DIRECT DRIVE DC MOTORSINTRODUCTION The direct-drive DC torque motor is a servo actuator which can be directly attached to the load it drives. It has a permanent magnet (PM) field and a wound armature which act together to convert electrical power to torque. This torque can then be utilized in positioning or speed-con- trol systems. In general, torque motors are de- signed for three different types of operation: 1) high stall torque ("‘stand-still” operation) for positioning systems; 2) high torque at low speeds for speed- control systems, and 3) optimum torque at high speed for positioning, rate, or tensioning systems, FEATURES of DIRECT-DRIVE, DC TORQUE MOTORS Direct-drive torque motors are particularly suited for servo-system applications where it is desirable to minimize size, weight, power and response time, and to maximize rate and posi- tion accuracies. Torque motors have the fol- lowing important advantages over other servo- system actuators. High Torque-to-Inertia Ratio at the Load A direct-drive motor provides the highest practical torque-to-inertia ratio where it counts ~ at the load. Because the torque motoris mount- ed directly on the driven shaft or is directly coup- led to the load, there is no gear train. Ina geared system, reflected output torque is proportional to the gear reduction while reflected output inertia is proportional to the square of the gear reduction. Thus, the torque-to-inertia ratio in a geared system is less than that of a gearless system by a factor equal to the gear-train ratio. The higher torque-to-inertia ratio of direct- drive motors makes them ideally suited for high acceleration applications with rapid starts and stops. High Torque-to-Power Ratio Most torque motors are designed with a large number of poles and a high volume of copper to achieve a high torque-to-power ratio, Thus, input power requirements are usually low. Low Electrical Time Constant Typical torque motor design features — such as high-level magnetic saturation of the armature core and the use of a large number of poles — keep armature inductance at very low values. Consequently, the electrical time constant (the ratio of armature inductance to armature resis- tance) is very low, allowing the motor to re- spond rapidly at all operating speeds. High Linearity In a DC torque motor, torque increases di rectly with input current at all speeds and angu- lar positions. The theoretical speed-torque char- acteristic is a set of parallel straight lines (See Figure 1-1),This torque linearity is maintained even at low excitation, assuring no dead-band created by torque non-linearities. Tp RATED VOLTAGE OPERATION Low. VOLTAGE TORQUE OPERATION ° ONL SPEED Figure 1-1 Reliability and Long Life Basic simplicity and an absolute minimum of moving parts make a torque motor inherently reliable. Extensive design and production ex- perience have placed Inland’s motors in most major defense programs in the last two decades. These include applications in all conditions and environments, ranging from thousands of feet underwater to years of unattended operation in outer space.Compact, Adaptable Design Frameless torque motors are built to be “de- signed-in” as an integral part of a system, thus saving the weight and space associated with conventional motor frames or housings. This frameless design allows themotors tobe mounted anywhere along the driven shaft. The “pancake” configuration (thin, compared to diameter) min- imizes the volume required for mounting and offers a convenient packaging arrangement for combinations of torque motors and tachometer generators. Inland also supplies housed motors, com- plete with housing, shaft and bearings for use in similar applications. SYSTEM PERFORMANCE CHARACTERISTICS The same features which give torque motors an advantage over other types of servo actuators also allow the designer to obtain the following system performance characte: High Servo Stiffness The direct-drive torque motor is coupled di- rectly to the load, thus eliminating gears and backlash errors. The resulting high coupling stiff- ness and associated high mechanical resonance frequency yield high servo si Fast Response The low electrical time constant of torque motors allows torque to develop very rapidly when voltage is applied. This fast response is an important aid to servo stiffness. High Resolution The direct-drive use of torque motors al- lows them to position a shaft more precisely than a geared system. With typical gearing, the backlash contributes to a “dead zone” which falls in the region of the system null point and reduces positional accuracy. In a direct-drive system, however, the positional accuracy is, in practice, limited only by the error-detecting trans- ducer system. ‘Low Speeds with High Accuracy Because of the high coupling stiffness and high resolution of direct-drive torque motors, it is possible to achieve high accuracy at low speeds. An example is a table for testing rate and integrating gyros. This table has a speed range of 0.017 rpm to 100 rpm with absolute vi instantaneous accuracy over this speed range of 0.1 percent. Smoot! Quiet Operation Torque motors exhibit smooth, quiet oper- ation when they are run at low speeds. They typically have a large number of slots per pole to reduce cogging and allow for smooth operation. MOTOR SELECTION Frameless or Housed? Both the torque motor section and the servo motor section of this catalog are divided into subsections of frameless motors and housed motors. Housed motors have a traditional configu- ration including frame, bearings and shaft. In use, the housed motor shaft is coupled to the system element being driven. Housed motors are ideal for use in harsh environments or other applications requiring totally closed unit The frameless motor concept was developed to meet the need for motors with a large hole through the center. This need is still one of the main reasons that the large diameter, narrow width frameless configuration is often selected over the traditional housed configuration. The large rotor bore can be used as a route for lead wires, as a mounting area for other hardware such as tachometer generators or resolvers, or as an optical path Frameless motors are built to be “designed in” as an integral part of the system hardware. They are generally supplied as three separate components: stator (field) assembly, rotor (arm- ature) assembly and brush ring or brush seg- ment assembly (See Figures 1-2, 1-3). The frame- less motor can be integrated into the customer hardware rather than coupling a motor shaft to the element being driven. This allows significant savings in space and weight over housed motors by eliminating the motor housings, bearings and shaft. Also, since the frameless motor can be mounted on the driven shaft, the coupling stiff- ness is improved. The backlash normally asso- ciated with couplings or gear trains is eliminated from the drive system. ‘Torque Motor or Servo Motor? A torque motor is typically described as having a “pancake” configuration, ic., a large diameter and a narrow width. This configuration generally has a large number of poles to increase the torque available in a given volume. This large number of poles, however, also causes more com- mutation arcing as speed increases than for a motor with few poles. Torque motors are mostPERMANENT MAGNET FIELD ARMATURE ASSEMBLY LAMINATION STACK KEEPER RING WINDING. BRUSH RING ASSEMBLY STEPPED SHAFT MOUNTING COMMUTATOR Figure 1-2 Details ofa frameless Alnico toraue motor. showing hole for axial-shaft mounting commonly used in positioning and slow-speed rate applications where commutation is not a limitation A servo motor is characterized by a long, small diameter configuration. Lengthening a motor while maintaining a small diameter al- lows a significant increase in torque while mini- mizing the increase in rotor inertia. The end re- sult is an improved mechanical time constant and, therefore, improved motor response. Servo motors are most commonly used in running ap- plications where good high-speed commutation is demanded and operation at or near stall is not required, Magnet Material? The motors in this catalog are manufactured with one of two magnet materials: Alnico or rare earth (Samarium Cobalt). Model numbers pre- ceded by “T”, “NT” or “OT” have Alnico mag- nets and models preceded by “OT” have rare earth magnets. These magnet materials have dif- ferent characteristics which determine their suitability for various applications. This section will examine the differences in magnet material in the areas of performance, installation require- ments, leakage flux, and weight and volume. PERFORMANCE: A major advantage of rare earth magnet motors is maintenance of magnetic characteristics in overcurrent conditions. In Al- nico magnet motors, exceeding the rated current Ip to develop more torque may demagnetize the permanent magnet field and cause a permanent reduction in torque per unit current. The degree of demagnetization is determined by the magni- tude of the overload current. In rare earth mag- net units, currents in excess of Ip can be applied for short duration to develop higher torque with- viiout demagnetization of the PM field. The limits now become the thermal capacity of the motor and the current density rating of the brushes. Rare earth magnet motors that are designed to have comparable resistance to similar Alnico designs will generally have a lower inductance value than that Alnico design. Thus, the electri- cal time constant of rare earth units is normally lower than Alnico units, allowing more rapid system response. INSTALLATION REQUIREMENTS: Alnico magnet motors require a keeper ring or keeper segments to provide a return flux path for the field when the rotor is not in place. Removing or shifting the keeper before inserting the armature into the field will cause significant degradation of performance. In rare earth magnet motors the magnet material has much higher intrinsic co- excive force. This feature makes the field assem- bly immune to the effects of an open magnetic circuit and therefore a keeper is not required. Eliminating the keeper can simplify installation considerably The mounting surfaces for frameless Alnico magnet motors must be made of non-magnetic material such as aluminum, brass or non-mag- netic stainless steel. The minimum thickness of non-magnetic material required to separate the field structure from magnetic material is /4 inch, Rare earth motors may be mounted in magnetic or non-magnetic housings. Rare earth magnet material is more brittle than Alnico, and care must be exercised to avoid chipping or cracking. Because rare earth motors are designed with the magnets on the inner dia- meter of the stator assembly facing the armatur extra care must be taken when inserting the arm- ature into the field assembly. Most rare earth ARMATURE. ASSEMBLY (ROTOR) FIELD ASSEMBLY (STATOR) ‘SAMARIUM COBALT MAGNETS BRUSH, RING ASSEMBLY COMMUTATOR x SILVER i GRAPHITE BRUSHES Figure 1-3 Details of a frameless rare earth torque motor.units have larger radial air gaps than similar size Alnico units. The larger air gap of rare earth units makes rotor-to-stator concentricity less critical (See Figure 1-4) ) N 8 N ESE ALNICO DESIGN LEAKAGE FLUX: In the rare earth field assem- bly design, the magnets are magnetized in a ra~ dial direction. The Alnico field assembly is mag- netized in a circumferential direction. The radial orientation of the rare earth design, along with the unique properties of the magnet material, combine to reduce the leakage flux in the motor. This not only improves the motor performance because motor flux is retained within the mag- netic circuit of the motor, but there is also a much lower flux density around the outside of the motor. There is, therefore, less interference in surrounding wires, electronics and electromag- netic devices. WEIGHT AND VOLUME: Alnico motors have a maximum torque available from a given volume because the magnets will demagnetize if the peak current (Ip) is exceeded. To increase the torque available the motor volume must be in- creased. Typically, this is accomplished by in- creasing the diameter or the length of the motor. As the volume increases, so does the weight. Rare earth motor designs can produce more torque per volume than Alnico designs of the same dimensions. This occurs because rare earth units can be designed with a thinner stator assembly. The rotor therefore has a larger dia- meter while the outer diameter of the stator re- mains the same. Such a motor with an increased rotor diameter will produce more torque than an Alnico design of the same dimensions for the same input power. A comparison between Alnico and rare earth designs is possible using three motors from the catalog, The T-7203, an Alnico design, is rated for 22 Ib.ft. If more torque is required, a larger mo- tor must be used. Assuming a particular appli- cation requires 40 Ib.{t., the T-9902 can be used. ny Se) RARE EARTH DESIGN Figure 1-4 Alnico and rare earth field designs. A comparison of the two follows: tau 17203 1-9902 Peak Torque (Ib.ft.) 2 40 Power (watts) 530 512 Motor Constant (Ib. ft, / Vwatt) 0.96 1.77 Outer Diameter (in.) 9.00 12.00 Inner Diameter (in.) 5.157 8.00 Length (in.) 2.562 2.500 Weight (Ibs.) 18.3 32.3 By using a rare earth design to provide the 40 Ib.ft. of torque, the QT-7801 can be used with- in the same dimensions as the T-7203. Our com- parison is now expanded to include the rareearth design 17-7203 _QT-7801_1-9902 Peak Torque (Ib.ft.) 22 40 40 Power (watts) 530 800 512 Motor Constant (Ib.ft. / Vwatt) Outer Diameter 096 «141177 (in) 9.00 9.00 12.00 Inner Diameter (in) 5.157 5.157 8.00 Length (in.) 2.562 2.396 2,500 Weight (Ibs.) 18.3 20 32.3 ‘The rare earth design requires an increase in power and a slight increase in weight, but will provide significantly improved torque-to- weight and torque-to-volume ratios. This is due not only to the capability of momentary excess current without demagnetization, but also the iximproved motor constant (Km) which results from a larger rotor diameter and a higher flux density. Size Constants ze ‘There are fourteen motor parameters, or size constants, listed on the individual data page for each motor. These parameters are dependent upon the size and shape of the model, but are independent of the winding used. Following is a brief description of each parameter. PEAK TORQUE (Tp) is the nominal value of developed torque with the rated current Ip ap- plied to the motor. In Alnico magnet motors, exceeding the rated current Ir to develop more torque may demagnetize the permanent magnet (PM) field and cause a permanent reduction in torque per unit current. The extent of demagnet- ization is determined by the magnitude of the overload current. In rare earth magnet units, however, currents in excess of Ir can be applied to develop higher torque without demagnetiza- tion of the PM field. POWER INPUT, STALLED AT Tr (Pr) is the value of IR power when the armature resis- tance Rm is measured at 25°C and the current is Ie. MOTOR CONSTANT (Kw) is the ratio of peak torque to the square root of power input at stall and 25°C; Te Ku = VPe This ratio is useful during the initial selection of, a motor because it indicates the ability of a motor to convert electrical power into torque. Kw also defines the slope of the developed torque versus speed characteristic at constant voltage, whichis, Fo= 3 ox. with torque in pound-feet. where — Fo=1.356Ka2 NO LOAD SPEED at Vr (Ont) is the theoretical speed at which a motor will operate without any external load and with nominal voltage Ve applied. The actual value of no load speed is slightly less than On because of the effects of brush friction and magnetic drag (Tr) and the effects of viscous drag (Fr @) ELECTRICAL TIME CONSTANT (Te) is the ratio of armature inductance Lato armature re- sistance Rm . This value of time constant is a maximum because it applies only if the motor power source has negligible impedance. Usually, the inductance in a power source is negligible but the power source resistance Rs is not negli- gible. Then the applicable time constant is im Ruts which is less than Tr. STATIC FRICTION (T;)is the sum of the retard- ing torques at stall within the motor. These retarding torques change the value of the devel- oped torque to the value of the net output torque that is available to a system. Static friction sub- tracts from developed torque when rotor displace- ment is in the same direction as developed torque andadds to developed torque when displacement is opposite the developed torque. Static friction is the sum of brush-commutator friction and magnetic friction, which includes cogging torque and hysteresis drag. Factory acceptance tests for static friction are performed by measuring the current required to start a motor. The correspond- ing value of starting friction, or static friction, is determined by multiplying the measured start- ing current by the measured torque sensitivity of the motor. In general, static friction is about 2% of Tr in sizes up to the T3730. This percentage decreases for larger units, being only about 0.5% for the largest models. VISCOUS DAMPING COEFFICIENTS (Fo and Fi) are of considerable importance in control systems. The sum of Fo and Fr is approximately equal to the total viscous damping coefficient F, which represents the loss in motor torque per unit speed. The coefficient Fe gives an indication of the torque lost due to back EMF in the unit The constant Fo can be understood by analysis of the current diagram in Figure 1-5 and the torque-speed relationship in Figure 1-6, Rotation of the motor armature generates a back EMF, Vp, which is directly proportional to speed and which opposes the applied voltage Vs. The net voltage which produces current flow in the cir- cuit is Vs—Vp. Under steady-state conditions, current in the circuit is zero when the speed reaches the theoretical value Vs peop Ra making Va=Vs. With zero current, the devel- oped torque (which is proportional to current) is also zero. At any speed @ other than @, the steady-state current is, = (Vs=Ve) Rs+Rm) and the developed torque 1s p= KalVs= Va) , Rs+RuSubstituting Kn@ for Va and rearranging the terms yields po KtVs_ _ Kr Kno | ~ RstRm ~ Rs+Rm Theterm yy, Rs+Rat represents the torque which is constant and independent of speed that would be developed if Vs were applied to a theoretical motor with no back EMF and no rotational losses. The term. is a component of viscous drag, or the torque which is lost due to back EMF. This term is represented as Fa@, where the coefficient Fs equals KrKe Rs+Rw As Rs approaches zero, Fn becomes the zero source impedance coefficient Krke Fo =-KrKn_ ana The coefficient Fi gives an indication of the torque lost due to rotational losses (mainly eddy current losses) which are proportional to speed. The losses are represented by Fre , where the coefficient Fi is determined experimentally for DRIVING SOURCE eee TORQUE MOTOR SOURCE votace O EMF Vg Ve=Keo Figure 1-5 Equivalent circuits of driving source and torque ‘motor, showing effect of source resistance |impodance) ‘on motor back EMF relations TOROUE vs SPEED AT V5 FontHe THEORETICAL horon (WrimOUT exck EWE AND ROTATIONAL LOSSES" mate DEVELOPED TOROUE DUE TOs Tonaue ave TOROUE Lost OUE TO BACKEUE ‘ongue ost Bue TO AOIATIONAL LOSSES TORQUE ws SPEED INCLUDING fees EROK Et AND MOTAIONAL LOSSES. @ Arvs wtHoUT ROTATIONAL LOSSES ROTATIONAL LOSSES, Figure 1-6 Effect of back EMF and friction on motor out- put torque and speed. each motor model. Fi is usually 3% to 5% of Fo, The total viscous damping coefficient, or torque loss per unit speed, is FSFet+hi= ee Rs+Re The minimum value of F is Fr when the source impedance is infinite. The maximum value of F is Fo + Fi when the source impedance is zero. In usual torque motor applications, the damping effect of F is insufficient for system stability Therefore, additional damping in the form of circuit compensation or tachometer generator damping is used. +. MAXIMUM WINDING TEMPERATURE is the maximum temperature that the motor winding is allowed to reach. This temperature is the sum of the ambient temperature and the temperature rise in the motor windings due to motor oper- ation. The minimum operating temperature for standard motors is —40°C. Alnico magnet de- signs are available in either 105°C or 155°C winding temperature ratings. Rare earth magnet motors are usually designed with a maximum winding temperature of +155°C. Special units of either type can be supplied with operating temperatures up to +200°C. xiTEMPERATURE RISE PER WATT (TPR) is essentially the “worst case” ratio of winding temperature rise to average power continuously dissipated from the armature. TPR is useful in selecting the smallest motor size for an applica- tion. Unless otherwise indicated, the TPR values listed for frameless motors with model num- bers up to T-9908 are based experimentally on the average PR loss in an armature suspended in air without heat sink or forced air cooling. In a typical application, the actual value of temper- ature rise per watt may be much smaller than the listed TPR because the armature may be mounted on a shaft with good heat conductivity or may be air cooled. In many cases, the actual value is 25% to 50%of the listed TPR. For frame- less units larger than the T-9908, the listed TPR value is determined with the unit mounted on a standard test fixture. The listed TPR value for housed motors is based on testing of the assem- bled unit, RIPPLE TORQUE (Tr) is a small variation in average torque during rotation of the armature. This variation is due to the fact that commuta- tion is done in discrete steps. As the armature rotates, its field is rotated through a small angu- lar displacement before commutation restores the field to its original position. The resulting ripple effect is diagrammed in Figure 1-7. Tris expressed as a percentage of average torque. This ripple is also seen as an equally small per- centage of variation in torque per current sensi- tivity, or gain, in a system. RIPPLE FREQUENCY is the number of ripple cycles in one revolution of the armature. This fundamental frequency is equal to the number of commutator bars used in the design. Higher frequency components may also be present due to the non-sinusoidal form of the ripple torque. NUMBER OF POLES is the number of magnetic poles used in the design of the permanent mag- net field. ROTOR INERTIA (Ju) is the moment of inertia of the armature about its axis of rotation. MOTOR WEIGHT is the total weight of the mo- tor parts. For frameless motors, the weight in- cludes the armature, field assembly and brush assembly, but does not include any keepers. For housed motors the weight includes the armature, field assembly, brush assembly, housing, bear- ings, shaft, and any other housing components, Winding Constants There are six parameters, or winding con- stants, listed on the individual data page for each motor which vary according to the winding that is used in the model. The variations are governed by the number of wire turns per coil and the wire size. In most cases, values for more than one winding are listed. If none of the specified wind- ings are suitable for a given application, addi- tional windings are available by consulting the factory. The winding constants for different gage wire may be calculated by the method shown in Table 1-1. Following is a brief descrip- tion of each winding parameter: VOLTAGE, STALLED AT Tp (Vp) is the nomin- al voltage required to develop peak torque when TORQUE (T) AVERAGE TORQUE = TmaxtTnin ONE RIPPLE CYCLE Trin RIPPLE = Tmax—T yoraue © PERCENT Tmax—Tmin RIPPLE = 100 Tmax FTmin =TR. ARMATURE ROTATION (@) >= Figure 1-7 Definition of torque ripple percentage factor listed in data sheets. xiithe rotor speed is zero and the winding temper- ature is 25°C. As such, Ve is the product of Ir and Ru. At any temperature greater than 25°C, the required voltage is greater than Vp because resistance increases with temperature. To main- tain peak torque, therefore, the voltage must be increased. PEAK CURRENT (Ip) is the current required to obtain the rated torque Tr from the motor. For Alnico magnet motors, Ie is the maximum allow- able value of current’ that can be used in the designated winding. In these units, exceeding the value of Ip may demagnetize the permanent magnet field to some extent and cause a perma- nent reduction in torque per unit current. If it is desired to operate Alnico units at current values in excess of Ir, the factory should be consulted for additional information. Rare earth magnet motors can be operated at current values greater than Ip without demagnetization of the PM field. The limits of thermal capacity of the motor and the current density rating of the brushes must not be exceeded, TORQUE SENSITIVITY (Kr) is the ratio of developed torque to armature input current for the designated winding. This torque-current rela- tionship prevails regardless of armature speed. Thus, any value of current in a winding will develop a corresponding value of torque wheth- er the armature is at standstill or is running forward or backward at any speed. Normally the tolerances on Kr are 10%. BACK EMF CONSTANT (Ks) is the ratio of voltage generated in the armature to the speed of the armature. Since both Ku and Kr are deter- portional to Kr. Normally the tolerances on Kn are +10%. Kx is expressed in volts per rad/s. DC RESISTANCE (Rw) is the resistance meas- ured between the motor terminals at 25°C as shown in Figure 1-8. The normal tolerances on Rt are +12,5%, Approximately three-fourths of this tolerance is due to changes in brush resis- tance that occur with commutation. The remain- ing one-fourth of the tolerance is due to varia tions in the winding resistance. Since the actual temperature of a motor in a given application is usually different from the 25°C at which Ret is, stated, it is useful to know that the change in resistance of copper wire per unit change in temperature is approximately 0.4% per °C. INDUCTANCE (Lm) is the series equivalent of armature inductance as measured at the motor terminals. It is usually measured at 60 Hz and normally has tolerances of 30%. Winding Designation In many applications, the motor is not the first element of a system to be specified. If a power supply or amplifier is specified before the motor, the motor must be selected to match the voltage and current characteristics of the system. Variations in the rated voltage and current for a given motor model are achieved by changing the number of turns and the size of the wire used for the winding, In this manner, a “family” of mo- tors is developed which differ only in the values of the winding constants discussed in the previ- ous section. The peak voltage, torque sensitivity mined by the same factors, Kn is directly pro-__and back EMF constant vary in direct proportion WINDING CONSTANT DC Resistance (25°C) Rw Voltage, stalled at Tr Vr Peak current Ip Torque Sensitivity Kr Back EMF Constant Ko Inductance Law NEW VALUE NEW VALUE FOR FOR HEAVIER WIRE __FINER WIRE. Ru / (1.59) Rat X (1.59) Ve / (1.26) Vp X (1.26) Te X (1.26) Te / (1.26) Kr / (1.26) Kr X (1.26)" Ke / (126) Ke X (1.26) Taw / (1.59) La x (1.59) Seen ED Table 1-1 illustrates the method used to calculate new winding parameters from an existing set of winding parameters. “n" is an integer representing the dif- ference in wire gage between the existing winding and the desired winding, that is, the number of wire sizes larger or smaller than the existing wire. The factors 1.26 and 1.59 are used to calculate the new winding parameters because each step in the Wire gage sysiem involves the same degree of change in wire cross-section and in resistance per unit length. If the new winding being calculated is outside the extremes of the windings listed on the data page, the factory should be consulted. There are limitations on wire size because it can be too fine to work with or too large to fit in the lamination slot. Table 1-1 itito the number of turns in the winding, The peak current varies inversely with the number of turns, and the resistance and inductance vary as the square of the number of turns. When a new winding is designed, the number of turns and the wire size are chosen so that approximately the same total volume of copper is used. This means that the motor size constants, such as peak torque, motor constant, etc., do not change as a result of a winding change. Different windings are specified by a letter which follows the model number of the unit. For example, a T-5730 can be specified with a 19.8 volt winding as a T-5730-A, or with a 37.8 volt winding as a T-5730-C. In order for a model number to be complete, it must include a wind- ing designation letter. The individual data page for each unit usually lists several windings. If none of the specified windings are suitable for the system requirements, an alternate winding can be de- rived by the procedure shown in Table 1-1. If an alternate winding is determined in this manner, the factory should be consulted to verify that a unit with the new winding parameters can be manufactured. MOTOR WINDING. I eateries Sie! Fer ~ - Fae ACTUAL CIRCUIT BRUSHES, Electro-magnetic interference (EMI) can be transmitted from a source to a sensitive location in four ways: (1) direct conduction along wires; (2) capacitive coupling between source wires and nearby leads; (3) inductive coupling be- tween wires, and (4) direct radiation due to an “antenna effect.” The first three of these transmission path- ways are of particular interest in the application of torque motors. These pathways are illus- trated in Figure 1-9, in which noise voltages are: (1) conducted along the motor supply leads from the amplifier; (2) transferred tonearby tach- ometer generator leads by capacitive coupling, and (3) transferred to nearby tachometer gener- ator leads by inductive coupling. Because the tachometer generator leads terminate at the input of the preamplifier, voltages of a few micro- volts may be sufficient to interfere with proper system operation. The simplest way to correct such brush noise conditions is to keep the armature leads separated from the generator leads. If this does not sufficiently attenuate the noise, or if it is not feasible to separate the cables, the use of a RM=Ra+iRe1+RB2) EQUIVALENT CIRCUIT Figure 1-8 Motor terminalresistance Ry is the sum of arma- ture and brush resistance. The equivalent circuit is used {or servo design calculations. BRUSH NOISE CONSIDERATIONS Ina DC motor, the direction of current flow in each armature coil is reversed for each change in the magnetic circuit polarity. This switch- ing process is known as commutation. As the motor operates it generates a self-induced EMF which can produce electrical noise at the brush- es. By careful design of the torque motor, brush noise can be minimized. However, arcing trans- i's may occasionally find their way into sensi- tive control circuits and produce undesirable results. xiv shielded, twisted pair, carefully grounded at the preamplifier end only, is recommended for the tachometer generator leads. In some cases, it may be desirable to also use a shielded, ground- ed pair for the armature leads, as in Figure 1-10, The most important factor in the elimina- tion of brush noise is a continuous system ground. The preamplifier, amplifier and cable points should all be connected to a common ground. In some cases it may be necessary to provide a separate ground bus.Another method of reducing brush noise is by connecting a capacitor across the input termi- nals as close to the brush ring as possible. The value of this capacitor should not exceed 500LM Rw? where La is in millihenries, Rut is in ohms, and Cis in microfarads. opposite the brush ring assembly. The struc- tures designed to support the field assembly must be sufficiently strong to avoid any distor- tion of the field assembly when it is bolted in place. The field assemblies of Alnico magnet motors must be mounted in non-magnetic struc- tures in order to preserve the specified perform- ance characteristics. Satisfactory materials are aluminum, brass and non-magnetic stainless steel. The minimum thickness of non-magnetic 1) CONDI Bee PNSGe = TORQUE TAC FROM MOTOR GEN. LOAD cOMMAND TRANSDUCER (2) CAPACITIVE ‘COUPLING GEN. SIG Figure 7 3) INDUCTIVE, {COUPLING _—- BRUSH NOISE 19 Methods by which electromechanical interference is transmitted to control circuitry HOUSING DESIGN for FRAMELESS MOTORS The frameless motors in this catalog fall into three basic configuration categories: frame- less, frameless with armature adapter machined to existing mounting dimensions (See Figure 1-11) and units with a partial housing and mounting flange or tabs (See Figure 1-12). For the purely frameless units and units with armature adapters, a housing for the field structure must be incorporated into the system design. In general, the field structure is piloted on the outer diameter and is mated on the face SHIELDED TWISTED PAIRS material required to separate the field structure from magnetic material is 44 inch. Samarium Cobalt motors may be mounted in magnetic or non-magnetic housings Units with a partial housing do not require a special field housing. They can be bolted onto a flat plate, and thus are ideal for mounting on the exposed end of a shaft. Mounting features for this arrangement include round or square flanges or tabs. ‘To maintain the integrity of the mechanical and magnetic structure of the motor, the arma- ture should be mounted on a shaft in such a way as to minimize eccentricity around any point in TORQUE MOTOR TACH GEN LOAD FIGURE 1-10 Recommended methods of protection against EMI avBRUSH HOLDER: Res kes! ARMATURE \ | PM FIELD STRUCTURE Figure 1-11 Frameless torque motor with armature adapt ‘er machined to existing mounting dimensions. the armature plane. Each individual data page specifies a required concentricity between the stator and rotor. This mounting requirement stems from a maximum run-out of one-third of the air gap dimension. The rotor bore, as indicated on the indiv- idual data pages, may be used as a pilot for shaft mounting. Standard rotor-to-shaft mount- ing methods include shrink fits, interference fits, adhesives (such as Loctite*)* and axial clamp: ing of both sides of the laminations. Units can be supplied with keyways or with adapter hubs suitable for mounting directly onto the custom- er's shaft, *Trademark of Loctite Corp., Newington, CT MOTOR HANDLING and STORAGE Frameless Motors Because frameless DC motors are designed to be an integral part of system equipment, they require some special handling procedures. Im- proper handling in shipping or installation can substantially degrade motor performance. When received, a frameless motor should be unpacked carefully to avoid damaging the brush ring assembly or the commutator surface. Precautions must be taken to avoid bending any of the brush springs or scoring the mounting diameters. The commutator surface must remain free of scratches, fingerprints and oils. For Alnico magnet motors, DO NOT LOOSEN OR REMOVE THE FLUX KEEPERS until xvi MOUNTING FLANGE PM FIELD STRUCTURE J ARMATURE PARTIAL, s HOUSING Figure 1-12 Frameless unit with partial housing, installation (See page xvii for details). If motors must be transported, they should be packed in the original shipping packages for protection against shock and vibration. Electrical perform- ance tests and mechanical inspection of parts for critical dimensions are performed at the fac- tory before shipment. If performance tests are required by the customer at receiving inspec- tion, they should be limited to those tests de- scribed on the Inland test data form which accompanies each unit. Inland motor parts are tested, assigned serial numbers and guaranteed only as matched sets. Tested performance is not valid if parts are interchanged between motors. In storage, containers and racks should be of non-magnetic materials. Field assemblies should be spaced a minimum of ¥2 inch apart. Motor parts should be protected against expo- sure to, or contact with, small magnetic parti- cles such as iron filings, chips or dust. If such particles are attracted to the magnetic areas of the motor, they are very difficult to remove. In addition, should any material lodge in or across the motor airgap, performance may be seriously degraded, Storing motor parts in normal factory am- bient temperatures is acceptable. For extended storage, corrosion should be guarded against by storing the parts in a sealed plastic bag together with a desiccant suitable for protecting the mo- tor against excessive humidity. The original packaging by the factory is adequate if it is kept intact.‘Housed Motors Inland housed motors require handling similar to that of conventional frame-type mo- tors. Care should be taken to protect the unit against exposure to small magnetic particles such as iron filings, chips or dust. As with frameless units, storage at factory ambient temperatures is acceptable. For extend- ed storage, motors should be packaged with a desiccant to protect against excessive humidity. The original packaging by the factory is ade- quate if it is kept intact. INSTALLATION The exact manner in which frameless torque motors are installed varies with the mo- tor. However, there are five basic methods, each of which depends upon the particular motor configuration: rare earth frameless, Alnico frame- less and partially housed frameless with ship- ping clamp plate, clamp bolt or pole piece clamp. The procedure to be followed when instal- ling frameless rare earth magnet motors is as follows: 1) Insert the permanent magnet field assembly into the housing cavity allocated for it. If the housing material is magnetic, exert care to avoid sudden impact of stator against the housing. 2) Secure the field assembly to the housing with mounting screws. The screw size is specified on the motor drawing, but the screws are not pro- vided. 3) Guide the rotor into its final position within the field assembly, being careful to avoid scratch- ing the commutator surface or chipping the mag- nets. If possible, it is recommended that the rotor be wrapped with a piece of polyester film (such as Mylar®)* thinner than the air gap be- fore it is inserted. Once the rotor is in place the polyester film should be removed. 4) Install the brush ring. Take care in slipping the brushes over the commutator. Avoid bending the brush springs or scratching the commutator surface. For proper position, line up the numbers marked on the stator and brush ring assembly. Then secure the brush ring assembly in place with the mounting screws provided Frameless Alnico units should be installed as follows: 1) Insert the permanent magnet field assembly into the housing cavity allocated for it. DO NOT LOOSEN OR REMOVE THE KEEPER 2) Guide the rotor into its final position within the field assembly, being careful to avoid dam- age to the commutator surface. 3) Remove the keeper ring using the jack screw as shown in Figure 1-13. 4) Secure the field assembly to the housing with mounting screws. The screw size is specified on the motor drawing, but the screws are not pro- vided. 5) Install the brush ring. Take care in slipping the brushes over the commutator. Avoid bend- ing the brush springs or scratching the commu- tator surface. For proper position, line up the numbers marked on the stator and brush ring assembly. Then secure the brush ring assembly in place with the mounting screws provided. ph ayn 4 INSTALL FIELD AS 2. INSERT ROTOR SUPPLIED WITH KEEPER INTO ASSEMBLY 3, REMOVE KEEPER BY INSERTING JACK SCREW Figure 1-13 Keeper removal 4.85. INSTALL BRUSH RIGGING For partially housed Alnico units with ship- ping clamp-plates, typified by type T-10036 (See Figure 1-14) the rotor must not be removed from the stator or partial demagnetization and change of motor torque characteristics will occur. The field and armature assemblies are installed into the shaft and the field support as a single unit. The clamp plate is then removed to permit rota- tion of the armature. After removing the clamp plate, be sure to tighten the mounting bolts. STATOR ROTOR CLAMP PLATE Figure 1-14 (Clamp-plate motor, type T-10086. *Trademark of DuPont, Wilmington, DE. xviiPartially housed Alnico units with clamp- bolt or pole-piece clamp are similar to each other in that the accessory clamp elements are simple screws. In the case of the clamp-bolt types, which are typified by the T-10035 motor (See Figure 1-15), securing the clamping bolts moves the rotor axially a sufficient amount to lock the rotor and field together at an existing interface. The pole-piece clamp type, typified by the -18002 imotor (See Figure 1-16), locks the rotor to the field at the air gap by forcing a number of movable field pole-pieces radially inward until clamping action takes place. After installation of this type motor, the clamping set screws are loosened, and the main pole-piece stud nuts are retightened to secure the pole pieces in their proper position. Figure 1-15 Clamp-bolt motor, type T-10036, stup e Nurs Figure 1-16 Pole-piece clamp motor, type T-18002, vitTORQUE MOTORS Torque motors are typically used in positioning or slow-speed rate applications where the accuracy is critical. The large diameter, narrow width configuration delivers high torque in small volume. This section contains both frameless and housed versions of the basic torque motor.1-2 aE Kw Om oD Length 2. int | rad/see ox in. in in NT-O786 2300 oron7 1040 1.0709 1300 oro707 925 1.2003 610 Nr-0795 930 OT-1106 636 oni204 72 or-0706 75 580 Motor J Natoad] Electrical | Friction | Rotor | Physical Dimensions | Weight BSE ee ee if Tr 4 530 400 300) NEGI9 T1915 2 1242, ‘T3001 ff 26.5 st NEST 2 or-2406 T2413 12509 T2804 NES Ta1s7 TAs orzios or2502 orni7 F-19065 or2202 T2314 ori401 T1911 12170 gr-2504 T2516 orto ‘or2i0s Taz 1-2809 NT-1308, r-1903 T2719 Continued on next page. Kollmaraen Inland Motorarson aaa T2967 Orsio1 T2215 T2171 Orsi4 ‘T4601 OT-1406 12955 oT-4602 73203 T3910 T4436 12087 Kollmorgen Inland Motor 1-3Frameless Torquer Selection Guide (Ib. ft. ene uot oroed Friction pate Physical Dimensions | Weight open | _@ Sull Bes z bela ae Pr Kar om Ju Length th tr fatto tb. fuga | radsee tb fesec n 2 T2950 7 a 22, O17 72912) 216 005 | 61 ie NES 42.1 0.04 30 T5402 6s 004 12 73208 56 0.027 24 ‘naa 58 0.04 15 12959 a7 0.026 25 74036 36 0.035) 29 T5406 0.12 30 T8002 gr-7602 0.05 030 45 73 oreo! 0.05 7.2406 0.05 orsi02 104i or-2404 0.062 0.057 0.052 orsios 14075 ors403 010 oT-7008 0.20 or-s302 0.16 orso2 0.2 ‘ors802 0.10 07-2603 orsiod "T6204 17501 75730 or7201 1.6205 or-12901 ‘or-6202 erm T5602 711306 17.8905 5745; 7.13301 oT-6301 org704 1.9901 T1308 T7203 o-11302 or-7a02 or-6205 0.10 as o. Continued on next page. 1-40 Kallmaraen Inland MatarFrameless Torquers (Ib. ft.) cont MODEL NUMBER ‘OT 7003 0 Pt 5 Te ori01 12x 10 45 1.7250 4 23x 102 5.16 7.15603 0.14 1388 710036 60x 102 350 ors207 5 5 20% 108 395 1.9902 5 | 50x 102 5.00 or7eoi so | 28% 102 5.6 orttso1 60 x 102 to.05 ori7301 3 5 013 1575 r-7809 3 | arx soe | 900 | 5.16 9808 ot | i200) 775 10020 0.18 [1320] 350 10035 ors | 1325] 3.38 ori1303 7 oat | 12.25} t0.05 or-12506 3 oir 1050 ‘rigor! fas 2 o2 350 or-12505 5 37 o2r 10.50 12008 030 6 18002 5: 5 140 10.35 7.23502 29 | 25.45] 20.59 16008 310 | 2356] 938 24005 8 18.00 136010 f 15 6 2195 T8031 5 6 a2 |2ssif ose 7.36001 2% 5 [25.62 Kollmorgen Inland Motor 1-5NT-0786 — Fi 250 2802 He —125 PEAK TORQUE — MOUNTING 110 MAK, DIMENSION 720 ens eae RING eS 7 g 13% 748 125 a Bie Max | MAK varias * We a 5 t san, Te. 4 a 1 ia a 4500005198 THR oBINL 2°70 15901 ae GSES ES Shrces on soso 0 ores: WONMIOTOR TO BE SHIPPED AS THREE SEPARATE COMPONENTS: BRUSH nina LEADS: AsbellBy motos seu avo Sravor sGSeMeLr WIN REERER GALTON: 428 ANGTYPE-ET TEFLONCOATED FER Sonor mtSveearen Unni moron SPaACr NPAC Te iieere su cs 2° Noun eauinehens SaerensA AN 6°70 BE CONCENTRIC Pace TS bv eate anBiono) incobie One mj mlen uoNTED. 3. Sycpoaity SUaNeNT S040 To GREEN LEAD. WITH RESPECT TOORANGE eadinoranon sit ae ce Pane BRR RNG Ene. Sximca onus ure sorneve S ‘Torque Sensitivity - Kr ozinaur — =10% 6.40 7.94 Back EMF Constant - Ke Vrennaps 10% 0.0452 0.0561 DC Resistance (25°C) - Ru: oums 12.5% 6.50102 Inductance - Lu ot *30% 24 37 Kollmorgen Inland Motor 1-17T-1242 8 25 02. in. | 100 PEAK TORQUE MOUNTING 029 Max DIMENSION 108 B 1499 1.150 tHe |_ 625 Fae es ra MAK. | we | 1 aera iron on 1, = MOTOR 10 BE SHIPPED AS THREE SEPARATE COMPONENTS: BRUSH FING ASSEMBLY, ROTOR ASSEMBLY, AND STATOR ASSEMBLY WITH KEEPER. CAUTION: a0 » cot Te BB 01A THAUEE®CSINKTO 1508 ‘ia HOLES SPACED AS SHC Ons S200186. Leave: {28 ANG TYPE “E” TEFLON COATED Pen ait vesre ie" wi. ‘SONOT AEWOVE KEEPER UNTIL AOTOR Is FULLY IN PLACE. 0 MOUNTING REQUIREMENTS: OAMETERS "RAND IN ototoos Tin) WHEN MOUNTED. “TO BE CONCENTRIC WiTH- 2. WITH POSITIVE CURRENT APPLIED TO GREEN LEAD, WITH RESPECT TO ORANGE LEAD, ROTATION SHALL BE CCW. FACING BRUSH FING END. APICAL BRUSH LIFE 90° REVS. SIZE CONSTANTS: Value Units Peak Torque Rating -Tr 3 am Power Input, Stalled at Tr25°O)- Pr 3 warn I Motor Constant - Ka ales ed eared No Load Speed, Theoretical @ Ve-One sor Eleirieal Tie Constan ye Static Friction (Max) -Tr rise Viscous ‘Zero Impedance - Fo 0.082 (02. IN. PER RAD/S- Cees ite lnpetons os on men ore Maximum Winding Temperature use Temperature Rise per Watt- TPR ater Fipple Torque (Average to Peak) my oe Ripple Frequency - (Fundamental) 2» ‘CYCLES/REV. Number of Poles ‘ Rotor Ineta eaGMEaRMENaM oois| ae foeaee Motor Weight eraadte WINDING CONSTANTS Winding Designation om rommes A Be EF 6 Voltage. Sued at TH25°C)- Vr van Nom. 228 354290 449 Peak Curent - ~ awreess Rated 240150195 120 Torque Sensitivity Kr cemaur 210% 105 165 129210 anes Back EMF Constant Ka verton 210% 0074 0.117 0091 0.148 ~ DC Resistance @5°C)-Ru SCs IRS 950234149374 Tdacance- La = ox alec icon 1-18 Kallmaraen Inland MatarQT-1217 50.02. in. B45 850 = MOUNTING 095 DIMENSION 105 t taster 7 oie rio Be, | |} 27 4 Hee WA We oe | ES oe io enna Sate ted oe Se career esta a ana Seventeen oie ae ace ASSEMBLY. ROTOR ASSEMBLY, AND STATOR ASSEMBLY. BSS MOUNTING REQUIREMENTS DIAMETERS A AND “B10 BE CONCENTRICWITH- inane ope TA) WHEN MOUNTED Leaos: ii POSTIVE CURRENT APPLIED TO GREEN LEAD. WITH RESPECT 10 ORANGE. 925 ANG TYPE “E- TEFLON coaTED LEAD, ROTATION SHALL BE CCW FACING BRUSH RING END. PER MIL W1687@ 16° MIN LENG 1a PICAL GRUSHLIFE> So? REVS. SIZE CONSTANTS Value Units a Peak Torque Rating- Te on Power Input, Stalled at Tr(25°C) - Pr warns ‘Motor Constant - Kat nm war No Load Speed, Theoretical @ 467 apes Electrical Time Constant - te 038 ms Statie Friction (Max.) Te 11 on. ‘Zero Impedance - Fo O11 ox.aw.ren aapis Infinite Impedance 0.003 oz ren eaDis ‘Maximum Winding Temperature 155 we “Temperature Rise per Watt - TPR 12 serwarr Ripple Torque (Average to Peak) -T 7 rence Ripple Frequency (Fundamental) i 29 reine, Number of Poles 6 Rotor Inertia - Jw Ht 0.0015 ozs? Motor Weight 55 on eee WINDING CONSTANTS Winding Designation enn ee wns vous A BC OD EB F_ G Voltage, Stalled at Tr(25°C) - Ve ours Nom. 330 208 Peak Current - Ir wwreass Rated 5.07.85 ‘Torque Sensitivity - Kr ezmamr 10% 10.0 6.36 Back EMF Constant - Ke vemos 10% 0.0706 0.045, DC Resistance (25°C) - Rat onus 125% 6.60 2.65, Inductance - La ot #30% 25 LO Re oi se ae ceca 5 Ch at 8 el a NE Kollmorgen Inland Motor 1-19O18 a tay HOLES" Shack oO 49365 1205 78 105 Biyea7s wax MIN Max | Notes: 1, = MOTOR 10 BE SHIPPED AS THREE SEPARATE COMPONENTS: BRUSH FING aes ASSEMBLY. ROTOR ASSEMBLY. AND STATOA ASSEMBLY HTH KEEPER. CAUTION: ONG? REMOVE KEEPER UNTIL ROTOR IS ULLy IN PLAC #2ANG TYPE © TEFLON COATED PER 3° MfouniNe REQUIREMENTS DAMEYERS"® AND8" TO BE CONCENTRIC Wit ‘Ae W.t6078 10 MI LS In ostopaT Ay WHEN woUNTED. 3 “WITH POSTIVE CURAENT APPLIED TO GREEN LEAD, WITH: RESPECT TO ORANGE [EAD ROTATION SHALL BE CE FACING BRUSH RING END. Wat yPICAL BRUSHUIFE > (0° REVS. SIZE CONSTANTS Value Units Resi Torque Rating nom ower np Stale a TSC) Pr ow er Conan ee No Lend Speed, Thesrizal @ Vr_one “ome Hela Tie Gonsant- oe feat Fon (ie) eae: Viscous ‘Zero Impedance - Fo 0.049 (OZ. IN. PER RAD/S- eps ints Impedance KI ran Mesias aig temas ioe Temperature Rise por Wat = TPR ee pple Torgue (Average o Pal or Ripple Freeney = Fundaent S| mam ‘umber f Poles i Rotor nein = TORT! oma! Motor Weigh aoa WINDING CONSTANTS Winding Designation yaa ae ar ae Voge, Sled or TH252C) -Ve von Nom. 260310 006 4 aT 9675 ea Curent areas Re re TT. HO. TO Tergue Sena r cemianr #108 87 1.0137 165237156 Beck EMF Constant Ke vertion 10% 0061 06TH 0097 O16 Gist 0.194 027 DC Resistance (25°C) far cms #125 1317277427810 163 inca a we BOR 4D 60 100 30 240360540 1.20 Uallmarnan Intane MaineNT-1319 2402in. PEAK TORQUE 096 DIA. THRU CINK 82° 70.170 {BR Mtv a) HOLES SPACED AS SHOWNON 1687 OIA BC 205 #00, MOUNTING 095, 095 DIMENSION “105 sm ROTOR REF. |. = MOTOR TO BE SHIPFED AS THREE SEPARATE COMPONENTS: GRUSH RING LEADS ASSEMBLY. ROTOR ASSEMBLY AND STATOR ASSEMBLY WITH KEEPER CAUTION. 420 ANG TYPE" TEFLON COATED ONGT REMOVE Neeren UNTIL ROTOR Ie ruLLY IN PLACE” tonne 2° Noung neautne ens, AMETERS A AND "B TOBE CONCENTRIC WITH: in onaicon rim) WHEN MOUNTED. it Fost CURIE SoPIED TO GREEN LEAD. WITH RESPECT TO ORANGE LEAD, ROTATION SHALL Be CCW FACNG BRUSHAING ND. {5 IGA PERMEABILITY LAMINATION MATERIAL SIZE CONSTANTS Value _ Units a Peak Torque Rating - Tr 2% oem Power Input, Stalled at Te25°C)- Pr 64 wares Motor Constant - Kua 30 nm WaE No Load Speed, Theoretical @ Ve -nt 375 nas Electrical Time Constant - te 029 ws Static Friction (Mas.) - Te 08 ow Viscous ero Impedance Fo 0.064 on wma mans Damping Conticients Infinite Impedance - Fr 0.005 ox pe remaanis Maximum Winding Temperature 05 te Temperature Rise per Watt -TPR 156 serwarr Ripple Torque (Average toPeak)-Te 3 rencen Ripple Frequeney - (Fundamental) eveuesimey. Number of Poles _ Rotor Inertia - Jw 8aX1O ost ‘Motor Weight 430 Se WINDING CONSTANTS Winding Designation en md roms A BC DE Voltage, Stalled at Te(25°C) - Ve vours Nom. 276 215 17.2 344 552 Peak Current - Ir aurenss Rated 2.3295 3.73 186 115 a ‘Torque Sensitivity - Kr cumamr 10% 10.5 815 645 129 21.0 Back EMF Constant - Kn Vowmaps — =10% 0.074 0.058 0.046 0.091 0.148 DC Resistance (25°C) - Ru comms 125% 120 730 460 185 480 Induetance - La ot 230% 235 21 12 53° 14 Kollmorgen Inland Motor 1-21NT-1372 7 one 01a, THRU 'INK s2° T0178 me AL ces fers PEAK TORQUE MOUNTING 095 wun ree HIGH ENERGY MAGNETS DIMENSION 105 B notes: 1. = MOTOR 10 BE SHIPPED AS THREE SEPARATE COMPONENTS: BAUSH RING ASSEMBLY, ROTOR ASSEMBLY AND STATOR ASSEMBLY WITH KEEPER CAUTION: LEADS: ‘SONG REMOVE KEESen UNTIL ROTOR IS FULLY IN PLACE: {£28 ANG TYPE “© TEFLON COATED PER {Ni oaa.o0e 718] WHEN MOUNTED. 2 WitN POSITIVE CURRENT APALJEO TO GREEN LEAD, WITH RESPECT TO ORANGE LEAD, ROTATION Saul BE CCW. FACING BRUSH ING END. Le STPICAL BRUSH LIFE 10" 6. HIGH PERMEABILITY LAMINATION MATERIAL, 6. —"AS WINDING DESIGNED FOM PEAK TORQUE TO 160 RAO/SEC SIZE CONSTANTS Value Units Peak Torque Rating - Te 300 onw. Power Input, Stalled at TH25°C)- Pr 52 wars ~ Motor Constant - Kar 445, ozins WATT No Load Speed, Theoretical @ Vr-Onr 245 os Electrical Time Constant - Ce 03 us Static Friction (Max) - Tr 18 oom ‘Viscous Zero Impedance - Fo 0.122 (OZ. IN. PER RAD/S Cer ay Infinite Impedance - Fr 4X 103 oz.iN.reRnapis ‘Temperature 155 +e ‘Temperature Rise per Watt - TPR 156 sewarr Ripple Torque (Average to Peak) - Tw 7a reece Ripple Frequency - (Fundamental) 31 ereusnay, Namberof Poles 8 Rotor Inert 930x104 oxmst Motor Weight 44 on WINDING CONSTANTS Winding Designation “= women AB C¢ DE FG Voltage, Stalled at To25°C) - Vr vours Nom, 174137 21.8 274 109 Peak Current - Ip nwrents Rated 30382419481 ‘Torque Sensitivity - Kr oxmaur 10% 100792125 158 6.24 Back EMF Constant - Ke Vewnans _=10% 00706 0056 0.088 0.112 0.048 Y DC Resistance (25°C) - Ra ous 125% S836 9.1144 2.26 Induetance- Ln vt 230% 447d” 89 1-22 Kallmaraan Inland Matar198096 DIA, THRU COINK €2° 10 170 Mn “Dia a) HOLES. SPACED AS SHOWNON 174008 8 MOUNTING .105 f 525 DIMENSION 175 Loma ne 196s 1205 Tus He tc] i ne. at i be 665—-! ROTOR REF. ores: 1. — MOTOR TO BE SHIPPED AS THREE SEPARATE COMPONENTS: BRUSH RING ASSEMBLY. ROTOR ASSEMBLY. AND STATOR ASSEMBLY WITH REEPER, CAUTION. (DONOT REMOVE KEEPER UNTIL ROTORS FULLY IN PLACE” 2° MOUNTING REQUIREMENTS. DIAMETERS" AND "8" TO BE CONCENTRIC WITH: IN 002.004 Taj WHEN MOUNTED. 3 WitH POSTE CURAENT APP IED TO BAOWN LEAD. WITH RESPECT TO ORANGE LEAD, ROTATION SHALL BE CCW. FACING BRUSH RING END. a aTBCAL BRUSH LIFE > to" Reve $< coup uatencommuraron 6.— SIGH PERMEABILITY LAMINATION MATERIAL NT-1 383 sana TON row 7 Leaos: #24 AWG TYPE"E-TEFLON COATED PER Micwneae eM e. SIZE CONSTANTS Value — Units Peak Torque Rating - Tr 2 om. f Power Input, Stalled at T9(25°C) - Pr 83 warts ‘Motor Constant - Kae 33 on war No Load Speed, Theoretical @ Vp -@ya. 368 aves Electrical Time Constant - Ce 0S ous Static Friction (Max.) - Te 10 on Dannie ‘Zero Impedance - Fe 0.087 02.1N. PER RAD/S Coefficients Infinite Impedance - Fi 0015 ox m.reReaDis ‘Maximum Winding Temperature 55 ‘Temperature Rise per Watt - TPR 147 sewarr Ripple Torque (Average to Peak) - Te 10 recent Ripple Frequeney - (Fundamental) 31 exenesiney, Number of Poles 6 Rotor Inertia ~ Jue L1X103 zine? Motor Weight 6 WINDING CONSTANTS Winding Designation AB Cc DE F G Voltage, Stalled at Tr(25°C)-Vr vous Nom. 320 253 201 403 Peak Current - Ir aurenes Rated 260 3:34 4.26 2.08 oC ‘Torque Sensitivity - Kr cumame, 210% 12.39.60 7.52154 Back EMF Constant - Kn voermans 10% 0.087 0.068 0.053 0.108 DC Resistance (25°C) - Ru onus 125% 1237.60 4.73194 Inductance ~ Le ™ 0% 60 36 22 94 Kollmorgen Inland Motor 1-23T-1342 ae oa 40020 58 PEAK TORQUE —ountiN.120_| 4. DIMENSION “130 | = m8 B 19985 1208 iy, 119 —| 9975 MAX. We ax—et te 625 TP. | oe ja 481 (000) 14, THRU CINK 82° TO, 70MIN DIA 4} HOLES SPACED AS ROTOR REF. ‘SHOWN ON 160" DA BC notes: 1) = MOTOR 10 GF SHIPPED AS THREE SEPARATE COMPONENTS. BRUSH FING LEans: ASSEMBLY, AUTOR ASSEMBLY. AND STATON ASSEMBLY WITH KEEPER. CAUTION: #28 AWG TYPE“E-TEFLON COATED ‘BONGT REMOVE REEER UNTIL ROTOR ISPULLY INPACE torn 2 MOUNTING REQUIREMENTS: DAMETERS "A AND" TO BE CONCENTRIC WITH in obo 00411 Ry WEN MOUNTED. 3 Wwf POSITIVE CURRENT APPLIED 70 GREEN LEAD, WITH RESPECT TO ORANGE LeAo, ROTATION SHALL BE CCW FACING BAUSH FING END. 4 SPIGAL BRUSH LIFE 10° REVS, SIZE CONSTANTS Value Units Peak Torque Rating - Te 40 oz + Input. Stalled at To(25°C)- Pe 98 warns 403 oxins WATT No Load Speed. Theoretical @ Vr -@xu MO ms Electrical Time Constant - 0300 as - 10 on 2 0.12 orm ren napis 0.007 ox wren saps 05 we ‘Temperature Rise per Watt - TPR B4 sowarr ipple Torque (Average to Peak) 7 pencee ipple Frequency - (Fundamental) 31 eveursmmev. Number of Poles 6 Rotor Inet 7 16x103 ons? ‘Motor Weight 76 on. Neen nen nn en ne nnn nn EEEEIEInrEnnnnernnnnenErnn WINDING CONSTANTS Winding Designation a, us tomes AB OC DE FG Voltage, Stalled at Te(25°C) - Vr vours Nom, 128 295 372 47.0 59.2 748 947 Peak Current - Ir awrenes Rated 76-331 262 21 (165 13 10 ‘Torque Sensitivity - Kr oxmamr. 10% 5.24 121 152 192 242 WS 385 Back EMF Constant - Ke vemos 10% 0.037 0086 O11 O14 O17 022 0.27 VY DC Resistance (25°C) - Rue ous 125% (167 89 142 226 359 S72 91.0 Inductance - La ot 23m 205 (30 «48 76 OSH LAE LIT EGO a a a EE ES TT 1-24 Kollmoraen Inland MotorNT-1308 9002. in 8 — PEAK TORQUE sur ane Feat Estee SV" ‘Guan es LENGTH — yak, aero Rn ROTOR REF SIZE CONSTANTS Value Units Peak Torque Rating - Tr 9 oz. f Power Input, Stalled at Tr(25°C) - Pr 255, WATTS: Motor Constant - Kw 565 oxi Vwart No Load Speed, Theoretical @ Vi 407 aps Electrical Time Constant -¢& 040s Static Friction (Max.) 30 on baal ‘Zero Impedance - Fo 0.22 (OZ. IN. PER RAD/S. Damping = Coelicents Infinite Impedance 0019 ox m.reemans Maximum Winding Temperature 135 ‘Temperature Rise per Watt - TPR 9 sermare Ripple Torque (Average to Peak) Ta 7 rencewr Ripple Frequency - (Fundamental) 31 evetesmey Number of Poles 6 Rotor Inertia J 35X10 ons? Motor Weight 16.1 oz, WINDING CONSTANTS Winding Designation ons __rotrmances AB F Voltage, Stalled at Te(25°C) - Ve vours Nom. 220 28.8 Peak Current - Ie rvranes Rated 1.693 - ‘Torque Sensitivity Kr ozmwamr 10% 7.89.70 Back EMF Constant - Ke “voernaos 10% 0055 0.069 a a DC Resistance (25°C) - Roe ous 125% 193 Inductance ~ Le a 530% 0.78 122 Kollmorgen Inland Motor — 1-25T-1410 £08 a2 PEAK TORQUE ich er 1-26 21 02. in, 005, MOUNTING 095 ts MAX. INERGY MAGNETS DIMENSION 105 be sor ORANGE ROTOR REF. ores: ee iOTOR 10 SE SHIPFED AS THREE SEPARATE COMPONENTS. BRUSH FING [eSelBUnvom aSGEnaL” AvD STATOR ASSEMBLY WiTH REFER. CAUTION BONOT REMOVE RECPER UNTIL ROTOR IS FULLY IN PLACE. 22 MouNtinG REQUIREMENTS: DAMETERS A” AND"! TO BE CONCENTAICWTH IN ooetooe ry WHEN MOUNTED. 1. ile ASSRVE GORMENT APPLIED TO GREEN LEAD WTH RESPECT TO ORANGE dino noration siti be ce, rac aruSH rine ENO. 1 SCAL BRUBH LIFE SORES. ‘ogg DIA. THRU CINK 82° TO 175 MIN. DIA (4) HOLES SPACED" AS SHOWN ON eer OIA BC Leaos: #28 AWG 1YPE"E TEFLON COATED SIZE CONSTANTS Value Units Peak Torque Rating 21 oN Power Input, Stalled at To(25°C) - Pe 49 warns ‘Motor Constant - Ki 30 ons WRF No Load Speed, Theoretical @ Ve -On. 360 maps Electrical Time Constant 31s Static Friction (Max 7 eam, ae ‘Zero Impedance - Fo 064 ON. PER RADIS Coctticients te Impedance 00¢ oz iN ren maDis ‘Maximum Winding Temperature 155 ve ‘Temperature Rise per Watt - TPR 15 sewer Ripple Torque (Average to Peak) - Tr 6 rence Ripple Frequency - (Fundamental) 37 eves. Number of Poles eau Rotor Inertia - Jue O15 ous? ‘Motor Weight 5 on WINDING CONSTANTS Winding Designation vars roumnces A BC DE F 6 Voltage, Stalled at Te(25°C) - Vr ours Nom. 28.0 35.6 Peak Current - Ir nurenes Rated 751.40 ‘Torque Sensitivity - Ke oxime *10% 120150 ‘Back EMF Constant - Ke vownape 10% 085-107 DE Resistance (25°C) - Ru. ous 125% 160 254 Inductance - Lat H 230% «5807.9 Kollmoraen Inland MotorQT-1401 55 02. in, 425, PEAK TORQUE 45 RARE EARTH MAGNETS: s MOUNTING 095 __, DIMENSION "105, 1.9365 8 gars Wak ‘sas * a cree oreen 7 98 DIA thn a? came To a78 | Aim BA Tl aeds Se RS Satna Bh aron'ee 4. MOTOR 10 BE SHIPPED AS THREE SEPARATE COMPONENTS: BRUSH FING [AsSeMBLy, ROTOR ASSEMALY AND STATOR ASSEUBLY 2° MOUNTING REQUIREMENTS: DIAMETERS "A AND'B’ TO BE CONCENTRICWITH. IN ag coe Tf WHEN MOUNTED. ‘TEFLON coareD 3 WITH POSTIVE CURRENT APPLIED TO GREEN LEAD WITH RESPECT TO ORANGE Pen alc W16578 70" MIN, LENGTH, leao\ ROTATION SHALL Be CCW. FACING BRUSH FING END. 1S SpymgaL QMUBH LIFE 10° REVS SIZE CONSTANTS Value Units a Peak Torque Rating - Te 55 on. Power Input, Stalled at To(25°C) - Pe DIT warns ‘Motor Constant - Kye 374 oun Wa No Load Speed, Theoretical @ Ven. 5ST naps Electrical Time Constant - te 021 as Static Frietion (Max.) -T 18 zm. iscous Zero Impedance - Fo 0100 oz. wren sans PE ag Tite Impedance - Fr ZO%103 cameos yum Winding Temperature 155 ve ‘Temperature Rise per Watt - TPR 15 scowarr Ripple Torque (Average to Peak) - Tr 7 rence Ripple Frequency (Fundamental) BL eveunsmay, ‘Number of Poles Ee 8 Rotor Inertia - Jue 13102 ‘Motor Weight 44 on i WINDING CONSTANTS Winding Designation a rraTnnannnl wars ounces A BC DE FG Voltage, Stalled at Tr( 25°C) - Ve vours Nom. 35.4 281 223 177 Peak Current - Ir aurenes Rated 6.11 7.72 9.78 12.2 a ss ‘Torque Sensitivity - Kr onmwaur 10% 9.00 7.13 5.63 450 ‘Back EMF Constant - Ke Vounas _=10% 0.0636 0.030 0.040 0.0318 DC Resistance (25°C) - Ra. onus 125% 5.80364 2.28 1.45. Inductance - La oH =30% «12075 047 030 a Bo i Sa St ge A Kollmorgen Inland Motor 1-27QT-1404 6502. in. PEAK TOROUE MOUNTING 095 GREEN tear! nores: Moro : cn ins ia (e) HOLES SPAS SHOWN AsdeMely, 2OTOR ASSEMBLY AND STATOR AoSEMALY On Ter OR Be 25 Mounts REQUIREMENTS OAMETERS KANO "STO BE CONCENTRIC WITH bos OIA THRU 82° CINK TO 175, [nv oa Obe un yraen MOUNTED, ee 2 Wit POSITWVE CURRENT APPLIED TO GREEN LEAD WITH RESPECT TO ORANGE LAD, ROTATION SHALL Be COW FACING BRUSH FING END. {28 AWG TYPE “E- TEFLON COATED 4 TWPICAL BRUSH LIFE > 10° REVS. Pen ait vetesr8 10min LENT, SIZE CONSTANTS Value Units Peak Torque Rating - Tr 65 ons Power Input, Stalled at Tr(25°C) - Pr 88 wars ‘Motor Constant - Ku 655 nN WATE No Load Speed, Theoretical @ Vr Ons, 214 maps Electrical Time Constant - te 0238s ‘Static Frition (Max.) - Tr 300 oz Viscous Zero Impedance-Fe 0 veconen Zero Impedance - Fo 0303 oz mrennans Coefficients Infinite Impedance - Fs 0012 oz reneans Maximum Winding Temperature 135 ve ‘Temperature Rise per Watt - TPR 13 scowarr Ripple Torque (Average to Peak) - Te 7 pence Ripple Frequency (Fundamental) crcunsime, Number of Poles Rotor Inertia - Ju 255x103 onins? ‘Motor Weight 8400 WINDING CONSTANTS Winding Designation ws romances A BC DE FG Voltage, Stalled at T#(25°C) - Ve vours Nom. 136 171 272 Peak Current - Ir ‘awpenes Rated 7.20 5.76 3.60 ‘Torque Sensitivity - Kr ozwamr 10% 9.00113 180 ‘Back EME Constant - Ke Voumns 10% 0.064 0.080 0.128 DC Resistance (25°C) - Ra. ous 125% 1892.98 7.56 Inductance - Lat #30% 045-070 18 1-28 Kollmoraen Inland Motorie T-1421 ‘THs D1a over "TS LENGTH 28 fone ec it x \K TORQUE MOUNTING 105 BRUSH RING HIGH ENERGY MAGNETS DIMENSION 1115 | a 096,102 DIA THRU CINK 62°70 170-180 DIA 125 tA 5000? JOPPOSITE SIOE| «) HOLES Notes: ‘SPACED AS SHOWN ON 1 T45DIA BE {= MOTOR SUPPLIED AS TWO SEPARATE COMPONENTS: STATOR ASSEMBLY WT FOTOR ASSEMBLY IV PLAGE (ELD BY MYLAR Shi) AND BRUSH RING ASSEMBLY. Leas REWOVE UVLAR SHINS AFTER ROTOR ANO STATOR ARE SECURELY MOUNTED: OO #24 ANG TYPE EE TEFLON COATED PER NOT REMOVE ROTOR FROM STATOR AT ANY TINE ACW 6876 to"MI LS OT MOUNTING REQUIREMENTS, QAIETERS"A” AND"E" TOBE CONCENTRIC TH: in opetooe i HEN MOUNTED. BSH POSTIVE CURAENT APTLIED TO GREEN LEAD, WITH RESPECT TO ORANGE exo. noraniON statu Be CCW FACING BRUSH AING END. 2 A"iyPcaL BRUSH LIFE >So REVS. 3 = Gaub pare comuuraTon SIZE CONSTANTS Value Units pe Peak Torque Rating - Tr 714 ons Power Input, Stalled at Tr(25°C) - Pr 12 wars Motor Constant - Kw. 731 om war 205 maps Electrical Time Constant - te oss ous Static Friction (Max.) - Tr 20 onw. Viewun 038 on reRRADs 0.01 onmrenmans Maximum Winding Temperature er) ‘Temperature Rise per Watt - TPR 10 enwarr Ripple Torque (Average to Peak) - Te 5 roneanr Ripple Frequency - (Fundamental) 37 eveussimev, Number of Poles a 6 Rotor Inertia - Ju 23%102 onus? Motor Weight 15 oe Neen ee ee ee en ne EEEEEEnnemmmd WINDING CONSTANTS Winding Designation i EIEEEaneraeee! vrs roueeances A Voltage, Stalled at To(25°C) - Ve vours Nom, 24.8 Peak Current-Ip fampenes Rated 4.53 > ‘Torque Sensitivity - Kx 2 uname, =10% 17.2 Back EMF Constant - Kn Tvermos 10% 0.121 DC Resistance (25°C) - Ra. ons 12.5% 5.5 Inductance - La = 30% 30 a a aR a a er Se Kollmorgen Inland Motor 1-29QT-1406 oe recs a PEAK TORQUE 1000 reapers Puoimres ges 2 ae a pier i econ | ! (ll eee tL ges BIER Lo MN os = a — 4 a Noves: 1. = MOTOR TO O& SHIPPED AS THREE SEPARATE COMPONENTS: BRUSH FING ASSEMBLY, ROTOR ASSEMBLY AND STATOR ASSEMBLY Bo MOUNTING REGUIREVENTE: OIAMETER"A° AND: Ihbagtoos Nim Wwnien MOUNTED. MIN, BIA (aimOLES £0 SPACES AS ORANGE SHOWN ON 72rDA Be Levos: {28 ANG TYPE “E" TEFLON COATED er Mit We872, 10" MIN: LENGTHY TOBE CONCENTRICWrTH 3 = witt#Positive CURRENT APPLIED TO GAEEN LEAD, VTTH RESPECT TO ORANGE LEAD ROTATION SHALL Be GoW FACING BRUSH AING END. a NPICAL BAUSH LIFE > 10° REVS. SIZE CONSTANTS Value — Units 157 ons ower kee Salada Sane MT wars Motor Constant - Km ESIoaSEREIEEE 842 om war No Load Speed, Theoret i 313 mans Electrical Time Constant - Un om7 me Static Freton (Max. - Tr 35 opm eos Zero Impedance 0501 on wren mon Coclfcients Infinite Impedance (0020 on mrensans ‘Maximom Winding Temperature 185 ve Temperature Rise per Watt - TPR 10 sewarr Ripple Torque (Average to Peak) - Ta 7 mene Ripple Frequency (Fundamental) SL eveunssme. Number of Poles 8 Rotor Inertia J 373X109 onms? Motor Weight =a 2 oo WINDING CONSTANTS Winding Designation wos rormmers A BC DE FG Voltage, Stalled at T9(252C) - Ve vours Nom 354 28.2445 ea Current - Ir fowrenes Rated 9.80 1237.73 ‘Torque Sensitivity Kr ormaur _=10% 160 128 203 Back EMF Constant -Ke vewmans =10% 0.113 0090 0.143 3 DC Resistance (25°C) - Ri coms =12.5% 361229 5.76 Inductance - La ~ =m 10 06416 1-30 Kollmoraen Inland MotorT-1915 320 z 308 2. in 2 (0035) 1A THRU a2 CINK TO PEAI f70-179.01 14) HOUES SPACED AB See MOUNTING 049 ons SHOWNON'SNSDA BE Ee DIMENSION 058} MAX. Se pate ise 15 24 MAK Typ, 419 | MAX. we a1 aro} ores ROTOR ER, te oron ro BE shPPED As THREE SEPARATE COMPOMENTS: BRUSH RNG salle nSfon ius Sl Sart seal wi aaPoe eau e408 ee ntuSeecerer oi aston oor he feanWoTWe.¢ reroNcoAreDPen Sonbostng esuneents" SMte"ERS'w AND B70 8€ CONceNTME wr imwSoure Ener IN oa (008 Ti RiWHEN MOUNTED, 5\— WITH POSITIVE CURRENT APPLIED TO GREEN LEAD, WITH RESPECT TO ORANGE. {eAD/ ROTATION SHALL ge Cc W. FACING BRUSH FING END. WC ASYPICAL BRUSH LIFE 40° REVS. SIZE CONSTANTS Value Units Ee Peak Torque Rating - Tr u eee A ice on WaT No Load Speed. Theoretical @ Vr-Om, _ sais Electrical Time Con 022 ws Static Frition (Max.)- Tr 19 ons Viscous Zero Impedance: OLS on wreenans Cocthates Infinite Impedance 0.008 on mrenaane Maximum Winding Temperature sve ‘Temperature Rise per Watt - TPR 15 sear Ripple Torque (Average to Peak) - Ta 4 ences Ripple Frequency - (Fundamental) 1 cveunsyay Number of Poles a 10 Rotor Inertia-Im 0008 ozms? ‘Motor Weight 5 oe WINDING CONSTANTS Winding Designation a EE ws ounces A BC DE FG Voling, Sued st T25°C)-Ve__ vars Nom. 3961981269809 Peak Current Ip AMPERES: Rated 0.90 1.80 2.79 358 1.44 - Torgue Sensivty“Ke wenn 210% 2684 8a 670167 Back EMF Costar Ka vernon 10% 0.19 0098 0061_4oe? 0.18 DC Resins (25°C) - Ra cas S258 4401104302753 Pete on 8008942410 aed 38 a Kollmorgen Inland Motor 1-31QT-1906 oon. fe PEAK TORQUE He bs. sane camnoere cep meaeea nau sraoncnone wourne ais Jot +i RIGA TERSTEBASREE a SReTER Howat | 8 q 1 oron man tne era coroner noon seu sana sees oe ar Sem RE i ne eto one ep wr near 70 ess, Beant dee see ew nee SRS Benes ec senousowen Sonera ats Sir mas SIZE CONSTANTS Value Units es Tongue Rating Te oem over inp, Sled a THOS iis wm O Mat Constn- Se enor oad Sper Teal @VP-m z 5 une Ela Tine ont om we Seale Fon sn.) Te 10 em ‘Viscous vero Img ee - Fo. 1 (02, IN. PER RAD/S. eons Leo ingles ose Coefficients Infinite Impedanc 0.010 on n.renRaDis. exons Wodg Tenpentre Temperate is per Wt TPR “ Hep Terie = s ipl Freueey- (Fundaena » Sumber of oles : Borers Je SaxT oem? Motor Weight 5 on WINDING CONSTANTS Winding Designation ST wns roumss A BC DE FG Voltage, Stalled at Tr (25°C)-Ve___ vous Nom. 230 580 35.9) Peak Current - Ir Rated 5.00 2.00 3.13 ‘Torque Sensitivity - Ky camanr—_=10% 10.0 250 160 Back EMF Constant - Ke vewmps =10% 00706 0.177 0.113 a DC Resistance (25°C) - Rat ous 12.5% 4.60 290118 Inductance - Lat = 0m 080 50 20 1.22 Kallmarnan Inland Maine28 740 053 DIA. THRU 82° CSINKTO 18001414) HOLES. ‘SPACED ASSHOWN ON 129 0A 8 MOUNTING 083 60 ox. in. DIMENSION 083, PEAK TORQUE ROTOR REF. Notes: 41. MOTOR TO BE SHIFPED AS THREE SEPARATE COMPONENTS: BRUSH RING AsSellaLy, ROTOR ASSEMELY. AND STATOR ASSEMBLY WiTH KEEPER. CAUTION: LeAos: DONGT REMOVE KEEPER UNTIL ROTOR Is PULLY IN PLACE. #24 40G TPE TEFLON COATED 2 MOUNTING REQUIREMENTS. DIAMETERS "A AND "B" TO BE CONCENTRIC WITH: Bani in onatcos rin wien MOUNTED, 2 Sivitl foSHTVE CURMENT APCLIED TO GREEN LEAD, Witt RESPECT TO ORANGE LEAD, ROTATION SHALL BE CCW FACING BRUSH AING END. TYPICAL BRUSH LIFE > 10" REVS, 3.< Goib PLATES conmuTATOR SIZE CONSTANTS: Value Units Go Peak Torque Rating 6 zm Power Input, Stalled at T#(25°C) - Pr 6 wars ‘Motor Constant - Kat TIS oxans ware No Load Speed, Theoretical @ 143 maps EEletrical Time Constant - Fx 040 as Static Frition (Max.) z 23 on ae ‘Zero Impedance - Fo 0.424 (02,18. PER RAD/S, Cocificicnts —_Infinite Impedance - Fr 0.05 onan. rem anos Maximum Winding Temperature 0s ee ‘Temperature Rise per Watt - TPR 10 seware Ripple Torque (Average to Peak) - Tx 5 wencent Ripple Frequency - (Fundamental) 41 evcunsmme. Number of Poles 10 Rotor Inertia - Ju BaX109 ons? Motor Weight 95 ox a WINDING CONSTANTS: Winding Designation eal ws ounces A BC DE FG Voltage, Stalled at Tr(25°C) - Vr vous Nom. 60.0 312 195 15.2 240 Peak Current Te amrents Rated (1.00 2.00 3.20400 255 € “Torque Sensitivity - Kr oxinvamr, ——=10% 600 30.0 19.0 150 235, Back EMF Constant - Ky Voemos =10% 0.424 0.212 0.134 0.106 0.166 DC Resistance (25°C) - Rut comms 125% 60.0 156 6.10 380 9.40 Inductance - Lat om 20% 24 60 24 1537 Kolimorgen Inland Motor T-1911 1-33