XDQ1 SERIES AC SERVO SYSTEM

SELECTION GUIDE
Features

Faster response

Higher torque output

Better vibration control

Smarter tuning
Model descriptions

• Servo Drive

XD Q1 - 08 P A - XXXX
Product Product Voltage
Delimiter Power Interface Delimiter Factory code
Code Series level
XD: Servo Q1 Series 04：400W P：Pulse A: AC220V Blank: standard
drive 08：750W E：EtherCAT B: AC380V 0003: with closed pores
10：1KW 0100: with DB
15：1.5KW 0300: with analog input
20：2KW 02A0: with CANOPEN
30: 3KW 0400: with high speed pulse input

• Servo Motor

XM Q1 - H 80 A 08 B30 S 1 6 - ※※
① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩ ⑪

No. Name Remarks

① Product code XM: servo motor
② Product series Q1 series
③ Inertia A：Low inertia
H：High inertia
G：Medium inertia
② Flange 60：60mm flange
80：80mm flange
100: 100mm flange
110: 110mm flange
130: 130mm flange
180: 180mm flange
⑤ Rated voltage A：AC220V
B：AC380V
⑥ Rated power 04：400W
08：750W
09: 850W
10：1KW
13: 1.3KW
15：1.5KW
18: 1.8KW
20：2KW
30: 3.0KW
⑦ Rated speed B10：1000rpm
B15：1500rpm
B20：2000rpm
B30：3000rpm
⑧ Options N None
 C With brake
S With oil seal
E With brake and oil seal
⑨ Encoder 1 17-bit incremental, magnetic
2 17-bit absolute, magnetic
3 23-bit, optical encoder
4 23-bit multi-turn optical encoder
⑩ Shaft 0 Flange output
2 Straight shaft, keyway, no thread
6 Straight shaft, keyway, threaded
⑪ Customizations Blank: standard type
※※ Consult the manufacturer

• Matching table

Capacity Configurations Drive Model Motor Model Power cable Encoder cable
0.4KW Standard XDQ1-04PA XMQ1-H60A04B30S16 LQ1-P0M0A-□□ LQ1-E0A0-□□
0.75KW Standard XDQ1-08PA XMQ1-H80A08B30S16 LQ1-P0M0B-□□ LQ1-E0A0-□□
1KW Standard XDQ1-10PAL XMQ1-H80A10B30S16 LQ1-P0M0B-□□ LQ1-E0A0-□□
1KW Standard XDQ1-10PA XMQ1-A130A10B20S16 LQ1-P0M2C-□□ LQ1-E0A2-□□
1.5KW Standard XDQ1-15PA XMQ1-A130A15B20S16 LQ1-P0M2C-□□ LQ1-E0A2-□□
2KW Standard XDQ1-20PAL XMQ1-A130A20B20S16 LQ1-P0M2C-□□ LQ1-E0A2-□□
2KW Standard XDQ1-20PA XMQ1-A130A20B20S16 LQ1-P0M2D-□□ LQ1-E0A2-□□
3KW Standard XDQ1-30PA XMQ1-A130A30B20S16 LQ1-P0M2D-□□ LQ1-E0A2-□□
0.85KW Standard XDQ1-10PA XMQ1-G130A09B15S16 LQ1-P0M2C-□□ LQ1-E0A2-□□
1.3KW Standard XDQ1-15PA XMQ1-G130A13B15S16 LQ1-P0M2C-□□ LQ1-E0A2-□□
1.8KW Standard XDQ1-20PA XMQ1-G130A18B15S16 LQ1-P0M2C-□□ LQ1-E0A2-□□
0.4KW With brake XDQ1-04PA XMQ1-H60A04B30E16 LQ1-P0B0A-□□ LQ1-E0A0-□□
0.75KW With brake XDQ1-08PA XMQ1-H80A08B30E16 LQ1-P0B0B-□□ LQ1-E0A0-□□
1KW With brake XDQ1-10PAL XMQ1-H80A10B30E16 LQ1-P0B0B-□□ LQ1-E0A0-□□
1KW With brake XDQ1-10PA XMQ1-A130A10B20E16 LQ1-P0B2C-□□ LQ1-E0A2-□□
1.5KW With brake XDQ1-15PA XMQ1-A130A15B20E16 LQ1-P0B2C-□□ LQ1-E0A2-□□
2KW With brake XDQ1-20PAL XMQ1-A130A20B20E16 LQ1-P0B2C-□□ LQ1-E0A2-□□
2KW With brake XDQ1-20PA XMQ1-A130A20B20E16 LQ1-P0B2D-□□ LQ1-E0A2-□□
3KW With brake XDQ1-30PA XMQ1-A130A30B20E16 LQ1-P0B2D-□□ LQ1-E0A2-□□
0.85KW With brake XDQ1-10PA XMQ1-G130A09B15E16 LQ1-P0B2C-□□ LQ1-E0A2-□□
1.3KW With brake XDQ1-15PA XMQ1-G130A13B15E16 LQ1-P0B2C-□□ LQ1-E0A2-□□
1.8KW With brake XDQ1-20PA XMQ1-G130A18B15E16 LQ1-P0B2C-□□ LQ1-E0A2-□□
0.4KW Absolute encoder XDQ1-04PA XMQ1-H60A04B30S26 LQ1-P0M0A-□□ LQ1-E0B0-□□
0.75KW Absolute encoder XDQ1-08PA XMQ1-H80A08B30S26 LQ1-P0M0B-□□ LQ1-E0B0-□□
1KW Absolute encoder XDQ1-10PAL XMQ1-H80A10B30S26 LQ1-P0M0B-□□ LQ1-E0B0-□□
1KW Absolute encoder XDQ1-10PA XMQ1-A130A10B20S26 LQ1-P0M2C-□□ LQ1-E0B2-□□
1.5KW Absolute encoder XDQ1-15PA XMQ1-A130A15B20S26 LQ1-P0M2C-□□ LQ1-E0B2-□□
2KW Absolute encoder XDQ1-20PAL XMQ1-A130A20B20S26 LQ1-P0M2C-□□ LQ1-E0B2-□□
2KW Absolute encoder XDQ1-20PA XMQ1-A130A20B20S26 LQ1-P0M2D-□□ LQ1-E0B2-□□
3KW Absolute encoder XDQ1-30PA XMQ1-A130A30B20S26 LQ1-P0M2D-□□ LQ1-E0B2-□□
0.85KW Absolute encoder XDQ1-10PA XMQ1-G130A09B15S26 LQ1-P0M2C-□□ LQ1-E0B2-□□
1.3KW Absolute encoder XDQ1-15PA XMQ1-G130A13B15S26 LQ1-P0M2C-□□ LQ1-E0B2-□□
1.8KW Absolute encoder XDQ1-20PA XMQ1-G130A18B15S26 LQ1-P0M2C-□□ LQ1-E0B2-□□
0.4KW Brake, absolute XDQ1-04PA XMQ1-H60A04B30E26 LQ1-P0B0A-□□ LQ1-E0B0-□□
0.75KW Brake, absolute XDQ1-08PA XMQ1-H80A08B30E26 LQ1-P0B0B-□□ LQ1-E0B0-□□
1KW Brake, absolute XDQ1-10PAL XMQ1-H80A10B30E26 LQ1-P0B0B-□□ LQ1-E0B0-□□
1KW Brake, absolute XDQ1-10PA XMQ1-A130A10B20E26 LQ1-P0B2C-□□ LQ1-E0B2-□□
1.5KW Brake, absolute XDQ1-15PA XMQ1-A130A15B20E26 LQ1-P0B2C-□□ LQ1-E0B2-□□
2KW Brake, absolute XDQ1-20PAL XMQ1-A130A20B20E26 LQ1-P0B2C-□□ LQ1-E0B2-□□
2KW Brake, absolute XDQ1-20PA XMQ1-A130A20B20E26 LQ1-P0B2D-□□ LQ1-E0B2-□□
3KW Brake, absolute XDQ1-30PA XMQ1-A130A30B20E26 LQ1-P0B2D-□□ LQ1-E0B2-□□
0.85KW Brake, absolute XDQ1-10PA XMQ1-G130A09B15E26 LQ1-P0B2C-□□ LQ1-E0B2-□□
1.3KW Brake, absolute XDQ1-15PA XMQ1-G130A13B15E26 LQ1-P0B2C-□□ LQ1-E0B2-□□
1.8KW Brake, absolute XDQ1-20PA XMQ1-G130A18B15E26 LQ1-P0B2C-□□ LQ1-E0B2-□□
Connectors and interface

System configurations
• 60/80 mm flange motor connectors

Power
Encoder Connector
Connector

Pin Signal
Pin Signal
1 U
1 PS+
2 V
2 PS-
3 W
3 BAT+
4 PE
4 BAT -
A （BK）
5 PG5V
B （BK）
6 PG0V
7 PE

• 130 mm flange motor connectors

Encoder Power
Connector Connector

Pin Signal Pin Signal

1 PS+ A U
2 PS- B V
3 -- C W
4 PG5V D PE
5 BAT - 1 (BK)
6 BAT+ 2 (BK)
7 --
8 --
9 PG0V
10 PE
Product Drawings

Drive Type A chassis: 400W/750W/1.0KW

Drive Type B chassis: 1.0KW/1.5KW/2.0KW

Drive Type C chassis: 2.0/3.0KW

Notes:
• 2 versions of 1KW drives are available: XDQ1-10PAL (A type) & XDQ1-10PA (B type)
• 2 versions of 2KW drives are available: XDQ1-20PAL (B type) & XDQ1-20PA (C type)

Motor 60mm flange

Model Motor body Flange Shaft

XMQ1- LL LR LA LB LC LE LG LZ S SI Q QK QW W Y TH TP
H60A04 89.8(122.4) 30 70 50 60 3 6.5 5.5 14 14.2 25.5 14 17 5 5 11 M5D12

**LL in brackets: with brake.

Motor 80mm flange

Model Motor body Flange Shaft

XMQ1- LL LR LA LB LC LE LG LZ S SI Q QK QW W Y TH TP
H80A08 93.9(131) 35 90 70 80 3 8 6.4 19 19.7 30.2 22 25.5 6 6 15.5 M6D12
H80A10 102.3(139.4) 35 90 70 80 3 8 6.4 19 19.7 30.2 22 25.5 6 6 15.5 M6D12

Motor 130mm flange

Model Motor body Flange Shaft

XMQ1- LL LR KB1 KB2 KL1 KL2 LA LB LC LE LG LZ S SI Q QK QW W T RH TP
A130A10 119(148) 55 66.5 107.3 109 55.3(99.3) 145 110 130 5 12 9 22 26.8 48 32 36.5 8 7 18 M6D12
G130A09 119(148) 55 66.5 107.3 109 55.3(99.3) 145 110 130 5 12 9 22 26.8 48 32 36.5 8 7 18 M6D12
A130A15 134(163) 55 81.5 122.3 109 55.3(99.3) 145 110 130 5 12 9 22 26.8 48 32 36.5 8 7 18 M6D12
G130A13 134(163) 55 81.5 122.3 109 55.3(99.3) 145 110 130 5 12 9 22 26.8 48 32 36.5 8 7 18 M6D12
A130A20 149(178) 55 95.6 137.3 109 55.3(99.3) 145 110 130 5 12 9 22 26.8 48 32 36.5 8 7 18 M6D12
G130A18 149(178) 55 95.6 137.3 109 55.3(99.3) 145 110 130 5 12 9 22 26.8 48 32 36.5 8 7 18 M6D12
Plug-in power cable (60/80 flange motor)

▶LQ1-P0M0A-□□ / LQ1-P0M0B-□□ (without brake power cable)

Motor side Drive side

Pin Signal
1 U
2 V
3 W
4 PE
5 --
6 --

▶LQ1-P0B0A-□□ / LQ1-P0B0B-□□（with brake power cable）

Motor side Drive side

Pin Signal
1 U
2 V
3 W
4 PE
5 BK
6 BK
Aviation plug power cable

▶LQ1-P0M2C-□□ / LQ1-P0M2D-□□（without brake power cable）

Motor side Drive side

Pin Signal
A U
B V
C W
D PE
1 --
2 --

▶LQ1-P0B2C-□□ / LQ1-P0B2D-□□（with brake power cable）

Motor side Drive side

Pin Signal
A U
B V
C W
D PE
1 BK
2 BK
Drive side encoder interface CN2

▶ Socket appearance and signal

6 PS- 5 PS+
（ ） （ ）

4 Reserved 3 Reserved
（ ） （ ）

2 PG0V 1 PG5V
（ ） （ ）

Plug-in encoder cable (60/80 motor)

▶LQ1-E0A0-□□（Encoder cable without battery）

Motor side Drive side

6 2

5 1

Pin Signal Pin Signal

1 PS+ 1 PG5V
2 PS - 2 PG0V
3 -- 3 --
4 -- 4 --
5 PG5V 5 PS+
6 PG0V 6 PS-
7 PE

▶LQ1-E0B0-□□（Encoder cable with battery）

Motor side Drive side

6 2

5 1

Pin Signal Pin Signal

1 PS+ 1 PG5V
2 PS- 2 PG0V
3 BAT+ 3 --
4 BAT- 4 --
5 PG5V 5 PS+
6 PG0V 6 PS-
7 PE
Aviation plug encoder cable

▶LQ1-E0A2-□□（Encoder cable without battery）

Motor side Drive side

6 2

5 1

Pin Signal Pin Signal

1 PS+ 1 PG5V
2 PS- 2 PG0V
3 -- 3 --
4 PG5V 4 --
5 -- 5 PS+
6 -- 6 PS-
7 --
8 --
9 PG0V
10 PE

▶LQ1-E0B2-□□（Encoder cable with battery）

Motor side Drive side

6 2

5 1

Pin Signal Pin Signal

1 PS+ 1 PG5V
2 PS - 2 PG 0V
3 -- 3 --
4 PG5V 4 --
5 BAT - 5 PS+
6 BAT+ 6 PS -
7 --
8 --
9 PG 0V
10 PE
Ratings and specifications

Drive model: XDQ1- 04□□ 08□□ 10□□ 15□□ 20□□ 30□□

Continuous current [Arms] 2.8 4.8 6.6 8.5 12.0 16.0
Chassis A type B type C type
Input power 1PH AC200V～230V, 50Hz/60Hz（A type）
1/3PH AC200V～230V, 50Hz/60Hz（B/C type）
Control method SVPWM control
Feedback Serial communication type encoder
▶ 17-bit magnetic encoder
▶ 23-bit optical encoder
Use conditions Work Temperature -5℃～40℃
Humidity 5％~95％RH（No condensation, no freezing）
Storage Temperature -20℃～85℃
Humidity 5％~95％RH（No condensation, no freezing）
Protection class IP20
Altitude Below 1000m
Vibration resistant 4.9m/s2
Shock proof 19.7m/s2
Power Systems TN system
Installation structure Base mount
Performance Speed control range 1：5000
±0.01% or less of rated speed (load fluctuation: 0% to 100%)
Speed volatility 0.1% or less of rated speed (voltage fluctuation: ±10%)
±0.1% or less of rated speed (temperature fluctuation: 25℃±25℃)
Soft start setting 0～10s (Acceleration and deceleration can be set separately)
Input/output Input signals Operating voltage range: 24 VDC±20%
signals Number of input channels: 6
The input signals are: /S-ON (servo enable), /C-SEL (control mode
switching), P-OT (forward side drive prohibited), N-OT (reverse side
drive prohibited), /CLR (position deviation clear), /ALM-RST, etc.
Output signals Operating voltage range: 5 VDC～30 VDC
Number of output channels: 4
The output signals are: ALM (servo alarm), BK (holding brake signal),
CZ (Z pulse signal), COIN (positioning completion), etc.
Communication RS485 RS485 Communication Based on MODBUS
USB Connect to PC for communication with PC software software
CAN（optional） CANopen communication
Display 5-digit digital tube
Indicator light CHARGE
Panel operator 4 buttons
Regenerative braking External braking resistor
Protective function Overcurrent, overvoltage, undervoltage, overload, abnormal
regeneration, overspeed, etc.
Accessibility JOG operation, factory reset, alarm record, load inertia identification,
automatic tuning, etc.
 Servo motor model： H60A04B H80A H80A A130A A130A A130A G130A G130A G130A
XMQ1- 30 08B30 10B30 10B20 15B20 20B20 09B15 13B15 18B15
Rated output power [kW] 0.4 0.75 1.0 1.0 1.5 2.0 0.85 1.3 1.8
Rated input voltage [V] 220
Rated torque [Nm] 1.27 2.39 3.18 4.77 7.16 9.55 5.39 8.34 11.5
Maximum torque [Nm] 4.45 8.37 11.13 14.3 21.5 28.6 16.17 25.02 34.5
Rated current [Arms] 2.6 4.8 6.1 4.77 7.01 9.25 5.43 7.69 11.2
Maximum current [Arms] 9.1 16.8 21.35 14.31 21.03 27.75 16.29 21 28
Rated speed [rpm] 3000 2000 1500
Maximum speed [rpm] 6000 3000 3000
Rotary inertia [10-4kg·m2] 0.594 1.58 1.89 10.2 14.3 18.4 14.4 19.6 24.8
Brake rated voltage DC 24V±10%
Brake rated power [W] 7.3 8.5 8.5 23 23 23 23 23 23
Brake holding torque [Nm] 1.27 2.39 3.18 4.77 7.16 9.55 5.39 8.34 11.5
Brake inertia [10-4kg·m2] 0.013 0.05 0.05 1.22 1.22 1.22 1.22 1.22 1.22
Heat resistance Class F
Insulation resistance DC500V,1S ≥100MΩ
Insulation voltage AC1800V, 1S, leakage current≤8mA
Excitation method Permanent magnet
Installation method Flange
Connection method Direct connection
Vibration level V15
Use ambient temperature 0～40℃ (no freezing)
Use ambient humidity 20%～80%RH (no condensation)
Installation environment ▶Indoor places without corrosive or explosive gas, dust, garbage or moisture
▶Easy place for inspection and cleaning, with good ventilation
▶Altitude below 1000m
Storage environment Storage temperature: -20°C to +60°C (no freezing)
Storage humidity: 20%RH ~ 80%RH (no condensation)
Vibration resistance level 49m/s² 49m/s²（front/back direction 24.5m/s²）
Impact resistance (flange) 490m/s², 2 times
IP rating IP67 with oil seal
Standard Wiring Diagram

Servo drive
Main circuit terminals Motor terminals
MCCB

AC220V R MC
L1 U
MC V Power
三相 S L2
50/60HZ T MC W
L3
PE 24V EMGS BK
P Brake

C 0V
Encoder
External CN2
N
1 PG5V BAT+
regenerative resistor PE
2 PG0V
5 PS+
6 PS-
BAT-

CN3 Communication CN4 / CN5

terminals 1 RS485+
Mini USB 2 RS485 -
7 GND
3 CANH
6 CANL

CN1 Control terminals

PL-P 35 2K
PL-S 15 HPULS+
36 HPULS
30 P High speed
PULS PULS+ 150 HPULS -
41 Pulse command
Pulse [CW or A] 27 HSIGN+
PULS - 43
P HSIGN
2K 28
command
SIGN 37 150 HSIGN -
SIGN+
[CCW or B] SIGN - 39

V-REF+ 18
±10V 2K LFC A/D 21 PAO+
V-REF - 17 22 PAO - A phase output
Encoder
25 PBO+
T-REF+ 20 23 PBO - B phase output Pulse
±10V 2K LFC A/D
T-REF- 19 13 PZO+ output
24 PZO - Z phase output

+24VIN DICOM 11
3.3K DO4+( COIN+ )
Servo ON 1
DI1(/S -ON) 9 26 DO4 -(COIN -)
Control mode swtich DO3+( BK+ ) Max DC30V
DI2(/ C-SEL) 3
10
2 DO3 -(BK-) Max DC50mA
Positive prohibit
DI3(P-OT ) 34 5 DO2+( CZ+ )
Negative prohibit 4 DO2 -(CZ-)
DI4(N-OT ) ＋24V
8
DO1+( ALM+ ) ALM: OFF
Position deviation clear 7
DI5(/ CLR) 6 DO1 -(ALM-) If has alarm
33
Alarm reset 0V
DI6(/ ALM-RST ) 32

Housing

FG
Connect shielding to housing