Sanyo Denki Servos PDF

AC SERVO SYSTEMS
5
Ver.
Downloaded from Arrow.com.

Easy Set-up for Optimal Operation
Auto-Tuning Small Compact Servomotors

A new auto-tuning algorithm improves system Motor size and volume is reduced by as much as 30%
response by providing functions such as inertia and 25% respectively compared to current models.
identification, 5 auto-tuning modes, 30 levels of The world's smallest high torque high performance
response, and parameter setting auto-save. servomotor. (as of Sept 2006)
Velocity command
value
Tuning start
Detected velocity value
30% reduction
Multi-Axis Servo Amplifier Protection code IP67

6-axis model can reduce installation width by up to Protection code is IP67 for all models.
42% compared to six single-axis models.Power loss is
reduced by up to 20% compared to current single-axis
models. IP67
Water Dust
*Shaft feedthrough and cable end are excluded.
All-in-One Control Power Supply Harmonic Suppression

Configurable parameters allow you to switch between Equipped with DC reactor connection terminals as
control modes for torque, position or velocity. standard feature for supressing power supply
harmonics.
Position
or
Torque GO
Velocity
control AL
g
din
c en
T As
AR
ST Flat
*Uniaxial servo amplifier only
1
Features and
Functions
5-digit LED Display, Built-in Operator Test Function (JOG)
Model Number
Nomencalture
Parameter setting, monitoring and alarm tracing can On-board JOG operation function is available for
be easily done using the built-in operator. testing motor and amplifier connection without the
need to connect to host device.
Capable of JOG operation
Configuration
without connecting to host
System
device
Specifications
Standard
External Wiring
Diagram
*Multi-axis is done through a personal computer.
Setup Software Multiaxial Monitor Function
Dimensions
The setup software allows you to set parameters, The setup software allows up to 15 amplifiers to be
view graphical displays of monitored position, monitored. (Single axis only)
velocity or torque waveforms, and perform system
Setup Software
analysis.
Parameter settings Position, velocity,
torque waveforms
Daisy chain up to 15 units
Equipment
RS232C
Optional
Maximum
* 15 units
*Use optional cable

AL-00490833-01 for PC
connection *PC connection cable is optional
Built-in Regeneration Resistor Built-in Dynamic Brake

It is possible to choose whether to equip regenerative A built-in dynamic brake provides emergency stop
resistance or not. If the regenerative resistance capability. The six kinds of motion sequences for the
capability is insufficient, it is possible to use an dynamic brake can be selected by parameter setting.
external regenerative resistance unit.
Rotation speed
Controlled
state Dynamic braking state
Built-in
Regeneration
(min-1)
Resistor Time(s)
External regenerative
resistor unit (Option)
2
Improved Precision and Reduced Cycle Time
High Response Shorter Position Settling Time

A 4th-order notch filter reduces phase delay to A new algorithm drastically shortens positioning
suppress mechanical resonance and improve velocity settling time for equipment.
response of equipment.
10
Position deviation
0
Gain (dB)
-10
-20
Settling time (0ms)
-30 Position complete signal
-40
1 5 10 50 100 500 1000 1800
Frequency (Hz) Example of positioning settling time 5ms/div
in highly rigid machinery
Vibration Suppression Control Disturbance Suppression

With feed-forward vibration suppression control, It is possible to control impacts from other axes in
vibrations at the processing point and base of a case of multiaxial constitution, by using the new
machine can be suppressed through simple tuning disturbance observer with extended applicable
procedures. Up to 4 types of vibration control frequency.
frequencies can be selected.
Position deviation during stop
With vibration suppression control

Without vibration suppression control
Disturbance observer function ON Disturbance observer function OFF
Oscillation waveform Oscillation waveform

of direct drive section of direct drive section
100ms/div Disturbance
With vibration Without vibration
suppression control suppression control Disturbance
Expanded Power Range Command Follow-up Control

Maximum instantaneous stall torque is improved by Performance of the positioning doubled in comparison
5% to 26%, and maximum rotation speed is increased with current models by adoption of new positioning
from 5000min-1 to 6000min-1 compared to current control algorithm and new speed control algorithm.
models. And position deviation≒0 is achieved.
Position command
R motor
Increased torque
Torque (N・m)
Current model
Increased rotation Speed Position deviation
0 1000 2000 3000 4000 5000 6000 7000

Rotation Speed (min-1) 20ms/div
3
Reduced Running
Costs
Features and
Functions
Low Cogging Torque 20% Reduction in Power Loss
Model Number
Nomencalture
Using our proprietary technology, the motor's low An energy conserving power module reduces main
cogging torque delivers smooth rotation that is ideal circuit power loss by up to 20%.
for high precision processes and vibration-sensitive
conveyor applications. 100%
90%
Configuration
System
Comparison of cogging torque waveforms
Power loss reduction (%)

80%
70%
60%
R motor
50%
Specifications
Standard
40%
30%
20%
10%
Current model
0%
External Wiring
Diagram
Current model SANMOTION R
15A
(*Image)
High Resolution
Dimensions
Support for encoders up to 17 bit (131,072 divisions) is
available for high resolution control.
2 d i vi s i o n s ) A b s o l u
1 ,0 7
Setup Software
te E
(13 nc
bit od
17 er
n
u ti o
l
so
Re
h
Hig
Equipment
Optional
Full Closed-Loop Control

Optional support for full closed-loop control using
linear scale and other high resolution encoders
mounted on device side.
Branching
Highly accurate
positioning is possible
Loa
d
*available for single-axis only
4
Servo Motor Standard Model Number List
200V System
Power Voltage Encoder models Rated Output Motor Flange Size Holding Brake CE·UL Model No.
― ― R2AA04003FXP00
― Standard R2AA04003FXP00M
30W 40mm sq.
yes（24V） ― R2AA04003FCP00
yes（24V） Standard R2AA04003FCP00M
― ― R2AA04005FXP00
50W 40mm sq.
― ― R2AA04010FXP00
40mm sq.
― ― R2AA06010FXP00
100W
60mm sq.
― ― R2AA06020FXP00
60mm sq.
Battery backup method yes（24V） ― R2AA06020FCP00
absolute encoder 200W
― ― R2AA08020FXP00
（PA035C） ― Standard R2AA08020FXP00M
80mm sq.
― ― R2AA06040FXP00
60mm sq.
― ― R2AA08040FXP00
400W
80mm sq.
― ― R2AA08075FXP00
750W 80mm sq.
― ― R2AAB8100FXP00
― Standard R2AAB8100FXP00M
1000W 86mm sq.
yes（24V） ― R2AAB8100FCP00
yes（24V） Standard R2AAB8100FCP00M
200V
― ― R2AA04003FXH00
― Standard R2AA04003FXH00M
30W 40mm sq.
yes（24V） ― R2AA04003FCH00
yes（24V） Standard R2AA04003FCH00M
― ― R2AA04005FXH00
50W 40mm sq.
― ― R2AA04010FXH00
40mm sq.
― ― R2AA06010FXH00
100W
60mm sq.
― ― R2AA06020FXH00
60mm sq.
Absolute encoder for yes（24V） ― R2AA06020FCH00
incremental System 200W
― ― R2AA08020FXH00
（PA035S） ― Standard R2AA08020FXH00M
80mm sq.
― ― R2AA06040FXH00
60mm sq.
― ― R2AA08040FXH00
400W
80mm sq.
― ― R2AA08075FXH00
750W 80mm sq.
― ― R2AAB8100FXH00
― Standard R2AAB8100FXH00M
1000W 86mm sq.
yes（24V） ― R2AAB8100FCH00
yes（24V） Standard R2AAB8100FCH00M
For specifications on other model, please contact us.
5
Servo Amplifier Standard Model Number List
200V System
Features and
Selectable Internal Registration Amplifier
Functions
Type Main Power Control Power Encoder Type Model No.
Output Resistor Capacity
15A RS1A01AA
―
30A RS1A03AA
50A RS1A05AA
NPN
With 15A RS1L01AA
Model Number
30A RS1L03AA
Nomencalture
Wire-saving incremental encoder,
― 50A RS1L05AA
Battery backup method absolute
15A RS1A01AB
encoder ―
AC200V System AC200V System 30A RS1A03AB
Analog/Pulse 50A RS1A05AB
AC200 to 230V AC200 to 230V PNP
input type With 15A RS1L01AB
(3-phase) (1-phase)
Configuration
30A RS1L03AB
System
― 50A RS1L05AB
15A RS1A01AT
―
30A RS1A03AT
50A RS1A05AT
Full Closed NPN
With 15A RS1L01AT
Specifications
30A RS1L03AT
Standard
― 50A RS1L05AT
15A RS1A01AL
―
AC200V System 30A RS1A03AL
With 50A RS1A05AL
NPN
15A RS1J01AL
External Wiring
DC24V ― 30A RS1J03AL
Diagram
CANopen Wire-saving incremental encoder,
50A RS1J05AL
Interface AC200V System Battery backup method absolute
specifications 15A RS1A01AU
encoder ―
AC200V System 30A RS1A03AU
With 50A RS1A05AU
PNP
15A RS1J01AU
Dimensions
DC24V ― 30A RS1J03AU
50A RS1J05AU
15A RS1A01AC
―
Built-in 30A RS1A03AC
Wire-saving incremental encoder,
positioning 50A RS1A05AC
AC200V System AC200V System Battery backup method absolute NPN
function With 15A RS1L01AC
encoder
Setup Software
model 30A RS1L03AC
― 50A RS1L05AC
■ Multi-Axis Servo System Amplifier Unit
Equipment
Selectable Amplifier
Optional
Type Power Input Encoder Type Model No.
Output Capacity
15A RR1A01AAB00
Pulse train Battery backup method
DC280V NPN
interface absolute encoder
30A RR1A03AAB00
■ Multi-Axis Servo System Power Unit

Type Power Input Internal Registration Resistor Model No.
Pulse train
AC200V With RRPAA00
interface
■ Multi-Axis Servo System Motherboard

Number of Slots
Power Input Model No.
(based on a 15A unit)
4 RRMA400
AC200V 6 RRMA600
8 RRMA800
6
Servo Motor Standard Model Number List
100V System
Power Voltage Encoder models Rated Output Motor Flange Size Holding Brake CE·UL Model No.
yes(24V) ― R2EA04003FCP00
yes(24V) Standard R2EA04003FCP00M
30W 40mm sq.
― ― R2EA04003FXP00
― Standard R2EA04003FXP00M
50W 40mm sq.
― ― R2EA04005FXP00
Battery backup method yes(24V) ― R2EA04008FCP00
absolute encoder 80W 40mm sq.
― ― R2EA04008FXP00
（PA035C） ― Standard R2EA04008FXP00M
100W 60mm sq.
― ― R2EA06010FXP00
200W 60mm sq.
― ― R2EA06020FXP00
100V
yes(24V) ― R2EA04003FCH00
yes(24V) Standard R2EA04003FCH00M
30W 40mm sq.
― ― R2EA04003FXH00
― Standard R2EA04003FXH00M
50W 40mm sq.
― ― R2EA04005FXH00
Absolute encoder for yes(24V) ― R2EA04008FCH00
incremental System 80W 40mm sq.
― ― R2EA04008FXH00
（PA035S） ― Standard R2EA04008FXH00M
100W 60mm sq.
― ― R2EA06010FXH00
200W 60mm sq.
― ― R2EA06020FXH00
7
Servo Amplifier Standard Model Number List
100V System
Features and
Selectable Internal Registration Amplifier
Functions
Type Main Power Control Power Encoder Type Model No.
Output Resistor Capacity
15A RS1N01AA
With
30A RS1N03AA
NPN
15A RS1E01AA
Wire-saving incremental encoder, ―
30A RS1E03AA
Battery backup method absolute
Model Number
15A RS1N01AB
Nomencalture
encoder With
Analog/Pulse 30A RS1N03AB
AC100V System AC100V System PNP
input type 15A RS1E01AB
―
30A RS1E03AB
15A RS1N01AT
With
30A RS1N03AT
Full Closed NPN
Configuration
15A RS1E01AT
System
―
30A RS1E03AT
15A RS1N01AC
CANopen Wire-saving incremental encoder, With
30A RS1N03AC
Interface AC100V System AC100V System Battery backup method absolute NPN
specifications 15A RS1E01AC
encoder ―
30A RS1E03AC
Specifications
Standard
■ Multi-Axis Servo System Amplifier Unit

Selectable Amplifier
Type Power Input Encoder Type Model No.
Output Capacity
External Wiring
Diagram
15A RR1E01AAB00
Pulse train Battery backup method
DC140V NPN
interface absolute encoder
30A RR1E03AAB00
■ Multi-Axis Servo System Power Unit
Dimensions
Type Power Input Internal Registration Resistor Model No.
Pulse train
AC100V With RRPEA00
interface
■ Multi-Axis Servo System Motherboard
Setup Software
Number of Slots
Power Input Model No.
(based on a 15A unit)
4 RRME400
AC100V 6 RRME600
8 RRME800
Equipment
Optional
8
Servo Motor Model Number Nomenclature
Servo Motor
Example: The following model number defines a "R2" servomotor with 60mm flange size, 200W rated output,
6000min -1 maximum rotation speed, 24V brake, and an absolute encoder (131,072 divisions/
rotation),UL/CE approval and reduction ratio 1/3.(Planetary gear)
R 2 AA 06 02 0 F C P 00 M A
Specification
00‥Standard
R Series 01‥With oil seal
Motor Type
モータ種別 Holding Brake Symbol Reducer type Reduction ratio
‥‥‥中慣性
‥‥Middle inertia X‥‥Without Brake A Planetary 1/3
B gear 1/5
B‥‥With Brake（90V DC） C 1/9
C‥‥With Brake（24V DC） D 1/15
E 1/25
Supply Voltage S Backlashless 1/5
T planetary 1/11
AA‥200V Motor gear
U 1/21
EA‥100V Motor Maximum Rotation Speed V 1/33
‥‥6000min-1
Please consult with us about the
combination for the decelerator.
Standard Identification
Flange Size Rated Output M ‥‥CE and UL
04 ‥‥‥ 40mm 003 ‥‥‥ 30W 040 ‥‥‥ 400W 0 ‥‥Without standard
06 ‥‥‥ 60mm 005 ‥‥‥ 50W 075 ‥‥‥ 750W but with gear
08 ‥‥‥ 80mm 010 ‥‥‥ 100W 100 ‥‥‥ 1kW
B8 ‥‥‥ 86mm 020 ‥‥‥ 200W Encoder Type
A reduction in the rating might be needed if an oil seal
P ‥Battery backup method absolute encoder［PA035C］
and Brake is attached. Please consult with us about the details.
H ‥Absolute encoder for incremental System［PA035S］
W‥Absolute encoder without battery［RA035C］
S ‥Wire-saving incremental encoder［PP031T］
Encoder Specification
Partition number /
Model rotation Multiple Rotations Remarks
PA035C 131072(17bit) 65536(16bit) Battery backup method Absolute encoder
PA035S 131072(17bit) ー Absolute encoder for Incremental system
RA035C 131072(17bit) 65536(16bit) Absolute encoder without battery
Wire-saving incremental encoder

PP031T 8000(2000P/R) ー
Maximum 40000(Partition number/ rotation)
Conformance to Overseas Standards

Our standard servo amplifier has attained the international
standards (UL, c-UL and EN Standards).
You can also employ servo motors that have attained the
international standards (UL, c-UL and EN Standards).
9
Servo Amplifier Model Number Nomenclature
Single-Axis Servo Amplifier (Analog/Pulse input type)
Features and
Functions
Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage and
15A amplifier capacity.
RS1 A 01 A A
Model Number
Nomencalture
R Series Amp. capacity
Single-Axis Servo 01‥‥‥ 15A
Configuration
Amplifier 03‥‥‥ 30A
System
05‥‥‥ 50A Motor Type
‥‥‥Rotary Motor
Specifications
Standard
Power Input, Internal Registration Setting Control Hardware Type
A… Encoder Specification : Absolute encoder
Model Input Voltage Internal Registration Resistor Amp. capacity
Wire-saving incremental encoder
External Wiring
Diagram
L W 15A,30A
Selectable output : NPN Output
A W/O 15A,30A
AC200V B… Encoder Specification : Absolute encoder
A W 50A
L W/O 50A Wire-saving incremental encoder
N W 15A,30A Selectable output : PNP Output
Dimensions
AC100V
E W/O 15A,30A T… Full Closed-Loop
Specification : Wire-saving incremental encoder
Incremental encoder for full close
Selectable output : NPN Output
Setup Software
*The motor parameters need to be set for the amplifier for use. Use the setup software.
Equipment
Optional
10
Servo Amplifier Model Number Nomenclature
Servo Amplifier with CANopen

Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage
(Main Power and Control Power) and 15A amplifier capacity.
RS1 A 01 A L
R Series AMP. Capacity

Single-Axis Servo 01‥‥‥ 15A Motor Type
Amplifier 03‥‥‥ 30A ‥‥‥ Rotary Motor
05‥‥‥ 50A
Interface Type
Power Input, Internal Registration Setting Interface Specification：CAN open I/F
Encoder Specification：Absolute encoder,
Control Power Power Input, Internal Registration
Model
Input Voltage Input Voltage Resistor
AMP. Capacity Wire-saving incremental encoder
L ‥‥NPN Output
L W 15A,30A
U‥‥PNP Output
A W/O 15A,30A
AC200V AC200V
A W 50A
L W/O 50A
N W 15A,30A
AC100V AC100V
E W/O 15A,30A
K W 15A,30A,50A
DC24V AC200V
J W/O 15A,30A,50A
Single-Axis Servo Amplifier built-in Positioning Function model
Example: The model number shown below is "R" Series Servo Amplifier with 200V AC input voltage
(Main Power and Control Power) and 15A amplifier capacity.
RS1 A 01 A C

Single-Axis Servo 01‥‥‥ 15A
Amplifier 03‥‥‥ 30A
05‥‥‥ 50A Motor Type
‥‥‥Rotary Motor
Power Input, Internal Registration Setting Interface Type

C‥‥Built-in Positioning Function Model
Model Input Voltage Internal Registration Resistor Amp. capacity
L W 15A,30A F ‥‥Built-in positioning function model
A W/O 15A,30A with serial interface
AC200V
A W 50A
L W/O 50A
N W 15A,30A
AC100V
E W/O 15A,30A
11
Features and
Functions
Multi-Axis Servo Amplifier
Example: The model number shown below is a 4-axis "R" series multiaxis servo amplifier configuration
with 200V AC input voltage, 4 units of 15A amplifiers, and pulse train interface.
Amplifier Unit RR1A01AAB00 × 4 units
Model Number
Nomencalture
Power Unit RRPAA00 × 1 unit
Motherboard RRMA400 × 1 unit
Configuration
Amplifier Unit
System
RR1 A 01 A A B 00
Specifications
Standard
Control Hardware Type Specification
Multi-Axis Servo System 01‥‥‥ 15A
03‥‥‥ 30A ‥‥‥Pulse train interface ‥‥Standard
Amplifier Unit
Power Input Motor Type Encoder Combination Description
External Wiring
Diagram
A‥‥DC280V ‥‥‥Rotary Motor ‥‥‥Absolute encoder
E‥‥DC140V
Dimensions
Power Unit
RRP A A 00
Setup Software
R Series Power Input
Multi-Axis Servo System A‥‥AC200V Control Hardware Type Specification
Equipment
Optional
Power Unit E‥‥AC100V ‥‥‥Pulse train interface ‥‥Standard
Motherboard
RRM A 4 00
R Series Power Input Number of Slots Specification

Multi-Axis Servo System A‥‥AC200V 4‥‥‥ 4 Slots ‥‥Standard
Motherboard E‥‥AC100V 6‥‥‥ 6 Slots
8‥‥‥ 8 Slots
Amplifier Unit 15A:Use of 1 slot per 1 unit
Amplifier Unit 30A:Use of 2 slots per 1 unit
12
System Configuration
Single-Axis Servo Amplifier
Noise Filter Electromagnetic Contactor
Model No.: AL-00494635-01 Lithium battery
Switches servo power on and When using the unit with an

Attached to prevent
off. Installation of a surge absolute system, mount the
external noise from the
protector is required. optional battery inside the
power source line.
Create the protective circuit. digital operator cover.
Model No.: AL-00490833-01
PC
Setup
Software
Circuit Breaker(MCCBM) DC Reactor Parameter
configuration
and monitoring
is possible via
communication
with a PC.
CN1
Host Devices
Cuts off power in the case Suppresses power harmonics.
of an overload, to protect Remove the short bar between
the power line. DL1-DL2 and connect this here,
when needed for high
frequency waves.
TSR
External Regenerative Resistor PLC
Use as necessary, for example PLC and controllers are
when operating loads with available as the host device.
large inertia. CN2
For special operations, such as

high frequency applications
that require greater power
dissipation than that provided
by the servo amplifier’s
internal regenerative resistor.
Brake Power
Wiring required for brake.
Required for use when the

servo motor is equipped
with a brake.
CANopen
Host Devices
Dedicated controller
PC and PLC are available
as the host device.
*Communication Profile: DS-301
Device Profile: DSP-402 compliance
13
Features and
Functions
Noise Filter Circuit Breaker(MCCB) Lithium battery Host Devices
When using the unit with
an absolute system,
connect the battery to
CN5.
Model Number
Nomencalture
T
S
R Setup Software
Parameter configuration
and monitoring is possible PLC
Cuts off power in the case
Attached to prevent of an overload, to protect via communication with a PLC and controllers are
external noise from the the power line. PC. available as the host device.
power source line.
Configuration
System
Model No.: AL-00490833-01
Electromagnetic Contactor
Specifications
Standard
External Wiring
Diagram
Switches servo power on and
off. Installation of a surge
protector is required.
Create the protective circuit.
External Regenerative Resistor
Dimensions
Use as necessary, for example
when operating loads with
large inertia.
Setup Software
For special operations, such as
high frequency applications
that require greater power
dissipation than that provided
by the servo amplifier’s
internal regenerative resistor.
Equipment
Optional
DC Reactor
Suppresses power harmonics.

Remove the short bar between
DL1-DL2 and connect this here,
when needed for high
frequency waves.
Brake Power
Wiring required for brake.
Required for use when the

servo motor is equipped
with a brake.
14
Standard Specifications
Motor Model and Flange Size in mm R2AA04003F R2AA04005F R2AA04010F

Status Symbol Unit 《40》《40》《40》
Rated Output ★ PR W 30 50 100
Rated Speed ★ NR min -1 3000
Maximum Speed ★ N max min -1 6000
Rated Torque ★ TR N・m 0.098 0.159 0.318
Continuous Torque at Stall ★ TS N・m 0.108 0.167 0.318
Peak Torque at Stall ★ TP N・m 0.37 0.59 1.18
Rated Armature Current ★ IR Arms 0.51 0.67 0.81
Armature Current at Stall ★ IS Arms 0.56 0.69 0.81
R2
Peak Armature Current at Stall ★ IP Arms 2.15 2.8 3.3
Torque Constant ☆ KT N・m／Arms 0.201 0.246 0.424
Voltage Constant Per Phase ☆ K Eφ mV／min -1 7 8.6 14.8
Phase Resistance ☆ Rφ Ω 12 9 9.3
Rated Power Rate ★ QR kW／s 3.9 6.7 16
Servo Motor
Electrical Time Constant ☆ te ms 0.55 0.67 0.82
200V System Mechanical Time Constant (Not including Encoder) ☆ tm ms 2.2 1.7 0.97
Rotor Moment of Inertia (Not including Encoder) JM ×10 -4 kg・m（GD
2 2
／4） 0.0247 0.0376 0.0627
Capacity Rotor Moment of Inertia (Encoder) JS ×10 -4 kg・m（GD
2 2
／4） 0.0033 (Note 3)
Mass including Encoder 0.23 0.27 0.39
40mm sq. to 86mm sq. Brake Static Friction Torque
WE
TB
kg
N・m 0.32 MIN.
30W to 1000W Brake Rated Voltage VB V DC90V ／ DC24V ± 10％
Brake Rated Current IB A 0.07 ／ 0.27
Features Rotor Moment of Inertia (Brake) JB ×10 -4 kg・m（GD
2 2
／4） 0.0078
High Efficiency and Low Brake Mass W kg 0.23
Ripple (Medium Inertia) Motor Operating Temp, Rel. Humidity Operating Temperature: 0 to 40°C, Relative Humidity: 90% Maximum, no condensation
Amplifier Model（Single-Axis） RS1A01A □
Amplifier Model（Multi-Axis） RR1A01AAB00
Amplifier Power Supply AC200V to 230V ＋10, −15% 50/60Hz ± 3Hz (Note 2)
Amp. Operating Temp. and RH Operating Temperature: 0 to 55°C (Note1), Relative Humidity: 90% Maximum, no condensation
Power Consumption kVA 0.2 0.4
Amplifier Mass（Weight）[Single / CAN / Multi] (Note4) kg 0.9 ／ 1.0 ／ 0.48
Note 1) The multi-axis type Servo amplifier has an ambient
operating temperature of 0 to 40℃. The operating 0.5 0.8 1.5
Motor Dwgs P24 temperature with forced air cooling is 0 to 55℃.

0.4
Note 2) In case of the amplifier for CANopen, there is also 0.6
control power source DC24V type. 1
0.3
Torque [N・m]
Torque [N・m]
Torque [N・m]
★:Indicates a typical value Note 3) This is a instance with the battery-backup method 0.4
after warm-up and thermal absolute encoder〔PA035〕. 0.2
stabilization, together with For the following encoders, please make inquiries: 0.5
0.2
a standard amplifier. ・Absolute encoder without battery［ RA035C ］ 0.1
・Red. Wiring Incremental Encoder［ PP031T ］
☆:Indicates a typical Note 4) The weight in the multi-axial specifications is of amplifier 0 0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
value when the winding unit only.
Speed [min-1] Speed [min-1] Speed [min-1]
temperature is 20℃. * For models with oil seal or brake, reduction in rated value
may become necessary.
Encoder Wiring Diagram

SERVO AMPLIFIER SERVO MOTOR
Battery backup type absolute encoder [ PA035C ]
Absolute encoder for incremental system [ PA035S ]
CN2
ES＋
13 Brown
ES＋
Absolute encoder without battery [ RA035C ]
14 Blue
ES− ES−
1 Pink Note 1) Use a twisted-pair shielded cable.
EBAT＋ EBAT＋
2 Purple Note4）
EBAT− EBAT− Note 2) Encoder power connections depend on encoder cable length. See the following
9
10
11 Encoder Encoder cable length 10m MAX. 25m MAX. 40m MAX.
12 Connect pin 19 Connect pin 17,19
+5V DC Wiring (Do not connect pins12,17) (Do not connect pins12) Connect pin 12,17,19
17
Connect pin 20 Connect pin 18,20
18 0V DC Wiring (Do not connect pins11,18) (Do not connect pins11) Connect pin 11,18,20
19 Red ＋5V
＋5V
20 Black 0V Note 3) Use a Awg24 0.2mm encoder cable 2
0V
Note 4) When the Absolute encoder for incremental system or absolute encoder
FG（Shielded） without battery is used, battery lines (EBAT+, EBAT-) are not required.
Note1）
Note2）
Note3）・Multi-Axis Servo Amplifier Wiring diagram → page17
Plug:10120-3000PE
Shell:10320-52A0-008
15
R2AA06010F R2AA06020F R2AA06040F R2AA08020F R2AA08040F R2AA08075F R2AAB8100F
《60》《60》《60》《80》《80》《80》《86》
100 200 400 200 400 750 1000
Features and
Functions
3000
6000
0.318 0.637 1.27 0.637 1.27 2.39 3.18
0.353 0.686 1.37 0.686 1.37 2.55 3.92
Model Number
Nomencalture
1.13 2.2 4.8 2.2 4.4 8.5 14.3
0.86 1.5 2.8 1.5 2.6 4.6 6.0
0.86 1.6 2.8 1.5 2.6 4.6 6.8
3.5 5.6 10.8 4.8 8.9 15.5 25.7
Configuration
0.375 0.476 0.524 0.516 0.559 0.559 0.582
System
13.1 16.6 18.3 18.0 19.5 19.5 20.3
4.8 2.7 1.36 2.3 0.93 0.4 0.44
8.6 19 39 8 16 31 42
2.0 2.6 3.2 2.2 2.5 3.0 4.3
Specifications
Standard
1.2 0.78 0.61 1.3 0.93 0.70 0.93
0.117 0.219 0.412 0.52 1.04 1.82 2.38
0.0033 (Note 3)
0.59 0.84 1.3 1.2 1.6 2.6 3.5
External Wiring
0.36 MIN. 1.37 MIN. 2.55 MIN. 3.92 MIN.
Diagram
DC90V ／ DC24V ± 10％
0.07 ／ 0.27 0.11 ／ 0.32 0.12 ／ 0.37 0.30 ／ 0.09
0.060 0.060 0.25 0.34
0.30 0.35 0.85 0.8
Dimensions
Operating Temperature: 0 to 40°C, Relative Humidity: 90% Maximum, no condensation
RS1A01A □ RS1A03A □ RS1A01A □ RS1A03A □ RS1A05A □
RR1A01AAB00 RR1A03AAB00 RR1A01AAB00 RR1A03AAB00 ―
AC200V to 230V ＋10, −15% 50/60Hz ± 3Hz (Note 2)
Setup Software
Operating Temperature: 0 to 55°C（Note）, Relative Humidity: 90% Maximum, no condensation
0.4 0.8 1.0 0.8 1.0 1.7 2.5
0.9 ／ 1.0 ／ 0.48 1.0 ／ 1.1 ／ 0.77 0.9 ／ 1.0 ／ 0.48 1.0 ／ 1.1 ／ 0.77 2.2 ／ 2.3 ／ –
1.5 3 6 3 6 10 15
Equipment
5 5
Optional
8
1 2 4 2 4 10
6
Torque [N・m]
Torque [N・m]
Torque [N・m]
Torque [N・m]
Torque [N・m]
Torque [N・m]
Torque [N・m]
3 3
4
0.5 1 2 1 2 5
2
1 1
0 0 0 0 0 0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
Speed [min-1] Speed [min-1] Speed [min-1] Speed [min-1] Speed [min-1] Speed [min-1] Speed [min-1]

Red. Wiring incremental encoder [ PP031T ]
CN2 Incremental encoder
Note 1) Use a twisted-pair shielded cable.
A or U channel input
3 Blue
A or U channel output
4 Brown
A or U channel input
5
A or U channel output Note 2) Encoder power connections depend on encoder cable length. See the following
Green
B or V channel input B or V channel output
B or V channel input
6 Purple
B or V channel output Encoder cable length 5m MAX. 10m MAX. 20m MAX. 30m MAX.
C or W channel input
7 White
C or W channel output Connect pin 19 Connect pin 17,19 Connect pin 12,17,19
8 Yellow +5V DC Wiring (Do not connect pins 9,12,17) (Do not connect pins 9,12) (Do not connect pins 9) 9,12,17,19 Connect pin
C or W channel input C or W channel output
9 Red Connect pin 20 Connect pin 18,20 Connect pin 11,18,20
＋DC 5V 0V DC Wiring (Do not connect pins10,11,16,18) (Do not connect pins 10,11,16) (Do not connect pins 10,16) 10,11,16,18,20Connect pin
10 Black
GND(0V)
11
12 Note 3) Note 3) Use a Awg24 0.2mm2 encoder cable
16
17
18
Note 3) ＋DC 5V
19
Note 3) GND(0V)
20
FG(Shielded)
Note 1)
Note 2)
Plug : 10120-3000PE,
Shell : 10320-52A0-008
16
Standard Specifications
Motor Model and Flange Size in mm R2EA04003F R2EA04005F

Status Symbol Unit 《40》《40》
Rated Output ★ PR W 30 50
Rated Speed ★ NR min -1 3000
Maximum Speed ★ N max min -1 6000
Rated Torque ★ TR N・m 0.098 0.159
Continuous Torque at Stall ★ TS N・m 0.108 0.167
Peak Torque at Stall ★ TP N・m 0.37 0.59
Rated Armature Current ★ IR Arms 0.94 1.2
Armature Current at Stall ★ IS Arms 1.0 1.3
R2
Peak Armature Current at Stall ★ IP Arms 3.7 4.9
Torque Constant ☆ KT N・m／Arms 0.116 ± 10% 0.142 ± 10%
Voltage Constant Per Phase ☆ K Eφ mV／min -1 4.04 ± 10% 4.97 ± 10%
Phase Resistance ☆ Rφ Ω 4 3
Rated Power Rate ★ QR kW／s 3.9 6.7
Servo Motor
Electrical Time Constant ☆ te ms 0.55 0.67
100V System Mechanical Time Constant (Not including Encoder) ☆ tm ms 2.2 1.7
Rotor Moment of Inertia (Not including Encoder) JM ×10 -4 kg・m（GD
2 2
／4） 0.0247 0.0376
Capacity Rotor Moment of Inertia (Encoder) JS ×10 -4 kg・m（GD
2 2
／4） 0.0033 (Note 2)
Mass including Encoder 0.23 0.27
40mm sq. to 60mm sq. Brake Static Friction Torque
WE
TB
kg
N・m 0.32 MIN.
30W to 200W Brake Rated Voltage VB V DC90V ／ DC24V ± 10％
（5 models）
Brake Rated Current IB A 0.07 ／ 0.27
Features Rotor Moment of Inertia (Brake) JB ×10 -4 kg・m（GD
2 2
／4） 0.0078
High Efficiency and Low Brake Mass W kg 0.23
Ripple (Medium Inertia) Motor Operating Temp, Rel. Humidity Operating Temperature: 0 to 40°C, Relative Humidity: 90% Maximum, no condensation
Amplifier Model（Single-Axis） RS1E01A □
Amplifier Model（Multi-Axis） RR1E01AAB
Amplifier Power Supply AC100V to 115V ＋ 10，− 15％ 50/60Hz ± 3Hz
Amp. Operating Temp. and RH Operating Temperature: 0 to 55°C (Note1), Relative Humidity: 90% Maximum, no condensation
Power Consumption kVA 0.2
Amplifier Mass（Weight）[Single / Multi] kg 0.9 ／ 0.48
Note 1) The multi-axis type Servo amplifier has an ambient 0.5 0.8
operating temperature of 0 to 40℃. The operating
Motor Dwgs P24 temperature with forced air cooling is 0 to 55℃. 0.4
Note 2) This is a instance with the battery-backup method 0.6
absolute encoder〔PA035〕. 0.3

Torque [N・m]
Torque [N・m]
★:Indicates a typical value For the following encoders, please make inquiries: 0.4
after warm-up and thermal ・Absolute encoder without battery［ RA035C ］ 0.2
stabilization, together with ・Red. Wiring Incremental Encoder［ PP031T ］
a standard amplifier. Note 3) The weight in the multi-axial specifications is of amplifier 0.2
0.1
unit only.
☆:Indicates a typical * For models with oil seal or brake, reduction in rated value 0 0
value when the winding 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
may become necessary.
Speed [min-1] Speed [min-1]
temperature is 20℃.
Encoder Wiring Diagram

Battery backup type absolute encoder [ PA035C ]
1 Red Note 1) Use a twisted-pair shielded cable.

+5V +5
2 Black Note 2) The sheathed shield wire should be connected to the metal case (ground) on CN2 side,
0V 0V
3 before connecting to ground on encoder side.
+5V Encoder
4 Note 3) Color symbols shown on the diagram for signal lines on encoder side refer to lead-wire
0V
5 type sensors.
N.C.
6
N.C. Note 4) The allowable connection distance between amplifier and encoder varies according to
7 Brown
ES+ ES+ the diameter(impedence) of the electric wire of the cable used. The power voltage
8 Blue
ES- ES- specification for encoders is 5V±5%. If the cable is too long, the voltage on encoder side
9 Pink
EBAT+ EBAT+ may fall below 5V.Measure the voltage on encoder side to ensure that the cable used is
10 Purple
EBAT- EBAT- within specification limits.
FG（Shielded）
Note 2) Note 1) Note 3) For the following encoders, please make inquiries:
Plug:36320-0100JL
・Absolute encoder without battery［ RA035C ］
Shell:36310-3200-008
17
R2EA04008F R2EA06010F R2EA06020F
Unit
《40》《60》《60》
80 100 200 W
Features and
Functions
3000 min -1
6000 min -1
0.255 0.318 0.637 N・m
0.255 0.318 0.686 N・m
Model Number
Nomencalture
0.86 1.0 2.2 N・m
1.3 1.7 3.1 Arms
1.3 1.7 3.2 Arms
4.5 5.6 11.9 Arms
Configuration
0.221 ± 10% 0.206 ± 10% 0.224 ± 10% N・m／Arms
System
7.7 ± 10% 7.2 ± 10% 7.82 ± 10% mV／min -1
2.9 1.5 0.6 Ω

10 8.6 19 kW／s
0.81 1.9 2.6 ms
Specifications
Standard
0.98 1.2 0.79 ms
0.0627 0.117 0.219 ×10 -4 kg・m（GD
2 2
／4）
0.0033 (Note 2) ×10 -4 kg・m（GD
2 2
／4）
0.39 0.59 0.84 kg
External Wiring
0.32 MIN. 0.36 MIN. 1.37 MIN. N・m
Diagram
DC90V ／ DC24V ± 10％ V
0.07 ／ 0.27 0.07 ／ 0.27 0.11 ／ 0.32 A
0.0078 0.06 ×10 -4 kg・m（GD
2 2
／4）
0.23 0.3 0.35 kg
Dimensions
Operating Temperature: 0 to 40°C, Relative Humidity: 90% Maximum, no condensation
RS1A01A □ RS1E03A □
RR1E01AAB RR1E03AAB
AC100V to 115V ＋10, −15% 50/60Hz ± 3Hz
Setup Software
Operating Temperature: 0 to 55°C (Note1), Relative Humidity: 90% Maximum, no condensation
0.4 0.5 0.8 kVA
0.9 ／ 0.48 1.0 ／ 0.77 kg
1.5 1.5 3
Equipment
Optional
1 1 2
Torque [N・m]
Torque [N・m]
Torque [N・m]
0.5 0.5 1
0 0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
Speed [min-1] Speed [min-1] Speed [min-1]
18
General Specifications
CANopen Interface specifications

Bus Connection, Medium CAN-Standard ISO-11898 (High-speed CAN)
Fieldbus CANopen
Communication Profile CiA DS301 Version 4.02
Device Profile CiA DSP402 (CANopen device profile for drive and motion control) Version 2.0
Bit Rate 1Mbps, 800kbps, 500kbps(default setting), 250kbps, 125kbps, 50kbps , 20kbps , 10kbps (Selectable by R-Setup Software )
Max. nodes per segment 1 to 127 (Selectable by Double 16-position Rotary Switch or R-Setup Software )
RJ-45 type Modular connector (2 ports)
Fieldbus specifications
- Pin 1“CAN_H”high bus line

- Pin 2“CAN_L”low bus line
Connector
- Pin 3,7“CAN_GND”Ground
- Pin 6“CAN_SHIELD”Cable Shield
- Pin 5“Terminator”(120 ohm; if necessary, attach a jumper between Pin1 and Pin5)
Transceiver ISO-11898 compliant high-speed transceiver
Max. Bus Length 25m ( for 1Mbps)
SDO (Service Data Object) PDO (Process Data Object)
Communication Objects EMCY (Emergency) NMT (Network Management)
SYNC (Synchronization Object) Heartbeat
PDO Transfer Modes Synchronous transmission Asynchronous transmission
Homing Mode (h.m) Profile Position Mode (p.p)
Mode of Operation Profile Velocity Mode (p.v) Interpolated Position Mode (i.p)
Profile Torque Mode (t.q)
PNP output NPN output

Servo amplifier Host unit Servo amplifier Host unit
Out Power
DC24V
Out Power
50mA max
Out 1~8
Out 1~8
Out Common Maximum current

DC5V . . . . . . . . . . 10mA
DC12 to 15V . . . . . 30mA
DC24V . . . . . . . . . . 50mA
The output port counts are differentdepending on the specification. The output port counts are different depending on the specification.
19
External Wiring Diagram
Features and
Functions
1-phase(100V AC) 1-phase(200V AC)
User Devices User Devices
1-phase MC 1-phase MC
AC power AC power
100 to 115V 200 to 230V
50／60Hz 50／60Hz
Model Number
Nomencalture
Note10） Note10）
Operation Prep. Operation Prep.
ON Operation Prep. ON Operation Prep.
OFF OFF
MC MC
MC Emergency MC Emergency
Stop Stop
System Error System Error
Note 3) Note 2)
Configuration
System
3-phase(200V AC)
CNB
User Devices Note 4） Note 13）

DL1
DL2
P
RB1
RB2
CNA Internal Regeneration
3-phase MC Resistor
T SERVO MOTOR
AC power
Note11） S
200 to 230V
R CNC
50／60Hz Note 6） Black Orange
t W (yellow) RY1
Note10） r White 90V
Orange
Specifications
V
Operation Prep. （24V）
Standard
Operation Prep. (yellow)
ON
OFF
SERVO AMPLIFIER Red
U Holding Brake
MC (install with Brake only)
MC Emergency Green
Stop
System Error
Encoder Connector
CN2 Encoder
+5 +5 Shielded
CN1
Line Receiver
Line Driver Plug: 10120-3000PE
External Wiring
26 F-PC 26C32
Corresponding Shell: 10320-52A-008
Diagram
Normal Note 5）
Rotation
Pulse 27 F-PC
Line Driver
47 SG +5 +5 26C31
SG
Corresponding
Note 1) For the parts markde , use a shielded
28 R-PC SG SG AO 3
Reverse cable.
Rotation
Pulse 29 R-PC AO 4
SG 48 SG Note 2) Connect a regenerative resistor between

BO 5
Note 12） terminals RB1 - RB2.When using an
SG
Dimensions
SG
BO 6 external regenerative resistor,first remove
21 T-REF / V-REF
ZO 7
the internal regenerative resistor wiring
20 SG between terminals RB1 and RB2, and then
ZO 8 connect an external regenerative resistor
SG
SG PS 9 between terminals RB1 - RB2.
PS 10
22 T-COMP Note 3) Terminals DL1 and DL2 are dedicated for
23 SG connecting DC reactors. If a harmonic
NPN Output PNP Output
Setup Software
suppression reactor is not in use, create a
SG ZOP 11 short circuit between DL1 and DL2 terminals
SG
SG 12
ZOP 11 with the attached shorting bar.
18 F-TLA SG SG 12
SG
Normal
Note 4) The and P terminals (high-voltage circuit)
17 SG SG
SG MON1 30 are reserved for maintenance. Do not wire
Monitor
Output
Reverse SG
19 R-TLA MON1 30 these terminals.
Monitor
SG 31
Output
SG 31
Equipment
SG DC5V,
Note 5) Refer to the Instruction Manual for
Optional
DC12V
Note 8）
DC 3.6V SG
to 24V SG
Lithium Battery 1 BTP-I OUT-PWR 49 Note 8） instructions on the shielding process.
DC24V
2 BTN-I OUT-PWR 49
OUT1 39 Note 6) Motor connection specifics may vary

depending on the motor specifications.
Note 8） OUT1 39 Lead-type motor power and brake wires
50 CONT-COM
DC5V∼24V are shown as red, white, black, green, and
OUT2 40
37 CONT1
orange. When using a cannon plug,
cannect it according to the motor
OUT2 40
specifications.
36 CONT2 OUT3 41
Note 7) For wiriting of the encoder connectors,

OUT3 41
refer to the encoder wiring diagram.
35 CONT3
OUT4 42
Note 8) The user must supply the external power

34 CONT4 OUT4 42 supply.
OUT5 43
Note 9) R, S, T, r, t, , P, DL2, RB1, RB2, U, V, W are
33 CONT5
OUT5 43
high-voltage circuits; all other signal lines
are low-voltage circuits. When wiring,
OUT6 44
maintain sufficient distance between
32 CONT6 high-voltage and low-voltage circuits.
OUT6 44
+5 +5 OUT7 45 Note 10) Installation of a UL compliant and IEC / EN

Line Driver Line Driver compliant earth leakage circuit braker is
13 CONT7 26C32
Corresponding OUT7 45 recommended.
14 CONT7 OUT8 46
+5 +5 Note 11) When wiring the single-phase power
OUT8 46 supply, do not wire the S-phase to the
15 CONT8 SG
amplifier.
16 CONT8 OUT-COM 24
SG 38 SG OUT-COM Note 12) Always connect the SG (signal ground)
25
SH
SG
SG
between devices when using differential
SH
Note 5) operation input signals.
Note 12）
SH
Note 5)
Plug: 10150-3000PE
Shell: 10350-52A0-008
20
Single-Axis Servo Amplifier with CANopen
Contorol Power DC24V User unit

CNA
Power MC T
supply 3φ
Note 10) S
200 to 230V
R
50/60Hz
Start Start
Note 9) ready ready
ON OFF
MC
MC
Emergency
System CNB
error stop
24V 1
DC24V
24G 2
Contorol Power AC200V Note 2) Regenerative
CNB
Note 3) resistor
User unit Note 4)
RB1
RB2
DL1
DL2
CNA
P
-
Power MC T
supply 3φ Note 11) S +
200 to 230V
R
50/60Hz
t
Note 10)
r
Start Start
ready ready
ON OFF
MC SERVO
MC CNC
SERVO AMPLIFIER MOTOR
Note 6)
Emergency Orange
System Black
W (Yellow) RY1
error stop CN3 Note 12)
CAN_H 1 White 90V
CAN V Orange
(Yellow) (24V)
CAN_L 2 TRANCEIVER Red
Terminator 5 U Holding brake
GND 3 (for the type with
Green
a brake only)
GND 7 (Green/Yellow)
CN2 Encoder connector
SH Encoder
Combination of Note 7)
Plug:TM21P-88P
1/4W 120Ω
CN4 SH SH
CAN_H 1
Combination of
CAN_L 2 Note 5) Plug : 10120-3000PE,
Terminator 5 Shell : 10320-52A0-008
GND 3
GND 7 NPN Output Note 8)
DC5V,
PNP Output Note 8)
DC12V DC24V
SH OUT-PWR 14 ∼24V OUT-PWR 14
Combination of SG
General-purpose output
Plug:TM21P-88P
OUT1 6
CN1
OUT1 6
Battery input
Lithium battery BTP-I

1
DC3.6V
2 BTN-I OUT2 13
OUT2 13
8 OUT-COM 7
CONT
Note 8) 9 -COM
SH SH
DC5V to 24V Note 5) Note 5)
3 CONT1
10 CONT2
Note 1) For the parts markde , use a twisted pair shielded cable.
Note 2) Connect a regenerative resistor between terminals RB1-RB2.

When using an external regenerative resistor,
4 CONT3
first remove the internal regenerative resistor wiring between
terminals RB1 and RB2, and then connect an external
regenerative resistor between terminals RB1-RB2.
11 CONT4
Note 3) The DL1 and DL2 terminals are for connecting a DC reactor.
If a DC reactor is not used, short the DL1 and DL2
terminals using the short bar supplied.
5 CONT7
○ terminal and the P terminal are for maintenance
Note 4) The ー
(high-voltage circuit).
CONT8
Note 5) Refer to the Instruction Manual for instructions on the shielding
12
process.
Note 6) The motor-side connection depends on the motor specification.

The red, white, black green and orange markings are
Combination of for use with lead type motor power line and brake line.
Plug : 10114-3000PE
Shell : 10314-52A0-008
Refer to the motor specifications for cannon plug type connections.
Note 7) Refer to the encoder connection diagram regarding

the encoder connector wiring.
Note 8) Power should be supplied by the user.

Either of the inputs can be selected.
Note 9) R,S,T,t,r,○
ー,P,DL1,DL2,RB1,RB2,U,V,W are high-voltage circuits,
all other lines are low-voltage. Ensure sufficient

distance between the high- and low-voltage circuits.
Note 10) It is recommended to use a ground fault interrupter conforming
to the UL, IEC and EN standards.
Note 11) Do not wire the S phase for a single-phase power amplifier.
Note 12) Insert RJ45 connector to which 1pin(CAN_H) and

5pin(Terminator) are short-circuited in CN3 or CN4
when the terminator is necessary.
21
Single-Axis Servo Amplifier built-in positioning function model
Features and
Functions
User Devices User unit
1-phase MC 1-phase
MC
AC power AC power
Model Number
200 to 230V
Nomencalture
100 to 115V
50／60Hz 50/60Hz
Note 10)
Note10）
ON Operation Prep. ON Operation Prep.
OFF OFF
MC MC
MC Emergency MC Emergency
Stop Stop
System Error System Error
Configuration
System
Note 2) Regenerative
3-phase(200V AC) resistor
CNB
Note 3)
Note 4)
User unit
RB1
RB2
DL1
DL2
−
P
CNA
3-phase MC T
AC power SERVO MOTOR
Note 11) S ＋
200 to 230V CNC
R Note 6)
50/60Hz Black Orange
t W RY1
Specifications
Note 10) (Yellow)
Standard
r White
V Orange 90V
Operation Prep. Operation Prep. (24V)
ON OFF
SERVO AMPLIFIER Red
(Yellow)
U Holding brake
MC (for the type with
MC Green a brake only)
Emergency
System Error Stop (Green/Yellow)
CN2 Encoder connector
CN1
Note 7)
Encoder
Note 8)
External power source for output (+24V) 1
External Wiring
2 Note 2)
SH SH
Diagram
Power ON ready (A-RDY) 50 Plug : 10120-3000PE
Note 5) Shell : 10320-52A0-008
NC ready (NCRDY) 3
Holding brake excitation timing output (HBON) 4
Error output (Err) 5
External operation effective (EXT) 6
Dimensions
While operation (MOVE) 7
Positioning complete (PFIN) 8
In-position (INPS) 9
Homing complete (ZFIN) 10
OUT(1) 11
Setup Software
OUT(2) 12
OUT(3) 13
OUT(4) 14
OUT(5) 15
OUT(6) 16
OUT(7) 17
Equipment
Optional
OUT(8) 18
Common for output external power (24G) 24
25
Note 8)
External power source for input (+24G) 26
Slow down before Home (SDN) 19
＋ Over travel (+0T) 20
− Over travel (-0T) 21
External data setting (E_STR) 22
External Error (EXT_E) 23
Start (RUN) 27
Homing start (ZRT) 28
＋ Manual feeding (+JOG) 29
− Manual feeding (-JOG) 30

Note 1) For the parts marked , use a shielded cable.
Over ride (OVRID)/Manual high speed (RAP) 31
Note 2) Connect regenerative resistor between RB1 and RB2 terminals.
Alarm reset (ARST) 32 When using external regenerative resistor, terminals. When using
Note 1) external
For regenerative
the parts marked ,resistor, connect
use a shielded it between RB1 and RB2
cable.
Cancel (CACL) 33 terminals after removing the wiring of built-in regenerative resistor.
Note 2) Connect regenerative resistor between RB1 and RB2 terminals.
Servo ON (S-ON) 34
Note 3) When using
The DL1 external
and regenerative
DL2 terminals areresistor, terminals.aWhen
for connecting using
DC reactor.
external
If a DCregenerative resistor,
reactor is not used, connect it between
short the DL1 andRB1
DL2and RB2
Output selection 1 (SEL1) 35 terminals after removing the wiring of built-in regenerative resistor.
Output selection 2 (SEL2) 36
Note 3) The DL1 and DL2 terminals are for connecting a DC reactor.
Note 4) IfThe terminal
○reactor
a DC andused,
is not the Pshort
terminal areand
the DL1 forDL2
maintenance
Output selection 3 (SEL3) 37
＋ 1 step feeding (+1step) 38
Note 5) Refer to the Instruction Manual for instructions on the shielding
Note 4) The ○ terminal and the P terminal are for maintenance
process.
− 1 step feeding (-1step) 39
Note 5)
Note 6) Refer
The to the Instruction
motor-side Manual depends
connection for instructions
on theonmotor
the shielding
specification.
Interruption start (I_RUN) 40 process.
The red, white, black green and orange markings are
for use with lead type motor power line and brake line.
MFIN (MFIN) 41 Note 6) The motor-side connection depends on the motor specification.
Refer
The red,towhite,
the motor specifications
black green and orange for cannonare
markings plug type connections.
IN(1) 42 for use with lead type motor power line and brake line.
Refertoto
Note 7) Refer the
the encoder
motor connection
specifications diagram
for cannon regarding
plug type connections.
IN(2) 43 the encoder connector wiring.
Note 7) Refer to the encoder connection diagram regarding
Point specification
IN(4) 44 Note 8) the encoder

Power connector
should wiring.by the user.
be supplied
45
IN(8) Note 8) Power should be supplied by the user.
IN(16) 46 Note 9) R,S,T,t,r, ○,P,DL1,DL2,RB1,RB2,U,V,W are high-voltage circuits,
Note 9) all other
R,S,T,t,r, lines
○,P are low-voltage. Ensure
,DL1,DL2,RB1,RB2,U,V,W sufficient circuits,
are high-voltage
47 distance between the high-Ensure
and low-voltage
IN(32) all other lines are low-voltage. sufficient circuits.
distance between the high- and low-voltage circuits.
IN(64) 48
IN(128) 49 Note 10) It is recommended to use a ground fault interrupter conforming

Note 10) Itto
is the
recommended to EN
UL, IEC and use standards.
a ground fault interrupter conforming
to the UL, IEC and EN standards.
Note 11) Do not wire the S phase for a single-phase power amplifier.
Note 11) Do not wire the S phase for a single-phase power amplifier.
Plug : 10150-3000PE
Shell : 10350-52A0-008
22
CNA
User Devices r POWER UNIT User Devices
t
3-phase 1-phase
R
AC power AC power
Note 11) S
200 to 230V 100 to 115V
50 / 60Hz T
50／60Hz
MC Emergency Internal Regeneration MC Operation Prep.
Note 10 ) Resistor Note10）
System Error Stop Operation Prep.
ON
OFF
Emergency
ON OFF System Error Stop
Note 2) CNB
RB2
MC MC
RB1
P
Note 3)
DL2
DL1
Note 4) Line Receiver

CN1A +5 +5 26C32 +5 +5 CN1B
Line Driver Note 1) Corresponding Note 1) Line Driver
3 F-PC1 F-PC4 3
Normal Normal
Rotation 1Axis Rotation 4Axis
Pulse 4 F-PC1 F-PC4 4 Pulse
+5 +5 +5 +5
5 R-PC1 R-PC4 5
Reverse Reverse
Pulse 6 R-PC1 R-PC4 6 Pulse
+5 +5 +5 +5
SG SG SG SG
7 F-PC2 F-PC5 7
Normal Normal
+5 +5 +5 +5
9 R-PC2 R-PC5 9
Reverse Reverse
10 R-PC2 R-PC5 10 Pulse
Pulse
+5 +5 +5 +5
SG SG SG SG
11 F-PC3 F-PC6 11
Normal Normal
+5 +5 +5 +5
13 R-PC3 R-PC6 13
Reverse Reverse
Pulse 14 R-PC3 R-PC6 14 Pulse
15∼18,41 SG SG 15∼18,41
Note 12) Note 12)
SG SG SG SG SG SG
Note 8) 45,46,47 CONT-COM CONT-COM 45,46,47 Note 8)
DC5V to 24V DC5V to 24V
26 CONT1 CONT16 26
27 CONT2 CONT17 27
28 CONT3 CONT18 28
38 CONT13 CONT28 38
39 CONT14 CONT29 39
General-purpose I/O
General-purpose I/O
40 CONT15 CONT30 40
DC5V,DC12 to 24V 48,49,50 OUT-POW OUT-POW 48,49,50 DC5V,DC12 to 24V

19 OUT1 OUT7 19
20 OUT2 OUT8 20
21 OUT3 OUT9 21
23 OUT5 OUT11 23
24 OUT6 OUT12 24
25 ALM1 ALM2 25
42,43,44 OUT-COM OUT-COM 42,43,44

DC 3.6V DC 3.6V
Lithium Battery 1 BATP-1 BATP-2 1 Lithium Battery
Note 13) 2 BATN-1 BATN-2 2 Note 13)
Note 5) DC 3.6V
Note 5) Lithium Battery
CN5 Plug: 10150-3000PE.
BATP 2 Shell: 10350-52A0-008 Note 1) For the parts markde , use a shielded cable.
Plug: 10150-3000PE. BATN 1 Note 13)
Shell: 10350-52A0-008
Note 2) Connect a regenerative resistor between terminals
Relay for releasing
CNC Note 6) Holding
RB1 - RB2.When using an external regenerative resistor,
AMP UNIT Axis1 Red Orange
Brake first remove the internal regenerative resistor wiring
MON1 CH1 U (yellow)
between terminals RB1 and RB2, and then connect an
Monitor
White
Output
V
MON2 CH2 external regenerative resistor between terminals RB1 - RB2.
Black Orange
SG SG W Note 3) Terminals DL1 and DL2 are dedicated for connecting
(yellow)
Green DC reactors. If a harmonic suppression reactor is not in use,
Note 1) CN6 SG
Note 7) Encoder
create a short circuit between DL1 and DL2 terminals with
1,2 SG CN2 Connector
3 AO the attached shorting bar.
Note 4) The and P terminals (high-voltage circuit) are reserved
4 AO SH for maintenance. Do not wire these terminals.
5 BO Plug: 36320-0100JL Note 5) Refer to the Instruction Manual for instructions on the
Shell: 36310-3200-008
6 BO shielding process.
7 CO Note 6) Motor connection specifics may vary depending on the
motor specifications. Lead-type motor power and brake
8 CO
wires are shown as red, white, black, green, and orange.
9 PS
When using a cannon plug, cannect it according to the
10 PS motor specifications.
Note 7) For wiriting of the encoder connectors, refer to the encoder
Plug: 36320-0100JL wiring diagram.
Shell: 36310-3200-008 SH CN1
Note 1) Note 8) The user must supply the external power supply.
3 IN1
Note 9) R, S, T, r, t, , P, DL2, RB1, RB2, U, V, W are
General-purpose I/O
high-voltage circuits; all other signal lines are low-voltage

4 IN2
circuits. When wiring, maintain sufficient distance between
Note 8)DC12V to 24V high-voltage and low-voltage circuits.
1 OUT1 Note 10) Installation of a UL compliant and IEC / EN compliant
earth leakage circuit braker is recommended.
2 OUT2 Note 11) When wiring the single-phase power supply, do not wire
5 COM
the S-phase to the amplifier.
Note 12) Always connect the SG (signal ground) between devices
when using differential operation input signals.
55100-0670
AMP UNIT Axis2 Note 13) The internal battery power is common for all units.
tttPlease connect to either CN1A, CN1B or CN5
when using an absolute encoder.
23
Servo Motor Dimensions（Unit : mm）
Features and
0.07 M
Functions
□LC LR LL±1
0.02
LZ LE LG
0.06 M
(φ LA Q
LH φ
)
Model Number
Nomencalture
φLB
φS
M
KL
Oil seal QE Tapping
Configuration
(Option) Note1 φD1 φD2 φD3
System
Depth LT
(50)
(50)
(50)
1100±100
1100±100
1100±100
Motor cable (for mounting) Shield cable (for mounting)
Specifications
(For Power and Ground) Brake cable (for mounting) (For Encoder)
Standard
Note 2 *This is shown dimension for motor with brake
R2 Servo Motor High Efficiency and Low Ripple（Medium Inertia）
External Wiring
Diagram
Battery backup method
absolute encoder
W/out oil seal With oil seal Note 1
W/out brake With brake W/out brake With brake
MODEL LL LL LL LL LG KL LA LB LE LH LC LZ LR
Dimensions
R2□A04003 △□◇ 51.5 87.5 56.5 92.5
R2□A04005 △□◇ 56.5 92.5 61.5 97.5 00-0.000

5 35.4 46 30-0.021 2.5 56 40 4.5 25
R2EA04008 △□◇
72 108 77 113
R2AA04010 △□◇
Setup Software
R2□A06010 △□◇ 58.5 82.5 65.5 89.5 25
00-0.000
6 44.6 70 50-0.025 82 60 5.5
R2□A06020 △□◇ 69.5 97.5 76.5 104.5
00-0.000 3
R2AA08020 △□◇ 66.3 102 73.3 109 8 54.4 90 70-0.030 108 80 6.6
30
00-0.000
Equipment
R2AA06040 △□◇ 95.5 123.5 102.5 130.5 6 44.6 70 82 60 5.5
Optional
50-0.025
R2AA08040 △□◇ 78.3 114 85.3 121 00-0.000
8 54.4 90 3 108 80 6.6
70-0.030
R2AA08075 △□◇ 107.3 143 114.3 150 40
R2AAB8100 △□◇ 137 163 137 163 8 59.4 100 00-0 3 115.5 86 6.6 35
80-0.030
MODEL S Q QE LT D1 D2 D3
0
R2□A04003 △□◇ 06-0.008
R2□A04005 △□◇
20 ーー
0
R2EA04008 △□◇ 08-0.009
R2AA04010 △□◇
0
R2□A06010 △□◇ 08-0.009 25 ーー
6 5 5
R2□A06020 △□◇
R2AA08020 △□◇ 25 M5 12
0
14-0.011
R2AA06040 △□◇
R2AA08040 △□◇
35 M5 12
0
R2AA08075 △□◇ 16-0.011
0
R2AAB8100 △□◇ 16-0.011 30 M5 12
Note 1: The total length of the motor varies when an oil seal is necessary. (Excluding 86mm sq.)
Note 2: Brake connectors (cables) are not supplied for models without brakes.
Note 3: A reduction in the rating might be needed if an oil seal and Brake is attached.Please consult with us about the details.
For the following encoders, please make inquiries:
・Absolute encoder without battery［ RA035C ］
・Red. Wiring Incremental Encoder［ PP031T ］
24
Servo Amplifier Dimensions（Unit : mm）
Single-Axis Servo Amplifier (Analog/Pulse input type , Built-in positioning function model)
RS1 □ 01A □ (15A) RS1 □ 03A □ (30A)

5
Screw M4 5
Screw M4
(70) 130
(70) 130
(24) 135.5 33 7
(24) 135.5 38 7
45 4
(27)
50 4
(27)
5
5
AC SERVO SYSTEMS
AC SERVO SYSTEMS
CHARGE POWER
P
C
168
160
160
168
Cooling
fan
Wind
direction
5 5
RS1 □ 05A □（50A）
5
Screw M4
(70) 130
90 (24) 135.5 80 5
4
(27)
RS1A05A*
▲
▲

T
S
P
C
Cooling fan
C
R N
168
160
t
A
r
−
C
N
Wind direction
DL1
1
DL2 C
N
P B
RB1 RB1
RB2 RB2
W C
C N
V N 2
U
C
Single-Axis Servo Amplifier with CANopen (Power control AC200V)
RS1A01A □ (15A) RS1A03A □ (30A)

5 5
Screw M4
Screw M4
(70) 130 (70) 130

(24) 135.5
(24) 135.5 48 7
48 7
4 60 4
(27)
60 (φ5
(27)
(φ5 )
5
)
AC SERVO SYSTEMS
AC SERVO SYSTEMS
160
168
168
160
Cooling
fan
Wind
direction
5 5
25
Single-Axis Servo Amplifier with CANopen (Power control AC200V)
Features and
Functions
RS1A05A □ (50A)
5
Model Number
Screw M4
Nomencalture
PC
(70) 130
90 (24) 135.5 80 5
Configuration
4
(27)
System
5
RS1A05AL
T
S
Cooling fan
R
168
160
Wind direction
r
−
DL1
Specifications
DL2
1
P
Standard
RB1 RB1
RB2 RB2
W
V 2
U
External Wiring
Diagram
Single-Axis Servo Amplifier with CANopen (Power control DC24V)
Dimensions
RS1J01A □ (15A) 5 RS1J03A □ (30A) 5
Screw M4 Screw M4
Setup Software
(70) 130 (70) 130
(24) 135.5 48 7 (24) 135.5 48 7
60 4 60 4
(27)
(27)
(φ5 (φ5
5
5
) )
AC SERVO SYSTEMS AC SERVO SYSTEMS
Equipment
Optional
CHARGE POWER
168
168
160
160
Cooling
fan
Wind
direction
5 5
RS1J05A □ (50A)
5
Screw M4
PC
(70) 130
90 (24) 135.5 80 5
4
(27)
RS1J05AL
T
S
Cooling fan
R
168
160
−
P
RB1
RB2 Wind direction
1
24V
0V
W
V 2
U
26
Multi-Axis Sever Amplifier

Amplifier Unit
RR1A01AAB00 (15A) RR1A03AAB00 (30A)
(70) (140.7) (70) (140.7)

30 122.8 60 122.8
6
φ5
6 30 φ5
8 8 2-
5
130
130
120
120
Power Unit Motherboard

RRPAA00
A
B
(100) (140.7) 6 27.2
60 122.8 φ
6
2-
5
4 7.5 45 5
2 -φ
15
5
150
160
130
130
120
15
5
3 RRMA800 8 300 250

2 RRMA600 6 240 190
1 RRMA400 4 180 130
A B
No. Model No. Number of Slots
Supported size
System Dimensions
A
25 B 25
6 (100) 150
6
5
2-φ
25
150
160
120
15
5
3 8 300 250
2 6 240 190
1 4 180 130
A B
No. Number of Slots
Supported size
27
Setup Software
(1) Setup Software Start-up Screen (2) Main Screen
Features and
Functions
Model Number
Nomencalture
Configuration
System
Specifications
Standard
(3) Parameter Configuration Screen
External Wiring
Diagram
Dimensions
a. Configuration of General Parameters : Enables b. Configuration of Motor Parameters : Combined motors
Setup Software
parameter loading, saving, etc., via PC connection can be configured via PC connection
(4) Monitor Functions
Equipment
Optional
a. Monitor Display : Observe Operation and Input/ b. Multi-monitor Display : Simultaneous monitoring of
Output signal status operational status of multiple
c. Alarm Record Display : Current and past alarm

occurrence can be checked.
28
Setup Software
(5) Test Run and Adjustment Function
a. Speed Jog : Simplifies motor operation and b. Pulse Forward Jog : Simplifies motor
the issuing of speed commands from a PC operation and the entering of distance and
travel speed data from a PC
c. Auto Notch Filter Tuning : Configures the d. System Analysis : Analyzes servo system frequency
appropriate notch filter settings characteristics
(6) Operation Trace Function
Graphically displays servo motor speed, current,

and internal status
Built-in Positioning Function model Screen

Point Data Setup Test Run
29
Optional Equipment
Features and
PC Interface Cable [Unit: mm] Lithium battery [Unit: mm]
Functions
74.5
2850 Lead Wire Red
CN1 Pin 1
9
Cable
17MAX.
Lead Wire Black
φ14.5
Model Number
Nomencalture
1
Connector Pin 2
Amp side
PC Side
Model No.:AL-00490833-01
Mass:0.14kg Lithium battery
A note regarding RS-232C communications:
50 （24.5）
The user must provide s PC for computer interface.
Parameter settings may require adijustment.
Configuration
Model No. : AL-00494635-01
System
Mass : 0.02kg
Mounting Hardware [Unit: mm] * Supported For only Single-axis amplifier.
15A／ 30A Rear Side 50A Rear Side
Specifications
5 188 2 198
Standard
5 188 2
5
25 10
6
5
45
62
50
External Wiring
Diagram
For mounting on the rear side of the amplifer
Model No.:AL-00582791-01 For mounting on the rear side of the amplifer
Applicable Amplifiers:RS1＊01＊＊＊ Model No.:AL-00582792-01
Applicable Amplifiers:RS1＊03＊＊＊ Applicable Amplifiers:RS1＊05＊＊＊
Material:SPCC Material:SPCC
Dimensions
15A Front Side 30A Front Side
47
45
25
5
52
45
25
5
10
Setup Software
10
5 188
5 188
198 198
2
Equipment
Optional
120
120
For mounting on the front side of the amplifer For mounting on the front side of the amplifer
Model No.:AL-00582788-01 Material:SPCC Model No.:AL-00582789-01 Material:SPCC
Applicable Amplifiers:RS1＊01＊＊＊ Applicable Amplifiers:RS1＊03＊＊＊
50A Front Side

7
5
65
50
5 188
198
2
120
For mounting on the front side of the amplifer

Model No.:AL-00582790-01 Material:SPCC
Applicable Amplifiers:RS1＊05＊＊＊
Model No. AL-00582791-01 AL-00582792-01 AL-00582788-01 AL-00582789-01 AL-00582790-01

Mounting Bracket : 1 Mounting Bracket : 1 Mounting Bracket : 1 Mounting Bracket : 1 Mounting Bracket : 1
Contents
Screws : 2 Screws : 2 Screws : 6 Screws : 6 Screws : 6
30
Servo Amplifier built-in positioning function
General Specifications
Control Shaft Count Single Shaft
Register Point Count Configurable up to 254 points (P000 to P253)
Maximum No. of Commands From -2,147,483,648 to +2,147,483,647
Command Unit Either mm or pulse is acceptable
Fast-forward Speed 2,147,483.647mm/sec (0.001mm/when“ pulse” is selected)
Positioning Acceleration and Deceleration Automatic acceleration and deceleration (straight and S switch)
Function Point Data Setup Numerical input via PC, and setup by teaching
Travel Point Number Setup Parallel 8 bits (binary code)
Torque limit 0 to 510% (at 100% rating), but less than instantaneous maximum stall current
Software Limit Exists
Travel Mode Zero Return, Manual (JOG, 1Step), and Point-specified Travel
Zone Signal Maximum of 8 zones
Servo ON, alarm reset, start up, zero return, manual, override/manual high-speed, cancel, deceleration before
Sequence Input Signals origin, external error, over-travel, external data setup1 step forward, interrupt activated, output selection,
Input and MFIN, point specified input
Output NC ready, holding brake timing, error, external operation enabled, running, positioning completion,
Sequence Output Signals
in-position output, zero return completion, general output (8 bits)
Sample operations of the Servo Amplifer built-in positioning function model

By starting up Point 1, Points 2 and 3 will be executed consecutively.
Point Data Setup

Enables configuration and saving of parameters, and the
reading of point data from a PC.
Mode 1: [01]= Positioning Operation enabled;

Mode 2: [00]= Final Travel, [01]= Continue to next Point Number
Gear Change: Stop / Continue: [1]= Consecutive Gear Shift Operation
Pass Point 1
Move to Point 2 Mo
ve to Point 3
PLC
ーOT Sensor
Deceleration Signal
Sensor +OT Sensor
Starting Coordinates: Start-up Point 001 (P001) as 0.0

P001:100.0 P002:150.0 P003:180.0
Motor Speed
0.0 100.0 200.0 Coordinate

Point Input
Point 1 (P001) ON only ON
OFF
（CN1-42）
Start-up Signal Input ON

OFF
（CN1-27）
Running Output ON
OFF
（CN1-7）
Positioning Completion Signal ON

OFF
（CN1-8）
31
Optional Equipment
External Regenerative Resistor Dimensions [Unit: mm]
Features and
Functions
132 300 182 300
122 172 270
100 6
150 6
φ4.3 φ4.3 6
4.3
44
26
Model Number
23.5
Nomencalture
42
6
270
Silicon Rubber Glass-braided Wire AWG20 0.5mm2 , White
4.3
Silicon Rubber Glass-braided Wire AWG20 0.5mm2 , White (Thermostat)
(Thermostat)
Silicon Rubber Glass-braided Wire AWG18 0.75mm2 , Black
Configuration
System
20
20
1.2
1
Mass : 0.19kg Mass : 0.24kg
Specifications
Standard
Model No. Thermostat
Model No. Thermostat
1 REGIST-080W100B Normal close
External Wiring
Diagram
230 300
220 270 250
200 6 234 8
4.5
6 Ground Mark
φ4.3
Dimensions
M3
42.7
80
60
60
Thermostat 3
Silicon Rubber Glass-braided Wire AWG20 0.5mm2 , White Solderiess Terminal (for M5)
4.3
(Thermostat) AWG24 0.2mm2 , White 2・φ4.5 2−M5

Silicon Rubber Glass-braided Wire AWG14 2mm2 , White
Setup Software
218 700
20
40
1.2
Equipment
350
Optional
Mass : 0.44kg Mass : 1.4kg
Model No. Thermostat Model No. Thermostat

1 REGIST-220W20B Normal close 1 REGIST-500W20B Normal close
2 REGIST-220W50B Normal close 2 REGIST-500W10B Normal close
Connectors for Single-Axis Servo Amplifier Connections（200V AC Input Type）

Usage Contents Model No. Manufacturer Manufacturer's Part No.
CN1（Plug, Housing） AL - 00385594 10150-3000PE+10350-52A0-008
Sumitomo 3M
Single
CNA（Plug） AL - 00329461-01 MSTB2.5/5-STF-5.08
Connectors
CNB（Plug）：Accessory AL - Y0000988-01 Phoenix Contact IC2.5/6-STF-5.08
CNC（Plug） AL - 00329458-01 IC2.5/3-STF-5.08
10150-3000PE+10350-52A0-008
CN1,CN2（Plug, Housing） Sumitomo 3M 10120-3000PE+10320-52A0-008
AL - 00393603
CNA,CNC（Plug） Phoenix Contact MSTB2.5/5-STF-5.08
Connector Sets IC2.5/3-STF-5.08
10150-3000PE+10350-52A0-008
CN1,CN2（Plug, Housing） AL - 00292309 Sumitomo 3M
10120-3000PE+10320-52A0-008
32
Optional Equipment
Connectors for Single-Axis Servo Amplifier Connections（100V AC Input Type）

Contents Model No. Manufacturer Manufacturer's Part No.
Sumitomo 3M
Single
Connectors
CNC（Plug） AL - 00329458-01 IC2.5/3-STF-5.08
10150-3000PE+10350-52A0-008
AL - 00492384
10150-3000PE+10350-52A0-008
10120-3000PE+10320-52A0-008
Connectors for Servo Amplifier with CANopen

① Main Power : 200V AC, Control Power : 1 φ 200V AC

Sumitomo 3M
Single
Connectors
CNC（Plug） AL - 00329458-01 IC2.5/3-STF-5.08
10114-3000PE+10314-52A0-008
AL - 00661731
10114-3000PE+10314-52A0-008
10120-3000PE+10320-52A0-008
② Main Power : 200V AC, Control Power : 24V DC

Sumitomo 3M
Single
CNA（Plug） AL - Y0000988-02 IC2.5/7-STF-5.08
Connectors
CNB（Plug） AL - 00329460-01 Phoenix Contact MSTB2.5/2-STF-5.08
CNC（Plug） AL - 00329458-01 IC2.5/3-STF-5.08
10114-3000PE+10314-52A0-008
Sumitomo 3M 10120-3000PE+10320-52A0-008
CN1,CN2（Plug, Housing）
AL - 00667184 MSTB2.5/7-STF-5.08
CNA,CNB,CNC（Plug） Phoenix Contact
Connector Sets MSTB2.5/2-STF-5.08
IC2.5/3-STF-5.08
10114 - 3000PE+10314-52A0-008
10120 - 3000PE+10320-52A0-008
Connectors for Multi-Axis Servo Amplifier Connections

CN1（Plug, Housing） AL - Y0003305-01 Molex 55100-0670
Amplifier CN2（Plug, Housing） 36310-3200-008
AL - 00632607 Sumitomo 3M
Unit CN6（Plug, Housing） 36210-0100PL
Single CNC（Plug） AL - 00632604 04JFAT-SBXGF-I J-FATOT
Connectors CNA（Plug） AL - 00632600 J.S.T.Mfg.CO.,LTD 05JFAT-SBXGF-I J-FATOT
Power CNB（Plug）：Accessory AL - 00632602 06JFAT-SBXGF-I J-FATOT
Unit CN1A（Plug, Housing） 10150-3000PE
AL - 00385594 Sumitomo 3M
CN1B（Plug, Housing） 10350-52A0-008
J.S.T.Mfg.CO.,LTD 04JFAT-SBXGF-I
Amplifier CN1,CN2（Plug, Housing） Molex 55100-0670
AL - 00632611
Unit CN6,CNC（Plug）
Connector 36310-3200-008
Sumitomo 3M 36210-0100PL
Sets
10150-3000PE
Power CNA（Plug） Sumitomo 3M 10350-52A0-008
AL - 00632609
Unit CN1A,CN1B（Plug, Housing）
J.S.T.Mfg.CO.,LTD 05JFAT-SBXGF-I
33
For more information regarding any products or services described here in,
Inquiry Check Sheet
please contact your nearest office listed on the back of this catalog.
To SANYO DENKI Co.,LTD. Date：
Features and
Functions
Company:
Model Number
Nomencalture
Department:
Name:
Configuration
System
Tel: FAX:
E-mail:
Specifications
Standard
Item Contents
1 Name of target equipment Equipment name, category (transport, processing, test, other)
2 Name of servo axis Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no)
3 Current condition of above axis Manufacturer Name ( ) Series Name ( ) Motor Capacity ( ) Hydraulic, Mechanical, or New System ( )
External Wiring
Diagram
4 Positioning accuracy ± mm・± μm
【Reference formula】
Accelerationα：＿＿G・＿＿＿[m/s2]
【1G=9.8[m/s2]､1[m/s2]≒0.1G】
Feeding SpeedＶ：＿＿＿＿[m/s]
【α[m/s2]＝V[m/sec]÷t1[sec]】
5 Operation pattern
Dimensions
Feeding 【D[m]＝V[m/sec]×(t1+t2)[sec]】
Moving DistanceＤ：＿＿＿[m]
Speed
(Stroke)
[m/sec]
Time
Ball-screw/screw-rotation type (horizontal), ball-screw/nut-rotation type (horizontal),
Setup Software
6 Mechanism
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） kg
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
Equipment
Optional
Dr1
（drive-side roll diameter） mm Dr2
（follower-side roll diameter） mm
Lr1（drive-side roll length） mm Lr2（follower-side roll length） mm G（reduction ratio）

7 Mechanical structure 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 Pb（ball -screw lead） mm
Dp（pinion/pulley diameter） mm Lp（pinion axial length） mm tp（pully thickness） mm

Dt（table diameter） mm Dh（table-support dianeter） mm LW（load shift from axis） mm
Ds
（table shaft diameter） mm Ls（table shaft length） mm
（specific gravity of ball-screw/pinion/pulley/table-shaft material）
ρ kg・cm3
μ（friction coefficient between sheet and shiliding-surface/support-section/roll） ρ1（specific gravity of roll-1 material） kg／cm3
ρ2（specific gravity of roll-2 material） kg／cm3 （internal friction coefficient of preload nut）
κ
（mechanical efficiency）
η JL（load inertia of motor-axis conversion） kg・m2
TF（friction torque of motor axis conversion） N・m Tu（imbalance torque of motor axis conversion） N・m
8 Speed reducer Customer-provided ( ／ )・Sanyo denki standard(planet/spur/no-backlash-planet ／ ) other( ／ )
Encoder type specified ( yes / no )

Yes:(Wiring saving incremental encoder, battery backup absolute encoder, absolute encoder for
9 Encoder type
incremental system, battery-less absolute encoder)
Resolution（）
0 Input format Position , velocity , torque , other ( )

A Host equipment (controller) Sequencer , laptop , customer-developed product , Sanyo dennki-provided , other ( )
B Usage environment and other requirements Cutting , clean-room use , anti-dust measures , other ( )
C Estimated production Single product: ( ) units/mouth ( ) units/year
D Development schedule Prototype period: ( ) Year ( ) Month Production period: ( ) Year ( ) Month
E Various measures Related documentation ( already submitted; send later by mail) Visit/PR desired ( yes / no ) Meeting desired ( yes / no )
Miscellaneous
F (questions, pending problems,
unresolved issues, etc.)
34
■ ECO PRODUCTS
ECO PRODUCTS are designed with the goal
of lessening nevironmental impact, from
product development to disposal.
■ 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.
CATALOG NO. 839-11 ’09.12.N

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AC SERVO SYSTEMS

Downloaded from Arrow.com.

Auto-Tuning Small Compact Servomotors

Multi-Axis Servo Amplifier Protection code IP67

*Shaft feedthrough and cable end are excluded.

All-in-One Control Power Supply Harmonic Suppression

*Uniaxial servo ampliﬁer only

Setup Software Multiaxial Monitor Function

*Use optional cable

Built-in Regeneration Resistor Built-in Dynamic Brake

High Response Shorter Position Settling Time

Vibration Suppression Control Disturbance Suppression

With vibration suppression control

Oscillation waveform Oscillation waveform

Expanded Power Range Command Follow-up Control

Increased rotation Speed Position deviation

0 1000 2000 3000 4000 5000 6000 7000

Power loss reduction (%)

Full Closed-Loop Control

*available for single-axis only

For speciﬁcations on other model, please contact us.

For speciﬁcations on other model, please contact us.

■ Multi-Axis Servo System Ampliﬁer Unit

■ Multi-Axis Servo System Power Unit

■ Multi-Axis Servo System Motherboard

For speciﬁcations on other model, please contact us.

■ Multi-Axis Servo System Ampliﬁer Unit

■ Multi-Axis Servo System Power Unit

■ Multi-Axis Servo System Motherboard

PA035C 131072(17bit) 65536(16bit) Battery backup method Absolute encoder

PA035S 131072(17bit) ー Absolute encoder for Incremental system

RA035C 131072(17bit) 65536(16bit) Absolute encoder without battery

Wire-saving incremental encoder

Conformance to Overseas Standards

Single-Axis Servo Amplifier (Analog/Pulse input type)

Servo Amplifier with CANopen

R Series AMP. Capacity

Single-Axis Servo Amplifier built-in Positioning Function model

R Series Amp. capacity

Power Input, Internal Registration Setting Interface Type

Power Input Motor Type Encoder Combination Description

R Series Power Input Number of Slots Speciﬁcation

Single-Axis Servo Amplifier

Noise Filter Electromagnetic Contactor

Model No.: AL-00494635-01 Lithium battery

Switches servo power on and When using the unit with an

For special operations, such as

Required for use when the

External Regenerative Resistor

Suppresses power harmonics.

Required for use when the

Motor Model and Flange Size in mm R2AA04003F R2AA04005F R2AA04010F

Motor Dwgs P24 temperature with forced air cooling is 0 to 55℃.

Encoder Wiring Diagram

Single-Axis Servo Amplifier

Single-Axis Servo Amplifier

Motor Model and Flange Size in mm R2EA04003F R2EA04005F

absolute encoder〔PA035〕. 0.3

Encoder Wiring Diagram

Multi-Axis Servo Amplifier

1 Red Note 1) Use a twisted-pair shielded cable.

2.9 1.5 0.6 Ω

CANopen Interface specifications