0<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
Torque [Nm]<br />
40<br />
30<br />
20<br />
10<br />
0<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
Torque [Nm]<br />
20<br />
15<br />
10<br />
5<br />
0<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
Torque [Nm]<br />
40<br />
30<br />
20<br />
10<br />
0<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
Features and<br />
Functions<br />
Model Number<br />
Nomencalture<br />
System<br />
Configuration<br />
Standard<br />
Specifications<br />
Dimensions External Wiring<br />
Diagram<br />
Q2AA18350H<br />
180<br />
RS1A15A<br />
Q2AA18450H<br />
180<br />
Q2AA18550R<br />
180 Symbol Unit<br />
3.5 4.5 5.5 PR kW<br />
2000 1500 NR min -1<br />
3500 3000 2500 Nmax min -1<br />
16.7 21.5 35 TR Nm<br />
21.1 27.1 37.3 TS Nm<br />
55 70 88 TP Nm<br />
22.6 24 32.2 IR Arms<br />
28 29 33.7 IS Arms<br />
83 81 83 IP Arms<br />
0.840 1.04 1.24 KT NmArms<br />
29.3 36.4 43.2 K E mVmin -1<br />
0.048 0.044 0.039 R <br />
73 84.0 180 Q R kWs<br />
15 18 21 te ms<br />
0.77 0.67 0.53 tm ms<br />
38 55 69 JM 10 -4 kgm GD 2 2 4<br />
17.7 20 30 WE kg<br />
32 32 54.9 TB Nm<br />
DC90V DC24V 10 VB V<br />
0.37 1.4 IB A<br />
5.5 JB 10 -4 kgm GD 2 2 4<br />
5 5 6 W kg<br />
Operating Temperature: 0 <strong>to</strong> 40C, Relative Humidity: 90% maximum, no condensation<br />
Setup Software<br />
Optional<br />
Equipment<br />
60<br />
50<br />
40<br />
80<br />
60<br />
120<br />
90<br />
Torque [Nm]<br />
30<br />
20<br />
10<br />
Torque [Nm]<br />
40<br />
20<br />
Torque [Nm]<br />
60<br />
30<br />
0<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
0<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
0<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
20
Standard Specifications<br />
Q2<br />
Servo Mo<strong>to</strong>r<br />
200V System<br />
<strong>Capacity</strong><br />
<br />
180mm <strong>to</strong> 220mm<br />
5.5kW <strong>to</strong> <strong>15kW</strong><br />
17 models:<strong>750W</strong> <strong>to</strong> <strong>15kW</strong><br />
Features<br />
High Efficiency and Low<br />
Ripple (<strong>Medium</strong> Inertia)<br />
Amplifier Model<br />
Mo<strong>to</strong>r Model and Flange Dimension in mm<br />
Q2AA22550B<br />
220<br />
RS1A15A<br />
Q2AA22700S<br />
220<br />
Status Symbol Unit<br />
Rated Output PR kW 5.5 7<br />
Rated Speed NR min -1 1500 1000<br />
Maximum Speed Nmax min -1 2000 1000<br />
Rated Torque TR Nm 35 67<br />
Continuous Torque at Stall TS Nm 42 70<br />
Peak Torque at Stall TP Nm 90 150<br />
Rated Armature Current IR Arms 30 34<br />
Armature Current at Stall IS Arms 35.1 34<br />
Peak Armature Current at Stall IP Arms 79.7 83<br />
Torque Constant KT NmArms 1.32 2.13<br />
Voltage Constant Per Phase K E mVmin -1 46 74.5<br />
Phase Resistance R 0.0464 0.057<br />
Rated Power Rate Q R kWs 128.5 243<br />
Electrical Time Constant te ms 24 30<br />
Mechanical Time Constant (Not including Encoder) tm ms 0.76 0.7<br />
Ro<strong>to</strong>r Moment of Inertia Note JM 10 -4 kgm GD 2 2 4 95.3 185<br />
Mass Note WE kg 34.8 46<br />
Brake Static Friction Torque TB Nm 90 90<br />
Brake Rated Voltage VB V DC90V DC24V 10<br />
Brake Rated Current IB A 0.36 1.3 0.44 1.7<br />
Ro<strong>to</strong>r Moment of Inertia (Brake) JB 10 -4 kgm GD 2 2 4 24<br />
Brake Mass W kg 10.4<br />
Mo<strong>to</strong>r Operating Temp, Rel. Humidity<br />
Operating Temperature: 0 <strong>to</strong> 40C, Relative Humidity: 90% maximum, no condensation<br />
Note) including Wire-saving incremental encoder<br />
120<br />
90<br />
200<br />
150<br />
Mo<strong>to</strong>r Dwgs P27 <strong>to</strong> P28<br />
:Indicates a typical value<br />
after warm-up and thermal<br />
stabilization, <strong>to</strong>gether with<br />
a standard amplifier.<br />
:Indicates a typical<br />
value when the winding<br />
temperature is 20.<br />
Torque [Nm]<br />
60<br />
30<br />
0<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
Torque [Nm]<br />
100<br />
50<br />
0<br />
0 500 1000 1500 2000<br />
Speed [min -1 ]<br />
Q4<br />
Servo Mo<strong>to</strong>r<br />
200V System<br />
<strong>Capacity</strong><br />
<br />
180mm<br />
11kW <strong>to</strong> <strong>15kW</strong><br />
2 models:11kW <strong>to</strong> <strong>15kW</strong><br />
Features<br />
High Power Rate<br />
(Low Inertia)<br />
Mo<strong>to</strong>r Dwgs P26<br />
:Indicates a typical value<br />
after warm-up and thermal<br />
stabilization, <strong>to</strong>gether with<br />
a standard amplifier.<br />
:Indicates a typical<br />
value when the winding<br />
temperature is 20.<br />
Amplifier Model<br />
Mo<strong>to</strong>r Model and Flange Dimension in mm<br />
Q4AA1811KB<br />
180<br />
RS1A30A<br />
Q4AA1815KB<br />
180<br />
Status Symbol Unit<br />
Rated Output PR kW 11 15<br />
Rated Speed NR min -1 1500<br />
Maximum Speed Nmax min -1 2000<br />
Rated Torque TR Nm 70 95.5<br />
Continuous Torque at Stall TS Nm 70 95.5<br />
Peak Torque at Stall TP Nm 190 220<br />
Rated Armature Current IR Arms 54 61<br />
Armature Current at Stall IS Arms 53 59<br />
Peak Armature Current at Stall IP Arms 155 155<br />
Torque Constant KT NmArms 1.42 1.75<br />
Voltage Constant Per Phase K E mVmin -1 49.7 61.1<br />
Phase Resistance R 0.025 0.032<br />
Rated Power Rate Q R kWs 780 1100<br />
Electrical Time Constant te ms 31 32<br />
Mechanical Time Constant (Not including Encoder) tm ms 0.23 0.27<br />
Ro<strong>to</strong>r Moment of Inertia Note JM 10 -4 kgm GD 2 2 4 63 85<br />
Mass Note WE kg 60 75<br />
Brake Static Friction Torque TB Nm <br />
Brake Rated Voltage VB V <br />
Brake Rated Current IB A <br />
Ro<strong>to</strong>r Moment of Inertia (Brake) JB 10 -4 kgm GD 2 2 4 <br />
Brake Mass W kg <br />
Mo<strong>to</strong>r Operating Temp, Rel. Humidity<br />
Operating Temperature: 0 <strong>to</strong> 40C, Relative Humidity: 90% maximum, no condensation<br />
Cooling Fan PF W 39/33AC200V10Single phase 50/60HZ<br />
Note) including Wire-saving incremental encoder<br />
Torque [Nm]<br />
250<br />
200<br />
150<br />
100<br />
50<br />
0<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
Torque [Nm]<br />
300<br />
250<br />
200<br />
150<br />
100<br />
50<br />
0<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
21
Torque [Nm]<br />
150<br />
100<br />
50<br />
Q2AA18550H<br />
180<br />
Q2AA18750L<br />
180<br />
RS1A30A<br />
Q2AA2211KV<br />
220<br />
Q2AA2215KV<br />
220 Symbol Unit<br />
5.5 7.5 11 15 PR kW<br />
1500 NR min -1<br />
3000 2000 Nmax min -1<br />
35 48 70 95.5 TR Nm<br />
37.3 54.9 80 95.5 TS Nm<br />
95 139 176 215 TP Nm<br />
47 52 60 66 IR Arms<br />
47 57 66 66 IS Arms<br />
155 160 155 157 IP Arms<br />
0.830 1.03 1.29 1.54 KT NmArms<br />
29.0 36.0 45.1 53.6 K E mVmin -1<br />
0.018 0.017 0.015 0.016 R <br />
170 240 260 360 Q R kWs<br />
17 20 33 33 te ms<br />
0.57 0.46 0.50 0.52 tm ms<br />
73 95 186 255 JM 10 -4 kgm GD 2 2 4<br />
31 40 58 70 WE kg<br />
54.9 90 90 TB Nm<br />
DC90V DC24V 10 VB V<br />
0.37 1.4 0.44 1.7 IB A<br />
5.5 24 JB 10 -4 kgm GD 2 2 4<br />
6 11 W kg<br />
Operating Temperature: 0 <strong>to</strong> 40C, Relative Humidity: 90% maximum, no condensation<br />
0<br />
0<br />
0 1000 2000 3000 4000<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
Torque [Nm]<br />
150<br />
100<br />
50<br />
Speed [min -1 ]<br />
Torque [Nm]<br />
200<br />
150<br />
100<br />
50<br />
0<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
Torque [Nm]<br />
250<br />
200<br />
150<br />
100<br />
50<br />
0<br />
0 1000 2000 3000 4000<br />
Speed [min -1 ]<br />
Features and<br />
Functions<br />
Model Number<br />
Nomencalture<br />
System<br />
Configuration<br />
Standard<br />
Specifications<br />
Dimensions External Wiring<br />
Diagram<br />
Encoder Wiring Diagram<br />
Wire-saving Incremental Encoder<br />
Cannon plug and lead-wire types<br />
Battery backup method Absolute Encoder [ PA035C ]<br />
Absolute encoder for incremental System [ PA035S ]<br />
Absolute encoder without battery [ RA035C ]<br />
Cannon plug and lead-wire types<br />
Setup Software<br />
Optional<br />
Equipment<br />
SERVO AMPLIFIER<br />
SERVO MOTOR<br />
SERVO AMPLIFIER<br />
SERVO MOTOR<br />
Note 2) 5V<br />
Note 2) 0V<br />
CN2<br />
A or U channel input<br />
<br />
A or U channel input<br />
B or V channel input<br />
<br />
B or V channel input<br />
C or W channel input<br />
<br />
C or W channel input<br />
Plug : 10120-3000PE<br />
Shell : 10320-52A0-008<br />
3<br />
4<br />
5<br />
6<br />
7<br />
8<br />
9<br />
10<br />
11<br />
12<br />
16<br />
17<br />
18<br />
19<br />
20<br />
H (Shield Wire)<br />
Note 1)<br />
Note 3)<br />
Incremental encoder<br />
A Blue<br />
A or U channel output<br />
D Brown <br />
A or U channel output<br />
B Green<br />
B or V channel output<br />
E Purple <br />
B or V channel output<br />
F White<br />
C or W channel output<br />
G Yellow <br />
C or W channel output<br />
J Red<br />
5V<br />
N Black<br />
0V<br />
Note 4)<br />
FG (shielded)<br />
JA06A-20-29S-J1-R<br />
JA06A-20-29S-J1-EB-R<br />
JA08A-20-29S-J1-EB-R<br />
N/MS3106B20-29S<br />
N/MS3108B20-29S<br />
(With Cannon plug)<br />
Note 1) Use a twisted-pair shielded cable.<br />
Note 2) Encoder power connections depend on encoder cable length.<br />
See the following table:<br />
Note 2) 5V<br />
Note 2) 0V<br />
CN2<br />
ES<br />
ES<br />
EBAT<br />
EBAT<br />
13<br />
14<br />
1<br />
2<br />
9<br />
10<br />
11<br />
12<br />
17<br />
18<br />
19<br />
20<br />
Note 1)<br />
Note 3)<br />
E Brown<br />
ES<br />
F Blue<br />
ES<br />
T Pink<br />
EBAT<br />
SPurple<br />
Note 4)<br />
EBAT<br />
Note 5)<br />
HRed<br />
GBlack<br />
J<br />
Absolute encoder<br />
5V<br />
0V<br />
FG (shielded)<br />
Plug : 10120-3000PE<br />
JA06A-20-29S-J1-R<br />
Shell : 10320-52A0-008<br />
JA06A-20-29S-J1-EB-R<br />
JA08A-20-29S-J1-EB-R<br />
N/MS3106B20-29S<br />
N/MS3108B20-29S<br />
(With Cannon plug)<br />
Note 1) Use a twisted-pair shielded cable.<br />
Note 2) Encoder power connections depend on encoder cable length.<br />
See the following table:<br />
Encoder cable length 5m MAX.<br />
5V DC Wiring<br />
Connect pin 19<br />
(Do not connect pins 9, 12, 17)<br />
0V DC Wiring<br />
Connect pin 20<br />
(Do not connect pins 10, 11, 16, 18)<br />
10m MAX.<br />
Connect pin 17,19<br />
(Do not connect pins 9, 12)<br />
Connect pin 18, 20<br />
(Do not connect pins10, 11, 16)<br />
20m MAX.<br />
Connect pin 12, 17, 19<br />
(Do not connect pins 9)<br />
Connect pin 11, 18, 20<br />
(Do not connect pins 10, 16)<br />
30m MAX.<br />
Connect pin 9,12,17,19<br />
Connect pin 10,11,16,18,20<br />
Encoder cable length<br />
5V DC Wiring<br />
0V DC Wiring<br />
10m <br />
Connect pin 19<br />
(Do not connect pins12,17)<br />
Connect pin 20<br />
(Do not connect pins11,18)<br />
25m <br />
Connect pin 17, 19<br />
(Do not connect pins 12)<br />
Connect pin 18, 20<br />
(Do not connect pins 11)<br />
40m <br />
Connect pin 12,17,19<br />
Connect pin 11,16,18,20<br />
Note 3) Use a AWG24 0.2mm 2 encoder cable<br />
Note 4) The color in ( ) shows the case of the encoder of the lead wire type.<br />
Note 3) Use a AWG24 0.2mm 2 encoder cable<br />
Note 4) When the Absolute encoder for incremental system or absolute encoder<br />
without battery is used, battery lines (EBAT+, EBAT-) are not required.<br />
Note 5) The color in ( ) shows the case of the encoder of the lead wire type.<br />
22
-<br />
External Wiring Diagram<br />
Single-Axis Servo Amplifier With CANopen<br />
Main Power : 200V ACControl Power : 200V ACDC24V<br />
Con<strong>to</strong>rol Power DC24V<br />
3-phase<br />
AC power<br />
200 <strong>to</strong> 230V<br />
5060Hz<br />
Note 10)<br />
MC<br />
Operation Prep.<br />
ON Operation Prep.<br />
OFF<br />
MC<br />
MC<br />
Emergency<br />
System Error<br />
S<strong>to</strong>p<br />
User Unit<br />
50A : CNA<br />
100 <strong>to</strong> 300A : Terminalblock<br />
Note 11)<br />
CNB<br />
T<br />
S<br />
R<br />
DC24V<br />
24V<br />
24G<br />
Con<strong>to</strong>rol Power AC200V<br />
User Unit<br />
1<br />
2<br />
Note 2)<br />
Note 3)<br />
Note 4)<br />
CNB<br />
Regenerative<br />
resis<strong>to</strong>r<br />
3-phase<br />
AC power<br />
200 <strong>to</strong> 230V<br />
5060Hz<br />
Note 10)<br />
MC<br />
50A : CNA<br />
100 <strong>to</strong> 300A : Terminalblock<br />
T<br />
Note 11) S<br />
R<br />
t<br />
r<br />
DL1<br />
DL2<br />
P<br />
RB1<br />
RB2<br />
+<br />
Operation Prep.<br />
ON<br />
Operation Prep.<br />
OFF<br />
MC<br />
MC<br />
Emergency<br />
System Error<br />
S<strong>to</strong>p<br />
CAN_H<br />
CAN_L<br />
Termina<strong>to</strong>r<br />
GND<br />
GND<br />
CN3<br />
1<br />
2<br />
5<br />
3<br />
7<br />
Note 12)<br />
SERVO AMPLIFIER<br />
CAN<br />
TRANCEIVER<br />
W<br />
V<br />
U<br />
50A : CNC<br />
100 <strong>to</strong> 300A : Terminalblock<br />
Note 6)<br />
Black<br />
White<br />
Red<br />
Green<br />
(Green/Yellow)<br />
SERVO MOTOR<br />
Orange<br />
(Yellow)<br />
Orange<br />
(Yellow)<br />
RY1<br />
Holding brake<br />
(for the type with<br />
a brake only)<br />
90V<br />
(24V)<br />
CAN_H<br />
CAN_L<br />
Termina<strong>to</strong>r<br />
SH<br />
Combination of<br />
Plug:TM21P-88P<br />
CN4<br />
1<br />
2<br />
5<br />
1/4W 120<br />
CN2<br />
Note 7)<br />
Note 5)<br />
Encoder connec<strong>to</strong>r<br />
SH<br />
Combination of<br />
SH<br />
Plug : 10120-3000PE<br />
Shell : 10320-52A0-008<br />
Encoder<br />
GND<br />
3<br />
GND<br />
7<br />
SH<br />
Combination of<br />
Plug:TM21P-88P<br />
SG<br />
CN1<br />
DC 3.6V<br />
Lithium Battery<br />
1<br />
BTP-I<br />
2<br />
8<br />
BTN-I<br />
NPN Output<br />
OUT-PWR<br />
14<br />
DC5V, Note 8)<br />
DC12V<br />
24V<br />
PNP Output<br />
OUT-PWR<br />
14<br />
Note 8)<br />
DC12V<br />
Note 8 )<br />
DC5V <strong>to</strong> 24V<br />
9<br />
3<br />
CONT<br />
-COM<br />
CONT1<br />
OUT1<br />
6<br />
OUT1<br />
6<br />
10 CONT2<br />
OUT2<br />
13<br />
OUT2<br />
13<br />
OUT-COM<br />
7<br />
4 CONT3<br />
SH<br />
Note 5)<br />
SH<br />
Note 5)<br />
11 CONT4<br />
Note 1) 1) For For the the parts parts markde markde , use , use a twisted a twisted pair shielded pair shielded cable. cable.<br />
5 CONT7<br />
12 CONT8<br />
Combination of<br />
Plug : 10114-3000PE<br />
Shell : 10314-52A0-008<br />
Note 2)When using an an external regenetive resis<strong>to</strong>r, resis<strong>to</strong>r, connect connect it between it between RB1 and RB1 2. If RB1 and 2. If RB1<br />
and 2are connected <strong>to</strong> the <strong>to</strong> the internal internal amplifier's amplifier's resis<strong>to</strong>r, resis<strong>to</strong>r, if a shorting if a shorting bar is bar is<br />
connected between between RB1and RB1and 4, first 4, first disconnect disconnect them. them.<br />
Note 3) The DL1 and DL2 terminals are for connecting a DC reac<strong>to</strong>r. If a DC reac<strong>to</strong>r is not<br />
Note 3) used, The DL1 short and the DL2 DL1 and terminals DL2 terminals are for using connecting the short a DC bar reac<strong>to</strong>r. supplied. If a DC reac<strong>to</strong>r is not<br />
used, short the DL1 and DL2 terminals using the short bar supplied.<br />
Note 4) The terminal and the P terminal are for maintenance (high-voltage circuit).<br />
Note 4) The terminal and the P terminal are for maintenance (high-voltage circuit).<br />
Note 5) Refer <strong>to</strong> the Instruction Manual for instructions on the shielding process.<br />
Note 5) Refer <strong>to</strong> the Instruction Manual for instructions on the shielding process.<br />
Note 6) The mo<strong>to</strong>r-side connection depends on the mo<strong>to</strong>r specification. The red, white,<br />
Note 6) black The mo<strong>to</strong>r-side green and orange connection markings depends are for on use the with mo<strong>to</strong>r lead type specification. mo<strong>to</strong>r power The line red, and white,<br />
brake line. Refer <strong>to</strong> the mo<strong>to</strong>r specifications for cannon plug type connections.<br />
black green and orange markings are for use with lead type mo<strong>to</strong>r power line and<br />
Note 7) Refer brake <strong>to</strong> line. the encoder Refer <strong>to</strong> connection the mo<strong>to</strong>r diagram specifications regarding for the cannon encoder plug connec<strong>to</strong>r type connections.<br />
wiring.<br />
Note 8) 7) Power Refer should <strong>to</strong> the be encoder supplied connection by the user. diagram Either of regarding the inputs can the be encoder selected. connec<strong>to</strong>r wiring.<br />
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<br />
low-voltage. Ensure sufficient distance between the high- and low-voltage circuits.<br />
Note 9) R,S,T,t,r,,P,DL1,DL2,RB1,RB2,U,V,W are high-voltage circuits, all other lines are<br />
Note 10) It low-voltage. is recommended Ensure <strong>to</strong> use sufficient a ground distance fault interrupter between conforming<strong>to</strong> the high- and the UL, low-voltage IEC and circuits.<br />
EN standards.<br />
Note Note 11) 10) Do It is not recommended wire the S phase <strong>to</strong> for use a single-phase a ground fault power interrupter amplifier. conforming<strong>to</strong> the UL, IEC and<br />
EN standards.<br />
Note 12) Insert RJ45 connec<strong>to</strong>r <strong>to</strong> which 1pin(CAN_H) and 5pin(Termina<strong>to</strong>r) are<br />
Note 11) short-circuited Do not wire the in CN3 S phase or CN4 for when a single-phase the termina<strong>to</strong>r power is necessary. amplifier.<br />
Note 12) Insert RJ45 connec<strong>to</strong>r <strong>to</strong> which 1pin(CAN_H) and 5pin(Termina<strong>to</strong>r) are<br />
short-circuited in CN3 or CN4 when the termina<strong>to</strong>r is necessary.<br />
23
-<br />
−<br />
−<br />
+<br />
+<br />
Servo Amplifer built-in positioning function model<br />
Main Power : 200V ACControl Power : 200V AC<br />
Features and<br />
Functions<br />
Single-phase (200V) Amp,capacity 50A<br />
User Unit<br />
Single-phase<br />
AC Powe<br />
200 <strong>to</strong> 230V<br />
5060Hz<br />
3-phase (200V)<br />
Note 10)<br />
3-phase<br />
AC power<br />
200 <strong>to</strong> 230V<br />
50/60Hz<br />
Note 10)<br />
MC<br />
Operation Prep.<br />
ON Operation Prep.<br />
OFF<br />
MC<br />
MC<br />
Emergency<br />
S<strong>to</strong>p<br />
System Error<br />
MC<br />
User Unit<br />
Operation Prep.<br />
Operation Prep.<br />
ON<br />
OFF<br />
MC<br />
MC<br />
Emergency<br />
System Error S<strong>to</strong>p<br />
External power source for output (+24V)<br />
Power ON ready (A-RDY)<br />
NC ready (NCRDY)<br />
Holding brake excitation timing output (HBON)<br />
Error output (Err)<br />
External operation effective (EXT)<br />
While operation (MOVE)<br />
Positioning complete (PFIN)<br />
Note 8)<br />
50A : CNA<br />
100 <strong>to</strong> 300A : Terminalblock<br />
Note 11)<br />
CN1<br />
1<br />
2<br />
50<br />
3<br />
4<br />
5<br />
6<br />
7<br />
8<br />
T<br />
S<br />
R<br />
t<br />
r<br />
Amp,capacity<br />
50A<br />
Note 2)<br />
Note 3)<br />
Note 4)<br />
CNB<br />
DL1<br />
DL2<br />
P<br />
RB1<br />
SERVO AMPLIFIER<br />
Note 2)<br />
Regenerative<br />
resis<strong>to</strong>r<br />
+<br />
RB2<br />
Amp,capacity<br />
100A150A<br />
Note 2)<br />
Note 3)<br />
Note 4)<br />
Terminal<br />
block<br />
DL1<br />
DL2<br />
P<br />
RB1<br />
RB4<br />
SH<br />
SH<br />
Plug : 10120-3000PE,<br />
Note 5) Shell : 10320-52A0-008<br />
External<br />
regenerative<br />
resis<strong>to</strong>r<br />
RB2<br />
Built-in<br />
regenerative<br />
resis<strong>to</strong>r<br />
Amp,capacity<br />
300A<br />
Note 2)<br />
Note 3)<br />
Note 4)<br />
50A : CNC<br />
SERVO MOTOR<br />
100 <strong>to</strong> 300A : Terminalblock<br />
Note 6)<br />
Black<br />
Orange<br />
W<br />
RY1<br />
(Yellow)<br />
White<br />
V<br />
Orange<br />
90V<br />
(Yellow)<br />
(24V)<br />
Red<br />
U<br />
Holding brake<br />
(for the type with<br />
Green<br />
a brake only)<br />
(Green/Yellow)<br />
CN2 Encoder connec<strong>to</strong>r<br />
Note 7)<br />
Encoder<br />
Terminal<br />
block<br />
DL1<br />
DL2<br />
P<br />
RB1<br />
External<br />
regenerative<br />
resis<strong>to</strong>r<br />
RB2<br />
Model Number<br />
Nomencalture<br />
System<br />
Configuration<br />
Standard<br />
Specifications<br />
Dimensions External Wiring<br />
Diagram<br />
In-position (INPS)<br />
9<br />
Homing complete (ZFIN)<br />
General-purpose output<br />
OUT(1)<br />
OUT(2)<br />
OUT(3)<br />
OUT(4)<br />
OUT(5)<br />
OUT(6)<br />
OUT(7)<br />
OUT(8)<br />
Common for output external power (24G)<br />
10<br />
11<br />
12<br />
13<br />
14<br />
15<br />
16<br />
17<br />
18<br />
24<br />
25<br />
Setup Software<br />
Optional<br />
Equipment<br />
External power source for input (+24G)<br />
Slow down before Home (SDN)<br />
Note 8)<br />
26<br />
19<br />
Over travel (+0T)<br />
Over travel (-0T)<br />
External data setting (E_STR)<br />
External Error (EXT_E)<br />
Start (RUN)<br />
Homing start (ZRT)<br />
Manual feeding (+JOG)<br />
Manual feeding (-JOG)<br />
Over ride (OVRID)/Manual high speed (RAP)<br />
Alarm reset (ARST)<br />
Cancel (CACL)<br />
Servo ON (S-ON)<br />
Output selection 1 (SEL1)<br />
Output selection 2 (SEL2)<br />
Output selection 3 (SEL3)<br />
1 step feeding (+1step)<br />
1 step feeding (-1step)<br />
Interruption start (I_RUN)<br />
MFIN (MFIN)<br />
IN(1)<br />
IN(2)<br />
20<br />
21<br />
22<br />
23<br />
27<br />
28<br />
29<br />
30<br />
31<br />
32<br />
33<br />
34<br />
35<br />
36<br />
37<br />
38<br />
39<br />
40<br />
41<br />
42<br />
43<br />
Note 1) For the parts marked , use a shielded cable.<br />
Note 2) AMP. capacity 50A<br />
When using an external regenerative resis<strong>to</strong>r, connect it between<br />
RB1 and 2. If RB1 and 2are connected <strong>to</strong> the internal amplifier's<br />
resis<strong>to</strong>r, or if a shorting bar is connected between RB1and 4, first<br />
disconnect them.<br />
AMP. capacity 100A,150A<br />
When using internal regenerative resis<strong>to</strong>r, connectshort-circuit bar<br />
between RB1 and RB4 terminals. When using external regenerative<br />
resis<strong>to</strong>r, connect it between RB1 and RB2 terminalsafter removing<br />
short-circuit bar between RB1 and RB4 terminals.<br />
AMP. capacity 300A<br />
Connect external regenerative resis<strong>to</strong>r between RB1 and RB2 terminals.<br />
Note 3)<br />
The DL1 and DL2 terminals are for connecting a DC reac<strong>to</strong>r.<br />
If a DC reac<strong>to</strong>r is not used, short the DL1 and DL2<br />
terminals using the short bar supplied.<br />
Note 4) The terminal and the P terminal are for maintenance<br />
Note 5) Refer <strong>to</strong> the Instruction Manual for instructions on theshielding process.<br />
Note 6)<br />
Note 7)<br />
The mo<strong>to</strong>r-side connection depends on the mo<strong>to</strong>r specification.<br />
The red, white, black green and orange markings are<br />
for use with lead type mo<strong>to</strong>r power line and brake line.<br />
Refer <strong>to</strong> the mo<strong>to</strong>r specifications for cannon plug type connections.<br />
Refer <strong>to</strong> the encoder connection diagram regarding<br />
the encoder connec<strong>to</strong>r wiring.<br />
Point specification<br />
IN(4)<br />
IN(8)<br />
IN(16)<br />
IN(32)<br />
44<br />
45<br />
46<br />
47<br />
Note 8)<br />
Power should be supplied by the user.<br />
Either of the inputs can be selected.<br />
Note 9) R,S,T,t,r, ,P,DL1,DL2,RB1,RB2, RB4 (100A, 150A only), U,V,W are<br />
high-voltage circuits, all other lines are low-voltage. Ensure sufficient<br />
distance between the high- and low-voltage circuits.<br />
IN(64)<br />
48<br />
IN(128)<br />
49<br />
Note 10)<br />
It is recommended <strong>to</strong> use a ground fault interrupter conforming<br />
<strong>to</strong> the UL, IEC and EN standards.<br />
Plug :10150-3000PE<br />
Shell :10350-52A0-008<br />
Note 11)<br />
Do not wire the S phase for a single-phase power amplifier.<br />
24
External Wiring Diagram<br />
Single-Axis Servo Amplifier built-in positioning function serial interface model<br />
Single-phase (200V)Amp,capacity 50A<br />
User Unit<br />
Single-phase<br />
AC Power<br />
200 <strong>to</strong> 230V<br />
5060Hz<br />
Note 10<br />
3-phase (200V)<br />
3-phase<br />
AC Power<br />
200 <strong>to</strong> 230V<br />
5060Hz<br />
Note 10<br />
MC<br />
Operation Prep.<br />
Operation Prep.<br />
ON<br />
OFF<br />
MC<br />
MC<br />
Emergency<br />
S<strong>to</strong>p<br />
System Error<br />
MC<br />
User Unit<br />
50A : CNA<br />
100 <strong>to</strong> 300A :<br />
Terminalblock<br />
Note 11<br />
T<br />
S<br />
R<br />
t<br />
r<br />
Amp,capacity<br />
50A<br />
Note 2<br />
Note 3<br />
Note 4<br />
CNB<br />
DL1<br />
DL2<br />
Regenerative<br />
resis<strong>to</strong>r<br />
P<br />
RB1<br />
RB2<br />
+<br />
Amp,capacity<br />
100A150A<br />
Note 2<br />
Note 3<br />
Note 4<br />
Terminal<br />
block<br />
−<br />
DL1<br />
DL2<br />
P<br />
RB1<br />
RB4<br />
RB2<br />
Built-in<br />
regenerative<br />
resis<strong>to</strong>r<br />
+<br />
External<br />
regenerative<br />
resis<strong>to</strong>r<br />
Amp,capacity<br />
300A<br />
Note 2<br />
Note 3<br />
Note 4<br />
Terminal<br />
block<br />
−<br />
DL1<br />
DL2<br />
P<br />
RB1<br />
+<br />
External<br />
regenerative<br />
resis<strong>to</strong>r<br />
RB2<br />
Operation Prep. Operation Prep.<br />
ON OFF<br />
MC<br />
MC<br />
SERVO AMPLIFIER<br />
Emergency<br />
S<strong>to</strong>p<br />
System Error<br />
B/B'<br />
A/A'<br />
GND<br />
Conbination of<br />
Plug : TM21P-88P<br />
Note 1 CN3<br />
SH<br />
4<br />
5<br />
8<br />
SW2<br />
1/4W 120<br />
RS-485<br />
TRANCEIVER<br />
CNC<br />
W<br />
V<br />
U<br />
CN2<br />
Note 7<br />
SH<br />
Note 6<br />
Black<br />
White<br />
Red<br />
Green<br />
(Green/Yellow)<br />
Encoder connec<strong>to</strong>r<br />
SH<br />
SERVO MOTOR<br />
Encoder<br />
Orange<br />
(Yellow)<br />
Orange<br />
(Yellow)<br />
Holding brake<br />
(for the type with<br />
a brake only)<br />
RY1<br />
90V<br />
(24V)<br />
B/B'<br />
A/A'<br />
Hirose<br />
CN4<br />
Note 1<br />
4<br />
5<br />
Note 5<br />
Conbination of<br />
Plug : 10120-3000PE,<br />
Shell : 10320-52A0-008<br />
3M<br />
GND<br />
8<br />
SH<br />
Combination<br />
Plug : TM21P-88P or equivalent<br />
Hirose<br />
SG<br />
OUT-PWR 9<br />
Note 8<br />
DC24V<br />
CN1<br />
OUT1 7<br />
DC24V<br />
Note 8<br />
1<br />
2<br />
CONT-COM<br />
CONT1<br />
OUT2 8<br />
General-purpose Outputs<br />
3<br />
CONT2<br />
OUT-COM<br />
6<br />
General-purpose Inputs<br />
SH<br />
4<br />
CONT3<br />
5<br />
CONT4<br />
Note 1) For the parts marked , use a shielded cable.<br />
SH<br />
Combination<br />
Plug kit: MUF-PK10K-X or equivalent<br />
J.S.T.Mfg.CO.,LTD<br />
Note 2)<br />
Note 3)<br />
Connect regenerative resis<strong>to</strong>r between RB1 and RB2 terminals.<br />
The DL1 terminal and DL2 terminal are terminals <strong>to</strong> connect <strong>to</strong> the<br />
DC reac<strong>to</strong>r. When a DC reac<strong>to</strong>r is not used, short-circuit between<br />
DL1 and DL2 terminals with the supplied short-circuit bar.<br />
Note 4) The terminal and the P terminal are for maintenance<br />
Note 5) Refer <strong>to</strong> the Instruction Manual for instructions on the shielding<br />
process.<br />
Note 6)<br />
Note 7)<br />
Note 8)<br />
The mo<strong>to</strong>r-side connection depends on the mo<strong>to</strong>r specification.<br />
The red, white, black green and orange markings are<br />
for use with lead type mo<strong>to</strong>r power line and brake line.<br />
Refer <strong>to</strong> the mo<strong>to</strong>r specifications for cannon plug type connections.<br />
Refer <strong>to</strong> the encoder connection diagram regarding<br />
the encoder connec<strong>to</strong>r wiring.<br />
Power should be supplied by the user.<br />
Either of the inputs can be selected.<br />
Note 9) R,S,T,t,r, ,P,DL1,DL2,RB1,RB2,U,V,W are high-voltage circuits,<br />
all other lines are low-voltage. Ensure sufficient<br />
distance between the high- and low-voltage circuits.<br />
Note 10)<br />
Note 11)<br />
It is recommended <strong>to</strong> use a ground fault interrupter conforming<br />
<strong>to</strong> the UL, IEC and EN standards.<br />
Do not wire the S phase for a single-phase power amplifier.<br />
25
Servo Mo<strong>to</strong>r Dimensions (Unit : mm)<br />
<br />
86mm<br />
Q2 Servo Mo<strong>to</strong>r Series: High Efficiency / Low Ripple (<strong>Medium</strong> Inertia)<br />
Features and<br />
Functions<br />
(115)<br />
86<br />
4-6.6<br />
100<br />
0.07 M<br />
0.02<br />
0.06 M<br />
0<br />
800.030<br />
Standard<br />
Specifications<br />
0<br />
160.011<br />
2<br />
M<br />
35 LL<br />
3<br />
8<br />
30<br />
25<br />
A<br />
A<br />
55<br />
Model Number<br />
Nomencalture<br />
System<br />
Configuration<br />
S Type Oil seal<br />
M5 Tapping<br />
Depth 12<br />
(7.5)<br />
(5)<br />
Optional<br />
Equipment<br />
0<br />
50.030<br />
1100100<br />
(50)<br />
1100100<br />
(50)<br />
MODEL<br />
Q2AA08075<br />
Q2AA08100<br />
2<br />
5<br />
Section AA<br />
Incremental<br />
Without brake With brake<br />
LL<br />
LL<br />
146<br />
182<br />
163<br />
199<br />
Teflon wire (for mounting)<br />
(For Poewr, Brake and Ground)<br />
Shielded cable (for mounting)<br />
(For Encoder)<br />
Dimensions External Wiring<br />
Diagram<br />
<br />
180mm<br />
Q4 Servo Mo<strong>to</strong>r Series: High Power Rate (Low Inertia / High Torque)<br />
Setup Software<br />
Eye Bolt<br />
2-M8<br />
(IE)<br />
(LH)<br />
Weight Caution Nameplate Key Position Key Position<br />
MS3102A32-17P (or Equivalent) MS3102A10SL-4P<br />
MS3102A20-29P (or Equivalent)<br />
(for mo<strong>to</strong>r) (for fan mo<strong>to</strong>r) (for encoder)<br />
LC<br />
M<br />
LL<br />
(50) (50)<br />
<br />
(KB1) (KB2) 7.5<br />
M<br />
LR<br />
(IL1)<br />
(IL2)<br />
LE (LG)<br />
Mo<strong>to</strong>r Nameplate<br />
(Opposite side)<br />
Arrow Nameplate<br />
(opposite)<br />
Q<br />
LA<br />
LB<br />
S<br />
QA QK<br />
A<br />
M<br />
<br />
A<br />
R1<br />
N.P.<br />
Exhaust<br />
N.P.<br />
Intake<br />
(115) (15)<br />
(KL3) (19)<br />
(KL1)<br />
(KL2)<br />
M10X1.5<br />
4-LZ1<br />
Depth LT<br />
S Type Oil seal<br />
2-LZ2<br />
W<br />
U<br />
T<br />
(IL1)<br />
(IL2)<br />
2-M8 Caution Nameplate<br />
For Eye Bolt<br />
Exhaust<br />
Min. of 50mm space needed<br />
(145)<br />
Section A-A<br />
Incremental<br />
Note 1)<br />
Connec<strong>to</strong>r<br />
<br />
Without brake<br />
Mo<strong>to</strong>r, Ground<br />
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<br />
0<br />
0<br />
Q4AA1811K 497<br />
72<br />
0<br />
42-0.016<br />
12-0.043 8 3 337 84<br />
32-17P 19 144 22 79 200<br />
Q4AA1815K<br />
114.3-0.035 3 230 180 13.5 M8 79 0 75 3 67 0<br />
0.03 0.08 0.10 M10 25 124 50<br />
587<br />
55-0.019<br />
16-0.043 10 4 427 109<br />
Please inquire for the dimensions with the absolute encoder.<br />
IL1 IL2<br />
145 90<br />
155 170<br />
26
H<br />
Servo Amplifier Dimensions (Unit : mm)<br />
<br />
100mm <strong>to</strong> 220mm<br />
Q1 Servo Mo<strong>to</strong>r Series: High Power Rate (Low Inertia)<br />
Q2 Servo Mo<strong>to</strong>r Series: High Efficiency / Low Ripple (<strong>Medium</strong> Inertia)<br />
LC<br />
4-LZ1<br />
M<br />
<br />
M<br />
LR<br />
LE (LG) (IL2)<br />
LL<br />
(IF) 2-M8<br />
(LH)<br />
LA<br />
QA<br />
Q<br />
QK<br />
H<br />
W<br />
<br />
LB<br />
S<br />
M<br />
(KL1)<br />
(19 ) (KL3)<br />
(IE)<br />
2-LZ2<br />
S Type Oil seal<br />
QE Tap<br />
Depth LT<br />
U<br />
T<br />
(IL1)<br />
(IL2)<br />
(KB1)<br />
(KB3)<br />
(KB2)<br />
( KL2 )<br />
MS3102A20-29P(or Equivalent)<br />
(For Encoder)<br />
(IF)<br />
Eye bolt<br />
2-M8<br />
Section H-H<br />
MS3102A-(or Equivalent)<br />
(for mo<strong>to</strong>r, brake and ground)<br />
JL04V-2E10SL-3PE-B<br />
(For Brake)<br />
Q1 Servo Mo<strong>to</strong>r Series: High Power Rate (Low Inertia)<br />
Incremental Connec<strong>to</strong>r Note 1<br />
Without brake With brake Mo<strong>to</strong>r, Ground<br />
Brake Note 2<br />
(only when mounted)<br />
MODEL LL KB2 LL KB2 KB3 MS3102A JL04V-2E LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2<br />
Q1AA10100 184<br />
219<br />
Q1AA10150 209 244<br />
80<br />
Q1AA10200 234 269<br />
116 51 20-15P 10SL-3PE-B 10 78 19 63 115 0 95-0.035 3 130 100 9 -<br />
Q1AA10250 259 294<br />
Q1AA12100 <br />
Q1AA12200 <br />
168<br />
205 72<br />
204<br />
241 108 45 24-11P 10SL-3PE-B 12 93 21 67 135<br />
Q1AA12300 242 278<br />
Q1AA13300 205<br />
254<br />
Q1AA13400 232 67 281<br />
12 98 21 80 145<br />
117 - 24-11P<br />
Q1AA13500 269 318<br />
Q1AA18450 288 67 338 16 123 21<br />
Q1AA18750 384 72 434 122 54 32-17P 10SL-3PE-B 19 144 22<br />
80 200<br />
0<br />
110-0.035<br />
0<br />
110-0.035<br />
0<br />
114.3-0.035<br />
3 162 120 9 -<br />
4 165 130 9 M6<br />
3 230 180 13.5 M8<br />
MODEL LR S Q QA QK W T U KB1 QE LT IE IF IL1 IL2<br />
Q1AA10100 <br />
84<br />
Q1AA10150 0<br />
0<br />
109<br />
45<br />
40 3 32<br />
6 2.5<br />
Q1AA10200 22-0.013<br />
6-0.030<br />
134<br />
0.02 0.08 0.08 M6 20 - - - -<br />
Q1AA10250 159<br />
Q1AA12100 <br />
0<br />
0<br />
76<br />
45<br />
40 3 32<br />
6 2.5<br />
M6 20<br />
Q1AA12200 22-0.013<br />
6-0.030<br />
113<br />
0.02 0.08 0.08<br />
- - - -<br />
Q1AA12300 55<br />
0<br />
0<br />
50 3 42<br />
28-0.013<br />
8-0.036<br />
7 3 150 M8 25<br />
Q1AA13300 <br />
Q1AA13400 55<br />
0<br />
0<br />
50 3 42<br />
28-0.013<br />
8-0.036<br />
7 3<br />
117<br />
144 0.02 0.08 0.08 M8 25 - - - -<br />
Q1AA13500 181<br />
0<br />
0<br />
Q1AA18450 65<br />
60 3 50<br />
8 3 200<br />
M8 25 124 50 93 50<br />
35-0.016<br />
10-0.036<br />
0.02 0.08 0.08<br />
0<br />
0<br />
Q1AA18750 79<br />
75 3 67<br />
8 3 291 M10 25 124 50 85 145<br />
42-0.016<br />
12-0.043<br />
Note 1) Waterproof specification IP67 requires that the connec<strong>to</strong>r <strong>to</strong> be attached ; for IP67 compliance, use a waterproof connec<strong>to</strong>r for the mating plug.<br />
Note 2) All brake connec<strong>to</strong>rs are JL04V-2E10SL-3PE-B for CE compliant DC24V brakes.<br />
Please inquire for the dimensions with the absolute encoder.<br />
27
Q2 Servo Mo<strong>to</strong>r Series: High Efficiency / Low Ripple (<strong>Medium</strong> Inertia)<br />
Incremental Connec<strong>to</strong>r Note 1<br />
Without brake With brake Mo<strong>to</strong>r, Ground<br />
Brake Note 2<br />
(only whenmounted)<br />
MODEL LL KB2 LL KB2 KB3 MS3102A JL04V-2E LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2<br />
Q2AA10100 196<br />
231 0<br />
77 113 51 20-15P 10SL-3PE-B 10 78 19 67 115<br />
Q2AA10150 226 261<br />
95-0.035<br />
3 130 100 9 -<br />
Q2AA13100 152<br />
188 103 - 0<br />
Q2AA13150 169 205<br />
24-11P 12 98 21 80 145<br />
110-0.035<br />
4 165 130 9 M6<br />
Q2AA13200 186 226 107 -<br />
67<br />
Q2AA18200 171 221<br />
Q2AA18350 203 253 117 - 24-11P 16 123 21 80 200<br />
0<br />
114.3-0.035<br />
3 230 180 13.5 M8<br />
Q2AA18450 218 268<br />
Q2AA18550 282<br />
332 0<br />
72 122 54 32-17P 19 144 22 80 200<br />
Q2AA18750 332 382<br />
114.3-0.035<br />
3 230 180 13.5 M8<br />
Q2AA22550 252<br />
309 0<br />
83 141 82 24-11P 10SL-3PE-B 19 141 21 80 235<br />
Q2AA22700 310 368<br />
200-0.046<br />
4 270 220 13.5 M10<br />
Q2AA2211K 335<br />
393<br />
0<br />
73 61 131 32-17P 19 162 22 80 235<br />
Q2AA2215K 394 452<br />
200-0.046<br />
4 270 220 13.5 M10<br />
MODEL LR S Q QA QK W T U KB1 QE LT IE IF IL1 IL2<br />
Q2AA10100 <br />
0<br />
0<br />
98<br />
45<br />
40 3 32<br />
6 2.5<br />
0.02 0.08 0.08 M6 20 - - - -<br />
Q2AA10150 22-0.013<br />
6-0.030<br />
128<br />
Q2AA13100 <br />
0<br />
0<br />
64<br />
6 2.5<br />
M6 20<br />
Q2AA13150 22-0.013<br />
6-0.030<br />
81<br />
55<br />
50 3 42<br />
0.02 0.08 0.08<br />
- - - -<br />
0<br />
0<br />
Q2AA13200 <br />
7 3 98 M8 25<br />
28-0.013<br />
8-0.036<br />
Q2AA18200 <br />
83<br />
- - - -<br />
0<br />
0<br />
Q2AA18350 65<br />
60 3 50<br />
8 3 115 0.02 0.08 0.08 M8 25<br />
20<br />
35-0.016<br />
10-0.036<br />
124 50 61<br />
Q2AA18450 130 35<br />
Q2AA18550 <br />
0<br />
0<br />
189<br />
50<br />
79<br />
75 3 67<br />
8 3<br />
0.02 0.08 0.08 M10 25 124 50 85<br />
Q2AA18750 42-0.016<br />
12-0.043<br />
239 100<br />
Q2AA22550 <br />
0<br />
0<br />
149<br />
50<br />
79<br />
75 3 67<br />
10 4<br />
0.03 0.08 0.10 M10 25 142 60 55<br />
Q2AA22700 55-0.019<br />
16-0.043<br />
207 110<br />
Q2AA2211K <br />
0<br />
0<br />
241<br />
120<br />
79<br />
75 3 67<br />
10 4<br />
0.03 0.08 0.10 M10 25 142 60 69<br />
Q2AA2215K 55-0.019<br />
16-0.043<br />
300 180<br />
Note 1) Waterproof specification IP67 requires that the connec<strong>to</strong>r <strong>to</strong> be attached ; for IP67 compliance, use a waterproof connec<strong>to</strong>r for the mating plug.<br />
Note 2) All brake connec<strong>to</strong>rs are JL04V-2E10SL-3PE-B for CE compliant DC24V brakes.<br />
Please inquire for the dimensions with the absolute encoder.<br />
Features and<br />
Functions<br />
Model Number<br />
Nomencalture<br />
System<br />
Configuration<br />
Standard<br />
Specifications<br />
Dimensions External Wiring<br />
Diagram<br />
Electric wire diameters<br />
Voltage<br />
200V Type<br />
Maximum continuous Power receptacle Maximum wire size of connec<strong>to</strong>r Receptacle permissable<br />
Combined Amplifier Recommended mo<strong>to</strong>r power wire size<br />
current<br />
Wire size of main power , , *Note 1<br />
MODEL armature current<br />
MS Type JL04V Type<br />
Shell Size Contact Size<br />
Type<br />
Arms mm 2 mm 2 Arms supply R , S , T mm 2 AWG No.<br />
Q1AA10100D 7.8<br />
RS1A05 AWG12 3.5 #12<br />
Q1AA10150D 8.2<br />
20-15P #12 3.5 3.5 20/1 <br />
Q1AA10200D 18<br />
RS1A10 AWG10 3.5 #12<br />
Q1AA10250D 17.2<br />
Q1AA12100D 7.5<br />
RS1A05 AWG12 3.5 #12<br />
Q1AA12200D 16.2<br />
24-11P #8 8 5.5 40/1 <br />
Q1AA12300D 17.3<br />
RS1A10 AWG10 5.5 #10<br />
Q1AA13300D 17.6<br />
RS1A10 AWG10 5.5 #10<br />
Q1AA13400D 26.4<br />
24-11P #8 8 5.5 40/1 <br />
Q1AA13500D 27.5<br />
RS1A15 AWG8 5.5 #10<br />
Q1AA18450M 24.8<br />
Q1AA18750H 60 32-17P #4 22 22 70/1 RS1A30 AWG6 14 #6<br />
Q2AA10100H 8.1<br />
Q2AA10150H 9.4<br />
20-15P #12 3.5 3.5 20/1 RS1A05 AWG12 3.5 #12<br />
Q2AA13100H 8.3<br />
Q2AA13150H 10.2<br />
RS1A05 AWG12 3.5 #12<br />
Q2AA13200H 16.3<br />
Q2AA18200H 18<br />
24-11P #8 8 5.5 40/1 RS1A10 AWG10 5.5 #10<br />
Q2AA18350H 28<br />
Q2AA18450H 29<br />
RS1A15 AWG8 5.5 #10<br />
Q2AA18550R 33.7<br />
RS1A15 AWG8 8 #8<br />
Q2AA18550H 47<br />
32-17P #4 22 22 70/1 <br />
Q2AA18750L 57<br />
RS1A30 AWG6 14 #6<br />
Q2AA22550B 35.1<br />
Q2AA22700S 34<br />
24-11P #8 8 5.5 40/1 RS1A15 AWG8 5.5 #10<br />
Q2AA2211KV 66<br />
Q2AA2215KV 66<br />
32-17P #4 22 22 70/1 RS1A30 AWG6 14 #6<br />
Q4AA1811KB 53<br />
Q4AA1815KB 59<br />
32-17P #4 22 22 70/1 RS1A30 AWG6 14 #6<br />
*Note1Use of heat-resistant vinyl wire (HIV) is recommended<br />
Setup Software<br />
Optional<br />
Equipment<br />
28
AC SERVO SYSTEMS<br />
CNA<br />
T<br />
S<br />
R<br />
t<br />
r<br />
CNB<br />
<br />
DL1<br />
DL2<br />
P<br />
RB1<br />
RB2<br />
CNC<br />
W<br />
V<br />
U<br />
AC SERVO SYSTEMS<br />
MODE<br />
T<br />
S<br />
R<br />
t<br />
r<br />
<br />
DL1<br />
DL2<br />
P<br />
RB1<br />
RB2<br />
W<br />
V<br />
U<br />
<br />
CHARGE<br />
RUN<br />
ERR<br />
<br />
CHARGE<br />
C<br />
N<br />
B<br />
C<br />
N<br />
A<br />
WR/<br />
POWER<br />
POWER<br />
CN3<br />
CN4<br />
P<br />
C<br />
C<br />
N<br />
1<br />
C<br />
N<br />
2<br />
RS1A05A*<br />
C<br />
N<br />
1<br />
C<br />
N<br />
2<br />
RB1<br />
RB2<br />
RB1<br />
RB2<br />
PC<br />
R<br />
S<br />
T<br />
DL1<br />
DL2<br />
P<br />
RB4<br />
RB1<br />
RB2<br />
U<br />
V<br />
W<br />
AC SERVO SYSTEMS<br />
RS1A15A*<br />
MODE WR/<br />
CHARGE POWER<br />
r<br />
t<br />
<br />
<br />
P<br />
C<br />
1<br />
2<br />
AC SERVO SYSTEMS<br />
CNA<br />
T<br />
S<br />
R<br />
<br />
P<br />
RB1<br />
RB2<br />
CNB<br />
24V<br />
0V<br />
CNC<br />
W<br />
V<br />
U<br />
CHARGE<br />
RS1J05AL<br />
RUN<br />
ERR<br />
POWER<br />
CN3<br />
CN4<br />
PC<br />
DL1<br />
DL2<br />
P<br />
RB4<br />
RB1<br />
RB2<br />
U<br />
V<br />
W<br />
AC SERVO SYSTEMS<br />
RS1A10A*<br />
MODE<br />
WR/<br />
CHARGE POWER<br />
r<br />
t<br />
P<br />
C<br />
1<br />
2<br />
R<br />
S<br />
T<br />
RB1 RB2<br />
CHARGE<br />
r<br />
t<br />
DL2<br />
P<br />
U<br />
V<br />
W<br />
-<br />
DL1<br />
AC SERVO SYSTEMS<br />
MODE<br />
<br />
<br />
POWER<br />
RS1A30A*<br />
WR/<br />
<br />
P<br />
C<br />
C<br />
N<br />
1<br />
C<br />
N<br />
2<br />
Servo Amplifier Dimensions Unit : mm<br />
Single-Axis Servo Amplifier with CANopen<br />
RS1A05AC50A<br />
RS1J05AC50A<br />
5<br />
Screw M4<br />
5<br />
Screw M4<br />
168<br />
90<br />
R<br />
RS1A05AL<br />
(27)<br />
(70)<br />
(24)<br />
130<br />
135.5<br />
4<br />
160 5<br />
80<br />
5<br />
Fan<br />
168<br />
Wind direction<br />
90<br />
R<br />
(27)<br />
(70)<br />
(24)<br />
130<br />
135.5<br />
4<br />
160 5<br />
80<br />
5<br />
Fan<br />
Wind direction<br />
C<br />
1 N<br />
2 NC<br />
5<br />
5<br />
Servo Amplifier built-in positioning function model<br />
RS1A05AC50A<br />
5<br />
Screw M4<br />
RS1A10AC100A<br />
168<br />
90<br />
<br />
C<br />
N<br />
C<br />
R<br />
(27)<br />
(70)<br />
(24)<br />
130<br />
135.5<br />
4<br />
160 5<br />
80<br />
5<br />
Fan<br />
Wind direction<br />
2<br />
235<br />
5.5<br />
(70)<br />
(24)<br />
(27)<br />
235<br />
225 5<br />
6<br />
R<br />
S T<br />
100<br />
50<br />
6<br />
-<br />
R<br />
15<br />
205<br />
N C N C<br />
5<br />
Fan<br />
(6)<br />
(75)<br />
Wind direction<br />
RS1A15AC150A<br />
RS1A30AC300A<br />
2<br />
235<br />
5.5<br />
(70)<br />
(24)<br />
(27)<br />
235<br />
225 5<br />
6<br />
130<br />
100<br />
50<br />
6<br />
-<br />
R<br />
15<br />
205<br />
N C N C<br />
2<br />
235<br />
(70)<br />
5.5 (24)<br />
(27)<br />
250<br />
235 10<br />
100<br />
7<br />
220<br />
100<br />
R<br />
205 30<br />
Fan<br />
Wind direction<br />
(6)<br />
(75)<br />
Fan<br />
Wind direction<br />
7<br />
29
Setup Software<br />
(1) Setup Software Start-up Screen (2) Main Screen<br />
System<br />
Configuration<br />
Features and<br />
Functions<br />
Model Number<br />
Nomencalture<br />
(3) Parameter Configuration Screen<br />
a. Configuration of General Parameters : Enables<br />
parameter loading, saving, etc., via PC connection<br />
(4) Moni<strong>to</strong>r Functions<br />
b. Configuration of Mo<strong>to</strong>r Parameters : Combined mo<strong>to</strong>rs<br />
can be configured via PC connection<br />
Setup Software<br />
Dimensions External Wiring<br />
Standard<br />
Diagram<br />
Specifications<br />
Optional<br />
Equipment<br />
a. Moni<strong>to</strong>r Display : Observe Operation and Input/<br />
Output signal status<br />
b. Multi-moni<strong>to</strong>r Display : Simultaneous moni<strong>to</strong>ring of<br />
operational status of multiple<br />
c. Alarm Record Display : Current and past alarm<br />
occurrence can be checked.<br />
30
Setup Software<br />
(5) Test Run and Adjustment Function<br />
a. Speed Jog : Simplifies mo<strong>to</strong>r operation and<br />
the issuing of speed commands from a PC<br />
b. Pulse Forward Jog : Simplifies mo<strong>to</strong>r<br />
operation and the entering of distance and<br />
travel speed data from a PC<br />
c. Au<strong>to</strong> Notch Filter Tuning : Configures the<br />
appropriate notch filter settings<br />
d. System Analysis : Analyzes servo system frequency<br />
characteristics<br />
(6) Operation Trace Function<br />
Graphically displays servo mo<strong>to</strong>r speed, current,<br />
and terminal status<br />
Built-in Positioning Function Type Screen<br />
Point Data Setup<br />
Test Run<br />
31
Pass Point 1 Move <strong>to</strong> Point 2 Move <strong>to</strong> Point 3<br />
Servo Amplifier built-in positioning model<br />
General Specifications<br />
Positioning<br />
Function<br />
Input and<br />
Output<br />
Control Shaft Count<br />
Single Shaft<br />
Register Point Count Configurable up <strong>to</strong> 254 points (P000 <strong>to</strong> P253)<br />
Maximum No. of Commands From -2,147,483,648 <strong>to</strong> +2,147,483,647<br />
Command Unit<br />
Either mm or pulse is acceptable<br />
Fast-forward Speed<br />
2,147,483.647mm/sec (0.001mm/when“ pulse” is selected)<br />
Acceleration and Deceleration Au<strong>to</strong>matic acceleration and deceleration (straight and S switch)<br />
Point Data Setup<br />
Numerical input via PC, and setup by teaching<br />
Travel Point Number Setup Parallel 8 bits (binary code)<br />
Current Limit<br />
0 <strong>to</strong> 510% (at 100% rating), but less than instantaneous maximum stall current<br />
Software Limit<br />
Exists<br />
Travel Mode<br />
Zero Return, Manual (JOG, 1Step), and Point-specified Travel<br />
Zone Signal<br />
Maximum of 8 zones<br />
Sequence Input Signals<br />
Sequence Output Signals<br />
Servo ON, alarm reset, start up, zero return, manual, override/manual high-speed, cancel, deceleration before<br />
origin, external error, over-travel, external data setup1 step forward, interrupt activated, output selection,<br />
MFIN, point specified input<br />
NC ready, holding brake timing, error, external operation enabled, running, positioning completion,<br />
in-position output, zero return completion, general output (8 bits)<br />
Features and<br />
Functions<br />
Model Number<br />
Nomencalture<br />
System<br />
Configuration<br />
Standard<br />
Specifications<br />
Sample operations of the Servo Amplifer built-in Positioning Function model<br />
By starting up Point 1, Points 2 and 3 will be executed consecutively.<br />
Point Data Setup<br />
Enables configuration and saving of parameters, and the<br />
reading of point data from a PC.<br />
Mode 1: [01]= Positioning Operation enabled;<br />
Mode 2: [00]= Final Travel, [01]= Continue <strong>to</strong> next Point Number<br />
Gear Change: S<strong>to</strong>p / Continue: [1]= Consecutive Gear Shift Operation<br />
Dimensions External Wiring<br />
Diagram<br />
Optional<br />
Equipment<br />
Setup Software<br />
PLC<br />
OT Sensor Deceleration Signal<br />
Sensor<br />
+OT Sensor<br />
Starting Coordinates: Start-up Point 001 (P001) as 0.0<br />
P001:100.0 P002:150.0P003:180.0<br />
Mo<strong>to</strong>r Speed<br />
Point Input<br />
Point 1 (P001) ON only<br />
CN1-42<br />
0.0 100.0 200.0<br />
ON<br />
OFF<br />
Coordinate<br />
Start-up Signal Input<br />
CN1-27<br />
Running Output<br />
CN1-7<br />
ON<br />
OFF<br />
ON<br />
OFF<br />
Positioning Completion Signal<br />
CN1-8<br />
ON<br />
OFF<br />
32
Optional Equipment<br />
PC Interface Cable [unit: mm]<br />
Lithium battery [Unit: mm]<br />
9<br />
+ 50<br />
2850 - 10<br />
Cable<br />
CN1<br />
Lead Wire Red<br />
Pin 1<br />
74.58<br />
1<br />
PC Side<br />
Amp side<br />
Connec<strong>to</strong>r<br />
Lead Wire Black<br />
Pin 2<br />
505<br />
24.5<br />
14.5<br />
17MAX.<br />
Lithium battery<br />
Model No.:AL-00490833-01<br />
A note regarding RS-232C communications:<br />
The user must provide s PC for computer interface.<br />
Parameter settings may require adijustment.<br />
Mass : 0.14kg<br />
Model No AL-00494635-01<br />
Mass : 0.02kg<br />
Mounting Hardware [unit: mm]<br />
50A Rear Side<br />
50A Front Side<br />
62<br />
50 6<br />
65<br />
188<br />
198<br />
120<br />
7<br />
5<br />
198<br />
5 188<br />
2<br />
50<br />
2 5<br />
5<br />
For mounting on the rear side of the amplifer<br />
Model No.:AL-00582792-01<br />
Applicable Amplifiers:RS105<br />
Material:SPCC<br />
Model No.<br />
Contents<br />
AL-00582792-01<br />
Mounting Bracket : 1<br />
Screws : 2<br />
For mounting on the front side of the amplifer<br />
Model No.:AL-00582790-01 Material:SPCC<br />
Applicable Amplifiers:RS105<br />
Model No.<br />
Contents<br />
AL-00582790-01<br />
Mounting Bracket : 1<br />
Screws : 6<br />
External Regenerative Resis<strong>to</strong>r Dimensions [unit: mm]<br />
230 300<br />
15<br />
2200.4<br />
270 0<br />
200<br />
4.3<br />
20<br />
0<br />
61<br />
61<br />
4.5<br />
250<br />
234<br />
8<br />
24.5<br />
Ground Mark<br />
600.4<br />
42.7<br />
Thermostat<br />
2-M3<br />
60<br />
80<br />
-0.3<br />
0Silicon Rubber Glass-braided Wire AWG20 0.5mm 2 , White<br />
20<br />
1.2 4.3<br />
(Thermostat)<br />
Silicon Rubber Glass-braided Wire AWG18 0.75mm 2 , Black<br />
350<br />
Read wire AWG24 0.2mm 2 White<br />
3<br />
700<br />
35<br />
Solderless terminal (for M5)<br />
Read wire AWG14 2mm 2 White<br />
Mass : 0.44kg<br />
Model No.<br />
Thermostat<br />
1 REGIST-220W20B Normal close<br />
2 REGIST-220W50B Normal close<br />
3 REGIST-220W100B Normal close<br />
Mass : 1.5kg<br />
Model No.<br />
Thermostat<br />
1 REGIST-500CW20B Normal close<br />
3 REGIST-500CW10B Normal close<br />
5 REGIST-500CW7B Normal close<br />
7 REGIST-500CW14B Normal close<br />
33
Connec<strong>to</strong>rs for Servo Amplifier with CANopen<br />
Main Power : 200V AC, Control Power : 1 200V AC<br />
Single<br />
Connec<strong>to</strong>rs<br />
Connec<strong>to</strong>r Sets<br />
Single<br />
Connec<strong>to</strong>rs<br />
Connec<strong>to</strong>r Sets<br />
Usage Contents Model No. Manufacturer Manufacturer's Part No. Max. Amp. <strong>Capacity</strong><br />
Single<br />
Connec<strong>to</strong>rs<br />
Connec<strong>to</strong>r Sets<br />
Contents Model No. Manufacturer Manufacturer's Part No. Max. Amp. <strong>Capacity</strong><br />
CN1Plug, Housing<br />
AL-00608710<br />
10114-3000PE+10314-52A0-008<br />
Sumi<strong>to</strong>mo 3M<br />
CN2Plug, Housing AL-00385596 10120-3000PE+10320-52A0-008<br />
CNAPlug<br />
AL-00329461-01<br />
MSTB2.5/5-STF-5.08<br />
CNBPlugAccessory AL-Y0000988-01 Phoenix Contact<br />
IC2.5/6-STF-5.08<br />
CNCPlug AL-00329458-01 IC2.5/3-STF-5.08<br />
CN1,CN2Plug, Housing<br />
CNA,CNCPlug<br />
CN1Plug, Housing<br />
AL-00385594<br />
10150-3000PE+10350-52A0-008<br />
Sumi<strong>to</strong>mo 3M<br />
CN2Plug, Housing AL-00385596 10120-3000PE+10320-52A0-008<br />
CNAPlug<br />
AL-00329461-01<br />
MSTB2.5/5-STF-5.08<br />
CNBPlugAccessory AL-Y0000988-01 Phoenix Contact<br />
IC2.5/6-STF-5.08<br />
CNCPlug AL-00329458-01 IC2.5/3-STF-5.08<br />
CN1,CN2Plug, Housing<br />
CNA,CNCPlug<br />
AL-00661731<br />
AL-00393603<br />
Sumi<strong>to</strong>mo 3M<br />
Phoenix Contact<br />
CN1,CN2Plug, Housing AL-00661729 Sumi<strong>to</strong>mo 3M<br />
Main Power : 200V AC, Control Power : 24V DC<br />
Sumi<strong>to</strong>mo 3M<br />
Phoenix Contact<br />
CN1,CN2Plug, Housing AL-00292309 Sumi<strong>to</strong>mo 3M<br />
10114-3000PE+10314-52A0-008<br />
10120-3000PE+10320-52A0-008<br />
MSTB2.5/6-STF-5.08<br />
IC2.5/3-STF-5.08<br />
10114-3000PE+10314-52A0-008<br />
10120-3000PE+10320-52A0-008<br />
Contents Model No. Manufacturer Manufacturer's Part No. Max. Amp. <strong>Capacity</strong><br />
CN1Plug, Housing<br />
AL-00608710<br />
10114-3000PE+10314-52A0-008<br />
Sumi<strong>to</strong>mo 3M<br />
CN2Plug, Housing AL-00385596 10120-3000PE+10320-52A0-008<br />
CNAPlug<br />
AL-Y0000988-02<br />
IC2.5/7-STF-5.08<br />
CNBPlug AL-00329460-01 Phoenix Contact<br />
MSTB2.5/2-STF-5.08<br />
CNCPlug AL-00329458-01 IC2.5/3-STF-5.08<br />
CN1,CN2Plug, Housing<br />
CNA,CNB,CNCPlug<br />
AL-00667184<br />
Sumi<strong>to</strong>mo 3M<br />
Phoenix Contact<br />
CN1,CN2Plug, Housing AL-00661729 Sumi<strong>to</strong>mo 3M<br />
Servo Amplifier Connections (AC200V Input Type)<br />
10114-3000PE+10314-52A0-008<br />
10120-3000PE+10320-52A0-008<br />
MSTB2.5/7-STF-5.08<br />
MSTB2.5/2-STF-5.08<br />
IC2.5/3-STF-5.08<br />
10114 - 3000PE+10314-52A0-008<br />
10120 - 3000PE+10320-52A0-008<br />
10150-3000PE+10350-52A0-008<br />
10120-3000PE+10320-52A0-008<br />
MSTB2.5/5-STF-5.08<br />
IC2.5/3-STF-5.08<br />
10150-3000PE+10350-52A0-008<br />
10120-3000PE+10320-52A0-008<br />
50A<br />
50A<br />
50A<br />
50A<br />
50A<br />
50A<br />
50A<br />
50A<br />
No Limit<br />
50A<br />
50A<br />
100A<br />
150A<br />
300A<br />
Features and<br />
Functions<br />
Model Number<br />
Nomencalture<br />
System<br />
Configuration<br />
Standard<br />
Specifications<br />
Dimensions External Wiring<br />
Diagram<br />
Setup Software<br />
Optional<br />
Equipment<br />
Single-Axis Servo Amplifier built-in positioning function serial interface model<br />
Single<br />
Connec<strong>to</strong>rs<br />
Contents Model No. Manufacturer Manufacturer's Part No.<br />
CN1Plug, Housing AL-Y0004290-02 J.S.T.Mfg.CO.,LTD MUF-PK10K-X<br />
CN2, CNA, CNB, and CNC are the same as the connec<strong>to</strong>rs for the Servo Amplifier built-in positioning function model above.<br />
Servo Mo<strong>to</strong>r Encoder Connec<strong>to</strong>rs<br />
Mo<strong>to</strong>r Model No.<br />
All Q1, Q2, Q4 Models<br />
Encoder receptacle<br />
MS3102A20-29P<br />
Encoder Plug Standard Specifications TÜV-Conforming Plug (Cable Clamp) for Encoder<br />
Pin Layout Symbol<br />
(Cable Clamp)<br />
Waterproof Specification<br />
Reduced Wiring Incremental Encoder<br />
Straight Angle Straight Angle<br />
Absolute Encoder<br />
MS3106B20-29S MS3108B20-29S<br />
Depends on the encoder hookup diagram<br />
JA06A20-29S-J1-EB JA08A20-29S-J1-EB<br />
(MS3057-12A)<br />
(MS3057-12A)<br />
shown in the mo<strong>to</strong>r dimensional drawing or<br />
(JL04-2022CK(14) ) (JL04-2022CK(14) )<br />
MS06B20-29S-12 MS08B20-29S-12<br />
instruction manual<br />
indicates the SANYO DENKI part numbers (Plug & Cable Clamp)<br />
Cooling Fan Connec<strong>to</strong>rs<br />
Mo<strong>to</strong>r Model No.<br />
Cooling fan receptacle<br />
Standard plug (Cable Clamp) for Cooling Fan Waterproof plug (Cable Clamp) for Cooling Fan<br />
Straight Angle Straight Angle<br />
Pin Layout Symbol<br />
AC200V 10%<br />
Single phase 50/60Hz<br />
All Q4 Models<br />
MS3102A10SL-4P<br />
MS3106B10SL-4S<br />
(MS3057-4A)<br />
MS06B10SL-4S-4<br />
MS3108B10SL-4S<br />
(MS3057-4A)<br />
MS08B10SL-4S-4<br />
JA06A10SL-4S-J1<br />
(Conduit)<br />
The conduit is supplied by cus<strong>to</strong>mer <br />
Please see the catalogs and instruction manuals of the connec<strong>to</strong>r manufacturer's (Japan Aviation Electronics Industry Limitedfor details, including the instructions for the connec<strong>to</strong>r and the precautions.<br />
indicates the SANYO DENKI part numbers (Plug & Cable Clamp)<br />
34
Optional Equipment<br />
Mo<strong>to</strong>r Connec<strong>to</strong>rs<br />
Voltage<br />
200V Type<br />
Mo<strong>to</strong>r Model No.<br />
Q1AA10100D<br />
Q1AA10150D<br />
Q1AA10200D<br />
Q1AA10250D<br />
Q1AA12100D<br />
Q1AA12200D<br />
Q1AA12300D<br />
Q1AA13300D<br />
Q1AA13400D<br />
Q1AA13500D<br />
Q1AA18450M<br />
Mo<strong>to</strong>r power receptacle<br />
JL04V-2E20-15PE-B<br />
JL04V-2E24-11PE-B<br />
JL04V-2E24-11PE-B<br />
Brake receptacle<br />
Standard specifications, TÜV<br />
specifications: DC90V<br />
(*Note 1 TÜV: DC24V only)<br />
JL04V-2E-10SL-3PE-B<br />
JL04V-2E-10SL-3PE-B<br />
Note 1<br />
(JL04V-2E-10SL-3PE-B)<br />
Q1AA18750H JL04V-2E32-17PE-B JL04V-2E-10SL-3PE-B<br />
Q2AA10100H<br />
Q2AA10150H<br />
Q2AA13100H<br />
Q2AA13150H<br />
Q2AA13200H<br />
Q2AA18200H<br />
Q2AA18350H<br />
Q2AA18450H<br />
Q2AA18550R<br />
Q2AA18550H<br />
Q2AA18750L<br />
Q2AA22550B<br />
Q2AA22700S<br />
Q2AA2211KV<br />
Q2AA2215KV<br />
Q4AA1811KB<br />
Q4AA1815KB<br />
JL04V-2E20-15PE-B<br />
JL04V-2E24-11PE-B<br />
JL04V-2E32-17PE-B<br />
JL04V-2E24-11PE-B<br />
JL04V-2E32-17PE-B<br />
JL04V-2E32-17PE-B<br />
JL04V-2E-10SL-3PE-B<br />
Note 1<br />
(JL04V-2E-10SL-3PE-B)<br />
JL04V-2E-10SL-3PE-B<br />
JL04V-2E-10SL-3PE-B<br />
JL04V-2E-10SL-3PE-B<br />
Standard power plug<br />
Cable Clamp)<br />
TÜV-Standard Plug Waterproof Specification<br />
Cable Clamp)<br />
TÜV-Standard Plug for Brake Waterproof Specification<br />
Cable Clamp)<br />
Straight Angle Straight Angle Straight Angle<br />
MS3106B20-15S<br />
(MS3057-12A)<br />
MS06B20-15S-12<br />
MS3106B24-11S<br />
(MS3057-16A)<br />
MS06B24-11S-16<br />
MS3106B24-11S<br />
(MS3057-16A)<br />
MS06B24-11S-16<br />
MS3106B32-17S<br />
(MS3057-20A)<br />
MS06B32-17S-20<br />
MS3106B20-15S<br />
(MS3057-12A)<br />
MS06B20-15S-12<br />
MS3106B24-11S<br />
(MS3057-16A)<br />
MS06B24-11S-16<br />
MS3106B32-17S<br />
(MS3057-20A)<br />
MS06B32-17S-20<br />
MS3106B24-11S<br />
(MS3057-16A)<br />
MS06B24-11S-16<br />
MS3106B32-17S<br />
(MS3057-20A)<br />
MS06B32-17S-20<br />
MS3106B32-17S<br />
(MS3057-20A)<br />
MS06B32-17S-20<br />
MS3108B20-15S<br />
(MS3057-12A)<br />
MS08B20-15S-12<br />
MS3108B24-11S<br />
(MS3057-16A)<br />
MS08B24-11S-16<br />
MS3108B24-11S<br />
(MS3057-16A)<br />
MS08B24-11S-16<br />
MS3108B32-17S<br />
(MS3057-20A)<br />
MS08B32-17S-20<br />
MS3108B20-15S<br />
(MS3057-12A)<br />
MS08B20-15S-12<br />
MS3108B24-11S<br />
(MS3057-16A)<br />
MS08B24-11S-16<br />
MS3108B32-17S<br />
(MS3057-20A)<br />
MS08B32-17S-20<br />
MS3108B24-11S<br />
(MS3057-16A)<br />
MS08B24-11S-16<br />
MS3108B32-17S<br />
(MS3057-20A)<br />
MS08B32-17S-20<br />
MS3108B32-17S<br />
(MS3057-20A)<br />
MS08B32-17S-20<br />
JL04V-6A20-15SE-EB<br />
(JL04-2022CK)<br />
332706X5<br />
JL04V-6A24-11SE-EB<br />
(JL04-2428CK)<br />
332706X10<br />
JL04V-6A24-11SE-EB<br />
(JL04-2428CK)<br />
332706X10<br />
JL04V-6A32-17SE-EB<br />
(JL04-32CK)<br />
332706X11<br />
JL04V-6A20-15SE-EB<br />
(JL04-2022CK)<br />
332706X5<br />
JL04V-6A24-11SE-EB<br />
(JL04-2428CK)<br />
332706X10<br />
JL04V-6A32-17SE-EB<br />
(JL04-32CK)<br />
332706X11<br />
JL04V-6A24-11SE-EB<br />
(JL04-2428CK)<br />
332706X10<br />
JL04V-6A32-17SE-EB<br />
(JL04-32CK)<br />
332706X11<br />
JL04V-6A32-17SE-EB<br />
(JL04-32CK)<br />
332706X11<br />
JL04V-8A20-15SE-EB<br />
(JL04-2022CK)<br />
332707X5<br />
JL04V-8A24-11SE-EB<br />
(JL04-2428CK)<br />
332707X10<br />
JL04V-8A24-11SE-EB<br />
(JL04-2428CK)<br />
332707X10<br />
JL04V-8A20-15SE-EB<br />
(JL04-2022CK)<br />
332707X5<br />
JL04V-8A24-11SE-EB<br />
(JL04-2428CK)<br />
332707X10<br />
JL04V-8A24-11SE-EB<br />
(JL04-2428CK)<br />
332707X10<br />
JL04V-6A10SL-3SE-EB<br />
(JL04-1012CK )<br />
332706X1<br />
JL04V-6A10SL-3SE-EB<br />
(JL04-1012CK )<br />
332706X1<br />
JL04V-8A10SL-3SE-EB<br />
(JL04-1012CK )<br />
332707X1<br />
JL04V-8A10SL-3SE-EB<br />
(JL04-1012CK )<br />
332707X1<br />
Note 1 Note 1<br />
JL04V-6A10SL-3SE-EB<br />
(JL04-1012CK )<br />
332706X1<br />
JL04V-6A10SL-3SE-EB<br />
(JL04-1012CK )<br />
332706X1<br />
JL04V-8A10SL-3SE-EB<br />
(JL04-1012CK )<br />
332707X1<br />
JL04V-8A10SL-3SE-EB<br />
(JL04-1012CK )<br />
332707X1<br />
Note 1 Note 1<br />
JL04V-6A10SL-3SE-EB<br />
(JL04-1012CK )<br />
332706X1<br />
JL04V-6A10SL-3SE-EB<br />
(JL04-1012CK )<br />
332706X1<br />
JL04V-6A10SL-3SE-EB<br />
(JL04-1012CK )<br />
332706X1<br />
JL04V-8A10SL-3SE-EB<br />
(JL04-1012CK )<br />
332707X1<br />
JL04V-8A10SL-3SE-EB<br />
(JL04-1012CK )<br />
332707X1<br />
JL04V-8A10SL-3SE-EB<br />
(JL04-1012CK )<br />
332707X1<br />
Voltage<br />
Mo<strong>to</strong>r Model No.<br />
Pin Layout Symbol<br />
U phase V phase W phase Ground Brake<br />
Q1AA10100D<br />
Q1AA10150D<br />
Q1AA10200D<br />
Q1AA10250D<br />
Q1AA12100D<br />
Q1AA12200D<br />
Q1AA12300D<br />
Q1AA13300D<br />
Q1AA13400D<br />
Q1AA13500D<br />
Q1AA18450M<br />
A B C D A , B<br />
D E F G , A , B<br />
D E F G , A , B<br />
Q1AA18750H A B C D A , B<br />
200V Type<br />
Q2AA10100H<br />
Q2AA10150H<br />
Q2AA13100H<br />
Q2AA13150H<br />
Q2AA13200H<br />
Q2AA18200H<br />
Q2AA18350H<br />
Q2AA18450H<br />
Q2AA18550R<br />
Q2AA18550H<br />
Q2AA18750L<br />
Q2AA22550B<br />
Q2AA22700S<br />
A B C D A , B<br />
D E F G , A , B<br />
A B C D A , B<br />
D E F G , A , B<br />
Q2AA2211KV<br />
Q2AA2215KV<br />
Q4AA1811KB<br />
Q4AA1815KB<br />
A B C D A , B<br />
A B C D<br />
*Note 1: Both power and brake connec<strong>to</strong>rs are required for all mo<strong>to</strong>rs equipped with TÜV compliant DC24V brakes. indicates the SANYO DENKI part numbers (Plug & Cable Clamp)<br />
35
Discontinued Models and Replacement Models<br />
Models discontinued in this catalog and replacement models are listed below.<br />
Please contact us for a catalog of replacement models.<br />
Features and<br />
Functions<br />
Servo amplifier<br />
Single-Axis Servo Amplifier<br />
(Analog/Pulse input type)<br />
Discontinued model Replacement product Encoder type<br />
Type Power Model No. Model No. Mo<strong>to</strong>r encoder External mo<strong>to</strong>r encoder<br />
AC200V System<br />
RS1A05AA<br />
RS1A10AA<br />
RS1A15AA<br />
RS1A30AA<br />
RS1L05AA<br />
RS1L10AA<br />
RS1L15AA<br />
RS1A05AB<br />
RS1A10AB<br />
RS1A15AB<br />
RS1A30AB<br />
RS1L05AB<br />
RS1L10AB<br />
RS1L15AB<br />
RS2A05A0AA0 Serial encoder <br />
RS2A05A2AA0 Serial encoder Pulse encoder<br />
RS2A05A8AA0 Pulse encoder <br />
RS2A10A0AA0 Serial encoder <br />
RS2A10A2AA0 Serial encoder Pulse encoder<br />
RS2A10A8AA0 Pulse encoder <br />
RS2A15A0AA0 Serial encoder <br />
RS2A15A2AA0 Serial encoder Pulse encoder<br />
RS2A15A8AA0 Pulse encoder <br />
RS2A30A0AL0 Serial encoder <br />
RS2A30A2AL0 Serial encoder Pulse encoder<br />
RS2A30A8AL0 Pulse encoder <br />
RS2A05A0AL0 Serial encoder <br />
RS2A05A2AL0 Serial encoder Pulse encoder<br />
RS2A05A8AL0 Pulse encoder <br />
RS2A10A0AL0 Serial encoder <br />
RS2A10A2AL0 Serial encoder Pulse encoder<br />
RS2A10A8AL0 Pulse encoder <br />
RS2A15A0AL0 Serial encoder <br />
RS2A15A2AL0 Serial encoder Pulse encoder<br />
RS2A15A8AL0 Pulse encoder <br />
RS2A05A0BA0 Serial encoder <br />
RS2A05A2BA0 Serial encoder Pulse encoder<br />
RS2A05A8BA0 Pulse encoder <br />
RS2A10A0BA0 Serial encoder <br />
RS2A10A2BA0 Serial encoder Pulse encoder<br />
RS2A10A8BA0 Pulse encoder <br />
RS2A15A0BA0 Serial encoder <br />
RS2A15A2BA0 Serial encoder Pulse encoder<br />
RS2A15A8BA0 Pulse encoder <br />
RS2A30A0BL0 Serial encoder <br />
RS2A30A2BL0 Serial encoder Pulse encoder<br />
RS2A30A8BL0 Pulse encoder <br />
RS2A05A0BL0 Serial encoder <br />
RS2A05A2BL0 Serial encoder Pulse encoder<br />
RS2A05A8BL0 Pulse encoder <br />
RS2A10A0BL0 Serial encoder <br />
RS2A10A2BL0 Serial encoder Pulse encoder<br />
RS2A10A8BL0 Pulse encoder <br />
RS2A15A0BL0 Serial encoder <br />
RS2A15A2BL0 Serial encoder Pulse encoder<br />
RS2A15A8BL0 Pulse encoder <br />
RS1A05AT RS2A05AAAA0 Pulse encoder Pulse encoder<br />
RS1A10AT RS2A10AAAA0 Pulse encoder Pulse encoder<br />
RS1A15AT RS2A15AAAA0 Pulse encoder Pulse encoder<br />
RS1A30AT RS2A30AAAL0 Pulse encoder Pulse encoder<br />
RS1L05AT RS2A05AAAL0 Pulse encoder Pulse encoder<br />
RS1L10AT RS2A10AAAL0 Pulse encoder Pulse encoder<br />
RS1L15AT RS2A15AAAL0 Pulse encoder Pulse encoder<br />
* The discontinued products have the same hardware regardless of the mo<strong>to</strong>r encoder or external encoder of the combination mo<strong>to</strong>r, but the<br />
replacement products have different product model numbers depending on the mo<strong>to</strong>r encoder or external encoder of the combination mo<strong>to</strong>r.<br />
Model Number<br />
Nomencalture<br />
System<br />
Configuration<br />
Standard<br />
Specifications<br />
Dimensions External Wiring<br />
Diagram<br />
Setup Software<br />
Optional<br />
Equipment<br />
36
Inquiry Check Sheet<br />
For more information regarding any products or services described here in,<br />
please contact your nearest office listed on the back of this catalog.<br />
To SANYO DENKI Co.,LTD.<br />
Date<br />
Company:<br />
Department:<br />
Name:<br />
Tel:FAX:<br />
E-mail:<br />
Item<br />
Contents<br />
➊ Name of target equipment Equipment name, category (transport, processing, test, other)<br />
❷ Name of servo axis Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no)<br />
❸ Current condition of above axis Manufacturer Name ( ) Series Name ( ) Mo<strong>to</strong>r <strong>Capacity</strong> ( ) Hydraulic, Mechanical, or New System ( )<br />
❹ Positioning accuracy ±mm±m<br />
❺<br />
Operation pattern<br />
Feeding<br />
Speed<br />
[m/sec]<br />
AccelerationG[m/s 2 ]<br />
Feeding Speed[m/s]<br />
Moving Distance[m]<br />
(Stroke)<br />
Reference formula<br />
1G=9.8[m/s 2 ]1[m/s 2 ]0.1G<br />
[m/s 2 ]V[m/sec]÷t1[sec]<br />
D[m]V[m/sec]×(t1+t2)[sec]<br />
Time<br />
❻<br />
❼<br />
Mechanism<br />
Mechanical structure<br />
Ball-screw/screw-rotation type (horizontal/vertical), ball-screw/nut-rotation type (horizontal/vertical),<br />
rack and pinion (horizontal/vertical), belt/chain (horizontal/vertical), rotary table, roll feed, other<br />
WTtable mass kg WLwork mass kg WAmass of other drive parts kg<br />
WRrack mass kg WBbelt/chain mass kg WCcounterbalance mass kg<br />
Faexternal force axial direction N Fbball-screw preload N Troll pushing force N<br />
Dr1drive-side roll diameter mm Dr2follower-side roll diameter mm<br />
Lr1drive-side roll length mm Lr2follower-side roll length mm Greduction ratio<br />
JGspeed-reducer inertia kgm 2 JCcoupling inertia kgm 2<br />
JNnut inertia kgm 2 JOother mo<strong>to</strong>r-axis conversion inertia kgm 2<br />
Dbball-screw diameter mm Lbball-screw axial length mm Pbball -screw leadmm<br />
Dppinion/pulley diameter mm Lppinion axial length mm tppully thickness mm<br />
Dttable diameter mm Dhtable-support dianeter mm LWload shift from axis mm<br />
Dstable shaft diameter mm Lstable shaft length mm<br />
specific gravity of ball-screw/pinion/pulley/table-shaft material kgcm 3<br />
friction coefficient between sheet and shiliding-surface/support-section/roll 1specific gravity of roll-1 material kgcm 3<br />
2specific gravity of roll-2 material kgcm 3 internal friction coefficient of preload nut<br />
mechanical efficiency JLload inertia of mo<strong>to</strong>r-axis conversion kgm 2<br />
TFfriction <strong>to</strong>rque of mo<strong>to</strong>r axis conversion Nm Tuimbalance <strong>to</strong>rque of mo<strong>to</strong>r axis conversion Nm<br />
❽ Speed reducer Cus<strong>to</strong>mer-provided ()Sanyo denki standard(planet/spur/no-backlash-planet) other()<br />
❾<br />
Encoder type<br />
Encoder type specified ( yes / no )<br />
Yes:(incremental , optical absolute , optical absolute with incremental function, resolver absolute)<br />
Resolution<br />
❿ Input format Position , velocity , <strong>to</strong>rque , other ( )<br />
⓫ Host equipment (controller) Sequencer , lap<strong>to</strong>p , cus<strong>to</strong>mer-developed product , Sanyo dennki-provided , other ( )<br />
⓬ Usage environment and other requirements Cutting , clean-room use , anti-dust measures , other ( )<br />
⓭ Estimated production Single product: ( ) units/mouth ( ) units/year<br />
⓮ Development schedule Pro<strong>to</strong>type period: () Year () Month Production period: () Year () Month<br />
⓯<br />
Various measures Related documentation ( already submitted; send later by mail) Visit/PR desired ( yes / no ) Meeting desired ( yes / no )<br />
⓰<br />
Miscellaneous<br />
(questions, pending problems,<br />
unresolved issues, etc.)<br />
37
MEMO<br />
38
ECO PRODUCTS<br />
ECO PRODUCTS are designed with the goal<br />
of lessening nevironmental impact, from<br />
product development <strong>to</strong> disposal.<br />
Precautions For Adoption<br />
Cautions<br />
Failure <strong>to</strong> follow the precautions on the right may cause<br />
moderate injury and property damage, or in some<br />
circumstances,could lead <strong>to</strong> a serious accident.<br />
Always follow all listed precautions.<br />
For any question or inquiry regarding the above, contact our Sales Department.<br />
http://www.sanyodenki.com<br />
1-15-1, Kita-Otsuka, Toshima-ku, Tokyo 170-8451, Japan<br />
Phone: +81 3 3917 5157<br />
468 Amapola Avenue Torrance, CA 90501 U.S.A.<br />
Phone: +1 310 783 5400<br />
P.A. Paris Nord II 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France<br />
Phone: +33 1 48 63 26 61<br />
Frankfurter Strasse 63-69 65760 Eschborn Germany<br />
Phone: +49 6196 76113 0<br />
9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea<br />
Phone: +82 2 773 5623<br />
Phone: +86 21 6235 1107<br />
Room 1208,12F, No.96 Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C.<br />
Phone: +886 2 2511 3938<br />
Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong<br />
Phone: +852 2312 6250<br />
10 Hoe Chiang Road #14-03A/04 Keppel Towers Singapore 089315<br />
Phone: +65 6223 1071<br />
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.<br />
Remarks : Specifications Are Subject To Change Without Notice.<br />
CATALOG NO. 841-10 ’10.8.IT