AC SERVO SYSTEMS. Ver.4

Transcription

1 A SERVO SYSTEMS R Ver.

2 Servo Motor Model Number Nomenclature Servo Motor Example: The following model number defines a "R" servomotor with mm flange size, rated output, min - maximum rotation speed, V brake, and an absolute encoder (,7 divisions/ rotation),ul/e approval and gear ratio /. R AA F P M A R Series Specification Standard ith oil seal Motor Type Middle inertia Supply Voltage V Motor Holding Brake X ithout Brake B ith Brake 9V D ith Brake V D Maximum Rotation Speed min - Standard Identification M E and UL ithout standard but with gear Gear type Gear ratio / Flange Size mm mm 8 8mm Rated Output 7 7 Encoder Type P Battery backup method absolute encoder PA H Absolute encoder for incremental System PAS Absolute encoder without battery RA S ire-saving incremental encoder PPT Encoder Specification Model Per rotation Multiple Rotations Remarks PA PAS 7(7bit) (bit) Battery backup method Absolute encoder 7(7bit) Absolute encoder for Incremental system RA 7(7bit) (bit) Absolute encoder without battery PPT (P/R) ire-saving incremental encoder onformance to Overseas Standards Our standard servo amplifier has attained the UL, c-ul and ENstandards. To comply with the EM Directive, EM filters can be used.you can also employ servo motors that have attained the UL and EN standards.

3 Servo Amplifier Model Number Nomenclature Single-Axis Servo Amplifier (Analog/Pulse input type) Example: The model number shown below is "R" Series Servo Amplifier with V A input voltage and A amplifier capacity. Features and Functions RS R Series Single-Axis Servo Amplifier A Amp. capacity A A A A A Motor Type Rotary Motor Model Number Nomencalture System onfiguration Power Input, Internal Registration Setting Model L A A L N E Input Voltage Internal Registration Resistor AV AV /O /O /O Amp. capacity A,A (option.setting) A,A A A A,A (option.setting) A,A *Please set the parameters for your selected motor accordingly before using. ontrol Hardware Type A Encoder Specification Absolute encoder ire-saving incremental encoder Selectable output NPN Output B Encoder Specification Absolute encoder ire-saving incremental encoder Selectable output PNP Output T Full losed-loop Standard Specifications Optional Equipment Dimensions External iring Diagram Setup Software

4 System onfiguration Single-Axis Servo Amplifier Noise Filter Electromagnetic ontactor Model No.: AL-9- Lithium battery Protects the power line from external noise, and from noise generated by the servo amplifier. Switches servo power on and off. Installation of a surge protector is required. reate the protective circuit. Model No.: AL-98- hen using the unit with an absolute system, mount the optional battery inside the digital operator cover. ircuit Breaker(MBM) D Reactor P Setup Software Parameter configuration and monitoring is possible via communication with a P. uts off power in the case of an overload, to protect the power line. Suppresses power harmonics. Remove the short bar between DL-DL and connect this here, when needed for high frequency waves. N Host Devices T S R External Regenerative Resistor Use as required, such as for heavy inertial load operations. N PL PL and controllers are available as the host device. For special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier s internal regenerative resistor. Brake Power iring required for brake. Required for use when the servo motor is equipped with a brake. ANopen Host Devices Dedicated controller P and PL are available as the host device. *ommunication Profile: DS- Device Profile: DSP- compliance 9

5 Standard Specifications R Servo Motor V System apacity mm to 8mm to 7 (9 models) Features High Efficiency and Low Ripple (Medium Inertia) Motor Model and Flange Size in mm Status Symbol Unit RAAF RAAF RAAF Rated Output PR Rated Speed NR min - Maximum Speed Nmax min - Rated Torque TR N m ontinuous Torque at Stall TS N m Peak Torque at Stall TP N m Rated Armature urrent IR Arms..7.8 Armature urrent at Stall IS Arms..9.8 Peak Armature urrent at Stall IP Arms..8. Torque onstant KT N m/arms... Voltage onstant Per Phase K Eφ mv/min Phase Resistance Rφ Ω 9 9. Rated Power Rate Q R k/s.9.7 Electrical Time onstant te ms..7.8 Mechanical Time onstant (Not including Encoder) tm ms Rotor Moment of Inertia (Not including Encoder) JM - kg m (GD /) Rotor Moment of Inertia (Encoder) JS - kg m (GD /). (Note ) Mass including Encoder E kg..7.9 Brake Static Friction Torque TB N m. MIN. Brake Rated Voltage VB V D9V / DV ± % Brake Rated urrent IB A.7 /.7 Rotor Moment of Inertia (Brake) JB - kg m (GD /).78 Brake Mass kg. Motor Operating Temp, Rel. Humidity Amplifier Model (Single-Axis) Amplifier Model (ANopen) Amplifier Model (Multi-Axis) Operating Temperature: to, Relative Humidity: 9% Maximum, no condensation RSAAA RSAAL RRAAAB Amplifier Power Supply AV to V +, -% /Hz ± Hz (Note ) Amp. Operating Temp. and RH Operating Temperature: to (Note), Relative Humidity: 9% Maximum, no condensation Power onsumption kva.. Amplifier Mass (eight)[single / AN / Multi] kg.9 /. /.8 Motor Dwgs P :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is. Note ) The multi-axis type amplifier has an ambient operating temperature of to. The operating temperature with forced air cooling is to. Note ) In case of the amplifier for ANopen, there is also control power source DV type. Note ) This is a instance with the battery-backup method absolute encoder PA. For the following encoders, please make inquiries: Absolute encoder without battery[ RA ] Red. iring Incremental Encoder[ PPT ] * For models with oil seal or brake, reduction in rated value may become necessary Encoder iring Diagram Single-Axis Servo Amplifier SERVO AMPLIFIER V V N ES ES EBAT EBAT Note Note Note Brown ES Blue ES Pink EBAT Purple Note EBAT Red V Black V FG Shielded SERVO MOTOR Encoder Battery backup type absolute encoder [ PA ] Absolute encoder for incremental system [ PAS ] Absolute encoder without battery [ RA ] Note ) Use a twisted-pair shielded cable. Note ) Encoder power connections depend on encoder cable length. See the following Encoder cable length +V D iring V D iring m MAX. m MAX. m MAX. onnect pin,7,9 onnect pin 9 (Do not connect pins,7) onnect pin (Do not connect pins,8) onnect pin 7,9 (Do not connect pins) onnect pin 8, (Do not connect pins) onnect pin,8, Note ) Use a Awg.mm encoder cable Note ) hen the Absolute encoder for incremental system or absolute encoder without battery is used, battery lines (EBAT+, EBAT-) are not required. For the following encoders, please make inquiries: Red. iring incremental encoder[ PPT ] iring diagram page Plug:-VE Shell:-A-8

6 RAAF RAAF RAAF RAA8F 8 RAA8F 8 RAA87F 8 7 min - min N m N m N m Arms Arms Arms N m/arms mv/min Ω k/s ms ms kg m (GD /). (Note ) - kg m (GD /) kg. MIN..7 MIN.. MIN. N m D9V / DV ± %.7 /.7. /.. /.7 A... - kg m (GD /)...8 kg Operating Temperature: to, Relative Humidity: 9% Maximum, no condensation RSAAA RSAAA RSAAA RSAAA RSAAL RSAAL RSAAL RSAAL RRAAAB RRAAAB RRAAAB RRAAAB AV to V +, -% /Hz ± Hz (Note ) Operating Temperature: to (Note), Relative Humidity: 9% Maximum, no condensation kva.9 /. /.8. /. /.77.9 /. /.8. /. /.77 kg Unit V Features and Functions Model Number Nomencalture System onfiguration Standard Specifications Dimensions External iring Diagram Setup Software.. 8 Optional Equipment Multi-Axis Servo Amplifier SERVO AMPLIFIER SERVO MOTOR Battery backup type absolute encoder [ PA ] Red Black Brown Blue Pink Purple + V +V V +V V N.. N.. ES+ ES- EBAT+ EBAT- ES+ ES- EBAT+ EBAT- Encoder Note ) Note ) Note ) Note ) Use a twisted-pair shielded cable. The sheathed shield wire should be connected to the metal case (ground) on N side, before connecting to ground on encoder side. olor symbols shown on the diagram for signal lines on encoder side refer to lead-wire type sensors. The allowable connection distance between amplifier and encoder varies according to the diameter(impedence) of the electric wire of the cable used. The power voltage specification for encoders is V±%. If the cable is too long, the voltage on encoder side may fall below V.Measure the voltage on encoder side to ensure that the cable used is within specification limits. Plug:-JL Shell:--8 Note ) Note ) Note ) For the following encoders, please make inquiries: Absolute encoder without battery[ RA ]

7 RAAD RAAD RAAB RAAL sq. sq. sq. sq. Unit.. k min min..7 N m (lb in).. N m (lb in) 7. N m 77 (lb in) Arms Arms.... Arms N m Arms (lb in Arms) mv min.9... k s ms..98. ms.. kg m GD (lb in ) 7 kg. MIN. 9. MIN. N m 9 9 V....7 A.. kg m GD kg Temperature: to, Humidity: Maximum 9% (no condensation) RSA RSA RSA RSA RSA RSA RSA RSA AV to V+ % / Hz Temperature: to, Humidity: Maximum 9% (no condensation)..7 kva.... kg 8 Torque [Nm] Instantaneous area Torque [Nm] Instantaneous area Torque [Nm] Instantaneous area Torque [Nm] Instantaneous area ontinuous area ontinuous area ontinuous area ontinuous area Rotation speed [min - ] Rotation speed [min - ] Rotation speed [min - ] Rotation speed [min - ] Please use the average rotational speed of the motor below the maximum rotational speed of the continuous zone.

8 Features and Functions RSA RSA Servo Amplifier Model No. RAAL RAA8D RAAD RAA8L Servo Motor Model No. and Flange Size mm sq. mm sq. mm sq. 8mm sq. Unit Symbol Status.8. k PR Rated Output min - NR Rated Speed min - Nmax Maximum Speed N m TR Rated Torque.. N m TS ontinuous Stall Torque 9 N m TP Peak Stall Torque Arms IR Rated Armature urrent Arms IS Armature Stall urrent.... Arms IP Peak Armature Stall urrent N m Arms KT Torque onstant mv min - KE Voltage onstant for each Phase....8 R Phase Resistance k s QR Rated Power Rate ms te Electrical Time onstant ms tm Servo motor Model No./Flange Size/Rated Output RAAL mm.k RAA8D mm.8k Torque N m Instantaneous Zone ontinuous Zone Speed min Torque N m Instantaneous Zone ontinuous Zone Speed min RAAD mm.k Torque N m Instantaneous Zone ontinuous Zone Speed min Mechanical Time onstant (Not including Encoder) kg m GD JM Roter Moment of Inertia. -kg m GD JS Roter Moment of Inertia (Encoder) 7.7. kg E Servo Motor Mass MIN. 9. MIN. MIN. MIN. N m TB Brake Static Friction Torque D9V DV V VB Brake Rated Voltage A IB Brake Rated urrent.... -kg m GD JB Roter Moment of Inertia (Brake).... kg Brake Mass Operating Temperature: to, Relative Humidity: 9% maximum, no condensation Servo Motor Operating Temp, Rel.Humidity.... kva Servo amplifier power supply capacity (rating) Yes Yes Yes E and UL approved servo motors IP Servo motor protection code t 7mm sq. Size of aluminum plates for heat radiation during measurement RAA8L 8mm.k Torque N m Instantaneous Zone ontinuous Zone Speed min Model No. Model Number Nomenclature List Option Setup Software Dimensions External iring Encoder iring Standard System Diagram Diagram Specifications onfiguration

9 P External iring Diagram Single-Axis Servo Amplifier -phase(v A) -phase(v A) User Devices User Devices Features and Functions -phase A power M -phase A power M to V to V Hz Hz Note Operation Prep. ON Operation Prep. OFF M M Emergency Stop System Error Note Operation Prep. ON Operation Prep. OFF M M Emergency Stop System Error Model Number Nomencalture Note ) Note ) -phase(v A) -phase A power to V Hz M User Devices NA T Note S R t Note NB DL DL RB RB Note Internal Regeneration Resistor N Note Black SERVO MOTOR Orange (yellow) RY System onfiguration Note Operation Prep. ON Operation Prep. OFF M M Emergency Stop System Error r SERVO AMPLIFIER V U N hite Encoder onnector Red Green Encoder Orange (yellow) 9V V Holding Brake (install with Brake only) Standard Specifications Line Driver Normal Rotation Pulse Reverse Rotation Pulse Note N F-P F-P R-P R-P + + T-REF / V-REF + + Line Receiver orresponding Line Driver orresponding AO AO BO BO ZO ZO PS SH SH Plug: -PE Shell: -A-8 Note Note ) For the parts markde, use a shielded cable. Note ) onnect a regenerative resistor between terminals RB - RB.hen using an external regenerative resistor,first remove the internal regenerative resistor wiring between terminals RB and RB, and then connect an external regenerative resistor between terminals RB - RB. Dimensions External iring Diagram Normal Reverse D.V Lithium Battery Note 8 DV V T-OMP 8 F-TLA 7 9 R-TLA BTP-I BTN-I ONT-OM 7 ONT ONT NPN Output PS ZOP MON OUT-PR OUT OUT OUT 9 9 Note 8 DV to V Monitor Output PNP Output ZOP MON OUT-PR 9 OUT 9 OUT Note 8 DV Monitor Output Note ) Terminals DL and DL are dedicated for connecting D reactors. If a harmonic suppression reactor is not in use, create a short circuit between DL and DL terminals with the attached shorting bar. Note ) The and P terminals (high-voltage circuit) are reserved for maintenance. Do not wire these terminals. Note ) Note ) Refer to the Instruction Manual for instructions on the shielding process. Motor connection specifics may vary depending on the motor specifications. Lead-type motor power and brake wires are shown as red, white, black, green, and orange. hen using a cannon plug, cannect it according to the motor specifications. Setup Software Optional Equipment ONT ONT OUT OUT OUT Note 7) For wiriting of the encoder connectors, refer to the encoder wiring diagram. Note 8) The user must supply the external power supply. ONT ONT OUT OUT OUT OUT Note 9) R, S, T, r, t,, P, DL, RB, RB, U, V, are high-voltage circuits; all other signal lines are low-voltage circuits. hen wiring, maintain sufficient distance between high-voltage and low-voltage circuits. Line Driver ONT7 + + Line Driver orresponding OUT7 OUT7 Note ) Installation of a UL compliant and IE / EN compliant earth leakage circuit braker is recommended. ONT7 ONT8 + + OUT8 OUT8 Note ) hen wiring the single-phase power supply, do not wire the S-phase to the amplifier. Note SH 8 ONT8 OUT-OM OUT-OM SH Note ) SH Note ) Note ) Always connect the (signal ground) between devices when using differential operation input signals. Plug: -PE Shell: -A-8

10 Servo Motor Dimensions Unit : mm ( LH) L LZ LA.7 M.. M LR Q LE LG LL Features and Functions LB S M KL Model Number Nomencalture Oil seal (Option) Note QE Tapping Depth LT () D () D () D System onfiguration Motor cable (for mounting) (For Power and Ground) Brake cable (for mounting) Note Shield cable (for mounting) (For Encoder) R Servo Motor High Efficiency and Low Ripple Medium Inertia *This is shown dimension for motor with brake Standard Specifications MODEL R A R A REA8 RAA R A R A RAA8 RAA RAA8 RAA87 /out oil seal ith oil seal Note Battery backup method Battery backup method absolute encoder absolute encoder /out brake ith brake /out brake ith brake LL LL LL LL LG KL LA LB LE LH L LZ LR Dimensions External iring Diagram Setup Software Optional Equipment MODEL S Q QE LT D D D R A -.8 R A REA RAA R A R A 8-.9 RAA8 RAA RAA8 RAA M M Note : If an oil seal is needed,the overall motor length is different. Note : Brake connectors (cables) are not supplied for models without brakes. For the following encoders, please make inquiries: Absolute encoder without battery[ RA ] Red. iring Incremental Encoder[ PPT ]

11 Dimensions Unit sq. Model No. RAA RAA L - LZ.8 M..8 M LR LE (LG) LL LA QA Q QK H LB S Oil seal -LZ (Motor Removal Tap) QE Tap Depth LT ( LH) M H U T Section H-H (KB) (KB) (7) (KL) JNASML-R (For encoder) JLV-E-PE-B-R (For motor, brake and ground) (KL) (KL) sq. Model No. RAA L - LZ.8 M..8 M LR LE (LG) LL LA LB S QA Q QK H ( LH) M H (KL) (7) (KL) Oil seal -LZ (Motor Removal Tap) QE Tap Depth LT U T Section H-H (KB) JNASML-R (KB) (For encoder) JLV-E-PE-B-R (For motor, brake and ground) (KL) sq. Model No. RAA L - LZ.8 M..8 M LR LE (LG) (IL) LL -M8 For Eye bolt (IF) LA Q QA QK H ØLB ØS M H (KL) ( LH) (IE) 7 (KL) Oil seal -LZ (Motor Removal Tap) QE Tap Depth LT Section H-H U T (IL) (IL) Eye bolt (IF) -M8 (KB) (KB) JLV-E-PE-B-R (For motor, brake and ground) JNASML-R (For encoder) (KL)

12 A SERVO SYSTEMS A SERVO SYSTEMS T S R t r DL DL P RB RB V U N B N A N RSAA* P N N RB RB A SERVO SYSTEMS HARGE A SERVO SYSTEMS POER P Servo Amplifier Dimensions Unit : mm Single-Axis Servo Amplifier (Analog/Pulse input type, Built-in positioning function model) RS A (A). Screw M RS A (A). Screw M (7) (7) (). 7 (7) (). (7) ooling fan ind direction RS A (A). Screw M 8 9 (7) (7) (). 8 ooling fan ind direction Single-Axis Servo Amplifier with ANopen (Power control AV) RSAA (A). Screw M RSAA (A). Screw M (7) (7) (). ) 8 7 (7) (7) (). ) ooling fan ind direction