Servo Motor series

Medium inertia, flange size 110mm

Model

SMH110D-0126-20AAK-4LKC 

DC link voltage UDC

300

Continuous
performance

Rated power PN (W)

1260

Rated torque TN (Nm)

6

Rated speed nN (rpm)

2000

Rated current IN (A)

6.2

Maximum torque Tm (Nm)

18

Maximum current Im (A)

18.6

Standstill torque   TS (Nm)

6.6

Standstill current   IS (A)

6.765

Resistance line-line   RL (Ω)

1.258

Inductance line-line   LL (mH)

9.62

Electrical time constant τe (ms)

7.64

Mechanical time constant τm (ms)

1.65

Reverse voltage constant Ke (V/krpm)

64

Torque constant   Kt (Nm/A)

1.058

Rotor moment of inertia Jm (Kg·cm²)

8.5

Pole pair number

4

Maximum voltage rising du/dt (KV/μs)

8

Insulation class

F

Maximum radial force    F (N)

630

Maximum axial force     F (N)

315

Weight   G(Kg)

8.2

Length of motor   L(mm)

202

Position feedback device

Incremental encoder 2500ppr

Cooling method

Totally enclosed, non-ventilated

Protection level

IP65 for body, shaft sealing IP54

Environmental
conditions for 
operation

Temperature

-20centigrade degree~40centigrade degree

Humidity

Below 90% RH (No condensing)

Ambient enviroment

Away from active gas, combustible gas, oil drops and dust

Altitude

Maximum altitude 4000m, Rated power at 1000m or below, Above 1000m: Decreasing 1.5% per 100m rise

Model parameter

CD432-AA-000

Power

Main supply voltage

1 phase or 3-phase AC220V -20/+15% 47~63Hz

Control circuit voltage

18VDC~30VDC 1A

Current

Rated current(RMS)

10A

Peak current(PEAK)

27.5A

Feedback signal

2500PPR (incremental encoder with 5V supply)

Brake chopper

Use an external braking resistor according to application, mainly in occasion of quick stop.

Brake chopper threshold

DC380V±5V

Over-voltage alarming threshold

DC400V±5V

Under-voltage alarming threshold

DC200V±5V

Cooling method

Fan

Weight

2.4kg

Position
Mode

Max. frequency of input pulse

Differential signal: 500KPPS, Open-collector signal: 200KPPS

Pulse command mode

Pulse+direction, CCW+CW, A+B phase (5V-24V)

Command smoothing

Low-pass filtering(Internal parameters)

Feedforward gain

Internal parameters

Electronic gear ratio

Setting range, Gear factor: -32768~32767, Gear divider: 1~32767, 1/50≤|Gear factor/Gear divider|≤50

Position loop sampling frequency

1KHz

Speed
Mode

Analog input voltage range

-10 ~+10V(Resolution 12bit)

Input impedance

200K

Analog input sampling frequency

4KHz

Command source

External analog command/internal command

Command smoothing

Low-pass filtering(Internal parameters)

Input voltage dead-zone setting

Internal parameters

Input voltage offset setting

Internal parameters

Speed limit

Internal parameters

Torque limit

Internal parameters / External analog command control

Speed loop sampling frequency

4KHz

Torque
Mode

Analog voltage input range

-10 ~+10V (Resolution 12bit)

Input impedance

200K

Input sampling frequency

4KHz

Command source

External analog command/internal command

Command smoothing

Low-pass filtering(Internal parameters)

Speed limit

Internal parameters /External analog command control

Input voltage dead-zone setting

Internal parameters

Input voltage offset setting

Internal parameters

Current sampling frequency

16KHz

Digital
Input

Input specification

7 digital inputs, with COMI terminal for PNP (high level valid 12.5-30V)or NPN (low level valid) connection.

Input function

Define freely according to requirement, supporting following functions: Driver enable, driver fault reset, driver mode control, proportional control, positive limit, negative limit, homing signal, reverse command, internal speed section control, internal positive section control, quick stop, start homing, active command, switch electronic gear ratio, switch gain

Digital
Onput

Output specification

5 digital outputs,OUT1 - OUT4 current is 100mA, BR+/BR- (Brake control output ) current is 500mA, can drive brake device directly

Output function

Define freely according to requirement, supporting following functions: Driver ready, driver fault, position reached, motor at zero speed, motor brake, motor speed reached, N signal, maximum speed obtained in torque mode, motor brake, position limiting, reference found, multi-position reached

Protection functions

Over-voltage protection, under-voltage protection, motor over-heat protection(I²T),short-circuit protection, drive over-heat protection,etc.

Communication interface

RS232 (Connections with PC: 2-2, 3-3, 5-5)

Operation
Environment

Operating temperature

0 - 40centigrade degree

Storage temperature

-10centigrade degree - 70centigrade degree

Humidity(non-condensing)

Below 90%RH

Protection class

IP20

Installation environment

Installed in a dust-free, dry and lockable environment(such as in a electrical cabinet)

Installation mode

Vertical installation

Height

No power limitation below 1000m

Atmospheric pressure

86kpa~106kpa