Sanmotion R 3e Ad e

100 VAC 30 - 200 W, 200 VAC 30 W - 30 kW
1
Ver. .1
Input voltage100, 200 VAC
Output capacity 30 W to 30 kW
Servo amplifier
Amplifier capacity 10, 15, 20, 30, 50, 100, 150, 300, 600 A
Servo motor
Flange size 40 mm sq., 60 mm sq., 80 mm sq., 86 mm sq., 100 mm sq.,
130 mm sq., 180 mm sq., 220 mm sq., 275 mm sq.
Rated output 100 VAC: 30 to 200 W

200 VAC: 30 W to 30 kW
Contents
Contents
Lineup.............................................................
Lineup .............................................................p.
p.66
Features.........................................................
Features .........................................................p.
p.88
List
ListofofCompatible
CompatibleServo
ServoAmplifiers
Amplifiers
and
andServo
ServoMotors
Motors .....................................
.....................................
p.p.14
14
Standard
StandardModel
ModelNumber List.....
NumberList .....p.
p.18
18
Set Models................................................
SetModels ................................................p.
p.33
33
Servo
ServoAmplifiers
Amplifiers
RR3E
3EModel
ModelAnalog/Pulse
Analog/PulseInput type.....
Inputtype .....p.
p.35
35
RRADVANCED
ADVANCEDMODEL
MODEL
EtherCAT
EtherCATInterface type..................................
Interfacetype ..................................p.
p.55
55
RRCANopen
CANopenInterface type.............................
Interfacetype .............................p.
p.67
67
RRBuilt-in
Built-inPositioning
PositioningFunction type.............
Functiontype .............p.
p.75
75
RRMulti-axis
Multi-axisPulse
PulseInput type........................
Inputtype ........................p.
p.87
87
Servo
ServoMotors
Motors
Specifications
Specifications- -Servo
ServoAmplifiers
Amplifiers++
R2
R2Servo
ServoMotors
Motors(Medium Inertia).....
(MediumInertia) .....p.
p.96
96
R1
R1Servo
ServoMotors
Motors(Low Inertia)..........
(LowInertia) ..........
p.p.108
108
R5
R5Servo
ServoMotors
Motors(Medium Inertia)......p.
(MediumInertia) p.110
110
Servo
ServoMotor Dimensions.............
MotorDimensions .............p.
p.112
112
Options......................................................
Options ......................................................p.
p.119
119
Linear
LinearServo Motors.......................
ServoMotors .......................p.
p.139
139
SANMOTION
SANMOTIONSS
　　
　　Servo
ServoAmplifiers
Amplifiersand
andSpindle Motors........
SpindleMotors ........p.
p.145
145
Models
ModelsNo
NoLonger
LongerListed
Listed
and
andTheir
TheirReplacing Models.....
ReplacingModels .....p.
p.150
150
Selection Guide..................................
SelectionGuide ..................................p.
p.153
153
Safety Precautions...........................
SafetyPrecautions ...........................p.
p.154
154
SANMOTION
SANMOTIONProducts Lineup.......
ProductsLineup .......p.
p.157
157
High Performance AC Servo Systems
The SANMOTION R series servo systems contribute

to the evolution of your devices with a rich product
lineup of high-precision servo amplifiers and servo
motors.
These high-precision and highly reliable systems
offer a wide range of products from small to large
capacity servo systems.
SANMOTION C
Controller EtherCAT interface type Controller
Input Device
& Controller
Touch panel Controller
Servo system SANMOTION R
SANMOTION R SANMOTION R SANMOTION R

Servo 3E Model ADVANCED MODEL
Amplifier CANopen
Analog/Pulse EtherCAT Built-in Positioning Function
Multi-axis Pulse Input
Servo motor Linear

(Rotary motor) servo motor
(Compatible servo
amplifier model:
Servo Motor R 3E Model)
・ What is servo system?

A servo system has an encoder (rotation detector) mounted on the servo motor and provides highly-reliable precise operation
by giving feedback to commands from the servo amplifier. It can be used with confidence in applications that require high-speed
and large-capacity operations.
4
NEW Servo amplifier SANMOTION R 3E Model
Amplifier capacity 100, 150, 300, 600 A
Line up of AC servo amplifier systems “SANMOTION R 3E Model” has
been expanded by adding newly developed amplifiers with capacities of
100, 150, 300, and 600A.
These amplifiers can drive servo motors with output of 1.8 to 30 kW.
NEW High-precision battery-less absolute encoder

Model No. HA035
The encoder is maintenance free as it does not require batteries—
the service life-limited component.
It is designed for use with our SANMOTION R series servo motors.
Application Examples
Its high-precision and accurate positioning features allow it to be used in a wide range of applications.
・Industrial robots, machining tools, machine centers, injection molding machines, food packaging equipment,
cutting machines, chip mounters, semiconductor related equipment, medical equipment, etc.
Industrial robots Machine tools Injection molding machines
Food machinery Chip mounters
Conformance to Safety Standards

Our standard servo amplifiers conform to safety standards such as UL, c-UL, and EN stan-
dards. R 3E Model and R ADVANCED MODEL have also acquired the KC mark. You can also
employ servo motors that conform to the UL, c-UL and EN standards. (some models are still
in preparation) In addition, all model numbers manufactured after October 2012 in this catalog
conform with the acceptable values of specific hazardous substances (cadmium, lead, mer-
cury, hexavalent chrome, PBB, and PBDE) in Appendix II of EU RoHS directive (2011/65/EU).
5
Features
Lineup
Servo Amplifier
SANMOTION R 3E Model
Analog/Pulse Input type
More evolved AC servo amplifiers that provide improved basic performance
including high responsiveness, and are more eco-efficient and easier to use.
Lineup: 10, 20, 30, 50, 100, 150, 300, 600 A

Analog/Pulse →p. 35
SANMOTION R ADVANCED MODEL

EtherCAT Interface type
The EtherCAT communication cycle is short (0.125 ms) and position commands
are subdivided, making device operations smoother. It can be used together with our
controller “SANMOTION C EtherCAT Interface type”.
A new product with shorter communication cycle and improved controllability. It uses a different connector from
our conventional EtherCAT interface type (Model no.: RS2□□□A□K)
Lineup: 15, 30, 50, 100, 150, 300 A

EtherCAT →p. 55
SANMOTION R
CANopen Interface type
Equipped with communication protocol “CANopen interface” for embedded
systems.
Lineup: 15, 30, 50 A

CANopen →p. 67
Built-in Positioning Function type

The need for a positioning control unit is eliminated, simplifying the system.
Lineup: 15, 30, 50, 100, 150, 300 A

DIO interface RS-485 communication →p. 75
Multi-axis Pulse Input type

Multi-axis controllable servo amplifier (up to 6 axes). Multiple axes can be
powered and commanded from only one unit, enabling wire saving and
space saving.
Amplifier Unit Lineup: 15 A (6-axis model) and 30 A (4-axis model)

Pulse input →p. 87
The products listed in this catalog have main circuit power input within range of 100 to 200 VAC. Besides them, 400 VAC and 48 VDC input servo
systems are also available. See our website and catalogs for more information.
6
Features
Servo Amplifier
Servo Motor (Rotary Motor)

Rotary servo motors with a wide range of products.
Motor type Flange size, features
R2 Servo Motor 40 mm sq., 60 mm sq., 80 mm sq., 86 mm sq., 100 mm sq.,

Medium inertia 130 mm sq., 180 mm sq., 220 mm sq., 275 mm sq.
Medium inertia servo motors with a wide range of
size variation ideal for positioning applications.
Ideal for robots, injection molding machines, and
general industrial machines.
R1 Servo Motor 180 mm sq., 220 mm sq.

Low inertia Low inertia servo motors that feature high-acceleration
drive and high torque even at high rotational speed.
Ideal for injection molding machines and general
industrial machines.
R5 Servo Motor 60 mm sq., 80 mm sq.

Medium inertia Medium inertia servo motors that are ideal for smooth
operations such as for the feed shaft of small-sized
machine tools.
Linear Servo Motor

Linear servo motors with large thrust force. There are two types:
Flat type with core and Dual magnet type with core.
Compatible servo amplifiers: 3E Model
→p. 139
Servo Amplifier and Spindle Motor

SANMOTION S
A servo system with a spindle motor and a servo amplifier.
Provides high rotational speed and high torque at low speed,
which improves productivity of the device. Ideal for the main
shaft of machine tools that require highly precise tapping syn-
chronized with the feed shaft.
Lineup: Output capacity 3.2, 4.5 kW Amplifier capacity 150 A

Analog/Pulse EtherCAT →p. 145
7
High Performance AC Servo Systems
The 3rd generation of SANMOTION R servo

amplifier series “3E Model” features evolved
performance with high responsiveness and
are more eco-efficient and easier to use.
It contributes to improving the device performance.
Evolved R 3E Model
Shorter takt time achieved through high-speed positioning control

The 3E Model has a speed frequency response Position
deviation
of 2.2 kHz, approximately twice that of our Position command frequency
0 [Pulse/s]
conventional product.* Additionally, the posi-
tion settling time has been shortened to 1/3 of
Conventional model
the original time. Real-time switching between In-position range
track control and positioning control contrib-
utes to a dramatic reduction of machine takt 0 [Pulse]
time.
* For amplifiers with capacities from 10 to 50 A. Compared with our conven- Settling time: 1/3 of current model
tional AC servo amplifier, “SANMOTION R ADVANCED MODEL”.
Improved control accuracy

The 3E Model is equipped with a gain increase Increased High-gain control
function, a function for suppressing microvi- accuracy Disturbance
brations at settling time, an adaptive notch fil- Speed
ter for suppressing mechanical resonance, and Conventional model
a feed-forward vibration control function. The Vibration suppression by adaptive notch filter
4th order notch filter of our conventional prod-
ucts has been upgraded to 5th order.* Highly Conventional model
accurate machine tool feed-axis control signifi-

cantly improves processing quality. Starts when After
vibrations occur adaptation
* Compared with our conventional AC servo amplifier, “SANMOTION R” Adaptive
ADVANCED MODEL. notch filter
Improved safety performance through High-precision tandem operation

the Safe Torque Off function
In applications where two shafts Compensate for
With the improved Safe Torque Off (STO) function, are driven simultaneously, such position deviation
the 3E Model conforms to international standards, as a gantry mechanism, high-pre-
IEC 61508: SIL 3 and ISO 13849-1: PL=e. It is suffi- cision tandem operation is possi-
ciently reliable for usage in devices requiring high ble by mutually compensating for
safety, such as medical devices. deviation of motor positions be-
tween two shafts with the servo
amplifier.
8
Eco-efficient R 3E Model
Features
Reduced power consumption Power consumption visualization
By incorporating new-generation Controls the fan
The power consumption mon-
power devices, the 3E Model de- speed itoring function enables power Axis Power consumption Unit
X 0.41 kWh
creases electric power losses by (10 A is fanless) consumption to be visualized. Y 0.75 kWh
up to 10%.* The 3E Model has The servo amplifier calculates

Z 0.21 kWh
Total 1.37 kWh
up to 10% lower standby power power consumption based on

consumption as it limits unnec- the motor current, and dis-
essary energy consumption by plays it on the setup software
controlling the fan speed accord- or digital operator.
ing to the internal temperature of The power consumption monitoring function is
the servo amplifier.* supported by the R2 and R1 servo motors only.
* For amplifiers with capacities from 100 to 300 A.
Easy to use R 3E Model
Easy startup
“SANMOTION MOTOR SETUP SOFTWARE” (see p.
120) displays the parameters required for operation Startup time can be
in an easy-to-understand manner in order to enable reduced by batch
setting the minimum
fast and easy equipment startup. The 3E Model has parameters required
by application.
a virtual motor operation function to simulate oper-
ation of the motor and amplifier without moving the
machine, and a jog function for testing the motor and
amplifier connection, without the need to connect to
a host device.
Easy servo tuning

By connecting with the setup software the 3E Model
offers a variety of servo tuning support functions
such as automatic selection of optimal tuning mode
depending on mechanical and load conditions, basic
tuning mode for adjustment of up to two parameters,
and an application-specific tuning mode. This dra-
matically shortens time required for servo tuning.
Easy troubleshooting
With a 1 ms time stamp and a drive recorder func-
tion to record motor and amplifier operating status,
details of abnormal state occurrences such as alarms
can be accurately checked even at a later time, facili-
The drive recorder
tating troubleshooting. function allows for
the checking of past
operating status.
9
Features
Model-based following control Auto-tuning

R 3E Model R ADVANCED R 3E Model R ADVANCED R
Model-based following control enables an improved The servo amplifier automatically optimizes servo
target value response, enhanced disturbance sup- gain and filter frequency in real time.
pression, and greater robustness.
Model control system
Position Velocity
Position/speed control Motor/machine model
command command
value
Position/speed control Motor/machine

Tuning start
Detected velocity value
Feedback control system
Feed-forward vibration suppression control Command following control

R 3E Model R ADVANCED R R 3E Model R ADVANCED R
With feed-forward vibration suppression control, vi- Newly-employed position and velocity controller has
brations at the end effector and base of a machine improved the tracking capability to the position com-
can be suppressed through simple tuning procedures. mands. Position deviation ≒ 0 has been achieved.
Vibration control frequencies are selectable.
Position deviation during stop
Position command
With vibration suppression control
Without vibration suppression control
100 ms/div
Without vibration With vibration
suppression control suppression control
Position deviation
20 ms/div
All-in-one control 5-Digit LED display, built-in operator

Configurable parameters allow switching between The built-in operator allows you to change parameters
control modes for torque, position or velocity. and monitor the amplifier status and alarm traces.
Position
Torque GO
or
Velocity
control AL
control
i ng
nd
ce
T As
TAR
S Flat
10
Multiaxial monitor function Dual position feedback fully-closed loop control
Features
R 3E Model R ADVANCED R 3E Model
The setup software allows up to 15 axes—that is, 15 Dual position feedback fully-closed loop control is
sets of a servo motor and a servo amplifier—to be possible by using information from two encoders: a
monitored. linear encoder mounted on the device (load) and a
high resolution motor-mounted encoder.
Even when there is high motor shaft torsion from the
load, servo gain
USB hub (used for R 3E Model) can be improved
and high response
achieved.
Loa
d
Maximum
15 axes
EtherCAT interface type CANopen interface type

R ADVANCED R
EtherCAT is a 100 Mbps high-speed fieldbus system. CANopen is based on the internationally accepted CAN
It contributes to the takt time reduction. This highly automobile standard and is an open networking stan-
versatile EtherCAT is compatible with Ethernet, which dard for sensors, actuators, and controllers. It is used
makes it possible to build a system in the field of medical equipment,
that co-exists with various devices. FA, and logistics systems.
The servo amplifier firmware can
be updated via EtherCAT network.
Also, the EtherCAT conformance
test certificate from a trusted third
party has been acquired.
Built-in positioning function type Multi-axis pulse input type

R R
Models with a built-in positioning function type into Up to 6 axes can be combined.
the servo amplifier are available. The need for a po- Multiple axes can be powered and commanded from
sitioning control unit is eliminated, which can reduce only one unit, enabling wire saving and space saving.
the number of wires and save space. There are two Also, it can contribute to eco-efficiency by utilizing re-
types of interfaces: DIO (Digital generative energy from other axes.
I/O) type and RS-485 communi-
cation type.
Ideal for conveying applications.
11
Features
Medium inertia servo motors selectable for different applications Downsized servo motors
Two types of medium inertia servo motors are avail- R2 series servo motors have been downsized by as
able: R2 servo motors with a wide lineup for position- much as 30% in length and 25% in volume from our
ing applications, and R5 servo motors that are ideal conventional product, while still achieving high torque
for smooth operations such as for feed shafts of small- and high performance. (When using a battery-backup
sized machine tools. method absolute encoder)
R5 Servo Motor
* Our conventional product is “SANMOTION Q” AC servo motor.
Feed axes in machine tools
R2 Servo Motor
Positioning applications with
robots, injection molding
machines, general industrial
machinery, etc.
30% reduction
Low cogging torque Waterproof and dustproof
Cogging torque has been reduced in comparison Our servo motors have high waterproof and dustproof
with our conventional products, achieving smoother characteristics with IP65 and IP67 ratings, allowing
movement. them to work in severe environments. Servo motors
with IP65 ratings can be modified to IP67 as an option.
Comparison of cogging torque waveforms
Water Dust
Current model
R Motor
(Waveform image for reference) * Except shaft openings and connector ends.
Linear servo motors with large thrust force

R 3E Model
Linear servo motors that can perform direct and verti-
cal drives and achieve large thrust force are available.
12
High-precision battery-less optical absolute encoder
Features
The high-precision battery-less optical absolute encoder Model No.
HA035 comes as standard.
As an option, high-precesion model is also available with a maximum No need to worry about battery life
resolution of 8388608 (23 bits) during single rotation and an absolute and battery exporting procedures.
angle accuracy of approximately 0.0167 deg. within a rotation (1

min.) can be selected.
*Other than R 3E Model, some models are not compatible with optional specifications.
In addition, selecting an encoder that is optimal to the device is also

available as an option.
Refer to the following table.
Serial encoder
Resolution Total number of
Encoder
Encoder type during single rotations during Optional specifications
no.
rotation multiple rotations
Battery-less optical absolute encoder • Resolution during single rotation:
This is a high-precision battery-less optical multi-turn encoder. 1048576 (20 bits),
It does not use batteries, which need to be replaced; therefore, 8388608 (23 bits)
the encoder does not require maintenance. This encoder can • Absolute angular accuracy within
131072 65536 Model No. one rotation:
be broadly used for general industrial equipment including ma-
(17 bits) (16 bits) HA035 Approx. 0.0167 deg (one minute)
chine tools and robots.
or lower (standard is approx.
0.167 deg (ten minutes) or lower.)
・Compatible servo amplifiers: R 3E Model and • Baud rate:
R ADVANCED MODEL servo amplifiers 4.0 Mbps (standard is 2.5 Mbps)
Optical absolute encoder for incremental systems • Resolution during single rotation:
This is a slim and single-turn optical encoder. 131072 — Model No. 1048576 (20 bits)
Enables wire-saving and size-reduction for applications that use (17 bits) PA035S • Baud rate:
pulse encoders. 4.0 Mbps (standard is 2.5 Mbps)
Option
Optical battery-backup method absolute encoder • Resolution during single rotation:

This is a slim multi-turn battery-backup method optical encoder. 131072 65536 Model No. 1048576 (20 bits)
It enables the use of a shorter motor; therefore, it is optimal for (17 bits) (16 bits) PA035C • Baud rate:
4.0 Mbps (standard is 2.5 Mbps)
devices in which motor installation space is limited. Batteries
sold separately.
Option
Resolver method battery-less absolute encoder

This is a resolver method battery-less multi-turn encoder. 131072 65536 Model No. • Baud rate:
Being a resolver method encoder with outstanding rugged- (17 bits) (16bit) RA035C 4.0 Mbps (standard is 2.5 Mbps)
ness, it is ideal for equipment used in harsh environments such
as injection molding machines and robots.
Pulse encoder
Encoder
Encoder type Pulse/rotation Multiple rotations Optional specifications
no.
Option
Optical wire-saving incremental encoder

Model No. • Number of pulses:
This is an incremental encoder that easily connects with host 2000 P/R —
PP031H Up to 10000 P/R
equipment to output phases A, B, and Z. Ideal for general in-
dustrial equipment such as chip mounters.
13
List of Compatible Servo Amplifiers and Servo Motors

Standard specification ●
C …Output shaft: Straight, Oil seal: None, Connecting method: Cable
●
P …Output shaft: With key, Oil seal: Yes, Connecting method: cannon plug (15 kW or lower), Terminal block (20 kW or higher)
Analog/Pulse Input type Servo amplifier

Motor type Rated output Flange size Model name Standard Page R 3E Model R ADVANCED
[kW] (Partial model no.) specification Analog/Pulse Input EtherCAT Interface
Specifications Dimensions type type
p. 35 p. 55
0.03 40 mm sq. R2EA04003F ●

C 96 112 RS3E01□□《10A》 RS2E01□□《15A》
R2 0.05 40 mm sq. R2EA04005F ●
C 96 112 RS3E02□□《20A》 RS2E01□□《15A》
Servo motor
0.08 40 mm sq. R2EA04008F ●
C 96 112 RS3E02□□《20A》 RS2E01□□《15A》
100 V system 0.1 60 mm sq. R2EA06010F ●
C 97 112 RS3E02□□《20A》 RS2E01□□《15A》
Medium inertia 0.2 60 mm sq. R2EA06020F ●
C 97 112 RS3E03□□《30A》 RS2E03□□《30A》
0.03 40 mm sq. R2AA04003F ●

C 98 112 RS3A01□□《10A》 RS2A01□□《15A》
0.05 40 mm sq. R2AA04005F ●
C 98 112 RS3A01□□《10A》 RS2A01□□《15A》
0.1 (0.09)*1 40 mm sq. R2AA04010F ●
C 98 112 RS3A01□□《10A》 RS2A01□□《15A》
0.1 60 mm sq. R2AA06010F ●
C 98 112 RS3A01□□《10A》 RS2A01□□《15A》
60 mm sq. R2AA06020F ●
C 99 112 RS3A02□□《20A》 RS2A01□□《15A》
0.2
80 mm sq. R2AA08020F ●
C 99 112 RS3A02□□《20A》 RS2A01□□《15A》
60 mm sq. R2AA06040H ●
C 99 112 RS3A02□□《20A》 RS2A01□□《15A》
0.4 (0.36)*1
60 mm sq. R2AA06040F ●
C 99 112 RS3A02□□《20A》 RS2A03□□《30A》
0.4 80 mm sq. R2AA08040F ●
C 100 112 RS3A02□□《20A》 RS2A03□□《30A》
130 mm sq. R2AA13050H ●
P 101 113 RS3A03□□《30A》 RS2A03□□《30A》
0.55
130 mm sq. R2AA13050D ●
P 101 113 RS3A03□□《30A》 RS2A03□□《30A》
80 mm sq. R2AA08075F ●
C 100 112 RS3A03□□《30A》 RS2A03□□《30A》
0.75 100 mm sq. R2AA10075F ●
C 100 112 RS3A03□□《30A》 RS2A03□□《30A》
86 mm sq. R2AAB8075F ●
C 102 112 RS3A05□□《50A》 RS2A05□□《50A》
86 mm sq. R2AAB8100H ●
C 100 112 RS3A03□□《30A》 RS2A03□□《30A》
1 86 mm sq. R2AAB8100F ●
C 102 112 RS3A05□□《50A》 RS2A05□□《50A》
100 mm sq. R2AA10100F ●
C 102 112 RS3A05□□《50A》 RS2A05□□《50A》
R2 130 mm sq. R2AA13120B ●
P 101 113 RS3A03□□《30A》 RS2A03□□《30A》
Servo motor
1.2 130 mm sq. R2AA13120L ●
P 102 113 RS3A05□□《50A》 RS2A05□□《50A》
200 V system 130 mm sq. R2AA13120D ●
P 103 113 RS3A05□□《50A》 RS2A05□□《50A》
Medium inertia 130 mm sq. R2AA13180H ●
P 103 113 RS3A05□□《50A》 RS2A05□□《50A》
1.8
130 mm sq. R2AA13180D ●
P 103 113 RS3A10□□《100A》 RS2A10□□《100A》
130 mm sq. R2AA13200L ●
P 103 114 RS3A05□□《50A》 RS2A05□□《50A》
2
130 mm sq. R2AA13200D ●
P 104 114 RS3A10□□《100A》 RS2A10□□《100A》
180 mm sq. R2AA18350L ●
P 104 105 RS3A10□□《100A》 RS2A10□□《100A》
3.5
180 mm sq. R2AA18350D ●
P 104 105 RS3A15□□《150A》 RS2A15□□《150A》
4.5 180 mm sq. R2AA18450H ●
P 104 105 RS3A15□□《150A》 RS2A15□□《150A》
5 220 mm sq. R2AA22500L ●
P 105 116 RS3A15□□《150A》 RS2A15□□《150A》
180 mm sq. R2AA18550R ●
P 105 105 RS3A15□□《150A》 RS2A15□□《150A》
5.5
180 mm sq. R2AA18550H ●
P 105 105 RS3A30□□《300A》 RS2A30□□《300A》
7 220 mm sq. R2AA22700S ●
P 105 116 RS3A15□□《150A》 RS2A15□□《150A》
7.5 180 mm sq. R2AA18750H ●
P 106 105 RS3A30□□《300A》 RS2A30□□《300A》
180 mm sq. R2AA1811KR ●
P 106 105 RS3A30□□《300A》 RS2A30□□《300A》
11
220 mm sq. R2AA2211KB ●
P 106 116 RS3A30□□《300A》 RS2A30□□《300A》
15 220 mm sq. R2AA2215KB ●
P 106 116 RS3A30□□《300A》 RS2A30□□《300A》
20 220 mm sq. R2AA2220KB ●
P 107 117 RS3W60□□《600A》 —
30 275 mm sq. R2AA2830KV ●
P 107 117 RS3W60□□《600A》 —
*1: Values in parentheses are the output values for motors with brakes. With the optional oil seals, rated outputs of servo motors might be reduced
to 80 to 95% of the values in the above table.
*2: Listed in the column are model numbers of amplifier units. Beside amplifier units, a motherboard and a power supply unit are required for oper-
ation. 15 A capacity amplifier is a 6-axis model, and 30 A capacity amplifier is a 4-axis model.
14
Servo amplifier Servo motor
Servo Amplifiers and

List of Compatible
R R R Model name Rated output
Servo Motors
CANopen Interface type Built-in Positioning Function type Multi-axis Pulse Input type
*2 (Partial model no.) [kW]
p. 67 p. 75 p. 87
*Not compatible with the battery-less optical absolute encoder HA035.
— RS1E01□□《15A》 RR1E01AAB《15A》 R2EA04003F 0.03

RS1A01□□《15A》 RS1A01□□《15A》 RR1A01AAB00《15A》 R2AA04003F 0.03
RS1A01□□《15A》 RS1A01□□《15A》 RR1A01AAB00《15A》 R2AA04010F 0.1 (0.09)*1
RS1A01□□《15A》 RS1A01□□《15A》 RR1A01AAB00《15A》 R2AA06020F
0.2
RS1A01□□《15A》 RS1A01□□《15A》 RR1A01AAB00《15A》 R2AA06040H
0.4 (0.36)*1
RS1A03□□《30A》 RS1A03□□《30A》 RR1A03AAB00《30A》 R2AA13050H
0.55
RS1A03□□《30A》 RS1A03□□《30A》 RR1A03AAB00《30A》 R2AA13050D
RS1A05□□《50A》 RS1A05□□《50A》 — R2AAB8075F
RS1A03□□《30A》 RS1A03□□《30A》 RR1A03AAB00《30A》 R2AAB8100H
RS1A05□□《50A》 RS1A05□□《50A》 — R2AAB8100F 1
RS1A05□□《50A》 RS1A05□□《50A》 — R2AA10100F
RS1A03□□《30A》 RS1A03□□《30A》 RR1A03AAB00《30A》 R2AA13120B
RS1A05□□《50A》 RS1A05□□《50A》 — R2AA13120L 1.2
RS1A05□□《50A》 RS1A05□□《50A》 — R2AA13120D
RS1A05□□《50A》 RS1A05□□《50A》 — R2AA13180H
1.8
— RS1A10□□《100A》 — R2AA13180D
RS1A05□□《50A》 RS1A05□□《50A》 — R2AA13200L
2
— RS1A10□□《100A》 — R2AA13200D
— RS1A10□□《100A》 — R2AA18350L
3.5
— RS1A15□□《150A》 — R2AA18350D
— RS1A15□□《150A》 — R2AA18450H 4.5
— RS1A15□□《150A》 — R2AA22500L 5
— RS1A15□□《150A》 — R2AA18550R
5.5
— RS1A30□□《300A》 — R2AA18550H
— RS1A15□□《150A》 — R2AA22700S 7
— RS1A30□□《300A》 — R2AA18750H 7.5
— RS1A30□□《300A》 — R2AA1811KR
11
— RS1A30□□《300A》 — R2AA2211KB
— RS1A30□□《300A》 — R2AA2215KB 15
— — — R2AA2220KB 20
— — — R2AA2830KV 30
15

Standard specification ●
C …Output shaft: Straight, Oil seal: None, Connecting method: Cable
●
P …Output shaft: With key, Oil seal: Yes, Connecting method: cannon plug (15 kW or lower), Terminal block (20 kW or higher)
Analog/Pulse Input type Servo amplifier

Motor type Rated output Flange size Model name Standard Page R 3E Model R ADVANCED
[kW] (Partial model no.) specification Analog/Pulse Input EtherCAT Interface
Specifications Dimensions type type
p. 35 p. 55
5.5 180 mm sq. R1AA18550H ●

P 108 118 RS3A30□□《300A》 RS2A30□□《300A》
R1 7.5 180 mm sq. R1AA18750L ●

P 108 118 RS3A30□□《300A》 RS2A30□□《300A》
Servo motor
11 180 mm sq. R1AA1811KR ●
P 109 118 RS3A30□□《300A》 RS2A30□□《300A》
200 V system
Low inertia 15 180 mm sq. R1AA1815KB ●
P 109 118 RS3A30□□《300A》 RS2A30□□《300A》
21 220 mm sq. R1AA2220KV ●

P 109 118 RS3W60□□《600A》 —
0.2 60 mm sq. R5AA06020H ●

C 110 112 RS3A01□□《10A》 RS2A01□□《15A》
0.2 60 mm sq. R5AA06020F ●

C 111 112 RS3A02□□《20A》 RS2A01□□《15A》
R5
Servo motor 0.4 (0.38)*1 60 mm sq. R5AA06040H ●
C 110 112 RS3A02□□《20A》 RS2A01□□《15A》
200 V system 0.4*1 60 mm sq. R5AA06040F ●

C 111 112 RS3A02□□《20A》 RS2A03□□《30A》
Medium inertia
0.75 (0.71)*1 80 mm sq. R5AA08075D ●
C 110 112 RS3A03□□《30A》 RS2A03□□《30A》
0.75 (0.675)*1 80 mm sq. R5AA08075F ●

C 111 112 RS3A03□□《30A》 RS2A03□□《30A》
DS045CC1AN
Linear Flat type with core
(Coil model no.)
142 142 RS3A03□□《30A》 —
Servo motor
Dual magnet type with DD045CB4AN
200 V system core (Coil model no.)
143 143 RS3A10□□《100A》 —
*1: Values in parentheses are the output values for motors with brakes. With the optional oil seals, rated outputs of servo motors might be reduced
to 80 to 95% of the values in the above table.
*2: Listed in the column are model numbers of amplifier units. Beside amplifier units, a motherboard and a power supply unit are required for oper-
ation. 15 A capacity amplifier is a 6-axis model, and 30 A capacity amplifier is a 4-axis model.
16
Servo Amplifiers and

List of Compatible
R R R Model name Rated output
Servo Motors
CANopen Interface type Built-in Positioning Function type Multi-axis Pulse Input type
*2 (Partial model no.) [kW]
p. 67 p. 75 p. 87
*Not compatible with the battery-less optical absolute encoder HA035.
— RS1A30□□《300A》 — R1AA18550H 5.5

— RS1A30□□《300A》 — R1AA18750L 7.5
— RS1A30□□《300A》 — R1AA1811KR 11
— RS1A30□□《300A》 — R1AA1815KB 15
— — — R1AA2220KV 21
RS1A01□□《15A》 RS1A01□□《15A》 RR1A01AAB00《15A》 R5AA06020H 0.2

RS1A01□□《15A》 RS1A01□□《15A》 RR1A01AAB00《15A》 R5AA06040H 0.4 (0.38)*1
RS1A03□□《30A》 RS1A03□□《30A》 RR1A03AAB00《30A》 R5AA06040F 0.4*1
RS1A03□□《30A》 RS1A03□□《30A》 RR1A03AAB00《30A》 R5AA08075D 0.75 (0.71)*1
RS1A03□□《30A》 RS1A03□□《30A》 RR1A03AAB00《30A》 R5AA08075F 0.75 (0.675)*1
DS045CC1AN
— — —
(Coil model no.)
DD045CB4AN
— — —
(Coil model no.)
17
Standard Model Number List
Standard Model Number List For specifications on other models, contact us for details.
Input voltage 100 VAC

Servo Amplifier　R 3E Model Analog/Pulse Input type
Internal Safe Torque Off function Page
Main circuit Control circuit Encoder General Amplifier
regenerative (without delay), Model no.
power supply power supply type output capacity Specifications Dimensions
resistor tandem operation function
10 A RS3E01A0AL0 p. 44 p. 45
No 20 A RS3E02A0AL0 p. 44 p. 45
30 A RS3E03A0AL0 p. 44 p. 45
No
10 A RS3E01A0AL2 p. 44 p. 45
Yes 20 A RS3E02A0AL2 p. 44 p. 45
Sink 30 A RS3E03A0AL2 p. 44 p. 45
(NPN) 10 A RS3E01A0AA0 p. 44 p. 45
No 20 A RS3E02A0AA0 p. 44 p. 45
30 A RS3E03A0AA0 p. 44 p. 45
Yes
10 A RS3E01A0AA2 p. 44 p. 45
Yes 20 A RS3E02A0AA2 p. 44 p. 45
100 VAC system 100 VAC system
Serial 30 A RS3E03A0AA2 p. 44 p. 45
100 to 120 VAC 100 to 120 VAC
encoder 10 A RS3E01A0BL0 p. 44 p. 45
single-phase single-phase
No 20 A RS3E02A0BL0 p. 44 p. 45
30 A RS3E03A0BL0 p. 44 p. 45
No
10 A RS3E01A0BL2 p. 44 p. 45
Yes 20 A RS3E02A0BL2 p. 44 p. 45
Source 30 A RS3E03A0BL2 p. 44 p. 45
(PNP) 10 A RS3E01A0BA0 p. 44 p. 45
No 20 A RS3E02A0BA0 p. 44 p. 45
30 A RS3E03A0BA0 p. 44 p. 45
Yes
10 A RS3E01A0BA2 p. 44 p. 45
Yes 20 A RS3E02A0BA2 p. 44 p. 45
30 A RS3E03A0BA2 p. 44 p. 45
Servo Amplifier　R ADVANCED MODEL EtherCAT Interface type

Main circuit Control circuit Encoder General Internal regenerative Safe Torque Off Amplifier Page
Model no.
power supply power supply type output resistor function capacity Specifications Dimensions
15 A RS2E01A2HL5 p. 62 p. 63
100 VAC system 100 VAC system Photo No
Serial Yes 30 A RS2E03A2HL5 p. 62 p. 63
100 to 115 VAC 100 to 115 VAC relay
encoder (with delay circuit) 15 A RS2E01A2HA5 p. 62 p. 63
single-phase single-phase output Yes
30 A RS2E03A2HA5 p. 62 p. 63
Servo Amplifier　R Built-in Positioning Function type

Model no.
Serial 15 A RS1E01AC p. 80 p. 82
100 VAC system 100 VAC system No No
encoder, Sink type 30 A RS1E03AC p. 80 p. 82
100 to 115 VAC 100 to 115 VAC
Pulse (NPN) 15 A RS1N01AC p. 80 p. 82
single-phase single-phase Yes No
encoder 30 A RS1N03AC p. 80 p. 82
Servo Amplifier　R Multi-axis Pulse Input type

Required number of amplifier units, a power supply unit, and a motherboard are used as a set. The maximum number of axes is 6 axes for 15 A, 4
axes for 30 A. The maximum capacity is 800 W.
Amplifier unit
Input power Safe Torque Off Amplifier Page
Encoder type General output Model no.
supply function capacity Specifications Dimensions
Sink type 15 A RR1E01AAB00 p. 90 p. 91
140 VDC Serial encoder No
(NPN) 30 A RR1E03AAB00 p. 90 p. 91
Power supply unit Motherboard
Input power Built-in regenerative Page Input power The number of mounted amplifier units
Model no. Model no.
supply resistor Specifications Dimensions supply 15 A 30 A
100 VAC Yes RRPEA00 p. 90 p. 91 4 2 RRME400
100 VAC 6 3 RRME600
— 4 RRME800
・Our standard servo amplifiers conform to UL, c-UL, and EN standards. R 3E Model and R ADVANCED MODEL EtherCAT Interface type have also acquired the KC mark.
18

R2 Servo Motor　Small Capacity, Medium Inertia　
Standard specifications Output shaft: straight, oil seal: none, connection: cable (no connector)
Model no. Page
Battery-less optical
Rated Motor flange Protection Holding CE and UL absolute encoder
Optical absolute encoder
(Model No. HA035)
Standard Model
output size code brake approved for incremental systems Specifications Dimensions
Number List
Only the R 3E Model and R
(Model No. PA035S)
ADVANCED MODEL servo
amplifiers are compatible.
No R2EA04003FXR00 R2EA04003FXH00 p. 96 p. 112
No
Yes R2EA04003FXR00M R2EA04003FXH00M p. 96 p. 112
IP67
No R2EA04003FCR00 R2EA04003FCH00 p. 96 p. 112
Yes (24 VDC)
Yes R2EA04003FCR00M R2EA04003FCH00M p. 96 p. 112
30 W 40 mm sq. No R2EA04003FXR03 R2EA04003FXH03 p. 96 p. 112
No
IP65
Yes (24 VDC)
No
IP67
Yes (24 VDC)
50 W 40 mm sq.
No
IP65
Yes (24 VDC)
No
IP67
Yes (24 VDC)
80 W 40 mm sq.
No
IP65
Yes (24 VDC)
No
IP67
Yes (24 VDC)
100 W 60 mm sq.
No
IP65
Yes (24 VDC)
No
IP67
Yes (24 VDC)
200 W 60 mm sq.
No
IP65
Yes (24 VDC)
Note: With the optional oil seals, rated outputs of servo motors might be reduced to 80 to 95% of the values in the above table.
19

Internal Safe Torque Off function Page
Main circuit Control circuit Encoder General Amplifier
regenerative (without delay), Model no.
power supply power supply type output capacity Specifications Dimensions
resistor tandem operation function
10 A RS3A01A0AL0 p. 44 p. 45
20 A RS3A02A0AL0 p. 44 p. 45
30 A RS3A03A0AL0 p. 44 p. 45
50 A RS3A05A0AL0 p. 44 p. 46
No
100 A RS3A10A0AL0 p. 44 p. 46
150 A RS3A15A0AL0 p. 44 p. 46
300 A RS3A30A0AL0 p. 44 p. 47
600 A RS3W60A0AM0 p. 44 p. 47
No
10 A RS3A01A0AL2 p. 44 p. 45
20 A RS3A02A0AL2 p. 44 p. 45
30 A RS3A03A0AL2 p. 44 p. 45
50 A RS3A05A0AL2 p. 44 p. 46
Yes
100 A RS3A10A0AL2 p. 44 p. 46
Sink 150 A RS3A15A0AL2 p. 44 p. 46
(NPN) 300 A RS3A30A0AL2 p. 44 p. 47
600 A RS3W60A0AM2 p. 44 p. 47
10 A RS3A01A0AA0 p. 44 p. 45
20 A RS3A02A0AA0 p. 44 p. 45
30 A RS3A03A0AA0 p. 44 p. 45
No
50 A RS3A05A0AA0 p. 44 p. 46
100 A RS3A10A0AA0 p. 44 p. 46
150 A RS3A15A0AA0 p. 44 p. 46
Yes
10 A RS3A01A0AA2 p. 44 p. 45
20 A RS3A02A0AA2 p. 44 p. 45
30 A RS3A03A0AA2 p. 44 p. 45
200 VAC system Yes
50 A RS3A05A0AA2 p. 44 p. 46
200 to 240 VAC
100 A RS3A10A0AA2 p. 44 p. 46
3-phase 200 VAC system
Serial 150 A RS3A15A0AA2 p. 44 p. 46
(can be also 200 to 240 VAC
encoder 10 A RS3A01A0BL0 p. 44 p. 45
used for sin- single-phase
20 A RS3A02A0BL0 p. 44 p. 45
gle-phase with
30 A RS3A03A0BL0 p. 44 p. 45
50 A or lower.)
50 A RS3A05A0BL0 p. 44 p. 46
No
100 A RS3A10A0BL0 p. 44 p. 46
150 A RS3A15A0BL0 p. 44 p. 46
300 A RS3A30A0BL0 p. 44 p. 47
600 A RS3W60A0BM0 p. 44 p. 47
No
10 A RS3A01A0BL2 p. 44 p. 45
20 A RS3A02A0BL2 p. 44 p. 45
30 A RS3A03A0BL2 p. 44 p. 45
50 A RS3A05A0BL2 p. 44 p. 46
Yes
100 A RS3A10A0BL2 p. 44 p. 46
Source 150 A RS3A15A0BL2 p. 44 p. 46
(PNP) 300 A RS3A30A0BL2 p. 44 p. 47
600 A RS3W60A0BM2 p. 44 p. 47
10 A RS3A01A0BA0 p. 44 p. 45
20 A RS3A02A0BA0 p. 44 p. 45
30 A RS3A03A0BA0 p. 44 p. 45
No
50 A RS3A05A0BA0 p. 44 p. 46
100 A RS3A10A0BA0 p. 44 p. 46
150 A RS3A15A0BA0 p. 44 p. 46
Yes
10 A RS3A01A0BA2 p. 44 p. 45
20 A RS3A02A0BA2 p. 44 p. 45
30 A RS3A03A0BA2 p. 44 p. 45
Yes
50 A RS3A05A0BA2 p. 44 p. 46
100 A RS3A10A0BA2 p. 44 p. 46
150 A RS3A15A0BA2 p. 44 p. 46
・Our standard servo amplifiers conform to UL, c-UL, and EN standards. R 3E Model and R ADVANCED MODEL EtherCAT Interface type have also acquired the KC mark.
・The servo amplifiers above are for rotary servo motors. For servo amplifiers for linear servo motors, contact us for details.
Power Supply Unit for 600 A Servo Amplifier Used together with 600 A amplifier unit.
Model no. Page (dimensions)
RS3PAA27000 p. 47
20

Main circuit Control circuit Encoder General Built-in regenerative Safe Torque Off Amplifier Page
Model no.
15 A RS2A01A2HL5 p. 62 p. 63
Yes 30 A RS2A03A2HL5 p. 62 p. 63
No
Standard Model
(with delay circuit) 50 A RS2A05A2HL5 p. 62 p. 63
Number List
200 VAC system 200 VAC system Photo 300 A RS2A30A2HL5 p. 62 p. 64
Serial
200 to 230 VAC 200 to 230 VAC relay 15 A RS2A01A2HA5 p. 62 p. 63
encoder
3-phase single-phase output 30 A RS2A03A2HA5 p. 62 p. 63
Yes
Yes 50 A RS2A05A2HA5 p. 62 p. 63
(with delay circuit)
100 A RS2A10A2HA5 p. 62 p. 64
150 A RS2A15A2HA5 p. 62 p. 64
Servo Amplifier　R CANopen Interface type

Main circuit Control circuit Encoder General Built-in regenerative Safe Torque Off Amplifier Page
Model no.
15 A RS1A01AL p. 70 p. 72
No No 30 A RS1A03AL p. 70 p. 72
200 VAC system
Serial 50 A RS1L05AL p. 70 p. 72
200 to 230 VAC Sink (NPN)
encoder 15 A RS1L01AL p. 70 p. 72
single-phase
Yes No 30 A RS1L03AL p. 70 p. 72
50 A RS1A05AL p. 70 p. 72
15 A RS1J01AL p. 70 p. 72
No No 30 A RS1J03AL p. 70 p. 72
Serial 50 A RS1J05AL p. 70 p. 72
24 VDC Sink (NPN)
encoder 15 A RS1K01AL p. 70 p. 72
Yes No 30 A RS1K03AL p. 70 p. 72
200 VAC system
50 A RS1K05AL p. 70 p. 72
200 to 230 VAC
15 A RS1A01AU p. 70 p. 72
3-phase
No No 30 A RS1A03AU p. 70 p. 72
200 VAC system
Serial Source 50 A RS1L05AU p. 70 p. 72
200 to 230 VAC
encoder (PNP) 15 A RS1L01AU p. 70 p. 72
single-phase
Yes No 30 A RS1L03AU p. 70 p. 72
50 A RS1A05AU p. 70 p. 72
15 A RS1J01AU p. 70 p. 72
No No 30 A RS1J03AU p. 70 p. 72
Serial Source 50 A RS1J05AU p. 70 p. 72
24 VDC
encoder (PNP) 15 A RS1K01AU p. 70 p. 72
Yes No 30 A RS1K03AU p. 70 p. 72
50 A RS1K05AU p. 70 p. 72
・Our standard servo amplifiers conform to UL, c-UL, and EN standards. R 3E Model and R ADVANCED MODEL EtherCAT Interface type have also ac-
quired the KC mark.
21

Servo Amplifier　R Built-in Positioning Function type　Interface: DIO type
Model no.
15 A RS1A01AC p. 80 p. 82
30 A RS1A03AC p. 80 p. 82
50 A RS1L05AC p. 80 p. 82
No No
100 A RS1L10AC p. 80 p. 82
Serial
200 VAC system 200 VAC system 150 A RS1L15AC p. 80 p. 82
encoder Sink
200 to 230 VAC 200 to 230 VAC 300 A RS1A30AC p. 80 p. 82
Pulse (NPN)
3-phase single-phase 15 A RS1L01AC p. 80 p. 82
encoder
30 A RS1L03AC p. 80 p. 82
Yes No 50 A RS1A05AC p. 80 p. 82
100 A RS1A10AC p. 80 p. 82
150 A RS1A15AC p. 80 p. 82
Servo Amplifier　R Multi-axis Pulse Input type

Required number of amplifier units, a power supply unit, and a motherboard are used as a set. The maximum number of axes is 6 axes for 15 A, 4
axes for 30 A. The maximum capacity is 2000W.
Amplifier unit
Input power Safe Torque Off Amplifier Page
Encoder type General output Model no.
supply function capacity Specifications Dimensions
Sink 15 A RR1A01AAB00 p. 90 p. 91
280 VDC Serial encoder No
(NPN) 30 A RR1A03AAB00 p. 90 p. 91
Power supply unit
Input power Built-in regenerative Page
Model no.
supply resistor Specifications Dimensions
200 VAC Yes RRPAA00 p. 90 p. 91
Motherboard
Input power The number of mounted amplifier units
Model no.
supply 15 A 30 A
4 2 RRMA400
200 VAC 6 3 RRMA600
— 4 RRMA800
・Our standard servo amplifiers conform to UL, c-UL, and EN standards.
22

Model no. Page
(Model No. HA035)
Standard Model
Number List
(Model No. PA035S)
No R2AA04003FXR00 R2AA04003FXH00 p. 98 p. 112
No
Yes R2AA04003FXR00M R2AA04003FXH00M p. 98 p. 112
IP67
No R2AA04003FCR00 R2AA04003FCH00 p. 98 p. 112
Yes (24 VDC)
Yes R2AA04003FCR00M R2AA04003FCH00M p. 98 p. 112
30 W 40 mm sq. No R2AA04003FXR03 R2AA04003FXH03 p. 98 p. 112
No
IP65
Yes (24 VDC)
No
IP67
Yes (24 VDC)
50 W 40 mm sq. No R2AA04005FXR03 R2AA04005FXH03 p. 98 p. 112
No
IP65
Yes (24 VDC)
IP67
Yes R2AA04010FCR00M6 R2AA04010FCH00M6 p. 98 p. 112
90 W 40 mm sq. Yes (24 VDC)
IP65
IP67
40 mm sq. No
IP65
No
100 W IP67
Yes (24 VDC)
60 mm sq. No R2AA06010FXR03 R2AA06010FXH03 p. 98 p. 112
No
IP65
Yes (24 VDC)
No
IP67
Yes (24 VDC)
No
IP65
Yes (24 VDC)
200 W No R2AA08020FXR00 R2AA08020FXH00 p. 99 p. 112
No
IP67
Yes (24 VDC)
No
IP65
Yes (24 VDC)
23

Model no. Page
output size code brake approved (Model No. HA035)
for incremental systems Specifications Dimensions
(Model No. PA035S)
IP67
No R2AA06040HCR00 R2AA06040HCH00 p. 99 p. 112
Yes R2AA06040HCR00M6 R2AA06040HCH00M6 p. 99 p. 112
360 W 60 mm sq. Yes (24 VDC)
IP65
Yes R2AA06040HCR03M6 R2AA06040HCH03M6 p. 99 p. 112
IP67
No R2AA06040HXR00 R2AA06040HXH00 p. 99 p. 112
Yes R2AA06040HXR00M R2AA06040HXH00M p. 99 p. 112
60 mm sq. No
IP65
400 W No R2AA08040FXR00 R2AA08040FXH00 p. 100 p. 112
No
IP67
Yes (24 VDC)
No
IP65
Yes (24 VDC)
No
IP67
Yes (24 VDC)
No
IP65
Yes (24 VDC)
No R2AAB8075FXR00 R2AAB8075FXH00 p. 102 p. 112
No
Yes R2AAB8075FXR00M R2AAB8075FXH00M p. 102 p. 112
IP67
No R2AAB8075FCR00 R2AAB8075FCH00 p. 102 p. 112
Yes (24 VDC)
Yes R2AAB8075FCR00M R2AAB8075FCH00M p. 102 p. 112
750 W 86 mm sq. No R2AAB8075FXR03 R2AAB8075FXH03 p. 102 p. 112
No
IP65
Yes (24 VDC)
No
IP67
Yes (24 VDC)
No
IP65
Yes (24 VDC)
24

Model no. Page
(Model No. HA035)
Standard Model
Number List
(Model No. PA035S)
No R2AAB8100FXR00 R2AAB8100FXH00 p. 102 p. 112
No
Yes (24 VDC)
IP67
No R2AAB8100HXR00 R2AAB8100HXH00 p. 100 p. 112
No
Yes R2AAB8100HXR00M R2AAB8100HXH00M p. 100 p. 112
No R2AAB8100HCR00 R2AAB8100HCH00 p. 100 p. 112
Yes (24 VDC)
Yes R2AAB8100HCR00M R2AAB8100HCH00M p. 100 p. 112
86 mm sq. No R2AAB8100FXR03 R2AAB8100FXH03 p. 102 p. 112
No
Yes (24 VDC)
1 kW IP65
No R2AAB8100HXR03 R2AAB8100HXH03 p. 100 p. 112
No
Yes R2AAB8100HXR03M R2AAB8100HXH03M p. 100 p. 112
No R2AAB8100HCR03 R2AAB8100HCH03 p. 100 p. 112
Yes (24 VDC)
Yes R2AAB8100HCR03M R2AAB8100HCH03M p. 100 p. 112
No
IP67
Yes (24 VDC)
No
IP65
Yes (24 VDC)
25

R2 Servo Motor　Medium Capacity, Medium Inertia　
Standard specifications Output shaft: with key, oil seal: yes, connection: cannon plug (550 W to 15 kW), terminal block (20 kW or higher)
Model no. Page
(Model No. PA035S)
No
Yes (24 VDC)
Yes R2AA13050HCR00M R2AA13050HCH00M p. 101 p. 113
550 W 130 mm sq. IP65
No R2AA13050DXR00 R2AA13050DXH00 p. 101 p. 113
No
Yes R2AA13050DXR00M R2AA13050DXH00M p. 101 p. 113
No R2AA13050DCR00 R2AA13050DCH00 p. 101 p. 113
Yes (24 VDC)
Yes R2AA13050DCR00M R2AA13050DCH00M p. 101 p. 113
No R2AA13120BXR00 R2AA13120BXH00 p. 101 p. 113
No
Yes R2AA13120BXR00M R2AA13120BXH00M p. 101 p. 113
No R2AA13120BCR00 R2AA13120BCH00 p. 101 p. 113
Yes (24 VDC)
Yes R2AA13120BCR00M R2AA13120BCH00M p. 101 p. 113
No R2AA13120LXR00 R2AA13120LXH00 p. 102 p. 113
No
Yes R2AA13120LXR00M R2AA13120LXH00M p. 102 p. 113
1.2 kW 130 mm sq. IP65
No R2AA13120LCR00 R2AA13120LCH00 p. 102 p. 113
Yes (24 VDC)
Yes R2AA13120LCR00M R2AA13120LCH00M p. 102 p. 113
No
Yes (24 VDC)
No
Yes(24 VDC)
1.8 kW 130 mm sq. IP65
No
Yes(24 VDC)
No
Yes (24 VDC)
2 kW 130 mm sq. IP65
No
Yes (24 VDC)
No
Yes (24 VDC)
3.5 kW 180 mm sq. IP65
No
Yes (24 VDC)
No
4.5 kW 180 mm sq. IP65
Yes (24 VDC)
Optional cable connection models are also available. (Note that cables are not removable.)
26

R2 Servo Motor　200 V System, Medium Capacity, Medium Inertia　
Standard specifications Output shaft: with key, oil seal: yes, connection: cannon plug (550 W to 15 kW), terminal block (20 kW or higher)
Model no. Page
(Model No. HA035)
Standard Model
Number List
(Model No. PA035S)
No
— R2AA22500LCR00 R2AA22500LCH00 p. 105 p. 116
Yes (24 VDC)
No R2AA18550RXR00 R2AA18550RXH00 p. 105 p. 115
No
Yes R2AA18550RXR00M R2AA18550RXH00M p. 105 p. 115
No R2AA18550RCR00 R2AA18550RCH00 p. 105 p. 115
Yes (24 VDC)
Yes R2AA18550RCR00M R2AA18550RCH00M p. 105 p. 115
5.5 kW 180 mm sq. IP65
No
Yes (24 VDC)
No R2AA22700SXR00 R2AA22700SXH00 p. 105 p. 116
No
Yes R2AA22700SXR00M R2AA22700SXH00M p. 105 p. 116
No R2AA22700SCR00 R2AA22700SCH00 p. 105 p. 116
Yes (24 VDC)
Yes R2AA22700SCR00M R2AA22700SCH00M p. 105 p. 116
No
7.5 kW 180 mm sq. IP65
Yes (24 VDC)
No R2AA1811KRXR00 R2AA1811KRXH00 p. 106 p. 115
No
Yes R2AA1811KRXR00M R2AA1811KRXH00M p. 106 p. 115
180 mm sq. IP65
No R2AA1811KRCR00 R2AA1811KRCH00 p. 106 p. 115
Yes (24 VDC)
Yes R2AA1811KRCR00M R2AA1811KRCH00M p. 106 p. 115
11 kW No R2AA2211KBXR00 R2AA2211KBXH00 p. 106 p. 116
No
Yes R2AA2211KBXR00M R2AA2211KBXH00M p. 106 p. 116
220 mm sq. IP65
No R2AA2211KBCR00 R2AA2211KBCH00 p. 106 p. 116
Yes (24 VDC)
Yes R2AA2211KBCR00M R2AA2211KBCH00M p. 106 p. 116
No R2AA2215KBXR00 R2AA2215KBXH00 p. 106 p. 116
No
15 kW 220 mm sq. IP65
Yes (24 VDC)
No
20 kW 220 mm sq. IP65
Yes (24 VDC)
No R2AA2830KVXR00 R2AA2830KVXH00 p. 107 p. 117
30 kW 275 mm sq. IP65
Yes (24 VDC)
Preparing
R2AA2830KVCR00 R2AA2830KVCH00 p. 107 p. 117
27

R1 Servo Motor　200 V System, Medium Capacity, Low Inertia　
Standard specifications Output shaft: with key, oil seal: yes, connection: cannon plug (5.5 kW to 15 kW), terminal block (21 kW)
Model no. Page
(Model No. PA035S)
No
5.5 kW 180 mm sq. No R1AA18550HCR00 R1AA18550HCH00 p. 108 p. 118
Yes (24 VDC)
No
7.5 kW 180 mm sq. No R1AA18750LCR00 R1AA18750LCH00 p. 108 p. 118
Yes (24 VDC)
IP65 Yes R1AA18750LCR00M R1AA18750LCH00M p. 108 p. 118
(Excluding No R1AA1811KRXR00 R1AA1811KRXH00 p. 109 p. 118
No
cooling Yes R1AA1811KRXR00M R1AA1811KRXH00M p. 109 p. 118
11 kW 180 mm sq. fans) No R1AA1811KRCR00 R1AA1811KRCH00 p. 109 p. 118
Yes (24 VDC)
Yes R1AA1811KRCR00M R1AA1811KRCH00M p. 109 p. 118
No
15 kW 180 mm sq. No R1AA1815KBCR00 R1AA1815KBCH00 p. 109 p. 118
Yes (24 VDC)
No R1AA2220KVXR00 R1AA2220KVXH00 p. 109 p. 118
21 kW 220 mm sq. No
Yes R1AA2220KVXR00M R1AA2220KVXH00M p. 109 p. 118

Standard specifications Output shaft: straight, oil seal: none, connecting: cable (no connector)
Model no. Page
(Model No. PA035S)
No
Yes (24 VDC)
200 W 60 mm sq. IP65
No
Yes (24 VDC)
380 W 60 mm sq. IP65 Yes (24 VDC)
No
400 W 60 mm sq. IP65 No
Yes (24 VDC)
675 W 80 mm sq. IP65 Yes (24 VDC)
710 W 80 mm sq. IP65 Yes (24 VDC)
No
750 W 80 mm sq. IP65
No
28
Option
R 3E Model R
Model no. Category Remarks Page Model no. Category Remarks Page
AL-00385594 Connector to connect servo amplifier (10 to 50 A) Single CN1 p. 122 AL-00608710 Connector to connect servo amplifier (CANopen interface type) Single CN1 p. 126
AL-00632607 Connector to connect servo amplifier (10 to 50 A) Single EN1 and EN2 p. 122 AL-00385596 Connector to connect servo amplifier (CANopen interface type) Single CN2 p. 126
AL-00686902-01 Connector to connect servo amplifier (10 to 50 A) Single CNA p. 122 AL-00329461-01 Connector to connect servo amplifier (CANopen interface type) Single CNA p. 126
AL-Y0004079-01 Connector to connect servo amplifier (10 to 50 A) Single CNB p. 122 AL-Y0000988-01 Connector to connect servo amplifier (CANopen interface type) Single CNB p. 126
AL-00718251-01 Connector to connect servo amplifier (10 to 50 A) Single CN4 p. 122 AL-00329458-01 Connector to connect servo amplifier (CANopen interface type) Single CNC p. 126
AL-00718252-01 Connector to connect servo amplifier (10 to 50 A) Single CN4 p. 122 AL-00661731 Connector to connect servo amplifier (CANopen interface type) Connector set p. 126
AL-00723282 Connector to connect servo amplifier (10 to 50 A) Connector set p. 122 AL-00661729 Connector to connect servo amplifier (CANopen interface type) Connector set p. 126
AL-00723284 Connector to connect servo amplifier (10 to 50 A) Connector set p. 122 AL-00608710 Connector to connect servo amplifier (CANopen interface type) Single CN1 p. 126
Standard Model
AL-00723286 Connector to connect servo amplifier (10 to 50 A) Connector set p. 122 AL-00385596 Connector to connect servo amplifier (CANopen interface type) Single CN2 p. 126
Number List
AL-00723288 Connector to connect servo amplifier (10 to 50 A) Connector set p. 122 AL-Y0000988-02 Connector to connect servo amplifier (CANopen interface type) Single CNA p. 126
AL-00723290 Connector to connect servo amplifier (10 to 50 A) Connector set p. 122 AL-00329460-01 Connector to connect servo amplifier (CANopen interface type) Single CNB p. 126
AL-00696037 Connector to connect servo amplifier (10 to 50 A) Connector set p. 122 AL-00329458-01 Connector to connect servo amplifier (CANopen interface type) Single CNC p. 126
AL-00723157 Connector to connect servo amplifier (10 to 50 A) Connector set p. 122 AL-00385594 Connector to connect servo amplifier (Built-in positioning function type) Single CN1 p. 127
AL-00723159 Connector to connect servo amplifier (10 to 50 A) Connector set p. 122 AL-00329461-01 Connector to connect servo amplifier (Built-in positioning function type) Single CNA p. 127
AL-00385594 Connector to connect servo amplifier (100 to 300 A) Single CN1 p. 123 AL-Y0000988-01 Connector to connect servo amplifier (Built-in positioning function type) Single CNB p. 127
AL-00632607 Connector to connect servo amplifier (100 to 300 A) Single EN1 and EN2 p. 123 AL-00329458-01 Connector to connect servo amplifier (Built-in positioning function type) Single CNC p. 127
AL-Y0005159-01 Connector to connect servo amplifier (100 to 600 A) Single CNA pp. 123, 124 AL-00393603 Connector to connect servo amplifier (Built-in positioning function type) Connector set p. 127
AL-00718251-01 Connector to connect servo amplifier (100 to 600 A) Single CN4 pp. 123, 124 AL-00292309 Connector to connect servo amplifier (Built-in positioning function type) Connector set p. 127
AL-00718252-01 Connector to connect servo amplifier (100 to 600 A) Single CN4 pp. 123, 124 AL-00385594 Connector to connect servo amplifier (Built-in positioning function type) Single CN1 p. 127
AL-00751450 Connector to connect servo amplifier (100 to 300 A) Connector set p. 123 AL-00329461-02 Connector to connect servo amplifier (Built-in positioning function type) Single CNA p. 127
AL-00723290 Connector to connect servo amplifier (100 to 300 A) Connector set p. 123 AL-Y0000988-01 Connector to connect servo amplifier (Built-in positioning function type) Single CNB p. 127
AL-00751452 Connector to connect servo amplifier (100 to 300 A) Connector set p. 123 AL-00329458-01 Connector to connect servo amplifier (Built-in positioning function type) Single CNC p. 127
AL-00751454 Connector to connect servo amplifier (100 to 300 A) Connector set p. 123 AL-00492384 Connector to connect servo amplifier (Built-in positioning function type) Connector set p. 127
AL-00723159 Connector to connect servo amplifier (100 to 300 A) Connector set p. 123 AL-00292309 Connector to connect servo amplifier (Built-in positioning function type) Connector set p. 127
AL-00608710 Connector to connect servo amplifier (600 A) Single CN9 p. 124 AL-Y0004290-02 Connector to connect servo amplifier (Built-in positioning function type) Single CN1 p. 127
AL-00385594 Connector to connect servo amplifier (600 A) Single CN1 p. 124 AL-Y0003305-01 Connector to connect servo amplifier (Multi-axis pulse input type) Single CN1 p. 128
AL-00632607 Connector to connect servo amplifier (600 A) Single EN1 and EN2 p. 124 AL-00632607 Connector to connect servo amplifier (Multi-axis pulse input type) Single CN2 and CN6 p. 128
AL-Y0004079-01 Connector to connect servo amplifier (600 A) Single CNB p. 124 AL-00632604 Connector to connect servo amplifier (Multi-axis pulse input type) Single CNC p. 128
AL-Y0011185-01 Connector to connect servo amplifier (600 A) Single CN8 p. 124 AL-00632600 Connector to connect servo amplifier (Multi-axis pulse input type) Single CNA p. 128
AL-00892848 Connector to connect servo amplifier (600 A) Connector set p. 124 AL-00632602 Connector to connect servo amplifier (Multi-axis pulse input type) Single CNB p. 128
AL-00892850 Connector to connect servo amplifier (600 A) Connector set p. 124 AL-00385594 Connector to connect servo amplifier (Multi-axis pulse input type) Single CN1A and CN1B p. 128
AL-00723290 Connector to connect servo amplifier (600 A) Connector set p. 124 AL-00632611 Connector to connect servo amplifier (Multi-axis pulse input type) Connector set p. 128
AL-00892854 Connector to connect servo amplifier (600 A) Connector set p. 124 AL-00632609 Connector to connect servo amplifier (Multi-axis pulse input type) Connector set p. 128
AL-00892856 Connector to connect servo amplifier (600 A) Connector set p. 124 AL-00490833-01 Communication cable for setup software 2.85 m p. 131
AL-00892858 Connector to connect servo amplifier (600 A) Connector set p. 124 AL-00494635-01 Battery (Lithium battery) p. 132
AL-00723159 Connector to connect servo amplifier (600 A) Connector set p. 124 AL-00582791-01 Mounting brackets (Built-in positioning function type) p. 137
AL-00892852 Connector to connect servo amplifier (600 A) Connector set p. 124 AL-00582792-01 Mounting brackets (Built-in positioning function type) p. 137
AL-00918125-01 Copper bar to connect servo amplifier units (600 A) p. 124 AL-00582788-01 Mounting brackets (Built-in positioning function type) p. 137
AL-00917284 Cable to connect servo amplifier units (600 A) p. 124 AL-00582789-01 Mounting brackets (Built-in positioning function type) p. 137
AL-00880390-01 Front mounting brackets (10 to 30 A) p. 134 AL-00582790-01 Mounting brackets (Built-in positioning function type) p. 137
AL-00880391-01 Front mounting brackets (50 A) p. 134
AL-00907039-01 Front mounting brackets (100 A, 150 A) p. 134 R 3E Model R ADVANCED
AL-00880402-01 Battery box p. 132 Model no. Category Remarks Page
AL-00879511-01 Battery for battery box (Lithium battery) p. 132 AL-00731792-01 Encoder extension cable with battery With connectors on both ends p. 132
AL-00896515-01 USB communication cable for setup software 1.0 m p. 131 AL-00697960-□□ Encoder extension cable with battery With a connector on one end p. 132
AL-00896515-02 USB communication cable for setup software 2.0 m p. 131 AL-00697958-01 Battery for encoder extension cable (Lithium battery) p. 132
AL-00911582-01 Communication cable between amplifiers for tandem operation 0.2 m p. 131 Q-MON-3 Analog monitor monitor box p. 133
AL-00911582-02 Communication cable between amplifiers for tandem operation 3.0 m p. 131 AL-00690525-01 Analog monitor dedicated cable p. 133
R ADVANCED R 3E Model R ADVANCED R

Model no. Category Remarks Page Model no. Category Remarks Page
AL-00632607 Connector to connect servo amplifier (15 to 50 A) Single EN1 and EN2 p. 125 REGIST-080W100B External regenerative resistor p. 133
AL-00686902-01 Connector to connect servo amplifier (15 to 50 A) Single CNA p. 125 REGIST-080W50B External regenerative resistor p. 133
AL-Y0004079-01 Connector to connect servo amplifier (15 to 50 A) Single CNB p. 125 REGIST-122W100B External regenerative resistor p. 133
AL-00718252-01 Connector to connect servo amplifier (15 to 50 A) Single CN1 p. 125 REGIST-122W50B External regenerative resistor p. 133
AL-00849548-02 Connector to connect servo amplifier (15 to 50 A) Single CN1 p. 125 REGIST-220W20B External regenerative resistor p. 133
AL-00842383 Connector to connect servo amplifier (15 to 50 A) Single CN2 p. 125 REGIST-220W50B External regenerative resistor p. 133
AL-00887324 Connector to connect servo amplifier (15 to 50 A) Connector set p. 125 REGIST-220W100B External regenerative resistor p. 133
AL-00887322 Connector to connect servo amplifier (15 to 50 A) Connector set p. 125 REGIST-500CW20B External regenerative resistor p. 133
AL-00632607 Connector to connect servo amplifier (100 to 300 A) Single EN1 and EN2 p. 125 REGIST-500CW7B External regenerative resistor p. 133
AL-Y0005159-01 Connector to connect servo amplifier (100 to 300 A) Single CNA p. 125
AL-00718252-01 Connector to connect servo amplifier (100 to 300 A) Single CN1 p. 125
AL-00849548-02 Connector to connect servo amplifier (100 to 300 A) Single CN1 p. 125
AL-00842383 Connector to connect servo amplifier (100 to 300 A) Single CN2 p. 125
AL-00887325 Connector to connect servo amplifier (100 to 300 A) Connector set p. 125
AL-00887329 Connector to connect servo amplifier (100 to 300 A) Connector set p. 125
AL-00689703-01 Communication cable for setup software 2.85 m p. 131
AL-00736863-01 Front mounting brackets (15 A, 30 A) p. 136
・For connectors to connect motors, refer to p. 130. For servo motor extension cables and for servo motors with extension cable connectors, refer
to p. 138.
29
Input voltage 200 VAC Made in The Philippines

The products in this page are made in Philippines. They can be delivered to you faster.

Built-in Safe Torque Off function Amplifier Page
Main circuit Control circuit Encoder General regenerative (no delay), Model no.
power supply power supply type output External
resistor Tandem operation function capacity Specifications
dimensions
10A RS3A01A0AL0W00 p. 44 p. 45
200 VAC system 20A RS3A02A0AL0W00 p. 44 p. 45
― ―
200 to 240 VAC 30A RS3A03A0AL0W00 p. 44 p. 45
200 VAC system
3-phase Serial Sink type 50A RS3A05A0AL0W00 p. 44 p. 46
200 to 240 VAC
(can be also used encoder (NPN) 10A RS3A01A0AA0W00 p. 44 p. 45
for single-phase Single phase
20A RS3A02A0AA0W00 p. 44 p. 45
with 50 A or lower.) Yes ―
30A RS3A03A0AA0W00 p. 44 p. 45
50A RS3A05A0AA0W00 p. 44 p. 46

Built-in Page
Main circuit Control circuit Encoder General regenerative Safe Torque Off function Amplifier Model no.
power supply power supply type output capacity External
resistor Specifications
dimensions
200 VAC system 200 VAC system Photo 15A RS2A01A2HA5W00 p. 62 p. 63
Serial Yes
200 to 230 VAC 200 to 230 VAC relay Yes 30A RS2A03A2HA5W00 p. 62 p. 63
encoder (with delay circuit)
3-phase Single phase output 50A RS2A05A2HA5W00 p. 62 p. 63
・Our standard servo amplifiers conform to UL, c-UL, and EN standards. R 3E Model and R ADVANCED MODEL EtherCAT Interface type have also
acquired the KC mark.
R2 Servo Motor　200 V System, Small Capacity, Medium Inertia

Rated Motor flange Protection Holding CE and UL Output Oil Page
Encoder Model no.
output size code brake approved shaft seal Specifications Dimensions
No No Battery-backup method absolute encoder With key Yes R2AA04010FXP29 p. 98 p. 112
85 W 40 mm sq. IP67
Yes (24 VDC) No Battery-backup method absolute encoder With key Yes R2AA04010FCP29 p. 98 p. 112
No Battery-backup method absolute encoder Round No R2AA04010FCP00 p. 98 p. 112
No Battery-backup method absolute encoder With key No R2AA04010FCP1C p. 98 p. 112
No Absolute encoder for incremental system Round No R2AA04010FCH00 p. 98 p. 112
90 W 40 mm sq. IP67 Yes (24 VDC) Yes Battery-backup method absolute encoder Round No R2AA04010FCP00M6 p. 98 p. 112
Yes Battery-backup method absolute encoder With key No R2AA04010FCP1CM6 p. 98 p. 112
Yes Absolute encoder for incremental system Round No R2AA04010FCH00M6 p. 98 p. 112
Yes Absolute encoder for incremental system With key No R2AA04010FCH1CM6 p. 98 p. 112
No Battery-backup method absolute encoder Round No R2AA04010FXP00 p. 98 p. 112
No Battery-backup method absolute encoder With key No R2AA04010FXP1C p. 98 p. 112
No Absolute encoder for incremental system Round No R2AA04010FXH00 p. 98 p. 112
100 W 40 mm sq. IP67 No
No Absolute encoder for incremental system With key No R2AA04010FXH1C p. 98 p. 112
Yes Absolute encoder for incremental system Round No R2AA04010FXH00M p. 98 p. 112
Yes Absolute encoder for incremental system With key No R2AA04010FXH1CM p. 98 p. 112
No Battery-backup method absolute encoder With key No R2AA06020FXP11 p. 99 p. 112
No Battery-backup method absolute encoder With key Yes R2AA06020FXP29 p. 99 p. 112
No No Absolute encoder for incremental system With key No R2AA06020FXH11 p. 99 p. 112
Yes Battery-backup method absolute encoder Round No R2AA06020FXP00M p. 99 p. 112
Yes Battery-backup method absolute encoder With key No R2AA06020FXP11M p. 99 p. 112
Yes Absolute encoder for incremental system With key No R2AA06020FXH11M p. 99 p. 112
200 W 60 mm sq. IP67
No Battery-backup method absolute encoder With key No R2AA06020FCP11 p. 99 p. 112
No Battery-backup method absolute encoder With key Yes R2AA06020FCP29 p. 99 p. 112
Yes (24 VDC) No Absolute encoder for incremental system With key No R2AA06020FCH11 p. 99 p. 112
Yes Battery-backup method absolute encoder Round No R2AA06020FCP00M p. 99 p. 112
Yes Battery-backup method absolute encoder With key No R2AA06020FCP11M p. 99 p. 112
Yes Absolute encoder for incremental system Round No R2AA06020FCH00M p. 99 p. 112
Yes Absolute encoder for incremental system With key No R2AA06020FCH11M p. 99 p. 112
30

The products in this page are made in the Philippines. They can be delivered to you faster.
R2 Servo Motor　200 V System, Small Capacity, Medium Inertia

Encoder Model no.
Standard Model
Number List
No
No Absolute encoder for incremental system Round Yes R2AA06040FXH01 p. 99 p. 112
320 W 60 mm sq. IP67
No Battery-backup method absolute encoder With key Yes R2AA06040FCP29 p. 99 p. 112
Yes (24 VDC)
No Absolute encoder for incremental system Round Yes R2AA06040FCH01 p. 99 p. 112
360 W 60 mm sq. IP67 Yes (24 VDC) No Absolute encoder for incremental system With key No R2AA06040FCH11 p. 99 p. 112
Yes Battery-backup method absolute encoder Round No R2AA06040FCP00M6 p. 99 p. 112
Yes Absolute encoder for incremental system Round No R2AA06040FCH00M6 p. 99 p. 112
Yes Absolute encoder for incremental system With key No R2AA06040FCH11M6 p. 99 p. 112
No Absolute encoder for incremental system With key No R2AA06040FXH11 p. 99 p. 112

400 W 60 mm sq. IP67 No
Yes Battery-backup method absolute encoder With key No R2AA06040FXP11M p. 99 p. 112
No
Yes Absolute encoder for incremental system With key Yes R2AA08075FXH29M6 p. 100 p. 112
675 W 80 mm sq. IP67 No Battery-backup method absolute encoder Round Yes R2AA08075FCP01 p. 100 p. 112
Yes (24 VDC) No Battery-backup method absolute encoder With key Yes R2AA08075FCP29 p. 100 p. 112
No Absolute encoder for incremental system Round Yes R2AA08075FCH01 p. 100 p. 112
No No Absolute encoder for incremental system With key No R2AA08075FXH11 p. 100 p. 112
750 W 80 mm sq. IP67
Yes (24 VDC) No Absolute encoder for incremental system With key No R2AA08075FCH11 p. 100 p. 112
Yes Battery-backup method absolute encoder Round No R2AA08075FCP00M p. 100 p. 112
Yes Absolute encoder for incremental system Round No R2AA08075FCH00M p. 100 p. 112
Yes Absolute encoder for incremental system With key No R2AA08075FCH11M p. 100 p. 112
No Battery-backup method absolute encoder Round No R2AAB8100FXP04 p. 102 p. 112
No Battery-backup method absolute encoder Round No R2AAB8100HXP04 p. 100 p. 112

No
No Absolute encoder for incremental system Round No R2AAB8100FXH04 p. 102 p. 112
1.0 kW 86 mm sq. IP67
No Absolute encoder for incremental system With key Yes R2AAB8100HXH5A p. 100 p. 112
No Battery-backup method absolute encoder Round No R2AAB8100HCP04 p. 100 p. 112

Yes (24 VDC)
No Absolute encoder for incremental system With key Yes R2AAB8100HCH5A p. 100 p. 112
31

R2 Servo Motor　200 V System, Medium Capacity, Medium Inertia
Encoder Model no.
No Battery-backup method absolute encoder With key Yes R2AA13120BXP00 p. 101 p. 113
No Battery-backup method absolute encoder With key Yes R2AA13120LXP00 p. 102 p. 113
No Battery-backup method absolute encoder With key Yes R2AA13120DXP00 p. 103 p. 113
No
No Absolute encoder for incremental system With key Yes R2AA13120BXH00 p. 101 p. 113
No Absolute encoder for incremental system With key Yes R2AA13120LXH00 p. 102 p. 113
No Absolute encoder for incremental system With key Yes R2AA13120DXH00 p. 103 p. 113
1.2 kW 130 mm sq. IP65
No Battery-backup method absolute encoder With key Yes R2AA13120BCP00 p. 101 p. 113
No Battery-backup method absolute encoder With key Yes R2AA13120LCP00 p. 102 p. 113
No Battery-backup method absolute encoder With key Yes R2AA13120DCP00 p. 103 p. 113
Yes (24 VDC)
No Absolute encoder for incremental system With key Yes R2AA13120BCH00 p. 101 p. 113
No Absolute encoder for incremental system With key Yes R2AA13120LCH00 p. 102 p. 113
No Absolute encoder for incremental system With key Yes R2AA13120DCH00 p. 103 p. 113
No Battery-backup method absolute encoder With key Yes R2AA13200LXPW0 p. 103 p. 114
No Battery-backup method absolute encoder With key Yes R2AA13200DXPW0 p. 103 p. 114
No
No Absolute encoder for incremental system With key Yes R2AA13200LXHW0 p. 103 p. 114
No Absolute encoder for incremental system With key Yes R2AA13200DXHW0 p. 103 p. 114
2.0 kW 130 mm sq. IP65
No Battery-backup method absolute encoder With key Yes R2AA13200LCPW0 p. 103 p. 114
No Battery-backup method absolute encoder With key Yes R2AA13200DCPW0 p. 103 p. 114
Yes (24 VDC)
No Absolute encoder for incremental system With key Yes R2AA13200LCHW0 p. 103 p. 114
No Absolute encoder for incremental system With key Yes R2AA13200DCHW0 p. 103 p. 114
32
Set Models

・We offer 30 to 750 W AC servo motors and servo amplifiers in sets with peripheral cables and connectors.
Standard Model
Set contents Cable (option)
Number List
・Extension cable for servo motor
(1, 2, 3, 5, and 10 m)
Servo motor * Select the cable length
・Encoder extension cable

Servo amplifier with battery
Connectors * Not necessary when used as an incremental
system
・USB communication cable

(1 and 2 m)
* Select the cable length
Servo motor specifications Protection code: IP67, CE/UL approval: No, Encoder classification: Battery-backup method absolute encoder (Model no. PA035C),
Output shaft: Straight, Oil seal: No, Connection: Cable with relay connector. (Connector specification → p.138)
Servo amplifier specifications Main circuit power supply: 3-Phase 200 to 240 VAC, Interface: Analog/Pulse input type, General output: Sink (NPN),
Built-in regenerative resistor, Safe Torque Off function: No.
Order Set components

Rated Motor Holding
number for Page Amplifier Page
output flange size brake Motor model no. Connector
set models Specifications Dimensions model no. Specifications Dimensions
No SR403X01 R2AA04003FXPA0 p. 98 p.112
30 W
Yes (24 VDC) SR403C01 R2AA04003FCPA0 p. 98 p.112
No SR405X01 R2AA04005FXPA0 p. 98 p.112

50 W 40 mm sq.
RS3A01A0AA0 p. 44 p. 45
90 W Yes (24 VDC) SR410C01 R2AA04010FCPA0 p. 98 p.112 Connector for
connections with
100 W No SR410X01 R2AA04010FXPA0 p. 98 p.112 host devices (CN1)
No SR610X01 R2AA06010FXPA0 p. 98 p.112

100 W Connector for input
Yes (24 VDC) SR610C01 R2AA06010FCPA0 p. 98 p.112 power supply and
No SR620X02 R2AA06020FXPA0 p. 99 p.112 regenerative

200 W 60 mm sq. resistor connections
Yes (24 VDC) SR620C02 R2AA06020FCPA0 p. 99 p.112 (CNA)
RS3A02A0AA0 p. 44 p. 45
360 W Yes (24 VDC) SR640C02 R2AA06040FCPA0 p. 99 p.112
400 W No SR640X02 R2AA06040FXPA0 p. 99 p.112
No SR875X03 R2AA08075FXPA0 p. 100 p.112

750 W 80 mm sq. RS3A03A0AA0 p. 44 p. 45
33
Set Models

Options (sold separately) These items will be shipped altogether with the purchased set model.
Cable length
Type Model no. Page
(m)
1 RS-CM4-01-R p. 138
2 RS-CM4-02-R p. 138
(1) For power 3 RS-CM4-03-R p. 138
5 RS-CM4-05-R p. 138
10 RS-CM4-10-R p. 138
1 RS-CA4-01-R p. 138
2 RS-CA4-02-R p. 138
Servo motor extension cable
(2) For encoder 3 RS-CA4-03-R p. 138
(Servo motor ⇔ Servo amplifier)
5 RS-CA4-05-R p. 138
10 RS-CA4-10-R p. 138
1 RS-CB3-01-R p. 138
2 RS-CB3-02-R p. 138
(3) For brake 3 RS-CB3-03-R p. 138
5 RS-CB3-05-R p. 138
10 RS-CB3-10-R p. 138
(4) Encoder extension cable with battery

(Servo amplifier ⇔ Encoder)
0.3 AL-00731792-01 p. 132
Connected when using a battery-backup method absolute
encoder
(5) USB communication cable 1 AL-00896515-01 p. 131

(PC communication cable for setup software) 2 AL-00896515-02 p. 131
Servo amplifier
PC
Connector for input power

supply and regenerative
resistor (CNA) (5) USB communication cable
(accessory)
Power supply input
Host device
(6) External regenerative resistor
Connector for connections with host devices
(CN1)
(4) Encoder extension cable with battery
EN1

for power (1)

for encoder (2)
Power supply input

for brake (3)
Servo motors with connectors
for extension cables
(Cable length 0.2 m)
Servo motor
34
Servo Amplifiers
R 3E Model Analog/Pulse Input type
Servo Amplifier Capacity: 10 to 600 A
More evolved AC servo amplifiers that provide improved basic perfor-
mance such as high responsiveness, and are more eco-efficient and
easier to use.
■ How to read model numbers

Note that not all the possible combinations of the numbers and characters below are valid.
Also, some of the numbers/characters listed below are for optional models.
For model numbers valid as standard products, refer to “Standard Model Number List”.
Servo amplifier
RS3 A 01 A 0 A A 0
Option 2
Speed/torque command input circuit Safe Torque Off function Tandem operation function
0 Available None None
2 Available Available (without delay circuit) Available
4 Available Available (with delay circuit) Available
Option 1
A … With built-in regenerative resistor & With DB resistor (for 10 to 150 A)
L … Without built-in regenerative resistor & With DB resistor
M … Without built-in regenerative resistor & Without DB resistor (for 600 A only)
Interface type
A … Analog pulse train, Sink (NPN) type general-purpose output
(Current flows from load to output terminal when output is ON)
B … Analog pulse train, Source (PNP) type general-purpose output
(Current flows from output terminal to load when output is ON)
Encoder connection type
Servo motor type EN2 (external pulse encoder or motor encoder

EN1 (motor encoder)
A … Rotary motor for fully-closed system)
0 Serial encoder −
Servo amplifier capacity
01 … 10 A Pulse encoder for motor
2 Serial encoder
02 … 20 A External pulse encoder for fully-closed system
03 … 30 A 8 Pulse encoder −
05 … 50 A A Pulse encoder External pulse encoder for fully-closed system
10 … 100 A
15 … 150 A
Input voltage
30 … 300 A
A … 200 VAC
60 … 600 A
E … 100 VAC
W… 280 VDC
(600 A only. The power supply unit for simultaneous use has 200 VAC input)
3E Model series
・Motor parameters need to be set for the amplifier before use.
Please use the setup software for parameter setting.
Power supply unit for 600 A
RS3PA A 270 00
Specification identifier
Rated output 00 … Standard
270 … 27 kW
Input voltage
A … 200 VAC
3E Model series power supply unit
35
Servo Amplifiers R 3E Model Analog/Pulse Input type
System Configuration
10 to 50 A The photograph shows the 30 A model.
T S R
Option
Setup software
17
Molded case circuit breaker (MCCB)
Servo amplifier 1
Noise filter Option

18
USB
communication cable USB
2
Electromagnetic contactor
CNA
Option
3 Communication cable
19 between amplifiers
for tandem operation
Option
8 A variety of connector types
for host device connection
15 4
Option
CN1
External regenerative resistor
Host device
9
5
CNB
CN4
Option
6 EN1 Encoder extension
Encoder
connection cable with battery
for fully-closed 11 (with connectors on both ends)
EN2 control (option)
7
CN3
10
Option
Option
Battery box 12 Servo motor
Option
extension cable
for encoder
13 Servo motor extension cable for power
20
14 16
Brake power Option

for brake
Safety unit,
safety PLC, etc.
*Connector specifications for standard servo motors

・For servo motors with flange size smaller than 100 mm sq.:
Cable without connector.
(when servo motors are smaller than 80 mm sq., a cable
with a connector is available as an option. Refer to p. 138)
・For servo motors with flange size larger than 130 mm sq.:
Servo motor Cannon plug (when the motor capacity is less than 15 kW),
Terminal block (when the motor capacity is more than 20 kW)
36
Options and Peripherals (10 to 50 A)
No. Name Model no. Description Page
Can be downloaded from

Parameters can be set and monitored via communication with a
1 Setup software Product Information on p. 120
PC.
our website.
2 USB communication cable AL-00896515-0□ PC communication cable for setup software p. 131
Communication cable
3 between amplifiers for AL-00911582-0□ Connects between amplifiers for tandem operation (CN5 ⇔ CN5) p. 131
tandem operation
4 CN1 connector AL-00385594 To connect to host device p. 122
AL-00718251-01
(for short circuits),
5 CN4 connector To be connect to safety device (for short circuits and wiring) p. 122
AL-00718252-01
(for wiring)
Servo Amplifiers
6 EN1, EN2 connectors AL-00632607 To connect to encoders p. 122
7 CN3 connector — To connect to battery box. Supplied with the battery box —
8 CNA connector AL-00686902-01 For input power supply and regenerative resistor connections p. 122
9 CNB connector AL-Y0004079-01 To connect to servo motor p. 122
10 Battery box AL-00880402-01 Used when using a battery-backup method absolute encoder p. 132

Encoder extension cable with Used when using a battery-backup method absolute encoder
11 battery (with connectors on AL-00731792-01 (For servo motors with connector-less cable, use AL-00697960-□□ p. 132
both ends) with a connector on one end.)
12 Servo motor extension cable RS-CA4-□□-R Encoder extension cable with connectors on both ends p. 138
13 (Compatible with the optional RS-CM4-□□-R Power extension cable with connectors on both ends p. 138
servo motors with connectors
14 for extension cables) RS-CB3-□□-R Brake extension cable with connectors on both ends p. 138
Used for special operations, such as high frequency applications
REGIST-□□□W□…B
15 External regenerative resistor that require greater power dissipation than that provided by the p. 133
REGIST-500CW□…□B
servo amplifier’s built-in regenerative resistor
To be provided by the Connects I/O signals from the Safe Torque Off function to devices
16 Safety unit, safety PLC, etc. —
customer such as the safety unit and safety PLC.
Molded case circuit breaker To be provided by the

17 Used to protect the power line. —
(MCCB) customer
To be provided by the
18 Noise filter Used to prevent external noise from the power source line. —
customer
19 Electromagnetic contactor Used to switch the power on and off. —
customer
20 Brake power Used for servo motors with brake —
customer
Connector sets are also available with set model numbers. See respective pages.
37
T S R
Option
Setup software
13 Molded case circuit breaker (MCCB)
1
Servo amplifier
Option
14 Noise filter USB USB
communication cable
2
Option
3 Communication cable between
CN5 amplifiers for tandem operation
Option
A variety of connector types
for host device connection
15 4
CN1
8
Host device
(To be provided by the customer)
5
CN4
11
Option 6 EN1 Encoder
connection
External for fully-closed Option
regenerative EN2 control (option)
7 Encoder extension
resistor CN3 10 cable with battery
(with connectors on one end)
Option
Battery box
12
Safety unit,
16 safety PLC, etc.
Brake power

38

PC.
our website.
Communication cable
tandem operation
AL-00718251-01
AL-00718252-01
(for wiring)
Servo Amplifiers
7 CN3 connector — To connect to battery box. Supplied with the battery box. —
8 CNA connector AL-Y0005159-01 For control circuit power supply input p. 123
Encoder extension cable with
10 battery (with connectors on AL-00697960-□□ Used when using a battery-backup method absolute encoder p. 132

one end)
REGIST-□…□W□…B,
(MCCB) customer
customer
customer
customer
39
300 A
T S R
Option
Setup software
Noise filter
14
1
Servo amplifier
Option
USB communication cable USB
2
Option
3 Communication cable between
CN5 amplifiers for tandem operation
15
Option A variety of connector types for host
device connection
Electromagnetic
contactor
4
8 CN1
Host device
(To be provided by the customer)
5
CN4
11
6 EN1
Encoder
connection Option
EN2 for fully-closed
Option 7 control (option) 10 Encoder
CN3
External regenerative extension cable
resistor with battery
(with connectors
on one end)
Option
Battery box
12
16
Brake power
Safety unit,
safety PLC, etc.
Fan power supply (for single phase)

Cannon plug (when the motor capacity is less than 15
Servo motor
kW), Terminal block (when the motor capacity is more
than 20 kW)
40
Options and Peripherals (300 A)

PC.
our website.
Communication cable
tandem operation
AL-00718251-01
AL-00718252-01
(for wiring)
Servo Amplifiers
To connect to battery box. The connector is supplied with the
7 CN3 connector — —
battery box.

Connected when using a battery-backup method absolute encoder
10 battery (with connectors on AL-00697960-□□ p. 132
with an extension cable
one end)
(MCCB) customer
customer
customer
customer
41
600 A
T S R

Option
Setup software
1
Option
A variety of connector types for host device connection
18 Noise filter
Power supply unit Amplifier unit USB
Option Option
Connecting USB
cable between communication
Option
units cable
CN9 CNA
2 Communication cable
8 3 between amplifiers
12 for tandem operation
9 CN1
CNA
4
10
5 EN1
CN9
r t 6 EN2
11 Encoder
Control circuit CN3 connection for Host device
power supply 14 7
fully-closed (To be provided by the customer)
＋ＤＣ－ＤＣ
＋ＤＣ－ＤＣ
control (option)
Option
RB1 RB2
13 Option
External Encoder extension
regenerative Option cable with battery
resistor Copper bar 15 (with connectors
on one end)
16 L1（R） L2（S） L3（T）（E） U V W （E）
Frame ground
Option
Battery box
19 Dynamic brake
resistor
21
r t
Control circuit power supply
Brake power
20
Fan power supply (for 3-phase)
*Connector specifications for standard servo

motors
・For servo motors with flange size larger than
130 mm sq.:
Servo motor Cannon plug (when the motor capacity is less
than 15 kW), Terminal block (when the motor
capacity is more than 20 kW)
42

PC.
our website.
Communication cable between
3 AL-00911582-0□ Connects between amplifiers for tandem operation (CN5 ⇔ CN5) p. 131
amplifiers for tandem operation
AL-00718251-01
AL-00718252-01
(for wiring)
Servo Amplifiers
7 CN3 connector — To connect to battery box. Supplied with the battery box. —
9 CNB connector AL-Y0004079-01 For dynamic brake signal p. 124
10 CN9 connector AL-00608710 To connect between units (single item) p. 124
11 CN8 connector AL-Y0011185-01 For external alarm signal p. 124

12 Connection cable between units AL-00917284 To connect between power unit (CN9) and amplifier unit (CN9) p. 124
To connect main power supply between power unit (CN9) and
amplifier unit (CN9)
13 Copper bar AL-00918125-01 p. 124
Terminal number: Between ＋DC/-DC 2-pc. set (5 mm between
units)
14 Battery box AL-00880402-01 Connected when using a battery-backup method absolute encoder p. 132
15 battery (with connectors on one AL-00697960-□□ Connected when using a battery-backup method absolute encoder p. 132
end)
(MCCB) customer
customer
customer
customer
21 Dynamic brake resistor Not built in this servo amplifier. Connect as necessary. —
customer
43
General Specifications
*1
Control function Position control/Speed control/Torque control (Parameter switching)
Power source voltage should be within the
Control system IGBT: PWM control, sinusoidal drive specified range below.
3-Phase: 200 to 240 VAC +10, -15%, 50/60 Hz±3 Hz [200 VAC power input type]:
Main Circuit Power Supply *1 Single-phase: 200 to 240 VAC +10, -15%, 50/60 Hz±3 Hz *2 Specified power supply range = 170 to 264 VAC
[100 VAC power input type]:
Single-phase: 100 to 120 VAC +10, -15%, 50/60 Hz±3 Hz *3
Specified power supply range = 85 to 132 VAC
Control circuit power supply *1
Single-phase: 100 to 120 VAC +10, -15%, 50/60 Hz±3 Hz *3 The 200 VAC single-phase input type is
Ambient temperature 0 to +55° C compatible only with RS3□01, RS3□02,
RS3□03, and RS3□05.
Storage temperature -20 to +65° C Please set parameters before using single-
Operation and phase input.
Below 90%RH (non-condensing)
Storage humidity *3
Environment The 100 VAC single-phase input type is
Operation altitude Below 1000 m
compatible only with RS3□01, RS3□02,
4.9 m/s2 freq. range 10 to 55 Hz tested for 2 and RS3□03.
Vibration resistance
hours in each X, Y and Z-axis directions Please set parameters before using single-
Impact resistance 19.6m/s2 phase input.
10 to 300 A: Built-in tray type power supply, 600 A: Separate power

Structure RoHS
supply unit
■ Performance
Speed control range 1:5000 (Internal speed command)
Frequency characteristics 2200 Hz (In high frequency sampling mode) *Differs for each model.
Permissible load moment of inertia 10 times the motor rotary inertia
■ Built-in functions
Overcurrent, Current detection error, Overload, Regeneration error, Overheating, External error, Overvoltage, Main circuit power supply
undervoltage Main circuit power supply open phase, Control circuit power supply undervoltage, Encoder error, Overspeed, Speed control
Protection functions
error, Speed feedback error, Excessive position deviation, Position command pulse error, Built-in memory error, Parameter error, Cooling
fan error
Digital operator Status display, Monitor display, Alarm display, Parameter setting, Test run, Adjustment mode
Dynamic brake circuit Built in/None selectable (except for 600 A)
10 to 150 A: Models with or without built-in resistor selectable, 300 to 600 A: None
Regenerative resistor
*For all models from 10 to 600 A, optional external resistors can be equipped.
Speed monitor (VMON) 2.0 V±10% (at 1000 min－1),
Monitor
Torque (thrust force) command monitor (TCMON) 2.0 V±10% (at 100%)
■ Safety standards
Servo amplifier type Safety standards
North American safety standards
UL508C
(UL ratings)
Low-voltage
All models North American safety standards EN61800-5-1
directive
(UL ratings)
EMC directive EN55011 G1 ClassA, EN61800-3, EN61326-3-1
KC Mark (Korea Certification Mark) KN61000-6-2, KN61000-6-4
Models equipped with the
Safety feature standards IEC 61508: SIL3, ISO 13849-1 Cat.3: PL＝e, IEC 62061: SILCL3
Safe Torque Off function only
■ General-purpose output specifications

Sink type (NPN) Source type (PNP)
Servo amplifier Host device Servo amplifier Host device

49 OUT-PWR 49 OUT-PWR
39-46 Out 1 to 8 38 OUT+COM

load
OUT-COM 39-46 Out 1 to 8

24 load
25 OUT-COM
44
Dimensions [Unit : mm]
10 A 5±0.5
Mass: Without built-in regenerative resistor 0.68 kg
With built-in regenerative resistor 0.73 kg
(70) 130
(19.5)
(16.5)
40 (5) 30 5
5
160
152
Servo Amplifiers
5
(3)

20 A 5±0.5
(70) 130
(16.5)
(19.5)
40 (5) 30 5
5
160
152
5
(3)
30 A 5±0.5
(70) 130
(16.5)
(19.5)
50 (5) 40 5
5
160
152
5
(3)
45
Dimensions [Unit: mm]
50 A
5±0.5
(70) 130
(16.5) (5)
(19.5)
85 75 5
5
160
152
(3)
100 A 150 A
Mass: Without built-in regenerative resistor 4.0 kg Mass: Without built-in regenerative resistor 4.7 kg
With built-in regenerative resistor 4.2 kg With built-in regenerative resistor 4.9 kg
(70) 220 120 (70) 220

100 2 100 2
(19.5)
(19.5)
50 75
6 (16.5) 6 (16.5)
15
15
5
5
235
225
205
235
225
205
46
300 A
Mass: 9.8 kg
220 (70) 220

100 100 2
(19.5)
7
10
(16.5)
30
Servo Amplifiers
250
235
205

600 A
Power supply unit Mass: 11.8 kg Amplifier unit Mass: 18 kg
160 180 92 160 250 (16.5) 180 92 250

100 7 100 100 7
27.5
4-φ 6-φ
27.5
22
10
22
10
N.P. N.P. N.P.

N.P.
360
325
325
360
380
380
+ +
D D
C C
RB1 RB2 D
D C
C
L1(R) L2(S) L3(T) (E) U V W (E)
For FG
(27.5)
(27.5)
For FG
195 195 M4 × 10 L
M4 × 10 L
200 or less 200 or less
Front view (without a cover) Front view (without a cover)
Main power supply input terminal block Motor output terminal block
132 228
47
External Wiring Diagram

10 to 300 A, Sink type (NPN) output
External regenerative
Single-phase 100 VAC (amplifier capacity 10 to 30 A) Single-phase 200 VAC (amplifier capacity 10 to 50 A) Amplifier capacity resistor
User unit User unit 100 to 300 A *2
*3
CNA CNA
AC power, MC R AC power,
MC Terminal block
R
S S
100 to 115 V
RB1
RB4
RB2
200 to 240 V
T T
50/60 Hz 50/60 Hz *14
r r Built-in
Terminal block regenerative
*11 t *11 t R resistor
*13 Start ready *13
ON Start ready S +
OFF Start ready Start ready
MC ON T
OFF
MC Emergency MC CNA r
MC
System error stop Emergency t
System error stop
3-Phase 200 V User unit Amplifier capacity

AC power 3φ 10 to 50 A
200 to 240 V *2
CNA
For cannon plug
50/60 Hz *3
*11 10 to 50 A: CNB
Servo motor
RB1
RB2
Built-in 100 to 300 A: Terminal block
CNA regenerative *4
MC R Red
resistor U Orange RY1
(Yellow)
S +
White 90 V
T V Orange
(Yellow) (24 V)
r Black
W
t Holding brake
Start ready Start ready Green (Install only devices with brakes)
ON OFF Servo amplifier (Green/Yellow)
Fan
MC *9 R
MC EN1 ∞ S
Emergency CN4 T
System error stop
1
NC Encoder For servo motor with fan
*10 2 SH *5 SH
NC
*12 4 HWGOFF1+ For cannon plug
24 VDC
3 HWGOFF1-
6 HWGOFF2+
Models equipped 5 HWGOFF2- Connector
with the Safe Torque No.
Name Housing, Plug, Shell
8
Off function only EDM+
CNA Main power supply,

*12 7 EDM-
Line driver 10 to Control circuit power MSTBT2.5/8-STF-5.08LUB
24 VDC Equivalent to HD26C31 50 A supply input connector
AO 3
CN1
CNA Control circuit
100 to power supply MSTBT2.5/2-STF-5.08
AO 4
16
+5 V 300 A input connector
Line driver 14 BO 5
+5 V
*8 150 Ω
CNB
26 F-PC
10 to Servo motor power
MSTBT2.5/3-STF-5.08
BO 6 line connector
Clockwise VT 50 A
pulse 27 F-PC
ZO 7
SG Connector for host Plug: 10150-3000PE
Position command SG 47 CN1 device input signal Shell: 10350-52A0-008
pulse input ZO 8 Encoder divided
28 R-PC SG 150 Ω signal output Connector for Connector: 36210-0100PL
Counter- EN1 encoder signal Shell kit: 36310-3200-008
PS 9
clockwise VT
pulse 29 R-PC Connector for Safe Torque For short circuits: 2040978-1
*6 SG PS 10
CN4 Off function signal For wiring: 2013595-3
48
SG
V-REF SG
21 /T-REF
Velocity command and - *1 Use a twisted pair shielded cable.
Torque command input 20 SG ZOP
+ 11 *2 For amplifier capacity 10 to 50 A:
SG Connect a external regenerative resistor between the
SG 12
SG RB1-RB2 terminals. When using an external regenerative
SG resistor, remove the wiring of the built-in regenerative
SG
22 T-COMP resistor connected between the RB1 and RB2 terminals
-
Torque compensation
23 SG
MON1 30 and then connect the external regenerative resistor
input +
Monitor between the RB1 and RB2 terminals.
SG SG 31 output For amplifier capacity 100 to 150 A:
When using the built-in regenerative resistor, short the
SG SG
18 F-TLA circuit between the RB1-RB4 terminals. When using an
Clock- *12 external regenerative resistor, remove the shorting bar
wise side 17 SG
Torque control input SG
5 VDC, connected between the RB1 and RB4 terminals and then
Counter- 12 to 24 VDC
clockwise SG connect the regenerative resistor between the RB1 and
19 R-TLA OUT-PWR
side 49 RB2 terminals.
For amplifier capacity 300 A:
Lithium battery 3.6 VDC OUT1 39
Connect an external regenerative resistor between the
1 BTP-I SG RB1-RB2 terminals.
Battery input 2 BTN-I
*3 ⊖ is a maintenance terminal (high-voltage circuit). Do not
wire this terminal.
OUT2 40
*12
CONT-COM
*4 Motor connection differs by the motor specifications.
50
5 to 24 VDC
The indications of red, white, black, green and orange apply
37 CONT1 when the motor power and brake lines are the lead type.
OUT3 41 When they are the cannon plug type, connect them
according to the motor specifications.
*5 Refer to the encoder connection figure for the wiring of the
36 CONT2
connector for the encoder connection.
OUT4 42
*6 Be sure to connect SG (signal ground) between the
equipment and the servo amplifier when you use a
35 CONT3 differential input signal.
General
OUT5 43
output *7 R, S, T, r, t, ⊖, RB1, RB2, U, V, W are high-voltage circuits.
All other lines are low-voltage. Ensure that there is sufficient
CONT4 differential between the high- and low-voltage circuits.
34
OUT6 44 *8 Use a line driver with a differential voltage difference (VT)
General input from 2.5 V to 3.8 V.
If the differential voltage is less than 2.5 V or more than 3.8
33 CONT5 V, it may lead to malfunction due to missing pulses.
OUT7 45
*9 CN4 is a connector for safety function signals.
To turn the servo motor power ON, a safety device must be
CONT6 connected and the wiring to activate the safety function must
32
OUT8 46
be done. When not using the safety function, use an optional
connector (P.N: AL-00718251-01) inserted into the CN4.
*10 Do not connect anything to CN4 pin 1 and 2.
13 CONT7
OUT-COM
*11 An earth leakage circuit breaker conforming either to UL,
24
IEC, or EN standards is recommended.
OUT-COM 25
*12 The external power supply is to be arranged by the
15 CONT8 customer.
SH
*13 Do not wire the S phase for a single-phase power supply.
SH Shield processing
*14 There is no built-in regenerative resistor or RB4 terminal for
Shield processing 300 A capacity amplifiers.
48
10 to 300 A, Source type (PNP) output
Single-phase 100 V (amplifier capacity 10 o 30 A) Single-phase 200 V (amplifier capacity 10 to 50 A) Amplifier capacity resistor
User unit User unit 100 to 300 A *2
CNA *3
MC MC CNA
AC power, R AC power,
R Terminal block
S S
100 to 115 V 200 to 240 V
RB1
RB4
RB2
T T
50/60 Hz 50/60 Hz
r r Built-in *14
Terminal block
*11 t *11 regenerative
t R resistor
*13 Start ready Start ready *13
ON S +
OFF Start ready Start ready
MC ON OFF T
MC Emergency MC CNA r
MC
System error stop Emergency t
System error stop
3-Phase 200 V User unit Amplifier capacity

AC power 3φ
10 to 50 A
200 to 240 V
CNA
*2 For cannon plug
50/60 Hz *3
10 to 50 A: CNB
RB1
Servo motor
RB2
Built-in 100 to 300 A: Terminal block
CNA regenerative
MC *4 Red
R resistor U Orange RY1
(Yellow)
S +
White 90 V
T V Orange
Servo Amplifiers
(Yellow) (24 V)
*11 r Black
W
t Holding brake
Start ready Start ready Green (Install only devices with brakes)
ON OFF Servo amplifier (Green/Yellow)
Fan
MC *9 R
MC EN1 ∞ S
Emergency CN4 T
System error stop
1 Encoder
NC For servo motor with fan
*10 2 SH *5 SH
NC

*12 4 HWGOFF1+ For cannon plug
24 VDC
3 HWGOFF1-
6 HWGOFF2+
Models equipped 5 HWGOFF2- Connector

No. Name Housing, Plug, Shell
with the Safe Torque 8 EDM+
Off function only CNA Main power supply,
*12 7 EDM- 10 to Control circuit power MSTBT2.5/8-STF-5.08LUB
Line driver supply input connector
24 VDC Equivalent to HD26C31 50 A
AO 3 CNA Control circuit
CN1 100 to power supply MSTBT2.5/2-STF-5.08
16 AO 4 300 A input connector
+5 V
Line driver 14
+5 V BO 5 CNB
*8
26 F-PC 150 Ω
10 to Servo motor power
line connector MSTBT2.5/3-STF-5.08
BO 6 50 A
Clockwise VT
pulse 27 F-PC
ZO 7
Encoder divided Connector for host Plug: 10150-3000PE
47 SG CN1 device input signal
Position command SG signal output Shell: 10350-52A0-008
pulse input
28 R-PC SG 150 Ω
ZO 8 Connector for Connector: 36210-0100PL
EN1 encoder signal
Counter-
PS 9
Shell kit: 36310-3200-008
clockwise VT
pulse 29 R-PC Connector for Safe Torque For short circuits: 2040978-1
CN4 Off function signal For wiring: 2013595-3
*6 48 SG PS 10
SG
V-REF SG
21 /T-REF
Velocity command and
- *1 Use a twisted pair shielded cable.
20 SG ZOP
Torque command input + 11
*2 For amplifier capacity 10 to 50 A:
SG Connect the external regenerative resistor between the
SG 12
SG RB1-RB2 terminals. When using an external regenerative
SG
SG
resistor, remove the wiring of built-in regenerative
22 T-COMP
-
resistor connected between the RB1 and RB2 terminals
Torque compensation MON1 30 and then connect the external regenerative resistor
input 23 SG
+ between the RB1 and RB2 terminals.
Monitor
SG 31 output For amplifier capacity 100 to 150 A:
SG
SG When using the built-in regenerative resistor, short the
18 F-TLA SG circuit between the RB1-RB4 terminals. When using an
Clock- *12 external regenerative resistor, remove the shorting bar
wise side 17 SG
Torque control input SG
5 VDC,
12 to 24 VDC
connected between the RB1 and RB4 terminals and then
Counter-
clockwise 19 R-TLA SG connect the regenerative resistor between the RB1 and
side OUT-PWR 49 RB2 terminals.
Lithium battery 3.6 VDC 1 BTP-I OUT+COM 38 Connect an external regenerative resistor between the
SG
RB1-RB2 terminals.
Battery input 2 BTN-I OUT1 39
*3 ⊖ is a maintenance terminal (high-voltage circuit). Do not
wire this terminal.
*12 CONT-COM *4 Motor connection differs by the motor specifications.
50
5 to 24 VDC OUT2 40 The indications of red, white, black, green and orange apply
General input 37 CONT1 when the motor power and brake lines are the lead type.
When they are the cannon plug type, connect them
OUT3 41
CONT2 General
*5 Refer to the encoder connection figure for the wiring of the
36
output connector for the encoder connection.
*6 Be sure to connect SG (signal ground) between the
OUT4 42 equipment and the servo amplifier when you use a
35 CONT3 differential input signal.
*7 R, S, T, r, t, ⊖, RB1, RB2, U, V, W are high-voltage circuits.
All other lines are low-voltage. Ensure that there is sufficient
OUT5 43
CONT4 distance between the high- and low-voltage circuits.
34
*8 Use a line driver with a differential voltage difference (VT)
from 2.5 V to 3.8 V.
OUT6 44 If the differential voltage is less than 2.5 V or more than 3.8
33 CONT5 V, it may lead to malfunction due to missing pulses.
*9 CN4 is a connector for safety function signals.
OUT7 45 To turn the servo motor power ON, a safety device must be
32 CONT6 connected and the wiring to activate the safety function must
be done. When not using the safety function, use an optional
connector (model no.: AL-00718251-01) inserted into the CN4.
OUT8 46 *10 Do not connect anything to CN4 pin 1 and 2.
13 CONT7
*11 An earth leakage circuit breaker conforming either to UL,
IEC, or EN standards is recommended.
SH
*12 The external power supply is to be arranged by the
CONT8 Shield processing
15 customer.
*13 Do not wire the S phase for a single-phase power supply.
SH
*14 There is no built-in regenerative resistor or RB4 terminal for
Shield processing 300 A capacity amplifiers.
49

600 A, Sink type (NPN) output
External
regenerative
resistor User unit
User unit
*2
AC power 3φ
200 to 240 V RB1 RB2 *12
50/60 Hz
*13 Terminal block Dynamic brake resistor
Terminal block Terminal block
Terminal block Thermal Connect to CN8(1, 2).
MC +DC +DC
L1(R)
+DC +DC *12
L2(S)
Terminal block MC1 *4
L3(T) CN9 CN9 U
Servo motor
E U RY
Power
V 90 V
supply unit Amplifier unit V (24 V)
CNA
W W
r Holding brake
t (Install only
E devices with
brakes)
EN1
Encoder
*11 CNA
r r Fan R
t t SH *5 SH ∞ S
*5 T
Start ready Thermal

ON Start ready CNB *12
OFF
MC *11 RY DB1 Connect to
MC Emergency
MC1
CN8 (3, 4).
stop DB2 For dynamic brake operation
System error *9
CN4
1
NC CN8 *3
*10 2 1
NC Dynamic brake
*14 2 resistor thermal
4 HWGOFF1+
3
24 VDC 4 Motor thermal, or
3 HWGOFF1- motor fan thermal
6 HWGOFF2+
Models equipped 5 HWGOFF2-
Connector Name Housing, Plug, Shell
with the Safe Torque No.
8 EDM+
Off function only Control circuit power
CNA
*14 supply input connector MSTBT2.5/2-STF-5.08
7 EDM- Line driver
24 VDC Equivalent to HD26C31 Connector for host Plug: 10150-3000PE
CN1
AO 3 device input signal Shell: 10350-52A0-008
CN1 Connector for Connector: 36210-0100PL
EN1
16 AO 4 encoder signal Shell kit: 36310-3200-008
+5 V
Line driver 14
+5 V BO 5 Connector for
*8 CN8 FMC0,5/4-ST-2.54
26 F-PC 150 Ω external thermal
BO 6 Connector for dynamic
Clockwise VT CNB MSTBT2,5/3-STF-5,08
pulse 27 F-PC brake operation
ZO 7
Position command 47 SG
SG
pulse input ZO 8 Encoder divided
28 R-PC SG 150 Ω signal output
Counter- PS 9
clockwise VT
pulse 29 R-PC
*6 48 SG PS 10
SG
SG
V-REF
21 /T-REF
Velocity command and -
Torque command input 20 SG ZOP 11
+
SG SG 12
SG
SG
SG *1 Use a twisted pair shielded cable.
22 T-COMP
Torque compensation -
MON1 30
input
23 SG + *2 Connect an external regenerative resistor between the
Monitor
SG 31 output RB1-RB2 terminals.
SG
*3 When thermal monitoring is handled by the customer,
18 F-TLA SG SG
Clock- *14 short the circuit.
wise side 17 SG 5 VDC,
Torque control
Counter- SG 12 to 24 VDC *4 Motor connection differs by the motor specifications.
input clockwise SG Connect them according to the motor specifications.
side
19 R-TLA OUT-PWR 49
*5 Refer to the encoder connection figure for the wiring
Lithium battery 3.6 VDC OUT1 39
of the connector for the encoder connection.
1 BTP-I SG
Battery input 2 BTN-I *6 Be sure to connect SG (signal ground) between the
equipment and the servo amplifier when you use a
OUT2 40 differential input signal.
*14
50 CONT-COM *7 R, S, T, r, t, P, N, RB1, RB2, U, V, W are high-voltage
5 to 24 VDC
General input 37 CONT1 circuits.
OUT3 41 All other lines are low-voltage. Ensure that there is
sufficient distance between the high- and low-voltage
circuits.
36 CONT2
General output
OUT4 42 *8 Use a line driver with a differential voltage difference

(VT) from 2.5 V to 3.8 V.
CONT3
If the differential voltage is less than 2.5 V or more than
35
OUT5 43
3.8 V, it may lead to malfunction due to missing pulses.
*9 CN4 is a connector for safety function signals. To turn
CONT4 the servo motor power ON, a safety device must be
34
OUT6 44 connected and the wiring to activate the safety
function must be done. When not using the safety
function, use an optional connector (P.N: AL-00718251-
33 CONT5
01) inserted into the CN4.
OUT7 45
32 CONT6 *11 Ground with a wire of 5.5 mm2 or more.
OUT8 46
*12 DB1 and DB2 are dynamic brake timing outputs.
The electromagnetic contactor, resistor, power supply,
13 CONT7 and wiring are to be arranged by the customer. For the
OUT-COM 24 electromagnetic contactor, arrange a DC drive type.
OUT-COM 25 RYContact rating 30 VDC 2 A (COSφ=0.4, L/R=7ms)
15 CONT8 *13 An earth leakage circuit breaker conforming either to
SH UL, IEC, or EN standards is recommended.
SH Shield processing
*14 External power supply is to be arranged by the customer.
Shield processing
50
600A, Source type (PNP) output
User unit
User unit
*2
AC power 3φ
RB1 RB2 *12
200 to 240 V
50/60 Hz
*13 Terminal block Dynamic brake resistor
Terminal block
Terminal block Terminal block
+DC +DC Thermal Connect to CN8 (1, 2).
MC
L1(R)
+DC +DC *12
L2(S)
MC1 *4
L3(T) CN9 CN9
Terminal block
U
Servo motor
E Power U RY
supply unit V 90 V
Amplifier unit V
(24 V)
CNA
W W Holding brake
r (Install only devices with brakes)
t
E
EN1 Encoder
*11 CNA
r r Fan
R
t t SH SH ∞ S
*5 T
*5
Start ready Thermal
ON Start ready CNB *12
Servo Amplifiers
OFF
MC RY DB1 Connect to
MC Emergency *11 MC1
CN8 (3, 4).
stop DB2 For dynamic brake operation
System error
*9
CN4 CN8
*3
1 1 Dynamic brake
*10 NC 2
2 resistor thermal
NC 3
*14 4 Motor thermal, or
4 HWGOFF1+ motor fan thermal
24 VDC 3 HWGOFF1-

6 HWGOFF2+ Connector Name Housing, Plug, Shell
Models equipped 5 HWGOFF2- No.
with the Safe Torque 8
Control circuit power
EDM+ CNA supply input connector MSTBT2.5/2-STF-5.08
Off function only
*14 Connector for host Plug: 10150-3000PE
7 EDM- Line driver CN1 device input signal Shell: 10350-52A0-008
24 VDC Equivalent to HD26C31
Connector for Connector: 36210-0100PL
AO 3 EN1 encoder signal
CN1 Shell kit: 36310-3200-008
AO 4 Connector for
16
+5 V CN8 external thermal FMC0,5/4-ST-2.54
Line driver 14 BO 5
+5 V Connector for dynamic
*8 26 F-PC 150 Ω CNB brake operation MSTBT2,5/3-STF-5,08
BO 6
Clockwise VT
pulse 27 F-PC
ZO 7 Encoder divided
Position command 47 SG
SG signal output
pulse input ZO 8
28 R-PCSG 150 Ω
Counter- PS 9
clockwise VT
*6 pulse 29 R-PC
48 SG PS 10
SG
SG
V-REF
Velocity command 21 /T-REF -
and Torque 20 SG + ZOP 11
command input
SG SG 12
SG
SG
SG
22 T-COMP
Torque
-
MON1
*1 Use a twisted pair shielded cable.
23 SG 30
compensation input + Monitor *2 Connect an external regenerative resistor between the
SG 31 output RB1-RB2 terminals.
SG
18 SG SG *3 When thermal monitoring is handled by the customer,

F-TLA
Clock- *14 short the circuit.
wise side 17 SG
Torque control SG 5 VDC,
Counter-
input clockwise
12 to 24 VDC *4 Motor connection differs by the motor specifications.
19 R-TLA SG
side OUT-PWR 49 Connect them according to the motor specifications.
Lithium battery 3.6 VDC *5 Refer to the encoder connection figure for the wiring of
1 BTP-I SG OUT+COM 38 the connector for the encoder connection.
Battery input 2 BTN-I OUT1 39 *6 Be sure to connect SG (signal ground) between the
equipment and the servo amplifier when you use a
*14
CONT-COM
differential input signal.
50
5 V to 24 VDC OUT2 40
General input CONT1
*7 R, S, T, r, t, P, N, RB1, RB2, U, V, W are high-voltage circuits.
37
All other lines are low-voltage. Ensure that there is
sufficient distance between the high- and low-voltage
OUT3 41 circuits.
36 CONT2
General output
*8 Use a line driver with a differential voltage difference

(VT) from 2.5 V to 3.8 V.
OUT4 42 If the differential voltage is less than 2.5 V or more than
35 CONT3
3.8 V, it may lead to malfunction due to missing pulses.
*9 CN4 is a connector for safety function signals. To turn
OUT5 43
the servo motor power ON, a safety device must be
34 CONT4
connected and the wiring to activate the safety function
must be done. When not using the safety function, use
OUT6 44 an optional connector (P.N: AL-00718251-01) inserted
33 CONT5 into the CN4.
OUT7 45
32 CONT6 *11 Ground with a wire of 5.5 mm2 or more.
*12 DB1 and DB2 are dynamic brake timing outputs.
OUT8 46 The electromagnetic contactor, resistor, power supply,
13 CONT7 and wiring are to be arranged by the customer. For the
electromagnetic contactor, arrange a DC drive type.
SH RYContact rating 30 VDC 2 A (COSφ=0.4, L/R=7ms)
15 CONT8 Shield processing *13 An earth leakage circuit breaker conforming either to
UL, IEC, or EN standards is recommended.
SH
*14 External power supply is to be arranged by the customer.
Shield processing
51
Notes on Replacing R ADVANCED MODEL

Note the following when replacing our conventional SANMOTION R ADVANCED MODEL amplifier with SANMOTION R 3E Model.
■ Position command pulse input

There are constraints on the specifications of the available position pulse signals for the SANMOTION R 3E Model.
Also, if the host device output is open collector type, a wiring change is necessary.
ADVANCED MODEL 3E Model Pulse output circuit Wiring

Constraint conditions
Host device Amplifier Host device Amplifier of the host devices compatibility
26(28) Differential output type Voltage difference between differ-
26(28) VT Yes
27(29)
27(29) (Line driver) ential signals (VT) : 2.5 to 3.8 V
47(48)
47(48) Saturation voltage of the
Line driver Open collector type No
Line driver transistor (Vce): 1.5 V max.
Host device Amplifier
Host device Amplifier
14(16)
26(28) 26(28)
27(29) 27(29)
Vce
47(48) 47(48)
Open collector Open collector
14(16)
■ General input
26(28)
27(29)
For the SANMOTION R 3E Model, differential (line driver) output type cannot be used as a host device side output circuit.
Furthermore, wiring change will be required even if open collector output is used.
ADVANCED MODEL 3E Model General output circuit Wiring

Constraint conditions
Host device Amplifier of the host devises compatibility
CONT7 Host device Amplifier
CONT-COM Differential output type Change to open
13 –
50 (Line driver) collector type.
14
No Wire in the same way
CONT7 Open collector type
13 (Refer to the figure) as CONT1 to 6.
CONT8
CONT8
15 15
16
SG Open collector output

38
Open collector output
52
Encoder Wiring Diagram
Serial Encoder
Battery-less optical absolute encoder [Model No. HA035]
Optical absolute encoder for incremental systems [Model No. PA035S]
Option: Optical battery-backup method absolute encoder [Model No. PA035C]
*1 Use a shielded twisted pair cable.

Connector: 36210-0100PL
Servo amplifier Shell kit: 36310-3200-008 Servo motor *2 Maximum cable lengths by conductor size of the power
supply cable (5 V, SG) are shown in the table below.
EN1 *4 Absolute encoder Conductor size Conductor resistance Length
7 E/1(Brown)
ES＋ ES＋ AWG SQ (mm2) (Ω/km) *at 20°C (m)
8 F/2(Blue)
ES− ES− 26 0.15 150 or less 5
*3 9 T/8(Pink)
BAT＋ EBAT＋ 24 0.2 100 or less 10
10 S/4(Purple)
BAT− EBAT− 22 0.3 60 or less 15
20 0.5 40 or less 25
18 0.75 25 or less 40
1 H/9(Red)
＋5 V ＋5 V
*Conductor resistance differs by conductor specifications.
Servo Amplifiers
2 G/10(Black)
SG 0V
J/7 *3 Battery lines (EBAT+, EBAT-) are necessary only when a
FG
*1 (Shielded) battery-backup method absolute encoder is used.
*2 *4 Lead wire colors are indicated in parentheses. For lead
wire colors and cannon plug pin numbers, see the fol-
lowing table.

Cannon plug model no.
ES+ ES– EBAT+ EBAT– +5V 0V FG
JN2DS10SL1-R JN2FS10SL1-R 100 mm sq.
Flange size: 130 mm sq. or smaller
Brown Blue Pink*3 Purple*3 Red Black Shielded
JN2DS10SL2-R JN2FS10SL2-R
or larger 130 mm sq.
1 2 8*3 4*3 9 10 7
JN2DS10SL3-R JN2FS10SL3-R or larger
Option: Pulse Encoder

Wire-saving incremental encoder
Connector: 36210-0100PL *1 Use a shielded twisted pair cable.

EN1 *3 Incremental encoder
Conductor size Conductor resistance Length
7 A/1(Blue)
A A AWG SQ (mm2) (Ω/km) *at 20°C (m)
8 D/4(Brown)
A A 26 0.15 150 or less 5
5 B/2(Green)
B B 24 0.2 100 or less 10
6 E/5(Purple)
B B 22 0.3 60 or less 15
9 F/3(White)
Z Z 20 0.5 40 or less 25
10 G/6(Yellow)
Z Z 18 0.75 25 or less 40

1 J/9(Red)
＋5 V ＋5 V *3 Lead wire colors are indicated in parentheses. For lead
2 N/10(Black)
SG 0V wire colors and cannon plug pin numbers, see the fol-
H/7
FG lowing table:
*1 (Shielded)
A A B B Z Z +5V
*2
100 mm sq.
Blue Brown Green Purple White Yellow Red
or smaller
130 mm sq.
1 4 2 5 3 6 9
Cannon plug model no. or larger
0V FG
Flange size: 130 mm sq. 100 mm sq.
JN2DS10SL2-R JN2FS10SL2-R Black Shielded
or larger or smaller
10 7
or larger
53
54
Servo Amplifiers
R ADVANCED MODEL
EtherCAT Interface type Servo Amplifier Capacity: 15 to 300 A
The EtherCAT communication cycle is fast (0.125 ms) and position commands are
subdivided, making device operations smoother.
A new product with faster communication cycle and improved controllability. It uses a different connector from our
conventional EtherCAT interface type (Model no.: RS2□□□A□K)

RS2 A 01 A 2 H A 5
Option 2
Safe torque Off function General I/O
Equipped Input x 6
5
(with delay circuit) Output x 2
Option 1
A … With built-in regenerative resistor & With DB resistor (for 10 to 150 A)
L ... Without built-in regenerative resistor & With DB resistor
Interface type
H … EtherCAT interface type (high-speed communication)
Encoder connection type (rotary motor)

EN1 (motor encoder) EN2 (external pulse encoder)
2 Serial encoder Pulse encoder
A Pulse encoder Pulse encoder
* If servo amplifiers are to be used in fully-closed systems, for which both of the motor
encoder and the external encoder are used, the amplifier model no. should have either “2”
or “A” as its “encoder connection type” character, as in the above table.
* If a serial encoder is to be connected to EN1 and used in a semi-closed system, for which
only one encoder is connected, the amplifier model no. should have “2” as its “encoder
Motor type connection type” character.
A … Rotary motor Instead, a pulse encoder can also be used as a motor encoder when connected to EN2. It
configures another semi-closed system with the “encoder connection type” character of 2.

01 … 15 A
03 … 30 A
05 … 50 A
10 … 100 A
15 … 150 A
30 … 300 A
Input voltage
Ａ … 200 VAC
E … 100 VAC
RS2 series

55
Servo Amplifiers R ADVANCED MODEL EtherCAT Interface type
TSR
Molded case circuit breaker

(MCCB) Servo amplifier
16
Option
Setup software
1
Noise filter
17
Option
PC communication cable
18 3 General I/O connector
8
Option
4 To the next amplifier
14
Host device
7
Option
Encoder extension
Option
cable with battery
Servo motor extension
cable for brake 11 10
13 Option
19
Servo motor extension
12 cable for encoder
Brake power Option
for power Safety unit,
15
safety PLC, etc.

(when servo motors are smaller than 80 mm sq., a cable with
Servo motor a connector is available as an option. Refer to p. 138)
Cannon plug (when the motor capacity is less than 15 kW),
56
Options and Peripherals (15 to 50A)

Parameters can be set and monitored via communication
with a PC.
our website.
2 PC communication cable AL-00689703-01 PC communication cable for setup software p. 131
3 CN2 connector AL-00842383 General I/O connector p. 125
4 OUT connector EtherCAT OUT (to the next amplifier) —
customer
5 IN connector EtherCAT IN (host device) —
customer
6 CN1 connector AL-00718252-01 To connect safety device p. 125
8 CNA connector AL-00686902-01 For input power supply and regenerative resistor connections p. 125
9 CNB connector AL-Y0004079-01 To connect to servo motor p. 125
Used when using a battery-backup method absolute encoder
Encoder extension cable
10 AL-00731792-01 (For servo motors with connector-less cable, use AL-00697960- p. 132
with battery
□□ with a connector on one end.)
11 Servo motor extension cable RS-CA4-□□-R Encoder extension cable with connectors on both ends p. 138
(Compatible with the optional

12 RS-CM4-□□-R Power extension cable with connectors on both ends p. 138
servo motors with connectors for
13 extension cables) RS-CB3-□□-R Brake extension cable with connectors on both ends p. 138
Used for special operations, such as high frequency
14 External regenerative resistor applications that require greater power dissipation than that p. 133
provided by the servo amplifier’s built-in regenerative resistor
To be provided by the Connects I/O signals from the Safe Torque Off function to
customer devices such as the safety unit and safety PLC.
(MCCB) customer
customer
customer
customer
57
TSR
Servo motor
12 Molded case circuit breaker
(MCCB)
Option
Setup software
1
13 Noise filter
Option
3 General I/O connector
14 To the next
8 4
amplifier
Host device
6
10
Option
External regenerative 7
resistor
9
15 Option
with battery
Brake power
Safety unit,
11
safety PLC, etc.

58

with a PC.
our website.
customer
customer
9 AL-00697960-□□ Used when using a battery-backup method absolute encoder p. 132
battery

(MCCB) customer
customer
customer
customer
59
300 A
TSR
Servo amplifier
Option
Setup software
1
13 Noise filter
Option
Electromagnetic 14
contactor General I/O connector
3
To the next
4 amplifier
8
Host device
10 6
Option
External regenerative resistor 7
9
15 Option
with battery
Brake power
Fan power supply (for single phase)

11
Safety unit,
safety PLC, etc.

60

with a PC.
our website.
customer
customer
Encoder extension cable Connected when using a battery-backup method absolute
9 AL-00697960-□□ p. 132
with battery encoder

(MCCB) customer
customer
customer
customer
61
*1
Control function Position control/Speed control/Torque control (Parameter switching)
Power source voltage should be within
Control system IGBT: PWM control, sinusoidal drive (MOS-FET: PWM control, sinusoidal drive) the specified range below.
Main Circuit
Single-phase: 200 to 230 VAC +10, -15%, 50/60 Hz±3 Hz *2 Specified power supply range = 170 to 253 VAC
Power Supply *1
Single-phase: 100 to 115 VAC +10, -15%, 50/60 Hz±3 Hz *3 [100 VAC power input type]:
Specified power supply range = 85 to 127 VAC
Control circuit Single-phase: 200 to 230 VAC +10, -15%, 50/60 Hz±3 Hz
*2
power supply *1 Single-phase: 100 to 115 VAC +10, -15%, 50/60 Hz±3 Hz *3 The 200 VAC single-phase input type is
Ambient temperature 0 to +55° C compatible only with RS2□01 (15 A),
Storage temperature -20 to +65° C RS2□03 (30 A), RS2□05 (50 A). Please set
parameters before using single-phase input.
Operation and
Below 90%RH (non-condensing) *3
Storage humidity The 100 VAC single-phase input type is
Environment
Operation altitude Below 1000 m compatible only with RS2□01 (15 A),
5 m/s2 freq. range 10 to 55 Hz tested for 2 hours in each RS2□03 (30 A). Please set parameters
Vibration resistance before using single-phase input.
X, Y and Z-axis directions
Impact resistance 20 m/s2
Structure Built-in tray type power supply RoHS
■ Performance
Speed control range 1:5000 (Internal speed command)
Frequency characteristics 800 Hz
Permissible load moment
10 times the motor rotary inertia
of inertia
Overcurrent, Current detection error, Overload, Regeneration error, Magnetic pole position estimation error,
Amplifier overheating, External error, Overvoltage, Main circuit power supply undervoltage, Main circuit
Protection functions power supply open phase, Control circuit power supply undervoltage, Encoder error, Overspeed, Speed
control error, Speed feedback error, Excessive position deviation, Position command pulse error, Built-in
memory error, Parameter error
Digital operator Status display, Monitor display, Alarm display, Test run, Adjustment mode
Dynamic brake circuit Built in/None selectable
15 to 150A: Built in/None selectable, 300 A: None
Monitor
Servo amplifier type Safety standards
UL508C
(UL ratings)
Low-voltage
EN61800-5-1
All models European directive directive
EMC directive EN61000-6-2, EN61800-3, EN61326-3-1
KC Mark (Korea Certification Mark) KN61000-6-2, KN61000-6-4
Safety feature standards IEC 61508: SIL2, ISO 13849-1 Cat.3: PL＝d, IEC 62061: SILCL2
■ EtherCAT interface type specifications

IEC61158-2
Physical layer
IEEE802.3u 100BASE-TX
Data link layer IEC61158-3, -4 Type12
Application layer IEC61158-5, -6 Type12
IEC61800-7 Profile type1 (CiA402)
Device profile
・CoE (CANopen over EtherCAT)・FoE (File access over EtherCAT)
Communication port RJ45 connector (2 ports)
Bit rate 100 Mbps (Full duplex)
Max. number of nodes 65535 nodes
Transmission distance/
Max. 100 m (between nodes)/Daisy chain
Topology
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
Profile position mode, Profile velocity mode, Profile torque mode, Homing mode, Cycle sync position mode,
Operation modes
Cycle sync velocity mode, Cycle sync torque mode
LED indicator Port 0/1 link display, RUN display, ERROR display
General I/O Input x 6, output x 2 (total of 8)
62
Dimensions [Unit : mm]
15 A
With built-in regenerative resistor 0.75 kg 4
40 (70) 130 (5) 30 5

(17)
(20)
φ5
5
152
160

4 5
(3)
30 A
With built-in regenerative resistor 0.95 kg 4
50 (70) 130 (5) 40 5

40 (17)
(20)
φ5
5
160
152
Cooling fan
Wind ion
direct
4 5
(3)
50 A
(5) 75 5 130 (70) 85

4 (17)
(20)
φ5
5
Cooling fan
160
152
Wind
direction
5 4
(3)
63
100 A
100
220 50
2 6
15
5
205
235
225
(6) Cooling fan Wind direction

(75)
150 A
120
100
220 75
2 6
15
5
235
225
205
(6) Wind direction Cooling fan

(50)
300 A
220
220 100 100
2 7
10
30
250
235
205
Wind direction Cooling fan
64
15 to 300 A
Single-phase 100 V (amplifier capacity 15, 30 A) Single-phase 200 V (amplifier capacity 15 to 50 A)
User device User device
CNA CNA
AC power supply MC R AC power supply MC R
single-phase S single-phase S
100 to 115 V T 200 to 230 V T
50/60Hz 50/60Hz
*9 r *9 r
t t
Start ready Start ready Start ready Start ready Amplifier capacity External
regenerative
Amplifier capacity External
regenerative
ON ON
OFF OFF 100 A, 150 A resistor 300 A resistor
MC MC *2 *2
MC Emergency MC Emergency *3 *3
System error stop stop
System error Terminal block Terminal block
RB1
RB4
RB2
RB1
RB2
P
Built-in
regenerative resistor
+ +
3-Phase 200 V
User device Amplifier capacity
15 to 50 A
CNA
*2
*3 Cannon plug
50 A: CNA 50 A: CNB
100 to 300 V 100 to 300 A: Terminal block Servo motor
Built-in
RB1
RB2
Terminal block
AC power supply MC regenerative *4 Red
R resistor U Orange RY1
3-phase +
(yellow)
S
200 to 230 V White 90 V
T V Orange
50/60 Hz (yellow) (24 V)
*9 Black
W
CNA Holding brake
r
t Servo amplifier Green
(Green/Yellow)
(Installed on the models with brakes only)
Start ready Start ready Fan R
ON OFF EN1 S
∞
MC ／ T
MC Emergency EN2
System error stop *13 Encoder
SH *5 SH For servo motor with fan
Cannon plug
IN/OUT
*7 CN1
1 *11
Connector

Name Housing, plug, shell
2
1 No.
4 Reserved
*8
(Do not connect) Main power supply,
5 2 CNA
Control circuit power
15 to MSTBT2.5/8-STF-5.08LUB
supply input
Ethernet I/O *10 50 A
3 24 VDC connector
HWGOFF1+ 4
6
CNA
7 Control circuit power
HWGOFF1- 3 100 A,
supply input MSTBT2.5/2-STF-5.08
8 150 A,
connector
300 A
HWGOFF2+ 6
SH CNB
Servo motor power line
Shielding 15 to MSTBT2.5/3-STF-5.08
connector
HWGOFF2- 5 50 A
Encoder signal Connector: 36210-0100PL
EN1/EN2
CN2 EDM+ 8 connector Shell kit: 36310-3200-008
Lithium battery 3.6 VDC General I/O signal
BAT+ 1 EDM- 7 Connector: HDR-E26MSG1+
CN2 battery power supply
Battery input *10 Shell kit: HDR-E26LPH
BAT- 2 connector
24 VDC
Models with SH Safe Torque Off function
*10 CN1 2013595-3
5 to 24 VDC
the Safe Torque Shielding signal connector
3 CONT1+
Off function only
4 CONT1-
*2 For amplifier capacity 15 A, 30 A, 50 A:
5 CONT2+
Connect the external regenerative resistor
“between the RB1 and RB2 terminals”. When using
an external regenerative resistor, remove the
6 CONT2- built-in regenerative resistor wiring that is
connected to the RB1 terminal and RB2 terminal
and then connect the external regenerative resistor
7 CONT3+ “between the RB1 and RB2 terminals”.
For amplifier capacity 100 A, 150 A:
8 CONT3- When using a built-in regenerative resistor, short
General input circuit “between the RB1 and RB4 terminals”. When
9 CONT4+ using an external regenerative resistor, remove the
short bar that is connected to the RB1 terminal and
RB4 terminal and then connect the regenerative
10 CONT4-
resistor “between the RB1 and RB2 terminals”.
11 CONT5+ Connect the regenerative resistor “between the RB1
and RB2 terminals”.
12 CONT5- *3 ○
− and P (300 A only) terminals are used for
maintenance (high-voltage circuits). Do not wire to
14 CONT6+ this terminal.
*4 The motor side connections vary with motor
15 CONT6- specifications. The indications of red, white, black,
green and orange apply when the motor power and
brake lines are the lead type.
16 OUT1+ When they are the cannon plug type, connect them
17 OUT1-
*5 Refer to the encoder wiring diagram for the wiring of
General output the connector for the encoder connection.
18 OUT2+
*6 R, S, T, r, t, ○
−, P (300 A only), RB1, RB2, RB4 (100 A
19 OUT2-
and 150 A only), U, V, and W are high-voltage circuits.
Other signal lines are low-voltage circuits. When
20
wiring, ensure that there is a sufficient distance
21
Reserved between the high- and low-voltage circuits.
22
(Do not connect) *7 Use a category 5e (TIA standards) or above shielded
23
twisted pair cable (STP).
24 *12
*8 Do not connect anything to CN1-1 and Pin 2.
25
*9 Installing an earth leakage circuit breaker conforming
13 either to UL, IEC, or EN standards is recommended.
Do not connect the S phase for the single-phase
26
power supply amplifier.
*10 The external power supply is to be provided by the
SH SG customer.
Shielding *11 CN1 is a connector for the Safe Torque Off function.
To turn the servo motor power ON, a safety function
must be connected and the wiring to activate the
Safe Torque Off function must be done.
*12 Do not connect anything to CN2-20 to 25.
*13 When using a pulse encoder in a semi-closed system,
connect to EN2.
65
Encoder Wiring Diagram

Serial Encoder
Battery-less optical absolute encoder [Model No. HA035]

Connector: 36210-0100PL
EN1 *4 Absolute encoder Conductor size Conductor resistance Length
7 E/1(Brown)
ES＋ ES＋ AWG SQ (mm2) (Ω/km) *at 20°C (m)
8 F/2(Blue)
ES− ES− 26 0.15 150 or less 5
*3 9 T/8(Pink)
BAT＋ EBAT＋ 24 0.2 100 or less 10
10 S/4(Purple)
BAT− EBAT− 22 0.3 60 or less 15
20 0.5 40 or less 25
18 0.75 25 or less 40
1 H/9(Red)
＋5 V ＋5 V
2 G/10(Black) *Conductor resistance differs by conductor specifications.
SG 0V
J/7 *3 Battery lines (EBAT+, EBAT-) are necessary only when a
FG
*1 (Shielded) battery-backup method absolute encoder is used.
lowing table.
ES+ ES– EBAT+ EBAT– +5V 0V FG
1 2 8*3 4*3 9 10 7

Connector: 36210-0100PL *1 Use a shielded twisted pair cable.

EN1 *3 Incremental encoder
7 A/1(Blue)
A A AWG SQ (mm2) (Ω/km) *at 20°C (m)
8 D/4(Brown)
A A 26 0.15 150 or less 5
5 B/2(Green)
B B 24 0.2 100 or less 10
6 E/5(Purple)
B B 22 0.3 60 or less 15
9 F/3(White)
Z Z 20 0.5 40 or less 25
10 G/6(Yellow)
Z Z 18 0.75 25 or less 40

1 J/9(Red)
＋5 V ＋5 V *3 Lead wire colors are indicated in parentheses. For lead
2 N/10(Black)
SG 0V wire colors and cannon plug pin numbers, see the fol-
H/7
FG lowing table:
*1 (Shielded)
A A B B Z Z +5V
*2
100 mm sq.
Blue Brown Green Purple White Yellow Red
or smaller
130 mm sq.
1 4 2 5 3 6 9
Cannon plug model no. or larger
0V FG
Flange size: 130 mm sq. 100 mm sq.
JN2DS10SL2-R JN2FS10SL2-R Black Shielded
or larger or smaller
10 7
or larger
66
Servo Amplifiers
R CANopen Interface type
Equipped with communication protocol “CANopen interface”
well suited for embedded systems.

RS1 A 01 A L
Controller hardware type

Interface type: CANopen interface type
Encoder type: Serial encoder, pulse encoder
L … Sink type (NPN) output
U … Source type (PNP) output
Motor type
A … Rotary motor

01 … 15 A
03 … 30 A
05 … 50 A
Input power supply, internal regenerative setting

Control circuit Main circuit Built-in
Amplifier
Model No. power supply power supply regenerative capacity
input voltage input voltage resistor
L Yes 15, 30A
A None 15, 30A
200 VAC 200 VAC
A Yes 50 A
L None 50 A
N Yes 15, 30A
100 VAC 100 VAC
E None 15, 30A
K Yes 15, 30, 50A
24 VDC 200 VAC
J None 15, 30, 50A
R series
Single axis servo amplifier

67
Servo Amplifiers R CANopen Interface type
Option
Servo amplifier 1
2
Option
Setup software
Electromagnetic contactor Option

9 Lithium
battery
11 CANopen
Interface type
3
13
6
Host device
(Devices that use the DS301 protocol
Noise filter and is compliant with the DSP402 profile)
DC reactor
14 4 General I/O connector

12
7
Molded case
circuit breaker
(MCCB) 10
5
8
TSR Option
resistor
Brake power
15

(when servo motors are smaller than 80 mm sq., a cable
with a connector is available as an option. Refer to p. 138)
Servo motor
68

1 Setup software Product Information on our p. 120
with a PC.
website.
3 CN3, CN4 connectors Connects controller, PC, and PLC (RJ45) —
customer
5 CN2 connector AL-00385596 To connect to encoders p. 126
6 CNA connector AL-00329461-01 To connect input power supply p. 126
7 CNB connector AL-Y0000988-01 To connect external regenerative resistor and DC reactor p. 126
8 CNC connector AL-00329458-01 To connect to servo motor p. 126
Used when using a battery-backup method absolute
9 Lithium battery AL-00494635-01 p. 132
encoder
REGIST-□…□W□…B, applications that require greater power dissipation than that
10 External regenerative resistor p. 133
REGIST-500CW□□B provided by the servo amplifier’s built-in regenerative
resistor
customer
Used to remove power line harmonics
12 DC reactor Remove the DL1-DL2 short bar and connect to remove —
customer
harmonics.
customer
Servo Amplifiers
(MCCB) customer
customer
69
Control function CANopen interface type *1
Control system IGBT: PWM control, sinusoidal drive
the specified range below.
Main Circuit
Single-phase: 200 to 230 VAC +10, -15%, 50/60 Hz±3 Hz *2 Specified power supply range = 170 to
Power Supply *1
Single-phase: 100 to 115 VAC +10, -15%, 50/60 Hz±3 Hz *3 253 VAC
Single-phase: 200 to 230 VAC +10, -15%, 50/60 Hz±3 Hz [100 VAC power input type]:
Control circuit Specified power supply range = 85 to
power supply *1 127 VAC
24 VDC+15, -15%
*2
Ambient temperature 0 to +55° C
The 100 VAC single-phase input type is
Storage temperature -20 to +65° C an option.
Operation and Only corresponds to 15 and 30 A.
Storage humidity Please set parameters before using
Environment
Operation altitude Below 2000 m single-phase input.
0.5 G freq. range 10 to 55 Hz tested for 2 hours in
each X, Y and Z-axis directions
Impact resistance 2G
RoHS
Structure Built-in tray type power supply
■ Performance
Speed control range 1:5000
Frequency characteristics 600 Hz (JL=JM)
of inertia
Overcurrent, Current detection error, Overload, Regeneration error, Amplifier overheating, External
overheating, Overvoltage, Main circuit power supply undervoltage, Main power supply open phase, Control
Protection functions circuit power supply error, Encoder error, Overspeed, Speed control error, Speed feedback error, Excessive
position deviation, Position command pulse error, CPU error, Built-in memory error, Battery error, Parameter
error
Digital operator Status display, Monitor display, Alarm display, Test run, Adjustment mode
Built in/None selectable
Monitor
UL508C
Safety standards (UL ratings)
European directive EN50178, EN61000-6-2, EN61800-3
70
CANopen Interface Type Specifications
■ Fieldbus specifications
Bus connection, Medium CAN standards ISO-11898 (high-speed CAN)
Fieldbus CANopen
Communication profile CiA DS301 Version 4.02
Device profile CiA DSP402 (CANopen device profile for drive and motion control applications) Version 2.0
1 Mbps, 800 kbps, 500 kbps (factory setting), 250 kbps, 125 kbps, 50 kbps, 20 kbps, 10 kbps
Bit rate
(select using the setup software)
Max. number of nodes per
1 to 127 (two 16 positions, rotary switch, or select using the setup software)
segment
RJ-45 type modular connector (2 ports)
- Pin 1 “CAN_H” bus line, H side
- Pin 2 “CAN_L” bus line, L side
Connector - Pin 3, Pin 7 “CAN_GND” Ground
- Pin 6 “CAN_SHIELD” cable shield
- Pin 5 “Terminator” (120Ω; if termination is required, connect a jumper wire between the Pin
1 and Pin 5)
Transceiver ISO-11898 compliant high-speed transceiver
Max. bus length 25 m (max. bus length at 1 Mbps)
SDO (Service Data Object: 1 SDO)
PDO (Process Data Object: 4 transmit PDOs and 4 receive PDOs)
EMCY (Emergency Message)
Communication object
NMT (Network Management)
SYNC (Synchronization message)
Heartbeat
PDO transmission mode Synchronous transmission mode Asynchronous transmission mode
Servo Amplifiers
Homing mode (h.m)
Profile Position mode (p.p)
Operation modes Profile Velocity mode (p.v)
Interpolated Position mode (i.p)
Profile Torque mode (t.q)

■ General-purpose output specifications
Sink type (NPN) Source type (PNP)
Servo amplifier Host device Servo amplifier Host device

49 OUT-PWR 49 OUT-PWR
39-46 Out 1 to 8 38 OUT+COM

load
OUT-COM 39-46 Out 1 to 8

24 load
25 OUT-COM
71
5 5
M4
15 A M4 30 A
Mass: 1.0 kg Mass: 1.1 kg
(70) 130 (70) 130

(24) 135.5
(24) 135.5 48 7
48 7
4 60 4
60 (φ5
(27)
(φ5
(27)
5
)
5
)
AC SERVO SYSTEMS
AC SERVO SYSTEMS
160
168
168
160
Cooling fan
Wind direction
5 5
5
M4
50 A
Mass: 2.3 kg
PC
(70) 130
90 (24) 135.5 80 5
4
(27)
AC SERVO SYSTEMS
RS1A05AL
CHARGE POWER
CNA
T
RUN
CN3
Cooling fan
S ERR
R
168
160
Wind direction
r CN4
CNB
－
DL1
C
DL2 N
1
P
RB1 RB1
RB2 RB2
CNC
W C
N
V 2
U
Connector layout is different for 24 VDC control circuit power supply.
72
Control circuit power supply 24 VDC User device

CNA
AC power supply MC T
3-phase
Note 11 S
200 to 230 V
R
50/60 Hz
Note 10 Start ready
ON Start ready
OFF
MC
MC
Emergency
System error stop
CNB
24 V 1
24 VDC
24 G 2
Control circuit power supply 24 VAC Note 2

Note 3
CNB
User device Note 4
CNA
RB1
RB2
DL1
DL2
P
-
3-phase
Note 11 S +
200 to 230 V
R
50/60 Hz
t
Note 10
r
Start ready
ON Start ready
OFF
MC Servo motor
MC CNC
Emergency Servo amplifier
Note 6
System error stop Black Orange
W (yellow) RY1
CN3 Note 12
CAN_H 1 White 90 V
CAN V Orange
(yellow) (24 V)
CAN_L 2 TRANCEIVER Red
Terminator 5 U Holding brake
(Installed on the models with brakes only)
GND 3 Green
GND 7 (Green/Yellow)
CN2 Connector for the encoder connection

SH Encoder
Combination Note 7
Plug: Equivalent to TM21P-88P
1/4W 120 Ω
CN4 SH SH
CAN_H 1
Combination
CAN_L 2 Plug: 10120-3000PE
Note 5
Terminator 5 Shell: 10320-52A0-008
GND 3
GND 7 Sink type (NPN) 5 VDC, Note 8 Source type (PNP) Note 8
12 to 24 VDC 24 VDC
SH OUT-PWR 14 OUT-PWR 14
Combination SG
Plug: Equivalent to TM21P-88P
Servo Amplifiers
OUT1 6
CN1
General input
General input
OUT1 6
Battery input
Lithium battery 3.6 VDC 1 BTP-I
2 BTN-I OUT2 13
OUT2 13
8 OUT-COM 7
CONT
Note 8 9 -COM
SH SH

5 to 24 VDC Note 5 Note 5
3 CONT1
10 CONT2
Note 1: Use a shielded twisted pair cable.

Note 2: When connecting an external regenerative resistor, remove the
4 CONT3 built-in regenerative resistor that is connected “between the
General input
RB1 and RB2” and then connect the external regenerative

resistor “between the RB1 and RB2”.
11 CONT4 Note 3: The DL1 terminal and DL2 terminal are used to connect a DC
reactor.
When a DC reactor is not used, short circuit “between the DL1
and DL2 terminals” with the supplied short bar.
5 CONT7
Note 4: ⊖ terminal and P terminal are used for maintenance
(high-voltage circuits).
Do not wire to this terminal.
12 CONT8
Note 5: Refer to the instruction manual for details on shielding.
Note 6: The motor side connections vary with motor specifications. The
indications of red, white, black, green and orange apply when
Combination the motor power and brake lines are the lead type.
Plug: 10114-3000PE When they are the cannon plug type, connect them according to
Shell: 10314-52A0-008
the motor specifications.
Note 7: Refer to the encoder wiring diagram for the wiring of the
connector for the encoder connection.
Note 8: The external power supply is to be provided by the customer.
Note 9: R, S, T, r, t, ⊖ , P ,DL1, DL2, RB1, RB2, U, V, W are high-voltage
circuits, other signal lines are low-voltage circuits. When wiring,
ensure that there is a sufficient distance between the high- and
low-voltage circuits.
Note 10: Installing an earth leakage circuit breaker conforming either to
UL, IEC, or EN standards is recommended.
Note 11: Do not connect the S phase for the single-phase power supply
amplifier.
Note 12: When a termination resistor is required, insert the RJ45
connector with short-circuited Pin 1 (CAN_H) and Pin 5
(Terminator) into CN3 or CN4.
73

Serial Encoder

Servo amplifier Servo motor *2 Maximum cable lengths by conductor size of the power
Servo amplifier Servo motor supply cable (5 V, SG) are shown in the table below.
CN2
13 E/1 (Brown) AWG SQ (mm2) (Ω/km) *at 20°C (m)
ES+
CN2 ES+
14
13 F/2
E/1 (Blue)
(Brown) 26 0.15 150 or less 5
ES–
ES+ ES–
ES+
*3 1
14 T/8 (Pink)
F/2 (Blue)
EBAT+
ES– EBAT+
ES– 24 0.2 100 or less 10
*3 2
1 S/4 (Purple)
T/8 (Pink)
EBAT–
EBAT+ EBAT–
EBAT+ 22 0.3 60 or less 15
9
2 S/4 (Purple)
EBAT– EBAT–
10
9 20 0.5 40 or less 25
11
10 Encoder 18 0.75 25 or less 40
12
11 Encoder
17
12 *Conductor resistance differs by conductor specifications.
18
17
+5 V
19
18 H/9 (Red) +5 V *3 Battery lines (EBAT+, EBAT-) are necessary only when a
20
19 H/9 (Red)
G/10 (Black) 0
+5VV battery-backup method absolute encoder is used.
0V
+5
20 G/10 (Black) 0 V
*4 Lead wire colors are indicated in parentheses. For lead
0V
J/7 wire colors and cannon plug pin numbers, see the fol-
FG (Shielded)
J/7 lowing table.
*1 FG (Shielded)
*1
*2 ES+ ES– EBAT+ EBAT– +5V 0V FG
*2 100 mm sq.
or smaller
130 mm sq.
Plug: 10120-3000PE 1 2 8*3 4*3 9 10 7
or larger
Shell: 10320-52A0-008
Plug: 10120-3000PE
Shell: 10320-52A0-008 Cannon plug model no.
Flange size: 130 mm sq. JN2DS10SL2-R JN2FS10SL2-R
or larger

Servo amplifier Servo motor *1 Use a shielded twisted pair cable.

CN2
CN2
A 3 A/1 (Blue)
A
A
4
3 D/4
A/1 (Brown)
(Blue)
A Conductor size Conductor resistance Length
5
4 B/2
D/4 (Green)
(Brown)
B
A B
A
6
5 E/5
B/2 (Purple)
(Green) AWG SQ (mm2) (Ω/km) *at 20°C (m)
B B
7
6 F/3
E/5 (White)
(Purple) 26 0.15 150 or less 5
Z
B Z
B
8
7 G/6 (Yellow)
F/3 (White)
Z
9 J/9 Z 24 0.2 100 or less 10
8 G/6(Red)
(Yellow)
Z +5 V
10
9 N/10 (Black)
J/9 (Red) Z 22 0.3 60 or less 15
0V
+5 V
11
10 N/10 (Black) 20 0.5 40 or less 25
0V
12
11
16 18 0.75 25 or less 40
12
17
18
17
19
18
+5 V *3 Lead wire colors are indicated in parentheses. For lead
20
19
0V
+5
20 H/7 FG (Shielded) wire colors and cannon plug pin numbers, see the fol-
0V H/7 FG (Shielded)
*1 lowing table:
*1
*2 A A B B Z Z +5V
*2
100 mm sq.
Plug:10120-3000PE, Blue Brown Green Purple White Yellow Red
or smaller
Plug:10120-3000PE,
Shell: 10320-52A0-008 130 mm sq.
1 4 2 5 3 6 9
Shell: 10320-52A0-008 Cannon plug model no. or larger
0V FG
Black Shielded
or larger 10 7
74
Servo Amplifiers
R Built-in Positioning Function type
The need for a positioning control unit is eliminated, simplifying the system.
There are two types of interfaces: DIO (Digital I/O) type and RS-485 commu-
nication type. RS-485 communication protocol is compatible with MODBUS
communication and AE-LINK communication.

RS1 A 01 A C

C…With positioning function (DIO type)
F…With positioning function (RS-485 communication type)
Motor type
A … Rotary motor

01…15 A
03…30 A
05…50 A
10…100 A
15…150 A
30…300 A
Input voltage, internal regenerative setting

Model No. Input voltage Built-in regenerative resistor Amplifier capacity
L Yes 15, 30 A
A None 15, 30, 300 A
200 VAC
A Yes 50, 100, 150 A
L None 50, 100, 150 A
N Yes 15, 30 A
100 VAC
E None 15, 30 A
R series

75
Servo Amplifiers R Built-in Positioning Function type
15 to 50 A DIO type The photograph shows the 15 A model.
Servo amplifier
Option
Electromagnetic contactor 8 Lithium battery
Option
10 PC communication cable
Option
Setup
2 1 software
Noise filter PC
13 5
DC reactor
3
12 CN1
11 6
Molded case Host device
circuit breaker
(MCCB)
TSR 9
Option 4
External regenerative 7 CN2
resistor
14
Brake power
(when servo motors are smaller than 80 mm sq., a cable with
a connector is available as an option. Refer to p. 138)
Cannon plug (when the motor capacity is less than 15 kW), Servo motor
76

with a PC.
website.
3 CN1 connector AL-00385594 To connect to host device I/O p. 127
5 CNA connector AL-00329461-01 To connect input power supply p. 127
6 CNB connector AL-Y0000988-01 To connect external regenerative resistor and DC reactor p. 127
7 CNC connector AL-00329458-01 To connect to servo motor p. 127
encoder
resistor
customer
11 DC reactor Used to remove power line harmonics —
customer
(MCCB) customer
customer
customer
Servo Amplifiers
77
100 to 300 A DIO type The photograph shows the 100 A model.
TSR
8 Noise filter
Servo amplifier
Option
Lithium battery
7
5
Option
2 1
PC
10 Option
Setup software
DC reactor 3
CN1
Option
External regenerative 4
resistor
Host device
CN2
11
Brake power

Terminal block (when the motor capacity is more than 20 kW) Servo motor
78

with a PC.
website.
encoder
resistor
customer
customer
(MCCB) customer
customer
customer
Servo Amplifiers
79
*1
Control function Position control
Control system IGBT: PWM control, sinusoidal drive the specified range below.
Main Circuit
Single-phase: 200 to 230 VAC +10, -15%, 50/60 Hz±3 Hz *2 Specified power supply range = 170 to
Power Supply *1
Single-phase: 100 to 115 VAC +10, -15%, 50/60 Hz±3 Hz *3 253 VAC
[100 VAC power input type]:
Control circuit Single-phase: 200 to 230 VAC +10, -15%, 50/60 Hz±3 Hz
Specified power supply range = 85 to
power supply *1 Single-phase: 100 to 115 VAC +10, -15%, 50/60 Hz±3 Hz *3 127 VAC
Interface Power *2
24 VDC±10%
Supply The 200 VAC single-phase input type
Ambient temperature 0 to +55°C is compatible only with 15, 30, and 50
A. Please set parameters before using
Storage temperature -20 to +65°C
single-phase input.
Operation and *3
Storage humidity The 100 VAC single-phase input type is
Environment
Operation altitude Below 1000 m compatible only with 15 and 30 A. Please
0.5 G freq. range 10 to 55 Hz tested for 2 hours in set parameters before using single-phase
Vibration resistance input.
each X, Y and Z-axis directions
Structure Built-in tray type power supply RoHS
■ Performance
of inertia
Overcurrent, Current detection error, Overload, Regeneration error, Amplifier overheating, External overheating,
Overvoltage, Main circuit power supply undervoltage, Main power supply open phase, Control circuit power
supply error, Encoder error, Overspeed, Speed control error, Speed feedback error, Excessive position
deviation, Position command pulse error, CPU error, Built-in memory error, Battery error, Parameter error
Digital operator Status display, Monitor display, Alarm display, Parameter setting, Adjustment mode
15 to 150A: Built in/None selectable, 300 A: None
Monitor
UL508C
■ RS-485 communication specifications

Item Item Default value Remarks
Fixed to binary mode
Protocol Modbus-RTU ―
(ASCII mode is not supported)
Interface RS-485 (1: N) ― N = 8*
Tr a n s m i s s i o n 4800, 9600, 19200, 38400, Set up with setup software or rotary switch on the
115200
speed (bps) 57600, 115200 front surface of the amplifier.
Start bit 1 1 Fixed
Data length (bit) 8 8 Fixed
None, even number, odd num-
Parity Even number
ber Set up with setup software.
Stop bit 1, 2 1
Electrical Speci- RS-485 compliant (half duplex RS-485 compliant (half du-
Fixed
fications communication) plex communication)
Connector RJ-45 ―
・This servo amplifier can be connected to up to 8 axes per segment. When connecting 8 axes or more, contact us for details.
80
Positioning Function Specifications and Operation Examples
Number of controllable axes 1 axis
Number of points to be
Up to 254 points (P000 to P253) can be set
registered
Max. command amount -2,147,483,648 to +2,147,483,647
Positioning Function
Command unit mm or pulse

Rapid feed rate 2,147,483,647 mm/sec (0.001 mm/pulse selected)
Acceleration/deceleration Automatic acceleration/deceleration (straight line/S-shape switchover)
Point data setting Set by inputting numeric values using a PC or by teaching
Movement point number
Parallel 8 bit (binary code)
setting
Torque limit 0 to 510% (With 100% be the rated torque value) However, less than instantaneous max. stall current
Software limit Yes
Move mode Homing, Manual (JOG, 1 Step), Point specified move
Area signal Up to 8 zones
Servo motor power ON, Alarm reset, Start, Homing, Manual, Override/Manual high speed, Cancel,
Sequential input signal Decelerate before home position,
External error, Over travel, 1 Step feed, Interrupt startup, Output selection, MFIN, Point specified input
I/O
NC ready, Holding brake timing, Error, External operation enabled, In operation

Sequential output signal
Positioning complete, In-position output, Homing complete, General output (8 bit)
■ Operation examples of amplifiers with built-in positioning function

By starting point 1, point 2 and point 3 can be continuously operated.
・Point data setting

Point data can be set, saved, and read from a PC.
Mode 1: “01” = Positioning operation enabled,

Mode 2: “00” ＝ Final movement,
“01” ＝ Continues to the next point number
Servo Amplifiers
Speed change: Stopped/Continuous: “1” ＝Continuous
speed change operation

Passes point 1
Moves to point 2
Moves to point 3
PLC
ーOT sensor Deceleration signal sensor

+OT sensor
With 0.0 as the start coordinate, start point 001 (P001).

P001:100.0 P002:150.0 P003:180.0
Motor speed
0.0 100.0 200.0 Coordinates

Point input
Only the point 1 (P001) is ON. ON
OFF
(CN1-42)
Start signal input ON

OFF
(CN1-27)
Output during operation ON

OFF
(CN1-7)
Positioning finished signal ON

(CN1-8)
OFF 81
5
15 A M4 30 A 5
M4
(70) 130
(70) 130
(24) 135.5 33 7
(24) 135.5 38 7
45 4
50 4
(27)
(27)
5
5
AC SERVO SYSTEMS
AC SERVO SYSTEMS
CHARGE POWER
P
C
168
160
160
168
Cooling fan
Wind direction
5 5
50 A 100 A
5
M4
235 (70) 100

(70) 130 5.5 (24) 50
90 (24) 135.5 80 5 2 6
φ6
15
4
5
(27)
(27)
5
AC SERVO SYSTEMS
AC SERVO SYSTEMS
RS1A10A*
R
RS1A05A*
MODE ▲
▲
WR/
▲
MODE ▲
▲
WR/
▲
CHARGE POWER
CHARGE POWER P
- C
Cooling fan
P
T C DL1
S
C
R N DL2
168
160
t
A
235
225
205
r P C
Wind direction
N
1
RB4
C
○
− N
1 RB1
DL1
DL2 C
N RB2
P B
RB1 RB1 U C
RB2 RB2 N
2
V
W C W
C N
V N 2
U
C
5
(6)
(75)
150 A 300 A
130
(70) 220
235 100 (70)
235 100 100
5.5 (24) 50 7
2 5.5 (24)
10
2 6
φ6
15
5
(27)
30
(27)
R
AC SERVO SYSTEMS
RS1A30A*
R
R
MODE ▲
▲
WR/
▲
S MODE ▲
▲
WR/
▲
T CHARGE POWER T
CHARGE POWER
P
- C P
- C
DL1
DL2 DL1
250
235
235
225
205
205
P C
N DL2 C
1 N
1
RB4
P
RB1
RB2 U
U C C
N N
2 V 2
V
W W
RB1 RB2 r t
(6) 7
Cooling fan (75) Wind direction
82
DIO type
CNA AC power supply CNA
AC power supply MC T MC T
single phase Single phase
Note 11: S Note 11: S
100 to 115 V 200 to 230 V
R R
50/60 Hz 50/60 Hz
t Note 10: t
Note 10:
r r
Start ready Start ready Start ready Start ready

ON ON OFF
OFF MC
MC MC
MC Emergency
System error Emergency stop System error stop
Note 2: Regenerative resistor

3-Phase 200 V Note 3:
CNB
Note 4:
User device
RB1
RB2
DL1
DL2
−
P
CNA
3-phase Servo motor
Note 11: S ＋
200 to 230 V CNC
R Note 6:
50/60 Hz Black Orange
t W (yellow)
RY1
Note 10:
r White
V Orange 90 V
Start ready Start ready Servo amplifier (yellow) (24 V)
ON OFF Red
U Holding brake
MC
MC Green (Installed on the models with brakes only)
Emergency
System error stop (Green/Yellow)
CN1
Note 7: Encoder
Note 8:
External power supply (+24 V) 1
2 Note 2: SH SH
Power ON enabling signal (A-RDY) 50 Plug: 10120-3000PE

Note 5: Shell: 10320-52A0-008
NC ready (NCRDY) 3
Holding brake excitation timing output (HBON) 4
Error output (Err) 5
External operation enabled (EXT) 6
During operation (MOVE) 7
Positioning finished (PFIN) 8
In-position output (INPS) 9
Zero-return finished (ZFIN) 10
OUT(1) 11
OUT(2) 12
OUT(3) 13
General output
OUT(4) 14
Servo Amplifiers
OUT(5) 15
OUT(6) 16
OUT(7) 17
OUT(8) 18
External power supply (24 G) 24
25

Note 8:
External power supply (+24 V) 26
Decelerate before home position (SDN) 19
＋ Over travel (+0T) 20
− Over travel (-0T) 21
External data setting (E_STR) 22
External error (EXT_E) 23 Note 1: Use a shielded cable.
Startup (RUN) 27 Note 2: Connect the regenerative resistor “between the RB1 and RB2 terminals”.
When using an external regenerative resistor, remove the built-in regenerative
Zero-return (ZRT) 28 resistor wiring that is connected to the RB1 terminal and RB2 terminal and
then connect the external regenerative resistor “between the RB1 and RB2
＋ Manual (+JOG) 29
terminals”.
− Manual (-JOG) 30
Note 3: DL1 terminal and DL2 terminal are used to connect a DC reactor. When a
Override (OVRID)/Manual high speed (RAP) 31 harmonic suppression reactor is not used, short circuit “between the DL1 and
DL2 terminals” with the supplied short bar.
Alarm reset (ARST) 32
Note 4: ○ terminal and P terminal are used for maintenance (high-voltage circuits).
Cancel (CACL) 33 Do not wire to this terminal.
Servo ON (S-ON) 34
Output selection 1 (SEL1) 35
Note 6: The motor side connections vary with motor specifications.
Output selection 2 (SEL2) 36 The indications of red, white, black, green and orange apply when the motor
power and brake lines are the lead type.
Output selection 3 (SEL3) 37 When they are the cannon plug type, connect them according to the motor
specifications.
＋ 1 step feed (+1step) 38
Note 7: Refer to the encoder wiring diagram for the wiring of the connector for the
− 1 step feed (-1step) 39 encoder connection.
Interrupt startup (I_RUN) 40
Note 8: The power supply is to be provided by the customer.
MFIN (MFIN) 41
Note 9: R, S, T, r, t, ○
, P ,DL1, DL2, RB1, RB2, U, V, W are high-voltage circuits, other
IN(1) 42 signal lines are low-voltage circuits.
When wiring, ensure that there is a sufficient distance between the high- and
IN(2) 43 low-voltage circuits.
Point specified input
IN(4) 44
Note 10: Installing an earth leakage circuit breaker conforming either to UL, IEC, or EN
45
standards is recommended.
IN(8)
IN(16) 46 Note 11: Do not connect the S phase for the single-phase power supply amplifier.
IN(32) 47
IN(64) 48
IN(128) 49
Plug: 10150-3000PE,
Shell: 10350-52A0-008
83

RS-485 communication type
CNA CNA
AC power supply MC AC power supply MC
Single phase T Single phase T
100 to 115 V Note 11: S 200 to 230 V Note 11: S
50/60 Hz R R
50/60 Hz
t Note 10:
t
Note 10: r r
ON OFF ON OFF
MC MC
MC Emergency MC
System error stop System error Emergency stop
Note 2:
3-Phase 200 V Note 3: Regenerative resistor
CNB
User device Note 4:
CNA
RB2
RB1
P
DL1
DL2
AC power supply MC
3-phase T
Note 11: S +
200 to 230 V
50/60 Hz R
t
Note 10:
r
Start ready Start ready Servo amplifier
ON
OFF
MC
MC
Emergency
System error stop
SW2
1/4 W 120 Ω CNC Servo motor
Note 6: Orange
Black RY1
W (yellow)
Note 1: CN3
B/B' White Orange 90 V
4 V
RS-485 (yellow) (24 V)
Red
U Holding brake
A/A' 5
TRANCEIVER Green (Installed on the models with brakes only)
GND 8 (Green/Yellow)
Encoder
Note 7:
SH
Combination
Plug: Equivalent to TM21P-88P SH SH
(Hirose) CN4 Combination
Note 1:
B/B' Note 5: Plug: 10120-3000PE,
4
Shell: 10320-52A0-008
A/A' (3M)
5
GND 8
SH SG Note 8:
Combination
Plug: Equivalent to TM21P-88P OUT-PWR 9 24 VDC
(Hirose)
OUT1 7
CN1
General output
Note 8: CONT-COM
1
24 VDC OUT2 8
2 CONT1
6
3 CONT2 OUT-COM
General input SH
4 CONT3
5 CONT4
SH
Combination
Plug kit: Equivalent to MUF-PK10K-X
(J.S.T.MFG.CO.,LTD.)
Note 1: Use a shielded cable. Note 7: Refer to the encoder wiring diagram for the wiring of the connector for
the encoder connection.
Note 2: Connect the regenerative resistor “between the RB1 and RB2 terminals”.
Note 8: The power supply is to be provided by the customer.
Note 3: The DL1 terminal and DL2 terminal are used to connect a DC reactor. Functions can be selected for I/O.
When a DC reactor is not used, short circuit “between the DL1 and DL2
terminals” with the supplied short bar. Note 9: R, S, T, t , r, − , P, DL1, DL2, RB1, RB2, U, V, W are high-voltage circuits,
other signal lines are low-voltage circuits.
Note 4: − terminal and P terminal are used for maintenance (high-voltage When wiring, ensure that there is a sufficient distance between the high-
circuits). and low-voltage circuits.
Note 5: Refer to the instruction manual for details on shielding. Note 10: Installing an earth leakage circuit breaker conforming either to UL, IEC, or
Note 6: The motor side connections vary with motor specifications. The EN standards is recommended.
indications of red, white, black, green and orange apply when the motor Note 11: Do not connect the S phase for the single-phase power supply amplifier.
power and brake lines are the lead type.
When they are the cannon plug type, connect them according to the
motor specifications.
84
Serial Encoder

Servo amplifier Servo motor supply cable (5 V, SG) are shown in the table below.
CN2
13 E/1 (Brown) AWG SQ (mm2) (Ω/km) *20° C (m)
ES+
CN2 ES+
14
13 F/2
E/1 (Blue)
(Brown) 26 0.15 150 or less 5
ES–
ES+ ES–
ES+
*3 1
14 T/8 (Pink)
F/2 (Blue)
EBAT+
ES– EBAT+
ES– 24 0.2 100 or less 10
*3 2
1 S/4 (Purple)
T/8 (Pink)
EBAT–
EBAT+ EBAT–
EBAT+ 22 0.3 60 or less 15
9
2 S/4 (Purple)
EBAT– EBAT–
10
9 20 0.5 40 or less 25
11
10 Encoder 18 0.75 25 or less 40
12
11 Encoder
17
18
17
+5 V
19
20
19 H/9 (Red)
G/10 (Black) 0
+5VV battery-backup method absolute encoder is used.
0V
+5
20 G/10 (Black) 0 V
*4 Lead wire colors are indicated in parentheses. For lead
0V
J/7 wire colors and cannon plug pin numbers, see the fol-
FG (Shielded)
J/7 lowing table.
*1 FG (Shielded)
*1
*2 100 mm sq.
or smaller
130 mm sq.
Plug: 10120-3000PE 1 2 8*3 4*3 9 10 7
or larger
Shell: 10320-52A0-008
Plug: 10120-3000PE
Shell: 10320-52A0-008 Cannon plug model no.
Flange size: 130 mm sq. JN2DS10SL2-R JN2FS10SL2-R
or larger
Servo Amplifiers
Servo amplifier Servo motor *1 Use a shielded twisted pair cable.

CN2

CN2
A 3 A/1 (Blue)
A
A
4
3 D/4
A/1 (Brown)
(Blue)
A Conductor size Conductor resistance Length
5
4 B/2
D/4 (Green)
(Brown)
B
A B
A
6
5 E/5
B/2 (Purple)
(Green) AWG SQ (mm2) (Ω/km) *20° C (m)
B B
7
6 F/3
E/5 (White)
(Purple) 26 0.15 150 or less 5
Z
B Z
B
8
7 G/6 (Yellow)
F/3 (White)
Z
9 J/9 Z 24 0.2 100 or less 10
8 G/6(Red)
(Yellow)
Z +5 V
10
9 N/10 (Black)
J/9 (Red) Z 22 0.3 60 or less 15
0V
+5 V
11
10 N/10 (Black) 20 0.5 40 or less 25
0V
12
11
16 18 0.75 25 or less 40
12
17
18
17
19
18
+5 V *3 Lead wire colors are indicated in parentheses. For lead
20
19
0V
+5
20 H/7 FG (Shielded) wire colors and cannon plug pin numbers, see the fol-
0V H/7 FG (Shielded)
*1 lowing table:
*1
*2 A A B B Z Z +5V
*2
100 mm sq.
Plug:10120-3000PE, Blue Brown Green Purple White Yellow Red
or smaller
Plug:10120-3000PE,
Shell: 10320-52A0-008 130 mm sq.
1 4 2 5 3 6 9
Shell: 10320-52A0-008 Cannon plug model no. or larger
0V FG
Black Shielded
or larger 10 7
85
86
Servo Amplifiers
R Multi-axis Pulse Input type
Servo Amplifier Capacity: Amplifier unit 15 A (up to 6 axes) /
30 A (up to 4 axes)
Multi-axis controllable servo amplifier (up to 6 axes). Multiple axes
can be powered and commanded from only one unit, enabling wire
saving and space saving.

Amplifier unit
RR1 A 01 A A B 00
Specification identification
00 … Standard
Encoder combination type
B … Serial encoder
A … Pulse encoder

A … Pulse train interface
Motor type
A … Rotary motor
Amplifier capacity
01 … 15 A
Input voltage
03 … 30 A
A … 280 VDC
E … 140 VDC
R series
・ Motor parameters need to be set for the amplifier before use.
Multi-axis servo amplifier
Amplifier unit
Power supply unit

RRP A A 00
00 … Standard
A … Pulse train interface
Input voltage
A … 200 VAC
R series
E … 100 VAC
Multi-axis servo amplifier
Power supply unit
Motherboard
RRM A 4 00
00 … Standard
Slot type
4 … 4 slots
Input voltage
6 … 6 slots
A … 200 VAC
R series 8 … 8 slots
E … 100 VAC
Multi-axis servo amplifier Amplifier unit 15 A: 1 slot used per unit
Motherboard Amplifier unit 30 A: 2 slots used per unit
Required number of amplifier units, a power supply unit, and a motherboard are used as a set.
The maximum amplifier capacity is 800 W for 100 VAC input, and 2000 W for 200 VAC input.
87
Servo Amplifiers R Multi-axis Pulse Input type
TSR
Option Option
13 (MCCB) Lithium battery Setup software
11 1
Noise filter
14
Option
Servo amplifier 2 Host device
7
15
Electromagnetic
contactor
12 10 9
8
Option 6
resistor
16
DC reactor
Servo motor
17

Brake power ・For servo motors with flange size smaller than 100 mm sq.:
(when servo motors are smaller than 80 mm sq., a cable with a
connector is available as an option. Refer to p. 138)
88
Options and Peripherals

with a PC.
website.
3 CN6 connector AL-00632607 For encoder divided signal output p. 128
4 CN2 connector AL-00632607 For encoder signal p. 128
5 CN1 connector AL-Y0003305-01 General I/O connector p. 128
6 CNC connector AL-00632604 To connect to servo motor p. 128
7 CNA connector AL-00632600 Control/main circuit power input connector p. 128
8 CNB connector AL-00632602 To connect external regenerative resistor and DC reactor p. 128
9 CN1A connector AL-00385594 To connect to host device p. 128
10 CN1B connector AL-00385594 To connect to host device p. 128
encoder
resistor
(MCCB) customer
customer
customer
customer
customer
Servo Amplifiers
89
Control function *1:
Position control Power supply voltage should be within
(amplifier unit)
the specified range.
Control system
IGBT: PWM control, sinusoidal drive
(amplifier unit)
Main Circuit Power
3-Phase: 200 to 230 VAC +10, -15%, 50/60 Hz±3%
Supply *1
Single-phase: 100 to 115 VAC +10, -15%, 50/60 Hz±3%
(power supply unit)
Control circuit power supply *1 Single-phase: 200 to 230 VAC +10, -15%, 50/60 Hz±3%
(power supply unit) Single-phase: 100 to 115 VAC +10, -15%, 50/60 Hz±3%
0 to 40°C (under natural air cooling),
Ambient temperature
0 to 55°C (under forced air cooling)
Storage temperature -20 to +65° C
Operation and
Environment Storage humidity
Operation altitude Below 1000 m
0.5 G freq. range 10 to 55 Hz tested for 2 hours
in each X, Y and Z-axis directions
RoHS
Structure Rack-mount type
■ Performance
of inertia
Overcurrent, Current detection error, Overload, Overvoltage, Encoder error, Overspeed,
Speed control error, Speed feedback error, CPU error, Built-in memory error, Parameter error, etc.
Digital operator Status display, Monitor display, Alarm display, Parameter setting, Adjustment mode
Built into the power supply unit (not into the amplifier unit)
*For all models, optional external resistors can be equipped.
Monitor
UL508C
The maximum amplifier capacity is 800 W for 100 VAC input, and 2000 W for 200 VAC input.
90
Amplifier unit
15 A 30 A
(70) (140.7) (70) (140.7)

30 122.8 60 122.8
6 6 30 5
8 φ5 8 2-φ
5
130
130
120
120
Power supply unit Motherboard

Mass: 0.55 kg
A
B
(100) (140.7) 6 27.2
60 122.8 φ
6
2-
5
4 7.5 45 5
2-φ
15
5
150
160
130
130
120
15
5
Dimensions
Model no. Number of slots Mass
A B
Servo Amplifiers
RRMA400
4 180 130 0.99
RRME400
RRMA600
6 240 190 1.33
RRME600
RRMA800
8 300 250 1.57
RRME800

Combination example of Amplifier unit + Power supply unit + Motherboard
A
25 B 25
6 (100) 150
6
2-φ
5
25
150
160
120
15
5
Dimensions
Number of slots
A B
4 180 130
6 240 190
8 300 250
91
3-Phase 200 V Single-phase 100 V

CNA CNA
User device r Power supply unit User device r
t t
AC power supply AC power supply
3-phase R R
single-phase
Note 11: S Note 11: S
200 to 230 V 100 to 115 V
50/60 Hz T T
50/60 Hz
MC Built-in regenerative resistor MC
Note 10: System Emergency Note 10: System Emergency
error stop error stop

ON OFF ON OFF
Note 2 CNB
RB2
MC MC
RB1
P
Note 3
DL2
DL1
Note 4:
CN1A +5 +5 Line receiver +5 +5 CN1B
Line driver Note 1: Equivalent to 26C32 Note 1: Line driver
3 F-PC1 F-PC4 3
CW pulse (1st axis) CW pulse (4th axis)
4 F-PC1 F-PC4 4
+5 +5 +5 +5
5 R-PC1 R-PC4 5
CCW pulse (1st axis) CCW pulse (4th axis)
6 R-PC1 R-PC4 6
+5 +5 +5 +5
Position command pulse input

Position command pulse input
SG SG SG SG
7 F-PC2 F-PC5 7
CW pulse (2nd axis) CW pulse (5th axis)
8 F-PC2 F-PC5 8
+5 +5 +5 +5
9 R-PC2 R-PC5 9
CCW pulse (2nd axis) CCW pulse (5th axis)
10 R-PC2 R-PC5 10
+5 +5 +5 +5
SG SG SG SG
11 F-PC3 F-PC6 11
CW pulse (3rd axis) CW pulse (6th axis)
12 F-PC3 F-PC6 12
+5 +5 +5 +5
13 R-PC3 R-PC6 13
CCW pulse (3rd axis) CCW pulse (6th axis)
14 R-PC3 R-PC6 14
Note 12: 15∼18,41 SG SG 15∼18,41 Note 12:
SG SG SG SG SG SG
Note 8 45,46,47 CONT-COM CONT-COM 45,46,47 Note 8:
5 to 24 VDC 5 to 24 VDC
26 CONT1 CONT16 26
27 CONT2 CONT17 27
28 CONT3 CONT18 28
38 CONT13 CONT28 38
39 CONT14 CONT29 39
40 CONT15 CONT30 40
General I/O
General I/O
5 VDC, 12 to 24 VDC 48,49,50 OUT-POW OUT-POW 48,49,50 5 VDC, 12 to 24 VDC

19 OUT1 OUT7 19
20 OUT2 OUT8 20
21 OUT3 OUT9 21
23 OUT5 OUT11 23
24 OUT6 OUT12 24
25 ALM1 ALM2 25
42,43,44 OUT-COM OUT-COM 42,43,44

Battery input
Battery input
Lithium battery 3.6 VDC Lithium battery 3.6 VDC

1 BATP-1 BATP-2 1
Note Note
2 BATN-1 BATN-2 2 13:
13:
Note 5: 5）
Note Lithium battery 3.6 VDC
CN5 Plug: 10150-3000PE
Battery input
BATP 2 Shell: 10350-52A0-008

Note Note 1: Use a shielded cable.
Plug: 10150-3000PE BATN 1 13:
Shell: 10350-52A0-008
Note 2: When connecting an external regenerative resistor, remove

CNC Note 6:
Amplifier unit 1 axis Red Orange Holding brake the built-in regenerative resistor that is connected “between
MON1 CH1 U (yellow) releasing relay
Monitor output
the RB1 and RB2” and then connect the external

White regenerative resistor “between the RB1 and RB2”.
V
MON2 CH2
Black Orange Note 3: DL1 terminal and DL2 terminal are used to connect a DC
SG SG W (yellow)
Green
reactor. When a harmonic suppression reactor is not used,
Note 1: CN6 SG short circuit “between the DL1 and DL2 terminals” with the
Note 7: Connector for
1,2 SG CN2 the encoder connection supplied short bar.
3 AO Note 4: ○ terminal and P terminal are used for maintenance
Encoder divided signal output
(high-voltage circuits).
4 AO SH Do not wire to this terminal.
5 BO Plug: 36210-0100PL
Shell: 36310-3200-008
6 BO Note 6: The motor side connections vary with motor specifications.
7 CO The indications of red, white, black, green and orange apply
when the motor power and brake lines are the lead type.
8 CO
When they are the cannon plug type, connect them
9 PS
10 PS Note 7: Refer to the encoder wiring diagram
for the wiring of the connector for the encoder connection.
Plug: 36320-0100JL
Shell: 36310-3200-008 SH Note 8: The external power supply is to be provided by the
CN1
Note 1: customer.
3 IN1
Note 9: R, S, T, r, t, ○, P, DL1, DL2, RB1, RB2, U, V, W are high-voltage
IN2
circuits, other signal lines are low-voltage circuits.
4
When wiring, ensure that there is a sufficient distance
General I/O
Note 8: 12 to 24 VDC between the high- and low-voltage circuits.

1 OUT1 Note 10: Installing an earth leakage circuit breaker conforming either
to UL, IEC, or EN standards is recommended.
2 OUT2 Note 11: Do not connect the S phase for the single-phase power
5 COM supply amplifier.
Note 12: Be sure to connect a SG (signal ground) between devices
when you use differential input signals.
55100-0670
Amplifier unit 2 axes Note 13: Battery power supply is common inside the unit.
When using an absolute encoder, connect to CN1A, CN1B,
or CN5.
92
Serial Encoder

Servo amplifier CN2 Servo motor
7 E/1 (Brown) AWG SQ (mm2) (Ω/km) *at 20°C (m)
ES+ ES+
8 F/2 (Blue) 26 0.15 150 or less 5
ES－ ES－
*3 9 T/8 (Pink)
24 0.2 100 or less 10
EBAT+ CN2 EBAT+
10 S/4 (Brown)
(Purple)
EBAT－
ES+
7 E/1 EBAT－
ES+ 22 0.3 60 or less 15
5
8 Encoder
N.C.
ES－
F/2 (Blue)
ES－ 20 0.5 40 or less 25
*3 6
9 T/8 (Pink)
N.C.
EBAT+ EBAT+
4
10 S/4 (Purple) 18 0.75 25 or less 40
EBAT－ 3 EBAT－
5 H/9 (Red) Encoder *Conductor resistance differs by conductor specifications.
N.C. 1 +5 V
+5 V 6
N.C. 2 G/10 (Black) 0 V
0V 4
3
+5 V J/7
0V 2 FG
G/10 (Black) 0 V (Shielded) battery-backup method absolute encoder is used.
*2 wire colors and cannon plug pin numbers, see the fol-
J/7
FG (Shielded) lowing table.
*1
Plug: 36210-0100PL
Shell: 36310-3200-008 100 mm sq.
or smaller
130 mm sq.
Plug: 36210-0100PL 1 2 8*3 4*3 9 10 7
Shell: 36310-3200-008 Flange size: 130 mm sq.
Cannon plug model no. JN2DS10SL2-R JN2FS10SL2-R
or larger

CN2
7 A/1 (Blue) *1 Use a shielded twisted pair cable.
Servo amplifier A+
A
8 D/4 (Brown) Servo motor *2 Maximum cable lengths by conductor size of the power
A– A
5 B/2 (Green)
B+ B supply cable (5 V, SG) are shown in the table below.
Servo Amplifiers
CN2 6 E/5 (Purple) Encoder
B– 7 A/1 (Blue) B
A+
C+
9 F/3 (White) A Conductor size Conductor resistance Length
8 D/4 (Brown) Z
A–
C–
10 G/6 (Yellow) A
AWG SQ (mm2) (Ω/km) *at 20°C (m)
5
1 B/2 (Red)
J/9 (Green) Z
B+ 6
B
2 E/5
N/10(Purple)
(Black)
+5 V Encoder 26 0.15 150 or less 5
B– 9 F/3 (White) 0BV
C+ 3 Z 24 0.2 100 or less 10
+5 V 10 G/6 (Yellow)
C– 4 Z 22 0.3 60 or less 15
0V 1 J/9 (Red)
H/7 +5 V
2 N/10 (Black) 0FG
V (Shielded)

20 0.5 40 or less 25
3 *1 18 0.75 25 or less 40
+5 V
4 *2
0V H/7 *Conductor resistance differs by conductor specifications.
FG (Shielded)
Plug: 36210-0100PL *1
Shell: 36310-3200-008 *2
Cannon plug model no. *3 Lead wire colors are indicated in parentheses. For lead
Plug: 36210-0100PL
Shell: 36310-3200-008 lowing table:
A A B B Z Z +5V
Flange size: 130 mm sq. Blue Brown Green Purple White Yellow Red
JN2DS10SL2-R JN2FS10SL2-R or smaller
1 4 2 5 3 6 9
0V FG
100 mm sq.
Black Shielded
or smaller
130 mm sq.
10 7
or larger
93
94
Servo Motors
R2・R1・R5
Rotary Motor
Output capacity: 30 W to 30 kW
Rotary servo motors with a wide range of products.

R 2 AA 06 020 F C R 00 M
Additional specification identifier
E … Conforms to CE
U … Conforms to UL
M … Conforms to CE and UL
00 … Standard
Ａ0 … With connector (some 80 mm sq. or less models）
Encoder type
Serial encoder
R … Battery-less optical absolute encoder (HA035)
H … Optical absolute encoder for incremental systems (PA035S)
For encoder details, see p. 13.
Holding brake
X … No brake
B … 90 VDC brake
C … 24 VDC brake
Max. rotation speed

For the numeric values, see the specification table.
Rated output
003 … 30 W 020 … 200 W 100 … 1.0 kW 350 … 3.5 kW 700 … 7.0 kW 20 K … 20，21 kW
005 … 50 W 040 … 400 W 120 … 1.2 kW 450 … 4.5 kW 750 … 7.5 kW 30 K … 30 kW
008 … 80 W 050 … 550 W 180 … 1.8 kW 500 … 5.0 kW 11 K … 11 kW
010 … 100 W 075 … 750 W 200 … 2.0 kW 550 … 5.5 kW 15 K … 15 kW
A reduction in output might be required if an oil seal or brake is attached.
Contact us for details.
Flange size
04 …40 mm sq. B8… 86 mm sq. 18 … 180 mm sq.
06 … 60 mm sq. 10 … 100 mm sq. 22 … 220 mm sq.
08 … 80 mm sq. 13 … 130 mm sq. 28 … 275 mm sq.
Power supply voltage

AA … 200 VAC
EA … 100 VAC
Motor type
1 … Low inertia
2 … Medium inertia
5 … Medium inertia
R … R series
95
Servo Motors Rotary Motor
Specifications
R2Servo Motors High Efficiency and Low Ripple (Medium Inertia) RoHS

R 3E Model RS3E01□□《10 A》 RS3E02□□《20 A》
Servo Amplifier Model No. R ADVANCED RS2E01□□《15 A》
R RS1E01□□/RR1E01AAB《15 A》
Servo Motor Model No. 《》indicates flange size R2EA04003F R2EA04005F R2EA04008F
Status Symbol Unit 《40 mm sq.》《40 mm sq.》《40 mm sq.》
Rated Output ★ PR kW 0.03 0.05*4 0.08
Rated Speed ★ NR min-1 3000 3000 3000
Maximum Speed ★ Nmax min-1 6000 6000 6000
Rated Torque ★ TR N·m 0.098 0.159*4 0.255
Continuous Stall Torque ★ TS N·m 0.108 0.167 0.255
Peak Stall Torque ★ TP N·m 0.37 0.59 0.86
Rated Armature Current ★ IR Arms 0.94 1.2 1.3
Armature Stall Current ★ IS Arms 1.0 1.3 1.3
Peak Armature Stall Current ★ IP Arms 3.7 4.9 4.5
Torque Constant ☆ KT N·m/Arms 0.116 0.142 0.22
Voltage Constant for each Phase ☆ KEφ mV/min-1 4.04 4.97 7.7
Phase Resistance ☆ Rφ Ω 4.0 3.0 2.9
Rated Power Rate ★ QR kW/s 3.9 6.7*4 10
Electrical Time Constant ☆ te ms 0.55 0.67 0.81
Mechanical Time Constant
☆ tm ms 2.2 1.7 0.98
(Not including Encoder)
Rotor Inertia JM ×10 kg·m (GD /4)
-4 2 2
0.0247 0.0376 0.0627
Absolute Encoder Inertia JS ×10-4kg·m2 (GD2/4) 0.0042*1
Servo Motor Mass *1 We kg 0.37 0.41 0.53
Brake Static Friction Torque Tb N·m 0.32 min.
Brake Rated Voltage Vb V 90 VDC/24 VDC±10%
Brake Rated Current Ib A 0.07/0.27
Rotor Moment of Inertia (Brake) Jb ×10-4kg·m2 (GD2/4) 0.0078
Brake Mass W kg 0.27 0.27 0.27
Servo amplifier power supply capacity (rating) kVA 0.2 0.2 0.4
CE and UL approved servo motors *5 Yes
Servo motor protection code IP67, IP65
Size of aluminum plates for heat
250 × 250 × 6 mm
radiation during measurement
Page for motor dimensions p. 112
*1 Values are for motors with encoder [HA035]. *2 Items with ★ and speed - torque characteristics indicate values after
For motor mass with the following encoders, contact us for details. temperature rise saturation when used with a standard servo ampli-
・Battery-backup method absolute encoder fier. The values are the typical values.
・Wire-saving incremental encoder *3 ☆ : Indicates a typical value when the winding temperature is 20° C.
The values are the typical values.
*4 With the optional oil seals, rated outputs of servo motors might be
reduced to 80 to 95% of the values in the above table.
*5 Our standard servo amplifiers are CE and UL approved.
■ Speed-Torque Characteristics
Servo Motor Model No./Flange Size/Rated Output
R2EA04003F/40 mm/0.03 kW R2EA04005F/40 mm/0.05 kW R2EA04008F/40 mm/0.08 kW
0.6 0.8 1.0
0.5 0.8
0.6
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
0.4
0.6
0.3 0.4
Instantaneous Zone Instantaneous Zone 0.4 Instantaneous Zone
0.2
0.2
0.1 0.2
Continuous Zone Continuous Zone Continuous Zone
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Speed (min−1) Speed (min−1) Speed (min−1)
These values are for when the input voltage is a 100 VAC circuit. The area of the instantaneous zone decreases when the power supply voltage is less than 100 VAC.
96

RS3E02□□《20 A》 RS3E03□□《30 A》 R 3E Model

RS2E01□□《15 A》 RS2E03□□《30 A》 R ADVANCED Servo Amplifier Model No.
RS1E01□□/RR1E01AAB《15 A》 RS1E03□□/RR1E03AAB《30 A》 R
R2EA06010F R2EA06020F Servo Motor Model No. 《》indicates flange size
《60 mm sq.》《60 mm sq.》 Unit Symbol Status
0.1 0.2 kW PR ★ Rated Output
3000 3000 min-1 NR ★ Rated Speed
6000 6000 min-1 Nmax ★ Maximum Speed
0.318 0.637 N・m TR ★ Rated Torque
0.318 0.686 N・m TS ★ Continuous Stall Torque
1.0 2.2 N・m TP ★ Peak Stall Torque
1.7 3.1 Arms IR ★ Rated Armature Current
1.7 3.2 Arms IS ★ Armature Stall Current
5.6 11.9 Arms IP ★ Peak Armature Stall Current
0.206 0.224 N・m/Arms KT ☆ Torque Constant
7.2 7.82 mV/min-1 KEφ ☆ Voltage Constant for each Phase
1.5 0.6 Ω Rφ ☆ Phase Resistance
8.6 19 kW/s QR ★ Rated Power Rate
1.9 2.6 ms te ☆ Electrical Time Constant
1.2 0.79 ms tm ☆
0.117 0.219 ×10-4kg・m2 (GD2/4) JM Rotor Inertia
0.0042*1 ×10-4kg・m2 (GD2/4) JS Absolute Encoder Inertia
0.74 0.99 kg We Servo Motor Mass *1
0.36 min. 1.37 min. N・m Tb Brake Static Friction Torque
90 VDC/24 VDC±10% V Vb Brake Rated Voltage
0.07/0.27 0.11/0.32 A Ib Brake Rated Current
0.06 ×10-4kg・m2 (GD2/4) Jb Rotor Moment of Inertia (Brake)
0.34 0.39 kg W Brake Mass
0.5 0.6 kVA Servo amplifier power supply capacity (rating)
Yes CE and UL approved servo motors *5
IP67, IP65 Servo motor protection code
250 × 250 × 6 mm
p. 112 Page for motor dimensions
Servo Motors
Servo Motor Operating Ambient Conditions
Rotary Motor
Operating temperature and humidity Temp.: 0 to 40°C. Humidity: 90% max. (non-condensing)
Vibration resistance 24.5 m/s2
Shock resistance 98 m/s2, twice
Operation altitude 1000 m or lower above sea level
Indoor (without direct sunlight)
Installation location Location where no substance that gives adverse effects on the device and motor, such as
corrosive gas, flammable gas, or dust exists
R2EA06010F/60 mm/0.1 kW R2EA06020F/60 mm/0.2 kW

1.2 2.5
1.0 2.0
Torque (N∙m)
Torque (N∙m)
0.8
1.5
0.6 Instantaneous Zone
Instantaneous Zone 1.0
0.4
0.2 0.5
Continuous Zone Continuous Zone
0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Speed (min−1) Speed (min−1)
97
Specifications

R 3E Model RS3A01□□《10 A》
Servo Amplifier Model No. R ADVANCED RS2A01□□《15 A》
R RS1A01□□/RR1A01AAB00《15 A》
Servo Motor Model No. 《》indicates flange size R2AA04003F R2AA04005F R2AA04010F R2AA06010F
Status Symbol Unit 《40 mm sq.》《40 mm sq.》《40 mm sq.》《60 mm sq.》
Rated Output ★ PR kW 0.03 0.05*4 0.1 (0.09) *4 0.1
Rated Speed ★ NR min-1 3000 3000 3000 3000
Maximum Speed ★ Nmax min-1 6000 6000 6000 6000
Rated Torque ★ TR N·m 0.098 0.159*4 0.318 (0.286) *4 0.318
Continuous Stall Torque ★ TS N·m 0.108 0.167 0.318 0.353
Peak Stall Torque ★ TP N·m 0.37 0.59 1.18 1.13
Rated Armature Current ★ IR Arms 0.51 0.67 0.81 0.86
Armature Stall Current ★ IS Arms 0.56 0.69 0.81 0.86
Peak Armature Stall Current ★ IP Arms 2.15 2.8 3.3 3.5
Torque Constant ☆ KT N·m/Arms 0.201 0.246 0.424 0.375
Voltage Constant for each Phase ☆ KEφ mV/min-1 7.0 8.6 14.8 13.1
Phase Resistance ☆ Rφ Ω 12 9 9.3 4.8
Rated Power Rate ★ QR kW/s 3.9 6.7*4 16 (13) *4 8.6
Electrical Time Constant ☆ te ms 0.55 0.67 0.82 2
☆ tm ms 2.2 1.7 0.97 1.2
Rotor Inertia JM ×10-4kg·m2 (GD2/4) 0.0247 0.0376 0.0627 0.117
Servo Motor Mass *1 We kg 0.37 0.41 0.53 0.74
Brake Static Friction Torque Tb N·m 0.32 min. 0.36 min.
Brake Rated Current Ib A 0.07/0.27
Rotor Moment of Inertia (Brake) Jb ×10-4kg·m2 (GD2/4) 0.0078 0.06
Brake Mass W kg 0.27 0.27 0.27 0.34
Servo amplifier power supply capacity (rating) kVA 0.2 0.2 0.3 0.3
250 × 250 × 6 mm
*4 Values in parentheses are the output values for motors with brakes.
With the optional oil seals, rated outputs of servo motors might be
■ Speed-Torque Characteristics *5 Our standard servo amplifiers are CE and UL approved.

R2AA04003F/40 mm/0.03 kW R2AA04005F/40 mm/0.05 kW R2AA04010F/40 mm/0.1 (0.09) kW R2AA06010F/60 mm/0.1 kW
0.4 0.8 2.0 2.0
0.3 0.6 1.5 1.5

Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
0.2 0.4 1.0 1.0

Instantaneous Zone Instantaneous Zone Instantaneous Zone Instantaneous Zone
0.1 0.2 0.5 0.5
Continuous Zone Continuous Zone Continuous Zone Continuous Zone

0 0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Speed (min−1) Speed (min−1) Speed (min−1) Speed (min−1)
These values are for when the input voltage is a 3-phase 200 VAC circuit. The characteristics of the instantaneous zone may change when the input voltage is
less than 200 VAC or single-phase 200 VAC.
98

RS3A02□□《20 A》 R 3E Model
RS2A01□□《15 A》 RS2A03□□《30 A》 R ADVANCED Servo Amplifier Model No.
RS1A03□□/
RS1A01□□/RR1A01AAB00《15 A》 RR1A03AAB00《30 A》
R
R2AA06020F R2AA06040H R2AA08020F R2AA06040F Servo Motor Model No. 《》indicates flange size
《60 mm sq.》《60 mm sq.》《80 mm sq.》《60 mm sq.》 Unit Symbol Status
0.2 0.4 (0.36) *4 0.2 0.4 (0.36) *4 kW PR ★ Rated Output
3000 3000 3000 3000 min-1 NR ★ Rated Speed
6000 3000 6000 6000 min-1 Nmax ★ Maximum Speed
0.637 1.27 (1.15) *4 0.637 1.27 (1.15) *4 N・m TR ★ Rated Torque
0.686 1.37 0.686 1.37 N・m TS ★ Continuous Stall Torque
2.2 4.8 2.2 4.8 N・m TP ★ Peak Stall Torque
1.5 1.7 1.5 2.8 Arms IR ★ Rated Armature Current
1.6 1.8 1.5 2.8 Arms IS ★ Armature Stall Current
5.6 7.1 4.8 10.8 Arms IP ★ Peak Armature Stall Current
0.476 0.816 0.516 0.524 N・m/Arms KT ☆ Torque Constant
16.6 28.5 18.0 18.3 mV/min-1 KEφ ☆ Voltage Constant for each Phase
2.7 3.3 2.3 1.36 Ω Rφ ☆ Phase Resistance
19 39 (32) *4 8 39 (32) *4 kW/s QR ★ Rated Power Rate
2.6 3.2 2.2 3.2 ms te ☆ Electrical Time Constant
0.78 0.61 1.3 0.61 ms tm ☆
0.219 0.412 0.52 0.412 ×10-4kg・m2 (GD2/4) JM Rotor Inertia
0.99 1.5 1.4 1.5 kg We Servo Motor Mass *1
1.37 min. 1.37 min. 2.55 min. 1.37 min. N・m Tb Brake Static Friction Torque
0.11/0.32 0.11/0.32 0.12/0.37 0.11/0.32 A Ib Brake Rated Current
0.06 0.060 0.25 0.06 ×10-4kg・m2 (GD2/4) Jb Rotor Moment of Inertia (Brake)
0.39 0.39 0.89 0.39 kg W Brake Mass
0.6 1.0 0.6 1.0 kVA Servo amplifier power supply capacity (rating)
IP67, IP65 Servo motor protection code
250 × 250 × 6 mm
Servo Motors
Rotary Motor

R2AA06020F/60 mm/0.2 kW R2AA06040H/60 mm/0.4 (0.36) kW R2AA08020F/80 mm/0.2 kW R2AA06040F/60 mm/0.4 (0.36) kW
4.0 6.0 4.0 8.0
5.0
3.0 3.0 6.0
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
4.0
2.0 3.0 2.0 4.0

Instantaneous Zone Instantaneous Zone Instantaneous Zone Instantaneous Zone
2.0
1.0 1.0 2.0
1.0
0 0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
99
Specifications

R 3E Model RS3A02□□《20 A》 RS3A03□□《30 A》
R RS1A03□□/RR1A03AAB00《30 A》
Servo Motor Model No. 《》indicates flange size R2AA08040F R2AA08075F R2AAB8100H R2AA10075F
Rated Output ★ PR kW 0.4 0.75*4 1.0 0.75
Rated Torque ★ TR N·m 1.27 2.39*4 3.18 2.39
Peak Stall Torque ★ TP N·m 4.4 8.5 11.6 8.6
Phase Resistance ☆ Rφ Ω 0.93 0.4 0.85 0.69
Rated Power Rate ★ QR kW/s 16 31*4 42 29
Electrical Time Constant ☆ te ms 2.5 3 4.6 7.0
☆ tm ms 0.93 0.7 0.89 1.2
-4 2 2
1.04 1.82 2.38 2.00
Brake Rated Current Ib A 0.12/0.37 0.09/0.30
Brake Mass W kg 0.89 0.89 0.84 0.9
250 × 250 × 6 mm 305 × 305 × 12 mm
*4 With the optional oil seals, rated outputs of servo motors might be
R2AA08040F/80 mm/0.4 kW R2AA08075F/80 mm/0.75 kW R2AAB8100H/86 mm/1.0 kW R2AA10075F/100 mm/0.75 kW
8.0 10 15 10
8 8
6.0
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
10
6 6
4.0
Instantaneous Zone Instantaneous Zone
Instantaneous Zone 4 Instantaneous Zone 4
5
2.0
2 2
Continuous Zone
0 0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 500 1000 1500 2000 2500 3000 3500 0 1000 2000 3000 4000 5000 6000 7000
100

RS3A03□□《30 A》 R 3E Model
RS2A03□□《30 A》 R ADVANCED Servo Amplifier Model No.
RS1A03□□/RR1A03AAB00《30 A》 R
R2AA13050H R2AA13050D R2AA13120B Servo Motor Model No. 《》indicates flange size
《130 mm sq.》《130 mm sq.》《130 mm sq.》 Unit Symbol Status
0.55 0.55 1.2 kW PR ★ Rated Output
2000 2000 2000 min-1 NR ★ Rated Speed
3500 5000 2000 min-1 Nmax ★ Maximum Speed
2.6 2.6 5.7 N・m TR ★ Rated Torque
3.0 2.6 6.0 N・m TS ★ Continuous Stall Torque
9.0 7.0 16 N・m TP ★ Peak Stall Torque
4.2 5.2 5.2 Arms IR ★ Rated Armature Current
4.6 5.2 5.2 Arms IS ★ Armature Stall Current
15.5 15.5 15.5 Arms IP ★ Peak Armature Stall Current
0.67 0.53 1.09 N・m/Arms KT ☆ Torque Constant
23.5 18.5 37.8 mV/min-1 KEφ ☆ Voltage Constant for each Phase
0.65 0.39 0.64 Ω Rφ ☆ Phase Resistance
22 22 54 kW/s QR ★ Rated Power Rate
14 14 16 ms te ☆ Electrical Time Constant
1.3 1.3 0.98 ms tm ☆
3.1 3.1 6.0 ×10-4kg・m2 (GD2/4) JM Rotor Inertia
4.5 4.5 6.1 kg We Servo Motor Mass *1
3.5 min. 3.5 min. 9.0 min. N・m Tb Brake Static Friction Torque
0.15/0.41 0.15/0.41 0.17/0.51 A Ib Brake Rated Current
0.5 0.5 0.5 ×10-4kg・m2 (GD2/4) Jb Rotor Moment of Inertia (Brake)
1.3 1.3 1.5 kg W Brake Mass
1.2 1.2 2.2 kVA Servo amplifier power supply capacity (rating)
IP65 Servo motor protection code
305 × 305 × 20 mm 400 × 400 × 20 mm
Servo Motors
Servo Motor Operating Ambient Conditions Rotary Motor

R2AA13050H/130 mm/0.55 kW R2AA13050D/130 mm/0.55 kW R2AA13120B/130 mm/1.2 kW
10 10 25
8 8 20
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
6 6 15
4 4 10 Instantaneous Zone
2 2 5
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000
101
Specifications

R RS1A05□□《50 A》
Servo Motor Model No. 《》indicates flange size R2AAB8075F R2AAB8100F R2AA10100F R2AA13120L
Rated Output ★ PR kW 0.75 1.0 1.0 1.2
Rated Torque ★ TR N·m 2.38 3.18 3.18 5.7
Peak Stall Torque ★ TP N·m 11.0 14.3 14.3 20
Rated Power Rate ★ QR kW/s 35 42 29 54
Electrical Time Constant ☆ te ms 4.2 4.3 8.3 15
☆ tm ms 1.00 0.93 1.1 1.1
Rotor Inertia JM ×10-4kg·m2 (GD2/4) 1.64 2.38 3.50 6.0
Brake Static Friction Torque Tb N·m 3.92 min. 3.92 min. 3.92 min. 9.0 min.
Brake Rated Voltage Vb V 90 VDC/24 VDC±10％
Brake Rated Current Ib A 0.09/0.30 0.09/0.30 0.09/0.30 0.17/0.51
Rotor Moment of Inertia (Brake) Jb ×10-4kg·m2 (GD2/4) 0.34 0.34 0.343 0.5
Brake Mass W kg 0.84 0.84 0.9 1.5
Servo motor protection code IP67, IP65 IP65
305 × 305 × 12 mm 400 × 400 × 20 mm
Page for motor dimensions p. 112 p. 113
R2AAB8075F/86 mm/0.75 kW R2AAB8100F/86 mm/1.0 kW R2AA10100F/100 mm/1.0 kW R2AA13120L/130 mm/1.2 kW
12 15 16 25
14
10 20
12
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
8 10 10
Instantaneous Zone 15
6 8 Instantaneous Zone
6 10
4 5
4
5
2 2 Continuous Zone
0 0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000
102

RS3A05□□《50 A》 RS3A10□□《100 A》 R 3E Model

RS1A05□□《50 A》 RS1A10□□《100 A》 R
R2AA13120D R2AA13180H R2AA13200L R2AA13180D Servo Motor Model No. 《》indicates flange size
1.2 1.8 2 1.8 kW PR ★ Rated Output
5.7 8.6 9.5 8.6 N・m TR ★ Rated Torque
6.0 10.0 12 10.0 N・m TS ★ Continuous Stall Torque
16 22 24 25 N・m TP ★ Peak Stall Torque
54 82 74 82 kW/s QR ★ Rated Power Rate
16 18 17 16 ms te ☆ Electrical Time Constant
0.98 0.78 0.86 0.89 ms tm ☆
6.0 9.0 12.2 9.0 ×10-4kg・m2 (GD2/4) JM Rotor Inertia
6.1 7.7 10 7.7 kg We Servo Motor Mass *1
9.0 min. 9.0 min. 12 min. 9.0 min. N・m Tb Brake Static Friction Torque
0.5 0.5 0.5 0.5 ×10-4kg・m2 (GD2/4) Jb Rotor Moment of Inertia (Brake)
1.5 1.5 1.5 1.5 kg W Brake Mass
400 × 400 × 20 mm 470 × 470 × 20 mm
p. 113 p. 114 p. 113 Page for motor dimensions
Servo Motors
Rotary Motor

R2AA13120D/130 mm/1.2 kW R2AA13180H/130 mm/1.8 kW R2AA13200L/130 mm/2.0 kW R2AA13180D/130 mm/1.8 kW
25 25 25 30
20 20 25
20
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
15 15 15
Instantaneous Zone
15
Instantaneous Zone
10 10 10
5 5 5 5
0 0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000 5000 6000
103
Specifications

R 3E Model RS3A10□□《100 A》 RS3A15□□《150 A》
Servo Amplifier Model No. R ADVANCED RS2A10□□《100 A》 RS2A15□□《150 A》
R RS1A10□□《100 A》 RS1A15□□《150 A》
Servo Motor Model No. 《》indicates flange size R2AA13200D R2AA18350L R2AA18350D R2AA18450H
Rated Output ★ PR kW 2 3.5 3.5 4.5
Rated Torque ★ TR N·m 9.5 17 17 21.5
Continuous Stall Torque ★ TS N·m 12 22.0 22.0 30.0
Peak Stall Torque ★ TP N·m 30 49 60 75
Electrical Time Constant ☆ te ms 18 18 16 18
☆ tm ms 0.83 1.0 1.2 0.94
-4 2 2
12.2 40 40 50
Servo Motor Mass *1 We kg 10 15.5 15.5 19.5
Brake Static Friction Torque Tb N·m 12 min. 22 min. 22 min. 32 min.
Brake Rated Current Ib A 0.17/0.66 0.32/1.2 0.32/1.2 0.27/1.0
Rotor Moment of Inertia (Brake) Jb ×10-4kg·m2 (GD2/4) 0.5 5.1 5.1 5.1
Brake Mass W kg 1.5 2.4 2.4 2.8
Servo motor protection code IP65
470 × 470 × 20 mm
R2AA13200D／130 mm／2.0 kW R2AA18350L／180 mm／3.5 kW R2AA18350D／180 mm／3.5 kW R2AA18450H／180 mm／4.5 kW
35 60 70 80
30 60 70
50
60
25 50
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
Instantaneous Zone 40 50
20 Instantaneous Zone 40 Instantaneous Zone
30 Instantaneous Zone 40
15 30
30
10 20
20 20
5 10 10 10 Continuous Zone
0 0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed (min－1) Speed (min－1) Speed (min－1) Speed (min－1)
less than 200 VAC.
104


RS1A15□□《150 A》 RS1A30□□《300 A》 R
R2AA18550R R2AA22500L R2AA22700S R2AA18550H Servo Motor Model No. 《》indicates flange size
5.5 5 7 5.5 kW PR ★ Rated Output
35 24 67 35 N・m TR ★ Rated Torque
37.3 32 70 37.5 N・m TS ★ Continuous Stall Torque
90 75 150 107 N・m TP ★ Peak Stall Torque
180 105 330 180 kW/s QR ★ Rated Power Rate
22 40 26 20 ms te ☆ Electrical Time Constant
0.80 0.78 0.68 0.87 ms tm ☆
68 55 136 68 ×10-4kg・m2 (GD2/4) JM Rotor Inertia
27.7 22.5 43 27.7 kg We Servo Motor Mass *1
42 min. 42 min. 90 min. 42 min. N・m Tb Brake Static Friction Torque
5.1 5.1 24 5.1 ×10-4kg・m2 (GD2/4) Jb Rotor Moment of Inertia (Brake)
2.8 5.5 7.8 2.8 kg W Brake Mass
540 × 540 × 20 mm
p. 115 p. 116 p. 115 Page for motor dimensions
Servo Motors

R2AA18550R／180 mm／5.5 kW R2AA22500L／220 mm／5.0 kW R2AA22700S／220 mm／7.0 kW R2AA18550H／180 mm／5.5 kW
100 80 160 120
90 110
70 140
80 100
60 120 90
70
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
Instantaneous Zone 80 Instantaneous Zone

60 Instantaneous Zone 50 100 70
50 40 80 60
40 30 60
30 40
20 40 30
20 Continuous Zone 20 Continuous Zone
Continuous Zone 10 20
10 10
Continuous Zone
0 0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 5000 6000 0 500 1000 1500 0 1000 2000 3000 4000
Speed (min－1) Speed (min－1) Speed (min－1) Speed (min−1)
105
Specifications

R RS1A30□□《300 A》
Servo Motor Model No. 《》indicates flange size R2AA18750H R2AA1811KR R2AA2211KB R2AA2215KB
Rated Output ★ PR kW 7.5 11 11 15
Rated Torque ★ TR N·m 48 70 70 95
Continuous Stall Torque ★ TS N·m 54.9 80.0 80 95
Peak Stall Torque ★ TP N·m 140 170 176 215
Rated Armature Current ★ IR Arms 51.2 61.9 60 66
Armature Stall Current ★ IS Arms 56.8 66.0 66 66
Peak Armature Stall Current ★ IP Arms 155.0 155.0 155 155
Voltage Constant for each Phase ☆ KEφ mV/min-1 36.6 43.8 48 52.3
Electrical Time Constant ☆ te ms 20 22 27 34
Mechanical Time Constant (Not including Encoder) ☆ tm ms 0.81 0.74 0.62 0.54
Rotor Inertia JM ×10-4kg·m2 (GD2/4) 98 110 178 237
Servo Motor Mass *1 We kg 35.7 40 55 62
Brake Static Friction Torque Tb N·m 54.9 min. 100 min. 90 min.
Brake Rated Current Ib A 0.37/1.4 0.5/1.9 0.44/1.7
Rotor Moment of Inertia (Brake) Jb ×10-4kg·m2 (GD2/4) 4.5 9.7 24
31/29
Cooling fan power PF W ー 180 VAC to 253 VAC ー
Single-phase 50 Hz/60 Hz
Servo motor protection code IP65 IP65 (excluding the cooling fan) IP65
540 × 540 × 20 mm 610 × 610 × 30 mm
R2AA18750H/180 mm/7.5 kW R2AA1811KR/180 mm/11 kW R2AA2211KB/220 mm/11 kW R2AA2215KB/220 mm/15 kW
160 200 200 250
140 180 180
160 160 Instantaneous Zone 200
120
140 140 Instantaneous Zone
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
Instantaneous Zone
100 120 120 150
80 100 Instantaneous Zone 100
60 80 80 100
60 60 Continuous Zone
40
Continuous Zone 40 Continuous Zone 40 50 Continuous Zone
20 20 20
0 0 0 0
0 1000 2000 3000 4000 0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
Speed (min－1) Speed (min－1) Speed (min－1) Speed (min－1)
These values are for when the input voltage is a 3-phase 200 VAC circuit. The characteristics of the instantaneous zone may change when the input voltage is less
than 200 VAC.
106

RS3W60□□《600 A》 R 3E Model
— R ADVANCED Servo Amplifier Model No.
— R
R2AA2220KB R2AA2830KV Servo Motor Model No. 《》indicates flange size
《220 mm sq.》《275 mm sq.》 Unit Symbol Status
20 30 kW PR ★ Rated Output
1500 1500 min-1 NR ★ Rated Speed
2000 2000 min-1 Nmax ★ Maximum Speed
125 191.1 N·m TR ★ Rated Torque
125 191.1 N·m TS ★ Continuous Stall Torque
280 480 N·m TP ★ Peak Stall Torque
116 116 Arms IR ★ Rated Armature Current
113 114 Arms IS ★ Armature Stall Current
290 290 Arms IP ★ Peak Armature Stall Current
1.21 1.78 N·m/Arms KT ☆ Torque Constant
42.4 62.1 mV/min-1 KEφ ☆ Voltage Constant for each Phase
0.013 0.013 Ω Rφ ☆ Phase Resistance
659 865 kW/s QR ★ Rated Power Rate
33 59 ms te ☆ Electrical Time Constant
0.63 0.52 ms tm ☆ Mechanical Time Constant (Not including Encoder)
237 422 ×10-4kg·m2 (GD2/4) JM Rotor Inertia
0.012*1 ×10-4kg·m2 (GD2/4) JS Absolute Encoder Inertia
73 107 kg We Servo Motor Mass *1
170 min. 191.2 min. N·m Tb Brake Static Friction Torque
24 VDC±10% V Vb Brake Rated Voltage
1.5 2.6 A Ib Brake Rated Current
12 11.8 ×10-4kg·m2 (GD2/4) Jb Rotor Moment of Inertia (Brake)
17 18.2 kg W Brake Mass
30.0 42.0 kVA Servo amplifier power supply capacity (rating)
65/65
180 VAC to 253 VAC W PF Cooling fan power
3-phase 50 Hz/60 Hz
Yes Preparing CE and UL approved servo motors *4
IP65 (excluding the cooling fan) Servo motor protection code
610 × 610 × 30 mm
Servo Motors

R2AA2220KB/220 mm/20 kW R2AA2830KV/275 mm/30 kW
300
500
250 Instantaneous Zone
400
Torque (N∙m)
Torque (N∙m)
200
Instantaneous Zone
300
150
100 200
Continuous Zone
50 100 Continuous Zone
0 0
0 500 1000 1500 2000 2500 0 1000 2000
Speed (min－1) Speed（min－1）
107
Specifications
R1Servo Motors High Power Rate (Low Inertia) RoHS

R RS1A30□□《300 A》
Servo Motor Model No. 《》indicates flange size R1AA18550H R1AA18750L
Status Symbol Unit 《180 mm sq.》《180 mm sq.》
Rated Output ★ PR kW 5.5 7.5
Rated Speed ★ NR min-1 1500 1500
Maximum Speed ★ Nmax min-1 3000 3000
Rated Torque ★ TR N·m 35 48
Continuous Stall Torque ★ TS N·m 37 48
Peak Stall Torque ★ TP N·m 110 135
Rated Armature Current ★ IR Arms 46 49
Armature Stall Current ★ IS Arms 47 47
Peak Armature Stall Current ★ IP Arms 155 155
Torque Constant ☆ KT N·m/Arms 0.86 1.09
Voltage Constant for each Phase ☆ KEφ mV/min-1 30 38.1
Phase Resistance ☆ Rφ Ω 0.029 0.031
Rated Power Rate ★ QR kW/s 370 550
Electrical Time Constant ☆ te ms 23 21
Mechanical Time Constant (Not including Encoder) ☆ tm ms 0.39 0.33
Rotor Inertia JM ×10-4kg·m2 (GD2/4) 33 42
Servo Motor Mass *1 We kg 33 39
Brake Mass W kg 5 5
Servo amplifier power supply capacity (rating) kVA 9.3 11.6
30/26 200 VAC±10% Single-phase 50 Hz/60 Hz
Cooling fan power PF W
For CE/UL compliant products: 31/29 180 VAC to 253 VAC Single-phase 50 Hz/60 Hz
Servo motor protection code IP65 (excluding the cooling fan)
540 × 540 × 20 mm
R1AA18550H/180 mm/5.5 kW R1AA18750L/180 mm/7.5 kW
120 160
140
100
120
Torque (N∙m)
Torque (N∙m)
60 80
60
40
40
20 Continuous Zone 20 Continuous Zone
0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000
Speed (min－1) Speed (min－1)
These values are for when the input voltage is a 3-phase 200 VAC circuit. The characteristics of the instantaneous zone may change when the input voltage is less than 200 VAC or
single-phase 200 VAC.
108
RS3A30A□《300 A》 RS3W60□□《600 A》 R 3E Model
RS2A30□□《300 A》 — R ADVANCED Servo Amplifier Model No.
RS1A30□□《300 A》 — R
R1AA1811KR R1AA1815KB R1AA2220KV Servo Motor Model No. 《》indicates flange size
11 15 21 kW PR ★ Rated Output
2500 2000 2000 min-1 Nmax ★ Maximum Speed
70 95.5 135 N·m TR ★ Rated Torque
70 95.5 135 N·m TS ★ Continuous Stall Torque
195 230 380 N·m TP ★ Peak Stall Torque
55.0 60.0 100 Arms IR ★ Rated Armature Current
54.0 58.0 96 Arms IS ★ Armature Stall Current
155 155 290 Arms IP ★ Peak Armature Stall Current
1.4 1.77 1.51 N·m/Arms KT ☆ Torque Constant
48.7 61.6 52.8 mV/min-1 KEφ ☆ Voltage Constant for each Phase
770 1060 1740 kW/s QR ★ Rated Power Rate
22 25 51 ms te ☆ Electrical Time Constant
0.32 0.27 0.19 ms tm ☆ Mechanical Time Constant (Not including Encoder)
64 86 105 ×10-4kg·m2 (GD2/4) JM Rotor Inertia
52 64 107 kg We Servo Motor Mass *1
75 min. 120 min. — N·m Tb Brake Static Friction Torque
24 VDC±10% — V Vb Brake Rated Voltage
1.5 1.9 — A Ib Brake Rated Current
8.0 9.7 — ×10-4kg·m2 (GD2/4) Jb Rotor Moment of Inertia (Brake)
7 9 — kg W Brake Mass
30/26 200 VAC±10% Single-phase 50 Hz/60 Hz
W PF Cooling fan power
For CE/UL compliant products: 31/29 180 VAC to 253 VAC Single-phase 50 Hz/60 Hz
IP65 (excluding the cooling fan) Servo motor protection code
610 × 610 × 30 mm
Servo Motors
p. 118 Page for motor dimensions Rotary Motor

R1AA1811KR/180 mm/11 kW R1AA1815KB/180 mm/15 kW R1AA2220KV/220 mm/21 kW
200 250 400
180 350
160 200
300
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
120 Instantaneous Zone 150 250

Instantaneous Zone
100 200
80 100 150
60
100
40 Continuous Zone 50 Continuous Zone Continuous Zone
20 50
0 0 0
0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000
Speed (min－1) Speed (min－1) Speed (min－1)
109
Specifications
R5Servo Motors High Efficiency and Ultra Low Ripple (Medium Inertia)
Low cogging torque RoHS

R 3E Model RS3A01□□《10 A》 RS3A02□□《20 A》 RS3A03□□《30 A》
Servo Amplifier Model No. R ADVANCED RS2A01□□《15 A》 RS2A03□□《30 A》
R RS1A01□□《15 A》 RS1A03□□《30 A》
Servo Motor Model No. 《》indicates flange size R5AA06020H R5AA06040H R5AA08075D
Status Symbol Unit 《60 mm sq.》《60 mm sq.》《80 mm sq.》
Rated Output ★ PR kW 0.2 0.4 (0.38) *4 0.75 (0.71) *4
Rated Speed ★ NR min-1 3000 3000 3000
Maximum Speed ★ Nmax min-1 3000 3000 5000
Rated Torque ★ TR N·m 0.637 1.27 (1.21) *4 2.39 (2.27) *4
Continuous Stall Torque ★ TS N·m 0.686 1.37 2.55
Peak Stall Torque ★ TP N·m 2.2 4.8 8.5
Rated Armature Current ★ IR Arms 1.1 1.8 3.9
Armature Stall Current ★ IS Arms 1.1 1.8 3.9
Peak Armature Stall Current ★ IP Arms 4.2 7.0 14.4
Torque Constant ☆ KT N·m/Arms 0.649 0.836 0.763
Voltage Constant for each Phase ☆ KEφ mV/min-1 21.7 27.0 23.2
Phase Resistance ☆ Rφ Ω 4.8 3.3 0.78
Rated Power Rate ★ QR kW/s 20 39 (35) *4 35 (31) *4
Electrical Time Constant ☆ te ms 4.3 5.5 13
☆ tm ms 0.71 0.63 0.76
-4 2 2
0.198 0.414 1.65
Servo Motor Mass *1 We kg 0.99 1.5 2.8
Rotor Moment of Inertia (Brake) Jb ×10-4kg·m2 (GD2/4) 0.060 0.060 0.25
Servo amplifier power supply capacity (rating) kVA 0.6 1.0 1.6
Servo motor protection code IP65
250 × 250 × 6 mm
*4 Values in parentheses are the output values for motors with brakes.
With the optional oil seals or brakes, rated outputs of servo motors
might be reduced to 80 to 95% of the values in the above table.
R5AA06020H/60 mm/0.2 kW R5AA06040H/60 mm/0.4 (0.38) kW R5AA08075D/80 mm/0.75 (0.71) kW
4 6 10
9
5 8
3
7
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
4
6
2 3 5
Instantaneous Zone
Instantaneous Zone Instantaneous Zone 4
2 3
1
2
1 Continuous Zone
Continuous Zone Continuous Zone 1
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000 5000
These values are for when the input voltage is a 3-phase 200 VAC circuit. The characteristics of the instantaneous zone may change when the input voltage is less than 200
110 VAC or single-phase 200 VAC.
RS1A01□□《15 A》 RS1A03□□《30 A》 R
R5AA06020F R5AA06040F R5AA08075F Servo Motor Model No. 《》indicates flange size
0.2 0.4 0.75 (0.675) *4 kW PR ★ Rated Output
6000 6000 6000 min -1
Nmax ★ Maximum Speed
0.637 1.27 2.39 (2.15) *4 N·m TR ★ Rated Torque
0.686 1.37 2.55 N·m TS ★ Continuous Stall Torque
2.2 4.8 7.5 N·m TP ★ Peak Stall Torque
1.5 2.8 4.5 Arms IR ★ Rated Armature Current
1.6 2.8 4.5 Arms IS ★ Armature Stall Current
5.7 10.8 15.5 Arms IP ★ Peak Armature Stall Current
0.476 0.525 0.607 N·m/Arms KT ☆ Torque Constant
16.1 17.3 18.9 mV/min -1
KEφ ☆ Voltage Constant for each Phase
20 39 35 (28) *4 kW/s QR ★ Rated Power Rate
4.2 5.7 13 ms te ☆ Electrical Time Constant
0.73 0.65 0.77 ms tm ☆
0.198 0.414 1.65 ×10 kg·m (GD /4)
-4 2 2
JM Rotor Inertia
0.0042*1 ×10-4kg·m2 (GD2/4) JS Absolute Encoder Inertia
0.99 1.5 2.8 kg We Servo Motor Mass *1
1.37 min. 2.55 min. N·m Tb Brake Static Friction Torque
0.11/0.32 0.12/0.37 A Ib Brake Rated Current
0.060 0.060 0.25 ×10-4kg·m2 (GD2/4) Jb Rotor Moment of Inertia (Brake)
0.39 0.39 0.89 kg W Brake Mass
250 × 250 × 6 mm
Servo Motors
radiation during measurement Rotary Motor

R5AA06020F/60 mm/0.2 kW R5AA06040F/60 mm/0.4 kW R5AA08075F/80 mm/0.75 (0.675) kW
4 6 10
9
5 8
3
7
Torque (N∙m)
Torque (N∙m)
Torque (N∙m)
4
Instantaneous Zone
2 3 5
2 3
1
1 2
Continuous Zone Continuous Zone 1 Continuous Zone
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
111
40 mm sq. to 100 mm sq.

R2 Servo Motor
R5 Servo Motor Battery-less absolute
encoder
Absolute encoder for
incremental systems
0.07 M 0.02
□LC LR LL±1 LR
0.02 0.06 M
LZ LE LG LE LG LL±1
0.06 M
(φ Q Q
LH LA
) φ
φLB
φLB
φS
φS
M M
KL
Oil seal QE Tap
φD1 φD2 φD3 φD1 φD2 φD3
1100±100
1100±100
1100±100
(Option) Depth LT
(50)
(50)
(50)
(50)
(50)
1100±100
1100±100
1100±100
Motor cable (for mounting)
(50)
(for power and GND)
Brake cable (for mounting)
Shield cable (for mounting)

(for encoder)
Dimensions of brake and without extension cable connector.

Battery-backup method absolute encoder,
Battery-less absolute encoder
Absolute encoder for incremental systems
W/out oil seal With oil seal W/out oil seal With oil seal
W/out brake With brake W/out brake With brake W/out brake With brake W/out brake With brake
Model no. LL LL LL LL LL LL LL LL
R2□A04003 62.5 98.5 67.5 103.5 51.5 87.5 56.5 92.5
R2□A04005 67.5 103.5 72.5 108.5 56.5 92.5 61.5 97.5
R2EA04008
83.0 119.0 88.0 124.0 72 108 77 113
R2AA04010
R2□A06010 68.5 92.5 75.5 99.5 58.5 82.5 65.5 89.5
R2□A06020 79.5 107.5 86.5 114.5 69.5 97.5 76.5 104.5
R2AA06040 105.5 133.5 112.5 140.5 95.5 123.5 102.5 130.5
R2AA08020 76.3 112.0 83.3 119.0 66.3 102 73.3 109
R2AA08040 88.3 124.0 95.3 131.0 78.3 114 85.3 121
R2AA08075 117.3 153.0 124.3 150.2 107.3 143 114.3 150
R2AAB8075 123.1 149.0 123.1 149.0 114.3 140.2 114.3 140.2
R2AAB8100* 145.8 171.8 145.8 171.8 137 163 137 163
R2AA10075 117.1 134.6 117.1 134.6 111.3 128.8 111.3 128.8
R2AA10100 134.1 151.6 134.1 151.6 128.3 145.8 128.3 145.8
R5AA06020 79.5 107.5 86.5 114.5 72.5 100.5 79.5 107.5
R5AA06040 105.5 133.5 112.5 140.5 98.5 126.5 105.5 133.5 * The outline drawing of the R2AAB8100 var-
ies for Philippine products.
R5AA08075 117.3 153.0 124.3 150.2 110.3 146 117.3 153 See p. 113.
Model no. LG KL LA LB LE LH LC LZ LR S Q QE LT D1 D2 D3
R2□A04003 0
6 -0.008
R2□A04005 0
5 35.4 46 30 -0.021 2.5 56 40 2-φ4.5 25 ーー
R2EA04008 0 20
8 -0.009
R2AA04010
R2□A06010 25 0 ーー
8 -0.009
6 44.6 70 0 82 60 4-φ5.5
R2□A06020 50 -0.025
R2AA06040 0 M5 12
30 14 -0.011 25
R2AA08020
R2AA08040 54.4 90 0 108 80 4-φ6.6 6 5 5
70 -0.030 3 M5 12
R2AA08075 8 40 0 35
16 -0.011
R2AAB8075 0 0
59.4 100 80 -0.030 115.5 86 4-φ6.6 35 16 -0.011 30 M5 12
R2AAB8100*
R2AA10075 0 0
10 66.8 115 95 -0.035 130 100 4-φ9 45 22 -0.013 40 M6 20
R2AA10100
R5AA06020 0 0
6 44.6 70 50 -0.025 3 82 60 4-φ5.5 30 14 -0.011 25 M5 12
R5AA06040
R5AA08075 8 54.4 90 0 3 108 80 4-φ6.6 40 0 35 M5 12
70 -0.030 16 -0.011
The cable length of the motor with extension cable connector is 200±30 mm. The connector is attached to the end of the cable. See p. 138
112
86 mm sq.
R2 Servo Motor Series　Made in The Philippines
0.07 M
□LC 0.02 LR LL±1
LE LG
(φ LZ 0.06 M
LH
)
A Q
φL
QA QK
H
φLB
φS
H
M
KL
Oil seal QE Tapping
W
(Option) Depth LT 1100±100 φD1 φD3
1100±100
Key (Option)
(50)
(50)
U
T
Section H-H
Motor cable (for mounting) Shield cable (for mounting)
(for power, GND and brake) (for encoder)
Dimensions of the battery-backup method absolute encoder and brake.

Absolute encoder for incremental system
W/out oil seal With oil seal
W/out brake With brake W/out brake With brake
Model no. LL LL LL LL LG KL LA LB LE LH LC LZ LR
R2AAB8100 139 163 139 163 8 58.8 100 0 3 115.5 86 4- φ 6.6 35

80 -0.030
Model no. S Q QE LT D1 D2 D3 QA QK W T U
0 0 0
R2AAB8100 30 M5 12 7.5 － 5 2 25 5
16 -0.011 5 -0.030 2 -0.2
130 mm sq.
R2 Servo Motor　0.55 to 1.8 kW
0.08 M
□LC LR LL
0.02
4-φLZ1 0.08 M
LE (LG)
A
φL Q
QA QK
H
φLB
φS
H
(φL
(KL3)
H) M
(KL1)
Servo Motors
Rotary Motor
W
(7)
QE Tap
Oil seal Depth LT
U JN2AS10ML2-R
(KL2)
2-LZ2 T (KB1) (KB2) (for encoder)

(Tap for removing motor) JL04V-2E24-11PE-B-R
Section H-H
(for power, brake and GND)
Dimensions of the battery-less absolute encoder with brake
Battery-less absolute encoder,

W/out brake With brake
Model no. LL KB2 KL3 LL KB2 KL3 LG KL1 KL2 LA LB LE LH LC LZ1 LZ2 LR
R2AA13050 103 139.5 81
R2AA13120 120.5 44 69 160 84 69 12 98 21 145 0 4 165 130 9 M6 55
110 -0.035
R2AA13180 138 179 86
Model no. S Q QA QK W T U KB1 QE LT

R2AA13050 46
R2AA13120 0 50 3 42 0 6 2.5 64 M6 20
22 -0.013 6 -0.030
R2AA13180 81
113
130 mm sq.
R2 Servo Motor　2 kW Made in Japan
0.08 M
□LC LR LL
0.02
4-φLZ1 LE (LG)
0.08 M
A
φL Q
QA QK
H
φLB
φS
(KL3)
(φL H
H) M
(KL1)
(7)
W
QE Tap
Oil seal Depth LT
2-LZ2 U JN2AS10ML2-R
(KL2)
(Tap for removing motor) T (KB1) (KB2) (for encoder)
Section H-H JL04V-2E24-11PE-B-R

Model no. LL KB2 KL3 LL KB2 KL3 LG KL1 KL2 LA LB LE LH LC LZ1 LZ2 LR
R2AA13200 171 57 38 216 103 38 12 98 21 145 0 4 165 130 9 M6 55
110 -0.035

R2AA13200 0 50 3 42 0 7 3 99 M8 25
28 -0.013 8 -0.036
130 mm sq.
R2 Servo Motor Series　2 kW Made in The Philippines
0.08 M
□LC LR LL
0.02
4-φLZ1 LE (LG)
0.08 M
A
φL Q
QA QK
H
φLB
φS
H
(φL
(KL3)
H) M
(KL1)
W
(7)
QE Tapping
Oil seal Depth LT
U JN2AS10ML2-R
　2-LZ2
(KL2)
T (KB1) (KB2) (for encoder)

(Tap for removing motor)
Section H-H JL04V-2E24-11PE-B-R
Dimensions of the battery-backup method absolute encoder and brake.

Absolute encoder for incremental system
Model no. LL KB2 LL KB2 LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR
0
R2AA13200 160 48 201 90 12 98 21 69 145 4 165 130 9 M6 55
110 –0.035

0 3 0 3
R2AA13200 50 42 7 99 M8 25
28 －0.013 8 －0.036
114
180 mm sq.
R2 Servo Motor　3.5 to 7.5 kW
0.08 M
□LC LR LL
0.02
4-φLZ1 LE (LG) (IL2) 2-M8
0.08 M *1
LA
φ Q
QA QK
H
φLB
φS
(KL3)
H
M
(IE)
(7)
(KL1)
(φ
W
LH
)
2-LZ2 QE tap U
(KL2)
(Tap for removing motor) Depth LT T Eye bolt
Oil seal 2-M8
Cross section H-H
(IL1) (IL2) (KB3) (IF) *1
JN2AS10ML2-R
(KB1) (KB2)
(for encoder)
Connector for power Connector for brake
(for motor, brake, and ground) *2
*2

Model no. LL KB2 KB3 KL3 LL KB2 KB3 KL3 LG KL1 KL2 LA LB LE LH LC LZ1 LZ2 LR S Q
R2AA18350 155 205 0
48 98 ー 16 123 21 65 60
R2AA18450 172 222 35 -0.016
ー 38 38 200 0 3 230 180 13.5 M8
R2AA18550 228 274 107 64 114.3 -0.035
59 19 144 22 79 0 75
R2AA18750 273 329 117 74 42 -0.016
Model no. QA QK W T U KB1 QE LT IE IF IL1 IL2 Connector model no. for power Connector model no. for brake
R2AA18350 92 123 50 47 20
50 0 M8 *1 *1 *1 *1 JL04V-2E24-11PE-B-R ー
R2AA18450 10 -0.036 109 57 20 *2
3 8 3 25
R2AA18550 0 153 123 50 41
67 M10 63 JL04V-2E32-17PE-B-R JL04V-2E10SL-3PE-B-R
R2AA18750 12 -0.043 198 86
*1 Eye bolts are not provided to motors without R2AA18350 brake.

*2 The brake wire is commonly used by the connector for power.
180 mm sq.
R2 Servo Motor　11 kW
0.10 M
□LC LR LL (195 sq.)
0.03
4-φLZ1 LE (LG) (IL2) (145 sq.)
0.08 M
A Exhau
φL
Servo Motors
Rotary Motor
Q st
QA QK
H
φLB
φS
Suction
H
(KL3)
M
(101)
(IE)
(KL1)
st
Exhau
W
(φ
(7)
LH
)
(15)
2-LZ2 QE tap U
T
(KL2)
(Tap for removing motor) Depth LT

MS3102A10SL-4P Eye bolt
Oil seal Cross section H-H
(for cooling fan) 2-M8
(IL1) (IL2) (KB3) (40)
JN2AS10ML2-R
(KB1) (KB2) (21) (IF)
(for encoder)
JL04V-2E32-17PE-B-R JL04V-2E10SL-3PE-B-R
(for motor and ground) (for brake)

Model no. LL KB2 KB3 KL3 LL KB2 KB3 KL3 LG KL1 KL2 LA LB LE LH LC LZ1 LZ2 LR
R2AA1811K 395 60 ー 81 467 133 90 81 19 143 23 200 0 3 230 180 13.5 M8 79
114.3 -0.035
Model no. S Q QA QK W T U KB1 QE LT IE IF IL1 IL2

R2AA1811K 0 75 3 67 0 8 3 220 M10 25 123 50 63 108
42 -0.016 12 -0.043
115
220 mm sq.
0.08 M
□LC LR LL
0.02
4-φLZ1 LE (LG)
0.08 M
(IL2) 2-M8 (IF)
For eye bolt
A
φL Q
QA QK
H
φLB
φS
7 (KL3)
H
M
(φL
(KL1)
(IE)
H)
W
Oil seal QE tap

Depth LT (IL1) (IL2) Eye bolt (IF)
(KL2)
U
4-LZ2 (KB1) (KB2) 2-M8
T
(Tap for removing motor) JL04V-2E24-11PE-B-R JN2AS10ML2-R
Cross section H-H
(for motor, brake, and ground) (for encoder)

Model no. LL KB2 KL3 LL KB2 KL3 LG KL1 KL2 KL3 LA LB LE LH
R2AA22500 163 52 38 216 106 38 16 142 21 38 235 0 4 270
200 -0.046
Model no. LC LZ1 LZ2 LR S Q QA QK W T U KB1 QE LT IE IF IL1 IL2
R2AA22500 220 13.5 M12 65 0 60 3 50 0 8 3 96 M8 25 142 60 48 35
35 -0.016 10 -0.036
R2 Servo Motor　7 to 15 kW
0.1 M
LR LL
□LC 0.03
LE (LG) (IL2)
4-φLZ1 (IF) 2-M8
0.08 M
For eye bolt
A
φL QA QK
H
φLB
φS
(7) (KL3)
H
M
(IE)
Q
(KL1)
(φ
LH
)
W
(KL2)
Oil seal QE tap Eye bolt

Depth LT 2-M8
(IL1) (IL2) (KB3) (IF)
2-LZ2 JN2AS10ML2-R
U (KB1) (KB2)
(Tap for removing motor) (for encoder)
T
Cross section H-H Connector for power JL04V-2E10SL-3PE-B-R

Model no. LL KB2 KB3 KL3 LL KB2 KB3 KL3 LG KL1 KL2 LA LB LE LH LC LZ1 LZ2 LR S Q
R2AA22700 265 54 325 114 57 141 21
R2AA2211K 304 ー 38 364 38 19 235 0 4 270 220 13.5 M10 79 0 75
63 123 66 162 22 200-0.046 55 -0.019
R2AA2215K 343 403
Model no. QA QK W T U KB1 QE LT IE IF IL1 IL2 Connector model no. for power
R2AA22700 196 62 JL04V-2E24-11PE-B-R
R2AA2211K 3 67 0 10 4 226 M10 25 142 60 69 101
16 -0.043 JL04V-2E32-17PE-B-R
R2AA2215K 265 140
116
220 mm sq.
0.10 M
LR LL To have a space
□LC 0.03 of 50 mm or wider (□230)
QE tap Oil seal 4-φLZ1 0.08 M LE (LG) 2-M8
(φ For eye bolt
LH Depth LT 2-LZ2
)
A
φL QA QK Exhaus
t
H
(φ205)
φLB
φS Suction
(IE)
(KL1)
H
(118)
M
(157)
Eye bolt Q t
Exhaus
(205)
2-M8
7
φ6
1±
W
0.3
60
JL04V-2E18-12PE-B-R
(19)
(44)
(for cooling fan)

U JN2AS10ML2-R
60 4-M5 (KB3) (for encoder) (45)
T (KB1) (190) (KB2) (32.5)
(IF) (IF) (170)
Cross section H-H JL04V-2E10SL-3PE-B-R
(IL1) (IL2) (for brake)
Terminal block: UF1005-150A-3P
(for motor, M8, hexagon bolt)
U
(φ61)
V
W
2-M8
For eye bolt 1-M8 bolt
(for ground)
Model no. LL KB2 KB3 KL1 LL KB2 KB3 KL1 LG LA LB LE LH LC LZ1 LZ2 LR S Q
R2AA2220K 466 10 ー 81 570 114 22 81 19 235 0 4 270 220 13.5 M10 110 0 106
200 -0.046 55 -0.019
Model no. QA QK W T U KB1 QE LT IE IF IL1 IL2

R2AA2220K 3 93 0 10 4 143 M10 25 55 141 85 125
16 -0.043
275 mm sq.
Ground (M4) (φ61±0.3) Power line outlet for motor, thermostat, and fan
for cooling fan
R2 Servo Motor　30 kW Terminal block: UF1005-150A-3P Ground (M8)
Model no.: R2AA2830K for motor: (M8, hexagon bolt) for motor
FU
U V W
Servo Motors
Rotary Motor
Dimensions without brake
FV
Connector (for thermostat): Molex

FW
B2
Plug: 5559-02P,
B1
Terminal: 5558T2L
Terminal block: F1005-20S-5P
Connector (for encoder): Molex for cooling fan: (M4, pan head SEMS screw)
Plug: 5559-10P
Sensor cable outlet
Terminal: 5558GS2
(φ42.5±0.3)
275 ± 3 sq. 479±3

0.10 M (218)
(124) (124) 110±1 (240) (238)
(58)
0.04
(120) (50)
0.10 M
5 (20)
± 0.3
φ42.5
Eye bolt Exha
ust
2-M10
(215)
105
3 93
(163)
A
C1
(φ3
φ250 -0.052
45 )
φ55 -0.019
Suction
0
0
6
(φ205)
.2
0)
0
A 34
0±
M (φ
30
φ
2-M12
ust
M10×1.5 Exha
16 -0.043
(120) (50) To have a space of

4-φ18.5 Depth 25 Cross section A-A 280 ± 3 sq.
2-M10 50 mm or wider.
0
Oil seal For eye bolt
0
4 -0.4
10 117
180 mm sq.
R1 Servo Motor　5.5 to 15 kW
To have a space of 50 mm or wider
γ M
□LC LR LL
α
LE (LG) (□145)
β M
4-φLZ1 (lL2) 2-M8 Exh
aus
For eye bolt t
A Q
φL
(QA) QK
H
Suction
φLB
φS
(KL3)
M
(115)
(lE)
(KL1)
φ
t
aus
LH
Exh
(7)
Oil seal QE tap (lL1) (lL2)
(KL2)
(15)
W
Depth LT
2-LZ2 (KB3) (41)
MS3102A10SL-4P Eye bolt
U (KB1) (KB4) (for cooling fan) 2-M8 (lF) (lF)
T JL04V-2E32-17PE-B-R JL04V-2E10SL-3PE-B-R
Cross section H-H (KB2) JN2AS10ML2-R
(for encoder)
Dimensions with brake

Model no. LL KB2 KB3 KB4 KL3 LL KB2 KB3 KB4 KL3 LG KL1 KL2 LA LB LE LH LC LZ1 LZ2
R1AA18550 333 383 130.5 54 129.5 19.5
R1AA18750 368 418 130.5 54 129.5 19.5 0
80.5 — 79.5 81 81 143 23 200 3 230 180 13.5 M8
R1AA1811K 438 517 149.0 79 158.0 19.5 114.3 -0.035
R1AA1815K 516 628 182.0 110 191.0 19.0
Model no. LR S Q QA QK W T U KB1 α β γ QE LT lE lF lL1 IL2

R1AA18550 173 54 65
0 0 0.02 0.08 0.08
R1AA18750 42 -0.016 12 -0.043 8 3 208 68 85
79 75 3 67 M10 25 124 50
R1AA1811K 278 68 163
0 0 0.03 0.08 0.10
R1AA1815K 55 -0.019 16 -0.043 10 4 356 92 210
220 mm sq.
R1 Servo Motor　21 kW (17)
Terminal block: UF1005-150A-3P
(for motor, M8, hexagon bolt)
Model no.: R1AA2220KV
Dimensions without brake JN2AS10ML2-R
(for encoder)
U V W
(φ61)
1-M8 Key position

φ61±0.3 (for ground)
220 sq. 625±5 (170)
0.10 M
4-M5 (60) (60) 127±1 (302) (190) (52) (42)
Feed-through 0.03 MS3102A10SL-4P
60 Motor lead outlet
0.08 M (for cooling fan)
Eye bolt 1-φ61
(44)
2-M8 (193) (70)

60
4 (19) Arrow nameplate

(Opposite side)
(205)
(157)
104 Exhaus
(142)
t
3 93
(134)
C1 A R1
(87)
φ200 −0.046
(φ27
φ55 −0.019
0) Suction
0
.23
5 ±0 A
(Ø58)
23 M
φ
t
Exhaus
16 −0.043
4-φ13.5 Oil seal M10×1.5 (193) (70) (145 sq.)

2-M10 Depth 25 Cross section A-A
0
(559) (65.5) (230 sq.)

2-M8 To have a space of 50 mm or wider
for eye bolt
0
4-0.4
10
118
Options
119
Options
Setup Software
This software allows you to set servo system parameters from a PC.
It also allows you to easily start up and run tests for the servo system.
The software can be downloaded from Product Information on our website.
URL:http://www.sanyodenki.com
R 3E Model R ADVANCED R
■Setup software title: ■Setup software title:
SANMOTION MOTOR SETUP SOFTWARE SANMOTION R-SETUP SOFTWARE
■Main functions ■Main functions

Parameter settings (settings by group, settings by function) Parameter settings (settings by group, settings by function)
Diagnosis (alarm display, warning display, alarm cancellation) Diagnosis (alarm display, warning display, alarm cancellation)
Test run execution (speed JOG, positioning operation, motor home posi- Test run execution (speed JOG, pulse feed JOG, serial encoder clearance)
tion search, serial encoder clearance) Servo tuning (notch filter tuning, FF vibration control frequency tuning)
Servo tuning (notch filter tuning, FF vibration control frequency tuning) Various measurement functions (operating waveform display, machinery
Various measurement functions (operating waveform display, machinery frequency response measurement)
frequency response measurement) ・Use a dedicated cable (AL-00490833-01) to connect the RS-232C terminal on the PC
・R 3E Model: Use a USB communication cable (mini-B socket) to connect the USB and the servo amplifier.
port on the PC and the servo amplifier.
・R ADVANCED MODEL: Use a dedicated cable (AL-00689703-01) to connect the RS- ■Supported OS
232C terminal on the PC and the servo amplifier.
Windows XP (SP3 or newer) / Vista / 7 / 8
■Supported OS * See our website for details on supported OS versions.
Windows XP (SP3 or newer) / Vista / 7 / 8
* See our website for details on supported OS versions.
Examples of setting screens and functions with SANMOTION R 3E Model

Main screen
Start-up screen
Parameter Setting screen
Parameter setting for each group

Parameters can be set, saved, and more.
Function Parameter Edit
Minimum required parameter setting by function can be done.
120
Diagnosis screen Test run
The current and previous 15 alarm occurrences can be Simple test run of servo motor by issuing velocity commands and
checked. (last seven alarms for R ADVANCED MODEL) position commands from a PC. (Position JOG in operation shown
Causes and corrective actions can be checked based on in screen)
alarm status.
Servo adjustment assist
By setting the mechanical conditions, easy servo adjustment is

available with the optimal tuning mode.
Measurement
Options
Operation Trace System Analysis

Graphically displays servo motor’s speed, torque and internal Analyzes servo system frequency characteristics.
status.
121
Options
Connector to Connect Servo Amplifier

■ For Analog/Pulse input type R 3E Model
　10 to 50 A
Individual connectors
Connector no. Description Model no. Manufacturer model no. Manufacturer
CN1 To connect host device AL-00385594 10150-3000PE, 10350-52A0-008
3M Japan Limited
EN1, EN2 To connect encoder AL-00632607 36210-0100PL, 36310-3200-008
For input power supply and
CNA *1
AL-00686902-01 MSTBT2.5/8-STF-5.08LUB
regenerative resistor connections Phoenix Contact.K.K
CNB To connect to servo motor AL-Y0004079-01 MSTBT2.5/3-STF-5.08
To connect safety device
CN4 *2
AL-00718251-01 2040978-1 Tyco Electronics
(for short circuits)
Japan G.K.
CN4 To connect safety device (for wiring) AL-00718252-01 2013595-3
*1: Amplifiers with built-in regenerative resistor are equipped with a CNA connector.
*2: When CN4 is not wired, be sure to insert a safety device connector (for short circuits) to CN4 on the servo amplifier.
Connector sets (no safe torque off function)

RS3□□□A0□L0 RS3□□□A0□A0 RS3□□□A2□L0 RS3□□□A2□A0 RS3□□□A0□□0
Servo Amplifier model no. RS3□□□A□□L0
RS3□□□A8□L0 RS3□□□A8□A0 RS3□□□AA□L0 RS3□□□AA□A0 RS3□□□A8□□0
Built-in regenerative resistor No Yes No Yes No/Yes No
Connector set model no. AL-00723282 AL-00723284 AL-00723286 AL-00723288 AL-00723290 AL-00696037
CN1: To connect host device Yes Yes Yes Yes Yes No
EN1: To connect encoder Yes Yes Yes Yes Yes No
EN2: To connect encoder No No Yes Yes No No
Connectors CNA: To connect input power Yes No Yes No No Yes
included in supply, regenerative resistor
the set CNB: For servo motor connection Yes Yes Yes Yes No Yes
CN4: To connect safety device
No No No No No No
No No No No No No
(for wiring)
Remarks For fully-closed control systems
Connector sets (with safe torque off function)

RS3□□□A0□L2(4) RS3□□□A0□A2(4) RS3□□□A2□L2(4) RS3□□□A2□A2(4) RS3□□□A0□□2(4)
Servo Amplifier model no.
RS3□□□A8□L2(4) RS3□□□A8□A2(4) RS3□□□AA□L2(4) RS3□□□AA□A2(4) RS3□□□A8□□2(4)
Built-in regenerative resistor No Yes No Yes No/Yes
Connector set model no. AL-00723155 AL-00723156 AL-00723157 AL-00723158 AL-00723159
CN1: To connect host device Yes Yes Yes Yes Yes
EN1: To connect encoder Yes Yes Yes Yes Yes
EN2: To connect encoder No No Yes Yes No
Connectors CNA: For input power supply, Yes No Yes No No
included in regenerative resistor connection
the set CNB: For servo motor connection Yes Yes Yes Yes No
No No No No No
Yes Yes Yes Yes Yes
(for wiring)
Remarks For fully-closed control systems
Front mounting brackets

→p. 134
Analog monitor
→p. 133
USB communication cable →p. 131
PC
Connector for input
power supply and
(CNA)
External regenerative resistor Connector for connections with host devices (CN1)
→p. 133
Host device
Connector for servo

motor connection
(CNB) Connector for encoder Servo motor with servo motor
connections (EN1, EN2) extension cable / connector
→p. 138

with battery
→p. 132
Front mounting Battery box

brackets →p. 132
→p. 134
* Front mounting bracket and battery box cannot be used together.

Figure shows the mounting position.
122
　100, 150, 300 A
CN1 To connect host device AL-00385594 10150-3000PE, 10350-52A0-008
3M Japan Limited
EN1,EN2 To connect encoder AL-00632607 36210-0100PL, 36310-3200-008
CNA To input control circuit power supply AL-Y0005159-01 MSTBT2.5/2-STF-5.08 Phoenix Contact.K.K
CN4* AL-00718251-01 2040978-1 Tyco Electronics
Japan G.K.
* When CN4 is not wired, be sure to insert a safety device connector (for short circuits) to CN4 on the servo amplifier.

RS3□□□A0□□0 RS3□□□A2□□0 RS3□□□A0□□0
RS3□□□A8□□0 RS3□□□AA□□0 RS3□□□A8□□0
Built-in regenerative resistor No No No
Connector set model no. AL-00751448 AL-00751450 AL-00723290
CN1: To connect host device Yes Yes Yes
EN1: To connect encoder Yes Yes Yes
EN2: To connect encoder No Yes No
Connectors CNA: To input control circuit power
included in supply Yes Yes No
the set CN4: To connect safety device
No No No
No No No
(for wiring)
For fully-closed
Remarks
control systems

RS3□□□A0□□2(4) RS3□□□A2□□2(4) RS3□□□A0□□2(4)
RS3□□□A8□□2(4) RS3□□□AA□□2(4) RS3□□□A8□□2(4)
Built-in regenerative resistor No No No
Connector set model no. AL-00751452 AL-00751454 AL-00723159
CN1: To connect host device Yes Yes Yes
EN1: To connect encoder Yes Yes Yes
EN2: To connect encoder No Yes No
Connectors CNA: To input control circuit power
included in supply Yes Yes No
the set CN4: To connect safety device
No No No
Yes Yes Yes
(for wiring)
For fully-closed
Remarks
control systems
Front mounting brackets
→p. 134
Analog monitor
→p. 133 USB communication cable
→p. 131
PC
Options
Connector for connections with host devices (CN1)

Host device
External regenerative resistor Connector for encoder

→p. 133
connections (EN1, EN2)

with battery
→p. 132
Battery box
→p. 132
123
Options

600 A
CN9 To connect between units (single item) AL-00608710 10114-3000PE, 10314-52A0-008
CN1 To connect host device AL-00385594 10150-3000PE, 10350-52A0-008 3M Japan Limited
EN1, EN2 To connect encoder AL-00632607 36210-0100PL, 36310-3200-008
CNA To input control circuit power supply AL-Y0005159-01 MSTBT2.5/2-STF-5.08
CNB For dynamic brake signal AL-Y0004079-01 MSTBT2.5/3-STF-5.08 Phoenix Contact.K.K
CN8 For external alarm signal AL-Y0011185-01 FMC0,5/4-ST-2.54
CN4* AL-00718251-01 2040978-1 Tyco Electronics
Japan G.K.
* When CN4 is not wired, be sure to insert a safety device connector (for short circuits) to CN4 on the servo amplifier.

Connector set model no. AL-00892848 AL-00892850 AL-00723290 AL-00892854
CN1: To connect host device Yes Yes Yes No
EN1: To connect encoder Yes Yes Yes No
Connectors
EN2: To connect encoder No Yes No No
included
in the set CNA: To input control circuit power supply Yes Yes No Yes
CNB: For dynamic brake signal No No No Yes
CN8: For external alarm signal Yes Yes No No
For fully-closed
Remarks
control systems

CN1: To connect host device Yes Yes Yes No
EN1: To connect encoder Yes Yes Yes No
EN2: To connect encoder No Yes No No
Connectors CNA: To input control circuit power supply Yes Yes No Yes
included CNB: For dynamic brake signal No No No Yes
in the set CN8: For external alarm signal Yes Yes No No
No No No No
CN4: To connect safety device Yes Yes Yes Yes
For fully-closed
Remarks
control systems
■ Connecting between servo amplifier units

600 A
Name Description Model no.
To connect main power supply between power supply unit and amplifier unit
Copper bar AL-00918125-01
Terminal number: +DC/-DC 2-pc. set (5 mm between units)
Connecting cable
To connect between power supply unit (CN9) - Amplifier unit (CN9) AL-00917284
between units
USB communication cable →p. 131

Connecting cable between units
(CN9) PC
Connector for connections with host devices (CN1)
Host device
Connector for encoder connections (EN1, EN2)
Encoder extension cable with battery →p. 132

+DC -DC
+DC -DC
RB1 RB2
External regenerative Battery box →p. 132
resistor Copper bar
→p. 133
L1(R) L2(S) L3(T) (E) U V W (E)
124
■ EtherCAT interface type R ADVANCED
15, 30, 50 A
Ethernet Not available
IN, OUT
To connect host device Use a CAT5e standard-compliant shielded type modular plug (RJ-45).
A set of 36210-0100PL and
EN1, EN2 To connect encoder AL-00632607 3M Japan Limited
36310-3200-008
For input power supply and
CNA*1 regenerative resistor AL-00686902-01 MSTBT2.5/8-STF-5.08LUB Phoenix Contact.K.K
connections
CNB To connect to servo motor AL-Y0004079-01 MSTBT2.5/3-STF-5.08 Phoenix Contact.K.K
CN1 AL-00718252-01 2013595-3 Tyco Electronics Japan G.K.
(for wiring)
CN1*2 AL-00849548-02 1971153-2 Tyco Electronics Japan G.K.
A set of HDR-E26MSG1+
HONDA TSUSHIN KOGYO CO.,
CN2 For general I/O AL-00842383 and
LTD
HDR-E26LPH
Connector sets
Built-in regenerative resistor No Yes No Yes
EN1: To connect encoder Yes Yes Yes Yes
EN2: To connect encoder No No Yes Yes
CNA: To connect input power supply,
Connectors Yes No Yes No
included
in the set CNB: For servo motor connection Yes Yes Yes Yes
Yes Yes Yes Yes
(for wiring)
CN2: General I/O connector Yes Yes Yes Yes
For fully-closed For fully-closed
Remarks
control systems control systems
100, 150, 300 A

Ethernet Not available
IN, OUT
To connect host device Use a CAT5e standard-compliant shielded type modular plug (RJ-45).
36210-0100PL and
EN1, EN2 To connect encoder AL-00632607 3M Japan Limited
36310-3200-008
To input control circuit
CNA AL-Y0005159-01 MSTBT2.5/2-STF-5.08 Phoenix Contact.K.K
power supply
(for wiring)
Options

A set of HDR-E26MSG1+ and HONDA TSUSHIN KOGYO CO.,
CN2 For general I/O AL-00842383
HDR-E26LPH LTD
Connector sets
Connector set model no. AL-00887325 AL-00887329
EN1: To connect encoder Yes Yes
Connectors EN2: To connect encoder No Yes
included CNA: To input control circuit power supply Yes Yes
in the set CN1: To connect safety device Yes Yes
CN2: For general I/O Yes Yes
For fully-closed
Remarks
control systems
125
Options

■ CANopen interface type R
15, 30, 50 A
Individual connectors Main power supply: 200 VAC, Control circuit power supply: Single-phase 200 VAC
CN1 To connect host device AL-00608710 10114-3000PE and 10314-52A0-008
3M Japan Limited
CN2 To connect encoder AL-00385596 10120-3000PE and 10320-52A0-008
CNA To connect input power supply AL-00329461-01 MSTB2.5/5-STF-5.08
To connect regenerative
CNB *1
AL-Y0000988-01 IC2.5/6-STF-5.08 Phoenix Contact.K.K
resistor and DC reactor
CNC To connect to servo motor AL-00329458-01 IC2.5/3-STF-5.08
*1: Amplifiers with built-in regenerative resistor are equipped with a CNB connector.
Connector sets Main power supply: 200 VAC, Control circuit power supply: Single-phase 200 VAC
CN1: To connect host device Yes Yes
Connectors CN2: To connect encoder Yes Yes
included CNA: To connect input power supply Yes No
in the set CNB: To connect regenerative resistor and DC reactor No No
CNC: To connect to servo motor Yes No
Individual connectors Main power supply: 200 VAC, Control circuit power supply: 24 VDC
3M Japan Limited
CNA To connect input power supply AL-Y0000988-02 IC2.5/7-STF-5.08
To connect regenerative resis-
CNB*1 AL-00329460-01 MSTB2.5/2-STF-5.08 Phoenix Contact.K.K
tor and DC reactor
Connector sets Main power supply: 200 VAC, Control circuit power supply: 24 VDC
in the set CNB: To connect regenerative resistor and DC reactor Yes No
126
■ Built-in positioning function type R
15 to 300 A
Individual connectors DIO type Main power supply: 200 VAC
3M Japan Limited
CNB *1
・CNA, CNB, and CNC connectors are used for 10 to 50 A.
Connector sets DIO type Main power supply: 200 VAC

Individual connectors DIO type Main power supply: 100 VAC

3M Japan Limited
CNB *1
Connector sets DIO type Main power supply: 100 VAC

Individual connectors RS-485 communication type

Options
CN1 To connect host device AL-Y0004290-02 MUF-PK10K-X J.S.T. Mfg. Co.,Ltd.
CN2, CNA, CNB, and CNC are common to the above DIO type.
127
Options

■ Multi-axis pulse input type R
15, 30 A
Individual connectors for amplifier unit
CN1 To connect host device AL-Y0003305-01 55100-0670 Molex
CN2, CN6 To connect encoder AL-00632607 36310-3200-008 and 36210-0100PL 3M Japan Limited
CNC To connect to servo motor AL-00632604 04JFAT-SBXGF-I J-FATOT J.S.T. Mfg. Co.,Ltd.
Individual connectors for power supply unit

CNA To connect input power supply AL-00632600 05JFAT-SBXGF-I J-FATOT
To connect regenerative resis- J.S.T. Mfg. Co.,Ltd.
CNB AL-00632602 06JFAT-SBXGF-I J-FATOT
tor and DC reactor
CN1A, CN1B To connect host device AL-00385594 10150-3000PE and 10350-52A0-008 3M Japan Limited
Connector sets
CN1: To connect host device Yes No
CN2, CN6: To connect encoder Yes No
Connectors CNC: To connect to servo motor Yes No
included
CNA: To connect input power supply No Yes
in the set
CNB: To connect regenerative resistor and DC reactor No No
CN1A, CN1B: To connect host device No Yes
A set of connectors A set of connectors
Remarks
for amplifier unit for power supply unit
128
Connector for Motor Connection
■ Encoder connector Manufacturer: Japan Aviation Electronics Industry Limited R 3E Model R ADVANCED R
R2 Servo Motor
Combination plug for encoder Applicable cable
Encoder receptacle
Motor flange (with rubber bushing) diameter
model number Pin Layout Symbol
size (bushing color
Straight Angle (motor side)
phase)
φ5.7 to 7.3 mm
(Black)
130 mm sq. to φ6.5 to 8.0 mm See the encoder wiring diagram for
JN2DS10SL2-R JN2FS10SL2-R JN2AS10ML2-R
220 mm sq. (Gray) each servo amplifier.
φ3.5 to 5.0 mm
(Brick)
Select the correct plug and contacts for the size of cable to be used. The manufacturer’s model number and the model number for parts procured from SANYO DENKI are
the same number.
Applicable contact for encoder plug*1, 2

Applicable contact
Contact size Category
Socket contact model no. Applicable wire size
JN1-22-20S-R-PKG100 AWG #20
Manual crimp tool
JN1-22-22S-PKG100 AWG #21 to #25
#22 type *3, 4
JN1-22-26S-PKG100 AWG #26 to #28
Solder type JN1-22-22F-PKG100 AWG #20
*1: Select the correct plug and contacts for the size of cable to be used. The manufacturer’s model number and the model number for parts procured from SANYO DENKI are
the same number.
*2: When removing a contact that has already been inserted, use a removal tool. Purchase the removal tool from the connector manufacturer (Japan Aviation Electronics
Industry Limited).
*3: For the manual crimp tool part number, see the instruction manuals from the connector manufacturer (Japan Aviation Electronics Industry Limited).
*4: Purchase the semi-automatic crimp tool from the manufacturer (Japan Aviation Electronics Industry Limited).
・For the connector and contact instructions, precautions, etc., see the catalogs and instruction manuals from the connector manufacturer (Japan Aviation Electronics In-
dustry Limited).
■ Cooling fan connector Manufacturer: Japan Aviation Electronics Industry Limited

R1, R2 Servo Motor
Standard specification for cooling fan connectors Waterproof specification for
Receptacle (1) Plug (manufacturer model number)
cooling fans
Motor flange (2) Cable clamp (manufacturer model number) Pin Layout
for cooling fan Plug (cable clamp)
size (3) Plug + cable clamp (SANYO DENKI part numbers) Symbol
connection
Straight Angle Straight Angle
180 mm sq.
(1) N/MS3106B10SL-4S (1) N/MS3108B10SL-4S
to 220 mm sq. JA06A-10SL-4S-J1-R
N/MS3102A10SL-4P (2) N/MS3057-4A (2) N/MS3057-4A — A B —
single-phase (Conduit)
(3) MS06B10SL-4S-4 (3) MS08B10SL-4S-4
fan
R2 Servo Motor
Standard specification for cooling fan connectors
Receptacle (1) Plug (manufacturer model number)
Pin Layout Symbol
Motor flange (2) Cable clamp (manufacturer model number)
for cooling fan
size (3) Plug + cable clamp (SANYO DENKI part numbers)
connection
Straight Angle U V W Ground Thermos
(1) JL04V-6A18-12SE-EB-R (1) JL04V-8A18-12SE-EBH-R
220 mm sq.
JL04V-2E18-12PE-B-R (2) JL04-18CK(13)-R (2) JL04-18CK(13)-R A B C — E, F
3-phase fan
(3) 332706X3 (3) 332707X3
・See the catalogs and instruction manuals issued by the connector manufacturer (Japan Aviation Electronics Industry Limited) for how to handle the items and precautions.
・Conduit is not provided..
Options
Plug for power and brake (angle)

Cable clamp for power and brake Cable
(To be provided by the customer. Please refer to
the recommended motor power cables.)
Cable
Cable clamp for power and brake
(To be provided by the customer.
Please refer to the recommended
motor power cables.)
Plug for power and brake (straight)
Combination plug for encoder (straight)
Combination plug for encoder (angle) Receptacle for power and brake
Encoder receptacle
129
Options
Power Connector to Connect Motor, Electric Wire Size

Manufacturer: Japan Aviation Electronics Industry Limited R 3E Model R ADVANCED R
For power standard specification For power waterproofing specification For brake standard specification waterproof
(1) Plug (manufacturer model no.) TÜV standard plug specification TÜV standard plug
Flange (2) Cable clamp (manufacturer model no.) (1) Plug (manufacturer model no.) (1) Plug (manufacturer model no.)
Motor model
size (3) P
lug + cable clamp (SANYO DENKI part (2) Cable clamp (manufacturer model no.) (2) Cable clamp (manufacturer model no.)
no.
(mm) numbers) (3) Plug + cable clamp (SANYO DENKI part numbers) (3) Plug + cable clamp (SANYO DENKI part numbers)
Straight Angle Straight Angle Straight Angle
R2AA13050
(1) N/MS3106B24-11S (1) N/MS3108B24-11S (1) JL04V-6A24-11SE-EB-R (1) JL04V-8A24-11SE-EB-R
R2AA13120
130 sq. (2) N/MS3057-16A (2) N/MS3057-16A (2) JL04-2428CK-R (2) JL04-2428CK-R Same part number as for power
R2AA13180 (3) MS06B24-11S-16 (3) MS08B24-11S-16 (3) 332706X10 (3) 332707X10
R2AA13200
R2AA18350L (1) N/MS3106B24-11S (1) N/MS3108B24-11S (1) JL04V-6A24-11SE-EB-R (1) JL04V-8A24-11SE-EB-R
R2AA18350D (2) N/MS3057-16A (2) N/MS3057-16A (2) JL04-2428CK-R (2) JL04-2428CK-R Same part number as for power
R2AA18450H (3) MS06B24-11S-16 (3) MS08B24-11S-16 (3) 332706X10 (3) 332707X10
180 sq. R2AA18550R

(1) N/MS3106B32-17S (1) N/MS3108B32-17S (1) JL04V-6A32-17SE-R (1) JL04V-6A10SL-3SE-EB-R (1) JL04V-8A10SL-3SE-EB-R
R2AA18550H
(2) N/MS3057-20A (2) N/MS3057-20A (Conduit) — (2) JL04-1012CK-R (2) JL04-1012CK-R
R2AA18750H (3) MS06B32-17S-20 (3) MS08B32-17S-20 (3) JL04V-6A32-17SE (3) 332706X1 (3) 332707X1
R2AA1811KR
R2AA22500L (1) N/MS3106B24-11S (1) N/MS3108B24-11S (1) JL04V-6A24-11SE-EB-R (1) JL04V-8A24-11SE-EB-R Same part number as for power
(2) N/MS3057-16A (2) N/MS3057-16A (2) JL04-2428CK-R (2) JL04-2428CK-R
R2AA22700S (3) MS06B24-11S-16 (3) MS08B24-11S-16 (3) 332706X10 (3) 332707X10
220 sq. (1) JL04V-6A10SL-3SE-EB-R (1) JL04V-8A10SL-3SE-EB-R
R2AA2211KB (1) N/MS3106B32-17S (1) N/MS3108B32-17S (1) JL04V-6A32-17SE-R (2) JL04-1012CK-R (2) JL04-1012CK-R
(2) N/MS3057-20A (2) N/MS3057-20A (Conduit) — (3) 332706X1 (3) 332707X1
R2AA2215KB (3) MS06B32-17S-20 (3) MS08B32-17S-20 (3) JL04V-6A32-17SE
275 sq. R2AA2830KV Terminal block; therefore, plug is not necessary
R1AA18550H
(1) N/MS3106B32-17S (1) N/MS3108B32-17S (1) JL04V-6A32-17SE-R (1) JL04V-6A10SL-3SE-EB-R (1) JL04V-8A10SL-3SE-EB-R
R1AA18750L
180 sq. (2) N/MS3057-20A (2) N/MS3057-20A (Conduit) — (2) JL04-1012CK-R (2) JL04-1012CK-R
R1AA1811KR (3) MS06B32-17S-20 (3) MS08B32-17S-20 (3) JL04V-6A32-17SE (3) 332706X1 (3) 332707X1
R1AA1815KB
Recommended motor Wire size of main

Flange Pin layout symbol Applicable power wire size power supply
Motor model Receptacle for power Receptacle for brake
size amplifier (U, V, W, GND) (R, S, T, GND)
no. (motor side) (motor side)
(mm) U V W capacity
Ground Brake mm2 AWG No. mm2 AWG No.
phase phase phase
R2AA13050H
R2AA13050D D E F G,H A,B 30 A 0.75 #19 2 #14
R2AA13120B
R2AA13120L
Same part number as
130 sq. R2AA13120D JL04V-2E24-11PE-B-R D E F G,H A,B 50 A 2 #14 2 #14
for power
R2AA13180H
R2AA13180D 100 A 5.5 #10 5.5 #10
R2AA13200L D E F G,H A,B 50 A 2 #14 2 #14
R2AA13200D
100 A 5.5 #10
R2AA18350L
Same part number as 5.5 #10
R2AA18350D JL04V-2E24-11PE-B-R D E F G,H A,B
for power
R2AA18450H 150 A 8 #8
180 sq. R2AA18550R 8 #8
R2AA18550H
JL04V-2E32-17PE-B-R JL04V-2E10SL-3PE-B-R A B C D A,B
R2AA18750H 300 A 14 #6 14 #6
R2AA1811KR
Same part number as
R2AA22500L
JL04V-2E24-11PE-B-R for power D E F G,H A,B 150 A 5.5 #10 8 #8
220 sq. R2AA22700S JL04V-2E10SL-3PE-B-R
R2AA2211KB
JL04V-2E32-17PE-B-R JL04V-2E10SL-3PE-B-R A B C D A,B 300 A 14 #6 14 #6
R2AA2215KB
Terminal block: Terminal block:
275 sq. R2AA2830KV UF1005-150A-3P F1005-20S-5P — — — — — 600 A 38 #2 38 #2
(M8, Hexagon bolt) (M4, Screws)
R1AA18550H
R1AA18750L
180 sq. JL04V-2E32-17PE-B-R JL04V-2E10SL-3PE-B-R A B C D A,B 300 A 14 #6 14 #6
R1AA1811KR
R1AA1815KB
・See the catalogs and instruction manuals of the connector manufacturer (Japan Aviation Electronics Industry Limited) for how to handle the items and precautions.
・Conduit is not provided.
130
Cable
■ USB communication cable for setup software R 3E Model
PC communication cable for setup software
Cable length: L
Cable length: L
Model no.
(m)
B
1.0 AL-00896515-01
PC side (Series A) Servo amplifier side (Series mini B)
2.0 AL-00896515-02 Specifications and external drawings may be changed without prior notice.
■ Communication cable between amplifiers for tandem operation R 3E Model

Connects between amplifiers for tandem operation. (CN5⇔CN5)
Cable length: L L
Model no.
(m) NO.8 NO.1 NO.8 NO.1
0.2 AL-00911582-01
3.0 AL-00911582-02
Note that the wiring differs from the communication cable between
amplifiers for R ADVANCED MODEL (Model number: AL-00695974-□□).
■ PC communication cable for setup software R ADVANCED

L
Cable length: L NO.8 NO.1
Model no.
(m) 9 5
2.85 AL-00689703-01 6 1
PC side Servo amplifier side
■ PC communication cable for setup software R

L
Cable length: L
Model no. CN1
(m) 9
2.85 AL-00490833-01
1
Servo amplifier side

PC side
Options
131
Options
Battery for Battery-backup Method Absolute Encoder and Related Parts

■ Battery box R 3E Model
A set of lithium battery ER3VLY and
1) Battery box *With 10 to 50 A amplifiers, the front mounting brackets cannot be used. AL-00880402-01
battery box
Lithium battery: ER3VLY
2) Battery for battery box (Lithium battery) AL-00879511-01
from Toshiba Lifestyle Products & Services Corporation
1) Battery box (Model no.: AL-00880402-01) Battery 2) Replacement battery for use with battery box
25 (55) 45 (Model no.: AL-00879511-01)
Battery 95±5
(24.5)
1 　 RED
2 　 BLACK
20
17 max.
(φ14.5)
Connector 1 　 RED
2 　 BLACK
■ Encoder extension cable with battery R 3E Model R ADVANCED

3) Encoder extension cable with battery and connectors on both ends No AL-00731792-01
4) Encoder extension cable with battery and connectors on one end No AL-00697960- □□
Lithium battery: ER3VLY
5) Replacement battery for encoder cable (Lithium battery) AL-00697958-01
from Toshiba Lifestyle Products & Services Corporation
3) Encoder cable attached to battery, with connectors 4) Encoder cable attached to battery, with connector
on both ends (Model no.: AL-00731792-01) on one end (Model no.: AL-00697960-□□)
Battery unit
Battery unit
built-in battery
built-in battery Battery-backup method
Absolute encoder side Servo amplifier Battery-backup method
Servo amplifier
side connector Chain connector side connector absolute encoder side
Cable length: L (m)

(382)
(40)
(40) 300±10 (42)
5) Replacement battery for encoder cable with battery Model no. L [m]
1 AL-00697960-01 3
(Model no.: AL-00697958-01) 2 AL-00697960-02 5
60±5
3 AL-00697960-03 10
(24.5) 4 AL-00697960-04 15
5 AL-00697960-05 20
6 AL-00697960-06 25
(φ14.5)
17 max.
Connector 1 RED
2 BLACK
■ Battery R
Name Model no.
Lithium battery AL-00494635-01
74.5
Lead wire red

No. 1 pin
17 max.
Lead wire black

φ14.5
Connector No. 2 pin
Lithium battery
50 (24.5)
Mass: 0.02 kg
132
Analog Monitor
R 3E Model R ADVANCED
This is an analog monitor which can display the velocity waveform with an oscilloscope for system maintenance or when tuning.
Monitor box body
1) Monitor box Q-MON-3
2 dedicated cables
2) Dedicated cable 1 dedicated cables AL-00690525-01
1) Monitor box (Model no.: Q-MON-3) 2) Dedicated cable (Model no.: AL-00690525-01)
Monitor box side Servo amplifier side
2000±50
Brown 20±5 20±5 20±5 20±5 Black
1B 1A 1 2
2B 2A 3 4
*1 2 units of the dedicated cables per above 2) (PN# AL-00690525-01)

are attached to monitor box (PN#Q-MON-3).
29
*2 Power is supplied from the servo amplifier.

44
65
External Regenerative Resistor

R 3E Model R ADVANCED R
132 300 182 300
122 172 270
100 6 150 6
6
φ4.3 φ4.3
4.3
44
26
23.5
42
6
270 Silicon rubber glass-braided wire
4.3
Silicon rubber glass-braided wire AWG20 0.5 mm2, White (Thermostat)

AWG20 0.5 mm2, White (Thermostat) Silicon rubber glass-braided wire
AWG18 0.75 mm2, Black
Silicon rubber glass-braided wire
AWG18 0.75 mm2, Black
20
20
1.2

1
Model no. Thermostat Model no. Thermostat

1 REGIST-080W50B Normally closed 1 REGIST-120W50B Normally closed
2 REGIST-080W100B Normally closed 2 REGIST-120W100B Normally closed
230 300 250 2-φ4.5

220 270
6 234 8 Ground mark
200
4.5
φ4.3 6
42.7
2-M3
60
Thermostat
60
80
Options
Silicon rubber glass-braided wire

4.3
2
AWG20 0.5 mm , White (Thermostat)
Silicon rubber glass-braided wire Lead wire AWG24 0.2 mm2, White 3
2
AWG18 0.75 mm , Black 350 700
20
35
1.2
Solderless
Mass: 0.44 kg terminal
Mass: 1.4 kg (for M5)
Lead wire AWG14
2 mm2, White
Model no. Thermostat Model no. Thermostat

1 REGIST-220W20B Normally closed 1 REGIST-500CW7B Normally closed
4 REGIST-500CW20B Normally closed
133
Options
Front Mounting Brackets

Brackets for mounting the servo amplifier on the front (connector side).
Applicable servo amplifiers Model no. Set contents
Top/bottom mounting brackets: 1 each
10, 20, 30 A (RS3□01, 02, 03) AL-00880390-01
Clamping screws: 4
50 A (RS3□05) AL-00880391-01
Clamping screws: 4
100, 150 A (RS3□10, 15) AL-00907039-01
Clamping screws: 6
300 A (RS3□30) AL-00907040-01
Clamping screws: 8
・Trivalent chrome plating is used. (Surface color is silver-blue, and different from body color.)
・Cannot be used with battery box. (10 to 50 A)
10, 20, 30 A 100, 150 A
AL-00880390-01 AL-00907039-01
Upper side Common to upper side/lower side
100
35
32
2-φ 7.5 25 2
5
15
10
40 75
4-6 50 2
6
Lower side φ
5
15
30
22.5
R3
4-
10
15
5 2
300 A
AL-00907040-01
35
Upper side
30
50 A
AL-00880391-01
220
Upper side R3 7 2
.5
φ14
24
30
20
12
2-φ
5 17.5 50 2 10 100 100
15
10
85 Lower side
220
Lower side
10
85
15
7 2
10
10 100 100
15
2-5 2
17.5 50
30
24
134
Mounting example Mounting board dimension examples for reference
20 Mounting 10, 20 A 30 A 50 A
surface
25 3-M4 25 3-M4 50 4-M4
168 or more
168 or more
168 or more
180
180
180
Mounting
Mounting bracket surface
44 or more 22 89 or more
54 or more
100 A 150 A 300 A

50 75 4-M5 100 100
4-M5
122.5
212 or more
212 or more
212 or more
225
225
112.5
102 or more 6-M6

51
122 or more 222 or more
Options
135
Options
Front Mounting Brackets

■ EtherCAT interface type R ADVANCED
Brackets for mounting the servo amplifier on the front (connector side).
Applicable servo amplifiers Model no. Set contents
15, 30 A (RS2□01, 03) AL-00736863-01
Clamping screws: 4
50 A (RS2□05) AL-00736864-01
Clamping screws: 4
300 A (RS2□30) AL-00828413-01
Clamping screws: 8
・Trivalent chrome plating is used. (Surface color is silver-blue, and different from body color.)
・For 100 A and 150 A (RS2□10/15), the rear mounting brackets can be removed and attached onto the front of the servo amplifier.
15, 30 A 50 A
AL-00736863-01 AL-00736864-01
Upper side Upper side
24
24
5
7.5 25 2
2-φ
2-φ 2 17.5 50 2
5 2-R
15
10
15
10
85
40
Lower side Lower side 85

30
10
15
10
15
5
5 17.5 50 2
22.5 2
24
24
300 A
AL-00828413-01
Upper side
25
220
R3 7 3-C3 2
.5
30
20
4
φ1
12
100 100 10
Lower side
25
+0
220 - 0.5
100 100 10
7 3-C3 2
15
10
.5
R3
136
Mounting Brackets
■ Built-in positioning function type R
Note that CANopen interface type servo amplifiers and multi-axis pulse input type servo amplifiers are not supported.
Applicable servo amplifiers Model no. Description Set contents

Mounting brackets: 1
15, 30 A (RS1□01, 03) AL-00582791-01 For mounting on the servo amplifier rear surface
Clamping screws: 2
50 A (RS1□05) AL-00582792-01 For mounting on the servo amplifier rear surface
Clamping screws: 2
15 A (RS1□01) AL-00582788-01 For mounting on the servo amplifier front surface
Clamping screws: 6
Clamping screws: 6
Clamping screws: 6
15, 30 A (rear) 50 A (rear)

AL-00582791-01 AL-00582792-01
198
5 188 2 5 188 2
6
5
5
25 10
45
62
50
15 A (front) 30 A (front)
AL-00582788-01 AL-00582789-01
47
45
25
5
52
45
25
5
10
10
5 188
5 188
198 198
2
2
120
120
50 A (front)
AL-00582790-01
7
Options
5
65
50
5 188
198
2
120
137
Options
Servo Motor with Servo Motor Extension Cable and Connectors

■ Extension cable for servo motor dimensions
Power cable Encoder cable
Connector: 1-480703-0
MSTBT2.5/3-STF-5.08 Contact: 350536-3
Phoenix Contact.K.K Tyco Electronics Japan G.K. Receptacle: 36210-0100PL Connector housing: 172161-1
Shell kit: 36310-3200-008 Contact: 170359-3
3M Japan Limited Tyco Electronics Japan G.K.
Cable length: L
Black Cable length: L
White
Amp side Motor side Amp side Motor side
Red
(100) No. Lead wire color No. Lead wire color Signal name No. Lead wire color Signal name
1 Red 1 Red 5V 1 Black 0V
Green/yellow 2 Black 0V 2 Red +5 V
2 White
N1.25-4 7 Brown ES+ 3 Brown ES+
3 Black
J.S.T. Mfg. Co.,Ltd. 8 Blue ES- 4 Blue ES-
4 Green/yellow
9 Green EBAT+ 5 Green EBAT+
10 Purple EBAT- 6 Purple EBAT-
9 White/Black (Shielded) GND
Brake cable Model no. Cable length: L

Connector: 1-480699-0 Power cable Brake cable Encoder cable (m)
Contact: 350570-3 RS-CM4-01-R RS-CB3-01-R RS-CA4-01-R 1
Tyco Electronics Japan G.K. RS-CM4-02-R RS-CB3-02-R RS-CA4-02-R 2
RS-CM4-03-R RS-CB3-03-R RS-CA4-03-R 3
Cable length: L
100
Amp side← →Motor side
N1.25-4
No. Lead wire color
J.S.T. Mfg. Co.,Ltd. 1 White
2 Black
■ Servo motors with connectors for extension cables

200 V system
Rated Motor flange

Holding brake Model no.
output size
30 W 40 mm sq. — R2AA04003FXPA0
30 W 40 mm sq. Yes (24 VDC) R2AA04003FCPA0
50 W 40 mm sq. — R2AA04005FXPA0
100 W 40 mm sq. — R2AA04010FXPA0
100 W 60 mm sq. — R2AA06010FXPA0
Connectors are connected as shown in the figure. The cable length is 200
200 W 60 mm sq. — R2AA06020FXPA0
±30 mm.
Connector (for brake)
360 W 60 mm sq. Yes (24 VDC) R2AA06040FCPA0 Housing: 1-480698-0 Connector (for encoder)
400 W 60 mm sq. — R2AA06040FXPA0 Pin: 350561-1 Housing: 172169-1
750 W 60 mm sq. — R2AA08075FXPA0 Tyco Electronics Japan G.K. Socket: 1-770834-1
Tyco Electronics Japan G.K.
750 W 80 mm sq. Yes (24 VDC) R2AA08075FCPA0 No. Lead wire color
1 Yellow No. Lead wire color Signal name
2 Yellow 1 Black 0V
Protection code: IP67. CE/UL approval: no. 2 Red +5 V
Encoder classification: battery-backup Connector (for power) 3 Brown ES+
method absolute encoder (PA035C). Housing: 1-480702-0 4 Blue ES-
Pin: 350218-1 (for power) 5 Pink EBAT+
Output shaft: straight. Oil seal: no. Pin: 350654-1 (for GND) 6 Purple EBAT-
Tyco Electronics Japan G.K. 9 White/Black SHIELD
No. Lead wire color Phase

1 Red U
2 White V
3 Black W
4 Green/yellow GND
138
Linear Servo Motors
Flat type with core
Dual magnet type with core
Linear servo motors featuring large thrust force.
Compatible with R 3E Model servo amplifiers.
Contact us for the model numbers of the compatible amplifiers.

Note that not all the possible combinations of the numbers and characters below are valid. Also, some of the numbers/characters listed below are for optional models.
Coil
DS 045 C C1 A N E A 1 00
00 … Standard
Cable length
1 … 300 mm
Thermal protect 2 … 600 mm
A … No 3 … 1000 mm
Hall sensor
A … Without hall sensor
E … With hall sensor
Winding type
N … Standard
Power supply voltage

A … 200 VAC
Coil length
Flat
Coil C1 … 130 mm
Dual magnet
Magnet width B4 … 349 mm
045 … 45 mm
Type
DS … Flat
DD … Dual magnet
Magnet rail
DS 045 M C 512 B 00
00 … Standard
Magnet cover
A … Without cover
Rail length B … With cover
064 … 64 mm
Rail type 128 … 128 mm
B … B type 256 … 256 mm
C … C type 512 … 512 mm
Magnet rail
Magnet width
045 … 45 mm
Type
DS … Flat
DD … Dual magnet
139
Linear Servo Motors
T S R

(MCCB)
Option
Used to protect the power line.
Cuts off power in case of an overload. Setup software
Parameter setting and monitoring
are possible via communication
with a PC.
Noise filter
Attached to prevent external
noise from the power source line. Switches power on and off.
Protective circuit must be created.
Host device
Option
For normal operations, the built-in regenerative CN1
resistor in the servo amplifier is enough, but for
special operations, such as high cycle
applications that require greater power
dissipation than that provided by the servo
amplifier’s built-in regenerative resistor, use an
Linear servo motor external regenerative resistor.
EN1
EN2
Hall sensor
Linea encoder
140
Options
■ Connector to connect servo amplifier R 3E Model
　10 to 50 A
Connector no. Item Model no. Manufacturer model no. Manufacturer
10150-3000PE and
CN1 To connect host device AL-00385594
10350-52A0-008
3M Japan Limited
For linear encoder and hall sensor 36210-0100PL and
EN1, EN2 AL-00632607
connections 36310-3200-008
For input power supply and regen-
CNA*1 AL-00686902-01 MSTBT2.5/8-STF-5.08LUB
erative resistor connections Phoenix Contact.K.K
CNB For linear motor connection AL-Y0004079-01 MSTBT2.5/3-STF-5.08
CN4 *2 AL-00718251-01 2040978-1 Tyco Electronics Japan
G.K.
CN4 To connect safety device AL-00718252-01 2013595-3
Connector sets (no Safe Torque Off function)

Connector no. Item Model no. Compatible servo amplifier model no. Remarks
Without regen-
CN1, EN1, CNA, CNB Standard set AL-00723282 RS3□□□L0□L0/ RS3□□□L8□L0
erative resistor
without hall
With regenera-
CN1, EN1, CNB sensor AL-00723284 RS3□□□L0□A0/ RS3□□□L8□A0
tive resistor
Without regen-
CN1, EN1, EN2, CNA, CNB AL-00723286 RS3□□□LA□L0/ RS3□□□LB□L0
Standard set erative resistor
with hall sensor With regenera-
CN1, EN1, EN2, CNB AL-00723288 RS3□□□LA□A0/ RS3□□□LB□L0
tive resistor
Low-voltage set
CN1, EN1 without hall AL-00723290 RS3□□□L0□□0/ RS3□□□L8□□0 —
sensor
Low-voltage set
CN1, EN1, EN2 AL-00781940 RS3□□□LA□□0/ RS3□□□LB□□0 —
with hall sensor
Without regen-
CNA, CNB High-voltage set AL-00696037 RS3□□□L□□L0
erative resistor
Connector sets (with Safe Torque Off function)

Connector no. Item Model no. Compatible servo amplifier model no. Remarks
Without regen-
CN1, EN1, CNA, CNB, CN4 Standard set AL-00723155 RS3□□□L0□L2(4)/ RS3□□□L8□L2(4)
erative resistor
without hall
With regenera-
CN1, EN1, CNB, CN4 sensor AL-00723156 RS3□□□L0□A2(4)/ RS3□□□L8□A2(4)
tive resistor
CN1, EN1, EN2, CNA, CNB, Without regen-
AL-00723157 RS3□□□LA□L2(4)/ RS3□□□LB□L2(4)
CN4 Standard set erative resistor
with hall sensor With regenera-
CN1, EN1, EN2, CNB, CN4 AL-00723158 RS3□□□LA□A2(4)/ RS3□□□LB□A2(4)
tive resistor
Low-voltage set
CN1, EN1, CN4 without hall AL-00723159 RS3□□□L0□□2(4)/ RS3□□□L8□□2(4) —
sensor
Low-voltage set
CN1, EN1, EN2, CN4 AL-00781942 RS3□□□LA□□2(4)/ RS3□□□LB□□2(4) —
with hall sensor
* Connector CN4 included in a set is for safety device connection. Model no.: AL-00718252-01
Linear Servo
Motors
141
Linear Servo Motors
Flat Type with Core

■ Specifications
Magnetic Mass of movable Compatible
thrust Max. thrust Rated speed Max. speed
Coil model no. Rated[N] [N] [m/s] [m/s] attraction force element
Compatible magnet
rail model no.
servo amplifier
[N] [kg] model no.
DS045CC1AN 260 500 1.8 3.0 1700 1.8 DS045MC□□□ RS□A03L
Thrust-Speed Characteristics
Dimensions
Magnet rail mass
Magnet rail model no. [kg] Max. thrust
L1 L2 N1 N2
DS045MC064 0.2 64 32 1 4
Rated thrust
Thrust [N]
DS045MC128 0.4 128 96 3 8
DS045MC256 0.8 256 224 7 16

Rated speed Max. speed
DS045MC512 1.5 512 480 15 32
Speed [m/s]
■ Coil dimensions
130±0.5
（29） 36±0.3 36±0.3 29±0.3
40±0.1
（17.5）
（17.5）
Motor power cable

30±0.3
65±0.5
30
Hall sensor cable
（17.5）
（17.5）
Hall sensor
(optional)
6-M5 (screw hole for coil installation) 30±0.5 16
■ Magnet rail dimensions

L1 ± 0.1
N S
N S N S N S N S N S S N S N S N S
（45）
54±0.15
62±0.3
↑NP ↑NP ↑NP

（4）
N2-φ4.5 thru hole
+0.1
7.8 -0.15 16±0.15 32±0.15 (uniform pitch)
(Without magnet cover) (32×N1=) L2 ± 0.15 （16）
+0.1
7.9 -0.15
(With magnet cover)
■ Diagram of recommended assembly example Motor cross section (side view)

Core
48.5±0.05 (Recommended assembly dimensions)
Magnetic flux
Moving direction
Cable
(0.7) Without magnet cover, air gap
Magnet
Coil
(0.6) With magnet cover, air gap
Back iron
S N S N S N
Linear motor coil (Driving direction) （32.5）（32.5）

Magnet rail （31）（31）
142
Dual Magnet Type with Core
■ Specifications
Magnetic Mass of movable Compatible
Coil model no. Rated[N]
thrust Max. thrust Rated speed Max. speed
[N] [m/s] [m/s] attraction force element
Compatible magnet
rail model no.
servo amplifier
[N] [kg] model no.
DD045CB4AN 800 2200 1.9 3.0 600 8.6 DD045MB□□□ RS□A10L
Thrust-Speed Characteristics
Magnet rail mass Dimensions
Magnet rail model no. (total of 2 rails) Max. thrust
[kg] L1 L2 N1 N2
DD045MB064 1.4 64 32 1 2
Thrust [N]
DD045MB128 2.8 128 96 3 4 Rated thrust
DD045MB256 5.5 256 224 7 8

Rated speed Max. speed
DD045MB512 11.1 512 480 15 16
Speed [m/s]
■ Coil dimensions
349±0.5
239.5±0.2 （64.5）
（53）
（13.5）
186.5±0.2
72.5±1 45±0.2 53±0.2 （133.5）
4.3 8-M6 Effective depth 9（screw hole for coil installation)
Hall sensor cable
(core width)
12 18 12
69±0.1
30±0.2
Motor power cable
Hall sensor
+0.04
（13.5）
30 26.25 30±0.5
16
(optional) 2-φ4+0.02 Depth 6 (pin hole for coil positioning)

22.75±0.2 284±0.05 （42.25）
■ Magnet rail dimensions

(Without magnet cover)
L1 ± 0.1
(With magnet cover)
(32×N1=) L2 ± 0.15 （16）

23.9±0.25
23.8±0.25
32±0.15 (uniform pitch)

10±0.15
(Magnet rail fixing screw hole dimensions)

16±0.15 70±0.15
20
2×N2-φ9 thru hole (N2: Number of holes per rail)

(With magnet cover)
(With magnet cover)
φ14 spot facing depth 9

（70.2）
（70.4）
（118）
98±0.1
3.8 -0.15
3.9 -0.15
+0.1
+0.1
（45） 20
■ Diagram of recommended
32
assembly example Motor cross section (top view)
(Uniform pitch) Linear motor coil

(118) N S N S N S
N S
0.5 or less Moving direction Core
Cable
Magnet
Coil
（0.7＜0.6＞） Magnet rail Back iron
S N
(Right side air gap) S N S N S N
（0.7＜0.6＞）
Linear Servo
32
(Left side air gap) (Uniform pitch)
Motors
Magnetic flux
(Driving direction)
N.P
80±0.1
N.P
70
（7.5）
(Recommended assembly height)
(Coil bottom clearance)
143
144
SANMOTION S
Servo Amplifiers and Spindle Motors
Servo Amplifier Capacity: 150 A
A servo system with a servo amplifier and a spindle motor. Ideal for
the main shaft of machine tools that require highly precise tapping
synchronized with the feed shaft. It improves productivity of the
device.

Note that not all the possible combinations of the numbers and characters below are valid. Also, some of the numbers/characters listed below are for optional models.
Servo amplifier
SS1 A 15 M 8 A M 0
Option 2
Option 1 Speed/torque command

M … Without built-in input circuit
regenerative resistor 0 Equipped
Interface type
A … Analog pulse train, sink type (NPN) output
H … EtherCAT interface type
Encoder connection type

EN1 (motor encoder) EN2 (external pulse encoder)
8 Pulse encoder ー
AC spindle motor type

M … Rotary motor

15 … 150 A
Input voltage
A … 200 VAC
S series
Spindle motor
S30 V 16 4K5 W X E 00
Special specification identifier
00 … Standard
Detector type
E … Pulse encoder (incremental encoder PP038H，
Divisions 16384 (4096P/R)
Holding brake
X … No brake
Max. rotation speed

W … 15000 min-1
Continuous rated output
L … 12000 min-1
4K5 … 4.5 kW
3K2 … 3.2 kW
Flange size
16 … 160 mm
Motor type
V … Induction machine
S3 series
S30 … Low inertia high-speed type 145
SANMOTION S Servo Amplifiers and Spindle Motors
Spindle Motor Specifications

Spindle motor model number S30V163K2LXE00 S30V164K5WXE00
Servo amplifier model No. Analog/pulse input type SS1A15M8AM0
to be combined EtherCAT interface type SS1A15M8HM1
S1 continuous rated output ★ PR kW 3.2 4.5
S2 15 min. rated output ★ P15 kW 5.0 6.5
Max. output ★ Pp kW 9.6 13.5
Base rotation speed NR min -1
1500 3000
Max. Rotation Speed Nmax min -1
12000 15000
S1 continuous rated torque ★ TR N･m 20.4 14.3
S2 15 min. rated torque ★ T15 N･m 31.8 20.7
Max. torque ★ Tp N･m 61.1 43.0
S1 continuous rated current ★ IR Arms 27 32
S2 15 min. rated current ★ I15 Arms 39 41
Max. current ★ Ip Arms 78 79
Rotor inertia JM kg･m (GD /4)
2 2 0.00683 0.00483
Mass WE kg 36 29
Items with ★ indicate values after temperature rise saturation. Other items indicate values when the temperature is 20ºC.
Also, items with ★ indicate values when used with a standard amplifier. Above values are typical values.
■ Speed-Output
Speed-Output characteristics
Characteristics
12 16
14 Max.
10 Max.
12
8
Output (kW)
Output (kW)
10
6 S2 15 min. rating 8 S2 15 min. rating

6
4 S1 continuous rating S1 continuous rating
4
2
2
0 0
0 3000 6000 9000 12000 0 3000 6000 9000 12000 15000
Speed (min-1) Speed (min-1)
S30V163K2LXE00 (3.2 kW) S30V164K5WXE00 (4.5 kW)
■ Speed-Torque characteristics
Speed-Torque Characteristics
70 50
60 Max.
40
50 Max.
S2 15 min. rating
Torque (N･m)
Output (kW) Torque (N･m)
40 30
Max.S2 15 min. rating
Max. S1 continuous rating
30 S1 continuous rating
20
20
Output (kW)
10
10 min. rat min. rati
0 0
0 3000 continuous
6000 9000 12000 0 3000 6000 continuou
9000 12000 15000
Speed (min ) -1 Speed (min-1)
S30V163K2LXE00 (3.2 kW) S30V164K5WXE00 (4.5 kW)
146
( -1 ）
Speedmin
( -1 ）
Speedmin
Servo Amplifier Specifications
Model No. SS1A15M8AM0 SS1A15M8HM1
Interface Analog/pulse input type EtherCAT interface type
Main circuit power supply: 3-Phase 200 to 230 VAC +10, -15%, 50/60 Hz ±3 Hz
Power supply voltage Control circuit power supply: Single-phase 200 to 230 VAC +10, -15%, 50/60 Hz ±3 Hz
Power supply voltage should be within the specified range (170 to 253 VAC).
Amplifier output capacity 150 A
Applicable motor capacity 3.2, 4.5 kW
Supported encoders 4096 P/R (A, B, Z phase pulse signal)
Control function Position, speed, torque, orientation controls
Control system Sinusoidal PWM control
Speed control range 1:5000 (internal command)
Frequency characteristics 200 Hz
Regenerative process circuit Built in (regenerative resistor mounted externally)
Sequence signal 8 Input channels, 8 Output channels 6 Input channels, 2 Output channels
Ambient temperature 0 to 55°C
Standards UL，CE，RoHS directives
SANMOTION S
147
SANMOTION S Servo Amplifiers and Spindle Motors
■ Servo amplifier
150 A Mass: 4.9 kg
Model no.: SS1A15M8AM0 Model no.: SS1A15M8HM1

Analog/pulse EtherCAT
input type interface type
120 120
100 100
75 220 75 220
6 2 6 2
15
15
5
5
N.P. N.P.
235
225
235
225
205
205
(6) (6)
(50) (50)
■ Spindle motor
2-M8
Eye bolt
□LC±2 LL±5
8-M5 γ M
(25) (34) Depth 10 LR±1 (KB1) (KB2) (KH)
(IL1) (IL2)
Øβ M
33 33
(16)
α
Ø31 LE LG
Ø31
33
KL±3
(105.5)
Q
ØLB
ØS
Exhaust
M
ØL
A
4-M8 Cooling fan (LD)

Suction Tap for eye bolt
To have a space of 50 mm or wider
4-ØLZ
Spindle motor model number LL KB2 KL KH LG LA LB LE LC LZ LR LD S Q KB1 IL1 IL2
S30V164K5WXE00 367 202 83

0 0
165 142 160 15 175 130-0.040 3 160 11 65 170 28-0.013 60 93
S30V163K2LXE00 432 267 148
Spindle motor model number α β γ
S30V164K5WXE00
0.01 0.03 0.03
S30V163K2LXE00
Analog/pulse EtherCAT
input type interface type
120 120 (70) 220

100 100 17 203
75 75 2 2
(17)
15
15
6 6
5
(20)
148
235
225
205
235
225
205
N.P.
SANMOTION S
149
Models No Longer Listed and Their Replacing Models & Selection Guide
Models No Longer Listed and Their Replacing Models

Models that are no longer listed in catalogs and their replacing models are shown below.
■ Servo amplifier
Replacing models (R 3E Model) * Some models that are no longer listed use the same hardware de-
Models no longer listed Used with serial encoder pending on the motor encoder and external encoder that are used
in semi-closed systems together, however, the product model numbers of the replacing
Type Model no. Model no. models vary with the motor encoder and external encoder that
RS1A01AA RS3A01A0AL0/RS3A02A0AL0 are used together.
RS1A03AA RS3A02A0AL0/RS3A03A0AL0
* For model numbers of the R 3E Model servo amplifiers (replace-
RS1A05AA RS3A05A0AA0 ment of SANMOTION R servo amplifiers (model no. starts with
RS1L01AA RS3A01A0AA0/RS3A02A0AA0 RS1)) which use a wire-saving incremental encoder as a motor
RS1L03AA RS3A02A0AA0/RS3A03A0AA0 encoder or used in full-closed systems, contact us.
SANMOTION R RS1L05AA RS3A05A0AL0
200 V
Analog/Pulse Input type RS1A01AB RS3A01A0BL0/RS3A02A0BL0
RS1A03AB RS3A02A0BL0/RS3A03A0BL0
RS1A05AB RS3A05A0BA0
RS1L01AB RS3A01A0BA0/RS3A02A0BA0
RS1L03AB RS3A02A0BA0/RS3A03A0BA0
RS1L05AB RS3A05A0BL0
RS1N01AA RS3E01A0AA0/RS3E02A0AA0
RS1N03AA RS3E03A0AA0
RS1E01AA RS3E01A0AL0/RS3E02A0AL0
SANMOTION R RS1E03AA RS3E03A0AL0
100 V
Analog/Pulse Input type RS1N01AB RS3E01A0BA0/RS3E02A0BA0
RS1N03AB RS3E03A0BA0
RS1E01AB RS3E01A0BL0/RS3E02A0BL0
RS1E03AB RS3E03A0BL0
RS2A01A0AL0 RS3A01A0AL0/RS3A02A0AL0
RS2A03A0AL0 RS3A02A0AL0/RS3A03A0AL0
RS2A05A0AL0 RS3A05A0AL0
RS2A01A0AA0 RS3A01A0AA0/RS3A02A0AA0
RS2A03A0AA0 RS3A02A0AA0/RS3A03A0AA0
RS2A05A0AA0 RS3A05A0AA0
RS2A10A0AA0 RS3A10A0AA0
SANMOTION R
ADVANCED MODEL RS2A15A0AA0 RS3A15A0AA0
200 V RS2A01A0BL0 RS3A01A0BL0/RS3A02A0BL0
RS2A03A0BL0 RS3A02A0BL0/RS3A03A0BL0
RS2A05A0BL0 RS3A05A0BL0
RS2A01A0BA0 RS3A01A0BA0/RS3A02A0BA0
RS2A03A0BA0 RS3A02A0BA0/RS3A03A0BA0
RS2A05A0BA0 RS3A05A0BA0
RS2E01A0AL0 RS3E01A0AL0/RS3E02A0AL0
RS2E03A0AL0 RS3E03A0AL0
RS2E01A0AA0 RS3E01A0AA0/RS3E02A0AA0
SANMOTION R
ADVANCED MODEL RS2E03A0AA0 RS3E03A0AA0
100 V RS2E01A0BL0 RS3E01A0BL0/RS3E02A0BL0
RS2E03A0BL0 RS3E03A0BL0
RS2E01A0BA0 RS3E01A0BA0/RS3E02A0BA0
RS2E03A0BA0 RS3E03A0BA0
150
Servo Motor Capacity Selection (Rotary Motor)
This is a method of calculating the required capacity of servo motors from the mechanical specifications.
Here we have introduced the basic selection procedure focusing on a ball screw (flat) mechanism.
Selection procedure 1. Creation of operation patterns

1. Creation of operation patterns First, determine the equipment mechanism, dimensions of all
parts, positioning amount, positioning time, gear ratio, etc. An
Create the operation patterns.
operation pattern is the determined driving force plotted on the
speed/time axis.
2. C alculation of conversion of motor shaft moment of
load inertia JL Speed [min－1]
Calculate the moment of load inertia from the machine
configuration. N2
3. Calculation of load torque TL for motor shaft conversion

Calculate the load torque from the machine configuration.
N1 Time [s]
ta tr tb
tc ts
4. Provisional selection of servo motor capacity
t
Provisionally select a motor in which the load moment of
inertia (JL) is 10 times or less than the rotor moment of inertia
ta = Acceleration time [s]
(JM) of servo motor, while the load torque (TL) is 80% or less
tb = Deceleration time [s]
(TR x 0.8) of rated torque of motor (TR).
tr = Constant speed-time [s]
JL ≦ JM × 10
ts = Downtime [s]
TL ≦ TR × 0.8
t = 1 cycle [s]
5. Calculation of acceleration/deceleration torque
2. Calculation of conversion of motor shaft moment of load inertia JL
Calculate the required acceleration/deceleration torque from Load moment of inertia is the quantity showing inertia of a
the operation patterns. rotating object.
Given below is the calculation method used in case of ball screw
6. Calculation of effective torque (flat) mechanism.
Calculate the effective torque from the torque patterns.
■ Ball screw moment of inertia
7. Judgment
1 2 π×ρ×D4×L
Determine whether the acceleration and deceleration torque JL1＝（　）× ［kg∙m2］
G 32
(Ta, Tb) are 80% (Tp x 0.8) or less than the peak stall torque (Tp)
of the servo motor; and the effective torque (Trms) is 80% (TR
G: Gear ratio
x 0.8) or less than the rated torque (TR) of the servo motor.
ρ : Ball screw specific gravity [kg/m ] [Iron: 7.8 × 10 ]
3 3
Ta ≦ Tp × 0.8 1 2 P 2
D: ＝（　
JL2Ball 1 ）
screw ×（　
2 diameter
× Wπ×ρ× ）［kg∙m2］
[m] D4×L［kg∙m2］
Tb ≦ Tp × 0.8 ＝（　 G ） ×
L:JL1
Ball screw length [m] 2π
Trms ≦ TR × 0.8 G 32
If the judgment results cannot be applied in the
■ Work + table moment of inertia
aforementioned equation, reconsider the servo motor
capacity, for example increasing the capacity. （F＋μW） P 1
TL＝ 1 2 × ×P 2 ×　9.8 ［N∙m］
JL2＝（　η）× W × 2（　
π ）［kg∙m2］
G
G 2π
8. Calculation of regenerative power
Calculate the regenerative power and select an external G: Gear ratio
regenerative resistor if necessary. W: Work2+π（ table
N2－mass
N1）×（[kg]
JL＋JM）
Ta＝（F＋μW） P 1 ＋　TL ［N∙m］
P:TBall
L＝ screw pitch×
60[m]
×ta × ×　9.8 ［N∙m］
η 2π G
■ Conversion of motor shaft moment of load inertia.
JL ＝ JL1 ＋ JL2
2π（N2－N1）×（JL＋JM）
Tb＝ 2π（N2－N1）×（JL＋JM）－　TL ［N∙m］
*T ＝
Maoments 60×tb
of inertia of reducer and＋　 TL ［N∙are
coupling m］assumed to be
60×ta
Selection
Guide
negligible and have therefore been omitted.
2π（（
NT a ×
N1ta）＋（JTLL＋× ）＋（Tb ×tb）
tr）
2 2 2
2－）×（ JM
Tb＝＝
Trms ［］
－　TL ［N∙m N∙m］
60×tb t 151
Selection Guide
Servo
（　） Motor Capacity Selection (Rotary Motor)
JL1＝
1
G
2
×
π×ρ×D4×L
32
［kg∙m2］
3. Calculation of load torque TL for motor shaft conversion 7. Judgment
Load torque is the power generated from the friction of the Our company’s judgment criteria are as follows.
1 2 P 2 1 2 load π×ρ×
・ Load torque factor TD
4
×L
L ≦ TR × 0.8
JL2＝（　
driving part
）or×from
W × （　）［that
the gravity kg∙mis2］converted on the motor JL1＝（　）× ［kg∙m2］
G activated, this2π
shaft. When torque always acts as the load. (Load Gtorque is 80% or less
32 of rated torque)
Given below is the calculation method used in the case of a ball
screw (flat) mechanism. ・ Acceleration torque load factor Ta ≦ TP × 0.8
(Acceleration torque is 80% or less of peak stall torque)
（F＋μW） P 1 TP: Peak
1 stall
2 torque P 2
TL＝ × × ×　9.8 ［N∙m］ JL2＝（　）× W ×（　）［kg∙m2］
η 2π G G 2π
・ Deceleration torque load factor Tb ≦ TP × 0.8
F: External force [kg] (Deceleration torque is 80% or less of peak torque at stall)
η : Machine efficiency TP: Peak stall torque
2π（N2of
μ: Coefficient －N 1）×（JL＋JM）
friction （F＋μW） P 1
Ta＝＋　TL ［N∙m］・ TEffective
L＝ torque× × Trms×　
load factor ≦ T9.8 ［N∙m］
R × 0.8
W: Work + table mass
60×ta[kg] η 2π G
(Effective torque is 80% less than rated torque)
P: Ball screw lead [m]
G: Gear ratio ・ Moment of inertia ratio JL ≦ JM × 10
(Load moment of inertia is 10 times or less than the rotor
2π（N2－N1）×（JL＋JM） 2π（N2－N1）×（JL＋JM）
Tb＝
4. －　T
Provisional selection of servo L ［N∙mcapacity
motor ］ moment
Ta＝ of inertia of motor) ＋　TL ［N∙m］
60×tb 60×ta
1 2select
Provisionally π×ρ×
the ×L apply to the
motorsD4that following 2 conditions. Rise in motor temperature can be suppressed by keeping a large
JL1＝（　）× ［kg∙m2］
・
Load moment
G of 32 (JL) calculated in step 2 is 10 times or
inertia margin in torque load factor. The moment of inertia ratio can be
less than the rotor moment of inertia (JM) of servo motor controlled at 10 times or more, for example, by slowly rotating the
table 2π（N2－N1）×（JL＋JM）
JL ≦ JM （ a ×ta）＋（TL ×tr）＋（Tb ×tb）
× T102 2 2
Tb＝ mechanism. Testing with an actual
－　machine
TL ［N∙mis］recommended.
Trms＝［N∙m］ 60×tb
・ Load torque (TL) calculated t in step 3 is 80% or less (TR × 0.8) of
8. Calculation of regenerative power
1 2
servoP motor
2
＝（　
JL2rated ）×(TW
torque R) of×
（　）［kg∙m2］
G 2 π Calculate the regenerative efficient power (PM) to determine the
TL ≦ TR × 0.8
2 regenerative resistor to be used. From the calculation results,
1 21 π×ρ×D4×L Tb Tb
＝
JL1＝
EM （　）2× N × 3 × Keφ ×　　×
Ehb ＝　　×
KT
［kg －　　　
tb∙m2
］
KT
× 3 × Rφ × tb （Ta2×taa
determine whether
Trms＝
）＋（TL2×regenerative
built-in tr）＋（Tb2×tbresistor
） can be used.
［N∙m］
G 32
5. Calculation of acceleration/deceleration torque t
（F＋μW） P 1 ■ Method of obtaining regenerative efficient power (PM) of horizontal drive shaft
Acceleration/deceleration
TL＝ × ×torque×　is necessary
9.8 ［N∙m］ for accelerating
Derive the regenerative energy.
η
and decelerating the 2π
motor and
G load.
2
1 2 P 2 1 Tb Tb
JL2＝（　）× W ×（　）［kg∙m2］ EM ＝ Ehb ＝　　× N × 3 × Keφ ×　　× tb －　　　 × 3 × Rφ × tb
2π 2 KT KT
■ Method
G of obtaining acceleration torque (Ta)
2π（N2－N1）×（JL＋JM）
Ta＝＋　TL ［N∙m］ EM: Regenerative energy in case of horizontal drive shaft [J]
60×ta Ehb: Regenerative energy during deceleration [J]
1 2 π×ρ×D4×L
JL1＝（　）× ［kg∙m2］
Ke φ : Induced voltage constant [Vrms/min-1] (motor constant)
（F＋μW） P 32 1
NT2:L＝ ServoGmotor rotary
× × after×　
speed 9.8 ［N∙m］
acceleration [min-1]
η 2π G KT: Torque constant [N∙m/Arms] (motor constant)
N1: Servo motor rotary speed before acceleration [min-1]
N: Motor rotary speed [min-1]
2π（N2－ofN1motor
JL: Conversion ）×（Jshaft
L＋JMmoment
） of load inertia [kg∙m2]
Tb＝－　TL ［N∙m］ R φ : Armature resistance [Ω] (motor constant)
JM: Conversion ×tb motor moment of rotor inertia [kg∙m2]
of60servo
1 2 P 2 tb: Deceleration time [s]
TJLL2: ＝（　（） N2×
Calculation
π －ofNW
load
1）×（
×（　
torque
JL2＋） kg∙m2］
for［motor shaft conversion [N∙m]
T ＝
2G πJM）＋　TL ［N∙m］ Tb: Deceleration torque [N∙m]
ta:aAcceleration time [s]
60×ta
Derive the regenerative efficient power from regenerative energy.
■ Method of
（Tobtaining
a ×ta）＋（
2
TL2×tr）＋（Ttorque
deceleration b ×tb）(Tb)
2
Trms＝［N∙m］ EM
（F＋μW） P t 1 PM =
TL＝ × × ×　9.8 ［N∙m］ t
2πη
（N2－N1）×（JL＋JM）
2π G
Tb＝－　TL ［N∙m］ PM: Regenerative efficient power [W]
60×tb
2 EM: Regenerative energy [J]
1 Tb Tb
EM ＝ Ehb ＝　　× N × 3 × Keφ ×　　× tb －　　　 × 3 × R-1φ × tb t: Cycle time [s]
N2: Servo motor
2 rotary speed before
KT deceleration
KT [min ]
2π（
N1: Servo N2－Nrotary
motor 1）×（ JL＋JMafter
speed ） deceleration [min-1]
Ta＝＋　TL ［N∙m］
JL: Conversion of60
motor shaft moment of load inertia [kg∙m2] ■ Selection of regenerative resistor
（Ta2× ta×
）ta
＋（TL2×tr）＋（Tb2×tb）
JTrms ＝
M: Conversion of servo motor moment of rotor［ N∙m］[kg∙m2]
inertia Select a regenerative resistor that meets the following conditions.
t
TL: Calculation of load torque for motor shaft conversion [N∙m] ・ In case of servo amplifiers with a built-in regenerative resistor:
tb: Deceleration time [s] Permissible regenerative power [PR] that is less than efficient
2π（N2－N1）×（JL＋JM） regenerative power [PM] and can be used with built-in regenerative
Tb＝ Tb －　TL ［N
Tb∙m］
2
6. Calculation
1
EM ＝ Ehb ＝　　×60
of×tb
N×
effective torque
3 × Keφ ×　　× tb －　　　 × 3 × Rφ × tb resistors
2 KT KT ・ In case of external regenerative resistor:
Effective torque is the value per unit time obtained from root mean
square of load torque / acceleration torque / deceleration torque . Permissible regenerative power [PRO] that is less than efficient
regenerative power [PM] and can be used with external regenerative
resistors
（Ta2×ta）＋（TL2×tr）＋（Tb2×tb）
Trms＝［N∙m］ Note that we have servo amplifier models both with and without
t
built-in regenerative resistors for absorbing regenerative power.
152 Select the model accordingly.
2
1 Tb Tb
EM ＝ Ehb ＝　　× N × 3 × Keφ ×　　× tb －　　　 × 3 × Rφ × tb
Selection Data for Each Mechanism
Typical examples of mechanisms and items that require selection are shown below. Provide this information when
placing an order.
Ball screw Rack & pinion
Work External force Work External force

Table Rack
Table Rack
Table Pinion Rack
D Pinion
M D Pinion D
D D
M P D
M
P
L P
L M
L M
M
External force F N External force F N

W: Work + table mass W kg Work + rack mass W kg
Ball screw diameter D m Pinion diameter D m
Ball screw length L m Pinion thickness L m
Ball screw lead P m Pinion material specific gravity ρ kg/m3
Ball screw material specific gravity ρ kg/m3 Coefficient of friction μ
Coefficient of friction μ Gear ratio * G
Gear ratio * G Machine efficiency η
Machine efficiency η
Belt drive Roll feed

L L
External L
force
External L L
Work External L
Work force
Work force
F
F
DD
F
D
Timing belt M
Timing belt M
Timing belt M
D
M D
M D
M
External force F N Sheet tension F N

Work + belt mass W kg Roll diameter D m
Pulley diameter D m Roll width L m
Pulley width L m Roll material specific gravity ρ kg/m3
ρ kg/m
3
Pulley material specific gravity Roll moment of inertia J kg∙m2
Pulley moment of inertia J kg∙m2 Gear ratio * G
Gear ratio * G Machine efficiency η
Machine efficiency η

Rotary table
Dt
Dt
Dh Dt
Dh
Dh
M
M
M
Table mass W kg * Derivation of gear ratio (G)

Table diameter Dt m
G2 Ball screw
Table support diameter Dh m
Table moment of inertia J kg∙m2
Support part coefficient of friction μ M
G1
Selection
Guide
Gear ratio * G
Ball screw gear teeth (G2)
Machine efficiency η G=
Motor gear teeth (G1)
153
Safety Precautions
The products in this catalog are designed to be used with general industrial devices.
When using them, pay sufficient attention to the following points.
・Read the Instruction Manual thoroughly prior to installation, assembly and/or operation in order to use the product properly.
・Refrain from modifying or processing the product in any way.
・Contact your dealer or professionals for installation or maintenance services of the product.
・Regarding the following uses of the product, contact us for the special care required for operation, maintenance and management such
as multiplexing the system, installing an emergency electric generator set, and so forth.
❶ Use in medical equipment that may have an effect on human life

❷ Use in equipment such as trains or elevators, that may have an effect on human life or the human body
❸ Use in computer systems that may have a major impact on society or on the public
❹ Use in other devices that have a major impact on maintaining equipment and device functions that may have an effect on human
safety or public operations.
・In addition to the above, contact us for use in an environment where vibrations occur, such as in automobiles or while being transported.
・Familiarize yourself with the equipment, safety information, and precautions before using the product.
Indication by (Warning Label) on the Product

The following indications are expressed by Warning labels. Indications vary depending on models.
This label is affixed near high voltage parts such as the electrically charged or cover-protected section,
warning of the places where it is likely to cause an electric shock.
This label is affixed near the GND terminals where grounding is required,
recommending that the terminals should be well grounded.
Safety Ranks of the Cautions

The following five ranks are provided.
Improper operations or use is most likely to result in serious injury or death.
Improper operations or use is most likely to result in serious injury or death.
Improper operations or use is likely to result in average or minor injury, or in property damage.
In spite of the cautions with the label, it may cause serious results.
Either the contents or the labels is describing important cautions to be followed inevitably.
Indicates what must not be done.
Indicates what must be done.
5. Do not damage, apply excessive stress, or place a heavy object

on the cable or get it caught between objects. Doing so may
cause an electric shock.
Precautions on Use 6. Never touch the rotating part of the servo motor during its opera-
1. Do not use the product in an explosive atmosphere. Doing so tion. Doing so may cause injury.
may cause injury or fire.
2. Do not work on wiring, maintenance servicing or inspection with
the electric power on. Always turn the power off and wait for
15 minutes or more. Confirm that the main circuit power supply
charging LED is off before starting the work. Failure to do so may
Precautions on Use
result in an electric shock or damage. 1. Use the servo amplifier and servo motor in the designated com-
3. The protective ground terminal of the servo amplifier must be bination. Failure to do so may result in a fire or failure.
grounded to the device or control panel. The servo motor ground 2. Have a person with specialized knowledge perform transporting,
terminal must be connected to the protective ground terminal installation, wiring, operation, maintenance or inspection of the
of the servo amplifier. Failure to do so may result in an electric product. Failure to do so may result in an electric shock, injury or fire.
shock. 3. Do not install the product in a damp environment, explosive, flam-
4. Never touch the internal parts of the servo amplifier. Doing so mable or corrosive atmosphere, or near a combustible material.
may cause an electric shock. Doing so may cause a fire or failure.
154
4. Do not touch the servo amplifier, servo motor or peripheral de- element for the servo motor holding brake relay. Use a sequence
vices as the temperature becomes very high. Doing so may that takes the holding delay time into consideration. Failure to do
cause burns. so may result in fall or injury.
5. Do not touch the product while the power is on or for a while after Operations
the power is turned off since the servo amplifier radiator fins, re- 31. Do not make drastic changes or adjustments as they may result
generative resistor, and servo motor are very hot. Doing so may in unstable operation. Doing so may cause injury.
cause burns. 32. When performing a trial operation, fasten the servo motor and dis-
6. Have a person with specialized knowledge of relevant safety connect it from the mechanical system. Check the operation, then
standards read and understand the information listed in the in- connect it to the machine. Failure to do so may result in injury.
cluded Instruction Manual before designing the safety system 33. The holding brake is not a stopping device to ensure machine
that uses the Safe Torque Off function. Failure to do so may result safety. Install a stopping device on the machine to ensure ma-
in injury or failure. chine safety. Failure to do so may result in injury.
7. Prior to installation, operation, maintenance servicing or in- 34. When an alarm has been activated, eliminate the cause, ensure
spection, be sure to read the Instruction Manual and follow the safety, and reset the alarm before resuming operations. Failure to
instructions to perform. Failure to do so may result in an electric do so may result in injury.
shock, injury or fire. 35. Ensure that the input power supply voltage is within the specified
8. Use the servo amplifier and servo motor within the specified range. Failure to do so may result in a failure.
ranges. Failure to do so may result in an electric shock, injury, or 36. When the electric power recovers after a momentary interrup-
damage. tion, do not approach the devices because the system may
9. Element wires of the regenerative resistor have an allowed in- restart operation by itself. (Design the system ensuring safety in
stantaneous capacity. Consult us if the moment of inertia is large case it restarts on such occasions. ) Doing so may cause injury.
or rotational speed is high and the instantaneous regenerative 37. Do not use servo amplifiers and servo motors that have had a
current is large. failure, damage, or burnout. Doing so may cause injury or fire.
Transportation 38. Stop operations immediately when an emergency occurs. Failure
10. Do not carry the product by holding the cable, motor spindle, or to do so may result in an electric shock, injury or fire.
detector section. Doing so may cause a failure or injury. 39. When using the servo motor with a vertical axis, install a safety
11. Be careful when carrying the product to prevent it from falling or device to prevent the workpiece from falling when an alarm is
overturning. Failure to do so may result in injury. activated. Failure to do so may result in injury or damage.
Placement Maintenance and Inspection
12. Do not climb on or place a heavy object on the product. Doing so 40. Parts that are used in servo amplifiers (electrolytic condenser,
may cause injury. cooling fan, lithium batteries for the encoder, fuse, relay, etc.) de-
13. Ensure that the product is installed in the correct direction. Failure teriorate over time. As preventive maintenance, replace with new
to do so may result in a fire or failure. ones according to the standard replacement intervals. Contact us
14. Do not drop or expose the product to excessive shock. Doing so for details. Failure to do so may result in a failure.
may cause a failure. 41. Never touch the terminals or connectors while the power is on.
15. Ensure that the intake and exhaust ports are not blocked and take Doing so may cause an electric shock.
measures to prevent foreign matter from entering. Failure to do 42. Servo amplifier frames become very hot. Be careful when perform-
so may result in a fire. ing maintenance or inspection. Failure to do so may result in burns.
16. Place the servo amplifier in the control panel keeping a distance 43. Contact us for repairs. If the product is disassembled by the user,
from other devices as instructed in the Instruction Manual. Failure it may become inoperable. Doing so may cause a failure.
to do so may result in a fire or failure.
17. Ensure that the bottom and top of the box are facing correctly
while unpacking. Failure to do so may result in injury.
18. Confirm that the product is what you ordered. Failure to do so
Storage
may result in injury or damage.
1. Avoid storing this product in places exposed to rain or water
19. Be careful when installing the product in order to prevent it from
drops, or in an environment with hazardous gas or liquid. Failure
falling or overturning. Use eye bolts for servo motors that come
to do so may result in a failure.
with them. Failure to do so may result in injury.
20. Mount the product on an incombustible material such as metal. Operations
Failure to do so may result in a fire. 2. Do not use the brake built into the servo motor for normal braking
21. Setup devices such as a collision safety device so that it suffi- operation as it is a holding brake. Using this brake for braking
ciently withstands the maximum output of the system. Failure to damages the brake. Doing so may cause a failure.
do so may result in injury. 3. Do not apply static electricity or high voltage to the encoder cable
for the servo motor. Doing so may cause a failure.
Wiring
4. With a servo amplifier that has a standard dynamic brake resistor,
22. Ensure that wiring has been correctly done. Failure to do so may
never continuously rotate the servo motor externally when the
result in injury.
servo is off. Doing so causes the dynamic brake resistor to gen-
23. Perform wiring as instructed in the wiring diagram or the Instruction
erate heat, which is very dangerous. Doing so may cause a fire or
Manual. Failure to do so may result in an electric shock or fire.
burns.
24. Perform wiring conforming to the electrical Installation standards
5. Applying excessive voltage that exceeds the input voltage range
or the internal rule. Failure to do so may result in burnout or fire.
may cause a part failure. Never use the product with the voltage
25. Do not connect commercial power supplies to U, V, W terminals
exceeding the specified range. Doing so may cause a failure or
of the servo motor. Doing so may cause a fire or failure.
injury.
26. Install safety devices such as a breaker to prepare for a short
6. Do not turn on and off the power frequently. Turning on and off
circuit of external wiring. Failure to do so may result in a fire.
the power exceeding 30 times/day, 5 times/hour may cause pre-
27. Do not bind the servo motor power cable and I/O signal cable
mature failures of internal parts.
or encoder cable together or pass them through the same duct.
Doing so may cause a malfunction. Maintenance and Inspection
28. When connecting an inductive load such as a relay to the control 7. Do not disassemble or repair the product. Doing so may cause
output signal of the servo amplifier, always connect a diode for fire or an electric shock.
surge absorption. Make sure that the diode is connected in the 8. Do not measure the insulation resistance or dielectric voltage of
correct polarity direction. Failure to do so may result in a failure of the product. Doing so may cause damage.
the servo amplifier. 9. Never plug in or unplug a connector with the powerON (hot
29. Do not connect 90 VDC or AC power to the servo motor 24 VDC swapping) as electronic components may be damaged due to the
brake. Also, do not connect 400 VAC to the servo motor 200 VAC generated surge voltage. Doing so may cause an electric shock
cooling fan. Doing so may cause burnout or fire. or damage.
30. Braking delay time becomes longer due to the surge absorption 10. Do not remove the nameplate.
155
circuit power supply is turned off when an alarm is activated.
Failure to do so may result in uncontrollable operation, injury, fire,
or secondary damage.
Storage
1. Avoid direct sunlight and store the product within the specified Operations
ambient temperature and humidity range “-20° C to ＋65° C, 90％ 7. Install an external emergency stop circuit to turn the power off
RH or less” (non-condensing). Failure to do so may cause a failure. in the event that operation must be instantly halted. Also, build a
2. If the servo amplifier has been stored for a long period (3 years or safety circuit outside of the servo amplifier so that the main cir-
longer as a general guide), contact us. The capacitance may have cuit power supply is turned off when an alarm is activated. Failure
decreased with the electrolytic condenser due to the long period to do so may result in uncontrollable operation, injury, fire, or sec-
storage, which may cause a failure. ondary damage.
3. If the servo motor has been stored for a long period (3 years or 8. Servo motors are not equipped with any protective devices. Take
longer as a general guide), contact us. Bearings and brakes must protective measures using an over-current protective relay, a
be checked. ground fault interrupter, a protective device from excess tempera-
ture, and an emergency stopping device. Failure to do so may
Transportation result in injury or fire.
4. Excess loading of products on the carrier may cause the load to 9. Operate this product within the specified ambient temperature
collapse. Follow the instructions given on the outside of the pack- and humidity range.
age. Failure to do so may result in injury. Servo amplifier (temperature 0° C to 55° C/Humidity 90%RH or
5. Use eye bolts that come with servo motors to transport servo less (non-condensing) )
motors. Do not use them to transport devices. Doing so may Servo motor (temperature 0° C to 40° C/Humidity 90%RH or less
cause injury or failure. (non-condensing) )
Wiring Failure to do so may result in a failure.
6. Install an external emergency stop circuit to turn the power off Retirement
in the event that operation must be instantly halted. Also, build 10. When disposing of a servo amplifier or servo motor, handle it as
a safety circuit outside of the servo amplifier so that the main general industrial waste.
Guideline for Suppressing Harmonics

Harmonic current generated from devices such as a servo amplifier Refer to the following materials for information on how to calculate
may affect other customers if emitted. Therefore, “Guideline for Sup- harmonic current.
pressing Harmonics by Customers Receiving High Voltage or Special ・“Harmonic current calculation method for specific customers”
High Voltage” is established by the Ministry of International Trade and (JEM-TR225) General Incorporated Association The Japan Electri-
Industry (currently Ministry of Economy). cal Manufacturers’ Association (JEMA)
Servo amplifiers used by specific customers are the target devices For servo amplifiers that have DC type input power supply, determine
(harmonics generator) of this guideline. if harmonic suppression measures are necessary on the converter
Consumers to whom the guideline is applied must determine if har- (AC-DC converter) side.
monic suppression measures are necessary based on the guideline
and take measures for keeping harmonic emission within the limit When harmonic suppression measures are necessary for the servo
specified by the contracted power. amplifier, connect a harmonic suppression reactor.
Even for consumers to whom the guideline is not applied, it is rec- For harmonic suppression reactors, contact us for details.
ommended to take harmonic suppression measures in order to avoid
AC reactor Servo amplifier
troubles due to the harmonics. Servo
motor
Our servo amplifiers fall under the circuit type in the table 1 shown in
the “Guideline for Suppressing Harmonics”. Commercial
power supply M
Table 1
Servo amplifier model no. Power supply Circuit classification Circuit type Conversion factor Ki
RS3□01□□ 3-Phase 3 3-Phase bridge 3-1 6-pulse converter without reactor K31＝3.4
RS3□02□□ (Condenser smooth) 3-2 6-pulse converter with reactor K32＝1.8
RS3□03□□ (AC side)
RS3□05□□
Single-phase 4 Single-phase bridge 4-3 Without reactor K43＝2.9
(Condenser smooth, 4-4 With reactor (AC side) K44＝1.3
full-wave rectification)
RS3A10□□ 3-Phase 3 3-Phase bridge 3-1 6-pulse converter without reactor K31＝3.4
RS3A15□□ (Condenser smooth)
RS3A30□□
RS3PAA27000 3-2 6-pulse converter with reactor K32＝1.8
(Power supply unit for RS3W60□□) (AC side)
Reference materials
・“Guideline for Suppressing Harmonics by Customers Receiving High Voltage or Special High Voltage” (September, 1994) Ministry of International
Trade and Industry (currently Ministry of Economy)
・“Guideline for Suppressing Harmonics” (JEAG 9702-2013) General Incorporated Association The Japan Electric Association
・“Guideline for Suppressing Servo Amplifier Harmonics” (February, 2015) General Incorporated Association The Japan Electrical Manufacturers’
Association (JEMA)
・“Harmonic current calculation method for specific customers” (JEM-TR225) General Incorporated Association The Japan Electrical Manufacturers’
Association (JEMA)
・“Guideline for Suppressing Servo Amplifier (input current 20 A or less) Harmonics” (JEM-TR227) General Incorporated Association The Japan
Electrical Manufacturers’ Association (JEMA)
156
SANMOTION Products Lineup
Motion controller
MOTION CONTROLLER
GA1060 Reduction of wires by networking with the serial I/F.

Motion control, robot control, and sequence control
SERCOS
CANopen
EtherCAT EtherCAT interface type as standard feature

Motion control, robot control, and sequence control
GA1060
SERCOS
CANopen
AC servo system
AC SERVO SYSTEMS
Safety function mounted Input voltage: 100, 200 VAC

Motor flange size: 40 to 275 mm
Analog/Pulse
AC SERVO SYSTEMS
Safety function mounted Input voltage: 100, 200 VAC

EtherCAT
AC SERVO SYSTEMS
Single axis Input voltage: 100, 200 VAC

Built-in positioning function
CANopen
Multi-axis
Pulse
157
SANMOTION Products Lineup
AC servo system
AC SERVO SYSTEMS
Single axis Input voltage: 48 VDC

Pulse Motor flange: 20 to 60 mm
Output capacity: 20 to 200 W
EtherCAT
Multi-axis
EtherCAT
Compact AC servo motor

Motor flange size: 14 mm
Output capacity: 2.4 W
AC SERVO SYSTEMS
Analog/Pulse Input voltage: 400 VAC

CANopen
AC spindle motor, AC servo amplifier
AC SERVO SYSTEMS
Analog/Pulse Input voltage: 200 VAC

Motor flange size: 160 mm
EtherCAT
Output capacity: 3.2, 4.5 kW
DC servo system
DC SERVO SYSTEMS
Analog/Pulse Input voltage: 50, 140 VDC

Motor size: φ 41 to φ 87.5 mm
Rated output: 23 to 500 W
158
Closed-loop stepping system
CLOSEDLOOP STEPPING SYSTEMS
Pulse Driver: AC input/DC input, single axis/multi axes

Motor size: 28 to 86 mm
RS-485
With gear and brake
Parallel I/O
EtherCAT
5-Phase stepping system

5-PHASE STEPPING SYSTEMS
Micro step Driver: AC input/DC input

Pulse
With gear and brake
Linear drive stepping motor
Motor size: 42, 60 mm
With brake, without brake
2-Phase stepping system

2-PHASE STEPPING SYSTEMS
Micro step Driver: AC input/DC input

Motor size: 14 to 86 mm, φ 80 to 106 mm
Pulse
With gear and brake
Driver-integrated stepping motor
Driver: 24 VDC
Pulse
RS-485
I/O
Protection code IP65 stepping motor
3-Phase stepping motor

3-PHASE STEPPING MOTOR
Linear servo system

LINEAR SERVO SYSTEMS
Linear servo motor

Flat type with core, Dual magnet type with core
Compact cylinder
159
■ Precautions For Adoption
Failure to follow the precautions on the right may cause
moderate injury and property damage, or in some
circumstances,could lead to a serious accident.
Always follow all listed precautions.
＊For any question or inquiry regarding the above, contact our Sales Department.
https://www.sanyodenki.com
TEL: +81 3 5927 1020

3-33-1 Minami-Otsuka, Toshima-ku, Tokyo 170-8451, Japan
TEL: +33 1 48 63 26 61
P.A. Paris Nord Ⅱ, 48 Allée des Erables-VILLEPINTE, BP.57286, F-95958 ROISSY CDG Cedex, France
TEL: +1 310 783 5400

468 Amapola Avenue Torrance, CA 90501, U.S.A.
TEL: +86 21 6235 1107

Room 2106-2110, Bldg A, Far East International Plaza, No.319, Xianxia Road, Shanghai, 200051, China
Beijing Branch
TEL: +86 10 6522 2160
Room1222, Tower B, Beijing COFCO Plaza, No.8 Jianguomennei Dajie, Dong Cheng District, Beijing 100005 China
TEL: +852 2312 6250

Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Road, TST East, Kowloon, Hong Kong
TEL: +886 2 2511 3938

N-711, 7F, Chia Hsin 2nd Bldg., No.96, Sec.2, Zhongshan N. Rd., Taipei 10449, Taiwan (R.O.C.)
TEL: +65 6223 1071

988 Toa Payoh North, #04-08, Singapore 319002
Indonesia Representative Office
TEL: + 62 21 252 3202
Summitmas II 4th Floor, Jl. Jend. Sudirman Kav.61-62, Jakarta 12190, Indonesia
TEL: +49 6196 76113 0

Frankfurter Strasse 80-82, 65760 Eschborn, Germany
TEL: +82 2 773 5623

15F, KDB Building, 372, Hangang-daero, Yongsan-gu, Seoul, 04323, Korea
Busan Branch
TEL: +82 51 796 5151
8F, CJ Korea Express Bldg., 119, Daegyo-ro, Jung-gu, Busan, 48943, Korea
TEL: +86 755 3337 3868

2F 02-11, Shenzhen International Chamber of Commerce Tower, No.168 Fuhua 3 Road, Futian District, Shenzhen, 518048 China
Tianjin Branch
TEL: +86 22 2320 1186
Room AB 16th Floor TEDA Building, No. 256 Jie Fang Nan Road, Hexi District, Tianjin 300042 China
Chengdu Branch
TEL: +86 28 8661 6901
Room2105B, Block A, Times Plaza, 2 Zongfu Road, Jinjiang District, Chengdu, 610016 China
TEL: +66 2261 8670

388 Exchange Tower, 25th Floor, Unit 2501-1, Sukhumvit Road, Klongtoey, Klongtoey, Bangkok 10110 Thailand
TEL: +91 44 420 384 72

#14 (Old No.6/3), Avenue Road, Nungambakkam, Chennai - 600034, Tamil Nadu, India
The names of companies and/or their products specified in this catalog are the trade names, and/or trademarks and/or registered trademarks of such respective companies.
Specifications are subject to change without notice. CATALOG No. S1030B002 ’17.9.IT

Sanmotion R 3e Ad e

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Sanmotion R 3e Ad e

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100 VAC 30 - 200 W, 200 VAC 30 W - 30 kW

Rated output 100 VAC: 30 to 200 W

The SANMOTION R series servo systems contribute

Servo system SANMOTION R

SANMOTION R SANMOTION R SANMOTION R

Multi-axis Pulse Input

Servo motor Linear

・ What is servo system?

NEW High-precision battery-less absolute encoder

Industrial robots Machine tools Injection molding machines

Food machinery Chip mounters

Conformance to Safety Standards

Lineup: 10, 20, 30, 50, 100, 150, 300, 600 A

SANMOTION R ADVANCED MODEL

Lineup: 15, 30, 50, 100, 150, 300 A

Lineup: 15, 30, 50 A

Built-in Positioning Function type

Lineup: 15, 30, 50, 100, 150, 300 A

Multi-axis Pulse Input type

Amplifier Unit Lineup: 15 A (6-axis model) and 30 A (4-axis model)

Servo Motor (Rotary Motor)

Motor type Flange size, features

R2 Servo Motor 40 mm sq., 60 mm sq., 80 mm sq., 86 mm sq., 100 mm sq.,

R1 Servo Motor 180 mm sq., 220 mm sq.

R5 Servo Motor 60 mm sq., 80 mm sq.

Linear Servo Motor

Servo Amplifier and Spindle Motor

Lineup: Output capacity 3.2, 4.5 kW Amplifier capacity 150 A

The 3rd generation of SANMOTION R servo

Shorter takt time achieved through high-speed positioning control

Improved control accuracy

accurate machine tool feed-axis control signifi-

Improved safety performance through High-precision tandem operation

up to 10%.* The 3E Model has The servo amplifier calculates

up to 10% lower standby power power consumption based on

* For amplifiers with capacities from 100 to 300 A.

Easy to use R 3E Model

Easy servo tuning

Model-based following control Auto-tuning

Model control system

Position/speed control Motor/machine

Feedback control system

Feed-forward vibration suppression control Command following control

All-in-one control 5-Digit LED display, built-in operator

EtherCAT interface type CANopen interface type

Built-in positioning function type Multi-axis pulse input type

Linear servo motors with large thrust force

angle accuracy of approximately 0.0167 deg. within a rotation (1

In addition, selecting an encoder that is optimal to the device is also

Optical battery-backup method absolute encoder • Resolution during single rotation:

Resolver method battery-less absolute encoder

Optical wire-saving incremental encoder

List of Compatible Servo Amplifiers and Servo Motors

Analog/Pulse Input type Servo amplifier

0.03 40 mm sq. R2EA04003F ●

0.03 40 mm sq. R2AA04003F ●

Servo Amplifiers and

*Not compatible with the battery-less optical absolute encoder HA035.

— RS1E01□□《15A》 RR1E01AAB《15A》 R2EA04003F 0.03

List of Compatible Servo Amplifiers and Servo Motors

Analog/Pulse Input type Servo amplifier

5.5 180 mm sq. R1AA18550H ●

R1 7.5 180 mm sq. R1AA18750L ●

Servo Amplifier　R ADVANCED MODEL EtherCAT Interface type

Servo Amplifier　R Built-in Positioning Function type

Servo Amplifier　R Multi-axis Pulse Input type

Servo Amplifier　R CANopen Interface type

Servo Amplifier　R Multi-axis Pulse Input type

R5 Servo Motor　Small Capacity, Medium Inertia　

Servo Amplifier　R 3E Model Analog/Pulse Input type

Servo Amplifier　R ADVANCED MODEL EtherCAT Interface type

R2 Servo Motor　200 V System, Small Capacity, Medium Inertia

R2 Servo Motor　200 V System, Small Capacity, Medium Inertia