XDL/XML Series XGT Servo System

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Diane Briggs
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1 XDL/XML Series XGT Servo System

2 High erformance Intelligent control Reliability Convenience Easy to use

3 XGT Servo System(XDL/XML) 2 / 3 XGT Servo System XDL/XML Series Servo Features 4 ~ 13 Servo Drive 14 ~ 57 Servo Motor 58 ~ 99 Options and Accessories 100 ~118 Application 122 ~ 135 Features Servo Drive Servo Motor Options and Accessories Application

4 Intro Useroriented XDL/XML Series LSIS XGT Servo systems complete your optimal solution.

5 XGT Servo System(XDL/XML) 4 / 5 Your motion systems visualize the perfect solution though the LS comprehensive product ranges for the optimal drives and applications. Its highperformance vector, precision and speed control are userfriendly and cost effective.

Features It s Slim Compact size with high capacity Capacity Series L [mm ] W [mm ] H [mm ] 400W (44% Down Size) XDL VS Competitor 38 40 169 187 168 173 132 170 1kW (46% Down Size) XDL VS Competitor

6 Features It s Slim Compact size with high capacity Capacity Series L [mm ] W [mm ] H [mm ] 400W (44% Down Size) XDL VS Competitor kW (46% Down Size) XDL VS Competitor kW (62% Down Size) XDL VS Competitor mm The Minimized Width to 38mm!!! (400W) 400W Reliability Main capacitor quality improved Longlife type capacitor applied (2.5 times improvement) Convenient DC reactor installable ower connection to DClink Easier wiring and smaller size compared to 3phase AC reactor Connection for DC input (I, N) Stable turnoff function based on the detection of the control power turnoff Upgraded protection function(i) Triple protection functions for power module : IM fault, CL detecting, over current detecting with S/W Main power miswiring detecting function : Selecting 3 phase or single phase, and alarm or warning is available rotecting overheating with thermal sensor in the drive and motor Alarm code grouping and exclusive output contacts (AL00, AL01, AL02) Warning function (digital output, warning output) : Miswiring of power, low voltage for encoder battery, over speed command, over torque command, over load, mismatched motor and drive

7 XGT Servo System(XDL/XML) 6 / 7 52% Compared with VS Drive Max 52% Slim 1kW 5% Compared with competitor s Drive Max 5% Slim 3.5kW Upgraded protection function(ii) Detecting function for accumulated over load of regenerative resistor : rotect algorithm is provided with embedded resistor characteristic : rotection by capacity (011) and resistance (010) : roviding derating factor for radiant heat Available continuous overload capacity setting as followed operating condition : rotect with separated overload table at stall & operation : Set overload check level (012) : Setting warning signal output level is available (013) CE, RoHS certificated

Features Easy to USE Reliable partner with global standard performance and easy control by usercentric environment Easy gain tuning with automatic inertia estimating function Quick & Accurate Inertia

8 Features Easy to USE Reliable partner with global standard performance and easy control by usercentric environment Easy gain tuning with automatic inertia estimating function Quick & Accurate Inertia Estimating OnLine Tuning: L7NH, L7 OffLine Tuning: L7N, L7S arameter for Estimation (Speed &Distance) Speed Distance 3 Encoder with bidirectional high speed serial communication Automatic Identification (Motor ID /Encoder pulse) BiSS protocol Easy wiring (15 encoder wires 7 encoder wires) and antiexternal noise Sufficient input/output contacts and various functions L7S: Digital input contacts: 10, output contacts: 8 / Analog input contacts: 2 and output contacts: 2 L7N: Digital input contacts: 6, output contacts: 4 / Analog input contacts: 2 and output contacts: 2 L7NH: Digital input contacts: 8, output contacts: 4 / Analog input contacts: 1 and output contacts: 2 L7: Digital input contacts: 16, output contacts: 8 / Analog input contacts: 2 and output contacts: 2 EGASUS: Digital input contacts: 4, output contacts: 2 / Analog input contacts: 1 and output contacts: 1 Flexible assignment of input/output signals by parameters and contact setting based on the input/output contact type (N.O / N.C contacts) Using the rotary switch to configure the drive node address [L7NH, L7, and EGASUS] Using the rotary switch to configure the drive node address conveniently L7NH: 099, L7: 031, EGASUS: 015

XGT Servo System(XDL/XML) 8 / 9 lugin type power connector

5 kw for improved wiring convenience Various homing functions

You can specify the speed, acceleration, offset, and homing

Easy firmware upgrade [L7NH, L7, and EGASUS] Supporting the USB

where space is limited or environmentally unfavorable Builtin

9 XGT Servo System(XDL/XML) 8 / 9 lugin type power connector Expanded to 100 W 3.5 kw for improved wiring convenience Various homing functions [L7NH, L7, and EGASUS] The drive provides the homing function. You can specify the speed, acceleration, offset, and homing method. Easy firmware upgrade [L7NH, L7, and EGASUS] Supporting the USB OTG function to allow firmware download with a USB memory Useful where space is limited or environmentally unfavorable Builtin regenerative braking resistance in the drive Drive installed inside to improve user convenience (100 W 3.5 kw) roviding the connection for external installation Enhanced protection algorithm

10 Features XGT Servo series with high speed, incredible performance, smart and convenience. It time to check value of XDL/XML series

XGT Servo System(XDL/XML) 10 / 11 High erformance Serial encoder of high resolution (16 bit 21 bit) Stability improved during precision position control and lowspeed operation Stable lowspeed

11 XGT Servo System(XDL/XML) 10 / 11 High erformance Serial encoder of high resolution (16 bit 21 bit) Stability improved during precision position control and lowspeed operation Stable lowspeed properties based on precise speed measurement Stable speed measurement at low speed Calculation speed improved [L7NH, L7, and EGASUS] FU (Floating oint Unit) for reliable precision calculation 16 khz switching frequency for precision current control 32 bit operation for increased synchronous command processing rate (MIS) Dedicated C program L7S, and L7N: LIVEI.C.E / L7NH, L7, and EGASUS: Drive CM C program for shortened equipment tuning time and debugging Monitoring for speed, torque, current feedback, position values and positional error values and alarm occurrence time Intelligent Control Notch filter for resonance suppression 4step notch filter 2step vibration suppression filter at the load position FFT function for realtime frequency analysis Various gain switching modes for improved control performance /I autoswitching function to reduce overshooting during acceleration/deceleration Various Gain1 Gain2 switching modes Various dynamic brake control modes Configuring the operation mode at stop and after stop

12 Features Convenience roviding various functions backup, network diagnosis, monitoring and builtin functions focused on improving efficiency

XGT Servo System(XDL/XML) 12 / 13 High erformance High speed, Realtime capability and Synchronization mechanism Open Network Over 1600 worldwide members Cost Effective Standard Ethernet Cabling +

Support various homing modes Support FullClosed control (Being developed) Various operation modes L7N: Using the EtherCAT communication to support Cyclic (/S/T) and rofile (/S/T) modes L7NH and

Torqueoff forced by hardware signals without involvement of the drive CU and FGA (ASIC); international standards adopted (IEC61508) High speed position capture function Touch probe function(robe1,

13 XGT Servo System(XDL/XML) 12 / 13 High erformance High speed, Realtime capability and Synchronization mechanism Open Network Over 1600 worldwide members Cost Effective Standard Ethernet Cabling + Connectors, Less implementation efforts for master and slave Easy to Use Versatile topology and Diagnostics XDL Drive with Builtin EtherCAT Interface 100BASETX(100Mbps) Ethernet based realtime communication Support CiA402(IEC607) drive profile Interoperability Max. 100m between nodes recise synchronization mechanism (1us) Freely settable process data length and mapping Four status indication LEDs (L/A0, L/A1, RUN, ERR) Standard RJ45 connector and cabling(cat5) Support various homing modes Support FullClosed control (Being developed) Various operation modes L7N: Using the EtherCAT communication to support Cyclic (/S/T) and rofile (/S/T) modes L7NH and EGASUS: Using the EtherCAT communication to support Cyclic & rofile (/S/T) modes, EOE, COE, and FOE Safety Module LSIS XGT LC + N8B Emergency S/W Safety light curtain + Safe torque off function Torqueoff forced by hardware signals without involvement of the drive CU and FGA (ASIC); international standards adopted (IEC61508) High speed position capture function Touch probe function(robe1, ROBE2) Adjustment function linked with XGT series from LSIS Inertia detection, position/speed gain manual adjustment, gain switching setup, etc. Have conformity of EtherCAT device Inhouse test using CTT(Conformance Test Tool) rovide gain tuning tools and commissioning packages Automatic inertia tuning and I gains Gain conversion setting Manual fine gain tuning tool Object save and initialization function Alarm history function(recently issued 20 alarm codes)

15 XGT Servo System(XDL/XML) 14 / 15 Servo Drive Contents L7S Series ulse, Analog Command Type 16 L7N Series EtherCAT Communication Type 28 L7NH Series AllinOne EtherCAT Communication Type 34 L7 Series Indexer Function Type 46 XI(EGASUS) Series Integrated Servo System Type 52

16 Servo Drive Designation XDLL7S Series Servo Drive Designation Model Name Communication Input ower Supply Capacity Encoder Type Option XDL Series S : Standard I/O Type A : 200VAC B : 400VAC * Range 200V : 0.1kW~5.0kW 400V : 1.0kW~15kW 001 : 100W 002 : 200W 004 : 400W 008 : 750W 010 : 1.0kW 020 : 2.0kW 035 : 3.5kW 050 : 5.0kW 075 : 7.5kW 150 : 15.0kW A : Quadrature (ulse Type) B : Serial (Communication Type) Exclusive Option Code

Identifying the art XGT Servo System(XDL/XML) 16 / 17 ulse, Analog Command Type XDLL7S Easy to USE Easy Gain Tuning with Automatic Inertia Estimating Function Easy Setting Builtin anel Operator Many

17 Identifying the art XGT Servo System(XDL/XML) 16 / 17 ulse, Analog Command Type XDLL7S Easy to USE Easy Gain Tuning with Automatic Inertia Estimating Function Easy Setting Builtin anel Operator Many I/O Contacts and Various Functions (Digital Input: 10 contacts, Digital Output:8 contacts / Analog input, output : 2 contacts) ] Reliability for rotection Function CE, RoHS Certificated Drive rotection Function and Warn unction Servo Drive High Response for recision Control High Resolutions Serial type Encoder(19Bit, BiSS) Improved Speed Response(1Khz) Frequency Operation keys (Mode, Up, Down, Set) Charge Lamp Main ower Connector (L1, L2, L3) DC Reactor Connector(O, I) ShortCircuit when not used Regenerative resistance connector (B+, B, BI) ShortCircuit B, BI terminals when standard type Use B+, B terminals when using external resistor Control ower Connector (C1, C2) Front Cover Motor ower Cable Connector (U, V, W) Heat Sink Display CN5 : USB Connector CN4 : RS422 Communication Connector CN3 : RS422 Communication Connector CN1 : Control Connector CN2 : Encoder Connector Ground

18 3,000 2,000 1,500 1,000 3,000 5,000 3,000 3,000 3,000 2,000 3,500 2,000 1,700 2,700 3,000 3,000 2,700 3,000 1,700 2,000 * 2,048/R E AS E BS E AS E BS E BS E AS HS GS HS HS HS IS IS NB NB NB B KB SB SB SB IS JS JS JS IS IS JS IS JS IS GS HS JS JS NB B LB LB B B LB LB GS KB * 1,048/R * 2,048/R * 3,000/R * 3,000/R SAR3A SAR5A SA01A SA015A SB01A SB02A SB04A SC04A SC06A SC08A SC10A SE09A SE15A SE22A SE30A SF30A SF50A SC03D SC05D SC06D SC07D SE06D SE11D SE16D SE22D SF22D LF35D SF55D SG22D LG35D SG55D SE05G SE09G SE13G SE17G SF20G LF30G SF44G SG20G LG30G SG44G SE03M SE06M SE09M SE12M SF12M SF20M LF30M SF44M SG12M SG20M LG30M SG44M HB01A HB02A HB04A HE09A HE15A HE30A L7SA001A L7SA001A L7SA001A L7SA002A L7SA002A L7SA002A L7SA004A L7SA004A L7SA008A L7SA008A L7SA010A L7SA008A L7SA020A L7SA020A L7SA050A L7SA035A L7SA050A L7SA004A L7SA008A L7SA008A L7SA008A L7SA008A L7SA010A L7SA020A L7SA020A L7SA020A L7SA035A L7SA050A L7SA020A L7SA035A L7SA050A L7SA008A L7SA010A L7SA020A L7SA020A L7SA035A L7SA035A L7SA050A L7SA020A L7SA035A L7SA050A L7SA004A L7SA008A L7SA010A L7SA020A L7SA020A L7SA035A L7SA035A L7SA050A L7SA020A L7SA035A L7SA035A L7SA050A L7SA002A L7SA002A L7SA004A L7SA008A L7SA020A L7SA050A Rated Speed (rpm) Maximum Speed (rpm) Flange Size Applicable Motor Applicable Drive Standard Encoder Type ower Cable Encoder Cable Quadrature Type INC For power ower + Brake Brake XDLL7SA Incremental Type Drive Combination Table

19 XGT Servo System(XDL/XML) 18 / 19 XDLL7SA Serial Type Rated Speed (rpm) 3,000 2,000 1,500 1,000 Maximum Speed (rpm) 5,000 3,000 3,000 2,700 3,000 3,000 2,700 3,000 3,000 2,700 3,000 2,000 1,700 2,000 1,700 2,000 Flange Size Applicable Motor FALR5A FAL01A FAL015A FBL01A FBL02A FBL04A FCL04A FCL06A FCL08A FCL10A FB01A FB02A FB04A FC04A FC06A FC08A FC10A FE09A FE15A FE22A FE30A FF30A FF50A FCL03D FCL05D FCL06D FCL07D FC03D FC05D FC06D FC07D FE06D FE11D FE16D FE22D FF22D FF35D FF55D FG22D FG35D FG55D FE05G FE09G FE13G FE17G FF20G FF30G FF44G FG20G FG30G FG44G FE03M FE06M FE09M FE12M FF12M FF20M FF30M FF44M FG12M FG20M FG30M FG44M Applicable Drive L7SA001B L7SA001B L7SA002B L7SA001B L7SA002B L7SA004B L7SA004B L7SA008B L7SA008B L7SA010B L7SA001B L7SA002B L7SA004B L7SA004B L7SA008B L7SA008B L7SA010B L7SA010B L7SA020B L7SA020B L7SA035B L7SA035B L7SA050B L7SA004B L7SA008B L7SA008B L7SA008B L7SA004B L7SA008B L7SA008B L7SA008B L7SA008B L7SA010B L7SA020B L7SA020B L7SA020B L7SA035B L7SA050B L7SA020B L7SA035B L7SA050B L7SA008B L7SA010B L7SA020B L7SA020B L7SA020B L7SA035B L7SA050B L7SA020B L7SA035B L7SA050B L7SA004B L7SA008B L7SA010B L7SA020B L7SA020B L7SA020B L7SA035B L7SA050B L7SA020B L7SA020B L7SA035B L7SA050B Standard Encoder Type Encoder Cable ower Cable Serial Type Serial Abs For power ower + Brake Brake * 18Bit Serial / MTurn Abs * 19Bit Serial / MTurn Abs IS B JS LB HS FS FS IS JS IS JS IS JS IS JS NB LS LS HS HS HS IS JS IS JS B LB B LB SB NB NB NB B LB E ES E ES E DS E DS E ES1 E ES1 E DS1 E DS1 QS QS SB SB Servo Drive

20 3,000 2,000 5,000 3,000 3,000 3,000 2,700 3,000 2,500 2,200 3,000 2,700 3,000 2,500 2,500 2,500 1,700 2,000 2,000 2, FE09A FE15A FE22A FE30A FF30A FF50A FE06D FE11D FE16D FE22D FF22D FF35D FF55D FF75D FG22D FG35D FG55D FG75D FG110D FE05G FE09G FE13G FE17G FF20G FF30G FF44G FF60G FF75G FG20G FG30G FG44G FG60G FG85G FG110G FG150G FE03M FE06M FE09M FE12M FF12M FF20M FF30M FF44M FG12M FG20M FG30M FG44M FG60M L7SB010B L7SB020B L7SB035B L7SB035B L7SB035B L7SB050B L7SB010B L7SB010B L7SB020B L7SB020B L7SB020B L7SB035B L7SB050B L7SB075B L7SB020B L7SB035B L7SB050B L7SB075B L7SB150B L7SB010B L7SB010B L7SB020B L7SB020B L7SB020B L7SB035B L7SB050B L7SB075B L7SB075B L7SB020B L7SB035B L7SB050B L7SB075B L7SB150B L7SB150B L7SB150B L7SB010B L7SB010B L7SB010B L7SB020B L7SB020B L7SB020B L7SB035B L7SB050B L7SB020B L7SB020B L7SB050B L7SB050B L7SB075B Flange Size Applicable Motor Applicable Drive 1,500 1,000 * 19Bit Serial / MTurn Abs E DS E DS1 HS HS HS IS IS SB SB SB IS JS JS JS IS JS MS MS IS JS IS IS HS MS JS NB NB NB B B LB LB B LB B NB LB JS MS Rated Speed (rpm) Maximum Speed (rpm) Standard Encoder Type ower Cable Encoder Cable Serial Type Serial Abs For power ower + Brake Brake XDLL7SB Serial Type Drive Combination Table

21 Drive roduct Features XGT Servo System(XDL/XML) 20 / 21 XDLL7SA Drive Item Type Name Input Main ower Supply ower Control ower Supply Rated Current[A] eak Current[A] Encoder Type Speed Control Range Frequency Response Speed Control Speed Command Accel/Decel Time Speed Variation Ratio Input Frequency osition Input ulse Type Control Electric Gear Ratio Torque Command Torque Speed Limit Control Repetition accuracy Analog Input Range Input Resolution Analog Output Range Output Resolution Control erformance Input/Output Digital Input Digital Output XDLL7SA001 XDLL7SA002 XDLL7SA004 XDLL7SA008 XDLL7SA010 XDLL7SA020 XDLL7SA035 XDLL7SA050 3 hase AC200 ~ 230[V](15 ~ +10[%]), 50 ~ 60[Hz] Single hase AC200 ~ 230[V](15 ~ +10[%]), 50 ~ 60[Hz] Quad. Type Incremental Line Driver Max 6000 [/R] Serial Type 19Bit Maximum 1: 5000 Maximum 1 [khz] or above (When using 19bit Serial Encoder DC 10 [V]~+10 [V] (Reverse rotation in case of negative voltage) Straight or Scurve acceleration/deceleration (010,000 [ms], possible to be set by one [ms] unit) ±0.01 [%] or lower [when load changes between 0 and 100%] ±0.1[%] or lower [temperature 25 ±10 ] 1[Mpps], Line Driver / 200[kpps], Open Collector Symbol + ulse Series, CW+CCW, A/B hase Four digital gear ratios can be set, selected and tuned. DC10~+10 [V] (Reverse direction torque in case of negative voltage) DC 0~10 [V], internal speed command within ±1[%] Within ±1[%] DC 10 ~ 10[V] 12[bit] DC 10 ~ 10[V] 12[bit] Total 10 Input Channels(assignment available) SVON, SD1, SD2, SD3, ALMRST, DIR, CCWLIM, CWLIM, EMG, STO, EGEAR1, EGEAR2, CON, GAIN2, _CLR, T_LMT, MODE, ABS_RQ, ZCLAM Above 19 functions can be used selectively for assignment can be set as positive logic or negative logic Total 5 Channels(assignment available), 3 Channels(set as alarm code) ALARM, READY, ZSD, BRAKE, INOS, TLMT, VLMT, INSD, WARN Above 9 outputs can be used selectively for assignment can be set as positive logic or negative logic Servo Drive Communication Encoder Encoder Output Type Dynamic Braking Regenerative Braking Builtin functions RS422 USB Display Setting Function Additional Function rotective Function Accessible to C software and the RS422 server Status monitoring, JOG operation, parameter upload/download are available with C Software Serial BiSS encoder and quadrature encoder supported Random prescale output through FGA (maximum 6.4 Mpps) Standard builtin (activated when the servo alarm goes off or when the servo is off) Both default builtin and external installation possible Seven segments (5 DIGIT) Loader (SET, MODE, U, and [DOWN] keys) Auto gain tuning, phase Z detection, manual JOG operation, program JOG operation, automatic analog input calibration Overcurrent, overload, overvoltage, insufficient voltage, main power input problem, control power input problem, overspeed, motor cable, overheat(power module overheat, abnormal drive operation s temp), encoder problem, overregenerative, sensor problem, communication problem Temperature Humidity Environment 0 ~ 50[ C] Below 90[%]RH(avoid dewcondensation) Indoor, Avoid corrosive, inflammable gas or liquid, and electrically conductive dust.

22 Drive roduct Features XDLL7SB Drive Item Input ower Type Name Main ower Supply Control ower Supply XDLL7SB010 XDLL7SB020 XDLL7SB035 XDLL7SB050 XDLL7SB075 XDLL7SB150 3 hase AC3 ~ 4[V](15 ~ +10[%]), 50 ~ 60[Hz] Single hase AC3 ~ 4[V](15 ~ +10[%]), 50 ~ 60[Hz] Rated Current[A] eak Current[A] Encoder Type Control erformance Input/Output Speed Control osition Control Torque Control Analog Input Analog Output Digital Input Digital Output RS422 USB Encoder Encoder Output Type Builtin functions Communication Speed Control Range Frequency Response Speed Command Accel/Decel Time Speed Variation Ratio Input Frequency Input ulse Type Electric Gear Ratio Torque Command Speed Limit Repetition accuracy Input Range Resolution Output Range Resolution Dynamic Braking Regenerative Braking Display Setting Function Additional Function rotective Function Temperature Humidity Environment Quad. Type Incremental Line Driver Max 6000 [/R] Serial Type 19Bit Maximum 1: 5000 Maximum 1 [khz] or above (when the 19bit serial encoder is applied) DC 10 [V]~+10 [V] (Reverse rotation in case of negative voltage) Straight or Scurve acceleration/deceleration (010,000 [ms], possible to be set by one [ms] unit) ±0.01 [%] or lower [when load changes between 0 and 100%], ±0.1[%] or lower [temperature 25 ±10 ] 1[Mpps], Line Driver / 200[kpps], Open Collector Symbol + pulse series, CW+CCW, A/B phase Four digital gear ratios can be set, selected and tuned. DC10~+10 [V] (Reverse direction torque in case of negative voltage) DC 0~10 [V], internal speed command within ±1[%] Within ±1[%] DC 0 ~ 10[V] 12[bit] DC 0 ~ 10[V] 12[bit] A total of 10 input channels (allocable) SVON, SD1, SD2, SD3, ALMRST, DIR, CCWLIM, CWLIM, EMG, STO, EGEAR1, EGEAR2, CON, GAIN2, _CLR, T_LMT, MODE, ABS_RQ, ZCLAM You can selectively allocate a total of 19 functions. You can set the positive/negative logic of the selected signal. A total of 5 channels (allocable), 3 channels (fixed with alarm codes) ALARM, READY, ZSD, BRAKE, INOS, TLMT, VLMT, INSD, WARN You can selectively allocate a total of nine kinds of output. You can set the positive/negative logic of the selected signal. Accessible to C software and the RS422 server Status monitoring through C software, JOG operation, and parameter uploading/downloading are possible. Serial BiSS encoder and quadrature encoder supported Random prescale output through FGA (maximum 6.4 Mpps) Standard builtin (activated when the servo alarm goes off or when the servo is off) Both default builtin and external installation possible Seven segments (5 DIGIT) Loader (SET, MODE, U, and [DOWN] keys) Auto gain tuning, phase Z detection, manual JOG operation, program JOG operation, automatic analog input calibration Overcurrent, overload, overvoltage, voltage lack, main power input error, control power input error, overspeed, motor cable, heating error (power module heating, drive temperature error), encoder error, excessive regeneration, sensor error, communication error 0 ~ 50[ ] 90[%] RH or lower (no condensation) Indoors, a place free from corrosive gas or combustible gas, or a place without liquid or conductive dust.

23 External Dimensions XGT Servo System(XDL/XML) 22 / 23 XDLL7SA001 ~ XDLL7SA004 [Weight1.2kg] *Unit [mm] Servo Drive XDLL7SA008 ~ XDLL7SA010 [Weight : 1.5kg(FanCooling included)] *Unit [mm]

24 External Dimensions XDLL7SA020 ~ XDLL7SA035 [Weight : 2.5kg(FanCooling included)] *Unit [mm] XDLL7SA050 [Weight : 5.5kg(FanCooling included)] *Unit [mm]

25 XGT Servo System(XDL/XML) 24 / 25 XDLL7SB010 [Weight : 1.5kg(FanCooling included)] *Unit [mm] Servo Drive XDLL7SB020 / XDLL7SB035 [Weight : 2.5kg(FanCooling included)] *Unit [mm]

26 External Dimensions XDLL7SB050 [Weight : 5.5kg(FanCooling included)] *Unit [mm] XDLL7SA075 [Weight : 8.5kg(FanCooling included)] *Unit [mm]

27 XGT Servo System(XDL/XML) 26 / 27 XDLL7SB150 [Weight : 15.5kg(FanCooling included)] *Unit [mm] Servo Drive

28 Servo Drive Designation XDLL7N Series Servo Drive Designation Model Name Communication Input ower Supply Capacity Encoder Type Option XDL Series Network Type A : 200VAC 001 : 100W 002 : 200W 004 : 400W 008 : 750W 010 : 1.0kW 020 : 2.0kW 035 : 3.5kW 050 : 5.0kW B : Serial (Communication Type) Exclusive Option Code

29 Identifying the art XGT Servo System(XDL/XML) 28 / 29 EtherCAT Communication Type XDLL7N Realtime control by EtherCAT High speed, Realtime capability and Synchronization mechanism 100BASETX(100Mbps) EtherNET based realtime communication 10 Support Various Operation Mode Cyclic(/S/T) Mode and rofile (/S/T)Mode, Homing Mode High Response for recision Control Servo Drive High Resolutions Serial type Encoder(19Bit, BiSS) Improved Speed Response(=1Khz) Frequency Operation keys (Mode, Up, Down, Set) Charge lamp Main power connector (L1, L2, L3) DC reactor connector(o, I) Short circuit when not used Regenerative Resistor Connector (B+, B, BI) ShortCircuit B, BI terminals when standard type Use B+, B terminals when using external resistor Control ower Connector (C1, C2) Front cover Servo Motor Connecting Terminals (U, V, W) Heat Sink Display Status LED CN5:USB connector CN4:EtherCAT Communication ort (IN) CN3:EtherCAT Communication ort (OUT) CN6 : STO Connector CN1 : Control Connector CN2 : Encoder Connector Ground

30 Drive Combination Table 3, FALR5A FAL01A FAL015A FBL01A FBL02A FBL04A FCL04A FCL06A FCL08A FCL10A FB01A FB02A FB04A FC04A FC06A FC08A FC10A FE09A FE15A FE22A FE30A FF30A FF50A FCL03D FCL05D FCL06D FCL07D FC03D FC05D FC06D FC07D FE06D FE11D FE16D FE22D FF22D FF35D FF55D FG22D FG35D FG55D FE05G FE09G FE13G FE17G FF20G FF30G FF44G FG20G FG30G FG44G FE03M FE06M FE09M FE12M FF12M FF20M FF30M FF44M FG12M FG20M FG30M FG44M L7NA001B L7NA001B L7NA002B L7NA001B L7NA002B L7NA004B L7NA004B L7NA008B L7NA008B L7NA010B L7NA001B L7NA002B L7NA004B L7NA004B L7NA008B L7NA008B L7NA010B L7NA010B L7NA020B L7NA020B L7NA035B L7NA035B L7NA050B L7NA004B L7NA008B L7NA008B L7NA008B L7NA004B L7NA008B L7NA008B L7NA008B L7NA008B L7NA010B L7NA020B L7NA020B L7NA020B L7NA035B L7NA050B L7NA020B L7NA035B L7NA050B L7NA008B L7NA010B L7NA020B L7NA020B L7NA020B L7NA035B L7NA050B L7NA020B L7NA035B L7NA050B L7NA004B L7NA008B L7NA010B L7NA020B L7NA020B L7NA020B L7NA035B L7NA050B L7NA020B L7NA020B L7NA035B L7NA050B Flange Size Applicable Motor Applicable Drive IS B B LB LB IS IS JS JS JS IS JS IS JS IS JS IS JS 2,000 1,500 1,000 5,000 3,000 3,000 2,000 2,000 1,700 3,000 2,700 3,000 1,700 2,000 2,700 3,000 3,000 2,700 3,000 * 18Bit Serial / MTurn Abs * 19Bit Serial / MTurn Abs E ES E ES E DS E DS E ES1 E ES1 E DS1 E DS1 QS QS SB SB SB NB NB B LB NB B LB NB LS LS HS HS HS HS FS FS Rated Speed (rpm) Maximum Speed (rpm) Standard Encoder Type ower Cable Encoder Cable Serial Type Serial Abs For power ower + Brake Brake XDLL7N Serial Type

31 Drive roduct Features XGT Servo System(XDL/XML) 30 / 31 XDLL7NA Drive Item Control erformance Type Name Input Main ower Supply ower Control ower Supply Rated Current[A] eak Current[A] Encoder Type Speed Control Range Frequency Response Speed Variation Ratio Torque Control Repetition Accuracy Supported Drive Modes (CiA402) XDLL7NA001B XDLL7NA002B XDLL7NA004B XDLL7NA008B XDLL7NA010B XDLL7NA020B XDLL7NA035B XDLL7NA050B 3 hase AC200 ~ 230[V](15 ~ +10[%]), 50 ~ 60[Hz] Single hase AC200 ~ 230[V](15 ~ +10[%]), 50 ~ 60[Hz] Quad. Type Incremental Line Driver Max 6000 [/R] Serial Type 19Bit Maximum 1: 5000 Maximum 1 khz or more (when the 19bit serial encoder is applied) ±0.01[%] or lower(when the load changes between 0 and 100%), ±0.1[%] or less(temperature of 25 [±10] Within ±1% rofile osition Mode rofile Velocity Mode rofile Torque Mode Interpolated osition Mode Cyclic Synchronous osition Mode Cyclic Synchronous Velocity Mode Cyclic Synchronous Torque Mode Homing Mode Servo Drive Digital Input Total 6 input channels (allocable) CON, GAIN2, ALMRST, HOME, OT, NOT Above 6 functions can be used selectively for assignment. can be set as positive logic or negative logic. Digital Input/ Output Touch robe Input Digital Output There are 2 input channels. rovides rising and falling edge detection functions for each channel. Total 4 channels (allocable) ALARM, READY, ZSD, BRAKE, INOS, INSD, WARN Above 7 outputs can be used selectively for assignment. can be set as positive logic or negative logic. Additional Communication Builtin Functions Operation Environment USB Dynamic Braking Regenerative Braking Display Setting Function Additional Function rotective Function Temperature Humidity Environment rogram download is available with USB Communication. Builtin type(operates when Servo alarm or Servo off) Builtin type, and also external connection is available 7 segments(5digit) Loder(SET), (MODE) Auto gain tuning function Overcurrent, overload, overvoltage, insufficient voltage, main power input problem, control power input problem, overspeed, motor cable, overheat(power module overheat, abnormal drive operation Øs temp), encoder problem, overregenerative, sensor problem, communication problem 0 ~ 50[ ] Below 90[%]RH(avoid dewcondensation) Indoor, Avoid corrosive, inflammable gas or liquid, and electrically conductive dust.

32 External Dimensions XDLL7NA001B ~ XDLL7NA004B[Weight : 1.2kg] *Unit [mm] XDLL7NA008B / XDLL7NA010B[Weight : 1.5kg(FanCooling included)] *Unit [mm]

33 XGT Servo System(XDL/XML) 32 / 33 XDLL7NA020B / XDLL7NA035B[Weight : 2.5kg(FanCooling included)] *Unit [mm] Servo Drive XDLL7NA050B[Weight : 5.5kg(FanCooling included)] *Unit [mm]

Servo Drive Designation XDLL7NH Series Servo Drive Designation NH Model Name Communication Input ower Supply Capacity Encoder Type Option XDL

34 Servo Drive Designation XDLL7NH Series Servo Drive Designation NH Model Name Communication Input ower Supply Capacity Encoder Type Option XDL Series Network / AllinOne Type B:400VAC U:Universal Exclusive Option Code * Range 200V : 0.1kW~3.5kW 400V : 1.0kW~15kW 075:7.5kW 110:11kW 150:15kW

Identifying the art XGT Servo System(XDL/XML) 34 / 35 AllinOne EtherCAT Communication Type XDLL7NH Realtime control through EtherCAT High speed, Realtime capability and Synchronization mechanism

35 Identifying the art XGT Servo System(XDL/XML) 34 / 35 AllinOne EtherCAT Communication Type XDLL7NH Realtime control through EtherCAT High speed, Realtime capability and Synchronization mechanism Improved EtherCAT communication speed (min. 250us, DC support) Supporting CoE, EoE and FoE Improved Speed Response(=1.6Khz) Frequency Support various motor and Encoder drive Supporting Rotary, DD and Motor drive (supporting3rd party motor) Quadrature, BiSSC, Tamagawa serial abs, EnDat 2.2, Resolver Improved Control erformance Improved Control bandwidth roviding 4step NotchFilter Vibration control by Realtime FET Realtime gain tuning function Servo Drive Display State LED Charge Lamp Main ower Connector (L1, L2, L3) DC Reactor Connector (O, I) Regenerative Resistance Connector (B+, B, BI) ShortCircuit B, BI terminals when standard type Use B+, B terminals when using external resistor Control ower Connector (C1, C2) Servo Motor Connecting Terminal (U,V,W) Connector for Analog Monitor Node Address Setting Switch USB Connector EtherCAT Communication ort (IN) EtherCAT Communication ort (OUT) Safety Connector (STO) Input / Output signal /Connector Encoder Connector (ENCODER) Ground Terminal

36 3,000 2,000 1,500 1,000 3,000 5,000 3,000 3,000 2,000 2,000 3,500 1,700 1,700 2,700 3,000 2,700 * 2,048/R E AS E BS E BS E AS E BS E AS GS HS HS HS HS HS IS IS IS IS NB NB NB B B IS NB B B GS GS KB QS SB SB SB * 1,048/R * 1,048/R * 3,000/R SAR3A SAR5A SA01A SA015A SB01A SB02A SB04A SC04A SC06A SC08A SC10A SE09A SE15A SE22A SF30A SC03D SC05D SC06D SC07D SE06D SE11D SE16D SE22D SF22D LF35D SG22D LG35D SE05G SE09G SE13G SE17G SF20G LF30G SG20G LG30G SE03M SE06M SE09M SE12M SF12M SF20M LF30M SG12M SG20M LG30M HB01A HB02A HB04A HE09A HE15A L7NHA001U L7NHA001U L7NHA001U L7NHA002U L7NHA002U L7NHA002U L7NHA004U L7NHA004U L7NHA008U L7NHA008U L7NHA010U L7NHA008U L7NHA020U L7NHA020U L7NHA035U L7NHA004U L7NHA008U L7NHA008U L7NHA008U L7NHA008U L7NHA010U L7NHA020U L7NHA020U L7NHA020U L7NHA035U L7NHA020U L7NHA035U L7NHA008U L7NHA010U L7NHA020U L7NHA020U L7NHA035U L7NHA035U L7NHA020U L7NHA035U L7NHA004U L7NHA008U L7NHA010U L7NHA020U L7NHA020U L7NHA035U L7NHA035U L7NHA020U L7NHA035U L7NHA035U L7NHA002U L7NHA002U L7NHA004U L7NHA008U L7NHA020U Rated Speed (rpm) Maximum Speed (rpm) Flange Size Applicable Motor Applicable Drive Standard Encoder Type ower Cable Encoder Cable Quadrature Type INC For power ower + Brake Brake XDLL7NHA Incremental Type Drive Combination Table

37 XGT Servo System(XDL/XML) 36 / 37 XDLL7NHA Serial Type Rated Speed (rpm) 3,000 2,000 1,500 1,000 Maximum Speed (rpm) 5,000 3,000 3,000 2,700 3,000 2,700 2,000 1,700 2,000 1,700 Flange Size Applicable Motor FALR5A FAL01A FAL015A FBL01A FBL02A FBL04A FCL04A FCL06A FCL08A FCL10A FB01A FB02A FB04A FC04A FC06A FC08A FC10A FE09A FE15A FE22A FE30A FF30A FCL03D FCL05D FCL06D FCL07D FC03D FC05D FC06D FC07D FE06D FE11D FE16D FE22D FF22D FF35D FG22D FG35D FE05G FE09G FE13G FE17G FF20G FF30G FG20G FG30G FE03M FE06M FE09M FE12M FF12M FF20M FF30M FG12M FG20M FG30M Applicable Drive L7NHA001U L7NHA001U L7NHA002U L7NHA001U L7NHA002U L7NHA004U L7NHA004U L7NHA008U L7NHA008U L7NHA010U L7NHA001U L7NHA002U L7NHA004U L7NHA004U L7NHA008U L7NHA008U L7NHA010U L7NHA010U L7NHA020U L7NHA020U L7NHA035U L7NHA035U L7NHA004U L7NHA008U L7NHA008U L7NHA008U L7NHA004U L7NHA008U L7NHA008U L7NHA008U L7NHA008U L7NHA010U L7NHA020U L7NHA020U L7NHA020U L7NHA035U L7NHA020U L7NHA035U L7NHA008U L7NHA010U L7NHA020U L7NHA020U L7NHA020U L7NHA035U L7NHA020U L7NHA035U L7NHA004U L7NHA008U L7NHA010U L7NHA020U L7NHA020U L7NHA020U L7NHA035U L7NHA020U L7NHA020U L7NHA035U Standard Encoder Type Encoder Cable ower Cable Serial Type Serial Abs For power ower + Brake Brake * 18Bit Serial / MTurn Abs * 19Bit Serial / MTurn Abs FS IS HS IS NB LS HS HS HS IS LS FS IS IS B B NB SB NB NB B B E ES E ES E DS E DS E ES1 E ES1 E DS1 E DS1 QS QS SB SB Servo Drive

38 3,000 2,000 1,500 1,000 5,000 3,000 3,000 2,500 2,000 2,000 2,500 2,500 1,700 3,000 2,000 E BS HS IS IS JS JS HS IS HS IS JS MS JS JS JS IS IS NB B B LB LB LB IS JS B LB MS MS MS NB NB NB B HS SB SB SB * 3,000/R SE09A SE15A SE22A SE30A SF30A SF50A SE06D SE11D SE16D SE22D SF22D SF35D SF55D SF75D SG22D SG35D SG55D SG75D SG110D SE05G SE09G SE13G SE17G SF20G SF30G SF44G SF60G SF75G SG20G SG30G SG44G SG60G SG85G SG110G SG150G SE03M SE06M SE09M SE12M SF12M SF20M SF30M SF44M SG12M SG20M SG30M SG44M SG60M L7NHB010U L7NHB010U L7NHB020U L7NHB035U L7NHB035U L7NHB050U L7NHB010U L7NHB010U L7NHB020U L7NHB020U L7NHB020U L7NHB035U L7NHB050U L7NHB075U L7NHB020U L7NHB035U L7NHB050U L7NHB075U L7NHB150U L7NHB010U L7NHB010U L7NHB020U L7NHB020U L7NHB020U L7NHB050U L7NHB050U L7NHB075U L7NHB075U L7NHB020U L7NHB050U L7NHB050U L7NHB075U L7NHB150U L7NHB150U L7NHB150U L7NHB010U L7NHB010U L7NHB010U L7NHB020U L7NHB020U L7NHB020U L7NHB035U L7NHB050U L7NHB020U L7NHB020U L7NHB050U L7NHB050U L7NHB075U Rated Speed (rpm) Maximum Speed (rpm) Flange Size Applicable Motor Applicable Drive Standard Encoder Type ower Cable Encoder Cable Quadrature Type INC For power ower + Brake Brake XDLL7NHB Incremental Type Drive Combination Table

39 3,000 FE09A FE15A FE22A FE30A FF30A FF50A FE06D FE11D FE16D FE22D FF22D FF35D FF55D FF75D FG22D FG35D FG55D FG75D FG110D FE05G FE09G FE13G FE17G FF20G FF30G FF44G FF60G FF75G FG20G FG30G FG44G FG60G FG85G FG110G FG150G FE03M FE06M FE09M FE12M FF12M FF20M FF30M FF44M FG12M FG20M FG30M FG44M FG60M L7NHB010U L7NHB020U L7NHB035U L7NHB035U L7NHB035U L7NHB050U L7NHB010U L7NHB010U L7NHB020U L7NHB020U L7NHB020U L7NHB035U L7NHB050U L7NHB075U L7NHB020U L7NHB035U L7NHB050U L7NHB075U L7NHB150U L7NHB010U L7NHB010U L7NHB020U L7NHB020U L7NHB020U L7NHB050U L7NHB050U L7NHB075U L7NHB075U L7NHB020U L7NHB035U L7NHB050U L7NHB075U L7NHB150U L7NHB150U L7NHB150U L7NHB010U L7NHB010U L7NHB010U L7NHB020U L7NHB020U L7NHB020U L7NHB035U L7NHB050U L7NHB020U L7NHB020U L7NHB050U L7NHB050U L7NHB075U Flange Size Applicable Motor Applicable Drive IS JS MS 2,000 1,500 1,000 2,000 2,000 5,000 3,000 3,000 2,500 2,000 2,500 1,700 2,500 3,000 2,700 3,000 2,700 3,000 2,500 2,200 3,000 2,700 3,000 * 19Bit Serial / MTurn Abs E DS E DS1 SB SB SB HS HS HS IS IS JS JS MS MS IS JS IS JS IS JS IS JS MS HS B LB NB NB NB B LB B LB B LB NB Rated Speed (rpm) Maximum Speed (rpm) Standard Encoder Type ower Cable Encoder Cable Serial Type Serial Abs For power ower + Brake Brake XDLL7NHB Serial Type XGT Servo System(XDL/XML) 38 / 39 Servo Drive

40 Drive roduct Features XDLL7NHA Drive Item Type Name Input Main ower Supply ower Control ower Supply Rated Current[A] eak Current[A] Encoder Type Control erformance hysical Layer Connector Communication distance EtherCAT DC(Distributed Clock) Communication LED Display Specifications Digital Input/ Output Analog Monitor Safety Function USB Communication Internal Function Environment Speed Control Range Frequency Response Speed Variation Ratio Torque Control Repetition Accuracy Communication Standard Cia402 Drive rofile Digital Input Digital Output Function Communication Standard Connect Dynamic Braking Regenerative Braking Display Function Selfsetting Function Additional Function rotection Function Temperature Humidity Environment XDLL7NHA001U XDLL7NHA002U XDLL7NHA004U XDLL7NHA008U XDLL7NHA010U XDLL7NHA020U XDLL7NHA035U 3 hase AC200 ~ 230[V](15 ~ +10[%]), 50 ~ 60[Hz] Single hase AC200 ~ 230[V](15 ~ +10[%]), 50 ~ 60[Hz] Quadrature(Incremental) BiSSB, BiSSC(Absolute, Incremental) Tamagawa Serial(Absolute, Incremental) EnDat 2.2 Maximum 1: 5000 Maximum 1[kHz] or above(when the 19bit Serial Encoder is applied) 0.01[%] or lower(when the load changes between 0 and 100%) 0.1[%] or less(temperature of 25 [10] Within 1% FoE (Firmware download) EoE (arameter setting by UD, Tuning, Secondary function, arameter copy) CoE (IEC Type12, IEC 607 CIA 402 Drive profile) 100BASETX(IEEE2.3) RJ45 x 2 Within connection between nodes 100[m] By DC mode synchronism. minimum DC cycle: 250[us] LinkAct IN, LinkAct OUT, RUN, ERR rofile osition Mode rofile Velocity Mode rofile Torque Mode Cyclic Synchronous osition Mode Cyclic Synchronous Velocity Mode Cyclic Synchronous Torque Mode Homing Mode Input Voltage range : DC 12[V] ~ DC 24[V] Total 8 input channels (allocable) Above 12 functions can be used selectively for assignment. (*OT, *NOT, *HOME, *STO, *CON, *GAIN2, *_CL, *N_CL, ROBE1, ROBE2, EMG, A_RST) *Basic allocation signal Service rating: DC 24[V] 10%, 120[ ] Total 4 input channels (allocable) Above 11 functions can be used selectively for assignment. (*BRAKE, *ALARM, *READY, *ZSD, INOS, TLMT, VLMT, INSD, WARN, TGON, INOS) *Basic allocation signal There are 2 input channels. Above 15 functions can be used selectively for assignment. 2 Input Channels (STO1, STO2), 1 Output Channels (EDM) Firmware download, arameter setting, Tuning, Secondary function, arameter copy USB 2.0 Full Speed (applies standard) C or USB storing medium Standard builtin brake (activated when the servo alarm goes off or when the servo is off). Both the default builtin brake and an externally installed brake are possible. 7 segments(5digit) The [MODE] key changes the content displayed in 7 segments Auto gain tuning function Overcurrent, overload, overvoltage, insufficient voltage, main power input problem, control power input problem, overspeed, motor cable, overheat(power module overheat, abnormal drive operation s temp), encoder problem, overregenerative, sensor problem, communication problem 0 ~ +50[ ] / 20~ +70[ ] Below 90[%]RH(avoid dewcondensation) Indoor, Avoid corrosive, inflammable gas or liquid, and electrically conductive dust.

41 XGT Servo System(XDL/XML) 40 /41 XDLL7NHB Drive Item Type Name Input Main ower Supply ower Control ower Supply Rated Current[A] eak Current[A] Encoder Type Control erformance hysical Layer Connector Communication distance EtherCAT DC(Distributed Clock) Communication LED Display Specifications Digital Input/ Output Analog Monitor Safety Function USB Communication Internal Function Environment Speed Control Range Frequency Response Speed Variation Ratio Torque Control Repetition Accuracy Communication Standard Cia402 Drive rofile Digital Input Digital Output Function Communication Standard Connect Dynamic Braking Regenerative Braking Display Function Selfsetting Function Additional Function rotection Function Temperature Humidity Environment XDLL7NHB010U XDLL7NHB020U XDLL7NHB035U XDLL7NHB050U XDLL7NHB075U XDLL7NHB150U 3 hase AC3 ~4[V](15 ~ +10[%]), 50 ~ 60[Hz] Single hase AC3 ~ 4[V](15 ~ +10[%]), 50 ~ 60[Hz] Quadrature(Incremental) BiSSB, BiSSC(Absolute, Incremental) Tamagawa Serial(Absolute, Incremental) EnDat 2.2 Maximum 1: 5000 Maximum 1[kHz] or above(when the 19bit Serial Encoder is applied) 0.01[%] or lower(when the load changes between 0 and 100%) 0.1[%] or less(temperature of 25 [10] Within 1% FoE (Firmware download) EoE (arameter setting by UD, Tuning, Secondary function, arameter copy) CoE (IEC Type12, IEC 607 CIA 402 Drive profile) 100BASETX(IEEE2.3) RJ45 x 2 Within connection between nodes 100[m] By DC mode synchronism. minimum DC cycle: 250[us] LinkAct IN, LinkAct OUT, RUN, ERR rofile osition Mode rofile Velocity Mode rofile Torque Mode Cyclic Synchronous osition Mode Cyclic Synchronous Velocity Mode Cyclic Synchronous Torque Mode Homing Mode Input Voltage range : DC 12[V] ~ DC 24[V] Total 8 input channels (allocable) Above 12 functions can be used selectively for assignment. (*OT, *NOT, *HOME, *STO, *CON, *GAIN2, *_CL, *N_CL, ROBE1, ROBE2, EMG, A_RST) *Basic allocation signal Service rating: DC 24[V] 10%, 120[ ] Total 4 input channels (allocable) Above 11 functions can be used selectively for assignment. (*BRAKE, *ALARM, *READY, *ZSD, INOS, TLMT, VLMT, INSD, WARN, TGON, INOS) *Basic allocation signal There are 2 input channels. Above 15 functions can be used selectively for assignment. 2 Input Channels (STO1, STO2), 1 Output Channels (EDM) Firmware download, arameter setting, Tuning, Secondary function, arameter copy USB 2.0 Full Speed (applies standard) C or USB storing medium Standard builtin brake (activated when the servo alarm goes off or when the servo is off). Both the default builtin brake and an externally installed brake are possible. 7 segments(5digit) The [MODE] key changes the content displayed in 7 segments Auto gain tuning function Overcurrent, overload, overvoltage, insufficient voltage, main power input problem, control power input problem, overspeed, motor cable, overheat(power module overheat, abnormal drive operation s temp), encoder problem, overregenerative, sensor problem, communication problem 0 ~ +50[ ] / 20~ +70[ ] Below 90[%]RH(avoid dewcondensation) Indoor, Avoid corrosive, inflammable gas or liquid, and electrically conductive dust. Servo Drive

42 External Dimensions XDLL7NHA001U ~ XDLL7NHA004U[Weight : 1.0kg] *Unit [mm] XDLL7NHA008U / XDLL7NHA010U[Weight : 1.5kg(FanCooling included)] *Unit [mm]

43 XGT Servo System(XDL/XML) 42 / 43 XDLL7NHA020U / XDLL7NHA035U[Weight : 2.5kg(FanCooling included)] *Unit [mm] Servo Drive XDLL7NHB010U[Weight : 1.5kg(FanCooling included)] *Unit [mm]

44 External Dimensions XDLL7NHB020U / XDLL7NHB035U[Weight : 2.5kg(FanCooling included)] *Unit [mm] XDLL7NB050U[Weight : 5.5kg(FanCooling included)] *Unit [mm]

45 XGT Servo System(XDL/XML) 44 / 45 XDLL7NHB075U[Weight : 8.5kg(FanCooling included)] *Unit [mm] Servo Drive XDLL7NHB150U[Weight : 15.5kg(FanCooling included)] *Unit [mm]

46 Servo Drive Designation XDLL7 Series Servo Drive Designation Model Name Communication Input ower Supply Capacity Encoder Type Option XDL Series Stand I/O & Index Type U:Universal Exclusive Option Code

Identifying the art XGT Servo System(XDL/XML) 46 / 47 Indexer Function Type XDLL7 roviding rogram Function builtin single axis position determination module Supporting position control mode by pulse

47 Identifying the art XGT Servo System(XDL/XML) 46 / 47 Indexer Function Type XDLL7 roviding rogram Function builtin single axis position determination module Supporting position control mode by pulse input osition control mode ossible to use without upper controller Modbus RTU rotocol (RS422) Support various motor and Encoder drive Supporting Rotary, DD and Motor drive (supporting3rd party motor) Quadrature, BiSSC, Tamagawa serial abs, EnDat 2.2, Resolver Servo Drive Improved Control erformance Improved Control bandwidth roviding 4step NotchFilter Vibration control by Realtime FET Realtime gain tuning function Display Status LED Charge Lamp Main ower Connector (L1, L2, L3) DC Reactor Connector(O, I) ShortCircuit When Not used Regenerative Resistor Connector (B+, B, BI) ShortCircuit B, BI terminals when standard type Use B+, B terminals when using external resistor Control ower connector (C1, C2) Motor power connector(u, V, W) Connector for analogue monitor Switch for nod address setting USB connector (USB) RS422 communication connector (CN3, CN4) Control signal connector (I/O) Encoder Connector (ENCODER) Ground

48 3,000 2,000 1,500 1,000 3,000 5,000 3,000 3,000 2,000 2,000 3,500 1,700 1,700 2,700 3,000 2,700 * 2,048/R E AS E BS E BS E AS E BS E AS GS HS HS HS HS HS IS IS IS IS NB NB NB B B IS NB B B GS GS KB KB SB SB SB * 1,048/R * 2,048/R * 3,000/R SAR3A SAR5A SA01A SA015A SB01A SB02A SB04A SC04A SC06A SC08A SC10A SE09A SE15A SE22A SF30A SC03D SC05D SC06D SC07D SE06D SE11D SE16D SE22D SF22D LF35D SG22D LG35D SE05G SE09G SE13G SE17G SF20G LF30G SG20G LG30G SE03M SE06M SE09M SE12M SF12M SF20M LF30M SG12M SG20M LG30M HB01A HB02A HB04A HE09A HE15A L7A001U L7A001U L7A001U L7A002U L7A002U L7A002U L7A004U L7A004U L7A008U L7A008U L7A010U L7A008U L7A020U L7A020U L7A035U L7A004U L7A008U L7A008U L7A008U L7A008U L7A010U L7A020U L7A020U L7A020U L7A035U L7A020U L7A035U L7A008U L7A010U L7A020U L7A020U L7A035U L7A035U L7A020U L7A035U L7A004U L7A008U L7A010U L7A020U L7A020U L7A035U L7A035U L7A020U L7A035U L7A035U L7A002U L7A002U L7A004U L7A008U L7A020U Rated Speed (rpm) Maximum Speed (rpm) Flange Size Applicable Motor Applicable Drive Standard Encoder Type ower Cable Encoder Cable Quadrature Type INC For power ower + Brake Brake XDLL7 Incremental Type Drive Combination Table

49 XGT Servo System(XDL/XML) 48 / 49 XDLL7 Serial Type Rated Speed (rpm) 3,000 2,000 1,500 1,000 Maximum Speed (rpm) 5,000 3,000 3,000 2,700 3,000 2,700 2,000 1,700 2,000 1,700 Flange Size Applicable Motor FALR5A FAL01A FAL015A FBL01A FBL02A FBL04A FCL04A FCL06A FCL08A FCL10A FB01A FB02A FB04A FC04A FC06A FC08A FC10A FE09A FE15A FE22A FE30A FF30A FCL03D FCL05D FCL06D FCL07D FC03D FC05D FC06D FC07D FE06D FE11D FE16D FE22D FF22D FF35D FG22D FG35D FE05G FE09G FE13G FE17G FF20G FF30G FG20G FG30G FE03M FE06M FE09M FE12M FF12M FF20M FF30M FG12M FG20M FG30M Applicable Drive L7A001U L7A001U L7A002U L7A001U L7A002U L7A004U L7A004U L7A008U L7A008U L7A010U L7A001U L7A002U L7A004U L7A004U L7A008U L7A008U L7A010U L7A010U L7A020U L7A020U L7A035U L7A035U L7A004U L7A008U L7A008U L7A008U L7A004U L7A008U L7A008U L7A008U L7A008U L7A010U L7A020U L7A020U L7A020U L7A035U L7A020U L7A035U L7A008U L7A010U L7A020U L7A020U L7A020U L7A035U L7A020U L7A035U L7A004U L7A008U L7A010U L7A020U L7A020U L7A020U L7A035U L7A020U L7A020U L7A035U Standard Encoder Type Encoder Cable ower Cable Serial Type Serial Abs For power ower + Brake Brake * 18Bit Serial / MTurn Abs * 19Bit Serial / MTurn Abs FS IS HS IS NB LS HS HS HS IS LS FS IS IS B B NB SB NB NB B B E ES E ES E DS E DS E ES1 E ES1 E DS1 E DS1 QS QS SB SB Servo Drive

50 Drive roduct Features XDLL7A Drive Item Type Name Input Main ower Supply ower Control ower Supply Rated Current[A] eak Current[A] Encoder Type Control erformance RS422 Communication Specifications Input/Output Analog Input/output USB Communication Builtin functions Environment Speed Control Range Frequency Response Speed Variation Ratio Accel/Decel Time Input Frequency Input ulse Type Communication Specifications Communication rotocol Connector Synchro Method Transmission Speed Transmission Distance ower Consumption Terminating Resistance Digital Input Digital Output Analog input Analog output rotection Communication Specifications Connection Device Dynamic Braking Regenerative Braking Display Setting Function Additional Function rotective Function Temperature Humidity Environment XDLL7A001U XDLL7A002U XDLL7A004U XDLL7A008U XDLL7A010U XDLL7A020U XDLL7A035U 3 hase AC200 ~ 230[V](15 ~ +10[%]), 50 ~ 60[Hz] Single hase AC200 ~ 230[V](15 ~ +10[%]), 50 ~ 60[Hz] Quadrature(Incremental) BiSSB, BiSSC(Absolute, Incremental) Tamagawa Serial(Absolute, Incremental) EnDat 2.2 Maximum 1: 5000 Maximum 1 [khz] or above (When using 19bit Serial Encoder) 0.01 [%] or lower [when load changes between 0 and 100%] 0.1[%] or lower [temperature ] Straight or Scurve acceleration/deceleration (0~10,000[ms], 0~1,000[ms] Unit configurable) 1[Mpps], line drive / 200[kpps], Open Collector Symbol + ulse Series, CW+CCW, A/B hase ANSI/TIA/EIA422 Standard Specifications MODBUSRTU RJ45 x 2 Asynchronous 9600 /19200/38400/57600 [bps] Can be configured at [0x3002] Maximum 200 [m] 100[ ] Dip S/W(On/Off), BuiltIn 120 Input voltage range: DC 12[V] ~ DC 24[V] Total 16 input channel (allocatable) 32 function inputs can be selectively allocated (*SV_ON, *OT, *NOT, *ARST, *START, *STO, *REGT, *EMG, *HOME, *HSTART, *ISEL0, *ISEL1, *ISEL2, *ISEL3, *ISEL4, *ISEL5, CON, GAIN2, _CL, N_CL, MODE, AUSE, ABSRQ, JSTART, JDIR, CLR, AOVR, SD1/LVSF1, SD2/LVSF2, SD3, ROBE1, ROBE2) * Basic allocation signal. Use rating: DC 24[V] 10%, 120[ßÃ] Total 8 input channel (allocatable) 19 function inputs can be selectively allocated (*ALARM, *READY, *BRAKE, *INOS1, *ORG, *EOS, *TGON, *TLMT, VLMT, INSD,ZSD, WARN, INOS2, IOUT0, IOUT1, IOUT2, IOUT3, IOUT4, IOUT5) * Standard Allocation signal Total 2 channels analog speed override input(10[v) ~ +10[V)) analog torque command input(10[v) ~ +10[V)) Total 2 channels 15 function inputs can be selectively allocated Firmware download, parameter setting, tuning, auxiliary function,parameter copy Complies with USB 2.0 Full Speed Specifications C or USB storage media Standard builtin(activated by servo alarm or servo OFF) Builtin, external brake attachable 7 Segment(5 DIGIT) Drive node address can be set using rotary switch Gain tuning, alarm history, JOG operation, origin search Excessive current, overload, excessive current limit, overheating, excessive voltage, low voltage, excessive speed, encoder fail, position following fail, current sensing fail 0 ~ 50[ ] / 20 ~ 65 Below 90[%]RH(avoid dewcondensation) Indoor, Avoid corrosive, inflammable gas or liquid, and electrically conductive dust.

51 External Dimensions XGT Servo System(XDL/XML) 50 / 51 XDLL7A001U ~ XDLL7A004U [Weight : 1.0kg (FanCooling included)] *Unit [mm] Servo Drive XDLL7A008U / XDLL7A010U [Weight : 1.5kg (FanCooling included)] *Unit [mm] XDLL7A020U / XDLL7A035U [Weight : 2.5kg (FanCooling included)] *Unit [mm]

Servo Drive Designation XI(EGASUS) Series Servo Drive Designation XI A R5 A A N M A EGASUS Series XI Series Flange Size A: 40 Flange B: 60 Flange Rated Speed Communication

52 Servo Drive Designation XI(EGASUS) Series Servo Drive Designation XI A R5 A A N M A EGASUS Series XI Series Flange Size A: 40 Flange B: 60 Flange Rated Speed Communication Resolution A: 3000[rpm] N: EtherCAT A: 12Bit C: 17Bit(TBD) Motor Capacity Drive Voltage Encoder Type R5: 50[W] 01: 100[W] 02: 200[W] 03: 300[W] A: 48VDC M: Magnetic Encoder

EGASUS Series XGT Servo System(XDL/XML) 52 / 53 Integrated Servo System Type XI(EGASUS) Enhanced efficiency integrated servo system Cost effective from installation by integrated system of motor,

53 EGASUS Series XGT Servo System(XDL/XML) 52 / 53 Integrated Servo System Type XI(EGASUS) Enhanced efficiency integrated servo system Cost effective from installation by integrated system of motor, encoder cable and drive Maximization for useful space when installed at limited and small space High effectiveness for application of multi axis because there is no limitation for space of installation Realtime control through EtherCAT High speed, Realtime capability and Synchronization mechanism Improved EtherCAT communication speed Supporting CoE, EoE and FoE Servo Drive Input / Output Connector (CN1) This Connector is for Sequence Input / Output s EtherCAT Communication Output ort (OUT) Status LED It Indicates the current state of EtherCAT Communication ower Connector (CN3) EtherCAT Communication Input ort (IN) Safety Connector (CN2) This Connector connects Safety Devices USB Connector (CN5, Mini B type) This Connector is to Communicate With a C Node Address Setting Switch This Switch is to set the node address of the drive You can set the node addresses from 0 to

54 Drive roduct Features Rated Values of Servo Drive Rated Continuous output current [Arms] Maximum output current [Arms] Input voltage 40 50W W W DC 48V ~ DC 60V W W Basic Specifications Use conditions erformance Input/ output signal Safety functions Category Control method Operating temperature /storage temperature Operating humidity /storage humidity Vibration/impactresistance Degree of protection /degree of pollution Altitude Other Speed variation Input signal Output signal Load variation Voltage variation Temperature variation Analog Monitor Connecting device USB communication Communication standard Function Dynamic brake (threephase shortcircuit) rotection functions Auxiliary functions Input Compatible standard Details WM controlled sine wave current driving method 0+40[] / 20~ +60[] Below % RH / Below 90% RH (no freeze or condensation) TBD TBD 1000m or lower To be free from electrostatic noise, strong electrolysis, or radiation. At 0 to 100% load: 3% (at rated speed) Rated voltage 10%: 0% (at rated speed) 25: 0.1% or less (at rated speed) Input voltage range: DC 12 V DC 30 V The 4channel input signal can be assigned to 12 functions: OT, NOT, HOME, STO, CON, GAIN2, CL, NCL, ROBE1, ROB2, EMG, and ARST. Rated voltage and current: DC 24 V 10%, 120 [ ] The 2channel output signal can be assigned to 11 functions: BRAKE, ALARM, RDY, ZSD, INOS1, TLMT, VLMT, INSD, WARN, TGON, and INOS2. Number of channels: 1, Output voltage range: 4V, Angular resolution: 12 bits, Stabilization time: 15 us C or USB storage medium Conform to the USB 2.0 Full Speed Standard. Firmware download, parameter setting, adjustment, auxiliary functions, and parameter copy function. Activates when servo alarm, servo OFF, or Emergency stop (OT, NOT and EMG) is input. Overcurrent, overload, current limit, overheat, overvoltage, undervoltage, overspeed, encoder error, position follow error, ect. Gain adjustment, alarm history, JOG drive, programmed JOG drive, etc. STO1 and STO2 TBD EtherCAT Communication Specification Category Communicati FoE on EoE standard CoE hysical layer Connector Distance DC (Distributed Clock) LED Display Cia402 drive rofile Details Firmware download arameter setting, adjustment, auxiliary functions, and parameter copy through UD. IEC Type12, IEC 607 CiA 402 drive profile 100BASETX(IEEE2.3) RJ45 x 2 Within 100 m between nodes Sync by DC mode L/A0(Link/Act IN) L/A1(Link/Act OUT) RUN ERR Supports CS, CSV, CST,, V, T, and HM Modes. Encoder Specification Category Details Encoder Type Magnetic Encoder (12bit) Motor Specification Model Unit 40 50W W W W W Rated Torque [Kgf cm] Max. Torque [Kgf cm] Rated Speed [rpm] Max Speed [rpm] Inertia [Kgx104]

55 External Dimensions XGT Servo System(XDL/XML) 54 / 55 XIAR5A *Unit [mm] Servo Drive XIA01A *Unit [mm]

56 External Dimensions XIB01A *Unit [mm] XIB02A *Unit [mm]

57 XGT Servo System(XDL/XML) 56 / 57 XIB03A *Unit [mm] Servo Drive

59 XGT Servo System(XDL/XML) 58 / 59 Servo Motor Contents S Series Solid/Hollow Shaft Type Rotating 60 Servo Motor F Series Flat Type Rotating Servo Motor 76 MDM Series DirectDrive Motor 91

Servo Motor Designation Servo Motor Designation XML S E 04 A E K 1 Model Name XML Series Motor Capacity R5 : 50[W] Encoder Type D : Inc. 2500[/R] Oil Seal, Brake Type None : None 01 : 100[W] E : Inc.

60 Servo Motor Designation Servo Motor Designation XML S E 04 A E K 1 Model Name XML Series Motor Capacity R5 : 50[W] Encoder Type D : Inc. 2500[/R] Oil Seal, Brake Type None : None 01 : 100[W] E : Inc. 3000[/R] 1 : Oil Seal Attached 015 : 150[W] M : 19bit Serial Abs 2 : Brake Attached Motor Shaft S : Solid Shaft(Standard) L : Solid Shaft(Low Current) H : Hollow Shaft Flange Size A : 40 Flange B : 60 Flange C : Flange E : Flange Input ower Supply None : 200VAC : 400VAC 02 : 200[W] 03 : 300[W] 04 : 400[W] 07 : 650[W] 08 : 0[W] 10 : 1.0[kW] 20 : 2.0[kW] 35 : 3.5[kW] 50 : 5.0[kW] 75 : 7.5[kW] 110 : 11[kW] 150 : 15[kW] M8 : 18bit MTurn Abs [SA Type] Rated Speed A : 3000[rpm] D : 2000[rpm] G : 1500[rpm] M : 1000[rpm] 3 : Oil Seal, Brake Attached Note 1) In case of 40, 60, Flange product, you can apply 200V drive only. Note2) If you apply nonstandard Encoder, lease contact our office. Note3) Refer to brake operating voltage Shape of Shaft End N : Straight K : One side Round key (Standard) F : Flange G : Flange H : 250 Flange J : 2 Flange

61 Servo Motor Characteristics XGT Servo System(XDL/XML) 60 / 61 Motor Specifications [Rated 3000r/min] Servo Motor (XML) Applicable Drive (L7A] Flange Size() Rated Output [kw] [Nm] Rated Torque [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current [A] Max.Current [A] Rated Speed [r/min] Max. Speed [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Speed/osition Standard Note1) Detector Option Structure Rated Time Specifications Ambient Temp & Features Ambient Humidity Atmosphere E/V Weight [kg] SAR5A L7A SA01A SA015A SB01A SB02A SB04A SC04A SC06A SC08A SC10A L7A002 L7A004 L7A008 L7A times of motor inertia 20 times of motor inertia 15 times of motor inertia Quad.Type Incremental 2048[/R] Quad.Type Incremental 3000[/R ] Serial Type 18[Bit] Serial Type 19[Bit] Fully closedself cooling I55 Note1) Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 20 ~ [%] (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Note1) Except for axis penetration, when you attach reducer to the motor, we dont guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only Servo Motor SpeedTorque Characteristics XMLSAR5A XMLSA01A XMLSA015A XMLSB01A XMLSB02A XMLSB04A XMLSC04A XMLSC06A XMLSC08A XMLSC10A

62 Servo Motor Characteristics Motor Specifications [Rated 3000r/min] Servo Motor (XML) Applicable Drive (L7A] Flange Size() Rated Output [kw] [Nm] Rated Torque Max. Instantaneous Rated Current Max.Current Rated Speed Max. Speed [kgfcm] [Nm] [kgfcm] [A] [A] [r/min] [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate Speed/osition [kw/s] Standard Note1) Detector Option Structure Rated Time Specifications & Features Ambient Temp Ambient Humidity Atmosphere E/V Weight [kg] SE09A SE15A SE22A SE30A SF30A SF50A HB01A HB02A HB04A HE09A HE15A HE30A L7A008 L7A020 L7A050 L7A035 L7A050 L7A002 L7A004 L7A008 L7A020 L7A times of motor inertia 5 times of motor inertia 20 times of motor inertia 10 times of motor inertia Quad. Type Incremental 3000[/R] Quad.Type Incremental 1024[/R] Quad.Type Incremental 2048[/R] Serial Type 19[Bit] X Fully closedself cooling I65 Note1) Fully closedself cooling I55 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Note1) Except for axis penetration, when you attach reducer to the motor, we dont guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. SpeedTorque Characteristics XMLSE09A XMLSE15A XMLSE22A XMLSE30A XMLSF30A XMLSF50A XMLHB01A XMLHB02A XMLHB04A XMLHE09A XMLHE15A XMLHE30A

63 XGT Servo System(XDL/XML) 62 /63 Motor Specifications [Rated 2000r/min] Servo Motor (XML) SC03D SC05D SC06D SC07D SE06D SE11D SE16D SE22D Applicable Drive (L7A] L7A004 L7A008 L7A008 L7A010 L7A020 Flange Size() Rated Output [kw] [Nm] Rated Torque [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current [A] Max.Current [A] Rated Speed [r/min] Max. Speed [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Speed/osition Standard Note1) Detector Option Structure Rated Time Specifications Ambient Temp & Features Ambient Humidity Atmosphere E/V Weight [kg] times of motor inertia 10 times of motor inertia Quad. Type Incremental 3000[/R] Serial Type 19[Bit] Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Note1) Except for axis penetration, when you attach reducer to the motor, we dont guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. Servo Motor SpeedTorque Characteristics XMLSC03D XMLSC05D XMLSC06D XMLSC07D XMLSE06D XMLSE11D XMLSE16D XMLSE22D

64 Servo Motor Characteristics Motor Specifications [Rated 2000r/min] Servo Motor (XML) SF22D LF35D SF55D SF75D SG22D LG35D SG55D SG75D Applicable Drive (L7A] Flange Size() Rated Output [kw] [Nm] Rated Torque [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current [A] Max.Current [A] Rated Speed [r/min] Max. Speed [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Speed/osition Standard Note1) Detector Option Structure Rated Time Specifications Ambient Temp & Features Ambient Humidity Atmosphere E/V Weight [kg] L7A020 L7A035 L7A050 L7A075 L7A020 L7A035 L7A050 L7A times of motor inertia Quad. Type Incremental 3000[/R] Serial Type 19[Bit] Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Note1) Except for axis penetration, when you attach reducer to the motor, we dont guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. SpeedTorque Characteristics XMLSF22D XMLLF35D XMLSF55D XMLSF75D eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLSG22D XMLLG35D XMLSG55D XMLSG75D eak Operating Range eak Operating Range eak Operating Range eak Operating Range

65 XGT Servo System(XDL/XML) 64 / 65 Motor Specifications [Rated 1500r/min] Servo Motor (XML) Applicable Drive (L7A] Flange Size() Rated Output [kw] [Nm] Rated Torque [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current [A] Max.Current [A] Rated Speed [r/min] Max. Speed [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Speed/osition Standard Note1) Detector Option Structure Rated Time Specifications Ambient Temp & Features Ambient Humidity Atmosphere E/V Weight [kg] SE05G SE09G SE13G SE17G SF20G LF30G SF44G SF60G SG20G LG30G SG44G SG60G L7A008 L7A010 L7A020 L7A035 L7A050 L7A075 L7A020 L7A035 L7A050 L7A times of motor inertia 5 times of motor inertia Quad. Type Incremental 3000[/R] Serial Type 19[Bit] Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Note1) Except for axis penetration, when you attach reducer to the motor, we dont guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. Servo Motor SpeedTorque Characteristics XMLSE05G XMLSE09G XMLSE13G XMLSE17G eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLSF20G XMLLF30G XMLSF44G XMLSF60G eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLSG20G XMLLG30G XMLSG44G XMLSG60G eak Operating Range eak Operating Range eak Operating Range eak Operating Range

66 Servo Motor Characteristics Motor Specifications [Rated 1000r/min] Servo Motor (XML) Applicable Drive (L7A] Flange Size() Rated Output [kw] [Nm] Rated Torque [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current [A] Max.Current [A] Rated Speed [r/min] Max. Speed [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Speed/osition Standard Note1) Detector Option Structure Rated Time Specifications Ambient Temp & Features Ambient Humidity Atmosphere E/V SE03M SE06M SE09M SE12M SF12M SF20M LF30M SF44M SG12M SG20M LG30MSG44MSG60M L7A004 L7A008 L7A010 L7A020 L7A035 L7A050 L7A020 L7A035 L7A050 L7A times of motor inertia 5 times of motor inertia Quad. Type Incremental 3000[/R] Serial Type 19[Bit] Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Weight [kg] Note1) Except for axis penetration, when you attach reducer to the motor, we dont guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. Speed Torque Characteristics XMLSE03M XMLSE06M XMLSE09M XMLSE12M eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLSF12M XMLSF20M XMLLF30M XMLSF44M eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLSG12M XMLSG20M XMLLG30M XMLSG44M eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLSG60M eak Operating Range

67 XGT Servo System(XDL/XML) 66 / 67 Motor Specifications [Rated 3000r/min] Speed Torque Characteristics Servo Motor (XML) SE09A SE15A SE22A SE30A SF30A SF50A Applicable Drive (L7A] L7B010 L7B020 L7B035 L7B050 Flange Size() Rated Output [kw] Rated Torque [Nm] [kgfcm] Max. Instantaneous Rated Current Max.Current [Nm] [kgfcm] [A] [A] Rated Speed [r/min] 3000 Max. Speed [r/min] 5000 Inertia [kgm 2 X10 4 ] [gfcms 2 ] Allowable Load Inertia Ratio 10 times of motor inertia 5 times of motor inertia Rated ower Rate [kw/s] Speed/osition Detector Specifications & Features Standard Note1) Option Structure Rated Time Ambient Temp Ambient Humidity Atmosphere E/V Quad. Type Incremental 3000[/R] Serial Type 19[Bit] Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Weight [kg] Note1) Except for axis penetration, when you attach reducer to the motor, we dont guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. XMLSE09A XMLSE15A XMLSE22A XMLSE30A eak Operating Range XMLSF30A eak Operating Range eak Operating Range XMLSF50A eak Operating Range eak Operating Range eak Operating Range Servo Motor

68 Servo Motor Characteristics Motor Specifications [Rated 2000r/min] Servo Motor (XML) Applicable Drive (L7A] Flange Size() Rated Output [kw] [Nm] Rated Torque [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current [A] Max.Current [A] Rated Speed [r/min] Max. Speed [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Speed/osition Standard Note1) Detector Option Structure Rated Time Specifications Ambient Temp & Features Ambient Humidity Atmosphere E/V Weight [kg] SE06D SE11D SE16D SE22D SF22D SF35D SF55D SF75D SG22D SG35D SG55D SG75D SG110D L7B010 L7B020 L7B035 L7B050 L7B075 L7B020 L7B035 L7B050 L7B075 L7B times of motor inertia 5 times of motor inertia Quad. Type Incremental 3000[/R] Serial Type 19[Bit] Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Note1) Except for axis penetration, when you attach reducer to the motor, we dont guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. Speed Torque Characteristics XMLSE06D XMLSE11D XMLSE16D XMLSE22D eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLSF22D XMLSF35D XMLSF55D XMLSG22D eak Operating Range XMLSG110D eak Operating Range Torque(N m) XMLSG35D eak Operating Range eak Operating Range XMLSG55D T eak Operating Range eak Operating Range XMLSF75D eak Operating Range XMLSG75D eak Operating Range eak Operating Range

69 XGT Servo System(XDL/XML) 68 / 69 Motor Specifications [Rated 1500r/min] Speed Torque Characteristics Servo Motor (XML) Applicable Drive (L7A] Flange Size() Rated Output [kw] [Nm] Rated Torque [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current [A] Max.Current [A] Rated Speed [r/min] Max. Speed [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Speed/osition Standard Note1) Detector Option Structure Rated Time Ambient Temp Specifications Ambient Humidity & Features Atmosphere E/V Weight [kg] eak Operating Range SE05G SE09G SE13G SE17G SE20G SF30G SF44G SF60G SF75G SG20G SG30G SG44G SG60G SG85G SG110G SG150G L7B010 L7B020 L7B020 L7B050 L7B075 L7B150 L7B020 L7B050 L7B075 L7B times of motor inertia 5 times of motor inertia Quad. Type Incremental 3000[/R] Serial Type 19[Bit] Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Note1) Except for axis penetration, when you attach reducer to the motor, we dont guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. XMLSE05G XMLSE09G XMLSE13G XMLSE17G eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLSF20G XMLSF30G XMLSF44G XMLSF75G XMLSG20G eak Operating Range Torque(N m) XMLSG30G eak Operating Range XMLSF60G eak Operating Range XMLSG44G Servo Motor eak Operating Range XMLSG60G eak Operating Range XMLSG85G eak Operating Range XMLSG110G eak Operating Range XMLSG150G T eak Operating Range eak Operating Range eak Operating Range eak Operating Range

70 Servo Motor Characteristics Motor Specifications [Rated 1000r/min] Servo Motor (XML) Applicable Drive (L7A] Flange Size() Rated Output [kw] [Nm] Rated Torque [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current [A] Max.Current [A] Rated Speed [r/min] Max. Speed [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Speed/osition Standard Note1) Detector Option Structure Rated Time Specifications Ambient Temp & Features Ambient Humidity Atmosphere E/V Weight [kg] SE03M SE06M SE09M SE12M SF12M SF20M SF30M SF44M SG12M SG20MSG30MSG44MSG60M L7B010 L7B035 L7B020 L7B050 L7B020 L7B050 L7B times of motor inertia 5 times of motor inertia Quad. Type Incremental 3000[/R] Serial Type 19[Bit] Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Note1) Except for axis penetration, when you attach reducer to the motor, we dont guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. Speed Torque Characteristics XMLSE03M XMLSE06M XMLSE09M XMLSE12M eak Operating Range eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLSF12M XMLSF20M XMLSF30M XMLSG12M XMLSG20M eak Operating Range XMLSG30M eak Operating Range XMLSF44M eak Operating Range XMLSG44M eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLSG60M eak Operating Range

71 External Dimensions of Servo Motor XGT Servo System(XDL/XML) 70 / 71 SA Series lug Specifications Spec.: (Made by AM) ower in No. Color 1 Red U 2 White V 3 Black W 4 Green Ground (ower Connector in Table) Spec.: (Made by AM) Spec.: (Made by AM) Brake in No. 1 BK+ 2 BK (Brake Connector in Table) Encoder in No. 1 A 2 A 3 B 4 B 5 Z 6 Z 7 U 8 U in No V V W W +5V 0V SHIELD (arallel Encoder Connector in Table) Note1) Use DC[24V] for brake input power supply. Note2) The ( ) is for brakeattached type. Note3) For external dimensions for oilsealed type. lease kindly contact us separately. Note4) Refer to page 74 for serial encoder pin table. Model SAR3A SAR5A SA01A SA015A External Dimensions(mm) L LM LC CB 101.3(137.6) 76.3(112.6) 42.5(42.4) 66.3(102.3) 108.3(144.6) 83.3(119.6) 49.5(49.4) 73.3(109.3) 125.3(161.6) 100.3(136.6) 66.5(66.4) 90.3(126.6) Weight(kg) 0.32(0.67) 0.38(0.73) 0.5(0.85) 0.7 SB Series lug Specifications Servo Motor Spec. : (Made by AM) ower in No. Color 1 Red 2 White 3 Black 4 Green (ower Connector in Table) U V W Ground Spec.: (Made by AM) Brake in No. 1 BK+ 2 BK (Brake Connector in Table) Spec. : (Made by AM) Encoder in No. 1 A 2 A 3 B 4 B 5 Z 6 Z 7 U 8 U in No V V W W +5V 0V SHIELD (arallel Encoder Connector in Table) Note1) Use DC[24V] for brake input power supply. Note2) The ( ) is for brakeattached type. Note3) For external dimensions for oilsealed type. lease kindly contact us separately. Note4) Refer to page 74 for serial encoder pin table. Model SB01A SB02A SB04A External Dimensions(mm) L LM LC CB 122(162) 92(132) 52.5(52.3) 59.5(99.5) 136(176) 106(146) 66.5(66.3) 73.5(113.5) 164(204) 134(174) 94.5(94.3) 101.5(141.5) Weight(kg) 0.82(1.4) 1.08(1.66) 1.58(2.16)

72 External Dimensions of Servo Motor SC Series lug Specifications Spec.: (Made by AM) ower in No. Color 1 Red 2 White 3 Black 4 Green (ower Connector in Table) U V W Ground Spec.: (Made by AM) Spec. : (Made by AM) Brake in No. 1 BK+ 2 BK (Brake Connector in Table) Encoder in No. 1 A 2 A 3 B 4 B 5 Z 6 Z 7 U 8 U in No V V W W +5V 0V SHIELD (arallel Encoder Connector in Table) Note1) Use DC[24V] for brake input power supply. Note2) The ( ) is for brakeattached type. Note3) For external dimensions for oilsealed type. lease kindly contact us separately. Note4) Refer to page 74 for serial encoder pin table. Model SC04A, SC03D SC06A, SC05D SC08A, SC06D SC10A, SC07D External Dimensions(mm) L LM LC CB 158.5(198.8) 118.5(158.8) 79(78.8) 86(126.3) 178.5(218.8) 138.5(178.8) 99(98.8) 106(146.3) 198.5(238.8) 158.5(198.8) 119(118.8) 126(166.3) 218.5(258.8) 178.5(218.8) 139(138.8) 146(186.3) S Weight(kg) 1.88(2.92) 2.52(3.56) 3.15(4.22) 3.(4.94) SE, SE Series lug Specifications Spec. : MS3102A204 (Standard) Spec. : MS3102A2015 (Brakeattached type) ower in No. A B C D U V W Ground Brake in No. in No. A B C U V W D E F Ground BK+ BK Encoder 1. Incremental type in No. in No. A A M V B A N V C B W D B R W Spec.: MS3102A2029 E Z H +5V F Z G 0V K U J SHIELD L U (arallel Encoder Connector in Table) Note1) Use DC[24V] for brake input power supply. Note2) The ( ) is for brakeattached type. Note3) For external dimensions for oilsealed type. lease kindly contact us separately. Note4) Refer to page 74 for serial encoder pin table. Model SE09A, SE06D, SE05G, SE03M,SE09A,SE06D, SE05G, SE03M SE15A, SE11D, SE09G, SE06M, SE15A, SE11D, SE09G, SE06M SE22A, SE16D, SE13G, SE09M, SE22A, SE16D, SE13G, SE09M SE30A, SE22D, SE17G, SE12M, SE30A, SE22D, SE17G, SE12M L External Dimensions(mm) LM LC 201.3(239.3) 143.3(181.3) 93.8(93.6) 225.3(263.3) 167.3(205.3) 117.8(117.6) 249.3(287.3) 191.3(229.3) 141.8(141.6) 273.3(311.3) 215.3(253.3) 165.8(165.6) S Key T W U Weight(kg) 5.5(7.04) 7.54(9.08) 9.68(11.22) 11.78(13.32)

73 XGT Servo System(XDL/XML) 72 / 73 SF, LF, SF Series lug Specifications Spec.: MS3102A2222 (Standard) Spec.: MS3102A2410 (Brakeattached type) ower in No. A B C D U V W Ground in No. in No. A B C U V W D E F Ground BK+ BK Encoder 1. Incremental type in No. in No. Spec.: MS3102A2029 A B C D E F K L A A B B Z Z U U M N R H G J V V W W +5V 0V SHIELD (arallel Encoder Connector in Table) Note1) Use DC[24V] for brake input power supply. Note2) The ( ) is for brakeattached type. Note3) For external dimensions for oilsealed type. lease kindly contact us separately. Note4) Refer to page 74 for serial encoder pin table. Note5) Use MS3102A3217 for SF75G ower connector SG, LG, SG Series lug Specifications Model SF30A, SF22D, SF20G, SF12M, SF30A, SF22D, SF20G, SF12M SF50A, LF35D, LF30G, SF20M, SF50A, SF20M SF55D, SF44G, LF30M SF55D, SF44G SF75D, SF60G, SF44M SF75D, SF60G, SF44M SF75G,SF75G External Dimensions(mm) L LM LC (312.9) (346.9) (396.9) (456.9) (233.9) (267.9) (317.9) (377.9) (132.7) 277(216.7) 277 (276.7) 295 LR S Weight(kg) 12.4(19.2) 167(166.7) 17.7(24.9) Key QW T W U (33.4) 35.6(42.8) 39.4 Servo Motor Spec. : MS3102A2222 (Standard) ower in No. A B C D U V W Ground Spec.: MS3102A14S7 (Brakeattached type) Brake in No. A B C BK+ BK NC Encoder 1. Incremental type in No. in No. A A M V B A N V C B W D B R W Spec.: MS3102A2029 E Z H +5V F Z G 0V K U J SHIELD L U (arallel Encoder Connector in Table) Note1) In case of SG, use DC[90V] for brake input power supply. Note2) The ( ) is for brakeattached type. Note3) For external dimensions for oilsealed type. lease kindly contact us separately. Note4) Refer to page 74 for serial encoder pin table. Note5) Use MS3102A3217 for SG60M ower connector. Model SG22D, SG20G, SG12M SG22D, SG20G, SG12M LG35D, LG30G, SG20M SG20M SG55D, SG44G, LG30M SG55D, SG44G SG75D, SG60G, SG44M SG75D, SG60G, SG44M SG110D,SG85G,SG60M SG110D, SG85G,SG60M SG110G, SG110G SG150G, SG150G L (302.7) (322.7) (358.7) (386.7) (484.7) External Dimensions(mm) Key Weight LM LC LR LF LQ S QK T W U (kg) (237.7) (257.7) (293.7) (321.7) (419.7) 122 (121.2) 142 (141.2) 178 (177.2) 206 (205.2) 304 (303.2) (122.6) 66 (132.2) (30.76) ower Connector (35.7) MS 30.8 (44.94) (50.94) 66.2 (82.6) A22 22 MS 3102A32 17

74 External Dimensions of Servo Motor HB Series [Hollow Shaft type] lug Specifications Spec.: (Made by AM) ower in No. Color 1 Red 2 White 3 Black 4 Green (ower Connector in Table) U V W Ground 1. Incremental type Spec. : (Made by AM) Encoder in No. 1 A 2 A 3 B 4 B 5 Z 6 Z 7 U 8 U in No (arallel Encoder Connector in Table) V V W W +5V 0V SHIELD Model HB01A HB02A HB04A External Dimensions(mm) L LM LC CB Hollow Shaft Weight(kg) HE Series [Hollow Shaft type] lug Specifications Spec.: MS3102A204 (Standard) Spec.: MS3102A2029 ower in No. A B C D (ower Connector in Table) Encoder in No. A A B A C B D B E Z F Z K U L U U V W Ground in No. M N R H G J (arallel Encoder Connector in Table) V V W W +5V 0V SHIELD Model HE09A HE15A HE30A External Dimensions(mm) L LM LC Hollow Shaft Weight(kg)

75 Brake and Heat Sink Specification XGT Servo System(XDL/XML) 74 / 75 E lectric Brake Specifications Applicable Motor Series urpose Input voltage [V] Static friction torque [N m] Capacity [W] Coil resistance [ ] Rated current [A] XMLSA,FAL XMLSB,FB,FBL XMLSC,FC,FCL XMLSE,SE,FE,FE XMLSE,SE,FF,FF XMLSG,SG,FG,FG DC 24V DC 24V DC 24V Maintenance DC 24V Braking mechanism Spring brake Insulation grade GraDde F Note1) For the Electronic Brake that is attached to our Servo Motor, the same specifications are to be applied as per the series. Note2) Do not use it for braking purpose because the electronic brake is only for maintaining the stopped condition. Note3) The characteristics of electronic brake is measured at 20 Note4) lease make sure to always check the voltage specification on the motor because indicated brake specifications are subject to change. DC 24V DC 90V S Series Encoder in Map Heat Sink Specifications SA, SB, SC Series lug Specification : (AM) SE, SF, SG Series Single Turn (N) Multi Turn (M) 1 MA 1 MA 2 MA 2 MA 3 SLO 3 SLO 4 SLO 4 SLO 5 5 VDD_B 6 6 GND_B 7 +5V 7 +5V 8 OV 8 OV 9 SHIELD 9 SHIELD (Serial Encoder Connector in Table) Flange Dimensions(mm) Materials A04 A06 A08 A13 A18 A22 250X 250X6 250X 250X6 250X 250X12 350X 350X20 550X 550X30 650X 650X35 Aluminum Note1) The data on the product features is measured when those heat sinks are applied. Servo Motor 17 ole lug (MS3102A2029) Single Turn (N) in No. in No. A MA M B MA N C SLO D SLO R E H F G K J L (Serial Encoder Connector in Table) +5V 0V MA in No. A B C D E F K L Multi Turn (M) in No. MA M MA N SLO SLO R VDD_B H GND_B G J +5V 0V MA

Servo Motor Designation Servo Motor Designation XML F B L 04 A E K 1 Model Name XML Series Motor Shaft F : Flat Flange Size A : 40 Flange B : 60 Flange C : Flange E : Flange F : Flange G : Flange H :

76 Servo Motor Designation Servo Motor Designation XML F B L 04 A E K 1 Model Name XML Series Motor Shaft F : Flat Flange Size A : 40 Flange B : 60 Flange C : Flange E : Flange F : Flange G : Flange H : 250 Flange J : 2 Flange None : General Flat Series (200VAC) L : L Series(200VAC) Input Voltage None : 200VAC Motor Capacity R5 : 50[W] 01 : 100[W] 015 : 150[W] 02 : 200[W] 03 : 300[W] 04 : 400[W] 07 : 650[W] 08 : 0[W] 10 : 1.0[kW] 20 : 2.0[kW] 35 : 3.5[kW] 50 : 5.0[kW] 75 : 7.5[kW] 110 : 11[kW] 150 : 15[kW] Encoders Type M : 19bit MTurn Abs M8 : 18bit MTurn Abs [SA Type] Rated Speed A : 3000[rpm] D : 2000[rpm] G : 1500[rpm] M : 1000[rpm] Oil Seal, Brake Type None : None 1 : Oil Seal Attached 2 : Brake Attached 3 : Oil Seal, Brake Attached Note 1) In case of 40, 60, Flange product, you can apply 200V drive only. Note2) If you apply nonstandard Encoder, lease contact our office. Note3) Refer to brake operating voltage Shape of Shaft End N : Straight K : One side Round key (Standard) : 400VAC

77 Servo Motor Characteristics XGT Servo System(XDL/XML) 76 /77 Motor Specifications [Rated 3000r/min, 2000r/min] Speed Torque Characteristics Servo Motor (XML) FALR5A FAL01A FAL015A FBL01A FBL02A FBL04A FCL04A FCL06A FCL08A FCL10A FCL03D FCL05D FCL06D FCL07D Applicable Drive L7A001 L7A002 L7A001 L7A002 L7A004 L7A004 L7A008 L7A010 L7A004 L7A008 Flange Size() Rated Output [kw] [Nm] [kgfcm] Rated Current Max.Current [Nm] [kgfcm] [A] [A] Rated Speed [r/min] Max. Speed [r/min] Inertia [kgm 2 X10 4 ] [gfcms 2 ] Allowable Load Inertia Ratio 30 times of motor inertia 20 times of motor inertia 15 times of motor inertia Rated ower Rate [kw/s] Speed/osition Standard Note1) Serial MultiTurn Builtin Type(18bit) Serial MultiTurn Builtin Type(19bit) Detector Option Specifications & Features Structure Rated Time Ambient Temp Ambient Humidity Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Atmosphere E/V Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Weight [kg] Note1) Except for axis penetration, when you attach reducer to the motor, we don t guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. XMLFALR5A XMLFAL01A XMLFAL015A XMLFBL01A eak Operating Range eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLFBL02A XMLFBL04A XMLFCL04A eak Operating Range eak Operating Range XMLFCL06A eak Operating Range Servo Motor XMLFCL08A XMLFCL10A XMLFCL03D XMLFCL05D eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLFCL06D XMLFCL07D eak Operating Range eak Operating Range

78 Servo Motor Characteristics Motor Specifications [Rated 3000r/min] Servo Motor (XML) Applicable Drive Flange Size() Rated Output [kw] [Nm] Rated Torque [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current [A] Max.Current [A] Rated Speed [r/min] Max. Speed [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Speed/osition Standard Note1) Detector Option Structure Rated Time Specifications Ambient Temp & Features Ambient Humidity Atmosphere E/V Weight [kg] FB01A FB02A FB04A FC04A FC06A FC08A FC10A FE09A FE15A FE22A FE30A FF30A FF50A L7A001 L7A002 L7A004 L7A004 L7A008 L7A010 L7A020 L7A035 L7A035 L7A times of motor inertia 15 times of motor inertia 10 times of motor inertia 5 times of motor inertia Serial Type 19[Bit] Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Note1) Except for axis penetration, when you attach reducer to the motor, we don t guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. Speed Torque Characteristics XMLFB01A XMLFB02A XMLFB04A XMLFC04A eak Operating Range eak Operating Range XMLFE15A eak Operating Range eak Operating Range XMLFE22A eak Operating Range XMLFC06A XMLFC08A XMLFC10A eak Operating Range XMLFF50A eak Operating Range eak Operating Range XMLFE30A eak Operating Range eak Operating Range XMLFE09A eak Operating Range XMLFF30A eak Operating Range eak Operating Range

79 XGT Servo System(XDL/XML) 78 / 79 Motor Specifications [Rated 2000r/min] Servo Motor (XML) FC03D FC05D FC06D FC07D FE06D FE11D FE16D FE22D Applicable Drive Flange Size() Rated Output [kw] [Nm] Rated Torque [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current [A] Max.Current [A] Rated Speed [r/min] Max. Speed [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Speed/osition Standard Note1) Detector Option Structure Rated Time Specifications Ambient Temp & Features Ambient Humidity Atmosphere E/V Weight [kg] SpeedTorque Characteristics L7A004 L7A008 L7A010 L7A times of motor inertia 10 times of motor inertia Serial MultiTurn Builtin Type(19bit) Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Note1) Except for axis penetration, when you attach reducer to the motor, we don t guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. XMLFC03D XMLFC05D XMLFC06D XMLFC07D Servo Motor eak Operating Range eak Operating Range eak Operating Range XMLFE06D XMLFE11D XMLFE16D eak Operating Range XMLFE22D eak Operating Range eak Operating Range eak Operating Range eak Operating Range

80 Servo Motor Characteristics Motor Specifications [Rated 2000r/min] Servo Motor (XML) FF22D FF35D FF55D FF75D FG22D FG35D FG55D FG75D Applicable Drive Flange Size() Rated Output [kw] Rated Torque [Nm] [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current Max.Current [A] [A] Rated Speed Max. Speed [r/min] [r/min] Inertia [kgm 2 X10 4 ] [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Speed/osition Standard Note1) Detector Option Structure Rated Time Specifications Ambient Temp & Features Ambient Humidity Atmosphere E/V Weight [kg] L7A020 L7A035 L7A050 L7A075 L7A020 L7A035 L7A050 L7A times of motor inertia Serial Type(19bit) Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Note1) Except for axis penetration, when you attach reducer to the motor, we don t guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. SpeedTorque Characteristics XMLFF22D XMLFF35D XMLFF55D XMLFF75D eak Operating Range eak Operating Range eak Operating Range XMLFG22D XMLFG35D XMLFG55D eak Operating Range XMLFG75D eak Operating Range eak Operating Range eak Operating Range eak Operating Range

81 XGT Servo System(XDL/XML) / 81 Motor Specifications [Rated1500r/min] Speed Torque Characteristics Servo Motor (XML) Applicable Drive Flange Size() Rated Output [kw] [Nm] Rated Torque [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current [A] Max.Current [A] Rated Speed [r/min] Max. Speed [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Speed/osition Standard Note1) Detector Option Structure Rated Time Specifications Ambient Temp & Features Ambient Humidity Atmosphere E/V Weight [kg] eak Operating Range FE05G FE09G FE13G FE17G FF20G FF30G FF44G FF60G FF75G FG20G FG30G FG44G FG60G L7A008 L7A010 L7A020 L7A020 L7A035 L7A050 L7A075 L7A075 L7A020 L7A035 L7A050 L7A times of motor inertia 5 times of motor inertia Serial Type 19[Bit] Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Note1) Except for axis penetration, when you attach reducer to the motor, we don t guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. XMLFE05G XMLFE09G XMLFE13G XMLFE17G eak Operating Range eak Operating Range eak Operating Range Torque(N m) eak Operating Range XMLFF20G XMLFF30G XMLFF44G XMLFF75G eak Operating Range XMLFG60G eak Operating Range XMLFG20G eak Operating Range XMLFG30G eak Operating Range eak Operating Range XMLFF60G eak Operating Range XMLFG44G eak Operating Range Servo Motor eak Operating Range

82 Servo Motor Characteristics Motor Specifications [Rated 1000r/min] Servo Motor (XML) Applicable Drive Flange Size() Rated Output [kw] [Nm] Rated Torque [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current [A] Max.Current [A] Rated Speed [r/min] Max. Speed [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Speed/osition Standard Note1) Detector Option Structure Rated Time Specifications Ambient Temp & Features Ambient Humidity Atmosphere E/V Weight [kg] FE03M FE06M FE09M FE12M FF12M FF20M FF30M FF44M FG12M FG20M FG30M FG44M L7A004 L7A008 L7A010 L7A020 L7A020 L7A035 L7A050 L7A020 L7A035 L7A times of motor inertia 5 times of motor inertia Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Note1) Except for axis penetration, when you attach reducer to the motor, we don t guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only Serial Type 19[Bit] SpeedTorque Characteristics XMLFE03M XMLFE06M XMLFE09M XMLFE12M eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLFF12M XMLFF20M XMLFF30M XMLFF44M eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLFG12M XMLFG20M XMLFG30M XMLFG44M eak Operating Range eak Operating Range eak Operating Range eak Operating Range

83 XGT Servo System(XDL/XML) 82 / 83 Motor Specifications [Rated 3000r/min] Servo Motor (XML) FE09A FE15A FE22A FE30A FF30A FF50A Applicable Drive L7B010 L7B020 L7B035 L7B050 Flange Size() Rated Output [kw] Rated Torque [Nm] [kgfcm] Max. Instantaneous Rated Current Max.Current [Nm] [kgfcm] [A] [A] Rated Speed [r/min] 3000 Max. Speed [r/min] 5000 Inertia [kgm 2 X10 4 ] [gfcms 2 ] Allowable Load Inertia Ratio 10 times of motor inertia 5 times of motor inertia Rated ower Rate [kw/s] Speed/osition Detector Standard Note1) Option Serial Type 19[Bit] Specifications & Features Structure Rated Time Ambient Temp Ambient Humidity Atmosphere E/V Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Weight [kg] Note1) Except for axis penetration, when you attach reducer to the motor, we don t guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. Servo Motor SpeedTorque Characteristics XMLFE09A XMLFE15A XMLFE22A XMLFE30A eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLFF30A eak Operating Range eak Operating Range XMLFF50A

84 Servo Motor Characteristics Motor Specifications [Rated 2000r/min] Servo Motor (XML) Applicable Drive Flange Size() Rated Output [kw] [Nm] Rated Torque [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current [A] Max.Current [A] Rated Speed [r/min] Max. Speed [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Standard Note1) Speed/osition Detector Option Structure Rated Time Specifications Ambient Temp & Features Ambient Humidity Atmosphere E/V FE06D FE11D FE16D FE22D FF22D FF35D FF55D FF75D FG22D FG35D FG55D FG75D FG110D L7B010 L7B020 L7B035 L7B050 L7B075 L7B020 L7B035 L7B050 L7B075 L7B times of motor inertia 5 times of motor inertia Serial Type 19[Bit] Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Weight [kg] Note1) Except for axis penetration, when you attach reducer to the motor, we don t guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. Speed Torque Characteristics XMLFE06D XMLFE11D XMLFE16D XMLFE22D eak Operating Range eak Operating Range eak Operating Range XMLFF22D XMLFF35D XMLFF55D eak Operating Range XMLFF75D eak Operating Range XMLFG22D eak Operating Range Torque(N XMLFG35D m) eak Operating Range Torq e(n XMLFG55D m) eak Operating Range XMLFG75D eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLFG110D eak Operating Range

85 XGT Servo System(XDL/XML) 84 / 85 Motor Specifications [Rated 1500r/min] Speed Torque Characteristics Servo Motor (XML) Applicable Drive Flange Size() Rated Output [kw] [Nm] Rated Torque [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current [A] Max.Current [A] Rated Speed [r/min] Max. Speed [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Speed/osition Standard Note1) Detector Option Structure Rated Time Specifications Ambient Temp & Features Ambient Humidity Atmosphere E/V FE05G FE09G FE13G FE17G FF20G FF30G FF44G FF60G FF75G FG20G FG30G FG44G FG60G FG85G FG110G FG150G L7B010 L7B020 L7B035 L7B050 L7B075 L7B020 L7B035 L7B050 L7B075 L7B , ,3.43 1, , times of motor inertia 5 times of motor inertia Serial Type 19[Bit] Weight [kg] Note1) Except for axis penetration, when you attach reducer to the motor, we don t guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only. XMLFE05G XMLFE09G XMLFE13G XMLFE17G eak Operating Range eak Operating Range T eak Operating Range Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) eak Operating Range T eak Operating Range XMLFF20G XMLFF30G XMLFF44G eak Operating Range T eak Operating Range XMLFF60G eak Operating Range Servo Motor XMLFF75G XMLFG20G XMLFG30G XMLFG44G eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLFG60G XMLFG85G XMLFG110G XMLFG150G eak Operating Range eak Operating Range eak Operating Range eak Operating Range

86 Servo Motor Characteristics Motor Specifications [Rated 1000r/min] Servo Motor (XML) Applicable Drive Flange Size() Rated Output [kw] [Nm] Rated Torque [kgfcm] Max. [Nm] Instantaneous [kgfcm] Rated Current [A] Max.Current [A] Rated Speed [r/min] Max. Speed [r/min] [kgm 2 X10 4 ] Inertia [gfcms 2 ] Allowable Load Inertia Ratio Rated ower Rate [kw/s] Speed/osition Standard Note1) Detector Option Structure Rated Time Specifications Ambient Temp & Features Ambient Humidity Atmosphere E/V Weight [kg] FE03M FE06M FE09M FE12M FF12M FF20M FF30M FF44M FG12M FG20M FG30M FG44M L7B010 L7B020 L7B050 L7B020 L7B times of motor inertia 5 times of motor inertia Fully closedself cooling I65 Note1) Continuous Operating : 0 ~ 40[] Storage : 10 ~ 60[] 90[%]RH Below (avoid dewcondensation) Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust. Elevation/vibration 49[m/s2](5G) Note1) Except for axis penetration, when you attach reducer to the motor, we don t guarantee I for reducer. If you bend over specification designated in cable standard, it is difficult to guarantee I marked It can be satisfied protection grade when you use private cable only Serial Type 19[Bit] SpeedTorque Characteristics XMLFE03M XMLFE06M XMLFE09M XMLFE12M eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLFF12M XMLFF20M XMLFF30M XMLFF44M eak Operating Range eak Operating Range eak Operating Range eak Operating Range XMLFG12M XMLFG20M XMLFG30M XMLFG44M eak Operating Range eak Operating Range eak Operating Range eak Operating Range

87 External Dimensions of Servo Motor XGT Servo System(XDL/XML) 86 / 87 FAL Series lug Specifications ower in No. Color 1 Red 2 White 3 Black 4 Green (ower Connector in Table) ower in No. Color 1 Red 2 White 3 Black 4 Green (ower Connector in Table) Brake in No. 1 BK+ 2 BK (Brake Connector in Table) Brake in No. 1 BK+ 2 BK (Brake Connector in Table) U V W Ground U V W Ground Encoder Multi Turn (M) in No. 1 MA 2 SLO External Dimensions(mm) 3 Model Weight(kg) L LM LC LA 4 OV 5 SHIELD FALR5A 103.2(139.6) 78.2(114.6) (0.66) 6 MA FAL01A 120.2(156.6) 95.2(131.6) (0.) 7 SLO FAL015A 9 +5V (Encoder Connector in Table) Note1) Use DC[24V] for brake input power supply. Note2) The ( ) is for brakeattached type. Note3) For external dimensions for oilsealed type. lease kindly contact us separately. FBL Series lug Specifications Servo Motor Encoder Multi Turn (M) in No. 1 MA 2 SLO 3 GND_B 4 OV 5 SHIELD 6 MA 7 SLO 8 VDD_B 9 +5V (Encoder Connector in Table) Model FBL01A FBL02A FBL04A External Dimensions(mm) Key Weight L LM LC S H T W U (kg) 107.2(147.2) 77.2(117.2) 118.2(158.2) 88.2(128.2) 48.5(48.3) 59.5(59.3) (1.3) 0.74(1.48) 138.2(178.2) 108.2(148.2) 79.5(79.3) (1.8) Note1) Use DC[24V] for brake input power supply. Note2) The ( ) is for brakeattached type. Note3) For external dimensions for oilsealed type. lease kindly contact us separately.

88 External Dimensions of Servo Motor FCL Series lug Specifications ower in No. Color 1 Black 2 White 3 Red E Green (ower Connector in Table) Brake in No. 1 BK+ 2 BK (Brake Connector in Table) Encoder Multi Turn (M) in No. 1 MA 2 SLO 3 GND_B 4 OV 5 SHIELD 6 MA 7 SLO 8 VDD_B 9 +5V (Encoder Connector in Table) U V W Ground External Dimensions(mm) Model L LM LC S H T FCL04A, FCL03D 138.7(179.5) 98.7(139.5) 70(69.8) FCL06A, FCL05D 156.7(197.5) 116.7(157.5) 88(87.8) FCL08A, FCL06D 174.7(215.5) 134.7(175.5) 106(105.8) FCL10A, FCL07D 192.7(233.5) 152.7(193.5) 124(123.8) W U Weight(kg) 1.52(2.32)/1.26(2.06) 2.14(2.94)/2.12(2.92) 2.68(3.48)/2.66(3.46) 3.30(4.10)/2.78(3.58) Note1) Use DC[24V] for brake input power supply. Note2) The ( ) is for brakeattached type. Note3) For external dimensions for oilsealed type. lease kindly contact us separately. FB Series lug Specifications ower in No. Color 1 Black 2 White 3 Red 4 Green (ower Connector in Table) W V U Ground Brake in No. 1 BK+ 2 BK (Brake Connector in Table) Encoder Multi Turn (M) in No. 1 MA 2 SLO 3 GND_B 4 OV 5 SHIELD 6 MA 7 SLO 8 VDD_B 9 +5V (Encoder Connector in Table) Model FB01A FB02A FB04A External Dimensions(mm) L LM LC 109(149.2) 79(119.2) 43.5(43) 120(160.2) 90(.2) 54.5(54) 140(.2) 110(150.2) 74.5(74) Weight(kg) 0.72(1.27) 0.94(1.49) 1.32(1.87) Note1) Use DC[24V] for brake input power supply. Note2) The ( ) is for brakeattached type. Note3) For external dimensions for oilsealed type. lease kindly contact us separately.

89 XGT Servo System(XDL/XML) 88 / 89 FC Series lug Specifications ower in No. Color 1 Black 2 White 3 Red 4 Green (ower Connector in Table) W V U Ground Brake in No. 1 BK+ 2 BK (Brake Connector in Table) Encoder Single Turn (N) in No. 1 MA 1 2 SLO OV 4 5 SHIELD 5 6 MA 6 7 SLO V 9 (Encoder Connector in Table) Multi Turn (M) in No. MA SLO GND_B OV SHIELD MA SLO VDD_B +5V Model FC04A, FC03D FC06A, FC05D FC08A, FC06D FC10A, FC07D External Dimensions(mm) L LM LC 136.5(177) 96.5(137) 61(60.5) 154.5(195) 114.5(155) 79(78.5) 172.5(213) 132.5(173) 97(96.5) 190.5(231) 150.5(191) 115(114.5) S H Note1) Use DC[24V] for brake input power supply. Note2) The ( ) is for brakeattached type. Note3) For external dimensions for oilsealed type. lease kindly contact us separately. T W U Weight(kg) 1.56(2.6) 2.18(3.22) 2.72(3.76) 3.(4.34) Servo Motor FE, FE Series lug Specifications Spec.: MS3102A204 (Standard) Spec.: MS3102A2015 (Brakeattached type) 2. Serial type Spec.: MS3102A2029 ower in No. A B C D in No. A B C U V W U V W Ground in No. D E F Ground BK+ BKin in No. in No. A B C D E F K L MA MA SLO SLO M N R H G J +5V 0V SHIELD (Single Turn Encoder Connector in Table) in No. in No. A B C D E F K L MA MA SLO SLO VOD_B GND_B M N R H G J +5V 0V SHIELD (Multi Turn Encoder Connector in Table) Model FE09A, FE06D, FE05G, FE03M, FE09A, FE06D, FE05G,FE03M FE15A, FE11D, FE09G, FE06M, FE15A, FE11D, FE09G, FE06M FE22A, FE16D, FE13G, FE09M, FE22A, FE16D, FE13G, FE09M FE30A, FE22D, FE17G, FE12M, FE30A, FE22D, FE17G, FE12M External Dimensions(mm) L LM LC 197.3(235.3) 217.3(255.3) 237.3(275.3) 255.3(293.3) 139.3(177.3) 159.3(197.3) 179.3(217.3) 197.3(235.3) 89.8(89.6) 109.8(109.6) 129.8(129.6) 147.8(147.6) Key S T W U Weight(kg) 5.04(6.58) 6.74(8.28) 8.48(10.02) 10.05(11.59) Note1) Use DC[24V] for brake input power supply. Note2) The ( ) is for brakeattached type.

90 External Dimensions of Servo Motor FF, FF Series lug Specifications Spec. : MS3102A2222 (Standard) Spec. : MS3102A2410 (Brakeattached type) 2. Serial type Spec. : MS3102A2029 ower in No. A B C D in No. U V W Ground in No. A B C U V W D E F Ground BK+ BK Encoder in No. in No. A MA M B MA N C SLO D SLO R E H +5V F G 0V K J L SHIELD (Single Turn Encoder Connector in Table) in No. in No. A B C D E F K L MA MA SLO SLO VDD_B GND_B M N R H G J +5V 0V SHIELD (Multi Turn Encoder Connector in Table) Note1) FF30M or above models have eye bolts. Note2) Use DC[24V] for brake input power supply. Note3) The ( ) is for brakeattached type. Note4) Use MS3102A3217 for FF75G ower connector. Model FF30A, FF22D, FF20G, FF12M FF30A, FF22D, FF20G, FF12M FF50A, FF35D, FF30G, FF20M FF50A, FF35D, FF30G, FF20M FF55D, FF44G, FF30M FF55D, FF44G, FF30M FF75D, FF60G, FF44M FF75D, FF60G, FF44M FF75G, FF75G L External Dimensions(mm) LM LC LR 257.5(308.9) 178.5(229.9) 129(128.7) 287.5(338.9) 208.5(259.9) 159(158.7) 331.5(382.9) 252.5(303.9) 203(202.7) 384.5(435.9) 305.5(356.9) 256(255.7) S Key QW T 60 8 W U 5 Weight(kg) 12.5(19.7) 17.4(24.6) 25.2(32.4) 33.8(41.0) 38.5(45.7) FG, FG Series lug Specifications Spec. : MS3102A2222 (Standard) Spec. : 3102A147 (Brakeattached type) 2. Serial type Spec. : MS3102A2029 ower in No. A B C D in No. A B C Encoder in No. A MA B MA C SLO D SLO E F K L U V W Ground BK+ BK NC in No. M N R H G J (Single Turn Encoder Connector in Table) +5V 0V SHIELD in No. in No. A B C D E F K L MA MA SLO SLO VDD_B GND_B M N R H G J +5V 0V SHIELD (Multi Turn Encoder Connector in Table) Model FG22D, FG20G, FG12M FG22D, FG20G, FG12M FG35D, FG30G, FG20M FG35D, FG30G, FG20M FG55D, FG44G, FG30M FG55D, FG44G, FG30M FG75D, FG60G, FG44M FG75D, FG60G, FG44M L External Dimensions(mm) 229.5(295.7) 250.5(316.7) 282.5(348.7) 304.5(370.7) LM 164.5(230.7) 185.5(251.7) 217.5(283.7) 239.5(305.7) LC 115(114.2) 136(135.2) 168(167.2) Key 190(189.2) 12 S T 8 W 10 U 5 Weight(kg) 15.42(29.23) 20.22(34.03) 28.02(41.83) 33.45(47.26) Note1) In case of SG, use DC[90V] for brake input power supply. Note2) The ( ) is for brakeattached type.

DD Motor Designation XGT Servo System(XDL/XML) 90 / 91 DD Motor Designation MDM D D None 34 D NO H Servo Motor Motor Type Input ower Supply Rated Speed Shape of Shaft End D : DD MOTOR None : VAC A :

91 DD Motor Designation XGT Servo System(XDL/XML) 90 / 91 DD Motor Designation MDM D D None 34 D NO H Servo Motor Motor Type Input ower Supply Rated Speed Shape of Shaft End D : DD MOTOR None : VAC A : 300rpm H : Hollow Type D : 200rpm G : 150rpm M : 100rpm External Diameter Rated Troque Encoder Type B : 135mm C : 175mm D : 230mm E : 290mm F : 360mm 03 : 3Nm Output 06 : 6Nm Output 09 : 9Nm Output 60 : 60Nm Output A6 : 160Nm Output NO Bit Remark Single Turn Abs, Biss communication

Features of DirectDrive Motor Using the own technologies to produce motors, drives and encoders domestically Optimized for lowspeed, hightorque and highprecision operation roviding ower connection

ratio of the permanent magnet and coil / slot selected through electromagnetic analysis Using multiple permanent magnets to reduce torque ripple and to maximize torque Using a permanent magnet of

92 Features of DirectDrive Motor Using the own technologies to produce motors, drives and encoders domestically Optimized for lowspeed, hightorque and highprecision operation roviding ower connection for the connection of DCLink Terminal Compact Size and Easy Wring (Compared with 3 phase AC Reactor) roviding Connection for DC Input (I, N) Reduced cogging torque and optimized torque design Optimal ratio of the permanent magnet and coil / slot selected through electromagnetic analysis Using multiple permanent magnets to reduce torque ripple and to maximize torque Using a permanent magnet of highenergy rare earth elements (NdFeB) Using the highperformance rotary optical encoder that adopts the Biss protocol Stator Roto Coil Resolution of 1,048,576 CR (Single turn Absolute) Using our own encoder technology to reduce the cost and shorten the delivery time Compatible with our L7 Series AC Servo Drive (3phase AC V) Both standard I/O type (serial communication supported) and network type (EtherCAT) applicable Direct Drive Structure No backlash impact Highprecision operation and shortened installation time Smooth rotary motion Reduced noise Hollow type that is efficient for wiring and piping Load table Support bearing Speed reducer osition detector [Speed Reducer + Servo Motor] [ DD Motor ] Load table A wide range of products Rated output: 63W.25kW Rated torque: 3.0N.m160N.m (the instantaneous maximum torque should be 3 times the rated torque) Rated speed: 150RM200RM Frame diameter: 135mm,175mm,230mm,290mm, and 360mm (13 models)

93 XGT Servo System(XDL/XML) 92 / 93 DD Motor Specifications Ratings and Specifications Insulation class : Class B rotection class: I 40 Cooling type : Fully enclosed selfcooling Vibration class : V15 Insulation resistance : 500 VDC, 10[M ] or higher Insulation internal voltage: 0 VAC, 1 second Operating voltage: 200 VAC Operating temperature : 0 40[ ] / Storage temperature: 10~60[ ] Ambient humidity : 20 % RH (no condensation) Installation location : lace with no toxic substances, such as corrosive and combustible gasses, cutting oil, metal dust, grease or direct sunlight Lineup Table Maximum Torque[Nm] DB03D DB06D DB09D Maximum speed 500[rpm] 175 DC06D DC12D Servo Motor DD12D 230 Rated speed 200[rpm] DC18D 175 Maximum speed 400[rpm] DD22D DD34D 230 Maximum speed 300[rpm] 290 DE40D DE60D Rated speed 150[rpm] Maximum speed 250[rpm] 360 DFA1D DFA6D

94 Drive Combination Table Applicable Drive to Motor Rated Speed (RM) Maximum Speed (RM) External Diameter of Motor() Applicable Motor Applicable Drive Standard Encoders Encoders Cable (Serial) ower Cable (ower) 135 DB03D DB06D L7A001U L7A001U 500 DB09D DC06D L7A001U L7A002U 175 DC12D L7A002U DC18D L7A002U N YS 500 DD12D L7A004U * 20Bit Serial E ZS DD22D DD34D L7A004U L7A008U DE40D DFA1G L7A008U L7A008U DE60D DFA6G L7A010U L7A020U N YS Appearances of Motor MDMDB06DNOH MDMDC12DNOH MDMDD22DNOH MDMDE40DNOH MDMDFA6GNOH

95 Motor Characteristics XGT Servo System(XDL/XML) 94 / 95 Motor Designation Applicable Drive Flange Size mm 135 Rated Output W Rated Torque Nm 3 6 Max Torque Nm 9 18 Rated Current Arms Max Current Arms Rated Speed rpm 200 Max Speed rpm Constant of Torque Nm/Arms Inertia kgm Rated ower Rate kw/s Angular acceleration rad/s ositioning accuracy arcsec ositioning repeatability arcsec Axial runout mm Radial runout mm Allowable Thrust Load N 1500 Max. Instantaneous Nm Encoder Type Weight(Approx.) kg Ambient Temp Working Environment Ambient Humidity Atmosphere * In case of allowable load inertia ratio, please apply within 30 times of rotator inertia MDMDBDH MDMDCDH L7A001 L7A002 L7A004 L7A002 L7A004 L7A ±30 ± bit single turn serial encoder (Biss/Absolute operating : 0~40[ ] / storage : 20~60[ ] 20~[%] RH(avoid dewcondensation) Avoid direct sunlight, No corrosive gas, Inflammable gas, Oil mist, or Dust Servo Motor SpeedTorque Characteristics MDMDB03D MDMDB06D MDMDB09D MDMDC06D eak Operating Range eak Operating Range eak Operating Range eak Operating Range MDMDC12D MDMDC18D eak Operating Range eak Operating Range

96 Motor Characteristics Motor Designation Applicable Drive Flange Size mm 230 Rated Output W Rated Torque Nm Max Torque Nm Rated Current Arms Max Current Arms Rated Speed rpm 200 Max Speed rpm Constant of Torque Nm/Arms Inertia kgm Rated ower Rate kw/s Angular acceleration rad/s ositioning accuracy arcsec ositioning repeatability arcsec Axial runout mm Radial runout mm Allowable Thrust Load N 4000 Max. Instantaneous Nm Encoder Type Weight(Approx.) kg Ambient Temp Working Environment Ambient Humidity Atmosphere * In case of allowable load inertia ratio, please apply within 30 times of rotator inertia MDMDDDH MDMDEDH MDMDFGH A1 A6 L7A004 L7A008 L7A010 L7A010 L7A020 L7A020 L7A ±30 ± bit single turn serial encoder (Biss/Absolute , , operating : 0~40[ ] / storage : 20~60[ ] 20~[%] RH(avoid dewcondenation) Avoid direct sunlight, No corrosive gas, Inflammable gas, Oil mist, or Dust , SpeedTorque Characteristics MDMDD12D MDMDD22D MDMDD34D MDMDE40D eak Operating Range eak Operating Range eak Operating Range eak Operating Range MDMDE60D eak Operating Range MDMDFA1G eak Operating Range MDMDFA6G eak Operating Range

97 External Dimensions XGT Servo System(XDL/XML) 96 / 97 MDMDB03D, MDMDB06D, MDMDB09D Line color U Red LEAD V WIRE White W Black FG Green OWER CONNECTOR in No. A B C D D.D SERVO ENCODER CABLE NO Encoder NO Encoder 1 MA 9 +5V 2 SLO OV 12 5 SHIELD 13 6 MA 14 7 SLO 15 8 ENCODER CONNECTOR MDMDC06D, MDMDC12D, MDMDC18D Model Series MDMDB03D MDMDB06D MDMDB09D L External Dimensions(mm) Weight(kg) Servo Motor Line color U Red LEAD V WIRE White W Black FG Green OWER CONNECTOR in No. A B C D D.D SERVO ENCODER CABLE NO Encoder NO Encoder 1 MA 9 +5V 2 SLO OV 12 5 SHIELD 13 6 MA 14 7 SLO 15 8 ENCODER CONNECTOR Model Series MDMDC06D MDMDC12D MDMDC18D External Dimensions(mm) L Weight(kg)

98 External Dimensions MDMDD12D, MDMDD22D, MDMDD34D Line color U Red LEAD V WIRE White W Black FG Green OWER CONNECTOR in No. A B C D D.D SERVO ENCODER CABLE NO Encoder NO Encoder 1 MA 9 +5V 2 SLO OV 12 5 SHIELD 13 6 MA 14 7 SLO 15 8 ENCODER CONNECTOR Model Series MDMDD12D MDMDD22D MDMDD34D External Dimensions(mm) L Weight(kg) MDMDE40D, MDMDE60D Line color U Red LEAD V WIRE White W Black FG Green OWER CONNECTOR in No. A B C D D.D SERVO ENCODER CABLE NO Encoder NO Encoder 1 MA 9 +5V 2 SLO OV 12 5 SHIELD 13 6 MA 14 7 SLO 15 8 ENCODER CONNECTOR Model Series MDMDE40D MDMDE60D External Dimensions(mm) L Weight(kg)

99 XGT Servo System(XDL/XML) 98 / 99 MDMDFA1G, MDMDFA6G U LEAD V WIRE W FG OWER CONNECTOR Line color Red White Black Green in No. A B C D D.D SERVO ENCODER CABLE NO Encoder NO Encoder 1 MA 9 +5V 2 SLO OV 12 5 SHIELD 13 6 MA 14 7 SLO 15 8 ENCODER CONNECTOR Model Series MDMDFA1G MDMDFA6G External Dimensions(mm) L Weight(kg) Servo Motor

100

101 XGT Servo System(XDL/XML) 100/ 101 Options and Accessories Contents cable 102 ower cable 106 DD Motor cable 113 Other options [ cable] 114 Other options [Connector] V Braking Resistor V Braking Resistor 117

102 Servo Motor Option Cable [Incremental] Type roduct Type Model Name (Note1) Applicable Drive Applicable Motor Specifications Motor Side Connector Drive Side Connector(CN2) For arallel Encoder Cable (Small Capacity) E AS XDL L7SAA L7NHAU L7AU All Models of XML SA SB SC HB SERIES IN No Encoder A A B B Z Z U U [Motor Side Connector] IN No Encoder V V W W +5V OV SHIELD IN No Encoder W W V V U U OV LATE [Driver Side Connector] IN No Encoder Z Z B B A A +5V SHIELD 1. Motor Side Connector Cap Spec.(15 osition) : (AM) Socket Spec. : (AM) 2. Driver Side Connector(CN2) Case Spec. : A0008(3M) or SM14J(Suntone Connector Spec. : VE(3M) or SM14J(Suntone) 3. Cable Spec. : 70.2SQ or 7AWG24 Motor Side Connector Drive Side Connector(CN2) For arallel Encoder Cable (Middle Capacity) E BS XDL L7SAA L7NHAU L7AU All Models of XML SE/SE SF/SF SG/SG LF LG HE SERIES IN No. A B C D E F K L Encoder A A B B Z Z U U IN No. M N R H G J Encoder V V W W +5V OV SHIELD IN No Encoder W W V V U U OV LATE IN No Encoder Z Z B B A A +5V SHIELD [Motor Side Connector] [Driver Side Connector] 1. Motor Side Connector(MS : Military Standard) lug Spec. : MS3108B2029S 2. Drive Side Connector(CN2) Case Spec. : A0008(3M) or SM14J(Suntone) Connector Spec. : VE(3M) or SM14J(Suntone) 3. Cable Spec. : 70.2SQ or 7AWG24 Note1) of Model Name indicates the kind and length of cable. And the declaration is as below. Cable Length(m) General Cable(N) N03 N05 N10 N20 Robotic Cable(F) F03 F05 F10 F20

103 XGT Servo System(XDL/XML) 102 / 103 Cable [Serial] Type roduct Type Model Name (Note1) Applicable Drive Applicable Motor Specifications Motor Side Connector Drive Side Connector(CN2) For For S Series Motor Sturn Encoder Cable (Small Capacity S Series Motor Mturn Encoder Cable (Small Capacity E CS E CS1 XDL L7SB L7NAB L7NHU L7AU XDL L7SB L7NAB L7NHU L7AU All Models of XML SA SB SC SERIES All Models of XML SA SB SC SERIES IN No Encoder MA MA SLO SLO +5V OV SHIELD [Motor Side Connector] IN No Motor Side Connector Cap Spec.(9 osition) : (AM) Socket Spec. : (AM) 2. Drive Side Connector(CN2) Case Spec. : A0008(3M)or SM14J(Suntone) Connector Spec. : VE(3M)or SM14J(Suntone) 3. Cable Spec. : 30.2SQ or 324AWG Motor Side Connector IN No. Encoder 1 MA 2 MA 3 SL 4 SL 5 VOD_B 6 GND_B 7 +5V 8 OV 9 SHELD [Motor Side Connector] IN No Encoder MA MA SLO SLO OV LATE [Driver Side Connector] IN No Encoder MA MA SLO SLO OV LATE [Driver Side Connector] Encoder +5V SHIELD IN No Encoder +5V SHIELD Drive Side Connector(CN2) IN No. Encoder 1 BATTERY(VDD_B) 2 BATTERY 0V(GND_B) [Battery Connector] Options and Accessories 1. Motor Side Connector CA Spec.(9 osition) : (AM) Socket Spec. : (AM) 2. Drive Side Connector(CN2) Case Spec. : A0008(3M) or SM14J(Suntone) Connector Spec. : VE(3M) or SM14J(Suntone) 3. Cable Spec. : 4 0.2SQ or 4 24AWG 4. Cable Spec. : 30.2SQ or 324AWG Note1) of Model Name indicates the kind and length of cable. And the declaration is as below. Cable Length(m) General Cable(N) Robotic Cable(F) 3 N03 F03 5 N05 F05 10 N10 F10 20 N20 F20

104 Servo Motor Option Cable [Serial] (Note1) Type roduct Type Model Name Applicable Drive Applicable Motor Specifications Motor Side Connector Drive Side Connector(CN2) For S/F Series Motor Sturn Encoder Cable (Middle Capacity) E DS XDL L7SB L7NAB L7NHU L7AU All Models of XML SE FE/SE/FE SF/FF SF/FF SG/FG SG/FG LF LG SERIES IN No. A B C D E F K L Encoder MA MA SLO SLO (Motor Side Connector) IN No. M N R H G J Encoder +5V OV SHIELD IN No Encoder MA MA SLO SLO OV LATE (Drive Side Connector) IN No Encoder +5V SHIELD 1. Motor Side Connector(MS : Military Standard) lug Spec. : MS3108B2029S 2. Drive Side Connector(CN2) Case Spec. : A0008(3M) or SM14J(Suntone) Connector Spec. : VE(3M) or SM14J(Suntone) 3. Cable Spec. : 30.2SQ or 324AWG Motor Side Connector Drive Side Connector(CN2) For S/F Series Motor Mturn Encoder Cable (Middle Capacity) E DS1 XDL L7SB L7NAB L7NHU L7AU All Models of XML SE/FE SE/FE SF/FF SF/FF SG/FG/ SG/FG LF LG SERIES IN No. A B C D E F G L Encoder MA MA SLO SLO VOD_B GND_B (Motor Side Connector) IN Encoder No. M N R H G J +5V OV SHELD IN No Encoder MA MA SLO SLO OV LATE (Drive Side Connector) IN No Motor Side Connector(MS : Military Standard) lug Spec. : MS3108B2029S 2. Drive Side Connector(CN2) Case Spec. : A0008(3M) or SM14J(Suntone) Connector Spec. : VE(3M) or SM14J(Suntone) 3. Cable Spec. : 40.2SQ or 424AWG 4. Battery Connector Spec. : A(MOLEX) Encoder +5V SHIELD IN No. 1 2 Encoder BATTERY (VDD_B) BATTERY 0V (GND_B) (Driver Side Connector) Note1) of Model Name indicates the kind and length of cable. And the declaration is as below. Cable Length(m) General Cable(N) Robotic Cable(F) 3 N03 F03 5 N05 F05 10 N10 F10 20 N20 F20

105 XGT Servo System(XDL/XML) 104 / 105 Type roduct Type Model Name (Note1) Applicable Drive Applicable Motor Specifications Motor Side Connector Drive Side Connector(CN2) For F Series Motor Sturn Encoder Cable (Small Capacity) EES XDL L7SB L7NAB L7NHU L7AU All Models of XML FAL FB/FBL FC/FCL SERIES Front Direction Rear Direction Tyco Connector (7Circuits) Encoder IN No. 1 MA 2 SLO 3 4 OV 5 SHIELD 6 MA 7 SLO V (Motor Side Connector) IN No Encoder MA MA SLO SLO OV LATE (Drive Side Connector) IN No Encoder +5V SHIELD 1. Motor Side Connector Cap Spec. : 18251(Tyco) Socket Spec. : (Tyco) 2. Drive Side Connector(CN2) Case Spec. : A0008(3M) or SM14J(Suntone) Connector Spec. : VE(3M) or SM14J(Suntone) 3. Cable Spec. : 30.2SQ or 324AWG Motor Side Connector Drive Side Connector(CN2) For F Series Motor Mturn E Encoder ES1 Cable (Small Capacity) XDL L7SB L7NAB L7NHU L7AU All Models of XML FAL FB/FBL FC/FCL SERIES Encoder IN No. 1 MA 2 SLO 3 GND_B 4 OV 5 SHELD 6 MA 7 SLO 8 VOD_B 9 +5V (Motor Side Connector) IN No Encoder MA MA SLO SLO OV LATE (Driver Side Connector) IN No Motor Side Connector Cap Spec. : 18251(Tyco) Socket Spec. : (Tyco) 2. Drive Side Connector(CN2) Cap Spec. : A0008(3M) or SM14J(Suntone) Connector Spec. : VE(3M) or SM14J(Suntone) 3. Cable Spec. : 40.2SQ or 424AWG 4. Battery Connector Spec. : A(MOLEX) Encoder +5V SHIELD IN No. 1 2 Encoder BATTERY (VDD_B) BATTERY 0V (GND_B) (Battery Connector) Options and Accessories Note1) of Model Name indicates the kind and length of cable. And the declaration is as below. Note2) In case ofmarked product, the connector can draw in a direction of Front(load) / Rear(half load).(front Type : No mark, Rear Type : R) Cable Length(m) General Cable(N) Robotic Cable(F) 3 N03 F03 5 N05 F05 10 N10 F10 20 N20 F20

106 Servo Motor Option ower Cable [200V] (Note1) Type roduct Type Model Name Applicable Drive Applicable Motor Specifications Motor Side Connector Drive Side Connector(CN2) For ower S Series ower Cable (Small Capacity) GS XDL L7SAA L7NHAU L7AU All Models of XML SA SB SC HB SERIES IN No U V W Ground 1. Motor Side Connector Cap Spec.(4 osition) : (AM) Socket Spec. : (AM) 2. Drive Side Connector(U, V, W, FG) U, V, W in Spec. : 1512 FG in Spec. : 1.54x4(Ring Terminal) 3. Cable Spec. : 4C0.75SQ or 4C18AWG Motor Side Connector Drive Side Connector(CN2) For ower S Series Brake Cable (Small Capacity) KB XDL L7SAA L7NHAU L7AU All Models of XML SA SB SC HB SERIES IN No. 1 2 BK+ BK 1. Motor Side Connector Cap Spec.(2 osition) : (AM) Socket Spec. : (AM) 2. Drive Side Connector(U, V, W, FG) Connecting terminal Spec. : 1.5x3(Ring Terminal) 3. Cable Spec. : 2C0.75SQ or 2C18AWG Front Direction Rear Direction For ower F Series ower Cable (Small Capacity) FS XDL L7SAB L7NAB L7NHAU L7AU All Models of XML FB FC SERIES IN No W V U Ground 1. Motor Side Connector lug Spec. : KN5FT04SJ1(JAE) Socket Spec. : STKNSC1B3500(JAE) 2. Drive Side Connector(U, V, W, FG) U, V, W in Spec. : 1512 FG in Spec. : 1.5x4(Ring Terminal) 3. Cable Spec. : 4C0.75SQ or 4C18AWG Note1) of Model Name indicates the kind and length of cable. And the declaration is as below. Note2) In case ofmarked product, the connector can draw in a direction of Front(load) / Rear(half load).(front Type : No mark, Rear Type : R) Cable Length(m) General Cable(N) Robotic Cable(F) 3 F03 N03 5 F05 N05 10 F10 N10 20 F20 N20

107 XGT Servo System(XDL/XML) 106 / 107 (Note1) Type roduct Type Model Name Applicable Drive Applicable Motor Motor Side Connector Specifications Drive Side Connector For ower L Series ower Cable (Small Capacity) LS XDL L7SAB L7NAB L7NHAU L7AU All Models of XML FAL FBL FCL SERIES IN No. A B C D U V W Ground 1. Motor Side Connector lug Spec. : SMJN8FT04(Suntone) Socket Spec. : SMS201(Suntone) 2. Drive Side Connector (U,V,W,FG) U, V, W in Spec. : 1512(Ferrule) FG in Spec. : 1.5x4 (Ring Terminal) 3. Cable Spec. : 4C0.75SQ or 4C18AWG 4. In case of FAL products,lease install ower Cable first before connecting Encoder Cable Motor Side Connector MOTOR For ower Brake Cable for Flat Motor (Small Capacity) B QS XDL L7SAB L7NAB L7NHAU L7AU All Models of XML FAL FB/FBL FC/FCL SERIES Front Direction Rear Direction IN No. 1 2 BK+ BK 1. Motor Side Connector lug Spec. : KN5FT02SJ1 Socket Spec. : STKNSC1B Drive Side Connector (U,V,W,FG) Connecting terminal Spec. : 1.5x3(Ring Terminal) 3. Cable Spec. : 2C0.75SQ or 2C18AWG For ower ower Cable (Middle Capacity) HS XDL L7SAA L7SAB L7NAB L7NHAU L7AU All Models of XML SE FE HE SERIES IN No. A B C D Motor Side Connector U V W Ground Options and Accessories 1. Motor Side Connector lug Spec. : MS3108B204S(MS) 2. Drive Side Connector (U,V,W,FG) U, V, W in Spec. : 2512 FG in Spec. : 2.5x4(Ring Terminal) 3. Cable Spec. : 4C2.5SQ or 4C14AWG Note1) of Model Name indicates the kind and length of cable. And the declaration is as below. Note2) In case ofmarked product, the connector can draw in a direction of Front(load) / Rear(half load).(front Type : No mark, Rear Type : R) Cable Length(m) General Cable(N) Robotic Cable(F) 3 F03 N03 5 F05 N05 10 F10 N10 20 F20 N20

108 Servo Motor Option ower Cable [200V] (Note1) Type roduct Type Model Name Applicable Drive Applicable Motor Specifications Motor Side Connector Drive Side Connector For ower ower Cable (Brake Type) NB XDL L7SAA L7SAB L7NAB L7NHAU L7AU All Models of XML SE FE SERIES IN No. A B C U V W 1. Motor Side Connector lug Spec. : MS3108B2015S(MS) 2. Drive Side Connector U, V, W in Spec. : 2012 IN No. D E F Cable Spec. : 4Cx2.5SQ or 4Cx41AWG FG in Spec. : 2.5x4(Ring Terminal Ground BK+ BK 3. Brake ower side Connector BK in Spec. : 1.5x3(Ring Terminal) Cable Spec. : 2Cx07.5SQ or 2Cx18AWG For ower ower Cable (Middle Capacity) IS XDL L7SAA L7SAB L7NAB L7NHAU L7AU XML SF30A SF22D/LF35D SF20G/LF30G SF12M/SF20M LF30M/SG22D LG35D/SG20G LG30G/SG12M SG20M/LG30M FF30A/FF22D FF35D/FF20G FF30G/FF12M FF20M/FF30M FG22D/FG35D FG20G/FG30G FG12M/FG20M FG30M IN No Motor Side Connector U V W Ground 1. Motor Side Connector lug Spec. : MS3108B2222S(MS) 2. Drive Side Connector U, V, W in Spec. : 2512 FG in Spec. : 2.5x4(Ring Terminal) 3. Cable Spec. : 4C2.5SQ or 4C14AWG Drive Side Connector For ower B XDL L7SAA L7SAB L7NAB L7NHAU L7AU XML SF30A SF22D/LF35D SF20G/LF30G SF12M/SF20M LF30M/FF30A FF22D/FF35D FF20G/FF30G FF12M/FF20M FF30M Motor Side Connector 1. Motor Side Connector LUG Spec. : MS3108B2410S(MS) 2. Drive Side Connector U, V, W in Spec. : 2512 Cable Spec. : 4Cx2.5SQ or 4Cx52AWG FG in Spec. : 2.5x4(Ring Terminal) 3. Brake ower side Connector BK in Spec. : 1.5x3(Ring Terminal) Cable Spec. : 2Cx075. S or 2Cx18AWG Drive Side Connector Brake ower side Connector IN No. A B C D E F U V W Ground BK+ BK Note1) of Model Name indicates the kind and length of cable. And the declaration is as below. Cable Length(m) General Cable(N) Robotic Cable(F) 3 N03 F03 5 N05 F05 10 N10 F10 20 N20 F20

109 XGT Servo System(XDL/XML) 108 / 109 (Note1) Type roduct Type Model Name Applicable Drive Applicable Motor Specifications For ower ower Cable (Middle Capacity) JS XDL L7SAA L7SAB L7NAB L7NHAU L7AU XML SF50A SF55D/SF75D SF44G/SF60G SF44M/SG55D SG75D/SG44G SG60G/SG44M FF50A/FF55D FF75D/FF44G FF60G/FF44M FG55D/FG75D FG44G/FG60G FG44M Motor Side Connector IN No. A B U V IN No. Drive Side Connector C D W Ground 1. Motor Side Connector 3. Cable Spec: 4Cx6SQ or 4Cx10AWG lug Spec. : MS3108B2222S(MS) 2. Drive Side Connector Connecting terminal Spec. : 6x5(Ring Terminal) Drive Side Connector For ower LB XDL L7SAA L7SAB L7NAB L7NHAU L7AU XML SF50A SF55D/SF75D SF44G/SF60G SF44M/FF50A FF50D/FF75D FF44G/FF60G FF40M Motor Side Connector Brake ower side Connector 1. Motor Side Connector lug Spec. : MS3108A2410S(MS) 2. Drive Side Connector Connecting terminal Spec. : 6x5(Ring Terminal 4Cx6SQ or 4Cx10AWG 3. Brake ower side Connector Connecting terminal Spec. : 1.25x3(Ring Terminal) Cable Spec. : 2Cx0.75SQ or 2Cx8AWG Drive Side Connector For ower MS XDL L7SAA L7SAB L7NAB L7NHAU L7AU XML SG60M SF75G/FF75G Motor Side Connector IN No. A B U V IN No. C D W Ground 1. Motor Side Connector 3. Cable Spec: 4Cx10SQ or 4Cx8AWG lug Spec. : MS3108B3217S(MS) 2. Drive Side Connector Connecting terminal Spec. : 10x8(Ring Terminal) Options and Accessories Drive Side Connector For ower SB XDL L7SAA L7SAB L7NAB L7NHAU L7AU All Models of XML SG LG FG SERIES Motor Side Connector IN No. A BK+ IN No. B 1. Motor Side Connector 3. Cable Spec: 2Cx0.75SQ or 2Cx19AWG lug Spec. : MS3108B 14S7S(MS) 2. Drive Side Connector Connecting terminal Spec. : 1.5x3(Ring Terminal) BK Note1) of Model Name indicates the kind and length of cable. And the declaration is as below. Cable Length(m) General Cable(N) Robotic Cable(F) 3 N03 F03 5 N05 F05 10 N10 F10 20 N20 F20

110 Servo Motor Option ower Cable [400V] (Note1) Type roduct Type Model Name Applicable Drive Applicable Motor Specifications Motor Side Connector Drive Side Connector For ower ower Cable HS XDL L7SBB L7NHBU All Models of XML SE FE SERIES IN No. A B U V IN No. C D W Ground 1. Motor Side Connector 3. Cable Spec: 4Cx1.5SQ or 4Cx15AWG lug Spec. : MS3108A 204S(MS) 2. Drive Side Connector(U,V,W,FG) U, V, W in Spec. : 1512(Ferrule) FG in Spec. : 1.5x4(Ring Terminal) Motor Side Connector Drive Side Connector For ower ower Cable (Brake Type) NB XDL L7SBB L7NHBU All Models of XML SE FE SERIES 1. Motor Side Connector lug Spec. : MS3108A 2015S(MS) 2. Drive Side Connector (U,V,W,FG) U, V, W in Spec. : 1512(Ferrule) FG in Spec. : 1.5 x 4(Ring Terminal) 3. ower Cable Spec. : 4Cx1.5SQ or 4Cx15AWG 4. Brake ower side Connector IN No. A B C D E F Connecting terminal Spec. : 1.5 x 3(Ring Terminal) 5.Brake Cable Spec. : 2Cx0.75SQ or 2Cx19AWG U V W Ground BK+ BK For ower ower Cable IS XDL L7SBB L7NHBU XML [S/F]F30A [S/F]F22D/ [S/F]F35D/ [S/F]F20G/ FF30G/ [S/F]F12M/ [S/F]F20M/ [S/F]G22D/ [S/F]G35D/ [S/F]G20G/ FG30G/ [S/F]G12M/ [S/F]G20M Motor Side Connector 1. Motor Side Connector lug Spec. : MS3108A 2222S(MS) 2. Drive Side Connector (U,V,W,FG) U, V, W in Spec : 2512(Ferrule) FG in Spec. : 2.5x4 (Ring Terminal) 3. Cable Spec. : 4Cx2.5SQ or 4Cx14AWG Drive Side Connector IN No. A B C D U V W Ground Note1) of Model Name indicates the kind and length of cable. And the declaration is as below. Note2) In case of 400V products, you can use Robotic Cable only. Cable Length(m) Robotic Cable(F) 3 F03 5 F05 10 F10 20 F20

111 XGT Servo System(XDL/XML) 110 / 111 (Note1) Type roduct Type Model Name Applicable Drive Applicable Motor Specifications For ower ower Cable (Brake Type) B XDL L7SBB L7NHBU XML [S/F]F30A/ [S/F]F22D/ [S/F]F35D/ [S/F]F20G/ FF30G/ [S/F]F12M/ [S/F]F20M/ [S/F]G22D/ [S/F]G35D/ [S/F]G20G/ FG30G/ [S/F]G12M/ [S/F]G20M Motor Side Connector Drive Side Connector 1. Motor Side Connector lug Spec. : MS3108A 2410S(MS) 2. Drive Side Connector U, V, W in Spec. : 2512(Ferrule) FG in Spec. : 2.5 x 4(Ring Terminal) 3. ower Cable Spec. : 4Cx2.5SQ or 4Cx14AWG 4. Brake ower side Connector IN No. A B C D E F Connecting terminal Spec. : 1.5 x 3(Ring Terminal) 5.Brake Cable Spec. : 2Cx0.75SQ or 2Cx19AWG U V W Ground BK+ BK For ower For ower ower Cable (Middle Capacity) ower Cable (Brake Type) JS LB XDL L7SBB L7NHBU XDL L7SBB L7NHBU XML [S/F]F50A/ [S/F]F55D/ [S/F]F75D/ SF30G/ [S/F]F44G/ [S/F]F60G/ [S/F]F30M/ [S/F]F44M/ [S/F]G55D [S/F]G75D/ SG30G/ [S/F]G44G/ [S/F]G60G/ [S/F]G30M/ [S/F]G44M XML [S/F]F50A/ [S/F]F55D/ [S/F]F75D/ SF30G/ [S/F]F44G/ [S/F]F60G/ [S/F]F30M/ [S/F]F44M/ 1. Motor Side Connector lug Spec. : MS3108A 2222S(MS) 2. Drive Side Connector (U,V,W,FG) U, V, W in Spec. : 4.0x 5(Ring Terminal) 3. Cable Spec. : 4Cx4.0SQ or 4Cx11AWG Motor Side Connector Motor Side Connector 1. Motor Side Connector lug Spec. : MS3108A 2410S(MS) 2. Drive Side Connector U, V, W in Spec. : 4.0X5(Ring Terminal) 3. ower Cable Spec. : 4Cx4.0SQ or 4Cx11AWG 4. Brake ower side Connector IN No. A B C D IN A B C D E F Connecting terminal Spec. : 1.5 x 3(Ring Terminal) 5.Brake Cable Spec. : 2Cx0.75SQ or 2Cx19AWG Drive Side Connector Drive Side Connector U V W Ground U V W Ground BK+ BK Options and Accessories Note1) of Model Name indicates the kind and length of cable. And the declaration is as below. Note2) In case of 400V products, you can use Robotic Cable only. Cable Length(m) Robotic Cable(F) 3 F03 5 F05 10 F10 20 F20

112 Servo Motor Option ower Cable [400V] (Note1) Type roduct Type Model Name Applicable Drive Applicable Motor Specifications Motor Side Connector Drive Side Connector For ower ower Cable (Middle Capacity) MS XDL L7SBB L7NHBU XML [S/F]F75G/ [S/F]G110D/ [S/F]G85G/ [S/F]G110G/ [S/FG150G/ [S/F]G60M/ IN No. A B U V IN No. C D 1. Motor Side Connector lug Spec. : MS3108A 3217S(MS) 2. Drive Side Connector(U,V,W,FG) U, V, W in Spec. : 10x5(Ring Terminal) 3. Cable Spec: 4Cx10SQ or 4Cx7AWG W Ground For ower Brake Cable (same with 200V) SB XDL L7SBB L7NHBU All Models of XML SG FG SERIES Motor Side Connector 1. Motor Side Connector lug Spec. : MS3108B 147S(MS) 2. Brake ower side Connector Connecting terminal Spec. : 1.5x3(Ring Terminal) 3. Cable Spec. : 4Cx2.5SQ or 4Cx14AWG Drive Side Connector IN No. 1 2 BK+ BK Battery For Encoder Battery Ass y BATT36 All L7 Drives for Mturn All Model of XMLF Series IN No LUG Spec. : (Molex) 2. LUG in Spec. : 5263BT (Molex) 3. Battery Spec. : ER6V/3.6V, 2000mAh (TOSHIBA) BK+ BK Color Red Black Note1) of Model Name indicates the kind and length of cable. And the declaration is as below. Note2) In case of 400V products, you can use Robotic Cable only. Cable Length(m) Robotic Cable(F) 3 F03 5 F05 10 F10 20 F20

113 XGT Servo System(XDL/XML) 112 / 113 DD Motor Cable (Note1) Type roduct Type Model Name Applicable Drive Specifications Specifications For L7 Encoder Cable E ZS XDL L7SAB L7NAB L7NHAU L7AU All Models of DD motor D.D SERVO ENCODER CABLE Encoder NO 1 MA 2 SLO 3 GND_B 4 OV 5 SHELD 6 MA 7 SLO 8 +5V (ENCODER CONNECTOR) (Motor Connector) NO Encoder +5V 1. Motor Side Connector Connector(DSUB) : DA15FN(Female connector Connector CASE(DSUB) : SK15H1A 2. Drive Side Connector CASE Spec. : A0008(3M) Connector Spec. : VE(3M) IN No Encoder MA MA SLO SLO OV LATE (Driver Connector) Biss Serial Encoder Encoder Cable Connector IN No Cable Spec. : 3x0.2SQ Encoder +5V SHIELD DD Motor ower Cable (Note1) Type roduct Type Model Name Applicable Drive Specifications Specifications For ower ower Cable N YS XDL L7SAB L7NAB L7NHAU L7AU XML DB03D/ DB06D/ DB09D/ DC06D/ DC12D/ DC18D/ DD12D/ DD22D/ DD34D/ DE40D/ DE60D Item 1. Motor Side Connector LUG Spec. : Motor NJC244ADF(Female connector) 2. Drive Side Connector U, V, W in G in Spec. : UAF2012(Seoil) FG Spec. : Cable Spec. : 4Cx1.5SQ, LA Cable(/N : ) Drive Side Connector IN No. Line Color U V W Ground Red White Black Green Options and Accessories Drive Side Connector For ower ower Cable N ZS XDL L7SAB L7NAB L7NHAU L7AU XML DFA1G/ DFA6G Item 1. Motor Side Connector Motor LUG Spec. : NJC244ADF(Female connector) 2. Drive Side Connector U, V, W in G in Spec. : UAF2012(Seoil) FG Spec. : Cable Spec. : 4Cx2.5SQ, LA Cable(/N : ) U V W Ground IN No Line Color Red White Black Green Note1) of Model Name indicates the kind and length of cable. And the declaration is as below. Cable Length(m) Robotic Cable(F) General Cable(N) 3 F03 N03 5 F05 N05 10 F10 N10 20 F20 N20

114 Servo Motor Option Cable (Note1) Type roduct Type Model Name Applicable Motor CN1 Cable XLCCN1A XDLL7SB XDLL7NHU Specifications For (Upper Controller) Indicates in No Drive Side Connection(CN1) Case Spec. : A0008(3M) Connector Spec. : VE(3M) Cable Spec. : 20276SB 25(AWG28) (Drive Connection Side CN1) For CN1 Cable CN1A XDLL7SB XDLL7NHU (in No. Display) NO I/O NO I/O NO I/O NO I/O NO I/O 1 TRQCOM 11 R+ 21 SD3 31 /BO 41 RDY 2 REFCOM 12 R 22 SD2 32 AO 42 TLOUT 3 ZO 13 CON 23 SD1 33 /AO 43 ZSD 4 ZO 14 GAIN2(SEN) 24 GND V 44 BRAKE 5 /ZO 15 CLEAR 25 GND 35 15V 45 INSD/INOS 6 SRO 16 TLIMIT 26 SETCOM 36 GND 46 DIR 7 /SRO 17 ALMRST 27 SDCOM 373 GNDA 47 SVON 8 GNDA 18 EMG 28 MONIT1 8 ALARM+ 48 STO 9 RF+ 19 CWLIM 29 MONIT2 39 ALARM 49 ULCOM 10 F 20 CCWLIM 30 BO 40 RDY Vin (in No. Display) NO NO NO NO BRAKE+ BRAKE ALARM+ ALARM Spare in V CWL CCWL ROBE1 ROBE HOME ALMRST DI1 DI2 Spare in Spare in RDY+ RDY DO1+ DO1 (Upper Controller) Indicates in No Drive Side Connection(CN1) Case Spec. : A0008(3M) Connector Spec. : VE(3M) Cable Spec. : ROWSB0.1C 20C(AWG28) (Drive Connection Side CN1) (C USB ort) (Servo Drive CN5) Communication Cable CN5L7U All Models of XDLL7 SERIES 1. C Side Connector : USB A lug 2. Drive Side Connector(CN5) : Mini USB 5 lug 3. Electric Requirements Spec : Double Shielded, Twisted air, EMIfilter attached type (Ex. : KUAMB518, SANWA) 4. Only 1.8m length of cable is available to use Note1) of Model Name indicates the kind and length of cable. And the declaration is as below. Cable Length(m) General Cable(N) Robotic Cable(F) 1 N01 F01 2 N02 F02 3 N03 F03 5 N05 F05

115 XGT Servo System(XDL/XML) 114 / 115 Connector (Note1) Type roduct Type Model Name Applicable Motor CN1 T/B XLC VSCN1T XDLL7SB XDLL7NHU Specifications T/B (in No. Display) NO I/O NO I/O NO I/O NO I/O NO I/O 21 SD3 22 SD2 23 SD1 24 GND 25 GND 26 SETCOM 27 SDCOM 28 MONIT1 29 MONIT2 30 BO TRQCOM REFCOM ZO ZO /ZO SRO /SRO GNDA RF+ F R+ R CON GAIN2(SEN) CLEAR TLIMIT ALMRST EMG CWLIM CCWLIM /BO AO /AO +15V 15V GND GNDA ALARM+ ALARM RDY RDY TLOUT ZSD BRAKE INSD/INOS DIR SVON STO ULCOM +24Vin Extended CN1 T/B for VS/L7S Available Cable Length : 0.5[m], 1[m], 1.5[m], 2[m], 3[m] CN1 T/B (in No. Display) L7NCN1T XDLL7SB XDLL7NHU NO NO NO NO 1 BRAKE+ 6 24V 11 HOME 16 Spare in 2 BRAKE 7 CWL 12 ALMRST 17 RDY+ 3 ALARM+ 8 CCWL 13 DI1 18 RDY 4 5 ALARM Spare in 9 10 ROBE1 ROBE DI2 Spare in DO1+ DO1 Extended CN1 T/B for L7N Available Cable Length : 0.5[m], 1[m], 1.5[m], 2[m] Options and Accessories CN CN1 Connector XLCCN1NNA XDLL7SB XDLL7NHU Case Spec. : A0008(3M) Connector Spec. : VE(3M) Note1) of Model Name indicates the kind and length of cable. And the declaration is as below. XLCVSCN1T Cable Length(m) Declaration 0.5 None L7NCN1T Cable Length(m) Declaration 0.5 None

116 Servo Motor Option Connector CN CN1 Connector XLCCN2NNA XDL L7NAB L7NHU Case Spec. : A0008(3M) Connector Spec. : VE(3M) CN CN2 Connector XLCCN3NNA All models of XDL L7 SERIES Case Spec. : A0008(3M) Connector Spec. : VE(3M) CN CN3 CN4 EtherCAT Connector CN4NNA XDL L7NAB L7NHU RJ45LUG (8INS) Note1) EtherCAT use only 4wires(1, 2, 3, 6) IN No TX/RX0 lus TX/RX0 Minus TX/RX1 lus TX/RX2 lus TX/RX2 Minus TX/RX1 Minus TX/RX3 lus TX/RX3 Minus late Line Color White/Orange Orange White/Green Blue White/Blue Green White/Brown Brown SHILDE CN STO Cable STOA XDL L7NAB L7NHU IN No IO NC NC HWBB1 Minus HWBB1 lus HWBB2 Minus HWBB2 lus EDM lus EDM Minus Color Orange Orange Yellow Yellow White White 1. Cable Length Only 0.3[m], 1[m], 3[m] of Cable is available to use. 2. Connector Model Name : ACSTO00A Caution During assembly of connector, It can be broken easily without

117 XGT Servo System(XDL/XML) 116 / V Braking Resistor (Note1) Type roduct Type Model Name Applicable Motor *Option braking resistors are selectable items for user s need. Specifications Resistor Braking Resistor 140R50 XDL L7A001 L7A002 L7A004 IRH 140W 50ohm Resistor Braking Resistor 300R30 XDL L7A008 L7A010 IRV 300W 30ohm Resistor Braking Resistor XLC600R30 XDL L7A020 L7A035 Options and Accessories XLC600R28 XDL L7A050(4) IRV 600W 30ohm * L7A020 2pcs(arallel Connection) L7A030 3pcs(arallel Connection) IRV 600W 28ohm * L7A050 4pcs(arallel Connection) Note1) IRV 600S 30ohm and 600S 28ohm have the same external dimensions. Note1) L7 Series 100W~7.5kW has the internal basic braking resistor. If the machine requires short deceleration time frequently, refer to table above and apply the appropriate braking resistor.

118 Servo Motor Option 400V Braking Resistor (Note1) Type roduct Type Model Name Applicable Motor *Option braking resistors are selectable items for user s need. Specifications Resistor Braking Resistor 300R82 82[]/300W XDL L7B010 IRV30082 Resistor Braking Resistor 600R140 70/1200W (140/ 600W 2) XDL L7B020 L7B035 IRV Resistor Braking Resistor 600R75 25/0W (75/ 600W 3) XDL L7B75 IRV60075 Resistor Braking Resistor 2000R /2000W XDL L7B150 IRM Note1) L7 Series 100W~7.5kW has the internal basic braking resistor. If the machine requires short deceleration time frequently, refer to table above and apply the appropriate braking resistor.

119 XGT Servo System(XDL/XML) 118 / 119 Options and Accessories

120

121 XGT Servo System(XDL/XML) 120 / 121 Application Contents Motion Module [EtherCAT] 122 ositioning Module(EtherCAT) 123 ositioning Module [AM] 124 ositioning Module [XM] 125 XGM 126 ositioning Module/External Device Interface 127 Worldwide Network 138

Motion Module [EtherCAT] Features 32 axes (master) and 4 axes (virtual) control EhterCAT CoE supported servo drive Communication cycle : 1ms Builtin DI/DO 8 points each and EtherCAT I/O 512 points

122 Motion Module [EtherCAT] Features 32 axes (master) and 4 axes (virtual) control EhterCAT CoE supported servo drive Communication cycle : 1ms Builtin DI/DO 8 points each and EtherCAT I/O 512 points rogram 2MB External encoder input 2ch (line drive) Max. transmission distance : 100m Specifications Item Communication Number of axis Control period Control unit I/O Motion rogram Control method Range of position/velocity Acc. Dec. process Acc. Dec. time Manual operation Torque unit Encoder input Real Virtual I/O Internal External No. of program Capacity Language osition data Channel Max. input Input method Input type Max. distance Communication cable Error indication Communication status indication Occupied point I/O Communication physical layer Consumable current(ma) Weight XGFM32E EtherCAT (CoE : CANopen over EtherCAT) 32 axes 4axes Input/output 8 points each (builtin) EtherCAT I/O connection available 1ms, 2ms, 4ms (same as main task period) ulse, mm, inch, degree Input 8 points, output 8 points EtherCAT I/O 4 ea(max. 256 points) Max. 256 ea Max. 2Mbyte LD(FB), ST 6400 points/all aixs osition, Velocity, Torque(Servo drivers support) control, Synchronous control, Interpolation control LREAL, 0 Trapezoid type, Stype (Setting to specify the Jerk at function block) 1 ~ 2, 147, 483, 647ms JOG operation Rated torque % designation 2 channels Max. 500Kpps Line drive input (RS422A IEC specification) Open collector output type encoder CW/CCW, ulse/dir, hase A/B 100m Over CAT.5 ST(Shielded Twistedpair) cable Indicated by LED Indicated by LED Variable: 16 point, Fixed: 64 point 100BASETX 900mA 122g

ositioning Module(EtherCAT) XGT Servo System(XDL/XML) 122 / 123 Features XGFN8B : Standard EtherCAT Network Support(XGT Servo XDL Series) Direct connect with servo driver Max 8 2~8 axis linear

123 ositioning Module(EtherCAT) XGT Servo System(XDL/XML) 122 / 123 Features XGFN8B : Standard EtherCAT Network Support(XGT Servo XDL Series) Direct connect with servo driver Max 8 2~8 axis linear interpolation, 2axis circular interpolation, 3axis helical interpolation osition, speed, feed control is possible through the various operation arameters, the operation data stored in the FRAM(without Battery) CAM for controlling up to eight different types of CAM data Specifications Number of axis Interpolation Control method Setting unit ositioning data ort XGM Data Monitor Backup ositioning method ositioning Manual Item Homing method Accel/Decel pattern Accel/Decel time The ability to Change speed Torque Absolute position System Encoder input osition address range osition speed range Channel Max. Input Input method Type Connector Communication Cycle Max. distance Cable Error display Operation display Occupied points of I/O Current consumption (ma) Weight(kg) XGFN8B 8 axis 2~8 axis linear, 2axis circular, 3axis helical interpolation osition, speed, Speed/position, position/speed position/torque, Feed control pulse, mm, inch, degree Each axis has 400 data items (Operation step number 1~400). It is available to set with software package or programming. RS232C, USB Basic, expansion, manual, servo parameter, operation data, cam data, command information Operation, trace, input sort, error information FRAM(parameter, operation data) no battery Absolute/Incremental Absolute Incremental Speed/position, position/speed conversion control ~ ( ) ~ ( ) ~ ( ) ~ ~ ~ ~ ~ ~ ~ ~ ~ mm inch degree pulse mm inch degree pulse RM 0.01 ~ (mm/Min) ~ (inch/Min) ~ (degree/Min) 1 ~ (pulse/sec) 0.1 ~ (RM) Trapezoidal & Scurve acceleration/deceleration 1~ ms Jog/ MG/ inching Max+Z(Forward), Min+Z(Backward), Nearpoint+Z(Forward, Backward), Max+nearpoint+Z(Forward), Min+nearpoint+Z(Backward), Z(Forward, Backward), nearpoint(forward, Backward) Absolute/ercent Rated torque % O (Absolute encoder type servo) 2 Channel Max. 200 Kpps linedrive input(rs422a IEC), open collector output type CW/CCW, ulse/dir, hase A/B 12 in connector m ST(Shielded Twistedpair) cable LED LED 64points (Fixed type), 16points (Variable type) g Application

124 ositioning Module [AM] Features Highly reliable position control with LSIS ASICembedded processor Enhanced control with fast control processing speed Highspeed motor control (Max. pulse output: 1Mbps) Circular/linear interpolation, separate/ synchronous operation Trapezoidal & Scurve acceleration/deceleration Easy and quick control through external input (JOG operation included) Encoder input support Highspeed processing of command (4ms) Easy to set positioning parameters (Windows) Monitoring/Tracking/Simulation Available to edit operation parameter data in EXCEL Selfdiagnosis Realtime information and solution for each error Specifications Number of axis Interpolation Item Specifications XGFO1A, XGFD1A XGFO2A, XGFD2A 1 2 2axis linear interpolation, 2axis circular interpolation XGFO3A, XGFD3A 3 2/3axis linear interpolation, 2axis circular interpolation Control method osition control, speed control, speed/position control, position/speed control Setting unit ulse, mm, inch, degree ositioning data Each axis has 400 data items (Operation step number 1~400). It is available to set with software package or programming. Software package Available (Connected with RS232C ort of CU module) Data backup Flash memory (No battery) ositioning method Absolute / relative method mm ~ ( ) osition Inch ~ speed range Degree ~ ulse ~ ositioning Type XGFO A: Open collector, XGFD A: Line Driver mm 0.01 ~ ( /min) osition Inch ~ (inch/min) speed range Degree ~ (degree/min) ulse XGFO A: 1~200,000 (pulse/sec), XGFD A: 1~1,000,000 (pulse/sec) Accel/Decel pattern Trapezoidal & Scurve acceleration/deceleration Accel/Decel time 1 ~ 65,535 Max. output pulse XGFO A: 200Kpps / XGFD A: 1Mpps Max. distance XGFO A: 2m / XGFD A: 10m Max. encoder input 200 Kpps Error display LED Operation display LED Connection connector 40 in connector Size of cable AWG #24 Occupied points of I/O 64 points (Fixed type), 16 points (Variable type) Current consumption (ma) XGFO1A: 340 XGFO2A: 360 XGFO3A: 400 XGFD1A: 510 XGFD2A: 790 XGFD3A: 860 Weight (kg) * XGFO O: Open Collector type, Number of axis XGFD D: Line Drive type, Number of axis

ositioning Module [XM] XGT Servo System(XDL/XML) 124 / 125 Features Max 4Axis, Max pulse output 4Mpps Circular/linear/ellipse/helical interpolation Asymmetric acceleration and deceleration driving

125 ositioning Module [XM] XGT Servo System(XDL/XML) 124 / 125 Features Max 4Axis, Max pulse output 4Mpps Circular/linear/ellipse/helical interpolation Asymmetric acceleration and deceleration driving FRAM parameter XGM monitoring, simulation, trace CAM profile program Specifications Item XGFO1H XGFD1H XGFO2H XGFD2H XGFO3H XGFD3H XGFO4H XGFD4H Number of axis 1 axis 2 axis 3 axis 4 axis Interpolation Circular, linear, ellipse Circular, linear, helical, ellipse Control method osition control, speed control, speed/position control, position/speed control, FEED ositioning data Each axis has 400 data items (Operation step number 1~400). It is available to set with XGM or programming. Configuration Tool XGM (Connected with USB or RS232C ort of CU module) Data backup FRAM(arameter, Operation data), Flash memory (CAM Data), No battery ulse output XGFOxH: Open collector, XGFDxH: linedriver ositioning method Absolute / Incremental osition address range mm inch degree pulse 214,748, ,748,364.7( ) 21, , , , ,147,483,648 2,147,483,647 ositioning osition address speed mm inch degree pulse ,000,000.00( /min) ,000, (inch/min) ,000, (degree/min) 1 ~ 500,000(pulse/sec): Open collector, 1 ~ 4,000,000(pulse/sec): linedriver RM ,000.0(RM) Accel/Decel pattern Trapezoidal & Scurve acceleration/deceleration Accel/Decel time 0~2,147,483,647ms Max. output pulse Open collector: 500kpps, linedriver: 4Mpps Max. distance Open collector: 5m, linedriver: 10m Max. encoder input 500kpps Error display Size of cable Occupied points of I/O Connection connector Current consumption (ma) XGFO1H:400mA XGFD1H:520mA LED AWG #24 64 points (Fixed type), 16 points (Variable type) 40in in XGFO2H:410mA XGFD2H:600mA XGFO3H:420mA XGFD3H:850mA XGFO4H:430mA XGFD4H:890mA Application Weight (kg) 120

126 XGM Features Configuration tool with updated AM software package All models can be used for XGT ositioning module(am, XM) Simultaneous communications can be accessed with XG5000 owerful simulation, trace, monitoring System View Data trace(trend graph) Data trace(xy graph) XYZ trend(3d View) XYZ monitor(2d View) CAM control profile Simulation

127 XGFO1/2/3A (Open Collector) ositioning Module/External Device Interface 126 / 127 Application

128 XGFD1/2/3A (Line Driver) ositioning Module/External Device Interface

129 XGFO1/2/3/4H (Open Collector) XGT Servo System(XDL/XML) 128 / 129 Application

130 XGFD1/2/3/4H(Line Driver) ositioning Module/External Device Interface

131 XBFD02A(Line Driver) XGT Servo System(XDL/XML) / 131 Application

132 XBMDN**S(Open Collector) ositioning Module/External Device Interface

133 XBC/XECDN**H(Open Collector) XGT Servo System(XDL/XML) 132 / 133 Application

134 XGFM32E ositioning Module/External Device Interface

135 XGFN8B XGT Servo System(XDL/XML) 134 / 135 Application

136 MEMO

137 XGT Servo System(XDL/XML) 136 / 137 Application

Worldwide Network Domestic Factories Head Office LS Tower, 127, LSro, Dongangu, Anyangsi,

Cheongjusi, Chungbukdo, 361720, Korea Tel : 82432616114 Fax : 82432616602 Cheonan Factory 181

Busan Factory 119 Block Hwajeondong, Gangseogu,Busan, 6182, Korea Tel : 82517956114 Fax :

National High & New Tech Industrial Development Area.Wuxi. Jiangsu. 214028..R.

Economic and Technical Development zone. Dalian 116600.

Building91 Nguyen Chi Thanh street, Hanoi, Vietnam.

Anyangsi, Gyeonggido, 431749, Korea Tel : 82314507114 Electro Technology R&D Center 1

138 Worldwide Network Domestic Factories Head Office LS Tower, 127, LSro, Dongangu, Anyangsi, GyeonggiDo, , Korea Tel : Fax : Cheongju Factory 1 Songjeongdong, Cheongjusi, Chungbukdo, , Korea Tel : Fax : Cheonan Factory 181 Samseongri,Mokcheonmyeon, Cheonansi Chungnamdo, Korea Tel : Fax : Busan Factory 119 Block Hwajeondong, Gangseogu,Busan, 6182, Korea Tel : Fax : Overseas Factories Wuxi Factory, CHINA 102A. National High & New Tech Industrial Development Area.Wuxi. Jiangsu R. China Tel : Fax : Dalian Factory, CHINA No. 15. Liaohexi 3Road. Economic and Technical Development zone. Dalian China Tel : Fax : Hanoi Factory, VIETNAM Room 1311, 13th Floor, M3M4 Building91 Nguyen Chi Thanh street, Hanoi, Vietnam. Tel : Fax : R&D Center Advanced Technology R&D Center 533 Hogyedong, Dongangu, Anyangsi, Gyeonggido, , Korea Tel : Electro Technology R&D Center 1 Songjeongdong, Cheongjusi, Chungcheongbukdo, , Korea Tel : Automation R&D Center 181 Samseongri, Mokcheonmyeon, Cheonansi, Chungcheongnamdo, , Korea Tel : ower Testing & Technology Institute 1 Songjeongdong, Cheongjusi, Chungcheongbukdo, , Korea Tel :

XDL-L7S Series. Servo Drive Designation. Servo Drive Designation. * Range 200V : 0.1kW~5.0kW 400V : 1.0kW~15kW

XDL-L7S Series. Servo Drive Designation. Servo Drive Designation. * Range 200V : 0.1kW~5.0kW 400V : 1.0kW~15kW Servo Drive Designation XDL-L7S Series Servo Drive Designation Model Name Communication Input ower Supply Capacity ncoder Type Option XDL Series S : Standard I/O Type A : 200VAC B : 0VAC * Range 200V :