Kollmorgen Housed Direct Drive Rotary (DDR) Motors Selection Guide with AKD TM Servo Drive Systems

Transcription

1 Kollmorgen Housed Direct Drive Rotary (DDR) Motors Selection Guide with AKD TM Servo Drive Systems

2 h o u s e d d d R m o t o R Kollmorgen. Every solution comes from a real understanding of OEM challenges. The ever-escalating demands of the marketplace mean increased pressure on OEMs at every turn. time constraints, demands for better performance, having to think about the next-generation machine even before the current one is built, tight budgets, and high expectations; Kollmorgen s innovative motion solutions and broad range of quality products help engineers not only overcome these challenges but also build truly differentiated machines. Because motion matters, it s our focus. motion can distinctly differentiate a machine and deliver a marketplace advantage by improving its performance. this translates to overall increased efficiency on the factory floor. Perfectly deployed machine motion o can make your customer s machine more reliable e and efficient, i enhance accuracy cy and improve operator safety. motion also represents es endless s possibilities s ie for innovation. ion We ve always ays understood od this potential, and thus have kept motion at our core, relentlessly ly developing products that offer precision control ol of speed, accuracy cy and position on in machines that rely on complex motion. 2 K o L L m o R G e N

3 housed direct drive RotARy motors selection GuIde Removing the Barriers of Design, Sourcing, and Time At Kollmorgen, we know that oem engineers can achieve a lot more when obstacles aren t in the way. so, we knock them down in three important ways: Integrating Standard and Custom Products The optimal solution is often not clear-cut. Our application expertise allows us to modify standard products or develop totally custom solutions across our whole product portfolio so that designs can take flight. Providing Motion Solutions, Not Just Components As companies reduce their supplier base and have less engineering manpower, they need a total system supplier with a wide range of integrated solutions. Kollmorgen is in full response mode with complete solutions that combine programming software, engineering services and best-in-class motion components. Global Footprint With direct sales, engineering support, manufacturing facilities, and distributors across North America, Europe, Middle East, and Asia, we re close to OEMs worldwide. Our proximity helps speed delivery and lend support where and when they re needed. Financial and Operational Stability Kollmorgen is part of danaher corporation, our $13B parent company. A key driver in the growth of all danaher divisions is the danaher Business system, which relies on the principle of kaizen or continuous improvement. using world-class tools, cross-disciplinary teams of exceptional people evaluate processes and develop plans that result in superior performance. Table of Contents Housed Direct Drive Rotary (DDR) Motor 4 Direct Drive Technology 8 AKD TM Servo Drive 1 Co-Engineering Capabilities 14 Housed DDR Motor System Summary 15 Housed DDR Drawings and Perfomance Data D(H)6x 16 D(H)8x 2 D(H)1x 24 D(H)14x 28 Custom Applications 32 Application Notes 33 Model Nomenclature 34 MOTIONEERING Application Engine 35 teams teams application local l ap service serv global vice rv r ic engineering expertise support suppo global application knowledge Motion is at our core. experience pport ppo r global development and m manufacturing cturing manufa globa f m h o u s e d d d R m o t o R lity financial stability

4 hh oo uu ss ee d D D D R mm oo tt oo rr Housed Direct Drive Rotary (DDR) Motor Our Housed Direct Drive Rotary (DDR) motor series offer a high performance, zero maintenance servo solution. They achieve very high torque density through the combination of large diameter, short length, and a high number of magnetic poles. By pairing the Housed DDR motor series with our wide range of plug-andplay Ethernet-based AKD servo drives, you can optimize performance and increase the machine s overall effectiveness. The DDR motor can be used as a flexible indexer, providing programmable, rapid, indexing far exceeding the throughput of conventional mechanical or variable reluctance technology indexers. It can also be used for replacing mechanical transmissions such as gearboxes, timing belts, and rack and pinion reducers. 4 K O L L M O R G E N

5 The Benefits of Housed DDR Motor Zero Maintenance with Greater Accuracy and Higher Bandwith Smoother velocity and reduced, audible noise Power transmission without backlash h o u s e d d d R m o t o R Transmission elements such as couplings, toothed belts, spindles, and other fitted components can be eliminated No gearboxes, no lubrication required Wide Range of Sizes and Torque to Cover any Direct Drive Rotary (DDR) Application Increased performance for the entire system Flat, compact drive solution Easily mix / match motors and drives (without serial numbers) Speeds up to 8 rpm for continuous velocity applications Simplified, High Torque Density Permanent Magnet Design Provides more speed and torque vs. variable reluctance motors Rapid indexing of large inertia loads with peak torque up to 99 Carry heavy loads for indexing with axial loading up to 12,7 lbs Operate motor with significant offset loads up to 472 Large through bore providing run process fluids, pneumatic, and electrical through center of motor Reduced audible noise, fewer parts and lower cost of ownership More compact machine and reduced design time 5

6 Housed DDR Motor h o u s e d d d R m o t o R Application Problem Solution Benefits DDR Belt/pulley Zero maintenance No belt adjustment/replacement No belt compliance Better servo performance Clean mechanical assembly Flat profile Quiet Reduced number of parts Hollow shaft Motor Gearbox DDR Gearmotors/right angle/in-line Zero maintenance No gearbox lubrication No gearbox backlash Better servo performance Flat profile Quiet Hollow shaft Motor DDR Large Vertical Wheel Zero maintenance No belt adjustment/replacement No belt compliance Better servo performance Faster index times Clean mechanical assembly Quiet Reduced number of parts Hollow shaft DDR Rotary Indexer Zero maintenance No gearbox lubrication No gearbox backlash Better servo performance Quiet Reduced number of parts Hollow shaft 6 K o L L m o R G e N

7 housed ddr motors are multi-pole (16 to 32) hollow shaft motors with their own bearings and high-resolution encoder system. they are coupled directly to the load and enable very precise and repeatable systems. housed ddr motors are maintenance free and run more quietly and with better dynamics than systems that use gears, belts, cams or other mechanical transmission components. DDR Motor Features Four frame sizes Robust cross-roller bearing Dual bearing option IP67 option Continuous torque range: 5.8 Nm (4.3 ) to 339 Nm (25 ) Optimized torque output with high-pole count efficient electromagnetic design Integrated high-resolution sine-encoder 134,217,728 counts per rev resolution, 27 bits Feedback accuracy: +/- 26 arc-sec Repeatability better than 1 arc-sec h o u s e d d d R m o t o R Housed DDR Advantage Consider how a Housed DDR motor improved a medical manufacturing machine. Product is located at the steel pins on the outside of the machine s turret as shown. The 115 kg load wheel has an inertia of 2 kg-m 2. There are 96 steel pins for an index angle of 3.5 degrees to move. The move is accomplished in less than 1 ms. Realized Housed DDR Benefits The Direct Drive Advantage The following improvements were observed compared to the previous design that used a mechanical indexer: Improved Repeatability The Housed DDR demonstrated a repeatability better than 1 arc-second which was substantially better than the mechanical indexer. No Degradation Direct drive system performance, accuracy and repeatability do not degrade over time as they do with a mechanical indexer. With a mechanical indexer, as parts wear over time, the accuracy and repeatability degrade. Immediate Stop The direct drive system can immediately stop if there is a process error. The mechanical indexer required several cycles to stop which could cause tooling and machine damage. Greatly Reduced Audible Noise With the mechanical indexer, the noise was at a level such that two people would have to yell to hear each other. By contrast, if you turned your back to the Housed DDR, you could barely detect that it was running. Easy Profile Change Motion parameters such as index angle, speed, acceleration, and dwell are very simple to change with the Housed DDR. The mechanical indexer does not support flexible motion profiles. Better Value The Housed DDR is attractively priced compared to the mechanical indexer it replaced. When the other advantages listed above are also considered, the Housed DDR was the obvious choice. 7

8 Direct Drive Technology d I R e c t d R I v e t e c h N o L o G y conventional servo systems commonly have a mechanical transmission which can consist of gears, gearheads, belts/pulleys or cams connected between the motor and the load. With direct drive technology, the mechanical transmission is eliminated and the motor is coupled directly to the load. Why Use Direct Drive Technology? Increased Accuracy and Repeatability A precision planetary gearhead could have a backlash of 1 arc-minute. This can result in the load moving by 1 arc-minute with an absolutely stationary drive motor. Kollmorgen s standard direct drive rotary (DDR) servomotors have repeatability better than 1 arc-second. Therefore, a direct drive motor can hold a position 6 times better than a conventional motor/gearhead. The increased accuracy of direct drive technology results in a higher quality product out of the machine: Gearbox Motor Servomotor and Gearhead Print registration is more accurate Cut or feed lengths can be held more precisely Coordination with other machine axes is more accurate Indexing location is more exact Tuning issues due to backlash are eliminated Higher Bandwidth Mechanical transmission components impose a limit on how fast a machine can start and stop and also extend the required settling time. These factors limit the possible throughput of a machine. Direct drive technology removes these limitations and allows for much faster start/stop cycles and also provides greatly reduced settling time. This will allow a greater throughput from the machine. Users of direct drive systems have reported up to a 2X increase in throughput. Direct Drive Motor 1 Arc Minutes -1 Improved Repeatability Gearbox Backlash DDR Repeatability 6 Times Better Improved Reliability and Zero Maintenance Gears, belts, and other mechanical transmission parts break. By eliminating these parts and using DDR motors, the reliability of the machine is improved. Gearheads require periodic lubrication and/or replacement in aggressive start/stop applications. Belts require periodic tightening. There are no time-wear components in a direct drive motor and consequently they require zero maintenance. Conventional Rotary Servo with Mechanical Transmission DDR motors provide higher throughput because start/stop limitations of mechanical transmissions are eliminated Increased Throughput 8 K o L L m o R G e N

9 Fewer Parts With direct drive motors, all you need is the motor and the mounting bolts. This often replaces many parts including brackets, guards, belts, pulleys, tensioners, couplings, and bolts, resulting in: Fewer parts on the BOM. Less parts to purchase, schedule, inventory and control, and less parts to assemble. Assembly time of the servo drops from several hours with the mechanical transmission to several minutes with the DDR. Reduced cost. Although a direct drive motor may carry a small price-premium compared to a motor/gearhead with the same torque, consider that there is an overall cost reduction when eliminating the parts and labor of all the extra components required in a servo system with mechanical transmission. No Inertia Matching Servo systems with mechanical transmissions require inertia matching that limits the reflected load inertia at five to ten times the motor inertia. If this limitation is not met, the system becomes difficult to control due to instability issues. Inertia matching limitations of mechanical transmission systems often force machine designers to use a larger motor than would otherwise be required just to satisfy the inertia matching requirement. Such sizing conventions are not required with direct drive technology. Since the motor is directly connected to the load, the inertia of the motor and the load become a common inertia. Therefore, no inertia matching is required when using DDR. DDR applications have run with inertia ratios greater than 11,:1. Reduced Audible Noise Machines with DDR motors have audible noise levels as low as 2 db less than the same machine with a mechanical transmission. Three DDR Product Categories to Choose From Kollmorgen s 5 years of electromagnetic and electromechanical design experience combined with our quality and service, allowed us to refine and expand DDR technology into three product categories for easy installation, use, and short lead times: KBM Frameless DDR, Housed DDR, and the Cartridge DDR. This allows you to select the right DDR solution for your application. KBM Series Frameless DDR Frameless motors include a rotor and stator as separate components which are integrated into, ride on the bearings of, and become a part of the driven load. Frameless motors offer the most compact and lightweight DDR solution available. The KBM series is Kollmorgen s latest Frameless DDR product. It provides excellent torque/volume with the use of a proprietary neodymium-iron magnet rotor structure and skewed armature assembly. Housed DDR The Housed DDR is a housed motor assembly featuring a factory aligned high-resolution feedback device and precision bearings, allowing it to function as the core of rotary indexing and rate table applications. The system can also be used as a flexible indexer, providing programmable, rapid indexing far exceeding the throughput and accuracy of conventional mechanical or variable reluctance technology indexers. Cartridge DDR This motor is the first in the industry to combine the space-saving and performance advantages of Frameless DDR technology with the ease of installation of a full-frame motor. Consisting of a rotor, stator, and factoryaligned high-resolution feedback device, the motor uses the machine s bearings to support the rotor. An innovative compression coupling engages the rotor to the load and the frame of the motor mounts to the machine with a bolt circle and pilot diameter just like a conventional servomotor, saving space and design time and simplifying the overall system. d I R e c t d R I v e t e c h N o L o G y DDR Applications Format KBM Frameless DDR Housed DDR Cartridge DDR Where used Application where size and weight must be absolutely minimized Applications where the load rides on the motor s bearings such as indexing or rate tables Any application with existing bearings 9

10 A AK KD D S SE E R Rv vo o D DR RI VI VE E AKD Servo Drive Our AKD series is a complete range of Ethernet-based servo drives that are fast, feature-rich, flexible and integrate quickly and easily into any application.* AKD ensures plug-and-play commissioning for instant, seamless access to everything in your machine. No matter what your application demands, AKD offers industry-leading servo performance, communication options, and power levels, all in a smaller footprint. This robust, technologically advanced family of drives delivers optimized performance, when paired with our best-in-class components; producing higher quality results at greater speeds and more uptime. * Patents pending. 1 K O L L M O R G E N

11 The Benefits of AKD Servo Drive Optimized Performance in Seconds Auto-tuning is one of the best and fastest in the industry Automatically adjusts all gains, including observers Immediate and adaptive response to dynamic loads Precise control of all motor types Compensation for stiff and compliant transmission and couplings A K D S E R v o D R I V E Greater Throughput and Accuracy Easy-to-Use Graphical User Interface (GUI) for Faster Commissioning and Troubleshooting Flexible and Scalable to Meet Any Application Up to 27-bit-resolution feedback yields unmatched precision and excellent repeatability Very fast settling times result from a powerful dual processor system that executes industry-leading and patent pending servo algorithms with high resolution Advanced servo techniques such as high-order observer and bi-quad filters yield industry-leading machine performance Highest bandwidth torque-and-velocity loops. Fastest digital current loop in the market Six-channel real-time software oscilloscope commissions and diagnoses quickly Multi-function Bode Plot allows users to quickly evaluate performance Auto-complete of programmable commands saves looking up parameter names One-click capture and sharing of program plots and parameter settings allow you to send machine performance data instantly Widest range of programming options in the industry 3 to 96 Arms continuous current; 9 to 192 Arms peak Very high power density enables an extremely small package True plug-and-play with all standard Kollmorgen servomotors and positioners Supports a variety of single and multi-turn feedback devices Smart Feedback Device (SFD), EnDat2.2, 1, BiSS, analog Sine/ Cos encoder, incremental encoder, HIPERFACE, and resolver Tightly integrated Ethernet motion buses without the need to add large hardware: EtherCAT, SynqNet, Modbus/TCP, and CANopen Scalable programmability from base torque-and-velocity through multi-axis master 11

12 AKD Servo Drive A K d s e R v o d R I v e the AKd servo drive delivers cutting-edge technology and performance with one of the most compact footprints in the industry. these feature-rich drives provide a solution for nearly any application, from basic torque-and-velocity applications, to indexing, to multi-axis programmable motion with embedded Kollmorgen Automation suite. the versatile AKd sets the standard for power density and performance. KBM Frameless Motors Micron Gearheads AKM Servomotors Cartridge Direct Drive Rotary Motors Best-in-Class Components AKD works seamlessly with Kollmorgen motors and positioners well-known for quality, reliability, and performance. Housed Direct Drive Rotary Motors Direct Drive Linear Motors Linear Positioners AKD Servo Drive Multi-Axis Precision Tables 12 K o L L m o R G e N

13 H D W General Specifications Industry-leading power density Modbus/TCP A K d s e R v o d R I v e 12 / 24 vac 1 & 3Ø ( v) continuous current (Arms) Peak current (Arms) drive continuous output Power capacity (Watts) Internal Regen (Watts) (ohms) height mm (in) Width mm (in) depth mm (in) depth with cable Bend Radius mm (in) AKD (6.61) 57 (2.24) 153 (6.2) 184 (7.24) AKD (6.61) 57 (2.24) 153 (6.2) 184 (7.24) AKD (7.68) 76 (2.99) 186 (7.32) 215 (8.46) AKD (9.84) 1 (3.94) 23 (9.6) 265 (1.43) 48 vac 3Ø ( v) continuous current (Arms) Peak current (Arms) drive continuous output Power capacity (Watts) Internal Regen (Watts) (ohms) height mm (in) Width mm (in) depth mm (in) depth with cable Bend Radius mm (in) AKD (1.8) 7 (2.76) 186 (7.32) 221 (8.7) AKD (1.8) 7 (2.76) 186 (7.32) 221 (8.7) AKD (1.8) 7 (2.76) 186 (7.32) 221 (8.7) AKD , (12.2) 15 (4.13) 229 (9.2) 264 (1.39) AKD , 4 Coming Soon AKD , 8 Coming Soon Note: For complete AKd model nomenclature, refer to page

14 Co-Engineering Capabilities C O - E N G I N E E R I N G C A P A B I L I T I E S Because Kollmorgen offers the highest quality and broadest range of best-in-class motion components, we can supply standard, modified or customized solutions to meet any application need. We have co-engineer solutions to meet your most difficult challenges and advance your competitive position. Drawing on a wealth of knowledge and expertise, our engineering support team will work alongside with you to build a solution that differentiates your machine and improves your bottom line. Here are just few examples of how Kollmorgen delivers real value to companies likes yours: What You Need Why Motion Matters Kollmorgen Co-Engineering Results 3% Increase in Throughput Low inertia servomotors High bandwidth servo loops Simple, accurate, graphical programming tools Using Kollmorgen Automation Suite TM s graphical camming design tool, Pipe Network TM and lowinertia AKM motors, a major supplier of medical equipment increased throughput by more than 3% while improving accuracy and reducing scrap. 5% Increase in Accuracy and Quality Low cogging servomotors Advaced observers and bi-quad filters Fast control loop update rates (.67µs) Using or AKD TM, a next-generation CT scanning manufacturer achieved more than 5% improvement in velocity ripple to produce the most accurate and detailed medical images possible while overcoming an extremely high moment of inertia. 25% Increase in Reliability (Overall Equipment Effectiveness) Innovative Cartridge DDR TM Eliminating parts on the machine No additional wearing components Using Kollmorgen s award-winning Cartridge DDR TM sevomotor technology, we eliminated more than 6 parts in a die-cutting machine and increased the OEE by 25% and throughput by 2%. 5% Reduction in Waste Superior motor/drive system bandwidth DDR technology: eliminates gearbox 2X more accurate than geared solution We helped a manufacturer of pharmaceutical packaging machines incorporate Housed DDR motors to increase the throughput by 35% and reduce scrap by more than 5% through more accurate alignment of the capsules. 14 K O L L M O R G E N

15 Housed DDR Motor System Summary Housed DDR Motors 24 Volt Systems 4 / 48 Volt Systems Performance Chart Page AKD Servo Drive AKDn6X AKDn12X AKDn24X Continuous Torque 1 Performance Peak Torque Maximum Speed Nm Nm D61 16 x D62 16 x D63 16 x D81 2 x D82 2 x D83 2 x D11 24 x D12 24 x D13 24 x D x D x D x DH61 17 x DH62 17 x DH63 17 x DH81 21 x DH82 21 x DH83 21 x DH11 25 x DH12 25 x DH13 25 x h o u s e d d d R m o t o R s y s t e m s u m m A R y DH x DH x DH x Note 1: continuous torque with sine encoder feedback. For continuous torque with resolver feedback, see the Performance data table. Motor Outside / Inside Diameters by Model D(H)6 D(H)8x D(H)1x D(H)14x 15

16 Housed DDR D6X Performance Data 23 VAC System Performance: Symbols Units D61A/D61M D62A/D62M D63A/D63M Peak Torque Continuous 1 Torque 4 C Max. Operating Speed Sine Encoder System Resolver System Mechanical: Weight Rotor Inertia Static Friction Adder for Sealed Units Sine Encoder Resolver Max. Dynamic Axel Compression Load (See page 33 for Details) Tp Tc Tc N max rpm (rps) 12.5 (16.9) 3.9 (5.3) 4.3 (5.8) 24.7 (33.5) 7.2 (9.8) 8. (1.8) 47.5 (64.4) 13.1 (17.7) 14.5 (19.7) Resolution - counts/rev 134,217, ,217, ,217,728 Repeatability - arc/sec < 1 < 1 < 1 Accuracy - arc/sec ±26 ±26 ±26 Resolution - counts/rev 134,217, ,217, ,217,728 Repeatability - arc/sec ±2.4 ±2.4 ±2.4 Accuracy - arc/sec ±27 ±27 ±27 Wt Jm Tf - lb kg -sec 2 (kg-m 2 ) lbf (kg) 5 (8.3) 2.8 (9.4).45 (.61) 1.8 (2.4) 4,5 (2,4) 5 (8.3) 25. (11.3).52 (.71) 1.8 (2.4) 4,5 (2,4) 5 (8.3) 3.5 (13.8).64 (.86) 1.8 (2.4) 4,5 (2,4) SYSTEM: D61 WITH AKD-n66 AT 23 VAC SYSTEM: D62 WITH AKD-n66 AT 23 VAC SYSTEM: D63 WITH AKD-n66 AT 23 VAC Notes: 1. For 25 c ambient, multiply tc by curves for 23 v applicable to single or three phase input power K o L L m o R G e N

17 Housed DDR DH6X Performance Data 4/48 VAC System Performance: Symbols Units DH61A/DH61M DH62A/DH62M DH63A/DH63M Peak Torque Continuous 1 Torque 4 C Max. Operating Speed 4/48 V 3 Phase Sine Encoder System Resolver System Mechanical: Weight Rotor Inertia Static Friction Adder for Sealed Units Sine Encoder Resolver Max. Dynamic Axel Compression Load (See Page 33 For Details) Tp Tc Tc N max rpm (rps) 12.5 (16.9) 3.9 (5.3) 4.3 (5.8) 8 (13.3) 24.7 (32.8) 7.2 (9.8) 8. (1.8) 8 (13.3) 47.5 (64.4) 13.1 (17.7) 14.5 (19.7) 8 (13.3) Resolution - counts/rev 134,217, ,217, ,217,728 Repeatability - arc/sec < 1 < 1 < 1 Accuracy - arc/sec ±26 ±26 ±26 Resolution - counts/rev 134,217, ,217, ,217,728 Repeatability - arc/sec ±1 ±1 ±1 Accuracy - arc/sec ±27 ±27 ±27 Wt Jm Tf - lb (kg) -sec 2 (kg-m 2 ) lbf (kg) 2.8 (9.4).45 (.61) 1.8 (2.4) 4,5 (2,4) 25. (11.3).52 (.71) 1.8 (2.4) 4,5 (2,4) 3.5 (13.8).64 (.86) 1.8 (2.4) 4,5 (2,4) h o u s e d d d R d h 6 x P e R F o R m A N c e d A t A SYSTEM: DH61 WITH AKD-n67 AT 4/48 VAC SYSTEM: DH62 WITH AKD-n67 AT 4/48 VAC SYSTEM: DH63 WITH AKD-n67 AT 4/48 VAC Notes: 1. For 25 c ambient, multiply by

18 Housed DDR D6X Outline Drawings h o u s e d d d d R 6 x o u t L I N e d R A W I N G s Dimensions in mm (inches) "E".12 (.5) A - C - 8X 45 M6X1 X 15 (.59) MIN. DP. 8 PL. ON A Ø155 (6.12) BASIC Ø.38 (.15) M F E M POWER CONNECTOR SIGNAL CONNECTOR Ø E -.1 (.4) G ( ) - F - Ø176 (6.93) "A" 4.6 (1.6) 11.2 (.44) "C" REF. - B -.12 (.5) C "D" - D -.1 (.4) C "B" "O" RING GROOVE ( ) ( ) ( ) Ø G -.1 (.4) C PILOT END Ø A -.7 (.3) G ( ) Ø139.7 (5.5) 16 (4.18) M6X1 X 15 (.59) MIN. DP. 8 PL. ON A Ø155 (6.12) BASIC Ø.38 (.15) M B A M 8X ' 8X 45 Ø.38 (.15) 67.6 (2.66) M6X1 X 12 (.47) MIN. DP. 8 PL. ON A Ø8 (3.15) BASIC 42.2 (1.66) M D C M (4.95) FLANGE OPTION 9 CONNECTOR OPTION POWER CABLE BEND RADIUS: STATIC (5.) DYNAMIC (7.5) FEEDBACK CABLE BEND RADIUS: STATIC - 17 (4.2) DYNAMIC - 16 (6.3) 83.8 (3.3) 68.6 (2.7) 8X ' Ø E -.1 (.4) G - F -.25 (.1) G ( ) (5.8) 16 (4.18) (15.55) MAX. Ø ( ) THRU 8 PL. ON A Ø2. (7. 874) BASIC Ø.38 (.15) M F E M STRAIGHT CONNECTOR OPTION 297 (11.7) MAX. Model A B C D E D Resolver Sine Encoder (3.62) ( ) ( ) ( ) D (4.7) D (4.97) ( ) ( ) ( ) ( ) ( ) ( ) Ø ( ) Ø ( ) Note: dimensions "c" and "d" increase by 7.9mm (.311") on sine encoder models with IP65 or IP67 seals. 18 K o L L m o R G e N

19 Notes 19

20 Housed DDR D8X Performance Data h o u s e d d d R d 8 x P e R F o R m A N c e d A t A 23 VAC System Performance: Symbols Units D81A/D81M D82A/D82M D83A/D83M Peak Torque Continuous 1 Torque 4 C Max. Operating Speed Sine Encoder System Resolver System Mechanical: Weight Rotor Inertia Static Friction Adder for Sealed Units Sine Encoder Resolver Max. Dynamic Axel Compression Load (See page 33 for details) Tp Tc Tc N max rpm (rps) 33.2 (45.) 11.7 (15.9) 13. (17.6) 5 (8.3) 68. (92.2) 19.1 (25.9) 21.2 (28.7) 3 (5.) 118 (16) 37.2 (5.4) 41.3 (56.) 25 (4.2) Resolution - counts/rev 134,217, ,217, ,217,728 Repeatability - arc/sec < 1 < 1 < 1 Accuracy - arc/sec ±26 ±26 ±26 Resolution - counts/rev 134,217, ,217, ,217,728 Repeatability - arc/sec ±2.4 ±2.4 ±2.4 Accuracy - arc/sec ±14 ±14 ±14 Wt Jm Tf - lb (kg) -sec 2 (kg-m 2 ) lbf (kg) 39.5 (17.9).16 (.144) 2. (2.7) 7,4 (3,36) 47.5 (21.5).143 (.194) 2. (2.7) 7,4 (3,36) 63.6 (28.8).222 (.31) 2. (2.7) 7,4 (3,36) SYSTEM: D81 WITH AKD-n66 AT 23 VAC SYSTEM: D82 WITH AKD-n66 AT 23 VAC SYSTEM: D83 WITH AKD-X66 AT 23 VAC Notes: 1. For 25 c ambient, multiply tc by curves for 23 v applicable to single or three phase input power K o L L m o R G e N

21 Housed DDR DH8X Performance Data 4/48 VAC System Performance: Symbols Units DH81A/DH81M DH82A/DH82M DH83A/DH83M Peak Torque Continuous 1 Torque 4 C Max. Operating Speed 4/48 V 3 Phase Sine Encoder System Resolver System Mechanical: Weight Rotor Inertia Static Friction Adder for Sealed Units Sine Encoder Resolver Max. Dynamic Axel Compression Load (See Page 33 for Details) Tp Tc Tc N max rpm (rps) 33.2 (45.) 11.7 (15.9) 13. (17.6) 5 (8.3) 68. (92.2) 19.1 (25.9) 21.2 (28.7) 5 (8.3) 118 (16) 37.2 (5.4) 41.3 (56.) 4/5 (6.7/8.3) Resolution - counts/rev 134,217, ,217, ,217,728 Repeatability - arc/sec < 1 < 1 < 1 Accuracy - arc/sec ±26 ±26 ±26 Resolution - counts/rev 134,217, ,217, ,217,728 Repeatability - arc/sec ±2.4 ±2.4 ±2.4 Accuracy - arc/sec ±14 ±14 ±14 Wt Jm Tf - lb (kg) -sec 2 (kg-m 2 ) lbf (kg) 39.5 (17.9).16 (.144) 2. (2.7) 7,4 (3,36) 47.5 (21.5).143 (.194) 2. (2.7) 7,4 (3,36) 63.6 (28.8).222 (.31) 2. (2.7) 7,4 (3,36) h o u s e d d d R d h 8 x P e R F o R m A N c e d A t A SYSTEM: DH81 WITH AKD-n67 AT 4/48 VAC SYSTEM: DH82 WITH AKD-n67 AT 4/48 VAC SYSTEM: DH83 WITH AKD-n67 AT 4/48 VAC 4v Notes: 1. For 25 c ambient, multiply by

22 Housed DDR D8X Outline Drawings h o u s e d d d R d 8 x o u t L I N e d R A W I N G s Dimensions in mm (inches) POWER CONNECTOR SIGNAL CONNECTOR.1 (.4) G - E - Ø Ø218.4 (8.6) "A" 5.8 (2.) "B" ( ) ( ) Ø "O" RING GROOVE.1 (.4) C PILOT END Ø (.74-.8) Ø172 (6.77) (5.3) ( ) 8X (2.66) 42.2 (1.66) (5.8) "E".12 (.5) A - C - Ø.38 (.15) 8X 45 M6X1 X 15 (.59) MIN. DP. 8 PL. ON A Ø19 (7.48) BASIC FLANGE OPTION M F E M (.46-.5) "C" REF. "D" - F -.1 (.4) C 11.2 (.44) - B -.12 (.5) G - D -.1 (.4) C - A -.7 (.3) G M6X1 X 15 (.59) MIN. DP. 8 PL. ON A Ø19 (7.48) BASIC Ø.38 (.15) M B A M 223 ' 8X 45 M6X1 X 15 (.59) MIN. DP. 8 PL. ON A Ø1 (3.937) BASIC Ø.38 (.15) M D C M 9 CONNECTOR OPTION - E - Ø POWER CABLE BEND RADIUS: STATIC (5.) DYNAMIC (7.5) FEEDBACK CABLE BEND RADIUS: STATIC - 17 (4.2) DYNAMIC - 16 (6.3) 83.6 (3.29) 68.1 (2.68) (16.4) MAX (6.61) (5.3) 8X ' Ø ( ) THRU 8 PL. ON A Ø24. (9.449) BASIC Ø.38 (.15) M F E M (.46-.5) - F -.25 (.1) G STRAIGHT CONNECTOR OPTION 297 (11.7) MAX. Model A B C D E D Resolver Sine Encoder (4.24) ( ) ( ) ( ) D (5.4) D (6.64) ( ) ( ) ( ) ( ) ( ) ( ) Ø ( ) Ø ( ) Dimensions "C" and "D" increase by 8.64mm (.34") on sine encoder models with IP65 or IP67 seals. 22 K o L L m o R G e N

23 Notes H O u s e d D D R D 1 x p e r f o r m a n c e d a t a 23

24 Housed DDR D1X Performance Data 23 VAC System Performance: Symbols Units D11A/D11M D12A/D12M D13A/D13M Peak Torque Continuous 1 Torque 4 C Max. Operating Speed Sine Encoder System Resolver System Mechanical: Weight Rotor Inertia Static Friction Adder for Sealed Units Max. Dynamic Axel Compression Load (See Page 33 for Details) Sine Encoder Resolver Tp Tc Tc N max rpm (rps) 95. (129) 25.5 (34.6) 3. (4.7) 3 (5.) 167 (227) 46.8 (63.4) 55. (74.6) 2 (3.3) 37 (51) 85. (115) 1 (136) 12 (2.) Resolution - counts/rev 134,217, ,217, ,217,728 Repeatability - arc/sec < 1 < 1 < 1 Accuracy - arc/sec ±26 ±26 ±26 Resolution - counts/rev 134,217, ,217, ,217,728 Repeatability - arc/sec ±2.4 ±2.4 ±2.4 Accuracy - arc/sec ±135 ±135 ±135 Wt Jm Tf - lb (kg) -sec 2 (kg-m 2 ) lbf (kg) 69.5 (31.5).511 (.693) 2.6 (3.5) 11,7 (5,3) 96.5 (43.8).732 (.992) 2.6 (3.5) 11,7 (5,3) 134 (6.8).129 (.175) 2.6 (3.5) 11,7 (5,3) SYSTEM: D11 WITH AKD-n66 AT 23 VAC 25 SYSTEM: D12 WITH AKD-n66 AT 23 VAC SYSTEM: D13 WITH AKD-n126 AT 23 VAC Notes: 1. For 25 c ambient, multiply tc by curves for 23 v applicable to single or three phase input power K o L L m o R G e N

25 Housed DDR DH1X Performance Data 4/48 VAC System Performance: Symbols Units DH11A/DH11M DH12A/DH12M DH13A/DH13M Peak Torque Continuous 1 Torque 4 C Max. Operating Speed 4/48 V 3 Phase Sine Encoder System Resolver System Mechanical: Weight Rotor Inertia Static Friction Adder For Sealed Units Max. Dynamic Axel Compression Load (See Page 33 For Details) Sine Encoder Resolver Tp Tc Tc N max rpm (rps) 95. (129) 25.5 (34.6) 3. (4.7) 3 (5./5.) 167 (227) 46.8 (63.4) 55. (74.6) 3 (5./5.) 37 (51) 85. (115) 1 (136) 2/25 (3.3/4.3) Resolution - counts/rev 134,217, ,217, ,217,728 Repeatability - arc/sec < 1 < 1 < 1 Accuracy - arc/sec ±26 ±26 ±26 Resolution - counts/rev 134,217, ,217, ,217,728 Repeatability - arc/sec ±2.4 ±2.4 ±2.4 Accuracy - arc/sec ±135 ±135 ±135 Wt Jm Tf - lb (kg) -sec 2 (kg-m 2 ) lbf (kg) 69.5 (31.5).511 (.693) 2.6 (3.5) 11,7 (5,3) 96.5 (43.8).732 (.992) 2.6 (3.5) 11,7 (5,3) 134 (6.8).129 (.175) 2.6 (3.5) 11,7 (5,3) h o u s e d d d R d h 1 x P e R F o R m A N c e d A t A SYSTEM: DH11 WITH AKD-n67 AT 4/48 VAC SYSTEM: DH12 WITH AKD-n67 AT 4/48 VAC 4v SYSTEM: DH13 WITH AKD-n127 AT 4/48 VAC 4v Notes: 1. For 25 c ambient, multiply by

26 Housed DDR D1X Outline Drawings h o u s e d d d R d 1 x o u t L I N e d R A W I N G s Dimensions in mm (inches) "E".12 (.5) A - C - POWER CONNECTOR SIGNAL CONNECTOR.1 (.4) G - E - Ø284.2 (11.19) 28.2 Ø "A" 59.7 (2.35) "B" "O" RING GROOVE (.74-.8) ( ) 3.6 (.14) PILOT END Ø Ø ( ) Ø229.9 (9.5) 16.9 (6.34) 8X (2.66) 42.2 (1.66) 18.5 (7.11) M8X1.25 X 2.3 (.8) MIN. DP. 8 PL. ON A Ø25. (9.843) BASIC Ø.38 (.15) M F E M 8X ( ) 11.2 (.44) "C" REF. - B -.12 (.5) G - A -.7 (.3) G.1 (.4) C - G - 8X ' M8X1.25 X 2.3 (.8) MIN. DP. 8 PL. ON A Ø13. (5.118) BASIC Ø.38 (.15) M D C M "D" - F -.12 (.5) G - D -.1 (.4) C M8X1.25 X 2.3 (.8) MIN. DP. 8 PL. ON A Ø25. (9.843) BASIC Ø.38 (.15) M B A M FLANGE OPTION 9 CONNECTOR OPTION Ø POWER CABLE BEND RADIUS: STATIC (5.) DYNAMIC (7.5) FEEDBACK CABLE BEND RADIUS: STATIC - 17 (4.2) DYNAMIC - 16 (6.3) 83.7 (3.29) 68.2 (2.68) (17.71) MAX. 2.9 (7.91) 16.9 (6.34) 8X ' Ø ( ) THRU 8 PL. ON A Ø31. (12.25) BASIC Ø.38 (.15) M F E M.1 (.4) G - E ( ) - F -.25 (.1) G STRAIGHT CONNECTOR OPTION 297 (11.7) MAX. Model A B C D E D Resolver Sine Encoder (4.35) ( ) ( ) ( ) D (5.6) D (8.1) ( ) ( ) ( ) ( ) ( ) ( ) Ø ( ) Ø ( ) Note: Dimensions "C" and "D" increase by 7.57mm (.298") on sine encoder models with IP65 or IP67 seals. 26 K o L L m o R G e N

27 Notes 27

28 Housed DDR D14X Performance Data h o u s e d d d R d 1 4 x P e R F o R m A N c e d A t A 23 VAC System Performance: Symbols Units D141M D142M D143M Peak Torque Continuous 1 Torque 4 C Max. Operating Speed Sine Encoder System Mechanical: Weight Rotor Inertia Static Friction Adder for Sealed Units Max. Dynamic Axel Compression Load (See Page 33 for Details) Sine Encoder Tp Tc N max rpm (rps) 271 (367) 8. (18) 2 (3.3) 383 (519) 135 (183) 12 (2.) 989 (1341) 25 (339) 6 (1.) Resolution - counts/rev 134,217, ,217, ,217,728 Repeatability - arc/sec < 1 < 1 < 1 Accuracy - arc/sec ±26 ±26 ±26 Wt Jm Tf - lb kg -sec 2 (kg-m 2 ) lbf (kg) 131 (59.4).12 (.163) 2.6 (3.5) 12,7 (5,76) 191 (86.6).22 (.274) 2.6 (3.5) 12,7 (5,76) 323 (146).4 (.542) 2.6 (3.5) 12,7 (5,76) SYSTEM: D141 WITH AKD-n126 AT 23 VAC SYSTEM: D142 WITH AKD-n126 AT 23 VAC SYSTEM: D143 WITH AKD-n246 AT 23 VAC Notes: 1. For 25 c ambient, multiply by K o L L m o R G e N

29 Housed DDR DH14X Performance Data 4/48 VAC System Performance: Symbols Units DH141M DH142M DH143M Peak Torque Continuous 1 Torque 4 C Max. Operating Speed 4/48 V 3 Phase Sine Encoder System Mechanical: Weight Rotor Inertia Static Friction Adder for Sealed Units Max. Dynamic Axel Compression Load (See Page 33 for Details) Sine Encoder Tp Tc N max rpm (rps) 271 (367) 8. (18) 3 (5) 383 (519) 135 (183) 25/3 (4.2/5) 989 (1341) 25 (339) 12 (2) Resolution - counts/rev 134,217, ,217, ,217,728 Repeatability - arc/sec < 1 < 1 < 1 Accuracy - arc/sec ±26 ±26 ±26 Wt Jm Tf - lb (kg) -sec 2 (kg-m 2 ) lbf (kg) 131 (59.4).12 (.163) 2.6 (3.5) 12,7 (5,76) 191 (86.6).22 (.274) 2.6 (3.5) 12,7 (5,76) 323 (146).4 (.542) 2.6 (3.5) 12,7 (5,76) h o u s e d d d R d h 1 4 x P e R F o R m A N c e d A t A SYSTEM: DH141 WITH AKD-n127 AT 4/48 VAC SYSTEM: DH142 WITH AKD-n127 AT 4/48 VAC v SYSTEM: DH143 WITH AKD-n247 AT 4/48 VAC 4v Limit Notes: 1. For 25 c ambient, multiply by

30 Housed DDR D14X Outline Drawings h o u s e d d d R d 1 4 x o u t L I N e d R A W I N G s Dimensions in mm (inches) Ø ( ) THUR 12PL. ON A Ø (15.157) BASIC Ø.53 (.21) M F H M X3.25 (.1) C -F ( ) 12X3.3 (.18) C -H- Ø36.7 (14.2) "A" "B" "C" 2PL..1 (.4) C -D-.12 (.5) C -B- "D" 19.1 (.75) ( ) Ø ( ).12 (.5) C -A- Ø ( ).1 (.5) C -G ( ) (8.59) 2PL. REF X3 12X3 9 ROTATABLE SIGNAL CONNECTOR 9 ROTATABLE POWER CONNECTOR M8X1.25X2.3 (.91) MIN. DEEP 12PL. ON A Ø33 (12.992) BASIC Ø.53 (.21) M B A M M8X1.25X14.2 (.56) MIN. DEEP 12PL. ON A Ø15.1 (5.96) BASIC Ø.53 (.21) M D G M M1X1.25 X 19.1 (.75) DEEP 2 PL. EQ. SPACED ON A Ø342.9 (13.5) (HOLES PROVIDED FOR LIFTING) M8X1.25 X 19.1 (.75) MIN DP 12 PL. ON A Ø3. (11.811) BASIC Ø.53 (.21) M F H M (.74-.8) Ø247.7 (9.75) ( ) FACE MOUNT OPTION (.74-.8) Ø229.9 (9.5) ( ) Ø74.2 (2.92) Ø ( ) THRU BORE.13 (.5) C 9 CONNECTOR OPTION (11.37) MAX. M1X1.5X.8 (2.3) MIN. DEEP 2PL. EQ. SPACED ON A Ø 13. (33.2) 12X3 Ø ( ).3 (.18) C -H- POWER CABLE BEND RADIUS: STATIC-127 (5.) DYNAMIC-191 (7.5) FEEDBACK CABLE BEND RADIUS: STATIC-17 (4.2) DYNAMIC-16 (6.3) STRAIGHT CONNECTOR OPTION (1.85) MAX. 45 M1X1.25 X 19.1 (.75) DEEP 2 PL. EQ. SPACED ON A Ø (13.28) (HOLES PROVIDED FOR LIFTING) Model A B C D D ( ) D ( ) D ( ) ( ) ( ) ( ) 75.5 (2.97) (5.47) 266. (1.47) 76.7 (3.2) 18.5 (4.27) 172. (6.77) 3 K o L L m o R G e N

31 Notes 31

32 Custom Applications hc uo su ts oe m d da dp R P Lm I c oa tt oi R o N s PRECISION DOWEL PIN HOLES.25" FOR CUSTOMER INDEXING DDR WITH PRECISION TOLERANCE COMPONENTS FOR PRECISE POSITIONING DDR MOTOR, ENCODER OPTION WITH DUAL SHAFT SEALS, IP67 DDR WITH AIR COOLING OPTION TO INCREASE CONTINUOS OUTPUT 32 K o L L m o R G e N

33 Application Notes Tension Compression Offset Axial Force "D" Radial Force "D" "L" C L of bearing A P P L I c A t I o N N o t e s Moment Load = Force * (D + L) L = Moment Load = Force * D Maximum Moment Load Maximum Axial Load Ratings Single Bearing Dual Bearing Model lbs kg D D D Compression Tension D D D Compression Tension D D D Compression Tension D D D143 N/A N/A Compression Tension Application Notes: 1. Axial load rating dynamic values based on an L1 life rating when motor is mounted on a rigid base and running under normal operation conditions. L1 life ratings for applications where high rotational accuracy is desired or operation during vibration or shock, please contact customer support at (54) , or through at support@kollmorgen.com. 2. standard motor is not designed for repetitive small angle oscillations less than ± 13. Please contact customer support for additional options. 3. motor is not intended to be directly coupled to a load which has its own two bearing system. 4. motor may be mounted in any orientation provided the axial (both tension and compression) limits are observed. All applications having moment loads in tension should be reviewed by customer support. 5. All bolts for mounting load and base should be used to ensure stiff coupling. Model Dim. L (in) D(H)6x (1.5) D(H)8x (1.21) D(H)1x (1.58) D(H)14x (1.44) 33

34 Model Nomenclature m o d e L N o m e N c L A t u R e Housed DDR Motor direct drive series D = 115/23 VAC winding DH = 4/48 VAC winding motor Frame size 6 = 6.93 O.D. 8 = 8.6 O.D. 1 = O.D. 14 = O.D. Rotor stack Length 1 = Short stack 2 = Mid stack 3 = Long stack DH 8 1 M xxx designated for specials unit seal = Non-sealed unit 5 = IP length increase 7 = IP length increase Bearing option 1 = Single bearing design 2 = Dual bearing design 3 Feedback device 2 = Resolver ( A Winding Type) 1 3 = Sine Encoder ( M Winding Type) Winding type A = Std. w/ resolver 1 M = Std. w/ sine encoder mounting option 1 = Face mount 2 = Flange mount shaft option 1= Straight thru bore w/ face coupling connector type 2 = Straight 3 = 9 o, rotatable Notes: 1. Not available on d14x & dh14x. 2. encoder sealed motors have increased length. see outline drawing. 3. standard on d143 & dh143 models. AKD Servo Drive AKD B 3 6 NA AN- AKd series version B = Base drive P = Position indexer (motion tasking) current Rating 3 = 3 Amp 6 = 6 Amp 12 = 12 Amp 24 = 24 Amp variants = Standard connectivity AN = Analog command CN = CANopen EC = EtherCAT SQ = SynqNet extension NA = Without extensions voltage 6 = 12/24 Vac 1Ø/3Ø 7 = 48 Vac 3Ø Note: Options shown in bold blue text are considered standard. 34 K o L L m o R G e N

35 MOTIONEERING Application Engine to help select and size Kollmorgen components, this Windows -based motor-sizing program takes a systems approach to the selection of brushless, dc servomotors, stepper motors and drives. motioneering application engine, available at uses a project concept for the collection and saving of rotary and linear multi-axis load information. this provides the user the flexibility to sum the effects of multiple axes of motion for power supply and shunt regeneration sizing. A wide variety of linear and rotary mechanisms are provided including lead screw, rack and pinion, conveyor, nip rolls, cylinder, rotary, and direct data-entry using unique sizing algorithms and product databases criteria. the searchable database consists of hundreds of systems on product combinations including rotary housed and frameless brushless servomotors, direct drive rotary and linear brushless servomotors, linear positioners (electric cylinders, rodless positioners, and precision tables) and stepper systems. the motioneering application engine also provides versatile units-of-measure selection options for mechanism and motion profile data-entry, with the ability to convert data into other available units. online help explains program functions and the definition of terms and equations used in the program. Features Group multiple mechanisms within a project organize and combine data for power supply and regeneration sizing Types of mechanisms for analysis include lead screw, rack and pinion, conveyor, nip rolls, rotary and direct drive linear motor Motion profile options include simple triangle, 1/3-1/3-1/3 trapezoidal, variable traverse trapezoidal, and more Search results display shows color highlighted solution set of options for easy evaluation of system specifications and selection m o t I o N e e R I N G A P P L I c A t I o N e N G I N e Supported Operating Systems Microsoft Windows 2, XP, Vista MOTIONEERING 6. includes Electric cylinder sizing and selection with AKM servomotor systems Rodless actuator with AKM servomotor systems (performance curves included) Precision table with AKM servomotor systems (performance curves included) PDF report functionality (includes application, drive, motor, positioner, and system specifications all in one easy-to-read report) 35

36 About Kollmorgen Kollmorgen is a leading provider of motion systems and components for machine builders. through world-class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease-of-use, giving machine builders an irrefutable marketplace advantage. Application Centers Global Design & Manufacturing Global Manufacturing For assistance with your application needs in North America, contact us at: , support@kollmorgen.com or visit for a global contact list. Säro Stockholm Santa Barbara Tijuana Fond du Lac Marengo Radford Lausanne Ratingen Brno Milan Beijing Shanghai Tianjin Tokyo Nagoya Mumbai Hong Kong Kluang Kollmorgen 23A West Rock Road Radford, va usa Phone: Fax: Kollmorgen corporation. All rights reserved. Km_sG_79_RevA_eN specifications are subject to change without notice. It is the responsibility of the product user to determine the suitability of this product for a specific application. All trademarks are the property of their respective owners.