Sanyo Denki Ac Servo Motor Driver Datasheet

AC100 V 30 W - 200 W, AC 200 V 30 W - 15kW
Input voltage AC100 V, 200 V

Servo amplifier
Amp.capacity 15A・30
0A・50
0A・100A・150
0A・300A
Servo motor
Flange size 40mm sq.・60mm sqq.・80mm sq.・86mm sq.・100mm sq.・
120mm sqq.・130mm sq.・180mm sq.・220mm sq.
Rated output 30W・50W・80W・100W・200W・400W・550W・

750W・1.0kW・1.2kW・1..5kW・1.8kW・2.0kW・
2.5kW
W・3.0kW・3.5
5kW・4.0kW・4.5kW・5.0kW・
5.5kW
W・7.0kW
W・7.5kW・11kW・15kW
Index
Features････････････････････････････････ P. 3
Standard Model Number List ･･･ P. 7
Model Number Nomenclature ･･･P. 15
System Configuration ････････････P. 17
Servo Amplifier Specifications ･･P. 21
General-Purpose Output Specifications ･･P. 22
Specifications - Servo Amplifier+

R2 Servo Motor (Medium Inertia) ･･･P. 23
Q2 Servo Motor (Medium Inertia) ･･･P. 33
R1 Servo Motor (Low Inertia)･･･････P. 35
Q1 Servo Motor (Low Inertia) ･････P. 37
Encoder Wiring Diagram ････････P. 41
External Wiring Diagram ････････P. 42
Dimensions ･･････････････････････････P. 44
R2 Servo Motor (Medium Inertia) ･･･P. 44
R1 Servo Motor (Low inertia) ･･･････P. 48
Q2 Servo Motor (Medium Inertia) ･･･P. 49
Q1 Servo Motor (Low Inertia) ･････P. 49
Servo Amplifier ･･････････････････P. 51
Setup Software ･････････････････････P. 53
Option ･････････････････････････････････P. 55
Features
50% Shorter Position Settling Time ※

The vibrations of the low rigidity machine stand resonance is minimized, and shortens positioning settling time.
The amplifier is suitable for chip mounters and equipment needs high speed positioning.
※ Compared with our conventional product "SANMOTION R".
Relative positions of Relative positions of

mounting rack and table mounting rack and table
0 0
Settling Time 50.8ms Settling Time 19.6 ms

50ms / div 50ms / div
Our conventional product ADVANCED MODEL
Doubled Frequency Response Limit Features Model-based Following Control

The frequency response limit has been increased to 1200 Model-based tracking control enables an improved
Hz, twice the limit of our current model. ※ t a r g e t r e s p o n s e c ur ve , e n h a n c e d d i s t ur b a n c e
※ Compared with our conventional product "SANMOTION R". suppression, and greater robustness.
10
Model control system
0
Twice the limit of our current model.
Position
Gain (dB)
-10
Position/speed control Motor/machine model
-20 command
-30
-40
1 10 100 1000 10000
Frequency (Hz)
Position/speed control Motor/machine
Feedback control system
Auto-Tuning Downsized Servo Motors

Servo amplifier automatically optimizes servo gain and R2 Series Servo Motors are downsized as much as
filter frequency in realtime. 30% in size and 25% in volume from our conventional
product, achieving high torque and high performance.
※ Our conventional product is "SANMOTION Q".
Velocity
command
value
Tuning start
Detected velocity value
30%
3 reduction
Features and
Functions
Feed-forward vibration suppression control Disturbance Suppression
With feed-forward vibration suppression control, It is possible to control impacts from other axes in case
vibrations at the processing point and base of a machine of multiaxial constitution, by using the new disturbance
can be suppressed through simple tuning procedures. observer with extended applicable frequency.
Number Nomenclature
・ Model
Vibration control frequencies are selectable.
Model No. List

Position deviation during stop
With vibration suppression control

Without vibration suppression control Disturbance observer function OFF Disturbance observer function ON
Oscillation waveform Oscillation waveform

of direct drive section of direct drive section
Disturbance
Configuration
Disturbance
System
100ms/div
Without vibration With vibration
suppression control suppression control
Specifications
Standard
Command Follow-up Control Low Cogging Torque
Encoder Wiring
Diagram
Performance of the positioning doubled in comparison The R2 Series Servo Motor's low cogging torque delivers
with current models by adoption of new positioning smooth rotation that is ideal for high precision processes
control algorithm and new speed control algorithm. And and vibration-sensitive conveyor applications.
position deviation ≒ 0 is achieved.
External Wiring
Position command
Comparison of cogging torque waveform
Diagram
Current model
Dimensions
Position deviation
R motor
(Image)
20ms/div
Setup Software
Resonance Suppression High Resolution

A 4th-order notch filter reduces phase delay to suppress Support for encoders up to 17 bit (131,072 divisions) is
mechanical resonance and improve velocity response of available for high resolution control. An optional 20 bit
equipment. encoder (1,048,576 divisions) is also available.
Option
4
Features
Now Available with EtherCAT Interface

EtherCAT is a 100Mbps high-speed fieldbus system, which helps shorten Takt
time. It is compatible with Ethernet, and its high versatility enables the creation of
a system compatible with a variety of devices. Servo amplifier firmware can be
updated via EtherCAT. It is also certified through EtherCAT conformance testing
conducted by a third party organization.
Safety Model newly added to lineup Water Proof and Dust Proof
Sin c e t hi s n e w m o d e l s a f e l y s h u t d o w n m o t or The protection code for R2 Servo Motor (130mm sq.
torque, safety system is more easily installed on the - 220mm sq.) is IP65, as it is highly waterproof and
equipments. This safety function is defined in the dustproof; and for all other models, a protection code of
”IEC61800-5-2:Safe Torque Off” and ”IEC60204-1:Stop IP67 is available.
Category 0”. In addition, this model has acquired
”IEC61508, SIL2/IEC62061,SILCL2” and ”ISO13849- Water Dust
1:Cat.3,PL=d”.
*Shaft feedthrough and cable end are excluded
All-in-One Control 5-digit LED Display, Built-in Operator

Configurable parameters allow you to switch between The built-in operator allows you to change parameters
control modes for torque, position or velocity. and monitor the amplifier status and alarm trace.
Position
or
Torque GO
Velocity
control AL
g
din
c en
As
A RT
ST Flat
5
Features and
Functions
Test Function (JOG) Setup Software
On-board JOG operation function is available for testing The setup software allows you to set parameters, view
motor and amplifier connection without the need to connect graphical displays of monitored position, velocity or
to host device. torque waveforms.
Number Nomenclature
・ Model
Capable of JOG operation Setting parameters
Model No. List

without connecting to host Displaying waveforms
device
Configuration
System
Specifications
Standard
Multiaxial Monitor Function Built-in Regeneration Resistor
The setup software allows up to 15 axes to be monitored. It is possible to choose whether to equip regenerative
To enable monitoring of multiple axes, an optional resistance or not. If the regenerative resistance
Encoder Wiring
communication converter and amplifier communication capability is insufficient, it is possible to use an external
Diagram
cable are available. regenerative resistance unit.
*Analog/Pulse input type only
Built-in Regeneration Resistor
Daisy chain up to 15 axes
Communication converter
External Wiring
(Option)
Diagram
RS-422A
Maximum
15 axes
External regenerative
resistor unit (Option)
Dimensions
Built-in Dynamic Brake Fully-closed loop control

A built-in dynamic brake provides emergency stop capability. Fully-closed control is possible using a linear scale
The six kinds of motion sequences for the dynamic brake can mounted on the device together with high resolution
be selected by parameter setting. encoder information.
Setup Software
Controlled
Rotation speed (min−1)
state Dynamic braking state
Highly accurate
positioning is possible
Loa
d
Time (s)
Option
6
Standard Model Number List
R2 Servo Motor 100V System Small capacity・Medium Inertia

Standard specifications Output shaft: straight, oil seal: none, connection: cable
Model No. Page
Rated Motor Flange Protection Holding CE·UL Battery backup method Absolute encoder for
Output Size Code Brake absolute encoder incremental system Specifications Dimensions
（PA035C）（PA035S）
― R2EA04003FXP00 R2EA04003FXH00 P.23 P.44
―
Standard R2EA04003FXP00M R2EA04003FXH00M P.23 P.44
IP67
― R2EA04003FCP00 R2EA04003FCH00 P.23 P.44
yes（DC24V）
Standard R2EA04003FCP00M R2EA04003FCH00M P.23 P.44
30W 40mm sq. ― R2EA04003FXP03 R2EA04003FXH03 P.23 P.44
―
IP65
― R2EA04003FCP03 R2EA04003FCH03 P.23 P.44
yes（DC24V）
― R2EA04005FXP00 R2EA04005FXH00 P.23 P.44
―
IP67
― R2EA04005FCP00 R2EA04005FCH00 P.23 P.44
yes（DC24V）
―
IP65
― R2EA04005FCP03 R2EA04005FCH03 P.23 P.44
yes（DC24V）
― R2EA04008FXP00 R2EA04008FXH00 P.23 P.44
―
IP67
― R2EA04008FCP00 R2EA04008FCH00 P.23 P.44
yes（DC24V）
―
IP65
― R2EA04008FCP03 R2EA04008FCH03 P.23 P.44
yes（DC24V）
― R2EA06010FXP00 R2EA06010FXH00 P.24 P.44
―
IP67
― R2EA06010FCP00 R2EA06010FCH00 P.24 P.44
yes（DC24V）
―
IP65
― R2EA06010FCP03 R2EA06010FCH03 P.24 P.44
yes（DC24V）
― R2EA06020FXP00 R2EA06020FXH00 P.24 P.44
―
IP67
― R2EA06020FCP00 R2EA06020FCH00 P.24 P.44
yes（DC24V）
―
IP65
― R2EA06020FCP03 R2EA06020FCH03 P.24 P.44
yes（DC24V）
※For specifications on other model, please contact us.
Servo Amplifier 100V System

Page
Control Internal
Encoder Selectable Registration Safe Torque Amplifier
Type Main Power Model No. Servo
Power Type Output Resistor Off function Capacity Amplifier Dimensions
Specifications
15A RS2E01A0AL0 P.21 P.51
― ―
30A RS2E03A0AL0 P.21 P.51
NPN
AC100V AC100V 15A RS2E01A0AA0 P.21 P.51
With ―
Analog/Pulse System System Serial 30A RS2E03A0AA0 P.21 P.51
input type AC100 to 115V AC100 to 115V encoder 15A RS2E01A0BL0 P.21 P.51
― ―
Single-phase Single-phase 30A RS2E03A0BL0 P.21 P.51
PNP
15A RS2E01A0BA0 P.21 P.51
With ―
30A RS2E03A0BA0 P.21 P.51
AC100V AC100V 15A RS2E01A0KL4 P.21 P.51
Photo ― With
EtherCAT System System Serial 30A RS2E03A0KL4 P.21 P.51
relay (with delay
interface type AC100 to 115V AC100 to 115V encoder 15A RS2E01A0KA4 P.21 P.51
output With circuit)
Single-phase Single-phase 30A RS2E03A0KA4 P.21 P.51
※Our standard servo amplifier has attained the UL, c-UL and EN Standards.
7 ※For specifications on other model, please contact us.
Features and
Functions
Model No. Page
（PA035C）（PA035S）
― R2AA04003FXP00 R2AA04003FXH00 P.25 P.44
―
Standard R2AA04003FXP00M R2AA04003FXH00M P.25 P.44
Number Nomenclature
・ Model
IP67
― R2AA04003FCP00 R2AA04003FCH00 P.25 P.44
yes（DC24V）
Standard R2AA04003FCP00M R2AA04003FCH00M P.25 P.44
30W 40mm sq.
Model No. List

― R2AA04003FXP03 R2AA04003FXH03 P.25 P.44
―
IP65
― R2AA04003FCP03 R2AA04003FCH03 P.25 P.44
yes（DC24V）
― R2AA04005FXP00 R2AA04005FXH00 P.25 P.44
―
IP67
Configuration
― R2AA04005FCP00 R2AA04005FCH00 P.25 P.44
yes（DC24V）
System
50W 40mm sq. ― R2AA04005FXP03 R2AA04005FXH03 P.25 P.44
―
IP65
― R2AA04005FCP03 R2AA04005FCH03 P.25 P.44
yes（DC24V）
― R2AA04010FXP00 R2AA04010FXH00 P.25 P.44
―
IP67
Specifications
― R2AA04010FCP006 (note) R2AA04010FCH006 (note) P.25 P.44
Standard
yes（DC24V）
Standard R2AA04010FCP00M6 (note) R2AA04010FCH00M6 (note) P.25 P.44
40mm sq. ― R2AA04010FXP03 R2AA04010FXH03 P.25 P.44
―
IP65
yes（DC24V）
100W ― R2AA06010FXP00 R2AA06010FXH00 P.25 P.44
―
Encoder Wiring
IP67
― R2AA06010FCP00 R2AA06010FCH00 P.25 P.44
Diagram
yes（DC24V）
―
IP65
― R2AA06010FCP03 R2AA06010FCH03 P.25 P.44
yes（DC24V）
― R2AA06020FXP00 R2AA06020FXH00 P.26 P.44
―
External Wiring
IP67
― R2AA06020FCP00 R2AA06020FCH00 P.26 P.44
Diagram
yes（DC24V）
―
IP65
― R2AA06020FCP03 R2AA06020FCH03 P.26 P.44
yes（DC24V）
200W ― R2AA08020FXP00 R2AA08020FXH00 P.26 P.44
―
Standard R2AA08020FXP00M R2AA08020FXH00M P.26 P.44 Dimensions
IP67
― R2AA08020FCP00 R2AA08020FCH00 P.26 P.44
yes（DC24V）
―
IP65
― R2AA08020FCP03 R2AA08020FCH03 P.26 P.44
yes（DC24V）
― R2AA06040FXP00 R2AA06040FXH00 P.26 P.44
Setup Software
―
yes（DC24V）
IP67
― R2AA06040HXP00 R2AA06040HXH00 P.26 P.44
―
Standard R2AA06040HXP00M R2AA06040HXH00M P.26 P.44
― R2AA06040HCP006 (note) R2AA06040HCH006 (note) P.26 P.44
yes（DC24V）
Standard R2AA06040HCP00M6 (note) R2AA06040HCH00M6 (note) P.26 P.44
―
Option

yes（DC24V）
IP65
― R2AA06040HXP03 R2AA06040HXH03 P.26 P.44
―
― R2AA06040HCP036 (note) R2AA06040HCH036 (note) P.26 P.44
yes（DC24V）
Standard R2AA06040HCP03M6 (note) R2AA06040HCH03M6 (note) P.26 P.44
For models with (note), please use with the reduction rating. The reduction rating would be 90% of the rated output in the table. 8
* For specifications of models other than listed, please contact us.

Model No. Page
（PA035C）（PA035S）
― R2AA08040FXP00 R2AA08040FXH00 P.27 P.44
―
IP67
― R2AA08040FCP00 R2AA08040FCH00 P.27 P.44
yes（DC24V）
―
IP65
― R2AA08040FCP03 R2AA08040FCH03 P.27 P.44
yes（DC24V）
― R2AA08075FXP00 R2AA08075FXH00 P.27 P.44
―
IP67
― R2AA08075FCP00 R2AA08075FCH00 P.27 P.44
yes（DC24V）
―
IP65
― R2AA08075FCP03 R2AA08075FCH03 P.27 P.44
yes（DC24V）
― R2AAB8075FXP00 R2AAB8075FXH00 P.28 P.44
―
Standard R2AAB8075FXP00M R2AAB8075FXH00M P.28 P.44
IP67
― R2AAB8075FCP00 R2AAB8075FCH00 P.28 P.44
yes（DC24V）
Standard R2AAB8075FCP00M R2AAB8075FCH00M P.28 P.44
750W 86mm sq. ― R2AAB8075FXP03 R2AAB8075FXH03 P.28 P.44
―
IP65
yes（DC24V）
― R2AA10075FXP00 R2AA10075FXH00 P.27 P.44
―
IP67
― R2AA10075FCP00 R2AA10075FCH00 P.27 P.44
yes（DC24V）
―
IP65
― R2AA10075FCP03 R2AA10075FCH03 P.27 P.44
yes（DC24V）
― R2AAB8100FXP00 R2AAB8100FXH00 P.28 P.44
―
yes（DC24V）
IP67
― R2AAB8100HXP00 R2AAB8100HXH00 P.27 P.44
―
Standard R2AAB8100HXP00M R2AAB8100HXH00M P.27 P.44
― R2AAB8100HCP00 R2AAB8100HCH00 P.27 P.44
yes（DC24V）
Standard R2AAB8100HCP00M R2AAB8100HCH00M P.27 P.44
86mm sq. ― R2AAB8100FXP03 R2AAB8100FXH03 P.28 P.44
―
yes（DC24V）
1kW IP65
― R2AAB8100HXP03 R2AAB8100HXH03 P.27 P.44
―
Standard R2AAB8100HXP03M R2AAB8100HXH03M P.27 P.44
― R2AAB8100HCP03 R2AAB8100HCH03 P.27 P.44
yes（DC24V）
Standard R2AAB8100HCP03M R2AAB8100HCH03M P.27 P.44
― R2AA10100FXP00 R2AA10100FXH00 P.29 P.44
―
IP67
― R2AA10100FCP00 R2AA10100FCH00 P.29 P.44
yes（DC24V）
―
IP65
― R2AA10100FCP03 R2AA10100FCH03 P.29 P.44
yes（DC24V）
9
R2 Servo Motor 200V System Medium capacity・Medium Inertia
Features and
Functions
Standard specifications Output shaft: with key, oil seal: yes, connection: canon plug
Model No. Page
（PA035C）（PA035S）
― R2AA13050HXP00 R2AA13050HXH00 P.28 P.45
―
Number Nomenclature
・ Model
― R2AA13050HCP00 R2AA13050HCH00 P.28 P.45
yes（DC24V）
Standard R2AA13050HCP00M R2AA13050HCH00M P.28 P.45
550W
Model No. List

130mm sq. IP65
― R2AA13050DXP00 R2AA13050DXH00 P.28 P.45
―
Standard R2AA13050DXP00M R2AA13050DXH00M P.28 P.45
― R2AA13050DCP00 R2AA13050DCH00 P.28 P.45
yes（DC24V）
Standard R2AA13050DCP00M R2AA13050DCH00M P.28 P.45
― R2AA13120BXP00 R2AA13120BXH00 P.28 P.45
―
Configuration
Standard R2AA13120BXP00M R2AA13120BXH00M P.28 P.45
System
― R2AA13120BCP00 R2AA13120BCH00 P.28 P.45
yes（DC24V）
Standard R2AA13120BCP00M R2AA13120BCH00M P.28 P.45
― R2AA13120LXP00 R2AA13120LXH00 P.29 P.45
―
Standard R2AA13120LXP00M R2AA13120LXH00M P.29 P.45
1.2kW 130mm sq. IP65
― R2AA13120LCP00 R2AA13120LCH00 P.29 P.45
yes（DC24V）
Standard R2AA13120LCP00M R2AA13120LCH00M P.29 P.45
R2AA13120DXP00 R2AA13120DXH00 P.29 P.45
Specifications
―
―
Standard
― R2AA13120DCP00 R2AA13120DCH00 P.29 P.45
yes（DC24V）
― R2AA13180HXP00 R2AA13180HXH00 P.29 P.45
―
― R2AA13180HCP00 R2AA13180HCH00 P.29 P.45
yes(DC24V)
Encoder Wiring
Diagram
― R2AA13180DXP00 R2AA13180DXH00 P.30 P.45
―
― R2AA13180DCP00 R2AA13180DCH00 P.30 P.45
yes(DC24V)
― R2AA13200LXP00 R2AA13200LXH00 P.30 P.45
―
External Wiring
― R2AA13200LCP00 R2AA13200LCH00 P.30 P.45
yes（DC24V）
Diagram
2kW 130mm sq. IP65
― R2AA13200DXP00 R2AA13200DXH00 P.30 P.45
―
― R2AA13200DCP00 R2AA13200DCH00 P.30 P.45
yes（DC24V）
― R2AA18350LXP00 R2AA18350LXH00 P.30 P.46
―
Standard R2AA18350LXP00M R2AA18350LXH00M P.30 P.46 Dimensions
― R2AA18350LCP00 R2AA18350LCH00 P.30 P.46
yes(DC24V)
180mm sq. IP65
― R2AA18350DXP00 R2AA18350DXH00 P.31 P.46
―
3.5kW ― R2AA18350DCP00 R2AA18350DCH00 P.31 P.46
yes(DC24V)
― R2AA22350LXP00 R2AA22350LXH00 P.31 P.47
Setup Software
―
220mm sq. IP65
― R2AA22350LCP00 R2AA22350LCH00 P.31 P.47
yes（DC24V）
― R2AA18450HXP00 R2AA18450HXH00 P.31 P.46
―
― R2AA18450HCP00 R2AA18450HCH00 P.31 P.46
yes(DC24V)
― R2AA22500LXP00 R2AA22500LXH00 P.32 P.47
―
Option

5kW 220mm sq. IP65
− R2AA22500LCP00 R2AA22500LCH00 P.32 P.47
yes（DC24V）
10
R2 Servo Motor 200V System Medium capacity・Medium Inertia

Model No. Page
（PA035C）（PA035S）
― R2AA18550RXP00 R2AA18550RXH00 P.31 P.46
―
Standard R2AA18550RXP00M R2AA18550RXH00M P.31 P.46
― R2AA18550RCP00 R2AA18550RCH00 P.31 P.46
yes(DC24V)
Standard R2AA18550RCP00M R2AA18550RCH00M P.31 P.46
― R2AA18550HXP00 R2AA18550HXH00 P.32 P.46
―
― R2AA18550HCP00 R2AA18550HCH00 P.32 P.46
yes(DC24V)
― R2AA18750HXP00 R2AA18750HXH00 P.32 P.46
―
― R2AA18750HCP00 R2AA18750HCH00 P.32 P.46
yes(DC24V)
― R2AA1811KRXP00 R2AA1811KRXH00 P.32 P.46
―
IP65 Standard R2AA1811KRXP00M R2AA1811KRXH00M P.32 P.46
11kW 180mm sq. (Excluding
― R2AA1811KRCP00 R2AA1811KRCH00 P.32 P.46
cooling fan)
yes(DC24V)
Standard R2AA1811KRCP00M R2AA1811KRCH00M P.32 P.46
Q2 Servo Motor 200V System Medium capacity・Medium Inertia

Model No. Page
Rated Motor Flange Protection Holding CE·UL Battery backup method Resolver method batteryless Wire-saving
Output Size Code Brake absolute encoder absolute encoder incremental encoder Specifications Dimensions
（PA035C）（RA035C）（PP031T/PP038H/PP062）
― Q2AA18200HXP00 Q2AA18200HXW00 Q2AA18200HXS00 P.33 P.49
―
180mm Standard Q2AA18200HXP00M Q2AA18200HXW00M Q2AA18200HXS00M P.33 P.49
2kW IP67
― Q2AA18200HCP00 Q2AA18200HCW00 Q2AA18200HCS00 P.33 P.49
sq. yes（DC24V）
Standard Q2AA18200HCP00M Q2AA18200HCW00M Q2AA18200HCS00M P.33 P.49
― Q2AA22550BXP00 Q2AA22550BXW00 Q2AA22550BXS00 P.33 P.49
―
220mm Standard Q2AA22550BXP00M Q2AA22550BXW00M Q2AA22550BXS00M P.33 P.49
5.5kW IP67
― Q2AA22550BCP00 Q2AA22550BCW00 Q2AA22550BCS00 P.33 P.49
sq. yes（DC24V）
Standard Q2AA22550BCP00M Q2AA22550BCW00M Q2AA22550BCS00M P.33 P.49
― Q2AA22700SXP00 Q2AA22700SXW00 Q2AA22700SXS00 P.33 P.49
―
220mm Standard Q2AA22700SXP00M Q2AA22700SXW00M Q2AA22700SXS00M P.33 P.49
7kW IP67
― Q2AA22700SCP00 Q2AA22700SCW00 Q2AA22700SCS00 P.33 P.49
sq. yes（DC24V）
Standard Q2AA22700SCP00M Q2AA22700SCW00M Q2AA22700SCS00M P.33 P.49
― Q2AA2211KVXP00 Q2AA2211KVXW00 Q2AA2211KVXS00 P.34 P.49
―
220mm Standard Q2AA2211KVXP00M Q2AA2211KVXW00M Q2AA2211KVXS00M P.34 P.49
11kW IP67
― Q2AA2211KVCP00 Q2AA2211KVCW00 Q2AA2211KVCS00 P.34 P.49
sq. yes（DC24V）
Standard Q2AA2211KVCP00M Q2AA2211KVCW00M Q2AA2211KVCS00M P.34 P.49
― Q2AA2215KVXP00 Q2AA2215KVXW00 Q2AA2215KVXS00 P.34 P.49
―
220mm Standard Q2AA2215KVXP00M Q2AA2215KVXW00M Q2AA2215KVXS00M P.34 P.49
15kW IP67
― Q2AA2215KVCP00 Q2AA2215KVCW00 Q2AA2215KVCS00 P.34 P.49
sq. yes（DC24V）
Standard Q2AA2215KVCP00M Q2AA2215KVCW00M Q2AA2215KVCS00M P.34 P.49
11
R1 Servo Motor 200V System Medium capacity ・ Low inertia
Features and
Functions
Model No. Page
(PA035C) (RA035C) (PP031T/PP038H/PP062)
― ― R1AA18550HXP00 R1AA18550HXW00 R1AA18550HXS00 P.35 P.48
5.5kW 180mm sq. yes（DC24V） ― R1AA18550HCP00 R1AA18550HCW00 R1AA18550HCS00 P.35 P.48
Number Nomenclature
・ Model
― ― R1AA18750HXP00 R1AA18750HXW00 R1AA18750HXS00 P.35 P.48
yes（DC24V） ― R1AA18750HCP00 R1AA18750HCW00 R1AA18750HCS00 P.35 P.48
Model No. List

(Excluding
― ― R1AA1811KRXP00 R1AA1811KRXW00 R1AA1811KRXS00 P.36 P.48
11kW 180mm sq. cooling fan)
yes（DC24V） ― R1AA1811KRCP00 R1AA1811KRCW00 R1AA1811KRCS00 P.36 P.48
― ― R1AA1815KBXP00 R1AA1815KBXW00 R1AA1815KBXS00 P.36 P.48
15kW 180mm sq. yes（DC24V） ― R1AA1815KBCP00 R1AA1815KBCW00 R1AA1815KBCS00 P.36 P.48
Configuration
System
Specifications
Standard
Encoder Wiring
Diagram
External Wiring
Diagram
Dimensions
Setup Software
Option
12
Q1 Servo Motor 200V System Medium capacity・Low Inertia

Model No. Page
（PA035C）（RA035C）（PP031T/PP038H/PP062）
― Q1AA10100DXP00 Q1AA10100DXW00 Q1AA10100DXS00 P.37 P.49
―
Standard Q1AA10100DXP00M Q1AA10100DXW00M Q1AA10100DXS00M P.37 P.49
100mm sq. IP67
― Q1AA10100DCP00 Q1AA10100DCW00 Q1AA10100DCS00 P.37 P.49
yes（DC24V）
Standard Q1AA10100DCP00M Q1AA10100DCW00M Q1AA10100DCS00M P.37 P.49
1kW ― Q1AA12100DXP00 Q1AA12100DXW00 Q1AA12100DXS00 P.38 P.49
―
120mm sq. IP67
yes（DC24V）
―
yes（DC24V）
―
100mm sq. IP67
yes（DC24V）
―
120mm sq. IP67
yes（DC24V）
―
yes（DC24V）
―
120mm sq. IP67
yes（DC24V）
Standard Q1AA12300DCP00 Q1AA12300DCW00 Q1AA12300DCS00 P.39 P.49
―
130mm sq. IP67
yes（DC24V）
―
4kW 130mm sq. IP67
yes（DC24V）
―
5kW 130mm sq. IP67
yes（DC24V）
13
Servo Amplifier 200V System
Features and
Page
Internal
Functions
Type Main Power Control Encoder Selectable Registration Safe Torque Amplifier Model No. Servo
Power Type Output Resistor Off function Capacity Amplifier Dimensions
Specifications
15A RS2A01A0AL0 P.21 P.51
30A RS2A03A0AL0 P.21 P.51
50A RS2A05A0AL0 P.21 P.51
― ―
100A RS2A10A0AL0 P.21 P.52
Number Nomenclature
・ Model
150A RS2A15A0AL0 P.21 P.52
NPN 300A RS2A30A0AL0 P.21 P.52
Model No. List

15A RS2A01A0AA0 P.21 P.51
30A RS2A03A0AA0 P.21 P.51
with ― 50A RS2A05A0AA0 P.21 P.51
AC200V AC200V 100A RS2A10A0AA0 P.21 P.52
Analog / Pulse system system Serial 150A RS2A15A0AA0 P.21 P.52
Configuration
input type AC200 to 230V AC200 to 230V encoder 15A RS2A01A0BL0 P.21 P.51
System
3-phase Single-phase 30A RS2A03A0BL0 P.21 P.51
50A RS2A05A0BL0 P.21 P.51
― ―
100A RS2A10A0BL0 P.21 P.52
150A RS2A15A0BL0 P.21 P.52
PNP 300A RS2A30A0BL0 P.21 P.52
15A RS2A01A0BA0 P.21 P.51
Specifications
30A RS2A03A0BA0 P.21 P.51
Standard
with ― 50A RS2A05A0BA0 P.21 P.51
100A RS2A10A0BA0 P.21 P.52
150A RS2A15A0BA0 P.21 P.52
15A RS2A01A0KL4 P.21 P.51
30A RS2A03A0KL4 P.21 P.51
50A RS2A05A0KL4 P.21 P.51
―
Encoder Wiring
100A RS2A10A0KL4 P.21 P.52
AC200V AC200V
Diagram
Photo yes 150A RS2A15A0KL4 P.21 P.52
EtherCAT system system Serial
relay (with delay 300A RS2A30A0KL4 P.21 P.52
interface type AC200 to 230V AC200 to 230V encoder
output circuit) 15A RS2A01A0KA4 P.21 P.51
3-phase Single-phase
30A RS2A03A0KA4 P.21 P.51
with 50A RS2A05A0KA4 P.21 P.51
100A RS2A10A0KA4 P.21 P.52
External Wiring
150A RS2A15A0KA4 P.21 P.52
Diagram
※Our standard servo amplifier has attained the UL, c-UL and EN Standards.
Dimensions
Setup Software
Option
14
Model Number Nomenclature
Servo Motor
Example: R2 series servo motor models, 60mm sq. flange size, 200W rated output, 6000min-1 maximum
rotation speed, DC24V brake, and an batteryless absolute encoder (131072 partition number/
rotation), UL/CE approval.
R 2 AA 06 020 F C P 00 M
Standard Identification
E … CE
U … UL
M … CE and UL
Specification
00 … Standard
Encoder Type
Serial Encoder
P … Battery backup method absolute encoder [PA035C]
H … Absolute encoder for incremental System [PA035S]
W … Resolver method Batteryless absolute encoder [RA035C]
R … High precision battery-less optical absolute encoder [HA062]
Pulse Encoder
S … Wire-saving incremental encoder
［R Series：PP031T/PP038H/PP062］
Holding Brake ［Q Series：PP031T/PP038H/PP062］
X … No Brake
B … DC90V Brake
C … DC24V Brake
Maximum Rotation Speed

For the numeric values, see the specifications on Pages 23 through 40.
Rated Output
003 … 30W 020 … 200W 100 … 1.0kW 200 … 2.0kW 400 … 4.0kW 700 … 7.0kW
005 … 50W 040 … 400W 120 … 1.2kW 250 … 2.5kW 450 … 4.5kW 750 … 7.5kW
008 … 80W 050 … 550W 150 … 1.5kW 300 … 3.0kW 500 … 5.0kW 11K … 11kW
010 … 100W 075 … 750W 180 … 1.8kW 350 … 3.5kW 550 … 5.5kW 15K … 15kW
A reduction rating might be needed if an oil seal and Brake is attached. Please consult with us about the details.
Flange Size
04 … 40mm sq. 12 … 120mm sq.
06 … 60mm sq. 13 … 130mm sq.
08 … 80mm sq. 18 … 180mm sq.
B8 … 86mm sq. 22 … 220mm sq.
10 … 100mm sq.
Voltage
AA … AC200V
EA … AC100V
Servo Motor type

1 … Low inertia
2 … Medium inertia Encoder Specification
Serial encoder
Model Partition number/rotation Multiple Rotations Encoder Type
R … R Series
PA035C 131072（17bit）※ 65536（16bit） Battery backup method absolute encoder
Q … Q Series
PA035S 131072（17bit）※ − Absolute encoder for Incremental system
Resolver method batteryless absolute
RA035C 131072（17bit） 65536（16bit）
encoder
1048576（20bit） High precision battery-less optical absolute
HA062 65536（16bit） encoder
131072（17bit） Applicable motor size: 100mm sq. or more
※20 bit is available as an option.
Pulse encoder
Model Partition number/rotation Multiple Rotations Encoder Type
PP031T
Wire-saving incremental encoder
PP038H 8000（2000P/R） −
Maximum 40000 (Partition number/ rotation)
PP062
・For details on speed reducer installation, please contact us.
15
Servo Amplifier
Features and
Example: RS2 series servo amplifier models, input voltage AC200V, amplifier capacity 15A, with built-in
Functions
regenerative resistance/with DB resistance, without safety function.
RS2 A 01 A 0 A A 0
Option 2
Number Nomenclature
・ Model
Safe Torque Off function
0 None
Model No. List

2 Available (without delay circuit)
4 Available (with delay circuit)
Option 1
A … With built-in regenerative resistance/ with DB resistance
L … Without built-in regenerative resistance/ with DB resistance
300A amplifier capacity is only available for the model without a built-in regenerative resistor.
Configuration
System
Interface type
A…Analog pulse control, NPN (Sink) output
Ｂ…Analog pulse control, PNP (Source) output
K…EtherCAT interface
PNP Generic output : PNP (Source) output :
It takes external 24VDC as common power supply and
outputs 24VDC when generic output is ON.
Specifications
Standard
Motor Encoder Type
EN1 (Motor encoder) EN2 (External pulse encoder)
0 Serial encoder −
2 Serial encoder Pulse encoder
Servo Motor type
A … Rotary motor 8 Pulse encoder −
A Pulse encoder Pulse encoder
Encoder Wiring
Servo Amplifier capacity
2 or A is selectable for a servo amplifier for a fully-closed system.
Diagram
01 … 15A
03 … 30A Please specify 2 or A according to the motor encoder to be used.
05 … 50A 0 or 8 is only for a semi-closed system and is not selectable for a fully-
closed system. Please note that a servo amplifier for a fully-closed
10 … 100A
system can be used for a semi-closed system.
15 … 150A
Input voltage 30 … 300A
Ａ … AC200V
External Wiring
E … AC100V
Diagram
RS2 Series
・ The motor parameters need to be set for the amplifier for use.
Use the setup software.
Dimensions
Conformance to Safety Standards

Our standard servo amplifier has attained the UL, c-UL and EN Safety Standards.
You can also employ servo motors that have attained the UL, c-UL and EN Standards.
* For the following models, acquisition preparations are underway.
UL and EN Standards acquisition preparations underway:R1 Servo Motor 180mm
sq. (R1AA18 □□□□ )
Setup Software
Option
16
System Configuration
Analog/Pulse Input Type Servo Amplifier

15A to 50A The photograph shows the 15A model.
T S R
Option
Setup Software
Parameter configuration and
Circuit Breaker (MCCB) monitoring is possible via
Cuts off power in the case of an communication with a PC.
overload, to protect the power line.
Servo Amplifier
Noise Filter
Attached to prevent external noise
from the power source line.
RS-232C
Electromagnetic Contactor
Switches power on and off.
Create the protective circuit.
CN2
To next amplifier
CN3 （RS-422A）
Host Devices
CN1
Option
External Regenerative Resistor
For special operations,
such as high frequency
applications that
require greater power CN4
dissipation than that
provided by the servo
amplifier's internal EN1
regenerative resistor. Option
Battery trunk cable,
with connectors on
both ends
Connected when using
an absolute encoder.
Option
Junction cable for
servo motor
(for power, brake,
Power or encoder)
input
Extension cable with
Brake Power connectors on both ends.
For the matching motors,
Required for use when the see Page 62.
servo motor is equipped Safety unit,
with a brake. Please use
stabilized DC power supply safety PLC, etc.
or power supply with a The I/O signals of the
full-wave rectifier. Safe Torque Off
function are connected
to devices such as the
safety unit or safety
PLC.
Servo Motor
17
Features and
Functions
Analog/Pulse Input Type Servo Amplifier
T S R
Option
Number Nomenclature
・ Model
Setup Software
Circuit Breaker (MCCB) Parameter configuration and
Model No. List

Cuts off power in the case of an monitoring is possible via
overload, to protect the power line. communication with a PC.
Servo Amplifier
Noise Filter
Configuration
System
RS-232C
CN2
To next amplifier
Specifications
CN3 （RS-422A）
Standard
Electromagnetic Contactor CN1
Switches power on and off.
Create the protective circuit. Host Devices
Encoder Wiring
CN4
Diagram
EN1
Option
External Wiring
applications that
Diagram
require greater power
provided by the servo Option
amplifier's internal Battery trunk cable,
regenerative resistor. with connectors on
* The 300A model is
not equipped with a one ends
built-in regenerative Connected when using
resistor. Please an absolute encoder.
connect an external Dimensions
regenerative resistor.
Power
Setup Software
input
Brake Power
Required for use when the
servo motor is equipped Safety unit, safety
stabilized DC power supply PLC, etc.
Option

PLC.
Servo Motor
18
System Configuration
EtherCAT interface type servo amplifier

T S R
Option
Circuit Breaker (MCCB) Setup Software
Cuts off power in the case of an Parameter configuration and
overload, to protect the power line. monitoring is possible via
communication with a PC.
Servo Amplifier
Noise Filter
Switches power on and off. RS-232C
CN4 General-purpose I/O

connector, homing,
probing, and
CN3 general-purpose signals
To next amplifier
CN1
CN0
Option
such as high frequency CN2 Host Devices
applications that
provided by the servo
amplifier's internal
regenerative resistor. Option
EN1
Battery trunk cable,
with connectors on
one ends
Connected when using
an absolute encoder.
Option
Junction cable for
servo motor
(for power, brake,
Power or encoder)
input
Extension cable with Safety unit,
Brake Power connectors on both ends. safety PLC, etc.
For the matching motors,
Required for use when the see Page 62. The I/O signals of the
servo motor is equipped Safe Torque Off
with a brake. Please use function are connected
stabilized DC power supply to devices such as the
or power supply with a safety unit or safety
full-wave rectifier. PLC.
Servo Motor
19
Features and
Functions
EtherCAT interface type servo amplifier
T S R
Option
Number Nomenclature
・ Model
Setup Software
Circuit Breaker (MCCB) Parameter configuration and
Model No. List

Cuts off power in the case of an monitoring is possible via
overload, to protect the power line. communication with a PC.
Servo Amplifier
Noise Filter
Configuration
System
RS-232C
CN4
CN3 General-purpose
Specifications
I/O connector,
Standard
homing, probing, and
CN1 general-purpose signals
To next amplifier
CN0
Switches power on and off. CN2
Encoder Wiring
Diagram
EN1
Host Devices
Option
External Wiring
applications that
Diagram
provided by the servo Option
amplifier's internal Battery trunk cable,
regenerative resistor. with connectors on
* The 300A model is
not equipped with a both ends
built-in regenerative Connected when using
resistor. Please an absolute encoder.
connect an external Dimensions
regenerative resistor.
Power
Setup Software
input
Brake Power
Required for use when the
servo motor is equipped Safety unit,
stabilized DC power supply safety PLC, etc.
Option

PLC.
Servo Motor
20
Servo Amplifier Specifications
※1
Control function Position control/Speed control/Torque control (Parameter changeover) Power source voltage should be
Control system IGBT：PWM control Sinusoidal drive within the specified range AC200V
Power input type:
3-phase：AC200 to 230V+10, -15%, 50/60Hz±3Hz
Main Circuit Specified power supply range =
Single-phase：AC200 to 230V+10, -15%, 50/60Hz±3Hz ※2 AC170V to AC253V
Power ※1
Single-phase：AC100 to 115V+10, -15%, 50/60Hz±3Hz ※3 AC100V Power input type:
Specified power supply range =
Control Single-phase：AC200 to 230V+10, -15%, 50/60Hz±3Hz AC85V to AC127V
Power ※1 Single-phase：AC100 to 115V+10, -15%, 50/60Hz±3Hz ※3
※2
Ambient temperature 0 to +55℃ The AC200V single-phase input types
Storage temperature -20 to +65℃ corresponds only to the RS2□01 (15A),
RS2□03 (30A), and RS2□05 (50A).
Operation/Storage humidity Below 90％RH (no condensation)
Environment
Elevation Below 1000m ※3
Vibration 4.9m/s2 Frequency range 10 to 55Hz tested for 2h in each direction X.Y.Z AC100V single-phase input type
Shock 19.6m/s2 corresponds only to, RS2□01/RS2□03
Structure Built-in tray type power supply
Performance
Speed control range 1:5000 (Internal speed command)
Frequency characteristics 1200Hz (In case of high frequency sampling mode) *Varies depending on the model.
Built-in functions
Over current, Current detection error, Overload, Regeneration error, Amplifier overheating, External overheating, Over voltage, Main
Protection functions circuit power low voltage, Main circuit power supply open phase, Control power supply low voltage, Encoder error, Over speed,
Speed control error, Speed feedback error, Excessive position, Position command pulse error, Built-in memory error, Parameter error
LED display Status display, Monitor display, Alarm display, Parameter setting, Adjustment mode
Dynamic brake circuit Built-in
Regeneration process circuit Built-in
Speed monitor (VMON) 2.0V±10%（at 1000min−1）
Monitor
Torque (Thrust) (TCMON) 2.0V±10%（at 100%）
Safety standard
Servo amplifier type Safety standards
UL ratings UL508C
Low-voltage directive ・EN61800−5−1
All models ・EN55011 G1 ClassA
EN standards
EMC directive ・EN61000−6−2
・EN61800−3
Function safety ・IEC61508，SIL2 ・ISO13849−1，Cat．3，PL＝d
Model with safety function
standards ・IEC62061，SILCL2 ・EN954−1，Cat．3
EtherCAT interface 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)
Baud rate 100 Mbps (Full duplex)
Max. No. of nodes 65535 nodes
Transmission distance/topology Max. 100 m (between nodes)/Daisy-chain
Cable Twisted-pair CAT5e (straight or cross)
SDO (Service Data Object)
Communication object
PDO (Process Data Object)
Output：Max.64Byte，Input：Max.64Byte
PDO length
Total: Max. 128 Bytes
Synchronization function SYNC0, SYNC1 Event Synchronization Mode (DC Mode),Synchronous with SM2 Event Mode, Asynchronous Mode
Profile Position Mode, Profile Velocity Mode, Profile Torque Mode,
Operation mode Homing Mode, Cycle Sync Position Mode, Cycle Sync Velocity Mode,
Cycle Sync Torque Mode
LED indicator Port 0/1 link display, RUN display, error display
General Input/Output 2 inputs, 2 outputs （4 total）
21
General-Purpose Output Specifications
PNP output (Analog/Pulse Input Type)
Features and
Functions
Servo Amplifier Host unit
Out Power
Number Nomenclature
・ Model
Model No. List
Out 1 to 8
Configuration
Maximum current
System
DC24V . . . . . . . . . 50mA
Specifications
Standard
NPN output (Analog/Pulse Input Type)
Out Power
Encoder Wiring
Diagram
Out 1 to 8
External Wiring
Diagram
Out Common Maximum current
DC5V. . . . . . . . . . 10mA
DC12 to 15V. . . . . 30mA
DC24V. . . . . . . . . . 50mA
Dimensions
Photo relay output (EtherCAT interface type)

Setup Software
Out 1, 2
Option
Maximum current
DC5 to 24V ......50mA
22
Specification
Servo Amplifier ＋ R2 Servo Motor High Efficiency and Low Ripple (Medium Inertia)
input voltage AC100V Power supply range AC85V to AC127V
Servo Amplifier Model No. RS2E01□□

Servo Motor Model No. and Flange Size R2EA04003F R2EA04005F R2EA04008F
Status Symbol Unit 《40mm sq.》《40mm sq.》《40mm sq.》
Rated Output ★ PR kW 0.03 0.05 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 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 ☆ K Eφ 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 10
Electrical Time Constant ☆ te ms 0.55 0.67 0.81
Mechanical Time Constant
(Not including Encoder) ☆ tm ms 2.2 1.7 0.98
Roter Moment of Inertia ※ 1 JM ×10 - 4kg・m（
2 GD 2／4） 0.0247 0.0376 0.0627
Roter Moment of Inertia (Encoder) JS - 4
×10 kg・m（ 2 GD 2／4） 0.0033 ※ 1
Servo Motor Mass ※ 1 WE kg 0.35 0.39 0.51
Brake Static Friction Torque TB N・m 0.32 MIN.
Brake Rated Voltage VB V DC90V ／ DC24V ± 10％
Brake Rated Current IB A 0.07 ／ 0.27
Roter Moment of Inertia (Brake) JB ×10 - 4kg・m（
2 GD 2／4） 0.0078
Brake Mass W kg 0.27 0.27 0.27
Servo Motor Operating Temp, Rel.Humidity Operating Temperature: 0 to 40℃, Relative Humidity: 90% maximum, no condensation
Servo amplifi er power supply
capacity (rating) kVA 0.2 0.2 0.3
CE and UL approved servo motors ※ 5 Yes
Servo motor protection code IP67, IP65
Size of aluminum plates for heat
radiation during measurement t6×250mm sq.
※1 This is a instance with the battery-backup method absolute encoder ※2 Items with ★ and speed - torque characteristics indicate values
[PA035C]. after temperature rise saturation when used with a standard servo
For the following encoders, please make inquiries: amplifier. The values are the typical values.
・Batteryless absolute encoder ※ 3 ☆ :Indicates a typical value when the winding temperature is 20℃ .
・Wire-saving Incremental encoder ※ 4 A reduction rating might be needed if an oil seal and brake is
For the servo amplifier weight, see page 51 and 52. attached. Please consult with us about the details.
※ 5 Our standard servo amplifiers are CE and UL approved.
Speed-Torque Characteristics
Servo motor Model No./Flange Size/Rated Output
R2EA04003F／40mm／0.03kW R2EA04005F／40mm／0.05kW R2EA04008F／40mm／0.08kW
0.6 0.8 1.0
0.5 0.8
Torque（N・m）
Torque（N・m）
Torque（N・m）
0.6
0.4
0.6
0.3 0.4 Instantaneous Zone
Instantaneous Zone Instantaneous Zone 0.4
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）
It is value when the input power supply is AC100V. The area decreases momentarily when the power supply voltage is less than 100V.
23
Features and
Functions
Number Nomenclature
・ Model
RS2E01□□ RS2E03□□ Servo Amplifier Model No.
R2EA06010F R2EA06020F Servo Motor Model No. and Flange Size
Model No. List

《60mm sq.》《60mm 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
Configuration
0.318 0.686 N・m TS ★ Continuous Stall Torque
System
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 K Eφ ☆ Voltage Constant for each Phase
Specifications
Standard
1.5 0.6 Ω Rφ ☆ Phase Resistance
8.6 19 kW／s Q R ★ Rated Power Rate
1.9 2.6 ms te ☆ Electrical Time Constant
1.2 0.79 ms tm ☆ (Not including Encoder)
0.117 0.219 ×10 - 4kg・m（
2 GD 2／4） JM Roter Moment of Inertia ※ 1
0.0033 ※ 1 - 4
×10 kg・m（ 2 GD 2／4） JS Roter Moment of Inertia (Encoder)
Encoder Wiring
0.71 0.96 kg WE Servo Motor Mass ※ 1
Diagram
0.36 MIN. 1.37 MIN. N・m TB Brake Static Friction Torque
DC90V ／ DC24V ± 10％ V VB Brake Rated Voltage
0.07 ／ 0.27 0.11 ／ 0.32 A IB Brake Rated Current
0.06 ×10 - 4kg・m（
2 GD 2／4） JB Roter Moment of Inertia (Brake)
0.34 0.39 kg W Brake Mass
External Wiring
Operating Temperature: 0 to 40℃, Relative Humidity: 90% maximum, no condensation Servo Motor Operating Temp, Rel.Humidity
Diagram
0.4 0.6 kVA capacity (rating)
Yes CE and UL approved servo motors ※ 5
IP67, IP65 Servo motor protection code
t6×250mm sq. radiation during measurement
Dimensions
Setup Software
R2EA06010F／60mm／0.1kW R2EA06020F／60mm／0.2kW
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
Option
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）
24
Specification
Servo Amplifier Model No. RS2A01□□

Servo Motor Model No. and Flange Size R2AA04003F R2AA04005F R2AA04010F R2AA06010F
Status Symbol Unit 《40mm sq.》《40mm sq.》《40mm sq.》《60mm sq.》
Rated Output ★ PR kW 0.03 0.05 0.1 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 0.318 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 ☆ K Eφ 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 16 8.6
Electrical Time Constant ☆ te ms 0.55 0.67 0.82 2
(Not including Encoder) ☆ tm ms 2.2 1.7 0.97 1.2
2 GD 2／4） 0.0247 0.0376 0.0627 0.117
Roter Moment of Inertia (Encoder) JS ×10 - 4kg・m（
2 GD 2／4） 0.0033 ※ 1
Servo Motor Mass ※ 1 WE kg 0.35 0.39 0.51 0.71
Brake Static Friction Torque TB N・m 0.32 MIN. 0.36 MIN.
2 GD 2／4） 0.0078 0.06
Brake Mass W kg 0.27 0.27 0.27 0.34
capacity (rating) kVA 0.2 0.2 0.4 0.4
radiation during measurement t6 × 250mm sq.
・Wire-saving Incremental encoder ※ 4 A reduction rating might be needed if an oil seal and brake is
R2AA04003F／40mm／0.03kW R2AA04005F／40mm／0.05kW R2AA04010F／40mm／0.1kW R2AA06010F／60mm／0.1kW
0.4 0.8 2.0 2.0

Torque（N・m）
Torque（N・m）
Torque（N・m）
Torque（N・m）
0.3 0.6 1.5 1.5
Instantaneous Zone
0.2 0.4 1.0 1.0
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）
It is value when the input power supply is AC200V 3-phase circuit. The area decreases momentarily when the power supply voltage is less than 200V.
Please contact us when the servo amplifier power supply is less than AC200V.
25
Features and
Functions
Number Nomenclature
・ Model
RS2A01□□ RS2A03□□ Servo Amplifier Model No.
R2AA06020F R2AA06040H R2AA08020F R2AA06040F Servo Motor Model No. and Flange Size
Model No. List

《60mm sq.》《60mm sq.》《80mm sq.》《60mm sq.》 Unit Symbol Status
0.2 0.4 0.2 0.4 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 0.637 1.27 N・m TR ★ Rated Torque
Configuration
0.686 1.37 0.686 1.37 N・m TS ★ Continuous Stall Torque
System
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 K Eφ ☆ Voltage Constant for each Phase
Specifications
Standard
2.7 3.3 2.3 1.36 Ω Rφ ☆ Phase Resistance
19 39 8 39 kW／s Q R ★ 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 ☆ (Not including Encoder)
0.219 0.412 0.52 0.412 ×10 - 4kg・m（
0.0033 ※ 1 ×10 - 4kg・m（
2 GD 2／4） JS Roter Moment of Inertia (Encoder)
Encoder Wiring
0.96 1.4 1.3 1.4 kg WE Servo Motor Mass ※ 1
Diagram
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・m（
0.39 0.39 0.89 0.39 kg W Brake Mass
External Wiring
Diagram
0.8 1.0 0.8 1.0 kVA capacity (rating)
IP67, IP65 Servo motor protection code
t6 × 250mm sq. radiation during measurement
Dimensions

Setup Software
R2AA06020F／60mm／0.2kW R2AA06040H／60mm／0.4kW R2AA08020F／80mm／0.2kW R2AA06040F／60mm／0.4kW

4.0 6.0 4.0 8.0
5.0
Torque（N・m）
Torque（N・m）
Torque（N・m）
Torque（N・m）
3.0 3.0 6.0

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
Option
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
26
Specification

Servo Motor Model No. and Flange Size R2AA08040F R2AA08075F R2AAB8100H R2AA10075F
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 42 29
Electrical Time Constant ☆ te ms 2.5 3 4.6 7.0
2 GD 2／4） 1.04 1.82 2.38 2.00
2 GD 2／4） 0.0033 ※ 1
Brake Static Friction Torque TB N・m 2.55 MIN. 3.92 MIN.
Brake Rated Current IB A 0.12 ／ 0.37 0.09 ／ 0.30
2 GD 2／4） 0.25 0.343
Brake Mass W kg 0.89 0.89 0.84 0.9
radiation during measurement t6 × 250mm sq. t12 × 305mm sq.
・Wire-saving Incremental encoder [PP031T] ※ 4 A reduction rating might be needed if an oil seal and brake is
R2AA08040F／80mm／0.4kW R2AA08075F／80mm／0.75kW R2AAB8100H／86mm／1.0kW R2AA10075F／100mm／0.75kW
8.0 10 15 10
8 8
Torque（N・m）
Torque（N・m）
Torque（N・m）
Torque（N・m）
6.0
10
6 6
4.0
Instantaneous Zone Instantaneous Zone Instantaneous Zone
4 4
Instantaneous Zone 5
2.0
2 2
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
27
Features and
Functions
Number Nomenclature
・ Model
R2AA13050H R2AA13050D R2AA13120B R2AAB8075F R2AAB8100F Servo Motor Model No. and Flange Size
Model No. List

《130mm sq.》《130mm sq.》《130mm sq.》《86mm sq.》《86mm sq.》 Unit Symbol Status
0.55 0.55 1.2 0.75 1.0 kW PR ★ Rated Output
2000 2000 2000 3000 3000 min -1 NR ★ Rated Speed
3500 5000 2000 6000 6000 min -1 Nmax ★ Maximum Speed
2.6 2.6 5.7 2.38 3.18 N・m TR ★ Rated Torque
Configuration
3.0 2.6 6.0 2.94 3.92 N・m TS ★ Continuous Stall Torque
System
9.0 7.0 16 11.0 14.3 N・m TP ★ Peak Stall Torque
4.2 5.2 5.2 4.7 6.0 Arms IR ★ Rated Armature Current
4.6 5.2 5.2 5.5 6.8 Arms IS ★ Armature Stall Current
15.5 15.5 15.5 23.7 25.7 Arms IP ★ Peak Armature Stall Current
0.67 0.53 1.09 0.547 0.582 N・m／Arms KT ☆ Torque Constant
23.5 18.5 37.8 19.1 20.3 mV／min -1 K Eφ ☆ Voltage Constant for each Phase
Specifications
Standard
0.65 0.39 0.64 0.62 0.44 Ω Rφ ☆ Phase Resistance
22 22 54 35 42 kW／s Q R ★ Rated Power Rate
14 14 16 4.2 4.3 ms te ☆ Electrical Time Constant
1.3 1.3 0.98 1.00 0.93 ms tm ☆ (Not including Encoder)
3.1 3.1
6.0 1.64 2.38 ×10 - 4kg・m（
0.0033 ※ 1 ×10 - 4kg・m（
Encoder Wiring
4.5 4.5 6.1 2.9 3.6 kg WE Servo Motor Mass ※ 1
Diagram
3.5 MIN. 3.5 MIN. 9.0 MIN. 3.92 MIN. 3.92 MIN. N・m TB Brake Static Friction Torque
0.15 ／ 0.41 0.15 ／ 0.41 0.17 ／ 0.51 0.09 ／ 0.30 0.09 ／ 0.30 A IB Brake Rated Current
0.5 0.5 0.5 0.34 0.34 ×10 - 4kg・m（
1.3 1.3 1.5 0.84 0.84 kg W Brake Mass
External Wiring
Diagram
1.5 1.5 2.7 1.6 2.5 kVA capacity (rating)
Yes Yes Yes CE and UL approved servo motors ※ 5
IP65 IP67, IP65 Servo motor protection code
t20 × 305mm sq. t20 × 400mm sq. t12 × 305mm sq. radiation during measurement
Dimensions

Setup Software
R2AA13050H／130mm／0.55kW R2AA13050D／130mm／0.55kW R2AA13120B／130mm／1.2kW R2AAB8075F／86mm／0.75kW R2AAB8100F／86mm／1.0kW

10 10 25 12 15
8 8 20 10
Torque（N・m）
Torque（N・m）
Torque（N・m）
Torque（N・m）
Torque（N・m）
8 10
6 6 15
Instantaneous Instantaneous Instantaneous Instantaneous
6 Zone
Zone Zone Zone
4 4 10 Instantaneous
Zone 4 5
Option
2 2 5 2
Continuous Continuous Continuous Continuous Continuous
Zone Zone Zone Zone Zone
0 0 0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 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） Speed（min−1）
28
Specification

Servo Motor Model No. and Flange Size R2AA10100F R2AA13120L R2AA13120D R2AA13180H
Peak Stall Torque ★ TP N・m 14.3 20 16 22
Electrical Time Constant ☆ te ms 8.3 15 16 18
2 GD 2／4） 3.50 6.0 6.0 9.0
2 GD 2／4） 0.0033 ※ 1
Brake Static Friction Torque TB N・m 3.92 MIN. 9.0 MIN. 9.0 MIN. 9.0 MIN.
Brake Rated Current IB A 0.09 ／ 0.30 0.17 ／ 0.51 0.17 ／ 0.51 0.17 ／ 0.51
2 GD 2／4） 0.343 0.5 0.5 0.5
Brake Mass W kg 0.9 1.5 1.5 1.5
Servo motor protection code IP67, IP65 IP65
radiation during measurement t12×305mm sq. t20×400mm sq. t20×470mm sq.
・Wire-saving Incremental encoder [PP031T] ※ 4 Our standard servo amplifiers are CE and UL approved.
For the servo amplifier weight, see page 51 and 52.
R2AA10100F／100mm／1.0kW R2AA13120L／130mm／1.2kW R2AA13120D／130mm／1.2kW R2AA13180H／130mm／1.8kW
16 25 25 25
14
20 20 20
Torque（N・m）
Torque（N・m）
Torque（N・m）
Torque（N・m）
12
10 15 15 Instantaneous
15
8 Instantaneous Zone
Zone
6 Instantaneous Zone 10 10 Instantaneous 10
Zone
4
5 5 5
2 Continuous Zone
Continuous Zone Continuous Zone Continuous Zone
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
29
Features and
Functions
Number Nomenclature
・ Model
R2AA13200L R2AA13180D R2AA13200D R2AA18350L Servo Motor Model No. and Flange Size
Model No. List

2 1.8 2 3.5 kW PR ★ Rated Output
9.5 8.6 9.5 17 N・m TR ★ Rated Torque
Configuration
12 10.0 12 22.0 N・m TS ★ Continuous Stall Torque
System
24 25 30 49 N・m TP ★ Peak Stall Torque
Specifications
Standard
17 16 18 18 ms te ☆ Electrical Time Constant
12.2 9.0 12.2 40 ×10 - 4kg・m（
0.0033 ※ 1 ×10 - 4kg・m（
Encoder Wiring
10 7.7 10 15.5 kg WE Servo Motor Mass ※ 1
Diagram
12 MIN. 9.0 MIN. 12 MIN. 22 MIN. N・m TB Brake Static Friction Torque
0.5 0.5 0.5 5.1 ×10 - 4kg・m（
1.5 1.5 1.5 2.4 kg W Brake Mass
External Wiring
Diagram
Yes Yes Yes CE and UL approved servo motors ※ 5
IP65 Servo motor protection code
t20×470mm sq. radiation during measurement
Dimensions

Setup Software
R2AA13200L／130mm／2.0kW R2AA13180D／130mm／1.8kW R2AA13200D／130mm／2.0kW R2AA18350L／180mm／3.5kW

25 30 35 60
25 30 50
20
Torque（N・m）
Torque（N・m）
Torque（N・m）
Torque（N・m）
25
20 40
15 Instantaneous
Zone 20 Instantaneous
15 Instantaneous Zone Instantaneous
Zone 30
15 Zone
10
10 20
10
Option
5 5 5 10 Continuous
Continuous Zone Continuous Zone Continuous Zone Zone
0 0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000
30
Specification
Servo Amplifier Model No. RS2A10□□ RS2A15□□

Servo Motor Model No. and Flange Size R2AA22350L R2AA18350D R2AA18450H R2AA18550R
Rated Torque ★ TR N・m 17 17 21.5 35
Continuous Stall Torque ★ TS N・m 22 22.0 30.0 37.3
Peak Stall Torque ★ TP N・m 50 60 75 90
Electrical Time Constant ☆ te ms 34 16 18 22
2 GD 2／4） 42 40 50 68
2 GD 2／4） 0.0033 ※ 1
Servo Motor Mass ※ 1 WE kg 18 15.5 19.5 27.7
Brake Static Friction Torque TB N・m 32 MIN. 22 MIN. 32 MIN. 42 MIN.
Brake Rated Current IB A 0.32 ／ 1.2 0.32 ／ 1.2 0.27 ／ 1.0 0.27 ／ 1.0
2 GD 2／4） 5.1 5.1 5.1 5.1
Brake Mass W kg 4.5 2.4 2.8 2.8
Cooling fan PF W ー

Servo motor protection code IP65
・Wire-saving Incremental encoder [PP031T] ※ 4 Our standard servo amplifiers are CE and UL approved.
For the servo amplifier weight, see page 51 and 52.
R2AA22350L／220mm／3.5kW R2AA18350D／180mm／3.5kW R2AA18450H／180mm／4.5kW R2AA18550R／180mm／5.5kW
80 70 80 100
70 70 90
60
80
Torque（N・m）
Torque（N・m）
Torque（N・m）
Torque（N・m）
60 60
50 70
50 50 60
40
40 Instantaneous 40 Instantaneous 50 Instantaneous
30 Zone Zone Zone
30 Instantaneous 30 40
Zone 30
20 20 20
20
10 Continuous 10 Continuous 10 Continuous 10
Continuous
Zone Zone Zone Zone
0 0 0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000
31
Features and
Functions
Number Nomenclature
・ Model
R2AA22500L R2AA18550H R2AA18750H R2AA1811KR Servo Motor Model No. and Flange Size
Model No. List

5 5.5 7.5 11 kW PR ★ Rated Output
24 35 48 70 N・m TR ★ Rated Torque
32 37.5 54.9 80.0 N・m TS ★ Continuous Stall Torque
Configuration
75 107 140 170 N・m TP ★ Peak Stall Torque
System
Specifications
Standard
40 20 20 22 ms te ☆ Electrical Time Constant
55 68 98 110 ×10 - 4kg・m（
0.0033 ※ 1 ×10 - 4kg・m（
22.5 27.7 35.7 40 kg WE Servo Motor Mass ※ 1
Encoder Wiring
42 MIN. 42 MIN. 54.9 MIN. 100 MIN. N・m TB Brake Static Friction Torque
Diagram
5.1 5.1 4.5 9.7 ×10 - 4kg・m（
5.5 2.8 4.5 8.9 kg W Brake Mass
External Wiring
39/33
Diagram
ー AC200V±10％ W PF Cooling fan
Single-phase 50/60Hz
IP65（Excluding cooling fan） Servo motor protection code
t20 × 540mm sq. t30 × 610mm sq. radiation during measurement
Dimensions
Setup Software

R2AA22500L／220mm／5.0kW R2AA18550H／180mm／5.5kW R2AA18750H／180mm／7.5kW R2AA1811KR／180mm／11kW
80 120 160 200
110 180
70 140
100 160
Torque（N・m）
Torque（N・m）
Torque（N・m）
Torque（N・m）
60 90 120
80 140
50 100 120
70 Instantaneous Instantaneous Instantaneous
40 Instantaneous 60 Zone 80 Zone 100 Zone
Zone 50
30 60 80
40 60
20 30 40
Option
20 40
10 Continuous Continuous 20 Continuous Continuous
Zone 10 Zone Zone 20 Zone
0 0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 500 1000 1500 2000 2500 3000
32
Specification
Servo Amplifier ＋ Q2 Servo Motor High Efficiency and Low Ripple (Medium Inertia)
Servo Amplifier Model No. RS2A10A□ RS2A15A□

Servo Motor Model No. and Flange Size Q2AA18200H Q2AA22550B Q2AA22700S
Rated Output ★ PR kW 2 5.5 7
Rated Speed ★ NR min -1 2000 1500 1000
Rated Torque ★ TR N・m 9.5 35 67
Continuous Stall Torque ★ TS N・m 12 42 70
Peak Stall Torque ★ TP N・m 31.0 90 150
Rated Armature Current ★ IR Arms 15 30 34
Armature Stall Current ★ IS Arms 18 35.1 34
Peak Armature Stall Current ★ IP Arms 55 79.7 83
Voltage Constant for each Phase ☆ K Eφ mV／min -1 25.9 46 74.5
Rated Power Rate ★ QR kW／s 45.7 128.5 243
Electrical Time Constant ☆ te ms 14.7 24 30
2 GD 2／4） 20 95.3 185
Servo Motor Mass ※ 1 WE kg 13.6 34.8 46
Brake Static Friction Torque TB N・m 32 90 90
Brake Rated Current IB A 0.37 ／ 1.4 0.36 ／ 1.3 0.44 ／ 1.7
2 GD 2／4） 5.5 9.9 24
Brake Mass W kg 5 5.9 10.4
※1 Including wire-saving incremental encoder. ※3 ☆ :Indicates a typical value when the winding temperature is 20℃ .
For the servo amplifier weight, see page 51 and 52. ※4 Our standard servo amplifiers are CE and UL approved.
※ 2 Items with ★ and speed - torque characteristics indicate values
after temperature rise saturation when used with a standard servo
amplifier. The values are the typical values.
Q2AA18200H ／ 180mm ／ 2kW Q2AA22550B ／ 220mm ／ 5.5kW Q2AA22700S ／ 220mm ／ 7kW
40 120 200
Torque（N・m）
Torque（N・m）
Torque（N・m）
30 90 150
Instantaneous Instantaneous
Zone
20 60 Instantaneous 100 Zone
Zone
10 30 50
Continuous Continuous
Continuous Zone Zone Zone
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 500 1000 1500 2000
33
Features and
Functions
Number Nomenclature
・ Model
RS2A30A□ Servo Amplifier Model No.
Q2AA2211KV Q2AA2215KV Servo Motor Model No. and Flange Size
Model No. List

11 15 kW PR ★ Rated Output
1500 min -1 NR ★ Rated Speed
2000 min -1 Nmax ★ Maximum Speed
Configuration
70 95.5 N・m TR ★ Rated Torque
System
80 95.5 N・m TS ★ Continuous Stall Torque
176 215 N・m TP ★ Peak Stall Torque
60 66 Arms IR ★ Rated Armature Current
66 66 Arms IS ★ Armature Stall Current
155 157 Arms IP ★ Peak Armature Stall Current
Specifications
Standard
260 360 kW／s QR ★ Rated Power Rate
33 33 ms te ☆ Electrical Time Constant
0.50 0.52 ms tm ☆
Encoder Wiring
(Not including Encoder)
Diagram
186 255 ×10 - 4kg・m（
58 70 kg WE Servo Motor Mass ※ 1
90 90 N・m TB Brake Static Friction Torque
0.44 ／ 1.7 A IB Brake Rated Current
External Wiring
24 ×10 - 4kg・m（
Diagram
11 kg W Brake Mass

IP67 Servo motor protection code Dimensions
Setup Software

Q2AA2211KV ／ 220mm ／ 11kW Q2AA2215KV ／ 220mm ／ 15kW
200 250
200
Torque（N・m）
Torque（N・m）
150
Instantaneous
Zone 150 Instantaneous
100 Zone
Option
100
50
Continuous 50
Zone Continuous
Zone
0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000
34
Specification
Servo Amplifier ＋ R1 Servo Motor High Power Rate (Low Inertia)
Servo Amplifier Model No. RS2A30A□

Servo Motor Model No. and Flange Size R1AA18550H R1AA18750H
Status Symbol Unit 《180mm sq.》《180mm 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 54.0
Armature Stall Current ★ IS Arms 47 53.0
Peak Armature Stall Current ★ IP Arms 140 155
Torque Constant ☆ KT N・m／Arms 0.86 0.98
Voltage Constant for each Phase ☆ K Eφ mV／min -1 30 34.1
Phase Resistance ☆ Rφ Ω 0.031 0.025
Rated Power Rate ★ QR kW／s 370 550
Electrical Time Constant ☆ te ms 18 21
(Not including Encoder) ☆ tm ms 0.42 0.33
2 GD 2／4） 33 42
Servo Motor Mass ※ 1 WE kg 27 39
Brake Static Friction Torque TB N・m 42 MIN. 54.9 MIN.
Brake Rated Current IB A 0.27 ／ 1.0 0.37 ／ 1.4
2 GD 2／4） 5.1 4.5
Brake Mass W kg 2.8 4.5
Cooling fan PF W 39/33 AC200V±10% Single-phase 50Hz/60Hz
capacity (rating) kVA 9.3 11.6
CE and UL approved servo motors ※ 4 Under preparation
Servo motor protection code IP65(not include cooling fan)
※ 2 Items with ★ indicate values after temperature rise saturation when
installed on the Sanyo specified heat sink and used with a standard servo
amplifier (with 3 phase AC200V input). The values are the typical values.
R1AA18550H ／ 180mm ／ 5.5kW R1AA18750H ／ 180mm ／ 7.5kW
120 160
140
100
Torque（N・m）
Torque（N・m）
Instantaneous 120
80 Zone Instantaneous
100 Zone
60 80
60
40
40
20 Continuous 20 Continuous
Zone Zone
0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000
35
Features and
Functions
Number Nomenclature
・ Model
R1AA1811KR R1AA1815KB Servo Motor Model No. and Flange Size
Model No. List

1500 1500 min -1 NR ★ Rated Speed
2500 2000 min -1 Nmax ★ Maximum Speed
70 95.5 N・m TR ★ Rated Torque
Configuration
System
70 95.5 N・m TS ★ Continuous Stall Torque
195 230 N・m TP ★ Peak Stall Torque
Specifications
Standard
770 1060 kW／s Q R ★ Rated Power Rate
22 25 ms te ☆ Electrical Time Constant
0.32 0.27 ms tm ☆ (Not including Encoder)
Encoder Wiring
64 86 ×10 - 4kg・m（
Diagram
52 64 kg WE Servo Motor Mass ※ 1
75 MIN. 120 MIN. N・m TB Brake Static Friction Torque
DC24V ± 10％ V VB Brake Rated Voltage
1.5 1.9 A IB Brake Rated Current
8.0 9.7 ×10 - 4kg・m（
External Wiring
7.1 8.9 kg W Brake Mass
Diagram
PF W Cooling fan
16 21.4 kVA capacity (rating)
Under preparation CE and UL approved servo motors ※ 4

IP65(not include cooling fan) Servo motor protection code
Size of aluminum plates for heat Dimensions
Setup Software

R1AA1811KR ／ 180mm ／ 11kW R1AA1815KB ／ 180mm ／ 15kW
200 250
180
160 Instantaneous 200
Torque（N・m）
Torque（N・m）
140 Zone Instantaneous

Zone
120 150
100
Option
80 100
60
40 50 Zone
Zone
20
0 0
0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000
36
Specification
Servo Amplifier ＋ Q1 Servo Motor High Power Rate (Low Inertia)
Servo Amplifier Model No. RS2A05A□ RS2A10A□

Servo Motor Model No. and Flange Size Q1AA10100D Q1AA10150D Q1AA10200D
Rated Output ★ PR kW 1 1.5 2
Rated Speed ★ NR min -1 3000
Rated Torque ★ TR N・m 3.19 4.79 6.37
Continuous Stall Torque ★ TS N・m 3.92 4.9 7.36
Peak Stall Torque ★ TP N・m 10.5 14.7 19.6
Rated Armature Current ★ IR Arms 6.5 8.2 15.9
Armature Stall Current ★ IS Arms 7.8 8.2 18
Peak Armature Stall Current ★ IP Arms 24.5 26.5 55
Voltage Constant for each Phase ☆ K Eφ mV／min -1 19.3 24.6 16.4
Rated Power Rate ★ QR kW／s 78.9 143 189
Electrical Time Constant ☆ te ms 7.6 11.4 12.1
2 GD 2／4） 1.29 1.61 2.15
Servo Motor Mass ※ 1 WE kg 5.4 6.5 8.7
Brake Static Friction Torque TB N・m 3.92 9.8 9.8
Brake Rated Current IB A 0.2 ／ 0.61 0.2 ／ 0.83 0.2 ／ 0.83
2 GD 2／4） 0.15 0.4 0.4
Brake Mass W kg 1.3 1.5 1.5
※ 2 Items with ★ and speed - torque characteristics indicate values
Q1AA10100D ／ 100mm ／ 1kW Q1AA10150D ／ 100mm ／ 1.5kW Q1AA10200D ／ 100mm ／ 2kW
12 20 20
Instantaneous
Torque（N・m）
Torque（N・m）
Torque（N・m）
9 15 15 Zone
Instantaneous
Zone Instantaneous
6 10 Zone 10
3 5 5
Continuous Continuous Continuous
Zone Zone Zone
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 6000
37
Features and
Functions
Number Nomenclature
・ Model
RS2A10A□ RS2A05A□ RS2A10A□ Servo Amplifier Model No.
Q1AA10250D Q1AA12100D Q1AA12200D Servo Motor Model No. and Flange Size
Model No. List

《100mm sq.》《120mm sq.》《120mm sq.》 Unit Symbol Status
2.5 1 2 kW PR ★ Rated Output
Configuration
7.97 3.19 6.37 N・m TR ★ Rated Torque
System
8.82 3.92 7.36 N・m TS ★ Continuous Stall Torque
24.4 11 21 N・m TP ★ Peak Stall Torque
16.6 6.2 14.3 Arms IR ★ Rated Armature Current
17.2 7.5 16.2 Arms IS ★ Armature Stall Current
55 24.5 53 Arms IP ★ Peak Armature Stall Current
Specifications
0.587 0.587 0.5 N・m／Arms KT ☆ Torque Constant
Standard
20.5 20.2 17.6 mV／min -1 K Eφ ☆ Voltage Constant for each Phase
0.104 0.19 0.06 Ω Rφ ☆ Phase Resistance
240 45.2 93 kW／s QR ★ Rated Power Rate
13 13 20 ms te ☆ Electrical Time Constant
0.24 0.38 0.31 ms tm ☆
Encoder Wiring
Diagram
2.65 2.25 4.37 ×10 - 4kg・m（
9.4 5.4 8.7 kg WE Servo Motor Mass ※ 1
9.8 9.0 9.0 N・m TB Brake Static Friction Torque
0.2 ／ 0.83 0.25 ／ 0.86 A IB Brake Rated Current
External Wiring
0.4 0.5 0.5 ×10 - 4kg・m（
Diagram
1.5 1.5 1.5 kg W Brake Mass
4.2 2.5 4.0 kVA capacity (rating)

t20 × 470mm sq. t20 × 400mm sq. t20 × 470mm sq. radiation during measurement
Setup Software

Q1AA10250D ／ 100mm ／ 2.5kW Q1AA12100D ／ 120mm ／ 1kW Q1AA12200D ／ 120mm ／ 2kW
40 20 40
Torque（N・m）
Torque（N・m）
Torque（N・m）
30 15 30
20 10 20
Option
Zone Instantaneous
Zone Zone
10 5 10
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
38
Specification
Servo Amplifier ＋ Q1 Servo Motor High Power Rate (Low Inertia)
Servo Amplifier Model No. RS2A10A□

Servo Motor Model No. and Flange Size Q1AA12300D Q1AA13300D
Status Symbol Unit 《120mm sq.》《130mm sq.》
Rated Output ★ PR kW 3
Rated Speed ★ NR min -1 3000
Maximum Speed ★ Nmax min -1 5000 4500
Rated Torque ★ TR N・m 9.6 9.5
Continuous Stall Torque ★ TS N・m 11 10.8
Peak Stall Torque ★ TP N・m 31 28.4
Rated Armature Current ★ IR Arms 16.2 16.7
Armature Stall Current ★ IS Arms 17.3 17.6
Peak Armature Stall Current ★ IP Arms 55 55
Torque Constant ☆ KT N・m／Arms 0.73 0.693
Voltage Constant for each Phase ☆ K Eφ mV／min -1 25.4 24.2
Phase Resistance ☆ Rφ Ω 0.082 0.087
Rated Power Rate ★ QR kW／s 143 184
Electrical Time Constant ☆ te ms 13.9 17.9
(Not including Encoder) ☆ tm ms 0.3 0.27
2 GD 2／4） 6.4 4.92
Servo Motor Mass ※ 1 WE kg 11.4
Brake Static Friction Torque TB N・m 11.8
2 GD 2／4） 0.5
Brake Mass W kg 1.7
capacity (rating) kVA 5.0 5.0
※2 Items with ★ and speed - torque characteristics indicate values ※4 Our standard servo amplifiers are CE and UL approved.
Q1AA12300D ／ 120mm ／ 3kW Q1AA13300D ／ 130mm ／ 3kW
40 40
Torque（N・m）
Torque（N・m）
30 30
20 Zone 20 Zone
10 10
Zone Zone
0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
39
Features and
Functions
Number Nomenclature
・ Model
Q1AA13400D Q1AA13500D Servo Motor Model No. and Flange Size
Model No. List

Configuration
12.7 15.7 N・m TR ★ Rated Torque
System
14.7 18.1 N・m TS ★ Continuous Stall Torque
39.2 47.6 N・m TP ★ Peak Stall Torque
Specifications
Standard
251 291 kW／s QR ★ Rated Power Rate
19.2 20.8 ms te ☆ Electrical Time Constant
0.25 0.22 ms tm ☆
Encoder Wiring
Diagram
6.43 8.47 ×10 - 4kg・m（
14.4 16 kg WE Servo Motor Mass ※ 1
19.6 N・m TB Brake Static Friction Torque
0.25 ／ 0.95 A IB Brake Rated Current
External Wiring
0.58 ×10 - 4kg・m（
Diagram
2.2 kg W Brake Mass

t20 × 470mm sq. t20 × 540mm sq. radiation during measurement
Setup Software

Q1AA13400D ／ 130mm ／ 4kW Q1AA13500D ／ 130mm ／ 5kW
40 80
Torque（N・m）
Torque（N・m）
30 Instantaneous 60
Zone
20 40
Instantaneous
Option
Zone
10 20
Zone Zone
0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
40
Encoder Wiring Diagram
Serial Encoder
・Battery backup type absolute encoder [PA035C]
・Absolute encoder for incremental system [PA035S]
・Batteryless absolute encoder [RA035C, HA062]
※1 Use a twisted-pair shielded cable.
Connector：36210-0100PL
SERVO AMPLIFIER Shell kit：36310-3200-008 SERVO MOTOR ※2 The maximum cable lengths under the conductor size of the
power supply cable (5V,SG).
EN1 ※4 Conductor size Conductor resistance Length
Absolute encoder
7 E/1（Brown） AWG SQ (mm2) (Ω/km) ※20℃ (m)
ES＋ ES＋
8 F/2（Blue） 26 0.15 150 or less 5
ES− ES−
9 T/8（Pink） 24 0.2 100 or less 10
BAT＋ EBAT＋
※3 10 S/4（Purple） 22 0.3 60 or less 15
BAT− EBAT−
20 0.5 40 or less 25
18 0.75 25 or less 40
1 H/9（Red）
＋5V ＋5V
Conductor resistance is different by conductor
2 G/10（Black）
SG 0V specifications.
J/7
FG
※1 (Shielded) ※3 When the absolute encoder for incremental system or
※2 batteryless absolute encoder is used, battery lines (EBAT+,
EBAT-) are not required.
Cannon plug Model No. ※4 Lead wire colors are indicated in parentheses.
JN2DS10SL1-R JN2FS10SL2-R The pin numbers of cannon plug type: See the following
Absolute encoder for incremental
JN2FS10SL1-R JN2DS10SL3-R table.
system
JN2DS10SL2-R JN2FS10SL3-R
Battery backup method absolute encoder / N/MS3106B20-29S Encoder ES＋ ES− EBAT＋ EBAT− ＋5V 0V FG
Batteryless absolute encoder N/MS3108B20-29S Battery backup method
E/1 F/2 T/8 S/4 H/9 G/10 J/7
※ For the R2 130 mm Servo Motor Absolute encoder
(R2AA13□□□), this is the same as Absolute encoder for
1 2 ― ― 9 10 7
the above incremental system incremental system
absolute encoder.
Batteryless absolute
E F ― ― H G J
encoder
Pulse Encoder
・Wire-saving incremental encoder
Connector：36210-0100PL ※1 Use a twisted-pair shielded cable.
SERVO AMPLIFIER Shell kit：36310-3200-008 SERVO MOTOR ※2 The maximum cable lengths under the conductor size of the
power supply cable (5V,SG).
EN1 ※3 Incremental encoder
Conductor size Conductor resistance Length
7 A/1（Blue）
A A AWG SQ (mm2) (Ω/km) ※20℃ (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
Conductor resistance is different by conductor
specifications.
1 J/9（Red）
＋5V ＋5V
2 N/10（Black） ※3 Letters indicate cannon plug pins. Lead wire colors are
SG 0V
H/7 indicated in parentheses.
FG
※1 （shielded）
※2
N/MS3106B20-29S
N/MS3108B20-29S
Servo Motor Encoder Connectors P.57 (With Cannon plug)
41
External Wiring Diagram
Analog/Pulse input type (NPN output)
Features and
Functions
Single-phase 100V Single-phase 200V
(Amp. capacity 15A, 30A) (Amp. capacity 15A to 50A)
User Unit User Unit
MC Amp.capacity External Amp.capacity External
regenerative resistor regenerative resistor
Power Supply MC Power Supply 100A,150A 300A
Single-phase Single-phase ※2 ※2
100 to 115V 200 to 230V ※3 ※3
50／60Hz 50／60Hz
Terminalblock Terminalblock
※10
RB1
RB4
RB2
※10
RB1
RB2
Number Nomenclature
・ Model
-
Start ready Start ready
P
-
ON OFF ON OFF Built in
regenerative
MC MC resistor
MC Emergency MC Emergency + +
System error stop System error stop
Model No. List

Amp.capacity
3-phase 200V 15A to 50A With Cannon plug
CNA
※2
50A: CNA ※3 50A: CNB
User Unit 100 to 300A: 100 to 300A:
SERVO MOTOR
RB1
RB2
MC Built in ※4
Power Supply R regenerative U Red Orange
RY1
(Yellow)
3-phase S + resistor
White Orange 90V
200 to 230V T V
(Yellow) (24V)
Configuration
50／60Hz Black
※10 CNA r W
System
t Green Holding brake
Start ready (for the type with a brake only)
ON
Start ready SERVO AMPLIFIER (Green/Yellow)
OFF
EN1
MC Encoder
MC Emergency
CN4 ※8
System error stop
1 SH ※5 SH
NC
※9 2 With Cannon plug
NC
※11 4 HWGOFF1+
DC24V 3 HWGOFF1-
6 HWGOFF2+
Specifications
Safe Torque 5 HWGOFF2-
Standard
Off function
Line driver Connector
HD26C31 Name Housing, plug, shell
8 EDM+ No.
model only Corresponding
AO 3 CNA Control power, main
7 EDM-
MSTB2.5/8-STF-5.08LUB
※11 15A to 50A power input connector
DC24V
AO 4
CNA
BO 5 100A, Control power input
MSTBT2.5/2-STF-5.08
150A, connector
BO 6
Line driver CN1 +5V +5V 300A
HD26C31 Line receiver ZO 7
Corresponding HD26C32 CNB Servo motor
26 F-PC Encoder division
MSTBT2.5/3-STF-5.08
Corresponding ZO 8 15A to 50A power connector
Encoder Wiring
Forward signal output
revolution 27 F-PC
PS 9
Connector for host
pulse SG CN1 device input / Plug：10150-3000PE
47 +5V +5V
Diagram
Position command SG
output signals Shell：10350-52A0-008
pulse input PS 10
28 R-PC SG SG
Backward
Encoder signal Connector：36210-0100PL
revolution EN1
pulse 29 R-PC connector Shell kit：36310-3200-008
※6 48 SG
SG ZOP 11 CN4 Safe Torque Off For short-circuit：2040978-1
SG
function connector For customer wining：2013595-3
SG SG 12
V-REF
21 /T-REF SG
- SG
Velocity command /
Torque command input 20 SG
+ MON1 30 ※1 For the parts marked ,use a twisted pair shielded
cable.
SG Monitor
External Wiring
SG 31 output
SG
※2 AMP. capacity 15A, 30A, 50A
22 T-COMP SG When using an external regenerative resistor, connect it
Diagram
Torquecompensation -
※11 between RB1 and 2. If RB1 and 2are connected to the
input 23 SG
+ DC5V,
DC12V
internal amplifier's resistor, or if a shorting bar is
SG to 24V connected between RB1and 4, first disconnect them.
OUT-PWR 49
SG AMP. capacity 100A,150A
18 F-TLA When using internal regenerative resistor, connect
Forward OUT1 39 short-circuit bar between RB1 and RB4 terminals. When
revolution pulse 17 SG using external regenerative resistor, connect it between
Torque limit SG
input Backward
R-TLA
RB1 and RB2 terminalsafter removing short-circuit bar
revolution pulse 19 SG
OUT2 40 between RB1 and RB4 terminals.
AMP. capacity 300A
Connect external regenerative resistor between RB1 and
Lithium battery DC3.6V SG RB2 terminals.
1 BTP-I
OUT3 41 Dimensions
Battery input 2 BTN-I
※3 The −
○ terminal and the P terminal are for maintenance
General- (high-voltage circuit).
OUT4 42 purpose So, do not wire this terminal.
output
※11
50 CONT-COM ※4 Motor connection differs to the motor specifications. The
DC5V to 24V indications of red, white, black, green and orange apply when
37 CONT1 OUT5 43 the motor power and brake lines are the lead type. When they
are the cannon plug type, connect them according to the
General-purpose motor specification. Refer to "Pin Assignment Symbols" on
input 36 CONT2 OUT6 44 page 58.
※5 Refer to "encoder connection diagram" on page 41 for the

Setup Software
35 CONT3 wiring for the connector for the encoder connection.

OUT7 45
※6 Please be sure to connect SG(signal ground) between
equipment with servo amplifier when you use a difference
34 CONT4 46
OUT8 input signal.
※7 R,S,T,t,r,−
○,P,DL1,DL2,RB1,RB2, RB4 (100A, 150A only), U,V,W
33 CONT5 OUT-COM 24 are high-voltage circuits, all other lines are low-voltage.
Ensure sufficient distance between the high- and low-voltage
25
circuits.
OUT-COM
32 CONT6
SH ※8 CN4 is a connector for safety function signals. To turn the
Shield processing servo motor power ON, a safety device must be connected
+5V +5V
Line receiver and the wiring to activate the safety function must be done.
13 CONT7 SG HD26C32 When not using the safety function, use the connector (P.N :
Corresponding AL-00718251-01) of an option inserted into the CN4.
Option
14 CONT7
+5V +5V ※9 Nothing should connect with CN4-1 and 2pin.
15 CONT8 SG ※10 It is recommend to use a ground fault interrupter conforming

to the UL,IEC and EN standards.
16 CONT8
38 SG ※11 Power should be supplies by the user.
SG
※6 SG
SH SG
Shield processing
42
External Wiring Diagram
EtherCAT interface type
Single-phase 100V Single-phase 200V

(Amp. capacity 15A, 30A) (Amp. capacity 15 to 50A)
User Unit User Unit
Amp.capacity External
Amp.capacity External
MC
Power Supply MC Power Supply 100A,150A regenerative resistor 300A regenerative resistor
Single-phase Single-phase ※2 ※2
100 to 115V 200 to 230V ※3 ※3
50／60Hz 50／60Hz Terminalblock Terminalblock
※9
※9
RB1
RB4
RB2
RB1
RB2
-
Start ready
P
-
ON Start ready
OFF ON OFF Built in
regenerative
MC MC resistor
MC Emergency MC Emergency + +
System error stop System error stop
Amp.capacity
15A to 50A
3-phase 200V (AMP. capacity 50 to 300A)
CNA
※2
User Unit ※3
RB1
RB2
Built in With Cannon plug
50A: CNA regenerative 50A: CNB
100 to 300A: resistor 100~300A: SERVO MOTOR
MC ※4 Red
Power Supply R U Orange RY1
(Yellow)
3-phase S +
White 90V
T V Orange
200 to 230V (Yellow) (24V)
50／60Hz Black
※9 CNA r W
Holding brake
t Green (for the type with a brake only)
Start ready Start ready SERVO AMPLIFIER (Green/Yellow)
ON OFF EN1
MC Encoder
MC Emergency
System error stop
SH ※5 SH
With Cannon plug
CN0/1
※7
CN2 ※11
1
Lithium battery DC3.6V
2 BAT+ 1
4
Battery input
5 BAT- 2
Ethernet I/O
3 3
6 Reserved ※8
7 (Do not connect)
4
8
※10
SH HWGOFF1+ 5 DC24V
Shield processing
Connector
HWGOFF1-
Name Housing, plug, shell
6 No.
CNA Control power, main
MSTB2.5/8-STF-5.08LUB
CN3 15A to 50A power input connector
HWGOFF2+ 7 CNA
1 OUT1+ 100A, Control power input
MSTBT2.5/2-STF-5.08
150A, connector
2 OUT1- HWGOFF2- 8 300A
CNB Servo motor
MSTBT2.5/3-STF-5.08
15A to 50A power connector
General-purpose
EDM+ 9
output 3 OUT2+ Encoder signal Connector：36210-0100PL
EN1
EDM- connector Shell kit：36310-3200-008
10
4 OUT2- Safe Torque Off function,
※10 CN2
DC24V battery power connector MUF-PK10K-X
Safe Torque
Off function SH
CN3 General-purpose
※10 2013595-3
DC5V to 24V model only I/O signal connector
5 CONT1+ Shield processing
※1 For the parts marked ,use a twisted pair shielded cable.

6 CONT1-
※2 AMP. capacity 15A, 30A, 50A

General-purpose
When using an external regenerative resistor, connect it between RB1
input 7 CONT2+ and 2. If RB1 and 2are connected to the internal amplifier's resistor, or
if a shorting bar is connected between RB1and 4, first disconnect
them.
8 CONT2- AMP. capacity 100A,150A
When using internal regenerative resistor, connect short-circuit bar
between RB1 and RB4 terminals. When using external regenerative
SH
resistor, connect it between RB1 and RB2 terminalsafter removing
short-circuit bar between RB1 and RB4 terminals.
Shield processing AMP. capacity 300A
Connect external regenerative resistor between RB1 and RB2
terminals.
※3 The −○ terminal and the P terminal are for maintenance (high voltage
circuit).
So, do not wire this terminal.
※4 Motor connection differs to the motor specifications. The indications of

red, white, black, green and orange apply when the motor power and
brake lines are the lead type. when they are the cannon plug type,
connect them according to the motor specification. Refer to "Pin
Assignment Symbols" on page 58.
※5 Refer to "encoder connection diagram" on page 41 for the wiring for the
connector for the encoder connection.
※6 R,S,T,t,r,−
○,,P,DL1,DL2,RB1,RB2, RB4 (100A, 150A only), U,V,W are
high-voltage circuits, all other lines are low-voltage. Ensure sufficient
distance between the high- and low-voltage circuits.
※7 Use a TIA category 5e or better shielded twisted pair (STP) cable.
※8 Nothing should connect with CN2-3 and 4pin.
※9 It is recommend to use a ground fault interrupter conforming to the

UL,IEC and EN standards. Do not wire the S phase for a single-phase
power amplifier.
※10 Power should be supplies by the user.
※11 CN2 is a Safe Torque Off function connector. If it is not connected to the
safety device to enable the Safe Torque Off function to work, the servo
does not turn on (the motor is not energized).
43
Servo Motor Dimensions [Unit : mm (inch)]
40mm sq. to 100mm sq.
Features and
Functions
R2 Servo Motor Series
0.07 M
0.02 Absolute encoder Incremental encoder
□LC LR LL±1 LL±1
0.06 M (LL±.04) (LL±.04)
LZ LE LG
（φ
LH LA Q
） φ
Number Nomenclature
・ Model
φLB
φS
Model No. List

M
KL
KL
φD3
Oil seal QE Tapping
1100±100
(44±4)
(50)((2))
φD1 φD2 φD3
(Option) Depth LT
(50)((2))
(50)((2))
(50)((2))
1100±100
1100±100
1100±100
(40±4)
(40±4)
(40±4)
※3
Configuration
Shield cable (for mounting)
(For Encoder)
Motor cable (for mounting) Shield cable (for mounting)
System
(For Power and Ground) Brake cable (for mounting) (For Encoder)
※1
※Dimensions with brake but without relay cable connector
Battery backup method absolute encoder,

Incremental encoder
Absolute encoder for incremental system
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
Specifications
MODEL LL LL LL LL LL LL LL LL LG KL LA LB LE
Standard
51.5 87.5 56.5 92.5 63.5 99.5 68.5 104.5
R2□A04003
(2.06) (2.28) (2.26) (3.7) (2.54) (3.98) (2.74) (4.18)
56.5 92.5 61.5 97.5 68.5 104.5 73.5 109.5 00-0.000
R2□A04005 2.5
(2.26) (3.7) (2.46) (3.9) (2.74) (4.18) (2.94) (4.38) 5 35.4 46 30-0.021
(.2) (1.416) (1.84) 0 (.1)
R2EA04008 72 108 77 113 84 120 89 125 30 -.00084 ( )
(2.8) (4.32) (3.08) (4.52) (3.36) (4.8) (3.56) (5)
R2AA04010
58.5 82.5 65.5 89.5 78.2 106.2 85.2 113.2
R2□A06010
Encoder Wiring
(2.34) (3.3) (2.62) (3.58) (3.128) (4.248) (3.408) (4.528) 00-0.000
69.5 97.5 76.5 104.5 89.2 117.2 96.2 124.2 6 44.6 70 50-0.025
R2□A06020
Diagram
(2.78) (3.9) (3.06) (4.18) (3.568) (4.688) (3.848) (4.968) (.24) (1.784) (2.8) 0
R2AA06040
95.5 123.5 102.5 130.5 115.2 143.2 122.2 150.2 (
2 -.001 )
(3.82) (4.94) (4.1) (5.22) (4.608) (5.728) (4.888) (6.008)
66.3 102 73.3 109 90 122.7 97 129.7
R2AA08020
(2.652) (4.08) (2.932) (4.36) (3.6) (4.908) (3.88) (5.188) 00-0.000
78.3 114 85.3 121 102 134.7 109 141.7 54.4 90 70-0.030 3
R2AA08040 0
(3.132) (4.56) (3.142) (4.84) (4.08) (5.388) (4.36) (5.6799) (2.176) (3.6)
R2AA08075
107.3 143 114.3 150 131 163.7 138 170.7 8 ( 2.8 -.012 )
(.12)
(4.292) (5.72) (4.572) (6) (5.24) (6.548) (5.52) (6.8279) (.32)
External Wiring
114.3 140.2 114.3 140.2 128.8 154.7 128.8 154.7 00-0
R2AAB8075
(4.499) (5.519) (4.572) (5.519) (5.07) (6.09) (5.07) (6.09) 59.4 100
80-0.030
Diagram
137 163 137 163 151.5 177.4 151.5 177.4 (2.376) (4) 0
R2AAB8100
(5.48) (6.52) (5.48) (6.52) (6.06) (7.096) (6.06) (7.096) 3.2 -.0012 ( )
111.3 128.8 111.3 128.8 00-0.000
R2AA10075 ーーーー
(4.452) (5.152) (4.452) (5.152) 10 66.8 115 95-0.035
128.3 145.8 128.3 145.8 (.4) (2.672) (4.6) 0
R2AA10100
(5.132) (5.832) (5.132) (5.832)
ーーーー 3.8 -.0014 ( )
MODEL LH LC LZ LR S Q QE LT D1 D2 D3
0 0
R2□A04003 (
6-0.008 .24 -.00032 ) Dimensions
R2□A04005
56 40 2-D4.5 25 ーー
(2.24) (1.6) (2-D.18) (1) 0 20
R2EA04008
0
(
8-0.009 .32 -.0003 ) (.8)
R2AA04010
25 0 0
R2□A06010
(1) (
8-0.009 .32 -.0003 ) ーー
82 60 4-D5.5
R2□A06020
Setup Software
(3.28) (2.4) (4-D.22)

R2AA06040 M5 12
30 0 0 25 (.48) 6 5 5
R2AA08020
(
(1.2) 14-0.011 .55 -.0003 ) (1) (.23) (.19) (.19)
108 80 4-D6.6
R2AA08040
(4.25) (3.14) (4-D.264) M5 12
40 0 0 (.48)
R2AA08075 (
(1.57) 16-0.011 .56 -.0003 ) 35
(1.4)
R2AAB8075 30 12
115.5 86 4-D6.6 35 0 0
R2AAB8100
(4.54) (3.38) (4-D.264) (1.37) 16-0.011 .56 -.0003 ( ) (1.2) M5 (.48)
Option
R2AA10075 40 20
130 100 4-D5.5 45 0 0
R2AA10100
(5.11) (3.93) (4-D.36) (1.8) 22-0.013 .88 -.0005 (1.6)
M6 ( ) (.8)
※1 Brake connectors (cables) are not supplied for models without brakes. For the following encoders, please make inquiries:
※2 A reduction in the rating might be needed if an oil seal and Brake is ・ Resolver method batteryless absolute encoder [RA035C], High precision
attached. Please consult with us about the details. battery-less optical absolute encoder [HA062].
※3 The cable length of the motor with relay cable connector is 200±30mm.
The connector is attached to the end of the cable.
44
130mm sq.
R2 Servo Motor Series 0.5kW to 1.8kW
0.08
(.0032) M
□LC 0.02 LR LL
4-φLZ1 (.0008) LE (LG)
0.08
(.0032) M
A
φL Q
QA QK
H
φLB
φS
(KL3)
(φL M
H)
(KL1)
W
(7)
QE Tap
Oil seal depth LT
U JN2AS10ML2-R
(KL2)
2-LZ2 T (KB1) (KB2) (For Encoder)
(Tap for removing motor)
Section H-H JL04V-2E24-11PE-B-R
(for power, brake and ground)
※Dimensions with the battery backup method absolute encoder and brake.

Incremental encoder
Without brake With brake Without brake With brake
MODEL LL KB2 KL3 LL KB2 KL3 LL KB2 KL3 LL KB2 KL3 LG KL1 KL2 LA
R2AA13050 103 139.5 81 115.5 153.5 93
(4.12) (5.58) (3.24) (4.62) (6.14) (3.72)
R2AA13120 120.5 44 69 160 84 69 133 57 38 174 96 38 12 98 21 145
(4.82) (1.76) (2.76) (6.4) (3.36) (2.76) (5.32) (2.28) (1.52) (6.96) (3.84) (1.52) (.48) (3.92) (.84) (5.8)
R2AA13180 138 179 86 150.5 192 96
(5.52) (7.16) (3.44) (6.02) (7.68) (3.84)
MODEL LB LE LH LC LZ1 LZ2 LR S Q QA QK W T U KB1 QE LT
R2AA13050 46
0 0 0 (1.84)
R2AA13120 110 −0.035 4 165 130 9 55 22 −0.013 50 3 42 6 −0.030 6 2.5 64 20
0 (.16) (6.6) (5.2) (.36) M6 (2.2) 0 (2) (.12) (1.68) 0 (.24) (.1) (2.56) M6 (.8)
R2AA13180
(4.4 −.0014 ) (.88 −.000052 ) ( .24 −.0012) 81
(3.24)
For the following encoders, please make inquiries:
・ Resolver method batteryless absolute encoder [RA035C], High precision battery-less optical absolute encoder [HA062].
130mm sq.
R2 Servo Motor Series 2kW
0.08 M
□LC 0.02
LR LL
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
(for power, brake and ground)

Incremental encoder
MODEL LL KB2 KL3 LL KB2 KL3 LL KB2 KL3 LL KB2 KL3 LG KL1 KL2 LA
R2AA13200 171 57 38 216 103 38 185 64 65 230 110 65 12 98 21 145
(6.84) (2.28) (1.52) (8.64) (4.12) (1.52) (7.4) (2.56) (2.6) (9.2) (4.4) (2.6) (.48) (3.92) (.84) (5.8)
MODEL LB LE LH LC LZ1 LZ2 LR S Q QA QK W T U KB1 QE LT
0 0 0
R2AA13200 110 −0.035 4 165 130 9 55 −0.013 50 3 42 8 −0.036 7 3 99 25
0 (.16) (6.6) (5.2) (.36) M6 (2.2) 28 0 (2) (.12) (1.68) .32 0 (.28) (.12) (3.96) M8 ( (1)
4.4 −.0014 ( ) 1.12 −.00052 −.0014 ( ) )
45
180mm sq.
Features and
Functions
R2 Servo Motor Series 3.5kW to 7.5kW
0.08 M
□LC 0.02
LR LL
4-φLZ1 LE (LG) (IL2) 2-M8
0.08 M ※1
A
φL Q
Number Nomenclature
・ Model
φLB
φS
(KL3)
M
Model No. List

(IE)
(KL1)
(7)
(φ
LH
)
2-LZ2 QE Tap
(KL2)
(Tap for removing depth LT
Eye bolt
motor) 2-M8
Without oil seal (IL1) (IL2) (KB3) (IF) ※1
JN2AS10ML2-R
(KB1) (KB2)
(For Encoder)
Configuration
※ Dimensions with the battery backup Power connector Brake connector
System
(For power, brake and ground) ※2
method absolute encoder and brake. ※2

Incremental encoder
MODEL LL KB2 KB3 KL3 LL KB2 KB3 KL3 LL KB2 KB3 KL3 LL KB2 KB3 KL3 LG KL1 KL2 LA LB
R2AA18350 155 204 172 221
(6.2) 48 (8.16) 97 (6.88) 59 (8.84) 108 16 123 21
221 (3.88) ーー
Specifications
R2AA18450 172 (1.92) 189 (2.36) 238 (4.32) (.64) (4.92) (.84) 0
(6.88) 38 (8.84) 38 (7.56) 65 (9.52) 65 200 114.3 −0.035
Standard
ーー
228 (1.52) 281 114 58 (1.52) 242 (2.6) 295 121 58 (2.6) (8) 0
R2AA18550 (9.12) 59 (11.24) (4.56) (2.32) (9.68) 66 (11.8) (4.84) (2.32) 19 144 22 (
4.572 −.0014 )
R2AA18750 273 (2.36) 336 124 68 287 (2.64) 350 131 68 (.76) (5.76) (.88)
(10.92) (13.44) (4.96) (2.72) (11.48) (14) (5.24) (2.72)
Power connector Brake connector
MODEL LE LH LC LZ1 LZ2 LR S Q KB1 QE LT IE IF IL1 IL2
model No. model No.
0 92 123 50 50 20
R2AA18350 ※1 ※1 ※1 ※1
65 35 −0.016 60 (3.68) M8 (4.92) (2) (2) (.8) JL04V-2E24- ー
Encoder Wiring
(2.6) 0 (2.4) 109 11PE-B-R
R2AA18450 3 230 180 13.5 (
1.4 −.00064 ) 25
57 20 ※2
Diagram
M8 (4.36) (2.28) (.8)
(.12) (9.2) (7.2) (.54) 0 153 (1) 123 50 41
R2AA18550 42 −0.016
79 75 (6.12) M10 (4.92) (2) 63 (1.64) JL04V-2E32- JL04V-2E10SL-
(3.16) 0 (3) 198 (2.52) 86 17PE-B-R 3PE-B-R
R2AA18750 (1.68 −.00064 ) (7.92) (3.44)
※1 The R2AA18350 motor without brake comes with no eye bolt. For the following encoders, please make inquiries:
※2 The brake line is shared with the power connector. ・ Resolver method batteryless absolute encoder [RA035C], High precision
battery-less optical absolute encoder [HA062].
External Wiring
180mm sq.
Diagram
R2 Servo Motor Series 11kW
0.10
□LC (.004) M LR LL (□195)
4-φLZ1 0.03 LE (LG) (IL2) (□145)
(.0012)
A 0.08 M Exhau
φL (.0032) Q st
Dimensions
φLB
φS
Intake
(KL3)
(101)
M
(IE)
(KL1)
st
Exhau
(φ
LH
)
(7)
(15)
2-LZ2 QE Tap
(KL2)
(Tap for removing depth LT

MS3102A10SL-4P Eye bolt
motor)
Setup Software
(For Cooling fan) 2-M8

(IL1) (IL2) (KB3) (40)
Without oil seal JN2AS10ML2-R
(KB1) (KB2) (21) (IF)
(For Encoder)
※ Dimensions with the battery backup JL04V-2E32-17PE-B-R JL04V-2E10SL-3PE-B-R
(For power, brake and ground)
method absolute encoder and brake. (For brake)

Incremental encoder
MODEL LL KB2 KB3 KL3 LL KB2 KB3 KL3 LL KB3 KB2 KL3 LL KB2 KB3 KL3 LG KL1 KL2 LA
R2AA1811K 385 59 102 518 149 123 102 385 66 102 518 201 123 102 19 144 22 200
(15.4) (2.36) ー (4.08) (19.12) (6.16) (3.32) (4.08) (15.4) ー (2.64) (4.08) (19.12) (6.12) (3.32) (4.08) (.76) (5.76) (.88) (8)
Option
MODEL LB LE LH LC LZ1 LZ2 LRS Q KB1 QE LT IE IF IL1 IL2

0 0
R2AA1811K 114.3 −0.035 3 230 180 13.5 79
M8 (3.16) 42 −0.016 75 223 25 123 50 63 111
0 (.12) (9.2) (7.2) (.54) 0 (3) (3.92) M10 (1) (4.92) (2) (2.52) (4.44)
( 4.572 −.0014 ) (
1.68 −.00064 )
46
220mm sq.
R2 Servo Motor Series
0.08 M
□LC LR LL
0.02
4-φLZ1 0.08 M LE (LG)
(IL2) 2-M8 (IF)
Eye bolt
A
φL Q
QA QK
φLB H
φS
(KL3)
H
M
(φL
(KL1)
7
(IE)
H)
W
Oil seal QE Tap

depth LT
4-LZ2 (IL1) (IL2) Eye bolt (IF)
U
(KL2)
(Tap for removing motor) (KB1) (KB2) 2-M8
T
Section H-H JL04V-2E24-11PE-B-R JN2AS10ML2-R

(For power, brake and ground) (For Encoder)
Battery backup method

absolute encoder,
Incremental encoder
Absolute encoder for
incremental system
MODEL LL KB2 KL3 LL KB2 KL3 LL KB2 KL3 LL KB2 KL3 LG KL1 KL2 KL3 LA LB LE LH
R2AA22350 145 198 159 212 0
(5.8) 52 38 (7.92) 106 38 (6.36) 59 65 (8.48) 113 65 16 142 21 38 235 200 −0.046 4 270
163 (2.08) (1.52) 216 (4.24) (1.52) 177 (2.36) (2.6) 230 (4.52) (2.6) (.64) (5.68) (.84) (1.52) (9.4) 0 (.16) (10.8)
R2AA22500 (6.52) (8.64) (7.08) (9.2) 8 −.00184 ( )
MODEL LC LZ1 LZ2 LR S Q QA QK W T U KB1 QE LT IE IF IL1
IL2
R2AA22350 0 0 78 18
220 13.5 65 35 −0.016 60 3 50 10 −0.036 8 3 (3.12) M8 25 142 60 48 (.72)
(8.8) (.54) M12 (2.6) 0 (2.4) (.12) (2) 0 (.32) (.12) 96 (1) (5.68) (2.4) (1.92) 35
R2AA22500 ( 1.4 −.00064 ) (
.4 −.00143 ) (3.84) (1.4)
・ Resolver method Batteryless absolute encoder [RA035C], High precision battery-less optical absolute encoder [HA062].
Electric wire diameters

Armature Power receptacle Maximum wire size of connector
Receptacle Recommended motor Wire size of main
Voltage
Flange Stall Applicable

permissable power wire size ※ power supply
Size MODEL Current Shell Contact MS Type JL04V Type amplifier
current (U, V, W, Ground) (R, S, T, Ground)
（mm）（Is） Size Size model No.
Arms mm2 AWG No. mm2 AWG No. Arms mm2 AWG No. mm2 AWG No.
R2AA13050H 4.6
R2AA13050D 5.2 RS2A03 0.75 #19 2 #14
R2AA13120B 5.2
R2AA13120L 8.4
130 24-11P #8 8 #8 5.5 #10 40A
R2AA13120D 9.3
RS2A05 2 #14 2 #14
R2AA13180H 11.8
R2AA13200L 12
R2AA13200D 17.5
200V
RS2A10 5.5 #10

R2AA18350L 23.7 5.5 #10
R2AA18350D 27 24-11P #8 8 #8 5.5 #10 40A
R2AA18450H 31.7 RS2A15 8 #8
8 #8
180 R2AA18550R 32.9
R2AA18550H 48
32-17P #4 22 #4 22 #4 70A
R2AA18750H 56.8 RS2A30 14 #6 14 #6
R2AA1811KR 66
R2AA22350L 22 RS2A10 5.5 #10 5.5 #10
220 24-11P #8 8 #8 5.5 #10 40A
R2AA22500L 34 RS2A15 8 #8 8 #8
※Use of heat-resistant vinyl wire (HIV) is recommended.
47
180mm sq.
Features and
Functions
R1 Servo Motor Series 5.5kW to 15kW
(KB2) 19.5 JN2AS10ML2-R
(KB3) (For Encoder)
Number Nomenclature
・ Model
Model No. List
Key Posision Key Posision
JL04V-2E32-17PE-B-R JL04V-2E10SL-3PE-B-R MS3102A10SL-4P
(For power and ground) (For Brake) (For Cooling fan)
γ M
LL
(KL2)
□LC (KB1) (KB3) (IF)
Eye Bolt α
LR (IL1) (IL2)
2-M8 β M
(15)
LE (LG)
Configuration
Ex
System
h
(7)
au
Q
st
(KL1)
QA QK
(115)
(IE)
(KL3)
A A R1
C1
(ØLH) ØL
Intake
ØLB
ØS
A
M
Specifications
Section AA (IL1) (IL2) (IF)
Standard
4-ØLZ1 S Type Oil seal M10×1.5
t
us
W
ha
2-LZ2 Depth LT 2-M8 (□145)
Ex
(Tap for removing motor) For Eye Bolt Min. of 50mm space needed
U
T
Encoder Wiring
Without brake With brake
Diagram
MODEL LL KB2 KB3 KL3 LL KB2 KB3 KL3 LG KL1 KL2 LA KB LE LH LC LZ1 LZ2 LR
R1AA18550 352 407 118 53
R1AA18750 387 445 128 63

0
80 − 81 81 19 144 22 200 φ 114.3
−0.035
3 230 180 13.5 M8 79
R1AA1811K 457 531 144 79
R1AA1815K 535 625 168 103
External Wiring
Diagram
MODEL S Q QA QK W T U KB1 α β γ QE LT IE IF IL1 IL2
R1AA18550 172 53 65
0 0
0.02 0.08 0.08
R1AA18750 42 −0.016 12 −0.043 8 3 207 68 85
75 3 67 M10 25 124 50
R1AA1811K 277 68 163
0 0
0.03 0.08 0.10
R1AA1815K 55 −0.019 16 −0.043 10 4 356 92 210
Dimensions

Voltage
Flange Stall Applicable

permissable power wire size ※ power supply
Size MODEL Current Shell Contact MS Type JL04V Type amplifier
current (U, V, W, Ground) (R, S, T, Ground)
(mm) （Is） Size Size model No.
mm2 mm2 mm2 mm2
Setup Software
Arms AWG No. AWG No. Arms AWG No. AWG No.
R1AA18550H 47
200V
R1AA18750H 53
180 32-17P #4 22 #4 22 #4 70 RS2A30 14 #6 14 #6
R1AA1811KR 54
R1AA1815KB 58
Option
48
100mm sq. to 220mm sq.

Q1 Servo Motor Series
γM
□LC α LR LL
4-φLZ1 LE (LG) (IL2) (IF) 2-M8
βM
Q
A
(φ
LH) φL
QA QK
H
φLB
φS
H
(KL3)
M
(KL1)
(IE)
(19 )
W
( KL2)
OE Tap
depth LT
U (IL1) (IL2) (KB3)
S Type Oil seal (IF) Eye bolt
2-LZ2 T (KB1) (KB2) MS3102A20-29P (for Equivalent)
(For Encoder) 2-M8
(Tap for removing motor)
MS3102A□□-□□□(or Equivalent)
Section H-H (For power, brake and ground) JL04V-2E10SL-3PE-B-R
(For Brake)

Incremental encoder
MODEL LL KB2 LL KB2 KB3 LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S Q QA
184 219
Q1AA10100
(7.36) (8.76)
209 244 0
Q1AA10150
(8.36) 80 (9.76) 116 51 10 78 19 63 115 0 95-0.035 3 130 100 9 45 22-0.013 40 3
-
234 (3.2) 269 (4.64) (2.04) (.4) (3.12) (.76) (2.52) (4.6) (.038-.0014) (.12) (5.2) (4) (.36) (1.8) 0 (1.6) (.12)
Q1AA10200
(9.36) (10.76) ( .88-.00052 )
259 294
Q1AA10250
(10.36) (11.76)
168 204 0
Q1AA12100
(6.72) (8.16) 45 22-0.013 40 3
205 241 0 (1.8) 0 (1.6) (.12)
Q1AA12200
(8.2) 72 (9.64) 108 45 12 93 21 67 135 110-0.035 3 162 120 9
-
( .88-.00052 )
(2.88) (4.32) (1.8) (.48) (3.72) (.84) (2.68) (5.4) 0 (.12) (6.48) (4.8) (.36) 0
Q1AA12300
242 278 (4.4-.0014 ) 55 28-0.013 50 3
(9.68) (11.12) (2.2) 0 (2) (.12)
( 1.12-.00052 )
205 254
Q1AA13300
(3.2) (10.16) 0 0
232 67 281 117 12 98 80 145 110-0.035 4 165 130 9 55 28-0.013 50 3
Q1AA13400 - (.84) M6
(9.28) (2.68) (11.24) (4.68) (.48) (3.92) (3.2) (5.8) 0 (.16) (6.6) (5.2) (.36) (2.2) 0 (2) (.12)
Q1AA13500
269 318 (4.4-.0014 ) ( 1.12-.00052 )
(10.76) (12.72)

MODEL QK W T U KB1 α β γ QE LT IE IF IL1 IL2
model No. ※ 1 model No. ※ 2
84
Q1AA10100
(3.36)
0 109
Q1AA10150
32 6-0.030 6 2.5 (4.36) 0.02 0.08 0.08 20 MS3102A20- JL04V-2E10SL-
M6 - - - -
(1.28) 0 (.24) (.1) 134 (.0008) (.0032) (.0032) (.8) 15P 3PE-B-R
Q1AA10200 ( .24-.0012 ) (5.36)
159
Q1AA10250
(6.36)
0 76
Q1AA12100
32 6-0.030 6 2.5 (3.04) 20
M6
(1.28) 0 (.24) (.1) 113 (.8)
Q1AA12200 ( .24-.0012 ) (4.52) 0.02 0.08 0.08
- - - -
MS3102A24- JL04V-2E10SL-
0 (.0008) (.0032) (.0032) 11P 3PE-B-R
42 8-0.036 7 3 150 25
Q1AA12300 M8
(1.68) 0 (.28) (.12) (6) (1)
( .32-.0012 )
117
Q1AA13300
0 (4.68)
42 8-0.036 7 3 144 0.02 0.08 0.08 25
Q1AA13400 M8 - - - - MS3102A24-11P ※ 3
(1.68) 0 (.28) (.12) (5.76) (.0008) (.0032) (.0032) (1)
Q1AA13500
( .32-.0012 ) 181
(7.24)
※1 Waterproof specification IP67 requires that the connector to be ※2 All brake connectors are JL04V-2E10SL-3PE-B-R for CE compliant
attached ; for IP67 compliance, use a waterproof connector for the DC24V brakes.
mating plug. ※3 The brake line is shared with the power connector.
※Please inquire for the dimensions with the absolute encoder.
49
Features and
Incremental encoder
Functions
MODEL LL KB2 LL KB2 KB3 LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S Q QA
0 0
171 67 221 117 16 123 21 80 200 114.3-0.035 3 230 180 13.5 65 35-0.016 60 3
Q2AA18200 - M8
(6.84) (2.68) (8.84) (4.68) (.64) (4.92) (.84) (3.2) (8) 0 (.12) (9.2) (7.2) (.54) (2.6) 0 (2.4) (.12)
(
4.572-.0014 ) (
1.4-.0064 )
252 309 0 0
Q2AA22550
(10.08) 83 (12.36) 141 82 19 141 21 80 235 200-0.046 4 270 220 13.5 79 55-0.019 75 3
M10
310 (3.32) 368 (5.64) (3.28) (.76) (5.64) (.84) (3.2) (9.4) 0 (.16) (10.8) (8.8) (.54) (3.16) 0 (3) (.12)
( ) ( )
Number Nomenclature
・ Model
Q2AA22700 8-.00184 2.2-.00076
(12.4) (14.72)
335 393 0
Q2AA2211K
(13.4) 73 (15.72) 61 131 19 162 22 80 235 200-0.046 4 270 220 13.5 79 0 75 3
M10 ( )
Model No. List

394 (2.92) 452 (2.44) (5.24) (.76) (6.48) (.88) (3.2) (9.4) 0 (.16) (10.8) (8.8) (.54) (3.16) 2.2-.00076 (3) (.12)
Q2AA2215K
(15.76) (18.08) (
8-.00184 )
MODEL QK W T U KB1 α β γ QE LT IE IF IL1 IL2
model No. ※ 1 model No. ※ 2
0
50 10-0.036 8 3 83 0.02 0.08 0.08 25
Q2AA18200 M8 - - - - MS3102A24-11P ※ 3
(2) 0 (.32) (.12) (3.32) (.0008) (.0032) (.0032) (1)
( )
.4-.00143
Configuration
0 149 50
Q2AA22550
67 16-0.043 10 4 (5.96) 0.03 0.08 0.08 25 142 60 55 (2) MS3102A24-
System
M10
(2.68) 0 (.4) (.16) 207 (.0012) (.0032) (.004) (1) (5.68) (2.4) (2.2) 110 11P
Q2AA22700 ( .64-.00172 ) (8.28) (4.4) JL04V-2E10SL-
0 241 120 3PE-B-R
Q2AA2211K
67 16-0.043 10 4 (9.64) 0.03 0.08 0.10 25 142 60 69 (4.8) MS3102A32-
M10
(2.68) 0 (.4) (.16) 300 (.0012) (.0032) (.004) (1) (5.68) (2.4) (2.76) 180 17P
Q2AA2215K ( .64-.00172 ) (12) (7.2)
※1 Waterproof specification IP67 requires that the connector to be ※2 All brake connectors are JL04V-2E10SL-3PE-B-R for CE compliant
attached ; for IP67 compliance, use a waterproof connector for the DC24V brakes.
Specifications
mating plug. ※3 The brake line is shared with the power connector.
Standard
※Please inquire for the dimensions with the absolute encoder.

Stall
Voltage
Flange permissable Applicable power wire size ※ power supply
Encoder Wiring
Current MS Type JL04V Type
Size MODEL Shell Contact current amplifier (U, V, W, Ground) (R, S, T, Ground)
（Is）
Diagram
（mm） Size Size model No.
AWG AWG AWG AWG
Arms mm2 mm2 Arms mm2 mm2
No. No. No. No.
Q1AA10100D 7.8
RS2A05 3.5 #12 3.5 #12
Q1AA10150D 8.2
100 20-15P #12 3.5 #12 3.5 #12 20
Q1AA10200D 18
RS2A10 3.5 #12 3.5 #10
Q1AA10250D 17.2
Q1AA12100D 7.5 RS2A05 3.5 #12 3.5 #12
120 Q1AA12200D 16.2 24-11P #8 8 #8 5.5 #10 40
External Wiring
RS2A10 5.5 #10 5.5 #10
Q1AA12300D 17.3
200V
Diagram
Q1AA13300D 17.6 RS2A10 5.5 #10 5.5 #10
130 Q1AA13400D 26.4 24-11P #8 8 #8 5.5 #10 40
RS2A15 5.5 #10 8 #8
Q1AA13500D 27.5
180 Q2AA18200H 18 24-11P #8 8 #8 5.5 #10 40 RS2A10 5.5 #10 5.5 #10
Q2AA22550B 35.1
24-11P #8 8 #8 5.5 #10 40 RS2A15 5.5 #10 8 #8
Q2AA22700S 34
220
Q2AA2211KV 66
32-17P #4 22 #4 22 #4 70 RS2A30 14 #6 14 #6
Q2AA2215KV 66
Dimensions
Setup Software
Option
50
Servo Amplifier Dimensions [Unit : mm (inch)]
15A
Mass：0.75kg 4
(.16)
40 40 (70) ((2.8)) 130 (5) 30 5

(1.6) (1.6) (17) (5.2) ((.2)) (1.2) (.2)
((.68))
.2)
(.2)
(∅
5
∅5
((.8))
(20)
(6.08)
(6.4)
160
152
(6.4)
160
(3)
4 5
Analog/ EtherCAT (.16) (.2)
Pulse input type interface type
30A
4
Mass：0.9kg (.16)
50 50 (70) 130 (5) 40 5

(2) (2) ((2.8)) (5.2) ((.2)) (1.57) (.2)
(17)
40 40 ((.68))
(1.6) (1.6) .2)
(∅
5 ∅5
((.8))
(20)
(6.08)
152
(6.4)
(6.4)
160
160
CN
B
Cooling fan
Wind n
io
direct
4 5
(.2)
((0.12))
(.16)
Analog/ EtherCAT
(3)
50A
Mass：1.65kg
(5) 75 5 130 (70) 85 85

((.2)) (3) (.2) 4 (5.2) (17) ((2.8)) (3.4) (3.4)
(.16) ((.68))
.2)
((.8))
(.2)
(20)
(∅
5
∅5
Cooling fan
(6.4)
(6.4)
160
160
(6.08)
152
Wind
direction
5 4
((0.12))
(.2) (.16)
Analog/ EtherCAT
(3)
51
100A
Features and
Mass：5.0kg
Functions
Analog / Pulse EtherCAT
input type interface type
(70) 220
100 (4) 100 (4) ((2.8)) (8.8)
17 203
50 (2) 50 (2)
(.68) 2 (8.12) 2
6 6
(.6)
(.6)
(17)
(.2)
(.2)
(.08) (.08)
15
15
(.24) (.24)
5
5
((.68))
Number Nomenclature
・ Model
((.8))
(20)
Model No. List

235 (9.4)
235 (9.4)
225 (9)
225 (9)
(8.2)
(8.2)
205
205
Ｎ．Ｐ．
Configuration
System
(6) (6)
((0.24)) ((0.24)) Cooling fan
(75) (75) Wind direction
((3)) ((3))
150A
Mass：5.3kg
Specifications
Standard
(70) 220
120 (4.8) 120 (4.8) ((2.8)) (8.8)
100 (4) 100 (4) 17 203
75 (3) 75 (3) (.68) 2 (8.12) 2
5 (.2)
5 (.2)
6 6
(.6)
(.6)
(17) (.08) (.08)

15
15
(.24) (.24) ((.68))
Encoder Wiring
Diagram
((.8))
(20)
235 (9.4)
235 (9.4)
225 (9)
225 (9)
(8.2)
(8.2)
205
205
Ｎ．
Ｐ．
External Wiring
Diagram
(6) (6) Cooling fan
((.24)) ((.24))
Wind direction
(50) (50)
((2)) ((2))
300A
Mass：9.6kg
Dimensions

Setup Software
220 220 (35) 220

(8.8) (8.8) ((1.4)) (8.8)
10 (.4)
10 (.4)
100 100 100 100 17 203

(4) 7 (4) (4) 7 (4) (.68) 2 (8.12) 2
(.28) (.28) (17) (.08) (.08)
(1.2)
(1.2)
((.68))
30
30
((.8))
(20)
235 (9.4)
235 (9.4)
250 (10)
250 (10)
(8.2)
(8.2)
205
205
Ｎ．
Ｐ．
Option
Cooling fan
Wind direction
52
Setup Software
This software allows you to set servo system parameters from a PC. It also allows you
easily to start up or test run the servo system. The software can be downloaded from
Production Information on our website. URL : http://www.sanyodenki.co.jp
Setup Software Title：

R ADVANCED MODEL-Setup Software
Main Functions
Servo amplifier parameter setting
Servo amplifier status display
Alarm display and reset
Test run execution
Auto-tuning of vibration control frequency, etc.
Analog command offset adjustment
※Use the optional PC connection cable (model No.: AL-00689703-01) to
Start-up Screen
connect the servo amplifier and the RS-232C port on the PC.
Supported OS
Windows 98/SE/Me/2000/XP/Vista/7
※See our website for details of supported versions.
Configuration parameters
Enables parameter loading, saving, etc., via PC connection
Main Screen
Alarm Record Display

Monitor Display Current and past alarm occurrence can be checked.
Observe Operation and Input/Output signal status
53
Features and
Functions
Number Nomenclature
・ Model
Model No. List
Configuration
System
Specifications
Standard
Encoder Wiring
Diagram
External Wiring
Diagram
JOG Operation Positioning Control Operation
Simplifies motor operation and the issuing of speed The position can be moved by setting the feed velocity
commands from a PC and the pulse number of the servo motor.
Dimensions
Setup Software
Option
Operation Trace System Analysis

Graphically displays servo motor speed, current, and internal Analyzes servo system frequency characteristics
status
54
Option
Connectors of Servo Amplifier Analog/Pulse input type

15A, 30A, 50A
Single Connectors
Connector No. Item Model No. Manufacturer model No. Manufacturer
10150-3000PE
CN1 To connect host device AL-00385594
10350-52A0-008
Sumitomo 3M Limited
36210-0100PL
EN1, EN2 To connect encoder AL-00632607
36310-3200-008
For input power supply,
CNA AL-00686902-01 MSTBT2.5/8-STF-5.08LUB
regenerative resistor connection Phoenix Contact.K.K
CNB To connect servo motor AL-Y0004079-01 MSTBT2.5/3-STF-5.08
CN4 ※ 1 To connect safety device (For short-circuiting) AL-00718251-01 2040978-1 Tyco Electronics Japan
CN4 To connect safety device (For wiring) AL-00718252-01 2013595-3 G.K.
※1 When wiring for CN4 is not performed, make sure to insert safety device connector (for short-circuiting) to CN4 on servo amplifier.
Connector sets (No safe-torque-off function)

Connector No. Item Model No. Applicable servo amplifier model No. Remarks
CN1,EN1,CNA,CNB AL-00723282 RS2□□□ A0 □L0/RS2□□□ A8 □L0 Without regenerative resistance
Standard
CN1,EN1,CNB AL-00723284 RS2□□□ A0 □ A0/RS2□□□ A8 □ A0 With regenerative resistance
CN1,EN1,EN2,CNA,CNB For fully closed AL-00723286 RS2□□□ A2□L0/RS2□□□ AA □L0 Without regenerative resistance
CN1,EN1,EN2,CNB control system AL-00723288 RS2□□□ A2□ A0/RS2□□□ AA □ A0 With regenerative resistance
CN1,EN1 Low voltage set AL-00723290 RS2□□□ A0 □□ 0/RS2□□□ A8 □□ 0 −
CNA,CNB High voltage set AL-00696037 RS2□□□ A □□L0 Without regenerative resistance
Connector sets (With safe-torque-off function)

CN1,EN1,CNA,CNB,CN4 AL-00723155 RS2□□□ A0 □L2(4)/RS2□□□ A8 □L2(4) Without regenerative resistance
Standard
CN1,EN1,CNB,CN4 AL-00723156 RS2□□□ A0 □ A2(4)/RS2□□□ A8 □ A2(4) With regenerative resistance
CN1,EN1,EN2,CNA,CNB,CN4 For fully closed AL-00723157 RS2□□□ A2□L2(4)/RS2□□□ AA □L2(4) Without regenerative resistance
CN1,EN1,EN2,CNB,CN4 control system AL-00723158 RS2□□□ A2□ A2(4)/RS2□□□ AA □ A2(4) With regenerative resistance
CN1,EN1,CN4 Low voltage set AL-00723159 RS2□□□ A0 □□2(4)/RS2□□□ A8 □□2(4) −
※ CN4 of the connector set is for safety device connection (wiring) with model number AL-00718252-01.
100A, 150A, 300A

Single Connectors
10150-3000PE
CN1 To connect host device AL-00385594
10350-52A0-008
Sumitomo 3M Limited
36210-0100PL
EN1, EN2 To connect encoder AL-00632607
36310-3200-008
CNA To input control power AL-Y0005159-01 MSTBT2.5/2-STF-5.08 Phoenix Contact.K.K
※1
CN4 To connect safety device (For short-circuiting) AL-00718251-01 2040978-1
Tyco Electronics Japan G.K.
CN4 To connect safety device (For wiring) AL-00718252-01 2013595-3
※1 When wiring for CN4 is not performed, make sure to insert safety device connector (for short-circuiting) to CN4 on servo amplifier.
Connector sets (No safe-torque-off function)

Connector No. Item Model No. Applicable servo amplifier model No.
CN1,EN1,CNA Standard AL-00751448 RS2□□□ A0A □ 0/RS2□□□ A8A □ 0
CN1,EN1,EN2,CNA For fully closed control system AL-00751450 RS2□□□ A2A □ 0/RS2□□□ AAA □ 0
CN1,EN1 Low voltage set AL-00723290 RS2□□□ A0A □ 0/RS2□□□ A8A □ 0
Connector sets (With safe-torque-off function)

CN1,EN1,CNA,CN4 Standard AL-00751452 RS2□□□ A0A □2(4)/RS2□□□ A8A □2(4)
CN1,EN1,EN2,CNA,CN4 For fully closed control system AL-00751454 RS2□□□ A2A □2(4)/RS2□□□ AAA □2(4)
CN1,EN1,CN4 Low voltage set AL-00723159 RS2□□□ A0A □2(4)/RS2□□□ A8A □2(4)
55
Connector for Servo Amplifier EtherCAT interface type
Features and
15A, 30A, 50A
Functions
Single Connectors
Ethernet For host Not provided by our company. Please use shielded type modular plug (RJ-45)
CN0,CN1
device connection corresponding to the CAT5e standard.
Number Nomenclature
・ Model
For encoder 36210-0100PL
EN1,EN2 AL-00632607 Sumitomo 3M Limited
connection 36310-3200-008
Model No. List

For input power supply,
CNA regenerative resistor AL-00686902-01 MSTBT2.5/8-STF-5.08LUB Phoenix Contact.K.K
connection
CNB For servo motor connection AL-Y0004079-01 MSTBT2.5/3-STF-5.08 Phoenix Contact.K.K
For safety device
CN2 AL-Y0004290-02 MUF-PK10K-X J.S.T Mfg Co.,Ltd.
Configuration
connection
System
CN3 For general I/O AL-00718252-01 2013595-3 Tyco Electronics Japan G.K.
Connector sets
CNA,CNB,EN1,CN2,CN3 AL-00734194 RS2□□□ A0KL□ /RS2□□□ A8KL□ Without regenerative resistance
Standard
CNB,EN1,CN2,CN3 AL-00734196 RS2□□□ A0KA □ /RS2□□□ A8KA □ With regenerative resistance
Specifications
CNA,CNB,EN1,EN2,CN2,CN3 For fully closed AL-00734195 RS2□□□ A2KL□ /RS2□□□ AAKL□ Without regenerative resistance
Standard
CNB,EN1,EN2,CN2,CN3 control system AL-00734197 RS2□□□ A2KA □ /RS2□□□ AAKA □ With regenerative resistance
100A, 150A, 300A

Single Connectors
Encoder Wiring
Diagram
Ethernet For host device Not provided by our company. Please use shielded type modular plug
CN0,CN1
connection (RJ-45) corresponding to the CAT5e standard.
36210-0100PL
EN1, EN2 For encoder connection AL-00632607 Sumitomo 3M Limited
36310-3200-008
CNA To input control power AL-Y0005159-01 MSTBT2.5/2-STF-5.08 Phoenix Contact.K.K
CN2 For safety device connection AL-Y0004290-02 MUF-PK10K-X J.S.T Mfg Co.,Ltd.
External Wiring
CN3 For general I/O AL-00718252-01 2013595-3 Tyco Electronics Japan G.K.
Diagram
Connector sets
CNA,EN1,CN2,CN3 Standard AL-00756240 RS2□□□ A0K □□ /RS2□□□ A8K □□
For fully closed control
CNA,EN1,EN2,CN2,CN3 AL-00756242 RS2□□□ A2K □□ /RS2□□□ AAK □□
system Dimensions
EN1,CN2,CN3 Low voltage set AL-00756244 RS2□□□ A0K □□ /RS2□□□ A8K □□
For fully closed control system
EN1,EN2,CN2,CN3 AL-00756246 RS2□□□ A2K □□ /RS2□□□ AAK □□
Low voltage set
Setup Software
Option
56
Option
Servo Motor Encoder Connectors Model No.

R2 Servo Motor
Applicable cable Combination plug for encoder
Encoder
Motor type diameter (bushing (with rubber bushing) Pin Layout Symbol
receptacle
color phase) Straight Angle
φ 5.7 to 7.3
(Black)
All R2 Servo φ 6.5 to 8.0
JN2AS10ML2-R JN2DS10SL2-R JN2FS10SL2-R See the encoder wiring diagram on Page 41.
Motor Models (Gray)
φ 3.5 to 5.0
(Black)
Please 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
Manual crimp JN1-22-20S-R-PKG100 AWG #20
tool type JN1-22-22S-PKG100 AWG #21 to #25
#22
※ 3，4 JN1-22-26S-PKG100 AWG #26 to #28
Solder type JN1-22-22F-PKG100 AWG #20
※ 1：Please 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, please use a removal tool. Please 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：Please purchase the semi-automatic crimp tool from the connector manufacturer (Japan Aviation Electronics Industry Limited).
※ 5：For the connector and contact instructions, precautions, etc., please see the catalogs and instruction manuals from the connector manufacturer (Japan Aviation Electronics Industry Limited).
Q1, Q2 Servo Motor

Standard Encoder Plug TUV-Conforming Plug (Cable Clamp) for
Encoder (Cable Clamp) Encoder Waterproof Specification
Motor type Pin Layout Symbol
receptacle 【Plug + Clamp】【Plug + Clamp】
Straight Angle Straight Angle
Q1, Q2 Servo MS3106B20-29S MS3108B20-29S
JA06A20-29S-J1-EB JA08A20-29S-J1-EB See the encoder wiring diagram
Motor MS3102A20-29P (MS3057-12A) (MS3057-12A)
(JL04-2022CK(14)-R) (JL04-2022CK(14)-R) on Page 41.
Models 【MS06B20-29S-12】【MS08B20-29S-12】
【】indicates the SANYO DENKI part numbers (Plug & Cable Clamp)
Cooling Fan Connectors

Standard plug (Cable Clamp) for Waterproof plug (Cable Clamp) for Pin Layout
Cooling Fan Cooling Fan Symbol
Cooling fan 【Plug + Clamp】【Plug + Clamp】
Motor type AC200V ± 10%
receptacle
Single phase
Straight Angle Straight Angle
50/60Hz
MS3106B10SL-4S MS3108B10SL-4S Please prepare
R1, R2 Servo JA06A10SL-4S-J1
MS3102A10SL-4P (MS3057-4A) (MS3057-4A) the conduit by ＡＢ
Motor (conduit)
【MS06B10SL-4S-4】【MS08B10SL-4S-4】 customer.
Please see the catalogs and instruction manuals of the connector manufacturer's (Japan Aviation Electronics Industry Limited）for details, including the instructions for the connector and the precautions.
【】indicates the SANYO DENKI part numbers (Plug & Cable Clamp)
57
Motor Connectors Model No. ※1, 4
Features and
Plug for power line TUV-Standard Plug Waterproof Specification
Functions
Brake receptacle
Voltage
Flange Motor Model Motor power Standard specifications, (Cable Clamp) (Cable Clamp)
Size No. receptacle TUV specifications: DC90V 【Plug + Clamp】【Plug + Clamp】
( ※ 4 1 TUV: DC24V only) Straight Angle Straight Angle
R2AA13050
R2AA13120 MS3106B24-11S MS3108B24-11S JL04V-6A24-11SE-EB-R JL04V-8A24-11SE-EB-R
130mm JL04V-2E24-11PE-B-R ※3 (MS3057-16A) (MS3057-16A) (JL04-2428CK-R) (JL04-2428CK-R)
R2AA13180 【MS06B24-11S-16】【MS08B24-11S-16】【332706X10】【332707X10】
R2AA13200
Number Nomenclature
・ Model
JL04V-2E24-11PE-B-R ※3 (MS3057-16A) (MS3057-16A) (JL04-2428CK-R) (JL04-2428CK-R)
R2AA18450 【MS06B24-11S-16】【MS08B24-11S-16】【332706X10】【332707X10】
180mm R2AA18550
Model No. List

MS3106B32-17S MS3108B32-17S JL04V-6A21-17SE-EB-R
R2AA18750 JL04V-2E32-17PE-B-R JL04V-2E10SL-3PE-B-R (MS3057-20A) (MS3057-20A) (JL04-32CK-R)
R2AA1811K 【MS06B32-17S-20】【MS08B32-17S-20】【332706X11】
220mm JL04V-2E24-11PE-B-R ※3 (MS3057-16A) (MS3057-16A) (JL04-2428CK-R) (JL04-2428CK-R)
R2AA22500 【MS06B24-11S-16】【MS08B24-11S-16】【332706X10】【332707X10】
R1AA18550H
R1AA18750H MS3106B32-17S MS3108B32-17S JL04V-6A32-17SE-EB-R
180mm JL04V-2E32-17PE-B-R JL04V-2E10SL-3PE-B-R (MS3057-20A) (MS3057-20A) (JL04-32CK-R)
Configuration
R1AA1811KR 【MS06B32-17S-20】【MS08B32-17S-20】【332706X11】
200V Type
R1AA1815KB
System
Q1AA10100D
Q1AA10150D MS3106B20-15S MS3108B20-15S JL04V-6A20-15SE-EB-R JL04V-8A20-15SE-EB-R
100mm JL04V-2E20-15PE-B-R JL04V-2E10SL-3PE-B-R (MS3057-12A) (MS3057-12A) (JL04-2022CK-R) (JL04-2022CK-R)
Q1AA10200D 【MS06B20-15S-12】【MS08B20-15S-12】【332706X5】【332707X5】
Q1AA10250D
120mm Q1AA12200D JL04V-2E24-11PE-B-R JL04V-2E10SL-3PE-B-R (MS3057-16A) (MS3057-16A) (JL04-2428CK-R) (JL04-2428CK-R)
Q1AA12300D 【MS06B24-11S-16】【MS08B24-11S-16】【332706X10】【332707X10】
Specifications
※4
Standard
130mm Q1AA13400D JL04V-2E24-11PE-B-R (MS3057-16A) (MS3057-16A) (JL04-2428CK-R) (JL04-2428CK-R)
(JL04V-2E10SL-3PE-B-R)
Q1AA13500D 【MS06B24-11S-16】【MS08B24-11S-16】【332706X10】【332707X10】
MS3106B24-11S MS3108B24-11S JL04V-6A24-11SE-EB-R JL04V-8A24-11SE-EB-R
※4
180mm Q2AA18200H JL04V-2E24-11PE-B-R (MS3057-16A) (MS3057-16A) (JL04-2428CK-R) (JL04-2428CK-R)
(JL04V-2E10SL-3PE-B-R)
【MS06B24-11S-16】【MS08B24-11S-16】【332706X10】【332707X10】
Q2AA22550B MS3106B24-11S MS3108B24-11S JL04V-6A24-11SE-EB-R JL04V-8A24-11SE-EB-R
JL04V-2E24-11PE-B-R JL04V-2E10SL-3PE-B-R (MS3057-16A) (MS3057-16A) (JL04-2428CK-R) (JL04-2428CK-R)
Q2AA22700S 【MS06B24-11S-16】【MS08B24-11S-16】【332706X10】【332707X10】
220mm
Q2AA2211KV MS3106B32-17S MS3108B32-17S JL04V-6A32-17SE-EB-R
Encoder Wiring
JL04V-2E32-17PE-B-R JL04V-2E10SL-3PE-B-R (MS3057-20A) (MS3057-20A) (JL04-32CK-R)
Q2AA2215KV 【MS06B32-17S-20】【MS08B32-17S-20】【332706X11】
Diagram
TUV-Standard Plug for
Voltage
Flange Motor Model Brake Waterproof Specification (Cable Clamp) Pin Layout Symbol
Size No. 【Plug + Clamp】
Straight Angle U phase V phase W phase Ground Brake
R2AA13050
R2AA13120
130mm ※3 D E F G,Ｈ A,B
R2AA13180
External Wiring
R2AA13200
Diagram
R2AA18350
※3 D E F G,Ｈ A,B
R2AA18450
180mm R2AA18550 JL04V-6A10SL-3SE-EB-R JL04V-8A10SL-3SE-EB-R
R2AA18750 (JL04-1012CK-R) (JL04-1012CK-R) A B C D A,B
R2AA1811K 【332706X1】【332707X1】
R2AA22350
220mm ※3 D E F G,Ｈ A,B
R2AA22500
R1AA18550H
R1AA18750H JL04V-6A10SL-3SE-EB-R JL04V-8A10SL-3SE-EB-R Dimensions
180mm (JL04-1012CK-R) (JL04-1012CK-R) A B C D A,B
R1AA1811KR 【332706X1】【332707X1】
200V Type
R1AA1815KB
Q1AA10100D
Q1AA10150D JL04V-6A10SL-3SE-EB-R JL04V-8A10SL-3SE-EB-R
100mm (JL04-1012CK-R ) (JL04-1012CK-R ) A B C D A,B
Q1AA10200D 【332706X1】【332707X1】
Q1AA10250D
Q1AA12100D JL04V-6A10SL-3SE-EB-R JL04V-8A10SL-3SE-EB-R
120mm Q1AA12200D (JL04-1012CK-R ) (JL04-1012CK-R ) D E F G,Ｈ A,B
Setup Software
Q1AA12300D 【332706X1】【332707X1】

Q1AA13300D
130mm Q1AA13400D ※4 ※4 D E F G,Ｈ A,B
Q1AA13500D
180mm Q2AA18200H ※4 ※4 D E F G,Ｈ A,B
Q2AA22550B JL04V-6A10SL-3SE-EB-R JL04V-8A10SL-3SE-EB-R
(JL04-1012CK-R ) (JL04-1012CK-R ) D E F G,Ｈ A,B
Q2AA22700S 【332706X1】【332707X1】
220mm
Q2AA2211KV JL04V-6A10SL-3SE-EB-R JL04V-8A10SL-3SE-EB-R
(JL04-1012CK-R ) (JL04-1012CK-R ) A B C D A,B
Q2AA2215KV 【332706X1】【332707X1】
※ 1：Please see the catalogs and instruction manuals of the connector manufacturer's (Japan Aviation Electronics Industry Limited) for details, including the instructions for the connector and the precautions.
Option
※ 2：【】indicates the SANYO DENKI part numbers (Plug & Cable Clamp)
※ 3：The brake line is shared with the power receptacle.
※ 4：Both power and brake connectors are required for all motors equipped with TUV compliant DC24V brakes.
58
Option
Setup software, Serial Communication Relation

Name Details Model No.
1) Cable for personal computer Between personal computer Analog / Pulse input type：CN2
AL-00689703-01
communications and servo amplifier EtherCAT interface type：CN4
2) Cable for communication between amp. (0.2m) ※ 1 AL-00695974-01
Servo Amplifier (CN2) ⇔ Servo Amplifier (CN3)
3) Cable for communication between amp. (3.0m) ※ 1 AL-00695974-02
4) Communication converter ※ 1 RS-232C ⇔ RS-422 SAU-024-01
※1
5) Connector with terminator RS-422 terminator for communication AL-00695977-01
Dimentions (Unit : mm)

1）Cable for personal computer communications（Model No.：AL-00689703-01) 4）Communication converter（Model No.：SAU-024-01）※1
+40
2850 - 0
NO.8 NO.1
9 5
Cable
6 1
67 29
∅6
2）Cable for communication between amp.（0.2m）（Model No.：AL-00695974-01）※1
71.5
200
NO.8 NO.1 NO.8 NO.1
Cable
3）Cable for communication between amp.（3.0m）（Model No.：AL-00695974-02）※1 5）Connector with terminator（Model No.：AL-00695977-01）※1
3000 NO.8 NO.1
NO.8 NO.1 NO.8 NO.1
Cable
※1 Optional connector dedicated for analog/pulse input type.
Connection examples
1）For single axis
・When using PC RS-232C terminal ・ When using PC USB terminal
PC communications cable
Between PC (RS-232C port) and servo amplifier (CN2) Cable for personal computer
AL-00689703-01 communications
AL-00689703-01
Ordinary conversion cable between RS-232C and USB
2）For multiple axes

・When using PC D-sub terminal: Ordinary RS-232C cable (straight or cross)
Cable for communications between amplifiers
・ When using PC USB terminal: Ordinary conversion cable between
Between communications converter (CN1) or
servo amplifier (CN3) and servo amplifier (CN2) RS-232C and USB
AL-00695974-01 (0.2m) or AL-00695974-02 (3.0m) * Communications converter CN3 is a D-sub 9-pin
Communication converter
SAU-024-01
Connector with terminal resistors

Servo amplifier (CN3)
AL-00695977-01
59
Battery for Battery Backup Method Absolute Encoder Relation
Features and
Functions
1) Battery trunk cable, with connectors on both ends − AL-00731792-01
2) Battery trunk cable, with connectors on one end − AL-00697960- □□
Lithium battery : ER3VLY
3) Replacement batteries AL-00697958-01
Toshiba Consumer Marketing Ltd.
Number Nomenclature
・ Model
Dimensions (Unit : mm)
Model No. List

1）Battery trunk cable, with connectors on both ends 3）Replacement batteries（Model No.：AL-00697958-01）
（Model No.：AL-00731792-01）
60±5
Battery unit (24.5)
built-in battery Battery backup method
Servo amplifier-side absolute encoder-side
connector relay connector
(φ14.5)
17MAX.
Configuration
System
(382)
(40) 300±10 (42)
Specifications
Standard
2）Battery trunk cable, with connectors on one end
（Model No.：AL-00697960- □□）
Battery unit
built-in battery Battery backup
method absolute
Encoder Wiring
Servo amplifier-side
connector encoder-side
Diagram
Model No. L [m]
1 AL-00697960-01 3
Cable Length：Ｌ（ｍ）
2 AL-00697960-02 5
(40) 3 AL-00697960-03 10
4 AL-00697960-04 15
5 AL-00697960-05 20
6 AL-00697960-06 25
External Wiring
Diagram
Analog Monitor Relation
Monitor box body
1) Monitor Box Q-MON-3
2 dedicated cables
Dimensions
2) Dedicated cable 2 dedicated cables AL-00690525-01
Dimensions (Unit : mm)

1）Monitor Box（Model No.：Q-MON-3） 2）Dedicated Cable（Model No.：AL-00690525-01）
Setup Software
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
44
Option
65
60
Option
External Regenerative Resistor Dimensions （Unit: mm）
132 300 182 300

122
100 6 172 270
150 6
φ4.3 φ4.3 6
4.3
44
26
23.5
42
6
270
Silicon Rubber Glass-braided Wire AWG20 0.5mm2, White
4.3
Silicon Rubber Glass-braided Wire AWG20 0.5mm2, White (Thermostat)
(Thermostat)
Silicon Rubber Glass-braided Wire AWG18 0.75mm2, Black
Silicon Rubber Glass-braided Wire AWG18 0.75mm2, Black
20
20
1.2
1
Mass：0.19kg Mass：0.24kg
Model No. Thermostat Model No. Thermostat

1 REGIST-080W100B Normal close 1 REGIST-120W100B Normal close
2 REGIST-080W50B Normal close 2 REGIST-120W50B Normal close
230 300 250 2-φ4.5

220 270
234 8 Ground Mark
200 6
4.5
φ4.3 6
42.7
2-M3
60
80
60
Thermostat
Silicon Rubber Glass-braided Wire AWG20 0.5mm2, White

4.3
(Thermostat)
Read wire AWG24 0.2mm2, White
Silicon Rubber Glass-braided Wire AWG18 0.75mm2, Black 3
350 700
20
35
1.2
Solderless terminal
Mass：0.44kg (for M5)
Read wire AWG14 2mm2, White
Mass：1.5kg
Model No. Thermostat Model No. Thermostat

1 REGIST-220W20B Normal close 1 REGIST-500CW20B Normal close
4 REGIST-500CW7B Normal close
61
Junction cable for servo motor
Features and
Power cable
Functions
Cable length：L
Number Nomenclature
・ Model
(100)
Model No. List

Brake cable
Cable length：L
100
Configuration
System
Ring tongue terminal for M4
Encoder cable Model No. Cable length：L

Power cable Brake cable Encoder cable （ｍ）
Cable length：L
RS-CM4-01-R RS-CB3-01-R RS-CA4-01-R 1
Specifications
Standard
Servo motor with connectors for junction cables
Encoder Wiring
200V System
Diagram
Rated output Motor flange size Holding brake Model No. Remarks
30W 40mm sq. − R2AA04003FXPA0
30W 40mm sq. yes（DC24V) R2AA04003FCPA0
External Wiring
90W 40mm sq. yes（DC24V) R2AA04010FCPA0 90% lower rating
Diagram
360W 60mm sq. yes（DC24V) R2AA06040FCPA0 90% lower rating
750W 80mm sq. yes（DC24V) R2AA08075FCPA0 Dimensions
・Connectors are connected as shown in the figure. The cable length is 200 ± 30mm.
Setup Software
Option
62
For more information regarding any products or services described here in,
Inquiry Check Sheet
please contact your nearest ofﬁce listed on the back of this catalog.
To SANYO DENKI Co.,LTD. Date：
Company:
Department:
Name:
Tel: FAX:
E-mail:
Item Contents
❶ Name of target equipment Equipment name, category (transport, processing, test, other)
❷ Name of servo axis Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no)
❸ Current condition of above axis Manufacturer Name ( ) Series Name ( ) Motor Capacity ( ) Hydraulic, Mechanical, or New System ( )
❹ Positioning accuracy ± mm・± μm
【Reference formula】
Accelerationα：＿＿G・＿＿＿[m/s2]
【1G=9.8[m/s2]､1[m/s2]≒0.1G】
Feeding SpeedＶ：＿＿＿＿[m/s]
【α[m/s2]＝V[m/sec]÷t1[sec]】
❺ Operation pattern Feeding
Moving DistanceＤ：＿＿＿[m]
【D[m]＝V[m/sec]×(t1+t2)[sec]】
Speed
(Stroke)
[m/sec]
Time
Ball-screw/screw-rotation type (horizontal/vertical), ball-screw/nut-rotation type (horizontal/vertical),

❻ Mechanism
rack and pinion (horizontal/vertical), belt/chain (horizontal/vertical), rotary table, roll feed, other
WT（table mass） kg （work mass）

WL kg WA（mass of other drive parts） kg
WR（rack mass） kg WB（belt/chain mass） kg WC（counterbalance mass） kg
Fa（external force axial direction） N Fb（ball-screw preload） N （roll pushing force）
T N
（drive-side roll diameter）
Dr1 mm Dr2（follower-side roll diameter） mm
Lr1（drive-side roll length） mm （follower-side roll length）

Lr2 mm G（reduction ratio）
JG（speed-reducer inertia） kg・m2 JC（coupling inertia） kg・m2
（nut inertia）
JN kg・m2 JO（other motor-axis conversion inertia） kg・m2
Db（ball-screw diameter） mm Lb（ball-screw axial length） mm Pb（ball -screw lead） mm
❼ Mechanical structure
Dp（pinion/pulley diameter） mm Lp（pinion axial length） mm （pully thickness）
tp mm
Dt（table diameter） mm Dh（table-support dianeter） mm LW（load shift from axis） mm
（table shaft diameter）
Ds mm Ls（table shaft length） mm
（specific gravity of ball-screw/pinion/pulley/table-shaft material）
ρ kg・cm3
μ（friction coefficient between sheet and shiliding-surface/support-section/roll） ρ1（specific gravity of roll-1 material） kg／cm3
ρ2（specific gravity of roll-2 material） kg／cm3 κ
（internal friction coefficient of preload nut）
η
（mechanical efficiency） JL（load inertia of motor-axis conversion） kg・m2
TF（friction torque of motor axis conversion） N・m Tu（imbalance torque of motor axis conversion） N・m
❽ Speed reducer Customer-provided ( ／ )・Sanyo denki standard(planet/spur/no-backlash-planet ／ ) other( ／ )
Encoder type specified ( yes / no )

Yes:(Wiring saving incremental encoder, battery backup absolute encoder, absolute encoder for
❾ Encoder type
incremental system, battery-less absolute encoder)
Resolution（）
❿ Input format Position , velocity , torque , other ( )

⓫ Host equipment (controller) Sequencer , laptop , customer-developed product , Sanyo dennki-provided , other ( )
⓬ Usage environment and other requirements Cutting , clean-room use , anti-dust measures , other ( )
⓭ Estimated production Single product: ( ) units/mouth ( ) units/year
⓮ Development schedule Prototype period: ( ) Year ( ) Month Production period: ( ) Year ( ) Month
⓯ Various measures Related documentation ( already submitted; send later by mail) Visit/PR desired ( yes / no ) Meeting desired ( yes / no )
Miscellaneous
⓰ (questions, pending problems,
unresolved issues, etc.)
63
MEMO
64
MEMO
65
MEMO
66
■ ECO PRODUCTS
ECO PRODUCTS are designed with the goal
of lessening nevironmental impact, from
product development to disposal.
■ 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.
CATALOG NO. S0944B003 ’12.9.IT

Sanyo Denki Ac Servo Motor Driver Datasheet

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AC100 V 30 W - 200 W, AC 200 V 30 W - 15kW

Input voltage AC100 V, 200 V

Rated output 30W・50W・80W・100W・200W・400W・550W・

Standard Model Number List ･･･ P. 7

Model Number Nomenclature ･･･P. 15

System Configuration ････････････P. 17

Servo Amplifier Specifications ･･P. 21

General-Purpose Output Specifications ･･P. 22

Specifications - Servo Amplifier+

Q1 Servo Motor (Low Inertia) ･････P. 37

Encoder Wiring Diagram ････････P. 41

External Wiring Diagram ････････P. 42

R1 Servo Motor (Low inertia) ･･･････P. 48

Q2 Servo Motor (Medium Inertia) ･･･P. 49

Q1 Servo Motor (Low Inertia) ･････P. 49

Servo Amplifier ･･････････････････P. 51

Setup Software ･････････････････････P. 53

50% Shorter Position Settling Time ※

Relative positions of Relative positions of

Settling Time 50.8ms Settling Time 19.6 ms

Our conventional product ADVANCED MODEL

Doubled Frequency Response Limit Features Model-based Following Control

Position/speed control Motor/machine

Feedback control system

Auto-Tuning Downsized Servo Motors

Model No. List

With vibration suppression control

Oscillation waveform Oscillation waveform

Resonance Suppression High Resolution

Now Available with EtherCAT Interface

*Shaft feedthrough and cable end are excluded

All-in-One Control 5-digit LED Display, Built-in Operator

Model No. List

Daisy chain up to 15 axes

Built-in Dynamic Brake Fully-closed loop control

state Dynamic braking state

R2 Servo Motor 100V System Small capacity・Medium Inertia

Servo Amplifier 100V System

Model No. List

― R2AA06040FCP036 (note) R2AA06040FCH036 (note) P.26 P.44

R2 Servo Motor 200V System Small capacity・Medium Inertia

Model No. List

Standard R2AA22500LXP00M R2AA22500LXH00M P.32 P.47

R2 Servo Motor 200V System Medium capacity・Medium Inertia

※For specifications on other model, please contact us.

Q2 Servo Motor 200V System Medium capacity・Medium Inertia

Model No. List

※For specifications on other model, please contact us.

Q1 Servo Motor 200V System Medium capacity・Low Inertia

Model No. List

Maximum Rotation Speed

Servo Motor type

・For details on speed reducer installation, please contact us.

Model No. List

Conformance to Safety Standards

Analog/Pulse Input Type Servo Amplifier

Model No. List

safety unit or safety

EtherCAT interface type servo amplifier