AC SERVO SYSTEMS. Ver.3

Transcription

1 AC SERVO SYSTEMS R Ver.

2 Easy Set-up for Optimal Operation Auto-Tuning A new auto-tuning algorithm improves system response by providing functions such as inertia identification, auto-tuning modes, 0 levels of response, and parameter setting auto-save. Small Compact Servomotors Motor size and volume is reduced by as much as 0% and % respectively compared to current models. The world's smallest high torque high performance servomotor. (as of Sept 006) Velocity command value Tuning start Detected velocity value 0% reduction Multi-Axis Servo Amplifier 6-axis model can reduce installation width by up to % compared to six single-axis models.power loss is reduced by up to 0% compared to current single-axis models. Water Protection All motor models have IP67 protection. IP67 *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 *available for single-axis only

3 -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 Configuration 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 *Multi-axis is done through a personal computer. Simultaneous Monitor Function The setup software allows up to amplifiers to be monitored. This function can be used to monitor waveforms in synchronized operations. Daisy chain up to units Dimensions External Wiring Diagram * RSC Maximum units Optional Equipment *Use optional cable AL for PC connection *PC connection cable is optional 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 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)

4 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. 0 0 Position deviation Gain (db) Settling time (0ms) Position complete signal 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 A new disturbance observer with expanded applicable frequencies suppresses disturbance from other axes in a multi-axis configuration. 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 00ms/div Disturbance Disturbance Expanded Power Range Maximum instantaneous stall torque is improved by % to 6%, and maximum rotation speed is increased from 000min - to 6000min - 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 0 is achieved. Position command Increased torque R motor Torque (N ) Current model Increased rotation Speed Position deviation Rotation Speed (min - ) 0ms/div

5 Reduced Running Costs Low Cogging Torque 0% 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. High Resolution Comparison of cogging torque waveforms 0-0.kW N m 0.8% (Comparison of Rated Torque) R motor Current model. 0 - N m.6% (Comparison of Rated Torque) (*Image) One Rotation One Rotation Support for encoders up to 7 bit (,07 divisions) is available for high resolution control. An energy conserving power module reduces main circuit power loss by up to 0%. Power loss reduction (%) 00% 90% 80% 70% 60% 0% 0% 0% 0% 0% 0% Current model SANMOTION R A Model Number Nomencalture Configuration Standard Specifications Dimensions External Wiring Diagram High Resolution 7bit,07 divisions) Absolute Encoder Optional Equipment Full Closed-Loop Control Optional support for full closed-loop control using linear scale and other high resolution encoders mounted on device side. Highly accurate positioning is possible Load *available for single-axis only

6 Servo Motor Model Number Nomenclature Servo Motor Example: The following model number defines a "R" servomotor with 60mm flange size, 00W rated output, 6000min - maximum rotation speed, V brake, and an absolute encoder (,07 divisions/ rotation),ul/ce approval and gear ratio /. R AA F C P 00 M A R Series Specification 00 Standard 0 With oil seal Motor Type Middle inertia Supply Voltage 00V Motor Holding Brake X Without Brake B With Brake 90V DC C With Brake V DC Maximum Rotation Speed 6000min - Standard Identification M CE and UL 0 Without standard but with gear Gear type Gear ratio / Flange Size 0 0mm 06 60mm 08 80mm Rated Output 00 0W 00 0W 00 00W 00 00W 00 00W 07 70W Encoder Type P Battery backup method absolute encoder PA0C H Absolute encoder for incremental PA0S Encoder Specification Model Per rotation Multiple Rotations Remarks PA0C PA0S 07(7bit) 66(6bit) Battery backup method Absolute encoder 07(7bit) Absolute Encoder for Incremental system Servo Amplifier Model Number Nomenclature Single-Axis Servo Amplifier Example: The model number shown below is "R" Series Servo Amplifier with 00V AC input voltage and A amplifier capacity. RS A 0 A A R Series Single-Axis Servo Amplifier Power Input and Internal Regeneration Setting 00V With Internal Regeneration Resistor L A,0A Option Setting Without Internal Regeneration Resistor A A,0A Amp. capacity 0 A 0 0A Motor Type Rotary Motor Control Hardware Type A Battery backup method absolute encoder T Full Closed-Loop

7 Servo Amplifier Model Number Nomenclature Servo Amplifier With CANopen Example: The model number shown below is "R" Series Servo Amplifier with 00V AC input voltage (Main Power and Control Power) and A amplifier capacity. Features and Functions RS A 0 A L Model Number Nomencalture R Series AMP. Capacity 0 A 0 0A Motor Type Rotary Motor Configuration Power Input, Input Voltage A Main Power : 00V AC, Control Power : 00V AC J Main Power : 00V AC, Control Power : V DC Note: Built In Regenerative Circuit (External Regenerative Resistor) Built In DB Circuit Interface Type L Interface Specification CAN open I/F Encoder Specification Wire-saving incremental encoder, Battery backup method absolute encoder Standard Specifications Multi-Axis Servo Amplifier Example: The model number shown below is a -axis "R" series multiaxis servo amplifier configuration with 00V AC input voltage, units of A amplifiers, units of 0A amplifiers, and pulse train interface. Amplifier Unit RRA0AAB00 units RRA0AAB00 units Power Unit RRPAA00 unit Motherboard RRMA600 unit Amplifier Unit RR A 0 A A B 00 R Series Multi-Axis Servo Amplifier Unit Amp. capacity 0 A 0 0A Control Hardware Type Pulse train interface Specification Standard Dimensions External Wiring Diagram Optional Equipment Power Input 00V AC Motor Type Rotary Motor Encoder Combination Description Battery backup method absolute encoder Power Unit RRP A A 00 R Series Multi-Axis Servo Power Unit Power Input 00V AC Control Hardware Type Pulse train interface Specification Standard Motherboard RRM A 6 00 R Series Multi-Axis Servo Motherboard Power Input 00V AC Number of Slots (based on a A unit) Slots 6 6 Slots 8 8 Slots Specification Standard 6

8 Configuration Single-Axis Amplifier Noise Filter Electromagnetic Contactor AL Lithium battery 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. AL When using the unit with an absolute system, mount the optional battery inside the digital operator cover. Circuit Breaker MCCB 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 Use as required, such as for heavy inertial load operations. CN PLC PLC and controllers are available as the host device. 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 Connectors for Single-Axis Amplifier Connections Single Connectors Connector Sets Contents Model No. CN Plug, Housing AL CN Plug, Housing AL CNA Plug AL CNB Plug : Accessory AL - Y CNC Plug AL CN,CN Plug, Housing CNA,CNC Plug AL CN,CN Plug, Housing AL Dedicated controller (SANMOTION C* etc.), PC and PLC are available as the host device. *Communication Profile: DS-0 Device Profile: DSP-0 compliance 7

9 Multi-Axis Amplifier Noise Filter Protects the power line from external noise, and from noise generated by the servo amplifier. Circuit Breaker MCCB 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 optional battery to CN. Parameter configuration and monitoring is possible via communication with a PC. Host Devices PLC PLC and controllers are available as the host device. Features and Functions Model Number Nomencalture Configuration Electromagnetic Contactor Standard Specifications Switches servo power on and off. Installation of a surge protector is required. Create the protective circuit. DC Reactor Dimensions External Wiring Diagram Suppresses power harmonics. Remove the short bar between DL-DL and connect this here, when needed for high frequency waves. External Regenerative Resistor Use as required, such as for heavy inertial load operations. Optional Equipment 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. Connectors for Multi-Axis Amplifier Connections Contents Model No. Required for use when the servo motor is equipped with a brake. Amplifier Unit CN Plug, Housing AL - Y CN Plug, Housing AL CN6 Plug, Housing AL Single Connectors CNC Plug AL CNA Plug AL Power Unit CNB Plug Accessory AL CNA Plug, Housing AL CNB Plug, Housing AL Connector Sets Amplifier Unit Power Unit CN,CN Plug, Housing CN6,CNC Plug AL CNA Plug AL CNA,CNB Plug, Housing 8

10 Standard Specifications R Servo Motor 00V Capacity 0mm to 80mm 0W to 70W 9 models Features High Efficiency and Low Ripple (Medium Inertia) Motor Model and Flange Size in mm RAA000F RAA000F RAA000F Status Symbol Unit 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 Armature Current at Stall IS Arms 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 Electrical Time Constant te ms Mechanical Time Constant (Not including Encoder) tm ms Rotor Moment of Inertia (Not including Encoder) JM 0 - kg m GD Rotor Moment of Inertia (Encoder) JS 0 - kg m GD 0.00 Mass including Encoder WE kg Brake Static Friction Torque TB N m 0. MIN. Brake Rated Voltage VB V DC90V DCV 0 Brake Rated Current IB A Rotor Moment of Inertia (Brake) JB 0 - kg m GD Brake Mass W kg 0. Motor Operating Temp, Rel. Humidity Operating Temperature: 0 to 0 C, Relative Humidity: 90% Maximum, no condensation Amplifier Model Single-Axis RSA0AA Amplifier Model CANopen RSA0AL Amplifier Model Multi-Axis RRA0AA Amplifier Power Supply AC00V to 0V 0, % 0/60Hz Hz Amp. Operating Temp. and RH Operating Temperature: 0 to C (Note), Relative Humidity: 90% Maximum, no condensation Power Consumption kva Amplifier Mass Weight [Single / CAN / Multi] kg 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 0. Note) The multi-axis type amplifier has an ambient operating temperature of 0 to 0. The operating temperature with forced air cooling is 0 to. * 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] Speed [min - ] Encoder Wiring Diagram Single-Axis Amplifier SERVO AMPLIFIER V 0V CN ES ES EBAT Note EBAT Note Note Note Brown ES Blue ES Pink EBAT Purple EBAT Red V Black 0V FG Shielded SERVO MOTOR Encoder Battery backup type absolute encoder [ PA0C ] Absolute encoder for incremental system PA0S 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 0V DC Wiring 0m MAX. m MAX. 0m MAX. Connect pin 9 (Do not connect pins,7) Connect pin 0 (Do not connect pins,8) Connect pin 7,9 (Do not connect pins) Connect pin 8,0 (Do not connect pins) Connect pin,7,9 Connect pin,8,0 Note ) Use a 0.mm encoder cable Note ) When the Absolute encoder for incremental system is used, battery lines (EBAT+, EBAT-) are not required. Plug VE Shell 00-A

11 RAA0600F 60 RAA0600F 60 RAA0600F 60 RAA0800F 80 RAA0800F 80 RAA0807F W 000 min min N m N m N m Arms Arms Arms N m Arms mv min kw s ms ms kg m GD kg m GD kg 0.6 MIN..7 MIN.. MIN. N m DC90V DCV A kg m GD kg Operating Temperature: 0 to 0 C, Relative Humidity: 90% Maximum, no condensation RSA0AA RSA0AA RSA0AA RSA0AA RSA0AL RSA0AL RSA0AL RSA0AL RRA0AA RRA0AA RRA0AA RRA0AA AC00V to 0V 0, % 0/60Hz Hz Operating Temperature: 0 to C Note, Relative Humidity: 90% Maximum, no condensation kva kg Unit V Features and Functions Model Number Nomencalture Configuration Standard Specifications Dimensions External Wiring Diagram Torque [N m]. 0. Torque [N m] Torque [N m] 6 Torque [N m] Torque [N m] 6 Torque [N m] Optional Equipment Speed [min - ] Speed [min - ] Speed [min - ] Speed [min - ] Speed [min - ] Speed [min - ] Multi-Axis Amplifier SERVO AMPLIFIER SERVO MOTOR Battery backup type absolute encoder [ PA0C ] Red Black Brown Blue Pink Purple + 0V +V 0V +V 0V N.C. N.C. ES+ ES- EBAT+ EBAT- ES+ ES- EBAT+ EBAT- Encoder 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. Note ) Note ) Note ) Plug:60-000JL Shell:

12 General Specifications CANopen Interface specifications Fieldbus specifications Bus Connection, Medium CAN-Standard ISO-898 (High-speed CAN) Fieldbus CANopen Communication Profile CiA DS0 Version.0 Device Profile CiA DSP0 (CANopen device profile for drive and motion control) Version.0 Bit Rate Mbps, 800Kbps, 00Kbps(default setting), 0kbps, Kbps, 0Kbps, 0Kbps, 0Kbps (Selectable by R- ) Max. nodes per segment to 7 (Selectable by Double 6-position Rotary Switch or R- ) RJ- type Modular connector ( ports) - Pin CAN_H high bus line Connector - Pin CAN_L low bus line - Pin,7 CAN_GND Ground - Pin 6 CAN_IELD Cable Shield - Pin Terminator (0 ohm; if necessary, attach a jumper between Pin and Pin) Transceiver ISO-898 compliant high-speed transceiver Max. Bus Length m ( for Mbps) SDO (Service Data Object) PDO (Process Data Object) Communication Objects EMCY (Emergency) NMT (Network Management) SYNC (Synchronization Object) Node Guarding Heartbeat PDO Transfer Modes Synchronous transmission Asynchronous transmission Mode of Operation Homing Mode (h.m) Profile Velocity Mode (p.v) Profile Position Mode (p.p) Interpolated Position Mode (i.p)

13 External Wiring Diagram Single-Axis Amplifier Note ) Note ) Features and Functions -phase(00v AC) User Devices Note ) CNB -phase AC power 00 to 0V 0 60Hz Note 0) MC Operation Prep. ON Operation Prep. OFF MC MC Emergency Stop Error Line Driver 6LS Normal Rotation Pulse Reverse Rotation Pulse Note ) Normal Reverse DC.6V Lithium Battery Note 8) DCV to V Note ) CN CNA F-TLA T S R t r F-PC F-PC R-PC R-PC R-TLA BTP-I BTN-I CONT CONT CONT-COM + + T-REF / V-REF T-COMP + + DL DL P RB RB SERVO AMPLIFIER Line Receiver 6LS Internal Regeneration Resistor Line Driver 6LS W V U CN AO AO BO BO ZO ZO PS PS ZOP MON OUT-PWR OUT OUT OUT CNC Encoder Connector Black Plug: PE Shell: 00-A-008 Note ) Note 6) Monitor Output DCV to V White Red Green Note 8) SERVO MOTOR Encoder Single-phase AC Power 00 to 0V 0 / 60Hz Orange (yellow) RY Orange 90V (yellow) V Holding Brake (install with Brake only) Single-phase (00V AC) Note 0) MC User Devices Operation Prep. ON Operation Prep. OFF MC MC Emergency Stop Error Model Number Nomencalture Configuration Standard Specifications Dimensions External Wiring Diagram Optional Equipment Line Driver Note ) CONT CONT CONT CONT6 CONT7 6 8 CONT7 CONT8 CONT Plug: PE Shell: 00-A0-008 Line Receiver 6LS OUT OUT OUT6 OUT7 OUT8 OUT-COM OUT-COM 6 Note : Signifies shielded twisted-pair 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 : Terminals DL and DL are dedicated for connecting 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 6: 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 0: 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 (signal ground) between devices when using differential operation input signals.

14 - P - P External Wiring Diagram Single-Axis Amplifier With CANopen Main Power : 00V AC Control Power : 00V AC Power supply 00 to 0V 0/60Hz Note 0) MC User unit Note ) CNA T S R t r Note ) Note ) Note ) CNB DL DL RB RB + Regenerative resistor Start ready ON MC MC Start ready OFF SERVO AMPLIFIER Battery input DCV to V General-purpose input error Emergency stop CAN_H CAN_L Terminator GND Lithium battery DC.6V Note 8) GND Combination of Plug:TMP-88P CN CAN_H CAN_L Terminator GND GND CN 7 Combination of Plug:TMP-88P CN Note ) BTP-I BTN-I CONT -COM CONT CONT CONT CAN TRANCEIVER /W Q W V U CN Note 7) OUT-PWR OUT 6 OUT OUT-COM CNC 7 Green (Green/Yellow) Encoder connector Combination of Note ) Plug : PE, Shell : 00-A0-008 Note ) Note 6) Black White Red Note 8) DCV, DCV to V SERVO MOTOR Encoder General-purpose output Orange (Yellow) Orange (Yellow) Holding brake (for the type with a brake only) RY 90V (V) 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. Note ) 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 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. CONT CONT7 CONT8 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 0) It is recommended to use a ground fault interrupter conforming to the UL, IEC and EN standards. Combination of Plug : 0-000PE Shell : 0-A0-008 Main Power : 00V AC Control Power : V DC 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. Power supply 00 to 0V 0/60Hz MC User unit Note 0) CNA T S R Note ) Note ) CNA RB RB + Regenerative resistor Note 9) Start ready ON Start ready OFF MC MC DCV V G error Emergency stop CNB CAN_H CAN_L Terminator GND GND CN 7 Combination of Plug:TMP-88P Note ) SERVO AMPLIFIER CAN TRANCEIVER /W 0Q W V U CN Note 6) CNC Note ) Black White Red Green (Green/Yellow) Encoder connector SERVO MOTOR Encoder Orange (Yellow) Orange (Yellow) Holding brake (for the type with a brake only) RY 90V (V) CAN_H CAN_L Terminator GND GND CN 7 Combination of Plug:TMP-88P Note ) Combination of Plug : PE, Shell : 00-A0-008 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. Battery input DCV to V General-purpose input Lithium battery DC.6V Note 7) CN BTP-I BTN-I 8 CONT -COM 9 CONT 0 CONT CONT OUT-PWR OUT 6 OUT 7 OUT-COM Note ) Note 7) DCV, DCV to V General-purpose output Note )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 )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 6) Refer to the encoder connection diagram regarding the encoder connector wiring. Note 7) Power should be supplied by the user. Either of the inputs can be selected. CONT CONT7 Note 8) R,S,T,,P,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. CONT8 Note 9) It is recommended to use a ground fault interrupter conforming to the UL, IEC and EN standards. Note 0) Do not wire the S phase for a single-phase power amplifier. Combination of Plug : 0-000PE Shell : 0-A0-008 Note ) Insert RJ connector to which pin(can_h) and pin(terminator) are short-circuited in CN or CN when the terminator is necessary.

15 Multi-Axis Amplifier User Devices -phase AC power 00 to 0V 0 / 60Hz Note 0) MC Emergency Error Stop Operation Prep. ON Operation Prep. OFF MC Note ) Note ) Note ) CNA CNB r t R S T Internal Regeneration Resistor BR BR P DL DL POWER UNIT Features and Functions Model Number Nomencalture Normal Rotation Pulse Reverse Rotation Pulse Normal Rotation Pulse Reverse Rotation Pulse Normal Rotation Pulse Reverse Rotation Pulse General-purpose I/O General-purpose I/O Note ) Note 8) DCV to V MON MON Line Line Driver Note ) DC.6V Lithium Battery Note ) Monitor Output DCV DC to V Note 8) DCV to V Plug: JL Shell: Note ) Note ) CNA CN Plug: PE. Shell: 00-A0-008 Note ) CN + F-PC F-PC + R-PC R-PC + F-PC F-PC + R-PC R-PC + F-PC F-PC + R-PC R-PC CONT-COM CONT CONT CONT CONT CONT CONT OUT-POW OUT OUT OUT OUT OUT6 ALM OUT-COM CH CH AO AO BO BO CO CO PS PS IN IN OUT OUT COM Line Receiver 6LS AMP UNIT Axis AMP UNIT Axis CNB F-PC F-PC + R-PC R-PC 6 + F-PC 7 F-PC 8 + R-PC 9 R-PC 0 + F-PC6 F-PC6 + R-PC6 R-PC6 8 CONT-COM 6 7 CONT6 6 CONT7 CONT8 CONT8 CONT9 CONT0 OUT-POW OUT7 OUT8 OUT9 OUT OUT ALM OUT-COM BATP- BATP- BATN- BATN- Note ) Note ) BATP BATN U V W CN CN Green Note 7) Encoder Connector Driver Note ) 6LS Plug: JL Shell: Normal Rotation Pulse Reverse Rotation Pulse Normal Rotation Pulse Reverse Rotation Pulse Normal Rotation Pulse Reverse Rotation Pulse Note ) Note 8) DCV to V DCV DC to V DC.6V Lithium Battery Note ) DC.6V Lithium Battery Plug: PE. Shell: 00-A0-008 Note ) Note 6) CNC Red White Black Orange Relay for releasing Holding Brake (yellow) Orange (yellow) General-purpose I/O Note : Signifies shielded twisted-pair 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 : Terminals DL and DL are dedicated for connecting 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 6: 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 0: 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 (signal ground) between devices when using differential operation input signals. Note : The internal battery power is common for all units. Please connect to either CNA, CNB or CN when using an absolute encoder. Configuration Standard Specifications Dimensions External Wiring Diagram Optional Equipment

16 Servo Motor Dimensions Unit : mm LH LC LZ LA 0.07 M M LR Q LE LG LL (0) (0) (0) LB S M KL Oil seal (Option) Note QE Tapping Depth LT D D D Teflon wire (for mounting) For Motor and Ground Teflon wire (for mounting) For Brake Note R motor High Efficiency and Low Ripple Medium Inertia Shield cable (for mounting) For Encoder *This is shown dimension for motor with brake Absolute Without With Brake Brake Motor Brake Absolute MODEL LL LL LG KL LA LB LE LH LC LZ LR S Q QE LT D D D Oil Seal RAA000 RAA000 RAA RAA Note ) RAA None M RAA RAA RAA RAA M Note : If an oil seal is needed,the overall motor length is different. Note : Brake connectors (cables) are not supplied for models without brakes.

17 AC SERVO SYSTEMS AC SERVO SYSTEMS AC SERVO SYSTEMS AC SERVO SYSTEMS CHARGE AC SERVO SYSTEMS AC SERVO SYSTEMS CHARGE POWER P C POWER Servo Amplifier Dimensions Unit : mm Single-Axis Amplifier RSA0AA A RSA0AA 0A Features and Functions 0. Screw M 0. Screw M (7) (70) () (70) 0 (). (7) Model Number Nomencalture Configuration Cooling fan Wind direction Standard Specifications Single-Axis Amplifier With CANopen RSA0AL A 0. Screw M RSA0AL 0A 0. Screw M Dimensions External Wiring Diagram 60 (7) (70) 0 (). ) (7) (70) () 0. ) Cooling fan 60 Optional Equipment Wind direction RSJ0AL A 0. Screw M RSJ0AL 0A 0. Screw M 60 (70) () (7) (70) () (7) ) 60 ) 68 Cooling fan Wind direction 6

18 Servo Amplifier Dimensions Unit : mm Multi-Axis Amplifier Amplifier Unit RRA0AA A RRA0AA 0A (70) (0.7) (70) (0.7) Power Unit Motherboard (00) (0.7).8 7. A B No. RRMA800 RRMA600 RRMA00 Model No. 8 6 Number of Slots A B Supported size Dimensions A B (00) 0 No. 8 6 Number of Slots A B Supported size 7

19 () Start-up Screen () Main Screen Features and Functions 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 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

20 () 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 9

21 Optional Equipment PC Interface Cable [Unit: mm] 9 PC Side Cable CN Amp side AL A note regarding RS-C communications: The user must provide s PC for computer interface. Parameter settings may require adijustment. Features and Functions Model Number Nomencalture Configuration Mounting Hardware [Unit: mm] * Supported For only Single-axis amplifier. Rear Side 88 Standard Specifications Dimensions External Wiring Diagram For mounting on the rear side of the amplifer Model No.:AL Applicable Amplifiers:RS 0 Applicable Amplifiers:RS 0 Material:SPCC Optional Equipment A Front Side 0A Front Side 0 7 Lithium battery [Unit: mm] Connector 0 A 0A Lead Wire Red Pin Lead Wire Black Pin MAX. Lithium battery Model No AL Mass : 0.0kg For mounting on the front side of the amplifer Model No.:AL Material:SPCC Applicable Amplifiers:RS 0 For mounting on the front side of the amplifer Model No.:AL Material:SPCC Applicable Amplifiers:RS 0 Model No. AL AL AL Contents Mounting Bracket : Screws : Mounting Bracket : Screws : 6 Mounting Bracket : Screws : 6 0

22 Optional Equipment External Regenerative Resistor Dimensions [Unit: mm] Silicon Rubber Glass-braided Wire 0.mm, White (Thermostat) Silicon Rubber Glass-braided Wire 0.7mm, Black Silicon Rubber Glass-braided Wire 0.mm, White (Thermostat) Silicon Rubber Glass-braided Wire 0.7mm, Black Mass : 0.9kg Mass : 0.kg Model No. Thermostat REGIST-080W00B Normal close REGIST-080W0B Normal close Model No. Thermostat REGIST-0W00B Normal close REGIST-0W0B Normal close Ground Mark Thermostat M Silicon Rubber Glass-braided Wire 0.mm, White (Thermostat) Silicon Rubber Glass-braided Wire 0.7mm, Black Mass : 0.kg 0 AWGWhite A 8. Solderiess Terminal (for M) M Silicon Rubber Glass-braided Wire mm, White 700 Mass :.kg Model No. Thermostat REGIST-0W0B Normal close REGIST-0W0B Normal close REGIST-0W00B Normal close REGIST-0W0B Normal close Model No. A Thermostat REGIST-00W0B 0 Thermostat, B-contact REGIST-00W0 No

23 Connectors for Single-Axis Amplifier Connections 00V AC Input Type Usage Contents Model No. Manufacturer Manufacturer's Part No. Single Connectors Connector Sets CN Plug, Housing AL VE+00-A0-008 Sumitomo M CN Plug, Housing AL VE+00-A0-008 CNA Plug AL MSTB./-STF-.08 CNB Plug Accessory AL - Y Phoenix Contact IC./6-STF-.08 CNC Plug AL IC./-STF-.08 CN,CN Plug, Housing CNA,CNC Plug AL Sumitomo M Phoenix Contact CN,CN Plug, Housing AL Sumitomo M Connectors for Amplifier with CANopen Main Power : 00V AC, Control Power : 00V AC Single Connectors Connector Sets VE+00-A VE+00-A0-008 MSTB./-STF-.08 IC./-STF VE+00-A VE+00-A0-008 Contents Model No. Manufacturer Manufacturer's Part No. CN Plug, Housing AL PE+0-A0-008 Sumitomo M CN Plug, Housing AL PE+00-A0-008 CNA Plug AL MSTB./-STF-.08 CNB Plug Accessory AL - Y Phoenix Contact IC./6-STF-.08 CNC Plug AL IC./-STF-.08 CN,CN Plug, Housing CNA,CNC Plug AL Sumitomo M Phoenix Contact CN,CN Plug, Housing AL Sumitomo M Main Power : 00V AC, Control Power : V DC Single Connectors Connector Sets 0-000PE+0-A PE+00-A0-008 MSTB./6-STF-.08 IC./-STF PE+0-A PE+00-A0-008 Contents Model No. Manufacturer Manufacturer's Part No. CN Plug, Housing AL PE+0-A0-008 Sumitomo M CN Plug, Housing AL PE+00-A0-008 CNA Plug AL - Y IC./7-STF-.08 CNB Plug AL Phoenix Contact MSTB./-STF-.08 CNC Plug AL IC./-STF-.08 CN,CN Plug, Housing CNA,CNB,CNC Plug AL Sumitomo M Phoenix Contact CN,CN Plug, Housing AL Sumitomo M 0-000PE+0-A PE+00-A0-008 MSTB./7-STF-.08 MSTB./-STF-.08 IC./-STF PE+0-A PE+00-A0-008 Features and Functions Model Number Nomencalture Configuration Standard Specifications Dimensions External Wiring Diagram Optional Equipment Connectors for Multi-Axis Amplifier Connections Single Connectors Connector Sets Amplifier Unit Power Unit Amplifier Unit Power Unit Contents Model No. Manufacturer Manufacturer's Part No. CN Plug, Housing AL - Y Molex CN Plug, Housing CN6 Plug, Housing AL CNC Plug AL Sumitomo M PL 0JFAT-SBXGF-I J-FATOT CNA Plug AL J.S.T.Mfg.CO.,LTD 0JFAT-SBXGF-I J-FATOT CNB Plug Accessory AL JFAT-SBXGF-I J-FATOT CNA Plug, Housing CNB Plug, Housing CN,CN Plug, Housing CN6,CNC Plug AL AL CNA Plug Sumitomo AL CNA,CNB Plug, Housing Sumitomo M J.S.T.Mfg.CO.,LTD PE 00-A JFAT-SBXGF-I Molex Sumitomo M M J.S.T.Mfg.CO.,LTD PL PE 00-A JFAT-SBXGF-I

24

25 Optional Equipment Dimensions External Wiring Diagram Standard Specifications Configuration Model Number Nomencalture Features and Functions

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27 Inquiry Check Sheet Please provide the following infomation when placing an order or making an inquiry. Also feel free to include any questions that require our attention. Company Name : Depatrtment : Telephone : Fax : ) Application : ) Name of Machinery : ) Number of Units : Date : To contact us : Phone : FAX : Features and Functions Model Number Nomencalture Configuration Item Name of target equipment Equipment name, category (transport, processing, test, other) Name of servo axis Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no) Current condition of above axis Manufacturer Name ( ) Series Name ( ) Motor Capacity ( ) Hydraulic, Mechanical, or New ( ) Positioning accuracy ± mm ± m Operation pattern Feeding Speed [m/sec] Acceleration G [m/s ] Feeding Speed [m/s] Moving Distance [m] (Stroke) Contents Reference formula G=9.8[m/s ] [m/s ] 0.G [m/s ] V[m/sec] t[sec] D[m] V[m/sec] (t+t)[sec] Time Standard Specifications Dimensions External Wiring Diagram 6 Mechanism 7 Mechanical structure Ball-screw/screw-rotation type (horizontal), ball-screw/nut-rotation type (horizontal), rack and pinion (horizontal), belt/chain (horizontal), rotary table, roll feed, instability WT table mass kg WL work mass kg WA mass of other drive parts kg WR rack mass kg WB belt/chain mass kg WC counterbalance mass kg Fa external force axial direction N Fb ball-screw preload N T roll pushing force N Dr drive-side roll diameter mm Dr follower-side roll diameter mm Lr drive-side roll length mm Lr follower-side roll length mm G reduction ratio JG speed-reducer inertia kg m JC coupling inertia kg m JN nut inertia kg m JO other motor-axis conversion inertia kg m Db ball-screw diameter mm Lb ball-screw axial length mm Pb ball -screw lead mm Dp pinion/pulley diameter mm Lp pinion axial length mm tp pully thickness mm Dt table diameter mm Dh table-support dianeter mm LW load shift from axis mm Ds table shaft diameter mm Ls table shaft length mm specific gravity of ball-screw/pinion/pulley/table-shaft material kg cm Optional Equipment friction coefficient between sheet and shiliding-surface/support-section/roll specific gravity of roll- material kg cm specific gravity of roll- material kg cm internal friction coefficient of preload nut mechanical efficiency JL load inertia of motor-axis conversion kg m TF friction torque of motor axis conversion N m Tu imbalance torque of motor axis conversion N m 8 Speed reducer Customer-provided ( ) * Sanyo standard(planet/spur/no-backlash-planet ) other( ) 9 Encoder type Encoder type specified ( yes / no ) Yes: (incremental, optical absolute, optical absolute [resolver absolute with incremental function]) Resolution 0 Input format Position, velocity, torque, communications ( SERCOS / CAN / DeviceNet ) other ( ) A Host equipment (controller) Sequencer, laptop, customer-developed product, Sanyo-provided, other ( ) B Usage environment and other requirements Cutting, clean-room use, anti-dust measures, other ( ) C Estimated production Single product: ( ) units/mouth ( ) units/year D Development schedule Prototype period: ( ) Year ( ) Month Production period: ( ) Year ( ) Month E Various measures Related documentation ( already submitted; send later by mail) Visit/PR desired ( yes / no ) Meeting desired ( yes / no ) F Miscellaneous (questions, pending problems, unresolved issues, etc.) * Please consult us on selecting suitable reduction gears for your application. 6

28 ECO PRODUCTS ECO PRODUCTS are designed with the goal of lessening nevironmental impact, from product development to disposal. Precautions For Adoption Cautions Failure to follow the precautions on the right may cause moderate injury and property damage, or in some circumstances,could lead to a serious accident. Always follow all listed precautions. For any question or inquiry regarding the above, contact our Sales Department. --, Kita-Otsuka, Toshima-ku, Tokyo 70-8, Japan Phone: Amapola Avenue Torrance, CA 900 U.S.A. Phone: P.A. Paris Nord II 8 Allee des Erables-VILLEPINTE BP.786 F-998 ROISSY CDG Cedex France Phone: Frankfurter Strasse Eschborn Germany Phone: F -, Sunwha-dong Jung-gu Seoul, 00-0, Korea Phone: Room 6, Bldg B, FAR EAST INTERNATIONAL PLAZA, No.7 XianXia Rd., Shanghai 000 China Phone: Room 08,F, No.96 Chung Shan N, Rd., Sec., Taipei 0, Taiwan, R.O.C. Phone: Room 0, /F, South Tower, Concordia Plaza, Science Museum Rd., TST East, Kowloon, Hong Kong Phone: Hoe Chiang Road #-0A/0 Keppel Towers Singapore 089 Phone: The names of companies and/or their products specified in this catalogue are the trade names, and/or trademarks and/or registered trademarks of such respective companies. Remarks : Specifications Are Subject To Change Without Notice. CATALOG NO N