SANMOTION Q - Sanyo Denki America, Inc.

AC SERVO SYSTEMS 

Q 

Vol.3 

English

Save installation time and expense 

Economical Smaller profile, less wiring time needed 

Quick SetupNo adjustment needed; complete with 

measurement functions and setup software 

Improved precision and speed 

Stability Doubled from earlier models 

AccuracyMinimal positional deviation 

(achieves zero deviation) 

Vibration Control Rapid response with minimal vibration 

Worldwide compatibility assured 

ReliabilityImproved MTBF 

Maintenance Reduced MTTR; offers preventative 

maintenance functions,fault location 

recognition, and setup software 

Safety Conforms to international standards 

Waterproofing: Entire line meets 

IP67 protection standards 

(optional for Q1 motors with diameter less than 76mm,and 

Q2 motors less than 42mm; Q4 motor components rated at IP40) 

Reduced operating costs 

Economical Energy efficient, boosts energy savings 

INDEX 

Features and Functions p.3 

System Configuration p.9 

Model Number Nomenclature p.13 

Standard Specifications p.15 

External Wiring Diagram p.29 

Sensor Wiring Diagram p.31 

Dimensions p.33 

DC Motor / Amplifier Systemp.37 

Setup Softwarep.39 

Positioning Amplifier Specs. p.41 

Optional Equipment p.43

Sanyo Denki Q Series Servo Systems reduce the time 

and expense needed for system construction and 

installation. 

Real-time Auto 

Tuning Function 

AC DC P/A/T PF 5-digit LED with 

AC P/A/T PF 

Integrated Controls 

Machine characteristics are automatically measured 

to set the proper servo gain. Optimum settings are 

easily achieved. 

Make on-site modifcations and monitor parameter 

settings with ease, using the integrated operator 

controls. 

Speed command value 

Detected speed value 

Tuning initiated 

One Input Point for 

All Controls 

AC P/A/T 

Test Operations 

(JOG Functions) 

AC P/A/T 

Torque, position and speed control can be 

configured specifically and precisely by modifying 

user parameters. 

Use the system's JOG Functions to check 

connections between the motor and amplifier, for 

simple testing-without having to enter position and 

speed commands. 

QS1A100A 

Capable of JOG operations 

without upper controller. 

MODE 

/WR 

Position 

or 

speed 

Torque 

Control 

GOAL 

T 

S 

R 

t 

CHARGE 

C 

POWER 

P 

C 

r 

START 

Flat surface 

Incline 

- 

DL1 

DL2 

P 

RB1 

RB2 

W 

V 

U 

N 

A 

C 

N 

B 

C 

N 

C 

C 

N2 

C 

N1 

Operations are only tested 

between the motor and amplifier. 

3

MODE 

CHARGE 

/WR 

POWER 

Smart Motor Recognition/ 

Configuration Feature 

AC P/A/T PF 

The servo amplifier automatically configures itself 

relative to the servo motor capacity and model type. 

[Note that 131,072-division (17-bit) single-rotation 

sensor resolution is supported only by PA035 and 

PA062 reduced wiring absolute sensors.] 

AC AC Input Type 

Internal Regenerative 

Resistor 

P/A/T Pulse/Analog/Torque 

DC DC Input Type PF Amplifer with 

Positioning Function 

AC 

DC 

P/A/T PF 

If the capacity of the internal regenerative resistor is 

insufficient, an optional external regenerative 

resistor can be added to boost power dissipation. 

Q1 QS AC Models 

MODE 

CHARGE 

POWER 

Internal Dynamic 

Brake 

T 

S 

R 

t 

r 

- 

DL1 

DL2 

P 

RB1 

RB2 

W 

V 

U 

C 

N 

A 

C 

N 

B 

C 

N 

C 

QS1A100A 

/WR 

P 

C 

C 

N2 

C 

N1 

The internal dynamic brake provides emergency 

stopcapability during power off or alarm events. 

Dynamicbraking sequence parameters are open for 

configuration. 

Optional external 

regenerative resistor 

Internal regenerative resistor 

AC DC P/A/T PF Versatile I/O 

AC PF 

Positioning Operation 

MODE 

T 

S 

R 

t 

r 

- 

DL1 

DL2 

P 

RB1 

RB2 

W 

V 

U 

CHARGE 

C 

N 

A 

C 

N 

B 

C 

N 

C 

QS1A100A 

The system offers simple positioning by means of 

specifying point numbers via the I/O of the upper 

controller (such as a PLC). 

/WR 

POWER 

P 

C 

C 

N2 

C 

N1 

 

Options DC Models Q2 Q4 

Setup 

Software 

Positionng 

General Spec 

Controlled 

state Dynamic 

braking state 

QS1A100A 

QS1A100A 

MODE 

/WR 

CHARGE POWER 

P 

T 

C 

S 

C 

R N 

A 

t 

r 

C 

- 

N1 

DL1 

DL2 C 

N 

P B 

RB1 

RB2 

W 

C 

C 

N2 

V N 

C 

U 

Rotation speed(min 1 ) 

Time(s) 

PLC 

Point Number 

Specify “1” 

Point 1 

T 

S 

R 

t 

r 

- 

DL1 

DL2 

P 

RB1 

RB2 

W 

V 

U 

C 

N 

A 

C 

N 

B 

C 

N 

C 

P 

C 

C 

N 

1 

C 

N 

2 

Point 0 

Q Motor 

4

Major improvements in equipment precision and speed 

Rapid Response 

AC P/A/T PF 

Vibration Control 

AC P/A/T PF 

The high-performance CPU shortens sampling time 

to half that of earlier models, providing a 600-Hz 

frequency response. 

Vibration control functions such as high-order 

torque command low-pass filter, broadband secondorder 

notch filter and vibration control monitoring 

provide rapid-response, low-vibration performance. 

Stopping Position Deviation 

10 

with vibration control 

without vibration contro 

0 

Gain(dB) 

-10 

-20 

-30 

-40 

1 

5 10 50 100 500 1000 1800 

Frequency(Hz) 

100ms/div 

Faster Positioning 

Stabilization 

AC P/A/T PF 

Command Track Control 

AC P/A/T PF 

A new speed controller substantially shortens 

position stabilization time, to one fifth that of earlier 

models. 

A new position and speed controller algorithm 

improves position control tracking ability to better 

than twice that of earlier models. In addition, nearzero 

position deviation has been achieved. 

Positioning Command 

Position Deviation 

Position Completion Signal 

Stabilization Time 

(0.7ms) 

Position Deviation 

5ms/div 

20ms/div 

5

High Resolution 

The high-resolution absolute encoder (17 bits or 

131,072 divisions) greatly improves positioning 

resolution. 

High-resolution 

Power Rating 

encoder 

AC P/A/T PF 

(17 bits or 131,072 divisions) 

RA062 Resolver-type Absolute Encoder Sensor 

AC P/A/T PF 

To decrease positioning stabilization time, the 

magnetic circuit has been redesigned to increase the 

maximum instantaneous power rating to nearly 

twice that of earlier models. In addition, the 

maximum rotation speed has been increased by 

20% over that of earlier models, to 5000 min- 1 . 


Reduced Motor 

Cogging Torque 

New, patented motor technology reduces motor 

cogging torque by 33%, to a fifth of that of earlier 

models. 

This smooth motor rotation is ideal for highprecision 

processes and conveyance applications 

that are adversely affected by vibration. 

Q Motor 

Earlier model 

Full-close Control 

The system supports full-close control using 

information from a high-resolution linear scale 

encoder mounted on the load side. 

QS1A100A 




0.14 N·m 

(1.5% of rated torque) 

AC P/A/T PF 

0.029 N·m 

(0.3% of rated torque) 

one rotation 

one rotation 

AC P/A/T PF 



Setup 

Software 

Positionng 

General Spec 

MODE 

/WR 

Maximum instantaneous power rating 

(kW/s) 

2.5 

2.0 

1.5 

1.0 

0.5 

0 

Q Motor Earlier Model Q Motor Earlier Model 

40mm frame/0.1kw 

130mm frame/4kw 

T 

S 

R 

t 

r 

- 

DL1 

DL2 

P 

RB1 

RB2 

W 

V 

U 

CHARGE 

C 

N 

A 

C 

N 

B 

C 

N 

C 

POWER 

P 

C 

C 

N 

1 

C 

N 

2 

Capable of precise and 

accurate positioning 

Load 

Increased maximum instantaneous power rating (Qp=Tp 2 /Jm) 

Improved acceleration and deceleration performance 

6

Worldwide compatibility is assured 

Conforms to International 

Standards 

AC P/A/T 

Rich Product Lineup 

AC P/A/T 

Standard specification SANMOTION Q Series servo 

amplifiers comply with UL, CSA and EN international 

standards. SANYO DENKI also provides UL 

and EN compliant servo motors, as well as EMC 

filters to satisfy applicable EMC directives. 

SANMOTION Q Series servo motors are available in 

62 models, from small to medium capacities. Motors 

equipped with brakes and gears are also available. 

The small size and low weight of Q Series products 

can greatly improve performance and suitability for 

a wide range of applications. 

Waterproof and Durable 

AC 

Harmonic Suppression 

AC P/A/T PF 

An IP67 ingress protection rating for the entire 

SANMOTION Q Series ensures environmental 

endurance. (This rating is optional for the Q1 Series 

motors of 76 mm dia. MAX. and for Q2 Series of 42 

mm dia. Option.) 

DC reactor connectors are provided for power 

harmonic suppression. 

MODE 

QS1A100A 

/WR 

CHARGE 

POWER 

T 

P 

C 

IP67 

DL1 

DL2 

S 

R 

t 

r 

- 

DL1 

DL2 

P 

RB1 

RB2 

W 

C 

N 

A 

C 

N 

B 

C 

C 

N2 

C 

N1 

V 

N 

C 

U 

Note:The fan motor and fan motor housing of the Q4 Series are rated at IP 40 

Optional 

DC Reactor 

7

MODE 

T 

S 

R 

t 

r 

- 

DL1 

DL2 

P 

RB1 

RB2 

W 

V 

U 

CHARGE 

C 

N 

A 

C 

N 

B 

C 

N 

C 

QS1A100A 

/WR 

POWER 

P 

C 

C 

N 

1 

C 

N 

2 

MODE 

T 

S 

R 

t 

r 

- 

DL1 

DL2 

P 

RB1 

RB2 

W 

V 

U 

CHARGE 

C 

N 

A 

C 

N 

B 

C 

N 

C 

QS1A100A 

/WR 

POWER 

P 

C 

C 

N 

1 

C 

N 

2 

MODE 

T 

S 

R 

t 

r 

- 

DL1 

DL2 

P 

RB1 

RB2 

W 

V 

U 

CHARGE 

C 

N 

A 

C 

N 

B 

C 

N 

C 

QS1A100A 

/WR 

POWER 

P 

C 

C 

N 

1 

C 

N 

2 

MODE 

T 

S 

R 

t 

r 

- 

DL1 

DL2 

P 

RB1 

RB2 

W 

V 

U 

CHARGE 

C 

N 

A 

C 

N 

B 

C 

N 

C 

QS1A100A 

/WR 

POWER 

P 

C 

C 

N 

1 

C 

N 

2 

MODE 

T 

S 

R 

t 

r 

- 

DL1 

DL2 

P 

RB1 

RB2 

W 

V 

U 

CHARGE 

C 

N 

A 

C 

N 

B 

C 

N 

C 

QS1A100A 

/WR 

POWER 

P 

C 

C 

N 

1 

C 

N 

2 

Setup Software via PC 

Optional setup software enables the user to set 

parameters, graphically display monitoring waveforms 

of position, speed, and torque data, and 

perform system analysis functions via a PC 

connection 

MODE 

T 

S 

R 

t 

r 

- 

DL1 

DL2 

P 

RB1 

RB2 

W 

V 

U 

CHARGE 

C 

N 

A 

C 

NB 

C 

NC 

QS1A10A 

/WR 

POWER 

P 

C 

C 

N 

1 

C 

N 

2 

Parameter setting: 

Monitor position, 

speed and torque 

waveforms 

Simultaneous 

Monitoring Function 

AC 

Note: Use optional cable AL-00490833-01 

for PC connection 

AC 

DC 

DC 

P/A/T PF 

P/A/T PF 

The Q Series Setup software can monitor up to 15 

axes / amplifiers, a useful function when monitoring 

waveforms of synchronous operations. 

Conserves 20% of 

Lost Power 

Power losses in the amplifier circuitry are reduced 

by enhancements such as a low-loss power module. 

Motor power losses are reduced by improvements 

in the magnetic circuitry, particularly in the 

windings. The result is an overall power loss 

reduction of 20% as compared to earlier models. 

Relative Power Loss Reduction 

(compared to previous models) 

100% 

90% 

80% 

70% 

60% 

Q Motor Previous Model Q Motor Previous Model 

86mm flange/750W 

130mm flange/2kW 

88 to 90% efficiency 

Loss is reduced 20% 


Reduced Operating Cost 

AC P/A/T PF 

Power Savings Results 

Annual Power Reduction=[Reduced Loss]x[8760 hrs] 

86mm flange/0.75kW: 245kWh/unit 

130mm flange/2kW: 438kWh/unit 






Setup 

Software 

Positionng 

General Spec 

Daisy chain connection for up to 15 axes 

RS232C 

Max. of 15 

amplifiers 

Note: Optional PC connection cable is available 

8

Pulse/Analog/Torque Input Amplifier System Configuration 

Circuit Breaker (MCCB) 

Noise Filter 

Electromagnetic Contactor 

T 

S 

R 

Cuts off power in the case 

of an overload, to protect 

the power line. 

Protects the power line 

from external noise, and 

from noise generated by 

the servo amplifier. 

Switches servo power on 

and off. Installation of a 

surge protector is required. 

Brake Power 

DC Reactor 

Required for use when the 

servo motor is equipped 

with a brake. 

Suppresses power harmonics. 

External Regenerative Resistor 

Use as required, such as for heavy 

inertial load operations. 

For special operations, such as highfrequency 

applications that require greater 

power dissipation than that provided by 

the servo amplifier's internal regenerative 

resistor. 

Wiring required for brake. 

Connector Types 

CN1 

CNA CNB CNC 

Connectors for Amplifier Connections 

Single 

Connectors 

Contents 

CN1 (Plug, Housing) 


CNA (Plug) 

CNB (Plug): Accessory 

CNC (Plug) 

Model Number 

AL-00385594 

AL-00385596 

AL-00329461-01 

AL-Y0000988-01 

AL-00329458-01 

CN2 

Connector 

Sets 

CN1, CN2 (Plug, Housing) 


CNA, CNC (Plug) 

AL-00292309 

AL-00393603 

9

AC P/A/T 

A Motor Power Connectors 

Motor Model No. 

Q1AA10100*** 

Q1AA10150*** 

Q1AA10200*** 

Q1AA10250*** 

Q1AA12100*** 

Q1AA12200*** 

Q1AA12300*** 

Q1AA13300*** 

Q1AA13400*** 

Q1AA13500*** 

Q1AA18450*** 

Q1AA18750*** 

Q2AA10100*** 

Q2AA10150*** 

Q2AA13050*** 

Q2AA13100*** 

Q2AA10150*** 

Q2AA13200*** 

Q2AA18200*** 

Q2AA18350*** 

Q2AA18450*** 

Q2AA18550*** 

Q2AA18750*** 

Q2AA2211K*** 

Q2AA2215K*** 

Q4AA2211K*** 

Q4AA2215K*** 

Standard Specification Plug 

(Cable Clamp) for Power Side 

MS3106B20-15S 

(MS3057-12A) 

MS3106B24-11S 

(MS3057-16A) 

MS3106B32-17S 

(MS3057-20A) 

MS3106B20-15S 

(MS3057-12A) 

MS3106B24-11S 

(MS3057-16A) 

MS3106B32-17S 

(MS3057-20A) 

TUV Standard Plug (Cable Clamp) 

with Waterproof Spec. for Power 

Straight L-Angle Straight L-Angle 

MS3106B32-17S 

(MS3057-20A) 

MS3108B20-15S 

(MS3057-12A) 

MS3108B24-11S 

(MS3057-16A) 

MS3108B32-17S 

(MS3057-20A) 

MS3108B20-15S 

(MS3057-12A) 

MS3108B24-11S 

(MS3057-16A) 

MS3108B32-17S 

(MS3057-20A) 

MS3108B32-17S 

(MS3057-20A) 

JL04V-6A20-15SE-EB 

(JL04-2022CK) 


(JL04-2428CK) 

JL04V-6A32-17SE 

(Single-block) 


(JL04-2022CK) 


(JL04-2022CK) 

JL04V-6A32-17SE 


JL04V-6A32-17SE 



(JL04-2022CK) 


(JL04-2428CK) 


(JL04-2022CK) 


(JL04-2428CK) 

PC 

CN1 

CN2 

TUV Standard Plug (Cable Clamp)* 

with Waterproof Spec. for Brake 

Straight 

JL04V-6A10SL-3SE-EB 

(JL04-1012CK) 


(JL04-1012CK) 

L-Angle 


(JL04-1012CK) 


(JL04-1012CK) 

AL-00490833-01 

See p.43 

A 

B Motor Encoder Connectors 

C Cooling Fan Connectors 

 


Parameter 

configuration and 

monitoring is possible 

via communication 

with a PC. 

Upper Controller 

SANYO DENKI upper 

controller devices permit 

communication with 

third-party products. 

SMS-15 


(Cable Clamp) for Encoder 

B 

Cooling Fan Standard Specifications TUV Std. Plug, Waterproof 

Straight L-Angle Straight 

MS3106B10SL-4S 

(MS3057-4A) 


(MS3057-4A) 


with Waterproof Spec. for Encoder 

 


All Q1, Q2, and MS3106B20-29S MS3108B20-29S JA06A-20-29S-J1-EB JA06A-20-29S-J1-EB 

Q4 Models (MS3057-12A) (MS3057-12A) (JL04-2022CK) (JL04-2022CK) 

All Q4 Models 

Setup Software 

pp. 39 - 40 

External Drawing p. 29 

JA06A-10SL-4S-J1 




Setup 

Software 

Positionng 

General Spec 

*Order a plug that conforms to TUV standards for brakes with waterproof specification separately from the motor power connector. 

10

Amplifier System (with Positioning Function) Configuration 

Circuit Breaker (MCCB) 

Noise Filter 

Electromagnetic Contactor 

T 

S 

R 

Cuts off power in the case 

of an overload, to protect 

the power line. 

Protects the power line 

from external noise, and 

from noise generated by 

the servo amplifier 

Switches servo power on 

and off. Requires 

installation of a surge 

protector. 

Brake Power 

DC Reactor 

Required for use when the 

servo motor is equipped 

with a brake. 

Suppresses power harmonics. 

External Regenerative Resistor 

Use as required, such as for 

heavy inertial load operation. 

For special operations, such as highfrequency 

applications that require greater 

power dissipation than that provided by 

the servo amplifier's internal regenerative 

resistor. 

Wiring required for brake. 

Connector Types 

CN1 

CNA CNB CNC 

Connectors for Amplifier Connections 

Single 

Connectors 

Contents 



CNA (Plug) 

CNB (Plug): Accessory 

CNC (Plug) 

Model Number 

AL-00385594 

AL-00385596 

AL-00329461-01 

AL-Y0000988-01 

AL-00329458-01 

CN2 

Connector 

Sets 




AL-00292309 

AL-00393603 

11

AC PF 

A Motor Power Connectors 


Q1AA10100*** 

Q1AA10150*** 

Q1AA10200*** 

Q1AA10250*** 

Q1AA12100*** 

Q1AA12200*** 

Q1AA12300*** 

Q1AA13300*** 

Q1AA13400*** 

Q1AA13500*** 

Q1AA18450*** 

Q1AA18750*** 

Q2AA10100*** 

Q2AA10150*** 

Q2AA13050*** 

Q2AA13100*** 

Q2AA10150*** 

Q2AA13200*** 

Q2AA18200*** 

Q2AA18350*** 

Q2AA18450*** 

Q2AA18550*** 

Q2AA18750*** 

Q2AA2211K*** 

Q2AA2215K*** 

Q4AA2211K*** 

Q4AA2215K*** 


(Cable Clamp) for Power Side 

MS3106B20-15S 

(MS3057-12A) 

MS3106B24-11S 

(MS3057-16A) 

MS3106B32-17S 

(MS3057-20A) 

MS3106B20-15S 

(MS3057-12A) 

MS3106B24-11S 

(MS3057-16A) 

MS3106B32-17S 

(MS3057-20A) 


with Waterproof Spec. for Power 

PC 

CN1 

CN2 

TUV Standard Plug (Cable Clamp)* 

with Waterproof Spec. for Brake 

Straight L-Angle Straight L-Angle Straight L-Angle 

MS3106B32-17S 

(MS3057-20A) 

MS3108B20-15S 

(MS3057-12A) 

MS3108B24-11S 

(MS3057-16A) 

MS3108B32-17S 

(MS3057-20A) 

MS3108B20-15S 

(MS3057-12A) 

MS3108B24-11S 

(MS3057-16A) 

MS3108B32-17S 

(MS3057-20A) 

MS3108B32-17S 

(MS3057-20A) 


(JL04-2022CK) 


(JL04-2428CK) 

JL04V-6A32-17SE 



(JL04-2022CK) 


(JL04-2428CK) 

JL04V-6A32-17SE 


JL04V-6A32-17SE 



(JL04-2022CK) 


(JL04-2428CK) 


(JL04-2022CK) 


(JL04-2428CK) 


(JL04-1012CK) 


(JL04-1012CK) 


(JL04-1012CK) 


(JL04-1012CK) 

AL-00490833-01 

See p.43 

PLC 

A 

B Motor Encoder Connectors 

C Cooling Fan Connectors 

 


(Cable Clamp) for Encoder 


Parameter 

configuration and 

monitoring is 

possible via 

communication 

with a PC. 


pp. 39 - 40 

Upper Controller 

SANYO DENKI 

upper controller 

devices permit 

communication 

with third-party 

products. 

External Drawing 

p. 30 

Cooling Fan Standard Specifications TUV Std. Plug, Waterproof 



(MS3057-4A) 


(MS3057-4A) 

B 


with Waterproof Spec. for Encoder 

 


All Q1, Q2, and MS3106B20-29S MS3108B20-29S JA06A-20-29S-J1-EB JA06A-20-29S-J1-EB 

Q4 Models (MS3057-12A) (MS3057-12A) (JL04-2022CK) (JL04-2022CK) 

All Q4 Models 





Setup 

Software 

Positionng 

General Spec 

*Order a plug that conforms to TUV standards for brakes with waterproof specification separately from the motor power connector. 

12

Servo Motor Model Number Nomenclature 

AC P/A/T PF 

Servo Motor 

Example: The following model number defines a Q1 (low-inertia) servomotor with a 60-mm square flange,200W 

output rating, 5000 min -1 maximum rotation speed, brake (24V), absolute sensor (131,072 divisions/rotation), 

CE Marking conformity and A-type 1/3 gear. 

Q 

1 AA 06 020 D C P 00 E A 

Q Series 

Motor Type 

1Low-inertia 

2Medium-inertia 

4Low-inertia (high volume) 

Supply Votage 

AA 200V Motor 

EA 100V Motor 

Holding Brake 

X Without Brake 

B 90V Brake 

C 24V Brake 

Maximum Rotation Speed 

S 1000min -1 H 3000 3500min -1 

M 1500min -1 L 3000min -1 

B 2000min -1 D 4500 5000min -1 

R 2500min -1 V 2000min -1 

Specification 

00Standard 

Gear 

A A-type 1/3 

Standard Compliance 

E CE Marking 

U UL 

M CE and UL 

Flange Size 

04 40 or 42mm 

(1.57 or 1.65in) 

05 54mm(2.13in) 

06 60mm(2.36in) 

07 76mm(2.99in) 

08 86mm(3.39in) 

10 100mm(3.94in) 

12 120mm(4.72in) 

13 130mm(5.12in) 

18 180mm(7.09in) 

22 220mm(8.66in) 

Rated Output 

003 30W 

005 50W 

006 60W 

010 100W 

020 200W 

030 300W 

040 400W 

050 500W 

075 750W 

100 1kW 

150 1.5kW 

200 2.0kW 

350 3.5kW 

450 4.5kW 

550 5.5kW 

750 7.5kW 

11K 11kW 

15K 15kW 

20K 20kW 

Sensor Type 

S Red. Wiring Incremental Encoder PP031/PP038/PP062 

D Absolute (w/ incremental function) Encoder PA035M 

P Reduced Wiring Absolute Sensor PA035C 

W Reduced Wiring Absolute Sonsor RA062C 

Combined Motor/Sensor Specification 

PP031 

PP038 

PP062 

Model 

Optical Detection 

System 

Incremental Type 

Standard Supported Range Flange Size 

Encoder Pulse Count Resolution Encoder Pulse Count Resolution Dimension (sq.) 

2000P/R 8000 2000P/R2048P/R 80008192 40mm (1.57 in) MIN 

4096P/R to 25000P/R 

16384P/R 2000P/R2500P/R 

42mm (1.65 in) MIN 

2048250024810 

2000P/R 8000 

2000P/R2048P/R 8000819220000 

72mm (2.83 in) MIN 

5000P/R8192P/R10000P/R 3276840000 

Remarks 

Red. Wiring Incremental 



PA035C 

PA035M 

RA062C 

Model 

Optical Detection 

System 

Resolver 

System 

Absolute Type 

Standard 

Per rotation Multiple Rotations 

131072(17bit) 65536(16bit) 

8192(13bit) 

 

131072(17bit) 8192(13bit) 

Flange Size 

Dimension (sq.) 

40mm (1.57 in) MIN 

74mm (2.91 in) MIN 

74mm (2.91 in) MIN 

Remarks 

Red. Wiring Absolute 

Absolute Incremental 

Batteryless 

Please contact our Sales Division for assistance. 

13

Servo Amplifier Model Number Nomenclature 

AC P/A/T PF 

Servo Amplifier 

Example: The model number shown below is for when a Q series servo amplifier with input voltage of AC200V, 15A 

capacity, full clothesline receiver, and minimum wiring absolute sensor (131,072 divisions per second), and a 

Q1 motor with a 200W rated output 60 mm flange size and position control are selected. 

QS1 A 01 A T 0 34 A3 P 00 

Q Series 

Specification 

00Standard 


Input Power and Internal 

Regeneration Setting 

200V 

With Internal Regeneration Resistor 

L15A, 30A, 300A(option.setting) 

A50A,100A,150A 

Without Internal Registration Resistor 

A15A,30A,300A 

L50A,100A,150A 

100V 


N15A, 30A (option.setting) 

Without Internal Registration Resistor 

E15A,30A 

Amp. capacity 

01 15A 

03 30A 

05 50A 

10 100A 

15 150A 

30 300A 

Motor Type 

A Rotary Motor 

L Linear Motor 

Control Section Hardware Type 

A Reduced Wiring Absolute Sensor 

Red. Wiring Incremental Encoder 

T Full-close 

C Positioning Function 

G Linear Motor Support 

Motor Combination 

0 Q Motor Standard Comb. 

Interface Specification 

SSpeed Control 

TTorque Control 

PPosition Control 

XSpeed and Torque Switch 

YPosition and Torque Switch 

UPosition and Speed Switch 

VInternal Speed Control 

ADirect Operation Type 

(with positioning function) 

Sensor Combination Description 

01Red. Wiring Incremental Encoder PP031/38/62 (2000P/R) 

03Absolute Incremental Encoder PA035M (2048P/R) 

A3Red. Wiring Absolute Sensor PA035C 2.5M 17bit 

A8Red. Wiring Absolute Sensor RA062C 2.5M 17bit 


Setup 

Software 

Positionng 

General Spec 

Applicable Motor Code 

Q1 Series 

31Q1AA04003D 

32Q1AA04005D 

33Q1AA04010D 

34Q1AA06020D 

35Q1AA06040D 

36Q1AA07075D 

37Q1AA10100D 

38Q1AA10150M 

39Q1AA10200D 

3AQ1AA10250D 

3BQ1AA12100D 

3CQ1AA12200D 

3DQ1AA12300D 

3EQ1AA13300D 

3FQ1AA13400D 

3GQ1AA13500D 

3HQ1AA18450M 

3SQ1EA04003D 

3TQ1EA04005D 

3UQ1EA04010D 

3VQ1EA06020D 

Q2 Series 

41Q2AA04006D 

42Q2AA04010D 

43Q2AA05005D 

44Q2AA05010D 

45Q2AA05020D 

46Q2AA07020D 

47Q2AA07030D 

48Q2AA07040D 

49Q2AA07050D 

4AQ2AA08050D 

4BQ2AA08075D 

4CQ2AA08100D 

4DQ2AA10100H 

4EQ2AA10150H 

4FQ2AA13050H 

4GQ2AA13100H 

4HQ2AA13150H 

4JQ2AA13200H 

4KQ2AA18200H 

4LQ2AA18350H 

4MQ2AA18450R 

4NQ2AA18550R 

4PQ2AA22250H 

4RQ2AA22350H 

4SQ2AA22450R 

4T Q2AA22550B 

4U Q2AA22700S 

7MQ2AA18550H 

7N Q2AA18750L 

7R Q2AA2211KV 

7S Q2AA2215KV 

4V Q2EA04006D 

4WQ2EA04010D 

4X Q2EA05005D 

4Y Q2EA05010D 

4Z Q2EA05020D 

71 Q2EA07020D 

Q4 Series 

A1Q4AA1811KB 

A2Q4AA1815KB 

14

Servo Motor Amplifier Specifications 

QS 


Amplifier Capacity 15 to 300A 

Eight Models 

Amplifiers for Q1 Motors 

200V AC Type 

Motor Model 

Motor Flange Dimension 

Motor Rated Output 

Amplifier Model 

Amplifier Power Supply 

Operating Temp. and RH 

Power Consumption* 

Amplifier Mass 

Refer. 

Unit 

kW 

kVA 

kg(lbs) 

Page 17 Page 18 Page 17 

Q1AA04003D 

40 

0.03 

Q1AA04005D 

40 

0.05 

Q1AA04010D 

40 

0.1 

Q1AA06020D 

60 

0.2 

Q1AA06040D 

60 

0.4 

Q1AA07075D 

76 

0.75 

Q1AA10100D 

100 

1 

QS1A01 QS1A03 QS1A05 

200V to 230V AC +10/-15%, 50/60Hz 3 Hz 

Operating Temperature: 0 to 55, Relative Humidity: 50% maximum, no condensation 

0.2 0.3 0.5 1.0 1.7 2.5 

1.25 (2.76) 1.3 (2.87) 2.2 (4.85) 

200V AC Type 

Motor Model 








Refer. Page 17 

Page 18 

Page 19 

Unit Q1AA10150D Q1AA10200D Q1AA10250D Q1AA12100D Q1AA12200D Q1AA12300D Q1AA13300D 

100 

100 

100 

120 

120 

120 

130 

kW 1.5 

2 

2.5 

1 

2 

3 

QS1A05 QS1A10 QS1A05 QS1A10 

200V to 230V AC +10/-15%, 50/60Hz 3 Hz 


kVA 3.0 

4.0 4.2 2.5 

4.0 5.0 

kg(lbs) 2.2 (4.85) 

5.5 (12.13) 2.2 (4.85) 

5.5 (12.13) 

200V AC Type 

Motor Model 








Refer. 

Unit 

kW 

kVA 

kg(lbs) 

Page 20 

Q1AA13400D 

130 

4 

Q1AA13500D 

130 

5 

Q1AA18450M 

180 

4.5 

Q1AA18750H 

180 

7.5 

QS1A15 

QS1A30 

200V to 230V AC +10/-15%, 50/60Hz 3 Hz 

Operating Temperature: 0 to 55, RH: 50% maximum, no condensation 

6.7 8.3 7.4 12.5 

6.8 (14.99) 10 (22.05) 

100V AC Type 

Motor Model 








Refer. 

Unit 

kW 

kVA 

kg(lbs) 

Page 27 Page 28 

Q1EA04003D 

40 

0.03 

Q1EA04005D 

60 

0.05 

Q1EA04010D 

40 

0.1 

Q1EA06020D 

60 

0.2 

QS1E01 

QS1E03 

100V to 115V AC +10/-15%, 50/60Hz 3 Hz 


0.2 0.3 0.5 

1.25 (2.76) 

1.3 (2.87) 


200V AC Type 

Motor Model 








Refer. 

Unit 

kW 

kVA 

kg(lbs) 

Page 19 

Q4AA1811KB 

Q4AA1815KB 

180 

180 

11 

15 

QS1A30 

200V to 230V AC +10/-15%, 50/60Hz 3 Hz 


12.5 

10(2.76) 

*Actual power consumption depends on load impedence, and is shown here at the amplifier's rated output. 

15

AC P/A/T PF 


200V AC Type 

Motor Model 








Refer. 


Unit Q2AA04006D Q2AA04010D Q2AA05005D Q2AA05010D Q2AA05020D Q2AA07020D Q2AA7030D 

42 

42 

54 

54 

54 

76 

76 

kW 0.06 

0.1 

0.05 

0.1 

0.2 

0.3 

QS1A01 

200V to 230V AC +10/-15%, 50/60Hz 3 Hz 


kVA 0.3 0.4 0.3 0.4 0.8 1.0 

kg(lbs) 

1.25 (2.76) 


200V AC Type 

Motor Model 








200V AC Type 

Motor Model 








200V AC Type 

Motor Model 








Refer. 

Unit 

kW 

kVA 

kg(lbs) 

Refer. 

Unit 

kW 

kVA 

kg(lbs) 

Refer. 

Unit 

kW 

kVA 

kg(lbs) 


Q2AA07040D Q2AA07050D Q2AA08050D Q2AA08075D Q2AA08100D Q2AA10100H Q2AA10150H 

76 

76 

86 

86 

86 

100 

100 

0.4 

0.5 

0.75 

1 

1.5 

QS1A03 

QS1A05 

200V to 230V AC +10/-15%, 50/60Hz 3 Hz 


1.3 1.5 2.0 2.5 3.0 

1.3 (2.87) 2.2 (4.85) 

Page 24 

Page 23 

Page 24 

Q2AA13050H Q2AA13100H Q2AA13150H Q2AA13200H Q2AA18200H Q2AA18350H Q2AA18450H 

130 

130 

130 

130 

180 

180 

180 

0.5 

1.0 

1.5 

2 

3.5 

4.5 

QS1A03 QS1A05 QS1A10 QS1A15 

200V to 230V AC +10/-15%, 50/60Hz 3 Hz 


1.4 2.5 3.0 5.0 6.9 7.4 

1.3 (2.87) 2.2 (4.85) 5.5 (12.13) 6.8 (14.99) 

Page 24 

Page 25 Page 26 

Q2AA18550R Q2AA22250H Q2AA22350H Q2AA22450R Q2AA22550B Q2AA22700S Q2AA18550H 

180 

220 

220 

220 

220 

220 

180 

5.5 

2.5 

3.5 

4.5 

5.5 

7 

5.5 

QS1A15 QS1A10 

QS1A15 QS1A30 

200V to 230V AC +10/-15%, 50/60Hz 3 Hz 


8.4 5.9 7.4 

8.4 10.1 12.2 

10.1 

6.8 (14.99) 5.5 (12.13) 

6.8 (14.99) 

10 (22.05) 


Setup 

Software 

Positionng 

General Spec 

200V AC Type 

Motor Model 








Refer. 

Page 26 

Page 25 

Unit Q2AA18750L 

180 

Q2AA2211KV 

220 

Q2AA2215KV 

220 

kW 7.5 

11 

QS1A30 

15 

200V to 230V AC +10/-15%, 50/60Hz 3 Hz 

Op. Temp.: 0 to 55, RH: 50% maximum, no condensation 

kVA 

kg(lbs) 

12.5 15.7 

10 (22.05) 

21.4 

100V AC Type 

Motor Model 








Refer. 

Unit 

kW 

kVA 

kg(lbs) 

Page 27 

Page 28 

Q2EA04006D 

42 

Q2EA04010D 

42 

Q2EA05005D 

54 

Q2EA05010D 

54 

Q2EA05020D 

54 

Q2EA07020D 

76 

0.06 

0.1 

0.05 

0.1 

0.2 

QS1E01 

QS1E03 

100V to 115V AC +10/-15%, 50/60Hz 3 Hz 


0.3 0.5 0.3 0.5 1.0 

1.25 (2.76) 

1.3 (2.87) 

*Actual power consumption depends on load impedence, and is shown here at the amplifier's rated output. 

Amplifier Dwgs p.35-36 

16

Servo Motor Standard Specifications 

Q1 

Servo Motor 

200V System 

Capacity 

Flange Size 

40mm to 120mm 

(1.57in to 4.72in) 


Motor Model and Flange Dimension in mm(in) 

Status Symbol 

PR 

NR 

NMAX 

TR 

TS 

TP 

IR 

IS 

IP 

KT 

KE 

R 

QR 

te 

tm 

Rated Output 

Rated Rotation Speed 

Max. Rotation Speed 

Rated Torque 

Continuous Stall Torque 

Inst. Max. Stall Torque 

Rated Armature Current 

Continuous Stall Armature Current 

Instant. Max. Stall Armature Current 

Torque Constant 

Induced Voltage Constant 

Per-Phase Armature Resistance 

Rated Power Rate 

Electrical Time Constant 

Mechanical Time Constant 

Rotor Inertia (INC) 

Sensor: Reduced Wiring INC 

Mass-including Red. Wiring INC 

Brake Holding Torque 

Brake Excitation Voltage 

Brake Excitation Current 

Brake Inertia 

Brake Mass 

Motor Operating Temp, Rel. Humidity 

JM 

WE 

TB 

VB 

IB 

JB 

W 

Unit 

kW 

min -1 

min -1 

Nm(ozin) 

Nm(ozin) 

Nm(ozin) 

Arms 

Arms 

Arms 

Nm/Arms 

mV/min -1 

 

kW/s 

ms 

ms 

kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

kg(lbs) 

Nm(ozin) 

V 

Arms 

kgm 2 [GD 2 /4](ozin 2 ) 

kg(lbs) 

0.4 

Q1AA04003D 

40mm (1.57in) 

0.03 

0.098(13.88) 

0.108 (15.29) 

0.322 (45.60) 

0.49 

0.53 

2.2 

0.220 

7.68 

15 

9.60 

0.87 

0.93 

0.01x10 -4 (0.05) 

0.3 (0.66) 

0.098 (13.88) 

QS1A01 

3000 

5000 

2000 

0.8 

Q1AA04005D 

40mm (1.57in) 

0.05 

0.159 (22.52) 

0.159 (22.52) 

0.477 (67.55) 

0.80 

0.80 

2.9 

0.230 

8.0 

8.1 

18.8 

0.8 

0.6 

0.0134x10 -4 (0.07) 

0.35 (0.77) 

0.157 (22.23) 

90/24 

0.07/0.26 

0.0078x10 -4 (0.04) 

0.24 (0.53) 

0 to 40; maximum 90% RH (no condensation) 

30W to 2.5kW 

(18 models) 

Torque [N . m] 

0.3 

0.2 

0.1 


0.6 

0.4 

0.2 

0 

0 1000 2000 3000 4000 5000 6000 

Speed [min -1 ] 

0 

0 1000 2000 3000 4000 5000 6000 


Features 

High Power 

(Low Inertia) 

100V System p.27-28 

Motor Dwgs p.33-34 

: Indicates a typical value 

after warm-up and 

thermal stabilization, 

together with a standard 

amplifier. 


when the winding 

temperature is 20. 

Note: Actual power 

consumption depends 

on load impedance. 



Status Symbol 

PR 

NR 

NMAX 

TR 

TS 

TP 

IR 

IS 

IP 

KT 

KE 

R 

QR 

te 

tm 

Rated Output 



Rated Torque 


















Brake Inertia 

Brake Mass 


JM 

WE 

TB 

VB 

IB 

JB 

W 

Unit 

kW 

min -1 

min -1 

Nm(ozin) 

Nm(ozin) 

Nm(ozin) 

Arms 

Arms 

Arms 

Nm/Arms 

mV/min -1 

 

kW/s 

ms 

ms 

kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

kg(lbs) 

Nm(ozin) 

V 

Arms 

kgm 2 [GD 2 /4](ozin 2 ) 

kg(lbs) 


12 

9 

6 

3 

Q1AA10100D 

100mm (3.94in) 

1 

5000 

3.19 (451.73) 

3.92 (555.10) 

10.5 (1486.87) 

6.5 

7.8 

24.5 

0.55 

19.3 

0.34 

78.9 

7.6 

0.43 

1.29x10 -4 (7.05) 

0 

0 1000 2000 3000 4000 5000 6000 


QS1A05 

3000 

2000 

5.4 (11.90) 

6.5 (14.33) 

3.92 (555.10) 

7.84 (1110.20) 

90/24 

0.2/0.75 

0.15x10 -4 (0.82) 

0.4x10 -4 (2.19) 

1.3 (2.87) 

1.5 (3.31) 



20 

15 

10 

5 

Q1AA10150D 

100mm (3.94in) 

1.5 

4500 

4.79 (678.30) 

4.9 (693.87) 

14.7 (2081.62) 

8.2 

8.2 

26.5 

0.705 

24.6 

0.272 

143 

11.4 

0.26 

1.61x10 -4 (8.80) 

0 

0 1000 2000 3000 4000 5000 6000 


17

AC P/A/T PF 


2.0 

1.5 

1.0 

0.5 

Q1AA04010D 

40mm (1.57in) 

0.1 

0.318 (45.03) 

0.318 (45.03) 

0.955 (135.23) 

1 

1 

3.6 

0.360 

12.6 

7.6 

43.4 

0.97 

0.41 

0.0233x10 -4 (0.13) 

0.5 (1.10) 

0.32 (45.31) 

0.07/0.26 

0.0078x10 -4 (0.04) 

0.24 (0.53) 

0 

0 1000 2000 3000 4000 5000 6000 


Q1AA10200D 

100mm (3.94in) 

2 

6.37 (902.04) 

7.36 (1042.23) 

19.6 (2775.50) 

15.9 

18 

55 

0.47 

16.4 

0.086 

189 

12.1 

0.25 

2.15x10 -4 (11.76) 

8.7 (19.18) 

7.84 (1110.20) 

QS1A01 

QS1A10 

0.4x10 -4 (2.19) 

1.5 (3.31) 


2.0 

1.5 

1.0 

0.5 

Q1AA06020D 

60mm (2.36in) 

0.2 

0.637 (90.20) 

0.637 (90.20) 

1.91 (270.47) 

1.5 

1.5 

5.8 

0.49 

17.2 

2.5 

28.7 

3.3 

0.4 

0.141x10 -4 (0.77) 

1.1 (2.43) 

0.637 (90.20) 

0 

0 1000 2000 3000 4000 5000 6000 


3000 

5000 

2000 

90/24 

0.07/0.31 

0.06x10 -4 (0.33) 

0.44 (0.97) 


Q1AA10250D 

100mm (3.94in) 

2.5 

7.97 (1128.61) 

8.82 (1248.97) 

24.4 (3455.21) 

16.6 

17.2 

55 

0.587 

20.5 

0.104 

240 

13 

0.24 

2.65x10 -4 (14.49) 

3000 

5000 


4.0 

3.0 

2.0 

1.0 

Q1AA06040D 

60mm (2.36in) 

0.4 

1.27 (179.84) 

1.27 (179.84) 

3.82 (540.94) 

2.9 

2.9 

10.5 

0.510 

17.8 

1.3 

65.3 

3.7 

0.4 

0.247x10 -4 (1.35) 

1.73 (3.75) 

1.274 (180.41) 

0 

0 1000 2000 3000 4000 5000 6000 


QS1A05 

Q1AA12100D 

120mm (4.72in) 

1 

3.19 (451.73) 

3.92 (555.10) 

11 (1557.68) 

6.2 

7.5 

24.5 

0.578 

20.2 

0.19 

45.2 

13 

0.38 

2.25x10 -4 (12.30) 

2000 

9.4 (20.72) 

5.4 (11.90) 

9.8 (1387.75) 

3.92 (555.10) 

90/24 

0.2/0.75 

0.15x10 -4 (0.82) 

1.3 (2.87) 


QS1A03 


8.0 

6.0 

4.0 

2.0 

Q1AA07075D 

76mm (2.99in) 

0.75 

2.38 (337.02) 

2.38 (337.02) 

7.16 (1013.91) 

4.5 

4.5 

15 

0.61 

21.4 

0.63 

89.1 

6.3 

0.32 

0.636x10 -4 (3.48) 

3.3 (7.28) 

2.38 (337.02) 

0.08/0.37 

0.343x10 -4 (1.88) 

0.8 (1.76) 

0 

0 1000 2000 3000 4000 5000 6000 


QS1A10 

Q1AA12200D 

120mm (4.72in) 

2 

6.37 (902.04) 

7.36 (1042.23) 

21 (2973.75) 

14.3 

16.2 

53 

0.5 

17.6 

0.06 

93 

20 

0.31 

4.37x10 -4 (23.89) 

8.7 (19.18) 

7.84 (1110.20) 

0.4x10 -4 (2.19) 

1.5 (3.31) 

Symbol Unit 

PR kW 

NR min -1 

NMAX min -1 

TR Nm(ozin) 

TS Nm(ozin) 

TP Nm(ozin) 

IR Arms 

IS Arms 

IP Arms 

KT Nm/Arms 

KE mV/min -1 

R 

QR kW/s 

te ms 

tm ms 

JM kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

WE kg(lbs) 

TB Nm(ozin) 

VB V 

IB Arms 

JB kgm 2 [GD 2 /4](ozin 2 ) 

W kg(lbs) 

Symbol Unit 

PR kW 

NR min -1 

NMAX min -1 

TR Nm(ozin) 

TS Nm(ozin) 

TP Nm(ozin) 

IR Arms 

IS Arms 

IP Arms 

KT Nm/Arms 

KE mV/min -1 

R 

QR kW/s 

te ms 

tm ms 

JM kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

WE kg(lbs) 

TB Nm(ozin) 

VB V 

IB Arms 

JB kgm 2 [GD 2 /4](ozin 2 ) 

W kg(lbs) 


Options 

Positionng Setup 

DC Models Q2 Q4 

General Spec Software 

20 

40 

20 

40 

15 

30 

15 

30 


10 


20 


10 


20 

5 

10 

5 

10 

0 

0 1000 2000 3000 4000 5000 6000 


0 

0 1000 2000 3000 4000 5000 6000 


0 

0 1000 2000 3000 4000 5000 6000 


0 

0 1000 2000 3000 4000 5000 6000 


18


Q1 

Servo Motor 

200V System 

Capacity 

Flange Size 

120mm to 180mm 

(4.72in to 7.09in) 

3kW to 7.5kW 

(18 models) 

Features 

High Power 

(Low Inertia) 





Status Symbol 

PR 

NR 

NMAX 

TR 

TS 

TP 

IR 

IS 

IP 

KT 

KE 

R 

QR 

te 

tm 

Rated Output 



Rated Torque 


















Brake Inertia 

Brake Mass 






amplifier. 







JM 

WE 

TB 

VB 

IB 

JB 

W 

Unit 

kW 

min -1 

min -1 

Nm(ozin) 

Nm(ozin) 

Nm(ozin) 

Arms 

Arms 

Arms 

Nm/Arms 

mV/min -1 

 

kW/s 

ms 

ms 

kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

kg(lbs) 

Nm(ozin) 

V 

Arms 

kgm 2 [GD 2 /4](ozin 2 ) 

kg(lbs) 


40 

30 

20 

10 

Q1AA12300D 

120mm (4.72in) 

5000 

9.6 (1359.43) 

11 (1557.68) 

31 (4389.82) 

16.2 

17.3 

55 

0.73 

25.4 

0.075 

143 

13.9 

0.3 

6.4x10 -4 (34.99) 

0 

0 1000 2000 3000 4000 5000 6000 


QS1A10 

3 

3000 

2000 

11.4 (25.13) 

11.8 (1670.96) 

90/24 

0.2/0.75 

0.5x10 -4 (2.73) 

1.7(3.75) 



40 

30 

20 

10 

Q1AA13300D 

130mm (5.12in) 

4500 

9.5 (1345.27) 

10.8 (1529.36) 

28.4 (4021.64) 

16.7 

17.6 

55 

0.693 

24.2 

0.087 

184 

17.9 

0.27 

4.92x10 -4 (26.90) 

0 

0 1000 2000 3000 4000 5000 6000 


Q4 

Servo Motor 

200V System 

Capacity 

Flange Size 


(3.94in to 8.66in) 

11kW to 20kW 

(3 models) 

Features 

High Power 

(Low Inertia) 




Status Symbol 

PR 

NR 

NMAX 

TR 

TS 

TP 

IR 

IS 

IP 

KT 

KE 

R 

QR 

te 

tm 

Rated Output 



Rated Torque 


















Brake Inertia 

Brake Mass 


Cooling Fan Motor 





amplifier. 







JM 

WE 

TB 

VB 

IB 

JB 

W 

PF 

Unit 

kW 

min -1 

min -1 

Nm(ozin) 

Nm(ozin) 

Nm(ozin) 

Arms 

Arms 

Arms 

Nm/Arms 

mV/min -1 

 

kW/s 

ms 

ms 

kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

kg(lbs) 

Nm(ozin) 

V 

Arms 

kgm 2 [GD 2 /4](ozin 2 ) 

kg(lbs) 

W 


250 

200 

150 

100 

50 

Q4AA1811KB 

180mm (3.94in) 

11 

70 (9912.49) 

70 (9912.49) 

190 (26905.33) 

54 

53 

155 

1.42 

49.7 

0.025 

780 

31 

0.23 

63 (3444512.08) 

0 

0 1000 2000 3000 4000 


QS1A30 

1500 

2000 

2000 

60 (132.28) 

75 (165.35) 

 

 

 

 

 


39/33 200V AC +10% Single phase 50/60Hz 


300 

250 

200 

150 

100 

50 

Q4AA1815KB 

180mm (8.66in) 

15 

95.5 (13523.47) 

95.5 (13523.47) 

220 (31153.54) 

61 

59 

155 

1.75 

61.1 

0.032 

1100 

32 

0.27 

85 (4647357.57) 

0 

0 1000 2000 3000 4000 


19

AC P/A/T PF 


40 

30 

20 

10 

Q1AA13400D 

130mm (5.12in) 

4 

12.7 (1798.41) 

14.7 (2081.62) 

39.2 (5550.99) 

23.4 

26.4 

0.612 

21.4 

0.048 

251 

19.2 

0.25 

6.43x10 -4 (3.17) 

14.4 (31.75) 

0 

0 1000 2000 3000 4000 5000 6000 


(Note 1) 

Q4AA2220KB 

220mm (8.66in) 

20 

1500 

2000 

127 (17984.09) 

127 (17984.09) 

305 (43190.13) 

106 

102 

262 

1.4 

48.8 

0.012 

1600 

46 

0.19 

102 (5576829.09) 

2000 

104 (22.928) 

 

 

 

 

 


39/33 200V AC +10% Single phase 50/60Hz 

3000 

4500 

19.6 (2775.50) 

0.25/0.95 

0.58x10 -4 (3.17) 

2.2 (4.85) 


80 

60 

40 

20 

Symbol Unit 

PR kW 

NR min -1 

NMAX min -1 

TR Nm(ozin) 

TS Nm(ozin) 

TP Nm(ozin) 

IR Arms 

IS Arms 

IP Arms 

KT Nm/Arms 

KE mV/min -1 

R 

QR kW/s 

te ms 

tm ms 

JM kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

WE kg(lbs) 

TB Nm(ozin) 

VB V 

IB Arms 

JB kgm 2 [GD 2 /4](ozin 2 ) 

W kg(lbs) 

QS1A15 

Q1AA13500D 

130mm (5.12in) 

5 

15.7 (2223.23) 

18.1 (2563.09) 

47.6 (6740.49) 

25.8 

27.5 

83 

0.724 

25.3 

0.0461 

291 

20.8 

0.22 

8.47x10 -4 (46.31) 

18.1 (39.90) 

0 

0 1000 2000 3000 4000 5000 6000 


2000 

90/24 

5.5x10 -4 (30.07) 

5 (11.02) 



120 

90 

60 

30 

Q1AA18450M 

180mm (7.09in) 

4.5 

1500 

28.5 (4035.80) 

31.6 (4474.78) 

105 (14868.73) 

24.8 

24.8 

1.37 

47.7 

0.0838 

295 

24 

0.37 

27.5x10 -4 (150.36) 

21.7 (47.84) 

32 (4531.42) 

0 

0 500 1000 1500 2000 


1500 

0.37/1.4 


150 

100 

50 

QS1A30 

Q1AA18750H 

180mm (7.09in) 

7.5 

3000 

48 (6797.14) 

55 (7788.38) 

125 (17700.87) 

55 

60 

155 

0.91 

31.7 

0.021 

443 

23 

0.40 

52x10 -4 (284.31) 

47 (103.62) 

54.9 (7774.22) 

5.5x10 -4 (30.07) 

6 (13.23) 

0 

0 1000 2000 3000 4000 5000 6000 


Symbol Unit 

PR kW 

NR min -1 

NMAX min -1 

TR Nm(ozin) 

TS Nm(ozin) 

TP Nm(ozin) 

IR Arms 

IS Arms 

IP Arms 

KT Nm/Arms 

KE mV/min -1 

R 

QR kW/s 

te ms 

tm ms 

JM kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

WE kg(lbs) 

TB Nm(ozin) 

VB V 

IB Arms 

JB kgm 2 [GD 2 /4](ozin 2 ) 

W kg(lbs) 



Setup 

Software 

Positionng 

General Spec 

Note1: For those interested in the 20kW Q4 motor, please 

contact our Sales Division for assistance. 

20


Q2 

Servo Motor 

200V System 

Capacity 

Flange Size 

42mm to 86mm 

(1.65in to 3.39in) 



Status Symbol 

PR 

NR 

NMAX 

TR 

TS 

TP 

IR 

IS 

IP 

KT 

KE 

R 

QR 

te 

tm 

Rated Output 



Rated Torque 


















Brake Inertia 

Brake Mass 


JM 

WE 

TB 

VB 

IB 

JB 

W 

Unit 

kW 

min -1 

min -1 

Nm(ozin) 

Nm(ozin) 

Nm(ozin) 

Arms 

Arms 

Arms 

Nm/Arms 

mV/min -1 

 

kW/s 

ms 

ms 

kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

kg(lbs) 

Nm(ozin) 

V 

Arms 

kgm 2 [GD 2 /4](ozin 2 ) 

kg(lbs) 

0.8 

Q2AA04006D 

42mm (1.65in) 

0.06 

0.191 (27.05) 

0.216 (30.59) 

0.65 (92.04) 

0.67 

0.67 

2.7 

0.310 

10.97 

11.3 

6.46 

0.69 

1.94 

0.0565x10 -4 (0.31) 

0.46 (1.01) 

0.191 (27.05) 

QS1A01 

3000 

5000 

2000 

2 

Q2AA04010D 

42mm (1.65in) 

0.1 

0.318 (45.03) 

0.353 (49.99) 

1 (141.61) 

1.1 

1.2 

3.6 

0.325 

11.34 

6.77 

11.8 

0.56 

1.7 

0.086x10 -4 (0.47) 

0.59 (1.30) 

0.319 (45.17) 

90/24 

0.07/0.26 

0.0078x10 -4 (0.04) 

0.24 (0.53) 


50W to 1kW 

(31 models) 


0.6 

0.4 

0.2 


1.5 

1 

0.5 

0 

0 1000 2000 3000 4000 5000 6000 


0 

0 1000 2000 3000 4000 5000 6000 


Features 

High Efficiency 

and Low Ripple 

(Medium Inertia) 







amplifier. 









Status Symbol 

PR 

NR 

NMAX 

TR 

TS 

TP 

IR 

IS 

IP 

KT 

KE 

R 

QR 

te 

tm 

Rated Output 



Rated Torque 


















Brake Inertia 

Brake Mass 


JM 

WE 

TB 

VB 

IB 

JB 

W 

Unit 

kW 

min -1 

min -1 

Nm(ozin) 

Nm(ozin) 

Nm(ozin) 

Arms 

Arms 

Arms 

Nm/Arms 

mV/min -1 

 

kW/s 

ms 

ms 

kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

kg(lbs) 

Nm(ozin) 

V 

Arms 

kgm 2 [GD 2 /4](ozin 2 ) 

kg(lbs) 


4.0 

3.0 

2.0 

1.0 

QS1A01 

Q2AA07030D 

76mm (2.99in) 

0.3 

0.955 (135.23) 

0.98 (138.77) 

3.4 (481.46) 

2.1 

2.5 

7.9 

0.519 

18.1 

2.22 

20.3 

2.5 

1.1 

0.45x10 -4 (2.46) 

1.7 (3.5) 

0.98 (138.77) 

0 

0 1000 2000 3000 4000 5000 6000 


3000 

5000 

2000 

90/24 

0.08/0.3 

0.245x10 -4 (1.34) 

0.57 (1.26) 



8.0 

6.0 

4.0 

2.0 

QS1A03 

Q2AA07040D 

76mm (2.99in) 

0.4 

1.273 (180.27) 

1.372 (194.28) 

4.1 (580.59) 

3.0 

3.1 

12 

0.482 

16.8 

1.26 

21.6 

2.6 

1.2 

0.75x10 -4 (4.10) 

2.0 (4.41) 

1.37 (194.00) 

0 

0 1000 2000 3000 4000 5000 6000 


21

AC P/A/T PF 


0.8 

0.6 

0.4 

0.2 

Q2AA05005D 

54mm (2.13in) 

0.05 

0.159 (22.52) 

0.167 (23.65) 

0.518 (73.35) 

0.86 

0.88 

3.3 

0.210 

7.26 

4.72 

3.78 

0.70 

2.2 

0.067x10 -4 (0.37) 

0.53 (1.17) 

0.167 (23.65) 

0 

0 1000 2000 3000 4000 5000 6000 


Q2AA07050D 

76mm (2.99in) 

0.5 

1.59 (225.16) 

1.85 (261.97) 

5.2 (736.36) 

4.3 

5.0 

15 

0.442 

15.4 

0.8 

27.3 

2.6 

1.3 

0.85x10 -4 (4.65) 

2.3 (5.07) 

1.85 (261.97) 

0.245x10 -4 (1.34) 

0.57 (1.26) 

QS1A01 


2.0 

1.5 

1.0 

0.5 

Q2AA05010D 

54mm (2.13in) 

0.1 

0.318 (45.03) 

0.353 (49.99) 

1.06 (150.10) 

1.1 

1.2 

4.3 

0.33 

11.4 

4.05 

7.78 

1.0 

1.5 

0.13x10 -4 (0.71) 

0 

0 1000 2000 3000 4000 5000 6000 


QS1A01 

3000 

5000 

2000 

0.74 (1.63) 

1.1 (2.43) 

0.353 (49.99) 

0.353 (49.99) 

90/24 

0.11/0.4 

0.029x10 -4 (0.16) 

0.3 (0.66) 


Q2AA08050D 

86mm (3.39in) 

0.5 


4.0 

3.0 

2.0 

1.0 

Q2AA05020D 

54mm (2.13in) 

2.05 (290.29) 

1.6 

1.7 

5.9 

0.435 

15.2 

3.24 

16.2 

0.92 

1.3 

0.25x10 -4 (1.37) 

0 

0 1000 2000 3000 4000 5000 6000 


Q2AA08075D 

86mm (3.39in) 

0.75 

3000 

5000 

1.592 (225.44) 

2.387 (338.02) 

1.96 (277.55) 

2.941 (416.47) 

6.56 (928.94) 

9 (1274.46) 

3.7 

5.9 

4.3 

7.0 

15 

23.7 

0.520 

0.441 

18.1 

15.4 

0.8 

0.358 

19.4 

27.5 

3.3 

3.6 

1.2 

1.1 

1.3x10 -4 (7.11) 

2.07x10 -4 (11.32) 

2000 

2.75 (5.95) 

3.9 (8.60) 

1.96 (277.55) 

90/24 

0.08/0.33 

0.343x10 -4 (1.88) 

0.8 (1.76) 


0.2 

0.637 (90.20) 

0.686 (97.14) 

QS1A05 

2.94 (16.32) 


4.0 

3.0 

2.0 

1.0 

Q2AA07020D 

76mm (2.99in) 

2.1 (297.37) 

2.1 

2.2 

7.5 

0.34 

11.8 

1.88 

10.6 

1.8 

1.9 

0.38x10 -4 (2.08) 

1.4 (3.09) 

0.69 (97.71) 

0.08/0.3 

0.245x10 -4 (1.34) 

0.57 (1.26) 

0 

0 1000 2000 3000 4000 5000 6000 


Q2AA08100D 

86mm (3.39in) 

1 

3.18 (450.31) 

3.92 (555.10) 

12.5 (1770.09) 

6.0 

6.9 

25 

0.59 

20.5 

0.410 

37 

4.1 

0.96 

2.7x10 -4 (14.76) 

5.1 (11.24) 

Symbol Unit 

PR kW 

NR min -1 

NMAX min -1 

TR Nm(ozin) 

TS Nm(ozin) 

TP Nm(ozin) 

IR Arms 

IS Arms 

IP Arms 

KT Nm/Arms 

KE mV/min -1 

R 

QR kW/s 

te ms 

tm ms 

JM kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

WE kg(lbs) 

TB Nm(ozin) 

VB V 

IB Arms 

JB kgm 2 [GD 2 /4](ozin 2 ) 

W kg(lbs) 

Symbol Unit 

PR kW 

NR min -1 

NMAX min -1 

TR Nm(ozin) 

TS Nm(ozin) 

TP Nm(ozin) 

IR Arms 

IS Arms 

IP Arms 

KT Nm/Arms 

KE mV/min -1 

R 

QR kW/s 

te ms 

tm ms 

JM kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

WE kg(lbs) 

TB Nm(ozin) 

VB V 

IB Arms 

JB kgm 2 [GD 2 /4](ozin 2 ) 

W kg(lbs) 



Setup 

Software 

Positionng 

General Spec 

8.0 

8.0 

20 

20 

6.0 

6.0 

15 

15 


4.0 


4.0 


10 


10 

2.0 

2.0 

5 

5 

0 

0 1000 2000 3000 4000 5000 6000 


0 

0 1000 2000 3000 4000 5000 6000 


0 

0 1000 2000 3000 4000 5000 6000 


0 

0 1000 2000 3000 4000 5000 6000 


22


Q2 

Servo Motor 

200V System 

Capacity 

Flange Size 


(3.94in to 8.66in) 



Status Symbol 

PR 

NR 

NMAX 

TR 

TS 

TP 

IR 

IS 

IP 

KT 

KE 

R 

QR 

te 

tm 

Rated Output 



Rated Torque 


















Brake Inertia 

Brake Mass 


JM 

WE 

TB 

VB 

IB 

JB 

W 

Unit 

kW 

min -1 

min -1 

Nm(ozin) 

Nm(ozin) 

Nm(ozin) 

Arms 

Arms 

Arms 

Nm/Arms 

mV/min -1 

 

kW/s 

ms 

ms 

kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

kg(lbs) 

Nm(ozin) 

V 

Arms 

kgm 2 [GD 2 /4](ozin 2 ) 

kg(lbs) 

20 

Q2AA10100H 

100mm (3.94in) 

1 

3500 

5 (708.03) 

6 (849.64) 

16.6 (2350.68) 

6.8 

8.1 

24.5 

0.814 

28.4 

0.477 

46.0 

4.8 

1.2 

5.44x10 -4 (29.74) 

QS1A05 

2000 

40 

Q2AA10150H 

100mm (3.94in) 

1.5 

3000 

7.2 (1019.57) 

8 (1132.86) 

20.5 (2902.94) 

8.6 

9.4 

25.5 

0.94 

32.7 

0.34 

65 

6 

0.93 

8x10 -4 (43.74) 

2000 

5.4 (11.90) 

6.5 (14.33) 

3.92 (555.10) 

7.84 (1110.20) 

90/24 

0.20/0.75 

0.15x10 -4 (0.82) 

0.4x10 -4 (2.19) 

1.3 (2.87) 

1.5 (3.31) 


500W to 5.5kW 

(31 models) 


15 

10 

5 


30 

20 

10 

0 

0 1000 2000 3000 4000 


0 

0 1000 2000 3000 4000 


Features 










amplifier. 









Status Symbol 

PR 

NR 

NMAX 

TR 

TS 

TP 

IR 

IS 

IP 

KT 

KE 

R 

QR 

te 

tm 

Rated Output 



Rated Torque 


















Brake Inertia 

Brake Mass 


JM 

WE 

TB 

VB 

IB 

JB 

W 

Unit 

kW 

min -1 

min -1 

Nm(ozin) 

Nm(ozin) 

Nm(ozin) 

Arms 

Arms 

Arms 

Nm/Arms 

mV/min -1 

 

kW/s 

ms 

ms 

kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

kg(lbs) 

Nm(ozin) 

V 

Arms 

kgm 2 [GD 2 /4](ozin 2 ) 

kg(lbs) 


40 

30 

20 

10 

QS1A10 

Q2AA18200H 

180mm (7.09in) 

2 

9.5 (1345.27) 

12 (1699.28) 

27.9 (3950.84) 

15 

18 

55 

0.75 

25.9 

0.075 

45.7 

14.7 

0.82 

20x10 -4 (109.3496) 

13.6 (29.98) 

12 (1699.28) 

0 

0 1000 2000 3000 4000 


2000 

3500 

2000 

90/24 

0.37/1.4 

5.5x10 -4 (30.07) 

5 (11.02) 



60 

50 

40 

30 

20 

10 

QS1A15 

Q2AA18350H 

180mm (7.09in) 

3.5 

16.7 (2364.84) 

21.1 (2987.91) 

55 (7788.38) 

22.6 

28 

83 

0.840 

29.3 

0.048 

73 

15 

0.77 

38x10 -4 (207.76) 

17.7 (39.02) 

32 (4531.42) 

0 

0 1000 2000 3000 4000 


23

AC P/A/T PF 


8.0 

6.0 

4.0 

2.0 

QS1A03 

Q2AA13050H 

130mm (5.12in) 

0.5 

3500 

2.5 (354.02) 

3 (424.82) 

7.1 (1005.41) 

4.6 

5.2 

15 

0.607 

21.2 

0.442 

22.3 

8.5 

1.0 

2.8x10 -4 (15.31) 

4.7 (10.36) 

3.5 (495.62) 

0.25/0.91 

1.3 (2.87) 

0 

0 1000 2000 3000 4000 


Q2AA18450H 

180mm (7.09in) 

4.5 

2000 

3000 

21.5 (3044.55) 

27.1 (3837.55) 

70 (9912.49) 

24 

29 

81 

1.04 

36.4 

0.044 

84.0 

18 

0.67 

55x10 -4 (300.71) 

21.7 (47.84) 

32 (4531.42) 

5.5x10 -4 (30.07) 

5 (11.02) 

QS1A15 

0.37/1.4 


20 

15 

10 

5 

Q2AA13100H 

130mm (5.12in) 

1.0 

3000 

5 (708.03) 

6 (849.64) 

15 (2124.10) 

7 

8.3 

23.7 

0.803 

28.0 

0.276 

46 

12 

0.69 

5.4x10 -4 (29.52) 

6.6 (14.55) 

9 (1274.46) 

0 

0 1000 2000 3000 4000 


QS1A05 

2000 

2000 

90/24 

0.25/0.86 

0.5x10 -4 (2.73) 

1.5 (3.31) 


Q2AA18550R 

180mm (7.09in) 

5.5 

1500 

2500 

35 (4956.24) 

37.3 (5281.94) 

88 (12461.42) 

32.2 

33.7 

83 

1.24 

43.2 

0.039 

180 

21 

0.53 

69x10 -4 (377.26) 

31.7 (69.89) 

54.9 (7774.22) 

2000 

90/24 


40 

30 

20 

10 

Q2AA13150H 

130mm (5.12in) 

1.5 

7.5 (1062.05) 

9 (1274.46) 

20.3 (2874.62) 

8.7 

10.2 

26.5 

0.981 

34.2 

0.266 

64 

12 

0.73 

8.8x10 -4 (48.11) 

7.8 (17.20) 

9 (1274.46) 

0 

0 1000 2000 3000 4000 


QS1A10 

Q2AA22250H 

220mm (8.66in) 

2.5 

12 (1699.28) 

13.5 (1911.69) 

30 (4248.21) 

19.6 

21.8 

55 

0.685 

23.9 

0.0735 

44.7 

12 

1.5 

32.2x10 -4 (176.05) 

15.5 (34.17) 

5.5x10 -4 (30.07) 

6 (13.23) 


3500 

2000 

3500 

32 (4531.42) 

0.42/1.6 

9.9x10 -4 (54.13) 

5.9 (13.01) 


40 

30 

20 

10 

QS1A10 

Q2AA13200H 

130mm (5.12in) 

2 

9.55 (1352.35) 

12 (1699.28) 

30.5 (4319.01) 

13.1 

16.3 

48 

0.822 

29.0 

0.119 

78 

14 

0.63 

12x10 -4 (65.61) 

9.8 (21.61) 

12 (1699.28) 

0.28/1.0 

1.7 (3.75) 

0 

0 1000 2000 3000 4000 


QS1A15 

Q2AA22350H 

220mm (8.66in) 

3.5 

17 (2407.32) 

22 (3115.35) 

50 (7080.35) 

23.3 

29.8 

78 

0.814 

28.4 

0.0559 

61.1 

15 

1.2 

47.33x10 -4 (258.78) 

18.5 (40.79) 

Symbol Unit 

PR kW 

NR min -1 

NMAX min -1 

TR Nm(ozin) 

TS Nm(ozin) 

TP Nm(ozin) 

IR Arms 

IS Arms 

IP Arms 

KT Nm/Arms 

KE mV/min -1 

R 

QR kW/s 

te ms 

tm ms 

JM kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

WE kg(lbs) 

TB Nm(ozin) 

VB V 

IB Arms 

JB kgm 2 [GD 2 /4](ozin 2 ) 

W kg(lbs) 

Symbol Unit 

PR kW 

NR min -1 

NMAX min -1 

TR Nm(ozin) 

TS Nm(ozin) 

TP Nm(ozin) 

IR Arms 

IS Arms 

IP Arms 

KT Nm/Arms 

KE mV/min -1 

R 

QR kW/s 

te ms 

tm ms 

JM kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

WE kg(lbs) 

TB Nm(ozin) 

VB V 

IB Arms 

JB kgm 2 [GD 2 /4](ozin 2 ) 

W kg(lbs) 



Setup 

Software 

Positionng 

General Spec 

80 

120 

40 

80 

60 

90 

30 

60 


40 


60 


20 


40 

20 

30 

10 

20 

0 

0 1000 2000 3000 4000 


0 

0 1000 2000 3000 4000 


0 

0 1000 2000 3000 4000 


0 

0 1000 2000 3000 4000 


24


Q2 

Servo Motor 

200V System 

Capacity 

Flange Size 


(3.94in to 8.66in) 



Status Symbol 

PR 

NR 

NMAX 

TR 

TS 

TP 

IR 

IS 

IP 

KT 

KE 

R 

QR 

te 

tm 

Rated Output 



Rated Torque 


















Brake Inertia 

Brake Mass 


JM 

WE 

TB 

VB 

IB 

JB 

W 

Unit 

kW 

min -1 

min -1 

Nm(ozin) 

Nm(ozin) 

Nm(ozin) 

Arms 

Arms 

Arms 

Nm/Arms 

mV/min -1 

 

kW/s 

ms 

ms 

kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

kg(lbs) 

Nm(ozin) 

V 

Arms 

kgm 2 [GD 2 /4](ozin 2 ) 

kg(lbs) 

Q2AA22450R 

220mm (8.66in) 

4.5 

2000 

2500 

21.5 (3044.55) 

32 (4531.42) 

70 (9912.49) 

23 

33 

83 

1.06 

37.1 

0.0497 

68.5 

19 

0.89 

67.45x10 -4 (368.78) 

80 

22 (48.50) 

32 (4531.42) 

QS1A15 

2000 

120 

Q2AA22550B 

220mm (8.66in) 

5.5 

1500 

2000 

35 (4956.24) 

42 (5947.49) 

90 (12744.63) 

30 

35.1 

79.7 

1.32 

46 

0.0464 

128.5 

24 

0.76 

95.3x10 -4 (521.05) 

34.8 (76.72) 

90 (12744.63) 

90/24 

0.42/1.6 

0.36/1.3 

9.9x10 -4 (54.13) 

23x10 -4 (125.75) 

5.9 (13.01) 

10.4 (22.93) 


4.5KW to 15KW 

(31 models from 

50W to 15kW) 


60 

40 

20 

0 

0 1000 2000 3000 4000 



90 

60 

30 

0 

0 1000 2000 3000 4000 


Features 










amplifier. 









Status Symbol 

PR 

NR 

NMAX 

TR 

TS 

TP 

IR 

IS 

IP 

KT 

KE 

R 

QR 

te 

tm 

Rated Output 



Rated Torque 


















Brake Inertia 

Brake Mass 


JM 

WE 

TB 

VB 

IB 

JB 

W 

Unit 

kW 

min -1 

min -1 

Nm(ozin) 

Nm(ozin) 

Nm(ozin) 

Arms 

Arms 

Arms 

Nm/Arms 

mV/min -1 

 

kW/s 

ms 

ms 

kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

kg(lbs) 

Nm(ozin) 

V 

Arms 

kgm 2 [GD 2 /4](ozin 2 ) 

kg(lbs) 

QS1A01 

Q2AA04006D 

42mm (1.65in) 

15 

1500 

2000 

95.5 (13523.47) 

95.5 (13523.47) 

215 (30445.50) 

66 

66 

157 

1.54 

53.6 

0.016 

360 

33 

0.52 

255x10 -4 (1394.21) 

2000 

70 (154.32) 

90 (12744.63) 

90/24 

0.44/1.7 

24x10 -4 (131.22) 

11 (24.25) 

0 to 40; max. 90% RH (no condensation) 


250 

200 

150 

100 

50 

0 

0 1000 2000 3000 


25

AC P/A/T PF 


200 

150 

100 

50 

QS1A15 

Q2AA22700S 

220mm (8.66in) 

7 

1000 

1000 

67 (9487.67) 

70 (9912.49) 

150 (21241.05) 

34 

34 

83 

2.13 

74.5 

0.057 

243 

30 

0.7 

185x10 -4 (1011.48) 

52.8 (116.40) 

90 (12744.63) 

0.36/1.3 

23x10 -4 (125.75) 

10.4 (22.93) 

0 

0 500 1000 1500 2000 



150 

100 

50 

Q2AA18550H 

180mm (7.09in) 

5.5 

35 (4956.24) 

37.3 (5281.94) 

107 (15151.95) 

47 

47 

155 

0.830 

29.0 

0.018 

170 

17 

0.57 

73x10 -4 (399.13) 

0 

0 1000 2000 3000 4000 5000 6000 


3000 

2000 

31 (68.34) 

40 (88.18) 

54.9 (7774.22) 

90/24 

0.37/1.4 

5.5x10 -4 (30.07) 

6 (13.23) 



150 

100 

50 

QS1A30 

Q2AA18750L 

180mm (7.09in) 

7.5 

1500 

48 (6797.14) 

55 (7788.38) 

135 (19116.94) 

52 

57 

155 

1.03 

36.0 

0.017 

240 

20 

0.46 

95x10 -4 (519.41) 

0 

0 1000 2000 3000 4000 5000 6000 



200 

150 

100 

50 

Q2AA2211KV 

220mm (8.66in) 

11 

2000 

70 (9912.49) 

80 (11328.56) 

176 (24922.83) 

60 

66 

155 

1.29 

45.1 

0.015 

260 

33 

0.50 

186x10 -4 (1016.95) 

58 (127.87) 

90 (12744.63) 

0.44/1.7 

24x10 -4 (131.22) 

11 (24.25) 

0 

0 1000 2000 3000 


Symbol Unit 

PR kW 

NR min -1 

NMAX min -1 

TR Nm(ozin) 

TS Nm(ozin) 

TP Nm(ozin) 

IR Arms 

IS Arms 

IP Arms 

KT Nm/Arms 

KE mV/min -1 

R 

QR kW/s 

te ms 

tm ms 

JM kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

WE kg(lbs) 

TB Nm(ozin) 

VB V 

IB Arms 

JB kgm 2 [GD 2 /4](ozin 2 ) 

W kg(lbs) 



Setup 

Software 

Positionng 

General Spec 

26


Q1 

Servo Motor 

100V System 

Capacity 

Flange Size 

40mm to 60mm 

(1.57in to 2.36in) 

30W to 200W 

(4 models) 

Features 

High Power 




Status Symbol 

PR 

NR 

NMAX 

TR 

TS 

TP 

IR 

IS 

IP 

KT 

KE 

R 

QR 

te 

tm 

Rated Output 



Rated Torque 


















Brake Inertia 

Brake Mass 






amplifier. 







JM 

WE 

TB 

VB 

IB 

JB 

W 

Unit 

kW 

min -1 

min -1 

Nm(ozin) 

Nm(ozin) 

Nm(ozin) 

Arms 

Arms 

Arms 

Nm/Arms 

mV/min -1 

 

kW/s 

ms 

ms 

kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

kg(lbs) 

Nm(ozin) 

V 

Arms 

kgm 2 [GD 2 /4](ozin 2 ) 

kg(lbs) 


0.4 

0.3 

0.2 

0.1 

Q1EA04003D 

40mm (1.57in) 

0.03 

0.098 (13.88) 

0.108 (15.29) 

0.322 (45.60) 

0.9 

0.95 

4 

0.115 

4.03 

4.28 

9.60 

0.75 

0.97 

0.01x10 -4 (0.05) 

0.3 (0.66) 

0.098 (13.88) 

0 

0 1000 2000 3000 4000 5000 6000 


QS1E01 

3000 

5000 

2000 

90/24 

0.07/0.26 

0.0078x10 -4 (0.04) 

0.24 (0.53) 



0.8 

0.6 

0.4 

0.2 

Q1EA04005D 

60mm (2.36in) 

0.05 

0.159 (22.52) 

0.159 (22.52) 

0.477 (67.55) 

1.90 

1.90 

7 

0.096 

3.3 

1.4 

18.8 

0.8 

0.6 

0.0134x10 -4 (0.07) 

0.35 (0.77) 

0.157 (22.23) 

0 

0 1000 2000 3000 4000 5000 6000 


Q2 

Servo Motor 

100V System 

Capacity 

Flange Size 

42mm to 76mm 

(1.65in to 2.9in) 

50W to 200W 

(6 models) 

Features 

High Effieciency, 

Low Ripple 





Status Symbol 

PR 

NR 

NMAX 

TR 

TS 

TP 

IR 

IS 

IP 

KT 

KE 

R 

QR 

te 

tm 

Rated Output 



Rated Torque 


















Brake Inertia 

Brake Mass 






amplifier. 







JM 

WE 

TB 

VB 

IB 

JB 

W 

Unit 

kW 

min -1 

min -1 

Nm(ozin) 

Nm(ozin) 

Nm(ozin) 

Arms 

Arms 

Arms 

Nm/Arms 

mV/min -1 

 

kW/s 

ms 

ms 

kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

kg(lbs) 

Nm(ozin) 

V 

Arms 

kgm 2 [GD 2 /4](ozin 2 ) 

kg(lbs) 


0.8 

0.6 

0.4 

0.2 

Q2EA04006D 

42mm (1.65in) 

0.06 

0.191 (27.05) 

0.216 (30.59) 

0.65 (92.04) 

1.9 

1.9 

7.9 

0.117 

4.09 

1.5 

6.46 

0.62 

1.9 

0.0565x10 -4 (0.31) 

0.46 (1.01) 

0.191 (27.05) 

0 

0 1000 2000 3000 4000 5000 6000 


QS1E01 

3000 

5000 

2000 

90/24 

0.07/0.26 

0.0078x10 -4 (0.04) 

0.24 (0.53) 



1.2 

0.9 

0.6 

0.3 

Q2EA04010D 

42mm (1.65in) 

0.1 

0.318 (45.03) 

0.353 (49.99) 

1 (141.61) 

2 

2.2 

7 

0.188 

6.55 

1.9 

11.8 

0.59 

1.39 

0.086x10 -4 (0.47) 

0.59 (1.30) 

0.319 (45.17) 

0 

0 1000 2000 3000 4000 5000 6000 


27

AC P/A/T PF 


1.2 

0.9 

0.6 

0.3 

QS1E01 

Q1EA04010D 

40mm (1.57in) 

0.1 

0.318 (45.03) 

0.318 (45.03) 

0.955 (135.23) 

2.2 

2.2 

7.9 

0.176 

6.13 

2.2 

43.5 

0.82 

0.50 

0.0233x10 -4 (0.1274) 

0.5 (1.10) 

0.32 (45.31) 

0 

0 1000 2000 3000 4000 5000 6000 


3000 

5000 

2000 


2.0 

1.5 

1.0 

0.5 

QS1E03 

Q1EA06020D 

60mm (2.36in) 

0.2 

0.637 (90.20) 

0.637 (90.20) 

1.91 (270.47) 

4.5 

4.5 

15.5 

0.161 

5.63 

0.33 

28.7 

2.7 

0.5 

0.141x10 -4 (0.77) 

1.1 (2.43) 

0.637 (90.20) 

90/24 

0.07/0.26 

0.07/0.31 

0.0078x10 -4 (0.04) 

0.06x10 -4 (0.33) 

0.24 (0.53) 

0.44 (0.97) 


Q2AEA05005D 

54mm (2.13in) 

0.05 

0.159 (22.52) 

0.167 (23.65) 

0.518 (73.35) 

1.5 

1.5 

5.6 

0.121 

4.23 

1.84 

3.78 

0.68 

2.5 

0.067x10 -4 (0.37) 

0.53 (1.17) 

0.167 (23.65) 

0 

0 1000 2000 3000 4000 5000 6000 


Q2EA05010D 

54mm (2.13in) 

0.1 

0.318 (45.03) 

0.353 (49.99) 

1.03 (145.86) 

2.1 

2.3 

7.9 

0.169 

5.9 

1.22 

7.8 

0.96 

1.7 

0.13x10 -4 (0.71) 

Symbol Unit 

PR kW 

NR min -1 

NMAX min -1 

TR Nm(ozin) 

TS Nm(ozin) 

TP Nm(ozin) 

IR Arms 

IS Arms 

IP Arms 

KT Nm/Arms 

KE mV/min -1 

R 

QR kW/s 

te ms 

tm ms 

JM kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

WE kg(lbs) 

TB Nm(ozin) 

VB V 

IB Arms 

JB kgm 2 [GD 2 /4](ozin 2 ) 

W kg(lbs) 

QS1E01 

3000 

5000 

Q2EA05020D 

54mm (2.13in) 

0.2 

0.637 (90.20) 

0.686 (97.14) 

2.1 (297.37) 

3.9 

4.1 

15.5 

0.184 

6.41 

0.64 

16.2 

0.98 

1.4 

0.25x10 -4 (1.37) 

2000 

0.74 (1.63) 

1.1 (2.43) 

0.353 (49.99) 

0.353 (49.99) 

90/24 

0.11/0.4 

0.0029x10 -4 (0.16) 

0.3 (0.66) 


Q2EA07020D 

76mm (2.99in) 

0.2 

0.637 (90.20) 

0.686 (97.14) 

2.1 (297.37) 

4.4 

4.6 

15.5 

0.162 

5.67 

0.5 

10.6 

1.9 

2.2 

0.38x10 -4 (2.08) 

1.4 (3.09) 

0.69 (97.71) 

0.08/0.3 

0.245x10 -4 (1.34) 

0.57 (1.26) 

Symbol Unit 

PR kW 

NR min -1 

NMAX min -1 

TR Nm(ozin) 

TS Nm(ozin) 

TP Nm(ozin) 

IR Arms 

IS Arms 

IP Arms 

KT Nm/Arms 

KE mV/min -1 

R 

QR kW/s 

te ms 

tm ms 

JM kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

WE kg(lbs) 

TB Nm(ozin) 

VB V 

IB Arms 

JB kgm 2 [GD 2 /4](ozin 2 ) 

W kg(lbs) 



Setup 

Software 

Positionng 

General Spec 

0.8 

1.2 

4.0 

4.0 

0.6 

0.9 

3.0 

3.0 


0.4 


0.6 


2.0 


2.0 

0.2 

0.3 

1.0 

1.0 

0 

0 1000 2000 3000 4000 5000 6000 


0 

0 1000 2000 3000 4000 5000 6000 


0 

0 1000 2000 3000 4000 5000 6000 


0 

0 1000 2000 3000 4000 5000 6000 


28

External Wiring Diagram 

AC P/A/T 

Note 3) 

Note 2) 

200V 

User Devices 

Note 4) 

CNB 

Note 13) 

3-phase 

AC power 

200 - 230V 

5060Hz 

MC 

CNA 

Note 11) 

T 

S 

R 

t 

DL1 

DL2 

P 

RB1 

RB2 

Internal Regeneration 

Resistor 

W 

CNC 

Note 6) 

Black 

SERVO MOTOR 

Orange 

(yellow) 

RY1 

Note 10) 

 

 

 

MC 

MC 

 

 

System Error 

r 

V 

U 

CN2 

Encoder Connector 

White 

Red 

Green 

Encoder 

Orange 

(yellow) 

90V 

24V 

Holding Brake 

(install with Brake only) 

Position Command 

Pulse Input 

Line Driver 

26LS31 

Normal 

Rotation 

Pulse 

Reverse 

Rotation 

Pulse 

SG 

CN1 

26 

27 

47 

28 

29 

F-PC 

F-PC 

SG 

R-PC 

R-PC 

SG 

+5 

+5 

+5 

+5 

SG 

SG 

Line Receiver 

26LS32 

Line Driver 

26LS31 

AO 

AO 

Note 5) 

3 

4 

SH 

Plug: 10120-3000VE. 

Shell: 10320-52A-008 

SH 

Note 12) 

SG 

48 

SG 

BO 

5 

Torque Command 

Input/Speed Input 

Torque Compensation 

Input 

21 

20 

22 

23 

SG 

SG 

V-REF / T-REF 

SG 

SG 

T-COMP 

SG 

SG 

SG 

SG 

BO 

ZO 

ZO 

PS 

PS 

SG 

6 

7 

8 

9 

10 

11 

Divided Encoder Output Signal 

Torque Limit 

Input 

Normal 

Reverse 

18 F-TLA 

17 SG 

19 R-TLA 

SG 

SG 

SG 

SG 

SG 

MON1 

SG 

12 

30 

31 

Monitor 

Output 

Single-phase (100V or 200V) 

Single-phase 

AC Power 

MC 

User Devices 

Battery 

Input 

DC 3.6V 

Lithium Battery 

Note 8) 

1 

2 

50 

BTP-I 

BTN-I 

CONT-COM 

SG 

SG 

OUT-PWR 

OUT1 

49 

39 

DC12V 

24V 

Note 8) 

5060Hz 

Note 10) 

 

 

 

MC 

MC 

 

 

System Error 

DC5V 24V 

37 

CONT1 

OUT2 

40 

36 

CONT2 

OUT3 

41 

Note 1: 

Signifies shielded twisted-pair cable. 

General-purpose Inputs 

SG 

Note 12) 

SH 

35 

34 

33 

32 

CONT3 

CONT4 

CONT5 

CONT6 

13 CONT7 

14 

15 

16 

38 

CONT7 

CONT8 

CONT8 

SG 

SG 

+5 

+5 

+5 

+5 

SG 

SG 

SG 

Plug: 10150-3000VE. 

Shell: 10350-52A0-008 

Line Receiver 

26LS32 

OUT4 

OUT5 

OUT6 

OUT7 

OUT8 

OUT-COM 

OUT-COM 

42 

43 

44 

45 

46 

24 

25 

SH 

General-purpose Outputs 

Note 2: 

Note 3: 

Note 4: 

Note 6: 

Note 7: 

Note 8: 

Note 9: 

Note 10: 

Note 11: 

Note 12: 

Note 13: 

When using an external regeneration resistor, connect it 

between RB1 and 2. If RB1 and 2 are connected to the internal 

amplifiers resistor, or if a shorting bar is connected between RB1 

and 4, first disconnect them. 

Terminals DL1 and DL2 are dedicated for connecting 

DC reactors. If a harmonic suppression reactor is not in use, create 

a short circuit between DL1 and DL2 terminals with the attached 

shorting bar. 

The and P terminals (high-voltage circuit) are reserved 

for maintenance. Do not wire these terminals. 

Note 5: Refer to the Instruction Manual for instructions on the 

shielding process. 

Motor connection specifics may vary depending on the 

motor specifications. Lead-type motor power and brake wires 

are shown as red, white, black, green, and orange. When using 

a cannon plug, connect it according to the motor specifications. 

For wiring of the encoder connectors, refer to the encoder 

wiring diagram. 

The user must supply the external power supply. 

R, S, T, r, t, , P, DL1, DL2, RB1, RB2, U, V, W are 

high-voltage circuits; all other signal lines are low-voltage circuits. 

When wiring, maintain sufficient distance between high-voltage 

and low-voltage circuits. 

Installation of a UL compliant and IEC / EN compliant 

earth leakage circuit breaker is recommended. 

When wiring the single-phase power supply, do not wire 

the S-phase to the amplifier. 

Always connect the SG (signal ground) between devices 

when using differential operation input signals. 

QS1*10 and QS1*15 models offer an RB4 terminal. 

29


AC PF 

3-phase 

AC power 

200 - 230V 

5060Hz 

Note 10) 

MC 

MC 

 

 

MC 

System Error 

External Power Supply 

(24V DC) 

NC Ready (NCRDY) 

Holding Brake Drive 

Timing Output (HBON) 

User Devices 

 

 

 

 

Note8) 

Note 11) 

CNA 

 

1 

2 

3 

4 

 

 

 

 

 

Note 4) 

CNB 

(-) 

DL1 

DL2 

Note 3) Note 2) 

P 

SERVO AMPLIFIER 

RB1 

RB2 

 

Note 12) 

Internal Regeneration 

Resistor 

 

 

 

CN2 

Note 7) 

CNC 

Note 6) 

Black 

White 

Red 

Green 

(Orange/Yellow) 

Encoder Connector 

SH 

SH 

Plug: 10120-3000VE. 

Shell: 10320-52A0-008 

SERVO MOTOR 

Encoder 

Orange 

(yellow) 

Orange 

(yellow) 

RY1 

90V 

(24V) 

Holding Brake 

(install with Brake only) 


Error (ERR) 

5 

External Operation Enabled (EXT) 

Running (MOVE) 

Positioning Finished(PFIN) 

In-Position Output (INPS) 

Zero Return Complete (ZFIN) 

OUT1 

OUT2 

OUT3 

OUT4 

OUT5 

OUT6 

OUT7 

OUT8 

External Power Supply (24G) 

External Power Supply (24V) 

Deceleration before Origin (SDN) 

(+) Overtravel (+OT) 

(-) Overtravel (-OT) 

External Data Setup (E_STR) 

External Error (EXT-E) 

Start (RUN) 

Zero Return (ZRT) 

(+) Manual (+ JOG) 

(-) Manual (- JOG) 

Override (OVRID)/ 

Manual High-speed (RAP) 

Alarm Reset (ARST) 

Cancel (CACL) 

Servo ON (S-ON) 

Output Selection 1 (SEL1) 



+1 Step Forward (+lstep) 

-1 Step Forward (-lstep) 

Interrupt Activated (I_RUN) 

MFIN (MFIN) 

Point-specified Input 

General Outputs 

IN1 

IN2 

IN4 

IN8 

IN16 

IN32 

IN64 

IN128 

External Power Supply (24G) 

Note8) 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 

18 

24 

25 

26 

19 

20 

21 

22 

23 

27 

28 

29 

30 

31 

32 

33 

34 

35 

36 

37 

38 

39 

40 

41 

42 

43 

44 

45 

46 

47 

48 

49 

50 

Note 1: 

Note 2: 

Note 3: 

Note 4: 

Note 5: 

Note 6: 

Note 7: 

Note 8: 

Note 9: 

Note 10: 

Note 11: 

Note 12: 

Signifies shielded twisted-pair cable. 

When using an external regeneration resistor, connect it 

between RB1 and 2. If RB1 and 2 are connected to the internal 

amplifier’s resistor, or if a shorting bar is connected between RB1 

and 4, first disconnect them. 

Terminals DL1 and DL2 are dedicated for connecting 

DC reactors. If a harmonic suppression reactor is not in use, 

create a short circuit between DL1 and DL2 terminals with the attached 

shorting bar. 

The and P terminals (high-voltage circuit) are reserved 

for maintenance. Do not wire these terminals. 

Refer to the Instruction Manual for instructions on the 

shielding process. 

Motor connection specifics may vary depending on the 

motor specifications. Lead-type motor power and brake wires 

are shown as red, white, black, green, and orange. When using 

a cannon plug, connect it according to the motor specifications. 

For wiring of the encoder connectors, refer to the encoder 

wiring diagram. 

The user must supply the external power supply. 

R, S, T, r, t, , P, DL1, DL2, RB1, RB2, U, V, W are 

high-voltage circuits; all other signal lines are low-voltage circuits. 

When wiring, maintain sufficient distance between high-voltage 

and low-voltage circuits. 

Installation of a UL compliant and IEC / EN compliant 

earth leakage circuit breaker is recommended. 

When wiring the single-phase power supply, do not wire 

the S-phase to the amplifier. 

QS1*10 and QS1*15 models offer an RB4 terminal. 


Setup 

Software 

Positionng 

General Spec 

30


Reduced Wiring Incremental Encoder PP031/PP038/PP062) (Cannon plug and lead-wire types) 


SERVO MOTOR 

CN2 

A _ or U _ channel input 

A or U channel input 

B _ or V _ channel input 

B or V channel input 

C _ or _ W channel input 

C or W channel input 

Note2 DC 5V 

Note2 GND(0V) 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

16 

17 

18 

19 

20 

Note1 

Note2 

A Blue 

D Brown 

B Green 

E Purple 

F White 

G Yellow 

J Red 

N Black 

Note 2) 

H(Shield Wire) 

Sensor: Incremental encoder 

A _ or U _ channel output 

A or U channel output 

B _ or V _ channel output 

B or V channel output 

C _ or _ W channel output 

C or W channel output 

DC 5V 

Optical 

GND (OV) 

Encoder 

Case ground 

(shield) 

Plug : 10120-3000VE, 

Shell : 10320-52A0-008 

JL04V-6A20-29S-J1(A72), 

JL04V-8A20-29S-J1-EB, 

JL04V-6A20-29S-J1-EB, 

MS3108B20-29S, 

MS3106B20-29S 

(With cannon plug) 

Sensor Absolute Encoder PA035M (Cannon plug and lead-wire types) 


SERVO MOTOR 

Note3 

Note3 

5V 

0V 

CN2 

EA 

EA 

EB 

EB 

EC 

EC 

ES 

ES 

EBAT 

0V 

ERES 

3 

4 

5 

6 

7 

8 

13 

14 

1 

2 

15 

16 

9 

10 

11 

12 

17 

18 

19 

20 

A(Wht/Blu) 

B(Blue) 

C(Wht/Ylw) 

D(Yellow) 

K 

L 

E (Wht/Org) 

F (Orange) 

T(Black) 

S(Wht/Blk) 

R(Green) 

H(Red) 

G(Wht/Red) 

J(Shield Wire) 

Sensor 

EA 

EA 

EB 

EB 

EC 

EC 

ES 

ES 

EBAT 

0V 

ERES 

5V 

0V 

 

FG 

Absolute Encoder 

ABS-E 

Note1 

Plug : 10120-3000VE, 

Shell : 10320-52A0-008 

JL04V-6A20-29S-J1(A72), 

JL04V-8A20-29S-J1-EB, 

JL04V-6A20-29S-J1-EB, 

MS3108B20-29S, 

MS3106B20-29S 

Note1 Use a twisted-pair shielded cable. 

Note2 Sensor power connections depend on sensor cable length. See the following table: 

Sensor cable length 

5V DC Wiring 

0V DC Wiring 

5m MAX 10m MAX 20m MAX 30m MAX 

Connect pin 19 

(Do not connect pins 9,12,17) 


(Do not connect 10,11,16,18) 

Connect pins 17, 19 

(Do not connect pins 9,12) 



Connect pins 12, 17, 19 

(Do not connect pin9) 

Connect pins 11,18, 20 

(Do not connect 10, 16) 

Connect pins 9, 12, 

17, 19 


16, 18, 20 



5V DC Wiring 

0V DC Wiring 

5m MAX 10m MAX 15m MAX 25m MAX 

Connect pins 17, 19 Connect pins 12, 17, 19 

(Do not connect pins 9,12) (Do not connect pin 9) 





 

Connect pins 16,18, 20 

(Do not connect pins10, 11) 

Connect pins 11,16,18,20 

(Do not connect 10) 


17, 19 


16, 18, 20 

31

AC P/A/T PF 

Sensor Absolute Encoder PA035C / RA062C (Cannon plug and lead-wire types) 

Note35V 

Note3 0V 


Plug : 10120-3000VE, 

Shell : 10320-52A0-008 

CN2 

ES 

ES 

EBAT 

EBAT 

13 

14 

1 

2 

9 

10 

11 

12 

17 

18 

19 

20 

Note1 

Note2 

E (Brown) 

F (Blue) 

T (Pink) 

S(Purple) 

Note2 

H (Red) 

G(Blk.) 

J 

ES 

ES 

EBAT 

EBAT 

5V 

0V 

FG(Shield) 

SERVO MOTOR 

Sensor: Absolute Encoder 

Wire-saving 

Abolute Sensor 

JL04V-6A20-29S-J1(A72), 

JL04V-8A20-29S-J1-EB, 

JL04V-6A20-29S-J1-EB, 

MS3108B20-29S, 

MS3106B20-29S 

(With cannon plug) 

Note: For the RA062C 

(Resolver System and Start-Stop), 

neither EBAT+ nor EBAT- wiring 

is necessary, as it does not 

use batteries. 

Note1 Use a twisted-pair shielded cable. 



5V DC Wiring 

0V DC Wiring 





Note3 Use 0.2mm 2 sensor cable. 

10m MAX 25m MAX 40m MAX 


(Do not connect pin 12) 


(Do not connect pin 11) 

Connect pins 12, 17, 19 

Connect pins 11,16, 18, 20 



Setup 

Software 

Positionng 

General Spec 

32

Servo Motor Dimensions 

Unit:mm 

40mm to 76mm Flange Size 

LC 

4-LZ 

0.07 M 

0.02 

0.06 M 

LR 

LE 

LG 

LLMAX. 

LH 

LA 

LB 

S 

M 

KL 

Oil Seal 

(Option) 

QE Tapping 

Depth LT 

1100100 

D1 

50 

1100100 

D2 

50 

Q1 Motor Series: High Power (Low Inertia) 

Teflon wire (for mounting) 

For Motor, Brake, and Ground 

Shielded Cable (for mounting) 

For Sensor 

MODEL 

Q1AA04003*** 

Incremental 

W/out 

Brake 

LL 

With 

Brake 

LL 

77 123.5 

LG 

KL 

LA 

LB 

LE 

LH LC LZ LR 

S 

0 

6-0.008 

Q QE LT 

- - 


D1 D2 

Oil Seal 

Q1AA04005*** 

Q1AA04010*** 

Q1AA06020*** 

Q1AA06040*** 

Q1AA07075*** 

83 129.5 5 

102 148.5 

113 142 

6 

142 171 

156 179.5 8 

30 

41 

50 

46 

70 

90 

0 

30-0.021 

0 

50-0.025 

2.5 54 40 4.5 25 

3 

81 60 5.5 30 

0 

70-0.030 

3 100 76 5.5 40 

0 

8-0.009 

0 

14-0.011 

0 

16-0.011 

- 

35 

- 

- 

7 

M5 12 7.5 

4.7 

Options 

Q2 Motor Series: High Efficiency / Low Ripple (Medium Inertia) 

MODEL 

Q2AA04006*** 

Q2AA04010*** 

Q2AA05005*** 

Q2AA05010*** 

Q2AA05020*** 

Q2AA07020*** 

Q2AA07030*** 

Q2AA07040*** 

Q2AA07050*** 

Q2AA08050*** 

Q2AA08075*** 

Q2AA08100*** 


W/out 

Brake 

With 

Brake 

LL LL 

82 114 

96 128 

81 110 

89 117 

105 133 

98 123 

105 130 

112 137 

120 145 

130 166 

147 183 

166 200 

LG KL LA LB 

5 31 48 

0 

34-0.025 

5 

8 

8 

38 

50 

55 

Note 1) If an oil seal is needed for Q2AA04, the ovearll motor length ill be slightly different. 

60 

90 

100 

0 

50-0.025 

0 

70-0.030 

0 

80-0.030 

LE LH LC LZ LR 

2 57 42 3.5 24 

24 

2.5 71.5 54 4.5 

3 

3 

30 

100 76 5.5 30 

115 86 6.6 35 

S 

0 

7-0.009 

0 

8-0.009 

0 

11-0.011 

0 

14-0.011 

0 

16-0.011 

2 slot cuts 

20 - 15 7.50.2 M3 8 


Q QA QK W T U QE LT D1 D2 

20 - 15 

2 slot cuts 

6.50.2 

- - 7 

25 2 20 4 4 1.5 M4 10 7.5 4.7 

25 2 20 5 5 2 M5 12 

30 2 25 5 5 2 M5 12 

Oil Seal 

Note 1) 

Options 

Included 

180mm Flange Size 

Q4 Motor Series: High Power (Low Inertia / High Volume) 

Eye Bolt 

2-M8 

 

(IE) 

( LH) 

Weight Caution Nameplate 

Key Position Key Position 

(opposite side) 

MS3102A32-17P (suitable mod.) 

MS3102A10SL-4P 

(for motor) 

(for fan motor) 

LC 

M 

LL 

(50) (50) 

 

(KB1) (KB2) 7.5 

M 

LE (LG) 

LR 

(IL1) 

(IL2) 

Motor Nameplate 

(Opposite side) 

LA 

LB 

 

S 

M 

 

A 

Q 

QA QK 

A 

R1 

N.P. 

Exhaust 

N.P. 

MS3102A20-29P (suitable mod.) 

(for sensor) 

Arrow 

Nameplate 

(opposite) 

Intake 

(115) (15) 

(KL3) (19) 

(KL1) 

(KL2) 

4-LZ1 S Type 

For Oil Seal 

2-LZ2 

(Motor Removal Tap) 

M10X1.5 

Depth LT 

W 

U 

T 

(IL1) 

(IL2) 

2-M8 Caution Nameplate 

For Eye Bolt (Opposite side) 

Exhaust 

Min. of 50mm space needed 

(145) 

Section A-A 


Note 1) 

Connector 

MODEL 

Q4AA1811K*** 

Q4AA1815K*** 

W/out Brake 

LL 

497 

587 

Motor, Ground 

KB2 MS3102A LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S Q QA QK W T U KB1 QE LT IE IF IL1 IL2 

72 32-17P 19 144 22 79 200 

0 

0 

0 

42-0.016 

12-0.043 8 3 337 84 

145 90 

114.3-0.035 3 230 180 13.5 M8 79 0 75 3 67 0 

0.03 0.08 0.10M10 25 124 50 

55-0.019 

16-0.043 10 4 427 109 

155 170 

Note 1) Waterproof specification IP67 requires that the connector be attached; for IP67 compliance, use a waterproof connector for the mating plug. 

33

AC P/A/T PF 

100mm to 220mm Flange Size 

( LH) 

2-LZ2 

Oil Seal 

(S-type) 

(Tap for removing motor) 

LC 

4-LZ1 

LA 

QE tapping 

Depth LT 

0.07 M 

0.06 M 

LB 

 

S 

Section H-H 

Q1 Motor Series: High Power (Low Inertia) 

Without brake 


Connector 

0.02 

QA 

M 

W 

U 

T 

LR 

LE (LG) (IL2) 

Q 

QK 

H 

H 

(IL1) 

(IL2) 

(KB1) 

(KB3) 

(KB2) 

MS3102A10SL-4P 

Note 3 

MODEL LL KB2 LL KB2 KB3 MS3102A LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S Q QA QK W T U KB1 QE LT IE IF IL1 IL2 

Q1AA10100*** 184 219 

84 

Q1AA10150*** 209 244 

0 

80 116 

20-15P 10 78 19 63 115 

Q1AA10200*** 234 269 

95-0.035 3 130 

45 

0 

100 9 - 

22-0.013 

40 

0 

109 

3 32 6-0.030 6 2.5 

134 

0.02 0.08 0.08 M6 20 

Q1AA10250*** 259 294 

159 

Q1AA12100*** 168 204 

0 

0 

45 

Q1AA12200*** 205 72 241 108 

12 93 21 67 135 110-0.035 3 162 120 9 - 

22-0.013 40 

0 

76 

3 32 6-0.030 6 2.5 

M6 

113 0.02 0.08 0.08 

20 

Q1AA12300*** 242 278 

55 

50 3 42 

7 3 150 

M8 25 

0 

0 

28-0.013 

8-0.036 

Q1AA13300*** 205 249 112 

24-11P 

117 

Q1AA13400*** 232 67 281 

12 98 21 80 145 

0 

117 

110-0.035 4 165 130 9 M6 55 

0 

28-0.013 

50 

0 

3 42 8-0.036 7 3 144 0.02 0.08 0.08 M8 

Q1AA13500*** 269 318 

181 

25 

0 

0 

Q1AA18450*** 288 67 338 117 

16 123 21 

80 200 

0 

65 35-0.016 60 3 50 10-0.036 8 3 200 

M8 25 124 50 93 50 

32-17P 10SL-4P 

114.3-0.035 

3 230 180 13.5 M8 

0 0 

0.02 0.08 0.08 

Q1AA18750*** 384 72 434 122 54 

19 144 22 

79 42-0.016 75 3 67 12-0.043 8 3 291 M10 25 124 50 85 145 

Note 1) Waterproof specification IP67 requires that the connector to be attached; for IP67 compliance, use a waterproof connector for the mating plug. 

Note 2) Brake connector JL04V-2E10SL-3PE-B used for CE compliance. 

Note 3) Brake is included only with Model Q1AA18750. 

Without 

brake 

With brake 


With brake 

Motor 

grounding 

Note 1 

Brake(only Note 2 

when mounted) 

Connector 

Motor 

grounding 

Note 1 

Note 2 

Brake(only 

when mounted) 

LL 

MS3102A - (or comparable) 

(for motor, brake and ground) 

Q2 Motor Series: High Efficiency / Low Ripple (Medium Inertia) 

MODEL LL KB2 LL KB2 KB3 MS3102A LG KL1 KL2 KL3 LA LB LE LH LC LZ1 LZ2 LR S Q QA QK W T U KB1 QE LT IE IF IL1 IL2 

Q2AA10100*** 196 231 

98 

77 113 

20-15P 10 78 19 67 115 

0 

Q2AA10150*** 226 261 

95-0.035 3 130 100 9 - 45 

0 

22-0.013 40 

0 

3 32 6-0.030 6 2.5 0.02 0.08 0.08 M6 20 

128 

Q2AA13050*** 135 171 

47 

Q2AA13100*** 152 188 103 

0 

0 

64 

12 98 21 80 

0 

145 

6-0.030 

Q2AA13150*** 169 205 

110-0.035 4 165 130 9 

22-0.013 

6 2.5 

M6 20 

M6 55 

50 3 42 

0.02 0.08 0.08 

81 

Q2AA13200*** 186 67 

0 

0 

226 107 

24-11P 

28-0.013 

8-0.036 7 3 98 

M8 25 

Q2AA18200*** 171 221 

83 

Q2AA18350*** 203 253 117 

16 123 21 80 200 

0 

13.5 

0 

114.3-0.035 3 230 180 M8 65 0 60 3 50 

10-0.036 

8 3 115 

20 

35-0.016 

0.02 0.08 0.08 M8 25 

Q2AA18450*** 

124 50 61 

218 268 

130 

35 

Q2AA18550*** 282 332 

189 

50 

72 54 

0 

0 

0 

32-17P 10SL-4P 19 144 22 80 200 

3 230 180 13.5 M8 79 

75 3 67 12-0.043 8 3 0.02 0.08 0.08 M10 25 124 50 85 

Q2AA18750*** 332 382 122 

114.3-0.035 

42-0.016 

239 100 

Q2AA22250*** 150 196 

64 

10 

Q2AA22350*** 

0 

163 65 209 111 

0 

16 

65 35-0.016 60 50 10-0.036 8 3 77 0.02 0.08 0.08 M8 

50 20 

Q2AA22450*** 181 227 

24-11P 141 21 80 235 0 

200-0.046 

4 270 220 13.5 M10 

3 

95 

25 142 60 40 

Q2AA22550*** 252 309 

0 

0 

149 

50 

82 140 

19 

79 

Q2AA22700*** 310 368 

55-0.019 75 67 16-0.043 10 4 0.03 0.08 0.10 M10 

55 

207 

110 

Q2AA2211K*** 335 

73 

32-17P 10SL-4P 162 22 80 

0 

0 

241 

120 

19 

235 200-0.046 4 270 220 13.5 M10 

3 

0 

79 

0.03 0.08 

Q2AA2215K*** 394 

55-0.019 75 67 16-0.043 10 4 0.10 M10 25 142 60 69 

300 

180 

Note 1) Waterproof specification IP67 requires that the connector to be attached; for IP67 compliance, use a waterproof connector for the mating plug. 

Note 2) Brake connector JL04V-2E10SL-3PE-B used for CE compliance. 

Note 3) Brake is included only with Models Q2AA18550, Q2AA18750, Q2AA2211K and Q2AA2215K. 

(KL1) 

( KL2 ) 

(19 ) (KL3) 

MS3102A20-29P(or comparable) 

(for sensor) 

(IF) 2-M8 

(IF) 

(IE) 

Eye bolt 

2-M8 



Setup 

Software 

Positionng 

General Spec 

34

Servo Motor Dimensions 

Unit:mm(inch) 

QS1A01 / QS1E01 

QS1A03 / QS1E03 

5(.20) 

7(.28) 

70max. 

45(1.77) (2.76max.) 

130(5.12) 

33(1.30) 

135.5(5.33) 

7(.28) 

5(.20) 

5 

50(1.97) 

38(1.50) 

70max. 

(2.76max.) 

130(5.12) 

135.5(5.33) 

5 

CHARGE 

POWER 

CHARGE 

POWER 

160(6.61) 

160(6.30) 

T 

S 

R 

t 

r 

DL1 

DL2 

P 

RB1 

RB2 

N 

A 

C 

160(6.30) 

168(6.61) 

T 

S 

R 

t 

r 

DL1 

DL2 

P 

RB1 

RB2 

C 

N 

A 

NC 

B 

P 

C 

C 

N 

1 

C 

N 

B 

C 

1 NC C P N 

2 

C 

W 

V 

U 

N 

C 

W 

V 

U 

C 

N 

C 

C 

N 

2 

2-M4 2-M4 

QS1A05 

5(.20) 

90(3.54) 

80(3.15) 

70max. 

(2.76max.) 

130(5.12) 

135.5(5.33) 

CHARGE 

POWER 

168(6.61) 

160(6.30) 

T 

S 

R 

t 

r 

N 

A 

C 

C P 

N 

1 

C 

DL1 

DL2 

P 

C 

N 

B 

RB1 

RB1 

RB2 

RB2 

W 

V 

U 

C 

N 

C 

N C 2 

3-M4 

35

CHARGE 

POWER 

C 

N 

1 

C 

N 

2 

AC SERVO SYSTEMS 

SANYO DENKI 

MODE 

 

 

WR/ 

 

CHARGE 

POWER 

C 

N 

1 

C 

N 

2 

AC P/A/T PF 

5(.20) 

QS1A10 

100(3.94) 

50(1.97) 

6(.24) 

ø6(ø0.24) 

15(.59) 

70max. 

(2.76max) 

235(9.25) 

2(.08) 

5(.20) 

QS1A15 

130(5.12) 

100(3.94) 

75(2.95) 

6(.24) 

ø6(ø.24) 

15 

(.59) 

70max. 

(2.76max) 

235(9.25) 

2(.08) 


235(9.25) 

225(8.86) 

R 

S 

T 

- 

DL1 

DL2 

P 

RB4 

RB1 

RB2 

6(.24) 

U 

V 

W 

r 

t 

75(2.95) 

QS1A30 

205(8.07) 

Optional pitches (in parentheses) also permit mounting. 

235(9.25) 

225(8.86) 

R 

S 

T 

- 

DL1 

DL2 

P 

RB4 

RB1 

RB2 

U 

V 

W 

r 

t 

6(.24) 

50(1.97) 

205 

Optional pitches (in parentheses) also permit mounting. 


Setup 

Software 

Positionng 

General Spec 

10(.39) 

7(.27) 

220(8.66) 

100(3.64) 100(3.64) 

14(.55) 

70max. 

(2.76max.) 

235(9.25) 

2(.08) 

R 

SANM 

O 

TION 

Q 

QS1A30AA 

30(1.17) 

S 

T 

CHARGE 

POWER 

- 

P 

C 

DL1 

250(9.84) 

235(9.25) 

DL2 

P 

U 

C 

N 

1 

205(8.07) 

V 

C 

N 

2 

W 

RB1 RB2 r t 

7(.26) 

15(.59) 

36

DC Motor / Amplifier System 

Motor Model Number Nomenclature 

Example: The following model number describes a P5 (compact, square shaft-type) servomotor with 50W rated output, 

4500min -1 maximum rotation speed, 24V motor with 42mm flange, incremental sensor, and brake (90V DC). 

P50 

B 04 005 J 

B S 00 

P5 Series 

Indicates servo motor 

Rated Output 

005 - 50W 

008 - 80W 

Specification 

00 - Standard 

Square Flange-type 

04 - 42mm 

Max. Rotation 

Speed 

J - 4500min -1 

Sensor Type 

S - Reduced Wiring Incremental Encoder PP038 (2000 P/R) 

P - Reduced Wiring Absolute Sensor PA0135 (2.5M,17-bit) 

DC 24V System 

Capacity 

Flange Size 

42mm (1.65 in) 

50W and 80W 

QS1 

Q Series 

J 03 A A 

Amplifier Capacity 

03 - 30A 

Holding Brake 

X - Without Brake 

B - 90V Brake 

C - 24V Brake 

Amplifier Model Number Nomenclature 

Example: The following model number describes a Q Series position control-type servo amplifier with 24V input, 

30A capacity, reduced wiring absolute sensor (2.5M, 17-bit), 50W P5 motor, 42-mm (1.65 in.) square flange. 

0 WN A3 

P 00 

Specification 

00 - Standard 

Input Voltage 

J - DC24V 


Motor Type Motor Combination 

A - Rotary Motor O - P Motor Combo. 

Control Section Hardware Type 

A - Reduced Wiring Absolute Sensor 

Reduced Wiring Incremental Encoder 

Applicable Motor 

Code 

WN - P05B04005J 

WP - P05B04008J 

Sensor Combination 

01 - Reduced Wiring Incremental Encoder PP038 (2000 P/R) 

A3- Reduced Wiring Absolute Encoder (2.5M, 17-bit) 

Interface Specification 

S - Speed Control Type 

T - Torque Control Type 

P - Position Control Type 

Y - Pos. and Torque Switch 

U - Pos. and Speed Switch 

Standard Specifications 


Symbol Unit 

PR kW 

NR min -1 

NMAX min -1 

TR Nm(ozin) 

TS Nm(ozin) 

TP Nm(ozin) 

IR Arms 

IS Arms 

IP Arms 

KT Nm/Arms 

KE mV/min -1 

Rated Output 



Rated Torque 


















Brake Inertia 

Brake Mass 




Amp. Operating Temp., Rel. Humidity 

Power Consumption (rated output) 


R 

QR 

te 

tm 

JM 

WE 

TB 

VB 

IB 

JB 

W 

 

kW/s 

ms 

ms 

kgm 2 [GD 2 /4](ozin 2 ) 

P/R 

kg(lbs) 

Nm(ozin) 

V 

Arms 

kgm 2 [GD 2 /4](ozin 2 ) 

kg(lbs) 

kVA 

kg (lbs) 

P50B04005JXS 

42mm (1.65in) 

0.05 

0.159 (22.52) 

0.159 (22.52) 

0.318 (45.03) 

3.82 

3.55 

8.24 

0.048 

1.67 

0.25 

5.1 

1.4 

1.6 

0.054x10 -4 (0.03) 

0.46 (1.01) 

0.191 (72.05) 

3000 

4000 

2000 

90/24 

0.07/0.26 

0.0078x10 -4 (0.04) 

0.24 (0.53) 


QS1J03 

DC 24V+10%, -10% 


0.1 

0.6 (1.32) 

P50B04008JXS 

42mm (1.65 in) 

0.08 

0.255 (36.11) 

0.255 (36.11) 

0.509 (72.08) 

6.1 

5.8 

12 

0.049 

1.71 

0.15 

8.8 

1.5 

1.4 

0.079x10 -4 (0.04) 

0.59 (1.30) 

0.319 (45.17) 

0.16 

0.6 (1.32) 

50 

0.4 

100 

0.8 

40 

0.3 

80 

0.6 

Torque [oz . in] 

30 

20 

10 


0.2 

0.1 

Torque [oz . in] 

60 

40 

20 


0.4 

0.2 

0 

1000 2000 3000 4000 5000 6000 

0 

1000 2000 3000 4000 5000 6000 



Note: Actual operating temperature depends on mounting conditions and motor model. 

37

SANM 

O 

CNA 

CNC 

TION 

1 

5 

1 

POWER 

STATUS 

C 

C 

DC 

Motor External Dimensions [unit: mm(inch)] 

P50B04005JXS 

42sq. (1.65sq.) 

4-3.5 

(.16-.14) 

48.3 

0.07 M 

0.02 

0.06 M 

(1.89.012) 

57 

(2.24) 

.0000 

1.34-.0010 

0 

34-0.025 

.0000 

.28-.0004 

0 

7-0.009 

M 

240.8 

(.94.031) 

2(.08) 

200.3 (.79.012) 

15(.59) 

A 

A 

8(.32) 

29.5 

(1.16) 

Motor Cable (for mounting) 

Motor and ground, 0.5mm 2 

1100100 

(43.313.94) 

5(.20) 

N.P. 

96 (3.78)MAX. 

21.5 

(.85) 

6 

.24 

1100100 

21.5(.85) 

(43.313.94) 

38(1.50) 

20(.79) 

5(.20) 

25 (.98) 

38 

(1.50) 

Sensor Shielded Cable (for mounting) 

3-conductor 26 AWG 

42sq.(1.65sq.) 

22(.87) 

31(1.22) 

Amplifier External Dimensions [unit: mm(inch)] 

5(.20) 

150(5.91) 

140(5.51) 

5(.20) 

35(1.38) 70(2.76)max. 

95(3.74) 

20(.79) 

Q 

5 

(.20) 

20 

(.79) 

N 

4 

NC 3 

N 

1 

C 

N 

2 

12.5 

(.49) 

125(4.92) 

2 

(.08) 


P50B04008JXS 

42sq. (1.65sq.) 

4-3.5 

(.16-.14) 

48.3 

(1.89.012) 

57 

(2.24) 

0.07 M 

0.02 

0.06 M 

.0000 

1.34-.0010 

0 

34-0.025 

.0000 

.28-.0004 

0 

7-0.009 

M 

240.8 

(.94.031) 

2(.08) 

200.3 (.79.012) 

15(.59) 

A 

A 

8(.32) 

Motor Cable (for mounting) 

Motor and ground, 0.5mm 2 

5(.20) 

42.5(1.67) 


Control Power 

DC24V 

Main Circuit 

Power 

DC24V 

Operation Operation 

Preparation Preparation 

OFF ON 

MC 

CP 

CN 

MP 

MN 

Emergency 

Stop 

System Error 

General Purpose 

Inputs 

General Purpose 

Outputs 

1100100 

(43.313.94) 

DC24V Power 

MC 

109 (4.29)MAX. 

21.5 

(.85) 

6 

.24 

Note 4) 

DC24V 

CONT-COM 

CONT1 

CONT2 

CONT3 

CONT4 

OUT1 

OUT2 

Regenerative 

Resistor 

RB1 

RB2 

1100100 

MC 

(43.313.94) 

38(1.50) 

20(.79) 

5(.20) 

721-108/026-000 

(mfg. by Wago Co. of 

Japan) 

Note 3) 

38 

(1.50) 

25(.98) 

Sensor Shielded Cable (for mounting) 

3-conductor 26 AWG 

Note 7) 

Note 5) 

42sq.(1.65sq.) 

1 

2 

3 

4 

5 

6 

7 

8 

1 

2 

3 

4 

5 

6 

7 

8 

9 

N.P. 

22(.87) 

CNA 

CN1 

Note 6) 

31(1.22) 


SG 

5V 

CNC 

CN2 

5 

4 

3 

2 

1 

13 

14 

1 

2 

9 

10 

11 

12 

17 

18 

19 

20 

721-105/026-000 

(mfg. by Wago Co. of 

Japan) 

W 

Black 

V 

White 

U 

Red 

FG 

Green 

(Green/Yellow) 

 

ES+ 

Brown 

ES- 

Blue 

EBAT+ 

Pink 

EBAT- 

Purple 

SG 

5V 

5V 

SG 

5V 

Red 

SG 

Black 

Shiold 

SERVO MOTOR 

EN 

Wire-saving 

Absolute Sensor 

Yellow 

24V 

Yellow 

Holding Brake 

(if installed) 


Setup 

Software 

Positionng 

General Spec 

Note 2) 

ALM0 

10 

Alarm Code 

Output 

ALM1 

ALM2 

11 

12 

Plug: 10120-3000VE 

Shell: 10320-52A0-008 

(mfg. by Sumitomo 3M) 

ALM-COM 

13 

IL-2S-S3L-N 

(mfg. by Japan Aviation Electronic 

Industry, Ltd.) 

Raw Pulse Inputs 

(CCW) 

Raw Pulse Inputs 

(CCW) 

F-PC 

F-PC 

R-PC 

R-PC 

14 

15 

16 

17 

CN4 

2 

BAT+ 

1 BAT- 

DC 3.6V 

Lithium Battery 

Battery Input 

Speed Command 

Input 

V-REF 

SG 

AO 

25 

26 

18 

SG 

SG 

Note 1) indicates shielded twisted-pair cable. 

Note 2) The connector must be properly shielded. 

Encoder 

Signal Outputs 

AO 

BO 

BO 

19 

20 

21 

Note 3) When using an external registration resistor, connect it between RB1 and 2. If no optional 

resistor is used, terminals RB1 and 2 should be open. 

ZO 

22 

Note 4) I/O power connections must be provided by the user. 

ZO 

23 

26C31 

Note 5) The actual CNA pin configuration is 1 to 8, from the bottom moving up. 

SG 

Note 1) 

Note 2) 

24 

SG 

Note 6) CNA pins 2 and 4 connect to SG inside the amplifier. 

Note 7) To connect the CNA and CNC wires, the use of a specialized tool, provided by Wago Co. 

(Japan), is required. 

Plug: 10126-3000VE 

Shell: 10326-52A0-008 

(mfg. by Sumitomo 3M) 

38


Pulse / Analog / Torque with Positioning Function Screen 

(1) Setup Software Start-up Screen (2) Main Screen 

Shown: Setup Software start-up screen logo 

(3) Parameter Configuration Screen 

Configuration of General Parameters: 

Enables parameter loading, saving, etc., via PC connection 

Configuration of Motor Parameters: 

Combined motors can be configured via PC connection 

(4) Monitor Functions 

Monitor Display: 

Observe Operation and Input/Output signal status 

Multi-monitor Display: 

Simultaneous monitoring of operational status of multiple 

servo amplifiers networked to a PC. 

Alarm Record Display: 

(Current and past alarm occurrence can be checked.) 

39

AC DC P/A/T PF 

(5) Test Run and Adjustment Function 


Speed Jog: 

Simplifies motor operation and the issuing of 

speed commands from a PC 

Auto Notch Filter Tuning: 

Configures the appropriate notch filter settings 

(6) Operation Trace Function 

Pulse Forward Jog: 

Simplifies motor operation and the entering of 

distance and travel speed data from a PC 

System Analysis: 

Analyzes servo system frequency characteristics 


Setup 

Software 

Positionng 

General Spec 

Graphically displays servo motor speed, current, 

and terminal status 

Positioning Function Screen 

(1) Point Data Configuration (2) Test Run Operations 

40

MODE 

T 

S 

R 

t 

r 

- 

DL1 

DL2 

P 

RB1 

RB2 

W 

V 

U 

CHARGE 

C 

N 

A 

C 

/WR 

POWER 

P 

C 

C 

N 

1 

N 

C 

C 

N 

2 

Positioning Amplifier General Specifications 

General Specifications 

Positioning 

Function 

Input and 

Output 

Control Shaft Count 

Register Point Count 

Maximum No. of Commands 

Command Unit 

Fast-forward Speed 

Acceleration and Deceleration 

Point Data Setup 

Travel Point Number Setup 

Current Limit 

Software Limit 

Travel Mode 

Zone Signal 

Sequence Input Signals 

Sequence Output Signals 

Single Shaft 

Configurable up to 254 points (P000 to P253) 

From -2,147,483,648 to +2,147,483,647 

Either mm or pulse is acceptable 

2,147,483.647mm/sec (0.001mm/when “pulse” is selected) 

Automatic acceleration and deceleration (straight and S switch) 

Numerical input via PC, and setup by teaching 

Parallel 8 bits (binary code) 

0 to 510% (at 100% rating), but less than instantaneous maximum stall current 

Exists 

Zero Return, Manual (JOG, 1Step), and Point-specified Travel 

Maximum of 8 zones 

Servo ON, alarm reset, start up, zero return, manual, override/manual high-speed, 

cancel, deceleration before origin, external error, over-travel, external data setup1 

step forward, interrupt activated, output selection, MFIN, point specified input 

NC ready, holding brake timing, error, external operation enabled, running, 

positioning completion, in-position output, zero return completion, general output (8 

bits) 

Sample Operations of the Positioning-type Amplifier 

(1) Zero Return Operation (example) 

The system is capable of zero return operation by using sensor output for the zero return and deceleration signals. 

QS1A100A 

Deceleration Acceleration 

Power ON Position 

N 

B 

C 

PLC 

-OT Sensor 

Deceleration Signal 

Sensor 

+OT Sensor 

Motor Speed 

Offset Quantity (compensation quantity) 

Zero Return (Low Speed) 

Deceleration 

before Origin 

(Input) 

CN1-19 

Encoder C-phase 

Signal 

Reverse 

Zero Return (High Speed) 

ON 

OFF 

Zero Return 

Signal 

(Input: CN 1-28) 

Running Output 

CN1-17 

Positioning Completion Signal 

CN1-8 

ON 

OFF 

ON 

OFF 

ON 

OFF 

41

MODE 

T 

S 

R 

t 

r 

- 

DL1 

DL2 

P 

RB1 

RB2 

W 

V 

U 

CHARGE 

C 

N 

B 

C 

N 

C 

/WR 

POWER 

P 

C 

AC PF 

(2) Positioning Operation with Speed Variation (example) 

By starting up Point 1, Points 2 and 3 will be executed consecutively. 

Point Data Setup: Enables configuration and saving of parameters, and the reading of point data from a PC. 


PLC 

Starting Coordinates: Start-up Point 001 (P001) as 0.0 

Mode 1: [01]= Positioning Operation enabled; Mode 2: [00]= Final Travel, [01]= Continue to next Point Number 

Gear Change: Stop / Continue: [1]= Consecutive Gear Shift Operation 

N 

A 

C 

QS1A100A 

P001:100.0 P002:150.0 P003:180.0 

C 

N 

1 

C 

N 

2 

Pass Point 1 Move to Point 2 Move to Point 3 

-OT Sensor Deceleration Signal 

Sensor 

+OT Sensor 


Setup 

Software 

Positionng 

General Spec 

Motor Speed 

Point Input 

Point 1 (P001) ON only 

CN1-42 

0.0 100.0 200.0 

ON 

OFF 

Coordinate 

Start-up Signal Input 

CN1-27 

Running Output 

CN1-7 

ON 

OFF 

ON 

OFF 

Positioning Completion Signal 

CN1-8 

ON 

OFF 

42

Optional Equipment 

PC Interface Cable [unit: mm(inch)] 

9 

+ 50 + 1.97 

2850 - 10 112.2 - 0.39 

Cable 

() 

CN1 

Model No.: AL-00490833-01 

A note regarding RS-232C communications: 

The user must provide a PC for computer interface. 

Parameter settings may require adjustment. 

1 

PC side 

Amp side 

Mounting Hardware [unit: mm(inch)] 

Rear Side 

5 (.20) 

45 (1.77) 

25 (.098) 10(.39) 

5(.20) 

188 (7.40) 

2 (.08) 

6 (.24) 

5 (.20) 

62 (2.44) 

50 (1.97) 

5 (.20) 

198 (7.80) 

188 (7.40) 

2 (.08) 

For mounting on the rear side of the amplifer 

Model No.: AL-00483540-01 

Applicable Amplifiers: QS1*01***, QS1*03*** 

Material: SPCC 

Surface Finish: Chromate Plating (Green) 

For mounting on the rear side of the amplifer 

Model No.: AL-00483543-01 

Applicable Amplifiers: QS1*05*** 



Front Side 

47 (1.85) 

45 (1.77) 

25 (.098) 

5 (.20) 

10 (.39) 

5 (.20) 

2 (.08) 

188 (7.40) 

198 (7.80) 

52 (2.56) 

45 (1.77) 

25 (.98) 

5 (.20) 

10 (.39) 

5 (.20) 

188 (7.40) 

198 (7.80) 

120 (4.72) 

120 (4.72) 

2 (.08) 

For mounting on the front side of the amplifer 

Model No.: AL-00483541-01 





Model No.: AL-00483542-01 




65 (2.56) 

50 (1.97) 7 (.28) 

2 (.08) 5 (.20) 

5 (.20) 

188 (7.40) 

198 (7.80) 

Model No. AL-00483540-01 AL-00483541-01 AL-00483542-01 

120 (4.72) 

Contents 

Mounting Bracket: 1 

Screws: 2 


Screws: 6 


Screws: 6 

Model No. AL-00483543-01 

AL-00483544-01 


Model No.: AL-00483544-01 




Contents 


Screws: 2 


Screws: 6 

43

0 


External Regenerative Resistor Dimensions [unit: mm(inch)] 

420.4 (1.65.02) 

23.5 (.093) 

20 (.079) 

43 -0.3 

0 

-.11 

(1.69) 

1.2 

(.05) 

182 (7.17) 300 

20 

1720.4 (6.77.02) 

270 0 

150 (5.91) 

20 

0 

4.3 

(.17) 

+.79 

(11.81) .0 

+.79 

(10.63) .0 

61 (.24.04) 

61 (.24.04) 

.0Silicon Rubber Glass-braided Wire 0.5mm2, White 

(Thermostat) 

Silicon Rubber Glass-braided Wire 0.75mm 2 , Black 

Mass: 0.24kg 

600.4 

42.7 

20 (.079) 

-0.3 

4.3 

-.11 

(1.69) .0 

1.2 

(.05) 

230 (9.06) 300 

15 

2200.4 (8.66.02) 

270 0 

200 (7.87) 

20 

0 

4.3 

(.17) 

+.79 

(11.81) .0 

+.79 

(10.63) .0 

61 (.24.04) 

61 (.24.04) 

Silicon Rubber Glass-braided Wire 0.5mm 2 , White 

(Thermostat) 

Silicon Rubber Glass-braided Wire 0.75mm 2 , Black 

Mass: 0.44kg 


80 (3.15) 

4.5 

(.18) 

(Thermostat) 

40 (1.57) 

A 

Model Number 

1 REGIST-120W100B 


UL 1430 Electric Wire 0.2 mm2, White 

250 (9.84) 

218 (8.58) 

Remarks 

Thermostat, 

B-contact 

Thermostat, 

B-contact 

+0.4 +.016 

234 -1.2 (9.21 -.047 ) 

8 

M3 

35015 

(13.780.59) 

 

35015 

(13.780.59) 

 

35015 

(13.780.59) 

 

35015 

(13.780.59) 

 

3 (.12) 

Ground Mark 

Solderless Terminal (for M5) 

24.5 2-M5 (0.8-M5) 

Silicon Rubber Glass-braided Wire 2 mm 2 , White 

70015 

(27.56.59) 

60 (2.36) 

Mass: 1.4kg 

Model Number A Remarks 


2 REGIST-500W20 







Thermostat, 

B-contact 

No 

Thermostat 

Thermostat, 

B-contact 

No 

Thermostat 

Thermostat, 

B-contact 

No 

Thermostat 

Thermostat, 

B-contact 

No 

Thermostat 

Model Number 




Remarks 

Thermostat, 

B-contact 

Thermostat, 

B-contact 

Thermostat, 

B-contact 


Setup 

Software 

Positionng 

General Spec 

44

Options 

AC 

Amplifier Connectors (AC 200V Models) 

Usage 

Single Connectors 

Connector Sets 

Contents Model No. Manufacturer Manufacturers Part No. Max. Amp. Capacity 

CN1 (Plug and Housing) 

AL-00385594 

Sumitomo 3M 

10150-3000VE+10350-52A0-008 

No Limit 


CNA (Plug) 

CNB (Plug) - accessory 

CNC (Plug) 

AL-00385596 

AL-00329461-01 

AL-Y0000988-01 

AL-00329458-01 

Phoenix Contact 

10120-3000VE+10320-52A0-008 

MSTB2.5/5-STF-5.08 

IC2.5/6-STF-5.08 

IC2.5/3-STF-5.08 

50A Maximum 



AL-00393603 

Sumitomo 3M 

Phoenix Contact 

10150-3000VE+10350-52A0-008 

10120-3000VE+10320-52A0-008 

MSTB2.5/5-STF-5.08 

IC2.5/3-STF-5.08 

50A Maximum 



Usage 


Low Voltage / 

High Voltage 


CNA (Plug) 



AL-00292309 

Sumitomo 3M 

10150-3000VE+10350-52A0-008 

10120-3000VE+10320-52A0-008 

Contents Model No. 

Manufacturer Manufacturers Part No. 

AL-00329461-02 

AL-00492384 

 

 

 

MSTB2.5/4-STF-5.08 

10150-3000VE 

10350-52A0-008 

10120-3000VE 

10320-52A0-008 

MSTB2.5/4-STF-5.08 

IC2.5/3-STF-5.08 

100A Maximum 


 

Q1AA10100*** 

Q1AA10150*** 

Q1AA10200*** 

Q1AA10250*** 

Q1AA12100*** 

Q1AA12200*** 

Q1AA12300*** 

Q1AA13300*** 

Q1AA13400*** 

Q1AA13500*** 

Q1AA18450*** 

Q1AA18750 

Q2AA10100*** 

Q2AA10150*** 

Q2AA13050*** 

Q2AA13100*** 

Q2AA10150*** 

Q2AA13200*** 

Q2AA18200*** 

Q2AA18350*** 

Q2AA18450*** 

Q2AA18550*** 

Q2AA18750*** 

Q2AA2211K*** 

Q2AA2215K*** 

Q4AA1811K*** 

Q4AA1815K*** 

Note1: Please order the plug that conforms to the TÜV-standard waterproof specification separately from the motor power connector. 

Motor Encoder Connectors 


All Q1, Q2, Q4 Models 

Cooling Fan Connectors 


All Q4 Models 

Encoder Plug Standard Specifications 

(Cable Clamp) 

MS3106B20-15S MS3108B20-15S JL04V-6A20-15SE-EB JL04V-8A20-15SE-EB 

(MS3057-12A) (MS3057-12A) (JL04-2022CK) (JL04-2022CK) 


(MS3057-16A) (MS3057-16A) (JL04-2428CK) 

(JL04-2428CK) 

MS3106B32-17S MS3108B32-17S JL04V-6A32-17SE 

(MS3057-20A) (MS3057-20A) (Single Block) 







Encoder Plug Standard Specifications 

(Cable Clamp) 

TÜV-Standard Plug (Cable Clamp) 

Waterproof Specification 

TÜV-Conforming Plug (Cable Clamp) for Encoder 



MS3106B20-29S MS3108B20-29S JA06A-20-29S-J1-EB JA06A-20-29S-J1-EB 


TÜV-Standard Plug (Cable Clamp) for Brake (Note 1) 


Straight L-Angle Straight L-Angle Straight L-Angle 



Cooling Fan Standard Specifications 

Waterproof Spec. 



(MS3057-4A) 


(MS3057-4A) 


(Single Block) 


(JL04-1012CK) 


(JL04-1012CK) 


(JL04-1012CK) 


(JL04-1012CK) 

DC 

Amplifier Connections (AC 100V Models) 

Usage 



Contents Model No. Manufacturer Manufacturer's Part No. Max. Amp. Capacity 


AL-00549202 

Sumitomo 3M 

10126-3000VE+10326-52A0-008 


AL-00385596 

10120-3000VE+10320-52A0-008 

CNA (Plug) 

AL-Y0001914-02 

721-108/026-000 

Wago Japan 

CNC (Plug) 

AL-Y0001914-01 

721-105/026-000 

DC 24V 



AL-00549203 

Sumitomo 3M 

10126-3000VE+10326-52A0-008 

30A 

10120-3000VE+10320-52A0-008 


AL-00549204 

Wago Japan 

721-108/026-000+231-131(Tool) 

721-105/026-000 

45

Inquiry Check Sheet 


Please provide the following information when placing an order or making an inquiry. 

Also feel free to include any questions that require our attention. 

Company Name: 

Department: 

Telephone : 

Fax: 

1) Application: 

2) Name of Machinery: 

3) Number of Units: 

Date: 

To contact us: 

Phone: +81(03) 3917-5157 

Fax : +81(03) 3917-0643 


Name of target equipment 

Name of servo axis 

Current condition of above axis 

Positioning accuracy 

Operation pattern 

Mechanism 

Mechanical structure 

Equipment name, category (transport, processing, test, other) 

Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no) 

Feeding Speed 

[m/sec] 

Acceleration 

Moving Distance 

(Stroke) 

Moving Distance 

G 

[m/s 2 ] 

Feeding Speed V [m/s] 

Ball-screw/screw-rotation type (horizontal), ball-screw/nut-rotation type (horizontal), 

rack and pinion (horizontal), belt/chain (horizontal), rotary table, roll feed, instability 

WT (table mass) kg WL (work mass) kg WA (mass of other drive parts) kg 

WR (rack mass) kg WB (belt/chain mass) kg WC (counterbalance mass) kg 

Fa (external force in axial direction) N Fb (ball-screw preload) N T (roll pushing force) N 

Dr1 (drive-side roll diameter) mm Dr2 (follower-side roll diameter) mm 

Lr1 (drive-side roll length) mm Lr2 (follower-side roll length) mm G (reduction ratio) 

JG (speed-reducer inertia) kg.m 2 JC (coupling inertia) kg.m 2 

JN (nut inertia) kg.m 2 JO (other motor-axis conversion inertia) kg.m 2 

Reference formula: 

[1G=9.8,m/s 2 ),1(m/s 2 )0.1G] 

[ (m/s 2 )=V(m/sec) t1(sec)] 

[D(m)=V(m/sec) (t1+t2)(sec)] 

t1 t2 t3 Time[sec] 

Db (ball-screw diameter) mm Lb (ball-screw axial length) mm Pb (ball-screw lead) mm 

Dp (pinion/pulley diameter) mm Lp (pinion axial length) mm Tp (pulley thickness) mm 

Dt (table diameter) mm Dh (table-support diameter) mm LW (load shift from axis) mm 

Ds (table shaft diameter) mm Ls (table shaft length) mm 

(specific gravity of ball-screw/pinion/pulley/table-shaft material) kg/cm 3 


Setup 

Software 

Positionng 

General Spec 

Speed reducer 

Sensor type 

Input format 

Upper-level equipment (controller) 

Usage environment and other requirements 

Estimated production 

Development schedule 

Various measures 

Miscellaneous 

(questions, pending problems, 

unresolved issues, etc.) 

(friction coefficient between sheet and sliding-surface/support-section/roll) 1 (specific gravity of roll-1 material) kg/cm 3 

2 (specific gravity of roll-2 material) kg/cm 3 (internal friction coefficient of preload nut) 

(mechanical efficiency) JL (load inertia of motor-axis conversion) kg.m 2 

TF (friction torque of motor axis conversion) N . m Tu (imbalance torque of motor axis conversion) N . m 

Customer-provided ( / ); Sanyo standard (planet/spur/no-backlash-planet:: / ); other ( / ) 

Sensor type specified ( yes / no ) 

Yes: ( incremental , optical absolute , optical absolute [resolver absolute with incremental function] ) 

Resolution ( ) 

Position , speed, torque, communications ( SERCOS / CAN / DeviceNet ) other ( ) 

Sequencer , laptop , customer-developed product , Sanyo-provided , other ( ) 

Cutting , clean-room use , anti-dust measures , other ( ) 

Single product: ( ) units/month ( ) units/year 

Prototype period: ( )Year ( )Month Production period: ( )Year ( )Month 

Related documentation ( already submitted ; send later by mail ) Visit/PR desired ( yes / no ) Meeting desired ( yes / no ) 

46

ECO PRODUCTS 

ECO PRODUCTS are designed with the goal 

of lessening nevironmental impact, from 

product development to disposal. 

Precautions For Adoption 

Cautions 

Failure to follow the precautions on the right may cause 

moderate injury and property damage, or in some 

circumstances,could lead to a serious accident. 

Always follow all listed precautions. 

For any question or inquiry regarding the above, contact our Sales Department. 

http://www.sanyodenki.com 

1-15-1, Kita-Otsuka, Toshima-ku, Tokyo 170-8451, Japan 

Phone: +81 3 3917 5157 

468 Amapola Avenue Torrance, CA 90501 U.S.A. 

Phone: +1 310 783 5400 

P.A. Paris Nord II 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France 

Phone: +33 1 48 63 26 61 

Frankfurter Strasse 63-69 65760 Eschborn Germany 

Phone: +49 6196 76113 0 

9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea 

Phone: +82 2 773 5623 

Room 2116, Bldg B, FAR EAST INTERNATIONAL PLAZA, No.317 XianXia Rd., Shanghai 200051 China 

Phone: +86 21 6235 1107 

Room 1208,12F, No.96 Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C. 

Phone: +886 2 2511 3938 

Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong 

Phone: +852 2312 6250 

10 Hoe Chiang Road #14-03A/04 Keppel Towers Singapore 089315 

Remarks : Specifications Are Subject To Change Without Notice. 

Phone: +65 6223 1071 

CATALOG NO. 843-1 ’07.1.N

SANMOTION Q - Sanyo Denki America, Inc.

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