100 V AC 30 W-200 W, 200 V AC 30 W-2 kw

Transcription

1 1 V AC 3 W- W, V AC 3 W- kw

2 Input voltage 1 V, V AC Servo amplifier Amp. capacity 1 A, A, 3 A, A Servo motor Flange size Rated output 4 mm sq., 6 mm sq., 8 mm sq., 86 mm sq., 1 mm sq., 13 mm sq. 3 W, W, 8 W, 9 W, 1 W, W, 36 W, 4 W, W, 7 W, 1. kw, 1. kw, 1.8 kw,. kw 1

3 Contents Features...p. 3 How to Read Model Numbers...p. 9 Standard Model Number List... p. 11 System Configuration...p....p. 1 General-purpose Output...p....p R (Medium Inertia)...p. R (Medium Inertia)...p. 33 Encoder Wiring...p. 3 External Wiring...p. 36 tes on Replacing Our Conventional Products...p p. 38 Setup Software...p. 4 Options...p. 4 Selection Guide...p. 48

4 NEW PRODUCTS High Performance AC Servo Systems High Performance Servo Amplifier E s The Power of 3 More evolved AC servo amplifiers that provide improved basic performance with high responsiveness, and are more energy-efficient and easier to use. Ideal for chip mounters, semiconductor equipment, machine tools, etc. Evolved Eco-efficient Easy to use 3

5 Evolved Shorter takt time achieved through high-speed positioning control Features The 3E Model has a speed frequency response of. khz, approximately twice that of our conventional product.* Additionally, the position settling time has been shortened to 1/3 of the original time. Real-time switching between track control and positioning control contributes to a dramatic reduction of machine takt time. * Compared with our conventional AC servo amplifier, SANMOTION R ADVANCED MODEL. [Pulse/s] [Pulse] Position deviation Settling time: 1/3 of current model Position command frequency Current model In-position range How to Read Model Numbers Standard Model Number List System Configuration Improved control accuracy The 3E Model is equipped with a gain increase function, a function for suppressing microvibrations at settling time, an adaptive notch filter for suppressing mechanical resonance, and a feed-forward vibration control function. The 4th order notch filter of our conventional products has been upgraded to th order. Highly accurate machine tool feed-axis control significantly improves processing quality. Increased accuracy High-gain control Improved safety performance through the Safe Torque Off function Speed Current model Current model Vibration suppression by adaptive notch filter Starts when vibrations occur Adaptive notch filter Disturbance After adaptation - + Encoder Wiring With the improved Safe Torque Off (STO) function, the 3E Model conforms to international standards, SIL3/IEC618 and PL=e/ISO It is sufficiently reliable for usage in devices requiring high safety, such as medical devices. Emergency stop Motor torque off External Wiring Eco-efficient Reduced power consumption Power consumption visualization By incorporating newgeneration power devices, the 3E Model decreases electric power losses by up to 7%. The 3E Model has up to 1% lower standby power consumption as it limits unnecessary energy consumption by controlling the fan speed according to the internal temperature of the servo amplifier. Controls the fan speed (1 A is fanless) The power consumption monitoring function enables power consumption to be visualized. The servo amplifier calculates power consumption based on the motor current, and displays it on the setup software or digital operator. Axis X Y Z Total Power consumption Unit kwh kwh kwh kwh Options Selection Guide 4

6 Easy to use Easy startup "SANMOTION MOTOR SETUP SOFTWARE" (see p. 4) displays the parameters required for operation in an easy-to-understand manner in order to enable fast and easy equipment startup. The 3E Model has a virtual motor operation function to simulate operation of the motor and amplifier without moving the machine, and a jog function for testing the motor and amplifier connection, without the need to connect to a host device. Startup time can be reduced by batch setting the minimum parameters required by application. Easy servo tuning By connecting with the setup software the 3E Model offers a variety of servo tuning support functions such as automatic selection of optimal tuning mode depending on mechanical and load conditions, basic tuning mode for adjustment of up to two parameters, and an application-specific tuning mode. This dramatically shortens time required for servo tuning. Easy troubleshooting With a 1 ms time stamp and a drive recorder function to record motor and amplifier operating status, details of abnormal state occurrences such as alarms can be accurately checked even at a later time, facilitating troubleshooting. The drive recorder function allows for the checking of past operating status. Encoder batteries with choice of mounting sites When using a battery-backup method absolute encoder, the required battery can be either a battery box that connects directly to the lower part of the servo amplifier, or an extension cable with battery. (See p. 4) Extension cable with battery Battery box

7 Common features of R 3E Model and R ADVANCED MODEL Model-based following control Model-based following control enables an improved target value response, enhanced disturbance suppression, and greater robustness. Position command Model control system Position/speed control Motor/machine model Auto-tuning The servo amplifier automatically optimizes servo gain and filter frequency in real time. Velocity command value Features How to Read Model Numbers Standard Model Number List Position/speed control Motor/machine Tuning start Detected velocity value System Configuration Feedback control system Feed-forward vibration suppression control Command following control With feed-forward vibration suppression control, vibrations at the end effector and base of a machine can be suppressed through simple tuning procedures. Vibration control frequencies are selectable. Position deviation during stop Without vibration suppression control With vibration suppression control Without vibration suppression control With vibration suppression control 1 ms/div Position command following performance doubled in comparison with conventional models through the adoption of new positioning and speed control algorithms. Position deviation has been achieved. Position command Position deviation ms/div - + Encoder Wiring External Wiring All-in-one control Configurable parameters allow switching between control modes for torque, position or velocity. -digit LED display, built-in operator The built-in operator allows you to change parameters and monitor the amplifier status and alarm traces. Position or Velocity Torque control GOAL Options START Flat Ascending Selection Guide 6

8 Common features of R 3E Model and R ADVANCED MODEL Multiaxial monitor function The setup software allows up to 1 servo amplifier axes to be monitored. Dual position feedback fully-closed loop control Dual position feedback fully-closed loop control is possible by using information from two encoders, such as a linear encoder mounted on the device and a high resolution encoder. Even when there is high motor shaft torsion from the load, servo gain can be improved and high response achieved. USB hub Load Maximum 1 axes types of servo motors for different applications Two types of servo motor are available: R servo motors with a wide lineup for positioning applications, and R servo motors that are ideal for smooth operations such as for feed axes of small sized machine tools. Downsized servo motors R series servo motors have been downsized by as much as 3% in length and % in volume from our conventional product, while still achieving high torque and high performance. * Our conventional product is "SANMOTION Q" AC servo motor. R Feed axes in machine tools R Positioning in robots, injection molding machines, general industrial machinery, etc. 3% reduction Low cogging torque Cogging torque has been reduced in comparison with our conventional products, and we have achieved smooth movement. Comparison of cogging torque waveform Waterproof and dustproof Our servo motors have high waterproof and dustproof ratings, allowing them to work in severe environments. Standard R series 13 mm sq. servo motors have IP6 protection levels. (IP67 is available as an option.) For other servo motors IP6 or IP67 models can be selected. Water Dust Current model R Motor (Representative example) * Excluding shaft feedthrough and cable end. 7

9 High Resolution Encoders A 17 bit (131,7 divisions) encoder is included. An optional bit (1,48,76 divisions) encoder is also available. Control for high resolution encoders is also possible. Serial encoder Encoder type Optical battery-backup method absolute encoder A small and slim multi-turn battery-backup method encoder. Ideal for general industrial equipment, including robots. Requires battery. Batteries sold separately. (See p. 4: Options) Optical absolute encoder for incremental systems A small and slim encoder that can output the absolute positions in 1 rotation by converting them to incremental signals of phase A, B, and Z. Enables wire-saving for and size-reduction of applications that use pulse encoder. Resolver method battery-less absolute encoder Since it is battery-less, maintenance is not required. Being a resolver method encoder with outstanding ruggedness, it is ideal for equipment with difficult usage environment, like injection molding machines, robots. High-precision battery-less optical absolute encoder Battery replacement maintenance is not required. This high precision optical encoder is ideal for high precision equipment including robots and other general industrial equipment.. of partitions per rotation 17 bit (1317) 17 bit (1317) 17 bit (1317) 17 bit (1317) bit (14876) Resolution during multiple rotations 16 bit (636) Encoder model no. PA3C - PA3S 16 bit (636) 16 bit (636) RA3C HA6 Remarks An optional bit encoder (1,48,76 divisions) is also available. An optional bit encoder (1,48,76 divisions) is also available. Applicable motor size: 1 mm sq. or more Features How to Read Model Numbers Standard Model Number List System Configuration - + Pulse encoder Encoder type Optical wire-saving incremental encoder An incremental encoder that easily connects with host equipment to output phases A, B, and Z. Ideal for general industrial equipment, like chip mounters. Pulse/rotation Multiple rotations Encoder model no. P/R PP31T Remarks Pulses can be set up to 1 P/R. Encoder Wiring External Wiring Selection Guide Options 8

10 How to Read Model Numbers t all combinations shown below are valid. For available models, refer to "Standard Model Number List" on pp Example: An R series servo motor model with a 6 mm sq. flange size, W rated output, 6 min -1 maximum rotation speed, 4 V DC brake, and a battery-backup method absolute encoder (1317 partition number/ rotation), with UL/CE approval. R AA 6 F C P M Additional Specification Identification E... Conforms to CE U... Conforms to UL M... Conforms to CE and UL Specification Identification Standard Encoder Type Serial Encoder P Optical battery-backup method absolute encoder (PA3C) H Optical absolute encoder for incremental systems (PA3S) W Resolver-method battery-less absolute encoder (RA3C) R High precision battery-less optical absolute encoder (HA6) Pulse Encoder S Optical wire-saving incremental encoder (PP31T) For encoder details, see p. 8. Holding Brake X brake B 9 V DC brake C 4 V DC brake Maximum Rotation Speed For the numeric values, see the specifications on pp Rated Output 3 3 W W 8 8 W 1 1 W W 4 4 W W 7 7 W 1 1. kw 1 1. kw 1 1. kw kw. kw A reduction in output might be required if an oil seal or brake is attached. Contact us for details. Flange Size 4 4 mm sq. 6 6 mm sq. 8 8 mm sq. B8 86 mm sq. 1 1 mm sq mm sq. Power Supply Voltage AA V AC EA 1 V AC Types Medium inertia Medium inertia R... R Series For speed reducer installation, contact us for details. 9

11 Example: An RS3 series servo amplifier model, with V AC input voltage, 1 A amplifier capacity, internal regenerative resistor, without safe torque off function. Features RS3 A 1 A A A Option Safe Torque Off function ne Available (without delay circuit) 4 Available (with delay circuit) How to Read Model Numbers Standard Model Number List Option 1 A... Equipped with internal regenerative resistor, Equipped with DB resistor L... t equipped with internal regenerative resistor, Equipped with DB resistor System Configuration Interface Type A Analog pulse control, Sink type general-purpose output (Current flows from load to output terminal when output is ON) B Analog pulse control, Source type general-purpose output (Current flows from output terminal to load when output is ON) For general-purpose output specifications, see p.. Motor Encoder Type Input Voltage A V AC E 1 V AC Type A Rotary motor Capacity 1 1 A A 3 3 A A 8 A EN1 (Motor encoder) Serial encoder (PA3C, PA3S, RA3C, HA6) Pulse encoder (PP31T) EN (Motor encoder or external pulse encoder) Pulse encoder (PP31T) Pulse encoder (PP31T) For models with encoder classification "", any one of serial encoders or pulse encoders can be used for motor encoder. For servo amplifiers used in fully-closed systems, model "" or "A" can be used. Specify the model number suitable for motor encoder to be used. Model numbers "" or "8" are exclusively used in semi-closed systems. These models cannot be used in a fully-closed system. Servo amplifiers for fully-closed systems can be used in semi-closed systems E Model Series Motor parameters need to be set for the amplifier before use. Use the setup software. Conformance to Safety Standards Our standard servo amplifier achieves the KC Mark of safety and conforms to the international UL, c-ul, EN standards. You can also employ servo motors that conform to the UL, c-ul and EN standards. We also provide express delivery service for products required earlier than the usual delivery time. Ask the seller regarding applicable model number and delivery time. Selection Guide Encoder Wiring External Wiring Options 1

12 Standard Model Number List For specifications on other models, contact us for details. Input voltage 1 V AC R Small Capacity, Medium Inertia Standard specifications Output shaft: straight, oil seal: none, connection: cable (no connector) Rated output Motor flange size Protection code Holding brake CE and UL approved Battery-backup method absolute encoder (PA3C) Model no. Absolute encoder for incremental systems (PA3S) Page 3 W 4 mm sq. IP67 IP6 REA43FXP REA43FXH p. p. 38 Yes REA43FXPM REA43FXHM p. p. 38 REA43FCP REA43FCH p. p. 38 Yes REA43FCPM REA43FCHM p. p. 38 REA43FXP3 REA43FXH3 p. p. 38 Yes REA43FXP3M REA43FXH3M p. p. 38 REA43FCP3 REA43FCH3 p. p. 38 Yes REA43FCP3M REA43FCH3M p. p. 38 W 4 mm sq. IP67 IP6 REA4FXP REA4FXH p. p. 38 Yes REA4FXPM REA4FXHM p. p. 38 REA4FCP REA4FCH p. p. 38 Yes REA4FCPM REA4FCHM p. p. 38 REA4FXP3 REA4FXH3 p. p. 38 Yes REA4FXP3M REA4FXH3M p. p. 38 REA4FCP3 REA4FCH3 p. p. 38 Yes REA4FCP3M REA4FCH3M p. p W 4 mm sq. IP67 IP6 REA48FXP REA48FXH p. p. 38 Yes REA48FXPM REA48FXHM p. p. 38 REA48FCP REA48FCH p. p. 38 Yes REA48FCPM REA48FCHM p. p. 38 REA48FXP3 REA48FXH3 p. p. 38 Yes REA48FXP3M REA48FXH3M p. p. 38 REA48FCP3 REA48FCH3 p. p. 38 Yes REA48FCP3M REA48FCH3M p. p W 6 mm sq. IP67 IP6 REA61FXP REA61FXH p. 6 p. 38 Yes REA61FXPM REA61FXHM p. 6 p. 38 REA61FCP REA61FCP p. 6 p. 38 Yes REA61FCPM REA61FCHM p. 6 p. 38 REA61FXP3 REA61FXH3 p. 6 p. 38 Yes REA61FXP3M REA61FXH3M p. 6 p. 38 REA61FCP3 REA61FCH3 p. 6 p. 38 Yes REA61FCP3M REA61FCH3M p. 6 p. 38 W 6 mm sq. REA6FXP REA6FXH p. 6 p. 38 Yes REA6FXPM REA6FXHM p. 6 p. 38 IP67 REA6FCP REA6FCH p. 6 p. 38 Yes REA6FCPM REA6FCHM p. 6 p. 38 REA6FXP3 REA6FXH3 p. 6 p. 38 Yes REA6FXP3M REA6FXH3M p. 6 p. 38 IP6 REA6FCP3 REA6FCH3 p. 6 p. 38 Yes REA6FCP3M REA6FCH3M p. 6 p. 38 te: Servo motors that come with oil seals (optional) may require an 8 to 9% reduction in output. 11

13 Input voltage 1 V AC Features Type Main circuit power supply Control power Encoder type General output Internal regenerative resistor Safe torque off function Amplifier capacity Model no. Page 1 A RS3E1AAL p. 1 p. 3 A RS3EAAL p. 1 p. 3 3 A RS3E3AAL p. 1 p. 4 1 A RS3E1AAL p. 1 p. 3 How to Read Model Numbers Standard Model Number List Sink Yes A RS3EAAL p. 1 p. 3 3 A RS3E3AAL p. 1 p. 4 1 A RS3E1AAA p. 1 p. 3 A RS3EAAA p. 1 p. 3 System Configuration Analog/Pulse input type 1 V AC System 1 to 1 V AC Single-phase 1 V AC System 1 to 1 V AC Single-phase Serial encoder Yes Yes 3 A RS3E3AAA p. 1 p. 4 1 A RS3E1AAA p. 1 p. 3 A RS3EAAA p. 1 p. 3 3 A RS3E3AAA p. 1 p. 4 1 A RS3E1ABL p. 1 p. 3 A RS3EABL p. 1 p. 3 Source Yes 3 A RS3E3ABL p. 1 p. 4 1 A RS3E1ABL p. 1 p. 3 A RS3EABL p. 1 p. 3 3 A RS3E3ABL p. 1 p. 4 1 A RS3E1ABA p. 1 p Yes Yes A RS3EABA p. 1 p. 3 3 A RS3E3ABA p. 1 p. 4 1 A RS3E1ABA p. 1 p. 3 A RS3EABA p. 1 p. 3 Encoder Wiring 3 A RS3E3ABA p. 1 p. 4 * Our standard servo amplifier achieves the KC Mark of safety and conforms to the international UL, c-ul, EN standards. External Wiring Selection Guide Options 1

14 Standard Model Number List For specifications on other models, contact us for details. Input voltage V AC R Small Capacity, Medium Inertia Standard specifications Motor flange size Rated output Output shaft: straight, oil seal: none, connection: cable Protection code Holding brake CE and UL approved Cable terminal specifications* Battery backup method absolute encoder (PA3C) Model no. Absolute encoder for incremental systems (PA3S) Page Without connector RAA43FXP RAA43FXH p. 7 p. 38 With connector RAA43FXPA p. 7 p. 38 IP67 Yes Without connector RAA43FXPM RAA43FXHM p. 7 p. 38 Without connector RAA43FCP RAA43FCH p. 7 p mm sq. 3 W With connector RAA43FCPA p. 7 p. 38 Yes Without connector RAA43FCPM RAA43FCHM p. 7 p. 38 IP6 IP67 Without connector RAA43FXP3 RAA43FXH3 p. 7 p. 38 Yes Without connector RAA43FXP3M RAA43FXH3M p. 7 p. 38 Without connector RAA43FCP3 RAA43FCH3 p. 7 p. 38 Yes Without connector RAA43FCP3M RAA43FCH3M p. 7 p. 38 Without connector RAA4FXP RAA4FXH p. 7 p. 38 With connector RAA4FXPA p. 7 p. 38 Yes Without connector RAA4FXPM RAA4FXHM p. 7 p. 38 Without connector RAA4FCP RAA4FCH p. 7 p mm sq. W With connector RAA4FCPA p. 7 p. 38 Yes Without connector RAA4FCPM RAA4FCHM p. 7 p W IP6 IP67 Without connector RAA4FXP3 RAA4FXH3 p. 7 p. 38 Yes Without connector RAA4FXP3M RAA4FXH3M p. 7 p. 38 Without connector RAA4FCP3 RAA4FCH3 p. 7 p. 38 Yes Without connector RAA4FCP3M RAA4FCH3M p. 7 p. 38 Without connector RAA41FXP RAA41FXH p. 7 p. 38 With connector RAA41FXPA p. 7 p. 38 Yes Without connector RAA41FXPM RAA41FXHM p. 7 p. 38 Without connector RAA41FCP RAA41FCH p. 7 p mm sq. 9 W 1 W IP6 9 W IP67 With connector RAA41FCPA p. 7 p. 38 Yes Without connector RAA41FCPM6 RAA41FCHM6 p. 7 p. 38 Without connector RAA41FXP3 RAA41FXH3 p. 7 p. 38 Yes Without connector RAA41FXP3M RAA41FXH3M p. 7 p. 38 Without connector RAA41FCP3 RAA41FCH3 p. 7 p. 38 Yes Without connector RAA41FCP3M6 RAA41FCH3M6 p. 7 p. 38 Without connector RAA61FXP RAA61FXH p. 7 p. 38 With connector RAA61FXPA p. 7 p. 38 Yes Without connector RAA61FXPM RAA61FXHM p. 7 p. 38 Without connector RAA61FCP RAA61FCH p. 7 p mm sq. 1 W With connector RAA61FCPA p. 7 p. 38 Yes Without connector RAA61FCPM RAA61FCHM p. 7 p. 38 IP6 Without connector RAA61FXP3 RAA61FXH3 p. 7 p. 38 Yes Without connector RAA61FXP3M RAA61FXH3M p. 7 p. 38 Without connector RAA61FCP3 RAA61FCH3 p. 7 p. 38 Yes Without connector RAA61FCP3M RAA61FCH3M p. 7 p. 38 * Connectors are to be connected with an extension cable (see p. 4). Cable length for motors with connectors is ± 3 mm. te: Servo motors that come with oil seals (optional) may require an 8 to 9% reduction in output. 13

15 Input voltage V AC R Small Capacity, Medium Inertia Standard specifications Motor flange size Rated output 6 mm sq. W 8 mm sq. W 6 mm sq. 4 W Protection code IP67 IP6 IP67 IP6 IP67 Holding brake 36 W 4 W 36 W 4 W 8 mm sq. 4 W Output shaft: straight, oil seal: none, connection: cable IP6 36 W 4 W 36 W IP67 IP6 CE and UL approved Cable terminal specifications* Battery backup method absolute encoder (PA3C) Model no. * Connectors are to be connected with an extension cable (see p. 4). Cable length for motors with connectors is ± 3 mm. te: Servo motors that come with oil seals (optional) may require an 8 to 9% reduction in output. Absolute encoder for incremental systems (PA3S) Page Without connector RAA6FXP RAA6FXH p. 8 p. 38 With connector RAA6FXPA p. 8 p. 38 Yes Without connector RAA6FXPM RAA6FXHM p. 8 p. 38 Without connector RAA6FCP RAA6FCH p. 8 p. 38 With connector RAA6FCPA p. 8 p. 38 Yes Without connector RAA6FCPM RAA6FCHM p. 8 p. 38 Without connector RAA6FXP3 RAA6FXH3 p. 8 p. 38 Yes Without connector RAA6FXP3M RAA6FXH3M p. 8 p. 38 Without connector RAA6FCP3 RAA6FCH3 p. 8 p. 38 Yes Without connector RAA6FCP3M RAA6FCH3M p. 8 p. 38 Without connector RAA8FXP RAA8FXH p. 8 p. 38 Yes Without connector RAA8FXPM RAA8FXHM p. 8 p. 38 Without connector RAA8FCP RAA8FCH p. 8 p. 38 Yes Without connector RAA8FCPM RAA8FCHM p. 8 p. 38 Without connector RAA8FXP3 RAA8FXH3 p. 8 p. 38 Yes Without connector RAA8FXP3M RAA8FXH3M p. 8 p. 38 Without connector RAA8FCP3 RAA8FCH3 p. 8 p. 38 Yes Without connector RAA8FCP3M RAA8FCH3M p. 8 p. 38 Without connector RAA64FXP RAA64FXH p. 8 p. 38 With connector RAA64FXPA p. 8 p. 38 Yes Without connector RAA64FXPM RAA64FXHM p. 8 p. 38 Without connector RAA64FCP RAA64FCH p. 8 p. 38 With connector RAA64FCPA p. 8 p. 38 Yes Without connector RAA64FCPM6 RAA64FCHM6 p. 8 p. 38 Without connector RAA64HXP RAA64HXH p. 8 p. 38 Yes Without connector RAA64HXPM RAA64HXHM p. 8 p. 38 Without connector RAA64HCP RAA64HCH p. 8 p. 38 Yes Without connector RAA64HCPM6 RAA64HCHM6 p. 8 p. 38 Without connector RAA64FXP3 RAA64FXH3 p. 8 p. 38 Yes Without connector RAA64FXP3M RAA64FXH3M p. 8 p. 38 Without connector RAA64FCP3 RAA64FCH3 p. 8 p. 38 Yes Without connector RAA64FCP3M6 RAA64FCH3M6 p. 8 p. 38 Without connector RAA64HXP3 RAA64HXH3 p. 8 p. 38 Yes Without connector RAA64HXP3M RAA64HXH3M p. 8 p. 38 Without connector RAA64HCP3 RAA64HCH3 p. 8 p. 38 Yes Without connector RAA64HCP3M6 RAA64HCH3M6 p. 8 p. 38 Without connector RAA84FXP RAA84FXH p. 9 p. 38 Yes Without connector RAA84FXPM RAA84FXHM p. 9 p. 38 Without connector RAA84FCP RAA84FCH p. 9 p. 38 Yes Without connector RAA84FCPM RAA84FCHM p. 9 p. 38 Without connector RAA84FXP3 RAA84FXH3 p. 9 p. 38 Yes Without connector RAA84FXP3M RAA84FXH3M p. 9 p. 38 Without connector RAA84FCP3 RAA84FCH3 p. 9 p. 38 Yes Without connector RAA84FCP3M RAA84FCH3M p. 9 p Features How to Read Model Numbers Standard Model Number List System Configuration - + Encoder Wiring External Wiring Options Selection Guide

16 Standard Model Number List For specifications on other models, contact us for details. Input voltage V AC R Small Capacity, Medium Inertia Standard specifications Motor flange size Rated output Output shaft: straight, oil seal: none, connection: cable Protection code Holding brake CE and UL approved Cable terminal specifications* Battery backup method absolute encoder (PA3C) Model no. Absolute encoder for incremental systems (PA3S) Page 1 8 mm sq. 86 mm sq. 1 mm sq. 86 mm sq. 1 mm sq. 7 W 1. kw IP67 IP6 IP67 IP6 IP67 IP6 IP67 IP6 IP67 IP6 Without connector RAA87FXP RAA87FXH p. 9 p. 38 With connector RAA87FXPA p. 9 p. 38 Yes Without connector RAA87FXPM RAA87FXHM p. 9 p. 38 Without connector RAA87FCP RAA87FCH p. 9 p. 38 With connector RAA87FCPA p. 9 p. 38 Yes Without connector RAA87FCPM RAA87FCHM p. 9 p. 38 Without connector RAA87FXP3 RAA87FXH3 p. 9 p. 38 Yes Without connector RAA87FXP3M RAA87FXH3M p. 9 p. 38 Without connector RAA87FCP3 RAA87FCH3 p. 9 p. 38 Yes Without connector RAA87FCP3M RAA87FCH3M p. 9 p. 38 Without connector RAAB87FXP RAAB87FXH p. 31 p. 38 Yes Without connector RAAB87FXPM RAAB87FXHM p. 31 p. 38 Without connector RAAB87FCP RAAB87FCH p. 31 p. 38 Yes Without connector RAAB87FCPM RAAB87FCHM p. 31 p. 38 Without connector RAAB87FXP3 RAAB87FXH3 p. 31 p. 38 Yes Without connector RAAB87FXP3M RAAB87FXH3M p. 31 p. 38 Without connector RAAB87FCP3 RAAB87FCH3 p. 31 p. 38 Yes Without connector RAAB87FCP3M RAAB87FCH3M p. 31 p. 38 Without connector RAA17FXP RAA17FXH p. 9 p. 38 Yes Without connector RAA17FXPM RAA17FXHM p. 9 p. 38 Without connector RAA17FCP RAA17FCH p. 9 p. 38 Yes Without connector RAA17FCPM RAA17FCHM p. 9 p. 38 Without connector RAA17FXP3 RAA17FXH3 p. 9 p. 38 Yes Without connector RAA17FXP3M RAA17FXP3M p. 9 p. 38 Without connector RAA17FCP3 RAA17FCP3 p. 9 p. 38 Yes Without connector RAA17FCP3M RAA17FCH3M p. 9 p. 38 Without connector RAAB81FXP RAAB81FXH p. 31 p. 38 Yes Without connector RAAB81FXPM RAAB81FXHM p. 31 p. 38 Without connector RAAB81FCP RAAB81FCH p. 31 p. 38 Yes Without connector RAAB81FCPM RAAB81FCHM p. 31 p. 38 Without connector RAAB81HXP RAAB81HXH p. 9 p. 38 Yes Without connector RAAB81HXPM RAAB81HXHM p. 9 p. 38 Without connector RAAB81HCP RAAB81HCH p. 9 p. 38 Yes Without connector RAAB81HCPM RAAB81HCHM p. 9 p. 38 Without connector RAAB81FXP3 RAAB81FXH3 p. 31 p. 38 Yes Without connector RAAB81FXP3M RAAB81FXH3M p. 31 p. 38 Without connector RAAB81FCP3 RAAB81FCH3 p. 31 p. 38 Yes Without connector RAAB81FCP3M RAAB81FCH3M p. 31 p. 38 Without connector RAAB81HXP3 RAAB81HXH3 p. 9 p. 38 Yes Without connector RAAB81HXP3M RAAB81HXH3M p. 9 p. 38 Without connector RAAB81HCP3 RAAB81HCH3 p. 9 p. 38 Yes Without connector RAAB81HCP3M RAAB81HCH3M p. 9 p. 38 Without connector RAA11FXP RAA11FXH p. 31 p. 38 Yes Without connector RAA11FXPM RAA11FXHM p. 31 p. 38 Without connector RAA11FCP RAA11FCH p. 31 p. 38 Yes Without connector RAA11FCPM RAA11FCHM p. 31 p. 38 Without connector RAA11FXP3 RAA11FXH3 p. 31 p. 38 Yes Without connector RAA11FXP3M RAA11FXH3M p. 31 p. 38 Without connector RAA11FCP3 RAA11FCH3 p. 31 p. 38 Yes Without connector RAA11FCP3M RAA11FCH3M p. 31 p. 38 * Connectors are to be connected with an extension cable (see p. 4). Cable length for motors with connectors is ± 3 mm. te: Servo motors that come with oil seals (optional) may require an 8 to 9% reduction in output.

17 Input voltage V AC R Medium Capacity, Medium Inertia Standard specifications Rated output Motor flange size Output shaft: with key, oil seal: yes, connection: circular connector* Protection code Holding brake CE and UL approved Battery-backup method absolute encoder (PA3C) Model no. Absolute encoder for incremental systems (PA3S) Page RAA13HXP RAA13HXH p. 3 p. 39 Yes RAA13HXPM RAA13HXHM p. 3 p. 39 Features How to Read Model Numbers Standard Model Number List W 13 mm sq. IP6 RAA13HCP RAA13HCH p. 3 p. 39 Yes RAA13HCPM RAA13HCHM p. 3 p. 39 RAA13DXP RAA13DXH p. 3 p. 39 Yes RAA13DXPM RAA13DXHM p. 3 p. 39 RAA13DCP RAA13DCH p. 3 p. 39 Yes RAA13DCPM RAA13DCHM p. 3 p. 39 RAA131BXP RAA131BXH p. 3 p. 39 Yes RAA131BXPM RAA131BXHM p. 3 p. 39 RAA131BCP RAA131BCH p. 3 p. 39 Yes RAA131BCPM RAA131BCHM p. 3 p. 39 System Configuration 1. kw 13 mm sq. IP6 1.8 kw 13 mm sq. IP6. kw 13 mm sq. IP6 * Cables can also be provided for other specifications. (Cables cannot be detached) RAA131LXP RAA131LXH p. 31 p. 39 Yes RAA131LXPM RAA131LXHM p. 31 p. 39 RAA131LCP RAA131LCH p. 31 p. 39 Yes RAA131LCPM RAA131LCHM p. 31 p. 39 RAA131DXP RAA131DXH p. 3 p. 39 Yes RAA131DXPM RAA131DXHM p. 3 p. 39 RAA131DCP RAA131DCH p. 3 p. 39 Yes RAA131DCPM RAA131DCHM p. 3 p. 39 RAA1318HXP RAA1318HXH p. 3 p. 39 Yes RAA1318HXPM RAA1318HXHM p. 3 p. 39 RAA1318HCP RAA1318HCH p. 3 p. 39 Yes RAA1318HCPM RAA1318HCHM p. 3 p. 39 RAA13LXP RAA13LXH p. 3 p. 39 Yes RAA13LXPM RAA13LXHM p. 3 p. 39 RAA13LCP RAA13LCH p. 3 p. 39 Yes RAA13LCPM RAA13LCHM p. 3 p Encoder Wiring External Wiring Selection Guide Options 16

18 17 Standard Model Number List For specifications on other models, contact us for details. Input voltage V AC R Small Capacity, Medium Inertia Standard specifications Motor flange size Rated output 6 mm sq. W 6 mm sq. 4 W 8 mm sq. 7 W Output shaft: straight, oil seal: none, connection: cable Protection code IP67 IP6 IP67 IP6 IP67 IP6 IP67 IP6 IP67 IP6 IP67 IP6 Holding brake CE and UL approved Cable terminal specifications* Battery-backup method absolute encoder (PA3C) Model no. Page Absolute encoder for incremental systems (PA3S) Without connector RAA6HXP RAA6HXH p. 33 p. 38 With connector RAA6HXPA p. 33 p. 38 Yes Without connector RAA6HXPM RAA6HXHM p. 33 p. 38 Without connector RAA6HCP RAA6HCH p. 33 p. 38 With connector RAA6HCPA p. 33 p. 38 Yes Without connector RAA6HCPM RAA6HCHM p. 33 p. 38 Without connector RAA6HXP3 RAA6HXH3 p. 33 p. 38 Yes Without connector RAA6HXP3M RAA6HXH3M p. 33 p. 38 Without connector RAA6HCP3 RAA6HCH3 p. 33 p. 38 Yes Without connector RAA6HCP3M RAA6HCH3M p. 33 p. 38 Without connector RAA6FXP RAA6FXH p. 34 p. 38 Yes Without connector RAA6FXPM RAA6FXHM p. 34 p. 38 Without connector RAA6FCP RAA6FCH p. 34 p. 38 Yes Without connector RAA6FCPM RAA6FCHM p. 34 p. 38 Without connector RAA6FXP3 RAA6FXH3 p. 34 p. 38 Yes Without connector RAA6FXP3M RAA6FXH3M p. 34 p. 38 Without connector RAA6FCP3 RAA6FCH3 p. 34 p. 38 Yes Without connector RAA6FCP3M RAA6FCH3M p. 34 p. 38 Without connector RAA64HXP RAA64HXH p. 33 p. 38 With connector RAA64HXPA p. 33 p. 38 Yes Without connector RAA64HXPM RAA64HXHM p. 33 p. 38 Without connector RAA64HCP # RAA64HCH # p. 33 p. 38 With connector RAA64HCPA # p. 33 p. 38 Yes Without connector RAA64HCPM # RAA64HCHM # p. 33 p. 38 Without connector RAA64HXP3 RAA64HXH3 p. 33 p. 38 Yes Without connector RAA64HXP3M RAA64HXH3M p. 33 p. 38 Without connector RAA64HCP3 # RAA64HCH3 # p. 33 p. 38 Yes Without connector RAA64HCP3M # RAA64HCH3M # p. 33 p. 38 Without connector RAA64FXP RAA64FXH p. 34 p. 38 Yes Without connector RAA64FXPM RAA64FXHM p. 34 p. 38 Without connector RAA64FCP # RAA64FCH # p. 34 p. 38 Yes Without connector RAA64FCPM # RAA64FCHM # p. 34 p. 38 Without connector RAA64FXP3 RAA64FXH3 p. 34 p. 38 Yes Without connector RAA64FXP3M RAA64FXH3M p. 34 p. 38 Without connector RAA64FCP3 # RAA64FCH3 # p. 34 p. 38 Yes Without connector RAA64FCP3M # RAA64FCH3M # p. 34 p. 38 Without connector RAA87DXP RAA87DXH p. 33 p. 38 With connector RAA87DXPA p. 33 p. 38 Yes Without connector RAA87DXPM RAA87DXHM p. 33 p. 38 Without connector RAA87DCP # RAA87DCH # p. 33 p. 38 With connector RAA87DCPA # p. 33 p. 38 Yes Without connector RAA87DCPM # RAA87DCHM # p. 33 p. 38 Without connector RAA87DXP3 RAA87DXH3 p. 33 p. 38 Yes Without connector RAA87DXP3M RAA87DXH3M p. 33 p. 38 Without connector RAA87DCP3 # RAA87DCH3 # p. 33 p. 38 Yes Without connector RAA87DCP3M # RAA87DCH3M # p. 33 p. 38 Without connector RAA87FXP RAA87FXH p. 34 p. 38 Yes Without connector RAA87FXPM RAA87FXHM p. 34 p. 38 Without connector RAA87FCP # RAA87FCH # p. 34 p. 38 Yes Without connector RAA87FCPM # RAA87FCHM # p. 34 p. 38 Without connector RAA87FXP3 RAA87FXH3 p. 34 p. 38 Yes Without connector RAA87FXP3M RAA87FXH3M p. 34 p. 38 Without connector RAA87FCP3 # RAA87FCH3 # p. 34 p. 38 Yes Without connector RAA87FCP3M # RAA87FCH3M # p. 34 p. 38 * Connectors are to be connected with an extension cable (see p. 4). Cable length for motors with connectors is ± 3 mm. Reduce the output for the model numbers indicated by #. The reduced output will be between 9 to 9% of the rated output shown in the table. Servo motors that come with oil seals (optional) may require reduction in output. Contact us for details.

19 Input voltage V AC Features Type Main circuit power supply Control power Encoder type General output Internal regenerative resistor Safe torque off function Amplifier capacity Model no. Page 1 A RS3A1AAL p. 1 p. 3 A RS3AAAL p. 1 p. 3 3 A RS3A3AAL p. 1 p. 4 A RS3AAAL p. 1 p. 4 1 A RS3A1AAL p. 1 p. 3 How to Read Model Numbers Standard Model Number List Sink Yes A RS3AAAL p. 1 p. 3 3 A RS3A3AAL p. 1 p. 4 A RS3AAAL p. 1 p. 4 1 A RS3A1AAA p. 1 p. 3 System Configuration Analog/Pulse input type V AC system to 4 V AC 3-phase V AC system to 4 V AC Single-phase Serial encoder Yes Yes A RS3AAAA p. 1 p. 3 3 A RS3A3AAA p. 1 p. 4 A RS3AAAA p. 1 p. 4 1 A RS3A1AAA p. 1 p. 3 A RS3AAAA p. 1 p. 3 3 A RS3A3AAA p. 1 p. 4 A RS3AAAA p. 1 p. 4 1 A RS3A1ABL p. 1 p. 3 A RS3AABL p. 1 p. 3 3 A RS3A3ABL p. 1 p Source Yes A RS3AABL p. 1 p. 4 1 A RS3A1ABL p. 1 p. 3 A RS3AABL p. 1 p. 3 3 A RS3A3ABL p. 1 p. 4 A RS3AABL p. 1 p. 4 1 A RS3A1ABA p. 1 p. 3 Encoder Wiring A RS3AABA p. 1 p. 3 3 A RS3A3ABA p. 1 p. 4 A RS3AABA p. 1 p. 4 Yes 1 A RS3A1ABA p. 1 p. 3 A RS3AABA p. 1 p. 3 Yes 3 A RS3A3ABA p. 1 p. 4 A RS3AABA p. 1 p. 4 * Our standard servo amplifier achieves the KC Mark of safety and conforms to the international UL, c-ul, EN standards. External Wiring Selection Guide Options 18

20 Standard Model Number List For specifications on other models, contact us for details. Input voltage V AC Set Model We offer 3 to 7 W servo motors and servo amplifiers in sets with connectors. Servo motor specifications Protection code: IP67. CE/UL approval: no. Encoder classification: battery-backup method absolute encoder (PA3C). Output shaft: straight. Oil seal: no. Connection: connect with an extension cable. Servo amplifier specifications Main circuit power supply: 3-phase to 4 V AC. Interface: analog/pulse. General output: sink. Internal regenerative resistor. Safe torque off function: no. Motor flange size Rated output Holding brake Ordered model no. ser model Motor model no. Page Set components Amplifier model no. Page Connector 3 W SR43X1 RAA43FXPA p. 7 p. 38, 47 SR43C1 RAA43FCPA p. 7 p. 38, 47 4 mm sq. 6 mm sq. W SR4X1 RAA4FXPA p. 7 p. 38, 47 SR4C1 RAA4FCPA p. 7 p. 38, 47 1 W SR41X1 RAA41FXPA p. 7 p. 38, 47 9 W SR41C1 RAA41FCPA p. 7 p. 38, 47 1 W W 8 mm sq. 7 W SR61X1 RAA61FXPA p. 7 p. 38, 47 SR61C1 RAA61FCPA p. 7 p. 38, 47 SR6X RAA6FXPA p. 8 p. 38, 47 SR6C RAA6FCPA p. 8 p. 38, 47 4 W SR64X RAA64FXPA p. 8 p. 38, W SR64C RAA64FCPA p. 8 p. 38, 47 SR87X3 RAA87FXPA p. 9 p. 38, 47 SR87C3 RAA87FCPA p. 9 p. 38, 47 te: Servo motors that come with oil seals (optional) may require an 8 to 9% reduction in output. RS3A1AAA p. 1 p. 3 RS3AAAA p. 1 p. 3 RS3A3AAA p. 1 p. 4 Connector for connections with host devices (CN1) Connector for input power, regenerative resistor connections (CNA) Available Options These items will be shipped together when purchased with a Set Model. Type Cable length (m) Model no. Page 1 RS-CM4-1-R p. 47 RS-CM4--R p. 47 (1) For power 3 RS-CM4-3-R p. 47 Servo motor extension cable (Amplifier Motor) () For encoder (3) For brake RS-CM4--R p RS-CM4-1-R p RS-CA4-1-R p. 47 RS-CA4--R p RS-CA4-3-R p. 47 RS-CA4--R p RS-CA4-1-R p RS-CB3-1-R p. 47 RS-CB3--R p RS-CB3-3-R p. 47 RS-CB3--R p RS-CB3-1-R p. 47 (4) Encoder extension cable with battery (Encoder Servo amplifier) For connection when using an absolute encoder. () USB communication cable (cable for communication with PC for setup software).3 AL p. 4 1 AL p. 46 AL p

21 System Configuration Analog/Pulse Input Type 1 A to A The photograph shows the 3 A model. T S R Circuit breaker (MCCB) Used to protect the power line. Cuts off power in the case of an overload. (To be arranged by the customer) ise filter Attached to prevent external noise from the power source line. (To be arranged by the customer) Electromagnetic contactor Switches power on and off. Protective circuit must be created. (To be arranged by the customer) CNA Option USB communication cable (See () on p. 19) See p. 46 Option Setup software Parameter configuration and monitoring is possible via communication with a PC. See p. 4 USB Features How to Read Model Numbers Standard Model Number List System Configuration Option Variety of connector types See p. 4 Option External regenerative resistor For normal operations, the internal regenerative resistor in the servo amplifier can be used, but for special operations, such as high cycle applications that require greater power dissipation than that provided by the servo amplifier's internal regenerative resistor, use the external regenerative resistor. See p. 46 CNB CN1 CN4 EN1 CN3 Host devices (To be arranged by the customer) Option Battery extension cable, with connectors on both ends (See (4) on p. 19) Connected when using an absolute encoder. See p Encoder Wiring Option Battery box Connected when using a battery-backup method absolute encoder See p. 4 For power (p. 19, te (1)) For encoder (p. 19, te ()) External Wiring Brake power Use when the servo motor is equipped with a brake. Use stabilized DC power supply or power supply with a full-wave rectifier. (To be arranged by the customer) For brake (p. 19, te (3)) Option Extension cable for servo motor (for power, brake, or encoder) Extension cable with connectors on both ends. See p. 47 Safety unit, safety PLC, etc. The I/O signals of the Safe Torque Off function are connected to devices such as the safety unit or safety PLC. (To be arranged by the customer) Options Servo motor * Standard specifications of servo motor connection part Servo motors with flange size of 1 mm or less: cable without connector Cables with connectors are also available for servo motors 8 mm and less. See p. 13 to 17, 47 Flange size of 13 mm or more: circular connector Selection Guide

22 Control function Position control/speed control/torque control (Parameter switching) Control system IGBT: PWM control sinusoidal drive Main Circuit Power Supply *1 3-phase: to 4 V AC +1, -1%, /6 Hz±3 Hz Single-phase: to 4 V AC +1, -1%, /6 Hz±3 Hz * Single-phase: 1 to 1 V AC +1, -1%, /6 Hz±3 Hz *3 Control Power *1 Single-phase: to 4 V AC +1, -1%, /6 Hz±3 Hz Single-phase: 1 to 1 V AC +1, -1%, /6 Hz±3 Hz *3 Ambient temperature to + C Storage temperature - to +6 C Environment Operation/Storage humidity Below 9%RH (no condensation) Elevation Below 1 m Vibration 4.9 m/s freq. range 1 to Hz tested for hours in each X, Y and Z-axis directions Shock 19.6 m/s Structure Built-in tray type power supply *1 Power source voltage should be within the specified range. V AC power input type Specified power supply range = 17 V AC to 64 V AC 1 V AC power input type Specified power supply range = 8 V AC to 13 V AC * The V AC single-phase input type corresponds only to RS3 1/RS3 /RS3 3/RS3. *3 The 1 V AC single-phase input type corresponds only to RS3 1/RS3 / RS3 3. RoHS Performance Speed control range Frequency characteristics Permissible load moment of inertia 1: (Internal speed command) Hz (In high frequency sampling mode) 1 times motor rotary inertia Built-in functions Protection functions Digital operator Dynamic brake circuit Regenerative process circuit Monitor Over current, Current detection error, Overload, Regeneration error, Overheating, External disorder, Over voltage, Main circuit power low voltage, Main circuit power supply open phase, Control power supply low voltage, Encoder error, Over speed, Speed control error, Speed feedback error, Unreasonable position deviation, Position command pulse error, Built-in memory error, Parameter error, Cooling fan error Status display, Monitor display, Alarm display, Parameter setting, Test run, Adjustment mode Built-in Built-in Speed monitor (VMON). V±1% (at 1 min 1 ) Torque command monitor (TCMON). V±1% (at 1%) Safety standard Servo amplifier type All models Models with safety features rth American safety standards (UL ratings) European directive KC Mark (Korea Certification Mark) Safety feature standards Safety standards UL8C Low-voltage directive EN EN11 G1 ClassA EMC directive EN618-3 EN KN61-6- KN IEC618 SIL3 IEC661 SILCL3 ISO Cat.3 PL e 1

23 General-purpose Output Source (PNP output) Servo amplifier 49 OUT-PWR Host device Features OUT+COM Out 1 to 8 load How to Read Model Numbers Standard Model Number List Sink (NPN output) System Configuration Servo amplifier OUT-PWR Out 1 to 8 Host device load 4 OUT-COM OUT-COM - + Selection Guide Options External Wiring Encoder Wiring

24 [Unit : mm (inch)] 1 A Mass: Without internal regenerative resistor.68 kg With internal regenerative resistor.73 kg ±. (.±.) 4 (1.6) (7) ((.8)) (19.) ((.77)) (11 ) (16.) ((.6)) 13 (.) () ((.)) 3 (1.) (.) (.) 16 (6.4) 1 (6.8) (.) (3) ((.1)) A Mass: Without internal regenerative resistor.7 kg With internal regenerative resistor.7 kg ±. (.±.) 4 (1.6) (7) ((.8)) (19.) ((.77)) (11 ) (16.) ((.6)) 13 (.) () ((.)) 3 (1.) (.) (.) 16 (6.4) 1 (6.8) (.) (3) ((.1)) 3

25 3 A Mass: Without internal regenerative resistor.8 kg With internal regenerative resistor.8 kg ±. (.±.) Features () (7) ((.8)) (19.) ((.77)) (11 ) 13 (16.) (.) ((.6)) () ((.)) 4 (1.7) (.) (.) How to Read Model Numbers Standard Model Number List A Mass: Without internal regenerative resistor 1. kg With internal regenerative resistor 1. kg ±. (.±.) 8 (3.4) (7) ((.8)) (19.) ((.77)) (11 ) (16.) ((.6)) 13 (.) () ((.)) 7 (3) (.) (.) (3) ((.1)) 16 (6.4) 1 (6.8) 16 (6.4) System Configuration (.) Selection Guide Options 1 (6.8) (3) ((.1)) - + Encoder Wiring External Wiring 4

26 High Efficiency and Low Ripple (Medium Inertia) RoHS Input voltage 1 V AC Power supply range 8 V AC to 13 V AC Model. indicates amplifier capacity RS3E1 1 A RS3E A Model. indicates flange size REA43F REA4F REA48F Status Symbol Unit 4 mm sq. 4 mm sq. 4 mm sq. Rated Output PR kw.3. *4.8 Rated Speed NR min Maximum Speed Nmax min Rated Torque TR N m Continuous Stall Torque TS N m Peak Stall Torque TP N m Rated Armature Current IR Arms Armature Stall Current IS Arms Peak Armature Stall Current IP Arms Torque Constant KT N m/arms Voltage Constant for each Phase KE mv/min Phase Resistance R Ω Rated Power Rate QR kw/s Electrical Time Constant te ms Mechanical Time Constant (t including Encoder) tm ms Rotor Inertia *1 JM 1-4kg m (GD /4) Absolute Encoder Inertia JS 1-4kg m (GD /4).33 *1 Mass *1 WE kg Brake Static Friction Torque TB N m.3 Min. Brake Rated Voltage VB V 9 V DC/4 V DC±1% Brake Rated Current IB A.7/.7 Rotor Moment of Inertia (Brake) JB 1-4kg m (GD /4).78 Brake Mass W kg Operating Temp, Rel.Humidity Operating Temperature: to 4 C. Relative Humidity: 9% max. condensation. Servo amplifier power supply capacity (rating) kva...4 CE and UL approved servo motors * Yes Servo motor protection code IP67, IP6 Size of aluminum plates for heat radiation during measurement 6 mm External Wiring p. 36 *1 This is for the battery-backup method absolute encoder [PA3C]. For the following encoders, contact us for details. Battery-less absolute encoder Wire-saving incremental encoder For the servo amplifier mass, see pp. 3 and 4. Speed-Torque Characteristics Model./Flange Size/Rated Output * Items with and speed - torque characteristics indicate values after temperature rise saturation when used with a standard servo amplifier. The values are the typical values. *3 : Indicates a typical value when the winding temperature is C. The values are the typical values. *4 Servo motors that come with oil seals (optional) may require an 8 to 9% reduction in output. * Our standard servo amplifiers are CE and UL approved. REA43F/4 mm/.3 kw REA4F/4 mm/. kw REA48F/4 mm/.8 kw These values are for when the input power supply is 1 V AC. The area of the instantaneous zone decreases when the power supply voltage is less than 1 V AC

27 Features RS3E A RS3E3 3 A Model. indicates amplifier capacity REA61F REA6F Model. indicates flange size 6 mm sq. 6 mm sq. Unit Symbol Status.1. kw PR Rated Output 3 3 min -1 NR Rated Speed 6 6 min -1 Nmax Maximum Speed N m TR Rated Torque N m TS Continuous Stall Torque 1.. N m TP Peak Stall Torque Arms IR Rated Armature Current Arms IS Armature Stall Current Arms IP Peak Armature Stall Current.6.4 N m/arms KT Torque Constant mv/min -1 KE Voltage Constant for each Phase 1..6 Ω R Phase Resistance kw/s QR Rated Power Rate ms te Electrical Time Constant ms tm Mechanical Time Constant (t including Encoder) kg m (GD /4) JM Rotor Inertia *1.33 *1 1-4kg m (GD /4) JS Absolute Encoder Inertia kg WE Mass *1.36 Min Min. N m TB Brake Static Friction Torque 9 V DC/4 V DC±1% V VB Brake Rated Voltage.7/.7.11/.3 A IB Brake Rated Current.6 1-4kg m (GD /4) JB Rotor Moment of Inertia (Brake) kg W Brake Mass Operating Temperature: to 4 C. Relative Humidity: 9% max. condensation. Operating Temp, Rel.Humidity..6 kva Servo amplifier power supply capacity (rating) Yes CE and UL approved servo motors * IP67, IP6 Servo motor protection code 6 mm Size of aluminum plates for heat radiation during measurement p. 36 External Wiring How to Read Model Numbers Standard Model Number List System Configuration - + Encoder Wiring External Wiring REA61F/6 mm/.1 kw REA6F/6 mm/. kw Options Selection Guide 6

28 High Efficiency and Low Ripple (Medium Inertia) RoHS Input voltage V AC Power supply range 17 V AC to 64 V AC Model. indicates amplifier capacity Model. indicates flange size Model./Flange Size/Rated Output RAA43F 4 mm sq. RS3A1 1 A RAA4F 4 mm sq. RAA41F 4 mm sq. RAA61F 6 mm sq. Status Symbol Unit Rated Output PR kw.3. *4.1(.9) *4.1 Rated Speed NR min Maximum Speed Nmax min Rated Torque TR N m Continuous Stall Torque TS N m Peak Stall Torque TP N m Rated Armature Current IR Arms Armature Stall Current IS Arms Peak Armature Stall Current IP Arms Torque Constant KT N m/arms Voltage Constant for each Phase KE mv/min Phase Resistance R Ω Rated Power Rate QR kw/s Electrical Time Constant te ms Mechanical Time Constant (t including Encoder) tm ms Rotor Inertia *1 JM 1-4kg m (GD /4) Absolute Encoder Inertia JS 1-4kg m (GD /4).33 *1 Mass *1 WE kg Brake Static Friction Torque TB N m.3 Min..36 Min. Brake Rated Voltage VB V 9 V DC/4 V DC±1% Brake Rated Current IB A.7/.7 Rotor Moment of Inertia (Brake) JB 1-4kg m (GD /4).78.6 Brake Mass W kg Operating Temp, Rel.Humidity Operating Temperature: to 4 C. Relative Humidity: 9% max. condensation. Servo amplifier power supply capacity (rating) kva CE and UL approved servo motors * Yes Servo motor protection code IP67, IP6 Size of aluminum plates for heat radiation during measurement 6 mm External Wiring p. 36 *1 This is for the battery-backup method absolute encoder [PA3C]. For the following encoders, contact us for details. Battery-less absolute encoder Wire-saving incremental encoder For the servo amplifier weight, see pp. 3 and 4. Speed-Torque Characteristics * Items with and speed - torque characteristics indicate values after temperature rise saturation when used with a standard servo amplifier. The values are the typical values. *3 : Indicates a typical value when the winding temperature is C. The values are the typical values. *4 If enclosed in ( ), it comes with brake. Servo motors that come with oil seals (optional) may require an 8 to 9% reduction in output. * Our standard servo amplifiers are CE and UL approved. RAA43F/4 mm/.3 kw RAA4F/4 mm/. kw RAA41F/4 mm/.1 kw RAA61F/6 mm/.1 kw These values are for when the input power supply is a 3-phase V AC circuit. The area of the instantaneous zone decreases when the power supply voltage is less than V. Contact us if the servo amp. power supply is a single-phase V AC circuit. 6

29 Features RS3A A Model. indicates amplifier capacity RAA6F RAA64H RAA8F RAA64F Model. indicates flange size 6 mm sq. 6 mm sq. 8 mm sq. 6 mm sq. Unit Symbol Status..4(.36) *4..4(.36) *4 kw PR Rated Output min -1 NR Rated Speed min -1 Nmax Maximum Speed N m TR Rated Torque N m TS Continuous Stall Torque N m TP Peak Stall Torque Arms IR Rated Armature Current Arms IS Armature Stall Current Arms IP Peak Armature Stall Current N m/arms KT Torque Constant mv/min -1 KE Voltage Constant for each Phase Ω R Phase Resistance kw/s QR Rated Power Rate ms te Electrical Time Constant ms tm Mechanical Time Constant (t including Encoder) kg m (GD /4) JM Rotor Inertia *1.33 *1 1-4kg m (GD /4) JS Absolute Encoder Inertia kg WE Mass * Min Min.. Min Min. N m TB Brake Static Friction Torque 9 V DC/4 V DC±1% V VB Brake Rated Voltage.11/.3.11/.3.1/.37.11/.3 A IB Brake Rated Current kg m (GD /4) JB Rotor Moment of Inertia (Brake) kg W Brake Mass Operating Temperature: to 4 C. Relative Humidity: 9% max. condensation. Operating Temp, Rel.Humidity kva Servo amplifier power supply capacity (rating) Yes CE and UL approved servo motors * IP67, IP6 Servo motor protection code 6 mm Size of aluminum plates for heat radiation during measurement p. 36 External Wiring How to Read Model Numbers Standard Model Number List System Configuration - + Encoder Wiring External Wiring Model./Flange Size/Rated Output RAA6F/6 mm/. kw RAA64H/6 mm/.4 kw RAA8F/8 mm/. kw RAA64F/6 mm/.4 kw Options Selection Guide 8

30 High Efficiency and Low Ripple (Medium Inertia) RoHS Input voltage V AC Power range 17 V AC to 64 V AC Model. indicates amplifier capacity RS3A A RS3A3 3 A Model. indicates flange size RAA84F RAA87F RAAB81H RAA17F Status Symbol Unit 8 mm sq. 8 mm sq. 86 mm sq. 1 mm sq. Rated Output PR kw.4.7 * Rated Speed NR min Maximum Speed Nmax min Rated Torque TR N m Continuous Stall Torque TS N m Peak Stall Torque TP N m Rated Armature Current IR Arms Armature Stall Current IS Arms Peak Armature Stall Current IP Arms Torque Constant KT N m/arms Voltage Constant for each Phase KE mv/min Phase Resistance R Ω Rated Power Rate QR kw/s Electrical Time Constant te ms Mechanical Time Constant (t including Encoder) tm ms Rotor Inertia *1 JM 1-4kg m (GD /4) Absolute Encoder Inertia JS 1-4kg m (GD /4).33 *1 Mass *1 WE kg Brake Static Friction Torque TB N m. Min. 3.9 Min. Brake Rated Voltage VB V 9 V DC/4 V DC±1% Brake Rated Current IB A.1/.37.9/.3 Rotor Moment of Inertia (Brake) JB 1-4kg m (GD /4)..343 Brake Mass W kg Operating Temp, Rel.Humidity Operating Temperature: to 4 C. Relative Humidity: 9% max. condensation. Servo amplifier power supply capacity (rating) kva CE and UL approved servo motors * Yes Servo motor protection code IP67, IP6 Size of aluminum plates for heat radiation during measurement 6 mm mm External Wiring p. 36 *1 This is for the battery-backup method absolute encoder [PA3C]. For the following encoders, contact us for details. Battery-less absolute encoder Wire-saving incremental encoder For the servo amplifier weight, see pp. 3 and 4. Speed-Torque Characteristics Model./Flange Size/Rated Output * Items with and speed - torque characteristics indicate values after temperature rise saturation when used with a standard servo amplifier. The values are the typical values. *3 : Indicates a typical value when the winding temperature is C. The values are the typical values. *4 Servo motors that come with oil seals (optional) may require an 8 to 9% reduction in output. * Our standard servo amplifiers are CE and UL approved. RAA84F/8 mm/.4 kw RAA87F/8 mm/.7 kw RAAB81H/86 mm/1. kw RAA17F/1 mm/.7 kw These values are for when the input power supply is a 3-phase V AC circuit. The area of the instantaneous zone decreases when the power supply voltage is less than V. Contact us if the servo amp. power supply is a single-phase V AC circuit.

31 Features RS3A3 3 A Model. indicates amplifier capacity RAA13H RAA13D RAA131B Model. indicates flange size 13 mm sq. 13 mm sq. 13 mm sq. Unit Symbol Status.. 1. kw PR Rated Output min -1 NR Rated Speed 3 min -1 Nmax Maximum Speed N m TR Rated Torque N m TS Continuous Stall Torque N m TP Peak Stall Torque 4... Arms IR Rated Armature Current Arms IS Armature Stall Current Arms IP Peak Armature Stall Current N m/arms KT Torque Constant mv/min -1 KE Voltage Constant for each Phase Ω R Phase Resistance 4 kw/s QR Rated Power Rate ms te Electrical Time Constant ms tm Mechanical Time Constant (t including Encoder) kg m (GD /4) JM Rotor Inertia *1.33 *1 1-4kg m (GD /4) JS Absolute Encoder Inertia kg WE Mass *1 3. Min. 3. Min. 9. Min. N m TB Brake Static Friction Torque 9 V DC/4 V DC±1% V VB Brake Rated Voltage.1/.41.1/.41.17/.1 A IB Brake Rated Current kg m (GD /4) JB Rotor Moment of Inertia (Brake) kg W Brake Mass Operating Temperature: to 4 C. Relative Humidity: 9% max. condensation Operating Temp, Rel.Humidity kva Servo amplifier power supply capacity (rating) Yes CE and UL approved servo motors * IP6 Servo motor protection code 3 3 mm 4 4 mm Size of aluminum plates for heat radiation during measurement p. 37 External Wiring How to Read Model Numbers Standard Model Number List System Configuration - + Encoder Wiring External Wiring Model./Flange Size/Rated Output RAA13H/13 mm/. kw RAA13D/13 mm/. kw RAA131B/13 mm/1. kw Options Selection Guide 3

32 High Efficiency and Low Ripple (Medium Inertia) RoHS Input voltage V AC Power supply range 17 V AC to 64 V AC Model. indicates amplifier capacity Model. indicates flange size RAAB87F 86 mm sq. RS3A A RAAB81F 86 mm sq. RAA11F 1 mm sq. RAA131L 13 mm sq. Status Symbol Unit Rated Output PR kw Rated Speed NR min Maximum Speed Nmax min Rated Torque TR N m Continuous Stall Torque TS N m Peak Stall Torque TP N m Rated Armature Current IR Arms Armature Stall Current IS Arms Peak Armature Stall Current IP Arms Torque Constant KT N m/arms Voltage Constant for each Phase KE mv/min Phase Resistance R Ω Rated Power Rate QR kw/s Electrical Time Constant te ms Mechanical Time Constant (t including Encoder) tm ms Rotor Inertia *1 JM 1-4kg m (GD /4) Absolute Encoder Inertia JS 1-4kg m (GD /4).33 *1 Mass *1 WE kg Brake Static Friction Torque TB N m 3.9 Min. 3.9 Min. 3.9 Min. 9. Min. Brake Rated Voltage VB V 9 V DC/4 V DC±1% Brake Rated Current IB A.9/.3.9/.3.9/.3.17/.1 Rotor Moment of Inertia (Brake) JB 1-4kg m (GD /4) Brake Mass W kg Operating Temp, Rel.Humidity Operating Temperature: to 4 C. Relative Humidity: 9% max. condensation. Servo amplifier power supply capacity (rating) kva CE and UL approved servo motors *4 Yes Servo motor protection code IP67, IP6 IP6 Size of aluminum plates for heat radiation during measurement mm 4 4 mm External Wiring p. 36 p. 37 *1 This is for the battery-backup method absolute encoder [PA3C]. For the following encoders, contact us for details. Battery-less absolute encoder Wire-saving incremental encoder For the servo amplifier weight, see pp. 3 and 4. Speed-Torque Characteristics Model./Flange Size/Rated Output RAAB87F/86 mm/.7 kw RAAB81F/86 mm/1. kw * Items with and speed - torque characteristics indicate values after temperature rise saturation when used with a standard servo amplifier. The values are the typical values. *3 : Indicates a typical value when the winding temperature is C. The values are the typical values. *4 Our standard servo amplifiers are CE and UL approved. RAA11F/1 mm/1. kw RAA131L/13 mm/1. kw These values are for when the input power supply is a 3-phase V AC circuit. The area of the instantaneous zone decreases when the power supply voltage is less than V. Contact us if the servo amp. power supply is a single-phase V AC circuit

33 Features RAA131D 13 mm sq. RS3A A RAA1318H 13 mm sq. RAA13L 13 mm sq. Model. indicates amplifier capacity Model. indicates flange size Unit Symbol Status kw PR Rated Output min -1 NR Rated Speed 3 3 min -1 Nmax Maximum Speed N m TR Rated Torque N m TS Continuous Stall Torque 16 4 N m TP Peak Stall Torque Arms IR Rated Armature Current Arms IS Armature Stall Current Arms IP Peak Armature Stall Current N m/arms KT Torque Constant mv/min -1 KE Voltage Constant for each Phase.3.3. Ω R Phase Resistance kw/s QR Rated Power Rate ms te Electrical Time Constant ms tm Mechanical Time Constant (t including Encoder) kg m (GD /4) JM Rotor Inertia *1.33 *1 1-4kg m (GD /4) JS Absolute Encoder Inertia kg WE Mass *1 9. Min. 9. Min. 1 Min. N m TB Brake Static Friction Torque 9 V DC/4 V DC±1% V VB Brake Rated Voltage.17/.1.17/.1.17/.66 A IB Brake Rated Current kg m (GD /4) JB Rotor Moment of Inertia (Brake) kg W Brake Mass Operating Temperature: to 4 C. Relative Humidity: 9% max. condensation. Operating Temp, Rel.Humidity kva Servo amplifier power supply capacity (rating) Yes CE and UL approved servo motors *4 IP6 Servo motor protection code 4 4 mm mm Size of aluminum plates for heat radiation during measurement p. 37 External Wiring How to Read Model Numbers Standard Model Number List System Configuration - + Encoder Wiring External Wiring Model./Flange Size/Rated Output RAA131D/13 mm/1. kw RAA1318H/13 mm/1.8 kw RAA13L/13 mm/. kw Options Selection Guide 3

34 High Efficiency and Ultra Low Ripple (Medium Inertia) Low cogging torque RoHS Input voltage V AC Power supply range 17 V AC to 64 V AC Model. indicates amplifier capacity RS3A1 1 A RS3A A RS3A3 3 A Model. indicates flange size RAA6H RAA64H RAA87D Status Symbol Unit 6 mm sq. 6 mm sq. 8 mm sq. Rated Output PR kw..4 *4.7 *4 Rated Speed NR min Maximum Speed Nmax min Rated Torque TR N m Continuous Stall Torque TS N m Peak Stall Torque TP N m Rated Armature Current IR Arms Armature Stall Current IS Arms Peak Armature Stall Current IP Arms Torque Constant KT N m/arms Voltage Constant for each Phase KE mv/min Phase Resistance R Ω Rated Power Rate QR kw/s 39 3 Electrical Time Constant te ms Mechanical Time Constant (t including Encoder) tm ms Rotor Inertia *1 JM 1-4kg m (GD /4) Absolute Encoder Inertia JS 1-4kg m (GD /4).33 *1 Mass *1 WE kg Brake Static Friction Torque TB N m 1.37 Min.. Min. Brake Rated Voltage VB V 9 V DC/4 V DC±1% Brake Rated Current IB A.11/.3.1/.37 Rotor Moment of Inertia (Brake) JB 1-4kg m (GD /4).6.6. Brake Mass W kg Operating Temp, Rel.Humidity Operating Temperature: to 4 C. Relative Humidity: 9% max. condensation. Servo amplifier power supply capacity (rating) kva CE and UL approved servo motors * Servo motor protection code *1 This is for the battery-backup method absolute encoder [PA3C]. For the following encoders, contact us for details. Battery-less absolute encoder Wire-saving incremental encoder For the servo amplifier weight, see pp. 3 and Yes IP67, IP6 Size of aluminum plates for heat radiation during measurement 6 mm External Wiring p. 36 Speed-Torque Characteristics * Items with and speed - torque characteristics indicate values after temperature rise saturation when used with a standard servo amplifier. The values are the typical values. *3 : Indicates a typical value when the winding temperature is C. The values are the typical values. *4 Servo motors that come with oil seals (optional) and with brakes may require an 8 to 9% reduction in output. * Our standard servo amplifiers are CE and UL approved. Model./Flange Size/Rated Output RAA6H/6 mm/. kw RAA64H/6 mm/.4 kw RAA87D/8 mm/.7 kw These values are for when the input power supply is a 3-phase V AC circuit. The area of the instantaneous zone decreases when the power supply voltage is less than V. Contact us if the servo amp. power supply is a single-phase V AC circuit.

35 RS3A A RS3A3 3 A Model. indicates amplifier capacity RAA6F RAA64F RAA87F Model. indicates flange size 6 mm sq. 6 mm sq. 8 mm sq. Unit Symbol Status..4 *4.7 *4 kw PR Rated Output min -1 NR Rated Speed min -1 Nmax Maximum Speed N m TR Rated Torque N m TS Continuous Stall Torque N m TP Peak Stall Torque Arms IR Rated Armature Current Arms IS Armature Stall Current Arms IP Peak Armature Stall Current N m/arms KT Torque Constant mv/min -1 KE Voltage Constant for each Phase Ω R Phase Resistance 39 3 kw/s QR Rated Power Rate ms te Electrical Time Constant ms tm Mechanical Time Constant (t including Encoder) kg m (GD /4) JM Rotor Inertia *1.33 *1 1-4kg m (GD /4) JS Absolute Encoder Inertia kg WE Mass * Min.. Min. N m TB Brake Static Friction Torque 9 V DC/4 V DC±1% V VB Brake Rated Voltage.11/.3.1/.37 A IB Brake Rated Current kg m (GD /4) JB Rotor Moment of Inertia (Brake) kg W Brake Mass Operating Temperature: to 4 C. Relative Humidity: 9% max. condensation. Operating Temp, Rel.Humidity kva Servo amplifier power supply capacity (rating) Yes CE and UL approved servo motors * IP67, IP6 Servo motor protection code 6 mm Size of aluminum plates for heat radiation during measurement p. 37 External Wiring Features How to Read Model Numbers Standard Model Number List System Configuration - + Encoder Wiring External Wiring Model./Flange Size/Rated Output RAA6F/6 mm/. kw RAA64F/6 mm/.4 kw RAA87F/8 mm/.7 kw Options Selection Guide 34

36 Encoder Wiring Serial Encoder Battery-backup method absolute encoder [PA3C] Absolute encoder for incremental systems [PA3S] Battery-less absolute encoder [RA3C, HA6] Servo amplifier V SG *3 EN1 ES ES BAT BAT *4 Absolute encoder 7 E/1(Brown) ES 8 F/(Blue) ES 9 T/8(Pink) EBAT 1 S/4(Purple) EBAT 1 Connector: 361-1PL Shell kit: *1 * H/9(Red) V G/1(Black) V J/7 FG (Shielded) Servo motor *1 Use a twisted pair shielded cable. * Maximum cable lengths by conductor size of the power supply cable (V,SG) Conductor size Conductor resistance AWG SQ (mm ) (Ω/km) * C Length (m) or less 4. 1 or less or less 1. 4 or less 18.7 or less 4 Conductor resistance differs according to conductor specifications. *3 When the absolute encoder for incremental systems or batteryless absolute encoder is used, battery lines (EBAT+, EBAT-) are not required. *4 Lead wire colors are indicated in parentheses. For lead wire colors and circular connector pin numbers, see the following table. Circular connector Model. R (Flange size: 13 mm sq. or more) JNDS1SL1-R JNDS1SL-R JNDS1SL3-R JNFS1ML1-R JNFS1ML-R JNFS1ML3-R R, R Servo Motor 1 mm sq. or less 13 mm sq. or more ES+ ES EBAT+ EBAT +V V FG Brown Blue Pink *3 Purple *3 Red Black Shielded 1 8 *3 4 * Pulse Encoder Wire-saving incremental encoder Servo amplifier V SG EN1 A A B B Z Z *3 Incremental encoder 7 A/1(Blue) A 8 D/4(Brown) A B/(Green) B 6 E/(Purple) B 9 F/3(White) Z 1 G/6(Yellow) Z 1 Servo motor encoder connectors p. 43 Circular connector model. Connector: 361-1PL Shell kit: *1 * R (Flange size: 13 mm sq. or more) J/9(Red) V N/1(Black) V H/7 FG (Shielded) Servo motor JNDS1SL1-R JNFS1ML1-R JNDS1SL-R JNFS1ML-R JNDS1SL3-R JNFS1ML3-R *1 Use a twisted pair shielded cable. * Maximum cable lengths by conductor size of the power supply cable (V,SG) Conductor resistance differs according to conductor specifications. *3 Lead wire colors are indicated in parentheses. For lead wire colors and circular connector pin numbers, see the following table: R, R R, R Servo Motor Conductor size AWG SQ (mm ) mm sq. or less 13 mm sq. or more 1 mm sq. or less 13 mm sq. or more A A B B Z Z + V Blue Brown Green Purple White Yellow Red V FG Black Shielded 1 7 Conductor resistance (Ω/km) * C 1 or less 1 or less 6 or less 4 or less or less Length (m)

37 External Wiring For : Sink output, 3-phase V AC power input type AC power 3 to 4 V /6 Hz Models equipped with the safe torque off function only An earth leakage circuit breaker conforming to UL standard and either IEC standards or EN Safety Standards is recommended. Do not wire the S phase for a single phase amplifier. MC Start ready Start ON ready OFF MC MC Emergency stop System error The external power supply is to be arranged by the customer. 4 V DC 4 V DC The external power supply is to be arranged by the customer. Position command Pulse input Velocity command/torque command input Torque compensation input Torque control input Battery input General input te 6) Line driver te 8) Clockwise pulse Counter clockwise pulse 7 EDM- Clockwise side Counterclockwise side User unit SG SG Lithium battery 3.6 V DC VT VT The external power supply is to be arranged by the customer. V ~4 V DC Shield processing CN1 SH CN4 te 1) CNA te 9) R S T r t F-PC F-PC SG R-PC SG 1 R-PC SG V-REF/ SG T-REF SG SG SG T-COMP SG F-TLA SG R-TLA BTP-I BTN-I SG CONT-COM CONT1 36 CONT 3 CONT3 34 CONT4 33 CONT 3 CONT HWGOFF+ NC NC HWGOFF1+ HWGOFF1- HWGOFF- EDM CONT7 CONT8 + V + V 1 SG SG te ) te 3) RB1 Servo amplifier - SG SG CNA + RB Internal regenerative CNB resistance U Line driver Equivalent to HD6C31 SG EN1 AO AO BO BO ZO ZO PS PS SG SG SG OUT-PWR OUT1 OUT OUT3 OUT4 OUT OUT6 OUT8 V ZOP SG W MON OUT OUT-COM 4 OUT-COM SH SH Servo motor te 4) Red Orange (Yellow) White Orange (Yellow) Black Green (Green/Yellow) te ) SH Connector. Name Housing, Plug, Shell CNA Main power supply, Control MSTBT./8-STF-.8LUB power, Input connector Servo motor power CNB line connector MSTBT./3-STF-.8 CN1 EN1 Connector for host Connector for Plug: 11-3PE Connector: 361-1PL device input signal encoder signal Shell: 13-A-8 Shell kit: Shield processing Encoder Divided signal output Monitor output The external power supply is to be arranged by the customer. V DC,1 V to 4 V DC General output te 1) Encoder RY1 9 V (4 V) Holding brake (Install only devices with brakes) Use a twisted pair shielded cable. te ) Connect the regenerative resistor between the 'RB1-RB terminals. When using the externally installed regenerative resistor, remove the wiring of internal regenerative resistor connected between RB1 and RB terminals and then connect the externally installed regenerative resistor between RB1 and RB terminals. te 3) is a maintenance terminal (high voltage circuit). Do not wire this terminal. te 4) Motor connection differs by the motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. When they are the circular connector type, connect them according to the motor specification. te ) Refer to the encoder connection figure for the wiring of the connector for the encoder connection. te 6) Be sure to connect SG (signal ground) between the equipment and the servo amplifier when you use a difference input signal. te 7) R, S, T, r, t,, RB1, RB, U, V, W are high-voltage circuits. All other lines are low-voltage. Ensure that there is sufficient distance between the highand low-voltage circuits. te 8) Use a line driver with a differential voltage difference (VT) from. V to 3.8 V. If the differential voltage is less than. V or more than 3.8 V, it may lead to malfunction due to missing pulses. te 9) CN4 is a connector for safety function signals. To turn the servo motor power ON, a safety device must be connected and the wiring to activate the safety function must be done.when not using the safety function, use an optional connector (P.N: AL ) inserted into the CN4. te 1) thing should connect with CN4 pin 1 and. Features How to Read Model Numbers Standard Model Number List System Configuration - + Encoder Wiring External Wiring Options Selection Guide 36

38 tes on Replacing Our Conventional Products te the following when replacing our conventional products such as servo amplifier SANMOTION R ADVANCED MODEL with SANMOTION R 3E Model. Position Command Pulse Input There are constraints on the specifications of the available position pulse signals for the SANMOTION R 3E Model. Also, for the open collector type, a wiring change is necessary. ADVANCED MODEL Host device Amplifier Host device 3E Model Amplifier Pulse output circuit of the host devices Wiring compatibility Constraint conditions Line driver Host device 6(8) 7(9) 47(48) Amplifier VT Line driver Host device 6(8) 7(9) 47(48) Amplifier 14(16) Differential output type (Line driver) Open collector Type Yes Voltage difference of differential signal (VT) :. to 3.8 V Saturation voltage of the transistor (VCE): 1. V max. 6(8) 7(9) 47(48) Vce 6(8) 7(9) 47(48) Open collector Open collector General input 7, 8 For the SANMOTION R 3E Model, differential (line driver) output type cannot be used as a host device side output circuit. Also, a wiring change is necessary even if open collector output is used. ADVANCED MODEL Host device Amplifier CONT CONT8 1 Host device 3E Model CONT-COM CONT7 13 CONT8 1 Amplifier General output circuit of the host devises Differential output type (Line driver) Open collector Type Wiring compatibility - (Refer to the figure) Constraint conditions Change to open collector type. Wire in a similar way to CONT1 to SG 38 Open collector output Open collector output 37

39 [Unit : mm (inch)] 4 mm sq. to 1 mm sq. R R ( LH) LC LZ LA.7 M..6 M LB S M LR Q LE LG LL±1 KL Absolute encoder LL±1 D3 KL Incremental encoder Features How to Read Model Numbers Standard Model Number List Oil seal (Option) QE Tap Depth LT Motor cable (for mounting) (for power and GND) Brake cable (for mounting) *1 with brake but without extension cable connector *3 11±1 D1 () 11±1 () D 11±1 () D3 Shield cable (for mounting) (for encoder) 11±1 () Shield cable (for mounting) (for encoder) System Configuration Battery-backup method absolute encoder Incremental encoder Absolute encoder for incremental systems W/out oil seal With oil seal W/out oil seal With oil seal W/out W/out W/out W/out With brake With brake With brake With brake brake brake brake brake Model. LL LL LL LL LL LL LL LL LG KL LA LB LE R A43 1.(.6) 87.(3.44) 6.(.6) 9.(3.7) 63.(.4) 99.(3.98) 68.(.74) 14.(4.18) R A4 6.(.6) 9.(3.7) 61.(.46) 97.(3.9) 68.(.74) 14.(4.18) 73.(.94) 19.(4.38) REA48 (.) (1.416) (1.84) 3.1 ( 3.84 ).(.1) 7(.8) 18(4.) 77(3.8) 113(4.) 84(3.36) 1(4.8) 89(3.6) 1() RAA41 R A61 8.(.34) 8.(3.3) 6.(.6) 89.(3.8) 78.(3.18) 16.(4.48) 8.(3.48) 113.(4.8) 6 R A6 69.(.78) 97.(3.9) 76.(3.6) 14.(4.18) 89.(3.68) 117.(4.688) 96.(3.848) 14.(4.968) (.4) RAA64 9.(3.8) 13.(4.94) 1.(4.1) 13.(.) 11.(4.68) 143.(.78) 1.(4.888) 1.(6.8) RAA8 66.3(.6) 1(4.8) 73.3(.93) 19(4.36) 9(3.6) 1.7(4.98) 97(3.88) 19.7(.188) *1 Brake connectors (cables) are not supplied for models without brakes. * A reduction in the rating might be needed if an oil seal or brake is attached. Contact us for details. *3 The cable length of the motor with extension cable connector is ±3 mm. The connector is attached to the end of the cable. See p (1.784) RAA (3.13) 114(4.6) 8.3(3.14) 11(4.84) 1(4.8) 134.7(.388) 19(4.36) 141.7(.6799) (.176) RAA (4.9) 143(.7) 114.3(4.7) 1(6) 131(.4) 163.7(6.48) 138(.) 17.7(6.879) (.3) RAAB (4.499) 14.(.19) 114.3(4.7) 14.(.19) 18.8(.7) 14.7(6.9) 18.8(.7) 14.7(6.9) 9.4 (.376) RAAB81 137(.48) 163(6.) 137(.48) 163(6.) 11.(6.6) 177.4(7.96) 11.(6.6) 177.4(7.96) RAA (4.4) 18.8(.1) 111.3(4.4) 18.8(.1) 1 (.4) RAA (.13) 14.8(.83) 18.3(.13) 14.8(.83) R 6 7.(.84) 1.(3.97) 79.(3.13) 17.(4.3) 9.(3.63) 1.(4.73) 99.(3.96) 17.(.8) 6 R (3.878) 16.(4.98) 1.(4.14) 133.(.6) 118.(4.64) 146.(.76) 1.(4.99) 13.(6.31) (.4) R (4.343) 146(.748) 117.3(4.618) 13(6.4) 134(.76) 166.7(6.63) 141(.1) 173.7(6.839) 8 (.3) Model. LH LC LZ LR S Q QE LT D1 D D3 R A R A4 REA48 RAA41 R A61 R A6 RAA64 RAA8 RAA84 RAA87 6 (.4) 8 (3.8) 18 (4.) RAAB87 RAAB (4.6) RAA17 13 RAA11 (.11) R 6 8 R 64 (3.8) R (4.) 4 (1.6) 6 (.4) 8 (3.14) 86 (3.38) 1 (3.93) 6 (.4) 8 (3.14) -ø4. (-ø.18) 4-ø. (4-ø.) 4-ø6.6 (4-ø.64) 4-ø6.6 (4-ø.64) 4-ø9 (4-ø.36) 4-ø. (4-ø.) 4-ø6.6 (4-ø.64) (1) (3.14) 3 (1.) 4 (1.7) 3 (1.37) 4 (1.8) 3 (1.) 4 (1.7) (.4.3 ) (.3.3 ) (.8) (.3.3 ) M 1(.48) 14.11(..3 ) (1) 16.11(.6.3 ) 3(1.4) M 1(.48) (.6.3 ) 3(1.) M 1(.48) 4 (.88. ) (1.7) M6 (.8) (..3 ) (1) M 1(.48) 3 (.6.3 ) (1.37) M 1(.48) 6 (.3) (.19) (.19) 7 (.8) 9 (3.6) 1 (4) (.67) (4.6) 44.6 (1.784) 4.4 (.176) 7 (.8) 9 (3.6). (.1 ) 7.3 (.8.1 ) 3(.1) 8.3 ( 3..1 ) 9.3 ( ). (.1 ) 3(.1) 7.3 (.8.1 ) 3(.1) For the following encoders, contact us for details. Resolver method battery-less absolute encoder [RA3C], High precision battery-less optical absolute encoder [HA6]. (1 mm sq. Min.) - + Encoder Wiring External Wiring Options Selection Guide 38

40 [Unit : mm (inch)] 13 mm sq. R. kw to 1.8 kw LC 4- LZ1.8 M..8 M LR LE (LG) LL LA LB S QA QK Q H ( LH) QE Tap Oil seal Depth LT -LZ (Tap for removing motor) W Section H-H M U T H (KB1) (7) (KL3) JNAS1ML-R (KB) (for encoder) JL4V-E4-11PE-B-R (for power, brake and GND) (KL) (KL1) with the battery-backup method absolute encoder and brake Battery-backup method absolute encoder Absolute encoder for incremental systems W/out brake With brake Model. LL KB KL3 LL KB KL3 LG KL1 KL LA LB LE LH LC LZ1 LZ LR RAA RAA131 RAA1318 (4.1) 1. (4.8) 138 (.) 44 (1.76) 69 (.76) (.8) 16 (6.4) 179 (7.16) (3.4) 84 (3.36) 86 (3.44) 69 (.76) For the following encoders, contact us for details. Resolver method battery-less absolute encoder [RA3C], High precision battery-less optical absolute encoder [HA6]. 1 (.48) 98 (3.9) 1 (.84) 14 (.8) Model. S Q QA QK W T U KB1 QE LT 46 RAA13 (1.84) RAA131 M6 () (.1) (1.68) (.4) (.1) (.6) (.8) (.88.) (.4.1) 81 RAA1318 (3.4) 11.3 ( ) 4 (.16) 16 (6.6) 13 (.) 9 (.36) M6 (.) 13 mm sq. R kw LC 4- LZ1.8 M..8 M LR LE (LG) LL LA QA Q QK H LB S ( LH) M H (KL3) (7) (KL1) QE Tap Oil seal Depth LT -LZ (Tap for removing motor) W U T Section H-H (KB1) with the battery-backup method absolute encoder and brake JNAS1ML-R (KB) (for encoder) JL4V-E4-11PE-B-R (for power, brake and GND) (KL) For the following encoders, contact us for details. Resolver method battery-less absolute encoder [RA3C], High precision battery-less optical absolute encoder [HA6]. 39 Battery-backup method absolute encoder Absolute encoder for incremental systems W/out brake With brake Model. LL KB KL3 LL KB KL3 LG KL1 KL LA LB LE LH LC LZ1 LZ LR RAA (6.84) 7 (.8) 38 (1.) 16 (8.64) 13 (4.1) 38 (1.) 1 (.48) 98 (3.9) 1 (.84) 14 (.8) Model. S Q QA QK W T U KB1 QE LT RAA13 M8 () (.1) (1.68) (.8) (.1) (3.96) (1) ( 1.1.) (.3.14) 11.3 ( ) 4 (.16) 16 (6.6) 13 (.) 9 (.36) M6 (.)

41 Setup Software This software allows you to set servo system parameters from a PC. It also allows you to easily start up or test run the servo system. The software can be downloaded from Product Information on our website. URL : Features Start-up screen Main screen Setup software title: SANMOTION MOTOR SETUP SOFTWARE Main Functions Parameter settings (settings by group, settings by function) Diagnosis (alarm display, warning display, alarm cancellation) Test run execution (speed JOG, position JOG, motor starting point search, serial encoder clearance) Servo tuning (notch filter tuning, FF vibration control frequency tuning) Various measurement functions (operating waveform display, machinery frequency response measurement) * Use a USB communication cable (mini-b socket) to connect the USB port of PC and servo amplifier. Supported OS Windows XP (SP3 or higher) / Vista / 7 * See our website for details on supported versions. How to Read Model Numbers Standard Model Number List Parameter Setting screen Options Encoder Wiring - + System Configuration External Wiring Function Parameter Edit The minimum required parameters for operations can be collectively set. Setting of each group Parameter Parameters can be set, saved, and read from a PC. Selection Guide 4

42 Setup Software Diagnosis screen Test run The current and previous 1 alarm occurrences can be checked. Causes and corrective actions can be checked based on alarm status. Simple test run of servo motor by issuing velocity commands and position commands from a PC. (Position JOG in operation shown in screen) Servo tuning Automatically sets up the notch filter and saves the tuning results. Measurement Operation Trace Graphically displays servo motor's speed, torque and internal status. System Analysis Analyzes servo system frequency characteristics. 41

43 Options Connectors of Analog/Pulse input type Single Connectors Connector. Item Model. Manufacturer model. Manufacturer CN1 To connect host device AL PE, 13-A-8 EN1, EN To connect encoder AL PL, Sumitomo 3M Limited CNA For input power supply, regenerative AL MSTBT./8-STF-.8LUB resistor connection Phoenix Contact.K.K CNB To connect servo motor AL-Y479-1 MSTBT./3-STF-.8 CN4 *1 To connect safety device AL Tyco Electronics (for short-circuiting) Japan G.K. CN4 To connect safety device (for wiring) AL *1 When CN4 is not wired, make sure to insert safety device connector (for short-circuiting) to CN4 on servo amplifier. Connector sets ( safe torque off function) Model. RS3 A L RS3 A8 L Connector sets (With safe torque off function) RS3 A A RS3 A8 A RS3 A L RS3 AA L RS3 A A RS3 AA A RS3 A RS3 A8 RS3 A L Internal Regenerative Resistor Yes Yes / Yes Connector Set Model. AL-738 AL-7384 AL-7386 AL-7388 AL-739 AL CN1/ To connect host device Yes Yes Yes Yes Yes EN1/ To connect encoder Yes Yes Yes Yes Yes EN/ To connect encoder Yes Yes Connectors included in the set Remarks CNA/ To connect input power supply, regenerative resistor Yes Yes Yes CNB/For servo motor connection Yes Yes Yes Yes Yes CN4/To connect safety device (for short-circuiting) CN4/To connect safety device (for wiring) Model. RS3 A L(4) RS3 A8 L(4) RS3 A A(4) RS3 A8 A(4) For fully-closed For fully-closed control systems control systems RS3 A L(4) RS3 AA L(4) RS3 A A(4) RS3 AA A(4) RS3 A (4) RS3 A8 (4) Internal Regenerative Resistor Yes Yes / Yes Connector Set Model. AL-731 AL-7316 AL-7317 AL-7318 AL-7319 CN1/To connect host device Yes Yes Yes Yes Yes EN1/To connect encoder Yes Yes Yes Yes Yes EN/To connect encoder Yes Yes Connectors CNA/For input power supply, included in Yes regenerative resistor connection the set Yes CNB/For servo motor connection Yes Yes Yes Yes Remarks CN4/To connect safety device (for short-circuiting) CN4/To connect safety device (for wiring) Yes Yes Yes Yes Yes For fully-closed control systems For fully-closed control systems Features How to Read Model Numbers Standard Model Number List System Configuration - + Encoder Wiring External Wiring Analog monitor p. 4 Front mounting brackets p. 44 Connector for input power, regenerative resistor (CNA) External regenerative resistor p. 46 Connector for servo motor connection (CNB) Connector for connections with host devices (CN1) Host device Connector for encoder connections (EN1, EN) Servo motor with servo motor extension cable / connector Options Front mounting brackets p. 44 Battery box p. 4 * Front mounting bracket and battery box cannot be used together. Figure shows the mounting position. Encoder extension cable with battery p. 4 4 Selection Guide