rushless DC-Servomotors with integrated Encoder ole Technology 9 mm For combination with Gearheads: /(S),, L, /(S), /(S), /(S)... X + Encoders ominal voltage Terminal resistance, phase-phase Output power ) Efficiency G X,, 9, U R max. η max. Volt Ω W % 9 o-load speed o-load current Stall torque Friction torque, static Friction torque, dynamic no o MH Co Cv,,, - rpm mm mm mm/rpm Speed constant ack-emf constant Torque constant Current constant kn ke km k,,, rpm/v mv/rpm mm/ /mm Slope of n-m curve Terminal inductance, phase-phase Mechanical time constant Rotor inertia ngular acceleration n/ M L τ m α max.,, rpm/mm µh ms gcm rad/s 9 Thermal resistance Thermal time constant Rth / Rth τ w / τ w,9 / 9, / K/W s Operating temperature range... + C Shaft bearings Shaft load max.: radial at rpm (, mm from mounting flange) axial at rpm axial at standstill Shaft play: radial axial Housing material Weight Direction of rotation umber of pole pairs = ball bearings, preloaded, stainless steel electronically reversible mm mm g Recommended values - mathematically independent of each other 9 Speed up to Torque up to ) ) Current up to ) ) ne max. Me max. e max. ) at rpm ) thermal resistance Rth not reduced / thermal resistance Rth by % reduced / 9, /,9 rpm mm ote: The diagram indicates the recommended speed in relation to the available torque at the output shaft for a given ambient temperature of C. The diagram shows the motor in a completely insulated as well as thermally coupled condition (Rth % reduced). n [rpm] Watt...X + Encoder...X + Encoder (Rth -%) The nominal voltage (U) curve shows the operating point at nominal voltage in the insulated and thermally coupled condition. ny points of operation above the curve at nominal voltage will require a higher operating voltage. ny points below the nominal voltage curve will require less voltage. U Recommended areas for continuous operation M [mm] refer to Technical nformation. Edition age / DR. FRTZ FULHER GMH & CO. KG
Features The brushless DC-servomotors feature in this version an Encoder that is available with different interfaces. permanent magnet on the shaft creates a moving magnetic field which is captured using a single-chip angular sensor and further processed. n the E version, the brushless DC servomotors have an encoder with output channels. t the encoder outputs, two 9 phaseshifted rectangular signals are available with up to impulses and an index impulse per motor revolution. The encoder is available in a variety of different resolutions and is suitable for speed control and positioning applications. The Line Driver EL version has differential signal outputs (T-). Differential signals reduce ambient interference and are suitable for applications with high ambient interference. The line driver amplifies the encoder signal which means that long cables can be used without signal degradation. Differential signal outputs must be decoded by the appropriate receiver module. The motor and encoder cables are connected via separate ribbon cables. Other resolutions of - impulses are available on request. n the ES version (absolute encoder), absolute position information is provided with a resolution of 9 steps per revolution at the signal outputs and communicated via a serial (SS) interface. bsolute means, that each shaft position is assigned to a unique angular value within one revolution. This value is already available directly after power-on. The absolute encoder is ideal for commutation, speed and position control of the motor. t can be used to create a sinusoidal commutation signal. The advantages are a reduced torque ripple, a higher efficiency, and reduced electrical noise generation. Motor and encoder are connected via a common ribbon cable. For more information about installation and setup a detailed instruction manual is included with the product or is available online at www.faulhaber.com Dimensional drawing Orientation with respect to motor cable ± ø x M deep ø, ø ±, ø -, M : ø -, -, ø,, x, -, ±, ±, ±, G... X + Encoder refer to Technical nformation. Edition age / DR. FRTZ FULHER GMH & CO. KG
rushless DC-Servomotor... X with Encoder Lines per revolution Frequency range ), up to f Signal output, square wave E - E - E - E - E - E - + ndex khz Supply voltage Encoder Current consumption, typical ) Output current, max. allowable ) DD Enc OUT,..., typ., max. m m ndex ulse width ) hase shift, channel to ) Signal rise/fall time, max. (CLOD = pf) tr/tf 9 ± 9 ± 9 ± 9 ±, /, µs nertia of encoder magnet, gcm Connection information Motor Supply voltage Hallsensors ) UDD,...,..., ) speed (rpm) = f (Hz) x / ) = V: with unloaded outputs ) = V: low logic level <, V, high logic level >, V: CMOS- and TTL compatible ) at rpm ) E-/// UDD UDD EC (galvanically isolated) E- / UDD = UDD EC Features / Connector information ø Options x M ø ±, ø, Connector variant (Option no. 9) Encoder: WG / VC ribbon cable with connector icolade (pitch, mm) Motor: WG / VC ribbon cable ø -, ø -, -, ø, Connection Encoder, o. Function n.c. Channel (ndex) GD Enc Channel Channel GX E-, -, L 9, ±, ±, ncorrect lead connection o. Function hase C hase hase GD UDD Hall sensor C Hall sensor Hall sensor Output signals / Circuit diagram Output signals with clockwise rotation as seen from the shaft end mplitude,, GD Enc o o Rotation dmissible deviation of phase shift / ndex pulse: = 9 o * o = 9 * refer to Technical nformation. Edition age / DR. FRTZ FULHER GMH & CO. KG
rushless DC-Servomotor... X with Encoder Lines per revolution Frequency range ), up to f Signal output, square wave E - L E - L E - L E - L E - L E - L khz + index and complementary outputs channels Supply voltage Current consumption, typical ) DD Enc,..., typ., max. m ndex ulse width ) hase shift, channel to ) 9 ± 9 ± 9 ± 9 ± nertia of encoder magnet, gcm ) speed (rpm) = f (Hz) x / ) = V: with unloaded outputs ) at rpm otes: The output signals are T- compatible. Examples of Line driver Receivers: STCD (STM), STC (EXR), DSCT (SC). ø Features / Connector information x M ø ±, Options ø, Connector variant (Option no.: 9) Encoder: WG / VC ribbon cable with connector D- (pitch, mm) Motor: WG / VC ribbon cable GX E- L, -, ø -, ± 9, ±, ±, 9 ø -, -, ø, Connection Encoder, ncorrect lead connection o. Function n.c. GD Enc n.c. Channel Channel Channel Channel 9 Channel (ndex) Channel (ndex) o. Function hase C hase hase GD UDD (,... ) Hall sensor C Hall sensor Hall sensor Output signals / Circuit diagram Output signals with clockwise rotation as seen from the shaft end o mplitude o GD Enc Rotation dmissible deviation of phase shift / ndex pulse: = 9 * o o = 9 * refer to Technical nformation. Edition age / DR. FRTZ FULHER GMH & CO. KG
rushless DC-Servomotor... X with Encoder Lines per revolution (resolution) Signal output ES-9 9 Synchronous Serial nterface (SS) Supply voltage Current consumption, typical ) Output current, max. (DT) ) DD Enc,..., typ., max. m m Clock Frequency, max. (CLK) nput low level (CLK) nput high level (CLK) Setup time after power on, max. tsetup...,... MHz V V ms Operating temperature range... + C ) = V: with unloaded outputs ) = V: low logic level, V, high logic level, V ø Features x / Connector M information ø, Options Connector variant (Option no. ) WG / VC ribbon cable GX ES- 9 ø ±,, -, ø -, ± 9, ±, ±, ø -, -, ø,, and Encoder ncorrect lead connection o. Function hase C hase hase GD Enc CLK Res. (CS) DT Circuit diagram / nterface signals nterface signals (SS) CLK CLK Res. (CS) Res. (CS) Timeout DT ck Start CDS D D D Res. Res. CRC CRC CRC Stop DT Data Range GD Enc ngle position values are ascending for clockwise rotation. Clockwise rotation as seen from the shaft end refer to Technical nformation. Edition age / DR. FRTZ FULHER GMH & CO. KG