EPS-B1 SERIES AC SERVO SYSTEMSDORNA Oe Serta ere IT Nh PROFILE DORNA Technology Co.,Ltd DORNA Technology Co., Ltd was established in 2006. We are strategically located in Jiashan Zhejiang, which is the heart of Long River Delta and only one hour's drive to Shanghai's Pudong DORNA has a strong work force of over 300 employees consisting of highly educated management teams and skilled workers. DORNA possess numerous independent intellectual property rights and specialize in the research & development, production, sales and service of AC variable frequency drives (inverters), AC servo systems (servo drives & servo motors), stepper drives & motors and rotary encoders. Our products have been widely used in CNC machine tools, textile machines, packaging machines, printing machines, food-making and pharmaceutical equipment, carving machines, spring machines, plastic machines, manipulators & robotics etc. DORNA will make persistent efforts to create more innovations and offer better products and services for clients. Meanwhile, we are looking forward to cooperate with business partners globally. The following content is for reference only and subject to change without prior notifications, Please contact with our Oversea Business Division for latest information: oversea@cn- dorna.com en.dorna.com.cnPRODUCT DISPALY/ THE ALL NEW EPS-B1 SERIES AC SERVO SYSTEMS KKK 665656 kkk KKK EEK “<(_ EPS-B1 SERIES AC SERVO SYSTEMS: 220V CLASS: 0.2KW~5.SKW 380V CLASS: 1.0KW~55KW en.dorna.com.cnDORNA CONTENTS Product features ~ Model identifications ° SI Selection tables — Configuration and interfaces - Standard wiring diagrams — Servo drive specifications — Servo drive dimensions — Servo motor specifications & dimensions —PRODUCTFEATURES / MINEWSERVOIDRIVES> SMARTER +EtherCAT® filed-bus protocol EPS-B1 series servo drives are now equipped with EtherCAT® for automation applications requiring short data update times with low communication jitter and reduced hardware costs. +Load inertia detection EPS-B1 series servo drives can automatically detect load inertia for better gain tuning. *Internal control functions EPS-B1 series servo drives can be easily be programmed for internal position/internal speed/internal torque controls to exercise certain applications without PLCs. go FASTER * Shortened pos! g time Position setting time of the device can be greatly reduced by using the new algorithms. * Quick instruction tracking As the new position and speed controller is adopted, position control tracking is greatly improved, and position deviation can be up to 30. * Response frequency up to 1KHz bandwidth State-of-the-art chips are utilized to improve calculating speed; new algorithms are developed for speed loop and current loop to improve the servo system's response control performance. * Input and output pulse frequency 4Mbps EPS-B1 series servo drives now can process pulse forms up to 4Mbps, both in semi-closed loop and fully-closed loop controls.PRODUCT FEATURES / [INEWSERVODRIVES> @ MORE RELIABLE + 3times overload EPS-B1 series servo drives have the capacity of 3 times overload, which improves the servo's responsiveness. + Grade 2 Notch Filter Grade-2 notch filter that can reduce phase lag is used to restrain resonance of mechanical system and improve equipment's speed response. * Restrained external interferences External interferences can be restrained effectively by expanding the new interference detection function * Regenerative functions EPS-B1 series servo drives have built-in regenerative resistors, (optional) that can absorb regenerated electricity at decelerating. When the built-in regenerative resistor is not enough, external regenerative resistor can be used. * Built-in dynamic brake (optional) EPS-B1series servo drives have built-in dynamic brakes (DB) for emergency braking. Various motor stop modes can be set for Servo OFF, forward/backward rotation inhibition, power OFF, or stop due to failure. SMT Workshop <PRODUCT FEATURES / [NEWSERVOMOTORS> + Low cogging torque By using the new magnetic field analysis design and motor processing technology, the motor's torque pulsation is reduced, thus to improve speed stability and reduce servo system's torque pulsations. * Fractions of Newton metres 40mm flange servo motors are recently introduced with rated power as low as 0.05KW. * Hundreds of Newton metres 200mm flange servo motors are also recently introduced, with torque up to 140 N*m and rated power up to 44KW. + High resolution encoders Now EPS-B1 series can support up to 20 bit (1,048,576 pulses per revolution) encoders to improve positioning accuracy and low-speed stability. * More feedback devices supported Users can now choose feedback devices of different mechanisms including optical encoders, magnetic encoders and resolvers.DRIVE MODELINDENTIFICATIONS / sates ® (@ PRODUCT NAME: EPS (@ PRovuct seRIES: B1 SERIES @ Rive RATED POWER ‘0005 0.05KW ‘0202 22KW. ‘0010 O.1KW (0003 3.0KW 0020 0.2KW ‘0405 45KW 0040 0.4kW ‘0505 55KW ors O.75KW (0705 75KW. 0001 1.0KW 011 KW. 12, 1.2KW (0015 15KW. ‘0105 .5KW (0022 KW. @ rut voutace A SINGLE/THREE PHASE 220VAC 8 THREE PHASE 380VAC (@ HARDWARE VERSION FACTORY CODE SERVO MOTOR MODEL IDENTIFICATIONS / (1130) (DN! MAK ft} — 0007) © [Ki A HES $2466 6 d000 6 @ motor FLANGE (MM) sve | berinrrion [sym pot | DEFINTION 40 40 MM FLANGE 130 130 MM FLANGE 60 {60 MM FLANGE: 180 4180 MM FLANGE 80 ‘80 MM FLANGE 200 200 MM FLANGE, 110 1110 MM FLANGE, 220 220 MM FLANGE, (®@ PRODUCT NAME: DN(@ MOTOR ROTARY INERTIA M MEDIUM INERTIA, H HIGH INERTIA. @ voutace class A ‘220 VOLTAGE CLASS ‘300V VOLTAGE CLASS. (@ MOTOR POLE PAIRS 1 4 POLE PAIRS 2 ‘SPOLE PAIRS (@ MOTOR RATED POWER (0005 0.05KW. 202 22KW ‘0010 O.AKW 008 3.0KW ‘0020 O2KW (0405 4.5KW ‘0040 O.4KW (0505 5.5KW (075 O.75KW. 0705 7.5KW (00% 1.0KW_ cont Tw ‘ona 1.2KW_ ots 15KW 1s 15KW 022 22KW @ MOTOR RATED SPEED A 1000 RPM D ‘3000 RPM 8 1500 RPM E 2500 RPM ic 2000 RPM (@ FEEDBACK DEVICE TYPE '5000-LINE (LINE SAVING, GAIN) ‘7BIT SERIAL (ABSOLUTE) 20-BIT SERIAL (GAIN) Iw lola |x RESOLVER (@ MOTOR HOLDING BRAKE SELECTION A WITHOUT HOLDING BRAKE WITH HOLDING BRAKE @ KEY SLOT/OIL SEAL SELECTION K YES NO Y NO YES Me YES YES N NO NO @® Factory cope td en.dorna.com.cn,SERVO SYSTEMS SELECTION TABLES / EPS-B1ACSERVO SYSTEMS oakw |epseiaozoma 2A || OMNAS02z0 som | OR NA oak (epSava0H0™A 3A | ROMAN O0HG0 00pm | 127 Na aronw lereroorenn) 12 | @ |e | eoMAroorE | opm | 287M wy [ePssioonan 19 |B | eo eOHMALA0:0 s0t0pm | szNMt ‘wy ePSsiaonwm 33 |B | 0. | HODMIALEODIC abOmm | SNA ‘ew [ePSeiorosia 28 |B | Ho | oDwALero20|smomm | «NH ‘aaw [ePssroosia| |e | wo |taoomAroroz0|aomm | sn ae 1SKW |EPS-BT-01DSAA| 35 8 130 | 130DNMA1-0105C 2000rpm | 7.2N-M tsk [ePSsiomom, 41 | © | 0. tODIALETOSC 20M | _T2NME ‘ou ePSStaIOSA 29 |B HO ODWIALOTOSO|SxOmm | ENA zanw (epsevapam @ © | 180 | aonaroaoee. 20pm | 105 NM cn |ePssroossn | 45 | c | 1 TOMMAYIDOIC Zopm | 1430 ow [epssroon | 7 | c | to | wooMwA+a0e@ tom | 1830 sku (EPSBLIOSAA 72D | 180 IONNATHOKB. ‘Spm | NA aww (epsevaonasn 2 © | 130 | TOnBr0zD20. 20pm | 105 Na ov lePseroonea «6 | © | 1 tOM1an0I 2ompm | 1430NW cy [ePsstoonea 70 | 6 | 00K 200 tOpm | 182 NAH ‘ei (ePSetoIOsIK 72 «© | T8D_ THOME T.OHDED cpm | 286 Na av | a0 [EPSB‘OHDHBK) Ta | HO RONMBLODHB E0Hnm | NM Tek (@PSavaTOSGA 74D | 180 THONNBTOTOEB rem | ATW Tikw [erSerontien 109 | E | 180 | ONMBLOO1T® 500mm) TON ‘exw [estonia ts | Za zbnBr4076.zopm | TONM zany |ePSetowaeA 138 | € | 220 Z00NMB100220 atom | 105ACONFIGURATION AND INTERFACES / _EPS-B1 AC SERVO SYSTEMS _ Display/Operation Power indicator light RET Communication Main circuit a terminals. terminals Control circuit terminals Regenerative resistor terminals intemal:PD short,PC open ernal:PD open,PC short _ ‘WO terminals DC reactorterminals Servo motor power terminals aN. lotor encoder terminals Earth terminals en.dorna.com.cnSTANDARD WIRING DIAGRAMS/ scan 513 cay ‘sone fs am Bart Puts P fat PULS: f Low pee poston F nem Saw Tesch ivie PA sien De subsp P SIGN rots se High ped poston we ae SIGN] sion Iindeatesonstand SIGN wise re jaevin __cone PAO. Apshedies Ser ftw ON pao Seopa (Gono-nubenon —[_ S-ON. Facade dtc Conta nde ie Ceanotmatesvien) — | CMOD Souleapt ostinato (paste Aiecionoperabalinged) | POT Negaive ination give ‘iecionopoainged) | NOT Reet gaint ean postin devshmuhesON) | CR eas Alacer ‘mmcwknONy | ABST Pig nope ‘apatred when 8), NMI ews train 20 sav ‘peatrexrion wea ON) | ZEROSPD vaunte OFF ening alam ‘ALM |: DC shalt be pepe er BCL Noe op 7 ‘mers sae dbl ision cl coup op swim we voage DESO Std itecomestdtosomesercachsre Manion we caret DCSOmASERVO DRIVE SPECIFICATIONS / ‘Singe/Three Phase 220VAC -15%~+10%, SO/60H2 Three Phase S80VAC -15%-+15%, S0/60Hz Single/Three phase full wave rectification IGBT PWM control, sine-wave current control 5000-LINE (LINE SAVING, GAIN) 17-BIT SERIAL (GAIN) 17-BIT SERIAL (ABSOLUTE) 20-BIT SERIAL (GAIN) 2500-LINE MAGNETIC Use temperature: 0-#55°C Protection class: IP10; Cleanness: 2 But should be: + With no corrosive or combustible gas + With no water, oil or drug splashing ~ With little dust, ash, salt or metallic powder Below 000m Rated voltage +10% : 0.001% (at rated speed) 25#25°C. below£0.1% (at rated speed)SERVO DRIVE SPECIFICATIONS / (0105 (acceleration or deceleration) Line drive output: A Phase, 8 Phase, Z Phase Pulse count: 5000 line-saving encoder: 16~5000; 17 bit serial encoder:16~16384; 20 bit serial encoder: 16~1,048,576. 'S-ON, C-MODE, POT, NOT, CLR, A- RST, GAIN, INHIBIT, ZEROSPD, PCL, NCL ete. T(ALM) ‘ALM, COIN, CZ, BK-OFF, S-RDY, etc. With relay, maximum N=3T By parameter setting EPS-B1 series only 7 LED X 5 bit, 4 buttons ‘At Servo OFF, forward/backward rotation inhibition, power OFF, or stop due to failure. Internal or external POT.NOT. DB, deceleration to stop, coast to stop. ‘Over-current, over-vollage, under-voltage, over-load, regenerative fault, etc.‘SERVO DRIVE CURRENTS / (Important when choosing the correct servo drive for the servo motor) Item Rated current Maximum current 1 EPS-B1-0D10A 138 2 EPS: 208 3 EPS-B1-0D40A 4 EPS.B1-0D75A 5 EPS-B1-0001A é EPs: DSA 7 EPS: 2A 8 EPS-B1-0003A 9 EPS.B1-04D5A 10 EPs. DSB 1" EPS-B1 -0202B 2 EP: 10038 13 EPS-B1 -04D58 4 EPS-B1 -05D5B 15 EPS. DSB 16 EPS-B1-00118, 7 EPS-B1-00158 18 EPS-B1-00228 155 en.dorna.com.cnSERVO DRIVE DIMENSIONS / 1548 1733 3 80 t J iH 49| ‘SERVO DRIVE DIMENSIONS / 1 q — : (iw ac 200 _ Pp i a tn = Iii. . 260.4 . zi t 200 ogSERVO MOTOR SPECIFICATIONS & DIMENSIONS Rated! Rated torque (Vn) Rated curren. Maximum euront Maximum ) constant (N' mv ‘Back EMF constant inertia wth beake) (10° Kg‘ Resistance (inet) (2. % Mass (with brake) {LL wth brake (nm) LR (mm) LE (mm) Ls (rm) (rm) Lt (mm Li (em (em) LEU (om. LER (mm) Lat (nm) (om 18 (mm) Le (om LZ mm),SERVO MOTOR SPECIFICATIONS & DIMENSIONS [iors sors ‘Soro Motor model ‘SODNMA'-0D20 | GODNMA2.0020 | 60DNMAI-0D40 | 6ODNMA2-0040 ‘neta Rated oes torve (N'm Rate current Maximum euront h 200 064 14 42. Medium 400 aa 29 @ i 400 25 75 Torque constant (N'A ‘Back EMF constant (VK tary inert (wth brake) (10 Rosstance(Ine-ine) (2 ) Ireictanee (inne) (mk ‘Mass (wth brake) LL (wth rake) (nm LR (mm) LE (mm) LS (mm) S (om) Lt (om) LJ (omm) (om) LFA (mm), LEZ (mm) LM (om) (Am LB (mm) LC (rm) Zam) oa? a (034 (0.16) 6 fe fs ks rn = Beaks aS en.dorna.comen bass at}SERVO MOTOR SPECIFICATIONS & DIMENSIONS [eereenseel> ‘Servo Motor model ‘s00NMAi-0075 | B0DNMA2-0075 | BOONMAT-0001 | BOONMAA2.0001 Input votage -220VAC 220VAC 220vh -220VAG Inertia Medium High Medium Rated power (W) 750 750 +1000) 1000 Rated torque (Nm) 238 230 3:18 3:18 ‘Rated curtentA) 4a 37 58 54 Maximum earent (A) 125 a 151 153 Rated speed (pm) 3000 3000 3000 ‘300 Mavi speed com 5000, 5000, 000 5000 “Torque constant (N'mvAmp} 058 0.68 043 062 Back EMF constant (ViKepm) 40 43 40 41 Rotary ner (wth brake) (10°g"nF) 0.88 (082) 15.188) 112 (1.18) | 1.2 (1.18) Resistance ine-tine) (2) 15 18 121 12 Indvetance(ineine) (mi) 73 73 62 ot Mass (vith brake) 2.68 (376) 2.93 (4.09) 3.124422) | 3.12(6.12) {LL (wth rake im) yea71609) | t4s7(1639) | t4a7(1639) | 144711839) LR (mm) 38 38 38 35, LE (nm) a 3 3 3 Ls (mm) 8 8 8 a 5 (mn) i) 19 10 19 Lit om) 0 ° 0 ° Lom) 155 155 155 155 rm) 25 28 25 2 LE (mm) 6 6 6 6 12 (mm) 6 6 6 6 Lit mm) ‘MS deep 20 | MS deep 20 MS deep 20 | MS deep 20 La (em) 0 0 0 0. LB (nm) 70 70 0 70. Le (mm 0 20 80 0. 2m) 65 65 88 88 ‘ \ aberSERVO MOTOR SPECIFICATIONS & DIMENSIONS ‘Serve Motor mod - new ‘Servo Motor mode! = od Input vot Rated power Rated torave (V'n) ‘Maximum torque (NT Rate current (A) ‘Maximum current (A) Rated seed (pm) Maximum speed “Torque constant (N'A) {V10DNMA‘-0D80C ‘TIODNA-0BC {ODNMA-O1020 ODNA-120 08. 358 1074 4 12 000 2500 (080 42 573, 17.49 56 168 "2000 2500. 102 ‘Back EMF constani(VKr 20 78 tt 55067) 38 (09) Resistance (inene) (2 218 15 Inductance (ine-tne) (mH 7.45 Ee} Mass (with rae) 563) 6578) cw brake) (rem) LR (om) LE (om Lg (nm) (rm) Lit (oe) (eum) (om Lt (oy LE (om ‘Lv (nn UA £6 (vm Lc (nm) LZ (om 1 236) 40 5 4 19 3 26) 40 5 4 19 3 25 6 6 25 5 6 130 95 130 95SERVO MOTOR SPECIFICATIONS & DIMENSIONS [arene 220VAG Fates power (KW) 1 12 15. 22 3 Fated torque (N'm) a7 573 7.16 105: 433 Maximum torque (N'r) 143i 172 21.48 15 42.99 Rated current (A) 48 63. 8 105. 169 Maximum current (A) 447. 188 a 315. 07 Rated speed (pm) 2000. 2000. 2000- 2000. 2000. ‘Maximum speed (pr) 000. ‘3000 ‘0. 000 ‘3000 “Torque constant (W'mAmp) | __0.97 oot 09 1 oss Back EMF constant{Vikrpm) | _64 6a et 6 ee mi] 83166) | Toacio7) | 12125) | 156 (158) | _229(282) Resistance (ine-ine) (@) 13 09) 0.65 os 027 Inductance (ne-tine) (mF) 3 eA 47. 39 22 Mass (wth brake kg) 720) a2 92 (12) 71138) 15078) {LL wth brake) (rm) 172231 181240) | 1970256) 2190278) 267.928) LR (mm) oT 5 oT ST ST LE (mm) 5 5 5 5 5 Ls (nm) 13 13 13 13 13 (om) 2 2 2 2 2 Lat (mm) ° 0 o oO ° Li (eum) 25 m5 248 245 265 (em) 6 % 36 26 Ed Let (mm) 6 6 6 6 6 2 (mm) 6 6 6 6 6 LM nm) MG deep 15 | MB deop 15 | M6 deep 15 | M6 deep 15 | MB dosp 15 LA (om 145 us us 145 145 La (om 110) 110. 110) 110) 110. Lc (mm) 130 130 130 130, 130) LZ mm), 8 8 8 9 °SERVO MOTOR SPECIFICATIONS & DIMENSIONS Fates poner (KW) 1 15 A 3 Fated tor (Nn) am 76 0s 43 Masimur torque (Wn) ast 2148 a5 200 Rated erent (A) 32 45 02 a7 Maximum exert) 38 135 108 21 Rates speed pm) 2000 2000 2000 2000 Maximum speed (pm). ‘000 200 000 ‘000 Torque conan (W'nvAmp) 149 159 160 164 Back EMF constant Kip) 43. 120 ‘20, “7 Rotor inerti (vith rake) 10°Ka'n#) 83.66) 404 (107) 186159) | 729,282) Resistance (inesane) (0) 30 202 145 078 Ines (ine-ine) (mi) 25 14 * 7 Mass wth bake) (kg) 75003) 2624) HEC) 16183) LL (th rake im) i72@31), 1971256) 2190278) 2871328) LR (om) 7 37 a7 a7 LE wm) 5 5 ° . 1G (rm 13 cr 2 2 Sim) ze 2 Z 22 Lit (em 0 ° ° ° Li (en) 25 5 as 25 (en) 6 2 2 6 LE (ne 6 é 6 6 LF2 (mm) 6 6 6 6 LM (ein) 6 deep 15 MB deep 15: THE deep 15 | MB dap 15 Lalo, 08 15 a3 cr LB (om) +0 #0 40 0 Le tn) +20 120 130 130 Lz (mm) ® 3 ° 3 en.dorna.com.cnSERVO MOTOR SPECIFICATIONS & DIMENSIONS ‘Servo Motor model 30 1 300NUA2.0001|1S0ORMUAL.01038BOONVAZ-01D5C SOON 0072C|1900NMR2-0009C put voltage zaovac | zaovac | zzovac | zz0vac | _z20vac. Inert Medium Rated power (W) 850 +1000, 1300 1800, 2000) 3000 Rated torque (Nm) 54 47 827 7.16 255 1433 ‘Rated curent (A) 57 5 932 a4 103 135 Maximum curent (A) a4 15 28 252 30.1 405 Rated speed (om) 1500 2000 1500 2000 2000 000 Maximum speed (em) 3000 3000 ‘3000 3000, 3000, 3000 Torque constant (W'm/Amp} | .96NmiArms 095N.nvAms | O.68NmiArms | O85Nm/Ams | 083NmiAms | LOTN.nvAms Back EMF constantVikrom) | 67.8ViKrom 66ViKpm | 61.7ViKpm | 69.8ViKrpm_|_72.6VIKrom_| _76ViKrom Rotary inertia (with brake t0*Ka"m!| 808(65) | 7.4075) | 124(125) | 108(11.1) | 138(143) | 204208) Resistance (inesine) (0) 0.93 1.08 048 0.543 082 032 Inetanes (ine-ino) (mH) 114 128 87 63 68 4. ‘Mass (with rake (hg) 7205 | 6568) | 760) | 8cs | 96(15) | 126 (49), LL (witha) (rom) 160 208) | 154(196) | 182 (226) | a73(a17) | 192256) | 230,274) LR (om) 58 58 88 88 88 58 LE (mm) 6 6 6 6 6 6 Ls (mm) 2 2 12 2 12 12 Sm) 2 2 22 2 2 2 Lt (mm, 0 0 0 0 ° 0 1 (om) 18 18 18 18 18 18 (om) 36 36 36 38 36 36 LEA (mm) 7 z 7 7 7 7 LF2 (mm) a 8 a Lat (om deep 15._| MB deep 15 | “MB deep 15 Lacom) 145 45 145 LB (mm 110 10 110, 110 110 Lc (mm) 130 +130 130, 430 430 Lim, 95 95 28 8s asSERVO MOTOR SPECIFICATIONS & DIMENSIONS ‘Servo Motor model- new | e00Nu.0038) s00N6-0058 | oO | eCoHNS-9505 | T0075 ‘Serve Motor model- 0d | TB0DNA-308 | 1600NA-865. [DNBB1-00036 ONBB16-04058 ONBB'e-05056 |ONBB18-07055 Input votlage 220VAC SB0VAG. Rated power (KW) 3 45 3 45 55 75. Rates toraue (Nm), 19.41 28 19.4 288 35 an7 Maximam toque (Nm) 73 58 573 858. 105; 143.1 Rated curent (A) 2 184 68. 403 25. 175 Maximum curren (A) 36 55.2. 204 208, 375. 525 Rated speed (pm) 1500 +500 "50 1500 1500 1500 Maximum speed (om) 2000 000. 2000 "2000, ‘2000 ‘00 “Torque constant (N'maAmp)_| 1.59. 155 281 278 2.80 273 ‘Back EMF constan{ViKrpr) 107 112, 225, 210 200 2, rm’) 477482) | 69,095) | ar 7ez) | caqos) | 77576) | 1210215) Resietance (in ine) (0 ) os? 052 29 118 0.88 028 Inductancs (ino-tne) (mF) 405 33 2 10 3a 2.45 Mass (ith brake) (4g) 795 (248) | 235285) | 205) ea | 315.065) | 97 (42) LL (wth rake) (om) 2rzesn) | 2sacser) | araiasr) | psaisar) | aragar) | saa(e07) LR (mm) 5 5 65 65 65 oo LE (am) 32 32 32 32 32 32. Ls {mm 18 18 18 18 8 18 S (om) 36 35 36 35 35 35 Lit (om) 3 3 3 3 a a 1s (om 38 38 38 38 3 Ey (om) st St 5 st st st Lt (om) 8 8 8 8 8 3 LF2 (mm) 10 10 10 10 10 10 La (nm) [NB decp 20 | MB deep 20 | MB deop 20 | M8 deep 20 | MB deep 20 | MB deep 20 LAC) 200 200 200 200 200 200 LB (am) 1143 1143 1143 1143 ius nas Lc (mm, 180 180 180 180 160 180. LZ (mm) 13 18 18 3 3 15 en.dorna.com.cnSERVO MOTOR SPECIFICATIONS & DIMENSIONS ‘Serve Motor series 200 Series ‘Sere Motor mode! 2000NMB-0703C | 2000NME00110|200DNMBI-07D3A 2000NMB'-1407C 2000NNB'.00220 Input votiage ‘380VAC Rated power 73. 110. 13. 147 220 Rated torque (Nm) 35 35 70. 70 70 Maximum torque (Nm) 105 105, 210 210 210 Fated curent (A) 13 2 15 25 37 Maximum current (A) 308 612 459 75 4132 Rated speed (rpm) 2000. 3000 ‘000 2000 ‘00 Maximum speed (pr) 400 200 ‘200 2400 3200 “Torque constant (N/A) 269 175: 457 220 183 ‘Back EMF eanstani(VIKrpm) 15, 1.08; 82. 15 1108. "Rotary neta (with brake) (10K 55. 55 10 10 10 Resistance (neine)(O) 12. 05 19. 04s. 21 Induct (ines) (mi) 3 a 27 5.08 306 Mass with bak) (ka) 35 3 45 47 4 LL (with rake) (mm) 363 363 23 493 493 LR (rom) 2 82 2 2 82 LE (oom 4 4 4 4 4 Lg (nm) 165. 165 165 165. 165. ‘Sm 2 42 a 2 2 Lit (mm) ° ° ° 0 ° Lom) Ea a Ea ar ar ‘J(omm) ca 66 ca 66 66 LEA (om) 8 8 8 8 8 2 (mm) 12 2 2 2 2 LM (om) Mi2deep 30 | M12 deep 30 | Mi2deep 30 | M12 deep 30 | M12 desp 30 Ls om) 215. 215 215. 215 215 LB (mm) 180, 180 180 180 180. Lc (nm) 200) ‘200 200) 200 200. Zo) 135 135 135 135 135 n.dorna.com.cnSERVO MOTOR SPECIFICATIONS & DIMENSIONS ‘evo Motor aeres 200 Sere Servo Moor model roowe 2014 aowus+azx | oMuB x0 [anos 47A] ERS) 205 ZONED Tap votage SEOVAC tea power i i10 20 0 uaz wo a0 ata rave Wm) 105 ‘05 405 10 “0 10 Tsuru a a8 3 20 a 2 ad cre) 2 7 = 2 3 5 i caren ea | naa} a8 765 e830. Rated speed fm) 1000 | 2000 500 1000 | ant | 3000 Hximum speed (pa) | 1200 | 2400 200 1209 2400 2200 Torq consis W'mrg) 5.25 204 19 560 258 195 Back EMF eonsian(vkcpn) | 3.2 1s 108 a2 18 08 eta ner th rake] 10"Kge] 14 a a 5 5 its esetance (n-ne) (0) 78 aa ane a7 a8 a6 Inder ine) (8) fea a5 208 ‘4 27 | 188 Nass bra) = fo @ 70 72 74 UC wth em) 03 Ed 503 73 a a LR en) 2 2 2 2 2 @ ‘LE (mm) 4 4 4 4 | 4 4 LG (mm) 165. 165 165 165 | 165 16.5. Sm) 2 2 2 2 2 au Ui nn) io 3 ° ° ° ° ‘Um ar a7 a 37 a {mm T 66 66 66 66 66 6 CFF) ° 2 : 2 3 3 2 rm 2 2 2 2 72 72 a 2 ep 30 | WE dep 30 | WHR deep 20 | NT2 deop 30 | WHE cnop 0) MIEdoop 39 Worm 25 28 28 26 28 7 Blom 180 120 ‘0 ‘80 ‘eo 180 LC (mm) 200 200 200 200 | 200 200 LZ (mm) 135 135 135 135 | 135 13.5, en.dorna.com.cnDORNA TECHNOLOGY CO.,LTD DORNA Technology Co., Ltd No.99, Zhuangehi Middle Road, Ganyao Industrial Park.Jiashan, Zhejiang,China 0573-89100555 en.dorna.com.cn