Ê- ,6"Ê-9-/ -
3
Ver.
Simplified Setup Process for Optimum Operating Conditions Auto-Tuning
Test Function (JOG)
A new auto-tuning algorithm improves system response by providing functions such as inertia identification, 5 autotuning modes, 30 levels of response, and parameter setting auto-save.
On-board JOG operation function is available for testing servo motor and servo amplifier connection without the need to connect to host device.
Capable of JOG operation without connecting to host device
Velocity command value
Tuning start
Detected velocity value
Setup Software is required.
Conformance to Overseas Standards
All-in-One Control
Our standard servo amplifier has attained the UL, c-UL and EN standards. You can also employ servo motors that have attained the EN standards.
Configurable parameters allow you to switch between control modes for torgue, position or velocity.
Position or Velocity
GO
Torque control
AL
ng
i nd
RT
A ST
1
ce
As
Flat
Features and Functions
The setup software allows you to set parameters, view graphical displays of monitored position, velocity or torque waveforms, and perform system analysis.
The setup software allows up to 15 servo amplifiers to be monitored.
Model Number Nomencalture
Multiaxial Monitor Function
Maximum 15 units
*
DC SERVO SYSTEMS *Use optional cable AL-00490833-01 for PC connection
*Use optional cable For PC connection
Optional Equipment
Protection Code IP43 Protection code is IP43 for all models.
Water
AC SERVO SYSTEMS
External Wiring Diagram
*
Dimensions
Daisy chain up to 15 units
Setup Software
Parameter settings Position, velocity, torque waveforms
Standard Specifications
System Configuration
Setup Software
Dust
IP43 Shaft feedthrough and cable end are excluded.
2
Improved Systems Precision and Shortened Cycle Time
High Response
Vibration-damping Control
A 4th-order notch filter reduces phase delay to suppress mechanical resonance and improve velocity response of equipment.
With feed-forward vibration suppression control, vibrations at the processing point and base of a machine can be suppressed through simple tuning procedures. Up to 4 types of vibration control frequencies can be selected. Position deviation during stop With vibration suppression control Without vibration suppression control
Gain (dB)
10 0 100ms/div With vibration suppression control
-10
Without vibration suppression control
-20 -30 -40 1
5
10
50
100
500 1000
Frequency (Hz)
17-bit absolute encoder is required.
Shorter Position Settling Time
Disturbance Suppression
A new algorithm drastically shortens positioning settling time for equipment.
It is possible to control impacts from other axes in case of multiaxial constitution, by using the new disturbance observer with extended applicable frequency. Disturbance observer function ON Oscillation waveform of direct drive section
Disturbance Position deviation Disturbance observer function OFF Oscillation waveform of direct drive section
Settling time (0ms) Position complete signal
Example of positioning settling time in highly rigid machinery
Disturbance 5ms/div
17-bit encoder is required.
3
A low-power loss module has been employed to reduce the power loss in the main circuit by 30%.
100%
Standard Specifications
90% 80% 70% 60% 50%
External Wiring Diagram
s
40% 30% 20% 10% 0% Current model
SANMOTION T
Dimensions
on
Setup Software
i si
Optional Equipment
tion 1048576 div
Reduction rate of power loss
m
Re
lu so
Model Number Nomencalture
Control suitable for the high-resolution incremental encoder and absolute encoder can be performed.
System Configuration
30% Reduction in Power Loss
Ma xim u
High Resolution
Features and Functions
Curtailed Running Cost
4
Servo Motor Standard Model Number List
diameter Rated Output Outer of motor 23W
φ41mm
Encoder ―
Incremental encoder (PP031) 1000P/R
―
40W
φ41mm
Tachometer generator With ― ―
T404-011 T404T-011
―
―
―
With Incremental encoder (PP031) 1000P/R
―
60W ― ―
φ51mm
With Incremental encoder (PP031) 1000P/R
110W
φ51mm
―
Incremental encoder (PP031) 1000P/R 200W
φ76mm
―
Incremental encoder (PP031) 1000P/R 300W
φ76mm
―
Incremental encoder (PP031) 1000P/R 400W
φ87.5mm
―
Incremental encoder (PP031) 1000P/R 500W
φ87.5mm
―
Incremental encoder (PP031) 1000P/R
T402T-011 24V System T402-011EL8
With
―
φ41mm
Model No. T402-011
―
With Incremental encoder (PP031) 1000P/R
Winding specifications
― ―
With
75V System
T404-012 T404T-012
24V System T404-011EL8 75V System T404-012EL8 24V System T406-011 75V System T406-012 24V System T406T-011 75V System T406T-012 24V System T406-011EL8 75V System T406-012EL8 24V System T506-011 75V System T506-012 24V System T506T-011 75V System T506T-012 24V System T506-011EL8 75V System T506-012EL8 T511-012 75V System T511T-012
―
T511-012EL8
―
T720-012
With ― ―
With ― ―
With
75V System T720T-012 T720-012EL8 T730-012 75V System T730T-012 T730-012EL8 T840-012 75V System T840T-012
―
T840-012EL8
―
T850-012
With ―
75V System T850T-012 T850-012EL8
For specifications on other model, please contact us.
5
TS1A02AA
25A
Incremental encoder
TS1AA2AA
30A
Incremental encoder
TS1A03AA
Tachometer generator (Motor model T4)
TS1A02AN
Tachometer generator (Motor model T5)
TS1A02AP
25A
Tachometer generator(Motor model T5,T7)
TS1AA2AP
30A
Tachometer generator (Motor model T8)
TS1A03AP
20A
Incremental encoder
TS1B02AA
25A
Incremental encoder
TS1BA2AA
20A
Tachometer generator (Motor model T4)
TS1B02AN
20A
DC24V
Pulse train,Speed, Torque DC50V Speed,Torque 25A
Tachometer generator (Motor model T4)
TS1BA2AN
Tachometer generator (Motor model T5)
TS1BA2AP
Model Number Nomencalture
Incremental encoder
System Configuration
Model No.
20A
DC140V
Speed,Torque
Detector
Standard Specifications
Pulse train,Speed, Torque
Amp. capacity
External Wiring Diagram
Control system
Dimensions
Main power Control power
Features and Functions
Servo Amplifier Standard Model Number List
Output capacity 5A
Model No. TS1PA0500
10A
TS1PA1000
15A
TS1PA1500
Optional Equipment
Power unit
Setup Software
For specifications on other model, please contact us.
6
Servo Motor / Power Unit Model Number Nomenclature
Servo Motor
Example : The model number is as follows when 200W rated output, 76mm outer diameter, incremental encoder (1000P/R), a brake, tachometer generator, gear (1/15 gear ratio), and 75V series voltage specification are selected for "SANMOTION T" servo motor:
T7
20
Outer diameter of motor T4‥‥‥‥‥ φ41 mm
Model
T5‥‥‥‥‥ φ51 mm T7‥‥‥‥‥ φ76 mm T8‥‥‥‥‥ φ87.5 mm
Rated output
02‥‥ 23W 04‥‥ 40W 06‥‥ 60W 11‥‥ 110W 20‥‥ 200W 30‥‥ 300W 40‥‥ 400W 50‥‥ 500W
B
T
G6
01
Brake
Specification identification
B‥‥‥ Equipped None‥ Not equipped
01‥‥‥‥ Standard
Tachometer generator
Winding specifications
T‥‥‥ Equipped None‥ Not equipped
1‥‥ 24V series 2‥‥ 75V series
T5 model
T7 model
None‥Standard U‥‥‥UL
Incremental Encoder
Absolute encoder Model No. Number of bits
Line driver output
1/12.5 1/25 1/50 1/15 1/30 1/60 1/90 1/15 1/30 1/60 1/90
Output Model No. pulse number
EL8 EL0 E59 EAL8 EAL0 EA59 EA51 EA53
1000 2000 2500 1000 2000 2500 5000 10000
Encoder type
A12 A22
PP031
PP031T Quick response specifications
・No indication: No encoder ※T4 type can be equipped with either tacho-generator or encoder only. It cannot be equipped with brake oil seal. ※Motors with a rated output of 23W, 40W, and 60W support
the 24V winding specification.
Power Unit
TS 1
P
A
TS1 series
10
‥‥ Power Unit
05‥‥ 5A 10‥‥ 10A 15‥‥ 15A
Input voltage Note) ‥‥100V AC or 35V AC (for common use) Note) Supply AC100V if the motor winding specification is 75V series and supply AC35V if it is 24V series.
7
00
Output capacity Unit structure type
U
(W/O oil seal)
Gear GA GB GC G1 G2 G3 G4 G6 G7 G8 G9
EL8
Other‥‥ Option
Motor model Model No. Gear ratio
T4 model
2
Individual specification ‥‥ Standard product
17 20
Baud rate
2.5Mbps 2.5Mbps
Servo Amplifier Example: The model number is as follows when "SANMOTION T "series servo amplifier with input voltage
Model Number Nomencalture
of DC140V, 20A capacity, and incremental encoder (1000P/R).
Features and Functions
Servo Amplifier Model Number Nomenclature
A
02
A
A System Configuration
TS1
A ‥‥‥‥ F ‥‥‥‥ N ‥‥‥‥ P ‥‥‥‥
Input voltage
Incremental encoder (Line driver output only) Absolute Encoder Tacometer generator (Motor model T4) Tacometer generator (Motor model T5,T7,T8) Note) Tacho-generators have not attained international standards (UL, c-UL and EN Standards).
Motor structure type
A…DC 140V B…DC 50V
Note)
Standard Specifications
02 ‥‥‥‥ 20A A2 ‥‥‥‥ 25A 03 ‥‥‥‥ 30A
‥‥Rotary motor
1 )Compatible servo motor typeNote) Input voltage-140V DC Type of Amplifier. Type of Motor T404-012 T406-012 TS1A02A T506-012 T511-012 T720-012 TS1AA2A T730-012 T840-012 TS1A03A T850-012
Input voltage-50V DC Type of Amplifier. Type of Motor TS1B02A T402-011
Factory settings
Factory settings √
Setup Software
√
√
Optional Equipment
√
2 )Compatible encoder typeNote) Format Optical Optical Optical
Format Optical
Incremental encoder Divisions per rotation [P/R] Addreviation 1000 INC-E 2000 INC-E 2500 INC-E
Transmission format Half duplex start-stop synchronization 2.5M
External Wiring Diagram
Control unit hardware type
Amp. capacity
Dimensions
TS1 series
Hard type.
Factory settings
A A A
√
Divisions per rotation [P/R] 17bit
Absolute encoder Multiple rotation 16bit
Addreviation
Hard type.
PA035C-2.5MH
F
Remarks
Factory settings √
3 )Compatible tacometer generator Motor Model T4 T5, T7, T8
Tacometer generator Model 3V / 1000min-1 7V / 1000min-1
Hard type N P
4 )Interface for control sectionNote) Control type Velocity control type Torque control type Position control type Velocity - Torque switch type Position - Torque switch type Position - Velocity switch type Internal velocity control type
Factory settings √
Note)Please change the compatible servo motor, compatible encoder and the interface for control section using the set-up software.
8
System Configuration
Control power supply: DC24V output
Circuit Breaker (MCCB)
Noise Filter
Electromagnetic Contactor
Main power supply AC100V 50/60Hz Cuts off power in the case of an overload, to protect the power line.
Protects the power line from external noise, and from noise generated by the servo amplifier.
Switches servo power on and off. Requires installation of a surge protector.
Brake Power Required for use when the servo motor is equipped with a brake.
9
Power unit: DC140V output
CN2
C N 4
Dimensions
Host Devices
External Wiring Diagram
C N 2
C N 1 CN1
Optional Equipment
SANYO DENKI's host devices permit communication with third-party products.
Setup Software
C N 3
AL-00490833-01
Standard Specifications
CN5
Model Number Nomencalture
Features and Functions
C N 5
System Configuration
Setup Software Parameter configuration and monitoring is possible via communication with a PC.
Wiring required for brake.
10
TS1 アンプ+ T モータ 組合せ仕様 Specification
Servo amplifier + Servo motor Applicable amplifier model No. Motor Model No.
Condition Symbol
Unit (SI)
Servo amplifier Input power(Control circuit) Amplifier operation temperature and humidity
kVA kg W min -1 min -1 N・m N・m N・m V A A A N・m/A V/kmin -1
Amplifier mass Rated output
★
Rated speed
★
Maximum speed
★
Rated torque
★
Continuous stall torque
★
Instantaneous maximum stall torque
★
Rated armature voltage
★
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
☆
Load inertia
PR NR Nmax TR TS T PS ER IR IS IP KT KE Ra OR tC tm JL
Encoder pulse number (output circuit system) Rotor inertia (including sensor)
JM
Motor mass (including sensor) Break-holding torque
★
Break excitation voltage
☆
Break excitation current
☆
Break inertia Break mass
TB VB IB JB
TS1A02AA
T402-011EL8
T404-012EL8
DC24V +10, -15% DC50V +10, -15% DC140V +10, -15% Temperature: 0 to 55℃ Humidity: Maximum 90% (no condensation) 0.2 0.2 0.45 23 40 3000 3000 0.061 0.080 0.070 0.120 0.206 0.319 20 72 1.9 1.0 1.9 0.9 4.9 2.1 0.047 0.174 4.9 18.2 3.2 18.6 1.2 2.1 0.35 0.35 7.1 4.8 0.16 × 10 -4 0.27 × 10 -4 1000(Line driver) 0.055 × 10 -4 0.092 × 10 -4 0.55 0.65
Servo amplifier Input power(Main circuit) Power capacity(Rated)
TS1B02AA
Ω
kW/s ms ms kg・m2(GD2 /4) P/R kg・m2(GD2 /4) kg N・m V A kg・m2(GD2 /4) kg
Motor operation temperature and humidity
ー
ー
ー
ー
ー
ー
ー
ー
ー
ー
Temperature: 0 to 40℃ Humidity: Maximum 90% (no condensation)
0.4
Torque (N ∙ m)
0.4
Torque (N・m)
Amp. +Motor Characteristic curve
★ 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 25℃.
0.3
0.2
0.3
0.2
Instantaneous domain
Instantaneous domain 0.1
0.1
Continuous domain Continuous domain 0
11
1000 2000 Speed (min-1)
3000
0
1000 2000 Speed (min-1)
3000
0.116 × 10 -4 0.75 ー ー ー ー ー
Torque (N ∙ m)
Torque (N ∙ m)
Instantaneous domain
0.2
0.3
Instantaneous domain
0.2
0.1
0.1
1000 2000 Speed (min-1)
3000
0
Instantaneous domain 0.4
1.0
Continuous domain 3000
0
Features and Functions Model Number Nomencalture System Configuration
1.5
Instantaneous domain
0.5
0.2
1000 2000 Speed (min-1)
Standard Specifications
1.478 × 10 -4 2.05 1.47 90 0.11 0.09 × 10 -4 0.59
2.0
0.6
Continuous domain
Continuous domain
0.605 0.658 1.47 80 3.4 3.7 7.7 0.23 24.2 2.8 2.7 1.1 7.8 4.43 × 10 -4
0.8
Torque (N ∙ m)
0.4
0.4
200
External Wiring Diagram
0.137 0.175 0.441 70 1.4 1.4 2.9 0.177 18.5 11.8 3.2 0.37 4.1 0.34 × 10 -4
0.6
Torque (N ∙ m)
60
0
T720-012EL8
DC24V +10, -15% DC140V +10, -15% Temperature: 0 to 55 ℃ Humidity: Maximum 90% (no condensation) 0.3 0.4 0.45 60 110 3000 3000 0.156 0.270 0.192 0.358 0.441 0.784 75 75 1.2 2.0 1.3 2.2 2.8 4.5 0.183 0.21 19.1 21.8 12.1 5.1 1.7 3.2 0.47 0.63 7.4 4.3 0.68 × 10 -4 1.13 × 10 -4 1000(Line driver) 0.228 × 10 -4 0.378 × 10 -4 0.9 1.2 0.29 90 0.06 0.01 × 10 -4 0.26 Temperature: 0 to 40℃ Humidity: Maximum 90% (no condensation)
0.3
0.3
T511-012EL8
Dimensions
T506-012EL8
Setup Software
T406-012EL8
TS1AA2AA
Optional Equipment
TS1A02AA
1000 2000 Speed (min-1)
Continuous domain 3000
0
1000 2000 Speed (min-1)
3000
12
TS1 アンプ+ T モータ 組合せ仕様 Specification
Servo amplifier + Servo motor Applicable amplifier model No. Motor Model No.
Condition Symbol
Unit (SI)
Servo amplifier Input power(Control circuit) Amplifier operation temperature and humidity
kVA kg W min -1 min -1 N・m N・m N・m V A A A N・m/A V/kmin -1
Amplifier mass Rated output
★
Rated speed
★
Maximum speed
★
Rated torque
★
Continuous stall torque
★
Instantaneous maximum stall torque
★
Rated armature voltage
★
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
☆
Load inertia
PR NR Nmax TR TS T PS ER IR IS IP KT KE Ra OR tC tm JL
Encoder pulse number (output circuit system) Rotor inertia (including sensor)
JM
Motor mass (including sensor) Break-holding torque
★
Break excitation voltage
☆
Break excitation current
☆
Break inertia Break mass
TB VB IB JB
TS1A03AA
T730-012EL8
T840-012EL8
DC24V +10, -15% DC140V +10, -15% Temperature: 0 to 55℃ Humidity: Maximum 90% (no condensation) 0.9 1.0 0.45 0.65 300 400 2500 2500 1.00 1.66 1.05 1.70 2.45 3.72 75 85 5.2 5.8 5.5 6 10.9 13.7 0.273 0.31 28.6 32.9 1.1 0.95 5.1 5.0 1.5 2.0 4.0 5.2 8.12 × 10 -4 15 × 10 -4 1000(Line driver) 2.708 × 10 -4 5.008 × 10 -4 2.75 3.65 1.47 1.96 90 90 0.11 0.11 0.09 × 10 -4 0.2 × 10 -4 0.59 0.79 Temperature: 0 to 40℃ Humidity: Maximum 90% (no condensation)
Servo amplifier Input power(Main circuit) Power capacity(Rated)
TS1AA2AA
Ω
kW/s ms ms kg・m2(GD2 /4) P/R kg・m2(GD2 /4) kg N・m V A kg・m2(GD2 /4) kg
Motor operation temperature and humidity
2.0
1.5
Instantaneous domain
1.0
0.5
3.0
Instantaneous domain 2.0
1.0
Continuous domain
Continuous domain 0
13
4.0
Torque (N ∙ m)
Torque (N ∙ m)
Amp. +Motor Characteristic curve
★ 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 25℃.
1000 2000 Speed (min-1)
3000
0
1000 2000 Speed (min-1)
3000
KVA Kg
0.70
0.75
0.80
Model Number Nomencalture
Power unit weight
System Configuration
Power capacity(Rated) at AC100V input
Standard Specifications
Power unit operation temperature and humidity
TS1PA05 TS1PA10 TS1PA15 AC100V +10%,-15% or AC35V +10%,-15% 5 10 15 Temperature: 0 to 55℃ Humidity: Maximum 90% (no condensation) 1.4 2.8 4.2
External Wiring Diagram
Power unit rated output current
DC24V +10, -15% DC140V +10, -15% The same as the left 1.3 0.65 500 2500 2500 1.76 1.90 4.21 80 7.6 7.6 17.6 0.287 30 0.56 6.4 1.9 4.1 18 × 10 -4 1000(Line driver) 6.008 × 10 -4 4.25 1.96 90 0.11 0.2 × 10 -4 0.79 The same as the left
V A
Dimensions
T850-012EL8
Unit
Setup Software
Power unit Input voltage
Optional Equipment
Applicable Power unit model No.
TS1A03AA
Features and Functions
Power Unit specifications
Torque (N ∙ m)
4.0
3.0
Instantaneous domain 2.0
1.0
Continuous domain 0
1000 2000 Speed (min-1)
3000
14
Specification
Servo motor Model
☆☆ ☆☆ ☆☆ ☆☆ ☆☆ ☆☆ ☆☆ ☆ ☆☆ ☆☆ ☆ ☆ ☆ ☆ ☆ ☆ ☆ ☆☆ ☆☆ ☆☆ ☆ ☆ ☆ ☆ ☆ ☆ ☆
☆☆ ☆ ☆ ☆
PR W VR V TR N・m IR A NR min−1 TS N・m TP(N) N・m IS A IP(N) A Nmax min−1 Tf N・m QR kW/S αP rad/s2 Fd N・m/min−1 KT N・m/A KE V/min−1 JM kg・m2 Ω Ra Ja mH tm ms te ms tθ min Rθ K/W θ K W/M kg KEG V/min−1 εs % εs % δL % Ω Ri Li mH RL kΩ JTG kg・m2 WT kg TB N・m VB V DC IB A Ω RB JB kg・m2 WB kg
23 20 0.074 1.9
40 72 0.13 1.0 3000
0.08 0.42 1.9 10 5000 0.015 1.2 89.4×103 0.003×10−3 0.047 4.9×10−3 0.0047×10−3 3.2 1.1 7.1 0.35 15 4.9 105
──── ──── ──── ──── ──── ────
200 500 1000 P/R 1000 2000 2500 5000 10000 P/R 1/12.5 1/25 1/50
4
2000
4
4000
3
3000
2
2000
Cu
(V =7 )
1000
dN
0.4
0
op
0
era
tio
nd
do
ma
in
)
TorqueT (N・m)
ion
6V
0.2
ain
us-
rat
=3
(V
n dom
eo
om
pe
ee
ain om ratio
tan
ate
d-o
Sp
nd -ope
tan
pe
tio 1
Ins
2V
Re
era ated
V)
0
dN
op
usRepe
V=10
0
ee
eo
1000
d N(
0
Sp
tan
tan
Ins
2
Continuous-operation domain
rre nt la 3000
Spee
Motor Characteristic curve
6
)
15
4000
20V
4) The values in the above table were measured when a specific device was mounted on an aluminum plate. T4 type, T5 type (200mm Height × 200mm width × 12mm thick), and T7 and T8 type (305mm Height × 305mm width × 12mm thick). 5) No encoder can be installed on a T4 type equipped with a tachogenerator. 6) Do not use a holding brake for quick braking. 7) The T404 and T406 series are compatible with products having a rated voltage ER of 24V. 8) The brake can be of the 24V type (optional).
8
( V=
0.1μF
Current la Speed N (A) (min-1) 5000 5
Current la Speed N (A) (min-1) 10 5000
dN
10kΩ
────
e Spe
TG
0.4 3×10−3±10% 2 5 1 37 5 10 0.0011×10−3 0.09
Gear Oil seal
10kΩ
0.019 2.1 90.5×103 0.006×10−3 0.174 18.2×10−3 0.0084×10−3 18.6 6.6 4.8 0.35 20 3.6
0.3
Open collector Line driver
Note 1) The mark * in the“Condition”column is a value that applies when the ambient temperature and armature winding temperature are 25℃ .The mark * is a value that applies when the temperature has risen to the limit. 2) The figures in the above table apply when a smooth DC power supply is used at an ambient temperature of no more than 40 ℃ . 3) The characteristics of the tachogenerator are based on the use of a test circuit illustrated below.
0.14 0.76 0.9 4.7
nt la
☆☆
T404-012
rre
Optical encoder pulse number
☆☆
T402-011
Cu
Rated output Rated armature voltage Rated torque Rated armature current Rated rotating speed Continuous stall torque Instantaneous maximum torque Stall armature current Instantaneous maximum armature current Maximum rotating speed Friction torque Rated power rate Instantaneous maximum angular acceleration Viscous braking constant Torque constant Voltage constant Rotor inertia Armature winding resistance Armature inductance Mechanical time constant Electrical time constant Thermal time constant Thermal resistance Heatup limit Mass Coefficient of voltage generated Effective (rms) ripple Peak-to-peak ripple Linearity Armature winding resistance Armature inductance Minimum load resistance Rotor inertia Mass Holding torque Voltage Current Resistance Inertia Mass
Unit (SI)
Continuous-operation domain
Holding brake
Tachogenerator
Motor
Condition Symbol
0
0.2
0.4
TorqueT (N・m)
0.6
ain
0.19 1.2
0.34 2.0 3000
0.24 1.8 1.3 10
0.42 3.4 2.2 18 5000
0.02 1.7 81.8×103 0.009×10−3 0.183 19.1×10−3 0.022×10−3 12.1 5.7 7.4 0.47 20 2.8
0.022 3.2 91.9×103 0.013×10−3 0.21 21.8×10−3 0.037×10−3 5.1 3.2 4.3 0.63 30 2.4 105 0.95 7×10−3±10% 1 3
Setup Software
0.65
Features and Functions
200 80 0.64 3.4 3000 0.77 5.4 3.7 25 5000 0.04 2.7 36.7×103 0.020×10−3 0.23 24.2×10−3 0.147×10−3 2.8 3.0 7.8 1.1 30 1.2 105 1.8
Model Number Nomencalture
110 75
System Configuration
60
T720-012
Standard Specifications
60 70 0.19 1.4 3000 0.20 1.2 1.4 7.6 5000 0.020 3.2 111×103 0.008×10−3 0.177 18.5×10−3 0.0108×10−3 11.8 4.4 4.1 0.37 25 3.0 105 0.5 3×10−3±10% 2 5
T511-012
External Wiring Diagram
T506-012
Dimensions
T406-012
1 26 4.1
Optional Equipment
37 5 10 0.0011×10−3 0.09
0.012×10−3 0.26 0.29 90 0.06 1600 0.001×10−3 0.26 200 500 1000 P/R 1000 2000 2500 5000 10000 P/R 1/15 1/30 1/60 1/90 Installable
─ ─ ─ ─ ─ ─
1/12.5 1/25 1/50 ─ Current la Speed N (A) (min-1) 5000 10
4000
6
3000
25
5000
20
4000
15
3000
Current la Speed N (A) (min-1) 25 5000
20
4000
15
3000
Current la Speed N (A) (min-1) 50 5000
40
4000
30
3000
20
2000
10
1000
Continuous-operation domain
Continuous-operation domain
la nt rre Cu
Continuous-operation domain
Continuous-operation domain
Sp dN
ee
ain
ated
in
0 3
-ope
ratio
0 0
la
n dom
)
0 =4
TorqueT (N・m)
Repe
(V
oma
2
)
om
nt
rre
Cu
in
1
nd
0V
0
atio
=8
0
on d
per
(V
1.5
0
erati
s-o
a dom
TorqueT (N・m)
ain
V)
1.0
n dom
37.5 ( V=
eratio
d-op
eou
dN
dN
0.5
eate
tion
e Spe
Rep
pera
tan
ee
1000
Sp
)
ted-op
0 0
75V
TorqueT (N・m)
1.0
( V=
0.5
Ins
in
0
0
ed N
oma Repea
la
re
r Cu
tan
5
5V )
5V)
0
on d
1000
3 (V=
0
rati
5
t la
ren
Cur
=37.
dN
e Spe
ain ed-ope ration domain
ope
us-
om
2000
Spe
neo
nd
10
N (V
Repeat
atio
nta
per
Insta
s-o
)
eou
d Spee
1000
tan
75V
V)
70
tan
2000
( V=
= N(V
10
Ins
ed N Spe
ed
2
2000
Spe
4
nt
ous-o tane
n Insta
8
Current la Speed N (A) (min-1)
0.35 1.47 90 0.11 820 0.009×10−3 0.59
2
ain 4
TorqueT (N・m)
16
Specification
Servo motor Model
Holding brake
Tachogenerator
Motor
Rated output Rated armature voltage Rated torque Rated armature current Rated rotating speed Continuous stall torque Instantaneous maximum torque Stall armature current Instantaneous maximum armature current Maximum rotating speed Friction torque Rated power rate Instantaneous maximum angular acceleration Viscous braking constant Torque constant Voltage constant Rotor inertia Armature winding resistance Armature inductance Mechanical time constant Electrical time constant Thermal time constant Thermal resistance Heatup limit Mass Coefficient of voltage generated Effective (rms) ripple Peak-to-peak ripple Linearity Armature winding resistance Armature inductance Minimum load resistance Rotor inertia Mass Holding torque Voltage Current Resistance Inertia Mass Optical encoder pulse number
☆☆ ☆☆ ☆☆ ☆☆ ☆☆ ☆☆ ☆☆ ☆☆ ☆☆ ☆ ☆☆ ☆☆ ☆ ☆ ☆ ☆ ☆ ☆ ☆ ☆☆ ☆☆ ☆☆ ☆ ☆ ☆ ☆ ☆ ☆ ☆
☆☆ ☆ ☆ ☆
Unit (SI)
PR W VR V TR N・m IR A NR min−1 TS N・m TP(N) N・m IS A IP(N) A Nmax min−1 Tf N・m QR kW/S αP rad/s2 Fd N・m/min−1 KT N・m/A KE V/min−1 JM kg・m2 Ω Ra Ja mH tm ms te ms tθ min Rθ K/W θ K W/M kg KEG V/min−1 εs % εs % δL % Ω Ri Li mH RL kΩ JTG kg・m2 WT kg TB N・m VB V DC IB A Ω RB JB kg・m2 WB kg
T730-012
T840-012
300 75 1.18 5.2
400 85 1.57 5.8 2500
1.43 9.8 5.5 40 4000 0.05 5.1 38.4×103 0.039×10−3 0.273 28.6×10−3 0.270×10−3 1.1 1.6 4.0 1.5 30 1.2 105 2.5 7×10−3±10% 1 3 1 26 4.1 10 0.012×10−3 0.35 1.47 90 0.11 820 0.009×10−3 0.59
Gear Oil seal
4000
60
3000
neou
5V
Cu rre nt la
40
)
20
Sp
eed Repeate d-ope N( ration V= doma 37. in 5)
0
0 0
5
TorqueT (N・m)
10
2000
1000
ed N
( V=
85V
in
Continuous-operation domain
Spe
doma
(V =7
ration
0
1000
dN
s-ope
Motor Characteristic curve
80
nta Insta
10
2000
ee
main
20
Sp
n do
17
3000
ratio
4) The values in the above table were measured when a specific device was mounted on an aluminum plate. T4 type, T5 type (200mm Height × 200mm width × 12mm thick), and T7 and T8 type (305mm Height × 305mm width × 12mm thick). 5) No encoder can be installed on a T4 type equipped with a tachogenerator. 6) Do not use a holding brake for quick braking. 7) The T404 and T406 series are compatible with products having a rated voltage ER of 24V. 8) The brake can be of the 24V type (optional).
30
-ope
0.1μF
4000
eous
10kΩ
40
Current la Speed N (A) (min-1)
ntan
TG
Current la Speed N (A) (min-1)
Insta
10kΩ
0.45 1.96 90 0.11 820 0.02×10−3 0.79
200 500 1000 P/R 1000 2000 2500 5000 10000 P/R 1/15 1/30 1/60 1/90 Installable
Open collector Line driver
Note 1) The mark * in the“Condition”column is a value that applies when the ambient temperature and armature winding temperature are 25℃ .The mark * is a value that applies when the temperature has risen to the limit. 2) The figures in the above table apply when a smooth DC power supply is used at an ambient temperature of no more than 40 ℃ . 3) The characteristics of the tachogenerator are based on the use of a test circuit illustrated below.
1.70 12.0 6.0 40 4000 0.06 5.0 24×103 0.045×10−3 0.314 32.9×10−3 0.50×10−3 0.95 1.9 5.2 2.0 30 1.1 105 3.4
Continuous-operation domain
Condition Symbol
) nt
rre
Cu
la
Spe Repeated-ope ration do ed main N( V= 42. 5)
0 0
5
TorqueT (N・m)
10
80
4000
60
3000
(Blue)
(Green/Yellow) (Blue)
20
Continuous-operation domain
40
nt
2000
1000
rre
Spe
ed N
Insta
ntan
Spe
ed N
0
0 0
la
5
( V=
40V
eous
( V=
80V
)
-ope ratio n do main Repeatedoperation domain ) 10
TorqueT (N・m)
15
(Red) (Orange)
(Orange)
Standard Specifications
How to run the motor Counterclockwise as viewed from the output axis when (red) + (blue) Tachogenerator polarity (Red) + (blue) - in counterclockwise rotation as viewed from the output axis
Common specifications
Excitation system Insulation resistance
Continuous ("S1") F (Type A for UL-compliance models)
External Wiring Diagram
Rating Heat resistance class
Permanent magnet 10M or more (with a 500 VDC megger)
Normal/reverse rotations possible 。 0 to 40 C 20 to 90%RH (non-condensing) Black
Protection system
Fully closed (IP43)
Lead wire length
1000mm
Setup Software
Humidity Paint color
Optional Equipment
Rotation method Ambient temperature
Dimensions
50Hz, 1,500 VAC (600V for 24V and TG types, 1 minute (but do not perform an insulation test between the system and encoder.)
Dielectric strength
Gear Rating
Reductionratio (nominal) Reduction ratio (detailed) Rated torque Instantaneous Mass Applicable motor Model No.
Reduction ratio (nominal) Reduction ratio (detailed) Rated torque Instantaneous Mass Applicable motor
Reduction ratio (nominal) Reduction ratio (detailed) Rated torque Instantaneous Mass Applicable motor
Motor nameplate marking Gear model
TRG TPG WG
N・m N・m kg
G6 gear
Model No.
Model No.
Cu
Brake
System Configuration
(Red)
GA
GB
GC
G6-12 1/12.5 1/12.5 0.5 1.5
G6-25 1/25 1/25 1.0 3.0 0.4
G6-50 1/50 1/50 2.0 6.0
T4 model
Motor nameplate marking Gear model
TRG TPG WG
N・m N・m kg
G8 gear
Current la Speed N (A) (min-1)
Tachogenerator
G1
G2
G3
G4
G8-15 1/15 1/15.004 1.0 3.0
G8-30 1/30 1/31.155 2.0 6.0
G8-60 1/60 1/60.227 4.0 12.0
G8-90 1/90 1/89.588 4.0 12.0
0.6 T5 model
Motor nameplate marking Gear model
TRG TPG WG
N・m N・m kg
G10 gear
500 80 1.96 7.6 2500 2.16 16.7 7.6 62 3000 0.07 6.4 27.8×103 0.058×10−3 0.287 30.0×10−3 0.60×10−3 0.56 1.1 4.1 1.9 40 1.0 105 4.0 7×10−3±10% 1 3 1 26 4.1 10 0.012×10−3 0.45 1.96 90 0.11 820 0.02×10−3 0.79 200 500 1000 P/R 1000 2000 2500 5000 10000 P/R 1/15 1/30 1/60 1/90 Installable
Ground
Model Number Nomencalture
Motor
T850-012
Features and Functions
Connection method
G6
G7
G8
G9
G10-15 1/15 1/15.303 3.8 12.0
G10-30 1/30 1/30.066 7.5 23.0
G10-60 1/60 1/60.132 15.0 45.0
G10-90 1/90 1/90.198 15.0 45.0
1.5 T7 model
Note 1) Do not apply any value exceeding the appropriate rated torque or instantaneous maximum torque. 2) Applying a value exceeding the appropriate instantaneous maximum torque causes an abnormal thrust load, perhaps resulting in affecting the encoder and other equipment.
18
Encoder specifications
Standard specifications Encoder type Applicable motor type
PP031T(Quick response specifications)
PP031
T4 ・T5 ・T7 ・T8 model 1000 1024 1250 2000 2048 2500 4000 4096 5000 8000 8192 10000 500 512 625 ×2 ×4 ×8 ×16
T4 ・T5 ・T7 ・T8 model
Unit
Output pulse number
P/R
Rotating disk Slit number Multiplication number Output circuit system Channel number Input voltage Power demand
V.DC
mA Output circuit current kHz Response frequency Pulse duty cycle Output mutual phase difference Flutter ℃ Working temperature Light emitting element Light receiving element
70max
160max VOH=2.4min,VOL=0.5max (When output transistor off) at l0=±20mA 20max 20max 0 to 300 0 to 300 T1=1/2T0±1/8T0 T2 to 5=1/4T0±1/8T0 (T0max−T0min) /T0≦0.08 −10 to +85(at encoder atmosphere) Infrared light emitting diode Photo diode 200 P/R:0.00003×10-3, 500 ・1000 ・2000 ・2500 P/R:0.00008×10-3 0.25 +30max
Infrared light emitting diode Photo IC
Weight
kg
0.25
External leads Open collector +DC5V GND(0V) Case earth A channel output ─
B channel output ─ ─
C channel output
Line driver +DC5V GND(0V) Case earth A channel output ̶ A channel output B channel output ̶ B channel output C channel output ̶ C channel output
Line driver 3 +5±10%
─ −10 to +85(at encoder atmosphere)
0.00008×10-3
Lead color Red Black Shield Blue Brown Green Purple White Yellow
Open collector
─
kg・m2
200 500 1000 2000 2500 ×1
R1 to Rn=10 to 50%
Inertia
200 500 1000 2000 2500
200 500 1000
Line driver 3 +5±10% 160max VOH=2.4min,VOL=0.5max at l0=±20mA 20max 0 to 800
V.DC mA
Output circuit voltage
200 500 1000
Output waveform(PP031T Quick response specifications)
● Line driver output
(when rotating in a counterclockwise direction viewed from the motor output axis) A channel ー
A channel
B channel ー
B channel Rn R1 R2 R3 R4 R5 R6 R7 R8 R9
Notice 1) Never apply shock in the thrust direction when handling the encoder. 2) Do not test encoder insulation resistance and dielectric strength to avoid damaging the electronic circuits. 3) With respect to line connection for the open collector type, among the colored lead wires, the brown, purple and white lead wires have not been connected.
C channel ー
C channel (1pulse/1rotation) Output cross-phase difference: Rn (n=1 to pulse number x 4) (Indicate the output cross-phase difference in percentage terms assuming 360 degrees/pulse number to be 100%.)
Output waveform ●Open collector output
●Line driver output
(When the encoder rotates counterclockwise viewed from the motor output shaft side)
(When the encoder rotates counterclockwise viewed from the motor output shaft side) T0(Note)
T0(Note) T1
T1 T0
T0
A channel A channel
A channel
B channel T2 C channel
T3
T4
T5
B channel B channel
T6 = T0 ± 0.4T0 T2
(1pulse/1rotation)
T3
T4
T5
C channel C channel
T6 = T0 ± 0.4T0
(1pulse/1rotation)
Notice)"T0" is the average value of each cycle during one encoder rotation at a constant speed. T0:360-degree electrical angle.
19
Features and Functions
Characteristics of overload duty cycle
When repeatedly driving "SANMOTION T"
tR
tF
overload duty cycle.
TL TS
Armature current
Typical calculations(V850-012)
Load factor= ×100= ×100 Stall armature current
Supposing that the load factor is 150% and the percentage of ED is 40%, the load time tR = 3 (minutes), from the characteristic curve of overload duty cycle. Therefore, 100 100 Rest time tF=tR ̶ I =3 ̶ I =4.5(minutes) 40 %ED
tR
Load time factor, %ED= ×100 tR+tF
100 ( ) %ED
Rest time tF=tR ̶ I
( )( )
External Wiring Diagram
This means that, if you run the system at an overload of 150% with regard to the continuous stall torque for three minutes, you need a rest time of 4.5 minutes.
System Configuration
on the basis of the characteristic curve of
Standard Specifications
hand figure, calculate the operable time tR
Model Number Nomencalture
TS:Continuous stall torque TL:Load torque tR:Load time (minutes) tF:Rest time (minutes)
under an overload as illustrated in the right-
1 300 0% dut
y
250
300
uty
30%
40% 150 50%
40% 150 50%
60% 100 0.1
60% 100 0.1
0.5
1
5 10 Load time tR (min.)
50
100
1
5 10 Load time tR (min.)
50
100
50
100
T511,T720,T730,T840 Load factor(%)
300 10% duty
250
300
10% d
uty
250 20%
20% 200
0.5
Optional Equipment
200
30%
Setup Software
20%
T406 Load factor(%)
10% d
250
20% 200
Dimensions
T404,T506 Load factor(%)
Load factor(%)
T402
200
30%
40% 150 50%
30%
40% 150 50%
60% 100 0.1
0.5
1
5 10 Load time tR (min.)
50
100
0.5
1
5 10 Load time tR (min.)
50
100
60% 100 0.1
0.5
1
5 10 Load time tR (min.)
Load factor(%)
T850 10% d
uty
300
250 20% 200 30% 40% 150 50% 60% 100 0.1
20
サーボモータ型番の見方 External Wiring Diagram Position command Type Housing:DK-3100S-05R Contact:DK-3RECLLP1-100
Housing:DK-3100S-03R Contact:DK-3RECLLP1-100
User unit Main circuit power supply 100V AC 50/60Hz
Control circuit power supply 24V DC
CN3 1
+DC
MC
+DC
4
-DC
MA
24V DC
MB
SERVO AMPLIFIER
140V DC
SERVO MOTOR Blue(Black)
NOTE 3)
1
Orange
90V (24V)
Orange
Green(Yellow)
Holding brake (for the type with a brake only)
CN2
Start ready
RY1
M
Red(White)
2 3
5
NOTE 9)
Start ready ON
-DC
3
Power +DC Supply -DC Unit
NOTE 7)
+DC
2
NOTE 9) -DC
NFB
CN4
Encoder
OFF
MC
+5 +5
CN1 Line driver HD26C31 Corresponding
16
Position command pulse input
Forward revolution pulse
SG
Backward revolution pulse SG
NOTE 5) NOTE 8)
F-PC
17
F-PC
15
SG
18
R-PC
19
R-PC
20
SG
+5 +5 SG
SG NOTE 6)
1
Line driver HD26C31 Corresponding
SG
NOTE 4) SH Plug:10114-3000PE NOTE 2) Shell:10314-52A0-008
Line driver HD26C31 Corresponding
SG
SG
A
21
A
22
B
23
B
24
C
25
C
26
Note 1) For the parts marked ,use a twisted pair shielded cable. Note 2) For a cable clamp method, can do shield connection by clamping a drain line. Note 3) Connection of the motor side is different by specifications of a motor. Note 4) For how to wire the encoder connector,refer to the encoder wiring diagram. Note 5) Refer to the following figure when connecting the command pulse input to the open collector output.
A A B
B C
C
CONT-COM1
DC5V∼24V
NOTE 6)
Deviation clear General-purpose input
SH
Velocity loop propotional control
2
CONT1
3
CONT2
4
Servo ON
Alarm Reset
DC5V, DC12V∼24V
7
Start ready complete output
Forward revolution pulse
16
OUT1
8
Deviation zero output
Backward revolution pulse
18
OUT2
CONT-COM2
5
CONT3
6
CONT4
OUT-COM3
9
OUT3
10
OUT4
11
OUT5
12
OUT-COM4
13
Output COMMON ALM4
SH
ALM2
Alarm code output
15
20
Note 6) Your are required to prepare the power. Either of the inputs can be selected. Note 7) We recommend that a UL-approved earth leakage breaker be used that complies with IEC or EN standard. Note 8) Make sure to connect the differential input SG. If not connected,malfunction or breakage may result due to noise. Note 9) A power supply for control power please use a power supply that insulated double or reinforced from a primary power supply of 100V or 200V.
General purpose output
System error
Emergency stop
Encoder division signal output
MC
ALM1
Output COMMON
SH NOTE 2) Plug:10126-3000PE Shell:10326-52A0-008
Velocity command/Torque command Type Housing:DK-3100S-03R Contact :DK-3RECLLP1-100
Housing:DK-3100S-05R Contact :DK-3RECLLP1-100
User unit Main circuit power supply 100V AC 50/60Hz
Control circuit power supply 24V DC
CN3 1
+DC
2
NOTE 7) -DC
MC
3
Power +DC Supply -DC Unit
NFB
4
SERVO MOTOR +DC -DC
MA
24V DC
MB
+DC -DC
SERVO AMPLIFIER
140V DC
5
NOTE 7)
NOTE 6)
CN4 NOTE 3)
1
Blue(Black) Orange
2
Red(White)
3
Green(Yellow)
M
CN2
Start ready Start ready ON OFF
RY1
90V (24V) Orange Holding brake (for the type with a brake only)
Encoder
MC MC
Emergency System error stop
SH NOTE 4) Plug:10114-3000PE NOTE 2) Shell:10314-52A0-008
VCMD/TCMD SG SG
NOTE 5)
14
V-REF /T-REF
15
SG
20
SG
1
SG CONT-COM1
DC5V∼24V 2
General-purpose input
Deviation clear CLR
Velocity loop propotional control PCON
3
SH
Line driver HD26C31 Corresponding -
A
21
A
22
B
23
B
24
C
25
C
26
A
,use a twisted Note 1) For the parts marked pair shielded cable. Note 2) For a cable clamp method, can do shield connection by clamping a drain line. Note 3) Connection of the motor side is different by specifications of a motor. Note 4) For how to wire the encoder connector,refer to the encoder wiring diagram. Note 5) Your are required to prepare the power. Either of the inputs can be selected. Note 6) We recommend that a UL-approved earth leakage breaker be used that complies with IEC or EN standard. Note 7) A power supply for control power please use a power supply that insulated double or reinforced from a primary power supply of 100V or 200V.
+
SG
A B
B
CONT1 C
C
Encoder division signal output
Velocity command/ Torque command input
CN1
CONT2 NOTE 6)
4
CONT-COM2
Servo ON SON
5
CONT3
Alarm Reset RST
6
CONT4
DC5V, DC12V∼24V
OUT1
7
Start ready complete output
OUT2
8
Low speed output
OUT-COM3
9
OUT3
10
OUT4
11
OUT5
12
OUT-COM4
13
Output COMMON ALM4
ALM2
ALM1
Output COMMON SH NOTE 2)
Plug:10126-3000PE Shell:10326-52A0-008
21
Alarm code output
General-purpose output
SH
サーボモータ型番の見方 Power Unit / Encoder / Tacometer generator Wiring Diagram
Housing:DK-3100D-06R Contact:DK-3RECLLP1-100
Housing:DK-3100D-12R Contact:DK-3RECLLP1-100
User Unit
L1
1B
N
2A
N
3A
AC 35V
DC1(axis #1)
2B
DC2(axis #2)
3A
P
3B
N
50/60Hz
1B 2A
P
L2
2B
or
Connect to Servo Amplifier
1A
P
3B
DC3(axis #3)
4A
P N
4B
DC4(axis #4)
5A
P N
5B
DC5(axis #5)
6A
P N
6B
DC6(axis #6)
R1
R2
1
2
CN3 Note1)When regeneration process is necessary.
Housing:VHR-2N Contact:SVH-21T-P1.1
Model Number Nomencalture
MC
System Configuration
Power Supply AC 100V 50/60Hz
CN2
POWER UNIT
1A
External Wiring Diagram
Regenerative Resistor Note1)
Standard Specifications
CN1
Features and Functions
Power Unit
Encoder
TS1 series
T series
SERVO AMPLIFIER
SERVO MOTOR
Note2)+DC 5V Note2)GND(0V)
Blue Brown Green Violet White Yellow Red Black
Encoder : Incremental encoder A channel output A channel output B channel output B channel output C channel output C channel output +DC 5V GND(0V)
Optical encoder
Setup Software
1 2 3 4 5 6 7 8 11 12 13 14
Optional Equipment
CN2 A channel input A channel input B channel input B channel input C channel input C channel input
Dimensions
Incremental encoder Lead wire type
FGShield Note1)
Note2) Plug:10114-3000PE, Shell:10314-52A0-008
Note 1) For the parts marked
,use a twisted pair shielded cable.
Note 2) The encoder power connection differs depending on the cable length.Refer to the following table. Encoder cable length +DC 5V wiring
GND (0V) wiring
5m or less 13-pin connection
10m or less 11- and 13-pin connection
(7 and 11 pins need not be connected)
(7 pin need not be connected)
14-pin connection
12- and 14-pin connection
(6 and 12 pins need not be connected)
(8 pin need not be connected)
20m or less 7-,11- and 13-pin connection 8-,12- and 14-pin connection
Tacometer generator
Tacometer generator T series
TS1 series
SERVO MOTOR
SERVO AMPLIFIER
CN2 Tacometer generator
TG+ TG−
Red Blue
3 4
TG
Plug:10114-3000PE, Shell:10314-52A0-008
22
モータ 組合せ仕様 TS1 アンプ+ Servo MotorT dimensions
T
Servo motors
T
4-LZ LA
Ground conductor
Motor lead
G
LL
LR
QK
(L1) LG
LE
T4 and T5 types
LC
NP
Q QK
D
S
LB
W
QA
U T
T7 and T8 types M tap, Depth LT
Unit : mm Model
LL
T402
55
T404
69
T406
82
LG
L1
LA
LB
LE
LC
G
LZ
LR
D
S
Q
42 5
55
81
T511
101
48 ± 0.2
T720
100.5
T730
124.5
87
T840
134
T850
149
8
83 107
34-0.025 34-0.025
2
56
42
3.5
24 ± 0.5
7-0.009 7-0.009
41
34-0.025 50-0.025
2.5
90 ± 0.3
34-0.025 70-0.030
3
100
76
5.5
30 ± 0.8
100 ± 0.3
34-0.025 80-0.030
3
112
88
6.6
35 ± 0.8 87.5
60 ± 0.3
113 8 128
W
T
U
20
̶
15
w/ 2 slots,6.5
̶
67 5
QK
̶
68
T506
QA
69
54
4.5
24 ± 0.5
51
76
̶
7-0.009 7-0.009
20
14-0.009 14-0.011
25
2
20
5
5
16-0.011 16-0.011
30
2
25
5
5
15
M
LT
̶
̶
̶
̶
̶
̶
̶
̶
̶
̶
2
M5
8
2
M6
10
w/ 2 slots,6.5
̶
T
Encoder-equipped servo motors
G T
4-LZ LA
Ground conductor
Motor lead QK
(L1) LE
T4 and T5 types
Encoder lead wire
LL
LR
(L2)
LG
LC
NP
Q QK
D
S
LB
W
QA U T
T7 and T8 types M tap, Depth LT
Unit : mm Model
LL
T402
83
T404
96
LG
L1
5
55
T406
109
68
110.5
67
T511
130.5
87
T720
134.5
83
T730
159
T840
166
5
18
LE
LC
G
LZ
LR
D
48 ± 0.2
34-0.025 34-0.025
60 ± 0.3
34-0.025 50-0.025
2.5
56
69
42
54
3.5
4.5
24 ± 0.5
S
Q
QA
QK
W
T
24 ± 0.5
41
7-0.009 7-0.009
51
7-0.009 7-0.009
20
14-0.009 14-0.011
25
2
20
5
5
16-0.011 16-0.011
30
2
25
5
5
90 ± 0.3
34-0.025 70-0.030
3
100
76
5.5
30 ± 0.8
38
100 ± 0.3
34-0.025 80-0.030
3
112
88
6.6
35 ± 0.8 87.5
113 128
2
36 107
8
23
LB
U
̶
22
8
181
LA
42
T506
T850
L2
76
20
̶
15
w/ 2 slots,6.5
M
LT
̶
̶
̶
̶
̶
̶
̶
̶
̶
̶
̶
̶
2
M5
8
2
M6
10
15
w/ 2 slots,6.5
̶
Tachometer generator-equipped servo motors
G QK
(L1) LE
LG
LC
Model Number Nomencalture
T4・T5 types
(L2)
NP
Q QK
D
S
LB
W
QA
T7 and T8 types M tap, Depth LT
Unit : mm Model
LL
LG
L1
T402
87.5
T404
98
T406
111
T506
124.5
T511
144.5
87
T720
148.5
83
T730
172.5
T840
183
T850
198
L2
LA
LB
LE
LC
G
LZ
LR
D
S
Q
QA
42 5
55
18
48 ± 0.2
22
U
34-0.025 34-0.025
2
56
42
3.5
24 ± 0.5
7-0.009 7-0.009
41
20
̶
15
w/ 2 slots,6.5
60 ± 0.3
34-0.025 50-0.025
2.5
69
54
4.5
24 ± 0.5
51
7-0.009 7-0.009
20
̶
15
w/ 2 slots,6.5
̶
M
LT
̶
̶
̶
̶
̶
̶
̶
̶
̶
̶
36
90 ± 0.3
34-0.025 70-0.030
3
100
76
5.5
30 ± 0.8
76
14-0.009 14-0.011
25
2
20
5
5
2
M5
8
38
100 ± 0.3
34-0.025 80-0.030
3
112
88
6.6
35 ± 0.8
87.5
16-0.011 16-0.011
30
2
25
5
5
2
M6
10
107
128
Setup Software
113 8
T
̶
67
8
W
̶
68 5
QK
T
Optional Equipment
Brake-equipped servo motors Motor lead
G T
4-LZ
Standard Specifications
System Configuration
U T
External Wiring Diagram
LA
LL
LR
Dimensions
T
4-LZ
Techometer generator lead wir
Features and Functions
T
Ground conductor Motor lead
LR
QK
LA
(L1) LE
T5 types
Ground conductor
LL (L2)
Brake lead wire
LG
LC
NP
Q QK
D
S
LB
W
QA
U T
T7 and T8 types M tap, Depth LT
Unit : mm Model
LL
T506
118
LG
L1
T511
144.5
87
138.5
83
T730
162.5
8 169.5 184.5
LC
G
LZ
LR
D
40
90 ± 0.3
34-0.025 70-0.030
3
100
76
5.5
30 ± 0.8
40
100 ± 0.3
34-0.025 80-0.030
3
112
88
6.6
35 ± 0.8 87.5
113 128
LE
34-0.025 50-0.025
107 8
LB
60 ± 0.3
36
T720
T850
LA
67 5
T840
L2
2.5
69
54
4.5
24 ± 0.5
S
Q
QA ̶
QK
W
T
U
M
LT
̶
̶
̶
̶
51
7-0.009 7-0.009
20
76
14-0.009 14-0.011
25
2
20
5
5
2
M5
8
16-0.011 16-0.011
30
2
25
5
5
2
M6
10
15
w/ 2 slots,6.5
̶
24
Servo Motor dimensions
T
Encoder brake-equipped servo motors
T
4-LZ LA
Ground conductor
Motor lead
G
LL
LR
QK
(L1) LE
T5 types
(L2)
(L3)
Brake lead wire Encoder lead wire
LG
LC
NP
QK
G
LZ
D
S
LB
W
Q QA
U T
T7 and T8 types M tap, Depth LT
Unit : mm Model
LL
LG
L1
T506
147
T511
167
87
T720
172.5
83
T730
196.5
T840
203
T850
218
L2
L3
LA
LB
67 5
8
36
22
60 ± 0.3
34-0.025 50-0.025
2.5
LC 69
54
4.5
LR
D
24 ± 0.5
51
38
35
90 ± 0.3
34-0.025 70-0.030
3
100
76
5.5
30 ± 0.8
40
35
100 ± 0.3
34-0.025 80-0.030
3
112
88
6.6
35 ± 0.8 87.5
107 113 8
LE
128
76
S
Q
QA ̶
QK
W
T
U
M
LT
̶
̶
̶
̶
7-0.009 7-0.009
20
14-0.009 14-0.011
25
2
20
5
5
2
M5
8
16-0.011 16-0.011
30
2
25
5
5
2
M6
8
15
w/ 2 slots,6.5
̶
T
Tachometer generator brake-equipped servo motors
G T
4-LZ LA
Ground Techometer generator conductor lead wire
Motor lead LL (L2)
LR
QK
(L1) LE
T5 types
LC
QK D
S
LB
W
Brake lead wire
NP
Q QA
(L3)
LG
U T
T7 and T8 types M tap, Depth LT
Unit : mm Model
LL
T506
161
T511
181
T720
186.5
T730
210.5
LG
L1
219.5
T850
234.5
38
42
87 8
83
LA 60 ± 0.3
LE
34-0.025 50-0.025
2.5
LC 69
G 54
LZ 4.5
LR 24 ± 0.5
D 51
44
90 ± 0.3
34-0.025 70-0.030
3
100
76
5.5
30 ± 0.8
38
44
100 ± 0.3
34-0.025 80-0.030
3
112
88
6.6
35 ± 0.8 87.5
113 128
LB
40
107 8
25
L3
67 5
T840
L2
76
S
Q
QA ̶
QK
W
T
U
M
LT
̶
̶
̶
̶
7-0.009 7-0.009
20
14-0.009 14-0.011
25
2
20
5
5
2
M5
8
16-0.011 16-0.011
30
2
25
5
5
2
M6
8
15
w/ 2 slots,6.5
̶
(L1) LE
T5 types
LG
LC
NP
Q QA
QK
G
LZ
D
S
LB
W
Encoder lead wire
(L3)
(L2)
Model Number Nomencalture
LA
LL
LR
QK
System Configuration
T
4-LZ
Techometer generator Ground conductor lead wire
Motor lead
G
Features and Functions
T
Encoder tachometer generator-equipped servo motors
U T
T7 and T8 types
LG
L1
T506
153.5
T511
173.5
87
T720
182
83
T730
206
L2
L3
8
38
27
216 223.5
60 ± 0.3
34-0.025 50-0.025
2.5
LC 69
54
4.5
LR
D
24 ± 0.5
S
90 ± 0.3
34-0.025 70-0.030
3
100
76
5.5
30 ± 0.8
38
42
100 ± 0.3
34-0.025 80-0.030
3
112
88
6.6
35 ± 0.8 87.5
QA ̶
QK
W
T
U
M
LT
̶
̶
̶
̶
20
14-0.009 14-0.011
25
2
20
5
5
2
M5
8
16-0.011 16-0.011
30
2
25
5
5
2
M6
8
15
w/ 2 slots,6.5
̶
Setup Software
128
76
Q
7-0.009 7-0.009
51
40
113 8
LE
38
107
T850
LB
67 5
T840
LA
Dimensions
LL
External Wiring Diagram
Unit : mm Model
Standard Specifications
M tap, Depth LT
Motor lead
G T
4-LZ LA
LL (L2)
LR
QK
(L1) LE
T5 types
Techometer generator lead wire
Ground conductor (L3)
Brake lead wire
Optional Equipment
T
Encoder tachometer generator brake-equipped servo motors
Encoder lead wire
(L4)
LG
LC
NP
Q QK
D
S
LB
W
QA
U T
T7 and T8 types M tap, Depth LT
Unit : mm Model
LL
T506
190
T511
210
LG
L1
T720
220 246
T840
253.5
T850
268.5
L3
L4
LA
67 5
T730
L2 38
42
22
87 8
83
60 ± 0.3
34-0.025 50-0.025
2.5
LC 69
G 54
LZ
LR
4.5 24 ± 0.5
D 51
S
Q
7-0.009 7-0.009
20
QA ̶
QK 15
W
T
U
w/ 2 slots,6.5
̶
M
LT
̶
̶
̶
̶
44
35
90 ± 0.3
34-0.025 70-0.030
3
100
76
5.5 30 ± 0.8 76
14-0.009 14-0.011
25
2
20
5
5
2
M5
8
38
44
35
100 ± 0.3
34-0.025 80-0.030
3
112
88
6.6 35 ± 0.8 87.5
16-0.011 16-0.011
30
2
25
5
5
2
M6
8
113 128
LE
38
107 8
LB
26
Gear dimensions Dimensions of a typical gear for T4
Unit : mm
32±0.5
47
27
0
5
12 A
10
0.3 0± φ7
φ8−0.015
4− φ4.5
φ18±0.5
□60
A
Cross section A-A 7
Dimensions of a typical gear for T5 26.5±1 5 16
□82
3 0. 4± 9 φ
φ12−0.018
2
A 15
0
A
+0.024 4+0.012
0
φ44−0.025
4 −φ6.6
51 17
Cross section A-A 0 1.5−0.2 4
Dimensions of a typical gear for T7
0
A
Cross section A-A 0 2−0.2 5
27
78 17
A
+0.024 5+0.012
2
32±1 3 20
20
0
3 0. 0± 2 φ1
φ40−0.025
4 −φ6.6
φ15−0.018
□100
Servo Amplifier / Power Unit Dimensions Servo amplifier
Unit : mm
Features and Functions
TS1 □ 02 □ /TS1 □ A2 □ 5
50
90
4
2−
Model Number Nomencalture
(60) 25
ø5
Standard Specifications
112 120
System Configuration
Direction of 取付方向 installation 上 UP
アース端子ビス M4 Ground terminal M4
External Wiring Diagram
TS1 □ 03 □
75
Optional Equipment
120
112
Setup Software
4
ø5 2−
Direction of 取付方向 installation 上 UP
90
(60) 25.5
Dimensions
5
アース端子ビス M4 Ground terminal M4
Power Unit
120 10
11.5 5
60 40
1.6
CN3
4− ø5
120 133 143
Direction of 取付方向 installation 上 UP
アース端子ビス M4 Ground terminal M4
28
Setup Software
(1) Setup Software Start-up Screen
(2) Main Screen
(3) Parameter Configuration Screen
Configuration of General Parameters: Enables parameter loading, saving, etc., via PC connection
Configuration of Motor Parameters: Combined motors can be configured via PC connection
(4) Monitor Functions
Monitor Display: Observe Operation and Input/Output signal status
Alarm Record Display: (Current and past alarm occurrence can be checked.) 29
Multi-monitor Display: Simultaneous monitoring of operational status of multiple servo amplifiers networked to a PC.
Automatic Notch Filter Tuning: Configures the appropriate notch filter settings
System Analysis: Analyzes servo system frequency characteristics
Standard Specifications
Pulse Feed Jogging: Simplifies motor operation and the entering of distance and travel speed data from a PC
Setup Software
Dimensions
External Wiring Diagram
Speed Jogging: Simplifies motor operation and the issuing of velocity commands from a PC
System Configuration
Model Number Nomencalture
Features and Functions
(5) Test Run and Adjustment Function
Optional Equipment
(6) Trace Operation
Graphically displays servo motor speed, current, and internal status
30
Optional Equipment
Unit : mm
PC Interface Cable 2850
Model No.: AL-00490833-01 CN1
9
A note regarding RS-232C communications: The user must provide a PC for computer interface. Parameter settings may require adjustment.
Cable
1
Amp side PC side
Connector list (For Amplifier) Contents
Single connector
Model number
Manufacturer
CN1(Plug and housing)
AL-00608709
Sumitomo 3M Ltd./Molex Ltd.
CN2(Plug and housing)
AL-00608710
Sumitomo 3M Ltd./Molex Ltd.
CN3(Housing and contact)
AL-00608711
CN4(Housing and contact)
AL-00608712
Manufacturer’ s model number 10126-3000PE + 10326-52A0-008/ 54306-2619 + 54331-0261 10114-3000PE + 10314-52A0-008/ 54306-1419 + 54331-0141 DK-3100S-05R + DK-3RECLLP1-100/ 1-178288-5 + 1-175218-2 DK-3100S-03R + DK-3RECLLP1-100/ 1-178288-3 + 1-175218-2 10126-3000PE + 10326-52A0-008/ 10114-3000PE + 10314-52A0-008/ 54306-2619 + 54331-0261 54306-1419 + 54331-0141 DK-3100S-05R + DK-3RECLLP1-100/ DK-3100S-03R + DK-3RECLLP1-100/ 1-178288-5 + 1-175218-2 1-178288-3 + 1-175218-2
DDK Ltd./ Tyco Electronics AMP K.K. DDK Ltd./ Tyco Electronics AMP K.K.
CN1,2(Plug and housing)
Sumitomo 3M Ltd./Molex Ltd.
Standard set
AL-00608713 DDK Ltd./ Tyco Electronics AMP K.K.
CN3,4(Housing and contact)
Note1)CN1,2 … Sumitomo 3M company product and Molex company product are standardized goods. Note2)CN3,4 …DDK company product and Tyco electronics AMP company product are standardized goods. * Hand crimp tool for contacts can be used for both.
Connector list (For Power Unit) Contents Single connector
Standard set
CN1(Housing and contact)
AL-00632983
Model number
CN2(Housing and contact)
AL-00632984
CN3(Housing and contact)
AL-00632985
Manufacturer DDK Ltd./ Tyco Electronics AMP K.K. DDK Ltd./ Tyco Electronics AMP K.K. J.S.T Mfg Co Ltd.
AL-00632986
DDK Ltd./ Tyco Electronics AMP K.K.
CN1,2(Housing and contact) CN3(Housing and contact)
Manufacturer’ s model number DK-3100D-06R + DK-3RECLLP1-100/ 178289-3 + 1-175218-2 DK-3100D-12R + DK-3RECLLP1-100/ 178289-6 + 1-175218-2 VHR-2N + SVH-21T-P1.1 DK-3100D-06R + DK-3RECLLP1-100/ DK-3100D-12R + DK-3RECLLP1-100/ 178289-3 + 1-175218-2 178289-6 + 1-175218-2 VHR-2N + SVH-21T-P1.1
J.S.T Mfg Co Ltd.
Note1)CN1,2・・・DDK company product and Tyco electronics AMP company product are standardized goods. *Hand crimp tool for contacts can be used for both. Note2)Standard set(AL-00632986) is attached to the Power Unit.
Brush (Maintenance components) Applicable motor For T4 model motor For T5 model motor For T7 model motor For T8 model motor For T4 model tachometer generator-equipped motor For T5 model tachometer generator-equipped motor For T7 and T8model tachometer generator-equipped motor
Model number S441898-1A-02 S441899-1A-02 S442425-1A-02 S442427-1A-02 B-5143024-1 S30407-1B-85 S30402-1B-85
Regenerative Resistor Regenerative power[PM] Model number 10W Max. REGIST-080W50B 30W Max. REGIST-120W50B REGIST-220W50B Less than 55W REGIST-220W20B 55W Min.
Resistance Allowable power[PRO] 10W 50 Ω 30W 50 Ω 50 Ω 55W 20 Ω Please contact us
Thermostat b contact
External Regenerative Resistor Dimensions REGIST-080W50B
REGIST-120W50B 300 270
6 6
6 6
Silicon Rubber Glass-braided Wire AWG20 0.5mm2 , White (Thermostat) Silicon Rubber Glass-braided Wire AWG18 0.75mm2 , Black
20
20 1.2
20 1
Silicon Rubber Glass-braided Wire AWG20 0.5mm2 , White (Thermostat) Silicon Rubber Glass-braided Wire AWG18 0.75mm2 , Black
Mass : 0.19kg
300 270 φ4.3
4.3
4.3
Silicon Rubber Glass-braided Wire AWG20 0.5mm2 , White (Thermostat)
230 220 200
6 6 60 42.7
φ4.3
Silicon Rubber Glass-braided Wire AWG18 0.75mm2 , Black
31
REGIST-220W20B, REGIST-220W50B 300 270
42 23.5
44 26
φ4.3
182 172 150
Mass : 0.24kg
1.2
132 122 100
4.3
(Unit: mm)
Mass : 0.44kg
32
Optional Equipment
Setup Software
Dimensions
External Wiring Diagram
Standard Specifications
System Configuration
Model Number Nomencalture
Features and Functions
33
Inquiry Check Sheet
Please provide the following infomation when placing an order or making an inquiry. Also feel free to include any questions that require our attention. Company Name :
Date :
Depatrtment :
To contact us : Phone : +81 3 3917 4141
Telephone :
FAX : +81 3 5394 3427
Fax : 1) Application : 2) Name of Machinery : 3) Number of Units : Item
1 2 3 4
Name of target equipment
Contents Equipment name, category (transport, processing, test, other)
Name of servo axis
Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no)
Current condition of above axis
Manufacturer Name (
Positioning accuracy
± mm・± μm
) Series Name (
) Motor Capacity (
) Hydraulic, Mechanical, or New System (
【Reference formula】
Accelerationα:__G・___[m/s2] Feeding SpeedV:____[m/s]
5
Operation pattern
Feeding
【1G=9.8[m/s2]、1[m/s2]≒0.1G】 【α[m/s2]=V[m/sec]÷t1[sec]】 【D[m]=V[m/sec]×(t1+t2)[sec]】
Moving DistanceD:___[m]
Speed
)
(Stroke)
[m/sec]
Time
6
7
Mechanism
Mechanical structure
Ball-screw/screw-rotation type (horizontal), ball-screw/nut-rotation type (horizontal), rack and pinion (horizontal), belt/chain (horizontal), rotary table, roll feed, instability WT(table mass)
kg
WL (work mass)
kg
WA(mass of other drive parts)
WR (rack mass)
kg
WB(belt/chain mass)
kg
WC(counterbalance mass)
kg
Fa(external force axial direction)
N
Fb(ball-screw preload)
N
T (roll pushing force)
N
Dr2 (follower-side roll diameter)
Dr1 (drive-side roll diameter)
mm
Lr1(drive-side roll length)
mm
Lr2(follower-side roll length)
mm
JG(speed-reducer inertia)
kg・m2
JC (coupling inertia)
kg・m2
JN(nut inertia)
kg・m2
JO(other motor-axis conversion inertia)
kg・m2
Db(ball-screw diameter)
mm
Lb(ball-screw axial length)
mm
Dp(pinion/pulley diameter)
mm
Lp(pinion axial length)
Dt(table diameter)
mm
Dh(table-support dianeter) mm
Ds (table shaft diameter)
mm
Ls(table shaft length)
ρ (specific gravity of ball-screw/pinion/pulley/table-shaft material)
tp(pully thickness)
mm mm
mm kg・cm3
ρ1(specific gravity of roll-1 material)
N・m
mm
LW(load shift from axis)
κ (internal friction coefficient of preload nut)
TF(friction torque of motor axis conversion) Speed reducer
Pb(ball -screw lead)
μ(friction coefficient between sheet and shiliding-surface/support-section/roll) kg/cm3
mm
G(reduction ratio)
ρ2(specific gravity of roll-2 material) η (mechanical efficiency)
8
mm
kg
kg/cm3
JL(load inertia of motor-axis conversion)
kg・m2
Tu(imbalance torque of motor axis conversion)
N・m
Customer-provided ( / )・Sanyo denki standard(planet/spur/no-backlash-planet / ) other( / ) Encoder type specified ( yes / no )
9
Types of detector
Yes:(incremental encoder, absolute encoder) Resolution( ) Tachometer generator
0 A B C D E F
Input format
Position , velocity , torque , other ( )
Host equipment (controller)
Sequencer , laptop , customer-developed product , Sanyo dennki-provided , other ( )
Usage environment and other requirements
Cutting , clean-room use , anti-dust measures , other ( )
Estimated production
Single product: ( ) units/mouth ( ) units/year
Development schedule
Prototype period: ( ) Year ( ) Month Production period: ( ) Year ( ) Month
Various measures
Related documentation ( already submitted; send later by mail) Visit/PR desired ( yes / no ) Meeting desired ( yes / no )
Miscellaneous (questions, pending problems, unresolved issues, etc.)
34
■ Precautions For Adoption
Cautions Failure to follow the precautions on the right may cause moderate injury and property damage, or in some circumstances,could lead to a serious accident. Always follow all listed precautions. *For any question or inquiry regarding the above, contact our Sales Department.
http://www.sanyodenki.com 1-15-1, Kita-Otsuka, Toshima-ku, Tokyo 170-8451, Japan
Phone: +81 3 3917 5157
468 Amapola Avenue Torrance, CA 90501 U.S.A.
Phone: +1 310 783 5400
P.A. Paris Nord II 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France
Phone: +33 1 48 63 26 61
Frankfurter Strasse 63-69 65760 Eschborn Germany
Phone: +49 6196 76113 0
9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea
Phone: +82 2 773 5623
Phone: +86 21 6235 1107
Room 1208,12F, No.96 Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C.
Phone: +886 2 2511 3938
Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong
Phone: +852 2312 6250
10 Hoe Chiang Road #14-03A/04 Keppel Towers Singapore 089315
Phone: +65 6223 1071
The names of companies and/or their products specified in this catalogue are the trade names, and/or trademarks and/or registered trademarks of such respective companies.
*Remarks : Specifications Are Subject To Change Without Notice.
CATALOG NO. 767-7 ’09.12.N