SANYO DENKI Servo Amplifiers Selection Guide
SANMOTION SERVO SYSTEMS R ADVANCE MODEL
选型目录：
SANMOTION R SERVO SYSTEMS Product Features
Servo Amplifier and Servo Motor Combination Table
Standard Model Number List
Servo Amplifiers
Servo Motors
Options
Compact Cylinder Linear Servo Motor
Multi-Axis Integrated Linear Servo Motor Unit
SANMOTION R SERVO SYSTEMS Product Selection Guide
Motor Protection Rating
Safety Precautions
9
CATALOG No.S0941B013 ‘22.10
Servo Amplifiers
Note that not all possible parameter combinations are valid. Also note that some of the parameters below are for options.
Refer to the Standard Model Number List section for standard models with valid model numbers.
How to Read Model Numbers
Pulse input single-axis
Servo amplifier
System Configuration
Servo motor
5 VDC control circuit power supply
Options
Power input cable
Model no.: AL-00745943-01
→
p. 27
Host controller
Options
I/O cable set
Model no.: AL-00745949-01
→
p. 27
Options
Setup Software
Enables parameter settings
and status monitoring to be
done from a PC.
→
p. 25
Options
PC communication cable
Model no.: AL-00490833-01
→
p. 27
Options
Analog monitor box
Model no.: Q-MON-5
→
p. 28
Monitor box power supply
48 VDC main circuit power supply
Power supply
Options
Connectors, connector sets
→
p. 26
Brake power supply
Required for servo motors with brake.
Use a DC stabilized power supply or
full-wave rectifier power supply.
(To be provided by the customer)
Options
Cable with alarm output
connector
Model no.: AL-00753589-01
→
p. 26
Options
External regenerative resistor
An external regenerative resistor
will be required when the capacity
of an built-in regenerative resistor
is not sufficient to absorb the gen
-
erated regenerative energy.
→
p. 33
Options
Regeneration module
Required when motor and system
operating conditions are such that
an excessive amount of regener
-
ative energy is generated and DC
voltage increases.
Model no.: RF1BB00
→
p. 26
Options
Power input
connector
Model no.:
AL-00329461-01
→
p. 26
Options
Motor power cable
Model no.:
AL-00745944-01
→
p. 27
Options
Encoder cable
Absolute Model no.:
AL-00745946-01
Incremental Model no.:
AL-00745945-01
→
p. 28
Features
Servo Amplifier and Motor
Combination Table
Standard Model
Number List
ADVANCED MODEL Servo Amplifiers
Pulse input single-axis
ADVANCED MODEL Servo Amplifiers
EtherCAT single-axis
ADVANCED MODEL Servo Amplifiers
EtherCAT multi-axis
Servo Motors
Options
Linear Servo Motors
Selection Guide
RF2
G
21
A
0
A
00
Input power supply voltage
Code
Specifications
G
48 VDC
Note: Contact us if a 24 VDC power supply is needed.
ADVANCED MODEL series
Amplifier capacity
Code
Specifications
11
25 A
(Dedicated for motor R2GAD102R)
21
40 A
Motor type
Code
Specifications
A
Rotary motor
L
Linear motor
Motor encoder type
Code
Specifications
0
Absolute encoder
8
Incremental encoder
Interface type
Code
Specifications
A
Analog/pulse, sinking type (NPN) general-purpose output
Specification identifier
Code
Specifications
00
Standard
10
Cylinder linear servo motor
10
CATALOG No.S0941B013 ‘22.10
Control functions
Position control
Control system
Power MOSFET-based sinusoidal PWM control
Main circuit power supply
48 VDC
±
10%
(1)
Control circuit power supply
5 VDC
±
5%
(2)
Environment
Operating temperature
0 to 40
°C
(3)
Storage temperature
-20 to +65
°C
Operating and storage humidity
Below 90% RH (non-condensing)
Altitude
1000 m or below
Vibration resistance
4.9 m/s
2
At frequency of 10 to 55 Hz in each X, Y, and Z direction for 2 hours
Shock resistance
19.6 m/s
2
Structure
Tray type, external DC power supply required
Speed control range
1:5000 (Internal speed command)
Frequency characteristics
1200 Hz (at high-speed sampling mode)
Protection functions
Overcurrent, current meter error, overload, main circuit power supply overvoltage, main circuit power
supply undervoltage, control circuit power supply undervoltage, encoder error, overspeed, speed
control error, speed feedback error, CPU error, memory error, parameter error, excessive position
deviation, positioning command pulse error, amplifier overheating, external error
LED indicator
Alarm indicator (red), status indicator (green), control power ON (green)
Dynamic braking
Built-in
Regenerative resistor
Option: External
Analog monitor
Option
(1) Ensure that the main circuit power supply voltage is within the specified range.
(2) The control circuit power supply is used to power encoders. Note that a long encoder wiring, even if the input voltage is within the range, may drop the voltage and prevent the
encoder from operating normally.
(3) Use the product within the specified temperature and humidity ranges.
Common Specifications
Pulse input single-axis
108
116
100
30
3
70
4
15
9
182
200
50
（
70
）
130
5
190
10
30
2-
∅
5
2-5
4.5
4.5
10.8
160
40
（
20
）
（
18
）
（
70
）
85
4
5
5
152
Servo Amplifier Dimensions
[Unit: mm]
Mass: 0.25 kg
RoHS
Servo amplifier type
Safety standards
All pulse input single-axis models
North American standards (UL, cUL)
UL 508C
EU Directive (CE)
Great Britain (UKCA)
Low Voltage Directive
EN 61800-5-1
EMC Directive
EN 61000-6-2
EN 61800-3
KC (Korea Certification) Mark
KN 61000-6-2, KN 61000-6-4
Safety Standards
11
CATALOG No.S0941B013 ‘22.10
Servo amplifier
CN1A
48 G
48 V
5 G
5 V
FG
Clockwise
pulse
SG
Counterclockwise
pulse
SG
F-PC
F-PC
SG
R-PC
R-PC
FG
+5 V
+5 V
+5 V
+5 V
SG
SG
Servo motor
U
W
V
CN2
Red
(Green/Yellow)
White
Black
Green
RY1
Holding brake
(Only for motors
with brake)
Yellow
Yellow
Encoder
24 VDC
(90 VDC)
11
12
10
13
14
2
CONT-COM
CONT1
5 to 24 VDC
CONT2
CONT3
CONT4
CONT5
CONT6
2
FG
9
PS
8
PS
7
6
ZO
ZO
5
BO
4
BO
3
1
AO
AO
Line driver
HD26C31
equivalent
User unit
(3)
(5)
SH
SH
CNB
CNA
5 VDC,
12 to 24 VDC
Line driver
HD26C31
equivalent
Line receiver
HD26C32
equivalent
Position
command
pulse input
General-purpose
input
Shielded cable
General-purpose
output
Encoder divided signal output
(4)
OUT8
OUT7
OUT6
OUT5
OUT4
OUT3
OUT2
OUT1
12
OUT-PWR
11
CN1A
CN1B
CN1B
CONT8
CONT7
OUT-COM
1
3
4
5
6
7
8
9
10
13
14
15
16
17
18
20
19
(1)
(6)
(2)
1
2
3
4
1
2
3
4
5
Main circuit power supply
Control power
48 VDC
5 VDC
Analog monitor
box
Connector
no.
Name
Housing, plug, shell
Housing
Contact
CNA
Main/control power supply connector
VHR-5N
BVH-21T-P1.1
CNB
Servo motor power connector
VHR-4N
BVH-21T-P1.1
CN1A
Controller line receiver/driver connector
PADP-14V-1-S
SPH-002GW-P0.5S
CN1B
Controller GPIO connector
PADP-20V-1-S
SPH-002GW-P0.5S
CN2
Encoder connector
PADP-10V-1-S
SPH-002GW-P0.5S
External Wiring Diagram
Pulse input single-axis
Features
Servo Amplifier and Motor
Combination Table
Standard Model
Number List
ADVANCED MODEL Servo Amplifiers
Pulse input single-axis
ADVANCED MODEL Servo Amplifiers
EtherCAT single-axis
ADVANCED MODEL Servo Amplifiers
EtherCAT multi-axis
Servo Motors
Options
Linear Servo Motors
Selection Guide
(1)
Use shielded twisted pair (STP) ca
-
bles in the parts marked with this pattern.
(2) Note that an analog monitor box is sold
separately from servo amplifiers.
The connector for it is located on the am
-
plifier's bottom.
(3) Motor side connections vary depending on
motor specifications. The red, white, black,
green, and yellow indicated in the figure
are for use when the motor has lead-wire
type power and brake lines.
(4) Refer to the encoder wiring diagram for the
wiring of encoder connectors.
(5) Connect the signal ground (SG) between
the servo amplifier and your equipment.
(6) When using batteries for the main circuit
power supply, an electrolytic capacitor
(2000
μ
F or higher) must be installed.
Note: Please be reminded that external power
supplies need to be prepared by the
customer.
12
CATALOG No.S0941B013 ‘22.10
System Configuration
EtherCAT single-axis
Servo Amplifiers
Note that not all possible parameter combinations are valid. Also note that some of the parameters below are for options.
Refer to the Standard Model Number List section for standard models with valid model numbers.
How to Read Model Numbers
Servo motor
Servo amplifier
Safety unit,
safety PLC, etc.
Sends Safe Torque Off function signals
to safety devices such as a safety unit
and safety PLC.
When not using STO, be sure to insert
the short-circuiting STO connector to
CN1.
Options
Absolute encoder communication
cable
Model no.: AL-00921370-0
□
→
p. 29
Options
Servo motor extension cable
→
p. 30
Brake power supply
Required for servo motors with
brake.
Use a DC stabilized power supply or
full-wave rectifier power supply.
(To be provided by the customer)
Options
External regenerative resistor
Normally, a built-in regenerative
resistor should be sufficient. Use an
external regenerative resistor when
more capacity is needed, e.g. for
high-frequency movement.
→
p. 33
24 VDC control circuit
power supply
Main circuit power supply
48 VDC
(Contact us if a 24 VDC power
supply is needed.)
Options
Analog monitor box
Model no.: Q-MON-3
→
p. 30
Options
PC communication cable
Model no.: AL-00689703-01
→
p. 29
Options
Setup Software
Enables parameter setup
and monitoring through
communication with a PC.
→
p. 25
GPIO connector
For homing, probing, and
general-purpose signals
To the next amplifier
Host controller
Options
EtherCAT communication cable
Model no.: AL-01109322-
□□
→
p. 29
Motor power cable
Input power supply voltage
Code
Specifications
K
48 VDC
Note: Contact us if a 24 VDC power supply is needed.
RS2
K
04
A
2
H
A
5
ADVANCED MODEL series
Amplifier capacity
Code
Specifications
02
25 A
(Dedicated for motor
R2GAD102R)
04
40 A
Motor type
Code
Specifications
A
Rotary or linear motor
Motor encoder type
Code
Specifications
2
Absolute encoder
A
Incremental encoder
Interface type
Code
Specifications
H
EtherCAT
Option 1
Code
Specifications
A
With built-in regenerative resistor &
with built-in DB
L
Without built-in regenerative resistor
(option: external) & with built-in DB
Option 2
Code
STO function
5
(with delay circuit)
13
CATALOG No.S0941B013 ‘22.10
MC
System error
Start ready
AC power
MC
IN/OUT
OFF
Start ready
ON
MC
Emergency
stop
P
N
Servo motor
W
U
V
EN1
Black
(Green/Yellow)
White
Red
Green
RY1
(Only for motors with brake)
Holding brake
Yellow
Yellow
24 VDC
(90 VDC)
RB1
+
1
2
CONT1+
CONT1-
User unit
(4)
Internal regenerative
resistor
RB2
SH
SH
(2)
CNA
CNA
(5)
4
5
8
7
6
3
CONT2-
CONT2+
SH
6
5
8
3
4
HWGOFF1+
EDM+
HWGOFF1-
HWGOFF2-
HWGOFF2+
SH
Reserved
(Do not connect.)
24 VDC
(10)
24 VDC
Ethernet I/O
5 to 24 VDC
(10)
CN1
EDM-
SH
3
4
5
6
(1,7)
CNB
(11)
(10)
7
16
OUT1+
OUT1-
17
CN2
OUT2-
OUT2+
19
18
General-purpose
input
General-purpose
output
CONT4-
10
CONT3-
CONT4+
9
8
CONT3+
7
CONT6-
15
CONT6+
CONT5-
14
12
CONT5+
11
20
21
22
23
24
Reserved
(Do not
connect.)
(8)
2
1
SG
13
26
/
EN2
(13)
25
(12)
(9)
Main circuit power supply
48 VDC
+
(3)
CP
CN
+
(6)
Control power
24 VDC
Encoder
Shielded
cable
Shielded cable
Shielded cable
Only for STO models
Analog monitor box
External Wiring Diagram
EtherCAT single-axis
Features
Servo Amplifier and Motor
Combination Table
Standard Model
Number List
ADVANCED MODEL Servo Amplifiers
Pulse input single-axis
ADVANCED MODEL Servo Amplifiers
EtherCAT single-axis
ADVANCED MODEL Servo Amplifiers
EtherCAT multi-axis
Servo Motors
Options
Linear Servo Motors
Selection Guide
Connector no.
Name
Housing, plug, shell
CNA
25 A, 40 A
Main/control power
supply connector
MSTBT2.5/6-STF-5.08
CNB
25 A, 40 A
Servo motor power
connector
MSTBT2.5/3-STF-5.08
EN1/EN2
Encoder connector
Connector:
36210-0100PL
Shell kit:
36310-3200-008
CN2
GPIO connector
Connector:
HDR-E26MSG1+
Shell kit:
HDR-E26LPH
CN1
STO connector
For short-circuiting:
1971153-2
For wiring: 2013595-3
(1)
Use shielded twisted pair (STP) cables in the parts marked with this pattern.
(2) Ensure that the regenerative resistor is connected between the RB1 and RB2 termi
-
nals.
When using an external regenerative resistor, remove the built-in regenerative
resistor connected to the RB1 and RB2 terminals, and then connect the external
regenerative resistor between RB1 and RB2 terminals.
(3) • Electrolytic capacitors are required to be installed in P-to-N and CP-to-CN on the
amplifier side if the wiring between the DC power supply and servo amplifier is too
long.
• When using batteries in the DC power supplies between P and N or between CP
and CN, electrolytic capacitors must be installed. (2000
μ
F or higher recommended)
• Contact us if a 24 VDC power supply is needed.
(4) Motor side connections vary depending on motor specifications.
The red, white, black, green, and yellow indicated in the figure are for use when
the motor has lead-wire type power and brake lines.
(5) Refer to the encoder connection diagram for the wiring of encoder connectors.
(6) For the protection of the servo amplifier, when designing an emergency shut
-
down system, ensure that it shuts down the input of DC power supplies.
(7) Use a category 5e (TIA standards) or better shielded twisted pair cable (STP).
(8) Do not connect anything to the CN1-1 or CN1-2 pins.
(9) Use of a UL or IEC/EN compliant leakage circuit breaker is recommended.
(10) An external power supply is to be prepared by the customer.
(11) CN1 is a connector for the Safe Torque Off function. Turning Servo ON (motor in
operation) requires to connect a safety device and get STO enabled. When not
using STO, be sure to insert the short-circuiting STO connector to CN1.
(12) Do not connect anything to the CN2-20 to CN2-25 pins.
(13) When using a pulse encoder to configure a semi-closed system, connect it to
EN2.
14
CATALOG No.S0941B013 ‘22.10
System Configuration
Servo Amplifiers
Note that not all possible parameter combinations are valid. Also note that some of the parameters below are for options.
Refer to the Standard Model Number List section for standard models with valid model numbers.
How to Read Model Numbers
RF2
J
24
A
0
H
L
5
ADVANCED MODEL series
Amplifier capacity
Code
Specifications
14
25 A/axis, 4-axis model
(Dedicated for motor R2GAD102R)
24
40 A/axis, 4-axis model
Motor type
Code
Specifications
A
Rotary or linear motor
Motor encoder type
Code
Specifications
0
Absolute encoder
8
Incremental encoder
Interface type
Code
Specifications
H
EtherCAT
Option 1
Code
Specifications
L
Without built-in regen
-
erative resistor (option:
external) & without
built-in DB
Option 2
Code
STO function
5
(with delay circuit)
Servo motor
Servo amplifier
EtherCAT multi-axis
Safety unit,
safety PLC, etc.
Sends Safe Torque Off function
signals to safety devices such as a
safety unit and safety PLC.
When not using STO, be sure to
insert the short-circuiting STO con
-
nector to CN1.
Options
External regenerative
resistor
Normally, a built-in
regenerative resistor
should be sufficient.
Use an external regen
-
erative resistor when
more capacity is need
-
ed, e.g. for high-fre
-
quency movement.
→
p. 33
Control circuit
power supply
24 VDC
Main circuit power supply
48 VDC
To axis 4 servo motor
To axis 4 servo motor
Axis 4
servo motor
Axis 3
servo motor
Axis 2
servo motor
Axis 1
servo motor
To axis 3 servo motor
To axis 3 servo motor
To axis 2 servo motor
To axis 2 servo motor
Options
Power input cable
Model no.:
AL-00921367-01
→
p. 31
Options
Regenerative resistor cable
Model no.: AL-00921368-01
→
p. 31
GPIO connector
For homing, probing, and
general-purpose signals
Options
PC communication cable
Model no.: AL-00689703-01
→
p. 31
Options
Setup Software
Enables parameter setup
and monitoring through
communication with a PC.
→
p. 25
Brake power supply
Required for servo motors with brake.
Use a DC stabilized power supply or
full-wave rectifier power supply.
(To be provided by the customer)
Options
Motor power cable
Model no.: AL-00921369-0
□
→
p. 32
Options
Absolute encoder
communication cable
Model no.: AL-00921370-0
□
→
p. 32
Host controller
To the next amplifier
Options
EtherCAT communication cable
Model no.: AL-01109322-
□□
→
p. 31
Input power supply voltage
Code
Specifications
48 VDC, without fan (small capacity)
K
48 VDC, with fan (large capacity)
Note: Contact us if a 24 VDC power supply is needed.
15
CATALOG No.S0941B013 ‘22.10
MC
System error
Start ready
AC
power
MC
IN/OUT
OFF
Start ready
ON
MC
Emergency
stop
P
N
U
W
V
Red
(Green/Yellow)
White
Black
Green
RY1
(Only for motors with brake)
Holding brake
Yellow
Yellow
24 VDC
(90 VDC)
1
2
CONT1+
CONT1-
User unit
(4)
External regenerative resistor
SH
SH
CNC
CNA
(5)
4
5
8
7
6
3
CONT2-
CONT2+
SH
6
5
8
3
4
HWGOFF1+
EDM+
HWGOFF1-
HWGOFF2-
HWGOFF2+
SH
24 VDC
(9)
24 VDC
Ethernet I/O
5 to 24 VDC
(9)
CN1
EDM-
SH
1
2
3
4
(1,7)
MOT1 to 4
(10)
(10)
7
I/O
CONT4-
8
CONT3-
CONT4+
7
6
CONT3+
5
CONT6-
22
CONT6+
CONT5-
21
20
CONT5+
19
Reserved
(Do not
connect.)
(8)
2
1
(8)
Main circuit power supply
48 VDC
+
(3)
(12)
+
(6)
Control power
24 VDC
EN1 to 4
CONT8-
26
CONT8+
CONT7-
25
24
CONT7+
23
OUT1-
OUT1+
OUT2-
OUT2+
OUT3-
OUT3+
OUT4-
OUT4+
OUT5-
OUT5+
OUT6-
OUT6+
OUT7-
OUT7+
OUT8-
OUT8+
General-purpose
output
28
Reserved
(Do not
connect.)
(11)
27
10
9
P
N
CP
CN
FG
FG
General-purpose
input
4
3
8
7
6
2
1
5
11
12
13
14
15
16
17
18
29
30
31
32
33
34
35
36
4
3
2
1
1
2
(2)
Shielded cable
Shielded cable
Encoder
Shielded cable
Servo amplifier
Servo motor
Only for STO models
External Wiring Diagram
EtherCAT multi-axis
Features
Servo Amplifier and Motor
Combination Table
Standard Model
Number List
ADVANCED MODEL Servo Amplifiers
Pulse input single-axis
ADVANCED MODEL Servo Amplifiers
EtherCAT single-axis
ADVANCED MODEL Servo Amplifiers
EtherCAT multi-axis
Servo Motors
Options
Linear Servo Motors
Selection Guide
Connector
no.
Name
Housing, plug, shell
CNA
Main/control
power supply
connector
Connector: 5557-08R
Terminal: 5556TL
CNC
Regenerative re
-
sistor connector
Connector: 5557-02R
Terminal: 5556TL
MOT1 to
MOT4
Servo motor
power connector
Connector: 5557-04R
Terminal: 5556TL
EN1 to
EN4
Encoder connec
-
tor
Connector:
36210-0100PL
Shell kit:
36310-3200-008
I/O
GPIO connector
Connector:
10136-3000PE
Shell kit:
10336-52A0-008
CN1
STO connector
For short-circuiting:
1971153-2
For wiring: 2013595-3
(1)
Use shielded twisted pair (STP) cables in the parts marked with this
pattern.
(2) Servo amplifiers come with a built-in regeneration processing circuit. Connect a
regenerative resistor when motor and system conditions are such that an exces
-
sive amount of regenerative energy is generated and DC voltage increases.
(3) • Electrolytic capacitors are required to be installed in P-to-N and CP-to-CN on
the amplifier side if the wiring between the DC power supply and servo ampli
-
fier is too long.
• When using batteries in the DC power supplies between P and N or between
CP and CN, electrolytic capacitors must be installed. (2000
μ
F or higher recom
-
mended)
(4) Motor side connections vary depending on motor specifications. The red, white,
black, green, and yellow indicated in the figure are for use when the motor has
lead-wire type power and brake lines.
(5) Refer to the encoder wiring diagram for the wiring of encoder connectors.
(6) For the protection of the servo amplifier, when designing an emergency shut
-
down system, ensure that it shuts down the input of DC power supplies.
(7) Use a category 5e (TIA standards) or better shielded twisted pair cable (STP).
(8) Use of a UL or IEC/EN compliant leakage circuit breaker is recommended.
(9) An external power supply is to be prepared by the customer.
(10) CN1 is a connector for the Safe Torque Off function. Turning Servo ON (motor in
operation) requires to connect a safety device and get STO enabled. When not
using STO, be sure to insert the short-circuiting STO connector to CN1.
(11) Do not connect anything to I/O-9, -10, -27, or -28 pins.
(12) Contact us if a 24 VDC main circuit power supply is needed.
16
CATALOG No.S0941B013 ‘22.10
Servo amplifier type
EtherCAT single-axis
EtherCAT multi-axis
Control functions
Position, speed, torque control (switched with parameters)
Control system
Power MOSFET-based sinusoidal PWM control
Main circuit power supply
48 VDC
±
10%*
Control circuit power supply
24 VDC
±
10%*
Environ
-
ment
Operating temperature
0 to 55
°C
Storage temperature
-20 to +65°C
Operating and storage
humidity
90% RH or below (non-condensing)
Altitude
1000 m or below
Vibration resistance
4.9 m/s
2
At frequency of 10 to 55 Hz in each X, Y, and Z direction for 2 hours
Shock resistance
19.6 m/s
2
Structure
Tray type, external DC power supply required
Frequency characteristics
800 Hz
Speed control range
1:5000
Protection functions
Overcurrent, current detection error, overload, regenerative error, overheating error, external error, overvoltage,
undervoltage, encoder error, excessive velocity, velocity control error, velocity feedback error, excessive position
deviation, position command pulse error, internal memory error, parameter error
LED indicator
Status indicator, monitoring indicator, alarm indicator,
parameter settings, test run, adjustment modes
Alarm indicator (red), status indicator (green), control
circuit power established (green), main circuit power
charging (red), communication link (green) x 2, commu
-
nication running (green), communication error (red)
Dynamic braking
Built-in
None
Regenerative resistor
Model no. RS2K0
□
A2HA5: Built-in
Model no. RS2K04A2HL5: None (option: external)
None
(Option: external; to be connected to CNC connector)
Analog monitor
Options
None
* Make sure that the main circuit power supply voltage is within the specified range.
Servo amplifier type
Safety standards
All models
North American safety standards (UL, c-UL)
UL508C
EU Directive (CE)
Great Britain (UKCA)
Low-voltage directive
EN 61800-5-1
EMC directive
EN 61000-6-2, EN 61800-3,
EN 61326-3-1 (EtherCAT only)
KC Mark (Korea Certification Mark)
KN 61000-6-2, KN 61000-6-4
Models with safety features
Functional safety
EtherCAT single-axis
IEC61508
：
SIL2
，
ISO 13894-1 Cat3
：
PL
＝
d
，
IEC62061
：
SILCL2
EtherCAT multi-axis
IEC61508
：
SIL3
，
ISO 13894-1 Cat3
：
PL
＝
e
，
IEC62061
：
SILCL3
Servo Amplifier Conformance to Safety Standards
EtherCAT single-axis
EtherCAT single-axis
EtherCAT multi-axis
EtherCAT multi-axis
Common Specifications
RoHS
17
CATALOG No.S0941B013 ‘22.10
EtherCAT Communication Specifications
EtherCAT single-axis
EtherCAT single-axis
EtherCAT multi-axis
EtherCAT multi-axis
9
182
200
50
（
70
）
130
5
190
10
30
2-
ø
5
2-5
4.5
4.5
10.8
160
40
（
20
）
（
18
）
（
70
）
85
4
5
5
152
Servo Amplifier Dimensions
[Unit: mm]
EtherCAT single-axis
EtherCAT multi-axis
Features
Servo Amplifier and Motor
Combination Table
Standard Model
Number List
ADVANCED MODEL Servo Amplifiers
Pulse input single-axis
ADVANCED MODEL Servo Amplifiers
EtherCAT single-axis
ADVANCED MODEL Servo Amplifiers
EtherCAT multi-axis
Servo Motors
Options
Linear Servo Motors
Selection Guide
Physical layer
IEC 61158-2
IEEE802.3u 100BASE-TX
Data link layer
IEC 61158-3, -4 Type 12
Application layer
IEC 61158-5, -6 Type 12
Device profile
IEC 61800-7 Profile Type 1 (CiA402)
・
CoE (CANopen over EtherCAT)
・
FoE (File access over EtherCAT)
Communication port
RJ-45 connector (2 ports)
Bit rate
100 Mbps (Full duplex)
Maximum number of nodes
65535 nodes
Transmission distance / Topology
Max. 100 m (between nodes) / Daisy chain
Communication cable
Twisted pair CAT5e (straight-through or crossover)
Communication object
SDO (Service Data Object)
PDO (Process Data Object)
Synchronization type
SYNC0 event synchronization, SYNC1 event synchronization, asynchronous
Operation modes
Profile Position mode, Profile Velocity mode,
Profile Torque mode, Homing mode, Cyclic Synchronous Position mode,
Cyclic Synchronous Velocity mode, Cyclic Synchronous Torque mode
LED indicator
Port 0/1 link indicator, RUN indicator, ERROR indicator
General-purpose I/O
EtherCAT single-axis: Input
ｘ
6, output
ｘ
2 (8 in total)
EtherCAT multi-axis: Input
ｘ
8 (in total), output
ｘ
2 per axis (8 in total)
Mass:
RS2K04A2HL5: 0.5 kg
(Without regenerative resistor)
RS2K0
□
A2HA5: 0.55 kg
(With built-in regenerative resistor)
Mass:
RF2J
□
4A0HL5: 0.75 kg (Without fan)
RF2K24A0HL5: 0.8 kg (With fan)
18
CATALOG No.S0941B013 ‘22.10
Encoder Wiring Diagram
Specifications of servo amplifier connectors
Servo amplifier
Connector no.
Connector/contact model no.
Servo amplifier connector model no.
ES+
ES-
+5 V
SG
Pulse input single-axis
CN2
Housing: PADP-10V-1-S
Contact: SPH-002GW-P0.5S
3
4
1
2
EtherCAT single-axis
EN1, EN2
Connector: 36210-0100PL
Shell kit: 36310-3200-008
7
8
1
2
EtherCAT multi-axis
EN1 to EN4
EtherCAT single-axis
EtherCAT multi-axis
Pulse input single-axis
Absolute encoders
Single-turn absolute encoder
Battery-less absolute encoder
Option: Battery-backup absolute encoder
(1) Use shielded twisted pair (STP) cables.
(2) Max. permissible cable length of power supply wiring (5 V
to SG) by conductor size:
(3) The colors indicated are wire colors.
(4) Batteries (EBAT+, EBAT-) need wiring only if using a bat
-
tery-backup absolute encoder.
The conductor resistance varies depending on the conductor
specifications.
(1)
(3)
(4)
ES+
ES-
+5 V
SG
ES+
ES-
+5 V
0 V
FG
Brown
Blue
Red
Black
(Shielded)
Servo amplifier
Servo motor
Absolute Encoder
(2)
BAT-
BAT+
Purple
Pink
EBAT-
EBAT+
AWG
26
24
22
20
18
SQ (mm
2
)
0.15
0.2
0.3
0.5
0.75
Conductor resistance
(
Ω
/km) *20
°
C
150 or less
100 or less
60 or less
40 or less
25 or less
Length
(m)
4
6
10
15
25
Conductor size
SANMOTION SERVO SYSTEMS R ADVANCE MODEL
选型目录：
SANMOTION R SERVO SYSTEMS Product Features
Servo Amplifier and Servo Motor Combination Table
Standard Model Number List
Servo Amplifiers
Servo Motors
Options
Compact Cylinder Linear Servo Motor
Multi-Axis Integrated Linear Servo Motor Unit
SANMOTION R SERVO SYSTEMS Product Selection Guide
Motor Protection Rating
Safety Precautions
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