AC Servo Motor Driver

Transcription

1 AC Servo Motor Driver Series Pulse Input Type/ Positioning Type Page 613 Incremental Type/ SA Series Absolute Type/ SC Series Pulse Input Type Page 613 Absolute Type/ SB Series CC-Link Direct Input Type Page 613 SSCNET # Type Page 613 Absolute Type/ SS Series LEL LER 607

2 AC Servo Motor Driver Series list Compatible motor (100/200 VAC) Control method Application/ Function Compatible option Series 100 W 200 W 400 W Note 1) Positioning Pulse Network direct input Note 2) Synchronous Setup software -MRC2 Incremental Type SA (Pulse input type/ Positioning type) Up to 7 points SB (Pulse input type) Absolute Type SC (CC-Link direct input type) Up to 255 points CC-Link Ver SSCNET 3 SS (SSCNET 3 type) Compatible with Mitsubishi Electric s servo system controller network Note 1) For positioning type, setting needs to be changed to use with maximum set values. Setup software (MR Configurator2 ) -MRC2 is required. Note 2) Available when the Mitsubishi motion controller is used for the master equipment. 608

3 Series Servo adjustment using auto gain tuning Auto tuning function Control the difference between command value and actual action Advanced vibration suppression control function Automatically suppress low frequency machine vibrations (up to 100 Hz) Speed With display setting function One-touch adjustment button One-touch servo adjustment Display Display the monitor, parameter and alarm. Settings Set parameters and monitor display, etc. with push buttons. Display Display the communication status with the driver, the alarm and the point table No. Settings Control Baud rate, station number and the occupied station count. SA (With the front cover opened) SC Settling time Time Speed Display Display the monitor, parameter and alarm. Settings Set parameters and monitor display, etc. with push buttons. Display Display the communication status with the driver and the alarm. Settings Switches for selecting axis and switching to the test operation Settling time Time (With the front cover opened) SB (With the front cover opened) SS LEL LER 609

4 Single phase 100 to 120 VAC (50/60 Hz) 200 to 230 VAC (50/60 Hz) System Construction Incremental encoder compatible SA Series Provided by customer (Pulse input type/positioning type) Control circuit Option Main circuit Page 617 power supply Setup software Page 626 Provided by customer power supply Driver 24 VDC connector (MR Configurator2 ) Power supply (Accessory) Part no.: -MRC2 Option Page 625 Control Page 617 Regeneration option circuit power Part no.: -MR-RB- supply connector (Accessory) PC Motor cable Page 623 Standard cable Robotic cable LE-CSM- LE-CSM-R Lock cable Page 623 Standard cable Robotic cable LE-CSB- LE-CSB-R Electric actuator Slider type Ball screw drive Series Belt drive B Series Option Page 623 I/O connector Part no.: LE-CSNA USB cable Page 626 Part no.: -MR-J3USB Provided by customer Encoder cable Page 623 Standard cable Robotic cable LE-CSE- LE-CSE-R PLC (Positioning unit) Power supply for I/O signal 24 VDC Absolute encoder compatible SB Series (Pulse input type) Provided by customer Power supply Single phase 100 to 120 VAC (50/60 Hz) 200 to 230 VAC (50/60 Hz) Three phase 200 to 230 VAC (50/60 Hz) Motor cable Page 623 Standard cable Robotic cable LE-CSM- LE-CSM-R Lock cable Page 623 Standard cable Robotic cable LE-CSB- LE-CSB-R Encoder cable Page 623 Standard cable Robotic cable LE-CSE- LE-CSE-R 610 Option Page 625 Regeneration option Part no.: -MR-RB- Electric actuator Slider type Ball screw drive Series Belt drive B Series Main circuit Page 618 power supply connector (Accessory) Control circuit power supply Page 618 connector (Accessory) Motor Page 618 connector (Accessory) Driver Page 626 Battery (Accessory) Part no.: (-MR-J3BAT) USB cable Page 626 Part no.: -MR-J3USB Analog monitor output RS-422 communication Option Page 623 I/O connector Part no.: LE-CSNB PLC (Positioning unit) Power supply for I/O signal 24 VDC Option Setup software Page 626 (MR Configurator2 ) Part no.: -MRC2 PC Provided by customer

5 System Construction Absolute encoder compatible SC Series (CC-Link direct input type) Provided by customer Main circuit Page 618 power supply Power supply connector Single phase 100 to 120 VAC (50/60 Hz) (Accessory) 200 to 230 VAC (50/60 Hz) Three phase 200 to 230 VAC (50/60 Hz) Option Page 625 Regeneration option Part no.: -MR-RB- Motor cable Page 623 Standard cable Robotic cable LE-CSM- LE-CSM-R Lock cable Page 623 Standard cable Robotic cable LE-CSB- LE-CSB-R Electric actuator Slider type Ball screw drive Series Encoder cable Page 623 Standard cable Robotic cable LE-CSE- LE-CSE-R Absolute encoder compatible SS Series (SSCNET # type) Main circuit Page 618 Provided by customer power supply connector Power supply (Accessory) Single phase 100 to 120 VAC (50/60 Hz) 200 to 230 VAC (50/60 Hz) Three phase 200 to 230 VAC (50/60 Hz) Option Page 625 Regeneration option Part no.: -MR-RB- Motor cable Page 623 Standard cable Robotic cable LE-CSM- LE-CSM-R Lock cable Page 623 Standard cable Robotic cable LE-CSB- LE-CSB-R Electric actuator Slider type Ball screw drive Series Belt drive B Series Belt drive B Series Encoder cable Page 623 Standard cable Robotic cable LE-CSE- LE-CSE-R Control circuit Page 618 power supply connector (Accessory) Motor Page 618 connector (Accessory) Driver Page 626 Battery (Accessory) Part no.: (-MR-J3BAT) Control circuit Page 618 power supply connector (Accessory) Motor Page 618 connector (Accessory) Driver Page 626 Battery (Accessory) Part no.: (-MR-J3BAT) USB cable Page 626 Option Part no.: -MR-J3USB Setup software Page 626 (MR Configurator2 ) Part no.: -MRC2 RS-422 communication CC-Link connector Note) (Accessory) Option Page 623 I/O connector Part no.: LE-CSNA CN1A CN1B PLC (CC-Link master unit) Power supply for I/O signal 24 VDC CN1A Option Page 624 SSCNET # optical cable Part no.: LE-CSS- PLC (Positioning unit/motion controller) PC Provided by customer Note) Product number: K05A manufactured by Mitsubishi Electric System & Service Co., Ltd. USB cable Page 626 Option Part no.: -MR-J3USB Setup software Page 626 (MR Configurator2 ) Part no.: -MRC2 Option Page 623 I/O connector Part no.: LE-CSNS Power supply for I/O signal 24 VDC PC Provided by customer LEL LER 611

6 AC Servo Motor Driver Series Power supply voltage Motor capacity 100 to 120 VAC 200 to 230 VAC 100/200/400 W SA Series (Pulse input type/ Positioning type) Incremental Type Up to 7 positioning points by point table Input type: Pulse input Control encoder: Incremental 17-bit encoder (Resolution: pulse/rev) Parallel input: 6 inputs output: 4 outputs SB Series (Pulse input type) Input type: Pulse input Control encoder: Absolute 18-bit encoder (Resolution: pulse/rev) Parallel input: 10 inputs output: 6 outputs SC Series (CC-Link direct input type) Absolute Type Position data/speed data setting and operation start/stop Positioning by up to 255 point tables (when 2 stations occupied) Up to 32 drivers connectable (when 2 stations occupied) with CC-Link communication Applicable Fieldbus protocol: CC-Link (Ver. 1.10, Max. communication speed: 10 Mbps) Control encoder: Absolute 18-bit encoder (Resolution: pulse/rev) SS Series (SSCNET#type) Compatible with Mitsubishi Electric, s servo system controller network uced wiring and SSCNET #optical cable for one-touch connection SSCNET #optical cable provides enhanced noise resistance Up to 16 drivers connectable with SSCNET#communication Applicable Fieldbus protocol: SSCNET# (High-speed optical communication, Max. one-way communication speed: 50 Mbps) Control encoder: Absolute 18-bit encoder (Resolution: pulse/rev) 612

7 Compatible actuators AC Servo Motor Driver Incremental Type SA Series (Pulse Input Type/Positioning Type) Absolute Type SA SB SC SS SB (Pulse Input Type) /SC (CC-Link Direct Input Type) /SS (SSCNET#Type) Series Dimensions SA For SA -S1,S3 For SA -S4 2 x ø6 Mounting hole 40 2 x ø6 Mounting hole (Bearing surface thickness 5) (Bearing surface thickness 5) SB Driver A B C S CN3 5.5 ø6 Mounting hole (Bearing surface thickness 4) CNP1 CNP2 CN1 CN2 S A Driver type Pulse input type/positioning type (For incremental encoder) Pulse input type (For absolute encoder) CC-Link direct input type (For absolute encoder) SSCNET#type (For absolute encoder) Power supply voltage to 120 VAC, 50/60 Hz to 230 VAC, 50/60 Hz CN3 6 6 How to Order CNP1 CNP2 CN1 CN2 S1 Compatible motor type Symbol Type Capacity Encoder S1 AC servo motor (S2) 100 W S3 AC servo motor (S3) 200 W Incremental S4 AC servo motor (S4) * 400 W S5 AC servo motor (S6) 100 W S7 AC servo motor (S7) 200 W Absolute S8 AC servo motor (S8) * 400 W * Only available for power supply voltage 200 to 230 VAC. 135 (For SB -S5, S7) 170 (For SB -S8) Connector name Description CN1 I/O signal connector CN2 Encoder connector CN3 USB communication connector CNP1 Main circuit power supply connector CNP2 Control circuit power supply connector LEL LER CNP1 CNP2 CNP3 6 Battery CN5 CN6 CN3 CN1 CN2 CN (14) Battery included. Connector name Description CN1 I/O signal connector CN2 Encoder connector CN3 RS-422 communication connector CN4 Battery connector CN5 USB communication connector CN6 Analog monitor connector CNP1 Main circuit power supply connector CNP2 Control circuit power supply connector CNP3 Servo motor power connector 613

8 Series Dimensions SC 2 x ø6 (Bearing surface thickness 4) (For SC -S5, S7) 170 (For SC -S8) CNP1 CNP2 CNP3 6 CN5 CN3 CN1 CN6 CN2 CN4 Battery 168 Connector name Description CN1 CC-Link connector CN2 Encoder connector CN3 RS-422 communication connector CN4 Battery connector CN5 USB communication connector CN6 I/O signal connector CNP1 Main circuit power supply connector CNP2 Control circuit power supply connector CNP3 Servo motor power connector * Battery included. S 2 x ø6 (Bearing surface thickness 4) (For S-S5, S7) 170 (For S-S8) CNP1 CNP2 CNP3 6 CN5 CN3 CN1A CN1B CN2 CN4 Battery 168 Connector name CN1A CN1B CN2 CN3 CN4 CN5 CNP1 CNP2 CNP3 Description Front axis connector for SSCNET#optical cable Rear axis connector for SSCNET#optical cable Encoder connector I/O signal connector Battery connector USB communication connector Main circuit power supply connector Control circuit power supply connector Servo motor power connector * Battery included. 614

9 AC Servo Motor Driver Series Specifications SA Series Model SA1-S1 SA1-S3 SA2-S1 SA2-S3 SA2-S4 Compatible motor capacity [W] Incremental 17-bit encoder (Resolution: p/rev) Power voltage [V] Single phase 100 to 120 VAC (50/60 Hz) Single phase 200 to 230 VAC (50/60 Hz) Allowable voltage fluctuation [V] Single phase 85 to 132 VAC Single phase 170 to 253 VAC Rated current [A] Control power supply voltage [V] 24 VDC Allowable voltage fluctuation [V] 21.6 to 26.4 VDC Compatible encoder Main power supply Control power supply Rated current [A] 0.5 Parallel input 6 inputs Parallel output 4 outputs Max. input pulse frequency [pps] 1 M (for differential receiver), 200 k (for open collector) *2 In-position range setting [pulse] 0 to ±65535 (Command pulse unit) Function Error excessive ±3 rotations Torque limit Parameter setting Communication USB communication Operating temperature range [ C] 0 to 55 (No freezing) Operating humidity range [%RH] 90 or less (No condensation) Storage temperature range [ C] 20 to 65 (No freezing) Storage humidity range [%RH] 90 or less (No condensation) Insulation resistance [MΩ] Between the housing and SG: 10 (500 VDC) Weight [g] SB Series Model SB1-S5 SB1-S7 SB2-S5 SB2-S7 SB2-S8 Compatible motor capacity [W] Absolute 18-bit encoder (Resolution: p/rev) Power voltage [V] Single phase 100 to 120 VAC (50/60 Hz) Three phase 200 to 230 VAC (50/60 Hz) Single phase 200 to 230 VAC (50/60 Hz) Allowable voltage fluctuation [V] Single phase 85 to 132 VAC Three phase 170 to 253 VAC Single phase 170 to 253 VAC Rated current [A] Control power supply voltage [V] Single phase 100 to 120 VAC (50/60 Hz) Single phase 200 to 230 VAC (50/60 Hz) Allowable voltage fluctuation [V] Single phase 85 to 132 VAC Single phase 170 to 253 VAC Rated current [A] Compatible encoder Main power supply Control power supply Parallel input 10 inputs Parallel output 6 outputs Max. input pulse frequency [pps] 1 M (for differential receiver), 200 k (for open collector) *2 In-position range setting [pulse] 0 to ±10000 (Command pulse unit) Function Error excessive ±3 rotations Torque limit Parameter setting or external analog input setting (0 to 10 VDC) Communication USB communication, RS422 communication *1 Operating temperature range [ C] 0 to 55 (No freezing) Operating humidity range [%RH] 90 or less (No condensation) Storage temperature range [ C] 20 to 65 (No freezing) Storage humidity range [%RH] 90 or less (No condensation) Insulation resistance [MΩ] Between the housing and SG: 10 (500 VDC) Weight [g] *1 USB communication and RS422 communication cannot be performed at the same time. *2 If the command pulse train input is open collector method, it supports only to the sink (NPN) type interface. It does not correspond to the source (PNP) type interface. LEL LER 615

10 Series Specifications SC Series Model SC1-S5 SC1-S7 SC2-S5 SC2-S7 SC2-S8 Compatible motor capacity [W] Compatible encoder Main power supply Control power supply Communication specifications Command method Communication function USB communication, RS-422 communication *2 Operating temperature range [ C] 0 to 55 (No freezing) Operating humidity range [%RH] 90 or less (No condensation) Storage temperature range [ C] 20 to 65 (No freezing) Storage humidity range [%RH] 90 or less (No condensation) Insulation resistance [MΩ] Between the housing and SG: 10 (500 VDC) Weight [g] *1 If the system comprises of both CC-Link Ver and Ver compliant cables, Ver specifications are applied to the overall cable length and the cable length between stations. *2 USB communication and RS422 communication cannot be performed at the same time. SS Series Model SS1-S5 SS1-S7 SS2-S5 SS2-S7 SS2-S8 Compatible motor capacity [W] Compatible encoder Absolute 18-bit encoder (Resolution: p/rev) Main power supply Control power supply Power voltage [V] Allowable voltage fluctuation [V] Power voltage [V] Allowable voltage fluctuation [V] Single phase 100 to 120 VAC (50/60 Hz) Single phase 85 to 132 VAC Three phase 200 to 230 VAC (50/60 Hz) Single phase 200 to 230 VAC (50/60 Hz) Three phase 170 to 253 VAC Single phase 170 to 253 VAC Rated current [A] Control power supply voltage [V] Single phase 100 to 120 VAC (50/60 Hz) Single phase 85 to 132 VAC Single phase 100 to 120 VAC (50/60 Hz) Absolute 18-bit encoder (Resolution: p/rev) Three phase 200 to 230 VAC (50/60 Hz) Single phase 200 to 230 VAC (50/60 Hz) Three phase 170 to 253 VAC Single phase 170 to 253 VAC Rated current [A] Control power supply voltage [V] Single phase 100 to 120 VAC (50/60 Hz) Single phase 200 to 230 VAC (50/60 Hz) Allowable voltage fluctuation [V] Single phase 85 to 132 VAC Single phase 170 to 253 VAC Rated current [A] Applicable Fieldbus protocol (Version) CC-Link communication (Ver. 1.10) Connection cable CC-Link Ver compliant cable (Shielded 3-core twisted pair cable) *1 Remote station number 1 to 64 Cable Communication speed [bps] 16 k 625 k 2.5 M 5 M 10 M length I/O occupation area (Inputs/Outputs) Maximum overall cable length [m] Cable length between stations [m] 0.2 or more Number of connectable drivers Remote register input Point table No. input Indexer positioning input 1 station occupied (Remote I/O 32 points/32 points)/(remote register 4 words/4 words) 2 stations occupied (Remote I/O 64 points/64 points)/(remote register 8 words/8 words) Up to 42 (when 1 station is occupied by 1 driver), Up to 32 (when 2 stations are occupied by 1 driver), when there are only remote device stations. Available with CC-Link communication (2 stations occupied) Available with CC-Link communication, RS422 communication CC-Link communication (1 station occupied): 31 points CC-Link communication (2 stations occupied): 255 points RS422 communication: 255 points Available with CC-Link communication CC-Link communication (1 station occupied): 31 points CC-Link communication (2 stations occupied): 255 points Single phase 200 to 230 VAC (50/60 Hz) Allowable voltage fluctuation [V] Single phase 85 to 132 VAC Single phase 170 to 253 VAC Rated current [A] Applicable Fieldbus protocol SSCNET#(High-speed optical communication) Communication function USB communication Operating temperature range [ C] 0 to 55 (No freezing) Operating humidity range [%RH] 90 or less (No condensation) Storage temperature range [ C] 20 to 65 (No freezing) Storage humidity range [%RH] 90 or less (No condensation) Insulation resistance [MΩ] Between the housing and SG: 10 (500 VDC) Weight [g]

11 AC Servo Motor Driver Series Power Supply Wiring Example: SA SA - Main circuit power supply Single phase 200 to 230 VAC or Single phase 100 to 120 VAC Control circuit power supply 24 VDC NFB Regeneration option MC Circuit protector Main Circuit Power Supply Connector: CNP1 Control Circuit Power Supply Connector: CNP2 Terminal name Function Details 24V 0V Control circuit power supply (24 V) Control circuit power supply (0 V) CNP1 L1 Built-in regenerative L2 resistor U P C CNP2 +24V 0V * Accessory Terminal name Function Details Protective earth (PE) Should be grounded by connecting the servo motor s earth terminal and the control panel s protective earth (PE). L1 L2 P C U V W Main circuit power supply Regeneration option * Accessory 24 V side of the control circuit power supply (24 VDC) supplied to the driver 0 V side of the control circuit power supply (24 VDC) supplied to the driver V W CN2 Connect the main circuit power supply. SA1: Single phase 100 to 120 VAC, 50/60 Hz SA2: Single phase 200 to 230 VAC, 50/60 Hz Terminal to connect regeneration option SA -S1: Not connected at time of shipping. SA -S3, S4: Connected at time of shipping. * If regeneration option is required for Model Selection, connect to this terminal. Servo motor power (U) Servo motor power (V) Connect to motor cable (U, V, W). Servo motor power (W) U Motor V M W Encoder L1 L2 P C U V W 24V 0V LEL LER 617

12 Series Power Supply Wiring Example: SB, SC, SS SB1- SC1- SS1- Single phase 100 to 120 VAC NFB MC CNP1 L1 Open L2 N P1 CNP3 U V W U V W Motor M P2 PE CNP2 Regeneration option P C SB2- SC2- SS2- For single phase 200 VAC D L11 L21 CN2 Encoder For three phase 200 VAC Single phase 200 to 230 VAC NFB MC CNP1 L1 L2 L3 N CNP3 U V W U V W Motor M Three phase 200 to 230 VAC NFB MC CNP1 L1 L2 L3 N( ) CNP3 U V W U V W Motor M P1 P1 P2 PE P2 PE Regeneration option CNP2 P C Regeneration option CNP2 P(+) C D L11 CN2 Encoder D L11 CN2 Encoder L21 L21 Note) For single phase 200 to 230 VAC, power supply should be connected to L1 and L2 terminals, with nothing connected to L3. Main Circuit Power Supply Connector: CNP1 * Accessory Terminal name Function Details L1 L2 L3 N P1 P2 Control Circuit Power Supply Connector: CNP2 Terminal name Function Details P Regeneration option C D L11 L21 Main circuit power supply Control circuit power supply Motor Connector: CNP3 Connect the main circuit power supply. SB1/SC1/SS1: Single phase 100 to 120 VAC, 50/60 Hz Connection terminal: L1,L2 SB2/SC2/SS2: Single phase 200 to 230 VAC, 50/60 Hz Connection terminal: L1,L2 Three phase 200 to 230 VAC, 50/60 Hz Connection terminal: L1,L2,L3 * Accessory Do not connect. Connect between P1 and P2. (Connected at time of shipping.) * Accessory Connect between P and D. (Connected at time of shipping.) * If regeneration option is required for Model Selection, connect to this terminal. Connect the control circuit power supply. SB1/SC1/SS1: Single phase 100 to 120 VAC, 50/60 Hz Connection terminal: L11,L21 SB2/SC2/SS2: Single phase 200 to 230 VAC, 50/60 Hz Connection terminal: L11,L21 Three phase 200 to 230 VAC, 50/60 Hz Connection terminal: L11,L21 Terminal name Function Details U Servo motor power (U) V Servo motor power (V) Connect to motor cable (U, V, W) W Servo motor power (W) 618 L1 L2 L3 N P1 P2 P C D L11 L21 U V W SB Front view example

13 AC Servo Motor Driver Series Control Signal Wiring Example: SA SA - This wiring example shows connection with a PLC (FX3U- MT/ES) manufactured by Mitsubishi Electric Corporation as when used in position control mode. Refer to the SA series Operation Manual and any technical literature or operation manuals for your PLC and positioning unit before connecting to another PLC or positioning unit. PLC 2 m or less FX3U- MT/ES (Manufactured by Mitsubishi Electric Corporation) Sequencer power supply S/S 24V 0V L N Y000 S/S COM1 Y010 COM3 Y004 COM2 X X X Forced stop Servo ON Reset Forward rotation stroke end Reverse rotation stroke end Note 2) 24 VDC Note 5) 10 m or less CN1 DICOM 1 OPC 2 DOCOM 13 PP 23 NP CR INP RD OP LG SD Plate Note 4) CN1 EM1 8 SON 4 RES 3 LSP 6 LSN 7 SA Note 4) Note 4) Note 6) Note 6) CN ALM MBR LA LAR 17 LB 18 LBR 19 LZ 20 LZR 14 LG Plate SD RA1 RA2 10 m or less Note 3) Failure Electromagnetic brake interlock A-phase pulse encoder (Differential line driver) B-phase pulse encoder (Differential line driver) Z-phase pulse encoder (Differential line driver) Control common LEL LER CNP1 PE Note 1) Note 1) For preventing electric shock, be sure to connect the driver main circuit power supply connector (CNP1), s protective earth (PE) terminal (marked ) to the control panel, s protective earth (PE). Note 2) For interface use, supply 24 VDC ±10% 200 ma using an external source. 200 ma is the value when all I/O command signals are used and reducing the number of inputs/outputs can decrease current capacity. Refer to Operation Manual for required current for interface. Note 3) The failure (ALM) is ON during normal conditions. When it is OFF (alarm occurs), stop the sequencer signal using the sequence program. Note 4) The same name signals are connected inside the driver. Note 5) For command pulse input with an open collector method. When a positioning unit loaded with a differential line driver method is used, it is 10 m or less. Note 6) If the command pulse train input is open collector method, it supports only to the sink (NPN) type interface. It does not correspond to the source (PNP) type interface. 619

14 Series Control Signal Wiring Example: SB This wiring example shows connection with a positioning unit (QD75D) manufactured by Mitsubishi Electric Corporation as when used in position control mode. Refer to the SB series Operation Manual and any technical literature or operation manuals for your PLC and positioning unit before connecting to another PLC or positioning unit. Positioning unit QD75D (Manufactured by Mitsubishi Electric Corporation) CLEARCOM CLEAR RDYCOM READY PULSE F+ PULSE F PULSE R+ PULSE S/SR PG0 PG0 COM Emergency stop Servo ON Reset Proportion control External torque limit selection Forward rotation stroke end Reverse rotation stroke end Upper limit setting Analog torque limit +10 V/Maximum torque 24 VDC Note 2) 10 m or less Note 5) 10 m or less 2 m or less DICOM DOCOM CR PP NG LZ LG SD Note 4) CN RD PG 11 NP LZR 9 3 Plate Note 4) CN1 EMG 42 SON 15 RES 19 PC 17 TL 18 LSP 43 LSN 44 DOCOM 47 P15R 1 TLA 27 LG 28 SD Plate SB Note 6) Note 6) Note 4) CN DICOM ALM 23 ZSP 25 TLC 24 INP 4 LA 5 LAR 6 LB 7 LBR 34 LG 33 OP 1 P15R Plate SD Note 4) RA1 RA2 RA3 RA4 2 m or less 10 m or less Failure Note 3) Zero speed detection Torque limiting Positioning completion A-phase pulse encoder (Differential line driver) B-phase pulse encoder (Differential line driver) Control common Control common Z-phase pulse encoder (Open collector) CN6 3 MO1 ±10 VDC Analog monitor 1 1 LG ±10 VDC 2 MO2 Analog monitor 2 2 m or less PE Note 1) Note 1) For preventing electric shock, be sure to connect the driver, s protective earth (PE) terminal (marked ) to the control panel, s protective earth (PE). Note 2) For interface use, supply 24 VDC ±10% 300 ma using an external source. Note 3) The failure (ALM) is ON during normal conditions. When it is OFF (alarm occurs), stop the sequencer signal using the sequence program. Note 4) The same name signals are connected inside the driver. Note 5) For command pulse input with a differential line driver method. For open collector method, it is 2 m or less. Note 6) If the command pulse train input is open collector method, it supports only to the sink (NPN) type interface. It does not correspond to the source (PNP) type interface. 620

15 AC Servo Motor Driver Series Control Signal Wiring Example: SC Forced stop Proximity dog Forward rotation stroke end Reverse rotation stroke end Note 2) 24 VDC Power supply + 10 m or less CN6 DICOM 5 DOCOM 17 EMG 1 DOG 2 LSP 3 LSN 4 SC CN LBR 23 LG Plate SD PE CN1 CC-Link RD ALM 16 ZP 13 LZ 26 LZR 11 LA 24 LAR 12 LB Note 1) RA1 RA2 RA3 10 m or less Ready Failure Note 3) Return to origin completion Z-phase pulse encoder (Differential line driver) A-phase pulse encoder (Differential line driver) B-phase pulse encoder (Differential line driver) Control common Note 1) For preventing electric shock, be sure to connect the driver, s protective earth (PE) terminal (marked ) to the control panel, s protective earth (PE). Note 2) For interface use, supply 24 VDC ±10% 150 ma using an external source. Note 3) The failure (ALM) is ON during normal conditions. When it is OFF (alarm occurs), stop the sequencer signal using the sequence program. LEL LER 621

16 Series Control Signal Wiring Example: SS 10 m or less 10 m or less SS Forced stop Upper stroke limit (FLS) Lower stroke limit (RLS) Proximity dog (DOG) Note 2) 24 VDC Note 4) Note 4) CN3 CN3 DICOM 5 13 MBR D0COM 3 EM INP D ALM D12 12 D DICOM 6 LA 16 LAR 7 LB 17 LBR 8 LZ 18 LZR 11 LG RA1 RA2 RA3 Electromagnetic brake interlock In position Failure Note 3) A-phase pulse encoder (Differential line driver) B-phase pulse encoder (Differential line driver) Z-phase pulse encoder (Differential line driver) Control common Note 2) Servo system controller SSCNET#optical cable (Option) Note 5) CN1A 4 MO1 1 LG 14 MO2 Plate SD Analog monitor 1 Analog monitor 2 CN1B SW1 2 m or less SW2 Note 7) 1 2 PE Note 1) CN1A SS (Axis 2) SW1 Note 6) CN1B SW2 Note 7) SSCNET #optical cable (Option) Note 5) CN1A 1 2 SS (Axis 3) SW1 Note 6) CN1B SW2 Note 7) Cap CN1A CN1B Note 8) 1 2 SS (Axis n) SW1 SW2 1 2 Note 6) Note 7) Note 1) For preventing electric shock, be sure to connect the driver, s protective earth (PE) terminal (marked ) to the control panel, s protective earth (PE). Note 2) For interface use, supply 24 VDC ±10% 150 ma using an external source. Note 3) The failure (ALM) is ON during normal conditions. When it is OFF (alarm occurs), stop the sequencer signal using the sequence program. Note 4) The same name signals are connected inside the driver. Note 5) Use the following SSCNET#optical cables. Refer to SSCNET #optical cable on page 624 for cable models. Cable Cable model Cable length SSCNET#optical cable LE-CSS m to 3 m Note 6) Connections from Axis 2 onward are omitted. Note 7) Up to 16 axes can be set. Note 8) Be sure to place a cap on unused CN1A/CN1B. 622

17 AC Servo Motor Driver Series Options Motor cable, Lock cable, Encoder cable ( common) (13.7) (11.8) (13) S Motor type AC servo motor Cable description M Motor cable B Lock cable E Encoder cable LE-CSM- : Motor cable (30) L LE-CSB- : Lock cable (29.6) LE CS M S 5 A S R Cable type Standard cable Robotic cable Cable length (L) [m] A 10 ød LE-CSE- : Encoder cable L ød ø7.1 (30) L 37.4 I/O connector (Without cable, Connector only) LE CSN A Direction of connector A B 18.8 LE-CSNA Axis side Counter axis side Product no. LE-CSM-A LE-CSM-B LE-CSM-R A LE-CSM-R B Product no. LE-CSB-A LE-CSB-B LE-CSB-R A LE-CSB-R B LE-CSNB ød ød LE-CSNS LEL LER A B S Driver type SA, SC SB S * LE-CSNA: PE (connector)/ f0-008 (shell kit) manufactured by 3M Japan Limited or equivalent item. LE-CSNB: PE (connector)/ f0-008 (shell kit) manufactured by 3M Japan Limited or equivalent item. LE-CSNS: PE (connector)/ f0-008 (shell kit) manufactured by 3M Japan Limited or equivalent item. * Applicable conductor size: AWG24 to A

18 Name plate + Lot. No. Series Options SSCNET#optical cable I/O cable LE CSS 1 CSN A 1 Motor type S AC servo motor Cable description S SSCNET#optical cable Cable length L 0.15 m K 0.3 m J 0.5 m 1 1 m 3 3 m A B S Driver type SA, SC SB S Cable length (L) [m] LE-CSS- is MR-J3BUM manufactured by Mitsubishi Electric Corporation. Pin no. n Pin 1 Driver side PLC side H T U W ød A side B side -CSNA-1: PE (connector)/ f0-008 (shell kit) manufactured by 3M Japan Limited or equivalent item. -CSNB-1: PE (connector)/ f0-008 (shell kit) manufactured by 3M Japan Limited or equivalent item. -CSNS-1: PE (connector)/ f0-008 (shell kit) manufactured by 3M Japan Limited or equivalent item. Conductor size: AWG24 Cable O.D. Product no. ød -CSNA CSNB CSNS Dimensions/Pin No. Product no. W H T U Pin no. n -CSNA CSNB CSNS Wiring -CSNA-1: Pin no. 1 to 26 -CSNB-1: Pin no. 1 to 50 -CSNS-1: Pin no. 1 to 20 Connector Pair no. Insulation Dot Dot mark pin no. of wire color color 1 1 Orange 2 Black 3 Light 2 4 gray Black 5 3 White 6 Black 7 4 Yellow 8 Black 9 5 Pink 10 Black 11 6 Orange 12 Black 13 Light 7 14 gray Black 15 8 White 16 Black 17 9 Yellow 18 Black A side Connector Pair no. Insulation Dot Dot mark pin no. of wire color color Pink 20 Black Orange 22 Black 23 Light gray Black White 26 Black Yellow 28 Black Pink 30 Black Orange 32 Black 33 Light gray Black A side Connector Pair no. Insulation Dot Dot mark pin no. of wire color color White 36 Black Yellow 38 Black Pink 40 Black Orange 42 Black 43 Light gray Black White 46 Black Yellow 48 Black Pink 50 Black A side 624

19 6 AC Servo Motor Driver Series Options Regeneration option (Sl common) MR RB 12 Regeneration option type 032 Allowable regenerative power 30 W 12 Allowable regenerative power 100 W Confirm regeneration option to be used in Model Selection. LEL -MR-RB (6) ø6 Mounting hole (12) (20) Weight Model Weight [kg] -MR-RB MR-RB032 manufactured by Mitsubishi Electric Corporation MR-RB (6) ø6 Mounting hole (20) Weight Model Weight [kg] -MR-RB MR-RB12 manufactured by Mitsubishi Electric Corporation LER 625

20 Series Options USB cable PC Setup software (MR Configurator2 ) SA SB SC SS Drivers Setup software (MR Configurator2 ) (SA, SB, SC, SS common) MRC2 Adjustment, waveform display, diagnostics, parameter read/write, and test operation can be performed upon a PC. Compatible PC When using setup software (MR Configurator2 ), use an IBM PC/AT compatible PC that meets the following operating conditions. Hardware Requirements Note 1) 2) 3) 4) 5) 6) 7) 9) PC Display Equipment OS Available HD space Communication interface Keyboard Mouse Printer USB cable Note 8) -MR-J3USB Setup Software Compatible Driver Display language Nil Japanese version E English version C Chinese version Setup software (MR Configurator2 ) -MRC2 Microsoft Windows 8 Enterprise Operating System Microsoft Windows 8 Pro Operating System Microsoft Windows 8 Operating System Microsoft Windows 7 Enterprise Operating System Microsoft Windows 7 Ultimate Operating System Microsoft Windows 7 Professional Operating System Microsoft Windows 7 Home Premium Operating System Microsoft Windows 7 Starter Operating System Microsoft Windows Vista Enterprise Operating System Microsoft Windows Vista Ultimate Operating System Microsoft Windows Vista Business Operating System Microsoft Windows Vista Home Premium Operating System Microsoft Windows Vista Home Basic Operating System Microsoft Windows XP Professional Operating System, Service Pack 2 or later Microsoft Windows XP Home Edition Operating System, Service Pack 2 or later Microsoft Windows 2000 Professional Operating System, Service Pack 4 or later 1 GB or more Use USB port. Resolution 1024 x 768 or more Must be capable of high color (16-bit) display. The connectable with the above PC The connectable with the above PC The connectable with the above PC The connectable with the above PC Setup software Compatible MR Configurator MR Configurator2 driver -MR-SETUP221 -MRC2 SA v v SB v v SC v v S- v v SS2-T v USB cable (3 m) * SW1DNC-MRC2- manufactured by Mitsubishi Electric Corporation. Refer to Mitsubishi Electric Corporation s website for operating environment and version upgrade information. MR Configurator2 is a registered trademark or trademark of Mitsubishi Electric Corporation. Note 1) Before using a PC for setting SA point table method/program operation method, upgrade to version 1.18U (Japanese version)/ version 1.19V (English version) or later. Refer to Mitsubishi Electric Corporation s website for version upgrade information. Note 2) Windows and Windows Vista are registered trademarks of Microsoft Corporation in the United States and other countries. Note 3) On some PCs, setup software (MR Configurator2 ) may not run properly. Note 4) When Windows XP or later is used, the following functions cannot be used. Windows Program Compatibility mode Fast User Switching Remote Desktop Large Fonts Mode (Display property) DPI settings other than 96 DPI (Display property) 64-bit OSs are not supported, except for Microsoft Windows 7 or later. Note 5) When Windows 7 is used, the following functions cannot be used. Windows XP Mode Windows Touch Note 6) When using this software with Windows Vista or later, log in as a user having USER authority or higher. Note 7) When Windows 8 is used, the following functions cannot be used. Hyper-V Modern UI style Note 8) Order USB cable separately. This cable is compatible with the setup software (MR Configurator : -MR-SETUP221 ). Note 9) Using a PC for setting Windows 8.1, upgrade to version 1.25B or later. Refer to Mitsubishi Electric Corporation s website for version upgrade information. Battery (only for SB, SC or SS) MR J3USB MR J3BAT * MR-J3USBCBL3M manufactured by Mitsubishi Electric Corporation. Cable for connecting PC and driver when using the setup software (MR Configurator2 ). Do not use any cable other than this cable. 626 * MR-J3BAT manufactured by Mitsubishi Electric Corporation. Battery for replacement. Absolute position data is maintained by installing the battery to the driver.

21 Series Specific Product Precautions 1 Be sure to read this before handling the products. Refer to back page 50 for Safety Instructions and pages 3 to 8 for Electric Actuator Precautions. Warning 1. Use the specified voltage. If the applied voltage is higher than the specified voltage, malfunction and damage to the driver may result. If the applied voltage is lower than the specified voltage, there is a possibility that the load cannot be moved due to internal voltage drop. Check the operating voltage prior to start. Also, confirm that the operating voltage does not drop below the specified voltage during operation. 2. Do not use the products outside the specifications. Otherwise, fire, malfunction or damage to the driver/actuator can result. Check the specifications before use. 3. Install an emergency stop circuit. Install an emergency stop outside the enclosure in easy reach to the operator so that the operator can stop the system operation immediately and intercept the power supply. 4. To prevent danger and damage due to a breakdown or malfunction of these products, which may occur at a certain probability, a backup system should be arranged in advance by using a multiple-layered structure or by making a fail-safe equipment design etc. 5. If there is a risk of fire or personal injury due to abnormal heat generation, sparking, smoke generated by the product, etc., cut off the power supply from this product and the system immediately. 6. The parameters of the driver are set to initial values. Please change parameters according to the specifications of the customer s equipment before use. Refer to the operation manual for details of parameters. Warning Design/Selection Handling 1. Never touch the inside of the driver and its peripheral devices. Otherwise, electric shock or failure can result. 2. Do not operate or set up this equipment with wet hands. Otherwise, electric shock can result. 3. Do not use a product that is damaged or missing any components. Electric shock, fire or injury can result. 4. Use only the specified combination between the electric actuator and driver. Otherwise, it may cause damage to the driver or to the other equipment. 5. Be careful not to touch, get caught or hit by the workpiece while the actuator is moving. An injury can result. 6. Do not connect the power supply or power up the product until it is confirmed that the workpiece can be moved safely within the area that can be reached by the workpiece. Otherwise, the movement of the workpiece may cause an accident. 7. Do not touch the product when it is energized and for some time after the power has been disconnected, as it is very hot. Otherwise, it may cause burns due to the high temperature. 8. Check the voltage using a tester at least 5 minutes after power-off when performing installation, wiring and maintenance. Otherwise, electric shock, fire or injury can result. Warning Handling 9. Static electricity may cause a malfunction or damage the driver. Do not touch the driver while power is supplied to it. Take sufficient safety measures to eliminate static electricity when it is necessary to touch the driver for maintenance. 10. Do not use the products in an area where they could be exposed to dust, metallic powder, machining chips or splashes of water, oil or chemicals. Otherwise, a failure or malfunction can result. 11. Do not use the products in a magnetic field. Otherwise, a malfunction or failure can result. 12. Do not use the products in an environment where flammable, explosive or corrosive gases, liquids or other substances are present. Otherwise, fire, explosion or corrosion can result. 13. Avoid heat radiation from strong heat sources, such as direct sunlight or a hot furnace. Otherwise, it will cause a failure to the driver or its peripheral devices. 14. Do not use the products in an environment with cyclic temperature changes. Otherwise, it will cause a failure to the driver or its peripheral devices. 15. Do not use the products in an environment where surges are generated. Devices (solenoid type lifters, high frequency induction furnaces, motors, etc.) that generate a large amount of surge around the product may lead to deterioration or damage to the internal circuits of the products. Avoid supplies of surge generation and crossed lines. 16. Do not install these products in a place subject to vibration and impact. Otherwise, a malfunction or failure can result. 17. When a surge generating load such as a relay or solenoid valve is directly driven, use a product that incorporates a surge absorption element. Warning Mounting 1. Install the driver and its peripheral devices on fireproof material. Direct installation on or near flammable material may cause fire. 2. Do not install these products in a place subject to vibration and impact. Otherwise, a malfunction or failure can result. 3. The driver should be mounted on a vertical wall in a vertical direction. Also, do not cover the driver s suction/exhaust ports. 4. Install the driver and its peripheral devices on a flat surface. If the mounting surface is not flat or uneven, excessive force may be applied to the housing and other parts resulting in a malfunction. 627 LEL LER

22 Series Specific Product Precautions 2 Be sure to read this before handling the products. Refer to back page 50 for Safety Instructions and pages 3 to 8 for Electric Actuator Precautions. Caution 1. Use a power supply with low noise between lines and between power and ground. In cases where noise is high, use an isolation transformer. 2. Take appropriate measures to prevent surges from lightning. Ground the surge absorber for lightning separately from the grounding of the driver and its peripheral devices. Warning 1. The driver will be damaged if a commercial power supply (100V/200V) is added to the driver, s servo motor power (U, V, W). Be sure to check wiring such as wiring mistakes when the power supply is turned on. 2. Connect the ends of the U, V, W wires from the motor cable correctly to the phases (U, V, W) of the servo motor power. If these wires do not match up, it is unable to control the servo motor. Warning Power Supply Wiring Grounding 1. For grounding actuator, connect the copper wire of the actuator to the driver, s protective earth (PE) terminal and connect the copper wire of the driver to the earth via the control panel, s protective earth (PE) terminal. Do not connect them directly to the control panel, s protective earth (PE) terminal. Warning Maintenance 1. Perform maintenance checks periodically. Confirm wiring and screws are not loose. Loose screws or wires may cause unexpected malfunction. 2. Conduct an appropriate functional inspection and test after completed maintenance. In case of any abnormalities (if the actuator does not move or the equipment does not operate properly etc.), stop the operation of the system. Otherwise, unexpected malfunction may occur and safety cannot be assured. Conduct a test of the emergency stop to confirm the safety of the equipment. 3. Do not disassemble, modify or repair the driver or its peripheral devices. 4. Do not put anything conductive or flammable inside the driver. Otherwise, fire can result. 5. Do not conduct an insulation resistance test or insulation withstand voltage test. 6. Reserve sufficient space for maintenance. Design the system so that it allows required space for maintenance. Control panel Driver PE terminal Actuator 2. In the unlikely event that malfunction is caused by the ground, it may be disconnected. 628

23 AC Servo Motor Driver Series Applicable Fieldbus protocol: Bidirectional communication speed: 3 times Series SS-S Series 50 3 times faster Power supply voltage (V) 200 to 240 VAC Bidirectional communication speed (Mbps) Motor capacity (W) 100/200/400 SSCNET#/H and SSCNET# products are compatible. SSCNET#compatible products (High-speed optical communication, max. bidirectional communication speed: 150 Mbps) PLC Optical communication SSCNET#/H compatible products can be added to current SSCNET #systems for system expansion. Reassembly of the system (new installation of master PLC) is not required. * Note that the communication speed is that of SSCNET #(50 Mbps). Current model Communication speed: 50 Mbps SS-S SSCNET#/H compatible controllers SSCNET# compatible controllers SSCNET#/H compatible products RoHS Improved noise resistance STO (Safe Torque Off) safety function available Control encoder: Absolute 22-bit encoder (Resolution: p/rev) Compatible Actuators Slider Type Ball screw drive Series Series Size Max. work load Stroke [kg] Up to Up to Up to 1200 Compatible Belt drive B Series Pages 632, 633 High Rigidity Slider Type Pages 634, 635 B Series Size Max. work load Stroke [kg] 25 5 Up to Up to Up to 3000 Ball screw drive Series Series Size Max. work load Stroke [kg] Up to Up to 1500 Belt drive B Series Page 650 B Series Size Max. work load Stroke [kg] Up to Up to 3000 LEL LER Rod Type Basic type Series Page 636 In-line motor type D Series Guide Rod Type Guide rod type G Series Guide rod type/ In-line motor type G D Series Page 644 Series Size Pushing force Stroke [N] Up to Up to Up to 800 Series Size Pushing force Stroke [N] Up to Up to Up to 800 G Series Size Pushing force [N] Stroke Up to 300 G Series Size Pushing force [N] Stroke Up to

24 Series System Construction Absolute encoder compatible Series Provided by customer Power supply Single phase 200 to 240 VAC (50/60 Hz) Three phase 200 to 240 VAC (50/60 Hz) Main circuit Page 651 power supply connector (Accessory) Driver Option Setup software Page 656 (MR Configurator2 TM ) Part no.: -MRC2 PC Option Page 655 Regeneration option Part no.: -MR-RB- CN3 USB cable Page 657 Part no.: -MR-J3USB Motor cable Page 653 Standard cable Robotic cable LE-CSM- LE-CSM-R Lock cable Page 653 Standard cable Robotic cable LE-CSB- LE-CSB-R Control circuit Page 651 power supply connector (Accessory) Option I/O connector Page 653 Part no.: LE-CSNS Option STO cable (3 m) Page 657 Part no.: -MR-D05UDL3M Motor connector (Accessory) Page 651 CN1A Option Page 654 SSCNET# optical cable Part no.: LE-CSS- CN1B CN1A Electric actuator Slider type Series Encoder cable Page 653 Standard cable Robotic cable LE-CSE- LE-CSE-R High rigidity slider type Series Battery (Accessory) Page 657 Part no.: (-MR-BAT6V1SET) Provided by customer PLC (Positioning unit/motion controller) Power supply for I/O signal 24 VDC Rod type Series Guide rod type G Series The SS2-T cannot be used with the -MR-SETUP

25 INDEX Compatible AC Servo Motor Driver Electric Actuator/Slider Type, Ball Screw Drive Series How to Order LEL Page 632 Electric Actuator/Slider Type, Belt Drive B Series How to Order Page 633 Electric Actuator/High Rigidity Slider Type, Belt Drive B Series How to Order Page 635 Electric Actuator/Rod Type Series How to Order Page 636 Force Conversion Graph Page 638 Specifications Page 639 Dimensions Page 641 Electric Actuator/Guide Rod Type G Series How to Order Page 644 Force Conversion Graph Page 646 Specifications Page 647 Dimensions Page 648 Electric Actuator/High Rigidity Slider Type, Ball Screw Drive LER Series How to Order Page 634 AC Servo Motor Driver Series How to Order Page 650 Dimensions Page 650 Specifications Page 651 Power Supply Wiring Example Page 651 Control Signal Wiring Example Page 652 Options Page

26 AC Servo Motor Electric Actuator/Slider Type Ball Screw Drive Series 25, 32, 40 Please contact SMC for clean room specification and the models compatible with secondary batteries. How to Order There are changes in the How to Order. Refer to page 77 and after for other details. H 32 R T7 B 200 B S 5 S2 q w e r t y u i o!0!1 q Accuracy Nil Basic type H High precision type w Size e Motor mounting position Nil In-line R Right side parallel L Left side parallel r Motor type *1 Symbol Type Output Actuator size Compatible [W] driver T6 AC servo motor SS2-T5 T7 (Absolute SS2-T7 T8 encoder) SS2-T8 *1 For motor type T6, the compatible driver part number suffix is T5. t Lead Symbol H A B y Stroke * to to *2 Refer to the applicable stroke table. u Motor option Nil Without option B With lock!1 I/O cable length [m] *7 Nil Without cable H Without cable (Connector only) i Cable type *4, *6 Nil Without cable S Standard cable R Robotic cable (Flexible cable) *4 The motor and encoder cables are included. (The lock cable is also included when the motor with lock option is selected.) *7 When Without driver is selected for driver type, only Nil: Without cable can be selected. Refer to page 654 if I/O cable is required. (Options are shown on page 654.) o Cable length [m] *5, *6 Nil Without cable A 10 *5 The length of the encoder, motor and lock cables are the same.!0 Driver type *6 Compatible driver Power supply voltage [V] Nil Without driver S2 SS2-T 200 to 240 *6 When the driver type is selected, the cable is included. Select cable type and cable length. Example) S2S2: Standard cable (2 m) + Driver (SS2) S2 : Standard cable (2 m) Nil : Without cable and driver Applicable Stroke Table *3 : Standard Stroke Model *3 Please consult with SMC for non-standard strokes as they are produced as special orders. Compatible Driver type Driver type Series Applicable network Control encoder Communication function Power supply voltage [V] SSCNET#/H Absolute 22-bit encoder USB communication 200 to 240 VAC (50/60 Hz) Reference page Page

27 q Size w Motor mounting position Nil Top mounting U Bottom mounting u Cable type *1, *2 Nil Without cable S Standard cable Robotic cable R (Flexible cable) *1 The motor and encoder cables are included. (The lock cable is also included when the motor with lock option is selected.) *2 Standard cable entry direction is (A) Axis side. (Refer to page 653 for details.) Compatible Driver AC Servo Motor Electric Actuator/Slider Type Belt Drive B Series B25, 32, 40 B 32 e Motor type * Symbol q Type w T7 e Output [W] How to Order S r Actuator size 300 t Compatible driver T6 AC servo motor SS2-T5 T7 (Absolute SS2-T7 T8 encoder) SS2-T8 * For motor type T6, the compatible driver part number suffix is T5. i Cable length [m] Nil Without cable A 10 * The length of the encoder, motor and lock cables are the same. type S o Driver type * Compatible driver Power supply voltage [V] Nil Without driver S2 SS2-T 200 to 240 * When the driver type is selected, the cable is included. Select cable type and cable length. Example) S2S2: Standard cable (2 m) + Driver (SS2) S2 : Standard cable (2 m) Nil : Without cable and driver 2 S2 y u i o!0 Applicable Stroke Table * : Standard/ : Produced upon receipt of order Stroke Model B25 B32 B40 * Please consult with SMC as all non-standard and non-made-to-order strokes are produced as special orders. There are changes in the How to Order. Refer to page 98 and after for other details. r Lead S 54 t Stroke to to * Refer to the applicable stroke table. y Motor option Nil Without option B With lock!0 I/O cable length [m] * Nil Without cable H Without cable (Connector only) * When Without driver is selected for driver type, only Nil: Without cable can be selected. Refer to page 654 if I/O cable is required. (Options are shown on page 654.) LEL LER Driver type Series Applicable network Control encoder Communication function Power supply voltage [V] SSCNET#/H Absolute 22-bit encoder USB communication 200 to 240 VAC (50/60 Hz) Reference page Page

28 AC Servo Motor Electric Actuator/High Rigidity Slider Type Ball Screw Drive Series 40, 63 Please contact SMC for clean room specification and the models compatible with secondary batteries. How to Order H 40 T6 A 500 q w e r t y u i o!0 There are changes in the How to Order. Refer to page 133 and after for other details. q Accuracy Nil Basic type H High precision type w Size e Motor type *1 Symbol Type Output [W] Actuator size Compatible driver T6 AC servo motor SS2-T5 T7 (Absolute encoder) SS2-T7 *1 For motor type T6, the compatible driver part number suffix is T5. r Lead Symbol H A B 8 10 t Stroke *2 200 to 1500 *2 Refer to the applicable stroke table. u Cable type *4, *6 Nil Without cable S Standard cable R Robotic cable (Flexible cable) *4 The motor and encoder cables are included. (The lock cable is also included when the motor with lock option is selected.) y Motor option Nil Without option B With lock i Cable length [m] *5, *6 Nil Without cable A 10 *5 The length of the encoder, motor and lock cables are the same. o Driver type *6 Compatible driver Power supply voltage [V] Nil Without driver S2 SS2-T 200 to 240 *6 When the driver type is selected, the cable is included. Select cable type and cable length. Example) S2S2: Standard cable (2 m) + Driver (SS2) S2 : Standard cable (2 m) Nil : Without cable and driver!0 I/O cable length [m] *7 Nil Without cable H Without cable (Connector only) *7 When Without driver is selected for driver type, only Nil: Without cable can be selected. Refer to page 654 if I/O cable is required. (Options are shown on page 654.) Applicable Stroke Table *3 Model Stroke : Standard *3 Please consult with SMC for non-standard strokes as they are produced as special orders. Compatible Driver type Driver type Series Applicable network Control encoder Communication function Power supply voltage [V] SSCNET#/H Absolute 22-bit encoder USB communication 200 to 240 VAC (50/60 Hz) Reference page Page

29 q Size Applicable Stroke Table *3 Model Stroke B 40 T6 T 500 w Motor type *1 Symbol r Stroke *2 200 to 3000 *2 Refer to the applicable stroke table. y Cable type *4, *6 Nil Without cable S Standard cable R Robotic cable (Flexible cable) *4 The motor and encoder cables are included. (The lock cable is also included when the motor with lock option is selected.) Type q w e r t y u i o Output [W] Actuator size Compatible driver T6 AC servo motor SS2-T5 T7 (Absolute encoder) SS2-T7 *1 For motor type T6, the compatible driver part number suffix is T5. t Motor option Nil Without option B With lock u Cable length [m] *5, *6 Nil Without cable A 10 *5 The length of the encoder, motor and lock cables are the same. *3 Please consult with SMC for non-standard strokes as they are produced as special orders. i Driver type *6 Compatible driver Power supply voltage [V] Nil Without driver S2 SS2-T 200 to 240 *6 When the driver type is selected, the cable is included. Select cable type and cable length. Example) S2S2: Standard cable (2 m) + Driver (SS2) S2 : Standard cable (2 m) Nil : Without cable and driver : Standard B40 B63 Compatible Driver AC Servo Motor Electric Actuator/High Rigidity Slider Type Belt Drive B Series B40, 63 type How to Order There are changes in the How to Order. Refer to page 138 and after for other details. e Lead Symbol B40 B63 T o I/O cable length [m] *7 Nil Without cable H Without cable (Connector only) *7 When Without driver is selected for driver type, only Nil: Without cable can be selected. Refer to page 654 if I/O cable is required. (Options are shown on page 654.) LEL LER Driver type Series Applicable network Control encoder Communication function Power supply voltage [V] SSCNET#/H Absolute 22-bit encoder USB communication 200 to 240 VAC (50/60 Hz) Reference page Page

30 AC Servo Motor Electric Actuator/ Rod Type Series 25, 32, 63 Please contact SMC for dust-tight/water-jet-proof (IP65 equivalent) and the models compatible with secondary batteries. How to Order There are changes in the How to Order, force conversion graph, specifications, weight and dimensions. Refer to page 257 and after for other details. H 25 T6 B 200 S 2 S2 q w e r t y u i o!0!1!2!3!4 q Accuracy Nil Basic type H High precision type w Size e Motor mounting position Nil Top mounting R Right side parallel L Left side parallel D In-line r Motor type * Symbol Type Output [W] Actuator size * For motor type T6, the compatible driver part number suffix is T5. Compatible driver T SS2-T5 AC servo motor T SS2-T7 (Absolute encoder) T SS2-T8 A t Lead Symbol *1 63 A (20) 20 B 6 8 (10) 10 C 3 4 (5) 5 L 2.86 *2 *1 The values shown in ( ) are the lead for top mounting, right/left side parallel types. (Equivalent lead which includes the pulley ratio [1.25:1]) *2 Only available for top mounting and right/left side parallel types. (Equivalent lead which includes the pulley ratio [4:7]) i Motor option Nil Without option B With lock * When With lock is selected for the top mounting and right/left side parallel types, the motor body will stick out of the end of the body for size 25 with strokes 30 mm or less. Check for interference with workpieces before selecting a model. Motor o Rod end thread Nil Rod end female thread M Rod end male thread (1 rod end nut is included.) Applicable Stroke Table Model Stroke y Stroke to to * Refer to the applicable stroke table.!0 Mounting *1 Symbol Nil Type Ends tapped/ *2 Body bottom tapped Motor mounting position Top/Parallel In-line L Foot F Rod flange *2 *4 G Head flange *2 *5 D Double clevis *3 *1 Mounting bracket is shipped together, (but not assembled). *2 For horizontal cantilever mounting with the rod flange, head flange and ends tapped, use the actuator within the following stroke range. 25: 200 mm or less 32: 100 mm or less 63: 400 mm or less *3 For mounting with the double clevis, use the actuator within the following stroke range. 25: 200 mm or less 32: 200 mm or less 63: 300 mm or less *4 Rod flange is not available for the 25 with strokes 30 mm and motor option With lock. *5 Head flange is not available for the 32/63. : Standard Manufacturable stroke range to to to 800 * Please consult with SMC for non-standard strokes as they are produced as special orders. 636 u Dust-tight/Water-jet-proof (Only available for 63) Symbol 25/32 63 Nil IP4x equivalent IP5x equivalent (Dust-protected) P IP65 equivalent (Dust-tight/ Water-jet-proof)/With vent hole tap * When using the dust-tight/water-jet-proof (IP65 equivalent), correctly mount the fitting and tubing to the vent hole tap, and then place the end of the tubing in an area not exposed to dust or water. * The fitting and tubing should be provided separately by the customer. Select [Applicable tubing O.D.: ø4 or more, Connection thread: Rc1/8]. * Cannot be used in an environment where oil such as cutting oil splashes or it is constantly exposed to water. Take suitable protective measures.

31 Electric Actuator/Rod Type Series AC Servo Motor!1 Cable type * Nil Without cable S Standard cable R Robotic cable (Flexible cable) * The motor and encoder cables are included. (The lock cable is also included when the motor with lock option is selected.) * Standard cable entry direction is Top/Parallel: (A) Axis side In-line: (B) Counter axis side (Refer to page 623 for details.)!2 Cable length [m] * Nil Without cable A 10 * The length of the encoder, motor and lock cables are the same. Compatible Driver type Motor mounting position: Top/Parallel!3 Driver type Compatible driver Power supply voltage [V] Nil Without driver S2 SS2-T 200 to 240 * When the driver type is selected, the cable is included. Select cable type and cable length. Example) S2S2: Standard cable (2 m) + Driver (SS2) S2 : Standard cable (2 m) Nil : Without cable and driver Motor mounting position: In-line!4 I/O cable length [m] * Nil Without cable H Without cable (Connector only) * When Without driver is selected for driver type, only Nil: Without cable can be selected. Refer to page 654 if I/O cable is required. (Options are shown on page 654.) LEL LER Driver type Series Applicable network Control encoder Communication function Power supply voltage [V] SSCNET#/H Absolute 22-bit encoder USB communication 200 to 240 VAC (50/60 Hz) Reference page Page

32 Series AC Servo Motor Force Conversion Graph (Guide) 25 T6 (Motor mounting position: Top/Parallel, In-line) 500 Lead 3: 25 C 400 Force [N] Lead 6: 25 B 100 Lead 12: 25 A Torque limit/command value [%] Torque limit/command value [%] Duty ratio [%] Continuous pushing time [minute] 20 or less T7 (Motor mounting position: Top/Parallel) Force [N] Lead 5: 32 C Lead 10: 32 B Lead 20: 32 A Torque limit/command value [%] Torque limit/command value [%] Duty ratio [%] Continuous pushing time [minute] 20 or less DT7 (Motor mounting position: In-line) Force [N] Lead 4: 32D C Lead 8: 32D B Lead 16: 32D A Torque limit/command value [%] Torque limit/command value [%] Duty ratio [%] Continuous pushing time [minute] 20 or less T8 (Motor mounting position: Top/Parallel, In-line) Force [N] Lead 2.86: 63 L (Top/Parallel only) Lead 5: 63 C Lead 10: 63 B Lead 20: 63 A Torque limit/command value [%] Torque limit/command value [%] Duty ratio [%] Continuous pushing time [minute] 20 or less

33 Electric Actuator/Rod Type Series AC Servo Motor Specifications Actuator specifications Electric specifications Lock unit specifications Model 25 (Top/Parallel)/25D (In-line) 32 (Top/Parallel) 32D (In-line) Note 1) 30, 50, 100, 150, 200, 250, 30, 50, 100, 150, 200, 250, 30, 50, 100, 150, 200, 250, Stroke 300, 350, , 350, 400, 450, , 350, 400, 450, 500 Work load [kg] Horizontal Note 2) Vertical Force [N] Note 3) (Set value: 12 to 24%) 65 to to to to to to to to to 736 Note 4) Max. Up to Stroke speed 305 to range [mm/s] 405 to Pushing speed [mm/s] Note 5) 35 or less 30 or less 30 or less Max. acceleration/deceleration [mm/s 2 ] Positioning Basic type ±0.02 ±0.02 repeatability High precision type ±0.01 ±0.01 Lost motion Note 6) Basic type 0.1 or less High precision type 0.05 or less Lead (including pulley ratio) Impact/Vibration resistance [m/s 2 ] Note 7) 50/20 50/20 Actuation type Ball screw + Belt ( )/Ball screw ( D) Ball screw + Belt [1.25:1] Ball screw Guide type Sliding bushing (Piston rod) Sliding bushing (Piston rod) Operating temperature range [ C] 5 to 40 5 to 40 Operating humidity range [%RH] 90 or less (No condensation) 90 or less (No condensation) Regeneration option May be required depending on speed and work load. (Refer to pages 234 and 235.) Motor output/size 100 W/ W/ 60 Motor type AC servo motor (200 VAC) AC servo motor (200 VAC) Encoder Motor type T6, T7: Absolute 22-bit encoder (Resolution: p/rev) Power Horizontal consumption [W] Note 8) Vertical Standby power consumption Horizontal when operating [W] Note 9) Vertical Max. instantaneous power consumption [W] Note 10) Type Note 11) Non-magnetizing lock Holding force [N] Power consumption [W] at 20 C Note 12) Rated voltage [V] 24 VDC 10% 0 Note 1) Please consult with SMC for non-standard strokes as they are produced as special orders. Note 2) The maximum value of the horizontal work load. An external guide is necessary to support the load. The actual work load changes according to the condition of the external guide. Please confirm using actual device. Note 3) The force setting range (set values for the driver) for the force control with the torque control mode. Set it with reference to Force Conversion Graph (Guide) on page 638. When the control equivalent to the pushing operation of the controller P series is performed, combine the Simple Motion (manufactured by Mitsubishi Electric Corporation) which has a pushing operation function. Note 4) The allowable speed changes according to the stroke. Note 5) The allowable collision speed for collision with the workpiece with the torque control mode. Note 6) A reference value for correcting an error in reciprocal operation. Weight Product Weight [kg] Series 25 (Motor mounting position: Top/Parallel) 32 (Motor mounting position: Top/Parallel) Stroke Motor type Motor type Absolute encoder Series 25D (Motor mounting position: In-line) 32D (Motor mounting position: In-line) Stroke Absolute encoder Additional Weight [kg] Size Lock Absolute encoder Rod end male thread Male thread Nut Foot (2 sets including mounting bolt) Rod flange (including mounting bolt) Head flange (including mounting bolt) Double clevis (including pin, retaining ring and mounting bolt) Note 7) Impact resistance: No malfunction occurred when the actuator was tested with a drop tester in both an axial direction and a perpendicular direction to the lead screw. (Test was performed with the actuator in the initial state.) Vibration resistance: No malfunction occurred in a test ranging between 45 to 2000 Hz. Test was performed in both an axial direction and a perpendicular direction to the lead screw. (Test was performed with the actuator in the initial state.) Note 8) The power consumption (including the driver) is for when the actuator is operating. Note 9) The standby power consumption when operating (including the driver) is for when the actuator is stopped in the set position during the operation. Note 10) The maximum instantaneous power consumption (including the driver) is for when the actuator is operating. Note 11) Only when motor option With lock is selected. Note 12) For an actuator with lock, add the power consumption for the lock. 639 LEL LER A

34 Series AC Servo Motor Specifications Actuator specifications Electric specifications Lock unit specifications Model 63 (Top/Parallel) 63D (In-line) Stroke Note 1) 100, 200, 300, 400, 500, 600, 700, 800 Work load [kg] Horizontal Note 2) Vertical Note 13) Force [N] Note 3) (Set value: 12 to 40%) 156 to to to to to to to 1910 Note 4) Up to Max. speed Stroke 505 to [mm/s] range 605 to to Pushing speed [mm/s] Note 5) 30 or less Max. acceleration/deceleration [mm/s 2 ] Positioning repeatability Basic type ±0.02 High precision type ±0.01 Lost motion Note 6) Basic type 0.1 or less High precision type 0.05 or less Screw lead (including pulley ratio) (2.86) Impact/Vibration resistance [m/s 2 ] Note 7) 50/20 Actuation type Ball screw + Belt Ball screw + Belt [Pulley ratio 4:7] Ball screw Guide type Sliding bushing (Piston rod) Operating temperature range [ C] 5 to 40 Operating humidity range [%RH] 90 or less (No condensation) Regeneration option May be required depending on speed and work load. (Refer to page 236.) Motor output/size 400 W/ 60 Motor type AC servo motor (200 VAC) Encoder Motor type T8: Absolute 22-bit encoder (Resolution: p/rev) Power Horizontal 210 consumption [W] Note 8) Vertical 230 Standby power consumption Horizontal 2 when operating [W] Note 9) Vertical 18 Max. instantaneous power consumption [W] Note 10) 1275 Type Note 11) Non-magnetizing lock Holding force [N] Power consumption [W] at 20 C Note 12) 7.9 Rated voltage [V] 24 VDC 10% 0 Note 1) Please consult with SMC for non-standard strokes as they are produced as special orders. Note 2) The maximum value of the horizontal work load. An external guide is necessary to support the load. The actual work load changes according to the condition of the external guide. Please confirm using actual device. Note 3) The force setting range (set values for the driver) for the force control with the torque control mode. The pushing force and duty ratio change according to the set value. Set it with reference to Force Conversion Graph (Guide) on page 638. When the control equivalent to the pushing operation of the controller P series is performed, combine the Simple Motion (manufactured by Mitsubishi Electric Corporation) which has a pushing operation function. Note 4) The allowable speed changes according to the stroke. Note 5) The allowable collision speed for collision with the workpiece with the torque control mode. Note 6) A reference value for correcting an error in reciprocal operation. Note 7) Impact resistance: No malfunction occurred when the actuator was tested with a drop tester in both an axial direction and a perpendicular direction to the lead screw. (Test was performed with the actuator in the initial state.) Vibration resistance: No malfunction occurred in a test ranging between 45 to 2000 Hz. Test was performed in both an axial direction and a perpendicular direction to the lead screw. (Test was performed with the actuator in the initial state.) Note 8) The power consumption (including the driver) is for when the actuator is operating. Note 9) The standby power consumption when operating (including the driver) is for when the actuator is stopped in the set position during the operation. Note 10) The maximum instantaneous power consumption (including the driver) is for when the actuator is operating. Note 11) Only when motor option With lock is selected. Note 12) For an actuator with lock, add the power consumption for the lock. Note 13) When mounting vertically and using the product facing upwards in an environment where water is present, take necessary measures to prevent water from splashing on the rod cover, because water will accumulate on the rod seal due to the structure of the product. Weight Product Weight [kg] Series 63 (Motor mounting position: Top/Parallel) Stroke Motor type Motor type Absolute encoder Series 63D (Motor mounting position: In-line) Stroke Absolute encoder Additional Weight [kg] Size 63 Lock Absolute encoder 0.4 Rod end Male thread 0.12 male thread Nut 0.04 Foot (2 sets including mounting bolt) 0.26 Rod flange (including mounting bolt) 0.51 Double clevis (including pin, retaining ring and mounting bolt) 0.58 A 640

35 Electric Actuator/Rod Type Series AC Servo Motor Dimensions: Motor Top/Parallel V EV K J Note 2) M EH H thread depth C M Rc 1/8 Vent hole tap 18 4 x O1 thread depth R Note 1) Range within which the rod can move. Make sure a workpiece mounted on the rod does not interfere with the workpieces and facilities around the rod. Note 2) The direction of rod end width across flats (mk) differs depending on the products. Size Size Stroke range 15 to to to to 500 Up to to to 800 Encoder Z-phase detecting position Rod operating range Note 1) (Stroke + G mm) ød Without lock With lock W X Z W X Z (16.6) L MD F±1 øxa H9 depth XA IP65 equivalent (Dust-tight/Water-jet-proof): 63mmm-mP (View ZZ) 15.6 (16.6) MA MC * When using the dust-tight/water-jet-proof (IP65 equivalent), correctly mount the fitting and tubing to the vent hole tap, and then place the end of the tubing in an area not exposed to dust or water. The fitting and tubing should be provided separately by the customer. Select [Applicable tubing O.D.: ø4 or more, Connection thread: Rc1/8]. B + Stroke A + Stroke ML + Stroke W X 6 x MO thread depth MR Section XX ZZ Y (MB) MH M S XA H9 XB U M T Z 4 x O1 thread depth R Section XX details Stroke range A B C D EH EV F G H J K L M O1 R S T U Y V 15 to to M8 x M5 x to to M8 x M6 x Up to to M16 x M8 x to Body Bottom Tapped Size XA Stroke range MA MB MC MD MH ML MO MR XA XB 15 to to to M5 x to to to to to M6 x to to to to to M8 x to to LEL LER 641

36 U Series AC Servo Motor Dimensions: Motor Top/Parallel 25 Motor left side parallel type: 32L Motor right side parallel type: 32R 63 T2 S1 Size S1 T2 U S1 U T2 Note) When the motor is mounted on the left or right side in parallel, the groove for auto switch on the side to which the motor is mounted is hidden. 25 A End male thread: 32 mm B -mmm 63 C MM Width across flats B1 H1 C1 L2 L1 * Refer to page 250 for details about the rod end nut and mounting bracket. Note) Refer to the precautions on page 305 when mounting end brackets such as knuckle joint or workpieces. Size B1 C1 H1 L1* L2 MM M14 x M14 x M18 x 1.5 * The L1 measurement is when the unit is in the Z-phase first detecting position. At this position, 2 mm at the end (size 25, 32) and 4 mm at the end (size 63). 642

37 Electric Actuator/Rod Type Series AC Servo Motor Dimensions: In-line Motor Z T EV K J Note 2) M EH S M Rod operating range Note 1) (Stroke + G mm) 4 x O1 thread depth R ød H thread depth C MH L Rc 1/8 Vent hole tap MD Encoder Z-phase detecting position F±1 øxa H9 depth XA MA MC Section XX ML+ Stroke B + Stroke A + Stroke 6 x MO thread depth MR Note 1) Range within which the rod can move. Make sure a workpiece mounted on the rod does not interfere with the workpieces and facilities around the rod. Note 2) The direction of rod end width across flats (mk) differs depending on the products. Size Size Stroke range C D EH EV F G H J K L M O1 R S T U B V 15 to M8 x M5 x to to M8 x M6 x to Up to to M16 x M8 x to Stroke range Without lock With lock A W Z A W Z 15 to to to to Up to to to IP65 equivalent (Dust-tight/Water-jet-proof): 63Dmm-mP (View ZZ) ZZ Body Bottom Tapped Size W Section XX details XA H9 XB XA V U Stroke range MA MC MD MH ML MO MR XA XB 15 to to to M5 x to to to to to M6 x to to to to to M8 x to to LEL LER 50 * When using the dust-tight/water-jet-proof (IP65 equivalent), correctly mount the fitting and tubing to the vent hole tap, and then place the end of the tubing in an area not exposed to dust or water. The fitting and tubing should be provided separately by the customer. Select [Applicable tubing O.D.: ø4 or more, Connection thread: Rc1/8]. 643

38 AC Servo Motor Electric Actuator/ Guide Rod Type G Series G25, 32 How to Order There are changes in the How to Order, force conversion graph, specifications, weight and dimensions. Refer to page 299 and after for other details. H G 25 M T6 B 200 S 2 S2 q w e r t y u i o!0!1!2!3 q Accuracy Nil Basic type H High precision type w Size e Bearing type M Sliding bearing L Ball bushing bearing r Motor mounting position Nil Top mounting D In-line t Motor type * Symbol Type Output [W] Actuator size Compatible driver T6 AC servo motor SS2-T5 T7 (Absolute encoder) SS2-T7 * For motor type T6, the compatible driver part number suffix is T5. y Lead Symbol G25 G32* A (20) B 6 8 (10) C 3 4 (5) * The values shown in ( ) are the lead for top mounting type. (Equivalent lead which includes the pulley ratio [1.25:1]) u Stroke to to * Refer to the applicable stroke table. * There is a limit for mounting size 32 top mounting type and 50 mm stroke or less. Refer to the dimensions. i Motor option Nil Without option B With lock * When With lock is selected for the top mounting type, the motor body will stick out of the end of the body for size 25 with strokes 30 mm or less. Check for interference with workpieces before selecting a model. Motor o Guide option Nil Without option F With grease retaining function * Only available for sliding bearing.!0 Cable type * Nil Without cable S Standard cable R Robotic cable (Flexible cable) * The motor and encoder cables are included. (The lock cable is also included when the motor with lock option is selected.) * Standard cable entry direction is Top/Parallel: (A) Axis side In-line: (B) Counter axis side (Refer to page 623 for details.)!1 Cable length [m] * Nil Without cable A 10 * The length of the encoder, motor and lock cables are the same. Applicable Stroke Table Model Stroke V: Standard Manufacturable stroke range G25 V V V V V V V 15 to 300 G32 V V V V V V V 20 to 300 * Please consult with SMC for non-standard strokes as they are produced as special orders. 644

39 Electric Actuator/Guide Rod Type G Series AC Servo Motor!2 Driver type Compatible driver Power supply voltage [V] Nil Without driver S2 SS2-Tl 200 to 240 * When the driver type is selected, the cable is included. Select cable type and cable length. Example) S2S2 : Standard cable (2 m) + Driver (SS2) S2 : Standard cable (2 m) Nil : Without cable and driver Compatible Driver Motor mounting position: Top mounting Motor mounting position: In-line Use of auto switches for the guide rod type G series Insert the auto switch from the front side with rod (plate) sticking out. For the parts hidden behind the guide attachment (Rod stick out side), the auto switch cannot be fixed. Please consult with SMC when using auto switch on the rod stick out side, as it is produced as a special order. type!3 I/O cable length [m] * Nil Without cable H Without cable (Connector only) * When Without driver is selected for driver type, only Nil: Without cable can be selected. Refer to page 654 if I/O cable is required. (Options are shown on page 654.) LEL LER Driver type Series Applicable network Control encoder Communication function Power supply voltage [V] SSCNET#/H Absolute 22-bit encoder USB communication 200 to 240 VAC (50/60 Hz) Reference page Page

40 G Series AC Servo Motor Force Conversion Graph G25lT6 (Motor mounting position: Top mounting, In-line) 500 Lead 3: G25 C 400 Force [N] Lead 6: G25 B 100 Lead 12: G25 A Torque limit/command value [%] Torque limit/command value [%] Duty ratio [%] Continuous pushing time [minute] 20 or less G32lT7 (Motor mounting position: Top mounting) Force [N] Lead 5: G32 C Lead 10: G32 B Lead 20: G32 A Torque limit/command value [%] Torque limit/command value [%] Duty ratio [%] Continuous pushing time [minute] 20 or less G32DT7 (Motor mounting position: In-line) Force [N] Lead 4: G32D C Lead 8: G32D B Lead 16: G32D A Torque limit/command value [%] Torque limit/command value [%] Duty ratio [%] Continuous pushing time [minute] 20 or less

41 Electric Actuator/Guide Rod Type G Series AC Servo Motor Specifications Actuator specifications Electric specifications Lock unit specifications Model G25 M L (Top mounting) G25 M L D (In-line) G32 M L (Top mounting) G32 M L D (In-line) Stroke Note 1) 30, 50, 100, 150, 200, 250, , 50, 100, 200, 250, , 50, 100, 200, 250, 300 Work load [kg] Horizontal Note 2) Vertical Force [N] Note 3) (Set value: 12 to 24%) 65 to to to to to to to to to 736 Max. speed [mm/s] Pushing speed [mm/s] Note 4) 35 or less 30 or less 30 or less Max. acceleration/deceleration [mm/s 2 ] Positioning Basic type ±0.02 ±0.02 repeatability High precision type ±0.01 ±0.01 Lost motion Note 5) Basic type 0.1 or less High precision type 0.05 or less Lead (including pulley ratio) Impact/Vibration resistance [m/s 2 ] Note 6) 50/20 50/20 Actuation type Ball screw + Belt [1:1]/Ball screw Ball screw + Belt [1:1.25] Ball screw Guide type Sliding bearing (G M), Ball bushing bearing (G L) Operating temperature range [ C] 5 to 40 5 to 40 Operating humidity range [%RH] 90 or less (No condensation) 90 or less (No condensation) Regeneration option May be required depending on speed and work load. (Refer to page 282.) Motor output/size 100 W/ W/ 60 Motor type AC servo motor (200 VAC) AC servo motor (200 VAC) Encoder Motor type T6, T7: Absolute 22-bit encoder (Resolution: p/rev) Power Horizontal consumption [W] Note 7) Vertical Standby power consumption Horizontal when operating [W] Note 8) Vertical Max. instantaneous power consumption [W] Note 9) Type Note 10) Non-magnetizing lock Non-magnetizing lock Holding force [N] Power consumption [W] at 20 C Note 11) Rated voltage [V] 24 VDC 0 10% Note 1) Please consult with SMC for non-standard strokes as they are produced as special orders. Note 2) The maximum value of the horizontal work load. An external guide is necessary to support the load. The actual work load changes according to the condition of the external guide. Please confirm using actual device. Note 3) The force setting range (set values for the driver) for the force control with the torque control mode. Set it with reference to Force Conversion Graph on page 646. When the control equivalent to the pushing operation of the controller P series is performed, combine the Simple Motion (manufactured by Mitsubishi Electric Corporation) which has a pushing operation function. Note 4) The allowable collision speed for collision with the workpiece with the torque control mode. Note 5) A reference value for correcting an error in reciprocal operation. Weight Note 6) Impact resistance: No malfunction occurred when the actuator was tested with a drop tester in both an axial direction and a perpendicular direction to the lead screw. (Test was performed with the actuator in the initial state.) Vibration resistance: No malfunction occurred in a test ranging between 45 to 2000 Hz. Test was performed in both an axial direction and a perpendicular direction to the lead screw. (Test was performed with the actuator in the initial state.) Note 7) The power consumption (including the driver) is for when the actuator is operating. Note 8) The standby power consumption when operating (including the driver) is for when the actuator is stopped in the set position during the operation. Note 9) The maximum instantaneous power consumption (including the driver) is for when the actuator is operating. Note 10) Only when motor option With lock is selected. Note 11) For an actuator with lock, add the power consumption for the lock. Weight: Top Mounting Type [kg] Series G25M G32M Stroke Motor type Motor type Weight: In-line Motor Type [kg] Series G25MD G32MD Stroke Motor type Motor type Absolute encoder Series G25L G32L Stroke Absolute encoder Absolute encoder Series G25LD G32LD Stroke Absolute encoder LEL LER Additional Weight [kg] Size Lock Absolute encoder A

42 G Series AC Servo Motor Dimensions: Top Mounting X ødb P øda Z 0.5 WA L + Stroke 4 x øg through Note 3) 0.5 FB C EV V Section XX J U S Encoder Z-phase detecting position Note 2) 4 x M OA through øxa H9 depth XA Q Section Y 2±1 Rod operating range Note 1) (Stroke + 4 mm) (FC) VA VB 4 x NA thread depth NB GA Section Y details M H VC X T EH Note 1) Range within which the rod can move. Make sure a workpiece mounted on the rod does not interfere with the workpieces and facilities around the rod. Note 2) The Z-phase first detecting position from the stroke end of the motor side. Note 3) Through holes cannot be used for size 32 with 50 mm stroke or less. G L (Ball bushing bearing) Size Stroke range L DB 15 to to to to to to FA øxa H9 depth XA X (0.5) Z C FB B + Stroke A + Stroke 4 x M OA thread depth OB 2 x NA thread depth NC Section XX WB WA WC + Stroke Y K XA H9 M EA EB Section XX XB XA G M (Sliding bearing) Size Stroke range L DB 15 to to to to to to G M, G L Common Size Stroke range A B C DA EA EB EH EV FA FB FC G GA H J K M NA NB NC 15 to to to M5 x to to to to to M6 x to to Size Stroke range OA OB P Q S T U V WA WB WC X XA XB Y Z 15 to to to 120 M6 x to to to to to 120 M6 x to to Size Without lock With lock VA VB VC VA VB VC

43 Electric Actuator/Guide Rod Type G Series AC Servo Motor Dimensions: In-line Motor Section XX H EV J U 4 x OA through X T EH øda Encoder Z-phase detecting position Note 2) Q S Note 1) Range within which the rod can move. Make sure a workpiece mounted on the rod does not interfere with the workpieces and facilities around the rod. Note 2) The Z-phase first detecting position from the stroke end of the motor side. Section Y øxa H9 depth XA G L (Ball bushing bearing) Size Stroke range L DB 15 to to to to to to P X 0.5 FA X Z (0.5) 2±1 øxa H9 depth XA x øg through WA L + Stroke Rod operating range Note 1) (Stroke + 4 mm) (FC) Z C FB B + Stroke A + Stroke Section XX WB WA WC + Stroke YD 4 x OA thread depth OB VB 2 x NA thread depth NC G M, G L Common Size Stroke range B C DA EB EH EV FA FB FC G GA H J K NA NC 15 to to to M5 x to to to to to M6 x to to Size Size K FA GA VC V (EB) XA H9 FB 0.5 Section XX XB XA G M (Sliding bearing) Size Stroke range L DB 15 to to to to to to Stroke range OA OB P Q S T U V WA WB WC X XA XB YD Z 15 to to to 120 M6 x to to to to to 120 M6 x to to Stroke range Without lock With lock A VB VC A VB VC 15 to to to to Section Y details C LEL LER 649

44 AC Servo Motor Driver Absolute Type Series ( Type) How to Order Driver S S 2 T5 S Driver type SSCNET#/H type (For absolute encoder) Power supply voltage to 240 VAC, 50/60 Hz Compatible motor type Symbol Type Capacity Encoder T5 AC servo motor (T6) 100 W T7 AC servo motor (T7) 200 W Absolute T8 AC servo motor (T8) 400 W Dimensions SS2-T CNP1 CNP2 CNP3 W CN5 CN3 CN8 CN1A CN1B CN2 CN4 L x ø6 Bearing surface thickness (D) M (6) Connector name Description CN1A Front axis connector for SSCNET #/H CN1B Rear axis connector for SSCNET #/H CN2 Encoder connector CN3 I/O signal connector CN4 Battery connector CN5 USB communication connector CN8 STO input signal connector CNP1 Main circuit power supply connector CNP2 Control circuit power supply connector CNP3 Servo motor power connector D Dimensions Model W L D M SS2-T SS2-T SS2-T

45 AC Servo Motor Driver Series Specifications Model SS2-T5 SS2-T7 SS2-T8 Compatible motor capacity [W] Compatible encoder Absolute 22-bit encoder (Resolution: p/rev) Main Power voltage [V] Three phase 200 to 240 VAC (50/60 Hz), Single phase 200 to 240 VAC (50/60 Hz) power Allowable voltage fluctuation [V] Three phase 170 to 264 VAC (50/60 Hz), Single phase 170 to 264 VAC (50/60 Hz) supply Rated current [A] Control Control power supply voltage [V] Single phase 200 to 240 VAC (50/60 Hz) power Allowable voltage fluctuation [V] Single phase 170 to 264 VAC supply Rated current [A] 0.2 Applicable Fieldbus protocol SSCNET#/H (High-speed optical communication) Communication function USB communication Operating temperature range [ C] 0 to 55 (No freezing) Operating humidity range [%RH] 90 or less (No condensation) Storage temperature range [ C] 20 to 65 (No freezing) Storage humidity range [%RH] 90 or less (No condensation) Insulation resistance [MW] Between the housing and SG: 10 (500 VDC) Weight [g] Power Supply Wiring Example: SS2-T For single phase 200 VAC Single phase 200 to 240 VAC Regeneration option NFB MC CNP1 L1 L2 L3 N( ) P3 P4 CNP2 P(+) C D L11 L21 CNP3 U V W PE CN2 U V W Motor M Encoder For three phase 200 VAC Three phase 200 to 240 VAC Regeneration option Note) For single phase 200 to 240 VAC, power supply should be connected to L1 and L3 terminals, with nothing connected to L2. Main Circuit Power Supply Connector: CNP1 * Accessory Terminal name Function Details L1 L2 L3 N( ) P3 P4 Main circuit power supply NFB Connect the main circuit power supply. SS2: Single phase 200 to 240 VAC, 50/60 Hz Connection terminal: L1,L3 Three phase 200 to 240 VAC, 50/60 Hz Connection terminal: L1,L2,L3 Do not connect. Connect between P3 and P4. (Connected at time of shipping.) MC L1 L2 L3 N( ) CNP1 L1 L2 L3 N( ) P3 P4 CNP2 P(+) C D L11 L21 CNP3 U V W PE CN2 U V W Motor M Encoder SS2-T Front view example LEL LER Control Circuit Power Supply Connector: CNP2 Terminal name Function Details P(+) Regeneration option C D L11 L21 Control circuit power supply Motor Connector: CNP3 * Accessory * Accessory Connect between P(+) and D. (Connected at time of shipping.) * If regeneration option is required for Model Selection, connect to this terminal. Connect the control circuit power supply. SS2: Single phase 200 to 240 VAC, 50/60 Hz Connection terminal: L11,L21 Three phase 200 to 240 VAC, 50/60 Hz Connection terminal: L11,L21 Terminal name Function Details U Servo motor power (U) V Servo motor power (V) Connect to motor cable (U, V, W). W Servo motor power (W) P3 P4 P(+) C D L11 L21 U V W 651

46 Series Control Signal Wiring Example: SS2-T For sink I/O interface Note 9) Short-circuit connector (Provided as an accessory) Forced stop 2 FLS RLS DOG 10 m or less Main circuit power supply Note 10) 24 VDC Note 2) SS2-T CN8 Note 4) CN3 EM2 20 DI1 2 DI2 12 DI3 19 DICOM 10 D0COM 3 Note 4) CN3 5 DICOM 13 9 MBR INP 15 ALM 6 LA 16 LAR 7 LB 17 LBR 8 LZ 18 LZR 11 LG 10 m or less RA1 RA2 RA3 Electromagnetic brake interlock In position Failure Note 3) A-phase pulse encoder (Differential line driver) B-phase pulse encoder (Differential line driver) Z-phase pulse encoder (Differential line driver) Control common Servo system controller SSCNET #optical cable Note 5) (Option) CN1A 4 MO1 1 LG 14 MO2 Plate SD Analog monitor 1 ±10 VDC Analog monitor 2 ±10 VDC CN1B SW1 2 m or less SW2 Note 7) PE Note 1) CN1A SS2-T (Axis 2) SW1 Note 6) CN1B SW2 Note 7) 652 SSCNET#optical cable Note 5) (Option) CN1A CN1B CN1A CN1B Cap Note 8) SS2-T (Axis 3) SW1 SW SS2-T (Axis n) SW1 SW Note 6) Note 7) Note 6) Note 7) Note 1) For preventing electric shock, be sure to connect the driver, s protective earth (PE) terminal (marked ) to the control panel, s protective earth (PE). Note 2) For interface use, supply 24 VDC ±10% using an external source. Note 3) The failure (ALM) is ON during normal conditions. When it is OFF (alarm occurs), stop the master PLC signal using the master PLC program. Note 4) The same name signals are connected inside the driver. Note 5) Use the following SSCNET#optical cables. Refer to SSCNET#optical cable on page 654 for cable models. Cable Cable model Cable length SSCNET#optical cable LE-CSS m to 3 m Note 6) Connections from Axis 2 onward are omitted. Note 7) Up to 64 axes can be set for the axis selection rotary switch (SW1) and auxiliary axis number setting switches (SW2-3, SW2-4) in combination. Note that the number of connection axes depends on the specifications of the master PLC. Note 8) Be sure to place a cap on unused CN1A/CN1B. Note 9) When not using the STO function, use the driver with the short-circuit connector (provided as an accessory) inserted. Note 10) Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the driver.

47 AC Servo Motor Driver Series Options Motor cable, Lock cable, Encoder cable ( common) (13.7) (11.8) (13) (30) L (29.6) LE CS M S 5 A Motor type AC servo motor LE-CSM- : Motor cable LE-CSB- : Lock cable Cable description M Motor cable B Lock cable E Encoder cable ød LE-CSE- : Encoder cable S L Cable type Standard cable Robotic cable Cable length (L) [m] A 10 ød ø7.1 (30) L 37.4 I/O connector (Without cable, Connector only) A B S LE S R CSN A Driver type SA, SC SB S-, SS2-T 18.8 Direction of connector A B LE-CSNA 39 Product no. LE-CSM-A LE-CSM-B LE-CSM-R A LE-CSM-R B Product no. LE-CSB-A LE-CSB-B LE-CSB-R A LE-CSB-R B 37.2 LE-CSNB 39 Axis side Counter axis side ød ød LE-CSNS LEL LER * LE-CSNA: PE (connector)/ f0-008 (shell kit) manufactured by 3M Japan Limited or equivalent item. LE-CSNB: PE (connector)/ f0-008 (shell kit) manufactured by 3M Japan Limited or equivalent item. LE-CSNS: PE (connector)/ f0-008 (shell kit) manufactured by 3M Japan Limited or equivalent item. * Applicable conductor size: AWG24 to A

48 Name plate + Lot. No. Series Options SSCNET#optical cable (S-, SS2-T ) I/O cable LE CSS 1 CSN A 1 Motor type S AC servo motor Cable description S SSCNET#optical cable Cable length L 0.15 m K 0.3 m J 0.5 m 1 1 m 3 3 m A B S Driver type SA, SC SB S-, SS2-T Cable length (L) [m] LE-CSS- is MR-J3BUM manufactured by Mitsubishi Electric Corporation. Pin no. n Pin 1 Driver side PLC side H T U W ød A side B side -CSNA-1: PE (connector)/ f0-008 (shell kit) manufactured by 3M Japan Limited or equivalent item. -CSNB-1: PE (connector)/ f0-008 (shell kit) manufactured by 3M Japan Limited or equivalent item. -CSNS-1: PE (connector)/ f0-008 (shell kit) manufactured by 3M Japan Limited or equivalent item. Conductor size: AWG24 Cable O.D. Product no. ød -CSNA CSNB CSNS Dimensions/Pin No. Product no. W H T U Pin no. n -CSNA CSNB CSNS Wiring -CSNA-1: Pin no. 1 to 26 -CSNB-1: Pin no. 1 to 50 -CSNS-1: Pin no. 1 to 20 Connector Pair no. Insulation Dot Dot mark pin no. of wire color color 1 1 Orange 2 Black 3 Light 2 4 gray Black 5 3 White 6 Black 7 4 Yellow 8 Black 9 5 Pink 10 Black 11 6 Orange 12 Black 13 Light 7 14 gray Black 15 8 White 16 Black 17 9 Yellow 18 Black A side Connector Pair no. Insulation Dot Dot mark pin no. of wire color color Pink 20 Black Orange 22 Black 23 Light gray Black White 26 Black Yellow 28 Black Pink 30 Black Orange 32 Black 33 Light gray Black A side Connector Pair no. Insulation Dot Dot mark pin no. of wire color color White 36 Black Yellow 38 Black Pink 40 Black Orange 42 Black 43 Light gray Black White 46 Black Yellow 48 Black Pink 50 Black A side 654

49 6 AC Servo Motor Driver Series Options Regeneration option (Sl common) MR RB 12 Regeneration option type 032 Allowable regenerative power 30 W 12 Allowable regenerative power 100 W Confirm regeneration option to be used in Model Selection. LEL -MR-RB (6) ø6 Mounting hole (12) (20) Weight Model Weight [kg] -MR-RB MR-RB032 manufactured by Mitsubishi Electric Corporation MR-RB (6) ø6 Mounting hole (20) Weight Model Weight [kg] -MR-RB MR-RB12 manufactured by Mitsubishi Electric Corporation LER 655

50 Series Options SS2-T USB cable PC Setup software (MR Configurator2 ) Setup software (MR Configurator2 ) (SA, SB, SC, SS common) MRC2 Compatible PC When using setup software (MR Configurator2 ), use an IBM PC/AT compatible PC that meets the following operating conditions. Hardware Requirements Display language Nil Japanese version E English version C Chinese version * SW1DNC-MRC2- manufactured by Mitsubishi Electric Corporation. Refer to Mitsubishi Electric Corporation s website for operating environment and version upgrade information. MR Configurator2 is a registered trademark or trademark of Mitsubishi Electric Corporation. Adjustment, waveform display, diagnostics, parameter read/write, and test operation can be performed upon a PC. Note 1) 2) 3) 4) 5) 6) 7) 9) PC Display Equipment OS Available HD space Communication interface Keyboard Mouse Printer USB cable Note 8) -MR-J3USB Setup software (MR Configurator2 ) -MRC2 Microsoft Windows 8.1 Enterprise Operating System Microsoft Windows 8.1 Pro Operating System Microsoft Windows 8.1 Operating System Microsoft Windows 8 Enterprise Operating System Microsoft Windows 8 Pro Operating System Microsoft Windows 8 Operating System Microsoft Windows 7 Ultimate Operating System Microsoft Windows 7 Enterprise Operating System Microsoft Windows 7 Professional Operating System Microsoft Windows 7 Home Premium Operating System Microsoft Windows 7 Starter Operating System Microsoft Windows Vista Ultimate Operating System Microsoft Windows Vista Enterprise Operating System Microsoft Windows Vista Business Operating System Microsoft Windows Vista Home Premium Operating System Microsoft Windows Vista Home Basic Operating System Microsoft Windows XP Professional Operating System, Service Pack 2 or later Microsoft Windows XP Home Edition Operating System, Service Pack 2 or later 1 GB or more Use USB port. Resolution 1024 x 768 or more Must be capable of high color (16-bit) display. The connectable with the above PC The connectable with the above PC The connectable with the above PC The connectable with the above PC Note 1) Before using a PC for setting SA point table method/program operation method, upgrade to version 1.18U (Japanese version)/ version 1.19V (English version) or later. Refer to Mitsubishi Electric Corporation s website for version upgrade information. Note 2) Windows and Windows Vista are registered trademarks of Microsoft Corporation in the United States and other countries. Note 3) On some PCs, setup software (MR Configurator2 ) may not run properly. Note 4) When Windows XP or later is used, the following functions cannot be used. Windows Program Compatibility mode Fast User Switching Remote Desktop Large Fonts Mode (Display property) DPI settings other than 96 DPI (Display property) 64-bit OSs are not supported, except for Microsoft Windows 7 or later. Note 5) When Windows 7 is used, the following functions cannot be used. Windows XP Mode Windows Touch Note 6) When using this software with Windows Vista or later, log in as a user having USER authority or higher. Note 7) When Windows 8 is used, the following functions cannot be used. Hyper-V Modern UI style Note 8) Order USB cable separately. This cable is compatible with the setup software (MR Configurator : -MR-SETUP221 ). Note 9) Using a PC for setting Windows 8.1, upgrade to version 1.25B or later. Refer to Mitsubishi Electric Corporation s website for version upgrade information. Setup Software Compatible Driver Setup software Compatible driver MR Configurator MR Configurator2 -MR-SETUP221 -MRC2 SA v v SB v v SC v v S- v v SS2-T v 656