Moons' M2 Series User manual

M2 Series AC Servo
User Manual
SHANGHAI AMP&MOONS’AUTOMATION CO.,LTD.

M Series AC Servo
User Manual
2
Rev. 1.0
7/31/2019 400-820-9661
Content
1 Introduction..................................................................................................................................8
1.1 About This Manual ............................................................................................................8
1.2 Documentation Set for M2 series AC servo .....................................................................8
1.3 Safety................................................................................................................................8
1.4 Safety Symbols .................................................................................................................8
1.5 Safety Instructions.............................................................................................................9
1.6 Standards Compliance......................................................................................................9
2. Product Description...................................................................................................................10
2.1 Unpacking Check............................................................................................................10
2.2 Servo Drive Model Introduction.......................................................................................10
2.2.1 Drive Name Plate Description................................................................................10
2.2.2 Drive Model Description.........................................................................................11
2.2.3 Drive specication ..................................................................................................12
2.2.4 Drive Dimensions (Unit: mm) .................................................................................13
2.2.4.1 50W 100W 200W Type............................................................................13
2.2.4.2 400W Type.................................................................................................13
2.2.4.3 750W Type.................................................................................................13
2.3 Servo Motor Model Introduction......................................................................................14
2.3.1 Motor Name Plate Description ...............................................................................14
2.3.2 Motor Model Description ........................................................................................14
2.3.3 Motor Specication And Dimension........................................................................15
2.3.3.1 □40mm Specication and Dimension ........................................................15
2.3.3.2 □60mm Specication and Dimension ........................................................17
2.3.3.3 □80mm Specication and Dimension ........................................................19
2.4 Servo Drive and Servo Motor Combinations .................................................................21
2.5 System Conguration......................................................................................................22
3. Installation.................................................................................................................................23
3.1 Storage Conditions..........................................................................................................23
3.2 Installation Conditions.....................................................................................................23
3.3 Drive Dimensions (Unit: mm) ..........................................................................................24
3.3.1 50W 100W 200W Type ........................................................................................24
3.3.2 400W Type............................................................................................................24
3.3.3 750W Type............................................................................................................24
3.4 Installation Space...........................................................................................................25
3.5 Motor Installation.............................................................................................................26
4. Connections and Wiring............................................................................................................27
4.1 Connecting to Peripheral Devices...................................................................................27
4.1.1 System Conguration .............................................................................................27
4.1.2 Servo Drive Connectors and Terminals..................................................................28
4.1.3 Connections and Wiring Notes...............................................................................28

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4.1.4 Wiring Methods For Power supply P1....................................................................29
4.1.4.1 Single-Phase Power Supply Connection (AC220V) ..................................29
4.1.4.2 Three-Phase Power Supply Connection (AC220V)...................................30
4.2 Wiring to the Connector, P2 ............................................................................................31
4.2.1 Motor Power Cable Conguration .........................................................................31
4.2.2 Motor Power Cable Connector Specications........................................................31
4.2.3 Wiring Diagram Of Motor Extend Cable.................................................................32
4.3 Encoder Connector CN3.................................................................................................32
4.3.1 Motor Encoder Feedback Cable Conguration ......................................................32
4.3.2 The Layout of CN3 Connector................................................................................33
4.3.3 Connect to Motor Encoder .....................................................................................33
4.3.4 Specications of Encoder Connector .....................................................................34
4.3.5 Wiring Diagram of Motor Encoder Extend Cable ...................................................35
4.4 Electromagnetic Brake....................................................................................................36
4.4.1 Wiring Diagram.......................................................................................................36
4.4.2 Notice for the Brake Motor .....................................................................................36
4.4.3 The Timing Charts Of The Electromagnetic Brake.................................................37
4.5 Regenerative Resister.....................................................................................................38
4.6 Recommend Cable Specications ..................................................................................38
4.7 Connect to Host Computer, CN1.....................................................................................39
4.8 Input and Output Signal Interface Connector, CN2.........................................................39
4.8.1 Input and Output Interface Specications and Diagram.........................................39
4.8.2 Signals Description of Connector CN2...................................................................41
4.8.2.1 The Layout of CN2 Connector...................................................................41
4.8.2.2 Input Signals..............................................................................................41
4.8.2.3 Inputs Function List....................................................................................43
4.8.2.4 Output Signals ...........................................................................................43
4.8.2.5 Outputs Function List.................................................................................44
4.8.3 Input Signal Interface Connector, CN2...................................................................44
4.8.3.1 Position pulse signal input .........................................................................44
4.8.3.2 Analog Signal Input For Velocity And Torque Mode...................................46
4.8.3.3 High Speed Input Port X1,X2,X3,X4..........................................................47
4.8.3.4 General Digital Input X5、 X6、 X7、 X8.........................................................49
4.8.3.5 X9、X10、X11、X12 Input With Common Com Port.....................................51
4.8.4 CN2 Output Signal Specication ............................................................................53
4.8.4.1 CN2 Output Signal Diagram ......................................................................53
4.8.4.2 Y1、Y2、Y5、Y6 Output Connection Diagram .............................................53
4.8.4.3 Y3、Y4 Connection Examples....................................................................54
4.8.5 Encoder Feedback Output .....................................................................................54
4.8.5.1 A/B/Z Connection Diagram ........................................................................54
4.8.5.2 Z Phase Open Collector Output.................................................................54
4.9 STO Connector ...............................................................................................................55
4.9.1 Safety Precautions...........................................................................................55

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4.9.2 STO Input/Output Signals ......................................................................................55
4.9.2.1 STO Internal Circuit Diagram........................................................................55
4.9.2.2 CN5 Connector diagram................................................................................55
4.9.2.3 STO Signal Denition ....................................................................................56
4.9.2.4 STO Connection Diagrams ...........................................................................56
4.10 EMC Control..................................................................................................................57
4.10.1 Noise lter ............................................................................................................57
4.10.2 Recommended EMI noise lter ............................................................................58
4.10.3 Clamp noise lter for cable...................................................................................58
4.10.4 Recommended clamp noise lter .........................................................................58
5. Display and Operation ..............................................................................................................59
5.1 Description of Control Panel............................................................................................59
5.2 Mode Switch Control.......................................................................................................59
5.3 LED display description...................................................................................................61
5.3.1 Decimal Point And Negative Sign Description........................................................61
5.3.2 Parameter View Setting..........................................................................................61
5.3.3 Parameter Save Setting.........................................................................................61
5.3.4 Point To Point Motion Mode ..................................................................................61
5.3.5 Jog Mode................................................................................................................62
5.3.6 Control Panel Lock.................................................................................................62
5.4 Status Monitoring Selection Mode...................................................................................62
5.5 Function Mode Control....................................................................................................64
5.5.1 Function Mode Description.....................................................................................64
5.5.2 Operation Flow Chart.............................................................................................65
5.6 Parameter Setting Mode .................................................................................................66
5.6.1 Parameter Setting Description ...............................................................................66
5.6.2 Parameter Editing Examples..................................................................................67
5.7 Control Panel Lock..........................................................................................................68
5.8 WarningAnd Fault Display..............................................................................................68
6. Preoperational mode.................................................................................................................70
6.1 Inspection Before Trail Run.............................................................................................70
6.2 Trail Run Procedure ........................................................................................................70
6.3 Motor Conguration Manually .........................................................................................71
6.3.1 Use Drive Control Panel To Setup..........................................................................71
6.3.2 Use Software To Cong Motor ...............................................................................72
6.4 Operations of JOG Mode ................................................................................................73
6.5 Conguration by Personal Computer ..............................................................................74
7. Operation Mode Selection ........................................................................................................75
7.1 General Function Setting.................................................................................................75
7.1.1 Drive Servo on settings..........................................................................................75
7.1.2 Alarm Reset............................................................................................................76
7.1.3 CW/CCW limit ........................................................................................................77

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7.1.4 Global Gain Switch Function..................................................................................78
7.1.5 Control Mode Switch..............................................................................................79
7.1.6 Drive On Fault Output ............................................................................................80
7.1.7 Motor Brake Control ..............................................................................................81
7.1.8 Servo Ready Output ..............................................................................................82
7.2 Position Mode .................................................................................................................82
7.2.1 Digital Pulse Position Mode Connection Diagram..................................................83
7.2.2 Input Pulse Type And Input Noise Filter ................................................................83
7.2.2.1 Input Pulse Type Setting............................................................................84
7.2.2.2 Input Noise Filter Setting............................................................................84
7.2.2.3 Parameter P-43 (SZ) Setting .....................................................................85
7.2.3 Control Pulse Dividing Switch Function..................................................................86
7.2.4 Pulse Inhibition Function .......................................................................................87
7.2.5 Electronic Gearing Ratio ........................................................................................87
7.2.6 Jerk Smoothing Filter .............................................................................................88
7.2.7 In Position Error Output..........................................................................................89
7.2.8 Gain Parameters For Position Control Mode .........................................................89
7.2.9 Software Conguration For Position Mode.............................................................90
7.3 Velocity Mode .................................................................................................................91
7.3.1 Velocity Mode Connection Diagram.......................................................................92
7.3.2 Parameter Settings For Analog Velocity Control Mode..........................................93
7.3.3 Basic Settings For Analog Velocity Control Mode..................................................93
7.3.3.1 Command Signal For Analog Velocity Mode..............................................93
7.3.3.2 Analog Velocity Gain..................................................................................94
7.3.3.3 Analog Input Voltage Offset .......................................................................95
7.3.3.4 Analog Input Deadband .............................................................................96
7.3.3.5 Run/Stop And Direction Signal ..................................................................97
7.3.3.6 Torque Limit ..............................................................................................98
7.3.3.7 Target Velocity Reach................................................................................99
7.3.4 Analog Input Filter ................................................................................................100
7.3.5 Software Conguration For Analog Velocity Mode ...............................................101
7.4 Torque Mode .................................................................................................................102
7.4.1 Analog Torque Mode Connection Diagram...........................................................103
7.4.2 Parameters For Analog Torque Mode ..................................................................104
7.4.3 Basic Settings For Analog Torque Mode..............................................................104
7.4.3.1 Command Signal For Analog Torque Mode ............................................104
7.4.3.2 Analog Torque Gain .................................................................................105
7.4.3.3 Analog Input Offset ..................................................................................106
7.4.3.4 Analog Deadband ....................................................................................106
7.4.3.5 Run/Stop and Direction signal ................................................................107
7.4.3.6 Velocity Limit ...........................................................................................107
7.4.3.7 Torque Reach ..........................................................................................108
7.4.4 Software Conguration For Analog Torque Mode ................................................109

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7.5 Position Table Mode Instruction ....................................................................................110
7.5.1 Linear motion........................................................................................................110
7.5.1.1 Linear Motion Software Conguration .........................................................110
7.5.1.2 Basic Conguration .....................................................................................112
7.5.1.3 Homing settings:..........................................................................................112
7.5.1.4 Print.............................................................................................................113
7.5.1.5 Position Denition........................................................................................113
7.5.1.6 Simulate ......................................................................................................114
7.5.1.7 Linear motion input denition ......................................................................114
7.5.2 Rotary motion ......................................................................................................115
7.5.2.1 Rotary motion software conguration..........................................................115
7.5.2.2 Rotary motion input denition......................................................................116
8. Parameters and Functions .....................................................................................................117
8.1 Parameter Category......................................................................................................117
8.2 Parameter List...............................................................................................................118
8.3 Parameter Description...................................................................................................122
9. Communication ......................................................................................................................144
9.1 RS-232 communication.................................................................................................144
9.1.1 What is SCL..........................................................................................................144
9.1.2 RS-232 Connections............................................................................................144
9.2 RS-485 Communication................................................................................................144
9.2.1 RS-485 PIN denition ..........................................................................................145
9.2.2 RS-485 Connection Method ................................................................................145
9.3 ModBUS/RTU Communication......................................................................................146
9.3.1 Data Encode.........................................................................................................146
9.3.2 Communication Address ......................................................................................147
9.3.3 Communication Baud Rate And Framing.............................................................147
9.3.4 Power Up Mode ...................................................................................................147
9.3.5 Modbus/RTU Data Framing .................................................................................147
9.3.6 M2 Series AC Servo Drive Register Address And Function List:..........................148
9.3.7 Command Opcode description.............................................................................154
9.3.8 Function Code......................................................................................................155
9.3.8.1 Function Code 0X03, Reading Multiple Holding Registers......................155
9.3.8.2 Function Code 0x06, Writing Single Register..........................................156
9.3.8.3 Function Code 0X10, Writing Multiple Registers ....................................157
9.3.9 Modbus/RTU Applications ...................................................................................158
9.3.9.1 Position Control .......................................................................................158
9.3.9.2 JOG mode................................................................................................161
9.4 CANopen Communication.............................................................................................164
9.4.1 RJ45(8p8c)Pin Definitions....................................................................................164
9.4.2 CANopen NODE-ID..............................................................................................164
9.4.3 CANopen Communication Baud Rate .................................................................164
10.Trouble Shooting....................................................................................................................165

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10.1 Drive Alarm List...........................................................................................................165
11. STO function.........................................................................................................................169
11.1 Operation and maintenance procedures.....................................................................169
11.1.1 The replacement of components........................................................................169
11.1.2 Prevent hazardous event ..................................................................................169
11.1.3 Maintenance procedures of STO faults or failures............................................169
11.1.4 Commissioning and testing ................................................................................169
11.2. The implementation of Safety Functional..................................................................170
11.2.1 Safety Functional Specication ..........................................................................170
11.2.1.1 Safety input Signal ................................................................................170
11.2.1.2 External device monitor (EDM)output signal .........................................170
11.2.2 The fault reaction function .................................................................................170
11.2.3 Response time....................................................................................................170
11.2.3.1 Operating timing chart for safety status ................................................170
11.2.3.2 Return timing from safety state: .............................................................171
11.2.4 Safety function activated or prohibit ..................................................................171
11.2.5 STO function as the highest priority....................................................................171
11.3 The safety integrity information ...................................................................................171
11.4 The environmental and operating conditions for safety function.................................171
11.4.1 The environmental and operating conditions......................................................171
11.5. Safety function constraints .........................................................................................172
11.5.1 Failure rate .........................................................................................................172
11.5.2 Mission time and proof test ................................................................................172
11.5.3 Testing, calibration or maintenance requirements..............................................172
11.5.4 Avoiding the systematic failure...........................................................................172
11.5.5 SIL capability ......................................................................................................172
11.5.6 Identify the hardware and software conguration...............................................172
11.6 The installation and commissioning guidance............................................................173
11.6.1 Installation ..........................................................................................................173
11.6.1.1 Example of connection to safety switch .................................................173
11.6.1.2 Example of connection to safety Light Curtain.......................................173
11.6.2 commissioning...................................................................................................174
11.7. The requirements for conguration test of safety functions,.......................................174
11.7.1 General and normal running condition ...............................................................174
11.7.2 Safety relevant parameters and their values.....................................................174
11.7.3 The test procedures of safety functions..............................................................174
11.7.4 The description of the safety related components..............................................175
Appendix.....................................................................................................................................176

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1 Introduction
1.1 About This Manual
This manual describes the M2 Servo Drive.
It provides the information required for installation, conguration and basic operation of the M2 series AC
servo drive.
This document is intended for persons who are qualied to transport, assemble, commission, and
maintain the equipment described herein.
1.2 Documentation Set for M2 series AC servo
This manual is part of a documentation set. The entire set consists of the following:
• M2 Quick Start Guide. Basic setup and operation of the drive.
• M2 User Manual. Hardware installation, conguration and operation.
• M Servo Suite Software User Manual. How to use the M Servo Suite software.
1.3 Safety
Only qualified persons may perform the installation procedures. The following explanations are for things
that must be observed in order to prevent harm to people and damage to property.
The M2 utilizes hazardous voltages. Be sure the drive is properly grounded.
Before you install the M2, review the safety instructions in this manual.
Failure to follow the safety instructions may result in personal injury or equipment damage.
1.4 Safety Symbols
Safety symbols indicate a potential for personal injury or equipment damage if the recommended
precautions and safe operating practices are not followed.
The following safety-alert symbols are used on the drive and in the documentation:
Caution Warning. Dangerous voltage. Protective earth Caution, Hot surface

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1.5 Safety Instructions
Installation
DO NOT subject the product to water, corrosive or flammable gases, and combustibles.
DO NOT use the motor in a place subject to excessive vibration or shock.
Never connect the motor directly to the AC power supply.
DO NOT use cables soaked in water or oil.
DO NOT extrude or pull-off the cable, nor damage the cables as electrical shocks, damages may result
DO NOT block the heat dissipating holes. Please prevent any metal filings drop into the drive when
mounting.
DO NOT switch the power supply repeatedly.
DO NOT touch the rotating shaft when the motor is running.
DO NOT strike the motor when mounting as the motor shaft or encoder may be damaged.
In order to prevent accidents, the initial trial run for servo motor should be conducted
under no load conditions (separate the motor from its couplings and belts).
Starting the operation without matching the correct parameters may result in servo drive or motor damage,
or damage to the mechanical system.
DO NOT Touch either the drive heat sink or the motor and regenerative resister during operation as they
may become hot.
DO NOT hold the motor cable during the transportation or mounting.
Wiring
DO NOT connect any power supplies to the U,V,W terminals.
Install the encoder cable in a separate conduit from the motor power cable to avoid signal noise.
Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal, encoder cables.
As a charge may still remain in the drive with hazardous voltage even after power has been removed, Do
not touch the terminals when the charge led is still light.
Please observe the specified voltage.
Make sure both the drive and the motor connect to a class 3 ground.
Please ensure grounding wires are securely connected when power up.
1.6 Standards Compliance
The M2 Series AC servo drive has been designed according to standards:
* Electromagnetic compatibility * Electrical Safety: Low voltage directive
Standard EN 61800-3 (2004) Standard IEC 61800-5-1 (2007)

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2. Product Description
2.1 Unpacking Check
Please refer to this section to confirm the model of servo drive and servo motor .
A complete and workableAC servo system should include the following parts:
1. Matched Servo drive and Servo motor
2. A power cable connect the drive to the servo motor(Optional)
3. An feedback encoder cable connect the drive to the motor (Optional)
4. A mini USB cable connect the port CN1 to PC for communication.(Optional)
5. 50-PIN connector (For I/O connections, Port CN2) (Optional)
6. 26-PIN connector(For encoder feedback, Port CN3 ) (Optional)
7. 6-PIN connector(IEEE1394, Port CN4, Port CN5)(Optional)
8. RJ-45 connectors (For RS-485 or CANopen communication, Port CN6 and CN7)(Optional)
9. 5-PIN connector (For L1,L2,L3,L1C,L2C)
10. 6-PIN connector(For U,V,W,B1+,B2,B3)
2.2 Servo Drive Model Introduction
2.2.1 Drive Name Plate Description
Model No.
Input/Output Voltage
Phase
Rated Current
Frequency
Rated Power
Model No.XXXX-XXXXX
Serial No.
09450001
INPUT
1.8 A
OUTPUT
VOLT. 1 /3φ φ 0-240VAC
3φ
2.6A/1.5A
200-240VAC
PHASE
F.L.C
FREQ.
POWER50/60Hz0-400Hz
200W
AC SERVO
DRIVE
M2
Assembled in China
RoHS
Designed in California by

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2.2.2 Drive Model Description
M2DV -□ □ □ 2 □ ***
M2 Series AC Servo Drive Customized Specication(If Applicable)
Current
Code Continuous Current (RMS) Boost Current (RMS)
1D8 1.75A 5.25A
3D0 3.00A 9.00A
4D5 4.50A 13.50A
Voltage Code Input Voltage
2Single/Three-Phases200~240VAC±10%, 50/60Hz
Communication
Type Configuration Description Communication
S
Mini USB
Basic Type - - -
QQ Type RS-232
RQ Type(Modbus/RTU Type) RS-485
CCANopen Type CANBus
IP EtherNet/IP Type EtherNet
EeSCL Type EtherNet

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2.2.3 Drive specification
Basic Specication
Input
Power
200W Main Circuit Single/3-phase, 200 - 240V ±10%, 50/60Hz
Control Circuit Single phase, 200 - 240V ±10%, 50/60Hz
400W Main Circuit Single/3-phase, 200 - 240V ±10%, 50/60Hz
Control Circuit Single phase, 200 - 240V ±10%, 50/60Hz
750W Main Circuit Single/3-phase, 200 - 240V ±10%, 50/60Hz
Control Circuit Single phase, 200 - 240V ±10%, 50/60Hz
Withstand voltage Primary to earth: withstand 1500 VAC, 1 min, (sensed current: 20 mA) [220V Input]
Environment
Temperature Ambient temperature:0°C to 50°C(If the ambient temperature of servo drive is greater than 45°C,
please install the drive in a well-ventilated location)
Storage temperature: -20°C to 65°C
Humidity Both operating and storage : 10 to 93%RH or less
Altitude Lower than 1000m
Vibration 1g
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback 2500 line incremental encoder 15-wire or 9-wire
I/O
Control Signal Input 8 Congurable Optically isolate digital general inputs, 5-24VDC, max input current 20mA
4 Congurable Optically isolate digital high speed inputs, 5-24VDC, max input current 20mA
Output 5 Congurable optically isolated digital outputs, 30VDC, max output current 30mA
One motor brake control output, 30VDC 100mA max
Analog signal Input 2 inputs (12Bit A/D:2 input)
Pulse signal Input 2 inputs (Photo-coupler input, Line receiver input)
Photocoupler input is compatible with both line driver I/F and open collector I/F.
Line receiver input is compatible with line driver I/F.
Output 4 outputs ( Line driver: 3 outputs, open collector: 1 outputs)
Communication
USB Mini Connection with PC or 1:1 communication to a host.
RS232 RS-232 Communication
RS485 RS-485 Communication
CAN bus CANopen Communication
Ethernet EtherNET/IP, eSCL
Front panel 1. 4 keys (MODE, UP, DOWN, SET) 2. LED (5-digit)
Regeneration Resistor Built-in regenerative resistor (external resistor is also enabled.)
Control mode
(1) Position mode
(2) Analog Velocity mode
(3) Analog Position mode
(4) Position mode
(5) Velocity Change mode
(6) Command Torque mode
(7) Command Velocity mode
Control input
(1) Servo-ON input
(2) Alarm clear input
(3) CW/CCW Limit
(4) Pulse& Direction or CW/CCW input
(5) Gain Switch
(6) Control mode Switch
(7) Pulse Inhibition
(8) General Input
Control output
(1) Alarm output
(2) Servo-Ready output
(3) External brake release
(4) Speed arrival output
(5) Torque arrival output
(6) Tach Out
(7) General Output
(8)Position arrival output

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2.2.4 Drive Dimensions (Unit: mm)
2.2.4.1 50W 100W 200W Type
150
41
150
145
2.2.4.2 400W Type
150
55
150
145
2.2.4.3 750W Type
150
65
176
150

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2.3 Servo Motor Model Introduction
2.3.1 Motor Name Plate Description
AC SERVO MOTOR
Model NO.SM0602AE2-KCD-NNV15
SerNO. 12110027
Rated Torque 1.27N·m
Input 3ØAC 220V 2.8A
Output 400W
RatedRev. 3000r/min
Model NO.
Rated Torque
Series NO.
Input Current
Output Power
Rated Speed
2.3.2 Motor Model Description
Servo Motor Frame Size
04-40mm
06-60mm
08-80mm
Winding
A: 320 VDC(240 VAC) Shaft
K: Standard Keyway
E4: 2500 ppr Optical Encoder and Shared Commutation Tracks
Brake Option
N: No Brake
B: 24VDC Brake
Thermal Protector
N: No Protector
Shaft Seal
V: Shaft seal shipped with motor, but not placed on shaft
Connections
CD: 300mm (12") Shielded Cables with AMP 4 Pin, 6-7Amp Motor Connector.
SM 04 01 A E4-K CD-N N V**
Motor Length
□40 □60 □80
01 50W 200W
02 100W 400W
03 750W
04 1000W
Ecoder
Code

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2.3.3 Motor Specification And Dimension
2.3.3.1 □40mm Specication and Dimension
□ 40mm Series
□ 40mm Series
Series SM0401 - 50 Watt SM0402 - 100 Watt
^ Preferred Model & Winding Letter ^ A ^ A
Base Model Number
(with 2500 PPR incremental encoder non-sealed plastic
connectors, no brake)
SM0401
AE2-KCD-NNV SM0402 AE2-KCD-NNV
Rated Output Power watts 50 100
Rated Speed rpm 3000 3000
Max. Mechanical Speed rpm 6000 6000
Rated Torque Nm 0.19 0.32
Continuous Stall Torque Nm 0.2 0.34
Peak Torque Nm 0.48 0.93
Rated Current A (rms) 0.7 1.2
Continuous Stall Current A (rms) 1.75 1.27
Peak Current A (rms) 1.7 3.6
Voltage Constant ±5% V (rms) / K rpm 17 16.6
Torque Constant ±5% Nm / A (rms) 0.283 0.271
Winding Resistance (Line-Line) Ohm ±10% @25°C 27 9.7
Winding Inductance (Line-Line) mH (typ.) 26 11.5
Inertia (with encoder) kg m^2 0.0232 X 10-4 0.0428 X 10-4
Inertia - With Brake Option kg m^2 0.0298 X 10-4 0.0494 X 10-4
Thermal Resistance (mounted) °C / W 2.9 2.4
Thermal Time Constant Minutes 12 14.5
Heat Sink Size mm 120 x 120 x 5 Alumnum 120 x 120 x 5 Alumnum
Shaft Load - Axial (max.) 50 N / 11 Lb 50 N / 11 Lb
Shaft Load - Radial (End of Shaft) (max.) 50 N / 11 Lb 60 N / 13.5 Lb
Weight (with std. encoder) 0.4 kg / 0.9 Lb 0.55 kg / 1.2 Lb
Weight - With Brake Option 0.65 kg / 1.4 lb 0.8 kg / 1.8 lb
Shaft Load: (L10 life, 20,000 hours, 2,000 RPM)
UL File E465363
Insulation Class Class B(130℃)
IP rating IP65 (except shaft through hole and cable end
connetor)
Installation location Indoors, free from direct sunlight, corrosive gas,
inflammable gas
Ambient temperature Operating 0 to 40°C, Storage -20 to 65°C
Ambient humidity 85%RH or lower (free from condensing)
Altitude (maximum) Operating 1,000m
Vibration Resistance 49 m/s2
Rotor Poles 8

M Series AC Servo
User Manual
16
Rev. 1.0
7/31/2019 400-820-9661
□ 40mm Dimension
1) Motor Dimensions – No Brake: mm 2) Motor Dimensions – Brake: mm
□ 40mm Torque curve
Max. Intermient Torque
Max. Connuous Torque
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
0 2,000 4,000 6,000
Torque (Nm)
Speed (rpm)
SM0402 (100 Watts) - Winding A
320 VDC (230VAC) - 1.2 Amps
0
0.1
0.2
0.3
0.4
0.5
0.6
0 2,000 4,000 6,000
Speed (rpm)
SM0401 (50 Watts) - Winding A
320 VDC (230VAC) - 0.67Amps
Torque (Nm)
3
9.2 -0.13
+0.20
L1 1
4.2
46
4-
3 h9
-0.025
0
-KEY
40
003 05
300 50
Oil seal
50300
A0.04
A
A
0.04
0.2
25
0
1
5
h68
58
-0.009
0
30 h7
-0.021
2.5
0.5
53.4
L1 1
8M3
9.2 -0.13
+0.20
300 50
30050
Oil seal
0.04 A
0.04 A
A
5
0.5
0.009-
h68
0
0
25 1
0.2
30 h7
-0.021
2.5
58
53
46
4.24-
3 h9
-0.025
0
-KEY
40
Without Brake L1
SM0401AE*-KCD-NNV 92
SM0402AE*-KCD-NNV 109
With Brake L1
SM0401AE*-KCD-BNV 129
SM0402AE*-KCD-BNV 147

M Series AC Servo
User Manual
17 Rev. 1.0
7/31/2019
400-820-9661
2.3.3.2 □60mm Specication and Dimension
□ 60mm Series
□ 60mm Series
Series SM0601 - 200 Watt SM0602 - 400 Watt
^ Preferred Model & Winding Letter ^ A ^ A
Base Model Number
(with 2500 PPR incremental encoder non-sealed plastic
connectors, no brake)
SM0601
AE2-KCD-NNV SM0602 AE2-KCD-NNV
Rated Output Power watts 200 400
Rated Speed rpm 3000 3000
Max. Mechanical Speed rpm 6000 6000
Rated Torque Nm 0.64 1.27
Continuous Stall Torque Nm 0.68 1.27
Peak Torque Nm 1.9 3.8
Rated Current A (rms) 1.5 2.7
Continuous Stall Current A (rms) 1.5 2.7
Peak Current A (rms) 4.5 8.1
Voltage Constant ±5% V (rms) / K rpm 27.2 29
Torque Constant ±5% Nm / A (rms) 0.432 0.484
Winding Resistance (Line-Line) Ohm ±10% @25°C 8.6 3.7
Winding Inductance (Line-Line) mH 25 12.9
Inertia (with encoder) kg m^2 0.165 X 10-4 0.1272 X 10-4
Inertia - With Brake Option kg m^2 0.22 X 10-4 0.326 X 10-4
Thermal Resistance (mounted) °C / W 1.9 1.43
Thermal Time Constant Minutes 15 21
Heat Sink Size mm 180 x 180 x 5 Alumnum 180 x 180 x 5 Alumnum
Shaft Load - Axial (max.) 70 N / 15 Lb 70 N / 15 Lb
Shaft Load - Radial (End of Shaft) (max.) 200 N / 45 Lb 240 N / 54 Lb
Weight (with std. encoder) 1.1 kg / 2.3 lb 1.4 kg / 3.1 lb
Weight - With Brake Option 1.6 kg / 3.5 lb 1.9 kg / 4.2 lb
Shaft Load: (L10 life, 20,000 hours, 2,000 RPM)
UL File E465363
Insulation Class Class B(130℃)
IP rating IP65(except shaft through hole and cable end
connetor)
Installation location Indoors, free from direct sunlight, corrosive gas,
inflammable gas
Ambient temperature Operating 0 to 40°C, Storage -20 to 65°C
Ambient humidity 85%RH or lower (free from condensing)
Altitude (maximum) Operating 1,000m
Vibration Resistance 49 m/s2
Rotor Poles 8

M Series AC Servo
User Manual
18
Rev. 1.0
7/31/2019 400-820-9661
□ 60mm Dimension
1) Motor Dimensions – No Brake: mm 2) Motor Dimensions – Brake: mm
□ 60mm Torque curve
Max. Intermient Torque
Max. Connuous Torque
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
0 2,000 4,000 6,000
Torque (Nm)
Speed (rpm)
SM0601 (200 Watts) - Winding A
320 VDC (230VAC) - 1.4 Amps
0
0.5
1
1.5
2
2.5
3
3.5
4
0 2,000 4,000 6,000
Torque (Nm)
Speed (rpm)
SM0602 (400 Watts) - Winding A
320 VDC (230VAC) - 2.7 Amps
14
h6
-
0.011
0
50 h7
- 0.025
0
30 ±1 L1 ±1
3 8
300 ±50
300 ±50
300 ±50
47
oil seal
0.04 A
0.04 A
A
4-
5.5
口 60
16
+
-
0.300
0.118
5 h9
-
0 0.03
Key
70
M5 10
4- 5.5
60
5 h9
-
0
0.03
-Key
16
+
-
0.300
0.118
70
M5 10
30 ±1 L1 ±1
14
h6
-
0.011
0
300
±50
38
50 h7
- 0.025
0
22.5
300 ±50
oil seal
0.04 A
0.04 A
A
Without Brake L1
SM0601AE*-KCD-NNV 105
SM0602AE*-KCD-NNV 118
With Brake L1
SM0601AE*-KCD-BNV 145
SM0602AE*-KCD-BNV 158

M Series AC Servo
User Manual
19 Rev. 1.0
7/31/2019
400-820-9661
2.3.3.3 □80mm Specication and Dimension
□ 80mm Series
□ 80mm Series
Series SM0803 - 750 Watt
^ Preferred Model & Winding Letter ^ A
Base Model Number
(with 2500 PPR incremental encoder non-sealed plastic
connectors, no brake)
SM0803
AE2-KCD-NNV
Rated Output Power watts 750
Rated Speed rpm 3000
Max. Mechanical Speed rpm 5500
Rated Torque Nm 2.4
Continuous Stall Torque Nm 2.6
Peak Torque Nm 6.9
Rated Current A (rms) 4.5
Continuous Stall Current A (rms) 4.9
Peak Current A (rms) 13.5
Voltage Constant ±5% V (rms) / K rpm 36.6
Torque Constant ±5% Nm / A (rms) 0.543
Winding Resistance (Line-Line) Ohm ±10% @25°C 1.47
Winding Inductance (Line-Line) mH 8.2
Inertia (with encoder) kg m^2 0.89 X 10-4
Inertia - With Brake Option kg m^2 0.97 X 10-4
Thermal Resistance (mounted) °C / W 1.04
Thermal Time Constant Minutes 22
Heat Sink Size mm 240 x 240 x 6 Alumnum
Shaft Load - Axial (max.) 90 N / 20 Lb
Shaft Load - Radial (End of Shaft) (max.) 270 N / 60 Lb
Weight (with std. encoder) 2.6 kg / 5.8 lb
Weight - With Brake Option 3.4 kg / 7.6 lb
Shaft Load: (L10 life, 20,000 hours, 2,000 RPM)
UL File E465363
Insulation Class Class B(130℃)
IP rating IP65(except shaft through hole and cable end
connetor)
Installation location Indoors, free from direct sunlight, corrosive gas,
inflammable gas
Ambient temperature Operating 0 to 40°C, Storage -20 to 65°C
Ambient humidity 85%RH or lower (free from condensing)
Altitude (maximum) Operating 1,000m
Vibration Resistance 49 m/s2
Rotor Poles 8

M Series AC Servo
User Manual
20
Rev. 1.0
7/31/2019 400-820-9661
□ 80mm Dimension
1) Motor Dimensions – No Brake: mm 2) Motor Dimensions – Brake: mm
□ 80mm Torque Curve
Max. Intermient Torque
Max. Connuous Torque
0
1
2
3
4
5
6
7
8
0 2,000 4,000 6,000
Torque (Nm)
Speed (rpm)
SM0803 (750 Watts) - Winding A
320 VDC (230VAC) - 4.5 Amps
3 ±0.2
9.5
L1 ±1
70 h7
- 0.03
0
19 h6
- 0.013
0
40 ±1
94
300
±50
300
±50
300
±50
Oil seal
0.04 A
0.04 A
A
4-
6.5
80
M5
10
6
h9
-
0.03
0
-KEY
21.5
- 0.118
+ 0.300
45°
90
3 ±0.2
9.5
L1 ±1
70 h7
- 0.03
0
300
±50
19 h6
- 0.013
0
40 ±1
94
Oil seal
0.04 A
0.04 A
A
4-
6.5
80
M5
10
6
h9
-
0.03
0
-KEY
21.5
- 0.118
+ 0.300
45°
90
300
±50
With Brake L1
SM0803AE*-KCD-BNV 178
Without Brake L1
SM0803AE*-KCD-NNV 131