AC100 V 30 W-200 W, AC 200 V 30 W-1kW. Ver.6

Transcription

1 AC V W- W, AC V W-kW Ver.

2 Input voltage AC V, V Servo amplifier Amp. capacity A A A R Servo motor Flange size mm mm 8mm 8mm Rated output W W W W W 7W.kW

3 Index Features and Functions P. Standard Model Number List P. 7 Model Number Nomenclature P. System Configuration P. Standard Specifications Encoder Wiring Diagram P. External Wiring Diagram P. Dimensions P. Setup Software P. 8 Servo Amplifier built-in positioning function P. Optional Equipment P. Discontinued Models and Replacement Models P.

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, levels of response, and parameter setting auto-save. Small Compact Servomotors Motor size and volume is reduced by as much as % and % respectively compared to current models. The world's smallest high torque high performance servomotor. (as of Sept ) Velocity command value Tuning start Detected velocity value % reduction Multi-Axis Servo Amplifier -axis model can reduce installation width by up to % compared to six single-axis models.power loss is reduced by up to % compared to current single-axis models. Protection code IP7 Protection code is IP7 for all models. IP7 Water Dust *Shaft feedthrough and cable end are excluded. All-in-One Control Configurable parameters allow you to switch between control modes for torque, position or velocity. Power Supply Harmonic Suppression Equipped with DC reactor connection terminals as standard feature for supressing power supply harmonics. Position or Velocity Torque control Flat Ascending *Uniaxial servo amplifier only

5 -digit LED Display, Built-in Operator Parameter setting, monitoring and alarm tracing can be easily done using the built-in operator. 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 Standard Specifications Features and Functions Model Number Nomencalture System Configuration *Multi-axis is done through a personal computer. 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 Multiaxial Monitor Function The setup software allows up to amplifiers to be monitored. (Single axis only) Daisy chain up to units Dimensions External Wiring Diagram Setup Software * RSC Maximum units Optional Equipment * Use optional cable AL-98- for PC connection *PC connection cable is optional 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 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. Rotation speed (min- ) Controlled state Dynamic braking state Time(s) External regenerative resistor unit (Option)

6 Improved Precision and Reduced Cycle Time High Response A th-order notch filter reduces phase delay to suppress mechanical resonance and improve velocity response of equipment. Shorter Position Settling Time A new algorithm drastically shortens positioning settling time for equipment. Position deviation Gain (db) Position complete signal Settling time (ms) - 8 Frequency (Hz) Example of positioning settling time in highly rigid machinery ms/div 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 types of vibration control frequencies can be selected. Position deviation during stop 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. With vibration suppression control Without vibration suppression control Disturbance observer function ON Disturbance observer function OFF Oscillation waveform of direct drive section Oscillation waveform of direct drive section With vibration suppression control Without vibration suppression control ms/div Disturbance Disturbance Expanded Power Range Maximum instantaneous stall torque is improved by % to %, and maximum rotation speed is increased from min - to min - compared to current models. 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. Position command Increased torque R motor Torque (N ) Current model Increased rotation Speed Position deviation 7 Rotation Speed (min - ) ms/div

7 Reduced Running Costs Low Cogging Torque % Reduction in Power Loss Features and Functions Using our proprietary technology, the motor's low cogging torque delivers smooth rotation that is ideal for high precision processes and vibration-sensitive conveyor applications. R motor Current model High Resolution Comparison of cogging torque waveforms (*Image) Support for encoders up to 7 bit (,7 divisions) is available for high resolution control. An energy conserving power module reduces main circuit power loss by up to %. % 9% 8% 7% % % % % % % % Current model SANMOTION R A Model Number Nomencalture System Configuration Standard Specifications Optional Equipment Dimensions External Wiring Diagram High Resolution 7bit(,7 divisions) Absolute Encoder Setup Software Power loss reduction (%)

8 Servo Motor Standard Model Number List V System Power Voltage Encoder models Rated Output Motor Flange Size Holding Brake CE UL Model No. RAAFXP W mm sq. Standard RAAFXPM yes V RAAFCP yes V Standard RAAFCPM RAAFXP W mm sq. Standard RAAFXPM yes V RAAFCP yes V Standard RAAFCPM mm sq. RAAFXP Standard RAAFXPM RAAFXP W Standard RAAFXPM mm sq. yes V RAAFCP yes V Standard RAAFCPM RAAFXP Standard RAAFXPM mm sq. Battery backup method yes V RAAFCP absolute encoder W yes V Standard RAAFCPM RAA8FXP PAC Standard RAA8FXPM 8mm sq. yes V RAA8FCP yes V Standard RAA8FCPM mm sq. RAAFXP Standard RAAFXPM RAA8FXP W Standard RAA8FXPM 8mm sq. yes V RAA8FCP yes V Standard RAA8FCPM RAA87FXP 7W 8mm sq. Standard RAA87FXPM yes V RAA87FCP yes V Standard RAA87FCPM RAAB8FXP W 8mm sq. Standard RAAB8FXPM yes V RAAB8FCP V yes V Standard RAAB8FCPM RAAFXH W mm sq. Standard RAAFXHM yes V RAAFCH yes V Standard RAAFCHM RAAFXH W mm sq. Standard RAAFXHM yes V RAAFCH yes V Standard RAAFCHM mm sq. RAAFXH Standard RAAFXHM RAAFXH W Standard RAAFXHM mm sq. yes V RAAFCH yes V Standard RAAFCHM RAAFXH Standard RAAFXHM mm sq. yes V Absolute encoder for RAAFCH yes V Standard RAAFCHM incremental System W RAA8FXH PAS Standard RAA8FXHM 8mm sq. yes V RAA8FCH yes V Standard RAA8FCHM mm sq. RAAFXH Standard RAAFXHM RAA8FXH W Standard RAA8FXHM 8mm sq. yes V RAA8FCH yes V Standard RAA8FCHM RAA87FXH 7W 8mm sq. Standard RAA87FXHM yes V RAA87FCH yes V Standard RAA87FCHM RAAB8FXH W 8mm sq. Standard RAAB8FXHM yes V RAAB8FCH yes V Standard RAAB8FCHM For specifications on other model, please contact us. 7

9 Servo Amplifier Standard Model Number List V System Type Main Power Control Power Encoder Type CANopen Interface specifications Built-in positioning function model ACV System ACV System DCV ACV System DCV ACV System ACV System Wire-saving incremental encoder, Battery backup method absolute encoder Wire-saving incremental encoder, Battery backup method absolute encoder Selectable Output NPN PNP NPN Internal Registration Amplifier Resistor Capacity Model No. A RSAAL A RSAAL A RSLAL A RSLAL With A RSLAL A RSAAL A RSJAL A RSJAL A RSJAL A RSKAL With A RSKAL A RSKAL A RSAAU A RSAAU A RSLAU A RSLAU With A RSLAU A RSAAU A RSJAU A RSJAU A RSJAU A RSKAU With A RSKAU A RSKAU A RSAAC A RSAAC A RSLAC A RSLAC With A RSLAC A RSAAC For specifications on other model, please contact us. Features and Functions Model Number Nomencalture System Configuration Standard Specifications Dimensions External Wiring Diagram Multi-Axis Servo System Amplifier Unit Type Power Input Encoder Type Pulse train interface DC8V Battery backup method absolute encoder Selectable Output NPN Amplifier Capacity A A Model No. RRAAAB RRAAAB Setup Software Multi-Axis Servo System Power Unit Type Power Input Internal Registration Resistor Model No. Pulse train interface ACV With RRPAA Optional Equipment Multi-Axis Servo System Motherboard Power Input ACV Number of Slots Model No. (based on a A unit) RRMA RRMA 8 RRMA8 8

10 Servo Motor Standard Model Number List V System Power Voltage Encoder models Rated Output Motor Flange Size Holding Brake CE UL Model No. yes(v) REAFCP W mm sq. yes(v) Standard REAFCPM REAFXP Standard REAFXPM yes(v) REAFCP W mm sq. yes(v) Standard REAFCPM REAFXP Standard REAFXPM Battery backup method yes(v) REA8FCP absolute encoder 8W mm sq. yes(v) Standard REA8FCPM REA8FXP PAC Standard REA8FXPM yes(v) REAFCP W mm sq. yes(v) Standard REAFCPM REAFXP Standard REAFXPM yes(v) REAFCP W mm sq. yes(v) Standard REAFCPM REAFXP V Standard REAFXPM yes(v) REAFCH W mm sq. yes(v) Standard REAFCHM REAFXH Standard REAFXHM yes(v) REAFCH W mm sq. yes(v) Standard REAFCHM REAFXH Standard REAFXHM Absolute encoder for yes(v) REA8FCH incremental System 8W mm sq. yes(v) Standard REA8FCHM REA8FXH PAS Standard REA8FXHM yes(v) REAFCH W mm sq. yes(v) Standard REAFCHM REAFXH Standard REAFXHM yes(v) REAFCH W mm sq. yes(v) Standard REAFCHM REAFXH Standard REAFXHM Servo Amplifier Standard Model Number List V System For specifications on other model, please contact us. Type Main Power Control Power Encoder Type Built-in positioning function model ACV System ACV System Wire-saving incremental encoder, Battery backup method absolute encoder Selectable Output NPN Internal Registration Amplifier Resistor Capacity Model No. With A RSNAC A RSNAC A RSEAC A RSEAC For specifications on other model, please contact us. Multi-Axis Servo System Amplifier Unit Type Power Input Encoder Type Selectable Output Amplifier Capacity Model No. Pulse train interface DCV Battery backup method absolute encoder NPN A A RREAAB RREAAB Multi-Axis Servo System Power Unit Type Power Input Internal Registration Resistor Model No. Pulse train interface ACV With RRPEA Multi-Axis Servo System Motherboard Power Input ACV Number of Slots Model No. (based on a A unit) RRME RRME 8 RRME8 9

11 Servo Motor Model Number Nomenclature Servo Motor Example: The following model number defines a "R" servomotor with mm flange size, W rated output, min - maximum rotation speed, V brake, and an absolute encoder (,7 divisions/ rotation),ul/ce approval and reduction ratio /.(Planetary gear) Features and Functions R R Series AA F C P M A Specification Standard With oil seal Model Number Nomencalture System Configuration Motor Type Middle inertia Supply Voltage V Motor V Motor Flange Size mm mm 8 8mm B8 8mm Rated Output W W W W W 7 7W kw A reduction in the rating might be needed if an oil seal and Brake is attached. Please consult with us about the details. Holding Brake X Without Brake B With Brake 9V DC C With Brake V DC Maximum Rotation Speed min - Symbol A B C D E S T U V Reducer type Planetary gear Backlashless planetary gear Please consult with us about the combination for the decelerator. Standard Identification M CE and UL Without standard but with gear Reduction ratio / / /9 / / / / / / Encoder Type P Battery backup method absolute encoder PAC H Absolute encoder for incremental System PAS W Absolute encoder without battery RAC S Wire-saving incremental encoder PPT Standard Specifications Dimensions External Wiring Diagram Setup Software Optional Equipment Encoder Specification Model Partition number / rotation Multiple Rotations Remarks PAC PAS 7(7bit) (bit) Battery backup method Absolute encoder 7(7bit) Absolute encoder for Incremental system RAC 7(7bit) (bit) Absolute encoder without battery PPT 8(P/R) Wire-saving incremental encoder Maximum (Partition number/ rotation) 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, c-ul and EN Standards).

12 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. RS A A L R Series Single-Axis Servo Amplifier Model L A A L N E K J ACV ACV AMP. Capacity A A A Power Input, Internal Registration Setting Control Power Input Voltage DCV Power Input, Input Voltage ACV ACV ACV Motor Type Rotary Motor Internal Registration Resistor W W/O W W/O W W/O W W/O AMP. Capacity A,A A,A A A A,A A,A A,A,A A,A,A Interface Type Interface Specification CAN open I/F Encoder Specification Absolute encoder, Wire-saving incremental encoder L NPN Output U PNP Output *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 Example: The model number shown below is "R" Series Servo Amplifier with V AC input voltage (Main Power and Control Power) and A amplifier capacity. RS A A C R Series Single-Axis Servo Amplifier Amp. capacity A A A Motor Type Rotary Motor Power Input, Internal Registration Setting Model L A A L N E Input Voltage Internal Registration Resistor W W/O ACV W W/O W ACV W/O Amp. capacity A,A A,A A A A,A A,A Interface Type C Built-in Positioning Function Model F Built-in positioning function model with serial interface *The motor parameters need to be set for the amplifier for use. Use the setup software.

13 Multi-Axis Servo Amplifier Example: The model number shown below is a -axis "R" series multiaxis servo amplifier configuration with V AC input voltage, units of A amplifiers, and pulse train interface. Amplifier Unit RRAAAB units Power Unit RRPAA unit Motherboard RRMA unit Features and Functions Model Number Nomencalture Amplifier Unit RR A A A B System Configuration R Series Multi-Axis Servo System Amplifier Unit Amp. capacity A A Control Hardware Type Pulse train interface Specification Standard Standard Specifications Power Unit Power Input A DC8V E DCV RRP A A R Series Multi-Axis Servo System Power Unit Motherboard Power Input A ACV E ACV RRM A Motor Type Rotary Motor Control Hardware Type Pulse train interface Encoder Combination Description Absolute encoder *The motor parameters need to be set for the amplifier for use. Use the setup software. Specification Standard Dimensions External Wiring Diagram Setup Software Optional Equipment R Series Multi-Axis Servo System Motherboard Power Input A ACV E ACV Number of Slots Slots Slots 8 8 Slots Amplifier Unit A:Use of slot per unit Amplifier Unit A:Use of slots per unit Specification Standard

14 System Configuration Single-Axis Servo Amplifier Noise Filter Electromagnetic Contactor Model No.: AL-9- Lithium battery Attached to prevent external noise from the power source line. Switches servo power on and off. Installation of a surge protector is required. Create the protective circuit. Model No.: AL-98- When using the unit with an absolute system, mount the optional battery inside the digital operator cover. Circuit Breaker(CBM) DC Reactor PC Setup Software Parameter configuration and monitoring is possible via communication with a PC. Cuts off power in the case of an overload, to protect the power line. Suppresses power harmonics. Remove the short bar between DL-DL and connect this here, when needed for high frequency waves. CN Host Devices T S R External Regenerative Resistor PLC Use as necessary, for example when operating loads with large inertia. CN For special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier s internal regenerative resistor. Brake Power Wiring required for brake. Required for use when the servo motor is equipped with a brake. CANopen Host Devices Dedicated controller PC and PLC are available as the host device. *Communication Profile: DS- Device Profile: DSP- compliance

15 Multi-Axis Servo Amplifier Noise Filter Attached to prevent external noise from the power source line. Circuit Breaker(CB) Cuts off power in the case of an overload, to protect the power line. T S R Lithium battery When using the unit with an absolute system, connect the battery to CN. Setup Software Parameter configuration and monitoring is possible via communication with a PC. Model No.: AL-98- Host Devices PLC Features and Functions Model Number Nomencalture System Configuration Electromagnetic Contactor Standard Specifications Switches servo power on and off. Installation of a surge protector is required. Create the protective circuit. External Regenerative Resistor Use as necessary, for example when operating loads with large inertia. Dimensions External Wiring Diagram For special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier s internal regenerative resistor. Setup Software DC Reactor Optional Equipment Suppresses power harmonics. Remove the short bar between DL-DL and connect this here, when needed for high frequency waves. Brake Power Wiring required for brake. Required for use when the servo motor is equipped with a brake.

16 Standard Specifications R Servo Motor V System Capacity mm sq. to 8mm sq. W to W Features High Efficiency and Low Ripple (Medium Inertia) Motor Model and Flange Size in mm Status Symbol Unit RAAF RAAF RAAF Rated Output PR W Rated Speed NR min - Maximum Speed Nmax min - Rated Torque TR N m Continuous Torque at Stall TS N m Peak Torque at Stall TP N m Rated Armature Current IR Arms..7.8 Armature Current at Stall IS Arms..9.8 Peak Armature Current at Stall IP Arms..8. Torque Constant KT N m Arms... Voltage Constant Per Phase K E mv min Phase Resistance R 9 9. Rated Power Rate Q R kw s.9.7 Electrical Time Constant te ms..7.8 Mechanical Time Constant (Not including Encoder) tm ms Rotor Moment of Inertia (Not including Encoder) JM - kg m GD Rotor Moment of Inertia (Encoder) JS - kg m GD. (Note ) Mass including Encoder WE kg..9. Brake Static Friction Torque TB N m. MIN. Brake Rated Voltage VB V DC9V DCV Brake Rated Current IB A.7.7 Rotor Moment of Inertia (Brake) JB - kg m GD.78 Brake Mass W kg.7 Motor Operating Temp, Rel. Humidity Amplifier Model Single-Axis Amplifier Model Multi-Axis Operating Temperature: to C, Relative Humidity: 9% Maximum, no condensation RSAA RRAAAB Amplifier Power Supply ACV to V, % /Hz Hz (Note ) Amp. Operating Temp. and RH Operating Temperature: to C (Note), Relative Humidity: 9% Maximum, no condensation Rated power supply kva.. Amplifier Mass Weight [Single / CAN / Multi] (Note) kg.9..8 Motor Dwgs P :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is. Note ) The multi-axis type Servo amplifier has an ambient operating temperature of to. The operating temperature with forced air cooling is to. Note ) In case of the amplifier for CANopen, there is also control power source DCV type. Note ) This is a instance with the battery-backup method absolute encoder PA. For the following encoders, please make inquiries: Absolute encoder without battery RAC Red. Wiring Incremental Encoder PPT Note ) The weight in the multi-axial specifications is of amplifier unit only. * For models with oil seal or brake, reduction in rated value may become necessary. Torque [N m] Speed [min - ] Torque [N m] Speed [min - ] Torque [N m].. 7 Speed [min - ] Encoder Wiring Diagram Single-Axis Servo Amplifier Note V Note V SERVO AMPLIFIER CN ES ES EBAT EBAT Note Note Brown ES Blue ES Pink EBAT Purple Note EBAT Red V Black V FG Shielded SERVO MOTOR Encoder Battery backup method absolute encoder [ PAC ] Absolute encoder for incremental system [ PAS ] Absolute encoder without battery [ RAC ] Note ) Use a twisted-pair shielded cable. Note ) Encoder power connections depend on encoder cable length. See the following Encoder cable length +V DC Wiring V DC Wiring m MAX. m MAX. m MAX. Connect pin 9 (Do not connect pins,7) Connect pin (Do not connect pins,8) Connect pin 7,9 (Do not connect pins) Connect pin 8, (Do not connect pins) Connect pin,7,9 Connect pin,8, Note ) Use a Awg.mm encoder cable Note ) When the Absolute encoder for incremental system or absolute encoder without battery is used, battery lines (EBAT+, EBAT-) are not required. Multi-Axis Servo Amplifier Wiring diagram page7 Plug:-PE Shell:-A-8

17 RAAF RAAF RAAF RAA8F 8 RAA8F 8 RAA87F 8 RAAB8F (Note ) MIN..7 MIN.. MIN..9 MIN. DC9V DCV Operating Temperature: to C, Relative Humidity: 9% Maximum, no condensation RSAA RSAA RSAA RSAA RSAA RRAAAB RRAAAB RRAAAB RRAAAB ACV to V, % /Hz Hz (Note ) Operating Temperature: to C Note, Relative Humidity: 9% Maximum, no condensation Features and Functions Model Number Nomencalture System Configuration Standard Specifications Dimensions External Wiring Diagram Setup Software. Torque [N m]. Torque [N m] Torque [N m] Torque [N m] Torque [N m] Torque [N m] 8 Torque [N m] Optional Equipment 7 Speed [min - ] 7 Speed [min - ] 7 Speed [min - ] 7 Speed [min - ] 7 Speed [min - ] 7 Speed [min - ] 7 Speed [min - ] Single-Axis Servo Amplifier SERVO AMPLIFIER SERVO MOTOR Wire-saving incremental encoder [ PPT ] Note ) DC V Note ) GND(V) CN A or U channel input A or U channel input B or V channel input B or V channel input C or W channel input C or W channel input Note ) Note ) Blue Brown Green Purple White Yellow Red Black Note ) Incremental encoder A or U channel output A or U channel output B or V channel output B or V channel output C or W channel output C or W channel output DC V GND(V) FG(Shielded) Note ) Use a twisted-pair shielded cable. Note ) Encoder power connections depend on encoder cable length. See the following Encoder cable length +V DC Wiring V DC Wiring Note ) m MAX. m MAX. m MAX. m MAX. Connect pin 9 (Do not connect pins 9,,7) Connect pin (Do not connect pins,,,8) Connect pin 7,9 (Do not connect pins 9,) Connect pin 8, (Do not connect pins,,) Use a Awg.mm encoder cable Connect pin,7,9 (Do not connect pins 9) 9,,7,9 Connect pin Connect pin,8, (Do not connect pins,),,,8,connect pin Plug : -PE Shell : -A-8

18 Standard Specifications R Servo Motor V System Capacity mm sq. to mm sq. W to W models Features High Efficiency and Low Ripple (Medium Inertia) Motor Model and Flange Size in mm Status Symbol Unit REAF REAF Rated Output PR W Rated Speed NR min - Maximum Speed Nmax min - Rated Torque TR N m.98.9 Continuous Torque at Stall TS N m.8.7 Peak Torque at Stall TP N m.7.9 Rated Armature Current IR Arms.9. Armature Current at Stall IS Arms.. Peak Armature Current at Stall IP Arms.7.9 Torque Constant KT N m Arms. %. % Voltage Constant Per Phase K E mv min -. %.97 % Phase Resistance R Rated Power Rate Q R kw s.9.7 Electrical Time Constant te ms..7 Mechanical Time Constant (Not including Encoder) tm ms..7 Rotor Moment of Inertia (Not including Encoder) JM - kg m GD.7.7 Rotor Moment of Inertia (Encoder) JS - kg m GD. (Note ) Mass including Encoder WE kg..9 Brake Static Friction Torque TB N m. MIN. Brake Rated Voltage VB V DC9V DCV Brake Rated Current IB A.7.7 Rotor Moment of Inertia (Brake) JB - kg m GD.78 Brake Mass W kg.7 Motor Operating Temp, Rel. Humidity Amplifier Model Single-Axis Amplifier Model Multi-Axis Amplifier Power Supply Amp. Operating Temp. and RH Operating Temperature: to C, Relative Humidity: 9% Maximum, no condensation RSEA RREAAB ACV to V /Hz Hz Operating Temperature: to C (Note), Relative Humidity: 9% Maximum, no condensation Rated power supply kva. Amplifier Mass Weight [Single / Multi] kg.9.8 Motor Dwgs P :Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. :Indicates a typical value when the winding temperature is. Note ) The multi-axis type Servo amplifier has an ambient operating temperature of to. The operating temperature with forced air cooling is to. Note ) This is a instance with the battery-backup method absolute encoder PA. For the following encoders, please make inquiries: Absolute encoder without battery RAC Red. Wiring Incremental Encoder PPT Note ) The weight in the multi-axial specifications is of amplifier unit only. * For models with oil seal or brake, reduction in rated value may become necessary. Torque [N m] Speed [min - ] Torque [N m] Speed [min - ] Encoder Wiring Diagram Multi-Axis Servo Amplifier SERVO AMPLIFIER SERVO MOTOR Battery backup method absolute encoder [ PAC ] Plug:-JL Shell: Note ) Note ) Red Black Brown Blue Pink Purple Note ) + V Encoder +V V +V V N.C. N.C. ES+ ES- EBAT+ EBAT- ES+ ES- EBAT+ EBAT- FG Shielded Note ) Note ) Note ) Note ) Use a twisted-pair shielded cable. The sheathed shield wire should be connected to the metal case (ground) on CN side, before connecting to ground on encoder side. Color symbols shown on the diagram for signal lines on encoder side refer to lead-wire type sensors. The allowable connection distance between amplifier and encoder varies according to the diameter(impedence) of the electric wire of the cable used. The power voltage specification for encoders is V±%. If the cable is too long, the voltage on encoder side may fall below V.Measure the voltage on encoder side to ensure that the cable used is within specification limits. For the following encoders, please make inquiries: Absolute encoder without battery RAC 7

19 REA8F REAF REAF 8 W Unit min - min N m..8.8 N m.8.. N m..7. Arms..7. Arms...9 Arms. %. %. % N m Arms 7.7 % 7. % 7.8 % mv min kw s.8.9. ms ms kg m GD. (Note ) - kg m GD..7.7 kg. MIN.. MIN..7 MIN. N m DC9V DCV A kg m GD.7..9 kg Operating Temperature: to C, Relative Humidity: 9% Maximum, no condensation RSEA RSEA RREAAB RREAAB ACV to V, % /Hz Hz Operating Temperature: to C (Note), Relative Humidity: 9% Maximum, no condensation...8 kva kg V Features and Functions Model Number Nomencalture System Configuration Standard Specifications Dimensions External Wiring Diagram Setup Software.. Torque [N m]. Torque [N m]. Torque [N m] Optional Equipment 7 Speed [min - ] 7 Speed [min - ] 7 Speed [min - ] 8

20 General Specifications CANopen Interface specifications Fieldbus specifications Bus Connection, Medium CAN-Standard ISO-898 (High-speed CAN) Fieldbus CANopen Communication Profile CiA DS Version. Device Profile CiA DSP (CANopen device profile for drive and motion control) Version. Bit Rate Mbps, 8kbps, kbps(default setting), kbps, kbps, kbps, kbps, kbps (Selectable by R-Setup Software ) Max. nodes per segment to 7 (Selectable by Double -position Rotary Switch or R-Setup Software ) RJ- type Modular connector ( ports) - Pin CAN_H high bus line Connector - Pin CAN_L low bus line - Pin,7 CAN_GND Ground - Pin CAN_SHIELD Cable Shield - Pin Terminator ( ohm; if necessary, attach a jumper between Pin and Pin) Transceiver ISO-898 compliant high-speed transceiver Max. Bus Length m ( for Mbps) Communication Objects SDO (Service Data Object) EY (Emergency) SYNC (Synchronization Object) PDO (Process Data Object) NMT (Network Management) 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) PNP output NPN output Servo amplifier Host unit Servo amplifier Host unit Out Power DCV Out Power ma max Out ~8 Out ~8 Out Common Maximum current DCV... ma DC to V... ma DCV... ma The output port counts are differentdepending on the specification. The output port counts are different depending on the specification. 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-8 N N=Maximum is (Note) Band rate (bps) 8, 9, 9, 8, 7, Set with the setup software or the rotary switch on the front of the amplifier. Start bit Fixed Data length (bit) 8 8 Fixed Parity None, even/odd number even Stop bit, Set with the setup software. Electric specification Based on RS-8 (half duplex Based on RS-8 (half duplex communication) communication) Fixed Connector RJ- Note) Based on the specifications for a typical RS-8 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 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. 9

21 - External Wiring Diagram Single-Axis Servo Amplifier with CANopen Contorol Power DCV Power supply to V /Hz DCV Note ) V G User unit Start Start ready ready ON OFF Emergency System error stop Note ) CNA CNB T S R Features and Functions Model Number Nomencalture Contorol Power ACV Power supply to V /Hz Note ) Battery input CAN_L Terminator GND GND CAN_H CAN_L Terminator GND GND Note 8) DCV to V User unit Start Start ready ready ON OFF Emergency System error stop CAN_H Lithium battery DC.V Note ) SH Combination of Plug:TMP-88P SH Combination of Plug:TMP-88P CN CNA CN 7 CN T S R t r Note ) SG BTP-I BTN-I CONT -COM CONT Note ) Note ) Note ) /W CNB CAN TRANCEIVER DL DL P RB + RB SERVO AMPLIFIER Regenerative resistor NPN Output CN OUT-PWR OUT OUT W V U Note 7) OUT-COM CNC 7 Note ) SH Note ) Green (Green/Yellow) Encoder connector Note 8) DCV, DCV V Black White Red SH SH Combination of Note ) Plug : -PE, Shell : -A-8 General-purpose output SERVO MOTOR Encoder Orange (Yellow) Orange (Yellow) PNP Output RY OUT-PWR OUT OUT 9V (V) Holding brake (for the type with a brake only) SH Note ) Note 8) DCV General-purpose output System Configuration Standard Specifications Dimensions External Wiring Diagram Setup Software General-purpose output CONT CONT CONT Note ) For the parts markde, use a twisted pair shielded cable. Note ) Connect a regenerative resistor between terminals RB-RB. When using an external regenerative resistor, first remove the internal regenerative resistor wiring between terminals RB and RB, and then connect an external regenerative resistor between terminals RB-RB. Note ) The DL and DL terminals are for connecting a DC reactor. If a DC reactor is not used, short the DL and DL terminals using the short bar supplied. Optional Equipment CONT7 Note ) The terminal and the P terminal are for maintenance (high-voltage circuit). CONT8 Note ) Refer to the Instruction Manual for instructions on the shielding process. Combination of Plug : -PE Shell : -A-8 Note ) 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. Note 8) Power should be supplied by the user. Either of the inputs can be selected. Note 9) R,S,T,t,r,,P,DL,DL,RB,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 ) It is recommended to use a ground fault interrupter conforming to the UL, IEC and EN standards. Note ) Do not wire the S phase for a single-phase power amplifier. Note ) Insert RJ connector to which pin(can_h) and pin(terminator) are short-circuited in CN or CN when the terminator is necessary.

22 P External Wiring Diagram Single-Axis Servo Amplifier built-in positioning function model -phase(v AC) User Unit -phase(v AC) User Unit -phase AC power to V Hz Note -phase AC power to V /Hz Note ) Operation Prep. ON Operation Prep. OFF Emergency Stop System Error Operation Prep. ON Operation Prep. OFF Emergency Stop System Error -phase(v AC) -phase AC power to V /Hz Note ) User Unit Operation Prep. Operation Prep. ON OFF Emergency System Error Stop External power source for output (+V) Power ON ready (A-RDY) NC ready (NCRDY) Note 8) CNA Note ) CN T S R t r Note ) Note ) Note ) CNB DL DL RB RB SERVO AMPLIFIER Note ) Regenerative resistor CN Note 7) CNC W V U Note ) Black White Red Green (Green/Yellow) Encoder connector SH SH Plug : -PE Note ) Shell : -A-8 SERVO MOTOR Encoder Orange RY (Yellow) Orange 9V (Yellow) (V) Holding brake (for the type with a brake only) Holding brake excitation timing output (HBON) Error output (Err) External operation effective (EXT) While operation (MOVE) 7 Positioning complete (PFIN) 8 In-position (INPS) 9 Homing complete (ZFIN) OUT() General-purpose output OUT() OUT() OUT() OUT() OUT() OUT(7) 7 OUT(8) Common for output external power (G) External power source for input (+G) Slow down before Home (SDN) Over travel (+T) Over travel (-T) External data setting (E_STR) External Error (EXT_E) Start (RUN) Homing start (ZRT) Note 8) Manual feeding (+JOG) Manual feeding (-JOG) Over ride (OVRID)/Manual high speed (RAP) Alarm reset (ARST) Cancel (CACL) Servo ON (S-ON) Output selection (SEL) Output selection (SEL) Output selection (SEL) step feeding (+step) step feeding (-step) Interruption start (I_RUN) MFIN (MFIN) IN() IN() Point specification IN() IN(8) IN() IN() IN() IN(8) Note ) For the parts marked, use a shielded cable. Note ) Connect regenerative resistor between RB and RB terminals. When using external regenerative resistor, terminals. When using Note ) For external the parts regenerative marked, resistor, use a shielded connect cable. it between RB and RB terminals after removing the wiring of built-in regenerative resistor. Note ) Connect regenerative resistor between RB and RB terminals. Note ) When The DL using and external DL terminals regenerative are resistor, for connecting terminals. a When DC reactor. using external If a DC regenerative reactor is not resistor, used, connect short the it between DL and RB DL and RB terminals after removing the wiring of built-in regenerative resistor. terminals using the short bar supplied. Note ) The DL and DL terminals are for connecting a DC reactor. Note ) If The a DC reactor terminal is not and used, the P short terminal the DL are and for DL maintenance terminals using the short bar supplied. Note ) Refer to the Instruction Manual for instructions on the shielding Note ) The process. terminal and the P terminal are for maintenance Note ) ) Refer The motor-side the Instruction connection Manual depends for instructions the on motor the shielding specification. process. The red, white, black green and orange markings are for use with lead type motor power line and brake line. Note ) The motor-side connection depends on the motor specification. The Refer red, to white, the motor black green specifications and orange for markings cannon are plug type connections. for use with lead type motor power line and brake line. Note 7) Refer to to the the motor encoder specifications connection for cannon diagram plug regarding type connections. the encoder connector wiring. Note 7) Refer to the encoder connection diagram regarding Note 8) the Power encoder should connector be supplied wiring. by the user. Either of the inputs can be selected. Note 8) Power should be supplied by the user. Either of the inputs can be selected. Note 9) R,S,T,t,r,,P,DL,DL,RB,RB,U,V,W are high-voltage circuits, Note 9) R,S,T,t,r, all other,p,dl,dl,rb,rb,u,v,w lines are low-voltage. Ensure are high-voltage sufficient circuits, all distance other lines between are low-voltage. the high- Ensure and low-voltage sufficient circuits. distance between the high- and low-voltage circuits. Note ) It is recommended to use a ground fault interrupter conforming Note ) It to is the recommended UL, IEC and to EN use standards. a ground fault interrupter conforming to the UL, IEC and EN standards. Note ) Do not wire the S phase for a single-phase power amplifier. Note ) Do not wire the S phase for a single-phase power amplifier. Plug : -PE Shell : -A-8

23 Single-Axis Servo Amplifier built-in positioning function serial interface model -phase(v AC) -phase(v AC) User Unit User Unit Features and Functions -phase AC power to V /Hz Note Operation Prep. Operation Prep. ON OFF Emergency System Error Stop -phase AC power to V /Hz Note ) Operation Prep. Operation Prep. ON OFF Emergency Stop System Error Model Number Nomencalture -phase(v AC) User Unit Note ) Note ) Note ) CNB Regenerative resistor System Configuration -phase AC power to V /Hz Note Operation Prep. ON System Error Operation Prep. OFF B/B' A/A' GND B/B' A/A' GND Emergency Stop CN SH Combination Plug: TMP-88P or equivalent Hirose Note ) Note ) Note ) CN CNA 8 8 T S R t r SW DL DL P RB RB SERVO AMPLIFIER /W + RS-8 TRANCEIVER W V U CN Note 7) CNC Note ) Green (Green/Yellow) Encoder connector SH Note ) Black White Red SH Plug : -PE, Shell : -A-8 M SERVO MOTOR Encoder Orange (Yellow) Orange (Yellow) Holding brake (for the type with a brake only) RY 9V (V) Standard Specifications Dimensions External Wiring Diagram Setup Software DCV SH Combination Plug: TMP-88P or equivalent Note 8) Hirose CN CONT SG CONT-COM OUT-PWR 9 OUT 7 OUT 8 Note 8) DCV General-purpose output Optional Equipment General-purpose input CONT OUT-COM SH CONT Note ) For the parts marked, use a shielded cable. SH CONT Note ) Note ) Connect regenerative resistor between RB and RB terminals. The DL terminal and DL terminal are terminals to connect to the DC reactor. When a DC reactor is not used, short-circuit between DL and DL terminals with the supplied short-circuit bar. Note ) The terminal and the P terminal are for maintenance Combination Plug kit: MUF-PKK-X or equivalent J.S.T.Mfg.CO.,LTD Note ) Note ) Note 7) Note 8) Refer to the Instruction Manual for instructions on the shielding process. The motor-side connection depends on the motor specification. The red, white, black green and orange markings are for use with lead type motor power line and brake line. 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,DL,DL,RB,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 ) It is recommended to use a ground fault interrupter conforming to the UL, IEC and EN standards. Note ) Do not wire the S phase for a single-phase power amplifier.

24 External Wiring Diagram Multi-Axis Servo Amplifier -phase(v AC) -phase(v AC) User Unit -phase AC power to V / Hz Note ) Emergency System Error Stop Note ) CNA r t R S T Internal Regeneration Resistor POWER UNIT User Unit -phase AC power to V Hz Note Operation Prep. Operation Prep. OFF ON Operation Prep. ON Operation Prep. OFF Note ) Note ) CNB RB RB P DL DL Emergency System Error Stop Line Driver Note ) Normal Rotation Pulse Note ) CNA + F-PC F-PC Line Receiver C Corresponding F-PC F-PC + CNB Note ) Line Driver Normal Rotation Pulse Reverse Rotation Pulse Normal Rotation Pulse 7 8 R-PC R-PC + F-PC F-PC + + SG + SG SG + SG + R-PC R-PC + F-PC F-PC Reverse Rotation Pulse Normal Rotation Pulse Reverse Rotation Pulse Normal Rotation Pulse 9 R-PC R-PC + F-PC F-PC + + SG + SG SG + SG + R-PC R-PC + F-PC F-PC + 9 Reverse Rotation Pulse Normal Rotation Pulse Reverse Rotation Pulse Note ) Note 8) DCV to V R-PC R-PC 8 SG SG 7 CONT-COM CONT SG SG SG SG R-PC R-PC SG 8 SG CONT-COM 7 CONT Note 8) DCV to V Reverse Rotation Pulse Note ) 7 CONT CONT7 7 8 CONT CONT8 8 8 CONT CONT8 8 9 CONT CONT9 9 General-purpose I/O DCV DC to V CONT 8 9 OUT-POW 9 OUT OUT CONT OUT-POW 8 9 OUT7 9 OUT8 DCV DC to V General-purpose I/O OUT OUT9 OUT OUT OUT OUT ALM ALM General-purpose I/O Monitor Output DC.V Lithium Battery Note ) MON MON SG Note 8)DCV to V Note ) Plug: -JL Shell: --8 Note ) -7 SH Plug: -PE. Shell: -A-8 CN CN OUT-COM BATP- BATN- CH CH SG SG AO AO BO BO CO CO PS PS IN IN OUT SG OUT COM Note ) AMP UNIT Axis AMP UNIT Axis OUT-COM BATP- BATN- Note ) BATP BATN U V W CN DC.V Lithium Battery Note ) DC.V Lithium Battery Plug: -PE. Shell: -A-8 Note ) CNC Note ) Red White Black Green Note 7) Encoder CN Connector SH Plug: -JL Shell: --8 Note ) For the parts markde, use a shielded cable. Note ) Connect a regenerative resistor between terminals Relay for releasing RB - RB.When using an external regenerative resistor, Holding Orange Brake first remove the internal regenerative resistor wiring (yellow) between terminals RB and RB, and then connect an external regenerative resistor between terminals RB - RB. Orange Note ) Terminals DL and DL are dedicated for connecting (yellow) DC reactors. If a harmonic suppression reactor is not in use, create a short circuit between DL and DL terminals with the attached shorting bar. Note ) The and P terminals (high-voltage circuit) are reserved for maintenance. Do not wire these terminals. Note ) Refer to the Instruction Manual for instructions on the shielding process. Note ) Motor connection specifics may vary depending on the motor specifications. Lead-type motor power and brake wires are shown as red, white, black, green, and orange. When using a cannon plug, cannect it according to the motor specifications. Note 7) For wiriting of the encoder connectors, refer to the encoder wiring diagram. Note 8) The user must supply the external power supply. Note 9) R, S, T, r, t,, P, DL, RB, RB, U, V, W are high-voltage circuits; all other signal lines are low-voltage circuits. When wiring, maintain sufficient distance between high-voltage and low-voltage circuits. Note ) Installation of a UL compliant and IEC / EN compliant earth leakage circuit braker is recommended. Note ) When wiring the single-phase power supply, do not wire the S-phase to the amplifier. Note ) Always connect the SG (signal ground) between devices when using differential operation input signals. Note ) The internal battery power is common for all units. tttplease connect to either CNA, CNB or CN when using an absolute encoder.

25 Servo Motor Dimensions Unit : mm ( LH) LC LZ LA.7 M.. M LR Q LE LG LL Features and Functions LB S M KL Model Number Nomencalture Oil seal (Option) Note QE Tapping Depth LT () D () D () D System Configuration Motor cable (for mounting) (For Power and Ground) Brake cable (for mounting) Note Shield cable (for mounting) (For Encoder) R Servo Motor High Efficiency and Low Ripple Medium Inertia *This is shown dimension for motor with brake Standard Specifications MODEL R A R A REA8 RAA R A R A RAA8 RAA RAA8 RAA87 RAAB8 Battery backup method absolute encoder W/out oil seal With oil seal Note W/out brake With brake W/out brake With brake LL LL LL LL LG KL LA LB LE LH LC LZ LR ø. -ø. -ø. -ø. -ø. -ø. Dimensions External Wiring Diagram Setup Software Optional Equipment MODEL S Q QE LT D D D R A R A -.8 REA8 RAA 8-.9 R A 8-.9 R A RAA8 RAA -. M RAA8 RAA87 RAAB8 M M Note : The total length of the motor varies when an oil seal is necessary. (Excluding 8mm sq.) Note : Brake connectors (cables) are not supplied for models without brakes. Note : A reduction in the rating might be needed if an oil seal and Brake is attached.please consult with us about the details. For the following encoders, please make inquiries: Absolute encoder without battery RAC Red. Wiring Incremental Encoder PPT

26 AC SERVO SYSTEMS AC SERVO SYSTEMS AC SERVO SYSTEMS CNA T S R t r CNB DL DL P RB RB CNC W V U CHARGE RUN ERR RSAAL POWER CN CN C N C N RB RB PC AC SERVO SYSTEMS AC SERVO SYSTEMS CHARGE POWER Servo Amplifier Dimensions Unit : mm Single-Axis Servo Amplifier with CANopen (Power control ACV) RSAA A RSAA A Screw M Screw M (7) (7) (). ) 8 7 (7) (7) (). ) Cooling fan Wind direction RSAA A Screw M 8 9 (7) (7) (). 8 Cooling fan Wind direction Single-Axis Servo Amplifier with CANopen (Power control DCV) RSJA A Screw M RSJA A Screw M (7) () (7). ) 8 7 (7) (7) (). ) Cooling fan Wind direction

27 AC SERVO SYSTEMS AC SERVO SYSTEMS CNA T S R P RB RB CNB V V CNC W V U CHARGE RUN ERR AC SERVO SYSTEMS MODE T S R t r DL DL P RB RB W V U CHARGE C N B C N A C N C RSJAL POWER CN CN C N RSAA* WR/ POWER P C C N C N RB RB PC AC SERVO SYSTEMS CHARGE POWER P C Servo Amplifier Dimensions Unit : mm Single-Axis Servo Amplifier with CANopen (Power control DCV) RSJA A Model Number Nomencalture Features and Functions Screw M 8 9 (7) (7) (). 8 Cooling fan Wind direction System Configuration N C Standard Specifications Single-Axis Servo Amplifier built-in positioning function model RS A A RS A A Screw M Screw M Dimensions External Wiring Diagram (7) (7) (). 7 (7) (). (7) 8 7 Setup Software 8 8 Cooling fan Optional Equipment Wind direction RS A A Screw M 8 9 (7) (7) (). 8 Cooling fan Wind direction

28 Servo Amplifier Dimensions Unit : mm Multi-Axis Sever Amplifier Amplifier Unit RRAAAB (A) RRAAAB (A) (7) (.7).8 8 (7) (.7).8 8 Power Unit RRPAA Motherboard () (.7).8 7. A B 7. No. RRMA8 RRMA RRMA Model No. 8 Number of Slots 8 A 9 B Supported size System Dimensions A B () No. 8 Number of Slots 8 A 9 B Supported size 7

29 Setup Software () Setup Software Start-up Screen () Main Screen Features and Functions System Configuration Model Number Nomencalture () Parameter Configuration Screen Dimensions External Wiring Diagram Standard Specifications a. Configuration of General Parameters : Enables parameter loading, saving, etc., via PC connection () Monitor Functions b. Configuration of Motor Parameters : Combined motors can be configured via PC connection Setup Software 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. 8

30 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. System Analysis : Analyzes servo system frequency characteristics () Operation Trace Function Graphically displays servo motor speed, current, and internal status Built-in Positioning Function model Screen Point Data Setup Test Run 9

31 Pass Point Move to Point Move to Point Servo Amplifier built-in positioning function General Specifications Positioning Function Input and Output Control Shaft Count Single Shaft Register Point Count Configurable up to points (P to P) Maximum No. of Commands From -,7,8,8 to +,7,8,7 Command Unit Either mm or pulse is acceptable Fast-forward Speed,7,8.7mm/sec (.mm/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) Torque limit to % (at % rating), but less than instantaneous maximum stall current Software Limit Exists Travel Mode Zero Return, Manual (JOG, Step), and Point-specified Travel Zone Signal Maximum of 8 zones Sequence Input Signals Sequence Output Signals Servo ON, alarm reset, start up, zero return, manual, override/manual high-speed, cancel, deceleration before origin, external error, over-travel, external data setup step forward, interrupt activated, output selection, MFIN, point specified input 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 System Configuration Standard Specifications Sample operations of the Servo Amplifer built-in positioning function model By starting up Point, Points and will be executed consecutively. Point Data Setup Enables configuration and saving of parameters, and the reading of point data from a PC. Mode : []= Positioning Operation enabled; Mode : []= Final Travel, []= Continue to next Point Number Gear Change: Stop / Continue: []= 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 (P) as. P:. P:. P:8. Motor Speed Point Input Point (P) ON only CN-... ON OFF Coordinate Start-up Signal Input CN-7 Running Output CN-7 ON OFF ON OFF Positioning Completion Signal CN-8 ON OFF

32 Optional Equipment PC Interface Cable [Unit: mm] 9 PC Side 8 Cable Mounting Hardware [Unit: mm] * Supported For only Single-axis amplifier. 88 CN Amp side Model No.:AL-98- Mass:.kg A note regarding RS-C communications: The user must provide s PC for computer interface. Parameter settings may require adijustment. Lithium battery [Unit: mm] 7 A A Rear Side Connector Lead Wire Red Pin Lead Wire Black Pin A Rear Side MAX. Lithium battery Model No AL-9- Mass :.kg For mounting on the rear side of the amplifer Model No.:AL-879- Applicable Amplifiers:RS Applicable Amplifiers:RS Material:SPCC For mounting on the front side of the amplifer Model No.:AL Material:SPCC Applicable Amplifiers:RS For mounting on the front side of the amplifer Model No.:AL Material:SPCC Applicable Amplifiers:RS For mounting on the rear side of the amplifer Model No.:AL-879- Applicable Amplifiers:RS Material:SPCC A Front Side A Front Side A Front Side For mounting on the front side of the amplifer Model No.:AL-879- Material:SPCC Applicable Amplifiers:RS Model No. AL-879- AL-879- AL AL AL-879- Contents Mounting Bracket : Screws : Mounting Bracket : Screws : Mounting Bracket : Screws : Mounting Bracket : Screws : Mounting Bracket : Screws :