100 VAC W, 200 VAC 30 W-30 kw. Ver.1.1

Transcription

1 1 VAC 3- W, VAC 3 W-3 kw Ver.1.1

2 Input voltage 1, VAC Output capacity 3 W to 3 kw Servo amplifier Amplifier capacity 1, 1,, 3,, 1, 1, 3, 6 A Servo motor Flange size 4 mm sq., 6 mm sq., 8 mm sq., 86 mm sq., 1 mm sq., 13 mm sq., 18 mm sq., mm sq., 7 mm sq. Rated output 1 VAC: 3 to W VAC: 3 W to 3 kw

3 Contents Lineup... p. 6 Features... p. 8 List of Compatible Servo Amplifiers and Servo Motors... p. 14 Standard Model Number List... p. 18 Set Models... p. 33 Servo Amplifiers R 3E Model Analog/Pulse Input type... p. 3 R ADVANCED MODEL EtherCAT Interface type... p. R CApen Interface type... p. 67 R Built-in Positioning Function type... p. 7 R Multi-axis Pulse Input type... p. 87 Servo Motors Specifications - Servo Amplifiers + R Servo Motors (Medium Inertia)... p. 96 R1 Servo Motors (Low Inertia)... p. 18 R Servo Motors (Medium Inertia)... p. 11 Servo Motor Dimensions... p. 11 Options... p. 119 Linear Servo Motors... p. 139 SANMOTION S Servo Amplifiers and Spindle Motors... p. 14 Models Longer Listed and Their Replacing Models... p. 1 Selection Guide... p. 13 Safety Precautions... p. 14 SANMOTION Products Lineup... p. 17

4 High Performance AC Servo Systems The SANMOTION R series servo systems contribute to the evolution of your devices with a rich product lineup of high-precision servo amplifiers and servo motors. These high-precision and highly reliable systems offer a wide range of products from small to large capacity servo systems. Controller SANMOTION C EtherCAT interface type Controller Input Device & Controller Touch panel Controller Servo system SANMOTION R Servo Amplifier SANMOTION R 3E Model Analog/Pulse SANMOTION R ADVANCED MODEL EtherCAT SANMOTION R CApen Built-in Positioning Function Multi-axis Pulse Input Servo Motor Servo motor (Rotary motor) Linear servo motor (Compatible servo amplifier model: R 3E Model) 4 What is servo system? A servo system has an encoder (rotation detector) mounted on the servo motor and provides highly-reliable precise operation by giving feedback to commands from the servo amplifier. It can be used with confidence in applications that require high-speed and large-capacity operations.

5 NEW Servo amplifier SANMOTION R 3E Model Amplifier capacity 1, 1, 3, 6 A Line up of AC servo amplifier systems SANMOTION R 3E Model has been expanded by adding newly developed amplifiers with capacities of 1, 1, 3, and 6A. These amplifiers can drive servo motors with output of 1.8 to 3 kw. NEW High-precision battery-less absolute encoder Model. HA3 The encoder is maintenance free as it does not require batteries the service life-limited component. It is designed for use with our SANMOTION R series servo motors. Application Examples Its high-precision and accurate positioning features allow it to be used in a wide range of applications. Industrial robots, machining tools, machine centers, injection molding machines, food packaging equipment, cutting machines, chip mounters, semiconductor related equipment, medical equipment, etc. Industrial robots Machine tools Injection molding machines Food machinery Chip mounters Conformance to Safety Standards Our standard servo amplifiers conform to safety standards such as UL, c-ul, and EN standards. R 3E Model and R ADVANCED MODEL have also acquired the KC mark. You can also employ servo motors that conform to the UL, c-ul and EN standards. (some models are still in preparation) In addition, all model numbers manufactured after October 1 in this catalog conform with the acceptable values of specific hazardous substances (cadmium, lead, mercury, hexavalent chrome, PBB, and PBDE) in Appendix II of EU RoHS directive (11/6/EU).

6 Features Lineup Servo Amplifier SANMOTION R 3E Model Analog/Pulse Input type More evolved AC servo amplifiers that provide improved basic performance including high responsiveness, and are more eco-efficient and easier to use. Lineup: 1,, 3,, 1, 1, 3, 6 A Analog/Pulse p. 3 SANMOTION R ADVANCED MODEL EtherCAT Interface type The EtherCAT communication cycle is short (.1 ms) and position commands are subdivided, making device operations smoother. It can be used together with our controller SANMOTION C EtherCAT Interface type. A new product with shorter communication cycle and improved controllability. It uses a different connector from our conventional EtherCAT interface type (Model no.: RS A K) Lineup: 1, 3,, 1, 1, 3 A EtherCAT p. SANMOTION R CApen Interface type Equipped with communication protocol CApen interface for embedded systems. Lineup: 1, 3, A CApen p. 67 Built-in Positioning Function type The need for a positioning control unit is eliminated, simplifying the system. Lineup: 1, 3,, 1, 1, 3 A DIO interface RS-48 communication p. 7 Multi-axis Pulse Input type Multi-axis controllable servo amplifier (up to 6 axes). Multiple axes can be powered and commanded from only one unit, enabling wire saving and space saving. Amplifier Unit Lineup: 1 A (6-axis model) and 3 A (4-axis model) Pulse input p The products listed in this catalog have main circuit power input within range of 1 to VAC. Besides them, 4 VAC and 48 VDC input servo systems are also available. See our website and catalogs for more information.

7 Servo Amplifier Features Servo Motor (Rotary Motor) Rotary servo motors with a wide range of products. Motor type R Servo Motor Medium inertia R1 Servo Motor Low inertia R Servo Motor Medium inertia Flange size, features 4 mm sq., 6 mm sq., 8 mm sq., 86 mm sq., 1 mm sq., 13 mm sq., 18 mm sq., mm sq., 7 mm sq. Medium inertia servo motors with a wide range of size variation ideal for positioning applications. Ideal for robots, injection molding machines, and general industrial machines. 18 mm sq., mm sq. Low inertia servo motors that feature high-acceleration drive and high torque even at high rotational speed. Ideal for injection molding machines and general industrial machines. 6 mm sq., 8 mm sq. Medium inertia servo motors that are ideal for smooth operations such as for the feed shaft of small-sized machine tools. Linear Servo Motor Linear servo motors with large thrust force. There are two types: Flat type with core and Dual magnet type with core. Compatible servo amplifiers: 3E Model p. 139 Servo Amplifier and Spindle Motor SANMOTION S A servo system with a spindle motor and a servo amplifier. Provides high rotational speed and high torque at low speed, which improves productivity of the device. Ideal for the main shaft of machine tools that require highly precise tapping synchronized with the feed shaft. Lineup: Output capacity 3., 4. kw Amplifier capacity 1 A Analog/Pulse EtherCAT p. 14 7

8 High Performance AC Servo Systems The 3rd generation of SANMOTION R servo amplifier series 3E Model features evolved performance with high responsiveness and are more eco-efficient and easier to use. It contributes to improving the device performance. Evolved R 3E Model Shorter takt time achieved through high-speed positioning control The 3E Model has a speed frequency response of. khz, approximately twice that of our conventional product.* Additionally, the position settling time has been shortened to 1/3 of the original time. Real-time switching between track control and positioning control contributes to a dramatic reduction of machine takt time. [Pulse/s] [Pulse] Position deviation Position command frequency Conventional model In-position range * For amplifiers with capacities from 1 to A. Compared with our conventional AC servo amplifier, SANMOTION R ADVANCED MODEL. Settling time: 1/3 of current model Improved control accuracy The 3E Model is equipped with a gain increase function, a function for suppressing microvibrations at settling time, an adaptive notch filter for suppressing mechanical resonance, and a feed-forward vibration control function. The 4th order notch filter of our conventional products has been upgraded to th order.* Highly accurate machine tool feed-axis control significantly improves processing quality. * Compared with our conventional AC servo amplifier, SANMOTION R ADVANCED MODEL. Increased accuracy High-gain control Starts when vibrations occur Adaptive notch filter Disturbance Speed Conventional model Vibration suppression by adaptive notch filter Conventional model After adaptation 8 Improved safety performance through the Safe Torque Off function With the improved Safe Torque Off (STO) function, the 3E Model conforms to international standards, IEC 618: SIL 3 and ISO : PL=e. It is sufficiently reliable for usage in devices requiring high safety, such as medical devices. High-precision tandem operation In applications where two shafts are driven simultaneously, such as a gantry mechanism, high-precision tandem operation is possible by mutually compensating for deviation of motor positions between two shafts with the servo amplifier. Compensate for position deviation

9 Eco-efficient R 3E Model Features Reduced power consumption Power consumption visualization By incorporating new-generation power devices, the 3E Model decreases electric power losses by up to 1%.* The 3E Model has up to 1% lower standby power consumption as it limits unnecessary energy consumption by controlling the fan speed according to the internal temperature of the servo amplifier.* Controls the fan speed (1 A is fanless) The power consumption monitoring function enables power consumption to be visualized. The servo amplifier calculates power consumption based on the motor current, and displays it on the setup software or digital operator. The power consumption monitoring function is supported by the R and R1 servo motors only. Axis X Y Z Total Power consumption Unit kwh kwh kwh kwh * For amplifiers with capacities from 1 to 3 A. Easy to use R 3E Model Easy startup SANMOTION MOTOR SETUP SOFTWARE (see p. 1) displays the parameters required for operation in an easy-to-understand manner in order to enable fast and easy equipment startup. The 3E Model has a virtual motor operation function to simulate operation of the motor and amplifier without moving the machine, and a jog function for testing the motor and amplifier connection, without the need to connect to a host device. Startup time can be reduced by batch setting the minimum parameters required by application. Easy servo tuning By connecting with the setup software the 3E Model offers a variety of servo tuning support functions such as automatic selection of optimal tuning mode depending on mechanical and load conditions, basic tuning mode for adjustment of up to two parameters, and an application-specific tuning mode. This dramatically shortens time required for servo tuning. Easy troubleshooting With a 1 ms time stamp and a drive recorder function to record motor and amplifier operating status, details of abnormal state occurrences such as alarms can be accurately checked even at a later time, facilitating troubleshooting. The drive recorder function allows for the checking of past operating status. 9

10 Features Model-based following control R 3E Model R ADVANCED Auto-tuning R 3E Model R ADVANCED R Model-based following control enables an improved target value response, enhanced disturbance suppression, and greater robustness. The servo amplifier automatically optimizes servo gain and filter frequency in real time. Model control system Position command Position/speed control Motor/machine model Velocity command value Position/speed control Motor/machine Tuning start Detected velocity value Feedback control system Feed-forward vibration suppression control Command following control R 3E Model R ADVANCED R R 3E Model R ADVANCED R With feed-forward vibration suppression control, vibrations at the end effector and base of a machine can be suppressed through simple tuning procedures. Vibration control frequencies are selectable. Position deviation during stop With vibration suppression control Without vibration suppression control Newly-employed position and velocity controller has improved the tracking capability to the position commands. Position deviation has been achieved. Position command Without vibration suppression control With vibration suppression control 1 ms/div Position deviation ms/div All-in-one control -Digit LED display, built-in operator R 3E Model R ADVANCED R R 3E Model R ADVANCED R Configurable parameters allow switching between control modes for torque, position or velocity. The built-in operator allows you to change parameters and monitor the amplifier status and alarm traces. START Position or Velocity control Flat Torque control Ascending GOAL 1

11 Multiaxial monitor function R 3E Model R ADVANCED The setup software allows up to 1 axes that is, 1 sets of a servo motor and a servo amplifier to be monitored. USB hub (used for R 3E Model) Dual position feedback fully-closed loop control R 3E Model Dual position feedback fully-closed loop control is possible by using information from two encoders: a linear encoder mounted on the device (load) and a high resolution motor-mounted encoder. Even when there is high motor shaft torsion from the load, servo gain can be improved and high response achieved. Features Maximum 1 axes Load EtherCAT interface type R ADVANCED EtherCAT is a 1 Mbps high-speed fieldbus system. It contributes to the takt time reduction. This highly versatile EtherCAT is compatible with Ethernet, which makes it possible to build a system that co-exists with various devices. The servo amplifier firmware can be updated via EtherCAT network. Also, the EtherCAT conformance test certificate from a trusted third party has been acquired. CApen interface type R CApen is based on the internationally accepted CAN automobile standard and is an open networking standard for sensors, actuators, and controllers. It is used in the field of medical equipment, FA, and logistics systems. Built-in positioning function type R Models with a built-in positioning function type into the servo amplifier are available. The need for a positioning control unit is eliminated, which can reduce the number of wires and save space. There are two types of interfaces: DIO (Digital I/O) type and RS-48 communication type. Ideal for conveying applications. Multi-axis pulse input type R Up to 6 axes can be combined. Multiple axes can be powered and commanded from only one unit, enabling wire saving and space saving. Also, it can contribute to eco-efficiency by utilizing regenerative energy from other axes. 11

12 Features Medium inertia servo motors selectable for different applications Downsized servo motors R 3E Model R ADVANCED R R 3E Model R ADVANCED R Two types of medium inertia servo motors are available: R servo motors with a wide lineup for positioning applications, and R servo motors that are ideal for smooth operations such as for feed shafts of smallsized machine tools. R Servo Motor Feed axes in machine tools R series servo motors have been downsized by as much as 3% in length and % in volume from our conventional product, while still achieving high torque and high performance. (When using a battery-backup method absolute encoder) * Our conventional product is SANMOTION Q AC servo motor. R Servo Motor Positioning applications with robots, injection molding machines, general industrial machinery, etc. Low cogging torque Waterproof and dustproof 3% reduction R 3E Model R ADVANCED R R 3E Model R ADVANCED R Cogging torque has been reduced in comparison with our conventional products, achieving smoother movement. Our servo motors have high waterproof and dustproof characteristics with IP6 and IP67 ratings, allowing them to work in severe environments. Servo motors with IP6 ratings can be modified to IP67 as an option. Comparison of cogging torque waveforms Water Dust Current model R Motor (Waveform image for reference) * Except shaft openings and connector ends. Linear servo motors with large thrust force R 3E Model Linear servo motors that can perform direct and vertical drives and achieve large thrust force are available. 1

13 High-precision battery-less optical absolute encoder The high-precision battery-less optical absolute encoder Model. HA3 comes as standard. As an option, high-precesion model is also available with a maximum resolution of (3 bits) during single rotation and an absolute angle accuracy of approximately.167 deg. within a rotation (1 min.) can be selected. need to worry about battery life and battery exporting procedures. Features *Other than R 3E Model, some models are not compatible with optional specifications. In addition, selecting an encoder that is optimal to the device is also available as an option. Refer to the following table. Serial encoder Encoder type Battery-less optical absolute encoder This is a high-precision battery-less optical multi-turn encoder. It does not use batteries, which need to be replaced; therefore, the encoder does not require maintenance. This encoder can be broadly used for general industrial equipment including machine tools and robots. Compatible servo amplifiers: R 3E Model and R ADVANCED MODEL servo amplifiers Resolution during single rotation 1317 (17 bits) Total number of rotations during multiple rotations 636 (16 bits) Encoder no. Model. HA3 Optional specifications Resolution during single rotation: ( bits), (3 bits) Absolute angular accuracy within one rotation: Approx..167 deg (one minute) or lower (standard is approx..167 deg (ten minutes) or lower.) Baud rate: 4. Mbps (standard is. Mbps) Optical absolute encoder for incremental systems This is a slim and single-turn optical encoder. Enables wire-saving and size-reduction for applications that use pulse encoders (17 bits) Model. PA3S Resolution during single rotation: ( bits) Baud rate: 4. Mbps (standard is. Mbps) Option Optical battery-backup method absolute encoder This is a slim multi-turn battery-backup method optical encoder. It enables the use of a shorter motor; therefore, it is optimal for devices in which motor installation space is limited. Batteries sold separately (17 bits) 636 (16 bits) Model. PA3C Resolution during single rotation: ( bits) Baud rate: 4. Mbps (standard is. Mbps) Option Resolver method battery-less absolute encoder This is a resolver method battery-less multi-turn encoder. Being a resolver method encoder with outstanding ruggedness, it is ideal for equipment used in harsh environments such as injection molding machines and robots (17 bits) 636 (16bit) Model. RA3C Baud rate: 4. Mbps (standard is. Mbps) Pulse encoder Encoder type Pulse/rotation Multiple rotations Encoder no. Optional specifications Option Optical wire-saving incremental encoder This is an incremental encoder that easily connects with host P/R equipment to output phases A, B, and Z. Ideal for general industrial equipment such as chip mounters. Model. PP31H Number of pulses: Up to 1 P/R 13

14 List of Compatible Servo Amplifiers and Servo Motors List of Compatible Servo Amplifiers and Servo Motors Standard specification C Output shaft: Straight, Oil seal: ne, Connecting method: Cable P Output shaft: With key, Oil seal: Yes, Connecting method: cannon plug (1 kw or lower), Terminal block ( kw or higher) Analog/Pulse Input type Servo amplifier Motor type Rated output [kw] Flange size Model name (Partial model no.) Standard specification Page Specifications Dimensions R 3E Model Analog/Pulse Input type p. 3 R ADVANCED EtherCAT Interface type p. 14 R Servo motor 1 V system Medium inertia R Servo motor V system Medium inertia.3 4 mm sq. REA43F C RS3E1 1A RSE1 1A. 4 mm sq. REA4F C RS3E A RSE1 1A.8 4 mm sq. REA48F C RS3E A RSE1 1A.1 6 mm sq. REA61F C RS3E A RSE1 1A. 6 mm sq. REA6F C RS3E3 3A RSE3 3A.3 4 mm sq. RAA43F C RS3A1 1A RSA1 1A. 4 mm sq. RAA4F C RS3A1 1A RSA1 1A.1 (.9) *1 4 mm sq. RAA41F C RS3A1 1A RSA1 1A.1 6 mm sq. RAA61F C RS3A1 1A RSA1 1A. 6 mm sq. RAA6F C RS3A A RSA1 1A 8 mm sq. RAA8F C RS3A A RSA1 1A 6 mm sq. RAA64H C RS3A A RSA1 1A.4 (.36) *1 6 mm sq. RAA64F C RS3A A RSA3 3A.4 8 mm sq. RAA84F C 1 11 RS3A A RSA3 3A mm sq. RAA13H P RS3A3 3A RSA3 3A 13 mm sq. RAA13D P RS3A3 3A RSA3 3A 8 mm sq. RAA87F C 1 11 RS3A3 3A RSA3 3A 1 mm sq. RAA17F C 1 11 RS3A3 3A RSA3 3A 86 mm sq. RAAB87F C 1 11 RS3A A RSA A 86 mm sq. RAAB81H C 1 11 RS3A3 3A RSA3 3A 86 mm sq. RAAB81F C 1 11 RS3A A RSA A 1 mm sq. RAA11F C 1 11 RS3A A RSA A 13 mm sq. RAA131B P RS3A3 3A RSA3 3A 13 mm sq. RAA131L P RS3A A RSA A 13 mm sq. RAA131D P RS3A A RSA A 13 mm sq. RAA1318H P RS3A A RSA A 13 mm sq. RAA1318D P RS3A1 1A RSA1 1A 13 mm sq. RAA13L P RS3A A RSA A 13 mm sq. RAA13D P RS3A1 1A RSA1 1A 18 mm sq. RAA183L P 14 1 RS3A1 1A RSA1 1A 18 mm sq. RAA183D P 14 1 RS3A1 1A RSA1 1A mm sq. RAA184H P 14 1 RS3A1 1A RSA1 1A mm sq. RAAL P RS3A1 1A RSA1 1A. 18 mm sq. RAA18R P 1 1 RS3A1 1A RSA1 1A 18 mm sq. RAA18H P 1 1 RS3A3 3A RSA3 3A 7 mm sq. RAA7S P RS3A1 1A RSA1 1A mm sq. RAA187H P 16 1 RS3A3 3A RSA3 3A mm sq. RAA1811KR P 16 1 RS3A3 3A RSA3 3A mm sq. RAA11KB P RS3A3 3A RSA3 3A 1 mm sq. RAA1KB P RS3A3 3A RSA3 3A mm sq. RAAKB P RS3W6 6A 3 7 mm sq. RAA83KV P RS3W6 6A *1: Values in parentheses are the output values for motors with brakes. With the optional oil seals, rated outputs of servo motors might be reduced to 8 to 9% of the values in the above table. *: Listed in the column are model numbers of amplifier units. Beside amplifier units, a motherboard and a power supply unit are required for operation. 1 A capacity amplifier is a 6-axis model, and 3 A capacity amplifier is a 4-axis model.

15 Servo amplifier R CApen Interface type p. 67 R Built-in Positioning Function type p. 7 *t compatible with the battery-less optical absolute encoder HA3. R Multi-axis Pulse Input type * p. 87 Servo motor Model name (Partial model no.) RS1E1 1A RR1E1AAB 1A REA43F.3 RS1E1 1A RR1E1AAB 1A REA4F. RS1E1 1A RR1E1AAB 1A REA48F.8 RS1E1 1A RR1E1AAB 1A REA61F.1 RS1E3 3A RR1E3AAB 3A REA6F. Rated output [kw] List of Compatible Servo Amplifiers and Servo Motors RS1A1 1A RS1A1 1A RR1A1AAB 1A RAA43F.3 RS1A1 1A RS1A1 1A RR1A1AAB 1A RAA4F. RS1A1 1A RS1A1 1A RR1A1AAB 1A RAA41F.1 (.9) *1 RS1A1 1A RS1A1 1A RR1A1AAB 1A RAA61F.1 RS1A1 1A RS1A1 1A RR1A1AAB 1A RAA6F RS1A1 1A RS1A1 1A RR1A1AAB 1A RAA8F. RS1A1 1A RS1A1 1A RR1A1AAB 1A RAA64H.4 (.36) *1 RS1A3 3A RS1A3 3A RR1A3AAB 3A RAA64F RS1A3 3A RS1A3 3A RR1A3AAB 3A RAA84F.4 RS1A3 3A RS1A3 3A RR1A3AAB 3A RAA13H. RS1A3 3A RS1A3 3A RR1A3AAB 3A RAA13D RS1A3 3A RS1A3 3A RR1A3AAB 3A RAA87F RS1A3 3A RS1A3 3A RR1A3AAB 3A RAA17F RS1A A RS1A A RAAB87F RS1A3 3A RS1A3 3A RR1A3AAB 3A RAAB81H RS1A A RS1A A RAAB81F RS1A A RS1A A RAA11F RS1A3 3A RS1A3 3A RR1A3AAB 3A RAA131B RS1A A RS1A A RAA131L RS1A A RS1A A RAA131D RS1A A RS1A A RAA1318H 1.8 RS1A1 1A RAA1318D RS1A A RS1A A RAA13L RS1A1 1A RAA13D RS1A1 1A RAA183L RS1A1 1A RAA183D 3. RS1A1 1A RAA184H 4. RS1A1 1A RAAL RS1A1 1A RAA18R. RS1A3 3A RAA18H RS1A1 1A RAA7S 7 RS1A3 3A RAA187H 7. RS1A3 3A RAA1811KR 11 RS1A3 3A RAA11KB RS1A3 3A RAA1KB 1 RAAKB RAA83KV 3 1

16 List of Compatible Servo Amplifiers and Servo Motors List of Compatible Servo Amplifiers and Servo Motors Standard specification C Output shaft: Straight, Oil seal: ne, Connecting method: Cable P Output shaft: With key, Oil seal: Yes, Connecting method: cannon plug (1 kw or lower), Terminal block ( kw or higher) Analog/Pulse Input type Servo amplifier Motor type Rated output [kw] Flange size Model name (Partial model no.) Standard specification Page Specifications Dimensions R 3E Model Analog/Pulse Input type p. 3 R ADVANCED EtherCAT Interface type p. R1 Servo motor V system Low inertia R Servo motor V system Medium inertia. 18 mm sq. R1AA18H P RS3A3 3A RSA3 3A mm sq. R1AA187L P RS3A3 3A RSA3 3A mm sq. R1AA1811KR P RS3A3 3A RSA3 3A 1 18 mm sq. R1AA181KB P RS3A3 3A RSA3 3A 1 mm sq. R1AAKV P RS3W6 6A. 6 mm sq. RAA6H C RS3A1 1A RSA1 1A. 6 mm sq. RAA6F C RS3A A RSA1 1A.4 (.38) *1 6 mm sq. RAA64H C RS3A A RSA1 1A.4 *1 6 mm sq. RAA64F C RS3A A RSA3 3A.7 (.71) *1 8 mm sq. RAA87D C RS3A3 3A RSA3 3A.7 (.67) *1 8 mm sq. RAA87F C RS3A3 3A RSA3 3A Linear Servo motor V system Flat type with core Dual magnet type with core DS4CC1AN (Coil model no.) DD4CB4AN (Coil model no.) RS3A3 3A RS3A1 1A *1: Values in parentheses are the output values for motors with brakes. With the optional oil seals, rated outputs of servo motors might be reduced to 8 to 9% of the values in the above table. *: Listed in the column are model numbers of amplifier units. Beside amplifier units, a motherboard and a power supply unit are required for operation. 1 A capacity amplifier is a 6-axis model, and 3 A capacity amplifier is a 4-axis model. 16

17 Servo amplifier R CApen Interface type p. 67 R Built-in Positioning Function type p. 7 *t compatible with the battery-less optical absolute encoder HA3. R Multi-axis Pulse Input type * p. 87 Servo motor Model name (Partial model no.) RS1A3 3A R1AA18H. Rated output [kw] List of Compatible Servo Amplifiers and Servo Motors RS1A3 3A R1AA187L 7. RS1A3 3A R1AA1811KR 11 RS1A3 3A R1AA181KB 1 R1AAKV 1 RS1A1 1A RS1A1 1A RR1A1AAB 1A RAA6H. RS1A1 1A RS1A1 1A RR1A1AAB 1A RAA6F. RS1A1 1A RS1A1 1A RR1A1AAB 1A RAA64H.4 (.38) *1 RS1A3 3A RS1A3 3A RR1A3AAB 3A RAA64F.4 *1 RS1A3 3A RS1A3 3A RR1A3AAB 3A RAA87D.7 (.71) *1 RS1A3 3A RS1A3 3A RR1A3AAB 3A RAA87F.7 (.67) *1 DS4CC1AN (Coil model no.) DD4CB4AN (Coil model no.) 17

18 Standard Model Number List Standard Model Number List For specifications on other models, contact us for details. Input voltage 1 VAC Servo Amplifier R 3E Model Analog/Pulse Input type Main circuit power supply 1 VAC system 1 to 1 VAC single-phase Control circuit power supply 1 VAC system 1 to 1 VAC single-phase Encoder type Serial encoder General output Sink (NPN) Source (PNP) Internal regenerative resistor Yes Yes Safe Torque Off function (without delay), tandem operation function Yes Yes Yes Amplifier capacity Servo Amplifier R ADVANCED MODEL EtherCAT Interface type Main circuit power supply 1 VAC system 1 to 11 VAC single-phase Control circuit power supply 1 VAC system 1 to 11 VAC single-phase Encoder type Serial encoder General output Photo relay output Internal regenerative resistor Yes Yes Safe Torque Off function Yes (with delay circuit) Model no. Specifications Page Dimensions 1 A RS3E1AAL p. 44 p. 4 A RS3EAAL p. 44 p. 4 3 A RS3E3AAL p. 44 p. 4 1 A RS3E1AAL p. 44 p. 4 A RS3EAAL p. 44 p. 4 3 A RS3E3AAL p. 44 p. 4 1 A RS3E1AAA p. 44 p. 4 A RS3EAAA p. 44 p. 4 3 A RS3E3AAA p. 44 p. 4 1 A RS3E1AAA p. 44 p. 4 A RS3EAAA p. 44 p. 4 3 A RS3E3AAA p. 44 p. 4 1 A RS3E1ABL p. 44 p. 4 A RS3EABL p. 44 p. 4 3 A RS3E3ABL p. 44 p. 4 1 A RS3E1ABL p. 44 p. 4 A RS3EABL p. 44 p. 4 3 A RS3E3ABL p. 44 p. 4 1 A RS3E1ABA p. 44 p. 4 A RS3EABA p. 44 p. 4 3 A RS3E3ABA p. 44 p. 4 1 A RS3E1ABA p. 44 p. 4 A RS3EABA p. 44 p. 4 3 A RS3E3ABA p. 44 p. 4 Amplifier capacity Model no. Specifications Page Dimensions 1 A RSE1AHL p. 6 p A RSE3AHL p. 6 p A RSE1AHA p. 6 p A RSE3AHA p. 6 p. 63 Servo Amplifier R Built-in Positioning Function type Main circuit power supply 1 VAC system 1 to 11 VAC single-phase Control circuit power supply 1 VAC system 1 to 11 VAC single-phase Encoder type Serial encoder, Pulse encoder General output Sink type (NPN) Internal regenerative resistor Yes Safe Torque Off function Amplifier capacity Model no. Specifications Page Dimensions 1 A RS1E1AC p. 8 p. 8 3 A RS1E3AC p. 8 p. 8 1 A RS1N1AC p. 8 p. 8 3 A RS1N3AC p. 8 p Servo Amplifier R Multi-axis Pulse Input type Required number of amplifier units, a power supply unit, and a motherboard are used as a set. The maximum number of axes is 6 axes for 1 A, 4 axes for 3 A. The maximum capacity is 8 W. Amplifier unit Input power supply Encoder type 14 VDC Serial encoder General output Sink type (NPN) Safe Torque Off function Amplifier Page Model no. capacity Specifications Dimensions 1 A RR1E1AAB p. 9 p A RR1E3AAB p. 9 p. 91 Motherboard Input power The number of mounted amplifier units supply Model no. 4 RRME4 1 VAC 6 3 RRME6 4 RRME8 Power supply unit Input power Built-in regenerative Page Model no. supply resistor Specifications Dimensions 1 A 3 A 1 VAC Yes RRPEA p. 9 p. 91 Our standard servo amplifiers conform to UL, c-ul, and EN standards. R 3E Model and R ADVANCED MODEL EtherCAT Interface type have also acquired the KC mark.

19 Standard Model Number List For specifications on other models, contact us for details. Input voltage 1 VAC R Servo Motor Small Capacity, Medium Inertia Standard specifications Output shaft: straight, oil seal: none, connection: cable (no connector) Model no. Page Rated output Motor flange size 3 W 4 mm sq. Protection code IP67 IP6 Holding brake Yes (4 VDC) Yes (4 VDC) CE and UL approved Battery-less optical absolute encoder (Model. HA3) Only the R 3E Model and R ADVANCED MODEL servo amplifiers are compatible. Optical absolute encoder for incremental systems (Model. PA3S) Specifications Dimensions REA43FXR REA43FXH p. 96 p. 11 Yes REA43FXRM REA43FXHM p. 96 p. 11 REA43FCR REA43FCH p. 96 p. 11 Yes REA43FCRM REA43FCHM p. 96 p. 11 REA43FXR3 REA43FXH3 p. 96 p. 11 Yes REA43FXR3M REA43FXH3M p. 96 p. 11 REA43FCR3 REA43FCH3 p. 96 p. 11 Yes REA43FCR3M REA43FCH3M p. 96 p. 11 Standard Model Number List W 4 mm sq. IP67 IP6 Yes (4 VDC) Yes (4 VDC) REA4FXR REA4FXH p. 96 p. 11 Yes REA4FXRM REA4FXHM p. 96 p. 11 REA4FCR REA4FCH p. 96 p. 11 Yes REA4FCRM REA4FCHM p. 96 p. 11 REA4FXR3 REA4FXH3 p. 96 p. 11 Yes REA4FXR3M REA4FXH3M p. 96 p. 11 REA4FCR3 REA4FCH3 p. 96 p. 11 Yes REA4FCR3M REA4FCH3M p. 96 p W 4 mm sq. IP67 IP6 Yes (4 VDC) Yes (4 VDC) REA48FXR REA48FXH p. 96 p. 11 Yes REA48FXRM REA48FXHM p. 96 p. 11 REA48FCR REA48FCH p. 96 p. 11 Yes REA48FCRM REA48FCHM p. 96 p. 11 REA48FXR3 REA48FXH3 p. 96 p. 11 Yes REA48FXR3M REA48FXH3M p. 96 p. 11 REA48FCR3 REA48FCH3 p. 96 p. 11 Yes REA48FCR3M REA48FCH3M p. 96 p W 6 mm sq. IP67 IP6 Yes (4 VDC) Yes (4 VDC) REA61FXR REA61FXH p. 97 p. 11 Yes REA61FXRM REA61FXHM p. 97 p. 11 REA61FCR REA61FCH p. 97 p. 11 Yes REA61FCRM REA61FCHM p. 97 p. 11 REA61FXR3 REA61FXH3 p. 97 p. 11 Yes REA61FXR3M REA61FXH3M p. 97 p. 11 REA61FCR3 REA61FCH3 p. 97 p. 11 Yes REA61FCR3M REA61FCH3M p. 97 p. 11 W 6 mm sq. IP67 IP6 Yes (4 VDC) Yes (4 VDC) REA6FXR REA6FXH p. 97 p. 11 Yes REA6FXRM REA6FXHM p. 97 p. 11 REA6FCR REA6FCH p. 97 p. 11 Yes REA6FCRM REA6FCHM p. 97 p. 11 REA6FXR3 REA6FXH3 p. 97 p. 11 Yes REA6FXR3M REA6FXH3M p. 97 p. 11 REA6FCR3 REA6FCH3 p. 97 p. 11 Yes REA6FCR3M REA6FCH3M p. 97 p. 11 te: With the optional oil seals, rated outputs of servo motors might be reduced to 8 to 9% of the values in the above table. 19

20 Standard Model Number List Standard Model Number List For specifications on other models, contact us for details. Input voltage VAC Servo Amplifier R 3E Model Analog/Pulse Input type Main circuit power supply VAC system to 4 VAC 3-phase (can be also used for single-phase with A or lower.) Control circuit power supply VAC system to 4 VAC single-phase Encoder type Serial encoder General output Sink (NPN) Source (PNP) Internal regenerative resistor Yes Yes Safe Torque Off function (without delay), tandem operation function Yes Yes Yes Yes Amplifier capacity Model no. Specifications Page Dimensions 1 A RS3A1AAL p. 44 p. 4 A RS3AAAL p. 44 p. 4 3 A RS3A3AAL p. 44 p. 4 A RS3AAAL p. 44 p A RS3A1AAL p. 44 p A RS3A1AAL p. 44 p A RS3A3AAL p. 44 p A RS3W6AAM p. 44 p A RS3A1AAL p. 44 p. 4 A RS3AAAL p. 44 p. 4 3 A RS3A3AAL p. 44 p. 4 A RS3AAAL p. 44 p A RS3A1AAL p. 44 p A RS3A1AAL p. 44 p A RS3A3AAL p. 44 p A RS3W6AAM p. 44 p A RS3A1AAA p. 44 p. 4 A RS3AAAA p. 44 p. 4 3 A RS3A3AAA p. 44 p. 4 A RS3AAAA p. 44 p A RS3A1AAA p. 44 p A RS3A1AAA p. 44 p A RS3A1AAA p. 44 p. 4 A RS3AAAA p. 44 p. 4 3 A RS3A3AAA p. 44 p. 4 A RS3AAAA p. 44 p A RS3A1AAA p. 44 p A RS3A1AAA p. 44 p A RS3A1ABL p. 44 p. 4 A RS3AABL p. 44 p. 4 3 A RS3A3ABL p. 44 p. 4 A RS3AABL p. 44 p A RS3A1ABL p. 44 p A RS3A1ABL p. 44 p A RS3A3ABL p. 44 p A RS3W6ABM p. 44 p A RS3A1ABL p. 44 p. 4 A RS3AABL p. 44 p. 4 3 A RS3A3ABL p. 44 p. 4 A RS3AABL p. 44 p A RS3A1ABL p. 44 p A RS3A1ABL p. 44 p A RS3A3ABL p. 44 p A RS3W6ABM p. 44 p A RS3A1ABA p. 44 p. 4 A RS3AABA p. 44 p. 4 3 A RS3A3ABA p. 44 p. 4 A RS3AABA p. 44 p A RS3A1ABA p. 44 p A RS3A1ABA p. 44 p A RS3A1ABA p. 44 p. 4 A RS3AABA p. 44 p. 4 3 A RS3A3ABA p. 44 p. 4 A RS3AABA p. 44 p A RS3A1ABA p. 44 p A RS3A1ABA p. 44 p. 46 Our standard servo amplifiers conform to UL, c-ul, and EN standards. R 3E Model and R ADVANCED MODEL EtherCAT Interface type have also acquired the KC mark. The servo amplifiers above are for rotary servo motors. For servo amplifiers for linear servo motors, contact us for details. Power Supply Unit for 6 A Servo Amplifier Used together with 6 A amplifier unit. Model no. Page (dimensions) RS3PAA7 p. 47

21 Standard Model Number List For specifications on other models, contact us for details. Input voltage VAC Servo Amplifier R ADVANCED MODEL EtherCAT Interface type Main circuit power supply VAC system to 3 VAC 3-phase Control circuit power supply VAC system to 3 VAC single-phase Encoder type Serial encoder General output Photo relay output Built-in regenerative resistor Yes Safe Torque Off function Yes (with delay circuit) Yes (with delay circuit) Amplifier capacity Model no. Specifications Page Dimensions 1 A RSA1AHL p. 6 p A RSA3AHL p. 6 p. 63 A RSAAHL p. 6 p A RSA3AHL p. 6 p A RSA1AHA p. 6 p A RSA3AHA p. 6 p. 63 A RSAAHA p. 6 p A RSA1AHA p. 6 p A RSA1AHA p. 6 p. 64 Standard Model Number List Servo Amplifier R CApen Interface type Main circuit power supply VAC system to 3 VAC 3-phase Control circuit power supply VAC system to 3 VAC single-phase 4 VDC VAC system to 3 VAC single-phase 4 VDC Encoder type Serial encoder Serial encoder Serial encoder Serial encoder General output Sink (NPN) Sink (NPN) Source (PNP) Source (PNP) Built-in regenerative resistor Yes Yes Yes Yes Safe Torque Off function Amplifier capacity Model no. Specifications Page Dimensions 1 A RS1A1AL p. 7 p. 7 3 A RS1A3AL p. 7 p. 7 A RS1LAL p. 7 p. 7 1 A RS1L1AL p. 7 p. 7 3 A RS1L3AL p. 7 p. 7 A RS1AAL p. 7 p. 7 1 A RS1J1AL p. 7 p. 7 3 A RS1J3AL p. 7 p. 7 A RS1JAL p. 7 p. 7 1 A RS1K1AL p. 7 p. 7 3 A RS1K3AL p. 7 p. 7 A RS1KAL p. 7 p. 7 1 A RS1A1AU p. 7 p. 7 3 A RS1A3AU p. 7 p. 7 A RS1LAU p. 7 p. 7 1 A RS1L1AU p. 7 p. 7 3 A RS1L3AU p. 7 p. 7 A RS1AAU p. 7 p. 7 1 A RS1J1AU p. 7 p. 7 3 A RS1J3AU p. 7 p. 7 A RS1JAU p. 7 p. 7 1 A RS1K1AU p. 7 p. 7 3 A RS1K3AU p. 7 p. 7 A RS1KAU p. 7 p. 7 Our standard servo amplifiers conform to UL, c-ul, and EN standards. R 3E Model and R ADVANCED MODEL EtherCAT Interface type have also acquired the KC mark. 1

22 Standard Model Number List Standard Model Number List For specifications on other models, contact us for details. Input voltage VAC Servo Amplifier R Built-in Positioning Function type Interface: DIO type Main circuit power supply VAC system to 3 VAC 3-phase Control circuit power supply VAC system to 3 VAC single-phase Encoder type Serial encoder Pulse encoder General output Sink (NPN) Internal regenerative resistor Servo Amplifier R Multi-axis Pulse Input type Yes Safe Torque Off function Amplifier capacity Model no. Specifications Page Dimensions 1 A RS1A1AC p. 8 p. 8 3 A RS1A3AC p. 8 p. 8 A RS1LAC p. 8 p. 8 1 A RS1L1AC p. 8 p. 8 1 A RS1L1AC p. 8 p. 8 3 A RS1A3AC p. 8 p. 8 1 A RS1L1AC p. 8 p. 8 3 A RS1L3AC p. 8 p. 8 A RS1AAC p. 8 p. 8 1 A RS1A1AC p. 8 p. 8 1 A RS1A1AC p. 8 p. 8 Required number of amplifier units, a power supply unit, and a motherboard are used as a set. The maximum number of axes is 6 axes for 1 A, 4 axes for 3 A. The maximum capacity is W. Amplifier unit Input power supply Encoder type General output Safe Torque Off function Amplifier capacity Model no. Page Specifications Dimensions 8 VDC Serial encoder Sink (NPN) 1 A RR1A1AAB p. 9 p A RR1A3AAB p. 9 p. 91 Power supply unit Input power Built-in regenerative Page Model no. supply resistor Specifications Dimensions VAC Yes RRPAA p. 9 p. 91 Motherboard Input power supply VAC The number of mounted amplifier units 1 A 3 A Model no. 4 RRMA4 6 3 RRMA6 4 RRMA8 Our standard servo amplifiers conform to UL, c-ul, and EN standards.

23 Standard Model Number List For specifications on other models, contact us for details. R Servo Motor Small Capacity, Medium Inertia Standard specifications Output shaft: straight, oil seal: none, connection: cable (no connector) Rated output Motor flange size 3 W 4 mm sq. W 4 mm sq. 9 W 4 mm sq. 1 W Input voltage VAC W 4 mm sq. 6 mm sq. 6 mm sq. 8 mm sq. Protection code IP67 IP6 IP67 IP6 IP67 IP6 IP67 IP6 IP67 IP6 IP67 IP6 IP67 IP6 Holding brake Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) CE and UL approved Model no. Battery-less optical absolute encoder (Model. HA3) Only the R 3E Model and R ADVANCED MODEL servo amplifiers are compatible. Optical absolute encoder for incremental systems (Model. PA3S) Specifications Page Dimensions RAA43FXR RAA43FXH p. 98 p. 11 Yes RAA43FXRM RAA43FXHM p. 98 p. 11 RAA43FCR RAA43FCH p. 98 p. 11 Yes RAA43FCRM RAA43FCHM p. 98 p. 11 RAA43FXR3 RAA43FXH3 p. 98 p. 11 Yes RAA43FXR3M RAA43FXH3M p. 98 p. 11 RAA43FCR3 RAA43FCH3 p. 98 p. 11 Yes RAA43FCR3M RAA43FCH3M p. 98 p. 11 RAA4FXR RAA4FXH p. 98 p. 11 Yes RAA4FXRM RAA4FXHM p. 98 p. 11 RAA4FCR RAA4FCH p. 98 p. 11 Yes RAA4FCRM RAA4FCHM p. 98 p. 11 RAA4FXR3 RAA4FXH3 p. 98 p. 11 Yes RAA4FXR3M RAA4FXH3M p. 98 p. 11 RAA4FCR3 RAA4FCH3 p. 98 p. 11 Yes RAA4FCR3M RAA4FCH3M p. 98 p. 11 RAA41FCR RAA41FCH p. 98 p. 11 Yes RAA41FCRM6 RAA41FCHM6 p. 98 p. 11 RAA41FCR3 RAA41FCH3 p. 98 p. 11 Yes RAA41FCR3M6 RAA41FCH3M6 p. 98 p. 11 RAA41FXR RAA41FXH p. 98 p. 11 Yes RAA41FXRM RAA41FXHM p. 98 p. 11 RAA41FXR3 RAA41FXH3 p. 98 p. 11 Yes RAA41FXR3M RAA41FXH3M p. 98 p. 11 RAA61FXR RAA61FXH p. 98 p. 11 Yes RAA61FXRM RAA61FXHM p. 98 p. 11 RAA61FCR RAA61FCH p. 98 p. 11 Yes RAA61FCRM RAA61FCHM p. 98 p. 11 RAA61FXR3 RAA61FXH3 p. 98 p. 11 Yes RAA61FXR3M RAA61FXH3M p. 98 p. 11 RAA61FCR3 RAA61FCH3 p. 98 p. 11 Yes RAA61FCR3M RAA61FCH3M p. 98 p. 11 RAA6FXR RAA6FXH p. 99 p. 11 Yes RAA6FXRM RAA6FXHM p. 99 p. 11 RAA6FCR RAA6FCH p. 99 p. 11 Yes RAA6FCRM RAA6FCHM p. 99 p. 11 RAA6FXR3 RAA6FXH3 p. 99 p. 11 Yes RAA6FXR3M RAA6FXH3M p. 99 p. 11 RAA6FCR3 RAA6FCH3 p. 99 p. 11 Yes RAA6FCR3M RAA6FCH3M p. 99 p. 11 RAA8FXR RAA8FXH p. 99 p. 11 Yes RAA8FXRM RAA8FXHM p. 99 p. 11 RAA8FCR RAA8FCH p. 99 p. 11 Yes RAA8FCRM RAA8FCHM p. 99 p. 11 RAA8FXR3 RAA8FXH3 p. 99 p. 11 Yes RAA8FXR3M RAA8FXH3M p. 99 p. 11 RAA8FCR3 RAA8FCH3 p. 99 p. 11 Yes RAA8FCR3M RAA8FCH3M p. 99 p. 11 te: With the optional oil seals, rated outputs of servo motors might be reduced to 8 to 9% of the values in the above table. 3 Standard Model Number List

24 Standard Model Number List 4 Standard Model Number List For specifications on other models, contact us for details. R Servo Motor Small Capacity, Medium Inertia Standard specifications Output shaft: straight, oil seal: none, connection: cable (no connector) Rated output Motor flange size 36 W 6 mm sq. 4 W 7 W Input voltage VAC 6 mm sq. 8 mm sq. 8 mm sq. 86 mm sq. 1 mm sq. Protection code IP67 IP6 IP67 IP6 IP67 IP6 IP67 IP6 IP67 IP6 IP67 IP6 Holding brake Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) CE and UL approved Model no. Battery-less optical absolute encoder (Model. HA3) Only the R 3E Model and R ADVANCED MODEL servo amplifiers are compatible. Optical absolute encoder for incremental systems (Model. PA3S) Specifications Page Dimensions RAA64FCR RAA64FCH p. 99 p. 11 Yes RAA64FCRM6 RAA64FCHM6 p. 99 p. 11 RAA64HCR RAA64HCH p. 99 p. 11 Yes RAA64HCRM6 RAA64HCHM6 p. 99 p. 11 RAA64FCR3 RAA64FCH3 p. 99 p. 11 Yes RAA64FCR3M6 RAA64FCH3M6 p. 99 p. 11 RAA64HCR3 RAA64HCH3 p. 99 p. 11 Yes RAA64HCR3M6 RAA64HCH3M6 p. 99 p. 11 RAA64FXR RAA64FXH p. 99 p. 11 Yes RAA64FXRM RAA64FXHM p. 99 p. 11 RAA64HXR RAA64HXH p. 99 p. 11 Yes RAA64HXRM RAA64HXHM p. 99 p. 11 RAA64FXR3 RAA64FXH3 p. 99 p. 11 Yes RAA64FXR3M RAA64FXH3M p. 99 p. 11 RAA64HXR3 RAA64HXH3 p. 99 p. 11 Yes RAA64HXR3M RAA64HXH3M p. 99 p. 11 RAA84FXR RAA84FXH p. 1 p. 11 Yes RAA84FXRM RAA84FXHM p. 1 p. 11 RAA84FCR RAA84FCH p. 1 p. 11 Yes RAA84FCRM RAA84FCHM p. 1 p. 11 RAA84FXR3 RAA84FXH3 p. 1 p. 11 Yes RAA84FXR3M RAA84FXH3M p. 1 p. 11 RAA84FCR3 RAA84FCH3 p. 1 p. 11 Yes RAA84FCR3M RAA84FCH3M p. 1 p. 11 RAA87FXR RAA87FXH p. 1 p. 11 Yes RAA87FXRM RAA87FXHM p. 1 p. 11 RAA87FCR RAA87FCH p. 1 p. 11 Yes RAA87FCRM RAA87FCHM p. 1 p. 11 RAA87FXR3 RAA87FXH3 p. 1 p. 11 Yes RAA87FXR3M RAA87FXH3M p. 1 p. 11 RAA87FCR3 RAA87FCH3 p. 1 p. 11 Yes RAA87FCR3M RAA87FCH3M p. 1 p. 11 RAAB87FXR RAAB87FXH p. 1 p. 11 Yes RAAB87FXRM RAAB87FXHM p. 1 p. 11 RAAB87FCR RAAB87FCH p. 1 p. 11 Yes RAAB87FCRM RAAB87FCHM p. 1 p. 11 RAAB87FXR3 RAAB87FXH3 p. 1 p. 11 Yes RAAB87FXR3M RAAB87FXH3M p. 1 p. 11 RAAB87FCR3 RAAB87FCH3 p. 1 p. 11 Yes RAAB87FCR3M RAAB87FCH3M p. 1 p. 11 RAA17FXR RAA17FXH p. 1 p. 11 Yes RAA17FXRM RAA17FXHM p. 1 p. 11 RAA17FCR RAA17FCH p. 1 p. 11 Yes RAA17FCRM RAA17FCHM p. 1 p. 11 RAA17FXR3 RAA17FXH3 p. 1 p. 11 Yes RAA17FXR3M RAA17FXH3M p. 1 p. 11 RAA17FCR3 RAA17FCH3 p. 1 p. 11 Yes RAA17FCR3M RAA17FCH3M p. 1 p. 11 te: With the optional oil seals, rated outputs of servo motors might be reduced to 8 to 9% of the values in the above table.

25 Standard Model Number List For specifications on other models, contact us for details. Input voltage VAC R Servo Motor Small Capacity, Medium Inertia Standard specifications Output shaft: straight, oil seal: none, connection: cable (no connector) Rated output 1 kw Motor flange size 86 mm sq. 1 mm sq. Protection code IP67 IP6 IP67 IP6 Holding brake Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) CE and UL approved Model no. Battery-less optical absolute encoder (Model. HA3) Only the R 3E Model and R ADVANCED MODEL servo amplifiers are compatible. Optical absolute encoder for incremental systems (Model. PA3S) Specifications Page Dimensions RAAB81FXR RAAB81FXH p. 1 p. 11 Yes RAAB81FXRM RAAB81FXHM p. 1 p. 11 RAAB81FCR RAAB81FCH p. 1 p. 11 Yes RAAB81FCRM RAAB81FCHM p. 1 p. 11 RAAB81HXR RAAB81HXH p. 1 p. 11 Yes RAAB81HXRM RAAB81HXHM p. 1 p. 11 RAAB81HCR RAAB81HCH p. 1 p. 11 Yes RAAB81HCRM RAAB81HCHM p. 1 p. 11 RAAB81FXR3 RAAB81FXH3 p. 1 p. 11 Yes RAAB81FXR3M RAAB81FXH3M p. 1 p. 11 RAAB81FCR3 RAAB81FCH3 p. 1 p. 11 Yes RAAB81FCR3M RAAB81FCH3M p. 1 p. 11 RAAB81HXR3 RAAB81HXH3 p. 1 p. 11 Yes RAAB81HXR3M RAAB81HXH3M p. 1 p. 11 RAAB81HCR3 RAAB81HCH3 p. 1 p. 11 Yes RAAB81HCR3M RAAB81HCH3M p. 1 p. 11 RAA11FXR RAA11FXH p. 1 p. 11 Yes RAA11FXRM RAA11FXHM p. 1 p. 11 RAA11FCR RAA11FCH p. 1 p. 11 Yes RAA11FCRM RAA11FCHM p. 1 p. 11 RAA11FXR3 RAA11FXH3 p. 1 p. 11 Yes RAA11FXR3M RAA11FXH3M p. 1 p. 11 RAA11FCR3 RAA11FCH3 p. 1 p. 11 Yes RAA11FCR3M RAA11FCH3M p. 1 p. 11 Standard Model Number List

26 Standard Model Number List 6 Standard Model Number List For specifications on other models, contact us for details. Input voltage VAC R Servo Motor Medium Capacity, Medium Inertia Standard specifications Output shaft: with key, oil seal: yes, connection: cannon plug ( W to 1 kw), terminal block ( kw or higher) Rated output Motor flange size Protection code W 13 mm sq. IP6 1. kw 13 mm sq. IP6 1.8 kw 13 mm sq. IP6 kw 13 mm sq. IP6 3. kw 18 mm sq. IP6 4. kw 18 mm sq. IP6 Holding brake Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes(4 VDC) Yes(4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) CE and UL approved Model no. Battery-less optical absolute encoder (Model. HA3) Only the R 3E Model and R ADVANCED MODEL servo amplifiers are compatible. Optional cable connection models are also available. (te that cables are not removable.) Optical absolute encoder for incremental systems (Model. PA3S) Specifications Page Dimensions RAA13HXR RAA13HXH p. 11 p. 113 Yes RAA13HXRM RAA13HXHM p. 11 p. 113 RAA13HCR RAA13HCH p. 11 p. 113 Yes RAA13HCRM RAA13HCHM p. 11 p. 113 RAA13DXR RAA13DXH p. 11 p. 113 Yes RAA13DXRM RAA13DXHM p. 11 p. 113 RAA13DCR RAA13DCH p. 11 p. 113 Yes RAA13DCRM RAA13DCHM p. 11 p. 113 RAA131BXR RAA131BXH p. 11 p. 113 Yes RAA131BXRM RAA131BXHM p. 11 p. 113 RAA131BCR RAA131BCH p. 11 p. 113 Yes RAA131BCRM RAA131BCHM p. 11 p. 113 RAA131LXR RAA131LXH p. 1 p. 113 Yes RAA131LXRM RAA131LXHM p. 1 p. 113 RAA131LCR RAA131LCH p. 1 p. 113 Yes RAA131LCRM RAA131LCHM p. 1 p. 113 RAA131DXR RAA131DXH p. 13 p. 113 Yes RAA131DXRM RAA131DXHM p. 13 p. 113 RAA131DCR RAA131DCH p. 13 p. 113 Yes RAA131DCRM RAA131DCHM p. 13 p. 113 RAA1318HXR RAA1318HXH p. 13 p. 113 Yes RAA1318HXRM RAA1318HXHM p. 13 p. 113 RAA1318HCR RAA1318HCH p. 13 p. 113 Yes RAA1318HCRM RAA1318HCHM p. 13 p. 113 RAA1318DXR RAA1318DXH p. 13 p. 113 Yes RAA1318DXRM RAA1318DXHM p. 13 p. 113 RAA1318DCR RAA1318DCH p. 13 p. 113 Yes RAA1318DCRM RAA1318DCHM p. 13 p. 113 RAA13LXR RAA13LXH p. 13 p. 114 Yes RAA13LXRM RAA13LXHM p. 13 p. 114 RAA13LCR RAA13LCH p. 13 p. 114 Yes RAA13LCRM RAA13LCHM p. 13 p. 114 RAA13DXR RAA13DXH p. 14 p. 114 Yes RAA13DXRM RAA13DXHM p. 14 p. 114 RAA13DCR RAA13DCH p. 14 p. 114 Yes RAA13DCRM RAA13DCHM p. 14 p. 114 RAA183LXR RAA183LXH p. 14 p. 11 Yes RAA183LXRM RAA183LXHM p. 14 p. 11 RAA183LCR RAA183LCH p. 14 p. 11 Yes RAA183LCRM RAA183LCHM p. 14 p. 11 RAA183DXR RAA183DXH p. 14 p. 11 Yes RAA183DXRM RAA183DXHM p. 14 p. 11 RAA183DCR RAA183DCH p. 14 p. 11 Yes RAA183DCRM RAA183DCHM p. 14 p. 11 RAA184HXR RAA184HXH p. 14 p. 11 Yes RAA184HXRM RAA184HXHM p. 14 p. 11 RAA184HCR RAA184HCH p. 14 p. 11 Yes RAA184HCRM RAA184HCHM p. 14 p. 11

27 Standard Model Number List For specifications on other models, contact us for details. Input voltage VAC R Servo Motor V System, Medium Capacity, Medium Inertia Standard specifications Output shaft: with key, oil seal: yes, connection: cannon plug ( W to 1 kw), terminal block ( kw or higher) Rated output Motor flange size Protection code kw mm sq. IP6. kw 18 mm sq. IP6 7 kw mm sq. IP6 7. kw 18 mm sq. IP6 11 kw 18 mm sq. IP6 mm sq. IP6 1 kw mm sq. IP6 kw mm sq. IP6 3 kw 7 mm sq. IP6 Holding brake Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) CE and UL approved Model no. Battery-less optical absolute encoder (Model. HA3) Only the R 3E Model and R ADVANCED MODEL servo amplifiers are compatible. Optical absolute encoder for incremental systems (Model. PA3S) Specifications Page Dimensions RAALXR RAALXH p. 1 p. 116 Yes RAALXRM RAALXHM p. 1 p. 116 RAALCR RAALCH p. 1 p. 116 Yes RAALCRM RAALCHM p. 1 p. 116 RAA18RXR RAA18RXH p. 1 p. 11 Yes RAA18RXRM RAA18RXHM p. 1 p. 11 RAA18RCR RAA18RCH p. 1 p. 11 Yes RAA18RCRM RAA18RCHM p. 1 p. 11 RAA18HXR RAA18HXH p. 1 p. 11 Yes RAA18HXRM RAA18HXHM p. 1 p. 11 RAA18HCR RAA18HCH p. 1 p. 11 Yes RAA18HCRM RAA18HCHM p. 1 p. 11 RAA7SXR RAA7SXH p. 1 p. 116 Yes RAA7SXRM RAA7SXHM p. 1 p. 116 RAA7SCR RAA7SCH p. 1 p. 116 Yes RAA7SCRM RAA7SCHM p. 1 p. 116 RAA187HXR RAA187HXH p. 16 p. 11 Yes RAA187HXRM RAA187HXHM p. 16 p. 11 RAA187HCR RAA187HCH p. 16 p. 11 Yes RAA187HCRM RAA187HCHM p. 16 p. 11 RAA1811KRXR RAA1811KRXH p. 16 p. 11 Yes RAA1811KRXRM RAA1811KRXHM p. 16 p. 11 RAA1811KRCR RAA1811KRCH p. 16 p. 11 Yes RAA1811KRCRM RAA1811KRCHM p. 16 p. 11 RAA11KBXR RAA11KBXH p. 16 p. 116 Yes RAA11KBXRM RAA11KBXHM p. 16 p. 116 RAA11KBCR RAA11KBCH p. 16 p. 116 Yes RAA11KBCRM RAA11KBCHM p. 16 p. 116 RAA1KBXR RAA1KBXH p. 16 p. 116 Yes RAA1KBXRM RAA1KBXHM p. 16 p. 116 RAA1KBCR RAA1KBCH p. 16 p. 116 Yes RAA1KBCRM RAA1KBCHM p. 16 p. 116 RAAKBXR RAAKBXH p. 17 p. 117 Yes RAAKBXRM RAAKBXHM p. 17 p. 117 RAAKBCR RAAKBCH p. 17 p. 117 Yes RAAKBCRM RAAKBCHM p. 17 p. 117 RAA83KVXR RAA83KVXH p. 17 p. 117 Preparing Yes (4 VDC) RAA83KVCR RAA83KVCH p. 17 p. 117 Standard Model Number List 7

28 Standard Model Number List Standard Model Number List For specifications on other models, contact us for details. Input voltage VAC R1 Servo Motor V System, Medium Capacity, Low Inertia Standard specifications Output shaft: with key, oil seal: yes, connection: cannon plug (. kw to 1 kw), terminal block (1 kw) Rated output Motor flange size. kw 18 mm sq. 7. kw 18 mm sq. 11 kw 18 mm sq. 1 kw 18 mm sq. Protection code IP6 (Excluding cooling fans) Holding brake Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) 1 kw mm sq. CE and UL approved Model no. Battery-less optical absolute encoder (Model. HA3) Only the R 3E Model and R ADVANCED MODEL servo amplifiers are compatible. Optical absolute encoder for incremental systems (Model. PA3S) Specifications Page Dimensions R1AA18HXR R1AA18HXH p. 18 p. 118 Yes R1AA18HXRM R1AA18HXHM p. 18 p. 118 R1AA18HCR R1AA18HCH p. 18 p. 118 Yes R1AA18HCRM R1AA18HCHM p. 18 p. 118 R1AA187LXR R1AA187LXH p. 18 p. 118 Yes R1AA187LXRM R1AA187LXHM p. 18 p. 118 R1AA187LCR R1AA187LCH p. 18 p. 118 Yes R1AA187LCRM R1AA187LCHM p. 18 p. 118 R1AA1811KRXR R1AA1811KRXH p. 19 p. 118 Yes R1AA1811KRXRM R1AA1811KRXHM p. 19 p. 118 R1AA1811KRCR R1AA1811KRCH p. 19 p. 118 Yes R1AA1811KRCRM R1AA1811KRCHM p. 19 p. 118 R1AA181KBXR R1AA181KBXH p. 19 p. 118 Yes R1AA181KBXRM R1AA181KBXHM p. 19 p. 118 R1AA181KBCR R1AA181KBCH p. 19 p. 118 Yes R1AA181KBCRM R1AA181KBCHM p. 19 p. 118 R1AAKVXR R1AAKVXH p. 19 p. 118 Yes R1AAKVXRM R1AAKVXHM p. 19 p R Servo Motor Small Capacity, Medium Inertia Standard specifications Output shaft: straight, oil seal: none, connecting: cable (no connector) Rated output Motor flange size Protection code W 6 mm sq. IP6 Holding brake Yes (4 VDC) Yes (4 VDC) 38 W 6 mm sq. IP6 Yes (4 VDC) 4 W 6 mm sq. IP6 Yes (4 VDC) 67 W 8 mm sq. IP6 Yes (4 VDC) 71 W 8 mm sq. IP6 Yes (4 VDC) 7 W 8 mm sq. IP6 CE and UL approved Model no. Battery-less optical absolute encoder (Model. HA3) Only the R 3E Model and R ADVANCED MODEL servo amplifiers are compatible. Optical absolute encoder for incremental systems (Model. PA3S) Specifications Page Dimensions RAA6HXR3 RAA6HXH3 p. 11 p. 11 Yes RAA6HXR3M RAA6HXH3M p. 11 p. 11 RAA6HCR3 RAA6HCH3 p. 11 p. 11 Yes RAA6HCR3M RAA6HCH3M p. 11 p. 11 RAA6FXR3 RAA6FXH3 p. 111 p. 11 Yes RAA6FXR3M RAA6FXH3M p. 111 p. 11 RAA6FCR3 RAA6FCH3 p. 111 p. 11 Yes RAA6FCR3M RAA6FCH3M p. 111 p. 11 RAA64HCR3 RAA64HCH3 p. 11 p. 11 Yes RAA64HCR3M RAA64HCH3M p. 11 p. 11 RAA64HXR3 RAA64HXH3 p. 11 p. 11 Yes RAA64HXR3M RAA64HXH3M p. 11 p. 11 RAA64FXR3 RAA64FXH3 p. 111 p. 11 Yes RAA64FXR3M RAA64FXH3M p. 111 p. 11 RAA64FCR3 RAA64FCH3 p. 111 p. 11 Yes RAA64FCR3M RAA64FCH3M p. 111 p. 11 RAA87FCR3 RAA87FCH3 p. 111 p. 11 Yes RAA87FCR3M RAA87FCH3M p. 111 p. 11 RAA87DCR3 RAA87DCH3 p. 11 p. 11 Yes RAA87DCR3M RAA87DCH3M p. 11 p. 11 RAA87DXR3 RAA87DXH3 p. 11 p. 11 Yes RAA87DXR3M RAA87DXH3M p. 11 p. 11 RAA87FXR3 RAA87FXH3 p. 111 p. 11 Yes RAA87FXR3M RAA87FXH3M p. 111 p. 11 te: With the optional oil seals, rated outputs of servo motors might be reduced to 8 to 9% of the values in the above table.

29 Standard Model Number List For specifications on other models, contact us for details. Option R 3E Model Model no. Category Remarks Page AL-3894 Connector to connect servo amplifier (1 to A) Single CN1 p. 1 AL-6367 Connector to connect servo amplifier (1 to A) Single EN1 and EN p. 1 AL Connector to connect servo amplifier (1 to A) Single CNA p. 1 AL-Y479-1 Connector to connect servo amplifier (1 to A) Single CNB p. 1 AL Connector to connect servo amplifier (1 to A) Single CN4 p. 1 AL Connector to connect servo amplifier (1 to A) Single CN4 p. 1 AL-738 Connector to connect servo amplifier (1 to A) Connector set p. 1 AL-7384 Connector to connect servo amplifier (1 to A) Connector set p. 1 AL-7386 Connector to connect servo amplifier (1 to A) Connector set p. 1 AL-7388 Connector to connect servo amplifier (1 to A) Connector set p. 1 AL-739 Connector to connect servo amplifier (1 to A) Connector set p. 1 AL Connector to connect servo amplifier (1 to A) Connector set p. 1 AL-731 Connector to connect servo amplifier (1 to A) Connector set p. 1 AL-7316 Connector to connect servo amplifier (1 to A) Connector set p. 1 AL-7317 Connector to connect servo amplifier (1 to A) Connector set p. 1 AL-7318 Connector to connect servo amplifier (1 to A) Connector set p. 1 AL-7319 Connector to connect servo amplifier (1 to A) Connector set p. 1 AL-3894 Connector to connect servo amplifier (1 to 3 A) Single CN1 p. 13 AL-6367 Connector to connect servo amplifier (1 to 3 A) Single EN1 and EN p. 13 AL-Y19-1 Connector to connect servo amplifier (1 to 6 A) Single CNA pp. 13, 14 AL Connector to connect servo amplifier (1 to 6 A) Single CN4 pp. 13, 14 AL Connector to connect servo amplifier (1 to 6 A) Single CN4 pp. 13, 14 AL Connector to connect servo amplifier (1 to 3 A) Connector set p. 13 AL-714 Connector to connect servo amplifier (1 to 3 A) Connector set p. 13 AL-739 Connector to connect servo amplifier (1 to 3 A) Connector set p. 13 AL-714 Connector to connect servo amplifier (1 to 3 A) Connector set p. 13 AL-7144 Connector to connect servo amplifier (1 to 3 A) Connector set p. 13 AL-7319 Connector to connect servo amplifier (1 to 3 A) Connector set p. 13 AL-6871 Connector to connect servo amplifier (6 A) Single CN9 p. 14 AL-3894 Connector to connect servo amplifier (6 A) Single CN1 p. 14 AL-6367 Connector to connect servo amplifier (6 A) Single EN1 and EN p. 14 AL-Y479-1 Connector to connect servo amplifier (6 A) Single CNB p. 14 AL-Y Connector to connect servo amplifier (6 A) Single CN8 p. 14 AL Connector to connect servo amplifier (6 A) Connector set p. 14 AL-898 Connector to connect servo amplifier (6 A) Connector set p. 14 AL-739 Connector to connect servo amplifier (6 A) Connector set p. 14 AL-8984 Connector to connect servo amplifier (6 A) Connector set p. 14 AL-8986 Connector to connect servo amplifier (6 A) Connector set p. 14 AL-8988 Connector to connect servo amplifier (6 A) Connector set p. 14 AL-7319 Connector to connect servo amplifier (6 A) Connector set p. 14 AL-898 Connector to connect servo amplifier (6 A) Connector set p. 14 AL Copper bar to connect servo amplifier units (6 A) p. 14 AL Cable to connect servo amplifier units (6 A) p. 14 AL Front mounting brackets (1 to 3 A) p. 134 AL Front mounting brackets ( A) p. 134 AL Front mounting brackets (1 A, 1 A) p. 134 AL Front mounting brackets (3 A) p. 134 AL Battery box p. 13 AL Battery for battery box (Lithium battery) p. 13 AL USB communication cable for setup software 1. m p. 131 AL USB communication cable for setup software. m p. 131 AL Communication cable between amplifiers for tandem operation. m p. 131 AL Communication cable between amplifiers for tandem operation 3. m p. 131 R Model no. Category Remarks Page AL-6871 Connector to connect servo amplifier (CApen interface type) Single CN1 p. 16 AL-3896 Connector to connect servo amplifier (CApen interface type) Single CN p. 16 AL Connector to connect servo amplifier (CApen interface type) Single CNA p. 16 AL-Y988-1 Connector to connect servo amplifier (CApen interface type) Single CNB p. 16 AL Connector to connect servo amplifier (CApen interface type) Single CNC p. 16 AL Connector to connect servo amplifier (CApen interface type) Connector set p. 16 AL Connector to connect servo amplifier (CApen interface type) Connector set p. 16 AL-6871 Connector to connect servo amplifier (CApen interface type) Single CN1 p. 16 AL-3896 Connector to connect servo amplifier (CApen interface type) Single CN p. 16 AL-Y988- Connector to connect servo amplifier (CApen interface type) Single CNA p. 16 AL Connector to connect servo amplifier (CApen interface type) Single CNB p. 16 AL Connector to connect servo amplifier (CApen interface type) Single CNC p. 16 AL Connector to connect servo amplifier (CApen interface type) Connector set p. 16 AL Connector to connect servo amplifier (CApen interface type) Connector set p. 16 AL-3894 Connector to connect servo amplifier (Built-in positioning function type) Single CN1 p. 17 AL-3896 Connector to connect servo amplifier (Built-in positioning function type) Single CN p. 17 AL Connector to connect servo amplifier (Built-in positioning function type) Single CNA p. 17 AL-Y988-1 Connector to connect servo amplifier (Built-in positioning function type) Single CNB p. 17 AL Connector to connect servo amplifier (Built-in positioning function type) Single CNC p. 17 AL Connector to connect servo amplifier (Built-in positioning function type) Connector set p. 17 AL-939 Connector to connect servo amplifier (Built-in positioning function type) Connector set p. 17 AL-3894 Connector to connect servo amplifier (Built-in positioning function type) Single CN1 p. 17 AL-3896 Connector to connect servo amplifier (Built-in positioning function type) Single CN p. 17 AL Connector to connect servo amplifier (Built-in positioning function type) Single CNA p. 17 AL-Y988-1 Connector to connect servo amplifier (Built-in positioning function type) Single CNB p. 17 AL Connector to connect servo amplifier (Built-in positioning function type) Single CNC p. 17 AL Connector to connect servo amplifier (Built-in positioning function type) Connector set p. 17 AL-939 Connector to connect servo amplifier (Built-in positioning function type) Connector set p. 17 AL-Y49- Connector to connect servo amplifier (Built-in positioning function type) Single CN1 p. 17 AL-Y33-1 Connector to connect servo amplifier (Multi-axis pulse input type) Single CN1 p. 18 AL-6367 Connector to connect servo amplifier (Multi-axis pulse input type) Single CN and CN6 p. 18 AL-6364 Connector to connect servo amplifier (Multi-axis pulse input type) Single CNC p. 18 AL-636 Connector to connect servo amplifier (Multi-axis pulse input type) Single CNA p. 18 AL-636 Connector to connect servo amplifier (Multi-axis pulse input type) Single CNB p. 18 AL-3894 Connector to connect servo amplifier (Multi-axis pulse input type) Single CN1A and CN1B p. 18 AL Connector to connect servo amplifier (Multi-axis pulse input type) Connector set p. 18 AL-6369 Connector to connect servo amplifier (Multi-axis pulse input type) Connector set p. 18 AL Communication cable for setup software.8 m p. 131 AL Battery (Lithium battery) p. 13 AL Mounting brackets (Built-in positioning function type) p. 137 AL Mounting brackets (Built-in positioning function type) p. 137 AL Mounting brackets (Built-in positioning function type) p. 137 AL Mounting brackets (Built-in positioning function type) p. 137 AL Mounting brackets (Built-in positioning function type) p. 137 R 3E Model R ADVANCED Model no. Category Remarks Page AL Encoder extension cable with battery With connectors on both ends p. 13 AL Encoder extension cable with battery With a connector on one end p. 13 AL Battery for encoder extension cable (Lithium battery) p. 13 Q-MON-3 Analog monitor monitor box p. 133 AL-69-1 Analog monitor dedicated cable p. 133 Standard Model Number List R ADVANCED Model no. Category Remarks Page AL-6367 Connector to connect servo amplifier (1 to A) Single EN1 and EN p. 1 AL Connector to connect servo amplifier (1 to A) Single CNA p. 1 AL-Y479-1 Connector to connect servo amplifier (1 to A) Single CNB p. 1 AL Connector to connect servo amplifier (1 to A) Single CN1 p. 1 AL Connector to connect servo amplifier (1 to A) Single CN1 p. 1 AL Connector to connect servo amplifier (1 to A) Single CN p. 1 AL Connector to connect servo amplifier (1 to A) Connector set p. 1 AL-8873 Connector to connect servo amplifier (1 to A) Connector set p. 1 AL Connector to connect servo amplifier (1 to A) Connector set p. 1 AL Connector to connect servo amplifier (1 to A) Connector set p. 1 AL-6367 Connector to connect servo amplifier (1 to 3 A) Single EN1 and EN p. 1 AL-Y19-1 Connector to connect servo amplifier (1 to 3 A) Single CNA p. 1 AL Connector to connect servo amplifier (1 to 3 A) Single CN1 p. 1 AL Connector to connect servo amplifier (1 to 3 A) Single CN1 p. 1 AL Connector to connect servo amplifier (1 to 3 A) Single CN p. 1 AL-8873 Connector to connect servo amplifier (1 to 3 A) Connector set p. 1 AL Connector to connect servo amplifier (1 to 3 A) Connector set p. 1 AL Communication cable for setup software.8 m p. 131 AL Front mounting brackets (1 A, 3 A) p. 136 AL Front mounting brackets ( A) p. 136 AL Front mounting brackets (3 A) p. 136 R 3E Model R ADVANCED R Model no. Category Remarks Page REGIST-8W1B External regenerative resistor p. 133 REGIST-8WB External regenerative resistor p. 133 REGIST-1W1B External regenerative resistor p. 133 REGIST-1WB External regenerative resistor p. 133 REGIST-WB External regenerative resistor p. 133 REGIST-WB External regenerative resistor p. 133 REGIST-W1B External regenerative resistor p. 133 REGIST-CWB External regenerative resistor p. 133 REGIST-CW14B External regenerative resistor p. 133 REGIST-CW1B External regenerative resistor p. 133 REGIST-CW7B External regenerative resistor p. 133 For connectors to connect motors, refer to p. 13. For servo motor extension cables and for servo motors with extension cable connectors, refer to p

30 Standard Model Number List Standard Model Number List For specifications on other models, contact us for details. Input voltage VAC Made in The Philippines 3 The products in this page are made in Philippines. They can be delivered to you faster. Servo Amplifier R 3E Model Analog/Pulse Input type Main circuit power supply VAC system to 4 VAC 3-phase (can be also used for single-phase with A or lower.) Control circuit power supply VAC system to 4 VAC Single phase Encoder type Serial encoder General output Sink type (NPN) Built-in regenerative resistor Yes Safe Torque Off function (no delay), Tandem operation function Amplifier capacity Servo Amplifier R ADVANCED MODEL EtherCAT Interface type Main circuit power supply VAC system to 3 VAC 3-phase Control circuit power supply VAC system to 3 VAC Single phase Encoder type Serial encoder General output Photo relay output Built-in regenerative resistor Yes Safe Torque Off function Yes (with delay circuit) Model no. Specifications Page External dimensions 1A RS3A1AALW p. 44 p. 4 A RS3AAALW p. 44 p. 4 3A RS3A3AALW p. 44 p. 4 A RS3AAALW p. 44 p. 46 1A RS3A1AAAW p. 44 p. 4 A RS3AAAAW p. 44 p. 4 3A RS3A3AAAW p. 44 p. 4 A RS3AAAAW p. 44 p. 46 Amplifier capacity Model no. Specifications Page External dimensions 1A RSA1AHAW p. 6 p. 63 3A RSA3AHAW p. 6 p. 63 A RSAAHAW p. 6 p. 63 Our standard servo amplifiers conform to UL, c-ul, and EN standards. R 3E Model and R ADVANCED MODEL EtherCAT Interface type have also acquired the KC mark. R Servo Motor V System, Small Capacity, Medium Inertia Rated output Motor flange size Protection code 8 W 4 mm sq. IP67 9 W 4 mm sq. IP67 Yes (4 VDC) 1 W 4 mm sq. IP67 W 6 mm sq. IP67 Holding CE and UL Output Oil Page Encoder Model no. brake approved shaft seal Specifications Dimensions Battery-backup method absolute encoder With key Yes RAA41FXP9 p. 98 p. 11 Yes (4 VDC) Battery-backup method absolute encoder With key Yes RAA41FCP9 p. 98 p. 11 Battery-backup method absolute encoder Round RAA41FCP p. 98 p. 11 Battery-backup method absolute encoder With key RAA41FCP1C p. 98 p. 11 Absolute encoder for incremental system Round RAA41FCH p. 98 p. 11 Yes Battery-backup method absolute encoder Round RAA41FCPM6 p. 98 p. 11 Yes Battery-backup method absolute encoder With key RAA41FCP1CM6 p. 98 p. 11 Yes Absolute encoder for incremental system Round RAA41FCHM6 p. 98 p. 11 Yes Absolute encoder for incremental system With key RAA41FCH1CM6 p. 98 p. 11 Battery-backup method absolute encoder Round RAA41FXP p. 98 p. 11 Battery-backup method absolute encoder With key RAA41FXP1C p. 98 p. 11 Absolute encoder for incremental system Round RAA41FXH p. 98 p. 11 Absolute encoder for incremental system With key RAA41FXH1C p. 98 p. 11 Yes Absolute encoder for incremental system Round RAA41FXHM p. 98 p. 11 Yes Absolute encoder for incremental system With key RAA41FXH1CM p. 98 p. 11 Battery-backup method absolute encoder Round RAA6FXP p. 99 p. 11 Battery-backup method absolute encoder With key RAA6FXP11 p. 99 p. 11 Battery-backup method absolute encoder With key Yes RAA6FXP9 p. 99 p. 11 Absolute encoder for incremental system Round RAA6FXH p. 99 p. 11 Absolute encoder for incremental system With key RAA6FXH11 p. 99 p. 11 Yes Battery-backup method absolute encoder Round RAA6FXPM p. 99 p. 11 Yes Battery-backup method absolute encoder With key RAA6FXP11M p. 99 p. 11 Yes Absolute encoder for incremental system Round RAA6FXHM p. 99 p. 11 Yes Absolute encoder for incremental system With key RAA6FXH11M p. 99 p. 11 Battery-backup method absolute encoder Round RAA6FCP p. 99 p. 11 Battery-backup method absolute encoder With key RAA6FCP11 p. 99 p. 11 Battery-backup method absolute encoder With key Yes RAA6FCP9 p. 99 p. 11 Absolute encoder for incremental system Round RAA6FCH p. 99 p. 11 Yes (4 VDC) Absolute encoder for incremental system With key RAA6FCH11 p. 99 p. 11 Yes Battery-backup method absolute encoder Round RAA6FCPM p. 99 p. 11 Yes Battery-backup method absolute encoder With key RAA6FCP11M p. 99 p. 11 Yes Absolute encoder for incremental system Round RAA6FCHM p. 99 p. 11 Yes Absolute encoder for incremental system With key RAA6FCH11M p. 99 p. 11

31 Standard Model Number List For specifications on other models, contact us for details. Input voltage VAC Made in The Philippines The products in this page are made in the Philippines. They can be delivered to you faster. R Servo Motor V System, Small Capacity, Medium Inertia Rated output Motor flange size Protection code 3 W 6 mm sq. IP67 Holding brake Yes (4 VDC) CE and UL approved Encoder Output shaft Oil seal Model no. Specifications Page Dimensions Battery-backup method absolute encoder With key Yes RAA64FXP9 p. 99 p. 11 Absolute encoder for incremental system Round Yes RAA64FXH1 p. 99 p. 11 Battery-backup method absolute encoder With key Yes RAA64FCP9 p. 99 p. 11 Absolute encoder for incremental system Round Yes RAA64FCH1 p. 99 p. 11 Standard Model Number List Battery-backup method absolute encoder Round RAA64FCP p. 99 p. 11 Battery-backup method absolute encoder With key RAA64FCP11 p. 99 p. 11 Absolute encoder for incremental system Round RAA64FCH p. 99 p W 6 mm sq. IP67 Yes (4 VDC) Absolute encoder for incremental system With key RAA64FCH11 p. 99 p. 11 Yes Battery-backup method absolute encoder Round RAA64FCPM6 p. 99 p. 11 Yes Absolute encoder for incremental system Round RAA64FCHM6 p. 99 p. 11 Yes Absolute encoder for incremental system With key RAA64FCH11M6 p. 99 p. 11 Battery-backup method absolute encoder Round RAA64FXP p. 99 p. 11 Battery-backup method absolute encoder With key RAA64FXP11 p. 99 p. 11 Absolute encoder for incremental system Round RAA64FXH p. 99 p W 6 mm sq. IP67 Absolute encoder for incremental system With key RAA64FXH11 p. 99 p. 11 Yes Battery-backup method absolute encoder Round RAA64FXPM p. 99 p W 8 mm sq. IP67 7 W 8 mm sq. IP67 1. kw 86 mm sq. IP67 Yes (4 VDC) Yes (4 VDC) Yes (4 VDC) Yes Battery-backup method absolute encoder With key RAA64FXP11M p. 99 p. 11 Yes Absolute encoder for incremental system Round RAA64FXHM p. 99 p. 11 Yes Absolute encoder for incremental system With key RAA64FXH11M p. 99 p. 11 Battery-backup method absolute encoder With key Yes RAA87FXP9 p. 1 p. 11 Yes Absolute encoder for incremental system With key Yes RAA87FXH9M6 p. 1 p. 11 Battery-backup method absolute encoder Round Yes RAA87FCP1 p. 1 p. 11 Battery-backup method absolute encoder With key Yes RAA87FCP9 p. 1 p. 11 Absolute encoder for incremental system Round Yes RAA87FCH1 p. 1 p. 11 Battery-backup method absolute encoder Round RAA87FXP p. 1 p. 11 Battery-backup method absolute encoder With key RAA87FXP11 p. 1 p. 11 Absolute encoder for incremental system Round RAA87FXH p. 1 p. 11 Absolute encoder for incremental system With key RAA87FXH11 p. 1 p. 11 Yes Battery-backup method absolute encoder Round RAA87FXPM p. 1 p. 11 Yes Absolute encoder for incremental system Round RAA87FXHM p. 1 p. 11 Yes Absolute encoder for incremental system With key RAA87FXH11M p. 1 p. 11 Battery-backup method absolute encoder Round RAA87FCP p. 1 p. 11 Battery-backup method absolute encoder With key RAA87FCP11 p. 1 p. 11 Absolute encoder for incremental system Round RAA87FCH p. 1 p. 11 Absolute encoder for incremental system With key RAA87FCH11 p. 1 p. 11 Yes Battery-backup method absolute encoder Round RAA87FCPM p. 1 p. 11 Yes Absolute encoder for incremental system Round RAA87FCHM p. 1 p. 11 Yes Absolute encoder for incremental system With key RAA87FCH11M p. 1 p. 11 Battery-backup method absolute encoder Round RAAB81FXP4 p. 1 p. 11 Battery-backup method absolute encoder Round RAAB81HXP4 p. 1 p. 11 Absolute encoder for incremental system Round RAAB81FXH4 p. 1 p. 11 Absolute encoder for incremental system With key Yes RAAB81HXHA p. 1 p. 11 Battery-backup method absolute encoder Round RAAB81HCP4 p. 1 p. 11 Absolute encoder for incremental system With key Yes RAAB81HCHA p. 1 p

32 Standard Model Number List Standard Model Number List For specifications on other models, contact us for details. Input voltage VAC Made in The Philippines R Servo Motor V System, Medium Capacity, Medium Inertia Rated output Motor flange size Protection code Holding brake CE and UL approved Encoder Output shaft Oil seal Model no. Specifications Page Dimensions Battery-backup method absolute encoder With key Yes RAA131BXP p. 11 p. 113 Battery-backup method absolute encoder With key Yes RAA131LXP p. 1 p. 113 Battery-backup method absolute encoder With key Yes RAA131DXP p. 13 p. 113 Absolute encoder for incremental system With key Yes RAA131BXH p. 11 p. 113 Absolute encoder for incremental system With key Yes RAA131LXH p. 1 p kw 13 mm sq. IP6 Absolute encoder for incremental system With key Yes RAA131DXH p. 13 p. 113 Battery-backup method absolute encoder With key Yes RAA131BCP p. 11 p. 113 Battery-backup method absolute encoder With key Yes RAA131LCP p. 1 p. 113 Yes (4 VDC) Battery-backup method absolute encoder With key Yes RAA131DCP p. 13 p. 113 Absolute encoder for incremental system With key Yes RAA131BCH p. 11 p. 113 Absolute encoder for incremental system With key Yes RAA131LCH p. 1 p. 113 Absolute encoder for incremental system With key Yes RAA131DCH p. 13 p. 113 Battery-backup method absolute encoder With key Yes RAA13LXPW p. 13 p. 114 Battery-backup method absolute encoder With key Yes RAA13DXPW p. 13 p. 114 Absolute encoder for incremental system With key Yes RAA13LXHW p. 13 p kw 13 mm sq. IP6 Absolute encoder for incremental system With key Yes RAA13DXHW p. 13 p. 114 Battery-backup method absolute encoder With key Yes RAA13LCPW p. 13 p. 114 Yes (4 VDC) Battery-backup method absolute encoder With key Yes RAA13DCPW p. 13 p. 114 Absolute encoder for incremental system With key Yes RAA13LCHW p. 13 p. 114 Absolute encoder for incremental system With key Yes RAA13DCHW p. 13 p

33 Set Models Input voltage VAC We offer 3 to 7 W AC servo motors and servo amplifiers in sets with peripheral cables and connectors. Set contents Servo motor Servo amplifier Connectors Cable (option) Extension cable for servo motor (1,, 3,, and 1 m) * Select the cable length Encoder extension cable with battery * t necessary when used as an incremental system USB communication cable (1 and m) * Select the cable length Standard Model Number List Servo motor specifications Protection code: IP67, CE/UL approval:, Encoder classification: Battery-backup method absolute encoder (Model no. PA3C), Output shaft: Straight, Oil seal:, Connection: Cable with relay connector. (Connector specification p.138) Servo amplifier specifications Main circuit power supply: 3-Phase to 4 VAC, Interface: Analog/Pulse input type, General output: Sink (NPN), Built-in regenerative resistor, Safe Torque Off function:. Rated output Motor flange size Holding brake Order number for set models Motor model no. Set components Page Amplifier Page Specifications Dimensions model no. Specifications Dimensions Connector 3 W SR43X1 RAA43FXPA p. 98 p.11 Yes (4 VDC) SR43C1 RAA43FCPA p. 98 p.11 W 4 mm sq. SR4X1 RAA4FXPA p. 98 p.11 Yes (4 VDC) SR4C1 RAA4FCPA p. 98 p.11 9 W Yes (4 VDC) SR41C1 RAA41FCPA p. 98 p.11 1 W SR41X1 RAA41FXPA p. 98 p.11 1 W W 6 mm sq. SR61X1 RAA61FXPA p. 98 p.11 Yes (4 VDC) SR61C1 RAA61FCPA p. 98 p.11 SR6X RAA6FXPA p. 99 p.11 Yes (4 VDC) SR6C RAA6FCPA p. 99 p W Yes (4 VDC) SR64C RAA64FCPA p. 99 p.11 4 W SR64X RAA64FXPA p. 99 p.11 RS3A1AAA p. 44 p. 4 RS3AAAA p. 44 p. 4 Connector for connections with host devices (CN1) Connector for input power supply and regenerative resistor connections (CNA) 7 W 8 mm sq. SR87X3 RAA87FXPA p. 1 p.11 Yes (4 VDC) SR87C3 RAA87FCPA p. 1 p.11 RS3A3AAA p. 44 p. 4 33

34 Standard Model Number List Set Models Input voltage VAC Options (sold separately) These items will be shipped altogether with the purchased set model. Type Servo motor extension cable (Servo motor Servo amplifier) (1) For power () For encoder (3) For brake (4) Encoder extension cable with battery (Servo amplifier Encoder) Connected when using a battery-backup method absolute encoder Cable length (m) Model no. Page 1 RS-CM4-1-R p. 138 RS-CM4--R p RS-CM4-3-R p. 138 RS-CM4--R p RS-CM4-1-R p RS-CA4-1-R p. 138 RS-CA4--R p RS-CA4-3-R p. 138 RS-CA4--R p RS-CA4-1-R p RS-CB3-1-R p. 138 RS-CB3--R p RS-CB3-3-R p. 138 RS-CB3--R p RS-CB3-1-R p AL p. 13 () USB communication cable (PC communication cable for setup software) 1 AL p. 131 AL p. 131 Servo amplifier PC Connector for input power supply and regenerative resistor (CNA) (accessory) () USB communication cable Power supply input (6) External regenerative resistor Host device Connector for connections with host devices (CN1) (4) Encoder extension cable with battery EN1 Servo motor extension cable for power (1) Servo motor extension cable for encoder () Power supply input Servo motor extension cable for brake (3) Servo motors with connectors for extension cables (Cable length. m) 34 Servo motor

35 Servo Amplifiers R 3E Model Analog/Pulse Input type Servo Amplifier Capacity: 1 to 6 A More evolved AC servo amplifiers that provide improved basic performance such as high responsiveness, and are more eco-efficient and easier to use. How to read model numbers te that not all the possible combinations of the numbers and characters below are valid. Also, some of the numbers/characters listed below are for optional models. For model numbers valid as standard products, refer to Standard Model Number List. Servo amplifier RS3 A 1 A A A Option Speed/torque command input circuit Safe Torque Off function Tandem operation function Available ne ne Available Available (without delay circuit) Available 4 Available Available (with delay circuit) Available Option 1 A With built-in regenerative resistor & With DB resistor (for 1 to 1 A) L Without built-in regenerative resistor & With DB resistor M Without built-in regenerative resistor & Without DB resistor (for 6 A only) Interface type A Analog pulse train, Sink (NPN) type general-purpose output (Current flows from load to output terminal when output is ON) B Analog pulse train, Source (PNP) type general-purpose output (Current flows from output terminal to load when output is ON) Encoder connection type Input voltage A VAC E 1 VAC W 8 VDC Servo motor type A Rotary motor Servo amplifier capacity 1 1 A A 3 3 A A 1 1 A 1 1 A 3 3 A 6 6 A Serial encoder Serial encoder Pulse encoder Pulse encoder (6 A only. The power supply unit for simultaneous use has VAC input) 8 A EN1 (motor encoder) EN (external pulse encoder or motor encoder for fully-closed system) Pulse encoder for motor External pulse encoder for fully-closed system External pulse encoder for fully-closed system 3E Model series Power supply unit for 6 A Motor parameters need to be set for the amplifier before use. Please use the setup software for parameter setting. RS3PA A 7 Rated output 7 7 kw Input voltage A VAC Specification identifier Standard 3E Model series power supply unit 3

36 Servo Amplifiers R 3E Model Analog/Pulse Input type System Configuration 1 to A The photograph shows the 3 A model. T S R 17 Molded case circuit breaker (MCCB) Option Setup software Servo amplifier 1 18 ise filter Electromagnetic contactor CNA 19 8 Option USB communication cable 3 Option USB Option Communication cable between amplifiers for tandem operation A variety of connector types for host device connection 1 Option External regenerative resistor 9 4 CN1 Host device CNB CN4 7 6 EN1 Encoder connection for fully-closed EN control (option) CN3 11 Option Encoder extension cable with battery (with connectors on both ends) 1 13 Option Battery box Option Servo motor extension cable for power 1 Option Servo motor extension cable for encoder Brake power 14 Option Servo motor extension cable for brake 16 Safety unit, safety PLC, etc. 36 Servo motor *Connector specifications for standard servo motors For servo motors with flange size smaller than 1 mm sq.: Cable without connector. (when servo motors are smaller than 8 mm sq., a cable with a connector is available as an option. Refer to p. 138) For servo motors with flange size larger than 13 mm sq.: Cannon plug (when the motor capacity is less than 1 kw), Terminal block (when the motor capacity is more than kw)

37 Options and Peripherals (1 to A). Name Model no. Description Page 1 Setup software Can be downloaded from Product Information on our website. Parameters can be set and monitored via communication with a PC. USB communication cable AL PC communication cable for setup software p Communication cable between amplifiers for AL Connects between amplifiers for tandem operation (CN CN) p. 131 tandem operation 4 CN1 connector AL-3894 To connect to host device p. 1 CN4 connector AL (for short circuits), AL To be connect to safety device (for short circuits and wiring) p. 1 (for wiring) 6 EN1, EN connectors AL-6367 To connect to encoders p. 1 7 CN3 connector To connect to battery box. Supplied with the battery box 8 CNA connector AL For input power supply and regenerative resistor connections p. 1 9 CNB connector AL-Y479-1 To connect to servo motor p. 1 1 Battery box AL Used when using a battery-backup method absolute encoder p. 13 Encoder extension cable with 11 battery (with connectors on both ends) 1 Servo motor extension cable (Compatible with the optional servo motors with connectors for extension cables) p. 1 AL Used when using a battery-backup method absolute encoder (For servo motors with connector-less cable, use AL with a connector on one end.) p. 13 RS-CA4- -R Encoder extension cable with connectors on both ends p RS-CM4- -R Power extension cable with connectors on both ends p RS-CB3- -R Brake extension cable with connectors on both ends p External regenerative resistor 16 Safety unit, safety PLC, etc. REGIST- W B REGIST-CW B To be provided by the customer Used for special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier s built-in regenerative resistor Connects I/O signals from the Safe Torque Off function to devices such as the safety unit and safety PLC. p. 133 Servo Amplifiers R 3E Model Analog/Pulse Input type 17 Molded case circuit breaker (MCCB) 18 ise filter 19 Electromagnetic contactor Brake power To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer Connector sets are also available with set model numbers. See respective pages. Used to protect the power line. Used to prevent external noise from the power source line. Used to switch the power on and off. Used for servo motors with brake 37

38 Servo Amplifiers R 3E Model Analog/Pulse Input type System Configuration 1 to 1 A The photograph shows the 1 A model. T S R Option Setup software 13 Molded case circuit breaker (MCCB) Servo amplifier 1 14 ise filter Option USB communication cable 3 CN USB Option Communication cable between amplifiers for tandem operation 1 Electromagnetic contactor Option External regenerative resistor Option A variety of connector types for host device connection CN1 CN4 EN1 Encoder connection for fully-closed EN control (option) CN3 1 Host device (To be provided by the customer) Option Encoder extension cable with battery (with connectors on one end) 9 Option Battery box 1 16 Safety unit, safety PLC, etc. Brake power Servo motor *Connector specifications for standard servo motors For servo motors with flange size larger than 13 mm sq.: Cannon plug (when the motor capacity is less than 1 kw), Terminal block (when the motor capacity is more than kw) 38

39 Options and Peripherals (1 to 1 A). Name Model no. Description Page 1 Setup software Can be downloaded from Product Information on our website. Parameters can be set and monitored via communication with a PC. USB communication cable AL PC communication cable for setup software p Communication cable between amplifiers for AL Connects between amplifiers for tandem operation (CN CN) p. 131 tandem operation 4 CN1 connector AL-3894 To connect to host device p. 13 CN4 connector AL (for short circuits), AL To be connect to safety device (for short circuits and wiring) p. 13 (for wiring) 6 EN1, EN connectors AL-6367 To connect to encoders p CN3 connector To connect to battery box. Supplied with the battery box. 8 CNA connector AL-Y19-1 For control circuit power supply input p Battery box AL Used when using a battery-backup method absolute encoder p Encoder extension cable with battery (with connectors on one end) AL Used when using a battery-backup method absolute encoder p External regenerative resistor 1 Safety unit, safety PLC, etc. 13 Molded case circuit breaker (MCCB) 14 ise filter REGIST- W B, REGIST-CW B To be provided by the customer To be provided by the customer To be provided by the customer Used for special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier s built-in regenerative resistor Connects I/O signals from the Safe Torque Off function to devices such as the safety unit and safety PLC. Used to protect the power line. Used to prevent external noise from the power source line. 1 Electromagnetic contactor To be provided by the customer Used to switch the power on and off. 16 Brake power To be provided by the customer Used for servo motors with brake Connector sets are also available with set model numbers. See respective pages. p. 1 p. 133 Servo Amplifiers R 3E Model Analog/Pulse Input type 39

40 Servo Amplifiers R 3E Model Analog/Pulse Input type System Configuration 3 A T S R 13 Molded case circuit breaker (MCCB) Option Setup software 14 ise filter Servo amplifier 1 Option USB communication cable USB 1 Electromagnetic contactor 11 Option External regenerative resistor Option 3 Communication cable between CN amplifiers for tandem operation Option A variety of connector types for host device connection CN4 CN1 EN1 Encoder connection EN for fully-closed control (option) CN3 7 1 Host device (To be provided by the customer) Option Encoder extension cable with battery (with connectors on one end) 9 Option Battery box 16 Brake power 1 Fan power supply (for single phase) Safety unit, safety PLC, etc. Servo motor *Connector specifications for standard servo motors For servo motors with flange size larger than 13 mm sq.: Cannon plug (when the motor capacity is less than 1 kw), Terminal block (when the motor capacity is more than kw) 4

41 Options and Peripherals (3 A). Name Model no. Description Page 1 Setup software Can be downloaded from Product Information on our website. Parameters can be set and monitored via communication with a PC. USB communication cable AL PC communication cable for setup software p Communication cable between amplifiers for AL Connects between amplifiers for tandem operation (CN CN) p. 131 tandem operation 4 CN1 connector AL-3894 To connect to host device p. 13 CN4 connector AL (for short circuits), AL To be connect to safety device (for short circuits and wiring) p. 13 (for wiring) 6 EN1, EN connectors AL-6367 To connect to encoders p CN3 connector To connect to battery box. The connector is supplied with the battery box. 8 CNA connector AL-Y19-1 For control circuit power supply input p Battery box AL Used when using a battery-backup method absolute encoder p Encoder extension cable with battery (with connectors on one end) 11 External regenerative resistor 1 Safety unit, safety PLC, etc. 13 Molded case circuit breaker (MCCB) 14 ise filter 1 Electromagnetic contactor AL REGIST- W B, REGIST-CW B To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer Connected when using a battery-backup method absolute encoder with an extension cable Used for special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier s built-in regenerative resistor Connects I/O signals from the Safe Torque Off function to devices such as the safety unit and safety PLC. Used to protect the power line. Used to prevent external noise from the power source line. Used to switch the power on and off. p. 1 p. 13 p. 133 Servo Amplifiers R 3E Model Analog/Pulse Input type To be provided by the 16 Brake power Used for servo motors with brake customer Connector sets are also available with set model numbers. See respective pages. 41

42 Servo Amplifiers R 3E Model Analog/Pulse Input type System Configuration 6 A T S R 17 Molded case circuit breaker (MCCB) Option Setup software 18 ise filter Option External regenerative resistor 16 Power supply unit RB1 RB L1(R) L(S) Option A variety of connector types for host device connection Option Connecting cable between units CN9 CNA 1 r t Control circuit power supply ++DDCC-13 -DDCCOption Copper bar L3(T) (E) Amplifier unit CNA CN U V W (E) 14 USB Option USB communication Option cable Communication cable 3 between amplifiers for tandem operation CN1 4 EN1 6 EN Encoder CN3 connection for fully-closed 7 control (option) 1 1 Host device (To be provided by the customer) Option Encoder extension cable with battery (with connectors on one end) Electromagnetic contactor Frame ground Option Battery box 19 r t Control circuit power supply Dynamic brake resistor 1 Brake power Fan power supply (for 3-phase) Servo motor *Connector specifications for standard servo motors For servo motors with flange size larger than 13 mm sq.: Cannon plug (when the motor capacity is less than 1 kw), Terminal block (when the motor capacity is more than kw) 4

43 Options and Peripherals (6 A). Name Model no. Description Page 1 Setup software Can be downloaded from Product Information on our website. Parameters can be set and monitored via communication with a PC. USB communication cable AL PC communication cable for setup software p Communication cable between amplifiers for tandem operation AL Connects between amplifiers for tandem operation (CN CN) p CN1 connector AL-3894 To connect to host device p. 14 CN4 connector AL (for short circuits), AL To be connect to safety device (for short circuits and wiring) p. 14 (for wiring) 6 EN1, EN connectors AL-6367 To connect to encoders p CN3 connector To connect to battery box. Supplied with the battery box. 8 CNA connector AL-Y19-1 For control circuit power supply input p CNB connector AL-Y479-1 For dynamic brake signal p CN9 connector AL-6871 To connect between units (single item) p CN8 connector AL-Y For external alarm signal p Connection cable between units AL To connect between power unit (CN9) and amplifier unit (CN9) p. 14 To connect main power supply between power unit (CN9) and 13 Copper bar AL amplifier unit (CN9) p. 14 Terminal number: Between +DC/-DC -pc. set ( mm between units) 14 Battery box AL Connected when using a battery-backup method absolute encoder p Encoder extension cable with battery (with connectors on one end) AL Connected when using a battery-backup method absolute encoder p External regenerative resistor 17 Molded case circuit breaker (MCCB) 18 ise filter 19 Electromagnetic contactor Brake power 1 Dynamic brake resistor REGIST- W B, REGIST-CW B To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer Used for special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier s built-in regenerative resistor Used to protect the power line. Used to prevent external noise from the power source line. Used to switch the power on and off. Used for servo motors with brake t built in this servo amplifier. Connect as necessary. p. 1 p. 133 Servo Amplifiers R 3E Model Analog/Pulse Input type Connector sets are also available with set model numbers. See respective pages. 43

44 Servo Amplifiers R 3E Model Analog/Pulse Input type General Specifications Control function Control system Main Circuit Power Supply * 1 Control circuit power supply * 1 Environment Structure Position control/speed control/torque control (Parameter switching) IGBT: PWM control, sinusoidal drive 3-Phase: to 4 VAC +1, -1%, /6 Hz±3 Hz Single-phase: to 4 VAC +1, -1%, /6 Hz±3 Hz * Single-phase: 1 to 1 VAC +1, -1%, /6 Hz±3 Hz * 3 Single-phase: to 4 VAC +1, -1%, /6 Hz±3 Hz Single-phase: 1 to 1 VAC +1, -1%, /6 Hz±3 Hz * 3 Ambient temperature to + C Storage temperature - to +6 C Operation and Below 9%RH (non-condensing) Storage humidity Operation altitude Below 1 m 4.9 m/s Vibration resistance freq. range 1 to Hz tested for hours in each X, Y and Z-axis directions Impact resistance 19.6m/s 1 to 3 A: Built-in tray type power supply, 6 A: Separate power supply unit *1 Power source voltage should be within the specified range below. [ VAC power input type]: Specified power supply range = 17 to 64 VAC [1 VAC power input type]: Specified power supply range = 8 to 13 VAC * The VAC single-phase input type is compatible only with RS3 1, RS3, RS3 3, and RS3. Please set parameters before using singlephase input. *3 The 1 VAC single-phase input type is compatible only with RS3 1, RS3, and RS3 3. Please set parameters before using singlephase input. RoHS Performance Speed control range Frequency characteristics Permissible load moment of inertia 1: (Internal speed command) Hz (In high frequency sampling mode) *Differs for each model. 1 times the motor rotary inertia Built-in functions Overcurrent, Current detection error, Overload, Regeneration error, Overheating, External error, Overvoltage, Main circuit power supply Protection functions undervoltage Main circuit power supply open phase, Control circuit power supply undervoltage, Encoder error, Overspeed, Speed control error, Speed feedback error, Excessive position deviation, Position command pulse error, Built-in memory error, Parameter error, Cooling fan error Digital operator Status display, Monitor display, Alarm display, Parameter setting, Test run, Adjustment mode Dynamic brake circuit Built in/ne selectable (except for 6 A) Regenerative resistor 1 to 1 A: Models with or without built-in resistor selectable, 3 to 6 A: ne *For all models from 1 to 6 A, optional external resistors can be equipped. Monitor Speed monitor (VMON). V±1% (at 1 min -1 ), Torque (thrust force) command monitor (TCMON). V±1% (at 1%) Safety standards Servo amplifier type All models Models equipped with the Safe Torque Off function only Safety standards rth American safety standards (UL ratings) rth American safety standards (UL ratings) KC Mark (Korea Certification Mark) Safety feature standards UL8C Low-voltage directive EN EMC directive EN11 G1 ClassA, EN618-3, EN KN61-6-, KN IEC 618: SIL3, ISO Cat.3: PL=e, IEC 661: SILCL3 General-purpose output specifications Sink type (NPN) Source type (PNP) Servo amplifier Host device Servo amplifier Host device 49 OUT-PWR 49 OUT-PWR Out 1 to 8 load 38 OUT+COM 4 OUT-COM Out 1 to 8 load OUT-COM 44

45 Dimensions [Unit : mm] 1 A Mass: Without built-in regenerative resistor.68 kg With built-in regenerative resistor.73 kg ±. (7) 13 4 (19.) (16.) () A Mass: Without built-in regenerative resistor.7 kg With built-in regenerative resistor.7 kg 4 (7) (19.) (16.) 13 ±. () 3 (3) Servo Amplifiers R 3E Model Analog/Pulse Input type 16 1 (3) 3 A ±. Mass: Without built-in regenerative resistor.8 kg With built-in regenerative resistor.8 kg (7) 13 (16.) () 4 (19.) 16 1 (3) 4

46 Servo Amplifiers R 3E Model Analog/Pulse Input type Dimensions [Unit: mm] A Mass: Without built-in regenerative resistor 1. kg With built-in regenerative resistor 1. kg ±. 8 (7) (19.) (16.) 13 () 7 (3) A 1 A Mass: Without built-in regenerative resistor 4. kg With built-in regenerative resistor 4. kg Mass: Without built-in regenerative resistor 4.7 kg With built-in regenerative resistor 4.9 kg (7) (16.) 3 (19.) (7) (19.) (16.)

47 RB1 RB L1(R) L(S) L3(T) + D C D C (E) C U V W (E) Dimensions [Unit: mm] 3 A Mass: 9.8 kg (7) (19.) (16.) 3 3 Servo Amplifiers 6 A Power supply unit Mass: 11.8 kg Amplifier unit Mass: 18 kg R 3E Model Analog/Pulse Input type (16.) N.P. N.P. N.P. N.P D D C 19 or less (7.) For FG M4 1 L Front view (without a cover) 19 or less (7.) For FG M4 1 L Front view (without a cover) Main power supply input terminal block Motor output terminal block

48 Servo Amplifiers R 3E Model Analog/Pulse Input type External Wiring Diagram 1 to 3 A, Sink type (NPN) output Single-phase 1 VAC (amplifier capacity 1 to 3 A) AC power, single-phase 1 to 11 V /6 Hz *11 *13 MC User unit Start ready ON Start ready OFF MC MC Emergency System error stop CNA R S T r t Single-phase VAC (amplifier capacity 1 to A) AC power, single-phase to 4 V /6 Hz *11 *13 MC User unit Start ready Start ready ON OFF MC MC Emergency System error stop CNA R S T r t Amplifier capacity 1 to 3 A Terminal block CNA R S T r t Terminal block External regenerative resistor * *3 RB1 RB4 RB Built-in regenerative resistor + *14 3-Phase V AC power 3 to 4 V /6 Hz *11 *1 MC User unit Start ready Start ready ON OFF MC MC Emergency System error stop Amplifier capacity 1 to A *1 CNA CN4 *9 1 4 R S T r t NC NC HWGOFF1+ * *3 CNA RB1 RB + Servo amplifier Built-in regenerative resistor U V W EN1 1 to A: CNB 1 to 3 A: Terminal block *4 SH * Red White Black Green (Green/Yellow) SH Servo motor Fan Encoder For cannon plug Orange (Yellow) Orange (Yellow) For cannon plug RY1 Holding brake 9 V (4 V) (Install only devices with brakes) R S T For servo motor with fan 4 VDC 3 HWGOFF1- Models equipped with the Safe Torque Off function only *1 4 VDC 6 HWGOFF+ HWGOFF- 8 EDM+ 7 EDM- Line driver Equivalent to HD6C31 Connector. CNA 1 to A Name Main power supply, Control circuit power supply input connector Housing, Plug, Shell MSTBT./8-STF-.8LUB Position command pulse input *6 Clockwise pulse Counterclockwise pulse Line driver *8 VT VT CN F-PC F-PC R-PC R-PC + V + V 1 Ω 1 Ω AO AO BO BO ZO ZO PS PS CNA 1 to 3 A CNB 1 to A CN1 Encoder divided signal output EN1 CN4 Control circuit power supply input connector Servo motor power line connector Connector for host device input signal Connector for encoder signal Connector for Safe Torque Off function signal MSTBT./-STF-.8 MSTBT./3-STF-.8 Plug: 11-3PE Shell: 13-A-8 Connector: 361-1PL Shell kit: For short circuits: For wiring: Velocity command and Torque command input Torque compensation input Torque control input Battery input General input Clockwise side Counterclockwise side Lithium battery 3.6 VDC *1 to 4 VDC Shield processing SH V-REF 1 /T-REF T-COMP 3 18 F-TLA R-TLA 1 BTP-I BTN-I CONT-COM 37 CONT1 36 CONT 3 CONT3 34 CONT4 33 CONT 3 CONT6 13 CONT7 1 CONT ZOP 11 1 MON1 3 Monitor 31 output *1 VDC, 1 to 4 VDC OUT-PWR 49 OUT1 39 OUT 4 OUT3 41 OUT4 4 OUT General 43 output OUT6 44 OUT7 4 OUT8 46 OUT-COM 4 OUT-COM SH Shield processing *1 Use a twisted pair shielded cable. * For amplifier capacity 1 to A: Connect a external regenerative resistor between the RB1-RB terminals. When using an external regenerative resistor, remove the wiring of the built-in regenerative resistor connected between the RB1 and RB terminals and then connect the external regenerative resistor between the RB1 and RB terminals. For amplifier capacity 1 to 1 A: When using the built-in regenerative resistor, short the circuit between the RB1-RB4 terminals. When using an external regenerative resistor, remove the shorting bar connected between the RB1 and RB4 terminals and then connect the regenerative resistor between the RB1 and RB terminals. For amplifier capacity 3 A: Connect an external regenerative resistor between the RB1-RB terminals. *3 is a maintenance terminal (high-voltage circuit). Do not wire this terminal. *4 Motor connection differs by the motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. When they are the cannon plug type, connect them according to the motor specifications. * Refer to the encoder connection figure for the wiring of the connector for the encoder connection. *6 Be sure to connect (signal ground) between the equipment and the servo amplifier when you use a differential input signal. *7 R, S, T, r, t,, RB1, RB, U, V, W are high-voltage circuits. All other lines are low-voltage. Ensure that there is sufficient differential between the high- and low-voltage circuits. *8 Use a line driver with a differential voltage difference (VT) from. V to 3.8 V. If the differential voltage is less than. V or more than 3.8 V, it may lead to malfunction due to missing pulses. *9 CN4 is a connector for safety function signals. To turn the servo motor power ON, a safety device must be connected and the wiring to activate the safety function must be done. When not using the safety function, use an optional connector (P.N: AL ) inserted into the CN4. *1 Do not connect anything to CN4 pin 1 and. *11 An earth leakage circuit breaker conforming either to UL, IEC, or EN standards is recommended. *1 The external power supply is to be arranged by the customer. *13 Do not wire the S phase for a single-phase power supply. *14 There is no built-in regenerative resistor or RB4 terminal for 3 A capacity amplifiers. 48

49 External Wiring Diagram 1 to 3 A, Source type (PNP) output Single-phase 1 V (amplifier capacity 1 o 3 A) AC power, single-phase 1 to 11 V /6 Hz *11 *13 MC User unit Start ready Start ready ON OFF MC MC Emergency System error stop CNA R S T r t Single-phase V (amplifier capacity 1 to A) AC power, single-phase to 4 V /6 Hz *11 *13 MC MC Start ready ON MC System error User unit Start ready OFF Emergency stop CNA R S T r t Amplifier capacity 1 to 3 A Terminal block CNA R S T r t Terminal block External regenerative resistor * *3 +RB1 RB4 RB Built-in regenerative resistor *14 3-Phase V AC power 3 to 4 V /6 Hz *11 *1 4 VDC Models equipped with the Safe Torque Off function only *1 4 VDC Position command pulse input *6 MC Start ready Start ready ON OFF MC MC Emergency System error stop Clockwise pulse Counterclockwise pulse Line driver *8 User unit VT VT Amplifier capacity 1 to A *1 CN4 CN1 CNA * R S T r t NC NC HWGOFF1+ HWGOFF+ HWGOFF1- HWGOFF- EDM+ 7 EDM- F-PC F-PC R-PC R-PC + V + V 1 Ω 1 Ω * *3 CNA RB1 + Servo amplifier RB Built-in regenerative resistor U V W EN1 Line driver Equivalent to HD6C31 AO AO BO BO ZO ZO PS PS 1 to A: CNB 1 to 3 A: Terminal block * SH * Red White Black Green (Green/Yellow) SH Servo motor For cannon plug CNA 1 to A CNA 1 to 3 A CNB 1 to A Encoder divided CN1 signal output EN1 CN4 Fan Encoder Connector. Orange (Yellow) Orange (Yellow) For cannon plug Holding brake (Install only devices with brakes) R S T Name RY1 9 V (4 V) For servo motor with fan Main power supply, Control circuit power supply input connector Control circuit power supply input connector Servo motor power line connector Connector for host device input signal Connector for encoder signal Connector for Safe Torque Off function signal Housing, Plug, Shell MSTBT./8-STF-.8LUB MSTBT./-STF-.8 MSTBT./3-STF-.8 Plug: 11-3PE Shell: 13-A-8 Connector: 361-1PL Shell kit: For short circuits: For wiring: Servo Amplifiers R 3E Model Analog/Pulse Input type Velocity command and Torque command input Torque compensation input Torque control input Battery input General input Clockwise side Counterclockwise side Lithium battery 3.6 VDC *1 to 4 VDC Shield processing SH V-REF 1 /T-REF T-COMP 3 18 F-TLA R-TLA 1 BTP-I BTN-I CONT-COM 37 CONT1 36 CONT 3 CONT3 34 CONT4 33 CONT 3 CONT6 13 CONT7 1 CONT ZOP 11 1 MON1 3 Monitor 31 output *1 VDC, 1 to 4 VDC OUT-PWR 49 OUT+COM 38 OUT1 39 OUT 4 OUT3 41 General output OUT4 4 OUT 43 OUT6 44 OUT7 4 OUT8 46 SH Shield processing *1 Use a twisted pair shielded cable. * For amplifier capacity 1 to A: Connect the external regenerative resistor between the RB1-RB terminals. When using an external regenerative resistor, remove the wiring of built-in regenerative resistor connected between the RB1 and RB terminals and then connect the external regenerative resistor between the RB1 and RB terminals. For amplifier capacity 1 to 1 A: When using the built-in regenerative resistor, short the circuit between the RB1-RB4 terminals. When using an external regenerative resistor, remove the shorting bar connected between the RB1 and RB4 terminals and then connect the regenerative resistor between the RB1 and RB terminals. For amplifier capacity 3 A: Connect an external regenerative resistor between the RB1-RB terminals. *3 is a maintenance terminal (high-voltage circuit). Do not wire this terminal. *4 Motor connection differs by the motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. When they are the cannon plug type, connect them according to the motor specifications. * Refer to the encoder connection figure for the wiring of the connector for the encoder connection. *6 Be sure to connect (signal ground) between the equipment and the servo amplifier when you use a differential input signal. *7 R, S, T, r, t,, RB1, RB, U, V, W are high-voltage circuits. All other lines are low-voltage. Ensure that there is sufficient distance between the high- and low-voltage circuits. *8 Use a line driver with a differential voltage difference (VT) from. V to 3.8 V. If the differential voltage is less than. V or more than 3.8 V, it may lead to malfunction due to missing pulses. *9 CN4 is a connector for safety function signals. To turn the servo motor power ON, a safety device must be connected and the wiring to activate the safety function must be done. When not using the safety function, use an optional connector (model no.: AL ) inserted into the CN4. *1 Do not connect anything to CN4 pin 1 and. *11 An earth leakage circuit breaker conforming either to UL, IEC, or EN standards is recommended. *1 The external power supply is to be arranged by the customer. *13 Do not wire the S phase for a single-phase power supply. *14 There is no built-in regenerative resistor or RB4 terminal for 3 A capacity amplifiers. 49

50 Servo Amplifiers R 3E Model Analog/Pulse Input type External Wiring Diagram 6 A, Sink type (NPN) output AC power 3 to 4 V /6 Hz *13 Models equipped with the Safe Torque Off function only Position command pulse input *6 Velocity command and Torque command input Torque compensation input Start ready ON Start ready OFF MC MC Emergency stop System error Clockwise pulse Counterclockwise pulse Lithium battery 3.6 VDC Battery input General input MC *14 4 VDC *14 4 VDC Clockwise side Torque control Counterclockwise input side External regenerative resistor User unit Line driver *8 VT VT *14 to 4 VDC RB1 RB Shield processing *11 User unit * Terminal block Terminal block Terminal block +DC L1(R) +DC L(S) L3(T) E Power supply unit CNA r t CN9 *11 CN1 SH r t CN9 *9 CN4 1 * F-PC F-PC R-PC 1 Ω R-PC V-REF 1 /T-REF 3 T-COMP 18 F-TLA R-TLA 1 BTP-I BTN-I CONT-COM 37 CONT1 36 CONT 3 CONT3 34 CONT4 33 CONT 3 CONT CNA r t HWGOFF+ NC NC HWGOFF1+ HWGOFF1- HWGOFF- EDM+ 7 EDM CONT7 CONT8 Terminal block +DC +DC + V + V 1 Ω - + Amplifier unit - + Terminal block U V W RY Line driver Equivalent to HD6C31 MON1 E EN1 CNB DB1 DB CN8 AO 3 AO 4 BO BO 6 ZO 7 ZO 8 PS 9 PS 1 ZOP OUT-PWR 49 OUT1 OUT OUT3 41 OUT4 4 OUT 43 OUT6 44 OUT7 4 OUT8 46 OUT-COM 4 OUT-COM Dynamic brake resistor * * MC1 SH Thermal Connect to CN8(1, ). *1 MC1 * *1 Monitor output General output SH Shield processing *4 U V W SH Connector. Name CNA Control circuit power supply input connector CN1 EN1 Servo motor Thermal For dynamic brake operation *3 Dynamic brake resistor thermal Motor thermal, or motor fan thermal *14 VDC, 1 to 4 VDC CN8 CNB Encoder divided signal output RY Holding brake (Install only devices with brakes) Encoder Fan R S T Connect to CN8 (3, 4). Connector for host device input signal Connector for encoder signal Connector for external thermal Connector for dynamic brake operation 9 V (4 V) Housing, Plug, Shell MSTBT./-STF-.8 Plug: 11-3PE Shell: 13-A-8 Connector: 361-1PL Shell kit: FMC,/4-ST-.4 MSTBT,/3-STF-,8 *1 Use a twisted pair shielded cable. * Connect an external regenerative resistor between the RB1-RB terminals. *3 When thermal monitoring is handled by the customer, short the circuit. *4 Motor connection differs by the motor specifications. Connect them according to the motor specifications. * Refer to the encoder connection figure for the wiring of the connector for the encoder connection. *6 Be sure to connect (signal ground) between the equipment and the servo amplifier when you use a differential input signal. *7 R, S, T, r, t, P, N, RB1, RB, U, V, W are high-voltage circuits. All other lines are low-voltage. Ensure that there is sufficient distance between the high- and low-voltage circuits. *8 Use a line driver with a differential voltage difference (VT) from. V to 3.8 V. If the differential voltage is less than. V or more than 3.8 V, it may lead to malfunction due to missing pulses. *9 CN4 is a connector for safety function signals. To turn the servo motor power ON, a safety device must be connected and the wiring to activate the safety function must be done. When not using the safety function, use an optional connector (P.N: AL ) inserted into the CN4. *1 Do not connect anything to CN4 pin 1 and. *11 Ground with a wire of. mm or more. *1 DB1 and DB are dynamic brake timing outputs. The electromagnetic contactor, resistor, power supply, and wiring are to be arranged by the customer. For the electromagnetic contactor, arrange a DC drive type. RYContact rating 3 VDC A (COS =.4, L/R=7ms) *13 An earth leakage circuit breaker conforming either to UL, IEC, or EN standards is recommended. *14 External power supply is to be arranged by the customer.

51 External Wiring Diagram 6A, Source type (PNP) output External regenerative resistor User unit AC power 3φ to 4 V /6 Hz *13 MC User unit CNA r t RB1 RB * Terminal block Terminal block Terminal block +DC L1(R) +DC L(S) L3(T) E Power supply unit CN9 CN9 Terminal block +DC +DC Amplifier unit *1 Dynamic brake resistor Thermal Connect to CN8 (1, ). *1 Terminal block MC1 *4 Servo motor U U V V W W E RY 9 V (4 V) Holding brake (Install only devices with brakes) *11 r t CNA r t EN1 * SH * SH Encoder Fan R S T *14 Models equipped with the Safe Torque Off function only *14 Position command pulse input *6 Velocity command and Torque command input 4 VDC 4 VDC Torque compensation input Torque control input Battery input General input Start ready ON Start ready OFF MC MC Emergency stop System error Line driver *8 Clockwise pulse 7 EDM- Counterclockwise pulse Clockwise side Counterclockwise side VT VT Lithium battery 3.6 VDC *14 V to 4 VDC *11 *9 CN4 1 * CN V 14 + V 6 F-PC 1 Ω 7 F-PC 47 8 R-PC 1 Ω R-PC V-REF 1 /T-REF 3 1 HWGOFF+ NC NC HWGOFF1+ HWGOFF1- HWGOFF- EDM+ T-COMP F-TLA R-TLA BTP-I BTN-I CONT-COM 37 CONT1 36 CONT 3 CONT3 34 CONT4 33 CONT RY Line driver Equivalent to HD6C31 MON1 CNB DB1 DB CN8 OUT-PWR OUT+COM * AO 3 AO 4 BO BO 6 ZO 7 ZO 8 PS 9 PS 1 ZOP OUT1 39 OUT 4 OUT3 41 OUT4 4 OUT 43 OUT6 44 MC1 General output Connector. CNA CN1 EN1 CN8 CNB Thermal For dynamic brake operation *3 Dynamic brake resistor thermal Motor thermal, or motor fan thermal Encoder divided signal output Monitor output *14 VDC, 1 to 4 VDC Connect to CN8 (3, 4). Name Control circuit power supply input connector Connector for host device input signal Connector for encoder signal Connector for external thermal Connector for dynamic brake operation Housing, Plug, Shell MSTBT./-STF-.8 Plug: 11-3PE Shell: 13-A-8 Connector: 361-1PL Shell kit: FMC,/4-ST-.4 MSTBT,/3-STF-,8 *1 Use a twisted pair shielded cable. * Connect an external regenerative resistor between the RB1-RB terminals. *3 When thermal monitoring is handled by the customer, short the circuit. *4 Motor connection differs by the motor specifications. Connect them according to the motor specifications. * Refer to the encoder connection figure for the wiring of the connector for the encoder connection. *6 Be sure to connect (signal ground) between the equipment and the servo amplifier when you use a differential input signal. *7 R, S, T, r, t, P, N, RB1, RB, U, V, W are high-voltage circuits. All other lines are low-voltage. Ensure that there is sufficient distance between the high- and low-voltage circuits. *8 Use a line driver with a differential voltage difference (VT) from. V to 3.8 V. If the differential voltage is less than. V or more than 3.8 V, it may lead to malfunction due to missing pulses. *9 CN4 is a connector for safety function signals. To turn the servo motor power ON, a safety device must be connected and the wiring to activate the safety function must be done. When not using the safety function, use an optional connector (P.N: AL ) inserted into the CN4. Servo Amplifiers R 3E Model Analog/Pulse Input type Shield processing SH 3 CONT CONT7 CONT8 OUT7 4 OUT8 46 SH Shield processing *1 Do not connect anything to CN4 pin 1 and. *11 Ground with a wire of. mm or more. *1 DB1 and DB are dynamic brake timing outputs. The electromagnetic contactor, resistor, power supply, and wiring are to be arranged by the customer. For the electromagnetic contactor, arrange a DC drive type. RYContact rating 3 VDC A (COSφ=.4, L/R=7ms) *13 An earth leakage circuit breaker conforming either to UL, IEC, or EN standards is recommended. *14 External power supply is to be arranged by the customer. 1

52 Servo Amplifiers R 3E Model Analog/Pulse Input type tes on Replacing R ADVANCED MODEL te the following when replacing our conventional SANMOTION R ADVANCED MODEL amplifier with SANMOTION R 3E Model. Position command pulse input There are constraints on the specifications of the available position pulse signals for the SANMOTION R 3E Model. Also, if the host device output is open collector type, a wiring change is necessary. ADVANCED MODEL Host device Amplifier Host device 3E Model Amplifier Pulse output circuit of the host devices Wiring compatibility Constraint conditions Line driver Host device 6(8) 7(9) 47(48) Amplifier VT Line driver Host device 6(8) 7(9) 47(48) 14(16) Amplifier Differential output type (Line driver) Open collector type Yes Voltage difference between differential signals (VT) :. to 3.8 V Saturation voltage of the transistor (Vce): 1. V max. 6(8) 7(9) 47(48) Vce 6(8) 7(9) 47(48) Open collector Open collector General input For the SANMOTION R 3E Model, differential (line driver) output type cannot be used as a host device side output circuit. Furthermore, wiring change will be required even if open collector output is used. ADVANCED MODEL 3E Model Host device Amplifier CONT7 Host device CONT-COM Amplifier CONT7 13 CONT8 CONT8 1 1 General output circuit of the host devises Differential output type (Line driver) Open collector type Wiring compatibility (Refer to the figure) Constraint conditions Change to open collector type. Wire in the same way as CONT1 to Open collector output Open collector output

53 Encoder Wiring Diagram Serial Encoder Battery-less optical absolute encoder [Model. HA3] Optical absolute encoder for incremental systems [Model. PA3S] Option: Optical battery-backup method absolute encoder [Model. PA3C] Servo amplifier V V *3 Servo amplifier EN1 ES ES BAT BAT Cannon plug model no. EN1 A A B B Z Z 1 1 Cannon plug model no. Connector: 361-1PL Shell kit: *1 * Flange size: 13 mm sq. or larger Option: Pulse Encoder Wire-saving incremental encoder Connector: 361-1PL Shell kit: *1 * *4 Absolute encoder E/1(Brown) ES F/(Blue) ES T/8(Pink) EBAT S/4(Purple) EBAT H/9(Red) V G/1(Black) V J/7 FG (Shielded) *3 7 A/1(Blue) A 8 D/4(Brown) A B/(Green) B 6 E/(Purple) B 9 F/3(White) Z 1 G/6(Yellow) Z Flange size: 13 mm sq. or larger JNDS1SL1-R JNDS1SL-R JNDS1SL3-R J/9(Red) V N/1(Black) V H/7 FG (Shielded) JNDS1SL1-R JNDS1SL-R JNDS1SL3-R Servo motor Servo motor JNFS1SL1-R JNFS1SL-R JNFS1SL3-R Incremental encoder JNFS1SL1-R JNFS1SL-R JNFS1SL3-R *1 Use a shielded twisted pair cable. * Maximum cable lengths by conductor size of the power supply cable ( V, ) are shown in the table below. Conductor size Conductor resistance Length AWG SQ (mm ) (Ω/km) *at C (m) or less 4. 1 or less or less 1. 4 or less 18.7 or less 4 *Conductor resistance differs by conductor specifications. *3 Battery lines (EBAT+, EBAT-) are necessary only when a battery-backup method absolute encoder is used. *4 Lead wire colors are indicated in parentheses. For lead wire colors and cannon plug pin numbers, see the following table. 1 mm sq. or smaller 13 mm sq. or larger ES+ ES EBAT+ EBAT +V V FG Brown Blue Pink* 3 Purple* 3 Red Black Shielded 1 8 *3 4 * *1 Use a shielded twisted pair cable. * Maximum cable lengths by conductor size of the power supply cable ( V, ) are shown in the table below. Conductor size Conductor resistance Length AWG SQ (mm ) (Ω/km) *at C (m) or less 4. 1 or less or less 1. 4 or less 18.7 or less 4 *Conductor resistance differs by conductor specifications. *3 Lead wire colors are indicated in parentheses. For lead wire colors and cannon plug pin numbers, see the following table: 1 mm sq. or smaller 13 mm sq. or larger 1 mm sq. or smaller 13 mm sq. or larger A A B B Z Z +V Blue Brown Green Purple White Yellow Red V Black FG Shielded 1 7 Servo Amplifiers R 3E Model Analog/Pulse Input type 3

54 4

55 Servo Amplifiers R ADVANCED MODEL EtherCAT Interface type Servo Amplifier Capacity: 1 to 3 A The EtherCAT communication cycle is fast (.1 ms) and position commands are subdivided, making device operations smoother. A new product with faster communication cycle and improved controllability. It uses a different connector from our conventional EtherCAT interface type (Model no.: RS A K) How to read model numbers te that not all the possible combinations of the numbers and characters below are valid. Also, some of the numbers/characters listed below are for optional models. For model numbers valid as standard products, refer to Standard Model Number List. RS A 1 A H A Option Safe torque Off function Equipped (with delay circuit) General I/O Input x 6 Output x Option 1 A With built-in regenerative resistor & With DB resistor (for 1 to 1 A) L... Without built-in regenerative resistor & With DB resistor Interface type H EtherCAT interface type high-speed communication Encoder connection type (rotary motor) A EN1 (motor encoder) Serial encoder Pulse encoder EN (external pulse encoder) Pulse encoder Pulse encoder Motor type A Rotary motor * If servo amplifiers are to be used in fully-closed systems, for which both of the motor encoder and the external encoder are used, the amplifier model no. should have either or A as its encoder connection type character, as in the above table. * If a serial encoder is to be connected to EN1 and used in a semi-closed system, for which only one encoder is connected, the amplifier model no. should have as its encoder connection type character. Instead, a pulse encoder can also be used as a motor encoder when connected to EN. It configures another semi-closed system with the encoder connection type character of. Input voltage VAC E 1 VAC Servo amplifier capacity 1 1 A 3 3 A A 1 1 A 1 1 A 3 3 A RS series Motor parameters need to be set for the amplifier before use. Please use the setup software for parameter setting.

56 Servo Amplifiers R ADVANCED MODEL EtherCAT Interface type System Configuration 1 to A The photograph shows the 1 A model. T S R 16 Molded case circuit breaker (MCCB) Servo amplifier ise filter Option Setup software 1 17 Option PC communication cable 18 3 General I/O connector Electromagnetic contactor Option External regenerative resistor To the next amplifier Host device Brake power Option Servo motor extension cable for brake 13 1 Option Servo motor extension cable for power 11 1 Option Servo motor extension cable for encoder Option Encoder extension cable with battery Safety unit, safety PLC, etc. 1 Servo motor *Connector specifications for standard servo motors For servo motors with flange size smaller than 1 mm sq.: Cable without connector. (when servo motors are smaller than 8 mm sq., a cable with a connector is available as an option. Refer to p. 138) For servo motors with flange size larger than 13 mm sq.: Cannon plug (when the motor capacity is less than 1 kw), Terminal block (when the motor capacity is more than kw) 6

57 Options and Peripherals (1 to A). Name Model no. Description Page 1 Setup software Can be downloaded from Product Information on our website. Parameters can be set and monitored via communication with a PC. PC communication cable AL PC communication cable for setup software p CN connector AL General I/O connector p. 1 4 OUT connector To be provided by the customer EtherCAT OUT (to the next amplifier) IN connector To be provided by the customer EtherCAT IN (host device) 6 CN1 connector AL To connect safety device p. 1 7 EN1, EN connectors AL-6367 To connect to encoders p. 1 8 CNA connector AL For input power supply and regenerative resistor connections p. 1 9 CNB connector AL-Y479-1 To connect to servo motor p. 1 1 Encoder extension cable with battery p. 1 AL Used when using a battery-backup method absolute encoder (For servo motors with connector-less cable, use AL with a connector on one end.) p. 13 RS-CA4- -R Encoder extension cable with connectors on both ends p Servo motor extension cable 1 (Compatible with the optional servo motors with connectors for RS-CM4- -R Power extension cable with connectors on both ends p extension cables) RS-CB3- -R Brake extension cable with connectors on both ends p External regenerative resistor 1 Safety unit, safety PLC, etc. 16 Molded case circuit breaker (MCCB) 17 ise filter 18 Electromagnetic contactor 19 Brake power REGIST- W B, REGIST-CW B To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer Connector sets are also available with set model numbers. See respective pages. Used for special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier s built-in regenerative resistor Connects I/O signals from the Safe Torque Off function to devices such as the safety unit and safety PLC. Used to protect the power line. Used to prevent external noise from the power source line. Used to switch the power on and off. Used for servo motors with brake p. 133 Servo Amplifiers R ADVANCED MODEL EtherCAT Interface type 7

58 Servo Amplifiers R ADVANCED MODEL EtherCAT Interface type System Configuration 1 to 1 A The photograph shows the 1 A model. T S R 1 Molded case circuit breaker (MCCB) Servo motor Option Setup software 1 13 ise filter Option PC communication cable 3 General I/O connector 14 Electromagnetic contactor 8 4 To the next amplifier 1 6 Host device Option External regenerative resistor Brake power Option Encoder extension cable with battery Safety unit, safety PLC, etc. 11 Servo motor *Connector specifications for standard servo motors For servo motors with flange size larger than 13 mm sq.: Cannon plug (when the motor capacity is less than 1 kw), Terminal block (when the motor capacity is more than kw) 8

59 Options and Peripherals (1 to 1 A). Name Model no. Description Page 1 Setup software Can be downloaded from Product Information on our website. Parameters can be set and monitored via communication with a PC. PC communication cable AL PC communication cable for setup software p CN connector AL General I/O connector p. 1 4 OUT connector To be provided by the customer EtherCAT OUT (to the next amplifier) IN connector To be provided by the customer EtherCAT IN (host device) 6 CN1 connector AL To connect safety device p. 1 7 EN1, EN connectors AL-6367 To connect to encoders p. 1 8 CNA connector AL-Y19-1 For control circuit power supply input p. 1 9 Encoder extension cable with battery AL Used when using a battery-backup method absolute encoder p External regenerative resistor 11 Safety unit, safety PLC, etc. 1 Molded case circuit breaker (MCCB) 13 ise filter 14 Electromagnetic contactor 1 Brake power REGIST- W B, REGIST-CW B To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer Connector sets are also available with set model numbers. See respective pages. Used for special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier s built-in regenerative resistor Connects I/O signals from the Safe Torque Off function to devices such as the safety unit and safety PLC. Used to protect the power line. Used to prevent external noise from the power source line. Used to switch the power on and off. Used for servo motors with brake p. 1 p. 133 Servo Amplifiers R ADVANCED MODEL EtherCAT Interface type 9

60 Servo Amplifiers R ADVANCED MODEL EtherCAT Interface type System Configuration 3 A T S R 1 Molded case circuit breaker (MCCB) Servo amplifier 13 ise filter Option Setup software 1 Option PC communication cable Electromagnetic contactor 14 3 General I/O connector 8 4 To the next amplifier Host device 1 6 Option External regenerative resistor 7 1 Brake power 9 Option Encoder extension cable with battery Fan power supply (for single phase) 11 Safety unit, safety PLC, etc. Servo motor *Connector specifications for standard servo motors For servo motors with flange size larger than 13 mm sq.: Cannon plug (when the motor capacity is less than 1 kw), Terminal block (when the motor capacity is more than kw) 6

61 Options and Peripherals (3 A). Name Model no. Description Page 1 Setup software Can be downloaded from Product Information on our website. Parameters can be set and monitored via communication with a PC. PC communication cable AL PC communication cable for setup software p CN connector AL General I/O connector p. 1 4 OUT connector To be provided by the customer EtherCAT OUT (to the next amplifier) IN connector To be provided by the customer EtherCAT IN (host device) 6 CN1 connector AL To connect safety device p. 1 7 EN1, EN connectors AL-6367 To connect to encoders p. 1 8 CNA connector AL-Y19-1 For control circuit power supply input p. 1 9 Encoder extension cable with battery 1 External regenerative resistor 11 Safety unit, safety PLC, etc. 1 Molded case circuit breaker (MCCB) 13 ise filter 14 Electromagnetic contactor 1 Brake power AL REGIST- W B, REGIST-CW B To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer Connector sets are also available with set model numbers. See respective pages. Connected when using a battery-backup method absolute encoder Used for special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier s built-in regenerative resistor Connects I/O signals from the Safe Torque Off function to devices such as the safety unit and safety PLC. Used to protect the power line. Used to prevent external noise from the power source line. Used to switch the power on and off. Used for servo motors with brake p. 1 p. 13 p. 133 Servo Amplifiers R ADVANCED MODEL EtherCAT Interface type 61

62 Servo Amplifiers R ADVANCED MODEL EtherCAT Interface type General Specifications Control function Control system Main Circuit Power Supply * 1 Control circuit power supply * 1 Environment Structure Position control/speed control/torque control (Parameter switching) IGBT: PWM control, sinusoidal drive (MOS-FET: PWM control, sinusoidal drive) 3-Phase: to 3 VAC +1, -1%, /6 Hz±3 Hz Single-phase: to 3 VAC +1, -1%, /6 Hz±3 Hz * Single-phase: 1 to 11 VAC +1, -1%, /6 Hz±3 Hz * 3 Single-phase: to 3 VAC +1, -1%, /6 Hz±3 Hz Single-phase: 1 to 11 VAC +1, -1%, /6 Hz±3 Hz * 3 Ambient temperature to + C Storage temperature - to +6 C Operation and Below 9%RH (non-condensing) Storage humidity Operation altitude Below 1 m m/s Vibration resistance freq. range 1 to Hz tested for hours in each X, Y and Z-axis directions Impact resistance m/s Built-in tray type power supply *1 Power source voltage should be within the specified range below. [ VAC power input type]: Specified power supply range = 17 to 3 VAC [1 VAC power input type]: Specified power supply range = 8 to 17 VAC * The VAC single-phase input type is compatible only with RS 1 (1 A), RS 3 (3 A), RS ( A). Please set parameters before using single-phase input. *3 The 1 VAC single-phase input type is compatible only with RS 1 (1 A), RS 3 (3 A). Please set parameters before using single-phase input. RoHS Performance Speed control range Frequency characteristics Permissible load moment of inertia Built-in functions Protection functions Digital operator Dynamic brake circuit Regenerative resistor Monitor 1: (Internal speed command) 8 Hz 1 times the motor rotary inertia Overcurrent, Current detection error, Overload, Regeneration error, Magnetic pole position estimation error, Amplifier overheating, External error, Overvoltage, Main circuit power supply undervoltage, Main circuit power supply open phase, Control circuit power supply undervoltage, Encoder error, Overspeed, Speed control error, Speed feedback error, Excessive position deviation, Position command pulse error, Built-in memory error, Parameter error Status display, Monitor display, Alarm display, Test run, Adjustment mode Built in/ne selectable 1 to 1A: Built in/ne selectable, 3 A: ne *For all models from 1 to 3 A, optional external resistors can be equipped. Speed monitor (VMON). V±1% (at 1 min -1 ), Torque (thrust force) command monitor (TCMON). V±1% (at 1%) Safety standards Servo amplifier type All models Safety standards rth American safety standards (UL ratings) European directive KC Mark (Korea Certification Mark) Safety feature standards UL8C Low-voltage EN directive EMC directive EN61-6-, EN618-3, EN KN61-6-, KN IEC 618: SIL, ISO Cat.3: PL=d, IEC 661: SILCL 6 EtherCAT interface type specifications Physical layer Data link layer Application layer Device profile IEC6118- IEEE8.3u 1BASE-TX IEC6118-3, -4 Type1 IEC6118-, -6 Type1 IEC618-7 Profile type1 (CiA4) CoE (CApen over EtherCAT) FoE (File access over EtherCAT) RJ4 connector ( ports) 1 Mbps (Full duplex) 63 nodes Communication port Bit rate Max. number of nodes Transmission distance/ Topology Max. 1 m (between nodes)/daisy chain Communication cable Twisted pair CATe (straight-through or crossover) Communication object SDO (Service Data Object), PDO (Process Data Object) Synchronization type SYNC event synchronization, SYNC1 event synchronization, Asynchronous Operation modes Profile position mode, Profile velocity mode, Profile torque mode, Homing mode, Cycle sync position mode, Cycle sync velocity mode, Cycle sync torque mode LED indicator Port /1 link display, RUN display, ERROR display General I/O Input x 6, output x (total of 8)

63 Dimensions [Unit : mm] 1 A Mass: Without built-in regenerative resistor.7 kg With built-in regenerative resistor.7 kg 4 4 (7) (17) 13 () () φ 3 A Mass: Without built-in regenerative resistor.9 kg With built-in regenerative resistor.9 kg 4 4 (3) Servo Amplifiers 16 4 (7) (17) () 13 Cooling fan 4 1 Wind direction (3) () 4 φ R ADVANCED MODEL EtherCAT Interface type A Mass: Without built-in regenerative resistor 1.6 kg With built-in regenerative resistor 1.6 kg () (7) (17) 8 φ () Cooling fan 1 16 Wind direction (3) 4 63

64 Servo Amplifiers R ADVANCED MODEL EtherCAT Interface type Dimensions [Unit: mm] 1 A Mass: Without built-in regenerative resistor 4.8 kg With built-in regenerative resistor. kg (6) (7) Cooling fan Wind direction 1 A Mass: Without built-in regenerative resistor.1 kg With built-in regenerative resistor.3 kg (6) () Wind direction Cooling fan 3 A Mass: Without built-in regenerative resistor 9.6 kg Wind direction Cooling fan

65 External Wiring Diagram 1 to 3 A Single-phase 1 V (amplifier capacity 1, 3 A) Single-phase V (amplifier capacity 1 to A) AC power supply single-phase 1 to 11 V /6Hz *9 User device MC Start ready Start ready ON OFF MC MC Emergency System error stop CNA R S T r t AC power supply single-phase to 3 V /6Hz *9 User device MC Start ready Start ready ON OFF MC MC Emergency stop System error CNA R S T r t Amplifier capacity 1 A, 1 A * *3 Terminal block External regenerative resistor Amplifier capacity External regenerative 3 A resistor * *3 Terminal block 3-Phase V AC power supply 3-phase to 3 V /6 Hz *9 User device MC Start ready Start ready ON OFF MC MC Emergency System error stop A: CNA 1 to 3 V Terminal block R S T CNA r t Amplifier capacity 1 to A * *3 CNA RB1 Servo amplifier + RB Built-in regenerative resistor EN1 EN *13 U V W A: CNB 1 to 3 A: Terminal block *4 Red SH * White Black Green (Green/Yellow) SH Servo motor Encoder Cannon plug Fan RB1 Built-in regenerative resistor Orange (yellow) Orange (yellow) RB4 RB + Cannon plug RY1 9 V (4 V) Holding brake (Installed on the models with brakes only) R S T For servo motor with fan P +RB1 RB EDM- IN/OUT *7 1 4 Ethernet I/O SH Shielding CN Lithium battery 3.6 VDC BAT+ 1 Battery input BAT- *1 to 4 VDC 3 CONT1+ 4 CONT1- CONT+ 6 CONT- 7 CONT3+ 8 CONT3- General input 9 CONT4+ 1 CONT4-11 CONT+ 1 CONT- 14 CONT6+ 1 CONT6-16 OUT1+ 17 OUT1- General output 18 OUT+ 19 OUT SH Shielding Reserved (Do not connect) *1 Reserved (Do not connect) HWGOFF1+ HWGOFF+ Models with the Safe Torque Off function only EDM+ HWGOFF1- HWGOFF- CN1 1 * *11 SH Shielding *1 4 VDC *1 4 VDC Connector. CNA 1 to A CNA 1 A, 1 A, 3 A CNB 1 to A EN1/EN Name Main power supply, Control circuit power supply input connector Control circuit power supply input connector Servo motor power line connector Encoder signal connector Housing, plug, shell MSTBT./8-STF-.8LUB MSTBT./-STF-.8 MSTBT./3-STF-.8 Connector: 361-1PL Shell kit: CN General I/O signal Connector: HDR-E6M1+ battery power supply Shell kit: HDR-E6LPH connector CN1 Safe Torque Off function signal connector *1 Use a shielded twisted pair cable. * For amplifier capacity 1 A, 3 A, A: Connect the external regenerative resistor between the RB1 and RB terminals. When using an external regenerative resistor, remove the built-in regenerative resistor wiring that is connected to the RB1 terminal and RB terminal and then connect the external regenerative resistor between the RB1 and RB terminals. For amplifier capacity 1 A, 1 A: When using a built-in regenerative resistor, short circuit between the RB1 and RB4 terminals. When using an external regenerative resistor, remove the short bar that is connected to the RB1 terminal and RB4 terminal and then connect the regenerative resistor between the RB1 and RB terminals. For amplifier capacity 3 A: Connect the regenerative resistor between the RB1 and RB terminals. *3 and P (3 A only) terminals are used for maintenance (high-voltage circuits). Do not wire to this terminal. *4 The motor side connections vary with motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. When they are the cannon plug type, connect them according to the motor specifications. * Refer to the encoder wiring diagram for the wiring of the connector for the encoder connection. *6 R, S, T, r, t,, P (3 A only), RB1, RB, RB4 (1 A and 1 A only), U, V, and W are high-voltage circuits. Other signal lines are low-voltage circuits. When wiring, ensure that there is a sufficient distance between the high- and low-voltage circuits. *7 Use a category e (TIA standards) or above shielded twisted pair cable (STP). *8 Do not connect anything to CN1-1 and Pin. *9 Installing an earth leakage circuit breaker conforming either to UL, IEC, or EN standards is recommended. Do not connect the S phase for the single-phase power supply amplifier. *1 The external power supply is to be provided by the customer. *11 CN1 is a connector for the Safe Torque Off function. To turn the servo motor power ON, a safety function must be connected and the wiring to activate the Safe Torque Off function must be done. *1 Do not connect anything to CN- to. *13 When using a pulse encoder in a semi-closed system, connect to EN. Servo Amplifiers R ADVANCED MODEL EtherCAT Interface type 6

66 Servo Amplifiers R ADVANCED MODEL EtherCAT Interface type Encoder Wiring Diagram Serial Encoder Battery-less optical absolute encoder [Model. HA3] Optical absolute encoder for incremental systems [Model. PA3S] Option: Optical battery-backup method absolute encoder [Model. PA3C] Servo amplifier V *3 EN1 ES ES BAT BAT Cannon plug model no. 1 Connector: 361-1PL Shell kit: *1 * Flange size: 13 mm sq. or larger *4 Absolute encoder E/1(Brown) ES F/(Blue) ES T/8(Pink) EBAT S/4(Purple) EBAT H/9(Red) V G/1(Black) V J/7 FG (Shielded) JNDS1SL1-R JNDS1SL-R JNDS1SL3-R Servo motor JNFS1SL1-R JNFS1SL-R JNFS1SL3-R *1 Use a shielded twisted pair cable. * Maximum cable lengths by conductor size of the power supply cable ( V, ) are shown in the table below. Conductor size Conductor resistance Length AWG SQ (mm ) (Ω/km) *at C (m) or less 4. 1 or less or less 1. 4 or less 18.7 or less 4 *Conductor resistance differs by conductor specifications. *3 Battery lines (EBAT+, EBAT-) are necessary only when a battery-backup method absolute encoder is used. *4 Lead wire colors are indicated in parentheses. For lead wire colors and cannon plug pin numbers, see the following table. 1 mm sq. or smaller 13 mm sq. or larger ES+ ES EBAT+ EBAT +V V FG Brown Blue Pink* 3 Purple* 3 Red Black Shielded 1 8 *3 4 * Option: Pulse Encoder Wire-saving incremental encoder Servo amplifier V EN1 A A B B Z Z 7 A/1(Blue) A 8 D/4(Brown) A B/(Green) B 6 E/(Purple) B 9 F/3(White) Z 1 G/6(Yellow) Z 1 Cannon plug model no. Connector: 361-1PL Shell kit: *1 * Flange size: 13 mm sq. or larger *3 J/9(Red) V N/1(Black) V H/7 FG (Shielded) JNDS1SL1-R JNDS1SL-R JNDS1SL3-R Servo motor Incremental encoder JNFS1SL1-R JNFS1SL-R JNFS1SL3-R *1 Use a shielded twisted pair cable. * Maximum cable lengths by conductor size of the power supply cable ( V, ) are shown in the table below. Conductor size Conductor resistance Length AWG SQ (mm ) (Ω/km) *at C (m) or less 4. 1 or less or less 1. 4 or less 18.7 or less 4 *Conductor resistance differs by conductor specifications. *3 Lead wire colors are indicated in parentheses. For lead wire colors and cannon plug pin numbers, see the following table: 1 mm sq. or smaller 13 mm sq. or larger 1 mm sq. or smaller 13 mm sq. or larger A A B B Z Z +V Blue Brown Green Purple White Yellow Red V Black FG Shielded

67 Servo Amplifiers R CApen Interface type Servo Amplifier Capacity: 1 to A Equipped with communication protocol CApen interface well suited for embedded systems. How to read model numbers te that not all the possible combinations of the numbers and characters below are valid. Also, some of the numbers/characters listed below are for optional models. For model numbers valid as standard products, refer to Standard Model Number List. RS1 A 1 A L Controller hardware type Interface type: CApen interface type Encoder type: Serial encoder, pulse encoder L Sink type (NPN) output U Source type (PNP) output Motor type A Rotary motor Servo amplifier capacity 1 1 A 3 3 A A Input power supply, internal regenerative setting Model. L A A L N E K J Control circuit power supply input voltage VAC 1 VAC 4 VDC Main circuit power supply input voltage VAC 1 VAC VAC Built-in regenerative resistor Yes ne Yes ne Yes ne Yes ne Amplifier capacity 1, 3A 1, 3A A A 1, 3A 1, 3A 1, 3, A 1, 3, A R series Single axis servo amplifier Motor parameters need to be set for the amplifier before use. Please use the setup software for parameter setting. 67

68 Servo Amplifiers R CApen Interface type System Configuration 1 to A The photograph shows the 3 A model. Option PC communication cable Servo amplifier 1 Option Setup software Electromagnetic contactor 11 CApen Interface type 9 Option Lithium battery ise filter Host device (Devices that use the DS31 protocol and is compliant with the DSP4 profile) DC reactor General I/O connector Molded case circuit breaker (MCCB) T S R 1 Option External regenerative resistor 8 Brake power 1 *Connector specifications for standard servo motors For servo motors with flange size smaller than 1 mm sq.: Cable without connector. (when servo motors are smaller than 8 mm sq., a cable with a connector is available as an option. Refer to p. 138) For servo motors with flange size larger than 13 mm sq.: Cannon plug (when the motor capacity is less than 1 kw), Terminal block (when the motor capacity is more than kw) Servo motor 68

69 Options and Peripherals (1 to A). Name Model no. Description Page 1 Setup software Can be downloaded from Product Information on our website. Parameters can be set and monitored via communication with a PC. PC communication cable AL PC communication cable for setup software p CN3, CN4 connectors To be provided by the customer Connects controller, PC, and PLC (RJ4) 4 CN1 connector AL-6871 General I/O connector p. 16 CN connector AL-3896 To connect to encoders p CNA connector AL To connect input power supply p CNB connector AL-Y988-1 To connect external regenerative resistor and DC reactor p CNC connector AL To connect to servo motor p Lithium battery AL Used when using a battery-backup method absolute encoder p External regenerative resistor 11 Electromagnetic contactor 1 DC reactor 13 ise filter 14 Molded case circuit breaker (MCCB) 1 Brake power REGIST- W B, REGIST-CW B To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer Used for special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier s built-in regenerative resistor Used to switch the power on and off. Used to remove power line harmonics Remove the DL1-DL short bar and connect to remove harmonics. Used to prevent external noise from the power source line. Used to protect the power line. Used for servo motors with brake p. 1 p. 133 Servo Amplifiers R CApen Interface type 69

70 Servo Amplifiers R CApen Interface type General Specifications Control function Control system Main Circuit Power Supply * 1 Control circuit power supply * 1 Environment Structure CApen interface type IGBT: PWM control, sinusoidal drive 3-Phase: to 3 VAC +1, -1%, /6 Hz±3 Hz Single-phase: to 3 VAC +1, -1%, /6 Hz±3 Hz * Single-phase: 1 to 11 VAC +1, -1%, /6 Hz±3 Hz * 3 Single-phase: to 3 VAC +1, -1%, /6 Hz±3 Hz Single-phase: 1 to 11 VAC +1, -1%, /6 Hz±3 Hz * 3 4 VDC+1, -1% Ambient temperature to + C Storage temperature - to +6 C Operation and Below 9%RH (non-condensing) Storage humidity Operation altitude Below m. G freq. range 1 to Hz tested for hours in Vibration resistance each X, Y and Z-axis directions Impact resistance G Built-in tray type power supply *1 Power source voltage should be within the specified range below. [ VAC power input type]: Specified power supply range = 17 to 3 VAC [1 VAC power input type]: Specified power supply range = 8 to 17 VAC * The 1 VAC single-phase input type is an option. Only corresponds to 1 and 3 A. Please set parameters before using single-phase input. RoHS Performance Speed control range 1: Frequency characteristics 6 Hz (JL=JM) Permissible load moment of inertia 1 times the motor rotary inertia Built-in functions Protection functions Digital operator Dynamic brake circuit Regenerative resistor Monitor Overcurrent, Current detection error, Overload, Regeneration error, Amplifier overheating, External overheating, Overvoltage, Main circuit power supply undervoltage, Main power supply open phase, Control circuit power supply error, Encoder error, Overspeed, Speed control error, Speed feedback error, Excessive position deviation, Position command pulse error, CPU error, Built-in memory error, Battery error, Parameter error Status display, Monitor display, Alarm display, Test run, Adjustment mode Built in/ne selectable Built in/ne selectable *For all models from 1 to A, optional external resistors can be equipped. Speed monitor (VMON). V±1% (at 1 min -1 ), Torque (thrust force) command monitor (TCMON). V±1% (at 1%) Safety standards Safety standards rth American safety standards (UL ratings) European directive UL8C EN178, EN61-6-, EN

71 CApen Interface Type Specifications Fieldbus specifications Bus connection, Medium CAN standards ISO (high-speed CAN) Fieldbus CApen Communication profile CiA DS31 Version 4. Device profile CiA DSP4 (CApen device profile for drive and motion control applications) Version. Bit rate 1 Mbps, 8 kbps, kbps (factory setting), kbps, 1 kbps, kbps, kbps, 1 kbps (select using the setup software) Max. number of nodes per segment 1 to 17 (two 16 positions, rotary switch, or select using the setup software) RJ-4 type modular connector ( ports) - Pin 1 CAN_H bus line, H side - Pin CAN_L bus line, L side Connector - Pin 3, Pin 7 CAN_GND Ground - Pin 6 CAN_SHIELD cable shield - Pin Terminator (1Ω; if termination is required, connect a jumper wire between the Pin 1 and Pin ) Transceiver ISO compliant high-speed transceiver Max. bus length m (max. bus length at 1 Mbps) SDO (Service Data Object: 1 SDO) PDO (Process Data Object: 4 transmit PDOs and 4 receive PDOs) Communication object EMCY (Emergency Message) NMT (Network Management) SYNC (Synchronization message) Heartbeat PDO transmission mode Synchronous transmission mode Asynchronous transmission mode Operation modes Homing mode (h.m) Profile Velocity mode (p.v) Profile Torque mode (t.q) Profile Position mode (p.p) Interpolated Position mode (i.p) Servo Amplifiers General-purpose output specifications Sink type (NPN) Servo amplifier Host device OUT-PWR Out 1 to 8 load Source type (PNP) Servo amplifier OUT-PWR OUT+COM Host device R CApen Interface type 4 OUT-COM Out 1 to 8 load OUT-COM 71

72 AC SERVO SYSTEMS AC SERVO SYSTEMS CNA CNB CNC RUN ERR CN3 CN4 C N AC SERVO SYSTEMS Servo Amplifiers R CApen Interface type Dimensions [Unit: mm] 1 A M4 3 A M4 Mass: 1. kg Mass: 1.1 kg 6 (7) (7) 13 (4) (φ) (7) (7) (4) (φ) Cooling fan Wind direction A Mass:.3 kg M4 PC T S R t r - DL1 CHARGE RS1AAL POWER (7) (7) (4) Cooling fan Wind direction DL P C N 1 RB1 RB RB1 RB W V U Connector layout is different for 4 VDC control circuit power supply. 7

73 - External Wiring Diagram Control circuit power supply 4 VDC User device CNA AC power supply 3-phase to 3 V /6 Hz MC te 11 T S R te 1 MC Start ready ON Start ready OFF MC System error Emergency stop CNB 4 VDC 4 V 4 G 1 Control circuit power supply 4 VAC AC power supply 3-phase to 3 V /6 Hz te 1 MC Battery input General input MC Start ready ON MC System error Start ready OFF CAN_H CAN_L GND GND Lithium battery 3.6 VDC te 8 to 4 VDC User device Emergency stop Terminator CAN_H CAN_L Terminator GND GND te 11 CN1 CNA CN SH Combination Plug: Equivalent to TM1P-88P CN4 1 SH Combination Plug: Equivalent to TM1P-88P T S R t r BTP-I BTN-I CONT -COM CONT1 1 CONT 4 CONT3 11 CONT4 CONT7 1 CONT8 te 1 te te 3 te 4 1/4W 1 Ω Combination Plug: PE Shell: 1314-A-8 CNB CAN TRANCEIVER DL1 DL P RB1 + RB Servo amplifier Regenerative resistor CN W V U te 7 Sink type (NPN) OUT-PWR OUT1 OUT OUT-COM CNC te te 6 Black White Red Green (Green/Yellow) Connector for the encoder connection SH SH Combination Plug: 11-3PE Shell: 13-A-8 SH te VDC, te 8 1 to 4 VDC te 1: te : General input Servo motor Encoder Orange (yellow) Orange (yellow) Source type (PNP) RY1 9 V (4 V) Holding brake (Installed on the models with brakes only) OUT-PWR OUT1 OUT Use a shielded twisted pair cable SH te te 8 4 VDC When connecting an external regenerative resistor, remove the built-in regenerative resistor that is connected between the RB1 and RB and then connect the external regenerative resistor between the RB1 and RB. te 3: The DL1 terminal and DL terminal are used to connect a DC reactor. When a DC reactor is not used, short circuit between the DL1 and DL terminals with the supplied short bar. te 4: terminal and P terminal are used for maintenance (high-voltage circuits). Do not wire to this terminal. te : Refer to the instruction manual for details on shielding. te 6: The motor side connections vary with motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. When they are the cannon plug type, connect them according to the motor specifications. te 7: Refer to the encoder wiring diagram for the wiring of the connector for the encoder connection. te 8: The external power supply is to be provided by the customer. te 9: R, S, T, r, t,, P,DL1, DL, RB1, RB, U, V, W are high-voltage circuits, other signal lines are low-voltage circuits. When wiring, ensure that there is a sufficient distance between the high- and low-voltage circuits. te 1: Installing an earth leakage circuit breaker conforming either to UL, IEC, or EN standards is recommended. te 11: Do not connect the S phase for the single-phase power supply amplifier. te 1: When a termination resistor is required, insert the RJ4 connector with short-circuited Pin 1 (CAN_H) and Pin (Terminator) into CN3 or CN4. General input Servo Amplifiers R CApen Interface type 73

74 Servo Amplifiers R CApen Interface type External Wiring Diagram Serial Encoder Optical absolute encoder for incremental systems [Model. PA3S] Option: Optical battery-backup method absolute encoder [Model. PA3C] Servo amplifier Servo motor *1 Use a shielded twisted pair cable. * Maximum cable lengths by conductor size of the power supply cable ( V, ) are shown in the table below. + V V *3 CN ES+ ES EBAT+ EBAT Plug: 11-3PE Shell: 13-A *1 * Cannon plug model no. E/1 (Brown) F/ (Blue) T/8 (Pink) S/4 (Purple) H/9 (Red) + V G/1 (Black) V J/7 ES+ ES EBAT+ EBAT FG (Shielded) Encoder Conductor size Conductor resistance Length AWG SQ (mm ) (Ω/km) *at C (m) or less 4. 1 or less or less 1. 4 or less 18.7 or less 4 *Conductor resistance differs by conductor specifications. *3 Battery lines (EBAT+, EBAT-) are necessary only when a battery-backup method absolute encoder is used. *4 Lead wire colors are indicated in parentheses. For lead wire colors and cannon plug pin numbers, see the following table. 1 mm sq. or smaller 13 mm sq. or larger ES+ ES EBAT+ EBAT +V V FG Brown Blue Pink* 3 Purple* 3 Red Black Shielded 1 8 *3 4 * Flange size: 13 mm sq. or larger JNDS1SL1-R JNDS1SL-R JNDS1SL3-R JNFS1SL1-R JNFS1SL-R JNFS1SL3-R Option: Pulse Encoder Wire-saving incremental encoder Servo amplifier + V V CN A A B B Z Z Plug:11-3PE, Shell: 13-A *1 * Cannon plug model no. Flange size: 13 mm sq. or larger A/1 (Blue) A D/4 (Brown) A B/ (Green) B E/ (Purple) B F/3 (White) Z G/6 (Yellow) J/9 (Red) Z + V N/1 (Black) V H/7 JNDS1SL1-R JNDS1SL-R JNDS1SL3-R Servo motor FG (Shielded) JNFS1SL1-R JNFS1SL-R JNFS1SL3-R *1 Use a shielded twisted pair cable. * Maximum cable lengths by conductor size of the power supply cable ( V, ) are shown in the table below. Conductor size Conductor resistance Length AWG SQ (mm ) (Ω/km) *at C (m) or less 4. 1 or less or less 1. 4 or less 18.7 or less 4 *Conductor resistance differs by conductor specifications. *3 Lead wire colors are indicated in parentheses. For lead wire colors and cannon plug pin numbers, see the following table: 1 mm sq. or smaller 13 mm sq. or larger 1 mm sq. or smaller 13 mm sq. or larger A A B B Z Z +V Blue Brown Green Purple White Yellow Red V Black FG Shielded

75 Servo Amplifiers R Built-in Positioning Function type Servo Amplifier Capacity: 1 to 3 A The need for a positioning control unit is eliminated, simplifying the system. There are two types of interfaces: DIO (Digital I/O) type and RS-48 communication type. RS-48 communication protocol is compatible with MODBUS communication and AE-LINK communication. How to read model numbers te that not all the possible combinations of the numbers and characters below are valid. Also, some of the numbers/characters listed below are for optional models. For model numbers valid as standard products, refer to Standard Model Number List. RS1 A 1 A C Motor type A Rotary motor Controller hardware type C With positioning function (DIO type) F With positioning function (RS-48 communication type) Servo amplifier capacity 1 1 A 3 3 A A 1 1 A 1 1 A 3 3 A Input voltage, internal regenerative setting Model. L A A L N E Input voltage VAC 1 VAC Built-in regenerative resistor Yes ne Yes ne Yes ne Amplifier capacity 1, 3 A 1, 3, 3 A, 1, 1 A, 1, 1 A 1, 3 A 1, 3 A R series Motor parameters need to be set for the amplifier before use. Please use the setup software for parameter setting. 7

76 Servo Amplifiers R Built-in Positioning Function type System Configuration 1 to A DIO type The photograph shows the 1 A model. Servo amplifier Electromagnetic contactor 8 Option Lithium battery ise filter 1 Option PC communication cable PC 1 Option Setup software 13 DC reactor 3 1 CN1 Molded case circuit breaker (MCCB) T S R Host device Option External regenerative resistor 7 4 CN 14 Brake power *Connector specifications for standard servo motors For servo motors with flange size smaller than 1 mm sq.: Cable without connector. (when servo motors are smaller than 8 mm sq., a cable with a connector is available as an option. Refer to p. 138) For servo motors with flange size larger than 13 mm sq.: Cannon plug (when the motor capacity is less than 1 kw), Terminal block (when the motor capacity is more than kw) Servo motor 76

77 Options and Peripherals (1 to A). Name Model no. Description Page 1 Setup software Can be downloaded from Product Information on our website. Parameters can be set and monitored via communication with a PC. PC communication cable AL PC communication cable for setup software p CN1 connector AL-3894 To connect to host device I/O p CN connector AL-3896 To connect to encoders p. 17 CNA connector AL To connect input power supply p CNB connector AL-Y988-1 To connect external regenerative resistor and DC reactor p CNC connector AL To connect to servo motor p Lithium battery AL Used when using a battery-backup method absolute encoder p External regenerative resistor 1 Electromagnetic contactor 11 DC reactor 1 Molded case circuit breaker (MCCB) 13 ise filter 14 Brake power REGIST- W B, REGIST-CW B To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer Connector sets are also available with set model numbers. See respective pages. Used for special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier s built-in regenerative resistor Used to switch the power on and off. Used to remove power line harmonics Used to protect the power line. Used to prevent external noise from the power source line. Used for servo motors with brake p. 1 p. 133 Servo Amplifiers R Built-in Positioning Function type 77

78 Servo Amplifiers R Built-in Positioning Function type System Configuration 1 to 3 A DIO type The photograph shows the 1 A model. T S R 9 Molded case circuit breaker (MCCB) 8 ise filter Servo amplifier Electromagnetic contactor Option Lithium battery 7 Option PC communication cable PC 1 1 DC reactor 3 CN1 Option Setup software 6 Option External regenerative resistor 4 Host device CN 11 Brake power *Connector specifications for standard servo motors For servo motors with flange size larger than 13 mm sq.: Cannon plug (when the motor capacity is less than 1 kw), Terminal block (when the motor capacity is more than kw) Servo motor 78

79 Options and Peripherals (1 to 3 A). Name Model no. Description Page 1 Setup software Can be downloaded from Product Information on our website. Parameters can be set and monitored via communication with a PC. PC communication cable AL PC communication cable for setup software p CN1 connector AL-3894 To connect to host device p CN connector AL-3896 To connect to encoders p. 17 Lithium battery AL Used when using a battery-backup method absolute encoder p External regenerative resistor 7 Electromagnetic contactor 8 ise filter 9 Molded case circuit breaker (MCCB) 1 DC reactor 11 Brake power REGIST- W B, REGIST-CW B To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer Connector sets are also available with set model numbers. See respective pages. Used for special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier s built-in regenerative resistor Used to switch the power on and off. Used to prevent external noise from the power source line. Used to protect the power line. Used to remove power line harmonics Used for servo motors with brake p. 1 p. 133 Servo Amplifiers R Built-in Positioning Function type 79

80 Servo Amplifiers R Built-in Positioning Function type General Specifications Control function Control system Main Circuit Power Supply * 1 Control circuit power supply * 1 Interface Power Supply Environment Structure Position control IGBT: PWM control, sinusoidal drive 3-Phase: to 3 VAC +1, -1%, /6 Hz±3 Hz Single-phase: to 3 VAC +1, -1%, /6 Hz±3 Hz * Single-phase: 1 to 11 VAC +1, -1%, /6 Hz±3 Hz * 3 Single-phase: to 3 VAC +1, -1%, /6 Hz±3 Hz Single-phase: 1 to 11 VAC +1, -1%, /6 Hz±3 Hz * 3 4 VDC±1% Ambient temperature to + C Storage temperature - to +6 C Operation and Storage humidity Below 9%RH (non-condensing) Operation altitude Below 1 m Vibration resistance. G freq. range 1 to Hz tested for hours in each X, Y and Z-axis directions Impact resistance G Built-in tray type power supply *1 Power source voltage should be within the specified range below. [ VAC power input type]: Specified power supply range = 17 to 3 VAC [1 VAC power input type]: Specified power supply range = 8 to 17 VAC * The VAC single-phase input type is compatible only with 1, 3, and A. Please set parameters before using single-phase input. *3 The 1 VAC single-phase input type is compatible only with 1 and 3 A. Please set parameters before using single-phase input. RoHS Performance Speed control range 1: Frequency characteristics 6 Hz (JL=JM) Permissible load moment of inertia 1 times the motor rotary inertia Built-in functions Protection functions Digital operator Dynamic brake circuit Regenerative resistor Monitor Overcurrent, Current detection error, Overload, Regeneration error, Amplifier overheating, External overheating, Overvoltage, Main circuit power supply undervoltage, Main power supply open phase, Control circuit power supply error, Encoder error, Overspeed, Speed control error, Speed feedback error, Excessive position deviation, Position command pulse error, CPU error, Built-in memory error, Battery error, Parameter error Status display, Monitor display, Alarm display, Parameter setting, Adjustment mode Built in/ne selectable 1 to 1A: Built in/ne selectable, 3 A: ne *For all models from 1 to 3 A, optional external resistors can be equipped. Speed monitor (VMON). V±1% (at 1 min -1 ), Torque (thrust force) command monitor (TCMON). V±1% (at 1%) Safety standards Safety standards rth American safety standards (UL ratings) European directive UL8C EN178, EN61-6-, EN618-3 RS-48 communication specifications Item Item Default value Remarks Protocol Modbus-RTU Fixed to binary mode (ASCII mode is not supported) Interface RS-48 (1: N) N = 8 * Transmission speed (bps) 48, 96, 19, 384, 76, Set up with setup software or rotary switch on the front surface of the amplifier. Start bit 1 1 Fixed Data length (bit) 8 8 Fixed ne, even number, odd number Set up with setup software. Parity Even number Stop bit 1, 1 Electrical Specifications RS-48 compliant (half duplex communication) Connector RJ-4 RS-48 compliant (half duplex communication) Fixed This servo amplifier can be connected to up to 8 axes per segment. When connecting 8 axes or more, contact us for details. 8

81 Positioning Function Specifications and Operation Examples Positioning Function I/O Number of controllable axes 1 axis Number of points to be registered Up to 4 points (P to P3) can be set Max. command amount -,147,483,648 to +,147,483,647 Command unit mm or pulse Rapid feed rate,147,483,647 mm/sec (.1 mm/pulse selected) Acceleration/deceleration Automatic acceleration/deceleration (straight line/s-shape switchover) Point data setting Set by inputting numeric values using a PC or by teaching Movement point number setting Parallel 8 bit (binary code) Torque limit to 1% (With 1% be the rated torque value) However, less than instantaneous max. stall current Software limit Yes Move mode Homing, Manual (JOG, 1 Step), Point specified move Area signal Up to 8 zones Servo motor power ON, Alarm reset, Start, Homing, Manual, Override/Manual high speed, Cancel, Sequential input signal Decelerate before home position, External error, Over travel, 1 Step feed, Interrupt startup, Output selection, MFIN, Point specified input Sequential output signal NC ready, Holding brake timing, Error, External operation enabled, In operation Positioning complete, In-position output, Homing complete, General output (8 bit) Operation examples of amplifiers with built-in positioning function By starting point 1, point and point 3 can be continuously operated. Point data setting Point data can be set, saved, and read from a PC. Mode 1: 1 = Positioning operation enabled, Mode : = Final movement, 1 = Continues to the next point number Speed change: Stopped/Continuous: 1 =Continuous speed change operation Servo Amplifiers PLC Passes point 1 Moves to point Moves to point 3 R Built-in Positioning Function type OT sensor Deceleration signal sensor +OT sensor With. as the start coordinate, start point 1 (P1). P1:1. P:1. P3:18. Motor speed Point input Only the point 1 (P1) is ON. (CN1-4). 1.. ON OFF Coordinates Start signal input (CN1-7) ON OFF Output during operation (CN1-7) Positioning finished signal (CN1-8) ON OFF ON OFF 81

82 AC SERVO SYSTEMS AC SERVO SYSTEMS MODE T S R t r DL1 DL P RB1 RB W V U CHARGE WR/ POWER R S T DL1 DL P RB4 RB1 RB U V W r t MODE CHARGE POWER WR/ 1 AC SERVO SYSTEMS CHARGE POWER DL1 DL P RB4 RB1 RB U V W CHARGE r R S T t AC SERVO SYSTEMS MODE RB1 RB POWER r RS1A1A* WR/ CHARGE t DL P U V W - DL1 P C 1 AC SERVO SYSTEMS MODE POWER RS1A3A* WR/ P C C N 1 C N Servo Amplifiers R Built-in Positioning Function type Dimensions [Unit: mm] 1 A Mass:.9 kg M4 3 A Mass: 1. kg M4 4 (7) (7) (4) (7) (7) 13 (4) P C Cooling fan Wind direction A Mass:. kg M4 1 A Mass:. kg C N B C N A RS1AA* P C C N 1 (7) (7) (4) RB1 RB Cooling fan Wind direction 3. (7) (4) (7) R N C N C 1 C N C C N Wind direction Cooling fan (6) (7) 1 A Mass: 6. kg 3 A Mass: 9.8 kg 3. (7) (4) (7) P C N C 3 (7). (4) (7) R 3 N C Cooling fan Wind direction (6) (7) Wind direction Cooling fan 7 8

83 P External Wiring Diagram DIO type Single-phase 1 V (amplifier capacity 1, 3 A) User device Single-phase V (amplifier capacity 1 to A) User device AC power supply single phase 1 to 11 V /6 Hz te 1: MC te 11: CNA T S R t r AC power supply Single phase to 3 V /6 Hz te 1: MC te 11: CNA T S R t r Start ready Start ready ON OFF MC MC System error Emergency stop Start ready Start ready ON OFF MC MC Emergency System error stop 3-Phase V AC power supply 3-phase to 3 V /6 Hz te 1: MC User device Start ready Start ready ON OFF MC MC Emergency System error stop External power supply (+4 V) te 8: te 11: CNA CN1 1 T S R t r te : te 3: te 4: CNB Servo amplifier DL1 DL te : RB1 RB Regenerative resistor W V U CN te 7: CNC te 6: Green (Green/Yellow) Connector for the encoder connection SH Black White Red SH Servo motor Encoder Orange RY1 (yellow) Orange 9 V (yellow) (4 V) Holding brake (Installed on the models with brakes only) Power ON enabling signal (A-RDY) NC ready (NCRDY) 3 te : Plug: 11-3PE Shell: 13-A-8 Holding brake excitation timing output (HBON) 4 Error output (Err) External operation enabled (EXT) 6 During operation (MOVE) 7 Positioning finished (PFIN) 8 In-position output (INPS) 9 Zero-return finished (ZFIN) 1 OUT(1) 11 OUT() 1 General output OUT(3) OUT(4) OUT() OUT(6) OUT(7) OUT(8) External power supply (4 G) Servo Amplifiers External power supply (+4 V) Decelerate before home position (SDN) Over travel (+T) Over travel (-T) External data setting (E_STR) External error (EXT_E) Startup (RUN) Zero-return (ZRT) Manual (+JOG) Manual (-JOG) Override (OVRID)/Manual high speed (RAP) Alarm reset (ARST) Cancel (CACL) te 8: te 1: Use a shielded cable. te : Connect the regenerative resistor between the RB1 and RB terminals. When using an external regenerative resistor, remove the built-in regenerative resistor wiring that is connected to the RB1 terminal and RB terminal and then connect the external regenerative resistor between the RB1 and RB terminals. te 3: DL1 terminal and DL terminal are used to connect a DC reactor. When a harmonic suppression reactor is not used, short circuit between the DL1 and DL terminals with the supplied short bar. te 4: terminal and P terminal are used for maintenance (high-voltage circuits). Do not wire to this terminal. R Built-in Positioning Function type Servo ON (S-ON) 34 te : Refer to the instruction manual for details on shielding. Output selection 1 (SEL1) Output selection (SEL) Output selection 3 (SEL3) 1 step feed (+1step) 1 step feed (-1step) Interrupt startup (I_RUN) MFIN (MFIN) IN(1) IN() IN(4) IN(8) IN(16) Point specified input IN(3) IN(64) te 6: The motor side connections vary with motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. When they are the cannon plug type, connect them according to the motor specifications. te 7: Refer to the encoder wiring diagram for the wiring of the connector for the encoder connection. te 8: The power supply is to be provided by the customer. te 9: R, S, T, r, t,, P,DL1, DL, RB1, RB, U, V, W are high-voltage circuits, other signal lines are low-voltage circuits. When wiring, ensure that there is a sufficient distance between the high- and low-voltage circuits. te 1: Installing an earth leakage circuit breaker conforming either to UL, IEC, or EN standards is recommended. te 11: Do not connect the S phase for the single-phase power supply amplifier. IN(18) 49 Plug: 11-3PE, Shell: 13-A-8 83

84 Servo Amplifiers R Built-in Positioning Function type External Wiring Diagram RS-48 communication type Single-phase 1 V (amplifier capacity 1, 3 A) AC power supply Single phase 1 to 11 V /6 Hz te 1: MC User device Start ready Start ready ON OFF MC MC Emergency System error stop te 11: CNA T S R t r Single-phase V (amplifier capacity 1 to A) AC power supply Single phase to 3 V /6 Hz te 1: MC User device Start ready Start ready ON OFF MC MC System error Emergency stop te 11: CNA T S R t r 3-Phase V te : te 3: User device te 4: CNB Regenerative resistor AC power supply 3-phase to 3 V /6 Hz te 1: MC Start ready Start ready ON OFF MC MC Emergency System error stop te 11: CNA T S R t r DL1 DL P RB1 RB + Servo amplifier te 1: CN3 B/B' 4 A/A' GND 8 SH Combination Plug: Equivalent to TM1P-88P (Hirose) CN4 te 1: B/B' 4 A/A' SW 1/4 W 1 Ω RS-48 TRANCEIVER CNC W V U CN te 7: te : Green (Green/Yellow) Connector for the encoder connection SH te 6: Black White Red SH Combination Plug: 11-3PE, Shell: 13-A-8 (3M) Servo motor Orange (yellow) RY1 Orange 9 V (yellow) (4 V) Holding brake (Installed on the models with brakes only) Encoder GND 8 SH Combination Plug: Equivalent to TM1P-88P (Hirose) OUT-PWR 9 te 8: 4 VDC 4 VDC te 8: CN1 1 CONT-COM CONT1 OUT1 7 OUT 8 General output 3 CONT OUT-COM 6 General input SH 4 CONT3 CONT4 SH Combination Plug kit: Equivalent to MUF-PK1K-X (J.S.T.MFG.CO.,LTD.) te 1: Use a shielded cable. te : Connect the regenerative resistor between the RB1 and RB terminals. te 3: The DL1 terminal and DL terminal are used to connect a DC reactor. When a DC reactor is not used, short circuit between the DL1 and DL terminals with the supplied short bar. te 4: terminal and P terminal are used for maintenance (high-voltage circuits). te : Refer to the instruction manual for details on shielding. te 6: The motor side connections vary with motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. When they are the cannon plug type, connect them according to the motor specifications. te 7: Refer to the encoder wiring diagram for the wiring of the connector for the encoder connection. te 8: The power supply is to be provided by the customer. Functions can be selected for I/O. te 9: R, S, T, t, r,, P, DL1, DL, RB1, RB, U, V, W are high-voltage circuits, other signal lines are low-voltage circuits. When wiring, ensure that there is a sufficient distance between the highand low-voltage circuits. te 1: Installing an earth leakage circuit breaker conforming either to UL, IEC, or EN standards is recommended. te 11: Do not connect the S phase for the single-phase power supply amplifier. 84

85 External Wiring Diagram Serial Encoder Optical absolute encoder for incremental systems [Model. PA3S] Option: Optical battery-backup method absolute encoder [Model. PA3C] Servo amplifier Servo motor *1 Use a shielded twisted pair cable. * Maximum cable lengths by conductor size of the power supply cable ( V, ) are shown in the table below. + V V *3 CN ES+ ES EBAT+ EBAT Plug: 11-3PE Shell: 13-A *1 * Cannon plug model no. E/1 (Brown) F/ (Blue) T/8 (Pink) S/4 (Purple) H/9 (Red) + V G/1 (Black) V J/7 ES+ ES EBAT+ EBAT FG (Shielded) Encoder Conductor size Conductor resistance Length AWG SQ (mm ) (Ω/km) * C (m) or less 4. 1 or less or less 1. 4 or less 18.7 or less 4 *Conductor resistance differs by conductor specifications. *3 Battery lines (EBAT+, EBAT-) are necessary only when a battery-backup method absolute encoder is used. *4 Lead wire colors are indicated in parentheses. For lead wire colors and cannon plug pin numbers, see the following table. 1 mm sq. or smaller 13 mm sq. or larger ES+ ES EBAT+ EBAT +V V FG Brown Blue Pink* 3 Purple* 3 Red Black Shielded 1 8 *3 4 * Flange size: 13 mm sq. or larger JNDS1SL1-R JNDS1SL-R JNDS1SL3-R JNFS1SL1-R JNFS1SL-R JNFS1SL3-R Option: Pulse Encoder Wire-saving incremental encoder Servo amplifier + V V CN A A B B Z Z Plug:11-3PE, Shell: 13-A *1 * Cannon plug model no. Flange size: 13 mm sq. or larger A/1 (Blue) A D/4 (Brown) A B/ (Green) B E/ (Purple) B F/3 (White) Z G/6 (Yellow) J/9 (Red) Z + V N/1 (Black) V H/7 JNDS1SL1-R JNDS1SL-R JNDS1SL3-R Servo motor FG (Shielded) JNFS1SL1-R JNFS1SL-R JNFS1SL3-R *1 Use a shielded twisted pair cable. * Maximum cable lengths by conductor size of the power supply cable ( V, ) are shown in the table below. Conductor size Conductor resistance Length AWG SQ (mm ) (Ω/km) * C (m) or less 4. 1 or less or less 1. 4 or less 18.7 or less 4 *Conductor resistance differs by conductor specifications. *3 Lead wire colors are indicated in parentheses. For lead wire colors and cannon plug pin numbers, see the following table: 1 mm sq. or smaller 13 mm sq. or larger 1 mm sq. or smaller 13 mm sq. or larger A A B B Z Z +V Blue Brown Green Purple White Yellow Red V Black FG Shielded 1 7 Servo Amplifiers R Built-in Positioning Function type 8

86 86

87 Servo Amplifiers R Multi-axis Pulse Input type Servo Amplifier Capacity: Amplifier unit 1 A (up to 6 axes) / 3 A (up to 4 axes) Multi-axis controllable servo amplifier (up to 6 axes). Multiple axes can be powered and commanded from only one unit, enabling wire saving and space saving. How to read model numbers te that not all the possible combinations of the numbers and characters below are valid. Also, some of the numbers/characters listed below are for optional models. For model numbers valid as standard products, refer to Standard Model Number List. Amplifier unit RR1 A 1 A A B Input voltage A 8 VDC E 14 VDC R series Multi-axis servo amplifier Amplifier unit Amplifier capacity 1 1 A 3 3 A Encoder combination type B Serial encoder A Pulse encoder Controller hardware type A Pulse train interface Motor type A Rotary motor Motor parameters need to be set for the amplifier before use. Please use the setup software for parameter setting. Specification identification Standard Power supply unit RRP A A R series Multi-axis servo amplifier Power supply unit Input voltage A VAC E 1 VAC Controller hardware type A Pulse train interface Specification identification Standard Motherboard RRM A 4 R series Multi-axis servo amplifier Motherboard Input voltage A VAC E 1 VAC Specification identification Standard Slot type 4 4 slots 6 6 slots 8 8 slots Amplifier unit 1 A: 1 slot used per unit Amplifier unit 3 A: slots used per unit Required number of amplifier units, a power supply unit, and a motherboard are used as a set. The maximum amplifier capacity is 8 W for 1 VAC input, and W for VAC input. 87

88 Servo Amplifiers R Multi-axis Pulse Input type System Configuration T S R 13 Molded case circuit breaker (MCCB) Option Lithium battery Option Setup software ise filter Servo amplifier Option PC communication cable Host device Electromagnetic contactor Option External regenerative resistor DC reactor 17 Brake power Servo motor *Connector specifications for standard servo motors For servo motors with flange size smaller than 1 mm sq.: Cable without connector. (when servo motors are smaller than 8 mm sq., a cable with a connector is available as an option. Refer to p. 138) For servo motors with flange size larger than 13 mm sq.: Cannon plug (when the motor capacity is less than 1 kw), Terminal block (when the motor capacity is more than kw) 88

89 Options and Peripherals. Name Model no. Description Page 1 Setup software Can be downloaded from Product Information on our website. Parameters can be set and monitored via communication with a PC. PC communication cable AL PC communication cable for setup software p CN6 connector AL-6367 For encoder divided signal output p CN connector AL-6367 For encoder signal p. 18 CN1 connector AL-Y33-1 General I/O connector p CNC connector AL-6364 To connect to servo motor p CNA connector AL-636 Control/main circuit power input connector p CNB connector AL-636 To connect external regenerative resistor and DC reactor p CN1A connector AL-3894 To connect to host device p CN1B connector AL-3894 To connect to host device p Lithium battery AL Used when using a battery-backup method absolute encoder p External regenerative resistor 13 Molded case circuit breaker (MCCB) 14 ise filter 1 Electromagnetic contactor 16 DC reactor 17 Brake power REGIST- W B, REGIST-CW B To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer To be provided by the customer Connector sets are also available with set model numbers. See respective pages. Used for special operations, such as high frequency applications that require greater power dissipation than that provided by the servo amplifier s built-in regenerative resistor Used to protect the power line. Used to prevent external noise from the power source line. Used to switch the power on and off. Used to remove power line harmonics Used for servo motors with brake p. 1 p. 133 Servo Amplifiers R Multi-axis Pulse Input type 89

90 Servo Amplifiers R Multi-axis Pulse Input type General Specifications Control function (amplifier unit) Control system (amplifier unit) Main Circuit Power Supply * 1 (power supply unit) Control circuit power supply * 1 (power supply unit) Environment Structure Position control IGBT: PWM control, sinusoidal drive 3-Phase: to 3 VAC +1, -1%, /6 Hz±3% Single-phase: 1 to 11 VAC +1, -1%, /6 Hz±3% Single-phase: to 3 VAC +1, -1%, /6 Hz±3% Single-phase: 1 to 11 VAC +1, -1%, /6 Hz±3% Ambient temperature Storage temperature Operation and Storage humidity Operation altitude Vibration resistance Impact resistance Rack-mount type to 4 C (under natural air cooling), to C (under forced air cooling) - to +6 C Below 9%RH (non-condensing) Below 1 m. G freq. range 1 to Hz tested for hours in each X, Y and Z-axis directions G *1: Power supply voltage should be within the specified range. RoHS Performance Speed control range 1: Frequency characteristics 6 Hz (JL=JM) Permissible load moment of inertia 1 times the motor rotary inertia Built-in functions Protection functions Digital operator Dynamic brake circuit Regenerative resistor Monitor Overcurrent, Current detection error, Overload, Overvoltage, Encoder error, Overspeed, Speed control error, Speed feedback error, CPU error, Built-in memory error, Parameter error, etc. Status display, Monitor display, Alarm display, Parameter setting, Adjustment mode Built in/ne selectable Built into the power supply unit (not into the amplifier unit) *For all models, optional external resistors can be equipped. Speed monitor (VMON). V±1% (at 1 min -1 ), Torque (thrust force) command monitor (TCMON). V±1% (at 1%) Safety standards Safety standards rth American safety standards (UL ratings) European directive UL8C EN178, EN61-6-, EN618-3 The maximum amplifier capacity is 8 W for 1 VAC input, and W for VAC input. 9

91 Dimensions [Unit: mm] Amplifier unit 1 A Mass:.48 kg 3 A Mass:.77 kg (7) (14.7) φ (7) (14.7) φ Power supply unit Mass:. kg Motherboard (1) (14.7) φ A B -φ Combination example of Amplifier unit + Power supply unit + Motherboard A B -φ (1) Model no. RRMA4 RRME4 RRMA6 RRME6 RRMA8 RRME8 1 Number of slots Dimensions A B Mass Servo Amplifiers R Multi-axis Pulse Input type Number of slots Dimensions A B

92 Servo Amplifiers R Multi-axis Pulse Input type External Wiring Diagram 3-Phase V Single-phase 1 V User device AC power supply 3-phase to 3 V /6 Hz te 1: MC System error Emergency stop te 11: CNA r Power supply unit t R S T Built-in regenerative resistor User device AC power supply single-phase 1 to 11 V /6 Hz te 1: MC System error Emergency stop te 11: CNA r t R S T Start ready Start ready ON OFF MC te te 3 CNB RB RB1 P DL DL1 Start ready Start ready ON OFF MC Line driver te 1: te 4: CN1A 3 F-PC1 + + Line receiver Equivalent to 6C3 + + F-PC4 CN1B 3 te 1: Line driver CW pulse (1st axis) 4 F-PC F-PC4 + 4 CW pulse (4th axis) R-PC1 R-PC4 CCW pulse (1st axis) 6 R-PC1 R-PC4 6 CCW pulse (4th axis) Position command pulse input CW pulse (nd axis) CCW pulse (nd axis) F-PC F-PC + R-PC R-PC + F-PC F-PC F-PC + R-PC R-PC + F-PC CW pulse (th axis) CCW pulse (th axis) Position command pulse input CW pulse (3rd axis) 1 F-PC F-PC6 + 1 CW pulse (6th axis) 13 R-PC3 R-PC6 13 CCW pulse (3rd axis) te 1: ,41 R-PC3 R-PC ,41 CCW pulse (6th axis) te 1: te 8 to 4 VDC 4,46,47 6 CONT-COM CONT1 CONT-COM 4,46,47 CONT16 6 te 8: to 4 VDC 7 CONT CONT CONT3 CONT CONT13 CONT CONT14 CONT9 39 General I/O VDC, 1 to 4 VDC 4 CONT1 48,49, OUT-POW 19 OUT1 CONT3 4 OUT-POW 48,49, OUT7 19 VDC, 1 to 4 VDC General I/O OUT OUT8 1 OUT3 OUT OUT OUT6 OUT11 OUT1 3 4 ALM1 ALM 4,43,44 OUT-COM OUT-COM 4,43,44 Battery input General I/O Lithium battery 3.6 VDC te 13: Monitor output Encoder divided signal output MON1 MON te 1: te 8: 1 to 4 VDC Plug: 11-3PE Shell: 13-A-8 te 1: Plug: 363-1JL Shell: SH 1 CN6 1, CN BATP-1 BATN-1 CH1 CH AO AO BO BO CO CO PS PS IN1 IN OUT1 OUT COM te : Amplifier unit 1 axis Amplifier unit axes BATP- BATN- te BATP BATN U V W 1 CN 1 CNC te 6: CN Lithium battery 3.6 VDC te 13: Lithium battery 3.6 VDC Plug: 11-3PE Shell: 13-A-8 te 13: Red White Black Green te 7: Connector for the encoder connection SH Plug: 361-1PL Shell: Orange (yellow) Orange (yellow) Battery input Battery input Holding brake releasing relay te 1: Use a shielded cable. te : When connecting an external regenerative resistor, remove the built-in regenerative resistor that is connected between the RB1 and RB and then connect the external regenerative resistor between the RB1 and RB. te 3: DL1 terminal and DL terminal are used to connect a DC reactor. When a harmonic suppression reactor is not used, short circuit between the DL1 and DL terminals with the supplied short bar. te 4: terminal and P terminal are used for maintenance (high-voltage circuits). Do not wire to this terminal. te : Refer to the instruction manual for details on shielding. te 6: The motor side connections vary with motor specifications. The indications of red, white, black, green and orange apply when the motor power and brake lines are the lead type. When they are the cannon plug type, connect them according to the motor specifications. te 7: Refer to the encoder wiring diagram for the wiring of the connector for the encoder connection. te 8: The external power supply is to be provided by the customer. te 9: R, S, T, r, t,, P, DL1, DL, RB1, RB, U, V, W are high-voltage circuits, other signal lines are low-voltage circuits. When wiring, ensure that there is a sufficient distance between the high- and low-voltage circuits. te 1: Installing an earth leakage circuit breaker conforming either to UL, IEC, or EN standards is recommended. te 11: Do not connect the S phase for the single-phase power supply amplifier. te 1: Be sure to connect a (signal ground) between devices when you use differential input signals. te 13: Battery power supply is common inside the unit. When using an absolute encoder, connect to CN1A, CN1B, or CN. 9

93 External Wiring Diagram Serial Encoder Optical absolute encoder for incremental systems [Model. PA3S] Option: Optical battery-backup method absolute encoder [Model. PA3C] Servo amplifier Servo motor *1 Use a shielded twisted pair cable. * Maximum cable lengths by conductor size of the power supply cable ( V, ) are shown in the table below. *3 + V V ES+ ES- EBAT+ EBAT- N.C. N.C. CN E/1 (Brown) F/ (Blue) T/8 (Pink) S/4 (Purple) ES+ ES- EBAT+ EBAT- H/9 (Red) + V G/1 (Black) V Encoder Conductor size Conductor resistance Length AWG SQ (mm ) (Ω/km) *at C (m) or less 4. 1 or less or less 1. 4 or less 18.7 or less 4 *Conductor resistance differs by conductor specifications. *1 * J/7 FG (Shielded) *3 Battery lines (EBAT+, EBAT-) are necessary only when a battery-backup method absolute encoder is used. *4 Lead wire colors are indicated in parentheses. For lead wire colors and cannon plug pin numbers, see the following table. Plug: 361-1PL Shell: Cannon plug model no. Flange size: 13 mm sq. or larger JNDS1SL1-R JNDS1SL-R JNDS1SL3-R JNFS1SL1-R JNFS1SL-R JNFS1SL3-R 1 mm sq. or smaller 13 mm sq. or larger ES+ ES EBAT+ EBAT +V V FG Brown Blue Pink* 3 Purple* 3 Red Black Shielded 1 8 *3 4 * Option: Pulse Encoder Wire-saving incremental encoder Servo amplifier + V V CN A+ A B+ B C+ C Plug: 361-1PL Shell: *1 * Cannon plug model no. Flange size: 13 mm sq. or larger A/1 (Blue) D/4 (Brown) B/ (Green) E/ (Purple) F/3 (White) G/6 (Yellow) J/9 (Red) + V N/1 (Black) V H/7 A A B B Z Z JNDS1SL1-R JNDS1SL-R JNDS1SL3-R FG (Shielded) Servo motor Encoder JNFS1SL1-R JNFS1SL-R JNFS1SL3-R *1 Use a shielded twisted pair cable. * Maximum cable lengths by conductor size of the power supply cable ( V, ) are shown in the table below. Conductor size Conductor resistance Length AWG SQ (mm ) (Ω/km) *at C (m) or less 4. 1 or less or less 1. 4 or less 18.7 or less 4 *Conductor resistance differs by conductor specifications. *3 Lead wire colors are indicated in parentheses. For lead wire colors and cannon plug pin numbers, see the following table: 1 mm sq. or smaller 13 mm sq. or larger 1 mm sq. or smaller 13 mm sq. or larger A A B B Z Z +V Blue Brown Green Purple White Yellow Red V Black FG Shielded 1 7 Servo Amplifiers R Multi-axis Pulse Input type 93

94 94

95 Servo Motors R R1 R Rotary Motor Output capacity: 3 W to 3 kw Rotary servo motors with a wide range of products. How to read model numbers te that not all the possible combinations of the numbers and characters below are valid. Also, some of the numbers/characters listed below are for optional models. For model numbers valid as standard products, refer to Standard Model Number List. R AA 6 F C R M Additional specification identifier E Conforms to CE U Conforms to UL M Conforms to CE and UL Specification identifier Standard With connector (some 8 mm sq. or less models Encoder type Serial encoder R Battery-less optical absolute encoder (HA3) H Optical absolute encoder for incremental systems (PA3S) For encoder details, see p. 13. Holding brake X brake B 9 VDC brake C 4 VDC brake Max. rotation speed For the numeric values, see the specification table. Rated output 3 3 W W 8 8 W 1 1 W W 4 4 W W 7 7 W 1 1. kw 1 1. kw kw. kw 3 3. kw 4 4. kw. kw. kw A reduction in output might be required if an oil seal or brake is attached. Contact us for details kw 7 7. kw 11 K 11 kw 1 K 1 kw K 1 kw 3 K 3 kw Flange size 4 4 mm sq. 6 6 mm sq. 8 8 mm sq. B8 86 mm sq. 1 1 mm sq mm sq mm sq. mm sq. 8 7 mm sq. Motor type 1 Low inertia Medium inertia Medium inertia Power supply voltage AA VAC EA 1 VAC R R series 9

96 Servo Motors Rotary Motor Specifications RServo Motors High Efficiency and Low Ripple (Medium Inertia) RoHS Input voltage 1 VAC Servo Amplifier Model. R 3E Model RS3E1 1 A RS3E A R ADVANCED RSE1 1 A R RS1E1 /RR1E1AAB 1 A Servo Motor Model. indicates flange size REA43F REA4F REA48F Status Symbol Unit 4 mm sq. 4 mm sq. 4 mm sq. Rated Output PR kw.3. *4.8 Rated Speed NR min Maximum Speed Nmax min Rated Torque TR N m *4. Continuous Stall Torque TS N m Peak Stall Torque TP N m Rated Armature Current IR Arms Armature Stall Current IS Arms Peak Armature Stall Current IP Arms Torque Constant KT N m/arms Voltage Constant for each Phase KEφ mv/min Phase Resistance Rφ Ω Rated Power Rate QR kw/s *4 1 Electrical Time Constant te ms Mechanical Time Constant (t including Encoder) tm ms Rotor Inertia JM 1-4 kg m (GD /4) Absolute Encoder Inertia JS 1-4 kg m (GD /4).4*1 Servo Motor Mass * 1 We kg Brake Static Friction Torque Tb N m.3 min. Brake Rated Voltage Vb V 9 VDC/4 VDC±1% Brake Rated Current Ib A.7/.7 Rotor Moment of Inertia (Brake) Jb 1-4 kg m (GD /4).78 Brake Mass W kg Servo amplifier power supply capacity (rating) kva...4 CE and UL approved servo motors * Yes Servo motor protection code IP67, IP6 Size of aluminum plates for heat radiation during measurement 6 mm Page for motor dimensions p. 11 *1 Values are for motors with encoder [HA3]. For motor mass with the following encoders, contact us for details. Battery-backup method absolute encoder Wire-saving incremental encoder Speed-Torque Characteristics * Items with and speed - torque characteristics indicate values after temperature rise saturation when used with a standard servo amplifier. The values are the typical values. *3 : Indicates a typical value when the winding temperature is C. The values are the typical values. *4 With the optional oil seals, rated outputs of servo motors might be reduced to 8 to 9% of the values in the above table. * Our standard servo amplifiers are CE and UL approved. Servo Motor Model./Flange Size/Rated Output REA43F/4 mm/.3 kw REA4F/4 mm/. kw REA48F/4 mm/.8 kw Torque (N m) Instantaneous Zone Continuous Zone Speed (min 1 ) Torque (N m) Instantaneous Zone.4.. Continuous Zone Speed (min 1 ) Instantaneous Zone Continuous Zone Speed (min 1 ) These values are for when the input voltage is a 1 VAC circuit. The area of the instantaneous zone decreases when the power supply voltage is less than 1 VAC. Torque (N m)

97 RS3E A RS3E3 3 A R 3E Model RSE1 1 A RSE3 3 A R ADVANCED RS1E1 /RR1E1AAB 1 A RS1E3 /RR1E3AAB 3 A R REA61F 6 mm sq. REA6F 6 mm sq. Servo Amplifier Model. Servo Motor Model. indicates flange size Unit Symbol Status.1. kw PR Rated Output 3 3 min-1 NR Rated Speed 6 6 min-1 Nmax Maximum Speed N m TR Rated Torque N m TS Continuous Stall Torque 1.. N m TP Peak Stall Torque Arms IR Rated Armature Current Arms IS Armature Stall Current Arms IP Peak Armature Stall Current.6.4 N m/arms KT Torque Constant mv/min-1 KEφ Voltage Constant for each Phase 1..6 Ω Rφ Phase Resistance kw/s QR Rated Power Rate ms te Electrical Time Constant ms tm Mechanical Time Constant (t including Encoder) kg m (GD/4) JM Rotor Inertia.4*1 1-4kg m (GD/4) JS Absolute Encoder Inertia kg We Servo Motor Mass * 1.36 min min. N m Tb Brake Static Friction Torque 9 VDC/4 VDC±1% V Vb Brake Rated Voltage.7/.7.11/.3 A Ib Brake Rated Current.6 1-4kg m (GD/4) Jb Rotor Moment of Inertia (Brake) kg W Brake Mass..6 kva Servo amplifier power supply capacity (rating) Yes CE and UL approved servo motors * IP67, IP6 Servo motor protection code 6 mm Size of aluminum plates for heat radiation during measurement p. 11 Page for motor dimensions Servo Motor Operating Ambient Conditions Operating temperature and humidity Temp.: to 4 C. Humidity: 9% max. (non-condensing) Vibration resistance 4. m/s Shock resistance 98 m/s, twice Operation altitude 1 m or lower above sea level Indoor (without direct sunlight) Installation location Location where no substance that gives adverse effects on the device and motor, such as corrosive gas, flammable gas, or dust exists Servo Motors Rotary Motor REA61F/6 mm/.1 kw 1.. REA6F/6 mm/. kw Torque (N m) Instantaneous Zone Continuous Zone Speed (min 1 ) 6 Torque (N m) Instantaneous Zone Continuous Zone Speed (min 1 ) 6 97

98 Servo Motors Rotary Motor Specifications RServo Motors High Efficiency and Low Ripple (Medium Inertia) RoHS Input voltage VAC Servo Amplifier Model. R 3E Model RS3A1 1 A R ADVANCED RSA1 1 A R RS1A1 /RR1A1AAB 1 A Servo Motor Model. indicates flange size RAA43F RAA4F RAA41F RAA61F Status Symbol Unit 4 mm sq. 4 mm sq. 4 mm sq. 6 mm sq. Rated Output PR kw.3. *4.1 (.9) *4.1 Rated Speed NR min Maximum Speed Nmax min Rated Torque TR N m *4.318 (.86) *4.318 Continuous Stall Torque TS N m Peak Stall Torque TP N m Rated Armature Current IR Arms Armature Stall Current IS Arms Peak Armature Stall Current IP Arms Torque Constant KT N m/arms Voltage Constant for each Phase KEφ mv/min Phase Resistance Rφ Ω Rated Power Rate QR kw/s *4 16 (13) *4 8.6 Electrical Time Constant te ms Mechanical Time Constant (t including Encoder) tm ms Rotor Inertia JM 1-4 kg m (GD /4) Absolute Encoder Inertia JS 1-4 kg m (GD /4).4*1 Servo Motor Mass * 1 We kg Brake Static Friction Torque Tb N m.3 min..36 min. Brake Rated Voltage Vb V 9 VDC/4 VDC±1% Brake Rated Current Ib A.7/.7 Rotor Moment of Inertia (Brake) Jb 1-4 kg m (GD /4).78.6 Brake Mass W kg Servo amplifier power supply capacity (rating) kva CE and UL approved servo motors * Yes Servo motor protection code IP67, IP6 Size of aluminum plates for heat radiation during measurement 6 mm Page for motor dimensions p. 11 *1 Values are for motors with encoder [HA3]. For motor mass with the following encoders, contact us for details. Battery-backup method absolute encoder Wire-saving incremental encoder Speed-Torque Characteristics * Items with and speed - torque characteristics indicate values after temperature rise saturation when used with a standard servo amplifier. The values are the typical values. *3 : Indicates a typical value when the winding temperature is C. The values are the typical values. *4 Values in parentheses are the output values for motors with brakes. With the optional oil seals, rated outputs of servo motors might be reduced to 8 to 9% of the values in the above table. * Our standard servo amplifiers are CE and UL approved. Servo Motor Model./Flange Size/Rated Output RAA43F/4 mm/.3 kw RAA4F/4 mm/. kw RAA41F/4 mm/.1 (.9) kw RAA61F/6 mm/.1 kw Torque (N m).3..1 Instantaneous Zone Torque (N m).6.4. Instantaneous Zone Torque (N m) Instantaneous Zone Torque (N m) Instantaneous Zone 98 Continuous Zone Speed (min 1 ) Continuous Zone Speed (min 1 ) These values are for when the input voltage is a 3-phase VAC circuit. The characteristics of the instantaneous zone may change when the input voltage is less than VAC or single-phase VAC. Continuous Zone Speed (min 1 ) Continuous Zone Speed (min 1 )

99 RS3A A R 3E Model RSA1 1 A RSA3 3 A R ADVANCED RS1A3 / RS1A1 /RR1A1AAB 1 A RR1A3AAB 3 A R RAA64H RAA8F RAA64F 6 mm sq. 8 mm sq. 6 mm sq. RAA6F 6 mm sq. Servo Amplifier Model. Servo Motor Model. indicates flange size Unit Symbol Status..4 (.36) *4..4 (.36) *4 kw PR Rated Output min-1 NR Rated Speed min-1 Nmax Maximum Speed (1.1) * (1.1) *4 N m TR Rated Torque N m TS Continuous Stall Torque N m TP Peak Stall Torque Arms IR Rated Armature Current Arms IS Armature Stall Current Arms IP Peak Armature Stall Current N m/arms KT Torque Constant mv/min-1 KEφ Voltage Constant for each Phase Ω Rφ Phase Resistance (3) * (3) *4 kw/s QR Rated Power Rate ms te Electrical Time Constant ms tm Mechanical Time Constant (t including Encoder) kg m (GD/4) JM Rotor Inertia.4*1 1-4kg m (GD/4) JS Absolute Encoder Inertia kg We Servo Motor Mass * min min.. min min. N m Tb Brake Static Friction Torque 9 VDC/4 VDC±1% V Vb Brake Rated Voltage.11/.3.11/.3.1/.37.11/.3 A Ib Brake Rated Current kg m (GD/4) Jb Rotor Moment of Inertia (Brake) kg W Brake Mass kva Servo amplifier power supply capacity (rating) Yes CE and UL approved servo motors * IP67, IP6 Servo motor protection code 6 mm Size of aluminum plates for heat radiation during measurement p. 11 Page for motor dimensions Servo Motor Operating Ambient Conditions Operating temperature and humidity Temp.: to 4 C. Humidity: 9% max. (non-condensing) Vibration resistance 4. m/s Shock resistance 98 m/s, twice Operation altitude 1 m or lower above sea level Indoor (without direct sunlight) Installation location Location where no substance that gives adverse effects on the device and motor, such as corrosive gas, flammable gas, or dust exists Servo Motors Rotary Motor Servo Motor Model./Flange Size/Rated Output RAA6F/6 mm/. kw RAA64H/6 mm/.4 (.36) kw RAA8F/8 mm/. kw RAA64F/6 mm/.4 (.36) kw Torque (N m) Instantaneous Zone Continuous Zone Speed (min 1 ) 6 Torque (N m) Instantaneous Zone 1. Continuous Zone 1 3 Speed (min 1 ) 4 Torque (N m) Instantaneous Zone Continuous Zone Speed (min 1 ) 6 Torque (N m) Instantaneous Zone Continuous Zone Speed (min 1 ) 6 99

100 Servo Motors Rotary Motor Specifications RServo Motors High Efficiency and Low Ripple (Medium Inertia) RoHS Input voltage VAC Servo Amplifier Model. R 3E Model RS3A A RS3A3 3 A R ADVANCED RSA3 3 A R RS1A3 /RR1A3AAB 3 A Servo Motor Model. indicates flange size RAA84F RAA87F RAAB81H RAA17F Status Symbol Unit 8 mm sq. 8 mm sq. 86 mm sq. 1 mm sq. Rated Output PR kw.4.7 * 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 Armature Stall Current IS Arms Peak Armature Stall Current IP Arms Torque Constant KT N m/arms Voltage Constant for each Phase KEφ mv/min Phase Resistance Rφ Ω Rated Power Rate QR kw/s *4 4 9 Electrical Time Constant te ms Mechanical Time Constant (t including Encoder) tm ms Rotor Inertia JM 1-4 kg m (GD /4) Absolute Encoder Inertia JS 1-4 kg m (GD /4).4*1 Servo Motor Mass * 1 We kg Brake Static Friction Torque Tb N m. min. 3.9 min. Brake Rated Voltage Vb V 9 VDC/4 VDC±1% Brake Rated Current Ib A.1/.37.9/.3 Rotor Moment of Inertia (Brake) Jb 1-4 kg m (GD /4)..343 Brake Mass W kg Servo amplifier power supply capacity (rating) kva CE and UL approved servo motors * Yes Servo motor protection code IP67, IP6 Size of aluminum plates for heat radiation during measurement 6 mm mm Page for motor dimensions p. 11 *1 Values are for motors with encoder [HA3]. For motor mass with the following encoders, contact us for details. Battery-backup method absolute encoder Wire-saving incremental encoder Speed-Torque Characteristics * Items with and speed - torque characteristics indicate values after temperature rise saturation when used with a standard servo amplifier. The values are the typical values. *3 : Indicates a typical value when the winding temperature is C. The values are the typical values. *4 With the optional oil seals, rated outputs of servo motors might be reduced to 8 to 9% of the values in the above table. * Our standard servo amplifiers are CE and UL approved. Servo Motor Model./Flange Size/Rated Output RAA84F/8 mm/.4 kw RAA87F/8 mm/.7 kw RAAB81H/86 mm/1. kw RAA17F/1 mm/.7 kw Torque (N m) Instantaneous Zone Continuous Zone Speed (min 1 ) Torque (N m) Instantaneous Zone Continuous Zone Speed (min 1 ) Torque (N m) These values are for when the input voltage is a 3-phase VAC circuit. The characteristics of the instantaneous zone may change when the input voltage is less than VAC or single-phase VAC. 1 Instantaneous Zone Continuous Zone Speed (min 1 ) Torque (N m) Instantaneous Zone Continuous Zone Speed (min 1 )

101 RS3A3 3 A R 3E Model RSA3 3 A R ADVANCED Servo Amplifier Model. RS1A3 /RR1A3AAB 3 A R RAA13H RAA13D RAA131B Servo Motor Model. indicates flange size 13 mm sq. 13 mm sq. 13 mm sq. Unit Symbol Status.. 1. kw PR Rated Output min-1 NR Rated Speed 3 min-1 Nmax Maximum Speed N m TR Rated Torque N m TS Continuous Stall Torque N m TP Peak Stall Torque 4... Arms IR Rated Armature Current Arms IS Armature Stall Current Arms IP Peak Armature Stall Current N m/arms KT Torque Constant mv/min-1 KEφ Voltage Constant for each Phase Ω Rφ Phase Resistance 4 kw/s QR Rated Power Rate ms te Electrical Time Constant ms tm Mechanical Time Constant (t including Encoder) kg m (GD/4) JM Rotor Inertia.4*1 1-4kg m (GD/4) JS Absolute Encoder Inertia kg We Servo Motor Mass * 1 3. min. 3. min. 9. min. N m Tb Brake Static Friction Torque 9 VDC/4 VDC±1% V Vb Brake Rated Voltage.1/.41.1/.41.17/.1 A Ib Brake Rated Current kg m (GD/4) Jb Rotor Moment of Inertia (Brake) kg W Brake Mass kva Servo amplifier power supply capacity (rating) Yes CE and UL approved servo motors * IP6 Servo motor protection code 3 3 mm 4 4 mm Size of aluminum plates for heat radiation during measurement p. 113 Page for motor dimensions Servo Motor Operating Ambient Conditions Operating temperature and humidity Temp.: to 4 C. Humidity: 9% max. (non-condensing) Vibration resistance 4. m/s Shock resistance 98 m/s, twice Operation altitude 1 m or lower above sea level Indoor (without direct sunlight) Installation location Location where no substance that gives adverse effects on the device and motor, such as corrosive gas, flammable gas, or dust exists Servo Motors Rotary Motor Servo Motor Model./Flange Size/Rated Output RAA13H/13 mm/. kw RAA13D/13 mm/. kw RAA131B/13 mm/1. kw Torque (N m) Instantaneous Zone 4 Continuous Zone Speed (min 1 ) Torque (N m) Instantaneous Zone 4 Continuous Zone Speed (min 1 ) Torque (N m) 1 1 Instantaneous Zone Continuous Zone 1 3 Speed (min 1 ) 11

102 Servo Motors Rotary Motor Specifications RServo Motors High Efficiency and Low Ripple (Medium Inertia) RoHS Input voltage VAC R 3E Model RS3A A Servo Amplifier Model. R ADVANCED RSA A R RS1A A Servo Motor Model. indicates flange size RAAB87F RAAB81F RAA11F RAA131L Status Symbol Unit 86 mm sq. 86 mm sq. 1 mm sq. 13 mm sq. Rated Output PR kw 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 Armature Stall Current IS Arms Peak Armature Stall Current IP Arms Torque Constant KT N m/arms Voltage Constant for each Phase KEφ mv/min Phase Resistance Rφ Ω Rated Power Rate QR kw/s Electrical Time Constant te ms Mechanical Time Constant (t including Encoder) tm ms Rotor Inertia JM 1-4 kg m (GD /4) Absolute Encoder Inertia JS 1-4 kg m (GD /4).4*1 Servo Motor Mass * 1 We kg Brake Static Friction Torque Tb N m 3.9 min. 3.9 min. 3.9 min. 9. min. Brake Rated Voltage Vb V 9 VDC/4 VDC±1% Brake Rated Current Ib A.9/.3.9/.3.9/.3.17/.1 Rotor Moment of Inertia (Brake) Jb 1-4 kg m (GD /4) Brake Mass W kg Servo amplifier power supply capacity (rating) kva CE and UL approved servo motors * 4 Yes Servo motor protection code IP67, IP6 IP6 Size of aluminum plates for heat radiation during measurement mm 4 4 mm Page for motor dimensions p. 11 p. 113 *1 Values are for motors with encoder [HA3]. For motor mass with the following encoders, contact us for details. Battery-backup method absolute encoder Wire-saving incremental encoder * Items with and speed - torque characteristics indicate values after temperature rise saturation when used with a standard servo amplifier. The values are the typical values. *3 : Indicates a typical value when the winding temperature is C. The values are the typical values. *4 Our standard servo amplifiers are CE and UL approved. Speed-Torque Characteristics Servo Motor Model./Flange Size/Rated Output RAAB87F/86 mm/.7 kw RAAB81F/86 mm/1. kw RAA11F/1 mm/1. kw RAA131L/13 mm/1. kw Torque (N m) Instantaneous Zone Continuous Zone Speed (min 1 ) Torque (N m) 1 1 Instantaneous Zone Continuous Zone Speed (min 1 ) Instantaneous Zone Continuous Zone Speed (min 1 ) These values are for when the input voltage is a 3-phase VAC circuit. The characteristics of the instantaneous zone may change when the input voltage is less than VAC or single-phase VAC. Torque (N m) Torque (N m) 1 1 Instantaneous Zone Continuous Zone Speed (min 1 )

103 RAA131D 13 mm sq. RS3A A RS3A1 1 A R 3E Model RSA A RSA1 1 A R ADVANCED RS1A A RS1A1 1 A R RAA1318H 13 mm sq. RAA13L 13 mm sq. RAA1318D 13 mm sq. Servo Amplifier Model. Servo Motor Model. indicates flange size Unit Symbol Status kw PR Rated Output min-1 NR Rated Speed 3 3 min-1 Nmax Maximum Speed N m TR Rated Torque N m TS Continuous Stall Torque 16 4 N m TP Peak Stall Torque Arms IR Rated Armature Current Arms IS Armature Stall Current Arms IP Peak Armature Stall Current N m/arms KT Torque Constant mv/min-1 KEφ Voltage Constant for each Phase Ω Rφ Phase Resistance kw/s QR Rated Power Rate ms te Electrical Time Constant ms tm Mechanical Time Constant (t including Encoder) kg m (GD/4) JM Rotor Inertia.4*1 1-4kg m (GD/4) JS Absolute Encoder Inertia kg We Servo Motor Mass * 1 9. min. 9. min. 1 min. 9. min. N m Tb Brake Static Friction Torque 9 VDC/4 VDC±1% V Vb Brake Rated Voltage.17/.1.17/.1.17/.66.17/.1 A Ib Brake Rated Current kg m (GD/4) Jb Rotor Moment of Inertia (Brake) kg W Brake Mass kva Servo amplifier power supply capacity (rating) Yes CE and UL approved servo motors * 4 IP6 Servo motor protection code 4 4 mm mm Size of aluminum plates for heat radiation during measurement p. 113 p. 114 p. 113 Page for motor dimensions Servo Motor Operating Ambient Conditions Operating temperature and humidity Temp.: to 4 C. Humidity: 9% max. (non-condensing) Vibration resistance 4. m/s Shock resistance 98 m/s, twice Operation altitude 1 m or lower above sea level Indoor (without direct sunlight) Installation location Location where no substance that gives adverse effects on the device and motor, such as corrosive gas, flammable gas, or dust exists Servo Motors Rotary Motor Servo Motor Model./Flange Size/Rated Output RAA131D/13 mm/1. kw RAA1318H/13 mm/1.8 kw RAA13L/13 mm/. kw RAA1318D/13 mm/1.8 kw 3 Torque (N m) 1 1 Instantaneous Zone Continuous Zone Speed (min 1 ) Torque (N m) Instantaneous Zone 1 1 Continuous Zone Speed (min 1 ) Torque (N m) 1 1 Instantaneous Zone Continuous Zone Speed (min 1 ) Torque (N m) 1 Instantaneous Zone 1 Continuous Zone Speed (min 1 ) 13

104 Servo Motors Rotary Motor Specifications RServo Motors High Efficiency and Low Ripple (Medium Inertia) RoHS Input voltage VAC Servo Amplifier Model. R 3E Model RS3A1 1 A RS3A1 1 A R ADVANCED RSA1 1 A RSA1 1 A R RS1A1 1 A RS1A1 1 A Servo Motor Model. indicates flange size RAA13D RAA183L RAA183D RAA184H Status Symbol Unit 13 mm sq. 18 mm sq. 18 mm sq. 18 mm sq. Rated Output PR kw Rated Speed NR min -1 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 Armature Stall Current IS Arms Peak Armature Stall Current IP Arms Torque Constant KT N m/arms Voltage Constant for each Phase KEφ mv/min Phase Resistance Rφ Ω Rated Power Rate QR kw/s Electrical Time Constant te ms Mechanical Time Constant (t including Encoder) tm ms Rotor Inertia JM 1-4 kg m (GD /4) Absolute Encoder Inertia JS 1-4 kg m (GD /4).1*1 Servo Motor Mass * 1 We kg Brake Static Friction Torque Tb N m 1 min. min. min. 3 min. Brake Rated Voltage Vb V 9 VDC/4 VDC±1% Brake Rated Current Ib A.17/.66.3/1..3/1..7/1. Rotor Moment of Inertia (Brake) Jb 1-4 kg m (GD /4) Brake Mass W kg Servo amplifier power supply capacity (rating) kva CE and UL approved servo motors * 4 Yes Servo motor protection code IP6 Size of aluminum plates for heat radiation during measurement mm Page for motor dimensions p. 114 p. 11 *1 Values are for motors with encoder [HA3]. For motor mass with the following encoders, contact us for details. Battery-backup method absolute encoder Wire-saving incremental encoder * Items with and speed - torque characteristics indicate values after temperature rise saturation when used with a standard servo amplifier. The values are the typical values. *3 : Indicates a typical value when the winding temperature is C. The values are the typical values. *4 Our standard servo amplifiers are CE and UL approved. Speed-Torque Characteristics Servo Motor Model./Flange Size/Rated Output RAA13D/13 mm/. kw RAA183L/18 mm/3. kw RAA183D/18 mm/3. kw RAA184H/18 mm/4. kw Torque (N m) Instantaneous Zone Continuous Zone Speed (min -1 ) Torque (N m) 6 4 Instantaneous Zone 3 1 Continuous Zone Speed (min -1 ) Speed (min -1 ) These values are for when the input voltage is a 3-phase VAC circuit. The characteristics of the instantaneous zone may change when the input voltage is less than VAC. Torque (N m) Instantaneous Zone 1 Continuous Zone Torque (N m) Instantaneous Zone Continuous Zone Speed (min -1 )

105 RAA18R 18 mm sq. RS3A1 1 A RS3A3 3 A R 3E Model RSA1 1 A RSA3 3 A R ADVANCED RS1A1 1 A RS1A3 3 A R RAAL mm sq. RAA7S mm sq. RAA18H 18 mm sq. Servo Amplifier Model. Servo Motor Model. indicates flange size Unit Symbol Status. 7. 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 Armature Stall Current Arms IP Peak Armature Stall Current N m/arms KT Torque Constant mv/min-1 KEφ Voltage Constant for each Phase Ω Rφ Phase Resistance kw/s QR Rated Power Rate 4 6 ms te Electrical Time Constant ms tm Mechanical Time Constant (t including Encoder) kg m (GD/4) JM Rotor Inertia.1*1 1-4kg m (GD/4) JS Absolute Encoder Inertia kg We Servo Motor Mass * 1 4 min. 4 min. 9 min. 4 min. N m Tb Brake Static Friction Torque 9 VDC/4 VDC±1% V Vb Brake Rated Voltage.7/1..3/1..44/1.7.7/1. A Ib Brake Rated Current kg m (GD/4) Jb Rotor Moment of Inertia (Brake) kg W Brake Mass kva Servo amplifier power supply capacity (rating) Yes CE and UL approved servo motors * 4 IP6 Servo motor protection code 4 4 mm Size of aluminum plates for heat radiation during measurement p. 11 p. 116 p. 11 Page for motor dimensions Servo Motor Operating Ambient Conditions Operating temperature and humidity Temp.: to 4 C. Humidity: 9% max. (non-condensing) Vibration resistance 4. m/s Shock resistance 98 m/s, twice Operation altitude 1 m or lower above sea level Indoor (without direct sunlight) Installation location Location where no substance that gives adverse effects on the device and motor, such as corrosive gas, flammable gas, or dust exists Servo Motors Rotary Motor Servo Motor Model./Flange Size/Rated Output RAA18R/18 mm/. kw RAAL/ mm/. kw RAA7S/ mm/7. kw RAA18H/18 mm/. kw Torque (N m) Instantaneous Zone 4 3 Continuous Zone Speed (min -1 ) Torque (N m) Instantaneous Zone 3 1 Continuous Zone Speed (min -1 ) Torque (N m) Instantaneous Zone Continuous Zone 1 1 Speed (min -1 ) Torque (N m) Instantaneous Zone Continuous Zone Speed (min 1 ) 1

106 16 Servo Motors Rotary Motor Specifications RServo Motors High Efficiency and Low Ripple (Medium Inertia) RoHS Input voltage VAC R 3E Model RS3A3 3 A Servo Amplifier Model. R ADVANCED RSA3 3 A R RS1A3 3 A Servo Motor Model. indicates flange size RAA187H RAA1811KR RAA11KB RAA1KB Status Symbol Unit 18 mm sq. 18 mm sq. mm sq. mm sq. Rated Output PR kw Rated Speed NR min Maximum Speed Nmax min -1 3 Rated Torque TR N m Continuous Stall Torque TS N m Peak Stall Torque TP N m Rated Armature Current IR Arms Armature Stall Current IS Arms Peak Armature Stall Current IP Arms Torque Constant KT N m/arms Voltage Constant for each Phase KEφ mv/min Phase Resistance Rφ Ω Rated Power Rate QR kw/s Electrical Time Constant te ms 7 34 Mechanical Time Constant (t including Encoder) tm ms Rotor Inertia JM 1-4 kg m (GD /4) Absolute Encoder Inertia JS 1-4 kg m (GD /4).1*1 Servo Motor Mass * 1 We kg Brake Static Friction Torque Tb N m 4.9 min. 1 min. 9 min. Brake Rated Voltage Vb V 9 VDC/4 VDC±1% Brake Rated Current Ib A.37/1.4./1.9.44/1.7 Rotor Moment of Inertia (Brake) Jb 1-4 kg m (GD /4) Brake Mass W kg Servo amplifier power supply capacity (rating) kva /9 Cooling fan power PF W ー 18 VAC to 3 VAC Single-phase Hz/6 Hz ー CE and UL approved servo motors * 4 Yes Servo motor protection code IP6 IP6 (excluding the cooling fan) IP6 Size of aluminum plates for heat radiation during measurement 4 4 mm mm Page for motor dimensions p. 11 p. 116 *1 Values are for motors with encoder [HA3]. For motor mass with the following encoders, contact us for details. Battery-backup method absolute encoder Wire-saving incremental encoder Speed-Torque Characteristics Servo Motor Model./Flange Size/Rated Output RAA187H/18 mm/7. kw RAA1811KR/18 mm/11 kw RAA11KB/ mm/11 kw RAA1KB/ mm/1 kw Torque (N m) Instantaneous Zone Continuous Zone Torque (N m) Instantaneous Zone Continuous Zone Torque (N m) * Items with and speed - torque characteristics indicate values after temperature rise saturation when used with a standard servo amplifier. The values are the typical values. *3 : Indicates a typical value when the winding temperature is C. The values are the typical values. *4 Our standard servo amplifiers are CE and UL approved Instantaneous Zone Continuous Zone Speed (min -1 ) Speed (min -1 ) Speed (min -1 ) Speed (min -1 ) These values are for when the input voltage is a 3-phase VAC circuit. The characteristics of the instantaneous zone may change when the input voltage is less than VAC. Torque (N m) 1 1 Instantaneous Zone Continuous Zone

107 RAAKB mm sq. RS3W6 6 A R 3E Model R ADVANCED R RAA83KV 7 mm sq. Servo Amplifier Model. Servo Motor Model. indicates flange size Unit Symbol Status 3 kw PR Rated Output 1 1 min -1 NR Rated Speed min -1 Nmax Maximum Speed N m TR Rated Torque N m TS Continuous Stall Torque 8 48 N m TP Peak Stall Torque Arms IR Rated Armature Current Arms IS Armature Stall Current 9 9 Arms IP Peak Armature Stall Current N m/arms KT Torque Constant mv/min -1 KEφ Voltage Constant for each Phase Ω Rφ Phase Resistance kw/s QR Rated Power Rate 33 9 ms te Electrical Time Constant.63. ms tm Mechanical Time Constant (t including Encoder) kg m (GD /4) JM Rotor Inertia.1*1 1-4 kg m (GD /4) JS Absolute Encoder Inertia kg We Servo Motor Mass * 1 17 min min. N m Tb Brake Static Friction Torque 4 VDC±1% V Vb Brake Rated Voltage 1..6 A Ib Brake Rated Current kg m (GD /4) Jb Rotor Moment of Inertia (Brake) kg W Brake Mass kva Servo amplifier power supply capacity (rating) 6/6 18 VAC to 3 VAC 3-phase Hz/6 Hz W PF Cooling fan power Yes Preparing CE and UL approved servo motors * 4 IP6 (excluding the cooling fan) Servo motor protection code mm Size of aluminum plates for heat radiation during measurement p. 117 Page for motor dimensions Servo Motor Operating Ambient Conditions Operating temperature and humidity Temp.: to 4 C. Humidity: 9% max. (non-condensing) Vibration resistance 4. m/s Shock resistance 98 m/s, twice Operation altitude 1 m or lower above sea level Indoor (without direct sunlight) Installation location Location where no substance that gives adverse effects on the device and motor, such as corrosive gas, flammable gas, or dust exists Servo Motors Rotary Motor Servo Motor Model./Flange Size/Rated Output RAAKB/ mm/ kw RAA83KV/7 mm/3 kw Torque (N m) Instantaneous Zone Continuous Zone Torque (N m) Instantaneous Zone Continuous Zone 1 1 Speed (min -1 ) 1 Speed(min -1 ) 17

108 Servo Motors Rotary Motor Specifications R1Servo Motors High Power Rate (Low Inertia) Input voltage VAC RoHS R 3E Model RS3A3 3 A Servo Amplifier Model. R ADVANCED RSA3 3 A R RS1A3 3 A Servo Motor Model. indicates flange size R1AA18H R1AA187L Status Symbol Unit 18 mm sq. 18 mm sq. Rated Output PR kw. 7. Rated Speed NR min Maximum Speed Nmax min Rated Torque TR N m 3 48 Continuous Stall Torque TS N m Peak Stall Torque TP N m Rated Armature Current IR Arms Armature Stall Current IS Arms Peak Armature Stall Current IP Arms 1 1 Torque Constant KT N m/arms Voltage Constant for each Phase KEφ mv/min Phase Resistance Rφ Ω.9.31 Rated Power Rate QR kw/s 37 Electrical Time Constant te ms 3 1 Mechanical Time Constant (t including Encoder) tm ms Rotor Inertia JM 1-4 kg m (GD /4) 33 4 Servo Motor Mass * 1 We kg Brake Static Friction Torque Tb N m 3.9 min. 3.9 min. Brake Rated Voltage Vb V 9 VDC/4 VDC±1% Brake Rated Current Ib A.37/1.4.37/1.4 Rotor Moment of Inertia (Brake) Jb 1-4 kg m (GD /4).7.7 Brake Mass W kg Servo amplifier power supply capacity (rating) kva Cooling fan power PF W 3/6 VAC±1% Single-phase Hz/6 Hz For CE/UL compliant products: 31/9 18 VAC to 3 VAC Single-phase Hz/6 Hz CE and UL approved servo motors * 4 Yes Servo motor protection code IP6 (excluding the cooling fan) Size of aluminum plates for heat radiation during measurement 4 4 mm Page for motor dimensions p. 118 *1 Values are for motors with encoder [HA3]. For motor mass with the following encoders, contact us for details. Battery-backup method absolute encoder Wire-saving incremental encoder * Items with and speed - torque characteristics indicate values after temperature rise saturation when used with a standard servo amplifier. The values are the typical values. *3 : Indicates a typical value when the winding temperature is C. The values are the typical values. *4 Our standard servo amplifiers are CE and UL approved. Speed-Torque Characteristics Servo Motor Model./Flange Size/Rated Output R1AA18H/18 mm/. kw Torque (N m) Instantaneous Zone Continuous Zone Speed (min -1 ) R1AA187L/18 mm/7. kw Torque (N m) Instantaneous Zone Continuous Zone Speed (min -1 ) 18 These values are for when the input voltage is a 3-phase VAC circuit. The characteristics of the instantaneous zone may change when the input voltage is less than VAC or single-phase VAC.

109 RS3A3A 3 A RS3W6 6 A R 3E Model RSA3 3 A R ADVANCED Servo Amplifier Model. RS1A3 3 A R R1AA1811KR R1AA181KB R1AAKV Servo Motor Model. indicates flange size 18 mm sq. 18 mm sq. mm sq. Unit Symbol Status 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 Armature Stall Current Arms IP Peak Armature Stall Current N m/arms KT Torque Constant mv/min -1 KEφ Voltage Constant for each Phase Ω Rφ Phase Resistance kw/s QR Rated Power Rate 1 ms te Electrical Time Constant ms tm Mechanical Time Constant (t including Encoder) kg m (GD /4) JM Rotor Inertia kg We Servo Motor Mass * 1 7 min. 1 min. N m Tb Brake Static Friction Torque 4 VDC±1% V Vb Brake Rated Voltage A Ib Brake Rated Current kg m (GD /4) Jb Rotor Moment of Inertia (Brake) 7 9 kg W Brake Mass kva Servo amplifier power supply capacity (rating) 3/6 VAC±1% Single-phase Hz/6 Hz For CE/UL compliant products: 31/9 18 VAC to 3 VAC Single-phase Hz/6 Hz W PF Cooling fan power Yes CE and UL approved servo motors * 4 IP6 (excluding the cooling fan) Servo motor protection code mm Size of aluminum plates for heat radiation during measurement p. 118 Page for motor dimensions Servo Motor Operating Ambient Conditions Operating temperature and humidity Temp.: to 4 C. Humidity: 9% max. (non-condensing) Vibration resistance 4. m/s Shock resistance 98 m/s, twice Operation altitude 1 m or lower above sea level Indoor (without direct sunlight) Installation location Location where no substance that gives adverse effects on the device and motor, such as corrosive gas, flammable gas, or dust exists Servo Motors Rotary Motor Servo Motor Model./Flange Size/Rated Output Torque (N m) R1AA1811KR/18 mm/11 kw R1AA181KB/18 mm/1 kw R1AAKV/ mm/1 kw Instantaneous Zone Continuous Zone Speed (min -1 ) Torque (N m) 1 1 Instantaneous Zone Continuous Zone Speed (min -1 ) Torque (N m) Instantaneous Zone 1 1 Continuous Zone Speed (min -1 ) 19

110 11 Servo Motors Rotary Motor Specifications RServo Motors Input voltage VAC High Efficiency and Ultra Low Ripple (Medium Inertia) Low cogging torque RoHS R 3E Model RS3A1 1 A RS3A A RS3A3 3 A Servo Amplifier Model. R ADVANCED RSA1 1 A RSA3 3 A R RS1A1 1 A RS1A3 3 A Servo Motor Model. indicates flange size RAA6H RAA64H RAA87D Status Symbol Unit 6 mm sq. 6 mm sq. 8 mm sq. Rated Output PR kw..4 (.38) *4.7 (.71) *4 Rated Speed NR min Maximum Speed Nmax min Rated Torque TR N m (1.1) *4.39 (.7) *4 Continuous Stall Torque TS N m Peak Stall Torque TP N m Rated Armature Current IR Arms Armature Stall Current IS Arms Peak Armature Stall Current IP Arms Torque Constant KT N m/arms Voltage Constant for each Phase KEφ mv/min Phase Resistance Rφ Ω Rated Power Rate QR kw/s 39 (3) *4 3 (31) *4 Electrical Time Constant te ms Mechanical Time Constant (t including Encoder) tm ms Rotor Inertia JM 1-4 kg m (GD /4) Absolute Encoder Inertia JS 1-4 kg m (GD /4).4 *1 Servo Motor Mass * 1 We kg Brake Static Friction Torque Tb N m 1.37 min.. min. Brake Rated Voltage Vb V 9 VDC/4 VDC±1% Brake Rated Current Ib A.11/.3.1/.37 Rotor Moment of Inertia (Brake) Jb 1-4 kg m (GD /4).6.6. Brake Mass W kg Servo amplifier power supply capacity (rating) kva CE and UL approved servo motors * Yes Servo motor protection code IP6 Size of aluminum plates for heat radiation during measurement 6 mm Page for motor dimensions p. 11 *1 Values are for motors with encoder [HA3]. For motor mass with the following encoders, contact us for details. Battery-backup method absolute encoder Wire-saving incremental encoder Speed-Torque Characteristics Servo Motor Model./Flange Size/Rated Output RAA6H/6 mm/. kw RAA64H/6 mm/.4 (.38) kw RAA87D/8 mm/.7 (.71) kw Torque (N m) Instantaneous Zone Continuous Zone Speed (min 1 ) Torque (N m) Instantaneous Zone 1 Continuous Zone Speed (min 1 ) * Items with and speed - torque characteristics indicate values after temperature rise saturation when used with a standard servo amplifier. The values are the typical values. *3 : Indicates a typical value when the winding temperature is C. The values are the typical values. *4 Values in parentheses are the output values for motors with brakes. With the optional oil seals or brakes, rated outputs of servo motors might be reduced to 8 to 9% of the values in the above table. * Our standard servo amplifiers are CE and UL approved. Torque (N m) Instantaneous Zone 4 3 Continuous Zone Speed (min 1 ) These values are for when the input voltage is a 3-phase VAC circuit. The characteristics of the instantaneous zone may change when the input voltage is less than VAC or single-phase VAC.

111 RS3A A RS3A3 3 A RSA1 1 A RSA3 3 A RS1A1 1 A RS1A3 3 A RAA6F 6 mm sq. RAA64F 6 mm sq. RAA87F 8 mm sq. R 3E Model R ADVANCED Servo Amplifier Model. R Servo Motor Model. indicates flange size Unit Symbol Status..4.7 (.67) *4 kw PR Rated Output min -1 NR Rated Speed min -1 Nmax Maximum Speed (.1) *4 N m TR Rated Torque N m TS Continuous Stall Torque N m TP Peak Stall Torque Arms IR Rated Armature Current Arms IS Armature Stall Current Arms IP Peak Armature Stall Current N m/arms KT Torque Constant mv/min -1 KEφ Voltage Constant for each Phase Ω Rφ Phase Resistance 39 3 (8) *4 kw/s QR Rated Power Rate ms te Electrical Time Constant ms tm Mechanical Time Constant (t including Encoder) kg m (GD /4) JM Rotor Inertia.4 *1 1-4 kg m (GD /4) JS Absolute Encoder Inertia kg We Servo Motor Mass * min.. min. N m Tb Brake Static Friction Torque 9 VDC/4 VDC±1% V Vb Brake Rated Voltage.11/.3.1/.37 A Ib Brake Rated Current kg m (GD /4) Jb Rotor Moment of Inertia (Brake) kg W Brake Mass kva Servo amplifier power supply capacity (rating) Yes CE and UL approved servo motors * IP6 Servo motor protection code 6 mm Size of aluminum plates for heat radiation during measurement p. 11 Page for motor dimensions Servo Motor Operating Ambient Conditions Operating temperature and humidity Temp.: to 4 C. Humidity: 9% max. (non-condensing) Vibration resistance 4. m/s Shock resistance 98 m/s, twice Operation altitude 1 m or lower above sea level Indoor (without direct sunlight) Installation location Location where no substance that gives adverse effects on the device and motor, such as corrosive gas, flammable gas, or dust exists Servo Motors Rotary Motor Servo Motor Model./Flange Size/Rated Output RAA6F/6 mm/. kw RAA64F/6 mm/.4 kw RAA87F/8 mm/.7 (.67) kw Torque (N m) Instantaneous Zone Continuous Zone Speed (min 1 ) Torque (N m) Instantaneous Zone 1 Continuous Zone Speed (min 1 ) Torque (N m) Instantaneous Zone Continuous Zone Speed (min 1 ) 111

112 Servo Motors Rotary Motor Dimensions [Unit: mm] 4 mm sq. to 1 mm sq. R Servo Motor R Servo Motor (φlh) LC LZ φla.7 M..6 M LR LE Q LG LL±1 Battery-less absolute encoder Absolute encoder for incremental systems LL±1 φlb φs M KL Oil seal (Option) QE Tap Depth LT Motor cable (for mounting) (for power and GND) 11±1 φd1 () 11±1 Brake cable (for mounting) φd () φd3 () 11±1 11±1 φd3 () Shield cable (for mounting) (for encoder) Dimensions of brake and without extension cable connector. Battery-less absolute encoder Battery-backup method absolute encoder, Absolute encoder for incremental systems W/out oil seal With oil seal W/out oil seal With oil seal W/out brake With brake W/out brake With brake W/out brake With brake W/out brake With brake Model no. LL LL LL LL LL LL LL LL R A R A REA48 RAA R A R A RAA RAA RAA RAA RAAB RAAB81* RAA RAA RAA RAA RAA Model no. LG KL LA LB LE LH LC LZ LR S Q QE LT D1 D D3 R A R A φ4. REA ー ー RAA41 R A61 ーー R A φ. RAA64 3 M RAA8 RAA φ6.6 3 M 1 RAA RAAB φ6.6 3 RAAB81* M 1 RAA φ9 4 RAA M6 RAA φ. 3 RAA M 1 RAA φ M 1 * The outline drawing of the RAAB81 varies for Philippine products. See p The cable length of the motor with extension cable connector is ±3 mm. The connector is attached to the end of the cable. See p

113 Dimensions [Unit: mm] 86 mm sq. R Servo Motor Series Made in The Philippines (φlh) LC LZ.7 M..6 M LR LE LG LL±1 φla QA Q QK H φlb φs M H KL Oil seal (Option) QE Tapping Depth LT W Section H-H U T Key (Option) 11±1 Motor cable (for mounting) (for power, GND and brake) () φd1 11±1 () φd3 Shield cable (for mounting) (for encoder) Dimensions of the battery-backup method absolute encoder and brake. Battery-backup method absolute encoder, Absolute encoder for incremental system W/out oil seal With oil seal W/out brake With brake W/out brake With brake Model no. LL LL LL LL LG KL LA LB LE LH LC LZ LR RAAB Model no. S Q QE LT D1 D D3 QA QK W T U RAAB81 3 M φ mm sq. R Servo Motor. to 1.8 kw LC 4- LZ1.8 M..8 M LR LE (LG) LL LA LB S QA QK Q H Oil seal -LZ (Tap for removing motor) QE Tap Depth LT ( LH) W Section H-H M U T H (KB1) (7) (KL3) JNAS1ML-R (KB) (for encoder) JL4V-E4-11PE-B-R (for power, brake and GND) (KL) (KL1) Servo Motors Rotary Motor Dimensions of the battery-less absolute encoder with brake Battery-less absolute encoder, Battery-backup method absolute encoder, Absolute encoder for incremental systems W/out brake With brake Model no. LL KB KL3 LL KB KL3 LG KL1 KL LA LB LE LH LC LZ1 LZ LR RAA RAA M6 RAA Model no. S Q QA QK W T U KB1 QE LT RAA13 46 RAA RAA M6 113

114 Servo Motors Rotary Motor Dimensions [Unit: mm] 13 mm sq. R Servo Motor kw Made in Japan LC 4- LZ1.8 M..8 M LR LE (LG) LL LA QA Q QK H LB S ( LH) M H (KL3) (7) (KL1) Oil seal -LZ (Tap for removing motor) QE Tap Depth LT W Section H-H U T (KB1) Dimensions of the battery-less absolute encoder with brake JNAS1ML-R (KB) (for encoder) JL4V-E4-11PE-B-R (for power, brake and GND) (KL) Battery-less absolute encoder, Absolute encoder for incremental systems W/out brake With brake Model no. LL KB KL3 LL KB KL3 LG KL1 KL LA LB LE LH LC LZ1 LZ LR RAA M6 Model no. S Q QA QK W T U KB1 QE LT RAA M8 13 mm sq. R Servo Motor Series kw Made in The Philippines LC 4-φLZ1.8 M..8 M LR LE (LG) LL φla QA Q QK H Oil seal -LZ (Tap for removing motor) (φlh) QE Tapping Depth LT φlb φs M W U T Section H-H H (KB1) (7) (KL3) JNAS1ML-R (KB) (for encoder) JL4V-E4-11PE-B-R (for power, brake and GND) (KL) (KL1) Dimensions of the battery-backup method absolute encoder and brake. Battery-backup method absolute encoder, Absolute encoder for incremental system W/out brake With brake Model no. LL KB LL KB LG KL1 KL KL3 LA LB LE LH LC LZ1 LZ LR RAA M6 Model no. S Q QA QK W T U KB1 QE LT RAA M

115 Dimensions [Unit: mm] 18 mm sq. R Servo Motor 3. to 7. kw LC 4- LZ1 LA.8 M..8 M LR LE Q (LG) (IL) LL -M8 *1 QA QK H LB S M H (KL1) (7) (KL3) (IE) ( LH) W -LZ (Tap for removing motor) Oil seal QE tap Depth LT U T Cross section H-H (IL1) (IL) (KB1) Connector for power (for motor, brake, and ground) * Dimensions of the battery-less absolute encoder with brake (KB3) (KB) (KL) JNAS1ML-R (for encoder) Connector for brake * (IF) Eye bolt -M8 *1 18 mm sq. R Servo Motor 11 kw Battery-less absolute encoder, Absolute encoder for incremental systems W/out brake With brake Model no. LL KB KB3 KL3 LL KB KB3 KL3 LG KL1 KL LA LB LE LH LC LZ1 LZ LR S Q RAA ー RAA ー 38 RAA RAA M Model no. QA QK W T U KB1 QE LT IE IF IL1 IL Connector model no. for power Connector model no. for brake RAA M8 * 1 * 1 * 1 * 1 JL4V-E4-11PE-B-R ー RAA * RAA M1 63 JL4V-E3-17PE-B-R JL4V-E1SL-3PE-B-R RAA *1 Eye bolts are not provided to motors without RAA183 brake. * The brake wire is commonly used by the connector for power. 6 7 LC 4- LZ1.1 M.3.8 M LR LE (LG) (IL) LL (19 sq.) (14 sq.) ( LH) LA LB S M Exhaust Exhaust Suction (KL1) (KL3) (11) (IE) Servo Motors Rotary Motor (7) QA W H Q QK H -LZ (Tap for removing motor) Oil seal QE tap Depth LT U T Cross section H-H (IL1) (IL) (KB1) JL4V-E3-17PE-B-R (for motor and ground) (KB3) (KB) (1) MS31A1SL-4P (for cooling fan) JNAS1ML-R (for encoder) JL4V-E1SL-3PE-B-R (for brake) (KL) (4) (IF) (1) Eye bolt -M8 Dimensions of the battery-less absolute encoder with brake Battery-less absolute encoder, Absolute encoder for incremental systems W/out brake With brake Model no. LL KB KB3 KL3 LL KB KB3 KL3 LG KL1 KL LA LB LE LH LC LZ1 LZ LR RAA1811K 39 6 ー M8 79 Model no. S Q QA QK W T U KB1 QE LT IE IF IL1 IL RAA1811K M

116 Servo Motors Rotary Motor Dimensions [Unit: mm] mm sq. R Servo Motor kw LC 4- LZ1.8 M..8 M LA QA LR LE Q QK H (LG) (IL) LL -M8 For eye bolt (IF) LB S M H (KL3) ( LH) (IE) 7 (KL1) Oil seal 4-LZ (Tap for removing motor) QE tap Depth LT W U T Cross section H-H (IL1) (IL) (KB1) (KB) JL4V-E4-11PE-B-R (for motor, brake, and ground) Eye bolt -M8 JNAS1ML-R (for encoder) (IF) (KL) Dimensions of the battery-less absolute encoder with brake Battery-less absolute encoder, Absolute encoder for incremental systems W/out brake With brake Model no. LL KB KL3 LL KB KL3 LG KL1 KL KL3 LA LB LE LH RAA Model no. LC LZ1 LZ LR S Q QA QK W T U KB1 QE LT IE IF IL1 IL RAA 13. M M R Servo Motor 7 to 1 kw.1 M LC.3 4- LZ1.8 M LA QA LR LE QK (LG) (IL) LL (IF) -M8 For eye bolt H ( LH) LB S M H Q (KL1) (KL3) (7) (IE) Oil seal -LZ (Tap for removing motor) QE tap Depth LT W U T Cross section H-H (IL1) (IL) (KB1) Connector for power (for motor and ground) (KB3) (KB) (KL) JNAS1ML-R (for encoder) JL4V-E1SL-3PE-B-R (for brake) (IF) Eye bolt -M8 Dimensions of the battery-less absolute encoder with brake Battery-less absolute encoder, Absolute encoder for incremental systems W/out brake With brake Model no. LL KB KB3 KL3 LL KB KB3 KL3 LG KL1 KL LA LB LE LH LC LZ1 LZ LR S Q RAA RAA11K 34 ー RAA1K M1 79 Model no. QA QK W T U KB1 QE LT IE IF IL1 IL Connector model no. for power RAA JL4V-E4-11PE-B-R RAA11K M JL4V-E3-17PE-B-R RAA1K

117 H U V Dimensions [Unit: mm] mm sq. R Servo Motor kw (φlh) QE tap Depth LT LC Oil seal 4-φLZ1.1 M.3.8 M -LZ φla QA LR QK LE (LG) Exhaust -M8 For eye bolt LL To have a space of mm or wider ( 3) (17) (IE) Eye bolt -M8 φlb φs M H Q Exhaust Suction (φ) () (KL1) 7 (118) (44) 6 (IF) φ61±.3 6 (IF) 4-M W U T Cross section H-H (IL1) (KB1) (IL) (19) (KB3) JL4V-E18-1PE-B-R (for cooling fan) JNAS1ML-R (for encoder) (KB) (3.) JL4V-E1SL-3PE-B-R (for brake) Terminal block: UF1-1A-3P (for motor, M8, hexagon bolt) (17) (4) (φ61) (19) W Dimensions of the battery-less absolute encoder with brake -M8 For eye bolt 1-M8 bolt (for ground) Battery-less absolute encoder, Absolute encoder for incremental systems W/out brake With brake Model no. LL KB KB3 KL1 LL KB KB3 KL1 LG LA LB LE LH LC LZ1 LZ LR S Q RAAK ー M Model no. QA QK W T U KB1 QE LT IE IF IL1 IL RAAK M mm sq. R Servo Motor 3 kw Model no.: RAA83K Ground (M4) for cooling fan Terminal block: UF1-1A-3P for motor: (M8, hexagon bolt) (φ61±.3) Power line outlet for motor, thermostat, and fan Ground (M8) for motor Dimensions without brake Connector (for thermostat): Molex Plug: 9-P, Terminal: 8TL Connector (for encoder): Molex Plug: 9-1P Terminal: 8GS U V W (φ4.±.3) B1 B FW FV FU Terminal block: F1-S-P for cooling fan: (M4, pan head SEMS screw) Sensor cable outlet Servo Motors Rotary Motor 7 ± 3 sq. (14) (14).1 M.4.1 M 11±1 (4) (1) () () Eye bolt -M1 479±3 Exhaust (38) (8) φ4.±.3 (18) C1 A (163) (1) (φ34) φ3±.6 -. φ -.19 φ M A Suction (φ) (φ34) -M1 (Tap for removing motor) 4-φ18. Oil seal M1 1. Depth Cross section A-A (1) () Exhaust -M1 For eye bolt To have a space of mm or wider. 8 ± 3 sq

118 A A Servo Motors Rotary Motor Dimensions [Unit: mm] 18 mm sq. R1 Servo Motor. to 1 kw LC 4-φLZ1 γ M α β M LR LE (LG) (ll) LL -M8 For eye bolt To have a space of mm or wider Exhaust ( 14) φla φlb φs (QA) Q QK H Suction Oil seal -LZ (Tap for removing motor) φlh QE tap Depth LT (le) TW U M Cross section H-H H (ll1) (ll) (KB1) JL4V-E3-17PE-B-R (for motor and ground) (KB3) Eye bolt (41) MS31A1SL-4P (KB4) (for cooling fan) -M8 (lf) (lf) (KB) Exhaust (KL1) (KL) (KL3) (7) JL4V-E1SL-3PE-B-R (for brake) JNAS1ML-R (for encoder) (1) (11) Dimensions with brake Battery-less absolute encoder, Absolute encoder for incremental systems W/out brake With brake Model no. LL KB KB3 KB4 KL3 LL KB KB3 KB4 KL3 LG KL1 KL LA LB LE LH LC LZ1 LZ R1AA R1AA R1AA1811K R1AA181K M8 Model no. LR S Q QA QK W T U KB1 α β γ QE LT le lf ll1 IL R1AA R1AA M1 14 R1AA1811K R1AA181K mm sq. R1 Servo Motor 1 kw Model no.: R1AAKV Dimensions without brake (φ61) U V (17) Terminal block: UF1-1A-3P (for motor, M8, hexagon bolt) JNAS1ML-R (for encoder) W 4-M Feed-through Eye bolt -M8 (14) φ3±.3 sq. (6) (6) 6 (φ7) φ61±.3 6 (17) (44).1 M.3.8 M.46 φ.19 φ 3 C1 M 17± R1 (Ø8) 4 (19) 1-M8 (for ground) 6± (3) Motor lead outlet 1-φ61 (193) (7) Exhaust (19) Key position (134) (17) () MS31A1SL-4P (4) (for cooling fan) Arrow nameplate (Opposite side) Suction (87) () φ13. Oil seal -M1 (Tap for removing motor) M1 1. Depth Cross section A-A (193) (7) -M8 for eye bolt Exhaust (9) (6.) To have a space of mm or wider (14 sq.) (3 sq.)

119 Options 119

120 Options 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: R 3E Model R ADVANCED R Setup software title: Setup software title: SANMOTION MOTOR SETUP SOFTWARE SANMOTION R-SETUP SOFTWARE Main functions Parameter settings (settings by group, settings by function) Diagnosis (alarm display, warning display, 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) R 3E Model: Use a USB communication cable (mini-b socket) to connect the USB port on the PC and the servo amplifier. R ADVANCED MODEL: Use a dedicated cable (AL ) to connect the RS- 3C terminal on the PC and the servo amplifier. Supported OS Windows XP (SP3 or newer) / Vista / 7 / 8 Main functions Parameter settings (settings by group, settings by function) Diagnosis (alarm display, warning display, alarm cancellation) Test run execution (speed JOG, pulse feed JOG, 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 dedicated cable (AL ) to connect the RS-3C terminal on the PC and the servo amplifier. Supported OS Windows XP (SP3 or newer) / Vista / 7 / 8 * See our website for details on supported OS versions. * See our website for details on supported OS versions. Examples of setting screens and functions with SANMOTION R 3E Model Main screen Start-up screen Parameter Setting screen Function Parameter Edit Minimum required parameter setting by function can be done. Parameter setting for each group Parameters can be set, saved, and more. 1

121 Diagnosis screen Test run The current and previous 1 alarm occurrences can be checked. (last seven alarms for R ADVANCED MODEL) 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 By setting the mechanical conditions, easy servo adjustment is available with the optimal tuning mode. Measurement Options Operation Trace Graphically displays servo motor s speed, torque and internal status. System Analysis Analyzes servo system frequency characteristics. 11

122 Options Connector to Connect Servo Amplifier For Analog/Pulse input type 1 to A R 3E Model Individual connectors Connector no. Description Model no. Manufacturer model no. Manufacturer CN1 To connect host device AL PE, 13-A-8 EN1, EN To connect encoder AL PL, M Japan Limited CNA *1 For input power supply and regenerative resistor connections AL MSTBT./8-STF-.8LUB Phoenix Contact.K.K CNB To connect to servo motor AL-Y479-1 MSTBT./3-STF-.8 To connect safety device CN4 * AL Tyco Electronics (for short circuits) Japan G.K. CN4 To connect safety device (for wiring) AL *1: Amplifiers with built-in regenerative resistor are equipped with a CNA connector. *: When CN4 is not wired, be sure to insert a safety device connector (for short circuits) to CN4 on the servo amplifier. Connector sets (no safe torque off function) Servo Amplifier model no. RS3 A L RS3 A8 L RS3 A A RS3 A8 A RS3 A L RS3 AA L RS3 A A RS3 AA A RS3 A RS3 A8 RS3 A L Built-in regenerative resistor Yes Yes /Yes Connector set model no. AL-738 AL-7384 AL-7386 AL-7388 AL-739 AL CN1: To connect host device Yes Yes Yes Yes Yes EN1: To connect encoder Yes Yes Yes Yes Yes EN: To connect encoder Yes Yes Connectors CNA: To connect input power Yes Yes Yes included in supply, regenerative resistor the set CNB: For servo motor connection Yes Yes Yes Yes Yes CN4: To connect safety device (for short circuits) CN4: To connect safety device (for wiring) Remarks For fully-closed control systems Connector sets (with safe torque off function) Servo Amplifier model no. RS3 A L(4) RS3 A A(4) RS3 A L(4) RS3 A A(4) RS3 A (4) RS3 A8 L(4) RS3 A8 A(4) RS3 AA L(4) RS3 AA A(4) RS3 A8 (4) Built-in regenerative resistor Yes Yes /Yes Connector set model no. AL-731 AL-7316 AL-7317 AL-7318 AL-7319 CN1: To connect host device Yes Yes Yes Yes Yes EN1: To connect encoder Yes Yes Yes Yes Yes EN: To connect encoder Yes Yes Connectors CNA: For input power supply, Yes Yes included in regenerative resistor connection the set CNB: For servo motor connection Yes Yes Yes Yes CN4: To connect safety device (for short circuits) CN4: To connect safety device (for wiring) Yes Yes Yes Yes Yes Remarks For fully-closed control systems Front mounting brackets p. 134 Analog monitor p. 133 USB communication cable p. 131 Connector for input power supply and regenerative resistor (CNA) External regenerative resistor p. 133 PC Connector for connections with host devices (CN1) Connector for servo motor connection (CNB) Host device Connector for encoder connections (EN1, EN) Encoder extension cable with battery p. 13 Servo motor with servo motor extension cable / connector p. 138 Front mounting brackets p. 134 Battery box p * Front mounting bracket and battery box cannot be used together. Figure shows the mounting position.

123 Connector to Connect Servo Amplifier For Analog/Pulse input type 1, 1, 3 A R 3E Model Individual connectors Connector no. Description Model no. Manufacturer model no. Manufacturer CN1 To connect host device AL PE, 13-A-8 EN1,EN To connect encoder AL PL, M Japan Limited CNA To input control circuit power supply AL-Y19-1 MSTBT./-STF-.8 Phoenix Contact.K.K To connect safety device CN4* AL (for short circuits) Tyco Electronics Japan G.K. CN4 To connect safety device (for wiring) AL * When CN4 is not wired, be sure to insert a safety device connector (for short circuits) to CN4 on the servo amplifier. Connector sets (no safe torque off function) Servo Amplifier model no. RS3 A RS3 A8 RS3 A RS3 AA RS3 A RS3 A8 Built-in regenerative resistor Connector set model no. AL AL-714 AL-739 CN1: To connect host device Yes Yes Yes EN1: To connect encoder Yes Yes Yes EN: To connect encoder Yes Connectors CNA: To input control circuit power included in Yes Yes supply the set CN4: To connect safety device (for short circuits) CN4: To connect safety device (for wiring) For fully-closed Remarks control systems Connector sets (with safe torque off function) Servo Amplifier model no. Analog monitor p. 133 RS3 A (4) RS3 A8 (4) RS3 A (4) RS3 AA (4) USB communication cable p. 131 PC RS3 A (4) RS3 A8 (4) Built-in regenerative resistor Connector set model no. AL-714 AL-7144 AL-7319 CN1: To connect host device Yes Yes Yes EN1: To connect encoder Yes Yes Yes EN: To connect encoder Yes Connectors CNA: To input control circuit power included in supply Yes Yes CN4: To connect safety device (for short circuits) the set CN4: To connect safety device (for wiring) Yes Yes Yes Remarks For fully-closed control systems Front mounting brackets p. 134 Connector for connections with host devices (CN1) Host device Options External regenerative resistor p. 133 Connector for encoder connections (EN1, EN) Encoder extension cable with battery p. 13 Battery box p

124 DC-DCOptions Connector to Connect Servo Amplifier For Analog/Pulse input type 6 A Individual connectors Connector no. Description Model no. Manufacturer model no. Manufacturer CN9 To connect between units (single item) AL PE, 1314-A-8 CN1 To connect host device AL PE, 13-A-8 3M Japan Limited EN1, EN To connect encoder AL PL, CNA To input control circuit power supply AL-Y19-1 MSTBT./-STF-.8 CNB For dynamic brake signal AL-Y479-1 MSTBT./3-STF-.8 Phoenix Contact.K.K CN8 For external alarm signal AL-Y FMC,/4-ST-.4 To connect safety device CN4* AL (for short circuits) Tyco Electronics Japan G.K. CN4 To connect safety device (for wiring) AL * When CN4 is not wired, be sure to insert a safety device connector (for short circuits) to CN4 on the servo amplifier. Connector sets (no safe torque off function) Connectors included in the set Remarks Connector set model no. AL AL-898 AL-739 AL-8984 CN1: To connect host device Yes Yes Yes EN1: To connect encoder Yes Yes Yes EN: To connect encoder Yes CNA: To input control circuit power supply Yes Yes Yes CNB: For dynamic brake signal Yes CN8: For external alarm signal Yes Yes For fully-closed control systems Connector sets (with safe torque off function) Connector set model no. AL-8986 AL-8988 AL-7319 AL-898 CN1: To connect host device Yes Yes Yes Connectors included in the set Remarks R 3E Model EN1: To connect encoder Yes Yes Yes EN: To connect encoder Yes CNA: To input control circuit power supply Yes Yes Yes CNB: For dynamic brake signal Yes CN8: For external alarm signal Yes Yes CN4: To connect safety device (for short circuits) CN4: To connect safety device Yes Yes Yes Yes For fully-closed control systems Connecting between servo amplifier units 6 A Name Description Model no. Copper bar To connect main power supply between power supply unit and amplifier unit Terminal number: +DC/-DC -pc. set ( mm between units) AL Connecting cable between units To connect between power supply unit (CN9) - Amplifier unit (CN9) AL Connecting cable between units (CN9) USB communication cable p. 131 PC Connector for connections with host devices (CN1) Host device Connector for encoder connections (EN1, EN) Encoder extension cable with battery p. 13 External regenerative resistor p. 133 RB1 RB L1(R) L(S) ++DC-DCCopper bar L3(T) (E) U V W (E) Battery box p

125 Connector to Connect Servo Amplifier EtherCAT interface type 1, 3, A Individual connectors Connector no. Description Model no. Manufacturer model no. Manufacturer IN, OUT Ethernet To connect host device EN1, EN To connect encoder AL-6367 t available Use a CATe standard-compliant shielded type modular plug (RJ-4). A set of 361-1PL and M Japan Limited CNA *1 For input power supply and regenerative resistor AL MSTBT./8-STF-.8LUB Phoenix Contact.K.K connections CNB To connect to servo motor AL-Y479-1 MSTBT./3-STF-.8 Phoenix Contact.K.K CN1 To connect safety device (for wiring) AL Tyco Electronics Japan G.K. CN1 * To connect safety device (for short circuits) AL Tyco Electronics Japan G.K. CN For general I/O AL A set of HDR-E6M1+ and HDR-E6LPH *1: Amplifiers with built-in regenerative resistor are equipped with a CNA connector. *: When CN1 is not wired, be sure to insert a safety device connector (for short circuits) to CN1 on the servo amplifier. R ADVANCED HONDA TSUSHIN KOGYO CO., LTD Connector sets Built-in regenerative resistor Yes Yes Connector set model no. AL AL-8873 AL AL EN1: To connect encoder Yes Yes Yes Yes EN: To connect encoder Yes Yes Connectors included in the set Remarks CNA: To connect input power supply, regenerative resistor Yes Yes CNB: For servo motor connection Yes Yes Yes Yes CN1: To connect safety device (for wiring) Yes Yes Yes Yes CN: General I/O connector Yes Yes Yes Yes For fully-closed control systems For fully-closed control systems 1, 1, 3 A Individual connectors Connector no. Description Model no. Manufacturer model no. Manufacturer IN, OUT Ethernet To connect host device EN1, EN To connect encoder AL-6367 CNA CN1 CN1 To input control circuit power supply To connect safety device (for wiring) To connect safety device (for short circuits) CN For general I/O AL t available Use a CATe standard-compliant shielded type modular plug (RJ-4) PL and 3M Japan Limited AL-Y19-1 MSTBT./-STF-.8 Phoenix Contact.K.K AL Tyco Electronics Japan G.K. AL Tyco Electronics Japan G.K. A set of HDR-E6M1+ and HDR-E6LPH HONDA TSUSHIN KOGYO CO., LTD Options Connector sets Connector set model no. AL-8873 AL EN1: To connect encoder Yes Yes Connectors EN: To connect encoder Yes included CNA: To input control circuit power supply Yes Yes in the set CN1: To connect safety device Yes Yes CN: For general I/O Yes Yes Remarks For fully-closed control systems 1

126 Options Connector to Connect Servo Amplifier CApen interface type 1, 3, A Individual connectors Main power supply: VAC, Control circuit power supply: Single-phase VAC Connector no. Description Model no. Manufacturer model no. Manufacturer CN1 To connect host device AL PE and 1314-A-8 CN To connect encoder AL PE and 13-A-8 CNA To connect input power supply AL MSTB./-STF-.8 CNB *1 To connect regenerative resistor and DC reactor AL-Y988-1 IC./6-STF-.8 CNC To connect to servo motor AL IC./3-STF-.8 *1: Amplifiers with built-in regenerative resistor are equipped with a CNB connector. R 3M Japan Limited Connector sets Main power supply: VAC, Control circuit power supply: Single-phase VAC Connector set model no. AL AL CN1: To connect host device Yes Yes Connectors CN: To connect encoder Yes Yes included CNA: To connect input power supply Yes in the set CNB: To connect regenerative resistor and DC reactor CNC: To connect to servo motor Yes Phoenix Contact.K.K Individual connectors Main power supply: VAC, Control circuit power supply: 4 VDC Connector no. Description Model no. Manufacturer model no. Manufacturer CN1 To connect host device AL PE and 1314-A-8 CN To connect encoder AL PE and 13-A-8 3M Japan Limited CNA To connect input power supply AL-Y988- IC./7-STF-.8 CNB *1 To connect regenerative resistor and DC reactor AL MSTB./-STF-.8 Phoenix Contact.K.K CNC To connect to servo motor AL IC./3-STF-.8 *1: Amplifiers with built-in regenerative resistor are equipped with a CNB connector. Connector sets Main power supply: VAC, Control circuit power supply: 4 VDC Connector set model no. AL AL CN1: To connect host device Yes Yes Connectors CN: To connect encoder Yes Yes included CNA: To connect input power supply Yes in the set CNB: To connect regenerative resistor and DC reactor Yes CNC: To connect to servo motor Yes 16

127 Connector to Connect Servo Amplifier Built-in positioning function type 1 to 3 A Individual connectors DIO type Main power supply: VAC Connector no. Description Model no. Manufacturer model no. Manufacturer CN1 To connect host device AL PE and 13-A-8 3M Japan Limited CN To connect encoder AL PE and 13-A-8 CNA To connect input power supply AL MSTB./-STF-.8 CNB *1 To connect regenerative resistor and DC reactor AL-Y988-1 IC./6-STF-.8 CNC To connect to servo motor AL IC./3-STF-.8 *1: Amplifiers with built-in regenerative resistor are equipped with a CNB connector. CNA, CNB, and CNC connectors are used for 1 to A. Connector sets DIO type Main power supply: VAC Connector set model no. AL AL-939 CN1: To connect host device Yes Yes Connectors CN: To connect encoder Yes Yes included CNA: To connect input power supply Yes in the set CNB: To connect regenerative resistor and DC reactor CNC: To connect to servo motor Yes R Phoenix Contact.K.K Individual connectors DIO type Main power supply: 1 VAC Connector no. Description Model no. Manufacturer model no. Manufacturer CN1 To connect host device AL PE and 13-A-8 3M Japan Limited CN To connect encoder AL PE and 13-A-8 CNA To connect input power supply AL MSTB./4-STF-.8 CNB *1 To connect regenerative resistor and DC reactor AL-Y988-1 IC./6-STF-.8 Phoenix Contact.K.K CNC To connect to servo motor AL IC./3-STF-.8 *1: Amplifiers with built-in regenerative resistor are equipped with a CNB connector. Connector sets DIO type Main power supply: 1 VAC Connector set model no. AL AL-939 CN1: To connect host device Yes Yes Connectors CN: To connect encoder Yes Yes included CNA: To connect input power supply Yes in the set CNB: To connect regenerative resistor and DC reactor CNC: To connect to servo motor Yes Individual connectors RS-48 communication type Connector no. Description Model no. Manufacturer model no. Manufacturer CN1 To connect host device AL-Y49- MUF-PK1K-X J.S.T. Mfg. Co.,Ltd. CN, CNA, CNB, and CNC are common to the above DIO type. Options 17

128 Options Connector to Connect Servo Amplifier Multi-axis pulse input type 1, 3 A Individual connectors for amplifier unit Connector no. Description Model no. Manufacturer model no. Manufacturer CN1 To connect host device AL-Y Molex CN, CN6 To connect encoder AL and 361-1PL 3M Japan Limited CNC To connect to servo motor AL JFAT-SBXGF-I J-FATOT J.S.T. Mfg. Co.,Ltd. Individual connectors for power supply unit Connector no. Description Model no. Manufacturer model no. Manufacturer CNA To connect input power supply AL-636 JFAT-SBXGF-I J-FATOT CNB To connect regenerative resistor and DC reactor AL-636 6JFAT-SBXGF-I J-FATOT R J.S.T. Mfg. Co.,Ltd. CN1A, CN1B To connect host device AL PE and 13-A-8 3M Japan Limited Connector sets Connector set model no. AL AL-6369 CN1: To connect host device Yes CN, CN6: To connect encoder Yes Connectors CNC: To connect to servo motor Yes included in the set CNA: To connect input power supply Yes CNB: To connect regenerative resistor and DC reactor CN1A, CN1B: To connect host device Yes Remarks A set of connectors for amplifier unit A set of connectors for power supply unit 18

129 Connector for Motor Connection Encoder connector Manufacturer: Japan Aviation Electronics Industry Limited R 3E Model R ADVANCED R R Servo Motor Motor flange size Combination plug for encoder (with rubber bushing) Straight Angle Encoder receptacle model number (motor side) Applicable cable diameter (bushing color phase) Pin Layout Symbol JNDS1SL1-R JNFS1SL1-R φ.7 to 7.3 mm (Black) 13 mm sq. to mm sq. JNDS1SL-R JNFS1SL-R JNAS1ML-R φ6. to 8. mm (Gray) See the encoder wiring diagram for each servo amplifier. JNDS1SL3-R JNFS1SL3-R φ3. to. mm (Brick) Select the correct plug and contacts for the size of cable to be used. The manufacturer s model number and the model number for parts procured from SANYO DENKI are the same number. Applicable contact for encoder plug* 1, Applicable contact Contact size Category Socket contact model no. Applicable wire size JN1--S-R-PKG1 AWG # Manual crimp tool JN1--S-PKG1 AWG #1 to # # type * 3, 4 JN1--6S-PKG1 AWG #6 to #8 Solder type JN1--F-PKG1 AWG # *1: Select the correct plug and contacts for the size of cable to be used. The manufacturer s model number and the model number for parts procured from SANYO DENKI are the same number. *: When removing a contact that has already been inserted, use a removal tool. Purchase the removal tool from the connector manufacturer (Japan Aviation Electronics Industry Limited). *3: For the manual crimp tool part number, see the instruction manuals from the connector manufacturer (Japan Aviation Electronics Industry Limited). *4: Purchase the semi-automatic crimp tool from the manufacturer (Japan Aviation Electronics Industry Limited). For the connector and contact instructions, precautions, etc., see the catalogs and instruction manuals from the connector manufacturer (Japan Aviation Electronics Industry Limited). Cooling fan connector Manufacturer: Japan Aviation Electronics Industry Limited R1, R Servo Motor Motor flange size 18 mm sq. to mm sq. single-phase fan Receptacle for cooling fan connection N/MS31A1SL-4P Standard specification for cooling fan connectors (1) Plug (manufacturer model number) () Cable clamp (manufacturer model number) (3) Plug + cable clamp (SANYO DENKI part numbers) Waterproof specification for cooling fans Plug (cable clamp) Straight Angle Straight Angle (1) N/MS316B1SL-4S () N/MS37-4A (3) MS6B1SL-4S-4 (1) N/MS318B1SL-4S () N/MS37-4A (3) MS8B1SL-4S-4 JA6A-1SL-4S-J1-R (Conduit) Pin Layout Symbol A B R Servo Motor Motor flange size mm sq. 3-phase fan Receptacle for cooling fan connection JL4V-E18-1PE-B-R Plug for power and brake (angle) Standard specification for cooling fan connectors (1) Plug (manufacturer model number) Pin Layout Symbol () Cable clamp (manufacturer model number) (3) Plug + cable clamp (SANYO DENKI part numbers) Straight Angle U V W Ground Thermos (1) JL4V-6A18-1SE-EB-R () JL4-18CK(13)-R (3) 3376X3 (1) JL4V-8A18-1SE-EBH-R () JL4-18CK(13)-R (3) 3377X3 A B C E, F See the catalogs and instruction manuals issued by the connector manufacturer (Japan Aviation Electronics Industry Limited) for how to handle the items and precautions. Conduit is not provided.. Options Cable clamp for power and brake Cable (To be provided by the customer. Please refer to the recommended motor power cables.) Cable (To be provided by the customer. Please refer to the recommended motor power cables.) Cable clamp for power and brake Plug for power and brake (straight) Combination plug for encoder (straight) Combination plug for encoder (angle) Receptacle for power and brake Encoder receptacle 19

130 Options Power Connector to Connect Motor, Electric Wire Size Manufacturer: Japan Aviation Electronics Industry Limited R 3E Model R ADVANCED R Flange size (mm) Motor model no. For power standard specification (1) Plug (manufacturer model no.) () Cable clamp (manufacturer model no.) (3) Plug + cable clamp (SANYO DENKI part numbers) For power waterproofing specification TÜV standard plug (1) Plug (manufacturer model no.) () Cable clamp (manufacturer model no.) (3) Plug + cable clamp (SANYO DENKI part numbers) For brake standard specification waterproof specification TÜV standard plug (1) Plug (manufacturer model no.) () Cable clamp (manufacturer model no.) (3) Plug + cable clamp (SANYO DENKI part numbers) Straight Angle Straight Angle Straight Angle RAA13 RAA131 (1) N/MS316B4-11S (1) N/MS318B4-11S (1) JL4V-6A4-11SE-EB-R (1) JL4V-8A4-11SE-EB-R 13 sq. () N/MS37-16A () N/MS37-16A () JL4-48CK-R () JL4-48CK-R Same part number as for power RAA1318 RAA13 (3) MS6B4-11S-16 (3) MS8B4-11S-16 (3) 3376X1 (3) 3377X1 RAA183L (1) N/MS316B4-11S (1) N/MS318B4-11S (1) JL4V-6A4-11SE-EB-R (1) JL4V-8A4-11SE-EB-R RAA183D RAA184H () N/MS37-16A (3) MS6B4-11S-16 () N/MS37-16A (3) MS8B4-11S-16 () JL4-48CK-R (3) 3376X1 () JL4-48CK-R (3) 3377X1 Same part number as for power 18 sq. RAA18R RAA18H (1) N/MS316B3-17S (1) N/MS318B3-17S (1) JL4V-6A3-17SE-R (1) JL4V-6A1SL-3SE-EB-R (1) JL4V-8A1SL-3SE-EB-R () N/MS37-A () N/MS37-A (Conduit) () JL4-11CK-R () JL4-11CK-R RAA187H RAA1811KR (3) MS6B3-17S- (3) MS8B3-17S- (3) JL4V-6A3-17SE (3) 3376X1 (3) 3377X1 RAAL (1) N/MS316B4-11S (1) N/MS318B4-11S (1) JL4V-6A4-11SE-EB-R (1) JL4V-8A4-11SE-EB-R Same part number as for power RAA7S sq. () N/MS37-16A (3) MS6B4-11S-16 () N/MS37-16A (3) MS8B4-11S-16 () JL4-48CK-R (3) 3376X1 () JL4-48CK-R (3) 3377X1 (1) JL4V-6A1SL-3SE-EB-R (1) JL4V-8A1SL-3SE-EB-R RAA11KB (1) N/MS316B3-17S (1) N/MS318B3-17S (1) JL4V-6A3-17SE-R () JL4-11CK-R () JL4-11CK-R RAA1KB () N/MS37-A () N/MS37-A (Conduit) (3) 3376X1 (3) 3377X1 (3) MS6B3-17S- (3) MS8B3-17S- (3) JL4V-6A3-17SE 7 sq. RAA83KV Terminal block; therefore, plug is not necessary R1AA18H R1AA187L (1) N/MS316B3-17S (1) N/MS318B3-17S (1) JL4V-6A3-17SE-R (1) JL4V-6A1SL-3SE-EB-R (1) JL4V-8A1SL-3SE-EB-R 18 sq. () N/MS37-A () N/MS37-A (Conduit) () JL4-11CK-R () JL4-11CK-R R1AA1811KR R1AA181KB (3) MS6B3-17S- (3) MS8B3-17S- (3) JL4V-6A3-17SE (3) 3376X1 (3) 3377X1 Flange size (mm) 13 sq. 18 sq. sq. Motor model no. Receptacle for power (motor side) Receptacle for brake (motor side) Pin layout symbol Applicable amplifier capacity Recommended motor power wire size (U, V, W, GND) Wire size of main power supply (R, S, T, GND) U V W phase phase phase Ground Brake mm AWG. mm AWG. RAA13H RAA13D D E F G, H A, B 3 A.7 #19 #14 RAA131B RAA131L RAA131D JL4V-E4-11PE-B-R Same part number as for power D E F G, H A, B A #14 #14 RAA1318H RAA1318D 1 A. #1. #1 RAA13L D E F G, H A, B A #14 #14 RAA13D 1 A. #1 RAA183L Same part number as. #1 RAA183D JL4V-E4-11PE-B-R D E F G, H A, B for power RAA184H 1 A 8 #8 RAA18R 8 #8 RAA18H RAA187H JL4V-E3-17PE-B-R JL4V-E1SL-3PE-B-R A B C D A, B 3 A 14 #6 14 #6 RAA1811KR Same part number as RAAL JL4V-E4-11PE-B-R for power D E F G, H A, B 1 A. #1 8 #8 RAA7S JL4V-E1SL-3PE-B-R RAA11KB JL4V-E3-17PE-B-R JL4V-E1SL-3PE-B-R A B C D A, B 3 A 14 #6 14 #6 RAA1KB 7 sq. RAA83KV Terminal block: UF1-1A-3P (M8, Hexagon bolt) R1AA18H R1AA187L 18 sq. R1AA1811KR R1AA181KB Terminal block: F1-S-P (M4, Screws) 6 A 38 # 38 # JL4V-E3-17PE-B-R JL4V-E1SL-3PE-B-R A B C D A, B 3 A 14 #6 14 #6 See the catalogs and instruction manuals of the connector manufacturer (Japan Aviation Electronics Industry Limited) for how to handle the items and precautions. Conduit is not provided. 13

131 Cable USB communication cable for setup software PC communication cable for setup software Cable length: L Model no. (m) 1. AL AL Cable length: L PC side (Series A) Servo amplifier side (Series mini B) Specifications and external drawings may be changed without prior notice. R 3E Model B Communication cable between amplifiers for tandem operation Connects between amplifiers for tandem operation. (CN CN) Cable length: L Model no. (m). AL NO.8 NO.1 L NO.8 R 3E Model NO.1 3. AL te that the wiring differs from the communication cable between amplifiers for R ADVANCED MODEL (Model number: AL ). PC communication cable for setup software PC communication cable for setup software Cable length: L Model no. (m).8 AL PC side L R ADVANCED NO.8 NO.1 Servo amplifier side PC communication cable for setup software R PC communication cable for setup software Cable length: L Model no. (m) 9 L CN1.8 AL PC side Servo amplifier side Options 131

132 Options Battery for Battery-backup Method Absolute Encoder and Related Parts Battery box R 3E Model Name Description Model no. 1) Battery box * With 1 to A amplifiers, the front mounting brackets cannot be used. A set of lithium battery ER3VLY and battery box AL ) Battery for battery box (Lithium battery) Lithium battery: ER3VLY from Toshiba Lifestyle Products & Services Corporation AL ) Battery box (Model no.: AL-884-1) ) Replacement battery for use with battery box () 4 (Model no.: AL ) 1 RED Battery 9± (4.) BLACK Connector 1 RED (φ14.) 17 max. BLACK Encoder extension cable with battery 3) Encoder cable attached to battery, with connectors on both ends (Model no.: AL ) Servo amplifier side connector Battery unit built-in battery Battery-backup method Absolute encoder side Chain connector Servo amplifier side connector R 3E Model R ADVANCED Name Description Model no. 3) Encoder extension cable with battery and connectors on both ends AL ) Encoder extension cable with battery and connectors on one end AL ) Replacement battery for encoder cable (Lithium battery) Lithium battery: ER3VLY from Toshiba Lifestyle Products & Services Corporation AL ) Encoder cable attached to battery, with connector on one end (Model no.: AL ) Battery unit built-in battery Battery-backup method absolute encoder side (4) (38) 3±1 (4) (4) Cable length: L (m) ) Replacement battery for encoder cable with battery (Model no.: AL ) Connector 1 RED 6± (4.) ( 14.) 17 max. Model no. L [m] 1 AL AL AL AL AL AL BLACK Battery R Lithium battery Name Model no. AL Lead wire red. 1 pin Connector Lead wire black. pin max. (4.) Lithium battery Mass:. kg 13

133 Analog Monitor R 3E Model R ADVANCED This is an analog monitor which can display the velocity waveform with an oscilloscope for system maintenance or when tuning. Name Description Model no. 1) Monitor box Monitor box body dedicated cables Q-MON-3 ) Dedicated cable 1 dedicated cables AL ) Monitor box (Model no.: Q-MON-3) ) Dedicated cable (Model no.: AL-69-1) Monitor box side Brown ± ± ± Servo amplifier side ± ± Black 1B B 1A A *1 units of the dedicated cables per above ) (PN# AL-69-1) are attached to monitor box (PN#Q-MON-3). * Power is supplied from the servo amplifier. 6 External Regenerative Resistor R 3E Model R ADVANCED R φ φ Silicon rubber glass-braided wire AWG. mm, White (Thermostat) Silicon rubber glass-braided wire AWG18.7 mm, Black Mass:.19 kg Silicon rubber glass-braided wire AWG. mm, White (Thermostat) Silicon rubber glass-braided wire AWG18.7 mm, Black Mass:.4 kg Model no. Thermostat 1 REGIST-8WB rmally closed REGIST-8W1B rmally closed Model no. Thermostat 1 REGIST-1WB rmally closed REGIST-1W1B rmally closed φ φ4. Ground mark Thermostat -M Silicon rubber glass-braided wire AWG. mm, White (Thermostat) Silicon rubber glass-braided wire AWG18.7 mm, Black Mass:.44 kg Lead wire AWG4. mm, White 3 Mass: 1.4 kg Solderless terminal (for M) Lead wire AWG14 mm, White Options Model no. Thermostat 1 REGIST-WB rmally closed REGIST-WB rmally closed 3 REGIST-W1B rmally closed Model no. Thermostat 1 REGIST-CW7B rmally closed REGIST-CW1B rmally closed 3 REGIST-CW14B rmally closed 4 REGIST-CWB rmally closed 133

134 Options Front Mounting Brackets For Analog/Pulse input type Brackets for mounting the servo amplifier on the front (connector side). Applicable servo amplifiers Model no. Set contents 1,, 3 A (RS3 1,, 3) AL Top/bottom mounting brackets: 1 each Clamping screws: 4 A (RS3 ) AL Top/bottom mounting brackets: 1 each Clamping screws: 4 1, 1 A (RS3 1, 1) AL Top/bottom mounting brackets: 1 each Clamping screws: 6 3 A (RS3 3) AL Top/bottom mounting brackets: 1 each Clamping screws: 8 Trivalent chrome plating is used. (Surface color is silver-blue, and different from body color.) Cannot be used with battery box. (1 to A) 1,, 3 A AL Upper side 1, 1 A AL Common to upper side/lower side R 3E Model 3 1 -φ 7. R Lower side φ14 -φ R φ6 3 A AL Upper side 3 A AL Upper side Lower side Lower side

135 Mounting example Mounting board dimension examples for reference Mounting surface 1, A 3 A A 3-M4 3-M4 4-M or more or more or more Mounting bracket Mounting surface 44 or more 89 or more 4 or more 1 A 1 A 3 A 7 4-M 4-M or more 1 or more or more 1 or more 1 1 or more 6-M6 or more Options 13

136 Options Front Mounting Brackets EtherCAT interface type Brackets for mounting the servo amplifier on the front (connector side). Applicable servo amplifiers Model no. Set contents 1, 3 A (RS 1, 3) AL Top/bottom mounting brackets: 1 each Clamping screws: 4 A (RS ) AL Top/bottom mounting brackets: 1 each Clamping screws: 4 3 A (RS 3) AL Top/bottom mounting brackets: 1 each Clamping screws: 8 Trivalent chrome plating is used. (Surface color is silver-blue, and different from body color.) For 1 A and 1 A (RS 1/1), the rear mounting brackets can be removed and attached onto the front of the servo amplifier. R ADVANCED 1, 3 A AL Upper side A AL Upper side 7. -φ -R φ Lower side 3 Lower side A AL Upper side 3-C3 1 1 R3.7 3-C3 φ Lower side R3. 136

137 Mounting Brackets Built-in positioning function type te that CApen interface type servo amplifiers and multi-axis pulse input type servo amplifiers are not supported. R Applicable servo amplifiers Model no. Description Set contents 1, 3 A (RS1 1, 3) AL For mounting on the servo amplifier rear surface Mounting brackets: 1 Clamping screws: A (RS1 ) AL For mounting on the servo amplifier rear surface Mounting brackets: 1 Clamping screws: 1 A (RS1 1) AL For mounting on the servo amplifier front surface Mounting brackets: 1 Clamping screws: 6 3 A (RS1 3) AL For mounting on the servo amplifier front surface Mounting brackets: 1 Clamping screws: 6 A (RS1 ) AL For mounting on the servo amplifier front surface Mounting brackets: 1 Clamping screws: 6 1, 3 A (rear) AL A (rear) AL Options A (front) AL A (front) AL A (front) AL

138 Options Servo Motor with Servo Motor Extension Cable and Connectors Extension cable for servo motor dimensions Power cable Encoder cable MSTBT./3-STF-.8 Phoenix Contact.K.K Connector: Contact: Tyco Electronics Japan G.K. Cable length: L Receptacle: 361-1PL Shell kit: M Japan Limited Connector housing: Contact: Tyco Electronics Japan G.K. Black Cable length: L White Red Amp side Motor side Amp side Motor side (1) Green/yellow N1.-4 J.S.T. Mfg. Co.,Ltd Lead wire color Red White Black Green/yellow Lead wire color Red Black Brown Blue Green Purple Signal name V V ES+ ES- EBAT+ EBAT Lead wire color Signal name Black V Red + V Brown ES+ Blue ES- Green EBAT+ Purple EBAT- White/Black (Shielded) GND Brake cable Model no. Cable length: L 1 Connector: Contact: 37-3 Tyco Electronics Japan G.K. Cable length: L Amp side Motor side Power cable Brake cable Encoder cable (m) RS-CM4-1-R RS-CB3-1-R RS-CA4-1-R 1 RS-CM4--R RS-CB3--R RS-CA4--R RS-CM4-3-R RS-CB3-3-R RS-CA4-3-R 3 RS-CM4--R RS-CB3--R RS-CA4--R RS-CM4-1-R RS-CB3-1-R RS-CA4-1-R 1 N1.-4 J.S.T. Mfg. Co.,Ltd.. 1 Lead wire color White Black Servo motors with connectors for extension cables V system Rated output Motor flange size Holding brake Protection code: IP67. CE/UL approval: no. Encoder classification: battery-backup method absolute encoder (PA3C). Output shaft: straight. Oil seal: no. Model no. 3 W 4 mm sq. RAA43FXPA 3 W 4 mm sq. Yes (4 VDC) RAA43FCPA W 4 mm sq. RAA4FXPA W 4 mm sq. Yes (4 VDC) RAA4FCPA 9 W 4 mm sq. Yes (4 VDC) RAA41FCPA 1 W 4 mm sq. RAA41FXPA 1 W 6 mm sq. RAA61FXPA 1 W 6 mm sq. Yes (4 VDC) RAA61FCPA W 6 mm sq. RAA6FXPA W 6 mm sq. Yes (4 VDC) RAA6FCPA 36 W 6 mm sq. Yes (4 VDC) RAA64FCPA 4 W 6 mm sq. RAA64FXPA 7 W 6 mm sq. RAA87FXPA 7 W 8 mm sq. Yes (4 VDC) RAA87FCPA Connectors are connected as shown in the figure. The cable length is ±3 mm. Connector (for brake) Housing: Pin: Tyco Electronics Japan G.K.. 1 Lead wire color Yellow Yellow Connector (for power) Housing: Pin: (for power) Pin: (for GND) Tyco Electronics Japan G.K. Connector (for encoder) Housing: Socket: Tyco Electronics Japan G.K Lead wire color Black Red Brown Blue Pink Purple White/Black Signal name V + V ES+ ES- EBAT+ EBAT- SHIELD Lead wire color Red White Black Green/yellow Phase U V W GND 138

139 Linear Servo Motors Flat type with core Dual magnet type with core Linear servo motors featuring large thrust force. Compatible with R 3E Model servo amplifiers. Contact us for the model numbers of the compatible amplifiers. How to read model numbers te that not all the possible combinations of the numbers and characters below are valid. Also, some of the numbers/characters listed below are for optional models. Coil DS 4 C C1 A N E A 1 Specification identifier Standard Thermal protect A Cable length 1 3 mm 6 mm 3 1 mm Hall sensor A Without hall sensor E With hall sensor Winding type N Standard Power supply voltage A VAC Coil Magnet width 4 4 mm Coil length Flat C1 13 mm Dual magnet B4 349 mm Type DS Flat DD Dual magnet Magnet rail DS 4 M C 1 B Rail type B B type C C type Rail length mm mm 6 6 mm 1 1 mm Specification identifier Standard Magnet cover A Without cover B With cover Magnet rail Magnet width 4 4 mm Type DS Flat DD Dual magnet 139

140 Linear Servo Motors System Configuration T S R Molded case circuit breaker (MCCB) Used to protect the power line. Cuts off power in case of an overload. ise filter Attached to prevent external noise from the power source line. Electromagnetic contactor Switches power on and off. Protective circuit must be created. Option Setup software Parameter setting and monitoring are possible via communication with a PC. Host device Linear servo motor Option External regenerative resistor For normal operations, the built-in regenerative resistor in the servo amplifier is enough, but for special operations, such as high cycle applications that require greater power dissipation than that provided by the servo amplifier s built-in regenerative resistor, use an external regenerative resistor. CN1 EN1 EN Hall sensor Linea encoder 14

141 Options Connector to connect servo amplifier 1 to A R 3E Model Individual connectors Connector no. Item Model no. Manufacturer model no. Manufacturer CN1 To connect host device AL-3894 EN1, EN CNA *1 For linear encoder and hall sensor connections For input power supply and regenerative resistor connections AL-6367 AL PE and 13-A PL and MSTBT./8-STF-.8LUB CNB For linear motor connection AL-Y479-1 MSTBT./3-STF-.8 CN4 * To connect safety device (for short circuits) CN4 To connect safety device AL M Japan Limited Phoenix Contact.K.K AL Tyco Electronics Japan G.K. *1: Amplifiers with built-in regenerative resistor are equipped with a CNA connector. *: When CN4 is not wired, be sure to insert a safety device connector (for short circuits) to CN4 on the servo amplifier. Connector sets (no Safe Torque Off function) Connector no. Item Model no. Compatible servo amplifier model no. Remarks Without regenerative resistor CN1, EN1, CNA, CNB Standard set AL-738 RS3 L L/ RS3 L8 L without hall CN1, EN1, CNB sensor With regenerative resistor AL-7384 RS3 L A/ RS3 L8 A CN1, EN1, EN, CNA, CNB Without regenerative resistor AL-7386 RS3 LA L/ RS3 LB L Standard set CN1, EN1, EN, CNB with hall sensor With regenerative resistor AL-7388 RS3 LA A/ RS3 LB L CN1, EN1 Low-voltage set without hall AL-739 RS3 L / RS3 L8 sensor CN1, EN1, EN Low-voltage set with hall sensor AL RS3 LA / RS3 LB CNA, CNB High-voltage set AL RS3 L L Without regenerative resistor Connector sets (with Safe Torque Off function) Connector no. Item Model no. Compatible servo amplifier model no. Remarks Without regenerative resistor CN1, EN1, CNA, CNB, CN4 Standard set AL-731 RS3 L L(4)/ RS3 L8 L(4) without hall CN1, EN1, CNB, CN4 sensor With regenerative resistor AL-7316 RS3 L A(4)/ RS3 L8 A(4) CN1, EN1, EN, CNA, CNB, Without regenerative resistor AL-7317 RS3 LA L(4)/ RS3 LB L(4) CN4 Standard set CN1, EN1, EN, CNB, CN4 with hall sensor With regenerative resistor AL-7318 RS3 LA A(4)/ RS3 LB A(4) CN1, EN1, CN4 Low-voltage set without hall AL-7319 RS3 L (4)/ RS3 L8 (4) sensor CN1, EN1, EN, CN4 Low-voltage set with hall sensor AL RS3 LA (4)/ RS3 LB (4) * Connector CN4 included in a set is for safety device connection. Model no.: AL Linear Servo Motors 141

142 Linear Servo Motors Flat Type with Core Specifications Coil model no. Rated thrust [N] Max. thrust [N] Rated speed [m/s] Max. speed [m/s] Magnetic attraction force [N] Mass of movable element [kg] Compatible magnet rail model no. Compatible servo amplifier model no. DS4CC1AN DS4MC RS A3L Magnet rail model no. Magnet rail mass [kg] Dimensions L1 L N1 N Thrust-Speed Characteristics Max. thrust DS4MC DS4MC DS4MC Thrust [N] Rated thrust DS4MC Rated speed Max. speed Speed [m/s] Coil dimensions 13±. 9 36±.3 36±.3 9±.3 4± Motor power cable 17. 3±.3 Hall sensor cable 6± M (screw hole for coil installation) 3±. Hall sensor (optional) Magnet rail dimensions L1 ±.1 N S 6±.3 4±.1 4 N S N S N S N S N S S N S N S N S NP NP NP (Without magnet cover) (With magnet cover) N- 4. thru hole 16±.1 3±.1 (uniform pitch) (3 N1=) L ±.1 16 Diagram of recommended assembly example Motor cross section (side view) Linear motor coil (Driving direction) (Recommended assembly dimensions) 48.± (.6) With magnet cover, air gap (.7) Without magnet cover, air gap Moving direction S Cable N Core S Magnetic flux N Coil S Magnet Back iron N Magnet rail

143 Dual Magnet Type with Core Specifications Coil model no. Rated thrust [N] Max. thrust [N] Rated speed [m/s] Max. speed [m/s] Magnetic attraction force [N] Mass of movable element [kg] Compatible magnet rail model no. Compatible servo amplifier model no. DD4CB4AN DD4MB RS A1L Magnet rail model no. Magnet rail mass (total of rails) [kg] Dimensions L1 L N1 N Thrust-Speed Characteristics Max. thrust DD4MB DD4MB DD4MB Thrust [N] Rated thrust DD4MB Rated speed Max. speed Speed [m/s] Coil dimensions 349±. 69±.1 (core width) 7.± Hall sensor cable 4±. 3±. 39.±. 186.± M6 Effective depth 9 screw hole for coil installation) ±. 1 Motor power cable Hall sensor (optional) 3± Depth 6 (pin hole for coil positioning).7±. 84±. 4. Magnet rail dimensions ±. (With magnet cover) 3.8±. (Without magnet cover) 1± (With magnet cover) (Without magnet cover) 3±.1 (uniform pitch) 16±.1 L1 ±.1 (3 N1=) L ±.1 N- 9 thru hole (N: Number of holes per rail) 14 spot facing depth (Without magnet cover) 7. (With magnet cover) 7± ±.1 (Magnet rail fixing screw hole dimensions) Diagram of recommended assembly example (118) 3 (Uniform pitch) Linear motor coil Motor cross section (top view) N S N S N S.7.6 (Right side air gap). or less N S S Magnet rail N Moving direction S.7.6 (Left side air gap) 8± (Uniform pitch) N.P N.P (Driving direction) Linear Servo Motors (Recommended assembly height) 7. (Coil bottom clearance) Cable N S N Core Coil S Magnet Back iron N Magnetic flux 143

144 144

145 SANMOTION S Servo Amplifiers and Spindle Motors Servo Amplifier Capacity: 1 A A servo system with a servo amplifier and a spindle motor. Ideal for the main shaft of machine tools that require highly precise tapping synchronized with the feed shaft. It improves productivity of the device. How to read model numbers te that not all the possible combinations of the numbers and characters below are valid. Also, some of the numbers/characters listed below are for optional models. For model numbers valid as standard products, refer to Standard Model Number List. Servo amplifier SS1 A 1 M 8 A M Option Option 1 M Without built-in regenerative resistor Speed/torque command input circuit Equipped Interface type A Analog pulse train, sink type (NPN) output H EtherCAT interface type Encoder connection type 8 EN1 (motor encoder) Pulse encoder EN (external pulse encoder) AC spindle motor type M Rotary motor Input voltage A VAC Servo amplifier capacity 1 1 A S series Spindle motor S3 V 16 4K W X E Special specification identifier Standard Detector type E Pulse encoder (incremental encoder PP38H Divisions (496P/R) Holding brake X brake Continuous rated output 4K 4. kw 3K 3. kw Max. rotation speed W 1 min -1 L 1 min -1 Flange size mm Motor type V Induction machine S3 series S3 Low inertia high-speed type 14

146 SANMOTION S Servo Amplifiers and Spindle Motors Spindle Motor Specifications Spindle motor model number Servo amplifier model. to be combined Analog/pulse input type EtherCAT interface type S1 continuous rated output P R kw S 1 min. rated output P 1 kw Max. output P p kw Base rotation speed N R min -1 Max. Rotation Speed N max min -1 S1 continuous rated torque T R N m S 1 min. rated torque T 1 N m Max. torque T p N m S1 continuous rated current I R Arms S 1 min. rated current I 1 Arms Max. current I p Arms Rotor inertia J M kg m (GD /4) Mass kg W E S3V163KLXE S3V164KWXE SS1A1M8AM SS1A1M8HM Items with indicate values after temperature rise saturation. Other items indicate values when the temperature is ºC. Also, items with indicate values when used with a standard amplifier. Above values are typical values. Speed-Output characteristics Output (kw) 1 1 Max S 1 min. rating S1 continuous rating Speed (min -1 ) S3V163KLXE (3. kw) Output (kw) Max S 1 min. rating 6 S1 continuous rating Speed (min -1 ) S3V164KWXE (4. kw) Speed-Torque characteristics 7 Torque (N m) Max. S 1 min. rating S1 continuous rating Torque (N m) 4 3 Max. S 1 min. rating S1 continuous rating Speed (min -1 ) Speed (min -1 ) S3V163KLXE (3. kw) S3V164KWXE (4. kw) 146

147 Servo Amplifier Specifications Model. SS1A1M8AM SS1A1M8HM1 Interface Analog/pulse input type EtherCAT interface type Power supply voltage Amplifier output capacity Applicable motor capacity Main circuit power supply: 3-Phase to 3 VAC +1, -1%, /6 Hz ±3 Hz Control circuit power supply: Single-phase to 3 VAC +1, -1%, /6 Hz ±3 Hz Power supply voltage should be within the specified range (17 to 3 VAC). 1 A 3., 4. kw Supported encoders Control function Control system Speed control range Frequency characteristics 496 P/R (A, B, Z phase pulse signal) Position, speed, torque, orientation controls Sinusoidal PWM control 1: (internal command) Hz Regenerative process circuit Built in (regenerative resistor mounted externally) Sequence signal Ambient temperature Standards 8 Input channels, 8 Output channels 6 Input channels, Output channels to C UL CE RoHS directives SANMOTION S 147

148 M SANMOTION S Servo Amplifiers and Spindle Motors Dimensions [Unit: mm] Servo amplifier 1 A Mass: 4.9 kg Model no.: SS1A1M8AM Analog/pulse input type Model no.: SS1A1M8HM1 EtherCAT interface type N.P. 3 N.P. (6) () (6) () Spindle motor LC± () (34) M Depth 1 M M LR±1 (IL1) Ø31 Ø31 ØLB ØS -M8 Eye bolt (KB1) (IL) LL± (KB) (KH) 33 Ø LE (16) LG (1.) Q KL±3 ØLA Exhaust 4-ØLZ Suction 4-M8 Tap for eye bolt Cooling fan To have a space of mm or wider (LD) Spindle motor model number S3V164KWXE S3V163KLXE LL KB KL KH LG LA LB LE LC LZ LR LD S Q KB1 IL1 IL Spindle motor model number S3V164KWXE S3V163KLXE

149 149 SANMOTION S

150 Models Longer Listed and Their Replacing Models & Selection Guide Models Longer Listed and Their Replacing Models Models that are no longer listed in catalogs and their replacing models are shown below. Servo amplifier Replacing models (R 3E Model) Models no longer listed Used with serial encoder in semi-closed systems Type Model no. Model no. RS1A1AA RS3A1AAL/RS3AAAL * Some models that are no longer listed use the same hardware depending on the motor encoder and external encoder that are used together, however, the product model numbers of the replacing models vary with the motor encoder and external encoder that are used together. SANMOTION R V Analog/Pulse Input type SANMOTION R 1 V Analog/Pulse Input type SANMOTION R ADVANCED MODEL V Analog/Pulse Input type SANMOTION R ADVANCED MODEL 1 V Analog/Pulse Input type RS1A3AA RS1AAA RS1L1AA RS1L3AA RS1LAA RS1A1AB RS1A3AB RS1AAB RS1L1AB RS1L3AB RS1LAB RS1N1AA RS1N3AA RS1E1AA RS1E3AA RS1N1AB RS1N3AB RS1E1AB RS1E3AB RSA1AAL RSA3AAL RSAAAL RSA1AAL RSA1AAL RSA3AAL RSA1AAA RSA3AAA RSAAAA RSA1AAA RSA1AAA RSA1ABL RSA3ABL RSAABL RSA1ABL RSA1ABL RSA3ABL RSA1ABA RSA3ABA RSAABA RSA1ABA RSA1ABA RSE1AAL RSE3AAL RSE1AAA RSE3AAA RSE1ABL RSE3ABL RSE1ABA RSE3ABA RS3AAAL/RS3A3AAL RS3AAAA RS3A1AAA/RS3AAAA RS3AAAA/RS3A3AAA RS3AAAL RS3A1ABL/RS3AABL RS3AABL/RS3A3ABL RS3AABA RS3A1ABA/RS3AABA RS3AABA/RS3A3ABA RS3AABL RS3E1AAA/RS3EAAA RS3E3AAA RS3E1AAL/RS3EAAL RS3E3AAL RS3E1ABA/RS3EABA RS3E3ABA RS3E1ABL/RS3EABL RS3E3ABL RS3A1AAL/RS3AAAL RS3AAAL/RS3A3AAL RS3AAAL RS3A1AAL RS3A1AAL RS3A3AAL RS3A1AAA/RS3AAAA RS3AAAA/RS3A3AAA RS3AAAA RS3A1AAA RS3A1AAA RS3A1ABL/RS3AABL RS3AABL/RS3A3ABL RS3AABL RS3A1ABL RS3A1ABL RS3A3ABL RS3A1ABA/RS3AABA RS3AABA/RS3A3ABA RS3AABA RS3A1ABA RS3A1ABA RS3E1AAL/RS3EAAL RS3E3AAL RS3E1AAA/RS3EAAA RS3E3AAA RS3E1ABL/RS3EABL RS3E3ABL RS3E1ABA/RS3EABA RS3E3ABA * For model numbers of the R 3E Model servo amplifiers (replacement of SANMOTION R servo amplifiers (model no. starts with RS1)) which use a wire-saving incremental encoder as a motor encoder or used in full-closed systems, contact us. 1

151 Servo Motor Capacity Selection (Rotary Motor) This is a method of calculating the required capacity of servo motors from the mechanical specifications. Here we have introduced the basic selection procedure focusing on a ball screw (flat) mechanism. Selection procedure 1. Creation of operation patterns Create the operation patterns.. Calculation of conversion of motor shaft moment of load inertia J L Calculate the moment of load inertia from the machine configuration. 1. Creation of operation patterns First, determine the equipment mechanism, dimensions of all parts, positioning amount, positioning time, gear ratio, etc. An operation pattern is the determined driving force plotted on the speed/time axis. Speed [min -1 ] N 3. Calculation of load torque T L for motor shaft conversion Calculate the load torque from the machine configuration. 4. Provisional selection of servo motor capacity Provisionally select a motor in which the load moment of inertia (J L ) is 1 times or less than the rotor moment of inertia (J M ) of servo motor, while the load torque (T L ) is 8% or less (T R x.8) of rated torque of motor (T R ). J L J M 1 T L T R.8. Calculation of acceleration/deceleration torque Calculate the required acceleration/deceleration torque from the operation patterns. 6. Calculation of effective torque Calculate the effective torque from the torque patterns. 7. Judgment Determine whether the acceleration and deceleration torque (T a, T b ) are 8% (T p x.8) or less than the peak stall torque (T p ) of the servo motor; and the effective torque (Trms) is 8% (T R x.8) or less than the rated torque (T R ) of the servo motor. T a T p.8 T b T p.8 Trms T R.8 If the judgment results cannot be applied in the aforementioned equation, reconsider the servo motor capacity, for example increasing the capacity. 8. Calculation of regenerative power Calculate the regenerative power and select an external regenerative resistor if necessary. N1 ta tr tc t tb ta = Acceleration time [s] tb = Deceleration time [s] tr = Constant speed-time [s] ts = Downtime [s] t = 1 cycle [s] ts Time [s]. Calculation of conversion of motor shaft moment of load inertia J L Load moment of inertia is the quantity showing inertia of a rotating object. Given below is the calculation method used in case of ball screw (flat) mechanism. Ball screw moment of inertia J 1 L1=( ) G G: Gear ratio π ρ D 4 L 3 [kg m ] ρ : Ball screw specific gravity [kg/m 3 ] [Iron: ] D: Ball screw diameter [m] L: Ball screw length [m] Work + table moment of inertia 1 J L=( ) W G G: Gear ratio W: Work + table mass [kg] P: Ball screw pitch [m] P ( ) π [kg m ] Conversion of motor shaft moment of load inertia. J L = J L1 + J L * Moments of inertia of reducer and coupling are assumed to be negligible and have therefore been omitted. Selection Guide 11

152 Selection Guide Servo Motor Capacity Selection (Rotary Motor) 1 3. Calculation of load torque T L for motor shaft conversion Load torque is the power generated from the friction of the driving part or from the gravity that is converted on the motor shaft. When activated, this torque always acts as the load. Given below is the calculation method used in the case of a ball screw (flat) mechanism. (F+μW) TL= η F: External force [kg] η: Machine efficiency μ: Coefficient of friction W: Work + table mass [kg] P: Ball screw lead [m] G: Gear ratio P [N m] π G 4. Provisional selection of servo motor capacity Provisionally select the motors that apply to the following conditions. Load moment of inertia (J L ) calculated in step is 1 times or less than the rotor moment of inertia (J M ) of servo motor J L J M 1 Load torque (T L ) calculated in step 3 is 8% or less (T R.8) of rated torque (T R ) of servo motor T L T R.8. Calculation of acceleration/deceleration torque Acceleration/deceleration torque is necessary for accelerating and decelerating the motor and load. Method of obtaining acceleration torque (T a ) T a= π( N-N1) (JL+JM) 6 ta + TL [N m] N : Servo motor rotary speed after acceleration [min -1 ] N 1 : Servo motor rotary speed before acceleration [min -1 ] J L : Conversion of motor shaft moment of load inertia [kg m ] J M : Conversion of servo motor moment of rotor inertia [kg m ] T L : Calculation of load torque for motor shaft conversion [N m] ta: Acceleration time [s] Method of obtaining deceleration torque (T b ) T b= π( N-N1) (JL+JM) 6 tb - TL [N m] N : Servo motor rotary speed before deceleration [min -1 ] N 1 : Servo motor rotary speed after deceleration [min -1 ] J L : Conversion of motor shaft moment of load inertia [kg m ] J M : Conversion of servo motor moment of rotor inertia [kg m ] T L : Calculation of load torque for motor shaft conversion [N m] tb: Deceleration time [s] 6. Calculation of effective torque Effective torque is the value per unit time obtained from root mean square of load torque / acceleration torque / deceleration torque. Trms= (Ta ta)+ (TL tr)+ (Tb tb) t [N m] 7. Judgment Our company s judgment criteria are as follows. Load torque load factor T L T R.8 (Load torque is 8% or less of rated torque) Acceleration torque load factor T a T P.8 (Acceleration torque is 8% or less of peak stall torque) T P : Peak stall torque Deceleration torque load factor T b T P.8 (Deceleration torque is 8% or less of peak torque at stall) T P : Peak stall torque Effective torque load factor Trms T R.8 (Effective torque is 8% less than rated torque) Moment of inertia ratio J L J M 1 (Load moment of inertia is 1 times or less than the rotor moment of inertia of motor) Rise in motor temperature can be suppressed by keeping a large margin in torque load factor. The moment of inertia ratio can be controlled at 1 times or more, for example, by slowly rotating the table mechanism. Testing with an actual machine is recommended. 8. Calculation of regenerative power Calculate the regenerative efficient power (PM) to determine the regenerative resistor to be used. From the calculation results, determine whether a built-in regenerative resistor can be used. Method of obtaining regenerative efficient power (PM) of horizontal drive shaft Derive the regenerative energy. 1 Tb Tb EM = Ehb = N 3 Keφ tb - 3 Rφ tb KT KT EM: Regenerative energy in case of horizontal drive shaft [J] Ehb: Regenerative energy during deceleration [J] Ke φ : Induced voltage constant [Vrms/min -1 ] (motor constant) KT: Torque constant [N m/arms] (motor constant) N: Motor rotary speed [min -1 ] R φ : Armature resistance [Ω] (motor constant) tb: Deceleration time [s] T b : Deceleration torque [N m] Derive the regenerative efficient power from regenerative energy. PM = EM t PM: Regenerative efficient power [W] EM: Regenerative energy [J] t: Cycle time [s] Selection of regenerative resistor Select a regenerative resistor that meets the following conditions. In case of servo amplifiers with a built-in regenerative resistor: Permissible regenerative power [PR] that is less than efficient regenerative power [PM] and can be used with built-in regenerative resistors In case of external regenerative resistor: Permissible regenerative power [PRO] that is less than efficient regenerative power [PM] and can be used with external regenerative resistors te that we have servo amplifier models both with and without built-in regenerative resistors for absorbing regenerative power. Select the model accordingly.

153 Selection Data for Each Mechanism Typical examples of mechanisms and items that require selection are shown below. Provide this information when placing an order. Ball screw Rack & pinion Work External force Work External force Table Rack M D P Pinion D L M External force F N W: Work + table mass W kg Ball screw diameter D m Ball screw length L m Ball screw lead P m Ball screw material specific gravity ρ kg/m 3 Coefficient of friction μ Gear ratio * G Machine efficiency η External force F N Work + rack mass W kg Pinion diameter D m Pinion thickness L m Pinion material specific gravity ρ kg/m 3 Coefficient of friction μ Gear ratio * G Machine efficiency η Belt drive Roll feed Work External force L L F D Timing belt M M D External force F N Work + belt mass W kg Pulley diameter D m Pulley width L m Pulley material specific gravity ρ kg/m 3 Pulley moment of inertia J kg m Gear ratio * G Machine efficiency η Sheet tension F N Roll diameter D m Roll width L m Roll material specific gravity ρ kg/m 3 Roll moment of inertia J kg m Gear ratio * G Machine efficiency η Rotary table Dt Dh M Table mass W kg Table diameter Dt m Table support diameter Dh m Table moment of inertia J kg m Support part coefficient of friction μ Gear ratio * G Machine efficiency η * Derivation of gear ratio (G) G Ball screw M G1 Ball screw gear teeth (G) G= Motor gear teeth (G1) Selection Guide 13

154 Safety Precautions The products in this catalog are designed to be used with general industrial devices. When using them, pay sufficient attention to the following points. Read the Instruction Manual thoroughly prior to installation, assembly and/or operation in order to use the product properly. Refrain from modifying or processing the product in any way. Contact your dealer or professionals for installation or maintenance services of the product. Regarding the following uses of the product, contact us for the special care required for operation, maintenance and management such as multiplexing the system, installing an emergency electric generator set, and so forth. ❶ Use in medical equipment that may have an effect on human life ❷ Use in equipment such as trains or elevators, that may have an effect on human life or the human body ❸ Use in computer systems that may have a major impact on society or on the public ❹ Use in other devices that have a major impact on maintaining equipment and device functions that may have an effect on human safety or public operations. In addition to the above, contact us for use in an environment where vibrations occur, such as in automobiles or while being transported. Familiarize yourself with the equipment, safety information, and precautions before using the product. Indication by (Warning Label) on the Product The following indications are expressed by Warning labels. Indications vary depending on models. This label is affixed near high voltage parts such as the electrically charged or cover-protected section, warning of the places where it is likely to cause an electric shock. This label is affixed near the GND terminals where grounding is required, recommending that the terminals should be well grounded. Safety Ranks of the Cautions The following five ranks are provided. Improper operations or use is most likely to result in serious injury or death. Improper operations or use is most likely to result in serious injury or death. Improper operations or use is likely to result in average or minor injury, or in property damage. In spite of the cautions with the label, it may cause serious results. Either the contents or the labels is describing important cautions to be followed inevitably. Indicates what must not be done. Indicates what must be done. 14 Precautions on Use 1. Do not use the product in an explosive atmosphere. Doing so may cause injury or fire.. Do not work on wiring, maintenance servicing or inspection with the electric power on. Always turn the power off and wait for 1 minutes or more. Confirm that the main circuit power supply charging LED is off before starting the work. Failure to do so may result in an electric shock or damage. 3. The protective ground terminal of the servo amplifier must be grounded to the device or control panel. The servo motor ground terminal must be connected to the protective ground terminal of the servo amplifier. Failure to do so may result in an electric shock. 4. Never touch the internal parts of the servo amplifier. Doing so may cause an electric shock.. Do not damage, apply excessive stress, or place a heavy object on the cable or get it caught between objects. Doing so may cause an electric shock. 6. Never touch the rotating part of the servo motor during its operation. Doing so may cause injury. Precautions on Use 1. Use the servo amplifier and servo motor in the designated combination. Failure to do so may result in a fire or failure.. Have a person with specialized knowledge perform transporting, installation, wiring, operation, maintenance or inspection of the product. Failure to do so may result in an electric shock, injury or fire. 3. Do not install the product in a damp environment, explosive, flammable or corrosive atmosphere, or near a combustible material. Doing so may cause a fire or failure.

155 4. Do not touch the servo amplifier, servo motor or peripheral devices as the temperature becomes very high. Doing so may cause burns.. Do not touch the product while the power is on or for a while after the power is turned off since the servo amplifier radiator fins, regenerative resistor, and servo motor are very hot. Doing so may cause burns. 6. Have a person with specialized knowledge of relevant safety standards read and understand the information listed in the included Instruction Manual before designing the safety system that uses the Safe Torque Off function. Failure to do so may result in injury or failure. 7. Prior to installation, operation, maintenance servicing or inspection, be sure to read the Instruction Manual and follow the instructions to perform. Failure to do so may result in an electric shock, injury or fire. 8. Use the servo amplifier and servo motor within the specified ranges. Failure to do so may result in an electric shock, injury, or damage. 9. Element wires of the regenerative resistor have an allowed instantaneous capacity. Consult us if the moment of inertia is large or rotational speed is high and the instantaneous regenerative current is large. Transportation 1. Do not carry the product by holding the cable, motor spindle, or detector section. Doing so may cause a failure or injury. 11. Be careful when carrying the product to prevent it from falling or overturning. Failure to do so may result in injury. Placement 1. Do not climb on or place a heavy object on the product. Doing so may cause injury. 13. Ensure that the product is installed in the correct direction. Failure to do so may result in a fire or failure. 14. Do not drop or expose the product to excessive shock. Doing so may cause a failure. 1. Ensure that the intake and exhaust ports are not blocked and take measures to prevent foreign matter from entering. Failure to do so may result in a fire. 16. Place the servo amplifier in the control panel keeping a distance from other devices as instructed in the Instruction Manual. Failure to do so may result in a fire or failure. 17. Ensure that the bottom and top of the box are facing correctly while unpacking. Failure to do so may result in injury. 18. Confirm that the product is what you ordered. Failure to do so may result in injury or damage. 19. Be careful when installing the product in order to prevent it from falling or overturning. Use eye bolts for servo motors that come with them. Failure to do so may result in injury.. Mount the product on an incombustible material such as metal. Failure to do so may result in a fire. 1. Setup devices such as a collision safety device so that it sufficiently withstands the maximum output of the system. Failure to do so may result in injury. Wiring. Ensure that wiring has been correctly done. Failure to do so may result in injury. 3. Perform wiring as instructed in the wiring diagram or the Instruction Manual. Failure to do so may result in an electric shock or fire. 4. Perform wiring conforming to the electrical Installation standards or the internal rule. Failure to do so may result in burnout or fire.. Do not connect commercial power supplies to U, V, W terminals of the servo motor. Doing so may cause a fire or failure. 6. Install safety devices such as a breaker to prepare for a short circuit of external wiring. Failure to do so may result in a fire. 7. Do not bind the servo motor power cable and I/O signal cable or encoder cable together or pass them through the same duct. Doing so may cause a malfunction. 8. When connecting an inductive load such as a relay to the control output signal of the servo amplifier, always connect a diode for surge absorption. Make sure that the diode is connected in the correct polarity direction. Failure to do so may result in a failure of the servo amplifier. 9. Do not connect 9 VDC or AC power to the servo motor 4 VDC brake. Also, do not connect 4 VAC to the servo motor VAC cooling fan. Doing so may cause burnout or fire. 3. Braking delay time becomes longer due to the surge absorption element for the servo motor holding brake relay. Use a sequence that takes the holding delay time into consideration. Failure to do so may result in fall or injury. Operations 31. Do not make drastic changes or adjustments as they may result in unstable operation. Doing so may cause injury. 3. When performing a trial operation, fasten the servo motor and disconnect it from the mechanical system. Check the operation, then connect it to the machine. Failure to do so may result in injury. 33. The holding brake is not a stopping device to ensure machine safety. Install a stopping device on the machine to ensure machine safety. Failure to do so may result in injury. 34. When an alarm has been activated, eliminate the cause, ensure safety, and reset the alarm before resuming operations. Failure to do so may result in injury. 3. Ensure that the input power supply voltage is within the specified range. Failure to do so may result in a failure. 36. When the electric power recovers after a momentary interruption, do not approach the devices because the system may restart operation by itself. (Design the system ensuring safety in case it restarts on such occasions. ) Doing so may cause injury. 37. Do not use servo amplifiers and servo motors that have had a failure, damage, or burnout. Doing so may cause injury or fire. 38. Stop operations immediately when an emergency occurs. Failure to do so may result in an electric shock, injury or fire. 39. When using the servo motor with a vertical axis, install a safety device to prevent the workpiece from falling when an alarm is activated. Failure to do so may result in injury or damage. Maintenance and Inspection 4. Parts that are used in servo amplifiers (electrolytic condenser, cooling fan, lithium batteries for the encoder, fuse, relay, etc.) deteriorate over time. As preventive maintenance, replace with new ones according to the standard replacement intervals. Contact us for details. Failure to do so may result in a failure. 41. Never touch the terminals or connectors while the power is on. Doing so may cause an electric shock. 4. Servo amplifier frames become very hot. Be careful when performing maintenance or inspection. Failure to do so may result in burns. 43. Contact us for repairs. If the product is disassembled by the user, it may become inoperable. Doing so may cause a failure. Storage 1. Avoid storing this product in places exposed to rain or water drops, or in an environment with hazardous gas or liquid. Failure to do so may result in a failure. Operations. Do not use the brake built into the servo motor for normal braking operation as it is a holding brake. Using this brake for braking damages the brake. Doing so may cause a failure. 3. Do not apply static electricity or high voltage to the encoder cable for the servo motor. Doing so may cause a failure. 4. With a servo amplifier that has a standard dynamic brake resistor, never continuously rotate the servo motor externally when the servo is off. Doing so causes the dynamic brake resistor to generate heat, which is very dangerous. Doing so may cause a fire or burns.. Applying excessive voltage that exceeds the input voltage range may cause a part failure. Never use the product with the voltage exceeding the specified range. Doing so may cause a failure or injury. 6. Do not turn on and off the power frequently. Turning on and off the power exceeding 3 times/day, times/hour may cause premature failures of internal parts. Maintenance and Inspection 7. Do not disassemble or repair the product. Doing so may cause fire or an electric shock. 8. Do not measure the insulation resistance or dielectric voltage of the product. Doing so may cause damage. 9. Never plug in or unplug a connector with the poweron (hot swapping) as electronic components may be damaged due to the generated surge voltage. Doing so may cause an electric shock or damage. 1. Do not remove the nameplate. 1

156 Storage 1. Avoid direct sunlight and store the product within the specified ambient temperature and humidity range - C to +6 C, 9% RH or less (non-condensing). Failure to do so may cause a failure.. If the servo amplifier has been stored for a long period (3 years or longer as a general guide), contact us. The capacitance may have decreased with the electrolytic condenser due to the long period storage, which may cause a failure. 3. If the servo motor has been stored for a long period (3 years or longer as a general guide), contact us. Bearings and brakes must be checked. Transportation 4. Excess loading of products on the carrier may cause the load to collapse. Follow the instructions given on the outside of the package. Failure to do so may result in injury.. Use eye bolts that come with servo motors to transport servo motors. Do not use them to transport devices. Doing so may cause injury or failure. Wiring 6. Install an external emergency stop circuit to turn the power off in the event that operation must be instantly halted. Also, build a safety circuit outside of the servo amplifier so that the main circuit power supply is turned off when an alarm is activated. Failure to do so may result in uncontrollable operation, injury, fire, or secondary damage. Operations 7. Install an external emergency stop circuit to turn the power off in the event that operation must be instantly halted. Also, build a safety circuit outside of the servo amplifier so that the main circuit power supply is turned off when an alarm is activated. Failure to do so may result in uncontrollable operation, injury, fire, or secondary damage. 8. Servo motors are not equipped with any protective devices. Take protective measures using an over-current protective relay, a ground fault interrupter, a protective device from excess temperature, and an emergency stopping device. Failure to do so may result in injury or fire. 9. Operate this product within the specified ambient temperature and humidity range. Servo amplifier (temperature C to C/Humidity 9%RH or less (non-condensing) ) Servo motor (temperature C to 4 C/Humidity 9%RH or less (non-condensing) ) Failure to do so may result in a failure. Retirement 1. When disposing of a servo amplifier or servo motor, handle it as general industrial waste. Guideline for Suppressing Harmonics Harmonic current generated from devices such as a servo amplifier may affect other customers if emitted. Therefore, Guideline for Suppressing Harmonics by Customers Receiving High Voltage or Special High Voltage is established by the Ministry of International Trade and Industry (currently Ministry of Economy). Servo amplifiers used by specific customers are the target devices (harmonics generator) of this guideline. Consumers to whom the guideline is applied must determine if harmonic suppression measures are necessary based on the guideline and take measures for keeping harmonic emission within the limit specified by the contracted power. Even for consumers to whom the guideline is not applied, it is recommended to take harmonic suppression measures in order to avoid troubles due to the harmonics. Our servo amplifiers fall under the circuit type in the table 1 shown in the Guideline for Suppressing Harmonics. Refer to the following materials for information on how to calculate harmonic current. Harmonic current calculation method for specific customers (JEM-TR) General Incorporated Association The Japan Electrical Manufacturers Association (JEMA) For servo amplifiers that have DC type input power supply, determine if harmonic suppression measures are necessary on the converter (AC-DC converter) side. When harmonic suppression measures are necessary for the servo amplifier, connect a harmonic suppression reactor. For harmonic suppression reactors, contact us for details. Commercial power supply AC reactor Servo amplifier Servo motor M 16 Table 1 Servo amplifier model no. Power supply Circuit classification Circuit type Conversion factor Ki RS3 1 RS3 RS3 3 RS3 RS3A1 RS3A1 RS3A3 RS3PAA7 (Power supply unit for RS3W6 ) Reference materials 3-Phase 3 3-Phase bridge (Condenser smooth) Single-phase 4 Single-phase bridge (Condenser smooth, full-wave rectification) 3-Phase 3 3-Phase bridge (Condenser smooth) pulse converter without reactor K31= pulse converter with reactor (AC side) K3= Without reactor K43= With reactor (AC side) K44= pulse converter without reactor K31= pulse converter with reactor (AC side) K3=1.8 Guideline for Suppressing Harmonics by Customers Receiving High Voltage or Special High Voltage (September, 1994) Ministry of International Trade and Industry (currently Ministry of Economy) Guideline for Suppressing Harmonics (JEAG 97-13) General Incorporated Association The Japan Electric Association Guideline for Suppressing Servo Amplifier Harmonics (February, 1) General Incorporated Association The Japan Electrical Manufacturers Association (JEMA) Harmonic current calculation method for specific customers (JEM-TR) General Incorporated Association The Japan Electrical Manufacturers Association (JEMA) Guideline for Suppressing Servo Amplifier (input current A or less) Harmonics (JEM-TR7) General Incorporated Association The Japan Electrical Manufacturers Association (JEMA)

157 SANMOTION Products Lineup Motion controller MOTION CONTROLLER GA16 SERCOS CApen Reduction of wires by networking with the serial I/F. Motion control, robot control, and sequence control EtherCAT GA16 SERCOS CApen EtherCAT interface type as standard feature Motion control, robot control, and sequence control AC servo system AC SERVO SYSTEMS Safety function mounted Analog/Pulse Input voltage: 1, VAC Motor flange size: 4 to 7 mm Output capacity: 3 W to 3 kw AC SERVO SYSTEMS Safety function mounted EtherCAT Input voltage: 1, VAC Motor flange size: 4 to mm Output capacity: 3 W to 1 kw AC SERVO SYSTEMS Single axis Built-in positioning function CApen Multi-axis Pulse Input voltage: 1, VAC Motor flange size: 4 to mm Output capacity: 3 W to 1 kw 17

158 SANMOTION Products Lineup AC servo system AC SERVO SYSTEMS Single axis Pulse EtherCAT Multi-axis EtherCAT Input voltage: 48 VDC Motor flange: to 6 mm Output capacity: to W Compact AC servo motor Motor flange size: 14 mm Output capacity:.4 W AC SERVO SYSTEMS Analog/Pulse CApen Input voltage: 4 VAC Motor flange size: 86 to mm Output capacity: W to kw AC spindle motor, AC servo amplifier AC SERVO SYSTEMS Analog/Pulse EtherCAT Input voltage: VAC Motor flange size: 16 mm Output capacity: 3., 4. kw DC servo system DC SERVO SYSTEMS Analog/Pulse Input voltage:, 14 VDC Motor size: φ 41 to φ 87. mm Rated output: 3 to W 18

159 Closed-loop stepping system CLOSEDLOOP STEPPING SYSTEMS Pulse RS-48 Parallel I/O Driver: AC input/dc input, single axis/multi axes Motor size: 8 to 86 mm With gear and brake EtherCAT -Phase stepping system -PHASE STEPPING SYSTEMS Micro step Driver: AC input/dc input Motor size: 8 to 86 mm Pulse With gear and brake Linear drive stepping motor Motor size: 4, 6 mm With brake, without brake -Phase stepping system -PHASE STEPPING SYSTEMS Micro step Driver: AC input/dc input Motor size: 14 to 86 mm, φ 8 to 16 mm Pulse With gear and brake Driver-integrated stepping motor Driver: 4 VDC Pulse Motor size: 4, 6 mm RS-48 I/O 3-Phase stepping motor Protection code IP6 stepping motor Motor size: 6, 86 mm 3-PHASE STEPPING MOTOR Motor size: 4 to 6 mm Linear servo system LINEAR SERVO SYSTEMS Linear servo motor Flat type with core, Dual magnet type with core Compact cylinder 19