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

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Standard Specifications Q1 Servo Motor 200V System Capacity 100mm to 180mm 1kW to 7.5kW 12 models Features Amplifier Model Motor Model and Flange Dimension in mm Q1AA10100D 100 RS1A05A Q1AA10150D 100 Status Symbol Unit Rated Output PR kW 1 1.5 Rated Speed NR min -1 3000 Maximum Speed Nmax min -1 5000 4500 Rated Torque TR Nm 3.19 4.79 Continuous Torque at Stall TS Nm 3.92 4.9 Peak Torque at Stall TP Nm 10.5 14.7 Rated Armature Current IR Arms 6.5 8.2 Armature Current at Stall IS Arms 7.8 8.2 Peak Armature Current at Stall IP Arms 24.5 26.5 Torque Constant KT NmArms 0.55 0.705 Voltage Constant Per Phase K E mVmin -1 19.3 24.6 Phase Resistance R 0.34 0.272 Rated Power Rate Q R kWs 78.9 143 Electrical Time Constant te ms 7.6 11.4 Mechanical Time Constant (Not including Encoder) tm ms 0.43 0.26 Rotor Moment of Inertia Note JM 10 -4 kgm GD 2 2 4 1.29 1.61 Mass Note WE kg 5.4 6.5 Brake Static Friction Torque TB Nm 3.92 9.8 Brake Rated Voltage VB V DC90V DC24V 10 Brake Rated Current IB A 0.2 0.61 0.2 0.83 Rotor Moment of Inertia (Brake) JB 10 -4 kgm GD 2 2 4 0.15 0.4 Brake Mass W kg 1.3 1.5 Motor Operating Temp, Rel. Humidity Operating Temperature: 0 to 40C, Relative Humidity: 90% maximum, no condensation Note) including Wire-saving incremental encoder 12 9 20 15 High Power Rate (Low Inertia) Torque [Nm] 6 3 Torque [Nm] 10 5 0 0 1000 2000 3000 4000 5000 6000 Speed [min -1 ] 0 0 1000 2000 3000 4000 5000 Speed [min -1 ] Amplifier Model Motor Model and Flange Dimension in mm Q1AA12300D 120 RS1A10A Q1AA13300D 130 Status Symbol Unit Rated Output PR kW 3 Rated Speed NR min -1 3000 Maximum Speed Nmax min -1 5000 4500 Rated Torque TR Nm 9.6 9.5 Continuous Torque at Stall TS Nm 11 10.8 Peak Torque at Stall TP Nm 31 28.4 Rated Armature Current IR Arms 16.2 16.7 Armature Current at Stall IS Arms 17.3 17.6 Peak Armature Current at Stall IP Arms 55 55 Torque Constant KT NmArms 0.73 0.693 Voltage Constant Per Phase K E mVmin -1 25.4 24.2 Phase Resistance R 0.082 0.087 Rated Power Rate Q R kWs 143 184 Electrical Time Constant te ms 13.9 17.9 Mechanical Time Constant (Not including Encoder) tm ms 0.3 0.27 Rotor Moment of Inertia Note JM 10 -4 kgm GD 2 2 4 6.4 4.92 Mass Note WE kg 11.4 Brake Static Friction Torque TB Nm 11.8 Brake Rated Voltage VB V DC90V DC24V 10 Brake Rated Current IB A 0.28 1.0 Rotor Moment of Inertia (Brake) JB 10 -4 kgm GD 2 2 4 0.5 Brake Mass W kg 1.7 Motor Operating Temp, Rel. Humidity Operating Temperature: 0 to 40C, Relative Humidity: 90% maximum, no condensation Note) including Wire-saving incremental encoder 40 40 Motor Dwgs P27 to P28 30 30 :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. Torque [Nm] 20 10 Torque [Nm] 20 10 :Indicates a typical value when the winding temperature is 20. 0 0 1000 2000 3000 4000 5000 6000 Speed [min -1 ] 0 0 1000 2000 3000 4000 5000 6000 Speed [min -1 ] 17
Torque [Nm] 20 15 10 5 Q1AA10200D 100 RS1A10A RS1A05A RS1A10A Q1AA10250D 100 Q1AA12100D 120 Q1AA12200D 120 Symbol Unit 2 2.5 1 2 PR kW 3000 NR min -1 5000 Nmax min -1 6.37 7.97 3.19 6.37 TR Nm 7.36 8.82 3.92 7.36 TS Nm 19.6 24.4 11 21 TP Nm 15.9 16.6 6.2 14.3 IR Arms 18 17.2 7.5 16.2 IS Arms 55 55 24.5 53 IP Arms 0.47 0.587 0.587 0.5 KT NmArms 16.4 20.5 20.2 17.6 K E mVmin -1 0.086 0.104 0.19 0.06 R 189 240 45.2 93 Q R kWs 12.1 13 13 20 te ms 0.25 0.24 0.38 0.31 tm ms 2.15 2.65 2.25 4.37 JM 10 -4 kgm GD 2 2 4 8.7 9.4 5.4 8.7 WE kg 9.8 9.8 9.0 9.0 TB Nm DC90V DC24V 10 VB V 0.2 0.83 0.25 0.86 IB A 0.4 0.5 0.5 JB 10 -4 kgm GD 2 2 4 1.5 1.3 1.5 W kg Operating Temperature: 0 to 40C, Relative Humidity: 90% maximum, no condensation 0 0 1000 2000 3000 4000 5000 6000 Speed [min -1 ] Torque [Nm] 40 30 20 10 0 0 1000 2000 3000 4000 5000 6000 Speed [min -1 ] Torque [Nm] 20 15 10 5 0 0 1000 2000 3000 4000 5000 6000 Speed [min -1 ] Torque [Nm] 40 30 20 10 0 0 1000 2000 3000 4000 5000 6000 Speed [min -1 ] Features and Functions Model Number Nomencalture System Configuration Standard Specifications Dimensions External Wiring Diagram Q1AA13400D 130 RS1A15A Q1AA13500D 130 Q1AA18450M 180 RS1A30A Q1AA18750H 180 Symbol Unit 4 5 4.5 7.5 PR kW 3000 1500 NR min -1 4500 1500 3000 Nmax min -1 12.7 15.7 28.5 48 TR Nm 14.7 18.1 31.6 55 TS Nm 39.2 47.6 105 125 TP Nm 23.4 25.8 20 55 IR Arms 26.4 27.5 22.2 60 IS Arms 83 83 83 155 IP Arms 0.612 0.724 1.71 0.91 KT NmArms 21.4 25.3 59.6 31.7 K E mVmin -1 0.048 0.0461 0.129 0.021 R 251 291 295 443 Q R kWs 19.2 20.8 25 23 te ms 0.25 0.22 0.36 0.40 tm ms 6.43 8.47 27.5 52 JM 10 -4 kgm GD 2 2 4 14.4 16 21.7 47 WE kg 19.6 32 54.9 TB Nm DC90V DC24V 10 VB V 0.25 0.95 0.37 1.4 IB A 0.58 5.5 5.5 JB 10 -4 kgm GD 2 2 4 2.2 5 6 W kg Operating Temperature: 0 to 40C, Relative Humidity: 90% maximum, no condensation Setup Software Optional Equipment 40 80 120 150 30 60 90 100 Torque [Nm] 20 10 Torque [Nm] 40 20 Torque [Nm] 60 30 Torque [Nm] 50 0 0 1000 2000 3000 4000 5000 6000 Speed [min -1 ] 0 0 1000 2000 3000 4000 5000 6000 Speed [min -1 ] 0 0 500 1000 1500 2000 Speed [min -1 ] 0 0 1000 2000 3000 4000 Speed [min -1 ] 18
Page 1 and 2: AC200 V 750W-15kW Ver.4
Page 3 and 4: Index Features and Functions P. 3
Page 5 and 6: Setup Software The setup software a
Page 7 and 8: Reduced Running Costs High Resoluti
Page 9 and 10: Power Voltage Encoder models Rated
Page 11 and 12: Servo Amplifier Standard Model Numb
Page 13 and 14: Servo Amplifier Model Number Nomenc
Page 15 and 16: Model No. : AL-00494635-01 Lithium
Page 17: CANopen Interface specifications Fi
Page 21 and 22: Torque [Nm] 20 15 10 5 Q2AA10100H 1
Page 23 and 24: Torque [Nm] 150 100 50 Q2AA18550H 1
Page 25 and 26: - − − + + Servo Amplifer built-
Page 27 and 28: Servo Motor Dimensions (Unit : mm)
Page 29 and 30: Q2 Servo Motor Series: High Efficie
Page 31 and 32: Setup Software (1) Setup Software S
Page 33 and 34: Pass Point 1 Move to Point 2 Move t
Page 35 and 36: Connectors for Servo Amplifier with
Page 37 and 38: Discontinued Models and Replacement
Page 39 and 40: MEMO 38

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

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