Sanyo Denki Sanmotion R User manual

M0008424G
For Rotary Motor
Analog / Pulse Input Type
TYPE S

Details of the change history
The sixth edition (G)
■ Page 8-27
● Notice message at alarm E6 that in some revision amplifier R5 series motors makes this alarm and
not applicable is added.
■ Page 12-13,14,15
● Corrected contents of R2 motors data sheet.

Safetyprecautions Pleasefullyobserve
i
The following signs are used to indicate safety precaution in this instruction manual.
Please fully observe the precautions as important contents included in the descriptions.
■ Safety precautions and the signs
Safety precautions Signs
Danger, injury
Danger Indicates an imminently hazardous situation which, if
incorrectly operated, will result in death or serious injury．
Electrical shock
Warning
Fire
Warning
Indicates a potentially hazardous situation that, if incorrectly
operated, may result in minor or moderate injury, or property
damage only. Even those hazardous indicated with this sign
may lead to a serious accident.
Burn injury
Prohibition
Prohibition Indicates actions that must not be allowed.
Disassembly
prohibited
Mandatory Indicates actions that must be carried out (mandatory
actions).
Mandatory
■ Danger
Do not use the system in explosive atmospheres.
Injuries and fire may occur.
Do not perform wiring, maintenance, and inspection with power distributed. Make sure to start
performing any tasks surely 10 minutes or more after power shutdown.
Electrical shock may occur.
Make sure to ground servo amplifier protective grounding terminal “ ” to the machine or control
cabinet. Make sure to ground servo motor grounding terminal to servo amplifier protective grounding
terminal “ ”.
Electrical shock may occur.
Never touch inside of servo amplifier.
Electrical shock may occur.

Safetyprecautions Pleasefullyobserve
ii
Only qualified personnel who have electrical knowledge should conduct maintenance and inspection.
Electrical shock, injuries, and fire may occur.
Do not damage, apply excessive stresses, put heavy things on, and tuck down cables.
Electrical shock may occur.
Perform wiring in accordance with wiring diagram and the instruction manual.
Electrical shock and fire may occur.
Never approach or touch terminals and connectors while power is being distributed.
Electrical shock may occur.
Never touch rotating part of servo motor during operation.
Injuries may occur.
Never remove terminals and connectors while power is being distributed.
Electrical shock may occur.
Only qualified personnel who have knowledge on safety system related standards should design safety
system utilizing safe-torque-off function after thoroughly understanding descriptions in this instruction
manual.
Injuries and failures may occur.

Safetyprecautions Pleasefullyobserve
iii
■ Warning
Unpack after checking upside and downside.
Injuries may occur.
Verify no discrepancies between the product you received and the product you ordered. Installing
incorrect product can result in injuries and damages.
Injuries and failures may occur.
Make sure to read the instruction manual and observe the instructions before inspection, operation,
maintenance, and inspection.
Electrical shock, injuries and fire may occur.
Do not use faulty, damaged, and burnt-out servo amplifier and servo motor.
Injuries and fire may occur.
Please be aware that temperatures on servo amplifier, servo motor, and peripheral equipments become
high.
Fire may occur.
Do not use servo amplifier and servo motor outside the scope of the specification.
Electrical shock, injuries and failures may occur.
Use the specified combination of servo amplifier and servo motor.
This can result in fire and failures.
Do not perform measurement of insulation resistance and dielectric strength voltage.
Failures may occur.
Correctly and properly perform wiring.
Injuries may occur.

Safetyprecautions Pleasefullyobserve
iv
Do not put heavy things on, or climb on the system.
Injuries may occur.
Make sure to observe the specified installation direction.
This can result in fire and failures.
Do not apply high impacts.
This can result in failures.
Never install the system in the area where it may be exposed to water, near corrosive/ flammable
gaseous, or by combustible material.
This can result in fire and failures.
Do not apply static electrical charge and high voltage to cable for servo motor encoder.
This can result in failures.
Perform wiring in accordance with electrical installation technical standards and internal wiring standards.
Burnout or fire may occur.
Do not block and let any foreign materials into inlet/outlet.
Fire may occur.
Maintain the specified distances for layout inside of servo amplifier control cabinet.
This can result in fire and failures.
It is very dangerous to carry the system, so carefully carry the system as not to fall and roll over. Use
eyebolt if the servo motor you use equips it.
Injuries may occur.

Safetyprecautions Pleasefullyobserve
v
Install the system in incombustible material, such as metal.
Fire may occur.
No protective equipments are supplied with servo motor. Protect the system with overcurrent protective
device, earth leakage circuit breaker, overtemperature thermostat, and emergency stop equipment.
Injuries and fire may occur.
Do not touch heat releasing fin and regenerative resistor of servo amplifier, and servo motor while power
being distributed or after a while power is turned off, as the temperatures on them become high.
Burn injuries may occur.
Stop operation immediately when any abnormality occurred.
Electrical shock, injuries, and fire may occur.
Never make excessive adjustment change as operation becomes unstable.
Injuries may occur.
Perform test operation by fixing servo motor with motor separated from mechanical systems, and then
install the motor after performing the operation check.
Injuries may occur.
Holding brake is not a stop device to secure mechanical safety. Install a stop device to ensure safety in
mechanical system.
Injuries may occur.
When alarm activated, eliminate the cause, secure the safety, reset the alarm, and then re-start
operation.
Injuries may occur.
Confirm that input power voltage is within the specification.
This can result in failures.

Safetyprecautions Pleasefullyobserve
vi
Do not approach equipments after restoration from instantaneous interruption of service, as sudden
re-start can occur.
(Design the machine so as to ensure safety even sudden re-start occurs.)
Injuries may occur.
Do not externally and continuously rotate servo motor during servo-off with standard speciation servo
amplifier with dynamic brake, as the dynamic brake will generate heat and this will cause dangers.
Fire and burn injuries may occur.
Carefully perform maintenance and inspection as temperature on servo amplifier frame becomes high.
Burn injuries may occur.
Expected life of electrolytic capacitor inside of servo amplifier is 5 years at full-year average temperature
40°C. Replacing with new electrolytic capacitor at the above intervals as a guide is recommended for
preventive maintenance. Please contact us.
This can result in failures.
Please contact us to repair. Disassembly can cause inoperative.
This can result in failures.
It is very dangerous to carry the system, so carefully carry the system as not to fall and roll over.
Injuries may occur.
Do not hold cables and servo motor shaft to carry the system.
Failures and injuries may occur.
Dispose driver and motor properly as general industrial wastes.

Safetyprecautions Pleasefullyobserve
vii
■ Prohibition
Do not store the system in the area where it may be exposed to rain and water drops, or toxic gasses or
liquids exist.
This can result in failures.
Brake built in servo motor is for holding, so do not use it for braking. Using the brake for braking will
damage the brake.
This can result in failures.
Do not perform overhaul.
This can result in fire and electrical shock.
Do not remove nameplate.

Safetyprecautions Pleasefullyobserve
viii
■ Mandatory
Store the system within the specified temperature and humidity “-20°C to +65°C, 90％RH or less(no
condensation)”away from direct sunlight.
This can result in failures.
For long-term storage of servo amplifier (over 3 years as a guide), please contact us. Long-term storage
will reduce capacity of electrolytic capacitor, and this can result in failures.
This can result in failures.
Place emergency stop circuit outside the product so that operation can be stopped and power supply can
be shut down instantaneously. Place a safeguard circuit outside servo amplifier so as to shut off main
circuit power supply when alarm activated.
Going out of control, injuries, burnout, fire, and secondary damages can occur.
Please operate within the specified range of temperature and humidity.
Servo amplifier
Temperature: 0C to 55C
Humidity: 90%RH or less (No condensation)
Servo motor
Temperature: 0C to 40C
Humidity: 20 to 90%RH (No condensation)
This can result in burnout and failures.
Overloading of product can lead collapses, so observe the instructions indicated on original outer
package, as injuries may occur.
Injuries may occur.
Use eyebolt of servo motor for carrying servo motor only. Do not use for carrying equipments.
Injuries and failures may occur.

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1. Preface ....................................................................................................................................................1
1.1 Introduction............................................................................................................................................1-1
1) Differences between AC servo amplifier SANMOTION R (previous model) and this system................1-2
1.2 Instruction manual.................................................................................................................................1-3
1) Contents................................................................................................................................................1-3
2) Precautions related to these instructions...............................................................................................1-3
1.3 System introduction guide.....................................................................................................................1-4
1) Step 1: Unpack the system....................................................................................................................1-4
2) Step 2: Perform wirings of control and main power supply....................................................................1-5
3) Step 3: Perform wiring of servo motor power line..................................................................................1-6
4) Step 4: Perform wiring of encoder line...................................................................................................1-7
5) Step 5: Set parameters..........................................................................................................................1-8
6) Step 6: Check operation......................................................................................................................1-11
1.4 Illustration of system components .......................................................................................................1-12
1.5 Model number structure.......................................................................................................................1-15
1) Servo Motor Model Number ................................................................................................................1-15
2) Servo motor model number.................................................................................................................1-16
3) Servo amplifier model number (11-digit abbreviated model number) ..................................................1-17
4) Servo amplifier model number (19-digit full model number string) ......................................................1-18
1.6 Part names..........................................................................................................................................1-19
1) Servo amplifier ....................................................................................................................................1-19
2) Servo motor.........................................................................................................................................1-22
2. Specifications.........................................................................................................................................2
2.1 Servo motor...........................................................................................................................................2-1
1) General specifications...........................................................................................................................2-1
2) Exterior dimensions/ specifications/ mass.............................................................................................2-1
3) Mechanical specifications/ mechanical strength/ working accuracy......................................................2-1
4) Oil seal type...........................................................................................................................................2-2
5) Holding brake........................................................................................................................................2-3
6) Degree of decrease rating for R2AA motor, with oil seal and brake ......................................................2-4
2.2 Motor encoder .......................................................................................................................................2-5
1) Serial encoder specifications.................................................................................................................2-5
2) Pulse encoder specifications.................................................................................................................2-5
3) Battery specification ..............................................................................................................................2-6
2.3 Servo amplifier ......................................................................................................................................2-7
1) General specifications...........................................................................................................................2-7
2) Input command, position signal output, general input, general output...................................................2-8

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3) Torque limit input ...................................................................................................................................2-9
2.4 Power supply, calorific value ...............................................................................................................2-10
1) Main circuit power supply capacity, control power supply capacity......................................................2-10
2) Incoming current, leakage current.......................................................................................................2-11
3) Calorific value......................................................................................................................................2-12
2.5 Operation pattern.................................................................................................................................2-13
1) Time of acceleration and deceleration, permitted repetition, loading precaution.................................2-13
2.6 Position signal output ..........................................................................................................................2-16
1) Positions signals by serial signals .......................................................................................................2-16
2) Binary code output format and transfer period ....................................................................................2-17
3) ASCII decimal code output format and transfer period........................................................................2-18
4) Position signal output from pulse signal ..............................................................................................2-19
2.7 Specifications for analog monitor.........................................................................................................2-20
1) Monitor output .....................................................................................................................................2-20
2) Monitor for velocity, torque, and position deviation..............................................................................2-21
2.8 Specifications for dynamic brake.........................................................................................................2-22
1) Allowable frequency, instantaneous tolerance, decreasing the rotation angle of the dynamic brake...2-22
2.9 Regeneration process .........................................................................................................................2-25
1) Resistance value of built-in regeneration resistor................................................................................2-25
3. Installation...............................................................................................................................................3
3.1 Installation.............................................................................................................................................3-1
1) Servo amplifier ......................................................................................................................................3-1
2) Unpacking .............................................................................................................................................3-2
3) Mounting direction and location.............................................................................................................3-3
4) Control arrangement within the machine...............................................................................................3-3
3.2 Servo motor...........................................................................................................................................3-4
1) Precautions ...........................................................................................................................................3-4
2) Unpacking .............................................................................................................................................3-4
3) Installation.............................................................................................................................................3-4
4) Mounting method...................................................................................................................................3-5
5) Waterproofing and dust proofing ...........................................................................................................3-5
6) Protective cover installation...................................................................................................................3-6
7) Gear installation and Integration with the target machinery...................................................................3-6
8) Allowable bearing load ..........................................................................................................................3-8
9) Cable installation considerations...........................................................................................................3-9

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4. Wiring......................................................................................................................................................4
4.1 Wiring for main circuit power supply, control power, regenerative resistance, servo motor, and protective
grounding......................................................................................................................................................4-1
1) Part name and function .........................................................................................................................4-1
2) Wire.......................................................................................................................................................4-1
3) Wire diameter-allowable current............................................................................................................4-2
4) Recommended wire diameter................................................................................................................4-2
5) Wiring of servo motor ............................................................................................................................4-4
6) Example of wiring..................................................................................................................................4-7
7) Crimping of wires.................................................................................................................................4-11
8) High voltage circuit terminal; tightening torque....................................................................................4-11
4.2 Wiring with Host Unit...........................................................................................................................4-12
1) CN1 signal and pin number (wiring with host unit) ..............................................................................4-12
2) CN1 connector disposition...................................................................................................................4-14
3) Signal name and its function ...............................................................................................................4-14
4) Terminal connection circuit..................................................................................................................4-15
4.3 Wiring..................................................................................................................................................4-23
1) EN1 signal names and its pin numbers...............................................................................................4-23
2) EN1 connector layout..........................................................................................................................4-24
3) Connector model number for motor encoder.......................................................................................4-25
4) Recommended encoder cable specification........................................................................................4-26
5) Encoder cable length...........................................................................................................................4-26
4.4 Peripheral equipments.........................................................................................................................4-27
1) Power supply capacity and peripherals list..........................................................................................4-27
5. Operation ................................................................................................................................................5
5.1 Changing servo motor combination.......................................................................................................5-1
1) Confirmation and change of the setup software ....................................................................................5-1
2) Confirmation and change by the Digital Operator..................................................................................5-2
5.2 System parameters ...............................................................................................................................5-3
1) Confirmation of specifications................................................................................................................5-3
2) System parameters list..........................................................................................................................5-5
3) Confirmation and settings of system parameters...................................................................................5-5
4) Confirmation and settings of the system parameters (settings for motor encoder specification)...........5-9
5) Factory default setting values..............................................................................................................5-12
5.3 Test operation......................................................................................................................................5-13
1) Confirmation of installation and wiring.................................................................................................5-13

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2) Confirmation of movement ..................................................................................................................5-13
3) Confirmation of I/O signal....................................................................................................................5-14
4) Confirmation of device operation.........................................................................................................5-15
5) Confirmation of safe torque off function...............................................................................................5-15
5.4 Servo amplifier status display..............................................................................................................5-16
1) Default display.....................................................................................................................................5-16
2) Alarm display.......................................................................................................................................5-16
5.5 Operation sequence............................................................................................................................5-17
1) Operation sequence from power turn on to power shut off at the standard shipment setting..............5-17
2) Stop sequence at alarm.......................................................................................................................5-19
3) Sequence of alarm reset .....................................................................................................................5-21
4) Sequence when power is turned OFF during operation (During servo ON) ........................................5-22
5.6 Monitor function...................................................................................................................................5-23
1) Monitor function...................................................................................................................................5-23
2) Description of monitor..........................................................................................................................5-24
5.7 Analog monitor and digital monitor......................................................................................................5-28
5.8 Setting parameters..............................................................................................................................5-29
1) Parameters list ....................................................................................................................................5-29
5.9 Parameter functions ............................................................................................................................5-36
5.10 Control block diagram........................................................................................................................5-100
5.11 SEMI F47 supporting function...........................................................................................................5-103
1) Parameter setting General parameters Group8 “Control system”.................................................5-103
2) Operational sequence .......................................................................................................................5-103
3) Notes.................................................................................................................................................5-103
6. Adjustments............................................................................................................................................6
6.1 Servo tuning functions and basic adjustment procedure.......................................................................6-1
1) Servo tuning functions...........................................................................................................................6-1
2) Tuning method selection procedure ......................................................................................................6-2
6.2 Automatic tuning....................................................................................................................................6-3
1) Use the following parameters for automatic tuning................................................................................6-3
2) Automatically adjusted parameters in auto-tuning.................................................................................6-6
3) Adjustable parameters during auto-tuning.............................................................................................6-6
4) Unstable functions during auto-tuning...................................................................................................6-7
5) Auto-tuning characteristic selection flowchart........................................................................................6-8
6) Adjustment method for auto-tuning .......................................................................................................6-9
7) Monitoring servo gain adjustment parameters.....................................................................................6-10
8) Manual tuning method using auto-tuning results.................................................................................6-10

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6.3 Automatic tuning of notch filter............................................................................................................6-11
1) Operation method................................................................................................................................6-11
2) Setting parameters..............................................................................................................................6-11
6.4 Automatic tuning of FF vibration suppression frequency.....................................................................6-12
1) Operation method................................................................................................................................6-12
2) Setting parameters..............................................................................................................................6-12
6.5 Using manual tuning............................................................................................................................6-13
1) Servo system configuration and servo adjustment parameters...........................................................6-13
2) Basic manual tuning method for velocity control .................................................................................6-15
3) Basic manual tuning method for position control.................................................................................6-15
6.6 Model following control........................................................................................................................6-16
1) Automatic tuning method for model following control ..........................................................................6-16
2) Manual tuning method for model following control ..............................................................................6-17
6.7 Tuning to suppress vibration................................................................................................................6-18
1) FF vibration suppression control .........................................................................................................6-18
2) Model following vibration suppression control .....................................................................................6-18
3) Tuning methods...................................................................................................................................6-20
6.8 Using disturbance observer function ...................................................................................................6-21
7. Digital Operator ......................................................................................................................................7
7.1 Digital Operator names and functions ...................................................................................................7-1
7.2 Modes....................................................................................................................................................7-1
1) Changing modes ...................................................................................................................................7-1
2) Mode contents.......................................................................................................................................7-2
7.3 Setting and display range......................................................................................................................7-3
7.4 Status display mode ..............................................................................................................................7-4
1) Servo amplifier status display................................................................................................................7-4
2) Over-travel status display......................................................................................................................7-4
3) Status display of battery warning, regenerative overload warning, and overload warning.....................7-4
4) Alarm code and servo amplifier status code when alarm occurs...........................................................7-4
5) Alarm reset when alarm activated .........................................................................................................7-5
6) How to check the software version of servo amplifier............................................................................7-5
7) How to check Information 1, Information 2 (servo amplifier information), and Information 3 (Motor Code)7-6
8) How to set pass ward............................................................................................................................7-7
9) How to cancel password........................................................................................................................7-7
7.5 Editing parameters ................................................................................................................................7-8
1) Basic parameters, editing system parameters.......................................................................................7-8
2) Editing general parameters ...................................................................................................................7-9

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7.6 How to tune automatic notch frequency ..............................................................................................7-11
7.7 How to tune automatic FF vibration suppression frequency................................................................7-12
7.8 Offset adjustment of velocity/ torque command...................................................................................7-13
7.9 Offset adjustment of analog torque compensation command..............................................................7-14
7.10 Velocity-controlled JOG Operation ......................................................................................................7-15
7.11 Encoder clear ......................................................................................................................................7-16
7.12 Automatic tuning result writing.............................................................................................................7-16
7.13 Automatic setting of motor parameter..................................................................................................7-17
7.14 Alarm history display ...........................................................................................................................7-17
7.15 How to clear alarm history...................................................................................................................7-18
7.16 Monitor display....................................................................................................................................7-18
7.17 Fixed monitor display...........................................................................................................................7-19
7.18 Motor code-setting of servo motor used..............................................................................................7-19
8. Maintenance............................................................................................................................................8
8.1 Trouble shooting....................................................................................................................................8-1
8.2 List of warning and alarm ......................................................................................................................8-3
1) Warning List...........................................................................................................................................8-3
2) Alarm List ..............................................................................................................................................8-4
8.3 Trouble shooting when alarm activated.................................................................................................8-7
1) Alarm display.........................................................................................................................................8-7
2) Corrective action for alarm ....................................................................................................................8-7
8.4 Encoder clear and alarm reset ............................................................................................................8-29
1) Types of motor encoder.......................................................................................................................8-29
2) Occurring Alarm Code.........................................................................................................................8-29
8.5 Inspection............................................................................................................................................8-31
8.6 Service parts........................................................................................................................................8-32
1) Inspection parts...................................................................................................................................8-32
2) Replacing battery for motor encoder ...................................................................................................8-33
9. Fully closed Control...............................................................................................................................9
9.1 Illustration of system configuration ........................................................................................................9-1
9.2 Internal block diagram...........................................................................................................................9-4
9.3 Wiring....................................................................................................................................................9-6
1) Signal names and pin numbers of EN1 and EN2 ..................................................................................9-6
2) Connector layout of EN1 and EN2 ........................................................................................................9-8
9.4 Fully closed control related parameters.................................................................................................9-9
1) System parameters settings..................................................................................................................9-9

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2) Rotational direction setting for the servo motor ...................................................................................9-10
3) Setting for external encoder resolution................................................................................................9-10
4) Digital filter setting...............................................................................................................................9-11
5) Encoder output pulse signals ..............................................................................................................9-11
9.5 Remarks..............................................................................................................................................9-12
1) Input power timing for external pulse encoder.....................................................................................9-12
2) Workings of external pulse encoder ....................................................................................................9-12
10. Safe Torque Off (STO) Function..........................................................................................................10
10.1 Illustration of system configuration ......................................................................................................10-1
10.2 Safe-Torque-Off (STO) function...........................................................................................................10-4
1) Outline.................................................................................................................................................10-4
2) Standards conformity...........................................................................................................................10-4
3) Risk assessment .................................................................................................................................10-5
4) Residual risk........................................................................................................................................10-5
5) Delay circuit.........................................................................................................................................10-5
10.3 Wiring..................................................................................................................................................10-6
1) CN4 connector layout..........................................................................................................................10-6
2) Connection diagram of CN4-terminals.................................................................................................10-6
3) Example of wiring................................................................................................................................10-7
4) Safety input-off shot pulse for safety device self-diagnosis.................................................................10-8
10.4 Safe-Torque-Off operation...................................................................................................................10-9
1) Safe-torque-off state............................................................................................................................10-9
2) Restoration from safe-torque-off state...............................................................................................10-10
3) Safe-Torque-Off during servo motor running .....................................................................................10-11
4) Safe Torque Off during servo motor stoppage...................................................................................10-13
5) Deviation clear...................................................................................................................................10-14
6) Safety input signal failure detection...................................................................................................10-14
10.5 Error Detection Monitor (EDM)..........................................................................................................10-15
1) Specifications ....................................................................................................................................10-15
2) Connection example..........................................................................................................................10-15
3) Error detection method......................................................................................................................10-15
10.6 Verification test..................................................................................................................................10-16
1) Preparation........................................................................................................................................10-16
2) Confirmation procedure.....................................................................................................................10-16
3) Acceptance criteria............................................................................................................................10-16
10.7 Safety precautions.............................................................................................................................10-17

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11. Selection ............................................................................................................................................... 11
11.1 Servo motor sizing...............................................................................................................................11-1
1) Flowchart of servo motor sizing...........................................................................................................11-1
2) Make an operation pattern...................................................................................................................11-2
3) Calculate motor shaft conversion load moment of inertia (JL).............................................................11-2
4) Calculate motor shaft conversion load torque (TL)..............................................................................11-3
5) Calculate acceleration torque (Ta).......................................................................................................11-5
6) Calculate deceleration torque (Tb) ......................................................................................................11-5
7) Calculate effective torque (Trms).........................................................................................................11-5
8) Judgment condition .............................................................................................................................11-5
11.2 Capacity selection of regenerative resistor..........................................................................................11-6
1) How to find "regeneration effective power (PM)" of the horizontal axis drive by a formula.................. 11-6
2) How to find "regeneration effective power (PM)" of the vertical axis drive by a formula......................11-7
3) Capacity selection of regenerative resistor..........................................................................................11-8
4) Capacity selection of external regenerative resistor............................................................................11-8
5) Capacity of external regenerative resistor and resistor model name...................................................11-9
6) Connection of regenerative resistance..............................................................................................11-10
7) Thermostat connection of external regenerative resistor................................................................... 11-11
8) Protection function of regenerative resistance................................................................................... 11-11
9) Confirmation method of regeneration power PM in actual operation................................................. 11-12
10) Installation.........................................................................................................................................11-12
12. Appendix...............................................................................................................................................12
12.1 Standards conformity...........................................................................................................................12-1
1) Standards conformity...........................................................................................................................12-1
2) Over-voltage category, protection grade, pollution level......................................................................12-2
3) Connection and installation .................................................................................................................12-2
4) UL file number .....................................................................................................................................12-2
12.2 Compliance with EN Directives ...........................................................................................................12-3
1) Conformity verification test..................................................................................................................12-3
2) EMC installation requirements.............................................................................................................12-4
12.3 Servo motor dimensions......................................................................................................................12-5
1) R2 motor, flange size 40mm, 60mm, 80mm, 86mm and 100mm........................................................12-5
2) R2 motor, flange size 130mm 0.5kW to 1.8kW.................................................................................12-6
3) R2 motor, flange size 130mm 2kW...................................................................................................12-6
4) R2 motor, flange size 180mm 3.5kW to 7.5Kw.................................................................................12-7
5) R2 motor, flange size 180mm 11kW .................................................................................................12-7
6) R2 motor, flange size 220mm 3.5kW to 5kW....................................................................................12-8

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7) R5 motor, flange size 60mm, 80mm....................................................................................................12-9
8) Q1 motor, flange size 100mm, 120mm, 130mm, and 180mm...........................................................12-10
9) Q2 motor, flange size 130mm, 180mm, and 220mm.........................................................................12-11
10) Q4 motor, flange size 180mm............................................................................................................12-12
12.4 Servo motor data sheet.....................................................................................................................12-13
1) Characteristics table..........................................................................................................................12-13
2) Velocity-torque characteristics...........................................................................................................12-20
3) Overload characteristic......................................................................................................................12-27
12.5 Servo amplifier dimensions ...............................................................................................................12-33
1) RS2□01A□□L□.............................................................................................................................12-33
2) RS2□03A□□L□.............................................................................................................................12-33
3) RS2□05A□□L□.............................................................................................................................12-34
4) RS2□10A□□A□............................................................................................................................12-34
5) RS2□15A□□A□............................................................................................................................12-35
6) RS2□30A□□L□.............................................................................................................................12-35
12.6 Optional parts....................................................................................................................................12-36
1) Connectors of servo amplifier............................................................................................................12-36
2) Fixing bracket....................................................................................................................................12-40
3) Setup software, serial communication related items..........................................................................12-41
4) Battery for battery backup absolute encoder related items................................................................12-41
5) Analog monitor related item...............................................................................................................12-41
6) Junction cable for servo motor ..........................................................................................................12-42
12.7 Optional parts dimensions for setup software....................................................................................12-43
1) Cable for personal computer communications (Model No.: AL-00689703-01) ..................................12-43
2) Cable for communication between amplifier (0.2m) (Model No.:AL-00695974-01) ..........................12-43
3) Cable for communication between amplifier (3.0m) (Model No.:AL-00695974-02) ..........................12-43
4) Communication converter (Model No.: SAU-024-01) ........................................................................12-44
5) Connector with terminator (Model No.: AL-00695977-01) .................................................................12-44
12.8 Battery peripherals dimensions.........................................................................................................12-45
1) Battery body (Model No.: AL-00697958-01)......................................................................................12-45
2) Battery trunk cable (Model No.: AL-00697960-□□) .........................................................................12-46
3) Battery trunk cable (Model No.: AL-00731792-01) ............................................................................12-47
12.9 Monitor box and dedicated cable dimensions....................................................................................12-48
1) Monitor Box (Model No.: Q-MON-3)..................................................................................................12-48
2) Dedicated Cable (Model No.: AL-00690525-01)................................................................................12-48
12.10 External dimension of regenerative resistor ......................................................................................12-49