AC SERVO SYSTEMS FOR 400V - Sanyo Denki America, Inc.
AC SERVO SYSTEMS FOR 400V - Sanyo Denki America, Inc.
AC SERVO SYSTEMS FOR 400V - Sanyo Denki America, Inc.
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<strong>AC</strong> <strong>SERVO</strong> <strong>SYSTEMS</strong><br />
Q<br />
<strong>AC</strong> <strong>SERVO</strong> <strong>SYSTEMS</strong> <strong>FOR</strong> <strong>400V</strong><br />
E J<br />
ENGLISH<br />
JAPANESE
Reduced time and expence in designing your system.<br />
<br />
Economic advantage ‥‥Space and wire savings<br />
<br />
<br />
Operability ‥‥‥‥‥‥‥Adjustment-free set-up software with fulfilled<br />
measurement functions<br />
<br />
<br />
Improved speed and precision for equipment.<br />
<br />
Stabilization ‥‥‥Reduced to 1/5 of that of existing model<br />
<br />
1/5<br />
Controllability ‥‥Controlled to minimize positional variations (zero variation achieved)<br />
<br />
0<br />
Vibration control‥High response and lower-vibration operation<br />
<br />
<br />
Confirms to grobal standards.<br />
<br />
Reliability‥‥‥‥MTBF improvement<br />
<br />
MTBF<br />
Maintainability ‥MTTR reduction, preventive maintenance<br />
function, failed place recognition, and<br />
set-up software<br />
<br />
MTTR<br />
<br />
Safety ‥‥‥‥‥Oversea standards conformance<br />
<br />
<br />
Waterproof ‥‥‥All motor models with the IP 67 protection<br />
<br />
IP67<br />
INDEX<br />
Characteristics and functions ‥‥‥03<br />
<br />
Explanation of model number ‥‥‥11<br />
<br />
Standard specification ‥‥‥‥‥‥‥13<br />
<br />
Torque characteristics ‥‥‥‥‥‥‥13<br />
<br />
External wiring diagram ‥‥‥‥‥‥15<br />
<br />
Dimensions ‥‥‥‥‥‥‥‥‥‥‥‥17<br />
<br />
Options ‥‥‥‥‥‥‥‥‥‥‥‥‥‥19
FUNC<br />
CHARGE<br />
May cause electric shock.<br />
Hazard of personal injury or<br />
electric shock.<br />
Do not touch drive unit or<br />
terminal cover during power on<br />
or within 10MIN after power off.<br />
before power on.<br />
SET<br />
Miss wiring will be cause of<br />
breakdown. Be sure about wiring<br />
Connect earth terminal against<br />
electric shock.<br />
Reduced time and expence in designing your system.<br />
<br />
Easy setting<br />
<br />
Real-time auto-tuning function Machine<br />
characteristics is automatically measured to set<br />
necessary servo gain. Optimum setting can be<br />
obtained in a short time.<br />
<br />
<br />
<br />
Built-in operator with five-digit indication LED<br />
5LED<br />
Setting and monitoring in workplace are easy.<br />
Parameters can be set by using the built-in<br />
operator.<br />
<br />
<br />
Speed command value<br />
<br />
Detected speed value <br />
Tuning started<br />
<br />
All-in-one control<br />
<br />
Torque, position, and speed control can be<br />
selectively used by switching user parameters.<br />
<br />
<br />
Test operation (JOG function)<br />
<br />
JOG function is installed to check the<br />
connection between motor and amplifier<br />
allowing easy test operation without inputting<br />
position and speed commands.<br />
JOG<br />
<br />
<br />
Position<br />
<br />
or<br />
speed<br />
<br />
Torque<br />
control<br />
<br />
GOAL<br />
r<br />
t<br />
DL1<br />
DL2/RB1<br />
RB4<br />
RB2<br />
QS1C10A<br />
P<br />
C<br />
C<br />
N<br />
1<br />
N C 2<br />
JOG operation enabled without<br />
connection to upper levels.<br />
<br />
JOG<br />
START<br />
Flat road<br />
<br />
Upslope<br />
<br />
R<br />
S<br />
T<br />
U<br />
V<br />
W<br />
WARNING<br />
Operation check enabled with<br />
motor and amplifier only.<br />
<br />
<br />
3
FUNC<br />
CHARGE<br />
t<br />
QS1C10A<br />
SET<br />
May cause electric shock.<br />
Hazard of personal injury or<br />
electric shock.<br />
Do not touch drive unit or<br />
terminal cover during power on<br />
or within 10MIN after power off.<br />
Miss wiring will be cause of<br />
breakdown. Be sure about wiring<br />
W before power on.<br />
Connect earth terminal against<br />
electric shock.<br />
FUNC<br />
CHARGE<br />
May cause electric shock.<br />
Hazard of personal injury or<br />
electric shock.<br />
Do not touch drive unit or<br />
terminal cover during power on<br />
or within 10MIN after power off.<br />
Miss wiring will be cause of<br />
breakdown. Be sure about wiring<br />
before power on.<br />
SET<br />
Connect earth terminal against<br />
electric shock.<br />
FUNC<br />
CHARGE<br />
t<br />
QS1C10A<br />
SET<br />
May cause electric shock.<br />
Hazard of personal injury or<br />
electric shock.<br />
Do not touch drive unit or<br />
terminal cover during power on<br />
or within 10MIN after power off.<br />
Miss wiring will be cause of<br />
breakdown. Be sure about wiring<br />
W before power on.<br />
Connect earth terminal against<br />
electric shock.<br />
FUNC<br />
CHARGE<br />
May cause electric shock.<br />
Hazard of personal injury or<br />
electric shock.<br />
Do not touch drive unit or<br />
terminal cover during power on<br />
or within 10MIN after power off.<br />
Miss wiring will be cause of<br />
breakdown. Be sure about wiring<br />
before power on.<br />
SET<br />
Connect earth terminal against<br />
electric shock.<br />
Automatic motor recognition and setting<br />
<br />
Servo amplifier automatically sets the servo<br />
motor capacity and model.<br />
This function is available only for sensors applying asynchronous<br />
transmission specification among bi-directional serial<br />
communication methods.<br />
<br />
<br />
Built-in regeneration resistor<br />
<br />
Built-in regeneration resistor absorbs the power<br />
regenerated at the motor speed deceleration.<br />
When the built-in regeneration resistor capacity is<br />
insufficient, the external regeneration resistor<br />
(optional) can absorb the power.<br />
<br />
<br />
<br />
QS1C10A<br />
QS1C10A<br />
r<br />
t<br />
P<br />
C<br />
DL1<br />
DL2/RB1<br />
C<br />
N<br />
1<br />
N C 2<br />
r<br />
t<br />
DL1<br />
P<br />
C<br />
RB4<br />
DL2/RB1<br />
C<br />
RB2<br />
RB4<br />
N<br />
1<br />
N C 2<br />
RB2<br />
R<br />
R<br />
S<br />
S<br />
T<br />
WARNING<br />
U<br />
V<br />
W<br />
Optional <br />
external-regeneration resistor<br />
<br />
Refer to 21pages<br />
21<br />
T<br />
U<br />
V<br />
W<br />
WARNING<br />
Built-in dynamic brake<br />
<br />
Built-in dynamic brake for emergency stop<br />
operates when the servo turned off or alarmed.<br />
Dynamic brake operation sequence with<br />
parameters can be also set.<br />
<br />
<br />
<br />
Setup monitor using personal computer<br />
<br />
Setup software enables to set parameters and to<br />
graphically display monitoring waveforms of<br />
position, speed, torque, etc.<br />
<br />
<br />
r<br />
P<br />
C<br />
DL1<br />
C<br />
DL2/RB1<br />
RB4<br />
Rotation speed<br />
<br />
<br />
<br />
<br />
(min 1 )<br />
Controlled state<br />
<br />
Dynamic-braking state<br />
<br />
Time (s)<br />
r<br />
P<br />
C<br />
DL1<br />
C<br />
DL2/RB1<br />
RB4<br />
Parameters setting<br />
Monitoring waveforms<br />
of position, speed, and torque<br />
<br />
<br />
N<br />
1<br />
N C 2<br />
N<br />
1<br />
N C 2<br />
RB2<br />
RB2<br />
R<br />
R<br />
S<br />
S<br />
T<br />
WARNING<br />
U<br />
V<br />
T<br />
WARNING<br />
U<br />
V<br />
4
Improved speed and precision for equipment.<br />
<br />
Vibration control<br />
<br />
Vibration control functions, such as high-order torque<br />
command low-pass filter, broadband 2nd order notch filter,<br />
and vibration control observer provide high-response and<br />
low-vibration operation.<br />
2<br />
<br />
<br />
Stopping position deviation <br />
With vibration control<br />
<br />
Without vibration control<br />
<br />
100ms/div<br />
Positioning stabilization time reduction<br />
<br />
New speed controller is employed to<br />
substantially shorten the positioning stabilization<br />
time (1/5 of existing model).<br />
<br />
(15)<br />
Position deviation<br />
<br />
Positioning completion signal<br />
<br />
Stabilization time (1ms)<br />
<br />
5ms/div<br />
Command track control<br />
<br />
A new position and speed controller is employed to<br />
improve the tracking ability of position control<br />
twice better than that of existing model. Inaddition,<br />
almost zero position deviation is achieved.<br />
<br />
20<br />
Positioning command<br />
<br />
Position deviation<br />
<br />
20ms/div<br />
5
High resolution<br />
<br />
High-resolution absolute encoder<br />
(17bit or 131,072 divisions) is employed to improve<br />
the positioning resolution.<br />
17bit 131072<br />
<br />
17bit 131072<br />
High-resolution absolute encoder (17bit or 131,072 divisions)<br />
Sensor RA062 Resolver system absolute encoder<br />
RA062<br />
Motor cogging torque substantially reduced<br />
<br />
New motor technology (patented) is employed to reduce the<br />
cogging torque of motors by about 1/3 through 1/5<br />
(compared to existing model). The smooth motor rotation is<br />
most suitable for applications of high-precision process and<br />
conveyance that are adversely affected by vibrations.<br />
<br />
1/31/5<br />
<br />
<br />
Comparison of cogging torque waveforms 130-2kW (Q2: Medium-inertia motor)<br />
130-2kWQ2<br />
0.14Nm 1.5% (compared to rated torque)<br />
0.029Nm 0.3% (compared to rated torque)<br />
Existing model<br />
<br />
Our 200V <strong>AC</strong> type motor 200V<br />
Rotation<br />
Q motor<br />
Q<br />
Rotation<br />
6
Confirms to grobal standards.<br />
<br />
Overseas standards conformity<br />
<br />
EN standard<br />
Standard specification type servo amplifiers<br />
comply with the Low Voltage Directive (LVD).<br />
Low voltage specification type servomotors<br />
comply with the LVD. EMC filter is prepared to<br />
comply with the EMC directive.<br />
UL and cUL standards<br />
The cUL standard conforming products are<br />
deemed to be equivalent to the CSA standard<br />
conforming products based on the relation<br />
between the UL and CSA standards.<br />
The standard specification type servo amplifiers<br />
comply with those standards.<br />
The UL standard conforming servo motors are<br />
the standard specification type servo motors.<br />
EN<br />
LVD<br />
EMC<br />
EMC<br />
ULcUL<br />
ULCSAcULCSA<br />
<br />
UL<br />
Diverse product lineup<br />
<br />
SANMOTION Q Series presents many kinds of<br />
servo motors and servo amplifiers of 100V, 200V<br />
and <strong>400V</strong> types.Concerning the <strong>400V</strong> type, 8<br />
models of servo motors and 3 models of servo<br />
amplifiers are prepared. Servo motors equipped<br />
with brake and gear are also provided as an<br />
option.Small size and light weight are achieved<br />
to further improve performance and function for<br />
wide-range applications.<br />
SANMOTION Q100V200V<strong>400V</strong><br />
<br />
<strong>400V</strong>83<br />
<br />
<br />
<br />
7
Waterproof<br />
<br />
Environmental endurance is enhanced for all motor models of<br />
SANMOTION Q series with the IP 67 protection.<br />
SANMOTION QIP67<br />
<br />
IP67<br />
Q2CA08050<br />
<strong>AC</strong><strong>400V</strong><br />
Harmonic suppression<br />
<br />
DC reactor connectors are standard equipments to<br />
suppress power harmonic.<br />
DC<br />
QS1C10A<br />
FUNC<br />
CHARGE<br />
SET<br />
r<br />
t<br />
P<br />
C<br />
DL1<br />
DL2<br />
DL1<br />
DL2/RB1<br />
RB4<br />
RB2<br />
C<br />
N<br />
1<br />
N C 2<br />
R<br />
S<br />
Optional setting<br />
<br />
T<br />
WARNING<br />
U<br />
May cause electric shock.<br />
Hazard of personal injury or<br />
electric shock.<br />
Do not touch drive unit or<br />
V terminal cover during power on<br />
or within 10MIN after power off.<br />
Miss wiring will be cause of<br />
breakdown. Be sure about wiring<br />
W before power on.<br />
Connect earth terminal against<br />
electric shock.<br />
8
System configuration diagram <br />
9
Explanation of model number <br />
Servo motor <br />
Example) The model number is as follows when 86mm square flange, 0.5kW rated output, maximum 3500min -1 rotation speed,<br />
brake (24V), absolute sensor (131072 divisions/rotation), CE Marking conformity, and A type 1/3 gear are selected for<br />
"Q2" (Medium inertia) servo motor:<br />
Q286mm0.5kW3500min -1 24V131072 <br />
CEA1/3<br />
Q<br />
Q series<br />
Motor type<br />
<br />
2 CA 08 050 H C P 00 E A<br />
Power voltage and motor shape<br />
<br />
CA<strong>400V</strong> motor voltage<br />
<strong>400V</strong><br />
Holding brake presence<br />
<br />
Maximum rotation speed<br />
<br />
S 1000min -1<br />
M 1500min -1<br />
B 2000min -1<br />
R 2500min -1<br />
XWithout brake<br />
<br />
BWith brake (90V)<br />
<br />
CWith brake (24V)<br />
<br />
H 3000 3500min -1<br />
P 4500min -1<br />
D 5000min -1<br />
Specification<br />
identification<br />
<br />
00Standard<br />
<br />
Gear<br />
identification<br />
<br />
Standard conformity<br />
identification<br />
<br />
UL<br />
AA type 1/3<br />
ECE Marking conformity<br />
CE<br />
UUL conformity<br />
MCE Marking and UL conformity<br />
CEUL<br />
Square flange dimension<br />
<br />
08 86mm (3.39 inch)<br />
10 100mm (3.94 inch)<br />
13 130mm (5.12 inch)<br />
18 180mm (7.09 inch)<br />
22 220mm (8.66 inch)<br />
Rated output<br />
<br />
050 0.5kW<br />
100 1.0kW<br />
150 1.5kW<br />
200 2.0kW<br />
350 3.5kW<br />
450 4.5kW<br />
550 5.5kW<br />
700 7.0kW<br />
Sensor type<br />
<br />
SWire-saving incremental encoder [PP031/PP062]<br />
<br />
DAbsolute-with-incremental encoder function [PA035]<br />
<br />
PWire-saving absolute sensor [PA035]<br />
<br />
FWire-saving absolute sensor [RA062]<br />
<br />
Specifications of combined amplifier, motor and sensor <br />
Resolution<br />
<br />
Mounted motor dimension<br />
<br />
Model <br />
PP031 series<br />
PP062 series<br />
PA035 series<br />
PA035 series<br />
PA062 series<br />
Optical detection <strong>Inc</strong>remental<br />
system<br />
type<br />
<br />
<br />
Optical detection<br />
system<br />
<br />
<br />
Resolver system<br />
<br />
Absolute<br />
type<br />
<br />
<br />
Single rotation 1<br />
2048PR<br />
10000PR<br />
11bit (2048 divisions)<br />
17bit (131072 divisions)<br />
15bit (32768 divisions)<br />
Multiple rotations <br />
<br />
<br />
13bit (8192 rotations)<br />
6bit (65536 rotations)<br />
13bit (8192 rotations)<br />
Dimension <br />
Min. 40mm (1.57 inch)sq.<br />
Min. 100mm (3.94 inch)sq.<br />
Min. 42mm (1.65 inch)sq.<br />
Min. 42mm (1.65 inch)sq.<br />
Min. 76mm (2.99 inch)sq.<br />
Remarks <br />
<strong>Inc</strong>remental output<br />
Bi-directional serial (2.5Mbps)<br />
Bi-directional serial (2.5Mbps)<br />
11
Explanation of model number <br />
Servo amplifier <br />
Example) The model number is as follows when <strong>AC</strong><strong>400V</strong> input power, 25A amp capacity, wire-saving absolute sensor (131072<br />
divisions/rotation), 0.5kW rated-power "Q2" motor, 86-square flange, and position control type are selected for "Q"<br />
series servo amplifier:<br />
Q<strong>AC</strong><strong>400V</strong>25A131072 Q20.5kW86<br />
<br />
QS1 C 02 A A 0 72 A3 P 00<br />
Q series<br />
Input power<br />
<br />
<strong>400V</strong><br />
Specification<br />
identification<br />
<br />
00Standard<br />
<br />
Amplifier capacity<br />
<br />
02 25A<br />
05 50A<br />
10100A<br />
Motor type<br />
<br />
ARotary motor<br />
<br />
Hardware type at control section<br />
<br />
A<strong>Inc</strong>remental encoder / Wire-saving absolute encoder (optical system)<br />
<br />
Motors combination description<br />
<br />
0Q motor standard combination<br />
Q<br />
Interface specification<br />
<br />
SSpeed control type<br />
<br />
TTorque control type<br />
<br />
PPosition control type<br />
<br />
XSpeed-and-toque-switch type<br />
<br />
YPosition-and-toque-switch type<br />
<br />
UPosition-and-speed-switch type<br />
<br />
VInternal speed control type<br />
<br />
Applicable motor code<br />
<br />
Q2 series<br />
72Q2CA08050H<br />
73Q2CA10100H<br />
74Q2CA13150H<br />
75Q2CA13200H<br />
76Q2CA18350H<br />
77Q2CA18450H<br />
78Q2CA22550H<br />
79Q2CA22700H<br />
Sensors combination description<br />
<br />
01Wire-saving incremental encoder (2000P/R)<br />
<br />
03Absolute-with-incremental encoder (2048P/R)<br />
<br />
A3Wire-saving absolute sensor (optical system) PA035 2.5M 17bit<br />
<br />
A7Wire-saving absolute sensor (resolver system) RA062 2.5M 15bit<br />
<br />
12
Q2<br />
Servo motor<br />
Capacity <br />
0.5kW to 7kW(8 types)<br />
0.5kW7kW8<br />
Feature <br />
High-efficiency and low ripple<br />
(medium inertia)<br />
<br />
Standard specification <br />
Motor model No. and square flange dimension in <br />
Condition Symbol Unit<br />
Rated output<br />
<br />
Rated speed<br />
<br />
Maximum speed<br />
<br />
Rated torque<br />
<br />
Continuous stall torque<br />
<br />
Instantaneous maximum stall torque<br />
<br />
Rated armature current<br />
<br />
Continuous stall armature current<br />
<br />
Instantaneous maximum stall armature current<br />
<br />
Torque constant<br />
<br />
Voltage constant per phase<br />
<br />
Phase resistance<br />
<br />
Rated power rate<br />
<br />
Electrical time constant<br />
<br />
Mechanical time constant (not including sensor)<br />
<br />
Rotor inertia (INC)<br />
INC<br />
Sensor: Wire-saving INC<br />
INC<br />
Weight including wire-saving INC<br />
INC<br />
Brake-holding torque<br />
<br />
Brake excitation voltage<br />
<br />
Brake excitation current<br />
<br />
Brake inertia<br />
<br />
Brake weight<br />
<br />
Motor operation temperature and humidity<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
PR<br />
NR<br />
Nmax<br />
TR<br />
TS<br />
TP<br />
IR<br />
IS<br />
IP<br />
KT<br />
KE<br />
R<br />
QR<br />
te<br />
tm<br />
JM<br />
WE<br />
TB<br />
VB<br />
IB<br />
JB<br />
W<br />
kW<br />
min -1<br />
min -1<br />
Nm<br />
(lbin)<br />
Nm<br />
(lbin)<br />
Nm<br />
(lbin)<br />
Arms<br />
Arms<br />
Arms<br />
NmArms<br />
mvmin -1<br />
<br />
kWs<br />
ms<br />
ms<br />
kgm 2 (GD 2 4)<br />
(lbin 2 )<br />
PR<br />
kg (lbs)<br />
Nm (lbin)<br />
V<br />
A<br />
kgm 2 (GD 2 4) (lbin 2 )<br />
kg (lbs)<br />
Q2CA08050H<br />
86<br />
0.5<br />
2000<br />
3000<br />
2.4<br />
21.24<br />
2.9<br />
25.67<br />
9<br />
79.65<br />
2.4<br />
2.9<br />
9.6<br />
1.13<br />
39.4<br />
2.2<br />
31<br />
3.5<br />
Q2CA10100H<br />
100<br />
1<br />
2000<br />
3000<br />
5<br />
44.25<br />
6<br />
53.10<br />
18.5<br />
163.73<br />
3<br />
3.5<br />
12<br />
1.90<br />
66.3<br />
2.4<br />
46<br />
4.8<br />
0.97<br />
1.1<br />
1.8410 -4<br />
5.410 -4<br />
6287.6010 -4 18452.7410 -4 <br />
2000<br />
2000<br />
3<br />
5.4<br />
6.62<br />
11.91<br />
1.96<br />
3.92<br />
17.35<br />
34.69<br />
90<br />
90<br />
24<br />
24<br />
0.08<br />
0.20<br />
0.33<br />
0.75<br />
0.34310 -4<br />
0.1510 -4<br />
1172.0910 -4 512.5810 -4 <br />
0.8<br />
1.3<br />
1.76<br />
2.87<br />
Temperature: 0 to 40˚C, Humidity: Maximum 90% (no condensation)<br />
04090%<br />
Applicable amplifier model No.<br />
<br />
Amplifier capacity<br />
<br />
Servo amplifier Input power<br />
<br />
Amplifier operation temperature and humidity<br />
<br />
Power capacity (Rated)<br />
<br />
Amplifier weight<br />
<br />
<br />
<br />
V<br />
V<br />
kVA<br />
kg(lbs)<br />
QS1C02A<br />
25A<br />
1.2<br />
1.9<br />
4.19<br />
QS1C02A<br />
mark indicates a typical value after temperature increased and saturated in the combination with the standard amplifier.<br />
mark indicates a typical value when the winding temperature is at 20˚C.<br />
Note) Power capacity varies depending on the power impedance.<br />
TYP. 20TYP.<br />
<br />
25A<br />
3ø <strong>AC</strong>380V480V+10, -15%, 5060Hz 3 Hz<br />
1ø <strong>AC</strong>200V240V+10, -15%, 5060Hz 3 Hz<br />
Temperature: 0 to 55˚C, Humidity: Maximum 90% (no condensation)<br />
05590%<br />
2.1<br />
Torque and rotation speed characteristics <br />
10<br />
25<br />
25<br />
80<br />
200<br />
200<br />
8<br />
20<br />
20<br />
Torque [lb-in]<br />
60<br />
40<br />
Torque [N-m]<br />
6<br />
4<br />
Torque [lb-in]<br />
150<br />
100<br />
Torque [N-m]<br />
15<br />
10<br />
Torque [lb-in]<br />
150<br />
100<br />
Torque [N-m]<br />
15<br />
10<br />
20<br />
2<br />
50<br />
5<br />
50<br />
5<br />
0<br />
0<br />
0 500 1000 1500 2000 2500 3000 3500<br />
Speed [min -1 ]<br />
Q2CA08050H0.5kW<br />
0<br />
0<br />
0 500 1000 1500 2000 2500 3000 3500<br />
Speed [min -1 ]<br />
Q2CA10100H1kW<br />
0<br />
0<br />
0 500 1000 1500 2000 2500 3000 3500<br />
Speed [min -1 ]<br />
Q2CA13150H1.5kW<br />
13
Q2CA13150H<br />
130<br />
Q2CA13200H<br />
130<br />
Q2CA18350H<br />
180<br />
Q2CA18450H<br />
180<br />
Q2CA22550H<br />
220<br />
Q2CA22700H<br />
220<br />
1.5<br />
2<br />
3.5<br />
4.5<br />
5.5<br />
7<br />
2000<br />
2000<br />
2000<br />
2000<br />
2000<br />
2000<br />
3000<br />
3000<br />
3000<br />
3000<br />
3000<br />
3000<br />
7.5<br />
66.38<br />
9<br />
79.65<br />
20<br />
177.00<br />
4.3<br />
9.55<br />
84.52<br />
12<br />
106.20<br />
30<br />
265.50<br />
5.7<br />
16.7<br />
147.80<br />
22<br />
194.70<br />
45.5<br />
45.50<br />
10<br />
21.5<br />
190.28<br />
32<br />
283.20<br />
70<br />
619.50<br />
13<br />
26.3<br />
232.76<br />
40<br />
354.00<br />
72<br />
637.20<br />
16.3<br />
33.4<br />
295.59<br />
50.1<br />
443.39<br />
86<br />
761.10<br />
19.9<br />
5.2<br />
7.1<br />
13<br />
19.1<br />
24<br />
29<br />
12.9<br />
21<br />
29.2<br />
48<br />
48<br />
52.9<br />
1.93<br />
1.87<br />
1.86<br />
1.89<br />
2.04<br />
1.99<br />
67.5<br />
65.2<br />
65<br />
65.8<br />
71.3<br />
69.6<br />
0.95<br />
0.70<br />
0.26<br />
0.18<br />
0.10<br />
0.048<br />
64<br />
77<br />
74<br />
99<br />
61<br />
60<br />
12<br />
12<br />
13<br />
16<br />
25<br />
26<br />
0.67<br />
0.71<br />
0.85<br />
0.69<br />
0.82<br />
0.67<br />
8.810 -4<br />
30071.1410 -4 <br />
2000<br />
7.8<br />
17.20<br />
9<br />
79.65<br />
90<br />
24<br />
0.25<br />
0.86<br />
0.510 -4<br />
1708.5910 -4 <br />
1.5<br />
3.31<br />
11.810 -4<br />
40322.6110 -4 <br />
2000<br />
9.8<br />
21.61<br />
12<br />
106.20<br />
90<br />
24<br />
0.28<br />
1.0<br />
0.510 -4<br />
1708.5910 -4 <br />
1.7<br />
3.75<br />
37.910 -4<br />
129510.9210 -4 <br />
2000<br />
17.7<br />
39.03<br />
32<br />
283.20<br />
90<br />
24<br />
0.37<br />
1.4<br />
3.410 -4<br />
11618.3810 -4 <br />
5<br />
11.03<br />
46.510 -4<br />
158898.6210 -4 <br />
2000<br />
21.7<br />
47.85<br />
32<br />
283.20<br />
90<br />
24<br />
0.37<br />
1.4<br />
3.410 -4<br />
11618.3810 -4 <br />
5<br />
11.03<br />
Temperature: 0 to 40˚C, Humidity: Maximum 90% (no condensation)<br />
04090%<br />
113.510 -4<br />
387849.3310 -4 <br />
2000<br />
34.8<br />
76.73<br />
90<br />
796.50<br />
90<br />
24<br />
0.44<br />
1.7<br />
2410 -4<br />
82012.0810 -4 <br />
10.4<br />
22.93<br />
18510 -4<br />
632177.3210 -4 <br />
2000<br />
52.8<br />
116.42<br />
90<br />
796.50<br />
90<br />
24<br />
0.44<br />
1.7<br />
2410 -4<br />
82012.0810 -4 <br />
10.4<br />
22.93<br />
QS1C02A<br />
QS1C05A<br />
QS1C05A<br />
QS1C10A<br />
QS1C10A<br />
QS1C10A<br />
25A<br />
50A<br />
50A<br />
100A<br />
100A<br />
100A<br />
3.1<br />
4.1<br />
3ø <strong>AC</strong>380V480V+10, -15%, 5060Hz 3 Hz<br />
1ø <strong>AC</strong>200V240V+10, -15%, 5060Hz 3 Hz<br />
Temperature: 0 to 55˚C, Humidity: Maximum 90% (no condensation)<br />
05590%<br />
7.1<br />
9.2<br />
11.2<br />
14.3<br />
1.9<br />
4.19<br />
4.6<br />
10.14<br />
7.7<br />
16.98<br />
35<br />
50<br />
100<br />
100<br />
100<br />
300<br />
30<br />
400<br />
40<br />
800<br />
80<br />
800<br />
80<br />
800<br />
80<br />
Torque [lb-in]<br />
250<br />
200<br />
150<br />
Torque [N-m]<br />
25<br />
20<br />
15<br />
Torque [lb-in]<br />
300<br />
200<br />
Torque [N-m]<br />
30<br />
20<br />
Torque [lb-in]<br />
600<br />
400<br />
Torque [N-m]<br />
60<br />
40<br />
Torque [lb-in]<br />
600<br />
400<br />
Torque [N-m]<br />
60<br />
40<br />
Torque [lb-in]<br />
600<br />
400<br />
Torque [N-m]<br />
60<br />
40<br />
100<br />
50<br />
10<br />
5<br />
100<br />
10<br />
200<br />
20<br />
200<br />
20<br />
200<br />
20<br />
0<br />
0<br />
0 500 1000 1500 2000 2500 3000 3500 4000<br />
0<br />
0<br />
0 500 1000 1500 2000 2500 3000 3500 4000<br />
0<br />
0<br />
0 500 1000 1500 2000 2500 3000 3500 4000<br />
0<br />
0<br />
0 500 1000 1500 2000 2500 3000 3500 4000<br />
0<br />
0<br />
0 500 1000 1500 2000 2500 3000 3500 4000<br />
Speed [min -1 ]<br />
Speed [min -1 ]<br />
Speed [min -1 ]<br />
Speed [min -1 ]<br />
Speed [min -1 ]<br />
Q2CA13200H2kW<br />
Q2CA18350H3.5kW<br />
Q2CA18450H4.5kW<br />
Q2CA22550H5.5kW<br />
Q2CA22700H7kW<br />
14
-<br />
External wiring diagram <br />
User unit<br />
Power supply single phase<br />
200 to 230V 50/60Hz<br />
Power supply 3<br />
380 to 460V 50/60Hz<br />
System error<br />
Line driver<br />
26LS31<br />
Forward<br />
revolution<br />
pulse<br />
Position command<br />
pulse input<br />
Backward<br />
revolution<br />
pulse<br />
Velocity command/<br />
Speed limitation<br />
Torque command /<br />
Torque limit<br />
MC<br />
MC<br />
Forward<br />
revolution<br />
pulse<br />
Torque limit input<br />
Backward<br />
revolution<br />
pulse<br />
Start Start<br />
ready ready<br />
ON OFF<br />
MC<br />
Emergency stop<br />
Interface power<br />
DC24V<br />
CN1<br />
15<br />
16<br />
40<br />
41<br />
19<br />
20<br />
44<br />
45<br />
17 F-TLA<br />
18 SG<br />
SG<br />
43 R-TLA<br />
1<br />
2<br />
26<br />
27<br />
r<br />
t<br />
R<br />
S<br />
T<br />
F-PC<br />
F-PC<br />
R-PC<br />
R-PC<br />
V-REF/<br />
V-LIM<br />
SG<br />
SG<br />
CONT-COM<br />
CONT1<br />
CONT2<br />
SG<br />
T-COMP/<br />
T-LIM<br />
SG<br />
+5 +5<br />
+5 +5<br />
SG<br />
SG<br />
SG<br />
SG<br />
SG<br />
SG<br />
SG<br />
-<br />
+<br />
-<br />
+<br />
DL1<br />
DL2/RB1<br />
RB2<br />
RB4<br />
<strong>SERVO</strong> AMPLIFIER<br />
Line receiver<br />
26LS32<br />
+<br />
+<br />
Built-in<br />
regenerative<br />
resistor<br />
Line driver<br />
26LS31<br />
W<br />
V<br />
U<br />
CN2<br />
AO 21<br />
AO 22<br />
BO 46<br />
BO 47<br />
ZO 23<br />
ZO 24<br />
ZOP 48<br />
SG 49<br />
SG<br />
SG<br />
MON1 25<br />
MON2<br />
50<br />
34<br />
39<br />
35<br />
11<br />
12<br />
36<br />
Encoder connector<br />
SH<br />
SH<br />
<strong>SERVO</strong><br />
MOTOR<br />
Encoder division signal output<br />
Monitor output<br />
Encoder<br />
DC24V<br />
General-purpose output<br />
RY1<br />
90V<br />
(24V)<br />
Holding brake<br />
(for the type with a brake only)<br />
3<br />
CONT3<br />
37<br />
General-purpose input<br />
4<br />
28<br />
CONT4<br />
CONT5<br />
13<br />
14<br />
29<br />
CONT6<br />
38<br />
5<br />
CONT7<br />
SH<br />
6<br />
CONT8<br />
31<br />
CONT9<br />
7<br />
CONT10<br />
8<br />
CONT11<br />
32<br />
CONT12<br />
33<br />
CONT13<br />
9<br />
CONT14<br />
Interface power<br />
(common)<br />
10<br />
30<br />
Plug : 10150-3000VE,<br />
Shell : 10350-52A0-008<br />
15
16<br />
<strong>SERVO</strong> AMPLIFIER<br />
CN1<br />
SG<br />
18<br />
17<br />
SG<br />
<br />
<br />
43<br />
F-PC<br />
R-PC<br />
+5<br />
+5<br />
+5<br />
+5<br />
SG<br />
SG<br />
SG<br />
<strong>SERVO</strong> MOTOR<br />
<br />
W<br />
U<br />
V<br />
CN2<br />
RY1<br />
<br />
90V<br />
(24V)<br />
<br />
26LS32<br />
<br />
26LS31 15<br />
16<br />
40<br />
41<br />
SG<br />
20<br />
19<br />
-<br />
+<br />
SG<br />
SG<br />
SG<br />
+<br />
-<br />
45<br />
44<br />
SG<br />
SG<br />
F-TLA<br />
SG<br />
R-TLA<br />
<br />
<br />
SG<br />
CONT-COM<br />
CONT1<br />
DC24V 2<br />
26<br />
27 CONT2<br />
CONT3<br />
4 CONT4<br />
28 CONT5<br />
29 CONT6<br />
DC24V<br />
50<br />
MON2<br />
25<br />
MON1<br />
SG<br />
48<br />
49<br />
ZOP<br />
SG<br />
SG<br />
24<br />
23<br />
ZO<br />
ZO<br />
47<br />
BO<br />
46<br />
BO<br />
22<br />
21<br />
AO<br />
AO<br />
<br />
26LS31<br />
<br />
10150-3000VE,<br />
10350-52A0-008<br />
SH<br />
SH<br />
SH<br />
<br />
<br />
3<br />
CONT10<br />
CONT11<br />
CONT9<br />
CONT8<br />
CONT7<br />
5<br />
7<br />
8<br />
31<br />
6<br />
CONT14<br />
CONT13<br />
CONT12<br />
9<br />
33<br />
32<br />
<br />
<br />
<br />
10<br />
30<br />
1<br />
t<br />
r<br />
R<br />
S<br />
T<br />
MC<br />
<br />
<br />
<br />
MC<br />
MC<br />
<br />
DL2/RB1<br />
-<br />
DL1<br />
<br />
RB4<br />
RB2<br />
+<br />
+<br />
V-REF/<br />
V-LIM<br />
T-COMP/<br />
T-LIM<br />
38<br />
39<br />
36<br />
13<br />
14<br />
37<br />
12<br />
11<br />
35<br />
34<br />
200230<br />
<br />
<br />
380460<br />
<br />
<br />
<br />
F-PC<br />
R-PC<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
/<br />
<br />
/
H<br />
H<br />
Servo motor dimensions <br />
Q2 series High efficiency and low ripple (medium inertia)<br />
<br />
<br />
86 mm to 220mm [ 3.39 inch to 8.66inch ]<br />
LC<br />
4-LZ1<br />
M<br />
<br />
M<br />
LR<br />
LE<br />
(LG)<br />
(IL2)<br />
LL<br />
(IF)<br />
2-M8<br />
(LH)<br />
LA<br />
QA<br />
Q<br />
QK<br />
LB<br />
S<br />
M<br />
KL3<br />
Oil seal<br />
(S type)<br />
QE tap<br />
Depth LT<br />
W<br />
U<br />
(IL1)<br />
(IL2)<br />
( KL2 ) (KL1)<br />
( 19 )<br />
(IE)<br />
2-LZ2<br />
T<br />
Section H-H<br />
(KB1)<br />
(KB2)<br />
MS3102A-<br />
(Motor grounding)<br />
MS3102A20-29P<br />
(Sensor)<br />
(IF)<br />
Eyebolt<br />
2-M8<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
00-0<br />
00-0<br />
8 74 19 74 100 80-0.03 3 115 86 6.6 35 16-0.011<br />
C08050H 194 98 63 229 98 98 2E20-15PE-B Q QA QK<br />
W T U QE LT IE IF IL1<br />
0-0<br />
30 2 25 5-0.03 5 2 0.02 0.06 0.07 M5 12<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
00-0<br />
00-0<br />
10 78 19 64 115 95-0.035 3 130 100 9 45 22-0.013<br />
C10100H 196 98 77 231 98 113 2E20-15PE-B Q QA QK<br />
W T U QE LT IE IF IL1<br />
0-0<br />
40 3 32 6-0.03 6 2.5 0.02 0.08 0.08 M6 20<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
000-0<br />
00-0<br />
10 78 19 64 115 110-0.035 3 130 100 9 45 22-0.013<br />
C10150H 226 128 77 261 128 113 2E20-15PE-B Q QA QK<br />
W T U QE LT IE IF IL1<br />
0-0<br />
40 3 32 6-0.03 6 2.5 0.02 0.08 0.08 M6 20<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
000-0<br />
00-0<br />
12 98 21 80 145 110-0.035 4 165 130 9 M6 55 28-0.013<br />
C13200H 187 99 67 227 99 107 2E24-11PE-B Q QA QK<br />
W T U QE LT IE IF IL1<br />
0-0<br />
50 3 42 8-0.036 7 3 0.02 0.08 0.08 M8 25<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
000.0-0<br />
00-0<br />
16 123 21 80 200 114.3-0.035 3 230 180 13.5 M8 65 35-0.016<br />
C18350H 204 78 66 20 238 78 103 20 2E24-11PE-B Q QA QK<br />
W T U QE LT IE IF IL1<br />
00-0<br />
60 3 50 10-0.03 8 3 0.02 0.08 0.08 M8 25 124 50 60<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
00.00-0<br />
00-0<br />
16 123 21 80 200 114.3-0.035 3 230 180 13.5 M8 65 35-0.016<br />
C18450H 220 94 66 35 254 94 103 35 2E24-11PE-B Q QA QK<br />
W T U QE LT IE IF IL1<br />
00-0<br />
60 3 50 10-0.036 8 3 0.02 0.08 0.08 M8 25 124 50 60<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
000-0<br />
00-0<br />
19 141 21 80 235 200-0.03 4 270 220 13.5 M10 79 55-0.019<br />
C22550H 251 148 82 90 299 165 113 115 2E24-11PE-B Q QA QK<br />
W T U QE LT IE IF IL1<br />
00-0<br />
75 3 67 16-0.03 10 4 0.02 0.08 0.1 M10 25 142 58 55<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
000-0<br />
00-0<br />
19 141 21 80 235 200-0.046 4 270 220 13.5 M10 79 55-0.019<br />
C22700H 310 207 82 150 358 224 113 175 2E24-11PE-B Q QA QK<br />
W T U QE LT IE IF IL1<br />
00-0<br />
75 3 67 16-0.043 10 4 0.02 0.08 0.1 M10 25 142 58 55<br />
Note) Since this motor is under development, the mass production dimension may be different. (Unit : mm)<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
3.15-.0<br />
.63-.0<br />
.31 2.91 .75 2.91 3.94 3.15-.0012 .12 4.52 3.39 .26 1.38 .63-.0004<br />
C08050H 7.64 3.86 2.48 9.01 3.86 3.86<br />
2E20-15PE-B Q QA QK<br />
W T U QE LT IE IF IL1<br />
.20-.0<br />
1.18 .08 .98 .20-.0012 .2 .08 .0008 .002 .003 M5 .47<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
3.74-.0<br />
.87-.0<br />
.39 3.07 .75 2.52 4.53 3.74-.0014 .12 5.12 3.94 .35 1.77 .87-.0005<br />
C10100H 7.72 3.86 3.03 9.09 3.86 4.45<br />
2E20-15PE-B Q QA QK<br />
W T U QE LT IE IF IL1<br />
.24-.0<br />
1.57 0.11 1.26 .24-.0012 .24 .10 .0008 .003 .003 M6 .79<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
3.74-.0<br />
.87-.0<br />
.39 3.07 .75 2.52 4.53 3.74-.0014 .12 5.12 3.94 .35 1.77 .87-.0005<br />
C10150H 8.9 5.04 3.03 10.28 5.04 4.45<br />
2E20-15PE-B Q QA QK<br />
W T U QE LT IE IF IL1<br />
.24-.0<br />
1.57 0.11 1.26 .24-.0012 .24 .10 .0008 .003 .003 M6 .79<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
4.33-.0<br />
1.10-.0<br />
.47 3.86 .83 3.15 5.71 4.33-.0014 .16 6.50 5.12 .35 M6 2.17 1.10-.0005<br />
C13200H 7.36 3.90 2.64 8.94 3.90 4.21<br />
2E24-11PE-B Q 3.86 QK<br />
W T U QE LT IE IF IL1<br />
.31-.0<br />
1.97 .12 1.65 .31-.0014 .28 .12 .0008 .003 .003 M8 .98<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
4.50-.0<br />
1.38-.0<br />
.63 4.84 .83 3.15 7.87 4.50-.0014 .12 9.06 7.09 .53 M8 2.56 1.38-.0006<br />
C18350H 8.03 3.07 2.60 .79 9.37 3.07 4.06 .79 2E24-11PE-B Q QA QK<br />
W T U QE LT IE IF IL1<br />
.31-.0<br />
1.97 .12 1.65 .31-.0014 .31 .12 .0008 .003 .003 M8 .98 4.88 1.97 2.36<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
4.50-.0<br />
1.38-.0<br />
.63 4.84 .83 3.15 7.87 4.50-.0014 .12 9.06 7.09 .53 M8 2.56 1.38-.0006<br />
C18450H 8.66 3.7 2.6 1.38 9.99 3.70 4.06 1.38 2E24-11PE-B Q QA QK<br />
W T U QE LT IE IF IL1<br />
.31-.0<br />
1.97 .12 1.65 .31-.0014 .31 .12 .0008 .003 .003 M8 .98 4.88 1.97 2.36<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
7.87-.0<br />
2.17-.0<br />
.75 5.55 .83 3.15 9.25 7.87-.0018 .16 10.63 8.66 .53 M10 3.11 2.17-.0007<br />
C22550H 9.88 5.83 3.23 3.54 11.77 6.50 4.45 4.53 2E24-11PE-B Q QA QK<br />
W T U QE LT IE IF IL1<br />
.63-.0<br />
2.95 .12 2.64 .63-.0017 .39 .16 .0008 .003 .004 M10 .98 5.59 2.28 2.17<br />
<strong>Inc</strong>remental<br />
MODEL<br />
Connector<br />
Without brake<br />
With brake<br />
LL KB1 KB2 IL2 LL KB1 KB2 IL2 JL04V LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S<br />
7.87-.0<br />
2.17-.0<br />
.75 5.55 .83 3.15 9.25 7.87-.0018 .16 10.63 8.66 .53 M10 3.11 2.17-.0007<br />
C22700H 12.20 8.15 3.23 5.91 14.09 8.82 4.45 6.89 2E24-11PE-B Q QA QK<br />
W T U QE LT IE IF IL1<br />
.63-.0<br />
2.95 .12 2.64 .63-.0017 .39 .16 .0008 .003 .004 M10 .98 5.59 2.28 2.17<br />
Note) Since this motor is under development, the mass production dimension may be different. (Unit : inch)<br />
17
May cause electric shock.<br />
Hazard of personal injury or<br />
electric shock.<br />
Do not touch drive unit or<br />
terminal cover during power on<br />
or within 10MIN after power off.<br />
Miss wiring will be cause of<br />
breakdown. Be sure about wiring<br />
before power on.<br />
Connect earth terminal against<br />
electric shock.<br />
FUNC<br />
CHARGE<br />
r<br />
t<br />
DL1<br />
DL2/RB1<br />
RB4<br />
RB2<br />
R<br />
S<br />
T<br />
U<br />
V<br />
W<br />
SET<br />
P<br />
C<br />
C<br />
N<br />
1<br />
C<br />
N<br />
2<br />
FUNC<br />
CHARGE<br />
May cause electric shock.<br />
Hazard of personal injury or<br />
electric shock.<br />
Miss wiring will be cause of<br />
breakdown. Be sure about wiring<br />
before power on.<br />
SET<br />
Connect earth terminal against<br />
electric shock.<br />
FUNC<br />
CHARGE<br />
May cause electric shock.<br />
Hazard of personal injury or<br />
electric shock.<br />
Miss wiring will be cause of<br />
breakdown. Be sure about wiring<br />
before power on.<br />
SET<br />
Connect earth terminal against<br />
electric shock.<br />
Servo amplifier dimension <br />
Unit:mm (inch)<br />
QS1C02A<br />
QS1C05A<br />
1003.94<br />
270.5<br />
1.06.02<br />
652.56<br />
[75]2.95<br />
1706.69<br />
2-Ø6<br />
2-Ø.24<br />
1104.33<br />
552.17<br />
[75]2.95<br />
2007.87<br />
5.20<br />
Ø6Ø.24<br />
6<br />
QS1C02A<br />
QS1C05A<br />
1500.55.91.02<br />
WARNING<br />
1606.30<br />
r<br />
t<br />
DL1<br />
DL2/RB1<br />
RB4<br />
RB2<br />
R<br />
S<br />
T<br />
U<br />
V<br />
W<br />
WARNING<br />
Do not touch drive unit or<br />
terminal cover during power on<br />
or within 10MIN after power off.<br />
P<br />
C<br />
C<br />
N<br />
1<br />
C<br />
N<br />
2<br />
2380.59.37.02<br />
2509.84<br />
2208.66<br />
6.24<br />
270.5<br />
1.06.02<br />
652.56<br />
6.24<br />
2.3.09<br />
900.53.54.02<br />
100.39<br />
3.5.14<br />
QS1C10A<br />
2-Ø6<br />
2-Ø.24<br />
1275.00<br />
64.52.54<br />
60.24<br />
[75]2.95<br />
2359.25<br />
QS1C10A<br />
r<br />
t<br />
P<br />
C<br />
DL1<br />
DL2/RB1<br />
RB4<br />
RB2<br />
-<br />
R<br />
C<br />
N<br />
1<br />
C<br />
N<br />
2<br />
288111.34.04<br />
30011.81<br />
27010.63<br />
S<br />
T<br />
WARNING<br />
U<br />
V<br />
Do not touch drive unit or<br />
terminal cover during power on<br />
or within 10MIN after power off.<br />
W<br />
6.24<br />
2.3.09<br />
1050.54.13.02<br />
12.47<br />
18
Options <br />
Encoder cable (For incremental and absolute encoder)<br />
<br />
amplifier<br />
encoder<br />
Model of cable<br />
AL-00505628-01<br />
Length "L"<br />
3m(9.84 feet)<br />
AL-00505628-02<br />
6m(19.69 feet)<br />
L<br />
AL-00505628-03<br />
AL-00505628-04<br />
10m(32.80 feet)<br />
20m(65.61 feet)<br />
AL-00505628-05<br />
30m(98.43 feet)<br />
Power cable (Without brake)<br />
<br />
Model of cable<br />
Length "L"<br />
Black1(U)<br />
Black2(V)<br />
Black3(W)<br />
amplifier<br />
L<br />
motor<br />
AL-00505629-01<br />
AL-00505629-02<br />
AL-00505629-03<br />
AL-00505629-04<br />
3m(9.84 feet)<br />
6m(19.69 feet)<br />
10m(32.80 feet)<br />
20m(65.61 feet)<br />
AL-00505629-05<br />
30m(98.43 feet)<br />
Model of cable<br />
Length "L"<br />
Black1(U)<br />
Black2(V)<br />
Black3(W)<br />
amplifier<br />
L<br />
motor<br />
AL-00505630-01<br />
AL-00505630-02<br />
AL-00505630-03<br />
AL-00505630-04<br />
3m(9.84 feet)<br />
6m(19.69 feet)<br />
10m(32.80 feet)<br />
20m(65.61 feet)<br />
AL-00505630-05<br />
30m(98.43 feet)<br />
Model of cable<br />
Length "L"<br />
Black1(U)<br />
Black2(V)<br />
Black3(W)<br />
amplifier<br />
L<br />
motor<br />
AL-00505631-01<br />
AL-00505631-02<br />
AL-00505631-03<br />
AL-00505631-04<br />
3m(9.84 feet)<br />
6m(19.69 feet)<br />
10m(32.80 feet)<br />
20m(65.61 feet)<br />
AL-00505631-05<br />
30m(98.43 feet)<br />
Brake cable<br />
<br />
Model of cable<br />
Length "L"<br />
motor<br />
AL-00505632-01<br />
3m(9.84 feet)<br />
AL-00505632-02<br />
6m(19.69 feet)<br />
L<br />
AL-00505632-03<br />
AL-00505632-04<br />
10m(32.80 feet)<br />
20m(65.61 feet)<br />
AL-00505632-05<br />
30m(98.43 feet)<br />
Command cable<br />
<br />
28AWG<br />
L<br />
Model of cable<br />
AL-00505633-01<br />
Length "L"<br />
3m(9.84 feet)<br />
PC connection cable<br />
<br />
amplifier<br />
DOS/V PC<br />
Model of cable<br />
AL-00505634-01<br />
Length "L"<br />
3m(9.84 feet)<br />
L<br />
19
Options <br />
Connector<br />
<br />
CN1<br />
r t<br />
R S T U V W<br />
Connector<br />
<br />
Single connector<br />
<br />
Terminal Name<br />
<br />
CN1 (plug and housing)<br />
<br />
Model No.<br />
<br />
AL-00385594-01<br />
3M<br />
Maker<br />
<br />
<br />
Maker Model No.<br />
<br />
10150-3000VE10350-52A0-008<br />
Applicable amplifier<br />
<br />
All capacity<br />
<br />
Control power connector (r,t)<br />
<br />
AL-Y0001161-01<br />
AL-Y0001404-01<br />
MSTB2.5 / 2-ST-5.08<br />
PC4 / 2-STF-7.62<br />
25A<br />
50A<br />
Set of connectors<br />
<br />
Main circuit terminals (-,R,S,T,U,V,W)<br />
<br />
Control power connector and<br />
Main circuit terminals<br />
<br />
AL-Y0000348-03<br />
AL-Y0001404-02<br />
AL-00505646-01<br />
AL-00505647-01<br />
PHOENIX CONT<strong>AC</strong>T<br />
<br />
GMSTB2.5 / 7-ST-7.62<br />
PC4 / 6-STF-7.62<br />
MSTB2.5 / 2-ST-5.08<br />
GMSTB2.5 / 7-ST-7.62<br />
PC4 / 2-STF-7.62<br />
PC4 / 6-STF-7.62<br />
25A<br />
50A<br />
25A<br />
50A<br />
Power connector for motor connection (<strong>AC</strong><strong>400V</strong> Input Type)<br />
<strong>AC</strong><strong>400V</strong><br />
Motor No. Motor side connector Straight plug Angle plug Cable clamp<br />
<br />
Q2CA08050D JL04V-2E18-10PE-B JL04V-6A18-10SE-EB JL04V-8A18-10SE-EB JL04-18CK(13)<br />
Q2CA10100H JL04V-2E18-10PE-B JL04V-6A18-10SE-EB JL04V-8A18-10SE-EB JL04-18CK(13)<br />
Q2CA13150H JL04HV-2E22-22PE-B JL04V-6A22-22SE-EB JL04V-8A22-22SE-EB JL04-2022CK(14)<br />
Q2CA13200H JL04HV-2E22-22PE-B JL04V-6A22-22SE-EB JL04V-8A22-22SE-EB JL04-2022CK(14)<br />
Q2CA18350H JL04HV-2E22-22PE-B JL04V-6A22-22SE-EB JL04V-8A22-22SE-EB JL04-2022CK(14)<br />
Q2CA18450H JL04HV-2E22-22PE-B JL04V-6A22-22SE-EB JL04V-8A22-22SE-EB JL04-2022CK(14)<br />
Q2CA22550H JL04V-2E32-17PE-B JL04V-6A32-17SE Conduit<br />
<br />
<br />
Q2CA22700H JL04V-2E32-17PE-B JL04V-6A32-17SE Conduit<br />
<br />
<br />
Motor No. Motor side connector Straight plug Angle plug Cable clamp<br />
<br />
All model<br />
<br />
JL04V-2E10SL-3PE-B JL04V-6A10SL-3SE-EB JL04V-8A10SL-3SE-EB JL04-1012CK(05)<br />
20
Options <br />
external regeneration resistor <br />
600.4 (2.360.02)<br />
42.7 (1.68)<br />
( )<br />
-0.3<br />
0 0.17 -0.01<br />
0<br />
0.79<br />
230 (9.06) 300 ( 11.81 )<br />
0 0<br />
20<br />
2200.4 8.660.02)<br />
270 ( 10.63 0.79<br />
)<br />
0 0<br />
15<br />
200 (7.87)<br />
4.3 (0.17)<br />
61 (0.240.04)<br />
61 (0.240.04)<br />
Silicon rubber glass-braded wire 0.5mm 2 , white<br />
(Thermostat)<br />
Silicon rubber glass-braded wire 0.75mm 2 , black<br />
80 (3.15)<br />
4.5 (0.18)<br />
3 (0.12)<br />
M3<br />
Thermostat<br />
UL1430 electric wire 0.2mm 2 , white<br />
2500.8(9.840.03)<br />
0.4<br />
235 1.2(9.21)<br />
0.02<br />
0.05<br />
M3<br />
8 (0.31)<br />
Ground mark<br />
3<br />
60 (2.36)<br />
Solderless terminal (for M5)<br />
2M5 (0.08M5)<br />
24.5 (20.18)<br />
Silicon rubber glass-braded wire 2mm 2 , white<br />
20 (0.79)<br />
1.2 (0.05) 4.3<br />
Unit: mm (inch)<br />
Weight:0.44kg (0.97lbs)<br />
40 (1.57)<br />
A<br />
218 (8.58)<br />
Unit: mm (inch)<br />
70015 (27.560.59)<br />
Weight:1.4kg (3.09lbs)<br />
Model No.<br />
<br />
1 REGIST-220W50B<br />
2 REGIST-220W100B<br />
Remarks<br />
<br />
Thermostat,<br />
b-contact<br />
Thermostat,<br />
b-contact<br />
Model No.<br />
<br />
1 REGIST-500W50B 35015(13.780.59)<br />
2 REGIST-500W50 <br />
3 REGIST-500W100B 35015(13.780.59)<br />
4 REGIST-500W100 <br />
5 REGIST-500W200B 35015(13.780.59)<br />
6 REGIST-500W200 <br />
A<br />
Remarks<br />
<br />
Thermostat,<br />
b-contact<br />
Thermostat,<br />
None<br />
Thermostat,<br />
b-contact<br />
Thermostat,<br />
None<br />
Thermostat,<br />
b-contact<br />
Thermostat,<br />
None<br />
Unit: mm(inch)<br />
21
Inquiry check sheet<br />
Provide the following information when inquiring or ordering.<br />
Also ask question or request, if any.<br />
Company name:<br />
Department name:<br />
Telephone number:<br />
Fax number:<br />
1: Application<br />
2: Machine name<br />
3: Number of units<br />
Date:<br />
Tel : (03) 3917-5151<br />
Fax : (03) 3917-0643<br />
Item<br />
Content<br />
1 Application equipment name Equipment, classification (conveyor, processor, tester, others)<br />
2 Axis name to use servo Axis, axis arrangement (horizontal or vertical), brake mechanism (existent or nonexistent)<br />
3 Current status of the above axis Manufacturer's name ( ), Series name ( ), Motor capacity ( ), Hydraulic, mechanical, or new system<br />
4 Positioning precision <br />
5 Operation pattern AccelerationG[m/s 2 ]<br />
Feeding speed V[m/s]<br />
Feeding speed<br />
[m/sec]<br />
Moved distance D[m]<br />
(Stroke)<br />
t1(_)t2(_)t3(_)Time (sec.)<br />
<br />
Formula for reference<br />
1G=9.8[m/s 2 ]1[m/s 2 ]0.1G<br />
[m/s 2 ]V[m/sec]t1[sec]<br />
D[m]V[m/sec](t1+t2)[sec]<br />
6 Mechanism<br />
Ball screw and screw rotation type (horizontal), ball screw and nut rotation type (horizontal), rack-and-pinion (horizontal),<br />
belt or chain (horizontal), ball screw and screw rotation type (horizontal), rotation table, roll field, or instability<br />
WT (weight of table) kg, WL (weight of work) kg, WA (weight of other drive section) kg,<br />
WR (weight of rack) kg, WB (weight of belt or chain) kg, WC (weight of counter<br />
balance) kg, Fa (external force in the axis direction) N, Fb (ball screw pressurization) N,<br />
T (roll press force) N, Dr1 (driving-side roll diameter) mm, Dr2 (driven-side roll<br />
diameter) mm<br />
Lr1 (driving-side roll length) mm, Lr2 (driven-side roll length) mm, G (reduction ratio) ,<br />
JG (gear inertia) kg-cm 2 , JC (coupling inertia) kg-cm 2 , JN (nut inertia) kg-cm 2 ,<br />
JO (other inertia converted to motor shaft) kg-cm 2 , Db (ball screw diameter) mm,<br />
Lb (ball screw axis length) mm, Pb (ball screw lead) mm<br />
7 Machine structure<br />
Dp (diameter of pinion or pulley) mm, Lp (pinion shaft length) mm, tp (pulley<br />
thickness) mm, Dt (table diameter) mm, Dh (table support diameter) mm,<br />
LW (displacement distance between load and axis) mm, Ds (table shaft diameter) mm,<br />
Ls (table shaft length) mm, (specific gravity of material of ball screw, pinion, pulley,<br />
or table shaft) kg-cm 3<br />
9 Sensor type<br />
(friction coefficient between sheet and slide surface, support section, or roll) ,<br />
1 (specific gravity of material of roll1) kg-cm 3 , 2 (specific gravity of material of<br />
roll2) kg-cm 3 , (internal friction coefficient of pressurized nut) , (machine efficient) ,<br />
JL (load inertia converted to motor shaft) kg-cm 2 , TF (friction torque converted to motor<br />
shaft) N-m, Tu (unbalanced torque converted to motor shaft) N-m<br />
8 Gear Prepared by customer ( / ), SANYO standard (planet, spur, backrush-less planet, / ), Other ( / )<br />
<strong>Inc</strong>remental (2000P/R, 5000P/R, 6000P/R, 2048P/R), Other (<br />
Disk absolute (2048P/R, 8192P/R, max 1 million P/R), Other (<br />
Resolver absolute (2048P/R, 8192P/R, max 1 million P/R), Other (<br />
/ P/R)<br />
/ P/R)<br />
/ P/R)<br />
0 Input form Position, speed, torque, communication (SERCOS, CAN, or DeviceNet), other ( )<br />
A Upper device (controller) Sequencer, personal computer, device developed by customer, prepared by SANYO, other ( )<br />
B Environmental requirement Cutting operation, use in the clean room, dustproof measure, other ( )<br />
C Expected number of units produced Single-shot product units/month, units/year<br />
D Development schedule Expected prototype production start date: , Expected mass-production start date:<br />
E Request<br />
Free materials (already handed, mail desired), Solicitation (desired, undesired), Discussion (desired, undesired)<br />
F<br />
Note <br />
(question, comment, problem, etc)<br />
22
Cautions<br />
<br />
<br />
<br />
<br />
Failure to observe any of the precautions<br />
indicated on the right-hand side<br />
may cause a light to medium-degree<br />
injury or property damage. It may even<br />
lead to a serious disaster. Be sure to<br />
observe all of the precautions.<br />
Cautions<br />
<br />
<br />
<br />
<br />
<br />
Do not use any of these products for medical or other equipment that may affect human lives.<br />
Do not use any of these products for equipment that may have a serious impact on society or the public.<br />
Do not use any of these products in a vehicle, ship, or other environment exposed to vibration.<br />
Do not remodel or machine any of these products.<br />
Before using any of these products, be sure to read its operation manual.<br />
For any question or inquiry regarding the above, contact our Sales Department.<br />
<br />
540-0001<br />
460-0008<br />
001-0010<br />
980-0021<br />
321-0953<br />
386-8634<br />
430-7712<br />
448-0857<br />
600-8028<br />
732-0824<br />
812-0013<br />
170-8451 1-15-1 033917 5151<br />
<br />
<br />
1-4-70OBP 066946 6006<br />
2-9-26<br />
052231 3335<br />
102-9-1 10 504 011726 3261<br />
2-2-6<br />
022224 5491<br />
3-1-1<br />
028639 1770<br />
1-1-7<br />
026823 8144<br />
111-2<br />
053455 3321<br />
2-15OTE21<br />
056627 0221<br />
733NNN 075344 2515<br />
1-2-21OS<br />
082263 5011<br />
3-1-1<br />
092482 2401<br />
http://www.sanyodenki.co.jp<br />
1-15-1, Kita-otsuka Toshima-ku Tokyo 170-8451, Japan (North <strong>America</strong> area) Phone:+81 3 3917 2223<br />
(Europe area) Phone:+81 3 3917 5157<br />
(Asia area) Phone:+81 3 3917 2814<br />
TAIWAN BRANCH Room 401, 4F, No.96, Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C. Phone:+886 2 2511 3938<br />
HONG KONG BRANCH 1109, 11F New East Ocean Centre, 9 Science Museum Road, TST East, Kowloon, Hong Kong Phone:+852 2312 6250<br />
SHANGHAI BRANCH Room 2116, Bldg B, FAR EAST INTERNATIONAL PLAZA, No.317 Xianxia Rd., Shanghai 200051, China Phone:+86 21 6235 1107<br />
468 Amapola Avenue Torrance, California 90501 U.S.A. Phone:+1 310 783 5400<br />
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<br />
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Remarks : Specifications Are Subject To Change Without Notice.<br />
CATALOG No.778-3 '04.6.3DN