Automation DYNASERV. Dynaserv Series

Transcription

1 Catalog 8-4/USA Dynaserv Series Direct-Drive rushless Servo Systems Each Dynaserv system consists of a brushless servo motor, microprocessor-based drive, power supply, and a brushless resolver or encoder for position feedback. The primary benefit of the Dynaserv System is high accuracy and torque without speed reducers. Additional advantages include: Faster settling time than a traditional servo motor and speed reducer system Smooth rotation at slow speeds A flat speed/torque curve for high controllability Ability to operate in a position, speed or torque control mode uilt-in test mode simplifies optimum tuning G2 Small Packaged, Digital Servo Drive! RS232 communication Auto-tuning Increased resolutions (up to 4,96, ppr) Repeatability to ±1 arc second Utility software The Dynaserv Family DR Series Lowest Cost! rushless resolver feedback 2 models: 4-, 6-, 8- or 1-inch diameter Resolutions to 819,2 steps/rev s to 37 ft-lb (5 Nm) Repeatability of ±5 arc seconds Speeds up to 5 rps for DR5 (LVD and EMC*) DM Series est Accuracy and Repeatability! Incremental encoder feedback 9 models: 4-, 6- or 1-inch diameter Resolutions to 1,24, steps/rev s to 15 ft-lb (2 Nm) Repeatability of ±2 arc seconds Clean room operation DM14 has axial and radial run-out of.1mm M2 Drive/Controller in a Single Package! Autotuning Controls all Dynaserv motors except D5A Series Position feed forward (faster settling) PLC mode Fieldbus: Profibus, DeviceNet and CC Link Non-volatile RAM Configuration replication (flash memory) * EMC with proper filter and intallation procedures. Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 153 Parker Hannifin Corporation

2 Catalog 8-4/USA Introduction The Dynaserv System Allows the User to Operate in One of Three Modes of Control: Position control up to 4,96, steps/rev Speed control ±1V Velocity command input control stable response at ±8V input This type of flexibility combined with a high torque/weight ratio, high accuracy, faster settling times, high torque at high speed, smooth rotation, optimum tuning and clean operation all add up to cost effective high performance alternative to the traditional motor and speed reducer combinations. High /Weight Ratio The Dynaserv motors are designed with a permanent magnet constructed of rare-earth materials located at the center of the stator core. Max. x Rated Speed Power (W) (Power)/Weight Comparison Weight (lbs) DC/AC Servo Actuator (with Speed Reducer) Power/Weight Comparison High Precision Dynaserv motors eliminate the backlash or hysteresis inevitable in using any speed reducer. Absolute positioning of 3 arc-sec is typical with a repeatability of ±1 arc-sec. Faster Settling Time The Dynaserv system reduces machine cycle times by decreasing settling times. This result is realized because of the "gearless" design and sophisticated "I-PD" control algorithm. High at High Speed The torque/speed curve of the various Dynaserv models is very flat. This results in high acceleration at high speeds (4. rps) with good controllability. Smooth Rotation The very low velocity and torque ripple of the Dynaserv contribute to its excellent speed controllability. Ripple (%) Speed Ripple (DM115A) Conditions Load 3 x Rotor Inertia Rotation: CW Speed Mode Revolution (rps) Dynaserv Velocity/ Ripple Optimum Tuning Dynaserv systems offer the user a tuning mode that simplifies the setting of optimum parameters for the actual load. Turning on the "test" switch on the front panel of the drive produces a test signal. Utilizing an oscilloscope the gain settings are quickly optimized by adjusting the digital switches and potentiometers on the front panel. Clean Opearation The Dynaserv system is brushless and gearless which results in a maintenance-free operation. With preparation, the DM Series can operate in Class 1 environments. Measured by: Made by: Source: Min. Resolution: Sampling: (N m) 5 Ripple (DM115A) Rotational Angle (deg.) LPC-11 Particle Counter PMS Corp. He-Ne Lazor Light.1 micro meter (Particle Diameter).1 Cubic feet/min. 5% Distance Distance VERTICAL 5 AXES ROOT (µm) Using Traditional Motors/Reducers Time (sec.) Settling Time Travel Time (µm) SCARA 4 AXES ROOT 1 Using 5 Time (sec.) Settling Time -1 Travel Time Settling Time comparison in Robot Application COUNT (Count/ft min) Diameter (µm) Dust from Dynaserv (DM145) 154 Parker Hannifin Corporation

3 Catalog 8-4/USA Introduction The Dynaserv has provided solutions to a variety of applications such as: Assembly ase machine Pick and place Inserter/mounter Robots Handling Clean room Universal Transport Turn table elt conveyor Three-dimensional warehouse Inspection and Measuring Three dimensional measuring Goniometer Non-destructive x-ray Work Machining center work table Press roll feed Grinder table Commercial Printing machines Medical equipment Follow-up equipment Material Handling y attaching a small arm or linkage to the Dynaserv, very high velocities can be attained. This type of design has been used on a wide variety of equipment, such as a chip mounting machine. On this machine accuracies of 3 arc-sec are maintained with very high arm speed. Dynaserv motor for arm Dynaserv motor for X axis Indexing/Rotary Positioning The Dynaserv has high accelerations lending itself to high speed point-to-point positioning applications requiring low cycle time. In scanning and inspection applications the outstanding low speed performance will be of merit. Rotary table for assembly Tool turret Robotics Dynaserv direct drive motors were first developed to drive SCARA (Selective Compliance Assembly Robot Arm) in applications requiring repetitive and physically taxing operations. Printed circuit board Feeder Feed-to-Length The Dynaserv system eliminates the need for gear reduction and allows for direct control of the nip roll in most feed-tolength applications. The ability to effectively control loads up to 1 times its own rotor inertia allows the Dynaserv to be applied in a variety of machines. The net result of specifying a Dynaserv system is increased repeatability of the feed material. SCARA robot for assembly Peripherals for robot Roll Feeder Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 155 Parker Hannifin Corporation

4 Catalog 8-4/USA Introduction Motor Construction and Operation The torque is proportional to the square of the sum of the bias magnetic flux Øm, due to the permanent magnet and the excitation magnetic flux of windings. T oc (φm + φc) 2 High torque is generated due to the following factors. First, the motor diameter is large. The tangential forces between rotor and stator act at a large radius, resulting in higher torque. Secondly, a large number of small rotor and stator teeth create many magnetic cycles per motor revolution. More working cycles means increased torque. Direct drive systems couple the load of the system directly to the motor without the use of belts or gears. Most servo motors, brushed or brushlesss, often lack adequate torque or resolution to satisfy application needs. Therefore, mechanical means, such as gear reduction systems are implemented to meet system requirements. The Dynaserv can provide very high torque in a modest package size and solve many of the performance issues of the gear reducer. All this in a system that is as easy to use as a stepping motor. The figure below shows the construction of the Dynaserv DM Series direct drive motor compared to a conventional motor with a gear reducer. As shown in the figure, the gear reducer relies on frictional contact to reduce the speed of the load. This gearing effectively increases torque and resolution but sacrifices speed and accuracy. The direct drive motor is brushless and gearless so it eliminates friction from its power transmission. Since the feedback element is coupled directly to the load, system accuracy and repeatability are greatly increased and backlash is eliminated. Conventional Motor/Gear Reducer vs. Dynaserv Gear reducer DM Series Encoder DC/AC motor Encoder PC Slit plate Stator element Rotor core earing Rotating element Stator core Gear Reducer System Limitations acklash limits positional accuracy Gearing causes a trade-off between speed and resolution Inefficiently transfers torque Magnetic Circuit Hub Rotor Stator A Φ m Excitation coil Permanent magnet Stator Exploded View of the Dynaserv Motor Model DM Rotor core Stator core Retaining ring Core Housing kit Φ c Clamp ring T Φ m Encoder plate LED kit Housing PDA kit Encoder Friction introduces inaccuracies and non-linearities Gearing reduces stiffness at the load The motor contains precision bearings, magnetic components and integral feedback in a compact motor package. The motor is an outer rotor type, providing direct motion of the outside housing of the motor and thus the load. The cross roller bearings which support the rotor have high stiffness, to allow the motor to be connected directly to the load. In most cases is is not necessary to use additional bearings or connecting shafts. 156 Parker Hannifin Corporation

5 Catalog 8-4/USA Introduction Selecting your Dynaserv The normal principals of servo motor sizing apply to the Dynaserv, but there are a few special considerations to keep in mind. Peak /Continuous The speed torque curves in this section represent the peak available torque. Continuous torques are approximately 2/3 of the peak value. Use one-half of peak torque for the DM14. lb-ft DR14A DR-A Series 115 volts (N-m) (4) (35) (3) DR12A DR13A (25) (2) 111 (15) 74 DR11A (1) 37 (5) Inertia Matching When selecting the right Dynaserv for your application, the inertia match between the motor and load is a critical factor. The specifications listed in this section are for a 3:1 load to rotor inertia ratio. The following table lists the recommended ratios for specific application types. Actual results will depend highly on the usage, so these values are just for reference purposes. It is always a good idea to add 3-5% safety margin in sizing calculations. Application Types and Ratios Max K Ratio Application Type (J load /J motor ) High throughput applications 5-1 (printing machines, chip mounting) General high speed applications 2-3 (SCARA robot, transfer arms) High speed but balanced load 5-1 applications (Rotary Index, Rotary Tables) High accuracy, slow speed 1-2 applications (Measuring Equipment) Motor Types When selecting the motor type, the decision comes down to a trade-off of resolution, accuracy, speed, and cost. Please use this table to match your specific application requirements to the correct direct drive motor. Keep in mind that these ratings are speculative and based only on the features of these three models. The lowest accuracy Dynaserv is still very accurate by normal motor standards. Motor Types DM DR DR5 Series Series Series Power Lowest Medium Highest Accuracy Highest Medium Lowest Motor Weight Lowest Medium Highest Resolution Highest Medium Lowest Cost Medium Lowest Highest Speed Lowest Medium Highest Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 157 Parker Hannifin Corporation

6 Catalog 8-4/USA Introduction Application Considerations for using the Dynaserv Direct-Drive rushless Servo Systems Sizing and Selection Considerations All Speed vs. curves shown in Compumotor s Catalog and Dynaserv User Guide show peak torque. Use two-thirds of peak torque to calculate the available continuous torque. Use one-half for DM14. If you require more than two-thirds of peak torque for short periods of time (low duty cycle applications), calculate RMS (room mean square) torque. make sure RMS torque is less than 2/3 of peak torque. Friction torque should not exceed 3% of a motor s peak torque. Dynaservs operate most efficiently with a balanced load. Overhung loads cannot exceed 148 ft-lbs for the DR- and DM- series motors. Overhung loads cannot eceed 15 ft-lbs for DR5C series, 24 ft-lbs for the DM14C and 2 ft-lbs for the DM14. These values should be derated by 33% for constant loads and 8 9% for intermittent loads (fatigue) to incoroprate a safety margin. Always calculate the load-to-rotor inertia ratio before selecting a motor. The acceptable ratio is applicationand motor-dependent. Applications requiring low cycle times and high accelerations need a lower ratio than slowspeed, continuous velocity applications. Refer to the acceptable inertia values for different application types on the previous page. Axial Compression and Tension Load Limits Cabling Considerations The Dynaserv is not shipped with a power cable. This cable must be provided by the end user. The Dynaserv is shipped with a 5-pin Honda connector. Use this connector to construct a cable between the Indexer, Servo controller, or other input/output devices. Prefabricated cables for Compumotor indexers and servo controllers are available. The motor and feedback cables cannot exceed 3 meters in length. Mounting and Environmental Considerations Do not drill holes into the Dynaserv motor. The Dynaserv is an outer rotor motor. The rotating load must be mounted to the upper mounting surface (the rotor). The lower stator surface must be mounted to the rigid and stationary machine base. Install the motor in an appropriate location as the motor is not dust proof, watertight, or oil proof. Compression Tension DR5C 1124 lbs 674 lbs DR- Series 6744 lbs 2248 lbs DR-E, DR-A 8992 lbs 4496 lbs DM14 44 lbs 154 lbs DM14C 77 lbs 77 lbs DM- 66 lbs 22 lbs DM-A 88 lbs 44 lbs These limits should be derated to incorporate a safety margin. If the load is intermittent and repetitive, derate these values by 8 9%. If the motor is used with oscillating rotation movements with a small angle (5º or less), then perform a running-in operation with back-and-forth movements about 1 times, each move exceeding an angle of at least 9º. The running-in operation must be carried out every 1, times of back-and-forth oscillation movements in order to ensure proper lubrication of the bearings. 158 Parker Hannifin Corporation

7 Catalog 8-4/USA Introduction How to Order Linearserv and Dynaserv How to Order Dynaserv G2 D G2 Model Series Name M - Encoder R - Resolver Motor Speed 1 - Standard (up to 2. rps) 5 - High speed (up to 5. rps) Peak (Nm) 4-4 Depending on motor type Motor Diameter A - 1" - 6" C - 4" E - 8" Input AC Voltage CE Compliance EMC - EMC & LVD Compliance. Including CE-MArked motor, drive, filter, and installation instructions. The -EMC option is not available with the DR5A Series. How to Order Dynaserv D Model Series Name M - Encoder R - Resolver Motor Speed 1 - Standard (up to 2. rps) 5 - High speed (up to 5. rps) Peak (Nm) 4-5 Depending on motor type Motor Diameter A - 1" - 6" C - 4" E - 8" Input AC Voltage (DR5A Series only) 23 CE Compliance EMC - EMC & LVD Compliance. Including CE-MArked motor, drive, filter, and installation instructions. The -EMC option is not available with the DR5A Series. How to Order Dynaserv M2 D M2 Model Series Name M - Encoder R - Resolver Motor Speed 1 - Standard (up to 2. rps) 5 - High speed (up to 5. rps) Peak (Nm) 4-4 Depending on motor type Motor Diameter A - 1" - 6" C - 4" E - 8" Input AC Voltage CE Compliance EMC - EMC & LVD Compliance. Including CE-MArked motor, drive, filter, and installation instructions. The -EMC option is not available with the DR5A Series. How to Order Linearserv Model 1 High Precision** 5 Standard** Motor Force 5 5 N (LM1) 1 1 N (LM1) 3 3 N (LM1) Precision Standard 1 Ultra Precision* Stroke Length Available from 5 15 mm (e.g., 4 4 mm) Cable Option 1 Cable Option #1 (3 m motor and Encoder cable and 1.5 m Amp-Head cable) Input AC Voltage VAC VAC Number of Sliders and Drives 1 slider/drive 2 2 slider/drives 3 3 slider/drives LM 4 4 N (LM5) 9 9 N (LM5) N (LM5) 4 4 slider/drives 5 5 slider/drives 6 6 slider/drives * Available in the LM1 Series ** High rigidity versions are available for increased load and moment capabilities Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 159 Parker Hannifin Corporation

8 Catalog 8-4/USA G2 Drive Dynaserv G2 Digital Servo Drives The Dynaserv G2 is a small-packaged, position-command-type (step-and-direction command input), new-generation digital servo amplifier. It is designed specifically to drive the Dynaserv direct-drive rotary and Linearserv direct-drive linear motors. The G2 can be easily configured via RS232 using the G2 Utility on a PC or by using the optional hand-held Teach Pendant. The G2 is available in 5 watts and 2 kw power levels. It will run all the Dynaserv motors except the DR5A series. Servo tuning is simplified with the auto-tuning feature. No information is required to tune the servo; the auto-tuning operation oscillates the rotor and measures the inertia and weight of the load, then automatically sets the optimum tuning parameters for servo control. Features Step and direction input only Resolver or encoder feedback s to 295 ft-lbs. (4 Nm) RS232 communication Auto-tuning Increased resolutions (up to 4,96, ppr) Repeatability to ±1 arc second Homing operation LED diagnostics display Utility software 16 Parker Hannifin Corporation

9 Catalog 8-4/USA G2 Drive G2 Specifications Model Performance Features Repeatability Value DR1xxx DR1xxxE DR1xxxA DR5xxx DR5xxxC DM1xxx DM1xxxA DM14x ± 3 arc sec ± 3 arc sec ± 3 arc sec ± 5 arc sec ± 5 arc sec ± 1 arc sec ± 1 arc sec ± 3 arc sec Accuracy Resolution ± 45 arc sec 1,15,88 steps/rev ± 45 arc sec 1,228,8 steps/rev ± 3 arc sec 1,638,4 steps/rev ± 9 arc sec 557,56 steps/rev ± 5 arc sec 425,984 steps/rev ± 15 arc sec 2,621,44 steps/rev ± 15 arc sec 4,96, steps/rev ± 6 arc sec 2,621,44 steps/rev Power Volts +1% to -15% 115VAC or 23VAC, 1-phase 23VAC, 1-phase 115VAC or 23VAC, 1-phase Frequency 5/6 Hz Range +1% to -15% Current Power Level 15 amps 2 amps max 15 amps max 2 amps 5 amps max max max 5W & 2kW 2kW 2kW 5W 5W & 2kW 2kW 5W Communication Command Interface Serial Step Input RS232C 5V TTL, EIA-422 standard Direction Input 5V TTL, EIA-422 standard Encoder Output 5V TTL, EIA-422 standard Inputs 5V, 4.mA/input, 3.k impedance; or 12-24VDC, mA/input, 1k impedance Outputs Open collector, 1mA/output Environmental Operating Temperature Storage Temperature to 5 degrees C -2 to 85 degrees C Humidity Power Consumption Weight 2 to 9% RH without condensation 3.4KVA 7.9 lbs.8kva 3.7 lbs Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 161 Parker Hannifin Corporation

10 Catalog 8-4/USA G2 Drive G2 I/O Connections (CN4) 36-Pin Honda Pin No. I/O Signals Signal Name Description 1 COMP1 Common power Input power 12 to 24 VDC 2 COMN1 Common ground Input power ground 3 OUT_DRDY Driver ready Turns ON when it is not in the error status 4 OUT_SRDY Servo ready Turns ON when it is in the servo ready state 5 OUT_USY usy The status where operation cannot be performed according to the pulse train position command 6 OUT_XOVL Overload signal Turns OFF when overload occurs 7 OUT_OVER Over signal Turns ON when position deviation overflow or excessive velocity occurs 8 OUT_COIN Position settling signal Turns ON when the position deviation is within the settling width 9 UA_OUT+ Encoder output UP+ or A+ UP+ or A+, depending on the setting 1 UA_OUT- Encoder output UP- or A- UP- or A-, depending on the setting 11 U_OUT+ Encoder output DOWN+ or A+ DOWN+ or A+, depending on the setting 12 U_OUT- Encoder output DOWN- or A- DOWN- or A-, depending on the setting 13 Z_OUT+ Encoder output Z+ Homing Z_Channel 14 Z_OUT- Encoder output Z- Homing Z_Channel 15 PUA_IN+ Position command input pulse+ PLS+, UP+ or A+, depending on the setting 16 PUA_IN- Position command input pulse- PLS-, UP- or A-, depending on the setting 17 SD_IN+ Sign (direction) command input pulse+ SIGN+, DOWN+ or +, depending on the setting 18 SD_IN- Sign (direction) command input pulse- SIGN-, DOWN- or -, depending on the setting 19 IN ERR_RESET Error reset Executes error status reset when setting from OFF to ON 2 IN_SERVO Servo ON Servo ON when activated 21 IN_MODE_START Operation start command Starts operation when setting from OFF to ON 22 IN_AORT Operation abort command Stops operation when setting from OFF to ON 23 IN_MODEL, Operation mode number 24 IN_MODEL, 1 Operation mode number 25 IN_POSW Settling width selection Switches the settling width 26 IN_POSW 1 Settling width selection Switches the settling width 27 IN_GAIN Velocity control bandwidth selection Selects the velocity control bandwidth 1 or 2 28 IN_FN Position control bandwidth selection Changes the position control bandwidth 1 or 2 29 IN_PLS_DIRECT Pulse direct or scaled selection Selects direct pulse command input or scaled input pulse command 3 IN_PACT Position control integral operation disabled Disables the integral operation when ON 31 NC No connection 32 NC No connection 33 CRNT LMT IN+ Current limit V: % to 1V: 1% 34 CRNT LMT IN- Current limit V: % to 1V: 1% 35 NC No connection 36 NC No connection 162 Parker Hannifin Corporation

11 Catalog 8-4/USA M2 Controller/Drive Dynaserv Drive/Controller The Dynaserv M2 drive/controller is a single-axis servo motor programmable drive/controller, designed to optimize the use of the Dynaserv direct drive motors. It incorporates a completely digital motion and position programmable controller with the well-established Dynaserv drive in a single package. It was designed to simplify the use of Dynaserv direct-drive servo motor system, especially in rotary indexing applications. The M2 uses the I-PD control algorithm for precise motion and position control. The auto tuning feature simplifies servo tuning and decreases system setup time. Improved settling time is realized due to the use of position feed forward and the close proximity of the controller and drive. The Dynaserv M2 can be used with all the Dynaserv motors except the DR5A series. RS232C and the PLC mode allow the user to manipulate the controller, with either a computer or a Programmable Logic Controller. Programs, parameters, configurations, and data settings can be stored in the Flash Read Only Memory (ROM). (Since Flash ROM does not require battery backup, it makes for a very safe method for storing valuable setup information). The M2 Drive can be used to replace mechanical cam indexers and have the flexibility to change index number, index distance, acceleration, speed, etc., electronically, without replacing the dial indexer. Features Auto Tuning Position Feed Forward RS232 Communication PLC Mode LED Diagnostic Display Indicator Lamps Controls most DR or DM series motors Flash Read Only Memory(ROM) Windows 95/98 Utility Software (M2 Utility) Accessories CP7576S-2 RS232C 2 meter cable (IM compatible) CP782S-2 PLC 2 meter cable CP792S-2 Sensor (Home, travel limits, etc.) 2-meter cable Teach ox wired remote control Please refer to the ordering information matrix on page 159 Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 163 Parker Hannifin Corporation

12 Catalog 8-4/USA M2 Drive/Controller General Specifications Function Specifications 164 Parker Hannifin Corporation

13 Catalog 8-4/USA M2 Drive/Controller Specifications, continued Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 165 Parker Hannifin Corporation

14 Catalog 8-4/USA G2/M2 Drive DR Series Motor Data Model Model Model Model Model Model Model Model Model E 11E 113E 116E Peak torque ft-lbs (Nm) (8) (15) (3) (45) (6) (7) (1) (13) (16) Rated speed 115/23VAC rps 2./2. 2./2. 1.5/2. 1./2. 1./ /2. 1./1.5.5/1..5/1. Maximum power consumption 115/23VAC KVA Rotor inertia oz-in 2 x (Kgm 2 x 1-3 ) (15) (21) (24) (26) (33) (85) (1) (125) (14) Max resolution 57,94 57,94 57,94 57,94 57,94 614,4 614,4 614,4 614,4 Motor weight lbs (kg) (6) (9) (11) (13) (16) (22) (26) (32) (36) Maximum static axial load* Compression lbs 6,744 6,744 6,744 6,744 6,744 8,992 8,992 8,992 8,992 Tension lbs 2,248 2,248 2,248 2,248 2,248 4,496 4,496 4,496 4,496 Maximum static overhung load* ft-lb DR Series Motor Data Model Model Model Model 11A 12A 13A 14A Peak torque ft-lbs (Nm) (1) (2) (3) (4) Rated speed, 115/23VAC rps 1./1..5/1..25/.5.25/.5 Maximum power consumption, 115/23VAC KVA Rotor inertia oz-in 2 x (Kgm 2 x 1-3 ) (2) (285) (34) (4) Maximum resolution 819,2 819,2 819,2 819,2 Motor weight lbs (kg) (31) 46) (57) (68) Maximum static axial load** Compression lbs 8,992 8,992 8,992 8,992 Tension lbs 4,496 4,496 4,496 4,496 Maximumum Static Overhung Load* ft-lb * When designing a system, de-rate the maximum load to the values shown below: De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 166 Parker Hannifin Corporation

15 Catalog 8-4/USA G2/M2 Drive DR5 Series Motor Data Model Model Model Model Model Model Model 55C 51C 515C A 55A Peak torque ft-lbs (Nm) (3.8) (8) (14) (3) (7) (3) (5) Rated speed rps Rotor inertia oz-in 2 x (kgm 2 )x1-3 (.6) (.7) (.8) (8) (36) (34) (46) Resolution Steps/rev 212, , , , , , ,984 Motor weight lbs (kg) (5.) (6.) (7.) (7.) (17.5) (55) (75) Maximum static axial load** Compression lbs Tension lbs Maximum static ft-lb overhung load** Maximum power KVA consumption De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 ** When designing a system, de-rate the maximum load to the value as shown at the left: DM Series Motor Data Model Model Model Model Model Model Model A 11A 115A 12A Peak torque ft-lbs (Nm) (15) (3) (45) (5) (1) (15) (2) Rated speed 115VAC rps 23VAC Rotor inertia oz-in 2 x (Kgm 2 ) x 1-3 (12) (15) (19) (96) (119) (142) (167) Maximum steps/rev 655,36 655,36 655,36 1,24, 1,24, 1,24, 1,24, Motor weight* lbs (kg) (5.5) (7.5) (9.5) (14.5) (19) (24) (29) Maximum static axial load** Compression lbs 6,6 6,6 6,6 8,8 8,8 8,8 8,8 Tension lbs 2,2 2,2 2,2 4,4 4,4 4,4 4,4 Max. static overhung load** ft-lb Max. power consumption KVA ** When designing a system, de-rate the maximum load to the values shown at the right: De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 167 Parker Hannifin Corporation

16 Catalog 8-4/USA G2/M2 Drive DM14 Motor Data Specifications DM14 DM14C Peak torque ft-lbs 3 3 (N-m) (4) (4) Rated speed 115VAC rps 23VAC Rotor inertia oz-in 2 x (Kgm 2 ) x 1-3 (5.5) (2.5) Maximum step s/rev 655,36 655,36 Motor weight* lbs (kg) (3) (3) Maximum static axial load** Compression lbs (kg) 44 (2) 77 (35) Tension lbs (kg) 154 (7) 77 (35) Maximum static overhung load** ft-lb (kg-m) 2 (2.7) 24.4 (3.3) Maximum power consumption KVA.3.3 ** When designing a system, de-rate the maximum load to the values specified here: De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 Please refer to the ordering information matrix on page Parker Hannifin Corporation

17 Catalog 8-4/USA G2/M2 Drive Motor Speed- Performance Curves The speed-torque curves represent peak torque available. lb-ft (N-m) 296 (4) DR14A DRG2/DRM2-A Series 115V lb-ft (N-m) 296 (4) DR14A DRG2/DRM2-A Series 23V 259 (35) 259 (35) 222 (3) DR13A 185 (25) 222 (3) 185 (25) DR13A 148 (2) DR12A 148 (2) DR12A 111 (15) 111 (15) DR11A 74 (1) 74 (1) DR11A 37 (5) 37 (5) lb-ft (N-m) 45. (6) DR16 DRG2/DRM2- Series 115V lb-ft (N-m) 45. (6) DR16 DRG2/DRM2- Series 23V 37.5 (5) DR (5) DR (4) 3. (4) 22.5 (3) DR DR13 (3) 15. (2) DR (1) DR (2) DR115 (1) DR lb-ft (N-m) 222 (3) DRG2/DRM2-E Series 115V lb-ft (N-m) 222 (3) DRG2/DRM2-E Series 23V 185 (25) 185 (25) 148 (2) 148 (2) DR116E 111 (15) DR113E 111 (15) DR116E DR113E 74 (1) DR11E 74 (1) DR11E 37 (5) DR17E (5) DR17E Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 169 Parker Hannifin Corporation

18 Catalog 8-4/USA G2/M2 Drive Motor Speed- Performance Curves The speed-torque curves represent peak torque available. (N-m) 222 (3) lb-ft (N-m) 222 (3) lb-ft DMG2/DMM2-A Series 115 VAC DM-A Series 23 VAC 185 (25) 185 (25) 148 (2) DM12A 148 (2) DM12A 111 (15) 74 (1) DM115A DM11A 111 (15) 74 (1) DM115A DM11A 37 (5) DM15A 37 (5) DM15A lb-ft (N-m) 42 (6) DMG2/DMM2- Series 115 VAC lb-ft (N-m) (8) DM- Series 23 VAC 35 (5) 46 (66) 28 (4) 21 (3) 14 (2) 7 (1) DM115 DM13 DM (53) (4) (27) (13) DM145 DM13 DM lb-ft 3.7 N-m 5 DMG2/DMM2-14 Series Parker Hannifin Corporation

19 Catalog 8-4/USA G2/M2 Drive G2 Drive Dimensional Drawings Dimensions in inches (mm) Dynaserv G2/M2 2kW with Regen (11 1) 1.65 (42) 2.6(66) 1.97(5)1.97.2(5.28(7) ).63(16) (23 1).8(2) (25 1 ) (239.5) (215 1) Dynaserv G2/M2 2kW with Regen (7 1).39(1) (5.5).28 (7).63 (16) (15 1).8 (2) (239.5) (25 1) (215 1) Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 171 Parker Hannifin Corporation

20 Catalog 8-4/USA DR Drive Direct-Drive rushless Servo Systems The Dynaserv DR Series provides the user with a high-performance direct-drive servo system with resolver feedback. Each of the thirteen models includes a direct-drive motor, integral resolver, microprocessor-based drive and a 1-foot motor-todrive cable. The DR Series motor is brushless and without gears allowing for long, maintenance-free operation. The cross roller bearing design can support up to 4 tons of compression load and 37 ft-lbs of overhung load. The center hole in the motor is up to 6 inches in diameter and can be used to simplify system wiring. The user can elect to operate the DR Series in either a position, velocity or torque mode. In the position mode, the drive accepts step and direction input from any Compumotor indexer or user-supplied pulse source. Operating in the velocity mode requires a ±1VDC input and torque mode requires a ±8.5VDC input. High performance closed loop operation is obtained with a sophisticated I-PD digital and analog control algorithm. The analog velocity loop provides high bandwidth for excellent system response. The digital position loop simplifies position control and optimizes system accuracy. A built-in test mode and position/velocity monitors allow for convenient and efficient tuning. The DR Drive is fully protected against open and short circuits, overcurrent, overvoltage and overtemperature. A seven segment LED indicator provide the user with the status and diagnostic information from the front panel. Features rushless direct drive motor with 1 foot cable 2 models available in 4-, 6-, 8- or 1-inch diameters Resolver feedback s to 37 ft-lbs (5 Nm) Resolutions to 819,2 steps/rev Supports 4 tons of compression load (LVD and EMC*) Microprocessor control of I-PD control algorithm Analog velocity loop/digital position loop uilt-in test mode for easy tuning Diagnostic LED display Step and direction input/position control ±1V for velocity control, ±8.5V for torque control Gain settings can be changed on the fly Configurable position accuracy to reduce system settling time Complete system, ready for operation Also compatible with M2 controller/drive Accessories Compumotor Controllers The Dynaserv is compatible with all Compumotor controllers ases Mounting bases to simplify mounting to a flat surface (DR- Series only) Dynamic raking Capacitor type or Speed-switching type for each motor size Precision Machining Axial and radial run-out of.1,.2 or.5 mm is available on most Dynaserv models. Standard axial and radial runout for all motors is.1 mm Mechanical raking Most motors can be ordered with mechanical brakes for power down, or emergency use. Not available with DR- 18 and DR-E series DR5 and DR5C Series only: line filters for CE installations Interface cables for use with Compumotor's 6K and 6 Series controllers * EMC with proper filter and intallation procedures. 172 Parker Hannifin Corporation

21 Catalog 8-4/USA DR Drive Specifications Parameter Value Performance Repeatability ±5 arc-sec, ±1 arc-sec for DR5 and DR5C Accuracy ±3 arc-sec DRA Series ±45 arc-sec, ±9 arc-sec for DR5, DR, DRE and DR5A Series Max stepping rate 1,6, steps/sec Power Volts (se note) ±5 arc-sec for DR5C Range +1% to -15% Current 2 amps max Inputs Command interface Step input Direction Analog input Low going low pulse, 15 nanoseconds minimum pulse width Logic high = CW rotation Logic low = CCW rotation ±1V command signal for velocity control, ±8.5V command signal for torque control Outputs Encoder output A/ encoder output 4 khz max Environmental Driver Motor Weight 13.2 lb (6 kg), 24 lb (11 kg) DR5A See Table elow Operating 32 to 122 F ( to 5 C) 32 to 113 F max ( to 45 C) Storage -4 to 185 F (-2 to 85 C) -4 to 185 F (-2 to 85 C) Humidity 2 to 9% noncondensing 2 to 85% noncondensing No corrosive gases. Dust free atmosphere. The Dynaserv is not waterproof, oil proof or dust proof. NOTE: Volts 115VAC 1 phase, all except DR5A/; 23VAC 1 phase, all except DR5A; 2VAC 3 phase, DR5A DR Series Motor Data Model Model Model Model Model Model Model Model Model E 11E 113E 116E Peak torque ft-lbs (Nm) (8) (15) (3) (45) (6) (7) (1) (13) (16) Rated speed, 115/23VAC rps 2./2. 2./2. 1.5/2. 1./2. 1./ /2. 1./1.5.5/1..5/1. Maximum power consumption KVA Rotor inertia oz-in 2 x (Kgm 2 x 1-3 ) (15) (21) (24) (26) (33) (85) (1) (125) (14) Max resolution 57,94 57,94 57,94 57,94 57,94 614,4 614,4 614,4 614,4 Motor weight* lbs (kg) (6) (9) (11) (13) (16) (22) (26) (32) (36) Maximum static axial load** Compression lbs 6,744 6,744 6,744 6,744 6,744 8,992 8,992 8,992 8,992 Tension lbs 2,248 2,248 2,248 2,248 2,248 4,496 4,496 4,496 4,496 Maximum static overhung load** ft-lb DR Series Motor Data Model Model Model Model 11A 12A 13A 14A Peak torque ft-lbs (Nm) (1) (2) (3) (4) Rated speed, 115/23VAC rps 1./1..5/1..25/.5.25/.5 Maximum power consumption, 115/23VAC KVA Rotor inertia oz-in 2 x (Kgm 2 x 1-3 ) (2) (285) (34) (4) Maximum resolution 819,2 819,2 819,2 819,2 Motor weight* lbs (kg) (31) 46) (57) (68) Maximum static axial load** Compression lbs 8,992 8,992 8,992 8,992 Tension lbs 4,496 4,496 4,496 4,496 Maximumum Static Overhung Load* ft-lb ** When designing a system, derate the maximum load to the values shown below: De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 173 Parker Hannifin Corporation

22 Catalog 8-4/USA DR Drive Motor Speed- Performance Curves The speed-torque curves represent peak torque available, continuous torques are approximately 2/3 of the peak value. lb-ft (N-m) 296 (4) DR14A DR-A Series 115V lb-ft (N-m) 296 (4) DR14A DR-A Series 23V 259 (35) 259 (35) 222 (3) DR13A 185 (25) 222 (3) 185 (25) DR13A 148 (2) DR12A 148 (2) DR12A 111 (15) 111 (15) DR11A 74 (1) 74 (1) DR11A 37 (5) 37 (5) lb-ft (N-m) 45. (6) DR16 DR- Series 115V lb-ft (N-m) 45. (6) DR16 DR- Series 23V 37.5 (5) DR (5) DR (4) 3. (4) 22.5 (3) DR DR13 (3) 15. (2) DR (1) DR (2) DR115 (1) DR lb-ft (N-m) 222 (3) DR-E Series 115V lb-ft (N-m) 222 (3) DR-E Series 23V 185 (25) 185 (25) 148 (2) 148 (2) DR116E 111 (15) DR113E 111 (15) DR116E DR113E 74 (1) DR11E 74 (1) DR11E 37 (5) DR17E (5) DR17E Parker Hannifin Corporation

23 Catalog 8-4/USA DR Drive Specifications Parameter Value Performance DR5A DR5 DR5C Repeatability ±5 arc-sec ±1 arc-sec ±1 arc-sec Accuracy ±45 arc-sec ±9 arc-sec ±5 arc-sec Max stepping rate 1,6, steps/sec 1,4, steps/sec Power Volts 2VAC, 3 Phase, 23VAC, 1 Phase, 115VAC 5/6 Hz 5/6 Hz 5/6 Hz Range +1% to -15% +1% to -15% +1% to -15% Current 2 Amps 2 Amps 2 Amps Inputs Command interface Step and direction Position control (all models) ±1VDC velocity control; ±8VDC torque control Step input low going pulse, 15 nanosecond minimum pulse width Direction Logic high = CW rotation Logic low = CCW rotation Analog input ±1VDC max Other inputs 5 to 24 volts pullup (gain selection, servo on, etc.) Outputs Encoder output A, Quadrature signal (4KHz max) (all models) Z Channel A : to 14 pulses/rev : to 68 pulses/rev Other outputs TTL (in position, alarm, etc.) Environmental Weight Driver Motor DR5A 24 lbs (11 kg) See Table below DR lbs (6 kg) See Table below DR5C 13.2 lbs (6 kg) See Table below Operating Temperature -5 C 45 C Humidity 2-9% Non-condensing 2 85% Non-condensing Storage Temperature C C Humidity 2-9% Non-condensing 2 85% Non-condensing Environment No corrosive gases. Dust-free atmosphere. The Dynaserv is not waterproof, oil proof or dust proof ilbs (6 kg) See below DR5 Series Motor Data Model Model Model Model Model Model Model 55C 51C 515C A 55A Peak torque ft-lbs (Nm) (3.8) (8) (14) (3) (7) (3) (5) Rated speed rps Rotor inertia oz-in 2 x (kgm 2 )x1-3 (.6) (.7) (.8) (8) (36) (34) (46) Resolution Steps/rev 212, , , , , , Motor weight lbs (kg) (5.) (6.) (7.) (7.) (17.5) (55) (75) Maximum static axial load** Compression lbs Tension lbs Maximum static ft-lb overhung load** Maximum power KVA consumption De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 ** When designing a system, de-rate the maximum load to the value as shown at the left: 175 Parker Hannifin Corporation

24 Catalog 8-4/USA DR Drive Motor Speed- Performance Curves The speed-torque curves represent peak torque available, continuous torques are approximately 2/3 of the peak value. lb-ft DR5A Series-2 VAC (N-m) (8) (7) lb-ft DR57 DR5 Series-23 VAC (N-m) (8) (7) DR55A (6) (5) (6) (5) DR53A (4) (3) DR53 (4) (3) 148 (2) 14 (2) 74 (1) 7 (1) Speed (RPS) Speed (RPS) 5. DR5C Series (N-m) DR115C DR11C DR15C Speed (RPS) ~115V 2~23V 176 Parker Hannifin Corporation

25 Catalog 8-4/USA DR Drive DR Series Dimensional Drawings DR-A Series Dimensions in inches (mm) 6-M8 depth (12) (eq. divided along the circumference) /-.12 (252 +/-.3) Rotor A (5 +.2) /- (11 +2./-) Stator Motor cable* 6-M8 depth (12) (eq. divided along the circumference) (23 +.2) /-.4 (15 +/-1.) /-.2 ( /-.5) (17 +.2) DR-E Series /-.2 ( /-.6) Dimensions in inches (mm) 12 (348) /-.1 (264 +/-.3) Resolver cable* Model A DR11A 7.28 ±.4 (185 ± 1) DR12A 9.84 ±.4 (25 ± 1) DR13A ±.4 (34 ± 1) DR14A 14.9 ±.4 (358 ± 1) 6-M8 depth (12) Rotor (eq. divided along the circumference) A /-.8 ( ) (5 + (16 +2./-).2) Stator Motor cable 6-M8 depth (12) (eq. divided along the circumference) /-.12 (19 +/-.3) (14 +.2) /-.2 ( /-.6) /-.4 (76 +/-1.) /-.2 (12 -.2/-.5) 8.7 +/-.12 (25 +/-.3) 12 (348) Resolver Model A DR17E 7.2 ±.4 (183 ± 1) DR11E 8.27 ±.4 (21 ± 1) DR113E 9.57 ±.4 (243 ± 1) DR116E 1.67 ±.4 (271 ± 1) DR- Series Dimensions in inches (mm) 6-M6 depth (9) for all but DR18 6-M5 depth (5) for DR18 (eq. divided along the circumference) For all but DR18: (4 +.2) A Rotor DR18 only:.12 ±.8 (3 ±.2) /- (6 +2./-) for all but DR18.13 ±.2 (3.4 ±.5) for DR18 Stator Motor cable 6-M6 depth (12) (eq. divided along the circumference) (72 +.2) /-.12 (145 +/-.3) 2.2 +/-.4 (56 +/-1.) /-.2 (12 -.2/-.6) /-.2 (86 -.2/-.5) /-.12 (15 +/-.3) (13 +.2) 12 (348) Resolver cable Model A DR ±.4 (85 ± 1) DR ±.4 (123 ± 1) DR ±.4 (151 ± 1) DR ±.4 (179 ± 1) DR ±.4 (27 ± 1) Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 177 Parker Hannifin Corporation

26 /-.2 (74 ) / (24) Catalog 8-4/USA DR Drive Dimensional Drawings DR5A Series Dimensions in inches (mm) 6-M8 depth (12) (eq. divided along the circumference) /-.12 (252 +/-.3) Rotor A (5 +.2) /- (11 +2./-) Stator Motor cable* 6-M8 depth (12) (eq. divided along the circumference) (23 +.2) /-.4 (15 +/-1.) /-.2 ( /-.5) (17 +.2) /-.1 (264 +/-.3) Model A /-.2 ( /-.6) (3) Resolver cable* DR53A 12.2 ±.4 (39 ± 1) DR55A 16.4 ±.4 (417 ± 1) DR5 Series Dimensions in inches (mm) Note: Motor and resolver cables for DR5-A Series are in (3 mm) in length. 6-M6 depth (9).16.8 (4 ±.2) A Rotor /- (6 +2./-) Stator Motor cable 6-M6 depth (12) (eq. divided along the circumference) (72 +.2) /-.12 (145 +/-.3) 2.2 +/-.4 (56 +/-1.) /-.2 (12 -.2/-.6) /-.2 (86 -.2/-.5) /-.12 (15 +/-.3) Model A (13 +.2) 12 (348) Resolver cable DR ±.4 (184 ± 1) DR ±.4 (24 ± 1) DR5C Series Dimensions in inches (mm) 3.31+/-.8 (84 +/-.2) 6-M5.28 (7) Deep /-.1 (1 ).12 +/-.8 (3 +/-.2) (26) Hole A Rotor Stator Motor Cable ( ) / ( ) 4-M6.51 (13) Deep (24).94 (5 +/-.2) 1.2 +/-.8 Model A.2 +.4/- (5 +1 ) 122 (31) Encoder Cable DR55C 4.45 ±.4 (113 ±1) DR51C 5.51 ±.4 (14 ±1) DR515C 6.57 ±.4 (167 ±1) 178 Parker Hannifin Corporation

27 Catalog 8-4/USA DR Drive DR Series Pinout Lists Pin No. Indexer 5-pin Honda Signal Pin No. Motor Screw Terminal Signal 1 8 Servo stiffness input (FC-FC8) 9 12 Position end pulse width input (POSW1, POSW) 13 A+ output 14 A output 15 Servo ready + output 16 Servo ready output 17 Velocity monitor + output 18 Velocity monitor output 19 Direction input 2 Direction + input 21 Integral capacitor reset + input 22 Integral capacitor reset input 23 Servo on input 24 Servo on + input Integral/proportional action input 27 In position + output 28 In position output 29 + output 3 output 31 TLIM/TFF (option) 32 AGND Gain selection inputs low, medium, high 39 CPU reset + input 4 CPU reset input 41 Counter overflow + output 42 Counter overflow output 43 Z+ output 44 Z output 45 Step + input 46 Step input 47 Overload + output 48 Overload output 49 Analog input (±1V) 5 Analog input GND 1 Motor A 2 Motor 3 Motor C 4 GND Power Screw Terminal Pin No. Signal or 23VAC line-control or 23VAC neutral-control or 23VAC line-main or 23VAC neutral-main or 23VAC GND Resolver Honda Connector Pin No. Signal 1 +S (rown/white) 1 +S18 (Green/White) 2 -S (rown) 3 -S18 (Green) 4 Shield 5 FG (lack) 6 +C (Orange/White) 6 +C18 (lue/white) 7 -C (Orange) 8 -C18 (lue) DR Series Drive Dimensions Dimensions in inches (mm).28 (7 ±.5) 4.33 (11 ±1) 3.54 (9 ±.5) (297 ±1) Compumotor POSW (25 ±1) 9.41 (239 ±.5) LINE (CONT)~ 115 VAC LINE (MN)~ 115 VAC GND MOTOR V A V V C GND CN1 fc LIM ON TEST OFF AC GAIN DC GAIN VEL POSN AGND TORQ 8.46 (215 ±1) T1 CN (18 ±1) Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 179 Parker Hannifin Corporation

28 Catalog 8-4/USA DR Drive DR5 Series Pin-Out Lists CN-1 Controller Connections 5-Pin Honda Pin No. Signal 1 8 Servo stifness input (FC-FC8) 9 12 Position end pulse width input (POSW1, POSW) 13 A+ output 14 A output 15 Servo ready + output 16 Servo ready output 17 Velocity monitor + output 18 Velocity monitor output 19 Direction input 2 Direction + input 21 Integral capacitor reset + input 22 Integral capacitor reset input 23 Servo on input 24 Servo on + input Integral/proportional action input 27 In position + output 28 In position output 29 + output 3 output 31 No connection 32 No connection Gain selection inputs low, medium, high 39 CPU reset + input 4 CPU reset input 41 Counter overflow + output 42 Counter overflow output 43 Z+ output 44 Z output 45 Step + input 46 Step input 47 Overload + output 48 Overload output 49 Analog input (±1V) 5 Analog input GND Power Screw Terminal DR5A (2VAC 3φ) Pin No. Signal Pin No. Signal 1 Phase 1 (main) 1 Line (control) 2 Phase 2 (main) 2 Neutral (control) 3 Phase 3 (main) 3 Line (main) 4 Line (control) 4 Neutral (main) 5 Neutral (control) 5 GND 6 GND 6 Motor A 7 Motor A 7 Motor 8 Motor 8 Motor C 9 Motor C 9 GND 1 GND Pin No. Resolver Honda Connector Power Screw Terminal DR5 (23VAC 1φ) Signal 1 +S (rown/white) 1 +S18 (Green/White) 2 -S (rown) 3 -S18 (Green) 4 Shield 5 FG (lack) 6 +C (Orange/White) 6 +C18 (lue/white) 7 -C (Orange) 8 -C18 (lue) Dimensions in inches (mm) Dimensions in inches (mm) 3.35 (85) 9.5 (23) 3.35 (85) (32).28 (7 ±.5) 4.33 (11 ±1) 3.54 (9 ±.5) (297 ±1) Compumotor 8 POSW 9.41 ±.2 (239 ±.7) 9.84 ±.4 (25 ± 1.2).27 (7) 8.66 (22).8 (2) 846 (215) 9.84 (25 ±1) 9.41 (239 ±.5) LINE (CONT)~ 115 VAC LINE (MN)~ 115 VAC GND MOTOR V A V V C GND T1 CN1 fc LIM ON TEST OFF AC GAIN DC GAIN VEL POSN AGND TORQ CN (215 ±1) 4.25 (18 ±1) DR5 A DR5 Please refer to the ordering information matrix on page Parker Hannifin Corporation

29 Catalog 8-4/USA DM Series Direct-Drive rushless Servo Systems The Dynaserv DM Series is a high-performance, direct-drive servo system with optical encoder feedback. Each DM Model consists of a brushless direct drive motor, integral encoder, microprocessor-based drive and a 1-foot motor-to-drive cable. The DM Series can be operated in either a position, velocity or torque mode. In the position mode the drive accepts step and direction input. Operating in the velocity requires ±1VDC or torque mode requires a ±8VDC input. Dynaserv systems are compatible with Compumotor indexers and servo controllers. The DM Series motor is brushless and without gears, allowing for long maintenance-free operation. The cross roller bearing design can support up to 4 tons of compression load and 295 ft-lbs of overhung load. The center hole in the motor is up to 2.3 inches in diameter and can be used to simplify system wiring. The drive is fully protected against open and short circuits, overcurrent, overvoltage and overtemperature. A seven segment LED indicator provides the user with status and diagnostic information from the front panel. High performance closed loop operation is obtained with a sophisticated I-PD digital and analog control algorithm. The analog velocity loop provides high bandwidth for excellent system response. The digital position loop simplifies position convenient control and optimizes system accuracy. A built-in test mode and position/velocity monitors allow for convenient and efficient tuning. Features rushless direct drive motor with 1 foot cable 9 models available in 4-, 6- or 1-inch diameters Incremental encoder feedback s to 15 ft-lbs (2 Nm) Resolutions to 1,24, steps/rev Supports 4 tons of compression load DM14 has axial and radial run-out of.1 mm Microprocessor control of I-PD control algorithm Analog velocity loop/digital position loop uilt-in test mode for easy tuning Diagnostic LED display Step and direction input/position control ±1V input/velocity control ±8.5V input/torque mode Gain settings can be changed on the fly Can operate in Class 1 clean room applications with proper preparation Configurable position accuracy to reduce system settling time Complete system, ready for operation Compatible with Dynaserv M2 controller/drive Accessories Compumotor Controllers The Dynaserv is compatible with all Compumotor controllers. Dynamic raking Capacitor type or Speed-switching type for each motor size. Precision Machining Axial and radial run-out of.1,.2 or.5 mm is available on most Dynaserv models. Standard axial and radial run-out for all motors is.1mm. Mechanical raking Most motors can be ordered with mechanical brakes for power down, or emergency use. Line filters for CE installations.* Interface cables for use with Compumotor's 6K and 6 Series controllers. * EMC with proper filter and intallation procedures. (LVD and EMC*) Integrate Direct Drive Servo Systems Into Your Next Application. Call Today. 181 Parker Hannifin Corporation

30 Catalog 8-4/USA DM Series DM Series Motor Data Model Model Model Model Model Model Model A 11A 115A 12A Peak torque ft-lbs (Nm) (15) (3) (45) (5) (1) (15) (2) Rated speed 115VAC rps 23VAC Rotor inertia oz-in 2 x (Kgm 2 ) x 1-3 (12) (15) (19) (96) (119) (142) (167) Maximum steps/rev 655,36 655,36 655,36 1,24, 1,24, 1,24, 1,24, Motor weight* lbs (kg) (5.5) (7.5) (9.5) (14.5) (19) (24) (29) Maximum static axial load** Compression lbs 6,6 6,6 6,6 8,8 8,8 8,8 8,8 Tension lbs 2,2 2,2 2,2 4,4 4,4 4,4 4,4 Max. static overhung load** ft-lb Max. Power Consumption KVA * Drive weight is 13.2 lbs (6 kgs) ** When designing a system, de-rate the maximum load to the values shown at right: De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 DM14 Motor Data Specifications DM14 DM14C Peak torque ft-lbs 3 3 (N-m) (4) (4) Rated speed 115VAC rps 23VAC Rotor inertia oz-in 2 x (Kgm 2 ) x 1-3 (5.5) (2.5) Maximum step s/rev 655,36 655,36 Motor weight* lbs (kg) (3) (3) Maximum static axial load** Compression lbs (kg) 44 (2) 77 (35) Tension lbs (kg) 154 (7) 77 (35) Maximum static overhung load** ft-lb (kg-m) 2 (2.7) 24.4 (3.3) Maximum power consumption KVA.3.3 * Drive weight is 4 lbs (1.8 kgs) ** When designing a system, de-rate the maximum load to the values specified at right: De-rate Application Factor Smooth, rotary motion 1/3 Intermittent press loading 1/5 Repetitive shock loading 1/1 182 Parker Hannifin Corporation