3Specifications CHAPTER THREE IN THIS CHAPTER

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1 CHAPTER THREE 3Specifications IN THIS CHAPTER Drive Specifications SM and NeoMetric Motor Specifications SM and NeoMetric Motor / Curves SM and NeoMetric Motor Dimensions SM and NeoMetric Encoder Specifications SM and NeoMetric Motor Part Numbering System ➂ Specifications 3

2 Specifications TQ1X Servo Controller/Drive Parameter Power Input Voltage Frequency Value VAC single phase /6 Hz Power Output Motor Peak Current 1 A (approx 2 sec max duration at 4 C ambient temperature) Continuous Current A with TQ-HS3 or mounted to heatsink at or below 4 C Voltage 17 VDC nominal Peak Power 83 W ( V supply voltage Continuous Power 42 W (.6 hp) Switching Frequency 2 khz Bandwidth 2 khz typical (dependent on motor) Transconductance 1 volt = 1. amp Commutation 12 hall effect sensors for six-state commutation method or brushed DC motor Short-Circuit Protected Yes Power Output Hall Effect Sensors Voltage Current Short-Circuit Protected Power Output To Encoder Voltage Current Hall Inputs Low State High State Input Frequency + VDC ±. VDC ma (max) Yes + VDC 2 ma max each output Ø-2V Internal 3 k pull-up resistor to +1 V (open-collector Hall outputs should be used) Ø 2 khz max Inputs Programmable Inputs user-defined, TTL signal levels: low =.8 V; high = 2 V End-of-travel limits CW/CCW, V, TTL signal levels: low =.8 V; high = 2 V RS-232C 3-wire (Rx, Tx, GND) connections, RS48 optional Outputs Programmable outputs 2 user-defined, TTL signal levels: low =.8 V; high = 2 V Fault Output Isolated 24 V max voltage; 1 ma max current LED Name Indication -Enable (Bicolor) Green = enabled; Red = power on, not enabled -Drive temp Red = fault (drive overtemp, etc.) -Motor fault Red = fault (short circuit, motor overtemp, etc.) -Peak current/foldback Green = current is near peak (over~7%) (Bicolor) Red = in foldback (peak current time exceeded) -Regen (Bicolor) Green = regen active; Red = overvoltage fault Performance Position Range ±1,73,741,823 Velocity Range.1 to 2 rps Acceleration Range.1 to 9999 rps2 Velocity Accuracy ±.2% of max rate Velocity Repeatability ±.2% of set rate Resolution 4 6,32 encoder counts/rev Digital Servo Loop Update Time 266 µs Output 12-bit DAC Servo Tuning Via RS-232C Tuning Parameters PID with digital filter Protective Circuits Short Circuit Overtemperature Undervoltage Memory 2K of BBRAM Physical All connection points Environment Drive Temperature ambient Humidity Storage Turns off outputs to motor; latched C ± C trip temperature; latched 8 V min For program, RS232 address, tuning, and setup storage 1 pin screw terminal, removable - C ( F) -9% non-condensing -4-8 C (-4-18 F) 36 TQ1X User Guide

3 Motor Specifications Compumotor SM Series Servo Motors Symbol Units SM161A SM162A SM231A SM232A SM232B SM233A SM233B Continuous Stall 1 T CS N-m Continuous Stall Current 1 I CS amps-rms Rated 2 ω T rpm 7, 7, 7, 4, 7, 2,8 7, rps Peak 1 T pk N-m Peak Current, rms 1 I pk amperes Rated 1 T C N-m Rated Power-Output Shaft 1 Po Watts Resistance 4 Ω ohms Inductance 3 L millihenries Thermal Resistance 1 R th C/watt Thermal Time Constant T th minutes Electrical Time Constant T te milliseconds Mechanical Time Constant T m milliseconds Rotor Inertia J lb-in-sec (mass) kg-m 2 x Weight # pounds (kg) 1.1 (.) 1.6 (.7) 2.6 (1.2) 3. (1.6) 3. (1.6) 4.4 (2.) 4.4 (2.) Data listed is for SM motors alone. Drive specifications may change some values. C ambient with 1 x 1 x.2 in. mounting plate, 9 C winding 3 ±3%, line-to-line, inductance bridge measurement 1 khz temperature. For 4 C ambient operation, reduce values by 12%. 4 ±1%, line-to-line, at 2 C 2 With ppr encoders. For 1, ppr encoders, derate to 6 rpm. ➂ Specifications 37

4 Motor Specifications Compumotor NeoMetric Series Servo Motors (7mm) N71D N71F N72E N72F N73F N73G N74F N74G Parameter Symbol Units N341D N341F N342E N342F N343F N343G N343F N344G Stall Continuous 1,4 T CS lb-in N-m Stall Current Continuous 1,2 I CS amps-rms Rated ω r rpm rps Peak 1 T pk lb-in N-m Peak Current, rms 1,6 I pk amperes Rated 1 T C lb-in N-m Rated Power-Output Shaft 1 Po watts Voltage Constant 3,4 K b volts/radian/sec Voltage Constant 3,4 K e volts/krpm Constant 3,4 K t lb-in/amp rms Resistance 3 R ohms Inductance L millihenries Thermal Resistance 1 R th C/watt Motor Constant K m lb-in/ watt Viscous Damping B lb-in/krpm Static Friction T f oz. in Thermal Time Constant τ th minutes Electrical Time Constant τ e milliseconds Mechanical Time Constant τ m milliseconds Rotor Inertia J lb-in-sec Weight # pounds Winding Class H H H H H H H H C ambient with 1 x 1 x.2 in. mounting plate, 9 C encoder temperature. 2 RMS current, line-to-line, six state commutation. 3 +/- 1% line-to-line. 4 Peak value. +/- 3% line-to-line, inductance bridge 1KHz. 6 Peak current for 2 seconds maximum with initial winding temperature of 4 C. All specifications are subject to engineering change. 38 TQ1X User Guide

5 Motor Specifications Compumotor NeoMetric Series Servo Motors (92mm) Parameter Symbol Units N921F N921G N922G Stall Continuous 1,4 T CS lb-in N-m Stall Current Continuous 1,2 I CS amps-rms Rated ω r rpm rps Peak 1 T pk lb-in N-m Peak Current, rms 1,6 I pk amperes Rated 1 T C lb-in N-m Rated Power-Output Shaft 1 Po watts Voltage Constant 3,4 K b volts/radian/sec Voltage Constant 3,4 K e volts/krpm Constant 3,4 K t lb-in/amp rms Resistance 3 R ohms Inductance L millihenries Thermal Resistance 1 R th C/watt Motor Constant K m lb-in/ watt Viscous Damping B lb-in/krpm Static Friction T f oz. in Thermal Time Constant τ th minutes Electrical Time Constant τ e milliseconds Mechanical Time Constant τ m milliseconds Rotor Inertia J lb-in-sec Weight # pounds Winding Class H H H C ambient with 1 x 1 x.2 in. mounting plate, 9 C encoder temperature. 2 RMS current, line-to-line, six state commutation. 3 +/- 1% line-to-line. 4 Peak value. +/- 3% line-to-line, inductance bridge 1KHz. 6 Peak current for 2 seconds maximum with initial winding temperature of 4 C. All specifications are subject to engineering change. ➂ Specifications 39

6 / Curves NOTE: Curves are based on 12VAC line, nominal motor K T and K C. Actual values may vary ±1%. Line voltage directly limits maximum speed. TQ1 with SM161A TQ1 with SM162A 14 (1.3) 12 (.88) 1 (.71) 8 (.6) 6 (.42) 4 (.28) 2 (.14) () 4 TQ1 with SM231A RPM ( 1) (117) (133) (rps) 3 (2.47) 3 2 (1.77) 2 1 (1.6) 1 (.71) (.3) () 4 6 (1) 7 (117) 8 RPM (133) (rps) 3 (2.47) 3 2 (1.77) 2 1 (1.6) 1 (.71) (.3) () 4 6 (1) TQ1 with SM232A 7 (117) 8 RPM (133) (rps) TQ1 with SM232B 4 (2.82) (.71) 7 (4.94) 6 (4.24) (3.4) 4 (2.82) ( (8.) (17) 3 () TQ1 with SM233A 1 (2) 4 2 (33) 4 TQ1X User Guide 2 (41) 6 (1) 3 () 7 (117) 3 (8) 8 RPM (133) (rps) 4 RPM (rps) 3 (2.47) 3 2 (1.77) 2 1 (1.6) 1 (.71) (.3) 3 (2.47) 3 2 (1.77) 2 1 (1.6) 1 (.71) (.3) () TQ1 with SM233B 3 () (1) 6 (1) 7 (117) 7 (117) 8 RPM (133) (rps) 8 RPM (133) (rps)

7 / Curves NOTE: Curves are based on 12VAC line, nominal motor K T and K C. Actual values may vary ±1%. Line voltage directly limits maximum speed. lb-in 2 (2.24) 1 (1.68) 1 (1.12) (.6) TQ1X with N71D, N341D RPM () (1) (117) (133) (rps) lb-in TQ1X with N72F, N342F 2 (2.8) 2 (2.24) 1 (1.68) 1 (1.12) (.6) RPM () (1) (117) (133) (rps) lb-in TQ1X with N72E, N342E 3 (3.36) 2 (2.8) 2 (2.24) 1 (1.68) 1 (1.12) (.6) RPM () (rps) ➂ Specifications 41

8 Motor Dimensions Compumotor SM Series, Size 16 Cable Option Flying Leads ( ).127).98 (24.89).92 (23.37) Ø ( ) (4x) Ø.12 thru holes equally spaced on a Ø1.838 bolt circle Part # - FL - 1 Cable Options Description 18" Flying Leads 1 ft. Cable Longer lengths available Consult Compumotor for information 1.3 (33.2) Sq. 1.6 (4.64) Sq. - N (None) Ø.2 (6.3) Shaft Options - F (Flat).23 (.842).37 (9.4) Dimensions in inches (millimeters) Motor Sizes Model 4.79 (121.66) 162 Motor 3.79 (96.27) 161 Motor Motor Dimensions Compumotor SM Series, Size 23 Flying Leads Cable Option MS Connectors 2.99 (7.9) Ø ( ).127).81 (2.7).7 (19.) Ø ( ) 1.86 (47.142) Sq. 2.2 (7.1) Sq. (4x) Ø.218 (.37) thru holes equally spaced on Ø2.62 (66.67) bolt circle Shaft Options Dimensions in inches (millimeters) Part # - FL - 1 Cable Options Description 18" Flying Leads 1 ft. Cable Longer lengths available Consult Compumotor for information - N (None) Ø.37 (9.2) - F (Flat).34 (8.636).6 (1.24) - K (Sq Key).94 (23.88).416 (1.66) 1.2 (31.7) 1.19 (3.23) - L (1.2 (31.7) Lg.) Motor Sizes.98 (11.89) 4.98 (126.49) 3.98 (11.9) Model 233 Motor 232 Motor 231 Motor 42 TQ1X User Guide

9 Motor Dimensions Compumotor NeoMetric Series, Size 7 Brake Option -B MS Connectors -MS, -TQ Cable -1, -2 Flying Leads -FL Ø.43 (11) Shaft Options.197 ().49 (1.4) - N (None) - F (Flat) 2. (2.1) 4 x Ø.228 (.8) Thru Holes Eq Spaced on a Ø 2.93 (7.) Bolt Circle for mm or #1 Bolt.91 (23.1).93 (2.36) Feedback Conn MS Motor Conn MS (12.7).18 (4.1) - K (Sq. Key).492 (12.49) Motor Sizes 2.7 (69.8) Sq. Ø ( ).7) Ø ( ).2).3 (13.46) 3.26 (82.8) 1. (24.) 9. (228.6) 8. (23.2) 7. (177.8) 7.94 (21.68) 6.94 (176.28).94 (1.88) 4.94 (12.48) Model 7-4 Brake 7-3 Brake 7-2 Brake 7-1 Brake Motor Dimensions Compumotor NeoMetric Series, Size 34 Brake Option -B MS Connectors -MS, -TQ Cable -1, -2 Flying Leads -FL Shaft Options.228 (.8) Ø. (12.7).473 (12.1) - N (None) - F (Flat) 2. (2.1) 4 x Ø.223 (.66) Thru Holes Eq Spaced on a Ø 3.87 (98.43) Bolt Circle for mm or #1 Bolt 1.19 (3.23).63 (1.6) Feedback Conn MS Motor Conn MS (12.7).12 (3.17) - K (Sq. Key).6 (14.22) Motor Sizes 3.2 (82.6) Sq. Ø ( ) Ø ( ).12).2 (6.3) 3.26 (82.8) 1. (24.) 9. (228.6) 8. (23.2) 7. (177.8) 7.94 (21.68) 6.94 (176.28).94 (1.88) 4.94 (12.48) Model 34-4 Brake 34-3 Brake 34-2 Brake 34-1 Brake ➂ Specifications 43

10 Motor Dimensions Compumotor NeoMetric Series, Size 92 Brake Option -B MS Connectors -MS, -TQ Ø.12 (14) Shaft Options.2 (6.4).21 (13.23) - N (None) - F (Flat) 2.3 (9.7) 4 x Ø.281 (7.14) Thru Holes Eq Spaced on a Ø (1) Bolt Circle for 6mm or 1/4" Bolt 3.62 (91.9) Sq. Ø ( ).7) Ø ( ).2) 1.18 (29.97).3 (13.46) Feedback Conn MS (2.36) Motor Conn MS (14.9).63 (16).197 () - K (Sq. Key) Motor Sizes 13. (342.9) 12. (34.8) 1. (266.7) 9. (228.6) (282.7) 9.63 (244.6) 8.13 (26.) 6.63 (168.4) Model 92-4 Brake 92-3 Brake 92-2 Brake 92-1 Brake (16) Encoder Specifications Compumotor SM & NeoMetric Series Motors Parameter Performance Accuracy Electrical Input Power Operating Frequency Output Device Sink/Source, nominal Suggested User Interface Value ±2 min of arc VDC ± 13 ma 1 khz maximum (pre-quadrature) 26LS31 2 ma 26LS32 44 TQ1X User Guide

11 Motor Part Numbering System The diagram below illustrates the part numbering system for Compumotor SM Series servo motors SM Series Frame, Magnet Length Winding Feedback Shafting Connections Options A B D line encoder 1 E 1, line encoder 1 H Hall effect only R Resolver only 1 includes Hall effect sensors 2 not available on size 16 motors 3 cable is hardwired to motor 4 size 23 with MS or TQ connectors IP6 MS recommended for TQ1X; TQ can be used also. N normal F flat K keyway 2 L long N none V shaft seal 4 MS military style 2 1 1' cable 3 2 2' cable 2,3 FL 18" leads TQ TQ1X compatible 2, ibl Example: SM-231AE-NMSN = 23 Frame, 1" magnet, A winding, 1, line Encoder, Normal shaft, MS cable, No options Motor Part Numbering System Compumotor NeoMetric Series Servo Motor The diagram below illustrates the part numbering system for Compumotor NeoMetric Series servo motors. N Series Frame, Magnet Length Winding Feedback Shafting Connections Options xxxy xxx = flange dia. 7 for 7 mm 92 for 92 mm y = magnet length reference 1 to 4 Identifying character D, E, F, etc. D ppr encoder 2 E 1, ppr encoder H Hall-effect only R Resolver N normal F flat K keyway FL 18" leads MS military style TQ TQ1 compatible PT Pipe Thread 1 1 1' cable 2 B brake N none V IP6 W IP67 Example: N72EE-KMSN 1 92 mm motors only 2 7 mm motors only ➂ Specifications 4