IG Servomotors A

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Magnus Bridges
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IG Servomotors he IG Servomotor Series is

performance Neodymium Iron Boron permanent

different lengths for additional torque.

hese servomotors have many options such as

1 IG Servomotors he IG Servomotor Series is designed to meet NEMA mounting specifications: 7, 3, and 4. hese brushless AC servomotors have high performance Neodymium Iron Boron permanent magnets in an eight-pole construction for smooth rotation. he IG7, IG3 and IG are available in three different lengths for additional torque. he IG4 is available in two different lengths with the largest having a continuous stall torque rating of lb-in. hese servomotors have many options such as voltage constants, metric shafts, hall sensors, optical encoders, shielded cables and brakes. -A

2 Model Numbering System: NEMA Shaft,3 Imperial: S = Smooth F = Flat K = Keyway IG A S EC - S Motor Stack Length A B C Metric: X = Smooth Y = Flat Z = Keyway Feedback ption HX = Halls only HE = Halls+Encoder EC = Encoder with commutation tracks Voltage Gradient Refer o Voltage Gradient Availability able Housing ption F = Flying Leads S = Shielded Cable 7 B = Brake 7, 8 Encoder Resolution (ppr) 4. NEMA 7 is only available in F housing. Refer to imensions for the exact length and shaft options 3. Keyway shaft is provided only on NEMA 3, and 4 Servomotors 4. Consult factory for available resolution. he F & B housings are rated IP4 while the S housings are rated IP. ptional IP4 is available on S housing. he F housing option comes with 8 inches flying leads 7. he S or B housing option comes with 3 inches shielded cable 8. he S or B housing options are only available on NEMA and 4 Servomotors Voltage Gradient Availability able: Voltage Constant K E (V/kRPM) Frame Size IG 7 IG 3 IG IG Motor Performance Curves: here are two cases to select a motor: Case I: he bus voltage (V bus) and torque () are known. he speed is related to the torque and bus voltage according to the following formula: () b b 4ac where n a PL a K E RK E b K c K R V bus K p IG orque Speed Curve Case II: he bus voltage (V bus) and speed (n) are known. he torque is related to the speed and bus voltage according to the following formula: () f f 4eg e where efinitions of Symbols n is the motor speed, krpm. V bus is the bus voltage, VC. K E is the voltage constant, V/krpm. K is the torque constant, Nm/Amp (peak). is the torque, Nm. npl e R K RK En f K E g K n V bus P is the number of poles. For IG motors, P=8. R is the motor resistance, hm L is the motor inductance, Henry. p is equal to 3.4 orque, Nm cs Bus Voltage Vbus, VC nnl Intermittent duty zone Continuous duty zone p : Peak stall torque cs : Continuous stall torque nnl : No load speed at the bus voltage, Vbus Note: While using Eq. () and Eq. () you must use values with the above specified units. -A

Selected orque-speed Curves IG 7 AS-8 IG 7 BS-8 IG 7 CS-8.7..4.3...3. orque, Nm. VC BUS 4 VC BUS 48 VC BUS orque, Nm.. VC BUS 4 VC BUS 48 VC BUS orque, Nm.4.3 VC BUS 4 VC BUS 48 VC BUS.

3 Selected orque-speed Curves IG 7 AS-8 IG 7 BS-8 IG 7 CS orque, Nm. VC BUS 4 VC BUS 48 VC BUS orque, Nm.. VC BUS 4 VC BUS 48 VC BUS orque, Nm.4.3 VC BUS 4 VC BUS 48 VC BUS IG 3 AS-44 IG 3 BS-44 IG 3 CS orque, Nm VC BUS VC BUS 3 VC BUS orque, Nm VC BUS VC BUS 3 VC BUS orque, Nm. 48 VC BUS VC BUS 3 VC BUS IG AS-44 IG BS-44 IG CS orque, Nm.. VC BUS 3 VC BUS 4 VC BUS 3 VC BUS VC BUS 3 VC BUS orque, Nm 3 orque, Nm orque, Nm IG 4 AS-44 VC BUS 3 VC BUS orque, Nm IG 4 BS-44 VC BUS 3 VC BUS Note: Contact factory for torque-speed curves of other motors. 3 -A

4 IG Motor Specifications (Version 3.) NEMA 7 Index Model Number Weight orque Constant (Peak) (LL) Voltage Constant Cont. Stall orque Cont. Stall Peak Stall orque Peak Stall Max BEMF (Peak) (LL) Max Speed L-to-L Resistance L-to-L Inductance Rotor Inertia K cs W K E I cs I P U max n max R L J kg lb Nm/A lb-in/a V/krpm Nm lb-in A Nm lb-in A V rpm hms mh kg-cm lb-in-sec IG 7 AS IG 7 BS IG 7 CS IG 7 AS IG 7 BS IG 7 CS IG 7 AS IG 7 BS IG 7 CS IG 7 AS IG 7 BS IG 7 CS P NEMA 3 Index Model Number Weight orque Constant (Peak) (LL) Voltage Constant Cont. Stall orque Cont. stall current Peak Stall orque Peak Stall Max BEMF (Peak) (LL) Max Speed L-to-L Resistance L-to-L Inductance Rotor Inertia W K K E cs I cs P I P U max n max R L J kg lb Nm/A lb-in/a V/krpm Nm lb-in A Nm lb-in A V rpm hms mh kg-cm lb-in-sec 3 IG 3 AS IG 3 BS IG 3 CS IG 3 AS IG 3 BS IG 3 CS IG 3 AS IG 3 BS IG 3 CS IG 3 AS IG 3 BS IG 3 CS IG 3 AS IG 3 BS IG 3 CS IG 3 AS IG 3 BS IG 3 CS IG 3 AS IG 3 BS IG 3 CS IG 3 AS IG 3 BS IG 3 CS IG 3 AS , IG 3 BS , IG 3 CS , IG 3 AS , IG 3 BS , IG 3 CS , LL: Line-to-Line -A 4

5 IG Motor Specifications (Version 3.) NEMA Index Model Number Weight orque Constant (Peak) (LL) Voltage Constant Cont. Stall orque Cont. Stall Peak Stall orque Peak Stall Max BEMF (Peak) (LL) Max Speed L-to-L Resistance L-to-L Inductance Rotor Inertia W K K E cs I cs P I P U max n max R L J kg lb Nm/A lb-in/a V/krpm Nm lb-in A Nm lb-in A V rpm hms mh kg-cm lb-in-sec 43 IG AS IG BS IG CS IG AS IG BS IG CS IG AS IG BS IG CS IG AS IG BS IG CS IG AS IG BS IG CS IG AS IG BS IG CS IG AS , IG BS , IG CS , IG AS , IG BS , IG CS , IG AS , IG BS , IG CS , IG AS , IG BS , IG CS , NEMA 4 Index Model Number Weight orque Constant (Peak) (LL) Voltage Constant Cont. Stall orque Cont. Stall Peak Stall orque Peak Stall Max BEMF (Peak) (LL) Max Speed L-to-L Resistance L-to-L Inductance Rotor Inertia W K K E cs I cs P I P U max n max R L J kg lb Nm/A lb-in/amp V/krpm Nm lb-in A Nm lb-in A V rpm hms mh kg-cm lb-in-sec 73 IG 4 AS IG 4 BS IG 4 AS IG 4 BS IG 4 AS IG 4 BS IG 4 AS IG 4 BS IG 4 AS IG 4 BS IG 4 AS , IG 4 BS , IG 4 AS , IG 4 BS , IG 4 AS , IG 4 BS , LL: Line-to-Line -A

6 HX Feedback with F Housing LR LM LP LH SQ. 4- S LA M LC SQ. N LZ LZ FRN SHAF PINS () SMH SHAF: AS SHWN IN HE VIEWS. () KEYWAY SHAF KA (3) FLA SHAF KB XAWG4 HALL SENSRS LEAS 4XAWG8 (BELW AMPS) R 4XAWG(ABVE AMPS) MR LEAS F NE: HE MR HAS IP4 ENCLSURE AN SHAF PRECIN. GA GB 7 3 IG LM LA LR LC LP LH LZ N S M A.49 (38) B. (4) C.7 (7) A.89 (48) B.77 (9) C 3.43 (9) A.79 (7) B 3.88 (98) C 4.9 () A (3) B.8 (73) (.) (.) (4) (.) C - For IG7, dimension S is M3*. min depth. (.) threaded hole -. (.).33 (8.4).79 (.). (.).9 (.).94 (4).8 (). (3). (4.3). (.4) 3.38 (8.).34 (9).433 (). (4.3). (.4) 8 (47.).8. (.. ).. ( ( (. ).. 3).8.4 ) Units: inches (mm).8.7 (3.) (43.8). (.). (.).33 (8.). (.8) 3.87 (98.43) 4.9 (.73) Imperial Shaft ption (S/F/K), Units: inches Metric Shaft ption (X/Y/Z), Units: mm IG F GA KA GB KB F GA KA GB KB A

7 Motor Wiring iagram For F Housing Hall Sensor Wiring iagram Wire Color YEL GRN BLU GRN/YEL PHASE U PHASE V PHASE W PE Wire Color RE YEL GRN BLU BLK +Vcc HALL U HALL V HALL W GN Hall Sensor Electrical ata Parameter Values Supply Voltage, Vcc Min. 4. V Max. 4 V Supply Max..3 ma utput Max. ma Rise ime yp.. µs Max.. µs Fall ime yp.. µs Max.. µs Response ime yp. 4. µs Max. µs perating emperature -4 o Cto o C(-4 o F to 7 o F) Storage emperature - o Cto o C(-7 o F to 39 o F) Hall Sensor utput Waveforms o HALL U HALL V HALL W /3 / /3 Rotation = Electrical Period 7 -A

8 HE Feedback with F Housing 4- S LR LA LM LP LF LH SQ. M F LU LC SQ. N LZ LZ.x. SQUARE PINS MAES CN-FC FRN SHAF PINS () SMH SHAF: AS SHWN IN HE VIEWS. () KEYWAY SHAF (3) FLA SHAF XAWG4 HALL SENSRS LEAS KA KB 4XAWG8 (BELW AMPS) R 4XAWG(ABVE AMPS) MR LEAS NE: HE MR HAS IP4 ENCLSURE AN SHAF PRECIN. GA GB Units: Inches (mm) IG LM LF LA LR LC LP LH LZ LU N S M A.49 (38) B. (4) - (.) (4) (4.3) (9) (4.3) (.. ) (3.) C.7 (7) A.89 (48) B.77 (9) (.) (.) () (.4) ( 38.. ) (.) C (9).4 8. (.3) (47.) (3.7) A.79 (7) B 3.88 (98) (8.4) (.) (3) (8.) () (.4) ( ) (.) 3 C 4.9 () A (3) B.8 (73) (.) (.) (4) (.) (..4) (8.) C - For IG7, dimension S is M3*. min depth. (.) threaded hole.7 (43.8). (.7) 3.87 (98.4) 4.9 (.73) Imperial Shaft ption (S/F/K), Units: Inches Metric Shaft ption (X/Y/Z), Units: mm IG F GA KA GB KB F GA KA GB KB A 8

Motor Wiring iagram For F Housing ption Wire Color YEL GRN BLU GRN/YEL Wire Color RE YEL GRN BLU BLK PHASE U PHASE V PHASE W PE Hall Sensor Wiring iagram +Vcc HALL U HALL V HALL W GN Encoder Wiring

9 Motor Wiring iagram For F Housing ption Wire Color YEL GRN BLU GRN/YEL Wire Color RE YEL GRN BLU BLK PHASE U PHASE V PHASE W PE Hall Sensor Wiring iagram +Vcc HALL U HALL V HALL W GN Encoder Wiring iagram Pin No. GN INEX 3 CH A 4 +VC CH B Hall Sensor Electrical ata Parameter Supply Voltage Supply utput Rise ime Fall ime Response ime Encoder ata Parameter Input Voltage, Vcc Input Requirement utput Voltage utput Per Channel utput ata utput Format Values Min. 4. V Max. 4 V Max..3 ma Max. ma yp.. µs Max.. µs yp.. µs Max.. µs yp. 4. µs Max. µs perating emperature -4 o Cto o C (-4 o F to 7 o F) Storage emperature - o Cto o C (-7 o F to 39 o F) Values yp. +VC Min. 4. VC Max.. VC yp. 7 ma Min. 3 ma Max. 8 ma Min.. VC Max. Vcc Min. 8. ma Max. 8. ma Incremental- wo square waves in quadrature with channel A leading B for clockwise shaft rotation as viewed from the encoder mounting face L level output Frequency Response khz Minimum Edge Separation o 4 electrical angle Maximum Speed perating emperature rpm -4 o Cto o C Storage emperature - o Cto8 o C Encoder utput Waveforms 3 ELECRICAL CH A CH B INEX 4 MIN SEPARAIN F A & B A MAX PERAING EMPERAURE & FREQUENCY Hall Sensor utput Waveforms o HALL U HALL V HALL W /3 / /3 Rotation : Electrical Period 9 -A

10 EC Feedback with F Housing LX LR LM LF 4- S LA M LC SQ. N LZ FRN SHAF PINS () SMH SHAF: AS SHWN IN HE VIEWS. () KEYWAY SHAF (3) FLA SHAF 4XAWG8 (BELW AMPS) R 4XAWG(ABVE AMPS) MR LEAS KA F KB NE: () HE MR HAS IP4 ENCLSURE AN SHAF PRECIN. () AAPER IS USE FR IG AN GA GB Units: inches (mm) IG LM LF LA LR LC LZ LX N S M A.49 (38) B. (4) C.7 (7) A.89 (48) B.77 (9) C 3.43 (9) A.79 (7) B 3.88 (98) C 4.9 (). (4.) -. (.).33 (8.38).79 (.). (.).9 (.).94 (4).8 (). (3). (4.3). (.4) 3.38 (8.) A (3) B.8 (73) (.44) (.) (4) (.) C - For IG7, dimension S is M3*. min depth. (.) threaded hole 8 (47.) -. (4 ).8. (.. ).. ( ( (.. ).. 3 ).8.4).8 (3.).7 (43.8). (.). (.).33 (8.). (.8) 3.87 (98.43) 4.9 (.73) Imperial Shaft ption (S/F/K), Units: inches Metric Shaft ption (X/Y/Z), Units: mm IG F GA KA GB KB F GA KA GB KB A

Motor Wiring iagram for F Housing ption Wire Color YEL GRN BLU GRN/YEL PHASE U PHASE V PHASE W PE Encoder Wiring iagram Pin # CH A CH A- 3 CH B 4 CH B- INEX INEX- 7 CH U 8 CH U- 9 CH V CH V- CH W CH

11 Motor Wiring iagram for F Housing ption Wire Color YEL GRN BLU GRN/YEL PHASE U PHASE V PHASE W PE Encoder Wiring iagram Pin # CH A CH A- 3 CH B 4 CH B- INEX INEX- 7 CH U 8 CH U- 9 CH V CH V- CH W CH W- 3 +VC 4 GN SHIEL Color BRN with BLK BLK with BRN BLU with BLK BLK with BLU RN with BLK BLK with RN YEL with BLK BLK with YEL GRN with BLK BLK with GRN RE with BLK BLK with RE WH with BLK BLK with WH SHIEL Encoder ata Parameter Values Input Voltage VC + % Single Supply Input Requirement 7 ma utput ata Line driver utput Format Square wave two channel quadrature with index and commutation signals Frequency Response khz o Minimum Edge Separation 4 electrical angle Commutation Format hree commutation channels, 4 cycles/3 electrical angle for eight poles ermination pins JAE P/N F-WP-HF interface perating emperature -3 o C to o C Storage emperature -4 o C to o C Cable 3M #3X/4, (UL), CL, 7C, 8 AWG, 7 Pairs, PVC Encoder utput Waveforms 3 ELECRICAL ptional: Connector with shielded 3M cable per customer specified length Customer Specified Length mm CH A CH A CH B CH B Encoder Side Heat Shrink with ube For Customer Wiring 4 MIN SEPARAIN F A & B A MAX PERAING EMPERAURE & FREQUENCY INEX INEX INEX ALIGNMEN REFERENCE 9 NMINAL, GAE WIH A & B CH U ( ) CH V CH W : Electrical Period /3 / /3 SESCREW IS ALIGNE RISING EGE F U WHEN A 3 'CLCK PSIIN N ENCER. -A

12 EC Feedback with B Housing LR LM LK LF S LA M LC SQ. 4- LY N FRN SHAF PINS () SMH SHAF, AS SHWN IN HE VIEWS () KEYWAY SHAF (3) FLA SHAF LZ W BRAKE LEAS, 4VC PWER SUPPLY (MIN. WAS) KA KB F NE: HE MR HAS IP4 ENCLSURE AN SHAF PRECIN GA GB Units: inches (mm) IG LM LF LA LR LC LK LY LZ N S M A.79 (7) B 3.88 (98) (8.4) (.) (3) (8.) (. ) (.) C 4.9 () (.4) (44.8) (47.) (94.4) A (3) B.8 (73) (.) (.) (4) (.) (..4 ) (8.) C (98.43) 4.9 (.73) Imperial Shaft ption (S/F/K), Units: inches Metric Shaft ption (X/Y/Z), Units: mm IG F GA KA GB KB F GA KA GB KB A

Motor Wiring iagram For B Housing ption Wire Code WIRE # WIRE # WIRE #3 GRN/YEL PHASE U PHASE V PHASE W PE Encoder Wiring igram Wire Color BRN CH A YEL CH A- RE CH B GRN CH B- RN INEX BLU INEX- VI CH

Separation Commutation Format Commutation Accuracy Maximum Speed ermination perating emperature Storage emperature Failsafe, Holding Brake ption Rated orque Weight Power Consumption @4VC, o C N-m

13 Motor Wiring iagram For B Housing ption Wire Code WIRE # WIRE # WIRE #3 GRN/YEL PHASE U PHASE V PHASE W PE Encoder Wiring igram Wire Color BRN CH A YEL CH A- RE CH B GRN CH B- RN INEX BLU INEX- VI CH U GRY CH U- PNK CH V AN CH V- RE/GRN CH W RE/YEL CH W- WH +VC BLK GN SHIEL SHIEL Encoder ata Parameter Input Voltage Input Requirement utput ata utput Format Frequency Response Minimum Edge Separation Commutation Format Commutation Accuracy Maximum Speed ermination perating emperature Storage emperature Failsafe, Holding Brake ption Rated orque Weight Power o C N-m Lb-in Kg Watts +% Values VC ±% Fixed Voltage ma max ( ma typical) with no output load Incremental - wo square waves in quadrature with channel A leading B for clockwise shaft rotation as viewed from the encoder mounting face Line river - ma max per channel (meets RS 4 at VC) khz standard, 3 khz optional 7. electrical 8 poles mechanical 8 RPM 8" cable (foil and braid shield, 4 AWG conductors non-commutated, 8 AWG commutated), - to +8 C standard - to +8 o C Inertia Closing ime (engage) pening ime (release) Lb A Kg.cm Lb-in-sec ms ms hermal Class e o C Encoder utput Waveforms UPU A UPU A UPU B UPU B Gated to A=8 INEX Z Ungated approx.=7 INEX Z Gated to A=8 Ungated approx.=7 CMMUAIN SIGNALS Note: Rising edge of Chan. U occurs whitin + mechanical to center of index Z. UPU U UPU U UPU V UPU V UPU W UPU W CLCKWISE RAIN NE: ALL EGREE REFERENCES ARE ELECRICAL EGREES 3 -A

14 EC Feedback with S Housing LR LM LV 4- S LA M LZ LC SQ. N LY FRN SHAF PINS () SMH SHAF: AS SHWN IN HE VIEWS. () KEYWAY SHAF (3) FLA SHAF KA KB NE: HE MR HAS IP, R PINALLY IP4 ENCLSURE AN SHAF PRECIN. F GA GB 3 4 Units: inches (mm) IG LM LV LA LR LC LY LZ N S M A B C.89 (48).77 (9) (9) A.79 (7) B 3.88 (98) C 4.9 () A (3) B.8 (73) C -.8 (3).338 (). (.).33 (8.38).49 (.44). (.).9 (.).9 (.).8 (). (3). (4). (.4) 3.38 (8.) 4.33 (.) 38 (9.) 3 (94.4).8. (..87 ( ).. 3).8.8 (..4).8 (3.).7 (.).33 (8.).7 (43.8) 3.87 (98.43) 4.9 (.73) Imperial Shaft ption (S/F/K), Units: inches Metric Shaft ption (X/Y/Z), Units: mm IG F GA KA GB KB F GA KA GB KB A 4

Motor Wiring iagram For S Housing ption Wire Code WIRE # WIRE # WIRE #3 GRN/YEL PHASE U PHASE V PHASE W PE Encoder Wiring igram CH A CH A- CH B CH B- INEX INEX- CH U CH U- CH V CH V- CH W CH W- +VC

Encoder ata Parameter Input Voltage Input Requirement utput ata utput Format Frequency Response Minimum Edge Separation Commutation Format ermination perating emperature Storage emperature Cable

angle for eight poles pins JAE P/N F-WP-HF interface -3 o Cto o C -4 o Cto o C 3M #3X/4, (UL), CL, 7C, 8 AWG, 7 Pairs, PVC utput Waveforms 3 ELECRICAL CH A CH A CH B CH B 4 MIN SEPARAIN F A & B A

15 Motor Wiring iagram For S Housing ption Wire Code WIRE # WIRE # WIRE #3 GRN/YEL PHASE U PHASE V PHASE W PE Encoder Wiring igram CH A CH A- CH B CH B- INEX INEX- CH U CH U- CH V CH V- CH W CH W- +VC GN SHIEL Color BRN with BLK BLK with BRN BLU with BLK BLK with BLU RN with BLK BLK with RN YEL with BLK BLK with YEL GRN with BLK BLK with GRN RE with BLK BLK with RE WH with BLK BLK with WH SHIEL Encoder ata Parameter Input Voltage Input Requirement utput ata utput Format Frequency Response Minimum Edge Separation Commutation Format ermination perating emperature Storage emperature Cable Values VC + % single supply 7 ma Line driver Square wave two channel quadrature with index and commutation signals khz o 4 electrical degrees o hree commutation channels, 4 cycles/3 electrical angle for eight poles pins JAE P/N F-WP-HF interface -3 o Cto o C -4 o Cto o C 3M #3X/4, (UL), CL, 7C, 8 AWG, 7 Pairs, PVC utput Waveforms 3 ELECRICAL CH A CH A CH B CH B 4 MIN SEPARAIN F A & B A MAX PERAING EMPERAURE & FREQUENCY INEX INEX INEX ALIGNMEN REFERENCE 9 NMINAL, GAE WIH A & B CH U ( ) CH V CH W /3 / /3 : Electrical Period SESCREW IS ALIGNE RISING EGE F U WHEN A 3 'CLCK PSIIN N ENCER. -A

16 4 Nordhoff St. Chatsworth, CA, 93 el: Fax:

BN17 Specifications BN17 SPECIFICATIONS - Continuous Stall Torque 11.0 to 21.0 oz-in ( Nm) Peak Torque oz-in (

BN17 Specifications BN17 SPECIFICATIONS - Continuous Stall Torque 11.0 to 21.0 oz-in ( Nm) Peak Torque oz-in ( BN17 Specifications Direct BN17 SPECIFICATIONS - Continuous Stall Torque 11.0 to 21.0 oz-in (.078 -.148 Nm) Peak Torque 21-66 oz-in (.148 -.466 Nm) Part Number* BN17-15AA- BN17-20AA- BN17-25AA- T F O T