Sanyo Denki SANMOTION R3E Manual Download Page 78 | Manualshive

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Safety standards

Safety standards
North American safety standards (UL)

UL 61800-5-1

European Directive

Low Voltage Directive

IEC/EN 61800-5-1

EMC Directive

IEC/EN 61800-3

IEC/EN 61000-6-2

IEC/EN 61326-1

IEC 61000-6-7

IEC/EN 61000-6-4

KC Mark (Korea Certiﬁcation Mark)

KN 61000-6-2, KN 61000-6-4

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Functional safety speciﬁcations

IEC/EN 61800-5-2:2016

Details

Safety level

EN 61508, IEC/EN 62061

ISO 13849-1:2015

EN ISO 13849-1:2015

STO

Safe Torque Off

SIL3, SILCL3

Cat.3 PL e

SS1

Safe Stop 1

SS2

Safe Stop 2

SOS

Safe Operating Stop

SLS

Safely-Limited Speed

SBC

Safe Brake Control

SSM

Safe Speed Monitor

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Application Examples

　

Combination with safety components or controllers may be needed for some applications.

Industrial robots

Conveyor line

• By setting a stop area around a robot, the SS1 function can slow

down and stop the robot (once stopped the motor power is shut off)
when a worker enters the area.

• By setting a speed limit area, the SLS function can limit the robot's

operation speed at a safe level while a worker is within the area.

• The STO function can shut off the power of motors without shut-

ting off the conveyor power, enabling workers to safely perform
maintenance and other works. Furthermore, the conveyor opera-
tion can be resumed right away for improved work efﬁciency.

• The SLS function can limit the machine operation speed at safe

levels, enabling workers to do inspection and setup works with-
out shutting off the conveyor operation.

Functional safety

Broadly compatible with functional safety, enabling easy integration of safety functions in a device.

Functional safety functions deﬁned in IEC/EN 61800-5-2:2016: STO (Safe Torque Off), SS1 (Safe Stop 1), SS2 (Safe Stop 2),
SOS (Safe Operating Stop), SLS (Safely-Limited Speed), SBC (Safe Brake Control), and SSM (Safe Speed Monitor).

Common Speciﬁcations

For amplifier specifications such as overall performance and detailed information on built-in functions and general-purpose outputs,
see the respective pages of the analog/pulse, EtherCAT, and built-in positioning types.

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Servo Amplifiers

R 3E Model Safety Interface type

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Summary of Contents for SANMOTION R3E

Page 1: ...Ver 1 1 Ver 1 1 Ver 1 1 Ver 1 1 400 VAC 550 W 55 kW Ver 3 ...

Page 2: ...fier 25 50 100 150 300 800 A Servo motor 100 mm sq 130 mm sq 180 mm sq 220 mm sq 275 mm sq 320 mm sq 550 W to 55 kW Amplifier capacity Flange size Rated output Output capacity 550 W to 55 kW Input voltage 400 VAC ...

Page 3: ...g Pulse Input type p 19 EtherCAT Interface type p 39 Built in positioning function type p 53 Safety Interface type p 78 Servo motors p 83 Specifications Servo Amplifiers R2 Servo Motors Medium Inertia p 84 R1 Servo Motors Low Inertia p 90 Servo Motor Dimensions p 94 Options p 101 Selection Guide p 121 Motor Protection Rating p 124 Safety Precautions p 125 ...

Page 4: ...capacity operations The products featured in this catalog are designed to operate with a 400 VAC main circuit power supply We also have servo systems for 100 to 200 VAC and 48 VDC inputs available Refer to our website and catalogs for details High Performance AC Servo Systems The SANMOTION R series servo systems evolve your devices with a wide variety of high precision servo ampliﬁers and servo mo...

Page 5: ...800 A Lineup Built in Positioning Function Parallel or Serial Type p 53 The need for a positioning control unit is eliminated simplifying the system Lineup 25 50 100 150 300 800 A Functional SafetyType with functional safety module p 78 Analog Pulse EtherCAT Built in Positioning With the functional safety expansion this ampliﬁer can be used with conﬁ dence for equipment and robots operated near pe...

Page 6: ...mm sq These are high acceleration low inertia servo motors that feature high torque even at high speed Ideal for injection molding machines and general industrial machines Our R 3E Model servo ampliﬁers conform to safety standards UL cUL and EN standards and the KC Mark as standard Our servo motors conform to UL cUL and EN standards as standard some models are still in preparation In addition all ...

Page 7: ...ce With these safety functions motors can be stopped without shutting down the ampliﬁer power shortening the machine reboot time These products are suitable for machines that require high levels of safety 1 SafeTorque Off STO is a safety function deﬁned in IEC EN 61800 5 2 2016 2 In addition to STO 1 the followings are also featured SS1 Safe Stop 1 SS2 Safe Stop 2 SOS Safe Operating Stop SLS Safel...

Page 8: ...nates the need to newly build a brake control circuit re ducing wiring and costs This only applies to 24 VDC brakes Note The holding brake holds the motor in position when power is off preventing loads from falling With the aid of setup software the 3E Model ampli ﬁers offer a variety of servo tuning support functions such as the automatic optimal tuning mode selection for given mechanical and loa...

Page 9: ... the position command following capability Furthermore a position deviation of 0 has been achieved The built in operator allows you to change parame ters monitor ampliﬁer status and keep track of alarm events Tuning start Detected velocity value Velocity command value Position deviation during stop With vibration suppression control Without vibration suppression control 100 ms div Without vibratio...

Page 10: ...system where vari ous machines co exist The servo ampliﬁer ﬁrmware can be updated via an Ether CAT network Also the EtherCAT conformance test certiﬁcate from a trusted third party has been acquired EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Servo ampliﬁers featuring a built in positioning function are available The need for a positioning...

Page 11: ...IP55 protection R2 Motor Current model Comparison of cogging torque waveforms Reference waveform image Protection does not cover shaft through holes and cable ends Use with a waterproof cannon plug connector is recommended 22 reduced 6 5 Protection against dust Protection against water 5 Although it is impossible to completely prevent the penetration of dust there should be no intrusion of an amou...

Page 12: ...es with limited motor installation space It requires an optional battery Options 131072 17 bit 65536 16 bit 2 5 Mbps Approx 0 167 1048576 20 bit 4 0 Mbps Approx 0 167 Resolver method battery less absolute encoder Model No RA035C This is a resolver method battery less multi turn encoder This is a resolver encoder which features environmental durability Options 131072 17 bit 65536 16 bit 2 5 Mbps Ap...

Page 13: ... 100 A 180 mm sq R2CA18550H K p 88 p 95 RS3C15A 150 A 7 5 180 mm sq R2CA18750H K p 88 p 96 RS3C15A 150 A 11 220 mm sq R2CA2211KB K p 88 p 96 RS3C15A 150 A 15 220 mm sq R2CA2215KV K p 89 p 96 RS3C15A 150 A 20 220 mm sq R2CA2220KV K p 89 p 97 RS3C30A 300 A 30 275 mm sq R2CA2830KV K p 89 p 97 RS3C30A 300 A 55 320 mm sq R2CA3255KB K p 89 p 98 RS3D80A 800 A R1 Servo motor 400V class Low inertia 1 5 100...

Page 14: ... p 26 p 28 50 A RS3C05A0BA2 p 26 p 28 100 A RS3C10A0BA2 p 26 p 28 150 A RS3C15A0BL2 p 26 p 29 300 A RS3C30A0BM2 p 26 p 29 800 A RS3D80A0BM2 p 26 p 30 Without delay circuit 25 A RS3C02A0BAC p 26 78 p 80 50 A RS3C05A0BAC p 26 78 p 80 100 A RS3C10A0BAC p 26 78 p 80 150 A RS3C15A0BLC p 26 78 p 29 300 A RS3C30A0BMC p 26 78 p 29 800 A RS3D80A0BMC p 26 78 p 30 Servo Ampliﬁer R 3E Model EtherCAT Interface...

Page 15: ...ose output Internal regenerative resistor STO function 1 Safety 2 Amplifier capacity Model no Page Specifications Dimensions 400 VAC class 24 VDC Absolute encoder Photo relay output with delay circuit 25 A RS3C02A0FA4 p 60 p 65 50 A RS3C05A0FA4 p 60 p 65 100 A RS3C10A0FA4 p 60 p 65 150 A RS3C15A0FL4 p 60 p 66 300 A RS3C30A0FM4 p 60 p 66 800 A RS3D80A0FM4 p 60 p 67 with delay circuit 25 A RS3C02A0F...

Page 16: ...50LXH00M p 86 p 95 K R2CA18350LCR00M R2CA18350LCH00M p 86 p 95 K R2CA18350DXR00M R2CA18350DXH00M p 87 p 95 K R2CA18350DCR00M R2CA18350DCH00M p 87 p 95 4 5 kW IP65 K R2CA18450HXR00M R2CA18450HXH00M p 87 p 95 K R2CA18450HCR00M R2CA18450HCH00M p 87 p 95 5 5 kW IP65 K R2CA18550RXR00M R2CA18550RXH00M p 87 p 95 K R2CA18550RCR00M R2CA18550RCH00M p 87 p 95 K R2CA18550HXR00M R2CA18550HXH00M p 88 p 95 K R2C...

Page 17: ...7 pp 110 111 AL 00849548 02 Servo ampliﬁer connector Single item CN4 pp 106 to 111 AL Y0012504 01 Servo ampliﬁer connector Single item EN1 EN2 pp 106 to 111 AL 01017659 Servo ampliﬁer connector Single item CN10 pp 105 107 pp 109 111 AL 00966991 Servo ampliﬁer connector Connector set p 104 AL 00966995 Servo ampliﬁer connector Connector set p 104 AL 00967013 Servo ampliﬁer connector Connector set p ...

Page 18: ...e 10 m p 117 AL 00999240 01 Servo motor power cable 1 m p 117 AL 00999240 02 Servo motor power cable 2 m p 117 AL 00999240 03 Servo motor power cable 3 m p 117 AL 00999240 05 Servo motor power cable 5 m p 117 AL 00999240 10 Servo motor power cable 10 m p 117 AL 00937694 01 Servo motor encoder cable 1 m p 118 AL 00937694 02 Servo motor encoder cable 2 m p 118 AL 00937694 03 Servo motor encoder cabl...

Page 19: ...cremental encoder Incremental encoder Incremental encoder 0 2 8 9 A Incremental encoder for motor External incremental encoder for fully closed loop systems Absolute encoder External incremental encoder for fully closed loop systems Encoder connection type Servo amplifier Interface A B Specifications Analog Pulse Sink NPN type general purpose output Input voltage C D Main 400 VAC control 24 VDC Ma...

Page 20: ...upply USB EN2 T S R Option Option Option Option Safety unit safety PLC etc CN4 Option USB communication cable Communication cable between amplifiers for tandem operation Option Option Servo motor power cable Servo motor power brake cable Servo motor encoder cable 11 3 4 5 6 6 1 2 12 16 13 14 15 19 7 8 9 10 11 18 17 Option Option Option Option 25 to 100 A The photo shows a 25 A model System Conﬁgur...

Page 21: ...nnection One will be included with a servo ampliﬁer p 104 10 CNE connector AL 00953867 01 For brake connection p 104 11 CNB connector AL 00953865 01 For servo motor connection One will be included with a servo ampliﬁer p 104 12 Servo motor cables AL 00937694 Encoder cable p 118 13 AL 0096 Power cable p 116 14 AL 0096 Power brake cable p 116 15 External regenerative resistor REGIST 500CW B Used whe...

Page 22: ... EN2 T S R Option Safety unit safety PLC etc Option CN1 Option CN4 Option Option EN1 Option USB communication cable Option Host device Encoder connection Communication cable between amplifiers for tandem operation Option Servo motor encoder cable Option 5 6 6 1 2 3 7 4 12 11 14 13 15 8 10 9 Dynamic brake resistor Brake power output Brake power output Electromagnetic contactor Option Servo motor br...

Page 23: ...ble p 118 8 AL 009 Power cable pp 116 to 117 9 AL 009 Power brake cable pp 116 to 117 10 AL 009 For brake connection p 119 11 External regenerative resistor REGIST 500CW B Used when more regenerative capacity is needed e g high frequency movements p 120 12 Safety unit safety PLC etc To be provided by the customer Connects I O signals from the SafeTorque Off function to devices such as a safety uni...

Page 24: ...gnetic contactor Setup software Option USB communication cable Option Host device Communication cable between amplifiers for tandem operation Option Option Option Option Option Encoder connection 24 VDC control power supply External regenerative resistor Option Safety unit safety PLC etc 1 4 3 5 6 7 8 2 10 11 12 13 9 7 14 Option Copper bar System Conﬁguration See page 79 for the system conﬁguratio...

Page 25: ...d ampliﬁer unit CN10 A cable with a connector CN10 connector AL 01017659 is not required if this is purchased p 115 9 Copper bar AL 01020858 01 For main power connection between power supply unit and ampliﬁer unit Between terminals DC and DC 5 mm clearance between units Set of 2 pcs p 115 10 External regenerative resistor REGIST 500CW B Used when more regenerative capacity is needed e g high frequ...

Page 26: ...peed control error speed feedback error excessive position deviation position command pulse error built in memory error parameter error cooling fan error Digital operator Status display monitoring alarm log parameter setting test run adjustment modes Dynamic braking 25 to 150 A Built in 300 to 800 A None Regenerative resistor 25 to 100 A Built in 150 to 800 A None Optional external regenerative re...

Page 27: ...38 39 46 OUT PWR OUT COM Out 1 to 8 Sourcing PNP type Sinking NPN type General purpose output speciﬁcations 27 Features Servo Amplifier and Servo Motor Combination Table Standard Model Number List Servo Amplifiers R 3E Model Servo Motors Options Selection Guide Analog Pulse EtherCAT Built in Positioning Function Safety ...

Page 28: ... A RS3C10A B Mass 8 5 kg Dimensions Unit mm See page 80 for the dimensional drawings of functional safety models 2 235 16 5 19 5 70 6 70 175 235 5 225 205 15 70 27 75 205 63 6 6 ø 6 6 195 4 6 19 5 70 16 5 235 5 27 吸気 6 50 100 235 5 225 205 15 2 235 16 5 19 5 70 28 Servo Amplifiers R 3E Model Analog Pulse Input type ...

Page 29: ... 19 5 217 1 77 25 375 1 4 ø7 7 5 360 0 5 75 335 20 20 75 吸気排気 270 1 375 1 325 25 140 70 50 52 83 17 236 1 16 5 19 5 25 84 3 2 3 2 82 222 1 6 ø7 7 5 360 0 5 100 335 20 20 100 吸気排気 29 Features Servo Amplifier and Servo Motor Combination Table Standard Model Number List Servo Amplifiers R 3E Model Servo Motors Options Selection Guide Analog Pulse EtherCAT Built in Positioning Function Safety ...

Page 30: ...D80A B Mass 32 5 kg Dimensions Unit mm 380 1 400 1 3 2 3 2 70 16 5 200 95 210 220 27 5 325 27 5 370 1 15 22 336 22 175 0 5 175 0 5 10 360 0 5 6 ø 9 380 1 300 1 3 2 3 2 200 95 220 210 29 5 323 27 5 270 1 15 250 0 5 10 360 0 5 22 336 22 4 ø9 30 Servo Amplifiers R 3E Model Analog Pulse Input type ...

Page 31: ...atures Servo Amplifier and Servo Motor Combination Table Standard Model Number List Servo Amplifiers R 3E Model Servo Motors Options Selection Guide Analog Pulse EtherCAT Built in Positioning Function Safety ...

Page 32: ...ding to the motor specifications 5 Refer to the encoder connection figure for the wiring of the connector for the encoder connection 6 Be sure to connect SG signal ground between the equipment and the servo amplifier when you use a differential input signal 7 R S T RB1 RB2 RB4 U V and W are high voltage circuits All other lines are low voltage Ensure that there is sufficient differential between t...

Page 33: ... connector for the encoder connection 6 Be sure to connect SG signal ground between the equipment and the servo amplifier when you use a differential input signal 7 R S T RB1 RB2 RB4 U V and W are high voltage circuits All other lines are low voltage Ensure that there is sufficient differential between the high and low voltage circuits 8 Use a line driver with a differential voltage difference VT ...

Page 34: ...vo amplifier when you use a differential input signal 6 R S T RB1 RB2 U V and W are high voltage circuits All other lines are low voltage Ensure that there is sufficient differential between the high and low voltage circuits 7 Use a line driver with a differential voltage difference VT from 2 5 to 3 8 V If the differential voltage is less than 2 5 V or more than 3 8 V it may lead to malfunction du...

Page 35: ...age circuits All other lines are low voltage Ensure that there is sufficient differential between the high and low voltage circuits 7 Use a line driver with a differential voltage difference VT from 2 5 to 3 8 V If the differential voltage is less than 2 5 V or more than 3 8 V it may lead to malfunction due to missing pulses 8 CN4 is a connector for the Safe Torque Off function To turn Servo ON mo...

Page 36: ...ns according to the specifications 5 Refer to the encoder connection diagram for the wiring of encoder connectors 6 R S T DC DC RB1 RB2 U1 V1 W1 U2 V2 and W2 are high voltage circuits All other signal lines are low voltage circuits When wiring provide sufficient clearance between high voltage and low voltage circuits 7 Ground with a wire of 5 5 mm2 or larger size 8 The amplifier does not have a bu...

Page 37: ...ncoder connectors 6 R S T DC DC RB1 RB2 U1 V1 W1 U2 V2 and W2 are high voltage circuits All other signal lines are low voltage circuits When wiring provide sufficient clearance between high voltage and low voltage circuits 7 Ground with a wire of 5 5 mm2 or larger size 8 The amplifier does not have a built in dynamic brake circuit DB1 and DB2 are DB timing outputs and TH1 1 and TH1 2 are DB resist...

Page 38: ...Also wiring change will be required if the open collector output is used Host controller s general purpose output circuit Wiring compatibility Requirement Differential output type line driver Please change to the open collector type Open collector type No See the diagram on the left Perform wiring in the same manner as CONT1 to 6 For analog pulse type Setup Software The setup software for the SANM...

Page 39: ...Servo amplifier Interface H Code Code Code EtherCAT EN1 Motor encoder EN2 Motor encoder or external encoder Extended safety functions Safe Torque Off function Incremental encoder Incremental encoder 2 9 A A L M 25 to 100A 150A 300A 800A Option 1 Code With built in regenerative resistor With DB resistor Without built in regenerative resistor option external With DB resistor Without built in regener...

Page 40: ...ower supply 24 VDC brake power supply USB EN2 T S R Option Option Option Option Safety unit safety PLC etc CN4 Option Option Option Option Option Option Option USB communication cable Option Servo motor power cable Servo motor power brake cable Servo motor encoder cable To the next servo amplifier Host device 5 6 7 7 1 2 3 4 13 17 14 15 16 20 8 9 10 11 12 12 19 18 System Conﬁguration See page 79 f...

Page 41: ... p 106 11 CNE connector AL 00953867 01 For brake connection p 106 12 CNB connector AL 00953865 01 For servo motor connection One will be included with a servo ampliﬁer p 106 13 Servo motor cables AL 00937694 Encoder cable p 118 14 AL 0096 Power cable p 116 15 AL 0096 Power brake cable p 116 16 External regenerative resistor REGIST 500CW B Used when more regenerative capacity is needed e g high fre...

Page 42: ... connection Cannon plug 15 kW or less Terminal block 20 kW or higher Dynamic brake resistor Electromagnetic contactor Electromagnetic contactor 16 5 6 7 7 1 2 3 4 8 13 12 Dynamic brake signal terminal block for 300 A only Brake power output Option Servo motor brake cable Option Servo motor power cable Option Servo motor power brake cable 9 11 10 16 Molded case circuit breaker MCCB Noise filter 15 ...

Page 43: ... Power brake cable pp 116 to 117 11 AL 009 Brake cable p 119 12 External regenerative resistor REGIST 500CW B Used when more regenerative capacity is needed e g high frequency movements p 120 13 Safety unit safety PLC etc To be provided by the customer Connects I O signals from the SafeTorque Off function to devices such as a safety unit and safety PLC 14 Molded case circuit breaker MCCB To be pro...

Page 44: ...ers for tandem operation Option Option Option Option Option Encoder connection For general purpose I O 24 VDC control power supply External regenerative resistor Option Safety unit safety PLC etc Fan power supply for 3 phase For dynamic braking For dynamic braking Thermostat terminals Thermostat terminals R S T Power supply unit Servo amplifier Servo motor System Conﬁguration See page 79 for the s...

Page 45: ...rchased p 115 10 Copper bar AL 01020858 01 For main power connection between power supply unit and ampliﬁer unit Between terminals DC and DC with a 5 mm clearance in between A set of 2 pcs p 115 11 External regenerative resistor REGIST 500CW B Used when more regenerative capacity is needed e g high frequency movements p 120 12 Molded case circuit breaker MCCB To be provided by the customer Used to...

Page 46: ...age main circuit power supply open phase control circuit power sup ply undervoltage encoder error overspeed speed control error speed feedback error excessive position deviation position command pulse error built in memory error parameter error cooling fan error Digital operator Status display monitor display alarm display test run Dynamic braking 25 to 150 A Built in 300 to 800 A None Regenerativ...

Page 47: ...x 10 for 62 5μs settings Synchronization type SYNC0 SYNC1 synchronization non synchronized asynchronous FreeRun mode SM2 event synchronization Operation mode Proﬁle Position mode Proﬁle Velocity mode ProﬁleTorque mode Homing mode Cyclic Syn chronous Position mode Cyclic Synchronous Velocity mode Cyclic SynchronousTorque mode LED indicator Port 0 1 link display RUN display ERROR display General pur...

Page 48: ...l 18 1 kg Dimensions Unit mm 220 1 375 1 3 2 325 25 3 2 140 70 11 198 1 16 5 19 5 217 1 77 25 41 50 77 7 5 360 0 5 150 4 ø7 335 20 20 吸気排気 270 1 375 1 3 2 325 25 3 2 140 17 236 1 16 5 19 5 222 1 82 25 70 50 52 83 84 6 ø7 7 5 360 0 5 100 335 20 20 100 吸気排気 48 Servo Amplifiers R 3E Model EtherCAT Interface type ...

Page 49: ...70 1 15 22 336 22 175 0 5 175 0 5 10 360 0 5 吸気排気 6 ø 9 380 1 300 1 3 2 3 2 200 95 220 210 29 5 323 27 5 270 1 15 250 0 5 10 360 0 5 22 336 22 4 ø9 49 Features Servo Amplifier and Servo Motor Combination Table Standard Model Number List Servo Amplifiers R 3E Model Servo Motors Options Selection Guide Analog Pulse EtherCAT Built in Positioning Function Safety ...

Page 50: ... between the RB1 and RB4 terminals When using an external regenerative resistor remove the shorting bar connected between the RB1 and RB4 terminals and then connect the regenerative resistor between the RB1 and RB2 terminals 3 Be sure to ground the control panel to prevent high voltages from damaging the operation panel or equipment in case of a short circuit Class C or better grounding work recom...

Page 51: ...etter grounding work recommended 4 Connections on the motor side vary depending on the motor specifications The indications of red white black green and orange apply when the motor power and brake lines are the lead type When they are the cannon plug type perform connections according to the motor specifications 5 Refer to the encoder connection figure for the wiring of the connector for the encod...

Page 52: ...ltage circuits All other signal lines are low voltage circuits When wiring provide sufficient clearance between high voltage and low voltage circuits 7 Ground with a wire of 5 5 mm2 or larger size 8 The amplifier does not have a built in dynamic brake circuit DB1 and DB2 are DB timing outputs and TH1 1 and TH1 2 are DB resistor thermostat inputs When not using a thermostat ensure that TH1 1 and TH...

Page 53: ... option external Without DB resistor Absolute encoder Absolute encoder External incremental encoder for fully closed loop systems Incremental encoder for motor External incremental encoder for fully closed loop systems Encoder connection type Interface Code Code Incremental encoder Incremental encoder 25 to 100A 150A 300A 800A Option 1 Code Specifications Amp capacity Input voltage C D Main 400 VA...

Page 54: ...4 VDC brake power supply Option Option Option Option Safety unit safety PLC etc Option USB communication cable Option Option Option Option Option Servo motor power cable Servo motor power brake cable Servo motor encoder cable Serial type General purpose I O connector Option To a host controller next servo amplifier terminating connector 25 to 100 A parallel type The photo shows a 25 A model System...

Page 55: ...able p 116 13 AL 0096 Power brake cable p 116 14 External regenerative resistor REGIST 500CW B Used when more regenerative capacity is needed e g high frequency movements p 120 15 Safety unit safety PLC etc To be provided by the customer Connects I O signals from the SafeTorque Off function to devices such as a safety unit and safety PLC 16 Molded case circuit breaker MCCB To be provided by the cu...

Page 56: ...or 24 VDC control power supply Option Option Safety unit safety PLC etc Option Option CN4 Option EN1 Option Option USB communication cable Option Servo motor encoder cable Host device Dynamic brake signal terminal block for 300 A only Brake power output Option Servo motor brake cable Option Servo motor power cable Option Servo motor power brake cable Dynamic brake resistor Standard motor connectio...

Page 57: ...he customer Connects I O signals from the SafeTorque Off function to devices such as a safety unit and safety PLC 12 Molded case circuit breaker MCCB To be provided by the customer Used to protect power lines 13 Noise ﬁlter To be provided by the customer Used to prevent external noise from power lines 14 Electromagnetic contactor To be provided by the customer Used to turn on and off the servo pow...

Page 58: ...minals Safety unit safety PLC etc Power supply unit Servo amplifier Servo motor Setup software Option Host device Encoder connection USB communication cable Option Option Connection cable between units 14 15 Serial type General purpose I O connector Option Option Option Option Option To a host controller next servo ampliﬁer terminating connector 800 A parallel type System Conﬁguration See page 79 ...

Page 59: ... External regenerative resistor REGIST 500CW B Used when more regenerative capacity is needed e g high frequency movements p 120 10 Molded case circuit breaker MCCB To be provided by the customer Used to protect power lines 11 Noise ﬁlter To be provided by the customer Used to prevent external noise from power lines 12 Electromagnetic contactor To be provided by the customer Used to turn on and of...

Page 60: ...0 A None Regenerative resistor 25 to 100 A Built in 150 to 800 A None Optional external regenerative resistor compatible with 25 to 800 A Monitoring Speed monitoring VMON 2 0 V 10 at 1000 min 1 torque thrust command monitoring TCMON 2 0 V 10 at 100 Safety standards Servo ampliﬁer type Safety standards All built in positioning function models North American standards UL cUL UL 61800 5 1 European Di...

Page 61: ...al NC ready holding brake timing error external operation mode while operation positioning complete in position output homing complete general purpose output 8 bit With 0 as the start coordinate a point 001 P001 is started Operation examples of amplifiers with built in positioning function By starting Point 1 Point 2 and Point 3 can be continuously operated Mode 1 01 Positioning operation active M...

Page 62: ...0A C Mass 8 5 kg Dimensions Unit mm See page 80 for the dimensional drawings of Safety models 16 5 19 5 70 235 2 6 70 70 175 15 205 5 225 235 27 ø 6 6 4 19 5 70 16 5 235 5 195 6 205 27 75 6 63 6 16 5 19 5 70 235 2 6 50 100 15 205 27 5 225 235 62 Servo Amplifiers R 3E Model Built in Positioning Function type ...

Page 63: ... 5 19 5 217 1 77 25 375 1 4 ø7 7 5 360 0 5 75 335 20 20 75 270 1 375 1 325 25 140 70 50 52 83 17 236 1 16 5 19 5 25 84 3 2 3 2 82 222 1 6 ø7 7 5 360 0 5 100 335 20 20 100 63 Features Servo Amplifier and Servo Motor Combination Table Standard Model Number List Servo Amplifiers R 3E Model Servo Motors Options Selection Guide Analog Pulse EtherCAT Built in Positioning Function Safety ...

Page 64: ...S3D80A C Mass 32 5 kg Dimensions Unit mm 380 1 400 1 3 2 3 2 70 16 5 200 95 210 220 27 5 325 27 5 370 1 15 175 0 5 175 0 5 10 360 0 5 6 ø9 380 1 300 1 3 2 3 2 200 95 220 210 29 5 323 27 5 270 1 15 250 0 5 10 360 0 5 22 336 22 4 ø9 64 Servo Amplifiers R 3E Model Built in Positioning Function type ...

Page 65: ...6 70 70 175 15 205 5 225 235 27 ø 6 6 4 19 5 70 16 5 235 5 195 6 205 27 75 6 63 6 16 5 19 5 70 235 2 6 50 100 15 205 27 5 225 235 65 Features Servo Amplifier and Servo Motor Combination Table Standard Model Number List Servo Amplifiers R 3E Model Servo Motors Options Selection Guide Analog Pulse EtherCAT Built in Positioning Function Safety ...

Page 66: ...Mass 18 0 kg Safety model 18 1 kg 220 1 375 1 3 2 325 25 3 2 140 70 11 198 1 16 5 19 5 217 1 77 25 41 50 77 4 ø7 7 5 360 0 5 75 335 20 20 75 270 1 375 1 3 2 325 25 3 2 140 17 236 1 16 5 19 5 222 1 82 25 70 50 52 83 84 6 ø7 7 5 360 0 5 100 335 20 20 100 66 Servo Amplifiers R 3E Model Built in Positioning Function type ...

Page 67: ... 27 5 270 1 15 250 0 5 10 360 0 5 22 336 22 4 ø9 380 1 400 1 3 2 3 2 70 16 5 200 95 210 220 27 5 325 27 5 370 1 15 175 0 5 175 0 5 10 360 0 5 6 ø9 67 Features Servo Amplifier and Servo Motor Combination Table Standard Model Number List Servo Amplifiers R 3E Model Servo Motors Options Selection Guide Analog Pulse EtherCAT Built in Positioning Function Safety ...

Page 68: ...or machines in case of an electrical leakage Grounding of class C or higher is recommended in Japan 4 Motor side connections vary depending on motor specifications The red white black green and orange indicated in the figure are for use when the motor has lead wire type power and brake lines In the case of a cannon plug type perform wiring according to motor specifications 5 Refer to the encoder c...

Page 69: ...nded in Japan 4 Motor side connections vary depending on motor specifications The red white black green and orange indicated in the figure are for use when the motor has lead wire type power and brake lines In the case of a cannon plug type perform wiring according to motor specifications 5 Refer to the encoder connection diagram for the wiring of encoder connectors 6 R S T P RB1 RB2 RB4 U V and W...

Page 70: ...B timing outputs and TH1 1 and TH1 2 are DB resistor thermostat inputs When not using a thermostat ensure that TH1 1 and TH1 2 are short circuited Necessary items an electromagnetic contactor resistor power supply and cable are to be prepared by the customer For the electromagnetic contactor prepare one that works with DC power Relay contact rating 30 VDC 2 A cosø 0 4 L R 7 ms 3 Control panels mus...

Page 71: ...at inputs When not using a thermostat ensure that TH1 1 and TH1 2 are short circuited Necessary items an electromagnetic contactor resistor power supply and cable are to be prepared by the customer For the electromagnetic contactor prepare one that works with DC power Relay contact rating 30 VDC 2 A cosø 0 4 L R 7 ms 3 Control panels must be grounded to prevent high voltages from damaging the oper...

Page 72: ...1 The part indicated by the figure on the left should be wired with shielded twisted pair STP cables 2 An external regenerative resistor should be connected between the RB1 and RB2 terminals 3 If monitoring thermostats by yourself ensure that these terminals are short circuited 4 Motor side connections vary depending on motor specifications Perform connections according to the specifications 5 Ref...

Page 73: ...ir STP cables 2 An external regenerative resistor should be connected between the RB1 and RB2 terminals 3 If monitoring thermostats by yourself ensure that these terminals are short circuited 4 Motor side connections vary depending on motor specifications Perform connections according to the specifications 5 Refer to the encoder connection diagram for the wiring of encoder connectors 6 R S T DC DC...

Page 74: ... green and orange indicated in the figure are for use when the motor has lead wire type power and brake lines In the case of a cannon plug type perform wiring according to motor specifications 5 Refer to the encoder connection diagram for the wiring of encoder connectors 6 R S T P RB1 RB2 RB4 U V and W are high voltage circuits All other signal lines are low voltage circuits When wiring provide su...

Page 75: ...ks with DC power Relay contact rating 30 VDC 2 A cosø 0 4 L R 7 ms 3 Control panels must be grounded to prevent high voltages from damaging the operation panel or machines in case of an electrical leakage Grounding of class C or higher is recommended in Japan 4 Motor side connections vary depending on motor specifications The red white black green and orange indicated in the figure are for use whe...

Page 76: ...iring 2013595 3 1 The part indicated by the figure on the left should be wired with shielded twisted pair STP cables 2 An external regenerative resistor should be connected between the RB1 and RB2 terminals 3 If monitoring thermostats by yourself ensure that these terminals are short circuited 4 Motor side connections vary depending on motor specifications Perform connections according to the spec...

Page 77: ...atures Servo Amplifier and Servo Motor Combination Table Standard Model Number List Servo Amplifiers R 3E Model Servo Motors Options Selection Guide Analog Pulse EtherCAT Built in Positioning Function Safety ...

Page 78: ...SLS function can limit the robot s operation speed at a safe level while a worker is within the area The STO function can shut off the power of motors without shut ting off the conveyor power enabling workers to safely perform maintenance and other works Furthermore the conveyor opera tion can be resumed right away for improved work efﬁciency The SLS function can limit the machine operation speed ...

Page 79: ...nnection Note that this is not a set of two connectors but a single connector pp 104 to 111 SF CN2 connector 4 CN4 connector AL 00718251 01 AL 00849548 02 for short circuiting AL 00718252 01 for wiring For safety device connection for short circuiting and wiring pp 104 to 111 5 Safety unit safety PLC etc To be provided by the customer Connects input and output signals of safety functions to safety...

Page 80: ...s 8 6 kg Dimensions Unit mm Note Drawings for 150 to 800 A amplifiers are omitted because they are identi cal to the analog pulse and EtherCAT types 80 Servo Amplifiers R 3E Model Safety Interface type Shown below are the dimensional drawings of analog pulse type servo ampliﬁers combined with a Safety module Combinations with EtherCAT or built in positioning type ampliﬁers have different connector...

Page 81: ...DIAG SFIE2 SFOB2 POW SFOB2 SFOB2 DIAG SFOC2 POW SFOC2 SFOC2 DIAG A3 B3 A4 B4 A5 B5 A1 A10 B10 N C Fuse Fuse Fuse Fuse Fuse A1 A10 B10 N C External Wiring Diagram Safety models Safety module Safety unit safety PLC etc For diagrams of the amplifier portion see the respective pages of analog pulse EtherCAT and built in positioning types 81 Features Servo Amplifier and Servo Motor Combination Table St...

Page 82: ...1 R JN2FS10SL1 R AL 00082504 15 Mfr part no 5557 10R JN2DS10SL2 R JN2FS10SL2 R JN2DS10SL3 R JN2FS10SL3 R 3 Battery lines EBAT and EBAT are required only when a bat tery backup absolute encoder is used 4 The plug pin assignment is as follows Compatible motors ES ES EBAT EBAT 5 V 0 V FG Other than R2CA2830KV R2CA3255KB 1 2 8 4 9 10 7 R2CA2830KV R2CA3255KB 1 2 5 9 7 8 10 Option Incremental encoder Wi...

Page 83: ... brake 24 VDC brake 00 03 Specification identifier Specification Code Standard Not R2CA10 Standard R2CA10 R H Encoder type Absolute encoder Specification Code Battery less absolute encoder Model No HA035 Single turn absolute encoder Model No PA035S For encoder details see p 12 Rated output 050 075 100 120 150 180 200 300 350 Code Specification Code 550 W 750 W 1 0 kW 1 2 kW 1 5 kW 1 8 kW 2 0 kW 3 ...

Page 84: ...iﬁed motor 2 Motor protection rating IP65 Size of heat dissipation aluminum plate 305 305 20 mm 305 305 12 mm 400 400 20 mm Page of dimensional drawing p 94 Values are typical values when combined with a standard servo ampliﬁer after thermal equilibrium is established Values are typical values when the winding temperature is 20 C 1 The encoder inertia and servo motor mass values are when equipped ...

Page 85: ... 2 9 3 3 kVA Ampliﬁer power supply capacity rated CE UL certiﬁed motor 2 IP65 Motor protection rating 400 400 20 mm 470 470 20 mm Size of heat dissipation aluminum plate p 94 Page of dimensional drawing Servo motor ambient operating conditions Operating temperature humidity Ambient temperature 0 to 40 C relative humidity 90 or less non condensing Vibration resistance 24 5 m s2 Shock resistance 98 ...

Page 86: ...inertia Jb 10 4kg m2 GD2 4 0 5 0 5 5 1 Ampliﬁer power supply capacity rated kVA 3 3 3 7 6 0 CE UL certiﬁed motor 2 Motor protection rating IP65 Size of heat dissipation aluminum plate 470 470 20 mm Page of dimensional drawing p 95 Servo Motor Model no R2CA13200L R2CA13200H 3 R2CA18350L 0 10 0 20 30 40 1000 3000 2000 4000 Instantaneous Zone Continuous Zone 0 10 0 20 30 40 50 60 1000 3000 2000 4000 ...

Page 87: ... kVA Ampliﬁer power supply capacity rated CE UL certiﬁed motor 2 IP65 Motor protection rating 470 470 20 mm 540 540 20 mm Size of heat dissipation aluminum plate p 95 Page of dimensional drawing Servo Motor Model no R2CA18350D 3 R2CA18550R R2CA18450H 3 Speed min 1 Speed min 1 Speed min 1 Torque N m 0 20 10 0 30 40 50 60 70 1000 3000 2000 4000 5000 Instantaneous Zone Continuous Zone Torque N m 0 10...

Page 88: ...n 54 9 min 90 min Brake rated voltage Vb V 90 24 VDC 10 Brake current consumption Ib A 0 27 1 0 0 37 1 4 0 44 1 7 Brake inertia Jb 10 4kg m2 GD2 4 5 1 4 5 24 Ampliﬁer power supply capacity rated kVA 7 0 9 4 13 6 Cooling fan power consumption PF W CE UL certiﬁed motor 2 Motor protection rating IP65 Size of heat dissipation aluminum plate 540 540 20 mm 610 610 30 mm Page of dimensional drawing p 95 ...

Page 89: ... to 220 VAC 3 phase 50 60 Hz W PF Cooling fan power consumption Pending CE UL certiﬁed motor 2 IP65 IP65 5 IP55 5 Motor protection rating 610 610 30 mm 690 690 40 mm Size of heat dissipation aluminum plate p 96 p 97 p 98 Page of dimensional drawing Servo Motor Model no R2CA2215KV R2CA2220KV R2CA2830KV R2CA3255KB 0 200 250 150 100 50 2000 1000 0 Speed min 1 Continuous Zone Torque N m Instantaneous ...

Page 90: ... 95 Rated power rate QR kW s 108 169 Rotor inertia JM 10 4kg m2 GD2 4 2 1 2 4 Encoder inertia 1 JS 10 4kg m2 GD2 4 0 0042 Motor mass 1 We kg 5 0 6 6 5 7 7 2 Brake static friction torque Tb N m 9 3 min Brake rated voltage Vb V 24 VDC 10 Brake current consumption Ib A 0 70 Brake inertia Jb 10 4kg m2 GD2 4 0 30 Amplifierpowersupplycapacity rated kVA 2 5 3 7 Cooling fan power consumption PF W CE UL ce...

Page 91: ...ue 24 VDC 10 90 24 VDC 10 V Vb Brake rated voltage 0 66 0 37 1 4 A Ib Brake current consumption 0 50 5 7 10 4kg m2 GD2 4 Jb Brake inertia 5 2 7 0 kVA Amplifierpowersupplycapacity rated 30 26 200 VAC 10 single phase 50 60 Hz CE UL certiﬁed 31 29 180 to 253 VAC single phase 50 60 Hz W PF Cooling fan power consumption CE UL certiﬁed motor 2 IP65 IP65 excluding the cooling fan Motor protection rating ...

Page 92: ...e kg 39 44 52 59 Brake static friction torque Tb N m 53 9 min 75 min Brake rated voltage Vb V 90 24 VDC 10 24 VDC 10 Brake current consumption Ib A 0 37 1 4 1 5 Brake inertia Jb 10 4kg m2 GD2 4 5 7 8 0 Amplifierpowersupplycapacity rated kVA 9 5 13 8 Cooling fan power consumption PF W 30 26 200 VAC 10 single phase 50 60 Hz CE UL certiﬁed 31 29 180 to 253VAC single phase 50 60 Hz CE UL certiﬁed moto...

Page 93: ... Brake static friction torque 24 VDC 10 V Vb Brake rated voltage 1 9 A Ib Brake current consumption 9 7 10 4kg m2 GD2 4 Jb Brake inertia 18 2 24 2 kVA Amplifierpowersupplycapacity rated 30 26 200 VAC 10 single phase 50 60 Hz CE UL certiﬁed 31 29 180 to 253VAC single phase 50 60 Hz W PF Cooling fan power consumption CE UL certiﬁed motor 2 IP65 excluding the cooling fan IP65 excluding the cooling fa...

Page 94: ... M LR Q M øS Battery less absolute encoder Single turn absolute encoder Without brake With brake Model no LL KB2 LL KB2 LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S R2CA13050 103 44 139 5 81 12 98 21 69 145 110 0 0 035 4 165 130 9 M6 55 22 0 0 013 R2CA13120 120 5 160 84 R2CA13180 138 179 86 Model no Q QA QK W T U KB1 QE LT R2CA13050 50 3 42 6 0 0 030 6 2 5 46 M6 20 R2CA13120 64 R2CA13180 81 Battery ...

Page 95: ...hout brake With brake Model no LL KB2 LL KB2 LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S Q R2CA18350 159 52 206 99 16 123 21 38 200 114 3 0 0 035 3 230 180 13 5 M8 65 35 0 0 016 60 R2CA18450 176 223 R2CA18550 228 274 79 42 0 0 016 75 Model no QA QK W T U KB1 QE LT IE IF IL1 IL2 R2CA18350 3 50 10 0 0 036 8 3 92 M8 25 123 50 47 20 R2CA18450 109 57 R2CA18550 67 12 0 0 043 161 M10 63 41 This dimensiona...

Page 96: ...ional drawing is for a servo motor equipped with a battery less absolute encoder and a brake Battery less absolute encoder Single turn absolute encoder Without brake With brake Model no LL KB2 KB3 LL KB2 KB3 LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR R2CA2211K 304 63 364 123 66 19 162 22 38 235 200 0 046 4 270 220 13 5 M10 79 R2CA2215K 397 78 501 182 90 Model no S Q QA QK W T U KB1 QE LT IE IF IL1 I...

Page 97: ... for cooling fan Ø61 0 3 Connector for encoder Molex Terminal 5558GS2 Plug 5559 10P QETap Depth LT Allow 50 mm or more clearance Cross section H H B1 U FV FW B2 V FU W This dimensional drawing is for a servo motor equipped with a battery less absolute encoder and a brake Battery less absolute encoder Single turn absolute encoder Without brake With brake Model no LL KB2 KB3 LL KB2 KB3 LG KL1 LA LB ...

Page 98: ... C2 340 277 215 5 ø 61 61 ø61 0 3 Motor ground for cooling fan M4 pan head SEMS screw Terminal block F1005 20S 3P Terminal 5558T2L Connector for thermostat Molex Plug 5559 02P Terminal block KT 60 6P for motor M6 25 5 Terminal 5558GS2L7F Connector for encoder Molex Plug 5559 10P 67 5 216 5 ø42 5 0 3 Encoder cable entry 5 0 0 4 22 0 0 052 14 Cross section A A 0 10 M 0 10 M 0 04 M A A S type oil sea...

Page 99: ...battery less absolute encoder and a brake Battery less absolute encoder Single turn absolute encoder Without brake With brake Model no LL KB2 LL KB2 LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR R1CA13300 184 57 230 103 12 98 21 38 145 110 0 035 4 165 130 9 M6 55 Model no S Q QA QK W T U KB1 QE LT R1CA13300 28 0 013 50 3 42 8 0 036 7 3 112 M8 25 0 0 0 Battery less absolute encoder Single turn absolute ...

Page 100: ... KB3 KB4 LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR R1CA18550 333 80 5 79 5 383 130 5 54 129 5 19 5 143 23 81 200 114 3 0 035 3 230 180 13 5 M8 79 R1CA18750 368 418 R1CA1811K 438 517 149 79 158 R1CA1815K 516 628 182 110 191 19 Model no S Q QA QK W T U KB1 α β γ QE LT IE IF IL1 IL2 R1CA18550 42 0 016 75 3 67 12 0 043 8 3 173 0 02 0 08 0 08 M10 25 124 50 54 65 R1CA18750 208 68 85 R1CA1811K 278 0 03 0 ...

Page 101: ...tware p 102 Servo amplifier connectors p 104 Motor power connectors and wire size p 112 Encoder connectors p 114 Cables p 115 Analog monitor p 120 External regenerative resistors p 120 Front mounting brackets p 120 101 ...

Page 102: ...quency response measurement Use a USB communication cable Mini B to connect the USB port on the PC and the servo ampliﬁer Supported OS Windows 7 8 10 See our website for information on supported OS versions Please note the following points when replacing our conventional SANMO TION R servo ampliﬁers with the SANMOTION R 3E Model series ampliﬁers Beware that the SANMOTION R Setup Software cannot be...

Page 103: ...y characteristics The current and past 15 alarm occurrences can be checked Diagnosis screen Causes and corrective actions can be checked based on alarm status By setting the mechanical conditions servo tuning can be easily made with the optimal tuning mode Servo tuning assist 103 Features Servo Amplifier and Servo Motor Combination Table Standard Model Number List Servo Amplifiers R 3E Model Servo...

Page 104: ... 00953868 01 MJFAT OT SF CN1 Safety device connection for functional safety models only AL Y0012189 01 DFMC 0 5 10 ST 2 54 Phoenix Contact K K SF CN2 Safety device connection for functional safety models only AL Y0012189 01 DFMC 0 5 10 ST 2 54 1 When CN4 is not used be sure to buy and insert the short circuiting safety device connector to CN4 on the servo ampliﬁer 2 Servo ampliﬁers come with one p...

Page 105: ...n AL 00385594 10150 3000PE and 10350 52A0 008 3M Japan Limited EN1 Encoder connection AL 00632607 36210 0100PL and 36310 3200 008 EN2 Encoder connection AL 00632607 36210 0100PL and 36310 3200 008 CN4 1 Safety device connection for short circuiting AL 00718251 01 2040978 1 Tyco Electronics Japan G K CN4 Safety device connection for wiring AL 00718252 01 2013595 3 CN10 2 Power supply unit connectio...

Page 106: ...CND 2 Control circuit power supply connection AL 00961843 01 04JFAT SAGG G KK Connector tool For CND AL 00961844 01 J FAT OT N CNE Holding brake power output AL 00953867 01 02MJFAT SAGF Connector tool For CNE AL 00953868 01 MJFAT OT SF CN1 Safety device connection for functional safety models only AL Y0012189 01 DFMC 0 5 10 ST 2 54 Phoenix Contact K K SF CN2 Safety device connection for functional...

Page 107: ...ction Please prepare by yourself Use a CAT5e standard compliant shielded type modular plug RJ 45 EN1 Encoder connection AL Y0012504 01 54599 1016 Molex Japan Co Ltd EN2 Encoder connection AL Y0012504 01 54599 1016 CN2 General purpose I O signals AL 00842383 A set of HDR E26MSG1 and HDR E26LPH HONDATSUSHIN KOGYO CO LTD CN4 1 Safety device connection for short circuiting AL 00849548 02 1971153 2 Tyc...

Page 108: ...AGG G KK Connector tool For CND AL 00961844 01 J FAT OT N CNE Holding brake power output AL 00953867 01 02MJFAT SAGF Connector tool For CNE AL 00953868 01 MJFAT OT SF CN1 Safety device connection for functional safety models only AL Y0012189 01 DFMC 0 5 10 ST 2 54 Phoenix Contact K K SF CN2 Safety device connection for functional safety models only AL Y0012189 01 DFMC 0 5 10 ST 2 54 1 A safety dev...

Page 109: ...N1 Serial communication connection AL 00385594 10150 3000PE and 10350 52A0 008 3M Japan Limited EN1 Encoder connection AL Y0012504 01 54599 1016 Molex Japan Co Ltd EN2 Encoder connection AL Y0012504 01 54599 1016 CN4 1 Safety device connection for short circuiting AL 00849548 02 1971153 2 Tyco Electronics Japan G K CN4 Safety device connection for wiring AL 00718252 01 2013595 3 CN10 2 Power suppl...

Page 110: ...ower supply connection AL 00961843 01 04JFAT SAGG G KK Connector tool For CND AL 00961844 01 J FAT OT N CNE Holding brake power output AL 00953867 01 02MJFAT SAGF Connector tool For CNE AL 00953868 01 MJFAT OT SF CN1 Safety device connection for functional safety models only AL Y0012189 01 DFMC 0 5 10 ST 2 54 Phoenix Contact K K SF CN2 Safety device connection for functional safety models only AL ...

Page 111: ...CN1 Serial communication connection Please prepare by yourself Prepare a shielded modular plug RJ 45 EN1 Encoder connection AL Y0012504 01 54599 1016 Molex Japan Co Ltd EN2 Encoder connection AL Y0012504 01 54599 1016 CN2 General purpose I O signals AL 00842383 A set of HDR E26MSG1 and HDR E26LPH HONDATSUSHIN KOGYO CO LTD CN4 1 Safety device connection for short circuiting AL 00849548 02 1971153 2...

Page 112: ...X10 Covered by the power connector on the left R2CA18350D R2CA18450H R2CA18550R R2CA18550H R2CA18750H 1 N MS3106B32 17S 2 N MS3057 20A 3 MS06B32 17S 20 1 N MS3108B32 17S 2 N MS3057 20A 3 MS08B32 17S 20 1 JL04V 6A32 17SE EB RK Conduit 3 JL04V 6A32 17SE 1 JL04V 6A10SL 3SE EB R 2 JL04 1012CK 05 R 3 332706X1 1 JL04V 8A10SL 3SE EBH R 2 JL04 1012CK 05 R 3 332707X1 220 sq R2CA2211KB R2CA2215KV R2CA2220KV...

Page 113: ...14 2 14 R2CA18350D 100 A 3 5 12 2 14 R2CA18450H R2CA18550R R2CA18550H 150 A 5 5 10 5 5 10 R2CA18750H A B C D A B 150 A 8 8 5 5 10 220 sq R2CA2211KB R2CA2215KV R2CA2220KV Terminal block A B 300 A 14 6 14 6 275 sq R2CA2830KV Terminal block 300 A 14 6 14 6 320 sq R2CA3255KB Terminal block No 800 A 22 4 60 2 0 100 sq R1CA10150V A B C D E F 25 A 1 25 16 1 25 16 R1CA10200V 50 A 2 14 2 14 130 sq R1CA1330...

Page 114: ...R1 100 to 220 mm sq R2 100 to 220 mm sq 22 Manual crimping tool type JN1 22 20S R PKG100 AWG20 Japan Aviation Elec tronics Industry Ltd JN1 22 22S PKG100 AWG21 to 25 JN1 22 26S PKG100 AWG26 to 28 Soldering type JN1 22 22F PKG100 AWG20 Motor ﬂange size Contact size Classiﬁcation Applicable socket contact Remarks Mfr part no Order no in paren theses Compatible wir ing size R2 275 to 320 mm sq 28 Man...

Page 115: ...ction AL 01101867 10 10 Ampliﬁer ampliﬁer Modbus cable For ampliﬁer ampliﬁer connection AL 01101866 01 0 2 For ampliﬁer ampliﬁer connection AL 01101866 02 0 5 For ampliﬁer ampliﬁer connection AL 01101866 03 1 For ampliﬁer ampliﬁer connection AL 01101866 04 3 For ampliﬁer ampliﬁer connection AL 01101866 05 5 For ampliﬁer ampliﬁer connection AL 01101866 06 7 For ampliﬁer ampliﬁer connection AL 01101...

Page 116: ...65742 05 10 AL 00965741 10 AL 00965742 10 Plug JL04V 6A24 11SE EB R Connection Pin no Lead wire color Signal name D Red U E White V F Black W G Green Ground Pin no Lead wire color Signal name D Red U E White V F Black W G Green Ground A Yellow Brake B Yellow Brake For 180 mm sq motors Compatible motors R2CA18350D R2CA18450H R2CA18550R Cable length L m Power cable Power brake cable Model no 1 AL 00...

Page 117: ...round Green Power Red white black Plug For 180 220 mm sq motors Compatible motors R2CA18750H R2CA2211KB R2CA2215KV R1CA18550H R1CA18750L R1CA1811KR R1CA1815KB Cable length L m Power cable Model no 1 AL 00997921 01 2 AL 00997921 02 3 AL 00997921 03 5 AL 00997921 05 10 AL 00997921 10 Plug JL04V 6A32 17SE EB RK Connection Pin no Lead wire color Signal name A Red U B White V C Black W D Green Ground L...

Page 118: ...atible motors R2CA2830KV R2CA3255KB for analog pulse type servo ampliﬁers Compatible motors R2CA2830KV R2CA3255KB for EtherCAT and built in positioning type servo ampliﬁers Pin no Lead wire color Signal name 1 Red 5 V 2 Black 0 V 7 Brown ES 8 Blue ES 9 Green EBAT 10 Purple EBAT Pin no Lead wire color Signal name 1 Red 5 V 2 Black 0 V 7 Brown ES 8 Blue ES 9 Green EBAT 10 Purple EBAT UN Receptacle 3...

Page 119: ... Model no 1 AL 00918630 01 2 AL 00918630 02 3 AL 00918630 03 5 AL 00918630 05 10 AL 00918630 10 Compatible motors R2CA2830KV Cable length L m Model no 1 AL 00999239 01 2 AL 00999239 02 3 AL 00999239 03 5 AL 00999239 05 10 AL 00999239 10 L 120 7 N1 25 4 Ø 5 9 Straight plug JL04V 6A10SL 3SE EB R Cable clamp JL04 1012CK 05 R JAE Motor Amplifier L White white Ø 4 8 AWG20 Terminal N1 25 4 J S T Motor W...

Page 120: ...ire AWG24 0 2 mm2 White Ground mark 2 ø4 5 2 M3 Solderless terminal for M5 Lead wire AWG14 2 mm2 White Mass 1 4 kg Model no Rated power PR Resistance Thermostat REGIST 500CW80B 500 W 80 Ω Normally closed REGIST 500CW40B 500 W 40 Ω Normally closed REGIST 500CW20B 500 W 20 Ω Normally closed REGIST 500CW14B 500 W 14 Ω Normally closed REGIST 500CW7B 500 W 7 Ω Normally closed Thermostat detection tempe...

Page 121: ...s ts Time spent while motor is at rest s t 1 cycle s 2 Calculate JL the load moment of inertia referred to the motor shaft Load moment of inertia is the quantity that expresses an ob ject s resistance to change its state of rotational motion The following formula is for calculating it in the case of a hor izontal ball screw mechanism Moment of inertia of ball screw kg m2 kg m2 N m N m N m N m JL1 ...

Page 122: ... Acceleration torque 80 of the peak torque at stall TP Peak torque at stall Deceleration torque Tb TP 0 8 Deceleration torque 80 of the peak torque at stall TP Peak torque at stall Actual torque Trms TR 0 8 Actual torque 80 of the rated torque Inertia moment ratio JL JM 10 Load moment of inertial 10 times or below the motor ro tor moment of inertial Furthermore the rising temperature of the motor ...

Page 123: ...Table diameter Dt m Table support diameter Dh m Table moment of inertia J kg m2 Friction coefﬁcient of table support μ Gear ratio G Mechanical efﬁciency η Selection materials by mechanism D Work Work Timing belt L Work Rack Pinion Table L External force External force F D P M M M D D M L External force M Dt Dh D Work Work Timing belt L Work Rack Pinion Table L External force External force F D P M...

Page 124: ...ng as a spray at any angle up to 60 from the vertical shall have no harmful effect 4 Protected against splashing water Water splashing against the enclosure from any direction shall have no harmful effect 5 Protected against water jets Water projected by a nozzle against enclosure from any direction shall have no harmful effects 6 Protected against powerful water jets Water projected in powerful j...

Page 125: ...nment where vibrations occur such as in a moving vehicle or during transportation Use the product only after becoming thoroughly proﬁcient with relevant product knowledge safety information and precautions Warning Labels on Products Products bear the followingWarning Labels to indicate the situations as below depending on the model This label is attached in the vicinity of high voltage portions su...

Page 126: ...ectly and securely Failure to do so may cause injury 23 Perform wiring work according to the wiring diagrams or the Instruction Manual Failure to follow this may cause electric shock or ﬁre 24 Perform wiring work according to local standards of electrical installations Failure to follow this may cause motor burnout or ﬁre 25 Do not connect commercial power supply to the U V and W terminals of serv...

Page 127: ... of servo ampliﬁers and servo motors as industrial waste Table 1 Servo ampliﬁer model no Power source Circuit classiﬁcation Circuit type Conversion coefﬁcient Ki RS3C02 RS3C05 RS3C10 RS3C15 RS3C30 RS3PAC550 Power supply unit for RS3D80 3 phase 3 3 phase bridge Capacitor smoothing 3 1 6 pulse converter with no reactor K31 3 4 3 2 6 pulse converter with reactor AC side K32 1 8 References Guidelines ...

Page 128: ...If applying to medical devices and other equipment affecting people s lives please contact us beforehand and take appropriate safety measures If applying to equipment that can have significant effects on society and the general public please contact us beforehand Do not use this product in an environment where vibration is present such as in a moving vehicle or shipping vessel Do not perform any r...

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