ADR-A Series Direct Drive Rotary Motor

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ADR-A Series Direct Drive Rotary Motor Direct drive, brushless motor fully integrated with encoder and bearing Low cogging torque Low speed and high speed windings Precise homing through index pulse

ADR110 Specifications Model ADR110-A75 ADR110-A98 Parameters Units S P S P Table diameter mm 110 110 Table height mm 75 98 Number of poles 16 16 Continuous torque Nm 1.9 1.9 4.2 4.2 Peak torque Nm 5.8 5.8 12.6 12.6 Max. cogging torque (peak to peak) Nm 0.0024 0.0024 0.0049 0.0049 Torque constant Nm/Arms 0.65 0.32 1.40 0.70 Back EMF constant Vpeak/rpm 0.055 0.028 0.119 0.060 Continuous current Arms 3.0 6.0 3.0 6.0 Peak current Arms 9.0 18.0 9.0 18.0 Continuous thermal power W 28.8 28.8 44.1 43.6 Peak thermal power W 259.2 259.2 396.9 392.0 Max. bus voltage VDC 550.0 550.0 550.0 550.0 Resistance ¹ ohms 3.20 0.80 4.90 1.21 Inductance ¹ mh 17.15 4.29 26.26 6.49 Electrical time constant ms 5.36 5.36 5.36 5.36 Motor constant Nm/SqRt(W) 0.36 0.36 0.63 0.63 Mass Kg 3.20 3.20 4.60 4.60 Rotor Inertia Kgm 2 0.0003086 0.0003086 0.0004419 0.0004419 Rec. max speed @230V AC 2 (DIGITAL) rpm 1,200 1,200 1,200 1,200 Rec. max speed @230V AC 2 (SINCOS) rpm 2,000 2,000 1,600 2,000 AB-3005 optical SINCOS encoder lines 3,005 3,005 3,005 3,005 DIGITAL resolution (at 64X interpolation) Counts/rev 192,320 192,320 192,320 192,320 SINCOS Resolution (at 512X interpolation) Counts/rev 1,538,560 1,538,560 1,538,560 1,538,560 SINCOS Resolution (at 4096X interpolation) Counts/rev 12,308,480 12,308,480 12,308,480 12,308,480 Accuracy (based on AB-3005) arc sec +/-20 +/-20 +/-20 +/-20 Repeatability (based on AB-3005) arc sec +/-2.7 +/-2.7 +/-2.7 +/-2.7 Axial / Radial runout um 15 (10,5) ² Max. axial load 3 N 700 700 Max. moment load 3 Nm 20 20 1. Terminal to terminal, at 25 Deg C. 2. Limit by Bus Voltage and Encoder Output Frequency 3. Please contact our sales team (+44) 01202 599922 for inverted mount application. Motion Control Products Ltd. P a g e 1 www.motioncontrolproducts.com

ADR135 Specifications Model ADR135-A90 ADR135-A115 Parameters Units S P S P Table diameter mm 135 135 Table height mm 90 115 Number of poles 16 16 Continuous torque Nm 5.2 5.2 11.0 11.0 Peak torque Nm 15.5 15.5 32.9 32.9 Max. cogging torque (peak to peak) Nm 0.010 0.010 0.022 0.022 Torque constant Nm/Arms 1.72 0.86 3.66 1.83 Back EMF constant Vpeak/rpm 0.147 0.074 0.313 0.156 Continuous current Arms 3.0 6.0 3.0 6.0 Peak current Arms 9.0 18.0 9.0 18.0 Continuous thermal power W 59.4 59.4 96.3 97.2 Peak thermal power W 534.6 534.6 866.7 874.8 Max. bus voltage VDC 550.0 550.0 550.0 550.0 Resistance ¹ ohms 6.60 1.65 10.70 2.70 Inductance ¹ mh 45.30 11.20 72.76 18.63 Electrical time constant ms 6.86 6.79 6.80 6.90 Motor constant Nm/SqRt (W) 0.67 0.67 1.12 1.11 Mass Kg 4.80 4.80 4.90 4.90 Rotor Inertia Kgm 2 0.000992 0.000992 0.001332 0.001332 Rec. max speed @230V AC 2 (DIGITAL) rpm 1,190 1,200 580 1,190 Rec. max speed @230V AC 2 (SINCOS) rpm 1,190 2,000 580 1,190 AB-3005 optical SINCOS encoder lines 3,005 3,005 3,005 3,005 DIGITAL resolution (at 64X interpolation) Counts/rev 192,320 192,320 192,320 192,320 SINCOS Resolution (at 512X interpolation) Counts/rev 1,538,560 1,538,560 1,538,560 1,538,560 SINCOS Resolution (at 4096X interpolation) Counts/rev 12,308,480 12,308,480 12,308,480 12,308,480 Accuracy (based on AB-3005) arc sec +/-20 +/-20 +/-20 +/-20 Repeatability (based on AB-3005) arc sec +/-2.7 +/-2.7 +/-2.7 +/-2.7 Axial / Radial runout um 15 (10,5) ² Max axial load 3 N 1,050 1,050 Max moment load 3 Nm 35 35 1. Terminal to terminal, at 25 C. 2. Limit by Bus Voltage and Encoder Output Frequency 3. Please contact our sales team (+44) 01202 599922 for inverted mount application. Motion Control Products Ltd. P a g e 2 www.motioncontrolproducts.com

ADR175 Specifications Model ADR175-A102 ADR175-A138 Parameters Units S P S P Table diameter mm 175 175 Table height mm 102 138 Number of poles 16 16 Continuous torque Nm 15.7 15.7 32.9 32.9 Peak torque Nm 47.2 47.2 98.6 98.6 Max. cogging torque (peak to peak) Nm 0.094 0.094 0.197 0.197 Torque constant Nm/Arms 3.93 1.97 8.22 4.11 Back EMF constant Vpeak/rpm 0.336 0.168 0.703 0.351 Continuous current Arms 4.0 8.0 4.0 8.0 Peak current Arms 12.0 24.0 12.0 24.0 Continuous thermal power W 84.4 83.2 132.8 136.6 Peak thermal power W 759.4 748.8 1195.2 1229.7 Max. bus voltage VDC 550.0 550.0 550.0 550.0 Resistance ¹ ohms 5.27 1.30 8.30 2.13 Inductance ¹ mh 45.72 11.27 72.00 18.51 Electrical time constant ms 8.67 8.67 8.67 8.67 Motor constant Nm/SqRt (W) 1.71 1.72 2.85 2.81 Mass Kg 8.5 8.5 12.7 12.7 Rotor Inertia Kgm 2 0.005422 0.005422 0.007621 0.007621 Rec. max speed @230V AC 2 (DIGITAL) rpm 540 1,080 310 558 Rec. max speed @230V AC 2 (SINCOS) rpm 540 1,080 310 558 AB-4103 optical SINCOS encoder lines 4,103 4,103 4,103 4,103 DIGITAL resolution (at 64X interpolation) Counts/rev 262,592 262,592 262,592 262,592 SINCOS Resolution (at 512X interpolation) Counts/rev 2,100,736 2,100,736 2,100,736 2,100,736 SINCOS Resolution (at 4096X interpolation) Counts/rev 16,805,888 16,805,888 16,805,888 16,805,888 Accuracy (based on AB-4103) arc sec +/-25 +/-25 +/-25 +/-25 Repeatability (based on AB-4103) arc sec +/-2.0 +/-2.0 +/-2.0 +/-2.0 Axial / Radial runout um 20 (15,10) ² Max axial load 3 N 2,310 2,310 Max moment load 3 Nm 53 53 1. Terminal to terminal, at 25 C. 2. Limit by Bus Voltage and Encoder Output Frequency 3. Please contact our sales team (+44) 01202 599922 for inverted mount application. Motion Control Products Ltd. P a g e 3 www.motioncontrolproducts.com

ADR220 Specifications Model ADR220-A120 ADR220-A165 Parameters Units S P S P Table diameter mm 220 220 Table height mm 120 165 Number of poles 24 24 Continuous torque Nm 46.0 46.0 94.9 94.9 Peak torque Nm 137.9 137.9 284.6 284.6 Max. cogging torque (peak to peak) Nm 0.357 0.357 0.736 0.736 Torque constant Nm/Arms 8.51 2.84 17.57 5.86 Back EMF constant Vpeak/rpm 0.728 0.243 1.502 0.501 Continuous current Arms 5.40 16.20 5.40 16.20 Peak current Arms 16.20 48.60 16.20 48.60 Continuous thermal power W 171.17 194.21 300.93 314.93 Peak thermal power W 1540.52 1747.85 2708.38 2834.35 Max. bus voltage VDC 550.0 550.0 550.0 550.0 Resistance ¹ ohms 5.87 0.74 10.32 1.20 Inductance ¹ mh 53.60 6.30 106.70 11.90 Electrical time constant ms 9.13 8.51 10.34 9.92 Motor constant Nm/SqRt(W) 3.51 3.30 5.47 5.35 Mass Kg 18.3 18.3 24.1 24.1 Rotor Inertia Kgm2 0.017858 0.017858 0.025216 0.025216 Rec. max speed @230V AC 2 (DIGITAL) rpm 282 846 130 395 Rec. max speed @230V AC 2 (SINCOS) rpm 282 846 130 395 AB-4103 optical SINCOS encoder lines 4,103 4,103 4,103 4,103 DIGITAL resolution (at 64X interpolation) Counts/rev 262,592 262,592 262,592 262,592 SINCOS Resolution (at 512X interpolation) Counts/rev 2,100,736 2,100,736 2,100,736 2,100,736 SINCOS Resolution (at 4096X interpolation) Counts/rev 16,805,888 16,805,888 16,805,888 16,805,888 Accuracy (based on AB-4103) arc sec +/-25 +/-25 +/-25 +/-25 Repeatability (based on AB-4103) arc sec +/-2.0 +/-2.0 +/-2.0 +/-2.0 Axial / Radial runout um 25 (10) ² Max axial load 3 N 2,800 2,800 Max moment load 3 Nm 72 72 1. Terminal to terminal, at 25 C. 2. Limit by Bus Voltage and Encoder Output Frequency 3. Please contact our sales team (+44) 01202 599922 for inverted mount application. Motion Control Products Ltd. P a g e 4 www.motioncontrolproducts.com

ADR360 Specifications Model ADR360-A150 ADR360-A215 Parameters Units S P S P Table diameter mm 360 360 Table height mm 150 215 Number of poles 32 32 Continuous torque Nm 184.8 184.8 377.9 377.9 Peak torque Nm 554.5 554.5 1133.8 1133.8 Max. cogging torque (peak to peak) Nm 1.98 1.98 4.09 4.09 Torque constant Nm/Arms 18.48 9.24 37.79 18.90 Back EMF constant Vpeak/rpm 1.580 0.790 3.231 1.616 Continuous current Arms 10.00 20.00 10.00 20.00 Peak current Arms 30.00 60.00 30.00 60.00 Continuous thermal power W 304.78 304.78 526.37 500.00 Peak thermal power W 2743.00 2743.00 4737.33 4500.00 Max. bus voltage VDC 550.0 550.0 550.0 550.0 Resistance ¹ ohms 3.05 0.76 5.26 1.25 Inductance ¹ mh 31.70 7.92 54.74 13.00 Electrical time constant ms 10.40 10.40 10.40 10.40 Motor constant Nm/SqRt(W) 10.59 10.59 16.47 16.90 Mass Kg 56.0 56.0 71.0 71.0 Rotor Inertia Kgm2 0.204636 0.204636 0.322304 0.322304 Rec. max speed @230V AC 2 (DIGITAL) rpm 115 230 57 115 Rec. max speed @230V AC 2 (SINCOS) rpm 115 230 57 115 AB-7500 optical SINCOS encoder lines 7500 7500 7500 7500 DIGITAL resolution (at 64X interpolation) Counts/rev 480,000 480,000 480,000 480,000 SINCOS Resolution (at 512X interpolation) Counts/rev 3,840,000 3,840,000 3,840,000 3,840,000 SINCOS Resolution (at 4096X interpolation) Counts/rev 30,720,000 30,720,000 30,720,000 30,720,000 Accuracy (based on AB-4103) arc sec +/-30 +/-30 +/-30 +/-30 Repeatability (based on AB-4103) arc sec +/-2 +/-2 +/-2 +/-2 Axial / Radial runout um 40 (15) ² Max axial load 3 N 11,200 11,200 Max moment load 3 Nm 245 245 1. Terminal to terminal, at 25 C. 2. Limit by Bus Voltage and Encoder Output Frequency 3. Please contact our sales team (+44) 01202 599922 for inverted mount application. Motion Control Products Ltd. P a g e 5 www.motioncontrolproducts.com

OUTLINE DIMENSIONS ADR110-A75 ADR110-A98 Motion Control Products Ltd. P a g e 6 www.motioncontrolproducts.com

ADR135-A90 DR135-A115 Motion Control Products Ltd. P a g e 7 www.motioncontrolproducts.com

ADR175-A102 ADR175-A138 Motion Control Products Ltd. P a g e 8 www.motioncontrolproducts.com

ADR220-A120 ADR220-A165 Motion Control Products Ltd. P a g e 9 www.motioncontrolproducts.com

ADR360-A150 ADR360-A215 Motion Control Products Ltd. P a g e 10 www.motioncontrolproducts.com

TORQUE SPEED CURVES Motion Control Products Ltd. P a g e 11 www.motioncontrolproducts.com

Motion Control Products Ltd. P a g e 12 www.motioncontrolproducts.com

Motion Control Products Ltd. P a g e 13 www.motioncontrolproducts.com

PART NUMBER CONFIGURATION Motor Model Winding ADR110 A75/A98 ADR135 A90/A115 Thermal Sensor Cable Length Encoder Option Interpolation Option Runout AB-3005 P15/P10/P5 ADR175 A102/A138 S/P J/K 3.0 SINCOS/40X P20/P15/P10 AB-4103 ADR220 A120/A165 P25/P10 ADR360 A150/A215 AB-7500 P40/P15 P40 = Axial Runout 40um, Radial Runout is 40um P25 = Axial Runout 25um, Radial Runout is 25um P20 = Axial Runout 20um, Radial Runout is 20um P15 = Axial Runout 15um, Radial Runout is 15um P10 = Axial Runout 10um, Radial Runout is 10um P5 = Axial Runout 5um, Radial Runout is 5um J- Thermostat (Standard) K- PT100 (RTD) Example: ADR175-A138-S-J-3.0-AB-4103-SINCOS-P10 ADR110-A98-S-J-3.0-AB-3005-SINCOS-P15 MOTOR & HALL CABLE PINS Copyright 2018 Motion Control Products Ltd. All rights reserved. All data subject to change without notice in advance (V2018-0526) Motion Control Products Ltd. P a g e 14 www.motioncontrolproducts.com

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