100 V AC 30 W-200 W, 200 V AC 30 W-2 kW 100 V, 200 V AC Input voltage Servo amplifier 100 A, 20 A, 30 A, 50 A Amp. capacity Servo motor Flange size 40000 mm sq., 60 mm sq., 80 mm sq., 86 mm sq., 10000000000 mm sq., 130 mm sq. Rated output 33330000 W, 50 W, 80 W, 90 W, 100 W, 200 WWWWW,, 33333666660000 WWW, 4444000000000 W, 550 W, 750 W, 1.0 kW, 1.2 kkWWWWW, 1.8 kW, 2.0 kW 11 Contents Features .............................................p. 3 How to Read Model Numbers .........p. 9 Standard Model Number List ........p. 11 System Confi guration ....................p. 20 Servo Amplifi er Specifi cations ......p. 21 General-purpose Output Specifi cations .....p. 22 Servo Amplifi er Dimensions ..........p. 23 Specifi cations - Servo Amplifi er+ R2 Servo Motor (Medium Inertia)..............p. 25 R5 Servo Motor (Medium Inertia)..............p. 33 Encoder Wiring Diagram ................p. 35 External Wiring Diagram ................p. 36 Notes on Replacing Our Conventional Products ...................p. 37 Servo Motor Dimensions ...............p. 38 Setup Software ...............................p. 40 Options ............................................p. 42 Selection Guide ...............................p. 48 22 NEW PRODUCTS High Performance AC Servo Systems High Performance Servo Amplifi er E ’ The Power of 3 s More evolved AC servo amplifi ers that provide improved basic performance with high responsiveness, and are more energy-efficient and easier to use. Ideal for chip mounters, semiconductor equipment, machine tools, etc. Evolved Eco-effi cient Easy to use 3 Evolved s e r u at e Shorter takt time achieved through high-speed positioning control F The 3E Model has a speed frequency Position rtAbRweeedseaidcnplie-t toi siomtnhhnoseaare tltls e yowon, fiet ftho dce2hu t .iropn2 ocg 1osk /bi3nHte ivooztewn,fn teasthieepeont pnt oltiarrnroliag gxcp ikntiri moamcldo aetunit mchtertalo.ey*sl. 0 [Pulse/s] deviation CurrentP mosoidtieoln comInm-paonsdit iforenq ruaenngcey How to Read Model NumbersStandard Model Number List and positioning control contributes to a dramatic reduction of machine takt time. 0 [Pulse] n o * R C oAmDpVaArNedC EwDit hM oOuDrE cLo.nventional AC servo amplifi er, SANMOTION stem gurati Settling time: 1/3 of current model Synfi o C Improved control accuracy er s fi n The 3E Model is equipped with a Increased High-gain control mpliatio accuracy Disturbance Afi c gain increase function, a function o ci for suppressing microvibrations at Speed rvpe settling time, an adaptive notch filter Current model SeS faonrd s uap fpereeds-sfionrgw maredc hvainbircaatli orens ocnoanntrcoe,l Vibration suppression by adaptive notch filter mplifi er+ fctfoueo enn5dcvtth-eiao nxontiir.osd T necharo.el n Hp4tirrtgohohd ll ouysrc idatgsecn crhi ufanircsoa attbecneh tme lyfnia l ctiumehprip ngoerrfao tdvooeeuodsrl CurrenStt amrtos dwehlen After Specifi cations - Servo AServo Motor vibrations occur adaptation processing quality. Adaptive g notch filter Wirinam oder Diagr c Improved safety performance through the Safe Torque Off function n E With the improved Safe Torque Off (STO) g n finutnercntaiotionn, atlh seta n3dEa rMdso, dSeILl 3c/IoECn6fo15r0m8s a ntdo Motor torque off Wiriam Emergency al gr PL=e/ISO13849-1. It is sufficiently reliable na stop erDi for usage in devices requiring high safety, xt E such as medical devices. otor ons Eco-effi cient Msi o en vm r SeDi Reduced power consumption Power consumption visualization By incorporating new- The power consumption ns Controls the fan o g3Een Meroadtieoln dpeocwreera sdeesv iecelesc, ttrhiec s(1p0e Aed is fanless) mpoownietor rcinogn sfuunmctpiotino ne ntaob lbees AXYxis Power c00o..n47s15umption kkUWWnihht Opti power losses by up to 7%. The visualized. The servo amplifier Z 0.21 kWh 3E Model has up to 10% lower Total 1.37 kWh calculates power consumption standby power consumption e based on the motor current, d as it limits unnecessary energy ui consumption by controlling the and displays it on the setup G fan speed according to the internal software or digital operator. on temperature of the servo amplifi er. cti e el S 4 Easy to use Easy startup "SANMOTION MOTOR SETUP SOFTWARE" (see p. 40) displays the parameters required for operation in an Startup time can be easy-to-understand manner in order to enable fast and reduced by batch setting the minimum easy equipment startup. The 3E Model has a virtual parameters required by application. motor operation function to simulate operation of the motor and amplifier without moving the machine, and a jog function for testing the motor and amplifi er connection, without the need to connect to a host device. Easy servo tuning By connecting with the setup software the 3E Model offers a variety of servo tuning support functions such as automatic selection of optimal tuning mode depending on mechanical and load conditions, basic tuning mode for adjustment of up to two parameters, and an application-specific tuning mode. This dramatically shortens time required for servo tuning. Easy troubleshooting With a 1 ms time stamp and a drive recorder function to record motor and amplifi er operating status, details of abnormal state occurrences such as alarms can be accurately checked even at a later time, facilitating troubleshooting. The drive recorder function allows for the checking of past operating status. Encoder batteries with choice of mounting sites When using a battery-backup method absolute encoder, the required battery can be either a battery box that connects directly to the lower part of the servo amplifi er, or an extension cable with battery. (See p. 45) Extension cable with battery Battery box 5 Common features of R 3E Model and R ADVANCED MODEL s e Model-based following control Auto-tuning ur at e F Model-based following control enables an improved The servo amplifi er automatically optimizes servo gain target value response, enhanced disturbance and fi lter frequency in real time. suppression, and greater robustness. Numbersmber List cPoomsmitiaonnd PMoosditeilo cno/nstproele sdy scteomntrol Motor/machine model Vcvoaemlluoecmitayn d How to Read Model Standard Model Nu n o m ati Position/speed control Motor/machine Tuning start Detected velocity value Systeonfi gur C Feedback control system er s fi n mpliatio c Afi o ci ve Feed-forward vibration suppression control Command following control rp SeS Wvibitrha tifoenesd -afto trhwea erdn dv iebffreacttioorn a snudp bparsees soifo na mcoancthrionle, Pino sciotimonp acroismomn awnidt hf oclolonwvienngt iopneraflo mrmoadnecles dthoruobulgehd mplifi er+ cVaibnr abteio snu cpopnrtersosle fdre tqhureonucgihes s aimrep slee letucntainbgle .procedures. tahlgeo aridthomptsi.o Pno soift ionne wde pvioastiiotino n≒i n0g h aasn db esepne aecdh iceovnedtr.ol Specifi cations - Servo AServo Motor Position deviation during stop With vibration suppression control Position command ng Without vibration suppression control Wiriam oder Diagr c n 100 ms/div E Without vibration With vibration suppression control suppression control g Position deviation Wirinam al gr na erDi xt 20 ms/div E All-in-one control 5-digit LED display, built-in operator otor ons Msi o en Configurable parameters allow switching between The built-in operator allows you to change parameters rvm SeDi control modes for torque, position or velocity. and monitor the amplifi er status and alarm traces. Position ns Torque o Veloorcity control GOAL Opti g n endi de sc ui RT A G TA n S o Flat cti e el S 6 Common features of R 3E Model and R ADVANCED MODEL Multiaxial monitor function Dual position feedback fully-closed loop control The setup software allows up to 15 servo amplifi er axes Dual position feedback fully-closed loop control is to be monitored. possible by using information from two encoders, such as a linear encoder mounted on the device and a high resolution encoder. Even when there is high motor shaft torsion from the load, servo gain can be improved and high response achieved. USB hub Load Maximum 15 axes 2 types of servo motors for different applications Downsized servo motors Two types of servo motor are available: R2 servo R2 series servo motors have been downsized by as motors with a wide lineup for positioning applications, much as 30% in length and 25% in volume from our and R5 servo motors that are ideal for smooth conventional product, while still achieving high torque operations such as for feed axes of small sized machine and high performance. tools. * Our conventional product is "SANMOTION Q" AC servo motor. R5 Servo Motor Feed axes in machine tools R2 Servo Motor Positioning in robots, injection molding machines, general industrial machinery, etc. 30% reduction Low cogging torque Waterproof and dustproof Cogging torque has been reduced in comparison with Our servo motors have high waterproof and dustproof our conventional products, and we have achieved ratings, allowing them to work in severe environments. smooth movement. Standard R2 series 130 mm sq. servo motors have IP65 protection levels. (IP67 is available as an option.) For other servo motors IP65 or IP67 models can be selected. Comparison of cogging torque waveform Water Dust Current model R Motor (Representative example) * Excluding shaft feedthrough and cable end. 7 s e High Resolution Encoders ur at e F A 17 bit (131,072 divisions) encoder is included. An optional 20 bit (1,048,576 divisions) encoder is also available. Control for high resolution encoders is also possible. Serial encoder Numbersmber List Encoder type Npeor. rooft patairotnitions Rdmueusrliotnilpgul teio n Emnocdoedle nr o. Remarks How to Read Model Standard Model Nu rotations Optical battery-backup method absolute encoder An optional 20 bit n o AId esaml aflol ra gnedn selirmal minudlutis-tturiranl beaqtutieprmy-ebnatc,k iunpc lmudeitnhgo dro ebnoctosd. eRre.quires battery. Batteries sold 1(173 b10it72) 1(665 b5i3t6) PA035C ednivciosidoenrs ()1 i,s0 4a8ls,5o7 6 stem gurati separately. (See p. 45: Options) available. Synfi o Optical absolute encoder for incremental systems An optional 20 bit C A small and slim encoder that can output the absolute positions in 1 rotation by 17 bit encoder (1,048,576 converting them to incremental signals of phase A, B, and Z. Enables wire-saving for and (131072) - PA035S divisions) is also er s fi n size-reduction of applications that use pulse encoder. available. mpliatio Resolver method battery-less absolute encoder Afi c Since it is battery-less, maintenance is not required. Being a resolver method encoder 17 bit 16 bit vo eci RA035C rp with outstanding ruggedness, it is ideal for equipment with diffi cult usage environment, (131072) (65536) SeS like injection molding machines, robots. High-precision battery-less optical absolute encoder Applicable motor mplifi er+ Biesqa utidtiepemrayle rnfeotp.rl ahciegmh epnrte cmisaiionnte enqaunicpem ies nnto itn rceluqduiirnegd .r oTbhoist sh aignhd porethceisri ogne noeprtaicl ailn ednucsotrdiearl 1270 bbiitt ((1103410875276)) 1(665 b5i3t6) HA062 s10iz0e :mm sq. or more Specifi cations - Servo AServo Motor g Pulse encoder n Encoder type Pulse/rotation Mroutalttiipolnes Emnocdoedle nr o. Remarks oder WiriDiagram Optical wire-saving incremental encoder nc Pulses can be set E An incremental encoder that easily connects with host equipment to output phases A, B, 2000 P/R No PP031T up to 10000 P/R. and Z. Ideal for general industrial equipment, like chip mounters. g n Wiriam al gr na erDi xt E otor ons Msi o en vm r SeDi s n o pti O e d ui G n o cti e el S 8 How to Read Model Numbers Not all combinations shown below are valid. For available models, refer to "Standard Model Number List" on pp. 11-19. ■ Servo Motor Example: An R2 series servo motor model with a 60 mm sq. fl ange size, 200 W rated output, 6000 min-1 maximum rotation speed, 24 V DC brake, and a battery-backup method absolute encoder (131072 partition number/ rotation), with UL/CE approval. R 2 AA 06 020 F C P 00 M Additional Specification Identification E ... Conforms to CE U ... Conforms to UL M ... Conforms to CE and UL Specification Identification 00 … Standard Encoder Type Serial Encoder P … Optical battery-backup method absolute encoder (PA035C) H … Optical absolute encoder for incremental systems (PA035S) W … Resolver-method battery-less absolute encoder (RA035C) R … High precision battery-less optical absolute encoder (HA062) Pulse Encoder S … Optical wire-saving incremental encoder (PP031T) For encoder details, see p. 8. Holding Brake X … No brake B … 90 V DC brake C … 24 V DC brake Maximum Rotation Speed For the numeric values, see the specifications on pp. 25-34. Rated Output 003 … 30 W 020 … 200 W 100 … 1.0 kW 200 … 2.0 kW 005 … 50 W 040 … 400 W 120 … 1.2 kW 008 … 80 W 050 … 550 W 150 … 1.5 kW 010 … 100 W 075 … 750 W 180 … 1.8 kW A reduction in output might be required if an oil seal or brake is attached. Contact us for details. Flange Size 04 … 40 mm sq. B8 … 86 mm sq. 06 … 60 mm sq. 10 … 100 mm sq. 08 … 80 mm sq. 13 … 130 mm sq. Power Supply Voltage AA … 200 V AC EA … 100 V AC Servo Motor Types 2 … Medium inertia 5 … Medium inertia R ... R Series ・For speed reducer installation, contact us for details. 9