SANMOTION E-6, E-9 User Manual

Ê-,6"Ê-9-/-

Ver.3

Simplified Setup Process for Optimum
Operating Conditions

Auto-Tuning

A new auto-tuning algorithm improves system response by
providing functions such as inertia identification, 5 auto­tuning modes, 30 levels of response, and parameter setting
auto-save.

Velocity command
value

Tuning start

Detected velocity value

Test Function (JOG)

On-board JOG operation function is available for testing
servo motor and servo amplifier connection without the
need to connect to host device.

Capable of JOG operation
without connecting
to host device

Setup Software is required.

Conformance to Overseas Standards

Our standard servo amplifier has attained the UL, c-UL and
EN standards. You can also employ servo motors that have
attained the EN standards.

All-in-One Control

Configurable parameters allow you to switch between
control modes for torgue, position or velocity.

Position

Velocity

START

or

Flat

Torque
control

Ascending

GOAL

1

Setup Software

Multiaxial Monitor Function

Functions

Features and

The setup software allows you to set parameters, view
graphical displays of monitored position, velocity or torque
waveforms, and perform system analysis.

Parameter settings Position, velocity,
torque waveforms

*

*Use optional cable
AL-00490833-01 for PC connection

The setup software allows up to 15 servo amplifiers to be
monitored.

Daisy chain up to 15 units

*

DC SERVO SYSTEMS AC SERVO SYSTEMS

*Use optional cable
For PC connection

Maximum
15 units

Nomencalture

Model Number

System

Configuration

Standard

Specifications

Diagram

External Wiring

Dimensions

Setup Software

Protection Code IP43

Protection code is IP43 for all models.

Water

Shaft feedthrough and cable end are excluded.

Dust

IP43

Optional

Equipment

2

Improved Systems Precision and Shortened Cycle Time

High Response

A 4th-order notch filter reduces phase delay to suppress
mechanical resonance and improve velocity response of
equipment.

10

0

-10

-20

Gain (dB)

-30

-40
1

5 10 50100 500 1000

Frequency (Hz)

Vibration-damping Control

With feed-forward vibration suppression control, vibrations
at the processing point and base of a machine can be
suppressed through simple tuning procedures. Up to 4
types of vibration control frequencies can be selected.

Position deviation during stop

With vibration suppression control
Without vibration suppression control

With vibration

suppression control

17-bit absolute encoder is required.

Without vibration

suppression control

100ms/div

Shorter Position Settling Time

A new algorithm drastically shortens positioning settling
time for equipment.

Position deviation

Position complete signal

Example of positioning settling time
in highly rigid machinery

Settling time (0ms)

5ms/div

Disturbance Suppression

It is possible to control impacts from other axes in case
of multiaxial constitution, by using the new disturbance
observer with extended applicable frequency.

Disturbance observer function ON

Oscillation waveform
of direct drive section

Disturbance

Disturbance observer function OFF

Oscillation waveform
of direct drive section

Disturbance

17-bit encoder is required.

3

High Resolution

Curtailed Running Cost

30% Reduction in Power Loss

Functions

Features and

Control suitable for the high-resolution incremental
encoder and absolute encoder can be performed.

0

4

1

8

n

o

i

t

u

l

o

s

e

R

m

u

m

i

x

a

5

7

6

d

i

v

i

s

i

o

n

s

M

A low-power loss module has been employed to reduce the
power loss in the main circuit by 30%.

100%

90%

80%

70%

60%

50%

40%

30%

20%

10%

Reduction rate of power loss

0%

SANMOTION TCurrent model

Nomencalture

Model Number

System

Configuration

Standard

Specifications

Diagram

External Wiring

Dimensions

Setup Software

Optional

Equipment

4

Servo Motor Standard Model Number List

Rated Output

23W

40W

60W

110 W

200W

300W

400W

500W

Outer diameter

of motor

φ

41mm

φ

41mm

φ

41mm

φ

51mm

φ

51mm

φ

76mm

φ

76mm

φ

87.5mm

φ

87.5mm

Encoder

―

Incremental encoder (PP031) 1000P/R

―

Incremental encoder (PP031) 1000P/R

―

Incremental encoder (PP031) 1000P/R

―

Incremental encoder (PP031) 1000P/R

―

Incremental encoder (PP031) 1000P/R

―

Incremental encoder (PP031) 1000P/R

―

Incremental encoder (PP031) 1000P/R

―

Incremental encoder (PP031) 1000P/R

―

Incremental encoder (PP031) 1000P/R

Tachometer

generator

―

Winding

specifications

Model No.

T402- 011

With T402T-011

―

―

24VSystem

T402- 011EL8

T404 - 011

With T404T-011

―

With T404T-012

―

―

With

―

―

With

―

―

With T511T-012

―

―

With T720T-012

―

―

With T730T-012

―

―

With T840T-012

―

―

With T850T-012

―

For specifications on other model, please contact us.

75VSystem

24VSystem T404-011EL8

System T404-012EL8

75V



24VSystem T406-011

System T406-012

75V



System T406T-011

24V



System T406T-012

75V



24VSystem T406-011EL8

System T406-012EL8

75V



24VSystem T506-011

System T506-012

75V



System T506T-011

24V



System T506T-012

75V



24VSystem T506-011EL8

System T506-012EL8

75V



75VSystem

75VSystem

75VSystem

75VSystem

75VSystem

T404 - 012

T511- 012

T511- 012 EL8

T720-012

T720-012EL8

T730-012

T730-012EL8

T840-012

T840-012EL8

T850-012

T850-012EL8

5

Servo Amplifier Standard Model Number List

Main power

DC140V

DC50V

Control power

DC24V

Control system

Pulse train,Speed,

Tor que

Speed,Torque

Pulse train,Speed,

Tor que

Speed,Torque

Amp. capacity

Detector Model No.

20A Incremental encoder TS1A02AA

25A Incremental encoder TS1AA2AA

30A Incremental encoder TS1A03AA

20A

Tachometer generator (Motor model T4) TS1A02AN

Tachometer generator (Motor model T5)TS1A02AP

25A Tachometer generator(Motor model T5,T7) TS1A A2 AP

30A Tachometer generator (Motor model T8) TS1A03AP

20A Incremental encoder TS1B02AA

25A Incremental encoder TS1BA2AA

20A Tachometer generator (Motor model T4) TS1B02AN

25A

Tachometer generator (Motor model T4) TS1BA2AN

Tachometer generator (Motor model T5)TS1BA2AP

For specifications on other model, please contact us.

Functions

Features and

Nomencalture

Model Number

System

Configuration

Standard

Specifications

Diagram

External Wiring

Dimensions

Power unit

Output capacity Model No.

5ATS1PA0500
10A TS1PA1000

15ATS1PA1500

Setup Software

Optional

Equipment

6

Servo Motor / Power Unit Model Number Nomenclature

Servo Motor

Example : The model number is as follows when 200W rated output, 76mm outer diameter,

incremental encoder (1000P/R), a brake, tachometer generator, gear (1/15 gear ratio),

and 75V series voltage specification are selected for "SANMOTION T" servo motor:

Model

Outer diameter

of motor

T4‥‥‥‥‥ φ41 mm
T5

‥‥‥‥‥ φ51 mm

T7

‥‥‥‥‥ φ76 mm

T8

‥‥‥‥‥ φ87.5 mm

Rated output

02‥‥ 23W
04

‥‥ 40W

06

‥‥ 60W

11

‥‥ 110W

20

‥‥ 200W

30

‥‥ 300W

40

‥‥ 400W

50

‥‥ 500W

20

Brake

B‥‥‥ Equipped
None

‥

Not equipped

Tachometer generator

T‥‥‥ Equipped
None

‥

Not equipped

Gear

Motor model Gear ratio

model

model

model

T4

T5

T7

Model No.

GA

1/12.5
1/25

GB
GC

1/50

G1

1/15

G2

1/30

G3

1/60

G4

1/90

G6

1/15

G7

1/30

G8

1/60

G9 1/90

TB

G6

Specification identification

01‥‥‥‥ Standard

Other

Winding specifications

(W/O oil seal)

‥‥ Option

2T7 01 EL8

U

None‥ Standard
U‥‥‥UL

1‥‥ 24V series
2

‥‥ 75V series

Incremental Encoder

Line driver output

Output

Model No.

pulse number

EL8
EL0

E59
EAL8
EAL0
EA59
EA51
EA53

･No indication: No encoder

※

T4 type can be equipped with either tacho-generator or
encoder only. It cannot be equipped with brake oil seal.

※

Motors with a rated output of 23W, 40W, and 60W support
the 24V winding specification.

1000
2000
2500
1000
2000
2500
5000

10000

Encoder type

PP031

PP031T

Quick response

specifications

Absolute encoder

Number of bits

Model No.

A12
A22

17
20

Baud rate

2.5Mbps

2.5Mbps

Power Unit

7

TS1 series

Unit structure type

Power Unit

‥‥

Input voltage Note)

‥‥

(for common use)

Note) Supply AC100V if the motor
winding specification is 75V
series and supply AC35V if
it is 24V series.

ATS1 10 00P

100V AC or 35V AC

Output capacity

05‥‥ 5A
10

‥‥ 10A

15

‥‥ 15A

Individual specification

‥‥ Standard product

Servo Amplifier Model Number Nomenclature

Servo Amplifier

Example: The model number is as follows when "SANMOTION T "series servo amplifier with input voltage

of DC140V, 20A capacity, and incremental encoder (1000P/R).

A AATS1 02

TS1 series

Input voltage

A…DC 140V
B

…DC 50V

Amp. capacity

02 ‥‥‥‥ 20A
A2

‥‥‥‥ 25A

03

‥‥‥‥ 30A

Motor structure type

‥‥

Rotary motor

Control unit hardware type Note)

A ‥‥‥‥ Incremental encoder (Line driver output only)
F

‥‥‥‥ Absolute Encoder

N ‥‥‥‥ Tacometer generator (Motor model T4)
P

‥‥‥‥ Tacometer generator (Motor model T5,T7,T8)

Note) Tacho-generators have not attained international
standards (UL, c-UL and EN Standards).

Functions

Features and

Nomencalture

Model Number

System

Configuration

Standard

Specifications

Diagram

External Wiring

1 ）Compatible servo motor type

Input voltage-140V DC

Type of Amplifier. Type of Motor Factory settings

TS1A02 A

TS1AA 2A

TS1A03A

T404-012
T406-012
T506- 012
T511-012
T720-012
T730-012
T840-012
T850-012

2 ）Compatible encoder type

Format Divisions per rotation [P/R] Addreviation Hard type. Factory settings
Optical 1000 INC-E
Optical 2000 INC-E
Optical 2500 INC-E

Format Transmission format Divisi ons per rot ation [P/ R] Multiple rotation Addreviation Hard type. Remarks Factory settings

Optical

Half duplex start-stop
synchronization 2.5M

Note)

Note)

Incremental encoder

Input voltage-50V DC

√

√

√

17bit 16bit PA035C-2.5MH

Type of Amplifier. Type of Motor Factory settings

TS1B02A T402-011

Ａ
Ａ
Ａ

Absolute encoder

√

√

Ｆ

3 ）Compatible tacometer generator

Motor Model Tacometer generator Model Hard type

T4 3V / 1000min

T5, T7, T8 7V / 1000min

-1

-1

N
P

Dimensions

Setup Software

Optional

Equipment

√

4 ）Interface for control section

Control type Factory settings
Velocity control type
Torque control type
Position control type
Velocity - Torque switch type
Position - Torque switch type
Positio n - Velocit y switch type
Internal velocity control type

Note)

√

Note）Please change the compatible servo motor, compatible encoder and the interface for control section using the set-up software.

8

System Configuration

Circuit Breaker (MCCB)

Main
power
supply

AC100V
50/60Hz

Control power supply:

DC24V output

Noise Filter

Electromagnetic Contactor

Power unit:

DC140V output

Cuts off power in the case of
an overload, to protect the
power line.

Brake Power

Protects the power line
from external noise, and
from noise generated
by the servo amplifier.

Required for use when the
servo motor is equipped
with a brake.

Switches servo power on
and off. Requires installation
of a surge protector.

9

Functions

Features and

Setup Software

C
N

5

CN5

AL-00490833-01

Parameter
configuration and
monitoring is possible
via communication
with a PC.

Nomencalture

Model Number

System

Configuration

C
N
3

C
N

2

CN2CN2

Host Devices

Standard

Specifications

Diagram

External Wiring

C

C
N
4

N

1

Dimensions

CN1

SANYO DENKI's host devices
permit communication with
third-party products.

Setup Software

Wiring required for brake.

Optional

Equipment

10