Torque Motors. Direct Drive Servo Motors

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1 Torque Mors Direct Drive Servo Mors

2 Direct Drive Servomors Direct Drive technology has recently become more and more commonplace in machine and facry aumation. Parker s Electromechanical Division has been well known for many years as a specialist in direct drive technology. Parker offers various kinds of rque mor, in ready run and kit form, as well as linear mors. These mors are ideal for solutions in printing machines, bending machines or machine ols which require extremely smooth rotation, especially at very low speed, and very high accuracy. Frequently there is also a requirement for a hollow shaft. Designed with the aim of addressing new industrial needs, Parker has developed the ST range of low inertia mors for Direct Drive providing acceleration rates up 2 rad/s ². The ST range is available in three diameters, 15 mm, 19 mm and 3 mm, with either hollow or solid shafts of 6 mm till 75 mm diameter respectively. Rated rques range from 15 Nm 235 Nm in natural convection, with peak rques from 55 Nm 1161 Nm. The mors can reach rated speeds of 2 min -1 till 15 min -1 according winding type and provide exceptional speed regulation at low speed. The 15 mm, 19 mm and 3 mm ST ranges offer outstanding performance with a continuous rque-weight ratio up 3.7 Nm/kg and a peak rque--weight ratio up 18 Nm/kg. Parker has also expanded its product portfolio with a new range of Direct Drive frameless mors. Complementary its ST range, these kit mors (star + ror) are designed be integrated within machine ols such as rotary tables and grinding heads. These applications frequently require a large-diameter hollow shaft as well as high accuracy and speed regulation. The new STK frameless mor range offers outstanding rated rque from 15 Nm 27 Nm in natural convection, and can reach 61 Nm using fluid cooling. The peak rque is 3 times higher than the rated rque (up 9 Nm) and is available up the rated speed. The large-diameter hollow shaft provides an internal clearance between 56 mm and 63 mm. Parker Direct Drive mors have been designed and industrialised with the aim of ensuring excellent performance as well as acceptable cost for users. Compax3 - Servo Drives of the Third Generation- Modern digital control technology aids the realisation of highly productive and flexible aumation solutions. It forms the basis of a stable control system and, most importantly, the precise positioning of linear actuars or other direct drive technologies. Without requiring any additional options, Compax3 supports diverse mor technologies including synchronous servo mors, linear servo mors and even rque mors. Due its inherently modular structure, the Compax3 intelligent servo drive can be employed in a wide range of industrial applications. Based on a standard version of the drive, Parker Hannifin is able offer a large number of additional PLC- and advanced technology functions for the Compax3. Direct drive is more than just a good idea! 2

3 ST Series Brushless rque mor in complete form Designed with the aim of addressing new industrial applications, Parker has introduced the ST range of direct-drive low inertia mors offering very high acceleration rates. The ST range is available in three diameters, 15 mm, 19 mm and 3 mm, with either hollow or solid shafts of 6 mm till 75 mm diameter respectively. Rated rques range between 15 Nm and 235 Nm, based on natural convection, with peak rques from 55 Nm 1161 Nm. The mors have rated speeds of 2, 5, 8, 1 or 15 min -1 according the winding type and offer exceptionally smooth rotation at low speed. The 15 mm,19 mm and 3 mm ST ranges provide an outstanding performance with a continuous rque--weight ratio up 3.7 Nm/kg and a peak rque--weight ratio up 18 Nm/kg. Main characteristics Continuous rque up 235 Nm and peak rque up 1161 Nm Hollow shaft options (up 75 mm diameter) Rated speeds from 2 15 min -1 Two mor technologies: HP: High precision SP: Standard precision Position feedback options: Resolver: precision ±1 arc-min or ±1 arc-min SinCos encoders: incremental, or with commutation track ENDAT Absolute encoders HIPERFACE encoders Protection degree: IP5 Benefits High dynamic performance No gear reducer required No backlash High accuracy Reduced maintenance Simplified servo system Lower noise Optimised machine design Diverstiy feedback systems possible 3

4 Mor type 15ST VAC Version 15ST2M 15STM 15ST6M 15ST8M Rated speed [min -1 ] Continuous rque at stall () [Nm] Current at continuous rque (1) [A] Peak rque (2)(3) [Nm] Current at peak rque (2) [A] , Rated Power (1) [W] Solid shaft Inertia without position feedback Hollow shaft Ø3 Hollow shaft Ø Hollow shaft Ø Solid shaft Weight Hollow shaft Ø Without position feedback (6)(7) Hollow shaft Ø With B5 flange Hollow shaft Ø Thermal time constant (1)(5) [s] Thermal resistance (1)(5) [ C/W] Resistance (phase--phase) at 2 C (2) [Ω] Inductance (phase--phase) at I cont [mh] Electrical time constant (2) [ms] Mor Voltage Constant (phase-phase) [kgmm 2 ] [kg] [V/1 min -1 ] Number of Poles 12 (1) Ambient temperature: 2 C Winding temperature rise: 12 C Mor in natural convection mounted on a 15 flange (2) Cold mor at 2 C (3) See rque vs speed characteristics on: () Consider a 7 % derating with position feedback codes 2 and 7. (5) Housing Ambient (6) B1 flange: +.2 kg (7) Position feedback options 1*: +1.5 kg 2*, 7*: +1.2 kg 3*: +.3 kg 5*, 8*, 9*: +.25 kg 6*: +.1 kg (8) Position feedback options 1*: 15 kgmm 2 2*, 7*: 3 kgmm 2 3*: 15 kgmm 2 5*, 8*, 9*: 2.6 kgmm 2 6*: 2.5 kgmm 2 * see ordering information ST Maximum load for a 2 h life time and axial load <3 % of radial load 15ST with solid shaft 15ST with hollow shaft Ø3 15ST with hollow shaft Ø56 & Ø6 Load [N] ST8M 15ST1M Speed [min -1 ] Load [N] ST8M 15ST1M (N) Load [N] 15ST8M 15ST1M Speed (rpm) Speed [min -1 ] Speed [min -1 ] Load graphs are accurate if: Loads are gradual with no shock loading The mor is operating within its designed operating envelope Loads are applied the shaft extension and the midpoint of the shaft (no incurring large moments loads) For irregular operating conditions (e. g. shocks, vibratios, cyclic loading, temperature, enviroment) please contact us.

5 Mor Dimensions: 15ST with Solid Shaft Dimensions [mm] with flange B5 or B1 Mor Dimensions: 15ST with Hollow Shaft Dimensions [mm] with flange B5 or B1 AØAH7 L2 xø11 Ø165 xm8 Ø13 5±.5 Ø13j6 Ø11j6 A 17 Ø15 Ø2j6 Ø Ø A.1 A B5 Flange B1 Flange L 3 L2 xø11 Ø165 xm8 Ø13.1 A Ø13j6 Ø11j6 A.1 17 Ø15 Approx. 1.5xA ØBh7 Ø17 6xG ØF B5 Flange B1 Flange L Dimensions in mm Solid Shaft Hollow Shaft Ø3 Hollow Shaft Ø56 Hollow Shaft Ø6 L G=M5, F=37.5, A=3, B=5 G=M6, F=65.5, A=56, B=75 No threads A=6, B=75 L2=66 L2=21 L L Position Feedback 1* 3* 5*, 8*, 9* 6* 1*, 3* 2*, 7* 1* 15ST2M Same length STM dimensions ST6M as solid shaft mor ST8M * see ordering information ST Same length dimensions as Ø56 hollow shaft mor 5

6 Mor type 19ST VAC Version 19ST2M 19STM 19ST6M 19ST8M Rated speed [min -1 ] Continuous rque at stall () [Nm] Current at continuous rque (1) [A] Peak rque (2)(3) [Nm] Current at peak rque (2) [A] Rated Power (1) [W] Solid shaft Inertia without position feedback Hollow shaft Ø Hollow shaft Ø Hollow shaft Ø Solid shaft Weight Hollow shaft Ø Without position feedback (6)(7) Hollow shaft Ø With B5 flange Hollow shaft Ø Thermal time constant (1)(5) [s] Thermal resistance (1)(5) [ C/W] Resistance (phase--phase) at 2 C (2) [Ω] Inductance (phase--phase) at I cont [mh] Electrical time constant (2) [ms] Mor Voltage Constant (phase-phase) [V/1 min -1 ] Number of Poles 12 [kgmm 2 ] [kg] (1) Ambient temperature: 2 C Winding temperature rise: 12 C Mor in natural convection mounted on a 2 flange (2) Cold mor at 2 C (3) See rque vs speed characteristics on: () Consider a 7 % derating with position feedback codes 2 and 7. (5) Housing Ambient (6) B1 flange: +. kg (7) Position feedback options 1*: +1.5 kg 2*, 7*: +1.2 kg 3*: +.3 kg 5*, 8*, 9*: +.25 kg 6*: +.1 kg (8) Position feedback options 1*: 15 kgmm 2 2*,7*: 3 kgmm 2 3*: 15 kgmm 2 5*, 8*, 9*: 2.6 kgmm 2 6*: 2.5 kgmm 2 * see ordering information ST Maximum load for a 2 h life time and axial load <3 % of radial load 19ST with solid shaft 19ST with hollow shaft Ø 19ST with hollow shaft Ø72 & Ø75 Load [N] Speed [min -1 ] Load (N) [N] Load (N) [N] Speed [min -1 ] Speed [min (rpm) -1 ] Load graphs are accurate if: Loads are gradual with no shock loading The mor is operating within its designed operating envelope Loads are applied the shaft extension and the midpoint of the shaft (no incurring large moments loads) For irregular operating conditions (e. g. shocks, vibratios, cyclic loading, temperature, enviroment) please contact us. 6

7 Mor Dimension: 19ST with solid shaft Dimensions [mm] with flange B5 or B1 18 xø15 Ø215 xm1 Ø165 82±.5 Ø18j6 Ø13j6 A Mor Dimension: 19ST with hollow shaft Dimensions [mm] with flange B5 or B1 18 xø15 Ø Ø19 Ø2j6 Ø Ø A.1 A B5 Flange B1 Flange L xm1 Ø165.1 A Ø18j6 Ø13j6 A.1 A 19 Ø19 Approx. 1.5xA ØAH7 ØBh7 Ø19 6xG ØF B5 Flange B1 Flange L ±.5 Dimensions in mm Solid Shaft L Hollow Shaft Ø G=M5, F=67,5, A=, B=55 L Hollow Shaft Ø72 Hollow Shaft Ø75 G=M6, F=81, A=72, B=9 No threads A=75, B=9 L Position Feedback 1*, 3*, 6* 5*, 8*, 9* 1*, 3* 2*, 7* 1* 19ST2M STM ST6M ST8M Same length dimensions as Ø72 hollow shaft mor * see ordering information ST 7

8 Mor type 3ST VAC Version 3ST2M 3STM 3ST6M Rated speed [min -1 ] Continuous rque at stall [Nm] Current at continuous rque (1) [A] Peak rque (2)(3) [Nm] Current at peak rque (2) [A] Rated Power (1) [kw] Inertia without position feedback (6) [1-3 kgm 2 ] Weight without position feedback (5) [kg] Thermal time constant (1)() [s] Thermal resistance (1)() [ C/W] Phase resistance at 2 C (2) [Ω] Inductance (phase--phase) at I cont [mh] Electrical time constant (2) [ms] Mor Voltage Constant (phase-phase) -1 ] [V/1 min Number of Poles 2 (1) Ambient temperature: 2 C Winding temperature rise: 12 C (2) Cold mor at 2 C (3) See rque vs speed characteristics on: () Housing Ambient (5) Position feedback options 1*: +.8 kg 2*: +1.1 kg 3*: +1.1 kg (6) Position feedback options 1*: 2.3 x 1-3 kgmm 2 2*, 7*:.32 x 1-3 kgmm 2 3*:.55 x 1-3 kgmm 2 * see ordering information ST Maximum load for a 2 h life time and axial load <3 % of radial load 3ST with solid shaft Axial load Radial load 3ST6M Load [N] Speed [min -1 ] Load graphs are accurate if: Loads are gradual with no shock loading The mor is operating within its designed operating envelope Loads are applied the shaft extension and the midpoint of the shaft (no incurring large moments loads) For irregular operating conditions (e. g. shocks, vibrations, cyclic loading, temperature, enviroment) please contact us. 8

9 Mor Dimension: 3ST with hollow shafts Dimensions [mm] with Feedback 1 [Shaft 1 (Ø72)] 5 L M12x E 8 holes M1 equidistant Ø31 H Ø11 E1 M12x2 Ø266j6 Ø72 E2 Only for mors M and over Ø holes M6 Depth: 12 equidistant Ø72H7 On 6 mm 3 Ø81 with Feedback 2 or 7 [Shaft 8 (Ø72/Ø)] 5 L 81.5 E 8 holes M1 equidistant M12x2 Ø31 H L1 6 Ø11 Ø266j6 E2 E1 M12x2 Only for mors M and over Ø33 12 holes M6 Depth: 12 equidistant Ø Ø72 Ø72H7 On 6 mm 3 Ø81 L with Feedback 3 [Shaft 8 (Ø72/Ø)] 81.5 E 5 8 holes M1 equidistant M12x2 Ø31 H 175 L1 5 6 Ø11 Ø266j6 E2 E1 M12x2 Only for mors M and over Ø holes M6 Depth: 12 equidistant Ø81 Ø Ø72 Ø72H7 On 6 mm Dimensions in mm Hollow Shaft Ø72 Hollow Shaft Ø72 / Ø All Current at continous rque <25 A (Current at continous rque >25 A) L L L1 L L1 H E1 E2 E Position Feedback 1* 2, 7* 3* All 3ST2M (217) 1 (2) 55.5 (63.5) 3STM (217) 1 (2) 55.5 (63.5) 3ST6M (217) 1 (2) 55.5 (63.5) 123 * see ordering information ST 9

10 Torque Mor Kit Series Frameless Brushless Torque Mors The frameless Kit Mors STK and K - Series are the ideal solution for machine designs that require high performance in small spaces. Kit Mors allow for direct integration with a mechanical transmission device, eliminating parts that add size, weight and complexity. Use of Frameless Kit Mors results in a smaller, more reliable mor package. The STK and K - Series support applications need a large-diameter hollow shaft with ring-type technology. K Series Direct Drive Direct drive mors as STK and K - Series mors provide higher dynamic stiffness by eliminating the compliance of shaft attachments. Direct drive mor construction gives equipment designers the advantages of lowered costs, increased reliability and improved performance. Frameless Kit Mors are the most cost effective direct drive mor solutions available. Kit mors save space in applications because the couplings, mor mounting brackets and extra bearings you would find in coupled drive construction are eliminated. Main characteristics STK Kit Mors Continuous rque from. Nm 27 Nm with natural convection (according size), and up 61 Nm with fluid cooling. A wide range of external diameters from 32 mm 8 mm. Internal diameters from 15 mm 63 mm. Various windings available from 3 min min -1 according size. Electromagnetic and thermal optimisation has permitted high rque-weight ratios be achieved with natural convection and even higher with fluid cooling. The Parker STK and K - Series range of frameless mors addresses very demanding industrial applications, not only in terms of performance (dynamic performance, rque capability and precise rotation at low speed) but also in terms of cost. Particular attention has therefore been paid in the design the combination of technical and economic optimisation. Parker also addresses direct drive applications up 3 kw in natural convection at speeds up 15 min -1 for STK and up 5 min -1 for K - Series. The various speed ratings are achieved by having a range of available windings. 1

11 K-Series The Frameless Kit mors are ideal solutions for machine designs that require high performance in small spaces. The kit mor approach allows for direct integration with a mechanical transmission device, eliminating parts that add size and complexity. The use of frameless mors results in a smaller, more reliable mor package. Pre-installed integral commutation board is pre-aligned for easy assembly. Rare earth magnets provide high flux in a small volume and high resistance thermal demagnetizing. Machined grooves securely lock magnets ror and ensure optimized radial location. Class H insulation for high temperature operation (up 155 ºC) meeting UL approved requirements. High density copper winding for low thermal resistance and consistent performance across all mors. Minimized end turns maximize performance and minimize mor size. Skewed laminations with odd slot counts reduce cogging for precise rotary motion with drastically reduced rque ripple even at low speeds. Optimized rque--size ratio hand inserted obtain highest slot fill possible maximizing ampere-turns. Technical Data Frame Size Unit K32 K K6 K89 K375 K127 K5 K178 K7 K25 Stack Range [mm] available Stack length see ordering information K-Series Continuous Torque 1 [Nm] Peak Torque Mor Constant [Nm] [Nm/W] Ror Inertia [kgmm 2 ] Mor Voltage Constant [V/ 1 min -1 ] Thermal Resistance [ C/W] Pole Count Housed in a mor frame. Typically an aluminum cylinder with 6.35 mm thick walls. Mounted a aluminum plate: 152 mm x 152 mm x 12.5 mm for K32, K and K6, 23 mm x 23 mm x 12.5 mm for K89, 35 mm x 35 mm x 12.5 mm for K375, K127 and K5 and 6 mm x 6 mm x 12.5 mm for K178, K7 and K25. 11

12 Dimensions Dimensions [mm] Stack Length see Ordering Information Lead Length: 5 mm Star A B max C min D Ror Commutation PCB with Hall devices E max F max Star K Kit Main Components G H Stack Length I Ror Frame Size K32 K K6 K89 K375 K127 K5 K178 K7 K25 [mm] A (O.D.) B End Turns (O.D.) C End Turns (I.D.) D (I.D.) E End Turns Length F Commutation Length * * * G Ror (O.D.) H Ror (I.D.) I Commutation Magnet Length * * * K Ror Length without Hall devices: K = Stack Length +.76 mm with Hall devices: K = Stack Length + I+.76 mm * with Hall devices not available 12

13 Winding Selection The selection of a particular frame size and winding for an application is dependent on: Volume (diameter and length) requirement Power (rque and speed) requirement Voltage and current available or required The first two items are dependent on the load and performance specifications of the application. They result in the selection of aparticular frame size and stack length. The winding be used will then be determined by voltage and current available or required. Voltage: The bus voltage and maximum speed will determine the required voltage constant (KE). Current: The maximum load and acceleration will determine the amount of current required, determined by the rque constant (KT) associated with the selected voltage constant. Example: Assume a requirement of 1 min -1 at.35 Nm. If a mor with a particular winding having KE = 18.2 V/1 min -1 and KT =.17 Nm/A is chosen, it will now require a voltage (BEMF) of 18 V and current of 2 A. Note: KE and KT are directly proportional each other. Increasing KE will also increase KT. Decreasing KE will also decrease KT. The result is that as the voltage requirement changes, the current requirement changes inversely. Parker has a range of 27 windings available for each frame size and stack length, providing for virtually any practical combination of voltage and current required for your application. The following pages show just a small representative sample of speed/ rque curves for each of the 1 frame sizes available. They make a good starting point for determining your specific application requirements and working with Parker application engineers choose the proper mor size and power. The following table lists the range of KE and KT available for each of the 1 frame sizes. Detailed information for all these windings can be found on the web site: Frame Size Stack Range [mm] Voltage Constant KE Range [V/1 min -1 ] Torque Constant KT Range [Nm/A] K K K K K K K K K K Note: Longer stacks and special windings are available. 13

14 Speed / Torque Diagrams K3215-7Y K T =.51 Nm/A R T-T = 2.5 Ω K E =.51 V/rad/s (5.32 V/1 min -1 ) L T-T = 1.16 mh 1 I cont = 3.6 A I peak = 1.8 A E Bus = 8 VDC K T =.28 Nm/A K E =.28 V/rad/s (29.3 V/1 min -1 ) 6 K15-FY R T-T = 11.8 Ω L T-T = 12.5 mh I cont = 2 A I peak = 6 A E Bus = 16 VDC 8 5 Speed [1 min -1 ] 6 2 continuous intermittent Speed [1 min -1 ] continuous intermittent Torque [Nm] Torque [Nm] K3-8Y K615-8Y K T =.28 Nm/A K E =.28 V/rad/s (29.3 V/1 min -1 ) R T-T =.8 Ω L T-T = 6.2 mh I cont = 3 A I peak = 9 A E Bus = 16 VDC K T =.33 Nm/A K E =.33 V/rad/s (3.1 V/1 min -1 ) R T-T = 2.5 Ω L T-T =.5 mh I cont = 6 A I peak = 18 A E Bus = 16 VDC 6 Speed [1 min -1 ] continuous intermittent Speed [1 min -1 ] continuous intermittent Torque [Nm] Torque [Nm] K T =.2 Nm/A K E =.2 V/rad/s (.3 V/1 min -1 ) K63-6Y R T-T = 1.6 Ω L T-T = 3.8 mh I cont = 7 A I peak = 21 A E Bus = 16 VDC K Y K T =.1 Nm/A R T-T = 1.21 Ω K E =.1 V/rad/s (7.82 V/1 min -1 ) L T-T = 3.5 mh I cont = 1 A I peak = 3 A E Bus = 16 VDC 6 6 Speed [1 min -1 ] continuous intermittent Speed [1 min -1 ] continuous intermittent Torque [Nm] Torque [Nm] K8915-6Y K893-Y K T =.3 Nm/A K E =.3 V/rad/s (5.6 V/1 min -1 ) R T-T = 1.2 Ω L T-T = 2.9 mh I cont = 11 A I peak = 33 A E Bus = 16 VDC K T =.5 Nm/A K E =.5 V/rad/s (56.1 V/1 min -1 ) R T-T =.73 Ω L T-T = 2.2 mh I cont = 15 A I peak = 5 A E Bus = 16 VDC 6 6 Speed [1 min -1 ] continuous intermittent Speed [1 min -1 ] continuous intermittent Torque [Nm] Torque [Nm] 1

15 K12725-Y K1275-3Y K T =.61 Nm/A K E =.61 V/rad/s (6.2 V/1 min -1 ) 5 R T-T =.35 Ω L T-T = 2.1 mh I cont = 2 A I peak = 6 A E Bus = 3 VDC K T =.92 Nm/A K E =.92 V/rad/s (96. V/1 min -1 ) 5 R T-T =.3 Ω L T-T = 2.3 mh I cont = 2 A I peak = 72 A E Bus = 3 VDC Speed [1 min -1 ] continuous intermittent Speed [1 min -1 ] continuous intermittent Torque [Nm] K515-5Y K T =.5 Nm/A R T-T =.9 Ω K E =.5 V/rad/s (7.19 V/1 min -1 ) L T-T = 2.72 mh I cont = 18 A I peak = 53 A E Bus = 3 VDC K T =.93 Nm/A K E =.93 V/rad/s (96.2 V/1 min -1 ) Torque [Nm] K Y R T-T =.37 Ω L T-T = 2.95 mh I cont = 27 A I peak = 3 A E Bus = 3 VDC 8 5 Speed [1 min -1 ] continuous intermittent Speed [1 min -1 ] continuous intermittent Torque [Nm] Torque [Nm] K715-7Y K T =.78 Nm/A R T-T =.8 Ω K E =.78 V/rad/s (81.71 V/1 min -1 ) L T-T = 5.79 mh I cont = 18 A I peak = 28 A E Bus = 3 VDC K2515-5Y K T = 1.2 Nm/A R T-T =.78 Ω K E = 1.2 V/rad/s (17.6 V/1 min -1 ) L T-T = 3.6 mh I cont = 3 A I peak = 5 A E Bus = 3 VDC 5 5 Speed [1 min -1 ] continuous intermittent Speed [1 min -1 ] continuous intermittent Torque [Nm] Torque [Nm] K Series 15

16 STK Series Frameless brushless rque mor as kit version With the STK range, Parker offers a solution for direct drive applications. Examples include: Applications needing tal integration of the mor within the servomechanism due volume and/or weight considerations Applications needing a large-diameter hollow shaft demanding a ring-type technology Main characteristics Continuous rque from 1 27 Nm with natural convection (according size), and up 61 Nm with fluid cooling. Six external diameters from 15 8 mm. Internal diameters from mm. -1 Various windings available from 3 15 min according size. Parker s STK range of permanent magnet brushless mors has been specially designed for direct drive (without a gearbox), particularly in applications needing very low volume and weight in relation the rque and power requirements. Electromagnetic and thermal optimisation has permitted continuous rque--weight ratios up 1 Nm/kg be achieved with natural convection and up 31 Nm/kg with fluid cooling. The Parker STK range of frameless mors addresses very demanding industrial applications, not only in terms Mor Constitution STATOR: this consists of iron laminations incorporating the windings and attached the external aluminium housing. The windings are encapsulated in resin. The housing may incoporate a cooling circuit when fluid cooling is required. Thermal protection: Type KTY8 and PTC - embedded in the winding. Winding class: H. Natural convection The star is the source of copper losses as well as hysteresis and eddy current losses. It is necessary take this in account when incorporating the mor. Here are the main points be taken in consideration: Continuous rque ratings are indicated for a copper temperature rise of 12 C for housings in contact with ambient air, or in contact over the full peripheral area with a metal component in contact with ambient air. In addition, the mor housing must be fixed on a metal flange having an area equal at least twice the housing area. of performance (dynamic performance, rque capability and precise rotation at low speed) but also in terms of cost. Particular attention has therefore been paid in the design the combination of technical and economic optimisation. Industrial users can sometimes be dissatisfied with direct drive servo systems because they are frequently based on rque mors with limited power and speed capability. With the STK range, Parker set out counter this objection by creating mors that could not only satisfy lowspeed applications with their associated speed regulation, but could also address direct drive applications up 3 kw in natural convection at speeds up 15 min -1. The various speed ratings are achieved by having a range of available windings. Some of these are illustrated in the catalogue, but numerous winding variations are possible allow the drive system be optimised. Power cable: class 6 with shielded wires for power. ROTOR: rare earth magnets protected against corrosion are attached the periphery of a magnetic iron ring. Star and ror mounting: STK armatures and rors can be optionally shipped mounted on a centering and positioning flange which eliminates the need mount and centre the ror inside the star. For example, for a mm diameter mor, the minimum flange area will be equal π x. 2x 2 =.25 m 2 Avoid an enclosed environment, or if this is unavoidable, consult us for calculation of the mor derating. Be sure that the materials located in the vicinity of the mor can withstand high temperatures. If this is not the case, consult us for recommendations on derating the mor. 16

17 Fluid cooling To avoid overheating due environmental facrs, or achieve a higher continuous rque rating than is attainable with natural convection, it is possible use fluid cooling. Fluid cooling specifications are based on two operating points: Winding at 6 C. Maximum cooling (winding at 1 C) for obtaining the maximum continuous rque from the mor. The outside of the star is machined with a helical groove which forms a cooling circuit when the star is fitted inside an outer housing. Circular grooves at each end of the helix form input and output channels; the input and output portsin the outer housing must be axially aligned with thesegooves. Additional circular gooves at each end of the starare fitted with O-rings form a seal. Use either softened water with a glycol additive or a fluid approved for closed-circuit cooling in order minimise the risk of corrosion and deposits. Position sensor Parker STK frameless mors have been designed for minimum rque harmonics when they are driven by a sinusoidal brushless drive. Various positioning sensors are available, and the drive may use types of positioning interface: Resolver: In a high-quality resolver (e.g. Parker RES FC ), the accuracy is limited around 1 arc-minute. In most of the resolvers currently available, accuracy is of the order of several arc-minutes. It is necessary check whether the desired positioning accuracy is compatible with the resolver accuracy. On another hand, resolvers can limit the range of applications when they obstruct a hollow shaft. Finally, resolvers are available with resolutions up several hundred thousand counts per revolution, but such a high resolution is generally not useable because it is not compatible with the accuracy of the measurement system. TTL encoder or TTL optical scale: TTL encoders usually have a limited resolution (from 5 5 counts/rev.). However it is possible find encoders with hollow shafts up 5 mm internal diameter and with resolutions between 15 and 2 counts/rev. (multiplied by after decoding). The best solution in terms of resolution and accuracy is generally offered by optical scales with pitches from.5 5 µm that can be attached a hollow hub with the appropriate diameter. They can offer resolutions of 1 million counts/rev or more depending on the diameter. The associated read heads have a maximum operating frequency which limits the speed for a given resolution. Absolute encoders: Absolute encoders offer the characteristics described for TTL or Sin-Cos encoders without the need for a startup sequence for phase commutation (see following paragraph). Also they avoid the need for a homing sequence locate the axis zero point. SinCos encoder or SinCos scales: These encoders and scales are very widely used. The same limitations as previously mentioned apply these devices. However, the advantage of this technology lies in the possibility of interpolating the sinusoidal output using an appropriate drive interface. Thus an encoder with 12 sinewaves per revolution used with x1 interpolation will produce one million counts/rev. The Sin-Cos optical scale has the advantage of producing high resolution either directly or by internal drive interpolation, gether with an unrestricted hollow shaft, since it may be attached an appropriate diameter hub. Phase commutation Permanent magnet synchronous mors require a constant phase angle between the rotating fields of the star and ror in order control the rque. The resolver provides the necessary phasing information and simultaneously gives the axis position (within one polar pitch). Absolute encoders also provide this phasing information, but this is not the case with incremental encoders or scales. Encoder suppliers therefore offer specific ranges for brushless mors including either: a) Three-phase commutation rectangular signals (U, V, W, /U, /V, /W) in the case of a TTL encoder; these waveforms must have the same number of cycles per revolution as the number of pole-pairs in the mor. b) Sinewave signals (1 cycle per revolution), sine and cosine, giving the absolute position within one revolution in the case of sin/cos encoders. The drive electronic interface multiplies this frequency by the number of mor pole pairs. In the case of an optical scale mounted on a hub, the information related the phasing between the star and ror fields is not known. Therefore an initialisation sequence is needed during start-up; during that sequence the ror will perform an indexing motion, or at least a small oscillation. 17

18 Mor type 15STK Natural convection Fluid cooling Dimensions [mm] LB E3 E2 S2 S3 FS J J2 J2 J3 AF FR E1 J1 J1 S1 ØC ØB ØDe ØA LA ØA LA Air gap P R 18 15STK2M 15STKM 15STK6M 15STK8M Housing internal centering diameter A H Angle cable output / tapped holes AF Housing external centering diameter (fluid cooling) B f Housing external centering diameter (natural convection) B f Ror internal centering diameter C H Housing internal diameter De Depth of fluid front input / output groove E1 Width of fluid front input / output groove E Position of fluid front input / output groove E Ror fixing holes FR 8xM5 on Ø63 8xM5 on Ø63 8xM5 on Ø63 8xM5 on Ø63 Housing fixing holes FS 8xM5 on Ø136 8xM5 on Ø136 8xM5 on Ø136 8xM5 on Ø136 O-ring groove depth J O-ring groove width J2 Position of rear o-ring groove J Position of front o-ring groove J Depth of housing internal centering diameter LA Housing length LB Alignment ror / housing P ± Maximum ror contact diameter Pmax Ror length R Depth of fluid rear input / output groove S1 Width of fluid rear input / output groove S Position of fluid rear input / output groove S Air gap [mm] approx APPLICATION NOTES The cables are made of PU, class 6, suitable for cable-guiding chains, 2 m standard length, copper X-section area according rated current. Ror/housing alignment (P) must be accurate within +/-.1 mm. Optionally, we can supply a mounting ol for achieving this alignment when assembly without accurate alignment is impossible. Thermal device cable consists of a shielded pair 2 x.1 mm section, mm external diameter. (De) represents: 1- The maximum diameter passing inside the housing. 2- The maximum diameter necessary for ror assembly. (Pmax) diameter for components in contact with the ror must never be exceeded. Tapped holes on each side of ror and housing are angularly aligned. Cable positioning (AF) is theoretical. Leave a free area with a +/-1 degree lerance around this position, at a 3 mm height from the side of the housing, avoid applying excessive force the mor cables. When designing the assembly, take care ensure perfect contact between the housing and user s bore avoid thermal problems. For mounting the housing, use either external the centering diameter (B) or internal centering diameters (A). For assembly lerances (perpendicularity, concentricity...), please consult us. Fluid input and output pipes must be aligned with the cable output. O-ring grooves are designed for mm diameter o-rings.

19 Technical data 15STK2M 15STKM 15STK6M 15STK8M Natural Convection Rated speed [min -1 ] Continuous rque (1)() [Nm] Current at continuous rque (1) [A] Peak rque (2)(3) [Nm] Current at peak rque (2) [A] Rated power (1) [W] Inertia [1-3 kgm 2 ] Weight [kg] Thermal time constant (1) [s] Thermal resistance (1) [ C/W] Resistance (phase--phase) at 2 C (2) [Ω] Inductance (phase--phase) at I cont [mh] Electrical time constant (2) [ms] Power cable square section [mm²] x1.5 x1.5 x1.5 x1.5 Power cable diameter [mm] Ø1.2 Ø1.2 Ø1.2 Ø1.2 Mor Voltage Constant (phase-phase) 1 min -1 ] [V/ Number of Poles 12 15STK2M 15STKM 15STK6M 15STK8M Equivalent data for Fluid-Cooled Mors - Winding at 6 C Continuous rque () [Nm] Current at continuous rque [A] Fluid input temperature (5)(6) [ C] Fluid temperature rise [ C] Housing temperature [ C] < 3 < 3 < 3 < 3 Fluid flow [I/min] Losses [W] Pressure [bar] Power cable square section [mm²] x1.5 x1.5 x1.5 x x1.5 x Power cable diameter [mm] Ø1.2 Ø1.2 Ø1.2 Ø13.1 Ø1.2 Ø STK2M 15STKM 15STK6M 15STK8M Equivalent data for Fluid-Cooled Mors - Winding at 1 C Continuous rque () [Nm] Current at continuous rque [A] Housing temperature [ C] Fluid input temperature (5)(6) [ C] Fluid temperature rise [ C] Fluid flow [I/min] Losses [W] Pressure [bar] Power cable square section [mm²] x1.5 x1.5 x x1.5 x6 x2.5 x1 Power cable diameter [mm] Ø1.2 Ø1.2 Ø13.1 Ø1.2 Ø15.9 Ø11. Ø18.8 (1) Thermal conditions: Ambient temperature 2 C Winding temperature rise 12 C Star housing in contact with the ambient air, or in contact over its full peripheral area with a metal component in contact with the ambient air. Star housing secured a metal flange having an area at least twice the cross section of the housing. (2) Cold mor at 2 C (3) See rque vs speed characteristics on: () Torque at standstill or low speed. (5) Fluid input temperature should not be lower in order avoid condensation inside the mor. (6) For cooling fluid, use softened water with a glycol additive or fluids approved for closed-circuit cooling. Other speed ratings are available, please contact us. 19

20 Mor type 19STK Natural convection Fluid cooling Dimensions [mm] LB E3 E2 S2 S3 FS J J2 J2 J3 AF FR E1 J1 J1 S1 ØC ØB ØDe ØA LA ØA LA Air gap P R 2 19STK2M 19STKM 19STK6M 19STK8M Housing internal centering diameter A H Angle cable output / tapped holes AF Housing external centering diameter (fluid cooling) B f Housing external centering diameter (natural convection) B f Ror internal centering diameter C H Housing internal diameter De Depth of fluid front input / output groove E Width of fluid front input / output groove E Position of fluid front input / output groove E Ror fixing holes FR 8xM5 on Ø8 8xM5 on Ø8 8xM5 on Ø8 8xM5 on Ø8 Housing fixing holes FS 8xM5 on Ø18 8xM5 on Ø18 8xM5 on Ø18 8xM5 on Ø18 O-ring groove depth J O-ring groove width J2 Position of rear o-ring groove J Position of front o-ring groove J Depth of housing internal centering diameter LA Housing length LB Alignment ror / housing P ± Maximum ror contact diameter Pmax Ror length R Depth of fluid rear input / output groove S Width of fluid rear input / output groove S Position of fluid rear input / output groove S Air gap [mm] approx APPLICATION NOTES: The cables are made of PU, class 6, suitable for cable-guiding chains, 2 m standard length, copper X-section area according rated current. Ror/housing alignment (P) must be accurate within +/-.1 mm. Optionally, we can supply a mounting ol for achieving this alignment when assembly without accurate alignment is impossible. Thermal device cable consists of a shielded pair 2 x.1 mm section, mm external diameter. (De) represents: 1- The maximum diameter passing inside the housing. 2- The maximum diameter necessary for ror assembly. (Pmax) diameter for components in contact with the ror must never be exceeded. Tapped holes on each side of ror and housing are angularly aligned. Cable positioning (AF) is theoretical. Leave a free area with a +/-1 degree lerance around this position, at a 3 mm height from the side of the housing, avoid applying excessive force the mor cables. When designing the assembly, take care ensure perfect contact between the housing and user s bore avoid thermal problems. For mounting the housing, use either external the centering diameter (B) or internal centering diameters (A). For assembly lerances (perpendicularity, concentricity...), please consult us. Fluid input and output pipes must be aligned with the cable output. O-ring grooves are designed for mm diameter o-rings

21 Technical data 19STK2M 19STKM 19STK6M 19STK8M Natural Convection Rated speed [min -1 ] Continuous rque (1)() [Nm] Current at continuous rque (1) [A] Peak rque (2)(3) [Nm] Current at peak rque (2) [A] Rated power (1) [W] Inertia [1-3 kgm 2 ] Weight [kg] Thermal time constant (1) [s] Thermal resistance (1) [ C/W] Resistance (phase--phase) at 2 C (2) [Ω] Inductance (phase--phase) at I cont [mh] Electrical time constant (2) [ms] Power cable square section [mm²] x1.5 x1.5 x2.5 x1.5 x2.5 x1.5 x Power cable diameter [mm] Ø1.2 Ø1.2 Ø11.5 Ø1.2 Ø11.5 Ø1.2 Ø13.1 Mor Voltage Constant (phase-phase) 1 min -1 ] [V/ Number of Poles 12 19STK2M 19STKM 19STK6M 19STK8M Equivalent data for Fluid-Cooled Mors - Winding at 6 C Continuous rque () [Nm] Current at continuous rque [A] Fluid input temperature (5)(6) [ C] 2 Fluid temperature rise [ C] Housing temperature [ C] < 3 Fluid flow [I/min] Losses [W] Pressure [bar] Power cable square section [mm²] x1.5 x2.5 x1.5 x6 x2.5 x6 x x1 Power cable diameter [mm] Ø1.2 Ø11.5 Ø1.2 Ø15.9 Ø11.5 Ø15.9 Ø13.1 Ø STK2M 19STKM 19STK6M 19STK8M Equivalent data for Fluid-Cooled Mors - Winding at 1 C Continuous rque () [Nm] Current at continuous rque [A] Housing temperature [ C] Fluid input temperature (5)(6) [ C] Fluid temperature rise [ C] Fluid flow [I/min] Losses [W] Pressure [bar] Power cable square section [mm²] x1.5 x x2.5 x16 x6 x16 x1 x16 Power cable diameter [mm] Ø1.2 Ø13.1 Ø11.5 Ø2 Ø15.9 Ø2 Ø18.8 Ø2 (1) Thermal conditions: Ambient temperature 2 C Winding temperature rise 12 C Star housing in contact with the ambient air, or in contact over its full peripheral area with a metal component in contact with the ambient air. Star housing secured a metal flange having an area at least twice the cross section of the housing. (2) Cold mor at 2 C (3) See rque vs speed characteristics on: () Torque at standstill or low speed. (5) Fluid input temperature should not be lower in order avoid condensation inside the mor. (6) For cooling fluid, use softened water with a glycol additive or fluids approved for closed-circuit cooling. Other speed ratings are available, please contact us. 21

22 Mor type 3STK Natural convection Fluid cooling Dimensions [mm] LB E3 E2 S2 S3 FS J J2 J2 J3 AF FR E1 J1 J1 S1 ØC ØB ØDe ØA LA ØA LA Air gap P R 3STK2M 3STKM 3STK6M 3STK8M Housing internal centering diameter A H Angle cable output / tapped holes AF Housing external centering diameter (fluid cooling) B f Housing external centering diameter (natural convection) B f Ror internal centering diameter C H Housing internal diameter De Depth of fluid front input / output groove E1 Width of fluid front input / output groove E Position of fluid front input / output groove E3 2 2 (5) 2 (5) 2 (5) Ror fixing holes FR 12xM5 on Ø199 12xM5 on Ø199 12xM5 on Ø199 12xM5 on Ø199 Housing fixing holes FS 12xM5 on Ø29 12xM5 on Ø29 12xM5 on Ø29 12xM5 on Ø29 O-ring groove depth J O-ring groove width J2 Position of rear o-ring groove J Position of front o-ring groove J (1.5) 11.5 (1.5) 11.5 (1.5) Depth of housing internal centering diameter LA Housing length LB (2) 225 (255) 28 (31) Alignment ror / housing P ± (6.5) 3.5 (6.5) 3.5 (6.5) Maximum ror contact diameter Pmax Ror length R Depth of fluid rear input / output groove S1 Width of fluid rear input / output groove S Position of fluid rear input / output groove S Air gap [mm] approx APPLICATION NOTES : The cables are made of PU, class 6, suitable for cable-guiding chains, 2 m standard length, copper X-section area according rated current. Ror/housing alignment (P) must be accurate within +/-.1 mm. Optionally, we can supply a mounting ol for achieving this alignment when assembly without accurate alignment is impossible. Thermal device cable consists of a shielded pair 2 x.1 mm section, mm external diameter. (De) represents: 1- The maximum diameter passing inside the housing. 2- The maximum diameter necessary for ror assembly. (Pmax) diameter for components in contact with the ror must never be exceeded. Tapped holes on each side of ror and housing are angularly aligned. Cable positioning (AF) is theoretical. Leave a free area with a +/-1 degree lerance around this position, at a 3 mm height from the side of the housing, avoid applying excessive force the mor cables. When designing the assembly, take care ensure perfect contact between the housing and user s bore avoid thermal problems. For mounting the housing, use either external the centering diameter (B) or internal centering diameters (A). For assembly lerances (perpendicularity, concentricity...), please consult us. Fluid input and output pipes must be aligned with the cable output. O-ring grooves are designed for mm diameter o-rings. Dimensions in brackets ( ) for P, LB, J and E3 are mm wider when the nominal current is greater than 72 A ( single wire outputs). 22

23 Technical data 3STK2M 3STKM 3STK6M 3STK8M Natural Convection Rated speed [min -1 ] Continuous rque (1)() [Nm] Current at continuous rque (1) [A] Peak rque (2)(3) [Nm] Current at peak rque (2) [A] Rated power (1) [kw] Inertia [1-3 kgm 2 ] Weight [kg] Thermal time constant (1) [s] Thermal resistance (1) [ C/W] Resistance (phase--phase) at 2 C (2) [Ω] Inductance (phase--phase) at I cont [mh] Electrical time constant (2) [ms] Power cable square section [mm 2 ] x1.5 x x1.5 x1 x1.5 x16 x2.5 x16 Power cable diameter [mm] Ø1.2 Ø13.1 Ø1.2 Ø18.8 Ø1.2 Ø25 Ø11.5 Ø2 Mor Voltage Constant (phase-phase) 1 min -1 ] [V/ Number of Poles 2 3STK2M 3STKM 3STK6M 3STK8M Equivalent data for Fluid-Cooled Mors - Winding at 6 C Continuous rque () [Nm Current at continuous rque [A] Fluid input temperature (5)(6) [ C] 2 Fluid temperature rise [ C] 1 Housing temperature [ C] < 3 Fluid flow [I/min] Losses [W] Pressure [bar] Power cable square section [mm 2 ] x1.5 x1 x x16 x6 x25 x1 x5 Power cable diameter [mm] Ø1.2 Ø18.8 Ø13.1 xø11 Ø15.9 xø13.5 Ø18.8 xø17.1 3STK2M 3STKM 3STK6M 3STK8M Equivalent data for Fluid-Cooled Mors - Winding at 1 C Continuous rque () [Nm] Current at continuous rque [A] Housing temperature [ C] Fluid input temperature (5)(6) [ C] 2 Fluid temperature rise [ C] Fluid flow [I/min] Losses [W] Pressure [bar] Power cable square section [mm 2 ] x2.5 x16 x6 x35 x16 x5 x16 x95 Power cable diameter [mm] Ø11.5 Ø2 Ø15.9 xø15.1 Ø2 xø17.1 Ø11 Ø22.6 (1) Thermal conditions: Ambient temperature 2 C Winding temperature rise 12 C Star housing in contact with the ambient air, or in contact over its full peripheral area with a metal component in contact with the ambient air. Star housing secured a metal flange having an area at least twice the cross section of the housing. (2) Cold mor at 2 C (3) See rque vs speed characteristics on: () Torque at standstill or low speed. (5) Fluid input temperature should not be lower in order avoid condensation inside the mor. (6) For cooling fluid, use softened water with a glycol additive or fluids approved for closed-circuit cooling. (7) From 72 A cont, mors are supplied via single wire shielded cables. Other speed ratings are available, please contact us. 23

24 Mor type STK Natural convection Fluid cooling Dimensions [mm] LB E3 E2 S2 S3 FS J J2 J2 J3 AF FR E1 J1 J1 S1 ØC ØB ØDe ØA LA ØA LA Air gap P R STK2M STKM STK6M STK8M Housing internal centering diameter A H Angle cable output / tapped holes AF Housing external centering diameter (fluid cooling) B f8 Housing external centering diameter (natural convection) B f8 Ror internal centering diameter C H Housing internal diameter De Depth of fluid front input / output groove E Width of fluid front input / output groove E Position of fluid front input / output groove E (57.2) 27.2 (57.2) 27.2 (57.2) 27.2 (57.2) Ror fixing holes FR 12xM6 on Ø268 12xM6 on Ø268 12xM6 on Ø268 12xM6 on Ø268 Housing fixing holes FS 12xM6 on Ø39 12xM6 on Ø39 12xM6 on Ø39 12xM6 on Ø39 O-ring groove depth J O-ring groove width J Position of rear o-ring groove J Position of front o-ring groove J 18 (8) 18 (8) 18 (8) 18 (8) Depth of housing internal centering diameter LA Housing length LB 128 (158) 183 (213) 238 (268) 293 (323) Alignment ror / housing P ±.1 39 (69) 39 (69) 39 (69) 39 (69) Maximum ror contact diameter Pmax Ror length R Depth of fluid rear input / output groove S Width of fluid rear input / output groove S Position of fluid rear input / output groove S Air gap [mm] approx APPLICATION NOTES : The cables are made of PU, class 6, suitable for cable-guiding chains, 2 m standard length, copper X-section area according rated current. Ror/housing alignment (P) must be accurate within +/-.1 mm. Optionally, we can supply a mounting ol for achieving this alignment when assembly without accurate alignment is impossible. Thermal device cable consists of a shielded pair 2 x.1 mm section, mm external diameter. (De) represents: 1- The maximum diameter passing inside the housing. 2- The maximum diameter necessary for ror assembly. (Pmax) diameter for components in contact with the ror must never be exceeded. Tapped holes on each side of ror and housing are angularly aligned. Cable positioning (AF) is theoretical. Leave a free area with a +/-1 degree lerance around this position, at a 3 mm height from the side of the housing, avoid applying excessive force the mor cables. When designing the assembly, take care ensure perfect contact between the housing and user s bore avoid thermal problems. For mounting the housing, use either external the centering diameter (B) or internal centering diameters (A). For assembly lerances (perpendicularity, concentricity...), please consult us. Fluid input and output pipes must be aligned with the cable output. O-ring grooves are designed for mm diameter o-rings. Dimensions in brackets ( ) for P, LB, J and E3 are mm wider when the nominal current is greater than 72 A ( single wire outputs). 2

25 Technical data STK2M STKM STK6M STK8M Natural Convection Rated speed [min -1 ] Continuous rque (1)() [Nm] Current at continuous rque (1) [A] Peak rque (2)(3) [Nm] Current at peak rque (2) [A] Rated power (1) [kw] Inertia [1-3 kgm 2 ] Weight [kg] Thermal time constant (1) [s] Thermal resistance (1) [ C/W] Resistance (phase--phase) at 2 C (2) [Ω] Inductance (phase--phase) at I cont [mh] Electrical time constant (2) [ms] Power cable square section [mm 2 ] x1.5 x16 x x25 x6 x35 x1 Power cable diameter [mm] Ø1.2 Ø2 Ø13.1 xø13.5 Ø15.9 xø15.1 Ø18.8 Mor Voltage Constant (phase-phase) 1 min -1 ] [V/ Number of Poles 2 STK2M STKM STK6M STK8M Equivalent data for Fluid-Cooled Mors - Winding at 6 C Continuous rque () [Nm] Current at continuous rque [A] Fluid input temperature (5)(6) [ C] 2 Fluid temperature rise [ C] 1 Housing temperature [ C] <3 Fluid flow [I/min] Losses [W] Pressure [bar] Power cable square section [mm 2 ] x x16 x1 x35 x16 x95 x25 Power cable diameter [mm] Ø13.1 xø11 Ø18.8 xø15.1 xø11 xø22.6 xø13.5 STK2M STKM STK6M STK8M Equivalent data for Fluid-Cooled Mors - Winding at 1 C Continuous rque () [Nm] Current at continuous rque [A] Housing temperature [ C] Fluid input temperature (5)(6) [ C] Fluid temperature rise [ C] Fluid flow [I/min] Losses [W] Pressure [bar] Power cable square section [mm 2 ] x6 x25 x16 x7 x16 -- x25 Power cable diameter [mm] Ø15.9 xø13.5 Ø2 xø2.1 xø11 -- xø13.5 (1) Thermal conditions: Ambient temperature 2 C Winding temperature rise 12 C Star housing in contact with the ambient air, or in contact over its full peripheral area with a metal component in contact with the ambient air. Star housing secured a metal flange having an area at least twice the cross section of the housing. (2) Cold mor at 2 C (3) See rque vs speed characteristics on: () Torque at standstill or low speed. (5) Fluid input temperature should not be lower in order avoid condensation inside the mor. (6) For cooling fluid, use softened water with a glycol additive or fluids approved for closed-circuit cooling. (7) From 72 A cont, mors are supplied via single wire shielded cables. Other speed ratings are available, please contact us. 25

26 Mor type 5STK Natural convection Fluid cooling Dimensions [mm] LB E3 E2 S2 S3 FS J J2 J2 J3 AF FR E1 J1 J1 S1 ØC ØB ØDe ØA LA ØA LA Air gap P R 5STK1M 5STK2M 5STK3M 5STKM 5STK6M Housing internal centering diameter A H Angle cable output / tapped holes AF Housing external centering diameter (fluid cooling) B f Housing external centering diameter (natural convection) B f Ror internal centering diameter C H Housing internal diameter De Depth of fluid front input / output groove E Width of fluid front input / output groove E Position of fluid front input / output groove E (63.2) 23.2 (63.2) 23.2 (63.2) 23.2 (63.2) 23.2 (63.2) Ror fixing holes FR 12xM8 on Ø36 12xM8 on Ø36 12xM8 on Ø36 12xM8 on Ø36 12xM8 on Ø36 Housing fixing holes FS 12xM8 on Ø82 12xM8 on Ø82 12xM8 on Ø82 12xM8 on Ø82 12xM8 on Ø82 O-ring groove depth J O-ring groove width J Position of rear o-ring groove J Position of front o-ring groove J 1 (5) 1 (5) 1 (5) 1 (5) 1 (5) Depth of housing internal centering diameter LA Housing length LB 93 (133) 12.5 (16.5) 18 (188) (215.5) 23.5 (27.5) Alignment ror / housing P ±.1 37 (77) 37 (77) 37 (77) 37 (77) 37 (77) Maximum ror contact diameter Pmax Ror length R Depth of fluid rear input / output groove S Width of fluid rear input / output groove S Position of fluid rear input / output groove S Air gap [mm] approx APPLICATION NOTES : The cables are made of PU, class 6, suitable for cable-guiding chains, 2 m standard length, copper X-section area according rated current. Ror/housing alignment (P) must be accurate within +/-.1 mm. Optionally, we can supply a mounting ol for achieving this alignment when assembly without accurate alignment is impossible. Thermal device cable consists of a shielded pair 2 x.1 mm section, mm external diameter. (De) represents: 1- The maximum diameter passing inside the housing. 2- The maximum diameter necessary for ror assembly. (Pmax) diameter for components in contact with the ror must never be exceeded. Tapped holes on each side of ror and housing are angularly aligned. Cable positioning (AF) is theoretical. Leave a free area with a +/-1 degree lerance around this position, at a 3 mm height from the side of the housing, avoid applying excessive force the mor cables. When designing the assembly, take care ensure perfect contact between the housing and user s bore avoid thermal problems. For mounting the housing, use either external the centering diameter (B) or internal centering diameters (A). For assembly lerances (perpendicularity, concentricity...), please consult us. Fluid input and output pipes must be aligned with the cable output. O-ring grooves are designed for mm diameter o-rings Dimensions in brackets ( ) for P, LB, J and E3 are mm wider when the nominal current is greater than 72 A ( single wire outputs). 26

27 Technical data 5STK1M 5STK2M 5STK3M 5STKM 5STK6M Natural Convection Rated speed [min -1 ] Continuous rque (1)() [Nm] Current at continuous rque (1) [A] Peak rque (2)(3) [Nm] Current at peak rque (2) [A] Rated power (1) [kw] Inertia [1-3 kgm 2 ] Weight [kg] Thermal time constant (1) [s] Thermal resistance (1) [ C/W] Resistance (phase--phase) at 2 C (2) [Ω] Inductance (phase--phase) at I cont [mh] Electrical time constant (2) [ms] Power cable square section [mm 2 ] x1.5 x6 x1.5 x16 x1.5 x16 x1.5 x25 x2.5 Power cable diameter [mm] Ø1.2 Ø15.9 Ø1.2 Ø2 Ø1.2 xø11 Ø1.2 xø13.5 Ø11.5 Mor Voltage Constant (phase-phase) 1 min -1 ] [V/ Number of Poles 36 5STK1M 5STK2M 5STK3M 5STKM 5STK6M Equivalent data for Fluid-Cooled Mors - Winding at 6 C Continuous rque () [Nm] Current at continuous rque [A] Fluid input temperature (5)(6) [ C] 2 Fluid temperature rise [ C] 1 Housing temperature [ C] <3 Fluid flow [I/min] Losses [W] Pressure [bar] Power cable square section [mm 2 ] x1.5 x1 x1.5 x25 x2.5 x35 x x5 x6 Power cable diameter [mm] Ø1.2 Ø18.8 Ø1.2 xø13.5 Ø11.5 xø15.1 Ø13.1 xø17.1 Ø15.9 5STK1M 5STK2M 5STK3M 5STKM 5STK6M Equivalent data for Fluid-Cooled Mors - Winding at 1 C Continuous rque () [Nm] Current at continuous rque [A] Housing temperature [ C] Fluid input temperature (5)(6) [ C] Fluid temperature rise [ C] Fluid flow [I/min] Losses [W] Pressure [bar] Power cable square section [mm 2 ] x1.5 x16 x x35 x6 x7 x1 x95 x16 Power cable diameter [mm] Ø1.2 xø11 Ø13.1 xø15.1 Ø15.9 xø2.1 Ø18.8 xø22.6 Ø2 (1) Thermal conditions: Ambient temperature 2 C Winding temperature rise 12 C Star housing in contact with the ambient air, or in contact over its full peripheral area with a metal component in contact with the ambient air. Star housing secured a metal flange having an area at least twice the cross section of the housing. (2) Cold mor at 2 C (3) See rque vs speed characteristics on: () Torque at standstill or low speed. (5) Fluid input temperature should not be lower in order avoid condensation inside the mor. (6) For cooling fluid, use softened water with a glycol additive or fluids approved for closed-circuit cooling. (7) From 72 A cont, mors are supplied via single wire shielded cables. Other speed ratings are available, please contact us. 27

28 Mor type 8STK Natural convection Fluid cooling Dimensions [mm] LB E3 E2 S2 S3 FS J J2 J2 J3 AF FR E1 J1 J1 S1 ØC ØB ØDe ØA LA ØA LA Air gap P R 8STK1M 8STK2M 8STK3M 8STKM 8STK6M Housing internal centering diameter A H Angle cable output / tapped holes AF Housing external centering diameter (fluid cooling) B f Housing external centering diameter (natural convection) B f Ror internal centering diameter C H Housing internal diameter De Depth of fluid front input / output groove E Width of fluid front input / output groove E Position of fluid front input / output groove E3 28 (68) 28 (68) 28 (68) 28 (68) 28 (68) Ror fixing holes FR 16xM8 on Ø65 16xM8 on Ø65 16xM8 on Ø65 16xM8 on Ø65 16xM8 on Ø65 Housing fixing holes FS 16xM8 on Ø77 16xM8 on Ø77 16xM8 on Ø77 16xM8 on Ø77 16xM8 on Ø77 O-ring groove depth J O-ring groove width J Position of rear o-ring groove J Position of front o-ring groove J 15.7 (55.7) 15.7 (55.7) 15.7 (55.7) 15.7 (55.7) 15.7 (55.7) Depth of housing internal centering diameter LA Housing length LB (152.5) 1 (18) (27.5) 195 (235) 25 (29) Alignment ror / housing P ±.1 7 (87) 7 (87) 7 (87) 7 (87) 7 (87) Maximum ror contact diameter Pmax Ror length R Depth of fluid rear input / output groove S Width of fluid rear input / output groove S Position of fluid rear input / output groove S Air gap [mm] approx..5 APPLICATION NOTES : The cables are made of PU, class 6, suitable for cable-guiding chains, 2 m standard length, copper X-section area according rated current. Ror/housing alignment (P) must be accurate within +/-.1 mm. Optionally, we can supply a mounting ol for achieving this alignment when assembly without accurate alignment is impossible. Thermal device cable consists of a shielded pair 2 x.1 mm section, mm external diameter. (De) represents: 1- The maximum diameter passing inside the housing. 2- The maximum diameter necessary for ror assembly. (Pmax) diameter for components in contact with the ror must never be exceeded. Tapped holes on each side of ror and housing are angularly aligned. Cable positioning (AF) is theoretical. Leave a free area with a +/-1 degree lerance around this position, at a 3 mm height from the side of the housing, avoid applying excessive force the mor cables. When designing the assembly, take care ensure perfect contact between the housing and user s bore avoid thermal problems. For mounting the housing, use either external the centering diameter (B) or internal centering diameters (A). For assembly lerances (perpendicularity, concentricity...), please consult us. Fluid input and output pipes must be aligned with the cable output. O-ring grooves are designed for mm diameter o-rings. Dimensions in brackets ( ) for P, LB, J and E3 are mm wider when the nominal current is greater than 72 A ( single wire outputs). 28

29 Technical data 8STK1M 8STK2M 8STK3M 8STKM 8STK6M Natural Convection Rated speed [min -1 ] Continuous rque (1)() [Nm] Current at continuous rque (1) [A] Peak rque (2)(3) [Nm] Current at peak rque (2) [A] Rated power (1) [kw] Inertia [1-3 kgm 2 ] Weight [kg] Thermal time constant (1) [s] Thermal resistance (1) [ C/W] Resistance (phase--phase) at 2 C (2) [Ω] Inductance (phase--phase) at I cont [mh] Electrical time constant (2) [ms] Power cable square section [mm 2 ] x1.5 x1 x2.5 x16 x2.5 x25 x x25 x6 Power cable diameter [mm] Ø1.2 Ø18.8 Ø11.5 Ø2 Ø11.5 xø13.5 Ø13.1 xø13.5 Ø15.9 Mor Voltage Constant (phase-phase) 1 min [V/ ] Number of Poles 8 8STK1M 8STK2M 8STK3M 8STKM 8STK6M Equivalent data for Fluid-Cooled Mors - Winding at 6 C Continuous rque () [Nm] Current at continuous rque [A] Fluid input temperature (5)(6) [ C] 2 Fluid temperature rise [ C] 1 Housing temperature [ C] Fluid flow [I/min] Losses [W] Pressure [bar] Power cable square section [mm 2 ] x2.5 x16 x x16 x x35 x1 x5 x16 Power cable diameter [mm] Ø11.5 Ø2 Ø13.1 xø11 Ø13.1 xø15.1 Ø18.8 xø17.1 Ø2 8STK1M 8STK2M 8STK3M 8STKM 8STK6M Equivalent data for Fluid-Cooled Mors - Winding at 1 C Continuous rque () [Nm] Current at continuous rque [A] Housing temperature [ C] Fluid input temperature (5)(6) [ C] Fluid temperature rise [ C] Fluid flow [I/min] Losses [W] Pressure [bar] Power cable square section [mm 2 ] x x16 x1 x35 x1 x7 x16 x95 x16 Power cable diameter [mm] Ø13.1 xø11 Ø18.8 xø15.1 Ø18.8 xø2.1 Ø2 xø22.6 xø11 (1) Thermal conditions: Ambient temperature 2 C Winding temperature rise 12 C Star housing in contact with the ambient air, or in contact over its full peripheral area with a metal component in contact with the ambient air. Star housing secured a metal flange having an area at least twice the cross section of the housing. (2) Cold mor at 2 C (3) See rque vs speed characteristics on: () Torque at standstill or low speed. (5) Fluid input temperature should not be lower in order avoid condensation inside the mor. (6) For cooling fluid, use softened water with a glycol additive or fluids approved for closed-circuit cooling. (7) From 72 A cont, mors are supplied via single wire shielded cables. Other speed ratings are available, please contact us. 29

30 Feedback Systems for Kit Mors Resolver: The Parker RES FC high accuracy resolvers with high internal hollow shaft diameter have been especially designed for Parker Direct Drive mors. The user can choose between a 2 pole and two 12 pole versions. When operating these resolvers with the Parker Compax3 servo drive, the F1 feedback option is sufficient. Technical characteristics Unit RES FC RES FC RES FC Type - transmitter transmitter transmitter Number of Poles Frequency [khz] Rated supply voltage [V] Transformation ratio Input impedance Z r - 2+j j j177 Output impedance Z ss - 78+j j j869 Accuracy [arc sec] ±3 ±6 ±6 Phase shift [ ] Inner diameter [mm] Suitable Drive Compax3 Compax3 other Dimensions Dimensions [mm] 15.5 Shielding connected resolver housing Ø135 Ø max.ø9 H7 Ror / Star alignment.25 ±.1 Focus on a RES FC6 resolver mounted inside the mor 3 ± Additional feedback systems: In addition the resolvers, we also recommend angle measurement devices with an EnDat interface (with incremental track) made by Heidenhain for operation with our Compax3 servo drive. For operation with these feedback systems, Compax3 must be used with the F12 feedback option. 3

31 ST-Series Ordering Informations Fill in an order code from each of the numbered fields create a complete model order code Order Example 15ST 2M K 1 9 H 1 Frame Size 15ST 15ST 19ST 19ST 3ST 3ST 2 Stack Size 2M M 6M 2-Stack Mor -Stack Mor 6-Stack Mor 8M 8-Stack Mor 2) 3 Flange Option 1 B1 2 B5 2) Shaft Options 15ST 19ST 3ST 1 Hollow Shaft Ø56 Ø72 Ø72 2 Hollow Shaft Ø3 Ø - Solid Shaft (with keyway) Ø2 Ø2-5 Massive Welle Ø2 Ø2-7 Hollow Shaft Ø6 Ø75-8 Hollow Shaft - - Ø72/Ø 5 Feedback Option 1) Feedback Precision Resolver 12Pole 1 2 ERN18 Encoder 3 SCK Kit 11 Encoder (up 21 SCS Kit 11) 5 ERN1381 Encoder Standard Resolver 6 2Pole 7 ECN113 Encoder 8 ECN1313 Encoder 9 EQN1325 Encoder Producer Interface Pitch number Accuracy [arc-sec] with Compax3 Parker - - ±6 F1 Heidenhain SICK Heidenhain Incremental signal: Sine- Cosine 1Vss Hiperface Incremental signal: Sine- Cosine 1Vss 28 ±3 F12 12; absolute position 15Bit (32768 per rev.); Multiturn 12Bit (96 rev.) ±18 F11 28 ±2 F12 Parker - - ±6 F1 Heidenhain Heidenhain Heidenhain EnDat2.2 Incremental signal: Sine- Cosine 1Vss EnDat2.2 Incremental signal: Sine- Cosine 1Vss EnDat2.2 Incremental signal: Sine- Cosine 1Vss For more information see: and 28; absolute position 13Bit; Singleturn 28; absolute position 13Bit; Singleturn 28; absolute position 13Bit; Miltiturn 12Bit ±2 F12 ±2 F12 ±2 F12 6 Thermal Sensor K 7 Winding Code KTY 8 (3ST with feedback option 7 only) KTY 8 + PTC (all mors, except 3ST with feedback option 7) 15ST 19ST 3ST 2M M 6M 8M 2M M 6M 8M 2M M 6M xx Cusm Winding Speed Table [min -1 ] 8 Cable Length C Connecr 3) 2 m 2) 1 m 2) 2 6 m 2) 3 8 m 2) 1 m 2) 5 15 m 2) 6 2 m 2) 7 25 m 2) 8 3 m 2) 9 m 2) 9 Mor Technology H High Precision (<1 % Cogging) 2) S Standard Precision (2 % Cogging) 2) X High Precion (<2 % Cogging) 3) 1) Feedback Compatibility Table Feedback option Shaft possible for all only possible for 15ST & 19ST only possible for 3ST 2) Available in frame sizes 15ST & 19ST only 3) Available in frame size 3ST only 31

32 K-Series Ordering Informations Fill in an order code from each of the numbered fields create a complete model order code Order Example K 1 - E Y 2 1 Series K 2 Model Frameless kit mors 5 Connection Y WYE D O Delta Open 6 Commutation 1 without hall devices 2 with hall devices (not available for K178, K7, K25) 3 Stack Length mm (K32, K & K6 only) mm mm (K32, K & K6 only) mm mm mm mm mm Winding * 1 Refer winding data for details 2 Refer winding data for details 3 Refer winding data for details Refer winding data for details 5 Refer winding data for details 6 Refer winding data for details 7 Refer winding data for details 8 Refer winding data for details 9 Refer winding data for details E Refer winding data for details F Refer winding data for details G Refer winding data for details H Refer winding data for details I Refer winding data for details J Refer winding data for details K Refer winding data for details L Refer winding data for details * Winding data available from 32

33 STK-Series Ordering Informations Fill in an order code from each of the numbered fields create a complete model order code Order Example 15STK 2M 1 C 1 9 H A 1 Frame Size 15STK 15STK 19STK 19STK 3STK 3STK STK STK 5STK 5STK 8STK 8STK 2 Stack Size 1M 1-Stack Mor only possible for 5STK & 8STK 2M 3M M 6M 8M 2-Stack Mor 3-Stack Mor only possible for 5STK & 8STK -Stack Mor 6-Stack Mor 3 Cooling Options 8-Stack Mor only possible for 15STK STK 1 Natural Convection 2 Fluid Cooling Channel 3 Integrated Cooling Jacket 1) Power Input C W X 5 Winding Code 2) Shielded Cable Input not for 3ST -Wire (unshielded) -Wire (shiedled) 1 Winding for low speed 2 Winding for high speed xx Cusm Winding 6 Cable Length 5) 2 m 1 3 m 2 m 3 5 m 6 m 5 7 m 6 8 m 7 9 m 8 1 m 9 11 m 7 Mor Technology H High Precision (<1 % Cogging) 3) S Standard Precision (2 % Cogging) 3) X High Precion (<2 % Cogging) ) 8 Accessories - Mounting Flange 5) A B No Flange (omit code) Mounted Cable Side Mounted Opposite Cable Side Mounting Flange (Example: Code A) 1) Contact Parker confirm availability 2) Refer "Speed Table [min -1 ]" for compatibility 3) Available in frame sizes 15STK & 19STK only ) Available in frame sizes 3STK 8STK only 5) The code indicates the mounting orientation; the flange is mounted. Speed Table [min -1 ] Frame Size 15STK 19STK 3STK STK 5STK 8STK Stack Size 2M M 6M 8M 2M M 6M 8M 2M M 6M 8M 2M M 6M 8M 1M 2M 3M M 6M 1M 2M 3M M 6M