Completely free from the Concern of Loss of Position (Alarm Feneration when Step-Out) Perfect Positiooning and Completion (Positioning Completion

Transcription

1 Completely free from the Concern of Loss of Position (Alarm Feneration when Step-Out) Perfect Positiooning and Completion (Positioning Completion Signal Generation) Don t Care what the Phase of Motor is (Position Accuracy only Related to Endocer Resolution) Reduce the Motor Temperature and Energy Usage (Current Control According to load) Torque Improvement by Run Current Control (Max. 15% Current Control)

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3 2 Perfect Positioning Completion Check (Positioning completion signal will be generated) When motor stops at the goal position, encoder detect it and send positioning completion signal to upper controller. Therefore S-SERVOⅡ resolve the problem of unclear positioning of current Open Loop System. 3 High Position Accuracy S-SERVOⅡ controls position by using high precision of encoder. Regardless of motor type (2 Phase or 5 Phase), S-SERVOⅡ position precision is only related to mounted encoder resolution so high precision of positioning is possible unlike open loop micro step motor and driver which adapts 2 Phase or 5 Phase motor. Heat Reduction / Energy Saving (Motor Current Control according to load) S-SERVOⅡ automatically controls motor current according to load. S-SERVOⅡ reduces motor current when motor load is low, and increases motor current when load is high. By optimizing the motor current, motor heat can be minimized and energy can be saved No Step Out (Alarm will be generated when step out) Because of mounted encoder constantly monitor the current position, step out cannot be occurred. If step out occurred by external force of overloads, alarm signal will be sent to upper controller. Thus, upper controller can recognize step out of step motor.

4 5 Torque Improvement S-SERVOⅡ can increase the motor current up to 15% by setting the Run Current by parameter. Therefore, acceleration and deceleration characteristics and torque characteristics at low speed can be increased. S-SERVOⅡ can improve the torque in the low speed range by about 3%. Torque [N. m] 8 (Motor Current Setting) 7 High Torque Compared with common step motors and drives, S-SERVOⅡ motion control systems can maintain a high torque state over relatively long period of time. This means that S-SERVOⅡ continuously operates without loss of position under 1% of the load. Unlike conventional Microstep drives, S-SERVOⅡ exploits continuous high torque operation during high speed motion due to its innovative optimum current phase control Speed [rpm] 1 The torque at low speed is improved about 3%. Measured Condition : Drive = S-SERVOⅡ-ST-42L Motor Voltage = 24VDC Input Voltage = 24VDC 6 No Hunting 8 Variety of Protection Functions 4 Traditional servo motor drives overshoot their position and try to correct by overshooting the opposite direction, especially in high gain applications. This is called null hunt and is especially prevalent in systems that the break away or static friction is significantly higher than the running friction. The cure is lowering the gain, which affects accuracy or using S-SERVOⅡ Motion Control System. S-SERVOⅡ utilizes the unique characteristics of stepping motors and locks itself into the desired target position, eliminating Null Hunt. This feature is especially useful in applications such as nanotech manufacturing, semiconductor fabrication, vision systems and ink jet printing in which system oscillation and vibration could be a problem. Drive and equipment can be protected by the alarm (11 kinds) of such as motor connection error, encoder connection error etc. 9 Variety of Position Command Unit According to the purpose of usage, S-SERVOⅡ offer 16 stage (5~5,P/R) of position command unit.

5 S-SERVOⅡ ST Part ing Standard Combination S-SERVOⅡ-ST-56L-A-BK-PN5- S-SERVOⅡ ST Product Name Drive Series Type ST : Stand Alone MI : MINI Type 2X : 2 axes 3X : 3 axes Motor Flange Size 2 : 2mm 28 : 28mm 35 : 35mm 42 : 42mm 56 : 56mm 6 : 6mm Motor Length S : Small M : Medium L : Large XL : Extra Large Encoder Resolution A : 1,[ppr] D : 16,[ppr] F : 4,[ppr] Brake Blank : Without Brake BK : Brake Reduction Gear Ratio Blank - Without Gear PN3-1:3 PN5-1:5 PN8-1:8 PN1-1:1 PN15-1:15 PN25-1:25 PN4-1:4 PN5-1:5 User Code S-SERVOⅡ 2X, S-SERVOⅡ 3X product needs 2 or 3 sets of motors for one drive. Combination of drive and motors can be diversifed so please contact with sales division or distributor of FASTECH before purchasing product. Unit Part Motor Model Drive Model S-SERVOⅡ-ST-2M-F SM-2M-F SV2-PD-2M-F S-SERVOⅡ-ST-2L-F SM-2L-F SV2-PD-2L-F S-SERVOⅡ-ST-28S-F SM-28S-F SV2-PD-28S-F S-SERVOⅡ-ST-28S-D SM-28S-D SV2-PD-28S-D S-SERVOⅡ-ST-28SM-D SM-28SM-D SV2-PD-28SM-D S-SERVOⅡ-ST-28M-F SM-28M-F SV2-PD-28M-F S-SERVOⅡ-ST-28M-D SM-28M-D SV2-PD-28M-D S-SERVOⅡ-ST-28MM-D SM-28MM-D SV2-PD-28MM-D S-SERVOⅡ-ST-28L-F SM-28L-F SV2-PD-28L-F S-SERVOⅡ-ST-28L-D SM-28L-D SV2-PD-28L-D S-SERVOⅡ-ST-28LM-D SM-28LM-D SV2-PD-28LM-D S-SERVOⅡ-ST-35M-F SM-35M-F SV2-PD-35M-F S-SERVOⅡ-ST-35M-D SM-35M-D SV2-PD-35M-D S-SERVOⅡ-ST-35L-F SM-35L-F SV2-PD-35L-F S-SERVOⅡ-ST-35L-D SM-35L-D SV2-PD-35L-D S-SERVOⅡ-ST-42S-A SM-42S-A SV2-PD-42S-A S-SERVOⅡ-ST-42S-F SM-42S-F SV2-PD-42S-F S-SERVOⅡ-ST-42M-A SM-42M-A SV2-PD-42M-A S-SERVOⅡ-ST-42M-F SM-42M-F SV2-PD-42M-F S-SERVOⅡ-ST-42L-A SM-42L-A SV2-PD-42L-A S-SERVOⅡ-ST-42L-F SM-42L-F SV2-PD-42L-F S-SERVOⅡ-ST-42XL-A SM-42XL-A SV2-PD-42XL-A S-SERVOⅡ-ST-42XL-F SM-42XL-F SV2-PD-42XL-F S-SERVOⅡ-ST-56S-A SM-56S-A SV2-PD-56S-A S-SERVOⅡ-ST-56S-F SM-56S-F SV2-PD-56S-F S-SERVOⅡ-ST-56M-A SM-56M-A SV2-PD-56M-A S-SERVOⅡ-ST-56M-F SM-56M-F SV2-PD-56M-F S-SERVOⅡ-ST-56L-A SM-56L-A SV2-PD-56L-A S-SERVOⅡ-ST-56L-F SM-56L-F SV2-PD-56L-F S-SERVOⅡ-ST-6S-A SM-6S-A SV2-PD-6S-A S-SERVOⅡ-ST-6S-F SM-6S-F SV2-PD-6S-F S-SERVOⅡ-ST-6M-A SM-6M-A SV2-PD-6M-A S-SERVOⅡ-ST-6M-F SM-6M-F SV2-PD-6M-F S-SERVOⅡ-ST-6L-A SM-6L-A SV2-PD-6L-A S-SERVOⅡ-ST-6L-F SM-6L-F SV2-PD-6L-F * When places an order for Stopper type 28mm motor, please write M additionally after motor length of unit part number. (Ex: S-SERVOⅡ-ST-28LM-D) S-SERVOⅡ MINI Unit Part Motor Model Drive Model S-SERVOⅡ-MI-2M-F SM-2M-F SV2-PD-MI-2M-F S-SERVOⅡ-MI-2L-F SM-2L-F SV2-PD-MI-2L-F S-SERVOⅡ-MI-28S-F SM-28S-F SV2-PD-MI-28S-F S-SERVOⅡ-MI-28S-D SM-28S-D SV2-PD-MI-28S-D S-SERVOⅡ-MI-28SM-D SM-28SM-D SV2-PD-MI-28SM-D S-SERVOⅡ-MI-28M-F SM-28M-F SV2-PD-MI-28M-F S-SERVOⅡ-MI-28M-D SM-28M-D SV2-PD-MI-28M-D S-SERVOⅡ-MI-28MM-D SM-28MM-D SV2-PD-MI-28MM-D S-SERVOⅡ-MI-28L-F SM-28L-F SV2-PD-MI-28L-F S-SERVOⅡ-MI-28L-D SM-28L-D SV2-PD-MI-28L-D S-SERVOⅡ-MI-28LM-D SM-28LM-D SV2-PD-MI-28LM-D S-SERVOⅡ-MI-35M-F SM-35M-F SV2-PD-MI-35M-F S-SERVOⅡ-MI-35M-D SM-35M-D SV2-PD-MI-35M-D S-SERVOⅡ-MI-35L-F SM-35L-F SV2-PD-MI-35L-F S-SERVOⅡ-MI-35L-D SM-35L-D SV2-PD-MI-35L-D S-SERVOⅡ-MI-42S-A SM-42S-A SV2-PD-MI-42S-A S-SERVOⅡ-MI-42S-F SM-42S-F SV2-PD-MI-42S-F S-SERVOⅡ-MI-42M-A SM-42M-A SV2-PD-MI-42M-A S-SERVOⅡ-MI-42M-F SM-42M-F SV2-PD-MI-42M-F S-SERVOⅡ-MI-42L-A SM-42L-A SV2-PD-MI-42L-A S-SERVOⅡ-MI-42L-F SM-42L-F SV2-PD-MI-42L-F S-SERVOⅡ-MI-42XL-A SM-42XL-A SV2-PD-MI-42XL-A S-SERVOⅡ-MI-42XL-F SM-42XL-F SV2-PD-MI-42XL-F 5 * When places an order for Stopper type 28mm motor, please write M additionally after motor length of unit part number. (Ex: S-SERVOⅡ-MI-28LM-D)

6 Standard Combination S-SERVOⅡ 2X S-SERVOⅡ 3X S-SERVOⅡ-2X Unit Part Motor Model SM-2M-F SM-2L-F SM-28S-F SM-28S-D SM-28SM-D SM-28M-F SM-28M-D SM-28MM-D SM-28L-F SM-28L-D SM-28LM-D SM-35M-F SM-35M-D SM-35L-F SM-35L-D SM-42S-A SM-42S-F SM-42M-A SM-42M-F SM-42L-A SM-42L-F SM-42XL-A SM-42XL-F SM-56S-A SM-56S-F SM-56M-A SM-56M-F SM-56L-A SM-56L-F SM-6S-A SM-6S-F SM-6M-A SM-6M-F SM-6L-A SM-6L-F Drive Model SV2-PD-2X * When places an order for Stopper type 28mm motor, please write M additionally after motor length of unit part number. (Ex: S-SERVOⅡ-2X-28LM-D) S-SERVOⅡ-3X Unit Part Motor Model SM-2M-F SM-2L-F SM-28S-F SM-28S-D SM-28SM-D SM-28M-F SM-28M-D SM-28MM-D SM-28L-F SM-28L-D SM-28LM-D SM-35M-F SM-35M-D SM-35L-F SM-35L-D SM-42S-A SM-42S-F SM-42M-A SM-42M-F SM-42L-A SM-42L-F SM-42XL-A SM-42XL-F SM-56S-A SM-56S-F SM-56M-A SM-56M-F SM-56L-A SM-56L-F SM-6S-A SM-6S-F SM-6M-A SM-6M-F SM-6L-A SM-6L-F Drive Model SV2-PD-3X * When places an order for Stopper type 28mm motor, please write M additionally after motor length of unit part number. (Ex: S-SERVOⅡ-3X-28LM-D) 6

7 Combination with Brake S-SERVOⅡ ST Combination with Gearbox S-SERVOⅡ ST Unit Part Motor Model Drive Model S-SERVOⅡ-ST-42S-A-BK SM-42S-A-BK SV2-PD-42S-A S-SERVOⅡ-ST-42S-F-BK SM-42S-F-BK SV2-PD-42S-F S-SERVOⅡ-ST-42M-A-BK SM-42M-A-BK SV2-PD-42M-A S-SERVOⅡ-ST-42M-F-BK SM-42M-F-BK SV2-PD-42M-F S-SERVOⅡ-ST-42L-A-BK SM-42L-A-BK SV2-PD-42L-A S-SERVOⅡ-ST-42L-F-BK SM-42L-F-BK SV2-PD-42L-F S-SERVOⅡ-ST-42XL-A-BK SM-42XL-A-BK SV2-PD-42XL-A S-SERVOⅡ-ST-42XL-F-BK SM-42XL-F-BK SV2-PD-42XL-F S-SERVOⅡ-ST-56S-A-BK SM-56S-A-BK SV2-PD-56S-A S-SERVOⅡ-ST-56S-F-BK SM-56S-F-BK SV2-PD-56S-F S-SERVOⅡ-ST-56M-A-BK SM-56M-A-BK SV2-PD-56M-A S-SERVOⅡ-ST-56M-F-BK SM-56M-F-BK SV2-PD-56M-F S-SERVOⅡ-ST-56L-A-BK SM-56L-A-BK SV2-PD-56L-A S-SERVOⅡ-ST-56L-F-BK SM-56L-F-BK SV2-PD-56L-F S-SERVOⅡ-ST-6S-A-BK SM-6S-A-BK SV2-PD-6S-A S-SERVOⅡ-ST-6S-F-BK SM-6S-F-BK SV2-PD-6S-F S-SERVOⅡ-ST-6M-A-BK SM-6M-A-BK SV2-PD-6M-A S-SERVOⅡ-ST-6M-F-BK SM-6M-F-BK SV2-PD-6M-F S-SERVOⅡ-ST-6L-A-BK SM-6L-A-BK SV2-PD-6L-A S-SERVOⅡ-ST-6L-F-BK SM-6L-F-BK SV2-PD-6L-F S-SERVOⅡ MINI Unit Part Motor Model Drive Model S-SERVOⅡ-MI-42S-A-BK SM-42S-A-BK SV2-PD-MI-42S-A S-SERVOⅡ-MI-42S-F-BK SM-42S-F-BK SV2-PD-MI-42S-F S-SERVOⅡ-MI-42M-A-BK SM-42M-A-BK SV2-PD-MI-42M-A S-SERVOⅡ-MI-42M-F-BK SM-42M-F-BK SV2-PD-MI-42M-F S-SERVOⅡ-MI-42L-A-BK SM-42L-A-BK SV2-PD-MI-42L-A S-SERVOⅡ-MI-42L-F-BK SM-42L-F-BK SV2-PD-MI-42L-F S-SERVOⅡ-MI-42XL-A-BK SM-42XL-A-BK SV2-PD-MI-42XL-A S-SERVOⅡ-MI-42XL-F-BK SM-42XL-F-BK SV2-PD-MI-42XL-F Unit Part S-SERVOⅡ-ST-42S-A-PN3 S-SERVOⅡ-ST-42S-F-PN3 S-SERVOⅡ-ST-42S-A-PN5 S-SERVOⅡ-ST-42S-F-PN5 S-SERVOⅡ-ST-42S-A-PN8 S-SERVOⅡ-ST-42S-F-PN8 S-SERVOⅡ-ST-42S-A-PN1 S-SERVOⅡ-ST-42S-F-PN1 S-SERVOⅡ-ST-42S-A-PN15 S-SERVOⅡ-ST-42S-F-PN15 S-SERVOⅡ-ST-42S-A-PN25 S-SERVOⅡ-ST-42S-F-PN25 S-SERVOⅡ-ST-42S-A-PN4 S-SERVOⅡ-ST-42S-F-PN4 S-SERVOⅡ-ST-42S-A-PN5 S-SERVOⅡ-ST-42S-F-PN5 S-SERVOⅡ-ST-42M-A-PN3 S-SERVOⅡ-ST-42M-F-PN3 S-SERVOⅡ-ST-42M-A-PN5 S-SERVOⅡ-ST-42M-F-PN5 S-SERVOⅡ-ST-42M-A-PN8 S-SERVOⅡ-ST-42M-F-PN8 S-SERVOⅡ-ST-42M-A-PN1 S-SERVOⅡ-ST-42M-F-PN1 S-SERVOⅡ-ST-42M-A-PN15 S-SERVOⅡ-ST-42M-F-PN15 S-SERVOⅡ-ST-42M-A-PN25 S-SERVOⅡ-ST-42M-F-PN25 S-SERVOⅡ-ST-42M-A-PN4 S-SERVOⅡ-ST-42M-F-PN4 S-SERVOⅡ-ST-42M-A-PN5 S-SERVOⅡ-ST-42M-F-PN5 S-SERVOⅡ-ST-42L-A-PN3 S-SERVOⅡ-ST-42L-F-PN3 S-SERVOⅡ-ST-42L-A-PN5 S-SERVOⅡ-ST-42L-F-PN5 S-SERVOⅡ-ST-42L-A-PN8 S-SERVOⅡ-ST-42L-F-PN8 S-SERVOⅡ-ST-42L-A-PN1 S-SERVOⅡ-ST-42L-F-PN1 S-SERVOⅡ-ST-42L-A-PN15 S-SERVOⅡ-ST-42L-F-PN15 S-SERVOⅡ-ST-42L-A-PN25 S-SERVOⅡ-ST-42L-F-PN25 S-SERVOⅡ-ST-42L-A-PN4 S-SERVOⅡ-ST-42L-F-PN4 S-SERVOⅡ-ST-42L-A-PN5 S-SERVOⅡ-ST-42L-F-PN5 S-SERVOⅡ-ST-42XL-A-PN3 S-SERVOⅡ-ST-42XL-F-PN3 S-SERVOⅡ-ST-42XL-A-PN5 S-SERVOⅡ-ST-42XL-F-PN5 S-SERVOⅡ-ST-42XL-A-PN8 S-SERVOⅡ-ST-42XL-F-PN8 S-SERVOⅡ-ST-42XL-A-PN1 S-SERVOⅡ-ST-42XL-F-PN1 S-SERVOⅡ-ST-42XL-A-PN15 S-SERVOⅡ-ST-42XL-F-PN15 S-SERVOⅡ-ST-42XL-A-PN25 S-SERVOⅡ-ST-42XL-F-PN25 S-SERVOⅡ-ST-42XL-A-PN4 S-SERVOⅡ-ST-42XL-F-PN4 S-SERVOⅡ-ST-42XL-A-PN5 S-SERVOⅡ-ST-42XL-F-PN5 Motor Model SM-42S-A-PN3 SM-42S-F-PN3 SM-42S-A-PN5 SM-42S-F-PN5 SM-42S-A-PN8 SM-42S-F-PN8 SM-42S-A-PN1 SM-42S-F-PN1 SM-42S-A-PN15 SM-42S-F-PN15 SM-42S-A-PN25 SM-42S-F-PN25 SM-42S-A-PN4 SM-42S-F-PN4 SM-42S-A-PN5 SM-42S-F-PN5 SM-42M-A-PN3 SM-42M-F-PN3 SM-42M-A-PN5 SM-42M-F-PN5 SM-42M-A-PN8 SM-42M-F-PN8 SM-42M-A-PN1 SM-42M-F-PN1 SM-42M-A-PN15 SM-42M-F-PN15 SM-42M-A-PN25 SM-42M-F-PN25 SM-42M-A-PN4 SM-42M-F-PN4 SM-42M-A-PN5 SM-42M-F-PN5 SM-42L-A-PN3 SM-42L-F-PN3 SM-42L-A-PN5 SM-42L-F-PN5 SM-42L-A-PN8 SM-42L-F-PN8 SM-42L-A-PN1 SM-42L-F-PN1 SM-42L-A-PN15 SM-42L-F-PN15 SM-42L-A-PN25 SM-42L-F-PN25 SM-42L-A-PN4 SM-42L-F-PN4 SM-42L-A-PN5 SM-42L-F-PN5 SM-42XL-A-PN3 SM-42XL-F-PN3 SM-42XL-A-PN5 SM-42XL-F-PN5 SM-42XL-A-PN8 SM-42XL-F-PN8 SM-42XL-A-PN1 SM-42XL-F-PN1 SM-42XL-A-PN15 SM-42XL-F-PN15 SM-42XL-A-PN25 SM-42XL-F-PN25 SM-42XL-A-PN4 SM-42XL-F-PN4 SM-42XL-A-PN5 SM-42XL-F-PN5 Drive Model SV2-PD-42S SV2-PD-42M SV2-PD-42L SV2-PD-42XL Reduction gear ratio 1:3 1:5 1:8 1:1 1:15 1:25 1:4 1:5 1:3 1:5 1:8 1:1 1:15 1:25 1:4 1:5 1:3 1:5 1:8 1:1 1:15 1:25 1:4 1:5 1:3 1:5 1:8 1:1 1:15 1:25 1:4 1:5 7

8 8 Combination with Gearbox S-SERVOⅡ ST Unit Part Motor Model Drive Model Reduction gear ratio S-SERVOⅡ-ST-56S-A-PN3 SM-56S-A-PN3 SV2-PD-56S 1:3 S-SERVOⅡ-ST-56S-F-PN3 SM-56S-F-PN3 S-SERVOⅡ-ST-56S-A-PN5 SM-56S-A-PN5 1:5 S-SERVOⅡ-ST-56S-F-PN5 SM-56S-F-PN5 S-SERVOⅡ-ST-56S-A-PN8 SM-56S-A-PN8 1:8 S-SERVOⅡ-ST-56S-F-PN8 SM-56S-F-PN8 S-SERVOⅡ-ST-56S-A-PN1 SM-56S-A-PN1 1:1 S-SERVOⅡ-ST-56S-F-PN1 SM-56S-F-PN1 S-SERVOⅡ-ST-56S-A-PN15 SM-56S-A-PN15 1:15 S-SERVOⅡ-ST-56S-F-PN15 SM-56S-F-PN15 S-SERVOⅡ-ST-56S-A-PN25 SM-56S-A-PN25 1:25 S-SERVOⅡ-ST-56S-F-PN25 SM-56S-F-PN25 S-SERVOⅡ-ST-56S-A-PN4 SM-56S-A-PN4 1:4 S-SERVOⅡ-ST-56S-F-PN4 SM-56S-F-PN4 S-SERVOⅡ-ST-56S-A-PN5 SM-56S-A-PN5 1:5 S-SERVOⅡ-ST-56S-F-PN5 SM-56S-F-PN5 S-SERVOⅡ-ST-56M-A-PN3 SM-56M-A-PN3 SV2-PD-56M 1:3 S-SERVOⅡ-ST-56M-F-PN3 SM-56M-F-PN3 S-SERVOⅡ-ST-56M-A-PN5 SM-56M-A-PN5 1:5 S-SERVOⅡ-ST-56M-F-PN5 SM-56M-F-PN5 S-SERVOⅡ-ST-56M-A-PN8 SM-56M-A-PN8 1:8 S-SERVOⅡ-ST-56M-F-PN8 SM-56M-F-PN8 S-SERVOⅡ-ST-56M-A-PN1 SM-56M-A-PN1 1:1 S-SERVOⅡ-ST-56M-F-PN1 SM-56M-F-PN1 S-SERVOⅡ-ST-56M-A-PN15 SM-56M-A-PN15 1:15 S-SERVOⅡ-ST-56M-F-PN15 SM-56M-F-PN15 S-SERVOⅡ-ST-56M-A-PN25 SM-56M-A-PN25 1:25 S-SERVOⅡ-ST-56M-F-PN25 SM-56M-F-PN25 S-SERVOⅡ-ST-56M-A-PN4 SM-56M-A-PN4 1:4 S-SERVOⅡ-ST-56M-F-PN4 SM-56M-F-PN4 S-SERVOⅡ-ST-56M-A-PN5 SM-56M-A-PN5 1:5 S-SERVOⅡ-ST-56M-F-PN5 SM-56M-F-PN5 S-SERVOⅡ-ST-56L-A-PN3 SM-56L-A-PN3 SV2-PD-56L 1:3 S-SERVOⅡ-ST-56L-F-PN3 SM-56L-F-PN3 S-SERVOⅡ-ST-56L-A-PN5 SM-56L-A-PN5 1:5 S-SERVOⅡ-ST-56L-F-PN5 SM-56L-F-PN5 S-SERVOⅡ-ST-56L-A-PN8 SM-56L-A-PN8 1:8 S-SERVOⅡ-ST-56L-F-PN8 SM-56L-F-PN8 S-SERVOⅡ-ST-56L-A-PN1 SM-56L-A-PN1 1:1 S-SERVOⅡ-ST-56L-F-PN1 SM-56L-F-PN1 S-SERVOⅡ-ST-56L-A-PN15 SM-56L-A-PN15 1:15 S-SERVOⅡ-ST-56L-F-PN15 SM-56L-F-PN15 S-SERVOⅡ-ST-56L-A-PN25 SM-56L-A-PN25 1:25 S-SERVOⅡ-ST-56L-F-PN25 SM-56L-F-PN25 S-SERVOⅡ-ST-56L-A-PN4 SM-56L-A-PN4 1:4 S-SERVOⅡ-ST-56L-F-PN4 SM-56L-F-PN4 S-SERVOⅡ-ST-56L-A-PN5 SM-56L-A-PN5 1:5 S-SERVOⅡ-ST-56L-F-PN5 SM-56L-F-PN5 S-SERVOⅡ-ST-6S-A-PN3 SM-6S-A-PN3 SV2-PD-6S 1:3 S-SERVOⅡ-ST-6S-F-PN3 SM-6S-F-PN3 S-SERVOⅡ-ST-6S-A-PN5 SM-6S-A-PN5 1:5 S-SERVOⅡ-ST-6S-F-PN5 SM-6S-F-PN5 S-SERVOⅡ-ST-6S-A-PN8 SM-6S-A-PN8 1:8 S-SERVOⅡ-ST-6S-F-PN8 SM-6S-F-PN8 S-SERVOⅡ-ST-6S-A-PN1 SM-6S-A-PN1 1:1 S-SERVOⅡ-ST-6S-F-PN1 SM-6S-F-PN1 S-SERVOⅡ-ST-6S-A-PN15 SM-6S-A-PN15 1:15 S-SERVOⅡ-ST-6S-F-PN15 SM-6S-F-PN15 S-SERVOⅡ-ST-6S-A-PN25 SM-6S-A-PN25 1:25 S-SERVOⅡ-ST-6S-F-PN25 SM-6S-F-PN25 S-SERVOⅡ-ST-6S-A-PN4 SM-6S-A-PN4 1:4 S-SERVOⅡ-ST-6S-F-PN4 SM-6S-F-PN4 S-SERVOⅡ-ST-6S-A-PN5 SM-6S-A-PN5 1:5 S-SERVOⅡ-ST-6S-F-PN5 SM-6S-F-PN5 Unit Part Motor Model Drive Model Reduction gear ratio S-SERVOⅡ-ST-6M-A-PN3 SM-6M-A-PN3 SV2-PD-6M 1:3 S-SERVOⅡ-ST-6M-F-PN3 SM-6M-F-PN3 S-SERVOⅡ-ST-6M-A-PN5 SM-6M-A-PN5 1:5 S-SERVOⅡ-ST-6M-F-PN5 SM-6M-F-PN5 S-SERVOⅡ-ST-6M-A-PN8 SM-6M-A-PN8 1:8 S-SERVOⅡ-ST-6M-F-PN8 SM-6M-F-PN8 S-SERVOⅡ-ST-6M-A-PN1 SM-6M-A-PN1 1:1 S-SERVOⅡ-ST-6M-F-PN1 SM-6M-F-PN1 S-SERVOⅡ-ST-6M-A-PN15 SM-6M-A-PN15 1:15 S-SERVOⅡ-ST-6M-F-PN15 SM-6M-F-PN15 S-SERVOⅡ-ST-6M-A-PN25 SM-6M-A-PN25 1:25 S-SERVOⅡ-ST-6M-F-PN25 SM-6M-F-PN25 S-SERVOⅡ-ST-6M-A-PN4 SM-6M-A-PN4 1:4 S-SERVOⅡ-ST-6M-F-PN4 SM-6M-F-PN4 S-SERVOⅡ-ST-6M-A-PN5 SM-6M-A-PN5 1:5 S-SERVOⅡ-ST-6M-F-PN5 SM-6M-F-PN5 S-SERVOⅡ-ST-6L-A-PN3 SM-6L-A-PN3 SV2-PD-6L 1:3 S-SERVOⅡ-ST-6L-F-PN3 SM-6L-F-PN3 S-SERVOⅡ-ST-6L-A-PN5 SM-6L-A-PN5 1:5 S-SERVOⅡ-ST-6L-F-PN5 SM-6L-F-PN5 S-SERVOⅡ-ST-6L-A-PN8 SM-6L-A-PN8 1:8 S-SERVOⅡ-ST-6L-F-PN8 SM-6L-F-PN8 S-SERVOⅡ-ST-6L-A-PN1 SM-6L-A-PN1 1:1 S-SERVOⅡ-ST-6L-F-PN1 SM-6L-F-PN1 S-SERVOⅡ-ST-6L-A-PN15 SM-6L-A-PN15 1:15 S-SERVOⅡ-ST-6L-F-PN15 SM-6L-F-PN15 S-SERVOⅡ-ST-6L-A-PN25 SM-6L-A-PN25 1:25 S-SERVOⅡ-ST-6L-F-PN25 SM-6L-F-PN25 S-SERVOⅡ-ST-6L-A-PN4 SM-6L-A-PN4 1:4 S-SERVOⅡ-ST-6L-F-PN4 SM-6L-F-PN4 S-SERVOⅡ-ST-6L-A-PN5 SM-6L-A-PN5 1:5 S-SERVOⅡ-ST-6L-F-PN5 SM-6L-F-PN5

9 9 Combination with Gearbox S-SERVOⅡ MINI Unit Part Motor Model Drive Model Reduction gear ratio S-SERVOⅡ-MI-42S-A-PN3 SM-42S-A-PN3 SV2-PD-MI-42S 1:3 S-SERVOⅡ-MI-42S-F-PN3 SM-42S-F-PN3 S-SERVOⅡ-MI-42S-A-PN5 SM-42S-A-PN5 1:5 S-SERVOⅡ-MI-42S-F-PN5 SM-42S-F-PN5 S-SERVOⅡ-MI-42S-A-PN8 SM-42S-A-PN8 1:8 S-SERVOⅡ-MI-42S-F-PN8 SM-42S-F-PN8 S-SERVOⅡ-MI-42S-A-PN1 SM-42S-A-PN1 1:1 S-SERVOⅡ-MI-42S-F-PN1 SM-42S-F-PN1 S-SERVOⅡ-MI-42S-A-PN15 SM-42S-A-PN15 1:15 S-SERVOⅡ-MI-42S-F-PN15 SM-42S-F-PN15 S-SERVOⅡ-MI-42S-A-PN25 SM-42S-A-PN25 1:25 S-SERVOⅡ-MI-42S-F-PN25 SM-42S-F-PN25 S-SERVOⅡ-MI-42S-A-PN4 SM-42S-A-PN4 1:4 S-SERVOⅡ-MI-42S-F-PN4 SM-42S-F-PN4 S-SERVOⅡ-MI-42S-A-PN5 SM-42S-A-PN5 1:5 S-SERVOⅡ-MI-42S-F-PN5 SM-42S-F-PN5 S-SERVOⅡ-MI-42M-A-PN3 SM-42M-A-PN3 SV2-PD-MI-42M 1:3 S-SERVOⅡ-MI-42M-F-PN3 SM-42M-F-PN3 S-SERVOⅡ-MI-42M-A-PN5 SM-42M-A-PN5 1:5 S-SERVOⅡ-MI-42M-F-PN5 SM-42M-F-PN5 S-SERVOⅡ-MI-42M-A-PN8 SM-42M-A-PN8 1:8 S-SERVOⅡ-MI-42M-F-PN8 SM-42M-F-PN8 S-SERVOⅡ-MI-42M-A-PN1 SM-42M-A-PN1 1:1 S-SERVOⅡ-MI-42M-F-PN1 SM-42M-F-PN1 S-SERVOⅡ-MI-42M-A-PN15 SM-42M-A-PN15 1:15 S-SERVOⅡ-MI-42M-F-PN15 SM-42M-F-PN15 S-SERVOⅡ-MI-42M-A-PN25 SM-42M-A-PN25 1:25 S-SERVOⅡ-MI-42M-F-PN25 SM-42M-F-PN25 S-SERVOⅡ-MI-42M-A-PN4 SM-42M-A-PN4 1:4 S-SERVOⅡ-MI-42M-F-PN4 SM-42M-F-PN4 S-SERVOⅡ-MI-42M-A-PN5 SM-42M-A-PN5 1:5 S-SERVOⅡ-MI-42M-F-PN5 SM-42M-F-PN5 S-SERVOⅡ-MI-42L-A-PN3 SM-42L-A-PN3 SV2-PD-MI-42L 1:3 S-SERVOⅡ-MI-42L-F-PN3 SM-42L-F-PN3 S-SERVOⅡ-MI-42L-A-PN5 SM-42L-A-PN5 1:5 S-SERVOⅡ-MI-42L-F-PN5 SM-42L-F-PN5 S-SERVOⅡ-MI-42L-A-PN8 SM-42L-A-PN8 1:8 S-SERVOⅡ-MI-42L-F-PN8 SM-42L-F-PN8 S-SERVOⅡ-MI-42L-A-PN1 SM-42L-A-PN1 1:1 S-SERVOⅡ-MI-42L-F-PN1 SM-42L-F-PN1 S-SERVOⅡ-MI-42L-A-PN15 SM-42L-A-PN15 1:15 S-SERVOⅡ-MI-42L-F-PN15 SM-42L-F-PN15 S-SERVOⅡ-MI-42L-A-PN25 SM-42L-A-PN25 1:25 S-SERVOⅡ-MI-42L-F-PN25 SM-42L-F-PN25 S-SERVOⅡ-MI-42L-A-PN4 SM-42L-A-PN4 1:4 S-SERVOⅡ-MI-42L-F-PN4 SM-42L-F-PN4 S-SERVOⅡ-MI-42L-A-PN5 SM-42L-A-PN5 1:5 S-SERVOⅡ-MI-42L-F-PN5 SM-42L-F-PN5 S-SERVOⅡ-MI-42XL-A-PN3 SM-42XL-A-PN3 SV2-PD-MI-42XL 1:3 S-SERVOⅡ-MI-42XL-F-PN3 SM-42XL-F-PN3 S-SERVOⅡ-MI-42XL-A-PN5 SM-42XL-A-PN5 1:5 S-SERVOⅡ-MI-42XL-F-PN5 SM-42XL-F-PN5 S-SERVOⅡ-MI-42XL-A-PN8 SM-42XL-A-PN8 1:8 S-SERVOⅡ-MI-42XL-F-PN8 SM-42XL-F-PN8 S-SERVOⅡ-MI-42XL-A-PN1 SM-42XL-A-PN1 1:1 S-SERVOⅡ-MI-42XL-F-PN1 SM-42XL-F-PN1 S-SERVOⅡ-MI-42XL-A-PN15 SM-42XL-A-PN15 1:15 S-SERVOⅡ-MI-42XL-F-PN15 SM-42XL-F-PN15 S-SERVOⅡ-MI-42XL-A-PN25 SM-42XL-A-PN25 1:25 S-SERVOⅡ-MI-42XL-F-PN25 SM-42XL-F-PN25 S-SERVOⅡ-MI-42XL-A-PN4 SM-42XL-A-PN4 1:4 S-SERVOⅡ-MI-42XL-F-PN4 SM-42XL-F-PN4 S-SERVOⅡ-MI-42XL-A-PN5 SM-42XL-A-PN5 1:5 S-SERVOⅡ-MI-42XL-F-PN5 SM-42XL-F-PN5

10 Specifications of Motor MODEL SM-2 SM-28 SM-35 UNIT 2M 2L 28S 28M 28L 35M 35L DRIVE METHOD - BI-POLAR NUMBER OF PHASES VOLTAGE VDC CURRENT per PHASE A RESISTANCE per PHASE Ohm INDUCTANCE per PHASE mh HOLDING TORQUE N m ROTOR INERTIA g cm WEIGHTS g LENGTH(L) mm PERMISSIBLE OVERHUNG LOAD (DISTANCE FROM END OF SHAFT) 3mm mm N 13mm mm PERMISSIBLE THRUST LOAD N Lower than motor weight INSULATION RESISTANCE Mohm 1 MIN.(at 5VDC) INSULATION CLASS - CLASS B(13 ) OPERATING TEMPERATURE to 55 1 MODEL SM-42 SM-56 SM-6 UNIT 42S 42M 42L 42XL 56S 56M 56L 6S 6M 6L DRIVE METHOD - BI-POLAR NUMBER OF PHASES VOLTAGE VDC CURRENT per PHASE A RESISTANCE per PHASE Ohm INDUCTANCE per PHASE mh HOLDING TORQUE N m ROTOR INERTIA g cm WEIGHTS g LENGTH(L) mm PERMISSIBLE OVERHUNG LOAD (DISTANCE FROM END OF SHAFT) 3mm mm N 13mm mm PERMISSIBLE THRUST LOAD N Lower than motor weight INSULATION RESISTANCE Mohm 1 MIN.(at 5VDC) INSULATION CLASS - CLASS B(13 ) OPERATING TEMPERATURE to 55

11 Torque Characteristics of Motor S-SERVOⅡ-ST/MI/2X/3X-2 S-SERVOⅡ-ST/MI/2X/3X-28.4 Motor Voltage : 24V.1 Motor Voltage : 24V.3 2M 2L.8 28S 28M 28L Torque[N.m].2 Torque[N.m] , 1,5 2, 2,5 3, 1 5 1, 1,5 2, 2,5 3, Speed[rpm] Speed[rpm] S-SERVOⅡ-ST/MI/2X/3X-35 S-SERVOⅡ-ST/MI/2X/3X Motor Voltage : 24V.6 Motor Voltage : 24V Torque[N.m] M 35L Torque[N.m] S 42M 42L 42XL , 1,5 2, 2,5 3, 1 5 1, 1,5 2, 2,5 3, Speed[rpm] Speed[rpm] S-SERVOⅡ-ST/MI/2X/3X-56 Torque[N. m] Motor Voltage : 24V 56S 56M 56L S-SERVOⅡ-ST/MI/2X/3X-6 Torque[N.m] Motor Voltage : 24V 6S 6M 6L , 1,5 2, 2,5 3, , 1,5 2, 2,5 3, 11 Speed[rpm] Speed[rpm]

12 Dimensions of Motor [mm] 4-16±.1 4-M2 DP2.5 Ø16-.5 A Ø ±.1 Ø A 7±.2 A 2±.5 1±.5 1.5±.25 L±1 L+15± mm Model name Length(L) SM-2M 33 SM-2L 38 4-M2.5 DP2.5 Ø A 4.5±.1 1±.2 2±.25 28mm Model name Length(L) 4-23±.15 Ø22-.5 Ø.75 A.25 28±.5 15±.5 A L±1 L+13.6± SM-28S 32 SM-28M 45 SM-28L 5.75 A 28mm (Stopper type) 12 4-M2.5 DP2.5 A 4-23±.15 L± ±.5 Ø Ø Ø.75 A ±.1 1±.2 15±.5 2±.25 L+13.6± Model name Length(L) SM-28SM 32 SM-28MM 45 SM-28LM 5 When ordering 28mm Stopper type of motor, please add M after standard motor model number..75 A 2±.25 4-M3 DP4.5 MIN Ø ±.1 11±.25 35mm 4-26± MAX Ø Ø.75 A.25 A 2±1 L±1 L+14±1 35 Model name Length(L) SM-35M 26 SM-35L 36

13 Dimensions of Motor [mm].1 A 42mm 4-31± MAX 4-M3 DP4.5 MIN Ø22-.5 Ø ±.1 Ø.75 A.25 2±.25 2±.2 A 24±.5 L±1 L+16±1 59 Model name Length(L) SM-42S 33 SM-42M 39 SM-42L 47 SM-42XL ±.15 57± ø5 - THRU Ø Ø.75 A.1 A A Ø ± ±.5 1.6±.25 15±.2 5±.25 L±1 L+16± mm Model name Length(L) SM-56S 41 SM-56M 56 SM-56L ±.25 6± ø5 - THRU Ø Ø.75 A Ø A A 2-7.5±.1 2.6±.5 1.6±.2 15±.2 6.3±.25 L±1 L+16±1 7 6mm Model name Length(L) SM-6S 47 SM-6M 56 SM-6L 85 13

14 Specifications of Motor with Brake Unit Part Motor Model Type Voltage Input [V] Electronic Brake Rated Current [A] Power Consumption [W] Statical Friction Torque [N m] Motor Unit Weight [g] Permitted Overhung Load [N] Permitted Length from Motor Point [mm] Thrust Load [N] S-SERVOⅡ-ST-42S- -BK S-SERVOⅡ-MI-42S- -BK SM-42S- -BK 51 S-SERVOⅡ-ST-42M- -BK SM-42M- -BK 57 S-SERVOⅡ-MI-42M- -BK S-SERVOⅡ-ST-42L- -BK SM-42L- -BK 64 S-SERVOⅡ-MI-42L- -BK Non- S-SERVOⅡ-ST-42XL- -BK exci- tation 77 24VDC SM-42XL- -BK S-SERVOⅡ-MI-42XL- -BK ±1% run S-SERVOⅡ-ST-56S- -BK SM-56S- -BK Type 87 S-SERVOⅡ-ST-56M- -BK SM-56M- -BK 119 S-SERVOⅡ-ST-56L- -BK SM-56L- -BK S-SERVOⅡ-ST-6S- -BK SM-6S- -BK 115 S-SERVOⅡ-ST-6M- -BK SM-6M- -BK 135 S-SERVOⅡ-ST-6L- -BK SM-6L- -BK Must be Lower than Unit s Weight * The code of encoder resolution will be marked in * S-SERVOⅡ 2X, S-SERVOⅡ 3X product needs 2 or 3 sets of motors for one drive. Combination of drive and motors can be diversifed so please contact with sales division or distributor of Fastech before purchasing product. * Electronic Brake cannot be used for braking. Position hold purpose only when power OFF. * The weight means Motor Unit Weight including Motor and Electronic Brake. * Motor Model is combined model name of Motor and Brake. * Motor specification and torque characteristic are same as Standard Motor. 14 * Brake Operation Timing Chart S-SERVOⅡ control Brake by Drive automatically. Please refer to below Timing Chart when control Brake from upper controller other than using S-SERVOⅡ Brake control. Otherwise, Drive malfunctioning and loads can be fall down. Also, please do not operate Brake while motor operation to prevent damage. Drive Enable Brake power ON OFF ON OFF.5second ~ 1second

15 Dimensions of Motor with Brake [mm] SMR-4V-N(JST) 4-M3 THRU P.C.D A 8 Lead wire UL3398 AWG26 Length : 4mm 42mm Model Name Length(L) Weight(kg) 42 Ø Ø A A L±1 63±.5 L+16±1 L+79± SM-42S SM-42M SM-42L SM-42XL 6.77 SMR-4V-N(JST) 4-Ø4.5 THRU P.C.D A Ø Lead wire UL3398 AWG26 Length : 4mm 56mm Model Name Length(L) Weight(kg) 56 Ø A.25 A L±1 65.7±.5 L+16±1 L+81.7± SM-56S SM-56M SM-56L SMR-4V-N(JST) 4-Ø4.5 THRU P.C.D 7.7 Ø Ø A.25.1 A A Lead wire UL3398 AWG26 Length : 4mm L±1 65.7±.5 L+16±1 7 6mm Model Name Length(L) Weight(kg) SM-6S SM-6M SM-6L L+81.7±1.5

16 Specifications of Motor with Gearbox 16 42mm Model Name S-SERVOⅡ-ST-42S- -PN3 S-SERVOⅡ-MI-42S- -PN3 S-SERVOⅡ-ST-42S- -PN5 S-SERVOⅡ-MI-42S- -PN5 S-SERVOⅡ-ST-42S- -PN8 S-SERVOⅡ-MI-42S- -PN8 S-SERVOⅡ-ST-42S- -PN1 S-SERVOⅡ-MI-42S- -PN1 S-SERVOⅡ-ST-42S- -PN15 S-SERVOⅡ-MI-42S- -PN15 S-SERVOⅡ-ST-42S- -PN25 S-SERVOⅡ-MI-42S- -PN25 S-SERVOⅡ-ST-42S- -PN4 S-SERVOⅡ-MI-42S- -PN4 S-SERVOⅡ-ST-42S- -PN5 S-SERVOⅡ-MI-42S- -PN5 S-SERVOⅡ-ST-42M- -PN3 S-SERVOⅡ-MI-42M- -PN3 S-SERVOⅡ-ST-42M- -PN5 S-SERVOⅡ-MI-42M- -PN5 S-SERVOⅡ-ST-42M- -PN8 S-SERVOⅡ-MI-42M- -PN8 S-SERVOⅡ-ST-42M- -PN1 S-SERVOⅡ-MI-42M- -PN1 S-SERVOⅡ-ST-42M- -PN15 S-SERVOⅡ-MI-42M- -PN15 S-SERVOⅡ-ST-42M- -PN25 S-SERVOⅡ-MI-42M- -PN25 S-SERVOⅡ-ST-42M- -PN4 S-SERVOⅡ-MI-42M- -PN4 S-SERVOⅡ-ST-42M- -PN5 S-SERVOⅡ-MI-42M- -PN5 S-SERVOⅡ-ST-42L- -PN3 S-SERVOⅡ-MI-42L- -PN3 S-SERVOⅡ-ST-42L- -PN5 S-SERVOⅡ-MI-42L- -PN5 S-SERVOⅡ-ST-42L- -PN8 S-SERVOⅡ-MI-42L- -PN8 S-SERVOⅡ-ST-42L- -PN1 S-SERVOⅡ-MI-42L- -PN1 S-SERVOⅡ-ST-42L- -PN15 S-SERVOⅡ-MI-42L- -PN15 S-SERVOⅡ-ST-42L- -PN25 S-SERVOⅡ-MI-42L- -PN25 S-SERVOⅡ-ST-42L- -PN4 S-SERVOⅡ-MI-42L- -PN4 S-SERVOⅡ-ST-42L- -PN5 S-SERVOⅡ-MI-42L- -PN5 S-SERVOⅡ-ST-42XL- -PN3 S-SERVOⅡ-MI-42XL- -PN3 S-SERVOⅡ-ST-42XL- -PN5 S-SERVOⅡ-MI-42XL- -PN5 S-SERVOⅡ-ST-42XL- -PN8 S-SERVOⅡ-MI-42XL- -PN8 S-SERVOⅡ-ST-42XL- -PN1 S-SERVOⅡ-MI-42XL- -PN1 S-SERVOⅡ-ST-42XL- -PN15 S-SERVOⅡ-MI-42XL- -PN15 S-SERVOⅡ-ST-42XL- -PN25 S-SERVOⅡ-MI-42XL- -PN25 S-SERVOⅡ-ST-42XL- -PN4 S-SERVOⅡ-MI-42XL- -PN4 S-SERVOⅡ-ST-42XL- -PN5 S-SERVOⅡ-MI-42XL- -PN5 Maximum Holding Torque [N m].43 Rotor Inertia Moment [kg m 2 ] Backlash [min] Angle Transmission Error [min] Reduction Gear Ratio Resolution (4, ppr Standard) Permitted Torque [N m] Maximum Torque [N m] Permitted Speed Range [rpm] ~1 Unit Weight [kg] Permitted Overhung Load [N] Axis Center Standard Permitted Thrust Load ~ [N] ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ * The code of encoder resolution will be marked in

17 Specifications of Motor with Gearbox 56mm Model Name Maximum Holding Torque [N m] Rotor Inertia Moment [kg m 2 ] Backlash [min] Angle Transmission Error [min] Reduction Gear Ratio Resolution (4, ppr Standard) Permitted Torque [N m] Maximum Torque [N m] Permitted Speed Range [rpm] Unit Weight [kg] Permitted Overhung Load [N] Axis Center Standard Permitted Thrust Load [N] S-SERVOⅡ-ST-56S- -PN ~ S-SERVOⅡ-ST-56S- -PN ~ S-SERVOⅡ-ST-56S- -PN ~ S-SERVOⅡ-ST-56S- -PN ~ S-SERVOⅡ-ST-56S- -PN ~ S-SERVOⅡ-ST-56S- -PN ~ S-SERVOⅡ-ST-56S- -PN ~ S-SERVOⅡ-ST-56S- -PN ~ S-SERVOⅡ-ST-56M- -PN ~ S-SERVOⅡ-ST-56M- -PN ~ S-SERVOⅡ-ST-56M- -PN ~ S-SERVOⅡ-ST-56M- -PN ~ S-SERVOⅡ-ST-56M- -PN ~ S-SERVOⅡ-ST-56M- -PN ~ S-SERVOⅡ-ST-56M- -PN ~ S-SERVOⅡ-ST-56M- -PN ~ S-SERVOⅡ-ST-56L- -PN ~ S-SERVOⅡ-ST-56L- -PN ~ S-SERVOⅡ-ST-56L- -PN ~ S-SERVOⅡ-ST-56L- -PN ~ S-SERVOⅡ-ST-56L- -PN ~ S-SERVOⅡ-ST-56L- -PN ~ S-SERVOⅡ-ST-56L- -PN ~ S-SERVOⅡ-ST-56L- -PN ~ * The code of encoder resolution will be marked in

18 Specifications of Motor with Gearbox 6mm Model Name Maximum Holding Torque [N m] Rotor Inertia Moment [kg m 2 ] Backlash [min] Angle Transmission Error [min] Reduction Gear Ratio Resolution (4, ppr Standard) Permitted Torque [N m] Maximum Torque [N m] Permitted Speed Range [rpm] Unit Weight [kg] Permitted Overhung Load [N] Axis Center Standard Permitted Thrust Load [N] S-SERVOⅡ-ST-6S- -PN ~ S-SERVOⅡ-ST-6S- -PN ~ S-SERVOⅡ-ST-6S- -PN ~ S-SERVOⅡ-ST-6S- -PN ~ S-SERVOⅡ-ST-6S- -PN ~ S-SERVOⅡ-ST-6S- -PN ~ S-SERVOⅡ-ST-6S- -PN ~ S-SERVOⅡ-ST-6S- -PN ~ S-SERVOⅡ-ST-6M- -PN ~ S-SERVOⅡ-ST-6M- -PN ~ S-SERVOⅡ-ST-6M- -PN ~ S-SERVOⅡ-ST-6M- -PN ~ S-SERVOⅡ-ST-6M- -PN ~ S-SERVOⅡ-ST-6M- -PN ~ S-SERVOⅡ-ST-6M- -PN ~ S-SERVOⅡ-ST-6M- -PN ~ S-SERVOⅡ-ST-6L- -PN ~ S-SERVOⅡ-ST-6L- -PN ~ S-SERVOⅡ-ST-6L- -PN ~ S-SERVOⅡ-ST-6L- -PN ~ S-SERVOⅡ-ST-6L- -PN ~ S-SERVOⅡ-ST-6L- -PN ~ S-SERVOⅡ-ST-6L- -PN ~ S-SERVOⅡ-ST-6L- -PN ~ * The code of encoder resolution will be marked in

19 Dimensions of Motor with Gearbox [mm] 42mm Unit Part Motor Stage Reduction Gear Ratio L Length [mm] S-SERVOⅡ-ST-42S- -PN S-SERVOⅡ-MI-42S- -PN S-SERVOⅡ-ST-42M- -PN S-SERVOⅡ-MI-42M- -PN S-SERVOⅡ-ST-42L- -PN S-SERVOⅡ-MI-42L- -PN S-SERVOⅡ-ST-42XL- -PN S-SERVOⅡ-MI-42XL- -PN SM-42S- -PN * The code of encoder resolution will be marked in 3, 5, 8, 1 33 SM-42M- -PN Single 3, 5, 8, 1 39 SM-42L- -PN Stage 3, 5, 8, 1 47 SM-42XL- -PN 3, 5, 8, ø3.4 THRU P.C.D 5 M4 DP1.5 A -.9 Ø (g6) +.8 Ø (j6).25 A.1 A A R L± L+14.5±1 L+16± Unit Part Motor Stage Reduction Gear Ratio L Length [mm] S-SERVOⅡ-ST-42S- -PN S-SERVOⅡ-MI-42S- -PN S-SERVOⅡ-ST-42M- -PN S-SERVOⅡ-MI-42M- -PN S-SERVOⅡ-ST-42L- -PN S-SERVOⅡ-MI-42L- -PN S-SERVOⅡ-ST-42XL- -PN S-SERVOⅡ-MI-42XL- -PN SM-42S- -PN * The code of encoder resolution will be marked in 15, 25, 4, 5 33 SM-42M- -PN Double 15, 25, 4, 5 39 SM-42L- -PN Stage 15, 25, 4, 5 47 SM-42XL- -PN 15, 25, 4, A ø3.4 THRU P.C.D 5 M4 DP1.5 A -.9 Ø (g6).25 A +.8 Ø (j6) 2 R A L+121±1 L±1 L+16±

20 Dimensions of Motor with Gearbox [mm] 56mm Unit Part Motor Stage Reduction Gear Ratio L Length [mm] S-SERVOⅡ-ST-56S- -PN SM-56S- -PN 3, 5, 8, 1 41 Single S-SERVOⅡ-ST-56M- -PN SM-56M- -PN 3, 5, 8, 1 56 Stage S-SERVOⅡ-ST-56L- -PN SM-56L- -PN 3, 5, 8, 1 76 * The code of encoder resolution will be marked in.1 A ø5.5 THRU P.C.D 7 5 M5 DP A -.9 Ø (g6).25 A +.8 Ø (j6) R A 37 ø6 ø L±1 112 L+128±1 L+16± Unit Part Motor Stage Reduction Gear Ratio L Length [mm] S-SERVOⅡ-ST-56S- -PN SM-56S- -PN 15, 25, 4, 5 41 Double S-SERVOⅡ-ST-56M- -PN SM-56M- -PN 15, 25, 4, 5 56 Stage S-SERVOⅡ-ST-56L- -PN SM-56L- -PN 15, 25, 4, 5 76 * The code of encoder resolution will be marked in ø5.5 THRU P.C.D 7 M5 DP A -.9 Ø (g6) +.8 Ø (j6).25 A.1 A A R.4 37 ø6 ø L±1 131 L+147±1 L+16±

21 Dimensions of Motor with Gearbox [mm] 6mm Unit Part Motor Stage Reduction Gear Ratio L Length [mm] S-SERVOⅡ-ST-6S- -PN SM-6S- -PN 3, 5, 8, 1 47 Single S-SERVOⅡ-ST-6M- -PN SM-6M- -PN 3, 5, 8, 1 56 Stage S-SERVOⅡ-ST-6L- -PN SM-6L- -PN 3, 5, 8, 1 85 * The code of encoder resolution will be marked in.1 A ø5.5 THRU P.C.D 7 M5 DP Ø (g6).75 A.25 A +.8 Ø (j6) R A 37 ø6 ø L+128±1 L±1 L+16±1 6 7 Unit Part Motor Stage Reduction Gear Ratio L Length [mm] S-SERVOⅡ-ST-6S- -PN SM-6S- -PN 15, 25, 4, 5 47 Double S-SERVOⅡ-ST-6M- -PN SM-6M- -PN 15, 25, 4, 5 56 Stage S-SERVOⅡ-ST-6L- -PN SM-6L- -PN 15, 25, 4, 5 85 * The code of encoder resolution will be marked in ø5.5 THRU P.C.D 7 M5 DP A Ø (g6) +.8 Ø (j6) A.1 A R A 37 ø6 ø L±1 131 L+147±1 L+16±

22 Specifications of Drive [S-SERVOII ST] Motor Model SM-2 SM-28 SM-35 SM-42 SM-56 SM-6 Driver Model SV2-PD-2 SV2-PD-28 SV2-PD-35 SV2-PD-42 SV2-PD-56 SV2-PD-6 Input Voltage 24VDC ±1% Control Method Closed loop control with 32bit ARM Current Consumption Max 5mA (Except motor current) Operating Condition Ambient Temperature Humidity In Use: ~5 In Storage: -2~7 In Use: 35~85% RH (Non-Condensing) In Storage: 1~9% RH (Non-Condensing) Vib. Resist..5g Rotation Speed ~3, [rpm] *1 Resolution [ppr] *4 5 1, 1,6 2, 3,2 3,6 4, 5, 6,4 8, 1, 2, 25, 36, 4, 5, (Selectable by DIP Switch) * Default: 1, Maximum Frequency 5kHz (Duty 5%) Function *2 Protection Functions LED Display RUN Current *5 Over Current Error, Over Speed Error, Position Tracking Error, Over Load Error, Over Temperature Error, Over Regenerated Voltage Error, Motor Connect Error, Encoder Connect Error, In-Position Error, ROM Error, Position Overflow Error Power status, In-Position status, Enable status, Alarm status 5%~15% (Selectable by parameter) RUN current is current value which flows onto the motor during operation (rotation) of the motor and it is set based on rated current of the motor. * Default: 1% STOP Current 2%~1% (Selectable by parameter) When motor stop operation,.1 second after motor current will be set to STOP current value. STOP current value is a percentage of the rated current of motor. * Default: 5% 22 I/O Signal *3 Pulse Input Method Rotational Direction Speed/Position Control Command Input Signals Output Signals 1 Pulse / 2 Pulse (Selectable by DIP Switch) * Default: 2 Pulse CW/CCW (Selectable by DIP Switch) * Default: CW Pulse Train Input Position Command Pulse, Enable, Alarm Reset (Photocoupler Input) In-Position, Alarm (Photocoupler Output), Brake *1 : Up to the resolution of 1,[ppr], maximum speed can be reached by 3,[rpm] and with the resolution more than 1,[ppr], maximum speed shall be reduced accordingly. *2 : Please refer to Settings and Operating to obtain detailed function information. *3 : Please refer to Control Input/Output Explanation to obtain detailed Input/Output signal information. *4 : When selected resolution is more than encoder resolution, motor shall be operated by microstep between pulses. *5 : For more detail information of RUN Current, please refer to the [Parameter Setting GUI]. Dimensions of Drive [mm] [S-SERVOII ST]

23 Settings and Operation [S-SERVOII ST] Pulse input setting switch(sw1.6) Rotation direction setting switch(sw1.5) Resolution setting switch(sw1.1~1.4) Drive status LED Parameter setting connection(cn5) Input/Output signal connection(cn1) Encoder connection(cn2) Motor connection(cn3) Power connection(cn4) 1. Drive Status LED Indication Color Function ON/OFF Condition PWR Green Power input indication LED is turned ON when power is applied INP Yellow Complete Positioning Motion Light on when Position Deviation located within preset value *1 from target position, after Position Command Pulse Input is completed EN Orange Motor Enable Status Enable: Lights On, Disable: Lights Off Flash when protection function is activated ALM Red Alarm indication (Identifiable which protection mode is activated by counting the blinking times) *1 : Default = Can be selected by parameter setting GUI Protection functions and LED flash times Times Protection Conditions 1 Over Current Error The current through power devices in drive exceeds 4.8A 2 Over Speed Error Motor speed exceed 3, [rpm] 3 Position Tracking Error Position error value is higher than 9 in motor run state 4 Over Load Error The motor is continuously operated more than 5 second under a load exceeding the max. torque 5 Over Temperature Error Inside temperature of drive exceeds 85 6 Over Regeneratived Voltage Error Back-EMF more than 48V 7 Motor Connect Error The power is ON without connection of the motor cable to drive 8 Encoder Connect Error Cable connection error in Encoder connection of drive 1 In-Position Error After operation is finished, position error more than 1 pulse is continued for more than 3 seconds 12 ROM Error Error occurs in parameter storage device(rom) 15 Position Overflow Error Position error value is higher than 9 in motor stop state Alarm LED flash (Ex, Position tracking error) Resolution Setting Switch(SW1.1~SW1.4) The of pulse per revolution. Position Position Pulse/Revolution Pulse/Revolution ON ON ON ON 5 OFF ON ON ON 6,4 ON ON ON OFF 1, OFF ON ON OFF 8, ON ON OFF ON 1,6 OFF ON OFF ON 1, *1 ON ON OFF OFF 2, OFF ON OFF OFF 2, ON OFF ON ON 3,2 OFF OFF ON ON 25, ON OFF ON OFF 3,6 OFF OFF ON OFF 36, ON OFF OFF ON 4, OFF OFF OFF ON 4, ON OFF OFF OFF 5, OFF OFF OFF OFF 5, *1 : Default = 1.

24 3. Rotational Direction Setting Switch(SW1.5) Indication Switch Name Functions Switching Rotational Based on CW(+Dir signal) input to driver. DIR Direction ON: CCW(-Direction) OFF: CW(+Direction) Default: CW mode Direction setting switch: ON CCW Dir Direction setting switch: OFF CW Dir 4. Pulse Input Setting Switch(SW1.6) Indication Switch Name Functions Selecting pulse Selectable 1-Pulse input mode or 2-Pulse input mode as Pulse input signal. 2P/1P input mode ON: 1-Pulse mode OFF: 2-Pulse mode Default: 2-Pulse mode CW(Pulse) Pin CCW(Dir) Pin 2-Pulse Mode Rotational Direction CW CCW CW 1-Pulse Mode CCW 5. Power Connector(CN4) 8. Input/Output Signal Connector(CN1) 24 NO. Function I/O 1 24VDC Input 2 GND Input 6. Motor Connector(CN3) NO. Function I/O 1 A Phase Output 2 B Phase Output 3 /A Phase Output 4 /B Phase Output 7. Encoder Connector(CN2) NO. Function I/O 1 A+ Input 2 A- Input 3 B+ Input 4 B- Input 5 Z+ Input 6 Z- Input 7 5VDC Output 8 GND Output 9 F.GND F.GND NO. Function I/O 1 A- Output 2 A+ Output 3 B- Output 4 B+ Output 5 Z- Output 6 Z+ Output 7 BRAKE- Output 8 BRAKE+ Output 9 EXT_GND Input 1 EXT_24VDC Input 11 Alarm Reset Input 12 Enable Input 13 Alarm Output 14 In-Position Output 15 O.C Input Input 16 S-GND Output 17 CW-(Pulse-) Input 18 CW+(Pulse+) Input 19 CCW-(Dir-) Input 2 CCW+(Dir+) Input 9. Parameter Setting Connector(CN5) NO. Function I/O 1 Tx Output 2 Rx Input 3 GND

25 System Configuration [S-SERVOII ST ] ⑤ ① ② ③ Type Signal Cable Encoder Cable Motor Cable Power Cable Parameter Setting Cable Length supplied - 3cm 3cm - - Max. Length 2m 2m 2m 2m 3m 1. Options 25 ① Signal Cable Item CSS2-S-F CSS2-S-M Length [m] Remark Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. Manufacturer : JST Housing : PADP-2V-1-S Terminal : SPH-2T-P.5L ② Encoder Extension Cable Item CSVO-E-F CSVO-E-M ④ Length [m] Remark Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. Manufacturer : MOLEX Housing : Terminal : JST : Manufacturer SMP-9V-NC : Housing SHF-1T-.8BS : Terminal

26 3 Motor Extension Cable Item Length [m] Remark CSVO-M-F CSVO-M-M Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. Manufacturer : MOLEX Housing : R Terminal : 5556T MOLEX : Manufacturer R : Housing 5556T : Terminal 4 Power Cable Item Length [m] Remark CSVO-P-F CSVO-P-M Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. Manufacturer : MOLEX Housing : R Terminal : 5556T 5 Parameter Setting Cable Item Length [m] Remark CBTS-C-F Normal Cable is for Cable Length. The unit is 1m and Max. 3m length. Manufacturer : MOLEX Housing : Terminal : 5263 AMPHENOL : Manufacturer L177SDE9S : Connector 17E : Backshell Connector Specifications Connector specifications for cabling to drive. Purpose Item Part Manufacturer Encoder Motor I/O (CN1) Power (CN4) Drive Side (CN2) Encoder Side Drive Side (CN3) Motor Side Housing Terminal Housing Terminal Housing Terminal Housing Terminal Housing Terminal Housing Terminal PAPD-2V-1S SPH-2T-P.5L SMP-9V-NC SHF-1T-.8BS R 5556T R 5556T R 5556T JST MOLEX JST MOLEX MOLEX MOLEX Above connector is the most suitable product for the drive applied. Another equivalent connector can be used.

27 External Wiring Diagram [S-SERVOII ST] Motor and Encoder Controller Shielded Twisted Pair Cable 27 When connects I/O cable between controller and drive, please turn off the power of both controller and drive, in order to protect the drive from any damage. CAUTION Please refer to the Manual when connects motor extension cable. Careful connection will be required to protect the drive from any damages.

28 Specifications of Drive [S-SERVOII MINI] 28 Operating Condition Function *2 I/O Signal *3 Motor Model Driver Model SM-2 SV2-PD-MI-2 Input Voltage 24VDC ±1% Control Method Current Consumption Ambient Temperature Humidity Vib. Resist..5g Closed loop control with 32bit ARM Max 5mA (Except motor current) In Use: ~5 In Storage: -2~7 Rotation Speed ~3, [rpm] *1 SM-28 SV2-PD-MI-28 In Use: 35~85% RH (Non-Condensing) In Storage: 1~9% RH (Non-Condensing) *1 : Up to the resolution of 1,[ppr], maximum speed can be reached by 3,[rpm] and with the resolution more than 1,[ppr], maximum speed shall be reduced accordingly. *2 : Please refer to Settings and Operating to obtain detailed function information. *3 : Please refer to Control Input/Output Explanation to obtain detailed Input/Output signal information. *4 : When selected resolution is more than encoder resolution, motor shall be operated by microstep between pulses. *5 : For more detail information of RUN Current, please refer to the [Parameter Setting GUI]. Dimensions of Drive [mm] [S-SERVOII MINI] SM-35 SV2-PD-MI-35 SM-42 SV2-PD-MI-42 Resolution [ppr] *4 5 1, 1,6 2, 3,2 3,6 4, 5, 6,4 8, 1, 2, 25, 36, 4, 5, (Selectable by DIP Switch) * Default: 1, Maximum Frequency 5kHz (Duty 5%) Protection Functions LED Display RUN Current *5 STOP Current Pulse Input Method Rotational Direction Speed/Position Control Command Input Signals Output Signals Over Current Error, Over Speed Error, Position Tracking Error, Over Load Error, Over Temperature Error, Over Regenerated Voltage Error, Motor Connect Error, Encoder Connect Error, In-Position Error, ROM Error, Position Overflow Error Power status, In-Position status, Enable status, Alarm status 5%~15% (Selectable by parameter) RUN current is current value which flows onto the motor during operation (rotation) of the motor and it is set based on rated current of the motor. * Default: 1% 2%~1% (Selectable by parameter) When motor stop operation,.1 second after motor current will be set to STOP current value. STOP current value is a percentage of the rated current of motor. * Default: 5% 1 Pulse / 2 Pulse (Selectable by DIP Switch) * Default: 2 Pulse CW/CCW (Selectable by DIP Switch) * Default: CW Pulse Train Input Position Command Pulse, Enable, Alarm Reset (Photocoupler Input) In-Position, Alarm (Photocoupler Output), Brake 77

29 Settings and Operation [S-SERVOII MINI] Drive status LED Parameter setting connection(cn5) Input/Output signal connection(cn1) Encoder connection(cn2) Motor connection(cn3) Power connection(cn4) Resolution setting switch(sw1.1~1.4) Direction setting switch(sw1.5) Pulse input setting switch(sw1.6) 1. Drive Status LED Indication Color Function ON/OFF Condition PWR Green Power input indication LED is turned ON when power is applied INP Yellow Complete Positioning Motion Light on when Position Deviation located within preset value *1 from target position, after Position Command Pulse Input is completed EN Orange Motor Enable Status Enable: Lights On, Disable: Lights Off Flash when protection function is activated ALM Red Alarm indication (Identifiable which protection mode is activated by counting the blinking times) *1 : Default = Can be selected by parameter setting GUI Protection functions and LED flash times Times Protection Conditions 1 Over Current Error The current through power devices in drive exceeds 4.8A 2 Over Speed Error Motor speed exceed 3, [rpm] 3 Position Tracking Error Position error value is higher than 9 in motor run state 4 Over Load Error The motor is continuously operated more than 5 second under a load exceeding the max. torque 5 Over Temperature Error Inside temperature of drive exceeds 85 6 Over Regeneratived Voltage Error Back-EMF more than 48V 7 Motor Connect Error The power is ON without connection of the motor cable to drive 8 Encoder Connect Error Cable connection error in Encoder connection of drive 1 In-Position Error After operation is finished, position error more than 1 pulse is continued for more than 3 seconds 12 ROM Error Error occurs in parameter storage device(rom) 15 Position Overflow Error Position error value is higher than 9 in motor stop state Alarm LED flash (Ex, Position tracking error) Resolution Setting Switch(SW1.1~SW1.4) The of pulse per revolution. Position Position Pulse/Revolution Pulse/Revolution ON ON ON ON 5 OFF ON ON ON 6,4 ON ON ON OFF 1, OFF ON ON OFF 8, ON ON OFF ON 1,6 OFF ON OFF ON 1, *1 ON ON OFF OFF 2, OFF ON OFF OFF 2, ON OFF ON ON 3,2 OFF OFF ON ON 25, ON OFF ON OFF 3,6 OFF OFF ON OFF 36, ON OFF OFF ON 4, OFF OFF OFF ON 4, ON OFF OFF OFF 5, OFF OFF OFF OFF 5, *1 : Default = 1.

30 3. Rotational Direction Setting Switch(SW1.5) Indication Switch Name Functions Switching Rotational Based on CW(+Dir signal) input to driver. DIR Direction ON: CCW(-Direction) OFF: CW(+Direction) Default: CW mode Direction setting switch: ON CCW Dir Direction setting switch: OFF CW Dir 4. Pulse Input Setting Switch(SW1.6) Indication Switch Name Functions Selecting pulse Selectable 1-Pulse input mode or 2-Pulse input mode as Pulse input signal. 1P/2P input mode ON: 1-Pulse mode OFF: 2-Pulse mode Default: 2-Pulse mode CW(Pulse) Pin CCW(Dir) Pin 2-Pulse Mode Rotational Direction CW CCW CW 1-Pulse Mode CCW 5. Power Connector(CN4) 8. Input/Output Signal Connector(CN1) 3 NO. Function I/O 1 24VDC Input 2 GND Input 6. Motor Connector(CN3) NO. Function I/O 1 B Phase Output 2 /B Phase Output 3 /A Phase Output 4 A Phase Output NO. Function I/O 1 CW+(Pulse+) Input 2 CW-(Pulse-) Input 3 CCW+(Dir+) Input 4 CCW-(Dir-) Input 5 A+ Output 6 A- Output 7 B+ Output 8 B- Output 9 Z+ Output 1 Z- Output 11 Alarm Output 12 In-Position Output 13 Enable Input 14 Alarm Reset Input 15 O.C Input Input 16 BRAKE+ Output 17 BRAKE- Output 18 S-GND Output 19 EXT_GND Input 2 EXT_24VDC Input 7. Encoder Connector(CN2) 2 2 NO. Function I/O 1 A+ Input 2 A- Input 3 B+ Input 4 B- Input 5 Z+ Input 6 Z- Input 7 5VDC Output 8 GND Output 9 F.GND F.GND Parameter Setting Connector(CN5) NO. Function I/O 1 Tx Output 2 Rx Input 3 GND

31 System Configuration [S-SERVOII MINI ] ⑤ ① ② ③ Type Signal Cable Encoder Cable Motor Cable Power Cable Parameter Setting Cable Length supplied - 3cm 3cm - - Max. Length 2m 2m 2m 2m 3m 1. Options 31 ① Signal Cable Item CSM3-S-F CSM3-S-M Length [m] Remark Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. Manufacturer : MOLEX Housing : Terminal : ② Encoder Extension Cable Item CSVI-E-F CSVI-E-M ④ Length [m] Remark Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. Manufacturer : MOLEX Housing : Terminal : JST : Manufacturer SMP-9V-NC : Housing SHF-1T-.8BS : Terminal

32 3 Motor Extension Cable Item Length [m] Remark CMNB-M-F CMNB-M-M Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. Manufacturer : JST Housing : PAP-4V-S Terminal : SPHD-1T-P.5 MOLEX : Manufacturer R : Housing 5556T : Terminal 4 Power Cable Item Length [m] Remark CMNB-P-F CMNB-P-M Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. Manufacturer : JST Housing : PAP-2V-S Terminal : SPHD-1T-P.5 5 Parameter Setting Cable Item Length [m] Remark CBTS-C-F Normal Cable is for Cable Length. The unit is 1m and Max. 3m length. Manufacturer : MOLEX Housing : Terminal : 5263 AMPHENOL : Manufacturer L177SDE9S : Connector 17E : Backshell Connector Specifications Connector specifications for cabling to drive. Purpose Item Part Manufacturer Encoder Motor I/O (CN1) Power (CN4) Drive Side (CN2) Encoder Side Drive Side (CN3) Motor Side Housing Terminal Housing Terminal Housing Terminal Housing Terminal Housing Terminal Housing Terminal SMP-9V-NC SHF-1T-.8BS PAP-4V-S SPHD-1T-P R 5556T PAP-2V-S SPHD-4T-P.5 MOLEX MOLEX JST JST MOLEX JST Above connector is the most suitable product for the drive applied. Another equivalent connector can be used.

33 External Wiring Diagram [S-SERVOII MINI] Motor and Encoder Controller Shielded Twisted Pair Cable 33 When connects I/O cable between controller and drive, please turn off the power of both controller and drive, in order to protect the drive from any damage. CAUTION Please refer to the Manual when connects motor extension cable. Careful connection will be required to protect the drive from any damages.

34 Specifications of Drive [S-SERVOII 2X] Driver Model S-SERVOⅡ-2X Operating Condition Function *2 Input Voltage 24VDC ±1% Control Method Current Consumption Ambient Temperature Humidity Vib. Resist..5g Closed loop control with 32bit ARM Max 1A (Except motor current) In Use: ~5 In Storage: -2~7 Rotation Speed ~3, [rpm] *1 In Use: 35~85% RH (Non-Condensing) In Storage: 1~9% RH (Non-Condensing) Resolution [ppr] *4 5 1, 1,6 2, 3,2 3,6 4, 5, 6,4 8, 1, 2, 25, 36, 4, 5, (Selectable by DIP Switch) * Default: 1, Maximum Frequency 5kHz (Duty 5%) Protection Functions LED Display RUN Current *5 Over Current Error, Over Speed Error, Position Tracking Error, Over Load Error, Over Temperature Error, Over Regenerated Voltage Error, Motor Connect Error, Encoder Connect Error, In-Position Error, ROM Error, Position Overflow Error Power status, In-Position status, Enable status, Alarm status 5%~15% (Selectable by parameter) RUN current is current value which flows onto the motor during operation (rotation) of the motor and it is set based on rated current of the motor. * Default: 1% I/O Signal *3 STOP Current Pulse Input Method Rotational Direction Speed/Position Control Command Input Signals Output Signals 2%~1% (Selectable by parameter) When motor stop operation,.1 second after motor current will be set to STOP current value. STOP current value is a percentage of the rated current of motor. * Default: 5% 1 Pulse / 2 Pulse (Selectable by DIP Switch) * Default: 2 Pulse CW/CCW (Selectable by DIP Switch) * Default: CW *1 : Up to the resolution of 1,[ppr], maximum speed can be reached by 3,[rpm] and with the resolution more than 1,[ppr], maximum speed shall be reduced accordingly. *2 : Please refer to Settings and Operating to obtain detailed function information. *3 : Please refer to Control Input/Output Explanation to obtain detailed Input/Output signal information. *4 : When selected resolution is more than encoder resolution, motor shall be operated by microstep between pulses. *5 : For more detail information of RUN Current, please refer to the [Parameter Setting GUI]. 34 Dimensions of Drive [mm] [S-SERVOII 2X] Pulse Train Input Position Command Pulse, Enable, Alarm Reset (Photocoupler Input) In-Position, Alarm (Photocoupler Output), Brake

35 Settings and Operation [S-SERVOII 2X] Parameter setting connection(cna5) Direction setting switch(swa3.2) Pulse input setting switch(swa3.1) Resolution setting switch(swa1) Power connection(cne4) Drive status LED I/O signal connection(cna1) Direction setting switch(swb3.2) Pulse input setting switch(swb3.1) Resolution setting switch(swb1) Encoder connection(cna2) Motor connection(cna3) Parameter setting connection(cnb5) Drive Status LED I/O signal connection(cnb1) Encoder connection(cnb2) Motor connection(cnb3) Parameter setting connection (CNA5,CNB5) 1. Drive Status LED Indication Color Function ON/OFF Condition PWR Green Power input indication LED is turned ON when power is applied INP Yellow Complete Positioning Motion Light on when Position Deviation located within preset value *1 from target position, after Position Command Pulse Input is completed EN Orange Motor Enable Status Enable: Lights On, Disable: Lights Off Flash when protection function is activated ALM Red Alarm indication (Identifiable which protection mode is activated by counting the blinking times) Protection functions and LED flash times Times Protection Conditions 1 Over Current Error The current through power devices in drive exceeds 4.8A 2 Over Speed Error Motor speed exceed 3, [rpm] 3 Position Tracking Error Position error value is higher than 9 in motor run state 4 Over Load Error 2. Resolution Setting Switch(SWA1, SWB1) The of pulse per revolution. Position Pulse/Revolution Position Pulse/Revolution 5 8 6,4 1 1, 9 8, 2 1,6 A 1, *1 3 2, B 2, 4 3,2 C 25, 5 3,6 D 36, 6 4, E 4, 7 5, F 5, *1 : Default = 1. The motor is continuously operated more than 5 second under a load exceeding the max. torque 5 Over Temperature Error Inside temperature of drive exceeds 85 6 Over Regeneratived Voltage Error Back-EMF more than 48V 7 Motor Connect Error The power is ON without connection of the motor cable to drive 8 Encoder Connect Error Cable connection error in Encoder connection of drive 1 In-Position Error After operation is finished, position error more than 1 pulse is continued for more than 3 seconds 12 ROM Error Error occurs in parameter storage device(rom) 15 Position Overflow Error Position error value is higher than 9 in motor stop state *1 : Default = Can be selected by parameter setting GUI Alarm LED flash (Ex, Position tracking error) 35

36 3. Rotational Direction Setting Switch(SWA3.2, SWB3.2) Indication Switch Name Functions Switching Rotational Based on CW(+Dir signal) input to driver. DIR Direction ON: CCW(-Direction) OFF: CW(+Direction) Default: CW mode Direction setting switch: ON CCW Dir Direction setting switch: OFF CW Dir 4. Pulse Input Setting Switch(SWA3.1, SWB3.1) Indication Switch Name Functions Selecting pulse Selectable 1-Pulse input mode or 2-Pulse input mode as Pulse input signal. 1P/2P input mode ON: 1-Pulse mode OFF: 2-Pulse mode Default: 2-Pulse mode CW(Pulse) Pin CCW(Dir) Pin 2-Pulse Mode Rotational Direction CW CCW CW 1-Pulse Mode CCW 5. Power Connector(CNE4) 8. Input/Output Signal Connector(CNA1, CNB1) 36 NO. Function I/O 1 24VDC Input 2 GND Input 6. Motor Connector(CNA3, CNB3) NO. Function I/O 1 A Phase Output 2 B Phase Output 3 /A Phase Output 4 /B Phase Output 7. Encoder Connector(CNA2, CNB2) NO. Function I/O 1 A+ Input 2 A- Input 3 B+ Input 4 B- Input 5 Z+ Input 6 Z- Input 7 5VDC Output 8 GND Output 9 F.GND F.GND NO. Function I/O 1 A- Output 2 A+ Output 3 B- Output 4 B+ Output 5 Z- Output 6 Z+ Output 7 BRAKE- Output 8 BRAKE+ Output 9 EXT_GND Input 1 EXT_24VDC Input 11 Alarm Reset Input 12 Enable Input 13 Alarm Output 14 In-Position Output 15 O.C Input Input 16 S-GND Output 17 CW-(Pulse-) Input 18 CW+(Pulse+) Input 19 CCW-(Dir-) Input 2 CCW+(Dir+) Input 9. Parameter Setting Connector(CNA5, CNB5) NO. Function I/O 1 Tx Output 2 Rx Input 3 GND

37 System Configuration [S-SERVOII 2X ] ⑤ ④ ① ② ③ ① ② Type Signal Cable Encoder Cable Motor Cable Power Cable Parameter Setting Cable Length supplied - 3cm 3cm - - Max. Length 2m 2m 2m 2m 3m 1. Options 37 ① Signal Cable Item CSS2-S-F CSS2-S-M Length [m] Remark Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. Manufacturer : JST Housing : PADP-2V-1-S Terminal : SPH-2T-P.5L ② Encoder Extension Cable Item CSVO-E-F CSVO-E-M ③ Length [m] Remark Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. Manufacturer : MOLEX Housing : Terminal : JST : Manufacturer SMP-9V-NC : Housing SHF-1T-.8BS : Terminal

38 3 Motor Extension Cable Item Length [m] Remark CSVO-M-F CSVO-M-M Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. Manufacturer : MOLEX Housing : R Terminal : 5556T MOLEX : Manufacturer R : Housing 5556T : Terminal 4 Power Cable Item Length [m] Remark CSVX-P-F CSVX-P-M Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. Manufacturer : MOLEX Housing : VLP-2V Terminal : SVF-61T-P2. 5 Parameter Setting Cable Item Length [m] Remark CBTS-C-F Normal Cable is for Cable Length. The unit is 1m and Max. 3m length. Manufacturer : MOLEX Housing : Terminal : 5263 AMPHENOL : Manufacturer L177SDE9S : Connector 17E : Backshell Connector Specifications Connector specifications for cabling to drive. Purpose Item Part Manufacturer Encoder Motor I/O (CNA1, CNB1) Drive Side (CNA2, CNB2) Encoder Side Drive Side (CNA3, CNB3) Power (CNE4) Motor Side Housing Terminal Housing Terminal Housing Terminal Housing Terminal Housing Terminal Housing Terminal PADP-2V-1-S SPH-2T-P.5L SMP-9V-NC SHF-1T-.8BS R 5556T R 5556T VLP-2V SVF-61T-P2. JST MOLEX JST MOLEX MOLEX JST Above connector is the most suitable product for the drive applied. Another equivalent connector can be used.

39 External Wiring Diagram [S-SERVOII 2X] Motor and Encoder Controller Shielded Twisted Pair Cable 39 Except common usage of power ofr S-SERVOⅡ 2X, 3X, external wiring diagram for each drive of motor, encoder and I/O are all same. When connects I/O cable between controller and drive, please turn off the power of both controller and drive, in order to protect the drive from any damage. CAUTION Please refer to the Manual when connects motor extension cable. Careful connection will be required to protect the drive from any damages.

40 Specifications of Drive [S-SERVOII 3X] Driver Model S-SERVOⅡ-3X Operating Condition Function *2 Input Voltage 24VDC ±1% Control Method Current Consumption Ambient Temperature Humidity Vib. Resist..5g Closed loop control with 32bit ARM Max 1.5A (Except motor current) In Use: ~5 In Storage: -2~7 Rotation Speed ~3, [rpm] *1 In Use: 35~85% RH (Non-Condensing) In Storage: 1~9% RH (Non-Condensing) Resolution [ppr] *4 5 1, 1,6 2, 3,2 3,6 4, 5, 6,4 8, 1, 2, 25, 36, 4, 5, (Selectable by DIP Switch) * Default: 1, Maximum Frequency 5kHz (Duty 5%) Protection Functions LED Display RUN Current *5 Over Current Error, Over Speed Error, Position Tracking Error, Over Load Error, Over Temperature Error, Over Regenerated Voltage Error, Motor Connect Error, Encoder Connect Error, In-Position Error, ROM Error, Position Overflow Error Power status, In-Position status, Enable status, Alarm status 5%~15% (Selectable by parameter) RUN current is current value which flows onto the motor during operation (rotation) of the motor and it is set based on rated current of the motor. * Default: 1% I/O Signal *3 STOP Current Pulse Input Method Rotational Direction Speed/Position Control Command Input Signals Output Signals 2%~1% (Selectable by parameter) When motor stop operation,.1 second after motor current will be set to STOP current value. STOP current value is a percentage of the rated current of motor. * Default: 5% 1 Pulse / 2 Pulse (Selectable by DIP Switch) * Default: 2 Pulse CW/CCW (Selectable by DIP Switch) * Default: CW *1 : Up to the resolution of 1,[ppr], maximum speed can be reached by 3,[rpm] and with the resolution more than 1,[ppr], maximum speed shall be reduced accordingly. *2 : Please refer to Settings and Operating to obtain detailed function information. *3 : Please refer to Control Input/Output Explanation to obtain detailed Input/Output signal information. *4 : When selected resolution is more than encoder resolution, motor shall be operated by microstep between pulses. *5 : For more detail information of RUN Current, please refer to the [Parameter Setting GUI]. 4 Dimensions of Drive [mm] [S-SERVOII 3X] Pulse Train Input Position Command Pulse, Enable, Alarm Reset (Photocoupler Input) In-Position, Alarm (Photocoupler Output), Brake

41 Settings and Operation [S-SERVOII 3X] Parameter setting connection(cna5) Direction setting switch(swa3.2) Pulse input setting switch(swa3.1) Resolution setting switch(swa1) Direction setting switch(swb3.2) Pulse input setting switch(swb3.1) Resolution setting switch(swb1) Direction setting switch(swc3.2) Pulse input setting switch(swc3.1) Resolution setting switch(swc1) Power connection(cne4) Drive Status LED I/O signal connection(cna1) Encoder connection(cna2) Motor connection(cna3) Parameter setting connection(cnb5) Drive status LED I/O signal connection(cnb1) Encoder connection(cnb2) Motor connection(cnb3) Parameter setting connection(cnc5) Drive Status LED I/O signal connection(cnc1) Encoder connection(cnc2) Motor connection(cnc3) Parameter setting connection (CNA5, CNB5, CNC5) 1. Drive Status LED Indication Color Function ON/OFF Condition PWR Green Power input indication LED is turned ON when power is applied INP Yellow Complete Positioning Motion Light on when Position Deviation located within preset value *1 from target position, after Position Commando Pulse Input is completed EN Orange Motor Enable Status Enable: Lights On, Disable: Lights Off Flash when protection function is activated ALM Red Alarm indication (Identifiable which protection mode is activated by counting the blinking times) Protection functions and LED flash times Times Protection Conditions 1 Over Current Error The current through power devices in drive exceeds 4.8A 2 Over Speed Error Motor speed exceed 3, [rpm] 3 Position Tracking Error Position error value is higher than 9 in motor run state 4 Over Load Error 2. Resolution Setting Switch(SWA1, SWB1, SWC1) The of pulse per revolution. Position Pulse/Revolution Position Pulse/Revolution 5 8 6,4 1 1, 9 8, 2 1,6 A 1, *1 3 2, B 2, 4 3,2 C 25, 5 3,6 D 36, 6 4, E 4, 7 5, F 5, *1 : Default = 1. The motor is continuously operated more than 5 second under a load exceeding the max. torque 5 Over Temperature Error Inside temperature of drive exceeds 85 6 Over Regeneratived Voltage Error Back-EMF more than 48V 7 Motor Connect Error The power is ON without connection of the motor cable to drive 8 Encoder Connect Error Cable connection error in Encoder connection of drive 1 In-Position Error After operation is finished, position error more than 1 pulse is continued for more than 3 seconds 12 ROM Error Error occurs in parameter storage device(rom) 15 Position Overflow Error Position error value is higher than 9 in motor stop state *1 : Default = Can be selected by parameter setting GUI Alarm LED flash (Ex, Position tracking error) 41

42 3. Rotational Direction Setting Switch(SWA3.2, SWB3.2, SWC3.2) Indication Switch Name Functions Switching Rotational Based on CW(+Dir signal) input to driver. DIR Direction ON: CCW(-Direction) OFF: CW(+Direction) Default: CW mode Direction setting switch: ON CCW Dir Direction setting switch: OFF CW Dir 4. Pulse Input Setting Switch(SWA3.1, SWB3.1, SWC3.1) Indication Switch Name Functions Selecting pulse Selectable 1-Pulse input mode or 2-Pulse input mode as Pulse input signal. 1P/2P input mode ON: 1-Pulse mode OFF: 2-Pulse mode Default: 2-Pulse mode CW(Pulse) Pin CCW(Dir) Pin 2-Pulse Mode Rotational Direction CW CCW CW 1-Pulse Mode CCW Power Connector(CNE4) 8. Input/Output Signal Connector(CNA1, CNB1, CNC1) NO. Function I/O 1 24VDC Input 2 GND Input 6. Motor Connector(CNA3, CNB3, CNC3) NO. Function I/O 1 A Phase Output 2 B Phase Output 3 /A Phase Output 4 /B Phase Output 7. Encoder Connector(CNA2, CNB2, CNC2) NO. Function I/O 1 A+ Input 2 A- Input 3 B+ Input 4 B- Input 5 Z+ Input 6 Z- Input 7 5VDC Output 8 GND Output 9 F.GND F.GND NO. Function I/O 1 A- Output 2 A+ Output 3 B- Output 4 B+ Output 5 Z- Output 6 Z+ Output 7 BRAKE- Output 8 BRAKE+ Output 9 EXT_GND Input 1 EXT_24VDC Input 11 Alarm Reset Input 12 Enable Input 13 Alarm Output 14 In-Position Output 15 O.C Input Input 16 S-GND Output 17 CW-(Pulse-) Input 18 CW+(Pulse+) Input 19 CCW-(Dir-) Input 2 CCW+(Dir+) Input 9. Parameter Setting Connector(CNA5, CNB5, CNC5) NO. Function I/O 1 Tx Output 2 Rx Input 3 GND

43 System Configuration [S-SERVOII 3X ] ⑤ ④ ① ② ③ ① ② ③ ② ③ Type Signal Cable Encoder Cable Motor Cable Power Cable Parameter Setting Cable Length supplied - 3cm 3cm - - Max. Length 2m 2m 2m 2m 3m ① Options ① Signal Cable Item CSS2-S-F CSS2-S-M Length [m] Remark Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. Manufacturer : JST Housing : PADP-2V-1-S Terminal : SPH-2T-P.5L

44 2 Encoder Extension Cable Item Length [m] Remark CSVO-E-F CSVO-E-M Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. 3 Motor Extension Cable Manufacturer : MOLEX Housing : Terminal : JST : Manufacturer SMP-9V-NC : Housing SHF-1T-.8BS : Terminal Item Length [m] Remark CSVO-M-F CSVO-M-M Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. Manufacturer : MOLEX Housing : R Terminal : 5556T MOLEX : Manufacturer R : Housing 5556T : Terminal 4 Power Cable Item Length [m] Remark CSVX-P-F CSVX-P-M Normal Cable Robot Cable is for Cable Length. The unit is 1m and Max. 2m length. Manufacturer : MOLEX Housing : VLP-2V Terminal : SVF-61T-P2. 5 Parameter Setting Cable Item Length [m] Remark CBTS-C-F Normal Cable is for Cable Length. The unit is 1m and Max. 3m length. Manufacturer : MOLEX Housing : Terminal : 5263 AMPHENOL : Manufacturer L177SDE9S : Connector 17E : Backshell Connector Specifications Connector specifications for cabling to drive. Purpose Item Part Manufacturer Encoder Motor I/O (CNA1, CNB1, CNC1) Drive Side (CNA2, CNB2, CNC2) Encoder Side Drive Side (CNA3, CNB3, CNC3) Power (CNE4) Motor Side Housing Terminal Housing Terminal Housing Terminal Housing Terminal Housing Terminal Housing Terminal PADP-2V-1-S SPH-2T-P.5L SMP-9V-NC SHF-1T-.8BS R 5556T R 5556T VLP-2V SVF-61T-P2. JST MOLEX JST MOLEX MOLEX JST Above connector is the most suitable product for the drive applied. Another equivalent connector can be used.

45 External Wiring Diagram [S-SERVOII 3X] Motor and Encoder Controller Shielded Twisted Pair Cable 45 Except common usage of power ofr S-SERVOⅡ 2X, 3X, external wiring diagram for each drive of motor, encoder and I/O are all same. When connects I/O cable between controller and drive, please turn off the power of both controller and drive, in order to protect the drive from any damage. CAUTION Please refer to the Manual when connects motor extension cable. Careful connection will be required to protect the drive from any damages.

46 Control Signal Input/Output Description 1 Input Signal 2 Output Signal Input signals of the drive are all photocoupler protected. The signal shows the status of internal photocouplers [ON: conduction], [OFF: Non-conduction], not displaying the voltage levels of the signal. Functions Pin S-SERVO II ST S-SERVO II MINI Open Collector Input CW CW CCW+ 2 3 CCW S-SERVOⅡ 2X and 3X s pin number is the same as S-SERVOⅡ ST. Output signals from the driver are photocoupler protected: Alarm, In-Position. The signal indicates the status of internal photocouplers [ON: conduction], [OFF: Non-conduction], not displaying the voltage levels of the signal. Functions Pin S-SERVO II ST S-SERVO II MINI Alarm In-Position EXT_GND 9 19 S-SERVOⅡ 2X and 3X s pin number is the same as S-SERVOⅡ ST. CW, CCW Input This signal can be used to receive a positioning pulse command from a user host motion controller. The user can select 1-pulse input mode or 2-pulse input mode. The input schematic of CW, CCW is designed for 5V TTL level. When using 5V level as an input signal, the resistor Rx is not used and connect to the driver directly. When the level of input signal is more than 5V, Rx resistor is required. If the resistor is absent, the drive will be damaged. If the input signal level is 12V, Rx value is 68ohm and 24V, Please use Open Collector Input. Alarm Output The Alarm output indicates [ON] when the driver is in abnormal operation. If a protection mode has been activated, it goes [OFF]. A host controller needs to detect this signal and stop sending a motor driving command. When the driver detects an abnormal operation such as overload or over current of the motor, it sets the Alarm output to [OFF], flashes the Alarm LED, disconnect the power to a motor and stops the motor simultaneously. [Caution] Only at the Alarm output port, the photocoupler isolation is in reverse. When the driver is in normal operation the Alarm output is [ON]. In-Position Output In-Position signal is [ON] when positioning is completed. This signal is [ON] when the motor position error is within the value set by the switch SW4. 46 Functions Pin S-SERVO II ST S-SERVO II MINI EXT_24VDC 1 2 Alarm Reset Enable S-SERVOⅡ 2X and 3X s pin number is the same as S-SERVOⅡ ST. Motor Speed In-Position Signal Enable Input This input can be used only to adjust the position by manually moving the motor shaft from the load-side. By setting the signal [ON], the driver cuts off the power supply to the motor. Then, one can manually adjust output position. When setting the signal back to [OFF], the driver resumes the power to the motor and recovers the holding torque. When driving a motor, one needs to set the signal [OFF]. Alarm Reset Input When a protection mode has been activated, a signal to this alarm reset input cancels the Alarm output. By setting the alarm reset input signal [ON], cancel the Alarm output. Before cancel the Alarm output, have to remove the source of alarm.

47 Parameter Settings GUI [User Interface] S-SERVOⅡ driver utilizes various parameters for operation. Some parameters need to be adjusted once users feel inconvenience to use or in order to maximize efficiency. S-SERVOⅡ provides parameter modification program for convenience of product usage for users. The screen shot as below is computer program (GUI) which used for operation process. Users can change and set the parameters of drive for Enable Level, Alarm Reset Level, In-Position Level, Alarm Output Level. Users can use S-SERVOⅡ according to its own system. Please connect parameter setting GUI when S-SERVOⅡ is Disable state. For safety reason, S-SERVOⅡ can not be connected to setting GUI when it is Enable state. Graphic User Interface(GUI) Program can be downloaded from website. ( Graphic User Interface(GUI) Program can support Window XP/7/8/1. Graphic User Interface(GUI) Program can be update without prior notice for improving the performance or convenience of user. 47