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AC Servo System
SDA Series 100W~3.5KW
REGISTERED
CERT. NO.
REGISTERED
CERT. NO.
4A4E003
4A4Y003
INDEX
Features Model Description Product Corresponding Table Connections with Peripheral Equipment Servo Amplier Appearance and Panel Descriptions Standard Wiring Diagram Servo Amplier Specications Servo Motor Specications Servo Motor Torque Characteristic Motor Shaft Dimensions Electromagnetic Brake Specications Servo Amplier Dimensions Servo Motor Dimensions Optional Cables and Connectors 2 4 5 6 7 8 12 13 14 15 15 16 18 20
350
300
2000
250
1000
Pulse Value
200
150
-1000
100
-2000
50
0 0.19
0.2
0.21
0.22
0.23
0.26
0.27
0.28
Time (sec)
Time (msec)
CE certification
EMC IEC 61800-3 IEC 61800-4 Safety IEC 61800-5-1
Servo Motor
A A
SERVO MOTOR
Type: A Series
Inertia
Classication: M: Medium
Inertia
L : Low Inertia
Motor Capacity: 010: 100W 020: 200W 040: 400W 050: 500W 075: 750W Motor Rated Rotation Speed: R20: 2000 RPM R30: 3000 RPM 100: 1KW 150: 1.5KW 200: 2KW 350: 3.5KW
Servo Amplifier
A
Input Voltage: A2: 3-phase 220V Corresponding Motor Capacity: 010: 100W 100: 1KW 020: 200W 150: 1.5KW 040: 400W 200: 2KW 050: 500W 350: 3.5KW 075: 750W
200W
SDA020A2
400W
SDA040A2
500W
SDA050A2
750W
SDA075A2
1KW
SDA100A2
1.5KW
SDA150A2
2KW
SDA200A2
3.5KW
SDA350A2
Appearance
100W
SMAL010R30AA
200W
SMAL020R30AA
400W
SMAL040R30AA
750W
SMAL075R30AA
Appearance
500W
SMAM050R20AC
1KW
SMAM100R20AC
1.5KW
SMAM150R20AC
2KW
SMAM200R20AC
3.5KW
SMAM350R20AC
Servo motor
LED Display :
The 5-digit, 7-segment LED displays the alarm code, servo status, parameters, etc
Operation Panel :
Operation status includes setups for function, parameter, etc. MODE : Mode options : Increase value on the display panel : Decrease value on the display panel SET : Set: To set data
USB Connection :
Connect to PC and servo amplier.
Encoder Connector :
It is to connect to the encoder of servo motor.
Control Connection :
Can be connected to the external control I/O connector or to the PLC .
Heatsink :
Fix the servo amplier and heatsink the temperature.
Ground
MCCB
Servo Amplifier
MC
Regenerative Resistor
3-phase AC200V~230V
R S T L1 L2
P D C U V W PE Encoder
Servo Motor
SD
SD
CN1
VCC TC LG
CN2
+5V GND A /A B /B
Below 50m
CN1
VDD 48 COM+ 4749
Server On SON Position Command selection 1 POS1 Position Command selection 2 POS2 Position Command Trigger CTRG Reset RES Clear
Z /Z
14 15 16 17 18 19 20 21 242550
SD
CN1
33 34 35 36 37 38 LA LAR LB LBR LZ LZR
Encoder Z- Phase Pulse Differential Signal Encoder B- Phase Pulse Differential Signal Encoder A- Phase Pulse Differential Signal
CR
39
OP LG
CN1
VDD 48 COM+ 4749
Positioning Completed Zero Speed
31011
CN3
RS-232-RX RS-232-TX GND SD 30 282931 32 MON1 LG MON2 A A
INP ZSP
41 42 43 44 45
TLC RD
USB
CN4
MCCB MC
Servo Amplifier
R S T L1 L2 P D C U V W PE
Regenerative Resistor
3-phase AC200V~230V
Encoder
Servo Motor
SD
CN1
PG
Differential Pulse Command Input
9 8 5 6
CN2
+5V GND A /A B /B
Below 50m
PP NG NP
OPC PP NP SG
Open Collector Pulse Command Input
7 8 6 24
CN1
VDD 48 COM+ 4749
Server On SON
Z /Z
14 15 16 17 18 19 20 21 242550
SD
Elcctronic Gear Ratio selection 1 CM1 Proportion Control Torque Limit Selection
CN1
33 34 35 36 37 38 LA LAR LB LBR LZ LZR
Encoder Z- Phase Pulse Differential Signal Encoder B- Phase Pulse Differential Signal Encoder A- Phase Pulse Differential Signal
PC TL
39
OP LG
CN1
VDD 48 COM+ 4749
Positioning Completed
31011
CN3
RS-232-RX RS-232-TX GND SD 30 282931 32 MON1 LG MON2 A A
INP
41 42 43 44 45
USB
CN4
MCCB
Servo Amplifier
MC
Regenerative Resistor
3-phase AC200V~230V
R S T L1 L2
P D C U V W PE Encoder
Servo Motor
SD
SD
CN1
VCC TC/VC LG 1 2 3 1011
CN2
+5V GND A /A B /B
Below 50m
CN1
VDD 48 COM+ 4749
Server On SON Speed Selection 1 SP2 Forward Rotation Start ST1 Reverse Rotation Start ST2 Reset RES Speed Selection 2 SP1 Emergency Stop EMG Control Change LOP
Z /Z
14 15 16 17 18 19 20 21 242550
SD
CN1
33 34 35 36 37 38 LA LAR LB LBR LZ LZR
Encoder Z- Phase Pulse Differential Signal Encoder B- Phase Pulse Differential Signal Encoder A- Phase Pulse Differential Signal
39
OP LG
CN1
VDD 48 COM+ 4749
Speed Reached
31011
CN3
RS-232-RX RS-232-TX GND SD 30 282931 32 MON1 LG MON2 A A
SA
41 42 43 44 45
Zero Speed ZSP Electromagnetic Brake Interlock MBR Torque Limiting TLC Ready RD
USB
CN4
10
MCCB
Servo Amplifier
MC
Regenerative Resistor
3-phase AC200V~230V
R S T L1 L2
P D C U V W PE Encoder
Servo Motor
SD
SD
CN1
VCC TC/VC LG 26 27 31011
CN2
+5V GND A /A B /B
Below 50m
CN1
VDD 48 COM+ 4749
Server On SON Speed Selection 1 SP2 Reverse Rotation Selection RS2 Forward Rotation Selection RS1 Reset RES Speed Selection 2 SP1 Emergency Stop EMG Control Change LOP
Z /Z
14 15 16 17 18 19 20 21 242550
SD
CN1
33 34 35 36 37 38 LA LAR LB LBR LZ LZR
Encoder Z- Phase Pulse Differential Signal Encoder B- Phase Pulse Differential Signal Encoder A- Phase Pulse Differential Signal
39
OP LG
CN1
VDD 48 COM+ 4749
Warning WNG Zero Speed ZSP Electromagnetic Brake Interlock MBR Speed Limiting VLC Ready RD
RA1 RA2 RA3 RA1 RA4 RA5
31011
CN3
RS-232-RX RS-232-TX GND SD 30 282931 32 MON1 LG MON2 A A
41 42 43 44 45
USB
CN4
11
Servo Amplier Model SDA-A2 Recommend Servo Motor Model SMA- Motor Power Voltage / Frequency Permissible Voltage Main Circuit Fluctuation Power Permissible Frequency Fluctuation Voltage / Frequency Permissible Voltage Control Circuit Fluctuation Power Permissible Frequency Fluctuation Power Consumption (W) Control Method Dynamic Brake Protective Functions Encoder Feedback Communication Interface Maximum Output Pulse Frequency Pulse Command Command Type Commend Smoothing Position Control Command Pulse Multiplying Mode factor In-Position range setting Error Excessive Torque Limit Feedforward Compensation Speed Control Range Command Type Commend Smoothing Analog Speed Command Speed Control Input Mode Speed Fluctuation Rate Torque Limit Bandwidth Command Type Commend Smoothing Analog Torque Command Input Speed Limit Digital Input Digital Output Analog Input Analog Output Temperature Environment Weight (Kg)
12
010 020 040 050 075 100 150 200 350 L010 L020 L040 M050 L075 M100 M150 M200 M350 100W 200W 400W 500W 750W 1KW 1.5KW 2KW 3.5KW
3-phase 200230VAC 50/60Hz or 1-phase 230VAC 50/60Hz 3-phase 170230VAC 50/60Hz or 1-phase 207253VAC 50/60Hz Maximum + 5% 1-phase 200230VAC 50/60Hz 1-phase 170253VAC 50/60Hz Maximum + 5% 30 3-phase full wave rectify, IGBT-PWM controlled (SVPWM drive) Built-in Overcurrent, regenerative overvoltage, overload protection, fan failure protection, output short circuit protection, encoder error protection, abnormal regeneration protection, low voltage / instantaneous power failure protection, overspeed protection, excessive error protection 2500ppr (10000 resolution) increment encoder RS232/RS485(MODBUS), USB 500kpps (Line Driver), 200kpps (Open Collector) CCW Pulse train +CW Pulse train Pulse train + SymbolsA-, B-phase pulse train External pulse control / Internal register setup Low-pass lter / Linear / S curve Electronic gear A/B ratio A132767, B132767, 1/50 < A/B < 200 010000pulses 3 rotations Internal parameter setup or external analog Input setup (0+10VDC/Maximum torque) Internal parameter setup 0200% Analogue speed command 1:2000; Internal speed command 1:5000 External analog voltage input / Internal register setup Low-pass lter / Linear acceleration and deceleration curve / S curve 010VDC/Rated speed (input impedance: 1012k) Load uctuation 0100%: 10% (maximum); power uctuation 10%: 0.5% (maximum); Ambient temperature 0~55: 0.5% (maximum) Analog speed command Internal parameter setup or external analog Input setup (0+10VDC/Maximum torque) Maximum 490Hz External analog voltage input Low-pass lter 010VDC/Maximum torque (input impedance: 1012k) Internal parameter setup or external analog Input setup (0+10VDC/Maximum speed) Servo on, forward and backward inhibit limits, pulse error clear, torque direction selection, speed command selection, positioning command selection, forward and backward rotation direction selection, proportion control switching, torque limit switching, abnormal alarm reset, emergency stop, control mode switching, electric gear ratio selection, gain switching Torque limit reached, speed limit reached, servo ready, zero speed reached, position reached, speed reached, alarm signal, Homing completed Analog speed command / limit, analog torque command / limit Command pulse frequency, pulse error, current command, DC bus voltage, serve motor speed, torque value Natural cooling, open (IP20) Fan cooling, open (IP20) 0 ~ 55 (Force air circulation in the surrounding area if the temperature goes beyond 45 ); Storage: -2065 (non freezing) Maximum 90% RH (non condensing); Storage: Below 90% RH (non condensing) Indoor (avoid direct sun light); no corrosive gas, no ammable gas, no oil mist or dust Between sea level and 1000 m Maximum 5.9 m/s2 1.3 1.6 2.4 3-phase 200230VAC 50/60Hz 3-phase 170253VAC 50/60Hz
Cooling Method
Servo Motor Series SMA- Power facility capacity (kVA) Rated output (W) Rated torque (Nm) Maximum torque (Nm) Rated speed (r/min) Maximum speed (r/min) Permissible instantaneous Speed (r/min) Rated power ratio (kW/s) Rated current (A) Maximum current (A) Momnent of Inertia J (x10-4kgm2) ( ) is with electromagnetic brake motor. Insulation class Speed and Position Detector Enclosure (IP) Working temperat ure Storage humidity Environment Storage temperat ure Storage humidity Vibration class Vibration Resistance Altitude Weight (Kg) ( ) is with electromagnetic braker. Safety Certication
Note 1: The shaft-through portion is excluded
Low Inertia L010 0.3 100 0.32 0.96 L020 0.5 200 0.64 1.92 3000 4500 5175 18.29 0.9 2.7 19.69 1.4 4.2 46.08 2.4 7.2 47.21 4.9 14.7 8.6 3.0 9 L040 0.9 400 1.27 3.81 L075 1.3 750 2.4 7.2 M050 1.0 0.5K 2.39 7.16
Medium Inertia M100 1.7 1K 4.78 14.4 M150 2.5 1.5K 7.16 21.6 2000 3000 3450 18.2 5.8 17.4 12.56 (14.54) 27.7 8.5 25.5 18.52 (20.61) 23.5 10 30 38.8 ( 49.2 ) 2500 2850 37.3 16 48 74.8 ( 85.2 ) M200 3.5 2.0K 9.55 28.5 M350 5.5 3.5K 16.7 50.1
0.055 0.204 0.335 1.203 6.59 ( 0.058 ) ( 0.224 ) ( 0.355 ) ( 1.245 ) ( 8.55 ) F 2500ppr 65 (Note 1) 040
Under 80%Rh (non freezing) -1570 Under 90%Rh (non freezing) V-15 x, y : 49 m/s2 1,000 m 0.55 (0.75) 1.01 (1.44) 1.46 (1.89) 2.89 (3.63) 4.8 (6.6) 6.9 (8.7) 9.0 (10.8) 11.6 (16.9) 17.7 (23.0) x, y : 24.5 m/s2
13
SMA-L010
Torque VS Speed
SMA-L020
Torque VS Speed
SMA-L040
Torque VS Speed
Tor que ( N- m)
Tor que ( N- m)
Tor que ( N- m)
Speed ( rpm)
Speed ( rpm)
Speed ( rpm)
SMA-L075
Torque VS Speed
SMA-M050
Torque VS Speed
SMA-M100
Torque VS Speed
Tor que ( N- m)
Tor que ( N- m)
Tor que ( N- m)
Speed ( rpm)
Speed ( rpm)
Speed ( rpm)
SMA-M150
SMA-M200
Torque VS Speed
SMA-M350
Torque VS Speed
Torque VS Speed
Tor que ( N- m)
Tor que ( N- m)
Tor que ( N- m)
Speed ( rpm)
Speed ( rpm)
Speed ( rpm)
14
Key way
Motor models
SMA-L020(B)\L040(B) SMA-L075(B) SMA-M050(B)\M100(B)\M150(B) SMA-M200(B)\M350(B)
S
14h6 19h6 24h6 35h6
R
30 40 55 78
Q
27 37 52 75
Dimensions QK QL W
20 25 35 55 3 5 5 5 5 6 8 10 0 -0.03 0 -0.03 0 -0.036 0 -0.036
U
3 3.5 4 5
Y
M4 Depth 15 M5 Depth 20 M8 Depth 20 M8 Depth 20
-cut
Motor models
SMA-L010(B)
S
8h6
X
1
Dimensions R
25
Q
22.5
QK
20.5
Motor models
Electromagnetic brake types Rated voltage (V) Power consumption (W) Static fraction torque (Nm)
Note : The electromagnetic brake is used only for safety maintenance. Use it only when the motor is OFF. Do not use it as a motor deceleration brake.
15
SDA-010A2SDA-020A2SDA-040A2SDA-050A2 (100W~500W)
Unit : [mm]
60
6 mounting hole
(80)
170
168 160
156 6
SDA-075A2SDA-100A2 (750W1KW)
75 6
6mounting hole
(80)
185
168
160
16
SDA-150A2SDA-200A2SDA-350A2 (1.5KW~3.5KW)
Unit : [mm]
95
6 mounting hole
168 160
156
(80)
195
17
SMA-L010(B)
Unitmm
SMA-L020(B)SMA-L040(B)
Model
SMA-L020(B) SMA-L040(B)
L
106.3(140.3) 131.8(165.8)
Power supply connector Power supply connector (Brake Models)
L
Unitmm
SMA-L075(B)
Unitmm
18
SMA-M050(B)SMA-M100(B)SMA-M150(B)
Model
SMA-M050(B) SMA-M100(B) SMA-M150(B)
L
124(158) 150(184) 176(210)
LA
52.1 78.1 104.1
Unitmm
SMA-M200(B)SMA-M350(B)
Model
SMA-M200(B) SMA-M350(B)
L
149(199) 189(239)
LA
71.4 111.4
Unitmm
19
Name
Serial
SDA-ENLCBLM-L The length of the cable inside 2, 5, 10 . . . m ( Note 1)
Content
SDA-ENLCBLM-H The length of the cable inside 2, 5, 10 . . . m ( Note 1) SDA-ENCNL Connector set
SDA-ENLCBLM-H The length of the cable inside 2, 5, 10 . . . m ( Note 1) SMA-M Encoder for medium inertia motors Cable / Connector Set SDA-ENLCBLM-H The length of the cable inside 2, 5, 10 . . . m ( Note 1) SDA-ENCNM Connector set
I/O Connector
SDA-CN1
CN1
Terminal blocks and a wire set
SDA-TB50
SDA-TBLM
CN4 CN3
USB communication line RS232/RS485 Communication line SMA-L Low Inertia Motor SMA-L Low Inertia Motor (with an electromagnetic brake) SMA-M Medium Inertia Motor (500W1KW1.5KW) SMA-M Medium Inertia Motor (For 2KW3.5KW)
SDA-USB3M
SDA-RJ45-3M
SDA-PWCNL1
Power Connector
SDA-PWCNL2
SDA-PWCNM1
SDA-PWCNM2
20
Temperature Controller
Inverter
Area Distributor
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