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ROBOT
SMT7 CONTROLLER
INSTRUCTION MANUAL
(SUPPLEMENT)
Copyright © DENSO WAVE INCORPORATED, 2005-2010
All rights reserved. No part of this publication may be reproduced in any form or by any means
without permission in writing from the publisher.
Specifications are subject to change without prior notice.
All products and company names mentioned in this book are trademarks or registered
trademarks of their respective holders.
i
Preface
Thank you for purchasing our SMT7 controller.
The SMT7 controller controls the positioning mechanism driven by an AC servomotor, e.g., X-Y
table.
This manual is a supplement to the robot instruction manuals. Read through this manual in
conjunction with manuals for robot systems configured with the RC7M controller, which are given
on the next page.
Products covered by this manual: SMT7 controller and options
Controller System Configuration
SMT7 Configured with options given on pages 3 through 5.
Important
To ensure operator safety, be sure to read the precautions and instructions in "SAFETY
PRECAUTIONS."
Cautions in handling and using the SMT7 controller
NOTES (1) If joint allocations are different between the SMT7 controller and
WINCAPSIII, transferring the arm data from WINCAPSIII to the controller
may cause an error. If it happens, clear the error and transfer the data again.
(2) The SMT7 controller is customized for motors specified by each customer
in both hardware and software at the factory. The allowable combination of
the controller's axes and motor types is printed in (2) SUBASSEMBLY on the
"THE SETPRM LIST" labeled on the top of the controller.
According to the allowable combination, connect motors to the controller
correctly. Incorrect connection will result in a motor malfunction, controller
overheat, motor overheat, and other problems.
(3) This product is not evaluated for EMC directive. When you export this
product to Europe, it needs to be compliant with EMC directive as a facility.
ii
How the documentation set is organized
The documentation set consists of the following books. If you are unfamiliar with this robot and
option(s), please read all books and understand them fully before operating your robot and
option(s).
SMT7 CONTROLLER INSTRUCTION MANUAL (SUPPLEMENT) -this book-
Describes the SMT7 controller designed for controlling the AC servomotor-driven positioning
mechanism. Use this book in conjunction with other manuals.
GENERAL INFORMATION ABOUT ROBOT
Provides the packing list of the robot and outlines of the robot system, robot unit, and robot
controller.
INSTALLATION & MAINTENANCE GUIDE
Provides instructions for installing the robot components and customizing your robot, and
maintenance & inspection procedures.
STARTUP HANDBOOK
Introduces you to the DENSO robot system and guides you through connecting the robot unit
and controller with each other, running the robot with the teach pendant, and making and
verifying a program. This manual is a comprehensive guide to starting up your robot system.
SETTING-UP MANUAL
Describes how to set up or teach your robot with the teach pendant or mini-pendant.
For the panel designer functions, refer to the Panel Designer User's Manual (SUPPLEMENT).
WINCAPSIII GUIDE
Provides instructions on how to use the programming support tool WINCAPSIII which runs on
the PC connected to the robot controller for developing and managing programs.
PROGRAMMER'S MANUAL I, Program Design and Commands
Describes the PAC programming language, program development, and command
specifications in PAC. This manual consists of two parts; Part 1 provides the basic
programming knowledge, and Part 2, details of individual commands.
PROGRAMMER'S MANUAL II, PAC Library
Describes the program libraries that come with WINCAPSIII as standard.
RC7M CONTROLLER MANUAL
Provides the specifications, installation and maintenance of the RC7M controller. It also
describes interfacing with external devices, system- and user-input/output signals, and I/O
circuits.
ERROR CODE TABLES
List error codes that will appear on the teach pendant or mini-pendant if an error occurs in the
robot system. These tables also provide detailed description and recovery ways.
OPTIONS MANUAL
Describes the specifications, installation, and use of optional devices.
For the extension board "conveyer tracking board," refer to the OPTIONS MANUAL
(SUPPLEMENT).
SAFETY PRECAUTIONS
SAFETY PRECAUTIONS
Be sure to observe all of the following safety precautions.
Strict observance of these warning and caution indications are a MUST for preventing accidents, which
could result in bodily injury and substantial property damage. Make sure you fully understand all
definitions of these terms and related symbols given below, before you proceed to the text itself.
WARNING
Alerts you to those conditions, which could result
in serious bodily injury or death if the instructions
are not followed correctly.
CAUTION
Alerts you to those conditions, which could result
in minor bodily injury or substantial property
damage if the instructions are not followed
correctly.
Terminology and Definitions
Maximum space: Refers to the space which can be swept by the moving parts of the robot as defined by
the manufacturer, plus the space which can be swept by the end-effector and the workpiece. (Quoted
from the ISO 10218-1:2006.)
Restricted space: Refers to the portion of the maximum space restricted by limiting devices (i.e.,
mechanical stops) that establish limits which will not be exceeded. (Quoted from the ISO 10218-1:2006.)
Motion space: Refers to the portion of the restricted space to which a robot is restricted by software
motion limits. The maximum distance that the robot, end-effector, and workpiece can travel after the
software motion limits are set defines the boundaries of the motion space of the robot. (The "motion
space" is DENSO WAVE-proprietary terminology.)
Operating space: Refers to the portion of the restricted space that is actually used while performing all
motions commanded by the task program. (Quoted from the ISO 10218-1:2006.)
Task program: Refers to a set of instructions for motion and auxiliary functions that define the specific
intended task of the robot system. (Quoted from the ISO 10218-1:2006.)
1. Introduction
This section provides safety precautions to be observed for the
robot system.
The installation shall be made by qualified personal and should
confirm to all national and local codes.
The robot unit and controller have warning labels. These labels
alert the user to the danger of the areas on which they are
pasted. Be sure to observe the instructions printed on those
labels.
Warning label Instructions printed on the label
Label (1)
Risk of injury.
Never enter the restricted space.
<Except HM>
<HM>
Label (2)
For UL-Listed robot units only
Risk of injury.
This label alerts the user that pressing
the brake release switch could drop the
arm.
Label (3)
Risk of electrical shock.
Never open the controller cover when
the power is on.
Never touch the inside of the controller
for at least 3 minutes even after turning
the power off and disconnecting the
power cable.
2. Warning Labels
(Example: Location of labels)
Label (4)
Risk of injury.
Be sure to perform lockout/tagout
before starting servicing.
Turning the power ON when a person is
inside the safety fence may move the
arm, causing injuries.
SAFETY PRECAUTIONS
3. Installation Precautions
3.1 Insuring the proper
installation environment
î‚„ For standard type and
cleanroom type
The standard and cleanroom types have not been designed to
withstand explosions, dust-proof, nor is it splash-proof.
Therefore, it should not be installed in any environment where:
(1) there are flammable gases or liquids,
(2) there are any shavings from metal processing or other
conductive material flying about,
(3) there are any acidic, alkaline or other corrosive material,
(4) there is a mist,
(5) there are any large-sized inverters, high output/high
frequency transmitters, large contactors, welders, or other
sources of electrical noise.
î‚„ For dust- & splash-proof
type
The dust- & splash-proof type has an IP54-equivalent structure,
but it has not been designed to withstand explosions. (The
HM/HS-G-W and the wrist of the VM/VS-G-W are an
IP65-equivalent dust- and splash-proof structure.)
Note that the robot controller is not a dust- or splash-proof
structure. Therefore, when using the robot controller in an
environment exposed to mist, put it in an optional protective box.
The dust- & splash-proof type should not be installed in any
environment where:
(1) there are any flammable gases or liquids,
(2) there are any acidic, alkaline or other corrosive material,
(3) there are any large-sized inverters, high output/high
frequency transmitters, large contactors, welders, or other
sources of electrical noise,
(4) it may likely be submerged in fluid,
(5) there are any grinding or machining chips or shavings,
(6) any machining oil not specified in this manual is in use, or
Note: Yushiron Oil No. 4C (non-soluble) is specified.
(7) there is sulfuric cutting or grinding oil mist.
3.2 Service space
The robot and peripheral equipment should be installed so that
sufficient service space is maintained for safe teaching,
maintenance, and inspection.
3.3 Control devices
outside the robot's
restricted space
The robot controller, teach pendant and mini-pendant should be
installed outside the robot's restricted space and in a place
where you can observe all of the robot’s movements and operate
the robot easily.
3.4 Positioning of gauges
Pressure gauges, oil pressure gauges and other gauges should
be installed in an easy-to-check location.
3.5 Protection of electrical
wiring and
hydraulic/pneumatic
piping
If there is any possibility of the electrical wiring or
hydraulic/pneumatic piping being damaged, protect them with a
cover or similar item.
3.6 Grounding resistance
The protective grounding resistance of the robot power supply
should not be more than 100Ω.
3.7 Positioning of
emergency stop
switches
Emergency stop switches should be provided in a position where
they can be reached easily should it be necessary to stop the
robot immediately.
(1) The emergency stop switches should be red.
(2) Emergency stop switches should be designed so that they
will not be released after pressed, automatically or
mistakenly by any other person.
(3) Emergency stop switches should be separate from the
power switch.
3.8 Positioning of
operating status
indicators
Operating status indicators should be positioned in such a way
where workers can easily see whether the robot is on a
temporary halt or on an emergency or abnormal stop.
Note: The UL-Listed robot units have motor ON lamps on their
robot arms.
SAFETY PRECAUTIONS
3.9 Setting-up a safety
fence
A safety fence should be set up so that no one can easily enter
the robot's restricted space.
(1) The fence should be constructed so that it cannot be easily
moved or removed.
(2) The fence should be constructed so that it cannot be easily
damaged or deformed through external force.
(3) Establish the exit/entrance to the fence. Construct the fence
so that no one can easily get past it by climbing over the
fence.
(4) The fence should be constructed to ensure that it is not
possible for hands or any other parts of the body to get
through it.
(5) Take any one of the following protections for the entrance/
exit of the fence:
1) Place a door, rope or chain across the entrance/exit of
the fence, and fit it with an interlock that ensures the
emergency stop device operates automatically if it is
opened or removed.
2) Post a warning notice at the entrance/exit of the fence
stating "In operation--Entry forbidden" or "Work in
progress--Do not operate" and ensure that workers
follow these instructions at all times.
When making a test run, before setting up the fence,
place an overseer in a position outside the robot’s
restricted space and one in which he/she can see all of
the robot’s movements. The overseer should prevent
workers from entering the robot's restricted space and
be devoted solely to that task.
3.10 Setting the robot's
motion space
The area required for the robot to work is called the robot's
operating space.
If the robot’s motion space is greater than the operating space, it
is recommended that you set a smaller motion space to prevent
the robot from interfering or disrupting other equipment.
Refer to the INSTALLATION & MAINTENANCE GUIDE, Chapter
2.
3.11 No robot modification
allowed
Never modify the robot unit, robot controller, teach pendant or
other devices.
3.12 Cleaning of tools
If your robot uses welding guns, paint spray nozzles, or other
end-effectors requiring cleaning, it is recommended that the
cleaning process be carried out automatically.
3.13 Lighting
Sufficient illumination should be assured for safe robot
operation.
3.14 Protection from objects
thrown by the
end-effector
If there is any risk of workers being injured in the event that the
object being held by the end-effector is dropped or thrown by the
end-effector, consider the size, weight, temperature and
chemical nature of the object and take appropriate safeguards to
ensure safety.
3.15 Affixing the warning
label
Place the warning label packaged
with the robot on the exit/entrance
of the safety fence or in a position
where it is easy to see.
3.16 Posting the moving
directions of all axes
Post a notice showing axes names and moving directions in a
visible location on the robot unit. The posted moving directions
should match the actual directions.
No posting or wrong direction posting may result in bodily injuries
or property damages due to incorrect operation.
SAFETY PRECAUTIONS
4. Precautions
while Robot is
Running
Warning
Touching the robot while it is in
operation can lead to serious
injury. Please ensure the fol-
lowing conditions are
maintained and that the
cautions listed from Section
4.1 and onwards are followed
when any work is being
performed.
1) Do not enter the robot's restricted space when the robot
is in operation or when the motor power is on.
2) As a precaution against malfunction, ensure that an
emergency stop device is activated to cut the power to
the robot motor upon entry into the robot's restricted
space.
3) When it is necessary to enter the robot's restricted space
to perform teaching or maintenance work while the robot
is running, ensure that the steps described in Section 4.3
"Ensuring safety of workers performing jobs within the
robot's restricted space" are taken.
4.1 Creation of working
regulations and
assuring worker
adherence
When entering the robot’s restricted space to perform teaching
or maintenance inspections, set "working regulations" for the
following items and ensure workers adhere to them.
(1) Operating procedures required to run the robot.
(2) Robot speed when performing teaching.
(3) Signaling methods to be used when more than one worker is
to perform work.
(4) Steps that must be taken by the worker in the event of a
malfunction, according to the contents of the malfunction.
(5) The necessary steps for checking release and safety of the
malfunction status, in order to restart the robot after robot
movement has been stopped due to activation of the
emergency stop device
(6) Apart from the above, any steps below necessary to prevent
danger from unexpected robot movement or malfunction of
the robot.
1) Display of the control panel (See Section 4.2 on the next
page.)
2) Assuring the safety of workers performing jobs within the
robot's restricted space (See Section 4.3 on the next
page.)
3) Maintaining worker position and stance
Position and stance that enables the worker to confirm
normal robot operation and to take immediate refuge if a
malfunction occurs.
4) Implementation of measures for noise prevention
5) Signaling methods for workers of related equipment
6) Types of malfunctions and how to distinguish them
Please ensure "working regulations" are appropriate to the robot
type, the place of installation and to the content of the work.
Be sure to consult the opinions of related workers, engineers at
the equipment manufacturer and that of a labor safety consultant
when creating these "working regulations".
4.2 Display of operation
panel
To prevent anyone other than the worker from accessing the start
switch or the changeover switch by accident during operation,
display something to indicate it is in operation on the operation
panel or teach pendant. Take any other steps as appropriate,
such as locking the cover.
4.3 Ensuring safety of
workers performing
jobs within the robot's
restricted space
When performing jobs within the robot’s restricted space, take
any of the following steps to ensure that robot operation can be
stopped immediately upon a malfunction.
(1) Ensure an overseer is placed in a position outside the
robot’s restricted space and one in which he/she can see all
robot movements, and that he/she is devoted solely to that
task.
c
An emergency stop device should be activated
immediately upon a malfunction.
d Do not permit anyone other than the worker engaged for
that job to enter the robot’s restricted space.
(2) Ensure a worker within the robot's restricted space carries
the portable emergency stop switch so he/she can press it
(the emergency button on the teach pendant) immediately if
it should be necessary to do so.
4.4 Inspections before
commencing work
such as teaching
Before starting work such as teaching, inspect the following
items, carry out any repairs immediately upon detection of a
malfunction and perform any other necessary measures.
(1) Check for any damage to the sheath or cover of the external
wiring or to the external devices.
(2) Check that the robot is functioning normally or not (any
unusual noise or vibration during operation).
(3) Check the functioning of the emergency stop device.
(4) Check there is no leakage of air or oil from any pipes.
(5) Check there are no obstructive objects in or near the robot’s
restricted space.
SAFETY PRECAUTIONS
4.5 Release of residual air
pressure
Before disassembling or replacing pneumatic parts, first release
any residual air pressure in the drive cylinder.
4.6 Precautions for test
runs
Whenever possible, have the worker stay outside of the robot's
restricted space when performing test runs.
4.7 Precautions for
automatic operation
(1) At start-up
Stay out of the safeguarded space with a safety fence when
starting the robot; in particular, take extra caution in Internal
automatic operation.
Before starting the robot, check the following items as well
as setting the signals to be used and perform signaling
practice with all related workers.
1) Check that there is no one inside the safeguarded space
(with a safety fence).
2) Check that the teach pendant and tools are in their
designated places.
3) Check that no lamps indicating a malfunction on the
robot or related equipment are lit.
(2) Check that the display lamp indicating automatic operation
is lit during automatic operation.
(3) Steps to be taken when a malfunction occurs
Stop the robot's operation by activating the emergency stop
device when it is necessary to enter the safeguarded space
with a safety fence to perform emergency maintenance in
the case of malfunction of the robots or related equipment.
Take any necessary steps such as posting a notice on the
start switch to indicate work is in progress to prevent anyone
from accessing the robot.
4.8 Precautions in repairs
(1) Do not perform repairs outside of the designated range.
(2) Under no circumstances should the interlock mechanism be
removed.
(3) When opening the robot controller's cover for battery
replacement or any other reasons, always turn the robot
controller power off and disconnect the power cable.
(4) Use only spare tools specified in this manual.
5. Daily and Periodical
Inspections
(1) Be sure to perform daily and periodical inspections. Before
starting jobs, always check that there is no problem with the
robot and related equipment. If any problems are found,
take any necessary measures to correct them.
(2) When carrying out periodical inspections or any repairs,
maintain records and keep them for at least 3 years.
6. Management of
Floppy Disks
(1) Carefully handle and store the "Initial settings" floppy disks
packaged with the robot, which store special data
exclusively prepared for your robot.
(2) After finishing teaching or making any changes, always save
the programs and data onto floppy disks.
Making back-ups will help you recover if data stored in the
robot controller is lost due to the expired life of the back-up
battery.
(3) Write the names of each of the floppy disks used for storing
task programs to prevent incorrect disks from loading into
the robot controller.
(4) Store the floppy disks where they will not be exposed to dust,
humidity and magnetic field, which could corrupt the disks or
data stored on them.
7. Safety Codes
The safety standards relating to robot systems are listed below.
As well as observing the safety precautions given in this manual,
ensure compliance with all local and national safety and
electrical codes for the installation and operation of the robot
system.
Standards Title
ANSI/RIA R15.06-1999 Industrial Robots and Robot Systems--Safety Requirements
ANSI/UL1740: 1998 Safety for Robots and Robotic Equipment
CAN/CSA Z434-03 Industrial Robots and Robot Systems--General Safety Requirements
ISO10218-1: 2006 Robots for industrial environments--Safety requirements--Part 1: Robot
NFPA 79: 2002 Electrical Standard for Industrial Machinery
8. Battery Recycling
DENSO Robot uses lithium batteries.
Discard batteries according to your local and national recycling
law.
Contents
Preface
How the documentation set is organized
SAFETY PRECAUTIONS
Chapter 1 Overview.......................................................................................................................................................... 1
1.1 System Configuration............................................................................................................................................ 1
1.2 Standard Items Contained in the Package ............................................................................................................. 2
1.3 Optional Items....................................................................................................................................................... 3
1.4 Controller Specification ........................................................................................................................................ 6
1.5 Outer Dimensions of the Controller ...................................................................................................................... 8
1.6 Names of the Controller Components ................................................................................................................... 9
1.7 Precautions for Safe Use of the Robot System.................................................................................................... 11
Chapter 2 Engineering Design of Servo Mechanism ................................................................................................... 12
2.1 Designing the Servo Mechanism......................................................................................................................... 12
2.1.1 Example of the Mechanism.................................................................................................................
12
2.1.2 Selection of the Drive System.............................................................................................................
12
2.1.3 Design Example (High-Speed Transfer Equipment)...........................................................................
13
2.1.4 Notes for Designing ............................................................................................................................
20
2.2 Knowledge Required for Selection of Servomotors............................................................................................ 22
Chapter 3 Choosing AC Servomotors ........................................................................................................................... 28
3.1 AC Servomotors.................................................................................................................................................. 28
3.1.1 List of AC Servomotors ......................................................................................................................28
3.1.2 Cable End Treatment of AC Servomotors When Shipped ..................................................................
29
3.1.3 Motor Characteristics Lists .................................................................................................................
30
3.1.4 Specification Details ...........................................................................................................................
32
3.2 External Dimensions of AC Servomotors ........................................................................................................... 35
Chapter 4 Configuring the Joint Parameters............................................................................................................... 41
4.1 Path Configuration Parameters............................................................................................................................ 41
4.2 Servo Configuration Parameters ......................................................................................................................... 44
4.3 Arm Configuration Parameters ........................................................................................................................... 47
4.3.1 Setting the Speed Reduction Rate in Manual Operation.....................................................................
48
4.4 Outputting a List of Joint Parameter Settings (Using WINCAPSIII).................................................................. 49
4.5 Detailed Description of Joint Parameter Setting ................................................................................................. 50
4.6 Configuring Motors as Robot Joints or Extended-Joints..................................................................................... 56
4.6.1 Robot Joints.........................................................................................................................................
56
4.6.2 Extended-Joints...................................................................................................................................
57
4.6.3 Usable Functions in Robot and Extended-Joint Motion (Examples) ..................................................
57
4.6.4 Configuring Robot Joints ....................................................................................................................
58
4.7 Gain Tuning of Each Joint................................................................................................................................... 59
4.7.1 Auto Gain Tuning................................................................................................................................
60
4.7.2 Manual Gain Tuning ...........................................................................................................................
64
4.8 Joint Exclusive Operations.................................................................................................................................. 71
4.8.1 Performing CALSET Operation on Each Joint ...................................................................................
71
4.8.2 Releasing or locking brakes ................................................................................................................
72
4.8.3 Direct Teaching Mode.........................................................................................................................
74
4.8.4 Resetting Encoder ...............................................................................................................................
76
4.8.5 Operating Extended-Joints ..................................................................................................................
77
4.8.6 Programmed Operation in SMT7 (Description of arm groups) ..........................................................
78
4.9
Joint Parameter Configuration Commands ......................................................................................................... 83
4.9.1 Single-Joint Servo Data Monitor Commands (Library)......................................................................
83
4.9.2 Operation Termination Commands (Library)......................................................................................
87
4.9.3 Internal Servo Data Get Commands....................................................................................................
89
Chapter 5 Installation and Wiring ................................................................................................................................ 91
5.1 Installation of Controller ..................................................................................................................................... 91
5.1.1 Installation Site Conditions.................................................................................................................
91
5.1.2 Installing the Controller ......................................................................................................................
92
5.2 Wiring between Controller and Motor ................................................................................................................ 94
5.2.1 Connecting Motor Cable .....................................................................................................................
94
5.2.2 Connecting Encoder Cable..................................................................................................................
95
5.2.3 Encoder Backup Battery......................................................................................................................
96
5.2.4 Caution for Wiring ..............................................................................................................................
97
5.3 Wiring of Primary Power Source ........................................................................................................................ 98
Chapter 1 Overview
1
Chapter 1 Overview
1.1 System Configuration
The SMT7 is a controller that controls the positioning mechanism driven by an AC
servomotor, e.g., X-Y table.
Shown below is a system configuration sample using the SMT7 controller.
First, move the X-Y table using the teach pendant to store the position into the
controller memory. At the same time, store other conditions for synchronizing with
external equipment (e.g., PLC).
After that, in an automatic operation, the controller drives the X-Y table as
programmed, reading out the data stored in the memory.
System Configuration
(1) Notes in operating the SMT7
The SMT7 is functionally equivalent to robot controllers except the SMT7 cannot
specify arm mechanisms. Using any of the following motions and commands in the
SMT7, therefore, may cause an unexpected movement. It is dangerous.
CP motion
(linear interpolation MOVE L or circular interpolation MOVE C)
TOOL movement
ROTATE command
Coordinate instruction movement (DRAW)
PALT command
APPROACH command
DEPART command
(2) Drive capacity
The motor capacity that can be driven by the SMT7 is as listed below.
SMT7 controller Motor Capacity Total Drive Capacity Note
1st to 6th axes
1500 W max./axis 3000 W max.
3rd to 6th axes:
Restricted to
1200 W or its equivalent
Note: Use AC servomotors specified in Chapter 3.
Note: The total drive capacity does not change even when optional extended-joints are in
use.
Chapter 1 Overview
2
1.2 Standard Items Contained in the Package
The items listed in the table below are contained in the product package.
Standard Items
No. Item Qty.
(1) SMT7 controller (Note 1) 1
(2) Power supply cable (5m) 1
(3) Instruction manuals (Manual pack CD) 1 set
(4)
NetwoRC CD
(containing WINCAPSIII beta version)
1
(5) Spare fuse for controller 3
(6) Pendantless connector (Dummy connector) 1
(7) Spare output IC for controller 1
(8) Short socket for controller 2
Note 1: When shipped from the factory, the controller has a built-in IPM board
suited for AC servomotors to be connected. When ordering the
controller, therefore, also order AC servomotors.
Chapter 1 Overview
3
1.3 Optional Items
The table below lists the optional items.
Optional Items (1)
No. Item Remarks Part No.
AC servomotor (Standard type, 50W, Without brake) SGMAH-A5A1A-DH1* 410627-0210
AC servomotor (Standard type, 50W, With brake) SGMAH-A5A1A-DH2* 410627-0160
AC servomotor (Standard type, 100W, Without brake) SGMAH-01A1A-DH1* 410627-0220
AC servomotor (Standard type, 100W, With brake) SGMAH-01A1A-DH2* 410627-0170
AC servomotor (Standard type, 200W, Without brake) SGMAH-02A1A-DH1* 410627-0230
AC servomotor (Standard type, 200W, With brake) SGMAH-02A1A-DH2* 410627-0180
AC servomotor (Standard type, 400W, Without brake) SGMAH-04A1A-DH1* 410627-0240
AC servomotor (Standard type, 400W, With brake) SGMAH-04A1A-DH2* 410627-0190
AC servomotor (Standard type, 750W, Without brake) SGMAH-08A1A-DH1* 410627-0250
AC servomotor (Standard type, 750W, With brake) SGMAH-08A1A-DH2* 410627-0200
AC servomotor (Flat type, 100W, Without brake) SGMPH-01A1A-DH1* 410627-0310
AC servomotor (Flat type, 100W, With brake) SGMPH-01A1A-DH2* 410627-0260
AC servomotor (Flat type, 200W, Without brake) SGMPH-02A1A-DH1* 410627-0320
AC servomotor (Flat type, 200W, With brake) SGMPH-02A1A-DH2* 410627-0270
AC servomotor (Flat type, 400W, Without brake) SGMPH-04A1A-DH1* 410627-0330
AC servomotor (Flat type, 400W, With brake) SGMPH-04A1A-DH2* 410627-0280
AC servomotor (Flat type, 750W, Without brake) SGMPH-08A1A-DH1* 410627-0340
AC servomotor (Flat type, 750W, With brake) SGMPH-08A1A-DH2* 410627-0290
AC servomotor (Flat type, 1500W, Without brake) SGMPH-15A1A-DH1* 410627-0350
1
AC servomotor (Flat type, 1500W, With brake) SGMPH-15A1A-DH2* 410627-0300
Encoder branch cable (for 4 axes) 410141-4050
2
Encoder branch cable (for 6 axes)
Between controller and
encoder cable
410141-4060
Motor branch cable (for 4 axes) 410141-4030
3
Motor branch cable (for 6 axes)
Between controller and
motor cable
410141-4040
Encoder cable (4 m) 410141-4130
Encoder cable (6 m) 410141-4140
4
Encoder cable (12 m)
1 cable per a motor
410141-4150
Motor cable (Connected to 750W or less motor, 4 m) 410141-4100
Motor cable (Connected to 750W or less motor, 6 m) 410141-4110
Motor cable (Connected to 750W or less motor, 12 m) 410141-4120
Motor cable (Connected to 1500w motor, 4 m) 410141-4070
Motor cable (Connected to 1500w motor, 6 m) 410141-4080
5
Motor cable (Connected to 1500w motor, 12 m)
1 cable per a motor
410141-4090
Chapter 1 Overview
4
Optional Items (2)
No. Item Remarks Part No.
6 Encoder backup battery 1 unit per a motor 410611-0030
(8 m) Includes Nos. 7-1 and 7-2. 410149-0940
7 Standard I/O cable set
(15 m) Includes Nos. 7-1 and 7-2 410149-0950
(8 m) 410141-2700
7-1 I/O cable for "Mini I/O" (68-pin)
(15 m) 410141-2710
(8 m) 410141-1740
7-2 I/O cable for "HAND I/O"
(15 m) 410141-1750
(8 m) 410141-3050
8
I/O cable for "Parallel I/O board"
(96-pin)
(15 m) 410141-3060
(8 m) 410141-3580
9
I/O cable for "SAFETY I/O" (36-pin)
(Only for global type)
(15 m) 410141-3590
(4 m) With cable 410100-1570
(8 m) With cable 410100-1580
10 Teach pendant
(15 m) With cable 410100-1590
Japanese version 410109-0390
(4 m)
English version 410109-0400
Japanese version 410109-0410
(8 m)
English version 410109-0420
Japanese version 410109-0430
11
Mini-pendant kit
(Incl. cable and WINCAPSIII Light)
(12 m)
English version 410109-0440
(4 m) For TP, MP 410141-3710
12 Pendant extension cable
(8 m) For TP, MP 410141-3720
13 WINCAPSIII
CD-ROM
(common to the languages--Japanese,
English, German, Korean, and Chinese)
410090-0980
NPN 410010-3320
Shipped as installed on
the controller
PNP 410010-3330
NPN 410010-3340
14
Parallel I/O
board
Shipped as individual
boards (supply part)
PNP 410010-3350
For Slave station 410010-3370
For Master station 410010-3380
Shipped as installed on
the controller
For Master & slave station 410010-3390
For Slave station 410010-3400
For Master station 410010-3410
15
DeviceNet
board
Shipped as individual
boards (supply part)
For Master & slave station 410010-3480
/
