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AC Servo System
SDA Series 100W~3.5KW

ISO 14001 ISO 9001


BSMI BSMI

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

Shihlin AC Servo Systems

High speed and high-accuracy


High speed frequency response amplifiers (490Hz) and high command settling time (less than 1.0ms). At no load situation, when the motor speed is between 3000rpm to -3000rpm, the accelerate time is 6.9ms.
Settling Time Test
400
4000

SDA-L040 rotor speed from 3000rpm to -3000rpm under no-load response


X: 96.4 Y: 3000 3000

350

Command Pulse Frequency Pulse Error

Feedback Rotor Speed

300

2000

250

Rotor speed (rpm)


X: 0.2588 Y: 5

1000

Pulse Value

200

150

-1000

100

-2000

50

-3000 X: 103.2 -4000 70 Y: -3025 80 90 100 110 120 130 140

0 0.19

0.2

0.21

0.22

0.23

0.24 0.25 X: 0.2488 Y: 0

0.26

0.27

0.28

Time (sec)

Time (msec)

Test example of 400W

Multiple control modes for various applications


Position control mode, speed control mode, torque control mode, and single-axis position control mode. Different control modes could be set as hybrid mode via switching I/O.

Built-in single-axis control mode


Build-in linear and S curve acceleration/deceleration parameters. Build-in linear and S curve acceleration/deceleration parameters. Various home position return modes.

Modbus communication and USB interface


Support Modbus communication protocol. Support USB communication. RS232/RS485 interface. Support baud rate from 4800 to 115200 bps.

Highly potent servo software


A variety of functions are available for the customers. Status monitoring. Parameter data reading and writing; file reading and saving, output printing. Digital I/O monitoring and internal digital input controlling. Jog testing and position testing. Automatic inertia estimation and gain calculation. FFT resonance sweep function. Oscilloscope long-term status capturing function.

Auto tuning function


There is an automatic on-line control theory to achieve a stable control.

Mechanical resonance filter setup


The user can set up two mechanical resonance points to suppress mechanical vibration.

CE certification
EMC IEC 61800-3 IEC 61800-4 Safety IEC 61800-5-1

Shihlin AC Servo Systems

Servo Motor

A A

SERVO MOTOR

Shaft type: No note: normal K: keyway


Motor type: A: No brake, no oil seal B: With brake but no oil seal C: No brake, with oil seal D: With brake and oil seal
With brake but no With brake and oil

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

Encoder Resolution: A: 2500 PPR (Incremental)

Servo Amplifier
A

SERVO DRIVER Type: A Series

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

Servo Amplier Capacit 100W Model


SDA010A2

200W
SDA020A2

400W
SDA040A2

500W
SDA050A2

750W
SDA075A2

1KW
SDA100A2

1.5KW
SDA150A2

2KW
SDA200A2

3.5KW
SDA350A2

Appearance

Servo Motor Capacit Low Inertia Model

100W
SMAL010R30AA

200W
SMAL020R30AA

400W
SMAL040R30AA

750W
SMAL075R30AA

Appearance

Capacit Model Medium Inertia Appearance

500W
SMAM050R20AC

1KW
SMAM100R20AC

1.5KW
SMAM150R20AC

2KW
SMAM200R20AC

3.5KW
SMAM350R20AC

Shihlin AC Servo Systems

Power Supply: 3 phase 200V to 230V


The external regenerative resistor is connected to the P and C terminals. The P and D terminals are the open circuits. P C

CN4 USB Communication connection

CN3 RS-232 RS-485 Communication connection CN2 Encoder connection

Magnetic Contactor CN1 I/O connection ; connected to Host controller

Servo motor

Power Indicator Light:


If the light is on, it indicates that the servo amplier still has a high voltage.

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

Internal/External Regenerative Resistor :


a) When using the external regenerative resistor, connect P and C terminals to the resistor, and make P and D the open circuits. b) When using the internal regenerative resistor, make P and C terminals the open circuits, and make P and D terminals the short circuits.

USB Connection :
Connect to PC and servo amplier.

RS-232 / RS-485 Connection :


Connect to PC and servo amplier

Main Circuit Power :


Connect R, S, and T to commercial electrical power of AC 200 230V and 50/ 60Hz.

Encoder Connector :
It is to connect to the encoder of servo motor.

Control Circuit Power :


L 1 and L 2 for single -phase AC 200 230V , 50/60 Hz Power Supply

Control Connection :
Can be connected to the external control I/O connector or to the PLC .

Servo Motor Output :


Connect to U, V , and W ports of the motor power. C annot be connected to the main circuit power. Wrong connection can cause servo amplier damages.

Heatsink :
Fix the servo amplier and heatsink the temperature.

Ground

Shihlin AC Servo Systems

Built-in single-axis position control (PR)

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

DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 SG

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

Emergency Stop EMG Control Change LOP

39

OP LG

CN1
VDD 48 COM+ 4749
Positioning Completed Zero Speed

Encoder Z- Phase Pulse Open Collector Signal

31011

CN3
RS-232-RX RS-232-TX GND SD 30 282931 32 MON1 LG MON2 A A

INP ZSP

RA1 RA2 RA3 RA1 RA4 RA5

DO1 DO2 DO3 DO4 DO5

41 42 43 44 45

Internal Position Command CMDOK Torque Limiting Ready

TLC RD

USB

CN4

Position control (PT)

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

DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 10m SG

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

Reset RES Clear CR Emergency Stop EMG Control Change LOP

39

OP LG

CN1
VDD 48 COM+ 4749
Positioning Completed

Encoder Z- Phase Pulse Open Collector Signal

31011

CN3
RS-232-RX RS-232-TX GND SD 30 282931 32 MON1 LG MON2 A A

INP

RA1 RA2 RA3 RA1 RA4 RA5

DO1 DO2 DO3 DO4 DO5

41 42 43 44 45

Zero Speed ZSP Warning WNG Torque Limiting TLC Ready RD

USB

CN4

Shihlin AC Servo Systems

Speed control (S)

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

DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 SG

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

Encoder Z- Phase Pulse Open Collector Signal

31011

CN3
RS-232-RX RS-232-TX GND SD 30 282931 32 MON1 LG MON2 A A

SA

RA1 RA2 RA3 RA1 RA4 RA5

DO1 DO2 DO3 DO4 DO5

41 42 43 44 45

Zero Speed ZSP Electromagnetic Brake Interlock MBR Torque Limiting TLC Ready RD

USB

CN4

10

Torque control (T)

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

DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 SG

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

Encoder Z- Phase Pulse Open Collector Signal

31011

CN3
RS-232-RX RS-232-TX GND SD 30 282931 32 MON1 LG MON2 A A

DO1 DO2 DO3 DO4 DO5

41 42 43 44 45

USB

CN4

11

Shihlin AC Servo Systems

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

Torque Limitation Mode

Input and Output Signals

Cooling Method

Humidity Installation Location Altitude Vibration

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

Shihlin AC Servo Systems

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)



Peak running range




Peak running range


  

Peak running range



Continuous running range


     

Continuous running range


      

Continuous running range


     

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)

Peak running range

   

Peak running range

  

Peak running range

Continuous running range


     

Continuous running range


      

Continuous running range


       

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)

      

Continuous running range


       

Continuous running range


    

Tor que ( N- m)

Peak running range



Peak running range

Peak running range

Continuous running range


    

Speed ( rpm)

Speed ( rpm)

Speed ( rpm)

For 3-phase 220VAC.

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)

SMA L010B L020B/L040B L075B M050B/M100B/M150B M200B/M350B


Spring-action safety brake DC 24V 0-10 % 6.3 0.3 7.9 1.3 8.6 2.4 19.3 8.5 34 45

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

Shihlin AC Servo Systems

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

156 6 Fan (airflow direction)

16

SDA-150A2SDA-200A2SDA-350A2 (1.5KW~3.5KW)
Unit : [mm]

95
6 mounting hole

168 160

156

(80)

195

6 Fan (airflow direction)

17

Shihlin AC Servo Systems

SMA-L010(B)

Power supply Power supply connector connector (Brake Models)

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)

Power supply connector

Power supply connector (Brake Models)

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

Power supply connector


LA

Unitmm

SMA-M200(B)SMA-M350(B)

Model
SMA-M200(B) SMA-M350(B)

L
149(199) 189(239)

LA
71.4 111.4

Power supply connector


LA

Unitmm

19

Shihlin AC Servo Systems

Name

Serial
SDA-ENLCBLM-L The length of the cable inside 2, 5, 10 . . . m ( Note 1)

Content

SMA-L Encoder for low inertia motors Cable / Connector Set

SDA-ENLCBLM-H The length of the cable inside 2, 5, 10 . . . m ( Note 1) SDA-ENCNL Connector set

CN2: Select One only

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

Note 1: L and H indicate bending life. L: standard, H: long bending life

20

Shihlin Electric Factory Automation Products

Human Machine Interface

Temperature Controller

Servo motor and drive

Inverter

Shihlin Electric & Engineering Corporation


Head Office: 16F, No. 88, Sec. 6, ChungShan N. Rd.., Taipei, Taiwan, 111 TEL:+886-2-2834-2662 FAX:+886-2-2836-6187 HsinFun Factory (Taiwan): No.234, Chung Lun, Hsin Fun, HsinChu, Taiwan, 304 TEL:+886-3-599-5111 FAX:+886-3-5907173 SuZhou Factory(China): No.22, HuoJu Rd., SuZhou Tech. District, JiangSu, China. 215009 TEL:+86-512-6843-2662 FAX: +86-512-6843-2669

Area Distributor

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