Product Profile. LC Family of Linear Motors. LC Family of Linear Motors. Product Features. High Performance Steel Core Linear Motor

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1 amily of inear Motors Product eatures Steel core design for high force density Sinusoidal flux density and low-cog design yields smooth motion Robust design for heavy duty applications Optional ooling Modular magnet tracks permit unlimited travel Internal thermal sensor gives added motor protection IP 65 Rated Ideal for: Pick and place igh speed assembly ight machining eneral automation igh Performance Steel ore inear Motor norad's family of steel core linear motors represents the most advanced linear motor technology available. rawing on 25 years of linear motor experience, norad, the inventor of the brushless linear servo motor, has once again raised the performance bar. amily of inear Motors The linear motor utilizes a unique patent pending laminated steel core design. oupled with the latest magnetic materials and optimized by 3 inite lement nalysis (), a very high force density is achieved. The motors are available in models with continuous forces from 19 lb f to 1272 lb f, and peak forces from lb f to 209 lb f. The motor is an extremely robust and environmentally protected design. Unlike other linear motors that have the coil laminations exposed in the air gap, the motor uses a novel method of molding that completely encapsulates the face of the motors effectively sealing the laminations. Stainless steel shrouds cover the magnet tracks providing additional protection as well as an aesthetically pleasing look. or servo drives that require commutation feedback, an optional digital all effect feedback module may be attached to the front of the motor coil. The may also be commutated via software. norad offers a full line of compatible servo controls and drives. Product Profile

2 dvantages of inear Motors Unlimited Travel norad motors do not have limitations on travel displacements. Since the stationary magnet assemblies can be easily joined together to form any length of motor, travel can be made as long as necessary. Since the same moving coil assembly could be used for any travel, there is no tradeoff in performance as a function of travel. Screw driven systems, on the other hand, have critical speed limitations and higher inertia with added length. Speed limitations, high inertia, and low stiffness are major performance trade-offs with larger travels with other drive techniques. Velocity norad linear servo motors can be used in both very low and very high velocity applications, all with very high precision. They can precisely operate at velocities ranging from less than 1 µm/sec ( /sec) to more than 10 m/sec (00 /sec). all screws and lead screws have critical speed limitations. elt drives exhibit lower stiffness. Rack-and-pinion drives typically have backlash and poor low velocity performance. cceleration norad linear motors have a high ratio of peak force to motor inertia (about 30:1). Therefore, almost all the motor force can be used to accelerate the moving load and perform useful work. In typical screw-driven systems, a large portion of the motor torque is lost in overcoming the rotary inertia of the motor, coupling and screw. ccuracy and Repeatability With norad linear motors, the only limit to total system accuracy and repeatability is the sensing device and the bearings of the positioning system. In rotary driven systems there are additional factors which effect these performance variables, including backlash, hysteresis, lost motion and jitter. Smoothness Of Motion rushless linear servo motors can provide extremely smooth motion, since they have no contacting surfaces to cause jitter. Ultimate smooth motion is achieved with norad s sinusoidalcommutated zero cogg non-ferrous motors. y contrast, ball screws are not as smooth due to the vibrating nature of the balls entering and exiting the ball nut raceways, which is easily observed in sub-micron systems. elt and rack-andpinion drives also have contacting mechanisms which are susceptible to friction and backlash caused vibrations. Stiffness norad linear servo motors have very high stiffness, typically higher than a stage s bearings and structural members. With ball screws and rack-and-pinion drives, the couplings, ball nut, and pinions are the highest contributors to low stiffness of a stage. ow stiffness reduces frequency response and increases settling times. Maintenance and ife xpectancy norad brushless linear servo motors have no contact between the two working members. Therefore, they have an extremely long, virtually maintenance-free life. The noncontact design eliminates lubrication and periodic adjustment to compensate for wear. Rotary driven mechanisms require regular lubrication and occasional replacement due to wear. leanroom and Vacuum pplications Since the coil assembly and the magnet assembly of linear servo motors do not make contact, they are ideally suited for clean room and vacuum applications. norad manufactures linear motors specifically for 10-9 torr and high vacuum applications, using special material and manufacturing processes. norad is the world leader in vacuum preparation, cleaning, and materials selection fo these critical applications. 2

3 Motor efinitions orce (ctmax) The force produced by continuous current (I ctmax ), all the phases sharing the load, provided the coil is secured through an adequate thermal heatsink as specified. This scenario produces a coil temperature equal to the T max rating for the motor. Peak orce (p) The force produced by peak current (Ip). Motor onstant (Km) This is a figure of merit for motor efficiency. It is the ratio of the continuous force (three phases) ctmax to the square root of the motor power losses in the 3 phases. Thermal Resistance (R th ) The equivalent thermal resistance of the motor, determined by the ratio of coil temperature rise (for example 110 for series) to the total power motor losses in the three phases. We assume the motor is mounted on a heat sink of at least the size specified in this catalog, with ambient temperature below 20 and with a stroke of at least twice the coil length. Max Power issipation (PcTmax) The continuous power losses of the motor when the RMS current in the coil is IcTmax and the ambient temperature below 20. Maximum pplied us Voltage (V ) This is the maximum allowable us voltage that can be applied to the coil. lectrical ycle (c) This is the length of the electrical cycle and corresponds to twice the magnet length (orth to orth). lectrical Time onstant (τ e ) The time it takes for a step current input to the coil to reach 63% of its final value by overcoming the resistance and the inductance of the coil. Magnetic Track Mass (Mm) The mass of the magnetic track per unit of length. orce onstant (Kf) The ratio between the motor continuous force (ctmax) to the motor continuous current (IcTmax). ack M onstant p-p (Ke) The ratio between the back emf voltage in volt peak to the motor speed. Peak urrent (Ip) The magnitude of the 3 phase sinusoidal currents that need to be applied to the motor to develop the motor peak force (p). urrent (IcTmax) The continuous current corresponding to the continuous orce. This is a sinusoidal current which can be expressed either in mp 0-peak or in mp rms. Resistance 20 (R 20 ) This is the cold coil resistance measured phase to phase (line to line) at 20. Inductance p-p () This is the coil inductance measured phase to phase (line to line). Magnetic ttraction (a) The magnetic attraction force exerted between the coil assembly and its magnet assembly, measured at the nominal air gap. oil Mass (Mc) The mass of the coil including the standard cable length. Maximum oil Temperature (Tmax) The maximum rated service temperature of the coil = 130. owever, good practice is to limit the RMS current to no more than 0% of the rated continuous current (IcTmax). 3

4 Specifications -030-XXX Performance Parameters Symbol Units ooling Method W W W W W W ctmax orce 1 (lb f ) Peak orce 2 p (lb f ) / _ - W _ Motor onstant 1 K M (lb f/ _ - W _ ) Thermal Resistance Max Power issipation 2 (1) 1 (2) 11.7 (2.6) 102 (23) 1 (2) 11.7 (2.6) 123 (2) 1 (2) 11.7 (2.6) 16 (37) 375 () 16.5 (3.7) 205 (6) 375 () 16.5 (3.7) 26 (55) 375 () 16.5 (3.7) 26 (55) 563 (127) 20.3 (.6) 307 (69) 563 (127) 20.3 (.6) 369 (3) 563 (127) 20.3 (.6) 32 (7) 751 (169) 23. (5.3) 10 (92) 751 (169) 23. (5.3) 92 (110) 751 (169) 23. (5.3) 92 (110) 1126 (253) 2.6 (6.) 61 (13) 1126 (253) 2.6 (6.) 737 (166) 1126 (253) 2.6 (6.) 655 (17) 1501 (337) 33.1 (7.) 19 (1) 1501 (337) 33.1 (7.) R th /W P ctmax W Maximum pplied us Voltage 7 V Volts lectrical ycle lectrical Time onstant Maximum oil Temperature c mm τ e msec T max Winding Type orce onstant 1, 6 K / pk (lb f / pk ) ack M V K p /m/s onstant p-p e 3,, 6 (V p /in/s) Peak urrent I p pk 1.2 (.1) 21.5 (0.55) 12.1 (.6) / / / 1.2 (.1) 21.5 (0.55) 2.3 (17.1) 36. (.2) 3.0 (1.09) 12.1 (.6) 1.2 (.1) 21.5 (0.55) 36. (25.7) 5.6 (12.3) 6.5 (1.6) 12.1 (.6) 1.2 (.1) 21.5 (0.55).5 (3.3) 36. (.2) 3.0 (1.09) 2.3 (17.1) 1.2 (.1) 21.5 (0.55) 72. (51.) 36. (.2) 3.0 (1.09) 36. (25.7) 1.2 (.1) 21.5 (0.55) 97.0 (6.6) 93 (221) 1501 (337) 33.1 (7.) 36. (.2) 3.0 (1.09).5 (3.3) ooling Type W W W W W W W W W W W W urrent 1, I ctmax pk (3.1) (.0) 6. / / / (.) 9.0 (6.) 11.3 (.0) (9.5) (3.2) (.0) (.) (9.5) (11.9) (1.3) (3.2) (.0) (.) (12.7) (15.9) (19.1) (6.) (.0) (9.5) (19.1) (23.9) (2.6) (9.5) (11.9) (1.3) (25.5) (31.) (3.2) (12.7) (15.9) (19.1) Resistance p-p 3, R 20 ohm / Inductance p-p 3 m 21.6 / Mechanical Parameters Magnetic ttraction a (lb f ) oil Mass 5 M c kg (lb m ) Magnetic Track Mass M n kg/m (lb/in) 1.2 (2.) 393 () 1.0 (3.1).712 (0.26) 1.0 (3.1) 2.23 (.9) 76 (177) 2.6 (5.).712 (0.26) 2.6 (5.) 3.20 (7.0) 1179 (265) 3.5 (7.).712 (0.26) 3.5 (7.).17 (9.2) 1572 (353).62 (10.2).712 (0.26).62 (10.2) 6.03 (13.3) 235 (530) 6.66 (1.7).712 (0.26) 6.66 (1.7) 7.9 (17.5) 31 (707).0 (19.).712 (0.26).0 (19.) otes: = o ooling, = ir ooling, W = Water ooling Motor performance specifications are with sinusoidal commutation. 1 forces, motor constant and current listed are with coils at maximum temperature 130, mounted to a 1 aluminum heat sink whose area is noted in the table, and at 20 ambient. 2 Max on time 1 sec. In certain applications, the motor may produce significantly higher peak forces. Please contact norad pplications ngineering for details. 3 ll winding parameters listed are measured line-to-line (phase-to-phase). ack M Voltage Motor Phasing iagram W-U U-V ll currents and voltages listed are measured 0-peak of the sine wave unless noted rms. 5 and W include mass of cooling plate. onsult norad for low and Pressure for air cooled and water cooled version. 6 ll specifications are ±10%. Phase-to-phase inductance is ±30%. 7 Maximum cable length 10 meters. Please consult factory concerning applications requiring longer cables. ll specifications are at the standard referenced air gap. igital all Signals V-W S1 S2 S ote: Phasing direction is coil moving towards motor power cable.

5 [ ] oil ssembly -030-XXX [0.591] [0.9] M5 X 0. X 15MM TOT PT TRS STRT 5MM P Optional ooling Plate P-030-XXX [0.53] [0.591] Ø5.50 [.216] S T OR QTY Magnet Track M-030-XXX* 2.50 [.965] "" PS oil and ooling Plate imensions oil Size ole Qty () latness -- eat Sink 030 x (5.2) 150 x 200 (6 x ) 030 x (9.21) (3.937) 1 (6.562) 150 x 300 (6 x 12) 030 x (13.15) (7.7) 2 (10.99) x 00 (6 x 16) 030 x (17.09) (11.11) 3 (1.36) x 500 (6 x 20) 030 x (2.96) (19.66) (22.310) x 750 (6 x 30) 030 x (32.) (20.997) (2.93) (27.559) (30.1) (0.05) 150 x 1000 (6 x 0) +/- [+/-.010] imensions mm [in] X 50.0 MOUTI O IMSIO ±0.13 [2.115 ±0.005] 5.72±0.13 [1.00 ±0.005] OPTIO OOI PT SSMY (Ø.25" TUI) [1.11] OPTIO T MOU Ø6.0 [.2] (YI S) TRMISTOR Ø3.0 [.12] (YI S) POWR O SI S TUTIO (YI S) -- S TUTIO.00 ±0.13 [0.315 ±0.005] 30.0 [1.1] 27.5 [1.0] 3.00 [1.96] Ø 6.35 [0] O OPPR TUI R IR P 1.22 ±0.2 [.05 ±0.16] [2.362] 31.2 [1.230] R Power able auge oil Size Winding Type Wire auge 030 x x 200, x 300, x 00, x x x x 00 1 Ø5.50 [.216] TRU 'OR Ø9.50 [.375] X 5.0 [.197] P S RT OR QTY ±0.16 [.522 ±.006] 60.0 [2.36].00 [1.90] Track #1 Track # [.236] Magnet Track [.92] Magnet Track imensions Y ole Qty 100 mm (3.90) (2.953) mm (9.0) (.53) mm (15.71) (1.76) mm (19.65) (1.750) 20 9 * Magnet tracks can be combined for longer travel lengths. latness --TIR 0.06 (0.002) (0.020) Y +/- 0.0 [+/-.003] [.9] IR P WI RSUT ROM STTI T PTS TO STUP IMSIO SOW STUP IMSIO Ø 3, [ ].00 [.315] -- 5

6 Specifications -050-XXX Performance Parameters Symbol Units ooling Method W W W W W W ctmax orce 1 (lb f ) Peak orce 2 p (lb f ) / _ - W _ Motor onstant 1 K M (lb f/ _ - W _ ) Thermal Resistance Max Power issipation 132 (30) 302 (6) 15.1 (3.) 165 (37) 302 (6) 15.1 (3.) 19 () 302 (6) 15.1 (3.) 265 (60) 600 (135) 21.3 (.) 331 (7) 600 (135) 21.3 (.) 397 (9) 600 (135) 21.3 (.) 01 (90) 91 (212) 26.5 (6.0) 501 (113) 91 (212) 26.5 (6.0) 602 (135) 91 (212) 26.5 (6.0) 509 (11) 1206 (271) (13) 1206 (271) (172) 1206 (271) (175) 1 (16) 37.5 (.) 975 (219) 1 (16) 37.5 (.) 1170 (263) 1 (16) 37.5 (.) 1021 (229) 219 (5) 3.3 (9.7) 1276 (27) 219 (5) 3.3 (9.7) R th /W P ctmax W Maximum pplied us Voltage 7 V Volts lectrical ycle lectrical Time onstant Maximum oil Temperature c mm τ e msec T max Winding Type orce onstant 1, 6 K / pk (lb f / pk ) ack M V K p /m/s onstant p-p e 3,, 6 (V p /in/s) Peak urrent I p pk 30.3 (6.) 35. (0.91) 11.7 (.3) / / / 30.3 (6.) 35. (0.91) 23.3 (16.5) (1.2) 11.6 (.2) (0.92) 35.9 (25.) 92. (20.) (2.77) 12.0 (.5) (0.92) 6.1 (32.6) 61.6 (13.) 72. (1.5) 23.0 (16.3) (0.92) 70.6 (9.9) 61.6 (13.) 72. (1.5) 35.3 (25.0) (0.92) 92. (65.3) 1531 (3) 219 (5) 3.3 (9.7) 61.6 (13.) 72. (1.5) 6.2 (32.7) ooling Type W W W W W W W W W W W W urrent 1, I ctmax pk.3 (3.1) 5. (3.) 6.5 / / / (.6).7 (6.2) 10.9 (7.7) (9.3) (3.1) (3.9) (.6) (9.2) (11.5) (13.) (3.1) (3.) (.6) (11.7) (1.6) (17.5) (5.) (7.3) (.) (17.9) (22.) (26.9) (9.0) (11.2) (13.) (23.) (29.3) (35.2) (11.7) (1.6) (17.6) Resistance p-p 3, R 20 ohm 3.76 / Inductance p-p 3 m 36 / Mechanical Parameters Magnetic ttraction a (lb f ) oil Mass 5 M c kg (lb m ) Magnetic Track Mass M n kg/m (lb/in) 1.79 (.0) 690 (155) 1.97 (.) 6.62 (0.37) 1.97 (.) (310) 3.5 (7.6) 6.62 (0.37) 3.5 (7.6).7 (9.) 2069 (65).92 (10.) 6.62 (0.37).92 (10.) 5.0 (12.) 275 (620) 6.39 (1.1) 6.62 (0.37) 6.39 (1.1). (1.7) 137 (930) 9.3 (20.6) 6.62 (0.37) (20.6) (2.6) 5516 (120) (27.1) 6.62 (0.37) (27.1) otes: = o ooling, = ir ooling, W = Water ooling Motor performance specifications are with sinusoidal commutation. 1 forces, motor constant and current listed are with coils at maximum temperature 130, mounted to a 1 aluminum heat sink whose area is noted in the table, and at 20 ambient. 2 Max on time 1 sec. In certain applications, the motor may produce significantly higher peak forces. Please contact norad pplications ngineering for details. 3 ll winding parameters listed are measured line-to-line (phase-to-phase). ll currents and voltages listed are measured 0-peak of the sine wave unless noted rms. 5 and W include mass of cooling plate. onsult norad for low and Pressure for air cooled and water cooled version. 6 ll specifications are ±10%. Phase-to-phase inductance is ±30%. 7 Maximum cable length 10 meters. Please consult factory concerning applications requiring longer cables. ll specifications are at the standard referenced air gap. ack M Voltage igital all Signals Motor Phasing iagram W-U U-V V-W S1 S2 S ote: Phasing direction is coil moving towards motor power cable. 6

7 [ ] oil ssembly -050-XXX [0.9] [1.11] M5 X 0. X 15MM TOT PT TRS STRT 5MM P Optional ooling Plate P-050-XXX X imensions mm [in] ±0.13 [2.115 ±0.005] 5.72 ±0.13 [1.00 ±0.005] OPTIO OOI PT SSMY (Ø.25" TUI) [1.11] OPTIO T MOU Ø6.0 [.2] (YI S) TRMISTOR Ø3.0 [.12] (YI S) POWR O SI S TUTIO (YI S) S TUTIO -- R IR P 1.22 ±0.2 [.05 ±0.16] 0.0 [3.15] 31.2 [1.230] R [0.9].00 ±0.13 [0.315 ±0.005] [0.92] Ø5.50 [.216] S T OR QTY oil and ooling Plate imensions oil Size ole Qty () latness -- eat Sink 050 x (5.2) 200 x 200 ( x ) 050 x (9.21) (3.937) 1 (6.562) 200 x 300 ( x 12) 050 x (13.15) (7.7) 2 (10.99) x 00 ( x 16) 050 x (17.09) (11.11) 3 (1.36) x 500 ( x 20) 050 x (2.96) (19.66) (22.310) x 750 ( x 30) 050 x (32.) (20.997) (2.93) (27.559) (30.1) (0.05) 200 x 1000 ( x 0) Magnet Track M-050-XXX* 2.50 [0.965] "" PS +/- [+/ ] 3.1 [1.50] 30.0 Ø 6.35 O OPPR T [1.1] [0] Power able auge oil Size Winding Type Wire auge 050 x x 200, x 300, x 00, x x x x MOUTI O IMSIO Ø5.50 [.216] TRU 'OR Ø9.50 [.375] X 5.0 [.197] P S RT OR QTY 13.26±0.16 [0.522 ±0.006] 0.0 [3.15] 6.00 [2.677] Track #1 Track # [0.236] [0.92] Magnet Track imensions Magnet Track Y ole Qty 100 mm (3.90) (2.953) mm (9.0) (.53) mm (15.71) (1.76) mm (19.65) (1.750) 20 9 * Magnet tracks can be combined for longer travel lengths. Y +/- 0.0 [+/ ] latness --TIR 0.06 (0.002) (0.020) IR P WI RSUT ROM STTI T PTS TO STUP IMSIO SOW STUP [0.9] IMSIO Ø [ ].00 [0.315] -- 7

8 Specifications -075-XXX Performance Parameters Symbol Units ooling Method W W W W W W ctmax orce 1 (lb f ) Peak orce 2 p (lb f ) / _ - W _ Motor onstant 1 K M (lb f/ _ - W _ ) Thermal Resistance Max Power issipation 193 (3) 1 (99) 19. (.) 21 (5) 1 (99) 19. (.) 29 (65) 1 (99) 19. (.) 35 (7) 2 (19) 27.9 (6.3) 1 (10) 2 (19) 27.9 (6.3) 57 (130) 2 (19) 27.9 (6.3) 57 (130) 136 (30) 3.2 (7.7) 722 (162) 136 (30) 3.2 (7.7) 67 (195) 136 (30) 3.2 (7.7) 770 (173) 12 (10) 39.5 (.9) 963 (216) 12 (10) 39.5 (.9) 1155 (260) 12 (10) 39.5 (.9) 1155 (260) 2736 (615). (10.9) 1 (325) 2736 (615). (10.9) 1733 (390) 2736 (615). (10.9) 151 (36) 369 (20) 55.9 (12.6) 1926 (33) 369 (20) 55.9 (12.6) R th /W P ctmax W Maximum pplied us Voltage 7 V Volts lectrical ycle lectrical Time onstant Maximum oil Temperature c mm τ e msec T max Winding Type orce onstant 1, 6 K / pk (lb f / pk ) ack M V K p /m/s onstant p-p e 3,, 6 (V p /in/s) Peak urrent I p pk 5.5 (10.2) 53.7 (1.37) 11.5 (.1) / / / 5.5 (10.2) ) 22.9 (16.2) 11.5 (.1) 5.5 (10.2) 53.7 (1.37) 35.6 (25.1) (30.7) (.10) 11.9 (.) 5.5 (10.2) 53.7 (1.37) 7. (33.5) 23.7 (16.) 5.5 (10.2) 53.7 (1.37) 71.1 (50.3) 35.6 (25.1) 5.5 (10.2) 53.7 (1.37) 9. (67.0) 2311 (519) 369 (20) 55.9 (12.6) 7. (33.5) ooling Type W W W W W W W W W W W W urrent 1, I ctmax pk.2 (3.0) 5.3 (3.7) 6.3 / / / (.5).5 (6.0) 10.6 (7.5) (9.0) (3.0) (3.7) (.5) (9.0) (11.2) (13.5) (3.0) (3.7) (.5) (12.0) (15.0) (1.0) (6.0) (7.5) (9.0) (1.0) (22.) (26.9) (9.0) (11.2) (13.5) (23.9) (29.9) (35.9) (12.0) (15.0) (1.0) Resistance p-p 3, R 20 ohm.9 / Inductance p-p 3 m 7 / Mechanical Parameters Magnetic ttraction a (lb f ) oil Mass 5 M c kg (lb m ) Magnetic Track Mass M n kg/m (lb/in) 2. (5.2) 1000 (225) 2.6 (5.) 9.0 (0.5) 2.6 (5.).2 (9.2) 2000 (50).6.6 (10.3) (10.3) 9.0 (0.5) 6.0 (13.2) 2999 (67) 6.7 (1.7) 9.0 (0.5) 6.7 (1.7) 7. (17.1) 3999 (99).7 (19.1) 9.0 (0.5).7 (19.1) 11.3 (2.9) 5999 (139) 12.5 (27.7) 9.0 (0.5) 12.5 (27.7) 1.9 (32.) 799 (179) 16.5 (36.) 9.0 (0.5) 16.5 (36.) otes: = o ooling, = ir ooling, W = Water ooling Motor performance specifications are with sinusoidal commutation. 1 forces, motor constant and current listed are with coils at maximum temperature 130, mounted to a 1 aluminum heat sink whose area is noted in the table, and at 20 ambient. 2 Max on time 1 sec. In certain applications, the motor may produce significantly higher peak forces. Please contact norad pplications ngineering for details. 3 ll winding parameters listed are measured line-to-line (phase-to-phase). ll currents and voltages listed are measured 0-peak of the sine wave unless noted rms. 5 and W include mass of cooling plate. onsult norad for low and Pressure for air cooled and water cooled version. 6 ll specifications are ±10%. Phase-to-phase inductance is ±30%. 7 Maximum cable length 10 meters. Please consult factory concerning applications requiring longer cables. ll specifications are at the standard referenced air gap. ack M Voltage igital all Signals Motor Phasing iagram W-U U-V V-W S1 S2 S ote: Phasing direction is coil moving towards motor power cable.

9 [ ] oil ssembly -075-XXX 0.00 [1.575] [1.37] M5 X 0. X 15 MM TOT PT TRS STRT 5MM P Optional ooling Plate P-075-XXX imensions mm [in] 33.6 [1.32 ] X ±0.13 [2.115 ±0.005] 5.72 ±0.13 [1.00 ±0.005] OPTIO OOI PT SSMY (Ø.25" TUI) 30.0 [1.1] OPTIO T MOU Ø6,0 [.2] (YI S) TRMISTOR Ø3,0 [.12] (YI S) POWR OR O SI S TUTIO (YI S).00 ±0.13 [0.315±0.005] 33.6 [1.32] -- S TUTIO R IR P 1.22 ±0.2 [.05 ±0.16] [.13] 31.2 [1.230] R 0.00 [1.575] 50. [2.00] [2.953] 17.5 [0.69] Ø5.50 [.216] S T OR QTY oil and ooling Plate imensions oil Size ole Qty () latness -- eat Sink 075 x (5.2) 250 x 200 (10 x ) 075 x (9.21) (3.937) 1 (6.562) 250 x 300 (10 x 12) 075 x (13.15) (7.7) 2 (10.99) x 00 (10 x 16) 075 x (17.09) (11.11) 3 (1.36) x 500 (10 x 20) 075 x (2.96) (19.66) (22.310) x 750 (10 x 30) 075 x (32.) (20.997) (2.93) (27.559) (30.1) (0.05) 250 x 1000 (10 x 0) Magnet Track M-075-XXX * 2.50 [0.965] "" PS +/- [+/-.010] MOUTI O IMSIO 30.0 [1.1] Ø5.50 [.216] TRU 'OR Ø9.50 [.375] X 5.0 [.197] P S RT O R QTY ±.16 [.522 ±.006] Ø 6.35 [0] O OPPR TUI Power able auge oil Size Winding Type Wire auge 075 x x 200, x 300, x 00, x x x x [.13] [3.661] Track #1 Track # [0.236] [0.92] Magnet Track imensions Magnet Track Y ole Qty 100 mm (3.90) (2.953) mm (9.0) (.53) mm (15.71) (1.76) mm (19.65) (1.750) 20 9 * Magnet tracks can be combined for longer travel lengths. Y +/- 0.0 [+/-.003] latness --TIR 0.13 (0.05) IR P WI RSUT ROM STTI T PTS TO STUP IMSIO SOW [.9] STUP IMSIO Ø [ ].00 [0.315] -- 9

10 Specifications -100-XXX Performance Parameters Symbol Units ooling Method W W W W W W ctmax orce 1 (lb f ) Peak orce 2 p (lb f ) / _ - W _ Motor onstant 1 K M Thermal Resistance Max Power issipation (lb f/ _ - _ W _ ) 29 (56) 591 (133) 23.7 (5.3) 312 (70) 591 (133) 23.7 (5.3) 37 () 591 (133) 23.7 (5.3) 97 (112) 117 (265) 33.5 (7.5) 621 (10) 76 (16) (265) (265) 33.5 (7.5) 33.5 (7.5) 76 (16) 1767 (397) 1.0 (9.2) 932 (210) 1767 (397) 1.0 (9.2) 111 (251) 1767 (397) 1.0 (9.2) 99 (223) 2356 (530) 7.3 (10.6) 123 (279) 2356 (530) 7.3 (10.6) 191 (335) 2356 (530) 7.3 (10.6) 191 (335) 353 (79) 5.0 (13.0) 16 (19) 353 (79) 5.0 (13.0) 2237 (503) 353 (79) 5.0 (13.0) 19 (7) 712 (1059) 66.9 (15.0) 25 (559) 712 (1059) 66.9 (15.0) R th /W P ctmax W Maximum pplied us Voltage 7 V Volts lectrical ycle lectrical Time onstant Maximum oil Temperature c mm τ e msec T max Winding Type orce onstant 1, 6 K / pk (lb f / pk ) ack M V K p /m/s onstant p-p e 3,, 6 (V p /in/s) Peak urrent I p pk (1.2) 11.5 (.1) / / / (1.2) 22. (16.1) 13.3 (3.6) 11. (.1) (1.2) 3.3 (2.2) 12.0 (0.9) (5.6) 11. (.1) (1.2) 5.7 (32.3) 13.3 (3.6) 22. (16.1) (1.2) 6.5 (.) 13.3 (3.6) 3.3 (2.2) (1.2) 91.3 (6.6) 292 (670) 712 (1059) 66.9 (15.0) 13.3 (3.6) 5.7 (32.3) ooling Type W W W W W W W W W W W W urrent 1, I ctmax pk.1 (2.9) 5.1 (3.6) 6.2 / / / (.).2 (5.) 10.2 (7.2) (.7) (2.9) (3.6) (.3) (.7) (10.9) (13.0) (2.9) (3.6) (.3) (11.6) (1.5) (17.) (5.) (7.2) (.7) (17.) (21.7) (26.1) (.7) (10.9) (13.0) (23.2) (29.0) (3.) (11.6) (1.5) (17.) Resistance p-p 3, R 20 ohm 6.12 / Inductance p-p 3 m 61 / Mechanical Parameters Magnetic ttraction a (lb f ) oil Mass 5 M c kg (lb m ) Magnetic Track Mass M n kg/m (lb/in) 2.93 (6.5) 1310 (29) 3.29 (7.3) (0.6) 3.29 (7.3) 5.22 (11.5) 2620 (59) (12.9) (12.9) (0.6) 7.51 (16.5) 3930 (3).1 (1.5) (0.6).1 (1.5) 520 (117) 9.75 (21.5) (2.1) (2.1) (0.6) 1.15 (31.2) 760 (1767) 15.7 (35.0) (0.6) (35.0) (1.0) 100 (2356) 20.6 (6.0) (0.6) 20.6 (6.0) otes: = o ooling, = ir ooling, W = Water ooling Motor performance specifications are with sinusoidal commutation. 1 forces, motor constant and current listed are with coils at maximum temperature 130, mounted to a 1 aluminum heat sink whose area is noted in the table, and at 20 ambient. 2 Max on time 1 sec. In certain applications, the motor may produce significantly higher peak forces. Please contact norad pplications ngineering for details. 3 ll winding parameters listed are measured line-to-line (phase-to-phase). ll currents and voltages listed are measured 0-peak of the sine wave unless noted rms. 5 and W include mass of cooling plate. onsult norad for low and Pressure for air cooled and water cooled version. 6 ll specifications are ±10%. Phase-to-phase inductance is ±30%. 7 Maximum cable length 10 meters. Please consult factory concerning applications requiring longer cables. ll specifications are at the standard referenced air gap. ack M Voltage igital all Signals Motor Phasing iagram W-U U-V V-W S1 S2 S ote: Phasing direction is coil moving towards motor power cable. 10

11 [ ] oil ssembly -100-XXX [2.362] [1.76] M5 X 0. X 15MM TOT PT TRS STRT 5MM P Optional ooling Plate P-100-XXX imensions mm [in] ±0.13 [2.115 ±0.005] 5.72 ±0.13 [1.00 ±0.005] OPTIO OOI PT SSMY (Ø.25" TUI) [1.11] OPTIO T MOU Ø6.0 [.2] (YI S) TRMISTOR Ø3.0 [.12] (YI S) POWR O SI S TUTIO (YI S) -- X S TUTIO.00 ±0.13 [0.315 ±0.005] R IR P 1.22 ±0.2 [.05 ±0.16] [5.11] 31.2 [1.230] R [2.362] 73. [2.9] [3.937] [0.77] Magnet Track M-100-XXX* 2.50 [.965] Ø5.50 [.216] S T OR QTY "" PS oil and ooling Plate imensions oil Size ole Qty () latness -- eat Sink 100 x (5.2) 300 x 200 (12 x ) 100 x (9.21) (3.937) 1 (6.562) 300 x 300 (12 x 12) 100 x (13.15) (7.7) 2 (10.99) x 00 (12 x 16) 100 x (17.09) (11.11) 3 (1.36) x 500 (12 x 20) 100 x (2.96) (19.66) (22.310) x 750 (12 x 30) 100 x (32.) (20.997) (2.93) (27.559) (30.1) (0.05) 300 x 1000 (12 x 0) +/- [+/-.010] 30.0 Ø6.35 O OPPR [1.1] [0] TUI Power able auge oil Size Winding Type Wire auge 100 x x 200, x 300, x 00, x x x x ±.16 MOUTI O IMSIO [.522±.006] Ø5.50 [.216] TRU 'OR Ø9.50 [.375] X 5.0 [.197] P S RT OR QTY [5.12] [.66] Track #1 Track #2 Ø [ ] 6.00 [.236] [.92] Magnet Track imensions Magnet Track Y ole Qty 100 mm (3.90) (2.953) mm (9.0) (.53) mm (15.71) (1.76) mm (19.65) (1.750) 20 9 * Magnet tracks can be combined for longer travel lengths. latness --TIR 0.13 (0.005) Y +/- 0.0 [+/-.003] IR P WI RSUT ROM STTI T PTS TO STUP IMSIO SOW STUP [.9] IMSIO.00 [0.315] -- 11

12 Specifications -150-XXX Performance Parameters Symbol Units ooling Method W W W W W W ctmax orce 1 (lb f ) Peak orce 2 p (lb f ) / _ - W _ Motor onstant 1 K M Thermal Resistance Max Power issipation (lb f/ _ - _ W _ ) 355 (0) 76 (197) 30.2 (6.) 3 (100) 76 (197) 30.2 (6.) 532 (120) 76 (197) 30.2 (6.) 709 (159) 1751 (39) 2.6 (9.6) (199) (239) (39) (39) 2.6 (9.6) 2.6 (9.6) 1062 (239) 2623 (590) 52.2 (11.7) 132 (29) 2623 (590) 52.2 (11.7) 1593 (35) 2623 (590) 52.2 (11.7) 116 (31) 39 (76) (39) 39 (76) (7) 39 (76) (7) 526 (1179) 73.9 (16.6) 2655 (597) 317 (716) 233 (637) (1179) (1179) (1573) 73.9 (16.6) 73.9 (16.6) 5.3 (19.2) 351 (796) 6995 (1573) 5.3 (19.2) R th /W P ctmax W Maximum pplied us Voltage 7 V Volts lectrical ycle lectrical Time onstant Maximum oil Temperature c mm τ e msec T max Winding Type orce onstant 1, 6 K / pk (lb f / pk ) ack M V K p /m/s onstant p-p e 3,, 6 (V p /in/s) Peak urrent I p pk 11.3 (.0) / / / 22.6 (16.0) 12.0 (0.9) (5.6) 11.3 (.0) 33.9 (2.0) (61.) (.19) 11.3 (.0) 5.2 (32.0) 12.0 (0.9) (5.6) 22.6 (16.0) 67. (7.9) 12.0 (0.9) (5.6) 33.9 (2.0) 90. (63.9) 29 (955) 6995 (1573) 5.3 (19.2) 12.0 (0.9) (5.6) 5.2 (32.0) ooling Type W W W W W W W W W W W W urrent 1, I ctmax pk 3.9 (2.).9 (3.) 5. / / / (.1) 7. (5.5) (.3) (2.) (3.) (.1) (.3) (10.3) (12.) (2.) (3.) (.1) (11.0) (13.) (16.5) (5.5) (.3) (16.5) (20.6) (2.) (.3) (10.3) (12.) (22.0) (27.5) (33.0) (11.0) (13.) (16.5) Resistance p-p 3, R 20 ohm. / Inductance p-p 3 m 6 / Mechanical Parameters Magnetic ttraction a (lb f ) oil Mass 5 M c kg (lb m ) Magnetic Track Mass M n kg/m (lb/in).2 (9.) 1965 (2) 5.2 (11.6) (0.90) 5.2 (11.6) 7.62 (16.) 3930 () (20.0) (20.0) 10.6 (23.9) (0.90) 595 (1326) 760 (176) (2.) (2.) 1.06 (31.0) (36.) (36.) (0.90) (0.90) (5.) (2652) 2.53 (5.1) (0.90) (5.1) (59.9) (3536) 32.2 (71.1) (0.90) 32.2 (71.1) otes: = o ooling, = ir ooling, W = Water ooling Motor performance specifications are with sinusoidal commutation. 1 forces, motor constant and current listed are with coils at maximum temperature 130, mounted to a 1 aluminum heat sink whose area is noted in the table, and at 20 ambient. 2 Max on time 1 sec. In certain applications, the motor may produce significantly higher peak forces. Please contact norad pplications ngineering for details. 3 ll winding parameters listed are measured line-to-line (phase-to-phase). ack M Voltage Motor Phasing iagram W-U U-V ll currents and voltages listed are measured 0-peak of the sine wave unless noted rms. 5 and W include mass of cooling plate. onsult norad for low and Pressure for air cooled and water cooled version. 6 ll specifications are ±10%. Phase-to-phase inductance is ±30%. 7 Maximum cable length 10 meters. Please consult factory concerning applications requiring longer cables. ll specifications are at the standard referenced air gap. igital all Signals V-W S1 S2 S ote: Phasing direction is coil moving towards motor power cable. 12

13 oil ssembly -150-XXX imensions mm [in] ±0.13 [2.30 ±0.005] 9.72 ±0.13 [1.957±0.005] [1.11] OPTIO T MOU Ø6.0 [.2] (YI S) R IR P 1.22 ±0.2 [.05 ±0.16] [ ] [.72] [1.20] [2.362] M5 X 0. X 15MM TOT PT TRS STRT 5MM P Optional ooling Plate P-150-XXX X OPTIO OOI PT SSMY (Ø.375" TUI) [7.07] TRMISTOR Ø3.0 [.12] (YI S) POWR O SI S TUTIO (YI S) S TUTIO [1.230] ±0.13 [0.72 ±0.005] [.72] [2.362] [5.39] 1 [5.906] [0.591] Ø5.50 [.216] S T OR QTY oil and ooling Plate imensions oil Size ole Qty () latness -- eat Sink 150 x (5.2) 6 00 x 200 (16 x ) 150 x (9.21) (3.937) 1 (6.562) x 300 (16 x 12) 150 x (13.15) (7.7) 2 (10.99) x 00 (16 x 16) 150 x (17.09) (11.11) 3 (1.36) x 500 (16 x 20) 150 x (2.96) (19.66) (22.310) x 750 (16 x 30) 150 x (32.) (20.997) (2.93) (27.559) (30.1) (0.05) 00 x 1000 (16 x 0) Magnet Track M-150-XXX* 2.50 [0.965] "" PS +/- [+/-.010] MOUTI O IMSIO ±0.16 [.60 ±0.006] 30.0 [1.1] Ø [0.3750] O OPPR TUI Power able auge oil Size Winding Type Wire auge 150 x x 200, x 300, x 00, x x x x [7.09] [6.61] Track #1 Track #2 Ø5.50 [.216] TRU 'OR Ø9.50 [.375] X 5.0 [.197] P S RT OR QTY Magnet Track [0.92] [0.236] Magnet Track imensions Y ole Qty 100 mm (3.90) (2.953) mm (9.0) (.53) mm (15.71) (1.76) mm (19.65) (1.750) 20 9 * Magnet tracks can be combined for longer travel lengths. latness --TIR 0.13 (0.005) Y +/- 0.0 [+/-.003] IR P WI RSUT ROM STTI T PTS TO STUP IMSIO SOW [0.9] STUP IMSIO Ø [ ] [0.72] -- 13

14 Specifications -200-XXX Performance Parameters Symbol Units ooling Method W W W W W W ctmax orce 1 (lb f ) Peak orce 2 p (lb f ) / _ - W _ Motor onstant 1 K M Thermal Resistance Max Power issipation (lb f/ _ - _ W _ ) (101) 1107 (29) 35.6 (.0) 560 (126) 1107 (29) 35.6 (.0) 672 (151) 1107 (29) 35.6 (.0) 97 (202) 221 (9) 50.3 (11.3) (252) (302) (9) (9) (11.3) (11.3) 13 (302) 331 (76) 61.5 (13.) 160 (37) 331 (76) 61.5 (13.) 2015 (53) 331 (76) 61.5 (13.) 1792 (03) 2 (995) 71.1 (16.0) 2239 (503) 2 (995) 71.1 (16.0) 267 (60) 2 (995) 71.1 (16.0) 267 (60) 6637 (192) 7.0 (19.6) 3359 (755) 031 (906) 353 (06) (192) (192) (199) 7.0 (19.6) (19.6) (22.6) 79 (1007) 9 (199) (22.6) R th /W P ctmax W Maximum pplied us Voltage 7 V Volts lectrical ycle lectrical Time onstant Maximum oil Temperature c mm τ e msec T max Winding Type orce onstant 1, 6 K / pk (lb f / pk ) ack M V K p /m/s onstant p-p e 3,, 6 (V p /in/s) Peak urrent I p pk 13.3 (3.6) 10.7 (7.6) / / / 13.3 (3.6) 21.5 (15.2) 22.7 (5.6) 26.6 (7.2) 10.7 (7.6) 13.3 (3.6) 32.2 (22.7) 36.0 (1.) 30.0 (10.92) 10.7 (7.6) 13.3 (3.6) 2.9 (30.3) 22.7 (5.6) 26.6 (7.2) 21. (15.2) 13.3 (3.6) 6.3 (5.5) 22.7 (5.6) 26.6 (7.2) 32.2 (22.7) 13.3 (3.6) 5. (60.7) 5375 (120) 9 (199) (22.6) 22.7 (5.6) 26.6 (7.2) 2.9 (30.3) ooling Type W W W W W W W W W W W W urrent 1, I ctmax pk 3.7 (2.6).6 (3.3) 5.5 / / / (3.9) 7. (5.2) 9.2 (6.5) (7.) (2.6) (3.3) (3.9) (7.) (9.) (11.7) (2.6) (3.3) (3.9) (10.) (13.1) (15.7) (5.2) (6.5) (7.) (15.7) (19.6) (23.5) (7.) (9.) (11.7) (20.9) (26.1) (31.3) (10.) (13.1) (15.7) Resistance p-p 3, R 20 ohm 10. / Inductance p-p 3 m / Mechanical Parameters Magnetic ttraction a (lb f ) oil Mass 5 M c kg (lb m ) Magnetic Track Mass M n kg/m (lb/in) 5.7 (12.7) 2620 (59) 6.3 (15.1) (1.1) 6.3 (15.1) 520 (117) 9.9 (21.) (26.0) (26.0) 1.0 (30.9) (1.1) 760 (1767) 100 (2356) (36.9) (36.9) 1.19 (0.1) (7.9) (7.9) (1.1) (1.1) (59.1) (353) (70.) (1.1) (70.) (77.7) (712) 2.03 (92.7) (1.1) 2.03 (92.7) otes: = o ooling, = ir ooling, W = Water ooling Motor performance specifications are with sinusoidal commutation. 1 forces, motor constant and current listed are with coils at maximum temperature 130, mounted to a 1 aluminum heat sink whose area is noted in the table, and at 20 ambient. 2 Max on time 1 sec. In certain applications, the motor may produce significantly higher peak forces. Please contact norad pplications ngineering for details. 3 ll winding parameters listed are measured line-to-line (phase-to-phase). ack M Voltage Motor Phasing iagram W-U U-V ll currents and voltages listed are measured 0-peak of the sine wave unless noted rms. 5 and W include mass of cooling plate. onsult norad for low and Pressure for air cooled and water cooled version. 6 ll specifications are ±10%. Phase-to-phase inductance is ±30%. 7 Maximum cable length 10 meters. Please consult factory concerning applications requiring longer cables. ll specifications are at the standard referenced air gap. igital all Signals V-W S1 S2 S ote: Phasing direction is coil moving towards motor power cable. 1

15 oil ssembly -200-XXX imensions mm [in] [1.11] OPTIO T MOU Ø6.0 [.2] YI S ±0.13 [2.30 ±0.005] 9.72±0.13 [1.957±0.005] R IR P 1.22 ±0.2 [.05 ±0.16] [ ] 1 [5.906] [3.937] 2.50 [1.673] M5 X 0. X 15MM TOT PT TRS STRT 5MM P ooling Plate P-200-XXX X TRMISTOR Ø3.0 [.12] (YI S) POWR O SI S TUTIO (YI S) OPTIO OOI PT SSMY (Ø.375" TUI) -- S TUTIO [9.055] 31.2 [1.230] R ±0.13 [0.72 ±0.005] 1 [5.906] [3.937] [6.9] [7.7] Magnet Track 100 mm 250 mm 00 mm 500 mm [0.9] 2.50 [0.965] [.53] [9.06] [.291] 6.00 [0.236] Magnet Track imensions Ø5.50 [.216] S T OR QTY [0.921] Y ole Qty (3.90) (9.0) (15.71) (19.65) (2.953) (.53) (1.76) (1.750) * Magnet tracks can be combined for longer travel lengths. oil and ooling Plate imensions oil Size ole Qty () latness -- eat Sink 200 x (5.2) 500 x 200 (20 x ) 200 x (9.21) (3.937) 1 (6.562) x 300 (20 x 12) 200 x (13.15) (7.7) 2 (10.99) x 00 (20 x 16) 200 x (17.09) (11.11) 3 (1.36) x 500 (20 x 20) 200 x (2.96) (19.66) (22.310) x 750 (20 x 30) 200 x (32.) (20.997) (2.93) (27.559) (30.1) (0.05) 500 x 1000 (20 x 0) Magnet Track M-200-XXX* +/- [+/-.010] "" PS latness --TIR 0.50 (0.020) 0.76 (0.030) 1.0 (0.00) Track #1 Track #2 Y +/- 0.0 [+/-.003] IR P WI RSUT ROM STTI T PTS TO STUP IMSIO SOW MOUTI O IMSIO Ø5.50 [.216] TRU 'OR Ø9.50 [.375] X 5.0 [.197] P S RT OR QTY [0.9] STUP IMSIO Ø [ ] ±.16 [0.60±.006] [0.72] 30.0 [1.1] -- Ø 9.53 [0.375] O OPPR TUI Power able auge oil Size Winding Type Wire auge 200 x x 200, x 300, x 00, x x x x

16 Ordering Information , -050, -075, -100, -150, -200 Model rame oil Winding ooling all Thermal able U Rated Special Size ode Option eedback Protection Options T- TR = 100mm 200 = 200mm 300 = 300mm 00 = 00mm 600 = 600mm 00 = 00mm 0 = one (Standard) T = Trapezoidal all ffect 0 = o eedback TR = PT Thermal Sensor TS = Thermal Switch 0 = 300mm 1 = 600mm 2 = 1000mm lank = ot U Rated U = U Rated lank = Standard Magnet Track Model rame Magnet over Special Size Options M = 100mm 250 = 250mm 00 = 00mm 500 = 500mm = over (Standard) lank = Standard ooling Plate Model rame oil ooling Size P = 100mm 200 = 200mm 300 = 300mm 00 = 00mm 600 = 600mm 00 = 00mm = ir ooling W = Water ooling ll Specifications subject to change. onsult factory or website for latest specifications. able oding olor unction R ØU () Motor eads (Standard) WT ØV () K ØW () R/Y K TR (130º) Thermal K TR (130º) Protection (Optional) U TS (130º) U TS (130º) R V+ Trapezoidal WT S1 all ffect U S2 (Optional) OR S3 K VRT ote: V+ = 5-2 Vdc Motor and all effect cables are shielded. norad inear Motion Solutions eadquarters mericas: Rockwell utomation, 100 Precision rive, Shirley, Y, , US, Tel: (1) , ax: (1) urope: Rockwell utomation, e intel, -12, 56 PS est, The etherlands, Tel: (31) , ax: (31) Israel: Rockwell utomation, Sha ar Yokne am, Tavor #2, Yokne am Illit, 20692, Tel: , ax: Japan: Rockwell utomation, 6-5, ishiki 1-chrome, aka-ku, agoya , Japan, Tel: , ax: Korea: Rockwell utomation, 16, 17 Samhwa d., 1-17, Samsung-dong, angnam-gu, Seoul, Korea , Tel , ax: Power, ontrol and Information Solutions eadquarters mericas: Rockwell utomation, 1201 South Second Street, Milwaukee, WI US, Tel: (1) , ax: (1) urope/middle ast/frica: Rockwell utomation, Vorstlaan/oulevard du Souverain 36, 1170 russels, elgium, Tel: (32) , ax: (32) sia Pacific: Rockwell utomation, evel 1, ore, yberport 3, yberport Road, ong Kong, Tel: (52) 27 7, ax: (52) Printed ata Sheet PM-R0002--P-01/07 opyright 2007 Rockwell utomation, Inc. ll rights reserved. Printed in US.