Sanyo Denki SANMOTION 3E S Instruction Manual
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Sanyo Denki SANMOTION 3E S Instruction Manual

Ethercat interface for rotary motor, linear motor
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Table of Contents

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M0011696D
S
TYPE
Interface
For Rotary Motor, Linear Motor
Instruction Manual

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Summary of Contents for Sanyo Denki SANMOTION 3E S

  • Page 1 M0011696D TYPE Interface For Rotary Motor, Linear Motor Instruction Manual...
  • Page 3 There are wrong descriptions in the instruction manual for RS3 EtherCAT. Please correct them as follows. RS3 EtherCAT instruction manual (M0011696D) error correction list Page : 2-31 Item 2.Specifications 2.8.1 Specifications for analog monitor Before correction Correction after Page : 12-63 Item 12.
  • Page 4 Details of revision history The fourth edition (D) ■ Overall 400V/800A type is added.  R1 motors are added.  ■ p.1-12, 1-13, 1-32, 1-33 12-17, 12-18, 12-32 Outline drawings are updated due to change of RS3 400 VAC 150A/300A main body. ...
  • Page 5 Safety Precautions Please read this User Manual and its appendix carefully prior to installation, operation, maintenance or inspection and perform all tasks according to the instructions provided here. A good understanding of this equipment, its safety information as well as all Warnings / Cautions is also necessary before using.
  • Page 6 Safety Precautions ■ Attention in use Warning  Do not use this device in explosive environment. Injury or fire could otherwise result.  Do not perform any wiring, maintenance or inspection when the device is hot-wired. After switching the power off, wait at least 15 minutes before performing these tasks. Electric shock or damage could otherwise result.
  • Page 7 Safety Precautions Caution  Use the amplifier and motor together in the specified combination. Fire or damage to the device could otherwise result.  Only technically qualified personnel should transport, install, wire, operate, or perform maintenance and inspection on this device. Electric shock, injury or fire could otherwise result.
  • Page 8 Safety Precautions Mandatory  Store the device where it is not exposed to direct sunlight, and within the specified temperature and humidity ranges {- 20°C to + 65°C，below 90% RH (non-condensing)}. Damage to the device could otherwise result.  Please contact our office if the amplifier is to be stored for a period of 3 years or longer. The capacity of the electrolytic capacitors decreases during long-term storage, and could cause damage to the device.
  • Page 9 Safety Precautions ■ Installation Caution  Do not stand on the device or place heavy objects on top of it. Bodily injury could otherwise result.  Make sure the mounting orientation is correct. Fire or damage to the device could otherwise result. ...
  • Page 10 Safety Precautions ■ Wiring Caution  Wiring connections must be secure. Bodily injury could otherwise result.  Wiring should be completed based on the Wiring Diagram or the User Manual. Electric shock or fire could otherwise result.  Wiring should follow electric equipment technical standards and indoor wiring regulations.
  • Page 11 Safety Precautions ■ Operation Caution  Do not perform extensive adjustments to the device as they may result in unstable operation. Bodily injury could otherwise result.  Trial runs should be performed with the motor in a fixed position, separated from the mechanism.
  • Page 12 Safety Precautions Prohibited  The built-in brake is intended to secure the motor; do not use it for regular control. Damage to the brake could otherwise result. Damage to the device could otherwise result.  Keep the motor’s encoder cables away from static electricity and high voltage. Damage to the device could otherwise result.
  • Page 13 Safety Precautions ■ Maintenance・Inspection Caution  Some parts of the servo amplifier (electrolytic capacitor, cooling fan, lithium battery for encoder, fuse and relay kinds) can deteriorate with long-term use. Please contact our offices for replacements. Damage to the device could otherwise result. ...

  • Page 14: Table Of Contents

    Table of contents 1. Preface 1.1 Introduction ················································································································ 1-1 1.1.1 Product overview ································································································ 1-1 1.1.2 Features of "SANMOTION R" 3E Model ··································································· 1-2 1.1.3 Cautions for replacement from "SANMOTION R" ADVANCED MODEL ··························· 1-3 1.2 Instruction manual ······································································································· 1-4 1.2.1 Contents ··········································································································· 1-4 1.2.2 Precautions related to these instructions ··································································...
  • Page 15 Table of contents 2.4.1 Applicable linear encoder ···················································································· 2-14 2.5 Servo amplifier·········································································································· 2-15 2.5.1 General specifications ························································································ 2-15 2.5.2 General Input/Output ························································································· 2-18 2.6 Power supply, calorific value ························································································ 2-19 2.6.1 Main circuit power supply capacity, control power supply capacity ······························· 2-19 2.6.2 Inrush current, leakage current ············································································...
  • Page 16 Table of contents 4. Wiring 4.1 Wiring for the terminal of high voltage and grounding ·························································· 4-1 4.1.1 Part name and function ························································································ 4-1 4.1.2 Wire ················································································································· 4-4 4.1.3 Wire size - allowable current ·················································································· 4-4 4.1.4 Recommended wire size (Rotary motor) ·································································· 4-5 4.1.5 Recommended wire size (Linear motor) ···································································...
  • Page 17 5.4.3 Magnetic pole position estimation ········································································· 5-13 5.2.4 Check of operation ···························································································· 5-14 5.5 Precautions ·············································································································· 5-15 5.5.1 When you use SANYO DENKI servo amplifier with other manufacturer linear motor combined. ····························································· 5-15 5.5.2 Setting of parameters to combine amplifier and motor ··············································· 5-15 5.5.3 Automatic Magnetic Pole Position Estimation Function ··············································...
  • Page 18 Table of contents 6.8.1 Model following vibration suppression control ·························································· 6-29 6.8.2 Auto FF Vibration Suppression Frequency Tuning ···················································· 6-32 6.8.3 FF vibration suppression control ··········································································· 6-33 6.8.4 CP vibration suppression control ·········································································· 6-35 6.8.5 Minor vibration suppression ················································································· 6-36 6.9 Disturbance impact suppression function ········································································...
  • Page 19 Table of contents 8. Maintenance 8.1 Trouble shooting ········································································································· 8-1 8.2 List of warning and alarm ······························································································ 8-4 8.2.1 Warning List ······································································································ 8-4 8.2.2 Alarm list ··········································································································· 8-5 8.3 Trouble shooting when alarm activated ············································································ 8-9 8.3.1 Alarm display ····································································································· 8-9 8.3.2 Corrective action for alarm ··················································································...
  • Page 20 Table of contents 9.2.6 Error detection ································································································· 9-23 9.2.7 Torque assisting function ···················································································· 9-24 9.2.8 Velocity assisting function ··················································································· 9-25 9.2.9 Precaution ······································································································· 9-27 10. Safe-Torque-Off function 10.1 Illustration of system configuration ··············································································· 10-1 10.2 Safe-Torque-Off function ··························································································· 10-2 10.2.1 Outline ·········································································································· 10-2 10.2.2 Standards conformity ·······················································································...
  • Page 21 Table of contents 11.1.6 Calculate deceleration torque (Tb) ······································································ 11-5 11.1.7 Calculate effective torque (Trms) ········································································ 11-5 11.1.8 Judgment condition ·························································································· 11-5 11.2 Linear motor sizing ··································································································· 11-6 11.2.1 Flowchart of linear motor sizing ·········································································· 11-6 11.2.2 Maximum necessary force and necessary effective force ········································· 11-7 11.2.3 Select magnet rail ····························································································...
  • Page 22 Table of contents 12.5.10 Amplifier unit ：RS3W60 ············································································· 12-15 12.5.11 Unit installation drawing (600 A) ······································································ 12-16 12.5.12 Unit installation drawing (800 A) ······································································ 12-17 12.5.13 RS3C02A□HA□ ························································································ 12-18 12.5.14 RS3C05A□HA□ ························································································ 12-18 12.5.15 RS3C10A□HA□ ························································································ 12-19 12.5.16 RS3C15A□HL□ ························································································· 12-19 12.5.17 RS3C30A□HM□...

  • Page 23: Preface

    Preface In this chapter, Introduction, Instruction manual, Illustration of system components, Model number structure and Part names of servo amplifier/motor are explained. 1.1 Introduction ......................1-1 1.1.1 Product overview ..........................1-1 1.1.2 Features of "SANMOTION R" 3E Model ..................1-2 1.1.3 Cautions for replacement from "SANMOTION R"...

  • Page 24: Introduction

    1. Preface 1.1 Introduction 1.1.1 Product overview Thank you for purchasing the AC servo system, “SANMOTION R” 3E Model. This instruction manual describes important things to notice to ensure your safety, such as specifications, installation, wiring, operation, functions and maintenance of the system. Please make sure to read this instruction manual before use to operate this AC servo system correctly.

  • Page 25: Features Of "Sanmotion R" 3E Model

    1.1 Introduction 1.1.2 Features of "SANMOTION R" 3E Model "SANMOTION R" 3E Model is having concepts of "Evolved", "Eco-Efficient" and "Easy to use", as below. (1) Evolved ■ Shortening of positioning settle time Positioning settle time is shortened to 1/3 of previous model by higher response of velocity loop (2.2 kHz) and evolution of model following vibration suppression control.

  • Page 26: Cautions For Replacement From "Sanmotion R" Advanced Model

    1. Preface 1.1.3 Cautions for replacement from "SANMOTION R" ADVANCED MODEL Please check contents below for replacement from "SANMOTION R" ADVANCED MODEL. ■ Servo amplifier capacity The lineup under 100A are refining to 6 types (10A, 20A, 30A, 50A,75A,100A) from 4 types (15A, 30A, 50A,100A).

  • Page 27: Instruction Manual

    1.2 Instruction manual 1.2 Instruction manual This manual outlines the specifications, installation, wiring, operations, functions, maintenance, etc. of the AC servo amplifier “SANMOTION R” 3E Model as follows. Descriptions against servo amplifier are applied to power unit/amplifier unit also, when there is no specification.

  • Page 28: Precautions Related To These Instructions

    1. Preface 1.2.2 Precautions related to these instructions In order to fully understand the functions of this product, please read this instruction manual thoroughly before using the product. After thoroughly reading the manual, keep it handy for reference. Carefully and completely follow the safety instructions outlined in this manual. Note that safety is not guaranteed for usage methods other than those specified in this manual or those methods intended for the original product.

  • Page 29: Illustration Of System Components

    1.3 Illustration of system components 1.3 Illustration of system components ■ RS3□01/02/03/05 (rotary motor) T S R SANMOTION R 3E Model Wiring breaker (MCCB) EtherCAT With Interface Used to protect power line. Turns off the power supply Enables parameter setup when overload runs.
  • Page 30 1. Preface ■ RS3□07 (rotary motor) T S R Wiring breaker (MCCB) Used to protect power line. Turns off the power supply when overload runs. SANMOTION R 3E Model EtherCAT With Interface Noise filter Enables parameter setup and monitoring through Installed to protect power communication with a PC.
  • Page 31 1.3 Illustration of system components ■ RS3□10/15 (rotary motor) T S R Wiring breaker (MCCB) SANMOTION R 3E Model Used to protect power line. EtherCAT Turns off the power supply With Interface when overload runs. Enables parameter setup and monitoring through communication with a PC.
  • Page 32 1. Preface ■ RS3□30 (rotary motor) T S R Wiring breaker (MCCB) Used to protect power line. Turns off the power supply when overload runs. Noise filter Installed to protect power line from external noise. SANMOTION R 3E Model EtherCAT With Interface Enables parameter setup...
  • Page 33 1.3 Illustration Of System Components ■ RS3W60 (rotary motor) SANMOTION R 3E Model Enables parameter setup EtherCAT With Interface and monitoring through communication with a PC. T S R RS3PAA270 RS3W60 Power unit Amplifier unit Wiring breaker (MCCB) Used to protect power line.
  • Page 34 1. Preface ■ RS3C02/05/10 T S R Wiring breaker (MCCB) Used to protect power line. Turns off the power supply when overload runs. Noise filter Motor Setup SANMOTION R 3E Model Installed to protect power line Software EtherCAT With Interface from external noise.
  • Page 35 1.3 Illustration Of System Components ■ RS3C15 SANMOTION R 3E Model Enables parameter EtherCAT With Interface setup and monitoring T S R through communication with a PC. Wiring breaker (MCCB) Used to protect power line. Turns off the power supply when overload runs.
  • Page 36 1. Preface ■ RS3C30 SANMOTION R 3E Model EtherCAT With Interface Enables parameter setup and monitoring through T S R communication with a PC. Wiring breaker (MCCB) Used to protect power line. Turns off the power supply when overload runs. Motor Setup Software Noise filter...
  • Page 37 1.3 Illustration Of System Components ■ Power unit: RS3PAC550, Amplifier unit: RS3D80 Enables parameter setup and monitoring through communication with a PC. SANMOTION R 3E Model SANMOTION R 3E Model RS3PAC550 RS3D80# Motor Setup Software To next amplifier Host equipment General I/O connector TH1-1 TH1-2：...

  • Page 38: Model Number Structure

    1. Preface 1.4 Model number structure 1.4.1 Servo Motor Model Number ■ R motor R 2 AA ○○ ○○○ △ □ ◇ ○○ △ □ Servo motor series R・・・R series Servo motor type 1・・・R1 motor 2・・・R2 motor 5・・・R5 motor Voltage AA・・・200V AC EA・・・100V AC Flange dimensions...
  • Page 39 1.4 Model number structure  Absolute encoder (Standard) Motor model Resolution Multi turn Name (Code) number Transfer method per rotation amount Encoder code Half-duplex Single-turn absolute encoder － 131072(17bit) asynchronous (PA035S) 2.5Mbps Battery backup absolute Half-duplex encoder 131072(17bit) 65536(16bit) asynchronous (PA035C) 2.5Mbps Half-duplex...

  • Page 40: Linear Motor Model Number (Ds, Dd Series)

    1. Preface 1.4.2 Linear Motor Model Number (DS, DD series) ■ Coil model number DS 030 C 1 N2 E C 1 00 Linear motor series DS･･･Flat type, with core DD･･･Twin type, with core Magnet width 030･･･30mm 050･･･50mm 075･･･75mm 100･･･100mm 150･･･150mm Type C･･･Coil...

  • Page 41: Linear Motor Model Number (Ds/Dd Series, Small Type)

    1.4 Model number structure 1.4.3 Linear Motor Model Number (DS/DD series, Small type) ■ Coil Model Number DS 045 C C1 A N E A 1 00 Linear motor series DS･･･Flat type, with core DD･･･Twin type, with core Magnet width 045･･･45mm (for DS type, and DD type (coil length B4 only)) 035･･･35mm (for DD type (coil length C2 only)) Type...

  • Page 42: Linear Motor Model Number (Dt Series)

    1. Preface 1.4.4 Linear Motor Model Number (DT series) ■ Coil Model Number DT 030 C D1 A N E A 1 00 Linear motor series DT･･･Center magnet type Magnet width 030･･･30mm Type C･･･Coil Coil length D1・・・145mm Power supply voltage A･･200 VAC Winding specification N･･Standard winding...

  • Page 43: Power Unit Model Number

    1.4 Model number structure 1.4.5 Power Unit Model Number RS3 PA △ □□□ XX Series name RS3・・・”SANMOTION R” 3E Model series Unit type PA・・・Power unit (with external generative resistor) Input power voltage A・・・Main circuit 200 VAC / Control 200 VAC C・・・Main circuit 400 VAC / Control 24 VDC Power unit capacity 270・・・27 kW，550・・・55 kW...
  • Page 44 1. Preface 1.4.6 Servo Amplifier Model Number RS3 △ ○○ A □ ◇ △ 0 Servo amplifier series RS3・・・”SANMOTION R” 3E Model series Input voltage A・・・Main circuit 200 VAC / Control 200 VAC E・・・Main circuit 100 VAC / Control 200 VAC C・・・Main circuit 400 VAC / Control 24 VDC D・・・Main circuit 560 VDC / Control 24 VDC W・・・Main circuit 280 VDC / Control 200 VAC...
  • Page 45 1.4 Model number structure ■ Servo amplifier capacity and combination servo motor (200V AC) Input Servo amplifier Servo motor Input Servo amplifier Servo motor voltage model number model number voltage model number model number R1AA13300F R1AA04005F R1AA13400H R1AA04010F R1AA13500H R2AA04003F RS3A10# R2AA13180D RS3A01#...

  • Page 46: Servo Amplifier Model Number

    1. Preface ■ Servo amplifier capacity and combination servo motor (400V AC) Input voltage Servo amplifier model number Servo motor model number R1CA10150V R2CA10075F R2CA13050D RS3C02# R2CA13120R R2CA13180H R2CA13200L R1CA10200V R1CA13300V R2CA10100F RS3C05# R2CA13120F R2CA13180D R2CA13200H R2CA18350L 400V AC R2CA18350D RS3C10# R2CA18450H R2CA18550R...

  • Page 47: Part Names

    1.5 Part names 1.5 Part names 1.5.1 Servo amplifier ■ RS3□01/ RS3□02/ RS3□03/ RS3□05 Name/ Use Digital operator display/ For servo amplifier status, alarm code and data display for parameter input Digital operator key/ For parameter setting, test operation etc. Control power status LED (Blue)/ Lighting on when control power inputted and control circuit is working.
  • Page 48 1. Preface ■ RS3A07 Name/ Use Digital operator display/ For servo amplifier status, alarm code and data display for parameter input Digital operator key/ For parameter setting, test operation etc. Control power status LED (Blue)/ Lighting on when control power inputted and control circuit is working.
  • Page 49 1.5 Part names ■ RS3A10/ RS3A15 Name/ Use Digital operator display/ For servo amplifier status, alarm code and data display for parameter input Digital operator key/ For parameter setting, test operation etc. Control power status LED (Blue)/ Lighting on when control power inputted and control circuit is working.
  • Page 50 1. Preface ■ RS3A30 Name/ Use Name/ Use Digital operator display/ Main circuit power input terminal/ For servo amplifier status, alarm code and data For input terminal of main circuit power display for parameter input Control power input (CNA)/ For input terminal of control power Digital operator key/ For parameter setting, test operation etc.
  • Page 51 1.5 Part names ■ RS3PAA270 Name/ Use Amplifier unit connection connector Connect to CN9 of the amplifier unit. Control power input (CNA)/ For input terminal of control power Main circuit power input For input terminal of main circuit power Also, grounding a power unit. Regenerative resistor terminal Connect the resistor between RB1 and RB2.
  • Page 52 1. Preface ■ RS3W60 Name/ Use Name/ Use Control power input (CNA)/ Digital operator display/ For input terminal of control power For servo amplifier status, alarm code and data display for parameter input For dynamic brake signal connector (CNB)/ Digital operator key/ For power unit signal connector (CN9)/ For parameter setting, test operation etc.
  • Page 53 1.5 Part names ■ RS3C02/05/10 Name/ Use Digital operator display/ For servo amplifier status, alarm code and data display for parameter input Digital operator key/ For parameter setting, test operation etc. Control power status LED (Blue)/ Lighting on when control power inputted and control circuit is working.
  • Page 54 1. Preface ■ RS3C15 Name/ Use Name/ Use Digital operator display/ Main circuit power input terminal/ For servo amplifier status, alarm code and data For input terminal of main circuit power display for parameter input Terminal block for external regenerative resistor Digital operator key/ and motor power For parameter setting, test operation etc.
  • Page 55 1.5 Part names ■ RS3C30 Name/ Use Name/ Use Digital operator display/ Main circuit power input terminal/ For servo amplifier status, alarm code and data For input terminal of main circuit power display for parameter input Terminal block for external regenerative resistor Digital operator key/ and motor power For parameter setting, test operation etc.

  • Page 56: Power Unit

    1. Preface 1.5.2 Power unit ■ RS3PAC550 Name/ Use Amplifier unit connection connector(CN10)/ Connect to CN10 of the amplifier unit with optional cable which connects units each other. Control power input (24V・0V)/ For input terminal of control power Main circuit power input(R・S・T・E)/ For input terminal of main circuit power Make sure to connect power grounding cable to terminal E.

  • Page 57: Amplifier Unit

    1.5 Part names 1.5.3 Amplifier unit ■ RS3D80# Terminal block, connectors and main body indication part Name/ Use Power unit connection connector(CN10)/ Connect to CN10 of the power unit with optional cable which connects units each other. Control power input (24V・0V)/ For input terminal of control power Terminal for thermal signal connection of dynamic brake (TH1-1・TH1-2)/ Use as dynamic brake overheat detection.
  • Page 58 1. Preface ■ RS3D80# Interface part with upper device Name/ Use Name/ Use Digital operator display/ USB connector for PC communication (PC)/ For servo amplifier status, alarm code and data For EtherCAT communication connector (IN/OUT)/ display for parameter input For general I/O signal connector (CN2)/ Digital operator key/ For safety device connecting connector (CN4)/ For performing a parameter setting and test operation...

  • Page 59: Servo Motor

    1.5 Part names 1.5.4 Servo motor ■ R1 servo motor, 180 mm sq./5.5 to 15 kW R1AA18550△□◇ R1AA18750△□◇ Frame Brake R1AA1811K△□◇ Fan motor R1AA1815K△□◇ Encoder Shaft Flange Fan connector Encoder connector Brake connector Servo motor power and ground connector ■ R1 servo motor, 40 to 80 mm sq.
  • Page 60 1. Preface ■ R2,R5 servo motor, 40 to 100 mm sq./30 W to 1.0 kW R2□A04○○○△□◇ R2□A06○○○△□◇ Frame Brake Encoder R2□A08○○○△□◇ R2□AB8○○○△□◇ R2AA10○○○△□◇ R5AA06○○○△□◇ R5AA08○○○△□◇ Shaft Flange Brake cable Encoder cable Servo motor power cable ■ R1 servo motor, 100 mm sq./1.0 to 2.5 kW, 130 mm sq./3 to 5 kW R2 servo motor, 130 mm sq./0.5 to 2 kW, 180 mm sq./3.5 to 4.5 kW R1AA10100△□◇...
  • Page 61 1.5 Part names ■ R2 servo motor, 180 mm sq./5.5 to 7.5 kW R2AA18550△□◇ R2AA18750△□◇ Frame Brake Encoder Shaft Flange Encoder connector Brake connector Servo motor power and ground connector ■ R2 servo motor, 180 mm sq./11 kW R2AA1811K△□◇ Frame Brake Encoder Fan motor...
  • Page 62 1. Preface ■ R2 servo motor, 220 mm sq./5 kW R2AA22500△□◇ Frame Brake Encoder Shaft Encoder connector Flange Servo motor power, ground and brake connector ■ R2 servo motor, 220 mm sq./7 to 15 kW Frame Brake R2AA22700△□◇ R2AA2211K△□◇ R2AA2215K△□◇ Encoder Shaft Flange...
  • Page 63 1.5 Part names ■ R1 servo motor, 100 mm sq./1.5 to 2.0 kW, 130 mm sq./3.0kW R2 servo motor, 100 mm sq./0.75 to 1.0 kW, 130 mm sq./0.5 to 2.0kW, 180mm sq./5.5kW R1CA10150△□◇ R1CA10200△□◇ R1CA13300△□◇ R2CA10075△□◇ R2CA10100△□◇ R2CA13050△□◇ Frame Brake R2CA13120△□◇...
  • Page 64 1. Preface ■ R2 servo motor 180mm sq./7.5kW, 220mm sq./11 to 15kW R2CA18750△□◇ R2CA2211K△□◇ Frame Brake R2CA2215K△□◇ Encoder Shaft Flange Encoder connector Brake connector Servo motor power and ground connector ■ R1 servo motor 220mm sq./21kW R2 servo motor 220mm sq./20kW, 275mm sq./30kW R1CA2220K△□◇...
  • Page 65 1.5 Part names ■ R2 sevo motor, 320 mm sq./55 kW R2CA3255K△□◇ Connector for thermostat Encoder connector Motor power wire Cooling fan power line Terminal box Shaft Encoder Flame Flange 1-42...

  • Page 66: Linear Motor

    1. Preface 1.5.5 Linear motor ■ Flat type with core Shock absorber DS030□△○○ Cableveyor DS045□△△○◇ Stage DS050□△○○ Linear motor DS075□△○○ (Coil) DS100□△○○ Linear motor DS150□△○○ (Magnet rail) Linear guide Linear guide rail ■ Twin type with core DD030□△○○ DD035□△△○◇ Stage Cableveyor DD045□△△○◇...

  • Page 67: Specifications

    Specifications In this chapter, specifications of servo amplifier, servo motor and regenerative resistor are explained. 2.1 Servo motor ......................2-1 2.1.1 General specifications ......................... 2-1 2.1.2 Exterior dimensions/ specifications/ mass ................... 2-1 2.1.3 Cooling fan specifications ........................2-1 2.1.4 Mechanical specifications/ mechanical strength/ working accuracy .............. 2-2 2.1.5 Oil seal type ............................

  • Page 68: Servo Motor

    2. Specifications 2.1 Servo motor 2.1.1 General specifications Series name R1, R2, R5 R2CA3255KB Time rating Continuous Insulation classification Type F Voltage/Dielectric strength 1500V AC (2000V AC), 1 minute. Note) Value in parentheses is for 400V AC R2 motor. Insulation resistance 500V DC, greater than 10MΩ...

  • Page 69: Mechanical Specifications/ Mechanical Strength/ Working Accuracy

    2.1 Servo motor 2.1.4 Mechanical specifications/ mechanical strength/ working accuracy Vibration resistance ■ Install the servo motor horizontally (shown in the figure below), so when vibration occurs in any of three (3) directions (up/down, backward/forward, left/right) the motor will withstand vibration acceleration up to 24.5m/s Exceptionally for 100 and 130mm flange size R1 motor, 49m/s2 in rotating and 24.5m/s stop.

  • Page 70: Oil Seal Type

    2. Specifications Mechanical strength ■ The axis strength of the servo motor can withstand peak torque at stall. Working accuracy ■ The following table shows the accuracy and precision of the servo motor output shaft (Total Indicator Reading) of the parts surrounding the shaft. Items Reference Figure T．I．R．...
  • Page 71 2.1 Servo motor Servo motor model number Oil seal type R1AA2220KV Standard: With oil seal, S-Type R2AA2220KB Standard: With oil seal, S-Type R2AA2225KB Standard: With oil seal, S-Type R2AA2830KV Standard: With oil seal, S-Type R1CA10○○○□ Standard: Double Lip seal type R1CA13○○○□...

  • Page 72: Holding Brake

    2. Specifications 2.1.6 Holding brake An optional Holding Brake is available for the servo motor. Since the primary use of this brake is for holding, it should never be used for braking, except in emergency situations. Surge-absorbing element ■ Must connect surge-absorbing element such as varistor or diode, to between holding brake terminals, for suppressing surge noise which occurs at holding brake excitation turn off.
  • Page 73 2.1 Servo motor Braking delay time Static friction Release delay Servo motor model torque time msec number N・m msec Varistor Diode R2AA04003F R2AA04005F 0.32 R2AA04010F R2AA06010F 0.36 R2AA06020F 1.37 R2AA06040□ 1.37 R2AA08020F R2AA08040F 2.55 R2AA08075F R2AAB8075F R2AAB8100□ 3.92 R2AA10075F R2AA10100F R2AA13050□...
  • Page 74 2. Specifications Delay times below are not including the delay time by acting relay etc. The value in parentheses shows the time including delay of internal action when using CNE brake output of servo amplifier. Release delay time is same even if using either of varistor or diode. Static friction Braking delay time Release delay...

  • Page 75: Degree Of Decrease Rating For R1□A / R2□A Motor, With Oil Seal And Brake

    2.1 Servo motor Measurement of release delay time and braking delay time ■ The value of release delay time and braking delay time are measured by the circuit below.  Varistor used circuit 100VAC 60Hz Brake Varistor  Diode used circuit Exciting voltage 100VAC...

  • Page 76: Linear Motor

    2. Specifications 2.2 Linear motor 2.2.1 General specifications Series name DS, DD, DT Time rating Continuous Insulation classification Type F Voltage/Dielectric strength 1500V AC, 1 minute. Insulation resistance 500V DC, greater than 10MΩ Protection method Self-cooling type or Water cooling type (IP00) Ambient temperature 0 to +40°C Storage temperature...

  • Page 77: Moving Direction Of Linear Motor (Dd/Ds/Dt Series)

    2.2 Linear motor Shock resistance ■ Install the linear motor in a horizontal direction (shown in the figure below) and add shock to vertical direction. The motor should withstand shock acceleration up to 98m/s (when shock is applied in an upward/downward direction) for two (2) times. Up/down Horizontal direction 2.2.4 Moving direction of linear motor (DD/DS/DT series)
  • Page 78 2. Specifications Linear motor voltage phase sequence and hall sensor phase sequence when moving forward ■ Moving forward CS offset value [System parameter ID1A] CS offset value of each linear motor is shown in table below. In case of using our recommendation Hall effect sensor, CS-offset value shall be set depending on table below, before operation.

  • Page 79: Motor Encoder

    2.3 Motor encoder 2.3 Motor encoder 2.3.1 Absolute encoder Absolute encoder specifications ■ Motor model Resolution Multi turn part Name (code) number per rotation amount Transfer method encoder code (Single turn) (Multi turn) 131,072 (17bit) Half duplex Battery less absolute encoder 1,048,576 (20bit) 65536 (16bit) asynchronous...

  • Page 80: Incremental Encoder Specifications

    2. Specifications 2.3.2 Incremental encoder specifications Wire-saving incremental encoder ■ Motor model Applicable Model number Resolution motor flange encoder code size PP031H 1000/2000/2048/4096/5000/6000/8192/10000 40 mm sq. PP031T or more 1000/2000/2048/4096/5000/6000/8192/10000 80 mm sq. PP062 or more 320 mm sq. PP062H 5,000P/R Note 1) or more Model number example: R2-series, 60mm sq., 200W-model...

  • Page 81: Linear Encoder

    2.4 Linear encoder 2.4 Linear encoder 2.4.1 Applicable linear encoder The products below are applicable as combination linear encoder. Incremental encoder ■ Power Series Minimum Manufacturer Output signal supply name resolution voltage Renishaw Inc RGH22 0.1 to 5μm RS422-compliant, LIDA400 0.05 to 1μm 90 degree phase 5V±5%...

  • Page 82: Servo Amplifier

    2. Specifications 2.5 Servo amplifier 2.5.1 General specifications General specifications (100/200 VAC) ■ Control function Speed control/Torque control/Position control (Parameter changeover) Control system IGBT: PWM control Sinusoidal drive Main Circuit Power Three-phase: 200 to 240 VAC +10,-15%, 50/60Hz±3Hz Note 1) Single-phrase: 200 to 240 VAC +10,-15%, 50/60Hz±3Hz Note 2) Single-phrase: 100 to 120 VAC +10,-15%, 50/60Hz±3Hz Note 3) Control power...
  • Page 83 2.5 Servo amplifier General specifications (400V AC) ■ Control function Position control/ Velocity control/ Force control/ (Parameter changeover) Control system IGBT: PWM control Sinusoidal drive Main Circuit Power Note 1) Three-phase: 380 to 480V AC +10,-15%, 50/60Hz±3Hz Control power Note 1) 24V DC ±10% Ambient temperature 0 to 55℃...
  • Page 84 2. Specifications Specifications ■ Speed control range 1: 5000 Note 2) Frequency characteristics 2200Hz Note 3) Allowable load inertia moment 10 times motor rotor inertia moment Note 4) Note 2) Internal speed command Note 3) In case of high-velocity sampling mode Note 4) When the value exceeds the above allowable load inertia moment, please contact us.

  • Page 85: General Input/Output

    2.5 Servo amplifier 2.5.2 General Input/Output General input signals ■ Interactive photo coupler (sink, source connection): ×7 input External power supply: 5V DC±5% / Sequence 12 to 24V DC±10%,100mA or over (24V DC) input Forward direction limit switch, Reverse direction limit switch，External trip, Forced signals discharge, Emergency stop.
  • Page 86 2. Specifications 2.6 Power supply, calorific value 2.6.1 Main circuit power supply capacity, control power supply capacity 200 VAC input ■ Rated Main circuit Control Input Servo amplifier Servo motor output power supply power supply Voltage capacity model number capacity (kVA) capacity (VA) R1AA04005F R1AA04010F...
  • Page 87 2.6 Power supply calorific value 200 VAC input ■ Rated Main circuit Control Input Servo amplifier Servo motor output power supply power supply Voltage capacity model number capacity (kVA) capacity (VA) R1AA13300F 3,000 R1AA13400H 4,000 R1AA13500H 5,000 RS3A10# R2AA13180D 1,800 R2AA13200D 2,000 R2AA18350L...
  • Page 88 2. Specifications 100 VAC Input ■ Rated Main circuit Control Input Servo amplifier Servo motor output power supply power supply Voltage capacity model number capacity (kVA) capacity (VA) RS3E01# R2EA04003F R1EA04005F R1EA04010F RS3E02# R2EA04005F 100V AC R2EA04008F R2EA06010F R1EA06020F RS3E03# R2EA06020F * # = Optional alphabetical letter * Power supply capacity above is the value with motor rated output operation.

  • Page 89: Power Supply Calorific Value

    2.6 Power supply calorific value 2.6.2 Inrush current, leakage current Inrush current (100/200 VAC input) ■ Control power Main circuit power Servo amplifier Input Voltage (Maximum value (Maximum value between capacity between1ms after input) 1.2 seconds after input) RS3A01# RS3A02# 22A(0-P) RS3A03# RS3A05#...
  • Page 90 2. Specifications Leakage current ■ Servo amplifier capacity Electric leakage current per motor RS3#01# 0.8 mA or less RS3#02# 0.8 mA or less RS3#03# 0.8 mA or less RS3#05# 1.5 mA or less RS3#07# 3.0mA or less RS3#10# 3.0mA or less RS3#15# 3.0mA or less RS3#30#...

  • Page 91: Calorific Value

    2.6 Power supply calorific value 2.6.3 Calorific value 200V AC ■ Servo amplifier Servo motor Servo amplifier total Input voltage capacity model number calorific value (W) R1AA04005F R1AA04010F R2AA04003F RS3A01# R2AA04005F R2AA04010F R2AA06010F R5AA06020H R1AA06020F R1AA06040F R2AA06020F R2AA06040F R2AA06040H RS3A02# R2AA08020F R2AA08040F R5AA06020F...
  • Page 92 2. Specifications 200V AC (continued) ■ Servo amplifier Servo motor Servo amplifier total Input voltage capacity model number calorific value (W) R1AA13300F R1AA13400H R1AA13500H RS3A10# R2AA13180D R2AA13200D R2AA18350L R1AA13400F R1AA13500F R2AA18350D RS3A15# R2AA18450H R2AA18550R 200V AC R2AA22500L R2AA22700S R1AA18550H R1AA18750L R1AA1811KR R1AA1815KB RS3A30#...
  • Page 93 2.6 Power supply calorific value 400V AC ■ Servo amplifier Servo motor Servo amplifier total Input voltage capacity model number calorific value (W) R1CA10150V R2CA10075F R2CA13050D RS3C02# R2CA13120R R2CA13180H R2CA13200L R1CA10200V R1CA13300V R2CA10100F RS3C05# R2CA13120F R2CA13180D R2CA13200H R2CA18350L R2CA18350D 400 VAC R2CA18450H RS3C10# R2CA18550R...
  • Page 94 2. Specifications Linear motor ■ Servo amplifier Linear motor Servo amplifier total Input voltage capacity model number calorific value (W) DS030C1N2 DS050C1N2 RS3A03# DS075C1N2 DS045CC1AN DT030CD1AN DS030C2N2 DS050C2N2 DS075C2N2 RS3A05# DS100C1N2 DS150C1N2 DD030C1Y4 DS030C3N2 DS050C3N2 DS075C3N2 DD030C2Y4 RS3A07# DD050C1Y2 DD075C1Y2 DD045CB4AN 200V AC DD035CC2AN...

  • Page 95: Operation Pattern

    2.7 Operation pattern 2.7 Operation pattern 2.7.1 Time of acceleration and deceleration, permitted repetition, loading precaution The motor’s acceleration time (ta), and deceleration time (tb) when under constant load is calculated using the following method: Acceleration time: t )・(2π /60)・{(N )/(0.8×T )} [s] －N...
  • Page 96 2. Specifications When the motor repeats continuous speed status and stop status ■ In operating status (shown below) the motor should be used at a frequency in which its effective torque is less than the rated torque TR. Servo motor Time torque ...
  • Page 97 2.7 Operation pattern When the motor repeats acceleration – constant speed operation – deceleration status ■ For the operating status shown below, the value of permitted repetitions n (times/min) is found in the following equation: Servo motor Time torque Servo motor Time rotational velocity [times/ min]...

  • Page 98: Specifications For Analog Monitor

    2. Specifications 2.8 Specifications for analog monitor 2.8.1 Specifications for analog monitor Monitor output ■ Connector model number on board: DF11-4DP-2DSA(01) Housing model number on receiving equipment: DF11-4DS-2C Connector model number on receiving equipment: DF11-2428SCA Analog monitor connector Analog monitor output 1(MON1) CN5-3 Analog monitor output 2(MON2) CN5-4...

  • Page 99: Monitor For Velocity, Torque, And Position Deviation

    2.8 Specifications for analog monitor 2.8.2 Monitor for velocity, torque, and position deviation Electrical specifications ■  Output voltage range: DC±8V  Output resistance: 1kΩ  Load: less than 2mA * Monitor output is indefinite at the time of power ON/OFF and may output DC12V+/- around 10%. * Monitor output polarity can be selected from "+, Without polarity inversion", "-, With polarity inversion", "ABS, Absolute value output".

  • Page 100: Specifications For Dynamic Brake

    2. Specifications 2.9 Specifications for dynamic brake 2.9.1 Allowable frequency, instantaneous tolerance, decreasing the rotation angle of the dynamic brake Allowable frequency of the dynamic brake ■ Less than 10 times per hour and 30 times per day at maximum speed within allowable load inertia moment.
  • Page 101 2.9 Specifications for dynamic brake Rotary motor ■  The consumption of energy E by dynamic brake resistance in one dynamic brake operation is as follows: 2π - I x T RΦ+2.5 Rφ : Servo motor phase winding resistance(Ω ) Inertia moment of servo motor (kg･m Load inertia moment (motor axis conversion)(kg･m Servo motor rotation speed in feed rate V(min...
  • Page 102 2. Specifications Staging down the rotation angle using the dynamic brake is show as follows: ■  Rotary motor 2π N×t + (J ) x (α N+β N : Inertia of servo motor (kg･m : Load inertia (motor axis conversion) (kg･m N: Servo motor rotation speed (min Stage down rotation angle (rad) using amplifier internal process t Stage down rotation angle (rad) using dynamic brake operation...
  • Page 103 2.9 Specifications for dynamic brake Servo amplifier Servo motor α β (kg･m capacity model number R1AA10200F 3.17 5.00×10 2.3×10 R1AA10250F 2.15 4.70×10 2.8×10 R1AA13300H 1.00 5.60×10 7.0×10 RS3A07 R2AA13180D 2.12 1.23×10 9.0×10 R2AA13200D 1.69 0.91×10 12.2×10 R2AA18350V 0.56 2.5×10 40×10 R1AA13300F 3.08 4.20×10...
  • Page 104 2. Specifications  400V AC input Servo amplifier Servo motor model α β (kg･m capacity number R1CA10150V 1.26 8.37×10 2.1×10 R2CA10075F 2.54 2.86×10 2.5×10 R2CA13050D 2.15 6.23×10 3.1×10 RS3C02 R2CA13120R 0.66 2.54×10 6.0×10 R2CA13180H 0.41 1.93×10 9.0×10 R2CA13200L 0.25 1.38×10 12.2×10 R1CA10200V 1.17...
  • Page 105 2.9 Specifications for dynamic brake  Linear motor Coasting distance of movable stage is calculated roughly as follows, when dynamic brake is ■ worked at horizontal axis without friction consideration: Coasting distance = V・t + M・(α V＋β V ) [m] Linear motor velocity [m/s] : 10×10 M: Movable part [kg]...

  • Page 106: Regeneration Process

    2. Specifications 2.10 Regeneration process Allowable minimum values of Built-in/ external regenerative resistor and allowable regenerative power of regenerative circuit of servo amplifier are shown below. See "11.3 Selection of regenerative resistor" for selection method of regenerative resistor. 2.10.1 Minimum values of Built-in/ external regenerative resistor External regenerative Servo amplifier model Built-in regenerative resistor...
  • Page 107 Installation In this chapter, installation of servo amplifier and servo motor are explained. 3.1 Servo amplifier ......................3-1 3.1.1 Precautions ............................3-1 3.1.2 Unpacking ............................3-2 3.1.3 Mounting direction and location ......................3-3 3.1.4 Arrangement within the cabinet ......................3-4 3.2 Rotary motor ......................

  • Page 108: Servo Amplifier

    3. Installation 3.1 Servo amplifier 3.1.1 Precautions When installing, please be sure to protect the following precautions. ■ Various precautions The device should be installed on non-flammable surfaces only. Installation on or near flammable materials can cause fire. Do not stand on, or put heavy items on the servo amplifier. Operate the device within the specified environmental conditions.

  • Page 109: Unpacking

    3.1 Servo amplifier 3.1.2 Unpacking Verify the followings when the product arrives. If you find any discrepancy, contact your distributor or sales office. ■ Verify that the model number of the servo motor or servo amplifier is the same as ordered. The model number is located on the main nameplate, following the word “MODEL”.

  • Page 110: Mounting Direction And Location

    3. Installation 3.1.3 Mounting direction and location Front-mounting Rear-mounting (Attached to servo amplifier) Ventilation * For metal fittings of front mounting, see “12.6 Optional parts”. RS3PAC550 RS3D80# 2-M8 Ventilation 2-M8...

  • Page 111: Arrangement Within The Cabinet

    3.1 Servo amplifier 3.1.4 Arrangement within the cabinet ■ Leave at least 50 mm (100 mm for RS3D80#) space above and below the servo amplifier to ensure unobstructed airflow from the inside of the servo amplifier and the radiator. If heat gets trapped around the servo amplifier, use a cooling fan to create airflow.

  • Page 112: Rotary Motor

    3. Installation 3.2 Rotary motor 3.2.1 Precautions ■ Various precautions The device should be installed on non-flammable surfaces only. Installation on or near flammable materials can cause fire. Do not stand on, or put heavy items on the servo amplifier. Operate the device within the specified environmental conditions.

  • Page 113: Mounting Method

    3.2 Rotary motor 3.2.4 Mounting method ■ Mounting in several orientations are acceptable as horizontal, or upper side/bottom side of the shaft end. ■ If the output shaft is used in reduction devices that use grease, oil, or other lubricants, or in mechanisms exposed to liquids, the motor shaft should be installed in a perfectly horizontal or downward position.

  • Page 114: Protective Cover Installation

    3. Installation 3.2.6 Protective cover installation ■ Install a protective cover (as described below) for motors continuously subjected to liquids. ■ Turn the connectors (lead outlets) downwards within the angle range shown in the picture below. ■ Install the cover on the side where the water or oil would drip. ■...
  • Page 115 3.2 Rotary motor ■ Refer to the drawing below for correct centering of the motor shaft and the target machinery. Please note when using a rigid coupling that even a slight mistake in centering can damage the output shaft. Measured at all 4 locations, the difference between the maximum and the minimum should not exceed 3/100mm.

  • Page 116: Allowable Bearing Load

    3. Installation ■ Use a special tool for removing the gear, pulley, etc. Tapered Removal tool 3.2.8 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 117 3.2 Rotary motor ■ Input voltage 100, 200V AC (10 to 300A, continued) Assembly Operation Radial load Radial load Servo motor Thrust load (N) Thrust load (N) model number Direction Direction Direction Direction R2□A04003 R2□A04005 R2EA04008 R2AA04010 R2□A06010 R2□A06020 R2AA06040 R2AA08020 R2AA08040 R2AA08075...
  • Page 118 3. Installation ■ Input voltage 100, 200V AC (600A) Assembly Operation Radial load Radial load Servo motor Thrust load (N) Thrust load (N) model number Direction Direction Direction Direction R1AA2220KV 3900 2000 2000 2700 1500 1500 R2AA2220KB 3900 2000 2000 2700 1500 1500...

  • Page 119: Cable Installation Considerations

    3.2 Rotary motor 3.2.9 Cable installation considerations ■ Be careful not to apply excessive stress and damages onto cables. ■ When installing cables in the place servo motor can move, take sufficient inflective radius so as not to apply excessive stress onto cables. ■...

  • Page 120: Linear Motor

    3. Installation 3.3 Linear motor 3.3.1 Precautions on linear motor installation When installing, please be sure to protect the following precautions. ■ Prevention of impairment Strong magnet is mounted in magnet rail, so those who is wearing medical equipment, such as pacemakers, or being implanted magnetic metal into the body, make sure to keep 0.5m or over away from linear motor, and do not perform unpacking.
  • Page 121 3.3 Linear motor Take care to keep the magnetic substances other than tools needed away from magnet rail. Strong magnet is mounted in magnet rail, so strong attraction generates between a piece of iron, steel tool, or magnet, and your hand may be gotten stuck in, and this can cause severe physical impairment. The smaller the gap is, the more sharply-increased the magnetic attraction between magnet surface and magnet body is, and the magnetic attraction is proportional to the opposing area.
  • Page 122 3. Installation ■ Prevention of system damage Take care not to have a hand on edge of magnet stainless-steel cover. Applying stress to the edge can cause deformation or removal, and then damages to the product. Edge Stainless-steel cover rail Magnet Take care not to drop items such as tools, bolts (especially magnetic materials) onto magnet rail surface.

  • Page 123: Unpacking

    3.3 Linear motor 3.3.2 Unpacking Verify the followings when the product arrives. If you find any discrepancy, contact your distributor or sales office. ■ Unpack after checking upside and downside. Failure to do this can result in injuries. ■ Check servo motor model number to see if any discrepancies between ordered item and delivered item.

  • Page 124: Installation Of Flat-Type Linear Motor With Core

    3. Installation 3.3.3 Installation of flat-type linear motor with core ■ Mounting magnet rail Step Description Strong magnet is mounted on the surface of magnet rail. Strong magnetic attraction works when putting magnetic substances such as motor coil, steel tools or other magnet rail closer to the magnet rail.
  • Page 125 3.3 Linear motor ■ Installation of coil <Mounting coil where magnet rail not mounted. > Step Description First mount one-half of the entire length of magnet rail. Make sure that both the magnet rail length and the length magnet rail not yet mounted shall be more than 50mm longer than coil length. Shock absorber Linear encoder (Scale tape)
  • Page 126 3. Installation Step Description Slide the moving stage with coil mounted across the magnet rail fasten with screw. The attraction that coil drawn to the magnet surface at this time is as indicated in the table below. The attraction goes off when the entire coil is over the magnet rail. The attraction when mounting: generates value ...
  • Page 127 3.3 Linear motor ■ Installation of coil <Mounting coil where magnet rail mounted. > Step Description After installing the entire magnet rail, place coil via nonmagnetic spacer whose thickness is more than 50mm to the magnet rail surface. Use the nonmagnetic spacer whose materials are not being compressed by coil weight.

  • Page 128: Installation Of Twin-Type Linear Motor With Core

    3. Installation 3.3.4 Installation of twin-type linear motor with core ■ Mounting magnet rail and the precautions Step Description Strong magnet is mounted on the surface of magnet rail. Strong magnetic attraction works when putting magnetic substances such as motor coil, steel tools, or other magnet rail closer to the magnet rail. Take great care not to get your hand stuck in.
  • Page 129 3.3 Linear motor Place magnet rails from the end in order. When mounting a magnet rail next to the already fixed magnet rail, put the magnet rail from the stroke direction not from the orthogonal (facing magnet surface). Magnetic attraction can generate, and this can cause injuries and damages. Magnet rail: fixed Nonmagnetic spacer Nonmagnetic spacer...
  • Page 130 3. Installation Temporary fasten motor coil and stage with bolts, and adjust the gap length between dummy magnet rail and coil so as to be appropriate value (gap length refer the outline drawing of coil). 0.2mm or less is recommended for the difference between two points of the gap between dummy magnet rail and motor coil.
  • Page 131 3.3 Linear motor By using bolt (DD###C1-4) When using bolts, gap adjustment shall be performed from the side of stage. Place 4 taps for gap adjusting bolt on the side of stage. This hole position shall be the place where gap adjusting bolt end contacts top panel of motor coil. Applying bolt stress to the area other than the top board can damage the motor coil.
  • Page 132 3. Installation Slide the moving stage with coil mounted to the magnet rail fasten with screw. The attraction that coil drawn to the magnet surface at this time is as indicated in the table below. The attraction goes off when the entire coil is over the magnet rail. The attraction when mounting: generates value ...

  • Page 133: Installation Of Center Magnet Type Linear Motor With Core

    3.3 Linear motor 3.2.5 Installation of center magnet type linear motor with core ■ Mounting magnet rail, and caution Step Description Strong magnet is mounted on the surface of magnet rail. Strong magnetic attraction works when putting magnetic substances such as motor coil, steel tools or other magnet rail closer to the magnet rail.
  • Page 134 3. Installation ■ Mounting coil Step Description First mount one-half of the entire length of magnet rail. Make sure that both the magnet rail length and the length magnet rail not yet mounted shall be more than 50mm longer than coil length. Shock absorber Linear encoder (Scale tape)
  • Page 135 3.3 Linear motor Slide the moving stage with coil mounted across the magnet rail fasten with screw. The attraction that coil drawn to the magnet surface at this time is as indicated in the table below. The attraction goes off when the entire coil is over the magnet rail. The attraction when mounting: generates value ...

  • Page 136: Installation Of Cylinder-Type Motor

    3. Installation 3.2.6 Installation of cylinder-type motor Step Description The rotational moment acting on load mounting plate on the output shaft is received by the rotation stopper on the counter-output shaft side alone. Therefore if excessive rotational moment load is acting on, this can cause motor damage or reduce the motor lifetime.

  • Page 137: Wiring

    Wiring In this chapter, wiring between the servo amplifier, servo motor and peripherals are explained. 4.1 Wiring for the terminal of high voltage and grounding ........4-1 4.1.1 Part name and function ........................4-1 4.1.2 Wire ..............................4-4 4.1.3 Wire size - allowable current ......................4-4 4.1.4 Recommended wire size (Rotary motor) ..................

  • Page 138: Wiring For The Terminal Of High Voltage And Grounding

    4. Wiring 4.1 Wiring for the terminal of high voltage and grounding 4.1.1 Part name and function Input voltage 200V AC ■ Connector Terminal name Remarks marking Single phase 100 to 120 VAC +10%, -15% 50/60Hz±3% R･T Single phase 200 to 240 VAC +10%, -15% 50/60Hz±3% Main circuit power supply 200 to 240 VAC +10%, -15% 50/60Hz±3% R・S・T...
  • Page 139 4.1 Wiring for the terminal of high voltage and grounding Input voltage 400V AC ■ Connector Terminal name Remarks marking Main circuit power supply 380 to 480 VAC +10%, -15% 50/60Hz±3% R・S・T Three-phase Control power supply 24V・0V 24 VDC ±10% Servo motor connector Connected with servo motor U・V・W...
  • Page 140 4. Wiring Input voltage 400V AC/800A (Power unit/Amplifier unit combination) ■ Terminal Equipping Terminal name Remarks marking unit 3-phase main circuit Power unit 380 to 480 VAC +10 %, -15 %, 50/60Hz±3 % R・S・T 3-phase power input terminal Direct current main Power unit 457 to 747 VDC +DC・-DC...

  • Page 141: Wire

    4.1 Wiring for the terminal of high voltage and grounding 4.1.2 Wire Electric wires for use in servo amplifier main circuit power are shown below. Wire type ■ Kinds of wires Conductor allowable Code Name temperature [°C] Common vinyl electric wire －...

  • Page 142: Recommended Wire Size (Rotary Motor)

    4. Wiring 4.1.4 Recommended wire size (Rotary motor) The recommendation electric wire size used for servo amplifiers and servo motors are shown below. Input voltage 200V AC ■ Main circuit Motor power Control Regenerative power supply Servo motor Combination (U・V・W・ ) power supply resistance model No.
  • Page 143 4.1 Wiring for the terminal of high voltage and grounding Input voltage 200V AC, continued ■ Main circuit Motor power Control Regenerative Combination power supply Servo motor (U・V・W・ ) power supply resistance servo (R・S・T) model No. amplifier R1AA10200F R1AA10250F R1AA13300H RS3A07# R2AA13180D R2AA13200D...
  • Page 144 4. Wiring Input voltage 200 VAC (600 A) ■ Main circuit Control Regenerative power supply Combination power supply resistance (R・S・T・E) power unit RS3PAA270 1.25 Motor power Control Servo motor (U・V・W・E) Combination power supply model No. amplifier unit R1AA2220KV R2AA2220KB RS3#60# 1.25 R2AA2225KB R2AA2830KV...
  • Page 145 4.1 Wiring for the terminal of high voltage and grounding Input voltage 400 VAC ■ Main circuit Control Motor power Regenerative Combination power supply power Servo motor (U・V・W・ ) resistance servo (R・S・T) supply model No. amplifier R1CA10150V R2CA10075F R2CA13050D 1.25 RS3C02# 1.25 1.25...

  • Page 146: Recommended Wire Size (Linear Motor)

    4. Wiring 4.1.5 Recommended wire size (Linear motor) Input-voltage 200V AC (DS-series: flat type linear motor with core) ■ Main circuit Control Motor power Regenerative Combination power supply power Linear motor (U・V・W・ ) resistor servo (R・S・T) supply model No. amplifier DS030C1N2 DS050C1N2 0.75...
  • Page 147 4.1 Wiring for the terminal of high voltage and grounding Input-voltage 200V AC (DD-series: twin type linear motor with core) ■ Main circuit Control Motor power Regenerative Combination power supply power Linear motor (U・V・W・ resistor servo (R・S・T) supply model No. amplifier DD030C1Y4 RS3A05L...

  • Page 148: Wiring For Servo Motor

    4. Wiring 4.1.6 Wiring for servo motor Specifications for lead wires and pin assignment of R-series servo motor ■ Servo motor model number: R1#A04***, R1#A06***, R1AA08***, R2#A04***, R2#A06***, R2AA08***, R2AAB8***, R2AA10***, R5AA06***, R5AA08*** Lead color Name Remarks Yellow Brake Power for brake (24V DC) Yellow Brake Power for brake (GND of 24V DC)
  • Page 149 ①Plug (Manufacturer model number) ①Plug (Manufacturer model number) ②Cable clamp (Manufacturer model number) Servo motor ②Cable clamp (Manufacturer model number) ③Plug and Cable clamp model number ③Plug and Cable clamp (SANYO DENKI model number) (SANYO DENKI model number) Straight Angle Straight Angle R1CA10150V ①N/MS3106B20-15S...
  • Page 150 (Products of Japan Aviation Electronics Industry, Ltd.) Plug model number for cooling fan ①Plug (Manufacturer model number) Cooling fan Servo motor ②Cable clamp (Manufacturer model number) model number specifications ③Plug and Cable clamp (SANYO DENKI model number) Straight Angle R1CA18750L ①N/MS3106B10SL-4S ①N/MS3108B10SL-4S R1CA1811KR Power: Single-phase ②N/MS3057-4A...
  • Page 151 4.1 Wiring for the terminal of high voltage and grounding Pin assignment of cannon plug ■ Pin assignments are below, depending on model number for power, brake and cooling fan cable. Phase U Phase U Phase V Phase V Phase W Ground Ground Phase W...

  • Page 152: Example Of Wiring

    4. Wiring 4.1.7 Example of wiring Even if it turns off power supply, high-pressure voltage may remain in servo amplifier. Therefore, do not touch a power supply terminal for 15 minutes for the prevention from an electric shock. Completion of electric discharge turns off the CHARGE LED. Please perform connection check work after checking that the CHARGE LED goes dark.
  • Page 153 4.1 Wiring for the terminal of high voltage and grounding Single-phase 200V AC, single-phase 100V AC ■  When using + side of OUT1 or OUT2 for power supply Single-phase 200 to 240V AC 50/60 Hz Single-phase 100 to 120V AC 50/60 Hz Servo motor Noise...
  • Page 154 4. Wiring RS3C02/05/10/15 ■  When using + side of OUT1 or OUT2 for power supply Three-phase 380 to 480V AC, 50/60 Hz Servo motor Noise filter Motor holding brake power supply Operation ON OFF Emergency 5V DC, Diode stop 12 to 24V DC OUT1+: 16 OUT2+: 18...
  • Page 155 4.1 Wiring for the terminal of high voltage and grounding Three-phase 200 VAC [General output: Sink type] ■  When using + side of OUT1 or OUT2 for power supply External regenerative resistor Amplifier unit 3-phase 200 to 240 VAC 50/60 Hz RB1 RB2 Servo motor...
  • Page 156 4. Wiring RS3C30 ■  When using + side of OUT1 or OUT2 for power supply Dynamic brake resistor Connects to TH1-1/TH1-2 Three-phase 380 to 480 VAC, 50/60 Hz Servo motor Noise filter Motor holding brake power supply Operation ON OFF External regenerative resistor Emergency stop...
  • Page 157 4.1 Wiring for the terminal of high voltage and grounding ■ RS3PAC550,RS3D80# When using + side of OUT1 or OUT2 for power supply Dynamic brake resistor 1 Dynamic brake resistor 2 SANMOTION R SANMOTION R Thermostat 3E Model 3E Model Thermostat Magnetic RS3D80#...
  • Page 158 4. Wiring ■ RS3PAC550,RS3D80# When using - side of OUT1 or OUT2 for power supply Dynamic brake resistor 1 Dynamic brake resistor 2 SANMOTION R SANMOTION R Thermostat 3E Model 3E Model Thermostat Magnetic RS3D80# RS3PAC550 Three-phase 380 to 480 VAC Contactor 50/60 Hz Noise...

  • Page 159: Crimping Of Wires

    4.1 Wiring for the terminal of high voltage and grounding 4.1.8 Crimping of wires Insert the wire into ferrule, and use a special tool to crimp it in. Insert the ferrule deep into the connector, and tighten it with a special minus screwdriver or something.

  • Page 160: High Voltage Circuit Terminal; Tightening Torque

    4. Wiring 4.1.9 High voltage circuit terminal; tightening torque Terminal marking Servo amplifier model number RS3#01# RS3#02# [1.18 N･m] [0.5 to 0.6 N･m] RS3#03# M4 (screw size) RS3A05# Terminal marking Servo amplifier model number Wire size 4mm or less [0.5 to 0.6 N･m] [1.18 N･m] RS3A07# [0.5 to 0.6 N･m]...
  • Page 161 4.1 Wiring for the terminal of high voltage and grounding 400V AC input ■ Terminal marking Servo amplifier model number RS3C02# [1.18 N･m] RS3C05# M4 (screw size) RS3C10# Terminal marking Servo amplifier model number [1.2 N･m] [2.0 N･m] [2.45 N･m] RS3C15# M5 (screw size) M4 (screw size)
  • Page 162 4. Wiring 4.2 Wiring with Host Unit 4.2.1 Control signals and pin numbers (wiring with host unit) Control signal and pin number (wiring with host unit) ■ IN/OUT: EtherCAT communication Servo amplifier Note 1) For IN/OUT, 4-5 pins and 7-8 pins are shorted circuit at amplifier internal.

  • Page 163: Wiring With Host Unit

    4.2 Wiring with Host Unit 4.2.2 IN, OUT connectors pin assignment  Pin assignment For R 3E Model EtherCAT amplifier, two RJ-45 modular connectors are provided as Port IN and OUT for the EtherCAT communication with host device. The same pin disposition (same signal) is assigned for both connectors and corresponds to the daisy chain topology.
  • Page 164 4. Wiring Wiring diagram  Slave Slave Slave Slave axis axis axis ･･･ Shielded Shielded Shielded twisted-pair cable twisted-pair cable twisted-pair cable OUT (Port1) OUT (Port1) OUT (Port1) OUT (Port1) TX＋ TX＋ TX＋ TX＋ TX－ TX－ TX－ TX－ RX＋ RX＋ RX＋...

  • Page 165: Cn4 Connector Pin Assignment

    4.2 Wiring with Host Unit 4.2.3 CN4 connector pin assignment 2013595-3 (The figure below is viewed from connector's soldered side.) ■ Signal name and its function ◆ Terminal Signal name Description number Reserve Do not use. Reserve Do not use. HWGOFF1- Signal-input1 (-) for safety function HWGOFF1+...

  • Page 166: Cn2 General I/O Connector Pin Assignment

    4. Wiring 4.2.4 CN2 general I/O connector pin assignment  HDR-E26MSG1+ (*The figure below is viewed from connector’s soldered side.) Signal names and functions ◆ Terminal No. Signal name Description CONT7+ General-purpose input7 (+) CONT7- General-purpose input7 (-) CONT1+ General-purpose input1 (+) CONT1- General-purpose input1 (-) CONT2+...
  • Page 167 4.2 Wiring with Host Unit Signal names and functions ◆ Terminal Symbol Name Description ■ Connect the general-purpose input circuit to a relay or open collector CONT7+ General input 7 (+) transistor circuit. CONT7- General input 7 (-) Power supply voltage range: 5V DC±5%/12 to 24V DC±10% CONT1+ General input 1 (+) Current capacity of host unit: 100mA or more (24V DC)
  • Page 168 4. Wiring 4.3 Wiring of motor encoder 4.3.1 EN1, EN2 signal names and pin numbers Battery backup absolute encoder (Encoder code: P) ■ Flange size Flange size Servo Amplifier 220mm or less Signal 275mm Remarks Servo motor Description name Servo motor Note 1) Terminal No.

  • Page 169: Wiring Of Motor Encoder

    4.3 Wiring of motor encoder Battery less absolute encoder (Encoder code: R) ■ Resolver type battery-less absolute encoder (Encoder code: W) ■ Flange size Flange size Servo Amplifier 220mm or less Signal 275mm Remarks Servo motor Description name Servo motor Note 1) Terminal No.

  • Page 170: En1, En2 Pin Assignment

    4. Wiring 4.3.2 EN1, EN2 pin assignment EN1, EN2 54593-1016 (soldered side) ■ Wirings vary depending on encoders to be connected, so please carefully perform wiring. Connector model number (Molex Japan LLC) ■ Applicable cable Model Number Applicable wire size diameter Plug 54593-1016...

  • Page 171: Connector Model Number For Motor Encoder

    4.3 Wiring of motor encoder 4.3.3 Connector model number for motor encoder R-series servo motor encoder ■ Connector model numbers (Products of Japan Aviation Electronics Industry, Ltd.) Motor model Motor encoder plug model Connector Applicable cable number number type diameter R1#A04005 R1#A04010 R1#A06020...
  • Page 172 4. Wiring R-series servo motor encoder ■ Connector model numbers (Products of Japan Aviation Electronics Industry, Ltd.) (Continued) Motor model Motor encoder plug model Connector Applicable cable number number type diameter R1CA10150 R1CA10200 JN2DS10SL1-R Straight R1CA13300 φ 5.7 to φ 7.3 R1CA18550 R1CA18750 JN2FS10SL1-R...

  • Page 173: Recommended Encoder Cable Specification

    4.3 Wiring of motor encoder Encoder of R2CA3255KBXS00 (for wire-saving incremental system) ■ Connector model numbers (Products of Japan Aviation Electronics Industry, Ltd.) Motor model Motor encoder plug model Connector Applicable cable number number type diameter R2CA3255KB N/MS3106B20-29S Straight － Encoder cannon plug pin assignment (Viewed from motor)

  • Page 174: Wiring For Thermostat Of Servo Motor Fan (For 400 Vac)

    4. Wiring 4.4 Wiring for thermostat of servo motor FAN (for 400V AC) 4.4.1 Connector model number for thermostat of servo motor FAN Connector model number (Molex Japan LLC) ■ for thermostat of flange size 280 and 320 mm servo motor FAN Motor Model number Applicable wire size...

  • Page 175: External Alarm Input, Dynamic Brake Signal And Thermostat

    4.5 External alarm input, dynamic brake signal and thermostat 4.5 External alarm input, dynamic brake signal and thermostat 4.5.1 Pin assignment of external alarm input (CN8) (RS3W60#) Pin number Signal name Thermal signal wiring for external dynamic brake resistor Thermal signal wiring for servo motor or fan motor 4.5.2 Wiring of external alarm input (CN8) (RS3W60#) In case of connecting a thermostat for fan motor ■...

  • Page 176: Terminal Block Pin Assignment For Dynamic Brake Signal/Thermostat (400 Vac)

    4. Wiring 4.5.3 Terminal block pin assignment for dynamic brake signal/thermostat (400 VAC) Terminal name Signal name TH1-1 Thermal signal of external dynamic brake resistor TH1-2 Control terminal (+) for contact of external dynamic brake resistor Control terminal (-) for contact of external dynamic brake resistor RS3C02/05/10/15 equips dynamic brake circuit internally so no terminal block.

  • Page 177: Wiring Of Dynamic Brake Signal/Thermostat (Rs3D80#)

    4.5 External alarm input, dynamic brake signal and thermostat 4.5.5 Wiring of dynamic brake signal/thermostat (RS3D80#) Below shows a wiring example. Consult us for the other usage. Wiring of dynamic brake signal only ■ Terminal block Do short circuit between TH1-1 and TH1-2. TH1-1 TH1-2 Use Form b-contact (Normally Close) to magnetic contact (MC) of external dynamic brake circuit.

  • Page 178: Peripheral Equipments

    4. Wiring 4.6 Peripheral equipments 4.6.1 Power supply capacity and peripherals list (Rotary motor) 200V AC input ■ Servo Main circuit Molded Input amplifier Servo motor power Case Circuit Magnetic Surge Noise filter voltage model model No. supply Breaker contact absorber number rating (kVA)

  • Page 179: Peripheral Equipments

    4.6 Peripheral equipments 200V AC input ■ Servo Molded Case Main circuit Input amplifier Servo motor Circuit Magnetic Surge power supply Noise filter voltage model model No. Breaker contact absorber rating (kVA) number (MCCB) R1AA13300F R1AA13400H Model NF63 30A S-T21 R1AA13500H RS3A10# MITSUBISHI...
  • Page 180 4. Wiring 400V AC input ■ Main Servo circuit Molded Input amplifier Servo motor power Case Circuit Magnetic Surge Noise filter voltage model model No. supply Breaker contact absorber number rating (MCCB) (kVA) R1CA10150V HS10 HF3010C- R2CA10075F Hitachi R2CA13050D Industrial RS3C02# SOSHIN R2CA13120R...

  • Page 181: Power Supply Capacity And Peripherals List (Linear Motor)

    4.6 Peripheral equipments 4.6.2 Power supply capacity and peripherals list (Linear motor) 200V AC input ■ Main Servo circuit Molded Input amplifier Linear motor power Case Circuit Magnetic Surge Noise filter voltage model model number supply Breaker contact absorber number rating (MCCB) (kVA)
  • Page 182 No Text on This Page.
  • Page 183 5.2.4 Check of operation ......................... 5-14 5.5 Precautions ......................5-15 5.5.1 When you use SANYO DENKI servo amplifier with other manufacturer linear motor combined. . 5-15 5.5.2 Setting of parameters to combine amplifier and motor ..............5-15 5.5.3 Automatic Magnetic Pole Position Estimation Function ..............5-16...

  • Page 184: Linear Motor

    5. Linear motor 5.1 Illustration of system components RS3A01/02/03/05 ■ T S R SANMOTION R 3E Model Wiring breaker (MCCB) EtherCAT With Interface Used to protect power line. Turns off the power supply Enables parameter setup when overload runs. and monitoring through communication with a PC.

  • Page 185: Wiring Of Linear Encoder

    5.2 Wiring of linear encoder 5.2 Wiring of linear encoder 5.2.1 EN1, EN2 signal names and pin numbers EN1 linear encoder (Incremental differential output) ■ Servo Amplifier Signal DS/DD series Remarks Description name linear motor Note 1) Terminal No. Power supply Note 3) Twisted pair Power supply common Note 4)
  • Page 186 5. Linear motor EN2 hall effect sensor (Line driver output) ■ Servo Amplifier DS/DD series Signal Remarks linear motor Description name Note 1) Terminal No. Lead wire spec Power supply Twisted pair Power supply Black common Note 3) Power supply －...

  • Page 187: En1, En2 Pin Assignment

    5.2 Wiring of linear encoder 5.2.2 EN1, EN2 pin assignment EN1, EN2 54593-1016 (soldered side) ■ Wirings vary depending on encoders to be connected, so please carefully perform wiring. Connector model number (Molex Japan LLC) ■ Applicable cable Model Number Applicable wire size diameter Plug...

  • Page 188: Recommended Encoder Cable Specification

    5. Linear motor 5.2.3 Recommended encoder cable specification Shielded cables with multiple twisted pairs Cable Ratings 80°C 30V Conductor resistance value 1Ω or less Conductor size AWG26 to AWG18 SQ (mm ): 0.15 to 0.75 The conductor resistance value is recommended with the cable length actually used. 5.2.4 Encoder cable length Maximum cable lengths by conductor sizes of power supply cable (5V, SG).

  • Page 189: Linear Motor Control-Related Parameters

    5.3 Linear motor control-related parameters 5.3 Linear motor control-related parameters 5.3.1 Setting of system parameters Group Contents Object ID Motor code ■ Sets combination motor code you use. Set the combination motor code by the linear motor code you use in Index System 0x20FE, 0x00 0x20FE "Motor code".

  • Page 190: Setting Of Linear Encoder

    5. Linear motor 5.3.2 Setting of linear encoder CS-detection method of linear motor varies depending on “System ID32” of the system parameter or “Index 0x20FF-1 Encoder type code”. Verify the following parameter settings. Group Contents Object ID Encoder digital filter selection (EN1) ■...

  • Page 191: Setting Of Magnetic Pole Position Parameters

    5.3 Linear motor control-related parameters 5.3.3 Setting of magnetic pole position parameters CS-detection method of linear motor varies depending on “System ID32” of the system parameter or “Index 0x20FF-1 Encoder type code”. Verify the following parameter settings. Group Contents Object ID Hall effect sensor digital filter selection (External encoder digital filter selection) ■...
  • Page 192 5. Linear motor Group Contents Object ID Magnetic pole position estimation frequency ■ Sets frequency of torque (force) applied at magnetic pole position estimation. Setting range: 5 to 100Hz Initial value: GroupD 0x20F1, 0x08 50Hz ID01 EMPFREQ ✔ Change excitation frequency when detection cannot be normally completed due to resonance point of machine, at amplifier hardware magnetic pole position estimation.

  • Page 193: Setting Of Moving Direction

    5.3 Linear motor control-related parameters 5.3.4 Setting of moving direction Moving direction of linear motor depends on polarity of command and linear encoder. Setting of command-input polarity ■ Group Contents Object ID Polarity ■ Selects position command polarity from the following contents. Servo motor moving direction can be reversed without changing command wiring.

  • Page 194: Test Operation

    5. Linear motor 5.4 Test operation 5.4.1 Check of installation and wiring Check the installation / wiring of servo amplifier and linear motor. [Step 1: installation] Set the servo amplifier and linear motor by following "3. Installation". ■ Remove a load on the stage, and keep free from a load. ■...

  • Page 195: Preparation Before Operation

    5.4 Test operation 5.4.2 Preparation before operation Before operation, adjusting a relation between move direction and encoder polarity, and a magnetic pole position. 1) For absolute encoder [Step 1: Move direction check] Move linear motor to the direction where power line lead pulled out, through monitoring the ■...

  • Page 196: Magnetic Pole Position Estimation

    5. Linear motor 5.4.3 Magnetic pole position estimation Magnetic pole position estimation is able to perform by methods below. 1) Perform through general input operation  Set "00: Normal" to Index 0x20F1-9 "Magnetic pole position estimation mode".  Set the condition for enabling the function to Index 0x20F8-6 "Magnetic pole position estimation function".

  • Page 197: Check Of Operation

    5.4 Test operation 5.2.4 Check of operation [Step 1: JOG operation] Run the JOG operation without a load on the stage. ■ Check whether the linear motor is able to move to positive and negative direction full stroke. ■ Move motor beyond 2 magnets or more. →...

  • Page 198: Precautions

    5. Linear motor 5.5 Precautions 5.5.1 When you use SANYO DENKI servo amplifier with other manufacturer linear motor combined. When you use our servo amplifier with other manufacturer linear motor combined, we provide ■ “servo amplifier parameter (motor parameter file)” needed to drive the motor based on motor constants you provide to us.

  • Page 199: Automatic Magnetic Pole Position Estimation Function

    5.5 Precautions "Linear encoder resolution" is set to 1μm (multiplier ratio 1:4) 1000P/mm at factory setting. So ■ select and set the linear encoder resolution you use from "System ID31" or "Index 0x20FF-1 ENCODE". When using "motor thermal", connect motor thermal wire to any of CONT1 through CONT7, ■...
  • Page 200 No Text on This Page.

  • Page 201: Servo Tuning

    Servo Tuning In this chapter, tuning of servo amplifier are explained. 6.1 Servo tuning functions and basic adjustment procedure ........6-1 6.1.1 Servo tuning functions ........................6-1 6.1.2 Tuning method selection procedure ....................6-3 6.2 Adaptive notch filter function ................6-4 6.3 Auto-tuning function ....................

  • Page 202: Servo Tuning Functions And Basic Adjustment Procedure

    6. Servo Tuning 6.1 Servo tuning functions and basic adjustment procedure To operate the servo motor (and machine) using the servo amplifier, adjustments of the servo gain and its control system is necessary. Generally, the higher setting value of the servo gain increases the machine response.
  • Page 203 Servo tuning functions and basic adjustment procedure Vibration suppression function ■  Model-following vibration suppression Positioning settle time and response of machine are able to improve by using model control system to suppress machine stand vibration.  Auto FF Vibration Suppression Frequency Tuning, FF vibration suppression control FF Vibration Suppression control is able to suppress low frequency resonance like machine end vibration.

  • Page 204: Tuning Method Selection Procedure

    6. Servo Tuning 6.1.2 Tuning method selection procedure The selection procedure is displayed in the following chart: Start turning Perform ”Servo Tuning Navigation” in the Setup software instruction manual Tuning result is good? Additionally use compensation of resonant frequency variation follow-up or of load inertia moment variation follow-up? Set the below functions depending on desired tuning.

  • Page 205: Adaptive Notch Filter Function

    6.2 Adaptive notch filter function 6.2 Adaptive notch filter function Vibration suppression operation which adapt to frequency variation of mechanical vibration is realized by estimating mechanical resonant frequency in motor operation and reflecting to the control system. It can suppress dispersion and variation of mechanical resonance frequency. How to use ■...
  • Page 206 6. Servo Tuning 6.3 Auto-tuning function 6.3.1 Selection of tuning method Parameter list ■ Using parameters below for auto-tuning mode.  Tuning mode Index Sub-Idx Selection Contents 0x00 AutoTun Auto-tuning 0x2002 0x01 0x01 AutoTun_JRAT-Fix Auto-tuning [JRAT manual setting ] 0x02 ManualTun Manual Tuning ...

  • Page 207: Auto-Tuning Function

    6.3 Auto-tuning function Explanation for each parameter ■ Details of each parameter are shown below.  General Parameter Group0 Auto-Tuning Index/ Contents Sub-Idx Tuning Mode [TUNMODE] Selection Contents 00: AutoTun Auto-Tuning  Servo amplifier estimates Load inertia moment ratio of the machine or equipment during real time and automatically tunes the servo gain.
  • Page 208 6. Servo Tuning Index/ Contents Sub-Idx Auto-Tuning Characteristic [ATCHA] Auto-Tuning Characteristic to fit the mechanical requirements and movements are ■ provided. Parameters that can be adjusted vary depending on each auto-tuning characteristic. Select the parameters based on the situation. [Positioning control (Positioning)] ■...
  • Page 209 6.3 Auto-tuning function Index/ Contents Sub-Idx Auto-Tuning Characteristic [ATCHA] Selection Contents Positioning control 5 (for high response, horizontal axis Positioning5 only, FFGN manual setting)  Select this mode when the machine movement is on a horizontal axis and receives no disturbing influence from external sources and when you want to adjust "Index 0x2008-1 Feed Forward Gain [FFGN]"...
  • Page 210 6. Servo Tuning Index/ Contents Sub-Idx Auto-Tuning Response [ATRES] Set this parameter when "0x00: Auto Tun" or "01: AutoTun_JRAT-Fix" in "Index ■ 0x2002/ 0x2002-1 Auto tuning mode [TUNEMODE]" are used. 0x03 As the setting value rises, the response increases. Set the value suitable for equipment ■...

  • Page 211: Automatically Adjusted Parameters In Auto-Tuning

    6.3 Auto-tuning function 6.3.2 Automatically adjusted parameters in auto-tuning These parameters will not reflect on servo motor movements by changing or overriding those values. However, some of them can be adjusted manually depending on selected "Index 0x2002-1 Tuning mode [TUNMODE]" and "Index 0x2002-2 Auto-Tuning Characteristic [ATCHA]". At the standard position control, below parameters are adjusted automatically.
  • Page 212 6. Servo Tuning At the model following control, below parameters are adjusted automatically. ■  General parameters Group1 “Basic control parameter settings” Index/Sub-Idx Symbol Name Remarks 0x2005/0x01 Position Loop Proportional Gain 1 Note 1) Higher Tracking Control Position 0x2007/0x00 TRCPGN Compensation Gain 0x200B/0x01 KVP1...

  • Page 213: Adjustable Main Parameters During Auto-Tuning

    6.3 Auto-tuning function 6.3.3 Adjustable main parameters during auto-tuning The following main parameters are adjustable during auto-tuning: ■  General parameters Group1 “Basic control parameter settings” Index/Sub-Idx Symbol Name 0x2003/0x00 PCSMT Position Command Smoothing Constant 0x2004/0x00 PCFIL Position Command Filter 0x2068/0x04 FFFIL Velocity Feed Forward Filter...

  • Page 214: Unavailable Functions During Auto-Tuning

    6. Servo Tuning  General parameters Group5 “High setting control setting” Index/Sub-Idx Symbol Name 0x2015/0x03 CVFIL Command Velocity Low-pass Filter 0x2015/0x04 CVTH Command Velocity Threshold 0x2015/0x01 ACCCO Acceleration Compensation 0x2015/0x02 DECCO Deceleration Compensation 6.3.4 Unavailable functions during auto-tuning The following functions CANNOT be used during auto-tuning: ■...

  • Page 215: Auto-Tuning Characteristic Selection

    6.3 Auto-tuning function 6.3.5 Auto-tuning characteristic selection Start tuning Select tuning mode 00: AutoTun Automotic Tuning Change tuning to Can Automatic estimate JRAT? 00: AutoTun_JRAT-Fix Automatic Tuning [JRAT Manual Setting] Set JRAT1 Are there any problems with response or setting time? Use trajectory control? Match the characteristics between the axes? Change Auto-Tuning Characteristic to...

  • Page 216: Adjustment Method For Auto-Tuning

    6. Servo Tuning 6.3.6 Adjustment method for auto-tuning Auto-tuning is a function where the servo amplifier automatically tunes to the best servo gain in real time. Select "00: AutoTun Auto-Tuning" at "Index 0x2002-1 Tuning mode [TUNMODE]" ■ to estimate load inertia moment ratio by servo amplifier on a real-time basis, and then automatically adjust servo gain.

  • Page 217: Manual Tuning Method Using Auto-Tuning Results

    6.3 Auto-tuning function 6.3.8 Manual tuning method using auto-tuning results Result of auto-tuning can be stored in block and used to perform auto-tuning. Refer to "7. Digital operator" for use of the Digital Operator. For the Setup software, perform "Auto-tuning >> Auto-tuning result saving". Saving parameters ■...

  • Page 218: Manual Tuning Function

    6. Servo Tuning 6.4 Manual tuning function All gain is adjustable manually using manual tuning mode when characteristics in auto-tuning are insufficient. Select "0x02: ManualTun Manual Tuning" at "Index 0x2002-1 Tuning mode [TUNMODE]". Setting parameters ■  General parameters Group0 ID00 “Tuning Mode [TUNMODE]” Selection Contents 0x2002/0x01...
  • Page 219 6.4 Manual tuning function "Index 0x2008-1 Feed Forward Gain [FFGN]" ■ The tracking effect of position command can be improved by increasing this gain. Under positioning control, set this to approximately 30-40% as the standard.  When "Index 0x2007-0 Higher Tracking Control Position Compensation Gain [TRCPGN]"...

  • Page 220: Basic Manual Tuning Method For Velocity Control

    6. Servo Tuning 6.4.2 Basic manual tuning method for velocity control Set value of "Index 0x200B-1 Velocity Loop Proportional Gain 1 [KVP1]" as high as possible ■ within the range that mechanical system can stably work without any vibration or oscillation. If vibration increases, lower the value.

  • Page 221: The Function Of Making Servo Gain Higher

    6.5 The function of making servo gain higher 6.5 The function of making servo gain higher There are explanations of the function for improving response, for position/ velocity/ torque control system each. 6.5.1 Velocity loop phase lead compensation This is the function to compensate phase delay of Velocity control system, and helps "Index 0x200B-1 Velocity loop proportional gain 1 [KVP1]"...

  • Page 222: Position Loop Phase Lead Compensation

    6. Servo Tuning 6.5.2 Position loop phase lead compensation This is the function to compensate phase delay of Position control system, and helps "Index 0x2005-1 Position Loop Proportional Gain 1 [KP1]" change higher. Use when "Position Loop Proportional Gain 1 [KP1]" is not able to change higher by overshoot occurring.

  • Page 223: Torque Feed Forward Compensation

    6.5 The function of making servo gain higher 6.5.3 Torque feed forward compensation There is explanation of function which improving response against a command of control system and applying feed forward compensation to the torque control system. Use when response is not good against command during circular machining etc.

  • Page 224: Model Following Control Function

    6. Servo Tuning 6.6 Model following control function Model following control is a method used to obtain a higher response. Model control systems include mechanical devices in a servo amplifier and drive a servo motor in order to track the Model control system.

  • Page 225: Manual Tuning Method For Model Following Control

    6.6 Model following control function 6.6.1 Manual tuning method for model following control Set value of "Index 0x200B-1 Velocity Loop Proportional Gain 1 [KVP1]" as high a value as ■ possible within the range that mechanical system stably works without any oscillation. If vibration occurs, lower the value.

  • Page 226: Switching Of The Feedback Control And The Model-Following (Vibration Suppression) Control

    6. Servo Tuning 6.6.2 Switching of the Feedback control and the Model-following (vibration suppression) control Explains the function which switches standard position control, model-following control and model-following vibration suppression control, on real-time. Select "0x01: Profile Position mode" or "0x08: Cyclic Sync Position mode" at "Index 0x6060 Operation mode", and select "0x03: Model3 Model-following / standard position control switching"...

  • Page 227: Model Velocity Feed Forward Differential Compensation

    6.6 Model following control function 6.6.3 Model velocity feed forward differential compensation This is the function to improve command response of model control system by differential compensation for feed forward of model control system. How to use ■  Able to improve a command-following by increasing "Index 0x2068-2 Model velocity feed forward gain [MFFGN]", at the model following control mode and the model following vibration suppression control mode.

  • Page 228: Auto Notch Filter Tuning Function

    6. Servo Tuning 6.7 Auto notch filter tuning function Notch filter is able to suppress high frequency resonance depends on a mechanical system coupling or stiffness. "Auto notch filter tuning" is able to search mechanical system resonant frequency easily by rotating servo motor in a short time. How to use ■...
  • Page 229 6.7 Auto notch filter tuning function Adaptive notch filter function E ■ Selects the valid/invalid of the Adaptive notch filter.  General parameters Group0 “Auto-Tuning” Index/Sub-Idx Symbol Name Unit Setting range 0x2060/0x01 ADNFE Adaptive notch filter function E 00 to 01 Select value Content Adp_Filter Disable...

  • Page 230: Vibration Suppression Function

    6. Servo Tuning 6.8 Vibration suppression function 6.8.1 Model following vibration suppression control When you use the servo motor to drive tables on a machine stand, the stand itself may vibrate as a reciprocal reactor of the motor. When the machine stand vibrates, the vibration may cause a reaction with the Positioning stabilizing time of the table working on the stand.
  • Page 231 6.8 Vibration suppression function  When responsiveness is low, change the value of "Model control gain 1 [KM1]" to the value approximately 1.1 to 1.2 times the value.  Depending on the mechanical system, there may be two or more frequency vibrations aside from anti-resonance and resonance frequencies that have already been set.
  • Page 232 6. Servo Tuning Parameter setting range for model following vibration suppression control ■ Setting ranges for the following parameters are restricted:  General parameters Group1 “Basic control parameter settings” Index/Sub-Idx Symbol Name Unit Setting range 0x2007/0x01 JRAT1 Load Inertia Moment Ratio 1 100 to 3000 0x2011/0x01 TCFIL1...

  • Page 233: Auto Ff Vibration Suppression Frequency Tuning

    6.8 Vibration suppression function 6.8.2 Auto FF Vibration Suppression Frequency Tuning FF Vibration Suppression control is able to suppress low frequency resonance like machine end vibration. "Auto FF Vibration Suppression Frequency Tuning" is able to set FF Vibration Suppression Frequency easily by rotating servo motor in a short time. How to use ■...

  • Page 234: Ff Vibration Suppression Control

    6. Servo Tuning The parameter saved automatically by the Auto FF Vibration Suppression Frequency Tuning ■  General parameters Group2 "FF (Feed forward) vibration suppression control/ Notch filter/ Disturbance observer settings" Index/Sub-Idx Symbol Name Unit Setting range 0x2012/0x01 SUPFRQA1 FF Vibration Suppression Frequency A1 1.0 to 500.0 6.8.3 FF vibration suppression control FF vibration suppression control can be used as a method of suppressing the vibration of the...
  • Page 235 6.8 Vibration suppression function  General parameters Group9 "Function enabling condition settings" Index/Sub-Idx Symbol Name Unit Setting range 0x2010/0x01 00 to 29 SUPFSELA1 FF Vibration Suppression Frequency Select Input A1 0x2010/0x02 00 to 29 SUPFSELA2 FF Vibration Suppression Frequency Select Input A2 0x2010/0x03 00 to 29 SUPFSELB1...

  • Page 236: Cp Vibration Suppression Control

    6. Servo Tuning 6.8.4 CP vibration suppression control This is the function which suppress a vibration of machine stand, even if perform CP control like as during machine cutting. How to use ■  If a vibration occur by low rigidity of machine, calculate and find out vibration frequency from position deviation monitor, and set it to "Index 0x2067-1 CP vibration suppression control frequency [CPVSFQ]".

  • Page 237: Minor Vibration Suppression

    6.8 Vibration suppression function 6.8.5 Minor vibration suppression Explains the function which suppresses a minor vibration against velocity feedback during servo motor stop. How to use ■  The function is valid when condition that is selected in "Index 0x2051-1 Minor vibration suppression function"...

  • Page 238: Disturbance Impact Suppression Function

    6. Servo Tuning 6.9 Disturbance impact suppression function When a force is given to a servo motor externally, bad impact might be given to the control system. Follows are explaining the function of suppressing disturbance impact. 6.9.1 High order integral control Use for suppression of disturbance impact for control system by decreasing "Index 0x200C-1 Velocity Loop Integral Time Constant 1 [TVI1]"...

  • Page 239: Disturbance Observer Function

    6.9 Disturbance impact suppression function 6.9.2 Disturbance Observer Function The Disturbance Observer is a function to suppress the influence of external load torque by estimating the load torque inside the servo amplifier and adding the load torque compensation to the torque command. How to use ■...

  • Page 240: Stick-Slip Behavior Compensation Function

    6. Servo Tuning 6.10 Stick-slip behavior compensation function Explains the compensation function of stick-slip behavior which occurs by machine system friction etc. How to use ■  The function will be valid when the condition which is selected at "Index 0x2050-1 Stick-slip behavior compensation function"...

  • Page 241: Digital Operator

    Digital Operator In this chapter, details of the Digital operator are explained. 7.1 EtherCAT Indicator ....................7-1 7.1.1 IN/OUT Link / Activity Indicator Code: IN L/A, OUT L/A ..............7-1 7.1.2 RUN Indicator Code: RUN ......................7-2 7.1.3 Error Indicator Code: ERR ......................

  • Page 242: Ethercat Indicator

    7. Digital Operator 7.1 EtherCAT Indicator The servo amplifier has seven (7) indicators: four (4) indicators standardized by EtherCAT specifications and three (3) indicators with characteristics particular to the R 3E Model. There are 3 LEDs in green and 1 LED in red for the EtherCAT indicators. * IN Link/Activity indicator : LED (GREEN) * OUT Link/Activity indicator...

  • Page 243: Run Indicator Code: Run

    7.1 EtherCAT Indicator 7.1.2 RUN Indicator Code: RUN RUN indicator (Green LED) displays EtherCAT communication State machine status with Lighting/ Extinguishing/ Flickering of the LED. Explains the RUN indicator below. Indicator explanation RUN state Explanation INIT "INIT" state Blinking PRE-OPERATIONAL "PRE-OPERATIONAL"...

  • Page 244: Error Indicator Code: Err

    7. Digital Operator 7.1.3 Error Indicator Code: ERR Error Indicator (Red LED) displays invalid state machine (ESM) change and/or watchdog error with an ON/OFF flickering of the LED. Explains the Error Indicator status below. Error Indicator Explanation Error State State Explanation No error EtherCAT operating normally...

  • Page 245: Servo Amplifier Indicator

    7.2 Servo Amplifier Indicator 7.2 Servo Amplifier Indicator This servo amplifier has three types of indicator characteristics for the R 3E MODEL, other than EtherCAT indicators: * Main circuit power charge indicator: LED (RED) * Control power supply establish indicator: LED (BLUE) * Digital Operator indicator: 7 segment LED×5 (RED)

  • Page 246: Digital Operator Indicator

    7. Digital Operator 7.3 Digital Operator Indicator 7.3.1 Digital Operator Names and Functions Status display, Alarm history and Monitor can be confirmed with the 5-digit, 7-segment Red LED on the upper front of the servo amplifier. ■ Names Display, 7-segment LED Digital Operator Operation Key ■...

  • Page 247: Digital Operator Display Form

    7.4 Digital Operator Display Form 7.4 Digital Operator Display Form Digital operator displays data becomes the following form. ■ Data of 0 to+65535 Symbol Digital operator display Range of a digit display Plus 0 to 9 Position of 1 display Plus Position of 10 display 10 to 99...
  • Page 248 7. Digital Operator ■ Hexadecimal data Symbol Digital operator display Range of a digit display 1 byte 00 to FF 2bytes 0000 to FFFF 4 bytes low 0000 to FFFF (Bit15 to Bit0) display 4 bytes high 0000 to FFFF (Bit31 to Bit16) display ■...
  • Page 249 7.4 Digital Operator Display Form ■ Regenerative power monitor display (Monitor ID: 4C) Display range of regenerative power is automatically changed depending on the value, to indicate optimum range. Regenerative power range Example display Unit ≦ Regenerative power ≦ 0.000 W 99.999 W ≦...

  • Page 250: Status Display Mode

    7. Digital Operator 7.5 Status Display Mode Normal Display: Servo amplifier status can be confirmed in this MODE. 7.5.1 Servo Amplifier Status Display Marking Servo amplifier status ・Control power supply established. Control power supply (r, t) is established and amplifier (RDY) is ON. ・EtherCAT FSA “Switch ON Disabled”...

  • Page 251: Display Of Linear Motor Magnetic Pole Position Detection Process

    7.5 Status Display Mode 7.5.3 Display of linear motor magnetic pole position detection process Marking Servo amplifier status ・Magnetic pole position not detected state (flashing) Linear motor CS-position setting is needed when Hall effect sensor is not used for detecting magnetic pole. The display changes from flashing to lighting showing operation preparation completed, after completing magnetic pole position detection via CS-position setting.

  • Page 252: Alarm Display

    7. Digital Operator 7.5.5 Alarm Display Alarm number can be confirmed at the time of alarm occurrence. Marking Servo amplifier status Displays Alarm Code with “2 digits” following “AL.” and Status Code at the time of alarm occurrence with “1 digit” after the alarm code. Please take a measure according to the contents of "Maintenance"...

  • Page 253: Trial Run Mode

    7.6 Trial Run Mode 7.6 Trial Run Mode 7.6.1 Velocity-controlled JOG Operation Displayed Key input Process character, How to operate operation number, code Push MODE key until it show display on the left. ［MODE］ Display changes and right end LED blinks. ［INC］...

  • Page 254: Encoder Clear

    7. Digital Operator 7.6.2 Encoder clear Displayed Key input character, How to operate Process operation number, code Push MODE key until it shows display the left. ［MODE］ Display changes and right end LED blinks. ［INC］ Push MODE key more than 1 sec to display "Ad 01" on left. ［WR］...

  • Page 255: Holding Brake Control (Disabled)

    7.7 Holding brake control 7.7 Holding brake control (disabled) * For servo motor R2CA3255KB, there is no specification with brake. * For amplifier unit RS3D80#, there is no output of holding brake excitation. 7-14...

  • Page 256: Alarm History Mode

    7. Digital Operator 7.8 Alarm History Mode 7.8.1 Alarm History Display Mode Displayed Key input character, How to operate Process operation number, code Push MODE key until it shows display on the left. ［MODE］ Display changes and right end LED blinks. Displays an Alarm History number that requests to be ［INC］...

  • Page 257: Monitor Display Mode

    7.9 Monitor Display Mode 7.9 Monitor Display Mode Displayed Key input Process character, How to operate operation number, code Press MODE key until you see the display on the left, then ［MODE］ you can change the display. The right end of the LED blinks after the change. ［INC］, [DEC] Displays ID that requests monitoring.

  • Page 258: Monitor List

    7. Digital Operator 7.9.1 Monitor list Symbol Name Unit STATUS Servo amplifier status monitor WARNING1 Warning status 1 monitor WARNING2 Warning status 2 monitor WARNING3 Warning status 3 monitor WARNING4 Warning status 4 monitor CONT7-1 General input CONT7 - 1 monitor OUT2-1 General output OUT2 - 1 monitor INC-E MON...

  • Page 259: Monitor Details

    7.9 Monitor Display Mode 7.9.2 Monitor Details Description Servo amplifier status monitor [STATUS] Code Status Power OFF state (P-OFF) Power ON state (P-ON) Servo ready state (S-RDY) Servo ON status (S-ON) Servo OFF and stop state (S-OFF) Emergency stop state (EMR) Alarm and power OFF state (ALARM_P-OFF)
  • Page 260 7. Digital Operator Description General input CONT7 to 1 monitor [CONT7-1] ■ Displays generic input terminal status. It will be in a photo coupler excitation state by "1" or "ON". CONT4 CONT3 CONT2 CONT1 Function Function CONT7 CONT6 CONT5 General output OUT2 to 1 monitor [OUT2-1] ■...
  • Page 261 7.9 Monitor Display Mode Description Actual position monitor (Motor encoder) [APMON] ■ Displays the current position of the motor encoder that has the origin as the position at the time the control power was turned ON. As this is a free run counter, if the current position exceeds the displayed range, the maximum reverse polarity value will be displayed.
  • Page 262 7. Digital Operator Description Velocity monitor [VMON] ■ Displays the rotation speed of the servo motor.  Setup software displays values in decimal notation. Display range Unit -2147483648 to 2147483647  Digital operator displays values in hexadecimal notation. Data range Display range Unit Bit31 to Bit0...
  • Page 263 7.9 Monitor Display Mode Description Load Torque monitor (Estimate value) [MTLMON-EST] ■ Displays the estimated value of load torque. Display range Unit -499.9 to 499.9 Position command pulse frequency monitor [FMON1] ■ Displays the entered command pulse frequency.  Setup software displays values in decimal notation. Display range Unit -2147483648 to 2147483647...
  • Page 264 7. Digital Operator Description Motor Encoder frequency monitor [MMOENCF] ■ Displays the motor encoder frequency of incremental encoder.  Setup software displays values in decimal notation. Display range Unit -2147483648 to 2147483647 kPulse/s  Digital operator displays values in hexadecimal notation. Data range Display range Unit...
  • Page 265 7.9 Monitor Display Mode Description Amplifier temperature monitor [MATEMP] ■ Displays internal temperature of servo amplifier. Display range Unit -15 to 150 degree C  Internal temperature of servo amplifier is the point near to power device. Amplifier Operation Time [RUNTIM] ■...
  • Page 266 7. Digital Operator Description Load inertia moment ratio monitor [JRAT MON] ■ Displays the present load inertia moment ratio. Value can check when using gain switching and auto-tuning function. Model Control Gain monitor [MKP MON] ■ Displays the present Model Control Gain. Value can check when using gain switching and auto-tuning function.
  • Page 267 7.9 Monitor Display Mode Description Present position monitor (External encoder) [EX-APMON] ■ Displays the current position of the external encoder that has the origin as the position at the time the control power was turned ON. As this is a free run counter, if the current position exceeds the displayed range, the maximum reverse polarity value will be displayed.
  • Page 268 7. Digital Operator Description Remaining life of relay for an inrush current prevention [RSRLYLF] ■ Displays the remaining life of relay for an inrush current prevention. Display range Unit 0 to 100.00 Remaining life of relay for a dynamic brake [DBRLYLF] ■...

  • Page 269: Analog Monitor

    7.10 Analog monitor/ 7.11 Fixed monitor display 7.10 Analog monitor All signals and internal status of the servo amplifier can be monitored by using the dedicated Monitor Box and cable. See "12.6 Optional parts" for the details of monitor box and dedicated cable.
  • Page 270 No Text on This Page.
  • Page 271 Maintenance In this chapter, trouble shooting, inspection and service parts are explained. 8.1 Trouble shooting ..................... 8-1 8.2 List of warning and alarm ..................8-4 8.2.1 Warning List ............................8-4 8.2.2 Alarm list ............................8-5 8.3 Trouble shooting when alarm activated ............... 8-9 8.3.1 Alarm display ............................
  • Page 272 8. Maintenance 8.1 Trouble shooting When troubles occurred without any alarm displayed, check and take corrective actions for them by referring to the description below. When alarm occurs, take corrective measures referring to “8.3 Trouble shooting when alarm is activated “. “≡“...
  • Page 273 8.1 Trouble shooting Servo motor operation is unstable or lower speed than the specified velocity command. ■ Investigation Assumed causes and corrective actions Stop the input of proportional control if the ■ signal is in. Check the status of proportional control Check of “Functions enabling condition input signal.
  • Page 274 8. Maintenance Abnormal sound occurs ■ Investigation Assumed causes and corrective actions Observe by operating servo motor by stand ■ Check whether there is any problem in alone. mechanical attachment. Check that the coupling does not have core ■ shift or unbalance. Confirm that the twisted pair and shield ■...
  • Page 275 8.2 List of warning and alarm 8.2 List of warning and alarm Names, contents and stopping operation of warning/ alarm, and alarm-reset methods are listed below. 8.2.1 Warning List Name Contents When the effective torque exceeds the ■ Overload Warning Overload Warning Level In case of overload of regenerative ■...
  • Page 276 8. Maintenance 8.2.2 Alarm list Operation at detecting: “DB“ performs the slowdown stop of the servo motor by dynamic brake operation at the alarm generating. (However, it performs free-run operation if alarm 53H (DB resistor overheat) is issued while stop with dynamic brake.) Operation at detecting: “SB“...
  • Page 277 8.2 List of warning and alarm Alarm Error Error code Detection Alarm register code Alarm name Alarm contents 0x2101 Operations reset 0x1001 0x603F 0x2102 ■ Incremental encoder (A, B, Z) signal line Bit0 0x7305 Encoder Connector 1 Disconnection break ■ Power supply break ■...
  • Page 278 8. Maintenance Alarm Error code Error code Detection Alarm register Alarm name Alarm contents 0x2101 0x603F Operations reset 0x1001 0x2102 ■ Motor rotation speed reaches 120 % of the Bit0 0x8400 Over-speed highest speed limit. ■ T orque command and acceleration direction are not Bit0 0x8400 Velocity Control Error...
  • Page 279 8.2 List of warning and alarm Note 1) When the main power voltage increases or decreases gradually or is suspended, main circuit low voltage or main power failed phase may be detected. Note 2) Control power supply under-voltage or servo ready OFF is detected during instantaneous break of 1.5 to 2 cycles.
  • Page 280 8. Maintenance 8.3 Trouble shooting when alarm activated 8.3.1 Alarm display When an alarm occurs, the display shows the alarm code and the servo amplifier status code. Display Description Take appropriate action based on "8.3.2 Corrective action for alarm". Servo amplifier status code Alarm code Status code ■...
  • Page 281 8.3 Trouble shooting when alarm activated 8.3.2 Corrective action for alarm Alarm code 10 (IN Rx invalid frame error) ■  Invalid frame received continuously in port 0 Alarm code 11 (OUT Rx invalid frame error) ■  Invalid frame received continuously in port 1 Alarm code 12 (IN Rx CRC error) ■...
  • Page 282 8. Maintenance Alarm code 1A (Communication timeout) ■  Output data was unreceived during prescript cycle time. Cause Status at the time of alarm Issued in Safe-OP or OP state. ✔ Issued during operation. ✔ ✔  Corrective actions Cause Investigation and corrective actions Command was unreceived during ■...
  • Page 283 8.3 Trouble shooting when alarm activated Alarm code 22 (Current Detection Error 0) ■  Abnormality of electric current detection value Cause Status at the time of alarm Issued at input of servo ON. ✔ ✔  Corrective actions Cause Investigation and corrective actions ■...
  • Page 284 8. Maintenance Alarm code 26 (Safe Torque Off error 2) ■  Failure of safe torque off circuit Cause Status at the time of alarm Occurred when control power is turned on. ✔ ✔ Occurred during the operation. ✔  Corrective actions Cause Investigation and corrective actions ■...
  • Page 285 8.3 Trouble shooting when alarm activated Alarm code 41 (Overload 1) ■  Excessive effective torque Cause Status at the time of alarm Issued at input of servo ON. ✔ ✔ ✔ After command input, issued without rotating the ✔ ✔...
  • Page 286 8. Maintenance Alarm code 42 (Overload 2) ■  Stall over load Cause Status at the time of alarm Issued at input of servo ON. ✔ ✔ ✔ After command input, issued without rotating ✔ ✔ ✔ ✔ ✔ ✔ ✔...
  • Page 287 8.3 Trouble shooting when alarm activated Alarm code 43 (Regenerative Overload) ■  Regeneration load ratio exorbitance Cause Status at the time of alarm Issued when control power supply is turned ON. ✔ Issued when main circuit power supply is turned ON. ✔...
  • Page 288 8. Maintenance Alarm code 44 (Magnetic pole position estimation error) ■  Magnetic pole position estimation operation failed. Cause Status at the time of alarm Issued when control power supply is ✔ turned ON. Issued during magnetic pole position ✔ ✔...
  • Page 289 8.3 Trouble shooting when alarm activated Alarm Code 52 (In-rush prevention resistance Overheat) ■  Detection of in-rush prevention resistance overheating Cause Status at the time of alarm Issued when control power supply is turned ✔ Issued when main circuit power supply is ✔...
  • Page 290 8. Maintenance Alarm Code 54 (Built-in Regenerative Resistance Overheat) ■  Overheating detection of internal regenerative resistor Cause Status at the time of alarm Issued when control power supply is turned ✔ ✔ Issued during operation. ✔ ✔ ✔  Corrective actions Cause Investigation and corrective actions ■...
  • Page 291 8.3 Trouble shooting when alarm activated Alarm Code 55 (External Error) ■  Overheating detection of External regenerative resistor When host device or thermal output signal of external regenerative resistor are not connected Cause Status at the time of alarm Issued when control power is turned ON.
  • Page 292 8. Maintenance Alarm Code 56 (Servo Amplifier Temperature Error) ■  Overheating detection of Drive module Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ ✔ Issued at input of servo ON. ✔ ✔...
  • Page 293 8.3 Trouble shooting when alarm activated Alarm Code 62 (Main Circuit Under-voltage) ■  DC Main circuit low voltage Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ Issued when main circuit power supply is ✔...
  • Page 294 8. Maintenance Alarm Code 71 (Control Power Supply Under-voltage) ■  Control power supply low voltage Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ Issued during operation. ✔ ✔  Corrective actions Cause Investigation and corrective actions ■...
  • Page 295 8.3 Trouble shooting when alarm activated Alarm Code 81 (Encoder Connector 1 Disconnection) ■  Incremental encoder (A, B, Z) signal line break  Power supply break Alarm Code 87 (CS Signal Disconnection) ■  CS signal line break Cause Status at the time of alarm Issued when control power is turned ON.
  • Page 296 8. Maintenance [Use of EN2 with motor encoder in the semi-closed system] Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ ✔ ✔ Issued during operation. ✔ ✔ ✔  Corrective actions Cause Investigation and corrective actions motor encoder wiring: ■...
  • Page 297 8.3 Trouble shooting when alarm activated Alarm Code 84 (Absolute Encoder Communication Error) ■  Encoder serial signal time out  Serial communication data error Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔...
  • Page 298 8. Maintenance Alarm Code 86 (CS error) ■  Position jumping on CS data Cause Status at the time of alarm Issued during motor operation. ✔  Corrective actions Cause Investigation and corrective actions ■ Confirm proper grounding of the amplifier.
  • Page 299 8.3 Trouble shooting when alarm activated Alarm Code 88 (External Absolute Encoder Communication Error) ■  Encoder serial signal time out  Serial communication data error Cause Status at the time of alarm Issued when control power is turned ON. ✔...
  • Page 300 8. Maintenance Alarm Code 8C (Motor encoder (EnDat) combination error) ■  Motor encoder (EnDat) is out of applicable range. Cause Status at the time of alarm Issued when control power is turned ON. ✔  Corrective actions Cause Investigation and corrective actions ■...
  • Page 301 8.3 Trouble shooting when alarm activated Alarm Code A1 (Absolute Encoder Internal Error 1) ■  Encoder internal error Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ Issued during operation. ✔ ✔ ...
  • Page 302 8. Maintenance Alarm Code A3 (Absolute Encoder Internal Error 3) ■  Encoder internal error Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ Issued while stopping the servo motor. ✔ ✔ Issued while rotating the servo motor. ✔...
  • Page 303 8.3 Trouble shooting when alarm activated Alarm Code A4 to A6 (Absolute Encoder Internal Error 4 to 6) ■  Encoder internal error Alarm Code AA, AC, AD, AF (Absolute Encoder Internal Error 10, 12, 13, 15) ■  Encoder internal error Cause Status at the time of alarm Issued when control power is turned ON.
  • Page 304 8. Maintenance Alarm Code B0 to BF (External Absolute Encoder Internal Error 0 to 15) ■ Cause Status at the time of alarm Issued when control power is turned ON. ✔ Issued during operation. ✔ ✔  Corrective actions Cause Investigation and corrective actions ■...
  • Page 305 8.3 Trouble shooting when alarm activated Alarm Code C1 (Over-speed) ■  Motor rotation speed reaches 120 % of the highest speed limit Cause Status at the time of alarm Issued when command is entered after ✔ ✔ Servo ON. Issued when the servo motor is started.
  • Page 306 8. Maintenance Alarm Code C3 (Velocity Feedback Error) ■  Servo motor power disconnection Cause Status at the time of alarm Issued when command has entered. ✔ ✔ ✔ Issued when control power is turned ON. ✔  Corrective actions Cause Investigation and corrective actions ■...
  • Page 307 8.3 Trouble shooting when alarm activated Alarm Code D1 (Excessive Position Deviation) ■  Position Deviation exceeds setup value Cause Status at the time of alarm Issued when control power ✔ is turned ON. Issued when servo ON and ✔ ✔...
  • Page 308 8. Maintenance ■ Alarm Code D2 (Position Command Error 1)  Frequency of entered position command pulse is excessive Cause Status at the time of alarm ✔ ✔ Issued after entering position command.  Corrective actions Cause Investigation and corrective actions ■...
  • Page 309 8.3 Trouble shooting when alarm activated Alarm Code D5 (Dual position error excess) ■  The difference of servo motor position and load position exceeds the setting value Cause Status at the time of alarm Issued immediately after ✔ ✔ ✔...
  • Page 310 8. Maintenance Alarm Code D6 (Dual position error feedback error) ■  The motor encoder frequency after feedback electronic gear is too high Cause Status at the time of alarm Issued after entering position command ✔ ✔ ✔ pulse.  Corrective actions Cause Investigation and corrective actions ■...
  • Page 311 8.3 Trouble shooting when alarm activated Alarm Code D8 (Excessive position deviation difference) ■  Position Deviation difference exceeds setup value Cause Status at the time of alarm 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Issued when control power is turned ON.
  • Page 312 8. Maintenance Alarm Code DE (Parameter Change Completion) ■  Motor/encoder code parameter change is completed Cause Status at the time of alarm Issued after setting of initial process ✔ (0x20FE, 0x20FF). Issued at system parameter change. ✔ Issued at parameter downloading ✔...
  • Page 313 8.3 Trouble shooting when alarm activated Alarm Code E1 (Memory Error 1) ■  Abnormality of amplifier with built-in EEPROM Cause Status at the time of alarm Issued during display key operation or ✔ setup software operation.  Corrective actions Cause Investigation and corrective actions ■...
  • Page 314 8. Maintenance Alarm Code E3 (CPU error 1) ■  Access error in CPU built in RAM Alarm Code E8 (Control power circuit error 1) ■  Access abnormality in CPU to ASIC Alarm Code E9 (Control power circuit error 2) ■...
  • Page 315 8.3 Trouble shooting when alarm activated Alarm Code E5 (System Parameter Error 1) ■  System parameter is outside a setting range. Cause Status at the time of alarm Issued when control power is turned ✔ ✔ Issued at an operation transition. ✔...
  • Page 316 8. Maintenance Alarm Code EA (Memory Error 3) ■  Abnormality of FLASH memory in servo amplifier. Cause Status at the time of alarm Issued during display key operation or ✔ setup software operation.  Corrective actions Cause Investigation and corrective actions ■...
  • Page 317 8.3 Trouble shooting when alarm activated Alarm Code F1 (Task Process Error) ■  Error in interruption process of CPU Cause Status at the time of alarm Issued during operation. ✔  Corrective actions Cause Investigation and corrective actions ■ Defect in internal circuit of servo ■...
  • Page 318 8. Maintenance Below shows alarm description for RS3D80#. Alarm code 21 (Main Circuit Power Device Error) ■  Over current of drive module Abnormality in drive power supply   Overheating of drive module Cause Status at the time of alarm Issued when control power is turned ON.
  • Page 319 8.3 Trouble shooting when alarm activated - Dedicated to RS3D80# - Alarm code 22 (Current Detection Error 0) ■ Abnormality of electric current detection value  Cause Status at the time of alarm Issued at input of servo ON. ✔ ✔...
  • Page 320 8. Maintenance - Dedicated to RS3D80# - Alarm code 26 (Safe Torque Off error 2) ■  Failure of safe torque off circuit Cause Status at the time of alarm Occurred when control power is turned on. ✔ ✔ Occurred during the operation. ✔...
  • Page 321 8.3 Trouble shooting when alarm activated - Dedicated to RS3D80# - Alarm code 41 (Overload 1) ■ Excessive effective torque  Cause Status at the time of alarm Issued at input of servo ON. ✔ ✔ ✔ After command input, issued without rotating the ✔...
  • Page 322 8. Maintenance - Dedicated to RS3D80# - Alarm code 43 (Regenerative Overload) ■  Regeneration load ratio exorbitance Cause Status at the time of alarm Issued when control power supply is turned ON. ✔ Issued when main circuit power supply is turned ON. ✔...
  • Page 323 8.3 Trouble shooting when alarm activated - Dedicated to RS3D80# - Alarm code 45 (Average continuous over speed) ■ Over speed in average rotational speed  Cause Status at the time of alarm Occurred during operation. ✔  Corrective actions Cause Investigation and corrective actions The average speed exceeds the...
  • Page 324 8. Maintenance - Dedicated to RS3D80# - Alarm Code 54 (Built-in Regenerative Resistor Overheat) ■ * This amplifier unit doesn't detect AL-54. Alarm Code 55 (External Error) ■  Overheating detection of External regenerative resistor When host device or thermal output signal of external regenerative resistor are not connected Cause Status at the time of alarm Issued when control power is turned ON.
  • Page 325 8.3 Trouble shooting when alarm activated - Dedicated to RS3D80# - Alarm Code 56 (Servo Amplifier Temperature Error) ■ Overheat of internal power module of power unit or amplifier unit  Cause Status at the time of alarm Issued when control power is turned ON. ✔...
  • Page 326 8. Maintenance - Dedicated to RS3D80# - Alarm Code 62 (Main Circuit Under-voltage) ■ DC Main circuit low voltage  Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ Issued when main circuit power supply is ✔...
  • Page 327 8.3 Trouble shooting when alarm activated - Dedicated to RS3D80# - ■ Alarm Code 68 (Main circuit voltage detection error)  Failure of VBUS detection circuit Cause Status at the time of alarm ✔ Issued when control power is turned ON. ...
  • Page 328 8. Maintenance - Dedicated to RS3D80# - Alarm Code 73 (Control Circuit voltage reduction 2) ■ Under voltage of +5V  Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔  Corrective actions Cause Investigation and corrective actions Defect in internal circuit of power unit...
  • Page 329 8.3 Trouble shooting when alarm activated 8.3.3 Correspondence table for EnDat Error message and alarm code EnDat Error message RS3 Servo Amplifier Alarm Code Priority External Linear Light Source Signal amplitude Position Overvoltage Undervoltage Overcurrent Battery Currently not allocated Extension planned "Error message"...
  • Page 330 8. Maintenance 8.4 Encoder clear and alarm reset Procedure of "encoder clear and alarm reset method" varies depending on motor encoder you use. See table below and return to normal operation from alarm state. Please operate "alarm reset" after solving alarm cause. Alarm reset method Resolver Type Single-turn Absolute...
  • Page 331 8.5 Inspection 8.5 Inspection For maintenance purposes, a daily inspection is typically sufficient. Upon inspection, refer to the following description. Conditions Inspection Items Methods Solution if abnormal During While target Time operation stopping Check for excessive Daily Vibration ✔ vibration than usual.
  • Page 332 8. Maintenance 8.6 Service parts 8.6.1 The parts requiring Inspection Some parts have aging degradation. Please request us an overhaul by referring to the periods below for preventive maintenance. Number of average Part name replacement Corrective measures / usage conditions periods Replacement with new part is necessary.
  • Page 333 8.6 Service parts Cooling Fan motor ■  The servo amplifier is designed corresponding to the pollution degree specified in EN61800-5-1 or IEC 664-1. It is not for dust proof or oil proof, so use it in an environment at Pollution Level 2 or less (i.e., Pollution Level 1, 2). ...
  • Page 334 8. Maintenance 8.6.2 Replacing battery for motor encoder Battery box attached to the servo amplifier ■ Process Description Turn ON the servo amplifier control power supply. Prepare the replacement lithium battery. [Our model number: AL-00879511-01] Detach the battery connector from servo amplifier. Detach the battery box from servo amplifier.
  • Page 335 8.6 Service parts Battery unit attached to junction cable for motor encoder ■ Process Description Turn ON the servo amplifier control power supply. Prepare the replacement lithium battery. [Our model number: AL-00697958-01] Open the battery unit. Detach the battery connector from the battery case. Take out the old lithium battery and insert prepared new one to the battery case.
  • Page 336 No Text on This Page.
  • Page 337 Dedicated function In this chapter, the things concerning dedicated function are explained. 9.1 Full-closed system ....................9-1 9.1.1 Illustration of system components ................9-1 9.1.2 Internal block diagram ................... 9-2 9.1.3 Combination encoder ..................... 9-3 9.1.4 Wiring ........................9-4 9.1.4.1 Signal names and its pin numbers for external encoder (EN2) ......9-4 9.1.4.2 EN2 pin assignment ....................

  • Page 338: Full-Closed System

    9. Dedicated function 9.1 Full-closed system 9.1.1 Illustration of system components RS3□01/02/03/05 ■ T S R Wiring breaker (MCCB) Used to protect power line. SANMOTION R 3E Model Turns off the power supply when overload runs. With EtherCAT Interface Enables parameter setup and monitoring through Noise filter communication with a PC.

  • Page 339: Internal Block Diagram

    9.1.2 Internal block diagram 9.1.2 Internal block diagram Feed Forward Control Servo motor Valid in position ＋ control Position ＋ Position Position command ＋ control Velocity control Torque control Machine input process controller counter ＋ ＋ ＋ ＋ － ＋ ＋...

  • Page 340: Combination Encoder

    9. Dedicated function 9.1.3 Combination encoder Apply to the product below as external combination encoder. Incremental encoder ■ Series Power Minimum Manufacturer Output signal name supply resolution Renishaw K.K. RGH22 0.1 to 5μm RS422 compliant, LIDA400 0.05 to 1μm degree phase 5V±5% HEIDENHAIN K.K.

  • Page 341: Wiring

    9.1.4 Wiring 9.1.4 Wiring Connect external encoder to EN2 when using as full-closed system. See "4.3 Wiring for motor encoder" for motor encoder wiring (EN1 connector). 9.1.4.1 Signal names and its pin numbers for external encoder (EN2) Incremental encoder ■ Signal Remarks Description...
  • Page 342 9. Dedicated function 9.1.4.2 EN2 pin assignment EN2: 54593-1016 (soldered side) ■ Connector model number (Molex Japan LLC) ■ Applicable cable Model Number Applicable wire size diameter Plug 54593-1016 AWG30 to AWG18 － connector Plug cable/ 54599-1016 φ 7 to φ 9 －...

  • Page 343: Basic Setting Of Full-Closed System

    9.1.5 Basic setting of full-closed system 9.1.5 Basic setting of full-closed system Explains basic setting of the system for full-closed system operation. 9.1.5.1 Specification confirmation Confirm specifications of servo amplifier through the setup software. [Step 1: How to confirm specifications of servo amplifier] Confirm that your servo amplifier is fit to full-closed system or not by the information below.

  • Page 344: System Parameter Setting

    9. Dedicated function 9.1.5.2 System parameter setting Set the parameters as follows for use of full-closed control. Control cycle ■ Select the control cycle of velocity control/torque control. In use of full-closed control, "00: Standard_Sampling" shall be selected. Index Sub-Idx Selection Description 0x20FD...

  • Page 345: Full-Closed Encoder Selection

    9.1.5 Basic setting of full-closed system 9.1.5.3 Full-closed encoder selection External encoder type code ■ Selects the external encoder type connected to EN2. Select depending on encoder type as below: Index Sub-Idx Selection Selection 0x0000 Pulse Wire-saving incremental encoder 0x0002 Pulse_without_CS Incremental encoder 0x20FF...

  • Page 346: Feedback Pulse Setting

    9. Dedicated function 9.1.5.4 Feedback pulse setting External encoder resolution ■ Index Sub-Idx Setting range Unit 0x20FF 0x03 500 to 8,388,608 (multiplied 1) Incremental encoder Sets pulse amount (multiply 1) of external encoder per 1 turn of motor axis. Be valid after control power cycle. ...
  • Page 347 9.1.5 Basic setting of full-closed system Absolute encoder Sets pulse amount (multiply 1) of external encoder per 1 turn of motor axis. Be valid after control power cycle.  Setting sample [Use condition] ・ Move distance of work per 1 turn of motor axis: 10mm ・...
  • Page 348 9. Dedicated function External Pulse Encoder Digital Filter ■ Sets the digital filter for external pulse encoder. Even if noise is given to external incremental encoder, eliminate pulses below set value, as noise. Considering encoder resolution and maximum operation speed of servo motor, and set a quarter of maximum speed pulse width as a rough indication.

  • Page 349: Rotation Direction Setting For Servo Motor

    9.1.5 Basic setting of full-closed system 9.1.5.5 Rotation direction setting for servo motor At full-closed control, servo motor rotation direction is decided by command polarity and external incremental encoder polarity. Position, Velocity, Torque Command Input Polarity ■ Selects command polarity of position command. Rotation direction of servo motor is able to invert without changing command wiring.

  • Page 350: Dual Position Feedback Compensation Setting

    9. Dedicated function 9.1.5.6 Dual position feedback compensation setting Dual position feedback compensation performs full-closed control using along with external encoder feedback and motor encoder feedback, by setting dual position feedback filter. From above, it can use full-closed control at motor stop or constant rotation, and use semi-closed control at accel/decel, so accuracy of full-closed control and response of semi-closed control are able to go together.

  • Page 351: Alarm Detection Setting

    9.1.5 Basic setting of full-closed system 9.1.5.7 Alarm detection setting Warning and alarm are able to output by detecting position difference between external encoder and motor encoder. It is able to avoid that continuous rotation of motor when abnormal issue is occurred like as external encoder signal does not change by something or change to opposite direction of motor encoder.

  • Page 352: External Encoder Signal Output Waiting Function Setting

    9. Dedicated function 9.1.5.8 External encoder signal output waiting function setting If there is delay from supplying power to outputting encoder signal depending on external encoder specification, this function is able to delay boot time of servo amplifier along with encoder signal start time.

  • Page 353: Precautions

    9.1.6 Precautions 9.1.6 Precautions 9.1.6.1 Power supply for external encoder Please prepare power supply for external encoder by yourself. ■ Power supply to external encoder shall be start at before or same timing of servo amplifier control power. 9.1.6.2 External encoder operation Please check that external encoder has no problem before servo ON (exciting servomotor).

  • Page 354: Tandem Operation

    9. Dedicated function 9.2 Tandem operation This is the function that operates 2 axes with checking position error each other and compensating difference, through local communication function built in the servo amplifier. 9.2.1 Illustration of system components T S R Wiring breaker (MCCB) Enables parameter setup Used to protect power line.
  • Page 355 9.2 Tandem-operation Precaution for system construction ■ Construct system as balance of machine system (load inertia moment, friction, load torque) will be same in 2 axes. When that balance differs in 2 axes, overload alarm might occur only in 1 axis. At the tandem operation, please use servo motors and amplifiers with a same model number, in 2 axes.
  • Page 356 9. Dedicated function 9.2.2 Internal block diagram Feed Forward control Axis 1 Servo motor ＋ Position command input process Position, velocity controller Torque control ＋ ＋ Velocity command input process Torque command input process for Absolute encoder [Axes sync compensation] 4-multiplier [Axes sync controller] Motor encoder...

  • Page 357: Wiring

    9.2.4 Setting for the tandem operation function 9.2.3 Wiring For use of the tandem operation, connect CN2 each other. axis side axis side CN2 connector CN2 connector Terminal Signal Terminal Signal number name number name RXD+ TXD+ RXD- TXD- TXD+ RXD+ TXD- RXD-...
  • Page 358 9. Dedicated function Polarity selection of axes-sync compensation input ■ Fit a polarity of position deviation each other. Set "01: Reversed" to one axis if rotation directions of combination axes are different. Index Sub-Idx Setting range Default Contents 00:Not_reversed Without reversing 0x2035 0x06 00: Not_reversed...

  • Page 359: How To Use

    9.2.5 How to use 9.2.5 How to use Tandem operation has the mutual compensating method and the Master-Slave method. ■  Mutual compensating method: This is the method that 2 axes are checking position error each other and compensating difference, through local communication function built in the servo amplifier.

  • Page 360: Error Detection

    9. Dedicated function 9.2.6 Error detection Warnings or alarms are able to output by detecting position deviation error of own axis and counterpart axis. Avoids continuance of servo motor rotation if motions between 2 axes have gap by something cause. Axes-sync error warning level ■...

  • Page 361: Torque Assisting Function

    9.2.7 Torque assisting function 9.2.7 Torque assisting function Torque assisting function is the function controlling master axis with position or velocity control and sending torque command to slave axis to perform torque assisting. Set parameters below to use torque assisting function. Amplifier communication function selection ■...
  • Page 362 9. Dedicated function How to use Torque assisting function works with Master-Slave method. ■  Master-Slave method: Just one axis (slave side) receives torque command from other axis (master side), and performs torque control due to received command.  For master axis, selects invalid to Index 0x2000 bit 15 [PSCE]. For slave axis, selects valid to PSCE, Index 0x2000 bit 15.

  • Page 363: Velocity Assisting Function

    9.2.8 Velocity assisting function Assisting function selection ■ Selects a velocity assisting function. Index Sub-Idx Selection Standard set value Description 02: Velocity assisting 00: Position Velocity assisting 0x2035 0x0C function assisting function function Assisting rate ■ With set value 100 % to velocity assisting function, 1-multiplied velocity command is added.

  • Page 364: Precaution

    9. Dedicated function 9.2.9 Precaution  At the tandem operation, different load inertia moment ratios cannot use in 2 axes. (Please set same load inertia moment ratio in 2 axes if using the value estimated by the load inertia moment ratio estimation.) ...
  • Page 365 Safe-Torque-Off (STO) function In this chapter, details of Safe-Torque-Off (STO) function are explained. 10.1 Illustration of system configuration ..............10-1 10.2 Safe-Torque-Off function ..................10-2 10.2.1 Outline ............................10-2 10.2.2 Standards conformity ........................10-3 10.2.3 Risk assessment .......................... 10-3 10.2.4 Residual risk ..........................10-3 10.2.5 Delay circuit ..........................

  • Page 366: Illustration Of System Configuration

    10. Safe Torque Off function 10.1 Illustration of system configuration T S R SANMOTION R 3E Model [Molded Case Circuit Breaker (MCCB)] EtherCAT With Interface Used to protect power line. Enables parameter setting Turns off the power supply monitoring through when overcurrent runs.

  • Page 367: Outline

    10.2 Safe Torque Off function 10.2 Safe-Torque-Off function Safe-torque-off function reduces injury risks and ensures the safety for those who work near moving parts of equipment. This function employs 2-channel input signal to block current to servo motor. Previously we ensure machine safety by blocking current to servo amplifier with use of electromagnetic contactor.

  • Page 368: Standards Conformity

    10. Safe Torque Off function 10.2.2 Standards conformity This function meets the following safety functions, safety standards, and safety parameters. Item Standard Safety IEC61800-5-2, safe-torque-off (STO) / EN61800-5-2 ■ functions IEC61508(2 ), SIL3, HFT=1, type B / EN61508 ■ IEC62061, SILCL3, HFT=1, type B / EN62061 ■...

  • Page 369: Delay Circuit

    10.2 Safe Torque Off function 10.2.5 Delay circuit We offer two paths, with or without delay circuit between safety input 1(HGWOFF1)/safety input 2 (HWGOFF2) input circuit and servo motor current control signal blocking circuit. When using in vertical axis, please use path with delay circuit to prevent motor shaft falling due to holding brake operation delay during safe torque off function operation.

  • Page 370: Wiring

    10. Safe Torque Off function 10.3 Wiring 10.3.1 CN4 connector layout CN4 2013595-3 (soldered side) ■ 10.3.2 Connection diagram of CN4-terminals Functions and connection circuit of each CN4-teminal are as shown below. Terminal Signal Code Description These are connecting terminals when the function is not used. Do not use these terminals.

  • Page 371: Example Of Wiring

    10.3 Wiring Terminal Signal Code Description This is a signal to monitor safe-torque-off functions faults. Connection circuit: Connects to photo coupler or relay circuit. Power supply voltage range (Uext): 24 VDC±10% EDM- Maximum current value: 50mA Output voltage: Uext-0.5 -Uext Error Servo amplifier Host equipment...
  • Page 372 10. Safe Torque Off function Example of wiring to safety unit (multiple-servo amplifier connected) Servo amplifier Safety unit HWGOFF1+ 4 HWGOFF1- Output HWGOFF2+ HWGOFF2- EDM+ EDM- Feedback input Servo amplifier HWGOFF1+ 4 HWGOFF1- HWGOFF2+ HWGOFF2- EDM+ EDM- Servo amplifier HWGOFF1+ 4 HWGOFF1- HWGOFF2+ HWGOFF2-...

  • Page 373: Safety Input-Off Shot Pulse For Safety Device Self-Diagnosis

    10.3 Wiring 10.3.4 Safety input-off shot pulse for safety device self-diagnosis When you connect safety device supplied with safety input-off shot pulse signal for self-diagnosis added to safety output signal, such as safety unit or safety sensor, use safety device whose safety input-off shot pulse signal is 1ms or less. Safe-torque-off function is not activated when the period of safety input signal (HWGOFF1, HWGOFF2)-OFF is 1ms or less.

  • Page 374: Safe-Torque-Off Operation

    10. Safe Torque Off function 10.4 Safe-Torque-Off operation 10.4.1 Safe-torque-off state When safety input 1(HWGOFF1) or safety input 2 (HWGOFF2) signal is off (as shown the table below), the state becomes safe-torque-off state. In this state, servo-ready signal is turned off, and servo-on signal reception is prohibited. Signal Input condition Servo amplifier condition...

  • Page 375: Restoration From Safe-Torque-Off State

    10.4 Safe-Torque-Off operation 10.4.2 Restoration from safe-torque-off state In the state servo-on signal is not input as described in 10.4.1, turning on safety input 1 or 2 activates SRDY state. Operation is restarted on inputting servo-on signal. (For delay circuit equipped hardware, it takes maximum 700ms to become SRDY state.) Safety input 1 Safety input 2...

  • Page 376: Safe-Torque-Off During Servo Motor Running

    10. Safe Torque Off function 10.4.3 Safe-Torque-Off during servo motor running Stoppage behavior varies depending on the quick stop option code (Index 0x605A-0 [QSTOP]).  Motor stops with servo brake when safety input 1 or 2 is turned off. Safety input 1 Safety input 2 Stoppage Servo motor current...
  • Page 377 10.4 Safe-Torque-Off operation In case that set value of the quick stop option code (Index 0x605A-0 [QSTOP]) is 0. ■ When safety input 1 or 2 is turned off, this setting blocks servo motor current, and then stops servo motor with dynamic brake after. ...

  • Page 378: Safe-Torque-Off During Servo Motor Stoppage

    10. Safe Torque Off function 10.4.4 Safe-Torque-Off during servo motor stoppage You can ensure the time to activate holding brake because of maximum 700ms of delay time by the time safe-torque-off function activated after safety input 1 or 2 is input. Safety input 1 Safety input 2 Max.700ms...

  • Page 379: Deviation Clear

    10.4 Safe-Torque-Off operation 10.4.5 Deviation clear When selecting 02:Type3 or 03:Type4 (not to clear deviations at servo-off state) on the Index 0x20F0-5 "Deviation Clear Selection [CLR]", please pay careful attention to the followings. When safe-torque-off function activated under the condition that position command is input at the time of position control, position deviation accumulates and this causes alarm (excess position deviation: alarm D1) activated.

  • Page 380: Error Detection Monitor (Edm)

    10. Safe Torque Off function 10.5 Error Detection Monitor (EDM) 10.5.1 Specifications Error detection monitor (EDM) output is a signal to monitor wiring errors in safe-torque-off circuit or between safety equipment and safety input. The following table shows connections between safety input (HWGOFF1 and HWGOFF2) and error detection monitor (EDM) output.

  • Page 381: Error Detection Method

    10.5 Error Detection Monitor (EDM) 10.5.3 Error detection method EDM output will not on and EDM-signal remains off even if emergency stop button is pressed, in the case of an error such as either of safety input remains on inside of servo amplifier. In line with this, errors like this can be detected by developing system with use of safety unit enabling to detect any failures in the connections in the above table.

  • Page 382: Verification Test

    10. Safe Torque Off function 10.6 Verification test For use of the Safe Torque Off function, you must confirm that the safe torque off operations correctly during machine startup, servo amplifier replacement and test operation. Even if it is not fit to the case above, strongly recommended that confirmation of function operation at least once every three months.

  • Page 383: Safety Precautions

    10.7 Safety precautions 10.7 Safety precautions Please thoroughly observe the following safety precautions to use safe-torque-off functions. Incorrect use of the functions can lead to personal injury or death. * Safety system with safe-torque-off function shall be designed by the person with expertise of related safety standards and through understanding of the descriptions specified in this manual.
  • Page 384 No Text on This Page.
  • Page 385 Selection In this chapter, each kind of selections are explained. 11.1 Servo motor sizing ....................11-1 11.1.1 Flowchart of servo motor sizing ..................... 11-1 11.1.2 Make an operation pattern ......................11-2 11.1.3 Calculate motor shaft conversion load moment of inertia (J ) ............

  • Page 386: Servo Motor Sizing

    11．Selection 11.1 Servo motor sizing It is estimated that selection of servo motor capacity computes required servo motor capacity from machine specification (composition). In addition, since the capacity selection of a servo motor can download "the capacity selection software of a servo motor" for free from our company "website", please use it here.

  • Page 387: Make An Operation Pattern

    11.1 Servo motor sizing 11.1.2 Make an operation pattern Velocity [min Time [s] ta=Acceleration time tb=Deceleration time tr=Constant velocity time ts=Stop time t=1cycle 11.1.3 Calculate motor shaft conversion load moment of inertia (J The inertia moment of a moving part. ■...

  • Page 388: Calculate Motor Shaft Conversion Load Torque (T )

    11．Selection 11.1.4 Calculate motor shaft conversion load torque (T Ball screw (in horizontal axis) ■ (F + μ W) × × × [N・m] η 2π Ball screw (in vertical axis) ■ When motor drives upward (F + (μ +1)W) × ×...
  • Page 389 11.1 Servo motor sizing Belt pulley (in vertical axis) ■ (F+μ W) × × × [N・m] [N・m] η η Belt pulley (in vertical axis) ■ Belt pulley (in vertical axis) (F+(μ +1)W) × × × [N・m] η When motor drives downward (F+(μ...

  • Page 390: Calculate Acceleration Torque (T )

    11．Selection 11.1.5 Calculate acceleration torque (T 2π (N ) × (J [N・m] 60 × ta : Servo motor rotation velocity after acceleration [min Servo motor rotation velocity before acceleration [min : Load inertia moment [kg･m : Rotor inertia moment of servo motor [kg･m 11.1.6 Calculate deceleration torque (T 2π...

  • Page 391: Linear Motor Sizing

    11.2 Linear motor sizing 11.2 Linear motor sizing It is estimated that selection of linear motor capacity computes required linear motor capacity from machine specification (composition). Here, the fundamental formula is described. 11.2.1 Flowchart of linear motor sizing (1) Tentatively select motor size Start Tentatively select coil whose maximum force satisfies the necessary force for use.

  • Page 392: Maximum Necessary Force And Necessary Effective Force

    11. Selection 11.2.2 Maximum necessary force and necessary effective force Calculate frictional force: Ff ■ Ff= ( M･g･cos + Fatt)･ + Fadd : Mover mass [kg] : Load mass [kg] : Moving part mass = Mc + ML [kg] : Gravity acceleration= 9.8 [m/s cos...

  • Page 393: Select Magnet Rail

    11.2 Linear motor sizing Confirm that "motor continuous rated force: Fr > effective force: Frms". ■ ･t1 + F2 ･t2 + F3 ･t3 + ･･･) Frms ＝ ｔ * Having a margin of “0.9･Fr ≧ Frms” or more is recommended in consideration of load fluctuation.

  • Page 394: Cautions On Load Conditions

    11. Selection 11.2.4 Cautions on load conditions Negative load ■ Servo amplifier cannot operate with negative load such that motor is continuously driven by load for more than several seconds. [e.g.] ・Downward driving force of motor (No counterweight) Please contact us to apply this system to negative load. Load mass (ML) ■...

  • Page 395: Selection Of Regenerative Resistor

    11.3 Selection of regenerative resistor 11.3 Selection of regenerative resistor Calculate "regeneration effective power (PM)," and determine the capacity of the regeneration resistance to be used. Judge whether usage of an internal regenerative register machine is possible by this calculation result. 11.3.1 How to find "regeneration effective power (PM)"...

  • Page 396: How To Find "Regeneration Effective Power (Pm)" Of The Vertical Axis Drive By A Formula

    11. Selection 11.3.2 How to find "regeneration effective power (PM)" of the vertical axis drive by a formula Calculate regeneration energy. ■ EM = EVUb + EVD + EVDb × tUb - × N × 3・Keφ × × 3・Rφ × tUb ×...

  • Page 397: Selection Of Regenerative Resistor

    11.3 Selection of regenerative resistor 11.3.3 Selection of regenerative resistor Judge whether an internal regenerative resistor can be used from the calculation result. Moreover, when you cannot use it, determine the capacity of an external regeneration resistor. Allowable power of an internal regenerative resistor ■...
  • Page 398 11. Selection Allowable power of an external regenerative resistor ■ When regeneration effective power "PM" becomes more than the allowable power of the amplifier internal regenerative resistor, the optional external regenerative resistor which is shown at "11.2.4" can be connected and operated. Allowable regenerative power and minimum resistance value of regenerative resistor are shown in below table.

  • Page 399: Selection Of External Regenerative Resistor

    11.3 Selection of regenerative resistor 11.3.4 Selection of external regenerative resistor With the regeneration effective power "PM" found from calculation, choose the external regeneration resistor to be used from the following table. Servo amplifier [PM] 20W or 55W or 60W or 110W or 125W or model number...
  • Page 400 11. Selection  400 VAC input Servo amplifier 125W or [PM] model number less Resistor Sign A’×1 RS3C02A##A# Connection Number Servo amplifier 125W or 250W or [PM] model number less less Resistor Sign B’×1 A’×2 RS3C05A##A# Connection Number Servo amplifier 125W or 250W or 500W or...

  • Page 401: Specification Of External Regenerative Resistor

    11.3 Selection of regenerative resistor 11.3.5 Specification of external regenerative resistor The resistor model name corresponds with the sign of the external regeneration resistor selected for the preceding clause.  200 VAC input Thermostat Permissi Allowable Rated Resista Detection instantan Resistor Resistor Model power...

  • Page 402: Connection Of Regenerative Resistor

    11. Selection 11.3.6 Connection of regenerative resistor The connection method of a resistor corresponds with the connection number of the external regeneration resistor selected by the 4) clause. Connection of regenerative resistor ■ Connection Number Ⅲ Connection Number Ⅳ One resistance is connected. Series connection about two ■...
  • Page 403 11.3 Selection of regenerative resistor Connection Number Ⅶ Connection Number Ⅷ 8 resistors connected serial/parallel. 8 resistors connected serial/parallel. ■ ■ Terminal block Terminal block Twist Twist CONT1～7(+) CONT1～7(-) Twist CONT1～7(+) TH TH CONT1～7(-) Twist Connection Number Ⅸ 16 resistors connected serial/parallel. ■...
  • Page 404 11. Selection Connection Number Ⅹ 4 resistors connected parallel. ■ R R R Terminal block Twist CONT1～7(+) TH TH TH TH CONT1～7(-) Twist Connection Number ＸＩ 8 resistors connected serial/parallel. ■ R R R Terminal block R R R Twist CONT1～7(+) TH TH TH TH CONT1～7(-)

  • Page 405: Thermostat Connection Of External Regenerative Resistor

    11.3 Selection of regenerative resistor 11.3.7 Thermostat connection of external regenerative resistor Connect a thermostat to either of "the general-purpose inputs CONT1-CONT8". Depending on the connected general-purpose input signal terminal, please set the Index 0x20F8-3 "External Trip Input Function [EXT-E]". Example: when connecting the thermostat to CONT6 ■...

  • Page 406: Confirmation Method Of Regeneration Power Pm In Actual Operation

    11. Selection 11.3.9 Confirmation method of regeneration power PM in actual operation Regeneration power PM can be easily confirmed in the digital operator or by R ADVANCED MODEL setup software. Digital operator: Monitor mode ID40 "Regenerative Resistor Operation Percentage monitor" ■...

  • Page 407: Precautions For External Regenerative Resistor Use

    11.3 Selection of regenerative resistor 11.3.10 Precautions for external regenerative resistor use The place where corrosive gas has occurred, and when there is much dust, insulated ■ degradation, corrosion, etc. may arise. Therefore be careful of an attachment place. External regeneration resistor should be placed by keeping enough distance from the other ■...
  • Page 408 No Text on This Page.
  • Page 409 Appendix In this chapter, servo amplifier outline drawing and option parts are explained. 12.1 Standards Conformity ..................12-1 12.1.1 Standards Conformity ........................12-1 12.1.2 Over-voltage Category，Protection Grade，Pollution Level ............12-2 12.1.3 Connection and installation ......................12-2 12.1.4 UL File Number ..........................12-2 12.2 Compliance with EN Directives .................
  • Page 410 12.8.6 Servo motor power cable ......................12-43 12.8.7 Power cable for servo motor FAN ....................12-53 12.8.8 External regenerative resistor ....................12-54 12.8.9 Thermostat cable for servo motor FAN ..................12-54 12.8.10 Servo motor FAN power cable ....................12-55 12.8.11 External regenerative resistor ....................12-56 12.8.12 Connection cable between units ....................

  • Page 411: Standards Conformity

    12.1 Standards Conformity 12.1 Standards Conformity In our company, compatibility examinations of overseas standards are carried out in certificate authorities, and attestation markings are done based on the published certificate of attestation. 12.1.1 Standards Conformity Servo amplifier/power unit/amplifier unit implement the standards examinations below. ■...

  • Page 412: Over-Voltage Category，Protection Grade，Pollution Level

    12. Appendix The servo motor implements the attestation examination to the following standards. ■ Standards Standards code Certificate authorities UL1004-1 UL standards UL1004-5 (Underwriters Laboratories inc.) EN60034-1 TÜV EN Directive EN60034-5 (TÜV SÜD Japan, Ltd.) For products conforming to conformity standards, some specifications may differ from the standard product due to prerequisites necessary for obtaining approval.
  • Page 413 12.2 Compliance with EN Directives 12.2 Compliance with EN Directives We implement the conformity verification test of "Low Voltage Directive" and "an EMC command" in a certificate authority so that a user's CE Marking acquisition can be performed easily, and servo amplifier CE Marking is done based on the published certificate of attestation.

  • Page 414: Emc Installation Requirements

    12. Appendix 12.2.2 EMC Installation Requirements For the installation requirements, in our company the verification test is implemented by the following installations and measures methods, as machines and configurations differ depending on customers’ needs. This servo amplifier has been authorized to display CE marking based on the recognition certificate issued by a certifying authority.
  • Page 415 12.2 Compliance with EN Directives 200V Input (600A) ■ 3 phase 200 VAC Name Remarks Control panel Power unit Amplifier unit Servo motor Noise filter 3SUPF-CH150M-F: OKAYA ELECTRIC INDUSTRIES CO., LTD. (Recommended Rated voltage/rated current：Line-Line 500V AC / 150A prevention components) Surge-absorber (Recommended LV275DI-U4: OKAYA ELECTRIC INDUSTRIES CO.,LTD.
  • Page 416 12. Appendix 400V Input ■ Single-turn Double-turn 3 phase, 400 VAC Name Remarks Control panel Servo amplifier Servo motor Host device RS3C02: HF3010C-SZA: SOSHIN ELECTRIC Co. Ltd. Rated voltage/rated current: Line-Line 500V AC / 10A RS3C05: HF3020C-SZA: SOSHIN ELECTRIC Co. Ltd. Noise filter Rated voltage/rated current: Line-Line 500V AC / 20A (Recommended...
  • Page 417 12.2 Compliance with EN Directives 400V Input (800A) ■ ⅵ 1 turn ⅵ 3-phase/single-phase 400 VAC 1 turn Name Remarks Control panel － Power unit － Amplifier unit － Servo motor － Upper device － Noise filter HF3200C-SZB-4DEDE: SOSHIN ELECTRIC Co. Ltd. (Recommended Rated voltage/rated current: Line-Line 500V AC / 200A prevention components)

  • Page 418: Precautions For Noise Filter Connection

    12. Appendix 12.2.3 Precautions for noise filter connection Precautions for noise filter mounting and wiring See below precautions for mounting and wiring when noise filter is used. Do not bundle with input line and output line of noise filter. (Earth line also.) ■...

  • Page 419: Servo Motor Dimensions

    12.3 Servo motor dimensions 12.3 Servo motor dimensions Refer another document [M0011792]. 12-9...

  • Page 420: Servo Motor Data Sheet

    12. Appendix 12.4 Servo motor data sheet Refer another document [M0011792]. 12-10...
  • Page 421 12.5 Servo amplifier dimensions 12.5 Servo amplifier dimensions 12.5.1 RS3□01A□HL□ 12.5.2 RS3□02A□HL□ 12-11...

  • Page 422: Rs3□03A□Hl

    12. Appendix 12.5.3 RS3□03A□HL□ 12.5.4 RS3A05A□HL□ 12-12...

  • Page 423: Rs3A07A□Hl

    12.5 Servo amplifier dimensions 12.5.5 RS3A07A□HL□ 12.5.6 RS3A10A□HA□ 12-13...

  • Page 424: Rs3A15A□Ha

    12. Appendix 12.5.7 RS3A15A□HA□ 12.5.8 RS3A30A□HL□ 12-14...

  • Page 425: Power Unit ：Rs3Paa270

    12.5 Servo amplifier dimensions 12.5.9 Power unit ：RS3PAA270 12.5.10 Amplifier unit ：RS3W60 12-15...

  • Page 426: Unit Installation Drawing (600 A)

    12. Appendix 12.5.11 Unit installation drawing (600 A) RS3PAA270 RS3W60 Power unit Amplifier unit 12-16...
  • Page 427 12.5 Servo amplifier dimensions 12.5.12 Unit installation drawing (800 A) RS3PAC550 RS3D80A Power unit Amplifier unit 12-17...

  • Page 428: Rs3C02A□Ha

    12. Appendix 12.5.13 RS3C02A□HA□ 12.5.14 RS3C05A□HA□ 12-18...

  • Page 429: Rs3C10A□Ha

    12.5 Servo amplifier dimensions 12.5.15 RS3C10A□HA□ 12.5.16 RS3C15A□HL□ 12-19...

  • Page 430: Rs3C30A□Hm

    12. Appendix 12.5.17 RS3C30A□HM□ 12-20...

  • Page 431: Power Unit Dimensions

    12.6 Power unit dimensions 12.6 Power unit dimensions 12.6.1 RS3D80A□HM□ Mounting panel dimensions (Reference) Heat radiation fin Mounting direction Cooling fan Air flow Detail of A 12-21...

  • Page 432: Amplifier Unit Dimensions

    12. Appendix 12.7 Amplifier unit dimensions 12.7.1 RS3D80A□□M□ Mounting panel dimensions (Reference) Cooling fan Air flow Detail of B Detail of A 12-22...
  • Page 433 12.8 Optional parts 12.8 Optional parts SANYO DENKI offers the following optional parts. 12.8.1 Connectors of servo amplifier Model numbers of single connectors for RS3□01，RS3□02，RS3□03 and RS3A05 ■ Connector SANYO DENKI Manufacturer’s Item Manufacturer model No. model No. Not provided by our company.
  • Page 434 12. Appendix RS3□01，RS3□02，RS3□03，RS3A05 (For input power supply, IN, OUT and regenerative resistance (for upper controller connection) connection) CN2 (for general I/O signal) (For safety device connection) (For servo motor connection) Use only with Safe Torque Off equipped model. (For motor encoder connection) (For motor encoder or external encoder connection) Used for a part of semi-closed...
  • Page 435 12.8 Optional parts Model numbers of single connector for RS3□07 ■ Connector SANYO DENKI Manufacturer’s Item Manufacturer model No. model No. Not provided by our company. Ethermet IN, OUT Please use shielded type modular plug (RJ-45) corresponding to For host unt connection the CAT5e standard.
  • Page 436 12. Appendix RS3A07 (For control power supply connection) (For main circuit power supply, IN, OUT and regenerative resistance (for upper controller connection) connection) CN2 (for general I/O signal) (For safety device connection) Use only with Safe Torque Off equipped model. (For servo motor connection) (For motor encoder connection) (For motor encoder or external...
  • Page 437 12.8 Optional parts Model numbers of single connectors for RS3A10, RS3A15, and RS3A30 ■ Connector SANYO DENKI Manufacturer’s Item Manufacturer model No. model No. Ethermet Not provided by our company. IN, OUT For host unt Please use shielded type modular plug (RJ-45) corresponding connection to the CAT5e standard.
  • Page 438 12. Appendix RS3A10，RS3A15 (For control power supply input) IN, OUT (for upper controller connection) CN2 (for general I/O signal) (For safety device connection) Use only with Safe-Torque-Off equipped model. (For motor encoder connection) Terminal block (For main circuit power, regenerative resistance (For motor encoder or external and servo motor connection) encoder connection)
  • Page 439 12.8 Optional parts Model numbers of single connectors for RS3W60 ■ Connector SANYO DENKI Manufacturer’s Item Manufacturer Model No. model No. Ethermet Not provided by our company. IN, OUT For host unt Please use shielded type modular plug (RJ-45) corresponding to the connection CAT5e standard.
  • Page 440 12. Appendix Power unit: RS3PAA270 For amplifier unit connection (CN9) For control power input (CNA) Amplifier unit: RS3W60 IN, OUT (for upper controller connection) For control power input (CNA) CN2 (for general I/O signal) For dynamic brake (For safety device connection) signal (CNB) Use only with Safe-Torque-Off equipped model.

  • Page 441: Optional Parts

    12.8 Optional parts Model numbers of single connectors for RS3C02, RS3C05 and RS3C10 ■ Connector SANYO DENKI Manufacturer’s Item Manufacturer model No. model No. Not provided by our company. Ethermet IN, OUT Please use shielded type modular plug (RJ-45) corresponding to the For host unt connection CAT5e standard.
  • Page 442 12. Appendix RS3C02/05/10 (For the MOTOR setup) (For main circuit power supply) IN, OUT (for upper controller connection) (For regenerative resistor) CN2 (for general I/O signal) CN4 (For safety device) (For control power) For Safe-Torque-Off function equip model only For motor holding brake power) EN1 (For motor encoder) EN2 (For motor encoder or (For servo motor power)
  • Page 443 12.8 Optional parts Model numbers of single connectors for RS3C15 and RS3C30 ■ Connector SANYO DENKI Manufacturer’s Item Manufacturer model No. model No. Not provided by our company. Ethermet IN,OUT Please use shielded type modular plug (RJ-45) corresponding to the For host unt connection CAT5e standard.
  • Page 444 12. Appendix RS3C15/30 (For the MOTOR setup) IN, OUT (for upper controller connection) CN2 (for general I/O signal) CN4 (For safety device) For Safe-Torque-Off function equip model only EN1 (For motor encoder) EN2 (For motor encoder or external encoder) Use with a part of semi-closed system or a full-closed system (For battery of battery backup absolute encoder)
  • Page 445 12.8 Optional parts Our model numbers of single connectors for RS3D80 ■ SANYO DENKI Manufacturer’s Connector No. Item Manufacturer model No. model No. Ethermet Not provided by our company. IN, OUT For host unt Please use shielded type modular plug (RJ-45) corresponding to the connection CAT5e standard.
  • Page 446 12. Appendix RS3D80A8AM0 (For MOTOR setup connection) IN, OUT (For host unit connection) CN2 (For general I/O signals) CN4 (For safety device connection) Use for STO function equipping model only EN1 (For motor encoder connection) EN2 (For motor encoder or external encoder connection) Use for some semi-closed systems or full-closed system...
  • Page 447 12.8 Optional parts 12.8.2 Fixing bracket Fixing brackets for mounting servo amplifier front side are prepared. List of fixing brackets for RS3□01 to 30 ■ Bracket Servo amplifier fixing Model number Contents model number position Fixing bracket (upper/bottom): 1 ea, RS3□01,02,03 Front AL-00880390-01...
  • Page 448 12. Appendix For RS3A10, RS3A15 AL-00907039-01 Common parts (Upper / Bottom) For RS3A30 AL-00907040-01 Upper Bottom 12-38...
  • Page 449 12.8 Optional parts List of fixing brackets for RS3C02 ■ Bracket Servo amplifier fixing Model number Contents model number position Fixing bracket (upper/bottom): 1 ea, RS3C02 Front AL-00962547-01 respectively Tightening screw: 6 ea These optional fixing brackets are processed trivalent chromium plating. (Surface color: blue-silver/ different from body color.) For RS3C05/10, back side fixing brackets are able to replace to front side of amplifier.

  • Page 450: Battery Backup Absolute Encoder (Encoder Code: P) Related Items

    12. Appendix 12.8.3 Battery backup absolute encoder (encoder code: P) related items SANYO DENKI Name Details model No. Battery body for battery box Lithium battery: ER3VLY AL-00879511-01 (Lithium battery) Toshiba Lifestyle Products & Services Corporation Lithium battery: ER3VLY Battery BOX Toshiba Lifestyle Products &...

  • Page 451: Junction Cable For Servo Motor

    12.8 Optional parts 12.8.5 Junction cable for servo motor Power cable AMP INC. product, Connector: 1-480703-0 J.S.T. Mfg. Co.,Ltd product, Contact: 350536-3 N1.25-4 (100) PHOENIX CONTACT GmbH Green/Yellow Co. KG product, MSTBT2.5/3-STF-5.08 Lead wire color White Black White Black Green/ Yellow J.S.T.
  • Page 452 12. Appendix Servo motor with connectors for junction cables, 200V Rated output Motor flange size Holding brake Model number Remarks 40 mm sq. R2AA04003FXPA0 － 40 mm sq. With holding brake (24 VDC) R2AA04003FCPA0 40 mm sq. － R2AA04005FXPA0 40 mm sq. With holding brake (24 VDC) R2AA04005FCPA0 100W...

  • Page 453: Servo Motor Power Cable

    12.8 Optional parts 12.8.6 Servo motor power cable Amplifier model number: RS3□02A and RS3□03A ■ Motor/amplifier option Cable length: Applicable motor L (mm) For power, AWG#19 RS-CM4-01-R 1,000 RS-CM4-02-R 2,000 R2AA06040F RS-CM4-03-R 3,000 R2AA08075F RS-CM4-05-R 5,000 RS-CM4-10-R 10,000 Item Connector model number Remarks Connector: 1-480703-0 Motor side connector...
  • Page 454 12. Appendix Amplifier model number: RS3□05A ■ Model number Cable length: For power and brake, For power, Applicable motor L(mm) AWG#14 AWG#14・AWG#20 AL-00937698-01 AL-00937699-01 1,000 AL-00937698-02 AL-00937699-02 2,000 R2AA13120D R2AA13120L AL-00937698-03 AL-00937699-03 3,000 R2AA13180H R2AA13200L AL-00937698-05 AL-00937699-05 5,000 AL-00937698-10 AL-00937699-10 10,000 Item Connector model number...
  • Page 455 12.8 Optional parts Amplifier model number: RS3□07A ■ Model number Cable length: For power and brake, For power, Applicable motor L(mm) AWG#12 AWG#12・AWG#20 AL-00962887-01 AL-00962895-01 1,000 AL-00962887-02 AL-00962895-02 2,000 R1AA10200F AL-00962887-03 AL-00962895-03 3,000 R1AA10250F AL-00962887-05 AL-00962895-05 5,000 AL-00962887-10 AL-00962895-10 10,000 Item Connector model number Remarks...
  • Page 456 12. Appendix Amplifier model number: RS3□15A ■ Model number Cable length: For power and brake, Applicable motor For power, AWG#10 L(mm) AWG#10・AWG#20 AL-00918635-01 AL-00918636-01 1,000 AL-00918635-02 AL-00918636-02 2,000 R2AA18350D AL-00918635-03 AL-00918636-03 3,000 R2AA18450H AL-00918635-05 AL-00918636-05 5,000 AL-00918635-10 AL-00918636-10 10,000 Item Connector model number Remarks Japan Aviation...
  • Page 457 12.8 Optional parts Amplifier model number: RS3□15A (continued) ■ Model number Cable length: Applicable motor L(mm) For power, AWG#6 For brake, AWG#19 AL-00968911-01 AL-00918630-01 1,000 AL-00968911-02 AL-00918630-02 2,000 AL-00968911-03 AL-00918630-03 3,000 R2AA18550R AL-00968911-05 AL-00918630-05 5,000 AL-00968911-10 AL-00918630-10 10,000 Item Connector model number Remarks For power ■...
  • Page 458 12. Appendix For encoder ■ Cable length: Model number Applicable motor L(mm) RS-CA4-01-R 1,000 RS-CA4-02-R 2,000 R2AA06040F RS-CA4-03-R 3,000 R2AA08075F RS-CA4-05-R 5,000 RS-CA4-10-R 10,000 Item Connector model number Remarks Housing: 172161-1 Motor side connector Tyco Electronics Japan G.K. Contact: 170359-3 Receptacle: 36210-0100PL Amplifier side connector...
  • Page 459 12.8 Optional parts 400 VAC Input ■ For R2, 100mm sq. Model number Cable length: For power and holding brake Applicable motor For power L (mm) AWG#16 (1.25mm #16 (1.25mm )・#20 (0.5mm AL-00964811-01 AL-00964812-01 1,000 R2CA10075F, AL-00964811-02 AL-00964812-02 2,000 R2CA10100F, AL-00964811-03 AL-00964812-03 3,000...
  • Page 460 12. Appendix For R2, 180mm sq. Model number Cable length: For power and holding brake For power Applicable motor L (mm) AWG#12 (3.5mm #12 (3.5mm )・#20 (0.5mm AL-00965743-01 AL-00965744-01 1,000 AL-00965743-02 AL-00965744-02 2,000 R2CA18350D, AL-00965743-03 AL-00965744-03 3,000 R2CA18450H, R2CA18550R AL-00965743-05 AL-00965744-05 5,000 AL-00965743-10...
  • Page 461 12.8 Optional parts For encoder Model number Cable length: Applicable motor L (mm) For encoder AL-00937694-01 1,000 AL-00937694-02 2,000 AL-00937694-03 3,000 Except R2CA2830KV AL-00937694-05 5,000 AL-00937694-10 10,000 Item Connector model number Remarks Straight plug: JN2DS10SL2-R Motor side connector Japan Aviation Electronics Industry, Ltd. Contact: JN1-22-22F-PKG100 Receptacle: 36210-0100PL Amplifier side connector...
  • Page 462 12. Appendix Cable specifications ■ For servo motor power (TOTOKU ELECTRIC CO., LTD.) (Operating temperature range: -20 to 105℃) V-8C-MP_NO.2 V-8C-MP_NO.1 V-8C-MP_NO.3 AL-00964811-01 to -10; 1 to 10m AL-00964812-01 to -10; 1 to 10m AL-00965741-01 to -10; 1 to 10m AL-00965743-01 to -10;...

  • Page 463: Power Cable For Servo Motor Fan

    12.8 Optional parts 12.8.7 Power cable for servo motor FAN Model number Cable length: Applicable motor FAN for motor L(mm) AL-00997923-01 1,000 AL-00997923-02 2,000 R1CA18750L, R1CA1811KR, AL-00997923-03 3,000 R1CA1815KB, R1CA2220KV AL-00997923-05 5,000 AL-00997923-10 10,000 Item Connector model number Remarks Plug: N/MS3106B10SL-4S Japan Aviation Electronics Motor side connector Clamp: N/MS3057-4A...

  • Page 464: External Regenerative Resistor

    12. Appendix 12.8.8 External regenerative resistor Model number Cable length: Applicable motor For brake L(mm) AL-00999239-01 1,000 AL-00999239-02 2,000 AL-00999239-03 3,000 R2CA2830KV AL-00999239-05 5,000 AL-00999239-10 10,000 Item Connector model number Remarks Motor side crimp terminal No work with motor side crimp terminal. －...

  • Page 465: Servo Motor Fan Power Cable

    12.8 Optional parts 12.8.10 Servo motor FAN power cable Model number Cable length: Applicable motor L (mm) For FAN power AL-00999241-01 1,000 AL-00999241-02 2,000 AL-00999241-03 3,000 R2CA3255KB AL-00999241-05 5,000 AL-00999241-10 10,000 Item Connector model number Remarks Motor side crimp terminal －...

  • Page 466: External Regenerative Resistor

    12. Appendix 12.8.11 External regenerative resistor Resista Thermostat Detection Rated power Resistor Model Number temperature Mass [PR] value (Contact specification) REGIST-080W100B 100Ω 0.19kg REGIST-080W50B 50Ω REGIST-120W100B 120W 100Ω 0.24kg 135C±7C REGIST-120W50B 120W 50Ω (Switching contact b) REGIST-220W100B 220W 100Ω REGIST-220W50B 220W 50Ω...

  • Page 467: Copper Bus Bar

    12.8 Optional parts 12.8.13 Copper bus bar For 200V AC, 600A ■ Apply Description Model number +DC, -DC connection 2 pieces include AL-00918125-01 For 400V AC, 800A ■ Apply Description Model number +DC, -DC connection 2 pieces include AL-01020858-01 12-57...
  • Page 468 12. Appendix 12.9 Optional parts dimensions 12.9.1 Battery peripherals dimensions Battery body for battery box (Model No.: AL-00879511-01) ■ Battery Connector 1. Battery and connector specifications Thionyl Chloride Lithium Battery ER3VLY (Toshiba Lifestyle Products & Services Corporation) Lithium battery Nominal Voltage: 3.6V Nominal Capacity: 1000mAh Lithium metal mass as standard: 0.31g DF3-2S-2C;...
  • Page 469 12.9 Optional parts dimensions Battery body for junction cable (Model No.: AL-00697958-01) ■ 605 (24.5) Battery Connector Black 1. Battery and connector specifications Thionyl Chloride Lithium Battery ER3VLY (Toshiba Lifestyle Products & Services Corporation) Lithium battery Nominal Voltage: 3.6V Nominal Capacity: 1000mAh Lithium metal mass as standard: 0.31g DF3-2S-2C;...
  • Page 470 12. Appendix Battery trunk cable (Model No.: AL-00697960-□□) ■ Connector for Battery unit The battery back method the servo amplifier side with built-in battery absolute encoder side Model Number L[m] AL-00697960-01 AL-00697960-02 AL-00697960-03 AL-00697960-04 AL-00697960-05 AL-00697960-06 1. Spec: Trunk cable for encoder with the connector in one end and the battery unit for moving part at mid-low speed *This shall not be designed for moving part at high speed.

  • Page 471: Optional Parts Dimensions

    12.9 Optional parts dimensions 4. Outline specification for cable Robot cable for moving part at mid-low speed; UL-ORHV30-SB， Composite wire specification (Manufactured by OKANO ELECTRIC WIRE Co., Ltd.) High-density polyethylene insulated wire, Vinyl sheath, Braided shield addition. UL STYLE NO. 20276 (Ratings: 80°C, 30V) AL-00697960-01 - 04;...
  • Page 472 12. Appendix 3. Specification for the connector and the battery unit Connectors for 36210-0100PL; Wiremount Receptacle (3M) servo amplifier 36310-3200-008; Shell Kit (3M) Trunk connectors 36110-3000FD; Wiremount Plug (3M) for encoder 36310-F200-008; Shell Kit (3M) Built-in battery; ER3VLY (Toshiba Lifestyle Products & Services Corporation) Nominal Voltage: 3.6V Battery unit Nominal Capacity: 1000mAh...

  • Page 473: Monitor Box Outline Drawing

    12.9 Optional parts dimensions 12.9.2 Monitor box outline drawing Monitor Box (Model No.: Q-MON-3 ■ CN-L CN-R LEFT RIGHT DM M2 M1 12.9.3 Dedicated Cable outline drawing Dedicated Cable (Model No.: AL-00690525-01) ■ 2000±50 20±5 20±5 20±5 20±5 Note 1) A pair of the dedicated cable shown above (model number: AL-00690525-01) are supplied with the Monitor Box (model number: Q-MON-3).

  • Page 474: Outline Drawing Of Usb Communication Cable

    12. Appendix 12.9.4 Outline drawing of USB communication cable USB communication cable (1.0m) (Model number: AL-00896515-01) ■ 1000 Standard-A Plug Mini-B　Plug Appearance and spec may change without prior notice. USB communication cable (2.0m) (Model number: AL-00896515-02) ■ 2000 Standard-A Plug Mini-B　Plug Appearance and spec may change without prior notice.

  • Page 475: Servo Motor Power Cable Outline Drawing

    12.9 Optional parts dimensions 12.9.5 Servo Motor Power Cable outline drawing L (mm): Means 1,000, 2,000, 3,000 5,000 or 10,000 AL-00964811-□□ AL-00964812-□□ AL-00965739-□□ AL-00965740-□□ Model number Wire AWG16 AWG16 AWG16 AWG16 ①Power Terminal － － － － AWG20 AWG20 Wire －...
  • Page 476 12. Appendix ③Green (Ground) Straight plug: Product of JAE Cable clamp: Product of JAE L (mm): Means 1,000, 2,000, 3,000 5,000 or 10,000 Model number AL-00997919-□□ AL-00997920-□□ Wire AWG10 AWG10 ①Power Terminal N5.5-5 N5.5-5 Wire AWG20 － ②Brake Terminal N1.25-4 Wire AWG10 AWG10...
  • Page 477 12.9 Optional parts dimensions Green (Ground) L (mm): Means 1,000, 2,000, 3,000 5,000 or 10,000 Model number AL-00997921-□□ AL-00997922-□□ Wire AWG8 AWG5,6 equivalent ①Power Terminal R8-5 R14-5 Wire AWG8 AWG5,6 equivalent ②Ground Terminal R8-5 R14-5 ③Cable diameter φ 17 φ 19 ④Plug/ JL04V-6A32-17SE-EB-R JL04V-6A32-17SE-EB-R...
  • Page 478 12. Appendix L (mm): Means 1,000, 2,000, 3,000 5,000 or 10,000 Model number AL-00999240-□□ Wire AWG5.6 equivalent ①Power Terminal R14-5 Wire AWG5.6 equivalent ②Ground Terminal R14-5 ③Cable diameter φ 19 Connection 12-68...

  • Page 479: Servo Motor Encoder Cable Dimensions

    12.9 Optional parts dimensions 12.9.6 Servo motor encoder cable dimensions AL-00937694-□□ L (mm): Means 1,000, 2,000, 3,000 5,000 or 10,000 AL-00999243-□□ L (mm): Means 1,000, 2,000, 3,000 5,000 or 10,000 12-69...

  • Page 480: Power Cable Dimensions For Servo Motor Fan

    12. Appendix 12.9.7 Power cable dimensions for servo motor FAN AL-00997923-□□ L (mm): Means 1,000, 2,000, 3,000 5,000 or 10,000 AL-00999241-□□ L (mm): Means 1,000, 2,000, 3,000 5,000 or 10,000 12-70...

  • Page 481: Servo Motor Brake Cable Dimensions

    12.9 Optional parts dimensions 12.9.8 Servo motor brake cable dimensions AL-00918630-□□ L (mm): Means 1000, 2000, 3000, 5000 or 10000 AL-00999239-□□ L (mm): Means 1000, 2000, 3000, 5000 or 10000 12.9.9 Thermostat cable dimensions for servo motor FAN AL-00999242-□□ L (mm): Means 1000, 2000, 3000, 5000 or 10000 12-71...

  • Page 482: Outline Drawing Of Regenerative Resistor

    12. Appendix 12.9.10 Outline drawing of regenerative resistor REGIST-080W ■ 122±0.4 6±1 6±1 φ4.3 ２ Silicon rubber glass braided wire 0.5mm White (Thermo start) ２ Silicon rubber glass braided wire 0.75mm Black REGIST-120W ■ 172±0.4 6±1 6±1 φ4.3 ２ Silicon rubber glass braided wire 0.5mm White (Thermo start) ２...
  • Page 483 12.9 Optional parts dimensions REGIST-220W ■ 220±0.4 6±1 6±1 φ4.3 ２ Silicon rubber glass braided wire 0.5mm White (Thermo start) ２ Silicon rubber glass braided wire 0.75mm Black REGIST-500CW ■ 2-Φ4.5 250 ±0.8 +0.4 8±0.3 -1.2 Thermostat Lead AWG24, White Earth mark 2-M3 350±15...
  • Page 484 12. Appendix REGIST-1000W ■ ● ● Wiring diagram 12-74...

  • Page 485: Copper Bus Bar

    12.9 Optional parts dimensions 12.9.11 Copper bus bar +DC, -DC (Model number: AL-00918125-01) ■ 88.5±0.5 68.5 2 pieces include +DC, -DC (Model number: AL-01020858-01) ■ 12-75...
  • Page 486 No Text on This Page.
  • Page 487 Release Revision A Sep. 2017 Revision B Sep. 2018 Revision C Dec. 2018 Revision D Apr. 2019...
  • Page 488 ■ ECO PRODUCTS Sanyo Denki's ECO PRODUCTS are designed with the concept of lessening impact on the environment in the process from product development to waste. The product units and packaging materials are designed for reduced environmental impact. We have established our own assessment criteria on the environmental impacts applicable to all processes, ranging from design to manufacture.

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