NeoMetric Series Brushless servo motors

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1 Compumotor NeoMetric Series Brushless servo motors 6 to 62 lb-in continuous torque Brushless construction High torque density packaging 4 week deliveries Outstanding torque-to-inertia ratios Bridged stator design quiet operation High performance neodymium magnets Thermoswitch protection TENV housing, IP65 or IP67 operation Resolver, encoder, Hall feedback options Two year warranty CAD (.dxf) drawings available The NeoMetric Series continues Compumotor s innovative design and manufacturing techniques in brushless servo motor technology. State-of-the-art engineering establishes industry leading torque to inertia ratios in a very compact package size. These same design principles also allow advanced manufacturing techniques. The bridged stator construction reduces audible noise and simplifies stator assembly. Conventional motor designs allow magnetic forces to act upon the stator teeth creating movement in them much like a cantilever beam. The bridges between the teeth in the NeoMetric design effectively stiffen the teeth reducing movement. This effectively reduces mechanical noise generation within the motor. The two piece stator lamination allows the slot opening, traditionally on the inside diameter, to be transferred to the outside diameter, simplifying winding insertion. We extend our engineering expertise to our customers in OEM applications, customizing winding characteristics to the amplifier of choice, and meeting application performance criteria. Part Numbering System N Frame, Magnet Length Winding Feedback Shafting Connections Options NeoMetric Series xxxy xxx = flange dia. 7 for 7 mm 34 for 34 frame 92 for 92 mm y = magnet length reference 1 to 4 Identifying character D, E, F, etc. D 5 ppr encoder 2 E 1, ppr encoder H Hall-effect only R resolver N normal F flat K keyway bl FL MS TQ PT mm motors only 2 7 mm and 34 frame motors only B brake N none V IP65 W IP67 Example: N73FE-KMSB 1 Call us with your special requirements.

2 7 mm or 34 frame, Resolver Feedback Parameter Symbol Units N71 N72 N73 N74 or N341 or N342 or N343 or N344 Winding Selection D F E F F G F G Stall Torque 1 T cs lb-in Stall Current 1, 2 I cs amperes-rms Rated Speed w r rpm Torque 1 T pk lb-in Current, rms 1, 6 I pk amperes Rated Speed 1 T c lb-in Rated Power Output Shaft 1 P o watts Voltage Constant 3, 4 K b volts/radian/sec Voltage Constant 3, 4 K e volts/krpm Torque Constant 3, 4 K t lb-in/amp rms Resistance 3 R ohms Inductance 5 L millihenries Thermal Resistance 1 R th C/watt Motor Constant Km lb-in- watt Viscous Damping B lb-in/krpm Torque-Static Friction T f oz-in Thermal Time Constant τ th minutes Electrical Time Constant τ e milliseconds Mechanical Time Constant τ m milliseconds Rotor Inertia J lb-in-sec Weight # pounds Winding Class H H H H For dimensions, bearing load and connection information, see pages C ambient with 1 x 1 x.25 in. mounting plate, 15 C winding temperature. 2 RMS current through a single motor phase of a sinusoidally driven motor. 3 ±1% line-to-line 4 value 5 ±3%, line-to-line, inductance bridge 1 khz 6 current for 2 second maximum with initial winding temperature of 4 C All specifications are subject to engineering change. NeoMetric Feedback Specifications Resolver Schematic Diagram Resolver Specifications R2 R1 WHITE BROWN ROTOR PRIMARY Phasing Equation: For CW rotation of rotor facing mounting flange end. E S1-S3 = KE R1-R2 COS Ø E S2-S4 = -KE R1-R2 SIN Ø BLUE S4 GREEN S2 RED BLACK S3 S1 STATOR SECONDARY Parameter Value Input 7 khz 4.25 volts Input current, max 55 ma Input power, nominal.12 watts Impedance ZSO (@ 9 ) 58+j145 ohms Impedance ZRO 53+j72 ohms Impedance ZRS 42+j55 ohms Transformation ratio.47 ±5% Output voltage 2. ±5% volts DC rotor resistance 23 ±1% ohms DC stator resistance 19 ±1% ohms Sensitivity 35 mv/degree Max error from EZ ±1 minutes Phase shift, open circuit 5 leading, ±3" Null voltage, total 2 mv rms Impedance ZSS 5+j128 ohms Inertia Incl. with motor spec. Call us with your special requirements. 2

3 7 mm or 34 frame, Resolver Performance Curves 2. N71DR 32vdc bus, lcs=2.7, lpk=8 2. N71FR 32vdc bus, lcs=4.1, lpk= N72ER 32vdc bus, lcs=3, lpk= N72FR 32vdc bus, lcs=4.2, lpk= N73FR 32vdc bus, lcs=4.1, lpk= N73GR 32vdc bus, lcs=5.8, lpk= N74FR 32vdc bus, lcs=4.3, lpk=13 8. N74GR 32vdc bus, lcs=6, lpk= Call us with your special requirements.

4 7 mm or 34 frame, Encoder Feedback Parameter Symbol Units N71 N72 N73 N74 or N341 or N342 or N343 or N344 Winding Selection D F E F F G F G Stall Torque 1, 4 T cs lb-in Stall Current 1, 2 I cs amperes-rms Rated Speed 7 w r rpm Torque 1 T pk lb-in Current, rms 1, 6 I pk amperes Rated Speed 1 T c lb-in Rated Power Output Shaft 1 P o watts Voltage Constant 3, 4 K b volts/radian/sec Voltage Constant 3, 4 K e volts/krpm Torque Constant 3, 4 K t lb-in/amp rms Resistance 3 R ohms Inductance 5 L millihenries Thermal Resistance 1 R th C/watt Motor Constant Km lb-in- watt Viscous Damping B lb-in/krpm Torque-Static Friction T f oz-in Thermal Time Constant τ th minutes Electrical Time Constant τ e milliseconds Mechanical Time Constant τ m milliseconds Rotor Inertia J lb-in-sec Weight # pounds Winding Class H H H H For dimensions, bearing load and connection information, see pages C ambient with 1 x 1 x.25 in. mounting plate, 9 C encoder temperature. 2 RMS current, line-to-line, six state commutation 3 ±1% line-to-line 4 value 5 ±3%, line-to-line, inductance bridge 1 khz 6 current for 2 second maximum with initial winding temperature of 4 C 7 For E, encoder option, 1 ppr, maximum velocity is 6 RPM All specifications are subject to engineering change. NeoMetric Feedback Specifications Encoder Specifications Mechanical Electrical Accuracy Input power Operating frequency Output device Sink/Source, nominal Suggested user interface ±2 min of arc 5 VDC ±5%, 135 ma 1 khz max 26LS31 2 ma 26LS32 Commutation Chart Clockwise rotation as viewed from front shaft. Phase B-A Phase A-C Phase C-B Hall-effect Specifications Electrical Input power Output device open collector Maximum pull up Sink 5 VDC ±5%, 8 ma LM VDC 16 ma Hall #1 Hall #2 Hall #3 Call us with your special requirements. 4

5 7 mm or 34 frame, Encoder Performance Curves 2. N71DD 16vdc bus, lcs=2.92, lpk= N71FD 16vdc bus, lcs=4.5, lpk= N72EE 16vdc bus, lcs=3.3, lpk= N72FE 16vdc bus, lcs=4.7, lpk= N73FE 16vdc bus, lcs=4.6, lpk= N73GE 16vdc bus, lcs=6.4, lpk= N74FE 16vdc bus, lcs=4.7, lpk= N74GE 16vdc bus, lcs=6.5, lpk= Call us with your special requirements.

6 92 mm, Resolver Feedback Parameter Symbol Units N921 N922 N923 N924 Winding Selection F G G J H K J K Stall Torque 1 T cs lb-in Stall Current 1, 2 I cs amperes-rms Rated Speed w r rpm Torque 1 T pk lb-in Current, rms 1, 6 I pk amperes Rated Speed 1 T c lb-in Rated Power Output Shaft 1 P o watts Voltage Constant 3, 4 K b volts/radian/sec Voltage Constant 3, 4 K e volts/krpm Torque Constant 3, 4 K t lb-in/amp rms Resistance 3 R ohms Inductance 5 L millihenries Thermal Resistance 1 R th C/watt Motor Constant Km lb-in- watt Viscous Damping B lb-in/krpm Torque-Static Friction T f oz-in Thermal Time Constant τ th minutes Electrical Time Constant τ e milliseconds Mechanical Time Constant τ m milliseconds Rotor Inertia J lb-in-sec Weight # pounds Winding Class H H H H For dimensions, bearing load and connection information, see pages C ambient with 1 x 1 x.25 in. mounting plate, 15 C winding temperature. 2 RMS current through a single motor phase of a sinusoidally driven motor. 3 ±1% line-to-line 4 value 5 ±3%, line-to-line, inductance bridge 1 khz 6 current for 2 second maximum with initial winding temperature of 4 C All specifications are subject to engineering change. NeoMetric Feedback Specifications Resolver Schematic Diagram R2 R1 WHITE BROWN ROTOR PRIMARY Phasing Equation: For CW rotation of rotor facing mounting flange end. E S1-S3 = KE R1-R2 COS Ø E S2-S4 = -KE R1-R2 SIN Ø BLUE S4 GREEN S2 RED BLACK S3 S1 STATOR SECONDARY Resolver Specifications Parameter Value Input 7 khz 4.25 volts Input current, max 55 ma Input power, nominal.12 watts Impedance ZSO (@ 9 ) 58+j145 ohms Impedance ZRO 53+j72 ohms Impedance ZRS 42+j55 ohms Transformation ratio.47 ±5% Output voltage 2. ±5% volts DC rotor resistance 23 ±1% ohms DC stator resistance 19 ±1% ohms Sensitivity 35 mv/degree Max error from EZ ±1 minutes Phase shift, open circuit 5 leading, ±3" Null voltage, total 2 mv rms Impedance ZSS 5+j128 ohms Inertia Incl. with motor spec. Call us with your special requirements. 6

7 92 mm, Resolver Performance Curves 6. N921FR 32vdc bus, lcs=3.77, lpk= N921GR 32vdc bus, lcs=5.2, lpk= N922GR 32vdc bus, lcs=5.6, lpk= N922JR 32vdc bus, lcs=8.67, lpk= N923HR 32vdc bus, lcs=7.9, lpk= N923KR 32vdc bus, lcs=13.85, lpk= N924JR 32vdc bus, lcs=8.64, lpk= N924KR 32vdc bus, lcs=12, lpk= Call us with your special requirements.

8 92 mm, Encoder Feedback Parameter Symbol Units N921 N922 N923 N924 Winding Selection F G G J H K J K Stall Torque 1, 4 T cs lb-in Stall Current 1 I cs amperes-rms Rated Speed 2 w r rpm Torque 1 T pk lb-in Current, rms 1, 6 I pk amperes Rated Speed 1 T c lb-in Rated Power Output Shaft 1 P o watts Voltage Constant 3, 4 K b volts/radian/sec Voltage Constant 3, 4 K e volts/krpm Torque Constant 3, 4 K t lb-in/amp rms Resistance 3 R ohms Inductance 5 L millihenries Thermal Resistance 1 R th C/watt Motor Constant Km lb-in- watt Viscous Damping B lb-in/krpm Torque-Static Friction T f oz-in Thermal Time Constant τ th minutes Electrical Time Constant τ e milliseconds Mechanical Time Constant τ m milliseconds Rotor Inertia J lb-in-sec Weight # pounds Winding Class H H H H For dimensions, bearing load and connection information, see pages C ambient with 1 x 1 x.25 in. mounting plate, 9 C encoder temperature. 2 RMS current, line-to-line, six state commutation 3 ±1% line-to-line 4 value 5 ±3%, line-to-line, inductance bridge 1 khz 6 current for 2 second maximum with initial winding temperature of 4 C All specifications are subject to engineering change. NeoMetric Feedback Specifications Encoder Specifications Mechanical Electrical Accuracy Input power Operating frequency Output device Sink/Source, nominal Suggested user interface ±2 min of arc 5 VDC ±5%, 135 ma 1 khz max 26LS31 2 ma 26LS32 Commutation Chart Clockwise rotation as viewed from front shaft. Phase B-A Phase A-C Phase C-B Hall-effect Specifications Electrical Input power Output device open collector Maximum pull up Sink 5 VDC ±5%, 8 ma LM VDC 16 ma Hall #1 Hall #2 Hall #3 Call us with your special requirements. 8

9 92 mm, Encoder Performance Curves 5. N921FE 16vdc bus, lcs=4.16, lpk= N921GE 16vdc bus, lcs=5.76, lpk= N922GE 16vdc bus, lcs=6.2, lpk= N922JE 16vdc bus, lcs=9.5, lpk= N923HE 16vdc bus, lcs=8.69, lpk= N923KE 16vdc bus, lcs=15.27, lpk= N924JE 16vdc bus, lcs=9.5, lpk= N924KE 16vdc bus, lcs=13.3, lpk= Call us with your special requirements.

10 Mechanical Drawings Size 7 Brushless Servo Motor Dimensions N71, N72, N73, N74 Brake Option -B MS Connectors -MS, -TQ Cable -1, -25 Flying Leads -FL Ø.43 (11) Shaft Options.197 (5).49 (1.4) - N (None) - F (Flat) 2.5 (52.1) 4 x Ø.228 (5.8) Thru Holes Eq Spaced on a Ø (75.) Bolt Circle for 5mm or #1 Bolt.91 (23.1).93 (2.36) Feedback Conn MS Motor Conn MS (12.7).158 (4.1) - K (Sq. Key).492 (12.49) Motor Sizes 2.75 (69.85) Sq. Ø ( ).7) Ø ( ).2).53 (13.46) Motor Length 3.26 (82.8) Motor Length 1. (254.) 9. (228.6) 8. (23.2) 7. (177.8) 7.94 (21.68) 6.94 (176.28) 5.94 (15.88) 4.94 (125.48) Model 7-4 Brake 7-3 Brake 7-2 Brake 7-1 Brake Size 34 Brushless Servo Motor Dimensions N341, N342, N343, N344 Brake Option -B MS Connectors -MS, -TQ Cable -1, -25 Flying Leads -FL Shaft Options.228 (5.8) Ø.5 (12.7).473 (12.1) - N (None) - F (Flat) 2.5 (52.1) 4 x Ø.223 (5.66) Thru Holes Eq Spaced on a Ø (98.43) Bolt Circle for 5mm or #1 Bolt 1.19 (3.23).63 (1.6) Feedback Conn MS Motor Conn MS (12.7).125 (3.175) - K (Sq. Key).56 (14.22) Motor Sizes 3.25 (82.6) Sq. Ø ( ) Ø ( ).12).25 (6.35) Motor Length 3.26 (82.8) Motor Length 1. (254.) 9. (228.6) 8. (23.2) 7. (177.8) 7.94 (21.68) 6.94 (176.28) 5.94 (15.88) 4.94 (125.48) Model 34-4 Brake 34-3 Brake 34-2 Brake 34-1 Brake Call us with your special requirements. 1

11 Mechanical Drawings Size 92 Brushless Servo Motor Dimensions N921, N922, N923, N924 Brake Option -B MS Connectors -MS, -TQ Shaft Options.25 (6.4) Ø.5512 (14).521 (13.23) - N (None) - F (Flat) 2.35 (59.7) Feedback Conn MS Motor Conn MS (16).197 (5).63 (16) 4 x Ø.281 (7.14) Thru Holes Eq Spaced on a Ø (1) Bolt Circle for 6mm or 1/4" Bolt 1.18 (29.97).93 (2.36) - K (Sq. Key) Motor Sizes Motor Length 13.5 (342.9) Model 92-4 Brake 12. (34.8) 92-3 Brake Ø ( ).7) 4.1 (14.9) 1.5 (266.7) 9. (228.6) (282.7) 9.63 (244.6) 92-2 Brake 92-1 Brake (26.5) (91.95) Sq. Ø ( ).2).53 (13.46) Motor Length 6.63 (168.4) 92-1 Note: For PT option add 1.4 inches Bearing Load and Life Information 14. Motor Bearing System Life Fr=1#, Fa=1# 3. Motor Bearing System Life Fr=1#, Fa=1# L1 Life (years) N71 N74 L1 Life (years) N921 N Speed (rpm) Speed (rpm) 7 mm or 34 Frame Bearing Chart 92 mm Bearing Chart Electrically Released Brakes Brakes 7 mm or 34 Frame 92 mm Static rated torque 24 in-lb 72 in-lb Coil voltage 24 VDC 24 VDC Coil current.8 amps.52 amps Weight 1. lbs 2.51 lbs Inertia.38 lb-in-sec 2.15 lb-in-sec 2 11 Call us with your special requirements.

12 Connection Diagrams Motor: 7 mm or 34 frame (N71, N72, N73, N74) or (N341, N342, N343, N344) Pin No. Designation MS14-12 Wire Color Phase A J Red/Yellow Phase B K White/Yellow Phase C L Black/Yellow Ground M Green/Yellow Shield NC Continue for H or TQ Options Temp G Orange/Yellow Temp H or Yellow (T) Hall GND F White/Green Hall +5 B White/Blue Hall 1 C White/Brown Hall 2 D White/Orange Hall 3 E White/Violet Resolver Feedback Pin No. Designation MS14-18 Wire Color S1 E Black S2 L Green S3 J Red S4 G Blue R1 C Brown R2 U White Temp R Yellow/Orange Temp N or Yellow (T) Brake Option Brake S Red/Blue Brake T Red/Blue Motor: 92 mm (N921, N922, N923, N924) Pin No. Designation MS18-5 Wire Color Phase A A Red/Yellow Phase B B White/Yellow Phase C C Black/Yellow Ground D Green/Yellow Shield NC Encoder/Commutation Connections Pin No. Designation MS14-18 Wire Color Encoder +5 VDC H Red Ground G Black CH A+ A White CH A- B Yellow CH B+ C Green CH B- D Blue Index + E Orange Index - F Brown Commutation Hall GND K White/Green Hall +5 M White/Blue Hall 1 T White/Brown Hall 2 U White/Orange Hall 3 P White/Violet Temp L Orange/Yellow Temp N or Yellow (T) Brake Option Brake R Red/Blue Brake S Red/Blue Parker Hannifin Corporation Compumotor Division 55 Business Park Drive Rohnert Park, CA FAX: Call us with your special requirements. 12 7/98 5K, SC/JB Printed in USA