AC SERVO SYSTEMS Q. Vol.3 ENGLISH

Transcription

1 ERO YEM Q ol.3 E EGLIH

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3 ave installation time and expense Economical maller profile, less wiring time needed Quick etupo adjustment needed; complete with measurement functions and setup software Improved precision and speed tability Doubled from earlier models ccuracyminimal positional deviation (achieves zero deviation) ibration ontrol Rapid response with minimal vibration orldwide compatibility assured Reliability Improved MBF Maintenance Reduced MR; offers preventative maintenance functions,fault location recognition, and setup software afety onfor to international standards aterproofing: Entire line meets I67 protection standards (optional for Q motors with diameter less than 76mm,and Q motors less than 4mm; Q4 motor components rated at I4) Reduced operating costs Economical Energy efficient, boosts energy savings IDEX Features and Functions p.3 ystem onfiguration p.9 Model umber omenclature p.3 tandard pecifications p.5 External iring Diagram p.9 ensor iring Diagram p.3 Dimensions p.33 D Motor / mplifier ystemp.37 etup oftwarep.39 ositioning mplifier pecs. p.4 Optional Equipment p.43

4 anyo Denki Q eries ervo yste reduce the time and expense needed for system construction and installation. Real-time uto uning Function D // F 5-digit LED with // F Integrated ontrols Machine characteristics are automatically measured to set the proper servo gain. Optimum settings are easily achieved. Make on-site modifcations and monitor parameter settings with ease, using the integrated operator controls. peed command value Detected speed value uning initiated One Input oint for ll ontrols // est Operations (JOG Functions) // orque, position and speed control can be configured specifically and precisely by modifying user parameters. se the system's JOG Functions to check connections between the motor and amplifier, for simple testing-without having to enter position and speed commands. Q apable of JOG operations without upper controller. MODE /R osition or speed orque ontrol GOL R t HRGE OER r - R Flat surface Incline DL DL RB RB B Operations are only tested between the motor and amplifier. 3

5 D // F If the capacity of the internal regenerative resistor is insufficient, an optional external regenerative resistor can be added to boost power dissipation. Q he servo amplifier automatically configures itself relative to the servo motor capacity and model type. [ote that 3,7-division (7-bit) single-rotation sensor resolution is supported only by 35 and 6 reduced wiring absolute sensors.] Internal Regenerative Resistor Q4 mart Motor Recognition/ // F onfiguration Feature F mplifer with ositioning Function Models D D Input ype Q Input ype // ulse/nalog/orque Internal regenerative resistor Q MODE /R Q MODE /R Q OER HRGE R t OER r R t DL r B DL - RB DL RB DL B RB D Models RB D // F he internal dynamic brake provides emergency stopcapability during power off or alarm events. Dynamicbraking sequence parameters are open for configuration. ersatile I/O ositioning Operation F Options Internal Dynamic Brake etup oftware Optional external regenerative resistor he system offers simple positioning by means of specifying point numbers via the I/O of the upper controller (such as a L). Q ontrolled Dynamic state braking state MODE /R HRGE R t OER r DL DL Rotation speed(min ) Q MODE /R HRGE R t OER r - oint umber pecify ime(s) DL DL B RB RB L B RB RB ositionng General pec HRGE oint oint Q Motor 4

6 Major improvements in equipment precision and speed Rapid Response // F ibration ontrol // F he high-performance shortens sampling time to half that of earlier models, providing a 6-Hz frequency response. ibration control functions such as high-order torque command low-pass filter, broadband secondorder notch filter and vibration control monitoring provide rapid-response, low-vibration performance. topping osition Deviation with vibration control without vibration contro Gain(dB) Frequency(Hz) /div Faster ositioning tabilization // F ommand rack ontrol // F new speed controller substantially shortens position stabilization time, to one fifth that of earlier models. new position and speed controller algorithm improves position control tracking ability to better than twice that of earlier models. In addition, nearzero position deviation has been achieved. ositioning ommand osition Deviation osition ompletion ignal tabilization ime (.7) osition Deviation 5/div /div 5

7 High Resolution he high-resolution absolute encoder (7 bits or 3,7 divisions) greatly improves positioning resolution. High-resolution ower Rating encoder // F (7 bits or 3,7 divisions) R6 Resolver-type bsolute Encoder ensor // F o decrease positioning stabilization time, the magnetic circuit has been redesigned to increase the maximum instantaneous power rating to nearly twice that of earlier models. In addition, the maximum rotation speed has been increased by % over that of earlier models, to 5 min-. Input ype Reduced Motor ogging orque ew, patented motor technology reduces motor cogging torque by 33%, to a fifth of that of earlier models. his smooth motor rotation is ideal for highprecision processes and conveyance applications that are adversely affected by vibration. Q Motor Earlier model Full-close ontrol he system supports full-close control using information from a high-resolution linear scale encoder mounted on the load side. Q // ulse/nalog/orque D D Input ype F mplifer with ositioning Function.4 m (.5% of rated torque) // F.9 m (.3% of rated torque) one rotation one rotation // F Q Q Models Options D Models Q Q4 etup oftware ositionng General pec MODE /R Maximum instantaneous power rating (k/s) Q Motor Earlier Model Q Motor Earlier Model 4mm frame/.kw 3mm frame/4kw R t r - DL DL RB RB HRGE B OER apable of precise and accurate positioning Load Increased maximum instantaneous power rating (Qp=p /Jm) Improved acceleration and deceleration performance 6

8 orldwide compatibility is assured onfor to International tandards // Rich roduct Lineup // tandard specification MOIO Q eries servo amplifiers comply with L, and E international standards. YO DEKI also provides L and E compliant servo motors, as well as EM filters to satisfy applicable EM directives. MOIO Q eries servo motors are available in 6 models, from small to medium capacities. Motors equipped with brakes and gears are also available. he small size and low weight of Q eries products can greatly improve performance and suitability for a wide range of applications. aterproof and Durable Harmonic uppression // F n I67 ingress protection rating for the entire MOIO Q eries ensures environmental endurance. (his rating is optional for the Q eries motors of 76 mm dia. MX. and for Q eries of 4 mm dia. Option.) D reactor connectors are provided for power harmonic suppression. MODE Q /R HRGE OER I67 DL R t r - DL DL DL RB B RB ote:he fan motor and fan motor housing of the Q4 eries are rated at I 4 Optional D Reactor 7

9 R t r DL B DL RB RB Models 9% Q OER 8% 7% D Models Relative ower Loss Reduction (compared to previous models) /R HRGE ower losses in the amplifier circuitry are reduced by enhancements such as a low-loss power module. Motor power losses are reduced by improvements in the magnetic circuitry, particularly in the windings. he result is an overall power loss reduction of % as compared to earlier models. % arameter setting: Monitor position, speed and torque wavefor Q MODE // F Q Optional setup software enables the user to set parameters, graphically display monitoring wavefor of position, speed, and torque data, and perform system analysis functions via a connection onserves % of Lost ower Q4 etup oftware via D // F Q Reduced Operating ost 6% Q Motor revious Model 86mm flange/75 Q Motor revious Model 3mm flange/k ower avings Results etup oftware nnual ower Reduction=[Reduced Loss]x[876 hrs] 86mm flange/.75k: 45kh/unit 3mm flange/k: 438kh/unit imultaneous Monitoring Function D // F Input ype // ulse/nalog/orque D D Input ype F mplifer with ositioning Function he Q eries etup software can monitor up to 5 axes / amplifiers, a useful function when monitoring wavefor of synchronous operations. Daisy chain connection for up to 5 axes R3 Q MODE /R HRGE R t OER R t - OER B HRGE R t - B OER R t OER B R t B DL RB RB RB RB RB RB RB RB DL RB RB OER r - Max. of 5 amplifiers DL DL /R HRGE Q MODE r - /R HRGE DL DL Q MODE r DL DL /R r DL Q MODE r DL /R HRGE Q MODE B ote: Optional connection cable is available 8 ositionng General pec 88 to 9% efficiency Loss is reduced % Options ote: se optional cable L for connection

10 ulse/nalog/orque Input mplifier ystem onfiguration ircuit Breaker (MB) oise Filter Electromagnetic ontactor R uts off power in the case of an overload, to protect the power line. rotects the power line from external noise, and from noise generated by the servo amplifier. witches servo power on and off. Installation of a surge protector is required. Brake ower D Reactor Required for use when the servo motor is equipped with a brake. uppresses power harmonics. External Regenerative Resistor se as required, such as for heavy inertial load operations. For special operations, such as highfrequency applications that require greater power dissipation than that provided by the servo amplifier's internal regenerative resistor. iring required for brake. onnector ypes B onnectors for mplifier onnections ingle onnectors ontents (lug, Housing) (lug, Housing) (lug) B (lug): ccessory (lug) Model umber L L L L-Y988- L onnector ets, (lug, Housing), (lug, Housing), (lug) L-939 L

11 Motor ower onnectors Motor Model o. Q*** Q5*** Q*** Q5*** Q*** Q*** Q3*** Q33*** Q34*** Q35*** Q845*** Q875*** Q*** Q5*** Q35*** Q3*** Q5*** Q3*** Q8*** Q835*** Q845*** Q855*** Q875*** QK*** Q5K*** Q4K*** Q45K*** tandard pecification lug (able lamp) for ower ide M36B-5 (M357-) M36B4- (M357-6) M36B3-7 (M357-) M36B-5 (M357-) M36B4- (M357-6) M36B3-7 (M357-) tandard lug (able lamp) with aterproof pec. for ower traight L-ngle traight L-ngle M36B3-7 (M357-) M38B-5 (M357-) M38B4- (M357-6) M38B3-7 (M357-) M38B-5 (M357-) M38B4- (M357-6) M38B3-7 (M357-) M38B3-7 (M357-) JL4-6-5E-EB (JL4-K) JL4-64-E-EB (JL4-48K) JL4-63-7E (ingle-block) JL4-6-5E-EB (JL4-K) JL4-6-5E-EB (JL4-K) JL4-63-7E (ingle-block) JL4-63-7E (ingle-block) JL4-8-5E-EB (JL4-K) JL4-84-E-EB (JL4-48K) JL4-8-5E-EB (JL4-K) JL4-84-E-EB (JL4-48K) tandard lug (able lamp)* with aterproof pec. for Brake traight JL4-6L-3E-EB (JL4-K) JL4-6L-3E-EB (JL4-K) L-ngle JL4-8L-3E-EB (JL4-K) JL4-8L-3E-EB (JL4-K) L ee p.43 B Motor Encoder onnectors ooling Fan onnectors Monitoring Function arameter configuration and monitoring is possible via communication with a. pper ontroller YO DEKI upper controller devices permit communication with third-party products. M-5 tandard pecification lug (able lamp) for Encoder B ooling Fan tandard pecifications td. lug, aterproof traight L-ngle traight M36BL-4 (M357-4) M38BL-4 (M357-4) tandard lug (able lamp) with aterproof pec. for Encoder traight L-ngle traight L-ngle ll Q, Q, and M36B-9 M38B-9 J6--9-J-EB J6--9-J-EB Q4 Models (M357-) (M357-) (JL4-K) (JL4-K) ll Q4 Models etup oftware pp External Drawing p. 9 J6-L-4-J (ingle-block) Q Q Models Options D Models Q Q4 etup oftware ositionng General pec *Order a plug that confor to standards for brakes with waterproof specification separately from the motor power connector.

12 mplifier ystem (with ositioning Function) onfiguration ircuit Breaker (MB) oise Filter Electromagnetic ontactor R uts off power in the case of an overload, to protect the power line. rotects the power line from external noise, and from noise generated by the servo amplifier witches servo power on and off. Requires installation of a surge protector. Brake ower D Reactor Required for use when the servo motor is equipped with a brake. uppresses power harmonics. External Regenerative Resistor se as required, such as for heavy inertial load operation. For special operations, such as highfrequency applications that require greater power dissipation than that provided by the servo amplifier's internal regenerative resistor. iring required for brake. onnector ypes B onnectors for mplifier onnections ingle onnectors ontents (lug, Housing) (lug, Housing) (lug) B (lug): ccessory (lug) Model umber L L L L-Y988- L onnector ets, (lug, Housing), (lug, Housing), (lug) L-939 L-39363

13 Motor ower onnectors Motor Model o. Q*** Q5*** Q*** Q5*** Q*** Q*** Q3*** Q33*** Q34*** Q35*** Q845*** Q875*** Q*** Q5*** Q35*** Q3*** Q5*** Q3*** Q8*** Q835*** Q845*** Q855*** Q875*** QK*** Q5K*** Q4K*** Q45K*** tandard pecification lug (able lamp) for ower ide M36B-5 (M357-) M36B4- (M357-6) M36B3-7 (M357-) M36B-5 (M357-) M36B4- (M357-6) M36B3-7 (M357-) tandard lug (able lamp) with aterproof pec. for ower tandard lug (able lamp)* with aterproof pec. for Brake traight L-ngle traight L-ngle traight L-ngle M36B3-7 (M357-) M38B-5 (M357-) M38B4- (M357-6) M38B3-7 (M357-) M38B-5 (M357-) M38B4- (M357-6) M38B3-7 (M357-) M38B3-7 (M357-) JL4-6-5E-EB (JL4-K) JL4-64-E-EB (JL4-48K) JL4-63-7E (ingle-block) JL4-6-5E-EB (JL4-K) JL4-64-E-EB (JL4-48K) JL4-63-7E (ingle-block) JL4-63-7E (ingle-block) JL4-8-5E-EB (JL4-K) JL4-84-E-EB (JL4-48K) JL4-8-5E-EB (JL4-K) JL4-84-E-EB (JL4-48K) JL4-6L-3E-EB (JL4-K) JL4-6L-3E-EB (JL4-K) JL4-8L-3E-EB (JL4-K) JL4-8L-3E-EB (JL4-K) L ee p.43 L B Motor Encoder onnectors ooling Fan onnectors tandard pecification lug (able lamp) for Encoder Monitoring Function arameter configuration and monitoring is possible via communication with a. etup oftware pp pper ontroller YO DEKI upper controller devices permit communication with third-party products. External Drawing p. 3 ooling Fan tandard pecifications td. lug, aterproof traight L-ngle traight M36BL-4 (M357-4) M38BL-4 (M357-4) B tandard lug (able lamp) with aterproof pec. for Encoder traight L-ngle traight L-ngle ll Q, Q, and M36B-9 M38B-9 J6--9-J-EB J6--9-J-EB Q4 Models (M357-) (M357-) (JL4-K) (JL4-K) ll Q4 Models J6-L-4-J (ingle-block) Q Q Models Options D Models Q Q4 etup oftware ositionng General pec *Order a plug that confor to standards for brakes with waterproof specification separately from the motor power connector.

14 ervo Motor Model umber omenclature // F ervo Motor Example: he following model number defines a Q (low-inertia) servomotor with a 6-mm square flange, output rating, 5 min - maximum rotation speed, brake (4), absolute sensor (3,7 divisions/rotation), E Marking conformity and -type /3 gear. Q 6 D E Q eries Motor ype Low-inertia Medium-inertia 4Low-inertia (high volume) upply otage Motor E Motor Holding Brake X ithout Brake B 9 Brake 4 Brake Maximum Rotation peed min - H 3 35min - M 5min - L 3min - B min - D 45 5min - R 5min - min - pecification tandard Gear -type /3 tandard ompliance E E Marking L M E and L Flange ize 4 4 or 4mm (.57 or.65in) 5 54mm(.3in) 6 6mm(.36in) 7 76mm(.99in) 8 86mm(3.39in) mm(3.94in) mm(4.7in) 3 3mm(5.in) 8 8mm(7.9in) mm(8.66in) Rated Output k 5.5k.k k k k k K k 5K 5k K k ensor ype Red. iring Incremental Encoder 3/38/6 D bsolute (w/ incremental function) Encoder 35M Reduced iring bsolute ensor 35 Reduced iring bsolute onsor R6 ombined Motor/ensor pecification Model Optical Detection ystem Incremental ype tandard upported Range Flange ize Encoder ulse ount Resolution Encoder ulse ount Resolution Dimension (sq.) /R 8 /R48/R 889 4mm (.57 in) MI 496/R to 5/R 6384/R /R5/R 4mm (.65 in) MI /R 8 /R48/R 889 7mm (.83 in) MI 5/R89/R/R Remarks Red. iring Incremental Red. iring Incremental Red. iring Incremental 35 35M R6 Model Optical Detection ystem Resolver ystem bsolute ype tandard er rotation Multiple Rotations 37(7bit) 65536(6bit) 89(3bit) 37(7bit) 89(3bit) Flange ize Dimension (sq.) 4mm (.57 in) MI 74mm (.9 in) MI 74mm (.9 in) MI Remarks Red. iring bsolute bsolute Incremental Batteryless lease contact our ales Division for assistance. 3

15 ervo mplifier Model umber omenclature // F ervo mplifier Example: he model number shown below is for when a Q series servo amplifier with input voltage of, 5 capacity, full clothesline receiver, and minimum wiring absolute sensor (3,7 divisions per second), and a Q motor with a rated output 6 mm flange size and position control are selected. Q 34 3 Q eries pecification tandard Q Q Models Input ower and Internal Regeneration etting ith Internal Regeneration Resistor L5, 3, 3(option.setting) 5,,5 ithout Internal Registration Resistor 5,3,3 L5,,5 ith Internal Regeneration Resistor 5, 3 (option.setting) ithout Internal Registration Resistor E5,3 mp. capacity Motor ype Rotary Motor L Linear Motor ontrol ection Hardware ype Reduced iring bsolute ensor Red. iring Incremental Encoder Full-close ositioning Function G Linear Motor upport Motor ombination Q Motor tandard omb. Interface pecification peed ontrol orque ontrol osition ontrol Xpeed and orque witch Yosition and orque witch osition and peed witch Internal peed ontrol Direct Operation ype (with positioning function) ensor ombination Description Red. iring Incremental Encoder 3/38/6 (/R) 3bsolute Incremental Encoder 35M (48/R) 3Red. iring bsolute ensor 35.5M 7bit 8Red. iring bsolute ensor R6.5M 7bit Options D Models Q Q4 etup oftware ositionng General pec pplicable Motor ode Q eries 3Q43D 3Q45D 33Q4D 34Q6D 35Q64D 36Q775D 37QD 38Q5M 39QD 3Q5D 3BQD 3QD 3DQ3D 3EQ33D 3FQ34D 3GQ35D 3HQ845M 3QE43D 3QE45D 3QE4D 3QE6D Q eries 4Q46D 4Q4D 43Q55D 44Q5D 45Q5D 46Q7D 47Q73D 48Q74D 49Q75D 4Q85D 4BQ875D 4Q8D 4DQH 4EQ5H 4FQ35H 4GQ3H 4HQ35H 4JQ3H 4KQ8H 4LQ835H 4MQ845R 4Q855R 4Q5H 4RQ35H 4Q45R 4 Q55B 4 Q7 7MQ855H 7 Q875L 7R QK 7 Q5K 4 QE46D 4QE4D 4X QE55D 4Y QE5D 4Z QE5D 7 QE7D Q4 eries Q48KB Q485KB 4

16 ervo Motor mplifier pecifications Q ervo mplifier mplifier apacity 5 to 3 Eight Models mplifiers for Q Motors ype Refer. Motor Model nit Q43D k Motor Flange Dimension Motor Rated Output age 7 age 8 Q45D Q4D Q6D age 7 Q64D Q775D QD Q mplifier Model Q5 mplifier ower upply to 3 +/-5%, 5/6Hz ±3 Hz Operating emp. and RH Operating emperature: to 55, Relative Humidity: 5% maximum, no condensation ower onsumption* k. Q mplifier Mass ype Refer. age 7 Motor Model nit Q5D QD Q5D QD QD Q3D.5.5 Motor Flange Dimension Motor Rated Output k.5 (.76) Q Operating emp. and RH Q5 3. mplifier Mass. (4.85) ype Refer. Motor Model nit Motor Flange Dimension k (4.85) 5.5 (.3) age Q34D Q35D Q845M Q875H Q5 mplifier Model Q3 mplifier ower upply to 3 +/-5%, 5/6Hz ±3 Hz Operating emp. and RH Operating emperature: to 55, RH: 5% maximum, no condensation ower onsumption* k mplifier Mass ype Refer. Motor Model nit Motor Flange Dimension Motor Rated Output k (.5) age 7 age 8 QE43D QE45D QE4D QE6D QE QE3 to 5 +/-5%, 5/6Hz ±3 Hz mplifier ower upply Operating emp. and RH mplifier Mass (4.99) mplifier Model ower onsumption* Operating emperature: to 55, RH: 5% maximum, no condensation k (.76).3 (.87) mplifiers for Q4 Motors ype Refer. Motor Model nit Motor Flange Dimension Motor Rated Output k age 9 Q48KB Q485KB Q3 mplifier Model mplifier ower upply to 3 +/-5%, 5/6Hz ±3 Hz Operating emp. and RH Operating emperature: to 55, RH: 5% maximum, no condensation ower onsumption* mplifier Mass k.5 (.76) *ctual power consumption depends on load impedence, and is shown here at the amplifier's rated output. 5 Q33D 3 3 Q Operating emperature: to 55, Relative Humidity: 5% maximum, no condensation k Motor Rated Output age 9 to 3 +/-5%, 5/6Hz ±3 Hz mplifier ower upply ower onsumption*. (4.85) age 8 Q5 mplifier Model.3 (.87) (.3)

17 mplifiers for Q Motors ype Motor Model Motor Flange Dimension Motor Rated Output mplifier Model mplifier ower upply Operating emp. and RH ower onsumption* mplifier Mass Refer. age age age nit Q46D Q4D Q55D Q5D Q5D Q7D Q73D k Q to 3 +/-5%, 5/6Hz 3 Hz Operating emperature: to 55, Relative Humidity: 5% maximum, no condensation k (.76) Q Q Models ype Motor Model Motor Flange Dimension Motor Rated Output mplifier Model mplifier ower upply Operating emp. and RH ower onsumption* mplifier Mass ype Motor Model Motor Flange Dimension Motor Rated Output mplifier Model mplifier ower upply Operating emp. and RH ower onsumption* mplifier Mass ype Motor Model Motor Flange Dimension Motor Rated Output mplifier Model mplifier ower upply Operating emp. and RH ower onsumption* mplifier Mass Refer. nit k k Refer. nit k k Refer. nit k k age age age 3 Q74D Q75D Q85D Q875D Q8D QH Q5H Q3 Q5 to 3 +/-5%, 5/6Hz 3 Hz Operating emperature: to 55, Relative Humidity: 5% maximum, no condensation (.87). (4.85) age 4 age 3 age 4 Q35H Q3H Q35H Q3H Q8H Q835H Q845H Q3 Q5 Q Q5 to 3 +/-5%, 5/6Hz 3 Hz Operating emperature: to 55, Relative Humidity: 5% maximum, no condensation (.87). (4.85) 5.5 (.3) 6.8 (4.99) age 4 age 5 age 6 Q855R Q5H Q35H Q45R Q55B Q7 Q855H Q5 Q Q5 Q3 to 3 +/-5%, 5/6Hz 3 Hz Operating emperature: to 55, Relative Humidity: 5% maximum, no condensation (4.99) 5.5 (.3) 6.8 (4.99) (.5) Options D Models Q Q4 etup oftware ositionng General pec ype Motor Model Motor Flange Dimension Motor Rated Output mplifier Model mplifier ower upply Operating emp. and RH ower onsumption* mplifier Mass Refer. age 6 age 5 nit Q875L 8 QK Q5K k Q3 to 3 +/-5%, 5/6Hz 3 Hz Op. emp.: to 55, RH: 5% maximum, no condensation k (.5).4 ype Motor Model Motor Flange Dimension Motor Rated Output mplifier Model mplifier ower upply Operating emp. and RH ower onsumption* mplifier Mass Refer. nit k k age 7 age 8 QE46D 4 QE4D 4 QE55D 54 QE5D 54 QE5D 54 QE7D QE QE3 to 5 +/-5%, 5/6Hz 3 Hz Operating emperature: to 55, Relative Humidity: 5% maximum, no condensation (.76).3 (.87) *ctual power consumption depends on load impedence, and is shown here at the amplifier's rated output. mplifier Dwgs p

18 ervo Motor tandard pecifications Q ervo Motor ystem apacity Flange ize 4mm to mm (.57in to 4.7in) mplifier Model Motor Model and Flange Dimension in mm(in) tatus ymbol R R MX R IR I I K KE R QR te tm Rated Output Rated Rotation peed Max. Rotation peed Rated orque ontinuous tall orque Inst. Max. tall orque Rated rmature urrent ontinuous tall rmature urrent Instant. Max. tall rmature urrent orque onstant Induced oltage onstant er-hase rmature Resistance Rated ower Rate Electrical ime onstant Mechanical ime onstant Rotor Inertia (I) ensor: Reduced iring I Mass-including Red. iring I Brake Holding orque Brake Excitation oltage Brake Excitation urrent Brake Inertia Brake Mass Motor Operating emp, Rel. Humidity JM E B B IB JB nit k min - min - m(ozin) m(ozin) m(ozin) m/ m/min - k/s kgm [GD /4](ozin ) /R m(ozin) kgm [GD /4](ozin ).4 Q43D 4mm (.57in).3.98(3.88).8 (5.9).3 (45.6) x -4 (.5).3 (.66).98 (3.88) Q Q45D 4mm (.57in).5.59 (.5).59 (.5).477 (67.55) x -4 (.7).35 (.77).57 (.3) 9/4.7/.6.78x -4 (.4).4 (.53) to 4; maximum 9% RH (no condensation) 3 to.5k (8 models) orque [. m].3.. orque [. m] Features High ower (Low Inertia) ystem p.7-8 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. Y. ote: ctual power consumption depends Y. on load impedance. mplifier Model Motor Model and Flange Dimension in mm(in) tatus ymbol R R MX R IR I I K KE R QR te tm Rated Output Rated Rotation peed Max. Rotation peed Rated orque ontinuous tall orque Inst. Max. tall orque Rated rmature urrent ontinuous tall rmature urrent Instant. Max. tall rmature urrent orque onstant Induced oltage onstant er-hase rmature Resistance Rated ower Rate Electrical ime onstant Mechanical ime onstant Rotor Inertia (I) ensor: Reduced iring I Mass-including Red. iring I Brake Holding orque Brake Excitation oltage Brake Excitation urrent Brake Inertia Brake Mass Motor Operating emp, Rel. Humidity JM E B B IB JB nit k min - min - m(ozin) m(ozin) m(ozin) m/ m/min - k/s kgm [GD /4](ozin ) /R m(ozin) kgm [GD /4](ozin ) orque [. m] QD mm (3.94in) (45.73) 3.9 (555.).5 (486.87) x -4 (7.5) Q (.9) 6.5 (4.33) 3.9 (555.) 7.84 (.) 9/4./.75.5x -4 (.8).4x -4 (.9).3 (.87).5 (3.3) to 4; maximum 9% RH (no condensation) orque [. m] 5 5 Q5D mm (3.94in) (678.3) 4.9 (693.87) 4.7 (8.6) x -4 (8.8)

19 orque [. m] Q4D 4mm (.57in)..38 (45.3).38 (45.3).955 (35.3) x -4 (.3).5 (.).3 (45.3).7/.6.78x -4 (.4).4 (.53) QD mm (3.94in) 6.37 (9.4) 7.36 (4.3) 9.6 (775.5) x -4 (.76) 8.7 (9.8) 7.84 (.) Q Q.4x -4 (.9).5 (3.3) orque [. m] Q6D 6mm (.36in)..637 (9.).637 (9.).9 (7.47) x -4 (.77). (.43).637 (9.) /4.7/.3.6x -4 (.33).44 (.97) to 4; maximum 9% RH (no condensation) Q5D mm (3.94in) (8.6) 8.8 (48.97) 4.4 (3455.) x -4 (4.49) 3 5 orque [. m] Q64D 6mm (.36in).4.7 (79.84).7 (79.84) 3.8 (54.94) x -4 (.35).73 (3.75).74 (8.4) Q5 QD mm (4.7in) 3.9 (45.73) 3.9 (555.) (557.68) x -4 (.3) 9.4 (.7) 5.4 (.9) 9.8 (387.75) 3.9 (555.) 9/4./.75.5x -4 (.8).3 (.87) to 4; maximum 9% RH (no condensation) Q3 orque [. m] Q775D 76mm (.99in) (337.).38 (337.) 7.6 (3.9) x -4 (3.48) 3.3 (7.8).38 (337.).8/ x -4 (.88).8 (.76) Q QD mm (4.7in) 6.37 (9.4) 7.36 (4.3) (973.75) x -4 (3.89) 8.7 (9.8) 7.84 (.).4x -4 (.9).5 (3.3) ymbol nit R k R min - MX min - R m(ozin) m(ozin) m(ozin) IR I I K m/ KE m/min - R QR k/s te tm JM kgm [GD /4](ozin ) /R E B m(ozin) B IB JB kgm [GD /4](ozin ) ymbol nit R k R min - MX min - R m(ozin) m(ozin) m(ozin) IR I I K m/ KE m/min - R QR k/s te tm JM kgm [GD /4](ozin ) /R E B m(ozin) B IB JB kgm [GD /4](ozin ) Q Q Models Options ositionng etup D Models Q Q4 General pec oftware orque [. m] orque [. m] orque [. m] orque [. m]

20 ervo Motor tandard pecifications Q ervo Motor ystem apacity Flange ize mm to 8mm (4.7in to 7.9in) 3k to 7.5k (8 models) Features High ower (Low Inertia) ystem p.7-8 Motor Dwgs p mplifier Model Motor Model and Flange Dimension in mm(in) tatus ymbol R R MX R IR I I K KE R QR te tm Rated Output Rated Rotation peed Max. Rotation peed Rated orque ontinuous tall orque Inst. Max. tall orque Rated rmature urrent ontinuous tall rmature urrent Instant. Max. tall rmature urrent orque onstant Induced oltage onstant er-hase rmature Resistance Rated ower Rate Electrical ime onstant Mechanical ime onstant Rotor Inertia (I) ensor: Reduced iring I Mass-including Red. iring I Brake Holding orque Brake Excitation oltage Brake Excitation urrent Brake Inertia Brake Mass Motor Operating emp, Rel. Humidity : Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. : Indicates a typical value when the winding temperature is. ote: ctual power consumption depends on load impedance. JM E B B IB JB nit k min - min - m(ozin) m(ozin) m(ozin) m/ m/min - k/s kgm [GD /4](ozin ) /R m(ozin) kgm [GD /4](ozin ) orque [. m] 4 3 Q3D mm (4.7in) (359.43) (557.68) 3 (4389.8) x -4 (34.99) Q (5.3).8 (67.96) 9/4./.75.5x -4 (.73).7(3.75) to 4; maximum 9% RH (no condensation) orque [. m] 4 3 Q33D 3mm (5.in) (345.7).8 (59.36) 8.4 (4.64) x -4 (6.9) Q4 ervo Motor ystem apacity Flange ize 8mm to mm (3.94in to 8.66in) k to k (3 models) Features High ower (Low Inertia) Motor Dwgs p mplifier Model Motor Model and Flange Dimension in mm(in) tatus ymbol R R MX R IR I I K KE R QR te tm Rated Output Rated Rotation peed Max. Rotation peed Rated orque ontinuous tall orque Inst. Max. tall orque Rated rmature urrent ontinuous tall rmature urrent Instant. Max. tall rmature urrent orque onstant Induced oltage onstant er-hase rmature Resistance Rated ower Rate Electrical ime onstant Mechanical ime onstant Rotor Inertia (I) ensor: Reduced iring I Mass-including Red. iring I Brake Holding orque Brake Excitation oltage Brake Excitation urrent Brake Inertia Brake Mass Motor Operating emp, Rel. Humidity ooling Fan Motor : Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. : Indicates a typical value when the winding temperature is. ote: ctual power consumption depends on load impedance. JM E B B IB JB F nit k min - min - m(ozin) m(ozin) m(ozin) m/ m/min - k/s kgm [GD /4](ozin ) /R m(ozin) kgm [GD /4](ozin ) orque [. m] Q48KB 8mm (3.94in) 7 (99.49) 7 (99.49) 9 (695.33) ( ) 3 4 Q3 5 6 (3.8) 75 (65.35) to 4; maximum 9% RH (no condensation) 39/33 +% ingle phase 5/6Hz orque [. m] Q485KB 8mm (8.66in) (353.47) 95.5 (353.47) (353.54) ( ) 3 4 9

21 orque [. m] 4 3 Q34D 3mm (5.in) 4.7 (798.4) 4.7 (8.6) 39. (555.99) x -4 (3.7) 4.4 (3.75) (ote ) Q4KB mm (8.66in) 5 7 (7984.9) 7 (7984.9) 35 (439.3) ( ) 4 (.98) to 4; maximum 9% RH (no condensation) 39/33 +% ingle phase 5/6Hz (775.5).5/.95.58x -4 (3.7). (4.85) orque [. m] ymbol nit R k R min - MX min - R m(ozin) m(ozin) m(ozin) IR I I K m/ KE m/min - R QR k/s te tm JM kgm [GD /4](ozin ) /R E B m(ozin) B IB JB kgm [GD /4](ozin ) Q5 Q35D 3mm (5.in) (3.3) 8. (563.9) 47.6 (674.49) x -4 (46.3) 8. (39.9) /4 5.5x -4 (3.7) 5 (.) to 4; maximum 9% RH (no condensation) orque [. m] Q845M 8mm (7.9in) (435.8) 3.6 ( ) 5 ( ) x -4 (5.36).7 (47.84) 3 (453.4) /.4 orque [. m] 5 5 Q3 Q875H 8mm (7.9in) (6797.4) 55 ( ) 5 (77.87) x -4 (84.3) 47 (3.6) 54.9 (7774.) 5.5x -4 (3.7) 6 (3.3) ymbol nit R k R min - MX min - R m(ozin) m(ozin) m(ozin) IR I I K m/ KE m/min - R QR k/s te tm JM kgm [GD /4](ozin ) /R E B m(ozin) B IB JB kgm [GD /4](ozin ) Q Q Models Options D Models Q Q4 etup oftware ositionng General pec ote: For those interested in the k Q4 motor, please contact our ales Division for assistance.

22 ervo Motor tandard pecifications Q ervo Motor ystem apacity Flange ize 4mm to 86mm (.65in to 3.39in) mplifier Model Motor Model and Flange Dimension in mm(in) tatus ymbol R R MX R IR I I K KE R QR te tm Rated Output Rated Rotation peed Max. Rotation peed Rated orque ontinuous tall orque Inst. Max. tall orque Rated rmature urrent ontinuous tall rmature urrent Instant. Max. tall rmature urrent orque onstant Induced oltage onstant er-hase rmature Resistance Rated ower Rate Electrical ime onstant Mechanical ime onstant Rotor Inertia (I) ensor: Reduced iring I Mass-including Red. iring I Brake Holding orque Brake Excitation oltage Brake Excitation urrent Brake Inertia Brake Mass Motor Operating emp, Rel. Humidity JM E B B IB JB nit k min - min - m(ozin) m(ozin) m(ozin) m/ m/min - k/s kgm [GD /4](ozin ) /R m(ozin) kgm [GD /4](ozin ).8 Q46D 4mm (.65in).6.9 (7.5).6 (3.59).65 (9.4) x -4 (.3).46 (.).9 (7.5) Q 3 5 Q4D 4mm (.65in)..38 (45.3).353 (49.99) (4.6) x -4 (.47).59 (.3).39 (45.7) 9/4.7/.6.78x -4 (.4).4 (.53) to 4; maximum 9% RH (no condensation) 5 to k (3 models) orque [. m].6.4. orque [. m] Features High Efficiency and Low Ripple (Medium Inertia) ystem p.7-8 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. Y. ote: ctual power consumption depends Y. on load impedance. mplifier Model Motor Model and Flange Dimension in mm(in) tatus ymbol R R MX R IR I I K KE R QR te tm Rated Output Rated Rotation peed Max. Rotation peed Rated orque ontinuous tall orque Inst. Max. tall orque Rated rmature urrent ontinuous tall rmature urrent Instant. Max. tall rmature urrent orque onstant Induced oltage onstant er-hase rmature Resistance Rated ower Rate Electrical ime onstant Mechanical ime onstant Rotor Inertia (I) ensor: Reduced iring I Mass-including Red. iring I Brake Holding orque Brake Excitation oltage Brake Excitation urrent Brake Inertia Brake Mass Motor Operating emp, Rel. Humidity JM E B B IB JB nit k min - min - m(ozin) m(ozin) m(ozin) m/ m/min - k/s kgm [GD /4](ozin ) /R m(ozin) kgm [GD /4](ozin ) orque [. m] Q Q73D 76mm (.99in) (35.3).98 (38.77) 3.4 (48.46) x -4 (.46).7 (3.5).98 (38.77) /4.8/.3.45x -4 (.34).57 (.6) to 4; maximum 9% RH (no condensation) orque [. m] Q3 Q74D 76mm (.99in).4.73 (8.7).37 (94.8) 4. (58.59) x -4 (4.). (4.4).37 (94.)

23 orque [. m] Q55D 54mm (.3in).5.59 (.5).67 (3.65).58 (73.35) x -4 (.37).53 (.7).67 (3.65) Q75D 76mm (.99in).5.59 (5.6).85 (6.97) 5. (736.36) x -4 (4.65).3 (5.7).85 (6.97).45x -4 (.34).57 (.6) Q orque [. m] Q5D 54mm (.3in)..38 (45.3).353 (49.99).6 (5.) x -4 (.7) Q (.63). (.43).353 (49.99).353 (49.99) 9/4./.4.9x -4 (.6).3 (.66) to 4; maximum 9% RH (no condensation) Q85D 86mm (3.39in).5 orque [. m] Q5D 54mm (.3in).5 (9.9) x -4 (.37) Q875D 86mm (3.39in) (5.44).387 (338.).96 (77.55).94 (46.47) 6.56 (98.94) 9 (74.46) x -4 (7.).7x -4 (.3).75 (5.95) 3.9 (8.6).96 (77.55) 9/4.8/ x -4 (.88).8 (.76) to 4; maximum 9% RH (no condensation)..637 (9.).686 (97.4) Q5.94 (6.3) orque [. m] Q7D 76mm (.99in). (97.37) x -4 (.8).4 (3.9).69 (97.7).8/.3.45x -4 (.34).57 (.6) Q8D 86mm (3.39in) 3.8 (45.3) 3.9 (555.).5 (77.9) x -4 (4.76) 5. (.4) ymbol nit R k R min - MX min - R m(ozin) m(ozin) m(ozin) IR I I K m/ KE m/min - R QR k/s te tm JM kgm [GD /4](ozin ) /R E B m(ozin) B IB JB kgm [GD /4](ozin ) ymbol nit R k R min - MX min - R m(ozin) m(ozin) m(ozin) IR I I K m/ KE m/min - R QR k/s te tm JM kgm [GD /4](ozin ) /R E B m(ozin) B IB JB kgm [GD /4](ozin ) Q Q Models Options D Models Q Q4 etup oftware ositionng General pec orque [. m] 4. orque [. m] 4. orque [. m] orque [. m]

24 ervo Motor tandard pecifications Q ervo Motor ystem apacity Flange ize mm to mm (3.94in to 8.66in) mplifier Model Motor Model and Flange Dimension in mm(in) tatus ymbol R R MX R IR I I K KE R QR te tm Rated Output Rated Rotation peed Max. Rotation peed Rated orque ontinuous tall orque Inst. Max. tall orque Rated rmature urrent ontinuous tall rmature urrent Instant. Max. tall rmature urrent orque onstant Induced oltage onstant er-hase rmature Resistance Rated ower Rate Electrical ime onstant Mechanical ime onstant Rotor Inertia (I) ensor: Reduced iring I Mass-including Red. iring I Brake Holding orque Brake Excitation oltage Brake Excitation urrent Brake Inertia Brake Mass Motor Operating emp, Rel. Humidity JM E B B IB JB nit k min - min - m(ozin) m(ozin) m(ozin) m/ m/min - k/s kgm [GD /4](ozin ) /R m(ozin) kgm [GD /4](ozin ) QH mm (3.94in) 35 5 (78.3) 6 (849.64) 6.6 (35.68) x -4 (9.74) Q5 4 Q5H mm (3.94in) (9.57) 8 (3.86).5 (9.94) x -4 (43.74) 5.4 (.9) 6.5 (4.33) 3.9 (555.) 7.84 (.) 9/4./.75.5x -4 (.8).4x -4 (.9).3 (.87).5 (3.3) to 4; maximum 9% RH (no condensation) 5 to 5.5k (3 models) orque [. m] 5 5 orque [. m] Features High Efficiency and Low Ripple (Medium Inertia) ystem p.7-8 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. Y. ote: ctual power consumption depends Y. on load impedance. mplifier Model Motor Model and Flange Dimension in mm(in) tatus ymbol R R MX R IR I I K KE R QR te tm Rated Output Rated Rotation peed Max. Rotation peed Rated orque ontinuous tall orque Inst. Max. tall orque Rated rmature urrent ontinuous tall rmature urrent Instant. Max. tall rmature urrent orque onstant Induced oltage onstant er-hase rmature Resistance Rated ower Rate Electrical ime onstant Mechanical ime onstant Rotor Inertia (I) ensor: Reduced iring I Mass-including Red. iring I Brake Holding orque Brake Excitation oltage Brake Excitation urrent Brake Inertia Brake Mass Motor Operating emp, Rel. Humidity JM E B B IB JB nit k min - min - m(ozin) m(ozin) m(ozin) m/ m/min - k/s kgm [GD /4](ozin ) /R m(ozin) kgm [GD /4](ozin ) orque [. m] 4 3 Q Q8H 8mm (7.9in) 9.5 (345.7) (699.8) 7.9 (395.84) x -4 (9.3496) 3.6 (9.98) (699.8) /4.37/.4 5.5x -4 (3.7) 5 (.) to 4; maximum 9% RH (no condensation) orque [. m] Q5 Q835H 8mm (7.9in) (364.84). (987.9) 55 ( ) x -4 (7.76) 7.7 (39.) 3 (453.4) 3 4 3

25 orque [. m] Q3 Q35H 3mm (5.in) (354.) 3 (44.8) 7. (5.4) x -4 (5.3) 4.7 (.36) 3.5 (495.6).5/.9.3 (.87) 3 4 Q845H 8mm (7.9in) (344.55) 7. ( ) 7 (99.49) x -4 (3.7).7 (47.84) 3 (453.4) 5.5x -4 (3.7) 5 (.) Q5.37/.4 orque [. m] 5 5 Q3H 3mm (5.in). 3 5 (78.3) 6 (849.64) 5 (4.) x -4 (9.5) 6.6 (4.55) 9 (74.46) 3 4 Q5 9/4.5/.86.5x -4 (.73).5 (3.3) to 4; maximum 9% RH (no condensation) Q855R 8mm (7.9in) (4956.4) 37.3 (58.94) 88 (46.4) x -4 (377.6) 3.7 (69.89) 54.9 (7774.) 9/4 orque [. m] 4 3 Q35H 3mm (5.in) (6.5) 9 (74.46).3 (874.6) x -4 (48.) 7.8 (7.) 9 (74.46) 3 4 Q Q5H mm (8.66in).5 (699.8) 3.5 (9.69) 3 (448.) x -4 (76.5) 5.5 (34.7) 5.5x -4 (3.7) 6 (3.3) to 4; maximum 9% RH (no condensation) (453.4).4/.6 9.9x -4 (54.3) 5.9 (3.) orque [. m] 4 3 Q Q3H 3mm (5.in) 9.55 (35.35) (699.8) 3.5 (439.) x -4 (65.6) 9.8 (.6) (699.8).8/..7 (3.75) 3 4 Q5 Q35H mm (8.66in) (47.3) (35.35) 5 (78.35) x -4 (58.78) 8.5 (4.79) ymbol nit R k R min - MX min - R m(ozin) m(ozin) m(ozin) IR I I K m/ KE m/min - R QR k/s te tm JM kgm [GD /4](ozin ) /R E B m(ozin) B IB JB kgm [GD /4](ozin ) ymbol nit R k R min - MX min - R m(ozin) m(ozin) m(ozin) IR I I K m/ KE m/min - R QR k/s te tm JM kgm [GD /4](ozin ) /R E B m(ozin) B IB JB kgm [GD /4](ozin ) Q Q Models Options D Models Q Q4 etup oftware ositionng General pec orque [. m] 4 orque [. m] 6 orque [. m] orque [. m]

26 ervo Motor tandard pecifications Q ervo Motor ystem apacity Flange ize 8mm to mm (3.94in to 8.66in) mplifier Model Motor Model and Flange Dimension in mm(in) tatus ymbol R R MX R IR I I K KE R QR te tm Rated Output Rated Rotation peed Max. Rotation peed Rated orque ontinuous tall orque Inst. Max. tall orque Rated rmature urrent ontinuous tall rmature urrent Instant. Max. tall rmature urrent orque onstant Induced oltage onstant er-hase rmature Resistance Rated ower Rate Electrical ime onstant Mechanical ime onstant Rotor Inertia (I) ensor: Reduced iring I Mass-including Red. iring I Brake Holding orque Brake Excitation oltage Brake Excitation urrent Brake Inertia Brake Mass Motor Operating emp, Rel. Humidity JM E B B IB JB nit k min - min - m(ozin) m(ozin) m(ozin) m/ m/min - k/s kgm [GD /4](ozin ) /R m(ozin) kgm [GD /4](ozin ) Q45R mm (8.66in) (344.55) 3 (453.4) 7 (99.49) x -4 (368.78) 8 (48.5) 3 (453.4) Q5 Q55B mm (8.66in) (4956.4) 4 ( ) 9 (744.63) x -4 (5.5) 34.8 (76.7) 9 (744.63) 9/4.4/.6.36/.3 9.9x -4 (54.3) 3x -4 (5.75) 5.9 (3.).4 (.93) to 4; maximum 9% RH (no condensation) 4.5K to 5K (3 models from 5 to 5k) orque [. m] orque [. m] Features High Efficiency and Low Ripple (Medium Inertia) ystem p.7-8 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. Y. ote: ctual power consumption depends Y. on load impedance. mplifier Model Motor Model and Flange Dimension in mm(in) tatus ymbol R R MX R IR I I K KE R QR te tm Rated Output Rated Rotation peed Max. Rotation peed Rated orque ontinuous tall orque Inst. Max. tall orque Rated rmature urrent ontinuous tall rmature urrent Instant. Max. tall rmature urrent orque onstant Induced oltage onstant er-hase rmature Resistance Rated ower Rate Electrical ime onstant Mechanical ime onstant Rotor Inertia (I) ensor: Reduced iring I Mass-including Red. iring I Brake Holding orque Brake Excitation oltage Brake Excitation urrent Brake Inertia Brake Mass Motor Operating emp, Rel. Humidity JM E B B IB JB nit k min - min - m(ozin) m(ozin) m(ozin) m/ m/min - k/s kgm [GD /4](ozin ) /R m(ozin) kgm [GD /4](ozin ) Q Q46D 4mm (.65in) (353.47) 95.5 (353.47) 5 (3445.5) x -4 (394.) 7 (54.3) 9 (744.63) 9/4.44/.7 4x -4 (3.) (4.5) to 4; max. 9% RH (no condensation) orque [. m]

27 orque [. m] 5 5 Q5 Q7 mm (8.66in) 7 67 ( ) 7 (99.49) 5 (4.5) x -4 (.48) 5.8 (6.4) 9 (744.63).36/.3 3x -4 (5.75).4 (.93) 5 5 orque [. m] 5 5 Q855H 8mm (7.9in) (4956.4) 37.3 (58.94) 7 (55.95) x -4 (399.3) (68.34) 4 (88.8) 54.9 (7774.) 9/4.37/.4 5.5x -4 (3.7) 6 (3.3) to 4; maximum 9% RH (no condensation) orque [. m] 5 5 Q3 Q875L 8mm (7.9in) (6797.4) 55 ( ) 35 (96.94) x -4 (59.4) orque [. m] 5 5 QK mm (8.66in) 7 (99.49) 8 (38.56) 76 (49.83) x -4 (6.95) 58 (7.87) 9 (744.63).44/.7 4x -4 (3.) (4.5) 3 ymbol nit R k R min - MX min - R m(ozin) m(ozin) m(ozin) IR I I K m/ KE m/min - R QR k/s te tm JM kgm [GD /4](ozin ) /R E B m(ozin) B IB JB kgm [GD /4](ozin ) Q Q Models Options D Models Q Q4 etup oftware ositionng General pec 6

28 ervo Motor tandard pecifications Q ervo Motor ystem apacity Flange ize 4mm to 6mm (.57in to.36in) 3 to (4 models) Features High ower ystem p.7-8 mplifier Model Motor Model and Flange Dimension in mm(in) tatus ymbol R R MX R IR I I K KE R QR te tm Rated Output Rated Rotation peed Max. Rotation peed Rated orque ontinuous tall orque Inst. Max. tall orque Rated rmature urrent ontinuous tall rmature urrent Instant. Max. tall rmature urrent orque onstant Induced oltage onstant er-hase rmature Resistance Rated ower Rate Electrical ime onstant Mechanical ime onstant Rotor Inertia (I) ensor: Reduced iring I Mass-including Red. iring I Brake Holding orque Brake Excitation oltage Brake Excitation urrent Brake Inertia Brake Mass Motor Operating emp, Rel. Humidity : Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. : Indicates a typical value when the winding temperature is. ote: ctual power consumption depends on load impedance. JM E B B IB JB nit k min - min - m(ozin) m(ozin) m(ozin) m/ m/min - k/s kgm [GD /4](ozin ) /R m(ozin) kgm [GD /4](ozin ) orque [. m] QE43D 4mm (.57in).3.98 (3.88).8 (5.9).3 (45.6) x -4 (.5).3 (.66).98 (3.88) QE 3 5 9/4.7/.6.78x -4 (.4).4 (.53) to 4; maximum 9% RH (no condensation) orque [. m] QE45D 6mm (.36in).5.59 (.5).59 (.5).477 (67.55) x -4 (.7).35 (.77).57 (.3) Q ervo Motor ystem apacity Flange ize 4mm to 76mm (.65in to.9in) 5 to (6 models) Features High Effieciency, Low Ripple (Medium Inertia) Motor Dwgs p mplifier Model Motor Model and Flange Dimension in mm(in) tatus ymbol R R MX R IR I I K KE R QR te tm Rated Output Rated Rotation peed Max. Rotation peed Rated orque ontinuous tall orque Inst. Max. tall orque Rated rmature urrent ontinuous tall rmature urrent Instant. Max. tall rmature urrent orque onstant Induced oltage onstant er-hase rmature Resistance Rated ower Rate Electrical ime onstant Mechanical ime onstant Rotor Inertia (I) ensor: Reduced iring I Mass-including Red. iring I Brake Holding orque Brake Excitation oltage Brake Excitation urrent Brake Inertia Brake Mass Motor Operating emp, Rel. Humidity : Indicates a typical value after warm-up and thermal stabilization, together with a standard amplifier. : Indicates a typical value when the winding temperature is. ote: ctual power consumption depends on load impedance. JM E B B IB JB nit k min - min - m(ozin) m(ozin) m(ozin) m/ m/min - k/s kgm [GD /4](ozin ) /R m(ozin) kgm [GD /4](ozin ) orque [. m] QE46D 4mm (.65in).6.9 (7.5).6 (3.59).65 (9.4) x -4 (.3).46 (.).9 (7.5) QE 3 5 9/4.7/.6.78x -4 (.4).4 (.53) to 4; maximum 9% RH (no condensation) orque [. m] QE4D 4mm (.65in)..38 (45.3).353 (49.99) (4.6) x -4 (.47).59 (.3).39 (45.7)

29 // F orque [. m] QE QE4D 4mm (.57in)..38 (45.3).38 (45.3).955 (35.3) x -4 (.74).5 (.).3 (45.3) orque [. m] QE3 QE6D 6mm (.36in)..637 (9.).637 (9.).9 (7.47) x -4 (.77). (.43).637 (9.) 9/4.7/.6.7/.3.78x -4 (.4).6x -4 (.33).4 (.53).44 (.97) to 4; maximum 9% RH (no condensation) QE55D 54mm (.3in).5.59 (.5).67 (3.65).58 (73.35) x -4 (.37).53 (.7).67 (3.65) QE5D 54mm (.3in)..38 (45.3).353 (49.99).3 (45.86) x -4 (.7) ymbol R R MX R IR I I K KE R QR te tm JM E B B IB JB QE 3 5 nit k min - min - m(ozin) m(ozin) m(ozin) m/ m/min - k/s kgm [GD /4](ozin ) /R m(ozin) kgm [GD /4](ozin ) QE5D 54mm (.3in)..637 (9.).686 (97.4). (97.37) x -4 (.37).74 (.63). (.43).353 (49.99).353 (49.99) 9/4./.4.9x -4 (.6).3 (.66) to 4; maximum 9% RH (no condensation) QE7D 76mm (.99in)..637 (9.).686 (97.4). (97.37) x -4 (.8).4 (3.9).69 (97.7).8/.3.45x -4 (.34).57 (.6) ymbol R R MX R IR I I K KE R QR te tm JM E B B IB JB nit k min - min - m(ozin) m(ozin) m(ozin) m/ m/min - k/s kgm [GD /4](ozin ) /R m(ozin) kgm [GD /4](ozin ) Q Q Models Options D Models Q Q4 etup oftware ositionng General pec orque [. m].4 orque [. m].6 orque [. m]. orque [. m]

30 External iring Diagram // ote 3) ote ) ser Devices ote 4) B ote 3) 3-phase power Hz M ote ) R t DL DL RB RB Internal Regeneration Resistor ote 6) Black ERO MOOR Orange (yellow) RY ote ) M M ystem Error r Encoder onnector hite Red Green Encoder Orange (yellow) 9 4 Holding Brake (install with Brake only) osition ommand ulse Input Line Driver 6L3 ormal Rotation ulse Reverse Rotation ulse F- F- R- R Line Receiver 6L3 Line Driver 6L3 O O ote 5) 3 4 H lug: -3E. hell: H ote ) 48 BO 5 orque ommand Input/peed Input orque ompensation Input 3 -REF / -REF -OM BO ZO ZO Divided Encoder Output ignal orque Limit Input ormal Reverse 8 F-L 7 9 R-L MO 3 3 Monitor Output ingle-phase ( or ) ingle-phase ower M ser Devices Battery Input D 3.6 Lithium Battery ote 8) 5 B-I B-I O-OM O-R O D 4 ote 8) 56Hz ote ) M M ystem Error D O O 4 36 O O3 4 ote : ignifies shielded twisted-pair cable. General-purpose Inputs ote ) H O3 O4 O5 O6 3 O O7 O8 O lug: 5-3E. hell: Line Receiver 6L3 O4 O5 O6 O7 O8 O-OM O-OM H General-purpose Outputs ote : ote 3: ote 4: ote 6: ote 7: ote 8: ote 9: ote : ote : ote : ote 3: hen using an external regeneration resistor, connect it between RB and. If RB and are connected to the internal amplifiers resistor, or if a shorting bar is connected between RB and 4, first disconnect them. erminals DL and DL are dedicated for connecting D reactors. If a harmonic suppression reactor is not in use, create a short circuit between DL and DL terminals with the attached shorting bar. he and terminals (high-voltage circuit) are reserved for maintenance. Do not wire these terminals. ote 5: Refer to the Instruction Manual for instructions on the shielding process. 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. hen using a cannon plug, connect it according to the motor specifications. For wiring of the encoder connectors, refer to the encoder wiring diagram. he user must supply the external power supply. R,,, r, t,,, DL, DL, RB, RB,,, are high-voltage circuits; all other signal lines are low-voltage circuits. hen wiring, maintain sufficient distance between high-voltage and low-voltage circuits. Installation of a L compliant and IE / E compliant earth leakage circuit breaker is recommended. hen wiring the single-phase power supply, do not wire the -phase to the amplifier. lways connect the (signal ground) between devices when using differential operation input signals. Q* and Q*5 models offer an RB4 terminal. 9

31 External iring Diagram F 3-phase power Hz ote ) M M M ystem Error External ower upply (4 D) Ready (RDY) Holding Brake Drive iming Output (HBO) ser Devices ote8) ote ) 3 4 ote 4) B (-) DL DL ote 3) ote ) ERO MLIFIER RB RB ote ) Internal Regeneration Resistor ote 7) ote 6) Black hite Red Green (Orange/Yellow) Encoder onnector H H lug: -3E. hell: ERO MOOR Encoder Orange (yellow) Orange (yellow) RY 9 (4) Holding Brake (install with Brake only) Q Q Models Error (ERR) 5 External Operation Enabled (EX) Running (MOE) ositioning Finished(FI) In-osition Output (I) Zero Return omplete (ZFI) O O O3 O4 O5 O6 O7 O8 External ower upply (4G) External ower upply (4) Deceleration before Origin (D) (+) Overtravel (+O) (-) Overtravel (-O) External Data etup (E_R) External Error (EX-E) tart (R) Zero Return (ZR) (+) Manual (+ JOG) (-) Manual (- JOG) Override (ORID)/ Manual High-speed (R) larm Reset (R) ancel (L) ervo O (-O) Output election (EL) Output election (EL) Output election 3 (EL3) + tep Forward (+lstep) - tep Forward (-lstep) Interrupt ctivated (I_R) MFI (MFI) oint-specified Input General Outputs I I I4 I8 I6 I3 I64 I8 External ower upply (4G) ote8) ote : ote : ote 3: ote 4: ote 5: ote 6: ote 7: ote 8: ote 9: ote : ote : ote : ignifies shielded twisted-pair cable. hen using an external regeneration resistor, connect it between RB and. If RB and are connected to the internal amplifier s resistor, or if a shorting bar is connected between RB and 4, first disconnect them. erminals DL and DL are dedicated for connecting D reactors. If a harmonic suppression reactor is not in use, create a short circuit between DL and DL terminals with the attached shorting bar. he and terminals (high-voltage circuit) are reserved for maintenance. Do not wire these terminals. Refer to the Instruction Manual for instructions on the shielding process. 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. hen using a cannon plug, connect it according to the motor specifications. For wiring of the encoder connectors, refer to the encoder wiring diagram. he user must supply the external power supply. R,,, r, t,,, DL, DL, RB, RB,,, are high-voltage circuits; all other signal lines are low-voltage circuits. hen wiring, maintain sufficient distance between high-voltage and low-voltage circuits. Installation of a L compliant and IE / E compliant earth leakage circuit breaker is recommended. hen wiring the single-phase power supply, do not wire the -phase to the amplifier. Q* and Q*5 models offer an RB4 terminal. Options D Models Q Q4 etup oftware ositionng General pec 3

32 External iring Diagram Reduced iring Incremental Encoder 3/38/6) (annon plug and lead-wire types) ERO MLIFIER ERO MOOR _ or _ channel input or channel input B _ or _ channel input B or channel input _ or _ channel input or channel input ote D 5 ote GD() ote ote Blue D Brown B Green E urple F hite G Yellow J Red Black ote ) H(hield ire) ensor: Incremental encoder _ or _ channel output or channel output B _ or _ channel output B or channel output _ or _ channel output or channel output D 5 Optical GD (O) Encoder ase ground (shield) lug : -3E, hell : JL4-6-9-J(7), JL4-8-9-J-EB, JL4-6-9-J-EB, M38B-9, M36B-9 (ith cannon plug) ensor bsolute Encoder 35M (annon plug and lead-wire types) ERO MLIFIER ERO MOOR ote3 ote3 5 E E EB EB E E E E EB ERE (ht/blu) B(Blue) (ht/ylw) D(Yellow) K L E (ht/org) F (Orange) (Black) (ht/blk) R(Green) H(Red) G(ht/Red) J(hield ire) ensor E E EB EB E E E E EB ERE 5 FG bsolute Encoder B-E ote lug : -3E, hell : JL4-6-9-J(7), JL4-8-9-J-EB, JL4-6-9-J-EB, M38B-9, M36B-9 ote se a twisted-pair shielded cable. oteensor power connections depend on sensor cable length. ee the following table: ensor cable length 5 D iring D iring 5m MX m MX m MX 3m MX onnect pin 9 (Do not connect pins 9,,7) onnect pin (Do not connect,,6,8) onnect pins 7, 9 (Do not connect pins 9,) onnect pins 8, (Do not connect pins,,6) onnect pins, 7, 9 (Do not connect pin9) onnect pins,8, (Do not connect, 6) onnect pins 9,, 7, 9 onnect pins,, 6, 8, ote3ensor power connections depend on sensor cable length. ee the following table: ensor cable length 5 D iring D iring 5m MX m MX 5m MX 5m MX onnect pins 7, 9 onnect pins, 7, 9 (Do not connect pins 9,) (Do not connect pin 9) onnect pin 9 (Do not connect pins 9,,7) onnect pins 6, (Do not connect pins,,8) onnect pins 6,8, (Do not connect pins, ) onnect pins,6,8, (Do not connect ) onnect pins 9,, 7, 9 onnect pins,, 6, 8, 3

33 ensor bsolute Encoder 35 / R6 (annon plug and lead-wire types) ote35 ote3 ERO MLIFIER lug : -3E, hell : E E EB EB ote ote E (Brown) F (Blue) (ink) (urple) ote H (Red) G(Blk.) J E E EB EB 5 FG(hield) ERO MOOR ensor: bsolute Encoder ire-saving bolute ensor JL4-6-9-J(7), JL4-8-9-J-EB, JL4-6-9-J-EB, M38B-9, M36B-9 (ith cannon plug) ote: For the R6 (Resolver ystem and tart-top), neither EB+ nor EB- wiring is necessary, as it does not use batteries. ote se a twisted-pair shielded cable. oteensor power connections depend on sensor cable length. ee the following table: ensor cable length 5 D iring D iring onnect pin 9 (Do not connect pins,7) onnect pin (Do not connect pins,8) ote3se.mm sensor cable. m MX 5m MX 4m MX onnect pins 7, 9 (Do not connect pin ) onnect pins 8, (Do not connect pin ) onnect pins, 7, 9 onnect pins,6, 8, Q Q Models Options D Models Q Q4 etup oftware ositionng General pec 3

34 ervo Motor Dimensions nit:mm 4mm to 76mm Flange ize L 4-LZ.7 M..6 M LR LE LG LLMX. LH L LB M KL Oil eal (Option) QE apping Depth L D 5 D 5 Q Motor eries: High ower (Low Inertia) eflon wire (for mounting) For Motor, Brake, and Ground hielded able (for mounting) For ensor MODEL Q43*** Incremental /out Brake LL ith Brake LL LG KL L LB LE LH L LZ LR 6-.8 Q QE L - - Incremental D D Oil eal Q45*** Q4*** Q6*** Q64*** Q775*** M Options Q Motor eries: High Efficiency / Low Ripple (Medium Inertia) MODEL Q46*** Q4*** Q55*** Q5*** Q5*** Q7*** Q73*** Q74*** Q75*** Q85*** Q875*** Q8*** Incremental /out Brake ith Brake LL LL LG KL L LB ote ) If an oil seal is needed for Q4, the ovearll motor length ill be slightly different LE LH L LZ LR slot cuts M3 8 Incremental Q Q QK QE L D D - 5 slot cuts M M M5 Oil eal ote ) Options Included 8mm Flange ize Q4 Motor eries: High ower (Low Inertia / High olume) Eye Bolt -M8 (IE) ( LH) eight aution ameplate Key osition Key osition (opposite side) M33-7 (suitable mod.) M3L-4 (for motor) (for fan motor) L M LL (5) (5) (KB) (KB) 7.5 M LE (LG) LR (IL) (IL) Motor ameplate (Opposite side) L LB M Q Q QK R.. Exhaust.. M3-9 (suitable mod.) (for sensor) rrow ameplate (opposite) Intake (5) (5) (KL3) (9) (KL) (KL) 4-LZ ype For Oil eal -LZ (Motor Removal ap) MX.5 Depth L (IL) (IL) -M8 aution ameplate For Eye Bolt (Opposite side) Exhaust Min. of 5mm space needed (45) ection - Incremental ote ) onnector MODEL Q48K*** Q485K*** /out Brake LL Motor, Ground KB M3 LG KL KL KL3 L LB LE LH L LZ LZ LR Q Q QK KB QE L IE IF IL IL M M ote ) aterproof specification I67 requires that the connector be attached; for I67 compliance, use a waterproof connector for the mating plug. 33

35 mm to mm Flange ize ( LH) -LZ Oil eal (-type) (ap for removing motor) L 4-LZ L QE tapping Depth L.7 M.6 M LB ection H-H Q Motor eries: High ower (Low Inertia) ithout brake Incremental. Q M LR LE (LG) (IL) Q QK H H (IL) (IL) (KB) (KB3) (KB) M3L-4 ote 3 MODEL LL KB LL KB KB3 M3 LG KL KL KL3 L LB LE LH L LZ LZ LR Q Q QK KB QE L IE IF IL IL Q*** Q5*** Q*** M6 Q5*** Q*** Q*** M Q3*** M Q33*** Q34*** M M8 Q35*** Q845*** M L M Q875*** M ote ) aterproof specification I67 requires that the connector to be attached; for I67 compliance, use a waterproof connector for the mating plug. ote ) Brake connector JL4-EL-3E-B used for E compliance. ote 3) Brake is included only with Model Q875. ithout brake ith brake Incremental ith brake onnector Motor grounding ote Brake(only ote when mounted) LL M3 - (or comparable) (for motor, brake and ground) Q Motor eries: High Efficiency / Low Ripple (Medium Inertia) onnector Motor grounding ote ote Brake(only when mounted) MODEL LL KB LL KB KB3 M3 LG KL KL KL3 L LB LE LH L LZ LZ LR Q Q QK KB QE L IE IF IL IL Q*** Q5*** M6 8 Q35*** Q3*** Q35*** M6 M Q3*** M8 5 Q8*** 7 83 Q835*** M M8 5 Q845*** Q855*** L M M Q875*** Q5*** Q35*** M8 5 Q45*** M Q55*** Q7*** M 55 7 QK*** L M Q5K*** M ote ) aterproof specification I67 requires that the connector to be attached; for I67 compliance, use a waterproof connector for the mating plug. ote ) Brake connector JL4-EL-3E-B used for E compliance. ote 3) Brake is included only with Models Q855, Q875, QK and Q5K. (KL) ( KL ) (9 ) (KL3) M3-9(or comparable) (for sensor) (IF) -M8 (IF) (IE) Eye bolt -M8 Q Q Models Options D Models Q Q4 etup oftware ositionng General pec 34

36 ervo Motor Dimensions nit:mm(inch) Q / QE Q3 / QE3 5(.) 7(.8) 7max. 45(.77) (.76max.) 3(5.) 33(.3) 35.5(5.33) 7(.8) 5(.) 5 5(.97) 38(.5) 7max. (.76max.) 3(5.) 35.5(5.33) 5 HRGE OER HRGE OER 6(6.6) 6(6.3) R t r DL DL RB RB B 6(6.3) 68(6.6) R t r DL DL RB RB B -M4 -M4 Q5 5(.) 9(3.54) 8(3.5) 7max. (.76max.) 3(5.) 35.5(5.33) HRGE OER 68(6.6) 6(6.3) R t r DL DL RB RB B RB RB 3-M4 35

37 HRGE OER ERO YEM YO DEKI MODE R/ HRGE OER 5(.) Q (3.94) 5(.97) 6(.4) ø6(ø.4) 5(.59) 7max. (.76max) 35(9.5) (.8) 5(.) Q5 3(5.) (3.94) 75(.95) 6(.4) ø6(ø.4) 5 (.59) 7max. (.76max) 35(9.5) (.8) Q Q Models 35(9.5) 5(8.86) R - DL DL RB4 RB RB 6(.4) r t 75(.95) Q3 5(8.7) Optional pitches (in parentheses) also permit mounting. 35(9.5) 5(8.86) R - DL DL RB4 RB RB r t 6(.4) 5(.97) 5 Optional pitches (in parentheses) also permit mounting. Options D Models Q Q4 etup oftware ositionng General pec (.39) 7(.7) (8.66) (3.64) (3.64) 4(.55) 7max. (.76max.) 35(9.5) (.8) R M O IO Q Q3 3(.7) HRGE OER - DL 5(9.84) 35(9.5) DL 5(8.7) RB RB r t 7(.6) 5(.59) 36

38 D Motor / mplifier ystem Motor Model umber omenclature Example: he following model number describes a 5 (compact, square shaft-type) servomotor with 5 rated output, 45min - maximum rotation speed, 4 motor with 4mm flange, incremental sensor, and brake (9 D). 5 B 4 5 J B 5 eries Indicates servo motor Rated Output pecification - tandard quare Flange-type 4-4mm Max. Rotation peed J - 45min - ensor ype - Reduced iring Incremental Encoder 38 ( /R) - Reduced iring bsolute ensor 35 (.5M,7-bit) D 4 ystem apacity Flange ize 4mm (.65 in) 5 and 8 Q Q eries J 3 mplifier apacity 3-3 Holding Brake X - ithout Brake B - 9 Brake - 4 Brake mplifier Model umber omenclature Example: he following model number describes a Q eries position control-type servo amplifier with 4 input, 3 capacity, reduced wiring absolute sensor (.5M, 7-bit), 5 5 motor, 4-mm (.65 in.) square flange. 3 pecification - tandard Input oltage J - D4 ith Internal Regeneration Resistor Motor ype Motor ombination - Rotary Motor O - Motor ombo. ontrol ection Hardware ype - Reduced iring bsolute ensor Reduced iring Incremental Encoder pplicable Motor ode - 5B45J - 5B48J ensor ombination - Reduced iring Incremental Encoder 38 ( /R) 3- Reduced iring bsolute Encoder (.5M, 7-bit) Interface pecification - peed ontrol ype - orque ontrol ype - osition ontrol ype Y - os. and orque witch - os. and peed witch tandard pecifications Motor Model and Flange Dimension in mm(in) ymbol nit R k R min - MX min - R m(ozin) m(ozin) m(ozin) IR I I K m/ KE m/min - Rated Output Rated Rotation peed Max. Rotation peed Rated orque ontinuous tall orque Inst. Max. tall orque Rated rmature urrent ontinuous tall rmature urrent Instant. Max. tall rmature urrent orque onstant Induced oltage onstant er-hase rmature Resistance Rated ower Rate Electrical ime onstant Mechanical ime onstant Rotor Inertia (I) ensor: Reduced iring I Mass-including Red. iring I Brake Holding orque Brake Excitation oltage Brake Excitation urrent Brake Inertia Brake Mass Motor Operating emp, Rel. Humidity mplifier Model mplifier ower upply mp. Operating emp., Rel. Humidity ower onsumption (rated output) mplifier Mass R QR te tm JM E B B IB JB k/s kgm [GD /4](ozin ) /R m(ozin) kgm [GD /4](ozin ) k kg (lbs) 5B45JX 4mm (.65in).5.59 (.5).59 (.5).38 (45.3) x -4 (.3).46 (.).9 (7.5) 3 4 9/4.7/.6.78x -4 (.4).4 (.53) to 4; maximum 9% RH (no condensation) QJ3 D 4+%, -% to 55; maximum 9% RH (no condensation)..6 (.3) 5B48JX 4mm (.65 in).8.55 (36.).55 (36.).59 (7.8) x -4 (.4).59 (.3).39 (45.7).6.6 (.3) orque [oz. in] 3 orque [. m].. orque [oz. in] 6 4 orque [. m] ote: ctual operating temperature depends on mounting conditions and motor model. 37

39 M O 8 IO 5 OER Motor External Dimensions [unit: mm(inch)] 5B45JX 4sq. (.65sq.) (.6-.4) M..6 M (.89.) 57 (.4) M 4.8 (.94.3) (.8).3 (.79.) 5(.59) 8(.3) 9.5 (.6) Motor able (for mounting) Motor and ground,.5mm ( ) 5(.).. 96 (3.78)MX..5 (.85) 6.4.5(.85) ( ) 38(.5) (.79) 5(.) 5 (.98) 38 (.5) ensor hielded able (for mounting) 3-conductor 6 G 4sq.(.65sq.) (.87) 3(.) mplifier External Dimensions [unit: mm(inch)] 5(.) 5(5.9) 4(5.5) 5(.) 35(.38) 7(.76)max. 95(3.74) (.79) Q 5 (.) (.79) (.49) 5(4.9) (.8) Q Q Models 5B48JX 4sq. (.65sq.) (.6-.4) 48.3 (.89.) 57 (.4).7 M..6 M M 4.8 (.94.3) (.8).3 (.79.) 5(.59) 8(.3) Motor able (for mounting) Motor and ground,.5mm 5(.) 4.5(.67) External iring Diagram ontrol ower D4 Main ircuit ower D4 Operation Operation reparation reparation OFF O M M M Emergency top ystem Error General urpose Inputs General urpose Outputs ( ) D4 ower M 9 (4.9)MX..5 (.85) 6.4 ote 4) D4 O-OM O O O3 O4 O O Regenerative Resistor RB RB M ( ) 38(.5) (.79) 5(.) 7-8/6- (mfg. by ago o. of Japan) ote 3) 38 (.5) 5(.98) ensor hielded able (for mounting) 3-conductor 6 G ote 7) ote 5) 4sq.(.65sq.) (.87) ote 6) 3(.) ERO MLIFIER /6- (mfg. by ago o. of Japan) Black hite Red FG Green (Green/Yellow) E+ Brown E- Blue EB+ ink EB- urple Red Black hiold ERO MOOR E ire-saving bsolute ensor Yellow 4 Yellow Holding Brake (if installed) Options D Models Q Q4 etup oftware ositionng General pec ote ) LM larm ode Output LM LM lug: -3E hell: (mfg. by umitomo 3M) LM-OM 3 IL--3L- (mfg. by Japan viation Electronic Industry, Ltd.) Raw ulse Inputs () Raw ulse Inputs () F- F- R- R B+ B- D 3.6 Lithium Battery Battery Input peed ommand Input -REF O ote ) indicates shielded twisted-pair cable. ote ) he connector must be properly shielded. Encoder ignal Outputs O BO BO 9 ote 3) hen using an external registration resistor, connect it between RB and. If no optional resistor is used, terminals RB and should be open. ZO ote 4) I/O power connections must be provided by the user. ZO 3 63 ote 5) he actual pin configuration is to 8, from the bottom moving up. ote ) ote ) 4 ote 6) pins and 4 connect to inside the amplifier. ote 7) o connect the and wires, the use of a specialized tool, provided by ago o. (Japan), is required. lug: 6-3E hell: (mfg. by umitomo 3M) 38

40 etup oftware ulse / nalog / orque with ositioning Function creen () etup oftware tart-up creen () Main creen hown: etup oftware start-up screen logo (3) arameter onfiguration creen onfiguration of General arameters: Enables parameter loading, saving, etc., via connection onfiguration of Motor arameters: ombined motors can be configured via connection (4) Monitor Functions Monitor Display: Observe Operation and Input/Output signal status larm Record Display: (urrent and past alarm occurrence can be checked.) 39 Multi-monitor Display: imultaneous monitoring of operational status of multiple servo amplifiers networked to a.

41 Models ulse Forward Jog: implifies motor operation and the entering of distance and travel speed data from a uto otch Filter uning: onfigures the appropriate notch filter settings ystem nalysis: nalyzes servo system frequency characteristics etup oftware D Models Q peed Jog: implifies motor operation and the issuing of speed commands from a Q4 Q Q (5) est Run and djustment Function Options ositionng General pec (6) Operation race Function Graphically displays servo motor speed, current, and terminal status ositioning Function creen () oint Data onfiguration () est Run Operations 4

42 MODE R t r - DL DL RB RB HRGE /R OER ositioning mplifier General pecifications General pecifications ositioning Function Input and Output ontrol haft ount Register oint ount Maximum o. of ommands ommand nit Fast-forward peed cceleration and Deceleration oint Data etup ravel oint umber etup urrent Limit oftware Limit ravel Mode Zone ignal equence Input ignals equence Output ignals ingle haft onfigurable up to 54 points ( to 53) From -,47,483,648 to +,47,483,647 Either mm or pulse is acceptable,47, mm/sec (.mm/when pulse is selected) utomatic acceleration and deceleration (straight and switch) umerical input via, and setup by teaching arallel 8 bits (binary code) to 5% (at % rating), but less than instantaneous maximum stall current Exists Zero Return, Manual (JOG, tep), and oint-specified ravel Maximum of 8 zones ervo O, 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, MFI, point specified input ready, holding brake timing, error, external operation enabled, running, positioning completion, in-position output, zero return completion, general output (8 bits) ample Operations of the ositioning-type mplifier () Zero Return Operation (example) he system is capable of zero return operation by using sensor output for the zero return and deceleration signals. Q Deceleration cceleration ower O osition B L -O ensor Deceleration ignal ensor +O ensor Motor peed Offset Quantity (compensation quantity) Zero Return (Low peed) Deceleration before Origin (Input) -9 Encoder -phase ignal Reverse Zero Return (High peed) O OFF Zero Return ignal (Input: -8) Running Output -7 ositioning ompletion ignal -8 O OFF O OFF O OFF 4

43 MODE R t r - DL DL RB RB HRGE /R OER () ositioning Operation with peed ariation (example) By starting up oint, oints and 3 will be executed consecutively. oint Data etup: Enables configuration and saving of parameters, and the reading of point data from a. Q Q Models L tarting oordinates: tart-up oint () as. Mode : []= ositioning Operation enabled; Mode : []= Final ravel, []= ontinue to next oint umber Gear hange: top / ontinue: []= onsecutive Gear hift Operation B Q :. :5. 3:8. ass oint Move to oint Move to oint 3 -O ensor Deceleration ignal ensor +O ensor Options D Models Q Q4 etup oftware ositionng General pec Motor peed oint Input oint () O only O OFF oordinate tart-up ignal Input -7 Running Output -7 O OFF O OFF ositioning ompletion ignal -8 O OFF 4