(Recommended) Model and Suffix Codes

Transcription

AC SERVO DRIVES
DIRECT DRIVE
DYNASERV
Certified for
ISO9001 and
ISO14001
JQA-0422 JQA-EM0202
Direct Drive Motor
DYNASERV DM
, DR5H00, DR
, DB5C
Outline
The DYNASERV is a direct drive motor with high accuracy, high speed and high torque.
It is an outer rotor model.
DM
model : High accuracy optical encoder model with aluminum body that enables high torque per weight ratio.
DR5H00 : Low height iron body model with magnetic encoder.
DR
model : Magnetic encoder with large center aperture, high speed and high torque.
DB5C : Absolute encoder model.
Features
DM
Motor High Accuracy and High Resolution Model
Available three types (DM1A, DM1B and DM1C) with various torque size.
· High Accuracy and High Resolution
· Optical Encoder
· Excellent torque to weight ratio
· Aluminum body
DR5H00 Motor Flat Profile Model
Motor Height 42 mm (on 10 N · m & 20 N · m) & 62 mm (on 40 N · m)
· Motor Height 42 mm & 62 mm
· Magnetic encoder
· Encoder resolution: 3,407,872 pulse/rev, Repeatable Accuracy: ±0.4 arc sec
DR
Motor Large Center Aperture, High Speed and High Torque Model
Available in two speed categories, standard speed type: DR1A, DR1E and DR1B, high speed type : DR5A, DR5E , DR5B and DR5C.
· Large Center Aperture, High Speed and High Torque
· Excellent Environment Resistance
· Magnetic encoder
· DR5A, DR5E, DR5B and DR5C is High Speed Type
DB5C Motor Absolute Encoder Model
DB5C motor with an absolute positional detection function, which are derived from the DR
· Absolute encoder
motors.
<Support Tool>
(PLC)
<Operation Display Panel>
<Operation Display Pendant>
(PC)
<DYNASERV>
<Intellegent Drive DrvG , DrvP >
2
Direct Drive Motor
DYNASERV DM
, DR5H00, DR
, DB5C
Model and Suffix Codes*
(1) For DM
, DR
, DB5C Motor
Model
Suffix Code
Motor Model
Suffix Code (Optional)
Maximum Output Torque
Connector Type (Encoder Cable)
Basic Construction
Connector Type (Motor Cable)
Driver Compatibility
Cable Length
Operational Current
Cable Type
Positioning Accuracy (Absolute Accuracy)
Cable Exit Direction
Run-Out (Axial and Radial) Accuracy
(2) For DR5H00 Motor
Model
Motor Model
Suffix Code
Run-Out (Axial and Radial) Accuracy
Basic Construction
* : For more information, please refer to the (recommended) Model and Suffix Codes. (Page 42)
3
DM
Motor
High Accuracy and High Resolution Model
Specifications
(1) DM1A
Model
DM1A
N·m
Maximum Speed
rps
Rated Speed
rps
Rotation
Positioning
Motor and Drive
150
1.2 [1.2]
1.0 [0.5]
4,096,000*
arc sec
±15
Repeatable Accuracy
arc sec
±1*1
pulse/rev
100
Rated Power Consumption*
2
Rotor Inertia
Compression
Axial Load
Maximum Overhung Load
Axial Stiffness
1
kVA
2.4 [1.2]
2.7 [1.35]
3.0 [1.5]
3.0 [1.5]
kVA
0.71 [0.71]
1.12 [1.12]
1.5 [1.12]
1.9 [1.32]
kg · m2
96×10-3
119×10-3
142×10-3
167×10-3
4.0×104
N
Tension
2.0×104
N·m
Compression
400
2.0×10-6
mm/N
Tension
200
1.0 [1.0]
pulse/rev
Maximum Power Consumption
Motor
100
Absolute Accuracy (Typ.)
Encoder Resolution
Number of homing position
Variable Load Mechanical
Tolerance Tolerance*3
50
3.0×10-6
rad/N · m
4.0×10-7
Run-Out (Axial and Radial) Accuracy*
μm
100 (10, 5) *5 or less
Weight
kg
14.5
19
N·m
6
15
30
Maximum Speed
rps
2.5 [2.0]
Rated Speed
rps
2.0 [2.0]
2.0 [2.0]
2.0 [1.5]
Over hung load Stiffness
4
24
29
(2) DM1B and DM1C
Model
Rotation
Positioning
Motor and Drive
Encoder Resolution
Repeatable Accuracy
Rated Power Consumption*2
Motor
Rotor Inertia
Axial Load
Compression
Tension
Axial Stiffness
Compression
Tension
DM1B
60
2.0 [1.0]
1.5 [1.0]
2.4 [2.4]
4
2.5 [2.2]
2,621,440*
pulse/rev
2.0 [2.0]
1
arc sec
±20 or ±60*5
±15
±20 or ±60*5
arc sec
±3*
±1*
±3*1
1
1
pulse/rev
124
kVA
0.5 [0.35]
1.6 [0.8]
2.0 [1.0]
2.0 [1.0]
2.2 [1.1]
kVA
0.3 [0.3]
0.5 [0.5]
0.75 [0.67]
1.0 [0.75]
1.0 [0.8]
0.2 [0.2]
kg · m2
7.5×10-3
12×10-3
15×10-3
19×10-3
23×10-3
2.5×10-3
N
N·m
mm/N
60
124
0.4 [0.25]
200
3.0×104
50
200
1.0×104
50
50
200
—
—
2.5×10-6
—
—
3.0×10-6
—
-6
rad/N · m
—
Run-Out (Axial and Radial) Accuracy*4
μm
10 or less
Weight
kg
5
[Common Spec]
DM1C
45
—
1.0×10
100 (10, 5)*5 or less
5.5
7.5
9.5
100 (10)*5 or less
10 or less
12
3
Motor Winding Part Insulating Classes : Class F, Isolation Voltage : 1 minute 1500 VAC, Insulation Resistance : Over 10 MΩ (500 VDC)
Others
Structure : Outer Rotor Type, Excitation Method : 3 Phase, Coating : Black
1 : Shows the highest value. Depends on the driver settings.
2 : Indicate continuous rating according to CE.
3 : In the machine design, the mechanical tolerance must be multiplied by safety factors that correspond to the following conditions.
· For smooth operation without shock load: 1/3
· For operation with slight repetition load: 1/5
· For operation with shock load: 1/10
4 : Axial and radial run-out of the load mounting surface.
5 : Selectable.
Note : 1. All specifications are of 200-230 VAC. Figures in [ ] represent the specification for 100-115 VAC.
2. The rotation direction of DYNASERV is clockwise (CW) for forward reference when viewed from the load side.Other direct-drive motors rotate counterclockwise (CCW).
*
*
*
*
*
4
DM
Motor
Torque − Motor Speed Characteristics
(2) DM1B (Expect DM1B-006)
(1) DM1A
200
150
100
50
Maximum Output Torque (N·m)
70
DM1A-200
DM1A-150
DM1A-100
DM1A-050
0
0.5
60
50
DM1B-060
DM1B-045
40
30
20
DM1B-030
DM1B-015
10
1.0
Speed (rps)
0
0.5
1.0
1.5
2.0
Speed (rps)
200-230 VAC power supply
(3) DM1B-006 and DM1C
6
DM1B-006
Axial run-out
Radial run-out
5
4
DM1C-004
3
2
Measurement for Run-Out (Axial and Radial)
1
0
1.0
2.0
2.5
Speed (rps)
Environment Specifications
Motor
Operation
Storage
Temperature
0 to 45°C: Standard
0 to 40°C: CE continuous rating
Humidity
20 to 85% RH
Temperature
-20 to 85°C
Humidity
20 to 85% RH
Atmosphere
Remarks
No condensation
No condensation
Must be no corrosive gasses, dust and dirt.
Must be used at a maximum altitude of 1000 meters above sea level
(CE mounting condition)
5
DM
Motor
External Dimensions (Unit: mm)
(1) DM1A
L
6-M8, depth 10
(equal distance
between each
hole)
6-M6, depth 15
(equal distance
between each
Stator
hole)
10+20
(48)
.2
±0
70
ø1
(ø26.5)
ø264
ø58 +0.50
(Hole)
-0.06
ø230-0.02
0.2
±
ø246
(48)
-0.05
ø200 -0.02
5±0.2
(26.5)
Rotor
Encoder cable
(ø9.8: Robot cable)
(ø8.5: Fixed cable)
Motor cable
(ø 9.4: Robot cable)
: Rotor
: Stator
Maximum Output Torque (N · m)
Length L (mm)
50
±1
113
100
±1
138
150
±1
163
200
188±1
(2) DM1B(Expect DM1B-006)
Stator
L
6-M6, depth 8
(equal distance
between each
hole)
11+20
(28) (28)
ø104±0.2
ø116-0.05
+0.5
0
(Hole)
(ø26.5)
ø25
ø160
.2
±0
ø146
-0.02
ø136-0.06
-0.02
6-M6, depth 8
(equal distance
between each 3±0.2
hole)
(26.5)
Rotor
Encoder cable
(ø9.8: Robot cable)
Motor cable
(ø 9.4: Robot cable)
: Rotor
: Stator
6
15
30
45
60
Length L (mm)
92.5±1
118±1
143±1
168±1
DM
Motor
(3) DM1B-006
4-ø7 Hole
6-M4, depth 6
(equal distance
between
3
each hole)
.2
ø158
8.5
10
5
160
140
±0
ø146
L
ø136 -0.02
-0.06
ø25 (Hole)
160
140
10
Motor cable
(ø1.22×4 no shield)
30
R5
4-
30
2-M4
(16)
(12)
Encoder cable
Rotor
Stator
: Rotor
: Stator
6
Length L (mm)
65±0.7
(4) DM1C
ø104 ±0
.2
30°
±0.2
ø128
Rotor
Encoder cable (ø7.5)
10°
Motor cable
L
14
ø140
*
ø116
ø90 -0.02
-0.06
ø25 (Hole)
6-ø4.5 holes
Counterbore ø8 depth 5
(equal distance
between
3
each hole)
6-M4, depth 6*
(equal distance between each hole)
: Effective length : 4
Stator
: Rotor
: Stator
4
Length L (mm)
77±0.5
7
DR5H00 Motor
Flat Profile Model
Specifications
Model
DR5H00
Maximum Peak Torque
N·m
10
20
40
Mamximum Constant Torque*1
N·m
6
12
30
rps
Constant Speed
Rotation
Positioning
Motor and Drive
Maximum Speed
rps
Encoder Resolution
3.0 [1.5]
3.0 [1.6]
arc sec
±80
Repeatable Accuracy*3
arc sec
±0.4*2
pulse/rev
kVA
1.3 [0.65]
kVA
0.86 [0.43]
4
—
Rotor Inertia
kg · m2
Mechanical
Tolerance*5
Origin Sensor
Axial Load
Compression
Tension
3.2 [1.6]
2.64 [1.32]
Included
2.2×10-2
3.7×10-2
N
2000
N
1000
N·m
100
2
Load Inertia
2.2
kg · m
μm
Weight
kg
3.0 [2.7]
52
Environment
Specifications
3.6 [3.6]
3,407,872*2
pulse/rev
Motor
3.6 [2.5]
3.7
50(20, 5)*7 or less
10
13
0-40°C (for working)/-20-85°C (for storage)*8
(If not conform to CE Standard; 0-45°C (for working))
Temperature
—
Humidity
—
20-85% RH Non Condensation
—
No corrosive gas, dust and dirt must be present.
Altitude must be less than 1000 meters above sea level.
Atmosphere
[Common Spec]
Others
Structure : Outer Rotor Type, Excitation Method : 3 Phase
1 : In the condition where metal base with adequate heat absorption characteristic.
3 : The value was measured in the following setting using micro-meter: A metal arm with loading inertia of 0.04 kg · m2 was attached to a motor.
The motor turned to stop at the same position seven times from the same direction.
7 : Selectable.
8 : DR5H00 motor supports the CE mark without suffix code (optional)"/CE".
2. The rotation direction of DYNASERV is clockwise (CW) for forward reference when viewed from the load side.
Other direct-drive motors rotate counterclockwise (CCW).
*
*
*
*
*
*
*
*
DR5H00
arm
DR5H00-040
40
30
Axial run-out
Radial run-out
DR5H00-020
20
DR5H00-010
10
0
1.0
8
2.0
Speed (rps)
3.0
3.5
DR5H00 Motor
Flat Profile Model
(1) DR5H00-010 and DR5H00-020
Marking
DR5H00-010: Color White
DR5H00-020: Color Red
6-M4, depth 6
(equal distance
between each hole)
224
180 ±0.2
22
4-ø8.5
112
42 ±1
1
*Axial
run-out
0
-0.2
7
0.5
3
2 ±0.2
ø224
ø136
-0.02
øD -0.06
224
180 ±0.2
ø122
ø140.5
ø50+0.5
0 Hole
±0.2
ø121
6-M5, depth 8
*4
6-M5, depth 8
A
0
112 -0.2
22
1
*Radial
run-out
*2
±0.2
ø131
O
4°
Axial
run-out
Radial
5 μm or less
20 μm or less
111.9
111.9
-A6
50 μm or less
112
: Rotor
0.5
øD
7
motor is used upside or load is variable,
*2 : When
the motor must be fixed by using M5 depth 8
(18)
(68)
(12)
Code
-A1
-A7
ø122
ø140.5
ø230
1 : Run-Out Accuracy
(3)
(13)
Normaly rotor surface has Non-electrolytic Nickel Plating.
However if run-out accuracy of "-A1" or "-A7" are
selected, there is no Nickel Plating and only has antirust
coating on a surface indicated as "B".
(11)
0.5
(38)
(28)
4°
Homing Position Hole:
ø3, depth 5
*Suffix
B
7
(48)
(38)
0
C2
4-
(38)
115
4-R
holes.
A-O Dissection (Stator)
: Stator
(2) DR5H00-040
6-M6, depth 8
(equal distance
between each hole)
224
180 ±0.2
22
4-ø8.5
112
*
2 ±0.2
3
Axial run-out
0
-0.2
62 ±1
3
9
0.5
A
ø224
ø136
-0.02
øD -0.06
224
180 ±0.2
ø122
ø140.5
±0.2
ø121
ø50 +0.5
0 Hole
112
0
-0.2
22
3
*Radial
run-out
±0.2
ø131
O
4°
Code
-A1
-A7
-A6
run-out
Radial
5 μm or less
20 μm or less
50 μm or less
: Rotor
øD
111.9
111.9
112
0.5
9
ø122
ø140.5
ø230
Accuracy
*3Suffi: Run-Out
x
Axial
(3)
(13)
Normaly rotor surface has Non-electrolytic Nickel Plating.
However if run-out accuracy of "-A1" or "-A7" are
selected, there is no Nickel Plating and only has antirust
coating on a surface indicated as "B".
0.5
A-O Dissection (Stator)
motor is used upside or load is variable,
*4 : When
the motor must be fixed by using M5 depth 8
(18)
(68)
(16)
4°
(43)
(33)
Homing Position Hole:
ø3, depth 5
(38)
B
9
(13)
0
C2
4-
(48)
(38)
115
4-R
holes.
: Stator
9
DR1
Motor
Large Center Aperture and High Torque Model
Specifications
(1) DR1A
Model
DR1A
N·m
50
100
150
Maximum Speed
rps
1.8 [1.8]
1.2 [1.2]
1.2 [1.0]
Rated Speed
rps
1.5 [1.5]
1.0 [1.0]
Rotation
Positioning
Motor and Drive
1.2 [0.8]
1.0 [0.5]
arc sec
±30
Repeatable Accuracy
arc sec
±3*1
pulse/rev
200
kVA
Rotor Inertia
Compression
Axial Load
Axial Stiffness
2.5 [1.25]
2.5 [1.25]
3.0 [1.5]
3.0 [1.5]
kVA
1.0 [1.0]
1.12 [1.12]
1.5 [0.85]
kg · m2
180×10-3
200×10-3
230×10-3
μm
Weight
kg
1.4 [0.9]
1.8 [1.12]
285×10-3
340×10-3
400×10-3
400
3.0×10-6
4.0×10-7
rad/N · m
4
1.9 [1.06]
2.0×10-6
mm/N
Tension
3.2 [1.6]
2.0×104
N·m
Compression
3.2 [1.6]
4.0×104
N
Tension
0.8 [0.4]
0.5 [0.25]
2
400
1.0 [0.5]
1,638,400*1
Motor
300
pulse/rev
Encoder Resolution
200
100 (10, 5)* or less
100 (20)*5 or less
5
26
31
36
45
55
65
(2) DR1E and DR1B
Model
DR1E
N·m
70
100
DR1B
130
160
rps
2.4 [2.0]
2.4 [1.5] 1.2 [1.2] 1.2 [1.0]
Rated Speed
rps
2.0 [1.5]
1.5 [1.0]
Encoder Resolution
Repeatable Accuracy
220
250
8
15
1.2 [0.7]
1.0 [0.5]
30
2.4 [2.4]
2.0 [2.0]
45
60
2.4 [1.8] 2.4 [1.4]
2.0 [1.5] 2.0 [1.0] 1.5 [1.0]
pulse/rev
1,228,800*1
1,015,808*1
arc sec
±45
±45
arc sec
±3*
±3*1
pulse/rev
150
124
1
kVA
1.8 [0.9] 2.0 [1.0] 2.3 [1.15] 2.5 [1.25] 2.8 [1.4] 3.0 [1.5] 3.2 [1.6] 1.0 [0.5] 1.4 [0.7] 1.8 [0.9] 2.1 [1.05] 2.3 [1.15]
kVA
0.9 [0.71] 1.4 [1.0] 1.5 [1.06]
2
kg · m2
Tolerance*3 Tolerance*3
Rotor Inertia
Motor
30
Maximum Speed
Rotation
Positioning
Motor and Drive
Axial Load
Compression
Tension
Axial Stiffness
Compression
Tension
72×10-3
1.5 [0.9] 1.6 [1.12] 1.8 [1.25] 0.4 [0.4] 0.5 [0.5]
85×10-3 100×10-3 125×10-3 140×10-3 170×10-3 185×10-3 15×10-3
N
21×10-3
N·m
mm/N
rad/N · m
μm
100 (10, 5)*5 or less
Weight
kg
18
22
26
0.75
[0.67]
0.8 [0.67]
0.71
[0.71]
24×10-3
26×10-3
33×10-3
4.0×104
3.0×104
4
1.0×104
400
200
2.0×10-6
3.0×10-6
3.0×10-6
4.0×10-6
4.0×10-7
2.0×10-6
2.0×10
[Common Spec]
1.25
[0.75]
100 (20)*5 or less
32
36
44
100 (10)*5
or less
100 (10, 5)*5 or less
48
6.0
9.0
11
13
15.5
Others
5 : Selectable.
*
*
*
*
*
10
DR1
Motor
(1) DR1A
(2) DR1E
400
450
DR1A-400
350
300
DR1A-300
250
200
150
100
50
DR1A-200
DR1A-150
250 DR1E-250
DR1E-220
200
150
100
DR1A-100
DR1E-160
DR1E-130
DR1E-100
DR1E-070
50 DR1E-030
0
0.5
DR1A-050
0
0.5
1
1
Speed (rps)
1.5
2
1.5
Speed (rps)
(3) DR1B
Axial run-out
70
60
Radial run-out
DR1B-060
50 DR1B-045
40
30
DR1B-030
20 DR1B-015
10 DR1B-008
0
0.5
1
Speed (rps)
1.5
2
Motor
Operation
Storage
Temperature
Humidity
20 to 85% RH
Temperature
-20 to 85°C
Humidity
20 to 85% RH
Atmosphere
Remarks
No condensation
No condensation
11
DR1
Motor
(1) DR1A
6-M8, depth 12
Stator
L
(equal distance
between
each hole)
Rotor
70
ø1
6-M8, depth 12
(equal distance
between each hole)
79
(88)
.2
±0
ø264
ø192
-0.02
-0.05
(ø150)Hole
-0.02
-0.06
ø252
ø215
0.2
(88)
11 +20
5±0.2
±
ø230
Motor cable
(ø3.2×4 no shield) *
: Rotor
: Stator
50
±1
Length L (mm)
158
100
150
±1
185
212
±1
200
300
±1
±1
250
304
400
358±1
(2) DR1E
6-M8, depth 12
Stator
(equal distance
between
each hole)
L
16 +20
-0.02
ø120 -0.05
ø205
0.2
±
ø174
ø190
-0.02
ø162-0.06
(ø76)Hole
5±0.2
Rotor
(52.5)
.2
±0
ø104
6-M8, depth 12
(equal distance
between each hole)
74
(52.5)
Motor cable
: Rotor
: Stator
30
70
100
130
160
220
250
Length L (mm)
156±1
183±1
210±1
243±1
271±1
327±1
355±1
* : If more than 4 m long cables can be shielded multi-conductor line. For more information please contact us.
12
DR1
Motor
(3) DR1B (Except DR1B-008)
6-M6, depth 9
Stator
(equal distance
between
each hole)
4±0.2
6+20
(37)
-0.02
ø86 -0.05
ø150
ø145
-0.02
ø120 -0.06
(ø56) Hole
±0.2
0
ø13
Encoder
cable (ø6.8)
L
62
Rotor
(37)
.2
±0
ø72
Motor cable
6-M6, depth 12
(equal distance
between each hole)
: Rotor
: Stator
15
30
45
60
Length L (mm)
123±1
151±1
179±1
207±1
(4) DR1B-008
Encoder
cable (ø6.8)
3.4±0.5
-0.02
-0.05
ø86
ø145
3±0.2
-0.02
ø120 -0.06
(ø56) Hole
±0.2
0
ø13
Stator
L
Rotor
46.3
ø145
6-M5, depth 5
(equal distance
between
each hole)
6-M6, depth 12
(equal distance
between each hole)
(37) (37)
ø72±0.2
Motor cable
: Rotor
: Stator
8
Length L (mm)
85±1
13
DR5
Motor
Large Center Aperture, High Speed and High Torque Model
Specifications
(1) DR5A
Model
DR5A
N·m
400
500
Maximum Speed
rps
2.0
rps
1.5
pulse/rev
851,968*1
arc sec
±45
Repeatable Accuracy
arc sec
±3*1
pulse/rev
104
Encoder Resolution
kVA
2
Rotor Inertia
Motor
300
Rated Speed
Rotation
Positioning
Motor and Drive
Compression
Axial Load
7.3
kVA
2.4
2.9
3.4
340×10-3
400×10-3
460×10-3
4.0×104
2.0×104
N·m
Compression
400
2.0×10-6
mm/N
Tension
3.0×10-6
4.0×10-7
rad/N · m
μm
Weight
kg
4
7.6
kg · m2
N
Tension
Axial Stiffness
7.0
100 or less
55
65
75
(2) DR5E, DR5B and DR5C
Model
DR5B
Maximum Speed
rps
4.0
5.0
Rated Speed
rps
2.0
4.0
pulse/rev
638,976*
557,056*
425,984*1
arc sec
±90
±90
±150
arc sec
±4*
±5*
±5*1
pulse/rev
78
kVA
3.4
3.1
3.1
3.4
0.6
1.2
Rated Power Consumption*2
kVA
1.7
0.67
0.95
1.18
0.3
0.35
Encoder Resolution
Repeatable Accuracy
2
Rotor Inertia
Axial Load
kg · m
Compression
Tension
Axial Stiffness
Compression
Tension
N
N·m
mm/N
rad/N · m
30
DR5C
100
Motor
DR5E
N·m
Rotation
Positioning
Motor and Drive
50
1
5
10
1
4.0
1
68
125×10
-3
27×10
-3
15
6.0
1
34×10
52
-3
-3
37×10
-3
6×10
7×10
1.4
-3
4.0×104
3.0×104
5×103
4
4
3×103
400
200
20
2.0×10-6
3.0×10-6
4×10-6
3.0×10-6
4.0×10-6
8×10-6
-7
-6
8×10-6
2.0×10
1.0×10
4.0×10
2.0×10
μm
100 or less
100 (10, 5)*
or less
Weight
kg
32
13.5
[Common Spec]
70
5
100 (20)*5 or less
16.0
18.0
0.3
8×10-3
100 (10)*5 or less
5.5
6.5
7.5
Others
5 : Selectable.
Note : 1. All specifications are of 200-230 VAC.
*
*
*
*
*
14
DR5
Motor
(1) DR5A
(2) DR5E
500
400
300
120
DR5A-500
DR5A-400
DR5A-300
200
100
0.5
0
1.0
Speed (rps)
1.5
2.0
100
DR5E-100
80
60
40
20
0
(3) DR5B
DR5B-050
40
30
DR5B-030
20
10
0
1.0
2.0
3.0
Speed (rps)
4.0
Motor
Storage
5.0
DR5C-015
12
10 DR5C-010
8
6
DR5C-005
4
2
0
5.0
Operation
4.0
14
16
DR5B-070
60
50
2.0
3.0
Speed (rps)
(4) DR5C
80
70
1.0
Temperature
Humidity
20 to 85% RH
Temperature
-20 to 85°C
Humidity
20 to 85% RH
Atmosphere
1.0
2.0
3.0
Speed (rps)
4.0
5.0
6.0
Axial run-out
Remarks
Radial run-out
No condensation
No condensation
15
DR5
Motor
(1) DR5A
6-M8, depth 12
Stator
L
(equal distance
between
each hole)
Rotor
: Rotor
70
ø1
6-M8, depth 12
(equal distance
between each hole)
79
(88)
.2
±0
ø264
ø192
-0.02
-0.05
(ø150) Hole
-0.02
-0.06
ø252
ø215
0.2
(88)
11 +20
5±0.2
±
ø230
Motor cable
300
400
500
Length L (mm)
309±1
363±1
417±1
: Stator
(2) DR5E
6-M8, depth 12
Stator
(equal distance
between
each hole)
L
16 +20
-0.02
ø120 -0.05
ø205
0.2
±
ø174
ø190
-0.02
ø162-0.06
(ø76) Hole
5±0.2
Rotor
74
(52.5)
(52.5)
.2
±0
ø104
6-M8, depth 12
(equal distance
between each hole)
Motor cable
: Rotor
: Stator
100
Length L (mm)
243±1
16
DR5
Motor
(3) DR5B
6-M6, depth 9
Encoder
cable (ø6.8)
L
6+20
(37)
-0.02
ø86 -0.05
ø150
±0.2
0
ø13
Stator
ø145
-0.02
ø120 -0.06
(ø56) Hole
(equal distance
between
each hole)
4±0.2
62
Rotor
(37)
.2
±0
ø72
6-M6, depth 12
(equal distance
between each hole)
Motor cable
: Rotor
: Stator
30
50
70
Length L (mm)
184±1
212±1
240±1
10
15
(4) DR5C
L
5 +10
3±0.2
Stator
Motor cable
(2
4)
(
-0.02
ø60 -0.05
(ø26) Hole
ø100
-0.02
ø74 -0.08
.2
±0
4
ø8
6-M5, depth 7
(equal distance
between each
hole)
24
)
ø50 ±0
.2
Rotor
4-M6, depth 13
(equal distance
between each hole)
45°
: Rotor
: Stator
Length L (mm)
5
±1
113
±1
140
167±1
17
DB5C Motor
Absolute Encoder Model
Specifications
Model
DB5C
N·m
10
rps
6.0
Rated Speed
rps
4.0
pulse/rev
425.984*1
arc sec
±150
Repeatable Accuracy
arc sec
±5*1
Encoder Resolution
kVA
2
Rotor Inertia
Motor
5
Maximum Speed
Rotation
Positioning
Motor and Drive
Compression
Axial Load
0.3
0.35
0.3
6×10-3
7×10-3
8×10-3
5×103
3×103
20
4×10-6
mm/N
Tension
8×10-6
rad/N · m
8×10-6
μm
100 (10)*5 or less
Weight
kg
4
1.4
kVA
N·m
Compression
1.2
kg · m2
N
Tension
Axial Stiffness
0.6
15
5.5
6.5
7.5
[Common Spec]
Others
5 : Selectable.
Note : 1. All specifications are of 200-230 VAC.
*
*
*
*
*
Axial run-out
16
DB5C-015
Radial run-out
14
12
10
DB5C-010
8
6
DB5C-005
4
2
0
1.0
2.0
3.0
4.0
Speed (rps)
5.0
6.0
Motor
Operation
Storage
Temperature
Humidity
20 to 85% RH
Temperature
-20 to 85°C
Humidity
20 to 85% RH
Atmosphere
18
Remarks
No condensation
No condensation
DB5C Motor
Absolute Encoder Model
DB5C
5+10
Origin mark
Motor cable
-0.02
ø60 -0.05
(ø26) Hole
-0.02
ø74 -0.06
3±0.2
ø100
±0.2
ø84
Stator
L
(2
4)
ø107
6-M5, depth 7
(equal distance
between
each hole)
(2
4)
ø50 ±0
.2
45°
4-M6, depth 13
(equal distance between each hole)
Rotor
: Rotor
: Stator
5
10
15
Length L (mm)
128±1
155±1
182±1
19
Intelligent Drive
DrvG
Features
Yaskawa's DrvG is a direct drive of greater control performance and operability.
The features are as follows:
(1) The position settling time is shortened by enhanced controllability.
(2) The built-in position controller allows operation by the program table.
(3) The DrvG can handle various types of commands, including PLS-SIGN (STEP-DIR), UP-DOWN, A-B encoder position
command pulses, speed commands, and torque commands.
(4) Compatible with MECHATROLINK- interface.
MECHATROLINK- enables high resolution, high-speed control and multi-axis synchronization. It also lessens wiring.
(When Considering a MECHATROLINK, please contact us for detail.)
(5) An auto-tuning function has been added.
(6) In addition to the CE mark, the UL certificate and KC mark has been granted for the DrvG Intelligent Drive.
(7) Support Tool Software is user-friendly and can be used on a PC to perform numerous functions, such as oscilloscope
functions, motorless operation, and terminal assignment.
(8) For user convenience, the Operation Display Panel and the Operation Display Pendant are available for parameter
setting and maintenance.
Model
Basic Drive Model
Compatible Motor Size
Resolution
Basic Construction
Motor Operational Current
Suffix Code
Supported Standard
Interface Specification
Interface Type
Power Supply Voltage
20
Intelligent Drive
DrvG
System Configuration/Connection Diagram
Power
Support Tool Softwere
Operation
*Display
Pendant
[PC000G3]
Operation
*Display
Panel
Circuit Protector or
Circuit Breaker
[PC100G3]
PC
DrvG
Drive
(Direct Connection to CN1)
Line Filter
RS232C Cable
*Dedicated
[C1P-ENN-2276-020]
Control Power
Supply Cable
Sensors/Relays
Home Sensor
± over-travel
(End of Travel (EOT) Limits)
Regeneration Error
*
Analog
Monitor Card
Electromagnetic
Contactor
Sensor Cable
Main Power Supply Cable
Cable
*Controller
(PLC Cable)
Regen. Resistor
(included)
[C1P-ENN-4202-
*Motor Filter
Motor Cable
*[C1M-
-
Ground
]
PLC
]
DM
Motor
, DR5H00,
DR
Encoder Cable
*[C1E-
-
]
If necessary,
please attache
the Motor Filter
to a Motor Cable
between the Motor
and Drive
* : Separate sale for motor and drive.
21
Intelligent Drive
DrvG
Specifications
Wattage Class
500W Class
Main
power supply
Power supply
2kW Class
200 to 230 VAC / 100 to 115 VAC
Maximum power consumption 1.3 kVA
50/60 Hz
+10%
-15%
Control
power supply
200 to 230 VAC / 100 to 115 VAC
Temperature
0 to +50°C (Operation) / -20 to +85°C (Storage)
Humidity
20 to 90% RH No condensing (Operation and Storage)
Atmosphere
No corrosive gases, dust-free atmosphere
Must be used at a maximum altitude of 1000 meters above sea level (CE mounting condition)
Environment
50/60 Hz
Maximum power consumption 40 VA
Installation
Basic Specifications
+10%
-15%
Wall-mount
Fan
N/A
Built-in DC Fan
Regenerative
Resistor
External
Built-in
External Dimensions
60 W×195 H×150 D (mm)
100 W×195 H×200 D (mm)
Weight
1.2 kg
2.5 kg
Construction
Low voltage (declaration) EN50178, EMC (declaration) EN55011 class A group 1, EN61800-3
Conformed Standard
UL508C
KC mark
Resistance and Pressure
Insulation resistance : 10 MΩ or more (500 VDC), Insulation pressure : 1500 VAC 1 minute
Encoder Resolution
Value inside ( ) is
factory default value for
DYNASERV
Communication Interface
command and monitor
pulses.
Serial Interface
(RS232C/RS485)
Controller Interface
Open Network
Control Section
Mechanical Input Signal
UD1BG3 ; 2,621,440 p/rev (655,360 p/rev)
UD1CG3 ; 2,621,440 p/rev (655,360 p/rev)
UR5HG3 ; 3,407,872 p/rev (425,984 p/rev)
UR5CG3 ; 425,984 p/rev (212,992 p/rev)
Communication
Communication Speed
Multi-channel (RS485)
Start-stop system, binary communication
38,400 bps
Max. 10 channels
Pos. Command pulse (input)
Pos. Monitor pulse (output)
Contact I/O
Analog input
[PLS-SIGN (STEP-DIR)], [UP-DOWN], [A-B encoder]
[UP-DOWN], [A-B encoder]
12 for input, 6 for output (with user configurable function)
Velocity,
Torque command (Select “T” in the suffix code)
Torque limit, Torque feed forward
MECHATROLINK- compatible (Select "M2" in the suffix code) *1
Drive Model : UD1AG3, UD1BG3, UD1CG3, UR5HG3, UR1AG3, UR1EG3, UR1BG3, UR5EG3, UR5BG3,
UR5CG3
Homing sensor, End Of Travel (EOT)
Position Control
I-PD control, PID control
Velocity Control
Proportional control, PID control
Feed Forward
Filter
Operation Functions
Safety Features
Monitor
Operation / Display
Miscellaneous
Position, velocity and acceleration
Velocity command, velocity feedback, phase delay compensation and notch (2ch) filters
Homing, test, auto-tuning, positioning and jog move functions
Encoder error, over voltage, over current, low bus line power voltage, power failure, over load, regen. Error
detection, over speed,
excessive pos. deviation, hardware EOT and software EOT (for linear coordinate)
Velocity, current instruction, analog (2ch) and digital (2ch)
Operation Display Panel (Optional)
Operation Display Pendant (Optional) *2
Support Tool (Contact your Yaskawa representative.)
Servo deceleration function at power failure (immediate stop)
Dynamic brake (Select "-1B" or "-1L" in the suffix code)
Considering a MECHATROLINK, please contact us.
*12 :: When
This unit CANNOT be used with DrvG with MECHATROLINK*
22
UD1AG3 ; 4,096,000 p/rev (1,024,000 p/rev)
UD1BG3 ; 2,621,440 p/rev (655,360 p/rev)
UR5HG3 ; 3,407,872 p/rev (425,984 p/rev)
UR1AG3 ; 1,638,400 p/rev (819,200 p/rev)
UR1EG3 ; 1,228,800 p/rev (614,400 p/rev)
UR1BG3 ; 1,015,808 p/rev (507,904 p/rev)
UR5EG3 ; 638,976 p/rev (319,488 p/rev)
UR5BG3 ; 557,056 p/rev (278,528 p/rev)
(suffix code "M2") and DrvP
with PROFIBUS-DP (suffix code "P1").
DrvG
Intelligent Drive
4kW Class
3 phase 200 to 230 VAC
Main power supply
+10%
-15%
50/60 Hz
Maximum power consumption 7.6 kVA(varies depending on the connected motor)
Single phase 200 to 230 VAC
Control power supply
+10%
-15%
50/60 Hz
Environment
Temperature
Construction
Power supply
Wattage Class
Humidity
20 to 90%RH No condensing (Operation and Storage)
Atmosphere
Installation
Wall-mount
Fan
2 Built-in DC Fans
Regenerative Resistor
Built-in (Note : External regenerative resistor may be required depending on the operating conditions.)
External Dimensions
200 W×195 H×200 D (mm)
Weight
6.5 kg
Low voltage (declaration) EN61800-5-1, EMC (declaration) EN55011 class A group 1, EN61800-3
Conformed Standard
UL508C
KC mark
Encoder Resolution
Value inside ( ) is factory default value for
command and monitor pulses.
Serial Interface
(RS232C/RS485)
Control Section
DYNASERV
UR5AG3 ; 851,968 p/rev
Communication
Communication Speed
38,400 bps
Max. 10 channels
Pos. Command pulse (input)
Pos. Monitor pulse (output)
Contact I/O
Analog input
[PLS-SIGN (STEP-DIR)], [UP-DOWN], [A-B encoder]
[UP-DOWN], [A-B encoder]
12 for input, 6 for output (with user configurable function)
Velocity,
Torque command (Select “T” in the suffix code)
Torque limit, Torque feed forward
Position Control
Velocity Control
Feed Forward
Filter
Operation Functions
Safety Features
Monitor
Operation / Display
Miscellaneous
(425,984 p/rev)
Encoder error, over voltage, over current, low bus line power voltage, power failure, open-phase detection, over
load, regen. Error detection, over speed,
excessive pos. deviation, hardware EOT and software EOT (for linear coordinate)
Operation Display Pendant (Optional)
23
DrvG
Intelligent Drive
Connectors and Terminals
<500 W class, 2 kW class>
<4 kW class>
CN1: Serial Interface
Connector
(RS232C/485)
Connector
(RS232C/485)
CN3:
Analog Monitor
Connector
TB4: Sensor Terminal
TB1: Power Supply
Terminal
CN4:
Connector
TB3: Regen.
Resistor Terminal
CN3:
Analog Monitor
Connector
TB1:
Main power supply/
control power
supply terminal
block
TB4: Sensor
Terminal
CN4:
Connector
GND Terminal
TB2: Motor Terminal
CN2: Encoder
Connector
CN2: Encoder Connector
GND Terminal
TB3: Regen. Resistor Terminal
TB2: Motor Terminal
Power Supply
No.
Item
Connector Part Number
Description
Remark
TB1
Power Supply Terminal
Connector : 231-204/026-000 (WAGO)
For main and control power supply
Included
TB2
Motor Terminal
Connector : 231-203/026-000 (WAGO)
For motor cable
Included
Together with
regenerative registor
TB3
Regen. Resistor Terminal
Connector : 231-202/026-000 (WAGO)
For regenerative resistor
GND
GND Terminal
M4 screw
Protected ground
<4 kW class>
No.
Terminal block with M4 screw
TB2
Item
Main power supply/control
power supply terminal
Motor Terminal
For motor cable
TB3
Connector : 231-202/026-000 (WAGO)
GND
GND Terminal
M4 screw
Protected ground
TB1
TB1: Power Supply Terminal
Definition
Remark
<4 kW class>
TB1: Main power supply/control power supply terminal
Pin No.
Signal
Pin No.
Signal
1
LINE (CONT) L
AC power input for control circuit
1
LINE (CONT) R
2
LINE (CONT) N
2
LINE (CONT) S
3
LINE (MAIN) L
AC power input for driving motor
3
LINE (MAIN) R
4
LINE (MAIN) N
4
LINE (MAIN) S
5
LINE (MAIN) T
−
GND
TB2: Motor Terminal
Definition
Protected ground
TB2: Motor Terminal
Pin No.
Signal
Definition
Pin No.
Signal
1
VA
Output of phase A of motor
1
VA
2
VB
Output of phase B of motor
2
VB
3
VC
Output of phase C of motor
3
VC
4
GND
TB3: Regenerative Resistor Terminal
24
Description
Definition
Motor GND
Pin No.
Signal
Definition
Pin No.
Signal
Definition
1
RES +
Regenerative resistor +
1
RES +
2
RES -
Regenerative resistor -
2
RES -
DrvG
Intelligent Drive
Control section
<500 W class, 2 kW class, 4 kW class>
TB4
Sensor Terminal
Connector : 733-106 (WAGO)
For home sensor and ±EOT
Standard
CN1
Serial Interface Connector
(RS232C/485)
Connector : DA-15PF-N (JAE)
Cover
: DA-C8-J10-F4-1R
For Operation Display Panel, Operation
Display Pendant and PC
Optional
CN2
Encoder Connector
Connector : PCR-S20FS+ (Honda)
Cover
: PCR-LS20LA1
For encoder cable
Optional
CN3
Analog Monitor Connector
Analog monitor card
For monitors and oscilloscope
Optional
CN4
Controller
Interface
Connector
Suffix code
"SA","SB"
,"TA","TB"
,"UA","UB"
Cover
: PCR-LS36LA
Suffix code
"M2" *
Cable : MECHATROLINK- standard cable
Optional
For connection to PLC
Please prepare by
yourself.
* : When Considering a MECHATROLINK, please contact us. 4 kW class drive UR5AG3 (Motor model DR5A) is not supported on MECHATROLINK-
(Suffix code "M2").
Pin No.
Signal
1
COMP0
Definition
2
XORG
Sensor Input Specifications
Sensor power
Rated Voltage
Home input Normal-close
Rated Input Current
3
XOTD
- EOT input Normal-close
4
XOTU
+EOT input Normal-close
5
ERR+
Regeneration error output +
Operating Voltage (for COMP0)
6
ERR-
Regeneration error output -
Breaker Capacity
Input Impedance
12 to 24 VDC (±10%)
4.1 mA/point (at 12 VDC)
3.0 kΩ
3.0 VDC when power is OFF
9.0 VDC when power is ON
To be off at less than 1.0 mA
Regeneration Error Output
Max. Working Voltage
30 VDC
Max. Output Current
50 mA
Vcc
Vcc
100 kΩ
COMP 0
XORG
XOTD
XOTU
ERR+
10 kΩ
470Ω
0.01 μF
2.7 kΩ
PS2805
ERRPS2702
CN1: Serial Interface Connector (RS232C/485)
*
Pin No.
Signal
1
FG
Frame GND Signal (Shield)
2
RxD
RxD terminal RS232C single channel communication
3
TxD
TxD terminal RS232C single channel communication
4
A
Rx (+) side terminal RS485 multi-channel communication
5
Y
Tx (+) side terminal RS485 multi-channel communication
6
485SW
Busy condition bit RS485 multi-channel communication
Terminator terminal RS485 multi-channel communication
(short circuit to #14 TRMN)
Busy condition bit CN1
7
TRMP
8
CN1SW
Definition
+5V power (Operation Display Panel and Pendant) *
9
+5V
10
SG
11
B
Rx (-) side terminal RS485 multi-channel communication
12
Z
Tx (-) side terminal RS485 multi-channel communication
13
SG
14
TRMN
15
SG
Signal GND terminal
(short circuit to #7 TRMP)
Signal GND terminal
Signal GND terminal
: Do not connect in RS232C/485 communication.
25
Intelligent Drive
DrvG
Pin No.
CN3: Analog Monitor Connector
Signal
Motor
DM
DM1B-006
DM1C-004
(excl. Left hand side
models)
DR5H00·
DR
Motor
+10V
+10V
—
1
2
—
—
+S0
3
θ SIG 0
θ SIG 0
—
4
—
ECLK+(10V)
—
5
θ SIG 1
θ SIG 1
—
6
—
—
-S0
7
ECLK+(3V)
—
—
8
—
—
-C0
9
—
ZERO+
—
10
—
—
+C0
11
—
—
+S180
12
GND
GND
—
13
—
ECLK-(10V)
—
14
GND
GND
—
-S180
15
—
—
16
GND
GND
—
17
—
—
-C180
18
ECLK-(3V)
—
—
19
—
ZERO-
—
20
—
—
+C180
Case
Shielding wire
Shielding wire
FG / Shielding wire
Pin No.
Signal
1
VEL
2
AMON1
3
AMON2
4
DMON1
5
DMON2
6
T-R
7
T-T
Reserved For maintenance purpose
8
T-S
9
Definition
Velocity monitor terminal
Analog monitor terminal 1 (general
purpose monitor 1)
purpose monitor 2)
Digital monitor terminal 1 (general
purpose monitor 1)
purpose monitor 2)
Current command
<Prohibited> Reserved Do not connect any line.
10
GND
GND terminal for monitor
CN4: Controller Interface Connector
Contact I/O Suffix Code "SA","SB","TA","TB","UA","UB" (for interface type and specification)
Pin No.
Signal
1
COMP1
Interface power +
2
COMN1
Interface power -
3
DO_0
I/O output 0
4
DO_1
I/O output 1
Select appropriate power input according to the
interface
Default Signal Assignment Settings
Logic I/O
User Configurable Outputs.
Defined by assigned signal function.
Definition
Logic
OUT_DRDY
Driver (CPU) ready
Positive
OUT_SRDY
Servo ready
Positive
OUT_BUSY
Busy
Positive
Negative
5
DO_2
I/O output 2
6
DO_3
I/O output 3
7
DO_4
I/O output 4
8
DO_5
I/O output 5
OUT_OVL
Overload signal
9
UA_OUT+
Position present pulse 1+
OUT_OVER
Over speed signal
Positive
10
UA_OUT-
Position present pulse 1-
OUT_COIN
Coin signal
Positive
11
DB_OUT+
Position present pulse 2+
12
DB_OUT-
Position present pulse 2-
13
Z_OUT+
Z-pulse +
14
Z_OUT-
Z-pulse -
15
PUA_IN+
Position command pulse 1+
16
PUA_IN-
Position command pulse 1-
17
SDB_IN+
Position command pulse 2+
18
SDB_IN-
19
DI_0
I/O input 0
20
DI_1
I/O input 1
IN_ERR_RESET
Error reset
Positive
21
DI_2
I/O input 2
IN_SERVO
DI_3
I/O input 3
23
DI_4
I/O input 4
24
DI_5
I/O input 5
25
DI_6
I/O input 6
26
DI_7
I/O input 7
IN_I_CODE.0
Servo command
Drive execution
command
Stops motion & Table
Operation
Code input 0
Positive
22
27
DI_8
I/O input 8
IN_I_CODE.1
Code input 1
Positive
28
DI_9
I/O input 9
IN_POSW.0
Coin window select 0
Positive
29
DI_10
I/O input 10
30
DI_11
I/O input 11
IN_POSW.1
Positive
31
(NC)
32
(NC)
33
ASUB_IN+
Coin window select 1
Velocity control
bandwidth select
Position control
bandwidth select
Pulse priority select
Pos. control integration
prohibited
Able to reverse output signal logic.
Able to select UP-DOWN or A-B encoder output
according to parameter setting.
Outputs Z-pulse of motor.
Able to select PLS-SIGN (STEP-DIR), UP-DOWN,
or A-B encoder input according to parameter
setting.
Default Signal Assignment Settings
Position command pulse 2-
Logic I/O
IN_START
User Configurable Inputs. Defined by assigned
signal function. Able to reverse input signal logic.
IN_ABORT
IN_VELFREQ_SEL
Do not connect any line.
Analog sub (auxiliary) input +
34
ASUB_IN-
Analog sub (auxiliary) input -
35
ACMD_IN+
Analog command input +
36
ACMD_IN-
Analog command input -
Shield
26
Definition
Shield treatment terminal
IN_POSFREQ_SEL
Able to execute torque limit or torque feed forward
by enabling through parameter.
Inputs velocity or torque command (select “T” in
the model and suffix code).
IN_PLS_DIRECT
IN_POSINT_INH
Definition
Logic
Positive
Positive
Positive
Positive
Positive
Positive
Positive
DrvG
Intelligent Drive
[I/O Input]
DI_0 to DI_11
Vcc
100 kΩ
COMP1
1 kΩ
470Ω
0.1 μF
IN_*
24 V : 2.7 kΩ
5 V : 1 kΩ
PS2805
A
B
Rated Voltage
12 to 24 VDC (±10%)
5 VDC (±10%)
Rated Input Current
4.1 mA / point (at 12 VDC)
4.0mA / point (at 5 VDC)
Input Impedance
3.0 kΩ
1.0 kΩ
Operating Voltage
(for COMP0)
Breaker Capacity
Input is in the on-state when the photo-coupler is in the on-state.
[I/O Output]
DO_0 to DO_5
Vcc
MA8330
COMP1
OUT_*
1.5 kΩ
MA8330
2SD1820A
24 V : 8.2 kΩ
5 V : 1 kΩ
COMN1
A
B
12 to 24 VDC (±10%)
Rated Voltage
5 VDC (±10%)
Max. Load Current
0.1 A / point, 0.5 A / common
On-state Voltage
Less than 0.5 VDC
Off-state Leakage Current
Less than 0.1 mA
PS2805
10 kΩ
Output is in the on-state when the transistor is in the on-state.
[Position Command Pulse Input]
PUA_IN±, SDB_IN±
Vcc
Differential Input Specification
+
Connect the differential line driver conforming to RS422A standards,
which is equivalent to AM26L31.
470Ω
33Ω
91Ω
−
On-state: Positive terminal has higher electric charge than negative
terminal, thereby electricity flow through photo-coupler.
TLP115A
(AM26LS31)
470 pF
Controller
5 VDC/24 VDC
Vcc
Open Collector Input Specification
+
Input power source for interface.
470Ω
91Ω
−
On-state when the photo-coupler is engaged.
Vcc
24 V : 3 kΩ
5 V : 330Ω
TLP115A
470 pF
Controller
[Actual Position Pulse Output]
UA_OUT±, DB_OUT±, Z_OUT±
+
Connect the differential line receiver conforming to RS422A standards,
which is equivalent to AM26LS32.
On-state: Positive terminal
becomes a higher voltage than the negative terminal.
−
(AM26LS32)
AM26LS31
Controller
[Analog Sub (Auxiliary) Input]
ASUB_IN+
33 kΩ
-6 to 6 VDC
-10 to 10 VDC
ASUB_IN±
−
+
[Analog Command Input]
Selected by parameter
ACMD_IN+
ACMD_IN±
10 kΩ
−
-6 VDC to 6 VDC
-10 VDC to 10 VDC
ASUB_IN-
ACMD_IN−
Controller
Controller
MECHATROLINK- Suffix Code "M2" (for interface type and specification)
Transmission Rate
10 Mbps
Maximum Transmission Distance
50 m
Minimum Distance between Stations 50 cm
Max. 9 when transmission cycle time is 1 ms.
Number of Connectable Stations
(Compliant to MECHATROLINK- communications specifications)
Transmission Cycle Time
1 ms, 2 ms
Communication Cycle Time
x 1 fixed
Transmission Byte
17 bytes / 32 bytes selectable
Note : When Considering a MECHATROLINK, please contact us. 4 kW class drive UR5AG3 (Motor model DR5A)
is not supported on MECHATROLINK- (Suffix code "M2").
27
Intelligent Drive
DrvG
（60）
20±0.2
15
500 W class
40±0.5
Contact I/O
60±1
Installation processing
dimension
（60）
150±1
（80）
MECHATROLINK-
4-M3 Both sides
Operation
Display Panel
(Optional)
（60）
ø4.5 (Hole)
4
50±0.2
（195）
195±1
185±0.5
4-M4
39±0.2
（100）
30.5
2 kW class
40±0.5
（80）
Contact I/O
MECHATROLINK-
100±1
Operation
Display Panel
(Optional)
4-M4 Both sides
dimension
200±1
（210）
ø4.5 (Hole)
4
（100）
90±0.2
（195）
195±1
FAN FLOW
28
185±0.5
4-M4
DrvG
Intelligent Drive
74
63
（60）
（200）
4 kW class
（23）
47
2-ø6
12.5
175±0.5
25
150±1
200±1
（80）
（210）
Operation
Display Panel
(Optional)
2
195±1
215±1
205±0.5
200±1
8-M4 Both sides
15
6
FAN FLOW
6
175±0.5
Model: PC100G3
Operation Display Panel offers the ability to display and set various
parameters, and alarms.
Connect to CN1 on the drive.
Model: PC000G3
Operation Display Pendant offers the ability to display and set various
parameters, and alarms. In addition, 16sets of parameter data can be
stored on the Pendant.
(Caution)
This unit CANNOT be used with DrvG with MECHATROLINK - (suffix code "M2")
and DrvP with PROFIBUS-DP (suffix code "P1").
60
25
6
15
Dedicated RS232C Cable (Optional)
167
14
59
97
Connector
for CN1
Cable Length 1.5 m
Model: C1P-ENN-2276-020
Cable that connect PC with Drive in order to use Support Tool.
Cable Length 2 m
29
Intelligent Drive
DrvP
Features
The DrvP Intelligent Drive improved controlability and performance. It is compatible with absolute-type encoder and
increment-type encoder as well as with various field networks.
The features of the DrvP Intelligent Drive are as follows:
(1) It is equipped not only with I/O contact points, but also with the CC-Link and PROFIBUS-DP interfaces, which have
been adopted in many FA systems.
(2) When combined with the DB5C that has a built-in absolute encoder, it can serve as a absolute direct drive motor that
can operate without necessity of homing operation.
(3) The position settling time is shortened by enhanced controllability.
(4) The built-in position controller allows operation by program table.
(5) An auto tuning function has been added.
(6) In addition to the CE mark, the UL certificate and KC mark has been granted for the DrvP Intelligent Drive.
(7) A multi-function support tool is available. This user-friendly tool can be used on a PC to perform numerous functions,
such as oscilloscope functions, motorless operation, and terminal assignment.
(8) For user convenience, the Operation Display Panel and the Operation Display Pendant are available for parameter
setting and maintenance.
Model
Basic Drive Model
Compatible Motor Size
Resolution
Basic Construction
Suffix Code
Supported Standard
Interface Type·Specification
Power Supply Voltage
30
DrvP
Intelligent Drive
System Configuration/Connection Diagram
Operation
*Display
Pendant
Power
Support Tool
Software
[PC000G3]
Operation
*Display
Panel
Circuit Protector or
Circuit Breaker
[PC100G3]
PC
DrvG
Drive
(Direct Connection to CN1)
Line Filter
Dedicated RS232C Cable
*[C1P-ENN-2276-020]
Control Power
Supply Cable
Sensors/Relays
Home Sensor
± over-travel
(End of Travel (EOT) Limits)
Regeneration Error
Analog
*Monitor
Card
Electromagnetic
Contactor
Sensor Cable
Main Power Supply Cable
Cable
*Controller
(PLC Cable)
Regen. Resistor
(included)
[C1P-ENN-4202-
*
Motor Filter
Motor Cable
*[C1M-
-
Ground
]
PLC
]
DM
DR
Motor
, DR5H00,
, DB5C
Encoder Cable
*[C1E-
-
]
If necessary,
please attache
the Motor Filter
to a Motor Cable
between the Motor
and Drive
* : Separate sale for motor and drive.
31
Intelligent Drive
DrvP
Specifications
Wattage Class
500 W Class
Main
power supply
Power supply
2 kW Class
200 to 230 VAC / 100 to 115 VAC
50/60 Hz
+10%
-15%
Control
power supply
200 to 230 VAC / 100 to 115 VAC
Temperature
Humidity
Atmosphere
Environment
50/60 Hz
Installation
+10%
-15%
Wall-mount
Fan
N/A
Built-in DC Fan
Regenerative
Resistor
External
Built-in
60 W×195 H×150 D (mm)
100 W×195 H×200 D (mm)
1.2 kg
2.5 kg
Construction
External Dimensions
Weight
Low voltage (declaration) EN50178, EMC (declaration) EN55011 class A group 1, EN61800-3
Conformed Standard
UL508C
KC mark
Encoder Resolution
Value inside ( ) is
factory default value for
DYNASERV
command and monitor
pulses.
Serial Interface
(RS232C/RS485)
UD1BP3 ; 2,621,440 p/rev (360,000 p/rev)
UD1CP3 ; 2,621,440 p/rev (360,000 p/rev)
UR5HP3 ; 3,407,872 p/rev (360,000 p/rev)
UR5CP3 ; 425,984 p/rev (360,000 p/rev)
UB5CP3 ; 425,984 p/rev (360,000 p/rev)
Communication
Communication Speed
UD1AP3 ; 4,096,000 p/rev (360,000 p/rev)
UD1BP3 ; 2,621,440 p/rev (360,000 p/rev)
UR5HP3 ; 3,407,872 p/rev (360,000 p/rev)
UR1AP3 ; 1,638,400 p/rev (360,000 p/rev)
UR1EP3 ; 1,228,800 p/rev (360,000 p/rev)
UR1BP3 ; 1,015,808 p/rev (360,000 p/rev)
UR5EP3 ; 638,976 p/rev (360,000 p/rev)
UR5BP3 ; 557,056 p/rev (360,000 p/rev)
38,400 bps
Max. 10 channels
Contact I/O (Suffix Code "XA" for interface type and specification)
No. of input points: 12 points, No. of output points: 6 points (with a terminal assignment function)
CC-Link (Suffix Code "C1" for interface type and specification)
Mono channel
16 input points, 16 output points
4 input resistors, 4 output resistors
Dual channel
PROFIBUS-DP (Suffix Code "P1" for interface type and specification)
Drive Model : UR5HP3, UR1AP3, UR1EP3, UR1BP3, UR5EP3, UR5BP3, UR5CP3, UB5CP3
Control Section
Velocity Control
Feed Forward
Filter
Operation Functions
Safety Features
Monitor
Operation / Display
Miscellaneous
* : This unit CANNOT be used with DrvP
32
Position Control
Encoder error, over voltage, over current, low bus line power voltage, power failure, over load, regen. Error
detection, over speed, excessive pos. deviation, hardware EOT and software EOT (for linear coordinate)
Operation Display Pendant (Optional)*
Dynamic brake (Select "-1B" or "-1L" in the suffix code)
with PROFIBUS-DP (suffix code "P1") and with DrvG
MECHATROLINK- (suffix code "M2")
DrvP
Intelligent Drive
4 kW Class
3 phase 200 to 230 VAC
Main power supply
+10%
-15%
50/60 Hz
Maximum power consumption 7.6 kVA(varies depending on the connected motor)
Single phase 200 to 230 VAC
Control power supply
+10%
-15%
50/60 Hz
Environment
Temperature
Construction
Power supply
Wattage Class
Humidity
Atmosphere
Installation
Wall-mount
Fan
2 Built-in DC Fans
Regenerative Resistor
Built-in (Note: External regenerative resistor may be required depending on the operating conditions.)
External Dimensions
200 W×195 H×200 D (mm)
Weight
6.5 kg
Low voltage (declaration) EN61800-5-1, EMC (declaration) EN55011 class A group 1, EN61800-3
Conformed Standard
UL508C
KC mark
Encoder Resolution
Value inside ( ) is factory default value for
command and monitor pulses.
Serial Interface
(RS232C/RS485)
UR5AP3 ; 851,968 p/rev
Communication
Communication Speed
(360,000 p/rev)
38,400 bps
Max. 10 channels
Contact I/O (XA for interface type and specification)
No. of input points: 12 points, No. of output points: 6 points (with a terminal assignment function)
Control Section
DYNASERV
CC-Link (Suffix Code "C1" for interface type and specification)
Mono channel
Dual channel
Position Control
Velocity Control
Feed Forward
Filter
Operation Functions
Safety Features
Monitor
Operation / Display
Miscellaneous
Encoder error, over voltage, over current, low bus line power voltage, power failure, open-phase detection, over
load, regen. Error detection, over speed, excessive pos. deviation, hardware EOT and software EOT (for linear
coordinate)
33
Intelligent Drive
DrvP
Connectors and Terminals
<4 kW class>
Connector
(RS232C/485)
Connector
(RS232C/485)
CN3:
Analog Monitor
Connector
CN3:
Analog Monitor
Connector
TB1: Power Supply
Terminal
CN4:
Connector
TB3: Regen.
Resistor Terminal
TB1:
Main power supply/
control power
supply terminal
block
TB4: Sensor
Terminal
CN4:
Connector
GND Terminal
CN2: Encoder
Connector
TB2: Motor Terminal
TB3: Regen. Resistor Terminal
GND Terminal
TB2: Motor Terminal
Power Supply
No.
Item
Description
Remark
TB1
Power Supply Terminal
Connector : 231-204/026-000 (WAGO)
Included
TB2
Motor Terminal
Connector : 231-203/026-000 (WAGO)
For motor cable
Included
Together with
regenerative resistor
TB3
Connector : 231-202/026-000 (WAGO)
GND
GND Terminal
M4 screw
Protected ground
<4 kW class>
No.
TB2
Item
Main power supply/control
power supply terminal
Motor Terminal
For motor cable
TB3
Connector : 231-202/026-000 (WAGO)
GND
GND Terminal
M4 screw
Protected ground
TB1
TB1: Power Supply Terminal
Pin No.
Signal
1
LINE (CONT) L
Definition
2
LINE (CONT) N
3
LINE (MAIN) L
4
LINE (MAIN) N
Remark
<4 kW class>
TB1: Main power supply/control power supply terminal
Pin No.
Signal
1
2
3
LINE (CONT) R
LINE (CONT) S
LINE (MAIN) R
4
LINE (MAIN) S
5
LINE (MAIN) T
−
GND
TB2: Motor Terminal
Definition
Protected ground
TB2: Motor Terminal
Pin No.
Signal
Definition
Pin No.
Signal
1
VA
1
VA
2
VB
2
VB
3
VC
3
VC
4
GND
34
Description
Definition
Definition
Motor GND
Pin No.
Signal
Pin No.
Signal
1
RES +
1
RES +
Definition
2
RES -
2
RES -
DrvP
Intelligent Drive
Control section
<500 W class, 2 kW class, 4 kW class>
TB4
Sensor Terminal
Connector : 733-106 (WAGO)
For home sensor and ±EOT
Standard
CN1
Serial Interface Connector
(RS232C/485)
Connector : DA-15PF-N (JAE)
Cover
: DA-C8-J10-F4-1R
For Operation Display Panel, Operation
Display Pendant and PC
Optional
CN2
Encoder Connector
Cover
: PCR-LS20LA1
For encoder cable
Optional
CN3
Analog Monitor Connector
Analog monitor card
For monitors and oscilloscope
Optional
CN4
Controller
Interface
Connector
Suffix code
"XA"
Cover
: PCR-LS36LA
Suffix code
"C1"
Connector : TMSTBP2.5/4-STF-5.08
(Phoenix Contact)
Suffix code
"P1" *
Connector : PROFIBUS Standard cable (D-SUB 9-pin)
Optional
For connection to PLC
Please prepare by
yourself.
* : PROFIBUS-DP(Suffix Code "P1") corresponding model has been limited. Please refer to pages 32−33.
Pin No.
Signal
1
COMP0
Definition
2
Sensor Input Specifications
Sensor power
Rated Voltage
XORG
Home input B-contact Normal-close
Rated Input Current
3
XOTD
- EOT input B-contact Normal-close
4
XOTU
+EOT input B-contact Normal-close
5
ERR+
Regeneration error output +
Operating Voltage (for COMP0)
6
ERR-
Regeneration error output -
Breaker Capacity
Input Impedance
12 to 24 VDC (±10%)
3.0 kΩ
Regeneration Error Output
Max. Working Voltage
30 VDC
Max. Output Current
50 mA
Vcc
Vcc
100 kΩ
COMP 0
ERR+
10 kΩ
470Ω
0.01 μF
XORG
XOTD
XOTU
2.7 kΩ
PS2805
ERRPS2702
CN1: Serial Interface Connector (RS232C/485)
*
Pin No.
Signal
1
FG
Frame GND Signal (Shield)
Definition
2
RxD
RxD terminal RS232C single channel communication
3
TxD
TxD terminal RS232C single channel communication
4
A
Rx (+) side terminal RS485 multi-channel communication
5
Y
Tx (+) side terminal RS485 multi-channel communication
6
485SW
7
TRMP
8
CN1SW
Busy condition bit RS485 multi-channel communication
(short circuit to #14 TRMN)
Busy condition bit CN1
9
+5V
10
SG
11
B
Rx (-) side terminal RS485 multi-channel communication
12
Z
Tx (-) side terminal RS485 multi-channel communication
13
SG
14
TRMN
15
SG
Signal GND terminal
(short circuit to #7 TRMP)
Signal GND terminal
+5V power (Operation Display Panel and Pendant) *
Signal GND terminal
: Do not connect in RS232C/485 communication.
35
Intelligent Drive
DrvP
Pin No.
DM1B-006
DM1C-004
1
+10V
DM
CN3: Analog Monitor Connector
Signal
Motor
DR5H00·
(excl. Left hand
side models)
DR
Motor
+10V
—
DB5C Motor
Signal
1
VEL
—
—
+S0
1XS
3
θ SIG 0
θ SIG 0
—
-1XS180
4
—
ECLK+(10V)
—
—
5
θ SIG 1
θ SIG 1
—
-1XC0
6
—
—
-S0
-NXS0
7
ECLK+(3V)
—
—
-1XC180
8
—
—
-C0
-NXC0
9
—
ZERO+
—
—
10
—
—
+C0
1XC
2
AMON1
3
AMON2
4
DMON1
5
DMON2
6
T-R
7
T-T
8
T-S
11
—
—
+S180
NXS
12
GND
GND
—
—
13
—
ECLK-(10V)
—
—
14
GND
GND
—
—
-NXS180
15
—
—
-S180
16
GND
GND
—
—
17
—
—
-C180
-NXC180
18
ECLK-(3V)
—
—
—
19
—
ZERO-
—
—
—
—
+C180
NXC
9
Definition
Velocity monitor terminal
-1XS0
2
20
Pin No.
purpose monitor 1)
purpose monitor 2)
purpose monitor 1)
purpose monitor 2)
Current command
<Prohibited> Reserved Do not connect any line.
10
GND
GND terminal for monitor
Shielding wire Shielding wire FG / Shielding wire FG / Shielding wire
Case
CN4: Controller Interface Connector
Contact I/O Suffix Code "XA" (for interface type and specification)
Pin No.
Signal
1
COMP1
Definition
2
COMN1
3
DO_0
I/O output 0
4
DO_1
I/O output 1
5
DO_2
I/O output 2
6
DO_3
I/O output 3
7
DO_4
I/O output 4
8
DO_5
I/O output 5
Interface power +
Interface power -
Select appropriate power input
according to the interface.
[I/O Input]
DI_0 to DI_11
Vcc
100 kΩ
User Configurable Outputs. Defi
ned by assigned signal function.
Able to reverse output signal
logic.
COMP1
1 kΩ
470Ω
0.1 μF
IN_*
2.7 kΩ
PS2805
Input is in the on-state when the photo-coupler is in the on-state.
Rated Voltage
9~18
(NC)
19
DI_0
I/O input 0
20
DI_1
I/O input 1
21
DI_2
I/O input 2
22
DI_3
I/O input 3
23
DI_4
I/O input 4
24
DI_5
I/O input 5
25
DI_6
I/O input 6
26
DI_7
I/O input 7
27
DI_8
I/O input 8
28
DI_9
I/O input 9
29
DI_10
I/O input 10
30
DI_11
I/O input 11
31~36
(NC)
User Configurable Inputs. Defi
ned by assigned signal function.
Able to reverse input signal
logic.
Input Impedance
Operating Voltage
(for COMP0)
12 to 24 VDC (±10%)
3.0 kΩ
Breaker Capacity
Rated Input Current
[I/O Output]
DO_0 to DO_5
Vcc
MA8330
COMP1
OUT_*
1.5 kΩ
MA8330
2SD1820A
8.2 kΩ
COMN1
PS2805
10 kΩ
Output is in the on-state when the transistor is in the on-state.
Shield
36
Shield treatment terminal
Rated Voltage
12 to 24 VDC (±10%)
Max. Load Current
0.1 A / point, 0.5 A / common
On-state Voltage
Less than 0.5 VDC
Off-state Leakage Current
Less than 0.1 mA
Intelligent Drive
DrvP
CC-Link Suffix Code "C1" (for interface type and specification)
Communication Speed
156kbps, 625kbps, 2.5Mbps, 5Mbps, 10Mbps
Dependent on parameter
Occupied Stations
One station or Two stations
Dependent on parameter
Station Number assignment
Mono channel 1 to 64
Dual channel (1,2),(2,3),….(63,64)
Dependent on rotary switch
Pin
No.
Signal name
Wire color
01
DA
Blue
02
DB
White
03
DG
Yellow
04
SLD
—
Dedicated cable
Terminator
Refer to the panel of drive for signal detail.
Dedicated cable
DA
DB
DG
SLD
FG
Master unit
DA
DB
DG
SLD
FG
DA
DB
DG
SLD
FG
Remote unit
Remote unit
Terminator
PROFIBUS-DP Suffix Code "P1" (for interface type and specification)*
Communication Speed
9.6kbps~12Mbps
Auto
01
(NC)
Occupied Stations
One station
Fix
02
(NC)
Station Number assignment
1~99
Dependent on rotary switch
03
B-Line
Terminator
Not installed
Dependent on external Terminator
04
RTS
05
GND BUS
(Suffix Code "P1") corresponding model has been limited.
* : PROFIBUS-DP
Please refer to pages 32−33.
06
+5V BUS
07
(NC)
08
A-Line
09
(NC)
Please use the PROFIBUS Standard connecor (D-SUB 9-pin).
Board side connector housing is connected to protective
ground.
37
Intelligent Drive
DrvP
（60）
PROFIBUS-DP
20±0.2 15
500 W class
40±0.5
Contact I/O
CC-Link
dimension
150±1
（160）
（80）
60±1
4-M3 Both sides
Operation
Display Panel
(Optional)
（60）
ø4.5 (Hole)
50±0.2
4
（195）
195±1
185±0.5
4-M4
PROFIBUS-DP
39±0.2 30.5
（100）
2 kW class
40±0.5
Contact I/O
CC-Link
（80）
100±1
Operation
Display Panel
(Optional)
4-M4 Both sides
dimension
200±1
（210）
4
ø4.5 (Hole)
（100）
90±0.2
（195）
195±1
FAN FLOW
38
185±0.5
4-M4
DrvP
Intelligent Drive
74
63
（60）
（200）
4 kW class
（23）
CC-Link
Contact I/O
2-ø6
175±0.5
25
150±1
8-M4 Both sides
15
200±1
（80）
（210）
Operation
Display Panel
(Optional)
2
195±1
215±1
205±0.5
200±1
12.5
47
6
FAN FLOW
6
175±0.5
Model: PC100G3
Operation Display Panel offers the ability to display and set various
parameters, and alarms.
60
25
6
Model: PC000G3
Operation Display Pendant offers the ability to display and set various
parameters, and display alarms. In addition, 16sets of parameter data can be
stored on the Pendant.
(Caution)
This unit CANNOT be used with DrvP with PROFIBUS-DP (suffix code "P1")
and DrvG with MECHATROLINK - (suffix code "M2").
14
59
97
167
15
Connector
for CN1
Dedicated RS232C Cable (Optional)
Model: C1P-ENN-2276-020
Cable that connect PC with Drive in order to use Support Tool.
Cable Length 1.5 m
Cable Length 2 m
39
Cable
Diagram for DYNASERV Cable
(1) For DM
, DR
, DB5C Motor
[C1P-ENN-2276-020]
Controller Cable C1P
(PLC Cable)
Motor Cable C1M
Encoder Cable C1E
(2) For DR5H00 Motor
[C1P-ENN-2276-020]
Motor Cable C3M
Encoder Cable C3E
40
Controller Cable C1P
(PLC Cable)
Cable
(1) Motor Cable
· Model: C1M For DM
, DR
, DB5C Motor
Model
Suffix Code
Cable Model
Cable Length
Compatible Driver Type
Connector Type (Motor Side)
Connector Type (Drive Side)
Cable Type
· Model: C3M For DR5H00 Motor
Model
Suffix Code
Cable Type & Length
Cable Model
(2) Encoder Cable
· Model: C1E For DM
, DR
, DB5C Motor
Model
Suffix Code
Cable Model
Cable Length
Cable Type
· Model: C3E For DR5H00 Motor
Model
Suffix Code
Cable Type & Length
Cable Model
(3) Controller Cable
· Model: C1P For PLC (For CN4)
Model
Cable Model
Drive Current
Suffix Code
Cable Length
Connector Type (Controller Side)
Cable Type
41
DYNASERV
DM1A (for UD1AG3, UD1AP3 Drive)
Construction
Descriptions
-200
-150
Compatibility
-100
Suffix Code
-050
Model
DM1A
Direct Drive Motor with built-in Optical Encoder
-050
-100
With a torque of 50 N·m
-150
-200
G
Standard profile
-1
Selectable
Compatible
D
Positioning Accuracy
20 A
2
A1
±15 arc second
Axial and Radial run-out 5 μm or less
Run-Out Accuracy
A2
A4
G
Standard Run-Out Accuracy (Axial and Radial run-out 100 μm or less)
Standard Access (bottom surface)
Cable Type
2
Cable Length
Fixed Cable
-005
Selectable
0.5 m
-A1
B1
Housing F32MDF-06V-KXX Contact BF3M-71GF-M2.0N made by J.S.T.Mfg
Housing J21DPM-16V-KX Contact SJ2M-002GF-M1.0N made by J.S.T.Mfg
/CE
Support the CE mark
Optional
"X" indicates unavailable combination.
DM1B (for UD1BG3, UD1BP3 Drive)
Suffix Code
DM1B
Construction
Compatibility
Descriptions
-006
-015
-030
-045
-060
Model
-006
-015
-030
-045
-060
F
With Base [For 6 N·m motor]
G
Cable Type
Cable Length
Selectable
Standard profile [Not available for 6 N·m motor]
Compatible
5 A [For 6 N·m motor]
-1
A
C
Selectable
15 A [Not available for 6 N·m motor]
2
3
±15 arc second [Not available for 6 N·m motor]
±20 arc second [Available only with 6 N·m motor]
Axial and Radial run-out 5 μm or less [Available only with 15 N·m, 30 N·m or 45 N·m motor]
A1
Run-Out Accuracy
Selectable
A2
A4
G
Selectable
Standard Run-Out Accuracy (Axial and Radial run-out 100 μm or less) [Not available for 6 N·m motor]
Standard Access (bottom surface)[Not available for 6 N·m motor]
S
Horizontal
Fixed Cable
0.5 m
Housing F32MSF-04V-KX Contact BF3M-01GF-M2.0N made by J.S.T.Mfg
Support the CE mark
2
-005
-A1
-A4
B1
/CE
Selectable
Selectable
Selectable
Optional
DM1C (for UD1CG3, UD1CP3 Drive)
Suffix Code
-004
Construction
F
-1
A
3
Run-Out Accuracy
A2
S
Cable Type
2
Cable Length
-005
-A4
B1
/CE
Compatibility
-004
Model
DM1C
Descriptions
With Base
Compatible
5A
±20 arc second
Horizontal
Fixed cable
0.5 m
Support the CE mark
Optional
42
DR5H00 (for UR5HG3, UR5HP3 Drive)
-040
Compatibility
-020
Suffix Code
-010
Model
DR5H00
Descriptions
Direct Drive Motor with built-in Magnetic Encoder
-010
-020
Maximum Output Torque 10 N·m Drive Currency 6 A
Basic Construction
-040
F
With mounting base & connector box
Axial & Radial run-out 5 μm or less
-A1
Mounting surface without plating, Diameter ø111.9 mm
Run-Out Accuracy
Selectable
Axial & Radial run-out 5 μm or less
-A6
Selectable
Mounting surface with plating, Diameter ø112 mm
With a set of connectors
/CN
Optional
DR5H00 motor supports the CE mark without suffix code (optional)"/CE".
DR1A (for UR1AG3, UR1AP3 Drive)
Suffix Code
Compatibility
-050
-100
-150
-200
-300
-400
Model
DR1A
Descriptions
-050
-100
-150
-200
-300
-400
Construction
G
Standard profile
Compatible with DrvG
-1
D
[Available only with 50N·m, 100 N·m or 150 N·m motor]
A1
[Available only with 50 N·m, 100 N·m or 150N·m motor]
A2
A3
Selectable
[Available only with 200 N·m, 300 N·m or 400 N·m motor]
A4
Cable Type
and DrvP
20 A
±30 arc second
4
Run-Out Accuracy
Selectable
G
Standard access (bottom surface)
Fixed cable
2
Cable Length
-005
-A1
B3
0.5 m
/CE
Support the CE mark
Optional
DR1E (for UR1EG3, UR1EP3 Drive)
Construction
Compatibility
-030
-070
-100
-130
-160
-220
-250
G
-1
D
Selectable
20 A
±45 arc second
5
A2
A3
Cable Type
Cable Length
Standard profile
Compatible with DrvG and DrvP
A1
Run-Out Accuracy
Descriptions
-250
Suffix Code
-030
-070
-100
-130
-160
-220
Model
DR1E
A4
G
2
-005
-A1
B3
/CE
[Available only with 130 N·m, 160 N·m, 220 N·m or 250 N·m motor]
Fixed cable
0.5 m
Support the CE mark
Selectable
Optional
43
DR1B (for UR1BG3, UR1BP3 Drive)
Suffix Code
Compatibility
Descriptions
-008
-015
-030
-045
-060
Model
DR1B
-008
-015
-030
-045
-060
Construction
G
Selectable
Standard profile
-1
C
and DrvP
15 A
5
Run-Out Accuracy
Cable Type
A1
±45 arc second
Axial and Radial run-out 5 μm or less [Not available for 60 N·m motor]
A2
A4
G
Fixed cable
2
Cable Length
-005
Selectable
0.5 m
-A1
B3
/CE
Support the CE mark
Optional
DR5A (for UR5AG3, UR5AP3 Drive)
DR5A
Construction
-500
Compatibility
-400
Suffix Code
-300
Model
Descriptions
High-speed Type Direct Drive Motor with built-in Magnetic Encoder
-300
-400
-500
G
Standard profile
Run-Out Accuracy
Cable Type
Cable Length
-1
E
Selectable
(4 kW class)
50 A
±45 arc second
5
A4
G
2
Fixed cable
1m
-010
-08
08
B3
With N/MS3101B20-4P made by JAE (relay terminal)
With N/MS3101B18-1P made by JAE (relay terminal)
Standard Connector (Housing J21DPM-12V-KX Contact SJ2M-002GF-M1.0N made by J.S.T.Mfg)
/CE
Support the CE mark
Selectable
Optional
DR5E (for UR5EG3, UR5EP3 Drive)
Suffix Code
DR5E
-100
Construction
G
-1
D
7
Run-Out Accuracy
A4
G
Cable Type
2
Cable Length
-005
-A1
B3
/CE
Compatibility
-100
Model
Descriptions
Standard profile
20 A
±90 arc second
Fixed cable
0.5 m
Support the CE mark
Optional
44
DR5B (for UR5BG3, UR5BP3 Drive)
-070
Compatibility
-050
Suffix Code
-030
Model
DR5B
Descriptions
-030
-050
Construction
-070
G
-1
Standard profile
C
15 A
±90 arc second
7
Run-Out Accuracy
Selectable
A1
Axial and Radial run-out 5 μm or less [Available only with 30 N·m motor]
A2
Axial and Radial run-out 10 μm or less [Available only with 30 N·m motor]
A3
A4
Axial and Radial run-out 20 μm or less [Available only with 50 N·m or 70 N·m motor]
Standard accuracy (Axial and Radial run-out 100 μm or less)
G
Cable Type
Cable Length
Selectable
2
Fixed cable
0.5 m
-005
-A1
Housing F32MDF-06V-KXX Contanct BF3M-71GF-M2.0N made by J.S.T.Mfg
B3
/CE
Support the CE mark
Optional
DR5C (for UR5CG3, UR5CP3 Drive)
DR5C
-015
Compatibility
-010
Suffix Code
-005
Model
Descriptions
-005
-010
Construction
-015
G
Standard profile
-1
6A
±150 arc second
B
9
A2
A4
Run-Out Accuracy
Cable Type
Selectable
and DrvP
G
Fixed cable
2
Cable Length
Selectable
-005
-A4
B3
/CE
0.5 m
Support the CE mark
Optional
DB5C (for UB5CP3 Drive)
Construction
-005
-010
-015
G
-1
Run-Out Accuracy
Cable Type
Cable Length
B
9
A2
A4
G
2
-005
-A4
B5
/CE
-015
Compatibility
-010
Suffix Code
-005
Model
DB5C
Descriptions
Direct Drive Motor with built-in Absolute Encoder
Standard profile
Compatible with DrvP
6A
±150 arc second
Fixed cable
0.5 m
Support the CE mark
Selectable
Selectable
Optional
45
Intelligent Drive DrvG
UD1AG3 (for DM1A Motor)
Compatible motor size
Resolution
Basic structure
Motor operational current
Power supply voltage
Descriptions
-200
-150
Compatibility
-100
Suffix Code
-050
Model
UD1AG3
Intelligent Drive
-050
-100
-150
-200
N
-1K
-1L
D
Standard resolution
Standard (2 kW without brake)
2 kW built-in brake
20 A
200 VAC system
MECHATROLINKStandard (With differential input, and no velocity/torque input)
With differential input and velocity/torque input
5 V Open collector/high-speed 200 kHz
MECHATROLINK- [For Interface type M]
Contact I/O 12 to 24V [Not available for Interface type M]
Contact I/O 5 V [Not available for Interface type M]
Standard specification
A set of connectors attached
-2
M
S
T
U
Interface type
2
A
B
Interface specification
Supported standard
-N
/CN
Selectable
Selectable
Selectable
Selectable
Optional
When Considering a MECHATROLINK, please contact us.
UD1BG3 (for DM1B Motor)
Suffix Code
UD1BG3
Resolution
Basic structure
Compatibility
Descriptions
-006
-015
-030
-045
-060
Model
-006
-015
-030
-045
-060
N
-1A
-1B
-1K
-1L
A
C
Standard resolution
Standard (500 W without brake) [Available only with 6 N·m motor]
500 W built-in brake [Available only with 6 N·m motor]
Standard (2 kW without brake) [Not available for 6 N·m motor]
2 kW built-in brake [Not available for 6 N·m motor]
200 VAC system
Contact I/O 12 to 24 V [Not available for Interface type M]
-2
M
S
T
U
Interface type
2
A
B
Supported standard
Intelligent Drive
-N
/CN
Selectable
Selectable
Selectable
Selectable
Selectable
Optional
UD1CG3 (for DM1C Motor)
Suffix Code
Resolution
Basic structure
Interface type
Supported standard
Compatibility
-004
Model
UD1CG3
-004
N
-1A
-1B
A
-2
M
S
T
U
2
A
B
-N
/CN
Descriptions
Intelligent Drive
Standard resolution
Standard (500 W without brake)
500 W built-in brake
5A
200 VAC system
Selectable
Selectable
Selectable
Optional
46
UR5HG3 (for DR5H00 Motor)
Resolution
Basic structure
-010
-020
-040
N
-1A
-1B
-1K
-1L
B
D
M
S
T
U
2
A
B
Supported standard
Descriptions
Intelligent Drive
Maximum Output Torque 10 N·m
Standard resolution
Standard (500 W without brake) [Not available for 40 N·m motor]
500 W built-in brake [Not available for 40 N·m motor]
Standard (2 kW without brake) [Available only with 40 N·m motor]
2 kW built-in brake [Available only with 40 N·m motor]
200 VAC system
-2
Interface type
-040
Compatibility
-020
Suffix Code
-010
Model
UR5HG3
-N
/CN
Selectable
Selectable
Selectable
Selectable
Selectable
Optional
UR1AG3 (for DR1A Motor)
Suffix Code
Resolution
Basic structure
Compatibility
-050
-100
-150
-200
-300
-400
Model
UR1AG3
-050
-100
-150
-200
-300
-400
N
-1K
-1L
D
Standard resolution
2 kW built-in brake
20 A
200 VAC system
MECHATROLINKStandard (With differential input, and no velosity/torque input)
-2
M
S
T
U
Interface type
2
A
B
Supported standard
Descriptions
Intelligent Drive
-N
/CN
Selectable
Selectable
Selectable
Selectable
Optional
UR1EG3 (for DR1E Motor)
UR1EG3
Resolution
Basic structure
Interface type
Supported standard
Compatibility
-030
-070
-100
-130
-160
-220
-250
N
-1K
-1L
D
-2
M
S
T
U
2
A
B
-N
/CN
Descriptions
-250
Suffix Code
-030
-070
-100
-130
-160
-220
Model
Intelligent Drive
Standard resolution
2 kW built-in brake
20 A
200 VAC system
Selectable
Selectable
Selectable
Selectable
Optional
47
UR1BG3 (for DR1B Motor)
Suffix Code
Resolution
Compatibility
Intelligent Drive
-008
-015
-030
-045
-060
N
Basic structure
Descriptions
-008
-015
-030
-045
-060
Model
UR1BG3
Selectable
Standard resolution
-1K
-1L
2 kW built-in brake
C
Selectable
15 A
-2
Interface type
200 VAC system
M
MECHATROLINK-
S
Standard (With differential input, and no velocity/torque input)
T
U
2
A
B
Supported standard
-N
Selectable
Selectable
/CN
Optional
UR5AG3 (for DR5A Motor)
Resolution
Basic structure
-500
Compatibility
-400
Suffix Code
-300
Model
UR5AG3
Descriptions
Intelligent Drive
-300
-400
-500
N
Standard resolution
-1S
E
Selectable
50 A
-2
200 VAC system (3 phase)
Standard (With differential input,and no velocity/torque input)
S
Interface type
T
U
With differential input,and velocity/torque input
Contact I/O 12 to 24 V
A
B
Supported standard
Selectable
Selectable
Contact I/O 5 V
-N
/CN
Optional
UR5EG3 (for DR5E Motor)
Suffix Code
UR5EG3
Resolution
Basic structure
-100
N
-1K
-1L
D
-2
S
T
U
2
Supported standard
Descriptions
Intelligent Drive
Standard resolution
2 kW built-in brake
20 A
200 VAC system
MECHATROLINK-
M
Interface type
Compatibility
-100
Model
A
B
-N
/CN
Standard (With differential input, and no velocity/torque input)
Selectable
Selectable
Selectable
Optional
48
UR5BG3 (for DR5B Motor)
Resolution
Basic structure
-070
Compatibility
-050
Suffix Code
-030
Model
UR5BG3
-030
-050
-070
N
-1K
-1L
C
Standard resolution
2 kW built-in brake
15 A
200 VAC system
-2
M
S
T
U
Interface type
2
A
B
Supported standard
Descriptions
Intelligent Drive
-N
/CN
Selectable
Selectable
Selectable
Selectable
Optional
UR5CG3 (for DR5C Motor)
Resolution
Basic structure
Interface type
Supported standard
-005
-010
-015
N
-1A
-1B
B
-2
M
S
T
U
2
A
B
-N
/CN
-015
UR5CG3
Compatibility
-010
Suffix Code
-005
Model
Descriptions
Intelligent Drive
Standard resolution
6A
200 VAC system
Selectable
Selectable
Selectable
Selectable
Optional
49
Intelligent Drive DrvP
UD1AP3 (for DM1A Motor)
Resolution
Basic structure
Descriptions
-200
-150
Compatibility
-100
Suffix Code
-050
Model
UD1AP3
Intelligent Drive
-050
-100
-150
-200
N
Standard resolution
-1K
-1L
2 kW built-in brake
D
Selectable
20 A
200 VAC system
-2
X
Interface type
Selectable
Standard (Contact I/O)
C
A
Supported standard
Selectable
Contact I/O 12 to 24 V [For Interface type X]
-N
Selectable
CC-Link
CC-Link [For Interface type C]
1
/CN
Optional
UD1BP3 (for DM1B Motor)
Suffix Code
UD1BP3
Resolution
Basic structure
Compatibility
Descriptions
-006
-015
-030
-045
-060
Model
Intelligent Drive
-006
-015
-030
-045
-060
N
Standard resolution
Selectable
-1A
-1B
-1K
Standard (500 W without brake) [Available only with 6 N·m motor]
500 W built-in brake [Available only with 6 N·m motor]
Standard (2 kW without brake) [Not available for 6 N·m motor]
-1L
2 kW built-in brake [Not available for 6 N·m motor]
A
C
5 A [Available only with 6 N·m motor]
200 VAC system
-2
X
C
Interface type
A
Supported standard
Selectable
CC-Link
1
Selectable
Selectable
-N
/CN
Selectable
Optional
UD1CP3 (for DM1C Motor)
Suffix Code
UD1CP3
Resolution
Basic structure
Interface type
Supported standard
Compatibility
-004
Model
-004
N
-1A
-1B
A
-2
X
C
1
A
-N
/CN
Descriptions
Intelligent Drive
Standard resolution
5A
200 VAC system
CC-Link
Selectable
Selectable
Selectable
Optional
50
UR5HP3 (for DR5H00 Motor)
Resolution
-040
Compatibility
-020
Suffix Code
-010
Model
UR5HP3
Descriptions
Intelligent Drive
-010
-020
-040
N
-1A
Standard resolution
Standard (500 W without brake) [Not available for 40 N·m motor]
Basic structure
Selectable
-1B
500 W built-in brake [Not available for 40 N·m motor]
-1K
Standard (2 kW without brake) [Available only with 40 N·m motor]
-1L
B
2 kW built-in brake [Available only with 40 N·m motor]
D
Selectable
20 A [For 40N·m motor]
-2
Interface type
X
200 VAC system
C
CC-Link
P
PROFIBUS_DP
1
A
Supported standard
Selectable
CC-Link, PROFIBUS_DP [For Interface type C or P]
Contact I/O 12 to 24V [For Interface type X]
-N
Selectable
Selectable
/CN
Optional
UR1AP3 (for DR1A Motor)
Suffix Code
UR1AP3
Resolution
Compatibility
-050
-100
-150
-200
-300
-400
Model
Intelligent Drive
-050
-100
-150
-200
-300
-400
N
Basic structure
Descriptions
Standard resolution
2 kW built-in brake
-1K
-1L
D
Selectable
Selectable
20 A
-2
Interface type
X
200 VAC system
C
CC-Link
P
PROFIBUS_DP
1
A
Supported standard
-N
/CN
Selectable
Selectable
Optional
UR1EP3 (for DR1E Motor)
UR1EP3
Resolution
Basic structure
Interface type
Supported standard
Compatibility
-030
-070
-100
-130
-160
-220
-250
N
-1K
-1L
D
-2
X
C
P
1
A
-N
/CN
Descriptions
-250
Suffix Code
-030
-070
-100
-130
-160
-220
Model
Intelligent Drive
Standard resolution
2 kW built-in brake
20 A
200 VAC system
CC-Link
PROFIBUS_DP
Contact I/O 12 to 24 V
Selectable
Selectable
Selectable
Selectable
Optional
51
UR1BP3 (for DR1B Motor)
Suffix Code
Resolution
Compatibility
Intelligent Drive
-008
-015
-030
-045
-060
N
Basic structure
Descriptions
-008
-015
-030
-045
-060
Model
UR1BP3
Selectable
Standard resolution
-1K
-1L
2 kW built-in brake
C
Selectable
15 A
-2
Interface type
200 VAC system
X
C
P
CC-Link
PROFIBUS_DP
1
A
Supported standard
-N
Selectable
Selectable
/CN
Optional
UR5AP3 (for DR5A Motor)
UR5AP3
-500
Compatibility
-400
Suffix Code
-300
Model
Descriptions
Intelligent Drive
-300
-400
Resolution
-500
N
Standard resolution
Basic structure
-1S
E
Selectable
50 A
-2
200 VAC system (3 phase)
CC-Link
X
C
Interface type
1
A
Supported standard
Selectable
Selectable
-N
/CN
Optional
UR5EP3 (for DR5E Motor)
Suffix Code
Resolution
Basic structure
Interface type
Supported standard
Compatibility
-100
Model
UR5EP3
-100
N
-1K
-1L
D
Descriptions
Intelligent Drive
X
Standard resolution
2 kW built-in brake
20 A
200 VAC system
C
CC-Link
P
PROFIBUS_DP
-2
1
A
-N
/CN
Selectable
Selectable
Selectable
Optional
52
UR5BP3 (for DR5B Motor)
Resolution
Basic structure
-070
Compatibility
-050
Suffix Code
-030
Model
UR5BP3
Descriptions
Intelligent Drive
-030
-050
-070
N
-1K
Standard resolution
-1L
Selectable
2 kW built-in brake
C
Selectable
15 A
-2
Interface type
X
200 VAC system
C
CC-Link
P
PROFIBUS_DP
1
A
Supported standard
Selectable
-N
Selectable
/CN
Optional
UR5CP3 (for DR5C Motor)
UR5CP3
-015
Compatibility
-010
Suffix Code
-005
Model
Descriptions
Intelligent Drive
-005
-010
Resolution
-015
N
Standard resolution
Basic structure
-1A
-1B
Selectable
B
X
6A
200 VAC system
C
CC-Link
P
PROFIBUS_DP
-2
Interface type
1
A
Supported standard
-N
/CN
Selectable
Selectable
Selectable
Optional
UB5CP3 (for DB5C Motor)
Resolution
Basic structure
Interface type
Supported standard
-005
-010
-015
N
-1A
-1B
B
-2
X
C
P
1
A
-N
/CN
-015
Compatibility
-010
Suffix Code
-005
Model
UB5CP3
Descriptions
Intelligent Drive
Standard resolution
6A
200 VAC system
CC-Link
PROFIBUS_DP
Selectable
Selectable
Selectable
Selectable
Optional
53
Cables
Cable for DM
Motor (Excluding DM1B-006 and DM1C-004)
Cable
Model and Suffix Code
Outgoing line
Connector, drive side
Connector, motor side
Suffix Code
Connector
Motor Cable
C1M-NC1-20A2-020 (length 2 m)
-030 (length 3 m)
-040 (length 4 m)
N1.25-M4 or N2-4
Made by J.S.T.Mfg
-050 (length 5 m)
-080 (length 8 m)
Robot Cable
Housing F32MDF-06V-KXX
Housing F32FMS-06V-KXX
Contact BF3F-71GF-P2.0
Made by J.S.T.Mfg
[-A1]
Housing J21DF-16V-KX-L
Contact SJ2F-002GF-P1.0
[B1]
Contact BF3M-71GF-M2.0N
Made by J.S.T.Mfg
Encoder Cable
-100 (length 10 m)
C1E-EC1-79C2 -020 (length 2 m)
-030 (length 3 m)
-040 (length 4 m)
Connector PCR-S20FS+
Cover PCR-LS20LA1
Made by
-050 (length 5 m)
-080 (length 8 m)
Robot Cable
Honda Tsushin Kogyo
Housing J21DPM-16V-KX
Contact SJ2M-002GF-M1.0N
Made by J.S.T.Mfg
Made by J.S.T.Mfg
-100 (length10 m)
Cable for DM1B-006 and DM1C-004 Motor
Cable
Encoder Cable
Motor Cable
Outgoing line
C1M-NA1-20A5 -020 (length 2 m)
-030 (length 3 m)
-040 (length 4 m)
-050 (length 5 m)
-080 (length 8 m)
-100 (length10 m)
N1.25-M4 or N2-4
Made by J.S.T.Mfg
Robot Cable
C1E-EA1-79C2 -020 (length 2 m)
-030 (length 3 m)
Cover PCR-LS20LA1
-040 (length 4 m)
-050 (length 5 m)
-080 (length 8 m)
-100 (length10 m)
Robot Cable
Made by
Honda Tsushin Kogyo
Suffix Code
Connector
Housing F32MSF-04V-KX
Housing F32FSS-04V-KX
Made by J.S.T.Mfg
[-A4]
Made by J.S.T.Mfg
[B1]
Made by J.S.T.Mfg
Made by J.S.T.Mfg
Cable for DR5H00 Motor
Cable
Motor Cable
C3M-000 -R020 (length 2 m)
-R030 (length 3 m)
-R040 (length 4 m)
-R050 (length 5 m)
-R100 (length10 m)
Encoder Cable
Model and Suffix Code (Maximum Output Torque)
[DR5H00-010]
[DR5H00-020]
N1.25-M4
Made by J.S.T.Mfg
Robot Cable
Connector F32FSS-04V-KX
Made by J.S.T.Mfg
[DR5H00-040]
C3M-001 -R020 (length 2 m)
-R030 (length 3 m)
-R040 (length 4 m)
-R050 (length 5 m)
-R100 (length10 m)
54
C3E-00N -R020 (length 2 m)
-R030 (length 3 m)
-R040 (length 4 m)
-R050 (length 5 m)
-R100 (length10 m)
N2-4
Made by J.S.T.Mfg
Robot Cable
Robot Cable
Cover PCR-LS20LA1
Made by
Honda Tsushin Kogyo
Connector F32FMS-06V-KXX
Made by J.S.T.Mfg
[DR5H00-010]
[DR5H00-020]
[DR5H00-040]
Connector J21DF-12V-KX-L
Made by J.S.T.Mfg
Cable for DR
Motor (Excluding DR5A and DR5C)
Cable
Outgoing line
Suffix Code
Connector
Motor Cable
C1M-NC1-20A2-020 (length 2 m)
-030 (length 3 m)
-040 (length 4 m)
N1.25-M4 or N2-4
Made by J.S.T.Mfg
-050 (length 5 m)
-080 (length 8 m)
Robot Cable
Housing F32MDF-06V-KXX
Housing F32FMS-06V-KXX
Made by J.S.T.Mfg
Made by J.S.T.Mfg
[-A1]
Encoder Cable
-100 (length10 m)
C1E-SC1-79C4 -020 (length 2 m)
-030 (length 3 m)
-040 (length 4 m)
Cover PCR-LS20LA1
Made by
-050 (length 5 m)
-080 (length 8 m)
Robot Cable
Honda Tsushin Kogyo
[B3]
Made by J.S.T.Mfg
Made by J.S.T.Mfg
-100 (length10 m)
Cable for DR5A Motor
Cable
Motor Cable
N5.5-4
MS connector
made by JAE
C1M-NE1-0306 -020 (length 2 m)
-030 (length 3 m)
-040 (length 4 m)
-050 (length 5 m)
-080 (length 8 m)
-100 (length10 m)
-040 (length 4 m)
-050 (length 5 m)
-080 (length 8 m)
-100 (length10 m)
Made by J.S.T.Mfg
Connector N/MS3106B20-4S
Clamp N/MS3057-12A
Cover PCR-LS20LA1
MS connector
made by JAE
Made by
Honda Tsushin Kogyo
Connector N/MS3106B18-1S
Clamp N/MS3057-10A
Robot Cable
C1E-SE1-7906 -020 (length 2 m)
-030 (length 3 m)
Encoder Cable
Outgoing line
Robot Cable
Suffix Code
Connector
MS connector
made by JAE
Connector N/MS3101B20-4P
Clamp N/MS3057-12A
[-08]
MS connector
made by JAE
[08]
Connector N/MS3101B18-1P
Clamp N/MS3057-10A
or
C1E-SE1-79C4 -020 (length 2 m)
-030 (length 3 m)
-040 (length 4 m)
-050 (length 5 m)
-080 (length 8 m)
-100 (length10 m)
[B3]
Robot Cable
Cover PCR-LS20LA1
Made by
Honda Tsushin Kogyo
Made by J.S.T.Mfg
N1.25-M4 or N2-4
Made by J.S.T.Mfg
Made by J.S.T.Mfg
Cover PCR-LS20LA1
Made by
Honda Tsushin Kogyo
Made by J.S.T.Mfg
Made by J.S.T.Mfg
Cable for DR5C Motor
Cable
Motor Cable
-030 (length 3 m)
-040 (length 4 m)
-050 (length 5 m)
-080 (length 8 m)
-100 (length10 m)
Encoder Cable
C1E-SA1-79C4 -020 (length 2 m)
-030 (length 3 m)
-040 (length 4 m)
-050 (length 5 m)
-080 (length 8 m)
-100 (length10 m)
Outgoing line
Robot Cable
Robot Cable
Suffix Code
[-A4]
Connector
Made by J.S.T.Mfg
[B3]
Made by J.S.T.Mfg
55
Cable for DB5C Motor
Cable
Outgoing line
Suffix Code
Connector
Motor Cable
-030 (length 3 m)
-040 (length 4 m)
N1.25-M4 or N2-4
Made by J.S.T.Mfg
-050 (length 5 m)
-080 (length 8 m)
Made by J.S.T.Mfg
[-A4]
[B5]
Robot Cable
Made by J.S.T.Mfg
Encoder Cable
-100 (length10 m)
C1E-BA1-79C6 -020 (length 2 m)
-030 (length 3 m)
-040 (length 4 m)
Cover PCR-LS20LA1
Made by
-050 (length 5 m)
-080 (length 8 m)
Robot Cable
Honda Tsushin Kogyo
Made by J.S.T.Mfg
Made by J.S.T.Mfg
-100 (length10 m)
Controller Cable PLC Cable (for CN4)
PLC Cable
C1P-ENN-4202 -010 (length 1 m)
-020 (length 2 m)
-030 (length 3 m)
-040 (length 4 m)
-050 (length 5 m)
56
Cover PCR-LS36LA
Robot Cable
Made by
Honda Tsushin Kogyo
Controller side
Open leads
(core wire revealed)
Compatible Drive
Interface Type
DrvGIII:[S][T][U]
DrVPIII:[X],
Accessories
Operation Display Pendant
Model
Overview
Compatible Drive
DrvG
PC000G3
This unit CANNOT be used with DrvG
DrvP
with MECHATROLINK- (model code "M2") and DrvP
with PROFIBUS-DP (model code "P1")
In such cases, please use PC with Support Tool Software or Operational Display Panel (PC100G3).
Operation Display Panel
Model
Overview
Compatible Drive
DrvG
DrvP
PC100G3
Dedicated RS232C Cable (for CN1)
RS232C Cable
C1P-ENN-2276 -020
(length 2 m)
Connector, PC side
Connector DA-15PF-N
Clamp DA-C8-J10-F4-1R
Made by JAE
Connector DE-9SF-N
Clamp DA-C8-J9-F4-1R
Made by JAE
Compatible Drive,
Support Tool
DrvG
DrvP
Support Tool Software
Robot Cable
57
DYNASERV Selection Guide
4
DR5C
DB5C
DR1B
DM1B
DR1E DR1B
DR5B
DR1E
DR1B
DM1B
DM1A
DM1B
DR1B
DR1A
DR5B
DM1B
DR1E
DM1A
DR1A
DR5E
DM1A
DM1A
DR1A
160
DR1A DR1E
DR5E
DR1A
DM1A
±3
±0.4
±1
DR1E
DM1A
DR1A
DR1E
DR1E
DM1A DR1A
DR1E
DR1A
DM1A DR1A
DM1B DR1B
DR5B
DR1E
DM1A
DR5B
DR1E
DR1E
DR1B
DM1B DR1B
DR1E
DR1E
DM1B
DR5H00
DR1B
DR5B
DR1A DR1E
130
DM1A
DR5B
DR1B
DM1B
DR1B
70
DM1A
DM1B DR1B
DR5H00
DR5H00
DM1B
DR5H00
DR5C
DB5C
DR1B
DR5H00
60
DR5C
DB5C
DR5H00
DM1B
45
DR1B
DR5H00
DR5H00
40
±150
±90
±80
±45
DR5C
DB5C
DM1B
30
Maximum Outoput Torque (N·m)
DR1B
DR5H00
20
DR1A
DR1E
DM1A DR1A
220
DR1E
DR1E
DR1E
250
DR1E
DR1E
DR1E
300
DR1A
DR5A
DR1A DR5A
DR1A
DR5A
400
DR1A
DR5A
DR1A DR5A
DR1A
DR5A
DR5A
DR5A
DR5A
500
58
DM1B
DR1B
15
200
±30
DM1B
8
150
DM1C
DR5C
DB5C
DM1B
10
Repeatable Accuracy
DM1C
DR5C
DB5C
6
100
±15
DM1C
5
50
425,984
557,056
638,976
851,968
1,015,808
1,228,800
1,638,400
2,621,440
3,407,872
4,096,000
DYNASERV
±20
Absolute Accuracy (arc sec)
Encoder Rosolution (pulse/rev)
DM1C
DR5C
DB5C
DR5C
DB5C
DM1B
DM1B
DR1B
DR5C
DB5C
DR5C
DB5C
DR5C
DB5C
DR1B
DR5C
DB5C
DR5H00
DR5H00
DM1B
DR1B
DM1B
DR1E
DR1B
DR5B
DM1B
DR1B
DR1E DM1B
DR1B
DR5B
DM1B
DR1B
DR5H00
DR5H00
DM1B
DR1B
DR5B
DR5B
DM1A
DR1A
DR1A DM1A
DR5B
DM1B
DR1B
DR5B
DR5E
DR5B
DM1B
DR1E
DR1E
DR5E
DR5C
DB5C
DR5H00
DR5H00
DR5B
107
DM1C
DR5C
DB5C
DR5C
DB5C
116
145
150
158
160
205
224
264
0.8
1.0
1.2
Diameter (mm)
1.8
2.0
2.4
2.5
4.0
5.0
6.0
±5
±4
3.6
Maximum Speed (rps) *
(arc sec)
DM1A
DR1A
DM1A
DR1A
DR1E
DR1E
DR1E
DM1A
DR1A
DM1A
DR1A
DR5A
DR1E
DR5E
DM1A
DR1A
DM1A
DR1A
DR5A
DR5B
DR1E
DR1E
DR5A
DR1B
DR1E
DR1E
DR1E
DR1E
DR1A
DR5A
DR1A
DR1A
DR1A
DR5A
DR5A
* : 200 to 230 VAC power supply
59
Warranty
(1) Details of Warranty
Warranty Period
The warranty period for a product that was purchased (hereinafter called“delivered product”) is one year from the time of delivery
to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner.
Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during
the above warranty period.
This warranty does not cover defects caused by the delivered product reaching the end of its service life and
replacement of parts that require replacement or that have a limited service life.
This warranty does not cover failures that result from any of the following causes.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product
catalogs or manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself
3. Modifications or repairs not performed by Yaskawa
4. Use of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters
(2) Limitations of Liability
1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises
due to failure of the delivered product.
2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program
execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.
3. The information described in product catalogs or manuals is provided for the purpose of the customer
purchasing the appropriate product for the intended application. The use thereof does not guarantee that
there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third
parties, nor does it construe a license.
4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or
other proprietary rights of third parties as a result of using the information described in catalogs or manuals.
(3) Suitability for Use
1. It is the customer s responsibility to confirm conformity with any standards, codes, or regulations that apply
if the Yaskawa product is used in combination with any other products.
2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment
used by the customer.
3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the
application is acceptable, use the product with extra allowance in ratings and specifications, and provide
safety measures to minimize hazards in the event of failure.
Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions
or environments not described in product catalogs or manuals
Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical
equipment, amusement machines, and installations subject to separate industry or government regulations
Systems, machines, and equipment that may present a risk to life or property
Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or
systems that operate continuously 24 hours a day
Other systems that require a similar high degree of safety
4. Never use the product for an application involving serious risk to life or property without first ensuring that
the system is designed to secure the required level of safety with risk warnings and redundancy, and that the
Yaskawa product is properly rated and installed.
5. The circuit examples and other application examples described in product catalogs and manuals are for reference.
Check the functionality and safety of the actual devices and equipment to be used before using the product.
6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to
prevent accidental harm to third parties.
(4) Specifications Change
The names, specifications, appearance, and accessories of products in product catalogs and manuals may be
changed at any time based on improvements and other reasons. The next editions of the revised catalogs or
manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm
the actual specifications before purchasing a product.
60
Date :
/
/
Thank you very much for your interest in our DYNASERV products.
Please fill out the below form about your plans and specifications, and submit the form to your Yaskawa representative.
Please also submit the configuration diagrams and operation patterns of motors, if available.
Selection Check Sheet for DYNASERV
Company Name
Division Name
Country :
Address
Name :
TEL :
Facsimile :
(1) Application
E-mail :
(2) Configuration Outline (Outline of Dimensions, Materials)
(3) Load Inertia or Load Mass
Unit : kg m2
(If you have the subtable, work, jig etc. for the load of motor, please illustrate it
and fill in the weight, material and number. Also please indicate the installing
direction of the motor in the figure or instruct us.)
(4) Operation Pattern of Motors
(6) Mechanical Accuracy of Load Mounting Surface
a) Operating Time
t1
[s]
b) Cycle Time
t2
[s]
c) Operating Angle or Distance
Axial run-out, Radial run-out
less than
Radial run-out
[μm]
Axial run-out
[degree or mm]
Load Mounting Surface
Velocity
(7) Environment
(8) Upper Controller
t1
Time
t2
(9) Model of your choice and Quantity you need
(5) Positioning Accuracy
a) Repeatability Accuracy
[arcsecond or μm]
b) Absolute Accuracy
[arcsecond or μm]
(10) Delivery Requirements and Unit Price Range
61
MEMO
62
MEMO
63
DIRECT DRIVE
DYNASERV
IRUMA BUSINESS CENTER (SOLUTION CENTER)
480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5151 Fax 81-4-2962-6138
http://www.yaskawa.co.jp
YASKAWA AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310
http://www.yaskawa.com
YASKAWA ELÉTRICO DO BRASIL LTDA.
Avenida Piraporinha 777, Diadema, São Paulo, 09950-000, Brazil
Phone 55-11-3585-1100 Fax 55-11-3585-1187
http://www.yaskawa.com.br
YASKAWA EUROPE GmbH
Hauptstrasse 185, Eschborn 65760, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
http://www.yaskawa.eu.com
YASKAWA ELECTRIC KOREA CORPORATION
9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul, 150-737, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
http://www.yaskawa.co.kr
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-02A, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
http://www.yaskawa.com.sg
YASKAWA ELECTRIC (THAILAND) CO., LTD.
252/125-126 27th Floor,Tower B Muang Thai-Phatra Complex Building,
Rachadaphisek Road, Huaykwang, Bangkok 10310, Thailand
Phone 66-2693-2200 Fax 66-2693-4200
http://www.yaskawa.co.th
YASKAWA ELECTRIC (CHINA) CO., LTD.
22F, One Corporate Avenue, No.222 Hubin Road, Huangpu District, Shanghai 200021, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
http://www.yaskawa.com.cn
YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE
Room 1011, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,
Dong Cheng District, Beijing 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei 104, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
http://www.yaskawa-taiwan.com.tw
YASKAWA ELECTRIC CORPORATION
In the event that the end user of this product is to be the military and said product is to be
employed in any weapons systems or the manufacture thereof, the export will fall under
the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade
Regulations. Therefore, be sure to follow all procedures and submit all relevant
documentation according to any and all rules, regulations and laws that may apply.
LITERATURE NO. KAEP S800001 51A
Specifications are subject to change without notice
for ongoing product modifications and improvements.
Published in Japan September 2014 14-5 0 -1
© 2014 YASKAWA ELECTRIC CORPORATION. All rights reserved.
14-7-11

(Recommended) Model and Suffix Codes

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