AC Servo System. 1S Series. Optimized installation and setup Increased machine productivity Global availability and global conformance

Transcription

1 AC Servo System 1S Series Optimized installation and setup Increased machine productivity Global availability and global conformance

2 2 AC Servo System State of the art servo technology applied to general purpose Improved machine design. Increased machine productivity Designed to meet the machine requirements, the 1S servo technology optimizes the full cycle, through the machine design, installation and commissioning tasks and finally to the maintenance once in production. In addition to the traditional motion solution, the 1S servo offers high resolution multi-turn encoder without battery backup, safety network built-in and improved loop control allowing accurate and higher machine productivity. Optimized installation and commissioning tasks Cabinet size reduction: Compact servo drive with same height throughout the whole power range Servo features Power range from 1 W to 3 kw - 1/2/4V 23 bit high resolution encoder 35% momentary maximum torque (2 V, 75 W max.) Battery-free absolute multi-turn encoder Improved loop control for low overshoot and quick settling time Safety function built-in: Hardwired Safe Torque Off: EN ISO (Cat.3 PLe), EN6158(SIL3), EN6261(SIL3), EN (STO) Safety over EtherCAT(FSoE): EN ISO (Cat.3 PLd), EN6158(SIL2), EN6261(SIL2), EN (STO) Fast and secure screw-less push-in in control I/O and brake interlock Pluggable s in all s for easy pre-wiring and system maintenance Direct wiring of I/O signals. No need for terminal block units Pre-assembled motor cables Embedded relay for direct motor brake control

3 3 Simplified machine design and maintenance No battery, no maintenance No need for homing sequence improving machine uptime 23 bit high resolution encoder as standard Absolute multi-turn encoder design without mechanics: 16 bits, turns Compact and smaller motor size 5% setup time reduction* Servo sizing System configuration Gain tuning & test run Servo sizing tool for the entire machine Graphical environment of the kinematic chain Electronic CAM import from Sysmac Studio NJ project auto-builder from servo sizing file Quick setup wizard for key parameters Parameters transfer in less than 4 ms Best effort feature for quick stabilization time Easy tuning with intelligent gain search in less than 2 minutes Wizard for tuning, test run & monitoring Advanced tuning simulation to reduce testing effort and prevent machine damage Save 4% * Save 6% * Save 5% * *Performance comparison with previous Omron products based on Omron investigation in March 216.

4 4 AC Servo System Totally integrated, totally in control MACHINE SPEED 125 μs 1 ms 2 ms CYCLE TIME HIGHER PRODUCTIVITY 125 μs system cycle Faster machine speed keeping same accuracy Accurate profile generation in the controller The 23 bit high resolution encoder in combination with the improved loop control provide an accurate following profile NJ/NX series Machine Controller NX Safety INTEGRATED SAFETY Safety control via EtherCAT Simplified safety installation Reduction of safety devices Safety function built-in: Fail Safe over EtherCAT (FSoE) Safe Torque Off Safety approval: EN ISO (Cat.3 PLd), EN6158(SIL2), EN6261(SIL2), EN (STO) Troubleshooter integrated with Sysmac Studio

5 5 Servo sizing Setup Logic, Motion & Safety programming Simulation Commissioning TOTALLY IN CONTROL Sysmac Studio Simplified servo setup: Direct use of servo sizing calculation Open standard IEC programming Standard PLCopen Function Blocks for Motion and Safety Sysmac Library for fast engineering and optimized machine availability Application libraries Optimized productivity Predictive maintenance Reduced downtime 1S Servo

6 6 AC Servo System Sysmac Automation Platform The integrated platform Sysmac is an integrated automation platform dedicated to providing complete control and management of your automation plant. At the core of this platform, the Machine Controller series offers synchronous control of all machine devices and advanced functionality such as motion, robotics and database connectivity. This multidisciplinary concept allows you to simplify solution architecture, reduce programming and optimize productivity. Factory Offices HQ Information technologies IT devices Sales force Big Data Controller HMI Software Motion I/O Safety Vision Sensing Software Sysmac Studio, the integrated software One single tool for logic sequence, motion, safety, robotics, vision and HMI Fully compliant with open standard IEC PLCopen Function Blocks for Motion and Safety Supports Ladder, Structured Text and In-Line ST programming with a rich instruction set CAM editor for easy programming of complex motion profiles Database Connectivity Function Block library Sysmac Library The Sysmac Library is a collection of software functional components that can be used in programs for the NJ/NX Machine Automation Controllers. Please download it from following URL and install to Sysmac Studio. EtherCAT 1S Series Library: The EtherCAT 1S Series Library is used to initialize the absolute encoder, back up and restore the parameters for an OMRON 1S-series Servo Drive with built-in EtherCAT communications. You can use this library to reduce manpower of programming when implementing the processing for a Servo Drive.

7 7 Sysmac servo family Machine Controller NJ/NX series Logic sequence, Motion, Safety, Robotics and Database connection functionality Scalable motion control: CPUs from 2 up to 256 axes IEC controller PLCopen Function Blocks for Motion Control and Safety Advanced motion with Robotics functionality Built-in EtherCAT and EtherNet/IP ports Motion G5 Servo System - Wide functionality and scalability Servo drive for rotary or linear motors Rotary motor: Up to 15 kw Iron-core and Ironless linear motor models: Up to 21 N peak force Safety function: STO Full closed loop control 1S Servo System - General purpose servo Servo drive for rotary motors Up to 3 kw Safety function: STO Sysmac is a trademark or registered trademark of OMRON Corporation in Japan and other countries for OMRON factory automation products. Windows and SQL Server are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Safety over EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. EtherNet/IP TM is the trademark of ODVA. Other company names and product names in this document are the trademarks or registered trademarks of their respective companies. The product photographs and figures that are used in this catalog may vary somewhat from the actual products. Microsoft product screen shot(s) reprinted with permission from Microsoft Corporation.

8 ID VDC 7 ma COM AD42 MACH No RUN ERC ERH B1 A1 AC Servo System 1S-series 1@/R88D-1SN@-ECT Best Machine Architecture Simple installation and wiring contributes to board design efficiency EtherCAT Communications Cycle of 125 μs Achievement of Safety on EtherCAT Network Supports two-degree-of-freedom control Battery-free system reduces maintenance and space Comes equipped with a 23-bit ABS encoder 35% momentary maximum torque (2 V, 75 W max.) System Configuration Controller NJ/NX-series CPU Unit (with EtherCAT port) Support Software Automation Software Sysmac Studio Machine Automation Controller NJ/NX-series CJ-series CPU Unit + Position Control Unit (with EtherCAT Interface) Programmable Controller CJ -CPU Position Control Unit (NC) CJ1W-NC 8 Support Software FA Integrated Tool Package CX-One * (CX-Programmer included) * You cannot use the CX-One to make the settings of 1S-series Servo Drives. Obtain the Sysmac Studio. 8

9 FS L/A L/A OUT AC Servo System 1S-series Servo Drive Power signal Servomotor USB communications Power cable Standard cable Without brake wire R88A-CA1 S With brake wire R88A-CA1 B Flexible cable Without brake wire R88A-CA1 SF With brake wire R88A-CA1 BF EtherCAT communications R88D-1SN RUN ERRIN EtherCAT Brake cable for 75 W max. Standard cable R88A-CA1A B Flexible cable R88A-CA1A BF 1S-series Servo Drive R88D-1SN -ECT 1 VAC 2 VAC 4 VAC Feedback signal cable Standard cable R88A-CR1A C R88A-CR1B N Flexible cable R88A-CR1A CF R88A-CR1B NF 1S-series Servomotor 1L /-1M 3, r/min 2, r/min 1, r/min Decelerator Backlash: 3 Arcminutes max. R88G-HPG 9

10 AC Servo Drives with Built-in EtherCAT Communications [1S-series] Contents Ordering Information Specifications EtherCAT Communication Specifications Version Information Names and Functions Dimensions Ordering Information Refer to the Ordering Information. Specifications General Specifications Item Specifications Operating ambient temperature and humidity to 55 C, 9% max. (with no condensation) Storage ambient temperature and humidity -2 to 65 C, 9% max. (with no condensation) Operating and storage atmosphere No corrosive gases Operating altitude 1, m max. Vibration resistance 1 to 6 Hz and at an acceleration of 5.88 m/s 2 or less (Not to be run continuously at the resonance frequency) Insulation resistance Between power supply terminals/power terminals and PE terminals:.5 MΩ min. (at 5 VDC) Dielectric strength Between power supply terminals/power terminals and PE terminals: 1,5 VAC for 1 min (at 5/6 Hz) Protective structure IP2 (Built into IP54 panel) EMC Directive EN second environment, C3 category (EN ; Functional Safety) EU Directives Low Voltage Directive EN International Machinery Directive EN ISO (Cat.3), EN 6158, EN 6261, EN standard UL standards UL CSA standards CSA C22.2 No. 274 Korean Radio Regulations (KC) Compliant Australian EMC Labelling Requirements (RCM) Compliant Note: The above items reflect individual evaluation testing. The results may differ under compound conditions. The detail of Machinery Directive is as follows: The STO function via safety input signals: EN ISO (Cat3 PLe), EN 6158 (SIL3), EN 6261 (SIL3), EN (STO) The STO function via EtherCAT communications: EN ISO (Cat.3 PLd), EN 6158 (SIL2), EN 6261 (SIL2), EN (STO) Precautions for Correct Use Disconnect all connections to the Servo Drive before attempting a megger test (insulation resistance measurement) on a Servo Drive. Not doing so may result in the Servo Drive failure. Do not perform a dielectric strength test on the Servo Drive. Internal elements may be damaged. 1

11 Characteristics 1-VAC Input s Input Output Servo Drive model (R88D-) 1SN1L-ECT 1SN2L-ECT 1SN4L-ECT Item 1 W 2 W 4 W Power supply Main circuit voltage Single-phase 1 to 12 VAC (85 to 132 V) *1 Frequency 5/6 Hz (47.5 to 63 Hz) *1 Control circuit Rated input current [A (rms)] (Main circuit power supply voltage: 12 VAC) Power supply voltage 24 VDC (21.6 to 26.4 V) Single-phase phase Rated current [A (rms)] Maximum current [A (rms)] Maximum power loss at power conversion 1% (Load condition: rated output) Applicable Servomotor rated output [W] ,-r/min Servomotor () Batteryless 23-bit ABS Hold time at momentary power interruption (Main circuit power supply voltage: 1 VAC) 1M13S 1M23S 1M43S 1 ms (Load condition: rated output) *2 Weight [kg] *1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range of acceptable variation. *2. The control power supply is not specified here as long as a DC power supply that meets the following conditions is used. Reinforced insulation or double insulation, and the output hold time of 1 ms or more. 11

12 2-VAC Input s Input Output Servo Drive model (R88D-) 1SN1H-ECT 1SN2H-ECT 1SN4H-ECT 1SN8H-ECT Item 1 W 2 W 4 W 75 W Power supply Main circuit voltage Single-phase and 3-phase 2 to 24 VAC (17 to 252 V) *1 Frequency 5/6 Hz (47.5 to 63 Hz) *1 Control circuit Rated current [A (rms)] (Main circuit power supply voltage: 24 VAC) Power supply voltage 24 VDC (21.6 to 26.4 V) Single-phase phase Rated current [A (rms)] Maximum current [A (rms)] Maximum power loss at power conversion 1% (Load condition: rated output) Applicable Servomotor rated output [W] ,-r/min Servomotor () 2,-r/min Servomotor () 1,-r/min Servomotor () Batteryless 23-bit ABS Batteryless 23-bit ABS Batteryless 23-bit ABS Hold time at momentary power interruption (Main circuit power supply voltage: 2 VAC) 1M13T 1M23T 1M43T 1M753T ms (Load condition: rated output) *2 Weight [kg] Input Output Servo Drive model (R88D-) 1SN1H-ECT 1SN15H-ECT 1SN2H-ECT 1SN3H-ECT Main circuit Control circuit Rated current [A (rms)] (Main circuit power supply voltage: 24 VAC) Item 1 kw 1.5 kw 2 kw 3 kw Power supply voltage 3-phase 2 to 24 VAC (17 to 252 V) *1 Single-phase and 3-phase 2 to 24 VAC (17 to 252 V) *1 Frequency 5/6 Hz (47.5 to 63 Hz) *1 Power supply voltage 24 VDC (21.6 to 26.4 V) 3-phase 2 to 24 VAC (17 to 252 V) *1 Single-phase phase Rated current [A (rms)] Maximum current [A (rms)] Maximum power loss at power conversion 1% (Load condition: rated output) Applicable Servomotor rated output [W] 1, 1,5 2, 3, 3,-r/min Servomotor () Batteryless 23-bit ABS 1L1K3T 1L1K53T 1L2K3T 1L3K3T 2,-r/min Servomotor () Batteryless 23-bit ABS 1M1K2T 1M1K52T 1M2K2T 1M3K2T 1,-r/min Servomotor () Batteryless 23-bit ABS Hold time at momentary power interruption (Main circuit power supply voltage: 2 VAC) 1M91T --- 1M2K1T 1M3K1T 1 ms (Load condition: rated output) *2 Weight [kg] *1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range of acceptable variation. *2. The control power supply is not specified here as long as a DC power supply that meets the following conditions is used. Reinforced insulation or double insulation, and the output hold time of 1 ms or more. 12

13 4-VAC Input s Use a neutral grounded 4 VAC 3-phase power supply for the 4 VAC input models in order to satisfy the conditions to obtain the standards. Input Output Servo Drive model (R88D-) 1SN6F-ECT 1SN1F-ECT 1SN15F-ECT 1SN2F-ECT 1SN3F-ECT Item 6 W 1 kw 1.5 kw 2 kw 3 kw Power supply Main circuit voltage 3-phase 38 to 48 VAC (323 to 54 V) *1 Frequency 5/6 Hz (47.5 to 63 Hz) *1 Control circuit Rated current [A (rms)] (Main circuit power supply voltage: 48 VAC) Power supply voltage 24 VDC (21.6 to 26.4 V) 3-phase Rated current [A (rms)] Maximum current [A (rms)] Maximum power loss at power conversion 1% (Load condition: rated output) Applicable Servomotor rated output [W] 6 1, 1,5 2, 3, 3,-r/min Servomotor () 2,-r/min Servomotor () 1,-r/min Servomotor () Batteryless 23-bit ABS Batteryless 23-bit ABS Batteryless 23-bit ABS Hold time at momentary power interruption (Main circuit power supply voltage: 4 VAC) --- 1M42C 1M62C 1L753C 1L1K3C 1L1K53C 1L2K3C 1L3K3C 1M1K2C 1M1K52C 1M2K2C 1M3K2C --- 1M91C --- 1M2K1C 1M3K1C 1 ms (Load condition: rated output) *2 Weight [kg] *1. The values outside parentheses indicate the rated value, and the values inside parentheses indicate the range of acceptable variation. *2. The control power supply is not specified here as long as a DC power supply that meets the following conditions is used. Reinforced insulation or double insulation, and the output hold time of 1 ms or more. 13

14 EtherCAT Communications Specifications Item Communications standard Physical layer Connectors Communications media Communications distance Process data Mailbox (CoE) Synchronization mode and communications cycle Indicators CiA 42 Drive Profile Specifications IEC Type 12, IEC CiA 42 Drive Profile 1BASE-TX (IEEE82.3) RJ45 2 (shielded) ECAT IN: EtherCAT input ECAT OUT: EtherCAT output Recommended media: Twisted-pair cable, which is doubly shielded by the aluminum tape and braid, with Ethernet Category 5 (1BASE-TX) or higher Distance between nodes: 1 m max. Fixed PDO mapping Variable PDO mapping Emergency messages, SDO requests, SDO responses, and SDO information DC Mode (Synchronous with Sync Event) Communications cycle: 125 μs, 25 μs, 5 μs, 75 μs, 1 to 1 ms (in.25 ms increments) Free Run Mode ECAT-L/A IN (Link/Activity IN) 1 ECAT-L/A OUT (Link/Activity OUT) 1 ECAT-RUN 1 ECAT-ERR 1 Cyclic synchronous position mode Cyclic synchronous velocity mode Cyclic synchronous torque mode Profile position mode Profile velocity mode Homing mode Touch probe function Torque limit function Version Information 1S-series Servo Drive Corresponding version Unit version NJ/NX-series CPU Unit Sysmac Studio R88D-1SN@-ECT Version 1. Version 1.1 NJ: Version 1.11 or later NX: Version 1.11 or later NJ: Version 1.11 or later NX: Version 1.11 or later Version 1.16 or higher Version 1.18 or higher Functions That Were Added or Changed for Each Unit Version Function Addition/change Unit version Adjustment Function Multiple Drives Tuning Function Addition Ver.1.1 Machine - Inertia Ratio (31-1 hex) Change Ver.1.1 TDF Position Control - Command Following Gain Selection (312-1 hex) Addition Ver.1.1 Object TDF Position Control - Command Following Gain 2 ( hex) Addition Ver.1.1 TDF Velocity Control - Command Following Gain Selection ( hex) Addition Ver.1.1 TDF Velocity Control - Command Following Gain 2 ( hex) Addition Ver.1.1 Runaway Detection (3B71 hex) Addition Ver.1.1 Error detection function Runaway Detection Addition Ver.1.1 Synchronization Error Change Ver

15 F A x16 ID F A x1 CN7 x16 ID x1 Part Names Servo Drive Part Names R88D-1SN1L-ECT/-1SN2L-ECT/-1SN4L-ECT/-1SN1H-ECT/ -1SN2H-ECT/-1SN4H-ECT/-1SN8H-ECT/-1SN1H-ECT AC Servo System 1S-series Main circuit (CNA) terminal 7-segment LED display ID switches Status indicators B CDE A BC B CDE A BC Status indicators USB (CN7) Charge lamp EtherCAT communications (ECAT IN CN1) Control I/O (CN1) terminal EtherCAT communications (ECAT OUT CN11) Brake interlock (CN12) Motor (CNC) (CN2) terminal R88D-1SN15H-ECT/-1SN2H-ECT/-1SN3H-ECT/-1SN6F-ECT/ -1SN1F-ECT/-1SN15F-ECT/-1SN2F-ECT/-1SN3F-ECT Main circuit A (CNA) Control power supply (CND) Main circuit B (CNB) 7-segment LED display ID switches Status indicators Charge lamp Control I/O (CN1) terminal CHARGE CN1 ECAT IN CN11 ECAT OUT CN1 9 ABC 6789 ABCDEF ABC 6789 ABCDEF CN7 Status indicators USB (CN7) EtherCAT communications (ECAT IN CN1) EtherCAT communications (ECAT OUT Motor CN11) (CNC) (CN2) Brake interlock (CN12) terminal terminal Top view Servo Drive Functions Status Indicators The following seven indicators are mounted. Name Color Description PWR Green Displays the status of control power supply. ERR Red Gives the Servo Drive error status. ECAT-RUN Green ECAT-ERR Red Displays the EtherCAT communications status. ECAT-L/A IN, ECAT-L/A OUT Green Lights or flashes according to the status of a link in the EtherCAT physical layer. FS Red/green Displays the safety communications status. 15

16 7-segment LED Display A 2-digit 7-segment LED display shows error numbers, the Servo Drive status, and other information. ID Switches Two rotary switches ( to F hex) are used to set the EtherCAT node address. Charge Lamp Lights when the main circuit power supply carries electric charge. Control I/O Connector (CN1) Used for command input signals, I/O signals, and as the safety device. The short-circuit wire is installed on the safety signals before shipment. Connector (CN2) Connector for the encoder installed in the Servomotor. EtherCAT Communications Connectors (ECAT IN CN1, ECAT OUT CN11) These s are for EtherCAT communications. USB Connector (CN7) USB-Micro B Communications for the computer. This enables USB 2. Full Speed (12 Mbps) communications. Brake Interlock Connector (CN12) Used for brake interlock signals. Main Circuit Connector (CNA) Connector for the main circuit power supply input, control power supply input, external regeneration resistor, and DC reactor. Applicable models: R88D-1SN1L-ECT/-1SN2L-ECT/-1SN4L-ECT/-1SN1H-ECT/-1SN2H-ECT/-1SN4H-ECT/-1SN8H-ECT/-1SN1H-ECT Main Circuit Connector A (CNA) Connector for the main circuit power supply input and external regeneration resistor. Applicable models: R88D-1SN15H-ECT/-1SN2H-ECT/-1SN3H-ECT/-1SN6F-ECT/-1SN1F-ECT/-1SN15F-ECT/-1SN2F-ECT/-1SN3F-ECT Main Circuit Connector B (CNB) Connector for a DC reactor. Applicable models: R88D-1SN15H-ECT/-1SN2H-ECT/-1SN3H-ECT/-1SN6F-ECT/-1SN1F-ECT/-1SN15F-ECT/-1SN2F-ECT/-1SN3F-ECT Control Power Supply Connector (CND) Connector for control power supply input. Applicable models: R88D-1SN15H-ECT/-1SN2H-ECT/-1SN3H-ECT/-1SN6F-ECT/-1SN1F-ECT/-1SN15F-ECT/-1SN2F-ECT/-1SN3F-ECT Motor Connector (CNC) Connector for the power line to the phase U, V, and W of the Servomotor. The differs depending on the model. Terminal The number of terminals of the Servo Drives and their connection targets are as follows. R88D-1SN1L-ECT/-1SN2L-ECT/-1SN4L-ECT/ -1SN1H-ECT/-1SN2H-ECT/-1SN4H-ECT/ -1SN8H-ECT/-1SN1H-ECT R88D-1SN15H-ECT/-1SN2H-ECT/-1SN3H-ECT/ -1SN6F-ECT/-1SN1F-ECT/-1SN15F-ECT/ -1SN2F-ECT/-1SN3F-ECT Number of terminals 1 on top 2 on front 1 on bottom 1 on top 2 on front 1 on bottom Connection to PE wire of the main circuit power supply cable. FG wire inside the control panel, and FG wire for the motor cable and shielded wire. PE wire of the main circuit power supply cable. FG wire inside the control panel and the motor cable shielded wire. 16

17 Dimensions AC Servo System 1S-series (Unit: mm) Single-phase 1 VAC: R88D-1SN1L-ECT (1 W) Single-phase/3-phase 2 VAC: R88D-1SN1H-ECT/-1SN2H-ECT (1 to 2 W) External dimensions M4 3.2 Mounting dimensions 2-M ±.5 2-M4 7 M ±.5 4 Single-phase 1 VAC: R88D-1SN2L-ECT (2 W) Single-phase/3-phase 2 VAC: R88D-1SN4H-ECT (4 W) External dimensions Mounting dimensions M4 2-M ±.5 2-M4 7 M4 6 43± Single-phase 1 VAC: R88D-1SN4L-ECT (4 W) Single-phase/3-phase 2 VAC: R88D-1SN8H-ECT (75 W) 3-phase 2 VAC: R88D-1SN1H-ECT (1 kw) External dimensions Mounting dimensions M4 215 Air outlet M ±.5 2-M4 7 M4 Air intake 7.5 5±

18 Single-phase/3-phase 2 VAC: R88D-1SN15H-ECT (1.5 kw) 3-phase 2 VAC: R88D-1SN2H-ECT/-1SN3H-ECT (2 to 3 kw) 3-phase 4 VAC: R88D-1SN6F-ECT/-1SN1F-ECT/-1SN15F-ECT/-1SN2F-ECT/-1SN3F-ECT (6 W to 3 kw) External dimensions Mounting dimensions M4 Air outlet 3-M ± M4 7 Air outlet Air intake M ±.5 78±

19 MEMO 19

20 AC Servomotors [1S-series] Contents Ordering Information Specifications Names and Functions External Dimensions Ordering Information Refer to the Ordering Information. Specifications General Specifications Item Specifications Operating ambient temperature and humidity Storage ambient temperature and humidity Operating and storage atmosphere Vibration resistance * Impact resistance Insulation resistance Dielectric strength Insulation class Protective structure International standard CSA standards CSA C22.2 No.1 (with cul mark) * The amplitude may be increased by machine resonance. As a guideline, 8% of the specified value must not be exceeded. Note: 1. Do not use the cable when it is laying in oil or water. 2. Do not expose the cable outlet or connections to stress due to bending or its own weight. Specifications system EU Directives Low Voltage Directive to 4 C 2% to 9% (with no condensation) -2 to 65 C 2% to 9% (with no condensation) No corrosive gases Acceleration of 49 m/s m/s 2 max. in X, Y, and Z directions when the motor is stopped Acceleration of 98 m/s 2 max. 3 times each in X, Y, and Z directions Between power terminals and FG terminals: 1 MΩ min. (at 5 VDC Megger) Between power terminals and FG terminals: 1,5 VAC for 1 min (voltage 1 V, 2 V) Between power terminals and FG terminals: 1,8 VAC for 1 min (voltage 4 V) Between brake terminal and FG terminals: 1, VAC for 1 min Class F IP67 (except for the through-shaft part and pins) IP2 if you use a 3-meter or longer encoder cable. EN 634-1/-5 UL standards UL 14-1/-6 Item Resolution per rotation Multi-rotation data hold Power supply voltage Current consumption Output signal Optical batteryless absolute encoder 23 bits 16 bits 5 VDC±1% 23 ma max. Serial communications Specifications Output interface RS485 compliant Note: It is possible to use an absolute encoder as an incremental encoder. Refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Communications User s Manual (Cat.No.I586) for details. 2

21 Characteristics 3,-r/min Servomotors () For models with an oil seal, the following derating is used due to increase in friction torque. 1 VAC Item Unit 1M13S 1M23S 1M43S Rated output *1 *2 W Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 3, Maximum rotation speed r/min 6, maximum torque *1 N m Rated current *1 *2 A (rms) maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N Allowable thrust load *4 N Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t6 (aluminum) Excitation voltage *5 V 24 VDC±1% Brake specifications Current consumption (at 2 C) A Static friction torque N m.32 min min min. Attraction time ms 25 max. 3 max. 3 max. Release time *6 ms 15 max. 2 max. 2 max. Backlash 1.2 max. 1.2 max. 1.2 max. Allowable braking work J Allowable total work J 9, 6, 6, Allowable angular acceleration Brake lifetime (acceleration/ deceleration) rad/s 2 1, max million times min. Insulation class --- Class F () 1M13S-O/ -OS2/ 1M23S-O/ -OS2/ 1M43S-O/ -OS2/ Item Unit -BO/ -BOS2 -BO/ -BOS2 -BO/ -BOS2 Derating rate % Rated output W Rated current A (rms)

22 () 2 VAC Item Unit 1M13T 1M23T 1M43T 1M753T Rated output *1 *2 W Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 3, Maximum rotation speed r/min 6, maximum torque *1 N m Rated current *1 *2 A (rms) maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N Allowable thrust load *4 N Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t6 (aluminum) Excitation voltage *5 V 24 VDC±1% Brake specifications Current consumption (at 2 C) A Static friction torque N m.32 min min min min. Attraction time ms 25 max. 3 max. 3 max. 4 max. Release time *6 ms 15 max. 2 max. 2 max. 35 max. Backlash 1.2 max. 1.2 max. 1.2 max. 1. max. Allowable braking work J Allowable total work J 9, 6, 6, 25, Allowable angular acceleration Brake lifetime (acceleration/ deceleration) rad/s 2 1, max million times min. Insulation class --- Class F ] For models with an oil seal, the following derating is used due to increase in friction torque. () 1M13T-O/ 1M23T-O/ 1M43T-O/ 1M753T-O/ Item Unit -OS2/ -BO/ -BOS2 -OS2/ -BO/ -BOS2 -OS2/ -BO/ -BOS2 -OS2/ -BO/ -BOS2 Derating rate % Rated output W Rated current A (rms)

23 () 2 VAC Item Unit 1L1K3T 1L1K53T 1L2K3T 1L3K3T Rated output *1 *2 W 1, 1,5 2, 3, Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 3, Maximum rotation speed r/min 5, maximum torque *1 N m Rated current *1 *2 A (rms) maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N 49 Allowable thrust load *4 N 196 Weight Without brake kg With brake kg Radiator plate dimensions (material) mm 4 4 t2 (aluminum) t2 (aluminum) Excitation voltage *5 V 24 VDC±1% Brake specifications Current consumption (at 2 C) A Static friction torque N m 9.3 min. 9.3 min. 9.3 min. 12. min. Attraction time ms 1 max. 1 max. 1 max. 1 max. Release time *6 ms 3 max. 3 max. 3 max. 3 max. Backlash 1. max. 1. max. 1. max..8 max. Allowable braking work J , Allowable total work J 9, 9, 9, 3,, Allowable angular acceleration Brake lifetime (acceleration/ deceleration) rad/s 2 1, max million times min. Insulation class --- Class F 23

24 () 4 VAC Item Unit 1L753C 1L1K3C 1L1K53C Rated output *1 *2 W 75 1, 1,5 Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 3, Maximum rotation speed r/min 5, maximum torque *1 N m Rated current *1 *2 A (rms) maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N 49 Allowable thrust load *4 N 196 Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t2 (aluminum) 4 4 t2 (aluminum) Excitation voltage *5 V 24 VDC±1% Brake specifications Current consumption (at 2 C) A Static friction torque N m 9.3 min. 9.3 min. 9.3 min. Attraction time ms 1 max. 1 max. 1 max. Release time *6 ms 3 max. 3 max. 3 max. Backlash 1. max. 1. max. 1. max. Allowable braking work J Allowable total work J 9, 9, 9, Allowable angular acceleration Brake lifetime (acceleration/ deceleration) rad/s 2 1, max million times min. Insulation class --- Class F 24

25 () 4 VAC Item Unit 1L2K3C 1L3K3C Rated output *1 *2 W 2, 3, Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 3, Maximum rotation speed r/min 5, maximum torque *1 N m Rated current *1 *2 A (rms) maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N 49 Allowable thrust load *4 N 196 Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t2 (aluminum) Excitation voltage *5 V 24 VDC±1% Brake specifications Current consumption (at 2 C) A.7.66 Static friction torque N m 9.3 min. 12 min. Attraction time ms 1 max. 1 max. Release time *6 ms 3 max. 3 max. Backlash 1. max..8 max. Allowable braking work J 5 1, Allowable total work J 9, 3,, Allowable angular acceleration Brake lifetime (acceleration/ deceleration) rad/s 2 1, max million times min. Insulation class --- Class F *1. This is a typical value for when the Servomotor is used at a normal temperature (2 C, 65%) in combination with a Servo Drive. *2. The rated values are the values with which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. *3. This value is for models without options. *4. The allowable radial and thrust loads are the values determined for a limit of 2, hours at normal operating temperatures. The allowable radial loads are applied as shown in the following diagram. LR Radial load Thrust load Center of shaft (LR/2) *5. This is a non-excitation brake. It is released when excitation voltage is applied. *6. This value is a reference value. 25

26 Torque-Rotation Speed Characteristics for 3,-r/min Servomotors (1 VAC) The following graphs show the characteristics with a 3-m standard cable and a 1 VAC input. 1M13S 1M23S 1M43S Note: The continuous is the range in which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. operation at the maximum speed is also possible. However, doing so will reduce the output torque. Torque-Rotation Speed Characteristics for 3,-r/min Servomotors (2 VAC) The following graphs show the characteristics with a 3-m standard cable and a 3-phase 2-VAC or single-phase 22-VAC input. 1M13T 1M23T 1M43T M753T 1L1K3T 1L1K53T L2K3T L3K3T Note: The continuous is the range in which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. operation at the maximum speed is also possible. However, doing so will reduce the output torque. 26

27 Torque-Rotation Speed Characteristics for 3,-r/min Servomotors (4 VAC) The following graphs show the characteristics with a 3-m standard cable and a 4 VAC input. 1L753C 1L1K3C 1L1K53C L2K3C L3K3C Note: The continuous is the range in which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. operation at the maximum speed is also possible. However, doing so will reduce the output torque. 27

28 2,-r/min Servomotors () 2 VAC Item Unit 1M1K2T 1M1K52T 1M2K2T 1M3K2T Rated output *1 *2 W 1, 1,5 2, 3, Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 2, Maximum rotation speed r/min 3, maximum torque *1 N m Rated current *1 *2 A (rms) maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N Allowable thrust load *4 N Weight Without brake kg With brake kg Radiator plate dimensions (material) mm 4 4 t2 (aluminum) t2 (aluminum) Excitation voltage *5 V 24 VDC±1% Brake specifications Current consumption (at 2 C) A Static friction torque N m 9. min. 9. min. 12 min. 16 min. Attraction time ms 1 max. 1 max. 1 max. 15 max. Release time *6 ms 3 max. 3 max. 3 max. 5 max. Backlash.6 max..6 max..6 max..6 max. Allowable braking work J 1, 1, 1, 35 Allowable total work J 3,, 3,, 3,, 1,, Allowable angular acceleration Brake lifetime (acceleration/ deceleration) rad/s 2 1, max million times min. Insulation class --- Class F 28

29 () 4 VAC Item Unit 1M42C 1M62C 1M1K2C Rated output *1 *2 W 4 6 1, Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 2, Maximum rotation speed r/min 3, maximum torque *1 N m Rated current *1 *2 A (rms) maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N 49 Allowable thrust load *4 N 196 Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t12 (aluminum) Brake specifications Excitation voltage *5 V 24 VDC±1% Current consumption (at 2 C) 4 4 t2 (aluminum) A Static friction torque N m 3.92 min min. 9. min. Attraction time ms 4 max. 4 max. 1 max. Release time *6 ms 25 max. 25 max. 3 max. Backlash 1. max. 1. max..6 max. Allowable braking work J , Allowable total work J 33, 33, 3,, Allowable angular acceleration Brake lifetime (acceleration/ deceleration) rad/s 2 1, max million times min. Insulation class --- Class F 29

30 () 4 VAC Item Unit 1M1K52C 1M2K2C 1M3K2C Rated output *1 *2 W 1,5 2, 3, Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 2, Maximum rotation speed r/min 3, maximum torque *1 N m Rated current *1 *2 A (rms) maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N Allowable thrust load *4 N Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t2 (aluminum) Excitation voltage *5 V 24 VDC±1% Brake specifications Current consumption (at 2 C) A Static friction torque N m 9. min. 12 min. 16 min. Attraction time ms 1 max. 1 max. 15 max. Release time *6 ms 3 max. 3 max. 5 max. Backlash.6 max..6 max..6 max. Allowable braking work J 1, 1, 35 Allowable total work J 3,, 3,, 1,, Allowable angular acceleration Brake lifetime (acceleration/ deceleration) rad/s 2 1, max million times min. Insulation class --- Class F *1. This is a typical value for when the Servomotor is used at a normal temperature (2 C, 65%) in combination with a Servo Drive. *2. The rated values are the values with which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. *3. This value is for models without options. *4. The allowable radial and thrust loads are the values determined for a limit of 2, hours at normal operating temperatures. The allowable radial loads are applied as shown in the following diagram. LR Radial load Thrust load Center of shaft (LR/2) *5. This is a non-excitation brake. It is released when excitation voltage is applied. *6. This value is a reference value. 3

31 Torque-Rotation Speed Characteristics for 2,-r/min Servomotors (2 VAC) The following graphs show the characteristics with a 3-m standard cable and a 3-phase 2-VAC or single-phase 22-VAC input. 1M1K2T 1M1K52T 1M2K2T M3K2T Note: The continuous is the range in which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. operation at the maximum speed is also possible. However, doing so will reduce the output torque. Torque-Rotation Speed Characteristics for 2,-r/min Servomotors (4 VAC) The following graphs show the characteristics with a 3-m standard cable and a 4 VAC input. 1M42C 1M62C 1M1K2C M1K52C 1M2K2C 1M3K2C Note: The continuous is the range in which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. operation at the maximum speed is also possible. However, doing so will reduce the output torque. 31

32 1,-r/min Servomotors () 2 VAC Item Unit 1M91T 1M2K1T 1M3K1T Rated output *1 *2 W 9 2, 3, Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 1, Maximum rotation speed r/min 2, maximum torque *1 N m Rated current *1 *2 A (rms) maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N 686 1,176 1,47 Allowable thrust load *4 N Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t2 (aluminum) Brake specifications Excitation voltage *5 V 24 VDC±1% Current consumption (at 2 C) t2 (aluminum) A Static friction torque N m 9. min. 22 min. 42 min. Attraction time ms 1 max. 12 max. 15 max. Release time *6 ms 3 max. 5 max. 6 max. Backlash.6 max..8 max..8 max. Allowable braking work J 1, 1,4 1,4 Allowable total work J 3,, 4,6, 4,6, Allowable angular acceleration Brake lifetime (acceleration/ deceleration) rad/s 2 1, max million times min. Insulation class --- Class F 32

33 () 4 VAC Item Unit 1M91C 1M2K1C 1M3K1C Rated output *1 *2 W 9 2, 3, Rated torque *1 *2 N m Rated rotation speed *1 *2 r/min 1, Maximum rotation speed r/min 2, maximum torque *1 N m Rated current *1 *2 A (rms) maximum current *1 A (rms) Rotor inertia Without brake 1-4 kg m With brake 1-4 kg m Applicable load inertia 1-4 kg m Torque constant *1 N m/ A (rms) Power rate *1 *3 kw/s Mechanical time constant *3 ms Electrical time constant ms Allowable radial load *4 N 686 1,176 1,47 Allowable thrust load *4 N Weight Without brake kg With brake kg Radiator plate dimensions (material) mm t2 (aluminum) Brake specifications Excitation voltage *5 V 24 VDC±1% Current consumption (at 2 C) t2 (aluminum) A Static friction torque N m 9. min. 22 min. 42 min. Attraction time ms 1 max. 12 max. 15 max. Release time *6 ms 3 max. 5 max. 6 max. Backlash.6 max..8 max..8 max. Allowable braking work J 1, 1,4 1,4 Allowable total work J 3,, 4,6, 4,6, Allowable angular acceleration Brake lifetime (acceleration/ deceleration) rad/s 2 1, max million times min. Insulation class --- Class F *1. This is a typical value for when the Servomotor is used at a normal temperature (2 C, 65%) in combination with a Servo Drive. *2. The rated values are the values with which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. *3. This value is for models without options. *4. The allowable radial and thrust loads are the values determined for a limit of 2, hours at normal operating temperatures. The allowable radial loads are applied as shown in the following diagram. LR Radial load Thrust load Center of shaft (LR/2) *5. This is a non-excitation brake. It is released when excitation voltage is applied. *6. This value is a reference value. 33

34 Torque-Rotation Speed Characteristics for 1,-r/min Servomotors (2 V/4 VAC) The following graphs show the characteristics with a 3-m standard cable and a 3-phase 2-VAC or single-phase 22/4-VAC input. 1M91T 1M2K1T 1M3K1T 1M91C 1M2K1C 1M3K1C Note: The continuous is the range in which continuous operation is possible at an ambient temperature of 4 C when the Servomotor is horizontally installed on a specified radiator plate. operation at the maximum speed is also possible. However, doing so will reduce the output torque

35 Part Names Servomotor Part Names Flange Size of 8 8 or less AC Servo System 1S-series Power Connector Connector Brake Connector Power Connector Connector Shaft Flange Mating part Shaft Flange Mating part 1 VAC 1 W Servomotors (without Brake) 2 VAC 2 W Servomotors (with Brake) Flange Size of 1 1 or more Power/brake Shaft Flange Mating part 2 VAC 1.5 kw Servomotors (with Brake) Servomotor Functions Shaft The load is mounted on this shaft. The direction which is in parallel with the shaft is called the thrust direction, and the direction which is perpendicular to the shaft is called the radial direction. Flange Used for mounting the Servomotor on the equipment. Fit the mating part into the equipment and use the mounting holes to screw the Servomotor. Power Connector Used for supplying power to the phase U, V, and W of the Servomotor. For Servomotors with a brake and flange size of 1 1 or more, the pins for power and brake are set on the same. Connector Used for supplying power to the encoder of the Servomotor and communicating with the Servo Drive. Brake Connector Used for supplying power to the brake coil of the Servomotor. This part is attached only to the Servomotors with a brake and flange size of 8 8 or less. 35

36 External Dimensions (Unit: mm) 3,-r/min Servomotors (1 V and 2 V) 1 W (without Brake) 1M13S(-O/-S2/-OS2) 1M13T(-O/-S2/-OS2) Motor (43) 5± ±.35 dia. W U T QA QK LL 2.5± ± dia dia. 4 4±.8 46±.3 dia. QE (tap) LT (tap depth) LL QA QK W T U QE LT 1M13S(-S2) 1M13T(-S2) 9±1 1M13S(-S2/-OS2) M3 8 1M13S(-O/-OS2) 1M13T(-O/-OS2) 95±1 1M13T(-S2/-OS2) M3 8 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the 1 W (with Brake) 1M13S-B(O/S2/OS2) 1M13T-B(O/S2/OS2) Brake Motor (43) 5± ±.35 dia. W U T QA QK dia. LL 2.5± ± dia. 4 4±.8 46±.3 dia. QE (tap) LT (tap depth) LL QA QK W T U QE LT 1M13S-B(S2) 1M13T-BS2) 126±1 1M13S-B(S2/OS2) M3 8 1M13S-B(O/OS2) 1M13T-B(O/OS2) 131±1 1M13T-B(S2/OS2) M3 8 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the 36

37 2 W/4 W (without Brake) 1M23S(-O/-S2/-OS2)/1M23T(-O/-S2/-OS2) 1M43S(-O/-S2/-OS2)/1M43T(-O/-S2/-OS2) (52.6) Motor 6±.5 W U T QA QK 3±.3 LL 1M23S(-S2) 1M23T(-S2) 1M43S(-S2) 1M43T(-S2) 27 3±.5 1M23S(-O/-OS2) 1M23T(-O/-OS2) 1M43S(-O/-OS2) 1M43T(-O/-OS2) S dia ±.3 dia ±.35 dia. 6 6±.95 S LL dia. 79.5± dia. 15.5± dia. 86.5± dia ±1 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the QE (tap) LT (tap depth) 1M23S(-S2/-OS2) 1M23T(-S2/-OS2) 1M43S(-S2/-OS2) 1M43T(-S2/-OS2) QA QK W T U QE LT M M M M W/4 W (with Brake) 1M23S-B(O/S2/OS2)/1M23T-B(O/S2/OS2) 1M43S-B(O/S2/OS2)/1M43T-B(O/S2/OS2) (52.6) Brake Motor 6±.5 W U T QA QK LL 3± ±.5 S -.25 dia. 5 7±.3 dia ±.35 dia. 6 6±.95 QE (tap) LT (tap depth) S LL QA QK W T U QE LT 1M23S-B(S2) 1M23T-B(S2) dia. 17.5±1 1M23S-B(S2/OS2) M4 1 1M43S-B(S2) 1M43T-B(S2) dia ±1 1M23T-B(S2/OS2) M4 1 1M23S-B(O/OS2) 1M23T-B(O/OS2) dia ±1 1M43S-B(S2/OS2) M5 12 1M43S-B(O/OS2) 1M43T-B(O/OS2) dia. 14.5±1 1M43T-B(S2/OS2) M5 12 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the 37

38 75 W (without Brake) 1M753T(-O/-S2/-OS2) (63.2) Motor 8±.5 W U T QA QK -.3 dia. LL 3±.3 35±.8 dia ±.3 dia. 4-6±.5 dia. 8 8±.95 QE (tap) LT (tap depth) 1M753T(-S2) 117.3±1 1M753T(-O/-OS2) 124.3±1 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the LL 1M753T(-S2/-OS2) QA QK W T U QE LT M W (with Brake) 1M753T-B(O/S2/OS2) Brake Motor 8±.5 W U T QA QK (63.2) LL 3±.3 35±.8 1M753T-B(S2) 153±1 1M753T-B(O/OS2) 16±1 dia dia ±.3 dia. 4-6±.5 dia. 8 8±.95 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the LL QE (tap) LT (tap depth) 1M753T-B(S2/OS2) QA QK W T U QE LT M kw/1.5 kw/2 kw (without Brake) 1L1K3T(-O/-S2/-OS2)/1L1K53T(-O/-S2/-OS2)/ 1L2K3T(-O/-S2/-OS2) KL2 KB2 KB1 Motor 115±.2 dia. W U T QA QK 45±2 LL 1±.5 5 3±.3 55±1 LL KB1 KB2 KL2 1L1K3T(-O/-S2/-OS2) 168±2 85±1 153±2 97±2 1L1K53T(-O/-S2/-OS2) 168±2 85±1 153±2 97±2 1L2K3T(-O/-S2/-OS2) 179±2 96±1 164±2 12± ±.5 dia. 1 1±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the dia. dia QE (tap) LT (tap depth) 1L1K3T(-S2/-OS2) 1L1K53T(-S2/-OS2) 1L2K3T(-S2/OS2) QA QK W T U QE LT M M M

39 1 kw/1.5 kw/2 kw (with Brake) 1L1K3T-B(O/S2/OS2)/1L1K53T-B(O/S2/OS2)/ 1L2K3T-B(O/S2/OS2) KB2 KB1 Motor and brake 115±.2 dia. W U T QA QK KL2 45±2 LL 1±.5 LL KB1 KB2 KL2 1L1K3T-B(O/S2/OS2) 29±3 85±1 194±2 97±2 1L1K53T-B(O/S2/OS2) 29±3 85±1 194±2 97±2 1L2K3T-B(O/S2/OS) 22±3 96±1 25±2 14±2 5 3±.3 55± ±.5 dia. 1 1±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the -.13dia. 19 dia. QE (tap) LT (tap depth) 1L1K3T-B(S2/OS2) 1L1K53T-B(S2/OS2) 1L2K3T-B(S2/OS2) QA QK W T U QE LT M M M kw (without Brake) 1L3K3T(-O/-S2/-OS2) 169±2 Motor 112± ±2 45±2 184±2 12±.5 5 4±.4 55±1 dia dia ±.2 dia.4-9±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the M5(tap) 12(tap depth) 3 kw (with Brake) 1L3K3T-B(O/S2/OS2) 119±2 Motor and brake 215±2 112± ±2 23±3 12±.5 4±.4 55± ±.2 dia. 4-9±.5 dia ±2 Note: The standard shaft type is a straight shaft. s with a key and tap are indicated with S2 at the end of the 5 22 dia. dia. M5(tap) 12(tap depth) 39