Sanyo Denki Sanmotion R User manual

TYPE S
M0006890K
Analog / Pulse Input Type
Instruction Manual
For Rotary Motor

Preface
This product corresponds with the shipping regulations given in the Export Trade Control
Ordinance (Table 1, item 16) and the Foreign Exchange Ordinance (Table 1, item 16). When
these products are exported by customers, and when exported including the other freight or
together with other freight, it is recommended to fulfill the requirements related to Security Export
Control with the relevant authorities, including “Information Requirements” and “Objective
Requirements”.
This manual outlines the functions, wiring, installation, operations, maintenance, specifications,
etc. of the AC servo amplifier “R” Series Type S. The “R” Series Type S AC servo amplifier
system is compatible with a wide variety of various applications requiring low, medium or high
capacity, high efficiency, reduced footprint, and excellent cost performance.
This product was developed to offer a series of servo motors that are easy to use and offer
excellent functionality in an AC servo motor. It fulfills various needs, such as the downsizing of
the control panel, and offers compatability for a wide range of applications requiring a servo
motor.
ÌPrecautions related to this Instruction Manual
・ In order to fully understand the functions of AC servo amplifier “R” Series Type S, please read
this instruction manual thoroughly before using it.
・ After reading this manual thoroughly, please keep it handy for reference.
・ Please contact the dealre or sales representative if there are defects such as nonconsecutive
pages, missing pages or if the manual is lost or damaged.
・ Carefully and completely follow the safety instructions outlined in this manual. Please note
that safety is not guaranteed for usage methods other than those specified in this manual or
usage methods intended for the original product.
・ The contents of this manual may be modified without prior notice, as revisions or additions are
made in the usage method of this product. Modifications are performed per the revisions of
this manual.
・ Permission is granted to reproduce or omit part of the attached figures (as abstracts) for use.
・ Although the manufacturer has taken all possible measures to ensure the veracity of the
contents of this manual, if you should notice any error or ommission, please notify the dealer
or sales office of the finding.

【Safety Precautions】
This chapter is a summary of the safety precautions regarding the use of the R-series type-S amplifier.
Please read this entire manual carefully prior to installing, operating, performing maintenance or inspecting this
device to ensure proper use.
Use this device only after learning about its operation, safety information, and the precautions related to its
use. After reading the User Manual, keep it in a location where it is always available to the user for easy
reference.
The R-series servo amplifiers and servo motors were designed for use with general industrial equipment. The
following instructions should be followed:
■ Read the User Manual carefully before any installation or assembly work to ensure proper use.
■ Do not perform any retrofitting or modification of the product.
■ Consult with your sale representatives or a trainedprofessional technician regarding the
installation and maintenance of these devices.
■ Please contact your distributor or sales office if you intend to use these devices in applications
such as;
※ In medical instruments or systems used for life support;
※ With control systems for trains or elevators, the failure of which could cause bodily injury;
※ In computer systems of social or public importance;
※ In other equipment or systems related tohuman safety or public infrastructure.
■ Additionally, please contact your distributor or sales office if the device is tobe used in an
environment where vibration is present, such as in-vehicle or transport applications.

Safety Precautions [Make sure to follow.]
1
This documentation uses the following annotation. Make sure to strictly follow these safety precautions.
■ Safety Precautions and symbols
Safety Precautions symbols
Danger
/Injury
Danger Denotes immediate hazards that will probably cause
severe bodily injury or death as a result of incorrect
operation. Electric shock
Caution
Fire
Caution
Denotes hazards that could cause bodily injury and
product or property damage as a result of incorrect
operation. Even those hazards denoted by this
symbol could lead to a serious accident. Burn
Prohibited
Prohibited Indicates actions that must not be allowed to occur
prohibited actions.
Disassembly
prohibited
Mandatory Indicates actions that must be carried out
(mandatory actions).
Mandatory
Danger
Do not use this device in explosive
environment.
Injury or fire could otherwise result.
Do not touch the inside of the amplifier.
Electric shock could otherwise
result.
Do not perform any wiring, maintenance or
inspection when the device is hot-wired. After
switching the power off, wait at least 5
minutes before performing these tasks.
Electric shock could otherwise result.
Only technically qualified personnel
should transport, install, wire, operate, or
perform maintenance and inspection on this
device.
Electric shock, injury or fire could
otherwise result.
The protective ground terminal ( )
should always be grounded to the control box
or equipment. The ground terminal of the
motor should always be connected to the
protective ground
terminal ( ) of the amplifier.
Electric shock could otherwise result.
Do not damage the cable, do not apply
unreasonable stress to it, do not place heavy
items on it, and do not insert it in between
objects.
Electric shock could otherwise result.

Safety Precautions [Make sure to follow.]
2
Danger
Wiring should be done based on the
wiring diagram or the user manual.
Electric shock or fire could otherwise
result.
Do not touch the rotating part of the motor
during operation.
Bodily injury could otherwise result.
Do not touch or get close to the terminal and
the connector while the device is powered up.
Electric shock could otherwise result.
Do not unplug the terminal and the connector
while the device is powered up.
Electric shock could otherwise result.
Caution
Please read the User Manual carefully before
installation, operation, maintenance or
inspection, and perform these tasks according
to the instructions.
Electric shock, injury or fire could
otherwise result.
Do not use the amplifier or the motor outside
their specifications.
Electric shock, injury or damage to
the device could otherwise result.
Do not use the defective, damaged and burnt
amplifier or the motor.
Injury or fire could otherwise result.
Use the amplifier and motor together in the
specified combination.
Fire or damage to the device could
otherwise result.
Be careful of the high temperatures generated
by the amplifier/motor and the peripherals.
Burn could otherwise result.
Open the box only after checking its top and
bottom location.
Bodily injury could otherwise result.

Safety Precautions [Make sure to follow.]
3
Caution
Verify that the products correspond to the
order sheet/packing list.
If the wrong product is installed, injury or
damage could result.
Injury or damage could result.
Do not impress static electricity, the high
voltage, etc. to the cable for encoders of
the servo motor.
Damage to the device could
otherwise result.
Do not measure the insulation resistance and
the pressure resistance.
Damage to the device could
otherwise result.
Wiring should follow electric equipment
technical standards and indoor wiring
regulations.
An electrical short or fire could
otherwise result.
Wiring connections must be secure.
Motor interruption or bodily injury
could otherwise result.
Keep static electricity and high voltage away
from the encoder terminals of the motor.
Damage to the device could
otherwise result.
Do not place heavy objects on top of it or
stand on the device.
Bodily injury could otherwise result.
Do not obstruct the air intake and exhaust
vents, and keep them free of debris and
foreign matter.
Fire could otherwise result.
Make sure the mounting orientation is correct.
Fire or damage to the device could
otherwise result.
Put the distance according to the manual in
the array in the control board of the servo
amplifier. Damage to the device could
otherwise result.
Do not subject the device to excessive shock
or vibration.
Damage to the device could
otherwise result.
Secure the device against falling, overturning,
or shifting inadvertently during installation.
Use the hardware supplied with the
motor (if applicable).
Do not expose the device to water, corrosive
or flammable gases, or any flammable
material.
Fire or damage to the device could
otherwise result.
Install the device on a metal or other
non-flammable support.
Fire could otherwise result.

Safety Precautions [Make sure to follow.]
4
Caution
There is no safeguard on the motor. Use an
over-voltage safeguard, short-circuit breaker,
overheating safeguard, and emergency stop
to ensure safe operation.
Injury or fire could otherwise result.
Do not touch the radiation fin of the amplifier,
the regenerative resistor, or the motor while
the device is powered up, or immediately after
switching the power off, as these parts
generate excessive heat.
Burn could otherwise result.
In the case of any irregular operation, stop the
device immediately.
Electric shock, injury or fire could
otherwise result.
Do not perform extensive adjustments to the
device as they may result in unstable
operation.
Bodily injury could otherwise result.
Trial runs should be performed with the motor
in a fixed position, separated from the
mechanism. After verifying successful
operation, install the motor on the mechanism.
Bodily injury could otherwise result.
The holding brake is not to be used as a
safety stop for the mechanism. Install a safety
stop device on the mechanism.
Bodily injury could otherwise result.
In the case of an alarm, first remove the cause
of the alarm, and then verify safety. Next, reset
the alarm and restart the device.
Bodily injury could otherwise result.
Make sure the input power supply voltage is in
or less than the specification range.
Damage to the device could
otherwise result
Avoid getting close to the device, as a
momentary power outage could cause it to
suddenly restart (although it is designed to be
safe even in the case of a sudden restart).
Bodily injury could otherwise result.
Standard specification servo amplifiers have a
dynamic brake resistor. Do not rotate the
motor continuously from the outside when the
amplifier is not powered on, because the
dynamic brake resistor will heat up, and can
be dangerous.
Fire or burn could otherwise result.
Be careful during maintenance and inspection,
as the body of the amplifier becomes hot.
Burn could otherwise result.
It is recommended to replace the electrolytic
capacitors in the amplifier after 5 years, if used
at an average temperature of 40°C year round.
Damage to the device could
otherwise result.

Safety Precautions [Make sure to follow.]
5
Caution
Please contact your distributor or sales office if
repairs are necessary.
Disassembly could render the device
inoperative.
Damage to the device could
otherwise result.
Make sure the device does not fall, overturn,
or move inadvertently during transportation.
Bodily injury could otherwise result.
Do not hold the device by the cables or the
shaft while handling it.
Damage to the device or bodily injury
could otherwise result.
If the amplifier or the motor is no longer in use,
it should be discarded as industrial waste.
Prohibited
Do not store the device where it could be
exposed to rain, water, toxic gases or other
liquids.
Damage to the device could
otherwise result.
The built-in brake is intended to secure the
motor; do not use it for regular control.
Damage to the brake could otherwise result.
Damage to the device could
otherwise result.
Do not overhaul the device.
Fire or electric shock could otherwise
result.
Do not remove the nameplate cover attached
to the device.

Safety Precautions [Make sure to follow.]
6
Mandatory
Avoid direct sunlight and keep it by
temperature and humidity within the range of
the specification. {－20°C to＋65°C，below
90% RH (non-condensing)}.
Please contact our office if the amplifier is to
be stored for a period of 3 years or longer.
The capacity of the electrolytic capacitors
decreases during long-term storage, and
could cause damage to the device.
Damage to the device could
otherwise result.
Install an external emergency stop circuit and
enable it to stop the device and cut off the
power supply immediately. Install an external
protective circuit to the amplifier to cut off the
power from the main circuit in the case of an
alarm.
Motor interruption, bodily injury, burnout, fire
and secondary damages could otherwise
result.
Operate within the specified temperature and
humidity range
Amplifier:
Temperature 0°C to 55°C,
Humidity below 90% RH(non-condensing).
Motor:
Temperature 0°C to 40°C,
Humidity below 90%RH(non-condensing).
Burnout or damage to the device
could otherwise result.
Follow the directions written on the outside
box. Excess stacking could result in collapse.
Bodily injury could otherwise result.
The motor angling bolts are used for
transporting the motor. Do not use them for
transporting the machinery, etc.
Damage to the device or bodily
injury could otherwise result.

No Text on This Page.

[Table of Contents]
[1 Prior to use]
Product Verification････････････････････････････････ 1-1
Servo Motor Model Number ････････････････････････ 1-2
Servo Amplifier Model Number･･････････････････････ 1-4
Servo Amplifier Part Names ････････････････････････ 1-8
Servo Motor Part Names･･････････････････････････ 1-10
[2 Installation]
Servo Amplifier ･･･････････････････････････････････ 2-1
Mounting Direction and Location ････････････････････ 2-3
Arrangement within the control box ･･････････････････ 2-3
Servo Motor･･････････････････････････････････････ 2-4
Waterproofing and Dust Proofing････････････････････ 2-5
Protective Cover Installation ････････････････････････ 2-5
Gear Installation ･･････････････････････････････････ 2-6
Integration with the Target Machinery ････････････････ 2-6
Allowable Bearing Load････････････････････････････ 2-8
Cable Installation Considerations････････････････････ 2-9
[3 Wiring]
Packaged Wiring Diagram･･････････････････････････ 3-1
HighVoltage Circuit／Name・Function・TerminalNumber･･････ 3-5
TighteningTorque of High VoltageCircuitTerminal･････････････ 3-6
WiringExample of HighVoltageCircuit・ProtectiveCircuit ･･･････ 3-7
Descriptionof CN Terminal／LowVoltageCircuit･････････････ 3-11
Descriptionof CN 1Terminal／LowVoltageCircuit ･･･････････ 3-12
Overall Wiring Diagram of CN1/Low Voltage Circuit ･･･ 3-13
WiringExample of CN1InputCircuit/Low Voltage Circuit････････ 3-15
WiringExample of CN1OutputCircuit/Low Voltage Circuit･･･････ 3-18
Wiring of CN2/Low Voltage Circuit･･････････････････ 3-21
Power Source・Peripherals ･･･････････････････････ 3-26
Cable Diameter･･････････････････････････････････ 3-28
How to Process CN1/CN2 Shield･･･････････････････ 3-30
[4 Digital operator]
Names and Functions ･････････････････････････････ 4-1
Various Modes ･･･････････････････････････････････ 4-2
Changing Modes･･････････････････････････････････ 4-3
Monitor Mode Operations and Display ･･･････････････ 4-4
Basic Parameter Mode Operations and Display ･･･････ 4-7
General Parameter Mode Operations and Display ･････ 4-9
Auto-adjustment Mode Operations and Display･･･････ 4-11
Test Run Mode Operations and Display ･････････････ 4-12
System Parameter Mode Operations and Display･････ 4-14
Alarm Trace/CPU_VER Operations and Display･･････ 4-15
Password Setting ････････････････････････････････ 4-16
[5 Description of parameters]
Parameter List ････････････････････････････････････ 5-1
Parameter setting value【Group0】･･････････････････ 5-8
Parameter setting value【Group1】･･････････････････ 5-9
Parameter setting value【Group2】･････････････････5-11
Parameter setting value【Group3】･････････････････5-14
Parameter setting value【Group4】【Group8】･･････5-16
Parameter setting value【Group9】･････････････････5-22
Parameter setting value【GroupA】････････････････5-24
Parameter setting value【GroupB】････････････････5-27
Parameter setting value【GroupC】････････････････5-30
System parameter setting value ････････････････････5-32
Block Diagram ･･･････････････････････････････････5-34
[6 Operations]
Procedure Prior to Operation ････････････････････････ 6-1
Confirmation of Installation and Wiring････････････････ 6-3
Confirmation & Change of Servo Amplifier Specification･6-4
Confirmation& Change ofServoMotorEncoder Specification･･････ 6-5
Confirmation &Change of Servo Motor Model Number ･･ 6-6
JOG Operation････････････････････････････････････ 6-7
Confirmation of I/O Signal･･･････････････････････････ 6-8
Confirmation of Device Operation ････････････････････ 6-9
Operation Sequence ･･････････････････････････････6-10
[7 Adjustment・Functions]
Servo Gain Tuning･････････････････････････････････ 7-1
Functions of Group8 ･･･････････････････････････････ 7-7
Functions of Group9 ･･････････････････････････････7-25
Functions of GroupB ･･････････････････････････････7-31
Functions of GroupC･･････････････････････････････7-36
Description of monitor ･････････････････････････････7-39
[8 Maintenance]
Trouble Shooting ･･････････････････････････････････ 8-1
Alarm List ････････････････････････････････････････ 8-3
Trouble shooting when the Alarm Occurs ･････････････ 8-5
Inspection/Parts Overhaul ･････････････････････････8-25

[9 Specifications]
Servo amplifier････････････････････････････････････ 9-1
Pulse output･･････････････････････････････････････ 9-4
Serial output･･････････････････････････････････････ 9-5
General servo motor･･････････････････････････････ 9-23
Rotation Direction Specifications ･･･････････････････ 9-23
Mechanical specifications ･････････････････････････ 9-24
Holding brake specifications ･･･････････････････････ 9-26
[Materials]
[Selection Details]
Acceleration time / Moderation time / Allowable repetition frequency
･･･････････････････････････････････････････････････ 1
Loading Precautions･････････････････････････････････ 3
Attention to average rotational speed ･･････････････････ 3
Dynamic brake ･････････････････････････････････････ 4
Regenerative treatment / Regenerative electric power calculation /
Confirmation of regenerative electric power ･････････････ 7
External regenerative resistor / Dimension ･････････････ 11
[International standards]
International standard conformity・Certificate number･･ 18
Compliancewith EC directives・Recommendedpreventioncomponents20
[Dimension]
Servo amplifier･････････････････････････････････････ 24
Servo motor･･･････････････････････････････････････ 30
[Servo motor data sheet]
Characteristics table････････････････････････････････ 36
Velocity－Torque characteristics ･････････････････････ 41
Over load characteristics ････････････････････････････ 49
[Options]
Connector・Communication cable ･･･････････････････ 56
Metal mounting fittings ･･････････････････････････････ 57
Monitor box ･･･････････････････････････････････････ 60
Lithium battery・EMC kit････････････････････････････ 61
[Encoder clear]
Clear・Reset method･･･････････････････････････････ 62
[Electronic gear]
Usage ････････････････････････････････････････････ 63
[Shortened model number]
Set-up contents････････････････････････････････････ 64

1
[Prior to Use]
 Product verification････････････････････････････ 1-1
 Servo motor model number ････････････････････ 1-2
 Servo amplifier model number ･･････････････････ 1-4
 Servo amplifier part names･････････････････････ 1-8
 Servo motor part names ･･････････････････････1-10

1.Prior to Use [Product verification]
1-1
■Verify the followings when the product arrives. If you find any discrepancy, contact your
distributor or sales office.
●Verify that the model number of the servo motor or servo amplifier is the same as ordered.
(The model number is located on the main name plate, following the word “MODEL”. )
●Make sure) that there is no problem on externals of the servo motor and the servo amplifier.
●Verify that there are no loose screws on the servo motor or servo amplifier.
Servo amplifier Servo amp main nameplate
A
C SERVO SYSTEMS
MODEL R2AA06020FCP00MA
60W AC200V 0.53A
3000min-1 3φ－・ CI.F IP40
SER No.090206001 2002
SANYO DENKI MADE IN JAPAN 00482921-01
Ｒ
Servo motor main nameplate
Model No
Serial No
Interpretation of the serial number
Month (2 digits) + Year (2 digits) + Day (2 digits)+ Serial
number (4 digits) + Revision ("A" is abbreviated)
Servo motor
MTION
Model No.
Serial No

1. Prior to Use [Servo motor model number]
1-2
■Interpretation of servo motor model number
Ｒ２ＡＡ ０６ ０２０ ＦＣＰ００ ＭＡ
■Encoder specifications
To the customers using “Absolute encoder for incremental system”;
See the parameter set values for your servo amplifier in the table below and make sure to use
them.
General parameter
Group Page Symbol Name Setting value contents
C 00 ABS/INCSYS Position detection system choice 00:_Absolute Absolute system
C 08 ECLRFUNC Absolute Encoder Clear Function Selection 01:_Status Clear Only Encoder Status
Motor type
2: Medium inertia
Voltage, Motor form
A･･･200V, A･･Standard flange
E･･･100V, A･･Standard flange
Flange angle
dimensions
04･･･40,42mm
06･･･60mm
08･･･80mm
B8･･･86mm
13･･･130mm
22･･･220mm
Rated output
003 ･･･ 30W 040 ･･･ 400W
005 ･･･ 50W 050 ･･･ 550W
008 ･･･ 80W 075 ･･･ 750W
010 ･･･ 100W 120 ･･･ 1.2kW
020 ･･･ 200W 200 ･･･ 2kW
500 ･･･ 5kW
Maximum rotation
speed
L･･･4000min-1
D･･･5000min-1
F･･･6000min-1
Holding brake
X･･･No brake
B･･･90 V brake
C･･･24V brake
Encoder type
P･･･Battery backup method absolute encoder [PA035C]
H･･･Absolute encoder for incremental system [PA035S]
R-series
Specification
identification
00･･Standard product
01･･With Oil seal
Additional specification
identification
M･･CE mark + UL supported
0･･･With decelerator
/Without standards
None･･･Without decelerator
/Without standards
Gear identification
A･･･Type A 1/3
Type Within 1 rotation Multiple rotation Notes
PA035C 131072(17bit) 65536(16bit) Battery backup method absolute encoder
PA035S 131072(17bit) －Absolute encoder for incremental system

1. Prior to Use [Servo motor model number]
1-3
■Interpretation of servo motor model number
Ｑ１ＡＡ ０６ ０２０ ＤＣＰ００ ＥＡ
■Encoder specifications
To the customers using “Battery backup method absolute encoder” with incremental system;
See the parameter set values for your servo amplifier in the table below and make sure to use them.
General parameter
Group Page Symbol Name Setting value Contents
C 00 ABS/INCSYS Position detection system choice 01:_Incremental Absolute system
C 08 ECLRFUNC
Absolute Encoder Clear Function
Selection 01:_Status Clear Only Encoder Status
Motor type
1:Low inertia
2: Medium inertia
3: High inertia
Voltage
AA･･･200V
EA･･･100V
Flange angle dimensions
04 ･･･ 40 ､ 42mm 10 ･･･ 100mm
05 ･･･ 54mm 12 ･･･ 120mm
06 ･･･ 60mm 13 ･･･ 130mm
07 ･･･ 76mm 18 ･･･ 180mm
08 ･･･ 80 ､ 86mm 22 ･･･ 220mm
Rated output
003 ･･･ 30W 050 ･･･ 500W 350 ･･･ 3.5kW
005 ･･･ 50W 075 ･･･ 750W 450 ･･･ 4.5kW
006 ･･･ 60W 100 ･･･ 1.0kW 550 ･･･ 5.5kW
010 ･･･ 100W 150 ･･･ 1.5kW 700 ･･･ 7.0kW
020 ･･･ 200W 200 ･･･ 2.0kW 11K ･･･ 11kW
030 ･･･ 300W 250 ･･･ 2.5kW 15K ･･･ 15kW
040 ･･･ 400W 300 ･･･ 3.0kW 20K ･･･ 20kW
Maximum rotation speed
S･･･1000min-1 H･･･3000/3500min-1
M･･･1500min-1 L･･･3000min-1
B･･･2000min-1 D･･･4500/5000min-1
R･･･2500min-1 F･･･6000min-1
securing brake
X･･･No brake
B･･･90 V brake
C･･･24V brake
Encoder type
S･･･Wire-saving incremental encoder
[PP031/PP038/PP062]
D･･･Absoluteencoder with incremental output
[PA035M]
P･･･Battery backup method absolute encoder
[PA035C]
W･･･Absolute encoder without battery
[RAO62C]
Q-series
Specification
identification
00･･Standard
product
Additional specification identification
E･･CE mark supported
U･･UL supported
M･･CE mark + UL supported
Gear identification
A･･･Type A 1/3
・Incremental encoder
Type Resolution Flange angle dimensions Notes
PP031 8000/8192 P/R 40mm Min Wire-saving incremental encoder
PP038 4096～25000 P/R 42mm Min Wire-saving incremental encoder
PP062 8000/8192/20000/32768/40000 P/R 72mm Min Wire-saving incremental encoder
・Absolute encoder
Type Within 1 rotation Multiple rotation Notes
PA035C 131072(17bit) 65536(16bit) Battery backup method absolute encoder
PA035M 8192(13bit) －Absoluteencoder with incremental output
RA062C 131072(17bit) 8192(13bit) Absolute encoder without battery

1.Prior to Use [Servo amplifier model number]
1-4
■Interpretation of servo amplifier model number(Full number)
RS1 A 01 A T 0 34 A3 P 00
The design order is noted by alphabetical characters at the end of
the Lot Number on the name plate.
NPN (Sink) output and PNP (Source) output
NPN (Sink) output and PNP (source) output are the names of
the general-purpose output circuit system of servo amplifier.
Servo amplifier of PNP (Source) output was added from
August, 2008 other than the previous servo amplifier of
NPN (Sink) output.
Please refer to the right figure.
R-series
Amplifier description
01･･･15A
03･･･30A
05･･･50A
10･･･100A
15･･･150A
30･･･300A
Motor type
A･･･rotary motor
Interface type of encoder
A･･･Wire-saving incremental encoder
Battery backup method absolute encoder
Full close (When using an absolute type encoder)
General output : NPN (Sink) output
H･･･request method absoluteencoder
R･･･Absoluteencoder with incremental output
T･･･Full close (When using an incremental type encoder)
B･･･Wire-saving incremental encoder
Battery backup method absolute encoder
General output: PNP (Source) output
General output : PNP (Source) output :
External power supplyDC24V is taken in as common power supply, and
DC24V is outputted when a general-purpose output turns on.
Motor combination marking
0･･･Q,R series moor standard
combination
Interface at control section
S･･･Speed control type
T･･･Torque control type
P･･･Position control type
X･･･Speed←→torque switch type
Y･･･Position←→torque switch type
U･･･Position←→speed switch type
V･･･Internal speed control type
Individual specification
00･･･Standard product
A1･･single phase specification
(AC200V)
Power input, power part details Model numbers by amplifier capacity
Input
voltage Regenerative resistor DB 15A･･･RS1□01
30A･･･RS1□03
50A･･･RS1□05
100A･･･RS1□10
150A･･･RS1□15 300A･･･RS1□30
W L A
－
Built-in W/O M B
－
W A L A
AC200V
―W/O B M B
W N －
Built-in W/O P －
W E －
AC100V
―W/O F －
Code for encoder combination type
Details on next page
Code for combined motor type
Details on next page
PNP
25
24
OUT-PWR
OUT1
～ 8 (39 ～ 46)
OUT-COM
OUT-COM
OUT1 ～ 8 (39 ～ 46)
49
OUT-PWR
PNP (Source) output
NPN (Sink) output
✍
✍
✍Use an incremental encoder when an external encoder
is connected.

1.Prior to Use [Servo amplifier model number]
1-5
■Code for combined motor type
AC200V input AC100V input
Combined
servo
amplifier
Servo motor
model
number
Motor
code Combined
servo
amplifier
Servo motor
model
number
Motor
code Combined
servo
amplifier
Servo motor
model
number
Motor
code Combined
servo
amplifier
Servo motor
model
number
Motor
code
Q
1AA04003D 31 Q1AA10100D 37
Q
1AA13400D 3F Q1EA04003D 3S
Q
1AA04005D 32 Q1AA10150D 38
Q
1AA13500D 3G Q1EA04005D 3T
Q
1AA04010D 33 Q1AA12100D 3B Q1AA18450M 3H Q1EA04010D 3U
Q
1AA06020D 34
Q2AA08075D
4B
Q
2AA18350H 4L
Q2EA04006D 4V
Q
2AA04006D 41 Q2AA08100D
4C
Q
2AA18450H 4M
Q2EA04010D 4W
Q
2AA04010D 42 Q2AA10100H
4D
Q
2AA18550
R
4N
Q2EA05005D 4X
Q
2AA05005D 43 Q2AA10150H
4E
Q
2AA22350H 4R
Q2EA05010D 4Y
Q
2AA05010D 44
Q2AA13100H 4G
Q
2AA22450
R
4S R2EA04003F DP
Q
2AA05020D 45
Q2AA13150H 4H
Q
2AA22550B 4T
R2EA04005F DR
Q
2AA07020D 46
R2AA13120D DD
Q
2AA22700S 4U
R2EA04008F DW
Q
2AA07030D 47
R2AAB8100F DK R2AA22500L DM
R2EA06010F DT
R2AA04003F D1
R2AA04005F D2
R2AA04010F D3
R2AA06010F D4
R2AA06020F D5
RS1L01A
RS1A01A
RS1M01A
RS1B01A
R2AA08020F DA
RS1L05A
RS1A05A
RS1M05A
RS1B05A
RS1L15A
RS1A15A
RS1M15A
RS1B15A
RS1N01A
RS1E01A
RS1P01A
RS1F01A
Q
1AA06040D 35 Q1AA10200D 39
Q
1AA18750H
3J
Q1EA06020D
3V
Q
1AA07075D 36 Q1AA10250D 3A
Q
2AA18550H 7M
Q2EA05020D 4Z
Q
2AA07040D
48 Q1AA12200D 3C Q2AA18750L 7N
Q2EA07020D 71
Q
2AA07050D
49 Q1AA12300D 3D Q2AA2211KV 7R
R2EA06020F DU
Q
2AA08050D
4A Q1AA13300D 3E Q2AA2215KV 7S
Q
2AA13050H
R2AA06040F
R2AA08040F
4F
D6
D8
Q2AA13200H
Q2AA18200H
Q2AA22250H
4J
4K
4P
R2AA08075F
D7 R2AA13200D DG
RS1L03A
RS1A03A
RS1M03A
RS1B03A
R2AA13050D DC
RS1L10A
RS1A10A
RS1M10A
RS1B10A
RS1A30A
RS1B30A
RS1N03A
RS1E03A
RS1P03A
RS1F03A
■Code for combined encoder type
Wire-saving incremental encoder
Servo motor
Encoder type Encoder code Measurement Resolution [P/R] Hard ID.
01 Optical 2000
02 Optical 6000
S B2 Optical 10000 A
Battery backup method absolute encoder
Absolute encoder without battery
Servo motor
Encoder type Encoder code Measurem ent Transmission format Resolution [P/R] Multiple rotations Hard. ID. Remarks
P A3 Optical
Half duplex start-stop synchronization 2.5M
17bit 16bit
P A4
Optical
Half duplex start-stop synchronization 4.0M
17bit 16bit Applicable to options
W A7 Resolver
Half duplex start-stop synchronization 2.5M
17bit 16bit
W A9
Resolver
Half duplex start-stop synchronization 4.0M
17bit 16bit Applicable to options
H AE Optical
Half duplex start-stop synchronization 2.5M
17bit -
H AF Optical
Half duplex start-stop synchronization 4.0M
20bit -
A
Applicable to options
Request method absolute encoder
Servo motor
Encoder type Encoder code Measurem ent Transmission format Resolution [P/R] Multiple rotations Hard. ID. Remarks
F AB
Resolver Full duplex Manchester 1.0M 15bit 13bit H
Absolute encoder with incremental output
Servo motor
Encoder type Encoder code Measurem ent Transmission format Resolution [P/R] Multiple rotations Hard. ID. Remarks
D 03 Optical
Full duplex Manchester 1.0M Incremental:2048P/R
Absolute:11bit 13bit R

1.Prior to Use [Servo amplifier model number]
1-6
■Interpretation of servo amplifier model number (Abbreviated number)
ＲＳ１ Ａ０１ ＡＴ
R-series
Amplifier description
01･･･15A
03･･･30A
05･･･50A
10･･･100A
15･･･150A
30･･･300A
Motor type
A･･･rotary motor
Interface type of encoder
A･･･Wire-saving incremental encoder
Battery backup method absolute encoder
Full close (When using an absolute type encoder)
General output : NPN (Sink) output
H･･･request method absoluteencoder
R･･･Absoluteencoder with incremental output
T･･･Full close (When using an incremental type encoder)
B･･･Wire-saving incremental encoder
Battery backup method absolute encoder
General output : PNP (Source) output
General output : PNP (Source) output :External power supply DC24V is
taken in as common power supply, and DC24V is outputted
when a general-purpose output turns on.
Power input, power part details Model numbers by amplifier capacity
Input
voltage Regenerative resistor DB 15A･･･RS1□01
30A･･･RS1□03
50A･･･RS1□05
100A･･･RS1□10
150A･･･RS1□15 300A･･･RS1□30
W L A －
Built-in W/O M B －
W A L A
AC200V
―W/O B M B
W N －
Built-in W/O P －
W E －
AC100V
―W/O F －
The design order is noted by alphabetical characters at the end of the Lot
Number on the name plate.
Refer to Chapters 5 and 6 for how to set parameters which have been set
at the time of shipment, and to page 55 of the attached data for setting
contents.
PNP
✍
✍Use an incremental encoder when an external encoder
is connected.
✍

1.Prior to Use [Servo amplifier model number]
1-7
■ Motor setting and encoder type of abbreviated model numbers
Servo amplifier
model number Servo motor model number Encoder
RS1△01AA P50B03003D
RS1△03AA P50B07040D
RS1△05AA P50B08075D
RS1△10AA P60B13200H
RS1△15AA P80B22350H
RS1△30AA P60B18750R
Wire-saving incremental encoder 2000P/R
RS1△01AB P50B03003D
RS1△03AB P50B07040D
RS1△05AB P50B08075D
RS1△10AB P60B13200H
RS1△15AB P80B22350H
RS1△30AB P60B18750R
General output: PNP (Source) output :
External power supply DC24V is taken in as
common power supply, and DC24V is
outputted when a general-purpose output turns
on.
RS1△01AH P50B03003D
RS1△03AH P50B07040D
RS1△05AH P50B08075D
RS1△10AH P60B13200H
RS1△15AH P80B22350H
RS1△30AH P60B18750R
Request method absolute encoder 15bit
RS1△01AR P50B03003D
RS1△03AR P50B07040D
RS1△05AR P50B08075D
RS1△10AR P60B13200H
RS1△15AR P80B22350H
RS1△30AR P60B18750R
Absoluteencoderwithincrementaloutput 2048P/R
RS1△01AT P50B03003D
RS1△03AT P50B07040D
RS1△05AT P50B08075D
RS1△10AT P60B13200H
RS1△15AT P80B22350H
RS1△30AT P60B18750R
Wire-saving incremental encoder 2000P/R
△：Depends on input power voltage, regeneration resistance and dynamic brake resistance.
In case of 200VAC input voltage, A, B, L and M will be filled in.
In case of 100VAC input voltage, E, F, N and P will be filled in.(However, there are only
RS1△01, RS1△03.)
PNP