1398 ULTRA Series™ 230V Brushless Servo Motors Product Data This publication provides product information for the 0.17 to 50 N-m (1.5 to 450 lb- in.) 1398 ULTRA Series™ 230V, Low-to-Medium Inertia, Brushless Servo Motors. This publication includes: 1398 ULTRA Series 230V, • Detailed lists of the features and options available for Low-to-Medium Inertia, Brushless Servo Motors • Performance data and speed-torque curves for the entire 1398 ULTRA Series Servo motor family • Servo motor dimensions 2 1398 ULTRA Series 230V Brushless Servo Motors Table of Contents Servo Motor Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Determining Which Motor to Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Determining Possible Drive/Motor Combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 F-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Typical Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Selecting a Drive/Motor Combination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 F-Series Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 F-Series Mechanical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 F-Series Winding Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Storage and Operating Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 F-Series Thermostat Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 F-Series Standard Motor Radial Load Force Ratings . . . . . . . . . . . . . . . . . . . . . . . 13 ULTRA 100 Series Specifications for F-Series Motors . . . . . . . . . . . . . . . . . . . . . . 14 ULTRA 200 Series Specifications for F-Series Motors . . . . . . . . . . . . . . . . . . . . . . 14 ULTRA Plus Specifications for F-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 F-Series Brake Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Brake Motor Application Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 F-Series Standard Motors Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Supplemental Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 F-4000 NEMA 56C Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Supplemental Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Encoder Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Encoder Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 F-Series Connector Pins and Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Motor Power Connector (All F-Series Motors) . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Motor Encoder Connector (F-4000 and F-6000 Motors) . . . . . . . . . . . . . . . . . . 20 Optional Motor Brake Connector (F-Series Motors with an 04 Designator) . . . . 20 Wire and Contact Sizing Recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Encoder Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Brake Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 H-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Typical Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Selecting a Drive/Motor Combination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 H-Series Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 H-Series Mechanical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 H-Series Winding Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Storage and Operating Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 H-Series Thermostat Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 H-Series Standard Motor Radial Load Force Ratings . . . . . . . . . . . . . . . . . . . . . . 28 Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 3 ULTRA 100 Series Specifications for H-Series Motors . . . . . . . . . . . . . . . . . . . . . 29 ULTRA 200 Series Specifications for H-Series Motors . . . . . . . . . . . . . . . . . . . . . 30 ULTRA Plus Specifications for H-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 H-Series Brake Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Brake Motor Application Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 H-Series Standard Motors Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 H-2000 Motors Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 H-3000, -4000, -6000, and -8000 Motors Dimensions . . . . . . . . . . . . . . . . . . . . . . 33 Supplemental Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 H-4000 NEMA 56C Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Supplemental Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Encoder Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Encoder Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 H-Series Connector Pins and Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Motor Power Connector (All H-Series Motors) . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Motor Encoder Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Optional Motor Brake Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Wire and Contact Sizing Recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Encoder Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Brake Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Y-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Typical Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Selecting a Drive/Motor Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Y-Series Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Y-Series Mechanical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Y-Series Winding Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Storage and Operating Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Brake Motor Application Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Y-Series Brake Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Y-Series Motor Brake and Shaft Load Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 ULTRA 100 Series Specifications for Y-Series Motors . . . . . . . . . . . . . . . . . . . . . 46 ULTRA 200 Specifications for Y-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Y-Series Standard Motors Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Supplemental Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Cable Diameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Encoder Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Encoder Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Y-Series Connector Pins and Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Motor Power Connector (All Y-Series Motors) . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Motor Feedback Connector (All Y-Series Motors) . . . . . . . . . . . . . . . . . . . . . . . 50 Wire and Contact Sizing Recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Power/Brake Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Encoder Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Publication 1398-2.1 – August 1999 4 1398 ULTRA Series 230V Brushless Servo Motors N-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Typical Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Selecting a Drive/Motor Combination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 N-Series Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 N-Series Mechanical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 N-Series Thermostat Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 N-Series Winding Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Storage and Operating Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 N-Series Standard Motor Radial Load Force Ratings . . . . . . . . . . . . . . . . . . . . . . 57 N-Series Motors Shaft Load Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 ULTRA 100 Series Specifications for N-Series Motors . . . . . . . . . . . . . . . . . . . . . 58 ULTRA 200 Series Specifications for N-Series Motors . . . . . . . . . . . . . . . . . . . . . 59 ULTRA Plus Specifications for N-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 N-Series Brake Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Brake Motor Application Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 N-2300 Motors Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 N-3400, -4200, and -5600 Motors Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 Supplemental Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 Encoder Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 Encoder Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 N-Series Connector Pins and Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Encoder Connectors (All N-Series Motors) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Power and Brake Connectors (All N-Series Motors) . . . . . . . . . . . . . . . . . . . . . 65 ULTRA 100™/200™ System Ordering Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 ULTRA Servo Drives with F-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 ULTRA Servo Drives with F-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 ULTRA Servo Drives with F-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 ULTRA Servo Drives with H-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 ULTRA Servo Drives with H-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 ULTRA Servo Drives with H-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 ULTRA Servo Drives with H-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 ULTRA Servo Drives with H-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 ULTRA Servo Drives with Y-Series Motors (115V AC RMS Input Voltage) . . . . . . 74 ULTRA Servo Drives with Y-Series Motors (230V AC RMS Input Voltage) . . . . . . 75 ULTRA Servo Drives with N-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 ULTRA Servo Drives with N-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 ULTRA Servo Drives with N-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 ULTRA Servo Drives with N-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 ULTRA Servo Drives with N-Series Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 ULTRA Plus System Ordering Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 ULTRA Plus Drives with F-Series Motors (1398-PDM-20, -30, and -75) . . . . . . . . 81 ULTRA Plus Drives with F-Series Motors (1398-PDM-20, -30, and -75) . . . . . . . . 82 Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 5 ULTRA Plus Drives with F-Series Motors(1398-PDM-25, -50, -100, and -150) . . . 83 ULTRA Plus Drives with F-Series Motors (1398-PDM-25, -50, -100, and -150) . . 84 ULTRA Plus Drives with H-Series Motors (1398-PDM-10, -20, -30, and -75) . . . . 85 ULTRA Plus Drives with H-Series Motors (1398-PDM-10, -20, -30, and -75) . . . . 86 ULTRA Plus Drives with H-Series Motors (1398-PDM-10, -20, -30, and -75) . . . . 87 ULTRA Plus Drives with H-Series Motors (1398-PDM-25, -50, -100, and -150) . . 88 ULTRA Plus Drives with H-Series Motors (1398-PDM-25, -50, -100, and -150) . . 89 ULTRA Plus Drives with N-Series Motors (1398-PDM-20 and 1398-PDM-30) . . . 90 ULTRA Plus Drives with N-Series Motors(1398-PDM-20 and 1398-PDM-30) . . . . 91 F-Series Motor and Connector Ordering Information . . . . . . . . . . . . . . . . . . . . . . . 92 H-Series Motor and Connector Ordering Information . . . . . . . . . . . . . . . . . . . . . . 93 Y-Series Motor and Connector Ordering Information . . . . . . . . . . . . . . . . . . . . . . . 94 N-Series Motor and Connector Ordering Information . . . . . . . . . . . . . . . . . . . . . . 95 Publication 1398-2.1 – August 1999 6 1398 ULTRA Series 230V Brushless Servo Motors Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 7 Servo Motor Introduction The 1398 ULTRA Series servo motors feature ferrite, neodymium-iron-boron, high-energy ring and high-energy neodymium magnet rotors. These compact, brushless servo motors are intended to be used with the Allen-Bradley 1398 Motion Control System. The motors in this series are: •F-Series •H-Series •N-Series •Y-Series Determining Which Motor to Use Use the following table to determine which family of motors you need. Motors Description Typical Applications • Medium inertia brushless servo motors • Ferrite magnet that provides greater inertia for matching larger loads • Available in two frame sizes—mechanically • Web processing F-Series interchangeable with H-Series • Machine tool (see page 9) • Continuous torque from 3.5 to 28 N-m • Textile machinery (31 to 245 lb-in.) • CAM replacement • Speeds up to 4000 RPM • 2000-line incremental encoder standard • Environmental connectors, IP65 enclosure rating • Low inertia brushless servo motors •Smart conveyors • Neodymium-iron boron magnet to provide low inertias • Packaging for high acceleration machinery H-Series • Available in five frame sizes • Material feeding (see page 22) • Continuous torque from 0.5 to 50 N-m (5 to 450 lb-in.) • Pick-and-place • Speeds up to 6000 RPM machines • 2000-line incremental encoder standard • High duty cycle • Environmental connectors, IP65 enclosure rating applications • Small, low inertia brushless servo motors • High-energy Neodymium magnet to provide low • Robotics inertias for high acceleration • Material handling • Available in three popular metric frame sizes • X-Y tables Y-Series • Continuous torque from 0.17 to 2.5 N-m • Specialty (see page 41) (1.5 to 22 lb-in.) machinery • Speeds up to 4500 RPM • Semiconductor • Available in either 115V or 230V windings manufacturing • IP43 enclosure rating • NEMA style brushless servo motors • High energy ring magnet rotor construction to provide • Web processing low inertias for high acceleration • Machine tool • Available in four common NEMA style frame sizes • Textile machinery N-Series • Continuous torque from 0.18 to 5.9 N-m •CAM (see page 52) (1.6 to 52 lb-in.) replacements • Speeds up to 6000 RPM • Stepper • 1000-, 2000-line incremental encoder standard replacement • Environmental connectors, IP65 enclosure rating Publication 1398-2.1 – August 1999 8 1398 ULTRA Series 230V Brushless Servo Motors Determining Possible Drive/Motor Combinations Use the following table to determine which motors can be used with which drives: Drives: Motors: ULTRA 100 ULTRA 200 ULTRA Plus F-Series X X X H-Series X X X Y-Series X X NA 1 N-Series X X X 1 Excluding N-23xx motors. Note: To learn more about the ULTRA Series drives family, see publication 1398-2.0. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 9 F-Series Motors F-Series motors, mechanically interchangeable with H-Series motors, use a Ferrite magnet to provide nearly four times greater inertia than the H-Series family for matching larger load inertias. Available in two frame sizes, the F-Series motors range in continuous torque capability from 3.5 to 28 N-m, (31 to 245 lb-in.) and reach speeds up to 4000 RPM. The F-Series motors use an optical 2000-line incremental encoder with a 5000-line option for superior low-speed performance with the ULTRA Series. Typical applications for the F-Series include web processing, machine tool, textile machinery, and CAM replacements. When you install the optional motor shaft seal, the motor meets the IP65 requirements of the IEC standard. Features The F-Series motors have the following features: • Compact design that is mechanically interchangeable with the H-Series family • Two frame sizes, six models • Continuous torque from 3.5 to 28 N-m (31 to 245 lb-in.) • Speeds up to 4000 RPM • Ferrite permanent magnet rotors provide approximately four times greater rotor inertia than the H-Series family for matching larger load inertias • Internal thermal switch indicates overheating • Motor-mounted optical encoder included 2000 quadrature pulses, index pulse, and standard commutation channels for drives • Water tight MS connections are compatible with standard cable assemblies; in addition, the extruded aluminum housing and environmental connectors provide an IP65 package (with the addition of the optional shaft seal kit) • Economical, compact design ready for harsh environments • Optional spring-set holding brakes available with 24V DC • Axially-trapped front bearing in a steel insert for long life at high speeds • Vibration: 2.5 g peak 3-2000Hz • Shock: 10.0 g peak 6 ms duration • UL recognized Publication 1398-2.1 – August 1999 10 1398 ULTRA Series 230V Brushless Servo Motors Typical Applications Typical applications for the F-Series motors are: • Web and film processing • Machine tool/metal cutting • Textile machinery • CAM replacements Characteristics • Higher inertia matching capability • Heavy duty continuous operations • Environmentally rugged Selecting a Drive/Motor Combination The following drive/motor combinations are available for the F-Series motors: Motor ULTRA 100 ULTRA 200 ULTRA Plus 1398-PDM-20 F-4030-Q-H00AA 1398-DDM-019 1398-DDM-020 1398-PDM-25 1398-PDM-30 1 F-4050-Q-H00AA 1398-DDM-030 1398-DDM-019 1398-PDM-50 1398-PDM-30 2 1398-DDM-030 F-4075-R-H00AA NA 1398-PDM-50 1398-DDM-075 1398-PDM-75 1398-PDM-75 F-6100-R-H00AA NA 1398-DDM-075 1398-PDM-50 1398-DDM-075 1398-PDM-75 F-6200-R-H00AA NA 1398-DDM-150 1398-PDM-100 1398-DDM-075 1398-PDM-75 F-6300-R-H00AA NA 1398-DDM-150 1398-PDM-100 1 Continuous current/torque is limited to 5.2 N-m (46.0 lb-in.). 2 Peak torque is limited to 18.6 N-m (164.6 lb-in.). Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 11 F-Series Specifications This section contains the mechanical, thermostat and winding specifications for the F-Series motor family, as well as the load force ratings and performance specifications for every combination of ULTRA series drives and F-Series motors. It also provides motor dimensions, connector pin and signal designations, and all motor and connector ordering information. F-Series Mechanical Specifications Specifications Units F-4030 F-4050 F-4075 F-6100 F-6200 F-6300 2 kg-m 0.0010 0.0021 0.0032 0.0064 0.0107 0.0162 Rotor moment of inertia 2 (0.009) (0.019) (0.029) (0.057) (0.095) (0.144) (lb-in.-s ) 2 Rotor moment of inertia kg-m 0.0011 0.0022 0.0033 0.007 0.011 0.017 2 (brake motors) (0.010) (0.020) (0.030) (0.061) (0.098) (0.147) (lb-in.-s ) kg 11.0 15.8 21.5 25.2 33.5 46 Motor shipping weight (lb) (23.0) (34.8) (47.2) (55.4) (73.8) (101.2) kg 9.0 14.1 14.1 22.3 30.9 43.2 Motor net weight (lb) (19.6) (31.0) (42.0) (49.2) (68.2) (95.2) Brake motor shipping kg 12.5 17.8 23.9 30 38.4 51.4 weight (lb) (27.6) (39.2) (52.6) (66.0) (84.4) (113.1) kg 10.9 16.0 21.2 27.1 35.6 48.0 Brake motor net weight (lb) (24.0) (35.2) (46.8) (59.8) (78.4) (105.8) N-m/kRPM 0.06 0.10 0.15 0.16 0.24 0.37 Damping (lb-in./kRPM) (0.5) (0.94) (1.3) (1.4) (2.1) (3.3) N-m 0.063 0.10 0.17 0.17 0.24 0.46 Friction torque (lb-in.) (0.56) (0.94) (1.5) (1.5) (2.1) (4.1) Maximum Operating rpm 4000 4000 3000 3000 3000 3000 Speed Publication 1398-2.1 – August 1999 12 1398 ULTRA Series 230V Brushless Servo Motors F-Series Winding Specifications Specifications Units F-4030 F-4050 F-4075 F-6100 F-6200 F-6300 Sine wave K torque T N-m/A 0.54 0.54 0.73 0.71 0.70 0.73 1 (lb-in./A) (4.8) (4.8) (6.5) (6.3) (6.2) (6.5) Constant at 25ºC Square wave K torque T N-m/A 0.60 0.60 0.80 0.78 0.80 0.81 2 (lb-in./A) (5.3) (5.3) (7.1) (6.9) (6.8) (7.1) Constant at 25ºC 3 K voltage constant V/kRPM 66 66 89 86 85 89 E Winding resistance Ohm 2.2 0.89 0.98 0.51 0.26 0.16 Phase to phase at 25ºC Winding inductance mH 6.8 3.3 3.4 3.3 1.7 1.1 Phase to phase 4 ºC/Watt 0.63 0.48 0.40 0.45 0.37 0.30 Thermal resistance Poles 8888 88 1 Peak value of per phase sine wave amps. 2 Peak value of per phase square wave amps 3 Peak value of sinusoidal phase to phase volts 4 At 125ºC winding temperature, in a 40ºC ambient, with motor mounted on 0.5 in. x 12 in. x 12 in. aluminum heat sink. Storage and Operating Specifications Storage and Operating Conditions Operating: 0 to 40ºC (32 to 104ºF) Ambient Temperature Storage: -30 to 70ºC (-25 to 158ºF) Relative Humidity 5% to 95% non-condensing F-Series Thermostat Specifications Specifications 1 Rated voltage 0 - 250V DC or 50/60 Hz AC 2.5A at power factor of 1.0 Rated current 1.6A at power factor of 0.6 Maximum switching current 5 A Contact resistance Less than 0.10 Ohms maximum Contacts Normally closed Mylar Nomex capable of withstanding Insulation dielectric 1500V AC RMS 50/60 Hz for 1 minute Opening temperature (±5ºC) 140ºC 1 The thermostat is normally used as a switch for a 24V DC logic signal. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 13 F-Series Standard Motor Radial Load Force Ratings Specifications Units F-4030 F-4050 F-4075 F-6100 F-6200 F-6300 kg 34.5 39.9 41.7 72.1 78.0 83.0 500 RPM (lbs) (76) (88) (92) (159) (172) (183) kg 27.2 31.3 33.1 57.1 61.7 65.8 1000 RPM (lbs) (60) (69) (73) (126) (136) (145) kg 21.3 24.9 26.3 45.4 49.0 52.2 2000 RPM (lbs) (47) (55) (58) (100) (108) (115) kg 18.6 21.8 23.1 39.5 42.6 45.8 3000 RPM (lbs) (41) (48) (51) (87) (94) (101) kg 17.2 20.0 20.9 4000 RPM NA NA NA (lbs) (38) (44) (46) Motors are capable of carrying an axial load in most applications according to the following general guidelines. These guidelines should only be used as approximations. Radial load force applied at the center of the shaft extension Axial load force • When the motor shaft has no radial load, the axial load rating is 100% of the radial load rating from the table above. • When the motor shaft has both a radial and an axial load, the axial load rating is 44% of the radial load rating from the table above. Publication 1398-2.1 – August 1999 14 1398 ULTRA Series 230V Brushless Servo Motors 1 ULTRA 100 Series Specifications for F-Series Motors Specifications F-4030 F-4050 F-4075 F-6100 F-6200 F-6300 Drive 1398-DDM 019 019 NA NA NA NA Maximum continuous RPM 3600 3500 NA NA NA NA 2 operating speed Continuous stall N-m 3.5 5.2 NA NA NA NA 3,4 (lb-in.) (31) (46) torque N-m 11.3 13.6 5 NA NA NA NA Peak torque (lb-in.) (100) (120) 1 Ambient temperature is 0ºC to 40ºC for motors and 0ºC to 50ºC for drives. 2 With 230V AC line voltage input. 3 At 125ºC winding temperature, in a 40ºC ambient, with motor mounted on 0.5 in. x 12 in. x 12 in. aluminum heat sink. 4 Brake motor continuous stall torque derated by 15%. 5 System limit. 1 ULTRA 200 Series Specifications for F-Series Motors Specifications F-4030 F-4050 F-4075 F-6100 F-6200 F-6300 Drive 1398-DDM- 020 030 030/075 075 075/150 075/150 Maximum continuous RPM 4000 4000 3000 3000 3000 3000 2 operating speed Continuous stall N-m 3.5 6.9 9.3 13 19.8 23.7 3,4 (lb-in.) (31) (61) (82) (115) (175) (210) torque N-m 9.0 13.6 19.2 31.1 39.5 49.7/56.5 5 Peak torque (lb-in.) (80) (120) (170) (275) (350) (440/500) 1 Ambient temperature is 0ºC to 40ºC for motors and 0ºC to 50ºC for drives. 2 With 230 V AC line voltage input. 3 At 125ºC winding temperature, in a 40ºC ambient, with motor mounted on 0.5 in. x 12 in. x 12 in. aluminum heat sink. 4 Brake motor continuous stall torque derated by 15%. 5 System limit. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 15 1 ULTRA Plus Specifications for F-Series Motors Specifications F-4030 F-4050 F-4075 F-6100 F-6200 F-6300 Drive 1398-PDM- 20 30 30/75 75 75 75 Maximum continuous RPM 4000 4000 3000 3000 3000 3000 2 operating speed Continuous stall N-m 3.5 6.9 9.3 13 19.8 23.7 3,4 (lb-in.) (31) (61) (82) (115) (175) (210) torque N-m 9.0 13.6 19.2 31.1 39.5 49.7 5 Peak torque (lb-in.) (80) (120) (170) (275) (350) (440) 1 Ambient temperature is 0ºC to 40ºC for motors and 0ºC to 50ºC for drives. 2 With 230 V AC line voltage input. 3 At 125ºC winding temperature, in a 40ºC ambient, with motor mounted on 0.5 in. x 12 in. x 12 in. aluminum heat sink. 4 Brake motor continuous stall torque derated by 15%. 5 System limit. F-Series Brake Specifications Specifications F-4000 F-6000 Maximum backlash (brake engaged) 44 minutes 29 minutes Holding torque 90 lb-in. (10.2 N-m) 300 lb-in. (22.6 N-m) Coil current at 24V DC 0.88 ADC 1.13 ADC Brake Motor Application Guidelines The brakes offered as options on these servo motors are holding brakes. They are designed to hold the motor shaft at 0 rpm for up to the rated brake holding torque. The brakes are spring-set type, and release when voltage is applied to the brake coil. The brakes are not designed for stopping rotation of the motor shaft. Servo drive inputs should be used to stop motor shaft rotation. The recommended method of stopping motor shaft rotation is to command the servo drive to decelerate the motor to 0 rpm, and engage the brake after the servo drive has decelerated the motor to 0 rpm. If system main power fails, the brakes can withstand use as stopping brakes. However, use of the brakes as stopping brakes creates rotational mechanical backlash that is potentially damaging to the system, increases brake pad wear not and reduces brake life. The brakes are designed nor are they intended to be used as a safety device. Publication 1398-2.1 – August 1999 16 1398 ULTRA Series 230V Brushless Servo Motors A separate power source is required to disengage the brake. This power source may be controlled by the servo motor controls, in addition to manual operator controls. F-Series Standard Motors Dimensions 2 Eye Bolts installed on F-6100, F-6200, and BF is the diameter of the hole BE F-6300 motors only. AJ is the diameter of the bolt circle L AH BB S XD P U AK EP AB LC F-4000 motors: M6 x 1 mm x 15 mm LB 0.59 in. deep thread F-6000 motors: M8 x 1.25 mm x 20 mm LA 0.79 in. deep thread Dimen- L with AB AH AJ AK BB BE BF EP L PSU XD sions brake Motor mm mm mm mm mm mm mm mm mm mm mm mm x mm mm mm Models (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in. x in.) (in.) (in.) 102 50 145 110 3 16 10 22.2 194 257 127 6 x 6 19 38 F-4030 (4.02) (1.97) (5.71) (4.33) (0.12) (0.64) (0.39) (0.875) (7.64) (10.12) (5.00) (0.24 x 0.24) (0.75) (1.49) 102 50 145 110 3 16 10 22.2 272 335 127 6 x 6 19 38 F-4050 (4.02) (1.97) (5.71) (4.33) (0.12) (0.64) (0.39) (0.875) (10.71) (13.19) (5.00) (0.24 x 0.24) (0.75) (1.49) 102 50 145 110 3 16 10 22.2 350 413 127 6 x 6 19 38 F-4075 (4.02) (1.97) (5.71) (4.33) (0.12) (0.64) (0.39) (0.875) (13.78) (16.26) (5.00) (0.24 x 0.24) (0.75) (1.49) 131 80 200 114.3 4 19 13 36.5 255 326 173 10 x 8 35 60 F-6100 (5.16) (3.15) (7.87) (4.50) (0.16) (0.75) (0.53) (1.438) (10.04) (12.83) (6.81) (0.39 x 0.32) (1.38) (2.36) 131 80 200 114.3 4 19 13 36.5 320 390 173 10 x 8 35 60 F-6200 (5.16) (3.15) (7.87) (4.50) (0.16) (0.75) (0.53) (1.438) (12.60) (15.35) (6.81) (0.39 x 0.32) (1.38) (2.36) 131 80 200 114.3 4 19 13 36.5 420 490 173 10 x 8 35 60 F-6300 (5.16) (3.15) (7.87) (4.50) (0.16) (0.75) (0.53) (1.438) (16.53) (19.29) (6.81) (0.39 x 0.32) (1.38) (2.36) Motors are manufactured to millimeter dimensions shown. Inch dimensions shown are appropriate conversions from millimeters. For further motor detail, engineering specification drawings are available upon request. Note: Dimension EP is manufactured in inches. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 17 Supplemental Motor Dimensions Connector F-4030 Brake F-4050 Brake F-4075 Brake F-6100 Brake Brake LC – 56/22.0 – 56/22.0 – 56/22.0 – 59/23.2 (mm/in) Encoder LB 126/49.6 189/74.4 204/80.3 267/105.1 282/111.0 345/135.8 183/72.0 254/100.0 (mm/in) Power LA 172/67.7 235/92.5 250/98.4 313/123.2 228/89.8 301/118.5 233/91.7 304/119.7 (mm/in) Connector F-6200 Brake F-6300 Brake Brake LC – 59/23.2 – 59/23.2 (mm/in) Encoder LB 248/97.6 318/125.2 348/137.0 418/164.6 (mm/in) Power LA 298/117.3 368/144.9 398/156.7 468/184.2 (mm/in) F-4000 NEMA 56C Dimensions AH L A 3/8 - 16 threaded thru (4) D BB 90˚ apart on a 149 mm (5.875 in.) E diameter BC F C U EP 45˚ Brake Option 90˚ AE AK AC AD Publication 1398-2.1 – August 1999 18 1398 ULTRA Series 230V Brushless Servo Motors F-4000 NEMA 56C Dimensions, cont’d Dimensions F-4030 NEMA 56C F-4050 NEMA 56C F-4075 NEMA 56C A 16.3 mm (0.64 in.) AH 52 mm (2.06 in.) AK 114.3 mm (4.500 in.) diameter BB 3 mm (0.12 in.) C 36 mm (1.41 in.) full depth Motor will accept 36.5 mm (1.437 in.) x 22.2 mm (0.875 in.) D 6.3 mm (0.25 in.) shaft seal (optional, not included) Key supplied E 4.8 mm (0.1875 in.) square x 35 mm (1.375 in.) long) EP 22 mm (0.875 in.) diameter F 165 mm (6.50 in.) diameter L (without brake) 194 mm (7.64 in.) 272 mm (10.71 in.) 350 mm (13.78 in.) L (with brake) 257 mm (10.12 in.) 335 mm (13.19 in.) 413 mm (16.26 in.) U 15.9 mm (0.625 in.) diameter Supplemental Motor Dimensions Connector F-4030 Brake F-4050 Brake F-4075 Brake Brake AE – 2.21/5.6 – 2.21/5.6 – 2.21/5.6 (mm/in) Encoder AD 6.77/17.2 9.25/23.5 9.84/25.0 12.32/31.3 12.92/32.8 15.39/39.1 (mm/in) Power AC 4.97/12.6 7.45/18.9 8.04/20.4 10.52/26.7 11.12/28.2 13.59/34.5 (mm/in) Encoder Data Encoders are factory aligned and must not be adjusted outside the factory. Specifications 1 Line Count 2000 Supply Voltage 5 VDC Supply Current 250 mA max. Line Driver 26LS31 Line Driver Output TTL F-4000 and F-6000 Series when key Index Pulse faces the connectors (0º ± 10) 1 Standard line count before quadrature. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 19 Encoder Outputs 1 A 0 A 90˚±22.5 B B I I WAVEFORMS RESULT FROM CW SHAFT ROTATION (CLOCKWISE AS VIEWED FACING THE SHAFT EXTENSION) F-Series Connector Pins and Signals Motor Power Connector (All F-Series Motors) Pin Signal AR BS CT DMotor Case D A C B P0 20 Publication 1398-2.1 – August 1999 20 1398 ULTRA Series 230V Brushless Servo Motors Motor Encoder Connector (F-4000 and F-6000 Motors) Pin Signal Pin Signal A A+ K +5V DC BA- L COM CB+ M COM D B- N Hall B E I+ P Hall C FI- R TS+ G Encoder Case S TS- H ABS T Hall A J +5V DC A B M C N L T P D K E S R J F H G P000 Optional Motor Brake Connector (F-Series Motors with an 04 Designator) Pin Signal ABR+ B BR- BA P0003 Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 21 Wire and Contact Sizing Recommendations Power Connector The following connector contact sizes and wiring gages are recommended for cabling to a motor. 2 2 Motor Contact AWG (mm ) Wire AWG (mm ) F-4030 16 (1.5) F-4050 12 (3.0) 14 (2.5) F-4075 F-6100 12 (4) F-6200 8 (8.6) 8 (10) F-6300 • Sizes are recommended minimum values for 4 conductors (R, S, T and GND). • Wiring should be twisted. • Local regulations should always be observed. Encoder Connector 2 2 Contact AWG (mm ) Wire AWG (mm ) 24 (0.25) All F-Series 22 (0.34) with BRU Drives 16 (1.5) 22 (0.34) with BSA Drives Brake Connector 2 2 Contact AWG (mm ) Wire AWG (mm ) All F-Series 18 (0.75) 16 (1.5) • These specifications are the recommended minimum mechanical size. • Local regulations should always be observed. Publication 1398-2.1 – August 1999 22 1398 ULTRA Series 230V Brushless Servo Motors H-Series Motors H-Series motors use a neodymium-iron-boron magnet to provide low inertias and high accelerations. Available in five frame sizes, the H-Series motors range in continuous torque capability from 0.5 to 50 N-m (5 to 450 lb-in.) and reach speeds up to 6000 RPM. The H-Series motors use an optical 2000-line incremental encoder with a 5000-line option for superior low-speed performance with the ULTRA Series. Typical applications for the H-Series include smart conveyors, packaging machinery, material feeding, pick-and- place machines, and high duty cycle applications. When you install the optional motor shaft seal, the motor meets the IP65 requirements of the IEC standard. Features The H-Series motors have the following features: • Compact design that is mechanically interchangeable with the F-4000 and F-6000 Series motors • Five frame sizes, twelve models • Continuous torque from 0.5 to 50 N-m (5 to 450 lb-in.) • Speeds up to 6000 RPM • Neodymium-iron-boron permanent magnet rotors provide low inertias for high accelerations • Internal thermal switch indicates overheating • Motor-mounted optical encoder included 2000 quadrature pulses, index pulse, and standard commutation channels for trapezoidal drives • Water tight MS connections are compatible with standard cable assemblies; in addition, the extruded aluminum housing and environmental connectors provide an IP65 package (with the addition of the optional shaft seal kit) • Economical, compact design ready for harsh environments • Optional spring-set holding brakes available with 24V DC • Axially-trapped front bearing in a steel insert for long life at high speeds • Vibration: 2.5 g peak 30-2000Hz • Shock: 10.0 g peak 6 ms duration • UL recognized Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 23 Typical Applications Typical applications for the H-Series motors are: • Smart conveyors • Packaging machinery • Punch press/material feeding • Robotic pick-and-place • High duty cycle applications Characteristics • High acceleration and peak torques • High-speed point-to-point positioning • Environmentally rugged Publication 1398-2.1 – August 1999 24 1398 ULTRA Series 230V Brushless Servo Motors Selecting a Drive/Motor Combination The following drive/motor combinations are available for the H-Series motors: Motor ULTRA 100 ULTRA 200 ULTRA Plus H-2005-K-H00AA 1398-DDM-009 1398-DDM-010 1398-PDM-10 H-3007-N-H00AA 1398-DDM-009 1398-DDM-010 1398-PDM-10 1398-PDM-20 H-3016-N-H00AA 1398-DDM-019 1398-DDM-020 1398-PDM-25 H-4030-M-H00AA NA 1398-DDM-030 1398-PDM-30 1398-PDM-20 H-4030-P-H00AA 1398-DDM-019 1398-DDM-020 1398-PDM-25 1 1398-DDM-030 1398-PDM-30 H-4050-P-H00AA NA 1398-PDM-75 1398-DDM-075 1398-PDM-50 2 1398-DDM-030 1398-PDM-30 H-4075-R-H00AA NA 1398-PDM-75 1398-DDM-075 1398-PDM-50 1398-PDM-75 H-6100-Q-H00AA NA 1398-DDM-075 1398-PDM-50 1398-PDM-75 H-6200-Q-H00AA NA 1398-DDM-075 1398-PDM-100 H-6300-Q-H00AA NA 1398-DDM-150 1398-PDM-150 H-8350-S-H00AA NA 1398-DDM-150 1398-PDM-100 H-8500-S-H00AA NA 1398-DDM-150 1398-PDM-150 1 Peak torque is limited to 13.5 N-m (119.5 lb-in.). 2 Peak torque is limited to 19.8 N-m (175.2 lb-in.). Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 25 H-Series Specifications This section contains the mechanical, thermostat and winding specifications for the H-Series motor family, as well as the load force ratings and performance specifications for every combination of ULTRA series drives and H-Series motors. It also provides motor dimensions, connector pin and signal designations, and all motor and connector ordering information. H-Series Mechanical Specifications Specifications Units H-2005 H-3007 H-3016 H-4030-M H-4030-P H-4050 2 kg-m 0.000015 0.000030 0.000080 0.00025 0.00025 0.00046 Rotor moment of inertia 2 (0.000013) (0.00027) (0.00072) (0.0022) (0.0022) (0.0041) (lb-in.-s ) 2 Rotor moment of inertia kg-m 0.000038 0.000089 0.00033 0.00033 0.00054 NA 2 (brake motors) (0.00034) (0.00079) (0.0029) (0.0029) (0.0048) (lb-in.-s ) kg 2.7 3.2 4.7 7.3 7.3 10.9 Motor shipping weight (lb) (6.0) (7.0) (10.4) (16.1) (16.1) (24.0) kg 2.2 2.6 4.1 6.8 6.8 9.7 Motor net weight (lb) (4.9) (5.8) (9.0) (14.9) (14.9) (21.4) kg 3.8 5.5 9.4 9.4 12.7 Brake motor shipping weight NA (lb) (8.4) (12.1) (20.7) (20.7) (28.0) kg 3.4 4.9 8.8 8.8 11.8 Brake motor net weight NA (lb) (7.5) (10.8) (19.4) (19.4) (26.0) N-m/kRPM 0.007 0.010 0.014 0.034 0.034 0.045 Damping (lb-in./kRPM) (0.06) (0.09) (0.12) (0.30) (0.30) (0.40) N-m 0.014 0.014 0.028 0.034 0.034 0.068 Friction torque (lb-in.) (0.12) (0.12) (0.25) (0.30) (0.30) (0.60) Maximum Operating Speed rpm 6000 5000 5000 4000 4000 4000 Specifications Units H-4075 H-6100 H-6200 H-6300 H-8350 H-8500 2 kg-m 0.00068 0.0014 0.0024 0.0034 0.0063 0.0094 Rotor moment of inertia 2 (0.0060) (0.012) (0.021) (0.030) (0.056) (0.083) (lb-in.-s ) 2 Rotor moment of inertia kg-m 0.00076 0.0017 0.0027 0.0037 0.0093 0.012 2 (brake motors) (0.0067) (0.015) (0.024) (0.033) (0.082) (0.109) (lb-in.-s ) kg 14.1 19.2 28.6 37.7 46.8 58.1 Motor shipping weight (lb) (31.1) (42.3) (63.0) (83.1) (103) (128) kg 12.9 18.3 27.0 34.8 44.1 56.1 Motor net weight (lb) (28.4) (40.4) (59.4) (76.8) (97) (123.6) kg 16.0 23.8 32.9 42.2 53.5 64.9 Brake motor shipping weight (lb) (35.3) (52.5) (72.5) (93.0) (118) (143) kg 14.9 22.5 31.6 39.2 50.9 61.8 Brake motor net weight (lb) (32.8) (49.5) (69.5) (86.4) (112) (136) N-m/kRPM 0.068 0.10 0.16 0.19 0.38 0.43 Damping (lb-in./kRPM) (0.60) (0.90) (1.4) (1.7) (3.4) (3.8) Publication 1398-2.1 – August 1999 26 1398 ULTRA Series 230V Brushless Servo Motors Specifications Units H-4075 H-6100 H-6200 H-6300 H-8350 H-8500 N-m 0.14 0.14 0.24 0.36 0.32 0.40 Friction torque (lb-in.) (1.2) (1.2) (2.1) (3.2) (2.8) (3.5) Maximum Operating Speed rpm 3000 3000 3000 3000 2000 2000 H-Series Winding Specifications Specifications Units H-2005 H-3007 H-3016 H-4030-M H-4030-P H-4050 Sine wave K torque Constant T N-m/A 0.13 0.28 0.28 0.25 0.50 0.50 1 (lb-in./A) (1.2) (2.5) (2.5) (2.2) (4.4) (4.4) at 25ºC Square wave K torque T N-m/A 0.14 0.31 0.31 0.27 0.54 0.54 2 (lb-in./A) (1.3) (2.7) (2.7) (2.4) (4.8) (4.8) Constant at 25ºC 3 K voltage constant V/kRPM 16 34 34 30 60 60 E Winding resistance Ohm 2.6 6.6 1.3 0.5 2.0 0.69 Phase to phase at 25ºC Winding inductance mH 4.1 12 3.4 1.9 9.0 3.3 Phase to phase 4 ºC/Watt 1.5 1.2 0.89 0.79 0.79 0.57 Thermal resistance Poles 466 666 Specifications Units H-4075 H-6100 H-6200 H-6300 H-8350 H-8500 Sine wave K torque Constant N-m/A 0.74 0.68 0.66 0.70 0.86 0.92 T 1 (lb-in./A) (6.6) (6.0) (5.8) (6.2) (7.6) (8.2) at 25ºC Square wave K torque N-m/A 0.81 0.74 0.72 0.77 0.94 1.0 T 2 (lb-in./A) (7.2) (6.6) (6.4) (6.8) (8.3) (9.0) Constant at 25ºC 3 V/kRPM 90 82 80 85 104 112 K voltage constant E Winding resistance Ohm 0.90 0.49 0.18 0.12 0.13 0.10 Phase to phase at 25ºC Winding inductance mH 5.4 4.4 2.2 1.2 2.5 2.4 Phase to phase 4 ºC/Watt 0.48 0.34 0.31 0.24 0.23 0.21 Thermal resistance Poles 688 888 1 Peak value of per phase sine wave amps. 2 Peak value of per phase square wave amps 3 Peak value of sinusoidal phase to phase volts 4 At 125ºC winding temperature, in a 40ºC ambient; motors 3007, 3016 mounted 0.25 in. x 10 in. x 10 in.; motors 4030, 4050, 4075 mounted on 0.5 in. x 12 in. x 12 in.; motors 6100, 6200, 6300, 8350, 8500 mounted on 1 in. x 12 in. x 12 in. aluminum heat sink. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 27 Storage and Operating Specifications Storage and Operating Conditions Operating: 0 to 40ºC (32 to 104ºF) Ambient Temperature Storage: -30 to 70ºC (-25 to 158ºF) Relative Humidity 5% to 95% non-condensing H-Series Thermostat Specifications Specifications 1 Rated voltage 0 - 250V DC or 50/60 Hz AC 2.5A at power factor of 1.0 Rated current 1.6A at power factor of 0.6 Maximum switching current 5 A Contact resistance Less than 0.10 Ohms maximum Contacts Normally closed Mylar Nomex capable of withstanding Insulation dielectric 1500V AC RMS 50/60 Hz for 1 minute Opening temperature (±5ºC) 140ºC 1 The thermostat is normally used as a switch for a 24V DC logic signal. Publication 1398-2.1 – August 1999 28 1398 ULTRA Series 230V Brushless Servo Motors H-Series Standard Motor Radial Load Force Ratings Ratings Units H-2005 H-3007 H-3016 H-4030-M H-4030-P H-4050 kg 63.5 68.0 76.2 102.1 102.1 123.8 500 RPM (lbs) (105) (113) (126) (169) (169) (205) kg 50.8 54.4 60.8 91.6 91.6 98.9 1000 RPM (lbs) (84) (90) (101) (152) (152) (164) kg 39.9 43.1 47.6 72.6 72.6 78.0 2000 RPM (lbs) (66) (71) (79) (120) (120) (129) kg 34.9 37.6 41.7 63.5 63.5 68.0 3000 RPM (lbs) (58) (62) (69) (105) (105) (113) kg 31.8 34.0 38.1 57.6 57.6 62.1 4000 RPM (lbs) (53) (56) (63) (95) (95) (103) kg 29.5 31.8 35.4 5000 RPM NA NA NA (lbs) (49) (53) (59) kg 20.4 6000 RPM NA NA NA NA NA (lbs) (45) Ratings Units H-4075 H-6100 H-6200 H-6300 H-8350 H-8500 kg 129.7 263.1 283.5 299.4 299.4 313.0 500 RPM (lbs) (215) (435) (469) (495) (495) (518) kg 104.3 208.7 226.8 235.9 238.1 249.5 1000 RPM (lbs) (173) (345) (375) (390) (394) (413) kg 82.6 165.6 179.2 188.2 188.2 197.3 2000 RPM (lbs) (137) (274) (296) (311) (311) (326) kg 71.2 145.2 156.5 163.3 3000 RPM NA NA (lbs) (118) (240) (259) (270) kg 65.3 4000 RPM NA NA NA NA NA (lbs) (108) Motors are capable of carrying an axial load in most applications according to the following general guidelines. These guidelines should only be used as approximations. Radial load force applied at the center of the shaft extension Axial load force • When the motor shaft has no radial load, the axial load rating is 100% of the radial load rating from the table above. • When the motor shaft has both a radial and an axial load, the axial load rating is 44% of the radial load rating from the table above. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 29 1 ULTRA 100 Series Specifications for H-Series Motors Specifications H-2005 H-3007 H-3016 H-4030-M H-4030-P H-4050 Drive 1398-DDM- 009 009 019 NA 019 NA Maximum continuous RPM 6000 5000 5000 NA 4000 NA 2 operating speed 3 N-m (lb-in.) 0.57 (5) 0.79 (7) 2.26 (20) NA 3.39 (30) NA Continuous stall torque 4 N-m (lb-in.) 1.6 (14) 2.48 (22) 4.97 (44) NA 8.25 (73) NA Peak torque Specifications Units H-4075 H-6100 H-6200 H-6300 H-8350 H-8500 Drive 1398-DDM- NA NA NA NA NA NA Maximum continuous RPM NANANANA NA NA 2 operating speed 3 N-m (lb-in.) NA NA NA NA NA NA Continuous stall torque 4 N-m (lb-in.) NA NA NA NA NA NA Peak torque 1 Ambient temperature is 0ºC to 40ºC for motors and 0ºC to 50ºC for drives. 2 With 230 V AC line voltage input. 3 At 125ºC winding temperature, in a 40ºC ambient; motors 3007, 3016 mounted 0.25 in. x 10 in. x 10 in.; motors 4030, 4050, 4075 mounted on 0.5 in. x 12 in. x 12 in.; motors 6100, 6200, 6300, 8350, 8500 mounted on 1 in. x 12 in. x 12 in. aluminum heat sink. 4 System limit. Publication 1398-2.1 – August 1999 30 1398 ULTRA Series 230V Brushless Servo Motors 1 ULTRA 200 Series Specifications for H-Series Motors Specifications H-2005 H-3007 H-3016 H-4030-M H-4030-P H-4050 Drive 1398-DDM- 010 010 020 030 020 030/075 Maximum continuous 5 RPM 6000 5000 5000 4000 4000/4000 4000 2 operating speed N-m 0.57 0.79 2.3 3.4 3.4 6.8 3 Continuous stall torque (lb-in.) (5.0) (7.0) (20) (30) (30) (60) N-m 1.2 2.5 5.0 6.8 8.3 13.6/21.5 4 Peak torque (lb-in.) (10) (22) (44) (60) (73) (120/190) Specifications H-4075 H-6100 H-6200 H-6300 H-8350 H-8500 Drive 1398-DDM- 030/075 075 075 150 150 150 Maximum continuous RPM 3000/3000 3000 3000 3000 2000 2000 2 operating speed N-m 9.9 12.4 21.4 36.7 39.5 50.8 3 Continuous stall torque (lb-in.) (88) (110) (190) (300) (350) (450) N-m 20.3/30.5 32.8 40.7 79.1 67.8 108 4 Peak torque (lb-in.) (180/270) (290) (360) (700) (600) (960) 1 Ambient temperature is 0ºC to 40ºC for motors and 0ºC to 50ºC for drives. 2 With 230V AC line voltage input. 3 At 125ºC winding temperature, in a 40ºC ambient; motors 3007, 3016 mounted 0.25in. x 10 in. x 10 in.; motors 4030, 4050, 4075 mounted on 0.5 in. x 12 in. x 12 in.; motors 6100, 6200, 6300, 8350, 8500 mounted on 1 in. x 12 in. x 12 in. aluminum heat sink. 4 System limit. 5 With either 115 or 230V AC line voltage input. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 31 1 ULTRA Plus Specifications for H-Series Motors Specifications H-2005 H-3007 H-3016 H-4030-M H-4030-P H-4050 Drive 1398-PDM- 10 10 20 30 20 30/75 Maximum continuous 5 RPM 6000 5000 5000 4000 4000/4000 4000 2 operating speed N-m 0.57 0.79 2.3 3.4 3.4 6.8 3 Continuous stall torque (lb-in.) (5.0) (7.0) (20) (30) (30) (60) N-m 1.2 2.5 5.0 6.8 8.3 13.6/21.5 4 Peak torque (lb-in.) (10) (22) (44) (60) (73) (120/190) Specifications H-4075 H-6100 H-6200 H-6300 H-8350 H-8500 Drive 1398-PDM- 30/75 75 75 150 NA 150 Maximum continuous RPM 3000/3000 3000 3000 3000 NA 2000 2 operating speed N-m 9.9 11.30 20.9 36.7 50.8 3 NA Continuous stall torque (lb-in.) (88) (100) (185) (325) (450) N-m 20.3/30.5 25.42 40.68 79.1 108 4 NA Peak torque (lb-in.) (180/270) (225) (360) (700) (960) 1 Ambient temperature is 0ºC to 40ºC for motors and 0ºC to 50ºC for drives. 2 With 230V AC line voltage input. 3 At 125ºC winding temperature, in a 40ºC ambient; motors 3007, 3016 mounted 0.25in. x 10 in. x 10 in.; motors 4030, 4050, 4075 mounted on 0.5 in. x 12 in. x 12 in.; motors 6100, 6200, 6300, 8350, 8500 mounted on 1 in. x 12 in. x 12 in. aluminum heat sink. 4 System limit. 5 With either 115 or 230V AC line voltage input. H-Series Brake Specifications Specifications H-3000 H-4000 H-6000 H-8000 Maximum backlash (brake engaged) 1 degree, 30 minutes 44 minutes 29 minutes 21 minutes Holding torque 2.26 N-m (20 lb-in.) 10.2 N-m (90 lb-in.) 22.6 N-m (200 lb-in.) 50.8 N-m (450 lb-in.) Coil current at 24V DC 0.6 ADC 0.88 ADC 1.13 ADC 2.2 ADC Coil current at 90V DC 0.21 ADC 0.26 ADC 0.33 ADC 0.62 ADC Publication 1398-2.1 – August 1999 32 1398 ULTRA Series 230V Brushless Servo Motors Brake Motor Application Guidelines The brakes offered as options on these servo motors are holding brakes. They are designed to hold the motor shaft at 0 rpm for up to the rated brake holding torque. The brakes are spring-set type, and release when voltage is applied to the brake coil. The brakes are not designed for stopping rotation of the motor shaft. Servo drive inputs should be used to stop motor shaft rotation. The recommended method of stopping motor shaft rotation is to command the servo drive to decelerate the motor to 0 rpm, and engage the brake after the servo drive has decelerated the motor to 0 rpm. If system main power fails, the brakes can withstand use as stopping brakes. However, use of the brakes as stopping brakes creates rotational mechanical backlash that is potentially damaging to the system, increases brake pad wear and reduces brake life. The brakes are not designed nor are they intended to be used as a safety device. A separate power source is required to disengage the brake. This power source may be controlled by the servo motor controls, in addition to manual operator controls. H-Series Standard Motors Dimensions Dimensions Thread Thread/Depth H-2000 M3 x 0.5 mm 10 mm/0.39 in. H-3000 M4 x 0.7 mm 10 mm/0.39 in. H-4000 M6 x 1.0 mm 15 mm/0.59 in. H-6000 M8 x 1.25 mm 20 mm/0.79 in. H-8000 M8 x 1.25 mm 20 mm/0.79 in. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 33 H-2000 Motors Dimensions (see page 34 for dimension values) BF is the diameter of the hole AH AJ is the diameter of the bolt circle L P BB S BE XD 2.50 in. U (63.5 mm) SQ AB Threaded hole EP AK H-3000, -4000, -6000, and -8000 Motors Dimensions (see page 34 for dimension values) 2 Eyebolts provided with motor AH L P (H-6000 and H-8000 Series only) BE BB S XD U AB EP Threaded LB AK hole BF is the diameter of the hole LA AJ is the diameter of the bolt circle Publication 1398-2.1 – August 1999 34 1398 ULTRA Series 230V Brushless Servo Motors Dimen- L with 3 4 AB AJ AK BE BF EP L PS U XD AH BB sions brake Motor mm mm mm mm mm mm mm mm mm mm mm mm x mm mm mm Models (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in. x in.) (in.) (in.) 1 2 75 23 75 60 2.4 15.2 5.8 12 197 80 4 x 4 11 18 H-2005 NA (2.95) (0.93) (2.95) (2.36) (0.09) (0.60) (0.23) (0.47) (7.7) (3.15) (0.16 x 0.16) (0.43) (0.71) 1 2 75 30 100 80 3 10.9 7 15 172 211 89 5 x 5 14 20 H-3007 (2.95) (1.18) (3.94) (3.15) (0.12) (0.43) (0.28) (0.59) (6.77) (8.31) (3.50) (0.20 x 0.20) (0.55) (0.79) 1 2 75 30 100 80 3 10.9 7 15 233 262 89 5 x 5 14 20 H-3016 (2.95) (1.18) (3.94) (3.15) (0.12) (0.43) (0.28) (0.59) (8.77) (10.31) (3.50) (0.20 x 0.20) (0.55) (0.79) 5 6 76 50 145 110 3 15.5 10 20 213 266 121 6 x 6 19 40 H-4030 (3.00) (1.97) (5.71) (4.33) (0.12) (0.61) (0.39) (0.79) (8.39) (10.47) (4.76) (0.24 x 0.24) (0.75) (1.57) 5 6 76 50 145 110 3 15.5 10 20 264 317 121 6 x 6 19 40 H-4050 (3.00) (1.97) (5.71) (4.33) (0.12) (0.61) (0.39) (0.79) (10.39) (12.48) (4.76) (0.24 x 0.24) (0.75) (1.57) 5 6 76 50 145 110 3 15.5 10 20 315 368 121 6 x 6 19 40 H-4075 (3.00) (1.97) (5.71) (4.33) (0.12) (0.61) (0.39) (0.79) (12.40) (14.49) (4.76) (0.24 x 0.24) (0.75) (1.57) 5 7 101 80 200 114.3 4 21.3 13.5 38 277 330 178 10 x 8 35 60 H-6100 (4.00) (3.15) (7.87) (4.50) (0.16) (0.84) (0.53) (1.50) (10.91) (12.99) (7.01) (0.39 x 0.31) (1.38) (2.36) 5 7 101 80 200 114.3 4 21.3 13.5 38 353 406 178 10 x 8 35 60 H-6200 (4.00) (3.15) (7.87) (4.50) (0.16) (0.84) (0.53) (1.50) (13.90) (15.98) (7.01) (0.39 x 0.31) (1.38) (2.36) 5 7 101 80 200 114.3 4 21.3 13.5 38 429 442 178 10 x 8 35 60 H-6300 (4.00) (3.15) (7.87) (4.50) (0.16) (0.84) (0.53) (1.50) (16.89) (17.40) (7.01) (0.39 x 0.31) (1.38) (2.36) 8 7 112 85 265 230 4 22.4 15 45 375 478 241 12 x 8 42 60 H-8350 (4.41) (3.35) (10.43) (9.06) (0.16) (0.88) (0.59) (1.77) (14.76) (18.82) (9.49) (0.41 x 0.31) (1.65) (2.36) 8 7 112 85 265 230 4 22.4 15 45 426 529 241 12 x 8 42 60 H-8500 (4.41) (3.35) (10.43) (9.06) (0.16) (0.88) (0.59) (1.77) (16.77) (20.83) (9.49) (0.41 x 0.31) (1.65) (2.36) 1 Tolerance is -0.0012 in. (-0.03 mm). 2 Tolerance is -0.0004 in. (-0.01 mm). 3 Tolerance is ±0.0196 in. (±0.5 mm). 4 Tolerance is ±0.0079 in. (±0.2 mm). 5 Tolerance is -0.0014 in. (-0.035 mm). 6 Tolerance is -0.0051 in. (-0.013 mm). 7 Tolerance is -0.0006 in. (-0.16 mm). 8 Tolerance is -0.0181 in. (-0.46 mm). Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 35 Supplemental Motor Dimensions Connector H-2005 H-3007 Brake H-3016 Brake H-4030 Brake H-4050 Brake H-4075 Brake Brake 262/ LC – – 107/4.21 – 158/6.22 – 160/6.30 – 211/8.31 – (mm/in) 10.31 Encoder LB (mm/in) 287/ 286/ 338/ 167/6.58 143/5.63 181/7.13 194/7.64 232/9.13 184/7.24 236/9.29 235/9.25 11.30 11.26 13.30 Power LA (mm/in) Connector H-6100 Brake H-6200 Brake H-6300 Brake H-8350 Brake H-8500 Brake Brake LB – 189/7.44 – 265/10.43 341/13.42 334/13.13 384/15.13 (mm/in) Encoder (mm/in) LA 251/9.88 299/11.77 327/12.87 375/14.76 403/15.87 451/17.75 326/12.83 429/16.83 377/14.83 480/18.83 Power (mm/in) H-4000 NEMA 56C Dimensions L AH AK A BB E C U F Brake Option D AE 3/8-16 thru (4) eq. sp. 90˚ apart on a 149 mm EP AC (5.875 in.) diameter B. C. Publication 1398-2.1 – August 1999 36 1398 ULTRA Series 230V Brushless Servo Motors Dimensions H-4030 NEMA 56C H-4050 NEMA 56C H-4075 NEMA 56C A 15.5 mm (0.61 in.) AH 52 mm (2.06 in.) AK 114.3 mm (4.500 in.) diameter BB 3 mm (0.12 in.) C 36 mm (1.41 in.) full depth Motor will accept 47 mm (1.850 in.) x 20 mm (0.788 in.) D 7 mm (0.276 in.) shaft seal (optional, not included) Key supplied E 4.8 mm (0.1875 in.) square x 35 mm (1.375 in.) long) EP 50.8 mm (2.00 in.) diameter F 165 mm (6.50 in.) diameter L (without brake) 213 mm (8.39 in.) 264 mm (10.39 in.) 315 mm (12.40 in.) L (with brake) 266 mm (10.47 in.) 317 mm (12.48 in.) 368 mm (14.49 in.) U 15.9 mm (0.625 in.) diameter Supplemental Motor Dimensions Brake (AE) Power (AC) Encoder (AC) Motors (in/mm) (in/mm) (in/mm) H-4030 – 7.24/184 7.24/184 H-4030 Brake 6.30/160 9.29/236 9.29/236 H-4050 – 9.25/235 9.25/235 H-4050 Brake 8.31/211 11.30/287 11.30/287 H-4075 – 11.26/286 11.26/286 H-4075 Brake 10.31/262 13.30/338 13.30/338 Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 37 Encoder Data Encoders are factory aligned and must not be adjusted outside the factory. Specifications 1 Line Count 2000 Supply Voltage 5 VDC Supply Current 250 mA max. Line Driver 26LS31 Line Driver Output TTL H-2000 and H-3000 Series when key faces 180º ± 10 away from the connectors Index Pulse H-4000, H-6000 and H-8000 Series when key faces the connectors (0º ± 10) 1 Standard line count before quadrature. Encoder Outputs 1 A 0 A 90˚±22.5 B B I I WAVEFORMS RESULT FROM CW SHAFT ROTATION (CLOCKWISE AS VIEWED FACING THE SHAFT EXTENSION) Publication 1398-2.1 – August 1999 38 1398 ULTRA Series 230V Brushless Servo Motors H-Series Connector Pins and Signals Motor Power Connector (All H-Series Motors) Pin Signal AR BS CT DMotor Case A D C B P0002 Motor Encoder Connector Pin Signal Pin Signal A A+ K +5V DC BA- L COM CB+ M COM D B- N Hall B E I+ P Hall C FI- R TS+ G Encoder Case S TS- H ABS T Hall A J +5V DC A B M C N L T P D K E S R J F H G P0001 Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 39 Optional Motor Brake Connector Pin Signal ABR+ B BR- BA P0003 Wire and Contact Sizing Recommendations Power Connector The following connector contact sizes and wiring gages are recommended for cabling to a motor. 2 2 Motor Contact AWG (mm ) Wire AWG (mm ) H-2005 H-3007 16 (1.5) 16 (1.5) H-3016 H-4030 H-4050 12 (4.0) 14 (2.5) H-4075 H-6100 12 (4.0) H-6200 8 (8.6) 8 (10.0) H-6300 H-8350 4 (21.6) 6 (16.0) H-8500 • Sizes are recommended minimum values for 4 conductors (R, S, T and GND). • Wiring should be twisted. • Local regulations should always be observed. Publication 1398-2.1 – August 1999 40 1398 ULTRA Series 230V Brushless Servo Motors Encoder Connector 2 2 Contact AWG (mm ) Wire AWG (mm ) 24 (0.25) with ULTRA Plus Series Drives All H-Series 16 (1.5) 22 (0.34) with ULTRA Series 100-200 Drives Brake Connector 2 2 Contact AWG (mm ) Wire AWG (mm ) All H-Series 18 (0.75) 16 (1.5) • These specifications are the recommended minimum mechanical size. • Local regulations should always be observed. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 41 Y-Series Motors Y-Series motors, available in either 115V or 230V windings, use high energy neodymium magnets that provide low inertias for fast accelerations. Available in three popular metric frame sizes, the Y-Series motors range in continuous torque capability from 0.17 to 2.5 N-m (1.5 to 22 lb-in.) and reach speeds up to 4500 RPM. Their outstanding torque-to-size ratios make the Y- Series a powerful combination with the ULTRA 100 and 200 drives. Typical applications for the Y-Series include robotics, material handling, X-Y tables, specialty machinery, and semiconductor manufacturing. IP43 enclosure protection is standard. Features The Y-Series motors have the following features: • 115V and 230V windings • Popular metric mounting dimensions • Three frame sizes, ten models • Continuous torque from 0.17 to 2.5 N-m (1.5 to 22 lb-in.) • Motor-mounted optical encoder with differential line driver data (2000- line) and commutation signal • Low inertia rotor • High energy neodymium magnets • Speeds up to 4500 RPM • Optional internally mounted spring set, magnetic release 24V DC holding brake • IP43 package • Vibration: 2.5 g peak 30-2000 Hz • Shock: 10.0 g peak 6 ms duration Publication 1398-2.1 – August 1999 42 1398 ULTRA Series 230V Brushless Servo Motors Typical Applications Typical applications for the Y-Series motors are: • Robotics • Material handling • Specialty machinery • Medical and laboratory equipment •X-Y tables • Light packaging machines • Office machinery • Postal sorting Selecting a Drive/Motor Connection The following drive/motor combinations are available for the Y-Series motors: Motor ULTRA 100 ULTRA 200 ULTRA Plus Y-1002-1-H00AA 1398-DDM-005 1398-DDM-010 NA Y-1002-2-H00AA 1398-DDM-005 1398-DDM-010 NA Y-1003-1-H00AA 1398-DDM-009 1398-DDM-010 NA Y-1003-2-H00AA 1398-DDM-005 1398-DDM-010 NA Y-2006-1-H00AA 1398-DDM-019 1398-DDM-010 NA Y-2006-2-H00AA 1398-DDM-009 1398-DDM-020 NA Y-2012-1-H00AA 1398-DDM-019 1398-DDM-020 NA Y-2012-2-H00AA 1398-DDM-009 1398-DDM-010 NA Y-3023-2-H00AA 1398-DDM-019 1398-DDM-020 NA Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 43 Y-Series Specifications This section contains the mechanical, thermostat and winding specifications for the Y-Series motor family, as well as the load force ratings and performance specifications for every combination of ULTRA series drives and Y-Series motors. It also provides motor dimensions, connector pin and signal designations, and all motor and connector ordering information. Y-Series Mechanical Specifications Y-1002-1 Y-1003-1 Y-2006-1 Y-2012-1 Specifications Units Y-3023-2 Y-1002-2 Y-1003-2 Y-2006-2 Y-2012-2 2 kg-m 0.0000031 0.0000051 0.000015 0.000026 0.000064 Rotor moment of inertia 2 (0.000027) (0.000045) (0.00013) (0.00023) (0.00056) (lb-in.-s ) 2 Rotor moment of inertia kg-m 0.0000039 0.0000059 0.000020 0.000032 0.000069 2 (brake motors) (0.000034) (0.000052) (0.00018) (0.00028) (0.00062) (lb-in.-s ) kg 0.9 1.0 1.7 2.3 3.9 Motor shipping weight (lb) (2.0) (2.3) (3.8) (5.1) (8.7) kg 0.5 0.7 1.3 1.9 3.5 Motor net weight (lb) (1.1) (1.5) (2.9) (4.1) (7.8) N-m/kRPM 0.002 0.003 0.009 0.01 0.021 Damping (lb-in./kRPM) (0.022) (0.03) (0.08) (0.10) (0.19) N-m 0.005 0.007 0.022 0.03 0.072 Friction torque (lb-in.) (0.04) (0.06) (0.20) (0.29) (0.64) Maximum Operating Speed rpm 4500 4500 4500 4500 4500 Publication 1398-2.1 – August 1999 44 1398 ULTRA Series 230V Brushless Servo Motors Y-Series Winding Specifications Y-1002- Y-1003- Y-2006- Y-2012- Specifications Units Y-3023-2 12 12 121 2 Sine wave K torque T N-m/A 0.08 0.16 0.11 0.20 0.10 0.22 0.24 0.37 0.33 1 (lb-in./A) (0.73) (1.4) (1.0) (1.8) (0.95) (1.9) (2.1) (3.3) (2.9) Constant at 25ºC Square wave K torque T N-m/A 0.09 0.18 0.12 0.22 0.12 0.24 0.26 0.40 0.36 2 (lb-in./A) (0.8) (1.6) (1.1) (2.0) (1.1) (2.2) (2.3) (3.6) (3.2) Constant at 25ºC 3 K voltage constant V/kRPM 10 20 14 25 13 27 29 45 40 E Winding resistance Ohm 4.6 18.8 3.2 8.9 0.79 3.2 1.3 2.9 0.78 Phase to phase at 25ºC Winding inductance mH 5.5 22.3 3.8 11.5 2.7 12 5.1 12.4 6 Phase to phase 4 ºC/Watt 2.3 2.3 2.2 2.2 1.3 1.3 1.3 1.3 0.85 Thermal resistance Encoder resolution P/R 2000 2000 2000 2000 2000 2000 2000 2000 2000 Poles 8 8 8 8 8 8 8 8 8 1 Peak value of per phase sine wave amps. 2 Peak value of per phase square wave amps 3 Peak value of sinusoidal phase to phase volts 4 At 125ºC winding temperature, in a 40ºC ambient, with motor mounted on aluminum heat sinks: motors 1002, 1003—0.125 in. x 6 in. x 6 in.; motors 2006, 2012—0.250 in. x 8 in. x 8 in.; motor 3023— 0.25 in. x 10 in. x 10 in. Storage and Operating Specifications Storage and Operating Conditions Operating: 0 to 40ºC (32 to 104ºF) Ambient Temperature Storage: -20 to 65ºC (-4 to 149ºF) Relative Humidity 20% to 90% non-condensing Brake Motor Application Guidelines The brakes offered as options on these servo motors are holding brakes. They are designed to hold the motor shaft at 0 rpm for up to the rated brake holding torque. The brakes are spring-set type, and release when voltage is applied to the brake coil. The brakes are not designed for stopping rotation of the motor shaft. Servo drive inputs should be used to stop motor shaft rotation. The recommended method of stopping motor shaft rotation is to command the servo drive to decelerate the motor to 0 rpm, and engage the brake after the servo drive has decelerated the motor to 0 rpm. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 45 If system main power fails, the brakes can withstand use as stopping brakes. However, use of the brakes as stopping brakes creates rotational mechanical backlash that is potentially damaging to the system, increases brake pad wear and reduces brake life. The brakes are not designed nor are they intended to be used as a safety device. A separate power source is required to disengage the brake. This power source may be controlled by the servo motor controls, in addition to manual operator controls. Y-Series Brake Specifications Specifications Y-1002 Y-1003 Y-2006 Y-2012 Y-3023 1.39 lb-in. 2.83 lb-in. 5.64 lb-in. 11.24 lb-in. 21.06 lb-in. Holding Torque (0.157 N-m) (0.32 N-m) (0.637 N-m) (1.274 N-m) (2.38 N-m) Coil Current at 24 VDC 0.26 Amps 0.31 Amps 0.37 Amps Y-Series Motor Brake and Shaft Load Data Brake Holding Shaft Radial Load Axial Load Motor Coil Current Torque (FR) (F) Y-1002 0.157 N-m 10 kg 3 kg 0.26A Y-1003 0.32 N-m 10 kg 3 kg 0.26A Y-2006 0.637 N-m 20 kg 8 kg 0.31A Y-2012 1.27 N-m 25 kg 10 kg 0.31A Y-3023 2.38 N-m 35 kg 20 kg 0.37A 1 The FR and F refer to loads applied as shown in the drawing above. Publication 1398-2.1 – August 1999 46 1398 ULTRA Series 230V Brushless Servo Motors 1 ULTRA 100 Series Specifications for Y-Series Motors Y-1002- Y-1003- Y-2006- Y-2012- Y-3023-2 Specifications 1 2 1 2 1 2 1 2 115V 230V Drive 1398-DDM-005005009005019009019009019019 Maximum continuous operating RPM 4500 4500 4500 4500 4500 4500 3800 4500 2500 4500 speed N-m 0.17 0.17 0.35 0.35 0.69 0.69 1.4 1.4 2.5 2.5 3 Continuous stall torque (lb-in.) (1.5) (1.5) (3.1) (3.1) (6.1) (6.1) (12) (12) (22.5) (22.5) N-m 0.48 0.48 0.97 0.97 1.92 1.92 3.8 3.8 7.1 7.1 4 Peak torque (lb-in.) (4.3) (4.3) (8.6) (8.6) (17) (17) (33.7) (33.7) (63) (63) 1 Ambient temperature is 0ºC to 40ºC for motors and 0ºC to 50ºC for drives. 2 At drive input voltage. 3 At 125ºC winding temperature, in a 40ºC ambient, with motor mounted on aluminum heat sinks: motors 1002, 1003—0.125 in. x 6 in. x 6 in.; motors 2006, 2012—0.250 in. x 8 in. x 8 in.; motor 3023— 0.25 in. x 10 in. x 10 in. 4 System limit. 1 2 ULTRA 200 Specifications for Y-Series Motors Y-1002- Y-1003- Y-2006- Y-2012- Y-3023- Specifications 1 2 1 2 1 2 1 2 115V 230V Drive 1398-DDM- 010 010 010 010 010 020 020 020 020 020 Maximum continuous operating RPM 4500 4500 4500 4500 4500 4500 4500 4500 2500 4500 speed N-m 0.17 0.17 0.35 0.35 0.69 0.69 1.4 1.4 2.5 2.5 3 Continuous stall torque (lb-in.) (1.5) (1.5) (3.1) (3.1) (6.1) (6.1) (12) (12) (22.5) (22.5) N-m 0.48 0.48 0.97 0.97 1.9 1.9 3.4 3.8 6.0 7.1 4 Peak torque (lb-in.) (4.3) (4.3) (8.6) (8.6) (16.6) (16.6) (30.0) (33.7) (53.0) (63.0) 1 Ambient temperature is 0ºC to 40ºC for motors and 0ºC to 50ºC for drives. 2 At drive input voltage. 3 At 125ºC winding temperature, in a 40ºC ambient, with motor mounted on aluminum heat sinks: motors 1002, 1003—0.125 in. x 6 in. x 6 in.; motors 2006, 2012—0.250 in. x 8 in. x 8 in.; motor 3023— 0.25 in. x 10 in. x 10 in. 4 System limit. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 47 Y-Series Standard Motors Dimensions L AH Shaft End Threaded Hole BE Motor Series Thread Thread Depth BB BP Y-2006 M5 x 0.8 0.47 in. (12 mm) Y-2012 M5 x 0.8 0.47 in. (12 mm) EP Y-3203 M5 x 0.8 0.47 in. (12 mm) P U AK LD AB LA LB LE CAB LC W1 W2 BF is the diameter of the hole AJ is the diameter of the bolt circle MOTOR ENCODER MOTOR POWER CONNECTOR CONNECTOR Dimen- L with AB AF AH AJ AK BB BE BF BP CAB EP L PU sions brake Motor mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm Models (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) 30 25 46 30 2.5 5 4.5 1000 70 108 40 8 Y-1002 NA NA NA (1.18) (0.98) (1.81) (1.18) (0.10) (0.20) (0.18) (39.37) (2.75) (4.25) (1.58) (0.31) 30 25 46 30 2.5 5 4.5 1000 88 126 40 8 Y-1003 NA NA NA (1.18) (0.98) (1.81) (1.18) (0.10) (0.20) (0.18) (39.37) (3.46) (4.96) (1.58) (0.31) 41 30 70 50 3 6 5.5 1000 95 133 60 14 Y-2006 NA NA NA (1.61) (1.18) (2.75) (1.97) (0.12) (0.24) (0.22) (39.37) (3.74) (4.54) (2.36) (0.55) 41 30 70 50 3 6 5.5 1000 123 161 60 14 Y-2012 NA NA NA (1.61) (1.18) (2.75) (1.97) (0.12) (0.24) (0.22) (39.37) (4.84) (6.34) (2.36) (0.55) 52 35 40 90 70 3 8 6.5 2.0 1000 19 140 180 80 16 Y-3023 (2.05) (1.38) (1.57) (3.54) (2.75) (0.12) (0.31) (0.25) (0.08) (39.37) (0.75) (5.57) (7.09) (3.15) (0.63) Motors are manufactured to millimeter dimensions shown. Inch dimensions shown are appropriate conversions from millimeters. For further motor detail, engineering specification drawings are available upon request. Publication 1398-2.1 – August 1999 48 1398 ULTRA Series 230V Brushless Servo Motors Supplemental Motor Dimensions Dimension Y-1002 Y-1003 Y-2006 Y-2012 Y-3023 LA 23.5/0.90 41.5/1.60 69.5/2.7 80.5/3.2 LB 21.5/0.84 24.0/0.95 30.0/1.2 1 LC 17.5/0.70 – 1 56/2.2 LC (Brake) LD 7.0/0.28 – LD (Brake) 45/1.77 LE 28.0/1.10 – 1 66/2.60 LE (Brake) 1 Measurement is to the center of the perpendicular motor encoder cable. Motor encoder cable exits the perpendicular to the motor frame on Y-1002 and Y-1003 motors (not as shown). Cable Diameters Motor W1 - Power/Brake W2 - Encoder Y-1002 6.0/0.24 Y-1003 Y-2006 8.0/0.31 Y-2012 6.7/0.26 Y-3023 º cable bend allowance is 15mm. Minimum 90 Encoder Data Encoders are factory aligned and must not be adjusted outside the factory. Specifications • Data A+, A-, B+, B-: 2000 pulse/rev Line Counts • Index I+, I-: 1 pulse/rev • Hall A+, A-, B+, B-, C+, C-: 2 pulse/rev Supply Voltage 4.75 to 5.25 VDC Supply Current 450 mA DC Line Driver AM26LS31 equivalent • Output: Logic 1 - Sourcing 2.5 VDC @ 20 mA Line Driver Output • Output: Logic 0 - Sinking 0.5 VDC @ 20 mA The line count is standard before quadrature. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 49 Encoder Outputs Intro Waveforms result from clockwise rotation. “Clockwise” as viewed facing the shaft extension. Y-Series Connector Pins and Signals Motor Power Connector (All Y-Series Motors) Pin Signal Wire Color Pin Signal Wire Color 1Phase R Red 6 – – 1 Brake+ 2Phase S Black 7 Yellow (Option) 3 Phase T White 8 – – 1 Brake- 4– – 9 Yellow (Option) Green/ 5Ground Yellow Pin 1 Pin 9 2.4 in 1 No connection for nonbrake motors. Publication 1398-2.1 – August 1999 50 1398 ULTRA Series 230V Brushless Servo Motors Motor Feedback Connector (All Y-Series Motors) Pin Signal Wire Color Pin Signal Wire Color 1 - 8 – – 17 Hall B+ Blue/Black Brown/ 9 A+ Purple 18 Hall B- Black 10 A- Green 19 Hall C+ Red/Black Yellow/ 11 B+ Blue 20 Hall C- Black 12 B- Brown 21 – – 13 I+ White 22 +5V DC Red 1 14 I- Yellow 23 COM Black Green/ 2 15 Hall A+ 24 SHIELD Black Black Purple/ 16 Hall A- 25 - 28 – – Black Pin 1 Pin 28 1.8 in 1 COM (+5VDC) is not connected to the motor ground. 2 SHIELD is connected to the motor case ground. Wire and Contact Sizing Recommendations Power/Brake Connector The following connector contact sizes and wiring gages are recommended for cabling to a motor. 2 2 Motor Contact AWG (mm ) Wire AWG (mm ) Y-1002 0.75 (18) Y-1003 Y-2006 0.75 - 2.5 (18-14) Y-2012 1.5 (16) Y-3023 • Sizes are recommended minimum values. • Wiring should be twisted. • Local regulations should always be observed. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 51 Encoder Connector 2 2 Contact AWG (mm ) Wire AWG (mm ) All Y-Series 0.34 (22) 0.25 - 0.50 (24-20) • Sizes are recommended minimum values. • Wiring should be twisted. • Local regulations should always be observed. Publication 1398-2.1 – August 1999 52 1398 ULTRA Series 230V Brushless Servo Motors N-Series Motors N-Series motors use a high-energy ring magnet rotor construction for an outstanding torque-to-size ratio. Available in four common NEMA style frame sizes, N-Series motors, matched with an ULTRA Series drive, create a high performance alternative to stepper systems. It also provides an excellent solution when interfacing to gear boxes, sprockets, and pulleys because of the standard NEMA mounting frames. The nine motors in the N-Series family range in continuous torque capability from 0.18 to 5.9 N-m (1.6 to 52 lb-in.) and reach speeds up to 6000 RPM. Typical applications for the N-Series include web processing, machine tool, textile machinery, and CAM replacements. When you install the optional motor shaft seal, the motor meets the IP65 requirements of the IEC standard. Features The N-Series motors have the following features: • Rugged industrial construction • NEMA 23, 34, 42, and 56 style mounting frames • Continuous torque from 0.18 to 5.9 N-m (1.6 to 52 lb-in.) • Speeds up to 6000 RPM • High torque-to-size ratio • High energy ring magnet rotor • Internal thermal switch indicating overheating • Optional internally mounted spring set, magnetic release 24V DC holding brake • Motor mounted optical encoder includes 2000 quadrature pulses (1000 pulses for N-23xx motors), index pulse, and standard commutation channels for drives • Water-tight, nickel-plated MS connections are compatible with standard cable assemblies. • The extruded aluminum housing and environmental connectors provide an IP65 package (with the optional shaft seal kit) Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 53 Typical Applications Typical applications for the N-Series motors are: • Machine tools • Material handling • Web processing • Robotics • Packaging machinery Characteristics • High performance stepper replacement • NEMA mounting provides excellent mechanical interface • Environmentally rugged Selecting a Drive/Motor Combination The following drive/motor combinations are available for the N-Series motors: Motor ULTRA 100 ULTRA 200 ULTRA Plus N-2302-1-F00AA 1398-DDM-005 1398-DDM-010 NA N-2304-1-F00AA 1398-DDM-005 1398-DDM-010 NA N-3406-2-H00AA 1398-DDM-009 1398-DDM-020 1398-PDM-20 N-3412-2-H00AA 1398-DDM-009 1398-DDM-020 1398-PDM-20 N-4214-2-H00AA 1398-DDM-009 1398-DDM-020 1398-PDM-20 N-4220-2-H00AA 1398-DDM-019 1398-DDM-030 1398-PDM-30 N-5630-2-H00AA 1398-DDM-019 1398-DDM-030 1398-PDM-30 N-5637-2-H00AA 1398-DDM-019 1398-DDM-030 1398-PDM-30 N-5647-2-H00AA 1398-DDM-019 1398-DDM-030 1398-PDM-30 Publication 1398-2.1 – August 1999 54 1398 ULTRA Series 230V Brushless Servo Motors N-Series Specifications This section contains the mechanical, thermostat and winding specifications for the N-Series motor family, as well as the load force ratings and performance specifications for every combination of ULTRA series drives and N-Series motors. It also provides motor dimensions, connector pin and signal designations, and all motor and connector ordering information. N-Series Mechanical Specifications Specifications Units N-2302 N-2304 N-3406 N-3412 N-4214 2 kg-m 0.000009 0.00002 0.00008 0.00015 0.00024 Rotor moment of inertia 2 (0.00008) (0.00016) (0.0007) (0.0013) (0.0021) (lb-in.-s ) 2 Rotor moment of inertia kg-m 0.000018 0.000032 0.000122 0.000202 0.000210 2 (brake motors) (0.00016) (0.00028) (0.00108) (0.00179) (0.00186 (lb-in.-s ) kg 1.0 1.5 2.6 3.5 4.7 Motor net weight (lb) (2.3) (3.4) (5.7) (7.6) (10.4) kg 1.3 2.0 3.4 4.3 5.1 Brake motor net weight (lb) (2.9) (4.3) (7.5) (9.5) (11.2) N-m/kRPM 0.0015 0.0021 0.0078 0.012 0.013 Damping (lb-in./kRPM) (0.013) (0.019) (0.069) (0.106) (0.113) N-m 0.012 0.014 0.021 0.035 0.043 Friction torque (lb-in.) (0.11) (0.13) (0.19) (0.31) (0.38) Maximum Operating Speed rpm 6000 6000 6000 6000 6000 Specifications Units N-4220 N-5630 N-5637 N-5647 2 kg-m 0.00035 0.0009 0.0011 0.0015 Rotor moment of inertia 2 (0.0031) (0.008) (0.01) (0.013) (lb-in.-s ) 2 Rotor moment of inertia kg-m 0.000320 0.000651 0.000778 0.000893 2 (brake motors) (0.00283) (0.00576) (0.00689) (0.00791) (lb-in.-s ) kg 5.9 9.1 11.0 13.0 Motor net weight (lb) (13.0) (20.0) (24.2) (28.7) kg 6.9 10.9 13.2 15.9 Brake motor net weight (lb) (15.2) (24.0) (29.0) (35.0) N-m/kRPM 0.012 0.022 0.02 0.028 Damping (lb-in./kRPM) (0.106) (0.194) (0.175) (0.25) N-m 0.048 0.078 0.1 0.11 Friction torque (lb-in.) (0.406) (0.688) (0.875) (0.938) Maximum Operating Speed rpm 5000 4000 4000 3000 Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 55 N-Series Thermostat Specifications Specifications 1 Rated voltage 0 - 250V DC or 50/60 Hz AC 3.0A at power factor of 1.0 Rated current 2.0A at power factor of 0.6 Maximum switching current 5 A Contact resistance Less than 0.040 Ohms maximum Contacts Normally closed Mylar Nomex capable of withstanding Insulation dielectric 1500V AC RMS 50/60 Hz for 1 minute Opening temperature (±5ºC) 135ºC 1 The thermostat is normally used as a switch for a 15V DC logic signal (recommended). N-Series Winding Specifications Specifications Units N-2302 N-2304 N-3406 N-3412 N-4214 Sine wave K torque N-m/A 0.08 0.18 0.17 0.34 0.41 T 1 (lb-in./A) (0.73) (1.6) (1.5) (3.0) (3.6) Constant at 25ºC Square wave K torque N-m/A 0.09 0.20 0.18 0.37 0.45 T 2 (lb-in./A) (0.80) (1.8) (1.6) (3.3) (4.0) Constant at 25ºC 3 V/kRPM 10 22 21 41 49 K voltage constant E Winding resistance Ohm 3.2 4.9 2.2 2.7 2.8 Phase to phase at 25ºC Winding inductance mH 4.1 8.1 6.1 8.6 11.0 Phase to phase 4 ºC/Watt 3.0 2.2 1.6 1.2 1.1 Thermal resistance Poles 4444 4 Publication 1398-2.1 – August 1999 56 1398 ULTRA Series 230V Brushless Servo Motors Specifications Units N-4220 N-5630 N-5637 N-5647 Sine wave K torque T N-m/A 0.28 0.38 0.50 0.63 1 (lb-in./A) (2.5) (3.4) (4.4) (5.6) Constant at 25ºC Square wave K torque T N-m/A 0.31 0.42 0.54 0.70 2 (lb-in./A) (2.7) (3.7) (4.8) (6.2) Constant at 25ºC 3 K voltage constant V/kRPM 34 47 60 77 E Winding resistance Ohm 0.77 0.89 1.0 1.23 Phase to phase at 25ºC Winding inductance mH 2.9 4.3 5.2 7.0 Phase to phase N-m/A 4 0.83 0.81 0.76 0.70 Thermal resistance (lb-in./A) Poles 4444 1 Peak value of per phase sine wave amps. 2 Peak value of per phase square wave amps 3 Peak value of sinusoidal phase to phase volts 4 At 125ºC winding temperature, in a 40ºC ambient, with motor mounted on aluminum heat sinks: motors 2302, 2304—0.25 in. x 8 in. x 8 in.; motors 3406, 3412—0.25 in. x 10 in. x 10 in.; motors 4214, 4220, 5630, 5637, 5647— 0.5 in. x 12 in. x 12 in. Storage and Operating Specifications Storage and Operating Conditions Operating: 0 to 40ºC (32 to 104ºF) Ambient Temperature Storage: 0 to 50ºC (32 to 122ºF) Relative Humidity 5% to 95% non-condensing Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 57 N-Series Standard Motor Radial Load Force Ratings Ratings Units N-2302 N-2304 N-3406 N-3412 N-4214 kg 8 9 47 51 62 500 RPM (lbs) (17) (19) (103) (113) (137) kg 7 8 37 40 49 1000 RPM (lbs) (16) (17) (82) (89) (109) kg 6 7 29 32 39 2000 RPM (lbs) (14) (15) (65) (71) (86) kg 6 6 26 28 34 3000 RPM (lbs) (14) (14) (56) (62) (76) kg 5 5 23 26 31 4000 RPM (lbs) (11) (11) (51) (56) (68) kg 4 5 22 24 29 5000 RPM (lbs) (9) (11) (48) (53) (64) kg 3 3 20 22 6000 RPM NA (lbs) (8) (8) (45) (49) Ratings Units N-4220 N-5630 N-5637 N-5647 kg 66 85 89 92 500 RPM (lbs) (146) (188) (197) (203) kg 52 67 71 73 1000 RPM (lbs) (116) (149) (156) (161) kg 41 53 56 58 2000 RPM (lbs) (92) (118) (124) (128) kg 36 47 49 51 3000 RPM (lbs) (80) (103) (108) (112) kg 33 43 45 4000 RPM NA (lbs) (73) (94) (98) kg 31 5000 RPM NA NA NA (lbs) (68) Motors are capable of carrying an axial load in most applications according to the following general guidelines. These guidelines should only be used as approximations. • When the motor shaft has no radial load, the axial load rating is 100% of the radial load rating from the table above. • When the motor shaft has both a radial and an axial load, the axial load rating is 44% of the radial load rating from the table above. Publication 1398-2.1 – August 1999 58 1398 ULTRA Series 230V Brushless Servo Motors N-Series Motors Shaft Load Specifications Motor Shaft Radial Load (FR) N-2300 2.26 kg (5 lb) N-3406 13.6 kg (30 lb) N-3412 15.9 kg (35 lb) N-4214 20.4 kg (45 lb) FR 1 inch from mounting surface (Location on shaft where rating is applied) 1 ULTRA 100 Series Specifications for N-Series Motors Specifications N-2302 N-2304 N-3406 N-3412 N-4214 Drive 1398-DDM-005005/009009009009 Maximum continuous operating RPM 6000 6000 6000 5500 4500 2 speed 0.4/0.5 2 N-m (lb-in.) 0.2 (1.6) 0.8 (6.8) 1.6 (13.8) 2.0 (15.5) Continuous stall torque (3.5/4.4) 1.1/1.4 3 N-m (lb-in.) 0.5 (4.6) 2.1 (18.5) 4.1 (36.0) 5.7 (45.0) Peak torque (10.0/13.0) Specifications N-4220 N-5630 N-5637 N-5647 Drive 1398-DDM-019 019 019 019 Maximum continuous operating RPM 5000 4000 4000 3000 2 speed 2 N-m (lb-in.) 2.5 (22.0) 3.4 (30.0) 4.5 (40.0) 5.9 (52.0) Continuous stall torque 3 N-m (lb-in.) 7.1 (63.0) 10.7 (95.0) 13.0 (120) 17.0 (150) Peak torque 1 Ambient temperature is 0ºC to 40ºC for motors and 0ºC to 50ºC for drives. 2 With 230V AC line voltage input, except for N-2302 and N-2304, which are used with 115V AC line voltage input. 3 System limit. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 59 1 ULTRA 200 Series Specifications for N-Series Motors Specifications N-2302 N-2304 N-3406 N-3412 N-4214 Drive 1398-DDM-010010020020020 Maximum continuous operating RPM 6000 6000 6000 5500 4500 2 speed 0.5 2 N-m (lb-in.) 0.2 (1.7) 0.8 (6.8) 1.6 (13.8) 2 (18) Continuous stall torque (4.4) 3 N-m (lb-in.) 0.5 (4.7) 1.4 (13.0) 2.1 (18.5) 4.1 (36) 5.7 (50) Peak torque Specifications N-4220 N-5630 N-5637 N-5647 Drive 1398-DDM-030 030 030 030 Maximum continuous operating RPM 5000 4000 4000 3000 2 speed 2 N-m (lb-in.) 2.9 (26.0) 3.8 (34.0) 5.2 (46.0) 6.0 (53.0) Continuous stall torque 3 N-m (lb-in.) 7.1 (63.0) 10.7 (95.0) 13.0 (120) 17.0 (150) Peak torque 1 Ambient temperature is 0ºC to 40ºC for motors and 0ºC to 50ºC for drives. 2 With 230V AC line voltage input, except for N-2302 and N-2304, which are used with 115V AC line voltage input. 3 System limit. 1 ULTRA Plus Specifications for N-Series Motors Specifications N-2302 N-2304 N-3406 N-3412 N-4214 Drive 1398-PDM-NANA20 20 20 Maximum continuous operating RPM NA NA 6000 6000 5000 2 speed 2 N-m (lb-in.) NA NA 0.8 (6.8) 1.6 (13.8) 2 (18) Continuous stall torque 3 N-m (lb-in.) NA NA 2.1 (18.5) 4.1 (36) 5.7 (50) Peak torque Specifications N-4220 N-5630 N-5637 N-5647 Drive 1398-PDM-30 30 30 30 Maximum continuous operating RPM 5000 4000 4000 3000 2 speed 2 N-m (lb-in.) 2.9 (26.0) 3.8 (34.0) 5.2 (46.0) 6.0 (53.0) Continuous stall torque 3 N-m (lb-in.) 7.1 (63.0) 10.7 (95.0) 13.0 (120) 17.0 (150) Peak torque 1 Ambient temperature is 0ºC to 40ºC for motors and 0ºC to 50ºC for drives. 2 With 230V AC line voltage input. 3 System limit. Publication 1398-2.1 – August 1999 60 1398 ULTRA Series 230V Brushless Servo Motors N-Series Brake Specifications Specifications N-2300 N-3400 N-4200 N-5600 Maximum Backlash (brake engaged) 31 minutes 72 minutes 36 minutes 102 minutes Holding Torque 5 lb-in. (0.56 N-m) 15 lb-in. (1.69 N-m) 30 lb-in. (3.39 N-m) 50 lb-in. (5.64 N-m Coil Current at 24 VDC 0.28 ADC 0.36 ADC 0.36 ADC 0.71 ADC Brake Motor Application Guidelines The brakes offered as options on these servo motors are holding brakes. They are designed to hold the motor shaft at 0 rpm for up to the rated brake holding torque. The brakes are spring-set type, and release when voltage is applied to the brake coil. The brakes are not designed for stopping rotation of the motor shaft. Servo drive inputs should be used to stop motor shaft rotation. The recommended method of stopping motor shaft rotation is to command the servo drive to decelerate the motor to 0 rpm, and engage the brake after the servo drive has decelerated the motor to 0 rpm. If system main power fails, the brakes can withstand use as stopping brakes. However, use of the brakes as stopping brakes creates rotational mechanical backlash that is potentially damaging to the system, increases brake pad wear and reduces brake life. The brakes are not designed nor are they intended to be used as a safety device. A separate power source is required to disengage the brake. This power source may be controlled by the servo motor controls, in addition to manual operator controls. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 61 N-2300 Motors Dimensions (see page 62 for dimension values) BJ is the diameter of the hole AJ is the diameter of the bolt circle U BB AB BE LC AH L AK P LA LB N-3400, -4200, and -5600 Motors Dimensions (see page 62 for dimension values) AH L P BE AK BB XD S U AB BF is the diameter of the holes. LD LA AJ is the diameter of the bolt circle. Publication 1398-2.1 – August 1999 62 1398 ULTRA Series 230V Brushless Servo Motors S (width Dimen- L with 1 3 6 AB AJ AK BB BE BF L LA LB P AH U XD x sions brake 5 depth) mm x Motor mm mm mm mm mm mm mm mm mm mm mm mm mm mm mm Models (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in.) (in. x (in.) (in.) in.) 2 69 21 67 2 7 5 118 161 62 106 58 6 38 N-2302 NA NA (2.71) (0.81) (2.625) (0.09) (0.275) (0.205) (4.64) (6.35) (2.43) (4.05) (2.27) (0.25) (1.50) 2 69 21 67 2 7 5 156 199 100 141 58 6 38 N-2304 NA NA (2.71) (0.81) (2.625) (0.09) (0.275) (0.205) (6.14) (7.85) (3.93) (5.55) (2.27) (0.25) (1.50) 3 x 2 4 64 30 98 3 8 6 147 193 124 88 (0.127 13 20 73 N-3406 NA (2.53) (1.19) (3.875) (0.12) (0.315) (0.220) (5.8) (7.59) (4.87) (3.48) x (0.50) (0.79) (2.878) 0.085) 3 x 2 4 64 30 98 3 8 6 173 218 149 88 (0.127 13 20 73 N-3412 NA (2.53) (1.19) (3.875) (0.12) (0.315) (0.220) (6.8) (8.59) (5.87) (3.48) x (0.50) (0.79) (2.878) 0.085) 5 x 3 7 63 35 126 3 10 7 174 221 152 102 (0.189 16 25 56 N-4214 NA (2.48) (1.38) (4.95) (0.12) (0.394) (0.280) (6.8) (8.69) (5.99) (4.00) x (0.625) (1.00) (2.187) 0.108) 5 x 3 7 63 35 126 3 10 7 200 246 178 102 (0.189 16 25 56 N-4220 NA (2.48) (1.38) (4.95) (0.12) (0.394) (0.280) (7.87) (9.69) (6.99) (4.00) x (0.625) (1.00) (2.187) 0.108) 5 x 3 9.5 8 76 50 149 3 12 199 256 178 127 (0.189 19 40 114 NA N-5630 (0.375) (2.99) (1.97) (5.875) (0.12) (0.472) (7.845) (10.06) (7.0) (5.00) x (0.75) (1.57) (4.50) in UNC 0.121) 5 x 3 9.5 8 76 50 149 3 12 225 281 203 127 (0.189 19 40 114 N-5637 (0.375) NA (2.99) (1.97) (5.875) (0.12) (0.472) (8.845) (11.06) (8.0) (5.00) x (0.75) (1.57) (4.50) in UNC 0.121) 5 x 3 9.5 8 76 50 149 3 12 250 306 229 127 (0.189 19 40 114 N-5647 (0.375) NA (2.99) (1.97) (5.875) (0.12) (0.472) (9.845) (12.06) (9.0) (5.00) x (0.75) (1.57) (4.50) in UNC 0.121) 1 Tolerance is ±0.03 in. (±0.76 mm). 2 Tolerance is -0.002 in. (-0.05 mm). 3 Tolerance is -0.005 in. (-0.13 mm) diameter. 4 Tolerance is -0.006 in. (-0.15 mm). 5 Tolerance is -0.002 in. (-0.05 mm) width, -0.015 in. (-0.38 mm) depth. 6 Tolerance is +0.06 in. (+1.5 mm). 7 Tolerance is -0.001 in. (-0.025 mm) diameter. 8 Tolerance is -0.003 in. (-0.076mm) diameter. Note: NEMA motors are manufactured to inch dimensions. Millimeter dimensions are approximate conversions from inches. Engineering specifications showing motor detail are available upon request. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 63 Supplemental Motor Dimensions Dimen- LC LD sions Motor mm(in.) mm(in.) Models N-2302 3.861(0.152) N-2304 5.636(0.222) N-3406 NA 4.490(0.177) N-3412 NA 5.490(0.216) N-4214 NA 5.694(0.224) N-4220 NA 6.694(0.263) N-5630 NA 6.887(0.271) N-5637 NA 7.887(0.31) N-5647 NA 8.887(0.35) Encoder Data Encoders are factory aligned and must not be adjusted outside the factory. Specifications N-2300 N-3400, N-4200 and N-5600 1, 2 1 Line Count 1000 2000 Supply Voltage 5 VDC 5 VDC Supply Current 175 mA maximum 300 mA maximum Line Driver LM339 26LS31 • A, B, and I signals: Logic 1 = 2.5 VDC min @ 20 mA DC source, Logic 0 = 0.5 VDC max Line Driver @ 20 mA DC sink TTL Output • HALL signals: Logic 1 = 3.5 VDC min @ 1mA DC source, Logic 0 = 0.5 VDC max @ 5mA DC sink When facing the motor, the key is Refer to diagrams below. There is Index Pulse oriented 90º±10 clockwise no key for physical reference. (mechanical) from the connectors. 1 Standard line count before quadrature. 2 N-2300 encoder lacks Absolute Signal (ABS). Publication 1398-2.1 – August 1999 64 1398 ULTRA Series 230V Brushless Servo Motors Encoder Outputs N-2300 Encoder Output N-3400, 4200 and 5600 Encoder Output o o 360 Logic 1 Logic 1 360 2.5 VDC min 2.5 VDC min Logic 0 Logic 0 0.5 VDC max 0.5 VDC max A+ A+ A- A- o o o o 90 +45 90 +45 B+ B+ B- B- Index Alignment Reference Index Alignment Reference I+ I+ I- I- o o o 90 +45 Gated Index 360 N-Series Connector Pins and Signals Encoder Connectors (All N-Series Motors) NEMA 23-Series Encoder Pin Signal Pin Signal A A+ L Common B A- M Common CB+ N Open DB- P Open EI+ R Thermostat+ F I- S Thermostat- G Ground T Hall A H Open U Hall B J 5 VDC V Hall C K5 VDC Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 65 NEMA 34, 42, & 56-Series Encoder Pin Signal Pin Signal A A+ L Common B A- M Common CB+ N Open DB- P Open EI+ R Thermostat+ F I- S Thermostat- G Ground T Hall A H ABS U Hall B J 5 VDC V Hall C K5 VDC Power and Brake Connectors (All N-Series Motors) NEMA 23-Series NEMA 34, 42 & 56-Series Brake Option Connector Power Connector Power Connector Pin Signal Pin Signal Pin Signal A Phase RA Phase RA BR+ B Phase S B Phase S B BR- C Phase TC Phase TC Open DGroundDGround EOpen E Open Publication 1398-2.1 – August 1999 66 1398 ULTRA Series 230V Brushless Servo Motors ULTRA 100™/200™ System ULTRA Servo Drives with F-Series Motors Ordering Guide The following section illustrates the drive-motor combinations, motor power cables and encoders available for purchase, as well as the speed/torque reference table for each combination. 1398-DDM-019,-019x and 1398-DDM-019 F-4030-Q-H00AA Torque Torque 16 1398-DDM-019x (lb-in.) (Nm) 120 12 DRIVE 80 8 Motor Power Cable = 9101-1382-xxx 40 4 Encoder Feedback 9101-1366-xxx 0 0 0 2000 4000 F-4030-Q-H00AA Speed (RPM) 1398-DDM-019,-019x and 1398-DDM-019 F-4050-Q-H00AA Torque Torque 16 1398-DDM-019x (lb-in.) (Nm) 120 12 DRIVE 80 8 Motor Power Cable = 9101-1382-xxx 40 4 Encoder Feedback 9101-1366-xxx 0 0 0 4000 2000 F-4050-Q-H00AA Speed (RPM) 1398-DDM-020 1398-DDM-020,-020x and 1398-DDM-020x F-4030-Q-H00AA Torque Torque 12 100 (lb-in.) (Nm) 10 80 DRIVE 8 60 Motor Power Cable 6 = 9101-1382-xxx 40 4 20 2 Encoder Feedback 0 0 9101-1366-xxx 0 2000 4000 F-4030-Q-H00AA Speed (RPM) 1398-DDM-030 1398-DDM-030,-030x and 1398-DDM-030x F-4050-Q-H00AA Torque Torque 16 (lb-in.) (Nm) 120 12 DRIVE 80 Motor Power Cable 8 = 9101-1382-xxx 40 4 Encoder Feedback 0 9101-1366-xxx 0 4000 F-4050-Q-H00AA 0 2000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075; 100 ft (31 m)-100 Note: Serial interface cables for use with the ULTRA 100 drives cannot exceed 50 ft. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 67 ULTRA Servo Drives with F-Series Motors 1398-DDM-030 1398-DDM-030,-030x and 1398-DDM-030x F-4075-R-H00AA Torque Torque 20 (lb-in.) 160 (Nm) 16 DRIVE 120 12 Motor Power Cable 80 = 8 9101-1382-xxx 40 4 Encoder Feedback 0 9101-1366-xxx 0 0 1000 2000 3000 F-4075-R-H00AA Speed (RPM) 1398-DDM-075 1398-DDM-075,-075x and 1398-DDM-075x F-4075-R-H00AA (3ø Input) Torque Torque (lb-in.) (Nm) 180 18 DRIVE 120 Motor Power Cable 12 = 9101-1382-xxx 60 6 Encoder Feedback 9101-1366-xxx 0 0 F-4075-R-H00AA 0 1000 2000 3000 Speed (RPM) 1398-DDM-075 1398-DDM-075,-075x and 1398-DDM-075x F-6100-R-H00AA (3ø Input) Torque Torque 320 36.2 (lb-in.) (Nm) 240 27.1 DRIVE Motor Power Cable 160 18.1 = 9101-1383-xxx 80 9.0 Encoder Feedback 9101-1366-xxx 0 0 F-6100-R-H00AA 0 1000 2000 3000 Speed (RPM) 1398-DDM-075 1398-DDM-075,-075x and 1398-DDM-075x F-6200-R-H00AA (3ø Input) Torque 45.2 Torque 400 (lb-in.) (Nm) 33.9 300 DRIVE Motor Power Cable 22.6 200 = 9101-1383-xxx 11.3 100 Encoder Feedback 9101-1366-xxx 0 0 F-6200-R-H00AA 0 1000 2000 3000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075; 100 ft (31 m)-100 Note: Serial interface cables for use with the ULTRA 100 drives cannot exceed 50 ft. Publication 1398-2.1 – August 1999 68 1398 ULTRA Series 230V Brushless Servo Motors ULTRA Servo Drives with F-Series Motors 1398-DDM-075 1398-DDM-075,-075x and 1398-DDM-075x F-6300-R-H00AA (3ø Input) Torque 54.2 Torque 480 (lb-in.) (Nm) 360 40.7 DRIVE Motor Power Cable 27.1 240 = 9101-1399-xxx 13.6 120 Encoder Feedback 9101-1366-xxx 0 0 F-6300-R-H00AA 0 1000 2000 3000 Speed (RPM) 1398-DDM-150,-150x and 1398-DDM-150 F-6200-R-H00AA (3ø Input) 1398-DDM-150x Torque Torque 45.2 400 (lb-in.) (Nm) 33.9 300 DRIVE 22.6 Motor Power Cable 200 = 9101-1383-xxx 11.3 100 Encoder Feedback 9101-1366-xxx 0 0 0 1000 2000 3000 F-6200-R-H00AA Speed (RPM) 1398-DDM-150,-150x and 1398-DDM-150 F-6300-R-H00AA (3ø Input) 1398-DDM-150x Torque Torque 67.8 600 (lb-in.) (Nm) 400 45.2 DRIVE Motor Power Cable = 9101-1399-xxx 22.6 200 Encoder Feedback 0 9101-1366-xxx 0 F-6300-R-H00AA 0 1000 2000 3000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075; 100 ft (31 m)-100 Note: Serial interface cables for use with the ULTRA 100 drives cannot exceed 50 ft. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 69 ULTRA Servo Drives with H-Series Motors 1398-DDM-009,-009x and 1398-DDM-009 H-2005-K-H00AA 20 2.3 Torque Torque 1398-DDM-009x (lb-in.) (Nm) 15 1.7 DRIVE Motor Power Cable 1.1 10 = 9101-1381-xxx 0.6 5 Encoder Feedback 9101-1366-xxx H-2005-K-H00AA 0 0 0 2000 4000 6000 Speed (RPM) 1398-DDM-009,-009x and H-3007-N-H00AA 1398-DDM-009 24 Torque Torque 1398-DDM-009x 2.5 (lb-in.) (Nm) 20 2.0 DRIVE 16 1.5 Motor Power Cable 12 = 9101-1381-xxx 1.0 8 Encoder Feedback 0.5 4 9101-1366-xxx H-3007-N-H00AA 0 0 0 2000 4000 Speed (RPM) 1398-DDM-010 1398-DDM-010,-010x and 1398-DDM-010x H-2005-K-H00AA Torque 12 Torque (lb-in.) (Nm) 1.1 10 DRIVE 0.9 8 Motor Power Cable 0.7 6 = 9101-1381-xxx 0.5 4 Encoder Feedback 0.2 2 H-2005-K-H00AA 9101-1366-xxx 0 0 0 2000 4000 Speed (RPM) 1398-DDM-010 1398-DDM-010,-010x and 1398-DDM-010x H-3007-N-H00AA Torque 24 Torque 2.5 (lb-in.) (Nm) 20 2.0 DRIVE 16 1.5 Motor Power Cable 12 = 9101-1381-xxx 1.0 8 Encoder Feedback 0.5 4 H-3007-N-H00AA 9101-1366-xxx 0 0 0 2000 4000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075; 100 ft (31 m)-100 Note: Serial interface cables for use with the ULTRA 100 drives cannot exceed 50 ft. Publication 1398-2.1 – August 1999 70 1398 ULTRA Series 230V Brushless Servo Motors ULTRA Servo Drives with H-Series Motors 1398-DDM-019,-019x and 1398-DDM-019 H-3016-N-H00AA Torque Torque 50 1398-DDM-019x 5 (Nm) (lb-in.) 40 4 DRIVE 30 3 Motor Power Cable = 20 9101-1381-xxx 2 Encoder Feedback 10 1 9101-1366-xxx H-3016-N-H00AA 0 0 0 2000 4000 Speed (RPM) 1398-DDM-019,-019x and 1398-DDM-019 H-4030-P-H00AA Torque 80 Torque 1398-DDM-019x 8 (lb-in.) (Nm) 60 6 DRIVE Motor Power Cable 40 = 4 9101-1382-xxx 20 2 Encoder Feedback 9101-1366-xxx H-4030-P-H00AA 0 0 0 2000 4000 Speed (RPM) 1398-DDM-020 1398-DDM-020,-020x and 1398-DDM-020x H-3016-N-H00AA Torque Torque 60 (Nm) (lb-in.) 6 DRIVE 40 4 Motor Power Cable = 9101-1381-xxx 20 2 Encoder Feedback H-3016-N-H00AA 0 0 9101-1366-xxx 0 2000 4000 Speed (RPM) 1398-DDM-020 1398-DDM-020,-020x and 1398-DDM-020x H-4030-P-H00AA Torque 80 Torque 8 (lb-in.) (Nm) 60 DRIVE 6 40 Motor Power Cable 4 = 9101-1382-xxx 20 2 Encoder Feedback H-4030-P-H00AA 0 0 9101-1366-xxx 0 2000 4000 Speed (RPM) System speed-torque characteristics = Intermittent opera = Intermittent operating region ting region Drive module input voltage = 230V AC RMS = Continuous opera = Continuous operating region ting region = Drive opera = Drive operation with 115V tion with 115V AC RMS input volta AC RMS input voltage ge * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075; 100 ft (31 m)-100 Note: Serial interface cables for use with the ULTRA 100 drives cannot exceed 50 ft. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 71 ULTRA Servo Drives with H-Series Motors 1398-DDM-030 1398-DDM-030,-030x and 1398-DDM-030x H-4030-M-H00AA Torque Torque 60 (lb-in.) (Nm) 6 DRIVE 40 4 Motor Power Cable = 9101-1382-xxx 20 2 Encoder Feedback 0 H-4030-M-H00AA 0 9101-1366-xxx 0 2000 4000 Speed (RPM) 1398-DDM-030 1398-DDM-030,-030x and 1398-DDM-030x H-4050-P-H00AA Torque Torque 120 (lb-in.) (Nm) 12 DRIVE 80 8 Motor Power Cable = 9101-1382-xxx 40 4 Encoder Feedback 0 H-4050-P-H00AA 0 9101-1366-xxx 0 2000 4000 Speed (RPM) 1398-DDM-030 1398-DDM-030,-030x and 1398-DDM-030x H-4075-R-H00AA Torque Torque 180 (lb-in.) (Nm) 18 DRIVE 120 12 Motor Power Cable = 9101-1382-xxx 60 6 Encoder Feedback 0 H-4075-R-H00AA 0 9101-1366-xxx 0 2000 Speed (RPM) 1398-DDM-075 1398-DDM-075,-075x and 1398-DDM-075x H-4050-P-H00AA (3ø Input) Torque Torque (lb-in.) (Nm) 180 18 DRIVE 120 Motor Power Cable 12 = 9101-1382-xxx 60 6 Encoder Feedback H-4050-P-H00AA 9101-1366-xxx 0 0 0 2000 4000 Speed (RPM) System speed-torque characteristics = Intermittent opera = Intermittent operating region ting region Drive module input voltage = 230V AC RMS = Continuous opera = Continuous operating region ting region = Drive opera = Drive operation with 115V tion with 115V AC RMS input volta AC RMS input voltage ge * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075; 100 ft (31 m)-100 Note: Serial interface cables for use with the ULTRA 100 drives cannot exceed 50 ft. Publication 1398-2.1 – August 1999 72 1398 ULTRA Series 230V Brushless Servo Motors ULTRA Servo Drives with H-Series Motors 1398-DDM-075 1398-DDM-075,-075x and 1398-DDM-075x H-4075-P-H00AA (3ø Input) Torque Torque (lb-in.) 240 (Nm) 24 DRIVE 160 Motor Power Cable 16 = 9101-1382-xxx 80 8 Encoder Feedback H-4075-P-H00AA 9101-1366-xxx 0 0 0 1000 2000 3000 Speed (RPM) 1398-DDM-075 1398-DDM-075,-075x and 1398-DDM-075x H-6100-Q-H00AA (3ø Input) 33.9 Torque 300 Torque (lb-in.) (Nm) 250 28.3 DRIVE 200 22.6 Motor Power Cable 150 17.0 = 9101-1383-xxx 11.3 100 Encoder Feedback 5.7 50 H-6100-Q-H00AA 9101-1366-xxx 0 0 0 1000 2000 3000 Speed (RPM) 1398-DDM-075 1398-DDM-075,-075x and 1398-DDM-075x H-6200-Q-H00AA (3ø Input) Torque Torque 400 40 (lb-in.) (Nm) 300 DRIVE 30 Motor Power Cable 200 = 20 9101-1383-xxx 100 10 Encoder Feedback H-6200-Q-H00AA 9101-1366-xxx 0 0 0 1000 2000 3000 Speed (RPM) 1398-DDM-150 1398-DDM-150,-150x and H-6200-Q-H00AA (3ø Input) 1398-DDM-150x Torque 56.5 Torque 500 (lb-in.) (Nm) 45.2 400 DRIVE 300 33.9 Motor Power Cable = 9101-1383-xxx 200 22.6 100 11.3 Encoder Feedback H-6200-Q-H00AA 9101-1366-xxx 0 0 0 1000 2000 3000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075; 100 ft (31 m)-100 Note: Serial interface cables for use with the ULTRA 100 drives cannot exceed 50 ft. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 73 ULTRA Servo Drives with H-Series Motors 1398-DDM-150 1398-DDM-150,-150x and 1398-DDM-150x H-6300-Q-H00AA (3ø Input) Torque Torque (lb-in.) (Nm) 67.8 600 DRIVE 400 45.2 Motor Power Cable = = 9101-1399-xxx 200 22.6 Encoder Feedback H-6300-Q-H00AA 9101-1366-xxx 0 0 0 1000 2000 3000 Speed (RPM) 1398-DDM-150 1398-DDM-150,-150x and H-8350-Q-H00AA (3ø Input) 1398-DDM-150x Torque Torque (lb-in.) (Nm) 67.8 600 DRIVE 45.2 400 Motor Power Cable = = 9101-1384-xxx 22.6 200 Encoder Feedback H-8350-Q-H00AA 9101-1366-xxx 0 0 0 1000 2000 Speed (RPM) 1398-DDM-150 1398-DDM-150,-150x and H-8500-Q-H00AA (3ø Input) 1398-DDM-150x Torque Torque (lb-in.) (Nm) 900 101.7 DRIVE 600 67.8 Motor Power Cable = = 9101-1384-xxx 300 33.9 Encoder Feedback H-8500-Q-H00AA 9101-1366-xxx 0 0 0 1000 2000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075; 100 ft (31 m)-100 Note: Serial interface cables for use with the ULTRA 100 drives cannot exceed 50 ft. Publication 1398-2.1 – August 1999 74 1398 ULTRA Series 230V Brushless Servo Motors ULTRA Servo Drives with Y-Series Motors (115V AC RMS Input Voltage) 1398-DDM-005,-005x and 1398-DDM-005 Y-1002-1-H00AA 5 Torque Torque 1398-DDM-005x 0.5 (Nm) (lb-in.) 4 0.4 DRIVE 3 0.3 Motor Power Cable = 2 0.2 9101-1385-xxx 1 0.1 Encoder Feedback Y-1002-1-H00AA 0.0 9101-1375-xxx 0 0 2000 4000 Speed (RPM) 1398-DDM-009,-009x and 1398-DDM-009 Y-1003-1-H00AA Torque 10 Torque 1398-DDM-009x 1.0 (lb-in.) (Nm) 8 0.8 DRIVE 6 0.6 Motor Power Cable = 4 0.4 9101-1385-xxx 2 0.2 Encoder Feedback Y-1003-1-H00AA 0 9101-1375-xxx 0 0 2000 4000 Speed (RPM) 1398-DDM-019,-019x and 1398-DDM-019 Y-2006-1-H00AA 20 Torque Torque 1398-DDM-019x 2.0 (Nm) (lb-in.) 16 1.6 DRIVE 12 1.2 Motor Power Cable = 8 0.8 9101-1385-xxx 4 0.4 Encoder Feedback Y-2006-1-H00AA 0 9101-1375-xxx 0 0 2000 4000 Speed (RPM) 1398-DDM-019,-019x and 1398-DDM-019 Y-2012-1-H00AA 40 Torque 1398-DDM-019x Torque 4.0 (Nm) (lb-in.) 30 3.0 DRIVE 20 Motor Power Cable 2.0 = 9101-1385-xxx 10 1.0 Encoder Feedback Y-2012-1-H00AA 0 9101-1375-xxx 0 0 2000 4000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 115V AC RMS = Continuous operating region * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075; 100 ft (31 m)-100 Note: Serial interface cables for use with the ULTRA 100 drives cannot exceed 50 ft. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 75 ULTRA Servo Drives with Y-Series Motors (230V AC RMS Input Voltage) 1398-DDM-005,-005x and 1398-DDM-005 Y-1002-2-H00AA Torque 5 0.57 Torque 1398-DDM-005x (lb-in.) (Nm) 4 0.45 DRIVE 0.3 3 Motor Power Cable 0.2 = 2 9101-1385-xxx 0.1 1 Encoder Feedback Y-1002-2-H00AA 0 0 9101-1375-xxx 0 2000 4000 Speed (RPM) 1398-DDM-005,-005x and 1398-DDM-005 Y-1003-2-H00AA Torque Torque 10 1398-DDM-005x (Nm) (lb-in.) 8 0.9 DRIVE 6 0.7 Motor Power Cable 4 0.5 = 9101-1385-xxx 2 0.2 Encoder Feedback Y-1003-2-H00AA 0 0 9101-1375-xxx 0 2000 4000 Speed (RPM) 1398-DDM-009,-009x and 1398-DDM-009 Y-2006-2-H00AA Torque Torque 20 1398-DDM-009x (lb-in.) (Nm) 1.7 15 DRIVE 1.1 10 Motor Power Cable = 9101-1385-xxx 0.6 5 Encoder Feedback Y-2006-2-H00AA 0 9101-1375-xxx 0 0 2000 4000 Speed (RPM) 1398-DDM-009,-009x and 1398-DDM-009 Y-2012-2-H00AA Torque 40 Torque 1398-DDM-009x (lb-in.) (Nm) 30 3.4 DRIVE 20 2.3 Motor Power Cable = 9101-1385-xxx 10 1.1 Encoder Feedback Y-2012-2-H00AA 0 0 9101-1375-xxx 0 2000 4000 Speed (RPM) 1398-DDM-019,-019x and 1398-DDM-019 Y-3023-2-H00AA Torque Torque 80 1398-DDM-019x (Nm) (lb-in.) 6.8 60 DRIVE 4.5 40 Motor Power Cable = 9101-1385-xxx 2.3 20 Encoder Feedback Y-3023-2-H00AA 0 9101-1375-xxx 0 0 2000 4000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075; 100 ft (31 m)-100 Note: Serial interface cables for use with the ULTRA 100 drives cannot exceed 50 ft. Publication 1398-2.1 – August 1999 76 1398 ULTRA Series 230V Brushless Servo Motors ULTRA Servo Drives with N-Series Motors 1398-DDM-005,-005x and 1398-DDM-005 N-2302-1-F00AA Torque 5 Torque 1398-DDM-005x 0.51 (lb-in.) (Nm) 4 0.45 DRIVE 3 0.34 Motor Power Cable = 9101-1467-xxx 2 0.23 Encoder Feedback 1 0.11 9101-1468-xxx N-2302-1-F00AA 0 0 0 2000 4000 6000 Speed (RPM) 1398-DDM-005,-005x and N-2304-1-F00AA 1398-DDM-005 Torque 14 Torque 1398-DDM-005x (lb-in.) (Nm) 1.36 12 1.13 10 DRIVE 0.91 8 Motor Power Cable = 0.69 6 9101-1467-xxx 4 0.45 Encoder Feedback 0.23 2 9101-1468-xxx N-2304-1-F00AA 0 0 0 4000 6000 2000 Speed (RPM) 1398-DDM-010 1398-DDM-010,-010x and 1398-DDM-010x N-2302-1-F00AA Torque Torque 5 (lb-in.) (Nm) 0.45 4 DRIVE 0.34 3 Motor Power Cable = 9101-1467-xxx 0.23 2 Encoder Feedback 0.11 1 9101-1468-xxx N-2302-1-F00AA 0 0 0 2000 4000 6000 Speed (RPM) 1398-DDM-010 1398-DDM-010,-010x and 1398-DDM-010x N-2304-1-F00AA Torque Torque (lb-in.) (Nm) 12 1.36 DRIVE 1.13 8 0.91 Motor Power Cable = 0.69 9101-1467-xxx 4 0.45 Encoder Feedback 0.23 9101-1468-xxx N-2304-1-F00AA 0 0 0 2000 4000 6000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075; 100 ft (31.0 m)-100 Note: Serial interface cables for use with the ULTRA 100 drives cannot exceed 50 ft. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 77 ULTRA Servo Drives with N-Series Motors 1398-DDM-009 1398-DDM-009,-009x and 1398-DDM-009x N-2304-1-F00AA Torque Torque (lb-in.) (Nm) 12 1.36 DRIVE 1.13 8 0.91 Motor Power Cable = 0.69 9101-1467-xxx 4 0.45 Encoder Feedback 0.23 9101-1468-xxx 0 0 N-2304-1-F00AA 0 2000 4000 6000 Speed (RPM) 1398-DDM-009,-009x and N-3406-2-H00AA 1398-DDM-009 Torque Torque 20 1398-DDM-009x (Nm) (lb-in.) 16 1.81 DRIVE 1.36 12 Motor Power Cable = 9101-1467-xxx 0.91 8 Encoder Feedback 0.45 4 9101-1468-xxx N-3406-2-H00AA 0 0 0 2000 4000 6000 Speed (RPM) 1398-DDM-009,-009x and N-3412-2- H00AA 1398-DDM-009 Torque Torque 40 1398-DDM-009x (lb-in.) (Nm) 3.39 30 DRIVE Motor Power Cable 2.26 = 20 9101-1467-xxx 1.13 Encoder Feedback 10 9101-1468-xxx 0 N-3412-2-H00AA 0 0 2000 4000 6000 Speed (RPM) 1398-DDM-009,-009x and 1398-DDM-009 N-4214-2-H00AA Torque 45 5.09 Torque 1398-DDM-009x (lb-in.) (Nm) 3.96 35 DRIVE 2.83 25 Motor Power Cable = 9101-1467-xxx 1.70 15 Encoder Feedback 0.57 5 9101-1468-xxx 0 0 N-4214-2-H00AA 0 2000 4000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075; 100 ft (31.0 m)-100 Note: Serial interface cables for use with the ULTRA 100 drives cannot exceed 50 ft. Publication 1398-2.1 – August 1999 78 1398 ULTRA Series 230V Brushless Servo Motors ULTRA Servo Drives with N-Series Motors 1398-DDM-019,-019x and 1398-DDM-019 N-4220-2-H00AA Torque Torque 1398-DDM-019x 70 (lb-in.) 6.78 (Nm) 60 5.65 50 DRIVE 4.52 40 Motor Power Cable = 3.39 9101-1467-xxx 30 2.26 20 Encoder Feedback 1.13 9101-1468-xxx 10 0 0 N-4220-2-H00AA 0 2000 4000 Speed (RPM) 1398-DDM-019,-019x and N-5630-2-H00AA 1398-DDM-019 11.3 100 Torque Torque 1398-DDM-019x (lb-in.) (Nm) 9.04 80 DRIVE 6.78 60 Motor Power Cable = 9101-1467-xxx 40 4.52 Encoder Feedback 20 2.26 9101-1468-xxx 0 0 N-5630-2-H00AA 0 2000 4000 Speed (RPM) 1398-DDM-019,-019x and 1398-DDM-019 N-5637-2-H00AA 13.56 120 Torque Torque 1398-DDM-019x (lb-in.) (Nm) 100 11.3 DRIVE 80 9.04 Motor Power Cable 6.78 60 = 9101-1467-xxx 4.52 40 Encoder Feedback 20 2.26 9101-1468-xxx 0 0 N-5637-2-H00AA 0 2000 4000 Speed (RPM) 1398-DDM-019,-019x and 1398-DDM-019 N-5647-2-H00AA Torque Torque 1398-DDM-019x 15.82 (lb-in.) 140 (Nm) 13.56 120 DRIVE 11.3 100 Motor Power Cable 9.04 80 = 9101-1467-xxx 6.78 60 4.52 40 Encoder Feedback 2.26 20 9101-1468-xxx 0 0 N-5647-2-H00AA 0 1000 2000 3000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075; 100 ft (31.0 m)-100 Note: Serial interface cables for use with the ULTRA 100 drives cannot exceed 50 ft. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 79 ULTRA Servo Drives with N-Series Motors 1398-DDM-020 1398-DDM-020,-020x and 1398-DDM-020x N-3406-2-H00AA Torque Torque 20 (lb-in.) (Nm) 1.81 16 DRIVE 1.36 12 Motor Power Cable = 9101-1467-xxx 0.91 8 Encoder Feedback 0.45 4 9101-1468-xxx 0 N-3406-2-H00AA 0 0 2000 4000 6000 Speed (RPM) 1398-DDM-020 1398-DDM-020,-020x and 1398-DDM-020x N-3412-2-H00AA Torque 40 Torque (lb-in.) (Nm) 3.39 DRIVE 30 Motor Power Cable 2.26 = 20 9101-1467-xxx 1.13 Encoder Feedback 10 9101-1468-xxx 0 N-3412-2-H00AA 0 0 2000 4000 6000 Speed (RPM) 1398-DDM-020 1398-DDM-020,-020x and 1398-DDM-020x N-4214-2-H00AA Torque 50 5.65 Torque (lb-in.) (Nm) 40 4.52 DRIVE 30 3.39 Motor Power Cable = 9101-1467-xxx 20 2.26 Encoder Feedback 10 1.13 9101-1468-xxx N-4214-2-H00AA 0 0 0 2000 4000 Speed (RPM) 1398-DDM-030 1398-DDM-030,-030x and 1398-DDM-030x N-4220-2-H00AA Torque Torque (lb-in.) 6.78 (Nm) 60 DRIVE 5.65 4.52 40 Motor Power Cable = 3.39 9101-1467-xxx 2.26 20 Encoder Feedback 9101-1468-xxx 1.13 N-4220-2-H00AA 0 0 0 2000 4000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075; 100 ft (31.0 m)-100 Publication 1398-2.1 – August 1999 80 1398 ULTRA Series 230V Brushless Servo Motors ULTRA Servo Drives with N-Series Motors 1398-DDM-030 1398-DDM-030,-030x and 1398-DDM-030x N-5630-2-H00AA Torque 11.3 100 Torque (lb-in.) (Nm) 80 9.04 DRIVE 60 6.78 Motor Power Cable = 9101-1467-xxx 40 4.52 Encoder Feedback 20 2.26 9101-1468-xxx 0 N-5630-2-H00AA 0 0 2000 4000 Speed (RPM) 1398-DDM-030 1398-DDM-030,-030x and 1398-DDM-030x N-5637-2-H00AA Torque 13.56 120 Torque (lb-in.) (Nm) 11.3 100 DRIVE 80 9.04 Motor Power Cable 6.78 60 = 9101-1467-xxx 40 4.52 Encoder Feedback 2.26 20 9101-1468-xxx 0 N-5637-2-H00AA 0 0 2000 4000 Speed (RPM) 1398-DDM-030 1398-DDM-030,-030x and 1398-DDM-030x N-5647-2-H00AA Torque 160 Torque (lb-in.) (Nm) 13.56 DRIVE 120 Motor Power Cable 9.04 80 = 9101-1467-xxx 4.52 Encoder Feedback 40 9101-1468-xxx 0 0 N-5647-2-H00AA 0 1000 2000 3000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075; 100 ft (31.0 m)-100 Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 81 ULTRA Plus System ULTRA Plus Drives with F-Series Motors (1398-PDM-20, -30, and -75) Ordering Guide The following section illustrates the drive-motor combinations, motor power cables, and encoders available for purchase, as well as the speed/torque reference table for each combination. 1398-PDM-20 and 1398-PDM-20 F-4030-Q-H00AA Torque 12 Torque 100 (lb-in.) (Nm) 10 80 DRIVE 8 60 Motor Power Cable 6 = 9101-1382-xxx 40 4 20 Encoder Feedback 2 9101-2027-xxx 0 0 F-4030-Q-H00AA 0 2000 4000 Speed (RPM) 1398-PDM-30 and 1398-PDM-30 F-4050-Q-H00AA Torque Torque 16 140 (lb-in.) (Nm) 120 12 DRIVE 100 80 Motor Power Cable 8 = 9101-1382-xxx 60 40 4 Encoder Feedback 20 9101-2027-xxx 0 0 F-4050-Q-H00AA 0 2000 4000 Speed (RPM) 1398-PDM-30 and 1398-PDM-30 F-4075-R-H00AA 20 Torque Torque 160 (lb-in.) (Nm) 16 DRIVE 120 12 Motor Power Cable 80 = 9101-1382-xxx 8 40 4 Encoder Feedback 9101-2027-xxx 0 0 F-4075-R-H00AA 0 1000 2000 3000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075 Publication 1398-2.1 – August 1999 82 1398 ULTRA Series 230V Brushless Servo Motors ULTRA Plus Drives with F-Series Motors (1398-PDM-20, -30, and -75) 1398-PDM-75 and 1398-PDM-75 F-4075-R-H00AA Torque Torque 180 (lb-in.) (Nm) 18 DRIVE 120 Motor Power Cable 12 = 9101-1382-xxx 60 6 Encoder Feedback 9101-2027-xxx 0 0 F-4075-R-H00AA 0 1000 2000 3000 Speed (RPM) 1398-PDM-75 and 1398-PDM-75 F-6100-R-H00AA Torque Torque 320 (Nm) (lb-in.) 27.1 240 DRIVE Motor Power Cable 18.1 160 = 9101-1383-xxx 9.0 80 Encoder Feedback 9101-2027-xxx 0 0 F-6100-R-H00AA 0 1000 2000 3000 Speed (RPM) 1398-PDM-75 and 1398-PDM-75 F-6200-R-H00AA Torque 400 Torque (Nm) (lb-in.) 33.9 300 DRIVE Motor Power Cable 22.6 200 = 9101-1383-xxx 11.3 100 Encoder Feedback 9101-2027-xxx 0 0 F-6200-R-H00AA 0 1000 2000 3000 Speed (RPM) 1398-PDM-75 and 1398-PDM-75 F-6300-R-H00AA Torque Torque 480 (lb-in.) (Nm) 40.7 360 DRIVE Motor Power Cable 240 27.1 = 9101-1399-xxx 120 13.6 Encoder Feedback 9101-2027-xxx 0 0 F-6300-R-H00AA 0 1000 2000 3000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075 Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 83 ULTRA Plus Drives with F-Series Motors (1398-PDM-25, -50, -100, and -150) 1398-PDM-25 and 1398-PDM-25 F-4030-Q-H00AA Torque Torque 12 100 (lb-in.) (Nm) 10 80 DRIVE 8 60 Motor Power Cable PSM 6 = 9101-1382-xxx 40 + RATING 4 20 Encoder Feedback 5 2 9101-2027-xxx 0 F-4030-Q-H00AA 0 0 2000 4000 Speed (RPM) 1398-PDM-50 and 1398-PDM-50 F-4050-Q-H00AA Torque Torque 16 (lb-in.) (Nm) 120 12 DRIVE 80 Motor Power Cable PSM 8 = 9101-1382-xxx RATING + 40 4 Encoder Feedback 8 9101-2027-xxx 0 0 F-4050-Q-H00AA 0 2000 4000 Speed (RPM) 1398-PDM-50 and 1398-PDM-50 F-4075-R-H00AA 20 Torque Torque 160 (lb-in.) (Nm) 16 DRIVE 120 12 Motor Power Cable PSM 80 = 9101-1382-xxx 8 RATING + 40 Encoder Feedback 4 10 9101-2027-xxx 0 0 F-4075-R-H00AA 0 2000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075 Publication 1398-2.1 – August 1999 84 1398 ULTRA Series 230V Brushless Servo Motors ULTRA Plus Drives with F-Series Motors (1398-PDM-25, -50, -100, and -150) 1398-PDM-50 and 1398-PDM-50 F-6100-R-H00AA Torque 300 Torque 30 (lb-in.) (Nm) 250 25 DRIVE 200 20 Motor Power Cable PSM 150 = 25 9101-1383-xxx RATING + 100 10 Encoder Feedback 12 50 5 9101-2027-xxx 0 0 F-6100-R-H00AA 0 1000 2000 3000 Speed (RPM) 1398-PDM-100 and 1398-PDM-100 F-6200-R-H00AA 300 Torque Torque 30 (Nm) (lb-in.) 250 25 DRIVE 200 20 Motor Power Cable PSM 150 15 = 9101-1383-xxx RATING + 100 10 Encoder Feedback 50 20 5 9101-2027-xxx 0 0 F-6200-R-H00AA 0 1000 2000 3000 Speed (RPM) 1398-PDM-100 and 1398-PDM-100 F-6300-R-H00AA Torque Torque 500 (lb-in.) 50 (Nm) 400 30 DRIVE 300 30 Motor Power Cable PSM = 9101-1399-xxx 200 20 RATING + 100 Encoder Feedback 10 30 9101-2027-xxx 0 0 F-6300-R-H00AA 0 1000 2000 3000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075 Note: Serial interface and encoder cables for use with the ULTRA 100 drives cannot exceed 50 ft. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 85 ULTRA Plus Drives with H-Series Motors (1398-PDM-10, -20, -30, and -75) 1398-PDM-10 and 1398-PDM-10 H-2005-K-H00AA Torque 1.4 Torque 12 (lb-in.) (Nm) 1.1 10 DRIVE 8 0.9 Motor Power Cable 6 0.7 = 9101-1381-xxx 0.5 4 Encoder Feedback 0.2 2 H-2005-K-H00AA 9101-2027-xxx 0 0 0 2000 4000 6000 Speed (RPM) 1398-PDM-10 and 1398-PDM-10 H-3007-N-H00AA Torque 24 Torque 2.5 (lb-in.) (Nm) 20 2.0 DRIVE 16 1.5 Motor Power Cable 12 = 9101-1381-xxx 1.0 8 Encoder Feedback 0.5 4 H-3007-N-H00AA 9101-2027-xxx 0 0 0 2000 4000 Speed (RPM) 1398-PDM-20 and 1398-PDM-20 H-3016-N-H00AA Torque Torque (lb-in.) (Nm) 60 6 DRIVE 40 Motor Power Cable 4 = 9101-1381-xxx 20 2 Encoder Feedback H-3016-N-H00AA 9101-2027-xxx 0 0 0 2000 4000 Speed (RPM) 1398-PDM-20 and 1398-PDM-20 H-4030-P-H00AA Torque Torque 80 8 (lb-in.) (Nm) 60 DRIVE 6 Motor Power Cable 40 = 4 9101-1382-xxx 20 2 Encoder Feedback H-4030-P-H00AA 9101-2027-xxx 0 0 0 2000 4000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075 Publication 1398-2.1 – August 1999 86 1398 ULTRA Series 230V Brushless Servo Motors ULTRA Plus Drives with H-Series Motors (1398-PDM-10, -20, -30, and -75) 1398-PDM-30 and 1398-PDM-30 H-4030-M-H00AA 8 Torque Torque 60 (Nm) (lb-in.) 6 DRIVE 40 4 Motor Power Cable = 9101-1382-xxx 20 2 Encoder Feedback 0 H-4030-M-H00AA 0 9101-2027-xxx 0 2000 4000 Speed (RPM) Note: For the H-4030-M-H00AA, the drive module input voltage may be either 115 or 230 VAC RMS. 1398-PDM-30 and 1398-PDM-30 H-4050-P-H00AA Torque Torque 120 (lb-in.) (Nm) 12 DRIVE 80 8 Motor Power Cable = 9101-1382-xxx 40 4 Encoder Feedback 0 H-4050-P-H00AA 0 9101-2027-xxx 0 2000 4000 Speed (RPM) 1398-PDM-75 and 1398-PDM-75 H-4050-P-H00AA Torque Torque 180 (Nm) (lb-in.) 18 DRIVE 120 12 Motor Power Cable = 9101-1382-xxx 60 6 Encoder Feedback 0 H-4050-P-H00AA 0 9101-2027-xxx 0 2000 4000 Speed (RPM) 1398-PDM-30 and 1398-PDM-30 H-4075-R-H00AA Torque Torque (lb-in.) 180 (Nm) 18 DRIVE 120 12 Motor Power Cable = 9101-1382-xxx 60 6 Encoder Feedback 0 H-4075-R-H00AA 0 9101-2027-xxx 0 1000 2000 3000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075 Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 87 ULTRA Plus Drives with H-Series Motors (1398-PDM-10, -20, -30, and -75) 1398-PDM-75 and 1398-PDM-75 H-4075-R-H00AA Torque Torque 32 (lb-in.) (Nm) 240 24 DRIVE 160 Motor Power Cable 16 = 9101-1382-xxx 80 8 Encoder Feedback H-4075-R-H00AA 9101-2027-xxx 0 0 0 1000 2000 3000 Speed (RPM) 1398-PDM-75 and 1398-PDM-75 H-6100-Q-H00AA 33.9 Torque Torque 300 (lb-in.) (Nm) DRIVE 22.6 200 Motor Power Cable = 9101-1383-xxx 100 11.3 Encoder Feedback H-6100-Q-H00AA 9101-2027-xxx 0 0 0 1000 2000 3000 Speed (RPM) 1398-PDM-75 and 1398-PDM-75 H-6200-Q-H00AA 45.2 Torque Torque 400 (Nm) (lb-in.) 33.9 300 DRIVE Motor Power Cable 22.6 200 = 9101-1383-xxx 11.3 100 Encoder Feedback H-6200-Q-H00AA 9101-2027-xxx 0 0 0 1000 2000 3000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075 Publication 1398-2.1 – August 1999 88 1398 ULTRA Series 230V Brushless Servo Motors ULTRA Plus Drives with H-Series Motors (1398-PDM-25, -50, -100, and -150) 1398-PDM-25 and 1398-PDM-25 H-3016-N-H00AA Torque Torque (lb-in.) 60 (Nm) 6 DRIVE 40 Motor Power Cable PSM 4 = 9101-1381-xxx RATING + 20 2 Encoder Feedback 4 H-3016-N-H00AA 9101-2027-xxx 0 0 0 2000 4000 Speed (RPM) 1398-PDM-25 and 1398-PDM-25 H-4030-P-H00AA Torque 10 Torque 80 (lb-in.) (Nm) 8 DRIVE 60 6 Motor Power Cable PSM = 40 9101-1382-xxx 4 + RATING 20 2 Encoder Feedback 5 H-4030-P-H00AA 9101-2027-xxx 0 0 0 2000 4000 Speed (RPM) 1398-PDM-50 1398-PDM-50 and H-4050-P-H00AA Torque Torque 24 200 (lb-in.) (Nm) 20 DRIVE 150 16 Motor Power Cable PSM 12 = 100 9101-1382-xxx + RATING 8 50 Encoder Feedback 4 8 H-4050-P-H00AA 9101-2027-xxx 0 0 0 2000 4000 Speed (RPM) 1398-PDM-50 and 1398-PDM-50 H-4075-R-H00AA 300 Torque Torque 30 (Nm) (lb-in.) 240 25 DRIVE 20 180 Motor Power Cable PSM 15 = 120 9101-1382-xxx 10 + RATING 60 5 Encoder Feedback 10 0 0 H-4075-R-H00AA 9101-2027-xxx 0 1000 2000 3000 Speed (RPM) 1398-PDM-50 and 1398-PDM-50 H-6100-Q-H00AA Torque 300 Torque 30 (lb-in.) (Nm) 250 25 DRIVE 200 20 150 Motor Power Cable PSM 15 = 9101-1383-xxx 100 10 + RATING 5 50 Encoder Feedback 12 0 H-6100-Q-H00AA 0 9101-2027-xxx 0 1000 2000 3000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075 Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 89 ULTRA Plus Drives with H-Series Motors (1398-PDM-25, -50, -100, and -150) 1398-PDM-100 and 1398-PDM-100 H-6200-Q-H00AA Torque Torque 600 (lb-in.) 60 (Nm) 500 DRIVE 400 40 Motor Power Cable PSM 300 = 9101-1383-xxx + RATING 200 20 Encoder Feedback 20 100 H-6200-Q-H00AA 9101-2027-xxx 0 0 0 1000 2000 3000 Speed (RPM) 1398-PDM-100 and 1398-PDM-100 H-8350-S-H00AA 800 Torque Torque 80 (Nm) (lb-in.) 600 DRIVE 60 Motor Power Cable PSM 400 = 40 9101-1384-xxx + RATING 200 20 Encoder Feedback 45 H-8350-S-H00AA 9101-2027-xxx 0 0 0 1000 2000 Speed (RPM) 1398-PDM-150 and 1398-PDM-150 H-6300-Q-H00AA 700 80 Torque Torque (lb-in.) 600 (Nm) 60 500 DRIVE 400 Motor Power Cable PSM 40 = 300 9101-1399-xxx + RATING 200 20 Encoder Feedback 30 100 H-6300-Q-H00AA 9101-2027-xxx 0 0 0 1000 2000 3000 Speed (RPM) 1398-PDM-150 and 1398-PDM-150 H-8500-S-H00AA Torque 1500 Torque 150 (lb-in.) (Nm) 1250 DRIVE 1000 100 Motor Power Cable PSM 750 = 9101-1384-xxx + RATING 500 50 Encoder Feedback 250 55 H-8500-S-H00AA 9101-2027-xxx 0 0 0 1000 2000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075 Publication 1398-2.1 – August 1999 90 1398 ULTRA Series 230V Brushless Servo Motors ULTRA Plus Drives with N-Series Motors (1398-PDM-20 and 1398-PDM-30) 1398-PDM-20 1398-PDM-20 and N-3406-2-H00AA Torque 20 Torque (lb-in.) (Nm) 1.8 16 DRIVE 1.4 12 Motor Power Cable = 9101-1467-xxx 0.9 8 Encoder Feedback 0.5 4 9101-1474-xxx 0 N-3406-2-H00AA 0 0 2000 4000 6000 Speed (RPM) 1398-PDM-20 and 1398-PDM-20 N-3412-2-H00AA Torque 40 Torque (lb-in.) (Nm) 3.4 DRIVE 30 Motor Power Cable 2.3 20 = 9101-1467-xxx 1.1 Encoder Feedback 10 9101-1474-xxx 0 N-3412-2-H00AA 0 0 2000 4000 6000 Speed (RPM) 1398-PDM-20 and 1398-PDM-20 N-4214-2-H00AA Torque 50 5.7 Torque (lb-in.) (Nm) 40 4.5 DRIVE 30 3.4 Motor Power Cable = 9101-1467-xxx 2.3 20 Encoder Feedback 10 1.1 9101-1474-xxx N-4214-2-H00AA 0 0 0 2000 4000 Speed (RPM) 1398-PDM-30 and 1398-PDM-30 N-4220-2-H00AA Torque 7.9 Torque (lb-in.) (Nm) 6.8 60 DRIVE 5.7 4.5 40 Motor Power Cable = 3.4 9101-1467-xxx 2.3 20 Encoder Feedback 9101-1474-xxx 1.1 N-4220-2-H00AA 0 0 0 2000 4000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075 Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 91 ULTRA Plus Drives with N-Series Motors (1398-PDM-20 and 1398-PDM-30) 1398-PDM-30 and 1398-PDM-30 N-5630-2-H00AA Torque 11.3 100 Torque (lb-in.) (Nm) 80 9.0 DRIVE 60 6.8 Motor Power Cable = 9101-1467-xxx 40 4.5 Encoder Feedback 20 2.3 9101-1474-xxx 0 N-5630-2-H00AA 0 0 2000 4000 Speed (RPM) 1398-PDM-30 and 1398-PDM-30 N-5637-2-H00AA Torque 13.6 120 Torque (lb-in.) (Nm) 11.3 100 DRIVE 9.0 80 Motor Power Cable 6.8 60 = 9101-1467-xxx 40 4.5 Encoder Feedback 2.3 20 9101-1474-xxx 0 N-5637-2-H00AA 0 0 2000 4000 Speed (RPM) 1398-PDM-30 and 1398-PDM-30 N-5647-2-H00AA Torque 160 18.1 Torque (lb-in.) (Nm) 13.6 DRIVE 120 Motor Power Cable 9.0 80 = 9101-1467-xxx 4.5 40 Encoder Feedback 9101-1474-xxx 0 0 N-5647-2-H00AA 0 1000 2000 3000 Speed (RPM) System speed-torque characteristics = Intermittent operating region Drive module input voltage = 230V AC RMS = Continuous operating region = Drive operation with 115V AC RMS input voltage * Last three digits select standard cable lengths of: 10 ft (3.0 m)-010; 25 ft (7.7 m)-025; 50 ft (15.0 m)-050; 75 ft (23.0 m)-075 Publication 1398-2.1 – August 1999 92 1398 ULTRA Series 230V Brushless Servo Motors F-Series Motor and Connector Ordering Information F - 4 0 3 0 - Q - H 00 AA Factory Designated Special Options MOTOR MATING CONNECTORS AA = STANDARD AN = NEMA (4000 Series Only) MS CONN KITS F-SERIES MOTOR POWER STRAIGHT RIGHT ANGLE Options F-4000 SERIES: 9101-0326 9101-0399 00 = STANDARD F-6000 SERIES: 9101-0327 9101-0400 04 = 24V DC Brake MS CONN KIT MS CONN KIT Optical Encoder Line Count STRAIGHT RIGHT ANGLE STRAIGHT RIGHT ANGLE F = 1000 9101-0329 9101-0402 9101-0330 9101-0403 H = 2000 (STANDARD) F-Series Brake K = 5000 Encoder Power Feedback L = 500 M = 3000 F-SERIES MOTOR SHAFT SEAL KITS Motor Winding Ke Designator F-4000 SERIES: 0041-5060 Frame Size F-6000 SERIES: 0041-5061 Shaft seals generally require the presence Series Designator of a lubricant to reduce premature wear F = Medium Inertia Note: Optional configurations or encoder line counts have extended lead times and additional charges Note: The mating connectors listed above are not Note: Options are not available in all sizes CE compliant. See the cable options for CE compliant cable assemblies. * The maximum speed with the 5000-line encoder is 2400 RPM because of the frequency output limit of the encoder. Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 93 H-Series Motor and Connector Ordering Information Motor Mating Connectors H - 4 0 3 0 - P - H 00 AA Factory Designated Special Options MOTOR SERIES STRAIGHT RIGHT ANGLE AA = STANDARD H-2000, -3000 9101-0325 9101-0398 AN = NEMA (4000 Series Only) (MS3106F18-4S) (MS3108F18-4S) H-4000 9101-0326 9101-0399 Options (MS3106F20-4S) (MS3108F20-4S) 00 = STANDARD H-6000 9101-0327 9101-0400 04 = 24V DC Brake (MS3106F24-22S) (MS3108F24-22S) Optical Encoder Line Count H-8000 9101-0328 9101-0401 F = 1000 (MS3106F32-17S) (MS3108F32-17S) H = 2000 (STANDARD) K = 5000 BRAKE POWER CONNECTORS L = 500 STRAIGHT RIGHT ANGLE M = 3000 9101-0330 9101-0403 (MS3106F12S-3S) (MS3108F12S-3S) Motor Winding Ke Designator Frame Size ENCODER FEEDBACK CONNECTORS STRAIGHT RIGHT ANGLE Series Designator 9101-0329 9101-0402 H = Low Inertia (MS3106F20-29S) (MS3108F20-29S) Note: Optional configurations or encoder line counts have H-SERIES MOTOR SHAFT SEAL KITS extended lead times and additional charges H-2000 Series: Note: Options are not available in all sizes H-3000 Series: 0041-5065 H-4000 Series: 0041-5058 Note: 5000 line count encoder, motor top speed is limited to H-6000 Series: 0041-5059 3600 RPM due to frequency output limit of encoder. H-8000 Series: 0041-5053-005 Check drive system configuration data for any additional Shaft seal kits generally require the presence of a lubricant restrictions imposed by drive input. to reduce premature wear. Note: The mating connectors listed above are not CE compliant. See the cable options for CE compliant cable assemblies. Publication 1398-2.1 – August 1999 94 1398 ULTRA Series 230V Brushless Servo Motors Y-Series Motor and Connector Ordering Information Y - 1002 - 2 - H 00 AA Motor Mating Connectors Factory Designated Special Options CONNECTOR KITS FOR Y-SERIES MOTORS AA = STANDARD ALL Y-SERIES MOTORS Options 9106-0066 00 = STANDARD 04 = 24V DC Brake This kit includes connector, pins, and backshell for both the power and encoder connectors. Optical Encoder Line Count H = 2000 (STANDARD) Note: The mating connectors listed Motor Winding Voltage Designator above are not CE compliant. See 1 = 115 V Drive Input Voltage the cable options for CE compliant 2 = 230 V Drive Input Voltage cable assemblies. Frame Size Series Designator Y = Light Industrial Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 95 N-Series Motor and Connector Ordering Information N - 4 2 1 4 - 2 - H 00 AA Motor Mating Connectors Factory Designated Special Options MS CONN KIT MS CONN KIT AA = STANDARD Mating Power Connector Mating Encoder Connector Options 00 = STANDARD 9101-1557 9101-1558 04 = 24V DC Brake MS CONN KIT Mating Brake Connector Optical Encoder Line Count F = 1000 (STANDARD for 2300 Series) 9101-1698 H = 2000 (STANDARD) K = 5000 POWER CONNECTOR Motor Winding Voltage STRAIGHT RIGHT ANGLE 1 = 115 V Drive Input Voltage Solder MS3116F14-5S KPT08F14-5S 2 = 230 V Drive Input Voltage Crimp MS3126F14-5S KPSE08F14-5S Continuous Torque Capability NEMA Style Frame Size BRAKE POWER CONNECTOR Series Designator STRAIGHT RIGHT ANGLE N = NEMA Style Frame Solder MS3116F12-3S KPT08F12-3S Crimp MS3126F12-3S KPSE08F12-3S Note: Optional configurations or encoder line counts have extended lead times and additional charges F-SERIES MOTOR SHAFT SEAL KITS N-2300 SERIES: 0041-5068 Note: Options are not available in all sizes N-3400 SERIES: 0041-5069 N-4200 SERIES: 0041-5070 Note: 5000 line count encoder, motor top speed is limited to N-5600 SERIES: 0041-5071 3600 RPM due to frequency output limit of encoder. Check drive system configuration data for any additional Shaft seals generally require the presence restrictions imposed by drive input. of a lubricant to reduce premature wear ENCODER CONNECTOR STRAIGHT RIGHT ANGLE Solder MS3116F14-19S KPT08F14-19S Crimp MS3126F14-19S KPSE08F14-19S Note: The mating connectors listed above are not CE compliant. See the cable options for CE compliant cable assemblies. Publication 1398-2.1 – August 1999 96 1398 ULTRA Series 230V Brushless Servo Motors Publication 1398-2.1 – August 1999 1398 ULTRA Series 230V Brushless Servo Motors 97 Publication 1398-2.1 – August 1999 98 1398 ULTRA Series 230V Brushless Servo Motors Publication 1398-2.1 – August 1999 For more information refer to our web site: www.ab.com/motion ULTRA Series, ULTRA 100, and ULTRA 200 are registered trademarks of Allen-Bradley Company, Inc. Publication 1398-2.1 – August 1999 Supersedes Publication 1398-2.0 - February 1999  1999 Rockwell International. All Rights Reserved. Printed in USA