Gemini Motor Reference Manual

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1 p/n C Automation Gemini Motor Reference Manual Effective: November 1, 1999

2 User Information WARNING!! Gemini products are used to control electrical and mechanical components of motion control systems. You should test your motion system for safety under all potential conditions. Failure to do so can result in damage to equipment and/or serious injury to personnel. Gemini products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and may not be copied, disclosed, or used for any purpose not expressly authorized by the owner thereof. Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to change this user guide and software and hardware mentioned therein at any time without notice. In no event will the provider of the equipment be liable for any incidental, consequential, or special damages of any kind or nature whatsoever, including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide. 1999, Parker Hannifin Corporation All Rights Reserved Motion Planner and Pocket Motion Planner are trademarks of Parker Hannifin Corporation. Microsoft and MS-DOS are registered trademarks, and Windows, Visual Basic, and Visual C++ are trademarks of Microsoft Corporation. Technical Assistance Contact your local automation technology center (ATC) or distributor, or... North America and Asia: Compumotor Division of Parker Hannifin 55 Business Park Drive Rohnert Park, CA Telephone: (8) or (77) Fax: (77) FaxBack: (8) or (77) Internet: Europe (non-german speaking): Parker Digiplan 21 Balena Close Poole, Dorset England BH17 7DX Telephone: +44 () Fax: +44 () Germany, Austria, Switzerland: HAUSER Elektronik GmbH Postfach: Robert-Bosch-Str. 22 D Offenburg Telephone: +49 () Fax: +49 () Automation Technical Support tech_help@cmotor.com

3 Contents CHANGE SUMMARY... 4 CHAPTER 1 INTRODUCTION... 5 CHAPTER 2 ROTARY SERVO MOTORS... 7 Recommended Drive/Motor Systems...8 Part Numbering System...9 Speed/ Curves...1 Specifications...13 Dimensions...16 Wiring Information...18 Feedback Specifications...22 Electrically Released Brakes...22 Bearing Load and Life Information...23 CHAPTER 3 LINEAR SERVO MOTORS Rotary to Linear Conversion Table...26 Recommended Drive/Linear Servo Motor Table Systems...27 Part Numbering System 46LXR Example...28 Speed/Force Curves...29 Motor Specifications...3 Table Specifications...31 Dimensions...32 Wiring Information...33 Feedback Specifications...36 Bearing Load and Life Information...37 CHAPTER 4 STEP MOTORS Recommended Drive/Motor Systems...4 Speed/ Curves...41 Specifications...45 Dimensions...49 Step Motor Wiring...53 Encoder Information...55 Preface 3

4 Change Summary Gemini Motor Reference Manual Revision C November 1, 1999 The following is a summary of the primary technical changes to this document since the previous version was released. This document, part number C, supersedes B. Two Speed/ Curves Added (page 12) Speed/torque curves have been added for the NO923K/JO923K and NO924K motors, which are recommended for use with the Gemini GV-H2E Servo Drive Color Code Corrections (page 35) Minor corrections were made to the Hall 1/Hall 2/Hall 3 color codes for the following drawings: Gemini Adapter Cable Gemini Plug-In Connector Module. Shields are now indicated in these drawings. The temperature switch wires for the Plug-In Connector Module is now yellow, instead of yellow/orange. Revision B July 3, 1999 The following is a summary of the primary technical changes to this document since the previous version was released. This document, part number B, supersedes A. Motor Parameter Table Removed (pages 8 9) The motor parameter table has been removed from Chapter 2 Servo Motors. Information about motor parameters can be found on the Motion Planner CD-ROM, and on Compumotor s web site. Linear Servo Motor Information Added Information about using linear servo motors with Gemini GV drives has been added. See Chapter 3 Linear Servo Motors. Step Motor Information Added Information about using step motors with Gemini GT drives has been added. See Chapter 4 Step Motors. 4 Gemini Motor Reference Manual

5 CHAPTER ONE 1Introduction Chapter 1 Introduction 5

6 Gemini Motor Reference Manual Compumotor manufactures and sells a broad range of motors. This manual contains information about those Compumotor motors we recommend using with Gemini drives. Topics in this manual include: Recommended Drive/Motor Systems Motor Part Numbering System Speed/ Curves Motor Specifications Dimensions Motor Cable Information Encoder Specifications Hall Effect Specifications Brake Specifications The above information is provided for: Servo Motors (see Chapter 2) Linear Servo Motors (see Chapter 3) Step Motors (see Chapter 4) 6 Gemini Motor Reference Manual

7 CHAPTER TWO 2Rotary Servo Motors Chapter 2 Rotary Servo Motors 7

8 Recommended Drive/Motor Systems We recommend you use the following motors with drives listed in the Recommended Drive Type column. Motor Model Number Recommended Drive Type SM161A SM162A SM231A SM232A SM233A GV-L3E GV-L3E GV-L3E GV-L3E GV-L3E N71D N71F N72E N72F N73F N73G N74F N74G GV-U6E GV-U6E GV-U6E GV-U6E GV-U6E GV-U12E GV-U6E GV-U12E J71D J71F J72E J72F J73F J73G GV-U6E GV-U6E GV-U6E GV-U6E GV-U6E GV-U12E N921F N921G N922G N922J NO923H NO923K NO924J NO924K GV-U6E GV-U12E GV-U12E GV-U12E GV-U12E GV-H2E GV-U12E GV-H2E J921F J921G J922G J922J J923H JO923K GV-U6E GV-U12E GV-U12E GV-U12E GV-U12E GV-H2E 8 Gemini Motor Reference Manual

9 Part Numbering System NOTE: Diagrams list all motor options. Those options not compatible with Gemini drives are shown in parentheses. SM Motors SM Frame, Magnet Length Winding Feedback Shafting Connections Options SM A (B) D 5 ppr encoder 1 E 1, ppr encoder 1 (H Hall-effect only) (R resolver 2) N normal F flat K keyway 2 L long 2 1 Includes Hall effect 4 Sizes 16 and 23 with GS, MS, or TQ connectors IP65 2 Not available on size 16 5 Specify GS connections for use with Gemini drives 3 Cable is hard wired GS Gemini amp series 5 (MS military style) (1 1' cable 3 ) (25 25' cable 2,3 ) FL 18" leads (TQ TQ amp series) N none V shaft seal 4 Gxx Gearhead NeoMetric Motors N Frame, Magnet Length Winding Feedback Shafting Connections Options NeoMetric xxxy xxx = flange dia. 7 for 7 mm 34 for 34 frame 92 for 92 mm y = magnet length reference 1 to 4 Example: N73FE-KMSB Identifying character D, E, F, etc. D 5 ppr encoder 2 E 1, ppr encoder (H Hall-effect only) R resolver 1 92 mm motors only 2 7 mm and 34 frame motors only 3 Specify MS connection for use with Gemini Drives N normal F flat K keyway bl 4 34 frame motors only 5 Not available on 92 mm motors 6 IP65 when specified with MS or TQ connections FL 2 MS 3 (TQ 5 ) PT B brake N none V IP65 6 Gxx Gearhead 4 J Motors J Frame, Magnet Winding Feedback Shafting Connections Options Length 1 J 7X 34X 92X Identifying Character D 5 ppr encoder E 1, ppr encoder (H Hall-effect only) R Resolver N Normal F Flat K Keyway (TQ 6 ) D, E, F, etc. bl PT Example: J72FE-KMSB 1 Four stack frame sizes not available in J 4 34 Frame motors only 2 7 mm only 5 Specify MS connection for use with Gemini drive 3 92 mm only 6 Not available on 92 mm motors 7 IP65 when specified with MS or TQ connection FL 2 MS 5 B Brake N None V IP65 7 GXX Gearhead 4 Chapter 2 Rotary Servo Motors 9

10 Speed/ Curves SM Motors, Encoder Feedback (oz-in) 7 6 Peak SM161A with GV-L3E Continuous (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (Nm) (oz-in) SM162A with GV-L3E Peak Continuous (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (Nm) (oz-in) SM231A with GV-L3E Peak Continuous (Nm) (oz-in) Peak SM232A with GV-L3E Continuous (Nm) (oz-in) Peak SM233A with GV-L3E Continuous (Nm) (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (17) (33) (5) (67) (83) Speed RPM (rps) (8.3) (17) (25) (33) (42) (5) Speed RPM (rps) NOTES: For E encoder option (4, counts per revolution, post quadrature), maximum velocity is 6, rpm (1 rps). Speed/torque curves limited to 7,5 rpm (motor mechanical limit). Solid lines designate 12VAC operation, continuous and peak. Curves represent 12VAC (nominal) operation. Actual speed/torque curves may vary ±1% Speed/torque curves are based on motor current values listed in Motor Parameter Table, available on the Motion Planner CD-ROM and on the Compumotor web site. For speed/torque curves of motors that may have been released after this manual was published, see the Gemini Motor Reference section of the Compumotor web site. 1 Gemini Motor Reference Manual

11 NeoMetric Motors, 7 mm and 34 Frame, Encoder Feedback J Motors, 7 mm and 34 Frame, Encoder Feedback 25 N71D/J71D with GV-U6E N71F/J71F with GV-U6E Peak Peak 1.41 (oz-in) V Limit (Nm) (oz-in) V Limit (Nm) 5 Continuous.35 5 Continuous (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) 5 N72F/J72F with GV-U6E N72E/J72E with GV-U6E Peak Peak 2.82 (oz-in) V Limit (Nm) (oz-in) V Limit (Nm) 1 Continuous.71 1 Continuous (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) 8 N73F/J73F with GV-U6E N73G/J73G with GV-12E 5.65 (oz-in) Peak Continuous 12V Limit (Nm) (oz-in) Peak Continuous 12V Limit (Nm) (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) 1 N74F with GV-U6E N74G with GV-U12E Peak Peak 5.65 (oz-in) V Limit (Nm) (oz-in) V Limit (Nm) 2 Continuous Continuous (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) NOTES: For E encoder option (4, counts per revolution, post quadrature), maximum velocity is 6, rpm (1 rps). Speed/torque curves limited to 7,5 rpm (motor mechanical limit). Solid lines designate 24VAC operation, continuous and peak. Dashed line designates 12VAC speed limit. Curves represent 12VAC (nominal) and 24VAC (nominal) operation. Actual speed/torques may vary ±1% Speed/torque curves are based on motor current values listed in Motor Parameter Table, available on the Motion Planner CD-ROM and on the Compumotor web site. For speed/torque curves of motors that may have been released after this manual was published, see the Gemini Motor Reference section of the Compumotor web site. Chapter 2 Rotary Servo Motors 11

12 NeoMetric Motors, 92 mm, Encoder Feedback J Motors, 92 mm, Encoder Feedback 8 N921F/J921F with GV-U6E N921G/J921G with GV-U12E 5.65 (oz-in) Peak Continuous 12V Limit (Nm) (oz-in) Peak Continuous 12V Limit (Nm) (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) 16 N922G/J922G with GV-U12E N922J/J922J with GV-U12E 11.3 (oz-in) 12 Peak 8 12V Limit 4 Continuous (17) (33) (5) (67) (83) (1) Speed RPM (rps) (Nm) (oz-in) 12 Peak 8 12V Limit Continuous (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (Nm) N923H/J923H with GV-U12E N924J with GV-U12E Peak Peak (oz-in) V Limit (Nm) (oz-in) V Limit (Nm) 4 Continuous Continuous (17) (33) (5) (67) (83) (1) Speed RPM (rps) (17) (33) (5) (67) (83) Speed RPM (rps) (oz-in) Peak N923K/J923K with GV-H2E Continuous (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) (Nm) (oz-in) Peak N924K with GV-H2E Continuous (17) (33) (5) (67) (83) (1) (117) (133) Speed RPM (rps) 7.1 (Nm) NOTES: For E encoder option (4, counts per revolution, post quadrature), maximum velocity is 6, rpm (1 rps). Speed/torque curves limited to 7,5 rpm (motor mechanical limit). Solid lines designate 24VAC operation, continuous and peak. Dashed line designates 12VAC speed limit. Curves represent 12VAC (nominal) and 24VAC (nominal) operation. Actual speed/torques may vary ±1% Speed/torque curves are based on motor current values listed in Motor Parameter Table, available on the Motion Planner CD-ROM and on the Compumotor web site. For speed/torque curves of motors that may have been released after this manual was published, see the Gemini Motor Reference section of the Compumotor web site. 12 Gemini Motor Reference Manual

13 Specifications Data listed is for motor only. Drive specifications may change some values. SM, 16 Frame and 23 Frame, Encoder Feedback [1] Parameter: Symbol: Units: SM161A SM162A SM231A SM232A SM233A Stall Continous [1] Tcs lb-in oz-in Nm Stall Current Continuous [1, 4, 8] Ics(sine) Amps Peak Stall Current Continuous [1, 7] Ics(trap) Amps DC Peak [6] Tpk lb-in oz-in Nm Peak Current [4, 6, 8] Ipk(sine) Amps Peak Peak Current [6, 7] Ipk(trap) Amps DC Rated Speed [2] Wr rpm Rated Speed Ir(sine) Amps Rated Speed Ir(trap) Amps Rated Speed Tr lb-in oz-in Nm Shaft Rated Speed Po watts Voltage Constant [3, 4] Kb Volts/rad/s Voltage Constant [3, 4] Ke Volts/KRPM Constant [9] Kt(sine) oz-in/amp Peak Nm/Amp Peak Constant [3, 4] Kt(trap) oz-in/amps DC Nm/Amp DC Resistance [3] R Ohms Inductance [5] L mh Maximum Bus Voltage Vm Volts DC Thermal Resistance Wind-Amb Rth w-a C/watt Thermal Resistance Wind-Case Rth w-c C/watt Motor Constant Km oz-in/sqrt(watt) Nm/sqrt(watt) Viscous Damping B oz-in/krpm mnm/krpm Static Friction Tf oz-in mnm Motor Thermal Time Constant Tau_th minutes Winding Thermal Time Const Tau_wnd minutes Electrical Time Constant Tau_elec millisecs Mechanical Time Constant Tau_mch millisecs Intermittent Duration [1] T_2x seconds Peak Duration [11] T_3x seconds Rotor Inertia J lb-in-sec^ oz-in^ kg-m^ Number of Poles Np Weight # lbs kg Winding Class H H H H H 25C ambient, 125C winding temperature, motor connected to a 1"x1"x1/4" aluminum mounting ambient derate phase currents and torques by 12%. 2 Maximum speed is 75 RPM with 5 line Encoder. For 1 line encoders, derate to 6RPM. For higher speed operation please call the factory. 3 Measured Line to Line, +/- 1%. 4 Value is measured peak of sine wave. 5 +/-3%, Line-to-Line, inductance bridge 6 Initial winding temperature must be 6 C or less before Peak Current is Applied. 7 DC current through a pair of motor phases of a trapaziodally (six state) commutated motor. 8 Peak of the sinusiodal current in any phase for a sinusiodally comutated motor. 9 Total motor torque per peak of the sinusiodal amps measured in any phase, +/-1%. 1 Data listed is for motor only. Drive specifications may change some values. Chapter 2 Rotary Servo Motors 13

14 NeoMetric /J, 7 mm and 34 Frame, Encoder Feedback [1] N71D or N71F or N72E or N72F or N73F or N73G or N74F or N74G or Parameter: Symbol: Units: N341D N341F N342E N342F N343F N343G N344F N344G Stall Continous [1] Tcs lb-in oz-in Nm Stall Current Continuous [1, 4, 8] Ics(sine) Amps Peak Stall Current Continuous [1, 7] Ics(trap) Amps DC Peak [6] Tpk lb-in oz-in Nm Peak Current [4, 6, 8] Ipk(sine) Amps Peak Peak Current [6, 7] Ipk(trap) Amps DC Rated Speed [2] Wr rpm Rated Speed Ir(sine) Amps Rated Speed Ir(trap) Amps Rated Speed Tr lb-in oz-in Nm Shaft Rated Speed Po watts Voltage Constant [3, 4] Kb Volts/rad/s Voltage Constant [3, 4] Ke Volts/KRPM Constant [9] Kt(sine) oz-in/amp Peak Nm/Amp Peak Constant [3, 4] Kt(trap) oz-in/amp DC Nm/Amp DC Resistance [3] R Ohms Inductance [5] L mh Maxumum Bus Voltage Vm Volts DC Thermal Res Wind-Amb Rth w-a C/watt Thermal Res Wind-Case Rth w-c C/watt Motor Constant Km oz-in/sqrt(watt) Nm/sqrt(watt) Viscous Damping B oz-in/krpm mnm/krpm Static Friction Tf oz-in mnm Motor Thermal Time Constant Tau_th minutes Winding Thermal Time Const Tau_wnd minutes Electrical Time Constant Tau_elec millisecs Mechanical Time Constant Tau_mch millisecs Intermittent Duration [1] T_2x seconds Peak Duration [11] T_3x seconds Rotor Inertia J lb-in-sec^ oz-in^ kg-m^ Number of Poles Np Weight # lbs kg Winding Class H H H H H H H H 25C ambient, 125C winding temperature, motor connected to a 1"x1"x1/4" aluminum mounting ambient derate phase currents and torques by 12%. 2 Maximum speed is 75 RPM with 5 line Encoder. For 1 line encoders, derate to 6RPM. For higher speed operation please call the factory. 3 Measured Line to Line, +/- 1%. 4 Value is measured peak of sine wave. 5 +/-3%, Line-to-Line, inductance bridge 6 Initial winding temperature must be 6 C or less before Peak Current is Applied. 7 DC current through a pair of motor phases of a trapaziodally (six state) commutated motor. 8 Peak of the sinusiodal current in any phase for a sinusiodally comutated motor. 9 Total motor torque per peak of the sinusiodal amps measured in any phase, +/-1%. 1 Data listed is for motor only. Drive specifications may change some values. Additional J Specifications: N71D or N71F or N72E or N72F or N73F or N73G or Parameter: Symbol: Units: N341D N341F N342E N342F N343F N343G Rotor Inertia J lb-in-sec^ oz-in^ kg-m^ Mechanical Time Constant Tau_mch millisecs Weight # lbs kg Gemini Motor Reference Manual

15 NeoMetric /J, 92 mm, Encoder Feedback [1] Parameter: Symbol: Units: N921F N921G N922G N922J N923H N923K N924J N924K Stall Continous [1] Tcs lb-in oz-in Nm Stall Current Continuous [1, 4, 8] Ics(sine) Amps Peak Stall Current Continuous [1, 7] Ics(trap) Amps DC Peak [6] Tpk lb-in oz-in Nm Peak Current [4, 6, 8] Ipk(sine) Amps Peak Peak Current [6, 7] Ipk(trap) Amps DC Rated Speed [2] Wr rpm Rated Speed Ir(sine) Amps Rated Speed Ir(trap) Amps Rated Speed Tr lb-in oz-in Nm Shaft Rated Speed Po watts Voltage Constant [3, 4] Kb Volts/rad/s Voltage Constant [3, 4] Ke Volts/KRPM Constant [9] Kt(sine) oz-in/amp Peak Nm/Amp Peak Constant [3, 4] Kt(trap) oz-in/amp DC Nm/Amp DC Resistance [3] R Ohms Inductance [5] L mh Maxumum Bus Voltage Vm Volts DC Thermal Res Wind-Amb Rth w-a C/watt Thermal Res Wind-Case Rth w-c C/watt Motor Constant Km oz-in/sqrt(watt) Nm/sqrt(watt) Viscous Damping B oz-in/krpm mnm/krpm Static Friction Tf oz-in mnm Motor Thermal Time Constant Tau_th minutes Winding Thermal Time Const Tau_wnd minutes Electrical Time Constant Tau_elec millisecs Mechanical Time Constant Tau_mch millisecs Intermittent Duration [1] T_2x seconds Peak Duration [11] T_3x seconds Rotor Inertia J lb-in-sec^ oz-in^ kg-m^ Number of Poles Np Weight # lbs kg Winding Class H H H H H H H H 25C ambient, 125C winding temperature, motor connected to a 1"x1"x1/4" aluminum mounting ambient derate phase currents and torques by 12%. 2 Maximum speed is 75 RPM with 5 line Encoder. For 1 line encoders, derate to 6RPM. For higher speed operation please call the factory. 3 Measured Line to Line, +/- 1%. 4 Value is measured peak of sine wave. 5 +/-3%, Line-to-Line, inductance bridge 6 Initial winding temperature must be 6 C or less before Peak Current is Applied. 7 DC current through a pair of motor phases of a trapaziodally (six state) commutated motor. 8 Peak of the sinusiodal current in any phase for a sinusiodally comutated motor. 9 Total motor torque per peak of the sinusiodal amps measured in any phase, +/-1%. 1 Data listed is for motor only. Drive specifications may change some values. Additional J Specifications Parameter: Symbol: Units: N921F N921G N922G N922J N923H N923K Rotor Inertia J lb-in-sec^ oz-in^ kg-m^ Mechanical Time Constant Tau_mch millisecs Weight # lbs kg Chapter 2 Rotary Servo Motors 15

16 Dimensions SM, 16 Frame, Encoder Feedback Feedback Connector Motor Connector (4x) Ø.125 (3.18) Thru holes equally spaced on Ø1.838 (46.69) bolt circle ( ) -.12).98 (25).63 (1.6) MS, TQ, GS Connection Ø ( ) 1.3 Sq. (33.2) 1.6 Sq. (4.64) 2.9 (53.2).37 (9.3) L 1.91 (48.4) 1.32 (33.4) Dimensions in inches (mm) Shaft Option - F (Flat).23 (5.84) Motor Sizes Model Motor Length "L" SM (5.) SM (62.7) SM (88.1) Cable/Flying Lead Connection SM, 23 Frame, Encoder Feedback D A.63 (1.6) 3. (76.3) Ø ( ) (47.15) Sq (57.2) Sq. (4x) Ø.218 (5.54) thru holes equally spaced on Ø2.625 (66.68) bolt circle Dimensions in inches (mm) L SM23 Shaft Option - F (Flat).23 (5.84) SM231, SM232, SM233 Shaft Options - F (Flat).34 (8.64).6 (15.2) - K (Keyway).94 (2.38).416 (1.56) 1.25 (31.8) - L (Long Shaft) Model SM23 SM231 SM232 SM233 Motor Length "L" 3.36 (85.3) 3.98 (11.1) 4.98 (126.5) 5.98 (151.9) Motor Sizes Shaft Length "A".78 (19.8).82 (2.8).82 (2.8).82 (2.8) Shaft Diameter "D".25 +./-.5 ( /-.13) /-.5 ( /-.13) /-.5 ( /-.13) /-.5 ( /-.13) 16 Gemini Motor Reference Manual

17 NeoMetric and J, Size 7 4 x Ø.228 (5.8) Thru Holes Eq Spaced on a Ø (75.) Bolt Circle for 5mm or #1 Bolt 2.75 (69.85) Sq. Dimensions in inches (mm) Ø ( ).7) Ø ( ).2).91 (23.1).93 (2.36).53 (13.46) Motor Length Shaft Options Ø.43 (11) 3.26 (82.8).197 (5).5.49 (1.4) (12.7) Motor Length Motor Sizes NeoMetric J 1. (254.) 7-4 Brake J73 Brake 9. (228.6) 7-3 Brake J72 Brake 8. (23.2) 7. (177.8) 7.94 (21.68) 6.94 (176.28) 5.94 (15.88) 4.94 (125.48) 7-2 Brake J71 Brake 7-1 Brake 7-4 J J J (4.1) - N (None) - F (Flat) - K (Sq. Key).492 (12.49) NeoMetric and J, Size 34 4 x Ø.223 (5.66) Thru Holes Eq Spaced on a Ø (98.43) Bolt Circle for 5mm or #1 Bolt 3.25 (82.6) Sq. Ø ( ) Ø ( ).12) 1.19 (3.23).93 (2.4).25 (6.35) Motor Length 3.26 (82.8) Motor Length 1. (254.) 9. (228.6) 8. (23.2) 7. (177.8) 7.94 (21.68) 6.94 (176.28) 5.94 (15.88) 4.94 (125.48) Motor Sizes NeoMetric J 34-4 Brake J343 Brake 34-3 Brake J342 Brake 34-2 Brake J341 Brake 34-1 Brake 34-4 J J J Dimensions in inches (mm) Shaft Options.228 (5.8) Ø.5 (12.7).473 (12.1).5 (12.7).125 (3.175).56 (14.22) - N (None) - F (Flat) - K (Sq. Key) NeoMetric and J, Size 92 4 x Ø.281 (7.14) Thru Holes Eq Spaced on a Ø (1) Bolt Circle for 6mm or 1/4" Bolt 3.62 (91.95) Sq. Ø ( ).7) Ø ( ).2) 1.18 (29.97).53 (13.46).93 (2.36) Motor Length 4.1 (14.9) Motor Sizes Motor Length 13.5 (342.9) 12. (34.8) NeoMetric J 92-4 Brake J923 Brake 92-3 Brake J922 Brake 1.5 (266.7) 92-2 Brake J921 Brake 9. (228.6) 92-1 Brake (282.7) 92-4 J (244.6) 92-3 J (26.5) 92-2 J (168.4) 92-1 Note: For PT option add 1.4 inches Dimensions in inches (mm) Shaft Options.25 (6.4) Ø.5512 (14).521 (13.23).63 (16).197 (5) - N (None) - F (Flat) - K (Sq. Key).63 (16) Chapter 2 Rotary Servo Motors 17

18 Wiring Information SM, 16 Frame and 23 Frame, Encoder Feedback Cable Sets Specify the GS connection option when operating SM motors with Gemini drives. The GS option provides quick disconnect, bayonet style connectors attached to the motor body. Wiring for the GS option is similar to the MS option, except the temperature switch leads have been moved to the feedback connector. The following cable sets are available for SM motors with the GS connection option. These cable sets consist of one motor power cable and one feedback cable. These cables have mating motor connectors at one end, and molded connectors for wiring to a Gemini drive at the other end. These cables have a braided metal shield and are CE (EMC) compliant. The GB cable sets have leads for wiring SM motors with internal brakes; the GS cable sets do not. 23GS CABLE-XX One set of cables for SM motors with encoder feedback and GS connection option. Gemini connector end does not have brake leads. -XX is cable length. 23GS CABLE sets available in lengths of 1, 25, 35 feet. 23GB CABLE-XX One set of cables for SM motors with encoder feedback and GS connection option. Gemini connector end has two brake leads. -XX is cable length. 23GB CABLE sets available in lengths of 1, 25, 35 feet. Use these cables on 16 frame motors, as well as 23 frame size motors. NeoMetric and J, 7 mm and 34 Frame, Encoder Feedback Cable Sets Specify the MS connection option when operating 7 mm NeoMetric or J motors with Gemini drives. The following cable sets are available for NeoMetric or J motors with the MS connection option. These cable sets consist of one motor power cable and one feedback cable. These cables have mating motor connectors at one end, and molded connectors for wiring to a Gemini drive at the other end. These cables have a braided metal shield and are CE (EMC) compliant. The GB cable sets have leads for wiring motors with internal brakes; the GS cable sets do not. 7GS CABLE-XX One set of cables for 7 mm motors with encoder feedback and MS connection option. Gemini connector end does not have brake leads. -XX is cable length. 7GS CABLE sets available in lengths of 1, 25, 35 feet. 7GB CABLE-XX One set of cables for 7 mm motors with encoder feedback and MS connection option. Gemini connector end has two brake leads. -XX is cable length. 7GB CABLE sets available in lengths of 1, 25, 35 feet. Use these cables on 34 frame size motors, as well as 7 mm motors NeoMetric and J, 92 mm, Encoder Feedback Cable Sets Specify the MS connection option when operating 92 mm NeoMetric motors with Gemini drives. The following cable sets are available for 92 mm NeoMetric motors with the MS connection option. These cable sets consist of one motor power cable and one feedback cable. These cables have mating motor connectors at one end, and molded connectors for wiring to a Gemini drive at the other end. These cables have a braided metal shield and are CE (EMC) compliant. The GB cable sets have leads for wiring motors with internal brakes; the GS cable sets do not. 92GS CABLE-XX One set of cables for 92 mm motors with encoder feedback and MS connection option. Gemini connector end does not have brake leads. -XX is cable length. 92GS CABLE sets available in lengths of 1, 25, 35 feet. 92GB CABLE-XX One set of cables for 92 mm motors with encoder feedback and MS connection option. Gemini connector end has two brake leads. -XX is cable length. 92GB CABLE sets available in lengths of 1, 25, 35 feet. 18 Gemini Motor Reference Manual

19 Feedback Cable Specifications This cable is supplied as the feedback cable with the following cable sets Without Brake Wires: With Brake Wires: 23GS CABLE-XX 23GB CABLE-XX 7GS CABLE-XX 7GB CABLE-XX 92GS CABLE-XX 92GB CABLE-XX Cable color code, dimensions, and specifications are shown below. COMPUMOTOR P/N: XX CONTAINS 2 WIRES (BRAKE) 24AWG PVC INSULATION (MIL-W-16878/2 OR UL 1569) 9" FLYING LEADS, RED/BLUE EXIT FROM REAR OF STRAIN RELIEF COMPUMOTOR P/N: XX CONTAINS NO WIRES CONNECTOR AMP, CHAMP # MS14-18 PLUG AND COUPLING NUT BENDIX #PT6E P(424) PIN 13 PIN 26 A L B K C N M J P U T D R S H E F G CABLE, 17 COND., 2x 24 AWG, 4x 2 AWG, 11x 28 AWG PIN 1 PIN 14 "L" (CABLE LENGTH) WIRE LIST MS14-18 WIRE COLOR FUNCTION AMP CHAMP PIN NO. ENCODER WIRES A WHITE CH A+ 5 B YELLOW CH A- 6 C GREEN CH B+ 7 D BLUE CH B- 8 E ORANGE INDEX+ 9 F BROWN INDEX- 1 G BLACK GROUND 3,4 H RED +5V 1,2 HALL SIGNAL WIRES K WHT/GRN HALL GND 15,11 M WHT/BLU HALL +5V 14 P WHT/VIO HALL CH3 18 T WHT/BRN HALL CH1 16 U WHT/ORG HALL CH2 17 BRAKE & TEMP SW R RED/BLUE BRAKE (OPTIONAL) N/A S RED/BLUE BRAKE (OPTIONAL) N/A L YEL/ORG THERMAL SWITCH 12 N YEL/ORG THERMAL SWITCH 13 CABLE LENGTH DASH NO. (-XX) DIM "L" -1 1 FT. (3. m) FT. (7.6 m) FT. (1.6 m) COMPUMOTOR CABLE P/N WITH 2 WIRES FOR BRAKE CONNECTION: XX COMPUMOTOR CABLE P/N W/O 2 WIRES: XX Chapter 2 Rotary Servo Motors 19

20 Motor Cable for SM Motors Specifications This cable is supplied as the motor cable with the following cable sets 23GS CABLE-XX 23GB CABLE-XX Cable color code, dimensions, and specifications are shown below. PLUG AND COUPLING NUT BENDIX #PT6E S(424) #8 SHORT SPRING SPADE TONGUE TERMINAL AMP (3x) # , (1x) # CABLE 4 COND., (3 OF 18 AWG,1 OF 14 AWG) A B K C D J L H G M F E 2.5 (64).6 (15) 6. (152) "L" (CABLE LENGTH) MS CONNECTOR PIN NO. WIRE COLOR DRIVE J BLACK #1 U K BLACK #2 V L BLACK #3 W M GRN/YEL CABLE LENGTH DASH NO. (-XX) DIM "L" -1 1 FT. (3. m) FT. (7.6 m) FT. (1.6 m) COMPUMOTOR CABLE P/N: XX Motor Cable for NeoMetric and J, 7 mm and 34 Frame Motors Specifications This cable is supplied as the motor cable with the following cable sets 7GS CABLE-XX 7GB CABLE-XX Cable color code, dimensions, and specifications are shown below. PLUG AND COUPLING NUT BENDIX #PT6E S(424) #8 SHORT SPRING SPADE TONGUE TERMINAL AMP (4x) # CABLE 4 COND., (3 OF 16 AWG,1 OF 14 AWG) A B K C D J L H G M F E 2.5 (64).6 (15) 6. (152) "L" (CABLE LENGTH) MS CONNECTOR PIN NO. WIRE COLOR DRIVE J BLACK #1 U K BLACK #2 V L BLACK #3 W M GRN/YEL CABLE LENGTH DASH NO. (-XX) DIM "L" -1 1 FT. (3. m) FT. (7.6 m) FT. (1.6 m) COMPUMOTOR CABLE P/N: XX 2 Gemini Motor Reference Manual

21 Motor Cable for NeoMetric and J, 92 mm Motors Specifications This cable is supplied as the motor cable with the following cable sets 92GS CABLE-XX 92GB CABLE-XX Cable color code, dimensions, and specifications are shown below. PLUG AND COUPLING NUT BENDIX #PT6E-18-5-S(424) #8 SHORT SPRING SPADE TONGUE TERMINAL AMP (4x) # CABLE 4 COND., (4 OF 12 AWG) E A B D C 2.5 (64) 2x.6 (15) 6. (152) 8.35 (212) "L" (CABLE LENGTH) MS 18-5 CONNECTOR PIN NO. WIRE COLOR DRIVE A BLACK #1 U B BLACK #2 V C BLACK #3 W D GRN/YEL CABLE LENGTH DASH NO. (-XX) DIM "L" -1 1 FT. (3. m) FT. (7.6 m) FT. (1.6 m) COMPUMOTOR CABLE P/N: XX Chapter 2 Rotary Servo Motors 21

22 Feedback Specifications Encoder Specifications SM, NeoMetric, J Mechanical Accuracy Electrical Input Power Operating frequency Output device Sin/Source, nominal Suggested user interface ±2 min of arc 5VDC ±5%, 135mA 1 khz max 26LS31 2mA 26LS32 Hall Effect Specifications SM, NeoMetric, J Electrical Input Power Output device open collector Maximum pull up Sink 5VDC ±5%, 8mA LM339 12VDC 16mA Commutation Chart SM, NeoMetric, J Clockwise rotation as viewed from front shaft Phase B-A Phase A-C Phase C-B Hall #1 Hall #2 Hall #3 Electrically Released Brakes NeoMetric Motors Brakes 7 mm or 34 Frame 92 mm Static rated torque 24 in-lb; 384 oz-in; (2.69 Nm) 72 in-lb; 1152 oz-in; (8.6 Nm) Coil voltage 24VDC 24VDC Coil Current.8 amps.52 amps Weight 1. lbs (.45 kg) 2.51 lbs (1.13 kg) Inertia.38 lb-in-sec 2 ;.23 oz-in 2.15 lb-in-sec 2 ;.93 oz-in 2 (.43 kg-m 2 ) (.169 kg-m 2 ) 22 Gemini Motor Reference Manual

23 Bearing Load and Life Information SM Motors Compumotor s SM and NeoMetric motors use ABEC5, double-shielded, prelubricated bearings. Bearing life is directly affected by radial and axial loading, along with operating speed. Engineering charts provide L1 life estimations for listed radial and axial forces applied to the motor shaft. This data includes the internal bearing preload and is for the shortest length motor in each frame. Longer motors will exhibit longer L1 life. Motor Bearing System Life L1 Life (years) Speed (rpm) Axial Radial lbs (kg) lbs (kg) 16 1 (4.5) 1 (4.5) (6.75) 1 (4.5) NeoMetric Motors and J Motors 14. Motor Bearing System Life Fr=1#, Fa=1# 3. Motor Bearing System Life Fr=1#, Fa=1# L1 Life (years) N71 N74 L1 Life (years) N921 N Speed (rpm) 7 mm or 34 Frame Bearing Chart Speed (rpm) 92 mm Bearing Chart Chapter 2 Rotary Servo Motors 23

24 24 Gemini Motor Reference Manual

25 CHAPTER THREE 3Linear Servo Motors Chapter 3 Linear Servo Motors 25

26 Rotary to Linear Conversion Table This table contains units for rotary to linear conversions of drive configuration parameters. SL558-A-N SL5512-A-N 46-LXR-M-D13-E2 Linear Units Software Parameter (Rotary Units) Parameter Motor ID Number - DMTR Contiuous Stall Current A rms DMTIC Flux constant - Ke V / m/s DMTKE (V / krpm) (17.6) (26.4) (17.6) (17.6) (17.6) (17.6) (26.4) (26.4) (26.4) (26.4) Resistance (ph-ph) Ohms DMTRES Motor Mass kg DMTJ (kg m 2 E-6) (26.8) (37.5) (119.3) (119.3) (119.3) (119.3) (159.1) (159.1) (159.1) (159.1) Pole Pairs - DPOLE Rated Speed m/s DMTW (rps) (72) (72) (72) (35.7) (7.2) (72) (7.2) (35.7) (7.2) (72) Current Peak Stall A rms DMTIP Minimum Inductance (ph-ph) mh DMTLMN Maximum Inductance (ph-ph) mh DMTLMX Continuous current derating % DMTICD Thermal Time Constant minutes DMTTCM Viscous Damping N/m (Nm/rad/sec) DMTD Current Loop Bandwidth Hz DIBW Velocity Loop Bandwidth Hz DVBW Position Loop Bandwidth Hz DPBW Force/ Limit N DMTLIM (Nm) (1.5) (2.2) (1.5) (1.5) (1.5) (1.5) (2.2) (2.2) (2.2) 1(2.2) Force / Scale N DMTSCL (Nm) (1.5) (2.2) (1.5) (1.5) (1.5) (1.5) (2.2) (2.2) (2.2) 1(2.2) Velocity Limit m/s DMVLIM (rps) (72) (72) (72) (35.7) (7.2) (72) (72) (35.7) (7.2) (72) Velocity Scale m/s DMVSCL (rps) (72) (72) (72) (35.7) (7.2) (72) (72) (35.7) (7.2) (72) Feedback Resolution counts / Elec. Pitch ERES (counts/rev) Encoder Out Resolution counts / Elec. Pitch ORES (counts/rev) Winding Time Constant minutes DMTTCW Thermal Resistance (w-c) deg. C/W DMTRWC Electrical Pitch mm DMEPIT Max. Motor Temperature deg. C DMTMAX Drive PWM frequency Hz DPWM Maximum Position Error counts SMPER LXR-M-D13-E3 46-LXR-M-D13-E4 46-LXR-M-D13-E5 46-LXR-M-D15-E2 46-LXR-M-D15-E3 46-LXR-M-D15-E4 46-LXR-M-D15-E5 26 Gemini Motor Reference Manual

27 Recommended Drive/Linear Servo Motor Table Systems We recommend you use the following linear servo motor tables with drives listed in the Recommended Drive Type column. Linear Servo Motor Table: 46LXR-D13 46LXR-D15 Recommended Drive Type: GV-L3E or GV-U6E* GV-L3E or GV-U6E* * (GV-U6E at 16 khz PWM only; see DPWM command in Gemini Command Reference) Chapter 3 Linear Servo Motors 27

28 Part Numbering System 46LXR Example Travel (mm) 8 Pole 12 Pole Motor Motor 5... n/a T1 T2 T3 T4 T5 T6 T7 T8 T9 T1 T11 T12 T13 T14 Model... LXR Mounting (metric)... Grade Precision... Limit Switch None - Free Travel (only).. L1 N.C. current sinking... L2 N.O. current sinking... L3 N.C. current sourcing... L4 N.O. current sourcing... L5 28 Gemini Motor Reference Manual T9 LXR M P D13 H2 M Drive Type Free Travel (No motor) D3 8 Pole Carriage (no mtr.). 12 Pole Carriage (no mtr.). D5 Linear Motor D13 8 Pole Motor Carriage Pole Motor Carriage... D15 Home Switch None - Free Travel (only).. H1 N.C. current sinking... H2 N.O. current sinking... H3 N.C. current sourcing... H4 N.O. current sourcing... H5 P L2 CS2 Z2 E2 R1 A2 P1 P1 P2 P3 A1 A2 A3 R1 E1 E2 E3 E4 E5 Z1 Z2 Z3 Z4 CS1 CS2 CS3 CS4 Pinning Option No pinning X-Axis Carriage - Dowel Pins (matched to Y-Axis Base) Y-Axis Base - Dowel Pin Holes (matched to X-Axis Carriage) Drive Amplifier No Amplifier Amplifier w/ Direct Connect Module Amplifier w/ Indirect Connect Cable Required Designator Encoder Option None - Free Travel (only) 1. µm resolution.5 µm resolution.1 µm resolution 5. µm resolution Z Channel Location* None - Free Travel (only) Positive End Position Center Position Negative End Position Cable Management No Cables - Free Travel Cable Transport Module 3. Meter OEM Cable Set 7.5 Meter OEM Cable Set

29 Speed/Force Curves 46LXR with GV-L3E Force (N) LXR-D13 with GV-L3E Peak Continuous Force (N) LXR-D15 with GV-L3E Peak Continuous Speed (m/sec) Speed (m/sec) NOTES: Solid lines designate 12VAC operation, continuous and peak. Curves represent 12VAC (nominal) operation. Maximum speed limited by encoder resolution (see Table Specifications). Actual speed/force curves may vary ±1%. 46LXR with GV-U6E Force (N) LXR-D13 with GV-U6E Peak Continuous Force (N) LXR-D15 with GV-U6E Peak Continuous Speed (m/sec) NOTES: Solid lines designate 24VAC operation, continuous and peak. Dashed line designates 12VAC speed limit. Curves represent 12VAC (nominal) and 24VAC (nominal) operation. Maximum speed limited by encoder resolution (see Table Specifications). Actual speed/force curves may vary ±1% Speed (m/sec) Chapter 3 Linear Servo Motors 29

30 Motor Specifications Data listed is for motor only. Drive specifications may change some values. SL Linear Servo Motors, Encoder Feedback Parameter: Symbol: Units: 46LXR-D13 46LXR-D15 Daedal 46LXR Motor Number Drive Type D13 D15 Stall Force Continous [1] Fcs N lbf Stall Current Continuous [1, 4, 8] Ics(sine) Amps Peak Stall Current Continuous [1, 7] Ics(trap) Amps DC Peak Force [6] Fpk N lbf Peak Current [4, 6, 8] Ipk(sine) Amps Peak Peak Current [6, 7] Ipk(trap) Amps DC Rated Speed [2] Vr m/s in/s Maximum Speed [13] Vmax m/s 5 5 in/s Rated Speed Ir(sine) Amps Rated Speed Ir(trap) Amps Rated Speed Fr N lbf Output Rated Speed Po watts Voltage Constant [3, 4] Kb Volts/m/s Volts/in/s Force Constant [9] Kf(sine) N/Amp Peak lbf/amp Peak Force Constant [3, 4] Kf(trap) N/Amp DC lbf/amp Peak Resistance [3] R Ohms Inductance [5] L mh Maximum Bus Voltage Vm Volts DC Thermal Resistance Wind-Amb Rth w-a C/watt.56.4 Thermal Resistance Wind-Case Rth w-c C/watt Motor Constant Km N/sqrt(watt) lbf/sqrt(watt) Viscous Damping B N/m/s lbf/in/s Static Friction Ff N lbf Motor Thermal Time Constant Tau_th minutes 2 3 Winding Thermal Time Const Tau_wnd minutes Electrical Time Constant Tau_elec millisecs Maximum Theoretical Acceleration [14] Amax g Intermittent Force Duration [1] F_2x seconds Peak Force Duration [11] F_3x seconds 3 3 Magnetic Attraction [2] Fn N lbf Electrical Pitch [12] Epitch mm in Mass of Motor and Carriage Mcar Kg lb Rated Winding Temp RT C 9 9 Rated Ambient Temp AT C Winding Class H H 25C ambient, 9C winding temperature 2 Measured with a.76 mm gap 3 Measured Line to Line, +/- 1%. 4 Value is measured peak of sine wave. 5 +/-3%, Line-to-Line, inductance bridge 6 Initial winding temperature must be 6 C or less before peak current is applied. 7 DC current through a pair of motor phases of a trapaziodally (six state) commutated motor. 8 Peak of the sinusiodal current in any phase for a sinusiodally commutated motor. 9 Total motor torque per peak of the sinusiodal amps measured in any phase, +/-1%. 1 Maximum time duration with 2 times rated current applied with initial winding temp at 6 C. 11 Maximum time duration with 3 times rated current applied with initial winding temp at 6 C. 12 The distance from the leading edge of a north pole to the leading edge of the next north pole. 13 Maximum speed limited by encoder resolution (see Table Specifications). 14 Actual acceleration is load and duty cycle dependant. 3 Gemini Motor Reference Manual

31 Table Specifications 46LXR Travel (mm) 8 pole motor 12 pole motor Encoder Resolution (selectable) Repeatability.1 µm resolution.5 µm resolution 1. µm resolution 5. µm resolution.1 µm resolution Velocity.5 µm resolution (maximum) 1. µm resolution 5. µm resolution Acceleration (maximum) Load - Normal (maximum) Accuracy - Positional (µm) Accuracy - Straightline (µm) Unit Weight 8 pole motor (Kg) 12 pole motor Carriage Weight 8 pole motor 12 pole motor Maximum Force 8 pole motor (Peak) 12 pole motor Maximum Force 8 pole motor (Continuous) 12 pole motor Linear Bearing - Coefficient of Friction 5 N/A ,.5, 1., 5. µm +/- 1. µm +/- 1. µm +/- 2. µm +/- 1. µm.3 m/sec. 1.5 m/sec. 3. m/sec. 3. m/sec. 5 g s 18 (254 kilometers-life) N/A Kg 4.1 Kg 225 N 33 N 75 N 11 N.1 Chapter 3 Linear Servo Motors 31

32 Dimensions 46LXR 168, CTR'D 11, CTR'D 25, CTR'D (16) MTG. HOLES (TOP) M6 x 1, THD. NEGATIVE POSITIVE 46, 13, 5, CTR'D 136, CTR'D CTR'D 56,5 Z4* NEGATIVE Top View (With Cable Transport Module) Z3* CENTER 1/2 TRAVEL 1mm 1/2 TRAVEL 1mm Z2* POSITIVE 2, Top View (With Un-Harnessed OEM Cable System) 8 POLE CARRIAGE = 297, 12 POLE CARRIAGE = 382, 69,9 Front View *Z2, Z3, Z4 SHOWS THE CARRIAGE CL LOCATION FOR SELECTED ENCODER Z-CHANNEL POSITION 1/2 "A" "A" 65, 15, 232,5 End View 75, 84, 32,5 TOE CLAMP MOUNTING (OPTIONAL) 6,5 "C" 1, = "D" (2) PIN HOLES Ø3,2 PILOT ONLY 5, CTR'D "C" 1, = "D" "B" MTG. HOLES M6 x 1, THD. 15, 6,5 116, 5, CTR'D CTR'D "F" 1, = "G" 4, CTR'D 1, CTR'D 136, CTR'D "F" 1, = "G" "E" MTG. HOLES FOR M6 CAP SCREWS Bottom View Model Travel 8 Pole Travel 12 Pole A B C D E F G 46T1 5 N/A T T T T T T T T T T T T T Gemini Motor Reference Manual

33 Wiring Information Cable Transport Module The 46LXR s Cable Transport Module (CS2 option) offers convenient connectivity for fast table installation and quick change replacement. This cable management system includes high-flex ribbon cable (life rating of 2 million cycles), a cable track with support brackets, a quick change carriage cartridge, and a panel for plug-in connectors Encoder Limit/Home Hall Effect Motor A1 A2 A3 1 2 A4 Connector Panel on Cable Transport Module Connector Panel Cables and Adapters A cable or adapter is required for easy hook-up between the Gemini drive and the 46LXR and is included with the A2 or A3 option. The A2 version includes a plug-in module for direct connection, and the A3 version includes an adapter cable for indirect connection to an electrical panel strip. Direct Connection A2 Gemini Drive Plug-In Module Motor Cable or Extension Cable Set Encoder Cable and Hall Effect Cable Limit/Home Cable - to controller Indirect Connection Encoder Cable and Hall Effect Cable Gemini Adapter Cable Motor Cable or Extension Cable Set A3 Gemini Drive Limit/Home Cable - to controller Direct and Indirect Connections Chapter 3 Linear Servo Motors 33

34 High-Flex Extension Cables These cables provide extensions from the Connector Panel on the Cable Transport Module, to the Gemini drive, and to the controller. Each cable is offered separately or as a complete set. They are offered in two lengths 3 meters or 7.5 meters. These cables are high-flex, longlife cables so they can be utilized on a second or third axis unit. The following table gives the Daedal part numbers: Flying Lead Cables & Daedal part numbers Cable Type: 3 meters: 7.5 meters Motor Encoder Limit/Home Hall Effect Complete Cable Set Connector Panel and Cable Pinout Diagrams The following tables show the pinouts for the connector panel and the High-Flex Extension Cables, and color codes for the cables. Motor Connections Function Phase A Phase B Phase C Ground N/A N/A N/A N/A N/A Shield Cable Wire Color Red White Black Green N/C N/C N/C N/C N/C Green/Yellow Gemini Connections U V W N/C N/C N/C N/C N/C 46LXR Connector Male Power D-Connector A1 A2 A3 A Shield Cover Mating Connector Female Power D-Connector A1 A2 A3 A Shield Cover Fan Connector (OEM cabling only) Function +24VDC Ground Pin # 1 2 Encoder Connections Function +5VDC Ch A+ Ch A- Ch B+ Ch B- Ch Z+ Ch Z- N/A Ground Shield Cable Wire Color Red White Yellow Green Blue Orange Brown Key Plug Black Green/Yellow 46LXR Connector Male 9 Pin D-Connector Shield Cover Mating Connector Female 9 Pin D-Connector Shield Cover Limit and Home Connections Function +5 to +24VDC Negative Limit Positive Limit Home +24VDC Fan N/A Fan Ground Spare Ground Shield Hall Effect Connections Function +5VDC Hall 1 Hall 2 Hall 3 N/A Temp Temp Spare Ground Shield 34 Gemini Motor Reference Manual Cable Wire Color Red Blue Orange Green Brown Key Plug White Yellow Black Green/Yellow Cable Wire Color White/Blue White/Brown White/Orange White/Violet Key Plug Yellow Yellow Red White/Green Green/Yellow Cable Pinout Diagrams 46LXR Connector Female 9 Pin D-Connector D-Connector * * Shield Cover Shield Cover *Transport module only 46LXR Connector Male 9 Pin D-Connector Shield Cover Mating Connector Male 9 Pin Mating Connector Female 9 Pin D-Connector Shield Cover

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