AC200 V 750W-15kW. Ver.4

Transcription

1 AC V 7W-1kW Ver.4

2 Input voltage AC V Servo amplifier Amp. capacity A1A1A3A Q1 Servo motorq Servo motorq4 Servo motor Flange size 86mm1mm1mm13mm18mmmm Rated output 7W1.kW1.kW.kW.kW3.kW 3.kW4.kW4.kW.kW.kW7.kW 7.kW11.kW1.kW

3 Index Features and Functions P. 3 Standard Model Number List P. 7 Model Number Nomenclature P. 11 Configuration P. 13 Servo amplifier Specifications P. 1 Standard SpecificationsP. 17 External Wiring Diagram P. 3 Dimensions P. 6 Setup Software P. 3 Servo Amplifier built-in positioning functionp. 3 Standard SpecificationsP. 33 Former Models and Replacement Models P. 36

4 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. Velocity command value 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 Tuning start Detected velocity value Power Supply Harmonic Suppression Equipped with DC reactor connection terminals as standard feature for supressing power supply harmonics. -digit LED Display, Built-in Operator Parameter setting, monitoring and alarm tracing can be easily done using the built-in operator. DL1 DL DC reactor Option Built-in Regeneration Resistor 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 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. Built-in Regeneration Resistor Rotation speed (min-1 ) Controlled state Dynamic braking state Time(s) External regenerative resistor (option) 3

5 Setup Software The setup software allows you to set parameters, view graphical displays of monitored position, velocity or torque waveforms, and perform system analysis. Parameter settings Position, velocity, torque waveforms PUSH Multiaxial Monitor Function The setup software allows up to 1 amplifiers to be monitored. (Single axis only) RS3C Daisy chain up to 1 units Maximum 1 units Features and Functions Model Number Nomencalture Configuration Standard Specifications *Use optional cable AL for PC connection (option) All-in-One Control Configurable parameters allow you to switch between control modes for torque, position or velocity. *PC connection cable is optional Dimensions External Wiring Diagram Position or Velocity Torque control Setup Software Flat Ascending Optional Equipment *Uniaxial servo amplifier only Protection code IP67 Protection code is IP67 for all models. IP67 Water Dust *Shaft feedthrough, cable end and cooling fan are excluded. 4

6 Improved Precision and Reduced Cycle Time High Response 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. Position deviation during stop 1 With vibration suppression control Without vibration suppression control Gain (db) Frequency (Hz) With vibration suppression control Without vibration suppression control 1ms/div Shorter Position 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 Position deviation Disturbance Position 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

7 Reduced Running Costs High Resolution Support for encoders up to 17 bit (131,7 divisions) is available for high resolution control. % Reduction in Power Loss An energy conserving power module reduces main circuit power loss by up to %. Configuration Features and Functions Model Number Nomencalture High Resolution 17bit(131,7 divisions) Absolute Encoder Power loss reduction (%) 1% 9% 8% 7% 6% % 4% 3% % 1% % Current model SANMOTION R PY A Standard Specifications Dimensions External Wiring Diagram Setup Software 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. Optional Equipment Position command Position deviation ms/div 6

8 Servo Motor Standard Model Number List Power Voltage Encoder models Rated Output Motor Flange Size Holding Brake Model No. 1kW 1.kW 1mm sq. kw.kw 1kW kw 1mm sq. 3kW 3kW 4kW 13mm sq. kw 4.kW 18mm sq. 7.kW 7W 86mm sq. 1kW Wire-saving incremental 1kW V encoder 1mm sq. (PP31/PP38/PP6) 1.kW 1kW 1.kW 13mm sq. kw kw 3.kW 18mm sq. 4.kW.kW.kW mm sq. 7kW.kW 18mm sq. 7.kW 11kW mm sq. 1kW Q1AA11DXS yes4v Q1AA11DCS Q1AA11DXS yes4v Q1AA11DCS Q1AA1DXS yes4v Q1AA1DCS Q1AA1DXS yes4v Q1AA1DCS Q1AA11DXS yes4v Q1AA11DCS Q1AA1DXS yes4v Q1AA1DCS Q1AA13DXS yes4v Q1AA13DCS Q1AA133DXS yes4v Q1AA133DCS Q1AA134DXS yes4v Q1AA134DCS Q1AA13DXS yes4v Q1AA13DCS Q1AA184MXS yes4v Q1AA184MCS Q1AA187HXS yes4v Q1AA187HCS QAA87DXS yes4v QAA87DCS QAA81DXS yes4v QAA81DCS QAA11HXS yes4v QAA11HCS QAA11HXS yes4v QAA11HCS QAA131HXS yes4v QAA131HCS QAA131HXS yes4v QAA131HCS QAA13HXS yes4v QAA13HCS QAA18HXS yes4v QAA18HCS QAA183HXS yes4v QAA183HCS QAA184HXS yes4v QAA184HCS QAA18RXS yes4v QAA18RCS QAABXS yes4v QAABCS QAA7SXS yes4v QAA7SCS QAA18HXS yes4v QAA18HCS QAA187LXS yes4v QAA187LCS QAA11KVXS yes4v QAA11KVCS QAA1KVXS yes4v QAA1KVCS 11kW Q4AA1811KBXS 18mm sq. 1kW Q4AA181KBXS 7

9 Power Voltage Encoder models Rated Output Motor Flange Size Holding Brake Model No. 1kW 1.kW 1mm sq. kw.kw 1kW kw 1mm sq. 3kW 3kW 4kW 13mm sq. kw 4.kW 18mm sq. 7.kW 7W 86mm sq. 1kW Battery backup method 1kW V absolute encoder 1mm sq. (PA3C) 1.kW 1kW 1.kW 13mm sq. kw kw 3.kW 18mm sq. 4.kW.kW.kW mm sq. 7kW.kW 18mm sq. 7.kW 11kW mm sq. 1kW Q1AA11DXP yes4v Q1AA11DCP Q1AA11DXP yes4v Q1AA11DCP Q1AA1DXP yes4v Q1AA1DCP Q1AA1DXP yes4v Q1AA1DCP Q1AA11DXP yes4v Q1AA11DCP Q1AA1DXP yes4v Q1AA1DCP Q1AA13DXP yes4v Q1AA13DCP Q1AA133DXP yes4v Q1AA133DCP Q1AA134DXP yes4v Q1AA134DCP Q1AA13DXP yes4v Q1AA13DCP Q1AA184MXP yes4v Q1AA184MCP Q1AA187HXP yes4v Q1AA187HCP QAA87DXS yes4v QAA87DCS QAA81DXP yes4v QAA81DCP QAA11HXP yes4v QAA11HCP QAA11HXP yes4v QAA11HCP QAA131HXP yes4v QAA131HCP QAA131HXP yes4v QAA131HCP QAA13HXP yes4v QAA13HCP QAA18HXP yes4v QAA18HCP QAA183HXP yes4v QAA183HCP QAA184HXP yes4v QAA184HCP QAA18RXP yes4v QAA18RCP QAABXP yes4v QAABCP QAA7SXP yes4v QAA7SCP QAA18HXP yes4v QAA18HCP QAA187LXP yes4v QAA187LCP QAA11KVXP yes4v QAA11KVCP QAA1KVXP yes4v QAA1KVCP 11kW Q4AA1811KBXP 18mm sq. 1kW Q4AA181KBXP Features and Functions Model Number Nomencalture Configuration Standard Specifications Dimensions External Wiring Diagram 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.kW 1mm sq. kw.kw 1kW kw 1mm sq. 3kW 3kW 4kW 13mm sq. kw 4.kW 18mm sq. 7.kW 1kW 86mm sq. 1kW Absolute encoder 1mm sq. V without battery 1.kW (RA3C) 1kW 1.kW 13mm sq. kw kw 3.kW 18mm sq. 4.kW.kW.kW mm sq. 7kW.kW 18mm sq. 7.kW 11kW mm sq. 1kW Q1AA11DXW yes4v Q1AA11DCW Q1AA11DXW yes4v Q1AA11DCW Q1AA1DXW yes4v Q1AA1DCW Q1AA1DXW yes4v Q1AA1DCW Q1AA11DXW yes4v Q1AA11DCW Q1AA1DXW yes4v Q1AA1DCW Q1AA13DXW yes4v Q1AA13DCW Q1AA133DXW yes4v Q1AA133DCW Q1AA134DXW yes4v Q1AA134DCW Q1AA13DXW yes4v Q1AA13DCW Q1AA184MXW yes4v Q1AA184MCW Q1AA187HXW yes4v Q1AA187HCW QAA81DXW yes4v QAA81DCW QAA11HXW yes4v QAA11HCW QAA11HXW yes4v QAA11HCW QAA131HXW yes4v QAA131HCW QAA131HXW yes4v QAA131HCW QAA13HXW yes4v QAA13HCW QAA18HXW yes4v QAA18HCW QAA183HXW yes4v QAA183HCW QAA184HXW yes4v QAA184HCW QAA18RXW yes4v QAA18RCW QAABXW yes4v QAABCW QAA7SXW yes4v QAA7SCW QAA18HXW yes4v QAA18HCW QAA187LXW yes4v QAA187LCW QAA11KVXW yes4v QAA11KVCW QAA1KVXW yes4v QAA1KVCW 11kW Q4AA1811KBXW 18mm sq. 1kW Q4AA181KBXW 9

11 Servo Amplifier Standard Model Number List Type CANopen Interface specifications Main Power ACV Control Power ACV DC4V ACV DC4V Encoder Type Wire-saving incremental encoder, Battery backup method absolute encoder Selectable Output NPN PNP Internal Registration Resistor Amplifier Capacity Model No. A RS1LAL With A RS1AAL A RS1JAL With A RS1KAL A RS1LAU With A RS1AAU A RS1JAU With A RS1KAU Features and Functions Model Number Nomencalture A RS1LAC Built-in positioning function model ACV ACV Wire-saving incremental encoder, Battery backup method absolute encoder NPN 1A 1A 3A A RS1L1AC RS1L1AC RS1A3AC RS1AAC With 1A RS1A1AC 1A RS1A1AC Optional Equipment Setup Software Configuration Standard Specifications Dimensions External Wiring Diagram 1

12 Servo Motor Model Number Nomenclature Servo Motor Example: The following model number defines a "Q" servomotor with 13mm flange size,.kw rated output, 3min -1 maximum rotation speed, 4V brake, and an absolute encoder (131,7 divisions/rotation),ce approval. Q AA 13 H C P E Q Series Motor Type 1Low-inertia Medium-inertia 4Low-inertia (high volume) Holding Brake XWithout Brake BWith Brake9V CWith Brake4V Specification Standard Supply Voltage AAV Motor Maximum Rotation Speed S 1min -1 H 3 3min -1 M 1min -1 L 3min -1 B min -1 D 4 min -1 R min -1 V min -1 Standard identification ECE Marking UUL MCE and UL Flange Size 8 86mm 1 1mm 1 1mm 13 13mm 18 18mm mm Rated Output 7 7W 1 1.kW 1 1.kW.kW.kW 3 3.kW 3 3.kW 4 4.kW 4 4.kW.kW.kW 7 7.kW 7 7.kW 11K 11.kW 1K 1.kW Encoder Type PBattery backup method absolute encoderpa3c H Absolute encoder for incremental PA3S WAbsolute encoder without batteryra3c SWire-saving incremental encoderpp31t/pp38/pp6 Encoder Specification Wire-saving Incremental Encoder Standard Supported Range Model Encoder Pulse Count Resolution Encoder Pulse Count Resolution 48P/RP/R 819 PP31T/ PP38/ P/R P/R1P/R 4 PP6 8 P/RP/R 1 Absolute Encoder Resolution Model Remarks Single rotation Multiple Rotations PA3C 1317(17bit) 636(16bit) Battery backup method absolute encoder PA3S RA3C Optical Detection Optical Detection Resolver Absolute Type Incremental Type 1317(17bit) 1317(17bit) 636(16bit) Absolute encoder with incremental output Absolute encoder without battery Remarks Wire-saving incremental encoder Please contact our Sales Division for assistance. Conformance to Overseas Standards Our standard servo amplifier has attained the UL, c-ul and ENstandards. You can also employ servo motors that have attained the UL and EN standards. 11

13 Servo Amplifier Model Number Nomenclature Servo Amplifier with CANopen Example: The model number shown below is "R" Series Servo Amplifier with V AC input voltage and A amplifier capacity. Features and Functions RS1 A A L Model Number Nomencalture R Series Amp. Capacity Motor Type A ARotary Motor Power Input, Internal Registration Setting Model Control Power, Input Voltage Power Input, Input Voltage Internal Regeneration resistor Amp. capacity A ACV ACV W A L W/O A K DC4V ACV W A J W/O A *The motor parameters need to be set for the amplifier for use. Use the setup software. Single-Axis Servo Amplifier (built-in positioning function model) RS1 A 1 A C Control Hardware Type Interface SpecificationCAN open I/F Encoder SpecificationAbsolute encoder, Wire-saving Incremental Encoder L NPN Output UPNP Output Example: The model number shown below is "R" Series Servo Amplifier with V AC input voltage (Main Power) and 1A amplifier capacity. Configuration Standard Specifications Dimensions External Wiring Diagram Setup Software R Series Single-Axis Servo Amplifier Motor Type ARotary Motor Optional Equipment Power Input, Internal Registration Setting Model Input Voltage Internal Regeneration resistor Amp. capacity A ACV W A,1A,1A L W/O A,1A,1A A W/O 3A Amp. capacity A 1 1A 1 1A 3 3A Control Hardware Type CServo Amplifier built-in positioning function FServo Amplifier built-in positioning function serial interface model *The motor parameters need to be set for the amplifier for use. Use the setup software. 1

14 Configuration Circuit Breaker (MCCB) Noise Filter Electromagnetic Contactor R S T Cuts off power in the case of an overload, to protect the power line. Protects the power line from external noise, and from noise generated by the servo amplifier. Switches servo power on and off. Installation of a surge protector is required. Create the protective circuit. DC Reactor Suppresses power harmonics. Remove the short bar between DL1-DL and connect this here, when needed for high frequency waves. External Regenerative Resistor 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. Remove the short bar between RB1-RB4 and connect this here. Brake Power Required for use when the servo motor is equipped with a brake. 13

15 Model No. : AL Lithium battery Features and Functions Model No. : AL PC When using the unit with an absolute system, mount the optional battery inside the digital operator cover. Setup Software Model Number Nomencalture Configuration CN1 Standard Specifications Parameter configuration and monitoring is possible via communication with a PC. Host Devices Dimensions External Wiring Diagram PLC Setup Software Optional Equipment CN Wiring required for brake. CANopen Host Devices Dedicated controller PC and PLC are available as the host device. *Communication Profile: DS-31 Device Profile: DSP-4 compliance 14

16 Servo Motor Amplifier Specifications RS Servo Amplifier Amplifier Capacity A to 3A Five Models Amplifiers for Q1 Motors V AC Type Amplifier Model Amplifier Power Supply Operating Temp. and RH Power Consumption* Amplifier Mass Motor Model Motor Flange Dimension Motor Rated Output Unit kva kg kw RS1AARS1AA RS1A1A RS1AA RS1A1A ACV to 3V11% 6Hz 3 Hz Operating Temperature: to C, Relative Humidity: 9% maximum, no condensation Q1AA11D Q1AA11D Q1AA1D Q1AA1D Q1AA11D Q1AA1D Q1AA13D V AC Type Amplifier Model Amplifier Power Supply Operating Temp. and RH Power Consumption* Amplifier Mass Motor Model Motor Flange Dimension Motor Rated Output Unit kva kg kw RS1A1A RS1A1A RS1A3A ACV to 3V11% 6Hz 3 Hz Operating Temperature: to C, Relative Humidity: 9% maximum, no condensation Q1AA133D Q1AA134D Q1AA13D Q1AA184M Q1AA187H Amplifiers for Q Motors V AC Type Amplifier Model Amplifier Power Supply Operating Temp. and RH Power Consumption* Amplifier Mass Motor Model Motor Flange Dimension Motor Rated Output Unit kva kg kw RS1AA RS1A1A ACV to 3V11% 6Hz 3 Hz Operating Temperature: to C, Relative Humidity: 9% maximum, no condensation QAA81D QAA11H QAA11H QAA131H QAA131H QAA13H QAA18H V AC Type Amplifier Model Amplifier Power Supply Operating Temp. and RH Power Consumption* Amplifier Mass Motor Model Motor Flange Dimension Motor Rated Output V AC Type Amplifier Model Amplifier Power Supply Operating Temp. and RH Power Consumption* Amplifier Mass Motor Model Motor Flange Dimension Motor Rated Output Unit kva kg kw Unit kva kg kw RS1A1A ACV to 3V11% 6Hz 3 Hz Operating Temperature: to C, Relative Humidity: 9% maximum, no condensation QAA183H QAA184H QAA18R RS1A1A RS1A3A ACV to 3V11% 6Hz 3 Hz Operating Temperature: to C, Relative Humidity: 9% maximum, no condensation QAAB QAA7S QAA18H 18. QAA187L QAA11KV 11 QAA1KV 1 Amplifiers for Q4 Motors V AC Type Amplifier Model Amplifier Power Supply Operating Temp. and RH Power Consumption* Amplifier Mass Motor Model Motor Flange Dimension Motor Rated Output Unit kva kg kw RS1A3A ACV to 3V11% 6Hz 3 Hz Operating Temperature: to C, Relative Humidity: 9% maximum, no condensation Q4AA1811KB Q4AA181KB *Actual power consumption depends on load impedence, and is shown here at the amplifier's rated output. 1

17 CANopen Interface specifications Fieldbus specifications Bus Connection, Medium CAN-Standard ISO (High-speed CAN) Fieldbus CANopen Communication Profile CiA DS31 Version 4. Device Profile CiA DSP4 (CANopen device profile for drive and motion control) Version. Bit Rate 1Mbps, 8kbps, kbps(default setting), kbps, 1kbps, kbps, kbps, 1kbps (Selectable by R-Setup Software ) Max. nodes per segment 1 to 17 (Selectable by Double 16-position Rotary Switch or R-Setup Software ) RJ-4 type Modular connector ( ports) - Pin 1 CAN_Hhigh bus line Connector - Pin CAN_Llow bus line - Pin 3,7 CAN_GNDGround - Pin 6 CAN_SHIELDCable Shield - Pin Terminator(1 ohm; if necessary, attach a jumper between Pin1 and Pin) Transceiver ISO compliant high-speed transceiver Max. Bus Length m ( for 1Mbps) SDO (Service Data Object) PDO (Process Data Object) Communication Objects EMCY (Emergency) NMT (Network Management) SYNC (Synchronization Object) Heartbeat PDO Transfer Modes Synchronous transmission Asynchronous transmission Mode of Operation Homing Mode (h.m) Profile Velocity Mode (p.v) Profile Torque Mode (t.q) Profile Position Mode (p.p) Interpolated Position Mode (i.p) Features and Functions Model Number Nomencalture Configuration Standard Specifications PNP output Servo amplifier Out Power DC4V Host unit NPN output Servo amplifier Out Power Host unit Dimensions External Wiring Diagram ma max Out 1~8 Out 1~8 Setup Software The output port counts are differentdepending on the specification. Out Common The output port counts are different depending on the specification. Maximum current DCV... 1mA DC1 to 1V... 3mA DC4V... ma Optional Equipment Single-Axis Servo Amplifier built-in positioning function serial interface model Item Content Default value Remark Protocol Modbus-RTU Binary mode fixed (ASCII mode is un-corresponding) Interface RS-481N N=Maximum is 3 (Note) Band rate (bps) 48, 96, 19, 384, 76, Set with the setup software or the rotary switch on the front of the amplifier. Start bit 1 1 Fixed Data length (bit) 8 8 Fixed Parity None, even/odd number even Stop bit 1, 1 Set with the setup software. Electric specification Based on RS-48 (half duplex communication) Based on RS-48 (half duplex communication) Connector RJ-4 Note) Based on the specifications for a typical RS-48 physical layer (distance, terminating resistance), the number of servo amplifiers (or other slave devices) that can be connected to a single segment is a maximum of 31 axes (with no repeater). However, with this servo amplifier, the standard product can have a maximum of 8 axes connected. Please contact us if connecting 9 axes or more. Fixed 16

18 Standard Specifications Q1 Servo Motor V Capacity 1mm to 18mm 1kW to 7.kW 1 models Features Amplifier Model Motor Model and Flange Dimension in mm Q1AA11D 1 RS1AA Q1AA11D 1 Status Symbol Unit Rated Output PR kw 1 1. Rated Speed NR min -1 3 Maximum Speed Nmax min -1 4 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 at Stall IP Arms Torque Constant KT NmArms..7 Voltage Constant Per Phase K E mvmin Phase Resistance R.34.7 Rated Power Rate Q R kws Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms.43.6 Rotor Moment of Inertia Note JM 1-4 kgm GD Mass Note WE kg.4 6. Brake Static Friction Torque TB Nm Brake Rated Voltage VB V DC9V DC4V 1 Brake Rated Current IB A Rotor Moment of Inertia (Brake) JB 1-4 kgm GD Brake Mass W kg Motor Operating Temp, Rel. Humidity Operating Temperature: to 4C, Relative Humidity: 9% maximum, no condensation Note) including Wire-saving incremental encoder High Power Rate (Low Inertia) Torque [Nm] 6 3 Torque [Nm] Amplifier Model Motor Model and Flange Dimension in mm Q1AA13D 1 RS1A1A Q1AA133D 13 Status Symbol Unit Rated Output PR kw 3 Rated Speed NR min -1 3 Maximum Speed Nmax min -1 4 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 at Stall IP Arms Torque Constant KT NmArms Voltage Constant Per Phase K E mvmin Phase Resistance R.8.87 Rated Power Rate Q R kws Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms.3.7 Rotor Moment of Inertia Note JM 1-4 kgm GD Mass Note WE kg 11.4 Brake Static Friction Torque TB Nm 11.8 Brake Rated Voltage VB V DC9V DC4V 1 Brake Rated Current IB A.8 1. Rotor Moment of Inertia (Brake) JB 1-4 kgm GD 4. Brake Mass W kg 1.7 Motor Operating Temp, Rel. Humidity Operating Temperature: to 4C, Relative Humidity: 9% maximum, no condensation Note) including Wire-saving incremental encoder 4 4 Motor Dwgs P7 to P8 3 3 :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. Torque [Nm] 1 Torque [Nm] 1 :Indicates a typical value when the winding temperature is

19 Torque [Nm] 1 1 Q1AA1D 1 RS1A1A RS1AA RS1A1A Q1AA1D 1 Q1AA11D 1 Q1AA1D 1 Symbol Unit. 1 PR kw 3 NR min -1 Nmax min TR Nm TS Nm TP Nm IR Arms IS Arms 4. 3 IP Arms KT NmArms K E mvmin R Q R kws te ms tm ms JM 1-4 kgm GD WE kg TB Nm DC9V DC4V 1 VB V IB A.4.. JB 1-4 kgm GD W kg Operating Temperature: to 4C, Relative Humidity: 9% maximum, no condensation Torque [Nm] Torque [Nm] Torque [Nm] Features and Functions Model Number Nomencalture Configuration Standard Specifications Dimensions External Wiring Diagram Q1AA134D 13 RS1A1A Q1AA13D 13 Q1AA184M 18 RS1A3A Q1AA187H 18 Symbol Unit PR kw 3 1 NR min Nmax min TR Nm TS Nm TP Nm IR Arms IS Arms IP Arms KT NmArms K E mvmin R Q R kws te ms tm ms JM 1-4 kgm GD WE kg TB Nm DC9V DC4V 1 VB V IB A.8.. JB 1-4 kgm GD 4. 6 W kg Operating Temperature: to 4C, Relative Humidity: 9% maximum, no condensation Setup Software Optional Equipment Torque [Nm] 1 Torque [Nm] 4 Torque [Nm] 6 3 Torque [Nm]

20 Standard Specifications Q Servo Motor V Capacity 86mm to 18mm 7W to.kw 17 models:7w to 1kW Features Amplifier Model Motor Model and Flange Dimension in mm QAA87D 86 RS1AA QAA81D 86 Status Symbol Unit Rated Output PR kw.7 1 Rated Speed NR min -1 3 Maximum Speed Nmax min -1 Rated Torque TR Nm Continuous Torque at Stall TS Nm Peak Torque at Stall TP Nm 9 1. Rated Armature Current IR Arms.9 6. Armature Current at Stall IS Arms Peak Armature Current at Stall IP Arms 3.7 Torque Constant KT NmArms Voltage Constant Per Phase K E mvmin Phase Resistance R Rated Power Rate Q R kws Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms Rotor Moment of Inertia Note JM 1-4 kgm GD Mass Note WE kg Brake Static Friction Torque TB Nm Brake Rated Voltage VB V DC9V DC4V 1 Brake Rated Current IB A.8/ Rotor Moment of Inertia (Brake) JB 1-4 kgm GD Brake Mass W kg.8.8 Motor Operating Temp, Rel. Humidity Operating Temperature: to 4C, Relative Humidity: 9% maximum, no condensation Note) including Wire-saving incremental encoder High Efficiency and Low Ripple (Medium Inertia) Torque [Nm] 4 Torque [Nm] Amplifier Model Motor Model and Flange Dimension in mm QAA13H 13 RS1A1A QAA18H 18 Status Symbol Unit Rated Output PR kw Rated Speed NR min -1 Maximum Speed Nmax min -1 3 Rated Torque TR Nm Continuous Torque at Stall TS Nm 1 1 Peak Torque at Stall TP Nm Rated Armature Current IR Arms Armature Current at Stall IS Arms Peak Armature Current at Stall IP Arms 48 Torque Constant KT NmArms.8.7 Voltage Constant Per Phase K E mvmin Phase Resistance R Rated Power Rate Q R kws Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms.63.8 Rotor Moment of Inertia Note JM 1-4 kgm GD 4 1 Mass Note WE kg Brake Static Friction Torque TB Nm 1 3 Brake Rated Voltage VB V DC9V DC4V 1 Brake Rated Current IB A Rotor Moment of Inertia (Brake) JB 1-4 kgm GD 4.. Brake Mass W kg 1.7 Motor Operating Temp, Rel. Humidity Operating Temperature: to 4C, Relative Humidity: 9% maximum, no condensation Note) including Wire-saving incremental encoder 4 4 Motor Dwgs P6 to P8 3 3 :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. Torque [Nm] 1 Torque [Nm] 1 :Indicates a typical value when the winding temperature is

21 Torque [Nm] 1 1 QAA11H 1 QAA11H 1 RS1AA QAA131H 13 QAA131H 13 Symbol Unit PR kw NR min Nmax min TR Nm TS Nm TP Nm IR Arms IS Arms IP Arms KT NmArms K E mvmin R Q R kws te ms tm ms JM 1-4 kgm GD WE kg TB Nm DC9V DC4V 1 VB V IB A JB 1-4 kgm GD W kg Operating Temperature: to 4C, Relative Humidity: 9% maximum, no condensation Torque [Nm] Torque [Nm] Torque [Nm] Features and Functions Model Number Nomencalture Configuration Standard Specifications Dimensions External Wiring Diagram QAA183H 18 RS1A1A QAA184H 18 QAA18R 18 Symbol Unit PR kw 1 NR min Nmax min TR Nm TS Nm 7 88 TP Nm IR Arms IS Arms IP Arms KT NmArms K E mvmin R Q R kws te ms tm ms JM 1-4 kgm GD WE kg TB Nm DC9V DC4V 1 VB V IB A. JB 1-4 kgm GD 4 6 W kg Operating Temperature: to 4C, Relative Humidity: 9% maximum, no condensation Setup Software Optional Equipment Torque [Nm] 3 1 Torque [Nm] 4 Torque [Nm]

22 Standard Specifications Q Servo Motor V Capacity 18mm to mm.kw to 1kW 17 models:7w to 1kW Features High Efficiency and Low Ripple (Medium Inertia) Amplifier Model Motor Model and Flange Dimension in mm QAAB RS1A1A QAA7S Status Symbol Unit Rated Output PR kw. 7 Rated Speed NR min Maximum Speed Nmax min -1 1 Rated Torque TR Nm 3 67 Continuous Torque at Stall TS Nm 4 7 Peak Torque at Stall TP Nm 9 1 Rated Armature Current IR Arms 3 34 Armature Current at Stall IS Arms Peak Armature Current at Stall IP Arms Torque Constant KT NmArms Voltage Constant Per Phase K E mvmin Phase Resistance R Rated Power Rate Q R kws Electrical Time Constant te ms 4 3 Mechanical Time Constant (Not including Encoder) tm ms.76.7 Rotor Moment of Inertia Note JM 1-4 kgm GD Mass Note WE kg Brake Static Friction Torque TB Nm 9 9 Brake Rated Voltage VB V DC9V DC4V 1 Brake Rated Current IB A Rotor Moment of Inertia (Brake) JB 1-4 kgm GD 4 4 Brake Mass W kg 1.4 Motor Operating Temp, Rel. Humidity Operating Temperature: to 4C, Relative Humidity: 9% maximum, no condensation Note) including Wire-saving incremental encoder Motor Dwgs P7 to P8 :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is. Torque [Nm] Torque [Nm] Q4 Servo Motor V Capacity 18mm 11kW to 1kW models:11kw to 1kW Features High Power Rate (Low Inertia) Motor Dwgs P6 :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 Q4AA1811KB 18 RS1A3A Q4AA181KB 18 Status Symbol Unit Rated Output PR kw 11 1 Rated Speed NR min -1 1 Maximum Speed Nmax min -1 Rated Torque TR Nm 7 9. Continuous Torque at Stall TS Nm 7 9. Peak Torque at Stall TP Nm 19 Rated Armature Current IR Arms 4 61 Armature Current at Stall IS Arms 3 9 Peak Armature Current at Stall IP Arms 1 1 Torque Constant KT NmArms Voltage Constant Per Phase K E mvmin Phase Resistance R..3 Rated Power Rate Q R kws Electrical Time Constant te ms 31 3 Mechanical Time Constant (Not including Encoder) tm ms.3.7 Rotor Moment of Inertia Note JM 1-4 kgm GD Mass Note WE kg 6 7 Brake Static Friction Torque TB Nm Brake Rated Voltage VB V Brake Rated Current IB A Rotor Moment of Inertia (Brake) JB 1-4 kgm GD 4 Brake Mass W kg Motor Operating Temp, Rel. Humidity Operating Temperature: to 4C, Relative Humidity: 9% maximum, no condensation Cooling Fan PF W 39/33ACV1Single phase /6HZ Note) including Wire-saving incremental encoder Torque [Nm] Torque [Nm]

23 Torque [Nm] 1 1 QAA18H 18 QAA187L 18 RS1A3A QAA11KV QAA1KV Symbol Unit PR kw 1 NR min -1 3 Nmax min TR Nm TS Nm TP Nm IR Arms IS Arms IP Arms KT NmArms K E mvmin R Q R kws te ms tm ms JM 1-4 kgm GD WE kg TB Nm DC9V DC4V 1 VB V IB A. 4 JB 1-4 kgm GD W kg Operating Temperature: to 4C, Relative Humidity: 9% maximum, no condensation Torque [Nm] 1 1 Torque [Nm] Torque [Nm] 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 [ PA3C ] Absolute encoder for incremental system [ PA3S ] Absolute encoder without battery [ RA3C ] Cannon plug and lead-wire types Setup Software Optional Equipment Note ) V Note ) V SERVO AMPLIFIER 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 Plug : 11-3PE Shell : 13-A Note 1) Note 3) Incremental encoder A Blue A or U channel output D Brown A or U channel output B Green B or V channel output E Purple B or V channel output F White C or W channel output G Yellow C or W channel output J Red V N Black V Note 4) H (Shield Wire) FG (shielded) SERVO MOTOR JA6A--9S-J1-R JA6A--9S-J1-EB-R JA8A--9S-J1-EB-R N/MS316B-9S N/MS318B-9S (With Cannon plug) Note ) V Note ) V SERVO AMPLIFIER CN ES ES EBAT EBAT Plug : 11-3PE Shell : 13-A E/1 F/ T S H/9 G/1 J/7 Note 1) Note 3) Cannon plug Model No. Absolute encoder for incremental Brown ES Blue ES Pink EBAT Purple Note 4) EBAT Note ) Red Black Battery backup method absolute encoder / Absolute encoder without battery V V FG (shielded) SERVO MOTOR JNDS1SL1-R JNFS1SL1-R JNDS1SL-R N/MS316B-9S N/MS318B-9S Absolute encoder JNFS1SL-R JNDS1SL3-R JNFS1SL3-R Note 1) Use a twisted-pair shielded cable. Note ) Encoder power connections depend on encoder cable length. See the following table: Encoder cable length m MAX. V DC Wiring Connect pin 19 (Do not connect pins 9, 1, 17) V DC Wiring Connect pin (Do not connect pins 1, 11, 16, 18) 1m MAX. Connect pin 17,19 (Do not connect pins 9, 1) Connect pin 18, (Do not connect pins1, 11, 16) m MAX. Connect pin 1, 17, 19 (Do not connect pins 9) Connect pin 11, 18, (Do not connect pins 1, 16) 3m MAX. Connect pin 9,1,17,19 Connect pin 1,11,16,18, Note 3) Use a AWG4.mm encoder cable Note 4) The color in ( ) shows the case of the encoder of the lead wire type. Note 1) Use a twisted-pair shielded cable. Note ) Encoder power connections depend on encoder cable length. See the following table: Encoder cable length 1m m 4m V DC Wiring V DC Wiring Connect pin 19 (Do not connect pins1,17) Connect pin (Do not connect pins11,18) Connect pin 17, 19 (Do not connect pins 1) Connect pin 18, (Do not connect pins 11) Connect pin 1,17,19 Connect pin 11,16,18, 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. Note ) The color in ( ) shows the case of the encoder of the lead wire type. The pin numbers of cannon plug type: See the following table. Encoder ES ES EBAT EBAT V V FG Battery backup method absolute Encoder E F T S H G J Absolute encoder for incremental Absolute encoder without battery E F H G J

24 - External Wiring Diagram Single-Axis Servo Amplifier With CANopen Main Power : V ACControl Power : V ACDC4V Contorol Power DC4V 3-phase AC power to 3V 6Hz Note 1) MC Operation Prep. ON Operation Prep. OFF MC MC Emergency Error Stop User Unit A : CNA 1 to 3A : Terminalblock Note 11) CNB T S R DC4V 4V 4G Contorol Power ACV User Unit 1 Note ) Note 3) Note 4) CNB Regenerative resistor 3-phase AC power to 3V 6Hz Note 1) MC A : CNA 1 to 3A : Terminalblock T Note 11) S R t r DL1 DL P RB1 RB + Operation Prep. ON Operation Prep. OFF MC MC Emergency Error Stop CAN_H CAN_L Terminator GND GND CN Note 1) SERVO AMPLIFIER CAN TRANCEIVER W V U A : CNC 1 to 3A : Terminalblock Note 6) Black White Red Green (Green/Yellow) SERVO MOTOR Orange (Yellow) RY1 Orange 9V (Yellow) (4V) Holding brake (for the type with a brake only) CAN_H CAN_L Terminator SH Combination of Plug:TM1P-88P CN4 1 1/4W 1 CN Note 7) Encoder connector SH SH Combination of Plug : 11-3PE Note ) Shell : 13-A-8 Encoder GND 3 GND 7 SH Combination of Plug:TM1P-88P SG CN1 DC 3.6V Lithium Battery 1 BTP-I 8 BTN-I NPN Output OUT-PWR 14 DCV, Note 8) DC1V 4V PNP Output OUT-PWR 14 Note 8) DC1V Note 8 ) DCV to 4V 9 3 CONT -COM CONT1 OUT1 6 OUT1 6 1 CONT OUT 13 OUT 13 OUT-COM 7 4 CONT3 SH Note ) SH Note ) 11 CONT4 Note 1) 1) For For the the parts parts markde markde, use, use a twisted a twisted pair shielded pair shielded cable. cable. CONT7 1 CONT8 Combination of Plug : PE Shell : 1314-A-8 Note )When using an an external regenetive resistor, resistor, connect connect it between it between RB1 and RB1. If RB1 and. If RB1 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 RB1and RB1and 4, first 4, first disconnect disconnect them. them. Note 3) The DL1 and DL terminals are for connecting a DC reactor. If a DC reactor is not Note 3) used, The DL1 short and the DL DL1 and terminals DL terminals are for using connecting the short a DC bar reactor. supplied. If a DC reactor is not used, short the DL1 and DL terminals using the short bar supplied. Note 4) The terminal and the P terminal are for maintenance (high-voltage circuit). Note 4) The terminal and the P terminal are for maintenance (high-voltage circuit). Note ) Refer to the Instruction Manual for instructions on the shielding process. Note ) Refer 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 on use the with motor lead type specification. motor power The line red, and white, brake line. Refer 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) Refer brake to line. the encoder Refer to connection the motor diagram specifications regarding for the cannon encoder plug connector type connections. wiring. Note 8) 7) Power Refer 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) R,S,T,t,r,,P,DL1,DL,RB1,RB,U,V,W Power should be supplied by the are user. high-voltage Either of circuits, the inputs all other can be lines selected. are low-voltage. Ensure sufficient distance between the high- and low-voltage circuits. Note 9) R,S,T,t,r,,P,DL1,DL,RB1,RB,U,V,W are high-voltage circuits, all other lines are Note 1) 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 11) 1) Do It is not recommended wire the S phase to for use a single-phase a ground fault power interrupter amplifier. conformingto the UL, IEC and EN standards. Note 1) Insert RJ4 connector to which 1pin(CAN_H) and pin(terminator) are Note 11) short-circuited Do not wire the in CN3 S phase or CN4 for when a single-phase the terminator power is necessary. amplifier. Note 1) Insert RJ4 connector to which 1pin(CAN_H) and pin(terminator) are short-circuited in CN3 or CN4 when the terminator is necessary. 3

25 - + + Servo Amplifer built-in positioning function model Main Power : V ACControl Power : V AC Features and Functions Single-phase (V) Amp,capacity A User Unit Single-phase AC Powe to 3V 6Hz 3-phase (V) Note 1) 3-phase AC power to 3V /6Hz Note 1) MC Operation Prep. ON Operation Prep. OFF MC MC Emergency Stop Error MC User Unit Operation Prep. Operation Prep. ON OFF MC MC Emergency Error Stop External power source for output (+4V) Power ON ready (A-RDY) NC ready (NCRDY) Holding brake excitation timing output (HBON) Error output (Err) External operation effective (EXT) While operation (MOVE) Positioning complete (PFIN) Note 8) A : CNA 1 to 3A : Terminalblock Note 11) CN T S R t r Amp,capacity A Note ) Note 3) Note 4) CNB DL1 DL P RB1 RB SERVO AMPLIFIER Note ) Regenerative resistor + W V U CN Note 7) Amp,capacity 1A1A Note ) Note 3) Note 4) Terminal block DL1 DL A : CNC 1 to 3A : Terminalblock Note 6) P RB1 RB4 Black White Red Green (Green/Yellow) Encoder connector SH SH Plug : 11-3PE, Note ) Shell : 13-A-8 External regenerative resistor RB Built-in regenerative resistor SERVO MOTOR Encoder Amp,capacity 3A Note ) Note 3) Note 4) Orange (Yellow) Terminal block RY1 Orange 9V (Yellow) (4V) Holding brake (for the type with a brake only) DL1 DL P RB1 External regenerative resistor RB Model Number Nomencalture Configuration Standard Specifications Dimensions External Wiring Diagram In-position (INPS) 9 Homing complete (ZFIN) OUT(1) OUT() OUT(3) OUT(4) General-purpose output OUT() OUT(6) OUT(7) OUT(8) Common for output external power (4G) Setup Software Optional Equipment External power source for input (+4V) Slow down before Home (SDN) Note 8) 6 19 Over travel (+T) Over travel (-T) External data setting (E_STR) External Error (EXT_E) Start (RUN) Homing start (ZRT) Manual feeding (+JOG) Manual feeding (-JOG) Over ride (OVRID)/Manual high speed (RAP) Alarm reset (ARST) Cancel (CACL) Servo ON (S-ON) Output selection 1 (SEL1) Output selection (SEL) Output selection 3 (SEL3) 1 step feeding (+1step) 1 step feeding (-1step) Interruption start (I_RUN) MFIN (MFIN) IN(1) IN() Note 1) For the parts marked, use a shielded cable. Note ) Note 3) AMP. capacity A When using an external regenerative resistor, connect it between RB1 and. If RB1 and are connected to the internal amplifier's resistor, or if a shorting bar is connected between RB1and 4, first disconnect them. AMP. capacity 1A,1A When using internal regenerative resistor, connectshort-circuit bar between RB1 and RB4 terminals. When using external regenerative resistor, connect it between RB1 and RB terminalsafter removing short-circuit bar between RB1 and RB4 terminals. AMP. capacity 3A Connect external regenerative resistor between RB1 and RB terminals. The DL1 and DL terminals are for connecting a DC reactor. If a DC reactor is not used, short the DL1 and DL terminals using the short bar supplied. Note 4) The terminal and the P terminal are for maintenance Note ) Refer to the Instruction Manual for instructions on theshielding process. Note 6) 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. Refer to the motor specifications for cannon plug type connections. Note 7) Refer to the encoder connection diagram regarding the encoder connector wiring. Point specification IN(4) IN(8) IN(16) IN(3) Note 8) Power should be supplied by the user. Either of the inputs can be selected. Note 9) R,S,T,t,r,,P,DL1,DL,RB1,RB, RB4 (1A, 1A only), 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(18) 49 Note 1) It is recommended to use a ground fault interrupter conforming to the UL, IEC and EN standards. Plug :11-3PE Shell :13-A-8 Note 11) Do not wire the S phase for a single-phase power amplifier. 4

26 External Wiring Diagram Single-Axis Servo Amplifier built-in positioning function serial interface model Single-phase (V)Amp,capacity A User Unit Single-phase AC Power to 3V 6Hz Note 1 3-phase (V) 3-phase AC Power to 3V 6Hz Note 1 MC Operation Prep. Operation Prep. ON OFF MC MC Emergency Stop Error MC User Unit A : CNA 1 to 3A : Terminalblock Note 11 T S R t r Amp,capacity A Note Note 3 Note 4 CNB DL1 DL Regenerative resistor P RB1 RB + Amp,capacity 1A1A Note Note 3 Note 4 Terminal block DL1 DL P RB1 RB4 RB Built-in regenerative resistor + External regenerative resistor Amp,capacity 3A Note Note 3 Note 4 Terminal block DL1 DL P RB1 + External regenerative resistor RB Operation Prep. Operation Prep. ON OFF MC MC SERVO AMPLIFIER Emergency Stop Error B/B' A/A' GND Conbination of Plug : TM1P-88P Note 1 CN3 SH 4 8 SW 1/4W 1 RS-48 TRANCEIVER CNC W V U CN Note 7 SH Note 6 Black White Red Green (Green/Yellow) Encoder connector SH SERVO MOTOR Orange (Yellow) Encoder Orange (Yellow) Holding brake (for the type with a brake only) RY1 9V (4V) B/B' A/A' Hirose CN4 Note 1 4 Note Conbination of Plug : 11-3PE, Shell : 13-A-8 3M GND 8 SH Combination Plug : TM1P-88P or equivalent Hirose SG OUT-PWR 9 Note 8 DC4V CN1 OUT1 7 DC4V Note 8 1 CONT-COM CONT1 OUT 8 General-purpose Outputs 3 CONT OUT-COM 6 General-purpose Inputs SH 4 CONT3 CONT4 Note 1) For the parts marked, use a shielded cable. SH Combination Plug kit: MUF-PK1K-X or equivalent J.S.T.Mfg.CO.,LTD Note ) Connect regenerative resistor between RB1 and RB terminals. Note 3) The DL1 terminal and DL terminal are terminals to connect to the DC reactor. When a DC reactor is not used, short-circuit between DL1 and DL terminals with the supplied short-circuit bar. Note 4) The terminal and the P terminal are for maintenance Note ) Refer to the Instruction Manual for instructions on the shielding process. Note 6) Note 7) Note 8) 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. Refer to the motor specifications for cannon plug type connections. Refer to the encoder connection diagram regarding the encoder connector wiring. Power should be supplied by the user. Either of the inputs can be selected. Note 9) R,S,T,t,r,,P,DL1,DL,RB1,RB,U,V,W are high-voltage circuits, all other lines are low-voltage. Ensure sufficient distance between the high- and low-voltage circuits. Note 1) Note 11) It is recommended 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.

27 Servo Motor Dimensions (Unit : mm) 86mm Q Servo Motor Series: High Efficiency / Low Ripple (Medium Inertia) Features and Functions (11) M..6 M 8.3 Standard Specifications M 3 LL A A Model Number Nomencalture Configuration S Type Oil seal M Tapping Depth 1 (7.) () Optional Equipment () 111 () MODEL QAA87 QAA81 Section AA Incremental Without brake With brake LL LL Teflon wire (for mounting) (For Poewr, Brake and Ground) Shielded cable (for mounting) (For Encoder) Dimensions External Wiring Diagram 18mm Q4 Servo Motor Series: High Power Rate (Low Inertia / High Torque) Setup Software Eye Bolt -M8 (IE) (LH) Weight Caution Nameplate Key Position Key Position MS31A3-17P (or Equivalent) MS31A1SL-4P MS31A-9P (or Equivalent) (for motor) (for fan motor) (for encoder) LC M LL () () (KB1) (KB) 7. M LR (IL1) (IL) LE (LG) Motor Nameplate (Opposite side) Arrow Nameplate (opposite) Q LA LB S QA QK A M A R1 N.P. Exhaust N.P. Intake (11) (1) (KL3) (19) (KL1) (KL) M1X1. 4-LZ1 Depth LT S Type Oil seal -LZ W U T (IL1) (IL) -M8 Caution Nameplate For Eye Bolt Exhaust Min. of mm space needed (14) Section A-A Incremental Note 1) Connector MODEL Q4AA1811K Q4AA181K Without brake LL KB Please inquire for the dimensions with the absolute encoder. Motor, Ground MS31A LG KL1 KL KL3 LA LB LE LH LC LZ1 LZ LR S Q QA QK W T U KB1 QE LT IE IF 3-17P M M IL1 IL

28 H Servo Amplifier Dimensions (Unit : mm) 1mm to mm Q1 Servo Motor Series: High Power Rate (Low Inertia) Q Servo Motor Series: High Efficiency / Low Ripple (Medium Inertia) LC 4-LZ1 M M LR LE (LG) (IL) LL (IF) -M8 (LH) LA QA Q QK H W LB S M (KL1) (19 ) (KL3) (IE) -LZ S Type Oil seal QE Tap Depth LT U T (IL1) (IL) (KB1) (KB3) (KB) ( KL ) MS31A-9P(or Equivalent) (For Encoder) (IF) Eye bolt -M8 Section H-H MS31A-(or Equivalent) (for motor, brake and ground) JL4V-E1SL-3PE-B (For Brake) Q1 Servo Motor Series: High Power Rate (Low Inertia) Incremental Connector Note 1 Without brake With brake Motor, Ground Brake Note (only when mounted) MODEL LL KB LL KB KB3 MS31A JL4V-E LG KL1 KL KL3 LA LB LE LH LC LZ1 LZ Q1AA Q1AA Q1AA P 1SL-3PE-B Q1AA Q1AA Q1AA P 1SL-3PE-B Q1AA Q1AA133 4 Q1AA P Q1AA Q1AA Q1AA P 1SL-3PE-B M M8 MODEL LR S Q QA QK W T U KB1 QE LT IE IF IL1 IL Q1AA11 84 Q1AA Q1AA M Q1AA1 19 Q1AA M6 Q1AA Q1AA M8 Q1AA Q1AA M Q1AA Q1AA184 6 Q1AA Note 1) Waterproof specification IP67 requires that the connector to be attached ; for IP67 compliance, use a waterproof connector for the mating plug. Note ) All brake connectors are JL4V-E1SL-3PE-B for CE compliant DC4V brakes. Please inquire for the dimensions with the absolute encoder. 8 3 M M

29 Q Servo Motor Series: High Efficiency / Low Ripple (Medium Inertia) Incremental Connector Note 1 Without brake With brake Motor, Ground Brake Note (only whenmounted) MODEL LL KB LL KB KB3 MS31A JL4V-E LG KL1 KL KL3 LA LB LE LH LC LZ1 LZ QAA P 1SL-3PE-B QAA QAA QAA P M6 QAA QAA QAA P M8 QAA QAA P QAA M8 QAA P 1SL-3PE-B QAA M1 QAA11K P QAA1K M1 MODEL LR S Q QA QK W T U KB1 QE LT IE IF IL1 IL QAA M QAA QAA M6 QAA QAA M QAA QAA M QAA QAA M QAA QAA M QAA QAA11K M QAA1K Note 1) Waterproof specification IP67 requires that the connector to be attached ; for IP67 compliance, use a waterproof connector for the mating plug. Note ) All brake connectors are JL4V-E1SL-3PE-B for CE compliant DC4V brakes. Please inquire for the dimensions with the absolute encoder. Features and Functions Model Number Nomencalture Configuration Standard Specifications Dimensions External Wiring Diagram Electric wire diameters Maximum continuous Power receptacle Maximum wire size of connector Receptacle permissable Combined Amplifier Recommended motor power wire size current Wire size of main power,, *Note 1 MODEL armature current MS Type JL4V Type Shell Size Contact Size Type Arms mm mm Arms supply R, S, T mm AWG No. Q1AA11D 7.8 RS1A AWG1 3. #1 Q1AA11D 8. -1P # /1 Q1AA1D 18 RS1A1 AWG1 3. #1 Q1AA1D 17. Q1AA11D 7. RS1A AWG1 3. #1 Q1AA1D P #8 8. 4/1 Q1AA13D 17.3 RS1A1 AWG1. #1 Q1AA133D 17.6 RS1A1 AWG1. #1 Q1AA134D P #8 8. 4/1 Q1AA13D 7. RS1A1 AWG8. #1 Q1AA184M 4.8 Q1AA187H P #4 7/1 RS1A3 AWG6 14 #6 QAA11H 8.1 QAA11H 9.4-1P # /1 RS1A AWG1 3. #1 QAA131H 8.3 QAA131H 1. RS1A AWG1 3. #1 QAA13H 16.3 QAA18H P #8 8. 4/1 RS1A1 AWG1. #1 QAA183H 8 QAA184H 9 RS1A1 AWG8. #1 QAA18R 33.7 RS1A1 AWG8 8 #8 QAA18H P #4 7/1 QAA187L 7 RS1A3 AWG6 14 #6 QAAB 3.1 QAA7S P #8 8. 4/1 RS1A1 AWG8. #1 QAA11KV 66 QAA1KV P #4 7/1 RS1A3 AWG6 14 #6 Q4AA1811KB 3 Q4AA181KB P #4 7/1 RS1A3 AWG6 14 #6 *Note1Use of heat-resistant vinyl wire (HIV) is recommended Voltage V Type Setup Software Optional Equipment 8

30 AC SERVO SYSTEMS CNA T S R t r CNB DL1 DL P RB1 RB CNC W V U AC SERVO SYSTEMS MODE T S R t r DL1 DL P RB1 RB W V U CHARGE RUN ERR CHARGE C N B C N A WR/ POWER POWER CN3 CN4 P C C N 1 C N RS1AA* C N 1 C N RB1 RB RB1 RB PC R S T DL1 DL P RB4 RB1 RB U V W CHARGE r t AC SERVO SYSTEMS MODE WR/ POWER RS1A1A* P C 1 AC SERVO SYSTEMS RS1JAL CNA T S R P RB1 RB CNB 4V V CNC W V U CHARGE RUN ERR POWER CN3 CN4 PC DL1 DL P RB4 RB1 RB U V W CHARGE r t AC SERVO SYSTEMS MODE POWER RS1A1A* WR/ P C 1 R S T RB1 RB CHARGE r t DL P U V W - DL1 AC SERVO SYSTEMS MODE POWER RS1A3A* WR/ P C C N 1 C N Servo Amplifier Dimensions Unit : mm Single-Axis Servo Amplifier with CANopen RS1AACA RS1JACA Screw M4 Screw M R RS1AAL (7) (7) (4) Fan 168 Wind direction 9 R (7) (7) (4) Fan Wind direction C 1 N N C Servo Amplifier built-in positioning function model RS1AACA Screw M4 RS1A1AC1A R (7) (7) (4) Fan Wind direction 3. (7) (4) (7) 3 6 R S T R 1 N C C N C N C Fan Wind direction (6) (7) RS1A1AC1A RS1A3AC3A 3. (7) (4) (7) R 1 N C N C 3 (7). (4) (7) R 3 Fan Wind direction (6) (7) Fan Wind direction 7 9

31 Setup Software (1) Setup Software Start-up Screen () Main Screen Configuration Model Number Nomencalture Features and Functions (3) Parameter Configuration Screen a. Configuration of General Parameters : Enables parameter loading, saving, etc., via PC connection (4) Monitor Functions b. Configuration of Motor Parameters : Combined motors can be configured via PC connection Setup Software Dimensions External Wiring Standard Diagram Specifications 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 Record Display : Current and past alarm occurrence can be checked. 3

32 Setup Software () Test Run and Adjustment Function a. Speed Jog : Simplifies motor operation and the issuing of speed commands from a PC b. Pulse Forward Jog : Simplifies motor operation and the entering of distance and travel speed data from a PC 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 Positioning Function Type Screen Point Data Setup Test Run 31

33 Pass Point 1 Move to Point Move to Point 3 Servo Amplifier built-in positioning model General Specifications Positioning Function Input and Output Control Shaft Count Single Shaft Register Point Count Configurable up to 4 points (P to P3) Maximum No. of Commands From -,147,483,648 to +,147,483,647 Command Unit Either mm or pulse is acceptable Fast-forward Speed,147, mm/sec (.1mm/when pulse is selected) Acceleration and Deceleration Automatic acceleration and deceleration (straight and S switch) Point Data Setup Numerical input via PC, and setup by teaching Travel Point Number Setup Parallel 8 bits (binary code) Current Limit to 1% (at 1% rating), but less than instantaneous maximum stall current Software Limit Exists Travel Mode Zero Return, Manual (JOG, 1Step), and Point-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 setup1 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 Positioning Function model By starting up Point 1, Points and 3 will be executed consecutively. Point Data Setup Enables configuration and saving of parameters, and the reading of point data from a PC. Mode 1: [1]= Positioning Operation enabled; Mode : []= Final Travel, [1]= Continue to next Point Number Gear Change: Stop / Continue: [1]= Consecutive Gear Shift Operation Optional Equipment Dimensions External Wiring Diagram Setup Software PLC OT Sensor Deceleration Signal Sensor +OT Sensor Starting Coordinates: Start-up Point 1 (P1) as. P1:1. P:1.P3:18. Motor Speed Point Input Point 1 (P1) ON only CN ON OFF Coordinate Start-up Signal Input CN1-7 Running Output CN1-7 ON OFF ON OFF Positioning Completion Signal CN1-8 ON OFF 3