Brushless Servomotors for Industrial Automation

Transcription

1 CatalogUE ENG Brushless Servomotors for Industrial Automation S65 Servomotors

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3 CONTENTS GENERAL INFORMATION 3 Standards and regulations 4 Tolerances 5 Technical descriptions 7 Mechanical design 10 Electrical design 16 Order data 28 [ I] BRUSHLESS SERVO MOTORS 33 TYPE S28S 34 TYPE S36I 36 TYPE S56S 39 TYPE S63Q 42 TYPE S71Q 45 TYPE S100J 50 TYPE S100K 55 TYPE S132I 60 [ B] ORDER CODES 65 Brushless Motor Series S65 Resolver Feedback 66 Brushless Motor Series S65 SinCos Feedback 68 Brushless Motor Series S65 EnDat Feedback 70 [ C] [1]»

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5 [ I] GENERAL INFORMATION Brushless Servo Motors Among the few independent manufacturers of Servo Motors in the market, Gefran can supply a wide range of standard and tailor made Brushless Motors for Industrial Automation. General information - Technical Catalogue «[2] [3]»

6 [ I] Standards and regulations Standards and regulations The strictness of our quality control assures the flawless operation and reliability of our products. The manufacturer quality system is certified to ISO 9001 by CERMET, the certifying body of SINCERT. Furthermore all servomotors series S are manufacturable according to the following standard: UL Electric Motors and CSA C22.2 No Motors and Generators So the mark applies to the series S Motors comply with the relevant standards and regulations as indicated in the table below: Title EU D I GB F E IEC CENELEC DIN/VDE CEI/UNEL BS NFC UNE Electrical components General stipulations EN DIN EN CEI UNE EN for electrical machines Terminal markings and HD 53 8 S4 DIN VDE CEI and direction of rotation of rotating electrical machines Thermal evaluation DIN IEC CEI and classification of electrical insulation - Insulating materials Mechanical components Dimensions and output HD 231 DIN UNEL /26 series for rotating electrical machines IM B3 shape Dimensions and output HD 231 DIN UNEL series for rotating electrical machines IM B5 shape Cylindrical shaft ends for electric motors HD 231 DIN UNEL Classification of protection EN DIN IEC CEI EN degree (IP code) Methods of cooling EN DIN EN CEI EN Mounting arrangements EN DIN EN CEI EN IM code Mechanical vibration EN DIN EN CEI EN measurements. evaluations and limits of vibrations Tolerances DIN UNEL Tolerances of mounting DIN UNEL 13501/ and shaft extensions Classifications of DIN IEC CEI 75-1 environmental conditions Mechanical vibration ISO 8821 DIN ISO 8821 and shock (Balancing) General information - Technical Catalogue

7 Tolerances [ I] Mechanical Tolerances Mechanical dimensions of electric motors are indicated in the regulation IEC 72-1 that also sets out admissible tolerances, see the table below: Values for By dimension Tolerance compared to rated values from 9 up to 30 mm j6 or k6 Diameter of the shaft end from 32 up to 48 mm k6 from 55 up to 100 mm m6 Feather key width / h9 Flange pilot / j6 Note: The threaded holes at the shaft ends conform to the regulation DIN 332-D Electrical Tolerances Values for Tolerance compared to rated values Stall current Io +/- 5% (measurement in S1 duty cycle at rated speed with ϑ amb 40 C and altitude 1000 m above sea level). Rated current with rated torque and revolutions In +/- 5% (measurement in S1 duty cycle at rated speed with ϑ amb 40 C and altitude 1000 m above sea level). Back electromotive force: Bemf Bemf +/- 5% ϑ amb = Ambient temperature General information - Technical Catalogue «[4] [5]»

8 [ I] tolerances Derating Tables The following derating tables with cumulative coefficients are provided for guidance. Ktot = Ktemp*Khigh*Kduty, according to different operating conditions, ambient temperature higher than 40 C, altitude higher than 1000 m above sea level or duty cycles with overload. Derating according to altitude 120 Suppliable torque in % of rated torque Khigh Altitude metres above sea level Fig. 1 Derating according to ambient temperature 140 Suppliable torque in % of rated torque Ktemp Ambient temperature in C Fig. 2 Suppliable torque according to a duty cycle Suppliable torque in % of rated torque Kduty Duty cycle in % Fig. 3 General information - Technical Catalogue

9 Technical descriptions [ I] The permanent magnet synchronous servomotor along with the relative electronic drive, represents a servo system suitable for driving a shaft at high performance, particularly when dynamic control during transients or steady state stability is required. In general, they assure higher bandwidths than other motor types due to their compact design giving a high ratio of torque/inertia. They need no brushes, as their name suggests, unlike a DC motor. This gives high performance for limited dimensions, excellent reliability and reduced maintenance procedures. Brushless servomotors are used in a wide range of operating fields, chosen for their ability to operate with an almost constant torque and withstanding overloads several times higher than rated current. Servomotor performance is linked to the electronic drive that supplies them controlling stator phase switching thus substituting the commutator of the old DC machines. In the brushless servomotor currents are distributed to windings through power static switches (for example, IGBT, MOSFET) according to the position detected by means of an angular position transducer, such as resolver, encoder or Hall sensor. The power bridge along with the feedback element replaces the commutator of the old DC machines. The feature maintained in common with a DC motor is constant torque up to rated speed. Three-phase synchronous permanent magnet servomotors are made up of the following main components: Stator, with low-loss Fe-Si core lamination stack and three-phase star connection winding; insulation class F (for temperature rise of T=105 K and ambient temperature of +40 C). Optionally available curus compliant insulation system. Rotor, characterized by low-loss Fe-Si core lamination stack and peripheral surface with rare earth permanent magnets; the shaft is made of Ni-Cr steel; bearing have permanent lubrification. Frame components, such as die-cast flange, endshield and cover, and extruded aluminium case. Rotor position detector, whose adjustment respondes to specific rules. is available in different types: Phase control and monitoring of motor revolution speed with a Resolver, (2-pole standard version, available with 4 and 6 poles) combinable with other feedback options. Monitoring of angular position and motor rotation speed with an Encoder combinable with other feedback options. Note: it is also available with a sinusoidal encoder and a RS485 interface. AC (standard) brushless tacho-generator for monitoring motor rotation speed, equipped with three-phase winding (table "Tachometric transducer") combinable with other feedback options. Hall-effect sensors with high thermal stability and high magnetic sensitivity: They allow monitoring of the rotor position for the correct piloting of the power bridge combinable with other feedback options. Thermal sensor placed into stator winding in order to protect motor temperature. Different sensors type is also available on request. Connections with the drive for both power and signals with connectors in all series. Terminal board as an alternative option, instead of the power connector with brassplated bolts. Easy access to connections and high operating safety (except for S28, S36 available only with connectors). Failsafe holding brake (optional) to be fitted in the flanged endshield, equipped with permanent magnets and electromagnetic release. General information - Technical Catalogue «[6] [7]»

10 [ I] technical descriptions Brief Description The following features of our standard motors may vary depending on series and type: Admissible environmental temperature: from -15 C up to +40 C, with altitudes 1000 m above sea level Mounting: IM B5 (V1 and V3 available) Flange concentricity degree "N"; balancing: vibration "N"; dynamic balancing with half key Shaft designed according to the standard version with key (also available without key) Available stall torque: from 0.2 Nm up to 120 Nm Available speeds: 1500, 2000, 3000, 4000, 4500, 6000 rpm Drive operating voltage: 400 Vac Pole number according to the series: 4, 6, 8, 10 poles Insulation class: "F"; cooling through radiation and natural convection IP65 degree of protection for the whole range (IP67 optional); S28 is designed with IP65 protection as well except for the flange end KTY thermal protection (PTO 140 C, NTC and PTC are available) Optional feedback by choice: resolver, encoder (several combinations may be added to this list) High acceleration and deceleration: up to rad/sec 2 Reduced dimensions Rare earth permanent magnets Excellent distribution of the rotor magnetic field, in order to eliminate torque fluctuations at low speed. Applications Numerical control shaft drive Intermittent motion controls Controls according to complex motion laws Machine tools for metals, wood and other material manufacturing (in general, chip forming machining) Textile machines Graphic and serigraphic machines Machines for ceramics industry Machines for packing industry Plastic moulding machines Winding and unwinding machines Vehicles supplied by batteries for material transport and movement Press supply Robotics and manipulation Transfer lines Paper factories General information - Technical Catalogue

11 technical descriptions [ I] Definitions - Timing and Motor Identification Definitions Stall torque (Mo): Torque available on the shaft continuously (service S1) with speed close to zero (lower than 200 rpm) and with a winding current equivalent to the stall current (see Figure 4). Rated torque (Mn): Torque available on the shaft continuously (service S1) with rated speed and with a winding current equivalent to the rated current (see Figure 4). Peak torque (Mpk): Torque available on the shaft discontinuously, with a winding current equivalent to the peak current (see Figure 4). Stall current (Io): Current supplied to the motor continuously at a speed closed to zero, required to develop stall torque. Rated current (In): Current supplied to the motor continuously at a rated speed, required to develop rated torque. Peak current (Ipk): Current supplied to the motor discontinuously within a wide range of speed, required to develop peak torque (not to be exceeded to avoid magnet demagnetization). Voltage constant (Ke): Ratio between voltage induced by the rotor rotation (RMS value for sinusoidal motor, peak value for trapezoidal motor) at a certain number of revolutions and angular speed (ω=2 x π x n/60 where n is the speed expressed in rpm) measured in rad/sec. Torque constant (Kt): Ratio between torque on the shaft and the current RMS value for sinusoidal motors, peak value for trapezoidal motors (equivalent to the voltage constant of a trapezoidal motor and to that of a sinusoidal motor multiplied by 3). Back electromotive force (B.E.M.F): Voltage induced by the rotor rotation (RMS value for sinusoidal motor, peak value for trapezoidal motor) at a certain number of revolutions. Phasing procedure: Synchronization procedure of those signals generated by the transducer with the back electromotive force induced by the rotating rotor and measured between two phase terminals of the motor winding. Saturation (saturation curve): It is made up of the peak torque curve combined with that representing the physical limit of the current, which may be expressed at some speed according to supply voltage (see Figure 4). Duty cycle: In case of an intermittent duty cycle it is possible to overload the motor in proportion to the ratio between operating time and total cycle time: the figure shows two overload curves at 20% and 50% (S3 duty). Torque to speed performance curve: continuous and intermittent duties Saturation Torque Nm M Duty 20% Duty 50% Torque MN Speed rpm Fig. 4 General information - Technical Catalogue «[8] [9]

12 [ I] Mechanical design Continuous duty area: It includes all points of the torque/speed figure where the load torque value is lower than or equivalent to the torque curve that joints Mo and Mn: therefore, this is a continuous operation duty. The continuous duty area is defined as the area below the torque curve in the motor speed range available (see Figure 4). Intermittent duty area: It includes all points of the torque/speed figure where the load torque value is higher than the torque curve that joints Mo and Mn: therefore, this is noncontinuous operation duty. The Intermittent duty area is defined as the area between the torque curve and the saturation curve (see Figure 4). Phasing Procedure Autotuning In the event that the motor is equipped with a new generation digital drive you only need to carry out phasing procedures explained in the reference handbook, thus matching data indicated in the motor nameplate with related parameters. Example of mechanical manual phasing procedure of a 2-pole resolver mounted on a 6-pole sinusoidal brushless servomotor. Disconnect terminals U, V, W from the drive. Inject a direct current applying voltage with positive polarity in the phase V (blue) and negative polarity in the phase W (red): in this way the rotor of the motor results locked in a certain position. A current is required to hold the rotor in a fixed position, therefore without the presence of position clearance. The resolver must be excited with an operating generator at 7VRMS - 10KHz or through a drive, keeping, for instance, only electric supply R1, R3 connected to the drive and leaving the other wires (S1, S2, S3, S4) free. Display the signal S1 (red) and S2 (yellow) using a two-channel oscilloscope by connecting each probe screen to the equipotential connections Mo, including wires S3, S4 and R3 (see Resolver at page 17). Loosen the cramp screws of the NDE-shield and turn the stator of the resolver (always keeping the motor shaft still) until the signal S1-Mo is null (=100mV) and the signal S2-Mo reaches the maximum value. Check that, slightly turning the motor shaft clockwise (looking at the flange end and disconnecting S2 probe in order to connect the power supply voltage signal R1), the signal S1-Mo results in phase with the signal R1-Mo. In the event that it is in phase opposition (180 ), turn the resolver again and search for the following position that minimizes the signal S1-Mo, and then repeat the phase test. As soon as a reciprocal phase is obtained, let the shaft free to reach the angular position (V-W phases are still executed by the direct current). In this position fix the stator of the resolver with the screws that must be sealed using varnish. Motor Identification In order to properly choose the motor, kinematic mechanism must be assessed, thus defining rated and stall torque, accelerations required through a speed torque graph compared with time, inertia of the machine (when a gearbox is coupled to the motor), and installation environment. In order to make the choice of the motor easier, please refer to the Chapter "Order Data". General information - Technical Catalogue

13 mechanical DESIGN [ I] Degrees of protection Degrees of protection for mechanical machines are designated in accordance with IEC by the letters IP and two characteristic numerals. First numeral: Protection against contact and ingress of foreign bodies Second numeral: Protection against ingress of water IP Description IP Description 0 No special protection 1 Protection against solid foreign bodies larger than 50 mm (Example: inadvertent contact with the hand) 2 Protection against solid foreign bodies larger than 12 mm (Example: inadvertent contact with the fingers) 3 Protection against solid foreign bodies larger than 2.5 mm (Example: Wires, tools) 4 Protection against solid foreign bodies larger than 1 mm (Example: Wires, bands) 0 No special protection 1 Protection against vertically falling water drops (condensation) 2 Protection against dropping water when inclined by up to 15 3 Protection against waterspray at up to 60 from vertical 4 Protection against water splashed from any direction 5 Protection against dust (harmful deposits of dust) 6 Complete protection against dust. Is not described for electrical machines to IEC Protection against water projected by a nozzle from any direction 6 Protection against heavy seas or water projected in powerful jets 7 Protection when submerged between 0.15 and 1 m. 8 Protection when continuously submerged in water at conditions agreed between the manufacturer and the user Series S28 are manufactured with degree of protection IP65 except for flange end. while series S36, S56, S63, S71, S100 are fully designed in accordance with degree of protection IP65. In addition, IP67 motors can be designed on request. General information - Technical Catalogue «[10] [11]»

14 [ I] mechanical DESIGN Mechanical Components Bearings Specification of bearings (standard design). Ball bearings in compliance with the regulation DIN 625 Type Drive end No drive end S28S ZC3WT ZC3WT S36I ZC3WT ZC3WT S56S ZC3WT ZC3WT S63Q ZC3WT ZC3WT S71Q ZC3WT ZC3WT S100J ZC3WT ZC3WT S100K ZC3WT ZC3WT S132I ZC3WT ZC3WT Bearing Mounting Tab. 1 Type DE-shield bearings NDE-shield bearings Preloading bearing All type Locating bearings Non-locating bearings Non-drive end Bearing lubrication and maintenance Tab. 2 All motors have bearings type 2ZC3 with grease suitable for high and low temperature and permanent lubrication. Motors with brake have bearings type 2RSC3. Grease type WT (asonic GHY 72) or LHT 23 (multemp) or ens: suitable for low and high temperature (-40; 140 C) Paint Finish Motors are marketed with two different paint finishes: Normal finish: Black finish with mono-component water-soluble enamel, suitable for applications in environments not exposed to climatic agents. Special finish: Dull black finish with bi-component polyurethane, suitable even for environments partially exposed to climatic agents. General information - Technical Catalogue

15 mechanical DESIGN [ I] Permissible radial forces Motor Type Speed. : Load in. : 1500 rpm 2000 rpm 3000 rpm 4000 rpm 4500 rpm 6000 rpm N N N N N N S28S D S28S D S28S D S28S D S36I D S36I E S36I E S36I F S36I S56S E S56S F S56S G S56S H S63Q S63Q S63Q S63Q S71Q S71Q S71Q S71Q S71Q S71Q S71Q S71Q S71Q S71Q S100J S100J S100J S100J S100J S100J S100J S132I S132I S132I S132I S132I S132I C Tab. 3 Load applied at mid-shaft, referred to motors without parking brake and calculated for operationg hours. Axial loads have to be considered equal to 10% of the equivalent radial loads. General information - Technical Catalogue «[12] [13]»

16 [ I] mechanical DESIGN Drw Component description terminal box construction 1 Oil seal 2 DE shield 3 Nut 4 Caching washer 5 O-ring seal 6 DE bearing 7 Snap ring 8 Brake mag net 9 Screw nut 10 Washer 11 Armature disk 12 Screw 13 Flat spring 14 Brake hub 15 Snap ring 16 Shaft key 17 Rotor 18 Eyebolt 19 Stator housing with winding 20 Tie rod 21 NDE bearing 22 O-ring seal 23 Spring ring 24 NDE shield 25 O-ring seal 26 Terminal box 27 Threaded ring 28 Gasket 29 Cover 30 Terminal board 31 Tachogenerator rotor 32 Thereaded ring 33 Tachogenerator stator 34 O-ring seal 35 Back cover General information - Technical Catalogue

17 mechanical DESIGN [ I] Drw. 2 Component description connector construction 1 Oil seal 2 Screw 3 DE shield 4 O-ring seal 5 Snap ring 6 Bearing 7 Brake magnet 8 Srew nut 9 Brake hub 10 Shaft key 11 Rotor 12 Stator house with winding 13 Spring ring 14 NDE shield 15 Feedback rotor 16 Feedback stator 17 Back cover 18 Nut 19 Caching washer 20 Signal connector 21 Power connector General information - Technical Catalogue «[14] [15]»

18 [ I] Electrical design Features of feedback detectors As previously indicated, motors may be equipped with various transducer types in order to meet the different requirements for precision, cost and other parameters. The standard motor includes the use of resolvers. Encoders, tachos and Hall sensors are also available. Example for the definition of the option required: S Q 3 H 7 A Trasducer Definition Transducer types See page 00 No transducer AB Encoder Heidenhain EQN 1325 (512 ppr) 19 SC Encoder Heidenhain ERN 1387 (2048 ppr) Resolver 17 Tab. 4 SIGNAL & POWER CONNECTORS The standard signal and power connections described below refer to motors equipped with resolver and encoder. The options listed may be customised according to the specific requirements of the customer. COD. DESCRIPTION Note S poles power connector, female, Size 1 All motors sizes, excluded S132 S poles power connector, female, Size 1.5 S132 motors sizes S29957 Signal connector, female, 12 Pins Motors with resolver S29958 Signal connector, female 17 Pins Motors with encoder General information - Technical Catalogue

19 ELECTRICAL DESIGN [ I] Resolver Resolver is a rotary transformer, which outputs AC voltage in accordance with angular position of the shaft. Resolver is excited by AC voltage to the rotor winding, and outputs from the stator windings sine and cosine voltages proportion to the rotation angle. CASE ROTARY TRANSFORMER ROTOR STATOR Rated features Assembled on the Units of whole series measurement Supply voltage 7 (±5%) 10 khz Vrms Maximum speed rpm Input current 50 ma Pole number 2/4 / Transformation ratio 0.5 ±5% / Electric error ±8 (Elect) Tab. 5 RED/WHITE R1 RED S1 ER1 - R2 ES1 - S3 R2 YELLOW/WHITE S3 ES2-S4 BLACK S2 YELLOW S4 BLUE EXCITING WINDING (ROTOR) OUTPUT WINDING (STATOR) Drw. 4 General information - Technical Catalogue «[16] [17]»

20 [ I] ELECTRICAL DESIGN Connection Resolver Signal connector Power connector Size 1 Size 1.5 Pin Signal Colour 1 S2/Sen+ Yellow 2 S1/Cos+ Red 3 S3/Cos- Black 4 N.c. N.c. 5 N.c. N.c. 6 S4/Sen- Blue 7 R1/Ref+ Red-White 8 N.c. N.c. 9 Thermal prot. + Red or Yellow 10 Thermal prot. - White or Green 11 R2/Ref- Yellow-White 12 N.c. N.c. Pin Size 1.5 Pin Size 1 Signal Colour U 1 Phase U Black V 3 Phase V Blue W 4 Phase W Red 2 PE / Motor Case Yellow-Green 1 A N.c. N.c. 2 B N.c. N.c. + C +24V Brake (Option) Red - D 0V Brake (Option) Blue Drw. 6 General information - Technical Catalogue

21 ELECTRICAL DESIGN [ I] Absolute Encoder EQN1325 Technical Data Absolute position values EnDat 2.2 Positions per rev 8192 (13 bits) Distinguishable revolutions 4096 (12 bits) Processing time tcal 9 µs Incremental signals 1 VSS Line counts 512 System accuracy ± 60" Power supply 3.6 to 14 V Current consumption (w/o load) 200 ma Tab. 5B Connection Absolute Encoder EQN1325 Signal connector Power connector Size 1 Size 1.5 Pin Signal Colour 1 Sense output + 5V Blue 2 N.c. N.c. 3 N.c. N.c. 4 Sense output 0V White 5 Thermal protection + Red 6 Thermal protection - White or Green 7 Encoder supply +5V Brown-Green 8 Clock input Violet 9 Clock input inverted Yellow 10 Encoder supply 0V White-Green 11 N.c. N.c. 12 Channel B Blue-Black 13 Channel B inverted Red-Black 14 Data output Gray 15 Channel A Green-Black 16 Channel A inverted Yellow-Black 17 Data inverted Pink Pin Size 1.5 Pin Size 1 Signal Colour U 1 Phase U Black V 3 Phase V Blue W 4 Phase W Red 2 PE / Motor Case Yellow-Green 1 A N.c. N.c. 2 B N.c. N.c. + C +24V Brake (Option) Red - D 0V Brake (Option) Blue Drw.9 N.B. The encoder shild must be connected on the grounded into the cover. General information - Technical Catalogue «[18] [19]»

22 [ I] ELECTRICAL DESIGN Sinusoidal / Absolute Encoder ERN1387 Incremental signals cos trace (2048 c/rev) sin trace (2048 c/rev) Absolute signals index cos trace (1 c/rev.) sin trace (1 c/rev.) phase shift Vpp=1V Vpp=1V 360 mechanical Vpp=1V Vpp=1V Technical Data Power supply +5 V ±5% Incremental signals: - Trace 1 sinusoidal trace, 1 cosinusoidal trace - Voltage 1 Vpp - c/rev (cycle per revolution Resolution Accuracy ± 20 Absolute signals: - Trace 1 sinusoidal trace, 1 cosinusoidal trace per rev - Voltage 1 Vpp - Resolution 2 12 Zero index 1 Tab. 5C Connection Encoder ERN1387 Signal connector Power connector Size 1 Size 1.5 Pin Signal Colour 1 0V White-Green 2 GND N.c. 3 D+ / Cos + Yellow 4 D- / Cos - Violet 5 C+ / Sin + Gray 6 C- / Sin - Pink 7 N.c. N.c.. 8 B+ Blue-Black 9 B- Red-Black 10 A- Yellow-Black 11 A+ Green-Black 12 R+ Red 13 R- Black 14 Up / Vcc Brown-Green 15 N.c. N.c. 16 Thermal protection + Red or Yellow 17 Thermal protection - White or Green Pin Size 1.5 Pin Size 1 Signal Colour U 1 Phase U Black V 3 Phase V Blue W 4 Phase W Red 2 PE / Motor Case Yellow-Green 1 A N.c. N.c. 2 B N.c. N.c. + C +24V Brake (Option) Red - D 0V Brake (Option) Blue N.B. The encoder shild must be connected on the grounded into the cover General information - Technical Catalogue

23 ELECTRICAL DESIGN [ I] Electrical Components Thermal Protection All our motors are equipped with KTY silicon temperature sensor. However a PTO 140 C or NTC or a PTC may be used as an alternative. Parking Brake Motors with option "B" (in the alphanumeric code it is the 10th position as from the left: "A" and "D" no brake, "B"and "E" brake), are equipped with a parking brake with features depending on the series. See specific table for each motor type (see section Motor type codes used, pages 28-29). Forced Ventilation All standard motors are not ventilated; they are therefore cooled by conduction and convection through the surface (system IC410 or IC416). In the series from S63 through to S132, forced ventilation motors are also available. In this way it is possible to increase torque and current rated values by 30%. Length dimensions increase as well to accommodate the cooling fan (reference data is indicated in the table below). All fan have a degree of protection equal to IP20 (max IP54). Fan characteristics are depending on motor sized according the table below: Drw. 5 Total motor length with fan kit Type Voltage Fan Kit square Delta L Volt (mm) (mm) S63Q S71Q / S100K S100J S132I 230VAC 50/60 Hz 24VDC 230VAC 50/60 Hz 24VDC 230VAC 50/60 Hz 24VDC 230VAC 50/60 Hz 24VDC 122 x x x x Tab. 9 General information - Technical Catalogue «[20] [21]»

24 [ I] connections Connection 1 Swivel box with power-brake and signal connectors. Connections available on request. Type Connector Terminal box Code (dimension in mm) dimension in mm a b c d e f W x L x H Signal: ALL XCNS-resolver x53x80 ALL XCNS-encoder x53x91 Power: S56 - S63 XCNP x67x91 S71 - S100J XCNP x67x91 S71 - S100K XCNP x67x91 Tab. 12 Drw. 9 General information - Technical Catalogue

25 connections [ I] Connections 2 and 3 Swivel box with power-brake terminal board and signal connector: thermal detectors in the terminal board for the Connection 2, on the signal connector for the Connection 3. Connections available on request. SIGNAL CONNECTOR Pg (see below) SIGNAL CONNECTOR FRAME SIZE SWIVEL BOX Drw. 10 General information - Technical Catalogue «[22] [23]»

26 [ I] connections Connection 4 Fixed connectors for power-brake and signals. Connections available on request. Type Connector (dimensions in mm) c d g h Power-brake connectors: S36I, S28, S56 8 PIN SIZE /38 S63 8 PIN SIZE S71 8 PIN SIZE S100 8 PIN SIZE S132 8 PIN SIZE Tab. 13 For all series motors g h c d Drw. 11 General information - Technical Catalogue

27 connections [ I] Connection 5 Outgoing cables plus strain relief variable according motor size. Connections available on request. For all series motors Drw. 12 General information - Technical Catalogue «[24] [25]»

28 [ T] I] connections Connections 6 and 7 Power and signal connectors 90 angled FIXED and ROTATABLE, anchored to the alluminium frame. Suitable for all series. The connector direction can be defined throught motor type (see next page). Type S28S S36I S56 S63 S71 S100J S132 Distances referred to S100K the connector in (mm) a b b b 1 : Rotatable connector height referred to connection 7. Tab. 14 Drw. 13 General information - Technical Catalogue

29 connections [ I] Direction of Connectors Referable to connection 6 and 7: generally directions 2 - standard and 0 (on request), applies to all motor series manufactured with 90 angled connectors. Position 0 Position 2 (Standard) Drw. 14 Terminal box Four different mounting positions are available relating to the location of the terminal box and connectors when looking at drive end. "2" is the standard position, "0". "1" and "3" according to the figure below (please also refer to motor coding). POSITION 2 (STANDARD) 0 Drw. 15 General information - Technical Catalogue «[26] [27]»

30 [ I] Order data Motor type codes used x aa bb c d e f g hh i l mm PRODUCT TYPE S Complete Brushless Servomotor 28 9 Flange Flange Flange 91.3 STANDARD MOTOR SIZE 63 9 Flange Flange Flange Flange 240 Integer: Fractional: digit + digit letter + digit (x) STALL TORQUE CODE STANDARD SINUSOIDAL MOTOR TYPE SPEED Over hundred: letter + digit or letter Over Three hundred: digit + digit + digit 02 2 Nm Dx 0,x Nm C0 100 Nm Nm Nm Ex 1,x Nm CA 105 Nm Nm Nm Fx 2,x Nm C1 110 Nm Nm ecc Gx 3,x Nm CB 115 Nm ecc.. Hx 4,x Nm ecc.. Ix 5,x Nm B0 200 Nm Lx 6,x Nm BA 205 Nm Mx 7,x Nm B1 210 Nm Nx 8,x Nm BB 215 Nm Ox 9,x Nm.. ecc.. Size Serie Description 28 S Sinusoidal 4 poles Short version 36 I Sinusoidal 4 poles Standard inertia 56 S Sinusoidal 8 poles Standard inertia 63 Q Sinusoidal 8 poles Low inertia 71 Q Sinusoidal 8 poles Low inertia 100 J Sinusoidal 10 poles Standard inertia 100 K Sinusoidal 8 poles Low inertia 132 I Sinusoidal 6 poles Standard inertia rpm A 1500 rpm P 200 rpm rpm B 2500 rpm Q 300 rpm rpm C 3500 rpm R 400 rpm rpm D 4500 rpm O 500 rpm rpm VOLTAGE M 220/230V H 380/400V (standard) 1 Terminal box with signal connector + power connector 2 Terminal box with power + thermal sensor on terminal board & signal connector CONNECTION TYPE 3 Terminal box with Pg hole for power & signal connector + thermal sensor 4 Straight connectors on endshield 5 Cables signal & power exit (Std length = 0,6m) 6 90 angled connectors 7 Swiveling 90 angled connectors (standard) A Without brake, keyed shaft (standard) B With brake, keyed shaft C With reinforced brake, keyed shaft BRAKE AND SHAFT EXIT D Without brake, smooth shaft E With brake, smooth shaft F With reinforced brake, smooth shaft 00 Without feedback RESOLVER 05 Resolver 2 poles (Tamagawa) A5 Resolver 4 poles FEEDBACK* SIN / COS HIPERFACE ENCODER AB Absolute encoder EQN 1325 SC Sinusoidal encoder ERN 1387 EnDat encoders available on request 0 Position 0 2 Position 2 (Standard) CONNECTION 1 Position 1 3 Position 3 DIRECTION* * See description pag Natural convection U Forced Ventilation 230Vac from DE to NDE Forced Ventilation COOLING SYSTEM V 230Vac from NDE X Forced Ventilation 24Vdc from NDE to DE to DE APPROVALS 65 CE 66 CE, UL (curus) General information - Technical Catalogue

31 order data [ I] Example: S Q 3 H 7 A PRODUCT TYPE S Complete Brushless Servomotor STANDARD MOTOR SIZE 63 9 Flange 100 STALL TORQUE CODE STANDARD SINUSOIDAL MOTOR TYPE Integer: digit + digit O4 4.0 Nm Size Serie Description 63 Q Sinusoidal 8 poles Low inertia SPEED rpm VOLTAGE H 380/400V CONNECTION TYPE 7 Swiveling 90 angled connectors BRAKE AND SHAFT EXIT A Without brake, keyed shaft FEEDBACK 05 Resolver 2 poles (Tamagawa) CONNECTION DIRECTION 2 Position 2 (Standard) COOLING SYSTEM 0 Natural convection APPROVALS 65 CE General information - Technical Catalogue «[28] [29]»

32 [ I] order data Motors for continuous duty S1 Quotation No. and date Quantity Unit Name Type Stall torque Nm Rated speed min-1 Rated voltage Volt Mounting arrangement Ex Degree of protection Ex Feedback element Resolver. Encoder. Thermal detectors KTY (otherwise PTC or NTC) Parking brake "Yes" or "No" Connection from 1 to 7 Additional information Paint finish Vibration level Cold-water or two component paint Indicate class: N, R or S ex IEC The lead time is strongly related to the motor configuration, please contact us about this subject. Additional information for special duties S 2:... min (short-time duty) S 3:... % -... min (intermittent duty) S 4:... % - JM... kgm 2 - Jext... kgm 2 (intermittent duty with starting) S 5:... % - JM... kgm 2 - Jext... kgm 2 (intermittent duty with electric braking) S 6:... % - min (continuous-operation periodic duty with intermittent load) S 7:.JM... kgm 2 - Jext... kgm 2 (continuous-operation periodic duty with electric braking) S 8:.JM... kgm 2 - Jext... kgm 2 (continuous-operation periodic duty with speed changes) S 9:... kw equ (continuous duty with non-periodic load and speed variations) For this duty type suitable full load values should be taken as the overload concept S10: p/.t... r... TL (Duty with discrete constant loads) Starting conditions (no-load or loaded starting) Load torque curve during the cycle (graph: min-1/nm compared to time) Moment of inertia of the machine (kgm 2 ) Description of drive (Gearbox, belt, screw, wheel ratio I= ) Radial force (N) and/or axial force (N) draw the shaft indicating both application and direction point of the force Ambient conditions (humidity, temperature, altitude, dust accumulation, internal or external installation). General information - Technical Catalogue

33 order data [ I] Sticker nameplates Mo= 52,0 Nm Io= 31,9 A 2 Nn=3000 /min 3 2P=8 4 Mn= 47,9 Nm In= 29,4A 6 Vi=296 V 7 Feedback: ERN1385 Brake: - Coolant: Fan. 230V/50Hz 10 IMB5 Iso CI.F THERM.PROTECT. 12 IP65 13 Type: S1038K3H7ASC0V65 Sn Date: 20/ FILE: E Mo= 20,0 Nm Io= 12,3 A Nn=3000 /min 2P=8 Mn= 17,5 Nm In= 10,7A Vi=296 V Feedback: RES.2P Brake: - Coolant: - IMB5 Iso CI.F THERM.PROTECT. IP65 Type: S7120Q3H7A Sn Date: 20/12 REF. DESCRIPTION (1) Stall torque (2) Stall current (3) Rated speed (4) Motor pole pairs (5) Rated torque (6) Rated current (7) BEMF (8) Feedback type (9) Rated brake voltage and current (optional) (10) Fan mains voltage (11) Construction type (12) Thermal Protection (13) Protection degree (14) Motor code (15) Serial number (16) Production date (17) curus complaint (S66 series) General information - Technical Catalogue «[30] [31]»

34

35 [ B] BRUSHLESS SERVO MOTORS «[32] [33]»

36 [ B] TYPE S28S sinusoidal 4 Poles voltage H (400 Volt) Signal connector Power/Brake connector Ø63 Key 3x3x Ø9j6 Ø40j M3 DIN332-D L 20 Mechanical Data Torque Length with RESOLVER (L) [mm] Maximum Length with ENCODER (L) [mm] Weight [kg] Type Nm Without brake With brake Without brake With brake Without brake With brake S28.D2S S28.D4S S28.D6S S28.D8S Brake Data Brake data Symbol Data Unit Holding torque 20 C Mbr 2.1 Nm Voltage Ubr 24 Vdc +/- 10% Resistance Rbr 70.6 Ohm Electrical Power Pbr 8.2 W Current Ibr 0.34 Adc Additional* Rotor Inertia Jbr 0.12 kgcm 2 Opening (release) time to max 30 ms Closing (fall in) time tc max 15 ms Additional* Motor weight mbr 0.25 kg * Additional values are related to the motor data when the brake is mounted on the motor of the respective size, these values differ from the brake data in unmounted condition!

37 TYPE S28S sinusoidal 4 Poles voltage H (400 Volt) [ B] Electrical Data Natural Cooling Type Stall Rated Output Rated Peak Maximum Moment Peak Thermal Thermal Voltage Torque Resistance Inductance B.E.M.F. Stall Rated torque speed rated torque torque speed of inertia torque time protection constant constant phase phase at rated current current ( t=105 C) power ( t=105 C) acceleration constant threshold to phase to phase speed (20 C) Mo n Pn Mn Mpk nmax J apk Tth ϑ max ke kt Rw Lw En Io In Nm 1/min W Nm Nm rpm 10-4 Kgm 2 rad/sec 2 min C Vs Nm/A Ω mh Vrms Arms Arms 3000 min -1 - Connection Y S28.D4S S28.D6S S28.D8S min -1 - Connection Y S28.D2S S28.D4S S28.D6S S28.D8S S28.D25S S28.D45S Torque (Nm) Torque (Nm) Speed (rpm) Speed (rpm) S28.D65S S28.D85S Torque (Nm) Torque (Nm) Speed (rpm) Speed (rpm) «[34] [35]»

38 [ B] TYPE S36I sinusoidal 4 Poles voltage H (400 Volt) Signal connector Power/Brake connector 6 2,5 Ø Ø5,8 70 L ,5 77 Ø11j6 Ø60 j6 M4 DIN332-D Mechanical Data Torque Length with RESOLVER (L) [mm] Maximum Length with ENCODER (L) [mm] Weight [kg] Type Nm Without brake With brake Without brake With brake Without brake With brake S36.D6I S36.E2I S36.E8I S36.F5I S36.03I

39 TYPE S36I sinusoidal 4 Poles voltage H (400 Volt) [ B] Brake Data Brake data Symbol Data Unit Holding torque 20 C Mbr 3.2 Nm Voltage Ubr 24 Vdc +/- 10% Resistance Rbr 53.2 Ohm Electrical Power Pbr 10.8 W Current Ibr 0.45 Adc Additional* Rotor Inertia Jbr 0.38 kgcm 2 Opening (release) time to max 30 ms Closing (fall in) time tc max 19 ms Additional* Motor weight mbr 0.3 kg * Additional values are related to the motor data when the brake is mounted on the motor of the respective size, these values differ from the brake data in unmounted condition! Electrical Data Natural Cooling Type Stall Rated Output Rated Peak Maximum Moment Peak Thermal Thermal Voltage Torque Resistance Inductance B.E.M.F. Stall Rated torque speed rated torque torque speed of inertia torque time protection constant constant phase phase at rated current current ( t=105 C) power ( t=105 C) acceleration constant threshold to phase to phase speed t (20 C) Mo n Pn Mn Mpk nmax J apk Tth ϑ max ke kt Rw Lw En Io In Nm 1/min W Nm Nm rpm 10-4 Kgm 2 rad/sec 2 min C Vs Nm/A Ω mh Vrms Arms Arms 3000 min -1 - Connection Y S36.D6I S36.E2I S36.E8I S36.F5I S36.03I min -1 - Connection Y S36.D6I S36.E2I S36.E8I S36.F5I S36.03I «[36] [37]»

40 [ B] TYPE S36I sinusoidal 4 Poles voltage H (400 Volt) S36.D61I S36.E21I Torque (Nm) Torque (Nm) Speed (rpm) Speed (rpm) S36.E81I S36.F51I Torque (Nm) Torque (Nm) Speed (rpm) Speed (rpm) S36.03I Torque (Nm) Speed (rpm)

41 TYPE S56S sinusoidal 8 Poles voltage H (400 Volt) [ B] Signal connector Power/Brake connector ø ø ø ø Mechanical Data Torque Length with RESOLVER (L) [mm] Maximum Length with ENCODER (L) [mm] Weight [kg] Type Nm Without brake With brake Without brake With brake Without brake With brake S56.E3S S56.F6S S56.G6S S56.H5S Brake Data Brake data Symbol Data Unit Holding torque 20 C Mbr 3.2 Nm Voltage Ubr 24 Vdc +/- 10% Resistance Rbr 53.2 Ohm Electrical Power Pbr 10.8 W Current Ibr 0.45 Adc Additional* Rotor Inertia Jbr 0.38 kgcm 2 Opening (release) time to max 60 ms Closing (fall in) time tc max 10 ms Additional* Motor weight mbr 0.3 kg * Additional values are related to the motor data when the brake is mounted on the motor of the respective size, these values differ from the brake data in unmounted condition! «[38] [39]»

42 [ B] TYPE S56S sinusoidal 8 Poles voltage H (400 Volt) Electrical Data Natural Cooling Type Stall Rated Output Rated Peak Maximum Moment Peak Thermal Thermal Voltage Torque Resistance Inductance B.E.M.F. Stall Rated torque speed rated torque torque speed of inertia torque time protection constant constant phase phase at rated current current ( t=105 C) power ( t=105 C) acceleration constant threshold to phase to phase speed (20 C) Mo n Pn Mn Mpk nmax J apk Tth ϑ max ke kt Rw Lw En Io In Nm 1/min kw Nm Nm rpm 10-4 Kgm 2 rad/sec 2 min C Vs Nm/A Ω mh Vrms Arms Arms 3000 min -1 - Connection Y S56.E3S , S56.F6S , S56.G6S , S56.H5S , min -1 - Connection Y S56.E3S S56.F6S S56.G6S S56.H5S

43 TYPE S56S sinusoidal 8 Poles voltage H (400 Volt) [ B] S56.E3S S56.F6S Torque (Nm) Torque (Nm) Speed (rpm) Speed (rpm) S56.G6S S56.H5S Torque (Nm) Torque (Nm) Speed (rpm) Speed (rpm) «[40] [41]»

44 [ B] TYPE S63Q sinusoidal 8 Poles voltage H (400 Volt) Signal connector Power/Brake connector 18 3 Key 6x6x k6 95j6 9 M5 DIN332-D L 40 Mechanical Data Torque Length with RESOLVER (L) [mm] Maximum Length with ENCODER (L) [mm] Weight [kg] Type Nm Without brake With brake Without brake With brake Without brake With brake S63.04Q S63.06Q S63.08Q S63.10Q Brake Data Brake data Symbol Data Unit Holding torque 20 C Mbr 7.5 Nm Voltage Ubr 24 Vdc +/- 10% Resistance Rbr 32 Ohm Electrical Power Pbr 18 W Current Ibr 0.75 Adc Additional* Rotor Inertia Jbr 0.54 kgcm 2 Opening (release) time to max 40 ms Closing (fall in) time tc max 25 ms Additional* Motor weight mbr 0.46 kg * Additional values are related to the motor data when the brake is mounted to the motor of the respective size, these values differ from the brake data in unmounted condition!

45 TYPE S63Q sinusoidal 8 Poles voltage H (400 Volt) [ B] Electrical Data Natural Cooling Type Stall Rated Output Rated Peak Maximum Moment Peak Thermal Thermal Voltage Torque Resistance Inductance B.E.M.F. Stall Rated torque speed rated torque torque speed of inertia torque time protection constant constant phase phase at rated current current ( t=105 C) power ( t=105 C) acceleration constant threshold to phase to phase speed (20 C) Mo n Pn Mn Mpk nmax J apk Tth ϑ max ke kt Rw Lw En Io In Nm 1/min kw Nm Nm rpm 10-4 Kgm 2 rad/sec 2 min C Vs Nm/A Ω mh Vrms Arms Arms 3000 min -1 - Connection Y S63.04Q S63.06Q S63.08Q S63.10Q min -1 - Connection Y S63.04Q S63.06Q S63.08Q S63.10Q min -1 - Connection Y S63.04Q S63.06Q S63.08Q S63.10Q «[42] [43]»

46 [ B] TYPE S63Q sinusoidal 8 Poles voltage H (400 Volt) S63.04Q S63.06Q Torque (Nm) Torque (Nm) Speed (rpm) Speed (rpm) S63.08Q S63.10Q Torque (Nm) Torque (Nm) Speed (rpm) Speed (rpm)

47 TYPE S71Q sinusoidal 8 Poles voltage H (400 Volt) [ B] Ø12,5 12 3,5 Ø Ø D j6 n 130 j6 L E Type D [mm] E [mm] L [mm] Mx DIN332-D S7104Q-S7126Q See table below. M8 DIN332-D S7129Q-S7138Q See table below. M10 DIN332-D Mechanical Data Torque Length with RESOLVER (L) [mm] Maximum Length with ENCODER (L) [mm] Weight [kg] Type Nm Without brake With brake Without brake With brake Without brake With brake S71.04Q S71.08Q S71.12Q S71.16Q S71.20Q S71.26Q S71.29Q S71.32Q S71.35Q S71.38Q «[44] [45]»

48 [ B] TYPE S71Q sinusoidal 8 Poles voltage H (400 Volt) Brake Data Brake data Symbol S7104Q - S7126Q S7129Q - S7138Q Unit Holding torque 20 C Mbr Nm Voltage Ubr Vdc +/- 10% Resistance Rbr Ohm Electrical Power Pbr W Current Ibr 1.0 0,8 Adc Additional* Rotor Inertia Jbr ,6 kgcm 2 Opening (release) time to max ms Closing (fall in) time tc max ms Additional* Motor weight mbr kg * Additional values are related to the motor data when the brake is mounted on the motor of the respective size, these values differ from the brake data in unmounted condition!

49 TYPE S71Q sinusoidal 8 Poles voltage H (400 Volt) [ B] Electrical Data Natural Cooling Type Stall torque ( t=105 C) Rated speed Output Rated Power Rated torque ( t=105 C) Peak torque Maximum speed Moment of inertia Peak torque acceleration Thermal time constant Thermal protection threshold Voltage constant Torque constant Resistance phase to phase (20 C) Inductance phase to phase B.E.M.F. at rated speed Stall current Rated current Mo Nm n 1/min Pn kw Mn Nm Mpk Nm nmax rpm J 10-4 Kgm 2 apk rad/sec 2 Tth min ϑ max C ke Vs kt Nm/A Rw Ω Lw mh En Vrms Io Arms In Arms 2000 min -1 - Connection Y S71.04Q S71.08Q S71.12Q S71.16Q S71.20Q S71.26Q S71.29Q S71.32Q S71.35Q S71.38Q min -1 - Connection Y S71.04Q S71.08Q S71.12Q S71.16Q S71.20Q S71.26Q S71.29Q S71.32Q S71.35Q S71.38Q min -1 - Connection Y S71.04Q S71.08Q S71.12Q S71.16Q S71.20Q S71.26Q S71.29Q S71.32Q S71.35Q S71.38Q «[46] [47]»

50 [ B] TYPE S71Q sinusoidal 8 Poles voltage H (400 Volt) S71.04Q S71.08Q S71.12Q S71.16Q S71.20Q S71.26Q

51 TYPE S71Q sinusoidal 8 Poles voltage H (400 Volt) [ B] S71.29Q S71.32Q S71.35Q S71.38Q «[48] [49]»

52 [ B] TYPE S100J sinusoidal 10 Poles voltage H (400 Volt) Signal connector Power/Brake connector 16 4 Ø15 Ø215 Key 10x8x Ø32 k6 Ø180 j6 M12 DIN332-D L 58 Mechanical Data Torque Length with RESOLVER (L) [mm] Maximum Length with ENCODER (L) [mm] Weight [kg] Type Nm Without brake With brake Without brake With brake Without brake With brake S10.14J S10.20J S10.25J S10.30J S10.39J S10.47J S10.51J S10.55J Brake Data Brake data Symbol Data Unit Holding torque 20 C Mbr 48.0 Nm Voltage Ubr 24 Vdc +10%- 10% Resistance Rbr 25.4 Ohm Electrical Power Pbr 22.7 W Current Ibr 0.94 Adc Additional* Rotor Inertia Jbr 31.8 kgcm 2 Opening (release) time to max 250 ms Closing (fall in) time tc max 90 ms Additional* Motor weight mbr 4.0 kg * Additional values are related to the motor data when the brake is mounted on the motor of the respective size, these values differ from the brake data in unmounted condition!

53 TYPE S100J sinusoidal 10 Poles voltage H (400 Volt) [ B] Electrical Data Natural Cooling Type Stall torque ( t=105 C) Rated speed Output Rated Power Rated torque ( t=105 C) Peak torque Maximum speed Moment of inertia Peak torque acceleration Thermal time constant Thermal protection threshold Voltage constant Torque constant Resistance phase to phase (20 C) Inductance phase to phase B.E.M.F. at rated speed Stall current Rated current Mo Nm n 1/min Pn kw Mn Nm Mpk Nm nmax rpm J 10-4 Kgm 2 apk rad/sec 2 Tth min ϑ max C ke Vs kt Nm/A Rw Ω Lw mh En Vrms Io Arms In Arms 2000 min -1 - Connection Y S10.14J S10.20J S10.25J S10.30J S10.39J S10.47J S10.51J S10.55J min -1 - Connection Y S10.14J S10.20J S10.25J S10.30J S10.39J S10.47J S10.51J * S10.55J * * B-side flange not available. «[50] [51]»

54 [ B] TYPE S100J sinusoidal 10 Poles voltage H (400 Volt) Electrical Data Natural Cooling S10.14J S10.20J S10.25J S10.30J Torque (Nm) Torque (Nm) Speed (rpm) Speed (rpm) S10.39J S10.47J Torque (Nm) Torque (Nm) Speed (rpm) Speed (rpm) S10.51J S10.55J Torque (Nm) Torque (Nm) Torque (Nm) Speed (rpm) Speed (rpm) Torque (Nm) Speed (rpm) Speed (rpm)

55 TYPE S100J sinusoidal 10 Poles voltage H (400 Volt) [ B] Electrical Data Forced Ventilation Type Stall torque ( t=105 C) Rated speed Output Rated Power Rated torque ( t=105 C) Peak torque Maximum speed Moment of inertia Peak torque acceleration Thermal time constant Thermal protection threshold Voltage constant Torque constant Resistance phase to phase (20 C) Inductance phase to phase B.E.M.F. at rated speed Stall current Rated current Mo Nm n 1/min Pn kw Mn Nm Mpk Nm nmax rpm J 10-4 Kgm 2 apk rad/sec 2 Tth min ϑ max C ke Vs kt Nm/A Rw Ω Lw mh En Vrms Io Arms In Arms 2000 min -1 - Connection Y S10.25J S10.30J S10.39J S10.47J S10.51J S10.55J min -1 - Connection Y S10.25J S10.30J S10.39J S10.47J * S10.51J * S10.55J * «[52] [53]»

56 [ B] TYPE S100J sinusoidal 10 Poles voltage H (400 Volt) Electrical Data Forced Ventilation S10.25J S10.30J Torque (Nm) Torque (Nm) Speed (rpm) Speed (rpm) S10.39J S10.47J Torque (Nm) Torque (Nm) Speed (rpm) Speed (rpm) S10.51J S10.55J Torque (Nm) Torque (Nm) Speed (rpm) Speed (rpm)

57 TYPE S100K sinusoidal 8 Poles voltage H (400 Volt) [ B] Power connector Signal connector 15 3,5 Ø13 Ø215 Key 10x8x Ø 38 k6 Ø 180 j6 M12 DIN332-D L 80 Mechanical Data Torque Length (L) [mm[ Weight Type Nm with RESOLVER with ENCODER [kg] S10.29K 29, S10.32K 32, S10.35K 35, S10.38K 38, «[54] [55]»

58 [ B] TYPE S100K sinusoidal 8 Poles voltage H (400 Volt) Electrical Data Natural Cooling Type Stall torque ( t=105 C) Rated speed Output Rated Power Rated torque ( t=105 C) Peak torque Maximum speed Moment of inertia Peak torque acceleration Thermal time constant Thermal protection threshold Voltage constant Torque constant Resistance phase to phase (20 C) Inductance phase to phase B.E.M.F. at rated speed Stall current Rated current Mo Nm n 1/min Pn kw Mn Nm Mpk Nm nmax rpm J 10-4 Kgm 2 apk rad/sec 2 Tth min ϑ max C ke Vs kt Nm/A Rw Ω Lw mh En Vrms Io Arms In Arms 2000 min -1 - Connection Y S10.29K S10.32K S10.35K S10.38K min -1 - Connection Y S10.29K S10.32K S10.35K S10.38K min -1 - Connection Y S10.29K S10.32K S10.35K S10.38K

59 TYPE S100K sinusoidal 8 Poles voltage H (400 Volt) [ B] Electrical Data Natural Cooling S10.29K S10.32K S10.35K S10.38K «[56] [57]»

60 [ B] TYPE S100K sinusoidal 8 Poles voltage H (400 Volt) Electrical Data Forced Ventilation Type Stall torque ( t=105 C) Rated speed Output Rated Power Rated torque ( t=105 C) Peak torque Maximum speed Moment of inertia Peak torque acceleration Thermal time constant Thermal protection threshold Voltage constant Torque constant Resistance phase to phase (20 C) Inductance phase to phase B.E.M.F. at rated speed Stall current Rated current Mo Nm n 1/min Pn kw Mn Nm Mpk Nm nmax rpm J 10-4 Kgm 2 apk rad/sec 2 Tth min ϑ max C ke Vs kt Nm/A Rw Ω Lw mh En Vrms Io Arms In Arms 2000 min -1 - Connection Y S10.29K S10.32K S10.35K S10.38K min -1 - Connection Y S10.29K S10.32K S10.35K S10.38K min -1 - Connection Y S10.29K S10.32K S10.35K S10.38K

61 TYPE S100K sinusoidal 8 Poles voltage H (400 Volt) [ B] Electrical Data Forced Ventilation S10.29K S10.32K S10.35K S10.38K «[58] [59]»

62 [ B] TYPE S132I sinusoidal 6 Poles voltage H (400 Volt) Power brake connector Signal connector 18 4 Ø265 K ØDk6 Ø230j6 Ø14,5 M12 DIN332-D L E Type D [mm] E [mm] L [mm] K [mm] S13.42I-S13.73I See table below. 10x8x63 S13.81I-S13.C2I See table below. 12x8x63 Mechanical Data Torque Length with RESOLVER (L) [mm] Maximum Length with ENCODER (L) [mm] Weight [kg] Type Nm Without brake With brake Without brake With brake Without brake With brake S13.42I S13.58I S13.73I S13.81I S13.98I S13.C2I

63 TYPE S132I sinusoidal 6 Poles voltage H (400 Volt) [ B] Brake Data Brake data Symbol Data Unit Holding torque 20 C Mbr 145 Nm Voltage Ubr 24 Vdc +/- 10% Resistance Rbr 12.3 Ohm Electrical Power Pbr 50 W Current Ibr 2.08 Adc Additional* Rotor Inertia Jbr kgcm 2 Opening (release) time to max 190 ms Closing (fall in) time tc max 12 ms Additional* Motor weight mbr 5.35 kg * Additional values are related to the motor data when the brake is mounted on the motor of the respective size, these values differ from the brake data in unmounted condition! Electrical Data Natural Cooling Type Stall torque ( t=105 C) Rated speed Output Rated Power Rated torque ( t=105 C) Peak torque Maximum speed Moment of inertia Peak torque acceleration Thermal time constant Thermal protection threshold Voltage constant Torque constant Resistance phase to phase (20 C) Inductance phase to phase B.E.M.F. at rated speed Stall current Rated current Mo Nm n 1/min Pn kw Mn Nm Mpk Nm nmax rpm J 10-4 Kgm 2 apk rad/sec 2 Tth min ϑ max C ke Vs kt Nm/A Rw Ω Lw mh En Vrms Io Arms In Arms 1500 min -1 - Connection Y S13.42I S13.58I S13.73I S13.81I S13.98I S13.C2I min -1 - Connection Y S13.42I S13.58I S13.73I S13.81I S13.98I S13.C2I min -1 - Connection Y S13.42I S13.58I S13.73I S13.81I S13.98I S13.C2I «[60] [61]»

64 [ B] TYPE S132I sinusoidal 6 Poles voltage H (400 Volt) Electrical Data Natural Cooling S13.42I S13.58I S13.73I S13.81I S13.98I S13.C2I

65 TYPE S132I sinusoidal 6 Poles voltage H (400 Volt) [ B] Electrical Data Forced Ventilation Type Stall torque ( t=105 C) Rated speed Output Rated Power Rated torque ( t=105 C) Peak torque Maximum speed Moment of inertia Peak torque acceleration Thermal time constant Thermal protection threshold Voltage constant Torque constant Resistance phase to phase (20 C) Inductance phase to phase B.E.M.F. at rated speed Stall current Rated current Mo Nm n 1/min Pn kw Mn Nm Mpk Nm nmax rpm J 10-4 Kgm 2 apk rad/sec 2 Tth min ϑ max C ke Vs kt Nm/A Rw Ω Lw mh En Vrms Io Arms In Arms 1500 min -1 - Connection Y S13.42I S13.58I S13.73I S13.81I S13.98I S13.C2I min -1 - Connection Y S13.42I S13.58I S13.73I S13.81I S13.98I S13.C2I min -1 - Connection Y S13.42I S13.58I S13.73I S13.81I «[62] [63]»

66 [ B] TYPE S132I sinusoidal 6 Poles voltage H (400 Volt) Electrical Data Forced Ventilation S13.42I S13.58I S13.73I S13.81I S13.98I S13.C2I

67 [ C] ORDER CODES «[64] [65]»

68 [ C] ORDER CODES Brushless Motor Series S65 Resolver Feedback Voltage: 400Vac Connectors: Swiveling 90 angled Shaft : Keyed shaft Feedback: Tamagawa - 2 poles Resolver Connector orientation: Internal (Position 2) Cooling: Natural convention CODE Sinusoidal 4 Poles Stall Torque (Nm) Type S28S (Resolver Feedback) Rated Speed (rpm) S2L01 S28.D4S3H7A S2L02 S28.D6S3H7A S2L03 S28.D8S3H7A S2L04 S28.D2S6H7A S2L05 S28.D4S6H7A S2L06 S28.D6S6H7A S2L07 S28.D8S6H7A Type S36I (Resolver Feedback) S2L08 S36.D6I3H7A S2L09 S36.E2I3H7A S2L10 S36.E8I3H7A S2L11 S36.F5I3H7A S2L12 S36.03I3H7A S2L13 S36.D6I6H7A S2L14 S36.E2I6H7A S2L15 S36.E8I6H7A S2L16 S36.F5I6H7A S2L17 S36.03I6H7A Type S56S (Resolver Feedback) S2L18 S56.E3S3H7A S2L19 S56.F6S3H7A S2L20 S56.G6S3H7A S2L21 S56.H5S3H7A S2L22 S56.E3S6H7A S2L23 S56.F6S6H7A S2L24 S56.G6S6H7A S2L25 S56.H5S6H7A CODE Sinusoidal 4 Poles Stall Torque (Nm) Type S63Q (Resolver Feedback) Rated Speed (rpm) S2L26 S63.04Q3H7A S2L27 S63.06Q3H7A S2L28 S63.08Q3H7A S2L29 S63.10Q3H7A S2L30 S63.04QDH7A S2L31 S63.06QDH7A S2L32 S63.08QDH7A S2L33 S63.10QDH7A S2L34 S63.04Q6H7A S2L35 S63.06Q6H7A S2L36 S63.08Q6H7A S2L37 S63.10Q6H7A Type S71Q (Resolver Feedback) S2L50 S71.04Q2H7A S2L51 S71.08Q2H7A S2L52 S71.12Q2H7A S2L53 S71.16Q2H7A S2L54 S71.20Q2H7A S2L55 S71.26Q2H7A S2L56 S71.29Q2H7A S2L57 S71.32Q2H7A S2L58 S71.35Q2H7A S2L59 S71.38Q2H7A S2L60 S71.04Q3H7A S2L61 S71.08Q3H7A S2L62 S71.12Q3H7A S2L63 S71.16Q3H7A S2L64 S71.20Q3H7A S2L65 S71.26Q3H7A S2L66 S71.29Q3H7A S2L67 S71.32Q3H7A S2L68 S71.35Q3H7A S2L69 S71.38Q3H7A S2L70 S71.04QDH7A S2L71 S71.08QDH7A S2L72 S71.12QDH7A S2L73 S71.16QDH7A S2L74 S71.20QDH7A S2L75 S71.32QDH7A S2L76 S71.35QDH7A S2L77 S71.38QDH7A

69 ORDER CODES [ C] CODE Sinusoidal 4 Poles Stall Torque (Nm) Type S100J (Resolver Feedback) Rated Speed (rpm) S2L89 S10.14J2H7A S2L90 S10.20J2H7A S2L91 S10.25J2H7A S2L92 S10.30J2H7A S2L93 S10.39J2H7A S2L94 S10.47J2H7A S2L95 S10.51J2H7A S2L96 S10.55J2H7A S2L97 S10.14J3H7A S2L98 S10.20J3H7A S2L99 S10.25J3H7A S2L100 S10.30J3H7A S2L101 S10.39J3H7A S2L102 S10.47J3H7A S2L103 S10.51J3H7A S2L104 S10.55J3H7A CODE Sinusoidal 4 Poles Stall Torque (Nm) Type S100K (Resolver Feedback) Rated Speed (rpm) S2L105 S10.29K2H7A S2L106 S10.32K2H7A S2L107 S10.35K2H7A S2L108 S10.38K2H7A S2L109 S10.29K3H7A S2L110 S10.32K3H7A S2L111 S10.35K3H7A S2L112 S10.38K3H7A S2L113 S10.29KDH7A S2L114 S10.32KDH7A S2L115 S10.35KDH7A S2L116 S10.38KDH7A Type S132I (Resolver Feedback) S2L117 S13.42IAH7A S2L118 S13.58IAH7A S2L119 S13.73IAH7A S2L120 S13.81IAH7A S2L121 S13.98IAH7A S2L122 S13.C2IAH7A S2L123 S13.42I2H7A S2L124 S13.58I2H7A S2L125 S13.73I2H7A S2L126 S13.81I2H7A S2L127 S13.98I2H7A S2L128 S13.C2I2H7A S2L129 S13.42I3H7A S2L130 S13.58I3H7A S2L131 S13.73I3H7A S2L132 S13.81I3H7A S2L133 S13.98I3H7A S2L134 S13.C2I3H7A «[66] [67]»

70 [ C] ORDER CODES Brushless Motor Series S65 SinCos Feedback Voltage: 400Vac Connectors: Swiveling 90 angled Shaft : Keyed shaft Feedback: Sinusoidal Encoder ERN1387 (2048ppr 2 incr traces + 2 sin traces + index) Connector orientation: Internal (Position 2) Cooling: Natural convention CODE Sinusoidal 4 Poles Stall Torque (Nm) Type S28S (SinCos Feedback) Rated Speed (rpm) S2L135 S28.D4S3H7ASC S2L136 S28.D6S3H7ASC S2L137 S28.D8S3H7ASC S2L138 S28.D2S6H7ASC S2L139 S28.D4S6H7ASC S2L140 S28.D6S6H7ASC S2L141 S28.D8S6H7ASC Type S36I (SinCos Feedback) S2L142 S36.D6I3H7ASC S2L143 S36.E2I3H7ASC S2L144 S36.E8I3H7ASC S2L145 S36.F5I3H7ASC S2L146 S36.03I3H7ASC S2L147 S36.D6I6H7ASC S2L148 S36.E2I6H7ASC S2L149 S36.E8I6H7ASC S2L150 S36.F5I6H7ASC S2L151 S36.03I6H7ASC Type S56S (SinCos Feedback) S2L152 S56.E3S3H7ASC S2L153 S56.F6S3H7ASC S2L154 S56.G6S3H7ASC S2L155 S56.H5S3H7ASC S2L156 S56.E3S6H7ASC S2L157 S56.F6S6H7ASC S2L158 S56.G6S6H7ASC S2L159 S56.H5S6H7ASC CODE Sinusoidal 4 Poles Stall Torque (Nm) Type S63Q (SinCos Feedback) Rated Speed (rpm) S2L160 S63.04Q3H7ASC S2L161 S63.06Q3H7ASC S2L162 S63.08Q3H7ASC S2L163 S63.10Q3H7ASC S2L164 S63.04QDH7ASC S2L165 S63.06QDH7ASC S2L166 S63.08QDH7ASC S2L167 S63.10QDH7ASC S2L168 S63.04Q6H7ASC S2L169 S63.06Q6H7ASC S2L170 S63.08Q6H7ASC S2L171 S63.10Q6H7ASC Type S71Q (SinCos Feedback) S2L184 S71.04Q2H7ASC S2L185 S71.08Q2H7ASC S2L186 S71.12Q2H7ASC S2L187 S71.16Q2H7ASC S2L188 S71.20Q2H7ASC S2L189 S71.26Q2H7ASC S2L190 S71.29Q2H7ASC S2L191 S71.32Q2H7ASC S2L192 S71.35Q2H7ASC S2L193 S71.38Q2H7ASC S2L194 S71.04Q3H7ASC S2L195 S71.08Q3H7ASC S2L196 S71.12Q3H7ASC S2L197 S71.16Q3H7ASC S2L198 S71.20Q3H7ASC S2L199 S71.26Q3H7ASC S2L200 S71.29Q3H7ASC S2L201 S71.32Q3H7ASC S2L202 S71.35Q3H7ASC S2L203 S71.38Q3H7ASC S2L204 S71.04QDH7ASC S2L205 S71.08QDH7ASC S2L206 S71.12QDH7ASC S2L207 S71.16QDH7ASC S2L208 S71.20QDH7ASC S2L209 S71.32QDH7ASC S2L210 S71.35QDH7ASC S2L211 S71.38QDH7ASC

71 ORDER CODES [ C] CODE Sinusoidal 4 Poles Stall Torque (Nm) Type S100J (SinCos Feedback) Rated Speed (rpm) S2L223 S10.14J2H7ASC S2L224 S10.20J2H7ASC S2L225 S10.25J2H7ASC S2L226 S10.30J2H7ASC S2L227 S10.39J2H7ASC S2L228 S10.47J2H7ASC S2L229 S10.51J2H7ASC S2L230 S10.55J2H7ASC S2L231 S10.14J3H7ASC S2L232 S10.20J3H7ASC S2L233 S10.25J3H7ASC S2L234 S10.30J3H7ASC S2L235 S10.39J3H7ASC S2L236 S10.47J3H7ASC S2L237 S10.51J3H7ASC S2L238 S10.55J3H7ASC CODE Sinusoidal 4 Poles Stall Torque (Nm) Type S100K (SinCos Feedback) Rated Speed (rpm) S2L239 S10.29K2H7ASC S2L240 S10.32K2H7ASC S2L241 S10.35K2H7ASC S2L242 S10.38K2H7ASC S2L243 S10.29K3H7ASC S2L244 S10.32K3H7ASC S2L245 S10.35K3H7ASC S2L246 S10.38K3H7ASC S2L247 S10.29KDH7ASC S2L248 S10.32KDH7ASC S2L249 S10.35KDH7ASC S2L250 S10.38KDH7ASC Type S132I (SinCos Feedback) S2L251 S13.42IAH7ASC S2L252 S13.58IAH7ASC S2L253 S13.73IAH7ASC S2L254 S13.81IAH7ASC S2L255 S13.98IAH7ASC S2L256 S13.C2IAH7ASC S2L257 S13.42I2H7ASC S2L258 S13.58I2H7ASC S2L259 S13.73I2H7ASC S2L260 S13.81I2H7ASC S2L261 S13.98I2H7ASC S2L262 S13.C2I2H7ASC S2L263 S13.42I3H7ASC S2L264 S13.58I3H7ASC S2L265 S13.73I3H7ASC S2L266 S13.81I3H7ASC S2L267 S13.98I3H7ASC S2L268 S13.C2I3H7ASC «[68] [69]»

72 [ C] ORDER CODES Brushless Motor Series S65 EnDat Feedback Voltage: 400Vac Connectors: Swiveling 90 angled Shaft : Keyed shaft Feedback: Absolute Encoder EQN1325 (512ppr + 13bit serial) Connector orientation: Internal (Position 2) Cooling: Natural convention CODE Sinusoidal 4 Poles Stall Torque (Nm) Type S28S (EnDat Feedback) Rated Speed (rpm) S2L269 S28.D4S3H7AAB S2L270 S28.D6S3H7AAB S2L271 S28.D8S3H7AAB S2L272 S28.D2S6H7AAB S2L273 S28.D4S6H7AAB S2L274 S28.D6S6H7AAB S2L275 S28.D8S6H7AAB Type S36I (EnDat Feedback) S2L276 S36.D6I3H7AAB S2L277 S36.E2I3H7AAB S2L278 S36.E8I3H7AAB S2L279 S36.F5I3H7AAB S2L280 S36.03I3H7AAB S2L281 S36.D6I6H7AAB S2L282 S36.E2I6H7AAB S2L283 S36.E8I6H7AAB S2L284 S36.F5I6H7AAB S2L285 S36.03I6H7AAB Type S56S (EnDat Feedback) S2L286 S56.E3S3H7AAB S2L287 S56.F6S3H7AAB S2L288 S56.G6S3H7AAB S2L289 S56.H5S3H7AAB S2L290 S56.E3S6H7AAB S2L291 S56.F6S6H7AAB S2L292 S56.G6S6H7AAB S2L293 S56.H5S6H7AAB CODE Sinusoidal 4 Poles Stall Torque (Nm) Type S63Q (EnDat Feedback) Rated Speed (rpm) S2L294 S63.04Q3H7AAB S2L295 S63.06Q3H7AAB S2L296 S63.08Q3H7AAB S2L297 S63.10Q3H7AAB S2L298 S63.04QDH7AAB S2L299 S63.06QDH7AAB S2L300 S63.08QDH7AAB S2L301 S63.10QDH7AAB S2L302 S63.04Q6H7AAB S2L303 S63.06Q6H7AAB S2L304 S63.08Q6H7AAB S2L305 S63.10Q6H7AAB Type S71Q (EnDat Feedback) S2L318 S71.04Q2H7AAB S2L319 S71.08Q2H7AAB S2L320 S71.12Q2H7AAB S2L321 S71.16Q2H7AAB S2L322 S71.20Q2H7AAB S2L323 S71.26Q2H7AAB S2L324 S71.29Q2H7AAB S2L325 S71.32Q2H7AAB S2L326 S71.35Q2H7AAB S2L327 S71.38Q2H7AAB S2L328 S71.04Q3H7AAB S2L329 S71.08Q3H7AAB S2L330 S71.12Q3H7AAB S2L331 S71.16Q3H7AAB S2L332 S71.20Q3H7AAB S2L333 S71.26Q3H7AAB S2L334 S71.29Q3H7AAB S2L335 S71.32Q3H7AAB S2L336 S71.35Q3H7AAB S2L337 S71.38Q3H7AAB S2L338 S71.04QDH7AAB S2L339 S71.08QDH7AAB S2L340 S71.12QDH7AAB S2L341 S71.16QDH7AAB S2L342 S71.20QDH7AAB S2L343 S71.32QDH7AAB S2L344 S71.35QDH7AAB S2L345 S71.38QDH7AAB

73 ORDER CODES [ C] CODE Sinusoidal 4 Poles Stall Torque (Nm) Type S100J (EnDat Feedback) Rated Speed (rpm) S2L357 S10.14J2H7AAB S2L358 S10.20J2H7AAB S2L359 S10.25J2H7AAB S2L360 S10.30J2H7AAB S2L361 S10.39J2H7AAB S2L362 S10.47J2H7AAB S2L363 S10.51J2H7AAB S2L364 S10.55J2H7AAB S2L365 S10.14J3H7AAB S2L366 S10.20J3H7AAB S2L367 S10.25J3H7AAB S2L368 S10.30J3H7AAB S2L369 S10.39J3H7AAB S2L370 S10.47J3H7AAB S2L371 S10.51J3H7AAB S2L372 S10.55J3H7AAB CODE Sinusoidal 4 Poles Stall Torque (Nm) Type S100K (EnDat Feedback) Rated Speed (rpm) S2L373 S10.29K2H7AAB S2L374 S10.32K2H7AAB S2L375 S10.35K2H7AAB S2L376 S10.38K2H7AAB S2L377 S10.29K3H7AAB S2L378 S10.32K3H7AAB S2L379 S10.35K3H7AAB S2L380 S10.38K3H7AAB S2L381 S10.29KDH7AAB S2L382 S10.32KDH7AAB S2L383 S10.35KDH7AAB S2L384 S10.38KDH7AAB Type S132I0 (EnDat Feedback) S2L385 S13.42IAH7AAB S2L386 S13.58IAH7AAB S2L387 S13.73IAH7AAB S2L388 S13.81IAH7AAB S2L389 S13.98IAH7AAB S2L390 S13.C2IAH7AAB S2L391 S13.42I2H7AAB S2L392 S13.58I2H7AAB S2L393 S13.73I2H7AAB S2L394 S13.81I2H7AAB S2L395 S13.98I2H7AAB S2L396 S13.C2I2H7AAB S2L397 S13.42I3H7AAB S2L398 S13.58I3H7AAB S2L399 S13.73I3H7AAB S2L400 S13.81I3H7AAB S2L401 S13.98I3H7AAB S2L402 S13.C2I3H7AAB «[70] [71]»

74

75 If you have any suggestions that you think might help us to improve this catalogue, please do not hesitate to contact us at GEFRAN S.p.A. reserves the right to make changes and variations to products, data, dimensions at any time without the obligation of prior notice. Certificate No. FM Gefran S.p.A. (Drive & Motion Control Unit - Gerenzano VA), operates a Quality Management System which complies with the requirements of ISO 9001:2008 The company operates a ISO 9001:2008-certified quality system. Our primary corporate goal is customer satisfaction: it is from this that mutual collaboration, maximum trust in the company and a consolidated long-standing partnership role stem. Gefran ensures total support through its technical services (from design and start-up right up to onstream assistance), which are more highly specialised than those which large multisector companies are able to offer. GEFRAN always meets the demands of high-tech users with the certainty of total quality. The data indicated are provided for the sole purpose of describing the product and must not be considered as legally binding characteristics. All rights reserved

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