Moons' M2DC Series User manual

M2DC Series
DC Servo System
SHANGHAI AMP&MOONS’AUTOMATION CO.,LTD.
Hardware Manual
Rev. 1.1

M2DC Series Hardware Manual
2
Rev. 1.1
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Table of Contents
1 Introduction ..................................................................................................................8
1.1 About This Manual ..........................................................................................................8
1.2 Documentation Set for the M2DC Series Servo Drive ....................................................8
1.3 Safety..............................................................................................................................8
1.4 Safety Symbols ...............................................................................................................8
1.5 Safety Instructions...........................................................................................................9
1.6 Guideline for Parts Replacement ....................................................................................9
1.6.1 Parts Replacement.................................................................................................9
1.6.2 Bearing Life..........................................................................................................10
1.7 Standards Compliance...................................................................................................11
2 Product Description......................................................................................................12
2.1 System Checklist............................................................................................................12
2.2 Servo Drive Model Introduction......................................................................................12
2.2.1 Drive Name Plate Description...............................................................................12
2.2.2 Drive Model Description........................................................................................12
2.2.3 Drive specications ...............................................................................................13
2.2.4 Drive Dimensions (Unit: mm) ................................................................................14
□ M2DC-20D .................................................................................................................14
2.3 Servo Motor Model Introduction.....................................................................................15
2.3.1 Motor Name Plate Description ..............................................................................15
2.3.2 Motor Model Description .......................................................................................15
2.3.3 Motor Specications and Dimensions ...................................................................16
2.3.3.1 40mm Specications and Dimensions .....................................................................16
2.3.3.2 60mm Specications and Dimensions .....................................................................18
2.3.3.3 80mm Specications and Dimensions .....................................................................20
2.4 Servo Drive and Servo Motor Combinations ................................................................23
3 Installation....................................................................................................................24
3.1 Storage Conditions.........................................................................................................24
3.2 Installation Conditions....................................................................................................24
3.3 Installation Space...........................................................................................................25
3.4 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
4.1.4 Wiring Methods for P1 Power Supply Connector..................................................29
4.2 Wiring to the P2 Connector ...........................................................................................30
4.2.1 Motor Power Cable Conguration ........................................................................30
4.2.2 Motor Power Cable Connector(-CD Winding ,6Amps) ..........................................30

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4.2.2.1 PIN Assignment........................................................................................................30
4.2.2.2 Motor Connector Specications ...............................................................................30
4.2.2.3 Motor Extension Cable Wiring Diagram...................................................................31
4.2.3 Motor Power Cable Connector(-CF Winding,10 and 20Amps) .............................31
4.2.3.1 PIN Assignment........................................................................................................31
4.2.3.2 Motor Extension Cable Wiring Diagram...................................................................32
4.3 Encoder Connector CN3................................................................................................33
4.3.1 Motor Encoder Feedback Cable Conguration .....................................................33
4.3.2 Layout of CN3 Connector......................................................................................33
4.3.3. Connection to Motor Encoder...............................................................................34
4.3.4 Specications of Encoder Connector ....................................................................34
4.3.5 Motor Encoder Extension Cable Wiring Diagram..................................................35
4.4 STO Connector ..............................................................................................................36
4.4.1 Safety Precautions................................................................................................36
4.4.2 STO Input/Output Signals .....................................................................................36
4.4.2.1 STO Internal Circuit Diagram...................................................................................36
4.4.2.2 CN5 Connector diagram...........................................................................................36
4.4.2.3 STO Signal Denition ...............................................................................................37
4.4.2.4 STO Connection Diagrams .....................................................................................37
4.5 Electromagnetic Brake...................................................................................................38
4.5.1 Wiring Diagram......................................................................................................38
4.5.2 Brake Motor...........................................................................................................38
4.5.3 Timing Charts of the Electromagnetic Brake.........................................................38
4.6 Regeneration Resistor....................................................................................................39
4.6.1 Recommended external resistor ...........................................................................39
4.6.2 Regeneration ResistorConguration ....................................................................39
4.7 Recommended Cable Specications .............................................................................40
4.8 Connecting to the Host Computer - CN1........................................................................40
4.9 Input and Output Signal Interface Connector - CN2 ......................................................40
4.9.1 Input and Output Interface Specications and Diagram........................................40
4.9.2 Signal Description of Connector CN2....................................................................41
4.9.2.1 Layout of CN2 Connector.........................................................................................42
4.9.2.2 Input Signals.............................................................................................................42
4.9.2.3 Input Function List ....................................................................................................43
4.9.2.4 Output Signals..........................................................................................................44
4.9.2.5 Output Function List .................................................................................................44
4.9.3 Input Signal Interface Connector, CN2..................................................................45
4.9.3.1 Position pulse signal input........................................................................................45
4.9.3.2 Analog Signal Input For Velocity And Torque Mode .................................................46
4.9.3.3 High Speed Input Ports X1, X2, X3, X4....................................................................47
4.9.3.4 General Digital Input X5, X6, X7, X8 ........................................................................49
4.9.3.5 X9, X10, X11, X12 Inputs with common COM Port ..................................................51
4.9.4 CN2 Output Signal Specication ...........................................................................52

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4.9.5 Encoder Feedback Output ....................................................................................53
4.9.5.1 A/B/Z Connection Diagram.......................................................................................53
4.9.5.2 Z Phase Open Collector Output...............................................................................53
5 Display and Operation..................................................................................................54
5.1 Control Panel Description...............................................................................................54
5.2 Mode Switch Control......................................................................................................55
5.3 LED display description..................................................................................................56
5.3.1 Decimal Point And Negative Sign Description.......................................................56
5.3.2 Parameter View Setting.........................................................................................56
5.3.3 Parameter Save Setting........................................................................................56
5.3.4 Point To Point Motion Mode .................................................................................57
5.3.5 Jog Mode...............................................................................................................57
5.3.6 Control Panel Lock................................................................................................57
5.4 Status Monitoring Selection Mode..................................................................................58
5.5 Function Control Mode...................................................................................................60
5.5.1 Function Mode Description....................................................................................60
5.5.2 Operation Flow Chart ............................................................................................61
5.6 Parameter Setting Mode ................................................................................................62
5.6.1 Parameter Setting Description ..............................................................................62
5.6.2 Parameter Editing Examples.................................................................................63
5.7 Control Panel Lock.........................................................................................................64
5.8 Warning And Fault Display .............................................................................................64
6 Preoperational mode....................................................................................................66
6.1 Inspection Before Trial Run............................................................................................66
6.2 Trial Run Procedure .......................................................................................................66
6.3 Motor Conguration........................................................................................................67
6.3.1 Using the Drive Control Panel for conguration ....................................................67
6.3.2 Using M Servo Suite Software for conguration....................................................68
6.4 Operations of JOG Mode ...............................................................................................69
6.5 Conguration by Personal Computer .............................................................................70
7 Operation Mode Selection............................................................................................71
7.1 General Function Settings..............................................................................................71
7.1.1 Drive Servo On Settings........................................................................................71
7.1.2 Alarm Reset...........................................................................................................72
7.1.3 CW/CCW limit .......................................................................................................73
7.1.4 Global Gain Selection............................................................................................74
7.1.5 Control Mode Selection.........................................................................................75
7.1.6 Drive On Fault Output ...........................................................................................76
7.1.7 Motor Brake Control .............................................................................................77
7.1.8 Servo Ready Output .............................................................................................78
7.2 Position Mode ................................................................................................................79
7.2.1 Digital Pulse Position Mode Connection Diagram.................................................79

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7.2.2 Input Pulse Type And Input Noise Filter ...............................................................80
7.2.3 Control Pulse Dividing Switch ...............................................................................82
7.2.4 Pulse Inhibit ..........................................................................................................83
7.2.5 Electronic Gearing Ratio .......................................................................................84
7.2.6 Jerk Smoothing Filter ............................................................................................85
7.2.7 In-Position Error Output.........................................................................................85
7.2.8 Gain Parameters For Position Control Mode ........................................................86
7.2.9 Software Conguration For Position Mode............................................................87
7.3 Velocity Mode ................................................................................................................88
7.3.1 Velocity Mode Connection Diagram ......................................................................89
7.3.2 Parameter Settings For Analog Velocity Control Mode .........................................90
7.3.3 Basic Settings For Analog Velocity Control Mode .................................................91
7.3.4 Analog Input Filter .................................................................................................96
7.3.5 Software Conguration for Analog Velocity Mode .................................................97
7.4 Torque Mode ..................................................................................................................98
7.4.1 Analog Torque Mode Connection Diagram............................................................99
7.4.2 Parameters For Analog Torque Mode ..................................................................100
7.4.3 Basic Settings For Analog Torque Mode ..............................................................101
7.4.4 Software Conguration for Analog Torque Mode..................................................106
7.5 Position Table Mode......................................................................................................107
7.5.1 Linear motion........................................................................................................107
7.5.1.1 Linear Motion Software Conguration .....................................................................107
7.5.1.2 Basic Conguration .................................................................................................108
7.5.1.3 Homing settings.......................................................................................................109
7.5.1.4 Print.........................................................................................................................109
7.5.1.5 Position Denition....................................................................................................109
7.5.1.6 Simulate ..................................................................................................................110
7.5.1.7 Linear motion input denition ..................................................................................110
7.5.2 Rotary motion ......................................................................................................111
7.5.2.1 Rotary motion software conguration......................................................................111
7.5.2.2 Rotary motion input denition..................................................................................112
8 Parameters and Functions ..........................................................................................113
8.1 Parameter Category......................................................................................................113
8.2 Parameter List...............................................................................................................113
8.3 Parameter Description...................................................................................................118
9 Communication ...........................................................................................................140
9.1 RS-232 communication.................................................................................................140
9.1.1 What is SCL? .......................................................................................................140
9.1.2 RS-232 Connections ............................................................................................140
9.2 RS-485 Communication ................................................................................................140
9.2.1 RS-485 PIN denition ..........................................................................................140
9.2.2 RS-485 Connection Method ................................................................................141

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9.3 Modbus/RTU Communication.......................................................................................142
9.3.1 Data Encoding......................................................................................................142
9.3.2 Communication Address ......................................................................................142
9.3.3 Communication Baud Rate And Framing .............................................................142
9.3.4 Power Up Mode ...................................................................................................143
9.3.6 M2DC series Servo Drive Register Addresses and Function List: .......................143
9.3.7 Command Opcode Description............................................................................151
9.3.8 Function Code ......................................................................................................153
9.3.9 Modbus/RTU Applications ...................................................................................156
9.4 CANopen Communication.............................................................................................162
9.4.1 RJ45 (8p8c) Pin Denitions..................................................................................162
9.4.2 CANopen NODE-ID..............................................................................................162
9.4.3 CANopen Communication Baud Rate .................................................................162
10 Trouble Shooting........................................................................................................163
10.1 Drive Alarm List...........................................................................................................163
Appendix.........................................................................................................................166
Appendix 1: LED Character Reference...............................................................................166
Appendix 2: Cables and Connectors...................................................................................166

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Revision History
Document History Date Remarks
v1.0 2016.06.20
v1.1 2018.04.20 Add M2DC-20D drvie
Disclaimer
The information in this manual was accurate and reliable at the time of its release. MOONS’ reserves the
right to change the specications of the product described in this manual without notice at any time.
Trademarks
All marks in this manual are the property of their respective owners
Customer Service
MOONS’ is committed to delivering quality customer service and support for all our products. Our goal is
to provide our customers with the information and resources required in such a way that they are available
without delay, if and when they are needed.
In order to serve you in the most effective way, we recommend that you contact your local sales
representative for order status and delivery information, product information and literature, and application
and eld technical assistance. If you are unable to contact your local sales representative for any reason,
please use the most relevant of the contact details below:
For technical support, contact: [email protected]
or call [phone].

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1 Introduction
1.1 About This Manual
This manual describes the M2DC Servo Drive.
It provides the information required for installation, conguration and basic operation of the M2DC series
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 the M2DC Series Servo Drive
This manual is part of a documentation set. The entire set consists of the following:
• M2DC Quick Start Guide: Basic setup and operation of the drive
• M2DC Hardware 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 qualied persons may perform the installation procedures. The following explanations are for
procedures that must be observed in order to prevent harm to people and damage to property.
The M2DC utilizes hazardous voltages. Be sure the drive is properly grounded.
Before you install the M2DC, 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 ammable gases, or 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, or damage the cables as electrical shocks or damage may result
DO NOT block the heat dissipating holes. Prevent any metal lings from dropping into the drive during
installation.
DO NOT switch the power supply on and off repeatedly.
DO NOT touch the rotating shaft when the motor is running.
DO NOT strike the motor when during indtallation as the motor shaft or encoder may be damaged.
To prevent accidents, the initial trial run for the servo motor should be conducted under a no-load condition
(separate the motor from its couplings and belts).
Starting system operation without rst matching the correct parameters may result in servo drive or motor
damage, or damage to the mechanical system.
DO NOT touch the drive heat sink, motor, or the regeneration resistor during operation as they may be very hot.
DO NOT hold the motor by the cable during transportation or installation.
Wiring
DO NOT connect any power supply to the U, V, or 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 and encoder cables.
A hazardous voltage charge may still remain in the drive even after the power has been removed - Do not touch
the terminals when the charge led is still lit.
Please observe the specied voltage(s).
Make sure both the drive and the motor connect to a class 3 ground.
Please ensure the grounding wires are securely connected before power up.
1.6 Guideline for Parts Replacement
1.6.1 Parts Replacement
Use the table below for a reference. Parts replacement cycle varies depending on the actual operating
conditions. Defective parts should be replaced or repaired when any error has occurred.
Prohibited
Disassembling for inspection and repair should be carried out
only by authorized dealers or service company.
Ambient conditions: 30°C (annual average), load factor of 80% or lower, operating time of
20 hours or less per day.

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Product Component Standard replacement cycle Notes
Drive
Smoothing condenser Approx. 6 years
These hours or cycles
are for reference only.
Occurence of error,
may mean replacement
is required before the
standard replacement
cycle is up.
Aluminum electrolytic
capacitor (on PCB) Approx. 6 years
Rush current preventive
relay Approx. 100,000 uses (depending on operating conditions)
Rush current preventive
resistor Approx. 20,000 uses (depending on operating conditions
Motor Oil seal 5,000 hours
1.6.2 Bearing Life
Motor bearing life depends on several factors including: axial and radial loads, motor speed, temperature,
and the bearing ratings. Because the front bearing is positioned closest to the motor shaft, it usually
carries a higher radial load and has the shortest life.
A common cause for shaft and bearing failure is high radial
loads that are created when a pulley is attached to the motor
shaft at a large distance from the motor mounting face, and the
belt has high tension. To avoid this condition mount pulleys and
gears as close to the face of the motor as possible, and avoid
over tightening belts. These curves show bearing life, at various
speeds and radial loads. The curves were calculated with the
radial load applied at the end of the shaft.

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1.7 Standards Compliance
The M2DC Series Servo drive has been designed according to owing standard:
* Electromagnetic compatibility
Standard EN 61800-3

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2 Product Description
2.1 System Checklist
A complete and workable M2DC servo system should include the following parts:
1. A matched servo drive and servo motor (refer section 2.4 for recommended combinations)
2. A power cable with a 4-PIN connector to connect P1 (V+, V-, AUX+) to supply power to the drive
3. A motor cable with a 5-PIN connector to supply the servo motor with power from the drive and to
connect a regenerative resistor through P2 (U, V, W)
4. An encoder cable with a 26-PIN connector to connect port CN3 for encoder feedback
5. A mini USB cable to connect port CN1 to a PC for communication
6. An I/O cable with a 50-PIN connector to connect port CN2 for I/O
7. Cables with RJ-45 connectors to connect ports CN6 and CN7 for RS-485 or CANopen communication
2.2 Servo Drive Model Introduction
2.2.1 Drive Name Plate Description
Model No.
www.moons.com.cn
Voltage
Output Current
Model No.M2DC-6D05X
Serial No.
09450001
INPUT
6 A
OUTPUT
VOLT. 0-70VDC18-70VDC
F.L.C
DC SERVO
DRIVE
M2
RoHSAssembled in China
Designed in California by
Serial No.
2.2.2 Drive Model Description
M2DC - 6D0 5 S ***
M2 Series DC Servo Drive Customized Specication (If Applicable)
Current
Code Continuous Current (RMS) Boost Current (RMS)
6D0 6.0A 18.0A
10D 10.0A 30.0A
20D 20.0A 50.0A
Voltage Code Input Voltage
520-70VDC
Communication
Code Conguration type Description Communication
type
S
Mini USB
Basic Type - - - - - -
Q Q Type RS-232
RQ Type (Modbus/RTU) RS-485
CCANopen Type CANBus
D eSCL Type Ethernet
IP EtherNet/IP Type Ethernet

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2.2.3 Drive specications
Input Power M2DC-6D0 M2DC-10D
M2DC-20D
Main Circuit 20 - 70VDC
Control Circuit 10 - 70VDC
Environment
Temperature Ambient temperature: 0°C to 50°C (if the ambient temperature of the servo drive is greater than 40°C, please install the drive in a well-ventilated location)
Storage temperature: -20°C to 65°C
Humidity Both operating and storage: 10 to 85%RH or less
Altitude Lower than 1000m
Vibration 5.88m/s2 or less, 10 to 60Hz (do not use continuously at resonance frequency)
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback 2500 ppr optical encoder with shared commutation signals
I/O
Control
Signal Input 8 optically isolated multi function inputs, 5-24VDC, 20mA
2 optically isolated multi function high speed inputs, 5-24VDC, 20mA
Output 6 optically isolated multi function outputs, 5-24VDC, 20mA
Analog signal Input 2 inputs (12Bit A/D: 2 input)
Pulse signal Input 1 photocoupler input compatible with both line driver I/F and open collector I/F
1 line receiver input compatible with line driver I/F
Output 3 line driver outputs, 1 open collector output
Communication
Mini USB Connection with PC or 1 : 1 communication to a host.
RS-232 RS-232 communication
RS-485 RS-485 communication & Modbus/RTU
CANbus CANopen communication
Ethernet EtherNET/IP or eSCL
Front panel 4 keys (MODE, UP, DOWN, SET), LED (5-digit)
Regeneration Resistor Built-in regenerative resistor (NOT available in M2DC-20D type)
Dynamic Brake Built-in
Control modes (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 (8) Position tables
Control inputs
(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) Gear switch
(9) Velocity Change mode (10) Analog input (11) General input
Control outputs
(1) Alarm output (2) Servo-Ready output (3) External brake release
(4) Speed reached output (5) Torque reached output
(6) Position reached output (7) TachOut (8) Servo-on status output
(9) General output
Certication RoHS
Drive Mass
M2DC-6D0 0.59kg
M2DC-10D 0.59kg
M2DC-20D 0.61kg

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2.2.4 Drive Dimensions (Unit: mm)
□ M2DC-6D0/10D
41
150
97
139.5
6
28.5
6.5
5
R2.5
□ M2DC-20D
R2.5
150
165
40 7
4.5
5
5
28.5
139.5
641
95

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2.3 Servo Motor Model Introduction
2.3.1 Motor Name Plate Description
Mode NO.
Series NO.
Input
Max. Speed
Ins.Class
Ouyput Power
Rated Torque,speed
2.3.2 Motor Model Description
Customized Specication (If Applicable)
Servo Motor
Frame Size
04 40mm
06 60mm
08 80mm
Motor
Length Frame & Power
40mm 60mm 80mm
01 60W 200W 300W
02 100W 400W 550W
03 750W
Feedback
E4 2500 ppr optical encoder with shared commutation signals
Shaft and Lead/Connector Style
KCD 300mm Shielded Cable with non-Sealed Connectors - For
Winings up to 6.5Amps
KCF 300mm Shielded Cable with non-Sealed Connectors - For
Winings 6.6 to 12.5 Amps
Brake Option
N No Brake
B 24VDCBrake
Input
Voltage(DC)
E80V
F 60V
G48V
H36V
SM0602FE4-KCF-NNV**

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2.3.3 Motor Specications and Dimensions
2.3.3.1 40mm Specications and Dimensions
40mm Series
Series SM0401 - 60 Watt SM0402 - 100 Watt
Base Model Number
(with 2500 PPR incremental encoder non-sealed plastic
connectors, no brake)
SM0401HE4-KCD-*NV SM0402FE4-KCD-*NV
DC bus(VDC) 36 60
Rated Output Power watts 60 100
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) 5.7 5.2
Continuous Stall Current A (rms) 6 5.6
Peak Current A (rms) 14.3 15.6
Voltage Constant ±5% V (rms) / K rpm 2.1 3.8
Torque Constant ±5% Nm / A (rms) 0.035 0.061
Winding Resistance (Line-Line) Ohm ±10% @25°C 0.36 0.48
Winding Inductance (Line-Line) mH (typ.) 0.39 0.58
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
Heat Sink Size mm 120 x 120 x 5 Aluminum 120 x 120 x 5 Aluminum
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
UL File E465363
Insulation Class Class B (130)
IP rating IP65 (except shaft through hole and cable end
connector)
Installation location Indoors, away from direct sunlight, corrosive
gas, flammable gas
Ambient temperature Operating 0 to 40°C, Storage -20 to 65°C
Ambient humidity 85%RH or lower (free from condensation)
Altitude (maximum) Operating 1,000m
Vibration Resistance 49 m/s2
Rotor Poles 8

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40mm Dimensions
Motor Dimensions – No Brake: mm Motor Dimensions – Brake: mm
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
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
Without Brake L1
SM0401HE4-KCD-NNV 92
SM0402FE4-KCD-NNV 109
With Brake L1
SM0401HE4-KCD-BNV 129
SM0402FE4-KCD-BNV 147
40mm Torque curves
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
DC Bus--48VDC
SM0402FE4(100 Watts) -5.2Amps
DC Bus--60VDC
SM0402FE4(100 Watts) -5.2Amps
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
0.0
0.1
0.2
0.3
0.4
0.5
0.6
0 2,000 4,000 6,000
- 5.7 AmpSM0401HE4(60 Watts)
DC Bus--48VDC
0.0
0.1
0.2
0.3
0.4
0.5
0.6
0 2,000 4,000 6,000
-5.7 Amps
SM0401HE4(60 Watts)
DC Bus--24VDC
0.0
0.1
0.2
0.3
0.4
0.5
0.6
0 2,000 4,000 6,000
- 5.7 AmpsSM0401HE4(60 Watts)
DC Bus--36VDC
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
DC Bus--24VDC
SM0402FE4(100 Watts) -5.2Amps
Max. Intermittent Torque
Max. Continuous Torque
Torque (Nm)
Speed (rpm)
Torque (Nm)
Speed (rpm)
Torque (Nm)
Speed (rpm)
Torque (Nm)
Speed (rpm)
Torque (Nm)
Speed (rpm)
Torque (Nm)
Speed (rpm)

M2DC Series Hardware Manual
18
Rev. 1.1
2018/04 400-820-9661
2.3.3.2 60mm Specications and Dimensions
60mm Series
Series SM0601 - 200 Watt SM0602 - 400 Watt
Base Model Number
(with 2500 PPR incremental encoder non-sealed plas-
tic connectors, no brake)
SM0601
GE4-KCF-*NV
SM0601
EE4-KCF-*NV
SM0602
FE4-KCD-*NV
SM0602
GE4-KCD-*NV
DC Bus(VDC) 48 80 60 48
Rated Output Power watts 200 200 400 400
Rated Speed rpm 3000 3000 3000 3000
Max. Mechanical Speed rpm 6000 6000 6000 6000
Rated Torque Nm 0.64 0.64 1.26 1.27
Continuous Stall Torque Nm 0.68 0.68 1.27 1.27
Peak Torque Nm 1.9 1.9 3.4 3.4
Rated Current A (rms) 10 5.2 10 12
Continuous Stall Current A (rms) 10 5.5 10 12
Peak Current A (rms) 30 15.6 30 30
Voltage Constant ±5% V (rms) / K rpm 4.1 7.9 7.4 6.3
Torque Constant ±5% Nm / A (rms) 0.065 0.125 0.123 0.103
Winding Resistance (Line-Line) Ohm ±10% @25°C 0.192 0.67 0.25 0.214
Winding Inductance (Line-Line) mH 0.56 2 0.84 0.6
Inertia (with encoder) kg m^2 0.165 X 10-4 0.165 X 10-4 0.272 X 10-4 0.272 X 10-4
Inertia - With Brake Option kg m^2 0.22 X 10-4 0.22 X 10-4 0.326 X 10-4 0.326 X 10-4
Heat Sink Size mm 180 x 180 x 5
Aluminum 180 x 180 x 5 Aluminum 180 x 180 x 5 Aluminum 180 x 180 x 5 Aluminum
Shaft Load - Axial (max.) 70 N / 15 lb 70 N / 15 lb 70 N / 15 lb 70 N / 15 lb
Shaft Load - Radial (End of Shaft) (max.) 200 N / 45 lb 200 N / 45 lb 240 N / 54 lb 240 N / 54 lb
Weight (with std. encoder) 1.1 kg / 2.3 lb 1.1 kg / 2.3 lb 1.4 kg / 3.1 lb 1.4 kg / 3.1 lb
Weight - With Brake Option 1.6 kg / 3.5 lb 1.6 kg / 3.5 lb 1.9 kg / 4.2 lb 1.9 kg / 4.2 lb
UL File E465363
Insulation Class Class B (130)
IP rating IP65 (except shaft through hole and cable end
connector)
Installation location Indoors, away from direct sunlight, corrosive
gas, flammable gas
Ambient temperature Operating 0 to 40°C, Storage -20 to 65°C
Ambient humidity 85%RH or lower (free from condensation)
Altitude (maximum) Operating 1,000m
Vibration Resistance 49 m/s2
Rotor Poles 8

19 Rev. 1.1
2018/04
400-820-9661
M2DC Series Hardware Manual
60mm Dimensions
Motor Dimensions – No Brake: mm Motor Dimensions – Brake: mm
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
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
Without Brake L1
SM0601GE4-KCF-NNV
SM0601EE4-KCD-NNV 105
SM0602FE4-KCF-NNV 125
SM0602GE4-KCF-NNV 125
With Brake L1
SM0601GE4-KCF-BNV
SM0601EE4-KCD-BNV 145
SM0602FE4-KCF-BNV 165
SM0602GE4-KCF-BNV 165
60mm Torque curves
Max. Intermient Torque
Max. Connuous Torque
Torque (Nm)
Speed (rpm)
Torque (Nm)
Speed (rpm)
Torque (Nm)
Speed (rpm)
Torque (Nm)
Speed (rpm)
Torque (Nm)
Speed (rpm)
Torque (Nm)
Speed (rpm)
Torque (Nm)
Speed (rpm)
Torque (Nm)
Speed (rpm)
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
0 2,000 4,000 6,000
DC Bus--24VDC
SM0601GE4(200 Watts) -10Amps
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
0 2,000 4,000 6,000
DC Bus--48VDC
SM0601GE4(200 Watts) -10Amps
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
0 2,000 4,000 6,000
DC Bus--60VDC
SM0601GE4(200 Watts) -10Amps
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
0 2,000 4,000 6,000
DC Bus--48VDC
SM0601EE4(200 Watts) -5.2Amps
SM0601EE4(200 Watts) -5.2Amps
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
0 2,000 4,000 6,000
DC Bus--60VDC DC Bus--48VDC
0
0.5
1
1.5
2
2.5
3
3.5
4
0 2,000 4,000 6,000
DC Bus--24VDC
SM0602FE4(400 Watts) -10Amps
0
0.5
1
1.5
2
2.5
3
3.5
4
0 2,000 4,000 6,000
DC Bus--48VDC
SM0602FE4(400 Watts) -10Amps
0
0.5
1
1.5
2
2.5
3
3.5
4
0 2,000 4,000 6,000
DC Bus--60VDC
SM0602FE4(400 Watts) -10Amps
0
0.5
1.5
2.5
3.5
4.5
1
2
3
4
5
0 2,000 4,000 6,000
SM0602GE4(400 Watts) -12Amps
Torque (Nm)
Speed (rpm)

M2DC Series Hardware Manual
20
Rev. 1.1
2018/04 400-820-9661
2.3.3.3 80mm Specications and Dimensions
80mm Series
Series SM0801 - 300 Watt SM0802 - 300 Watt
Base Model Number
(with 2500 PPR incremental encoder non-sealed plastic
connectors, no brake)
SM0801
GE4-KCF-*NV
SM0802
EE4-KCF-*NV
DC Bus(VDC) 48 80
Rated Output Power watts 300 550
Rated Speed rpm 3000 3000
Max. Mechanical Speed rpm 6000 5500
Rated Torque Nm 0.95 1.8
Continuous Stall Torque Nm 1 1.9
Peak Torque Nm 2.3 4.6
Rated Current A (rms) 10 10
Continuous Stall Current A (rms) 10.6 10.7
Peak Current A (rms) 25 28
Voltage Constant ±5% V (rms) / K rpm 6.2 11.2
Torque Constant ±5% Nm / A (rms) 0.096 0.176
Winding Resistance (Line-Line) Ohm ±10% @25°C 0.188 0.22
Winding Inductance (Line-Line) mH 0.85 1.25
Inertia (with encoder) kg m^2 0.45 X 10-4 0.63 X 10-4
Inertia - With Brake Option kg m^2 0.53 X 10-4 0.71 X 10-4
Heat Sink Size mm 240 x 240 x 6Aluminum 240 x 240 x 6 Aluminum
Shaft Load - Axial (max.) 90 N / 20 lb 90 N / 20 lb
Shaft Load - Radial (End of Shaft) (max.) 270 N / 60 lb 270 N / 60 lb
Weight (with std. encoder) 1.7 kg / 5.8 lb 2.2 kg / 5.8 lb
Weight - With Brake Option 2.5 kg / 7.6 lb 3.0 kg / 7.6 lb
UL File E465363
Insulation Class Class B (130)
IP rating IP65 (except shaft through hole and cable end
connector)
Installation location Indoors, away from direct sunlight, corrosive
gas, flammable gas
Ambient temperature Operating 0 to 40°C, Storage -20 to 65°C
Ambient humidity 85%RH or lower (free from condensation)
Altitude (maximum) Operating 1,000m
Vibration Resistance 49 m/s2
Rotor Poles 8