Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 464 / 514

12. Appendix
12-18
Note1) Contains Battery-less absolute encoder (Encoder code: R).
Note2) It can combine with RS3A07 or RS3A10, but motor characteristics are same.
✔
Constant in the table above is the value when motor is installed on heat releasing aluminum
plate, indicates “thickness” x “length of a side of square.
✔ Items marked with * and Velocity-Torque Characteristics indicate values after temperature rise
saturation. The others indicate values at 20

C.
✔
Each value indicates TYP.
Servo motor model number R2AA 10100F 13050H 13050D 13120B 13120D 13120L 13180H
Amplifier size combined RS3A05 RS3A03 RS3A03 RS3A03 RS3A05 RS3A05 RS3A05
*Rated output P
R
kW 1.0 0.55 0.55 1.2 1.2 1.2 1.8
*Rated velocity N
R
min
-1
3000 2000 2000 2000 2000 2000 2000
*Maximum velocity N
max
min -1 6000 3500 5000 2000 5000 3000 3500
*Rated torque T
R
N ・ m 3.18 2.6 2.6 5.7 5.7 5.7 8.6
*Continuous Torque at stall T
S
N ・ m 3.92 3.0 2.6 6.0 6.0 6.0 10.0
*Peak Torque at stall T
P
N
・
m 14.3 9.0 7.0 16.0 16.0 20.0 22.0
*Rated armature current I
R
Arms 5.7 4.2 5.2 5.2 9.1 7.6 11.0
*Armature current at stall I
S
Arms 6.8 4.6 5.2 5.2 9.3 8.4 11.8
*Peak armature current at stall I
P
Arms 25.7 15.5 15.5 15.5 25.4 26.5 26.5
*Torque constant K
T
N ・ m/ Arms 0.584 0.67 0.53 1.09 0.65 0.77 0.89
Voltage constant for each phase K
E
φ
mV/min
-1
20.4 23.5 18.5 37.8 22.7 27.0 31.1
Phase resistance R
φ
Ω
0.35 0.65 0.39 0.64 0.23 0.35 0.23
*Rated power rate Q
R
kW/s 29 22 22 54 54 54 82
Moment of inertia J
M
Kg
・
m 2 (GD 2 /4)
x10 -4
3.5 3.1 3.1 6.0 6.0 6.0 9.0
Mass Note1) WE kg 4.1 4.5 4.5 6.1 6.1 6.1 7.7
Brake mass W kg 0.9 1.3 1.3 1.5 1.5 1.5 1.5
Aluminum plate mm t12 x 305 t20 x 305 t20 x 305 t20 x 400 t20 x 400 t20 x 400 t20 x 470
Servo motor model number R2AA 13180D 13200L 13200D 18350V 18350L 18350D 18450H
Amplifier size combined
RS3A07/
RS3A10
RS3A05
RS3A07/
RS3A10
RS3A07 RS3A10 RS3A15 RS3A15
*Rated output P
R
kW 1.8 2.0 2.0 3.5 3.5 3.5 4.5
*Rated velocity N
R
min -1 2000 2000 2000 2000 2000 2000 2000
*Maximum velocity N
max
min
-1
5000 3000 5000 3000 3000 4000 3500
*Rated torque T
R
N
・
m 8.6 9.5 9.5 17.0 17.0 17.0 21.5
*Continuous Torque at stall T
S
N
・
m 10.0 12.0 12.0 20.0 22.0 22.0 30.0
*Peak Torque at stall T
P
N ・ m 25.0 24.0 30.0 50.0 49.0 60.0 75.0
*Rated armature current I
R
Arms 15.6 11.0 14.3 16.8 19.1 21.7 23.7
*Armature current at stall I
S
Arms 17.3 12.0 17.5 17.8 23.7 27.0 31.7
*Peak armature current at stall I
P
Arms 43.0 26.5 45.5 45.5 55.0 83.0 83.0
*Torque constant K
T
N ・ m/ Arms
0.63 0.97 0.7 1.21 1.0 0.88 1.02
Voltage constant for each phase K
E
φ
mV/min -1 21.8 33.7 24.3 42.2 34.8 30.6 35.6
Phase resistance R
φ
Ω 0.13 0.22 0.11 0.114 0.085 0.075 0.065
*Rated power rate Q
R
kW/s 82 74 74 72 72 72 92
Moment of inertia J
M
Kg ・ m
2
(GD
2
/4)
x10 -4
9.0 12.2 12.2 40 40 40 50
Mass Note1) WE kg 7.7 10.0 10.0 15.5 15.5 15.5 19.5
Brake mass W kg 1.5 2.0 1.5 2.4 2.4 2.4 2.8
Aluminum plate mm t20 x 470 t20 x 470 t20 x 470 t20 x 470 t20 x 470 t20 x 470 t20 x 470