Denso SMT7 User manual

ROBOT

SMT7 CONTROLLER

INSTRUCTION MANUAL

(SUPPLEMENT)

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

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.

<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

 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.

 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

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Denso SMT7 User manual

Denso SMT7 User manual

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