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

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Standard Specifications Q2 Servo Motor 200V System Capacity 180mm to 220mm 5.5kW to 15kW 17 models:750W to 15kW Features High Efficiency and Low Ripple (Medium Inertia) Amplifier Model Motor Model and Flange Dimension in mm Q2AA22550B 220 RS1A15A Q2AA22700S 220 Status Symbol Unit Rated Output PR kW 5.5 7 Rated Speed NR min -1 1500 1000 Maximum Speed Nmax min -1 2000 1000 Rated Torque TR Nm 35 67 Continuous Torque at Stall TS Nm 42 70 Peak Torque at Stall TP Nm 90 150 Rated Armature Current IR Arms 30 34 Armature Current at Stall IS Arms 35.1 34 Peak Armature Current at Stall IP Arms 79.7 83 Torque Constant KT NmArms 1.32 2.13 Voltage Constant Per Phase K E mVmin -1 46 74.5 Phase Resistance R 0.0464 0.057 Rated Power Rate Q R kWs 128.5 243 Electrical Time Constant te ms 24 30 Mechanical Time Constant (Not including Encoder) tm ms 0.76 0.7 Rotor Moment of Inertia Note JM 10 -4 kgm GD 2 2 4 95.3 185 Mass Note WE kg 34.8 46 Brake Static Friction Torque TB Nm 90 90 Brake Rated Voltage VB V DC90V DC24V 10 Brake Rated Current IB A 0.36 1.3 0.44 1.7 Rotor Moment of Inertia (Brake) JB 10 -4 kgm GD 2 2 4 24 Brake Mass W kg 10.4 Motor Operating Temp, Rel. Humidity Operating Temperature: 0 to 40C, Relative Humidity: 90% maximum, no condensation Note) including Wire-saving incremental encoder 120 90 200 150 Motor Dwgs P27 to P28 :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is 20. Torque [Nm] 60 30 0 0 1000 2000 3000 4000 Speed [min -1 ] Torque [Nm] 100 50 0 0 500 1000 1500 2000 Speed [min -1 ] Q4 Servo Motor 200V System Capacity 180mm 11kW to 15kW 2 models:11kW to 15kW Features High Power Rate (Low Inertia) Motor Dwgs P26 :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is 20. Amplifier Model Motor Model and Flange Dimension in mm Q4AA1811KB 180 RS1A30A Q4AA1815KB 180 Status Symbol Unit Rated Output PR kW 11 15 Rated Speed NR min -1 1500 Maximum Speed Nmax min -1 2000 Rated Torque TR Nm 70 95.5 Continuous Torque at Stall TS Nm 70 95.5 Peak Torque at Stall TP Nm 190 220 Rated Armature Current IR Arms 54 61 Armature Current at Stall IS Arms 53 59 Peak Armature Current at Stall IP Arms 155 155 Torque Constant KT NmArms 1.42 1.75 Voltage Constant Per Phase K E mVmin -1 49.7 61.1 Phase Resistance R 0.025 0.032 Rated Power Rate Q R kWs 780 1100 Electrical Time Constant te ms 31 32 Mechanical Time Constant (Not including Encoder) tm ms 0.23 0.27 Rotor Moment of Inertia Note JM 10 -4 kgm GD 2 2 4 63 85 Mass Note WE kg 60 75 Brake Static Friction Torque TB Nm Brake Rated Voltage VB V Brake Rated Current IB A Rotor Moment of Inertia (Brake) JB 10 -4 kgm GD 2 2 4 Brake Mass W kg Motor Operating Temp, Rel. Humidity Operating Temperature: 0 to 40C, Relative Humidity: 90% maximum, no condensation Cooling Fan PF W 39/33AC200V10Single phase 50/60HZ Note) including Wire-saving incremental encoder Torque [Nm] 250 200 150 100 50 0 0 1000 2000 3000 4000 Speed [min -1 ] Torque [Nm] 300 250 200 150 100 50 0 0 1000 2000 3000 4000 Speed [min -1 ] 21
Torque [Nm] 150 100 50 Q2AA18550H 180 Q2AA18750L 180 RS1A30A Q2AA2211KV 220 Q2AA2215KV 220 Symbol Unit 5.5 7.5 11 15 PR kW 1500 NR min -1 3000 2000 Nmax min -1 35 48 70 95.5 TR Nm 37.3 54.9 80 95.5 TS Nm 95 139 176 215 TP Nm 47 52 60 66 IR Arms 47 57 66 66 IS Arms 155 160 155 157 IP Arms 0.830 1.03 1.29 1.54 KT NmArms 29.0 36.0 45.1 53.6 K E mVmin -1 0.018 0.017 0.015 0.016 R 170 240 260 360 Q R kWs 17 20 33 33 te ms 0.57 0.46 0.50 0.52 tm ms 73 95 186 255 JM 10 -4 kgm GD 2 2 4 31 40 58 70 WE kg 54.9 90 90 TB Nm DC90V DC24V 10 VB V 0.37 1.4 0.44 1.7 IB A 5.5 24 JB 10 -4 kgm GD 2 2 4 6 11 W kg Operating Temperature: 0 to 40C, Relative Humidity: 90% maximum, no condensation 0 0 0 1000 2000 3000 4000 0 1000 2000 3000 4000 Speed [min -1 ] Torque [Nm] 150 100 50 Speed [min -1 ] Torque [Nm] 200 150 100 50 0 0 1000 2000 3000 4000 Speed [min -1 ] Torque [Nm] 250 200 150 100 50 0 0 1000 2000 3000 4000 Speed [min -1 ] Features and Functions Model Number Nomencalture System Configuration Standard Specifications Dimensions External Wiring Diagram Encoder Wiring Diagram Wire-saving Incremental Encoder Cannon plug and lead-wire types Battery backup method Absolute Encoder [ PA035C ] Absolute encoder for incremental System [ PA035S ] Absolute encoder without battery [ RA035C ] Cannon plug and lead-wire types Setup Software Optional Equipment SERVO AMPLIFIER SERVO MOTOR SERVO AMPLIFIER SERVO MOTOR Note 2) 5V Note 2) 0V CN2 A or U channel input A or U channel input B or V channel input B or V channel input C or W channel input C or W channel input Plug : 10120-3000PE Shell : 10320-52A0-008 3 4 5 6 7 8 9 10 11 12 16 17 18 19 20 H (Shield Wire) Note 1) Note 3) Incremental encoder A Blue A or U channel output D Brown A or U channel output B Green B or V channel output E Purple B or V channel output F White C or W channel output G Yellow C or W channel output J Red 5V N Black 0V Note 4) FG (shielded) JA06A-20-29S-J1-R JA06A-20-29S-J1-EB-R JA08A-20-29S-J1-EB-R N/MS3106B20-29S N/MS3108B20-29S (With Cannon plug) Note 1) Use a twisted-pair shielded cable. Note 2) Encoder power connections depend on encoder cable length. See the following table: Note 2) 5V Note 2) 0V CN2 ES ES EBAT EBAT 13 14 1 2 9 10 11 12 17 18 19 20 Note 1) Note 3) E Brown ES F Blue ES T Pink EBAT SPurple Note 4) EBAT Note 5) HRed GBlack J Absolute encoder 5V 0V FG (shielded) Plug : 10120-3000PE JA06A-20-29S-J1-R Shell : 10320-52A0-008 JA06A-20-29S-J1-EB-R JA08A-20-29S-J1-EB-R N/MS3106B20-29S N/MS3108B20-29S (With Cannon plug) Note 1) Use a twisted-pair shielded cable. Note 2) Encoder power connections depend on encoder cable length. See the following table: Encoder cable length 5m MAX. 5V DC Wiring Connect pin 19 (Do not connect pins 9, 12, 17) 0V DC Wiring Connect pin 20 (Do not connect pins 10, 11, 16, 18) 10m MAX. Connect pin 17,19 (Do not connect pins 9, 12) Connect pin 18, 20 (Do not connect pins10, 11, 16) 20m MAX. Connect pin 12, 17, 19 (Do not connect pins 9) Connect pin 11, 18, 20 (Do not connect pins 10, 16) 30m MAX. Connect pin 9,12,17,19 Connect pin 10,11,16,18,20 Encoder cable length 5V DC Wiring 0V DC Wiring 10m Connect pin 19 (Do not connect pins12,17) Connect pin 20 (Do not connect pins11,18) 25m Connect pin 17, 19 (Do not connect pins 12) Connect pin 18, 20 (Do not connect pins 11) 40m Connect pin 12,17,19 Connect pin 11,16,18,20 Note 3) Use a AWG24 0.2mm 2 encoder cable Note 4) The color in ( ) shows the case of the encoder of the lead wire type. Note 3) Use a AWG24 0.2mm 2 encoder cable Note 4) When the Absolute encoder for incremental system or absolute encoder without battery is used, battery lines (EBAT+, EBAT-) are not required. Note 5) The color in ( ) shows the case of the encoder of the lead wire type. 22
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 and 18: CANopen Interface specifications Fi
Page 19 and 20: Torque [Nm] 20 15 10 5 Q1AA10200D 1
Page 21: Torque [Nm] 20 15 10 5 Q2AA10100H 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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