Sanyo Denki Py 2 Manual
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9. SPECIFICATIONS 9－129 Servomotor model No.: P3 motor Absolute encoder (ABS-E type) Unit: mm W/O brake With brake MODEL LL LL L G KL LALB LELHL CLZL RFGS Q QE LTD1D2 P30B04003△□◇ 101.5 140 0 6-0.008 － － P30B04005△□◇ 107.5 146 P30B04010△□◇ 125 163.5 5 38 460 30-0.0212.5 54 40 4.5 25－60 0 8-0.009 － －6 P30B06020△□◇ 134 172 P30B06040△□◇ 162 200 6 41 700 50-0.025381605.530－900 14-0.011 － 7.1 P30B08075△□◇ 177 217.5 8 52 900 70-0.0303 107 80 6.6 40 80－0 16-0.011 35 M5 12 6.7 8 QE tapping Depth LT Shield cable (For fix) (Sensor) Teflon lead wire (For fix) (Motor, Ground, Brake) 04003-06040
9. SPECIFICATIONS 9－130 Servomotor model No.: P5 motor Incremental encoder (INC-E type) D2＝4.7 mm Unit: mm W/O brake With brake D1 MODEL LL LL LG KL LA LB LELHLCLZLRS QQ A Q KW T U Q E L T D 2 P50B03003△□◇ 67.5 98 4.5 27.5 40 0 30-0.021247353.5150 5-0.008－－11Slotted, 2 places 4.5±0.2 － － P50B04006△□◇ 82 114 P50B04010△□◇ 95 127 5 31 48 0 34-0.025257423.5240 7-0.00920－15Slotted, 2 places 6.5±0.2 － － 67 P50B05005△□◇ 76 105 P50B05010△□◇ 86 115 240 8-0.00920－15Slotted, 2 places 7.5±0.2 M3 8 P50B05020△□◇ 105 134 5 38 60 0 50-0.0252.5 71.5 54 4.5 300 11-0.01125 2 20 4 4 1.5 M4 10 P50B07020△□◇ 97 124 P50B07030△□◇ 103 130 P50B07040△□◇ 113 140 8 50 90 0 70-0.0303 102.5 76 5.5 300 14-0.01125 2 20 5 5 2 M5 12 P50B08040△□◇ 116 156 P50B08050△□◇ 126 166 P50B08075△□◇ 149 189 P50B08100△□◇ 172 212 8 55 100 0 80-0.0303 115 86 6.6 350 16-0.01130 2 25 5 5 2 M5 12 6.7 7.54.7 Oil seal DC 24V brake W/O brake & DC 90V brake Not fitted Fitted
9. SPECIFICATIONS 9－131 Servomotor model No.: P5 motor Absolute encoder (ABS-E type) Unit: mm W/O brake With brake MODEL LL LL L G K L L A LB L E L H L C L Z L RFGHS QQ A Q K W T U Q E L T D 1 D 2 Oil seal P50B04006△□◇ 114 146 P50B04010△□◇ 127 159 5 38 48 0 34-0.025 257423.524－－600 7-0.00920－15 Slotted, 2 places 6.5±0.2 － －6Not fitted P50B05005△□◇ 111 139 P50B05010△□◇ 121 149 240 8-0.00920－15 Slotted, 2 places 7.5±0.2 M3 8 P50B05020△□◇ 140 169 5 38 60 0 50-0.025 2.5 71.5 54 4.5 30－－60 0 11-0.01125 2 20 4 4 1.5 M4 107.1 P50B07020△□◇ 136 164 P50B07030△□◇ 142 170 P50B07040△□◇ 152 180 5 67 90 0 70-0.030 3 102.5 76 5.5 30 82 78－0 14-0.01125 2 20 5 5 2 M5 12 P50B08040△□◇ 152 192 P50B08050△□◇ 162 202 P50B08075△□◇ 185 225 P50B08100△□◇ 208 248 5 67 10 0 0 80-0.030 3 115 86 6.6 35 82 78－0 16-0.01130 2 20 5 5 2 M5 126.7 8Fitted Oil seal (Type S) QE tapping Depth LT Shield cable (for fix) (Sensor) Teflon lead wire (for fix) (Motor, Ground, Brake) Shaft section
9. SPECIFICATIONS 9－132 Servomotor model No.: P5 motor Absolute sensor (ABS-RII type) D2＝4.7 mm Unit: mm W/O brake With brake D1 MODEL LL LL LG KL LA LB LELHLCLZLRS QQ A Q KW T U Q E L T D 2 P50B03003△□◇ 73 103.5 4.5 27.5 40 0 30-0.021247353.5150 5-0.008－－11Slotted, 2 places 4.5±0.2 － － P50B04006△□◇ 86 118 P50B04010△□◇ 99 131 5 31 48 0 34-0.025257423.5240 7-0.00920－15Slotted, 2 places 6.5±0.2 － － 67 P50B05005△□◇ 82 111 P50B05010△□◇ 92 121 240 8-0.00920－15Slotted, 2 places 7.5±0.2 M3 8 P50B05020△□◇ 111 140 5 38 60 0 50-0.0252.5 71.5 54 4.5 300 11-0.01125 2 20 4 4 1.5 M4 10 P50B07020△□◇ 97 124 P50B07030△□◇ 103 130 P50B07040△□◇ 113 140 8 50 90 0 70-0.0303 102.5 76 5.5 300 14-0.01125 2 20 5 5 2 M5 12 P50B08040△□◇ 116 156 P50B08050△□◇ 126 166 P50B08075△□◇ 149 189 P50B08100△□◇ 172 212 8 55 100 0 80-0.0303 115 86 6.6 350 16-0.01130 2 25 5 5 2 M5 12 6.7 7.54.7 Oil seal DC 24V brake W/O brake & DC 90V brake Not fitted Fitted
9. SPECIFICATIONS 9－133 Servomotor model No.: P6 motor Incremental encoder (INC-E type) Absolute sensor (ABS-RII type) Unit: mm Incremental･ ABS-RII Connector W/O brake With brake Motor earthB (Type with B only) MODEL LL KB2 LL KB2 KB3 KB4 MS3102AMS3102AKL1KL2KL3LGLA LB LELHLC P60B13050△□◇ 113 56 143 86 － － P60B13100△□◇ 133 166 P60B13150△□◇ 152 185 90 － － P60B13200△□◇ 171 57 208 94 － － 24-11P 98 21－12 145 0 110-0.035 4 165 130 P60B15300△□◇ 182 56 225 99 － － 24-11P 106 21－12 165 0 130-0.040 4 190 150 P60B18200△□◇ 144 179 P60B18350△□◇ 169 204 P60B18450△□◇ 192 56 227 91 － － 24-11P 123 21－16 200 0 114.3-0.035 3 230 180 P60B18550△□◇ 267 72 314 119 59 60 32-17P 10SL-4P 144 22 115 19 200 0 114.3-0.035 3 230 180 P60B22550△□◇ 209 256 P60B22700△□◇ 285 60 332 107 － － 24-11P 141 21－19 235 0 200-0.046 4 270 220 MODEL LZ1 LZ2 LR S Q QAQKW TUKB1αβγ QE LT IE IFIL1IL2 P60B13050△□◇ 37 P60B13100△□◇ 56 P60B13150△□◇ 0 22-0.013 0 6-0.03062.5 75M6 20 P60B13200△□◇ 9 M6 55 0 28-0.013 50 3 42 0 8-0.03673 940.02 0.08 0.08 M8 25 － －－－ P60B15300△□◇ 11 M6 55 0 22-0.013 50 3 420 8-0.0367 3 106 0.02 0.08 0.08 M8 25 － －－－ P60B18200△□◇ 68－ －－－ P60B18350△□◇ 93 64 20 P60B18450△□◇ 13.5 M8 65 0 35-0.016 60 3 500 10-0.03683 1160.02 0.08 0.08 M8 25 124 50 62 45 P60B18550△□◇ 13.5 M8 79 0 42-0.016 75 3 670 12-0.0438 3 175 0.02 0.08 0.08 M10 25 124 50 60 70 P60B22550△□◇ 129 53 40 P50B22700△□◇ 13.5 M10 79 0 55-0.019 75 3 670 19-0.04310 4 2050.03 0.08 0.10 M10 25 142 60 69 100 Since the connector must be waterproof when engaged, use a waterproof connector for the plug on the receiving side when IP67 is applied.
9. SPECIFICATIONS 9－134 Servomotor model No.: P6 motor Absolute encoder (ABS-E type) Unit: mm ABS - E Connector W/O brake With brake Motor earthB (Type with B only) MODEL LL KB2 LL KB2 KB3KB4MS3102AMS3102AKL1KL2KL3 LG LA LB LE P60B13050△□◇ 123 66 153 96 －－ P60B13100△□◇ 143 176 P60B13150△□◇ 162 195 100 －－ P60B13200△□◇ 181 67 218 104 －－12 - 11P 98 21－12 145 0 110-0.0354 P60B15300△□◇ 192 66 235 109 －－24 - 11P 106 21－12 165 0 130-0.0404 P60B18200△□◇ 154 189 P60B18350△□◇ 179 214 P60B18450△□◇ 202 66 237 101 －－24 - 11P 123 21－16 200 0 114.3-0.0353 P60B18550△□◇ 277 82 324 129 59 90 32-17P 10SL-4P 144 22 115 19 200 0 114.3-0.0353 P60B22550△□◇ 219 266 P60B22700△□◇ 295 70 342 117 －－24 - 11P 141 21－19 235 0 200-0.0464 MODEL LH LCLZ1 LZ2 L R S QQ A Q KW TUKB 1αβ γ QE L T IE IFIL 1 IL 2 P60B13050△□◇ 37 P60B13100△□◇ 56 P60B13150△□◇ 0 22-0.0130 6-0.03062.5 75M6 20 P60B13200△□◇ 165 130 9 M6 55 0 28-0.01350342 0 8-0.03673940.02 0.08 0.08 M8 25 － －－－ P60B15300△□◇ 190 150 11 M6 55 0 28-0.013503420 8-0.0367 3 106 0.02 0.08 0.08 M8 25 － －－－ P60B18200△□◇ 68－ －－－ P60B18350△□◇ 93 64 20 P60B18450△□◇ 230 180 13.5 M8 65 0 35-0.016603500 10-0.03683 1160.02 0.08 0.08 M8 25 124 50 62 45 P60B18550△□◇ 230 180 13.5 M8 79 0 42-0.016753670 12-0.0438 3 175 0.02 0.08 0.08 M10 25 124 50 60 70 P60B22550△□◇ 129 53 40 P60B22700△□◇ 270 220 13.5 M10 79 0 55-0.019753670 16-0.04310 4 2050.03 0.08 0.10 M10 25 142 60 69 100 Since the connector must be waterproof when engaged, use a waterproof connector for the plug on the receiving side when IP67 is applied.
9. SPECIFICATIONS 9－135 Servomotor model No.: P8 motor Incremental encoder (INC-E type) Absolute sensor (ABS-RII type) Unit: mm W/O brake With brake MODEL LL KB2 LL KB2LGKLLALB LELHLC LZ1 LZ2LR P80B15075△□◇ 116 56 150 90 12 106 1650 130-0.040 4 190 150 11 M6 55 P80B18120△□◇ 119 55 152 88 12 123 2000 114.3-0.0353 230 180 13.5 M8 55 P80B22250△□◇ 122 154 P80B22350△□◇ 136 168 P80B22450△□◇ 15152 183 84 16 141 2350 200-0.046 4 270 220 13.5 M10 65 MODEL S Q QA QKＷ TUKB1QELTIE IF IL1IL2 P80B15075△□◇ 0 22-0.013 50 3 420 6-0.0306 2.5 40 M6 20－ － － － P80B18120△□◇ 0 28-0.036 50 3 420 8-0.0367 3 44 M8 25－ － － － P80B22250△□◇ 50 41 － P80B22350△□◇ 64 40 15 P80B22450△□◇ 0 35-0.016 60 3 500 10-0.03683 79M8 25 142 60 40 30 Since the connector must be waterproof when engaged, use a waterproof connector for the plug on the receiving side when IP67 is applied.
9. SPECIFICATIONS 9－136 Servomotor model No.: P8 motor Absolute encoder (ABS-E type) Unit: mm W/O brake With brake MODEL LL KB2 LL KB2LGKLLALB LELHLC LZ1 LZ2LR P80B15075△□◇ 126 66 150 90 12 106 1650 130-0.040 4 190 150 11 M6 55 P80B18120△□◇ 129 65 152 88 12 123 2000 114.3-0.0353 230 180 13.5 M8 55 P80B22250△□◇ 132 154 P80B22350△□◇ 146 168 P80B22450△□◇ 16162 183 84 16 141 2350 200-0.046 4 270 220 13.5 M10 65 MODEL S Q QA QKＷ TUKB1QELTIE IF IL1IL2 P80B15075△□◇ 0 22-0.013 50 3 420 6-0.0306 2.5 40 M6 20－ － － － P80B18120△□◇ 0 28-0.036 50 3 420 8-0.0367 3 44 M8 25－ － － － P80B22250△□◇ 50 41 － P80B22350△□◇ 64 40 15 P80B22450△□◇ 0 35-0.016 60 3 500 10-0.03683 79M8 25 142 60 40 30 Since the connector must be waterproof when engaged, use a waterproof connector for the plug on the receiving side when IP67 is applied.
9. SPECIFICATIONS 9－137 9.4.3 Remote Operator (Option) Unit : mm 1 Liquid crystal display (Two line display) 2 Key (16 keys, Control Element) 3 Check pins (DM1, DM2, SG, M1, M2 and VCMD from the left) 4 Volume knob (for adjusting liquid crystal brightness) 5 Main nameplate 6 Hand band Note5 Note6 Note1 Note2 Approx.φ90 Note3 Note4
9. SPECIFICATIONS 9－138 9.5 Regenerative Resistor 9.5.1 Built-in Regenerative Resistor Some PY2 Servo Amplifiers have built-in regenerative resistors. When the regenerative power is lower than the permissible absorbing power of the built-in regenerative resistor, the system configuration can be simplified by using a regenerative resistor built-in Servo Amplifier (Amplifier of 50A has built-in regenerative resistor as standard). Amplifier Model No. Permissible Absorbing Power Resistance PY2A015 PY2E015 2W 100Ω PY2A030 OY2E030 5W 50Ω PY2A050 20W 20Ω Table 9-21 Permissible Absorbing Power of Built-in Regenerative Resistor 1) Wiring for built-in regenerative resistor Wiring has been done for the built-in regenerative resistor at time of shipping. However, in the case you wish to remove it to use an external regenerative resistor instead, or to re-connect the built-in regenerative resistor after removing it once, make sure to wire correctly observing 9.5.6 Connection of Regenerative Resistor. 2) Setting parameters Abnormal overheating of the built-in regenerative resistor is detected through software (Overheat protection) at the PY2 Servo Amplifier. Therefore, correct parameter settings are required when using a built-in regenerative resistor (Parameters for regenerative resistor have been set at time of shipping for the built-in regenerative resistor). 9.5.2 Parameter Settings for Regenerative Resistor Table 9-22 Parameters for Regenerative Resistor Status of regenerative resistor(How to process the regenerative power) Regenerative resistor type Abbreviation: RGKD, Mode4-Page9 Regenerative resistor OL time select Abbreviation: Func2 bit4, Mode2-Page3 Regenerative resistor not connected None/Ext.R Func2 bit4 = “0” External regenerative resistor connected (External regenerative resistor with 20W or less permissible absorbing power is used.) None/Ext.R Func2 bit4 = “0” External regenerative resistor connected (External regenerative resistor with larger than 20W permissible absorbing power is used.) None/Ext.R Func2 bit4 = “1” Built-in regenerative resistor used Built-in R Func2 bit4 = “0”