ZSMC SERVO

PRODUCT MANUAL 2021V1.0

SATISFY CUSTOMERS · CREATE THE FUTURE

杭 州 之 山 智 控 技 术 有 限 公 司
Hangzhou Zhishan Motion Control Co., Ltd.
Add: 9 Xianxing Rd, Xianlin Industrial Park, Hangzhou
Web: www.zscnc.cn
Marketing Service Hotline: 4008-096-368
Technical Support Hotline: 189-5718-8133
Tel: 0571-88686776 0571-89086098
Fax: 0571-88685775
E-mail: [email protected] ZSMC Offcial Account
High Efficiency Comes From Reliability Concentration Drives the Fulture
ABOUT STEP ABOUT ZSMC

Shanghai STEP Electric Corporation was founded in 1995 with the registered trademark of , and has been
“Zhishan” was founded on 2010, and has always believed the mission of “enhance the value of customers and
awarded with titles of National High-tech Enterprise, National Innovative Enterprise, National Enterprise Technolo-
employees, promote intelligent equipment industry development”, has pursued the professional application
gy Center.
technology all the time, now has been a well-known domestic brand in motion control, intelligent equipment
industry.
In December of 2010, STEP has been listed in Shenzhen Stock Exchange with stock name STEP and stock code
No. 002527.
Hangzhou Zhishan Motion Control Co., Ltd., a national high tech enterprise, has always kept the operation princi-
ple of “satisfy customers, create the future” and adhere to the pursuit of quality and creation. The servo systems
STEP has set R&D centers in China, Germany and Japan etc., possesses postdoctoral research stations and techni-
and integrated servos developed and made by ZSMC have been widely applied in textile, machine tools, electron-
cal laboratories certificated by China CNAS and American UL. STEP is also a member of National Robotic
ics, logistics equipment, industrial robots and other industries.
Standardization General Working Group and National Technical Committee 196 on Elevators of Standardization
Administration, vice chairmans of China Robot Industry Alliance, Shanghai Robot Industry Association and Shang-
On 2017, ZSMC joined STEP Group and has devoted itself to providing motion control products and solutions with
hai Intelligent Manufacturing Industry Association.
high quality and efficiency all the time through Industry collaboration and segmentation.

STEP is committed to be a well-known domestic brand of intelligent control drive, a leading enterprise in intelli-
Mission: constantly enhance the value of customers and employees, promote intelligent equip-
gent manufacturing integrated solutions and a strong promoter of “Made in China 2025” strategy.
ment industry development
Vision: the leading provider of motion control product and solution in China
Value: collaboration, responsibility, achievement, excellence
Operation Principle: satisfy customers, create the future

S TE P BY S T E P, D RE A M S CO M E T RU E

High Efficiency Lies in Reliability Concentration Drives the Future

Technological Innovation Honors and Qualifications

Research Teams
· set research centers in Shanghai, Shenzhen, Beijing and Hangzhou city, Germany and Japan country. Company Honors
· 893 scientific researchers, 36% of the total number of employees · National High-tech Enterprise
· 239 Ph.D./M.S. · Zhejiang Innovative Enterprise
· 1 special allowance of the State Council Government · CMCD2017 Most Competitive Brand in the Field of Motion Control

· CMCD2018, 2019, 2020 Annual User Satisfaction Brand in the field of motion control
Cumulative R&D investment 2.0

Research Strength in the past 5 years

1.8

· National Enterprise Technology Center

7.2 亿元 1.6

· National innovative enterprise 1.6

· Post-doctoral research workstation 1.3

· Laboratory with national CNAS accreditation

2015 2016 2017 2018 2019

Research Results
· Under take 3 projects of National Science and Technology Suppor t

Program.

· Authorized 556 patents, including 197 invention patents; 251 sof tware

copyrights Qualifications
· Presided over/par ticipated in the development of 34 national/industr y
· ISO9000 Quality System Cer tification
technical standards
· Work Safety Standardization Level 3 Enterprise
· The fir st batch of national CR cer tification for robot products
· QA Technic-Attestation of Conformity
· National intelligent manufacturing system solution provider
· Attestation Cer tificate of Electromagnetic
specification condition enterprise
High Efficiency Lies in Reliability ZSMC Ser vo Applications

Concentration Drives the Future

Fast response
The advanced control algorithm g reatly improves the system response, with a c urrent
loop frequency response of 2.5 kHz and a velocity loop frequency respo nse of 1.6 kHz . CNC Packaging Dispenser

Higher Accuracy
Suppor t a variety of encoders, the maximum accuracy of 24 bit, high resolution encoder to
meet the equipment high-precision positio ning control and smooth operation. requirements.
E Series are equipped with a dual enc oder inter fac e for full closed loop suppor t.

More Co ntrol Modes

Pulse, Analog Voltage, RS 485, CANopen, MECHATROLINK-Ⅱ, M ECHATROLINK-Ⅲ, EtherCAT LED Glass Panel Robot

Complete Power Band

Pulse 220V：50W~5.5kW；Pulse 380V：1kW~7.5W；Bus 220V：50W~5.5kW，Bus
380V：1k W~22kW

Safe and Reliable

Co mp ly w ith STO/SBC/SS1/SS2 international safety stan dards, reliable and stable.
Photovoltaic Textile Laser Cutting

Servo Drive Naming Conventions

CONTENTS K1 Series Servo Drives G3 Series Servo Drives iK2 Series Servo Drives Servo Motor Overviews B Series Servo Motors S Series Servo Motors
...............................................01 ..............................03 ...............................07 .............................................11 ...........................................15 ......................................17 .....................................24

Servo Drive External Dimensions K1AD Servo Drives iK3 Series Servo Drives Y Series Integrated Servos Servo Motor Naming Conventions M4 Series Servo Motors S5 Series Servo Motors
..............................................02 ..............................05 ...............................09 ..............................................13 ............................................................16 ..........................................19 ........................................26
 Servo Syst em Servo System

Ser vo Drive Series Servo Drive External Dimensions

K1 | K1AD | G3 | iK3 | iK2

K1、G3、iK3、iK2

K1 K1AD

0.2 kW / 0.4kW 0.7 5kW

G3 iK3 iK2

1.5 kW / 2 .2kW（220 V） 3kW / 5kW （22 0V）

1.8 kW / 3 kW（380V） 3.8 kW / 5.5kW / 7 .5kW（380 V）

K1AD

Servo Drive Naming Conventions 5

ZSD Enterprise code: ZSD mea ns Zhis han ser vo d riv e

G3 Series: G3 mea ns G3 series

A Pow er v olt age: A mea ns t hree-p has e 22 0V, B means three-phase 38 0V

ZSD — G3 A S 15 A B S Out put: S mean s single axis, D means do uble axes

6 78 6
170
15 Pow er level: 02 mea ns 0.2 kW, 04 mean s 0.4kW, 08 means 0.75 kW, 90

15 means 1. 5kW, 22 means 2. 2kW, 30 means 3 kW, 50 means 5kW

A In put signal: E means Eth erCAT, C mea ns CANo pen 750W 1.5kW

B Encoder : A mean s AB Z incremental encod er, B means ab so lut e encod er

01 WW W . ZSC NC . C N WW W .Z S CNC. CN 02
 Servo Syst em Servo System

Specificatioons
K1 Series Ser vo Drives Modes
K1AS02□□ K1AS04□□ K1AS08□□ K1AS15□□ K1AS22□□ K1AS30□□ K1AS50□□
0.2kW 0.4kW 0.75kW 1.5kW 2.2kW 3kW 5kW

K1BS15 □□ K1BS25 □□ K1BS35 □□ K1BS55 □□ K1BS75 □□

1.8 kW 3 kW 3.8 kW 5.5 kW 7. 5kW
Input power
自定义
Control mode Three-phase PWM conver ter sine wave drive
Main power 220V: Single-phase / three-phase 220V AC（-15~+10%，50~60Hz）
380V: Three-phase 380V AC（-15~+10%，50~60Hz）
Control power 220V: Single-phase 220V AC（-15~+10%，50~60Hz）
Rated current 220V：0.2kW/2A ,0.4kW/2.8A ,0.75kW/5.5A ,1.5kW/, 10A ,2.2kW/12A ,3kW/16A ,5kW/25A
380V: 1.8kW/5A ,3kW/8A ,3.8kW/12A ,5.5kW/16A , 7.5kW/20A
Encoder feedback ABZ incremental encoder/absolute encoder
Environment
Working temperature 0～45°C
Storage temperature -20～65°C
Working humidity 20～85%RH or less (non condensing)
Storage humidity 20～85%RH or less (non condensing)
Working and storage air Indoor (no direct sunlight), non-corrosive gases, flammable gases, oil mist, dust
Altitude Below 1000m
Vibration 5.8m/s² (0.6G) below 10～60Hz (Cannot be used continuously at resonant frequency)
Insulation and
pressure resistance Primar y- between F and G, 1 minute under AC1500V
Functions
IO input 4-cha nnel (DC24V optocoupler isolation) Input function can be selected according to parameters below:
Ser vo on, P action, positive rotation inhibit, negtive rotation inhibit, alarm reset,positive torque limit,
negtive torque limit, error clear
IO output 3-cha nnel optocoupler isolated output; the following output function can be selected according to
parameters: Alarm output, position proximity, velocity consistent detection output, motor rotation
detection, ser vo ready, torque limit, brake release
Pulse input Differential input: 500K; open collector : 200K
Pulse + direction, AB orthogonal pulse, CW+CCW pulse
Pulse output Phase A , phase B: differential output. Phase Z: differential output or open collector output
Product Features Internal speed command Three-speed distribution via input terminals
Overload Capacity Max. 3 times torque
Analog input 2-cha nnel differential input ±10V, 1-cha nnel single-ended 0-10V; switch according to control mode
Intelligent Communication Modbus; Customized CAN
· Powerful internal position mode allows for continuous multi-path planning for rich motion control; supports up to 32 data sets Control modes 12 control modes: position control, speed control, torque control, inner spped, position/speed control,
position/torque control, speed/torque control, inner speed/position, inner speed/speed,
for planning, each set of data can be set to the number of pulses or angle required, and internal position mode can be set for
inner speed/torque, speed/zero clamp, position control/command inhibit
speed, acceleration, deceleration and emergency deceleration Regenerative resistance 400W: without external regenerative resistance; over 750W: with
· Automatic determination of load inertial mechanical properties, setting optimal gain and shortening system commissioning time

Stable
· Mechanical resonance frequency analysis, configured with two sets of trap filters, adjustable frequency (50 ~ 5000Hz) and trap Applications
depth, effectively overcome low frequency resonance and mechanical end vibration, vibration frequency (1 ~ 100Hz) and
vibration damping can be set LED banding machine, CNC polishing machine, tongue and groove machine, computerized quilting machine and other CNC,

· Frictional torque compensation reduces the effect of static friction during mechanical commutation and improves command woodworking and textile industry equipment

following performance at low speeds

Easy to Operate
· Support for debugging software, mechanical characteristics analysis, parameter setting, monitoring and other functions, intuitive
and simple operation

Recommended Pairings
M4 Series Ser vo Motors (Details are at P19）

03 WW W .Z S CNC. CN WW W .Z S CNC. CN 04
 Servo Syst em Servo System

K1AD Biaxial Ser vo Drives

Specificatioons

Models
K1AD 08 □□ K1AD 15 □□
0.75kW 1.5 kW

Input power
Control mode Three-phase PWM conver ter sine wave drive
Main power Single-phase / three-phase 220V AC（-15~+10%，50~60Hz）
Control power Single-phase 220V AC（-15~+10%，50~60Hz）
Rated current 220V: 0.75kW/5.5A , 1.5kW/10A
Encoder feedback ABZ incremental encoder/absolute encoder
Environment
Working temperature 0～45°C
Storage temperature -20～65°C
Working humidity 20~85% RH or less (no condensation)
Storage humidity 20~85% RH or less (no condensation)
Working and storage air Indoor (no direct sunlight), non-corrosive gases, flammable gases, oil mist, dust
Altitude Below 1000m
Vibration 5.8m/s² (0.6G) below 10～60Hz (Cannot be used continuously at resonant frequency)
Insulation and
pressure resistance Primar y- between F and G, 1 minute under AC1500V
Functions
IO input 6-channel (DC24V optocoupler isolation) Input function can be selected according to parameters below:
Ser vo on, P action, positive rotation inhibit, negtive rotation inhibit, alarm reset,positive torque limit,
negtive torque limit, error clear
IO output 4-cha nnel optocoupler isolated output; the following output function can be selected according to
parameters: Alarm output, position proximity, velocity consistent detection output, motor rotation
detection, ser vo ready, torque limit, brake release
Pulse input Differential input: 500K; open collector : 200K
Pulse + direction, AB orthogonal pulse, CW+CCW pulse
Pulse output Phase A , phase B: differential output. Phase Z: differential output or open collector output
Internal speed command Three-speed distribution via input terminals

Product Features Overload Capacity

Analog input
Max. 3 times torque
2-channel differential input ±10V, 1-channel single-ended 0-10V; switch according to control mode
Communication Modbus; Customized CAN
High Efficiency
Control modes 12 control modes: position control, speed control, torque control, inner spped, position/speed control,
· Built-in gantry control synchronization algorithm position/torque control, speed/torque control, inner speed/position, inner speed/speed,
· Automatic determination of load inertial mechanical properties, setting optimal gain and shortening system commissioning time inner speed/torque, speed/zero clamp, position control/command inhibit
Regenerative resistance 400W: without external regenerative resistance; over 750W: with
· Powerful internal location control mode, 32 sets of location data path planning. This feature not only saves the user PLC costs,
but also allows for more efficient control

High Accuracy
· Bus synchronization acc urac y <0.1us: multi-axis s ynchronization algorithm at current loop level

Stable
Applications
· Mechanical resonance frequency analysis, configured with two sets of trap filters, adjustable frequency (50 ~ 5000Hz) and trap depth, LED banding machine, CNC polishing machine, tongue and groove machine, computerized quilting machine and other CNC,
effectively overcome low frequency resonance and mechanical end vibration, vibration frequency (1 ~ 100Hz) and vibration damping can be set woodworking and textile industry equipment
· Frictional torque compensation reduces the effect of static friction during mechanical commutation and improves command following
performance at low speeds

Easy to Operate
· Support for debugging software, mechanical characteristics analysis, parameter setting, monitoring and other functions, intuitive and simple operation

Recommended Pairings
M4 Series Ser vo Motors (Details are at P19）
S5 Series Ser vo Motors (Details are at P26）

05 WW W .Z S CNC. CN WW W .Z S CNC. CN 06
 Servo Syst em Servo System

Specificatioons
G3 Series Ser vo Drives Models
G3A S04AB G3A S08 AB G3A S15AB G3A S22AB G3AS30AB G3A S50 AB
0.4kW 0. 75 kW 1.5 kW 2. 2 kW 3.0 kW 5.0 kW

In put power
Control mo de Three-ph ase P WM conver ter s in e wave d riv e
Main power Sing le-phase / three-phase 220V AC（-15~ +10%，50~60Hz）
Control p ower Sing le-phase 2 20V AC（-15~+10%，50~ 60Hz）
自定义
Rated c urrent 0.4kW /2. 8A , 0.7 5kW/5.5A ,1.5 kW/10A , 2.2kW /12 A ,3 kW/1 6A , 5kW/25A
Encoder feedba ck Serial encoder, su ppor t for the Tamaga wa pro toc ol
Environment
Workin g temperatu re 0～45°C
Storage temp erature - 20～65°C
Workin g hu midity 20～85% RH or less (no n co ndensing)
Storage humidity 20 ～85 %RH or les s (n on condensing)
Workin g a nd storag e air Indoo r (no direct sun lig ht), non -corrosive gases, flammable gases , o il mist, dust
Altitud e Below 10 00m
Vibration 5. 8m/s² (0 .6G) b elow 10 ～60 Hz (Cannot be used continuously at resonant frequency)
In sulation and
pressu re resistanc e Primar y - between F and G, 1 minute und er AC1 500V
Functions
IO input 8-cha nnel (DC24V optocoupler isolation) Input function can be selected according to parameters below:
Ser vo on, P action, positive rotation inhibit, negtive rotation inhibit, alarm reset,positive torque limit,
negtive torque limit, error clear
IO output 4-cha nnel optocoupler isolated output; the following output function can be selected according to
parameters: Alarm output, position proximity, velocity consistent detection output, motor rotation
detection, ser vo ready, torque limit, brake release
Pulse input Differential input: 500K; open collector : 200K
Pulse + direction, AB or thogonal pulse, CW+CCW pulse
Pulse output Phase A , phase B: differential output. Phase Z: differential output or open collector output
Internal speed command Three-speed distribution via input terminals
Overload Capacity Max. 3 times torque
Product Features Analog input 1-channel differential input ±10V, 1-cha nnel single-ended 0-10V; switch according to control mode
Communication Modbus; Customized CAN
Fast and Accurate Control modes 12 control modes: position control, speed control, torque control, inner spped, position/speed control,
position/torque control, speed/torque control, inner speed/position, inner speed/speed,
· Faster computation speed with 150MHz main frequency processor. Current loop frequency response is 2.5kHz,
inner speed/torque, speed/zero clamp, position control/command inhibit
speed loop frequency response is 1.6kHz. Regenerative resistance 400W: without external regenerative resistance; over 750W: with

Up to 23 bit bus encoder for positioning accuracy

Improved velocity and accuracy with Kalman observer

Stable operation
· Configured with two notch filters, adjustable frequency and depth of notch, effectively overcome the low frequency
resonance and vibration of the machine end
Applications
Multi-functional
· 12 control modes to choose from to easily meet the needs of any application UV printer, packaging machine, paper cutting machine, glove machine, warp knitting machine, winding machine, cell phone inner screen
· Built-in position/veloc ity/acceleration obser ver for improved response bandwidth, real-time monitoring of dispensing machine, mask machine and other non-standard automation industry equipments
o perating status, and collision detec tion
· Pulse command filter function, can set the p ulse filter width, filter out high frequency inter ference sig nal,
improve the ser vo anti-inter ferenc e ability

Easy to debug
· 6-channel software oscilloscope, easy to debug
· Support load inertia recognition function, shorten the debugging process and save man-hours

Recommended Pairings
S5 Series Ser vo Motors (Details are at P26）

07 WW W .Z S CNC. CN WW W .Z S CNC. CN 08
 Servo Syst em Servo System

Specificatioons
iK3 Series Ser vo Drives Models
iK3AS04□□ iK3AS08□□ iK3AS15□□ iK3AS22□□ iK3AS30□□ iK3AS50□□ iK3BS15□□ iK3BS25 □□ iK3BS35□□ iK3BS55 □□ iK3BS75□□
0.4kW 0.75kW 1.5kW 2.2kW 3kW 5kW 1.8 kW 3kW 3. 8kW 5. 5kW 7.5kW
Input power
Control mode Three-phase PWM converter sine wave drive
Main power 220V: Single-phase/three phase 220V AC（-15~+10%，50~60Hz）
380V: Three-phase 380V AC（-15~+10%，50~60Hz）
Control power 220V: Single-phase 220V AC（-15~+10%，50~60Hz）
Rated current 220V：0.4kW/2.8A ,0.75kW/5.5A ,1.5kW/10A , 2.2kW/12A ,3kW/16A ,5kW/25A
380V: 1.8kW/5A ,3kW/8A ,3.8kW/12A ,5.5kW/16A , 7.5kW/20A
Encoder feedback ABZ incremen encoder / absolute encoder
Environment
Working temperature 0～45°C
Storage temperature -20～65°C
Working humidity 20～85%RH or less (non condensing)
Storage humidity 20～85%RH or less (non condensing)
Working and storage air Indoor (no direct sunlight), non-corrosive gases, flammable gases, oil mist, dust
Altitude Below 1000m
Vibration 5.8m/s² (0.6G) below 10～60Hz (Cannot be used continuously at resonant frequency)
Insulation and
pressure resistance Primar y- between F and G, 1 minute under AC1500V
Control signals
Input 6-channel inputs (DC24V optocoupler isolation) Input function can be selected according to parameters
Output 4-channel optocoupler isolated output; output function can be selected according to parameters
Communications EtherCAT, CANopen
Regenerative esistance 400W: without; over 750W: with
Position control modes
Control input Ser vo on, positive rotation prohibited, negtive rotation prohibited, for ward current limit,
reverse current limit, for ward limit switch, negative limit switch, zero return proximity switch,
bus IO input, probe 1, probe 2, fault reset
Product Features Control Output Ser vo return to zero completion, ser vo operation preparation completion, ser vo fault, position
tracking over limit, target position arrival, STO enable flag, bus IO output, brake output

High Response Pulse output

Output pulse patterns Phase A , phase B, phase Z: differential output
· Current loop frequency response > 2.5 kHz: 16-bit current sampling accuracy; dual sampling and dual update algorithms
Frequency dividing ratio Arbitrar y frequency division
· Speed loop frequency response > 1.6 kHz: 23-bit absolute encoder; Kalman observation algorithm

High Accuracy
· Bus synchronization accuracy < 0.1us: Multi-axis synchronization algorithm at current ring level

High Speed Running Motor

Applications
· Weak magnetic observation and control function for the servo motor to reach the maximum speed in an instant Precision engraving machine, terminal machine, printing machine, CNC grinding machine and other CNC, electrical and advertising

Great Adaptability industry equipment

· Standard EtherCAT communication protocol, which can be adapted to any EtherCAT bus controller
· With detailed functions such as active resonance suppression, end jitter suppression, friction compensation, groove
torque compensation, etc., the servo performance can be perfected under various mechanical structures
· Thickened three-proof paint process for better environmental (moisture, corrosion, etc.) adaptation

Recommended Pairings
S Se ries Ser vo Motor s (Details are at P24)

09 WW W .Z S CNC. CN WW W .Z S CNC. CN 10
 Servo Syst em Servo System

Specificatioons

iK2
Modes
iK2AS08□□ iK2AS15□□ iK2AS22 □□ iK2AS30□□ iK2AS50□□ iK2BS15 □□ iK2BS25 □□ iK2BS35 □□ iK2BS55 □□ iK2BS75 □□
Series Ser vo Drives 0.75kW 1.5kW 2.2kW 3kW 5kW 1.8kW 3kW 3.8kW 5.5kW 7.5kW
In put power
Control M ode Th ree-p hase P WM conver ter sin e wave d riv e
Main power 220 V: Single-phase / three-phase 2 20V AC（-15~ +10%，50~60Hz）
380V : Th ree-phase 380 V AC（-15~+10 %，5 0~60 Hz）
Control p ower 220V: Single-phas e 22 0V AC（-15~+1 0%，50~6 0Hz）
Rated c urrent 220V: 0.7 5kW/5.5A ,1.5 kW/10A , 2. 2kW/12A ,3kW/16A ,5kW /25 A
380V : 1 .8kW/5A ,3kW/8A ,3.8 kW/1 2A , 5.5kW/16 A ,7.5kW/20 A
Encoder feedba ck A bsolute enco der
Environment
Workin g temperatu re 0～45°C
Storage temp erature -20 ～65° C
Workin g hu midity 2 0～8 5%RH or les s (non condensin g)
Storage humidity 20～85%RH o r less (non con densing)
Workin g a nd storag e air Ind oor (n o d irect s unlight), n on-corrosive gases, flammab le g ases, oil mist, dus t
Altitud e Belo w 1000 m
Vibration 5.8m/s² (0.6G ) belo w 10～60Hz (Canno t be u sed continuo usly at resona nt frequ en cy)
In sulation and
pressu re resistanc e Primar y - b etween F an d G, 1 minute un der AC1500V
Control s ig nals
In put 6-chan nel (D C24V optocoup ler isolation) Input functio n can be selected according to parameter s
Output 4-channel o pto coupler isolated o utp ut; output function can b e selec ted according to p arameter s
Communicatio ns MECHATROLINK-II M ECHATROLINK-III
Control mo des 3 control modes: pos ition con tro l, speed control, torque mod e
Regenerativ e resistanc e 400W : without; over 750W: with
Positio n co ntro l modes
Control input Ho me Recurs ive Decelera tion Switc h Signal (/DEC), external latch s ign al
(/EX T 1 to 2 ), po sitive rota tion proh ibited (P-OT), negtiv e rotation prohibited (N-OT),
positive ro tatio n sid e to rque limit (/P-CL), negtiv e rotation sid e to rque limit (/N-CL)
Control o utp ut Ser vo alarm (ALM), positio n completion (/COIN), velocity consistent d etection,
brake (/B K), ser v o mo tor rotatio n detection (/TGON), ser vo read y (/S-RDY),
to rque limit detection (/CLT ), encoder zero output
Puls e output
Product Features Output p ulse pa ttern s Ph as e A , phase B, pha se Z: differen tial output
Frequency d iv iding ratio Arbitra r y frequency division
Communicatio ns
Specialized for CNC
Communicatio n proto cols M ECHATROLINK-Ⅱ、M ECHATROLI NK-Ⅲ
· Standard Mec hatrolink Ⅱ and M ech atrolink Ⅲ buses, per fectly adapted to LNC, Syntec, HUST and other CNC systems Transmissio n s peed M2：10 Mbps；M3：100 Mb ps
· Kalman obser ver algorithm fo r faster ser vo resp onse Tr snamission period M2：250 μsec ~ 8 msec；M3：31.2 5 μsec ~ 64 msec
Frame length M2：17b ytes/32bytes；M 3：32bytes /48 bytes
· Load per turbation compensation algorithm for smoo ther proc essing Conn ectable slave
· Quadrant bump suppression algorithm for finer processing statio n NO. M2: up to 3 0; M3: up to 62
Comman d methods
· Turret control func tion
Comman d p ecificatio ns Via p osition control, speed control an d torque con trol of MECGATRO LINK
Comman d input MECHATROLINK c ommand (su ch as complian ce control, mo tion, data setting/referencing,
Smart
mon itoring , adju stmen t and other commands
· Power ful internal position mode allows for continuous multi-path planning for rich motion control; suppo r ts
up to 32 data sets for planning, each set of data can be set to the number of pulses or angle req uired, and
internal position mode can be set for speed, acceleration, dec eleration and emergency deceleration
· Automatic determination of load iner tial mechanical proper ties, s etting optimal gain and shor tening system commissioning time Applications
Stable CNC carving and milling machines, CNC lathes, CNC polishing machines and other CNC industry equipments
· Mechanical resonance frequency analysis, c onfigu ration of two sets of trap filters, adjustable frequenc y (50~5000Hz) and trap
d ep th, effectively o vercome lo w frequenc y resonanc e and mechanical end vibration ,can set the vibratio n frequency (1~100Hz)
and vibratio n damp ing
· Frictional torque compensation reduces the effect of static frictio n during mechanical c ommutation and improves command
following per formance at low speed s

Recommended Pairings
B Series Ser v o Motors (Det ails are at P17)

11 WW W .Z S CNC. CN WW W .Z S CNC. CN 12
 Servo Syst em Servo System

Specificatioons
Models
SEA07 SSB40
70W 400W

Y Series Integrated Ser vos In put power

Control mo de
Main power
Three-phase P WM con ver ter sine wave driv e
DC24~3 6V
Three-phase PW M c onver ter sine wav e drive
DC2 4~ 70V
Moto r parameters
Torq ue 0.2 N·m 1N·m
Sp eed 3000 rpm 300 0rpm
Environment
Workin g temperatu re 0～40°C 0～40°C
Storage temp erature -20～65° C -20～65 °C
Workin g hu midity 85 % RH o r less (no con densation) 85% RH or less (no condens atio n)
Storage humidity 85% RH or less (n o co ndensation) 85% RH or less (no condens atio n)
Workin g / storage air Indo or (n o d irect sunlight), non-corro sive gases, In door (no direct sunlight), non-co rrosiv e gases,
flammable gases, oil mist, dust flamma ble g ases , oil mist, dust
Altitud e Below 1000m Below 1000m
Vibration 5.8m/s² (0.6G) belo w 10～60Hz (Canno t be used 5.8 m/s² (0. 6G) below 10～60Hz (Can not be used
continuously at resonant frequency) con tin uous ly at reson ant frequency)
In sulation and
pressu re resistanc e DC power cord-b etween F a nd G, 1 minu te u nder DC power cord-between F and G, 1 minute under
AC150V AC1 50V
In put an d o utpu t
In put cha nnel 1-channel optocoup ler iso la ted inpu t, input functio n 1 -channel optocoup ler iso lated, input function
can be selec ted according to p arameter s can be selected a ccord ing to parameter s
Output ch annel 1-cha nnel optocoup ler iso la ted output, output 1 -channel optocoup ler iso lated output, output
function can be selected accord ing to parameter s function can be selected a ccording to pa rameter s
Ana lo g input 1 -channel differential input; ±10V; switch acco rding
to co ntrol mode
Communicatio ns RS485/CAN RS48 5/CA N
Control mo des Pos ition control, speed control, p osition/speed co n Positio n co ntro l, sp eed con tro l, pos ition/s peed con
-tro l, positio n/torq ue con tro l, sp eed/torque control -trol, position/torque co ntrol, speed /torq ue control,
Position control
Input pulse s igna l Pulse + directio n Right an gle phase difference Puls e + directio n Right a ngle phase d ifference
metho ds (A phase + B p hase) (A phase + B ph ase)
In put pulse signal
pa tterns Differentia l inpu t; open collecto r Differential in put; o pen co llector
Max. c ommand
Product Features pulse frequen cy Differential input: 5 00K ; op en collector : 2 00K Differential in put: 50 0K ; open collecto r : 20 0K
Sp eed con trol
Sp eed command input RS485/CAN communication command input Ana lo g input voltag e -10V~+10V
Comparison with ordinar y AC ser vos Comparison with stepper motors Torq ue limit functio n M ax. 2 times torq ue limit Max. 3 times torque limit
· Safer, with a DC power supply below 36V · Control with closed-loop servo, absolutely no step loss Torq ue co ntro l
Torq ue co mma nd inpu t RS485/CAN co mmunication command input Ana lo g input voltag e -10V~+10V
· Power as low as 70W, suitable for all kinds of micro-motor needs · High resolution 32768 encoder for more precise position control
· Drive is integrated into the motor for easy installation and simple wiring · Rated torque output is guaranteed at any speed up to 3000 rpm
· Cost savings for users · Steady speed and lower operating noise External Dimensions
Control Advantages
· Pulse control, CAN bus control, MODBUS bus control

42SE
Naming Conventions
Integrated Ser vo (SE) Naming Convention
SE: Pro duct names A: In put voltage
A: Drive modes R1: Sp ecial markings
SE A 07 C A R1 — 42 — V00 07 : R ated power 42: M otor bas e no.
C: Communicatio ns V00: Product v ersion

Integrated Ser vo (SS) Naming Convention

SS: Pro duct names B: Inp ut vo lt age 60SS

B: Drive modes R: Specia l ma rkings
SS B 40 R B R — 60 — V00
40: Rated power 60: M oto r base no.
R: Communicat io ns V00: P rod uct ver sion

13 WW W .Z S CNC. CN WW W .Z S CNC. CN 14
 Servo Syst em Servo System

Servo Motor Naming Conventions

B | M4 | S | S5 Series Ser vo Motors
80 S S A 751 30 45 K1 B
—
X1 X2 X3 X4 X5 X6 X7 X8 X9

X1 Flange sizes X4 Input voltage X7 Max. sp eed（not M4 series motor）

Co des Meanings Co des Meanings Co des Meanin gs

40 40mm flange A 220V 10 1000r / min
60 60mm flange B 380V 15 1500r / min
80 80mm flange ... ... ... 20 2000r / min
90 90mm flange
100 100mm flange
110 110mm flange
130 130mm flange
150 150mm flange
180 180mm flange
... ... ...

X2 M otor series X5 Po wer X8 Encoder

Co des M eanings Co des Meanin gs Co des Meanings

M4 M4 Series 201 200W D1 Standard 2500 wires (15 pole)
S S Series 751 750W D2 Wire-saving 2500 wires (9 pole)
B B Series 102 1.0k W D4 Photoelec tric multiturn absolute 17 bit
S5 S5 Series 152 1.5k W D7 Optical incremental 10000 wires (serial)
202 2. 0kW D10 Photo electric multiturn absolute 23 bit
X3 Iner tia .... ... ... R1 Magnetic single turn 17 bit

B Series M4 Series Co des M eanings

60/80/130/180 Flange 60/80/110/130/150/180 Flange S Small iner tia
D Middle iner tia
· Power：400W~7.5k W · Power：200W~7.5kW H High iner tia
· Current：2.9A~23A · Current：1.2A~32A X6 Rated speed X9 Spec ial markings
Co des M eanings
· Torque：1.27N·m~48N·m · Torque：0.637N·m~48N·m Co des M eanings
P17 · Speed：1500rpm，3000rpm P19 · Speed：1500rpm~3000rpm 10 1000r / min Blank General motor
15 1500r / min B Magnet brake
20 2000r / min T Spec ial customization
... . .. ... F Anti-water

S Series S5 Series
60/80/130 Flange 40/60/80 Flange

· Power：200W~3kW · Power：100W~750W
· Current：2.1A~13.8A · Current：1.1A~5.1A
· Torque：0.64N·m~14.3N·m · Torque：0.32N·m~2.39N·m
P24 · Speed：2000rpm，3000rpm P26 · Speed：3000rpm

15 WW W .Z S CNC. CN WW W .Z S CNC. CN 16
 Servo Syst em Servo System

B Series 60/80/130 Flange Servo Motors B Series 180 Flange Servo Motors

M ode 60 BST-M 0 133 0 80 BST-M 02 430 1 30BST -AM 0 5415 130 BST-AM 08 31 5 13 0B ST-AM1 15 15 1 30BST-AM 146 15 M ode 180H BST -AM1 8615 18 0H BST -AM28415 180 H BST-AM 3501 5 18 0HBST-AM 48 015

Rated pow er（kW） 0 .4 0.75 0.8 5 1.3 1.8 2 .3 Rated pow er（kW） 2 .9 4.4 5.5 7. 5

Po le pair s 5 5 5 5 5 5 Po le pair s 5 5 5 5

Rated torque （N .m) 1 .2 7 2.3 9 5. 39 8 .3 4 11 .5 1 4.6 Rated torque（N . m） 18 .6 28 .4 35 48

M ax. torque （N . m） 3. 81 7.1 1 4.2 23 .3 2 8. 7 43. 8 M ax. torque（N . m） 54 71 87.5 96

Rated spe ed（rpm） 3 00 0 30 00 15 00 150 0 15 00 150 0 Rated spe ed（rpm） 1500 150 0 1500 150 0

M ax spe ed（rpm） 6 00 0 5000 30 00 3 00 0 3 000 2 00 0 M ax spe ed（rpm） 2 50 0 20 00 200 0 2 000

Rated cu rrent （A） 2.9 5 6.9 1 0. 7 15 12.5 Rated cu rrent（A） 10 12. 8 14 23

M ax. current （A） 8. 7 15 17 28 42 37.5 M ax. current（A） 29 32 35 46

To rqu e constant （N . m/A） 0.4 38 0 .48 0.78 0 .78 0 .76 0 .9 1 To rqu e constant（N . m/A） 1.8 6 1 .9 5 1 .98 2.09

Voltage co nstan t（V/k rpm ） 30 .2 33 .3 50 .2 52 5 2. 2 76 .5 Voltage co nstan t（V/k rpm ） 1 37. 5 15 3 172 170

Roto r iner tia (kg . m² ) no b rake 0.48 7×10 -4 1. 41×10 -4 13 .9 ×10 -4 19. 9×10 -4 26 ×10 -4 4 0.7×10 -4 Roto r iner tia (kg .m² ) no b rake 44×10 -4 66×10 -4 102×10 -4 146 ×10 -4

Roto r iner tia (kg . m² ) with brak e 0 .5 ×1 0 -4 1. 51×1 0 -4 1 6×10 -4 22×1 0 -4 2 8.1×10 -4 42 .3×10 -4 Roto r iner tia (kg .m² ) with brak e 5 9×10 -4 80×10 -4 110 ×1 0 -4 15 6×10 -4

Line resist an ce (Ω ) 3.2 8 1. 58 0. 98 0. 54 0.4 0.6 9 Line resist an ce (Ω ) 1 .1 0. 9 0. 62 0.4 2

Line in ductance (mH) 7 6.8 12.3 2 8 .5 6. 2 10. 25 Line in ductance (mH) 15 .2 1 3. 9 10. 9 6.7

L witho ut b rake (m m) 112 138. 5 14 5 16 0 178 205 L witho ut b rake (m m) 176 200 2 37 283

L with brake (mm) 1 52 .5 174 178 193 211 237 L with brake (mm) 2 24 248 28 5 331

17 WW W .Z S CNC. CN WW W .Z S CNC. CN 18
 Servo Syst em Servo System

M4 Series 60/80 Flange Servo Motors M4 Series 110 Flange Servo Motors

M odes 6 0M 4S-A2 0130 □ 6 0M 4S-A 401 30 □ 60 M 4S-A6 01 30 □ 80 M 4S-A4013 0 □ 80M 4S-A75 13 0 □ 80 M4S-A10 225 □ M odes 110M 4D -A1 22 30 □ 110M 4D -A152 30 □ 11 0M 4D-A1 8230 □

Rated pow er (kW) 0.2 0 0 .40 0. 60 0 .40 0.75 1.00 Rated pow er (kW) 1.20 1.50 1. 80

Po le pair s 4 4 4 4 4 4 Po le pair s 4 4 4

Rate to rq ue (N . m) 0. 63 7 1.2 7 1 .91 1.2 7 2.39 4 Rate to rq ue (N . m) 4 5 6

M ax torque (N . m) 1.9 1 3. 9 5. 73 3.8 7.1 12 M ax torque (N .m) 12 15 18

Rated spe ed (rpm ) 3000 300 0 3 000 3 00 0 300 0 250 0 Rated spe ed (rpm ) 300 0 300 0 3 00 0

Rated cu rrent (A) 1 .2 2.8 3 .5 2 3 4.4 Rated cu rrent (A) 5 .0 6 .0 6 .0

M ax. current (A) 3 .6 8. 4 10.5 6 9 1 3.2 M ax. current (A) 15 18 18

To rqu e constant (N . m/A) 0 .5 3 0. 45 0.55 0 .6 4 0.8 0.9 To rqu e constant (N .m/A) 0 .8 0.8 3 1.0

Voltage co nstan t (V/kr pm) 3 0. 9 2 9. 6 34 40 48 56 Voltage co nstan t (V/kr pm) 54 62 60

Rotor inertia (kg.m²) no brake 0 .175 ×10 -4 0. 29 ×1 0 -4 0. 39 ×10 -4 1.05×1 0 -4 1 .82 ×1 0 -4 2.9 7×1 0 -4 Rotor inertia (kg.m²) no brake 0.54×10 -3 0. 63 ×10 -3 0. 76 ×10 -3

Rotor inertia (kg.m²) with brake 0. 23×1 0 -4 0 .35×10 -4 0.45 ×10 -4 1.08×1 0 -4 1 .85 ×1 0 -4 3×1 0 -4 Rotor inertia (kg.m²) with brake 0 .56 ×1 0 -3 0.6 5×10 -3 0. 78 ×10 -3

Line resist an ce (Ω ) 6 .1 8 2. 35 1 .9 3 4. 44 2.88 1.83 Line resist an ce (Ω ) 1.0 9 1.0 3 0 .81

Line in ductance (mH) 29 .3 14.5 10 .7 7. 93 6.4 4.72 Line in ductance (mH) 3.3 3. 43 2.59

L no b rake (mm) 116 141 1 69 124 15 1 191 L no b rake (mm) 18 9 204 219

L with brake (mm) 1 64 18 9 2 17 164 19 1 231 L with brake (mm) 263 2 78 293

19 WW W .Z S CNC. CN WW W .Z S CNC. CN 20
 Servo Syst em Servo System

M4 Series 130 Flange Servo Motors M4 Series 150 Flange Servo Motors

M odes 1 30 M4D -A10 225 □ 130 M 4D-A132 25 □ 13 0M 4D-A15225 □ 130 M4D -A20 225 □ M odes 150M 4D -A30 22 0 □ 150 M4D-B30 22 0 □ 15 0M 4D -A3822 5 □ 15 0M 4D -B3 8225 □ 150 M4D -A36 220 □ 15 0M 4D -B3 6220 □

Rated pow er (kW) 1.0 0 1. 30 1.5 0 2.0 0 Rated pow er (kW) 3.0 0 3 .00 3 .8 0 3. 80 3.60 3.6 0

Po le pair s 4 4 4 4 Po le pair s 4 4 4 4 4 4

Rate to rq ue (N .m) 4 5 6 7.7 Rate to rq ue (N.m) 15 15 15 15 18 18

M ax torque (N . m) 12 15 18 22 M ax torque (N.m ) 30 30 30 30 36 36

Rated spe ed (rpm ) 2 500 2 50 0 25 00 25 00 Rated spe ed (rpm ) 2 00 0 20 00 250 0 25 00 2000 200 0

Rated cu rrent (A) 4.0 5.0 6. 0 7.5 Rated cu rrent (A) 14 6.8 17 9 .5 17 8 .5

M ax. current (A) 12 15 18 22 .5 M ax. current (A) 42 20. 4 51 28 .5 51 2 5. 5

To rqu e constant (N . m/A) 1.0 1. 0 1.0 1.03 To rqu e constant (N. m/A) 1.0 7 2.2 0.8 8 1. 58 1.05 2 .12

Voltage co nstan t (V/kr pm) 72 68 65 68 Voltage co nstan t (V/kr pm) 70 141 59 10 6 71 1 41

Roto r iner tia (kg . m² ) no b rake 0. 85×1 0 -3 1.06×10 -3 1 .2 6×10 -3 1.5 3×10 -3 Rotor inertia (kg.m²) no brake 3. 88×1 0 -3 3. 88 ×1 0 -3 3.8 8×10 -3 3. 88 ×10 -3 4.6×10 -3 4. 6×10 -3

Roto r iner tia (kg . m² ) brake 0. 87×10 -3 1 .0 8×10 -3 1.2 8×10 -3 1.5 5×10 -3 Rotor inertia (kg.m²) brake 3. 95×1 0 -3 3 .9 5×10 -3 3. 95 ×1 0 -3 3 .9 5×10 -3 4. 67×10 -3 4.6 7×10 -3

Line resist an ce (Ω ) 2.76 1.84 1. 21 1. 01 Line resist an ce (Ω ) 0. 34 1.3 8 0.2 3 0 .8 0 .25 5 1 .02 4

Line in ductance (mH) 6. 42 4. 9 3.87 2.9 4 Line in ductance (mH) 1.5 5 6 .32 1. 08 3. 55 1.3 5 .19

L no b rake (mm) 166 171 179 1 92 L no b rake (mm) 2 30 2 30 23 0 2 30 2 48 2 48

L with brake (mm) 22 3 22 8 236 2 49 L with brake (mm) 3 03 3 03 30 3 3 03 321 3 21

M odes 130M 4D - A 15 215 □ 1 30M4D -A 26 22 5 □ 130M 4D-A 232 15 □ 13 0M 4D-A3 82 25 □ M odes 150M 4D -A4722 0 □ 150M 4D-B 4722 0 □ 15 0M 4D-A55 220 □ 150 M4D-B55 22 0 □

Rated pow er (kW) 1.5 0 2 .60 2. 30 3. 80 Rated pow er (kW) 4.70 4. 70 5.5 0 5.50

Po le pair s 4 4 4 4 Po le pair s 4 4 4 4

Rate to rq ue (N . m) 10 10 15 15 Rate to rq ue (N.m) 23 23 27 27

M ax torque (N . m) 25 25 30 30 M ax torque (N.m ) 46 46 54 54

Rated spe ed (rpm ) 1500 25 00 15 00 250 0 Rated spe ed (rpm ) 2 00 0 2 000 20 00 20 00

Rated cu rrent (A) 6. 0 10 9.5 13.5 Rated cu rrent (A) 21 12 27 14.5

M ax. current (A) 18 30 28 .5 40 .5 M ax. current (A) 63 36 81 43.5

To rqu e constant (N .m/A) 1. 67 1.0 1. 58 1.11 To rqu e constant (N. m/A) 1.0 9 1.91 1 1.86

Voltage co nstan t (V/kr pm) 103 70 11 4 67 Voltage co nstan t (V/kr pm) 72 12 6 64 127

Roto r iner tia (kg . m² ) no b rake 1. 94×10 -3 1 .9 4×10 -3 2 .77×10 -3 2.77×10 -3 Roto r iner tia (kg.m ²) no brake 5. 8×10 -3 5.8 ×10 -3 6. 8×10 -3 6. 8×10 -3

Roto r iner tia (kg . m² ) brake 2.01×1 0 -3 2 .01×10 -3 2. 84×10 -3 2. 84×10 -3 Roto r iner tia (kg.m ²) brake 5.87×1 0 -3 5. 87×10 -3 6. 87×10 -3 6. 87×10 -3

Line resist an ce (Ω ) 1. 5 0 .73 1.1 0.49 Line resist an ce (Ω ) 0. 2 0 .63 0. 125 0. 5

Line in ductance (mH) 4.3 7 2 .45 4.45 1.68 Line in ductance (mH) 1.0 6 3 .25 0. 7 2 .8

L no b rake (mm) 213 2 09 24 1 231 L no b rake (mm) 278 278 302 30 2

L with brake (mm) 29 4 2 90 32 2 312 L with brake (mm) 351 35 1 375 375

21 WW W .Z S CNC. CN WW W .Z S CNC. CN 22
 Servo Syst em Servo System

M4 Series 180 Flange Servo Motors S Series 60/80 Flange Servo Motors

M odes 180M 4D -A2721 5 □ 180 M4 D-B272 15 □ 180 M 4D-A3 021 5 □ 180 M4 D-B30 215 □ 1 80 M4D -A452 20 □ 1 80 M4D -B4 52 20 □

Rated power (kW) 2.70 2 .70 3. 00 3.0 0 4.50 4.5 0

Po le pair s 4 4 4 4 4 4

Rate to rq ue (N.m) 17.2 17.2 19 19 21.5 2 1.5

M ax torque (N.m ) 43 43 47 47 53 53

Rated spe ed (rpm ) 150 0 15 00 15 00 1500 20 00 20 00

Rated cu rrent (A) 10.5 6.5 12 7.5 16 9 .5

M ax. current (A) 31.5 19 .5 36 22 .5 48 2 8.5

To rqu e constant (N. m/A) 1.6 4 2.6 5 1 .58 2.5 1.34 2 .26

Voltage co nstan t (V/kr pm) 112 16 7 97 170 84 1 40

Rotor inertia (kg.m²) no brake 6.5×10 -3 6.5 ×1 0 -3 7.0 ×1 0 -3 7. 0×10 -3 7. 96 ×1 0 -3 7.96×10 -3

Rotor inertia (kg.m²) brake 6. 57×10 -3 6 .5 7×10 -3 7.07×1 0 -3 7.0 7×10 -3 8. 03 ×10 -3 8 .03 ×10 -3

Line resist an ce (Ω ) 0. 7 1.47 0.4 1.23 0.2 4 0 .71

Line in ductance (mH) 3. 5 7.8 2.42 7. 3 1.45 4

L no b rake (mm) 226 2 26 2 32 2 32 243 24 3

L with brake (mm) 298 2 98 3 04 304 31 5 315

M odes 60 SES-A 201 3060 □ 60 SES-A40 1306 0 □ 80SES-A75 13 06 0 □ 6 0SS-A20 1305 0 □ 6 0SS-A4 01 3050 □ 80SS-A751 3050 □
M odes 180M 4D -A432 15 □ 18 0M 4D-B 43 21 5 □ 180 M4 D-A55 21 5 □ 18 0M 4D -B5 52 15 □ 180 M4D -A752 15 □ 18 0M 4D-B752 15 □
Rated pow er (kW) 0.2 0. 4 0. 75 0. 2 0. 4 0.75
Rated power (kW) 4.3 0 4.30 5 .50 5 .50 7. 50 7. 50
Po le pair s 5 5 5 5 5 5
Po le pair s 4 4 4 4 4 4
Rate to rq ue (N.m) 0. 64 1.27 2.3 9 0 .6 4 1.27 2. 39
Rate to rq ue (N.m) 27 27 35 35 48 48
M ax torque (N.m ) 1.9 2 3.8 7.2 1. 92 3 .8 7.2
M ax torque (N.m ) 67 67 70 70 96 96
Rated spe ed (rpm ) 3000 30 00 3 000 30 00 300 0 3000
Rated spe ed (rpm ) 150 0 15 00 1500 15 00 150 0 15 00
M ax. sp eed (rp m) 600 0 60 00 6000 50 00 50 00 500 0
Rated cu rrent (A) 16 10 24 12 32 20
Rated cu rrent (A) 2 .1 3. 2 4. 8 1. 9 2 .8 4
M ax. current (A) 48 30 72 36 96 60
M ax. current (A) 6 .3 9.6 13.4 5.7 8 .4 12
To rqu e constant (N. m/A) 1.6 9 2 .7 1.45 2. 9 1. 5 2.4
To rqu e constant (N. m/A) 0 .304 0 .3 96 0. 498 0.3 36 0 .453 0.5 97
Voltage co nstan t (V/kr pm) 103 172 90 18 1 94 15 6
Voltage co nstan t (V/kr pm) 22. 0 2 7.0 35.0 2 2. 9 2 9. 3 39.8
Rotor inertia (kg.m²) no brake 9.64×1 0 -3 9. 64×10 -3 12.2 5×10 -3 12.25×1 0 -3 16.72×10 -3 16.72×10 -3
Rotor inertia (kg.m²) no brake 0 .15×10 -4 0.27×10 -4 0 .9×10 -4 0. 16 ×10 -4 0 .2 8×10 -4 1. 0×10 -4
Rotor inertia (kg.m²) brake 9.71×1 0 -3 9 .71×10 -3 12.32×1 0 -3 12.32×1 0 -3 16 .79×10 -3 16.79×10 -3
Rotor inertia (kg.m²) brake 0. 16 ×10 -4 0.28×10 -4 1.0×10 -4 0. 18 ×1 0 -4 0.3 ×10 -4 1. 1×10 -4
Line resist an ce (Ω ) 0.2 8 0 .8 0.1 4 0.6 2 0.104 0 .273
Line resist an ce (Ω ) 4. 03 2. 36 0. 93 4. 5 3. 3 1.4
Line in ductance (mH) 1.74 4.8 3 1 4 0. 77 2 .1 4
Line in ductance (mH) 9 .3 5 5.8 0 4 .2 1 2. 5 9 .61 7. 25
L no b rake (mm) 262 26 2 2 92 2 92 346 346
L no b rake (mm) 78.7 98 .7 106. 2 1 08 133 144 .5
L with brake (mm) 334 334 3 64 3 64 4 18 418
L with brake (mm) 11 6. 7 136 .7 147.2 146 1 71 18 5.5

23 WW W .Z S CNC. CN WW W .Z S CNC. CN 24
 Servo Syst em Servo System

S Series 130 Flange Servo Motors S5 Series 40/60/80 Flange Servo Motors

M odes 1 30 SD -A10 22 03 0 □ 13 0SD-A15220 30 □ 13 0SD-A2 02 2030 □ 130 SD-A 302 2030 □ M odes 40 S5S-A10 13 06 0 □ 60S5 S-A 20 13065 □ 60S5 D-A40 13 05 0 □ 60 S5D -A4 01306 5 □ 80S5 D-A7513 065 □

Rated power (kW) 1. 0 1.5 2. 0 3.0 Rated pow er (kW) 0 .1 0.2 0.4 0.4 0.75

Po le pair s 5 5 5 5 Po le pair s 5 5 5 5 5

Rated torque (N . m) 4.77 7.16 9.5 5 14. 3 Rated torque (N . m) 0.3 2 0 .64 1 .27 1 .27 2 .39

M ax. torque (N .m) 1 4.3 21 .5 2 8. 65 42.9 M ax. torque (N .m) 0 .96 2 .23 4. 46 4. 46 8 .36

Rated spe ed (rpm ) 20 00 20 00 20 00 2 00 0 Rated spe ed (rpm ) 30 00 3 00 0 3 00 0 3 00 0 3 00 0

M ax. sp eed (rp m) 30 00 300 0 3 00 0 30 00 M ax. sp eed (rp m) 60 00 6 50 0 5 00 0 6 50 0 6 50 0

Rate c ur re nt (A) 6 8. 2 10 13.8 Rate c ur re nt (A) 1 .1 1.9 2.1 3.2 5. 1

M ax. current (A) 18 24.6 3 1. 5 4 1.4 M ax. current (A) 3 .3 6.6 7. 5 11. 2 1 7. 8

To rqu e constant (N .m/A) 0.79 5 0.873 0.905 1 .0 4 To rqu e constant (N .m/A) 0 .3 06 0 .33 0. 63 5 0.4 0. 465

Voltage co nstan t (V/kr pm) 51. 2 55 61 65 Voltage co nstan t (V/kr pm) 14.8 2 1.8 3 8.4 2 2.6 2 8.8

Rotor inertia (kg.m²) no brake 4.6×1 0 -4 6.7×10 -4 8. 7×10 -4 15 .1×1 0 -4 Rotor inertia (kg.m²) no brake 0.048×10-4 0 .2 9×10-4 0 .5 6×10-4 0 .5 6×10-4 1 .5 6×10 -4

Rotor inertia (kg.m²）brake 6 .6×10 -4 8.7×10 -4 10 .7×1 0 -4 17.1×10 -4 Rotor inertia (kg.m²）brake 0 .05 1×10 -4 0 .3 1×10 -4 0 .5 8×10-4 0 .5 8×10-4 1 .6 6×10 -4

Line resist an ce (Ω ) 0 .95 5 0.7 0 .5 4 0 .3 Line resist an ce (Ω ) 12 .4 6.3 6.1 2 .64 1

Line in ductance (mH) 7.96 6.1 5.9 1 3 .43 Line in ductance (mH) 12.25 1 2.2 1 3.8 7. 9 5.8

L witho ut b rake (mm) 163 .5 181 1 98 .5 251 .5 L witho ut b rake (mm) 80 .7 73 .1 8 9.7 8 9.7 9 5.7

L with brake (mm) 197.5 215 2 32.5 285 .5 L with brake (mm) 114 .8 10 3. 6 12 0. 2 12 0. 2 13 0. 7

25 WW W .Z S CNC. CN WW W .Z S CNC. CN 26