Servo amplifier. Q1 Servo motor Q2 Servo motor Q4 Servo motor 50A 100A 150A 300A. 86mm 100mm 120mm 130mm 180mm 220mm

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1 AC2 V75W-15kW

2 Input voltage AC2 V Servo amplifier Amp.capacity 5A1A15A3A Q1 Servo motorq2 Servo motorq4 Servo motor Flange size 86mm1mm12mm13mm18mm22mm Rated output 75W1.kW1.5kW2.kW2.5kW3.kW 3.5kW4.kW4.5kW5.kW5.5kW7.kW 7.5kW11.kW15.kW

3 Index Features P. 3 Standard Model Number List P. 7 Model Number Nomenclature P. 11 System Configuration P. 13 Servo Amplifier Specifications P. 15 PNP/NPN Output Specifications P. 16 Specifications - Servo Amplifier+Servo Motor P. 17 Encoder Wiring P. 28 External Wiring P. 29 Dimensions P. 31 Setup Software P. 35 Optional EquipmentP. 37

4 Features 5% Shorter Position Settling Time The vibrations of the low rigidity machine stand resonance is minimized, and shortens positioning settling time. The amplifier is suitable for chip mounters and equipment needs high speed positioning. Compared with our conventional product "SANMOTION R". Features Model-based Following Control Model-based tracking control enables an improved target response curve, enhanced disturbance suppression, and greater robustness. Relative positions of mounting rack and table Position command Model control system Position/speed control Motor/machine model Settling Time 5.8ms 5ms / div Our conventional product Position/speed control Motor/machine Relative positions of mounting rack and table Feedback control system Settling Time19.6 ms 5ms / div ADVANCED MODEL Doubled Frequency Response Limit The frequency response limit has been increased to 12 Hz, twice the limit of our current model. Compared with our conventional product "SANMOTION R". Auto-Tuning Servo amplifier automatically optimizes servo gain and filter frequency in realtime. Gain (db) Twice the limit of our current model. Tuning start Velocity command value Detected velocity value Frequency (Hz) 3

5 Feed-forward 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. Vibration control frequencies are selectable. Position deviation during stop With vibration suppression control Without vibration suppression control Disturbance Suppression It is possible to control impacts from other axes in case of multiaxial constitution, by using the new disturbance observer with extended applicable frequency. Disturbance observer function OFF Oscillation waveform of direct drive section Features and Functions Model No. Model Number Nomenclature ListWithout vibration suppression control With vibration suppression control 1ms/div Disturbance System Configuration Disturbance observer function ON Oscillation waveform of direct drive section Disturbance Standard Specifications Command Follow-up Control Performance of the positioning doubled in comparison with current models by adoption of new positioning control algorithm and new speed control algorithm. And position deviation is achieved. Resonance Suppression A 4th-order notch filter reduces phase delay to suppress mechanical resonance and improve velocity response of equipment. Encoder Wiring External Wiring Position command Dimensions Setup Software Optional Equipment High Resolution Support for encoders up to 17 bit (131,72 divisions) is available for high resolution control. An optional 2 bit encoder (1,48,576 divisions) is also available. Position deviation 2ms/div 4

6 Features Now Available with EtherCAT Interface EtherCAT is a 1Mbps high-speed fieldbus system, which helps shorten Takt time. It is compatible with Ethernet, and its high versatility enables the creation of a system compatible with a variety of devices. Servo amplifier firmware can be updated via EtherCAT. It is also certified through EtherCAT conformance testing conducted by a third party organization. Safety Model newly added to lineup Since this new model safely shutdown motor torque, safety system is more easily installed on the equipments. This safety function is defined in the IEC : Safe Torque Off and IEC624-1:Stop Category. In addition, this model has aquired IEC6158, SIL2/ IEC6261,SILCL2 and ISO :Cat.3,PL=d. Protection IP67 Protection code is IP67 for all models Water IP67 Dust *Shaft feedthrough, cable end and cooling fan are excluded All-in-One Control Configurable parameters allow you to switch between control modes for torque, position or velocity. 5-digit LED Display, Built-in Operator The built-in operator allows you to change parameters and monitor the amplifier status and alarm trace. Position or Velocity Torque control Flat Ascending 5

7 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 Setup Software The setup software allows you to set parameters, view graphical displays of monitored position, velocity or torque waveforms. Setting parameters Displaying waveforms Features and Functions Model No. Model Number Nomenclature ListPC Interface Cable Model No.AL (Option) System Configuration Multiaxial Monitor Function The setup software allows up to 15 axes to be monitored. To enable monitoring of multiple axes, an optional communication converter and amplifier communication cable are available. *Analog/Pulse input type only Daisy chain up to 15 axes Built-in Regeneration Resistor It is possible to choose whether to equip regenerative resistance or not. If the regenerative resistance capability is insufficient, it is possible to use an external regenerative resistance unit. Built-in Regeneration Resistor Standard Specifications Encoder Wiring Communication converter (Option) RS-422A Maximum 15 axes External regenerative resistor unit (Option) External Wiring 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. Fully-closed loop control Fully-closed control is possible using a linear scale mounted on the device together with high resolution encoder information. Dimensions Rotation speed (min 1 ) Controlled state Dynamic braking state Time (s) Highly accurate positioning is possible Load Setup Software Optional Equipment 6

8 Servo Motor Standard Model Number List Power Voltage Encoder models Rated Output Motor Flange Size Holding Brake Model No. 1kW 1.5kW 1mm sq. 2kW 2.5kW 1kW 2kW 12mm sq. 3kW 3kW 4kW 13mm sq. 5kW 4.5kW 18mm sq. 7.5kW 75W 86mm sq. 1kW Wire-saving 1kW 2V incremental encoder 1mm sq. (PP31/PP38/PP62) 1.5kW 1kW 1.5kW 13mm sq. 2kW 2kW 3.5kW 18mm sq. 4.5kW 5.5kW 5.5kW 22mm sq. 7kW 5.5kW 18mm sq. 7.5kW 11kW 22mm sq. 15kW Q1AA11DXS yesdc24v Q1AA11DCS Q1AA115DXS yesdc24v Q1AA115DCS Q1AA12DXS yesdc24v Q1AA12DCS Q1AA125DXS yesdc24v Q1AA125DCS Q1AA121DXS yesdc24v Q1AA121DCS Q1AA122DXS yesdc24v Q1AA122DCS Q1AA123DXS yesdc24v Q1AA123DCS Q1AA133DXS yesdc24v Q1AA133DCS Q1AA134DXS yesdc24v Q1AA134DCS Q1AA135DXS yesdc24v Q1AA135DCS Q1AA1845MXS yesdc24v Q1AA1845MCS Q1AA1875HXS yesdc24v Q1AA1875HCS Q2AA875DXS yesdc24v Q2AA875DCS Q2AA81DXS yesdc24v Q2AA81DCS Q2AA11HXS yesdc24v Q2AA11HCS Q2AA115HXS yesdc24v Q2AA115HCS Q2AA131HXS yesdc24v Q2AA131HCS Q2AA1315HXS yesdc24v Q2AA1315HCS Q2AA132HXS yesdc24v Q2AA132HCS Q2AA182HXS yesdc24v Q2AA182HCS Q2AA1835HXS yesdc24v Q2AA1835HCS Q2AA1845HXS yesdc24v Q2AA1845HCS Q2AA1855RXS yesdc24v Q2AA1855RCS Q2AA2255BXS yesdc24v Q2AA2255BCS Q2AA227SXS yesdc24v Q2AA227SCS Q2AA1855HXS yesdc24v Q2AA1855HCS Q2AA1875LXS yesdc24v Q2AA1875LCS Q2AA2211KVXS yesdc24v Q2AA2211KVCS Q2AA2215KVXS yesdc24v Q2AA2215KVCS 11kW Q4AA1811KBXS 18mm sq. 15kW Q4AA1815KBXS 7

9 Power Voltage Encoder models Rated Output Motor Flange Size Holding Brake Model No. 1kW 1.5kW 1mm sq. 2kW 2.5kW 1kW 2kW 12mm sq. 3kW 3kW 4kW 13mm sq. 5kW 4.5kW 18mm sq. 7.5kW 75W 86mm sq. 1kW Battery backup method 1kW 2V absolute encoder 1mm sq. (PA35C) 1.5kW 1kW 1.5kW 13mm sq. 2kW 2kW 3.5kW 18mm sq. 4.5kW 5.5kW 5.5kW 22mm sq. 7kW 5.5kW 18mm sq. 7.5kW 11kW 22mm sq. 15kW Q1AA11DXP yesdc24v Q1AA11DCP Q1AA115DXP yesdc24v Q1AA115DCP Q1AA12DXP yesdc24v Q1AA12DCP Q1AA125DXP yesdc24v Q1AA125DCP Q1AA121DXP yesdc24v Q1AA121DCP Q1AA122DXP yesdc24v Q1AA122DCP Q1AA123DXP yesdc24v Q1AA123DCP Q1AA133DXP yesdc24v Q1AA133DCP Q1AA134DXP yesdc24v Q1AA134DCP Q1AA135DXP yesdc24v Q1AA135DCP Q1AA1845MXP yesdc24v Q1AA1845MCP Q1AA1875HXP yesdc24v Q1AA1875HCP Q2AA875DXP yesdc24v Q2AA875DCP Q2AA81DXP yesdc24v Q2AA81DCP Q2AA11HXP yesdc24v Q2AA11HCP Q2AA115HXP yesdc24v Q2AA115HCP Q2AA131HXP yesdc24v Q2AA131HCP Q2AA1315HXP yesdc24v Q2AA1315HCP Q2AA132HXP yesdc24v Q2AA132HCP Q2AA182HXP yesdc24v Q2AA182HCP Q2AA1835HXP yesdc24v Q2AA1835HCP Q2AA1845HXP yesdc24v Q2AA1845HCP Q2AA1855RXP yesdc24v Q2AA1855RCP Q2AA2255BXP yesdc24v Q2AA2255BCP Q2AA227SXP yesdc24v Q2AA227SCP Q2AA1855HXP yesdc24v Q2AA1855HCP Q2AA1875LXP yesdc24v Q2AA1875LCP Q2AA2211KVXP yesdc24v Q2AA2211KVCP Q2AA2215KVXP yesdc24v Q2AA2215KVCP 11kW Q4AA1811KBXP 18mm sq. 15kW Q4AA1815KBXP Features and Functions Model No. Model Number Nomenclature ListSystem Configuration Standard Specifications Encoder Wiring External Wiring Dimensions Setup Software Optional Equipment 8

10 Servo Motor Standard Model Number List Power Voltage Encoder models Rated Output Motor Flange Size Holding Brake Model No. 1kW 1.5kW 1mm sq. 2kW 2.5kW 1kW 2kW 12mm sq. 3kW 3kW 4kW 13mm sq. 5kW 4.5kW 18mm sq. 7.5kW 1kW 1mm sq. Absolute encoder 1.5kW 2V without battery (RA35C) 1kW 1.5kW 13mm sq. 2kW 2kW 3.5kW 18mm sq. 4.5kW 5.5kW 5.5kW 22mm sq. 7kW 5.5kW 18mm sq. 7.5kW 11kW 22mm sq. 15kW Q1AA11DXW yesdc24v Q1AA11DCW Q1AA115DXW yesdc24v Q1AA115DCW Q1AA12DXW yesdc24v Q1AA12DCW Q1AA125DXW yesdc24v Q1AA125DCW Q1AA121DXW yesdc24v Q1AA121DCW Q1AA122DXW yesdc24v Q1AA122DCW Q1AA123DXW yesdc24v Q1AA123DCW Q1AA133DXW yesdc24v Q1AA133DCW Q1AA134DXW yesdc24v Q1AA134DCW Q1AA135DXW yesdc24v Q1AA135DCW Q1AA1845MXW yesdc24v Q1AA1845MCW Q1AA1875HXW yesdc24v Q1AA1875HCW Q2AA11HXW yesdc24v Q2AA11HCW Q2AA115HXW yesdc24v Q2AA115HCW Q2AA131HXW yesdc24v Q2AA131HCW Q2AA1315HXW yesdc24v Q2AA1315HCW Q2AA132HXW yesdc24v Q2AA132HCW Q2AA182HXW yesdc24v Q2AA182HCW Q2AA1835HXW yesdc24v Q2AA1835HCW Q2AA1845HXW yesdc24v Q2AA1845HCW Q2AA1855RXW yesdc24v Q2AA1855RCW Q2AA2255BXW yesdc24v Q2AA2255BCW Q2AA227SXW yesdc24v Q2AA227SCW Q2AA1855HXW yesdc24v Q2AA1855HCW Q2AA1875LXW yesdc24v Q2AA1875LCW Q2AA2211KVXW yesdc24v Q2AA2211KVCW Q2AA2215KVXW yesdc24v Q2AA2215KVCW 11kW Q4AA1811KBXW 18mm sq. 15kW Q4AA1815KBXW 9

11 Servo Amplifier Standard Model Number List Type Main Power Control Power Encoder Type Selectable Output Internal Registration Resistor with Safe Torque Off function Amplifier Capacity 5A 1A Model No. RS2A5AAA RS2A1AAA Features and Functions 15A RS2A15AAA 5A RS2A5AAL NPN with yes 1A 15A 3A 5A 1A 15A 5A RS2A1AAL RS2A15AAL RS2A3AAL RS2A5AAA2 RS2A1AAA2 RS2A15AAA2 RS2A5AAL2 Model No. Model Number Nomenclature ListAnalog / Pulse input type AC2V system AC2 to 23V 3-phase AC2V system AC2 to 23V 1-phase Serial encoder with 1A 15A 3A 5A 1A 15A RS2A1AAL2 RS2A15AAL2 RS2A3AAL2 RS2A5ABA RS2A1ABA RS2A15ABA System Configuration 5A RS2A5ABL 1A 15A Standard Specifications Encoder Wiring External Wiring Optional Equipment Setup Software Dimensions RS2A1ABL RS2A15ABL PNP with yes 3A 5A 1A 15A 5A RS2A3ABL RS2A5ABA2 RS2A1ABA2 RS2A15ABA2 RS2A5ABL2 1A 15A RS2A1ABL2 RS2A15ABL2 EtherCAT interface type AC2V system AC2 to 23V 3-phase AC2V system AC2 to 23V 1-phase Serial encoder Photo relay output with with yes (with delay circuit) 3A 5A 1A 15A 5A 1A 15A 3A 5A 1A 15A 5A 1A 15A RS2A3ABL2 RS2A5AKA RS2A1AKA RS2A15AKA RS2A5AKL RS2A1AKL RS2A15AKL RS2A3AKL RS2A5AKA4 RS2A1AKA4 RS2A15AKA4 RS2A5AKL4 RS2A1AKL4 RS2A15AKL4 3A RS2A3AKL4 1

12 Model Number Nomenclature Example: The model number below is for the servo motor (Q2: medium inertia) with a 13mm flange size, 2.kW rated output, 35 min-1 maximum rotation speed, brake (DC24V), and absolute encoder (13172 divisions/revolution), and when CE mark compliance is selected. Q 2 AA 13 2 H C P E Specification Standard Standard Identification E CE U UL M CE and UL Encoder Type Serial Encoder P Battery backup method absolute encoder [PA35C] H Absolute encoder for incremental System [PA35S] W Absolute encoder without battery [RA35C] Pulse Encoder S Wire-saving incremental encoder [PP31T/PP38/PP62] Holding Brake X Without Brake B With BrakeDC9V C With BrakeDC24V Q Series Supply Voltage AA AC2V Motor type 1 Low-inertia 2 Medium-inertia 4 Low-inertia (high volume) Flange Size 8 86mm 1 1mm 12 12mm 13 13mm 18 18mm 22 22mm Maximum Rotation Speed S 1min -1 H 3 35min -1 M 15min -1 L 3min -1 B 2min -1 D 45 5min -1 R 25min -1 V 2min -1 Rated Output 75 75W 1 1.kW kW 2 2.kW kW 3 3.kW kW 4 4.kW kW 5 5.kW kW 7 7.kW kW 11K 11.kW 15K 15.kW Encoder Specification Pulse encoder PP31T PP38 PP62 Model Optical Detection System Incremental Type Standard Supported Range Encoder Pulse Count Resolution Encoder Pulse Count Resolution 2P/R 8 248P/R5P/R 8192P/R1P/R 2P/R25P/R Remark Wire-saving incremental encoder Serial encoder Model Single Rotation Resolution Multiple Rotations Remark PA35C Optical Detection System Absolute Type 13172(17bit) 65536(16bit) Battery backup method absolute encoder PA35S 13172(17bit) Absolute encoder for incremental System RA35C Resolver System Please contact our Sales Division for assistance (17bit) 65536(16bit) Absolute encoder without battery Conformance to Overseas Standards Our standard servo amplifier has attained the international standards (UL, c-ul and EN Standards). You can also employ servo motors that have attained the international standards (UL and EN Standards). 11

13 Model Number Nomenclature Example: RS2 Series Servo Amplifier models, Input voltage AC2V, Amplifier capacity15a, With built-in regenerative resistance/with DB resistance, With safety furction. RS2 A 5 A A A 2 Option 2 Speed / Torque command input Available 2 Available 4 Available Option 1 A With built-in regenerative resistance/ with DB resistance L Without built-in regenerative resistance/ with DB resistance 3A amplifier capacity is only available for the model without a built-in regenerative resistor. Interface type AAnalog pulse controlnpn (Sink) output Analog pulse control, PNP (Source) output KEtherCAT interface PNP Safe Torque Off function None Available (without delay circuit) Available (with delay circuit) Generic output : PNP (Source) output : It takes external 24VDC as common power supply and outputs 24VDC when generic output is ON. Features and Functions Model No. Model Number Nomenclature ListSystem Configuration Input voltage AC2V Motor type A Rotary motor Amplifier capacity 5 5A 1 1A 15 15A 3 3A Motor Encoder Type 2 8 A EN1 (Motor encoder) Serial encoder Serial encoder Pulse encoder Pulse encoder Standard Specifications Encoder Wiring External Wiring Optional Equipment Setup Software Dimensions EN2 (External pulse encoder) Pulse encoder Pulse encoder 2 or A is selectable for a servo amplifier for a fully-closed system. Please specify 2 or A according to the motor encoder to be used. or 8 is only for a semi-closed system and is not selectable for a fully-closed system. Please note that a servo amplifier for a fullyclosed system can be used for a semi-closed system. RS2 Series * The motor parameters need to be set for the amplifier for use. Use the setup software. 12

14 System Configuration Analog/Pulse Input Type Servo Amplifier T S R Circuit Breaker (MCCB) Cuts off power in the case of an overload, to protect the power line. Option Setup Software Parameter configuration and monitoring is possible via communication with a PC. Servo Amplifier Noise Filter Attached to prevent external noise from the power source line. CN2 RS-232C CN3 To next amplifier RS-422A Electromagnetic Contactor Switches power on and off. Create the protective circuit. CN1 CN4 Host Devices Option External Regenerative Resistor For special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier's internal regenerative resistor. * The 3A model is not equipped with a built-in regenerative resistor. Please connect an external regenerative resistor. EN1 Option Relay cable with battery unit Connected when using an absolute encoder. Power input Brake Power Required for use when the servo motor is equipped with a brake. Safety unit, safety PLC, etc. The I/O signals of the Safe Torque Off function are connected to devices such as the safety unit or safety PLC. 13 Servo Motor

15 EtherCAT interface type servo amplifier T S R Features and Functions Circuit Breaker (MCCB) Cuts off power in the case of an overload, to protect the power line. Noise Filter Attached to prevent external noise from the power source line. Servo Amplifier CN4 Option Setup Software Parameter configuration and monitoring is possible via communication with a PC. RS-232C Model No. Model Number Nomenclature ListSystem Configuration Electromagnetic Contactor Switches power on and off. Create the protective circuit. CN3 CN1 CN CN2 General-purpose I/O connector, homing, probing, and general-purpose signals To next amplifier Standard Specifications Option External Regenerative Resistor For special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier's internal regenerative resistor. * The 3A model is not equipped with a built-in regenerative resistor. Please connect an external regenerative resistor. EN1 Host Devices Option Relay cable with battery unit Connected when using an absolute encoder. Encoder Wiring External Wiring Dimensions Power input Brake Power Required for use when the servo motor is equipped with a brake. Safety unit, safety PLC, etc. The I/O signals of the Safe Torque Off function are connected to devices such as the safety unit or safety PLC. Setup Software Optional Equipment Servo Motor 14

16 Servo Amplifier Specifications Control function Control system Main Circuit Power Note1) Controlling circuit Note1) Environment Structure Position control/speed control/torque control (Parameter changeover) IGBTPWM control Sinusoidal drive Three-phase : AC2 to 23V+1, -15%5/6Hz3Hz Single-phase (Amplifier Capacity 5A only) : AC2 to 23V+1, -15%, 5/6Hz3Hz Single-phase : AC2 to 23V+1, -15%5/6Hz3Hz Ambient temperature Storage temperature Operation/Storage humidity Elevation Vibration Shock Built-in tray type power supply to 55 2 to +65 Below 9RH (no condensation) Below 2m sea level 4.9m/s 2 Frequency range 1 to 55Hz tested for 2H in each direction X.Y.Z 19.6m/s 2 Note1 Power source voltage should be within the specified range AC2V Power input type: Specified power supply range = AC17V to AC253V Performance Speed control range Frequency characteristics Built-in functions Protection functions LED display Dynamic brake circuit Regeneration process circuit Monitor 1:5 (Internal speed command) 12Hz (In case of high frequency sampling mode) *Varies depending on the model. Over current, Current detection error, Overload, Regeneration error, Amplifier overheating, External overheating, Over voltage, Main circuit power low voltage, Main circuit power supply open phase, Control power supply low voltage, Encoder error, Over speed, Speed control error, Speed feedback error, Excessive position, Position command pulse error, Built-in memory error, Parameter error Status display, Monitor display, Alarm display, Parameter setting, Adjustment mode Built-in Built-in Speed monitor (VMON) Current monitor (IMO) 2.V1% (at 1min 1 ) 2.V1% (at 1%) Safety standard Servo amplifier type All models Model with safety function UL ratings EN standards Function safety standards UL58C Low-voltage directive EMC directive IEC6158SIL2 IEC6261SILCL2 Safety standards EN61851 EN5511G1ClassA EN6162 EN6183 ISO138491Cat3PLd EN9541Cat3 15 EtherCAT interface specifications Physical layer Data link layer Application layer Device profile Communication port Baud rate Max. No. of nodes Transmission distance/topology Cable Communication object PDO length Synchronization function Operation mode LED indicator General Input/Output IEC IEEE82.3u 1BASE-TX IEC ,-4 Type12 IEC ,-6 Type12 IEC618-7 Profile type1(cia42) CoE (CANopen over EtherCAT) FoE (File access over EtherCAT) RJ45 connector (2 ports) 1 Mbps (Full duplex) nodes Max. 1 m (between nodes)/daisy-chain Twisted-pair CAT5e (straight or cross) SDO (Service Data Object) PDO (Process Data Object) OutputMax.64ByteInputMax.64Byte Total: Max. 128 Bytes SYNC Event Synchronization Mode (DC Mode),Synchronous with SM2 Event Mode, Asynchronous Mode Profile Position Mode, Profile Velocity Mode, Profile Torque Mode, Homing Mode, Cycle Sync Position Mode, Cycle Sync Velocity Mode, Cycle Sync Torque Mode Port /1 link display, RUN display, error display 2 inputs, 2 outputs 4 total

17 PNP/NPN output specifications PNP output Servo Amplifier Host unit Features and Functions Out Power DC24V 5mA max Out 1 to 8 Model No. Model Number Nomenclature ListThe output port counts are differentdepending on the specification. System Configuration NPN output Servo Amplifier Out Power Host unit Standard Specifications Out 1 to 8 Encoder Wiring Out Common Maximum current DC5V... 1mA DC12 to 15V... 3mA DC24V... 5mA The output port counts are differentdepending on the specification. External Wiring Photo relay output Servo Amplifier Host unit Dimensions Out 2 Setup Software Maximum current DC5 to 24V... 1mA Optional Equipment 16

18 Specification Servo Amplifier Q1 Servo MotorHigh Power Rate (Low Inertia) input voltage AC2V Power supply range AC17V to AC253V Servo Amplifier Model RS2A5A RS2A1A Servo Motor Model and Flange Size Q1AA11D 1 Q1AA115D 1 Q1AA12D 1 Status Symbol Unit Rated Output PR kw Rated Speed NR min -1 3 Maximum Speed Nmax min Rated Torque TR Nm Continuous Torque at Stall TS Nm Peak Torque at Stall TP Nm Rated Armature Current IR Arms Armature Current at Stall IS Arms Peak Armature Current Stall IP Arms Torque Constant KT NmArms Voltage Constant Per Phase KE mvmin Phase Resistance R Rated Power Rate QR kws Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms Roter Moment of Inertia Note) JM 1-4kgm GD Mass Note) WE kg Brake Static Friction Torque TB Nm Brake Rated Voltage VB V DC9V DC24V 1 Brake Rated Current IB A Roter Moment of Inertia (Brake) JB 1-4kgm GD Brake Mass W kg Servo Motor Operating Temp, Rel.Humidity Operating Temperature: to 4, Relative Humidity: 9% maximum, no condensation Servo amplifier power supply capacity (rating) kva Note) including Wire-saving incremental encoder :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is 2. Speed-Torque Characteristics Servo motor Model No./Flange Size/Rated Output Q1AA11D 1mm 1kW Q1AA115D 1mm 1.5kW Q1AA12D 1mm 2kW Torque (Nm) Torque (Nm) Torque (Nm) Speed (min 1 ) Speed (min 1 ) Speed (min 1 ) 17

19 Dimensions Features and Functions RS2A1A RS2A5A RS2A1A Servo Amplifier Model Q1AA125D Q1AA121D Q1AA122D Servo Motor Model and Flange Size Unit Symbol Status kw PR Rated Output 3 min -1 NR Rated Speed 5 min -1 Nmax Maximum Speed Nm TR Rated Torque Nm TS Continuous Torque at Stall Nm TP Peak Torque at Stall Arms IR Rated Armature Current Arms IS Armature Current at Stall Arms IP Peak Armature Current Stall NmArms KT Torque Constant mvmin -1 KE Voltage Constant Per Phase R Phase Resistance kws QR Rated Power Rate ms te Electrical Time Constant ms tm Mechanical Time Constant (Not including Encoder) kgm 2 GD 2 4 JM Roter Moment of Inertia Note) kg WE Mass Note) Nm TB Brake Static Friction Torque DC9V DC24V 1 V VB Brake Rated Voltage A IB Brake Rated Current kgm GD JB Roter Moment of Inertia (Brake) kg W Brake Mass Operating Temperature: to 4, Relative Humidity: 9% maximum, no condensation kva Servo Motor Operating Temp, Rel.Humidity Servo amplifier power supply capacity (rating) Model No. Model Number Nomenclature ListSystem Configuration Standard Specifications Encoder Wiring External Wiring Servo motor Model No./Flange Size/Rated Output Q1AA125D 1mm 2.5kW Q1AA121D 12mm 1kW Q1AA122D 12mm 2kW Setup Software Torque (Nm) Torque (Nm) Torque (Nm) Optional Equipment Speed (min 1 ) Speed (min 1 ) Speed (min 1 ) 18

20 Specification Servo Amplifier Q1 Servo MotorHigh Power Rate (Low Inertia) input voltage AC2V Power supply range AC17V to AC253V Servo Amplifier Model RS2A1A RS2A15A Servo Motor Model and Flange Size Q1AA123D 12 Q1AA133D 13 Q1AA134D 13 Status Symbol Unit Rated Output PR kw 3 4 Rated Speed NR min -1 3 Maximum Speed Nmax min Rated Torque TR Nm Continuous Torque at Stall TS Nm Peak Torque at Stall TP Nm Rated Armature Current IR Arms Armature Current at Stall IS Arms Peak Armature Current Stall IP Arms Torque Constant KT NmArms Voltage Constant Per Phase KE mvmin Phase Resistance R Rated Power Rate QR kws Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms Roter Moment of Inertia Note) JM 1-4kgm GD Mass Note) WE kg Brake Static Friction Torque TB Nm Brake Rated Voltage VB V DC9V DC24V 1 Brake Rated Current IB A Roter Moment of Inertia (Brake) JB 1-4kgm GD Brake Mass W kg Servo Motor Operating Temp, Rel.Humidity Operating Temperature: to 4, Relative Humidity: 9% maximum, no condensation Servo amplifier power supply capacity (rating) kva Note) including Wire-saving incremental encoder :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is 2. Speed-Torque Characteristics Servo motor Model No./Flange Size/Rated Output Q1AA123D 12mm 3kW Q1AA133D 13mm 3kW Q1AA134D 13mm 4kW Torque (Nm) Torque (Nm) Torque (Nm) Speed (min 1 ) Speed (min 1 ) Speed (min 1 ) 19

21 Model No. Model Number Nomenclature ListDimensions Features and Functions RS2A15A RS2A3A Servo Amplifier Model Q1AA135D Q1AA1845M Q1AA1875H Servo Motor Model and Flange Size Unit Symbol Status kw PR Rated Output 3 15 min -1 NR Rated Speed min -1 Nmax Maximum Speed Nm TR Rated Torque Nm TS Continuous Torque at Stall Nm TP Peak Torque at Stall Arms IR Rated Armature Current Arms IS Armature Current at Stall Arms IP Peak Armature Current Stall NmArms KT Torque Constant mvmin -1 KE Voltage Constant Per Phase R Phase Resistance kws QR Rated Power Rate ms te Electrical Time Constant ms tm Mechanical Time Constant (Not including Encoder) kgm 2 GD 2 4 JM Roter Moment of Inertia Note) kg WE Mass Note) Nm TB Brake Static Friction Torque DC9V DC24V 1 V VB Brake Rated Voltage A IB Brake Rated Current kgm GD JB Roter Moment of Inertia (Brake) Standard Specifications Encoder Wiring External Wiring kg W Brake Mass Operating Temperature: to 4, Relative Humidity: 9% maximum, no condensation kva Servo Motor Operating Temp, Rel.Humidity System Configuration Servo amplifier power supply capacity (rating) Servo motor Model No./Flange Size/Rated Output Q1AA135D 13mm 5kW Q1AA1845M 18mm 4.5kW Q1AA1875H 18mm 7.5kW Setup Software Torque (Nm) Speed (min 1 ) Torque (Nm) Speed (min 1 ) Torque (Nm) 1 Optional Equipment Speed (min 1 ) 2

22 Specification Servo Amplifier Q2 Servo MotorHigh Efficiency and Low Ripple (Midium Inertia) input voltage AC2V Power supply range AC17V to AC253V Servo Amplifier Model Servo Motor Model and Flange Size Q2AA875D 86 RS2A5A Q2AA81D 86 Q2AA11H 1 Status Symbol Unit Rated Output PR kw Rated Speed NR min Maximum Speed Nmax min Rated Torque TR Nm Continuous Torque at Stall TS Nm Peak Torque at Stall TP Nm Rated Armature Current IR Arms Armature Current at Stall IS Arms Peak Armature Current Stall IP Arms Torque Constant KT NmArms Voltage Constant Per Phase KE mvmin Phase Resistance R Rated Power Rate QR kws Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms Roter Moment of Inertia Note) JM 1-4kgm GD Mass Note) WE kg Brake Static Friction Torque TB Nm Brake Rated Voltage VB V DC9V DC24V 1 Brake Rated Current IB A.8/ Roter Moment of Inertia (Brake) JB 1-4kgm GD Brake Mass W kg Servo Motor Operating Temp, Rel.Humidity Operating Temperature: to 4, Relative Humidity: 9% maximum, no condensation Servo amplifier power supply capacity (rating) kva Note) including Wire-saving incremental encoder :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is 2. Speed-Torque Characteristics Servo motor Model No./Flange Size/Rated Output Q2AA875D 86mm.75kW Q2AA81D 86mm 1kW Q2AA11H 1mm 1kW Torque (Nm) Torque (Nm) Torque (Nm) Speed (min 1 ) Speed (min 1 ) Speed (min 1 ) 21

23 Model No. Model Number Nomenclature ListStandard Specifications Dimensions Features and Functions RS2A5A Servo Amplifier Model Q2AA115H Q2AA131H Q2AA1315H Servo Motor Model and Flange Size Unit Symbol Status kw PR Rated Output 2 min -1 NR Rated Speed min -1 Nmax Maximum Speed Nm TR Rated Torque Nm TS Continuous Torque at Stall Nm TP Peak Torque at Stall Arms IR Rated Armature Current Arms IS Armature Current at Stall Arms IP Peak Armature Current Stall NmArms KT Torque Constant mvmin -1 KE Voltage Constant Per Phase R Phase Resistance kws QR Rated Power Rate ms te Electrical Time Constant ms tm Mechanical Time Constant (Not including Encoder) kgm 2 GD 2 4 JM Roter Moment of Inertia Note) kg WE Mass Note) Nm TB Brake Static Friction Torque DC9V DC24V 1 V VB Brake Rated Voltage A IB Brake Rated Current kgm GD JB Roter Moment of Inertia (Brake) 1.5 kg W Brake Mass Operating Temperature: to 4, Relative Humidity: 9% maximum, no condensation kva Servo Motor Operating Temp, Rel.Humidity Servo amplifier power supply capacity (rating) Encoder Wiring External Wiring System Configuration Servo motor Model No./Flange Size/Rated Output Q2AA115H 1mm 1.5kW Q2AA131H 13mm 1.kW Q2AA1315H 13mm 1.5kW Setup Software Torque (Nm) Speed (min 1 ) Torque (Nm) Speed (min 1 ) Torque (Nm) Optional Equipment Speed (min 1 ) 22

24 Specification Servo Amplifier Q2 Servo MotorHigh Efficiency and Low Ripple (Midium Inertia) input voltage AC2V Power supply range AC17V to AC253V Servo Amplifier Model Servo Motor Model and Flange Size Q2AA132H 13 RS2A1A Q2AA182H 18 Q2AA1835H 18 Status Symbol Unit Rated Output PR kw Rated Speed NR min -1 2 Maximum Speed Nmax min Rated Torque TR Nm Continuous Torque at Stall TS Nm Peak Torque at Stall TP Nm Rated Armature Current IR Arms Armature Current at Stall IS Arms Peak Armature Current Stall IP Arms Torque Constant KT NmArms Voltage Constant Per Phase KE mvmin Phase Resistance R Rated Power Rate QR kws Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms Roter Moment of Inertia Note) JM 1-4kgm GD Mass Note) WE kg Brake Static Friction Torque TB Nm Brake Rated Voltage VB V DC9V DC24V 1 Brake Rated Current IB A Roter Moment of Inertia (Brake) JB 1-4kgm GD Brake Mass W kg Servo Motor Operating Temp, Rel.Humidity Operating Temperature: to 4, Relative Humidity: 9% maximum, no condensation Servo amplifier power supply capacity (rating) kva Note) including Wire-saving incremental encoder :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is 2. Speed-Torque Characteristics Servo motor Model No./Flange Size/Rated Output Q2AA132H 13mm 2kW Q2AA182H 18mm 2kW Q2AA1835H 18mm 3.5kW Torque (Nm) Speed (min 1 ) Torque (Nm) Speed (min 1 ) Torque (Nm) Speed (min 1 ) 23

25 Model No. Model Number Nomenclature ListDimensions Features and Functions RS2A1A Servo Amplifier Model Q2AA1845H Q2AA1855R Servo Motor Model and Flange Size Unit Symbol Status kw PR Rated Output 2 15 min -1 NR Rated Speed 3 25 min -1 Nmax Maximum Speed Nm TR Rated Torque Nm TS Continuous Torque at Stall 7 88 Nm TP Peak Torque at Stall Arms IR Rated Armature Current Arms IS Armature Current at Stall Arms IP Peak Armature Current Stall NmArms KT Torque Constant mvmin -1 KE Voltage Constant Per Phase R Phase Resistance kws QR Rated Power Rate ms te Electrical Time Constant ms tm Mechanical Time Constant (Not including Encoder) kgm 2 GD 2 4 JM Roter Moment of Inertia Note) 2 3 kg WE Mass Note) Nm TB Brake Static Friction Torque Standard Specifications Encoder Wiring External Wiring DC9V DC24V 1 V VB Brake Rated Voltage A IB Brake Rated Current kgm GD JB Roter Moment of Inertia (Brake) 5 6 kg W Brake Mass Operating Temperature: to 4, Relative Humidity: 9% maximum, no condensation kva Servo Motor Operating Temp, Rel.Humidity Servo amplifier power supply capacity (rating) System Configuration Servo motor Model No./Flange Size/Rated Output Q2AA1845H 18mm 4.5kW 8 Q2AA1855R 18mm 5.5kW 12 Setup Software Torque (Nm) Speed (min 1 ) Torque (Nm) Optional Equipment Speed (min 1 ) 24

26 Specification Servo Amplifier Q2 Servo MotorHigh Efficiency and Low Ripple (Midium Inertia) input voltage AC2V Power supply range AC17V to AC253V Servo Amplifier Model RS2A15A RS2A3A Servo Motor Model and Flange Size Q2AA2255B 22 Q2AA227S 22 Q2AA1855H 18 Status Symbol Unit Rated Output PR kw Rated Speed NR min Maximum Speed Nmax min Rated Torque TR Nm Continuous Torque at Stall TS Nm Peak Torque at Stall TP Nm Rated Armature Current IR Arms Armature Current at Stall IS Arms Peak Armature Current Stall IP Arms Torque Constant KT NmArms Voltage Constant Per Phase KE mvmin Phase Resistance R Rated Power Rate QR kws Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms Roter Moment of Inertia Note) JM 1-4kgm GD Mass Note) WE kg Brake Static Friction Torque TB Nm Brake Rated Voltage VB V DC9V DC24V 1 Brake Rated Current IB A Roter Moment of Inertia (Brake) JB 1-4kgm GD Brake Mass W kg Servo Motor Operating Temp, Rel.Humidity Operating Temperature: to 4, Relative Humidity: 9% maximum, no condensation Servo amplifier power supply capacity (rating) kva Note) including Wire-saving incremental encoder :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is 2. Speed-Torque Characteristics Servo motor Model No./Flange Size/Rated Output Q2AA2255B 22mm 5.5kW Q2AA227S 22mm 7kW Q2AA1855H 18mm 5.5kW Torque (Nm) Torque (Nm) Torque (Nm) Speed (min 1 ) Speed (min 1 ) Speed (min 1 ) 25

27 Model No. Model Number Nomenclature ListDimensions Features and Functions RS2A3A Servo Amplifier Model Q2AA1875L Q2AA2211KV Q2AA2215KV Servo Motor Model and Flange Size Unit Symbol Status kw PR Rated Output 15 min -1 NR Rated Speed 3 2 min -1 Nmax Maximum Speed Nm TR Rated Torque Nm TS Continuous Torque at Stall Nm TP Peak Torque at Stall Arms IR Rated Armature Current Arms IS Armature Current at Stall Arms IP Peak Armature Current Stall NmArms KT Torque Constant mvmin -1 KE Voltage Constant Per Phase R Phase Resistance kws QR Rated Power Rate ms te Electrical Time Constant ms tm Mechanical Time Constant (Not including Encoder) kgm 2 GD 2 4 JM Roter Moment of Inertia Note) kg WE Mass Note) Nm TB Brake Static Friction Torque DC9V DC24V 1 V VB Brake Rated Voltage A IB Brake Rated Current kgm GD JB Roter Moment of Inertia (Brake) 6 11 kg W Brake Mass Operating Temperature: to 4, Relative Humidity: 9% maximum, no condensation kva Standard Specifications Encoder Wiring External Wiring Servo Motor Operating Temp, Rel.Humidity System Configuration Servo amplifier power supply capacity (rating) Servo motor Model No./Flange Size/Rated Output Q2AA1875L 18mm 7.5kW Q2AA2211KV 22mm 11kW Q2AA2215KV 22mm 15kW Setup Software Torque (Nm) Speed (min 1 ) Torque (Nm) Speed (min 1 ) Torque (Nm) Optional Equipment Speed (min 1 ) 26

28 Specification Servo Amplifier Q4 Servo MotorHigh Power Rate (Low Inertia) input voltage AC2V Power supply range AC17V to AC253V Servo Amplifier Model Servo Motor Model and Flange Size Q4AA1811KB 18 RS2A3A Q4AA1815KB 18 Status Symbol Unit Rated Output PR kw Rated Speed NR min Maximum Speed Nmax min -1 2 Rated Torque TR Nm Continuous Torque at Stall TS Nm Peak Torque at Stall TP Nm Rated Armature Current IR Arms Armature Current at Stall IS Arms Peak Armature Current Stall IP Arms Torque Constant KT NmArms Voltage Constant Per Phase KE mvmin Phase Resistance R Rated Power Rate QR kws Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms Roter Moment of Inertia Note) JM 1-4kgm GD Mass Note) WE kg 6 75 Brake Static Friction Torque TB Nm Brake Rated Voltage VB V Brake Rated Current IB A Roter Moment of Inertia (Brake) JB 1-4kgm GD Brake Mass W kg Servo Motor Operating Temp, Rel.Humidity Operating Temperature: to 4, Relative Humidity: 9% maximum, no condensation Cooling Fan PF W 39/33AC2V11-phase 5/6Hz Servo amplifier power supply capacity (rating) kva Note) including Wire-saving incremental encoder :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is 2. Speed-Torque Characteristics Servo motor Model No./Flange Size/Rated Output Q4AA1811KB 18mm 11kW Q4AA1815KB 18mm 15kW Torque (Nm) Speed (min 1 ) Torque (Nm) Speed (min 1 ) 27

29 Encoder Wiring Serial Encoder Battery backup type absolute encoder [PA35C] Absolute encoder for incremental system [PA35S] Batteryless absolute encoder [RA35C] SERVO AMPLIFIER Connector3621-1PL Shell kit SERVO MOTOR Features and Functions EN1 ES ES BAT Note 3 BAT Note 4 Absolute encoder 7 EBrown ES 8 FBlue ES 9 TPink EBAT 1 SPurple EBAT Model No. Model Number Nomenclature List5V SG (With Cannon plug) Note 1) Use a twisted-pair shielded cable. Note 2) The maximum cable lengths under the conductor size of the power supply cable (5V,SG). Conductor size Conductor resistance Length AWG SQ (mm 2 ) (/km) 2 (m) or less or less or less or less or less 4 Conductor resistance is different by conductor specifications. Note 3) When the Absolute encoder for incremental system or absolute encoder without battery is used, battery lines (EBAT+, EBAT-) are not required. Note 4) Letters indicate cannon plug pins. Lead wire colors are indicated in parentheses. Pulse Encoder Note 1 Note 2 Wire-saving incremental encoder SERVO AMPLIFIER 5V SG EN1 A A B B Z Z Connector3621-1PL Shell kit Note 1 Note 2 HRed 5V GBlack V J FG (Shielded) N/MS316B2-29S N/MS318B2-29S Note 3 Incremental encoder 7 ABlue A 8 DBrown A 5 BGreen B 6 EPurple B 9 FWhite Z 1 GYellow Z JRed 5V NBlack V H FG shielded Note 1) Use a twisted-pair shielded cable. Note 2) The maximum cable lengths under the conductor size of the power supply cable (5V,SG). Conductor size Conductor resistance Length AWG SQ (mm 2 ) (/km) 2 (m) or less or less or less or less or less 4 Conductor resistance is different by conductor specifications. SERVO MOTOR N/MS316B2-29S N/MS318B2-29S (With Cannon plug) Note 3) Letters indicate cannon plug pins. Lead wire colors are indicated in parentheses. 28 System Configuration Standard Specifications Encoder Wiring External Wiring Dimensions Setup Software Optional Equipment

30 External Wiring Analog/Pulse input type Main Power : AC 2VControl Power : AC 2V 1-phase 2V (Amp. capacity 5A) User Unit Power Supply MC 1-phase 2 to 23V 56Hz Note 1 Start ready Start ready ON OFF MC MC Emergency System error stop Amp.capacity 1A,15A Terminalblock - Amp.capacity 5A Note 2 Note 3 RB1 External regenerative resistor RB4 + RB2 Built in regenerative resistor Amp.capacity 3A Terminalblock - Note 2 Note 3 P RB1 External regenerative resistor + RB2 3-phase 2V (AMP. capacity 5 to 3A) User Unit Power Supply 3-phase 2 to 23V 56Hz Note 1 Position command pulse input Velocity command / Torque command input Torquecompensation input Torque limit input Note 11 DC24V Safe Torque Off function model only Note 11 DC24V Battery input General-purpose input MC Start ready Start ready ON OFF MC MC Emergency System error stop Forward revolution pulse Backward revolution pulse Note 6 Forward revolution pulse Backward revolution pulse Line driver HD26C31 Corresponding SG SG Lithium battery DC3.6V Note 11 DC5V to 24V 5A: CNA 1 to 3A: Terminalblock R S T CNA CN4 Note 9 CN1 Note r t +5V +5V 26 F-PC 27 F-PC 47 SG +5V +5V 28 R-PC SG SG 29 R-PC 48 SG SG SG V-REF 21 /T-REF 2 SG NC NC HWGOFF1+ HWGOFF2+ Generalpurpose output HWGOFF1- HWGOFF2- EDM+ 7 EDM- SG SG T-COMP F-TLA SG R-TLA BTP-I BTN-I SG SG CONT-COM CONT1 36 CONT2 SG SG Note 2 Note 3 - SG SG CNA RB1 SERVO AMPLIFIER Line receiver HD26C32 Corresponding + RB2 Built in regenerative resistor Line driver HD26C31 Corresponding SG 5A: CNB 1~3A: Terminalblock SERVO MOTOR Note 4 Red U White V Black W Green EN1 AO 3 AO 4 BO 5 BO 6 ZO 7 ZO 8 PS 9 PS 1 ZOP 11 SG 12 SG SG MON1 3 SG 31 OUT-PWR 49 OUT1 39 OUT2 4 OUT3 41 OUT4 42 OUT5 43 OUT6 44 SH Note 5 (Green/Yellow) SH Encoder division signal output Monitor output Note 11 DC5V, DC12V to 24V Encoder With Cannon plug Orange (Yellow) Orange (Yellow) Connector No. CNA RY1 9V (24V) Holding brake (for the type with a brake only) 5A CNA 1A, 15A, 3A CNB 5A CN1 EN1 CN4 With Cannon plug Name Control power, main power input connector Control power, main power input connector Servo motor power connector Connector for upper device input / output signals Encoder signal connector Safe Torque Off function connector Housing, plug, shell MSTB2.5/8-STF-5.8LUB MSTBT2.5/2-STF-5.8 MSTBT2.5/3-STF-5.8 Plug115-3PE Shell135-52A-8 Connector3621-1PL Shell kit For short-circuit For customer wining Note 1) For the parts marked,use a twisted pair shielded cable. Note 2) AMP. capacity 5A When using an external regenerative resistor, connect it between RB1 and 2. If RB1 and 2are connected to the internal amplifier's resistor, or if a shorting bar is connected between RB1and 4, first disconnect them. AMP. capacity 1A,15A When using internal regenerative resistor, connect short-circuit bar between RB1 and RB4 terminals. When using external regenerative resistor, connect it between RB1 and RB2 terminalsafter removing short-circuit bar between RB1 and RB4 terminals. AMP. capacity 3A Connect external regenerative resistor between RB1 and RB2 terminals. Note 3) The terminal and the P terminal are for maintenance (high-voltage circuit). So, do not wire this terminal. Note 4) Motor connection differs to the motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. When they are the cannon plug type, connect them according to the motor specification. Refer to "Pin Assignment Symbols" on page CONT3 OUT7 45 Note 5) Refer to "encoder connection diagram" on page 28 for the wiring for the connector for the encoder connection. 34 CONT4 OUT8 46 Note 6) Please be sure to connect SG(signal ground) between equipment with servo amplifier when you use a difference input signal. SG Note 6 SH 33 CONT5 32 CONT CONT8 16 CONT8 38 SG +5V +5V CONT7 SG CONT7 +5V +5V SG SG SG Line receiver HD26C32 Corresponding OUT-COM OUT-COM SH Shield processing Note 7) R,S,T,t,r,,P,DL1,DL2,RB1,RB2, RB4 (1A, 15A only), U,V,W are high-voltage circuits, all other lines are low-voltage. Ensure sufficient distance between the highand low-voltage circuits. Note 8) CN4 is a connector for safety function signals. To turn the servo motor power ON, a safety device must be connected and the wiring to activate the safety function must be done. When not using the safety function, use the connector (P.N : AL ) of an option inserted into the CN4. Note 9) Nothing should connect with CN4-1 and 2pin. Note 1) It is recommend to use a ground fault interrupter conforming to the UL,IEC and EN standards. Note 11) Power should be supplies by the user. 29 Shield processing

31 - - EtherCAT interface type Main Power : AC 2VControl Power : AC 2V 1-phase 2V (Amp. capacity 5A) User Unit Power Supply 1-phase 2 to 23V 56Hz Note 9 3-phase 2V (AMP. capacity 5 to 3A) User Unit Power Supply 3-phase 2 to 23V 56Hz Note 9 MC Start ready Start ready ON OFF MC MC Emergency System error stop MC Start ready Start ready ON OFF MC MC Emergency System error stop 5A: CNA 1 to 3A: Terminalblock CNA R S T r t Amp.capacity 1A,15A Terminalblock Amp.capacity 5A Note 2 Note 3 CNA Note 2 Note 3 RB1 RB1 + External regenerative resistor RB4 + RB2 Built in regenerative resistor RB2 SERVO AMPLIFIER Built in regenerative resistor Amp.capacity 3A Terminalblock EN1 U V W Note 2 Note 3 5A: CNB 1~3A: Terminalblock P RB1 External regenerative resistor + Note 4 RB2 Red White Black Green (Green/Yellow) SERVO MOTOR Encoder Orange (Yellow) Orange (Yellow) With Cannon plug RY1 9V (24V) Holding brake (for the type with a brake only) Features and Functions Model No. Model Number Nomenclature ListSystem Configuration SH Note 5 SH With Cannon plug Ethernet I/O CN/1 Note 7) BAT+ BAT- CN2 Note 11) Lithium battery DC3.6V Battery input Standard Specifications 6 7 Reserved (Do not connect) Note General-purpose output SH Shield processing CN Note 1) DC5V to 24V 5 OUT1+ OUT1- OUT2+ OUT2- CONT1+ HWGOFF1+ HWGOFF1- HWGOFF2+ HWGOFF2- EDM+ EDM SH Shield processing Note 1) DC24V EDM output HWGOFF input Safe Torque Off function model only Connector No. Name Housing, plug, shell CNA Control power, main 5A power input connector MSTB2.5/8-STF-5.8LUB CNA 1A, Control power, main 15A, power input connector MSTBT2.5/2-STF-5.8 3A CNB 5A Servo motor power connector Encoder signal connector MSTBT2.5/3-STF-5.8 Connector3621-1PL Shell kit EN1 CN2 Safe Torque Off function, battery power connector MUF-PK1K-X CN3 General-purpose I/O signal connector Encoder Wiring External Wiring 6 CONT1- Note 1) For the parts marked,use a twisted pair shielded cable. General-purpose input 7 8 SH Shield processing CONT2+ CONT2- Note 2) AMP. capacity 5A When using an external regenerative resistor, connect it between RB1 and 2. If RB1 and 2are connected to the internal amplifier's resistor, or if a shorting bar is connected between RB1and 4, first disconnect them. AMP. capacity 1A,15A When using internal regenerative resistor, connect short-circuit bar between RB1 and RB4 terminals. When using external regenerative resistor, connect it between RB1 and RB2 terminalsafter removing short-circuit bar between RB1 and RB4 terminals. AMP. capacity 3A Connect external regenerative resistor between RB1 and RB2 terminals. Dimensions Note 3) The terminal and the P terminal are for maintenance (high voltage circuit). So, do not wire this terminal. Note 4) Motor connection differs to the motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. when they are the cannon plug type, connect them according to the motor specification. Refer to "Pin Assignment Symbols" on page 39. Note 5) Refer to "encoder connection diagram" on page 28 for the wiring for the connector for the encoder connection. Setup Software Note 6) R,S,T,t,r,,,P,DL1,DL2,RB1,RB2, RB4 (1A, 15A only), U,V,W are high-voltage circuits, all other lines are low-voltage. Ensure sufficient distance between the high- and low-voltage circuits. Note 7) Use a TIA category 5e or better shielded twisted pair (STP) cable. Note 8) Nothing should connect with CN2-3 and 4pin. Note 9) It is recommend to use a ground fault interrupter conforming to the UL,IEC and EN standards. Do not wire the S phase for a single-phase power amplifier. Optional Equipment Note 1) Power should be supplies by the user. Note 11) CN2 is a Safe Torque Off function connector. If it is not connected to the safety device to enable the Safe Torque Off function to work, the servo does not turn on (the motor is not energized). 3

32 H Servo Motor DimensionsUnit 1mm sq. to 22mm sq. Q1 Servo Motor Series: High Power Rate (Low Inertia) Q2 Servo Motor Series: High Efficiency / Low Ripple (Medium Inertia) LC 4-LZ1 M M LR LE (LG) (IL2) LL (IF) 2-M8 (LH) LA QA Q QK H W LB S M (KL1) (19 ) (KL3) (IE) S Type Oil seal 2-LZ2 (Tap for removing motor) OE Tap depth LT Section H-H U T (IL1) (IL2) (KB1) MS312A-(for Equivalent) (for motor, brake and ground) (KB3) (KB2) ( KL2 ) MS312A2-29P (for Equivalent) (For Encoder) JL4V-2E1SL-3PE-B (For Brake) (IF) Eye bolt 2-M8 Q1 Servo Motor Series: High Power Rate (Low Inertia) Without brake Incremental Connector Note 1 With brake Motor, Ground Brake Note 1 (only when mounted) MODEL LL KB2 LL KB2 KB3 MS312A JL4V-2E LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 Q1AA Q1AA Q1AA P 1SL-3PE-B Q1AA Q1AA Q1AA P 1SL-3PE-B Q1AA Q1AA Q1AA P Q1AA M6 Q1AA Q1AA P 1SL-3PE-B M8 MODEL LR S Q QA QK W T U KB1 QE LT IE IF IL1 IL2 Q1AA11 84 Q1AA Q1AA M Q1AA Q1AA M6 2 Q1AA Q1AA M Q1AA Q1AA Q1AA M Q1AA M Q1AA M Note 1) Waterproof specification IP67 requires that the connector to be attached ; for IP67 compliance, use a waterproof connector for the mating plug. Note 2) All brake connectors are JL4V-2E1SL-3PE-B for CE compliant DC24V brakes. Please inquire for the dimensions with the absolute encoder. 31

33 Q2 Servo Motor Series: High Efficiency / Low Ripple (Medium Inertia) Note 1) Waterproof specification IP67 requires that the connector to be attached ; for IP67 compliance, use a waterproof connector for the mating plug. Note 2) All brake connectors are JL4V-2E1SL-3PE-B for CE compliant DC24V brakes. Please inquire for the dimensions with the absolute encoder. Electric wire diameters Voltage 2V Type Without brake Maximum continuous armature current Power receptacle Maximum wire size of connector Receptacle permissable current Combined Amplifier Recommended motor power wire size (U, V, W) *Note 1 MODEL Wire size of MS Type JL4V Type Shell Size Contact Size Type main power Arms mm 2 mm 2 Arms supply (R, S, T) mm 2 AWG No. Q1AA11D 7.8 RS1A5 AWG #12 Q1AA115D P # Q1AA12D 18 RS1A1 AWG1 3.5 #12 Q1AA125D 17.2 Q1AA121D 7.5 RS1A5 AWG #12 Q1AA122D P # Q1AA123D 17.3 RS1A1 AWG1 5.5 #1 Q1AA133D 17.6 RS1A1 AWG1 5.5 #1 Q1AA134D P # Q1AA135D 27.5 RS1A15 AWG8 5.5 #1 Q1AA1845M 24.8 Q1AA1875H P # RS1A3 AWG6 14 #6 Q2AA11H 8.1 Q2AA115H P # RS1A5 AWG #12 Q2AA131H 8.3 Q2AA1315H 1.2 RS1A5 AWG #12 Q2AA132H 16.3 Q2AA182H P # RS1A1 AWG1 5.5 #1 Q2AA1835H 28 Q2AA1845H 29 RS1A15 AWG8 5.5 #1 Q2AA1855R 33.7 RS1A15 AWG8 8 #8 Q2AA1855H P # Q2AA1875L 57 RS1A3 AWG6 14 #6 Q2AA2255B 35.1 Q2AA227S P # RS1A15 AWG8 5.5 #1 Q2AA2211KV 66 Q2AA2215KV P # RS1A3 AWG6 14 #6 Q4AA1811KB 53 Q4AA1815KB P # RS1A3 AWG6 14 #6 *Note1Use of heat-resistant vinyl wire (HIV) is recommended. Incremental Connector Note 1 With brake Motor, Ground Brake Note 2 (only when mounted) MODEL LL KB2 LL KB2 KB3 MS312A JL4V-2E LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 Q2AA P 1SL-3PE-B Q2AA Q2AA Q2AA P M Q2AA Q2AA Q2AA P M Q2AA Q2AA P Q2AA M8 Q2AA P 1SL-3PE-B Q2AA M1 Q2AA2211K P Q2AA2215K M1 MODEL LR S Q QA QK W T U KB1 QE LT IE IF IL1 IL2 Q2AA M Q2AA Q2AA M6 2 Q2AA Q2AA M Q2AA Q2AA M Q2AA Q2AA M Q2AA Q2AA M Q2AA Q2AA2211K M Q2AA2215K Features and Functions Model No. Model Number Nomenclature ListSystem Configuration Standard Specifications Encoder Wiring External Wiring Dimensions Setup Software Optional Equipment 32

34 Servo Motor Dimensions (Unit : mm) 86mm sq. Q2 Servo Motor Series: High Efficiency / Low Ripple (Medium Inertia) M.2.6 M 35 LL M A A 55 S Type Oil seal M5 Tapping Depth (7.5) (5) 111 (5) (5) Section AA Teflon wire (for mounting) (For Power, Brake and Ground) Shielded cable (for mounting) (For Encoder) MODEL Q2AA875 Q2AA81 Incremental Without brake With brake LL LL mm sq. Q4 Servo Motor Series: High Power Rate (Low Inertia / High Torque) Eye Bolt 2-M8 (IE) (LH) Weight Caution Nameplate A R1 N.P. Key Position Key Position MS312A32-17Por Equivalent MS312A1SL-4P for motor for fan motor LC M LL (5) (5) (KB1) (KB2) 7.5 LR (IL1) (IL2) M LE (LG) Motor Nameplate (Opposite side) LA LB S M Q QA QK A Exhaust N.P. MS312A2-29Por Equivalent for encoder Arrow Nameplate (opposite) Intake (115) (15) (KL3) (19) (KL1) (KL2) M1X1.5 4-LZ1 Depth LT S Type Oil seal 2-LZ2 (Tap for removing motor) W U T Section AA (IL1) 2-M8 Eye Bolt (IL2) Caution Nameplate Exhaust Min. of 5mm space needed (145) Incremental Note 1) Connector Without brake Motor, Ground MODEL LL KB2 MS312A LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S Q QA QK W T U KB1 QE LT IE IF Q4AA1811K P Q4AA1815K M M IL1 IL Please inquire for the dimensions with the absolute encoder. 33

35 Servo Amplifier DimensionsUnit : mm 5A Mass1.65kg 4 13 (7) (17) Analog / Pulse input type 85 EtherCAT interface type 85 (2) Features and Functions Cooling fan Wind direction Model No. Model Number Nomenclature List4 1A Mass5.kg Analog / Pulse input type (7) (17) EtherCAT interface type (2) 2 System Configuration Standard Specifications 15A Mass5.3kg (6) (75) Analog / Pulse input type (6) (75) EtherCAT interface type Wind direction Cooling fan Encoder Wiring (2) (7) (17) 2 External Wiring 3A Mass9.6kg (6) (5) (6) (5) Cooling fan Wind direction Dimensions Analog / Pulse input type EtherCAT interface type (2) (35) 17 (17) Setup Software Optional Equipment Wind direction Cooling fan 34

36 Setup Software This software allows you to set servo system parameters from a PC. It also allows you easily to start up or test run the servo system. The software can be downloaded from Production Information on our website. URL : Setup Software Title R ADVANCED MODEL-Setup Software Start-up Screen Main Functions Servo amplifier parameter setting Servo amplifier status display Alarm display and reset Test run execution Auto-tuning of vibration control frequency, etc. Analog command offset adjustment Use the optional PC connection cable (model number: AL ) to connect the servo amplifier and the RS-232C port on the PC. Supported OS Windows98/SE/Me/2/XP/Vista See our website for details of supported versions. Main Screen Configuration parameters Enables parameter loading, saving, etc., via PC connection Monitor Display Observe Operation and Input/Output signal status Alarm Record Display Current and past alarm occurrence can be checked. 35

37 Setup Software Encoder Wiring External Wiring Dimensions Optional Equipment Standard Specifications System Configuration Model No. Model Number Nomenclature ListFeatures and Functions JOG Operation Simplifies motor operation and the issuing of speed commands from a PC Positioning Control Operation The position can be moved by setting the feed velocity and the pulse number of the servo motor. Operation Trace Graphically displays servo motor speed, current, and internal status System Analysis Analyzes servo system frequency characteristics 36