A l l t r a d e m a r k s , b r a n d n a m e s , a n d b r a n d s a p p e a r i n g h e r e i n a r e t h e p r o p e r t y o f t h e i r r e s p e c t i v e o w n e r s .

• C r i t i c a l a n d e x p e d i t e d s e r v i c e s

• I n s t o c k / R e a d y - t o - s h i p

Artisan Scientific Corporation dba Artisan Technology Group is not an affiliate, representative, or authorized distributor for any manufacturer listed herein.

In Stock

Used and in Excellent Condition

Open Web Page

https://www.artisantg.com/79575-1

• We b u y y o u r e x c e s s , u n d e r u t i l i z e d , a n d i d l e e q u i p me n t

• F u l l - s e r v i c e , i n d e p e n d e n t r e p a i r c e n t e r

Table of Contents

Chapters

Table of Contents

Need help?

Do you have a question about the SANMOTION R ADVANCED RS2A01A0AL0 and is the answer not in the manual?

Questions and answers

Summary of Contents for Sanyo Denki SANMOTION R ADVANCED RS2A01A0AL0

Page 1 Sanyo Denki SANMOTION RS2A01A0AL0 AC Servo Amplifier In Stock Used and in Excellent Condition Open Web Page https://www.artisantg.com/79575-1 A l l t r a d e m a r k s , b r a n d n a m e s , a n d b r a n d s a p p e a r i n g h e r e i n a r e t h e p r o p e r t y o f t h e i r r e s p e c t i v e o w n e r s .
Page 2 M0008424M TYPE Analog / Pulse Input Type For Rotary Motor...
Page 4 Details of revision history The eleventh edition (M) p. 3-5 ■ IEC standard is corrected.  IEC60034-5 p. 8-30 ■ Method of alarm code A6 for RA035C is corrected.  10-4, 10-15, 12-1 ■ ISO standard number is updated to the latest information. ...
Page 5 No Text on This Page.
Page 6 Safety precautions Please fully observe The following signs are used to indicate safety precaution in this instruction manual. Please fully observe the precautions as important contents included in the descriptions. Safety precautions and the signs ■ Safety precautions Signs Danger, injury Indicates an imminently hazardous situation which, if Danger incorrectly operated, will result in death or serious injury．...
Page 7 Safety precautions Please fully observe Only qualified personnel who have electrical knowledge should conduct maintenance and inspection. Electrical shock, injuries, and fire may occur. Do not damage, apply excessive stresses, put heavy things on, and tuck down cables. Electrical shock may occur. Perform wiring in accordance with wiring diagram and the instruction manual.
Page 8 Safety precautions Please fully observe Warning ■ Unpack after checking upside and downside. Injuries may occur. Verify no discrepancies between the product you received and the product you ordered. Installing incorrect product can result in injuries and damages. Injuries and failures may occur. Make sure to read the instruction manual and observe the instructions before inspection, operation, maintenance, and inspection.
Page 9 Safety precautions Please fully observe Do not put heavy things on, or climb on the system. Injuries may occur. Make sure to observe the specified installation direction. This can result in fire and failures. Do not apply high impacts. This can result in failures. Never install the system in the area where it may be exposed to water, near corrosive/ flammable gaseous, or by combustible material.
Page 10 Safety precautions Please fully observe Install the system in incombustible material, such as metal. Fire may occur. No protective equipments are supplied with servo motor. Protect the system with overcurrent protective device, earth leakage circuit breaker, overtemperature thermostat, and emergency stop equipment. Injuries and fire may occur.
Page 11 Safety precautions Please fully observe Do not approach equipments after restoration from instantaneous interruption of service, as sudden re-start can occur. (Design the machine so as to ensure safety even sudden re-start occurs.) Injuries may occur. Do not externally and continuously rotate servo motor during servo-off with standard speciation servo amplifier with dynamic brake, as the dynamic brake will generate heat and this will cause dangers.
Page 12 Safety precautions Please fully observe Prohibition ■ Do not store the system in the area where it may be exposed to rain and water drops, or toxic gasses or liquids exist. This can result in failures. Brake built in servo motor is for holding, so do not use it for braking. Using the brake for braking will damage the brake.
Page 13 Safety precautions Please fully observe Mandatory ■ Store the system within the specified temperature and humidity “-20°C to +65°C, 90％RH or less(no condensation)” away from direct sunlight. This can result in failures. For long-term storage of servo amplifier (over 3 years as a guide), please contact us. Long-term storage will reduce capacity of electrolytic capacitor, and this can result in failures.
Page 14 Table of contents Preface ..............................1 Introduction ............................1-1 Differences between AC servo amplifier SANMOTION R (previous model) and this system ....1-2 Instruction manual ..........................1-3 Contents ..............................1-3 Precautions related to these instructions ....................1-3 System introduction guide ........................1-4 Step 1: Unpack the system ........................
Page 15 Table of contents Power supply, calorific value ....................... 2-10 Main circuit power supply capacity, control power supply capacity ............2-10 Incoming current, leakage current ....................... 2-12 Calorific value ............................2-13 Operation pattern ..........................2-14 Time of acceleration and deceleration, permitted repetition, loading precaution ......... 2-14 Position signal output ..........................
Page 16 Table of contents Wire ............................... 4-1 Wire diameter-allowable current ......................4-2 Recommended wire diameter ........................ 4-2 Wiring of servo motor ..........................4-4 Example of wiring ..........................4-7 Crimping of wires ..........................4-11 High voltage circuit terminal; tightening torque ..................4-11 Wiring with Host Unit ...........................
Page 17 Table of contents Alarm display ............................5-16 Operation sequence ..........................5-17 Operation sequence from power turn on to power shut off at the standard shipment setting ....5-17 Stop sequence at alarm ........................5-19 Sequence of alarm reset ........................5-21 Sequence when power is turned OFF during operation (During servo ON) ........
Page 18 Table of contents Servo system configuration and servo adjustment parameters ............6-14 Basic manual tuning method for velocity control ................. 6-16 Basic manual tuning method for position control ................. 6-16 Model following control ........................6-17 Automatic tuning method for model following control ................6-17 Manual tuning method for model following control ................
Page 19 Table of contents 7.13 Automatic setting of motor parameter ....................7-17 7.14 Alarm history display ........................... 7-17 7.15 How to clear alarm history ........................7-18 7.16 Monitor display ............................ 7-18 7.17 Fixed monitor display ........................... 7-19 7.18 Motor code-setting of servo motor used ....................7-19 Maintenance ............................
Page 20 Table of contents Safe Torque Off (STO) Function ......................10 10.1 Illustration of system configuration ...................... 10-1 10.2 Safe-Torque-Off (STO) function ......................10-4 Outline ..............................10-4 Standards conformity ........................... 10-4 Risk assessment ..........................10-5 Residual risk ............................10-5 Delay circuit ............................10-5 10.3 Wiring ..............................
Page 21 Table of contents Judgment condition ..........................11-5 11.2 Capacity selection of regenerative resistor ..................11-6 How to find "regeneration effective power (PM)" of the horizontal axis drive by a formula ....11-6 How to find "regeneration effective power (PM)" of the vertical axis drive by a formula ...... 11-7 Capacity selection of regenerative resistor ..................
Page 22 Table of contents 15) Q2 motor, flange size 130mm, 180mm, and 220mm ................. 12-17 16) Q4 motor, flange size 180mm ......................12-18 12.4 Servo motor data sheet ........................12-19 Characteristics table .......................... 12-19 Velocity-torque characteristics ......................12-29 Overload characteristic ........................12-39 12.5 Servo amplifier dimensions .......................
Page 23 No Text on This Page.
Page 24: Table Of Contents
Preface 1.1 Introduction ................................1-1 Differences between AC servo amplifier SANMOTION R (previous model) and this system ....... 1-2 1.2 Instruction manual ..............................1-3 Contents ................................1-3 Precautions related to these instructions ......................1-3 1.3 System introduction guide ........................... 1-4 Step 1: Unpack the system ..........................
Page 25: Introduction
1.Preface Introduction Introduction Thank you for purchasing our AC servo system ”SANMOTION R” ADVANCED MODEL. This instruction model describes specifications, installation, wiring, operation, functions, maintenance of the system, and important instructions to observe to ensure your safety. Please make sure to read this instruction manual before use to operate this AC servo system correctly.
Page 26: Differences Between Ac Servo Amplifier Sanmotion R (Previous Model) And This System
1.Preface Introduction 1) Differences between AC servo amplifier SANMOTION R (previous model) and this system Reduced size ■ Consolidated CNA and CNB Adopted smaller connector for motor encoder. Separated connector for Software Setup ■ Daisy chain connection became simpler by adding a connection port. Increased response time ■...
Page 27: Instruction Manual
1.Preface How to use this instruction manual Instruction manual This manual outlines the specifications, installation, wiring, operations, functions, maintenance, etc., of the AC servo amplifier “SANMOTION R” ADVANCED MODEL as follows: 1) Contents Chapter 1 Preface ■ Product outline, model number, names of components. Chapter 2 Specifications ■...
Page 28: System Introduction Guide
1.Preface How to use this instruction manual System introduction guide This section describes system introduction flow from unpacking to operation check for customers using servo amplifier and servo motor for the first time. Introduction flow Step 2 Step 3 Step 1 Step 4 Step 5 Step 6...
Page 29: Step 2: Perform Wirings Of Control And Main Power Supply
1.Preface How to use this instruction manual Introduction flow Step 2 Step 3 Step 4 Step 5 Step 6 Step 1 Perform wirings of Perform wiring of Perform wiring of Set parameters Check operation Unpack the system control and main servo motor power encoder line.
Page 30: Step 3: Perform Wiring Of Servo Motor Power Line
1.Preface How to use this instruction manual Introduction flow Step 2 Step 3 Step 1 Step 4 Step 5 Step 6 Perform wirings of Perform wiring of Unpack the system Perform wiring of Set parameters. Check operation control and main servo motor power encoder line.
Page 31: Step 4: Perform Wiring Of Encoder Line
1.Preface How to use this instruction manual Introduction flow Step 2 Step 3 Step 1 Step 4 Step 5 Step 6 Perform wirings of Perform wiring of Unpack the system Perform wiring of Set parameters. Check operation. control and main servo motor power encoder line.
Page 32: Step 5: Set Parameters
1.Preface How to use this instruction manual Introduction flow Step 2 Step 3 Step 1 Step 4 Step 5 Step 6 Perform wirings of Perform wiring of Unpack the system Perform wiring of Set parameters. Check operation control and main servo motor power encoder line.
Page 33 1.Preface How to use this instruction manual Introduction flow Step 2 Step 3 Step 1 Step 4 Step 5 Step 6 Perform wirings of Perform wiring of Unpack the system Perform wiring of Set parameters. Check operation control and main servo motor power encoder line.
Page 34 1.Preface How to use this instruction manual Introduction flow Step 2 Step 3 Step 1 Step 4 Step 5 Step 6 Perform wirings of Perform wiring of Unpack the system Perform wiring of Set parameters. Check operation control and main servo motor power encoder line.
Page 35: Step 6: Check Operation
1.Preface How to use this instruction manual Introduction flow Step 2 Step 3 Step 1 Step 4 Step 5 Step 6 Perform wirings of Perform wiring of Unpack the system Perform wiring of Set parameters. Check operation control and main servo motor power encoder line.
Page 36: System Configuration
1.Preface System configuration Illustration of system components RS2□01/RS2□03/RS2□05 ■ T S R SANMOTION R ADVANCED MODEL Wiring breaker (MCCB) [Setup software] Used to protect power line. Enables parameter setup Turns off the power supply when and monitoring through overload runs. communication with a PC.
Page 37 1.Preface System configuration RS2□10/RS2□15 ■ T S R Wiring breaker (MCCB) Used to protect power line. [Setup software] Turns off the power supply Enables parameter setup when overload runs. and monitoring through SANMOTION R ADVANCED MODEL communication with a PC. Noise filter Installed to protect power line from external noise.
Page 38 1.Preface System configuration RS2□30 ■ 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. [Setup software] Enables parameter setup SANMOTION R ADVANCED MODEL and monitoring through communication with a PC.
Page 39: Model Number Structure
1.Preface Servo motor encoder model number Model number structure 1) Servo Motor Model Number R 2 AA 06 020 F C P 00 M A ■ Note 1) Sign Reducer Reduction ■ Additional specification type ratio identification Planet gear M･･･CE mark + UL supported 0･･･With decelerator without standards 1/15 1/25...
Page 40: Servo Motor Model Number
1.Preface Servo motor encoder model number 2) Servo motor model number Q 1 AA 10 200 D C P 00 E ■ Additional specification identification E･･･Supports mark CE U･･･Supports UL M･･･Supports mark CE and UL ■ Specification identification 00･･･Standard ■ Encoder type S･･･Wire-saving incremental encoder (PP031H, PP031T, PP062) H･･･Absolute encoder for incremental system (PA035S)
Page 41: Servo Amplifier Model Number (11-Digit Abbreviated Model Number)
1.Preface Servo amplifier model number 3) Servo amplifier model number (11-digit abbreviated model number) RS2 A 01 A 0 A A 0 ■ Option 2 Velocity/ Torque Safe Torque Off command input function Available None Available ■ Option 1 Available (without delay circuit) A････With built-in regenerative Available...
Page 42: Servo Amplifier Model Number (19-Digit Full Model Number String)
1.Preface Servo amplifier model number 4) Servo amplifier model number (19-digit full model number string) Individual Same as Servo amplifier model (11 digit abbreviated) specification 00････Standard Servo motor combination marking Interface at control section 0････R, Q series motor standard combination S････Speed control type X････Speed ...
Page 43: Part Names
1.Preface Servo amplifier part names Part names 1) Servo amplifier ■ RS2□01/RS2□03/RS2□05 Inside the front cover (OPEN) Digital Operator operation keys Analog monitor connector CN5: Parts number on plug 5-digit 7-segment LED Connector: DF11-4DS-2C Contact: DF11-2428SCA (Hirose Electric Co., Ltd.) Control power status LED (POWER-Blue) Main circuit power LED...
Page 44 1.Preface Servo amplifier part names ■ RS2□10/RS2□15 Upper front cover-open Digital Operator operation keys Analog monitor connector CN5: Parts number on plug 5-digit 7-segment LED Connector: DF11-4DS-2C Contact: DF11-2428SCA (Hirose Electric Co., Ltd.) Control power status LED (POWER-Blue) Communication connector for setup software Main circuit power LED (Red-CHARGE)
Page 45 1.Preface Servo amplifier part names ■ RS2□30 Upper front cover-open Digital Operator operation keys Main circuit power LED (Red-CHARGE) Connector for analog monitor CN5: Parts number on plug Connector: DF11-4DS-2C Contact: DF11-2428SCA 5-digit 7-segment LED (Hirose Electric Co., Ltd.) Control power status LED (POWER-Blue) Communication connector for setup software...
Page 46: Servo Motor Part Names
1.Preface Servo motor part names 2) Servo motor Lead wire type ■ R1□A04○○○△□◇ Frame Brake R1□A06○○○△□◇ Encoder R1AA08○○○△□◇ Shaft Flange Encoder cable Servo motor power cable Brake cable R2□A04○○○△□◇ Encoder Frame R2□A06○○○△□◇ R2□A08○○○△□◇ R2□B08○○○△□◇ R2AA10○○○△□◇ R5AA06○○○△□◇ R5AA08○○○△□◇ Shaft Flange Servo motor power cable Encoder cable Brake cable 1-22...
Page 47 1.Preface Servo motor part names Connector Type ■ R1AA10100△□◇ R1AA10150△□◇ Frame Encoder R1AA10200△□◇ R1AA10250△□◇ R1AA13300△□◇ R1AA13400△□◇ R1AA13500△□◇ Shaft R1AA18○○○△□◇ R2AA10150△□◇ R2AA13○○○△□◇ R2AA18○○○△□◇ R2AA22○○○△□◇ Q1AA10○○○△□◇ Flange Q1AA12○○○△□◇ Q1AA13○○○△□◇ Encoder connector Q1AA18○○○△□◇ Q2AA10○○○△□◇ Servo motor power connector Q2AA13○○○△□◇ Q2AA18○○○△□◇ Q2AA22○○○△□◇ Q4AA18○○○△□◇ 1-23...
Page 48 2. Specifications 2.1 Servo motor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-1 General specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-1 Exterior dimensions/ specifications/ mass ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-1 Mechanical specifications/ mechanical strength/ working accuracy ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-1 Oil seal type ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-2 Holding brake ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-3 Degree of decrease rating for R1□A, R2□A motor, with oil seal and brake ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 2-5 2.2 Motor encoder ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
Page 49: General Specifications
2.Specifications Servo motor Servo motor 1) General specifications Series name R1, R2, R5,Q1, Q2, Q4 Time rating Continuous Insulation classification Type F Voltage/Dielectric strength AC1500V 1 minute Insulation resistance DC500V, greater than 10MΩ Totally Enclosed, Non-Ventilated Motor flange size: 86 or less: IP67 Protection method Motor flange size: 130 or over: IP65 However, except for axial penetration part and cable tip part...
Page 50 2.Specifications Servo motor Shock resistance ■ Install the shaft of servo motor in a horizontal direction (shown in the figure below). This shaft should withstand shock acceleration up to 98m/s (when shock is applied in an upward/downward direction) for two (2) times. However, since a precision motor encoder is fixed to the counter-load side of the flange, any shock applied to the shaft may cause damage to the motor encoder.
Page 51: Holding Brake
2.Specifications Holding brake 5) 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. Turn the brake excitation On or Off using the “holding brake timing signal output”. When using this signal, set the command for brake release time to 0min for the servo amplifier.
Page 52 2.Specifications Holding brake, degree of decrease rating with oil seal, brake Braking delay time ms Static friction torque Release time Servo motor model number N・m Varistor Diode Q1AA10100D 3.92 Q1AA10150D 9.80 Q1AA12100D Q1AA10200D 7.84 Q1AA10250D 9.80 Q1AA12200D 7.84 Q1AA12300D 11.8 Q1AA13400D 19.6 Q1AA13500D...
Page 53: Motor Encoder
2.Specifications Motor encoder 6) Degree of decrease rating for R1□A, R2□A motor, with oil seal and brake In terms of servomotors with oil-seal and/or brake, the following de-rating ratio has to be applied to the torque characteristic in the continuous speed range. Oil seal Without oil seal With oil seal...
Page 54: Battery Specification
2.Specifications Motor encoder, Battery 2) Pulse encoder specifications Wire-saving incremental encoder ■ Conform to motor Model Resolution flange size PP031H 1000/2000/2048/4096/5000/6000/8192/10000 P/R Greater than 40mm PP031T PP062 1000/2000/2048/4096/5000/6000/8192/10000 P/R Greater than 80mm Model number example: R2-series, square type: 60mm, 200W-model R2AA06020FCS00 Servo motor rotation direction and encoder signal pulses of pulse encoder ■...
Page 55: Servo Amplifier
2.Specifications General specifications Servo amplifier 1) General specifications ■ General specifications Control function Speed control/Torque control/Position control (Parameter changeover) Control system IGBT: PWM control Sinusoidal drive Main Circuit Three-phase: AC200 to 230V+10, -15%, 50/60Hz±3Hz Power Single-phrase: AC200 to 230V+10, -15%, 50/60Hz±3Hz Note 2) Note 1) Single-phase: AC100 to 115V+10, -15%, 50/60Hz±3Hz...
Page 56: Input Command
2.Specifications Input command 2) Input command, position signal output, general input, general output ■ Input command ◆ Position command 5Mpps (Reverse + Forward pulse, Code +Pulse) Maximum input pulse frequency 1.25Mpps (90-phase difference two-phase pulse) Forward + Reverse command pulse, Position Input pulse form Code + Pulse train command or...
Page 57 2.Specifications General input/output Position signal output ■ Encoder output N/32768(N=1 to 32767)，1/N(N=1 to 64) or N(N=2 to 64) Pulse signal Encoder output serial Binary code output, decimal ASCII output signal General input ■ Interactive photo coupler (sink, source connection): ×6 input Line receiver: ×2 input Input power voltage range: DC5V±5% / DC12V to 24V±10%, 100mA or over (DC24V)
Page 58 2.Specifications Leakage current, calorific value Power supply, calorific value 1) Main circuit power supply capacity, control power supply capacity ■ AC200V Input Input Servo amplifier Servo motor Rated output Rated main circuit Control voltage capacity model number power supply (kVA) power supply (VA) R1AA04005F R1AA04010F...
Page 59 2.Specifications Leakage current, calorific value AC200V Input ■ Input Servo amplifier Servo motor Rated output Rated main circuit Control voltage capacity model number power supply (kVA) power supply (VA) R1AA13400F 4000 R1AA13500F 5000 R2AA18350D 3500 R2AA18450H 4500 R2AA18550R 5500 R2AA22500L 5000 R2AA22700S 7000...
Page 60 2.Specifications Leakage current, calorific value 2) Incoming current, leakage current Incoming current ■ Servo Main circuit power Input Control power amplifier (Maximum value between 1.2 Voltage (Maximum value between1ms after input) capacity seconds after input) RS2A01# RS2A03# 22A (0-P) RS2A05# AC200V 40A (0-P) RS2A10#...
Page 61: Calorific Value
2.Specifications Calorific value 3) Calorific value Servo amplifier Servo amplifier Input Servo amplifier Servo motor Input Servo amplifier Servo motor total calorific total calorific voltage capacity model number voltage capacity model number value (W) value (W) R1AA10200F R1AA04005F R1AA10250F R1AA04010F R1AA13300H R1AA06020F R1AA13300F...
Page 62: Operation Pattern
2.Specifications Operation pattern Operation pattern 1) Time of acceleration and deceleration, permitted repetition, loading precaution The motor’s acceleration time (t ), and deceleration time (t ) when under constant load is calculated using the following method: ■ Acceleration time: t )･(2π/60)･{(N )/(0.8×T )} [s]...
Page 63 2.Specifications Operation pattern 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 T Servo motor Time ◆...
Page 64 2.Specifications 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 current torque Servo motor rotational Time velocity...
Page 65: Position Signal Output
2.Specifications Position signal output Position signal output The amplifier outputs two (2) kinds of position signals: Serial signals and Pulse signals 1) Positions signals by serial signals ■ The following serial encoders output absolute position data (encoder signal output -PS-) from the absolute encoder of the servo amplifier using serial signals.
Page 66 2.Specifications Position signal output 2) Binary code output format and transfer period ■ Format ◆ Data format 11bits 1bit 5bits 3bits 1bit 1bit Address bit Stop bit Start bit Parity bit Data bit ◆ Transfer format Parity Start bit Data bit Address bit Stop bit ･Data 1...
Page 67 2.Specifications Position signal output 3) ASCII decimal code output format and transfer period ■ Format ◆ Data format 10bits 1bit 7bits 1bit 1bit Stop bit Parity bit Start bit Data bit Transfer format ◆ Data Parity Start bit Stop bit number Data 1 Show position data ”P”...
Page 68 2.Specifications Position signal output 4) Position signal output from pulse signal Servo amplifier outputs “90-phase difference two-phase pulse (phase A, phase B) and original ■ phase (phase Z).” Pulse output can change the division ratio by parameter. Set the general parameter “GroupC ID04 Encoder Output Pulse Division.” ―...
Page 69: Analog Monitor
2.Specifications Analog monitor Specifications for analog monitor 1) Monitor output Pin numbers and signal names for 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 General input/output connector CN1 Analog monitor output 1 (MON1) CN1-30...
Page 70 2.Specifications Analog monitor 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%. Velocity command, velocity monitor ■...
Page 71: Dynamic Brake
2.Specifications Dynamic brake Specifications for dynamic brake 1) Allowable frequency, instantaneous tolerance, decreasing the rotation angle of the dynamic brake Allowable frequency of the dynamic brake (main circuit power ON/OFF) ■ Less than 10 times per hour and 50 times per day at maximum speed within allowable load inertia moment.
Page 72 2.Specifications Dynamic brake Staging down the rotation angle using the dynamic brake is show as follows: ■ 2πN×t + (J )×(αN＋βN ＋J : 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 : 10 ×...
Page 73 2.Specifications Regeneration process Servo amplifier capacity Servo motor model number α β (kg･m 3.17 5.00×10 2.3×10 R1AA10200F R1AA10250F 2.15 4.70×10 2.8×10 1.00 5.60×10 7.0×10 R1AA13300H 3.08 4.20×10 7.0×10 R1AA13300F 3.40×10 8.8×10 R1AA13400H 0.57 3.00×10 10.6×10 R1AA13500H 2.12 R2AA13180D 1.23×10 9.0×10 1.69 R2AA13200D 0.91×10...
Page 74 2.Specifications Regeneration process Regeneration process The tables below are resistance value of the built-in regeneration resistor and regeneration resistance power that can be tolerated by the amplifier regeneration circuit. Refer to [Capacity Selection of Regenerative Resistor (11-2)] for the selection method of regeneration resistance.
Page 75 No Text on This Page.
Page 76 Installation Installation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3-1 Servo amplifier ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3-1 Unpacking ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3-2 Mounting direction and location ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3-3 Control arrangement within the machine ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3-3 Servo motor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3-4 Precautions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3-4 Unpacking ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3-4 Installation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3-4 Mounting method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3-5 Waterproofing and dust proofing ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3-5 Protective cover installation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3-6 Gear installation and Integration with the target machinery ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3-6 Allowable bearing load ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ3-8 Cable installation considerations ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
Page 77: Installation
3.Installation Servo amplifier Installation 1) Servo amplifier 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, and put heavy items on the servo amplifier. Operate the device within the specified environmental conditions.
Page 78 3.Installation Servo amplifier 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. ■...
Page 79 3.Installation Servo amplifier 3) Mounting direction and location Front-mounting Rear-mounting Metal fittings for front mounting Ventilation ✔ Refer to optional parts, 12 Appendix, for metal fittings for front mounting. 4) Control arrangement within the machine ■ Leave at least 50 mm space above and below the servo amplifier to ensure unobstructed airflow from the inside of the servo amplifier and the radiator.
Page 80: Servo Motor
3000min 3φ－ CI.F IP40 SER No.090206001 2002 SANYO DENKI MADE IN JAPAN 00482921-01 Serial NO. 3) Installation Please note the following regarding the installation location and mounting method for the servo motor. The servo motor is designed for indoor use. Make sure to Install it indoors.
Page 81: Mounting Method
3.Installation Servo motor 4) Mounting method Mounting in several orientations - horizontal, or with the shaft on top or bottom- is acceptable. ■ If the output shaft is used in reduction devices that use grease, oil, or other lubricants, or in mechanisms ■...
Page 82 3.Installation Servo motor 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 83 3.Installation Servo 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 (coupling rotates jointly)
Page 84 3.Installation Servo motor ■ Use a special tool for removing the gear, pulley, etc. Tapered Removal tool 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.
Page 85 3.Installation Servo motor Assembly Operation Servo motor Radial load (N) Thrust load (N) Radial load (N) Thrust load (N) model number Direction F Direction F1 Direction F Direction F1 R2□A04003 R2□A04005 R2EA04008 R2AA04010 R2□A06010 R2□A06020 R2AA08020 R2AA06040 R2AA08040 R2AA08075 R2AAB8075 R2AAB8100 R2AA10075 R2AA10100...
Page 86: Cable Installation Considerations
3.Installation Servo motor 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 87 No Text on This Page.
Page 88 Wiring Wiring for main circuit power supply, control power, regenerative resistance, servo motor, and protective grounding ꞏꞏ4-1 Part name and function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ4-1 Wire ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ4-1 Wire diameter-allowable current ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ4-2 Recommended wire diameter ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ4-2 Wiring of servo motor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ4-4 Example of wiring ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ4-7 Crimping of wires ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
Page 89: Part Name And Function
4.Wiring Allowable current, recommended wire diameter Wiring for main circuit power supply, control power, regenerative resistance, servo motor, and protective grounding 1) Part name and function Connector Terminal name Remarks marking Single phase AC100 to115V +10%,-15% 50/60Hz±3% R･T Single phase AC200 to 230V +10%,-15% 50/60Hz±3% Main circuit power supply Three-phase AC200 to 230V +10%,-15% 50/60Hz±3% R･S･T...
Page 90 4.Wiring Allowable current, recommended wire diameter 3) Wire diameter-allowable current Allowable current over ambient temperature [A] Nominal cross-sectional area Conductor resistance AWG sides [mm2] [Ω/km] 30°C 40°C 55°C 39.5 0.75 26.0 24.4 1.25 15.6 12.0 11.0 9.53 23.0 20.0 15.0 5.41 33.0 29.0...
Page 91 4.Wiring Allowable current, recommended wire diameter Input voltage AC200V (cont.) ■ Main circuit power Control Motor power Regeneration Servo supply power Servo motor (U･V･W･ resistance amplifier to be (R･S･T･ supply model No. combined AWG No AWG No AWG No AWG No R1AA10200F R1AA10250F R1AA13300H...
Page 92 4.Wiring Allowable current, recommended wire diameter 5) Wiring of 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...
Page 93 4.Wiring Allowable current, recommended wire diameter Plug model number for power line and brake of Q-series servo motor ■ (Products of Japan Aviation Electronics Industry, Limited) Plug for power line (Cable clamp) Plug for power (Cable clamp) Servo motor [Plug + clamp model number] [Plug + clamp model number] Remarks model number...
Page 94 4.Wiring Allowable current, recommended wire diameter Pin assignment of canon plug ■ Pin assignment shall be any of the followings, depending on model numbers of plug for powering line, braking line, and cooling fan. Phase U Phase U Phase V Phase V Phase W Earth...
Page 95: Example Of Wiring
4.Wiring Wiring example 6) 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 5 minutes for the prevention from an electric shock. Completion of electric discharge turns off the lamp of CHARGE. Please perform connection check work after checking putting out lights.
Page 96 4.Wiring Wiring example Single phase AC200V [General output: NPN output] ■ Single phase AC200 to 230V 50/60 Hz SERVO MOTOR MCCB (molded Noise case circuit filter breaker) Operation ON OFF Alarm DC5V,DC12～24V Emergency Diode stop 39 to 46 (OUT1 to OUT8) 24･25 DC5V, DC12V to 24V Single phase AC100V [General output: NPN output]...
Page 97 4.Wiring Wiring example 3-phase 200VAC [General output: PNP output] ■ General output: PNP output: It takes external 24VDC as common power supply and outputs 24VDC when general output is ON. Single-phase AC100 to 115V 50/60 Hz SERVO MOTOR MCCB (molded Noise case circuit filter...
Page 98 4.Wiring Wiring example Single-phase 100VAC [General output: PNP output] ■ General output: PNP outputs It takes external 24VDC as common power supply and outputs 24VDC when general output is ON. Single-phase 100 to 115VAC 50/60 Hz SERVO MOTOR MCCB (molded Noise case circuit filter...
Page 99 4.Wiring Crimping processing, tightening torque 7) 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. The recommended torque is 0.5 to 0.6 N･m. Process 1 Process 3 Wire...
Page 100 4.Wiring Wiring with host unit Wiring with Host Unit 1) CN1 signal and pin number (wiring with host unit) CN1 terminal sequence [General output: NPN output] ■ Servo amplifier F-PC F-PC +5V SG R-PC R-PC V-REF/T-REF T-COMP F-TLA OUT-PWR OUT1 R-TLA OUT2 CONT-COM...
Page 101 4.Wiring Wiring with host unit CN1 terminal sequence [General output: PNP output] ■ General output: PNP output: It takes external 24VDC as common power supply and outputs 24VDC when general output is ON. Servo amplifier F-PC F-PC +5V SG R-PC R-PC V-REF/T-REF T-COMP...
Page 102 4.Wiring Wiring with host unit 2) CN1 connector disposition CN1 10150-3000PE (Soldered side) ■ 3) Signal name and its function Terminal Signal Terminal Description Signal name Description number name number BTP-1 Battery plus MON1 Analog monitor output BTN-1 Battery minus Common for pin 30 A phase pulse output CONT7...
Page 103 4.Wiring Wiring with host unit 4) Terminal connection circuit Terminal Symbol Name Description BTP-1 Battery plus When using a Battery Backup Method Absolute Encoder, the battery for backup can be mounted in the host unit BTN-1 Battery minus side, and it can connect via servo amplifier. When it mounts a battery between servo amplifier and a servo motor, it is not necessary to connect.
Page 104 4.Wiring Wiring with host unit Terminal Symbol Name Description Z phase pulse An open collector outputs the starting Point Z phase pulse output of a motor encoder. [NPN output] Maximum voltage: DC30V Maximum current: 10mA Host unit Twisted pair Servo amplifier Be sure to connect SG.
Page 105 4.Wiring Wiring with host unit CONT7 General input Receivable with a line receiver. General output signals can receive either a differential signal or an open collector ― ― ― ― ― General input CONT7 signal. CONT8 General input General input ―...
Page 106 4.Wiring Wiring with host unit Terminal Symbol Name Description F-TLA Forward side torque Forward and reverse side torque is restricted on external limitation input analog voltage. Forward side torque limitation input (F-TLA): R-TLA Reverse side torque CN1-18 Input voltage range -10V to +10V limitation input Reverse side torque limitation input (R-TLA): CN1-19 Input current range -10V to +10V...
Page 107 4.Wiring Wiring with host unit Terminal Symbol Name Description F-PC Command pulse Command pulse input is a position command input. input Velocity command input  Velocity control type. Three types of command input pulse. ― ― ― ― Command pulse [Normal pulse + Reverse pulse] input Maximum...
Page 108 4.Wiring Wiring with host unit Terminal Symbol Name Description MON1 Analog monitor Outputs the selection of analog monitor output 1. output Load shall be less than 2mA. Output resistance shall be 1kΩ. Output voltage range shall be ±8V. Servo amplifier Host unit MON1 1.0kΩ...
Page 109 4.Wiring Wiring with host unit Terminal Symbol Name Description OUT1 General output General output circuit is connected with a photo-coupler or a relay circuit. OUT2 General output [NPN output] OUT3 General output OUT-PWR (outer power supply) specification OUT4 General output Power supply &...
Page 110 4.Wiring Wiring with host unit Terminal Symbol Name Description [PNP output] OUT-PWR (external power supply) specification Power supply voltage: 24VDC ±10% Current capacity: 20mA or over OUT-1 to OUT-8 (output circuit) power supply specification Power supply voltage: 24VDC ±10% Max. current: 24VDC ･････････50mA General output: PNP output: It takes external 24VDC as common power supply and outputs 24VDC when...
Page 111 4.Wiring Wiring of motor encoder Wiring 1) EN1 signal names and its pin numbers Battery backup method absolute encoder ■ R-series Servo Q-series Servo motor Amplifier Servo motor Remarks Signal name plug pin number Description plug pin Note 1) (Specification for Terminal No.
Page 112 4.Wiring Wiring of motor encoder Battery less absolute encoder ■ Q-series Servo R-series Servo Amplifier Signal Servo motor Remarks motor Description name plug pin number Note 1) plug pin Terminal No. (Specification for leads) number 9 (Red) Power supply Twisted pair 10 (Black) Power supply (Recommendation)
Page 113 4.Wiring Wiring of motor encoder 3) Connector model number for motor encoder R-series and Q-series servo motor encoder (absolute encoder for incremental system) ■ Connector model numbers (Products of Japan Aviation Electronics Industry, Limited) Motor encoder plug model Motor model number Connector type Applicable cable diameter number...
Page 114 4.Wiring Wiring of motor encoder Q-series servo motor encoder (Excluding absolute encoder for incremental system) ■ Connector model numbers (Products of Japan Aviation Electronics Industry, Limited) Motor encoder plug model number Motor model number Connector type Remarks (Cable clamp) [Plug + clamp model number] N/MS3106B20-29S (N/MS3057-12A) Straight...
Page 115: Peripheral Equipments
4.Wiring Peripheral equipments Peripheral equipments 1) Power supply capacity and peripherals list AC200V input ■ Servo Main circuit Molded case circuit Input Servo motor Magnetic Surge amplifier power supply breaker Noise filter voltage model No. contact absorber capacity rating (kVA) (MCCB) R1AA04005F R1AA04010F...
Page 116 4.Wiring Peripheral equipments AC200V input ■ Servo Main circuit Molded case circuit Input Servo motor Magnetic Surge amplifier power supply breaker Noise filter voltage model No. contact absorber capacity rating (kVA) (MCCB) R1AA13400F R1AA13500F HF3030C-UQA S-T35 Model NF63 50A R2AA18350D SOSHIN MITSUBIS MITSUBISHI...
Page 117 No Text on This Page.
Page 118 5. Operation Changing servo motor combination ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ5-1 Confirmation and change of the setup software ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ5-1 Confirmation and change by the Digital Operator ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ5-2 System parameters ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ5-3 Confirmation of specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ5-3 System parameters list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ5-5 Confirmation and settings of system parameters ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ5-5 Confirmation and settings of the system parameters (settings for motor encoder specification) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ5-9 Factory default setting values ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
Page 119 5.Operation Changing servo motor combination Changing servo motor combination Combination of servo motor connected and servo amplifier you use can be change by using AC servo system supportive system "SANMOTION MOTOR SETUP (hereinafter referred to as setup software)" or “digital operator.” Pease refer to separate operating manual of setup software M0010842 or “Chapter 7, Digital Operator”...
Page 120 5.Operation Changing servo motor combination 2) Confirmation and change by the Digital Operator Procedure Item and contents Confirmation of the servo motor model number ■ Confirm the servo motor model number setting at the servo amplifier. The Digital Operator displays the Motor Code according to the servo motor model number.
Page 121: System Parameters
5.Operation Confirmation of system parameters specifications System parameters 1) Confirmation of specifications Confirm the specifications, the combination of the servo amplifier and the motor encoder, using either of the AC servo system support tools: setup software or Digital Operator. Procedure Item and contents Confirmation of servo amplifier specifications ■...
Page 122 5.Operation Confirmation of system parameters specifications Procedure Item and contents Main circuit power supply voltage Code Main circuit power supply voltage display 200V 100V ■ Using setup software, confirm that voltage value of main circuit power connected to connector CNA or terminal block RST is displayed. ■...
Page 123 5.Operation System parameters list, confirmation and settings (servo amplifier) 2) System parameters list System parameters list is shown below. Settings vary depending on the system used. Please confirm 3), 4) and the following IDs for the proper settings. Contents Control Cycle Main Circuit Power Input Type Regenerative Resistor Selection Serial Encoder Function Selection...
Page 124 5.Operation Confirmation and settings (servo amplifier) Contents Main circuit power input type ■ Set input type of main circuit power connected to CNA on servo amplifier or R, S, and T on terminal block. Selection Description AC_3-phase 3 phase AC power is supplied to the main circuit AC_Single-phase Single phase AC power is supplied to the main circuit ■...
Page 125 5.Operation Confirmation and settings (servo amplifier) Contents Control mode selection ■ Set the control mode of the servo amplifier used as follows: Selection Description Torque Torque Control Mode Velocity Velocity Control Mode Position Control Mode Position Velo-Torq Velocity - Torque Control Switch Mode Posi-Torq Position - Torque Control Switch Mode Posi-Velo...
Page 126 5.Operation Confirmation and settings (servo amplifier) Contents Position control selection ■ Select the function Position Control Mode. Selection Description Standard Standard Model1 Model Following Control Model2 Model Following Vibration Suppress Control ■ Under the following parameter settings, ‘Model Flowing Control” and “Model Following Vibration Suppressor Control”...
Page 127 5.Operation Confirmation and settings (motor encoder) 4) Confirmation and settings of the system parameters (settings for motor encoder specification) Set the motor encoder to be used. Setting items vary depending on the encoder. Parameters that need to be set are listed below. Please set the confirmed setting for each encoder in the following pages.
Page 128 5.Operation Confirmation and settings (motor encoder) The motor encoder to be used is “serial encoder” and “incremental system” will also be used ■ Motor encoder used for EN1 PA035S: Absolute encoder for incremental system Resolution per 1 rotation: 131072(17bits) Motor encoder specification Transmission method: Half-duplex asynchronous 2.5Mbps (standard) ■...
Page 129 5.Operation Confirmation and settings (motor encoder) The motor encoder to be used is “serial encoder” and “absolute system” will be used. ■ Motor encoder used for EN1 PA035C: Battery backup method absolute encoder Resolution per 1 rotation: 131072(17bits) Motor encoder specification Transmission method: Half-duplex asynchronous 2.5Mbps(standard) ■...
Page 130: Factory Default Setting Values
5.Operation Factory default parameter setting values 5) Factory default setting values The following chart shows the default factory parameter settings. Servo amplifier model number: RS2A○○A△#□# ■ Name Setting value Control Cycle 00:_ Standard_Sampling Main Circuit Power Input Type 00:_AC_3-Phase When □is A, 01: _Built-in_R Regenerative Resistor Selection When □is L, 02: _External_R When ○○...
Page 131: Test Operation
5.Operation Test operation (installation, wiring, and JOG Operation) Test operation 1) Confirmation of installation and wiring Confirm the installation and the wiring of the servo amplifier and the servo motor. Procedure Item and contents Installation ■ Install the servo amplifier and the servo motor by referring to [Installation (3)]. Do not connect the servo motor shaft to the machine to maintain the no load status.
Page 132 5.Operation Test operation (confirmation of I/O signal) 3) Confirmation of I/O signal Settings for general I/O signals (CN1) are the defaults set at the time of shipment Procedure Item and contents Confirmation of I/O signal ■ Allocate functions you use to CONT1 to CONT8 by selecting parameters from general parameters Group 9.
Page 133 5.Operation Servo amplifier status display Procedure Item and contents Command input ■ Input the command suitable for the control mode in use (setting value of “Control Mode Selection” of system parameter ID09). “Position control mode”････Position command pulse ◆ “Velocity control mode”････Analog voltage ◆...
Page 134: Default Display
5.Operation Servo amplifier status display Servo amplifier status display 1) Default display Marking Description Status code Control power supply established. Control power supply (r, t) is established and amplifier (RDY) is on. Main circuit power supply established. Main power supply (R, S, and T) is established, but operation preparation completion signal is off.
Page 135: Operation Sequence
5.Operation Operation sequence (power on) Operation sequence 1) Operation sequence from power turn on to power shut off at the standard shipment setting Power ON  Servo ON Control source Control source (Max) 2sec Power ON permission signal (Min) 0msec Main power source ON Main circuit power Inrush current prevention time...
Page 136 5.Operation Operation sequence (power off) Servo OFF  Power OFF Control source Control source OFF (Min) 0msec Main circuit power Main power supply OFF Power ON signal Power ON output OFF Operation setup completion signal S-RDY S-RDY2 Servo ON signal Servo OFF Dynamic brake ON Dynamic brake signal...
Page 137 5.Operation Operation sequence (at alarm) 2) Stop sequence at alarm When an alarm occurs, the servomotor is stopped by either dynamic brake or servo brake (zero-speed command). The alarm content dictates which brake to be used. Refer to [Warning and Alarm List (8-3)] Stop by dynamic brake at alarm Power ON permission signal...
Page 138 5.Operation Operation sequence (at alarm) Stop by servo brake at alarm Power ON permission signal Power ON permission OFF Main circuit power Main power supply OFF Operation setup completion signal S-RDY S-RDY2 Servo ON signal Servo ON Dynamic brake ON Dynamic brake signal Motor stop detect Motor velocity...
Page 139 5.Operation Operation sequence (alarm reset) 3) Sequence of alarm reset Inputting alarm reset signal from general input signal can reset alarms. Power ON permission Power ON permission signal Main power supply ON Main circuit power Inrush current prevention time Power ON signal S-RDY S-RDY2 Operation setup completion signal...
Page 140 5.Operation Operation sequence (power off during operation) 4) Sequence when power is turned OFF during operation (During servo ON) Control source Control source OFF Main circuit power Main power supply OFF Power ON signal Power ON output OFF Operation setup completion signal S-RDY S-RDY2 Servo ON signal Dynamic brake ON...
Page 141: Monitor Function
5.Operation Monitor function Monitor function 1) Monitor function Symbol Name Unit Servo amplifier status monitor STATUS Warning status 1 monitor WARNING1 WARNING2 Warning status 2 monitor CONT8-1 General Purpose Input CONT8 to 1 monitor OUT8-1 General Purpose Output OUT8 to 1 monitor INC-E MON Pulse encoder signal monitor VMON...
Page 142: Description Of Monitor
5.Operation Monitor function 2) Description of monitor Contents Servo amplifier status monitor [STATUS] Code Status Power OFF state (P-OFF) Power ON state (P-ON) Servo ready state (S-RDY) Servo ON state (S-ON) Emergency stop state (EMR) Alarm and power OFF state (ALARM_P-OFF) Alarm and power ON state (ALARM_P-ON)
Page 143 5.Operation Monitor function Contents Pulse encoder signal monitor [INC-E MON] ■ Displays pulse encoder signal status. 1 or ON shows an incoming signal level “H” state. Motor encoder Motor encoder Motor encoder Function Z-phase signal B-phase signal A-phase signal External encoder External encoder External encoder Function...
Page 144 5.Operation Monitor function Contents Torque command monitor [TCMON] ■ Displays the torque command value. Display range Unit -499.9 to 499.9 Position deviation monitor [PMON] ■ Displays the position deviation value. Setup software displays values in decimal notation. ◆ Display range Unit -2147483648 to 2147483647 Pulse...
Page 145 5.Operation Monitor function Contents Analog velocity command/Analog torque command input voltage monitor [VC/TC-IN] ■ Displays entered command voltage. Display range Unit -12000 to 12000 Position command pulse frequency monitor [FMON1] ■ Displays entered command pulse frequency. Display range Unit -6000 to 6000 kPulse/s U-phase electric angle monitor [CSU] ■...
Page 146 5.Operation Analog monitor, digital monitor Contents Load Inertia Moment Ratio monitor [JRAT MON] ■ Displays actual Load Inertia Moment Ratio. Value can be confirmed when changing gain and at Auto-tuning function. Position Loop Proportional Gain monitor [KP MON] ■ Displays actual Position Loop Proportional Gain. Value can be confirmed when changing gain and at Auto-tuning function.
Page 147: Setting Parameters
5.Operation Parameters list Setting parameters 1) Parameters list Below is the parameters list. Groups in ID order are classified.” System parameters”, “General parameters” and “Motor parameters” are retained in the servo amplifier by keeping the parameter back-up function in effect for restoration of the parameter(s) as needed. For operating instructions, refer to separate volume, M0010842, for setup software.
Page 148 5.Operation Parameters list General parameters Group1 “Basic control parameter settings” ■ Control Standard Symbol Name Unit Setting range mode value Position Command Smoothing PCSMT 0.0 to 500.0 Constant PCFIL Position Command Filter 0.0 to 2000.0 Position Loop Proportional Gain 1 1 to 3000 Position Loop Integral Time TPI1...
Page 149: Operation
5.Operation Parameters list ■ General parameters Group3 “ Model following control settings" Control Standard Symbol Name Unit Setting range mode value Model Control Gain 1 1 to 3000 OSSFIL Overshoot Suppressor Filter 1500 1 to 4000 ANRFRQ1 Model Control Antiresonance Frequency 1 80.0 10.0 to 80.0 RESFRQ1...
Page 150 5.Operation Parameters list General parameters Group8 “Control system settings” ■ Control Standard Symbol Name Unit Setting range mode value Position, Velocity, Torque Command Input 00:PC+_ CMDPOL P,V,T 00 to 07 Polarity VC+_TC+ Analog Velocity, Torque Command Input Dead VC/TC-DW P,V,T 0.0 to 6553.5 Band Width 00:F-PC_...
Page 151: Cont6
5.Operation Parameters list General parameters Group9 “Function enabling condition settings” ■ Control Setting Symbol Name Standard value mode range F-OT Positive Over Travel Function P,V,T 0D:CONT6_OFF 00 to 27 R-OT Negative Over Travel Function P,V,T 0B:CONT5_OFF 00 to 27 AL-RST Alarm Reset Function P,V,T 10:CONT8_ON...
Page 152 5.Operation Parameters list General parameters GroupB “Sequence/Alarms related settings” ■ Control Symbol Name Standard value Unit Setting range mode JOGVC JOG Velocity Command P,V,T 0 to 32767 DBOPE Dynamic Brake Operation P,V,T 04:SB_Free 00 to 05 00:CMDINH_ ACTOT Over-Travel Action P,V,T 00 to 06 SB_SON...
Page 153 5.Operation Parameters list General parameters ■ Control Symbol Name Remarks mode This is common with COMAXIS Serial Communication Axis Number P,V,T GroupA ID20 This is common with COMBAUD Serial Communication Baud Rate P,V,T GroupA ID21 This is common with TUNMODE Tuning Mode P,V,T Group0 ID00...
Page 154: Parameter Functions
5.Operation Group 0 Auto-tuning settings Parameter functions Each parameter function is explained below. Group0 “Auto-tuning settings” ■ Contents Tuning Mode Setting range Unit Selection [TUNMODE] 00 to 02 00:AutoTun ■ Set the validity, invalidity of Auto-tuning, and Load inertia moment rate estimation. Selection Contents AutoTun...
Page 155 5.Operation Group 0 Auto-tuning settings Contents Setting range Unit Standard value Auto-Tuning Characteristic [ATCHA] 00 to 06 00:Positioning1 ■ Sets the Auto-Tuning Characteristic best fits to the servo system. Selection Contents Positioning1 Positioning Control 1 (General Purpose) Positioning2 Positioning Control 2 (High Response) Positioning3 Positioning Control 3 (High Response, FFGN Manual Setting) Positioning4...
Page 156 5.Operation Group 0 Auto-tuning settings Contents Auto-Tuning Response Setting range Unit Standard value [ATRES] 1 to 30 ■ Sets the Auto-Tuning Response. The larger the set value, the higher the response. ◆ Caution, if the response is set too high, the machine may oscillate. ◆...
Page 157 5.Operation Group 1 Basic control parameter settings Group1 “Basic control parameter settings” ■ Contents Setting range Unit Standard value Position Command Smoothing Constant [PCSMT] 0.0 to 500.0 ■ This moving low-pass filter smoothes the position command pulse. Sets time constants. Applies gradient to the step condition positioning pulse.
Page 158 5.Operation Group 1 Basic control parameter settings Contents Setting range Unit Standard value Position Command Filter [PCFIL] 0.0 to 2000.0 ■ This low-pass filter suppresses any sudden change of the position control pulse. Sets time constants. This parameter setting is valid when the value of Group1ID04 Higher Tracking Control Position ◆...
Page 159 5.Operation Group 1 Basic control parameter settings Contents Feed Forward Gain Setting range Unit Standard value [FFGN] 0 to 100 ■ Sets feed forward compensation gain to position control system. Model control system compensates for feed forward to Model following system when Position Control Selection is at Model following control.
Page 160 5.Operation Group 1 Basic control parameter settings Contents Velocity Feedback Filter Setting range Unit Standard value [VDFIL] 1 to 4000 1500 ■ First low-pass filter to eliminate ripples caused by encoder pulse included in the velocity control system feedback. Sets the cutoff frequency. When the encoder resolution is low, lowering the setting value and suppressor the ripples can ◆...
Page 161 5.Operation Group 1 Basic control parameter settings Contents Setting range Unit Standard value Load Inertia Moment Ratio 1 [JRAT1] 0 to 15000 ■ Sets inertia moment of the loading device to the servo motor inertia moment. Setting value=J ×100% ◆ ...
Page 162 5.Operation Group 1 Basic control parameter settings Contents Torque Command Filter 1 Setting range Unit Standard value [TCFIL1] 1 to 4000 ■ Low-pass filter to eliminate high frequency component included in the torque command. Sets cutoff frequency. Automatically saved by Auto-tuning result saving. ◆...
Page 163 5.Operation Group 2 “FF (Feed Forward) vibration suppressor control / Notch filter / Disturbance observer settings Group2 “FF (Feed Forward) vibration suppressor control/ Notch filter/ Disturbance observer ■ settings” Contents FF Vibration Suppressor Frequency 1 Setting range Unit Standard value [SUPFRQ1] 5 to 500 ■...
Page 164 5.Operation Group 2 “FF (Feed Forward) vibration suppressor control / Notch filter / Disturbance observer settings Contents Setting range Unit Standard value Torque Command Notch Filter A [TCNFILA] 100 to 4000 4000 ■ Notch filter to eliminate sympathetic vibration element included in torque command. Sets the resonant frequency.
Page 165 5.Operation Group 2 “FF (Feed Forward) vibration suppressor control / Notch filter / Disturbance observer settings Contents Torque Command Notch Filter B Setting range Unit Standard value [TCNFILB] 100 to 4000 4000 Torque Command Notch Filter C Setting range Unit Standard value [TCNFILC] 100 to 4000...
Page 166 5.Operation Group 2 “FF (Feed Forward) vibration suppressor control / Notch filter / Disturbance observer settings Contents Observer Characteristic Setting range Unit Standard value [OBCHA] 00 to 02 00:Low ■ Select frequency characteristic of the disturbance observer Selection Contents For Low Frequency Middle For Middle Frequency High...
Page 167 5.Operation Group 2 “FF (Feed Forward) vibration suppressor control / Notch filter / Disturbance observer settings Contents Setting range Unit Standard value Observer Output Notch Filter [OBNFIL] 100 to 4000 4000 ■ Notch filter to eliminate arbitrarily selected frequency from observer compensation. Sets the resonant frequency.
Page 168 5.Operation Group 3 Model following control settings Group3 “Model following control settings” ■ Contents Setting range Unit Standard value Model Control Gain 1 [KM1] 1 to 3000 ■ Proportional gain for model position controller. Set within the range of 15 to 315 (1/s) when operating with Model following vibration ◆...
Page 169 5.Operation Group 4 Gain switching control/ Vibration suppressor frequency switching settings ■ Group4 “Gain switching control/ vibration suppressor frequency switching settings” Contents Setting range Unit Standard value Model Control Gain 2 [KM2] 1 to 3000 Setting range Unit Standard value Model Control Gain 3 [KM3] 1 to 3000...
Page 170 5.Operation Group 4 Gain switching control/ Vibration suppressor frequency switching settings Contents Setting range Unit Standard value Velocity Loop Integral Time Constant 2 [TVI2] 0.3 to 1000.0 20.0 Setting range Unit Standard value Velocity Loop Integral Time Constant 3 [TVI3] 0.3 to 1000.0 20.0 Setting range...
Page 171 5.Operation Group 4 Gain switching control/ Vibration suppressor frequency switching settings Contents Gain Switching Filter Setting range Unit Standard value [GCFIL] 0 to 100 ■ Low-pass filter to change gain moderately when switching. Sets time constant. When the mechanical system is shocked by the change of gain resulted from gain switching, ◆...
Page 172 5.Operation Group 5 High setting control settings Group5 “High setting control settings” ■ Contents Command Velocity Low-pass Filter Setting range Unit Standard value [CVFIL] 1 to 4000 1000 ■ First low-pass filter to eliminate high frequency elements such as ripples included in the velocity (command velocity) calculated from position command pulse inside high setting control.
Page 173 5.Operation Group 8 control system settings Group8 “Control system settings” ■ Contents Position, Velocity, Torque Command Input Polarity Setting range Unit Standard value [CMDPOL] 00 to 07 00:PC+_VC+_TC+ ■ Select the combination of each command polarity for position command pulse, Analog velocity command and Analog torque command input from the list below.
Page 174 5.Operation Group 8 control system settings Contents Analog Velocity, Torque Command Input Dead Band Setting range Unit Standard value Width [VC/TC-DW] 0.0 to 6553.5 ■ Sets voltage of dead band of Analog velocity command input and Analog torque command input. Command voltage is considered as 0V within the dead band setting range in servo amplifier.
Page 175 5.Operation Group 8 control system settings Contents Position Command Pulse Count Polarity Setting range Unit Standard value [PCPPOL] 00 to 03 00:Type1 Control power a reactivation after setting. ■ Select the Position Command Pulse Count Polarity from the list below: Select according to host equipment.
Page 176 5.Operation Group 8 control system settings Contents Setting range Unit Standard value Electronic Gear 1 Numerator [B-GER1] 1 to 2097152 Electronic Gear 1 Denominator Setting range Unit Standard value [A-GER1] 1 to 2097152 Setting range Unit Standard value Electronic Gear 2 Numerator [B-GER2] 1 to 2097152 Electronic Gear 2 Denominator...
Page 177 5.Operation Group 8 control system settings ■ Example 2. When the encoder resolution is changed by the motor exchange. To change a servo motor with 2000[P/R] pulse encoder,to a servo motor with 8576[P/R] serial encoder without changing upper controller position resolution. Use the calculation formula below and calculate Electronic gear numerator and denominator.
Page 178 5.Operation Group 8 control system settings Contents Positioning Methods Setting range Unit Standard value [EDGEPOS] 00 to 01 00:Pulse_Interval Control power a reactivation after setting. ■ Select the Encoder pulse positioning. Positioning accuracy is improved by selecting Edge positioning when the encoder resolution ◆...
Page 179 5.Operation Group 8 control system settings Contents Setting range Unit Standard value Deviation Clear Selection [CLR] 00 to 03 00:Type1 ■ Sets ON/OFF of position deviation clear during servo OFF, and deviation clear signal treatment. Selects operation during servo OFF. Deviation clear/ Deviation NOT clear ◆...
Page 180 5.Operation Group 8 control system settings Contents Setting range Unit Standard value Preset Velocity Command 1 [VC1] 0 to 32767 Setting range Unit Standard value Preset Velocity Command 2 [VC1] 0 to 32767 Preset Velocity Command 3 Setting range Unit Standard value [VC3] 0 to 32767...
Page 181 5.Operation Group 8 control system settings ■ Examples of setting and operation pattern at Preset Velocity Command Operation VC1 Preset Velocity Command 1 500 [min VC1 Preset Velocity Command 2 1000 [min VC1 Preset Velocity Command 3 1500 [min VC1 Preset Velocity Command 4 2000 [min VC1 Preset Velocity Command 5 2500 [min...
Page 182 5.Operation Group 8 control system settings Contents Setting range Unit Standard value Velocity Compensation Command Input Selection [VCOMSEL] 01 to 02 02:V-COMP ■ Select Velocity compensation command input. Selection Contents Analog velocity compensation command value is used when velocity Analog_Input compensation function is valid.
Page 183 5.Operation Group 8 control system settings ■ About Velocity Compensation Function Velocity Compensation Function is a Feed forward function for the Velocity control system. There are two settings for the Velocity compensation command input function: Preset velocity compensation command and Analog velocity compensation command. Use Preset velocity compensation command to keep the Velocity compensation command fixed.
Page 184 5.Operation Group 8 control system settings Contents Setting range Unit Standard value Velocity Command Acceleration Time Constant [TVCACC] 0 to 16000 Velocity Command Deceleration Time Constant Setting range Unit Standard value [TVCDEC] 0 to 16000 ■ Parameters to restrict Acceleration and Deceleration commands of the Analog velocity command input, Preset velocity command, Analog velocity compensation input, Preset compensation, and JOG operation: Acceleration: 0 min...
Page 185 5.Operation Group 8 control system settings Contents Torque Compensation Command Setting range Unit Standard value Input Selection 01 to 02 02:T-COMP [TCOMSEL] ■ Select Torque compensation command input from the list below: Selection Contents When Torque compensation function in valid, Analog torque Analog_Input compensation command value is used.
Page 186 5.Operation Group 8 control system settings ■ About Torque Compensation Function: The Torque Compensation Function is a feed forward function for the Torque control system. There are two settings for Torque compensation command input function: Preset torque compensation command and Analog torque compensation command. Use preset Torque compensation command at a fixed Torque compensation command value.
Page 187: Torque Limit Function
5.Operation Group 8 control system settings Contents Setting range Unit Standard value Forward Direction Internal Torque Limit Value [TCLM-F] 10.0 to 500.0 100.0 Reverse Direction Internal Torque Limit Value Setting range Unit Standard value [TCLM-R] 10.0 to 500.0 100.0 ■ Limits the Torque output at the setting value when Preset torque limit value is valid. Limits the torque by the ratio for the torque rating (100.0%= torque rating) ◆...
Page 188 5.Operation Group 8 control system settings To use External torque limit ◆  Input External analog voltage from CN1 to restrict forward and reverse rotation torque. ✔ Forward side torque limit input (F-TLA): CN1-18 input voltage range -10V to +10V ✔...
Page 189 5.Operation Group 8 control system settings Input the voltage corresponding to the Torque limit. ◆ Torque Torque 0V -0.2V -2.0V 0V 0.2V +2.0V Voltage setting Voltage setting value value  Enables the Torque limit function Group Symbol Contents Torque Limit Function Selects the condition to enable the Torque limit function.
Page 190 5.Operation Group 8 control system settings Contents Torque Attainment select Setting range Unit Standard value [TASEL] 00 to 01 ■ To select a setting rate type of attaining torque Selection Contents To set percentage of Rated torque TA/TR (Rated torque is 100%) To set percentage of Torque limit value TA/TCLM Torque Attainment Setting...
Page 191 5.Operation Group 8 control system settings Contents Amount t of torque limit value restoration when Setting range Unit Standard value power restored 0.0 to 500.0 10.0 [TLMREST] ■ Sets the amount of restoration per 1ms when power restored from power supply drop, which can cancel torque limit value at power drop.
Page 192 5.Operation Group 8 control system settings In-Position Window Setting range Unit Standard value [INP] 1 to 2147483647 Pulse ■ Sets output range of In-Position signal. Outputs positioning completion signal when position deviation counter value is the setting ◆ value or less. Sets based on the resolution of encoder pulse, regardless of any electronic gears.
Page 193 5.Operation Group 8 control system settings Contents Speed Zero Range Setting range Unit Standard value [ZV] 50 to 500 ■ Setting value for detecting Zero-speed status (motor stop). When the speed becomes lower than this value, Zero-speed status is out. ◆...
Page 194 5.Operation Group 8 control system settings Contents Speed Matching Unit Selection Setting range Unit Standard value [VCMPUS] 00 to 01 ■ Selects Speed Matching Unit setting method. Selection Contents Sets by unit[min Uses the setting value of ID46 [VCMP] Speed Matching Range Sets the ratio to velocity command by [%] unit Percent Uses the setting value of ID47 [VCMPR] Speed Matching Range...
Page 195 5.Operation Group 8 control system settings ■ By combining with Group9, Condition Settings for Enabling Functions, the functions of Group9 are valid for ID42 to ID47. Selection Contents Function is valid while in low speed status (speed is lower LOWV_IN than the LOWV Setting Value) Function is valid while not in low speed status (speed is LOWV_OUT...
Page 196: Velocity Loop Proportional Control Switching
5.Operation Group 9 Function enabling condition settings Group9 “Functions enabling condition settings” ■ Functions- Setting Contents Standard value enabled range input time Positive Over Travel Function [F-OT] 00 to 27 OD:CONT6_OFF 20ms Negative Over Travel Function [R-OT] 00 to 27 OB:CONT5_OFF 20ms Alarm Reset Function [AL-RST]...
Page 197: Cont1_On
5.Operation Group 9 Function enabling condition settings Group9 List of selection contents ■ Keeping the function always valid or invalid Selection Contents Always_Disable Function is always invalid Always_Enable Function is always valid ■ Using function with the generic input signals Selection Contents CONT1_ON...
Page 198: Operation
5.Operation Group 9 Function enabling condition settings ■ Activating the functions using the positioning signals Selection Contents NEAR_IN Function is valid while in Near status NEAR_OUT Function is valid while not in Near status Function is valid while in In-Position status INP_IN (position deviation <...
Page 199 5.Operation Group 9 Function enabling condition settings Description Forward Over-Travel Function [F-OT] Reverse Over-Travel Function [R-OT] ■ The over travel function uses limit switch to prevent damage to the unit. This function forcedly stops the unit when the movement range of the moving part is exceeded. ◆...
Page 200 5.Operation Group 9 Function enabling condition settings Description Alarm reset function [AL-RST] ■ This function enables inputting alarm reset signal from host equipment. Alarm is cleared by enabling alarm reset function (AL-RST). ◆ Allocating conditions to enable alarm reset function. When AL-RST signal enabled, this function clears alarms.
Page 201 5.Operation Group 9 Function enabling condition settings Description Control mode switching function [MS] ■ 2 types of control mode can be switched and used. The control mode to be combined is selected by system parameter and can be switched with control mode switch over function.
Page 202 5.Operation Group 9 Function enabling condition settings Description FF vibration suppression frequency selecting input 1 [SUPFSEL1] FF vibration suppression frequency selecting input 2 [SUPFSEL2] ■ 4 types of FF vibration suppression frequency can be used by switching them. Allocating conditions to enable FF vibration suppression frequency selecting input. You can switch ◆...
Page 203 5.Operation Group 9 Function enabling condition settings Description Velocity loop proportional control switching function [VLPCON] ■ You can switch between velocity loop PI control and P control Enabling velocity loop proportional control switching function (VLPCON)enables swathing. ◆ Allocating conditions to enable velocity loop proportional control switching function. When VLPCON ◆...
Page 204 5.Operation Group 9 Function enabling condition settings GroupA “General output terminal output condition/ Monitor output selection/ Serial ■ communication settings” Contents Setting range Unit Standard value General Purpose Output 1 [OUT1] 00 to 5F 18:INP_ON General Purpose Output 2 [OUT2] 00 to 5F 0C:TLC_ON General Purpose Output 3 [OUT3]...
Page 205 5.Operation Group A General output terminal output condition / Monitor output selection/ Serial communication settings When Positioning signal is to be output ◆ While In-Position Status 18:INP_ON 19:INP_OFF While Near Range Status 1A:NEAR_ON 1B:NEAR_OFF While In-Position with Position 5A:INPZ_ON 5B:INPZ_OFF Command 0 Status When Warning signal is to be output ◆...
Page 206 5.Operation Group A General output terminal output condition / Monitor output selection/ Serial communication settings Contents Setting range Unit Standard value Analog Monitor Select Output 1 [MON1] 00 to 1C 05:VMON_2mV/min Analog Monitor Select Output 2 [MON2] 00 to 1C 02:TCMON_2V/TR ■...
Page 207 5.Operation Group A General output terminal output condition / Monitor output selection/ Serial communication settings Contents Analog Monitor Output Polarity Setting range Unit Standard value [MONPOL] 00 to 08 00:MON1+_MON2+ ■ Select Output polarity of Analog monitor output, MON1and MON2 For both MON1 and MON2, set from any of the followings: ◆...
Page 208 5.Operation Group A General output terminal output condition / Monitor output selection/ Serial communication settings Contents Serial Communication Axis Number Setting range Unit Standard value [COMAXIS] 01 to 0F 01:#1 Control power reactivation after setting ■ Select Axis number from below for Serial communication (RS-232C/RS-422A) with PC or upper controller: As this number identifies each servo amplifier, assign the different number so that the servo ◆...
Page 209 5.Operation Group B sequence/Alarm related settings GroupB “Sequence/Alarm related settings” ■ Contents Setting range Unit Standard value JOG Velocity Command [JOGVC] 0 to 32767 ■ Set velocity command value for JOG operation. This value is set as initial setting value for JOG Velocity Command for setup software. ◆...
Page 210 5.Operation Group B sequence/Alarm related settings Contents Setting range Unit Standard value Over-Travel Action [ACTOT] 00 to 06 00:CMDINH_SB_SON ■ Select operations at over-travel action Selection Contents When in Over-travel action, Command input is invalid and servo brake stops servo motor. CMDINH_SB_SON After servo motor stops, servo is ON.
Page 211 5.Operation Group B sequence/Alarm related settings Contents Delay Time of Engaging Holding Brake Setting range Unit Standard value (Holding Brake Holding Delay time) 0 to 1000 [BONDLY] ■ Sets holding-brake-activation delay time from when power distribution to holding brake stopped till when holding torque generated.
Page 212 5.Operation Group B sequence/Alarm related settings ■ About Holding Brake Holding brake  Servo motor with Holding brake function is usually used with an axis that is always affected by gravity and external forces in order to avoid movable parts falling off from its position when main circuit power is OFF, or servo OFF.
Page 213 5.Operation Group B sequence/Alarm related settings Contents Power Failure Detection Delay Time Setting range Unit Standard value [PFDDLY] 20 to 1000 Control power reactivation after setting ■ Sets the delay time from Control power OFF to Control power error detection. The larger value makes the detection of Instantaneous stop slower.
Page 214 5.Operation Group C Encoder related settings GroupC “Encoder related settings” ■ Contents Setting range Unit Standard value Motor Pulse Encoder Digital Filter [ENFIL] 00 to 07 01:220nsec ■ This parameter is settable only when using pulse encoder. Sets Digital filter to motor Pulse encoder. Pulse lower than the set value is eliminated as noise when noise superposition occurs in encoder signals.
Page 215 5.Operation Group C Encoder related settings Contents External Pulse Encoder Polarity Selection Setting range Unit Standard value [EX-ENPOL] 00 to 07 00:Type1 Control power reactivation after setting ■ This parameter is settable only when using fully closed control function. Select External pulse encoder signal polarity. ◆...
Page 216 5.Operation Group C Encoder related settings Contents Setting range Unit Standard value Encoder Output Pulse Division 1/1 to 1/64 [ENRAT] 2/3 to 2/64 1/32768 to 32767/32768 ■ Sets ratio of Encoder output pulse division. When the numerator of the dividing ratio is 1, setting range of the denominator is 1 (not divide), ◆...
Page 217 5.Operation Group C Encoder related settings Contents Encoder Output Pulse Divide Resolution Selection Setting range Unit Standard value [PULOUTRES] 00 to 01 00:32768P/R Control power reactivation after setting ■ This parameter is settable only when using serial encoder. Sets resolution of Encoder output pulse divide. ◆...
Page 218 5.Operation Group C Encoder related settings Contents Mask Level of Encoder Connector 1 Disconnection Setting range Unit Standard value Alarm 0 to 10000 [DE1MSKLVL] ■ This is to set encoder pulse frequency (1 multiplied) masking the detection of Encoder connector 1 disconnection alarm (Alarm code: 81).
Page 219: Control Block Diagram
5.Operation Group 9 Function enabling condition settings 5.10 Control block diagram Auto-tuning Without using Model control Position command pulse TUNMODE ATRES frequency monitor 1 [G0-00] [G0-02] PMOD [Feed forward control] ATCHA ATSAVE [G8-10] Position [G0-01] [G0-03] FFFIL command FFGN PCPPOL [G1-06] pulse [G1-05]...
Page 220 5.Operation Control block diagram/ using model control Position command Position command pulse frequency pulse frequency [Feed forward control] monitor 2 Using model following control monitor 1 Analog monitor FFGN FFFIL [G1-05] [G1-06] FF Vibration suppressor Auto-tuning control TRCPGN PMOD [G1-04] TLSEL [G8-10] B-GER1...
Page 221 5.Operation Control block diagram/ model following vibration suppression control [Feed forward control] Position command Position command Using Model following vibration suppressor control pulse frequency pulse frequency FFGN FFFIL monitor 1 monitor 2 [G1-05] [G1-06] FF Vibration (Analog monitor) [Machine model] suppressor [Used when adjustment] control...
Page 222: Parameter Setting
5.Operation SEMI F47 Supporting function 5.11 SEMI F47 supporting function This function limits motor current when it detects voltage sag warning due to instantaneous power failure (when voltage dropped to 135~152VAC). This function is provided to support acquiring “SEMI F47 Standard” that is requisite for semiconductor equipments.
Page 223 No Text on This Page.
Page 224 6. Adjustments Servo tuning functions and basic adjustment procedure ········································································6-1 Servo tuning functions ·················································································································6-1 Tuning method selection procedure ································································································6-2 Automatic tuning ···························································································································6-3 Use the following parameters for automatic tuning ·············································································6-3 Automatically adjusted parameters in auto-tuning ··············································································6-6 Adjustable parameters during auto-tuning ························································································6-7 Unstable functions during auto-tuning ·····························································································6-8 Auto-tuning characteristic selection flowchart ···················································································6-9 Adjustment method for auto-tuning ·······························································································...
Page 225: Servo Tuning Functions And Basic Adjustment Procedure
6.Adjustments Selection of tuning method 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 226: Tuning Method Selection Procedure
6.Adjustments Selection of tuning method Model following control ■ Model following control is a control method that ensures a higher detection response by composing a model control system including the mechanical system in a servo amplifier to operate the actual servo motor in order to follow the model control system. Model following control ◆...
Page 227: Automatic Tuning
6.Adjustments Automatic tuning Automatic tuning 1) Use the following parameters for automatic tuning Explanation of Automatic tuning functions Use the following parameters for Automatic tuning” ■ (For explanation of parameters, see following pages) Group0 ID00 [Tuning Mode] ◆ 00:_AutoTun Automatic Tuning 01:_AutoTun_JRAT-Fix Automatic Tuning [JRAT manual setting] 02:_ManualTun...
Page 228 6.Adjustments Automatic tuning Contents 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. Set the parameters based on the situation. ■ [Positioning control (Positioning)] Positioning control is a control method used to reach the servo motor quickly to target a position from the present position by disregarding the trajectory between the positions.
Page 229 6.Adjustments Automatic tuning Auto-Tuning Characteristic [ATCHA] Selection Meaning Positioning 4 Positioning control 4(High Response, Horizontal Axis Limited) Select this mode when the machine movement is on a horizontal axis and receives no ◆ disturbing influence from external sources. Positioning time may be shortened compared to “Positioning Control 2”. ◆...
Page 230: Automatically Adjusted Parameters In Auto-Tuning
6.Adjustments Automatic tuning 2) Automatically adjusted parameters in auto-tuning The following parameters are automatically adjusted at the time of auto-tuning. These parameters will not reflect on motor movements by changing or overriding those values. However, some of them can be adjusted manually depending on selected [Tuning Mode] and [Auto-Tuning Characteristic]. General parameters Group1 [Basic control parameter settings] ■...
Page 231: Adjustable Parameters During Auto-Tuning
6.Adjustments Automatic tuning 3) Adjustable parameters during auto-tuning The following parameters are adjustable during auto-tuning: General parameters Group1 [Basic control parameter settings] ■ Symbol Name PCSMT Position Command Smoothing Constant PCFIL Position Command Filter FFFIL Feed Forward Filter Velocity Command Filter VCFIL Velocity Feedback Filter VDFIL...
Page 232: Unstable Functions During Auto-Tuning
6.Adjustments Automatic tuning 4) Unstable functions during auto-tuning The following functions CANNOT be used during auto-tuning: General parameters Group9 [Function enabling condition settings] ■ Symbol Name Gain Switching Condition 1 Gain Switching Condition 2 PLPCON Position Loop Proportional Control Switching Function Velocity Loop Proportional Control Switching Function VLPCON Disturbance Observer Function...
Page 233: Auto-Tuning Characteristic Selection Flowchart
6.Adjustments Automatic tuning 5) Auto-tuning characteristic selection flowchart Start tuning Set tuning mode 00:_AutoTun Automatic Tuning Can Automatic estimate JRAT? Change tuning mode to 01:_AutoTun_JRAT-Fix Automatic Tuning [JRAT Manual Setting] Set JRAT1 Are there any problems with response or setting time? Match the characteristics between the axes? Use trajectory control? Change Auto-Tuning Characteristic...
Page 234: Adjustment Method For Auto-Tuning
6.Adjustments Automatic tuning 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. ■ Set “tuning mode” to “00:_AutoTun automatic tuning” to estimate load inertia moment ratio by servo amplifier on a real-time basis, and then automatically adjust servo gain.
Page 235: Monitoring Servo Gain Adjustment Parameters
6.Adjustments Automatic tuning 7) Monitoring servo gain adjustment parameters Parameters automatically adjusted when using auto-tuning can be monitored with Digital Operator, setup software. Refer to [Digital operator (7)] for use of Digital Operator. Symbol Name Unit JRAT MON Load Inertia Moment Ratio monitor KP MON Position Loop Proportional Gain monitor KVP MON...
Page 236: Automatic Tuning Of Notch Filter
6.Adjustments Automatic tuning of notch filter Automatic tuning of notch filter Automatic notch filter can suppress high frequency resonance resulting from coupling and rigidity from the device mechanism. With short periods of operation of servo amplifier and servo motor, the mechanical resonance frequency can be found easily.
Page 237: Automatic Tuning Of Ff Vibration Suppression Frequency
6.Adjustments Automatic FF vibration suppression frequency tuning Automatic tuning of FF vibration suppression frequency Set FF vibration suppression frequency to suppress low frequency vibration at the tip or body of the machine. Automatic tuning of FF Vibration suppression frequency simply enables the frequency tune in minimal motion cycle time between the servo amplifier and the servo motor.
Page 238: Using Manual Tuning
6.Adjustments Manual tuning Using manual tuning All gain is adjustable manually using manual tuning mode when characteristics in auto-tuning are insufficient. Sets tuning mode to “manual tuning.” General parameters Group0 ID00 [Tuning Mode] ■ 02:_ManualTun Manual Tuning 1) Servo system configuration and servo adjustment parameters The servo system consists of three (3) subsystems: Position loop, Velocity loop and Current loop.
Page 239 6.Adjustments Manual tuning 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 Higher Tracking Control Position Compensation Gain is set to other than 0%, this parameter is ✔...
Page 240: Basic Manual Tuning Method For Velocity Control
6.Adjustments Manual tuning 2) Basic manual tuning method for velocity control Set value of Velocity Loop Proportional Gain (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 241: Model Following Control
6.Adjustments Model following control Model following control Model following control is a method used to obtain a higher response. Model control systems include mechanical devices in a servo amplifier and run a servo motor in order to track the Model control system.
Page 242: Manual Tuning Method For Model Following Control
6.Adjustments Model following control 2) Manual tuning method for model following control Set value of Velocity Loop Proportional Gain (KVP1) as high a value as possible within the ■ range that mechanical system stably works without any vibration or oscillation. If vibration occurs, lower the value.
Page 243: Tuning To Suppress Vibration
6.Adjustments FF vibration suppression control/model following vibration suppression control Tuning to suppress vibration 1) FF vibration suppression control FF vibration suppression control can be used as a method of suppressing the vibration of the mechanical tip. ■ Adjust this gain by using the same basic tuning procedures from Position control. When vibration rises on the machine tip during operation, use [Auto-FF vibration suppression ■...
Page 244 6.Adjustments Model following vibration suppression control Adjustable parameters in Model following vibration suppression control ■ ◆ General parameters Group3 [Model following control settings] Symbol Name Unit Setting range Model Control Gain１ 15 to 315 OSSFIL Overshoot Suppression Filter 1 to 4000 ANRFRQ1 Model Control Antiresonance Frequency 1 10.0 to 80.0...
Page 245: Tuning Methods
6.Adjustments Model following vibration suppression control 3) Tuning methods First, select “01: _Model_1 model following control” from “ID0A: position control selection” of ■ system parameters, and then perform auto-tuning with “model following control” to adjust the machine to optimum servo gain. Refer to Auto-tuning method for model following control for instructions on tuning.
Page 246: Using Disturbance Observer Function
6.Adjustments Disturbance observer Using disturbance observer function The servo motor speed will fluctuate when an external force is applied to the operating machine, and it may affect the machine operation. 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.
Page 247 No Text on This Page.
Page 248 7. Digital Operator Digital Operator names and functions ································································································7-1 Modes ·········································································································································7-1 Changing modes ························································································································7-1 Mode contents ···························································································································7-2 Setting and display range ················································································································7-3 Status display mode ·······················································································································7-4 Servo amplifier status display ········································································································7-4 Over-travel status display ·············································································································7-4 Status display of battery warning, regenerative overload warning, and overload warning ···························7-4 Alarm code and servo amplifier status code when alarm occurs ···························································7-4 Alarm reset when alarm activated ··································································································7-5 How to check the software version of servo amplifier ·········································································7-5...
Page 249: Digital Operator
7.Digital Operator Names and functions Digital Operator names and functions It is possible to change or set the parameters and to confirm the status display, monitor display, test operation and alarm history with the built-in digital operator. ■ Names Displays 5-digit, 7-segment LED Cursor movement, decision, and writing Key MODE...
Page 250: Mode Contents
7.Digital Operator Mode contents 2) Mode contents Mode Contents Status Display ■ Displays the establishment of control or main power supply, Servo ON, over-travel, warning and alarm status. Basic parameter ■ Parameters necessary for test operations by JOG and auto-tuning. Can be set at general parameter mode.
Page 251: Setting And Display Range
7.Digital Operator Setting and display range Setting and display range Digital operator displays data becomes the following form. ■ Data of 0 to +65535 Symbol Digital operator display Range of a digit display Plus Position of 1 display 0 to 9 Plus Position of 10 display 10 to 99...
Page 252: Status Display Mode
7.Digital Operator Status display mode Status display mode In this mode, the state of servo amplifier and the display of the alarm number when alarm occurring can be checked. In addition to these, reset of alarm, the software version check of servo amplifier, and setup of a password can be performed at the time of an alarm number display.
Page 253: Alarm Reset When Alarm Activated
7.Digital Operator Status display mode 5) Alarm reset when alarm activated Alarm can be reset from the digital operator. However, the alarm that needs to perform power supply reset cannot be reset from the digital operator. About the alarm that performs power supply reset, can check by [Warning and Alarm List (8-3)] Displayed Input...
Page 254: How To Check Information 1, Information 2 (Servo Amplifier Information), And Information 3 (Motor Code)
7.Digital Operator Status display mode 7) How to check Information 1, Information 2 (servo amplifier information), and Information 3 (Motor Code) Displayed Input Step character, How to operate button number, code Make the state of servo amplifier, or the state where alarm is displayed.
Page 255: How To Set Pass Ward
7.Digital Operator Status display mode 8) How to set pass ward The function that can be used by setting up a password from digital operator can be restricted, and change of a parameter etc. can be forbidden. The function and the setting method can be used is the following.
Page 256: Editing Parameters
7.Digital Operator Parameter edition Editing parameters The parameter inside servo amplifier can be changed into a setup put together with equipment and the machine of usage in fundamental parameter edit mode, general parameter edit mode, and system-parameter edit mode. Here, the setting method is explained to an example for fundamental parameter edit mode. 1) Basic parameters, editing system parameters Displayed Input...
Page 257: Editing General Parameters
7.Digital Operator Parameter edition 2) Editing general parameters Editing method of general parameters other than Group C ID04 “Encoder Output Pulse Division” For example, method to change Group9 ID01 “Negative Over Travel Function ”from “0B” to ”00“ is as follows. Letters, numerical Input Step...
Page 258 7.Digital Operator Parameter edition “GrC.04” is displayed. Hold down WR for over a second. MODE “Gr nu” is displayed. Hold down WR for over a second. Display to be switched, and then rightmost LED flashes. The set data are displayed. The display left shows “1” as nu is set first.
Page 259: How To Tune Automatic Notch Frequency
7.Digital Operator How to tune automatic notch frequency How to tune automatic notch frequency Displayed character, Input Step How to operate number, code button MODE Push MODE until it displays the left. Display changes and right end LED blinks. Make as the left display with addition and subtraction and the cursor button.
Page 260: How To Tune Automatic Ff Vibration Suppression Frequency
7.Digital Operator How to tune automatic FF vibration suppression frequency How to tune automatic FF vibration suppression frequency Displayed Input Step character, number, How to operate button code MODE Push MODE until it displays the left. Display changes and right end LED blinks. Make as the left display with addition and subtraction and the cursor button.
Page 261: Offset Adjustment Of Velocity/ Torque Command
7.Digital Operator Velocity/ torque command offset Offset adjustment of velocity/ torque command ■ Method of auto offset Displayed Input Step character, number, How to operate button code MODE Push MODE until it displays the left. Display changes and right end LED blinks. Make as the left display with addition and subtraction and the cursor button.
Page 262: Offset Adjustment Of Analog Torque Compensation Command
7.Digital Operator Analog torque compensation command offset Offset adjustment of analog torque compensation command ■ Method of auto offset Displayed Input Step character, How to operate button number, code MODE Push MODE until it displays the left. Display changes and right end LED blinks. Make as the left display with addition and subtraction and the cursor button.
Page 263: Velocity-Controlled Jog Operation
7.Digital Operator Velocity-controlled JOG Operation 7.10 Velocity-controlled JOG Operation Displayed Input Step character, How to operate button number, code MODE Push MODE until it displays the left. Display changes and right end LED blinks. Make as the left display with addition and subtraction and the cursor button.
Page 264: Encoder Clear
7.Digital Operator Encoder clear, automatic tuning result writing 7.11 Encoder clear Displayed Input Step character, How to operate button number, code MODE Push MODE until it displays the left. Display changes and right end LED blinks. Make as the left display with addition and subtraction and the cursor button.
Page 265: Automatic Setting Of Motor Parameter
7.Digital Operator Automatic setting motor parameter, alarm history display 7.13 Automatic setting of motor parameter Displayed Input Step character, How to operate button number, code MODE Push MODE until it displays the left. Display changes and right end LED blinks. Make as the left display with addition and subtraction and the cursor button.
Page 266: How To Clear Alarm History
7.Digital Operator Alarm history clear, monitor display 7.15 How to clear alarm history Displayed Input Step character, How to operate button number, code MODE Push MODE until it displays the left. Display changes and right end LED blinks. Display the left with the addition-and-subtraction button. Push WR for more than 1 second.
Page 267: Fixed Monitor Display
7.Digital Operator Fixed monitor display, setting motor code of servo amplifier to be used 7.17 Fixed monitor display The display shows monitoring value in a second after powering up. It shows monitoring value set at [Group A ID30: Monitor Display Selection [MONDISP]] in status display mode.
Page 268 8. Maintenance Trouble shooting ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-1 List of warning and alarm ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-3 1) Warning List ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-3 2) Alarm List ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-4 Trouble shooting when alarm activated ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-7 1) Alarm display ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-7 2) Corrective action for alarm ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-7 Encoder clear and alarm reset ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
Page 269: Troubleshooting
8.Maintenance Trouble shooting 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 “Trouble Shooting When Alarm Occurs “. “≡“ does not blink in 7-segment LED even if main power is ON. ■...
Page 270 8.Maintenance Trouble shooting Servo motor rotates only once, and stops. ■ Investigation Assumed causes and corrective actions Check motor power line. ■ The servo motor power line is not connected. Check a setup of a combination motor. Check a setup of encoder resolution. (System ■...
Page 271: Warning List
8.Wiring List of warning and alarm List of warning and alarm Names and contents of warning/ alarm, and the stop operations when detected, and alarm-reset methods are listed below. 1) Warning List Warning Title Warning Contents ■ When the effective torque exceeds the Overload Warning Overload Warning Level Load system...
Page 272 8.Maintenance Alarm list 2) Alarm List Operation at detecting: “DB” performs the slowdown stop of the servo motor in dynamic brake operation when the alarm generating. Operation at detecting: “SB” performs the slowdown stop of the servo motor with sequence current limiting value. When dynamic brake is selected by Emergency Stop Operation selection, the servo motor is decelerating stopped for the dynamic brake operation regardless of the operation when detecting it.
Page 273 8.Maintenance Alarm list Alarm code Detection Alarm 3 bits output PY compatible code Alarm name Alarm contents Operations Clear Display Bit7 Bit6 Bit5 ALM8 ALM4 ALM2 ALM1 ■ Pulse encoder (A, B, Z) signal line break Encoder Connector 1 Disconnection “...
Page 274 8.Maintenance Alarm list Alarm code Detection Alarm 3 bits output PY compatible code Alarm name Alarm contents Operations Clear Display Bit7 Bit6 Bit5 ALM8 ALM4 ALM2 ALM1 ■ Motor rotation speed is 120 % more than the highest Over-speed speed limit ■...
Page 275 8.Maintenance Trouble shooting when alarm activated Trouble shooting when alarm activated 1) Alarm display When an alarm occurs, the display shows the alarm code and the status code of the servo amplifier. Display Description Take appropriate action based on 2) Corrective action for alarm. Status code of the servo amplifier Alarm code Code...
Page 276 8.Maintenance Trouble shooting when alarm occurs Alarm code 22 (Current Detection Error 0) ■ Cause Status at the time of alarm Issued when servo is turned ON. ✔ ✔ Corrective actions ◆ Cause Investigation and corrective actions ■ Defect in internal circuit of servo ■...
Page 277: Alarm Code
8.Maintenance Trouble shooting when alarm occurs ■ Alarm code 26 (Safe Torque Off error 2) 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 278 8.Maintenance Trouble shooting when alarm activated Alarm code 42 (Overload 2) ■ Cause Status at the time of alarm Issued at input of servo ON. ✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔ After command input, issued without rotating the servo motor. ✔...
Page 279 8.Maintenance Trouble shooting when alarm activated Alarm code 43 (Regenerative Overload) ■ Cause Status at the time of alarm Issued when power supply control is turned ON. ✔ Issued when power supply of main circuit is turned ON. ✔ ✔ ✔...
Page 280 8.Maintenance Trouble shooting when alarm activated ■ Alarm code 51 (Amplifier Overheat) Cause Status at the time of alarm Issued when power supply control is turned ON. ✔ ✔ ✔ Issued during operation. ✔ ✔ ✔ ✔ Issued after emergency stop. ✔...
Page 281 8.Maintenance Trouble shooting when alarm activated ■ Alarm Code 53 (Dynamic Brake Resistor Overheat) Cause Status at the time of alarm Issued when power supply control is turned ON. ✔ Issued during operation. ✔ ✔ ◆ Corrective actions Cause Investigation and corrective actions ■...
Page 282 8.Maintenance Trouble shooting when alarm occurs ■ Alarm Code 55 (External Error) When host device or thermal output signal of external regenerative resistor are not connected Cause Status at the time of alarm Issued when power supply control is turned ON. ✔...
Page 283 8.Maintenance Trouble shooting when alarm activated ■ Alarm Code 56 (Main Circuit Power Device Overheat) Cause Status at the time of alarm Issued when control power is turned ON. ✔ ✔ ✔ Issued at servo input. ✔ ✔ ✔ Issued while starting and stopping the servo motor. ✔...
Page 284 8.Maintenance Trouble shooting when alarm activated Alarm Code 62 (Main Circuit Under-voltage) ■ Cause Status at the time of alarm Issued when power supply control is turned ON. ✔ ✔ Issued after power supply of main circuit is turned ON. ✔...
Page 285 8.Maintenance Trouble shooting when alarm activated ■ Alarm Code 71 (Control Power Supply Under-voltage) Cause Status at the time of alarm Issued when power supply control is turned ON. ✔ ✔ Issued during operation. ✔ ✔ Corrective actions ◆ Cause Investigation and corrective actions ■...
Page 286 8.Maintenance Trouble shooting when alarm activated Alarm Code 81 (Encoder Connector Disconnection 1) ■ ■ Alarm Code 83 (Encoder Connector Disconnection 2) Alarm Code 87 (CS Signal Disconnection) ■ Cause Status at the time of alarm Issued when power supply control is turned ON. ✔...
Page 287 8.Maintenance Trouble shooting when alarm activated Alarm Code 85 (Encoder Initial Process Error) ■ Cause Status at the time of alarm Issued when power supply control is turned ON. ✔ ✔ ✔ ✔ ✔ Corrective actions ◆ Cause Investigation and corrective actions ■...
Page 288 8.Maintenance Trouble shooting when alarm activated Alarm Code A1 (Serial Encoder Internal Error 1) ■ Cause Status at the time of alarm Issued when power supply control is turned ON. ✔ ✔ Issued during operation. ✔ ✔ Corrective actions ◆ Cause Investigation and corrective actions ■...
Page 289 8.Maintenance Trouble shooting when alarm activated Alarm Code A3 (Serial Encoder Internal Error 3) ■ Cause Status at the time of alarm Issued when power supply control is turned ON. ✔ ✔ Issued while stopping the servo motor. ✔ ✔ Issued while rotating the servo motor.
Page 290 8.Maintenance Trouble shooting when alarm activated Alarm Code A9 (Serial Encoder Internal Error 9) ■ Cause Status at the time of alarm Issued when control power supply is turned ON. ✔ ✔ Issued while stopping the servo motor. ✔ ✔ Issued while rotating the servo motor.
Page 291 8.Maintenance Trouble shooting when alarm activated Alarm Code C2 (Velocity Control Error) ■ Cause Status at the time of alarm Issued while due to input of Servo ON. ✔ ✔ Issued if command is entered. ✔ ✔ ✔ Issued while starting and stopping the servo motor. ✔...
Page 292 8.Maintenance Trouble shooting when alarm activated ■ Alarm Code C5 (Model Tracking Vibration Suppression, Control Error) Cause Status at the time of alarm Issued after entering position command pulse. ✔ ✔ ✔ Corrective actions ◆ Cause Investigation and corrective actions ■...
Page 293 8.Maintenance Trouble shooting when alarm activated ■ Alarm Code D2 (Faulty Position Command Pulse Frequency 1) Cause Status at the time of alarm Issued after entering position command pulse. ✔ Corrective actions ◆ Cause Investigation and corrective actions ■ Decrease the frequency of the command ■...
Page 294 8.Maintenance Trouble shooting when alarm activated Alarm Code E1 (EEPROM Error) ■ Cause Status at the time of alarm Issued during display key operation or set up software operation. ✔ Corrective actions ◆ Cause Investigation and corrective actions ■ Defect in internal circuit of servo ■...
Page 295 8.Maintenance Trouble shooting when alarm activated Alarm Code E5 (System Parameter Error 1) ■ Cause Status at the time of alarm Issued when control power supply is turned ON. ✔ ✔ Corrective actions ◆ Cause Investigation and corrective actions ■ Selected value is outside the ■...
Page 296 8.Maintenance Trouble shooting when alarm activated Alarm Code EE (Motor Parameter Automatic Setting Error 1) ■ Cause Status at the time of alarm Issued after motor parameter automatic setting functional execution. ✔ ✔ ✔ Corrective actions ◆ Cause Investigation and corrective actions ■...
Page 297 8.Maintenance Encoder-clear and alarm-reset Encoder clear and alarm reset Procedure of “encoder clear and alarm reset method“ varies depending on motor encoder you use. Perform “encoder clear and alarm reset“ for motor encoder you use by referring to “2) Alarm code activated.“...
Page 298 8.Maintenance Encoder-clear and alarm-reset Alarm Code A4 (Serial Encoder Internal Error 4) ■ The “Motor encoder“ and the “Encoder clear and Alarm reset “ method in use. ◆ Type Method PA035S “Alarm reset” after “Encoder clear” PA035C Or “Turn on the control power again” RA035C Alarm Code A5 (Serial Encoder Internal Error 5) ■...
Page 299 8.Maintenance Inspection Inspection For maintenance purposes, a daily inspection is typically sufficient. Upon inspection, refer to the following description. Inspection Inspection Testing conditions Solution if abnormal Inspection Items Methods location During While Time operation stopping Check for Daily ✔ Vibration excessive vibration.
Page 300: Service Parts
ON/OFF, or the motor is not used for a long period, then the life of lithium battery is reduced. If the battery power is less than 3.6 V during inspection, replace it with new one. SANYO DENKI-overhauled servo amplifier is shipped with the same parameters as the ones ■...
Page 301 8.Maintenance Service parts 2) Replacing battery 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 case. Remove the battery connector. Take out the used lithium battery and put in the new replacement one. Attach the connector in the right direction.
Page 302 9. Fully closed control Illustration of system configuration ····································································································9-1 Internal block diagram ····················································································································9-4 Wiring ·········································································································································9-6 Signal names and pin numbers of EN1 and EN2 ···············································································9-6 Connector layout of EN1 and EN2 ·································································································9-8 Fully closed control related parameters ······························································································9-9 System parameters settings ·········································································································9-9 Rotational direction setting for the servo motor ···············································································...
Page 303: Fully Closed Control
9.Fully closed control Illustration of system configuration Illustration of system configuration  RS2□01/RS2□03/RS2□05 T S R SANMOTION R ADVANCED MODEL Molded case circuit breaker (MCCB) Used to protect power line. Turns off the power supply when [Setup software] overcurrent runs. Enables parameter setting and monitoring through communication with a PC.
Page 304 9.Fully closed control Illustration of system configuration ■ RS2□10/RS2□15 T S R Molded case circuit breaker (MCCB) Used to protect power line. [Setup software] Turns off the power supply when Enables parameter SANMOTION R ADVANCED MODEL overcurrent runs. setting and monitoring through communication with a PC.
Page 305 9.Fully closed control Illustration of system configuration ■ RS2□30 T S R [Molded case circuit breaker (MCCB)] Used to protect power line. Turns off the power supply when overcurrent runs. [Noise filter] Installed to protect power line [Setup software] from external noise. Enables parameter setting and monitoring SANMOTION R ADVANCED MODEL...
Page 306: Internal Block Diagram
9.Fully closed control Internal block diagram Internal block diagram Position command pulse frequency monitor 1 Auto-tuning PMOD [G8-10] [Feed forward control] Without using Model control TUNMODE ATRES [G0-00] [G0-02] Position PCPPOL [G8-11] command FFFIL FFGN ATCHA ATSAVE pulse [G1-06] [G1-05] [G0-01] [G0-03] PCPFIL...
Page 307 9.Fully closed control Internal block diagram Position command pulse Using Model following vibration suppressor control frequency monitor Position command pulse [Feed forward control] (Analog monitor) frequency monitor 1 FFGN FFFIL [G1-05] [G1-06] [FF vibration Auto-tuning TRCPGN suppressor control] PMOD TLSEL [G1-04] [G8-10] B-GER1...
Page 308: Wiring
9.Fully closed control Wiring Wiring 1) Signal names and pin numbers of EN1 and EN2 Battery backup method absolute encoder ■ R-series Q-series Servo Servo motor Servo motor Remarks Amplifier EN1 Signal name plug pin number Description plug pin Note 1) Terminal No.
Page 309 9.Fully closed control Wiring Battery-less absolute encoder ■ Q-series R-series Servo Servo Signal Servo motor Remarks Amplifier EN1 motor Description name plug pin number Note 1) Terminal No. plug pin (Specification for leads) number 9 (Red) Power supply Twisted pair 10 (Black) Power supply (Recommendation)
Page 310: Connector Layout Of En1 And En2
9.Fully closed control Wiring EN2 Wiring (External pulse encoder) ■ Signal Terminal Description Note 1) name Note 3) Twisted pair Common power Twisted pair source Note 4) Note 3) Common power source Note 4) B-phase pulse Twisted pair output A-phase pulse Twisted pair output Z-phase pulse...
Page 311: Fully Closed Control Related Parameters
9.Fully closed control Fully closed control related parameters Fully closed control related parameters When using by fully closed control, please set a parameter as follows. 1) System parameters settings The System parameters have the following restrictions when fully closed control is used for operation: Fully closed control becomes valid when the Control mode is in [Positions control].
Page 312 9.Fully closed control Fully closed control related parameters 2) Rotational direction setting for the servo motor Rotation of the servo motor in Fully closed control is determined by Command polarity and External pulse encoder polarity. Contents “Group8 ID00”Position, Velocity, Torque Command Input Polarity ■...
Page 313: Digital Filter Setting
9.Fully closed control Fully closed control related parameters 4) Digital filter setting “GroupC ID01” External Pulse Encoder Digital Filter ■ Setting Digital filter of External pulse encoder When noise is superimposed on the External pulse encoder, the pulse below set value is removed as noise.
Page 314: Remarks
9.Fully closed control Remarks Remarks 1) Input power timing for external pulse encoder Please provide the power supply for the External pulse encoder on your own. ■ Turn the power ON before or at the same time of inputting the Control power to the servo ■...
Page 315 No Text on This Page.
Page 316: Safe-Torque-Off (Sto) Function
10. Safe-Torque-Off (STO) function 10.1 Illustration of system configuration ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-1 10.2 Safe-Torque-Off (STO) function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-4 Outline ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-4 Standards conformity ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-4 Risk assessment ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-5 Residual risk ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-5 Delay circuit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-5 10.3 Wiring ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10-6 CN4 connector layout ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
Page 317: Safe Torque Off Function
10.Safe Torque Off Function System configuration 10.1 Illustration of system configuration ■ RS2□01/RS2□03/RS2□05 T S R [Molded case circuit breaker (MCCB)] SANMOTION R ADVANCED MODEL Used to protect power line. Turns off the power supply when overcurrent runs. [Setup software] Enables parameter setting and monitoring through communication with a PC.
Page 318 10.Safe Torque Off Function System configuration RS2□10/RS2□15 ■ T S R [Molded case circuit breaker (MCCB)] Used to protect power line. [Setup software] Turns off the power supply when Enables parameter overcurrent runs. setting and monitoring SANMOTION R ADVANCED MODEL through communication with a PC.
Page 319 10.Safe Torque Off Function System configuration ■ RS2□30 T S R [Molded case circuit breaker (MCCB)] Used to protect power line. Turns off the power supply when overcurrent runs. [Noise filter] Installed to protect power line from external noise. [Setup software] Enables parameter setting and monitoring SANMOTION R ADVANCED MODEL...
Page 320 10.Safe-Torque-Off function Safe-Torque-Off function 10.2 Safe-Torque-Off (STO) 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 321: Risk Assessment
10.Safe Torque Off Function Risk assessment 3) Risk assessment This servo amplifier unit meets the requirements of the above functional safety standards. However, before activating this safety function, make sure to assess the risks associated with the overall equipment to ensure safety. 4) Residual risk Even if this function activated, the following risks remain.
Page 322 10.Safe Torque Off Function Wiring 10.3 Wiring 1) CN4 connector layout CN4 2013595-3 (soldered side) ■ 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 323 10.Safe Torque Off Function Examples of wiring 3) Example of wiring Example of wiring to safety switch (single servo amplifier connected) DC24V Servo amplifier HWGOFF1+ HWGOFF1- HWGOFF2+ HWGOFF2- EDM+ EDM- Example of wiring to safety unit (multiple-servo amplifier connected) Safety unit Servo amplifier HWGOFF1+ HWGOFF1-...
Page 324 10.Safe Torque Off Function Safety input-off shot pulse for safety device self-diagnosis 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.
Page 325: Safe-Torque-Off Operation
10.Safe-Torque-Off unction Safe-Torque-Off operation 10.4 Safe-Torque-Off operation 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.
Page 326 10.Safe-Torque-Off function Restoration from safe-torque-off state 2) Restoration from safe-torque-off state In the state servo-on signal is not input as described in 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 500ms to become SRDY state.) Safety input 1 Safety input 2...
Page 327 10.Safe-Torque-Off function Safe-Torque-Off during servo motor running 3) Safe-Torque-Off during servo motor running Stoppage behavior varies depending on forced outage operation settings (ACTEMR Group B ID12). ■ When set value is 00. (When motor stopped by servo brake) Stoppage behavior varies depending on amplifier model numbers. ...
Page 328 10.Safe-Torque-Off function Safe-Torque-Off during servo motor running ■ When set value is 01. (When motor stopped by dynamic brake) When safety input 1 or 2 is turned off, this setting blocks a servo motor current, and then stops servo motor with dynamic brake after. Transition behavior to safe-torque-off state varies depending on amplifier model numbers.
Page 329 10.Safe-Torque-Off function Safe-Torque-Off during servo motor stoppage 4) Safe Torque Off during servo motor stoppage When safety input 1 or safety input 2 is turned off, holding brake signal outputs brake-activated state，however this blocks servo motor current, so “holding brake activation delay time” becomes invalid.
Page 330 10.Safe-Torque-Off function Deviation clear, detecting HWGOFF signal error detection 5) Deviation clear When selecting Type3 or Type4 (not to clear deviations at servo-off state) on deviation clear selection (CLR Group8 ID19), 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 331: Connection Example
10.Safe-Torque-Off function Error Detection Monitor (EDM) 10.5 Error Detection Monitor (EDM) 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 332: Verification Test
10.Safe-Torque-Off function Verification test 10.6 Verification test Please verify that safe-torque-off function properly works before use, at every machine start-up and servo amplifier replacement. 1) Preparation Please perform test operation prior to performing verification test to verify no problems with servo amplifier and motor installation and wiring, and with servo amplifier and motor properly operate.
Page 333: Safety Precautions
10.Safe-Torque-Off function 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 334 11. Selection 11.1 Servo motor sizing ···················································································································· 11-1 Flowchart of servo motor sizing ··································································································· 11-1 Make an operation pattern ·········································································································· 11-2 Calculate motor shaft conversion load moment of inertia (J ) ····························································· 11-2 Calculate motor shaft conversion load torque (T ) ···········································································...
Page 335: Selection
11.Selection Servo motor sizing 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 336: Make An Operation Pattern
11.Selection Servo motor sizing 2) Make an operation pattern Velocity min Time[s] ta= Acceleration time tb= Deceleration time tr= Constant velocity time ts= Stop time t=1 cycle 3) Calculate motor shaft conversion load moment of inertia (J The inertia moment of a moving part ■...
Page 337: Calculate Motor Shaft Conversion Load Torque (T L )
11.Selection Servo motor sizing 4) Calculate motor shaft conversion load torque (T ■ Ball screw (in horizontal axis) (F+μW) × [N･m] × × η 2π Ball screw (in vertical axis) ■ When motor drives upward (F+(μ+1)W) × × × [N･m] η...
Page 338 11.Selection Servo motor sizing Belt pulley (in vertical axis) ■ (F+(μ+1)W) × [N･m] × × η Belt pulley (in vertical axis) ■ When motor drives upward (F+ (μ+1)W) × [N･m] × × η When motor drives downward (F+(μ-1)W) × [N･m] ×...
Page 339: Calculate Acceleration Torque (T A )
11.Selection Servo motor sizing 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 6) Calculate deceleration torque (T 2π...
Page 340: Capacity Selection Of Regenerative Resistor
11.Selection Capacity selection of regenerative resistor 11.2 Capacity 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. 1) How to find "regeneration effective power (PM)"...
Page 341: How To Find "Regeneration Effective Power (Pm)" Of The Vertical Axis Drive By A Formula
11.Selection Capacity selection of regenerative resistor 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 × ×...
Page 342: Capacity Selection Of External Regenerative Resistor
11.Selection Capacity selection of regenerative resistor 3) Capacity 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 343: Capacity Of External Regenerative Resistor And Resistor Model Name
10.Selection Protective function for regenerative resistor Servo amplifier 125W or Less than [PM] 250W or less 500W or more model number less 500W Resistor Sign J×1 K×2 J×4 Please contact us RS2#15A#AL0 Connection Ⅲ Ⅴ Ⅵ Number Servo amplifier 125W or Less than [PM] 250W or less...
Page 344: Connection Of Regenerative Resistance
11.Selection Connection of regenerative resistance 6) Connection of regenerative resistance The connection method of a resistor corresponds with the connection number of the external regeneration resistor selected by the 4) clause. Connection of regenerative resistance ■ Connection Number Ⅲ Connection Number Ⅳ ■...
Page 345: Thermostat Connection Of External Regenerative Resistor
11.Selection Thermostat connection 7) Thermostat connection of external regenerative resistor Connect a thermostat to either of "the general-purpose inputs CONT1-CONT6." Please allocate the connected general-purpose input signal to [Group9 ID40: External Trip Input Function of General Parameter [EXT-E]]. Example: when connecting the thermostat to CONT6 ■...
Page 346: Confirmation Method Of Regeneration Power Pm In Actual Operation
11.Selection Confirmation method of regeneration power in actual operation 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 ID1A･Regenerative Resistor Operation Percentage ■...
Page 347 No Text on This Page.
Page 348 12. Appendix 12.1 Standards conformity ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-1 Standards conformity ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-1 Over-voltage category, protection grade, pollution level ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-2 Connection and installation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-2 UL file number ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-2 12.2 Compliance with EN Directives ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-3 Conformity verification test ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-3 EMC installation requirements ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
Page 349 12.6 Optional parts ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-52 Connectors of servo amplifier ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-52 Fixing bracket ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-56 Setup software, serial communication related items ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-57 Battery for battery backup absolute encoder related items ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-57 Analog monitor related item ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-57 Junction cable for servo motor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-58 12.7 Servo motor power cable ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
Page 350: Standards Conformity
12. Appendix Standards conformity 12.1 Standards conformity For SANYO DENKI products, compatibility examinations of overseas standards are conducted by certificate authorities, and attestation markings are performed based on the published certificate of attestation. 1) Standards conformity The following overseas standard examinations are implemented.
Page 351: Connection And Installation
12. Appendix Standards conformity 2) Over-voltage category, protection grade, pollution level The "over-voltage category" of servo amplifier is "III" (EN61800-5-1). For the interface, use a ■ DC power supply with reinforced and insulated input and outputs. Make sure to install the servo amplifier in your control panel in an environment where the ■...
Page 352 12.2 Compliance with EN Directives SANYO DENKI implements 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 353: Emc Installation Requirements
12. Appendix Compliance with EN Directives 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 354: Ground Fault Test
12. Appendix Compliance with EN Directives 3) Ground fault test RS2 series power unit/amplifier unit have conformity with IEC 60364-4-41: 2005/AMD1: 2016 (HD 60364-4-41: 2007), Clause 411, with conditions below. Precautions ■ TN grounding system ✔ It shall be set that input wiring is within specified diameter and length, and within the Fault Loop Impedance value shown in table 12-1.
Page 355 12. Appendix Compliance with EN Directives Fault Loop Impedance and servo system internal impedance FLI: Fault Loop Impedance SSI: Servo System Impedance Table 12-1 Voltage to Model Power Rated Power Shut-off ground, Shut-off Shut-off method number voltage current system time current component 0.8 s...
Page 356 12. Appendix Compliance with EN Directives 4) About motor overload characteristics Overload characteristic Overload characteristic (Example) Maximum rotational velocity At stoppage Output current ratio (I/IR) Some motor has the overload characteristic such as above. Characteristic curve becomes broad at ✔ maximum rotational velocity around and it means overload detection time varies dending on motor rotational velocity.
Page 357: Servo Motor Dimensions
12. Appendix Servo motor dimensions [R1: 40, 80, 100 mm sq.] 12.3 Servo motor dimensions 1) R1 motor, flange 40mm, 60mm and 80mm Without oilseal With oilseal Without brake With brake Without brake With brake Servo motor model number R1□A04005△□◇ R1□A04010△□◇...
Page 358 12. Appendix Servo motor dimensions [R1: 130, 180 mm sq.] 3) R1 motor, flange size 130mm 0.08 □LC 0.02 4-φLZ1 (LC) 0.08 QE tap Depth LT Section A-A Oil seal JN2AS10ML2-R (Encoder) (KB1) (KB2) Connector for motor （Motor,Brake,Ground） Battery backup method absolute encoder Absolute encoder for incremental system Battery-less absolute encoder Without brake...
Page 359 12. Appendix Servo motor dimensions [R2: 40 to 100 mm sq.] 5) R2 motor, flange size 40mm, 60mm, 80mm, 86mm and 100mm Oil seal QE Tap (Optional) Note1 Depth LT Teflon wire Teflon wire (for securing) (for securing) Shielded cable (for securing) (For brake) Note2 (For encoder) (For motor, earthing)
Page 360 12. Appendix Servo motor dimensions [R2: 100 mm sq.] 6) R2 motor, flange size 100mm 1.5kW Without brake With brake Servo motor model number R2AA10150△□◇ 188.0 68.0 12-11...
Page 361 12. Appendix Servo motor dimensions [R2: 130 mm sq.] 7) R2 motor, flange size 130mm 0.5kW to 1.8kW Battery backup method absolute encoder Incremental encoder Absolute encoder for incremental system Without Brake With Brake Without Brake With Brake Servo motor model number R2AA13050△□◇...
Page 362 12. Appendix Servo motor dimensions [R2: 180 mm sq.] 9) R2 motor, flange size 180mm 3.5kW to 7.5kW Battery backup method absolute encoder Incremental encoder Absolute encoder for incremental system Without Brake With Brake Without Brake With Brake Servo motor KB2 KB3 KL3 KB3 KL3 KB2 KB3 KL3...
Page 363 12. Appendix Servo motor dimensions [R2: 220 mm sq.] 11) R2 motor, flange size 220mm 3.5kW to 5kW Battery backup method absolute encoder Incremental encoder Absolute encoder for incremental system Without Brake With Brake Without Brake With Brake Servo motor model number R2AA22500△□◇...
Page 364 12. Appendix Servo motor dimensions [R5: 60, 80 mm sq.] 13) R5 motor, flange size 60mm, 80mm 0.07 □LC LL±1 0.02 (LG) 4-φLZ1 0.06 N.P. N.P. Oil seal M5×0.8 (φD1) (φD2) (φD3) Depth LT Shielded cable for encoder (for fix) Cable for motor（for fix）...
Page 365 12. Appendix Servo motor dimensions [Q1: 100 to 180 mm sq.] 14) Q1 motor, flange size 100mm, 120mm, 130mm, and 180mm Tap QE Oil seal Depth LT Type S Eyebolt (For encoder) For sensor (Tap for removing motor) (or equivalents) Section H-H For motor, break, grounding For breaking...
Page 366 12. Appendix Servo motor dimensions [Q2: 130 to 220 mm sq.] 15) Q2 motor, flange size 130mm, 180mm, and 220mm Tap QE Oil seal Depth LT Type S Eyebolt (For encoder) For sensor (Tap for removing motor) (or equivalents) Section H-H For motor, break, grounding For breaking Battery backup absolute encoder...
Page 367 12. Appendix Servo motor dimensions [Q4: 180 mm sq.] 16) Q4 motor, flange size 180mm Nameplate for attention to mass Key position Key position MS3102A32-17P （Or equivalents) MS3102A10SL-4P MS3102A20-29P （Or equivalents) (For motor) (For fan motor) (For encoder) □180 0.10 Eyebolt (50) (50)
Page 368: Characteristics Table
12. Appendix Servo motor data sheet 12.4 Servo motor data sheet 1) Characteristics table Specification of R1 motor, AC200V ■ Servo motor model number R1AA 04005F 04010F 06020F 06040F 08075V 08075F Amplifier size combined RS2A01A RS2A01A RS2A01A RS2A03A RS2A03A RS2A05A *Rated output 0.05 0.75...
Page 369 12. Appendix Servo motor data sheet Servo motor model number R1AA 10200F 10250F 13300H 13300F Amplifier size combined RS2A10A RS2A10A RS2A10A RS2A10A *Rated output *Rated velocity 3000 3000 3000 3000 *Maximum velocity 6000 6000 3000 6000 *Rated torque N･m 6.37 7.97 *Continuous Torque at stall N･m...
Page 370 12. Appendix Servo motor data sheet Servo motor model number R1AA 18550H 18750L 1811KR 1815KB Amplifier size combined RS2A30A RS2A30A RS2A30A RS2A30A *Rated output *Rated velocity 1500 1500 1500 1500 *Maximum velocity 3000 3000 2500 2000 *Rated torque N･m 95.5 *Continuous Torque at stall N･m 95.5...
Page 371 12. Appendix Servo motor data sheet Specification of R2 motor, AC200V ■ Servo motor model number R2AA 04003F 04005F 04010F 06010F 06020F 06040H 08020F Amplifier size combined RS2A01 RS2A01 RS2A01 RS2A01 RS2A01 RS2A01 RS2A01 *Rated output 0.03 0.05 *Rated velocity 3000 3000 3000...
Page 372 12. Appendix Servo motor data sheet Servo motor model number R2AA 10100F 10150H 13050H 13050D 13120B 13120D 13120L Amplifier size combined RS2A05 RS2A05 RS2A03 RS2A03 RS2A03 RS2A05 RS2A05 *Rated output 0.55 0.55 *Rated velocity 3000 2000 2000 2000 2000 2000 2000 *Maximum velocity 6000...
Page 373 12. Appendix Servo motor data sheet Servo motor model number R2AA 18550R 18550H 18750H 1811KR 22500L Amplifier size combined RS2A15 RS2A30 RS2A30 RS2A30 RS2A15 *Rated output *Rated velocity 1500 1500 1500 1500 2000 *Maximum velocity 2500 3000 3000 2500 4000 35.0 35.0 48.0...
Page 374 12. Appendix Servo motor data sheet Specification of R2 motor, AC100V ■ Servo motor model number R2EA 04003F 04005F 04008F 06010F 06020F Amplifier size combined RS2E01 RS2E01 RS2E01 RS2E01 RS2E03 *Rated output 0.03 0.05 0.08 *Rated velocity 3000 3000 3000 3000 3000 *Maximum velocity...
Page 375 12. Appendix Servo motor data sheet Specification of Q1 motor, AC200V ■ Servo motor model number Q1AA 10100D 10150D 10200D 10250D 12100D 12200D Amplifier size combined RS2A05 RS2A05 RS2A10 RS2A10 RS2A05 RS2A10 *Rated output *Rated velocity 3000 3000 3000 3000 3000 3000 *Maximum velocity...
Page 376 12. Appendix Servo motor data sheet Specification of Q2 motor, AC200V ■ Servo motor model number Q2AA 13200H 18200H 18350H 18450H 18550R 22550B Amplifier size combined RS2A10 RS2A10 RS2A15 RS2A15 RS2A15 RS2A15 *Rated output *Rated velocity 2000 2000 2000 2000 1500 1500 *Maximum velocity...
Page 377 12. Appendix Servo motor data sheet Specification of Q4 motor, AC200V ■ Servo motor model number Q4AA 1811KB 1815KB Amplifier size combined RS2A30 RS2A30 *Rated output *Rated velocity 1500 1500 *Maximum velocity 2000 2000 *Rated torque N･m 95.5 *Continuous Torque at stall N･m 95.5 *Peak Torque at stall...
Page 378 12. Appendix Velocity-torque characteristics 2) Velocity-torque characteristics R1AA Motor velocity-torque characteristics indicate the values when amplifier power supply is AC200V. Instantaneous zone decreases when amplifier power supply is below 200V. Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R1AA06020F (200W) R1AA04005F (50W) R1AA04010F (100W) 3φ...
Page 379 12. Appendix Velocity-torque characteristics R1AA Motor velocity-torque characteristics indicate the values when amplifier power supply is AC200V. Instantaneous zone decreases when amplifier power supply is below 200V. Note 1) Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R1AA10200F (2kW) R1AA10250F (2.5kW) R1AA13300H (3kW) Instantaneous zone Instantaneous zone Instantaneous zone...
Page 380 12. Appendix Velocity-torque characteristics R1EA Motor velocity-torque characteristics indicate the values when amplifier power supply is AC100V. Instantaneous zone decreases when amplifier power supply is below 100V. Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R1EA04005F (50W) R1EA04010F (100W) R1EA06020F (200W) Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone...
Page 381 12. Appendix Velocity-torque characteristics R2AA motor velocity-torque characteristics charts show the values when AC200V 3-phase and single-phase are used as input power supply. When power supply voltage is less than 200V, instantaneous zone decreases. Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R2AA04003F (30W) R2AA04005F (50W) R2AA04010F (100W)
Page 382 12. Appendix Velocity-torque characteristics Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R2AA10075F (750W) R2AA10100F (1kW) R2AAB8100F (1kW) 3Φ 3Φ Instantaneous zone 3Φ 1Φ Instantaneous zone Instantaneous zone 1Φ 1Φ Continuous zone Continuous zone Continuous zone 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000...
Page 383 12. Appendix Velocity-torque characteristics Note 1 Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R2AA18350D (3.5kW) R2AA13200D (2kW) R2AA18350L (3.5kW) Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone Continuous zone Continuous zone 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000...
Page 384 12. Appendix Velocity-torque characteristics R2EA Motor velocity-torque characteristics indicate the values when amplifier power supply is AC100V. Instantaneous zone decreases when amplifier power supply is below 100V. Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R2EA04008F (80W) R2EA04003F (30W) R2EA04005F (50W) Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone...
Page 385 12. Appendix Velocity-torque characteristics R5AA Motor velocity-torque characteristics indicate the values when amplifier power supply is AC200V. Instantaneous zone decreases when amplifier power supply is below 200V. Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R5AA06020H (200W) R5AA06020F (200W) R5AA06040H (400W) 3Φ 1Φ...
Page 386 12. Appendix Velocity-Torque characteristics Velocity–torque characteristic Velocity– torque characteristic Velocity– torque characteristic Q1AA12200D (2kW) Q1AA10200D (2kW) Q1AA10250D (2.5kW) Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone Continuous zone Continuous zone 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 1000...
Page 387 12. Appendix Velocity-Torque characteristics Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic Q2AA22550B (5.5kW) Q2AA18550R (5.5kW) Q2AA18450H (4.5kW) Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone Continuous zone Continuous zone 1000 2000 3000 1000 2000 3000 1000 2000 3000 4000 Velocity (min Velocity (min Velocity (min Velocity-torque characteristic...
Page 388: Overload Characteristics
12. Appendix Overload characteristics 3) Overload characteristic The following show overload characteristic of R1AA motor. Overload characteristic Overload characteristic Overload characteristic R1AA04005F (50W) R1AA04010F (100W) R1AA06020F (200W) Maximum At stoppage rotational velocity When rotating At stoppage Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR) Overload characteristic...
Page 389 12. Appendix Overload characteristics The following show overload characteristic of R1AA motor. Overload characteristic Overload characteristic Overload characteristic R1AA10200F (2kW) R1AA10250F (2.5kW) R1AA13300H (3kW) Maximum At stoppage rotational velocity Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR) Overload characteristic Overload characteristic Overload characteristic...
Page 390 12. Appendix Overload characteristics The following show overload characteristic of R1EA motor. Overload characteristic Overload characteristic Overload characteristic R1EA04005F (50W) R1EA04010F (100W) R1EA06020F (200W) When rotating At stoppage Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR) 12-41...
Page 391 12. Appendix Overload characteristics The following show overload characteristic of R2AA motor. Overload characteristic Overload characteristic Overload characteristic R2AA04005F (50W) R2AA04003F (30W) R2AA04010F (100W) 10000 10000 10000 Max rotational velocity At stoppage 度停止時 1000 1000 1000 When rotating 回転時 At stoppage 停止時...
Page 392 12. Appendix Overload characteristics Overload characteristic Overload characteristic Overload characteristic R2AA10075F (750W) R2AAB8100F (1kW) R2AA10100F (1kW) R2 AA10075 F（7 50W） 10000 1 00 00 10000 Max rotational velocity At stoppage 10 00 1000 1000 1 00 When rotating At stoppage Output current ratio (I/IR) 0.
Page 393 12. Appendix Overload characteristics Overload characteristic Overload characteristic Overload characteristic R2AA18350D (3.5kW) R2AA13200D (2kW) Over load characteristics R2AA18350L (3.5kW) R2AA13200D(2kW) R2AA1835 0D（3.5kW） 10000 10000 100 0 0 Max rotational velocity At stoppage 1000 1000 10 0 0 1 0 0 Output current ratio　（I / I ）　　→...
Page 394 12. Appendix Overload characteristics The following show overload characteristic of R2EA motor. Overload characteristic Overload characteristic Overload characteristic R2EA04005F (50W) R2EA04003F (30W) R2EA04008F (80W) 10000 10000 10000 Max rotational velocity At stoppage 1000 1000 1000 When rotating At stoppage Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR) Overload characteristic...
Page 395 12. Appendix Overload characteristics The following show overload characteristic of Q1AA motor. Overload characteristic Overload characteristic Overload characteristic Q1AA10150D (1.5kW) Q1AA10100D (1kW) Q1AA12100D (1kW) Q1AA10150D（1.5kW） Q1AA10100D（1kW）（） 10000 10000 10000 Max rotational velocity At stoppage 1000 1000 1000 出力電流比（I/IR）出力電流比...
Page 396 12. Appendix Overload characteristics The following show overload characteristic of Q2AA motor. Overload characteristic Overload characteristic Overload characteristic Q2AA18200H (2kW) Q2AA18350H (3.5kW) Q2AA13200H (2kW) 10000 10000 10000 Max rotational velocity At stoppage 1000 1000 1000 出力電流比（IP/IR）出力電流比（IP/IR）出力電流比（IP/IR） Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
Page 397 12. Appendix Overload characteristics The following show overload characteristic of Q4AA motor. Overload characteristic Overload characteristic Q4AA1811KB (11kW) Q4AA1815KB (15kW) 10000 10000 1000 1000 Output current ratio (I/IR) Output current ratio (I/IR) 12-48...
Page 398 12. Appendix Servo amplifier dimensions 12.5 Servo amplifier dimensions 1) RS2□01A□□L□ (70) (17) 2) RS2□03A□□L□ (70) (17) 12-49...
Page 399 12. Appendix Servo amplifier dimensions 3) RS2□05A□□L□ (70) (17) 4) RS2□10A□□A□ Main 主銘板 nameplate (75) 12-50...
Page 400 12. Appendix Servo amplifier dimensions 5) RS2□15A□□A□ Main nameplate 主銘板 (50) 6) RS2□30A□□L□ Main nameplate 主銘板 12-51...
Page 401: Optional Parts
12. Appendix Optional parts (connector) 12.6 Optional parts SANYO DENKI offers the following optional parts. 1) Connectors of servo amplifier Model numbers of single connectors for RS2*01, RS2*03, and RS2A05 ■ Connector SANYO DENKI Item Manufacturer’s model No. Manufacturer model No.
Page 402 12. Appendix Optional parts (connector) RS2*01, RS2*03, and RS2A05 For input power supply, and regenerative resistance connection CNA CN1 (For host unit connection) (For servo motor connection) (For safety device connection) Use only with Safe Torque Off equipped model. EN1 (For motor encoder connection) (For external pulse encoder connection) Used only for fully-closed control system 12-53...
Page 403 12. Appendix Optional parts (connector) Model numbers of single connectors for RS2A10, RS2A15, and RS2A30 ■ Connector Intended use Model number Manufacturer model number Manufacturer number To connect host 10150-3000PE and AL-00385594 equipment 10350-52A0-008 3M Japan Limited 36210-0100PL and EN1, EN2 To connect encoder AL-00632607 36310-3200-008...
Page 404 12. Appendix Optional parts (connector) RS2A10, RS2A15, and RS2A30 Front view of RS2A10 CN1 (to connect host equipment) (To input control power) CN4 (to connect safety devices) To be used only for safe-torque-off function-equipped model EN1 (to connect motor encoder) (to connect external pulse encoder) To be used only for fully closed system Terminal block...
Page 405: Fixing Bracket
12. Appendix Optional parts (connector) 2) Fixing bracket Fixing brackets are supplied with servo amplifier, RS2□01, RS2□03, RS2□05, and RS2□30. List of fixing brackets for RS2□01 - 05, 30. ■ Servo amplifier model Bracket fixing Model number Contents number position Front AL-00736863-01 Fixing bracket (upper/bottom): 1 ea,...
Page 406 SERVICES CORPORATION Battery trunk cable AL-00697960-01 to 06 Battery trunk cable AL-00731792-01 5) Analog monitor related item Name Details SANYO DENKI model No. Monitor box body Monitor Box Q-MON-3 2 dedicated cables Dedicated cable 1 dedicated cables AL-00690525-01 Wiring for communication cable 1.
Page 407 12. Appendix Optional parts (connector) 6) 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, Lead wire color MSTBT2.5/3-STF-5.08 White Black White Black Green/ Yellow AMP INC.
Page 408: Servo Motor Power Cable
12. Appendix Servo motor power cable 12.7 Servo motor power cable Amplifier model number: RS2□03A ■ Motor/ amplifier option Cable length For power, For brake, Applicable motor : L(mm) AWG#19 AWG#23 RS-CM4-01-R RS-CB3-01-R Without brake RS-CM4-02-R RS-CB3-02-R R2AA06040F RS-CM4-03-R RS-CB3-03-R R2AA08075F RS-CM4-05-R RS-CB3-05-R...
Page 409 12. Appendix Servo motor power cable Amplifier model number: RS3□05A ■ Motor/ amplifier option Cable length Applicable motor For power and brake, : L(mm) AWG#14 Without brake AL-00937698-01 R2AAB8075F R2AAB8100F AL-00937698-02 R2AA10100F R2AA13120D AL-00937698-04 R2AA13120L R2AA13180L AL-00937698-05 R2AA13200L R2AA13180H AL-00937698-10 R2AA13200H With brake AL-00937699-01...
Page 410 12. Appendix Servo motor power cable Amplifier model number: RS3□15A ■ Motor/ amplifier option Cable length Applicable motor For power and brake, : L(mm) AWG#10 AL-00918635-01 AL-00918635-02 Without brake AL-00918635-03 R2AA18350D R2AA18450H AL-00918635-05 AL-00918635-10 AL-00918636-01 AL-00918636-02 With brake AL-00918636-03 R2AA18350D R2AA18450H AL-00918636-05...
Page 411 12. Appendix Servo motor power cable Amplifier model number: RS3□15A (continued ) ■ Motor/ amplifier option Cable length Applicable motor For power, For brake : L(mm) AWG#8 AL-00965259-01 − AL-00965259-02 − AL-00965259-03 R2AA22700S − AL-00965259-05 − AL-00965259-10 − Item Connector model number Remarks ■...
Page 412 12. Appendix Servo motor power cable Amplifier model number: RS3□15A (continued ) ■ Motor/ amplifier option Cable length Applicable motor For power, For brake : L(mm) AWG#6 AL-00965260-01 − AL-00965260-02 − AL-00965260-03 R2AA18550R − AL-00965260-05 − AL-00965260-10 − Item Connector model number Remarks ■...
Page 413 12. Appendix Servo motor power cable Amplifier model number: RS3□30A ■ Motor/ amplifier option Cable length Applicable motor For power, For brake : L(mm) AWG#6 AL-00965260-01 − R2AA18550H AL-00965260-02 − R2AA18750H AL-00965260-03 R2AA1811KR − R2AA2211KB AL-00965260-05 − R2AA2215KB AL-00965260-10 −...
Page 414 12. Appendix Optional parts dimensions for setup software 12.8 Optional parts dimensions for setup software 1) Cable for personal computer communications (Model No.: AL-00689703-01) 2850- 0 NO.8 NO.1 ケーブル Cable 2) Cable for communication between amplifier (0.2m) (Model No.: AL-00695974-01) NO.8 NO.1 NO.8...
Page 415 12. Appendix Optional parts dimensions for setup software 4) Communication converter (Model No.: SAU-024-01) Ф POWER (232C/422A) (422A) MODEL SER.NO. MADE IN JAPAN SANYO DENKI 00407035* 5) Connector with terminator (Model No.: AL-00695977-01) NO.8 NO.1 12-66...
Page 416 12. Appendix Battery peripherals dimensions 12.9 Battery peripherals dimensions 1) Battery body (Model No.: AL-00697958-01) 605 (24.5) Battery Connector Black 1. Battery and connector specifications Lithium battery Thionyl Chloride Lithium Battery ER3VLY (TOSHIBA LIFESTYLE PRODUCTS & SERVICES CORPORATION) Nominal Voltage: 3.6V Nominal Capacity: 1000mAh Lithium metal mass as standard: 0.31g Connector...
Page 417 12. Appendix Battery peripherals dimensions 2) Battery trunk cable (Model No.: AL-00697960-□□) Battery unit Connector for The battery backup method the servo amplifier side with built-in battery absolute encoder side MODEL AL-00697960- – – MADE IN JAPAN 00157312A Model number L [m] Length of cable:L(m) AL-00697960-01...
Page 418 12. Appendix Battery peripherals dimensions 3) Battery trunk cable (Model No.: AL-00731792-01) Battery unit Connector for Relay connector for the servo amplifier side with built-in battery the battery backup method absolute encoder side MODEL AL-00731792-01 MADE IN JAPAN 00157312A (382) (40) (42) 300±10...
Page 419 12. Appendix Monitor box and dedicated cable dimensions 12.10 Monitor box and dedicated cable dimensions 1) Monitor Box (Model No.: Q-MON-3) CN-L CN-R LEFT RIGHT DM M2 M1 2) Dedicated Cable (Model No.: AL-00690525-01) 2000±50 20±5 20±5 20±5 20±5 Note 1) Units of dedicated cables per above 2 (PN# AL-00690525-01) are supplied with Monitor Box (PN# Q-MON-3).
Page 420 12. Appendix External dimension of regenerative resistor 12.11 External dimension 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...
Page 421 12. Appendix External dimension of regenerative resistor ■ REGIST-220W 220±0.4 6±1 6±1 φ4.3 ２ Silicon rubber glass braided wire 0.5mm White (Thermostat) (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...
Page 422 12. Appendix External dimension of regenerative resistor REGIST-1000W ■ ● ● Connection wiring diagram 12-73...
Page 423 No Text on This Page.
Page 424 Release Revision A Dec. 2008 Revision C Jul. 2009 Revision D Mar. 2010 Revision E Nov. 2010 Revision F Apr.2013 Revision G Dec.2013 Revision H Aug.2014 Revision J Feb.2015 Revision K Nov.2016 Revision L Dec.2020 Revision M Aug.2022...
Page 425 ■ 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.

Sanyo Denki SANMOTION R ADVANCED RS2A01A0AL0 Instruction Manual

1 1. Preface

5.Operation Test Operation (Confirmation of I\/O Signal) 3) Confirmation of I\/O Signal

6 6. Adjustments

7 7. Digital Operator

9 9. Fully Closed Control

11 11. Selection

Quick Links

Chapters

Need help?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Sanyo Denki SANMOTION R ADVANCED RS2A01A0AL0

Summary of Contents for Sanyo Denki SANMOTION R ADVANCED RS2A01A0AL0

Table of Contents