100 V AC 30 W-200 W, 200 V AC 30 W-2 kW

52 Pages·2014·8.15 MB·English

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
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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
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NEW PRODUCTS High Performance AC Servo Systems
High Performance
Servo Amplifi er
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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
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Shorter takt time achieved through high-speed positioning control F
The 3E Model has a speed frequency Position
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and positioning control contributes to a
dramatic reduction of machine takt time. 0 [Pulse] n
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Settling time: 1/3 of current model Synfi
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Improved control accuracy er s
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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+
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vibrations occur adaptation
processing quality. Adaptive g
notch filter Wirinam
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Improved safety performance through the Safe Torque Off function n
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With the improved Safe Torque Off (STO) g
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for usage in devices requiring high safety, xt
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such as medical devices.
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Reduced power consumption Power consumption visualization
By incorporating new- The power consumption ns
Controls the fan o
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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
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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
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Common features of R 3E Model and R ADVANCED MODEL
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Model-based following control Auto-tuning ur
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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
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Position/speed control Motor/machine Tuning start Detected velocity value Systeonfi gur
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Feedback control system er s
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Feed-forward vibration suppression control Command following control rp
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Position deviation during stop
With vibration suppression control Position command ng
Without vibration suppression control Wiriam
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100 ms/div E
Without vibration With vibration
suppression control suppression control g
Position deviation Wirinam
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All-in-one control 5-digit LED display, built-in operator otor ons
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Configurable parameters allow switching between The built-in operator allows you to change parameters rvm
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control modes for torque, position or velocity. and monitor the amplifi er status and alarm traces.
Position ns
Torque o
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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.
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High Resolution Encoders ur
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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
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separately. (See p. 45: Options) available. Synfi
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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+
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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
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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.
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