Table of contents
vii
Table of contents
1. Preface
1.1 Introduction·······························································································································································1-1
1) Changes and additions to AC Servo amplifier SANMOTION R (previous model)···················································1-1
1.2 Instruction Manual ····················································································································································1-2
1) Contents··································································································································································1-2
2) Precautions on this manual·····································································································································1-2
1.3 Illustration of System Components ···························································································································1-3
1.4 Model number structure············································································································································1-4
1) Model number of servo motor ·································································································································1-4
2) Model numbers of servo amplifier (abbreviated model numbers) ···········································································1-5
1.5 Part names ·······························································································································································1-6
1) Servo amplifier························································································································································1-6
2) Servo motor ····························································································································································1-7
2. Specification
2.1 Servo motor ·························································································································································2-1
1) Common specification······································································································································2-1
2) Servo motor external dimension, specification, and weight··············································································2-1
3) Mechanical specification, strength, and engineering precision·········································································2-1
4) Oil seal type······················································································································································2-2
5) Holding brake ···················································································································································2-3
6) Degree of decrease rating for R2AA Motor, depending on with or without oil seal/brake·······························2-3
2.2 Motor encoder······················································································································································2-4
1) Serial encoder ··················································································································································2-4
2) Pulse encoder ··················································································································································2-4
3) Battery specification ·········································································································································2-5
2.3 Servo amplifier·····················································································································································2-6
1) Common specification······································································································································2-6
2) Input command, position output signal, general-purpose input signal, and general-purpose output signal ···2-7
2.4 Power supply and amount of heat generation······································································································2-9
1) Input current of main circuit power supply and control power supply ·······························································2-9
2) Inrush current and leakage current···················································································································2-9
3) Amount of heat generation·······························································································································2-9
2.5 Cautions on load················································································································································2-10
1) Restrictions on acceleration time, deceleration time，and effective torque·····················································2-10
2) Negative load ·················································································································································2-10
3) Load inertia moment·······································································································································2-10
2.6 Position signal output········································································································································· 2-11
1) Positions signals by serial signals ·················································································································· 2-11
2) Binary code output format and transfer period ·······························································································2-12
3) ASCII decimal code output format and transfer period···················································································2-13
4) Position signal output from pulse signal ·········································································································2-14
2.7 Specifications for analog monitor ·······················································································································2-15
2.8 Specifications for dynamic brake························································································································2-16
1) Allowable frequency, instantaneous tolerance, decreasing the rotation angle of the dynamic brake···········2-16
3. Installation
3.1 Installation·································································································································································3-1
1) Servo amplifier························································································································································3-1
2) Unpacking·······························································································································································3-2
3) Installation direction and position····························································································································3-3
4) Conditions on layout in control cabinet····················································································································3-3
5) Cooling conditions···················································································································································3-4
3.2 Servo motor······························································································································································3-5
1) Precautions·····························································································································································3-5
2) Unpacking·······························································································································································3-5
3) Installation·······························································································································································3-5
4) Installation·······························································································································································3-6
5) Water and dust proofing··········································································································································3-6
6) Protective cover placement·····································································································································3-7
7) Gear installation and co-assembly with mating machine·························································································3-7
8) Allowable load for bearing·······································································································································3-9
9) Cable installation and its related cautions·············································································································3-10
