Servo motor Servo amplifier Connectors

160 Pages·2017·10.34 MB·English

100 VAC 30-200 W, 200 VAC 30 W-30 kW
2
Ver.
Contents
Lineup.............................................................p. 6
Features.........................................................p. 8
List of Compatible Servo Amplifiers
and Servo Motors.....................................p. 14
Standard Model Number List.....p. 18
Set Models................................................p. 32
Servo Amplifiers..................................p. 35
R 3E Model Analog/Pulse Input type .....p. 36
R 3E Model EtherCAT Interface type .....p. 56
R 3E Model Safety Interface type...........p. 72
R CANopen Interface type .............................p. 79
R Built-in Positioning Function type .............p. 87
100, 200 VAC
Input voltage Servo Motors..........................................p. 99
Specifications - Servo Amplifiers +
30 W to 30 kW R2 Servo Motors (Medium Inertia)..p. 100
Output capacity
R1 Servo Motors (Low Inertia)..........p. 112
R5 Servo Motors (Medium Inertia)...p. 118
Servo amplifier
Servo Motor Dimensions............p. 120
Options.....................................................p. 127
Amplifier capacity 10, 20, 30, 50, 75, 100, 150, 300, 600 A
Linear Servo Motors.......................p. 147
Servo motor
SANMOTION S
　　Servo Amplifiers and Spindle Motors........p. 155
Flange size 40 mm sq., 60 mm sq., 80 mm sq., 86 mm sq., 100 mm sq.,
130 mm sq., 180 mm sq., 220 mm sq., 275 mm sq.
Models No Longer Listed
and Their Replacing Models.....p. 160
Rated output 100 VAC: 30 to 200 W Selection Guide..................................p. 161
200 VAC: 30 W to 30 kW Motor protection rating................p. 164
Safety Precautions...........................p. 165
SANMOTION Products Lineup.......p. 168
CCoonntetenntsts
LLinineeuupp.........................................................................................................................p.p. .6 6
FFeeaatutureress.................................................................................................................p.p. .8 8
LLisist to of fC Coommppaatitbiblele S Seervrvoo A Ammpplilfiifieersrs
aanndd S Seervrvoo M Moototorsrs.........................................................................p.p. .1 144
SStatannddaardrd M Mooddeel lN Nuummbbeer rL Lisistt.........p.p. .1 188
SSeet tM Mooddeelsls...............................................................................................p.p. .3 322
SSeervrvoo A Ammpplilfiifieersrs...................................................................p.p. .3 355
RR 3 3EE M Mooddeel lA Annalaologg/P/Puulsles eIn Inppuut tt ytpype e. ........p.p. .3 366
RR 3 3EE M Mooddeel lE EththereCrCAATT In Intetrefrafcaec et ytpype e. ........p.p. .5 566
RR 3 3EE M Mooddeel lS Safaefteyt yIn Intetrefrafcaec et ytpypee.....................p.p. .7 722
RR C CAANNooppenen In Intetrefrafcaec et ytpype e. ........................................................p.p. .7 799
RR B Buuiltil-ti-nin P Poosistiitoionniningg F uFunnctcitoionn t ytpype e. ........................p.p. .8 877
110000,, 220000 VVAACC
InInppuutt v vooltltaaggee SSeervrvoo M Moototorsrs...................................................................................p.p. .9 999
SSppeeccifiificcaatitoionnss - -S Serevrovo A Ammpplifilifieresr s+ +
3300 WW ttoo 3300 kkWW R R2 2S Serevrovo M Moototorsr s( M(Medediuiumm In Ineretritai)a)...p.p. .1 10000
OOuuttppuutt c caappaaccitityy
R R1 1S Serevrovo M Moototorsr s( L(oLoww In Ineretritai)a.)..................p.p. .1 11122
R R5 5S Serevrovo M Moototorsr s( M(Medediuiumm In Ineretritai)a).....p.p. .1 11188
SSeerrvvoo aammpplilfifieierr
SSeervrvoo M Moototor rD Dimimeennssioionnss.......................p.p. .1 12200
OOpptitoionnss.........................................................................................................p.p. .1 12277
AAmmpplilfiifeier rc acappaacictiyty1100, ,2 200, ,3 300, ,5 500, ,7 755, ,1 10000, ,1 15500, ,3 30000, ,6 60000 A A
LLinineeaar rS Seervrvoo M Moototorsrs.............................................p.p. .1 14477
SSeerrvvoo mmoottoorr
SSAANNMMOOTTIOIONN S S
　　　　SSerevrov oA Ammplpifiliefiresr sa nadn dS Spipnidnldel eM Motootrosrs...............p.p. .1 15555
FFlalannggee s iszieze4400 m mmm s sqq.,. ,6 600 m mmm s sqq.,. ,8 800 m mmm s sqq.,. ,8 866 m mmm s sqq.,. ,1 10000 m mmm s sqq.,.,
113300 m mmm s sqq.,. ,1 18800 m mmm s sqq.,. ,2 22200 m mmm s sqq.,. ,2 27755 m mmm s sqq..
MMooddeelsls N Noo L Loonnggeer rL Lisistetedd
aanndd T Thheeiri rR Reepplalacciningg M Mooddeelsls.........p.p. .1 16600
RRaatetedd o ouutptpuutt 110000 V VAACC: :3 300 t too 2 20000 W W SSeelelecctitoionn G Guuididee...................................................................p.p. .1 16611
220000 V VAACC: :3 300 W W t too 3 300 k kWW MMoototor rp prorotetecctitoionn r aratitningg...............................p.p. .1 16644
SSaafefetyty P Prereccaauutitoionnss.....................................................p.p. .1 16655
SSAANNMMOOTTIOIONN P Prorodduucctsts L Linineeuupp.............p.p. .1 16688
High Performance AC Servo Systems
The SANMOTION R series servo systems contribute
to the evolution of your devices with a rich product
lineup of high-precision servo amplifiers and servo
motors.
These high-precision and highly reliable systems
offer a wide range of products from small to large
capacity servo systems.
SANMOTION C
Controller EtherCAT Interface type Controller
Input Device
& Controller
Touch panel Controller
Servo system SANMOTION R
SANMOTION R 3E Model SANMOTION R 3E Model SANMOTION R
Analog/Pulse EtherCAT CANopen
Safety Safety Built-in Positioning Function
Servo
Amplifier
Servo motor Linear
(Rotary motor) servo motor
(Compatible servo
amplifier model:
Servo Motor R 3E Model)
・ What is servo system?
A servo system has an encoder (position detector) mounted on the servo motor and provides highly-reliable precise operation
by giving feedback to commands from the servo amplifier. It can be used with confidence in applications that require high-speed
and large-capacity operations.
Application Examples
Its high-precision and accurate positioning features allow it to be used in a wide range of applications.
・ Industrial robots, machining tools, machine centers, injection molding machines, food packaging equipment,
cutting machines, chip mounters, semiconductor related equipment, medical equipment, etc.
Industrial robots Machine tools Injection molding machines
Food machinery Chip mounters
Conformance to Safety Standards
Our standard servo amplifiers conform to safety standards such as UL, c-UL, and EN standards. R 3E Model
has acquired the KC Mark. You can also employ servo motors that conform to the UL, c-UL and EN standards.
(some models are still in preparation) In addition, all model numbers manufactured after October 2012 in
Safe Torque
this catalog conform with the acceptable values of specific hazardous substances (cadmium, lead, mercury, Off model,
Safety model
hexavalent chrome, PBB, and PBDE) in Appendix II of EU RoHS directive (2011/65/EU).
5
Features
Lineup
Servo Amplifier
SANMOTION R 3E Model
Analog/Pulse Input type
More evolved AC servo amplifiers that provide improved basic performance
including high responsiveness, and are more eco-efficient and easier to use.
Lineup: 10, 20, 30, 50, 75, 100, 150, 300, 600 A
Analog/Pulse  → p. 36
EtherCAT Interface type
With a 62.5 μs minimum communication cycle, the high-speed EtherCAT
fieldbus subdivides position commands, realizing smoother operation of
devices. It can be used together with our controller “SANMOTION C EtherCAT Interface type”.
A new product with shorter communication cycle and improved controllability. It uses a different connector from
our conventional EtherCAT interface type (Model no.: RS2□□□A□K)
Lineup: 10, 20, 30, 50, 75, 100, 150, 300, 600 A
EtherCAT  → p. 56
Safety The lineup includes both Analog/Pulse and EtherCAT types. → p. 72
With Safety, maintenance can be performed without shutting off the
power to the device.
System restarting after maintenance work has also been made easy.
Lineup: 10, 20, 30, 50, 75, 100, 150, 300, 600 A
Functional safety IEC/EN 61800-5-2:2016, STO (Safe Torque Off), SS1 (Safe Stop 1), SS2 (Safe Stop 2),
SOS (Safe Operating Stop), SLS (Safely-Limited Speed), SBC (Safe Brake Control), and SSM (Safe Speed Monitor)
SANMOTION R
CANopen Interface type
Equipped with communication protocol “CANopen interface” for embedded
systems.
Lineup: 15, 30, 50 A
CANopen  → p. 79
Built-in Positioning Function type
The need for a positioning control unit is eliminated, simplifying the system.
Lineup: 15, 30, 50, 100, 150, 300 A
DIO interface RS-485 communication  → p. 87
The products listed in this catalog have main circuit power input within range of 100 to 200 VAC. Besides them, 400 VAC and 48 VDC input servo
systems are also available. See our website and catalogs for more information.
6
Lineup
Servo Amplifier
Servo Motor (Rotary Motor)
Rotary servo motors with a wide range of products.
Motor type Flange size, features
R2 Servo Motor 40 60 80 86 100
mm sq., mm sq., mm sq., mm sq., mm sq.,
Medium inertia 130 mm sq., 180 mm sq., 220 mm sq., 275 mm sq.
Medium inertia servo motors with a wide range of
size variation ideal for positioning applications.
Ideal for robots, injection molding machines, and
general industrial machines.
R1 Servo Motor 100 130 180 220
mm sq., mm sq., mm sq., mm sq.
Low inertia
Low inertia servo motors that feature high-acceleration
drive and high torque even at high rotational speed.
Ideal for injection molding machines and general
industrial machines.
R5 Servo Motor 60 80
mm sq., mm sq.
Medium inertia
Medium inertia servo motors that are ideal for smooth
Ultra low torque ripple operations such as for the feed shaft of small-sized
machine tools.
Linear Servo Motor
Compact linear servo motors with large thrust. There are three
types of linear servo motors available: flat type, dual magnet
type, and center magnet type.
Compatible servo amplifiers: 3E Model
→ p. 147
Servo Amplifier and Spindle Motor
SANMOTION S
A servo system with a spindle motor and a servo amplifier.
Provides high rotational speed and high torque at low speed,
which improves productivity of the device. Ideal for the main
shaft of machine tools that require highly precise tapping syn-
chronized with the feed shaft.
Lineup: Output capacity 3.2, 4.5 kW Amplifier capacity 150 A
Analog/Pulse EtherCAT  → p. 155
7
Features
High Performance AC Servo Systems
The 3rd generation of SANMOTION R servo
amplifier series “3E Model” features evolved
performance with high responsiveness and are
more eco-efficient and easier to use.
It contributes to improving the device performance.
Evolved
R 3E Model
Cycle time can be shortened by high-speed positioning control
The 3E Model has a speed frequency response Position
deviation
of 2.2 kHz, approximately twice that of our con-
Position command frequency
ventional product.* Additionally, the position 0 [Pulse/s]
settling time has been shortened to 1/3 of the
Conventional model
original time. A function for switching the tra-
In-position range
jectory control and the positioning control in
real time has been incorporated to significantly 0 [Pulse]
reduce the cycle time of the device.
* For amplifiers with capacities from 10 to 50 A. Compared with our conven- Settling time: 1/3 of current model
tional AC servo amplifier, “SANMOTION R ADVANCED MODEL”
Improved control accuracy
The 3E Model is equipped with a gain increase Increased High-gain control
function, a function for suppressing microvi- accuracy Disturbance
brations at settling time, an adaptive notch fil- Speed
ter for suppressing mechanical resonance, and Conventional model
a feed-forward vibration control function. The Vibration suppression by adaptive notch filter
4th order notch filter of our conventional prod-
ucts has been upgraded to 5th order.* Highly Conventional model
accurate machine tool feed-axis control signifi-
cantly improves processing quality. Starts when After
vibrations occur adaptation
* Compared with our conventional AC servo amplifier, “SANMOTION R” Adaptive
ADVANCED MODEL. notch filter
Built-in safety functions
The series product lineup includes Safe Torque Off (STO) function models*1 and Safety models*2 that offer even
wider range of safety functions. Safety models feature monitoring of position and speed of devices as well as
safe operation stop so that workers nearby can concentrate on their work with confidence. With these safety
functions, motors can be stopped without shutting down the amplifier power, shortening the device reboot time.
These products are suitable for devices that require high levels of safety.
*1 Safe Torque Off (STO) is a safety function defined in IEC/EN 61800-5-2:2016.
*2 In addition to *1, SS1 (Safe Stop 1), SS2 (Safe Stop 2), SOS (Safe Operating Stop), SLS (Safely-Limited Speed), SBC (Safe Brake Control), and SSM (Safe Speed Monitor)
■ Functional safety specifications  Models that facilitate easy integration of safety functions in devices to comply with functional safety are available.
Model no.
Servo amplifier type Functional safety specifications
Analog/Pulse EtherCAT
RS3□□□□□□□0 － Models not conforming to the functional safety.
SANMOTION R
These models have the Safe Torque Off function.
3E Model RS3□□□□□□□2 RS3□□□□□H□4
IEC/EN 61800-5-2:2016, STO (Safe Torque Off)
This model has integrated extended safety functions in addition to Safe
SANMOTION R Torque Off function.
Maintenance work can be performed without shutting off the power to the
3E Model
RS3□□□□□□□C RS3□□□□□H□E device. System restarting after maintenance work has also been made easy.
Safety
IEC/EN 61800-5-2:2016, STO (Safe Torque Off), SS1 (Safe Stop 1), SS2 (Safe Stop 2),
→ p. 72
SOS (Safe Operating Stop), SLS (Safely-Limited Speed), SBC (Safe Brake Control),
and SSM (Safe Speed Monitor)
8
Eco-efficient
R 3E Model Fe
a
tu
re
s
Reduced power consumption Power consumption management
By incorporating new-generation Power consumption of the de-
Controls the fan
power devices, the 3E Model de- vice can be managed by the Axis Power consumption Unit
speed X 0.41 kWh
creases electric power losses by (10 A is fanless) monitoring function. The servo Y 0.75 kWh
Z 0.21 kWh
up to 10%.* The 3E Model has up amplifier calculates power Total 1.37 kWh
to 10% lower standby power con- consumption based on the
sumption as it limits unneces- motor current, and displays it
sary energy consumption by on the setup software or digi-
controlling the fan speed accord- tal operator.
ing to the internal temperature of
The power consumption monitoring function can
the servo amplifier.* be used with standard R1 and R2 servo motors.
* For amplifiers with capacities from 100 to 300 A.
Easy to use
R 3E Model
Easy startup
“SANMOTION MOTOR SETUP SOFTWARE” (see p.
127) displays the parameters required for operation Minimally required
in an easy-to-understand manner in order to enable parameters can be set
prior to the start of an
fast and easy equipment startup. The 3E Model has a operation, which are
lumped together by
virtual motor operation function to simulate opera-
categories, to shorten
tion of the motor and amplifier without moving the time for startup.
machine, and a jog function for testing the motor and
amplifier connection, without the need to connect to
a host device.
Easy servo tuning
Substantial servo tuning assistance functions have
been equipped with setup software, including the
function for the automatic selection of optimum tun-
ing mode according to equipment and load condi-
tions, the basic adjustment mode for adjusting only
two parameters, as well as the application adjust-
ment mode by purpose. The time required for tuning
can be significantly shortened.
Easy troubleshooting
With a 1 ms time stamp and a drive recorder function
to record motor and amplifier operating status, de-
tails of abnormal state occurrences such as alarms
can be accurately checked even at a later time, facili-
tating troubleshooting. The drive recorder
function simplifies the
diagnosis of device
abnormalities.
9
Features
Model-based following control Auto-tuning
R 3E Model R 3E Model R
Model-based following control enables an improved The servo amplifier automatically optimizes servo
target value response, enhanced disturbance sup- gain and filter frequency in real time.
pression, and greater robustness.
Model control system
Position
Position/speed control Motor/machine model Velocity
command command
value
Position/speed control Motor/machine
Tuning start
Detected velocity value
Feedback control system
Feed-forward vibration suppression control Command following control
R 3E Model R R 3E Model R
With feed-forward vibration suppression control, vi- Newly-employed position and velocity controller has
brations at the end effector and base of a machine can improved the tracking capability to the position com-
be suppressed through simple tuning procedures. mands. Position deviation ≈ 0 has been achieved.
Vibration control frequencies are selectable.
Position deviation during stop
Position command
With vibration suppression control
Without vibration suppression control
100 ms/div
Without vibration With vibration
suppression control suppression control
Position deviation
20 ms/div
All-in-one control 5-Digit LED display, digital operator
R 3E Model R R 3E Model R
Configurable parameters allow switching between The amplifier allows users to change parameters and
control modes for torque, position or velocity. monitor status of servo amplifiers, alarm tracing, and
more.
Position
Torque
or G
control OA
Velocity L
control
g
n
di
n
e
c
s
T A
R
A
T
S
Flat
10