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Servomotor
AC Servomotor & Servo Amp TαF Driver
PDF Catalog
1643ej.pdf (2.8 MB)
Specification list
- Ensures stable performance even at low speed.
High-resolution encoder generating 131072 pulses installed - Suppresses mechanical vibration to the limit.
A "Vibration Suppressing Control Function" is introduced, which is effective in controlling robot arm end vibration. - Realizes the integral control of parameters.
Two RS-485 ports as standard
Features
- Control power back-up function
- Easy tuning
- Servo analysis function
- Test operation function
- Monitor output function
- Side-by-side installation
- IP65 (Servomotor)
Specifications
Servomotors
| Mount size 【m sec】 | □40 | |||
|---|---|---|---|---|
| Model | TS4601 | TS4602 | TS4603 | |
| Applicable Servo amplifier indicated Model | TYA300 | TYA500 | TYA101 | |
| Voltage | 【V】 | AC200 | ||
| Output | 【kW】 | 0.03 | 0.05 | 0.1 |
| Rated speed / Max. speed | 【min-1】 | 3000/5000 | ||
| Rated torque | 【N･m】 (kgf･cm) |
0.095 (0.97) |
0.159 (1.62) |
0.318 (3.25) |
| Stall torque | 【N･m】 (kgf･cm) |
0.095 (0.97) |
0.159 (1.62) |
0.318 (3.25) |
| Max. torque | 【N･m】 (kgf･cm) |
0.29 (2.9) |
0.48 (4.9) |
0.95 (9.7) |
| Rated current | 【A rms】 | 0.4 | 0.6 | 1.1 |
| Stall current | 【A rms】 | 0.3 | 0.5 | 1.0 |
| Max. current | 【A rms】 | 0.9 | 1.8 | 3.3 |
| Power rated | 【kW/sec】 | 9.2 | 12.9 | 34.5 |
| Torque constant | 【N･m/A】 | 0.34 | 0.31 | 0.32 |
| Induction voltage constant | 【V/(r/min)】 | 35.1×10-3 | 32.6×10-3 | 33.7×10-3 |
| Rotor Inertia (Without brake) | 【kg･m2】 (g･cm･s2) |
0.01×10-4 (0.01) |
0.02×10-4 (0.02) |
0.03×10-4 (0.03) |
| Rotor inertia (with brake) | 【kg･m2】 (g･cm･s2) |
0.04×10-4 (0.04) |
0.05×10-4 (0.05) |
0.06×10-4 (0.06) |
| Armature winding resistance | 【Ω】 | 130 | 45.8 | 20.3 |
| Armature inductance | 【mH】 | 139.4 | 52 | 32 |
| Mechanical time constant | 【m sec】 | 1.1 | 0.9 | 0.6 |
| Electrical time constant | 【m sec】 | 1.1 | 1.1 | 1.6 |
| Mass (Without brake) | 【kg】 | 0.3 | 0.4 | 0.5 |
| Mass (With brake) | 【kg】 | 0.4 | 0.5 | 0.6 |
| Sensor | 17bit incremental encoder | |||
| Brake Specifications | ||||
| Brake Voltage | 【V】 | DC24±10% | ||
| Static friction torque (MIN) | 【N･m】 | 0.32 | 0.32 | 0.32 |
| Brake input | 【W】 | 5 | 5 | 5 |
| Attraction time (MAX) | 【m sec】 | (40) | (40) | (40) |
| Release time (MAX) | 【m sec】 | (20) | (20) | (20) |
| Mount size 【m sec】 | □60 | |||
|---|---|---|---|---|
| Model | TS4606 | TS4607 | TS4609 | |
| Applicable Servo amplifier indicated Model | TYB101 | TYB201 | TYB401 | |
| Voltage | 【V】 | AC200 | ||
| Output | 【kW】 | 0.1 | 0.2 | 0.4 |
| Rated speed / Max. speed | 【min-1】 | 3000/5000 | ||
| Rated torque | 【N･m】 (kgf･cm) |
0.318 (3.25) |
0.64 (6.5) |
1.27 (13) |
| Stall torque | 【N･m】 (kgf･cm) |
0.318 (3.25) |
0.64 (6.5) |
1.27 (13) |
| Max. torque | 【N･m】 (kgf･cm) |
0.87 (8.9) |
1.91 (19.5) |
3.78 (38.6) |
| Rated current | 【A rms】 | 0.9 | 1.7 | 2.7 |
| Stall current | 【A rms】 | 0.8 | 1.6 | 2.6 |
| Max. current | 【A rms】 | 2.7 | 5.1 | 8.1 |
| Power rated | 【kW/sec】 | 11.5 | 23.0 | 48.7 |
| Torque constant | 【N･m/A】 | 0.38 | 0.39 | 0.48 |
| Induction voltage constant | 【V/(r/min)】 | 39.8×10-3 | 41.0×10-3 | 50.3×10-3 |
| Rotor Inertia (Without brake) | 【kg･m2】 (g･cm･s2) |
0.09×10-4 (0.09) |
0.18×10-4 (0.18) |
0.34×10-4 (0.34) |
| Rotor inertia (with brake) | 【kg･m2】 (g･cm･s2) |
0.19×10-4 (0.19) |
0.28×10-4 (0.28) |
0.44×10-4 (0.44) |
| Armature winding resistance | 【Ω】 | 20.2 | 7.5 | 5.1 |
| Armature inductance | 【mH】 | 50 | 24 | 17 |
| Mechanical time constant | 【m sec】 | 1.2 | 0.9 | 0.7 |
| Electrical time constant | 【m sec】 | 2.5 | 3.2 | 3.3 |
| Mass (Without brake) | 【kg】 | 0.6 | 0.9 | 1.3 |
| Mass (With brake) | 【kg】 | 0.8 | 1.3 | 1.7 |
| Sensor | 17bit incremental encoder | |||
| Brake Specifications | ||||
| Brake Voltage | 【V】 | DC24±10% | ||
| Static friction torque (MIN) | 【N･m】 | 0.32 | 1.27 | 1.27 |
| Brake input | 【W】 | 9 | 9 | 9 |
| Attraction time (MAX) | 【m sec】 | (40) | (50) | (50) |
| Release time (MAX) | 【m sec】 | (20) | (20) | (20) |
| Mount size 【m sec】 | □80 | ||||
|---|---|---|---|---|---|
| Model | TS4611 | TS4612 | TS4613 | TS4614 | |
| Applicable Servo amplifier indicated Model | TYC201 | TYC401 | TYC601 | TYC751 | |
| Voltage | 【V】 | AC200 | |||
| Output | 【kW】 | 0.2 | 0.4 | 0.6 | 0.75 |
| Rated speed / Max. speed | 【min-1】 | 3000/5000 | |||
| Rated torque | 【N･m】 (kgf･cm) |
0.64 (6.5) |
1.27 (13) |
1.91 (19.5) |
2.39 (24.4) |
| Stall torque | 【N･m】 (kgf･cm) |
0.64 (6.5) |
1.27 (13) |
1.91 (19.5) |
2.39 (24.4) |
| Max. torque | 【N･m】 (kgf･cm) |
1.82 (18.6) |
3.7 (37.7) |
5.73 (58.5) |
7.16 (73) |
| Rated current | 【A rms】 | 1.5 | 2.8 | 4.4 | 5.0 |
| Stall current | 【A rms】 | 1.4 | 2.6 | 4.3 | 4.8 |
| Max. current | 【A rms】 | 4.5 | 8.4 | 13.2 | 15.0 |
| Power rated | 【kW/sec】 | 13.8 | 29.1 | 37.3 | 53.0 |
| Torque constant | 【N･m/A】 | 0.45 | 0.49 | 0.45 | 0.50 |
| Induction voltage constant | 【V/(r/min)】 | 47.5×10-3 | 50.8×10-3 | 47.0×10-3 | 52.2×10-3 |
| Rotor Inertia (Without brake) | 【kg･m2】 (g･cm･s2) |
0.30×10-4 (0.30) |
0.56×10-4 (0.57) |
0.98×10-4 (1.00) |
1.08×10-4 (1.10) |
| Rotor inertia (with brake) | 【kg･m2】 (g･cm･s2) |
0.53×10-4 (0.53) |
0.79×10-4 (0.80) |
1.22×10-4 (1.24) |
1.32×10-4 (1.34) |
| Armature winding resistance | 【Ω】 | 7.1 | 2.7 | 1.3 | 1.3 |
| Armature inductance | 【mH】 | 29 | 13 | 7.8 | 6.3 |
| Mechanical time constant | 【m sec】 | 1.0 | 0.6 | 0.6 | 0.6 |
| Electrical time constant | 【m sec】 | 4.1 | 4.8 | 6.0 | 4.8 |
| Mass (Without brake) | 【kg】 | 1.1 | 1.6 | 2.2 | 2.5 |
| Mass (With brake) | 【kg】 | 1.5 | 2.3 | 3.0 | 3.3 |
| Sensor | 17bit incremental encoder | ||||
| Brake Specifications | |||||
| Brake Voltage | 【V】 | DC24±10% | |||
| Static friction torque (MIN) | 【N･m】 | 1.27 | 1.27 | 2.39 | 2.39 |
| Brake input | 【W】 | 9.5 | 9.5 | 8.0 | 8.0 |
| Attraction time (MAX) | 【m sec】 | (80) | (80) | (60) | (60) |
| Release time (MAX) | 【m sec】 | (50) | (50) | (30) | (30) |
| Mount size 【m sec】 | □100 | |||
|---|---|---|---|---|
| Model | TS4813 | TS4815 | TS4817 | |
| Applicable Servo amplifier indicated Model | TYD102 | TYD152 | TYD202 | |
| Voltage | 【V】 | AC200 | ||
| Output | 【kW】 | 1.0 | 1.5 | 2.0 |
| Rated speed / Max. speed | 【min-1】 | 3000/4500 | ||
| Rated torque | 【N･m】 (kgf･cm) |
3.3 (33.7) |
4.8 (48.9) |
6.4 (65.3) |
| Stall torque | 【N･m】 (kgf･cm) |
3.3 (33.7) |
4.8 (48.9) |
6.4 (65.3) |
| Max. torque | 【N･m】 (kgf･cm) |
9.5 (96.9) |
14.4 (145.9) |
18.7 (190.8) |
| Rated current | 【A rms】 | 6.8 | 9.5 | 12.7 |
| Stall current | 【A rms】 | 5.9 | 8.6 | 11.8 |
| Max. current | 【A rms】 | 20.4 | 28.5 | 38.1 |
| Power rated | 【kW/sec】 | 44.3 | 65.1 | 89.1 |
| Torque constant | 【N･m/A】 | 0.56 | 0.56 | 0.54 |
| Induction voltage constant | 【V/(r/min)】 | 58.4×10-3 | 58.5×10-3 | 57.0×10-3 |
| Rotor Inertia (Without brake) | 【kg･m2】 (g･cm･s2) |
2.46×10-4 (2.51) |
3.53×10-4 (3.60) |
4.59×10-4 (4.69) |
| Rotor inertia (with brake) | 【kg･m2】 (g･cm･s2) |
2.58×10-4 (2.63) |
3.64×10-4 (3.72) |
4.71×10-4 (4.81) |
| Armature winding resistance | 【Ω】 | 2.052 | 1.030 | 0.765 |
| Armature inductance | 【mH】 | 8.4 | 4.73 | 3.45 |
| Mechanical time constant | 【m sec】 | 1.6 | 1.2 | 1.2 |
| Electrical time constant | 【m sec】 | 4.1 | 4.6 | 4.5 |
| Mass (Without brake) | 【kg】 | 4.2 | 5.2 | 6.2 |
| Mass (With brake) | 【kg】 | 5.7 | 6.7 | 7.7 |
| Sensor | 17bit incremental encoder | |||
| Brake Specifications | ||||
| Brake Voltage | 【V】 | DC24±10% | ||
| Static friction torque (MIN) | 【N･m】 | 9.3 | 9.3 | 9.3 |
| Brake input | 【W】 | 17.9 | 17.9 | 17.9 |
| Attraction time (MAX) | 【m sec】 | (90) | (90) | (90) |
| Release time (MAX) | 【m sec】 | (20) | (20) | (20) |
| Mount size 【m sec】 | □130 | ||||
|---|---|---|---|---|---|
| Model | TS4831 | TS4832 | TS4833 | TS4844 | |
| Applicable Servo amplifier indicated Model | TYE801 | TYE112 | TYE162 | TYE212 | |
| Voltage | 【V】 | AC200 | |||
| Output | 【kW】 | 0.8 | 1.1 | 1.6 | 2.1 |
| Rated speed / Max. speed | 【min-1】 | 3000/4500 | |||
| Rated torque | 【N･m】 (kgf･cm) |
2.55 (26.0) |
3.50 (35.7) |
5.09 (51.93) |
6.68 (68.2) |
| Stall torque | 【N･m】 (kgf･cm) |
2.55 (26.0) |
3.50 (35.7) |
5.09 (51.93) |
6.68 (68.2) |
| Max. torque | 【N･m】 (kgf･cm) |
6.9 (70.4) |
10.0 (102.0) |
14.7 (150.0) |
19.4 (197.9) |
| Rated current | 【A rms】 | 6.1 | 7.0 | 9.7 | 12.3 |
| Stall current | 【A rms】 | 5.5 | 6.5 | 9.2 | 11.8 |
| Max. current | 【A rms】 | 18.3 | 21.0 | 29.1 | 36.9 |
| Power rated | 【kW/sec】 | 23.7 | 27.9 | 49.6 | 65.0 |
| Torque constant | 【N･m/A】 | 0.465 | 0.540 | 0.554 | 0.568 |
| Induction voltage constant | 【V/(r/min)】 | 48.76×10-3 | 56.64×10-3 | 58.06×10-3 | 59.55×10-3 |
| Rotor Inertia (Without brake) | 【kg･m2】 (g･cm･s2) |
2.74×10-4 (2.80) |
4.39×10-4 (4.48) |
5.22×10-4 (5.33) |
6.87×10-4 (7.01) |
| Rotor inertia (with brake) | 【kg･m2】 (g･cm･s2) |
2.86×10-4 (2.92) |
4.51×10-4 (4.61) |
5.34×10-4 (5.45) |
7.00×10-4 (7.14) |
| Armature winding resistance | 【Ω】 | 1.728 | 1.176 | 0.780 | 0.588 |
| Armature inductance | 【mH】 | 8.1 | 5.90 | 5.13 | 3.89 |
| Mechanical time constant | 【m sec】 | 2.2 | 1.8 | 1.3 | 1.2 |
| Electrical time constant | 【m sec】 | 4.7 | 5.0 | 6.6 | 6.6 |
| Mass (Without brake) | 【kg】 | 2.7 | 3.8 | 4.3 | 5.4 |
| Mass (With brake) | 【kg】 | 5.4 | 6.5 | 7.0 | 8.1 |
| Sensor | 17bit incremental encoder | ||||
| Brake Specifications | |||||
| Brake Voltage | 【V】 | DC24±10% | |||
| Static friction torque (MIN) | 【N･m】 | 7.5 | 7.5 | 7.5 | 10.5 |
| Brake input | 【W】 | 20 | 20 | 20 | 30 |
| Attraction time (MAX) | 【m sec】 | (90) | (90) | (90) | (90) |
| Release time (MAX) | 【m sec】 | (20) | (20) | (20) | (50) |
Servo Amplifier
| Outer frame number | Frame1 | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Applicable motor output | 30W | 50W | 100W | 100W | 200W | 400W | 200W | 400W | ||
| Indicated model number | TYA300 | TYA500 | TYA101 | TYB101 | TYB201 | TYB401 | TYC201 | TYC401 | ||
| Mass | 1.0(kg) | |||||||||
| Power supply |
Main power supply |
Phase | Single-phase | |||||||
| Outer frame number | Frame2 | Frame3 | Frame2 | Frame3 | |||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| Applicable motor output | 600W | 750W | 1.0kW | 1.5kW | 2.0kW | 0.8kW | 1.1kW | 1.6kW | 2.1kW | ||
| Indicated model number | TYC601 | TYC751 | TYD102 | TYD152 | TYD202 | TYE801 | TYE112 | TYE162 | TYE212 | ||
| Mass | 1.5(kg) | 2.5(kg) | 1.5(kg) | 2.5(kg) | |||||||
| Power supply |
Main power supply |
Phase | 3-phase / Single-phase | 3-phase | 3-phase | ||||||
| Power supply | Main power supply | Voltage | AC200∼230[V] -10[%]∼+10[%](At single-phase:-5[%]∼+10[%]). Motor output 750(W) becomes a single phase 230V as follows. | |||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Frequency | 50/60(Hz) | |||||||||
| Control power supply | Phase | Single-phase | ||||||||
| Voltage | AC200∼230[V] -15[%]∼+10[%] | |||||||||
| Frequency | 50/60(Hz) | |||||||||
| Control system | IGBT Sinusoidal PWM drive | |||||||||
| Feedback | 17-bit Incremental encoder | |||||||||
| Functions, input / output signals |
Sequence input(CONT1∼5) |
(1) Servo ON, (2) +over-travel, (3) -over-travel, (4) emergency stop, (5) P-action, (6) free run command, (7) anti-resonant frequency selection 1,(8) anti-resonant frequency selection 2, (9) control mode switching, (10) external regenerative resistor overheat, (11) alarm reset These functions can be assigned to sequence inputs CONT1 to CONT5 and used. (*1) |
||||||||
| Sequence output(OUT1∼4) |
(1) Servo ready, (2) positioning complete, (3) servo alarm detection a-contact, (4) servo alarm detection b-contact, (5) dynamic braking control,(6) over-travel detection, (7) emergency stop detection, (8) deviation zero, (9) speed zero, (10) current limit detection, (11) brake timing These functions can be assigned to sequence outputs OUT1 to OUT4 and used. |
|||||||||
| Encoder signal dividing output |
Dividing setting |
Pulse output setting 16 to 32768 (pulse / rev) | ||||||||
| Signal form | (1) Line driver output A-phase, B-phase, and Z-phase, (2) open collector output Z-phase | |||||||||
| Monitor output | Analog voltage output for signal measurement (alternating, pulsating) × 2 (1) Speed command, (2) speed return, (3) torque command, (4) positional deviation, (5) positional deviation expansion, (6) pulse command frequency These functions can be assigned to monitor outputs MON1 and MON2 and used, and the output voltage scale and offset can be set by setting parameters. | |||||||||
| Position control | Max. command pulse frequency |
Pulse frequency (max.) command input 1 [MHz] (differential), 200 [kHz] (open collector), dividing output 500 [kHz] (differential) | ||||||||
| Input pulse signal form |
Compatible with two systems: (1) RS-422 line driver signals and (2) open collector signals | |||||||||
| Input pulse type |
Selectable from (1) command pulse/command sign, (2) forward operation/reverse operation pulse, and (3) two 90° phase-different signals | |||||||||
| Command pulse correction |
Command pulse×Command pulse correctionα(1∼32767) / Command pulse correction β(1∼32767) = Position pulse Four types of command pulse correction α can be set, and constant switching operation is available. |
|||||||||
| Position control input |
(1) Command pulse correction α selection 1, (2) command pulse correction α selection 2, (3) deviation clear, (4) command pulse disabled These functions can be assigned to sequence inputs CONT1 to CONT5 and used. (*1) | |||||||||
| Speed control |
Speed control range |
1:5000 | ||||||||
| Acceleration / deceleration time setting |
0 to 10 [s]/2000 [r/min], acceleration and deceleration times can be set separately, two acceleration times and deceleration times can be set, S-curve acceleration/deceleration is possible. | |||||||||
| External speed command input |
Speed control by analog voltage commands, ±10 V input, the voltage-speed scale and offset can be set by setting parameters. | |||||||||
| Internal speed setting |
Three speeds can be set by setting internal parameters. | |||||||||
| Speed control input |
(1) Multi-speed selection 1, (2) multi-speed selection 2, (3) forward operation, (4) reverse operation, (5) acceleration/deceleration time selection These functions can be assigned to sequence inputs CONT1 to CONT5 and used. (*1) | |||||||||
| Torque control |
External torque command input |
Speed control by analog voltage commands, ±10 V input, the voltage-torque scale and offset can be set by setting parameters. | ||||||||
| Torque control input |
(1) Forward operation and (2) reverse operation can be assigned to sequence inputs CONT1 to CONT5 and used. (*1) | |||||||||
| Regenerative braking |
Regenerative braking to DC intermediate circuit, the regenerative resistor can be externally installed. | |||||||||
| Additional functions |
Zero clamp function, vibration suppressing control, notch filter, easy tuning, brake timing output, etc. | |||||||||
| Protection | Overcurrent (OC1, OC2), overspeed (OS), overvoltage (Hv), encoder error (Et), control power error (Ct), memory error (dE), regenerative transistor overheat (rH2), encoder communication error (EC), CONT duplication (Cnt), overload (OL), insufficient voltage (LV), regenerative resistor overheat (rH1), excessive deviation (OF), amplifier overheat (AH) | |||||||||
| Working conditions | Installation place |
For indoor use at max. Altitude of 1,000 m or below. The installation place shall be free from dust, corrosive gas, or direct sunlight. To meet European standards: Pollution degree = 2, overvoltage category Ⅲ | ||||||||
| Temperature / Humidity |
-10 [°C] to 55 [°C]/10 to 90 [%RH] (without condensation) | |||||||||
| Vibration / Shock resistance |
4.9[m/s2] / 19.6[m/s2] | |||||||||
| standards | Conforming to UL/cUL (UL508c) and CE Mark (low voltage directive EN50178) | |||||||||
*1: Functions you want to keep ON at all times can be used without wiring (up to four functions can be set by setting parameters as normally ON signals).
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