Cartridge Direct Drive Rotary Motors Selection Guide

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1 Cartridge Direct Drive Rotary Motors Selection Guide with AKD Servo Drive Systems

2 Kollmorgen: Your partner. In Motion. Every solution comes from a real understanding of the challenges facing machine designers and users. Innovators consistently rate Kollmorgen as one of their best motion systems manufacturing partners. Whether you are looking for classic servo motors, direct-drive servo motors, stepper motors, drives & amplifiers, gearing, actuation, or CNC & multi-axis motion controllers, Kollmorgen is one of the few companies in the world who actually designs and manufactures all of these products. Our customers are leaders in many industries such as Aerospace & Defense, Printing, Packaging & Converting, Food & Beverage Processing, Medical Imaging, In Vitro Diagnostics & Laboratory Automation, Pharmaceutical Manufacturing, Material Forming and Cutting, Oil & Gas, and Robotics. Kollmorgen is also a leader in Warehouse Automation, including complete AGV systems, software, awareness and autonomy. Our Automation Solutions can be found on Mars and in space, ships and submarines, O&G drilling and metrology, surgical robots and laser eye surgery, even inside artificial hearts. These are just a few applications that demand high-performance and high-quality while satisfying their specific needs. Because motion matters, it s our focus: Motion can distinctly differentiate a machine and deliver a marketplace advantage by increasing its performance and dramatically improving overall equipment effectiveness (OEE). High-performance motion can make your customer s machine more reliable and energyefficient, enhance accuracy and improve operator safety. Motion also represents endless possibilities for innovation. We ve always understood this potential, and thus have kept motion at our core and in our Vison, Mission & Values, relentlessly developing products that offer precise control of torque, velocity and position accuracy in machines that rely on complex motion.

3 C a r t r i d g e D i r e c t D r i v e R o t a r y M o t o r s 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 clear obstacles 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 offers complete solutions as well as motion subsystems that combine programming software, engineering services and best-in-class motion components. Global Footprint With direct sales, engineering support, manufacturing facilities, and distributors spanning the Americas, 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 Fortive. A key driver in the growth of all Fortive divisions is the Fortive 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 u Direct Drive Rotary Motors 4 u Cartridge Direct Drive Rotary (DDR) Motor 6 Press Feed Machine Application 9 System Summary 1 C(H)4x, C(H)x, C(H)6x, C(H)9x, C(H)13x Performance Data 12 C(H)4x, C(H)x, C(H)6x, C(H)9x, C(H)13x Outline Drawings 28 C(H)4x, C(H)x, C(H)6x, C(H)9x, C(H)13x Mounting Requirements 36 C(H)4x, C(H)x, C(H)6x, C(H)9x, C(H)13x Cartridge DDR Nomenclature 38 u AKD Servo Drive 4 General Specification 43 Range of Coverage 44 Feedback and I/O 4 AKD Servo Drive Nomenclature 46 u Motioneering Online 47 Kollmorgen: Your partner. In Motion. TM 3

4 Direct Drive Rotary Motors D I R E C T D R I V E R O T A R Y M O T O R S Conventional servo systems commonly have a mechanical transmission which can consist of gears, gearboxes, belts/pulleys or cams connected between the motor and the load. With Direct Drive Rotary Motors, the mechanical transmission is eliminated and the motor is coupled directly to the load. Why Use Direct Drive Rotary Motors? Increased Accuracy and Repeatability A precision planetary gearbox 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) servo motors have repeatability better than 1 arc-second. Therefore, a direct drive motor can hold a position 6 times better than a conventional motor/gearbox. The increased accuracy of direct drive rotary motors results in a higher quality product out of the machine: 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 rotary motors remove these limitations and allows for much faster start/ stop cycles and also provide greatly reduced settling time. Machine users of direct drive systems have reported up to a 2X increase in throughput. Gearbox Servo Motor Direct Drive Motor Improved Repeatability Arc Minutes Increased Throughput 1 Servo Motor and Gearbox -1 r F Gearbox Backlash DDR Repeatability 6 Times Better Conventional Rotary Servo with Mechanical Transmission DDR motors higher throughput no start/stop limitations 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. Gearboxes 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. 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/gearbox 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 to 1 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 rotary motors. 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

5 Which DDR Product is Right for Your Application? Kollmorgen s 7 years of electromagnetic and electromechanical design experience combined with our quality and service, allowed us to refine and expand DDR motors into three product categories for easy installation, use, and short lead times: Frameless DDR, Housed DDR, and the Cartridge DDR. This allows you to select the right DDR solution for your application. Applications where the load rides on the motor s bearings such as indexing or rate tables Any application with existing bearings Housed DDR Motor Cartridge DDR Motor This motor is the first in the industry to combine the space-saving and performance advantages of Frameless DDR motors with the ease of installation of a full-frame motor. Consisting of a rotor, stator, and factory-aligned 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 servo motor, saving space and design time and simplifying the overall system. 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 indexers. D I R E C T D R I V E R O T A R Y M O T O R S Applications where size and weight must be absolutely minimized Frameless DDR Motors 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 and TBM series are Kollmorgen s Frameless DDR products. The KBM provides excellent torque/volume with the use of a proprietary neodymium-iron magnet rotor structure and skewed armature assembly. The KBM series is the first UL recognized parts set available on the market. This provides OEMs with the benefits of UL component ratings for easier agency approval on their machines. The TBM frameless motor is a series of direct drive torque motors designed for applications that require high power in a small, compact form factor with minimized weight and inertia. Need a Solution for Linear Motion Applications? Direct Drive Linear (DDL) Motor Directly coupling a linear motor to the driven load offers many advantages, including eliminating all mechanical transmissions, such as ball/lead screws, rack & pinions, belts/pulleys, and eliminating gearboxes. This in turn also eliminates backlash and compliance, and other problems associated with these mechanical transmissions. TM

6 Cartridge Direct Drive Rotary (DDR) Motor C A R T R I D G E D D R M O T O R The Cartridge DDR Motor is the first in the industry to combine the spacesaving and performance advantages of frameless DDR technology with the ease of installation of a full-frame motor. Cartridge DDR motors also feature an advanced electromagnetic design that provides up to % more torque density than comparably sized conventional servo motors. Consisting of a rotor, stator, factory-aligned high-resolution feedback device, the Cartridge DDR motor uses the machine s bearings to support the rotor. An innovative compression coupling secures the Cartridge DDR s rotor to the machine shaft, and the Cartridge DDR s housing is bolted to the machine frame with a bolt circle and pilot just like a conventional servo motor. Also, mechnical transmission components are eliminated, saving space and design time while simplifying the overall system

7 Cartridge DDR Motor Features Integrated compression coupling and shipping hardware frame sizes, multiple lengths 23 / 4 / 48 Vac windings available (high and low) Continuous torque range: 4.7 (3.37 ) to 1 (373 ) Speeds up to 2, Optimized torque output with high-pole count efficient electromagnetic design Hollow shaft available on C9x and C13x models, provides a 1.26 inch (32 mm) through bore to allow process or wiring to run through the center of the motor. Provision for mounting a rotary union to the shaft and housing is included. Integrated high-resolution sine encoder 134,217,728 counts / rev Low cogging for smooth low-speed rotation Zero backlash and compliance Direct load connection eliminates gearboxes, belts, or pulleys Benefits Eliminate parts and labor for a faster and lower cost machine build Assembles in minutes Satisfies a wide range of machine requirements and configurations Increased accuracy and higher throughput Greater machine reliability and reduced maintenance Reduced audible noise, fewer parts and lower cost of ownership More compact machine and reduced design time C A R T R I D G E D D R M O T O R TM 7

8 Cartridge DDR Motor Cartridge DDR Application Considerations Inertia Matching C A R T R I D G E D D R M O T O R Since the Cartridge DDR motor is directly connected to the machine, inertial matching is not required as it is on a conventional motor. With direct drive, inertia miss match of 2 to 1 is common and miss match of 1 to 1 has been demonstrated. Mounting Orientation The Cartridge DDR motor can be mounted with any orientation including either a horizontal or vertical shaft. Mounting Cartridge DDR to Machine Simple and quick procedures to mount: Slide the Cartridge DDR motor onto machine shaft Bolt Cartridge DDR motor housing to machine frame Torque compression coupling Remove/store shipping hardware Connect cables and run the motor 2 2 Torque Density Cartridge DDR Up to % increase! Proprietary electromagnetic design gives Cartridge DDR motors more torque per volume than conventional DDR technology. Km (Nm/sqrt(watt)) 1 Conventional DDR Volume (in 3 ) Power Connector (Feedback connector not shown) Shipping Set Screw Absolute Sine Encoder Compression Coupling Compression Coupling Bolt End Cover Customer Pilot Customer Shaft

9 The Cartridge DDR Advantage Press Feed Machine Consider how Cartridge DDR technology improves a Press Feed machine: Reduced Assembly Time The assembly time for the original mechanical transmission system was 4 hours. In contrast, the Cartridge DDR motor is installed in less than minutes, resulting in a significant cost savings in labor. Reduced Parts Count The original mechanical transmission system comprises 2 bracket pieces, 12 bolts, 2 pulleys, 2 set screws, 2 keys, a timing belt, a housing to protect operators from the timing belt, a tension system for the timing belt, and motor/gearbox. With the Cartridge DDR system, this is all replaced by the motor and 4 mounting bolts, resulting in fewer parts to maintain and cost savings. Improved Accuracy The best planetary gearboxes have a backlash between 1 and 2 arcminutes. Over the life of the gearbox, the backlash will increase. The Cartridge DDR system has an absolute accuracy of 26 arc-seconds and a repeatability of.7 arc-seconds. The Press Feed machine with the Cartridge DDR has a feed accuracy of +/-. inch where the Press Feed machine with the mechanical transmission has a feed accuracy of.2 inch. Therefore, there was an overall four times improvement in machine accuracy with the Cartridge DDR system. Increased Throughput The cycle rate of the Cartridge DDR system is two times better than the mechanical transmission. This results in an increase in throughput of 1 percent. Improved Reliability and Simplified Maintenance The Cartridge DDR system eliminates parts that wear, change over time, or fail. Gearboxes are prone to wear, and backlash increases over time. Belts and pulleys stretch and require maintenance to maintain proper belt tension. By eliminating these components, the Cartridge DDR system delivers greater system reliability. Press Feed Example Gearboxes have a finite life span, especially in a demanding cyclic application such as a Press Feed. On this machine, the gearbox must be replaced every 1, hours and the belt must be tensioned every 2, hours. By contrast, the Cartridge DDR motor has no wear components and requires no maintenance thus simplifying the maintenance schedule for the machine and reducing operating costs. Reduced Audible Noise The Cartridge DDR system has as much as a 2 db reduction in noise compared to a mechanical transmission servo system. This can dramatically reduce the overall noise level of the machine. A quieter machine gives the perception of quality. This is rightfully so as the noise emitted by gears and belts is caused by the wearing of the parts. Total Reduced Cost A Cartridge DDR motor typically costs 2 percent more than a comparable motor/gearbox combination. However, the elimination of parts and assembly time typically results in a lower total cost for the Cartridge DDR solution. C A R T R I D G E D D R M O T O R Press feed machine built with a conventional servo motor, gearbox, belt and pulleys. Same machine with a Cartridge DDR motor installed. Here, the shaft of the driven roll is extended into the Cartridge DDR motor and the motor applies torque directly to the driven roll. TM 9

10 Cartridge DDR System Summary Due to the large range of continuous and peak torques for the Cartridge DDR series, the mechanical mounting and coupling to the machine varies. C A R T R I D G E D D R M O T O R Cross Section of C(H)4x, C(H)x, C(H)6x Cross Section of C(H)9x, C(H)13x Machine Interface Summary Parameter C(H)4x, C(H)x, C(H)6x C(H)9x, C(H)13x Coupling Technology Single bolt split hub, access front motor Multi-bolt compression, access from rear of motor Mounting Requirements Shaft TIR." (.13 mm)." (.38 mm) Perpendicularity of Machine Mounting Face.4" (.1 mm).2" (.1 mm) Concentricity of Machine Pilot to Shaft.4" (.1 mm).2" (.1 mm) Shipping Hardware Alignment bolt and cap screw 4 set screws and 4 shipping bolts Mounting Procedure Procedure # Procedure #

11 Performance Summary AKD Servo Drive Performance AKD-x3X AKD-x6X AKD-x12X AKD-x24X AKD-x487 Cont. Torque Peak Torque Maximum Speed Cartridge DDR Motors 24 Volt Systems 4 / 48 Volt Systems C41A C41B C42A C42B C43A C43B C44A C44B C1A C1B C2C C2D C3A C3B C4A C4B C61A C61B C62C C62B C63C C63B C91A C92C C93C C131C C131B C132C C132B C133C C133B CH41A CH42A CH43A CH44A CH1A CH2C CH3A CH4A CH61A CH62C CH63C CH63B CH91A CH92C CH93C CH131C CH131B CH132C CH132B CH133C CH133B C A R T R I D G E D D R M O T O R 1. Maximum speed at 48 Vac. For maximum speed at 4 Vac see performance curve. TM 11

12 Cartridge DDR Performance Data C4xA System Performance at 24 VAC C4xA Cartridge DDR Motor with AKD Servo Drive Series Amplifier System Performance Symbol Units C41A C42A C43A C44A C A R T R I D G E D D R P E R F O M A N C E D A T A Continuous Torque 1 C Rise 1,2,3 Cont. Line Current Ic amps RMS Continuous Torque 7 C Rise 1,2,3 Cont. Line Current Ic amps RMS Peak Torque Tp Peak Line Current Ip amps RMS Maximum Speed N max Weight Rotor Inertia Wt Jm SYSTEM: C41A WITH AKD-x36 AT 24 VAC Continuous 1 o C Rise Continuous 7 o C Rise lb (kg) oz-in-sec 2 (kg-cm 2 ) 3.37 (4.7) 2.93 (3.97) 9.9 (12.3) 9. (4.8).83 (.86) (8.2).3 (7.19) 16.4 (22.2) 12. (.67).126 (8.87) 8.2 (11.1) 7.14 (9.68) 22.1 (3.) 16. (7.26).168 (11.9) SYSTEM: C42A WITH AKD-x66 AT 24 VAC Continuous 1 o C Rise Continuous 7 o C Rise 1.3 (13.9) 9.14 (12.4) 27.6 (37.4) 19. (8.84).211 (14.9) SYSTEM: C43A WITH AKD-x66 AT 24 VAC Continuous 1 o C Rise 3 4 Continuous 7 o C Rise Notes: 1. At 4 C ambient. 2. Increase by 1.6 times for 2 C ambient. 3. Temperature rise assumes a 12 x 12 x. inch aluminum mounting plate or equivalent SYSTEM: C44A WITH AKD-x66 AT 24 VAC Continuous 1 o C Rise Continuous 7 o C Rise

13 C 4 1 A * CH4xA Motor Series Frame Size Winding Stack Length Connector Mounting Shaft Bearing Feedback Seal System Performance at 4/48 VAC CH4xA Cartridge DDR Motor with AKD Servo Drive Series Amplifier System Performance Symbol Units CH41A CH42A CH43A CH44A Continuous Torque 1 C Rise 1,2,3 Cont. Line Current Ic amps RMS Continuous Torque 7 C Rise 1,2,3 Cont. Line Current Ic amps RMS Peak Torque Tp Peak Line Current Ip amps RMS Maximum Speed (4 V) Maximum Speed (48 V) Weight Rotor Inertia N max Wt Jm SYSTEM: CH41A WITH AKD-x37 AT 4/48 VAC Continuous 1 o C Rise Continuous 7 o C Rise lb (kg) oz-in-sec 2 (kg-cm 2 ) 3.37 (4.6) 2.93 (3.97) 8.33 (11.3) (4.8).83 (.86) (8.26).3 (7.19) 14. (19.) (.67).126 (8.87) 8.2 (11.1) 7.14 (9.68) 18.7 (2.3) (7.26).168 (11.9) 1.2 (13.9) 9.14 (12.4) 23.3 (31.6) (8.84).211 (14.9) SYSTEM: CH42A WITH AKD-x67 AT 4/48 VAC Continuous 1 o C Rise Continuous 7 o C Rise C A R T R I D G E D D R P E R F O M A N C E D A T A SYSTEM: CH43A WITH AKD-x67 AT 4/48 VAC Continuous 1 o C Rise Continuous 7 o C Rise 4 VAC Limit Notes: 1. At 4 C ambient. 2. Increase by 1.6 times for 2 C ambient. 3. Temperature rise assumes a 12 x 12 x. inch aluminum mounting plate or equivalent. *Complete CDDR series model nomenclature can be found on page SYSTEM: CH44A WITH AKD-x67 AT 4/48 VAC 4 VAC Limit Continuous 1 o C Rise Continuous 7 o C Rise TM 13

14 Cartridge DDR Performance Data C4xB System Performance at 24 VAC C4xB Cartridge DDR Motor (High-Speed Winding) with AKD Servo Drive Series Amplifiers System Performance Symbol Units C41B C42B C43B C44B C A R T R I D G E D D R P E R F O M A N C E D A T A Continuous Torque 1 C Rise 1,2,3 Cont. Line Current Ic amps RMS Continuous Torque 7 C Rise 1,2,3 Cont. Line Current Ic amps RMS Peak Torque Tp Peak Line Current Ip amps RMS Maximum Speed N max Weight Rotor Inertia Wt Jm SYSTEM: C41B WITH AKD-x66 AT 24 VAC Continuous 1 o C Rise Continuous 7 o C Rise lb (kg) oz-in-sec 2 (kg-cm 2 ) (4.2) 2.91 (3.94) 9.1 (12.2) 9. (4.8).83 (.86) (8.4).43 (7.36) 16.8 (22.8) 12. (.67).126 (8.87) Continuous 1 o C Rise Continuous 7 o C Rise 8.23 (11.2) 7.17 (9.73) 22.2 (3.2) 16. (7.26).168 (11.9) 1.4 (14.1) 9.22 (12.) 28. (37.9) 19. (8.84).211 (14.9) SYSTEM: C42B WITH AKD-x126 AT 24 VAC SYSTEM: C43B WITH AKD-x126 AT 24 VAC Continuous 1 o C Rise Continuous 7 o C Rise Notes: 1. At 4 C ambient. 2. Increase by 1.6 times for 2 C ambient. 3. Temperature rise assumes a 12 x 12 x. inch aluminum mounting plate or equivalent. SYSTEM: C44B WITH AKD-x126 AT 24 VAC Continuous 1 o C Rise Continuous 7 o C Rise

15 C 9 1 A * CxA/C Motor Series Frame Size Winding Stack Length Connector Mounting Shaft Bearing Feedback Seal System Performance at 24 VAC CxA/C Cartridge DDR Motor with AKD Servo Drive Series Amplifiers System Performance Symbol Units C1A C2C C3A C4A Continuous Torque 1 C Rise 1,2,3 Cont. Line Current Ic amps RMS Continuous Torque 7 C Rise 1,2,3 Cont. Line Current Ic amps RMS Peak Torque Tp Peak Line Current Ip amps RMS Maximum Speed N max Weight Rotor Inertia Wt Jm SYSTEM: C1A WITH AKD-x66 AT 24 VAC Continuous 1 o C Rise Continuous 7 o C Rise lb (kg) oz-in-sec 2 (kg-cm 2 ) (11.7) 7.4 (1.2) 22.3 (3.2) 18. (8.39).388 (27.4) (16.9) 1.8 (14.7) 31.8 (43.1) 23. (1.7).8 (3.9) Continuous 1 o C Rise Continuous 7 o C Rise. (21.) 13. (18.3) 39.9 (4.1) 29. (13.2).628 (44.3) 18.4 (24.9) 16.1 (21.8) 47.1 (63.8) 34. (.4).748 (2.8) SYSTEM: C2C WITH AKD-x66 AT 24 VAC C A R T R I D G E D D R P E R F O M A N C E D A T A SYSTEM: C3A WITH AKD-x126 AT 24 VAC Continuous 1 o C Rise Continuous 7 o C Rise Notes: 1. At 4 C ambient. 2. Increase by 1.6 times for 2 C ambient. 3. Temperature rise assumes a 18 x 18 x. inch aluminum mounting plate or equivalent. *Complete CDDR series model nomenclature can be found on page 38. SYSTEM: C4A WITH AKD-x126 AT 24 VAC Continuous 1 o C Rise Continuous 7 o C Rise TM

16 Cartridge DDR Performance Data CHxA System Performance at 4/48 VAC CHxA/C Cartridge DDR Motor with AKD Servo Drive Series Amplifiers System Performance Symbol Units CH1A CH2C CH3A CH4A C A R T R I D G E D D R P E R F O M A N C E D A T A Continuous Torque 1 C Rise 1,2,3 Cont. Line Current Ic amps RMS Continuous Torque 7 C Rise 1,2,3 Cont. Line Current Ic amps RMS Peak Torque Tp Peak Line Current Ip amps RMS Maximum Speed (4 V) Maximum Speed (48 V) Weight Rotor Inertia N max Wt Jm SYSTEM: CH1A WITH AKD-x67 AT 4/48 VAC Continuous 1 o C Rise Continuous 7 o C Rise 4 VAC Limit lb (kg) oz-in-sec 2 (kg-cm 2 ) (11.7) 7.4 (1.2) 2.7 (28.) (8.39).388 (27.4) (16.9) 1.8 (14.7) 31.8 (43.1) (1.7).8 (3.9). (21.) 13. (18.3) 39.9 (4.1) (13.2).628 (44.3) 18.4 (24.9) 16.1 (21.8) 47.1 (63.8) (.4).748 (2.8) SYSTEM: CH2C WITH AKD-x67 AT 4/48 VAC Continuous 1 o C Rise 4 VAC Limit Continuous 7 o C Rise SYSTEM: CH3A WITH AKD-x127 AT 4/48 VAC VAC Limit Continuous 1 o C Rise Continuous 7 o C Rise Notes: 1. At 4 C ambient. 2. Increase by 1.6 times for 2 C ambient. 3. Temperature rise assumes a 18 x 18 x. inch aluminum mounting plate or equivalent. SYSTEM: CH4A WITH AKD-x127 AT 4/48 VAC 4 VAC Limit Continuous 1 o C Rise Continuous 7 o C Rise

17 C 9 1 A * CxB/D Motor Series Frame Size Winding Stack Length Connector Mounting Shaft Bearing Feedback Seal System Performance at 24 VAC CxB/D Cartridge DDR Motor (High-Speed Winding) with AKD Servo Drive Series Amplifiers System Performance Symbol Units C1B C2D C3B C4B Continuous Torque 1 C Rise 1,2,3 Cont. Line Current Ic amps RMS Continuous Torque 7 C Rise 1,2,3 Cont. Line Current Ic amps RMS Peak Torque Tp Peak Line Current Ip amps RMS Maximum Speed N max Weight Rotor Inertia Wt Jm SYSTEM: C1B WITH AKD-x126 AT 24 VAC Continuous 1 o C Rise Continuous 7 o C Rise lb (kg) oz-in-sec 2 (kg-cm 2 ) (11.9) 7.63 (1.4) 22.6 (3.6) 18. (8.39).388 (27.4) (16.) 1.6 (14.4) 31.2 (42.3) 23. (1.7).8 (3.9) 14.9 (2.2) 12.9 (17.6) 37. (.1) 29. (13.2).628 (44.3) Continuous 1 o C Rise 17.6 (23.8).4 (2.9) 4.1 (61.2) 34. (.4).748 (2.8) SYSTEM: C2D WITH AKD-x126 AT 24 VAC Continuous 7 o C Rise C A R T R I D G E D D R P E R F O M A N C E D A T A SYSTEM: C3B WITH AKD-x246 AT 24 VAC Continuous 1 o C Rise Continuous 7 o C Rise Notes: 1. At 4 C ambient. 2. Increase by 1.6 times for 2 C ambient. 3. Temperature rise assumes a 18 x 18 x. inch aluminum mounting plate or equivalent. *Complete CDDR series model nomenclature can be found on page 38. SYSTEM: C4B WITH AKD-x246 AT 24 VAC Continuous 1 o C Rise Continuous 7 o C Rise TM 17

18 Cartridge DDR Performance Data C6xA/C System Performance at 24 VAC C6xA/C Cartridge DDR Motor with AKD Servo Drive Series Amplifiers System Performance Symbol Units C61A C62C C63C C A R T R I D G E D D R P E R F O M A N C E D A T A Continuous Torque 1 C Rise 1,2,3 Cont. Line Current Ic amps RMS Continuous Torque 7 C Rise 1,2,3 Cont. Line Current Ic amps RMS Peak Torque Tp Peak Line Current Ip amps RMS Maximum Speed N max 9 7 Weight Rotor Inertia Wt Jm SYSTEM: C61A WITH AKD-x126 AT 24 VAC Continuous 7 o C Rise Continuous 1 o C Rise lb (kg) oz-in-sec 2 (kg-cm 2 ) (33.8) 21.7 (29.4) 64.1 (86.8) 41. (18.6) 1.33 (94.1) (48.4) 31.1 (42.2) 86. (117) 2. (23.6) 1.78 (126) 4.6 (61.8) 39.7 (3.9) 1 (7) 63. (29.) 2.23 (7) SYSTEM: C62C WITH AKD-x126 AT 24 VAC Continuous 1 o C Rise Continuous 7 o C Rise SYSTEM: C63C WITH AKD-x126 AT 24 VAC 6 8 Continuous 1 o C Rise Continuous 7 o C Rise Notes: 1. At 4 C ambient. 2. Increase by 1.6 times for 2 C ambient. 3. Temperature rise assumes a 18 x 18 x. inch aluminum mounting plate or equivalent

19 C 9 1 A * CH6x Motor Series Frame Size Winding Stack Length Connector Mounting Shaft Bearing Feedback Seal System Performance at 4 / 48 VAC CH6x Cartridge DDR Motor with AKD Servo Drive Series Amplifier System Performance Symbol Units CH61A CH62C CH63C CH63B Continuous Torque 1 C Rise 1,2,3 Cont. Line Current Ic amps RMS Continuous Torque 7 C Rise 1,2,3 Cont. Line Current Ic amps RMS Peak Torque Tp Peak Line Current Ip amps RMS Maximum Speed (4 V) Maximum Speed (48 V) Weight Rotor Inertia N max Wt Jm lb (kg) oz-in-sec 2 (kg-cm 2 ) SYSTEM: CH61A WITH AKD-x127 AT 4/48 VAC VAC Limit Continuous 1 o C Rise Continuous 7 o C Rise (33.8) 21.7 (29.4) 64.1 (86.8) (18.6) 1.33 (94.1) 3.7 (48.4) 31.1 (42.2) 86. (117) (23.6) 1.78 (126) 4.6 (61.8) 39.7 (3.9) 1 (7) (29.) 2.23 (7) SYSTEM: CH62C WITH AKD-x127 AT 4/48 VAC Continuous 7 o C Rise 4 VAC Limit Continuous 1 o C Rise 43. (9.) 37.9 (1.4) 1 (136) (29.) 2.23 (7) C A R T R I D G E D D R P E R F O M A N C E D A T A SYSTEM: CH63C WITH AKD-x127 AT 4/48 VAC 4 VAC Limit Continuous 1 o C Rise Continuous 7 o C Rise SYSTEM: CH63B WITH AKD-x247 AT 4/48 VAC 4 VAC Limit Continuous 1 o C Rise Continuous 7 o C Rise Notes: 1. At 4 C ambient. 2. Increase by 1.6 times for 2 C ambient. 3. Temperature rise assumes a 18 x 18 x. inch aluminum mounting plate or equivalent. *Complete CDDR series model nomenclature can be found on page TM 19

20 Cartridge DDR Performance Data C6xB System Performance at 24 VAC C6xB Cartridge DDR Motor (High-Speed Winding) with AKD Servo Drive Series Amplifier System Performance Symbol Units C61B C62B C63B C A R T R I D G E D D R P E R F O M A N C E D A T A Continuous Torque 1 C Rise 1,2,3 Cont. Line Current Ic amps RMS Continuous Torque 7 C Rise 1,2,3 Cont. Line Current Ic amps RMS Peak Torque Tp Peak Line Current Ip amps RMS Maximum Speed N max Weight Rotor Inertia Wt Jm SYSTEM: C61B WITH AKD-x246 AT 24 VAC Continuous 7 o C Rise Continuous 1 o C Rise lb (kg) oz-in-sec 2 (kg-cm 2 ) 24.1 (32.6) 21. (28.4).7 (7.6) 41. (18.6) 1.33 (94.1) (44.6) 29.9 (4.) 7.2 (12) 2. (23.6) 1.78 (126) 43. (9.) 37.9 (1.4) 1 (136) 63. (29.) 2.23 (7) SYSTEM: C62B WITH AKD-x246 AT 24 VAC Continuous 7 o C Rise Continuous 1 o C Rise SYSTEM: C63B WITH AKD-x246 AT 24 VAC Continuous 7 o C Rise Continuous 1 o C Rise Notes: 1. At 4 C ambient. 2. Increase by 1.6 times for 2 C ambient. 3. Temperature rise assumes a 18 x 18 x. inch aluminum mounting plate or equivalent

21 C 9 1 A * C9xA/C Motor Series Frame Size Winding Stack Length Connector Mounting Shaft Bearing Feedback Seal System Performance at 23 VAC C9xA/C Cartridge DDR Motor with AKD Drive Amplifiers System Performance Symbol Units C91A C92C C93C Continuous Torque 11 C Rise 1,2,3 Cont. Line Current Ic amps RMS Continuous Torque 8 C Rise 1,2,3 Cont. Line Current Ic amps RMS Peak Torque Tp Peak Line Current Ip amps RMS Maximum Speed N max Weight Rotor Inertia Wt Jm SYSTEM: C91A WITH AKD-x246 AT 23 VAC Continuous 8 o C Rise Continuous 11 o C Rise lb (kg) -sec 2 (kg-m 2 ) (.2) 33. (44.7) 88.2 (12) 61. (27.7).21 (.28) (12) 66. (9.1) 17 (231) 91. (41.3).3 (.47) 13 (139) 9. (129) 234 (317) 12 (4.4).49 (.66) SYSTEM: C92C WITH AKD-x246 AT 23 VAC Continuous 8 o C Rise Continuous 11 o C Rise C A R T R I D G E D D R P E R F O M A N C E D A T A SYSTEM: C93C WITH AKD-x246 AT 23 VAC Continuous 8 o C Rise Continuous 11 o C Rise Notes: 1. At 4 C ambient. 2. Increase by 1.6 times for 2 C ambient. 3. Temperature rise assumes a 16 x 16 x.7 inch aluminum mounting plate or equivalent. *Complete CDDR series model nomenclature can be found on page TM 21

22 Cartridge DDR Performance Data CH9xA/C System Performance at 4 /48 VAC CH9xA/C Cartridge DDR Motor with AKD Drive Amplifier System Performance Symbol Units CH91A CH92C CH93C C A R T R I D G E D D R P E R F O M A N C E D A T A Continuous Torque 11 C Rise 1,2,3 Cont. Line Current Ic amps RMS Continuous Torque 8 C Rise 1,2,3 Cont. Line Current Ic amps RMS Peak Torque Tp Peak Line Current Ip amps RMS Maximum Speed (4V) Maximum Speed (48V) Weight Rotor Inertia N max Wt Jm SYSTEM: CH91A WITH AKD-x247 AT 4/48 VAC Continuous 8 o C Rise Continuous 11 o C Rise 4 VAC Limit 48 VAC Limit lb (kg) -sec 2 (kg-m 2 ) SYSTEM: CH93C WITH AKD-x247 AT 4/48 VAC 4 VAC Limit 48 VAC Limit (.2) 33. (44.7) 88.2 (12) (27.7).21 (.28) (12) 66. (9.1) 17 (231) (41.3).3 (.47) 13 (139) 9. (129) 228 (39) (4.4).49 (.66) SYSTEM: CH92C WITH AKD-x247 AT 4/48 VAC Continuous 8 o C Rise Continuous 11 o C Rise 4 VAC Limit 48 VAC Limit Continuous 8 o C Rise Continuous 11 o C Rise Notes: 1. At 4 C ambient. 2. Increase by 1.6 times for 2 C ambient. 3. Temperature rise assumes a 16 x 16 x.7 inch aluminum mounting plate or equivalent

23 C 9 1 A * C13xC Motor Series Frame Size Winding Stack Length Connector Mounting Shaft Bearing Feedback Seal System Performance at 23 VAC C13xC Cartridge DDR Motor with AKD Drive Amplifier System Performance Symbol Units C131C C132C C133C Continuous Torque 11 C Rise 1,2,3 Cont. Line Current Ic amps RMS Continuous Torque 8 C Rise 1,2,3 Cont. Line Current Ic amps RMS Peak Torque Tp Peak Line Current Ip amps RMS Maximum Speed N max Weight Rotor Inertia Wt Jm SYSTEM: C131C WITH AKD-x246 AT 23 VAC Continuous 8 o C Rise Continuous 11 o C Rise lb (kg) -sec 2 (kg-m 2 ) 139 (189) 123 (167) 291 (39) 14 (63.).91 (.124) 267 (362) 236 (321) 63 (818) 223 (11).166 (.22) 368 (499) 33 (448) 791 (17) 292 (132).223 (.32) SYSTEM: C132C WITH AKD-x246 AT 23 VAC Continuous 11 o C Rise Continuous 8 o C Rise C A R T R I D G E D D R P E R F O M A N C E D A T A SYSTEM: C133C WITH AKD-x246 AT 23 VAC Continuous 11 o C Rise Continuous 8 o C Rise Notes: 1. At 4 C ambient. 2. Increase by 1.6 times for 2 C ambient. 3. Temperature rise assumes a 2 x 2 x.7 inch aluminum mounting plate or equivalent. *Complete CDDR series model nomenclature can be found on page TM 23

24 Cartridge DDR Performance Data CH13xC System Performance at 4 /48 VAC CH13xC Cartridge DDR Motor with AKD Drive Amplifier System Performance Symbol Units CH131C CH132C CH133C C A R T R I D G E D D R P E R F O M A N C E D A T A Continuous Torque 11 C Rise 1,2,3 Cont. Line Current Ic amps RMS Continuous Torque 8 C Rise 1,2,3 Cont. Line Current Ic amps RMS Peak Torque Tp Peak Line Current Ip amps RMS Maximum Speed (4V) Maximum Speed (48V) Weight Rotor Inertia N max Wt Jm SYSTEM: CH131C WITH AKD-x247 AT 4/48 VAC Continuous 8 o C Rise Continuous 11 o C Rise 4 VAC Limit 48 VAC Limit lb (kg) -sec 2 (kg-m 2 ) (189) 123 (167) 291 (39) 6 14 (63.).91 (.124) 267 (362) 236 (321) 63 (818) (11).166 (.22) 368 (499) 33 (448) 791 (17) (132).223 (.32) SYSTEM: CH132C WITH AKD-x247 AT 4/48 VAC VAC Limit 48 VAC Limit Continuous 11 o C Rise Continuous 8 o C Rise SYSTEM: CH133C WITH AKD-x247 AT 4/48 VAC VAC Limit 48 VAC Limit Continuous 11 o C Rise Continuous 8 o C Rise Notes: 1. At 4 C ambient. 2. Increase by 1.6 times for 2 C ambient. 3. Temperature rise assumes a 2 x 2 x.7 inch aluminum mounting plate or equivalent

25 C 9 1 A * C13xB Motor Series Frame Size Winding Stack Length Connector Mounting Shaft Bearing Feedback Seal System Performance at 23 VAC C13xB Cartridge DDR Motor (High-Speed Winding) with AKD Drive Amplifier System Performance Symbol Units C131B C132B C133B Continuous Torque 11 C Rise 1,2,3 Cont. Line Current Ic amps RMS Continuous Torque 8 C Rise 1,2,3 Cont. Line Current Ic amps RMS Peak Torque Tp Peak Line Current Ip amps RMS Maximum Speed N max Weight Rotor Inertia Wt Jm SYSTEM: C131B WITH AKD-x487 AT 23 VAC Continuous 8 o C Rise Continuous 11 o C Rise lb (kg) -sec 2 (kg-m 2 ) 14 (19) 124 (168) 292 (396) 14 (63.).91 (.124) 266 (361) 236 (32) 6 (79) 223 (11).166 (.22) 376 (1) 333 (41) 749 (116) 292 (132).223 (.32) SYSTEM: C132B WITH AKD-x487 AT 23 VAC Continuous 11 o C Rise Continuous 8 o C Rise C A R T R I D G E D D R P E R F O M A N C E D A T A SYSTEM: C133B WITH AKD-x487 AT 23 VAC Continuous 11 o C Rise Continuous 8 o C Rise Notes: 1. At 4 C ambient. 2. Increase by 1.6 times for 2 C ambient. 3. Temperature rise assumes a 2 x 2 x.7 inch aluminum mounting plate or equivalent. *Complete CDDR series model nomenclature can be found on page TM 2

26 Cartridge DDR Performance Data CH13xB System Performance at 4 /48 VAC CH13xB Cartridge DDR Motor (High-Speed Winding) with AKD Drive Amplifier System Performance Symbol Units CH131B CH132B CH133B C A R T R I D G E D D R P E R F O M A N C E D A T A Continuous Torque 11 C Rise 1,2,3 Cont. Line Current Ic amps RMS Continuous Torque 8 C Rise 1,2,3 Cont. Line Current Ic amps RMS Peak Torque Tp Peak Line Current Ip amps RMS Maximum Speed (4V) Maximum Speed (48V) Weight Rotor Inertia N max Wt Jm SYSTEM: CH131B WITH AKD-x487 AT 4/48 VAC Continuous 8 o C Rise Continuous 11 o C Rise 4 VAC Limit 48 VAC Limit lb (kg) -sec 2 (kg-m 2 ) (19) 124 (168) 292 (396) (63.).91 (.124) (361) 236 (32) 6 (79) (11).166 (.22) 372 (1) 333 (41) 749 (116) (132).223 (.32) SYSTEM: CH132B WITH AKD-x487 AT 4/48 VAC Continuous 8 o C Rise Continuous 11 o C Rise 4 VAC Limit 48 VAC Limit SYSTEM: CH133B WITH AKD-x487 AT 4/48 VAC 4 VAC Limit 48 VAC Limit 4 6 Continuous 11 o C Rise 4 2 Continuous 8 o C Rise Notes: 1. At 4 C ambient. 2. Increase by 1.6 times for 2 C ambient. 3. Temperature rise assumes a 2 x 2 x.7 inch aluminum mounting plate or equivalent

27 Notes C A R T R I D G E D D R P E R F O M A N C E D A T A TM 27

28 Cartridge DDR Outline Drawings C(H)4x "A" ±.2 [.2] Ø [.34-.] 4 PL AS SHOWN ON A Ø13. [.118] BASIC Ø.2[.9] M D [2.22] REF 31. [1.22] REF. [.61] REF C A R T R I D G E D D R O U T L I N E D R A W I N G S 79.6 [3.136] REF 2 PL 44. [1.72] 9. [.3] REF POWER CONNECTOR (ROTATABLE). [.197] -RING PROVIDED Ø [ ] -D [ ] REF 41. [1.61] REF 3X [4.2] ROTOR COUPLING M6 SOCKET HEAD CAP SCREW, REF FOR ASSEMBLY, USE mm HEX DRIVER AND TO 12.4 Nm [11 IN- LB] 18. [4.2] [3.672] MAX 2 PL ALTERNATE COUPLING ACCESS PORT ALTERNATE ALIGNMENT PIN LOCATION 8. [2.3] MAX 3 PL SHIPPING ALIGNMENT PIN COUPLING ACCESS PORT, SEAL SCREW PROVIDED 22. [.866] REF "B" ±.26 [.1] SIGNAL CONNECTOR (ROTATABLE) 12. [.472] REF 19. [.748] DIMENSION C41 C42 C43 C44 "A" "B" 171 (6.72) 17 (4.22) 22 (7.94) 138 (.44) 233 (9.16) 169 (6.66) 264 (1.4) 2 (7.88) Dimensions in mm [inches] For machine interface detail, see page

29 C(H)x "A" ±.2 [.2] Ø [ ] 4 PL AS SHOWN ON A Ø16. [6.496] BASIC Ø.2[.1] M D [1.22]. [.61] 94.6 [3.727] 2 PL REF 44. [1.72] POWER CONNECTOR (ROTATABLE) 12. [.47] REF SIGNAL CONNECTOR (ROTATABLE). [.197] [ ] -D- -RING PROVIDED 2.94 ±.83 REF [.116 ±.32] ROTOR COUPLING M8 SOCKET HEAD CAP SCREW, REF FOR ASSEMBLY, USE 6mm HEX DRIVER AND TO 29.8 Nm [22 FT- LB] 19. [.748] REF 12. [.472] REF 3X 9 1. [2.3] REF 138. ±.8 [.433 ±.31] 138. ±.8 [.433 ±.31] [4.262] MAX 2 PL ALTERNATE COUPLING ACCESS PORT ALTERNATE ALIGNMENT PIN LOCATION 76.8 [2.99] MAX 3 PL C A R T R I D G E D D R O U T L I N E D R A W I N G S SHIPPING ALIGNMENT PIN 3. [1.181] REF "B" ±.26 [.1] COUPLING ACCESS PORT, SEAL SCREW PROVIDED M6 x 1. x 9. [.3] DP TAPPED HOLES PROVIDED FOR LIFTING 2 PL DIMENSION C1 C2 C3 C4 "A" "B" 19 (7.67) 131 (.14) 22 (8.6) 6 (6.12) 24 (9.63) 181 (7.11) 27 (1.6) 26 (8.9) Dimensions in mm [inches] For machine interface detail, see page 36 TM 29

30 Cartridge DDR Outline Drawings C(H)6x C A R T R I D G E D D R O U T L I N E D R A W I N G S [4.711] 2 PL 36.4 [1.433] POWER CONNECTOR (ROTATABLE) "A" ±.2 [.2] M8 x 1.2 x 11. [.43] DP TAPPED HOLES PROVIDED FOR LIFTING 2 PL. [.197] -RING PROVIDED [ ] -D ±.83 REF [.116 ±.326] 14. [.] REF 12. [.472] REF 19. [.748] REF Ø [.3 -.] 4 PL AS SHOWN ON A Ø2. [8.46] BASIC Ø.2[.1] M D 3X [2.91] REF 188.±1. [7.42±.393] 4 4. [1.772] 188. ±.8 [7.42 ±.39] ROTOR COUPLING M8 SOCKET HEAD CAP SCREW, REF FOR ASSEMBLY, USE 6mm HEX DRIVER AND TO 29.8 Nm [22 FT- LB] 22. [.886] [.262] MAX 2 PL ALTERNATE COUPLING ACCESS PORT ALTERNATE ALIGNMENT PIN LOCATION 98.8 [3.881] MAX 3 PL SHIPPING ALIGNMENT PIN 42. [1.673] REF COUPLING ACCESS PORT, SEAL SCREW PROVIDED SIGNAL CONNECTOR (ROTATABLE) "B" ±.26 [.1] Dimension C61 C62 C63 "A" 226 [8.9] 26 [1.2] 294 [11.6] Dimensions in mm [inches] "B" 166 [6.2] 2 [7.86] 234 [9.2] For machine interface detail, see page

31 C(H)9x without Through Bore 24 [9.6] "A" 2.3 [.9] "B".38 [.] 9.3 [3.7] REF Ø [ ] -E- 24 [9.6] [7.18] MAX [.77] REF 36 4 PL 6.4 [.2] REF 4X 9 4 Ø 14 [.1] THRU, 4 PL AS SHOWN, ON A Ø29 [11.417] BASIC SPOTFACE Ø28.7 [1.13] X 1. [.6] MAX DP, 4 PL AS SHOWN 78.6 [3.9] REF 36.8 [1.4] 6X 6 M X.8 THD X. [.9] DP 6 PL AS SHOWN ON A Ø 23 [9.] BASIC Ø.28 [.11] E 6.4 [.2] [.88] REF 12.7 [.] SIGNAL CONNECTOR M1 X 1. THD THRU, 4 PL AS SHOWN FOR JACKING PURPOSES O-RING C93 MODEL ONLY 82. [3.2] [1.6] POWER CONNECTOR (2) M8 LIFTING EYEBOLTS PROVIDED 22.4 [.88] COMPRESSION COUPLING O-RING PROVIDED FOR SEALING 16.8 [.66] C A R T R I D G E D D R O U T L I N E D R A W I N G S Rear Connector Option Side Connector Option POWER CABLE [.7] FEEDBACK CABLE [4.4] [6.68] POWER CABLE [.7] FEEDBACK CABLE [4.4] [7.73] [9.17] [9.83] Dimension C(H)91 C(H)92 C(H)93 "A" 24 [7.99] 23 [9.94] 32 [11.9] Dimensions in mm [inches] "B" 163 [6.4] 212 [8.36] 262 [1.3] For machine interface detail, see page 37 TM 31

32 Cartridge DDR Outline Drawings C(H)9X with Through Bore "A" 2.3 [.9] 24 [9.6] "B".38 [.] 9.3 [3.7] REF C A R T R I D G E D D R O U T L I N E D R A W I N G S 24 [9.6] [7.18] MAX [.77] REF 36 4 PL 6.4 [.2] REF 4X 9 4 Ø 14 [.1] THRU, 4 PL AS SHOWN, ON A Ø29 [11.417] BASIC SPOTFACE Ø28.7 [1.13] X 1. [.6] MAX DP, 4 PL AS SHOWN 78.6 [3.9] REF 36.8 [1.4] 6X [.88] REF M X.8 THD X. [.9] DP, 4 PL AS SHOWN ON A Ø 41. [1.614] BASIC Ø.28 [.11] F M X.8 THD X. [.9] DP 6 PL AS SHOWN ON A Ø 23 [9.] BASIC Ø.28 [.11] E 6.4 [.2] 12.7 [.] REF SIGNAL CONNECTOR Ø [ ] -E- Ø [ ] -F- M1 X 1. THD THRU 4 PL AS SHOWN FOR JACKING PURPOSES 12.7 [.] O-RING C93 MODEL ONLY "C" 82. [3.2] [1.6] POWER CONNECTOR (2) M8 LIFTING EYEBOLTS PROVIDED 22.4 [.88] COMPRESSION COUPLING O-RING PROVIDED FOR SEALING 16.8 [.66] Rear Connector Option Side Connector Option POWER CABLE [.7] FEEDBACK CABLE [4.4] [6.68] POWER CABLE [.7] FEEDBACK CABLE [4.4] [7.73] [9.17] [9.83] DIMENSION C(H)91 C(H)92 C(H)93 "A" 24 [7.99] 23 [9.94] 32 [11.9] "B" 163 [6.4] 212 [8.36] 262 [1.3] "C" 176 [6.92] 22 [8.87] 27 [1.8] Dimensions in mm [inches] For machine interface detail, see page

33 C(H)13X without Through Bore Ø [ ] -E- 3 [13.78] M X.8 THD X. [.9] DEEP, 6 PL AS SHOWN ON A Ø333 [13.11] BASIC Ø.28 [.11] E "A" 2.3 [.9] "B".38 [.] 18 [4.2] REF 8.8 [3.38] 98.6 [3.88] REF [1.6] 3 [13.78] 26.3 [1.9] REF 27.8 [8.18] REF 37 4 PL 4X [.87] REF 76.2 [3.] [7.87] 6.4 [.2] 9.7 [.38] SIGNAL CONNECTOR M12 X 1.7 THD THRU, 4 PL AS SHOWN FOR JACKING PURPOSES COMPRESSION COUPLING C133 ONLY POWER CONNECTOR (2) M1 LIFTING EYEBOLTS PROVIDED 2.4 [1.] 4 PL C A R T R I D G E D D R O U T L I N E D R A W I N G S 4 Ø17. [.689] THRU, 4 PL AS SHOWN, ON A Ø41 [16.142] BASIC SPOTFACE Ø3.1 [1.38]X 1. [.6] MAX DP, 4 PL AS SHOWN SIDE CONNECTOR OPTION POWER CABLE [.7] C13X LOW CURRENT 6X 6 DIMENSION C(H)131 C(H) [8.4] C(H)133 "A" 231 [9.11] 31 [11.8] 37 [14.6] "B" 191 [7.2] 26 [1.2] 329 [13.] For machine interface detail, see page 37 C13X HIGH CURRENT [8.6] [11.133] [11.133] [13.14] SIDE CONNECTOR OPTION POWER CABLE [.7] FEEDBACK CABLE REAR CONNECTOR POWER OPTIONCABLE [4.4] [8.4] FEEDBACK CABLE [4.4] [8.6] [9.38] [11.133] C13X LOW CURRENT POWER CABLE [11.133] [13.14] POWER [.7] CABLE C13X HIGH CURRENT [8.4] POWER CABLE FEEDBACK CABLE [4.4] [11.133] [11.966] [13.14] POWER CABLE C13X HIGH CURRENT [8.4] COMPRESSION COUPLING FEEDBACK CABLE [9.38] [4.4] POWER CABLE FEEDBACK CABLE [.7] [4.4] [7.73] FEEDBACK CABLE [4.4] Dimensions in mm [inches] 38.6 [1.2] REAR CONNECTOR OPTION [11.966] FEEDBACK CABLE POWER CABLE [4.4] [7.73] [8.4] FEEDBACK CABLE [4.4] [7.73] FEEDBACK CABLE [4.4] [7.73] TM 33

34 Cartridge DDR Outline Drawings C(H)13x with Through Bore C A R T R I D G E D D R O U T L I N E D R A W I N G S Ø [ ] -F- Ø [ ] -E- 3 [13.78] 26.3 [1.9] REF 27.8 [8.18] REF 37 4 PL 3 [13.78] 98.6 [3.88] REF 22.1 [.87] REF 76.2 [3.] M X.8 THD X. [.9] DEEP, 6 PL AS SHOWN ON A Ø 333 [13.11] BASIC Ø.28 [.11] E [7.87] 6.4 [.2] 9.7 [.38] SIGNAL CONNECTOR M12 X 1.7 THD THRU 4 PL AS SHOWN FOR JACKING PURPOSES COMPRESSION COUPLING C133 ONLY "A" 2.3 [.9] "B".38 [.] 18 [4.2] REF 8.8 [3.38] [1.6] POWER CONNECTOR (2) M1 LIFTING EYEBOLTS PROVIDED 2.4 [1.] 4 PL 4 Ø17. [.689] THRU, 4 PL AS SHOWN, ON A Ø41 [16.142] BASIC SPOTFACE Ø3.1 [1.38]X 1. [.6] MAX DP, 4 PL AS SHOWN SIDE CONNECTOR OPTION POWER CABLE [.7] C13X LOW CURRENT [8.6] [11.133] 6X 6 DIMENSION C(H)131 C(H)132 C(H) [.] M X.8 THD X. [.9] DP, 4 PL AS SHOWN ON A Ø41. [1.614] BASIC SIDE CONNECTOR Ø.11[.28] OPTIONF POWER CABLE [.7] FEEDBACK CABLE REAR CONNECTOR POWER OPTIONCABLE [4.4] [8.4] "A" 231 [9.11] 31 [11.8] 37 [14.6] "B" 191 [7.2] 26 BEND [1.2] RADIUS: 329 [13.] "C" 182 [7.18] 21 [9.9] 32 [12.6] For machine interface detail, see page [11.133] [13.14] FEEDBACK CABLE [4.4] [8.6] [9.38] [11.133] C13X LOW CURRENT POWER CABLE [11.133] [13.14] POWER [.7] CABLE C13X HIGH CURRENT [8.4] POWER CABLE [8.4] FEEDBACK CABLE [4.4] [11.133] [11.966] [13.14] POWER CABLE C13X HIGH CURRENT [8.4] COMPRESSION COUPLING "C" FEEDBACK CABLE [9.38] [4.4] POWER CABLE FEEDBACK CABLE [.7] [4.4] [7.73] FEEDBACK CABLE [4.4] 38.6 [1.2] REAR CONNECTOR OPTION [11.966] FEEDBACK CABLE POWER CABLE [4.4] [7.73] [8.4] Dimensions in mm [inches] FEEDBACK CABLE [4.4] [7.73] FEEDBACK CABLE [4.4] [7.73] C13X HIGH CURRENT

35 Notes C A R T R I D G E D D R O U T L I N E D R A W I N G S TM 3

36 Cartridge DDR Mounting Requirements Machine Mounting Requirements for C(H)4x, C(H)x and C(H)6x C A R T R I D G E D D R M O U N T I N G R E Q U I R E M E N T S This drawing details the machine interface configuration for mounting the C[H]4, C[H] and C[H]6 Cartridge DDR motors. It is important to maintain specified tolerance, concentricity and run out to ensure proper operation and longevity of the Cartridge DDR motor. Axial Shaft Movement During operation, the shaft which the Cartridge DDR motor is mounted to shall not move axially more than +/-.13 mm (. inch). Shaft Material The shaft material can be steel or stainless steel. Machine Dimensions Model C[H]41 C[H]42 C[H]43 C[H]44 C[H]1 C[H]2 C[H]3 C[H]4 C[H]61 C[H]62 C[H]63 A Min. Max [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] Dimensions are in millimeters [inches] 1. [.9] 4 "B".13[.] A "D" "E" ±1. [.9] "A".76 [.3].13[.] C CHAMFER -A- DEPTH B Min. Max [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] Dimensions C Min. Max [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] 2. D Min. Max [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] 1.6 [.63].1 [.4] A "C".1 [.4] A. [.22] MIN. -C- BEARING AXIS OF ROTATION E Min. Max [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ] [ ]

37 Machine Mounting Requirements for C(H)9x and C(H)13x This drawing details the machine interface configuration for mounting the C[H]9 and C[H]13 Cartridge DDR motors. It is important to maintain specified tolerance, concentricity, and run out to ensure proper operation and longevity of the Cartridge DDR motor. Axial Shaft Movement Note there is a static and dynamic call out for axial length. The static tolerance is the allowable variance of the shaft before the motor is mounted. The dynamic tolerance is the allowable movement of the shaft after the motor is mounted and during operation. Shaft Material The shaft material must have a minimum yield strength of, PSI. This suggests the material shall be cold rolled steel with a minimum.3% carbon content. Shaft Key The C9x and C13x Cartridge DDR motors are provided with a key. If the materials and dimensions on this page and the compression coupling torque procedure are strictly followed, then the key is not needed. The key is provided as a safety precaution to avoid severe damage to the Cartridge DDR motor and to the machine it is mounted to that can result if the compression coupling is not properly engaged during operation. No key is used on the C4x, Cx and C6x. Heat Dissipation The Cartridge DDR motor is a source of heat connected directly to the machine frame. For applications which are sensitive to heat generation, the continuous torque rating of the Cartridge DDR must be reduced. To facilitate heat sensitive applications, Cartridge DDR motors have dual continuous torque ratings, 11 C rise for maximum capacity and 8 C rise for de-rated capacity. Dimensions are in millimeters [inches] C(H)9x Dimension C(H)91 C(H)92 C(H)93 "A" "B" "C" C(H)13x Ø42.9 [1.69] MAX [ ] KEY & KEYWAY Ø42.9 [1.69] MAX SECTION D-D [1.73] 9.6 [.38] [3.4] [ ] REF [ ] SECTION D-D [ ] [ ] [3.47] [.94] [.28] [4.91] 2.4 [1.] [6.72] Ø [ ] Ø.38 [.] Ø [ ] Ø.38 [.] [.] Ø9.69 [2.3] UNDERCUT OPTIONAL KEY SUPPLIED WITH MOTOR ORIENT AS SHOWN Dimension C(H)131 C(H)132 C(H)133 "A" 9.4 [.37] 19. [.7] 4.64 [1.6] 1. [.6] X 4 2 PL "A" "C" ± 1. [.6] Static ±. [.2] Dynamic "A" 27.4 [1.8] 2 [.787] REF "B" "B" 4.39 [1.9] [3.3] [4.67] "C" [1.8] [1.71] 7.4 [2.26] "D 114. [4.49] [6.61] [9.98] Ø [ ] Ø. [.2] A-B Ø69.72 [2.74] UNDERCUT OPTIONAL FULL R, 2 PL KEY SUPPLIED WITH MOTOR ORIENT AS SHOWN [.6] X 4 Ø [ ] Ø.38 [.] -A- "C" ± 1. [.6] Static ±. [.2] Dynamic "B" "C" [.13] 63 Ø [ ] Ø.38 [.] -A- Ø. [.2] A-B 13. [.3] 2. [.1] 32 FULL RADIUS 2 PL Ø [ ] Ø. [.2] A-B BEARING AXIS OF ROTATION 63 Ø. [.2] A-B 17.8 [.7] BEARING AXIS OF ROTATION C A R T R I D G E D D R M O U N T I N G R E Q U I R E M E N T S TM 37

38 Model Nomenclature Cartridge DDR Motor C 9 1 A xxx M O D E L N O M E N C L A T U R E Product Family C = 23 Volt CH = 4/48 Volt Frame Size Field 4 = 4.2 Sq. Housing =.43 Sq. Housing 6 = 7.4 Sq. Housing 9 = 9.68 Sq. Housing 13 = Sq. Housing Stack Length Field 1 = Short Stack 2 = Mid Stack 3 = Long Stack 4 = Extra Long Stack (4 and frame sizes only) Winding Letter Field A = Standard Winding B = High-Speed Winding (C4x, Cx, C6x, C13x) C = Standard Winding (C2, C62, C63, C92, C93, C13x) D = High-Speed Winding (C2 only) Mounting Option Field 1 = Std. Flange Mount Sequential number for specials (Unique description within a frame size) Unit Seal Option Field = Sealed (Shaft Option 1 - IP64 Rating when customer seals interface side) (Shaft Option 2 or 3 - IP6 Rating when customer seals interface side) Bearing Option Field = No Bearing Design (Standard - Integral Shipping Clamp Provided) Feedback Option Field 1 = EnDat single turn absolute sine encoder (248 line) 3 = BiSS single turn absolute since encoder (248 line) 4 = BiSS multi-turn absolute since encoder (248 line) = EnDat Multi-turn absolute since encoder (248 line) Shaft Field 1 = Hollow with Compression Coupling and Key (9 and 13 frame sizes only) 2 = Solid with Compression Coupling and Key (9 and 13 frame sizes only) 3 = Solid with Split Ring Coupling and no Key (4,, and 6 frame sizes only) Connector Option Field 1 = Side Connector Option (9 and 13 frame sizes only) 2 = Rear Connector Option (9 and 13 frame sizes only) 3 = 9 Rotatable Connectors (4, and 6 frame sizes only) Note: Options shown in blue text are considered standard

39 Notes M O D E L N O M E N C L A T U R E TM 39

40 AKD Servo Drive A K D S E R V O D R I V E 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. And, 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. With Kollmorgen servo components, we can help you increase your machine s overall equipment effectiveness (OEE) by %. K O L L M O R G E N K OA LFortive L M O MOTION R G E N COMPANY

41 The Benefits of AKD Servo Drive Optimized Performance in Seconds Greater Throughput and Accuracy Easy-to-use Graphical User Interface (GUI) for Faster Commissioning and Troubleshooting Flexible and Scalable to Meet any Application 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 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 48 Arms continuous current; 9 to 96 Arms peak Very high power density enables an extremely small package True plug-and-play with all standard Kollmorgen servo motors and actuators 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, EtherNet/IP, PROFINET RT, SERCOS III, and CANopen Scalable programmability from base torque-and-velocity through multi-axis master A K D S E R V O D R I V E 41 TM

42 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. AKMH Hygienic Stainless Steel Motors AKM 2G Servo Motors Frameless Brushless Direct Drive Motors AKD -N Decentralize ed Servo Drive Cartridge DDR Motors Control of motors with AKD PDMM programmable multi-axis master Housed DDR Motors Direct Drive Linear Motors AKD Servo Drive Best-in-Class Components AKD works seamlessly with Kollmorgen motors and actuators well-known for quality, reliability, and performance. Linear Actuatorstors Multi-Axis Precision Tables

43 H D 48V 12 / 24 Vac 1 & 3 Phase (8-26 V) W General Specifications Continuous Current (Arms) 24V Peak Current (Arms) 3A, 6A, 48V 24V Drive Continuous Output Power Capacity (Watts) 24V Industry-leading power density Internal Regen (Watts) (Ohms) Height mm (in) Width mm (in) 48V Depth mm (in) Depth with Cable Bend Radius mm (in) A K D S E R V O D R I V E AKD-x (6.61) 9 (2.32) 6 (6.14) 184 (7.24) AKD-x (6.61) 9 (2.32) 6 (6.14) 184 (7.24) 196 AKD-x AKD s Kollmorgen 4 Rotary 1 Motor Coverage (7.72) 78 (3.7) 187 (7.36) 2 (8.46) AKD-x (9.72) 1 (3.94) 228 (8.98) 26 (1.43) 24/48 Vac 3 Phase ( 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-x (1.8) 7 (2.76) 18 (7.28) 221 (8.7) 26 AKD-x (1.8) AKD s Kollmorgen Linear Positioner Coverage AKD-x (1.8) 7 (2.76) 7 (2.76) 18 (7.28) 18 (7.28) 221 (8.7) 221 (8.7) AKD-x , (12.1) (4.13) 228 (8.98) 264 (1.39) AKD-x , 38 (.16) 18 (7.28) 22 (8.86) 26 (1.23) Note: For complete AKD model nomenclature, refer to pages 46. /TCP TM 43 9

44 AKD Servo Drive Range of Coverage When you pair the AKD servo drive with any of our Kollmorgen motors or linear actuators, you ll achieve optimized performance. From 3 to 48 Arms continuous current and 9 to 96 Arms peak current, the feature-rich AKD provides a solution for nearly any application. A K D S E R V O D R I V E AKD Servo Drive 24 Vac 48 Vac AKD Power Range 16,, Continuous Peak , 1, 1, Drive Output Power (watts) AKM 18 [1,9] 324 [2,86] Continuous Peak Kollmorgen Rotary Motors AKMH DDR CDDR KBM 22 [19] 92 [814] 339 [3,] 1,34 [11,9] 1 [4,1] 1,7 [9,89] 38 [4,762] 1,2 [1,621] TBM 1 [121] 36 [427] 1 1 1, 1, Continuous Torque at Stall - Nm [lb-in] ** AKM Compatible Micron Gearboxes available up to, Nm Kollmorgen Linear Actuators Precision Tables Rodless Actuators Electric Cylinders 1,98 [4] 3,1 [7] 2, [,62] Continuous Peak , 1, 1, Continuous Thrust at Speed - N [lbs]

45 Feedback & I/O AKD servo drive is specifically designed with the versatility, communications, and power you need to expand machine performance and increase integration speeds. Motor set-up is plug-and-play and multiple Ethernet connectivity options provide both open and closed protocols. Online troubleshooting and data verification enable faster, bug-proof programming. And a broad power range in a smaller, compact design allows you to use these robust drives with a single interface while experiencing industry-leading, high-performance servo loops. AKD Specifications Encoder Output or AUX Encoder Input Standard Drive 2. MHz Maximum line frequency With I/O expansion - AKD-T only A K D S E R V O D R I V E Feedback Logic supply Smart Feedback Device (SFD), EnDat2.2, EnDat2.1, BiSS, analog Sine/Cos encoder, incremental encoder, HIPERFACE, and resolver 24 Vdc Digital input (24 Vdc) Digital output (24 Vdc) 8 (1 dedicated to enable) 3 (1 dedicated to fault relay) 2 (1 dedicated to enable) 13 (1 dedicated to fault relay) Analog input (+/- 1 Vdc, 16-bit) 1 2 Analog output (+/- 1 Vdc, 16-bit) 1 2 Programmable inputs 7 19 Programmable outputs 2 12 Sink/Source inputs/outputs Yes Yes TM

46 AKD Servo Drive M O D E L N O M E N C L A T U R E AKD Series Version B = Base drive C = Central power supply for AKD-N (Requires CB Extention) N = Decentralized drive (Requires DB, DF, or DS Extention) P = Position indexer (motion tasking) T = AKD BASIC Language Programmable drive (Requires IC or NB Extention) M = Multi-axis Master Drive (Requires MC Extension option, and EC Connectivity option) Current Rating 3 = 3 Amp 6 = 6 Amp 1 = 1kW (for AKD-C, this field refers to power.) 12 = 12 Amp 24 = 24 Amp 48 = 48 Amp Voltage AKD B 3 6 NB AN 6 = 12/24 Vac 1Ø/3Ø (24 Amp Drive: 24 Vac 3Ø only) 7 = 24/48 Vac 3Ø (Version C: 7 = 4/48 Vac 3Ø Version N: 7 = 6/68 Vdc) Extension Connectivity* Variants AN = Analog command CN = CANopen EC = EtherCAT EI = EtherNet/IP PN - PROFINET SQ = SynqNet = Standard *Motion Tasking is included as a free upgrade with CN, EC, EI and PN Drive Version Availability B, P, T P C, M, N, P P P B CB = without extention (AKD-C version only) DB = hybrid motor cable (AKD-N version only) DF = additional EtherCAT port + feedback connector (AKD-N version only) DS = local STO + feedback connector (AKD-N version only) IC = Expanded I/O version and SD card slot (AKD-T version only) NB = Without extensions Note: Options shown in blue text are considered standard

47 MOTIONEERING Online MOTIONEERING Online Kollmorgen has revamped, modernized and put online one of the most respected applications sizing programs of the last 2 years. You now can access this application sizing and selection tool wherever you have access to the internet. MOTIONEERING Online is just a start of a series of releases that will empower you to optimize solutions for your toughest applications. Sizing frameless motors and drive systems has never been easier. Using a mechanism project concept for collecting and saving multiple axes of load information, MOTIONEERING Online can automatically calculate application results and compare against a catalog of systems - recommending the most optimized set of Kollmorgen system solutions available. Versatile units-of-measure selection options for mechanism and motion profile data-entry, with the ability to convert data into other available units, makes this a convenient international tool. A user-friendly Help file teaches program functions and algorithms used to provide results. Mechanism Projects Direct drive entry, lead screw, conveyor Rack and pinion, nip rolls Direct Drive Rotary Electric Cylinder Direct data entry 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 Solution Set Search Screen Color-coded indication of system s ability to meet application requirements Review system components specifications Save, print, or create a pdf application report Evaluate system performance curve with application points MOTIONEERING Online Features: Inertia Calculator - lets you build up inertia based on odd shapes by additive or subtractive methods Custom Motion Profile - easy to add entire segments or copy segments to repeat Environmental Factor - takes into account your ambient temperature Project by Project Units - You can tailor your units on a project by project basis, or use the global units settings MOTIONEERING Online Supported Browsers IE, Chrome, Firefox, Safari TM 47

48 About Kollmorgen Since its founding in 1916, Kollmorgen s innovative solutions have brought big ideas to life, kept the world safer, and improved peoples lives. Today, its world-class knowledge of motion systems and components, industry-leading quality, and deep expertise in linking and integrating standard and custom products continually delivers breakthrough motion solutions that are unmatched in performance, reliability, and ease-of-use. This gives machine builders around the world an irrefutable marketplace advantage and provides their customers with ultimate peace-of-mind. For assistance with your application needs in North America, contact us at: , support@kollmorgen.com or visit for a global contact list. Gothenburg Santa Barbara Tijuana Marengo Boston Radford Ratingen Brno Milan Istanbul Mumbai Beijing Tianjin Seoul Shanghai Shenzhen Hong Kong Tokyo Nagoya São Paulo Application Centers Global Design & Manufacturing Global Manufacturing Kollmorgen 23A West Rock Road Radford, VA USA Phone: Fax: Kollmorgen Europe GmbH Pempelfurtstraße Ratingen Germany Phone: +49 () Fax: +49 () Kollmorgen Asia Floor 4, Building 9, No. 18, North Fuquan Road, Changning District, Shanghai 233, China Phone: Kollmorgen Aerospace and Defense 1 West Main Street Radford, VA USA Phone: Fax: Kollmorgen Corporation. All rights reserved. KM_SG_79_RevD_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.

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