Sanyo Denki SANMOTION R Instruction Manual
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Sanyo Denki SANMOTION R Instruction Manual

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M0006890K
S
TYPE
Analog / Pulse Input Type
For Rotary Motor
Instruction Manual

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  • Page 1 M0006890K TYPE Analog / Pulse Input Type For Rotary Motor Instruction Manual...
  • Page 2 Preface This product corresponds with the shipping regulations given in the Export Trade Control Ordinance (Table 1, item 16) and the Foreign Exchange Ordinance (Table 1, item 16). When these products are exported by customers, and when exported including the other freight or together with other freight, it is recommended to fulfill the requirements related to Security Export Control with the relevant authorities, including “Information Requirements”...
  • Page 3 【Safety Precautions】 This chapter is a summary of the safety precautions regarding the use of the R-series type-S amplifier. Please read this entire manual carefully prior to installing, operating, performing maintenance or inspecting this device to ensure proper use. Use this device only after learning about its operation, safety information, and the precautions related to its use.
  • Page 4 Safety Precautions [Make sure to follow.] This documentation uses the following annotation. Make sure to strictly follow these safety precautions. ■ Safety Precautions and symbols Safety Precautions symbols Danger Denotes immediate hazards that will probably cause /Injury Danger severe bodily injury or death as a result of incorrect operation.
  • Page 5 Safety Precautions [Make sure to follow.] Danger Wiring should be done based on the Do not touch the rotating part of the motor wiring diagram or the user manual. during operation. Electric shock or fire could otherwise Bodily injury could otherwise result. result.
  • Page 6 Safety Precautions [Make sure to follow.] Caution Verify that the products correspond to the Do not impress static electricity, the high order sheet/packing list. voltage, etc. to the cable for encoders of If the wrong product is installed, injury or the servo motor.
  • Page 7 Safety Precautions [Make sure to follow.] Caution There is no safeguard on the motor. Use an Do not touch the radiation fin of the amplifier, over-voltage safeguard, short-circuit breaker, the regenerative resistor, or the motor while overheating safeguard, and emergency stop the device is powered up, or immediately after to ensure safe operation.
  • Page 8 Safety Precautions [Make sure to follow.] Caution Please contact your distributor or sales office if Make sure the device does not fall, overturn, repairs are necessary. or move inadvertently during transportation. Disassembly could render the device inoperative. Damage to the device could Bodily injury could otherwise result.
  • Page 9 Safety Precautions [Make sure to follow.] Mandatory Avoid direct sunlight and keep it by Please contact our office if the amplifier is to temperature and humidity within the range of be stored for a period of 3 years or longer. The capacity of the electrolytic capacitors the specification.
  • Page 10 No Text on This Page.
  • Page 11 [Table of Contents] [1 Prior to use] [5 Description of parameters] ････････････････････････････････ ････････････････････････････････････ Product Verification Parameter List ････････････････････････ ･･････････････････ Servo Motor Model Number Parameter setting value【Group0】 ･･････････････････････ ･･････････････････ Servo Amplifier Model Number Parameter setting value【Group1】 ････････････････････････ ･････････････････ Servo Amplifier Part Names Parameter setting value【Group2】...
  • Page 12 [9 Specifications] ････････････････････････････････････ Servo amplifier ･･････････････････････････････････････ Pulse output ･･････････････････････････････････････ Serial output ･･････････････････････････････ General servo motor 9-23 ･･･････････････････ Rotation Direction Specifications 9-23 ･････････････････････････ Mechanical specifications 9-24 ･･･････････････････････ Holding brake specifications 9-26 [Materials] [Selection Details] Acceleration time / Moderation time / Allowable repetition frequency ･･･････････････････････････････････････････････････...
  • Page 13 [Prior to Use] ････････････････････････････ Product verification ････････････････････ Servo motor model number ･･････････････････ Servo amplifier model number ･････････････････････ Servo amplifier part names ･･････････････････････ Servo motor part names 1-10...
  • Page 14 MODEL R2AA06020FCP00MA Model No 60W AC200V 0.53A 3000min 3φ－・ CI.F IP40 SER No.090206001 2002 Serial No SANYO DENKI MADE IN JAPAN 00482921-01 Servo amplifier Servo amp main nameplate M TION Model No. Serial No Interpretation of the serial number Month (2 digits) + Year (2 digits) + Day (2 digits)+ Serial...
  • Page 15 1. Prior to Use [Servo motor model number] ■ Interpretation of servo motor model number Ｒ ２ ＡＡ ０６ ０２０ Ｆ Ｃ Ｐ ００ Ｍ Ａ Gear identification R-series A･･･Type A 1/3 Additional specification Motor type identification 2: Medium inertia M･･CE mark + UL supported 0･･･With decelerator /Without standards...
  • Page 16 1. Prior to Use [Servo motor model number] ■ Interpretation of servo motor model number Ｑ １ ＡＡ ０６ ０２０ Ｄ Ｃ Ｐ ００ Ｅ Ａ Specification Additional specification identification identification Q-series 00 ･ ･ Standard E･･CE mark supported product U･･UL supported M･･CE mark + UL supported Motor type...
  • Page 17 1.Prior to Use [Servo amplifier model number] ■ Interpretation of servo amplifier model number(Full number) Individual specification R-series 00･･･Standard product A1･･single phase specification (AC200V) Amplifier description 01･･･15A Interface at control section 03･･･30A Motor combination marking S･･･Speed control type 0･･･Q,R series moor standard 05･･･50A combination T･･･Torque control type...
  • Page 18 1.Prior to Use [Servo amplifier model number] ■ Code for combined motor type AC200V input AC100V input Combined Servo motor Combined Servo motor Combined Servo motor Combined Servo motor Motor Motor Motor Motor servo model servo model servo model servo model code code...
  • Page 19 1.Prior to Use [Servo amplifier model number] ■ Interpretation of servo amplifier model number (Abbreviated number) ＲＳ１ Ａ ０１ Ａ Ｔ Interface type of encoder A･･･Wire-saving incremental encoder Battery backup method absolute encoder ✍ Full close (When using an absolute type encoder) R-series General output : NPN (Sink) output H･･･request method absolute encoder...
  • Page 20 1.Prior to Use [Servo amplifier model number] ■ Motor setting and encoder type of abbreviated model numbers Servo amplifier Servo motor model Encoder model number number RS1△01AA P50B03003D RS1△03AA P50B07040D RS1△05AA P50B08075D Wire-saving incremental encoder 2000P/R RS1△10AA P60B13200H RS1△15AA P80B22350H RS1△30AA P60B18750R RS1△01AB...
  • Page 21 1.Prior to Use [Servo amplifier part names] ■ RS1□01A□ / RS1□03A□ Parts inside the cover (Same for all capacity Battery space Cover open Battery connector 5-digit 7-segment LED Analog monitor MODE MODE connector Key to operate the Digital Operator. Control power status LED (POWER, green) CHARGE POWER Main power supply LED（CHARGE・Red）...
  • Page 22 1.Prior to Use [Servo amplifier part names] ■ RS1□10A□ / RS1□15A□ 5-digit 7-segment LED Main power input terminal board MODE Key to operate the Digital Operator. Control power status LED (POWER, green) CHARGE POWER Main power supply LED（CHARGE・Red） Setup software communication connector Connector for upper device input/output signals Terminal board for DC reactor, regeneration 10250-52A2PL(Sumitomo 3M Ltd)
  • Page 23 1.Prior to Use [Servo motor part names] ■ Lead wire types Q1□A04○○○△□◇ Q1□A06○○○△□◇ Q1AA07○○○△□◇ Q2□A04○○○△□◇ Q2□A05○○○△□◇ Encoder Q2□A07○○○△□◇ Frame Q2AA08○○○△□◇ R2□A04○○○△□◇ R2□A06○○○△□◇ R2AA08○○○△□◇ Shaft R2AAB8○○○△□◇ Flange Servo motor power line Encoder cable ■ Cannon plug type Q1AA10○○○△□◇ Q1AA12○○○△□◇ Q1AA13○○○△□◇ Q1AA18○○○△□◇ Frame Encoder Q2AA10○○○△□◇...
  • Page 24 No Text on This Page.

  • Page 25: Table Of Contents

    [Installation] ･･･････････････････････････････ Servo amplifier ･･･････････････ ■Mounting direction and location ････････････ ■Arrangement within the control box ･･････････････････････････････････ Servo motor ･･････････････ ■Waterproofing and dust proofing ･･････････････････ ■Protective cover installation ■Gear installation ････････････････････････････ ■Integration with the target machinery ･･････････ ･･･････････････････････ ■Allowable bearing load ･･････････････...

  • Page 26: Servo Amplifier

    2. Installation [Servo amplifier] ■ Please note the following points regarding the servo amplifier installation location and mounting method. Various precautions Installation on or near flammable materials can cause Do not place heavy objects or stand on it. fire. Operate the device within the specified environmental Do not drop the device or subject it to excessive conditions.
  • Page 27 2. Installation [Servo amplifier] If explosive or combustible gas is present Never use the device where explosive or combustible gas is present. The device’s relays and contacts, regenerative resistors and other parts can arc (spark) and can cause fire or explosion. If dust or oil mist is present The device cannot be used where dust or oil mist is present.

  • Page 28: Mounting Direction And Location

    2. Installation [Servo amplifier] ■ Mounting direction and location Rear-mounting Front-mounting Front panel mounting hardware Ventilation For metal fittings for front/rear mounting, refer to options (compatible with PY2 mounting). ■ Arrangement within the control machine ● Leave at least 50 mm space above and below the servo amplifier to ensure unobstructed airflow from the inside of the servo amplifier and the radiator.

  • Page 29: Servo Motor

    2. Installation [Servo motor] ■ Please note the following regarding the installation location and mounting method for the servo motor. The servo motor is designed for indoor use. Make sure to Install it indoors. Do not use the device in locations where the oil seal lip is continuously exposed to oil, or where the device is exposed to large quantities of water, oil drops, or cutting fluid.

  • Page 30: Waterproofing And Dust Proofing

    2. Installation [Servo motor] ■ Waterproofing and dust proofing ● The protection inside the motor conforms to IEC standards (IEC34-5). However, such protection is suitable only for short-term use. For regular use, additional sealing measures are required. Be sure to handle the connector carefully, as damage to the exterior of the connector (painted surface) can reduce its waterproofing capability.

  • Page 31: Gear Installation

    2. Installation [Servo motor] ■ Gear installation ● The oil level of the gear box should be below the oil seal lip, for a slight spraying effect on the lip. ● Create a hole to prevent pressure build-up inside the gear box, as pressure can cause water or oil to penetrate the oil seal and enter inside the motor.
  • Page 32 2. Installation [Servo motor] ● Do not subject the motor shaft to shock, as the precision encoder is directly connected to it. If it is absolutely necessary to hit the motor for position adjustment or other reasons, use a rubber or plastic hammer and hit the front flange area.

  • Page 33: Allowable Bearing Load

    2. Installation [Servo motor] ■ Allowable bearing load ● The table below shows the allowable bearing load of the servo motors. Do not apply excessive thrust load or radial load. In case of belt driving, make sure that the shaft converted value of belt tension does not exceed the allowable values shown below.

  • Page 34: Cable Installation Considerations

    2. Installation [Servo motor] Assembly Operation Model Radial load (N)s Thrust load (N) Radial load (N) Thrust load (N) Ｆ Ｆ F direction F1 direction F direction F1 direction Ｒ Ｒ Q2AA22350 2300 1900 1900 1500 Q2AA22450 2300 1900 1900 1500 Q2AA22550 3900...
  • Page 35 [Wiring] ･････････････････････ Packaged Wiring Diagram High Voltage Circuit/Name・Function・Terminal Number ････ Tightening Torque of High Voltage Circuit Terminal ･････････ Wiring Example of High Voltage Circuit・Protective Circuit ････ Description of CN Terminal/Low Voltage Circuit ･･･････････ 3-11 Description of CN1 Terminal/Low Voltage Circuit ･･････････...
  • Page 36 Circuit breaker Communication cable for R-SetupRS232C can be purchased at MODE Will cut off the power to connector SANYO DENKI. protect the power line in case of an over current or significant leakage current. Refer to page 3-26 for the...
  • Page 37 Connector Regenerati Communication cable for R-Setup RS232C can be purchased at protect the power line in on resistor case of an over current or SANYO DENKI. significant leakage current. Refer to page 3-26 for the CHARGE POWER PC connector plug recommended items.
  • Page 38 RB4-RB1. 【 External 】 Remove the Communication cable for R-Setup RS232C short between CN1 connector/ can be purchased at SANYO DENKI. RB4-RB1, and connect housing the resistor between RB1 －RB2. Connected to upper device User preparation...
  • Page 39 Regeneration resistor Communication cable for R-Setup RS232C 【External】Connect the CN1 connector resistor between RB1－ Plug/housing can be purchased at SANYO DENKI. RB2. Connected to upper device. User preparation Electromagnetic contacts Switches the main circuit Power ON / OFF; require installation of a surge protector.
  • Page 40 3. Wiring [High Voltage Circuit; Terminal Name and Function] ■ High voltage circuit; terminal name and functions Connector Remarks Terminal name marking R･T Single phase AC100～115V + 10%,-15% 50/60Hz±3% Main power source Single phase AC200～230V + 10%,-15% 50/60Hz±3% R･S･T Three phase AC200～230V + 10%,-15% 50/60Hz±3% Single phase AC100～115V + 10%,-15% 50/60Hz±3% Control power source r･t...
  • Page 41 3. Wiring [High Voltage Circuit; Terminal Name and Function] ● Model number of recommended ferrules and crimping tools for various wire sizes (Manufactured by Phoenix Contact.） Model number 1Pcs/Pkt 1000Pcs/Pkt Taped components AI0.75-8GY-B 0.75 mm AI0.75-8GY AI0.75-8GY-1000 (1000Pcs/Pkt) AI1-8RD-B 1.0 mm AI1-8RD AI1-8RD-1000 (1000Pcs/Pkt)
  • Page 42 3. Wiring [Wiring Example of High Voltage/Protective Circuit] ■ Three phase 200V RS1□01A・RS1□03A・RS1□05A・RS1□30A [General output: NPN output] Three phase AC200 ～230V SERVO MOTOR Noise filter For EMC countermeasures, refer to Operation ON “International Standards” of the attached document. Alarm ＋E Emergency stop Use output 1 of CN1 39～46(OUT1～...
  • Page 43 3. Wiring [Wiring Example of High Voltage/Protective Circuit] ■ Three phase 200V RS1□10A・RS1□15A [General output: NPN output] Three phase AC200～230V SERVO MOTOR Noise filter For EMC countermeasures, refer to “International Standards” of the Operation ON attached document. Alarm In case of a built-in regeneration resistance, RB1・RB4 ＋E are short circuited by a short bar at the time of shipment.
  • Page 44 3. Wiring [Wiring Example of High Voltage/Protective Circuit] ■ Three phase 200V RS1□01AB･RS1□03AB･RS1□05AB･RS1□30AB General output : PNP output General output : PNP output Three phase External power supply DC24V is taken in as common AC200～230V power supply, and DC24V is outputted when a 50/60 Hz general-purpose output turns on.
  • Page 45 3. Wiring [Wiring Example of High Voltage/Protective Circuit] ■ Three phase 200V RS1□10AB･RS1□15AB [General output : PNP output] General output : PNP output External power supply DC24V is taken in as common power supply, and DC24V is outputted when a Three phase general-purpose output turns on.
  • Page 46 3. Wiring [Low Voltage Circuit/Description of CN Terminal] ■ Low voltage circuit; terminal name and functions Terminal Description Terminal name symbol Upper device input/output signal Connects the input/output circuit between upper device (upper controller) and connector the Servo amplifier. Encoder connector Connects the encoder circuit of the servo motor.
  • Page 47 3. Wiring [Low Voltage Circuit/Description of CN1 terminal] ■ CN1 connector terminal layout OUT-COM* ― ― ― ― ― ― ― ― ― ― ― ― ― ― ― ― ― ― T-COMP F-TLA BTN-1 CONT8 CONT7 OUT-COM* R-TLA CONT8 CONT7 BTP-1 V/T-REF...
  • Page 48 3. Wiring [Low Voltage Circuit/CN1 Overall Wiring] ■ CN1 Connector terminal layout [General output: NPN output] Servo amplifier F-PC ― ― ―― ― R-PC ― ― ― ―― ― V-REF/T-REF ―― T-COMP OUT-PW F-TLA OUT1 Host unit OUT2 Host unit R-TLA OUT3 IN-COM...
  • Page 49 3. Wiring [Low Voltage Circuit/CN1 Overall Wiring] ■ CN1 Connector terminal layout [General output : PNP output] General output : PNP output : External power supply DC24V is taken in as Servo Amplifier common power supply, and DC24V is outputted when a general-purpose output turns on.
  • Page 50 3. Wiring [Low Voltage Circuit/Wiring Example of CN1 Input Circuit] ■ Connection example with analog input circuit ● Analog input circuit Speed command input/Torque command input Servo amplifier Host unit ・Analog command input is either speed command 1.8kΩ input or torque command input. V-REF/T-REF ・Speed command input →...
  • Page 51 3. Wiring [Low Voltage Circuit/Wiring Example of CN1 Input Circuit] ● Position command input circuit [Input circuit ：Line receiver] Command pulse input – Upper device line driver output Servo amplifier Host unit ・Connected with line driver. 1.5kΩ ・Applicable line driver：HD26C31 or equivalent 1.0kΩ...
  • Page 52 3. Wiring [Low Voltage Circuit/Wiring Example of CN1 Input Circuit] ■ Connection example with generic input circuit ● Generic input circuit CONT1～CONT6 [Input circuit：Bi-directional photo coupler] Host unit Servo amplifier ・Connected with transistor circuit of relay or open CONT-COM 2.2kΩ collector.
  • Page 53 3. Wiring [Low Voltage Circuit/Wiring Example of CN1 output Circuit] ■ Connection example with position signal output circuit ● Incremental pulse signal output circuit [output circuit：line driver] Servo amplifier Host unit ・Connected with line receiver. ・Applicable line receiver：HD26C32 or equivalent HD26C31phase manufactured by HITACHI.
  • Page 54 3. Wiring [Low Voltage Circuit/Wiring Example of CN1 output Circuit] ● Origin Z phase output circuit [output circuit: open collector PNP output] General output : PNP output : External power supply DC24V is taken in as common power supply, and DC24V is outputted when a general-purpose output turns on.
  • Page 55 3. Wiring [Low Voltage Circuit/Wiring Example of CN1 output Circuit] ● General output circuit OUT1～OUT8 [output circuit: open collector PNP output] General output : PNP output : External power supply DC24V is taken in as common power supply, and DC24V is outputted when a general-purpose output turns on.
  • Page 56 3. Wiring Low Voltage circuit/CN2 Wiring・Wire-saving incremental encoder] ■ CN2 terminal layout ■ Wiring for Wire-saving incremental encoder Wire-saving incremental encoder Servo motor Servo motor Terminal Signal Description lead type wire canon type name color terminal number A phase position signal blue ―...
  • Page 57 3. Wiring [Low Voltage circuit/CN2 Wiring・Battery backup method absolute encoder and others] ■ CN2 terminal layout ■ Wiring for Battery backup method absolute encoder/Absolute encoder without battery/Absolute encoder for incremental system Battery backup method absolute encoder/Absolute encoder without battery/Absolute encoder for incremental system Q1,Q2,Q4 Servo motor...
  • Page 58 3. Wiring [Low Voltage circuit/CN2 Wiring・Absolute encoder with incremental output] ■ CN2 terminal layout ■ Absolute encoder with incremental output Absolute encoder with incremental output Servo motor Servo motor Terminal Signal Description lead type wire canon type name color terminal number light orange BAT+ Battery...
  • Page 59 3. Wiring Low Voltage circuit/CN2 Wiring・Request method absolute encoder] ■ CN2 terminal layout Request method absolute encoder ■ Request method absolute encoder Servo motor Servo motor canon Terminal Signal Description lead type wire type terminal name color number purple or REQ+ Requested Signal orange...
  • Page 60 3. Wiring Low Voltage circuit/CN2 Wiring・Full-closed control] Full closed ■ Wiring between servo motor encoder and external encoder at full-closed control ● When using an absolute type encoder Servo amplifier model: RS1 Servo amplifier model: RS1 Battery backup method absolute encoder Absolute encoder without battery/Absolute Terminal Signal...

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