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