Brushless DC-Servomotors with integrated Encoder 4 Pole Technology

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1 rushless DC-Servomotors with integrated Encoder ole Technology mm For combination with Gearheads: F, /, X + Encoders 3 ominal voltage Terminal resistance, phase-phase Output power ) Efficiency 3 S X X 3,,,,9 66,9 6,6 U R max. η max. Volt Ω W % 6 9 o-load speed o-load current (with shaft ø 3, mm) Stall torque Friction torque, static Friction torque, dynamic no o MH Co Cv 6 6,,6, 9,9,,, -, - rpm mm mm mm/rpm 3 Speed constant ack-emf constant Torque constant Current constant kn ke km k 9 3, 3, 6, 3,,6,3 rpm/v mv/rpm mm/ /mm 6 Slope of n-m curve Terminal inductance, phase-phase Mechanical time constant Rotor inertia ngular acceleration n/ M L τ m α max. 3 6, 6,,, rpm/mm µh ms gcm 3 rad/s 9 Thermal resistance Thermal time constant Rth / Rth τ w / τ w / 3, / 3 K/W s Operating temperature range... + C 3 Shaft bearings Shaft load max.: radial at 3 rpm ( mm from mounting flange) axial at 3 rpm axial at standstill Shaft play: radial axial = ball bearings, preloaded, mm mm 6 Housing material Weight Direction of rotation umber of pole pairs stainless steel electronically reversible g Recommended values - mathematically independent of each other Speed up to Torque up to ) ) Current up to ) ) ne max. Me max. e max. ) at rpm ) thermal resistance Rth not reduced / thermal resistance Rth by % reduced / /, /,6,6 /, rpm mm ote: The diagram indicates the recommended speed in relation to the available torque at the output shaft for a given ambient temperature of C. n [rpm] 3 3 S X + Encoder n [rpm] 3 S X + Encoder (Rth -%) 3 3 S X + Encoder 3 S X + Encoder (Rth -%) The diagram shows the motor in a completely insulated as well as thermally coupled condition (Rth % reduced). The nominal voltage (U) curve shows the operating point at nominal voltage in the insulated and thermally coupled condition. ny points of operation above the curve at nominal voltage will require a higher operating voltage. ny points below the nominal voltage curve will require less voltage. Watt Watt U U M [mm] M [mm] Recommended areas for continuous operation refer to Technical nformation. Edition 3 age / DR. FRTZ FULHER GMH & CO. KG

2 Features The brushless DC-servomotors feature in this version an Encoder that is available with different interfaces. permanent magnet on the shaft creates a moving magnetic field which is captured using a single-chip angular sensor and further processed. n the E3 version, the brushless DC servomotors have an encoder with 3 output channels. t the encoder outputs, two 9 phaseshifted rectangular signals are available with up to impulses and an index impulse per motor revolution. The encoder is available in a variety of different resolutions and is suitable for speed control and positioning applications. The Line Driver E3L version has differential signal outputs (T-). Differential signals reduce ambient interference and are suitable for applications with high ambient interference. The line driver amplifies the encoder signal which means that long cables can be used without signal degradation. Differential signal outputs must be decoded by the appropriate receiver module. The motor and encoder cables are connected via separate ribbon cables. Other resolutions of - impulses are available on request. n the ES version (absolute encoder), absolute position information is provided with a resolution of 96 steps per revolution at the signal outputs and communicated via a serial (SS) interface. bsolute means, that each shaft position is assigned to a unique angular value within one revolution. This value is already available directly after power-on. The absolute encoder is ideal for commutation, speed and position control of the motor. t can be used to create a sinusoidal commutation signal. The advantages are a reduced torque ripple, a higher efficiency, and reduced electrical noise generation. Motor and encoder are connected via a common ribbon cable. For more information about installation and setup a detailed instruction manual is included with the product or is available online at Dimensional drawing Orientation with respect to motor cable ± ø M 3 deep 6x ø, ø ±, ø -, ø3 -,6 -, ø,6, M : 6x6 -, L 9,6 ±,6, ±,3 3 3 S... X + Encoder Encoder L mm E3 Cable 6 ± E3 L Cable ± ES Cable 6 ± refer to Technical nformation. Edition 3 age / DR. FRTZ FULHER GMH & CO. KG

3 rushless DC-Servomotor 3... X with Encoder Lines per revolution Frequency range ), up to f Signal output, square wave E3-3 E3-6 E3 - E3-6 E3 - E ndex khz channels Supply voltage Encoder Current consumption, typical ) Output current, max. allowable 3) DD Enc OUT,..., typ. 6, max. 3 m m ndex ulse width ) hase shift, channel to ) Signal rise/fall time, max. (CLOD = pf) tr/tf 9 ± 9 ± 9 ± 9 ±, /, µs nertia of encoder magnet, gcm Connection information Motor Supply voltage Hallsensors ) UDD E3-3 E3-6 E3 - E3-6 E3 - E3 -,...,..., ) speed (rpm) = f (Hz) x 6/ ) = V: with unloaded outputs 3) = V: low logic level <, V, high logic level >, V: CMOS- and TTL compatible ) at rpm ) E3-3/6//6 UDD UDD EC (galvanically isolated) E3- / UDD = UDD EC Options Connector variant (Option no. 39) Encoder: WG / VC ribbon cable with connector icolade (pitch, mm) Motor: WG 6 / VC ribbon cable 3SX E3-6 3 Connection Encoder 6 ncorrect lead connection o. Function n.c. Channel (ndex) 3 GD Enc Channel 6 Channel o. Function hase C hase 3 hase GD UDD 6 Hall sensor C Hall sensor Hall sensor Output signals / Circuit diagram Output signals with clockwise rotation as seen from the shaft end,, GD Enc mplitude o o Rotation dmissible deviation of phase shift / ndex pulse: = 9 o * o = 9 * refer to Technical nformation. Edition 3 age 3/ DR. FRTZ FULHER GMH & CO. KG

4 rushless DC-Servomotor 3... X with Encoder Lines per revolution Frequency range ), up to f Signal output, square wave E3-3 L E3-6 L E3 - L E3-6 L E3 - L E3 - L khz + index and complementary outputs channels Supply voltage Current consumption, typical ) DD Enc,..., typ., max. m ndex ulse width 3) hase shift, channel to 3) 9 ± 9 ± 9 ± 9 ± nertia of encoder magnet, gcm ) speed (rpm) = f (Hz) x 6/ ) = V: with unloaded outputs 3) at rpm otes: The output signals are T- compatible. Examples of Line driver Receivers: ST6C3D (STM), ST6C36 (EXR), DS6C3T (SC). ø Options M 3 Connector 6x variant (Option no.: 39) ø, Motor: WG 6 / VC ribbon cable Encoder: WG / VC ribbon cable with connector D-6 (pitch, mm) ø ±, 6 3 ø -, ø3 -, -,6 ø,6, 9 -, 3 3SX E3- ± L 9,6 ±,6, ±,3 Connection Encoder ncorrect lead connection o. Function hase C hase 3 hase GD UDD (,... ) 6 Hall sensor C Hall sensor Hall sensor o. Function n.c. 3 GD Enc n.c. Channel 6 Channel Channel Channel 9 Channel (ndex) Channel (ndex) Output signals / Circuit diagram Output signals with clockwise rotation as seen from the shaft end o mplitude o GD Enc Rotation dmissible deviation of phase shift / ndex pulse: = 9 * o o = 9 * refer to Technical nformation. Edition 3 age / DR. FRTZ FULHER GMH & CO. KG

5 rushless DC-Servomotor 3... X with Encoder Lines per revolution (resolution) Signal output ES Synchronous Serial nterface (SS) Supply voltage Current consumption, typical ) Output current, max. (DT) ) DD Enc,..., typ. 6, max. 3 m m Clock Frequency, max. (CLK) nput low level (CLK) nput high level (CLK) Setup time after power on, max. tsetup...,... MHz V V ms Operating temperature range... + C ) = V: with unloaded outputs ) = V: low logic level, V, high logic level,6 V Options Connector variant (Option no. 33) WG 6 / VC ribbon cable 3SX ES and Encoder o. Function hase C hase 3 hase GD Enc 6 CLK Res. (CS) DT ncorrect lead connection Circuit diagram / nterface signals nterface signals (SS) CLK CLK Res. (CS) Res. (CS) Timeout DT ck Start CDS D D D Res. Res. CRC CRC CRC Stop DT Data Range GD Enc ngle position values are ascending for clockwise rotation. Clockwise rotation as seen from the shaft end refer to Technical nformation. Edition 3 age / DR. FRTZ FULHER GMH & CO. KG

Brushless DC-Servomotors with integrated Encoder 4 Pole Technology

Brushless DC-Servomotors with integrated Encoder 4 Pole Technology rushless DC-Servomotors with integrated Encoder ole Technology 9 mm For combination with Gearheads: /(S),, L, /(S), /(S), /(S)... X + Encoders ominal voltage Terminal resistance, phase-phase Output power

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