Servo System Products

Transcription

1 Servo System Products

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3 Table of Contents Product Overview /200V Single-phase Servo System I2TMH Servo System I2TMPH Servo System I2TMPH Gearmotor System I2TDH Servo mplifier V Three-phase Servo System I2TMGH Servo System I2TMGH Gearmotor System I2TMSH Servo System I2TDH Servo mplifier V Three-phase Servo System I2TMGH Servo System I2TMSH/UH Servo System I2TDH Servo mplifier

4 Product Overview Integrated Industrial Technologies, Inc. provides a full lineup of servomotors and amplifiers. Choose the best drives for your needs and specifications. Servomotor Series Description pplications Small-capacity Medium-capacity I2TMH (3000/5000rpm maximum) I2TMPH (3000/5000rpm maximum) I2TMGH (1500/3000rpm maximum) I2TMSH (3000/5000rpm maximum) I2TMUH (6000rpm maximum) High Speed Series Large torque required at low inertia. Flat Series Short L-length. Good for installation in compact spaces. General Purpose High speed rotation required without load. High Speed Series High torque required at low inertia. High Speed Series High torque at 6000rpm. Chip Mounters Chip Mounters PCB Drilling Machines PCB Drilling Machines Packaging Machines Robots Material Handling Equipment Machine Tool Feeds 4

5 Product Overview Single-phase 110V 230V Three-phase 480V Servomotor Peak Torque up to 1,010oz in up to 2,027oz in up to 1,988in lb up to 422in lb up to 190in lb Capacity Servo mplifier Type I2TDH-*** 110V 230V 480V Single-phase Single-phase Three-phase Three-phase 30W 3BE 3E 50W 5BE 5E 100W 01BE 01E 200W 02BE 02E 400W 04E 750W 08E-S 100W 01BE 01E 200W 02BE 02E 400W 04E 750W 08E-S 08E 1500W 15E-S 15E 0.45kW 05E 05DE 0.85kW 10E 10DE 1.3kW 15E 15DE 1.8kW 20E 20DE 2.9kW 30E 30DE 4.4kW 50E 50DE 5.5kW 60E 60DE 7.5kW 75E 75DE 11kW 1E 1DE 15kW 1EE 1EDE 1.0kW 10E 10DE 1.5kW 15E 15DE 2.0kW 20E 20DE 3.0kW 30E 30DE 4.0kW 50E 50DE 5.0kW 50E 50DE 1.0kW 10DE 3.0kW 30DE Page 11, 93 25, 93 53, 93, 123, , 93, 135, , 149 5

6 Product Overview Single-phase 30W to 1500W (230V ac ) Molded-case Circuit Breaker (MCCB) Protects the power line by shutting the circuit OFF when overcurrent is detected SERVOPCK LRM Digital Operator (Type JUSP-OP02-1) Personal Computer Cable for connecting to servo amplifier required.. Noise Filter (optional) Used to eliminate external noise from the power line. Host Controller Connect the I2TDH servo amplifier to a I2T host controller or one made by other vendors. (nalog input, pulse train input available) Magnetic Contactor Turns the servo ON and OFF. Install a surge suppressor on the magnetic contactor. Holding Brake Power Supply (customer supplied) Used only for I2TM* servomotor with a holding brake. I2TDH Servo mplifier Type I2TDH-3E to -15E-S I2TMPH Servomotor 6

7 Product Overview Three-phase 0.5kW to 15kW (230V ac ) Molded-case Circuit Breaker (MCCB) Protects the power line by shutting the circuit OFF when overcurrent is detected. Noise Filter (optional) Used to eliminate external noise from the power line SERVOPCK LRM Digital Operator (Type JUSP-OP02-1) Personal Computer Cable for connecting to amplifier required.. Magnetic Contactor Host Controller Connect the I2TDH servo amplifier to a I2T host controller or one made by other vendors. (nalog input, pulse train input available) Turns the servo ON and OFF. Install a surge suppressor on the magnetic contactor. Holding Brake Power Supply (customer supplied) Used for I2TM* servomotor with a brake I2TDH Servo mplifier Type I2TDH-05E to -1EE I2TMSH Servomotor 7

8 Product Overview Three-phase 0.5kW to 15kW (480V ac ) Molded-case Circuit Breaker (MCCB) Protects the power line by shutting the circuit OFF when overcurrent is detected. Molded-case Circuit Breaker Noise Filter (optional) Used to eliminate external noise from the power line. Noise Filter Power Supply Three-phase, 480V ac SERVOPCK LRM Digital Operator (Type JUSP-OP02-1) Personal Computer Cable for connecting to amplifier required.. Magnetic Contactor Host Controller Connect the I2TDH servo amplifier to a I2T host controller or one made by other vendors. (nalog input, pulse train input available) Turns the servo ON and OFF. Install a surge suppressor on the magnetic contactor. Magnetic Contactor MP920 Control Power Supply 24V 0V I2TDH Servo mplifier Type I2TDH-05DE to -1EDE I2TMGH Servomotor 8

9 Selecting Your I2T Servo System Product Overview For your convenience, each motor series in this selection guide includes a diagram to help you select and identify the components necessary for your system. Each item is letter-coded and cross-referenced in the option tables on the following pages. Digital Operator (E) 3CN Peripheral Signal Cable (E) 1CN I/O Signal Connector (D) I2TDH Servo mplifier (B) Connector Encoder Signal (D) 2CN Encoder side Connector (D) Encoder Cable (C) Motor Cable (C) Motor side Connector (D) Regenerative Unit (E) 1. First, select the I2T servomotor suited for your application usingthe I2T Servomotor Data Sheets. Using the tab indicators in this guide, locate the section describ-ing the type of servomotor you selected. 2. Then select a compatible amplifier using the I2T Servo mplifier Selection Table in the appropriate servomotor section of this guide. 3. I2T offers pre-wired power and encoder cables with correctly matched, high quality connectors attached to permit correct interconnection. Refer to the Pre-wired Cable Selection Table to select the correct cable assembly from the list of standard cable lengths. 4. Solder-type connectors without cables are also available. Refer to the appropriate Servomotor Connector Selection Table to select the connector kit to be used with the selected servomotor or encoder (with or without brake). 5. Refer to the Peripheral Device Selection Table to select peripheral equipment to be used with the servo amplifier (i.e., digital operator, regenerative unit, software, etc.). 6. Specify technical product manual I2T-SI-S on your I2T Servo System purchase order. One manual is available at no charge with each purchase order. Each table includes a column labeled Item Class, which classifies the availability of the specified option. Following are descriptions of the codes used: Stock: Limited Stock: Normally 3 to 5 days lead time for most order quantities. 3 to 5 weeks maximum if temporary outages occur. For critical lead times or requirements for larger quantity shipments, check with your I2T inside sales representative. Typically, small quantities are available from stock. These items will likely change to stock items as the order demand increases. For critical lead times or requirements for larger quantity shipments, check with your I2T inside sales representative. Non-Stock: Normal delivery: 12 to 16 weeks. 9

10 Product Overview NOTES: 10

11 100/200V Single-phase Servo Systems Super High Power Rate Series I2TMH Servomotors - With Incremental / bsolute Encoder Rated Output: 30W, 50W, 100W, 200W, 400W, 750W I2TMH Servomotors For dditional Information I2TMH Ratings & Specifications I2TMH Speed/Torque Curves I2TMH Dimensions I2TMH Selection/Ordering Information I2TDH Ratings & Specifications I2TDH Dimensions Page(s) Design Features 1. Compact! Small sized motor Six frame sizes: up to 1,010oz in peak torque Smaller installation space for more compact machine designs. 2. High Speed! High power rating High power is achieved by minimizing the inertia of the motor This increases the acceleration/deceleration rate and reduces positioning time! Maximum rotation speed of 5,000rpm Increases maximum rotation speed and shortens positioning time! Rated speed of 3,000rpm 3. Encoders (reduced wiring serial encoder)! 13-bit (2,048 x 4) incremental encoder standard! 16-bit (16,384) absolute encoder (option) 4. Enclosure! Totally enclosed, self-cooled IP55 (not including shaft)! Optional shaft seals are available. 5. pplication Emphasis! Compact, high torque to inertia ratio! Chip mounters! PCB drilling machines! Robots! Conveyors! Packaging 6. Low Noise! dopting the IGBT power element eliminates irritating metallic sounds 7. Certified International Standards! UL, cul recognized (File #: E165827), CE compliance 11

12 00/200V Single-phase Servo Systems I2TMH Servomotors Servomotor Ratings and Specifications Time Rating: Continuous Insulation: Class B Vibration: 15µm or less Withstand Voltage: 1500V ac Insulation Resistance: 10MΩ minimum at 500V DC Enclosure: Totally-enclosed, self-cooled mbient Temperature: 0 to 40ºC mbient Humidity: 20 to 80% (non-condensing) Rated Rotation Speed: 3000rpm Maximum Rotation Speed: 5000rpm Specifications are the same for either absolute or incremental encoders. Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted pplicable Encoder: 13-bit incremental or 16-bit absolute encoder System Voltage 100V ac 200V ac MOTOR I2TMH- Rated Output Rated Torque Instantaneous Peak Torque Continuous Rated Current Maximum Peak Current Rated ngular cceleration Rated Power Rate* W (hp) oz in N m oz in N m rms rms rad/s 2 kw/s 3" 30 (0.04) " 50 (0.07) " 100 (0.13) " 200 (0.27) " 30 (0.04) " 50 (0.07) " 100 (0.13) " 200 (0.27) " 400 (0.53) " 750 (1.01) * Values when the servomotor is combined with an I2TDH servo amplifier. System Voltage MOTORS I2TMH- Motor without Brake Moment of Inertia Motor with Brake Capacity Holding Brake (at 20 C) Torque Coil Resistance Rated Current llowable Load Inertia oz in s kg f m oz in s kg f m W N m Ω kg f m # V ac 5# # # V ac 3# # # # # # * Values apply to motors without brake. J L (allowable load inertia) shows the range requiring no exterior regenerative unit. When these values are exceeded, application may be restricted or a regenerative unit may be required. 12

13 100/200V Single-phase Servo Systems Speed / Torque Curves 200V I2TMH-3O I2TMH-5O I2TMH-04O SPEED (rpm) B SPEED (rpm) B SPEED (rpm) B I2TMH Servomotors TORQUE (N m) TORQUE (N m) TORQUE (N m) TORQUE (oz in) TORQUE (oz in) TORQUE (oz in) SPEED (rpm) I2TMH-02O I2TMH-04O I2TMH08O B SPEED (rpm) B SPEED (rpm) B 100V TORQUE (N m) TORQUE (N m) TORQUE (N m) TORQUE (oz in) TORQUE (oz in) TORQUE (oz in) I2TMH-3O I2TMH-5O I2TMH-01O SPEED (rpm) B SPEED (rpm) B SPEED (rpm) B TORQUE (N m) TORQUE (oz in) I2TMH-02O TORQUE (N m) TORQUE (oz in) TORQUE (N m) TORQUE (oz in) 4000 SPEED (rpm) B TORQUE (N m) TORQUE (oz in) 13

14 00/200V Single-phase Servo Systems I2TMH Servomotors Dimensions in inches (mm) (1) 13-Bit Incremental or 16-Bit bsolute Encoder, without Brake 30W (0.04hp), 50W (0.07hp), 100W (0.13hp) ENCODER CBLE, Φ0.24 (Φ6) UL (300) ±1.18 (30) MOTOR CBLE, Φ0.28 (Φ7) UL1818 or UL (35) Encoder plug Motor Plug W U (300) ±1.18 (30) (0.04) T Cross-section Y-Y L Φ (Φ0.04) 0.37 (9.5) 0.87 (22) LL LM 0.79 (20) (2.5) 0.60 (15.2) 0.20 (5) 0.98 (25) 0.30 (7.5) QK ΦS* Φ0.315 (F8) 0.43 (11) 1.57 (40) 0.85 (21.5) 0.16 (4) Y Y ΦLB** 2-Φ0.17 (4.3) 1.57 (40) Φ1.81 (Φ46) Serial encoder (0.002) Type I2TMH- QK U W T L LL LM ΦS* ΦLB** 3##F2# Without Keyway ##F4# 0.55 (14) (1.2) (2) (2) (94.5) 5##F2# Without Keyway ##F4# 0.55 (14) (1.2) (2) (2) (102) 01##F2# Without Keyway ##F4# 0.55 (14) 0.07 (1.8) 0.12 (3) 0.12 (3) (119.5) 2.74 (69.5) 3.03 (77) 3.72 (94.5) 1.44 (36.5) 1.73 (44) 2.42 (61.5) Some motor dimensions vary for motors with the optional shaft seal: see p. 18 for details (6) 0.31 (8) 1.18 (30) Output W (hp) 30 (0.04) 50 (0.07) 100 (0.13) pproximate Mass lb (kg) 0.66 (0.3) 0.88 (0.4) 1.10 (0.5) llowable Radial Load lb (N) 15 (68) 17 (78) llowable Thrust Load lb (N) 12 (54) Connector Specifications Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Encoder Plug Encoder Connection Pin Output Wire Color 1 PG 5V Red 2 PG 0V Black 3 Battery + Orange 4 Battery White/Orange 5 Data + Light Blue 6 Data - White/Light Blue Note: Pins Number 3 and 4 are connectors used for 16-bit absolute encoder option only. Plug: (Molex) Mating connector: Socket: Motor Plug 1 $ % 4 Motor Connection Pin Output Wire Color 2 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG (Frame Ground) Green/Yellow Plug (MP) Pin: or (Nos. 1 to 3) Ground pin: (No 4) Mating connector: Cap: Socket: or

15 100/200V Single-phase Servo Systems 200W (0.27hp), 400W (0.53hp), 750W (1.01hp) Encoder cable, Φ0.24 (Φ6) UL (300) ±1.18 (30) Encoder plug Motor cable UL1818, UL3534 or UL (35) Motor plug W U T Cross-section Y-Y I2TMH Servomotors (300) ±1.18 (30) (0.04) (0.04) 1.04 (26.5) 0.37(9.5) 0.51 (13) 0.79 (20) L LL LM LG LR 0.12 (3) QK Y ΦS * 0.43 (11) LC (21.5) 0.85 ΦL Y ΦLB** LC Serial encoder (0.02) 4-ΦLZ Type I2TMH- 02#F4# 4.98 (126.5) 04#F4# (154.5) #F4# (185) 7.28 L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** QK U W T 3.8 (96.5) 4.9 (124.5) 5.71 (145) 2.46 (62.5) (30) (90.5) (111) (40) 0.24 (6) 0.31 (8) 2.36 (60) 3.15 (80) 2.76 (70) 3.54 (90) 0.22 (5.5) 0.28 (7) 0.55 (14) 0.63 (16) 1.97 (50) 2.76 (70) 0.79 (20) 1.18 (30) 0.12 (3) 0.12 (3) 0.2 (5) 0.2 (5) 0.2 (5) 0.2 (5) Output W (hp) 200 (0.27) 400 (0.53) 750 (1.01) pproximate Mass lb (kg) 2.43 (1.1) 3.75 (1.7) 7.5 (3.4) llowable Radial Load lb (N) llowable Thrust Load lb (N) 55 (245) 17 (74) 88 (392) 33 (147) *Please see the following table for dimension tolerances. Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm

16 00/200V Single-phase Servo Systems I2TMH Servomotors (2) 13-Bit Incremental or 16-Bit bsolute Encoder, with Brake 30W (0.04hp), 50W (0.07hp), 100W (0.13hp) Encoder cable, Φ0.24 (Φ6) UL (300) ±1.18 (30) Motor cable Φ0.28 (Φ7) UL1828 or UL (35) (300) ±1.18 (30) Encoder plug Motor plug (0.04) W U T Cross-section Y - Y 0.37(9.5) 0.87 (22) 0.79 (20) 0.60 (15.2) L LL LM 0.20 (5) 0.98 (25) (2.5) 0.30 (25) QK Φ0.315 (Φ8) Φ (Φ0.04) 1.57 (40) 0.85 (21.5) 0.43 (11) 0.16 (4) Y Y ΦS* ΦLB** 2 Φ0.17 (Φ4.3) 1.57 (40) Φ1.81 (Φ46) Serial encoder Holding brake (de-energized operation) DC Power supply = 24V Brake holding torque = Motor rated torque (0.02) Type I2TMH- U W T L LL LM ΦS* ΦLB** QK 3##F2C ##F4C 5##F2C (1.2) (2) (126) ##F4C (133.5) 01##F2C ##F4C (1.8) (3) (3) (160) 3.98 (101) 4.27 (108.5) 5.31 (135) 1.44 (36.5) (44.0) 2.42 (61.5) (6) 1.18 (30) 0.31 (8) 0.55 (14) 0.55 (14) Output W (hp) 30 (0.04) 50 (0.07) 100 (0.13) pproximate Mass lb (kg) llowable Radial Load lb (N) 1.32 (0.6) (0.7) 1.76 (0.8) llowable Thrust Load lb (N) (68) 12 (54) 18 (78) Connector Specifications: Motor Plug $ 3 5 ' & 1 Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Motor Connection 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG (Frame Ground) Green/Yellow 5 Brake Terminal Red 6 Brake Terminal Black Plug: (MP) Pin: or (except No. 4) Ground pin: : (No. 4) Mating connector: Cap: Socket: or Encoder Plug Encoder Connection 1 PG 5V Red 2 PG 0V Black 3 Battery + Orange 4 Battery White/Orange 5 Data + Light Blue 6 Data - White/Light Blue Note: Pins number 3 and 4 are connectors used for 16-bit absolute encoder option only. Plug: (Molex) Mating connector: Socket:

17 100/200V Single-phase Servo Systems 200W (0.27hp), 300W (0.40hp), 400W (0.53hp), 750W (1.01hp) Encoder cable, Φ0.24 (Φ6) UL (26.5) (300) ±1.18 (30) Motor cable Φ0.28 (Φ7) UL1828 or UL (35) 0.51 (13) 0.37 (9.5) 0.79 (20) (300) ±1.18 (30) L LL LM LR 0.12 (3) LG QK Encoder plug Motor Plug (0.04) Φ (Φ0.04) W T Cross-Section Y-Y LC U 0.85 (21.5) 0.43 (11) ΦL I2TMH Servomotors Y Y ΦLB** ΦS* LC (0.02) Holding brake (de-energized operation) DC Power supply = 24V Brake holding torque = Motor rated torque 4-ΦLZ Serial encoder Type I2TMH- 02#F4C 04#F4C 08#F4C U W T L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** QK 0.12 (3) 0.2 (5) 6.54 (166) 5.35 (136) (194) (164) (229.5) (189.5) 2.46 (62.5) (30) (90.5) (111) (40) 0.24 (6) 0.31 (8) 2.36 (60) 3.15 (80) 2.76 (70) 3.54 (90) 0.22 (5.5) 0.28 (7) 0.55 (14) 0.64 (16) 1.97 (50) 2.76 (70) 0.79 (20) 1.18 (30) Output W (hp) 200 (0.27) 400 (0.53) 750 (1.01) pproximate Mass lb (kg) llowable Radial Load lb (N) 3.53 (1.6) (245) (2.2) (4.3) (392) llowable Thrust Load lb (N) 17 (74) 33 (147) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm

18 00/200V Single-phase Servo Systems Dimension Modifications for Motors with Optional Shaft Seal I2TMH Servomotors 30W (0.04hp), 50W (0.07hp), 100W (0.13hp) LE LR LD QK ΦS ΦLP ΦLB Shaft seal Type I2TMH- QK ΦLB* ΦS* LE LR LD ΦLP (14) 1.18 (30) (6) 0.10 (2.5) 0.98 (25) 0.30 (7.5) 1.14 (28) *Tolerances for diameters LB and S are the same as those for motors without shaft seals. 18

19 100/200V Single-phase Servo Systems 200W (0.27hp), 400W (0.53hp), 750W (1.01hp) LR LE LD I2TMH Servomotors QK ΦS ΦLP ΦLB Shaft seal Type I2TMH- QK ΦLB* ΦS* LE LR LD ΦLP (14) 1.97 (50) 0.55 (14) 1.18 (30) 0.39 (10) 1.89 (48) (3) (25) 2.76 (70) 0.63 (16) 1.57 (40) 0.43 (11) 2.60 (66) *Tolerances for diameters LB and S are the same as those for motors without shaft seals. Torque Reduction Factor for I2TMH motors equipped with a shaft seal: Servo Motor Model Torque Reduction Factor 70% 80% 90% 90% 95% 95% For example: The I2TMH-3 continuous and peak torque rating should be reduced to 70% of the listed catalog specification. To specify a motor with a shaft seal, refer to the motor part number explanation on the following page. 19

20 00/200V Single-phase Servo Systems Selecting Your I2TMH Servo System I2TMH Servomotors Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages. System Configuration Digital Operator (E) 3CN Peripheral Signal Cable (E) 1CN I/O Signal Connector (D) I2TDH Servo mplifier (B) Regenerative Unit (E) Connector Encoder (D) 2CN 5CN For Monitor (D) Encoder side Connector (D) Encoder Cable (C) Motor Cable (C) Optional Holding Brake I2TMH Servomotor () Motor side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase order: Series Servo System User s Manual: I2T-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). Model Number Designation Servomotor Type Rated Output 3: 30W (0.04hp) 5: 50W (0.07hp) 01: 100W (0.13hp) 02: 200W (0.25hp) 04: 400W (0.5hp) 08: 750W (1hp) Power Supply : 200V B: 100V I2TMH - 01 F 4 1 ccessories 1: Standard C: Standard with 24V DC Brake S: Standard with Shaft Seal E: Standard with Brake & Shaft Seal Shaft Specifications 4: Straight Shaft with Keyway 2: Straight Shaft without Keyway Revision Level F: Standard Encoder Specifications : 13-bit (2048 x 4) Incremental Encoder 1: 16-bit (16384 x 4) bsolute Encoder 20

21 100/200V Single-phase Servo Systems Servomotor & mplifier Selection Use the table below to select the recommended I2TMH servomotor and amplifier. Description 200V, Single- Phase Straight Shaft without Keyway 200V, Single- Phase, Straight Shaft with Keyway 100V, Single- Phase, Straight Shaft without Keyway 100V, Single- Phase, Straight Shaft with Keyway Motors Used with 13-bit Incremental Encoders (5000rpm Maximum) Peak Torque (oz in) Rated Torque (oz in) Motor Inertia (oz in s ) Motor MODEL NUMBER () I2TMH-3F I2TMH-3F2C I2TMH-5F I2TMH-5F2C I2TMH-01F I2TMH-01F2C I2TMH-01F I2TMH-01F4C 1.50 I2TMH-02F I2TMH-02F4C 2.45 I2TMH-04F I2TMH-04F4C 9.52 I2TMH-08F I2TMH-08F4C I2TMH-3BF I2TMH-3BF2C I2TMH-5BF I2TMH-5BF2C I2TMH-01BF I2TMH-01BF2C I2TMH-01BF I2TMH-01BF4C 1.50 I2TMH-02BF I2TMH-02BF4C mplifier mplifier MODEL NUMBER (B)* Single-Phase I2TDH 3-Phase I2TDH- 3E 5E 01E 01E 02E 04E 08E-S 08E 3BE 5BE 01BE 01BE 02BE Motor & mplifier Item Class Limited Stock Stock Limited Stock Stock I2TMH Servomotors Notes: 24V DC brakes for I2TMH servomotors are standard. Contact a local source for 24V DC power supplies. Motor power and encoder cables are factory pre-wired with approximately 13 lead length with amplifier mating connectors. Use the tables on the following pages to specify mating connectors or pre-wired cables available in various lengths. For technical information, request I2T manual number I2T-SI-S * For more detailed I2TDH amplifier specifications and dimensions, refer to pages 93 to

22 00/200V Single-phase Servo Systems Pre-wired Cable Selection I2TMH Servomotors Use the table below to select pre-wired cables for your I2TMH servomotor. Power Cable without Brake Power Cable with Brake Shielded Power Cable without Brake*** Shielded Power Cable with Brake*** Encoder Cable (incremental and absolute) Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m maximum) Only for Solder Connections Cable Description (C) Motor Size (kw) ll Part Number* JZSP-CMM00-""() JZSP-CMM10-""() BHCE-""() BHBCE-""() Comments These cables are available in five lengths. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m JZSP-CMP00-""() FR-RMCT-SB UL20276-SB These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB Item Class Stock** Limited Stock Stock Input/Output 1CN Cable & Transition Terminal Block JUSP-T50P 35mm DIN rail mountable; the cable length is 0.5 meters. Input/Output 1CN Cable with Pigtail Leads JZSP-CKI01-"() Use the following key to specify required cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m * The () at the end of the cable part number indicates the revision level. Revision level may be subject to change prior to this catalog reprinting. ** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. *** Use these power cables where it is important to meet CE (EMC) requirements. 22

23 100/200V Single-phase Servo Systems Connector Selection Use the table below to select mating connectors or kits for your I2TMH servomotor. Connector Description (D) Motor Size (kw) Part Number Comments Item Class I2TMH Servomotors Motor Power Mating Connector (without Brake) JZSP-CMM9-1 These connector kits include pin and socket. Requires use of mp Crimp Tool ( ). (See below). Stock Motor Power Mating Connector (with Brake) JZSP-CMM9-2 mp Crimp Tool ll Crimp tool for Motor Power Connector (JZSP-CMM9-") Limited Stock 2CN mplifier Mating Connector JZSP-CMP9-1 Motor Encoder Mating Connector JZSP-CMP9-2 Stock 1CN Mating Connector JZSP-CKI9 for I2TDH I/O 50-pin 3CN Peripheral Mating Connector 5CN nalog Monitor Connector YSC-1 DE

24 100/200V Single-phase Servo Systems Peripheral Device Selection I2TMH Servomotors Use the table below to select peripheral devices for your I2TMH servomotor. Component Description (E) Part Number Comments Item Class Hand-held Digital Operator Panel JUSP-OP02-1 and JZSP-CMS00-1 Portable unit with 1m adapter cable Stock bsolute Encoder Battery JZSP-B01 3.6V, 1000mh (lithium battery) Software Interface Cable YS-12 Pre-wired 2.0m cable with 9-pin connector Win Software SVWIN-100 Monitoring and set-up software for Windows 95, Windows 98, and Windows NT on a CD-ROM. Stock (vailable third quarter of 2000) DC Reactor (for suppressing harmonics in the power supply) For 200V: For 100V: I2TDH-3E I2TDH-5E I2TDH-01E I2TDH-02E I2TDH-04E I2TDH-08E I2TDH-08E-S I2TDH-3BE I2TDH-5BE I2TDH-01BE I2TDH-02BE X5071 X5070 X5069 X5061 X5079 X5063 X5062 This is a general purpose regenerative unit. Limited Stock External Regenerative Unit For all amplifier sizes. JUSP-R04* Order the Motion document: PI#99004 for setup instructions for this unit. Stock NEM Flange dapter I2TM-N23 Caution: Proper set-up is necessary to avoid equipment damage. For 30, 50, and 100W I2TMH motors only. Complies to NEM 23 mounting standard. * For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection. Refer to the I2TDH servo amplifier section of this catalog for additional specifications, and the Series Servo System User s Manual I2T-SI-S ) for proper resistor sizing guidelines. Stock 24

25 100/200V Single-phase Servo Systems Flat Series I2TMPH Servomotors - With Incremental / bsolute Encoder Rated Output: 100W, 200W, 400W, 750W, 1500W For dditional Information I2TMPH Ratings & Specifications I2TMPH Speed/Torque Curves I2TMPH Dimensions I2TMPH Selection/Ordering Information I2TDH Ratings & Specifications I2TDH Dimensions Page(s) I2TMPH Servomotors Design Features 1. Compact! The length is about 1/2 of conventional motors! Enhanced withstand load since motor output shaft bearing size is upgraded! Up to 5000rpm maximum speed 2. Enhanced Environmental Resistance! Water resistance, IP67 standard! Reinforced lead-out cable access 3. Encoders (reduced wiring serial encoder)! 13-bit (2,048ppr x 4) incremental encoder standard! 16-bit (16,384ppr x 4) absolute encoder (option) 4. pplication Emphasis! Chip mounters! PCB drilling machines! Robots! Conveyor! Packaging 5. Certified International Standards! UL, cul recognized, (File #: E165827), CE compliance 25

26 100/200V Single-phase Servo Systems Servomotor Ratings and Specifications Time Rating: Continuous Insulation: Class B Vibration: 15µm or less Withstand Voltage: 1500V ac Insulation Resistance: 500V DC 10MΩ or more Enclosure: Totally-enclosed, self-cooled mbient Temperature: 0 to 40ºC mbient Humidity: 20 to 80% (non-condensing) Rated Rotation Speed: 3000rpm Maximum Rotation Speed:5000rpm Excitation: Drive Method: Mounting: pplicable Encoder: Permanent magnet Direct drive Flange-mounted 13-bit Incremental and 16-bit bsolute encoder I2TMPH Servomotors pplied Voltage 200V ac 100V ac M O TO R S : I2TMPH- Rated Output Rated Torque Instantaneous Peak Torque Continuous Rated Current * Maximum Peak Current * Rated ngular cceleration Rated Power Rate W (hp) oz in N m oz in N m rms rms rad/s 2 kw/s 01# 100 (0.13) # 200 (0.27) # 400 (0.54) # 750 (1.01) # 1500 (2.01) # 100 (0.13) # 200 (0.27) * Values are calculated when the servomotor is combined with an I2TDH servo amplifier. System Voltage MOTORS I2TMPH- Motor without Brake Moment of Inertia Motor with Brake Capacity Holding Brake (at 20 C) Coil Resistance Rated Current llowable Load Inertia * oz in s kg f m oz in s kg f m W Ω kg f m # V ac 02# # # # V ac 01# # * llowable load inertia (J L ) shows the range requiring no exterior regenerative unit. When these values are exceeded, application may be restricted or a regenerative unit may be required. Values are calculated when the servomotor is combined with an I2TDH servo amplifier. MOTORS Servomotor Holding Brake I2TMPH- Capacity Holding Torque W oz-in kg f cm 01# # # # #

27 100/200V Single-phase Servo Systems Speed / Torque Curves 200V SPEED (rpm) I2TMPH-01 I2TMPH-02 I2TMPH-04 B SPEED (rpm) B SPEED (rpm) B TORQUE (N m) TORQUE (oz in) SPEED (rpm) I2TMPH-08 B TORQUE (N m) TORQUE (oz in) SPEED (rpm) I2TMPH15 B TORQUE (N m) TORQUE (oz in) I2TMPH Servomotors TORQUE (N m) TORQUE (oz in) TORQUE (N m) TORQUE (oz in) 100V I2TMPH-01 I2TMPH SPEED (rpm) B SPEED (rpm) B I2TMH TORQUE (N m) TORQUE (oz in) TORQUE (N m) TORQUE (oz in) : CONTINUOUS B : INTERMITTENT DUTY ZONE DUTY ZONE 27

28 100/200V Single-phase Servo Systems Dimensions in inches (mm) (1) 13-Bit Incremental or 16-Bit bsolute Encoder, w/o Brake Note: 1. The keyway complies with JIS B (precision). straight key is supplied. 2. Conforms to the IP67 enclosure, excluding the shaft (optional shaft seal available). 3. The quoted allowable radial load is the value at a position 5mm (0.2in) from the shaft end. 100W (0.13hp) Encoder cable UL20276 Φ0.24 (6) (300) ±1.18 (30) Encoder plug SRUC 17GMRCN087 U Motor cable Motor Plug SRUC 06JMSCN236 T Cross-section Y-Y W I2TMPH Servomotors 0.37 (9.5) 0.51 (13) 0.55 (14) (300) ±1.18 (30) L LL LR LM 0.42 (10.5) 0.12 (3) LG QK Y Y ΦS* Hexagonal nut Opposite Side width: 0.55 (14) (0.04) Φ (Φ0.04) ΦLB** ΦL 4 - ΦLZ LC 0.83 (21) 0.71 (18) LC Serial encoder (absolute or incremental) (0.002) Type I2TMPH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** Key QK U W T Output W (hp) Torque in lb (N m) Time Rating Rated Speed (rpm) pprox Mass lb (kg) llowable Radial Load lb (N) llowable Thrust Load lb (N) 01##E41D 01##E41D 3.43 (87) 2.44 (62) 1.67 (42.5) 0.98 (25) 0.24 (6) 2.36 (60) 2.76 (70) 0.21 (5.3) (8) 1.97 (50) 0.55 (14) (1.8) 0.12 (3) 0.12 (3) 100 (0.13) Note: The quoted allowable radial load is the value at a position 0.79in ( 20mm.) from the mounting surface (0.318) Continuous (0.7) 17.5 (78) 11.0 (49) Encoder Plug SRUC 17GMRCN087 (Interconnectron) Specified Tolerances Dimension *ΦS **ΦLB 8 9 Unit Diameter Tolerance Diameter Tolerance in mm Incremental Terminal Specifications Pin No. Description Color 1* Battery - 2* Battery * (3.6V) 3 Data + Blue 4 Data Blue/White 5-7, Free 8 +5V (Power Supply) Red 9 0V (Power Supply) Black Connector Case FG (Frame Ground) Shield wire *Note: Incremental Terminal pins number 1 and 2 are connectors used for 16-bit absolute encoder option only. Mating Connector: SPN17HFRON16900E3 (Interconnectron) Motor Plug SRUC 06JMSCN236 (Interconnectron) Motor Wiring Specifications Pin Description Color Number 1 Phase U Red 2 Phase V White 3 Phase W Blue 6 FG (Frame Ground) Green/Yellow Mating Connector: SPN06KFSDN169 (Interconnectron) 28

29 100/200V Single-phase Servo Systems 200W (0.27hp), 400W (0.53hp) Encoder cable UL20276 Φ0.24 (6) (300) ±1.18 (30) Encoder plug SRUC 17GMRCN087 U Motor cable (300) ±1.18 (30) L LL LR LM (0.04) Hexagonal nut Opposite side width: 0.55 (14) LC 0.83 (21) 0.33 (8.5) LG 0.12 (3) Φ (Φ0.04) 4 - ΦLZ 0.71 (18) maximum LC W Motor Plug SRUC 06JMSCN236 T Cross-section Y-Y 0.28 (7) 0.37 (9.5) 0.51 (13) 0.55 (14) QK Y ΦLB** I2TMPH Servomotors Y ΦS* ΦL Serial encoder (absolute or incremental) (0.02) Type I2TMPH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** Key QK U W T 02 E D (97) (67) (48.1) (30) (8) (80) (90) (7) (14) (70) (16) (3) (5) (5) E D (117) (87) (68.1) Note: The quoted allowable radial load is the value at a position 0.98in (25mm) from the mounting surface. Voltage V Output W (hp) 200 (0.27) 400 (0.53) Torque in lb (N m) Time Rating 5.64 (0.637) Continuous 11.2 (1.27) Rated Speed (rpm) 3000 pprox Mass lb (kg) llowable Radial Load lb (N) 3.09 (1.4) (245) (2.1) llowable Thrust Load lb (N) 15.4 (68) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Interconnection Connector Specifications: See page

30 100/200V Single-phase Servo Systems 750W (1.01hp) Encoder cable UL20276 F0.24 (6) (300) ±1.18 (30) Encoder plug SRUC 17GMRCN087 W U MOTOR CBLE Motor Plug SRUC 06JMSCN236 T Cross-section Y - Y I2TMPH Servomotors 0.37 (9.5) 0.28 (7) 0.51 (13) 0.75 (19) (300) ±1.18 (30) L LL LM 0.41 (10.5) LG LR 0.14 (3.5) QK Y (0.04) Φ (Φ0.04) ΦLB** Hexagonal nut Opposite side width: 0.67 (17) LC 1.50 (38) 1.1 (28) maximum LC Y ΦS* 4 - ΦLZ ΦL Serial encoder (absolute or incremental) (0.002) L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** Key QK U W T Voltage V 08 E D (126.5) (86.5) (66.7) (40) (10) (120) (145) (10) (16) (110) (22) (3) (5) (5) 200 Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface. Output W (hp) 750 (1.01) Torque in lb (N m) 21.1 (2.39) Time Rating Type I2TMPH- Continuous Rated Speed (rpm) 3000 pprox Mass lb (kg) 9.26 (4.2) llowable Radial Load lb (N) 88.1 (392) llowable Thrust Load lb (N) 33.0 (147) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Interconnection Connector Specifications: See page

31 100/200V Single-phase Servo Systems 1500W (2.0hp) Encoder cable UL20276 Φ0.24 (6) U (300) ±1.18 (30) Encoder plug SRUC 17GMRCN087 W Motor cable (300) ±1.18 (30) L LL LR LM 0.28 (7) 0.41 (10.5) LG 0.14 (3.5) Motor Plug SRUC 06JMSCN (0.04) Φ (Φ0.04) Hexagonal nut Opposite side width: 0.67 (17) 4 - ΦLZ T Cross-section Y - Y LC 1.50 (38) 1.1 (28) Max (9.5) 0.51 (13) 0.75 (19) QK Y ΦLB** ΦL LC I2TMPH Servomotors Y ΦS* Serial encoder (absolute or incremental) (0.002) Type I2TMPH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** Key QK U W T Voltage V Output W (hp) ##E41D 200 (154.5) (114.5) (94.7) (40) (10) (120) (145) (10) (19) (110) (22) (3.5) (6) (6) (2.0) Note: The quoted allowable radial load is the value at a position 1.38in. (35mm) from the motor mounting surface. Torque in lb (N m) 42.1 (4.77) Time Rating Continuous Rated Speed (rpm) 3000 pprox Mass lb (kg) (6.6) llowable Radial Load lb (N) 110 (490) llowable Thrust Load lb (N) 33.0 (147) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Interconnection Connector Specifications Encoder Plug Incremental Terminal Specifications Motor Plug Motor Wiring Specifications 1 11 Pin Number Description Color Pin No. Description Color * Battery Phase U Red * Battery * (3.6V) Phase V White Data + Blue 3 Phase W Blue Data Blue/White FG (Frame Ground) Green/Yellow 5-7, Free SRUC 17GMRCN087 SRUC 06JMSCN020 Mating Connector: SPN06KFSDN169 (Interconnectron) 8 +5V (Power Supply) Red (Interconnectron) (Interconnectron) 9 0V (Power Supply) Black Connector Case FG (Frame Ground) Shield wire *Note: Incremental Terminal pins number 1 and 2 are connectors used for 16-bit absolute encoder option only. Mating Connector: SPN17HFRON16900E3 (Interconnectron) 31

32 100/200V Single-phase Servo Systems (2) 13-Bit Incremental or 16-Bit bsolute Encoder, with Brake Note: 1. The keyway complies with JIS B (precision). straight key is supplied. 2. The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor. 3. Conforms to the IP67 enclosure, excluding the shaft (optional shaft seal available). 100W (0.13hp) (300) ±1.18 (30) Encoder cable UL20276 Φ0.24 (6) Encoder plug SRUC 17GMRCN087 U MOTOR cable Motor Plug SRUC 06JMSCN236 W T Cross-section Y - Y I2TMPH Servomotors 0.37 (9.5) 0.28 (7) (300) ±1.18 (30) L LL LR LM 0.41 (10.5) 0.12 (3) LG QK Y (13) (23) (0.04) Φ (Φ0.04) ΦL ΦLB** Hexagonal nut Opposite side width: 0.67 (17) 4 - ΦLZ LC 0.83 (21) 0.71 (18) Max. LC Y ΦS* Serial encoder (bsolute or Incremental) Magnetic brake: Non-excitation operation DC power supply: 24V (0.002) Type I2TMPH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** Key QK U W T Voltage (V) Output W (hp) Torque in lb (N m) Time Rating Rated Speed (rpm) pprox Mass lb (kg) llowable Radial Load lb (N) llowable Thrust Load lb (N) ##E4CD 200 (116) (91) (42.5) (25) (6) (60) (70) (5.5) (8) (50) (14) (1.8) (3) (3) (0.13) Note: The quoted allowable radial load is the value at a position 0.79in. (20mm) from the motor mounting surface (0.318) Continuous (0.7) 17.5 (78) 11.0 (49) SRUC 17GMRCN087 (Interconnectron) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Interconnection Connector Specifications Encoder Plug Incremental Terminal Specifications Pin Number Description Color 1* Battery - - 2* Battery * (3.6V) 3 Data + Blue 4 Data Blue/White 5-7, Free V (Power Supply) Red 9 0V (Power Supply) Black Connector Case FG (Frame Ground) Shield wire *Note: Incremental Terminal pins number 1 and 2 are connectors used for 16-bit absolute encoder option only. Mating Connector: SPN17HFRON16900E3 (Interconnectron) Motor Plug SRUC 06JMSCN236 (Interconnectron) Motor Wiring Specifications Pin Number Description Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 Holding Brake Black 5 Holding Brake Black 6 FG (Frame Ground) Green/Yellow Mating Connector: SPN06KFSBN16918 (Interconnectron) 32

33 100/200V Single-phase Servo Systems 200W (0.27hp), 400W (0.53hp) Encoder cable UL20276 Φ0.24 (6) (300) ±1.18 (30) U Encoder plug SRUC 17GMRCN087 W Motor cable Motor Plug SRUC 06JMSCN236 T Cross-section Y-Y 0.37 (9.5) 0.51 (13) 0.28 (7) 0.33 (8.5) 0.90 (23) (300) ±1.18 (30) L LL LR LM LG 0.12 (3) QK Y Φ (Φ0.04) (0.04) HEXGONL NUT Opposite side width: 0.67 (17) LC 0.83 (21) ΦLB** LC 0.71 (18) maximum I2TMPH Servomotors Y ΦS* ΦLZ ΦL Serial encoder (bsolute or Incremental) Magnetic brake: Non-excitation operation DC power supply: 24V (0.002) Type I2TMPH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** Key QK U W T Voltage V Output W (hp) Torque in lb ( N m) Time Rating Rated Speed (rpm) pprox Mass lb (kg) llowable Radial Load lb (N) llowable Thrust Load lb (N) 02 E4 CD 04 E4 CD 5.06 (128.1) 3.88 (98.5) 1.89 (48.1) 1.18 (30) 0.31 (8) 3.15 (80) 3.54 (90) (148.5) (118.5) (68.1) 400 Note: The quoted allowable radial load is the value at a position 0.98in (25mm) from the motor mounting surface (7) (14) (70) 0.63 (16) 0.12 (3) 0.20 (5) 0.20 (5) (0.27) 400 (0.53) 5.64 (0.637) Continuous 11.2 (1.27) (1.9) (245) (2.6) 15.4 (68) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Interconnection Connector Specifications: See page

34 100/200V Single-phase Servo Systems 750W (1.01hp) (300) ±1.18 (30) Encoder cable Encoder plug UL20276 Φ0.24 (6) SRUC 17GMRCN087 U Motor cable Motor Plug SRUC 06JMSCN236 W T (300) ±1.18 (30) Cross-section Y - Y 0.28 (7) L LL LM 0.41 (10.5) LG LR 0.14 (3.5) (0.04) Φ (Φ0.04) Hexagonal nut Opposite side width: 0.55 (14) LC 1.5 (38) 4 - ΦLZ 1.1 (28) maximum. I2TMPH Servomotors 0.37 (9.5) 0.51 (13) 1.0 (25.5) QK Y Y ΦS* ΦLB** ΦLC ΦL Serial encoder (bsolute or Incremental) Magnetic brake: Non-excitation operation DC power supply: 24V (0.002) Type I2TMPH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** Key QK U W T Voltage V Output W (hp) Torque in lb (N m) Time Rating Rated Speed (rpm) pprox Mass lb (kg) llowable Radial Load lb (N) llowable Thrust Load lb (N) 08 E4 CD (163) (123) (66.7) (40) (10) (120) (145) (10) (16) (110) (22) (3) (5) (5) Note: The quoted allowable radial load is the value at a position 1.38in (35mm) from the motor mounting surface. 750 (1.01) (2.39) Continuous (5.7) 88.1 (392) 33.0 (147) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Interconnection Connector Specifications: See page

35 100/200V Single-phase Servo Systems 1500W (2.0hp) Encoder cable UL20276 Φ0.24 (6) (300) ±1.18 (30) Encoder plug U SRUC 17GMRCN087 W Motor cable Motor Plug SRUC 06JMSCN020 T Cross-section Y - Y 0.28 (7) 1.30 (33) (300) ±1.18 (30) L LL LM 0.41 (10.5) LG LR 0.14 (3.5) (0.04) Φ (Φ0.04) Hexagonal nut Opposite side width: 0.55 (14) LC 1.50 (38) 1.1 (28) Maximum 0.37 (9.5) 0.51 (13) 1.00 (25.5) QK Y ΦS* ΦLB** LC I2TMPH Servomotors Y Serial encoder (bsolute or Incremental) Magnetic brake: Non-excitation operation DC power supply: 24V (0.002) Type I2TMPH- L LL LM LR LG LC ΦL ΦLZ ΦS* ΦLB** Key QK U W T Voltage V Output W (hp) Torque in lb ( N m) Time Rating Rated Speed (rpm) pprox Mass lb (kg) llowable Radial Load lb (N) llowable Thrust Load lb (N) ##E4CD 200 (188) (148) (94.7) (40) (10) (120) (145) (10) (19) (110) (22) (3.5) (6) (6) Note: The quoted allowable radial load is the value at a position 1.38in. (35mm) from the motor mounting surface (2.02) 42.1 (4.77) Continuous (8.1) 110 (490) 33.0 (147) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Interconnection Connector Specifications Encoder Plug Incremental Terminal Specifications Motor Plug Motor Wiring Specifications Pin Number 1 11 Description Color Pin * 12 Battery No. Description Color 3 13 Phase U Red Data + Blue 5 2 Phase V White * 17 Battery * (3.6V) Data Blue/White Phase W Blue 5-7, Free 4 Holding Brake Black SRUC 17GMRCN V (Power Supply) Red SRUC 06JMSCN020 5 Holding Brake Black (Interconnectron) 9 0V (Power Supply) Black (Interconnectron) 6 FG (Frame Ground) Green/Yellow Connector Case FG (Frame Ground) Shield wire Mating Connector: SPN06KFSDN169 *Note: Incremental Terminal pins number 1 and 2 are connectors used for 16-bit absolute encoder option (Interconnectron only. Mating Connector: SPN17HFRON16900E3 (Interconnectron) 35

36 100/200V Single-phase Servo Systems Dimension Modifications for Motors with Optional Shaft Seal LE LR LD QK ΦS LP ΦLB I2TMPH Servomotors Shaft Seal Type I2TMPH- QK ΦLB* ΦS* LE LR LD ΦLP (14) 1.97 (50) 0.31 (8) 0.98 (25) 0.28 (7) 1.54 (39) (3) 0.64 (16) 2.76 (70) 0.55 (14) (30) 0.39 (10) 1.93 (49) (16) 0.87 (22) 4.33 (110) (19) 0.14 (3.5) 1.57 (40) 0.41 (10.5) 3.03 (77) *Refer to the following table for tolerances for diameters LB and S. Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Torque Reduction Factor for I2TMPH motors equipped with a shaft seal: Servo Motor Model Torque Reduction Factor 90% 90% 95% 95% 95% For Example: The I2TMPH-01 continuous and peak torque rating should be reduced to 90% of the listed catalog specification. To specify a motor with a shaft seal, refer to the motor part number explanation on the following page. 36

37 100/200V Single-phase Servo Systems Selecting Your I2TMPH Servo System Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages. System Configuration Digital Operator (E) 3CN Peripheral Signal Cable (E) 1CN I/O Signal Connector (D) I2TDH Servo mplifier (B) Regenerative Unit (E) Connector Encoder (D) 2CN 5CN For Monitor (D) Encoder side Connector (D) Encoder Cable (C) Motor Cable (C) Optional Holding Brake I2TMPH Servomotor () Motor side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase order: Series Servo System User s Manual: I2T-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). I2TMPH Servomotors Model Number Designation I2T Servomotor Type Rated Output 01: 100W (0.13hp) 02: 200W (0.25hp) 04: 400W (0.5hp) 08: 750W (1hp) 15: 1.5kW (2hp) Power Supply : 200V UL Recognized B: 100V UL Recognized I2TMPH - 01 E 4 1D ccessories 1D: Standard CD: Standard with 24V DC Holding Brake SD: Standard with Shaft Seal ED: Standard with Brake & Shaft Seal Shaft Specifications 4: Straight Shaft with Keyway Revision Level Encoder Specifications : 13-Bit (2048 x 4) Incremental Encoder 1: 16-Bit (16,384 x 4) bsolute Encoder 37

38 100/200V Single-phase Servo Systems Servomotor & mplifier Selection Use the table below to select the appropriate I2TMPH servomotor and amplifier. Description Peak Torque (oz in) Rated Torque (oz in) Motor Inertia (oz in s 2 x10-3 ) Motor MODEL # () mplifier MODEL # (B)* 200V 1-Phase I2TDH- 200V 3-Phase I2TDH- Motor & mplifier Item Class I2TMPH-01E41D E 1.46 I2TMPH-01E4CD 2.96 I2TMPH-02E41D I2TMPH Servomotors 200V 13-Bit Incremental Encoder Straight Shaft with Keyway 5000rpm Pre-wired with Heavy Duty Connectors I2TMPH-02E4CD 4.92 I2TMPH-04E41D 6.31 I2TMPH-04E4CD 29.9 I2TMPH-08E41D 35.7 I2TMPH-08E4CD 02E 04E 08E-S 08E Stock 57.1 I2TMPH-15E41D E-S 15E 67.8 I2TMPH-15E4CD 100V, 1-Phase 13-Bit Incremental Encoder I2TMPH-01BE41D 01BE Straight Shaft with Keyway 1.46 I2TMPH-01BE4CD 5000rpm 2.96 I2TMPH-02BE41D Pre-wired with Heavy Duty Connectors I2TMPH-02BE4CD 02BE Notes: 24V DC brakes for I2TMPH servomotors are standard. Contact a local source for 24V DC power supplies. Motor power and encoder cables are factory pre-wired with approximately 13 lead length with heavy duty mating connectors. Use the tables on the following page to specify mating connectors and/or various cable lengths. For technical information, request I2T manual number I2T-SI-S * For more detailed I2TDH amplifier specifications and dimensions, refer to pages 93 to

39 100/200V Single-phase Servo Systems Pre-wired Cable Selection Use the table below to select pre-wired cables for your I2TMPH servomotor. Cable Description (C) Motor Size (kw) Part Number* Comments Item Class Power Cable with Interconnectron Connectors (without Brake) Power Cable with Interconnectron Connectors (with Brake) (IP67) Encoder Cable with Interconnectron Connector (incremental or absolute) (IP67) Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections 0.1, 0.2, 0.4, 0.8 B4ICE-""() 1.5 B5ICE-""() 0.1, 0.2, 0.4, 0.8 B4IBCE-""() 1.5 B5IBCE-""() 1ICE-""() FR-RMCT-SB UL20276-SB These UL and CE compliant cables are available in five lengths. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity:16 part no.: FR-RMCT-SB Stock** I2TMPH Servomotors ll Input/Output 1CN Cable & Transition Terminal Block JUSP-T50P 35mm DIN rail mountable; the cable length is 0.5 meters. Input/Output 1CN Cable with Pigtail Leads JZSP-CKI01-"() Use the following key to specify required cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m * The () at the end of the cable part number indicates the revision level. Revision level may be subject to change prior to this catalog reprinting. ** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. 39

40 100/200V Single-phase Servo Systems * Connector Selection Use the table below to select mating connectors or kits for your I2TMPH servomotor. Connector Description (D) Motor Size (kw) Part Number Comments Item Class Interconnectron Connector for Motor Power Cable (with or without Brake) (IP67) FIN07S-B2 Solder Cup I2TMPH Servomotors 2CN mplifier Mating Connector Interconnectron Connector for Encoder Cable (incremental or absolute encoder) (IP67) 0.1, 0.2, 0.4, 0.8, 1.5 JZSP-CMP9-1 FIN17C-2 Gauge: 24-18WG Requires Crimp Tool B150 and positioner. Stock 1CN Mating Connector JZSP-CKI9 ll Interconnectron Crimp Tool B150 Limited Stock Positioner B055/ 40

41 100/200V Single-phase Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your I2TMPH servomotor. Component Description (E) Part Number Comments Item Class Hand-held Digital Operator Panel JUSP-OP02-1 and JZSP-CMS00-1 Portable unit with 1m adapter cable Stock bsolute Encoder Battery JZSP-B01 3.6V, 1000mh (lithium battery) Software Interface Cable YS-12 Pre-wired 2.0m cable with 9-pin connector I2TMPH Servomotors Win Software SVWIN-100 Monitoring and set-up software for Windows 95, Windows 98, and Windows NT on a CD-ROM. Stock (vailable third quarter of 2000) External Regenerative Unit DC Reactor (for suppressing harmonics in the power supply) For: For: For 200V: For 100V: I2TDH-08E I2TDH-08E-S I2TDH-15E I2TDH-15E-S I2TDH-01E I2TDH-02E I2TDH-04E I2TDH-08E I2TDH-08E-S I2TDH-15E I2TDH-15E-S I2TDH-01BE I2TDH-02BE JUSP-R04 X5071 X5070 X5069 X5061 X5079 X5060 X5078 X5063 X5062 This is a general purpose regenerative unit. Order the Motion document: PI#99004 for setup instructions for this unit. Caution: Proper set-up is necessary to avoid equipment damage. * For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection. Refer to the I2TDH servo amplifier section of this catalog for additional specifications, and the Series Servo System User s Manual I2T-SI-S ) for proper resistor sizing guidelines. Stock Limited Stock 41

42 100/200V Single-phase Servo Systems NOTES: I2TMPH Servomotors 42

43 100/200V Single-phase Servo Systems I2TMPH Gearmotors - With Incremental / bsolute Encoder Rated Output : 100W, 200W, 400W, 750W, 1500W For dditional Information I2TMPH Gearmotor Ratings & Specifications I2TMPH Gearmotor Dimensions I2TMPH Gearmotor Selection/Ordering Information I2TDH Ratings & Specifications I2TDH Dimensions Page(s) Design Features 1. Compact! Fits in limited mounting space 2. Torque! 40.9 to 3,540in lb peak torque! Cost-effective solution for low speed and high torque applications! Uses improved motor technology 3. Encoders! 13-Bit incremental encoder standard! 16-Bit absolute encoder (option) 4. Enclosure! Totally enclosed, self-cooled IP67 (not including shaft) 5. pplication Emphasis! Compact, high torque to inertia ratio! Chip mounters! PCB drilling machines! Robots! Conveyors! Packaging 6. Certified International Standards! UL, cul recognized (File #: E165827), CE compliance I2TMPH Gearmotors 43

44 I2TMPH Gearmotors 100/200V Single-phase Servo Systems Gearmotor Ratings and Specifications GERMOTOR Part Number Rated Torque (in lb) Peak Torque (in lb) Rated Speed (rpm) Maximum Speed (rpm) Speed N1 (rpm) Torque T1 (in lb) Torque T2 (in lb) I2T05S-PE01## I2T10S-PE01 ## I2T25S-PE01 ## I2T50S-PE01 ## I2T1S-PE01 ## I2T05S-PE02 ## / /36.2* I2T10S-PE02 ## / /72.4* I2T25S-PE02 ## / /177* I2T50S-PE02 ## / /354.7* I2T1SPE02## / /704.4* I2T05S-PE04 ## I2T10S-PE04 ## I2T25S-PE04 ## I2T50S-PE04 ## I2T1S-PE04 ## I2T05S-PE08 ## I2T10S-PE08 ## I2T25S-PE08 ## I2T50S-PE08 ## I2T05S-PE15 ## I2T10S-PE15 ## I2T25S-PE15 ## I2T50S-PE15 ## mplifier Model Number nalog Input I2TDH- * Values for 100V Gearmotor Note: 1. These performance ratings apply when duty cycles are 60% or less, and when the gearmotor runs for 1,000 cycles per hour or less. Contact your I2T representative when duty cycles exceed 60%, and when the gearmotor runs for more than 1,000 cycles per hour. 2. Rated Speed is at 20 C ambient temperature. Reduce Rated Speed by 20% at 40 C ambient temperature. 3. For right-angle gearmotors, please consult the factory for availability. Peak Torque Torque T2 B = Continuous Duty B = Intermittent Duty 01 ## 02 ## 04 ## 08 ## 15 ## Rated Torque T1 Rated Speed N1 Maximum Speed Speed 44

45 100/200V Single-phase Servo Systems Gearmotor Mechanical Ratings GERMOTOR Part Number Gearhead Backlash (arc min) Gearhead Maximum Radial Load (lb f ) Gearhead Maximum xial Load (lb f ) Gearhead Inertia (in lb s 2 ) Gearmotor Weight (lb) I2T05S-PE01## I2T10S-PE01 ## I2T25S-PE01 ## <10 I2T50S-PE01 ## I2T1S-PE01 ## I2T05S-PE02 ## I2T10S-PE02 ## I2T25S-PE02 ## < I2T50S-PE02 ## I2T1S-PE02 ## I2T05S-PE04 ## I2T10S-PE04 ## I2T25S-PE04 ## < I2T50S-PE04 ## I2T1S-PE04 ## I2T05S-PE08 ## I2T10S-PE08 ## <10 I2T25S-PE08 ## I2T50S-PE08 ## I2T05S-PE15 ## I2T10S-PE15 ## I2T25S-PE15 ## I2T50S-PE15 ## < I2TMPH Gearmotors TORSIONL NGLE CONVENTIONL GERMOTOR F R REDUCER S BCKLSH GERMOTOR TORQUE F 2% OF RTED TORQUE F R : Radial Force F : xial Force 45

46 100/200V Single-phase Servo Systems Dimensions in inches (mm) Motor leads extend 11.81in (300mm) from motor Q QK T KD W U T LL LL3 LE LR (4) Holes 90 apart MT threaded MD deep LC øgd øl øs ølb I2TMPH Gearmotors GERMOTOR LL3 LL LE LR LB GD S LC L MT MD Q QK KD W T U I2T05S-PE M I2T10S-PE01 (50) (131.5) (4) (24.5) (35) (50) (12) (60) (44) x 0.7 (8) (18) (14) (4) (4) (2.5) I2T25S-PE M I2T50S-PE01 (88) (172) (36) (52) (70) (16) (70) (62) x 0.8 (10) (28) (25) (5) (5) (3) I2T1S-PE M (106.5) (190.5) (46) (68) (90) (22) (90) (80) x 1.0 (12) (36) (32) (6) (6) (3.5) I2T05S-PE (2) I2T10S-PE02 (5) (68) (157) M I2T25S-PE (36) (52) (70) (16) (80) (62) x 0.8 (10) (28) (25) (5) (5) (3) (88) (177) I2T50S-PE M (106.5) (195.5) (46) (68) (90) (22) (90) (80) x 1.0 (12) (36) (32) (6) (6) (3.5) I2T1S-PE02 M x (134.5) (229.5) (6) (70) (90) (120) (32) (120) (108) 1.25 (16) (58) (50) (4) (10) (8) (5) I2T05S-PE M I2T10S-PE04 I2T25S-PE04 I2T50S-PE04 (68) (106.5) (134.5) I2T1S-PE (153) I2T05S-PE I2T10S-PE08 (80) I2T25S-PE08 I2T50S-PE08 I2T05S-PE15 I2T10S-PE (134.5) (153) (102) I2T25S-PE I2T50S-PE15 (153) (177) (5) (215.5) (2.50) (2 68.0) (198.5) (249) (2 67.5) (244.5) (295.5) (6) (8) (5) (6) (8) (6) (8) (36) (46) (70) (97) (46) (70) (97) (70) (97) (52) (68) (90) (120) (68) (90) (120) (90) (120) (70) (90) (120) (155) (90) (120) (155) (120) (155) (16) (22) (32) (40) (22) (32) (40) (32) (40) (80) (90) (120) (62) (80) (108) (140) (80) (108) (140) (108) (140) x 0.8 M6 x 1.0 M8 x 1.25 M10 x 1.5 M6 x 1.0 M8 x 1.25 M10 x 1.5 M8 x 1.25 M10 x 1.5 (10) (12) (16) (20) (12) (16) (20) (16) (20) (28) (36) (58) (82) (36) (58) (82) (58) (82) (25) (2) (32) (50) (70) (32) (50) (70) (50) (70) (4) (6) (2) (4) (6) (4) (6) (5) (6) (5) (6) (10) (8) (12) (6) (10) (12) (10) (12) (6) (8) (3) (3.5) (5) (3.5) (5) 46

47 100/200V Single-phase Servo Systems Tolerances for standard (I2T) gearmotors Dimension ΦS ΦLB W Unit Diameter Tolerance Diameter Tolerance Width Tolerance 0.472, , 0.197, in , , , , , 5, mm , , , I2TMPH Gearmotors 47

48 100/200V Single-phase Servo Systems Selecting Your I2TMPH Gearmotor System Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages. System Configuration I2TMPH Gearmotors Digital Operator (E) 3CN Peripheral Signal Cable (E) 1CN I/O Signal Connector (D) I2TDH Servo mplifier (B) Regenerative Unit (E) Connector for Encoder Signal (D) 2CN 5CN For Monitor (D) Encoder side Connector (D) Encoder Cable (C) Motor Cable (C) I2TMPH Gearmotor () Motor side Connector (D) Shaft w/keyway Specify a technical manual, if it is needed, on your servo system purchase order: Series Servo System User s Manual: I2T-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). Model Number Designation I2T 05 S -PE 02 C I2T Gearmotor Series G: Standard (<10 arc min) Reduction Ratio 05: 5:1 10: 10:1 25: 25:1 50: 50:1 1: 100:1 Construction S: Standard Revision Level Motor Series PE: I2TMPH ccessories C: 24V DC Brake Blank:Standard I2T stock motor options Encoder Specifications : 13-Bit Incremental Encoder 1: 16-Bit bsolute Encoder Power Supply : 200V B: 100V Motor Output 01: 100W (0.13hp) 02: 200W (0.25hp) 04: 400W (0.5hp) 08: 750W (1hp) 15: 1.5kW (2hp) 48

49 100/200V Single-phase Servo Systems Gearmotor & mplifier Selection Use the table below to select the appropriate I2TMPH gearmotor and amplifier. MODEL # Gearmotor () Gearhead only mplifier Rated Peak Rated Maximum MODEL # Inertia Gear Torque Torque Speed Speed (B)* (in lb) (in lb) (rpm) (rpm) (in lb s 2 ) Ratio I2TDH- Gear Motor Item Class mplifier Item Class I2T05S-PE : I2T10S-PE :1 I2T25S-PE : I2T50S-PE :1 I2T1S-PE :1 I2T05S-PE :1 I2T10S-PE :1 I2T25S-PE :1 I2T50S-PE :1 I2T1S-PE :1 I2T05S-PE : I2T10S-PE :1 I2T25S-PE : I2T50S-PE :1 I2T1S-PE :1 I2T05S-PE : I2T10S-PE :1 I2T25S-PE :1 I2T50S-PE :1 I2T05S-PE : I2T10S-PE :1 I2T25S-PE :1 I2T50S-PE :1 I2T05S-PE01B : I2T10S-PE01B :1 I2T25S-PE01B : I2T50S-PE01B :1 I2T1S-PE01B :1 I2T05S-PE02B :1 I2T10S-PE02B :1 I2T25S-PE02B :1 I2T50S-PE02B :1 I2T1S-PE02B :1 01# 02 # 04 # 08 # 15 # 01B # 02B # Non- Stock Stock I2TMPH Gearmotors Notes: 24V DC Brakes for I2TMPH gearmotors are standard. Contact a local source for 24V DC power supplies. Use the tables on the following page to specify mating connectors or pre-wired cables in different lengths. For technical information, request I2T technical bulletin number I2T-TS-S and I2T manual number TSE-S * For more detailed 100/200V I2TDH amplifier specifications and dimensions, refer to pages

50 100/200V Single-phase Servo Systems. Pre-wired Cable Selection Use the table below to select pre-wired cables for your I2TMPH gearmotor. Cable Description (C) Motor Size (kw) Part Number* Comments Item Class Power Cable with Interconnectron Connectors (without Brake) Power Cable with Interconnectron Connectors (with Brake) Encoder Cable with Interconnectron Connector (incremental or absolute) Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections 0.1, 0.2, 0.4, 0.8 B4ICE- () 1.5 B5ICE- () 0.1, 0.2, 0.4, 0.8 B4IBCE- () 1.5 B5IBCE- () 1ICE- () FR-RMCT-SB UL20276-SB These UL and CE compliant cables are available in five lengths.use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB Stock** ll I2TMPH Gearmotors Input/Output 1CN Cable & Transition Terminal Block Input/Output 1CN Cable with Pigtail Leads JUSP-T50P JZSP-CKI01- () 35mm DIN rail mountable; the cable length is 0.5 meters. Use the following key to specify required cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m * The () at the end of the cable part number indicates the revision level. Revision level may be subject to change prior to this catalog reprinting. ** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. 50

51 100/200V Single-phase Servo Systems Connector Selection Use the table below to select mating connectors or kits for your I2TMPH gearmotor. Connector Description (D) Motor Size (kw) Part Number Comments Item Class Interconnectron Connector for Motor Power Cable (with or without Brake) FIN07S-B2 IP67 Mated Solder Cup 2CN mplifier Mating Connector 0.1, 0.2, 0.4, 0.8, 1.5 JZSP-CMP9-1 Interconnectron Connector for Encoder Cable (incremental or absolute encoder) FIN17C-2 IP67 Mated Gauge: 24-18WG Requires Crimp Tool B150 and positioner. Stock 1CN Mating Connector JZSP-CKI9 ll Interconnectron Crimp Tool B150 Limited Stock Positioner B055/ I2TMPH Gearmotors 51

52 100/200V Single-phase Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your I2TMPH gearmotor. Component Description (E) Part Number Comments Item Class Hand-held Digital Operator Panel JUSP-OP02-1 and JZSP-CMS00-1 Portable unit with 1m adapter cable Stock bsolute Encoder Battery JZSP-B01 3.6V, 1000mh (lithium battery) Software Interface Cable YS-12 Pre-wired 2.0m cable with 9- pin connector I2TMPH Gearmotors Software External Regenerative Unit DC Reactor (for suppressing harmonics in the power supply) For: For: For 200V: For 100V: I2TDH-08E I2TDH-08E-S I2TDH-15E I2TDH-15E-S I2TDH-01E I2TDH-02E I2TDH-04E I2TDH-08E I2TDH-08E-S I2TDH-15E I2TDH-15E-S I2TDH-01BE I2TDH-02BE SVWIN-100 JUSP-R04 X5071 X5070 X5069 X5061 X5079 X5060 X5078 X5063 X5062 Monitoring and set-up software for Windows 95, Windows 98, and Windows NT on a CD-ROM. This is a general purpose regenerative unit. Order the Motion document: PI#99004 for setup instructions for this unit. Caution: Proper set-up is necessary to avoid equipment damage. Stock (vailable third quarter of 2000) Stock Limited Stock * For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection. Refer to the I2TDH servo amplifier section of this catalog (pages 93 to 122) for additional specifications, and the Series Servo System User s Manual I2T-SI-S ) for proper resistor sizing guidelines. 52

53 200V Three-phase Servo Systems General Purpose I2TMGH Servomotors - With Incremental / bsolute Encoder Rated Output: 0.45kW, 0.85kW, 1.3kW, 1.8kW, 2.9kW, 4.4kW, 5.5kW, 7.5kW, 11kW, 15kW. I2TMGH Servomotors For dditional Information I2TMGH Ratings & Specifications I2TMGH Speed/Torque Curves I2TMGH Dimensions I2TMGH Selection/Ordering Information I2TDH Ratings & Specifications I2TDH Dimensions Page(s) Design Features 1. Compact! Small sized motor Compatible with previous generation G series motors Ten types of rated outputs ranging from 0.79 to 1988in lb of peak torque Optional built-in holding brake available 2. Higher Speed and acceleration! Up to 3000rpm maximum! High torque to inertia ratio 3. Encoders! 17-bit incremental encoder (standard)! 17-bit absolute encoder (optional) 4. Enhanced Environmental Resistance! Totally enclosed, self-cooled IP67 (excluding shaft)! Shaft seal (optional) 5. pplication Emphasis! Machine tools and woodworking machines! Packaging"machines! Gantry Robots! Press utomation! Thermoforming 6. Certified International Standards! UL, cul recognized (File #: E165827) CE compliance 53

54 200V Three-phase Servo Systems I2TMGH Servomotors Servomotor Ratings and Specifications Time Rating: Continuous Insulation: Class F Vibration: 15µm or less Withstand Voltage: 1500V ac Insulation Resistance: 10MΩ minimum at 500V DC Enclosure: Totally-enclosed, self-cooled IP67 (except for shaft opening) mbient Temperature: 0 to 40ºC mbient Humidity: 20 to 80% (non-condensing) Rated Speed*: 1500rpm * Values when the servomotor is combined with an I2TDH servo amplifier. Instantaneous Maximum Speed*: 0.45 to 7.5kW: 3000rpm 11 and 15kW: 2000rpm Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted MOTORS: I2TMGH- Rated Output* Rated Torque* * Values when the servomotor is combined with an I2TDH servo amplifier. Instantaneous Peak Torque* Rated Current* Instantaneous Maximum Current* kw (hp) N m lb f in (kg f cm) N m lb f in (kg f cm) rms rms 05# 0.45 (0.6) (29) (91) # 0.85 (1.1) (55) (141) # 1.3 (1.7) (85) (238) # 1.8 (2.4) (117) (293) # 2.9 (3.9) (190) (460) # 4.4 (5.9) (290) (725) # 5.5 (7.4) (357) (894) # 7.5 (10) (490) (1210) # 11 (15) (714) (1790) E# 15 (20) (974) (2290) MOTORS I2TMGH- Torque Constant lb f in rms N m rms ( ) Moment of Inertia Capacity Torque Holding Brake (at 20 C) Coil. Resistance Rated Current dditional Inertia llowable Load Inertia Rated Power Rate* Rated ngular cceleration* Inertia Time Constant lb in s 2 kg f m W N m W g f cm s 2 kg f m kw/s rad/s 2 ms ms Inductive Time Constant 05# 09# 13# 20# 30# 44# 55# 75# 1# 1E# 7.3 (0.82) 7.3 (0.83) 7.4 (0.84) 6.5 (0.73) 7.3 (0.82) 8.0 (0.91) 7.8 (0.88) 8.2 (0.93) 11 ( (1.32) * Values when the servomotor is combined with an I2TDH servo amplifier at an armature winding temperature of 100 C. ** These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes: Type 05# to 13#: (in) ( (mm)) Type 20# to 75#: (in) ( (mm)) Type 1# to 1E#: (in) ( (mm)) 54

55 200V Three-phase Servo Systems Speed / Torque Curves 200V I2TMGH-05O I2TMGH-09O I2TMGH-13O SPEED (rpm) B SPEED (rpm) B SPEED (rpm) B I2TMGH Servomotors TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) 250 I2TMGH-20O I2TMGH-30O I2TMGH-44O SPEED (rpm) B SPEED (rpm) B SPEED (rpm) B TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) I2TMGH-55O I2TMGH-75O I2TMGH-1O SPEED (rpm) B SPEED (rpm) B SPEED (rpm) B TORQUE (N m) TORQUE (lb in) I2TMGH-1EO TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) SPEED (rpm) B TORQUE (N m) TORQUE (lb in) 55

56 200V Three-phase Servo Systems Dimensions in inches (mm) (1) 17-Bit Incremental/bsolute Encoder I2TMGH Servomotors #3.94(100) LT L LL LM LG LE LR S* LC LH LC ΦL LR LE Q QK LB** T W KL (88) IE U S KB1 KB LZ MTG Holes Type I2TMGH- L LL LM LR LT KB1 KB2 IE KL1 05# (196) 5.43 (138) 3.62 (92) 09# (219) (161) (115) (58) 13# (243) (185) (139) 20# (245) 6.54 (166) 4.69 (119) # (271) (192) (145) (79) 44# (305) (226) (179) 55# (373) (260) (213) # (447) (334) 11.3 (287) 1# (454) (338) (291) 4.57 (116) 1E# (573) (457) (388) Note: Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W T U pproximate Mass lb f (kg) llowable Radial Load lb f (N) 12.1 (5.5) (490) (7.6) (9.6) (686) (14) (1176) 39.7 (18) (1470) (23) 66.1 (30) (40) (1764) 127 (57.5) (86) (4998) 1.81 (46) 2.56 (65) 3.46 (88) 4.61 (117) 5.51 (140) 4.29 (109) 5.71 (145) 4.33 (110) 5.12 (130) 0.24 (6) 0.47 (12) 6.5 (165) 0.35 (9) 0.75 (19) 1.57 (40) 0.98 (25) 0.20 (5) 0.20 (5) 0.12 (3) (112) (164) (22) (6) (6) (3.5) (89) (145) (47) (115) (171) (140) (35) (76) (60) (10) (149) (205) (200) (114.3) (180) (3.2) 0.71 (230) (18) 0.53 (8) (5) (174) (239) (13.5) (113) (125) (150) (47) (248) (313) (42) (12) (110) (90) (251) (317) (142) (168) (235) (200) (220) (4) 0.79 (270) (69) (343) (435) (20) (55) (16) (10) (6) 1. I2TMGH-05$ to 44$ do not contain eyebolts. 2. Dimensions are the same when using either incremental or absolute encoders. 3. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. llowable Thrust Load lb f (N) 22 (98) 77 (343) 110 (490) 132 (588) 485 (2156) Encoder Plug M B L N P C K D J S R E H G F MS P 56 Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance , in , mm Connector Wiring on the Encoders K B L C Data + M D Data N E P F R G 0V S Battery (Note*) H +5V dc T Battery + (Note*) J FG (Frame Ground) *Note: Used with an absolute encoder only. Non-Environmental Mating Connector: MS3108B20-29S (L Type) MS3106B20-29S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Motor Side U Phase B V Phase C W Phase D Ground Terminal

57 200V Three-phase Servo Systems (2) 17-Bit Incremental/bsolute Encoder. with Brake 0.5 to 4.4kW (0.7 to 5.9hp) 100 (3.94) KL2 LT LL LM LG LE LR S* LB** LC LH LC ΦL LR LE Q QK T S W U I2TMGH Servomotors KL1 KB1 KB LZ MTG Holes Type I2TMGH- L LL LM LR LT KB1 KB2 KL1 KL2 Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W T U pproximate Mass lb f (kg) llowable Radial Load lb f (N) 05#6C (234) (176) (129) (56) (155) (7.5) (19) (5) (5) (3) (490) 09#6C (257) (199) (152) (58) (79) (178) (120) (145) (110) (130) (6) (12) (165) (9) (40) (25) (9.6) 13#6C (281) (223) (176) 1.85 (103) (202) 3.46 (22) (6) (6) (3.5) (12) 686) (47) (88) 20#6C (296) (217) (170) (79) (196) (19) (1176) #6C ( (322) (243) (196) (79) (105) (222) (146) (200) (180) (3.2) (18) (230) (13.5) (35) (76) (60) (10) (8) (5) ) (23.5) 331 (1470) 44#6C (356) (277) (230) (139) (256) (28.5) Note: 1. Dimensions are the same when using either incremental or absolute encoders. 2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. llowable Thrust Load lb f (N) 22 (98) 77 (343) 110 (490) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm , , Motor Plug E F D B G C Connector Wiring on the Motor Side U Phase E Brake Terminal B V Phase F Brake Terminal C W Phase G D FG (Frame Ground) 57

58 200V Three-phase Servo Systems 5.5 to 15kW (7.4 to 20hp) I2TMGH Servomotors 100 (3.94) LT L LL LM LG LE LR S* LC LH LC L T W U LR LE QK KL1 LB** KL3 KL2 S IE Q KB1 KB3 KB2 4 - LZ MTG Holes Type I2TMGH- L LL LM LR LT KB1 KB2 KB3 IE KL1 KL2 KL3 55#6C (424) (311) (113) 75#6C (498) (385) (338) 1#6C (499) (383) (340) 4.57 (116) 1E#6C (635) (519) (473) Note: Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W T U (174) (290) (231) (47) (125 (150) (123) (200) (114.3) (180) (3.2) 0.71 ((230) (248) (364) (305) 3.46 (18) 0.53 (42) (12) (8) (5) (88) (13.5) (110) (90) (43) (258) (362) (315) (142) (168) (142) (235) (200) (220) (4) (270) (46) (343) (497) (415) (20) (55) (16) (10) (6) 1. Dimensions are the same when using either incremental or absolute encoders. 2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. pproximate Mass lb f (kg) 77.2 (35) (45.5) 145 (65.5) (86) llowable Radial Load lb f (N) 397 (1764) 1125 (4998) llowable Thrust Load lb f (N) 132 (588) 485 (2156 Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Plug for Holding Brake C B MS P Connector Wiring on the Brake, Motor Side Brake Terminal B Brake Terminal C Non-Environmental Mating Connector: MS S (L Type) MS S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Power, Motor Side U Phase B V Phase C W Phase D Ground Terminal 58

59 200V Three-phase Servo Systems Selecting Your I2TMGH Servo System Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages. System Configuration I2TMGH Servomotors Digital Operator (E) 3CN Peripheral Signal Connector (D) 1CN I/O Signal Connector (D) I2TDH mplifier (B) Regenerative Unit (E) 5CN For Monitor (D) Connector for Encoder Signal (D) Encoder side Connector (D) 2CN Encoder Cable (C) Motor Cable (C) Optional Holding Brake I2TMGH Servomotor () Motor side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase order: Series Servo System User s Manual: I2T-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). Model Number Designation I2TMGH - 09 C 6 C I2T Servomotor Type Rated Output 05: 500W (0.7hp) 09: 850W (1.14hp) 13: 1.3kW (1.7hp) 20: 2.0kW (2.7hp) 30: 3.0kW (4.0hp) 44: 4.4kW (6.0hp) 55: 5.5kW (7.5hp) 75: 7.5kW (10hp) 1: 11.0kW (15hp) 1E: 15kW (20hp) Power Supply : 200V ccessories 1: Standard C: 24V DC Brake S: Shaft Seal E: Brake and Shaft Seal Shaft Specifications 6: Straight Shaft with Keyway Rated Speed : 1500rpm Encoder Specifications C: 17-Bit Incremental Encoder 2: 17-Bit bsolute Encoder 59

60 200V Three-phase Servo Systems Servomotor & mplifier Selection I2TMGH Servomotors Use the table below to select the appropriate I2TMGH servomotor and amplifier. Description 200V 3-Phase 17-bit Incremental Encoder Straight Shaft with Keyway 3000rpm maximum** MS Connectors Peak Torque (in lb) Rated Torque (in lb) Motor Inertia (in lb s 2 x 10-3 ) Motor MODEL # () 6.41 I2TMGH-05C I2TMGH-05C6C I2TMGH-09C I2TMGH-09C6C 18.2 I2TMGH-13C I2TMGH-13C6C 28.1 I2TMGH-20C I2TMGH-20C6C 40.7 I2TMGH-30C I2TMGH-30C6C 59.8 I2TMGH-44C I2TMGH-44C6C mplifier MODEL # (B)* nalog/digital Input I2TDH- 05E 10E 15E 20E 30E 50E 78.8 I2TMGH-55C61 60E Requires 86.6 I2TMGH-55C6C Regenerative Unit (E) 111 I2TMGH-75C61 75E Requires 119 I2TMGH-75C6C Regenerative Unit (E) 249 I2TMGH-1C61 1E Requires Regenerative Unit (E) Motor & mplifier Item Class Stock Stock Limited Stock 267 I2TMGH-1C6C Non-stock 279 I2TMGH-1EC61 1EE Requires Regenerative Unit (E) Limited Stock 309 I2TMGH-1EC6C Non-stock Note: 24V DC brakes for I2TMGH servomotors are standard. Contact a local source for 24V DC power supplies. For technical information, request request I2T manual number I2T-SI-S * For more detailed I2TDH amplifier specifications and dimensions, refer to pages 93 to 122. **2000rpm maximum for 11 and 15kW systems only. 60

61 200V Three-phase Servo Systems Pre-wired Cable Selection Use the table below to select pre-wired cables for your I2TMGH servomotor. Power Cable with Connectors (IP67) Cable Description (C) Motor Size (kw) 0.5, 0.9, , 3.0 without Brake Part Number* with Brake Comments B1E-$$() B1BE-$$() Use the following key to specify needed cable B2E-$$() B2BE-$$() 4.4 B3E-$$() B3BE-$$() 5.5, 7.5** 11, 15** B5E-$$() B6E-$$() B5E-$$() B7BCE-$$() B6E-$$() B7BCE-$$() length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m Item Class I2TMGH Servomotors Encoder Cable (incremental or absolute) (IP67) JZSP-CMP02-$$(B) These cables are available in five lengths. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m Encoder Cable (for applications up to 20m). Only for solder connections Encoder Cable (for applications from >20 to <50m) Only for solder connections ll FR-RMCT-SB UL20276-SB These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB Stock*** Input/Output 1CN Cable & Transition Terminal Block JUSP-T50P 35 mm DIN rail mountable; the cable length is 0.5m. Input/Output 1CN Cable with Pigtail Leads JZSP-CKI01-$() Use the following key to specify needed cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m * The () at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this catalog s reprinting. ** When ordering these cables for motors with brakes, order the standard power cable and the additional cable for the brake. *** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. 61

62 200V Three-phase Servo Systems Connector Selection I2TMGH Servomotors Use the table below to select mating connectors for each I2TMGH servomotor. Connector Description (D) MS Connector for Motor Power Cable* MS Connector for Encoder Cable (incremental or absolute encoder) Motor Size (kw) 0.5, 0.9, , 3.0, , , 1E without Brake Part Number with Brake Comments MS3106B18-10S MS3106B20-15S Straight-type connector MS3108B18-10S MS3108B20-15S L-type connector MS MS Cable clamp MS3106B22-22S MS3106B24-10S Straight-type connector MS3108B22-22S MS3108B24-10S L-type connector MS MS Cable clamp MS3106B32-17S MS3106B32-17S and Straight-type connector MS310610SL-3S MS3108B32-17S MS3108B32-17S and L-type connector MS310810SL-3S MS MS MS Cable clamp MS3106B20-29S Straight-type connector MS3108B20-29S L-type connector MS Cable clamp Item Class Stock 1CN Mating Connector JZSP-CKI9 Can use 1CN for analog speed and torque monitor service checks. 2CN Encoder Mating Connector ll JZSP-CMP9-1 3CN Peripheral Mating Connector YSC-1 5CN Connector and 1m Cable with Pigtails DE * Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. For example, L-type connector MS3108B18-10S is compatible with cable clamp MS MS connectors listed in the table are non-environmental. 62

63 Peripheral Device Selection 200V Three-phase Servo Systems Use the table below to select peripheral devices for each I2TMGH servomotor. Component (E) Part Number Description Item Class I2TMGH Servomotors Hand-held Digital Operator Panel JUSP-OP02-1 and JZSP-CMS00-1 Portable unit with 1m adapter cable Stock bsolute Encoder Battery JZSP-B01 3.6V, 1000mh (lithium battery) Software Interface Cable YS-12 Pre-wired 2.0m cable with 9-pin connector Win Software SVWIN-100 Monitoring and set-up software for Windows 95, Windows 98, and Windows NT on a CD-ROM. Stock (vailable third quarter of 2000) Regenerative Unit for 6.0kW amplifier (880W) JUSP-R04* These are general purpose regenerative units. Regenerative Unit for 7.5, 11, and 15kW amplifiers (1760W) JUSP-R05* Order the Motion document: PI#99004 for setup instructions for this unit. Caution: Proper set-up is necessary to avoid equipment damage. Stock DC Reactor (for suppressing harmonics in the power supply) For 200V: I2TDH-05E I2TDH-08E I2TDH-10E I2TDH-15E I2TDH-20E X5061 X5060 Limited Stock I2TDH-30E I2TDH-50E X5059 X5068 * For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection. Refer to the I2TDH servo amplifier section of this catalog for additional specifications, and the Series Servo System User s Manual I2T-SI-S ) for proper resistor sizing guidelines. 63

64 200V Three-phase Servo Systems CE Pre-wired Cable Selection Use the table below to select shielded pre-wired power cables for your I2TMGH servomotor. I2TMGH Servomotors Power Cable with Connectors IP67 Cable Description (C) Motor Size (kw) 0.5, 0.9, 1.3 without Brake B1CE- () 2.0, 3.0 B2CE- () 4.4 B3CE- () 5.5, 7.5 B5CE- () 11, 15 B6CE- () Part Number* with Brake B1BCE- () B3BCE- () B5CE- () B7BCE- () B6CE- () B7BCE- () Comments Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m Item Class Limited Stock * The () at the end of the cable number indicates the revision level, which may be subject to change prior to this catalog s reprinting. CE Connector Selection Use the table below to select mating connectors for your I2TMGH servomotor. Connector Description (D) Motor Size (kw) without Brake Part Number with Brake Comments** Item Class 0.5, 0.9, 1.3 CE SD-B-BS CE (D265) CE SD-B-BS CE (D265) L-type connector Cable clamp Connector for Motor Power Cable* 2.0, 3.0, , 7.5, 11, 15 CE SD-B-BS CE (D265) CE SD-B-BS or CE SD-B-BSS and CE CE SD-B-BS CE (D265) L-type connector Cable clamp L-type connector or Straight-type connector and Cable clamp (diameters to 0.937in) Limited Stock Connector for Holding Brake Connector for Encoder Cable (incremental or absolute encoder) ll CE05-810SL-3SC-B-BS and CE (D265) CE NSW and CE20B-S and CE (D265) L-type connector for holding brake and Cable clamp (diameters to 0.220in) L-type connector (plug and back shell) and Cable clamp (diameters to 0.394in) * Choose the connector and the associated cable clamp for a complete assembly. Connectors listed in this table are environmentally sealed. ** Connectors are manufactured by DDK and listed here with the largest standard cable clamp available. 64

65 200V Three-phase Servo Systems I2TMGH Gearmotors (1500rpm) - With Incremental/bsolute Encoder Rated Output: 0.45kW, 0.85kW, 1.3kW,1.8kW, 2.9kW, 4.4kW, 5.5kW, 7.5kW For dditional Information I2TMGH Gearmotor Ratings & Specifications I2TMGH Gearmotor Dimensions I2TMGH Gearmotor Selection/Ordering Information Page(s) I2TMGH Gearmotors Design Features 1. Compact! Fits in limited mounting space! High torque to inertia ratio 2. Torque! 383 to 30,090in lb peak torque! Uses time-proven motor technology 3. Encoders! 17-Bit incremental encoder (standard)! 17-Bit absolute encoder (option) 4. Enhanced Environmental Resistance! Totally enclosed, self-cooled IP67 (not including shaft) 5. pplication Emphasis! Machine tools, woodworking machines, and thermoforming machines! Roll feeders! Press automation! Gantry robots! PCB drilling machines! Packaging machines 6. Certified International Standards! cul recognized (File #: E165827), CE compliance 65

66 200V Three-phase Servo Systems Gearmotor Ratings and Specifications I2TMGH Gearmotors GERMOTOR Part Number Rated Torque (in lb) Peak Torque (in lb) Rated Speed (rpm) Maximum Speed (rpm) Speed N1 (rpm) Torque T1 (in lb) Torque T2 (in lb) Standard I2TMGH Gearmotors I2T05S-G05C I2T10S-G05C I2T25S-G05C I2T50S-G05C I2T05S-G09C I2T10S-G09C 463 1, I2T25S-G09C I2T50S-G09C I2T05S-G13C I2T10S-G13C I2T25S-G13C I2T05S-G20C I2T10S-G20C I2T05S-G30C I2T05S-G44C I2T05S-G55C I2T05S-G75C Precision I2TMGH Gearmotors IIT04S-G05C IIT05S-G05C IIT07S-G05C IIT10S-G05C IIT16S-G05C IIT20S-G05C IIT28S-G05C 662 2, IIT40S-G05C 945 2, IIT50S-G05C 1,181 2, IIT70S-G05C 1,654 4, IIT04S-G09C IIT05S-G09C IIT07S-G09C IIT10S-G09C IIT16S-G09C IIT20S-G09C IIT28S-G09C 1, IIT40S-G09C IIT50S-G09C IIT04S-G13C IIT05S-G13C IIT07S-G13C IIT10S-G13C IIT16S-G13C IIT20S-G13C IIT28S-G13C IIT40S-G13C IIT50S-G13C IIT04S-G20C IIT05S-G20C IIT07S-G20C IIT10S-G20C

67 200V Three-phase Servo Systems GERMOTOR Part Number Rated Torque (in lb) Peak Torque (in lb) Rated Speed (rpm) Maximum Speed (rpm) Speed N1 (rpm) Torque T1 (in lb) Torque T2 (in lb) IIT16S-G20C IIT20S-G20C IIT28S-G20C IIT40S-G20C IIT50S-G20C IIT04S-G30C IIT05S-G30C IIT07S-G30C IIT10S-G30C IIT16S-G30C IIT20S-G30C IIT28S-G30C IIT40S-G30C IIT50S-G30C IIT04S-G44C IIT05S-G44C IIT07S-G44C IIT10S-G44C IIT16S-G44C IIT20S-G44C IIT28S-G44C IIT40S-G44C IIT50S-G44C IIT04S-G55C IIT05S-G55C IIT07S-G55C IIT10S-G55C IIT16S-G55C IIT20S-G55C IIT28S-G55C IIT40S-G55C IIT50S-G55C IIT04S-G75C IIT05S-G75C IIT07S-G75C IIT10S-G75C IIT16S-G75C IIT20S-G75C IIT28S-G75C I2TMGH Gearmotors Peak Torque Torque = Continuous Duty B = Intermittent Duty T2 Rated Torque T1 B Rated Speed N1 Maximum Speed Speed 67

68 200V Three-phase Servo Systems I2TMGH Gearmotors Gearmotor Mechanical Ratings GERMOTOR Part Number Gearhead Backlash (arc min) Gearhead Maximum.Radial Load (lb f ) Gearhead Maximum xial Load (lb f ) Gearhead Inertia (lb in s 2 ) Gearmotor Weight (lb) Standard I2TMGH Gearmotors I2T05S-G05C I2T10S-G05C I2T25S-G05C I2T50S-G05C I2T05S-G09C I2T10S-G09C I2T25S-G09C I2T50S-G09C I2T05S-G13C <10 I2T10S-G13C I2T25S-G13C I2T05S-G20C I2T10S-G20C I2T05S-G30C I2T05S-G44C I2T05S-G55C I2T05S-G75C Precision I2TMGH Gearmotors IIT04S-G05C IIT05S-G05C IIT07S-G05C IIT10S-G05C IIT16S-G05C IIT20S-G05C IIT28S-G05C IIT40S-G05C IIT50S-G05C IIT70S-G05C < IIT04S-G09C IIT05S-G09C IIT07S-G09C IIT10S-G09C IIT16S-G09C IIT20S-G09C IIT28S-G09C IIT40S-G09C IIT50S-G09C IIT04S-G13C IIT05S-G13C <4 IIT07S-G13C IIT10S-G13C IIT16S-G13C IIT20S-G13C IIT28S-G13C < IIT40S-G13C IIT50S-G13C IIT04S-G20C IIT05S-G20C <4 IIT07S-G20C IIT10S-G20C IIT16S-G20C IIT20S-G20C IIT28S-G20C <6 IIT40S-G20C IIT50S-G20C

69 200V Three-phase Servo Systems GERMOTOR Part Number Gearhead Backlash (arc min) Gearhead Maximum.Radial Load (lb f ) Gearhead Maximum xial Load (lb f ) Gearhead Inertia Gearmotor Weight (lb) (lb in s 2 ) Precision I2TMGH Gearmotors IIT04S-G30C IIT05S-G30C <4 IIT07S-G30C IIT10S-G30C IIT16S-G30C IIT20S-G30C IIT28S-G30C < IIT40S-G30C IIT50S-G30C IIT04S-G44C IIT05S-G44C < IIT07S-G44C IIT10S-G44C IIT16S-G44C IIT20S-G44C IIT28S-G44C < IIT40S-G44C IIT50S-G44C IIT04S-G55C IIT05S-G55C < IIT07S-G55C IIT10S-G55C IIT16S-G55C IIT20S-G55C IIT28S-G55C < IIT40S-G55C IIT50S-G55C IIT04S-G75C IIT05S-G75C < IIT07S-G75C IIT10S-G75C IIT16S-G75C IIT20S-G75C < IIT28S-G75C I2TMGH Gearmotors REDUCER S BCKLSH TORSIONL NGLE CONVENTIONL GERMOTOR GERMOTOR F R TORQUE F 2% OF RTED TORQUE F R : Radial Force F : xial Force 69

70 200V Three-phase Servo Systems Dimensions in inches (mm) LL1 LL LL3 MD P W LR Q QK KD 4 - ΦMT LE T U LC ΦS ΦLB ΦGD LC1 ΦL I2TMGH Gearmotors Standard I2TMGH Gearmotors GERMOTOR LL1 LL3 LL LE LR ΦLB ΦGD ΦS P LC LC1 ΦL ΦMT* MD* Q QK KD W T U I2T05S-G05C M6 x I2T10S-G05C (80) (270) (5) (46) (68) (90) (22) (80) 1.0 (12) (36) (32) I2T25S-G05C M8 x (138) (134.5) (320.5) (6) (70) (90) (120) (32) (108) 1.25 (16) (58) (50) I2T50S-G05C 6.02 (153) (339) 0.32 (8) 3.82 (97) 4.72 (120) 6.10 (155) 1.58 (40) 5.51 (140) M10 x (20) 3.23 (82) 2.76 (70) I2T05S-G09C M6 x (80) (293) (5) (46) (68) (90) (22) 5.12 (80) 1.0 (12) (36) (32) I2T10S-G09C 6.34 (161) 4.02 (102) (311) 0.24 (6) 2.76 (70) 3.54 (90) 4.72 (120) 1.26 (32) (130) 4.25 (108) M8 x (16) 2.28 (58) 1.97 (50) I2T25S-G09C M10 x I2T50S-G09C (153) (362) (8) (97) (120) (155) (40) (140) 1.5 (20) (82) (70) I2T05S-G13C N/ N/ 4.25 M8 x I2T10S-G13C 7.28 (102) (335) (6) (70) (90) (120) (32) (108) 1.25 (16) (58) (50) I2T25S-G13C (185) (153) (386) I2T05S-G20C I2T10S-G20C (166) (353.5) I2T05S-G30C (192) (379.5) M10 x I2T05S-G44C (226) (122.5) (413.5) (190) (8) (97) (120) (155) (40) (140) 1.5 (20) (82) (70) I2T05S-G55C (260) (482.5) I2T05S-G75C (334) (556.5) Note:* For Standard (I2T) Gearmotors only: 4 x ΦMT threaded holes to a depth of dimension MD, set 90 apart (2) 0.16 (4) 0.24 (6) 0.08 (2) 0.16 (4) 0.24 (6) 0.16 (4) 0.24 (6) (6) (6) 0.39 (10) (8) (12) (6) (6) 0.39 (10) 0.47 (12) 0.39 (10) 0.47 (12) 0.32 (8) 0.14 (3.5) 0.20 (5) 0.14 (3.5) 0.20 (5) Specified Tolerances for Standard (I2T) Gearmotor Models: Dimension ΦS ΦLB W 70 Unit Diameter Tolerance Diameter Tolerance Width Tolerance 0.472, , 0.197, in , , , , , 5, mm , , ,

71 I2TMGH Gearmotors 200V Three-phase Servo Systems 71 Precision I2TMGH Gearmotors GERMOTOR LL1 LL3 LL LE LR ΦLB ΦGD ΦS P LC LC1* ΦL ΦMT** MD** Q QK KD W T U IIT04S-G05C 5.43 (138) 3.78 (96) (276) 0.08 (2) 1.50 (38) 1.50 (38) 2.76 (70) 0.87 (22) 0.79 (20) 5.12 (130) 2.99 (76) 3.35 (85) 0.26 (6.6) 0.28 (7) 1.42 (36) 1.26 (32) 0.08 (2) 0.24 (6) 0.24 (6) 0.14 (3.5) IIT05S-G05C IIT07S-G05C IIT10S-G05C IIT16S-G05C 4.82 (122.5) (302.5) IIT20S-G05C 5.77 (146.5) (327.5) 2.36 (60) 2.17 (55) 3.54 (90) 1.26 (32) 1.18 (30) 3.98 (101) 4.72 (120) 0.35 (9) 0.39 (10) 2.28 (58) 1.97 (50) 0.16 (4) 0.39 (10) 0.32 (8) 0.20 (5) IIT28S-G05C IIT40S-G05C IIT50S-G05C IIT70S-G05C 7.13 (181) (364.5) 0.12 (3) 3.35 (85) 2.76 (70) 5.12 (130) 1.58 (40) 5.51 (140) 5.55 (141) 6.50 (165) 0.43 (11) 0.47 (12) 3.23 (82) 2.76 (70) 0.20 (5) 0.47 (12) IIT04S-G09C 6.34 (161) 3.78 (96) (299) 0.08 (2) 1.50 (38) 1.50 (38) 2.76 (70) 0.87 (22) 0.79 (20) 5.12 (130) 2.99 (76) 3.35 (85) 0.26 (6.6) 0.28 (7) 1.42 (36) 1.26 (32) 0.08 (2) 0.24 (6) 0.24 (6) 0.14 (3.5) IIT05S-G09C IIT07S-G09C IIT10S-G09C 4.49 (114) (318) 2.36 (60) 2.17 (55) 3.54 (90) 1.26 (32) 1.18 (30) 5.12 (130) 3.98 (101) 4.72 (120) 0.35 (9) 0.39 (10) 2.28 (58) 1.97 (50) 0.16 (4) 0.39 (10) 0.32 (8) 0.20 (5) IIT16S-G09C 5.77 (146.5) (350.5) IIT20S-G09C IIT28S-G09C IIT40S-G09C 7.13 (181) (387.5) 0.12 (3) 3.35 (85) 2.76 (70) 5.12 (130) 1.58 (40) 5.51 (140) 5.55 (141) 6.50 (165) 0.43 (11) 0.47 (12) 3.23 (82) 2.76 (70) 0.20 (5) 0.47 (12) IIT50S-G09C IIT04S-G13C (185) 4.49 (114) (342) 0.08 (2) 2.36 (60) 2.17 (55) 3.54 (90) 1.26 (32) 5.12 (130) 3.98 (101) 4.72 (120) 0.35 (9) 0.39 (10) 2.28 (58) 1.97 (50) 0.16 (4) 0.39 (10) IIT05S-G13C IIT07S-G13C IIT10S-G13C IIT16S-G13C 5.77 (146.5) (374.5) IIT20S-G13C 7.13 (181) (411.5) 0.12 (3) 3.35 (85) 2.76 (70) 5.12 (130) 1.58 (40) 5.51 (140) 5.55 (141) 6.50 (165) 0.43 (11) 0.47 (12) 3.23 (82) 2.76 (70) 0.20 (5) 0.47 (12) IIT28S-G13C IIT40S-G13C 7.87 (200) (430.5) 3.54 (90) 6.30 (160) 2.17 (55) 7.17 (182) 0.51 (13) 0.59 (15) 0.24 (6) 0.39 (10) 0.24 (6) IIT50S-G13C 7.87 (200) (430.5) IIT04S-G20C (166) 5.55 (141) (357.5) 2.76 (70) 5.12 (130) 1.58 (40) 7.48 (190) 5.55 (141) 0.43 (11) 0.47 (12) 0.20 (5) 0.32 (8) 0.20 (5) IIT05S-G20C IIT07S-G20C IIT10S-G20C IIT16S-G20C 7.13 (181) (397.5) IIT20S-G20C IIT28S-G20C IIT40S-G20C 7.87 (200) (416.5) 3.54 (90) 6.30 (160) 2.17 (55) 7.17 (182) 8.47 (215) 0.51 (13) 0.59 (15) 0.24 (6) 0.63 (16) 0.39 (10) 0.24 (6) IIT50S-G20C IIT04S-G30C 7.56 (192) 5.55 (141) (383.5) 2.76 (70) 5.12 (130) 1.58 (40) 5.55 (141) 6.50 (165) 0.43 (11) 0.47 (12) 0.20 (5) 0.47 (12) 0.32 (8) 0.20 (5) IIT05S-G30C IIT07S-G30C IIT10S-G30C IIT16S-G30C 7.13 (181) (423.5) IIT20S-G30C 7.87 (200) (442.5) 3.54 (90) 6.30 (160) 2.17 (55) 7.17 (182) 8.47 (215) 0.51 (13) 0.59 (15) 0.24 (6) 0.63 (16) 0.39 (10) 0.24 (6) IIT28S-G30C IIT40S-G30C IIT50S-G30C 9.90 (251.5) (481) 4.25 (108) 4.72 (120) 7.09 (180) 2.95 (75) 1.50 (38) 8.35 (212) 9.84 (250) 0.67 (17) 0.67 (17) 4.13 (105) 3.54 (90) 0.28 (7) 0.79 (20) 0.47 (12) 0.30 (7.5)

72 200V Three-phase Servo Systems I2TMGH Gearmotors Precision I2MGH Gearmotors (Continued) GERMOTOR LL1 LL3 LL LE LR ΦLB ΦGD ΦS P LC LC1* ΦL ΦMT** MD** Q QK KD W T U IIT04S-G44C (174.5) (438) IIT05S-G44C IIT07S-G44C IIT10S-G44C IIT16S-G44C IIT20S-G44C (226) (200) (476.5) IIT28S-G44C (515) IIT40S-G44C (251.5) IIT50S-G44C (546.5) IIT04S-G55C IIT05S-G55C IIT07S-G55C IIT10S-G55C IIT16S-G55C (260) 6.87 (174.5) 9.90 (251.5) IIT20S-G55C IIT28S-G55C IIT40S-G55C IIT50S-G55C IIT04S-G75C (283) (507) (584) (615.5) IIT05S-G75C IIT07S-G75C 6.87 (174.5) (581) IIT10S-G75C IIT16S-G75C (334) 9.90 (251.5) IIT20S-G75C (658) IIT28S-G75C (283) (689.5) 0.12 (3) 3.35 (85) 3.54 (90) 4.25 (108) 4.72 (120) (133) (130) 3.35 (85) 4.25 (108) 5.24 (133) 3.35 (85) 3.54 (90) 4.72 (120) 5.12 (130) 3.54 (90) 4.25 (108) 4.72 (120) (133) (130) 6.30 (160) 7.09 (180) 7.87 (200) 6.30 (160) 7.09 (180) 7.87 (200) 6.30 (160) 7.09 (180) 7.87 (200) 2.17 (55) 2.95 (75) 3.35 (85) 2.17 (55) 2.95 (75) 3.35 (85) 2.17 (55) 2.95 (75) 3.35 (85) 1.18 (30) 1.50 (38) 1.58 (40) 1.18 (30) 1.50 (38) 1.58 (40) 1.18 (30) 1.50 (38) 1.58 (40) 7.48 (190) 7.17 (182) 8.47 (215) 0.51 (13) 8.35 (212) (250) (17) (242) (290) 7.17 (182) 8.35 (212) 9.53 (242) 7.17 (182) 8.47 (215) 0.51 (13) 9.84 (250) 0.67 (17) (290) 8.47 (215) 8.35 (212) 9.84 (250) (242) (290) 0.51 (13) 0.67 (17) 0.67 (17) 0.59 (15) 3.23 (82) 2.76 (70) 0.24 (6) 0.67 (17) 4.13 (105) 3.54 (90) 0.28 (7) (20) (130) (125) (3) 0.59 (15) 0.67 (17) 0.79 (20) 0.59 (15) 3.23 (82) 4.13 (105) 5.12 (130) 3.23 (82) 2.76 (70) 3.54 (90) 4.92 (125) 2.76 (70) 0.24 (6) 0.28 (7) 0.12 (3) 0.24 (6) 0.67 (17) 4.13 (105) 3.54 (90) 0.28 (7) (20) (130) (125) (3) 0.63 (16) 0.39 (10) 0.79 (20) 0.47 (12) (22) (14) 0.63 (16) 0.79 (20) 0.87 (22) 0.63 (16) 0.39 (10) 0.47 (12) 0.55 (14) 0.39 (10) 0.79 (20) 0.47 (12) (22) (14) 0.24 (6) 0.30 (7.5) 0.35 (9) 0.24 (6) 0.30 (7.5) 0.35 (9) 0.24 (6) 0.30 (7.5) 0.35 (9) Note: * LC1 may be greater than LC, despite the depiction on the gearmotor drawing. ** For Precision (SH) Gearmotors only: 4 x ΦMT thru holes at a depth of dimension MD, set 90 apart. Specified Tolerances for Precision (SH) Gearmotor Models: Dimension ΦS ΦGD W Unit Diameter Tolerance Diameter Tolerance Width Tolerance , in , , , , , , , , mm 32, , , 160, , ,

73 200V Three-phase Servo Systems Selecting Your I2TMGH Gearmotor System Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages. System Configuration Digital Operator (E) 3CN Peripheral Signal Connector (D) 1CN I/O Signal Connector (D) I2TDH mplifier (B) Regenerative Unit (E) 5CN For Monitor (D) Connector for Encoder Signal (D) Encoder side Connector (D) 2CN Encoder Cable (C) Motor Cable (C) I2TMGH Gearmotor () Motor side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase order: Series Servo System User s Manual: I2T-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). I2TMGH Gearmotors Model Number Designation I2T 05 S - G 05 2 C I2T Gearmotor Series I2T: Standard (<10 arc minute) IIT: Precision (<6 arc minute) Reduction Ratio 04: 4:1 25: 25:1 05: 5:1 28: 28:1 07: 7:1 40: 40:1 10: 10:1 50: 50:1 16: 16:1 70: 70:1 20: 20:1 Construction S: Standard Orientation : For I2T: Standard For IIT: Mounted horizontally B: IIT only - Mounted vertically (shaft facing UP) C: IIT only - Mounted vertically (shaft facing DOWN) (Used to specify SH gearbox lubrication during manufacturing). Motor Series G: I2TMGH ccessories C: 24V dc Brake Blank:Standard I2T motor (stock) Encoder Specifications C: 17-Bit Incremental Encoder 2: 17-Bit bsolute Encoder Power Supply : 200V Motor Output 05: 0.45kW (0.6hp) 09: 0.85kW (1.14hp) 13: 1.3kW (1.7hp) 20: 1.8kW (2.4hp) 30: 2.9kW (3.9hp) 44: 4.4kW (6.0hp) 55: 5.5kW (7.3hp) 75: 7.5kW (10.0hp) Design Revision : I2TMGH (1500rpm) 73

74 200V Three-phase Servo Systems Gearmotor & mplifier Selection I2TMGH Gearmotors Use this table below to select the appropriate I2TMGH gearmotor and amplifier. See notes on page 75. Description 200V, 3-phase 17-bit Incremental Encoder Straight Shaft with Keyway MS connectors Rated Peak Rated Maximum mplifier Motor and Gear Gearmotor Torque Torque Speed Speed MODEL # mplifier Ratio Model Number * () (in lb) (in lb) (rpm) (rpm) I2TDH- (B)** Item Class :1 I2T05S-G05C :1 I2T10S-G05C :1 I2T25S-G05C 05E :1 I2T50S-G05C :1 I2T05S-G09C :1 I2T10S-G09C :1 I2T25S-G09C 10E :1 I2T50S-G09C :1 I2T05S-G13C :1 I2T10S-G13C 15E :1 I2T25S-G13C :1 I2T05S-G20C :1 I210S-G20C 20E :1 I2T05S-G30C 30E :1 I2T05S-G44C 50E*** :1 I2T05S-G55C 60E*** :1 I2T05S-G75C 75E :1 IIT04S - G05C :1 IIT05S - G05C :1 IIT07S - G05C :1 IIT10S - G05C :1 IIT16S - G05C 05E :1 IIT20S - G05C Motor: :1 IIT28S - G05C Non Stock :1 IIT40S - G05C :1 IIT50S - G05C :1 IIT70S - G05C :1 IIT04S - G09C :1 IIT05S - G09C :1 IIT07S - G09C :1 IIT10S - G09C :1 IIT16S - G09C :1 IIT20S - G09C :1 IIT28S - G09C :1 IIT40S - G09C :1 IIT50S - G09C :1 IIT04S - G13C :1 IIT05S - G13C :1 IIT07S - G13C :1 IIT10S - G13C :1 IIT16S - G13C :1 IIT20S - G13C :1 IIT28S - G13C :1 IIT40S - G13C :1 IIT50S - G13C :1 IIT04S - G20C :1 IIT05S - G20C :1 IIT07S - G20C :1 IIT10S - G20C :1 IIT16S - G20C :1 IIT20S - G20C 10E 15E 20E mplifier: Stock 74

75 200V Three-phase Servo Systems Description 200V, 3-phase 17-bit Incremental Encoder Straight Shaft with Keyway MS connectors Rated Torque (in lb) Peak Torque (in lb) Rated Speed (rpm) Maximum Speed (rpm) Gear Ratio Gearmotor Model Number* :1 IIT28S - G20C :1 IIT40S - G20C :1 IIT50S - -G20C :1 IIT04S - G20C :1 IIT05S - G20C :1 IIT07S - G20C :1 IIT10S - G20C :1 IIT16S - G20C :1 IIT20S - G20C :1 IIT28S - G20C :1 IIT40S - G20C :1 IIT50S - G20C :1 IIT04S - G30C :1 IIT05S - G30C :1 IIT07S - G30C :1 IIT10S - G30C :1 IIT16S - G30C :1 IIT20S - G30C :1 IIT28S - G30C :1 IIT40S - G30C :1 IIT50S - G30C :1 IIT04S - G44C :1 IIT05S - G44C :1 IIT07S - G44C :1 IIT10S - G44C :1 IIT16S - G44C :1 IIT20S - G44C :1 IIT28S - G44C :1 IIT40S - G44C :1 IIT50S - 44C :1 IIT04S - G55C :1 IIT05S - G55C :1 IIT07S - G55C :1 IIT10S - G55C :1 IIT16S - G55C :1 IIT20S - G55C :1 IIT28S - G55C :1 IIT40S - G55C :1 IIT50S - G55C :1 IIT04S - G75C :1 IIT05S - G75C :1 IIT07S - G75C :1 IIT10S - G75C 75E*** :1 IIT16S - G75C :1 IIT20S - G75C :1 IIT28S - G75C Notes: 1. These performance ratings apply when duty cycles are 60% or less, and when the gearmotor runs for 1,000 cycles per hour or less. Contact your I2T representative when duty cycles exceed 60%, and when the gearmotor runs for more than 1,000 cycles per hour. 2. Rated Speed is at 20 C ambient temperature. Reduce Rated Speed by 20% at 40 C ambient temperature. 3. For right-angle gearmotors, please consult the factory for availability V DC brakes for I2TMGH gearmotors are standard. Contact a local source for 24V DC power supplies. 5. For technical information, request I2T manual number I2T-SI-S * To complete the model number in type SH gearomotors, please specify shaft orientation, as shown in the Model Number Designation on page 73. ** For more detailed I2TDH amplifier specifications and dimensions, refer to pages *** mplifier models I2TDH-60E and I2TDH-75E require a regenerative unit (see Component E on page 78). () mplifier MODEL # Motor and mplifier I2TDH- (B)** Item Class 20E 30E 50E 60E*** Motor: Non Stock mplifier: Stock I2TMGH Gearmotors 75

76 200V Three-phase Servo Systems Pre-wired Cable Selection Use the table below to select pre-wired cables for your I2TMGH gearmotor. Cable Description (C) Motor Size (kw) withou t Brake Part Number* with Brake Comments Item Class I2TMGH Gearmotors Power Cable with Connectors (IP67) Encoder Cable (incremental or absolute) 0.5, 0.9, , , 7.5 B1E- () B2E- () B3E- () B5E- () B1BE- () B2BE- () B3BE- () B5E- () B7BCE- ()** JZSP-CMP02- (B) Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in five lengths. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections ll FR-RMCT-SB UL20276-SB These cables are available in any length. For example: to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB. Stock*** Input/Output 1CN Cable & Transition Terminal Block JUSP-T50P 35 mm DIN rail mountable; the cable length is 0.5m. Input/Output 1CN Cable with Pigtail Leads JZSP-CKI01- () Use the following key to specify needed cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m * The () at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this catalog s reprinting. ** When ordering these cables for motors with brakes, order the standard B5E power cable and the additional cable for the brake. *** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. 76

77 200V Three-phase Servo Systems Connector Selection Use the table below to select mating connectors for your I2TMGH gearmotor. Connector Description (D) MS Connector for Motor Power Cable * MS Connector for Encoder Cable (incremental or absolute encoder) Motor Size (kw) 0.5, 0.9, , 3.0, , 7.5 Part Number without Brake with Brake Comments MS3106B18-10S MS3106B20-15S Straight-type connector MS3108B18-10S MS3108B20-15S L-type connector MS MS Cable clamp MS3106B22-22S MS3106B24-10S Straight-type connector MS3108B22-22S MS3108B24-10S L-type connector MS MS Cable clamp MS3106B32-17S MS3108B32-17S MS3106B32-17S and MS310610SL-3S MS3108B32-17S and MS310810SL-3S MS MS MS MS3106B20-29S MS3108B20-29S MS Straight-type connector L-type connector Cable clamp Straight-type connector L-type connector Cable clamp Item Class I2TMGH Gearmotors 1CN Mating Connector JZSP-CKI9 Can use 1CN for analog speed and torque monitor service checks. Stock 2CN Encoder Mating Connector ll JZSP-CMP9-1 3CN Peripheral Mating Connector YSC-1 5CN Connector and 1m Cable with Pigtails DE * Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. For example, L-type connector MS3108B18-10S is compatible with cable clamp MS

78 200V Three-phase Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your I2TMGH gearmotor. Component (E) Part Number Description Item Class Hand-held Digital Operator Panel JUSP-OP02-1 and JZSP-CMS00-1 Portable unit with 1m adapter cable Stock I2TMGH Gearmotors Software Interface Cable YS-12 Pre-wired 2.0m cable with 9-pin connector bsolute Encoder Battery JZSP-B01 3.6V, 1000mh (Lithium Battery) Win Software SVWIN-100 Monitoring and set-up software for Windows 95, Windows 98, and Windows NT on a CD-ROM. Stock (vailable third quarter of 2000) Regenerative Unit for 6.0kW amplifier (880W) JUSP-R04* These are general purpose regenerative units. Order the Motion document: PI#99004 for setup instructions for this unit. Stock Regenerative Unit for 7.5, 11, and 15kW amplifiers (1760W) JUSP-R05* Caution: Proper set-up is necessary to avoid equipment damage. DC Reactor (for suppressing harmonics in the power supply) For 200V: I2TDH-05E I2TDH-08E I2DH-10E I2TDH-15E I2TDH-20E I2TDH-30E X5061 X5060 X5059 I2TDH-50E X5068 * For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection. Refer to the I2DH servo amplifier section of this catalog for additional specifications, and the Series Servo System User s Manual I2T-SI-S ) for proper resistor sizing guidelines. Limited Stock 78

79 200V Three-phase Servo Systems CE Pre-wired Cable Selection Use the table below to select shielded pre-wired power cables for your I2TMGH gearmotor. Cable Description (C) Motor Size (kw) without Brake Part Number* with Brake Comments Item Class Power Cable with Connectors (IP67) 0.5, 0.9, 1.3 B1CE- () 2.0, 3.0 B2CE- () 4.4 B3CE- () 5.5, 7.5 B5CE- () B1BCE- () B3BCE- () B5CE- () B7BCE- () Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m Limited Stock * The () at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this catalog s reprinting. CE Connector Selection I2TMGH Gearmotors Use the table below to select mating connectors for your I2TMGH gearmotor. Connector Description (D) Motor Size (kw) without Brake Part Number with Brake Comments** Item Class 0.5, 0.9, 1.3 CE SD-B- BS CE (D265) CE SD-B-BS CE (D265) L-type connector Cable clamp Connector for Motor Power Cable* 2.0, 3.0, 4.4 CE SD-B- BS CE SD-B-BS CE (D265) CE (D265) CE SD-B-BS L-type connector Cable clamp L-type connector 5.5, 7.5 or CE SD-B-BSS and CE or Straight-type connector and Cable clamp (diameters to 0.937in) Limited Stock Connector for Holding Brake Connector for Encoder Cable (incremental or absolute encoder) ll CE05-810SL-3SC-B-BS and CE (D265) CE NSW and CE20B-S and CE (D265) L-type connector for holding brake and Cable clamp (diameters to 0.220in) L-type connector (plug and back shell) and Cable clamp (diameters to 0.394in) * Choose the connector and the associated cable clamp for a complete assembly. The connectors listed in the table are suitable for IP67 environments. ** Connectors are manufactured by DDK and listed here with the largest standard cable clamp available. 79

80 200V Three-phase Servo Systems NOTES: I2TMGH Gearmotors 80

81 200V Three-phase Servo Systems Super High Power Rate Series I2TMSH Servomotors - With Incremental / bsolute Encoder Rated Output: 1.0kW, 1.5kW, 2.0kW, 3.0kW, 4.0kW, 5.0kW For dditional Information I2TMSH Ratings & Specifications I2TMSH Speed/Torque Curves I2TMSH Dimensions I2TMSH Selection/Ordering Information I2TDH Ratings & Specifications I2TDH Dimensions Page(s) Design Features 1. Compact Small sized motor Six frame sizes: up to 422in lb peak torque 2. High Speed Rated Speed: 3000rpm Maximum Speed: 5000rpm 3. Encoders 17-bit incremental encoder standard 17-bit absolute encoder (option) 4. Enclosure Totally enclosed, self-cooled IP67 (excluding shaft) IP67 with shaft seal (option) 5. pplication Emphasis High torque to inertia ratio Chip mounters PCB drilling machines Robots Conveyors Packaging 6. Certified International Standards UL, cul recognized (File #: E165827), CE compliance I2TMSH Servomotors 81

82 200V Three-phase Servo Systems Servomotor Ratings and Specifications Time Rating: Insulation: Vibration: Withstand Voltage: Insulation Resistance: Continuous Class F 15µm or less 1500V ac 10MΩ minimum at 500V DC Enclosure: Totally-enclosed, self-cooled IP67 (except for shaft opening) mbient Temperature: 0 to 40ºC mbient Humidity: 20 to 80% (non-condensing) Rated Speed: 3000rpm Instantaneous Maximum Speed: 5000rpm Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted Painting Color: Muncell notation N1.5 mplifier System Voltage MOTORS: I2TMSH- Rated Output* kw (hp) N m Rated Torque* kg f cm (lb in) N m Instantaneous Peak Torque* kg f cm (lb in) Rated Current* rms Instantaneous MaximumCurrent* rms 10" 1.0 (1.3) (28.2) (84.4) " 1.5 (2.0) (43.4) (130) V ac 20" 2.0 (2.7) (56.4) (169) " 3.0 (4.0) (87) (260) " 4.0 (5.4) (112) (336) " 5.0 (6.7) (140) (422) I2TMSH Servomotors MOTORS I2TMGH- Torque Constant lb f in rms N m rms ( ) Moment of Inertia 10" 5.6 (0.64) Capacity Torque Holding Brake (at 20 C) Coil Resistance Rated Current lb f in s 2. 2 kg f m W N m Ω dditional Inertia llowable Load Inertia Rated Power Rate* Rated ngular cceleration* Inertia Time Constant Inductive Time Constant lb f in s kg f m kw/s rad/s 2 ms ms " 5.0 (0.56) " 4.8 (0.55) " 5.1 (0.57) " 4.9 (0.53) " 5.4 (0.60) * These items and torque-speed characteristics quoted in combination with an I2TDH servo amplifier at an armature winding temperature of 20 C. Note: These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes: Type 10" to 20": ( (in)) ( (mm)) Type 30" to 50": ( (in)) ( (mm)) 82

83 Speed / Torque Curves 200V Three-phase Servo Systems 200V SPEED (rpm) I2TMSH-10 B TORQUE (N m) TORQUE (lb in) SPEED (rpm) I2TMSH-15 B TORQUE (N m) TORQUE (lb in) I2TMSH-20 I2TMSH SPEED (rpm) B SPEED (rpm) B TORQUE (N m) I2TMSH TORQUE (N m) TORQUE (lb in) I2TMSH-50 I2TMSH Servomotors SPEED (rpm) B SPEED (rpm) B TORQUE (N m) TORQUE (lb in) : CONTINUOUS B : INTERMITTENT DUTY ZONE DUTY ZONE TORQUE (N m) TORQUE (lb in) 83

84 200V Three-phase Servo Systems Dimensions in inches (mm) (1) 17-bit Incremental or bsolute Encoder L LL LR LT LM LG LE LC 3.94 (100) S LH L LR LE Q QK LB LC S KL (8) KL1 KB2 KB LZ MTG Holes 0.28 (7) 0.16 (4) I2TMSH Servomotors Type I2TMSH- L LL LM LR LT KB1 KB2 KL1 KL2 10#61 (194) (149) (103) 15# (220) (175) (129 ) 20# (243) (198) (152) 30# (262) (199) (153 ) 40# (299) (236) (190) 50# (339) (276) (230) Note: 1.77 (45) 2.48 (63) 1.81 (46) (76) (128) (102) (154) (125) (177) (122) (178) (159) (215) (199) (255) 3.78 (96) 4.49 (114) 3.43 (87) 3.43 (87) Flange Dimensions Shaft End Dimension ΦL ΦLB LC LE LG ΦLH ΦLZ ΦS Q QK 4.53 (115) 5.71 (145) 3.74 (95) 4.33 (110) 3.94 (100) 5.12 (130) 0.12 (3) 0.24 (6) 0.39 (10) 0.47 (12) 5.12 (130) 6.5 (165) 0.28 (7) 0.35 (9) 0.94 (24) 1.1 (28) 1.57 (40) 2.17 (55) 1.26 (32) 1.96 (50) pproximate Mass lb f (kg) 10.1 (4.6) 12.8 (5.8) 15.4 (7.0) 24.3 (11) 30.9 (14) 37.5 (17) llowable Radial Load lb f (N) 154 (686) 220 (980) 265 (1176) 1. Dimensions are the same when using either incremental or absolute encoders. 2. Tolerances on the dimensions of flange type LB and shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. llowable Thrust Load lb f (N) 44 (196) 88 (392) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in , , mm , , Encoder Plug M B L T N P C K D J S R E H G F MS P Connector Wiring on the Incremental Encoders K B L C Data + M D Data N E P F R G 0V S Battery (Note*) H +5V dc T Battery + (Note*) J FG (Frame Ground) *Note: Used with an absolute encoder only. Non-Environmental Mating Connector: MS3108B20-29S (L Type) MS3106B20-29S (Straight Type) Cable Clamp: MS Motor Plug D C B MS P Connector Wiring on the Motor Side U Phase B V Phase C W Phase D Ground Terminal 84

85 200V Three-phase Servo Systems (2) 17-bit Incremental or bsolute Encoder, with Brake L LT LL LM LG LE LR LC LR LE Q QK LH L LC KL1 LB KL (100) S 0.31 (8) S LZ MTG Holes 0.28 (7) 0.16 (4) KB1 KB2 Type I2TMSH- L LL LM LR LT KB1 KB2 KL1 KL2 10#6C (238) (193) (147) (45) 15#6C (264) (219) (173) (45) 20#6C (287) (242) (196) (45) 30#6C (300) (237) (191) #6C (274) (228) (63) (337) 50#6C (314) (268) 1.81 (46) 2.64 (67) 3.66 (93) 4.57 (116) 4.45 (113) 5.91 (150) 7.48 (190) 6.77 (172) 7.8 (198) 8.7 (221) 8.5 (216) 9.96 (253) (293) 3.94 (100) 4.69 (119) 3.43 (87) Flange Dimensions Shaft End Dimension ΦL ΦLB LC LE LG ΦLH ΦLZ ΦS Q QK 4.53 (115) 5.71 (145) 3.74 (95) 4.33 (110) 3.94 (100) 5.12 (130) 0.12 (3) 0.24 (6) 0.39 (10) 0.47 (12) 5.12 (130) 6.5 (165) 0.28 (7) 0.35 (9) 0.94 (24) 1.1 (28) 1.57 (40) 2.17 (55) 1.26 (32) 1.96 (50) pproximate Mass lb f (kg) llowable Radial Load lb f (N) 13.2 (6.0) (7.5) (686) 18.7 (8.5) (14) (980) 37.5 (17) (1176) (20) Note: 1. Dimensions are the same when using either incremental or absolute encoders. 2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. llowable Thrust Load lb f (N) 44 (196) 88 (392) I2TMSH Servomotors Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in , , mm , , Motor Plug F E B G D C MS P Connector Wiring on the Motor Side U Phase E Brake Terminal B V Phase F Brake Terminal C W Phase G D FG (Frame Ground) 85

86 200V Three-phase Servo Systems Selecting Your I2TMSH Servo System Use the diagram below to locate and identify the components of your system. Each item is letter-coded and cross-referenced in the option tables on the following pages. System Configuration I2TMSH Servomotors Digital Operator (E) 3CN Peripheral Signal Connector (D) 1CN I/O Signal Connector (D) I2TDH mplifier (B) Regenerative Unit (E) For Monitor (D) Connector for Encoder Signal (D) 2CN 5CN Encoder side Connector (D) Encoder Cable (C) Motor Cable (C) Model Number Designation I2TMSH - 10 C 6 1 I2T Servomotor Type Rated Output 10: 1.0kW (1.3hp) 15: 1.5kW (2.0hp) 20: 2.0kW (2.7hp) 30: 3.0kW (4.0hp) 40: 4.0kW (5.4hp) 50: 5.0kW (6.7hp) Power Supply : 200V Optional Holding Brake I2TMSH Servomotor () Motor side Connector (D) Shaft Keyway Specify a technical manual, if it is needed, on your servo system purchase order: Series Servo System User s Manual: I2T-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). Shaft Seal ccessories 1: Standard C: 24V DC Brake S: Shaft Seal E: Shaft Seal and Brake Shaft Specifications 6: Straight Shaft with Keyway Rated Speed : 3000rpm Encoder Specifications C: 17-bit Incremental Encoder 2: 17-bit bsolute Encoder 86

87 200V Three-phase Servo Systems Servomotor & mplifier Selection Use the table below to select the appropriate I2TMSH servomotor and amplifier. Description 200V, 3-Phase 17-bit Incremental Encoder Straight Shaft with Keyway 5000rpm maximum MS Connectors Peak Torque (in lb) Rated Torque (in lb) Motor Inertia (in lb s 2 X 10-3 ) Motor MODEL # () 1.54 I2MSH-10C I2TMSH-10C6C 2.19 I2TMSH-15C I2TMSH-15C6C 2.82 I2MSH-20C I2MSH-20C6C 6.2 I2TMSH-30C I2TMSH-30C6C 8.5 I2TMSH-40C I2TMSH-40C6C 10.9 I2TMSH-50C I2TMSH-50C6C mplifier MODEL # (B)* nalog/digital Input I2TDH- 10E 15E 20E 30E 50E Motor & mplifier Item Class Stock Note: 24V DC brakes for I2TMSH servomotors are standard. Contact a local source for 24V DC power supplies. For technical information, request I2T manual number I2T-SI-S * For more detailed I2TDH amplifier specifications and dimensions, refer to pages I2TMSH Servomotors 87

88 200V Three-phase Servo Systems Pre-wired Cable Selection Use the table below to select pre-wired cables for your I2TMSH servomotor. Cable Description (C) Motor Size (kw) without Brake Part Number* with Brake Comments Item Class Power Cable with L-type Connectors (IP67) Encoder Cable (incremental or absolute) (IP67) 1.0, 1.5, 2.0 B1E-##() B1BE-##() 3.0 B2E-##() B2BE-##() 4.0, 5.0 B3E-##() B3BE-##() JZSP-CMP02-##(B) Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in five lengths. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m I2TMSH Servomotors Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections Input/Output 1CN Cable & Transition Terminal Block ll FR-RMCT-SB UL20276-SB JUSP-T50P These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB 35mm DIN rail mountable; the cable length is 0.5m. Stock** Input/Output 1CN Cable with Pigtail Leads JZSP-CKI01-#()** Use the following key to specify required cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m * The () at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this catalog s reprinting. ** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. 88

89 200V Three-phase Servo Systems Connector Selection Use the table below to select mating connectors for your I2TMSH servomotor. Connector Description (D) MS Connector for Motor Power Cable * Motor Size (kw) 1.0, 1.5, , 4.0, 5.0 without Brake Part Number with Brake Comments MS3106B18-10S MS3106B20-15S Straight-type connector MS3108B18-10S MS3108B20-15S L-type connector MS MS Cable clamp MS3106B22-22S MS3106B24-10S Straight-type connector MS3108B22-22S MS3108B24-10S L-type connector MS MS Cable clamp MS3106B20-29S Straight-type connector MS3108B20-29S L-type connector Item Class MS Connector for Encoder Cable (incremental or absolute encoder) MS Cable clamp Stock 1CN Mating Connector ll JZSP-CKI9 2CN Encoder Mating Connector JZSP-CMP9-1 3CN Peripheral Mating Connector 5CN Connector and 1m Cable with Pigtails YSC-1 DE I2TMSH Servomotors * Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. 89

90 200V Three-phase Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your I2MSH servomotor. Component (E) Part Number Description Item Class Hand-held Digital Operator Panel JUSP-OP02-1 and JZSP-CMS00-1 Portable unit with adapter cable Stock bsolute Encoder Battery JZSP-B01 3.6V, 1000mh (lithium battery) Win Software SVWIN-100 Monitoring and set-up software for Windows 95, Windows 98, and Windows NT on a CD-ROM. Stock (vailable third quarter of 2000) I2TMSH Servomotors Software Interface Cable YS-12 External Regenerative Unit (Optional) JUSP-R04 Pre-wired 2.0m cable with 9-pin connector These are general purpose regenerative units. Order the Motion document: PI#99004 for setup instructions for this unit. Stock Caution: Proper set-up is necessary to avoid equipment damage I2TDH-10E X5061 DC Reactor (for suppressing harmonics in the power supply) I2DH-15E I2TDH-20E I2DH-30E I2TDH-50E X5060 X5059 X5068 Limited Stock * For an alternate solution, specify the individual resistor part number RH500N25_OHMK in necessary series or parallel connection. Refer to the I2TDH servo amplifier section of this catalog for additional specifications, and the Series Servo System User s Manual I2T-SI-S ) for proper resistor sizing guidelines. 90

91 200V Three-phase Servo Systems CE Pre-wired Cable Selection Use the table below to select shielded pre-wired cables for your I2MSH servomotor. These are suitable for IP67 environments. Use the standard encoder cable MS listed on page 89. Cable Description (C) Motor Size (kw) without Brake Part Number* with Brake Comments Item Class Power Cable with Connectors (IP67) 1.0, 1.5, 2.0 B1CE- () B1BCE- () Use the following key to specify required cable length (last digit of part number): 03. 3m B3BCE- () 05: 10: 5m 10m (standard) B3CE- () 15: 20: 15m 20m 3.0 B2CE- () Limited Stock * The () at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this catalog s reprinting. CE/IP67 Connector Selection Use the table below to select mating connectors for your I2TMSH servomotor. Connector for Motor Power Cable** Connector Description (D) Connector for Encoder Cable (incremental or absolute encoder) Motor Size (kw) 1.0, 1.5, , 4.0, 5.0 ll without Brake CE SD-B-BS CE (D265) CE SD-B-BS CE (D265) Part Number* CE NSW and CE20B-S CE (D265) with Brake CE SD-B-BS CE (D265) CE SD-B-BS CE (D265) Comments L-type connector Cable clamp L-type connector Cable clamp L-type connector (plug and back shell) Cable clamp (for diameters to 0.394in) Item Class Limited Stock I2MSH Servomotors * Conn ectors are manufactured by DDK and listed here with the largest standard cable clamp available. ** Choose the connector and the associated cable clamp for a complete assembly. The connectors listed in the table are suitable for IP67 environments. 91

92 200V Three-phase Servo Systems NOTES: I2TMSH Servomotors 92

93 100/200V Servo Systems I2TDH Servo mplifier - For Speed, Torque, & Position Control With Incremental or bsolute Encoder For dditional Information Page(s) Single-phase Three-phase I2DH Ratings & Specifications I2TDH Dimensions ccessories I2DH Internal Connections Peripherals I2MH Servo System I2MPH Servo System I2TMPH Gearmotor I2MGH Servo System I2TMGH Gearmotor I2TMSH Servo System Design Features 1. Improved Performance Higher bandwidth response (400Hz speed loop frequency response) Positioning settling time shortened to 1/2 to 1/3 Smooth control at low rpm made possible by servomotors high resolution feedback 2. Easy Operation ll-in-one model (speed, torque, and position control) PC monitoring function available including graphical tuning and file storage daptive-tuning function Online auto-tuning Multi-axis communication provided as standard One PC can communicate with up to 14 I2TDH units by parameter setting Built-in parameter setting device On-board storage of alarm history utomatic determination of motor settings at connection 3. dditional functionality with ready-to-install option boards Serial networking capacity Full closed loop (optional position feedback) Single axis motion controller (future) 4. Certified International Standards UL, cul listed (File #: E147823), CE compliance I2TDH Servo mplifiers 93

94 100/200V Servo System Model Number Designation I2TDH Servo mplifier Rated Output Power Supply : 200V B: 100V I2TDH - E Options S: Single Phase* Model E: Speed, Torque, and Position Control * Only required for single-phase sizes 08 and 15. mplifier Model Capacity kw (HP) (0.04) (0.07) (0.13) (0.27) (0.54) (1.0) (2.0) (6.7) (1.0) (1.3) (2.0) (2.7) (4.0) (6.2) (8.0) (10) 1 11 (15) 1E 15 (20) C Supply Phases 1 3 I2DH Servo mplifiers 94

95 100/200V Servo Systems I2DH mplifier Ratings and Specifications Basic Specifications Speed/Torque Control Mode Location Performance Input Signal Input Power Supply Main Circuit * Control Circuit * Control Mode Feedback mbient/storage Temperature ** 0 to 55 C / -20 to 85 C mbient/storage Humidity 90% or less (no-condensing) Speed Regulation *** Speed Reference Torque Reference Contact Speed Reference Vibration/Shock Resistance 4.9m/s 2 /19.6m/s 2 Structure Speed Control Range Load Regulation Voltage Regulation Temperature Regulation Three-phase (or single-phase) 200 to 230V ac +10% to -15%, 50/60 Hz, or single-phase 100 to 115V ac +10% to -15%, 50/60 Hz Single-phase 200 to 230V ac (or 100 to 115V ac ) +10% to -15%, 50/60 Hz Three-phase, full-wave rectification IGBT PWM (sinusoidal commutation) Serial incremental encoder, absolute encoder Base mounted (duct ventilation available as option) and flat mount type 1 : 5000 (The lowest speed of the speed control range is the speed at which the servomotor will not stop with a rated torque load.) 0% to 100%: 0.01% max. (at rated speed) Rated voltage ±10% : 0% (at rated speed) 25 ± 25 C : 0.1% maximum (at rated speed) Frequency Characteristics 400Hz (at J L = J M ) ccel/decel Time Setting 0 to 10s (Can be set individually for acceleration and deceleration). Reference Voltage **** Input Impedance ±6V DC (variable setting range: ±2 to ±10V DC ) at rated speed (forward rotation with positive reference); input voltage: ±12V (maximum) pproximately 14kΩ Circuit Time Constant - Reference Voltage **** ±3V DC (Variable setting range: ±1 to ±10V) at rated torque (forward rotation with positive reference), input voltage: ±12V DC (maximum) Input Impedance pproximately 14kΩ Circuit Time Constant pproximately 47µs Rotation Direction Selection Uses P control signal Speed Selection Forward/reverse rotation current limit signals are used (1st to 3rd speed selection). When both signals are OFF, the motor stops or enters another control mode. Notes: * The power voltage must not exceed 230V +10% (253V). If it is likely that it will exceed this limit, use a step-down transformer. For types I2TDH-08E-S and I2DH-15E-S, voltage is 200 to 230V + 10% -5%. ** Use the servo amplifier within the ambient temperature range. When enclosed, the temperatures inside the cabinet must not exceed the specified range. *** Speed regulation is defined as follows: ( no-load motor speed - full-load motor speed) Speed regulation = x100% rated motor speed **** Forward is clockwise viewed from the non-load side of the servomotor, (counterclockwise viewed from the load and shaft end). I2DH Servo mplifiers 95

96 100/200V Servo System Ratings and Specifications (cont d) Positioning Control Mode Performance Input Signal Position Output Bias Setting 0 to 450rpm (setting resolution: 1rpm) Feed-forward Compensation 0 to 100% (setting resolution: 1%) Position Complete Width Setting Reference Signal Type Pulse Buffer Pulse Frequency Control SIgnal Built-in Open Collector Power Supply * Output Form Frequency Dividing Ratio 0 to 250 reference units (setting resolution: 1 reference unit) Sign + pulse train, 90 phase difference 2-phase pulse (phase + phase B), or CCW + CW pulse train Line driver (+5V level), open collector (+5V or +12V level) Maximum 500/200kpps (line driver/open collector) CLER (input pulse form identical to reference pulse) +12V (With built-in 1kW resistor) Phases, B and C: Line driver output Phase S: Line driver output (Only when absolute encoder is used) ny I/O Signals Sequence Input Sequence Output Configurable: (ny 3 of these signals) Servo ON, P control (or forward/reverse rotation in contact input speed control mode), forward rotation prohibited (P-OT), reverse rotation prohibited (N-OT), alarm reset, forward rotation current limit, and reverse rotation current limit (or contact input speed control) Servo alarm, 3-bit alarm codes Positioning complete (speed coincidence), servomotor rotating, servo ready, current limit, brake release, warning, and near position signals I2TDH Servo mplifiers Built-in Functions Note: * Dynamic Brake (DB) ctivated at main power OFF, servo alarm, servo OFF or overtravel Incorporated. For 60 to 1 types, external regenerative resistor must be Regenerative Processing mounted. Overtravel (OT) Prevention Motor decelerates or coasts to a stop, or is stopped by a dynamic brake. Overcurrent, overload, regenerative error, main circuit voltage error, heat Protection sink overheat, power open phase, overflow, overspeed, encoder error, encoder disconnected, overrun, CPU error, parameter error. POWER, CHRGE, five 7-segment LEDs (built-in digital operator functions) LED Display Built-in analog monitor connector to observe speed, torque, and other reference signals nalog Monitor (5CN) Speed:1V/1000rpm Torque1V/rated torque Pulses remaining:0.05v/reference units or 0.05V/100 reference units Digital operator (mount type or hand-held) Interface RS422 port such as person computer (RS-232C port can be used if some conditions are met). 1 : N Communication N can be up to 14 when RS-422 port is used. xis ddress Setting Set via user parameters Status display, user constant setting, monitor display, alarm traceback display, jogging, autotuning, speed/torque reference signals, other graphing Functions functions, etc. Reverse rotation connection, home position search, automatic servomotor Others ID, DC reactor connection terminal for high power supply frequency control. Communication The built-in open collector power supply is not electrically isolated from the control circuit in the servo amplifier. 96

97 100/200V Servo Systems Dimensions in inches (mm) I2TDH Servo mplifier (Standard) I2DH-3E to -02E (200V Single-phase, 30 to 200W) and I2TDH-3BE to -01BE (100V Single-phase, 30 to 100W) ### 0.32 (8) Terminal block MODE/SET DT/ (3 types) CHRGE POWER CN3 L1 C N 3 L (160) 0.24 (6) 2 L1C L2C B1 B2 U V W I2TDH C N 1 C N (106) 1.54 (39) CN1 CN2 Ground terminal x M4 screws 0.24 (10) (6) 2.17 (55) 2.95 (75) 5.12 (130) Mounting Hole Diagram 0.22 (5.5) 2 x M4 screw holes 0.28 (7) 3.60 (91.5) 5.89 (149.5) ±0.020 (0.5) (Mounting pitch) 0.67 (17) 0.20 (5) 0.20 (5) 1.97 (50) Connectors on the amplifier (supplied): pproximate mass: 1.76lb (0.8kg) Connector Symbol Servo mplifier Receptacle Manufacturer CN JL 3M Company CN Molex Co. CN JL 3M Company User needs to obtain the following: Connector Symbol Mating Connector Manufacturer 1CN VE connector case 3M Company 2CN Molex Co. 3CN JEZ-9S connector J-C9-2C case JST Company I2TDH Servo mplifiers 97

98 100/200V Servo System I2TDH-04E (200V Single-phase, 400W) and I2DH-02BE (100V Single-phase, 200W) 2-Φ0.20 (Φ5) holes (8) I2TDH 6.30 (160) Terminal block (3 types) MODE/SET CHRGE L1 L2 1 2 L1C L2C B1 B2 DT/ POWER C N 3 C N (106) 1.54 (39) CN3 CN1 CN2 U V W C N 2 Ground terminal 2 x M4 screws 0.39 (10) 0.24 (6) 0.20 (5) 2.95 (75) 0.24 (6) 2.95 (75) 5.12 (130) Mounting Hole Diagram 0.28 (7) 3.60 (91.5) 0.22 (5.5) 2 x M4 screw holes I2TDH Servo mplifiers 5.89 (149.5) ±0.020 (0.5) (Mounting pitch) 0.20 (5) ) 2.48 (63) 0.67 (17) Mating connectors: see page 97. pproximate mass: 2.43lb (1.1kg) 98

99 100/200V Servo Systems I2TDH-05E to -10E (200V Three-phase, 0.5 to 1.0kW) I2DH-08E-S (200V* Single-phase, 750W)## ir flow 2-Φ0.20 (Φ5) holes 6.30 (160) Terminal block (3 types) ir flow 0.24 (6) I2TDH MODE/SET DT/ CHRGEPOWER L1 L2 L3 1 2 L1C L2C B1 B2 B3 U V W C N 3 C N 1 C N (106) 1.54 (39) 0.31 (8) CN3 CN1 CN2 Ground terminal 2 x M4 ir flow screws 1.38 (35) 0.39 (10) 0.59 (15) 2.17 (55) 3.54 (90) 2.95 (75) 7.09 (180) Mounting Hole Diagram 0.22 (5.5) 0.28 (7) 5.57 (91.5) 2 x M4 screw holes 5.89 (149.5) ±0.020 (0.5) (Mounting pitch) 0.20 (5) 1.06 (27) 2.48 (63) 0.67 (17) ir flow pproximate mass: 3.75lb (1.7kg) Mating connectors: see page 97. I2TDH Servo mplifiers * Rating 200 to 230V ac +10% -5% 99

100 100/200V Servo System I2DH-15E (200V Three-phase, 1.5kW) 2-Φ0.20 (Φ5) holes Heat sink ir flow 0.31 (8) I2TDH 6.30 (160) MODE/SET CHRGE L1 L2 1 2 L1C L2C B1 B2 U V DT/ POWER C N 3 C N (106) 1.54 (39) CN3 CN1 CN2 W C N (5) Ground terminal 2 x M4 screws ir flow 4.33 (110) Terminal block (3 types) 2.95 (75) 7.09 (180) 0.16 (4) Mounting Hole Diagram 0.22 (5.5) 2 x M4 screw holes 0.28 (7) 5.57 (141.5) 5.89 (149.5) ±0.020 (0.5) (Mounting pitch) Cooling fan I2TDH Servo mplifiers 0.20 (5) 0.20 (5) 3.94 (100) ±0.020 (0.5) (Mounting pitch) 0.20 (5) pproximate mass: 6.17lb (2.8kg) Mating connectors: see page

101 100/200V Servo Systems I2TDH-20E, 30E (200V Three-phase, 2.0kW, 3.0kW) I2TDH-15E-S (200V Single-phase, 1.5 kw)* 2-Φ0.24 (Φ6) holes Heat sink ir flow (8) I2TDH 9.84 (250) B2 B3 U MODE/SET CHRGE CN3 CN1 CN2 DT/ POWER 7.72 (196) 1.54 (39) CN3 CN1 CN2 V W Ground terminal 2 x M4 screws ir flow 14-pin terminal M4 mounting screws 2.95 (75) 7.09 (180) 0.16 (4) 0.24 (6) 4.33 (110) Mounting Hole Diagram 0.24 (6) 4 x M5 screw holes 0.28 (7) 5.57 (141.5) 9.39 (238.5) ±0.020 (0.5) (Mounting pitch) 0.22 (5.5) 0.20 (5) 3.94 (100) ±0.020 (0.5) (Mounting pitch) 0.20 (5) (100 ) 1.57 (40) Cooling fan pproximate mass: 8.38lb (3.8kg) Mating connectors: see page 97. I2TDH Servo mplifiers * Rating: 200 to 230V ac +10%, -5% 101

102 100/200V Servo System I2DH-50E (200V Three-phase, 5.0kW) 2 Φ0.24 (Φ6) holes Heat sink 6-pin terminal M5 mounting screw L1 L2 L (8) I2TDH-50E Ver. MODE/SET DT/ CHRGE POWER C N 3 C N 1 200V 1.54 (39) 5-pin terminal M6 mounting screws CN3 CN (250) L1C L2C B1 B1 B1 C N 2 CN2 U V W Ground terminal 2 M4 screws 5.31 (135) 2.95 (75) 9.06 (230) 3-pin terminal M5 mounting screws Cover (not shown) hinges from this line, closing over the left side of the front. Mounting Hole Diagram 9.39? (238.5) ±0.020 (0.5) 0.24 Mouting pitch (6) 4 x M5 screw holes (100 ) 0.28 (7) 7.54 (191.5) I2DH Servo mplifiers 0.22 (5.5) 0.20 (5) 4.92 (125) 0.20 ±0.020 (0.5) (5) (Mounting pitch) 3.27 (8.3) pproximate mass: 12.12lb (5.5kg) Mating connectors: see page

103 100/200V Servo Systems I2TDH-60E, I2TDH-75E (200V Three-phase, 6.0kW, 7.5kW) 10 (0.39) Cooling fan ir flow (282.6) 3.96 (100.5) 0.98 (25) SERVOPCK 200V I2TDH- Ver. 51 (2.01) 4.33 (110) CN (66) 0.49 (12.5) CN1 Control circuit terminal M (46) CN2 CN8 CN5 L1 L2 L3 B1 + - B2 U V W 0.31 (8) Main circuit terminal 4.92 (125) maximum (350) CN10 Control circuit terminal 0.83 (21) Main circuit terminal 1.54 (39) 8.31 (211.1) 0.35 (9) 4.86 (123.4) (19) (41) (65.6) 9 x 0.75 (19) = 6.75 (171) 1.11 maximum 9.06 (230) (28.3) Ground terminal 1.06 (27) 3.45 (87.7) Ground terminal 4.20 (106.8) maximum 9.25 (235) ir flow Mounting Hole Diagram 0.30 (7.5) 4 x M5 screw holes (335) (Mounting pitch) 0.30 (7.5) 0.98 (25) 7.09 (180) (Mounting pitch) 0.98 (25) 3.54 (90) 5.71 (145) View pproximate Mass: 31.5lb (14.3kg) I2TDH Servo mplifiers Mating connectors: see page

104 100/200V Servo System I2TDH-1E, I2TDH-1EE (200V Three-phase, 11.0kW, 15.0kW) (7.5) 0.28 (7) 0.39 (10) Cooling fan 9.69 (246) ir flow 200V I2TDH Ver (140) CN (8) maximum (450) (320) M4 Control circuit terminal CN1 DT CN2 M4 Mounting screws (435) 1.53 (39) CN (36) 0.35 (9) L1 L2 L B1 B2 U V W 0.28 (7) 5.28 (134) 2.05 (52) (268) M5 Main circuit terminal Mounting Hole Diagram 0.28 (7) 2.91 (74) (7.5) M8 Ground terminal 0.94(24) (117) (19) (285) Main circuit/control circuit terminal M8 Ground terminal 0.68 (17) 4.92 (125) ir flow 0.30 (7.5) View : I2TDH Servo mplifiers (435) 5.59 (142) 8.23 (209) 8.74 (2.22) (271) pproximate mass: 31.53lb (14.3kg) 0.30 (7.5) 1.18 (30) 0.28 (7) 7.87 (200) 1.18 (30) Mating connectors: see page

105 100/200V Servo Systems Regenerative Resistance (JUSP-R ) Type JUSP-R (180) For I2TDH-60D 8.66 (220) Type JUSP-R (250) 11.8 (300) For I2TDH-75 to 1D 13.2 (335) 13.8 (350) M4 Ground terminal M5 Main circuit terminal Current resistance 220W 25Ω (x 8) 11.8 (30) 13.2 (335) 11.8 (30) 13.8 (350) 3.62 (92) pproximate mass: 8.82lb (4kg) 3.74 (95) Earth ground M4 screw External terminal M5 screw Current resistance 220W 25Ω (x 8) pproximate mass: 15.4lb (7kg) External Regenerative Resistors Regenerative resistors for servo amplifiers are internally or externally mounted, as shown in the following table. They can be mounted externally on all servo amplifiers, but are especially effective when regenerative energy exceeds the servo amplifier s capacity. When mounted externally, be sure to remove the jumper between B2 and B3, which deactivates the internal regenerative resistor. Important: External regeneration resistor sizing and amplifier set-up will be important for proper operation. pplicable Servo mplifier 200V Singlephase 200V Threephase 100V Singlephase Regenerative Resistor Mounted in a Servo mplifier Resistance (Ω) I2TDH-02BE * Capacity prior to derating. ** Provided externally by JUSP-R04 *** Provided externally by JUSP-R05 Capacity* (W) Minimum llowable Resistance (Ω) I2TDH-3E I2TDH-5E I2TDH-01E I2TDH-02E 40 I2TDH-04E I2TDH-08E-S I2TDH-15E-S I2TDH-05E 40 I2TDH-08E I2TDH-10E I2TDH-15E I2TDH-20E 25 I2TDH-30E I2TDH-50E I2TDH-60E 6.25** 880** 5.8 I2TDH-75E I2TDH-1E 3.13*** 1760*** 2.9 I2TDH-1EE I2TDH-3BE I2TDH-5BE I2TDH-01BE 40 I2TDH Servo mplifiers 105

106 100/200V Servo System Regenerative Resistance The following table provides guidelines by example for the selection of regenerative resistors. Please consult the Design and Maintenance section of the I2TM"H/I2TDH User s Manual (No. I2T-SI-S ) for a more detailed description of the selection procedure. RH (80) 0.18 (4.5) 1.57 (40) 9.84 (250) 9.21 (234) 8.58 (218) 2 - M (3) 2.36 (60) 2 - Φ0.18 (Φ4.5) Lead wire: L = (450) Rated power: 300W Resistance value: 25Ω Regenerative Resistor Specifications for RH500N25_OHMK I2TDH Servo mplifiers Tolerance H: ±3%, J: ±7%, K: ±10% Temperature Characteristics ±400PPM/ C, ±260PPM/ C (20Ω or higher) Withstand Voltage R at 200V ac applied for one minute: ±(0.1% Ω) Insulation Resistance 500V dc, 20MΩ or higher Short-term Overload R with ten times the rated power applied for five seconds: ±(2% Ω) Service Life R in 1000 hours at rated power 90 minutes ON and 30 minutes OFF (±5% +0.05Ω) Inflammability Fire does not occur with 10 times the rated power applied for one minute. mbient Temperature Range -25 to 150 C Resistor Tolerance K = ± 10% 106

107 100/200V Servo Systems Control of Harmonic Frequency in the Power Supply Circuit If harmonic frequency control is needed in the power supply, connect a DC reactor between terminals (+) 1 and (+) 2 on the servo amplifier s main circuit. Use the following table as a guide for selection of the appropriate reactor. pplicable Servo mplifier 100V 200V Reactor Specifications Impedance (mh) Rated Current () Reactor Model I2TDH-3BE I2TDH-5BE I2TDH-01BE X5063 I2TDH-02BE X5062 I2TDH-3E I2TDH-5E I2TDH-01E X5071 I2TDH-02E X5070 I2TDH-04E X5069 I2TDH-08E-S X5079 I2TDH-15E-S X5078 I2TDH-05E I2TDH-08E X5061 I2TDH-10E I2TDH-15E I2TDH-20E X5060 I2TDH-30E X5059 I2TDH-50E X5068 Larger size amplifiers Consult factory for availability I2TDH Servo mplifiers 107

108 /200V Servo System I2TDH Servo mplifiers DC Reactor Dimensional Drawings Reactor Model Dimensions in (mm) pproximate Mass lb (kg) B C D E F G ΦH ΦJ X (35) 2.05 (52) 3.54 (90) 4.13 (105) 1.38 (35) 1.77 (45) 1.97 (50) 0.16 (4) 0.17 (4.3) (0.6) X (40) 2.32 (59) 3.94 (100) 4.72 (120) 1.57 (40) 1.97 (50) 2.17 (55) 0.16 (4) 0.17 (4.3) (0.9) X (35) 2.05 (52) 3.15 (80) 3.73 (95) 1.38 (35) 1.77 (45) 1.97 (50) 0.16 (4) 0.17 (4.3) (0.5) X (40) 2.32 (59) 4.13 (105) 4.92 (125) 1.77 (45) 2.36 (60) 2.56 (65) 0.16 (4) 0.17 (4.3) 2.21 (1.0) X (50) 2.91 (74) 4.92 (125) 5.51 (140) 1.38 (35) 1.77 (45) 2.36 (60) 0.20 (5) 0.21 (5.3) 2.43 (1.1) X (50) 2.91 (74) 4.92 (125) 6.1 (155) 2.09 (53) 2.6 (66) 2.95 (75) 0.20 (5) 0.25 (6.4) 4.19 (1.9) X (40) 2.32 (59) 4.13 (105) (1.0) X (40) 2.32 (59) 3.94 (100) 4.72 (120) 1.38 (35) 1.77 (45) 1.97 (50) 0.16 (4) 0.17 (4.3) (0.8) X (35) 2.05 (52) 3.15 (80) 3.74 (95) 1.18 (30) 1.57 (40) 1.77 (45) 0.16 (4) 0.17 (4.3) (0.5) X (50) 2.91 (74) 4.92 (125) 6.1 (155) 2.36 (60) 2.76 (70) 3.15 (80) 0.20 (5) 0.21 (5.3) 4.41 (2.0) X (50) 2.91 (74) 4.92 (125) 5.51 (140) 1.38 (35) 1.77 (45) 2.36 (60) 0.20 (5) 0.17 (4.3) 2.65 (1.2) G B C D E F 1 2 ΦJ 4 ΦH

109 100/200V Servo Systems Typical Internal Connection Diagram 0.5kW to 1.5kW, 200V Models Three-phase 200 to +10% 250V (50\60Hz) -15% 1 B1 B2 B3 FN1 RY1 R2 2 FU1 D2 D3 D4 ±12V Noise filter P P C servomotor 1MC L1 L2 L3 XX1 XX2 XX3 R S T + - C1 + - CHRGE U V W U V W N + - Relay drive Voltage sensor Gate drive N Gate drive overcurrent protection THS1 ` ` PG PG Voltage sensor Interface *0.5 to 1.0kW, 200V models CN2 L1C L2C DC/DC converter ±5V ±15V +5V ±12V PWM generator Digital current amp SIC PG signal Divider processing Reference pulse processing Current sensor CN8 CN1 For battery connection PG output +5V Power OFF Power ON 1MC 0V Current reference calculation Position control /D Speed and torque reference input (SRY) 1MC Surge suppressor Open during servo alarm Monitor display nalog voltage converter CN5 POWER CN3 Serial port Speed control CPU I/O Sequence I/O nalog monitor output for supervision Digital operator personal computer 2.0kW to 5.0kW, 200V Models Three-phase 200 to +10% 230V (50\60Hz) -15% 1 B1 B2 B3 2 FU1 FN1 Noise filter P P ±12V C servomotor 1MC L1 L2 XX1 XX3 R S + - C1 + - CHRGE U V U V L3 XX2 T W W ` ` N + - Relay drive Voltage sensor Gate drive N Gate drive overcurrent protection DB + - ` Voltage sensor Interface Gate drive CN2 PG Power OFF L1C L2C Power ON 1MC DC/DC converter ±5V ±15V +5V ±12V +5V 0V PWM generator Digital current amp Current reference calculation SIC PG signal Divider processing Reference pulse processing Position control Current sensor /D CN8 CN1 For battery connection PG output Speed and torque reference input I2DH Servo mplifiers (SRY) 1MC Surge suppressor Open during servo alarm Monitor display nalog voltage converter CN5 POWER CN3 Serial port Speed control CPU I/O Sequence I/O nalog monitor output for supervision Digital operator personal computer 109

110 100/200V Servo System 6.0kW to 7.5kW, 200V Models Regenerative Resistor (optional) Three-phase +10% 200 to 230V (50\60Hz) -15% RY1 B1 B2 THS1 FN1 DB1 FU1 R3 PM1/PM2/PM3 Line filter 1MC L1 B1 B3 L2 R S P C1 + _ CHRGE D1 P C10 U V CT1 CT2 ±12V U V C servomotor L3 B2 C7 T N TR1 N W W ` SCR1 ` ` - + Voltage sensor isolator Relay drive Voltage sensor isolator Base drive over-current protection isolator R2 CN2 Gate drive isolator PG L1C + + ±5V CN8 Current sensor u L2C DC/DC converter ±12V PG5V SIC (PWM control, etc.) CN1 For battery connection PG output Power OFF Power ON 1MC Open during servo alarm (1RY) 1MC Surge suppressor Monitor display +5V 0V POWER CPU (position/speed calculation, etc.) /D Reference pulse input Speed and torque reference input nalog voltage converter I/O Sequence I/O CN10 CN5 CN3 Connector for output unit nalog monitor output for supervision Digital operator personal computer I2TDH Servo mplifiers 110

111 100/200V Servo Systems Connection Diagram, Single-phase Single-phase 200 to 230V ac or (50/60Hz) Single-phase 100 to 115V ac (50/60Hz) 1MCCB Noise filter Power Power larm OFF ON processing 1MC 1MC SUP Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay. 1MC L1 L2 B1 B2 B3 U V W (1) Servomotor B (2) M C (3) D (4) L1C L2C 1 2 I2TDH Servo mplifier 2CN Optical encoder PG Reference speed: ±2 to ±10V/rated motor speed (set by parameter) Torque reference: ±1 to ±10V/rated motor speed (set by parameter) Position reference Be sure to ground PULS CW phase SIGN CCW B phase CLR Open-collector reference power supply 1CN V-REF 5 P SG 6 LPF* T-REF 9 P SG 10 LPF* PULS 7 150Ω P /PULS 8 SIGN 11 P /SIGN 12 CLR 15 P /CLR 14 PL1 3 PL2 13 PL3 18 1kΩ Backup battery 2.8 to 4.5V BT (+) 21 (When using an absolute encoder). PBT (-) 22 +5V SEN SEN signal input 4 P (When using an absolute encoder). SG 2 0V +24V +24V kΩ 1Ry /S-ON 40 Servo ON with 2Ry ON 2RY /P-CON 41 P control with 2Ry ON P-LS P-OT 42 Forward run prohibited with P-LS OPEN N-LS N-OT 43 Reverse run prohibited with N-LS OPEN 3Ry /LM-RST 44 larm reset with 3Ry ON 6Ry Forward current limit ON with 6Ry ON /P-CL 45 7RY Reverse current limit ON with 7Ry ON /N-CL V /D Used only with an absolute encoder LO1 larm code maximum output: LO3 Operating voltage: 30V DC Operating current: 20m DC LO3 PO /PO PBO /PBO PCO /PCO PSO /PSO SG Be sure to properly prepare the end of the shielded wire. PG dividing ratio output pplicable line receiver SN75175 or MC3486 manufactured by T/I, or the equivalent mount of S-phase rotation Serial data output pplicable line receiver SN75175 or MC3486 manufactured by T/I, or the equivalent Speed coincidence detection 25 /V-CMP+ (ON when speed coincides) Servo ON 26 (/COIN+) /V-CMP- Positioning completed Proportional control (P control) (ON when positioning is (/COIN-) completed) Forward run 27 prohibited /T-GON+ T-GON output 28 Reverse run (ON at levels above the setting) /T-GONprohibited 29 larm reset /S-RDY+ Servo ready output 30 (ON when ready) /S-RDY- Forward current limit ON 31 LM+ Servo alarm output Reverse current 32 (OFF with an alarm) limit ON LM- Connector shell FG Connect shield to connector shell Photocoupler maximum output: Operating voltage: 30V DC Operating current: 50m DC I2TDH Servo mplifiers *The time constant for the primary filter is 47µs P: Indicates twisted wire pairs. 111

112 100/200V Servo System Connection Diagram, Three-phase Three-phase 200 to 230V ac (50/60Hz) R S T 1MCCB Noise filter Power Power larm OFF ON processing 1MC 1MC SUP Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay. 1MC L1 L2 L3 B1 B2 B3 U V W (1) Servomotor B (2) M C (3) D (4) L1C L2C 1 2 I2DH Servo mplifier 2CN Optical encoder PG I2TDH Servo mplifiers Reference speed: ±2 to ±10V/rated motor speed (set by parameter) Torque reference: ±1 to ±10V/rated motor speed (set by parameter) Position reference Be sure to ground PULS CW phase SIGN CCW B phase CLR Open-collector reference power supply *The time constant for the primary filter is 47µs 1CN V-REF 5 P SG 6 LPF* T-REF 9 P SG 10 LPF* PULS 7 150Ω P /PULS 8 SIGN 11 P /SIGN 12 CLR 15 P /CLR 14 PL1 3 PL2 13 PL3 18 Backup battery 2.8 to 4.5V (When using an absolute encoder). BT (+) 21 PBT (-) 22 +5V SEN SEN signal input 4 P (When using an absolute encoder). SG 2 0V +24V +24V kΩ 1Ry /S-ON 40 Servo ON with 2Ry ON 2RY /P-CON 41 P control with 2Ry ON P-LS P-OT 42 Forward run prohibited with P-LS OPEN N-LS N-OT 43 Reverse run prohibited with N-LS OPEN 3Ry LM-RST 44 larm reset with 3Ry ON 6Ry Forward current limit ON with 6Ry ON P-CL 45 7RY Reverse current limit ON with 7Ry ON N-CL 46 1kΩ +12V /D Used only with an absolute encoder P: Indicates twisted wire pairs. 1 LO1 larm code maximum output: LO3 Operating voltage: 30V DC Operating current: 20m DC LO3 PO /PO PBO /PBO PCO /PCO PSO /PSO SG Be sure to properly prepare the end of the shielded wire. PG dividing ratio output pplicable line receiver SN75175 or MC3486 manufactured by T/I, or the equivalent mount of S-phase rotation Serial data output pplicable line receiver SN75175 or MC3486 manufactured by T/I, or the equivalent Speed coincidence detection 25 /V-CMP+ (ON when speed coincides) Servo ON 26 (/COIN+) /V-CMP- Positioning completed Proportional control (P control) (ON when positioning is (/COIN-) completed) Forward run 27 prohibited /T-GON+ T-GON output 28 Reverse run (ON at levels above the setting) /T-GONprohibited 29 larm reset /S-RDY+ Servo ready output 30 (ON when ready) /S-RDY- Forward current limit ON 31 LM+ Servo alarm output Reverse current 32 (OFF with an alarm) limit ON LM- Connector shell FG Connect shield to connector shell Photocoupler maximum output: Operating voltage: 30V DC Operating current: 50m DC 112

113 100/200V Servo Systems Connector Terminal Block Converter Unit JUSP-T50P Servo mplifier CN1 +10% Length of cable supplied: (500) -0% 50-pin connector plug MR-50RMD2 50-pin terminal block M3.5 screws (247.5) (45) Connector Terminal Block Converter Unit JUSP-T50P* (cable included) Mounting Hole Diagram (254.2) 0.61 (15.5) 0.14 (3.5) 0.14 (3.5) 0.27 (7.0) 0.27 (7.0) (261.2) *Terminal specifications : see the following page 1.16 (29.5) 1.77 (45) I2TDH Servo mplifiers 113

114 100/200V Servo System JUSP-T50P Terminal Block Pin Numbers and Signal Names. I2DH Servo mplifiers I2TDH Servo mplifier Signal Name* SG SG PL1 SEN V-REF SG PULS /PULS T-REF SG SIGN /SIGN PL2 /CLR CLR PL3 PCO /PCO BT (+) BT (-) /V-CMP+ /V-CMP- /TGON+ /TGON- /S-RDY+ /S-RDY- LM+ LM- PO /PO BPO /PBO LO1 LO2 LO3 /S-ON /P-CON P-OT N-OT /LM-RST /P-CL /N-CL +24V IN PSO /PSO Connector Case CN1 Pin Number P P P P P P P P P P P P P P P JUSP-T50P Terminal Block Unit Connector Number 1 B1 2 B2 3 B3 4 B4 5 B5 6 B6 7 B7 8 B8 9 B9 10 B10 11 B11 12 B12 13 B13 14 B14 15 B15 16 B16 17 B17 18 B18 19 B19 20 B20 21 B21 22 B22 23 B23 24 B24 25 B25 Terminal Block Number Cable: Supplied with the terminal block P: Indicates twisted pair wires. *Preconfigured amplifier inputs and outputs are listed above as they are designated when the unit is shipped from the factory. Use the connection diagrams on the previous pages for more functional details. 114

115 Connection Diagram Connection Example 100/200V Servo Systems The following diagrams show the procedure for wiring a servo amplifier to an encoder. Connecting an encoder (CN2) and output signals from the servo amplifier (CN1) Incremental Encoders Incremental encoder C (5) D (6) P CN Servo amplifier CN1 phase B phase C phase PO /PO PBO /PBO PCO /PCO P P P PG H (1) G (2) Output line-driver SN751LS194 manufactured by T/I, or the equivalent 2-1 PG5V 2-2 PG0V pplicable line receiver SN75175 manufactured by T/I, or the equivalent 22WG 0V 1-1 SG 0V (Shell) J Shield wires Connector shell Connector shell bsolute Encoders bsolute encoder PG C (5) D (6) H (1) G (2) T (3) S (4) 22WG P Servo amplifier CN2 phase CN PO 1-34 /PO 2-5 B phase 1-35 PBO /PBO C phase 1-19 PCO 1-20 /PCO S phase 1-19 PSO 1-20 /PSO 2-1 PG5V 2-2 PG0V Output line-driver SN751LS194NS manufactured by T/I, or the equivalent 1-4 SEN 1-2 SG 1-1 SG 2-3 0V 1-21 BT(+) BT(-) P P P P P P pplicable line receiver: MC3486 or SN75175 manufactured by T/I, or the equivalent +5V 0V + - Battery I2TDH Servo mplifiers J (Shell) Shield wires Connector shell 1-50 P: Indicates twisted wire pairs. Connector shell 115

116 100/200V Servo System Overload Characteristics Servo amplifiers have a built-in overload protection function that protects the servo amplifiers and servo motors from overload. llowable power for the servo amplifiers is limited by the overload protective function, as shown in the figure below. The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40 C. 10,000 Operating Time (s) 1, B 1 Rated torque Rated torque + Maximum torque pprox. 2 Motor Torque Maximum Torque Note: The overload protection characteristics of and B in the figure are applicable when the servo amplifier is combined with one of the following servomotors: : I2TMH or I2TMPH servomotor with a maximum capacity of 400W. B: Other servomotors similar to the I2TMH, I2TMPH, I2TMGH, and I2TMSH. I2TDH Servo mplifiers 116

117 100/200V Servo Systems Cable Specifications and Peripheral Devices Ratings and specifications for peripheral devices, as well as cable specifications for servo amplifiers are summarized in the tables below. CUTION Wiring Precautions Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines at least (30cm) apart. Use twisted pair or shielded multi-core twisted pair wires for signal and encoder (PG) feedback lines. The maximum lengths for signal lines are as follows: Maximum of 9.84ft (300cm) for reference input lines. Maximum of 65.6ft (20m) for PG feedback lines. Use a cable with 164 ft (50m) specifications for distances over 65.6ft (20m). Cable Specifications The following table provides wire size specifications: for 200V External Terminal Name Main circuit power input terminals Servomotor connection terminals Control power supply terminals I2TDH Terminal Symbol L1, L2 (Single Phase) U, V, W L1C, L2C Wire Size WG [in 2 (mm 2 )] 3E 5E 01E 02E 04E 16 WG [HIV (1.25)] 16 WG [HIV (1.25)] 14 WG [0.003 (2.0)] Control I\O signal connector PG signal connector CN1 CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 WG [ (0.12)], tinned, annealed copper twisted wires Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 WG [HIV (2.0)] for 200V External Terminal Name I2TDH Terminal Symbol 08E-S Wire Size WG [in 2 (mm 2 )] 04E-S Main circuit power input terminals L1, L2 (Single Phase) 14 WG [0.003 (2.0)] 12 WG [ (3.5)] Servomotor connection terminals U, V, W Control power supply terminals L1C, L2C 16 WG [HIV (1.25)] 14 WG [0.003 (2.0)] Control I\O signal connector PG signal connector CN1 CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 WG [ (0.12)], tinned, annealed copper twisted wires Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 WG [HIV (2.0)] I2DH Servo mplifiers 117

118 100/200V Servo System Cable Specifications (cont d) for 200V External Terminal Name I2TDH Terminal Symbol Wire Size WG [in 2 (mm 2 )] 05E 08E 10E 15E 20E Main circuit power input terminals L1, L2, L3 (Three-phase) 14 WG [HIV (2.0)] Servomotor connection terminals U, V, W Control power supply terminals L1C, L2C 16 WG [HIV (1.25)] 12 WG [HIV (3.5)] Control I\O signal connector PG signal connector CN1 CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 WG [ (0.12)], tinned, annealed copper twisted wires Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 WG [HIV (2.0)] for 200V External Terminal Name Main circuit power input terminals Servomotor connection terminals I2TDH Terminal Symbol L1, L2, L3 (Three-phase) U, V, W Wire Size WG [in 2 (mm 2 )] 30E 50E 60E 75E 12 WG [HIV (3.5)] 10 WG [HIV (5.5)] 10 WG [HIV (5.5)] 8 WG [HIV (8)] 8 WG [HIV (8)] 6 WG [HIV 6 WG (14)] [HIV (14)] Control power supply terminals L1C, L2C 16 WG [HIV (1.25)] Control I\O signal connector PG signal connector CN1 CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 WG [ (0.12)] tinned, annealed copper twisted wires Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 WG [HIV (2.0)] I2TDH Servo mplifiers for 200V External Terminal Name Main circuit power input terminals I2TDH Terminal Symbol L1, L2, L3 (Three-phase) U, V, W Wire Size WG [in 2 (mm 2 )] 1E 1EE 4 WG. [HIV (14)] Servomotor connection terminals Control power supply terminals L1C, L2C 16 WG [HIV (1.25)] Control I\O signal connector CN1 Twisted pair or shielded twisted pair wires Core wire at least 28 WG [ (0.12)], tinned, annealed copper twisted wires PG signal connector CN2 Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 WG [HIV (2.0)] Notes: 1. Wire sizes were selected for three cables per bundle at 40 C ambient temperature with the rated current. 2. Use cables with a minimum withstand voltage of 600V for main circuits. 3. If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current. 4. Use heat-resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate. 118

119 100/200V Servo Systems Cable Specifications (cont d) for 100V External Terminal Name Main circuit power input terminals Servomotor connection terminals Control power supply terminals I2DH Terminal Symbol L1, L2 (Single Phase) U, V, W L1C, L2C Wire Size WG [in 2 (mm 2 )] 3BE 5BE 01BE 02BE 16 WG [HIV (1.25)] 14 WG [0.003 (2.0)] 16 WG [HIV (1.25)] Control I\O signal connector PG signal connector CN1 CN2 Twisted pair or shielded twisted pair wires Core wire at least 28 WG [ (0.12)], tinned, annealed copper twisted wires Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2. Ground terminal 14 WG [HIV (2.0)] The following table shows types of cables. It is used in conjunction with the preceding tables. Cable Type Temperature Rating of Conductor Name Composition C PVC Standard polyvinyl chloride cable IV 600V PVC cable 60 HIV Temperature-resistant vinyl cable 75 I2DH Servo mplifiers 119

120 100/200V Servo System The following table specifies the appropriate cables for CN1 and CN2 servo amplifier connectors. Wire sizes were selected with the expectation of three cables per bundle, at an ambient temperature of 40 C, at the rated current level. Connector Name Signal Description Specification Cable Use twisted pair or shielded twisted pair wire. Control I/O Signal CN1 pplicable wire (WG): 24, 26, 28, 30 Connector Finished cable Φ0.63 (Φ16.0) maximum Dimension Cable USE I2T cable, or shielded twisted pair wire. PG Signal Connector CN2 pplicable wire Finished cable Dimension (WG): 24, 26, 28, 30 Use 22 WG [0.0005in 2 (0.34mm 2 )] for the encoder power supply and 26 WG [ in 2 (0.14mm 2 )] for other signals. These conditions permit wiring distances up to 65.6ft (20m). Φ0.27 (Φ6.8) maximum I2TDH Servo mplifiers 120

121 100/200V Servo Systems Peripheral Device Types and Capacities Main Circuit Power Supply I2TDH- Singlephase 100V Singlephase 200V Threephase 200V mplifier Model Capacity (kw) Control Power Required (W) pplicable Servomotor Capacity per Servo mplifier (kv) Power Supply Rated Main Power ( rms ) Maximum Inrush Current ( rms ) MCCB or Fuse Capacity* ( rms ) Recommended Noise Filter** * Size per local code requirements. Typical fuse interrupting characteristics at 25 C: 200% for 2s minimum; 700% for 0.01s minimum. ** The Fn$$$$ noise filter is manufactured by Schaffner Corporation. Specifiactions are available at: Model BE I2TMH-3B BE I2TMH-5B Fn2070-6/07 I2TMH-01B BE I2TMPH-01B I2TMH-02B BE Fn /07 I2TMPH-02B E I2TMH E I2TMH E I2TMH-01 I2TMPH Fn2070-6/ E I2TMH-02 I2TMPH I2TMH E I2TMPH Fn / E-S 15 I2TMH-08 I2TMPH Fn / E-S I2TMPH Fn350-30/ E I2TMGH-05O E E E E E E E I2TMH-08 I2TMPH-08 I2TMGH-09O I2TMSH-10 I2TMPH-15 I2TMGH-13O I2TMSH-15 I2TMGH-20O I2TMSH-20 I2TMGH-30O I2TMSH Fn258L-16/ Fn258L-30/07 I2MGH-44 I2TMSH I2TMGH Fn258L-42/ E I2TMGH Fn258L-55/ E I2TMGH FS EE I2TMGH-1E Specifications Single-phase 250V ac 6 Single-phase 250V ac 10 Single-phase 250V ac 6 Single-phase 250V ac 10 Single-phase 250V ac 16 Single-phase 250V ac 30 Three-phase 480V ac 16 Three-phase 480V ac 30 Three-phase 480V ac 42 Three-phase 480V ac 55 Three-phase 250V ac 150 Motor Magnetic Contactor (10) or equivalent (20) or equivalent 35 or equivalent (8) or equivalent (20) or equivalent (35) or equivalent 50 or equivalent 65 or equivalent 75 or equivalent 100 or equivalent I2TDH Servo mplifiers 121

122 100/200V Servo System Peripheral Device Manufacturers J.S.T. Corporation 1957 South Lakeside Drive Waukegan, Illinois Phone (847) Molex (Headquarters) (Note: not selling 2CN serial encoder connector in the US) 2222 Wellington Court Lisle, Illinois Phone: (630) Fax: (630) (Connector information is not available from Molex or I2T For literature requests or Molex support for the 2CN connector, the Chicago area distributor is: Tim Conkle at TTI Phone: (847) Schaffner 9b Fadem Rd. Springfield, New Jersey Phone: (973) (800) Fax: (973) TDK Corporation of merica 1600 Feehanville Dr. Mount Prospect, Illinois Phone: (847) Fax: (847) Tokin merica 155 Nicholson Lane San Jose, California Phone: (408) I2TDH Servo mplifiers 122

123 400V Three-phase Servo Systems General Purpose I2TMGH Servomotors - With Incremental / bsolute Encoder Rated Output: 0.45kW, 0.85kW, 1.3kW, 1.8kW, 2.9kW, 4.4kW, 5.5kW, 7.5kW, 11kW, 15kW. I2TMGH Servomotors For dditional Information I2TMGH Ratings & Specifications I2TMGH Speed/Torque Curves I2TMGH Dimensions I2TMGH Selection/Ordering Information I2TDH (400V) Ratings & Specifications I2TDH Dimensions Page(s) Design Features 1. Compact! Small sized motor Compatible with previous generation G series motors Ten types of rated outputs ranging from 0.79 to 1988in lb of peak torque Optional built-in holding brake available 2. Higher Speed and acceleration! Up to 3,000rpm maximum! High torque to inertia ratio 3. Encoders! 17-bit incremental encoder (standard)! 17-bit absolute encoder (optional) 4. Enhanced Environmental Resistance! Totally enclosed, self-cooled IP67 (excluding shaft)! Shaft seal (optional) 5. pplication Emphasis! Machine tools and woodworking machines! Packaging machines! Gantry robots! Press automation! Thermoforming 6. Certified International Standards! UL, cul recognized (File #: E165827) CE compliance 123

124 400V Three-phase Servo Systems I2TMGH Servomotors Servomotor Ratings and Specifications Time Rating: Insulation: Vibration: Withstand Voltage: Insulation Resistance: Continuous Class F 15µm or less 1500V ac 10MΩ minimum at 500V DC Enclosure: Totally-enclosed, self-cooled IP67 (except for shaft opening) mbient Temperature: 0 to 40ºC mbient Humidity: 20 to 80% (non-condensing) Rated Speed*: 1500rpm * Values when the servomotor is combined with an I2TDH servo amplifier. Instantaneous Maximum Speed*: 0.45 to 7.5kW: 3000rpm 11 and 15kW: 2000rpm Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted mplifier System Voltage 400V ac Rated Output* kw (hp) N m Rated Torque* lb f in (kg f cm) Instantaneous Peak Torque* N m lb f in (kg f cm) Rated Current* rms MOTORS: I2TMGH- Instantaneous Maximum Current* 05D" 0.45 (0.6) (29) (91) D" 0.85 (1.1) (55) (141) D" 1.3 (1.7) (85) (238) D" 1.8 (2.4) (117) (293) D" 2.9 (3.9) (190) (460) D" 4.4 (5.9) (290) (725) D" 5.5 (7.4) (357) (894) D" 7.5 (10) (490) (1210) D" 11 (15) (714) (1790) ED" 15 (20) (974) (2290) rms * Values when the servomotor is combined with an I2TDH servo amplifier. Torque Constant lb f in rms N m rms ( ) Moment of Inertia Capacity Torque Holding Brake (at 20 C) Coil. Resistance Rated Current lb in s kg f m W N m W Inductive Time Constant dditional Inertia MOTORS I2TMGH- llowable Load Inertia Rated Power Rate* Inertia Time Constant Rated ngular cceleration* lb in s kg f m kw/s rad/s 2 ms ms 05D" 14.5 (1.64) D" 14.6 (1.65) D" 14.9 (1.68) D" 12.9 (1.46) D" 14.7 (1.66) D" 16.0 (1.82) D" 15.6 (1.76) D" 16.4 (1.86) D" 22.0 (2.5) ED" 23.4 (2.64) * Values when the servomotor is combined with an I2TDH servo amplifier at an armature winding temperature of 100 C. ** These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes: Type 05D" to 13D": (in) ( (mm)) Type 20D" to 75D": (in) ( (mm)) Type 1D" to 1ED": (in) ( (mm)) 124

125 400V Three-phase Servo Systems Speed / Torque Curves SPEED (rpm) 400V I2TMGH-05DO I2TMGH-09DO I2TMGH-13DO B SPEED (rpm) B SPEED (rpm) B I2TMGH Servomotors TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) I2TMGH-20DO I2TMGH-30DO I2TMGH-44DO SPEED (rpm) B SPEED (rpm) SPEED (rpm) 2000 B B TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) I2TMGH-55DO I2TMGH-75DO I2TMGH-1DO 3000 SPEED (rpm) B SPEED (rpm) B SPEED (rpm) B TORQUE (N m) TORQUE (lb in) I2TMGH-1EDO TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) SPEED (rpm) B TORQUE (N m) TORQUE (lb in) 125

126 400V Three-phase Servo Systems Dimensions in inches (mm) (1) 17-Bit Incremental/bsolute Encoder I2TMGH Servomotors 3.94 (100) LT L LL LM LG LE LR S* LC LH LC ΦL LR LE Q QK T LB** W U S KL (88) KB1 KB LZ MTG Holes IE Type I2TMGH- L LL LM LR LT KB1 KB2 IE KL1 Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK W T U pproximate Mass lb f (kg) 05D"61 09D" (19) (5) (5) (3) 16.8 (490) (196) (219) (138) (161) (92) (115) (65) (58) (117) (46) 0.75 (88) 0.20 (140) 0.20 (109) 0.12 (145) (5.5) (110) 110 (130) (6) (12) (165) (9) (40) (25) (7.6) D"61 (243) (185) (139) (112) (164) (22) (6) (6) (3.5) (9.6) (686) D"61 (245) (166) (119) (89) (145) (14) (1176) 30D" (271) (192) (145) (79) (47) (115) (171) (140) (35) (76) (60) (10) (18) D" (1470) (305) (226) (179) (149) (205) (200) (114.3) (180) (3.2) 0.71 (230) (23) 55D" (18) 0.53 (8) (5) 66.1 (373) (260) (213) 4.45 (174) (239) (13.5) (30) 75D" (113) (125) (150) (447) (334) (287) (47) (248) (313) (42) (12) (40) (1764) 1D" (110) (90) 127 (454) (338) (291) 4.57 (251) (317) (57.5) 1ED" (116) (142) (168) (235) (200) (220) (4) 0.79 (270) (573) (457) (388) (69) (343) (435) (20) (55) (16) (10) (6) (86) (4998) Note: 1. I2TMGH-05D# to 44D# do not contain eyebolts. 2. Dimensions are the same when using either incremental or absolute encoders. 3. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm , , llowable Radial Load lb f (N) llowable Thrust Load lb f (N) 22 (98) 77 (343) 110 (490) 132 (588) 485 (2156) 126 Encoder Plug M B L T N P C K D J S R E H G F MS P Connector Wiring on the Encoders K B L C Data + M D Data - N E P F R G 0V S Battery (Note*) H +5V dc T Battery + (Note*) J FG (Frame Ground) *Note: Used with an absolute encoder only. Non-Environmental Mating Connector: MS3108B20-29S (L Type) MS3106B20-29S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Motor Side U Phase B V Phase C W Phase D Ground Terminal

127 400V Three-phase Servo Systems (2) 17-Bit Incremental/bsolute Encoder, With Brake 0.5 to 4.4kW (0.7 to 5.9hp) KL (100) KL2 L LL LR LT LM LG LE KB1 KB3 KB2 S LC LB LC IE LZ MTG Holes LH L W T U LR LE QK Q S I2TMGH Servomotors Type I2TMGH- L LL LM LR LT KB1 KB2 KB3 KL1 KL2 05D"6C (234) (176) (129) 09D"6C (257) (199) (152) 13D"6C (281) (223) (176) 20D"6C (296) (217) (170) 30D"6C (322) (243) (196) 44D"6C (356) (277) (230) Note: Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG LH ΦLZ ΦS* Q QK W T U 2.56 (65) 6.1 (155) 4.29 (109) (58) 3.46 (88) 7.01 (178) 5.20 (132) 4.29 (109) 5.71 (145) 4.33 (110) 5.12 (130) 0.24 (6) 0.47 (12) 6.5 (165) 0.35 (9) (19) 1.57 (40) 0.98 (25) (5) (5) (3) (47) (112) 3.50 (202) 7.72 (156) (88) (22) (6) (6) (3.5) (89) (196) (137) (79) (115) (222) (163) (140) (200) (114.3) (180) (3.2) (18) (230) (13.5) (35) (76) (60) (10) (8) (5) (149) (256) (196) 1. Dimensions are the same when using other incremental encoders. 2. Tolerances on the dimensions LB of flange type and S of shaft extensions are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. pproximate Mass lb f (kg) llowable Radial Load lb f (N) 16.5 (7.5) (490) (9.6) (12) 686) (19) (1176) 51.8 (23.5) (1470) (28.5) llowable Thrust Load lb f (N) 22 (98) 77 (343) 110 (490) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance , in , mm Plug for Holding Brake C B MS310210SL-3P Connector Wiring on the Brake, Motor Side Brake Terminal B Brake Terminal C Non-Environmental Mating Connector: MS310810SL-3S (L Type) Cable Clamp: MS Plug for Motor D o o C o o B Connector Wiring on the Motor Side U Phase B V Phase C W Phase D FG (Frame Ground) 127

128 400V Three-phase Servo Systems 5.5 to 15kW (7.4 to 20hp) L LL LR W I2TMGH Servomotors 100 (3.94) LT LM LG LE S* LB** LC LH LC L T U LR LE QK S KL1 KL3 KL2 IE Q KB1 KB3 KB2 4 - LZ MTG Holes Type I2TMGH- L LL LM LR LT KB1 KB2 KB3 IE KL1 KL2 KL3 55D"6C (424) (311) (113) 75D"6C (498) (385) (338) 1D"6C (499) (383) (340) 4.57 (116) 1ED"6C (635) (519) (473) Note: Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG LH ΦLZ ΦS* Q QK W T U (174) (290) (231) (47) (125 (150) (123) (200) (114.3) (180) (3.2) 0.71 ((230) (248) (364) (305) 3.46 (18) 0.53 (42) (12) (8) (5) (88) (13.5) (110) (90) (43) (258) (362) (315) (142) (168) (142) (235) (200) (220) (4) 0.79 (270) (46) (343) (497) (415) (20) (55) (16) (10) (6) 1. Dimensions are the same when using either incremental or absolute encoders. 2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. pproximate Mass lb f (kg) 77.2 (35) (45.5) 145 (65.5) (86) llowable Radial Load lb f (N) 397 (1764) 1125 (4998) llowable Thrust Load lb f (N) 132 (588) 485 (2156 Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in mm Plug for Holding Brake C B MS310210SL-3P Connector Wiring on the Brake, Motor Side Brake Terminal B Brake Terminal C Non-Environmental Mating Connector: MS310810SL-3S (L Type) MS310610SL-3S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Power, Motor Side U Phase B V Phase C W Phase D Ground Terminal 128

129 400V Three-phase Servo Systems Selecting Your I2TMGH Servo System Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages. System Configuration I2TMGH Servomotors Digital Operator (E) 3CN Peripheral Signal Connector (D) 1CN I/O Signal Connector (D) I2TDH mplifier (B) Regenerative Unit (E) 5CN For Monitor (D) Connector for Encoder Signal (D) Encoder side Connector (D) 2CN Encoder Cable (C) Motor Cable (C) Optional Holding Brake I2TMGH Servomotor () Motor side Connector (D) Shaft Keyway Shaft Seal Specify a technical manual, if it is needed, on your servo system purchase order: Series Servo System User s Manual: I2T-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). Model Number Designation I2TMGH - 09 D C 6 C I2T Servomotor Type Rated Output 05: 500W (0.7hp) 09: 850W (1.14hp) 13: 1.3kW (1.7hp) 20: 2.0kW (2.7hp) 30: 3.0kW (4.0hp) 44: 4.4kW (6.0hp) 55: 5.5kW (7.5hp) 75: 7.5kW (10hp) 1: 11.0kW (15hp) 1E: 15kW (20hp) Power Supply D: 400V ccessories 1: Standard C: 24V DC Brake S: Shaft Seal E: Brake and Shaft Seal Shaft Specifications 6: Straight Shaft with Keyway Rated Speed : 1500rpm Encoder Specifications C: 17-Bit Incremental Encoder 2: 17-Bit bsolute Encoder 129

130 400V Three-phase Servo Systems Servomotor & mplifier Selection I2TMGH Servomotors Use the table below to select the appropriate I2TMGH servomotor and amplifier. Description 400V 3-Phase 17-bit Incremental Encoder Straight Shaft with Keyway 3000rpm maximum** MS Connectors Peak Torque (in lb) Rated Torque (in lb) Motor Inertia (in lb s 2 x 10-3 ) Motor MODEL Number () 6.41 I2TMGH-05DC I2TMGH-05DC6C I2TMGH-09DC I2TMGH-09DC6C 18.2 I2MGH-13DC I2TMGH-13DC6C 28.1 I2TMGH-20DC I2TMGH-20DC6C 40.7 I2MGH-30DC I2TMGH-30DC6C 59.8 I2TMGH-44DC I2TMGH-44DC6C mplifier MODEL # (B)* nalog/digital Input I2TDH- 05DE 10DE 15DE 20DE 30DE 50DE 78.8 I2TMGH-55DC61 60DE Requires 86.6 I2MGH-55DC6C Regenerative Unit (E) 111 I2MGH-75DC61 75DE Requires 119 I2TMGH-75DC6C Regenerative Unit (E) 249 I2TMGH-1DC61 1DE Requires 267 I2TMGH-1DC6C Regenerative Unit (E) 279 I2TMGH-1EDC61 1EDE Requires 309 I2MGH-1EDC6C Regenerative Unit (E) Motor and mplifier Item Class Stock Stock Limited Stock Stock Limited Stock Note: 24V DC brakes for I2TMGH servomotors are standard. Contact a local source for 24V DC power supplies. For technical information, request I2T manual number I2T-SI-S * For more detailed I2TDH amplifier specifications and dimensions, refer to pages **2000rpm maximum for 11 and 15kW systems only. 130

131 400V Three-phase Servo Systems Pre-wired Cable Selection Use the table below to select pre-wired cables for your I2MGH servomotor. Cable Description (C) Power Cable with Connectors (IP67) Power Cable for Holding Brake (IP67) Encoder Cable (incremental or absolute) (IP67) Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections Motor Size (kw) Part Number* 0.5, 0.9, 1.3 BE- () 2.0, 3.0, 4.4 BBE- () 5.5, 7.5, 11 BDE- () 15 B5E- () ll B7BCE- () JZSP-CMP02- (B) FR-RMCT-SB UL20276-SB Comments Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in five lengths. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB Item Class Stock** I2TMGH Servomotors Input/Output 1CN Cable & Transition Terminal lock JUSP-T50P 35 mm DIN rail mountable; the cable length is 0.5m. Input/Output 1CN Cable with Pigtail Leads JZSP-CKI01- () Use the following key to specify needed cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m * The () at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this catalog s reprinting. ** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. 131

132 400V Three-phase Servo Systems Connector Selection I2MGH Servomotors Use the table below to select mating connectors for each I2TMGH servomotor. Connector Description (D) MS Connector for Motor Power Cable* MS Connector for Brake Power Cable MS Connector for Encoder Cable (incremental or absolute encoder) Motor Size (kw) Part Number Comments 0.5, 0.9, , 3.0, , 7.5, 11, 15 MS3106B18-10S MS3108B18-10S MS MS3106B22-22S MS3108B22-22S MS MS3106B32-17S MS3108B32-17S MS MS310810SL-3S MS MS3106B20-29S MS3108B20-29S MS Straight-type connector L-type connector Cable clamp Straight-type connector L-type connector Cable clamp Straight-type connector L-type connector Cable clamp L-type connector Cable clamp Straight-type connector L-type connector Cable clamp Item Class 1CN Mating Connector JZSP-CKI9 Can use 1CN for analog speed and torque monitor service checks. Stock ll 2CN Encoder Mating Connector JZSP-CMP9-1 3CN Peripheral Mating Connector YSC-1 5CN Connector and 1m Cable with Pigtails DE * Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. For example, L-type connector MS3108B18-10S is compatible with cable clamp MS MS connectors listed in the table are non-environmental. 132

133 400V Three-phase Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for each I2TMGH servomotor. Component (E) Part Number Description Item Class I2TMGH Servomotors Hand-held Digital Operator Panel JUSP-OP02-1 and JZSP-CMS00-1 Portable unit with 1m adapter cable Stock Software Interface Cable YS-12 Pre-wired 2.0m cable with 9-pin connector bsolute Encoder Battery JZSP-B01 3.6V, 1000mh (Lithium Battery) Win Software SVWIN-100 Monitoring and set-up software for Windows 95, Windows 98, and Windows NT on a CD-ROM. Stock (vailable third quarter of 2000) Regenerative Unit (880W) for 6.0 and 7.5kW amplifier JUSP-R18 These are general purpose regenerative units. Regenerative Unit (1760W) for 11 and 15kW amplifiers JUSP-R19 Order the Motion document: PI#99004 for setup instructions for this unit. Caution: Proper set-up is necessary to avoid equipment damage. Stock For 400V: I2DH-05DE X5074 DC Reactor (for suppressing harmonics in the power supply) For 400V: I2DH-10DE I2TDH-15DE X5075 For 400V: I2TDH-20DE I2TDH-30DE X5076 For 400V: I2DH-50DE X5077 Limited Stock Larger capacity amplifiers Check factory for availability. 133

134 400V Three-phase Servo Systems CE Pre-wired Cable Selection I2TMGH Servomotors Use the table below to select shielded pre-wired power cables for your I2MGH servomotor. Cable Description (C) Power Cable with Connectors (IP67) Power Cable for Holding Brake (IP67) Motor Size (kw) Part Number* 0.5, 0.9, 1.3 BCE-##() 2.0, 3.0, 4.4 BBCE-##() 5.5, 7.5, 11 BDCE-##() Comments Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m Item Class Limited Stock 15 B5CE-##() ll B7BCE-##() Limited Stock * The () at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this catalog s reprinting. CE Connector Selection Use the table below to select mating connectors for your I2TMGH servomotor. Connector Description (D) Motor Size (kw) Part Number Comments** Item Class 0.5, 0.9, 1.3 CE SD-B-BS CE (D265) L-type connector Cable clamp (for diameters to 0.555in) Connector for Motor Power Cable* 2.0, 3.0, 4.4 CE SD-B-BS CE (D265) CE SD-B-BS L-type connector Cable clamp (for diameters to 0.630in) L-type connector 5.5, 7.5, 11, 15 or CE SD-B-BSS CE or Straight-type connector Cable clamp (for diameters to 0.937in) Limited Stock Connector for Holding Brake CE05-810SL-3SC-B-BS and CE (D265) L-type connector for holding brake and Cable clamp (for diameters to 0.220in) Connector for Encoder Cable (incremental or absolute encoder) ll CE NSW and CE20B-S or CE (D265) L-type connector (plug and back shell) or Cable clamp (for diameters to 0.394in) * Choose the connector and the associated cable clamp for a complete assembly. The connectors listed in the table are suitable for IP67 environments. ** Connectors are manufactured by DDK and listed here with the largest standard cable clamp available. 134

135 400V Three-phase Servo Systems p Higher rpm Power Rate Series I2TMSH/UH Servomotors - With Incremental / bsolute Encoder Rated Output: 1.0kW, 1.5kW, 2.0kW, 3.0kW, 4.0kW, 5.0kW For dditional Information Page(s) I2TMSH/UH Ratings & Specifications I2MSH/UH Speed/Torque Curves I2TMSH Dimensions I2TMUH Dimensions I2TMSH/UH Selection/Ordering Information I2TMSH/UH Optional CE Selection I2DH Ratings & Specifications I2TDH Dimensions I2TMSH/UH Servomotors Design Features 1. Compact Small sized motor Eight frame sizes: up to 422in lb peak torque 2. Higher Speed Rated Speed: 3000rpm Maximum Speed: Up to 6000rpm (I2TMUH only) 3. Encoders 17-bit incremental encoder standard 17-bit absolute encoder (option) 4. Enclosure Totally enclosed, self-cooled IP67 (excluding shaft) IP67 with shaft seal (option) 5. pplication Emphasis High torque to inertia ratio Chip mounters PCB drilling machines Robots Conveyors Packaging 6. Certified International Standards UL, cul recognized (File #: E165827), CE compliance 135

136 400V Three-phase Servo Systems Servomotor Ratings and Specifications Time Rating: Continuous Insulation: Class F Vibration: 15µm or less Withstand Voltage: 1500V ac, 1800V ac * Insulation Resistance:10MΩ minimum at 500V DC * I2TMUH models only. Enclosure: Totally-enclosed, self-cooled IP67 (except for shaft opening) mbient Temperature:0 to 40ºC mbient Humidity: 20 to 80% (non-condensing) Rated Speed: 3000rpm, 6000rpm* Instantaneous Maximum Speed: 5000, 6000rpm* Excitation: Permanent magnet Drive Method: Direct drive Mounting: Flange-mounted Painting Color: Muncell notation N1.5 mplifier Systems Voltage Type MOTORS: Rated Output* Rated Torque* Instantaneous Peak Torque* Rated Current* Instantaneous Maximum Current* Number kw (hp) N m lb in (kg f cm) N m lb in (kg f cm) (rms) (rms) 10D" 1.0 (1.3) (32.4) (97.2) I2TMSH/UH Servomotors 400V ac I2TMSH- 15D" 1.5 (2.0) (50) (150) D" 2.0 (2.7) (65) (195) D" 3.0 (4.0) (100) (300) D" 4.0 (5.4) (129) (387) D" 5.0 (6.7) (161) (486) I2TMUH-** 10D" 1.0 (1.3) (16.2) (66.18) D" 3.0 (4.0) (50) (218.3) ** Only the I2TMUH models are available wi th a ma i mum speed of 6000rpm. MOTORS: Torque Constant Moment of Inertia Capacity Torque Holding Brake (at 20 C) Coil Resistance Rated Current dditional Inertia llowable Load Inertia Rated Power Rate* Rated ngular cceleration* Inertia Time Constant Inductive Time Constant Type Number lb f in rms lb f in s 2 2 kg f m W N m W lb f in s kg f m kw/s rad/s 2 ms ms 10D" D" D" D" D" C" I2TMSH- I2TMUH- 10D" D" * These items and torque-speed characteristics quoted in combination with an I2TDHservo amplifier at an armature winding temperature of 20 C. Note: These characteristics can be obtained when the following heat sinks (steel plates) are used for cooling purposes: Type 10D" to 20D": ( (in)) ( (mm)) Type 30D" to 50D": ( (in)) ( (mm))

137 Speed / Torque Curves 400V Three-phase Servo Systems 400V I2TMSH-10D I2TMSH-15D MSH-20D SPEED (rpm) B SPEED (rpm) B SPEED (rpm) B SPEED (rpm) TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) TORQUE (N m) I2TMSH-30D I2TMSH-40D MSH-50D B TORQUE (N m) TORQUE (lb in) SPEED (rpm) B TORQUE (N m) TORQUE (lb in) SPEED (rpm) B TORQUE (N m) TORQUE (lb in) I2TMSH/UH Servomotors I2TMUH-10D MUH-30D SPEED (rpm) B SPEED (rpm) B TORQUE (N m) TORQUE (lb in) TORQUE (N m) TORQUE (lb in) : CONTINUOUS B : INTERMITTENT DUTY ZONE DUTY ZONE 137

138 400V Three-phase Servo Systems I2MSH Dimensions in inches (mm) (1) 17-bit Incremental or bsolute Encoder L LL LR LT LM LG LE LC 3.94 (100) S LH L LR LE Q QK LB LC S KL (8) I2MSH Servomotors Type I2TMSH- KL1 L LL LM LR LT KB1 KB2 KL1 KL2 10D# (194) (149) (103) 15D# (220) (175) (129 ) 20D# (243) (198) (152) 30D# (262) (199) (153 ) 40D# (299) (236) (190) 50D# (339) (276) (230) Note: KB2 KB LZ MTG Holes Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK pproximate Mass lb f (kg) llowable Radial Load lb f (N) (4.6) (76) (128) (5.8) (45) (102) (154) (96) (87) (115) (95) (100) (3) (10) (130) (7) (24) (40) (32) (7.0) 1.81 (125) (177) (46) (11) (122) (178) (14) (63) (159) (215) (114) (87) (145) (110) (130) (6) (12) (165) (9) (28) (55) (50) (17) (199) (255) 1. Dimensions are the same when using either incremental or absolute encoders. 2. Tolerances on the dimensions of flange type LB and shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering (7) 154 (686) 220 (980) 265 (1176) 0.16 (4) llowable Thrust Load lb f (N) 44 (196) 88 (392) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in , , mm , , Encoder Plug M B L N P C K D J S R E H G F MS P Connector Wiring on the Incremental Encoders K B L C Data + M D Data N E P F R G 0V S Battery (Note*) H +5V dc T Battery + (Note*) J FG (Frame Ground) *Note: Used with an absolute encoder only. Non-Environmental Mating Connector: MS3108B20-29S (L Type) MS3106B20-29S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Motor Side U Phase B V Phase C W Phase D Ground Terminal 138

139 400V Three-phase Servo Systems (2) 17-bit Incremental or bsolute Encoder, with Brake 3.94 (100) LT L LL LM LG LE LR S LC LH LC L T W U LR LE QK W = 0.31 (8) T = 0.28 (7) U = 0.16 (4) KL1 KL3 KL2 LB IE Q KB1 KB3 KB LZ MTG Holes S I2TMSH Servomotors Type I2TMSH- 10D#6C 9.37 (238) 15D#6C (264) 20D#6C 11.3 (287) L LL LM LR LT KB1 KB2 KB3 KL1 KL2 KL3 7.6 (193) 8.62 (219) 9.53 (242) 5.79 (147) 1.77 (45) (173) (45) 7.72 (196) 30D#6C (300) (237) (191) D#6C (274) (228) (337) D#6C (314) (268) Note: 1.77 (45) 2.48 (63) 1.81 (46) 2.99 (76) 6.77 (172) 4.72 (120) (102) (198) (146) (125) (221) (169) ) 4.80 (122) 8.50 (216) 6.69 (170) 378 (96) 4.49 (114) 3.46 (88) 3.35 (85) 3.86 (98) Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK 4.53 (115) 5.71 (145) 3.74 (95) 4.33 (110) 3.94 (100) 5.12 (130) 0.12 (3) 0.24 (6) 0.39 (10) 0.47 (12) 5.12 (130) 6.5 (165) 0.28 (7) 0.35 (9) 0.94 (24) 1.1 (28) 1.57 (40) 2.17 (55) 1.26 (32) 1.96 (50) pproximate Mass lb f (kg) 13.2 (6.0) 16.5 (7.5) 18.7 (8.5) llowable Radial Load lb f (N) 154 (686) (14) (980) 37.5 (17) (1176) (20) 1. Dimensions are the same when using either incremental or absolute encoders. 2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. llowable Thrust Load lb f (N) 44 (196) 88 (392) Plug for Holding Brake C B MS310210SL-3P Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in , , mm , , Connector Wiring on the Brake, Motor Side Brake Terminal B Brake Terminal C Non-Environmental Mating Connector: MS310810SL-3S (L Type) MS310610SL-3S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Motor Side U Phase B V Phase C W Phase D Ground Terminal 139

140 400V Three-phase Servo Systems I2TMUH Dimensions in inches (mm) (1) 17-bit Incremental or bsolute Encoder L LL LR LT LM LG LE LC 3.94 (100) S LH L LR LE Q QK LB LC S KL (8) I2TMUH Servomotors KL1 KB2 KB LZ MTG Holes 0.28 (7) 0.16 (4) Type I2MUH- L LL LM LR LT KB1 KB2 KL1 KL2 Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK pproximate Mass lb f (kg) D#61 (194) (149) 5.87 (103) (76) (128) (45) 1.81 (96) 3.46 (130) (110) (116) 0.14 (10) (150) (4.6) (9) (24) (40) (32) 15D#61 (220) (175) (129) (46) (102) (154) (88) (3.5) 12.8 (5.8) D#61 (262) (202) 7.95 (156) (60) (127) (181) 7.13 (114) (165) (130) 5.12 (155) (12) (190) (11) (11) (28) (55) (50) Note: 1. Dimensions are the same when using either incremental or absolute encoders. 2. Tolerances on the dimensions of flange type LB and shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. llowable Radial Load lb f (N) 110 (490) 154 (686) llowable Thrust Load lb f (N) 22 (98) 44.1 (196) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in , mm , Encoder Plug M B L N P C K D J S R E H G F MS P Connector Wiring on the Incremental Encoders K B L C Data + M D Data N E P F R G 0V S Battery (Note*) H +5V dc T Battery + (Note*) J FG (Frame Ground) *Note: Used with an absolute encoder only. Non-Environmental Mating Connector: MS3108B20-29S (L Type) MS3106B20-29S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Motor Side U Phase B V Phase C W Phase D Ground Terminal 140

141 400V Three-phase Servo Systems (2) 17-bit Incremental or bsolute Encoder, with Brake 3.94 (100) LT L LL LM LG LE LR S LC LH LC L T W U LR LE QK W = 0.31 (8) T = 0.28 (7) U = 0.16 (4) LB KL1 KL3 KL2 IE Q KB1 KB3 KB LZ MTG Holes S I2TMUH Servomotors Type I2MUH- 10D#6C (238) D#6C (264) 30D#6C (300) Note: L LL LM LR LT KB1 KB2 KB3 KL1 KL2 KL3 Flange Dimensions Shaft End Dimension ΦL ΦLB** LC LE LG ΦLH ΦLZ ΦS* Q QK pproximate Mass lb f (kg) llowable Radial Load lb f (N) 13.2 (6.0) (490) (7.5) (14) (686) 7.6 (193) 5.79 (147) (76) 6.77 (172) 4.72 (120) (219) 6.81 (173) (45) (46) 4.02 (102) 7.80 (198) 5.75 (146) (96) 3.46 (88) (85) (130) (110) (116) (3.5) (10) (150) (9) (24) (40) (32) (237) (191) (60) (122) (216) (170) (114) (98) (165) (130) (155) (6) (12) (190) (11) (28) (55) (50) 1. Dimensions are the same when using either incremental or absolute encoders. 2. Tolerances on the dimensions of flange type LB and of shaft extensions S are based on JIS (Japanese Industrial Standard) B0401 Limits and Fits for Engineering. llowable Thrust Load lb f (N) 22 (98) 44 (196) Specified Tolerances Dimension *ΦS **ΦLB Unit Diameter Tolerance Diameter Tolerance in , mm , Plug for Holding Brake C B MS310210SL-3P Connector Wiring on the Brake, Motor Side Brake Terminal B Brake Terminal C Non-Environmental Mating Connector: MS310810SL-3S (L Type) MS310610SL-3S (Straight Type) Cable Clamp: MS Motor Plug D C B Connector Wiring on the Motor Side U Phase B V Phase C W Phase D Ground Terminal 141

142 400V Three-phase Servo Systems Selecting Your I2TMSH/UH Servo System Use the diagram below to locate and identify the components of your system. Each item is lettercoded and cross-referenced in the option tables on the following pages. I2TMSH/UH Servomotors System Configuration Digital Operator (E) 3CN Peripheral Signal Connector (D) 1CN I/O Signal Connector (D) I2TDH mplifier (B) Regenerative Unit (E) For Monitor (D) Connector for Encoder Signal (D) 2CN 5CN Encoder side Connector (D) Encoder Cable (C) Motor Cable (C) Optional Holding Brake I2TMSH/UH Servomotor () Motor side Connector (D) Shaft Keyway Specify a technical manual, if it is needed, on your servo system purchase order: Series Servo System User s Manual: I2T-SI-S (Manual is provided at no charge with a purchase order, but it must be requested). Shaft Seal Model Number Designation I2TMOH - 10 D C 6 1 Servomotor Type I2TMSH: 5000rpm I2TMUH: 6000rpm Rated Output 10: 1.0kW (1.3hp) 15: 1.5kW (2.0hp) 20: 2.0kW (2.7hp) 30: 3.0kW (4.0hp) 40: 4.0kW (5.4hp) 50: 5.0kW (6.7hp) Power Supply D: 400V ccessories 1: Standard C: 24V DC Brake S: Shaft Seal E: Shaft Seal and Brake Shaft Specifications 6: Straight Shaft with Keyway Rated Speed : Revision Level Encoder Specifications C: 17-bit Incremental Encoder 2: 17-bit bsolute Encoder 142

143 400V Three-phase Servo Systems Servomotor & mplifier Selection Use the table below to select the appropriate I2MSH or I2TMUH servomotor and amplifier. Description 400V, 3-Phase 17-bit Incremental Encoder Straight Shaft with Keyway 5000rpm maximum MS Connectors 400V, 3-Phase 17-bit Incremental Encoder Peak Torque (in lb) Rated Torque (in lb) Motor Inertia (in lb s 2 X 10-3 ) Motor MODEL # () 1.54 I2TMSH-10DC I2TMSH-10DC6C 2.19 I2TMSH-15DC I2TMSH-15DC6C 2.82 I2MSH-20DC I2TMSH-20DC6C 6.2 I2TMSH-30DC I2TMSH-30DC6C 8.5 I2TMSH-40DC I2TMSH-40DC6C 10.9 I2TMSH-50DC I2TMSH-50DC6C mplifier MODEL # (B)* nalog/digital Input I2TDH- 10DE 15DE 20DE 30DE 50DE I2TMUH-10DC61 10DE Motor and mplifier Item Class Stock I2TMSH/UH Servomotors Straight Shaft with Keyway 6000rpm maximum I2TMUH-30DC61 30DE MS Connectors Note: 24V DC brakes for I2MUH and I2MSH servomotors are standard. Contact a local source for 24V DC power supplies. For technical information, request I2T manual number I2T-SI-S * For more detailed I2TDH amplifier specifications and dimensions, refer to pages

144 400V Three-phase Servo Systems Pre-wired Cable Selection Use the table below to select pre-wired cables for your I2TMSH/UH servomotor. Cable Description (C) Motor Size (kw) Part Number* Comments Item Class 1.0, 1.5, 2.0 BE-##() I2TMSH/UH Servomotors Power Cable with L-type Connectors (IP67) Power Cable with Holding Brake (IP67) Encoder Cable (incremental or absolute) (IP67) Encoder Cable (for applications up to 20m) Only for Solder Connections Encoder Cable (for applications from >20 to <50m) Only for Solder Connections 3.0 BBE-##() 4.0, 5.0 BDE-##() ll B7BCE-##() JZSP-CMP02-##(B) FR-RMCT-SB UL20276-SB Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in five lengths. Use two digits in the part number s last place: 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m These cables are available in any length. For example, to order one FR-RMCT-SB cable, 16m long, specify: quantity: 16 part no.: FR-RMCT-SB Stock** Input/Output 1CN Cable & Transition Terminal Block JUSP-T50P 35mm DIN rail mountable; the cable length is 0.5m. Input/Output 1CN Cable with Pigtail Leads JZSP-CKI01-#() Use the following key to specify required cable length (last digit of part number): 1: 1m (standard) 2: 2m 3: 3m * The () at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this catalog s reprinting. ** Standard cable lengths are Stock items; non-standard cable lengths are Limited Stock items. 144

145 400V Three-phase Servo Systems Connector Selection Use the table below to select mating connectors for your I2MSH/UH servomotor. Connector Description (D) MS Connector for Motor Power Cable* MS Connector for Brake Power Cable MS Connector for Encoder Cable (incremental or absolute encoder) Motor Size (kw) 1.0, 1.5, , 4.0, 5.0 ll Part Number MS3106B18-10S MS3108B18-10S MS MS3106B22-22S MS3108B22-22S MS MS SL-3S MS MS3106B20-29S MS3108B20-29S MS Comments Straight-type connector L-type connector Cable clamp Straight-type connector L-type connector Cable clamp L-type connector Cable clamp Straight-type connector L-type connector Cable clamp Item Class Stock I2TMSH/UH Servomotors 1CN Mating Connector ll JZSP-CKI9 2CN Encoder Mating Connector JZSP-CMP9-1 3CN Peripheral Mating Connector 5CN Connector and 1m Cable with Pigtails YSC-1 DE * Choose either a straight or L-type connector and the associated cable clamp for a complete assembly. For example, L-type connector MS3108B18-10S is compatible with cable clamp MS MS connectors listed in the table are non-environmental. 145

146 400V Three-phase Servo Systems Peripheral Device Selection Use the table below to select peripheral devices for your I2TMSH/UH servomotor. Component (E) Part Number Description Item Class Hand-held Digital Operator Panel JUSP-OP02-1 and JZSP-CMS00-1 Portable unit with adapter cable Stock I2TMSH/UH Servomotors bsolute Encoder Battery JZSP-B01 3.6V, 1000mh (lithium battery) Win Software SVWIN-100 Monitoring and set-up software for Windows 95, Windows 98, and Windows NT on a CD-ROM. Stock (vailable third quarter of 2000) Software Interface Cable YS-12 Pre-wired 2.0m cable with 9-pin connector These are general purpose regenerative units. External Regenerative Unit (Optional) JUSP-R04 Order the Motion document: PI#99004 for setup instructions for this unit. Stock Caution: Proper set-up is necessary to avoid equipment damage. DC Reactor (for suppressing harmonics in the power supply) I2DH-10DE I2TDH-15DE I2TDH-20DE I2TDH-30DE Large Capacity mplifiers X5075 X5076 Check factory for avialability Limited Stock 146

147 400V Three-phase Servo Systems CE Pre-wired Cable Selection Use the table below to select shielded pre-wired cables for your I2TMSH/UH servomotor. These are suitable for IP67 environments. Use the standard encoder cable listed on page 70. Cable Description (C) Motor Size (kw) Part Number* Comments Item Class Power Cable with Connectors (IP67) Power Cable for Holding Brake (IP67) 1.0, 1.5, 2.0 BCE-##() 3.0 BBCE-##() 4.0, 5.0 ll BDCE-##() B7BCE-##() Use the following key to specify needed cable length (last two digits of the part number): 03: 3m 05: 5m 10: 10m (standard) 15: 15m 20: 20m * The () at the end of the cable number indicates the revision level. The revision level may be subject to change prior to this catalog s reprinting. Limited Stock I2TMSH/UH Servomotors CE/IP67 Connector Selection Use the table below to select mating connectors for your I2MSH/UH servomotor. Connector Description (D) Motor Size (kw) Part Number Comments** Item Class Connector for Motor Power Cable* 1.0, 1.5, , 4.0, 5.0 CE SD-B-BS CE (D265) CE SD-B-BS CE (D265) L-type connector Cable clamp (for diameters to 0.555in) L-type connector Cable clamp (for diameters to 0.630in) Connector for Holding Brake Connector for Encoder Cable (incremental or absolute encoder) ll CE05-810SL-3SC-B-BS and CE (D265) CE NSW and CE20B-S CE (D265) L-type connector for holding brake Cable clamp (for diameters to 0.220in) L-type connector (plug and back shell) Cable clamp (for diameters to 0.394in) Limited Stock * Choose the connector and the associated cable clamp for a complete assembly. The connectors listed in the table are suitable for IP67 environments. ** Connectors are manufactured by DDK and listed here with the largest standard cable clamp available. 147

148 400V Three-phase Servo Systems NOTES: I2TMSH/UH Servomotors 148

149 400V Servo Systems I2TDH Servo mplifier- For Speed, Torque, & Position Control With Incremental or bsolute Encoder For dditional Information I2DH Ratings & Specifications I2DH Dimensions ccessories I2TDH Connections Peripherals I2TMGH Servo System I2MSH/UH Servo System Page(s) V Three-phase Design Features 1. Improved Performance! Higher bandwidth response (400Hz speed loop frequency response)! Positioning settling time shortened to 1/2 to 1/3! Smooth control at low rpm made possible by servomotors high resolution feedback 2. Easy Operation! ll-in-one model (speed, torque, and position control)! PC monitoring function available including graphical tuning and file storage! daptive-tuning function Online auto-tuning! Multi-axis communication provided as standard One PC can communicate with up to 14 I2DH units by parameter setting! Built-in parameter setting device! On-board storage of alarm history! utomatic determination of motor settings at connection 3. dditional functionality with ready-to-install option boards! Serial networking capacity! Full closed loop (optional position feedback)! Single axis motion controller 4. Certified International Standards! UL, cul listed (File #: E147823), CE compliance I2TDH Servo mplifiers 149

150 400V Servo Systems Model Number Designation s I2TDH Servo mplifier Rated Output I2TDH - D E Model E: Speed, Torque, and Position Control Power Supply D: 400V I2DH Servo mplifiers mplifier Model Capacity kw (HP) (0.67) (1.3) (2.0) (2.7) (4.0) (6.7) (8.0) (10) 1 11 (15) 1E 15 (20) C Supply Phases 3 150

151 400V Servo Systems I2TDH mplifier Ratings and Specifications Input Power Supply Main Circuit Control Circuit Three-phase 380 to 480V ac +10% to -15%, 50/60 Hz, 24V DC +10% to ±15%, 1 (maximum) Basic Specifications Speed/Torque Control Mode Control Mode Feedback Location Performance mbient/storage Temperature * 0 to 55 C / -20 to 85 C mbient/storage Humidity 90% or less (no-condensing) Speed Regulation ** Three-phase, full-wave rectification IGBT PWM (sinusoidal commutation) Serial incremental encoder, absolute encoder Vibration/Shock Resistance 4.9m/s 2 /19.6m/s 2 Structure Base mounted (duct ventilation available as option) and flat mount type Speed Control Range 1 : 5000 (The lowest speed of the speed control range is the speed at which the servomotor will not stop with a rated torque load.) Load Regulation 0% to 100%: 0.01% max. (at rated speed) Voltage Regulation Rated voltage ±10% : 0% (at rated speed) Temperature Regulation 25 ± 25 C : 0.1% maximum (at rated speed) Frequency Characteristics 400Hz (at J L = J M ) ccel/decel Time Setting 0 to 10s (Can be set individually for acceleration and deceleration). Input Signal Speed Reference Torque Reference Contact Speed Reference Reference Voltage *** ±6V DC (variable setting range: ±2 to ±10V DC ) at rated speed (forward rotation with positive reference); input voltage: ±12V (maximum) Input Impedance pproximately 14kW Circuit Time Constant Reference Voltage *** ±3V DC (Variable setting range: ±1 to ±10V) at rated torque (forward rotation with positive reference), input voltage: ±12V DC (maximum) Input Impedance pproximately 14kΩ Circuit Time Constant pproximately 47µs Rotation Direction Selection Uses P control signal Speed Selection Forward/reverse rotation current limit signals are used (first to third speed selection). When both signals are OFF, the motor stops or enters another control mode. I2TDH Servo mplifiers Notes: * Use the servo amplifier within the ambient temperature range. When enclosed, the temperatures inside the cabinet must not exceed the specified range. ** Speed regulation is defined as follows: ( no-load motor speed - full-load motor speed) Speed regulation = x100% rated motor speed *** Forward is clockwise viewed from the non-load side of the servomotor, (counterclockwise viewed from the load and shaft end). 151

152 400V Servo Systems Ratings and Specifications (cont d) Positioning Control Mode I/O Signals Performance Input Signal Position Output Bias Setting 0 to 450rpm (setting resolution: 1rpm) Feed-forward Compensation 0 to 100% (setting resolution: 1%) Position Complete Width Setting Reference Signal Type Pulse Buffer Pulse Frequency Control SIgnal Built-in Open Collector Power Supply * Output Form Frequency Dividing Ratio Sequence Input Sequence Output 0 to 250 reference units (setting resolution: 1 reference unit) Sign + pulse train, 90 phase difference 2-phase pulse (phase + phase B), or CCW + CW pulse train Line driver (+5V level), open collector (+5V or +12V level) Maximum 500/200kpps (line driver/open collector) CLER (input pulse form identical to reference pulse) +12V (With built-in 1kW resistor) Phases, B and C: Line driver output Phase S: Line driver output (Only when absolute encoder is used) ny Servo ON, P control (or forward/reverse rotation in contact input speed control mode), forward rotation prohibited (P-OT), reverse rotation prohibited (N-OT), alarm reset, forward rotation current limit, and reverse rotation current limit (or contact input speed control) Servo alarm, 3-bit alarm codes Configurable: (ny 3 of these signals) Positioning complete (speed coincidence), servomotor rotating, servo ready, current limit, brake release, warning, and near position signals I2TDH Servo mplifiers Built-in Functions Dynamic Brake (DB) ctivated at main power OFF, servo alarm, servo OFF or overtravel Regenerative Processing Incorporated. For 60 to 1 types, external regenerative resistor must be mounted. Overtravel (OT) Prevention Motor decelerates or coasts to a stop, or is stopped by a dynamic brake. Overcurrent, overload, regenerative error, main circuit voltage error, heat sink Protection overheat, power open phase, overflow, overspeed, encoder error, encoder disconnected, overrun, CPU error, parameter error. LED Display POWER, CHRGE, five 7-segment LEDs (built-in digital operator functions) Built-in analog monitor connector to observe speed, torque, and other reference signals nalog Monitor (5CN) Speed: 1V/1000rpm Torque 1V/rated torque Pulses remaining: 0.05V/reference units or 0.05V/100 reference units Digital operator (mount type or hand-held) Interface RS422 port such as person computer (RS-232C port can be used if some conditions are met). 1 : N Communication N can be up to 14 when RS-422 port is used. xis ddress Setting Set via user parameters Status display, user constant setting, monitor display, alarm traceback display, Functions jogging, autotuning, speed/torque reference signals, other graphing functions, etc. Others Reverse rotation connection, home position search, automatic servomotor ID, DC reactor connection terminal for high power supply frequency control. Communication Note: * The built-in open collector power supply is not electrically isolated from the control circuit in the servo amplifier. 152

153 400V Servo Systems I2TDH-05DE, -10DE, -15DE (400V Three-phase, 0.5kW to 1.5kW) 2-Φ0.20 (Φ5) holes Heat sink ir flow 0.31 (8) I2TDH 6.30 (160) MODE/SET CHRGE L1 L2 1 2 L1C L2C B1 B2 U V DT/ POWER C N 3 C N (106) 1.54 (39) CN3 CN1 CN2 W C N (5) Ground terminal 2 x M4 screws ir flow 4.33 (110) Terminal block (3 types) 2.95 (75) 7.09 (180) 0.16 (4) Mounting Hole Diagram 0.22 (5.5) 2 x M4 screw holes 0.28 (7) 5.57 (141.5) 5.89 (149.5) ±0.020 (0.5) (Mounting pitch) Cooling fan I2TDH Servo mplifiers 0.20 (5) 0.20 (5) 3.94 (100) ±0.020 (0.5) (Mounting pitch) 0.20 (5) pproximate mass: 6.17lb (2.8kg) Connectors on the amplifier (supplied): Connector Symbol Servo mplifier Receptacle Manufacturer CN JL 3M Company CN Molex Co. CN JL 3M Company User needs to obtain the following: Connector Symbol Mating Connector Manufacturer 1CN VE connector case 3M Company 2CN Molex Co. 3CN JEZ-9S connector J-C9-2C case JST Company 153

154 400V Servo Systems I2DH-20DE, 30DE (400V Three-phase, 2.0kW, 3.0kW) 2-Φ0.24 (Φ6) holes Heat sink ir flow (8) I2TDH 9.84 (250) B2 B3 U MODE/SET CHRGE CN3 CN1 CN2 DT/ POWER 7.72 (196) 1.54 (39) CN3 CN1 CN2 V W Ground terminal 2 x M4 screws ir flow 14-pin terminal M4 mounting screws 2.95 (75) 7.09 (180) 0.16 (4) 0.24 (6) 4.33 (110) Mounting Hole Diagram I2DH Servo mplifiers 0.24 (6) 9.39 (238.5) ±0.020 (0.5) (Mounting pitch) 4 x M5 screw holes (100 ) 1.57 (40) 0.28 (7) Cooling fan 5.57 (141.5) pproximate mass: 8.38lb (3.8kg) 0.22 (5.5) 0.20 (5) 3.94 (100) ±0.020 (0.5) (Mounting pitch) 0.20 (5) Mating connectors: see page

155 400V Servo Systems I2TDH-50DE (400V Three-phase, 5.0kW) 6-pin terminal M5 mounting screw 2 Φ0.24 (Φ6) hole Heat sink L1 L2 L (8) I2TDH-50E 200V Ver. MODE/SET DT/ CHRGE POWER C N 3 C N (39) 5-pin terminal M6 mounting screw CN3 CN (250) L1C L2C B1 B1 B1 C N 2 CN2 U V W Ground terminal 2 M4 screws 5.31 (135) 2.95 (75) 9.06 (230) 3-pin terminal M5 mounting screw Cover (not shown) hinges from this line, closing over the left side of the front. Mounting Hole Diagram 9.39 (238.5?) ±0.020? (0.5?) 0.24 Mounting pitch (6) 4 x M5 screw holes (100 ) 0.28 (7) 7.54 (191.5) I2TDH Servo mplifiers 3.27 (8.3) 0.22 (5.5) 0.20 (5) 4.92 (125) 0.20 (Mounting pitch) (5) pproximate mass: 12.12lb (5.5kg) Mating connectors: see page

156 400V Servo Systems I2TDH-60DE, I2DH-75DE (400V Three-phase, 6.0kW, 7.5kW) 0.31 (8) Cooling fan ir flow 0.39 (10) CN8 CN5 CN (282.6) 4.33 (110) M5 Main circuit terminal CN1 CN (117) 1.81 (46) (350) Control Circuit Terminal Main circuit/ Control circuit Terminal 1.26 (32) 1.54 (39) 8.31 (211.1) 0.28 (7) L1 L2 L3 L1 L2 L3 + - B1 B2 U V W 0.28 (7) 6.22 (158) 1.2 (30.7) 0.79 (20) 1.11 maximum 9.05 (230) (28.3) M4 Control circuit terminal M8 Ground terminal (121) 3.54(90) (24) maximum 9.25 (235) Ground terminal ir flow I2DH Servo mplifiers Mounting Hole Diagram:: (335) (7.5) (7.5) 0.98 (25) 7.09 (180) 0.98 (25) pproximate mass: 29.8lb (13.5kg) 5.04 (128) 4.09 (104) 8.74 (22) Mating connectors: see page

157 400V Servo Systems I2DH-1DE, I2TDH-1EDE (400V Three-phase, 11.0kW, 15.0kW) (7.5) 0.28 (7) 0.39 (10) Cooling fan 9.69 (246) ir flow 200V I2TDH Ver (140) CN (8) maximum (450) (320) M4 Control circuit terminal DT CN1 CN2 M4 Mounting screws (435) 1.54 (39) CN (36) 0.35 (9) (7.5) L1 L2 L B1 B2 U V W 0.28 (7) 5.28 (134) 2.05 (52) Mounting Hole Diagram (268) M5 Main circuit terminal 0.28 (7) 2.91 (74) (7.5) M8 Ground terminal View : 0.94(24) (117) (19) (285) Main/Control circuit terminal M8 Ground terminal 0.68 (17) 4.92 (125) ir flow I2TDH Servo mplifiers (435) 5.59 (142) 8.23 (209) 8.74 (2.22) (271) pproximate mass: 31.53lb (14.3kg) (7.5) 1.18 (30) 0.28 (7) 7.87 (200) 1.18 (30) Mating connectors: see page

158 400V Servo Systems Regenerative Resistance (JUSP-R ) Type JUSP-R F0.24 (F6) mounting holes External Regenerative Resistors 13.2 (335) 13.8 (350) Regenerative resistors for servo amplifiers are internally or externally mounted, as shown in the following table. They can be mounted externally on all servo amplifiers, but are especially effective when regenerative energy exceeds the servo amplifier s capacity (6) 7.09 (180) 8.66 (220) For I2TDH-60DE and 75DE M4 Ground terminal M5 Main circuit terminal Current resistance 220W 18Ω (x 4) 3.62 (92) When mounted externally, be sure to remove the jumper between B2 and B3, which deactivates the internal regenerative resistor. Important: External regeneration resistor sizing and amplifier set-up will be important for proper operation. I2TDH Servo mplifiers Type JUSP-R (250) 11.8 (300) For I2TDH-1 to 1EDE 11.8 (30) M5 Main circuit terminal pproximate mass: 8.82lb (4kg) 13.2 (335) 13.8 (350) M4 Ground terminal Current resistance 220W 25.8Ω (x 8) 3.74 (95) Servo System User s Manual: I2T-SI-S pplicable Servo mplifier 400V Threephase Regenerative Resistor Mounted in a Servo mplifier Minimum llowable Resistance Resistance (Ω) Capacity* (W) (Ω) I2TDH-05DE 73 I2TDH-10DE I2TDH-15DE I2TDH-20DE I2DH-30DE I2TDH-50DE I2TDH-60DE I2TDH-75DE 18** 880** 18 I2DH-1DE I2TDH-1EDE 14.25*** 1760*** 14.2 * Capacity prior to derating. ** Provided externally by JUSP-R18 *** Provided externally by JUSP-R (30) pproximate mass: 15.4lb (7kg) 158