400 VAC 550 W- 5.5 kw. Ver.1

Transcription

1 400 VAC 550 W- 5.5 kw Ver.1

2 Power Supply Voltage 400 VAC Output Power 550 W to 5.5 kw Servo Amplifier Amplifier Capacity 25, 50, 100 A Servo Motor Flange Size 100 mm sq., 130 mm sq., 180 mm sq. Rated Output 550 W to 5.5 kw

3 Table of Contents Lineup...5 Features...6 Servo Amplifier and Servo Motor Combination Table...11 Standard Model Number List...11 Servo Amplifier...15 R 3E Model Analog / Pulse...16 EtherCAT...24 Safety...30 Servo Motor...35 Specifications of Servo Amplifier + R2 Servo Motor (Medium Inertia)...36 Servo Motor Dimensional Drawing...40 s...42 Guidance for Selection...50 Safety Precautions...53

4 Servo Amplifier R 3E Model Analog/Pulse High Performance AC Servo System The SANMOTION R series servo systems evolve your devices with a wide variety of high-precision servo amplifiers and servo motors. Highly precise and highly reliable systems with a product line that includes products with high capacities. Basic Systems Controller SANMOTION R servo system Servo amplifier SANMOTION R 3E Model Servo motor (rotary motor) Analog/Pulse Safety SANMOTION C EtherCAT Interface SANMOTION R servo system Servo amplifier SANMOTION R 3E Model Servo motor (rotary motor) EtherCAT Touch Panel Controller Safety Application Examples The SANMOTION R servo products can be used in a wide range of applications that require high precision and accurate positioning. Injection molding machines, machine tools, machining centers, semiconductor related equipment, water jet cutters, laser beam machines, and the like. Injection molding machines Machine tools Notes on Servo Systems A servo system is composed of a servo amplifier and servo motor. The servo motor is equipped with an encoder (rotation detector) that returns feedback to commands from the servo amplifier, achieving highly reliable and precise driving. Our rich product lineup can satisfy high-speed and high-capacity demands as well. The products featured in this catalog are designed to operate with a 400 VAC main circuit power supply. We also have servo systems for 100 to 200 VAC and 48 VDC inputs available. Refer to our website and catalogs for details. 4

5 Servo Amplifier SANMOTION R 3E Model Analog/Pulse type This is an AC servo amplifier created as a result of our pursuit for further evolved basic performance including high responsiveness, energy efficiency, and ease of use. Product lineup: 25, 50, and 100 A p. 16 EtherCAT type With a 62.5 s minimum communication cycle, the high-speed EtherCAT fieldbus subdivides position commands, realizing smoother operation of devices. This amplifier can be combined with our SANMOTION C EtherCAT Interface controllers. Product lineup: 25, 50, and 100 A p. 24 Functional Safety Specifications Models that facilitate easy integration of safety functions in devices to comply with functional safety are available. Model no. Servo amplifier type Functional safety specifications Analog/Pulse type EtherCAT type SANMOTION R 3E Model SANMOTION R 3E Model Safety p. 30 RS3CA0 Models not in conformance with the functional safety. RS3CA2 RS3CA2HA4 These models have the Safe Torque Off function. IEC/EN :2016, STO (Safe Torque Off) This model has integrated extended safety functions in addition to Safe Torque Off function. Maintenance work can be performed without shutting off the power to RS3CAC RS3CA2HAE the device. System restarting after maintenance work has also been made easy. IEC/EN :2016, STO (Safe Torque Off), SS1 (Safe Stop 1), SS2 (Safe Stop 2), SOS (Safe Operating Stop), SLS (Safely-Limited Speed), SBC (Safe Brake Control), SSM (Safe Speed Monitor) Servo Motor Servo Motor (Rotary Motor) These are rotary servo motors with a wide range of product lineup. Motor Classification R2 Servo Motor Medium Inertia Flange Size, Features 100 mm sq., 130 mm sq., 180 mm sq. These products are medium inertia servo motors that are suitable for positioning applications, with abundant product lineup to choose from. Safety Standards Our servo amplifiers standardly conform to safety standards (UL, cul, and EN standards) and the KC Mark. Our servo motors also conform to the safety standards (UL, cul, and EN standards). Furthermore, all the models featured in this catalog comply with tolerance values for specified hazardous substances (cadmium, lead, mercury, tetravalent chromium, PBB, and PBDE) cited in Appendix II of the EU RoHS Directive (2011/65/EU) starting with the products produced in October STO function model, Safety model 5

6 Servo Amplifier R 3E Model Analog/Pulse High Performance AC Servo System The 3E Model is the third generation product series of the SANMOTION R servo amplifiers that pursues highly responsive evolved performance, energy efficiency, and ease of use. This product greatly contributes to improving device performance. Evolved Cycle time can be shortened by high-speed positioning control Velocity frequency response of 2.2 khz, which is about twice that of our conventional models, has been achieved. The positioning settling time, furthermore, has been shortened to onethird. A function for switching the trajectory control and the positioning control in real time has been incorporated to significantly reduce the cycle time of the device. 0 [Pulse/s] 0 [Pulse] Position deviation Our conventional product Positioning settling width Settling time: 1/3 compared with conventional product Position command frequency Improved control precision A function to improve gain, a function for suppressing micro vibrations when the motor is at standstill, an adaptive notch filter for suppressing resonance of the device, and a feed forward damping control are incorporated into the system. This 5th-order notch filter can accurately control the feed shaft of machine tools, significantly improving the processing quality. Precision Improved High Gain Control Velocity Conventional product Adaptive notch filter Conventional product Vibration Suppression with Adaptive Notch Filer Starts to work when resonance starts Disturbance Converges to the anti-resonance frequency Built-in safety functions 6 The series product lineup includes Safe Torque Off (STO) function models (1) and Safety models (2) that offer even wider range of safety functions. Safety models feature monitoring of position and speed of devices as well as safe operation stop so that workers nearby can concentrate on their work with confidence. With these safety functions, motors can be stopped without shutting down the amplifier power, shortening the device reboot time. These products are suitable for devices that require high levels of safety. (1) (2) Safe Torque Off (STO) is a safety function defined in IEC/EN :2016. In addition to the function in (1), Safety models have SS1 (Safe Stop 1), SS2 (Safe Stop 2), SOS (Safe Operating Stop), SLS (Safely-Limited Speed), SBC (Safe Brake Control), and SSM (Safe Speed Monitor).

7 Eco-efficient Features Reduced power consumption Power consumption management The amplifiers contribute to energy saving with a maximum reduction of power consumption by 15% and standby power consumption by 29%. *Comparison with our conventional product RS1C02A. Power consumption DOWN Easy to use Power consumption of the device can be managed by the monitoring function. The servo amplifier calculates power consumption based on motor current and displays it on the digital operator or setup software. Axis name Power consumption Unit X 0.41 kwh Y 0.75 kwh Z 0.21 kwh Total 1.37 kwh Holding brake control function equipped as standard The holding brake function has been incorporated into servo amplifiers as standard, which eliminates the need to newly establish a brake control circuit. This saves wiring, achieving cost reductions. This only applies to 24 VDC brakes. Note: The holding brake holds the motor in position when the power is off, preventing loads from falling. DC power supply 24 V CND Servo Amplifier Relay SW power supply CNE B+ B- Holding brake Simple startup The setup software SANMOTION MOTOR SETUP SOFTWARE enables easy and quick system setup that displays parameters required for operation in an easy-to-understand manner. Incorporated functions include a virtual motor operation function that simulates motor and amplifier operations without actually operating the device, and a jog function for checking connection between a servo motor and servo amplifier. Test runs can be performed without connecting to a host controller. Minimally required parameters can be set prior to the start of an operation, which are lumped together by categories, to shorten time for startup. (11) V V V Simplified servo tuning Substantial servo tuning assistance functions have been equipped through collaboration with setup software, including the function for the automatic selection of optimum tuning mode according to equipment and load conditions, the basic adjustment mode for adjusting only two parameters, as well as the application adjustment mode by purpose. The time required for servo tuning can be significantly shortened. Easy troubleshooting The drive recorder function records the operating status of the motor and amplifier with 1 ms timestamps. This facilitates accurate grasp of error situations and simplifies troubleshooting. 7

8 Servo Features Amplifier R 3E Model Analog/Pulse Model-Following Control Integrated The model-following control has achieved target value response, disturbance suppression, and robustness at high levels. Auto-Tuning The servo amplifier automatically makes real-time adjustments of servo gain and filter frequency to optimum while in operation. Model control system Position command Position/Velocity control Motor/Machine model Velocity command value Position/Velocity control Motor/Machine Tuning starts Velocity detected value Feedback control system Feed-Forward Vibration Control Feed-forward vibration control can suppress the vibration of machine ends and machine stands with simple adjustments. Furthermore, the feature can be utilized by selecting the frequency for damping control. Position Deviation when Stopping With vibration suppression Without vibration suppression Command-Following Control Followability to a position command has been improved by adopting new position control and velocity control circuits. Furthermore, a position deviation of 0 has been achieved. Position Command 100 ms/div Without Vibration Suppression With Vibration Suppression Position deviation 20 ms/div All-in-One Control Torque, position, and velocity control can be performed selectively by switching parameters. 5-Digit LED, Built-in Operator The built-in operator allows users to change parameters and monitor status of servo amplifiers, alarm tracing, and more. Position or Velocity Torque control GOAL START Flat road Uphill 8

9 Multiple Axes Monitoring Function With the setup software, the servo motor/amplifier status of up to 20 axes can be checked. USB hub Fully Closed-Loop Control with Dual Position Feedback Fully closed-loop control can be performed by using information from two encoders: our high-resolution encoder and linear encoder mounted on a moving load. Even when the amount of torsion between the motor shaft and the load is large, the servo gain can be increased by fully closed-loop control with dual position feedback, achieving high responsiveness. Features Maximum 15 axes Load EtherCAT Interface EtherCAT fieldbus delivers a 100 Mbps highspeed communication, shortening the cycle time of devices. The EtherCAT type servo amplifiers are also compatible with the highly versatile Ethernet fieldbus, which allows for flexible configurations with a variety of devices. Servo amplifier firmware can be updated via the EtherCAT communication. Furthermore, these models have been certified with the third-party EtherCAT Conformance Test. Servo Motors Downsized Our R2 series servo motor achieves high torque and high overall performance while reducing the motor length by 22% compared with our conventional product*. * When an R2 servo motor R2CA18350 is compared with our conventional model Q2CA Lowered Motor Cogging Torque Cogging torque in motors has been reduced compared with our conventional products*, achieving smoother device operation. Comparison of cogging torque waveforms 22% reduction Waterproof and Dustproof Our servo motors are highly resistant to water and dust ingress with an IP65 rating, ensuring normal operation even in severe environments. IP67 models are optionally available as well. Water Dust Conventional product R2 motor * Comparison with the SANMOTION Q series. * Except for shaft through-hole and cable ends. Combine with a waterproofed canon plug. This is a motor that complies with the prescribed water-proofing test conditions. The product cannot be used for applications in conditions exceeding IP65 or IP67, such as applications subject to water over a long period. 9

10 Servo Features Amplifier R 3E Model Analog/Pulse Highly Precise Battery-less Absolute Encoder This high-precision battery-less absolute encoder Model No. HA035 comes standardly equipped with our servo motors. For even higher precision, up to (23-bit) resolution per rotation as well as absolute angular accuracy of (1 minute) are available as options. There is no need to worry about battery life or battery export procedures. We offer various encoder options that help to configure the best encoder for your device. Refer to the table below. Serial encoder Total number Name Resolution per rotation of rotations for multi-turn Encoder model no. al specifications encoders Battery-less absolute encoder This is a high-precision, battery-less, optical multi-turn encoder. This encoder is free from maintenance because it doesn't require batteries. The product can be used for a broad range of applications in general industrial equipment, such as machine tools or robots (17-bit) (16-bit) Model No. HA035 Resolution per rotation: (20-bit), (23-bit) Absolute angular accuracy per rotation: (1 minute) or less (approximately (10 minutes) as standard) Baud rate: 4.0 Mbps (2.5 Mbps as standard) Single-turn absolute encoder This is a thin, optical single-turn encoder. It achieves wire saving particularly for systems that currently uses pulse encoders, and helps downsize the systems (17-bit) Model No. PA035S Resolution per rotation: (20-bit) Baud rate: 4.0 Mbps (2.5 Mbps standard) s Battery-backup absolute encoder This is a thin, battery-backed, optical multi-turn encoder. It requires an optional battery (17-bit) (16-bit) Model No. PA035C Resolution per rotation: (20-bit) Baud rate: 4.0 Mbps (2.5 Mbps standard) s Battery-less absolute resolver encoder This is a battery-less, multi-turn, resolver encoder. This environmentally durable resolver encoder is suitable for equipment used in severe operating conditions, such as injection molding machines or robots (17-bit) (16-bit) Model No. RA035C Baud rate: 4.0 Mbps (2.5 Mbps standard) Pulse encoder Name pulse/ rotation Multi-turn Encoder model no. al specifications s Wire-saving incremental encoder This is an incremental encoder with A, B, and Z-phase outputs that can easily be combined with a host controller. It is suitable for general industrial equipment including chip mounters P/R Model No. PP031H Pulse count: Up to P/R 10

11 Servo Amplifier and Servo Motor Combination Table Standard specifications: S Output shaft: straight; oil seal: none; connection: Canon plug K Output shaft: with key; oil seal: yes; connection: Canon plug Features Servo motor Classification Rated output Flange size Model R2 Servo motor 400 V class Medium inertia Standard Model Number List Standard spec. Page Specifications Dimensions Servo amplifier R 3E Model Analog/Pulse p. 16 EtherCAT p W 130 mm sq. R2CA13050D K p. 36 p. 40 RS3C02 25 A 750 W 100 mm sq. R2CA10075F S p. 36 p. 40 RS3C02 25 A 1.0 kw 100 mm sq. R2CA10100F S p. 36 p. 40 RS3C05 50 A 1.2 kw 1.8 kw 2.0 kw 3.5 kw 130 mm sq. R2CA13120R K p. 36 p. 40 RS3C02 25 A 130 mm sq. R2CA13120F K p. 37 p. 40 RS3C05 50 A 130 mm sq. R2CA13180H K p. 37 p. 40 RS3C02 25 A 130 mm sq. R2CA13180D K p. 37 p. 40 RS3C05 50 A 130 mm sq. R2CA13200L K p. 38 p. 41 RS3C02 25 A 130 mm sq. R2CA13200H K p. 38 p. 41 RS3C05 50 A 180 mm sq. R2CA18350L K p. 38 p. 41 RS3C05 50 A 180 mm sq. R2CA18350D K p. 39 p. 41 RS3C A 4.5 kw 180 mm sq. R2CA18450H K p. 39 p. 41 RS3C A 5.5 kw 180 mm sq. R2CA18550R K p. 39 p. 41 RS3C A Power Supply Voltage: 400 VAC Servo Amplifier R 3E Model Analog/Pulse Main circuit power supply Control power supply Encoder type Servo Amplifier Generalpurpose output Built-in regenerative resistor Contact us for specifications of models that are not in this list. STO function (1) Functional safety (2) Amplifier capacity Model no. Page Specifications Dimensions 25 A RS3C02A0AA0 p. 18 p A RS3C05A0AA0 p. 18 p A RS3C10A0AA0 p. 18 p. 20 Servo Standard Amplifier & Model Motor Number Combination List Table Servo Amplifier Servo Amplifier 400 VAC class 380 to 480 VAC 3-phase 24 VDC Serial encoder Sinking type (NPN) Sourcing type (PNP) Servo Amplifier R 3E Model EtherCAT Main circuit power supply 400 VAC class 380 to 480 VAC 3-phase Control power supply 24 VDC Encoder type Serial encoder Generalpurpose output Photo relay output Built-in regenerative resistor (without delay circuit) (without delay circuit) (without delay circuit) (without delay circuit) STO function (1) (with delay circuit) (with delay circuit) Functional safety (2) 25 A RS3C02A0AA2 p. 18 p A RS3C05A0AA2 p. 18 p A RS3C10A0AA2 p. 18 p A RS3C02A0AAC pp. 18, 30 p A RS3C05A0AAC pp. 18, 30 p A RS3C10A0AAC pp. 18, 30 p A RS3C02A0BA0 p. 18 p A RS3C05A0BA0 p. 18 p A RS3C10A0BA0 p. 18 p A RS3C02A0BA2 p. 18 p A RS3C05A0BA2 p. 18 p A RS3C10A0BA2 p. 18 p A RS3C02A0BAC pp. 18, 30 p A RS3C05A0BAC pp. 18, 30 p A RS3C10A0BAC pp. 18, 30 p. 32 Amplifier capacity Model no. Page Specifications Dimensions 25 A RS3C02A2HA4 p. 26 p A RS3C05A2HA4 p. 26 p A RS3C10A2HA4 p. 26 p A RS3C02A2HAE pp. 26, 30 p A RS3C05A2HAE pp. 26, 30 p A RS3C10A2HAE pp. 26, 30 p. 32 Servo Amplifier Servo motor s Our standard servo amplifiers conform to UL, c-ul, and EN standards as well as KC mark. (1) STO (Safe Torque Off) is a safety function defined in IEC/EN :2016. (2) In addition to (1), SS1 (Safe Stop 1), SS2 (Safe Stop 2), SOS (Safe Operating Stop), SLS (Safely-Limited Speed), SBC (Safe Brake Control) and SSM (Safe Speed Monitor) p

12 Standard Model Number List Standard Model Number List Power Supply Voltage: 400 VAC Contact us for specifications of models that are not listed. R2 Servo Motor Standard specifications: S Output shaft: straight; oil seal: none; connection: Canon plug K Output shaft: with key; oil seal: yes; connection: Canon plug Model no. Page Rated output Motor flange size Protection rating Holding brake Standard spec. CE/UL Battery-less absolute encoder (Model No. HA035) Single-turn absolute encoder (Model No. PA035S) Specifications Dimensions 550 W 130 mm sq. IP W 100 mm sq. IP kw 100 mm sq. IP65 K R2CA13050DXR00M R2CA13050DXH00M p. 36 p. 40 (24 VDC) K R2CA13050DCR00M R2CA13050DCH00M p. 36 p. 40 S R2CA10075FXR03M R2CA10075FXH03M p. 36 p. 40 (24 VDC) S R2CA10075FCR03M R2CA10075FCH03M p. 36 p. 40 S R2CA10100FXR03M R2CA10100FXH03M p. 36 p. 40 (24 VDC) S R2CA10100FCR03M R2CA10100FCH03M p. 36 p. 40 K R2CA13120RXR00M R2CA13120RXH00M p. 36 p kw 130 mm sq. IP65 (24 VDC) K R2CA13120RCR00M R2CA13120RCH00M p. 36 p. 40 K R2CA13120FXR00M R2CA13120FXH00M p. 37 p. 40 (24 VDC) K R2CA13120FCR00M R2CA13120FCH00M p. 37 p. 40 K R2CA13180HXR00M R2CA13180HXH00M p. 37 p kw 130 mm sq. IP65 (24 VDC) K R2CA13180HCR00M R2CA13180HCH00M p. 37 p. 40 K R2CA13180DXR00M R2CA13180DXH00M p. 37 p. 40 (24 VDC) K R2CA13180DCR00M R2CA13180DCH00M p. 37 p. 40 K R2CA13200LXR00M R2CA13200LXH00M p. 38 p kw 130 mm sq. IP65 (24 VDC) K R2CA13200LCR00M R2CA13200LCH00M p. 38 p. 41 K R2CA13200HXR00M R2CA13200HXH00M p. 38 p. 41 (24 VDC) K R2CA13200HCR00M R2CA13200HCH00M p. 38 p. 41 K R2CA18350LXR00M R2CA18350LXH00M p. 38 p kw 180 mm sq. IP65 (24 VDC) K R2CA18350LCR00M R2CA18350LCH00M p. 38 p. 41 K R2CA18350DXR00M R2CA18350DXH00M p. 39 p. 41 (24 VDC) K R2CA18350DCR00M R2CA18350DCH00M p. 39 p kw 180 mm sq. IP kw 180 mm sq. IP65 K R2CA18450HXR00M R2CA18450HXH00M p. 39 p. 41 (24 VDC) K R2CA18450HCR00M R2CA18450HCH00M p. 39 p. 41 K R2CA18550RXR00M R2CA18550RXH00M p. 39 p. 41 (24 VDC) K R2CA18550RCR00M R2CA18550RCH00M p. 39 p

13 Standard Model Number List Power Supply Voltage: 400 VAC s R 3E Model Analog/Pulse Contact us for specifications of models that are not listed. Model no. Category Description Page AL Servo amplifier connector, individual item For host controller connection (CN1) p. 44 AL Servo amplifier connector, individual item For encoder connections (EN1, EN2) Note that this is not a set of two connectors, but a single connector. AL Servo amplifier connector, individual item For functional safety connection, for shorting (CN4) p. 44 AL CN1, EN1 (standard) p. 44 AL Servo amplifier connector set CN1, EN1, CNE + Connector tool (standard) p. 44 AL (for non-sto models) CN1, EN1, EN2 (for fully closed-loop systems) p. 44 AL CN1, EN1, EN2, CNE + Connector tool (for fully closed-loop systems) p. 44 AL CN1, EN1, CN4 (standard) p. 44 AL Servo amplifier connector set CN1, EN1,CN4, CNE + Connector tool (standard) p. 44 AL (for STO models) CN1, EN1, EN2, CN4 (for fully closed-loop systems) p. 44 AL CN1, EN1, EN2, CN4, CNE + Connector tool (for fully closed-loop systems) p. 44 AL Amplifier unit-to-unit cable for tandem operations 0.2 m p. 48 AL Amplifier unit-to-unit cable for tandem operations 3.0 m p. 48 R 3E Model EtherCAT Model no. Category Description Page AL-Y Servo amplifier connector, individual item For encoder connections (EN1, EN2) p. 45 Note that this is not a set of two connectors, but a single connector. AL Servo amplifier connector, individual item For general-purpose I/O signals (CN2) p. 45 AL Servo amplifier connector, individual item For functional safety connection, for shorting (CN4) p. 45 AL EN1, CN4, CN2 (standard) p. 45 AL EN1, CNE + Connector tool, CN4, CN2 (standard) p. 45 AL Servo amplifier connector set (for STO models) EN1, EN2, CN4, CN2 (for fully closed-loop systems) p. 45 AL EN1, EN2, CNE + Connector tool, CN4, CN2 (for fully closed-loop p. 45 systems) p. 44 Features Servo Standard Amplifier & Model Motor Number Combination List Table Servo Amplifier Servo Amplifier Servo Amplifier Common to R 3E Model Analog/Pulse type and EtherCAT type Model no. Category Description Page AL Servo amplifier connector, individual item For main circuit power supply input (CNA) pp. 44, 45 AL Servo amplifier connector, individual item For regenerative resistor connection (CNC) pp. 44, 45 AL Servo amplifier connector, individual item For motor power supply connection (CNB) pp. 44, 45 AL Servo amplifier connector, individual item Connector tool (CNA, CNB, CNC) pp. 44, 45 AL Servo amplifier connector, individual item For control power supply input (CND) pp. 44, 45 AL Servo amplifier connector, individual item Connector tool (CND) pp. 44, 45 AL Servo amplifier connector, individual item For holding brake output (CNE) pp. 44, 45 AL Servo amplifier connector, individual item Connector tool (CNE) pp. 44, 45 AL Servo amplifier connector, individual item For functional safety connection, for wiring (CN4) pp. 44, 45 AL-Y Servo amplifier connector, individual item For functional safety connection, for Safety models only (SF-CN1, SF-CN2) Note that this is not a set of two connectors, but a single connector. AL USB communication cable for Setup Software 1.0 m p. 48 AL USB communication cable for Setup Software 2.0 m p. 48 AL Servo motor encoder cable 1 m p. 48 AL Servo motor encoder cable 2 m p. 48 AL Servo motor encoder cable 3 m p. 48 AL Servo motor encoder cable 5 m p. 48 AL Servo motor encoder cable 10 m p. 48 pp. 44, 45 Servo Amplifier Servo motor s 13

14 Standard Model Number List Standard Model Number ListContact us for specifications of models that are not in this list. s Common to R 3E Model Analog/Pulse type and EtherCAT type Model no. Category Description Page AL m p. 46 AL Servo motor power cable 2 m p. 46 AL For 100 mm sq. motors 3 m p. 46 AL Without brake line 5 m p. 46 AL m p. 46 AL m p. 46 AL Servo motor power cable 2 m p. 46 AL For 100 mm sq. motors 3 m p. 46 AL With brake line 5 m p. 46 AL m p. 46 AL m p. 46 AL Servo motor power cable 2 m p. 46 AL For 130 mm sq. motors 3 m p. 46 AL Without brake line 5 m p. 46 AL m p. 46 AL m p. 46 AL Servo motor power cable 2 m p. 46 AL For 130 mm sq. motors 3 m p. 46 AL With brake line 5 m p. 46 AL m p. 46 AL m p. 46 AL Servo motor power cable 2 m p. 46 AL For 130/180 mm sq. motors 3 m p. 46 AL Without brake line 5 m p. 46 AL m p. 46 AL m p. 46 AL Servo motor power cable 2 m p. 46 AL For 130/180 mm sq. motors 3 m p. 46 AL With brake line 5 m p. 46 AL m p. 46 AL m p. 46 AL Servo motor power cable 2 m p. 46 AL For 180mm sq. motors 3 m p. 46 AL Without brake line 5 m p. 46 AL m p. 46 AL m p. 46 AL Servo motor power cable 2 m p. 46 AL For 180mm sq. motors 3 m p. 46 AL With brake line 5 m p. 46 AL m p. 46 Q-MON-3 Analog monitor box Set of a monitor box + 2 dedicated cables p. 49 AL Dedicated cable for analog monitor box 1 cable p. 49 REGIST-500CW80B External regenerative resistor 500 W 80 p. 49 REGIST-500CW40B External regenerative resistor 500 W 40 p. 49 REGIST-500CW20B External regenerative resistor 500 W 20 p. 49 AL Front mounting bracket For 25 A servo amplifier p

15 Servo Amplifier R 3E Model Analog/Pulse, EtherCAT types Amplifier Capacity: A to A This is an a high-response AC servo amplifier AC resulted servo amplifier from our pursuit that pursues for further performance, evolved basic energy performance efficiency, and including ease of high use. evolved responsiveness, energy efficiency, and ease of use. Safe Torque Off function equipped models are also available. Safe Torque Off (STO) is a safety function defined in IEC/EN :2016. Product lineup also includes Safety models that have a wider variety of safety functions. How to read model numbers Not all combinations of descriptions below are valid. al specifications are also described. Refer to the Standard Model Number Listfor valid model numbers of standard products. Servo Amplifier RS3 C 02 A 0 A A 0 2 Velocity/Torque command input circuit C E Safe Torque Off function (without delay circuit) (with delay circuit) (without delay circuit) (with delay circuit) Safety module 1 A With built-in regenerative resistor & DB resistor IntInterface Type A Analog/Pulse train, sinking (NPN) type general-purpose output (current input from load to output terminal when output is on) B Analog/Pulse train, sourcing (PNP) type general-purpose output (current output from output terminal to load when output is on) H EtherCAT type Encoder Type Motor Classification A Rotary motor 0 EN1 (Motor encoder) Serial encoder EN2 (motor encoder or external encoder) Amplifier Capacity A A A 2 8 A Serial encoder Pulse encoder Pulse encoder Pulse encoder for motor / external pulse encoder for fully closed-loop systems External pulse encoder for fully closed-loop systems Input Power Supply Voltage C Main circuit 400 VAC / Control circuit 24 VDC 3E Model Series Setting of motor parameters on the amplifier is necessary before using the product. Use Setup Software for the startup. 15

16 Servo Amplifier R 3E Model Analog/Pulse System Configuration Diagram Refer to page 31 for the system configuration diagram of the Safety models. 25 to 100 A Photo below shows a 50 A model. T S R Setup software 17 Molded case circuit breaker (MCCB) Various Noise filter connectors Servo Amplifier 1 18 External regenerative resistor 19 Electromagnetic contactor 15 CNA 7 8 USB communication cable USB Amp-to-amp cable for tandem operation Brake output DC24 V 24 VDC control power supply 11 CNC CND CNE CN1 Host controller CN4 EN1 EN2 Encoder connection () CNB 14 Servo motor cable for power & brake connection Servo motor cable for power connection 13 Servo motor cable for encoder connection Safety unit, safety PLC, etc. Standard connector of servo motor: Canon plug Refer to page 34 for the encoder connection diagram. Servo Motor 16

17 s and Peripheral Devices (25 to 100 A) No. Name Model no. Description Page 1 Setup software Download from Product Information on our website Performs parameter settings and monitoring through communication with a PC 2 USB communication cable AL Communication cable with PC for Setup software use p For tandem operations Amplifier communication cable AL Connects amplifiers for tandem operations (CN5 CN5) p C1 connector AL For host controller connection p C4 connector AL (for shorting), AL (for wiring) For safety device connection (for shorting/wiring) p EN1 connector AL For encoder connection p. 44 EN2 connector AL Note that this is not a set of two connectors, but a single connector. p CNA connector AL * For input power supply connection p CNC connector AL * For regenerative resistor connection p CND connector AL * For control power supply connection p CNE connector AL * For brake connection p CNB connector AL * For servo motor connection p AL For encoder connection p Servo motor cable AL For power connection p AL For power and brake connection p External regenerative resistor REGIST-500CW B Used when regenerative capacity is insufficient, as in the case p. 49 of high-frequency movements p. 42 Standard Servo Mod- Servo Amplifieel Number Amplifier List Analog/Pulse 16 Safety unit, safety PLC, and the like To be provided by the customer. Connects input and output signals of Safe Torque Off function to such devices as safety units and safety PLCs. 17 Molded case circuit breaker (MCCB) 18 Noise filter 19 Electromagnetic contactor To be provided by the customer. To be provided by the customer. To be provided by the customer. * Wiring on the CNA to CNE connectors requires a connector tool. p. 44 Used to protect power lines Used to prevent external noise from power lines Used to turn servo power on and off Connectors are also available as a set. Refer to pages that feature respective connectors. 17

18 Servo Amplifier R 3E Model Analog/Pulse Common Specifications Control functions Position control, speed control, torque control (switched with parameters) Control system IGBT: PWM control Sine wave drive Main circuit power supply* 3-Phase 380 to 480 VAC, +10%, -15%, 50/60 3 Hz Control power supply* 24 VDC 10% Operating ambient temperature 0 to +55 C Storage temperature -20 to +65 C Environment Operating and storage humidity 90% RH or less (no condensation) Altitude 1,000 m or lower Vibration resistance 4.9 m/s 2 Structure Shock resistance 19.6 m/s 2 Tray-type power supply built-in STO function model, Safety model RoHS * Make sure that the power supply voltage is within the specified range. Power supply voltage range specifications: main circuit power supply 323 to 528 VAC; control power supply 21.6 to 26.4 VDC. The servo amplifier must be operated under the conditions of overvoltage category III according to EN As the 24 VDC control power supply or interface power supply, use a DC power supply with insulated I/O terminals. Performance Velocity control range Frequency characteristics Allowable load inertia Functions Protective functions Digital operator Dynamic brake circuit Regenerative resistor Monitoring 1:5,000 (Internal velocity command) 2200 Hz (at high-speed sampling mode) 10 times the motor rotor inertia Overcurrent, current detection error, overload, regenerative error, overheating error, external error, overvoltage, main circuit undervoltage, power open phase, control power undervoltage, encoder error, excessive velocity, velocity control error, velocity feedback error, excessive position deviation, position command pulse error, internal memory error, parameter error, cooling fan error Status display, monitoring, alarm log, parameter setting, test run, adjustment modes Built-in Built-in Velocity monitoring (VMON)2.0 V 10% (at 1,000 min -1 ), Torque (Drive) command monitoring (TCMON) 2.0 V 10% (at 100%) Safety Standards Servo amplifier type RS3CA0 RS3CA2 (STO models) RS3CAC (Safety models) Safety standards North American standards (UL, cul) UL European Directive Low Voltage Directive IEC/EN EMC Directive IEC/EN , IEC/EN KC (Korea Certification) mark KN , KN North American standards (UL) UL Low Voltage Directive IEC/EN European Directive IEC/EN IEC/EN EMC Directive IEC/EN IEC IEC/EN KC (Korea Certification) mark KN , KN Functional Safety Specifications Servo amplifier type IEC/EN :2016 Description Safety level RS3CA0 RS3CA2 (STO models) RS3CAC (Safety models) STO Safe Torque Off SS1 Safety Stop 1 SS2 Safety Stop 2 SOS Safe Operating Stop SLS Safely-Limited Speed SBC Safe Brake Control SSM Safe Speed Monitor EN IEC/EN SIL3 SILCL3 ISO :2015 EN/ISO : 2015 Cat.3 PL=e 18

19 General-Purpose Output Specifications Sinking (NPN) type Servo amplifier Host controller 49 OUT-PWR 39 to 46 OUT1 to 8 Load OUT-COM OUT-COM Standard Servo Model Number Amplifier List Sourcing (PNP) type Servo amplifier 49 OUT-PWR Host controller Servo Amplifier Analog/Pulse 38 OUT+COM 39 to 46 OUT1 to 8 Load 19

20 Servo Amplifier R 3E Model Analog/Pulse Dimensions (unit: mm) Refer to page 32 for the dimensional drawings of Safety models. 25 A Mass: 2.5 kg (70) (19.5) (6) 63 6 ø6 205 (27) 6 (4) A Mass: 4.7 kg 100 (70) (19.5) (16.5) 2 (27) 100 A Mass: 8.5 kg 175 (70) (19.5) (16.5) 2 (27) 20

21 External Wiring Diagram 25 to 100 A, sinking (NPN) type output Shorting cable External regenerative resistor 3-Phase 380 to 480 VAC 50/60 Hz User device CNC (2) RB1 RB4 RB2 B+ B- CNE (10) (12) MC CNA R S + Built-in Regenerative resistor 24 VDC U CNB (4) Servo motor T V DC power supply 24 V (13) Operation Operation ready ready ON OFF MC MC Emergency System error stop CND (9) CN4 1 (3) V V V 0 V NC NC HWGOFF1+ V (11) Servo Amplifier W EN1 SH (5) SH Encoder Holding brake (Only for models with brake) Standard Servo Model Number Amplifier List Only for STO models and Safety models 24 VDC (14) (14) 24 VDC 3 HWGOFF1-6 HWGOFF2+ 5 HWGOFF2-8 EDM+ 7 EDM- Line driver equivalent of HD26C31 Servo Amplifier Analog/Pulse Position command pulse input (6) Velocity command / torque command input Torque compensation input Torque limit input Battery input (15) Forward rotation pulse Reverse rotation pulse Forward rotation side Reverse rotation side Line driver (8) 3.6 VDC Lithium battery (14) 5 to 24 VDC VT VT CN V V 26 F-PC 150 Ω 27 F-PC R-PC 150 Ω 29 R-PC 48 V-REF 21 /T-REF T-COMP F-TLA R-TLA 1 BTP-I 2 BTN-I 50 CONT-COM 37 CONT1 36 CONT2 AO AO BO BO ZO ZO PS PS ZOP MON1 OUT-PWR OUT1 OUT2 OUT3 OUT (14) 5, 12 to 24 VDC Frequency division signal output of encoder Monitor output Connector no. CNA CNB CNC CND CNE CN1 EN1 CN4 Name Connector for host controller I/O signals Connector for encoder signals Connector for STO function signals Housing, plug, shell 03JFAT-SAXGDK-P15 03JFAT-SAXGDK-P15 Servo motor power line connector Regenerative resistor connector Control power supply input connector Holding brake connector 03JFAT-SAZGDK-P15 03JFAT-SAYGDK-P15 04JFAT-SAGG-G-KK 02MJFAT-SAGF Plug: PE Shell: A0-008 Connector: PL Shell kit: For shorting: For wiring: (1) For these parts, use shielded twisted-pair cables. (2) Short-circuit between RB1 and RB4 terminals when using a built-in regenerative resistor. When using an external regenerative resistor, connect it between the RB1 and RB2 terminals after removing the shorting bar connected to the RB1 and RB4 terminals. (3) Do not connect anything to CN4-1 and -2 pins. (4) Connections on the motor side vary depending on the motor specifications. Perform connections according to the motor specifications. (5) Refer to the encoder connection diagram for details on wiring of connectors for encoder connections. (6) Be sure to connect the (signal ground) between the servo amplifier and the device when using differential input signals. (7) Circuits R, S, T, RB1, RB2, RB4, U, V, and W are General-purpose input Shielded SH 35 CONT3 34 CONT4 33 CONT5 32 CONT6 13 CONT7 15 CONT8 OUT5 43 OUT6 44 OUT7 45 OUT8 46 OUT-COM 24 OUT-COM 25 SH Shielded Generalpurpose output high voltage circuits. Other signal lines are low voltage circuits. Allow sufficient distance between high voltage and low voltage circuits when wiring. (8) Use a Line driver with the differential voltage (VT) in the range of 2.5 to 3.8 V. Differential voltage of under 2.5 V or more than 3.8 V may cause erroneous operations such as missing pulses. (9) CN4 is the connector for functional safety signals. To enable Servo ON (motor in operation), CN4 must be connected to safety devices and get safety functions ready for activation. When not using safety functions, insert the optional connector (model number: AL ) to CN4. (10) This can only be used with 24 V brake. The power is supplied by the 24 VDC power supply. (11) Consult us when conducting a pressure resistance test. (12) Installing an earth leakage breaker that conforms to the UL or IEC/EN standards is recommended. (13) For the 24 VDC power supply, use a Safety Extra Low Voltage (SELV) power supply with insulated I/O terminals. (14) Customers are requested to prepare external power supplies on their own. (15) Wiring is not required when using a battery-less absolute encoder. 21

22 Servo Amplifier R 3E Model Analog/Pulse External Wiring Diagram 25 to 100 A, sourcing (PNP) type output Shorting cable External regenerative resistor 3-Phase 380 to 480 VAC 50/60 Hz User device CNC (2) RB1 RB4 RB2 B+ B- CNE (10) (12) MC CNA R S + Built-In Regenerative resistor 24 VDC U CNB (4) Servo motor T V DC power supply 24 V (13) Operation Operation ready ready ON OFF MC MC Emergency System error stop CND (9) CN4 1 (3) V V V 0 V NC NC HWGOFF1+ V (11) Servo Amplifier W EN1 SH (5) SH Encoder Holding brake (Only for models with brake) Only for STO models and Safety models 24 VDC (14) HWGOFF1- HWGOFF2+ HWGOFF2- EDM+ (14) 24 VDC Position command pulse input (6) Velocity command / torque command input Torque compensation input Torque limit input Battery input (15) General-purpose input Forward rotation pulse Reverse rotation pulse Forward rotation side Reverse rotation side Line driver (8) 3.6 VDC Lithium battery (14) 5 to 24 VDC VT VT Shielded Line driver equivalent of HD26C31 AO AO BO BO ZO ZO PS PS ZOP MON1 OUT-PWR OUT+COM OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT OUT SH Shielded (14) 5, 12 to 24 VDC Frequency division signal output of encoder Monitor output 7 EDM- CN V V 26 F-PC 150 Ω 27 F-PC R-PC 150 Ω 29 R-PC 48 V-REF 21 /T-REF T-COMP F-TLA R-TLA 1 BTP-I 2 BTN-I 50 CONT-COM 37 CONT1 36 CONT2 35 CONT3 34 CONT4 33 CONT5 32 CONT6 13 CONT7 15 CONT8 SH Generalpurpose output Connector no. CNA CNB CNC CND CNE CN1 EN1 CN4 Name Main power supply input connector Connector for servo motor power line Regenerative resistor connector Control power input connector Housing, plug, shell Holding brake connector 02MJFAT-SAGF Connector for host Plug: PE controller I/O signals Shell: A0-008 Connector for encoder signals 03JFAT-SAXGDK-P15 03JFAT-SAZGDK-P15 03JFAT-SAYGDK-P15 04JFAT-SAGG-G-KK Connector: PL Shell kit: Connector for STO For shorting: function signals For wiring: (1) For these parts, use shielded twisted-pair cables. (2) Short-circuit between RB1 and RB4 terminals when using a built-in regenerative resistor. When using an external regenerative resistor, connect it between the RB1 and RB2 terminals after removing the shorting bar connected to the RB1 and RB4 terminals. (3) Do not connect anything to CN4-1 and -2 pins. (4) Connections on the motor side vary depending on the motor specifications. Perform connections according to the motor specifications. (5) Refer to the encoder connection diagram for details on wiring of connectors for encoder connections. (6) Be sure to connect the (signal ground) between the servo amplifier and the device when using differential input signals. (7) Circuits R, S, T, RB1, RB2, RB4, U, V, and W are high voltage circuits. Other signal lines are low voltage circuits. Allow sufficient distance between high voltage and low voltage circuits when wiring. (8) Use a Line driver with the differential voltage (VT) in the range of 2.5 to 3.8 V. Differential voltage of under 2.5 V or more than 3.8 V may cause erroneous operations such as missing pulses. (9) CN4 is the connector for functional safety signals. To enable Servo ON (motor in operation), CN4 must be connected to safety devices and get safety functions ready for activation. If safety functions are not used, insert the optional connector (model number: AL ) to CN4. (10) This can only be used with 24 V brake. The power is supplied by the 24 VDC power supply. (11) Consult us when conducting a pressure resistance test. (12) Installing an earth leakage breaker that conforms to the UL or IEC/EN standards is recommended. (13) For the 24 VDC power supply, use a Safety Extra Low Voltage (SELV) power supply with insulated I/O terminals. (14) Customers are requested to prepare external power supplies on their own. (15) Wiring is not required when using a battery-less 22 absolute encoder.

23 Precautions when Replacing Our Conventional SANMOTION R Products Please note the following points when replacing our conventional SANMOTION R servo amplifiers with the SANMOTION R 3E Model series amplifiers. Position command pulse input The SANMOTION R 3E Model series amplifiers are not compatible with some types of position command pulse signals. Furthermore, using an open collector output requires wiring change. Host Controller Line Driver Host Controller R 26 (28) 27 (29) 47 (48) 26 (28) 27 (29) 47 (48) Amplifier Amplifier R 3E Model Host Controller Amplifier VT Line Driver Host Controller 26 (28) 27 (29) 47 (48) 14 (16) 26 (28) 27 (29) Vce 47 (48) Amplifier Pulse output circuit of host controller Differential output type (line driver) Open collector type Compatibility of wiring Yes No Requirement Voltage difference between differential signals (VT): 2.5 to 3.8 V Saturation voltage of transistor (Vce): 1.5 V or less Standard Servo Mod- Servo Amplifieel Number Amplifier List Analog/Pulse Open Collector Open Collector General-purpose input 14 (16) 26 (28) 27 (29) For the SANMOTION R 3E Model series, differential (line driver) output type cannot be used as the output circuit on the host controller side. Furthermore, using an open collector output requires wiring change. R Host Controller CONT CONT Open Collector Amplifier R 3E Model Host Controller Amplifier CONT-COM 50 CONT7 13 CONT8 15 Open Collector Generalpurpose output circuit of host controller Differential output type (line driver) Open collector type Compatibility of wiring No (See the diagram on the left) Requirement Please change to open collector type. Perform wiring in the same manner as CONT1 to 6. Setup Software The setup software for the SANMOTION R 3E Model series is SANMOTION MOTOR SETUP SOFTWARE. The software is available for download from our website. Beware that the SANMOTION R Setup Software cannot be used. Use an optional product or a USB cable available on the market (with Mini USB connector on the servo amplifier side) for communication cable. 23

24 Servo Amplifier R 3E Model Analog/Pulse EtherCAT System Configuration Diagram Refer to page 31 for the system configuration diagram of the Safety models. 25 to 100 A Photo below shows a 50 A model. T S R Setup software 18 Molded case circuit breaker (MCCB) Servo Amplifier 1 Noise filter Various connectors USB communication cable 2 USB Brake output DC24 V Electromagnetic contactor External regenerative resistor 24 VDC control power supply CNA CNC CND CNE CN2 CN4 EN1 EN2 Encoder connection To next amplifier Host controller General-purpose I/O CNB 15 Servo motor cable for power connection 14 Servo motor cable for power & brake connection Servo motor cable for encoder connection Safety unit, safety PLC, etc. Standard connector of servo motor: Canon plug Servo Motor 24

25 s and Peripheral Devices (25 to 100 A) No. Name Model no. Description Page 1 Setup software Download from Product Information on our website Performs parameter settings and monitoring through communication with a PC 2 USB communication cable AL Communication cable with PC for Setup software use p OUT connector To be provided by the customer. EtherCAT OUT (to next amplifier) 4 IN connector To be provided by the customer. EtherCAT IN (to host controller) 5 CN2 connector AL For general-purpose I/O p CN4 connector AL For safety device connection p. 45 p EN1 connector AL-Y For encoder connection p. 45 EN2 connector AL-Y Note that this is not a set of two connectors, but a single connector. p CNA connector* AL For input power supply connection p CNC connector* AL For regenerative resistor connection p CND connector* AL For control power supply connection p CNE connector* AL For brake connection p CNB connector* AL For servo motor connection p AL For encoder connection p Servo motor cable AL For power connection p AL For power and brake connection p External regenerative resistor REGIST-500CW B Used when regenerative capacity is insufficient, as in the case p. 49 of high-frequency movements Servo Servo Amplifier Amplifier Servo Amplifier EtherCAT 17 Safety unit, safety PLC, and the like To be provided by the customer. Connects input and output signals of Safe Torque Off function to such devices as safety units and safety PLCs. 18 Molded case circuit breaker (MCCB) 19 Noise filter 20 Electromagnetic contactor To be provided by the customer. To be provided by the customer. To be provided by the customer. * Wiring on the CNA to CNE connectors requires a connector tool. p. 45 Used to protect power lines Used to prevent external noise from power lines Used to turn servo power on and off Connectors are also available as a set. Refer to pages that feature respective connectors. 25

26 Servo Amplifier R 3E Model Analog/Pulse EtherCAT Common Specifications Control functions Position control, speed control, torque control (switched with parameters) Control system IGBT: PWM control Sine wave drive Main circuit power supply* 3-Phase 380 to 480 VAC, +10%, -15%, 50/60 3 Hz Control power supply* 24 VDC 10% Operating ambient temperature 0 to +55 C Storage temperature -20 to +65 C Environment Operating and storage humidity 90% RH or less (no condensation) Altitude 1,000 m or lower Vibration resistance 4.9 m/s 2 Structure Shock resistance 19.6 m/s 2 Tray-type power supply built-in STO function model, Safety model RoHS * Make sure that the power supply voltage is within the specified range. Power supply range spec.: Main circuit power supply 323 to 528 VAC; Control power supply 21.6 to 26.4 VDC. The servo amplifier must be operated under the conditions of overvoltage category III according to EN As the 24 VDC control power supply or interface power supply, use a DC power supply with insulated I/O terminals. Performance Velocity control range Frequency characteristics Allowable load inertia Functions Protective functions Digital operator Dynamic brake circuit Regenerative resistor Monitoring Safety Standards Servo amplifier type All EtherCAT type models 1:5,000 (Internal velocity command) 2200 Hz (at high-speed sampling mode) 10 times the motor rotor inertia Overcurrent, current detection error, overload, regenerative error, overheating error, external error, overvoltage, main circuit undervoltage, power open phase, control power undervoltage, encoder error, excessive velocity, velocity control error, velocity feedback error, excessive position deviation, position command pulse error, internal memory error, parameter error, cooling fan error Status display, monitoring, alarm log, parameter setting, test run, and adjustment modes Built-in Built-in Velocity monitoring (VMON)2.0 V 10% (at 1,000 min -1 ), Torque (Drive) command monitoring (TCMON) 2.0 V 10% (at 100%) Safety standards North American standards (UL) UL Low Voltage Directive IEC/EN IEC/EN IEC/EN European Directive EMC Directive IEC/EN IEC IEC/EN KC (Korea Certification) mark KN , KN Functional Safety Specifications Servo amplifier type RS3CA2HA4 (STO models) RS3CA2HAE (Safety models) IEC/EN :2016 Description Safety level STO Safe Torque Off EN IEC/EN ISO :2015 EN/ISO :2015 SS1 Safety Stop 1 SS2 Safety Stop 2 SOS Safe Operating Stop SLS Safely-Limited Speed SBC Safe Brake Control SSM Safe Speed Monitor SIL3 SILCL3 Cat.3 PL=e 26

27 EtherCAT Interface Specifications Physical layer IEC IEEE802.3u, 100BASE-TX Data link layer IEC /4 Type 12 Application layer IEC /6 Type 12 Device profile Communication port Bit rate IEC Profile Type 1 (CiA 402)CoE (CANopen over EtherCAT) FoE (File access over EtherCAT) RJ45 connector (2 ports) 100 Mbps (full duplex) Maximum number of nodes Transmission distance / Topology Communication cable Communication object Minimum communication cycle Possible number of PDO-mapped objects Synchronization mode 65,535 nodes Max. 100 m (between nodes) / Line Cat5e twisted pair cable (straight or cross cable) SDO (Service Data Object)PDO (Process Data Object) 125 s (62.5 s: velocity and torque control only) Output: max. 31 objects; Input: max. 31 objects; Total: max. 62 objects SYNC0/SYNC1 synchronization, non-synchronized (asynchronous FreeRun mode), SM2 event synchronization Servo Servo Amplifier Amplifier Servo Amplifier EtherCAT Operation mode LED indicators General-purpose I/O Profile Position mode, Profile Velocity mode, Profile Torque mode, Homing mode, Cyclic Synchronous Position mode, Cyclic Synchronous Velocity mode, Cyclic Synchronous Torque mode Link status (ports 0 and 1), running status, error status Input x 7, Output x 2 (9 in total) 27

28 Servo Amplifier R 3E Model Analog/Pulse EtherCAT Dimensions (unit: mm) Refer to page 32 for the dimensional drawings of Safety models. 25 A Mass: 2.5 kg (19.5) (70) (16.5) (6) 63 6 ø6 6 (20) (70) 235 (19.5) (16.5) (27) (4) 50 A Mass: 4.7 kg 5 (27) 100 A (20) 215 Mass: 8.5 kg (70) 235 (19.5) (16.5) (27) 28

29 V V V External Wiring Diagram 25 to 100 A Shorting cable External regenerative resistor 3-Phase 380 to 480 VAC 50/60Hz (9) MC User device CNA R S T CNC (2) + RB1 RB4 RB2 Built-in Regenerative resistor CNE (10) B+ B- DC24V CNB U (4) Servo motor Operation ready Operation ready DC power supply ON OFF MC 24 V MC Emergency Use an SELV System error stop power supply with insulated I/O terminals for the 24 VDC power supply. CND IN/OUT (7) 1 24 V 0 V (3) (15) Servo Amplifier V W EN1 / EN2 (13) SH (5) SH Encoder Holding brake (Only for models with brake) (14) 2 4 Ethernet I/O SH Reserved (Do not connect) HWGOFF1+ CN4 (11) 1 (8) 2 4 (10) 24 VDC Servo Servo Amplifier Amplifier (10) 5 to 24 VDC Shielded CN CONT7+ CONT7- CONT1+ HWGOFF1- HWGOFF2+ HWGOFF2- EDM Servo Amplifier EtherCAT 4 CONT1- EDM CONT2+ CONT2- CONT3+ Only for Safety models and STO function models SH Shielded (10) 24 VDC Generalpurpose input 8 9 CONT3- CONT4+ CN3 10 CONT4-2 1 Encoder battery input Generalpurpose output 11 CONT5+ 12 CONT5-14 CONT6+ 15 CONT6-16 OUT1+ 17 OUT1-18 OUT2+ 19 OUT Reserved 22 (Do not connect) 23 (12) SH Shielded 3.6 VDC Lithium battery (16) (1) For these parts, use shielded twisted-pair cables. (2) Short-circuit between RB1 and RB4 terminals when using a built-in regenerative resistor. When using an external regenerative resistor, connect it between the RB1 and RB2 terminals after removing the shorting bar connected to the RB1 and RB4 terminals. (3) The control board must be grounded to make sure that the device, operation panel, and other components will not be subject to dangerous voltage in case of an earth leakage. (Class C grounding or higher is recommended.) (4) Connections on the motor side vary depending on the motor specifications. Perform connections according to the motor specifications. (5) Refer to the encoder connection diagram for details on wiring of encoder connectors. (6) Circuits R, S, T, P, RB1, RB4, U, V, and W are high-voltage circuits. Other signal lines are low-voltage circuits. Allow sufficient distance between high-voltage and low-voltage circuits when wiring. (7) Use a shielded twisted pair (STP) cable with at least Category 5e (TIA standard) rating. (8) Do not connect anything to CN4-1 and -2 pins. Connector no. Name CNA For main circuit power supply connection CNB For servo motor connection CNC For regenerative resistor connection Connector tool For CNA to CNC CND For control circuit power supply connection Connector tool For CND Housing, plug, shell 03JFAT-SAXGDK-P15 03JFAT-SAZGDK-P15 03JFAT-SAYGDK-P15 J-FAT-OT-P 04JFAT-SAGG-G-KK J-FAT-OT(N) (9) Installing an earth leakage breaker that conforms to the UL or IEC/EN standards is recommended. (10) Customers are requested to prepare external power supplies on their own. (11) CN4 is a connector for Safe Torque Off (STO) function. To enable Servo ON (motor in operation), CN4 must be connected to safety devices and get STO function ready for activation. When not using safety functions, insert the included connector (manufacturer part number: ) to CN4. (12) Do not connect anything to CN2-20 to 25 pins. CNE For holding brake output 02MJFAT-SAGF Connector tool MJFAT-OT EN1/EN2 CN2 CN4 For CNE For encoder signals connector For general-purpose I/O signals connector Safe Torque Off function connector Connector: PL Shell kit: Connector: HDR-E26M1+ Shell kit: HDR-E26LPH (13) If using a pulse encoder for a semi-closed system, connect it to the EN2 connector. (14) If the holding brake has a 24 V rated voltage, it can be enabled by the holding brake output (CNE) embedded in the amplifier. (15) Consult us when conducting a pressure resistance test. (16) Wiring is not required when using a battery-less absolute encoder. 29

30 Servo Amplifier R 3E Model Analog/Pulse Safety Safety models Broadly compatible with functional safety enabling easy integration of safety functions in a device. Functional Safety defined in IEC/EN :2016: STO (Safe Torque Off), SS1 (Safe Stop 1), SS2 (Safe Stop 2), SOS (Safe Operating Stop), SLS (Safely-Limited Speed), SBC (Safe Brake Control), SSM (Safe Speed Monitor) The product lineup includes both analog/pulse and EtherCAT types. Application Examples Combination use with various safety components or safety controllers will be required depending on the application. Industrial Robot Conveyor Line By setting a stop area around a robot, the SS1 function can slow down and stop the robot (once stopped the motor power is shut off) when a worker enters the area. This allows workers to safely perform maintenance work with confidence. By setting a speed limit area, the SLS function can limit the robot's operation speed at a safe level while a worker is within the area. The STO function can shut off the power of motors without shutting off the conveyor power, enabling workers to safely perform maintenance and other works. Furthermore, the conveyor operation can be resumed right away for improved work efficiency. The SLS function can limit the machine operation speed at safe levels, enabling workers to do inspection and setup works without shutting off the conveyor operation. Common Specifications Refer to respective pages that describe Analog/Pulse and EtherCAT types for detailed specifications such as performance, built-in functions, and general-purpose output. Safety Standards Servo amplifier type All the Safety models Safety standards North American standards (UL) UL Low Voltage Directive IEC/EN IEC/EN IEC/EN European Directive EMC Directive IEC/EN IEC IEC/EN KC (Korea Certification) mark KN , KN Functional Safety Specifications Servo amplifier type IEC/EN :2016 Description Safety level EN IEC/EN ISO :2015 EN ISO :2015 STO Safe Torque Off SS1 Safety Stop 1 SS2 Safety Stop 2 All the Safety models SOS Safe Operating Stop SIL3 SILCL3 Cat.3 PL=e SLS Safely-Limited Speed SBC Safe Brake Control SSM Safe Speed Monitor 30

31 System Configuration Diagram This diagram only shows connections for the Safety module part. For other connections, refer to respective pages of the Analog/ Pulse and EtherCAT types. 25 to 100 A Photo below shows a 100 A model. Safety module Setup software 1 USB communication cable USB 2 3 SF-CN1 3 SF-CN2 Connector Servo Servo Ampli- Servo fier Amplifier Safety Amplifier 4 CN4 5 Safety unit, safety PLC, etc. s and Peripheral Devices (25 to 100 A) No. Name Model no. Description Page 1 Setup software 2 USB communication cable AL Download from Product Information on our website Performs parameter settings and monitoring through communication with a PC. Communication cable with PC for Setup software use SF-CN1 connector AL-Y For safety device connection SF-CN2 connector 4 CN4 connector 5 Safety unit, safety PLC, etc. AL-Y AL (for shorting; for analog/pulse type), AL (for shorting; for EtherCAT type), AL (for wiring) To be provided by the customer. Note that this is not a set of two connectors, but a single connector. For safety device connection (for shorting/ wiring) Connects input and output signals of various safety functions to such devices as safety units and safety PLCs. p. 42 p. 48 pp. 44, 45 pp. 44, 45 31

32 Servo Amplifier R 3E Model Analog/Pulse Safety Amplifier Dimensions (unit: mm) Shown below are the dimensional drawings of the Safety module combined with analog/pulse type servo amplifiers. Combinations with EtherCAT type amplifiers have the same dimensions but differ in connectors. 25 A Mass: 2.6 kg (19.5) (70) 69.2 (16.5) (6) ø (27) 6 (4) 50 A Mass: 4.8 kg (20) (70) 235 (19.5) (16.5) (27) 100 A (20) 215 Mass: 8.6 kg (70) 235 (19.5) (16.5) (27)

33 External Connection Diagram of Safety Module For connection diagrams of the servo amplifier part, refer to respective pages of analog/pulse and EtherCAT models. Safety unit, safety PLC, etc. 安全機器 Servo サーボアンプ amplifier SF-CN1 機能安全モジュール Safety module DC24 V ±10% SFIA1 SFIA1-COM SFIB1 SFIB1-COM SFIC1 SFIC1-COM SFID1 A6 B6 A7 B7 A8 B9 B8 SFIE1 A9 SFOA1-POW B1 SFOA1 SFOA1-DIAG SFOB1-POW A2 B2 A3 Fuse Servo Servo Amplifier Amplifier SFOB1 SFOB1-DIAG SFOC1-POW SFOC1 SFOC1-DIAG B3 A4 B4 A5 B5 Fuse Fuse Servo Safety Amplifier A1 N.C. A10 B10 SF-CN2 SFIA2 SFIA2-COM SFIB2 SFIB2-COM SFIC2 SFIC2-COM SFID2 A6 B6 A7 B7 A8 B9 B8 SFIE2 A9 SFOA2-POW SFOA2 SFOA2-DIAG B1 A2 B2 Fuse SFOB2-POW SFOB2 SFOB2-DIAG A3 B3 A4 Fuse SFOC2-POW SFOC2 SFOC2-DIAG B4 A5 B5 A1 Fuse N.C. A10 B10 33

34 Servo Amplifier R 3E R 3E Model Analog/Pulse Encoder Connection Diagram Serial Encoder Battery-less absolute encoder [Model No. HA035] Single-turn absolute encoder [Model No. PA035S] : Battery-backup absolute encoder [Model No. PA035C] Servo amplifier +5 V (3) EN1 (4) Canon plug model number JN2DS10SL1-R JN2DS10SL2-R JN2DS10SL3-R Connector: PL Shell kit: (1) (2) JN2FS10SL1-R JN2FS10SL2-R JN2FS10SL3-R ES+ ES- BAT+ BAT- Servo motor Absolute encoder ES+ ES- EBAT+ EBAT- +5 V 0 V FG (Shielded) (1) (2) (3) (4) Please use shielded twisted pair cables. Cable length (max.) corresponding to conductor size of power lines (5V, ). AWG SQ (mm 2 ) Conductor size Conductor resistance ( /km) at 20 C* Length (m) or less or less or less or less or less or less or less or less or less or less 35 * The conductor resistance varies depending on the conductor specifications. Battery lines (EBAT+ and EBAT-) are required only when the battery-backup absolute encoder is used. Pin numbers for Canon plug types are as described below. ES+ ES EBAT+ EBAT +5V 0V FG (3) 4 (3) al: Pulse Encoder Wire-saving incremental encoder Servo amplifier +5 V EN1 A A B B Z Z Connector: PL Shell kit: (1) (2) Servo motor Incremental encoder A A B B Z Z +5 V 0 V FG (Shielded) (1) (2) Please use shielded twisted pair cables. Cable length (max.) corresponding to conductor size of power lines (5V, ). Conductor size AWG SQ (mm 2 ) Conductor resistance ( /km) at 20 C* Length (m) or less or less or less or less or less or less or less or less or less or less 35 *The conductor resistance varies depending on the conductor specifications. Canon plug model number JN2DS10SL1-R JN2DS10SL2-R JN2DS10SL3-R JN2FS10SL1-R JN2FS10SL2-R JN2FS10SL3-R (3) Pin numbers for Canon plug connectors are as described below. A A B B Z Z +5 V 0 V FG

35 Servo Motors R R23E Model Analog/Pulse Amplifier Rotary Capacity: Motor 10 A to 600 A This is an AC servo amplifier resulted from our pursuit for further evolved basic performance including high responsiveness, Output Power: 550 W to 5.5 kw These are rotary servo motors with a wide variety of product lineup. energy efficiency, and ease of use. How to read model numbers Not all combinations of descriptions below are valid. al specifications are also described. Refer to the Standard Model Number Listfor valid model numbers of standard products. R 2 CA F C R 03 M Additional Specifications M CE marking & UL compliance Specification Identifier 00 Standard (Other than 100 mm sq. flange size) 03 Standard (100 mm sq. flange size) Encoder Type Serial encoder R Battery-less absolute encoder (Model No. HA035) H Single-turn absolute encoder (Model No. PA035S) Availability of Holding Brake X Without brake C With brake (24 VDC) Maximum Speed Refer to the specifications table of motor for numerical values Rated Output W W kw kw kw kw kw kw kw Flange Size mm sq mm sq mm sq. Power Supply Voltage CA 400 VAC Motor Classification 2 Medium inertia R R series 35

36 Servo Motor Specifications R2 Servo Motors High Efficiency and Low Ripple (Medium Inertia) RoHS Power Supply Voltage:400 VAC Compatible servo amplifier model numbers RS3C02 25 A RS3C05 50 ARS3C02 25 A Servo motor model number Inside indicates motor flange size. R2CA13050D R2CA10075F R2CA10100F R2CA13120R Conditions Symbol Unit 130 mm sq. 100 mm sq. 100 mm sq. 130 mm sq. Rated output PR kw Rated rotational velocity NR min Maximum speed Nmax min Rated torque TR N m Continuous stall torque TS N m Peak stall torque TP N m Rated armature current IR Arms Continuous stall armature current IS Arms Peak stall armature current IP Arms Torque constant KT N m/arms Voltage constant per phase KE mv/min Phase resistance R Rated power QR kw/s Electrical time constant te ms Mechanical time constant (encoder not included) tm ms Rotator inertia JM 10-4kg m 2 (GD 2 /4) Absolute encoder inertia JS 10-4kg m 2 (GD 2 /4) (1) Servo motor mass (1) We kg Brake static friction torque Tb N m 3.5 or more 3.92 or more 3.92 or more 9.0 or more Brake rated voltage Vb V 90 or 24 VDC 10% Brake current consumption Ib A 0.15 / / / 0.51 Brake inertia Jb 10-4kg m 2 (GD 2 /4) Brake mass W kg Servo amplifier power capacity (rated) kva CE/UL certified motor (5) Yes Motor protection rating IP65 Size of aluminum plate for heat radiation during measurement mm mm mm 20 mm (1) For the case with a battery-less absolute encoder [HA035]. Contact us for details on the following encoders. Battery-backup absolute encoder Wire-saving incremental encoder Speed-Torque Characteristics (2) (3) (4) Speed-torque characteristics curves and values in the row with a black star symbol ( ) are the values when combined with a standard servo amplifier and after thermal equilibrium is established. These values are typical data. Values in the row with a white star symbol ( ) are values at a winding temperature of 20 C. These values are typical data. These servo amplifiers standardly conform to CE and UL standards. Servo motor model no. R2CA13050D (5) R2CA10075F R2CA10100F R2CA13120R (5) 36 Torque (N m) Intermittent region Torque (N m) Intermittent region Torque (N m) Continuous region Continuous region Continuous region Continuous region Speed (min -1 ) Speed (min -1 ) Speed (min -1 ) Speed (min -1 ) (6) Operate a motor so that the average speed does not exceed its maximum The instantaneous region drops when the power supply voltage is under speed in the continuous region. 400 VAC Intermittent region Torque (N m) Intermittent region

37 RS3C05 50 A RS3C02 25 ARS3C05 50 A Compatible servo amplifier model numbers R2CA13120F 130 mm sq. R2CA13180H 130 mm sq. R2CA13180D 130 mm sq. Servo motor model number Unit Symbol Conditions kw PR Rated output min -1 NR Rated speed Inside indicates motor flange size min -1 Nmax Maximum speed N m TR Rated torque N m TS Continuous stall torque N m TP Peak stall torque Arms IR Rated armature current Arms IS Continuous stall armature current Arms IP Peak stall armature current N m/arms KT Torque constant mv/min -1 KE Voltage constant per phase R Phase resistance kw/s QR Rated power ms te Electrical time constant ms tm Mechanical time constant (encoder not included) kg m 2 (GD 2 /4) JM Rotator inertia (1) 10-4kg m 2 (GD 2 /4) JS Absolute encoder inertia kg We Servo motor mass (1) 9.0 or more 9.0 or more 9.0 or more N m Tb Brake static friction torque 90 or 24 VDC 10% V Vb Brake rated voltage 0.17/ / /0.51 A Ib Brake current consumption kg m 2 (GD 2 /4) Jb Brake inertia kg W Brake mass kva Servo amplifier power capacity (rated) mm Yes CE/UL certified motor (5) IP mm mm Motor protection rating Size of aluminum plate for heat radiation during measurement Servo Servo Amplifier Motor Servo motor ambient operating conditions Operating temperature & humidity Temperature: 0 to 40 C; humidity: 90% RH or less (no condensation) Vibration resistance 24.5 m/s 2 Shock resistance 98 m/s 2, 2 times Altitude 1,000 meters above sea level or lower Indoors (a location not exposed to direct sunlight). Installation locations A location free of corrosive gases, flammable gases, powder dust, and other substances that are detrimental to the used devices and motors. Servo motor model no. R2CA13120F (5) R2CA13180H R2CA13180D (5) Torque (N m) Torque (N m) Intermittent region 15 Intermittent region 15 Intermittent region Continuous region Continuous region Continuous region Speed (min -1 ) Speed (min -1 ) Speed (min -1 ) Torque (N m) 37

38 Servo Motor Specifications R2 Servo Motors High Efficiency and Low Ripple (Medium Inertia) RoHS Power Supply Voltage:400 VAC Compatible servo amplifier model numbers RS3C02 25 A RS3C05 50 A Servo motor model number Inside indicates motor flange size. R2CA13200L R2CA13200H R2CA18350L Conditions Symbol Unit 130 mm sq. 130 mm sq. 180 mm sq. Rated output PR kw (1) Rated speed NR min Maximum speed Nmax min Rated torque TR N m Continuous stall torque TS N m Peak stall torque TP N m Rated armature current IR Arms Continuous stall armature current IS Arms Peak stall armature current IP Arms Torque constant KT N m/arms Voltage constant per phase KE mv/min Phase resistance R Rated power QR kw/s Electrical time constant te ms Mechanical time constant (encoder not included) tm ms Rotor inertia JM 10-4kg m 2 (GD 2 /4) Absolute encoder inertia JS 10-4kg m 2 (GD 2 /4) (1) Servo motor mass (1) We kg Brake static friction torque Tb N m 12 or more 12 or more 22 or more Brake rated voltage Vb V 90 or 24 VDC 10% Brake current consumption Ib A 0.17/ / /1.2 Brake inertia Jb 10-4kg m 2 (GD 2 /4) Brake mass W kg Servo amplifier power capacity (rated) kva CE/UL certified motor (5) Yes Motor protection rating Size of aluminum plate for heat radiation during measurement When using a battery-less absolute encoder [HA035]. Contact us for details on the following encoders. Battery-backup absolute encoder Wire-saving incremental encoder (2) (3) (4) IP mm Speed-torque characteristics curves and values in the row with a black star symbol ( ) are the values when combined with a standard servo amplifier and after thermal equilibrium is established. These values are typical data. Values in the row with a white star symbol ( ) are values at a winding temperature of 20 C. These values are typical data. These servo amplifiers standardly conform to CE and UL standards. Speed-Torque Characteristics Servo motor model no. R2CA13200L R2CA13200H (5) R2CA18350L (5) 38 Torque (N m) Intermittent region Continuous region Speed (min -1 ) Speed (min -1 ) Operate a motor so that the average speed does not exceed its maximum speed in the continuous region. Torque (N m) Intermittent region 1000 Continuous region Torque (N m) Intermittent region 10 Continuous region Speed (min -1 ) (6) The instantaneous region drops when the power supply voltage is under 400 VAC.

39 RS3C A Compatible servo amplifier model numbers R2CA18350D R2CA18450H R2CA18550R Servo motor model number Inside indicates motor flange size. 180 mm sq.180 mm sq.180 mm sq. Unit Symbol Conditions kw PR Rated output min -1 NR Rated speed min -1 Nmax Maximum speed N m TR Rated torque N m TS Continuous stall torque N m TP Peak stall torque Arms IR Rated armature current Arms IS Continuous stall armature current Arms IP Peak stall armature current N m/arms KT Torque constant mv/min -1 KE Voltage constant per phase R Phase resistance kw/s QR Rated power ms te Electrical time constant ms tm Mechanical time constant (encoder not included) kg m 2 (GD 2 /4) JM Rotor inertia (1) 10-4kg m 2 (GD 2 /4) JS Absolute encoder inertia kg We Servo motor mass (1) 22 or more 32 or more 42 or more N m Tb Brake static friction torque 90 or 24 VDC 10% V Vb Brake rated voltage 0.32/ / /1.0 A Ib Brake current consumption kg m 2 (GD 2 /4) Jb Brake inertia kg W Brake mass kva Servo amplifier power capacity (rated) mm Yes CE/UL certified motor (5) IP mm mm Servo motor ambient operating conditions Operating temperature & humidity Temperature: 0 to 40 C; humidity: 90% RH or less (no condensation) Vibration resistance 24.5 m/s 2 Shock resistance 98 m/s 2, 2 times Altitude 1,000 meters above sea level or lower Indoors (a location not exposed to direct sunlight). Installation locations A location free from corrosive gases, flammable gases, powder dust, and other substances that are detrimental to the used devices and motors. Motor protection rating Size of aluminum plate for heat radiation during measurement Servo Servo Amplifier Motor Servo motor model no. R2CA18350D (5) R2CA18450H (5) R2CA18550R Torque (N m) Intermittent region 40 Intermittent region Intermittent region Continuous region Continuous region Continuous region Speed (min -1 ) Speed (min -1 ) Speed (min -1 ) Torque (N m) Torque (N m) 39

40 Servo Motor Dimensions(unit: mm) 100 mm sq. R2 Servo Motor 750 W to 1.0 kw LC ø LZ 0.08 M 0.02 ø 0.08 M LR LE (LG) LL±1 øla Q (ølh) Oil seal (al) This drawing is for a motor equipped with battery-less absolute encoder with brake. LC 4-ø LZ1 ø LA 0.08 M 0.02 ø 0.08 M QA H LR LE Q QK (LG) LL ø LB ø S ø LB ø S M (KL3) (KL1) QE Tap Depth LT (KB1) (KB2) (6.6) JN2AS10ML2-R (For encoder) JL04V-2E20-15PE-B-R (For motor, brake, and ground) (KL2) Battery-less absolute encoder Single-turn absolute encoder Without brake With brake Model no. LL KB2 KL3 LL KB2 KL3 LG KL1 KL2 LA LB LE LH LC LZ LR R2CA R2CA Model no. S Q KB1 QE LT R2CA R2CA M ø mm sq. R2 Servo Motor 550 W to 1.8k W 2-LZ2 (Motor extraction tap) (ø LH) QE Tap Depth LT Oil seal W U T M Cross section H-H H (KB1) (KB2) (7) (KL3) JN2AS10ML2-R (For encoder) JL04V-2E24-11PE-B-R (For motor, brake, and ground) (KL2) (KL1) This drawing is for a motor equipped with battery-less absolute encoder with brake. Battery-less absolute encoder Single-turn absolute encoder Without brake With brake Model no. LL KB2 KL3 LL KB2 KL3 LG KL1 KL2 LA LB LE LH LC LZ1 LZ2 LR R2CA R2CA R2CA Model no. S Q QA QK W T U KB1 QE LT R2CA R2CA R2CA M6 55 M

41 Dimensions(unit: mm) 130 mm sq. R2 Servo Motor 2 kw LC 4-ø LZ1 ø LA 0.08 M 0.02 ø 0.08 M QA H LR LE Q QK (LG) LL ø LB ø S 2-LZ2 (Motor extraction tap) (ø LH) QE Tap Depth LT Oil seal W M U T H Cross section H-H (KB1) (KB2) (7) (KL3) JN2AS10ML2-R (For encoder) JL04V-2E24-11PE-B-R (For motor, brake, and ground) (KL2) (KL1) This drawing is for a motor equipped with battery-less absolute encoder with brake. Battery-less absolute encoder Single-turn absolute encoder Without brake With brake Model no. LL KB2 KL3 LL KB2 KL3 LG KL1 KL2 LA LB LE LH LC LZ1 LZ2 LR R2CA M6 55 Model no. S Q QA QK W T U KB1 QE LT R2CA mm sq. R2 Servo Motor LC 4-ø LZ to 5.5 kw 0.08 M 0.02 ø 0.08 M LR LE (LG) M8 25 (IL2) LL 2-M8 Servo Servo Amplifier Motor ø LA Q QA QK H M H W ø LB ø S (ø LH) JN2AS10ML2-R (For encoder) (KL1) (7) (KL3) (IE) Oil seal 2-LZ2 (Motor extraction tap) QE Tap Depth LT U T Cross section H-H (IL1) (IL2) (KB1) (KB2) JL04V-2E24-11PE-B-R (For motor, brake, and ground) (KL2) (IF) Eyebolt 2-M8 This drawing is for a motor equipped with battery-less absolute encoder with brake. Battery-less absolute encoder Single-turn absolute encoder Without brake With brake Model no. LL KB2 KL3 LL KB2 KL3 LG KL1 KL2 LA LB LE LH LC LZ1 LZ2 LR S Q R2CA R2CA M8 R2CA Model no. QA QK W T U KB1 QE LT IE IF IL1 IL2 R2CA M8 R2CA R2CA M

42 s Setup Software This software allows you to set servo system parameters from a PC. It also allows you to easily start up and run tests for the servo system. The software can be downloaded from Product Information on our website. URL: Setup software name: SANMOTION MOTOR SETUP SOFTWARE Main functions Parameter settings (settings by group, settings by function) Diagnosis (alarm indication, warning indication, alarm cancellation) Test run execution (speed JOG, positioning operation, motor home position search, serial encoder clearance) Servo tuning (notch filter tuning, FF vibration control frequency tuning) Various measurement functions (operating waveform display, machinery frequency response measurement) Use a USB communication cable (mini-b socket) to connect the USB port on the PC and the servo amplifier. Please note the following points when replacing our conventional SANMOTION R servo amplifiers with the SANMOTION R 3E Model series amplifiers. Beware that the SANMOTION R Setup Software cannot be used. Use an optional communication cable or a USB cable available on the market (with Mini USB connector on the servo amplifier side). Supported OS Windows Vista / 7 / 8 / 10 Note: See our website for details on supported OS versions. Examples of setting screens and functions Main screen Start-up screen Parameter setting screen Function parameter settings Minimum required parameter setting can be done for each function. Parameter setting for each group Parameters can be set, saved, and more. 42

43 Diagnosis screen Test run The current and past 15 alarm occurrences can be checked. Causes and corrective actions can be checked based on alarm status. Simple test run of servo motor by issuing velocity commands and position commands from a PC. (Position JOG in operation shown in screen) Servo adjustment assist Servo Amplifier s By setting the mechanical conditions, servo adjustment can be easily made with the optimal tuning mode. Measurement Operation trace Graphically displays servo motor s speed, torque, and internal status. System analysis Analyzes servo system frequency characteristics. 43