AC SERVO SYSTEMS FOR 400V - Sanyo Denki America, Inc.

AC SERVO SYSTEMS
Q
AC SERVO SYSTEMS FOR 400V
E J
ENGLISH
JAPANESE

Reduced time and expence in designing your system.
Economic advantage ‥‥Space and wire savings
Operability ‥‥‥‥‥‥‥Adjustment-free set-up software with fulfilled
measurement functions
Improved speed and precision for equipment.
Stabilization ‥‥‥Reduced to 1/5 of that of existing model
1/5
Controllability ‥‥Controlled to minimize positional variations (zero variation achieved)
0
Vibration control‥High response and lower-vibration operation
Confirms to grobal standards.
Reliability‥‥‥‥MTBF improvement
MTBF
Maintainability ‥MTTR reduction, preventive maintenance
function, failed place recognition, and
set-up software
MTTR
Safety ‥‥‥‥‥Oversea standards conformance
Waterproof ‥‥‥All motor models with the IP 67 protection
IP67
INDEX
Characteristics and functions ‥‥‥03
Explanation of model number ‥‥‥11
Standard specification ‥‥‥‥‥‥‥13
Torque characteristics ‥‥‥‥‥‥‥13
External wiring diagram ‥‥‥‥‥‥15
Dimensions ‥‥‥‥‥‥‥‥‥‥‥‥17
Options ‥‥‥‥‥‥‥‥‥‥‥‥‥‥19

FUNC
CHARGE
May cause electric shock.
Hazard of personal injury or
electric shock.
Do not touch drive unit or
terminal cover during power on
or within 10MIN after power off.
before power on.
SET
Miss wiring will be cause of
breakdown. Be sure about wiring
Connect earth terminal against
electric shock.
Reduced time and expence in designing your system.
Easy setting
Real-time auto-tuning function Machine
characteristics is automatically measured to set
necessary servo gain. Optimum setting can be
obtained in a short time.
Built-in operator with five-digit indication LED
5LED
Setting and monitoring in workplace are easy.
Parameters can be set by using the built-in
operator.
Speed command value
Detected speed value
Tuning started
All-in-one control
Torque, position, and speed control can be
selectively used by switching user parameters.
Test operation (JOG function)
JOG function is installed to check the
connection between motor and amplifier
allowing easy test operation without inputting
position and speed commands.
JOG
Position
or
speed
Torque
control
GOAL
r
t
DL1
DL2/RB1
RB4
RB2
QS1C10A
P
C
C
N
1
N C 2
JOG operation enabled without
connection to upper levels.
JOG
START
Flat road
Upslope
R
S
T
U
V
W
WARNING
Operation check enabled with
motor and amplifier only.
3

FUNC
CHARGE
t
QS1C10A
SET
May cause electric shock.
Hazard of personal injury or
electric shock.
Do not touch drive unit or
terminal cover during power on
or within 10MIN after power off.
Miss wiring will be cause of
breakdown. Be sure about wiring
W before power on.
Connect earth terminal against
electric shock.
FUNC
CHARGE
May cause electric shock.
Hazard of personal injury or
electric shock.
Do not touch drive unit or
terminal cover during power on
or within 10MIN after power off.
Miss wiring will be cause of
breakdown. Be sure about wiring
before power on.
SET
Connect earth terminal against
electric shock.
FUNC
CHARGE
t
QS1C10A
SET
May cause electric shock.
Hazard of personal injury or
electric shock.
Do not touch drive unit or
terminal cover during power on
or within 10MIN after power off.
Miss wiring will be cause of
breakdown. Be sure about wiring
W before power on.
Connect earth terminal against
electric shock.
FUNC
CHARGE
May cause electric shock.
Hazard of personal injury or
electric shock.
Do not touch drive unit or
terminal cover during power on
or within 10MIN after power off.
Miss wiring will be cause of
breakdown. Be sure about wiring
before power on.
SET
Connect earth terminal against
electric shock.
Automatic motor recognition and setting
Servo amplifier automatically sets the servo
motor capacity and model.
This function is available only for sensors applying asynchronous
transmission specification among bi-directional serial
communication methods.
Built-in regeneration resistor
Built-in regeneration resistor absorbs the power
regenerated at the motor speed deceleration.
When the built-in regeneration resistor capacity is
insufficient, the external regeneration resistor
(optional) can absorb the power.
QS1C10A
QS1C10A
r
t
P
C
DL1
DL2/RB1
C
N
1
N C 2
r
t
DL1
P
C
RB4
DL2/RB1
C
RB2
RB4
N
1
N C 2
RB2
R
R
S
S
T
WARNING
U
V
W
Optional
external-regeneration resistor
Refer to 21pages
21
T
U
V
W
WARNING
Built-in dynamic brake
Built-in dynamic brake for emergency stop
operates when the servo turned off or alarmed.
Dynamic brake operation sequence with
parameters can be also set.
Setup monitor using personal computer
Setup software enables to set parameters and to
graphically display monitoring waveforms of
position, speed, torque, etc.
r
P
C
DL1
C
DL2/RB1
RB4
Rotation speed
(min 1 )
Controlled state
Dynamic-braking state
Time (s)
r
P
C
DL1
C
DL2/RB1
RB4
Parameters setting
Monitoring waveforms
of position, speed, and torque
N
1
N C 2
N
1
N C 2
RB2
RB2
R
R
S
S
T
WARNING
U
V
T
WARNING
U
V
4

Improved speed and precision for equipment.
Vibration control
Vibration control functions, such as high-order torque
command low-pass filter, broadband 2nd order notch filter,
and vibration control observer provide high-response and
low-vibration operation.
2
Stopping position deviation
With vibration control
Without vibration control
100ms/div
Positioning stabilization time reduction
New speed controller is employed to
substantially shorten the positioning stabilization
time (1/5 of existing model).
(15)
Position deviation
Positioning completion signal
Stabilization time (1ms)
5ms/div
Command track control
A new position and speed controller is employed to
improve the tracking ability of position control
twice better than that of existing model. Inaddition,
almost zero position deviation is achieved.
20
Positioning command
Position deviation
20ms/div
5

High resolution
High-resolution absolute encoder
(17bit or 131,072 divisions) is employed to improve
the positioning resolution.
17bit 131072
17bit 131072
High-resolution absolute encoder (17bit or 131,072 divisions)
Sensor RA062 Resolver system absolute encoder
RA062
Motor cogging torque substantially reduced
New motor technology (patented) is employed to reduce the
cogging torque of motors by about 1/3 through 1/5
(compared to existing model). The smooth motor rotation is
most suitable for applications of high-precision process and
conveyance that are adversely affected by vibrations.
1/31/5
Comparison of cogging torque waveforms 130-2kW (Q2: Medium-inertia motor)
130-2kWQ2
0.14Nm 1.5% (compared to rated torque)
0.029Nm 0.3% (compared to rated torque)
Existing model
Our 200V AC type motor 200V
Rotation
Q motor
Q
Rotation
6

Confirms to grobal standards.
Overseas standards conformity
EN standard
Standard specification type servo amplifiers
comply with the Low Voltage Directive (LVD).
Low voltage specification type servomotors
comply with the LVD. EMC filter is prepared to
comply with the EMC directive.
UL and cUL standards
The cUL standard conforming products are
deemed to be equivalent to the CSA standard
conforming products based on the relation
between the UL and CSA standards.
The standard specification type servo amplifiers
comply with those standards.
The UL standard conforming servo motors are
the standard specification type servo motors.
EN
LVD
EMC
EMC
ULcUL
ULCSAcULCSA
UL
Diverse product lineup
SANMOTION Q Series presents many kinds of
servo motors and servo amplifiers of 100V, 200V
and 400V types.Concerning the 400V type, 8
models of servo motors and 3 models of servo
amplifiers are prepared. Servo motors equipped
with brake and gear are also provided as an
option.Small size and light weight are achieved
to further improve performance and function for
wide-range applications.
SANMOTION Q100V200V400V
400V83
7

Waterproof
Environmental endurance is enhanced for all motor models of
SANMOTION Q series with the IP 67 protection.
SANMOTION QIP67
IP67
Q2CA08050
AC400V
Harmonic suppression
DC reactor connectors are standard equipments to
suppress power harmonic.
DC
QS1C10A
FUNC
CHARGE
SET
r
t
P
C
DL1
DL2
DL1
DL2/RB1
RB4
RB2
C
N
1
N C 2
R
S
Optional setting
T
WARNING
U
May cause electric shock.
Hazard of personal injury or
electric shock.
Do not touch drive unit or
V terminal cover during power on
or within 10MIN after power off.
Miss wiring will be cause of
breakdown. Be sure about wiring
W before power on.
Connect earth terminal against
electric shock.
8

System configuration diagram
9

Explanation of model number
Servo motor
Example) The model number is as follows when 86mm square flange, 0.5kW rated output, maximum 3500min -1 rotation speed,
brake (24V), absolute sensor (131072 divisions/rotation), CE Marking conformity, and A type 1/3 gear are selected for
"Q2" (Medium inertia) servo motor:
Q286mm0.5kW3500min -1 24V131072
CEA1/3
Q
Q series
Motor type
2 CA 08 050 H C P 00 E A
Power voltage and motor shape
CA400V motor voltage
400V
Holding brake presence
Maximum rotation speed
S 1000min -1
M 1500min -1
B 2000min -1
R 2500min -1
XWithout brake
BWith brake (90V)
CWith brake (24V)
H 3000 3500min -1
P 4500min -1
D 5000min -1
Specification
identification
00Standard
Gear
identification
Standard conformity
identification
UL
AA type 1/3
ECE Marking conformity
CE
UUL conformity
MCE Marking and UL conformity
CEUL
Square flange dimension
08 86mm (3.39 inch)
10 100mm (3.94 inch)
13 130mm (5.12 inch)
18 180mm (7.09 inch)
22 220mm (8.66 inch)
Rated output
050 0.5kW
100 1.0kW
150 1.5kW
200 2.0kW
350 3.5kW
450 4.5kW
550 5.5kW
700 7.0kW
Sensor type
SWire-saving incremental encoder [PP031/PP062]
DAbsolute-with-incremental encoder function [PA035]
PWire-saving absolute sensor [PA035]
FWire-saving absolute sensor [RA062]
Specifications of combined amplifier, motor and sensor
Resolution
Mounted motor dimension
Model
PP031 series
PP062 series
PA035 series
PA035 series
PA062 series
Optical detection Incremental
system
type
Optical detection
system
Resolver system
Absolute
type
Single rotation 1
2048PR
10000PR
11bit (2048 divisions)
17bit (131072 divisions)
15bit (32768 divisions)
Multiple rotations
13bit (8192 rotations)
6bit (65536 rotations)
13bit (8192 rotations)
Dimension
Min. 40mm (1.57 inch)sq.
Min. 100mm (3.94 inch)sq.
Min. 42mm (1.65 inch)sq.
Min. 42mm (1.65 inch)sq.
Min. 76mm (2.99 inch)sq.
Remarks
Incremental output
Bi-directional serial (2.5Mbps)
Bi-directional serial (2.5Mbps)
11

Explanation of model number
Servo amplifier
Example) The model number is as follows when AC400V input power, 25A amp capacity, wire-saving absolute sensor (131072
divisions/rotation), 0.5kW rated-power "Q2" motor, 86-square flange, and position control type are selected for "Q"
series servo amplifier:
QAC400V25A131072 Q20.5kW86
QS1 C 02 A A 0 72 A3 P 00
Q series
Input power
400V
Specification
identification
00Standard
Amplifier capacity
02 25A
05 50A
10100A
Motor type
ARotary motor
Hardware type at control section
AIncremental encoder / Wire-saving absolute encoder (optical system)
Motors combination description
0Q motor standard combination
Q
Interface specification
SSpeed control type
TTorque control type
PPosition control type
XSpeed-and-toque-switch type
YPosition-and-toque-switch type
UPosition-and-speed-switch type
VInternal speed control type
Applicable motor code
Q2 series
72Q2CA08050H
73Q2CA10100H
74Q2CA13150H
75Q2CA13200H
76Q2CA18350H
77Q2CA18450H
78Q2CA22550H
79Q2CA22700H
Sensors combination description
01Wire-saving incremental encoder (2000P/R)
03Absolute-with-incremental encoder (2048P/R)
A3Wire-saving absolute sensor (optical system) PA035 2.5M 17bit
A7Wire-saving absolute sensor (resolver system) RA062 2.5M 15bit
12

Q2
Servo motor
Capacity
0.5kW to 7kW(8 types)
0.5kW7kW8
Feature
High-efficiency and low ripple
(medium inertia)
Standard specification
Motor model No. and square flange dimension in
Condition Symbol Unit
Rated output
Rated speed
Maximum speed
Rated torque
Continuous stall torque
Instantaneous maximum stall torque
Rated armature current
Continuous stall armature current
Instantaneous maximum stall armature current
Torque constant
Voltage constant per phase
Phase resistance
Rated power rate
Electrical time constant
Mechanical time constant (not including sensor)
Rotor inertia (INC)
INC
Sensor: Wire-saving INC
INC
Weight including wire-saving INC
INC
Brake-holding torque
Brake excitation voltage
Brake excitation current
Brake inertia
Brake weight
Motor operation temperature and humidity
PR
NR
Nmax
TR
TS
TP
IR
IS
IP
KT
KE
R
QR
te
tm
JM
WE
TB
VB
IB
JB
W
kW
min -1
min -1
Nm
(lbin)
Nm
(lbin)
Nm
(lbin)
Arms
Arms
Arms
NmArms
mvmin -1
kWs
ms
ms
kgm 2 (GD 2 4)
(lbin 2 )
PR
kg (lbs)
Nm (lbin)
V
A
kgm 2 (GD 2 4) (lbin 2 )
kg (lbs)
Q2CA08050H
86
0.5
2000
3000
2.4
21.24
2.9
25.67
9
79.65
2.4
2.9
9.6
1.13
39.4
2.2
31
3.5
Q2CA10100H
100
1
2000
3000
5
44.25
6
53.10
18.5
163.73
3
3.5
12
1.90
66.3
2.4
46
4.8
0.97
1.1
1.8410 -4
5.410 -4
6287.6010 -4 18452.7410 -4
2000
2000
3
5.4
6.62
11.91
1.96
3.92
17.35
34.69
90
90
24
24
0.08
0.20
0.33
0.75
0.34310 -4
0.1510 -4
1172.0910 -4 512.5810 -4
0.8
1.3
1.76
2.87
Temperature: 0 to 40˚C, Humidity: Maximum 90% (no condensation)
04090%
Applicable amplifier model No.
Amplifier capacity
Servo amplifier Input power
Amplifier operation temperature and humidity
Power capacity (Rated)
Amplifier weight
V
V
kVA
kg(lbs)
QS1C02A
25A
1.2
1.9
4.19
QS1C02A
mark indicates a typical value after temperature increased and saturated in the combination with the standard amplifier.
mark indicates a typical value when the winding temperature is at 20˚C.
Note) Power capacity varies depending on the power impedance.
TYP. 20TYP.
25A
3ø AC380V480V+10, -15%, 5060Hz 3 Hz
1ø AC200V240V+10, -15%, 5060Hz 3 Hz
Temperature: 0 to 55˚C, Humidity: Maximum 90% (no condensation)
05590%
2.1
Torque and rotation speed characteristics
10
25
25
80
200
200
8
20
20
Torque [lb-in]
60
40
Torque [N-m]
6
4
Torque [lb-in]
150
100
Torque [N-m]
15
10
Torque [lb-in]
150
100
Torque [N-m]
15
10
20
2
50
5
50
5
0
0
0 500 1000 1500 2000 2500 3000 3500
Speed [min -1 ]
Q2CA08050H0.5kW
0
0
0 500 1000 1500 2000 2500 3000 3500
Speed [min -1 ]
Q2CA10100H1kW
0
0
0 500 1000 1500 2000 2500 3000 3500
Speed [min -1 ]
Q2CA13150H1.5kW
13

Q2CA13150H
130
Q2CA13200H
130
Q2CA18350H
180
Q2CA18450H
180
Q2CA22550H
220
Q2CA22700H
220
1.5
2
3.5
4.5
5.5
7
2000
2000
2000
2000
2000
2000
3000
3000
3000
3000
3000
3000
7.5
66.38
9
79.65
20
177.00
4.3
9.55
84.52
12
106.20
30
265.50
5.7
16.7
147.80
22
194.70
45.5
45.50
10
21.5
190.28
32
283.20
70
619.50
13
26.3
232.76
40
354.00
72
637.20
16.3
33.4
295.59
50.1
443.39
86
761.10
19.9
5.2
7.1
13
19.1
24
29
12.9
21
29.2
48
48
52.9
1.93
1.87
1.86
1.89
2.04
1.99
67.5
65.2
65
65.8
71.3
69.6
0.95
0.70
0.26
0.18
0.10
0.048
64
77
74
99
61
60
12
12
13
16
25
26
0.67
0.71
0.85
0.69
0.82
0.67
8.810 -4
30071.1410 -4
2000
7.8
17.20
9
79.65
90
24
0.25
0.86
0.510 -4
1708.5910 -4
1.5
3.31
11.810 -4
40322.6110 -4
2000
9.8
21.61
12
106.20
90
24
0.28
1.0
0.510 -4
1708.5910 -4
1.7
3.75
37.910 -4
129510.9210 -4
2000
17.7
39.03
32
283.20
90
24
0.37
1.4
3.410 -4
11618.3810 -4
5
11.03
46.510 -4
158898.6210 -4
2000
21.7
47.85
32
283.20
90
24
0.37
1.4
3.410 -4
11618.3810 -4
5
11.03
Temperature: 0 to 40˚C, Humidity: Maximum 90% (no condensation)
04090%
113.510 -4
387849.3310 -4
2000
34.8
76.73
90
796.50
90
24
0.44
1.7
2410 -4
82012.0810 -4
10.4
22.93
18510 -4
632177.3210 -4
2000
52.8
116.42
90
796.50
90
24
0.44
1.7
2410 -4
82012.0810 -4
10.4
22.93
QS1C02A
QS1C05A
QS1C05A
QS1C10A
QS1C10A
QS1C10A
25A
50A
50A
100A
100A
100A
3.1
4.1
3ø AC380V480V+10, -15%, 5060Hz 3 Hz
1ø AC200V240V+10, -15%, 5060Hz 3 Hz
Temperature: 0 to 55˚C, Humidity: Maximum 90% (no condensation)
05590%
7.1
9.2
11.2
14.3
1.9
4.19
4.6
10.14
7.7
16.98
35
50
100
100
100
300
30
400
40
800
80
800
80
800
80
Torque [lb-in]
250
200
150
Torque [N-m]
25
20
15
Torque [lb-in]
300
200
Torque [N-m]
30
20
Torque [lb-in]
600
400
Torque [N-m]
60
40
Torque [lb-in]
600
400
Torque [N-m]
60
40
Torque [lb-in]
600
400
Torque [N-m]
60
40
100
50
10
5
100
10
200
20
200
20
200
20
0
0
0 500 1000 1500 2000 2500 3000 3500 4000
0
0
0 500 1000 1500 2000 2500 3000 3500 4000
0
0
0 500 1000 1500 2000 2500 3000 3500 4000
0
0
0 500 1000 1500 2000 2500 3000 3500 4000
0
0
0 500 1000 1500 2000 2500 3000 3500 4000
Speed [min -1 ]
Speed [min -1 ]
Speed [min -1 ]
Speed [min -1 ]
Speed [min -1 ]
Q2CA13200H2kW
Q2CA18350H3.5kW
Q2CA18450H4.5kW
Q2CA22550H5.5kW
Q2CA22700H7kW
14

-
External wiring diagram
User unit
Power supply single phase
200 to 230V 50/60Hz
Power supply 3
380 to 460V 50/60Hz
System error
Line driver
26LS31
Forward
revolution
pulse
Position command
pulse input
Backward
revolution
pulse
Velocity command/
Speed limitation
Torque command /
Torque limit
MC
MC
Forward
revolution
pulse
Torque limit input
Backward
revolution
pulse
Start Start
ready ready
ON OFF
MC
Emergency stop
Interface power
DC24V
CN1
15
16
40
41
19
20
44
45
17 F-TLA
18 SG
SG
43 R-TLA
1
2
26
27
r
t
R
S
T
F-PC
F-PC
R-PC
R-PC
V-REF/
V-LIM
SG
SG
CONT-COM
CONT1
CONT2
SG
T-COMP/
T-LIM
SG
+5 +5
+5 +5
SG
SG
SG
SG
SG
SG
SG
-
+
-
+
DL1
DL2/RB1
RB2
RB4
SERVO AMPLIFIER
Line receiver
26LS32
+
+
Built-in
regenerative
resistor
Line driver
26LS31
W
V
U
CN2
AO 21
AO 22
BO 46
BO 47
ZO 23
ZO 24
ZOP 48
SG 49
SG
SG
MON1 25
MON2
50
34
39
35
11
12
36
Encoder connector
SH
SH
SERVO
MOTOR
Encoder division signal output
Monitor output
Encoder
DC24V
General-purpose output
RY1
90V
(24V)
Holding brake
(for the type with a brake only)
3
CONT3
37
General-purpose input
4
28
CONT4
CONT5
13
14
29
CONT6
38
5
CONT7
SH
6
CONT8
31
CONT9
7
CONT10
8
CONT11
32
CONT12
33
CONT13
9
CONT14
Interface power
(common)
10
30
Plug : 10150-3000VE,
Shell : 10350-52A0-008
15

16
SERVO AMPLIFIER
CN1
SG
18
17
SG
43
F-PC
R-PC
+5
+5
+5
+5
SG
SG
SG
SERVO MOTOR
W
U
V
CN2
RY1
90V
(24V)
26LS32
26LS31 15
16
40
41
SG
20
19
-
+
SG
SG
SG
+
-
45
44
SG
SG
F-TLA
SG
R-TLA
SG
CONT-COM
CONT1
DC24V 2
26
27 CONT2
CONT3
4 CONT4
28 CONT5
29 CONT6
DC24V
50
MON2
25
MON1
SG
48
49
ZOP
SG
SG
24
23
ZO
ZO
47
BO
46
BO
22
21
AO
AO
26LS31
10150-3000VE,
10350-52A0-008
SH
SH
SH
3
CONT10
CONT11
CONT9
CONT8
CONT7
5
7
8
31
6
CONT14
CONT13
CONT12
9
33
32
10
30
1
t
r
R
S
T
MC
MC
MC
DL2/RB1
-
DL1
RB4
RB2
+
+
V-REF/
V-LIM
T-COMP/
T-LIM
38
39
36
13
14
37
12
11
35
34
200230
380460
F-PC
R-PC
/
/

H
H
Servo motor dimensions
Q2 series High efficiency and low ripple (medium inertia)
86 mm to 220mm [ 3.39 inch to 8.66inch ]
LC
4-LZ1
M
M
LR
LE
(LG)
(IL2)
LL
(IF)
2-M8
(LH)
LA
QA
Q
QK
LB
S
M
KL3
Oil seal
(S type)
QE tap
Depth LT
W
U
(IL1)
(IL2)
( KL2 ) (KL1)
( 19 )
(IE)
2-LZ2
T
Section H-H
(KB1)
(KB2)
MS3102A-
(Motor grounding)
MS3102A20-29P
(Sensor)
(IF)
Eyebolt
2-M8
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
00-0
00-0
8 74 19 74 100 80-0.03 3 115 86 6.6 35 16-0.011
C08050H 194 98 63 229 98 98 2E20-15PE-B Q QA QK
W T U QE LT IE IF IL1
0-0
30 2 25 5-0.03 5 2 0.02 0.06 0.07 M5 12
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
00-0
00-0
10 78 19 64 115 95-0.035 3 130 100 9 45 22-0.013
C10100H 196 98 77 231 98 113 2E20-15PE-B Q QA QK
W T U QE LT IE IF IL1
0-0
40 3 32 6-0.03 6 2.5 0.02 0.08 0.08 M6 20
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
000-0
00-0
10 78 19 64 115 110-0.035 3 130 100 9 45 22-0.013
C10150H 226 128 77 261 128 113 2E20-15PE-B Q QA QK
W T U QE LT IE IF IL1
0-0
40 3 32 6-0.03 6 2.5 0.02 0.08 0.08 M6 20
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
000-0
00-0
12 98 21 80 145 110-0.035 4 165 130 9 M6 55 28-0.013
C13200H 187 99 67 227 99 107 2E24-11PE-B Q QA QK
W T U QE LT IE IF IL1
0-0
50 3 42 8-0.036 7 3 0.02 0.08 0.08 M8 25
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
000.0-0
00-0
16 123 21 80 200 114.3-0.035 3 230 180 13.5 M8 65 35-0.016
C18350H 204 78 66 20 238 78 103 20 2E24-11PE-B Q QA QK
W T U QE LT IE IF IL1
00-0
60 3 50 10-0.03 8 3 0.02 0.08 0.08 M8 25 124 50 60
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
00.00-0
00-0
16 123 21 80 200 114.3-0.035 3 230 180 13.5 M8 65 35-0.016
C18450H 220 94 66 35 254 94 103 35 2E24-11PE-B Q QA QK
W T U QE LT IE IF IL1
00-0
60 3 50 10-0.036 8 3 0.02 0.08 0.08 M8 25 124 50 60
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
000-0
00-0
19 141 21 80 235 200-0.03 4 270 220 13.5 M10 79 55-0.019
C22550H 251 148 82 90 299 165 113 115 2E24-11PE-B Q QA QK
W T U QE LT IE IF IL1
00-0
75 3 67 16-0.03 10 4 0.02 0.08 0.1 M10 25 142 58 55
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
000-0
00-0
19 141 21 80 235 200-0.046 4 270 220 13.5 M10 79 55-0.019
C22700H 310 207 82 150 358 224 113 175 2E24-11PE-B Q QA QK
W T U QE LT IE IF IL1
00-0
75 3 67 16-0.043 10 4 0.02 0.08 0.1 M10 25 142 58 55
Note) Since this motor is under development, the mass production dimension may be different. (Unit : mm)
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
3.15-.0
.63-.0
.31 2.91 .75 2.91 3.94 3.15-.0012 .12 4.52 3.39 .26 1.38 .63-.0004
C08050H 7.64 3.86 2.48 9.01 3.86 3.86
2E20-15PE-B Q QA QK
W T U QE LT IE IF IL1
.20-.0
1.18 .08 .98 .20-.0012 .2 .08 .0008 .002 .003 M5 .47
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
3.74-.0
.87-.0
.39 3.07 .75 2.52 4.53 3.74-.0014 .12 5.12 3.94 .35 1.77 .87-.0005
C10100H 7.72 3.86 3.03 9.09 3.86 4.45
2E20-15PE-B Q QA QK
W T U QE LT IE IF IL1
.24-.0
1.57 0.11 1.26 .24-.0012 .24 .10 .0008 .003 .003 M6 .79
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
3.74-.0
.87-.0
.39 3.07 .75 2.52 4.53 3.74-.0014 .12 5.12 3.94 .35 1.77 .87-.0005
C10150H 8.9 5.04 3.03 10.28 5.04 4.45
2E20-15PE-B Q QA QK
W T U QE LT IE IF IL1
.24-.0
1.57 0.11 1.26 .24-.0012 .24 .10 .0008 .003 .003 M6 .79
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
4.33-.0
1.10-.0
.47 3.86 .83 3.15 5.71 4.33-.0014 .16 6.50 5.12 .35 M6 2.17 1.10-.0005
C13200H 7.36 3.90 2.64 8.94 3.90 4.21
2E24-11PE-B Q 3.86 QK
W T U QE LT IE IF IL1
.31-.0
1.97 .12 1.65 .31-.0014 .28 .12 .0008 .003 .003 M8 .98
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
4.50-.0
1.38-.0
.63 4.84 .83 3.15 7.87 4.50-.0014 .12 9.06 7.09 .53 M8 2.56 1.38-.0006
C18350H 8.03 3.07 2.60 .79 9.37 3.07 4.06 .79 2E24-11PE-B Q QA QK
W T U QE LT IE IF IL1
.31-.0
1.97 .12 1.65 .31-.0014 .31 .12 .0008 .003 .003 M8 .98 4.88 1.97 2.36
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
4.50-.0
1.38-.0
.63 4.84 .83 3.15 7.87 4.50-.0014 .12 9.06 7.09 .53 M8 2.56 1.38-.0006
C18450H 8.66 3.7 2.6 1.38 9.99 3.70 4.06 1.38 2E24-11PE-B Q QA QK
W T U QE LT IE IF IL1
.31-.0
1.97 .12 1.65 .31-.0014 .31 .12 .0008 .003 .003 M8 .98 4.88 1.97 2.36
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
7.87-.0
2.17-.0
.75 5.55 .83 3.15 9.25 7.87-.0018 .16 10.63 8.66 .53 M10 3.11 2.17-.0007
C22550H 9.88 5.83 3.23 3.54 11.77 6.50 4.45 4.53 2E24-11PE-B Q QA QK
W T U QE LT IE IF IL1
.63-.0
2.95 .12 2.64 .63-.0017 .39 .16 .0008 .003 .004 M10 .98 5.59 2.28 2.17
Incremental
MODEL
Connector
Without brake
With brake
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S
7.87-.0
2.17-.0
.75 5.55 .83 3.15 9.25 7.87-.0018 .16 10.63 8.66 .53 M10 3.11 2.17-.0007
C22700H 12.20 8.15 3.23 5.91 14.09 8.82 4.45 6.89 2E24-11PE-B Q QA QK
W T U QE LT IE IF IL1
.63-.0
2.95 .12 2.64 .63-.0017 .39 .16 .0008 .003 .004 M10 .98 5.59 2.28 2.17
Note) Since this motor is under development, the mass production dimension may be different. (Unit : inch)
17

May cause electric shock.
Hazard of personal injury or
electric shock.
Do not touch drive unit or
terminal cover during power on
or within 10MIN after power off.
Miss wiring will be cause of
breakdown. Be sure about wiring
before power on.
Connect earth terminal against
electric shock.
FUNC
CHARGE
r
t
DL1
DL2/RB1
RB4
RB2
R
S
T
U
V
W
SET
P
C
C
N
1
C
N
2
FUNC
CHARGE
May cause electric shock.
Hazard of personal injury or
electric shock.
Miss wiring will be cause of
breakdown. Be sure about wiring
before power on.
SET
Connect earth terminal against
electric shock.
FUNC
CHARGE
May cause electric shock.
Hazard of personal injury or
electric shock.
Miss wiring will be cause of
breakdown. Be sure about wiring
before power on.
SET
Connect earth terminal against
electric shock.
Servo amplifier dimension
Unit:mm (inch)
QS1C02A
QS1C05A
1003.94
270.5
1.06.02
652.56
[75]2.95
1706.69
2-Ø6
2-Ø.24
1104.33
552.17
[75]2.95
2007.87
5.20
Ø6Ø.24
6
QS1C02A
QS1C05A
1500.55.91.02
WARNING
1606.30
r
t
DL1
DL2/RB1
RB4
RB2
R
S
T
U
V
W
WARNING
Do not touch drive unit or
terminal cover during power on
or within 10MIN after power off.
P
C
C
N
1
C
N
2
2380.59.37.02
2509.84
2208.66
6.24
270.5
1.06.02
652.56
6.24
2.3.09
900.53.54.02
100.39
3.5.14
QS1C10A
2-Ø6
2-Ø.24
1275.00
64.52.54
60.24
[75]2.95
2359.25
QS1C10A
r
t
P
C
DL1
DL2/RB1
RB4
RB2
-
R
C
N
1
C
N
2
288111.34.04
30011.81
27010.63
S
T
WARNING
U
V
Do not touch drive unit or
terminal cover during power on
or within 10MIN after power off.
W
6.24
2.3.09
1050.54.13.02
12.47
18

Options
Encoder cable (For incremental and absolute encoder)
amplifier
encoder
Model of cable
AL-00505628-01
Length "L"
3m(9.84 feet)
AL-00505628-02
6m(19.69 feet)
L
AL-00505628-03
AL-00505628-04
10m(32.80 feet)
20m(65.61 feet)
AL-00505628-05
30m(98.43 feet)
Power cable (Without brake)
Model of cable
Length "L"
Black1(U)
Black2(V)
Black3(W)
amplifier
L
motor
AL-00505629-01
AL-00505629-02
AL-00505629-03
AL-00505629-04
3m(9.84 feet)
6m(19.69 feet)
10m(32.80 feet)
20m(65.61 feet)
AL-00505629-05
30m(98.43 feet)
Model of cable
Length "L"
Black1(U)
Black2(V)
Black3(W)
amplifier
L
motor
AL-00505630-01
AL-00505630-02
AL-00505630-03
AL-00505630-04
3m(9.84 feet)
6m(19.69 feet)
10m(32.80 feet)
20m(65.61 feet)
AL-00505630-05
30m(98.43 feet)
Model of cable
Length "L"
Black1(U)
Black2(V)
Black3(W)
amplifier
L
motor
AL-00505631-01
AL-00505631-02
AL-00505631-03
AL-00505631-04
3m(9.84 feet)
6m(19.69 feet)
10m(32.80 feet)
20m(65.61 feet)
AL-00505631-05
30m(98.43 feet)
Brake cable
Model of cable
Length "L"
motor
AL-00505632-01
3m(9.84 feet)
AL-00505632-02
6m(19.69 feet)
L
AL-00505632-03
AL-00505632-04
10m(32.80 feet)
20m(65.61 feet)
AL-00505632-05
30m(98.43 feet)
Command cable
28AWG
L
Model of cable
AL-00505633-01
Length "L"
3m(9.84 feet)
PC connection cable
amplifier
DOS/V PC
Model of cable
AL-00505634-01
Length "L"
3m(9.84 feet)
L
19

Options
Connector
CN1
r t
R S T U V W
Connector
Single connector
Terminal Name
CN1 (plug and housing)
Model No.
AL-00385594-01
3M
Maker
Maker Model No.
10150-3000VE10350-52A0-008
Applicable amplifier
All capacity
Control power connector (r,t)
AL-Y0001161-01
AL-Y0001404-01
MSTB2.5 / 2-ST-5.08
PC4 / 2-STF-7.62
25A
50A
Set of connectors
Main circuit terminals (-,R,S,T,U,V,W)
Control power connector and
Main circuit terminals
AL-Y0000348-03
AL-Y0001404-02
AL-00505646-01
AL-00505647-01
PHOENIX CONTACT
GMSTB2.5 / 7-ST-7.62
PC4 / 6-STF-7.62
MSTB2.5 / 2-ST-5.08
GMSTB2.5 / 7-ST-7.62
PC4 / 2-STF-7.62
PC4 / 6-STF-7.62
25A
50A
25A
50A
Power connector for motor connection (AC400V Input Type)
AC400V
Motor No. Motor side connector Straight plug Angle plug Cable clamp
Q2CA08050D JL04V-2E18-10PE-B JL04V-6A18-10SE-EB JL04V-8A18-10SE-EB JL04-18CK(13)
Q2CA10100H JL04V-2E18-10PE-B JL04V-6A18-10SE-EB JL04V-8A18-10SE-EB JL04-18CK(13)
Q2CA13150H JL04HV-2E22-22PE-B JL04V-6A22-22SE-EB JL04V-8A22-22SE-EB JL04-2022CK(14)
Q2CA13200H JL04HV-2E22-22PE-B JL04V-6A22-22SE-EB JL04V-8A22-22SE-EB JL04-2022CK(14)
Q2CA18350H JL04HV-2E22-22PE-B JL04V-6A22-22SE-EB JL04V-8A22-22SE-EB JL04-2022CK(14)
Q2CA18450H JL04HV-2E22-22PE-B JL04V-6A22-22SE-EB JL04V-8A22-22SE-EB JL04-2022CK(14)
Q2CA22550H JL04V-2E32-17PE-B JL04V-6A32-17SE Conduit
Q2CA22700H JL04V-2E32-17PE-B JL04V-6A32-17SE Conduit
Motor No. Motor side connector Straight plug Angle plug Cable clamp
All model
JL04V-2E10SL-3PE-B JL04V-6A10SL-3SE-EB JL04V-8A10SL-3SE-EB JL04-1012CK(05)
20

Options
external regeneration resistor
600.4 (2.360.02)
42.7 (1.68)
( )
-0.3
0 0.17 -0.01
0
0.79
230 (9.06) 300 ( 11.81 )
0 0
20
2200.4 8.660.02)
270 ( 10.63 0.79
)
0 0
15
200 (7.87)
4.3 (0.17)
61 (0.240.04)
61 (0.240.04)
Silicon rubber glass-braded wire 0.5mm 2 , white
(Thermostat)
Silicon rubber glass-braded wire 0.75mm 2 , black
80 (3.15)
4.5 (0.18)
3 (0.12)
M3
Thermostat
UL1430 electric wire 0.2mm 2 , white
2500.8(9.840.03)
0.4
235 1.2(9.21)
0.02
0.05
M3
8 (0.31)
Ground mark
3
60 (2.36)
Solderless terminal (for M5)
2M5 (0.08M5)
24.5 (20.18)
Silicon rubber glass-braded wire 2mm 2 , white
20 (0.79)
1.2 (0.05) 4.3
Unit: mm (inch)
Weight:0.44kg (0.97lbs)
40 (1.57)
A
218 (8.58)
Unit: mm (inch)
70015 (27.560.59)
Weight:1.4kg (3.09lbs)
Model No.
1 REGIST-220W50B
2 REGIST-220W100B
Remarks
Thermostat,
b-contact
Thermostat,
b-contact
Model No.
1 REGIST-500W50B 35015(13.780.59)
2 REGIST-500W50
3 REGIST-500W100B 35015(13.780.59)
4 REGIST-500W100
5 REGIST-500W200B 35015(13.780.59)
6 REGIST-500W200
A
Remarks
Thermostat,
b-contact
Thermostat,
None
Thermostat,
b-contact
Thermostat,
None
Thermostat,
b-contact
Thermostat,
None
Unit: mm(inch)
21

Inquiry check sheet
Provide the following information when inquiring or ordering.
Also ask question or request, if any.
Company name:
Department name:
Telephone number:
Fax number:
1: Application
2: Machine name
3: Number of units
Date:
Tel : (03) 3917-5151
Fax : (03) 3917-0643
Item
Content
1 Application equipment name Equipment, classification (conveyor, processor, tester, others)
2 Axis name to use servo Axis, axis arrangement (horizontal or vertical), brake mechanism (existent or nonexistent)
3 Current status of the above axis Manufacturer's name ( ), Series name ( ), Motor capacity ( ), Hydraulic, mechanical, or new system
4 Positioning precision
5 Operation pattern AccelerationG[m/s 2 ]
Feeding speed V[m/s]
Feeding speed
[m/sec]
Moved distance D[m]
(Stroke)
t1(_)t2(_)t3(_)Time (sec.)
Formula for reference
1G=9.8[m/s 2 ]1[m/s 2 ]0.1G
[m/s 2 ]V[m/sec]t1[sec]
D[m]V[m/sec](t1+t2)[sec]
6 Mechanism
Ball screw and screw rotation type (horizontal), ball screw and nut rotation type (horizontal), rack-and-pinion (horizontal),
belt or chain (horizontal), ball screw and screw rotation type (horizontal), rotation table, roll field, or instability
WT (weight of table) kg, WL (weight of work) kg, WA (weight of other drive section) kg,
WR (weight of rack) kg, WB (weight of belt or chain) kg, WC (weight of counter
balance) kg, Fa (external force in the axis direction) N, Fb (ball screw pressurization) N,
T (roll press force) N, Dr1 (driving-side roll diameter) mm, Dr2 (driven-side roll
diameter) mm
Lr1 (driving-side roll length) mm, Lr2 (driven-side roll length) mm, G (reduction ratio) ,
JG (gear inertia) kg-cm 2 , JC (coupling inertia) kg-cm 2 , JN (nut inertia) kg-cm 2 ,
JO (other inertia converted to motor shaft) kg-cm 2 , Db (ball screw diameter) mm,
Lb (ball screw axis length) mm, Pb (ball screw lead) mm
7 Machine structure
Dp (diameter of pinion or pulley) mm, Lp (pinion shaft length) mm, tp (pulley
thickness) mm, Dt (table diameter) mm, Dh (table support diameter) mm,
LW (displacement distance between load and axis) mm, Ds (table shaft diameter) mm,
Ls (table shaft length) mm, (specific gravity of material of ball screw, pinion, pulley,
or table shaft) kg-cm 3
9 Sensor type
(friction coefficient between sheet and slide surface, support section, or roll) ,
1 (specific gravity of material of roll1) kg-cm 3 , 2 (specific gravity of material of
roll2) kg-cm 3 , (internal friction coefficient of pressurized nut) , (machine efficient) ,
JL (load inertia converted to motor shaft) kg-cm 2 , TF (friction torque converted to motor
shaft) N-m, Tu (unbalanced torque converted to motor shaft) N-m
8 Gear Prepared by customer ( / ), SANYO standard (planet, spur, backrush-less planet, / ), Other ( / )
Incremental (2000P/R, 5000P/R, 6000P/R, 2048P/R), Other (
Disk absolute (2048P/R, 8192P/R, max 1 million P/R), Other (
Resolver absolute (2048P/R, 8192P/R, max 1 million P/R), Other (
/ P/R)
/ P/R)
/ P/R)
0 Input form Position, speed, torque, communication (SERCOS, CAN, or DeviceNet), other ( )
A Upper device (controller) Sequencer, personal computer, device developed by customer, prepared by SANYO, other ( )
B Environmental requirement Cutting operation, use in the clean room, dustproof measure, other ( )
C Expected number of units produced Single-shot product units/month, units/year
D Development schedule Expected prototype production start date: , Expected mass-production start date:
E Request
Free materials (already handed, mail desired), Solicitation (desired, undesired), Discussion (desired, undesired)
F
Note
(question, comment, problem, etc)
22

Cautions
Failure to observe any of the precautions
indicated on the right-hand side
may cause a light to medium-degree
injury or property damage. It may even
lead to a serious disaster. Be sure to
observe all of the precautions.
Cautions
Do not use any of these products for medical or other equipment that may affect human lives.
Do not use any of these products for equipment that may have a serious impact on society or the public.
Do not use any of these products in a vehicle, ship, or other environment exposed to vibration.
Do not remodel or machine any of these products.
Before using any of these products, be sure to read its operation manual.
For any question or inquiry regarding the above, contact our Sales Department.
540-0001
460-0008
001-0010
980-0021
321-0953
386-8634
430-7712
448-0857
600-8028
732-0824
812-0013
170-8451 1-15-1 033917 5151
1-4-70OBP 066946 6006
2-9-26
052231 3335
102-9-1 10 504 011726 3261
2-2-6
022224 5491
3-1-1
028639 1770
1-1-7
026823 8144
111-2
053455 3321
2-15OTE21
056627 0221
733NNN 075344 2515
1-2-21OS
082263 5011
3-1-1
092482 2401
http://www.sanyodenki.co.jp
1-15-1, Kita-otsuka Toshima-ku Tokyo 170-8451, Japan (North America area) Phone:+81 3 3917 2223
(Europe area) Phone:+81 3 3917 5157
(Asia area) Phone:+81 3 3917 2814
TAIWAN BRANCH Room 401, 4F, No.96, Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C. Phone:+886 2 2511 3938
HONG KONG BRANCH 1109, 11F New East Ocean Centre, 9 Science Museum Road, TST East, Kowloon, Hong Kong Phone:+852 2312 6250
SHANGHAI BRANCH Room 2116, Bldg B, FAR EAST INTERNATIONAL PLAZA, No.317 Xianxia Rd., Shanghai 200051, China Phone:+86 21 6235 1107
468 Amapola Avenue Torrance, California 90501 U.S.A. Phone:+1 310 783 5400
P.A. PARIS NORD II 48 Allee des Erables-VILLEPINTE BP.50286 F-95958 ROISSY CDG CEDEX France Phone:+33 1 48 63 26 61
Remarks : Specifications Are Subject To Change Without Notice.
CATALOG No.778-3 '04.6.3DN