Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 47 / 514

2
Specifications
In this chapter, specifications of servo amplifier, servo motor and regenerative resistor are explained.
2.1 Servo motor .............................................................................................................. 2-1
2.1.1 General specifications ......................................................................................................................... 2-1
2.1.2 Exterior dimensions/ specifications/ mass ........................................................................................... 2-1
2.1.3 Mechanical specifications/ mechanical strength/ working accuracy ................................................... 2-1
2.1.4 Oil seal type ......................................................................................................................................... 2-2
2.1.5 Holding brake ....................................................................................................................................... 2-3
2.1.6 Degree of decrease rating for R2AA motor, with oil seal and brake .................................................... 2-5
2.2 Motor encoder .......................................................................................................... 2-6
2.2.1 Absolute encoder ................................................................................................................................. 2-6
2.2.2 Incremental encoder specifications ..................................................................................................... 2-7
2.2.3 Battery specification ............................................................................................................................. 2-7
2.3 Servo amplifier ......................................................................................................... 2-8
2.3.1 General specifications ......................................................................................................................... 2-8
2.3.2 Input command, position signal output, general input, general output ................................................ 2-9
2.3.3 Torque limit input ................................................................................................................................ 2-10
2.4 Power supply, calorific value ................................................................................. 2-11
2.4.1 Main circuit power supply capacity, control power supply capacity .................................................... 2-11
2.4.2 Inrush current, leakage current .......................................................................................................... 2-13
2.4.3 Calorific value .................................................................................................................................... 2-14
2.5 Operation pattern ................................................................................................... 2-16
2.5.1 Time of acceleration and deceleration, permitted repetition, loading precaution .............................. 2-16
2.6 Position signal output ........................................................................................... 2-19
2.6.1 Positions signals by serial signals ..................................................................................................... 2-19
2.6.2 Binary code output format and transfer period .................................................................................. 2-20
2.6.3 ASCII decimal code output format and transfer period ...................................................................... 2-21
2.6.4 Position signal output from pulse signal ............................................................................................ 2-22
2.7 Specifications for analog monitor ........................................................................ 2-23
2.7.1 Specifications for analog monitor ....................................................................................................... 2-23
2.7.2 Monitor for velocity, torque, and position deviation ............................................................................ 2-24
2.8 Specifications for dynamic brake ......................................................................... 2-25
2.8.1 Allowable frequency, instantaneous tolerance, decreasing the rotation angle of the dynamic brake 2-25
2.9 Regeneration process ........................................................................................... 2-28
2.9.1 Minimum values of Built-in/ external regenerative resistor ................................................................ 2-28
2.9.2 Allowable regenerative power ............................................................................................................ 2-28