Sanyo Denki Sanmotion R User manual

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Find the Sanyo Denki RS1A01AC at our website: Click HERE

AC100 V 30 W
-
200 W, AC 200 V 30 W
-
1kW
Ver.6
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Input voltageAC100 V, 200 V
Servo amplifier
5
5
5
5
5
5
A
A
A
A
A
・
・
33
00
AA
A
・
・
55
00
AA
R2 Servo motor
444
4
4
4
4
00
0
0
0
0
0
m
m
mm
mm
・
6
6
6
00
m
m
m
m
・
・
88
8
8
00
mm
m
m
m
m
・
8
8
6
6
m
m
m
m
3
3
3
3
0
0
0
0
0
WW
W
W
W
W
・
55
0
0
W
W
・
・
11
1
0
0
0
0
0
0
0
WW
W
・
・
2
2
0
0
0
0
W
W
・
4
4
4
4
4
0
0
W
・
7
5
0
W
W
・
1
.
0
k
W
Amp. capacity
Flange size
Rated output
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Index
Features and Functions ･･･････････ P. 3
Standard Model Number List ･･･ P. 7
Model Number Nomenclature ･･P. 1 0
System Conguration ････････････P. 1 3
Standard Specications・
Encoder Wiring Diagram ････････P. 1 5
External Wiring Diagram ････････P. 20
Dimensions ･･････････････････････････P. 24
Setup Software ･････････････････････P. 28
Servo Amplier built-in
positioning function･･･････････････P. 30
Optional Equipment･･･････････････P. 31
Discontinued Models and
Replacement Models ･････････････P. 34
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3
Easy Set-up for Optimal Operation
Auto-Tuning
A new auto-tuning algorithm improves system
response by providing functions such as inertia
identification, 5 auto-tuning modes, 30 levels of
response, and parameter setting auto-save.
Tuning start
Velocity command
value
Detected velocity value
Small Compact Servomotors
Motor size and volume is reduced by as much as 30%
and 25% respectively compared to current models.
The world's smallest high torque high performance
servomotor. (as of Sept 2006)
Multi-Axis Servo Amplifier
6-axis model can reduce installation width by up to
42% compared to six single-axis models.Power loss is
reduced by up to 20% compared to current single-axis
models.
Protection code IP67
Protection code is IP67 for all models.
All-in-One Control
Configurable parameters allow you to switch between
control modes for torque, position or velocity.
START
GOAL
Position
or
Velocity
Torque
control
Flat
Ascending
Power Supply Harmonic Suppression
Equipped with DC reactor connection terminals as
standard feature for supressing power supply
harmonics.
30% reduction
*Uniaxial servo amplier only
*Shaft feedthrough and cable end are excluded.
IP67
Water Dust
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4
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
Setup Software
5-digit LED Display, Built-in Operator
Parameter setting, monitoring and alarm tracing can
be easily done using the built-in operator.
Test Function (JOG)
On-board JOG operation function is available for
testing motor and amplifier connection without the
need to connect to host device.
Setup Software
The setup software allows you to set parameters,
view graphical displays of monitored position,
velocity or torque waveforms, and perform system
analysis.
Multiaxial Monitor Function
The setup software allows up to 15 amplifiers to be
monitored. (Single axis only)
Built-in Regeneration Resistor
It is possible to choose whether to equip regenerative
resistance or not. If the regenerative resistance
capability is insufficient, it is possible to use an
external regenerative resistance unit.
Built-in Dynamic Brake
A built-in dynamic brake provides emergency stop
capability. The six kinds of motion sequences for the
dynamic brake can be selected by parameter setting.
*Use optional cable
AL-00490833-01 for PC
connection
Parameter settings Position, velocity,
torque waveforms
*PC connection cable is optional
Maximum
15 units
Built-in
Regeneration
Resistor
External regenerative
resistor unit (Option)
Rotation speed
(min-1)
Time(s)
Controlled
state Dynamic braking state
*Multi-axis is done through a personal computer.
Capable of JOG operation
without connecting to host
device
*
RS232C
Daisy chain up to 15 units
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5
Improved Precision and Reduced CycleTime
High Response
A 4th-order notch filter reduces phase delay to
suppress mechanical resonance and improve velocity
response of equipment.
1
-20
-30
-40
-10
0
10
5 10 50 100 500 1000 1800
Gain (dB)
Frequency (Hz)
Shorter Position Settling Time
A new algorithm drastically shortens positioning
settling time for equipment.
5ms/div
Position deviation
Position complete signal
Settling time (0ms)
Example of positioning settling time
in highly rigid machinery
Vibration Suppression Control
With feed-forward vibration suppression control,
vibrations at the processing point and base of a
machine can be suppressed through simple tuning
procedures. Up to 4 types of vibration control
frequencies can be selected.
100ms/div
Position deviation during stop
Without vibration suppression control
With vibration suppression control
With vibration
suppression control Without vibration suppression control
Disturbance Suppression
It is possible to control impacts from other axes in
case of multiaxial constitution, by using the new
disturbance observer with extended applicable
frequency.
Oscillation waveform
of direct drive section Oscillation waveform of direct drive section
Disturbance observer function ON Disturbance observer function OFF
Disturbance
Disturbance
Expanded Power Range
Maximum instantaneous stall torque is improved by
5% to 26%, and maximum rotation speed is increased
from 5000min-1 to 6000min-1 compared to current
models.
07000600050004000300020001000
Rotation Speed ( min-1 )
R motor
Current model
Increased torque
Increased rotation Speed
Torque (N・m )
Command Follow-up Control
Performance of the positioning doubled in comparison
with current models by adoption of new positioning
control algorithm and new speed control algorithm.
And position deviation≒0 is achieved.
20ms/div
Position deviation
Position command
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6
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
Setup Software
Reduced Running
Costs
Low Cogging Torque
Using our proprietary technology, the motor's low
cogging torque delivers smooth rotation that is ideal
for high precision processes and vibration-sensitive
conveyor applications.
H
i
g
h
R
e
s
o
l
u
t
i
o
n
1
7
b
i
t
(
1
3
1
,
0
7
2
d
i
v
i
s
i
o
n
s
)
A
b
s
o
l
u
t
e
E
n
c
o
d
e
r
20% Reduction in Power Loss
An energy conserving power module reduces main
circuit power loss by up to 20%.
SANMOTION R
50A
70%
60%
50%
40%
30%
20%
10%
0%
80%
90%
100%
Current model
Power loss reduction (%)
High Resolution
Support for encoders up to 17 bit (131,072 divisions) is
available for high resolution control.
R motor
Current model
Comparison of cogging torque waveforms
(*Image)
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7
200V System
Servo Motor Standard Model Number List
For specications on other model, please contact us.
Power Voltage Encoder models Rated Output Motor Flange Size Holding Brake CE·UL Model No.
200V
Battery backup method
absolute encoder
（PA035C）
30W 40mm sq.
――
R2AA04003FXP00
―Standard R2AA04003FXP00M
yes
（24V）―
R2AA04003FCP00
yes
（24V）Standard R2AA04003FCP00M
50W 40mm sq.
――
R2AA04005FXP00
―Standard R2AA04005FXP00M
yes
（24V）―
R2AA04005FCP00
yes
（24V）Standard R2AA04005FCP00M
100W
40mm sq. ――
R2AA04010FXP00
―Standard R2AA04010FXP00M
60mm sq.
――
R2AA06010FXP00
―Standard R2AA06010FXP00M
yes
（24V）―
R2AA06010FCP00
yes
（24V）Standard R2AA06010FCP00M
200W
60mm sq.
――
R2AA06020FXP00
―Standard R2AA06020FXP00M
yes
（24V）―
R2AA06020FCP00
yes
（24V）Standard R2AA06020FCP00M
80mm sq.
――
R2AA08020FXP00
―Standard R2AA08020FXP00M
yes
（24V）―
R2AA08020FCP00
yes
（24V）Standard R2AA08020FCP00M
400W
60mm sq. ――
R2AA06040FXP00
―Standard R2AA06040FXP00M
80mm sq.
――
R2AA08040FXP00
―Standard R2AA08040FXP00M
yes
（24V）―
R2AA08040FCP00
yes
（24V）Standard R2AA08040FCP00M
750W 80mm sq.
――
R2AA08075FXP00
―Standard R2AA08075FXP00M
yes
（24V）―
R2AA08075FCP00
yes
（24V）Standard R2AA08075FCP00M
1000W 86mm sq.
――
R2AAB8100FXP00
―Standard R2AAB8100FXP00M
yes
（24V）―
R2AAB8100FCP00
yes
（24V）Standard R2AAB8100FCP00M
Absolute encoder for
incremental System
（PA035S）
30W 40mm sq.
――
R2AA04003FXH00
―Standard R2AA04003FXH00M
yes
（24V）―
R2AA04003FCH00
yes
（24V）Standard R2AA04003FCH00M
50W 40mm sq.
――
R2AA04005FXH00
―Standard R2AA04005FXH00M
yes
（24V）―
R2AA04005FCH00
yes
（24V）Standard R2AA04005FCH00M
100W
40mm sq. ――
R2AA04010FXH00
―Standard R2AA04010FXH00M
60mm sq.
――
R2AA06010FXH00
―Standard R2AA06010FXH00M
yes
（24V）―
R2AA06010FCH00
yes
（24V）Standard R2AA06010FCH00M
200W
60mm sq.
――
R2AA06020FXH00
―Standard R2AA06020FXH00M
yes
（24V）―
R2AA06020FCH00
yes
（24V）Standard R2AA06020FCH00M
80mm sq.
――
R2AA08020FXH00
―Standard R2AA08020FXH00M
yes
（24V）―
R2AA08020FCH00
yes
（24V）Standard R2AA08020FCH00M
400W
60mm sq. ――
R2AA06040FXH00
―Standard R2AA06040FXH00M
80mm sq.
――
R2AA08040FXH00
―Standard R2AA08040FXH00M
yes
（24V）―
R2AA08040FCH00
yes
（24V）Standard R2AA08040FCH00M
750W 80mm sq.
――
R2AA08075FXH00
―Standard R2AA08075FXH00M
yes
（24V）―
R2AA08075FCH00
yes
（24V）Standard R2AA08075FCH00M
1000W 86mm sq.
――
R2AAB8100FXH00
―Standard R2AAB8100FXH00M
yes
（24V）―
R2AAB8100FCH00
yes
（24V）Standard R2AAB8100FCH00M
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8
Standard
Specifications
Model Number
Nomencalture
System
Configuration
Features and
Functions
Optional
Equipment
Dimensions
External Wiring
Diagram
Setup Software
200V System
Type Main Power Control Power Encoder Type Selectable
Output
Internal Registration
Resistor
Amplier
Capacity Model No.
CANopen
Interface
specications
AC200V

System
AC200V

System
Wire-saving incremental encoder,
Battery backup method absolute
encoder
NPN
―
15A RS1A01AL
30A RS1A03AL
50A RS1L05AL
With
15A RS1L01AL
30A RS1L03AL
50A RS1A05AL
DC24V
―
15A RS1J01AL
30A RS1J03AL
50A RS1J05AL
With
15A RS1K01AL
30A RS1K03AL
50A RS1K05AL
AC200V

System
PNP
―
15A RS1A01AU
30A RS1A03AU
50A RS1L05AU
With
15A RS1L01AU
30A RS1L03AU
50A RS1A05AU
DC24V
―
15A RS1J01AU
30A RS1J03AU
50A RS1J05AU
With
15A RS1K01AU
30A RS1K03AU
50A RS1K05AU
Built-in
positioning
function
model
AC200V

System AC200V

System
Wire-saving incremental encoder,
Battery backup method absolute
encoder
NPN
―
15A RS1A01AC
30A RS1A03AC
50A RS1L05AC
With
15A RS1L01AC
30A RS1L03AC
50A RS1A05AC
For specications on other model, please contact us.
Type Power Input Encoder Type Selectable
Output
Amplier
Capacity Model No.
Pulse train
interface DC280V Battery backup method
absolute encoder NPN
15A RR1A01AAB00
30A RR1A03AAB00
■
Multi-Axis Servo System Amplier Unit
Type Power Input Internal Registration Resistor Model No.
Pulse train
interface AC200V With RRPAA00
■
Multi-Axis Servo System Power Unit
Power Input
Number of Slots
(based on a 15A unit)
Model No.
AC200V
4RRMA400
6RRMA600
8RRMA800
■
Multi-Axis Servo System Motherboard
Servo Amplifier Standard Model Number List
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