Sanyo Denki Py 2 Manual

							 
9.  SPECIFICATIONS 
9－59 
9.2.2 Revolution Direction Specifications 
This section explains the direction of revolution for the Servomotor and the encoder respectively. 
 
(1) Servomotor 
The Servomotor rotates counterclockwise (forward revolution) when viewed from the load side after a 
command to increase a position command is input. 
 
 
 
Fig. 9-23  Servomotor 
(2)  Encoder signal phase 
Incremental encoder 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-24    Encoder Signal Phase 
Absolute encoder 
 
  Forwared revolution .......... Position data incremental output. 
  Backward revolution ......... Position data decremental output. 
When C-phase is high, both A- and B-phases cross the low level once every revolution. 
90°
90° A-phase 
B-phase 
C-phase 
A-phase 
B-phase 
C-phase  
t 
t  B-phase leads A-phase by a phase angle of 90° 
 
B-phase lags A-phase by a phase angle of 90°  Direction of motor 
forward revolution  
						

							 
9.  SPECIFICATIONS 
9－60 
9.2.3  Motor Mechanical Specifications 
(1) Vibration resistance 
Install the Servomotor shaft horizontally as shown in Fig. 9-25 and apply vibration in 3 directions, 
up/down, left/right and back/forth.    At this time, the Servomotor should withstand a vibration 
acceleration of 2.5G. 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-25    Vibration Resistance Measurement 
 
(2) Shock resistance 
Install the motor shaft in the horizontal direction as shown in Fig. 9-26 and apply a shock in the up/down 
direction.    At this time, the Servomotor should withstand an impact acceleration of 10G up to 2 times. 
However, since the Servomotor is provided with a precision detector on the counter-load side, if a shock 
is applied to the shaft, the detector may be damaged.    So do not apply shock to the shaft under any 
circumstances. 
 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-26  Shock Measurement 
Up and down 
Right and left 
Back and forth 
Horizontal derection 
Up and down 
Horizontal derection  
						

							 
9.  SPECIFICATIONS 
9－61 
(3) Working accuracy 
Table 9-18 shows the accuracy of the Servomotor output shaft and installation. 
 
Table 9-18 
Item Accuracy (T.I.R)   
*1 Reference diagram 
Runout of output shaft 
end  (α) 0.02 
P1 0.04 
P2 0.08 
P3 0.06 
P5 0.06 
P6 0.08 
Eccentricity of the 
external diameter of the 
flange on output shaft M 
(β) 
 
P8 0.08 
P1 0.04 
P2 0.08 
P3 0.07 
P5 0.07 
P6 0.08 
Perpendicularity of the 
flange face to output 
shaft M  (γ) 
P8 0.08  
*1:    T.I.R (Total Indicator Reading) 
 
(4) Vibration class 
The vibration class of the Servomotor is V 15 or less at the maximum speed when measured as a single 
Servomotor unit as in Fig. 9-27. 
 
 
 
 
 
 
 
 
 
 
 
 
Fig. 9-27  Vibration Measurement 
 
(5) Mechanical strength 
The output strength of the Servomotor can endure the instantaneous torque of 300% of the maximum 
continuous torque. 
 
β
α
γ
M
Vibration measurement position  
						

							 
9.  SPECIFICATIONS 
9－62 
(6) Oil seal 
An S-shaped oil seal as in Table 9-19 is mounted to the output shaft of the Servomotor. 
Use an oil seal made by NOK or equivalent. 
 
Table 9-19  Oil Seals  
Servomotor model Oil seal model No. (S type) 
P10B10○○○○□◇▽▽ AE1538E5 
P10B13○○○○□◇▽▽ AE2230E0 
P10B18200○□◇▽▽ 
P10B18350○□◇▽▽ 
P10B18450○□◇▽▽ AE2965F1 
P10B18550○□◇▽▽ AE3459A5 
P20B10○○○○□◇▽▽ AC1306E0 
P30B○○○○○○□◇▽▽ 
P50B03○○○○□◇▽▽ 
P50B04○○○○□◇▽▽ (None) 
P50B05○○○○□◇▽▽ AC0382A0 
P50B07○○○○□◇▽▽ AC0687A0 
P50B08○○○○□◇▽▽ AC0875A0 
P60B13○○○○□◇▽▽ 
P60B15○○○○□◇▽▽ 
P80B15○○○○□◇▽▽ AC1677E1 
P60B18○○○○□◇▽▽ AC2368E1 
P80B18○○○○□◇▽▽ AC2368E0 
  
						

							 
9.  SPECIFICATIONS 
9－63 
9.2.4  Holding Brake Specifications 
An optional holding brake is available for each motor.   Since this brake is used for holding, it cannot be 
used for braking except in an emergency.    Turn brake excitation on and off using the holding brake timing 
signal output. 
When the signal is used, forcibly set the command to 0 min
−1 in the Servo Amplifier while the brake is 
released. 
To externally control the holding brake, a response time as in Table 9-20 is required.    When using a 
motor with a brake, determine the timing sequence taking this response delay time into account. 
 
Table 9-20    Holding Brake Specifications   
Braking delay time (msec) Model No. Static friction 
torque 
Brake release 
time Varister Diode 
P10B10030 
P10B10075 3.9 40  30 120 
P10B13050 
P10B13100 
P10B13150 8.8 100  30  140 
P1 
P10B18200 32.4 120 40 150 
P20B10100 3.92 40 30 120 
P20B10150 P2 
P20B10200 7.84 100  30  140 
P30B04003 0.098 
P30B04005 0.157 
P30B04010 0.32 25 15 100 
P30B06020 0.637 
P30B06040 1.274 30 20 120 
P3 
P30B08075 2.38 40 20 200 
P50B03003 0.098 25  15  60 
P50B04006 0.191 
P50B04010 0.319 25 15 100 
P50B05005 0.167 
P50B05010 
P50B05020 0.353 15 10 100 
P50B07020 0.69 
P50B07030 
P50B07040 0.98 25 15 100 
P50B08040 1.37 
P50B08050 1.96 
P50B08075 
P5 
P50B08100 2.94 30 20 200 
P60B13050 3.5 40 30 120 
P60B13100 9.0 70 30 130 
P60B13150 9.0 
P60B13200 
P60B18200 12.0 100 30 140 
P6 
P60B18350 32.0 120 40 150 
P80B15075 P8 P80B18120 9.0 70  30 130  
						

							 
9.  SPECIFICATIONS 
9－64   
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1.  The brake response time was measured in the following circuit. 
 
 
 
 
 
 
 
 
 
 
2.  The brake release and braking delay time refers to those in the Fig. below. 
 
 
 
 
 
 
 
 
 
 
 
 
3.  The brake release time is the same for both the varistor and the diode. 
100VAC
60Hz
E DCIb
Brake
Brake
100％ E DC
Ib
Brake release time Braking delay time Holding
torque100％ current Exciting voltage Exciting 
						

							 
9.  SPECIFICATIONS 
9－65 
  9.2.5.1  Motor Data Sheet  P1 
The following tables show the various constants for each motor.    When the motor is used beyond the 
applicable load inertia, make sure that the dynamic brake instantaneous resistance is not exceeded. 
 P10B10030H 
Name SymbolData Unit Data Unit 
∗ Rated output 
PR 300 W 300 W 
  Rated revolution speed NR 2000 min－1 2000 rpm 
  Maximum revolution speed 
Nmax 3000  min－1 3000  rpm 
∗ Rated torque TR 1.5 N･m 15 kg･cm 
∗  Continuous stall torque   
TS 1.5  N･m 15 kg･cm 
∗  Instantaneous maximum stall torque   TP 4.4 N･m 45 kg･cm 
∗  Rated armature current   
IR 2.7 Arms 2.7 Arms 
∗  Continuous stall armature current   IS 2.5 Arms 2.5 Arms ∗  Instantaneous maximum stall 
armature current   IP 7.9 Arms 7.9 Arms 
 Torque constant KT 0.67 N･m/Arms 6.8 kg･cm/Arms 
  Induced voltage constant 
K E
φ 23.4  mV/min－1 23.4  V/krpm 
  Phase armature resistance Rφ 3.63 Ω 3.63 Ω 
  Electrical time constant 
te 1.9 msec 1.9 msec   Mechanical time constant   (not including sensor) tm 9.6 msec 9.6 msec 
 Inertia (including wiring-saved INC) 
JM 3.98 × 10－4 kg･m2(GD2/4) 4.08 g･cm･s2 
  Inertia (including ABS-E) JM 4.0 × 10－4 kg･m2(GD2/4)4.1 g･cm･s2 
  Inertia (including ABS-RII) 
JM 3.98 × 10－４ kg･m2(GD2/4) 4.08 g･cm･s2 
  Applicable load inertia   JL JM × 5 kg･m2(GD2/4)JＭ × 5 g･cm･s2 
  Weight (including wiring-saved INC) 
WE 5.1 kg 5.1 kg 
  Weight (including ABS-E) WE 5.0 kg 5.0 kg 
  Weight (including ABS-RII) 
WE 5.2 kg 5.2 kg 
Holding Brake Data Sheet (Option) 
 Holding torque 
TB  3.9 or more  N･m  40 or more  kg･cm  Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％  Exciting current 
IB 0.76/0.23 A(DC) 0.76/0.23 A(DC)  Inertia JＢ 0.34 × 10－4 kg･m2(GD2/4)0.35 g･cm･s2  Weight 
W 0.8 kg 0.8 kg 
• The mark ∗ denotes the value after a temperature rise.    The others are values at 68°F.    Each value is a typical one. 
•  Each value and characteristic was measured with a radiating plate equivalent or superior to a t20 × 305 mm square aluminum 
plate installed.   
•  The velocity-torque characteristics show values for a motor combined with an amplifier having 30A capacity and 200V AC, 
3-phase power supply voltage. When power supply voltage is below 200V AC, the instantaneous zone drops.
 
 
速度－トルク特性
P10B10030H
（300W
）
0 1 2
3
4 5
0 1000 2000 3000 4000
速度（ min-1）
トルク（
N・
m）
過負荷特性
P10B10030H
（300W
）
1 10 100 1000 10000
01 234
出力電流比　（IP/IR）
時間　（Sec）
Instantaneous zone 
Continuous zone 
Velocity (min−1) 
Velocity-torque characteristics Overload characteristics 
Time (sec)
 
Torque (N
･m) 
Output current ratio (IP/IR)  
						

							 
9.  SPECIFICATIONS 
9－66 
 P10B10075H 
Name SymbolData Unit Data Unit 
∗ Rated output 
PR 750 W 750 W 
  Rated revolution speed NR 2000 min－1 2000 rpm 
  Maximum revolution speed 
Nmax 3000  min－1 3000  rpm 
∗ Rated torque TR 3.5 N･m 36 kg･cm 
∗  Continuous stall torque   
TS 3.9  N･m 40 kg･cm 
∗  Instantaneous maximum stall torque   TP 10.8 N･m 110 kg･cm 
∗  Rated armature current   
IR 5.1 Arms 5.1 Arms 
∗  Continuous stall armature current   IS 5.2 Arms 5.2 Arms ∗  Instantaneous maximum stall 
armature current   IP 15.5 Arms 15.5 Arms 
 Torque constant KT 0.81 N･m/Arms 8.3 kg･cm/Arms 
  Induced voltage constant 
K E
φ 28.5  mV/min－1 28.5  V/krpm 
  Phase armature resistance Rφ 1.05 Ω 1.05 Ω 
  Electrical time constant 
te 3.0 msec 3.0 msec   Mechanical time constant   (not including sensor) tm 6.5 msec 6.5 msec 
 Inertia (including wiring-saved INC) 
JM 14.08 × 10－４kg･m2(GD2/4) 14.08 g･cm･s2 
  Inertia (including ABS-E) JM 14.1 × 10－４ kg･m2(GD2/4)14.1 g･cm･s2 
  Inertia (including ABS-RII) 
JM 14.08 × 10－４kg･m2(GD2/4) 14.08 g･cm･s2 
  Applicable load inertia   
JL JＭ × 4  kg･m2(GD2/4) JＭ × 4  g･cm･s2 
  Weight (including wiring-saved INC) WE 9.9 kg 9.9 kg 
  Weight (including ABS-E) 
WE 9.8 kg 9.8 kg 
  Weight (including ABS-RII) WE 10.0 kg 10.0 kg 
Holding Brake Data Sheet (Option) 
 Holding torque 
TB  3.9 or more  N･m  40 or more  kg･cm  Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％  Exciting current 
IB 0.76/0.23 A(DC) 0.76/0.23 A(DC)  Inertia JＢ 0.34 × 10－４ kg･m2(GD2/4)0.35 g･cm･s2  Weight 
W 0.8 kg 0.8 kg 
• The mark ∗ denotes the value after a temperature rise.    The others are values at 68°F.    Each value is a typical one. 
•  Each value and characteristic was measured with a radiating plate equivalent or superior to a t20 × 305 mm square aluminum 
plate installed.   
•  The velocity-torque characteristics show values for a motor combined with an amplifier having 30A capacity and 200V AC, 
3-phase power supply voltage. When power supply voltage is below 200V AC, the instantaneous zone drops. 
 
速度－トルク特性
P10B10075H
（750W
）
0 2 4 6 8 10 12
0 1000 2000 3000 4000
速度（ min-1）
トルク（
N・
m）
過負荷特性
P10B10075H
（750W
）
1 10 100 1000 10000
01234
出力電流比　（IP/IR）
時間　（Sec）
Instantaneous zone 
Continuous zone 
Velocity (min−1) 
Velocity-torque characteristics Overload characteristics 
Time (sec)
 
Torque (N
･m) 
Output current ratio (IP/IR)  
						

							 
9.  SPECIFICATIONS 
9－67 
 P10B13050H 
Name SymbolData Unit Data Unit 
∗ Rated output 
PR 500 W 500 W 
  Rated revolution speed NR 2000 min－1 2000 rpm 
  Maximum revolution speed 
Nmax 3000  min－1 3000  rpm 
∗ Rated torque TR 2.4 N･m 24 kg･cm 
∗  Continuous stall torque   
TS 2.9  N･m 30 kg･cm 
∗  Instantaneous maximum stall torque   TP 8.8 N･m 90 kg･cm 
∗  Rated armature current   
IR 4.0 Arms 4.0 Arms 
∗  Continuous stall armature current   IS 4.6 Arms 4.6 Arms ∗  Instantaneous maximum stall 
armature current   IP 15.1 Arms 15.1 Arms 
 Torque constant KT 0.72 N･m/Arms 7.3 kg･cm/Arms 
  Induced voltage constant 
K E
φ 25.1  mV/min－1 25.1  V/krpm 
  Phase armature resistance Rφ 1.31 Ω 1.31 Ω 
  Electrical time constant 
te 3.2 msec 3.2 msec   Mechanical time constant   (not including sensor) tm 9.0 msec 9.0 msec 
 Inertia (including wiring-saved INC) 
JM 12.08 × 10－４kg･m2(GD2/4) 12 g･cm･s2 
  Inertia (including ABS-E) JM 12.1 × 10－４ kg･m2(GD2/4)12.1 g･cm･s2 
  Inertia (including ABS-RII) 
JM 12.08 × 10－４kg･m2(GD2/4) 12 g･cm･s2 
  Applicable load inertia   
JL JM × 5  kg･m2(GD2/4) JＭ × 5  g･cm･s2 
  Weight (including wiring-saved INC) WE 7.6 kg 7.6 kg 
  Weight (including ABS-E) 
WE 7.5 kg 7.5 kg 
  Weight (including ABS-RII) WE 7.7 kg 8.7 kg 
Holding Brake Data Sheet (Option) 
 Holding torque 
TB  8.8 or more  N･m  90 or more  kg･cm 
 Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ 
 Exciting current 
IB 0.86/0.25 A(DC) 0.86/0.25 A(DC) 
 Inertia JＢ 0.5 × 10－４ kg･m2(GD2/4)0.5 g･cm･s2 
 Weight 
W 1.5 kg 1.5 kg 
• The mark ∗ denotes the value after a temperature rise.    The others are values at 68°F.    Each value is a typical one. 
•  Each value and characteristic was measured with a radiating plate equivalent or superior to a t20 × 305 mm square aluminum 
plate installed.   
•  The velocity-torque characteristics show values for a motor combined with an amplifier having 30A capacity and 200V AC, 
3-phase power supply voltage. When power supply voltage is below 200V AC, the instantaneous zone drops. 
 
速度－トルク特性
P10B13050H
（500W
）
0 2 4 6 8 10
0 1000 2000 3000 4000
速度（ min-1）
トルク（
N・
m）
過負荷特性
P10B13050H
（500W
）
1 10 100 1000 10000
01234
出力電流比　（IP/IR）
時間　（Sec）
Instantaneous zone 
Continuous zone 
Velocity (min−1) 
Velocity-torque characteristics Overload characteristics 
Time (sec)
 
Torque (N
･m) 
Output current ratio (IP/IR)  
						

							 
9.  SPECIFICATIONS 
9－68 
 P10B13100H 
Name SymbolData Unit Data Unit 
∗ Rated output 
PR 1000 W 1000 W 
  Rated revolution speed NR 2000 min－1 2000 rpm 
  Maximum revolution speed 
Nmax 3000  min－1 3000  rpm 
∗ Rated torque TR 4.7 N･m 48 kg･cm 
∗  Continuous stall torque   
TS 5.9  N･m 60 kg･cm 
∗  Instantaneous maximum stall torque   TP 15.2 N･m 155 kg･cm 
∗  Rated armature current   
IR 8.3 Arms 8.3 Arms 
∗  Continuous stall armature current   IS 9.0 Arms 9.0 Arms ∗  Instantaneous maximum stall 
armature current   IP 25.0 Arms 25.0 Arms 
 Torque constant KT 0.75 N･m/Arms 7.6 kg･cm/Arms 
  Induced voltage constant 
K E
φ 25.8  mV/min－1 25.8  V/krpm 
  Phase armature resistance Rφ 0.44 Ω 0.44 Ω 
  Electrical time constant 
te 4.5 msec 4.5 msec   Mechanical time constant   (not including sensor) tm 5.9 msec 5.9 msec 
 Inertia (including wiring-saved INC) 
JM 25.08 × 10－４kg･m2(GD2/4) 25 g･cm･s2 
  Inertia (including ABS-E) JM 25.1 × 10－４ kg･m2(GD2/4)25.1 g･cm･s2 
  Inertia (including ABS-RII) 
JM 25.08 × 10－４kg･m2(GD2/4) 25 g･cm･s2 
  Applicable load inertia   JL JM × 5 kg･m2(GD2/4)JM × 5 g･cm･s2 
  Weight (including wiring-saved INC) 
WE 11.7 kg 11.7 kg 
  Weight (including ABS-E) WE 11.6 kg 11.6 kg 
  Weight (including ABS-RII) 
WE 11.8 kg 11.8 kg 
Holding Brake Data Sheet (Option) 
 Holding torque 
TB  8.8 or more  N･m  90 or more  kg･cm  Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％  Exciting current 
IB 0.86/0.25 A(DC) 0.86/0.25 A(DC)  Inertia JＢ 0.5 × 10－４ ㎏･㎡(GD2/4) 0.5 g･cm･s2  Weight 
W 1.5 kg 1.5 kg 
• The mark ∗ denotes the value after a temperature rise.    The others are values at 68°F.    Each value is a typical one. 
•  Each value and characteristic was measured with a radiating plate equivalent or superior to a t20 × 400 mm square aluminum 
plate installed.   
•  The velocity-torque characteristics show values for a motor combined with an amplifier having 50A capacity and 200V AC, 
3-phase power supply voltage. When power supply voltage is below 200V AC, the instantaneous zone drops. 
 
速度－トルク特性
P10B13100H
（1.0kW
）
0 5 10 15 20
0 1000 2000 3000 4000
速度（ min-1）
トルク（
N・
m）
過負荷特性
P10B13100H
（1.0
ｋW
）
1 10 100 1000 10000
01234
出力電流比　（IP/IR）
時間　（Sec）
Instantaneous zone 
Continuous zone 
Velocity (min−1) 
Velocity-torque characteristics Overload characteristics 
Time (sec)
 
Torque (N
･m) 
Output current ratio (IP/IR)