AC SERVO SYSTEMS. R AMPLIFIERS / Q MOTORS 200V AC 1kW to 15kW. Ver.3

Transcription

1 AC SEVO SYSTEMS AMLIFIES / Q MOTOS V AC kw to kw Ver.3

2 Easy Set-up for Optimal Operation Auto-Tuning A new auto-tuning algorithm improves system response by providing functions such as inertia identification, auto-tuning modes, 3 levels of response, and parameter setting auto-save. Test Function (JOG) On-board JOG operation function is available for testing motor and amplifier connection without the need to connect to host device. Capable of JOG operation without connecting to host device Velocity command value Tuning start Detected velocity value ower Supply Harmonic Suppression Equipped with DC reactor connection terminals as standard feature for supressing power supply harmonics. -digit LED Display, Built-in Operator arameter setting, monitoring and alarm tracing can be easily done using the built-in operator. DL DL DC reactor (Option)

3 Built-in egeneration esistor A built-in regeneration resistor can be used to absorb regenerative energy generated during motor deceleration. External regeneration resistors can be added if internal regeneration capacity is insufficient. Built-in egeneration esistor Built-in Dynamic Brake A built-in dynamic brake provides emergency stop capability. The six kinds of motion sequences for the dynamic brake can be selected by parameter setting. otation speed (min- ) Controlled state Dynamic braking stat Time(s) Features and Functions Model Number Nomencalture Configuration Standard Specifications External regenerative resistor (option) Dimensions External Wiring Diagram The setup software allows you to set parameters, view graphical displays of monitored position, velocity or torque waveforms, and perform system analysis. Optional Equipment arameter settings osition, velocity, torque waveforms *Use optional cable AL for C connection (option)

4 Improved recision and educed Cycle Time High esponse A 4th-order notch filter reduces phase delay to suppress mechanical resonance and improve velocity response of equipment. Vibration Suppression Control With feed-forward vibration suppression control, vibrations at the processing point and base of a machine can be suppressed through simple tuning procedures. Up to 4 types of vibration control frequencies can be selected. osition deviation during stop With vibration suppression control Without vibration suppression control Gain (db) Frequency (Hz) With vibration suppression control Without vibration suppression control ms/div Shorter osition Settling Time A new algorithm drastically shortens positioning settling time for equipment. Disturbance Suppression A new disturbance observer with expanded applicable frequencies suppresses disturbance from other axes in a multi-axis configuration. Disturbance observer function ON Oscillation waveform of direct drive section osition deviation Disturbance osition complete signal Settling time (ms) Disturbance observer function OFF Oscillation waveform of direct drive section Example of positioning settling time in highly rigid machinery ms/div Disturbance 3

5 educed unning Costs High esolution Support for encoders up to 7 bit (3,7 divisions) is available for high resolution control. % eduction in ower Loss An energy conserving power module reduces main circuit power loss by up to %. Configuration Features and Functions Model Number Nomencalture High esolution 7bit(3,7 divisions) Absolute Encoder ower loss reduction (%) % 9% 8% 7% 6% % 4% 3% % % % Current model SANMOTION (Y) A Standard Specifications Dimensions External Wiring Diagram Full Closed-Loop Control Optional support for full closed-loop control using linear scale and other high resolution encoders mounted on device side. Optional Equipment Highly accurate positioning is possible Load 4

6 Servo Motor Model Number Nomenclature Servo Motor Example: The following model number defines a "Q" servomotor with 3mm flange size,.kw rated output, 3min - maximum rotation speed, 4V brake, and an absolute encoder (3,7 divisions/rotation),ce approval. Q AA 3 H C E Q Series Motor Type Low-inertia Medium-inertia 4Low-inertia (high volume) Supply Voltage V Motor Flange Size 8 86mm mm mm 3 3mm 8 8mm mm ated Output kw.kw.kw 3 3.kW 4 4.kW.kW 7 7.kW K kw K kw S min - M min - B min - min - Holding Brake XWithout Brake BWith Brake9V CWith Brake4V H 3 3min - L 3min - D 4 min - V min - Specification Standard ECE Marking UUL MCE and UL Encoder Type SWire-saving incremental encoder38/6 Battery backup method absolute encodera3c H Absolute encoder for incremental A3S WAbsolute encoder without batterya3c Combined Motor/Encoder Specification Wire-saving Incremental Encoder Standard Supported ange Model Encoder ulse Count esolution Encoder ulse Count esolution 48// 89 38/ / // // Absolute Encoder esolution Model emarks Single rotation Multiple otations A3C 37(7bit) 636(6bit) Battery backup method absolute encoder A3M A3C Optical Detection Optical Detection esolver Absolute Type Incremental Type 89(3bit) 37(7bit) 89(3bit) 89(3bit) Absolute encoder with incremental output Absolute encoder without battery emarks Wire-saving incremental encoder lease contact our Sales Division for assistance. Conformance to Overseas Standards Our standard servo amplifier has attained the UL, c-ul and ENstandards. To comply with the E Directive, E filters can be used.you can also employ servo motors that have attained the UL and EN standards.

7 Servo Amplifier Model Number Nomenclature Single-Axis Servo Amplifier (Analog/ulse input type) Example: The model number shown below is "" Series Servo Amplifier with ACV input voltage and A amplifier capacity. S Series A A Amp. capacity AA A33A ower Input, Internal egistration Setting Model Input Voltage Internal egeneration resistor Amp. capacity A ACV W A,A,A L W/O A,A,A (option.setting) A W/O 3A A Motor Type otary Motor *lease set the parameters for your selected motor accordingly before using. Control Hardware Type ABattery backup method absolute encoder Wire-saving incremental encoder TFull Closed-Loop (Option Setting) BN Output Features and Functions Model Number Nomencalture Configuration Standard Specifications Servo Amplifier with CANopen (3-hase/Single hase V Input) S A A L Dimensions External Wiring Diagram Series Amp. Capacity Motor Type otary Motor A ower Input, Input Voltage A Note) Main ower : AC V, Control ower : AC V J Note) Main ower : AC V, Control ower : DC 4V Note) Built-in egenerative esister Built-in DB Circuit Note) Built-in egenerative Circuit(External egenerative esistor)built-in DB Circuit *lease set the parameters for your selected motor accordingly before using. Control Hardware Type Interface SpecificationCAN open I/F Encoder SpecificationAbsolute encoder, Wire-saving Incremental Encoder L NN Output UN Output Optional Equipment Single-Axis Servo Amplifier (built-in positioning function model) Example: The model number shown below is "" Series Servo Amplifier with V AC input voltage (Main ower) and A amplifier capacity. S A A C Series Single-Axis Servo Amplifier Motor Type otary Motor ower Input, Internal egistration Setting Model Input Voltage Internal egeneration resistor Amp. capacity A ACV W A,A,A L W/O A,A,A (option.setting) A W/O 3A Amp. capacity A A A 3 3A Control Hardware Type Built-in ositioning Function model *lease set the parameters for your selected motor accordingly before using. 6

8 Configuration Circuit Breaker (CB) Noise Filter Electromagnetic Contactor S T Cuts off power in the case of an overload, to protect the power line. rotects the power line from external noise, and from noise generated by the servo amplifier. Switches servo power on and off. Installation of a surge protector is required. Create the protective circuit. DC eactor Suppresses power harmonics. emove the short bar between DL-DL and connect this here, when needed for high frequency waves. External egenerative esistor Use as required, such as for heavy inertial load operations. For special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier s internal regenerative resistor. emove the short bar between B-B4 and connect this here. Brake ower equired for use when the servo motor is equipped with a brake. 7

9 Model No. : AL Lithium battery Features and Functions Model No. : AL C When using the unit with an absolute system, mount the optional battery inside the digital operator cover. Model Number Nomencalture Configuration CN Standard Specifications arameter configuration and monitoring is possible via communication with a C. Host Devices Dimensions External Wiring Diagram CN LC SANYO DENKI's host devices permit communication with third-party products. Optional Equipment Wiring required for brake. CANopen Host Devices Dedicated controller C and LC are available as the host device. *Communication rofile: DS-3 Device rofile: DS-4 compliance 8

10 Servo Motor Amplifier Specifications S Servo Amplifier Amplifier Capacity A to 3A Five Models Amplifiers for Q Motors V AC Type Amplifier Model Unit Amplifier ower Supply Operating Temp. and H ower Consumption* kva Amplifier Mass kg Motor Model Motor Flange Dimension Motor ated Output kw SAASAA SAA SAASAA SAA ACV to 3V% 6Hz 3 Hz Operating Temperature: to C, elative Humidity: 9% maximum, no condensation QAAD QAAD QAAD QAAD QAAD QAAD QAA3D.. 3 V AC Type Amplifier Model Unit Amplifier ower Supply Operating Temp. and H ower Consumption* kva Amplifier Mass kg Motor Model Motor Flange Dimension Motor ated Output kw Amplifiers for Q Motors V AC Type SAA SAA SA3A ACV to 3V% 6Hz 3 Hz Operating Temperature: to C, elative Humidity: 9% maximum, no condensation QAA33D QAA34D QAA3D QAA84M QAA87H Amplifier Model Amplifier ower Supply Operating Temp. and H ower Consumption* Amplifier Mass Motor Model Motor Flange Dimension Motor ated Output V AC Type Amplifier Model Amplifier ower Supply Operating Temp. and H ower Consumption* Amplifier Mass Motor Model Motor Flange Dimension Motor ated Output V AC Type Amplifier Model Amplifier ower Supply Operating Temp. and H ower Consumption* Amplifier Mass Motor Model Motor Flange Dimension Motor ated Output Unit kva kg kw Unit kva kg kw Unit kva kg kw SAASAA SAASAA SAA ACV to 3V% 6Hz 3 Hz Operating Temperature: to C, elative Humidity: 9% maximum, no condensation QAA8D QAAH QAAH QAA3H QAA3H QAA3H QAA8H SAA SAA SAA ACV to 3V% 6Hz 3 Hz Operating Temperature: to C, elative Humidity: 9% maximum, no condensatio n QAA83H 8 3. QAA84H 8 4. QAA8 8. QAAH. QAA3H 3. QAA4 4. SAA SA3A ACV to 3V% 6Hz 3 Hz Operating Temperature: to C, elative Humidity: 9% maximum, no condensation QAAB. QAA7S 7 QAA8H 8. QAA87L 8 7. QAAKV QAAKV Amplifiers for Q4 Motors V AC Type Amplifier Model Unit SA3A Amplifier ower Supply Operating Temp. and H ACV to 3V% 6Hz 3 Hz Operating Temperature: to C, elative Humidity: 9% maximum, no condensation ower Consumption* kva.7.4 Amplifier Mass kg 9.8 Motor Model Motor Flange Dimension Motor ated Output kw Q4AA8KB 8 Q4AA8KB 8 *Actual power consumption depends on load impedence, and is shown here at the amplifier's rated output. 9

11 CANopen Interface specifications Fieldbus specifications Bus Connection, Medium CAN-Standard ISO-898 (High-speed CAN) Fieldbus CANopen Communication rofile CiA DS3 Version 4. Device rofile CiA DS4 (CANopen device profile for drive and motion control) Version. Bit ate Mbps, 8Kbps, Kbps(default setting), kbps, Kbps, Kbps, Kbps, Kbps (Selectable by - ) Max. nodes per segment to 7 (Selectable by Double 6-position otary Switch or - ) J-4 type Modular connector ( ports) - in CAN_H high bus line Connector - in CAN_L low bus line - in 3,7 CAN_GND Ground - in 6 CAN_SHIELD Cable Shield - in Terminator ( ohm; if necessary, attach a jumper between in and in) Transceiver ISO-898 compliant high-speed transceiver Max. Bus Length m ( for Mbps) SDO (Service Data Object) DO (rocess Data Object) Communication Objects EY (Emergency) NMT (Network Management) SYNC (Synchronization Object) Node Guarding Heartbeat DO Transfer Modes Synchronous transmission Asynchronous transmission Mode of Operation Homing Mode (h.m) rofile Velocity Mode (p.v) rofile Torque Mode (t.q) rofile osition Mode (p.p) Interpolated osition Mode (i.p) Features and Functions Model Number Nomencalture Configuration Standard Specifications N output Servo amplifier Out ower DC4V Host unit NN output Servo amplifier Out ower Host unit Dimensions External Wiring Diagram ma max Out ~8 Out ~8 The output port counts are differentdepending on the specification. Out Common The output port counts are different depending on the specification. Maximum current DCV... ma DC to V mA DC4V... ma Optional Equipment

12 Standard Specifications Q Servo Motor V Capacity mm to 8mm kw to 7.kW models Features High ower ate (Low Inertia) Amplifier Model Motor Model and Flange Dimension in mm QAAD SAAA/SAAL QAAD Status Symbol Unit ated Output kw. ated Speed N min - 3 Maximum Speed Nmax min - 4 ated Torque T N m Continuous Torque at Stall TS N m eak Torque at Stall T N m. 4.7 ated Armature Current I Arms Armature Current at Stall IS Arms eak Armature Current at Stall I Arms Torque Constant KT N m/arms..7 Voltage Constant er hase K Eφ mv/min hase esistance φ Ω.34.7 ated ower ate Q kw/s Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms.43.6 otor Moment of Inertia (Not including Encoder) JM -4 kg m(gd /4).9.6 Encoder: Wire-saving INC / Mass including Encoder WE kg.4 6. Brake Static Friction Torque TB N m Brake ated Voltage VB V DC9V / DC4V ± % Brake ated Current IB A. /.7 otor Moment of Inertia (Brake) JB -4 kg m(gd /4)..4 Brake Mass W kg.3. Motor Operating Temp, el. Humidity Operating Temperature: to 4 C, elative Humidity: 9% maximum, no condensation Amplifier Model Motor Model and Flange Dimension in mm QAA3D SAAA QAA33D 3 Status Symbol Unit ated Output kw 3 ated Speed N min - 3 Maximum Speed Nmax min - 4 ated Torque T N m Continuous Torque at Stall TS N m.8 eak Torque at Stall T N m ated Armature Current I Arms Armature Current at Stall IS Arms eak Armature Current at Stall I Arms Torque Constant KT N m/arms Voltage Constant er hase K Eφ mv/min hase esistance φ Ω.7.87 ated ower ate Q kw/s Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms.3.7 otor Moment of Inertia (Not including Encoder) JM -4 kg m(gd /4) Encoder: Wire-saving INC / Mass including Encoder WE kg.4 Brake Static Friction Torque TB N m.8 Brake ated Voltage VB V DC9V / DC4V ± % Brake ated Current IB A. /.7 otor Moment of Inertia (Brake) JB -4 kg m(gd /4). Brake Mass W kg.7 Motor Operating Temp, el. Humidity Operating Temperature: to 4 C, elative Humidity: 9% maximum, no condensation Motor Dwgs to :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is

13 QAAD SAAA SAAA/SAAL SAAA QAAD QAAD QAAD Symbol Unit. kw 3 N min - Nmax min T N m TS N m T N m I Arms IS Arms 4. 3 I Arms KT N m/arms K Eφ mv/min φ Ω Q kw/s. 3 3 te ms tm ms JM -4 kg m(gd /4) / WE kg TB N m DC9V / DC4V ± % VB V. /.7 IB A.4..4 JB -4 kg m(gd /4)..3. W kg Operating Temperature: to 4 C, elative Humidity: 9% maximum, no condensation Features and Functions Model Number Nomencalture Configuration Standard Specifications Dimensions External Wiring Diagram QAA34D SAAA QAA3D QAA84M 8 SA3AA QAA87H 8 Symbol Unit kw 3 N min Nmax min T N m TS N m T N m I Arms IS Arms 83 I Arms KT N m/arms K Eφ mv/min φ Ω Q kw/s te ms tm ms JM -4 kg m(gd /4) / WE kg TB N m DC9V / DC4V ± % VB V. /.9.37 /.4 IB A.8.. JB -4 kg m(gd /4). 6 W kg Operating Temperature: to 4 C, elative Humidity: 9% maximum, no condensation Optional Equipment

14 Standard Specifications Q Servo Motor V Capacity 86mm to mm kw to.kw 9 models:kw to kw Features High Efficiency and Low ipple (Medium Inertia) Amplifier Model Motor Model and Flange Dimension in mm QAA8D 86 SAAA/SAAL QAAH Status Symbol Unit ated Output kw ated Speed N min - 3 Maximum Speed Nmax min - 3 ated Torque T N m 3.8 Continuous Torque at Stall TS N m eak Torque at Stall T N m. 6.6 ated Armature Current I Arms Armature Current at Stall IS Arms eak Armature Current at Stall I Arms 4. Torque Constant KT N m/arms.9.84 Voltage Constant er hase K Eφ mv/min hase esistance φ Ω ated ower ate Q kw/s Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms.96. otor Moment of Inertia (Not including Encoder) JM -4 kg m(gd /4).7.44 Encoder: Wire-saving INC / Mass including Encoder WE kg..4 Brake Static Friction Torque TB N m Brake ated Voltage VB V DC9V / DC4V ± % Brake ated Current IB A.8 /.33. /.7 otor Moment of Inertia (Brake) JB -4 kg m(gd /4) Brake Mass W kg.8. Motor Operating Temp, el. Humidity Operating Temperature: to 4 C, elative Humidity: 9% maximum, no condensation Amplifier Model Motor Model and Flange Dimension in mm QAA3H 3 SAAA QAA8H 8 Status Symbol Unit ated Output kw ated Speed N min - Maximum Speed Nmax min - 3 ated Torque T N m Continuous Torque at Stall TS N m eak Torque at Stall T N m ated Armature Current I Arms 3. Armature Current at Stall IS Arms eak Armature Current at Stall I Arms 48 Torque Constant KT N m/arms.8.7 Voltage Constant er hase K Eφ mv/min hase esistance φ Ω.9.7 ated ower ate Q kw/s Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms.63.8 otor Moment of Inertia (Not including Encoder) JM -4 kg m(gd /4) Encoder: Wire-saving INC / Mass including Encoder WE kg Brake Static Friction Torque TB N m 3 Brake ated Voltage VB V DC9V / DC4V ± % Brake ated Current IB A.8 /..37 /.4 otor Moment of Inertia (Brake) JB -4 kg m(gd /4).. Brake Mass W kg.7 Motor Operating Temp, el. Humidity Operating Temperature: to 4 C, elative Humidity: 9% maximum, no condensation Motor Dwgs to :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is

15 4 3 QAAH SAAA/SAAL QAA3H 3 QAA3H 3 Symbol Unit... kw N min Nmax min T N m TS N m..3 T N m I Arms IS Arms I Arms KT N m/arms K Eφ mv/min φ Ω Q kw/s 6 te ms tm ms JM -4 kg m(gd /4) / WE kg TB N m DC9V / DC4V ± % VB V. /.7. /.86 IB A.4.. JB -4 kg m(gd /4). W kg Operating Temperature: to 4 C, elative Humidity: 9% maximum, no condensation 4 3 Features and Functions Model Number Nomencalture Configuration Standard Specifications Dimensions External Wiring Diagram 3 4 QAA83H SAAA QAA84H QAA8 8 SAAA QAAH Symbol Unit kw N min Nmax min T N m TS N m T N m I Arms IS Arms I Arms KT N m/arms K Eφ mv/min φ Ω Q kw/s 8 te ms tm ms JM -4 kg m(gd /4) / WE kg TB N m DC9V / DC4V ± % VB V.37 /.4.4 /.6 IB A. 9.9 JB -4 kg m(gd /4) 6.9 W kg Operating Temperature: to 4 C, elative Humidity: 9% maximum, no condensation Optional Equipment

16 Standard Specifications Q Servo Motor V Capacity 8mm to mm 3.kW to kw 9 models:kw to kw Features High Efficiency and Low ipple (Medium Inertia) Motor Dwgs to :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is. Amplifier Model Motor Model and Flange Dimension in mm QAA3H SAAA QAA4 QAAB Status Symbol Unit ated Output kw ated Speed N min - Maximum Speed Nmax min - 3 ated Torque T N m 7. 3 Continuous Torque at Stall TS N m 3 4 eak Torque at Stall T N m 7 9 ated Armature Current I Arms Armature Current at Stall IS Arms eak Armature Current at Stall I Arms Torque Constant KT N m/arms Voltage Constant er hase K Eφ mv/min hase esistance φ Ω ated ower ate Q kw/s Electrical Time Constant te ms 9 4 Mechanical Time Constant (Not including Encoder) tm ms otor Moment of Inertia (Not including Encoder) JM -4 kg m(gd /4) Encoder: Wire-saving INC / Mass including Encoder WE kg Brake Static Friction Torque TB N m Brake ated Voltage VB V DC9V / DC4V ± % Brake ated Current IB A.4 /.6.36 /.3 otor Moment of Inertia (Brake) JB -4 kg m(gd /4) 9.9 Brake Mass W kg.9 Motor Operating Temp, el. Humidity Operating Temperature: to 4 C, elative Humidity: 9% maximum, no condensation Q4 Servo Motor V Capacity 8mm to mm kw to kw 3 models:kw to kw Features High ower ate (Low Inertia) Motor Dwgs :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is. Amplifier Model SA3AA ー Motor Model and Flange Dimension in mm Q4AA8KB 8 Q4AA8KB 8 Q4AAKB Status Symbol Unit ated Output kw ated Speed N min - Maximum Speed Nmax min - ated Torque T N m Continuous Torque at Stall TS N m eak Torque at Stall T N m 9 3 ated Armature Current I Arms Armature Current at Stall IS Arms 3 9 eak Armature Current at Stall I Arms 6 Torque Constant KT N m/arms Voltage Constant er hase K Eφ mv/min hase esistance φ Ω..3. ated ower ate Q kw/s 78 6 Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms otor Moment of Inertia (Not including Encoder) JM -4 kg m(gd /4) 63 8 Encoder: Wire-saving INC / Mass including Encoder WE kg Brake Static Friction Torque TB N m ー Brake ated Voltage VB V ー Brake ated Current IB A ー otor Moment of Inertia (Brake) JB -4 kg m(gd /4) ー Brake Mass W kg ー Motor Operating Temp, el. Humidity Operating Temperature: to 4 C, elative Humidity: 9% maximum, no condensation Cooling Fan F W 39/33 ACV±% Single phase /6HZ

17 SAAA QAA7S QAA8H 8 QAA87L 8 SA3AA QAAKV QAAKV Symbol Unit kw N min - 3 Nmax min T N m TS N m T N m I Arms IS Arms I Arms KT N m/arms K Eφ mv/min φ Ω Q kw/s te ms tm ms JM -4 kg m(gd /4) / WE kg TB N m DC9V / DC4V ± % VB V.44 /.7.37 /.4.44 /.7 IB A 4. 4 JB -4 kg m(gd /4).4 6 W kg Operating Temperature: to 4 C, elative Humidity: 9% maximum, no condensation Features and Functions Model Number Nomencalture Configuration Standard Specifications Dimensions External Wiring Diagram Encoder Wiring Diagram Wire-saving Incremental Encoder Cannon plug and lead-wire types Battery backup method Absolute Encoder [ A3C ] Absolute encoder for incremental [ A3S ] Absolute encoder without battery [ A3C ] Cannon plug and lead-wire types Optional Equipment SEVO AMLIFIE SEVO MOTO SEVO AMLIFIE SEVO MOTO Note ) V Note ) V CN A or U channel input A or U channel input B or V channel input B or V channel input C or W channel input C or W channel input lug : -3E Shell : 3-A-8 Note ) Note ) H (Shield Wire) Note ) Note 3) Use a twisted-pair shielded cable. Incremental encoder A Blue A or U channel output D Brown A or U channel output B Green B or V channel output E urple B or V channel output F White C or W channel output G Yellow C or W channel output J ed V N Black V Note ) Case ground (shield) JA6A--9S-J- JA6A--9S-J-EB- JA8A--9S-J-EB- N/MS36B-9S N/MS38B-9S (With Cannon plug) Encoder power connections depend on encoder cable length. See the following table: Note ) V Note ) V CN ES ES EBAT EBAT lug : -3E Shell : 3-A-8 Note ) Note ) Note 3) Use a twisted-pair shielded cable. E Brown ES F Blue ES T ink EBAT Surple Note 4) EBAT Note ) Hed GBlack J Absolute encoder V V FG(shielded) JA6A--9S-J- JA6A--9S-J-EB- JA8A--9S-J-EB- N/MS36B-9S N/MS38B-9S (With Cannon plug) Note ) Encoder power connections depend on encoder cable length. See the following table: Encoder cable length m MAX. V DC Wiring Connect pin 9 (Do not connect pins 9,, 7) V DC Wiring Connect pin (Do not connect pins,, 6, 8) m MAX. Connect pin 7,9 (Do not connect pins 9, ) Connect pin 8, (Do not connect pins,, 6) m MAX. Connect pin, 7, 9 (Do not connect pins 9) Connect pin, 8, (Do not connect pins, 6) 3m MAX. Connect pin 9,,7,9 Connect pin,,6,8, Encoder cable length V DC Wiring V DC Wiring m Connect pin 9 (Do not connect pins,7) Connect pin (Do not connect pins,8) m Connect pin 7, 9 (Do not connect pins ) Connect pin 8, (Do not connect pins ) 4m Connect pin,7,9 Connect pin,6,8, Note 3) Use a AWG4.mm encoder cable Note 3) Use a AWG4.mm encoder cable Note 4) When the Absolute encoder for incremental system or absolute encoder without battery is used, battery lines (EBAT+, EBAT-) are not required. 6

18 + + External Wiring Diagram Single-Axis Servo Amplifier Main ower : V ACControl ower : V AC Single-phase (V) Amp,capacity A User Devices Single-phase AC owe to 3V 6Hz Amp,capacity AA Amp,capacity 3A External regenerative resistor 3-phase AC power - 3V 6Hz Note ) Operation rep. ON Operation rep. OFF Emergency Stop Error 3-phase (V) Amp,capacity A to 3A User Devices A : CNA to 3A : Terminalblock T Note ) S t Amp,capacity A Note 4) CNB Note 3) DL DL Note ) B B Built-in regenerative resistor Note ) Note 3) Note 4) W Terminal block DL DL B B4 A : CNC to 3A : Terminalblock Note 6) B Built-in regenerative resistor Black Note ) Note 3) Note 4) SEVO MOTO Terminal block Orange (yellow) DL DL Y B B Note ) Operation rep. ON Operation rep. OFF Emergency Stop Error r SEVO AMLIFIE V U CN Encoder Connector White ed Green Note 7) Encoder Orange (yellow) 9V 4V Holding Brake (install with Brake only) Note : Signifies shielded twisted-pair cable. Line Driver Normal otation ulse everse otation ulse Note ) CN F-C F-C + + -C -C V-EF / T-EF T-COM Line Driver 6C3 NN Output SH SH lug: -3E Shell: 3-A-8 Note ) AO 3 AO 4 BO BO 6 ZO 7 ZO 8 S 9 S N Output Note : AM. capacity A When using an external regenerative resistor, connect it between B and. If B and are connected to the internal amplifier's resistor, or if a shorting bar is connected between Band 4, first disconnect them. AM. capacity A,A When using internal regenerative resistor, connectshort-circuit bar between B and B4 terminals. When using external regenerative resistor, connect it between B and B terminalsafter removing short-circuit bar between B and B4 terminals. AM. capacity 3A Connect external regenerative resistor Note : between Signifies B and shielded B terminals. twisted-pair cable. Normal everse DC 3.6V Lithium Battery Note 8) DCV to 4V Line Driver 8 F-TLA 7 9 -TLA BT-I BTN-I CONT-COM 37 CONT 36 CONT 3 CONT3 34 CONT4 33 CONT 3 CONT CONT7 Line eceiver 6C3 4 CONT7 + + CONT8 ZO MON OUT-W OUT OUT OUT3 OUT4 OUT OUT6 OUT7 OUT Monitor Output Note 8) DCV 4V ZO MON 3 3 OUT-W 49 OUT 39 OUT 4 OUT3 4 OUT4 4 OUT 43 OUT6 44 OUT7 4 OUT8 46 Note ) DC4V Monitor Output Note 3: : Terminals When using DL and external DL are dedicated regeneration for resistor, connect it connectingdc between B reactors. and. If If a B harmonic and are connected to the inte suppression amplifier's reactor resistor, not or in if a use, shorting createa bar is connected betwe short and circuit 4, first between disconnect DL and them. DL terminals with the attached shorting bar. Note 3: Terminals DL and DL are dedicated for connecting DC reactors. If a harmonic suppression reactor is not in us Note 4: The and terminals (high-voltage circuit) a short circuit between DL and DL terminals with the att are reservedfor maintenance. Do not wire shorting bar. these terminals. Note 4: The and terminals (high-voltage circuit) are reserved Note : efer to the Instruction Manual for for maintenance. Do not wire these terminals. instructions on theshielding process. Note : efer to the Instruction Manual for instructions on the Note 6: Motor shielding connection process. specifics may vary Note 6: depending Motor connection themotor specifics specifications. may vary depending on the Lead-type motor specifications. motor power and Lead-type brake wires motor power and brake w are are shown as red, as red, white, white, black, black, green, green, and and orange. When u orange. a cannon When plug, usinga cannect cannon it plug, according cannect to the motor specifica Note 7: it For according wiriting to the of the motor encoder specifications. connectors, refer to the encode wiring diagram. Note 7: 8: For The wiriting user must of the supply encoder the connectors, external refer power supply. Note 9: to, the S, encoderwiring T, r, t,,, DL, diagram. B, B, U, V, W are high-voltage circuits; all other signal lines are low-voltage Note 8: The user must supply the external power When wiring, maintain sufficient distance between high-v supply. and low-voltage circuits. Note : Installation of a UL compliant and IEC / EN compliant Note 9:, S, T, r, t,,, DL, B, B, U, V, W are earth leakage circuit braker is recommended. high-voltage circuits; all other signal lines Note : When wiring the single-phase power supply, do not wire are low-voltage circuits.when wiring, the S-phase to the amplifier. maintain sufficient distance between Note : high-voltage Always connect and low-voltage the (signal circuits. ground) between devices when using differential operation input signals. Note Note : 3: Installation S and of a UL S compliant are and equipped IEC / EN with B4 terminal. Note 4: compliantearth The CNA, CNB, leakage CNC circuit of S braker is recommended. are terminal blocks CONT8 OUT-COM 4 OUT-COM Note : When wiring the single-phase power supply, do not wirethe S-phase to the amplifier. Note ) SH SH SH Note ) Note : Always connect the (signal ground) between devices when using differential operation input signals. lug: -3E Shell: 3-A-8 7

19 - - DC4V Single-Axis Servo Amplifier With CANopen Contorol ower DC4V 3-phase AC power to 3V 6Hz Main ower : V ACControl Note ) ower S : V ACDC4V Note ) Operation rep. ON Operation rep. Contorol ower DC4V OFF User Devices A : CNA to 3A : Terminalblock 3-phase Emergency AC power Error Stop CNB Note ) to 3V 4V 6Hz 4G Note ) Operation rep. ON Operation rep. OFF DC4V 4V 4G Contorol ower ACV Note ) 3-phase AC power to 3V 6Hz Contorol ower ACV 3-phase AC power to 3V 6Hz Emergency Error Stop User Devices Operation rep. ON Operation rep. OFF Note ) Emergency Error Stop User Devices A : CNA to 3A : Terminalblock User Devices Operation rep. ON Operation rep. CAN_H OFF CAN_L Emergency Terminator Error Stop GND GND A : CNA to 3A : Terminalblock CAN_H CN3 CAN_L Terminator SH Combination GND of 3 lug:tm-88 GND 7 CN4 CAN_H SH CAN_L Combination of lug:tm-88 Terminator CN4 GND CAN_H 3 GND CAN_L 7 DC 3.6V Lithium Battery Terminator Note ) GND SH Combination of GND lug:tm-88 CN SH Combination of lug:tm-88 CNB A : CNA r to 3A : Terminalblock CN3 Note ) 3 7 T T S t CN BT-I T S t r Note ) 3 7 T S Note ) Note ) Note 3) Note 4) CNB Note ) Note 3) Note 4) CNB DL SEVO AMLIFIE CAN /4W DL TANCEIVE SEVO AMLIFIE CAN /4W DL DL B B TANCEIVE + egenerative resistor B + egenerative resistor B W A : CNC to 3A : Terminalblock Note 6) Black SEVO MOTO Orange (Yellow) White V A : CNC Orange 9V SEVO MOTO to 3A : Terminalblock (Yellow) (4V) Note 6) ed U Holding brake Black Orange W (for the type with Y Green (Yellow) a brake only) (Green/Yellow) White V Orange 9V (Yellow) (4V) CN Encoder connector ed U Holding brake Note 7) Encoder (for the type with Green a brake only) (Green/Yellow) CN Encoder SH connector SH Note 7) Combination of Encoder lug : -3E Note ) Shell : 3-A-8 SH SH Combination of lug : -3E Note ) Shell : 3-A-8 Y Features and Functions Model Number Nomencalture Configuration Standard Specifications Dimensions External Wiring Diagram DC 3.6V Lithium Battery Note 8 ) DCV to 4V Note 8 ) DCV to 4V BTN-I CONT -COM 8 CONT 9 3 BT-I BTN-I CONT -COM CONT NN Output NN Output OUT-W 4 OUT-W 4 OUT 6 OUT 6 DCV, Note 8) DCV 4V DCV, Note 8) DCV 4V N Output N Output OUT-W OUT-W 4 OUT OUT Note 8) DCV Note 8) DCV CONT CONT 4 CONT3 4 CONT3 OUT 3 OUT 3 OUT-COM 7 OUT-COM 7 SH Note SH ) Note ) OUT 3 OUT 3 SH SH Note ) Note ) Optional Equipment CONT4 CONT4 Note ) ) For For the the parts parts markde markde, use, use a twisted a twisted pair shielded pair shielded cable. cable. CONT7 CONT7 CONT8 CONT8 Combination of Combination lug of: 4-3E Shell : 34-A-8 lug : 4-3E Shell : 34-A-8 Note )When using an an external regenetive resistor, resistor, connect connect it between it between B and B. If B and. If B and are connected to the to the internal internal amplifier's amplifier's resistor, resistor, if a shorting if a shorting bar is bar is connected between between Band Band 4, first 4, first disconnect disconnect them. them. Note 3) The DL and DL terminals are for connecting a DC reactor. If a DC reactor is not Note 3) used, The DL short and the DL DL and terminals DL terminals are for using connecting the short a DC bar supplied. reactor. If a DC reactor is not used, short the DL and DL terminals using the short bar supplied. Note 4) The terminal and the terminal are for maintenance (high-voltage circuit). Note 4) The terminal and the terminal are for maintenance (high-voltage circuit). Note ) efer to the Instruction Manual for instructions on the shielding process. Note ) efer to the Instruction Manual for instructions on the shielding process. Note 6) The motor-side connection depends on the motor specification. The red, white, Note 6) black The motor-side green and orange connection markings depends are for use on the with motor lead type specification. motor power The line red, and white, brake line. efer to the motor specifications for cannon plug type connections. black green and orange markings are for use with lead type motor power line and Note 7) efer brake to line. the encoder efer to connection the motor diagram specifications regarding for the cannon encoder plug connector type connections. wiring. Note 8) 7) ower efer should to the be encoder supplied connection by the user. diagram Either of regarding the inputs can the be encoder selected. connector wiring. Note 9) 8),S,T,t,r,,,DL,DL,B,B,U,V,W ower should be supplied by the are user. high-voltage Either of the circuits, inputs all other can be lines selected. are low-voltage. Ensure sufficient distance between the high- and low-voltage circuits. Note 9),S,T,t,r,,,DL,DL,B,B,U,V,W are high-voltage circuits, all other lines are Note ) It low-voltage. is recommended Ensure to use sufficient a ground distance fault interrupter between conformingto the high- and the UL, low-voltage IEC and circuits. EN standards. Note Note ) ) Do It is not recommended wire the S phase to for use a a single-phase ground fault power interrupter amplifier. conformingto the UL, IEC and EN standards. Note ) Insert J4 connector to which pin(can_h) and pin(terminator) are Note ) short-circuited Do not wire the in CN3 S phase or CN4 for when a single-phase the terminator power is necessary. amplifier. Note ) Insert J4 connector to which pin(can_h) and pin(terminator) are short-circuited in CN3 or CN4 when the terminator is necessary. 8

20 - + + External Wiring Diagram Servo Amplifer built-in positioning function model Main ower : V ACControl ower : V AC Single-phase (V) Amp,capacity A User Devices Single-phase AC owe to 3V 6Hz 3-phase (V) Note ) 3-phase AC power to 3V /6Hz Note ) Operation rep. ON Operation rep. OFF Emergency Stop Error User unit Operation rep. Operation rep. ON OFF Emergency Error Stop External power source for output (+4V) ower ON ready (A-DY) NC ready (NCDY) Note 8) A : CNA to 3A : Terminalblock Note ) CN 3 T S t r Amp,capacity A Note ) Note 3) Note 4) CNB DL DL B B SEVO AMLIFIE Note ) egenerative resistor + W V U CN Note 7) Amp,capacity AA Note ) Note 3) Note 4) Terminal block DL DL A : CNC to 3A : Terminalblock Note 6) B B4 Black White ed Green (Green/Yellow) Encoder connector SH SH lug : -3E, Note ) Shell : 3-A-8 External regenerative resistor B Built-in regenerative resistor SEVO MOTO Encoder Amp,capacity 3A Note ) Note 3) Note 4) Orange (Yellow) Terminal block Y Orange 9V (Yellow) (4V) Holding brake (for the type with a brake only) DL DL B External regenerative resistor B Holding brake excitation timing output (HBON) 4 Error output (Err) External operation effective (EXT) 6 While operation (MOVE) 7 ositioning complete (FIN) 8 In-position (INS) 9 Homing complete (ZFIN) OUT() OUT() General-purpose output OUT(3) OUT(4) OUT() OUT(6) OUT(7) 7 OUT(8) Common for output external power (4G) External power source for input (+4G) Slow down before Home (SDN) Note 8) Over travel (+T) Over travel (-T) External data setting (E_ST) External Error (EXT_E) Start (UN) Homing start (ZT) Manual feeding (+JOG) Manual feeding (-JOG) Over ride (OVID)/Manual high speed (A) Alarm reset (AST) Cancel (CACL) Servo ON (S-ON) Output selection (SEL) Output selection (SEL) Output selection 3 (SEL3) step feeding (+step) step feeding (-step) Interruption start (I_UN) MFIN (MFIN) IN() IN() Note ) For the parts marked, use a shielded cable. Note ) AM. capacity A When using an external regenerative resistor, connect it between B and. If B and are connected to the internal amplifier's resistor, or if a shorting bar is connected between Band 4, first disconnect them. AM. capacity A,A When using internal regenerative resistor, connectshort-circuit bar between B and B4 terminals. When using external regenerative resistor, connect it between B and B terminalsafter removing short-circuit bar between B and B4 terminals. AM. capacity 3A Connect external regenerative resistor between B and B terminals. Note 3) The DL and DL terminals are for connecting a DC reactor. If a DC reactor is not used, short the DL and DL terminals using the short bar supplied. Note 4) The terminal and the terminal are for maintenance Note ) Note 6) Note 7) efer to the Instruction Manual for instructions on theshielding process. The motor-side connection depends on the motor specification. The red, white, black green and orange markings are for use with lead type motor power line and brake line. efer to the motor specifications for cannon plug type connections. efer to the encoder connection diagram regarding the encoder connector wiring. oint specification IN(4) IN(8) IN(6) IN(3) Note 8) ower should be supplied by the user. Either of the inputs can be selected. Note 9),S,T,t,r,,,DL,DL,B,B,U,V,W are high-voltage circuits, all other lines are low-voltage. Ensure sufficient distance between the high- and low-voltage circuits. IN(64) 48 IN(8) 49 Note ) It is recommended to use a ground fault interrupter conforming to the UL, IEC and EN standards. lug :-3E Shell :3-A-8 Note ) Do not wire the S phase for a single-phase power amplifier. 9

21 Servo Motor Dimensions (Unit : mm) 86mm Q Servo Motor Series: High Efficiency / Low ipple (Medium Inertia) Features and Functions () M..6 M 8.3 Standard Specifications 6. M 3 66MAX A A Model Number Nomencalture Configuration S Type Oil seal M Tapping Depth () () Dimensions External Wiring Diagram 8mm Section AA Teflon wire (for mounting) (For oewr, Brake and Ground) Shielded cable (for mounting) (For Encoder) Q4 Servo Motor Series: High ower ate (Low Inertia / High Torque) Weight Caution Nameplate Key osition Key osition Eye Bolt -M8 (IE) (LH) MS3A3-7 (or Equivalent) MS3ASL-4 MS3A-9 (or Equivalent) (for motor) (for fan motor) (for encoder) LC M LL () () (KB) (KB) 7. M L (IL) (IL) LE (LG) Motor Nameplate (Opposite side) Arrow Nameplate (opposite) Q LA LB S QA QK A M A N.. Exhaust N.. Intake () () (KL3) (9) (KL) (KL) Optional Equipment MX. 4-LZ Depth LT S Type Oil seal -LZ W U T (IL) (IL) -M8 Caution Nameplate For Eye Bolt Exhaust Min. of mm space needed (4) Section A-A Incremental Note ) Connector MODEL Q4AA8K Q4AA8K Without brake Motor, Ground LL KB MS3A LG KL KL KL3 LA LB LE LH LC LZ LZ L S Q QA QK W T U KB QE LT IE IF M M lease inquire for the dimensions with the absolute encoder. IL IL 4 9 7

22 H Servo Amplifier Dimensions (Unit : mm) mm to mm Q Servo Motor Series: High ower ate (Low Inertia) Q Servo Motor Series: High Efficiency / Low ipple (Medium Inertia) LC 4-LZ M M L LE (LG) (IL) LL (IF) -M8 ( LH) LA QA Q QK H W LB S M (KL) ( 9 ) (KL3) (IE) -LZ S Type Oil seal QE Tap Depth LT U T (IL) (IL) (KB) (KB3) (KB) ( KL ) MS3A-9(or Equivalent) (For Encoder) (IF) Eye bolt -M8 Section H-H MS3A-(or Equivalent) (for motor, brake and ground) JL4V-ESL-3E-B (For Brake) Q Servo Motor Series: High ower ate (Low Inertia) Incremental Connector Note Note ) Incremental Connector Without brake With brake Motor, Ground Brake Note Brake Note ) Without brake With brake Motor, Ground (only when mounted) (only when mounted) MODEL LL KB LL KB KB3 MS3A JL4V-E LG KL KL KL3 LA LB LE LH LC LZ LZ QAA 84 9 QAA QAA SL-3E-B QAA 9 94 QAA 68 4 QAA SL-3E-B QAA QAA33 4 QAA QAA QAA QAA SL-3E-B M M8 MODEL L S Q QA QK W T U KB α β γ QE LT IE IF IL IL QAA 84 Note ) Incremental Connector QAA 9 4 Brake Note ) Without brake With brake Motor, Ground QAA -.3 (only when mounted) M QAA 9 QAA M6 QAA QAA M8 QAA33 7 QAA M QAA3 8 QAA84 6 QAA Note ) Waterproof specification I67 requires that the connector to be attached ; for I67 compliance, use a waterproof connector for the mating plug. Note ) All brake connectors are JL4V-ESL-3E-B for CE compliant DC4V brakes. lease inquire for the dimensions with the absolute encoder. 8 3 M M 4 8 4

23 Q Servo Motor Series: High Efficiency / Low ipple (Medium Inertia) Incremental Connector Note Without brake With brake Motor, Ground Brake Note (only whenmounted) MODEL LL KB LL KB KB3 MS3A JL4V-E LG KL KL KL3 LA LB LE LH LC LZ LZ QAA SL-3E-B QAA QAA QAA QAA QAA8 7 QAA QAA QAA QAA QAA 8 96 QAA QAA SL-3E-B QAA QAA QAAK QAAK M M M M M MODEL L S Q QA QK W T U KB α β γ QE LT IE IF IL IL QAA QAA M QAA M6 QAA QAA M8 QAA QAA M QAA QAA M 4 8 QAA QAA 7 QAA M8 QAA QAA M QAA QAAK M QAAK Note ) Waterproof specification I67 requires that the connector to be attached ; for I67 compliance, use a waterproof connector for the mating plug. Note ) All brake connectors are JL4V-ESL-3E-B for CE compliant DC4V brakes. lease inquire for the dimensions with the absolute encoder. Features and Functions Model Number Nomencalture Configuration Standard Specifications Dimensions External Wiring Diagram Electric wire diameters Voltage V Type Maximum continuous ower receptacle Maximum wire size of connector eceptacle permissable Combined Amplifier ecommended motor power wire size current Wire size of main power (U, V, W) *Note MODEL armature current MS Type JL4V Type Shell Size Contact Size Type Arms mm mm Arms supply(, S, T ) mm AWG No. QAAD 7.8 SA AWG 3. # QAAD 8. - # / 本 QAAD 8 SA AWG 3. # QAAD 7. QAAD 7. SA AWG 3. # QAAD #8 8. 4/ 本 QAA3D 7.3 SA AWG. # QAA33D 7.6 SA AWG. # QAA34D #8 8. 4/ 本 QAA3D 7. SA AWG8. # QAA84M 4.8 QAA87H #4 7/ 本 SA3 AWG6 4 #6 QAAH 8. QAAH # / 本 SA AWG 3. # QAA3H 8.3 SA AWG 3. # QAA3H 6.3 QAA8H 8 4- #8 8. 4/ 本 SA AWG. # QAA83H 8 QAA84H 9 SA AWG8. # QAA SA AWG8 8 #8 QAA8H #4 7/ 本 QAA87L 7 SA3 AWG6 4 #6 QAAH.8 SA AWG. # QAA3H #8 8. 4/ 本 QAA4 33 SA AWG8. # QAAB 3. QAA7S #8 8. 4/ 本 SA AWG8. # QAAKV 66 QAAKV #4 7/ 本 SA3 AWG6 4 #6 Q4AA8KB 3 Q4AA8KB #4 7/ 本 SA3 AWG6 4 #6 Optional Equipment *Note:Use of heat-resistant vinyl wire (HIV) is recommended

24 AC SEVO SYSTEMS T S t r DL DL B B W V U C N B C N A AC SEVO SYSTEMS CN T S t r CN DL DL B B CN W V U CHAGE UN E SAA*? C C N C N OWE CN CN C N C N B B B B C S T DL DL B4 B B U V W CHAGE r t AC SEVO SYSTEMS OWE SAA* C AC SEVO SYSTEMS CN T S B B CN 4V V CN W V U CHAGE SJAL UN E OWE CN CN C DL DL B4 B B U V W CHAGE r t AC SEVO SYSTEMS?? OWE SAA*? C S T B B CHAGE r t DL U V W - DL AC SEVO SYSTEMS OWE SA3A* C C N C N Servo Amplifier Dimensions Unit : mm Single-Axis Servo Amplifier (Analog/ulse input type, Built-in positioning function model) SAAA/SAACA SAAA/SAACA. Screw M (7) (7) (4) Fan Wind direction 3. (7) (4) (7) 3 6 S T 6 - N C C N C N C Fan Wind direction (6) (7) SAAA/SAACA SA3AA/SA3AC3A 3. (7) (4) (7) N C N C 3 (7). (4) (7) Fan Wind direction (6) (7) Fan Wind direction 7 Single-Axis Servo Amplifier with CANopen SAAL/SAACA SJAL/SJACA. Screw M4. Screw M SAAL (7) (7) (4) Fan 68 Wind direction 9 C N (7) (7) (4) Fan Wind direction N C 3

25 () Start-up Screen () Main Screen Features and Functions Configuration Model Number Nomencalture (3) arameter Configuration Screen Dimensions External Wiring Diagram Standard Specifications a. Configuration of General arameters : Enables parameter loading, saving, etc., via C connection (4) Monitor Functions b. Configuration of Motor arameters : Combined motors can be configured via C connection Optional Equipment a. Monitor Display : Observe Operation and Input/ Output signal status b. Multi-monitor Display : Simultaneous monitoring of operational status of multiple c. Alarm ecord Display : Current and past alarm occurrence can be checked. 4

26 () Test un and Adjustment Function a. Speed Jog : Simplifies motor operation and the issuing of speed commands from a C b. ulse Forward Jog : Simplifies motor operation and the entering of distance and travel speed data from a C c. Auto Notch Filter Tuning : Configures the appropriate notch filter settings d. Analysis : Analyzes servo system frequency characteristics (6) Operation Trace Function Graphically displays servo motor speed, current, and terminal status Built-in ositioning Function Type Screen oint Data Setup Test un

27 ass oint Move to oint Move to oint 3 Servo Amplifier built-in positioning model General Specifications ositioning Function Input and Output Control Shaft Count Single Shaft egister oint Count Configurable up to 4 points ( to 3) Maximum No. of Commands From -,47,483,648 to +,47,483,647 Command Unit Either mm or pulse is acceptable Fast-forward Speed,47, mm/sec (.mm/when pulse is selected) Acceleration and Deceleration Automatic acceleration and deceleration (straight and S switch) oint Data Setup Numerical input via C, and setup by teaching Travel oint Number Setup arallel 8 bits (binary code) Current Limit to % (at % rating), but less than instantaneous maximum stall current Software Limit Exists Travel Mode Zero eturn, Manual (JOG, Step), and oint-specified Travel Zone Signal Maximum of 8 zones Servo ON, alarm reset, start up, zero return, manual, override/manual high-speed, cancel, deceleration before Sequence Input Signals origin, external error, over-travel, external data setup step forward, interrupt activated, output selection, MFIN, point specified input Sequence Output Signals NC ready, holding brake timing, error, external operation enabled, running, positioning completion, in-position output, zero return completion, general output (8 bits) Features and Functions Model Number Nomencalture Configuration Standard Specifications Sample operations of the Servo Amplifer built-in ositioning Function model By starting up oint, oints and 3 will be executed consecutively. oint Data Setup Enables configuration and saving of parameters, and the reading of point data from a C. Mode : []= ositioning Operation enabled; Mode : []= Final Travel, []= Continue to next oint Number Gear Change: Stop / Continue: []= Consecutive Gear Shift Operation Optional Equipment Dimensions External Wiring Diagram LC OT Sensor Deceleration Signal Sensor +OT Sensor Starting Coordinates: Start-up oint () as. :. :.3:8. Motor Speed oint Input oint () ON only CN-4... ON OFF Coordinate Start-up Signal Input CN-7 unning Output CN-7 ON OFF ON OFF ositioning Completion Signal CN-8 ON OFF 6

28 Optional Equipment C Interface Cable [unit: mm] Lithium battery [Unit: mm] Cable CN Lead Wire ed in 74.8 Model No AL C Side Amp side Connector Lead Wire Black in MAX. Lithium battery Model No.:AL A note regarding S-3C communications: Lead Wire ed The user must provide s C for computer interface. in arameter settings may require adijustment. Mass :.4kg Model No AL Mass :.kg r Lead Wire Black in Mounting Hardware [unit: mm] A ear Side 4. 7MAX. A Front Side 4. Lithium battery For mounting on the rear side of the amplifer Model No.:AL-879- Applicable Amplifiers:S Material:SCC For mounting on the rear side of the amplifer Model No.:AL-879- Applicable Amplifiers:S Material:SCC Model No. Contents AL-879- Mounting Bracket : Screws : For mounting on the front side of the amplifer Model No.:AL-879- Material:SCC Applicable Amplifiers:S Model No. Contents AL-879- Mounting Bracket : Screws : 6 External egenerative esistor Dimensions [unit: mm] Silicon ubber Glass-braided Wire AWG.mm, White (Thermostat) Silicon ubber Glass-braided Wire AWG8.7mm, Black Mass :.4kg Silicon ubber Glass-braided Wire AWG.mm, White (Thermostat) Silicon ubber Glass-braided Wire AWG8.7mm, Black Mass :.44kg Model No. Thermostat EGIST-WB Normal close EGIST-WB Normal close Model No. Thermostat EGIST-WB Normal close EGIST-WB Normal close 3 EGIST-WB Normal close 8 4. Thermostat AWG4White 4 A M Ground Mark Solderiess Terminal (for M) M Silicon ubber Glass-braided Wire AWG4 mm, White 7 6 Mass :.4kg Model No. A Thermostat EGIST-WB 3 Normal close EGIST-W No 3 EGIST-WB 3 Normal close 4 EGIST-W No EGIST-W7B 3 Normal close 6 EGIST-W7 No 7 EGIST-W4B 3 Normal close 8 EGIST-W4 No 7