Simplified Setup Process for Optimum Operating Conditions

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Blaise Underwood
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Simplified Setup Process for Optimum Operating Conditions Automatic Tuning Automatic tuning with high response has been made feasible by the selection of an inertia fixation function and five types

Test Function (JOG) On-board JOG operation function is available for testing motor and amplifier connection without the need to connect to host device.

2 Simplified Setup Process for Optimum Operating Conditions Automatic Tuning Automatic tuning with high response has been made feasible by the selection of an inertia fixation function and five types of automatic tuning characteristics with the use of a new algorithm, 30-step setting of responsiveness, and automatic parameter storage function. Test Function (JOG) On-board JOG operation function is available for testing motor and amplifier connection without the need to connect to host device. Capable of JOG operation without connecting to host device Conformance to Overseas s Our standard specifications meet overseas standards (UL, CSA, and EN). For complying with the EMC Directive, you can use EMC filters. You can also employ your servomotors conforming to overseas standards (UL and EN). All-in-One Control Configurable parameters allow you to switch between control modes for torgue, position or velocity. Position or Velocity Torque control GOAL START Flat Ascending 1

Setup Software The setup software enables setting of parameters, graphic display of monitored waveforms of position, speed, and torque, and allows you to conduct a systems analysis.

3 Setup Software The setup software enables setting of parameters, graphic display of monitored waveforms of position, speed, and torque, and allows you to conduct a systems analysis. Simultaneous Monitoring Function The setup software implements simultaneous monitoring of a maximum of 15 amplifier axes. This function is useful for monitoring waveforms in synchronous operation. System Configuration Features and Functions Nomencalture Parameter setting Position, speed, and monitored torque waveform RS232C Up to 15 axes can be connected through a daisy chain Specifications Note: Note PC connection cable Code: AL (Optional) DC SERVO SYSTEMS Optional:PC connection cable AC SERVO SYSTEMS 15 units maximum Setup Software Dimensions External Wiring Diagram Water Protection All motor models have IP43 protection. Optional Equipment IP43 2

Improved Systems Precision and Shortened Cycle Time High Response With the use of the 4th order notch filter that reduces phase lag, this system suppresses resonance in mechanical systems and

4 Improved Systems Precision and Shortened Cycle Time High Response With the use of the 4th order notch filter that reduces phase lag, this system suppresses resonance in mechanical systems and improves the speed responsiveness of the unit. Vibration-damping Control The feed forward vibration-damping control function allows you to suppress the vibration of the edges and base of a machine. Additionally, four frequencies that dominate vibrations can be set in advance and selected on site for each application. Note:A 17-bit encoder is required. Shortened Positioning Stabilization Time With the newly employed algorithm, the time required for stabilizing the unit positioning can be substantially reduced. Disturbance Suppression The newly developed disturbance observer with an expanded application frequency range can suppress the influence of redundant axes in a multiple-axis configuration. Note:A 17-bit encoder is required. 3

5 High Resolution Support for encoders up to 17 bit (131,072 divisions) is available for high resolution control. Curtailed Running Cost Power Loss Reduction by 30% A low-power loss module has been employed to reduce the power loss in the main circuit by 30%. Features and Functions Nomencalture High Resolution 17bit131,072 divisions) Absolute Encoder Power loss reduction (%) 100% 90% 80% 70% 60% 50% 40% 30% 20% 10% 0% Current model SANMOTION T Optional Equipment System Configuration Specifications Dimensions External Wiring Diagram Setup Software 4

6 Servo Motor Nomenclature Servo Motor Example: The model number is as follows when 200W rated output, 76mm outer diameter, incremental encoder (1000P/R), a brake, gear (1/15 gear ratio), and 75V series voltage specification are selected for "SANMOTION T" servo motor: T7 20 B G EL8 Model Outer diameter of motor T4 41 T5 51 T7 76 T Rated output 02 23W 04 40W 06 60W 06 60W W W W W W Brake B Equipped Blank Not equipped Gear Motor model Model No. Gear ratio GA 1/12.5 T4 type T5 type T7 type GB GC G1 G2 G3 G4 G6 G7 G8 G9 1/25 1/50 1/15 1/30 1/60 1/90 1/15 1/30 1/60 1/90 Specification identification 01 (W/O oil seal) Other Option Winding specifications 1 24V series 2 75V series Encoder Motor model T4, T5, T7, and T8 models EL8 EL0 E59 Line driver 1000P/R 2000P/R 2500P/R No indication: No encoder T4 type cannot be equipped with brake oil seal. The 24V-voltage series is provided for T , T ,T ,and T Power Unit TS1 P A TS1 series Unit structure type P Power Unit Output Capacity 05 5A 10 10A 15 15A Input voltage 100V AC or 35V AC (for common use) Symbol A Individual specification 00 product 5

7 Servo Amplifier Nomenclature Servo Amplifier Example: The model number shown below is for when "SANMOTION T "series servo amplifier with input voltage of DC140V, 20A capacity, and incremental encoder (1000P/R). Features and Functions TS1 A 02 A A Nomencalture TS1 series Amp. Capacity 02 20A A2 25A 03 30A Control unit hardware type Note A Incremental encoder F Absolute encoder System Configuration Specifications Input voltage 140V DC 50V DC Symbol A B 1 Compatible motor type Input voltage-140v DC Type of Amplifier. Type of Motor Factory settings T TS1A02A T T T TS1AA2A T T TS1A03A T T Compatible encoder type Motor structure type Rotary motor Incremental encoder Format Divisions per rotation [P/R] Addreviation Hard type. Note Factory settings Optical 1000 INC-E Optical 1024 INC-E Optical 2000 INC-E Optical 2500 INC-E Input voltage-50v DC Type of Amplifier. Type of Motor Factory settings TS1B02A T Dimensions External Wiring Diagram Setup Software Optional Equipment Absolute encoder Format Transmission format Divisions per rotation [P/R] Multiple rotation Addreviation Hard type. Note Remarks Factory settings Optical Half duplex start-stop synchronization 2.5M 17bit 16bit PA035C-2.5MH Optical Half duplex start-stop synchronization 2.5M 17bit 16bit PA035C-4.0MH Option 3 Interface for control section Control type Velocity control type Torque control type Position control type Velocity - Torque switch type Position - Torque switch type Position - Velocity switch type Internal velocity control type Factory settings NotePlease change the compatible motor, compatible encoder and the interface for control section using the set-up software. 6

8 Amplifier System Configuration Control power supply: DC24V output Main power supply AC100V 50/60Hz Circuit Breaker (MCCB) Noise Filter Electromagnetic Contactor Power unit: DC140V output Cuts off power in the case of an overload, to protect the power line. Protects the power line from external noise, and from noise generated by the servo amplifier. Switches servo power on and off. Requires installation of a surge protector. Brake Power Required for use when the servo motor is equipped with a brake. Connector Types(Amplifier) CN1 CN2 Connectors for Amplifier Connections CN3 CN4 Contents CN1Plug, Housing AL Single Connectors CN2Plug, Housing CN3Housing, Contact AL AL CN4Housing, Contact AL Connector Sets CN1,CN2Plug, Housing CN3,CN4Housing, Contact AL

C N 5 CN5 AL-00490833-01 Setup Software Parameter configuration and monitoring is possible via communication with a PC.

communication with third-party products. Optional Equipment Setup Software Features and Functions Wiring required for brake.

9 C N 5 CN5 AL Setup Software Parameter configuration and monitoring is possible via communication with a PC. Nomencalture System Configuration C N 3 C N 2 CN2 Specifications C N 4 C N 1 CN1 Host Devices PLC Dimensions External Wiring Diagram SANYO DENKI's host devices permit communication with third-party products. Optional Equipment Setup Software Features and Functions Wiring required for brake. Connector Types(Power Unit) CN1 CN2 Connectors for Power Unit Single Connectors Contents CN1Housing and contact CN2Housing and Contact CN3Housing and Contact AL AL AL Connector Sets CN1,2,3Housing and Contact AL Note setal is attached to the Power Unit. 8

10 TS1 Specifications T Applicable amplifier model No. TS1B02AA TS1A02AA Motor Model No. Condition Symbol Unit (SI) T EL8 T EL8 Servo amplifier Input power(control circuit) DC24V+10, -15% Servo amplifier Input power(main circuit) DC50V+10, -15% DC140V+10, -15% Amplifier operation temperature and humidity Temperature: 0 55Humidity: Maximum 90% (no condensation) Power capacity(rated) kva Amplifier mass kg 0.45 Rated output P R W Rated speed N R min Maximum speed N max min Rated torque T R Nm Continuous stall torque T S Nm Instantaneous maximum stall torque T PS Nm Rated armature voltage E R V Rated armature current I R A Continuous stall armature current I S A Instantaneous maximum stall armature current I P A Torque constant K T Nm/A Voltage constant per phase K E V/kmin Phase resistance R a Rated power rate O R kw/s Electrical time constant t C ms Mechanical time constant t m ms Load inertia J L kgm 2 (GD 2 /4) Sensor (INC) P/R 1000(Line driver) Rotor inertia (including sensor) J M kgm 2 (GD 2 /4) Motor mass (including sensor) kg Break-holding torque T B Nm Break excitation voltage V B V Break excitation current I B A Break inertia J B kgm 2 (GD 2 /4) Break mass kg Motor operation temperature and humidity Temperature: 0 40Humidity: Maximum 90% (no condensation) mark indicates a typical value after temperature increased and saturated in the combination with the standard amplifier mark indicates a typical value when the winding temperature is at 25. Amp. +Motor Characteristic curve TorqueNm Instantaneous domain 0.1 Continuous domain Speedmin -1 TorqueNm Instantaneous domain 0.1 Continuous Speedmin domain Speedmin -1 Motor Characteristic curve 9

11 TS1A02AA TS1AA2AA T EL8 T EL8 T EL8 T EL8 DC24V+10, -15% DC140V+10, -15% Temperature: 0 55Humidity: Maximum 90% (no condensation) (Line driver) Temperature: 0 40Humidity: Maximum 90% (no condensation) Features and Functions Nomencalture System Configuration Specifications Dimensions External Wiring Diagram Setup Software Optional Equipment TorqueNm Instantaneous domain TorqueNm Instantaneous domain TorqueNm Instantaneous domain TorqueNm Instantaneous domain 0.1 Continuous domain 0.1 Continuous domain 0.2 Continuous domain 0.5 Continuous domain Speedmin Speedmin Speedmin Speedmin -1 10

12 TS1 Specifications T Applicable amplifier model No. TS1AA2AA TS1A03AA Motor Model No. Condition Symbol Unit (SI) T EL8 T EL8 Servo amplifier Input power(control circuit) DC24V+10, -15% Servo amplifier Input power(main circuit) DC140V+10, -15% Amplifier operation temperature and humidity Temperature: 0 55Humidity: Maximum 90% (no condensation) Power capacity(rated) kva Amplifier mass kg Rated output P R W Rated speed N R min Maximum speed N max min Rated torque T R Nm Continuous stall torque T S Nm Instantaneous maximum stall torque T PS Nm Rated armature voltage E R V Rated armature current I R A Continuous stall armature current I S A Instantaneous maximum stall armature current I P A Torque constant K T Nm/A Voltage constant per phase K E V/kmin Phase resistance R a Rated power rate O R kw/s Electrical time constant t C ms Mechanical time constant t m ms Load inertia J L kgm 2 (GD 2 /4) Sensor (INC) P/R 1000(Line driver) Rotor inertia (including sensor) J M kgm 2 (GD 2 /4) Motor mass (including sensor) kg Break-holding torque T B Nm Break excitation voltage V B V Break excitation current I B A Break inertia J B kgm 2 (GD 2 /4) Break mass kg Motor operation temperature and humidity Temperature: 0 40Humidity: Maximum 90% (no condensation) mark indicates a typical value after temperature increased and saturated in the combination with the standard amplifier mark indicates a typical value when the winding temperature is at 25. Amp. +Motor Characteristic curve TorqueNm Instantaneous domain Continuous domain TorqueNm Instantaneous domain Continuous domain Speedmin Speedmin -1 Motor Characteristic curve 11

13 4.0 TS1A03AA T EL8 DC24V+10, -15% DC140V+10, -15% The same as the left (Line driver) The same as the left Power Unit specifications Applicable Power unit model No. Unit TS1PA05 TS1PA10 TS1PA15 Power unit Input voltage V AC100V +10%,-15% or AC35V +10%,-15% Power unit rated output current A Power unit operation temperature and humidity Temperature: 0 to 55Humidity: Maximum 90% (no condensation) Power capacity(rated) at AC100V input KVA Power unit weight Kg Features and Functions Nomencalture System Configuration Specifications Dimensions External Wiring Diagram Setup Software Optional Equipment TorqueNm Instantaneous domain 1.0 Continuous domain Speedmin -1 12

14 External Wiring Diagram Position command Type HousingDK-3100S-05R Contact DK-3RECLLP1-100 HousingDK-3100S-03R Contact DK-3RECLLP1-100 User unit Control circuit power supply 24V DC +DC Main circuit NOTE 9 -DC power supply MC 100V AC Power +DC NFB Supply 50/60Hz Unit -DC NOTE 7 NOTE 9 Start ready Start ready ON OFF MC MC Emergency stop System error Line driver HD26C31 Corresponding Position command pulse input Forward revolution pulse Backward revolution pulse NOTE 5 NOTE 8 Deviation clear SG SG NOTE 6 DC5V24V CN3 1 +DC 2 24V DC -DC 3 +DC 4 140V DC -DC 5 CN F-PC SG 17 F-PC 15 SG SG R-PC SG 19 R-PC 20 SG SG SG CONT-COM1 1 2 CONT1 SERVO AMPLIFIER Line driver HD26C31 Corresponding Line driver HD26C31 Corresponding CN4 1 MA 2 MB 3 CN2 A A B B C C SH NOTE 4 Plug PE NOTE 2 Shell A NOTE 3 Blue(Black) Red(White) Green(Yellow) A A B B C C NOTE 6 DC5V, DC12V24V SH Encoder division signal output SERVO MOTOR M Encoder Orange Orange RY1 90V (24V) Holding brake (for the type with a brake only) Note 1) For the parts marked,use a twisted pair shielded cable. Note 2) For a cable clamp method, can do shield connection by clamping a drain line. Note 3) Connection of the motor side is different by specifications of a motor. Note 4) For how to wire the encoder connector,refer to the encoder wiring diagram. Note 5) Refer to the following figure when connecting the command pulse input to the open collector output. General-purpose input Velocity loop propotional control Servo ON CONT2 CONT-COM2 CONT3 OUT1 OUT2 7 8 Start ready complete output Deviation zero output Forward revolution pulse Backward revolution pulse Alarm Reset SH 6 CONT4 OUT-COM3 9 OUT3 10 OUT4 11 OUT5 12 OUT-COM4 13 Output COMMON ALM4 ALM2 ALM1 Alarm code output Output COMMON General purpose output Note 6) Note 7) Note 8) Note 9) Your are required to prepare the power. Either of the inputs can be selected. We recommend that a UL-approved earth leakage breaker be used that complies with IEC or EN standard. Make sure to connect the differential input SG. If not connected,malfunction or breakage may result due to noise. A power supply for control power please use a power supply that insulated double or reinforced from a primary power supply of 100V or 200V. SH NOTE 2 Plug PE Shell A0-008 Velocity command/torque command Type HousingDK-3100S-05R Contact DK-3RECLLP1-100 HousingDK-3100S-03R Contact DK-3RECLLP1-100 Main circuit power supply 100V AC NFB 50/60Hz NOTE 6 Velocity command/ Torque command input General-purpose input User unit Control circuit power supply 24V DC +DC NOTE 7 -DC MC Power +DC Supply Unit -DC NOTE 7 Start ready Start ready ON OFF MC MC Emergency System error stop VCMD/TCMD SG SG Deviation clear CLR Velocity loop propotional control PCON Servo ON SON Alarm Reset RST NOTE 5 DC5V24V SH CN3 1 +DC 2 24V DC -DC 3 +DC 4 140V DC -DC 5 CN1 V-REF 14 /T-REF 15 SG 20 SG SG 1 CONT-COM1 2 CONT1 3 CONT2 4 CONT-COM2 5 CONT3 6 CONT4 SG SERVO AMPLIFIER - + Line driver HD26C31 Corresponding OUT1 OUT2 OUT3 MA MB A A B B C C OUT-COM3 CN CN2 OUT4 11 SH NOTE 4 Plug PE NOTE 2 Shell A NOTE 3 Blue(Black) Red(White) Green(Yellow) A A B B C C NOTE 6 DC5V, DC12V24V SH Encoder division signal output Start ready complete output Low speed output Output COMMON ALM4 ALM2 Alarm code output SERVO MOTOR Orange RY1 M 90V Orange (24V) Holding brake (for the type with a brake only) General-purpose output Encoder Note 1) For the parts marked,use a twisted pair shielded cable. Note 2) For a cable clamp method, can do shield connection by clamping a drain line. Note 3) Connection of the motor side is different by specifications of a motor. Note 4) For how to wire the encoder connector,refer to the encoder wiring diagram. Note 5) Your are required to prepare the power. Either of the inputs can be selected. Note 6) We recommend that a UL-approved earth leakage breaker be used that complies with IEC or EN standard. Note 7) A power supply for control power please use a power supply that insulated double or reinforced from a primary power supply of 100V or 200V. OUT5 12 ALM1 OUT-COM4 13 Output COMMON SH NOTE 2 13 Plug PE Shell A0-008

15 Power Unit / Sensor Wiring Diagram Power Unit Encoder Housing:DK-3100D-06R Contact:DK-3RECLLP1-100 User Unit Power Supply AC 100V 50/60Hz or AC 35V 50/60Hz MC CN1 1A 1B 2A 2B 3A 3B HousingVHR-2N ContactSVH-21T-P1.1 L1 L2 POWER UNIT R2 2 R1 1 CN3 Regenerative Resistor Note1 CN2 1A P 1B N 2A P N 2B 3A P N 3B 4A P 4B N 5A P 5B N 6A P 6B N Housing:DK-3100D-12R Contact:DK-3RECLLP1-100 Connect to Servo Amplifier DC1(axis #1) DC2(axis #2) DC3(axis #3) DC4(axis #4) DC5(axis #5) DC6(axis #6) Note1 When regeneration process is necessary. Features and Functions Nomencalture System Configuration Specifications Dimensions External Wiring Diagram Incremental encoder PP031/PP038/PP062 Lead wire type TS1 series SERVO AMPLIFIER Note2+DC 5V Note2GND(0V) CN2 A channel input A channel input B channel input B channel input C channel input C channel input Note1 Encoder : Incremental encoder Blue A channel output Brown A channel output Green Optical B channel output Violet encoder B channel output White C channel output Yellow C channel output Red +DC 5V Black GND(0V) Shield T series SERVO MOTOR Setup Software Optional Equipment Note2 Plug VE, Shell A0-008 Note 1) For the parts marked,use a twisted pair shielded cable. Note 2) The encoder power connection differs depending on the cable length.refer to the following table. Encoder cable length DC 5V wiring GND (0V) wiring 5m or less 10m or less 20m or less 13-pin connection 14-pin connection 11- and 13-pin connection 12- and 14-pin connection (7 and 11 pins need not be connected (6 and 12 pins need not be connected (7 pin need not be connected (8 pin need not be connected 7-,11- and 13-pin connection 8-,12- and 14-pin connection 14

16 TS1 Motor dimensions T Motors Unit : mm Model LL LG L1 LA LB LE LC G LZ LR D S Q QA QK W T U M LT T T w/ 2 slots,6.5 T T w/ 2 slots,6.5 T T T T T M M6 10 Encoder-equipped motors Model LL LG L1 L2 LA LB LE LC G LZ LR D S Q QA QK W T U M LT T T w/ 2 slots,6.5 T T w/ 2 slots,6.5 T T T T T Unit : mm M M

17 Brake-equipped motors Features and Functions Nomencalture System Configuration Model LL LG L1 L2 LA LB LE LC G LZ LR D S Q QA QK W T U M LT T w/ 2 slots,6.5 T T T T T Unit : mm M M6 10 Specifications Dimensions External Wiring Diagram Encoder brake-equipped motors Setup Software Optional Equipment Model LL LG L1 L2 L3 LA LB LE LC G LZ LR D S Q QA QK W T U M LT T w/ 2 slots,6.5 T T T T T Unit : mm M M6 8 16

18 Gear dimensions Dimensions of a typical gear for T4 Unit : mm Dimensions of a typical gear for T5 Dimensions of a typical gear for T7 17

19 Servo Amplifier / Power Unit Dimensions Amplifier Unit : mm TS1 02 /TS1 A2 Features and Functions Nomencalture Specifications System Configuration TS1 03 Dimensions External Wiring Diagram Optional Equipment Setup Software Power Unit Direction of installation UP CN3 45 Ground terminal:m4 18

Motor Parameters: Combined motors can be

multiple servo amplifiers networked to a

20 Setup Software (1) Setup Software Start-up Screen (2) Main Screen (3) Parameter Configuration Screen Configuration of General Parameters: Enables parameter loading, saving, etc., via PC connection Configuration of Motor Parameters: Combined motors can be configured via PC connection (4) Monitor Functions Monitor Display: Observe Operation and Input/Output signal status Multi-monitor Display: Simultaneous monitoring of operational status of multiple servo amplifiers networked to a PC. Alarm Record Display: (Current and past alarm occurrence can be checked.) 19

(5) Test Run and Adjustment Function Speed Jogging:

commands from a PC Pulse Feed Jogging: Simplifies motor

from a PC Automatic Notch Filter Tuning: Configures the

Analysis: Analyzes servo system frequency characteristics

Nomencalture System Configuration Features and Functions

21 (5) Test Run and Adjustment Function Speed Jogging: Simplifies motor operation and the issuing of velocity commands from a PC Pulse Feed Jogging: Simplifies motor operation and the entering of distance and travel speed data from a PC Automatic Notch Filter Tuning: Configures the appropriate notch filter settings (6) Trace Operation System Analysis: Analyzes servo system frequency characteristics Optional Equipment Dimensions External Wiring Diagram Nomencalture System Configuration Features and Functions Specifications Setup Software Graphically displays servo motor speed, current, and terminal status 20

22 Optional Equipment PC Interface Cable Unit : mm Connector list (For Amplifier) Single connector set Contents Model number Manufacturer Manufacturer s model number CN1Plug and housing AL Sumitomo 3M Ltd./Molex Ltd. CN2Plug and housing AL Sumitomo 3M Ltd./Molex Ltd. CN3Housing and contact CN4Housing and contact CN1,2Plug and housing CN3,4Housing and contact AL AL AL DDK Ltd./ Tyco Electronics AMP K.K. DDK Ltd./ Tyco Electronics AMP K.K. Sumitomo 3M Ltd./Molex Ltd. DDK Ltd./ Tyco Electronics AMP K.K PE A0-008/ PE A0-008/ DK-3100S-05R + DK-3RECLLP1-100/ DK-3100S-03R + DK-3RECLLP1-100/ PE A0-008/ PE A0-008/ DK-3100S-05R + DK-3RECLLP1-100/ DK-3100S-03R + DK-3RECLLP1-100/ Conformity amplifier All models Note1CN1,2 Sumitomo 3M company product and Molex company product are standardized goods. Note2CN3,4 DDK company product and Tyco electronics AMP company product are standardized goods. * Hand crimp tool for contacts can be used for both. Connector list (For Power Unit) Single connector set Contents Model number Manufacturer Manufacturer s model number CN1Housing and contact AL DDK Ltd./ DK-3100D-06R + DK-3RECLLP1-100/ Tyco Electronics AMP K.K CN2Housing and contact AL DDK Ltd./ DK-3100D-12R + DK-3RECLLP1-100/ Tyco Electronics AMP K.K CN3Housing and contact AL J.S.T Mfg Co Ltd. VHR-2N + SVH-21T-P1.1 DK-3100D-06R + DK-3RECLLP1-100/ CN1,2Housing and contact AL DDK Ltd./ DK-3100D-12R + DK-3RECLLP1-100/ Tyco Electronics AMP K.K CN3Housing and contact J.S.T Mfg Co Ltd. VHR-2N + SVH-21T-P1.1 Note1CN1,2 DDK company product and Tyco electronics AMP company product are standardized goods. *Hand crimp tool for contacts can be used for both. Note2 set(al ) is attached to the Power Unit. 21

23 Inquiry Check Sheet Please provide the following infomation when placing an order or making an inquiry. Also feel free to include any questions that require our attention. Company Name : Depatrtment : Telephone : Fax : 1) Application : 2) Name of Machinery : 3) Number of Units : Date : To contact us : Phone : FAX : Features and Functions Nomencalture System Configuration Item 1 Name of target equipment Equipment name, category (transport, processing, test, other) 2 Name of servo axis Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no) 3 Current condition of above axis Manufacturer Name ( ) Series Name ( ) Motor Capacity ( ) Hydraulic, Mechanical, or New System ( ) 4 Positioning accuracy ±mm±m 5 Operation pattern Feeding Speed [m/sec] Contents AccelerationG[m/s 2 ] Feeding Speed[m/s] Moving Distance[m] (Stroke) Reference formula 1G=9.8[m/s 2 ]1[m/s 2 ]0.1G [m/s 2 ]V[m/sec] t1[sec] D[m]V[m/sec] (t1+t2)[sec] Time Specifications Dimensions External Wiring Diagram 6 Mechanism 7 Mechanical structure Ball-screw/screw-rotation type (horizontal), ball-screw/nut-rotation type (horizontal), rack and pinion (horizontal), belt/chain (horizontal), rotary table, roll feed, instability WTtable mass kg WLwork mass kg WAmass of other drive parts kg WRrack mass kg WBbelt/chain mass kg WCcounterbalance mass kg Faexternal force axial direction N Fbball-screw preload N Troll pushing force N Dr1drive-side roll diameter mm Dr2follower-side roll diameter mm Lr1drive-side roll length mm Lr2follower-side roll length mm Greduction ratio JGspeed-reducer inertia kgm 2 JCcoupling inertia kgm 2 JNnut inertia kgm 2 JOother motor-axis conversion inertia kgm 2 Dbball-screw diameter mm Lbball-screw axial length mm Pbball -screw leadmm Dppinion/pulley diameter mm Lppinion axial length mm tppully thickness mm Dttable diameter mm Dhtable-support dianeter mm LWload shift from axis mm Dstable shaft diameter mm Lstable shaft length mm specific gravity of ball-screw/pinion/pulley/table-shaft material kgcm 3 Setup Software Optional Equipment friction coefficient between sheet and shiliding-surface/support-section/roll 1specific gravity of roll-1 material kgcm 3 2specific gravity of roll-2 material kgcm 3 internal friction coefficient of preload nut mechanical efficiency JLload inertia of motor-axis conversion kgm 2 TFfriction torque of motor axis conversion Nm Tuimbalance torque of motor axis conversion Nm 8 Speed reducer Customer-provided () * Sanyo standard(planet/spur/no-backlash-planet) other() 9 Encoder type Encoder type specified ( yes / no ) Yes: (incremental, optical absolute, optical absolute [resolver absolute with incremental function]) Resolution 0 Input format Position, velocity, torque, communications ( SERCOS / CAN / DeviceNet ) other ( ) A Host equipment (controller) Sequencer, laptop, customer-developed product, Sanyo-provided, other ( ) B Usage environment and other requirements Cutting, clean-room use, anti-dust measures, other ( ) C Estimated production Single product: ( ) units/mouth ( ) units/year D Development schedule Prototype period: () Year ( ) Month Production period: () Year ( ) Month E Various measures Related documentation ( already submitted; send later by mail) Visit/PR desired ( yes / no ) Meeting desired ( yes / no ) F Miscellaneous (questions, pending problems, unresolved issues, etc.) * Please consult us on selecting suitable reduction gears for your application. 22

24 Precautions For Adoption Cautions Failure to follow the precautions on the right may cause moderate injury and property damage, or in some circumstances,could lead to a serious accident. Always follow all listed precautions. For any question or inquiry regarding the above, contact our Sales Department , Kita-Otsuka, Toshima-ku, Tokyo , Japan Phone: Amapola Avenue Torrance, CA U.S.A. Phone: P.A. Paris Nord II 48 Allee des Erables-VILLEPINTE BP F ROISSY CDG Cedex France Phone: Frankfurter Strasse Eschborn Germany Phone: F 5-2, Sunwha-dong Jung-gu Seoul, , Korea Phone: Room 2116, Bldg B, FAR EAST INTERNATIONAL PLAZA, No.317 XianXia Rd., Shanghai China Phone: Room 1208,12F, No.96 Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C. Phone: Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong Phone: Hoe Chiang Road #14-03A/04 Keppel Towers Singapore Phone: The names of companies and/or their products specified in this catalogue are the trade names, and/or trademarks and/or registered trademarks of such respective companies. Remarks : Specifications Are Subject To Change Without Notice. CATALOG NO N

Simplified Setup Process for Optimum Operating Conditions

Ver.2 Simplified Setup Process for Optimum Operating Conditions Auto-uning A new auto-tuning algorithm improves system response by providing functions such as inertia identification, autotuning modes,