Unimotor hd 230 V 460 V Unimotor hd 230 V 460 V Compact, Powerful High Dynamic AC Servo Motors

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1 Unimotor hd 230 V 460 V Unimotor hd 230 V 460 V Compact, owerful igh ynamic AC Servo Motors Compact, owerful igh ynamic AC Servo Motors esigned for maximum torque density, the Unimotor hd brushless AC Servo motor series provides an exceptionally compact, low inertia solution for applications that require very high torque during rapid acceleration and deceleration profiles. Unimotor hd motors fitted with high resolution SinCos or absolute encoders are pre-loaded with the motor electronic nameplate data during the manufacturing process. his data can be read by most Control echniques' brand servo drives and used to automatically optimize the drive settings. his feature simplifies commissioning and maintenance, ensures consistent performance and saves time. he Unimotor hd torque profile is closely matched to igitax S Servo drives providing up to 300% peak overload for maximum dynamic performance. Unimotor ey eatures orque range: 6.4 to 752 lb-in (0.72 to 85.0 m) igh torque-to-inertia ratio for high-dynamic performance Compact and powerful Optional holding brake I65 conformance Segmented stator design World class performance Winding to suit 230 V and 460 V Speeds include 2000, 3000, 4000 and 6000 rpm arge shafts to increase torsional rigidity Multiple feedback options: Incremental encoder: igh accuracy, medium resolution Absolute: accuracy, medium resolution, single-turn and multi-turn SinCos/absolute: igh accuracy, high resolution, single-turn and multi-turn IRAC (SIC) and nat (eidenhain) protocols supported Resolver: Robust for extreme applications and conditions; lower accuracy, medium resolution Unimotor hd motors (shown with a igitax S Servo drive). rame Size Unimotor hd orque Range Continuous (lb-in) eak (lb-in) 98 Approvals QUAIY MAAM Certificate o. Q ISO 9001 M30610 All Unimotor hd motors feature connections that rotate for easier cable routing and installation. 24

2 Order Information Unimotor hd 230 V 460 V Order Code information Use the information below to create an order code for a Unimotor hd (top row is an example). 089 U 30 5 A CA A XXX XXX rame Size Motor Voltage Stator ength rames Speed rames rake (24 V) rames Connection ype rames Output Shaft eedback evice Inertia C Shaft iameter 055 rame 055 rame Only 055 = 230 V A 30 = 3000 rpm 0 = ot = ower size A = CR = Incremental ncoder A = Std A-C 4096 ppr (R35i) 067 U = 460 V 60 = 6000 rpm itted 1.0 and Signal eyway (Renco) ** 11.0 A-C 089 C 089 rame 90 and w/ full key 5 = olding M = SinCos Multi-urn QI nat 14.0 A-C Rotatable installed rame 30 = 3000 rpm rake** M = SinCos Single-urn CI nat = 4000 rpm 142 rame AR = Resolver =eyway 190 C 60 = 6000 rpm w/ full & 67 rame = ower size 115 rame 1.0 and Signal half key* CR = Incremental ncoder 90 and provided 4096 ppr (R35i) 142 rame 20 = 2000 rpm (Renco)** Rotatable C 30 = 3000 rpm M = SinCos Multi-urn QI nat 142 rame J = ower size M = SinCos Single-urn CI nat 10 = 1000 rpm 1.5 and Signal AR = Resolver 190 rame 15 = 1500 rpm 90 Rotatable rames C 20 = 2000 rpm 190 rame CA = Incremental ncoder 30 = 3000 rpm J = ower size (SIC) 4096 ppr (CS50) 190 rame 1.5 and C = SinCos Multi-urn QI nat 10 = 1000 rpm signal 90 and = SinCos Multi-urn Q nat Rotatable 15 = 1500 rpm = SinCos Single-urn C nat 20 = 2000 rpm C = SinCos Single-urn CI nat RA = SinCos Multi-urn SRM 50 ( 2) - IRAC *alf key provided to create a smooth shaft and balance **olding brakes are not designed for dynamic use Refer to 142 mm rame Ratings and imensions table for commector size data Add olt Circle iameter (C) and Shaft iameter code for 055 frame only (11 and 14 mm are standard). ex. 055C600ACRA SA = SinCos Single-urn A = Resolver SRS 50 ( 2) - IRAC he Unimotor hd series servo motor expands the capabilities of merson Industrial Automation motion systems that provide high torque in a small size as well as support for incremental encoders, absolute encoders and resolver motor feedback. 25

3 55 mm rame Ratings and imensions Unimotor hd 55 mm rame Ratings and imensions Motor rame Size (mm) U rame ength A C A C Continuous Stall orque (lb-in) Continuous Stall orque (m) eak orque (lb-in) holes R (14) mounting C S eak orque (m) Inertia (lb-in-sec²) Inertia (kgm2) Motor Weight (lb) apped hole Motor Weight (kg) umber of oles rpm t (lb-in/a) = t (m/a) = e (V/k rpm) = Optional key Rated orque (lb-in) Rated orque (m) Stall Current (A) rpm Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) t (lb-in/a) = t(m/a) = e (V/k rpm) = C A Rated orque (lb-in) Rated orque (m) Stall Current (A) Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) Shaft iameter Code 9.0 mm 11.0 mm 14.0 mm Shaft imensions (in) (mm) (in) (mm) (in) (mm) Shaft iameter (J6) C Shaft ength ey eight ey ength ey-to-shaft nd ey Width (9) apped ole hread Size I M4 x 10 M4 x 10 M5 x 12.5 apped ole epth J rame ength A C Motor imensions (in) (mm) (in) (mm) (in) (mm) Unbraked ength A raked ength A C Code Standard 063 lange imensions (in) (mm) lange hickness ilot hickness ilot iameter (J6) M lange Square Mounting ole iameter (14) Mounting ole C R Motor ousing S erminal ox Width Mounting olts M5 26

4 67 mm rame Ratings and imensions Unimotor hd 67 mm rame Ratings and imensions Motor rame Size (mm) U rame ength A C A C Continuous Stall orque (lb-in) Continuous Stall orque (m) holes R (14) mounting C S eak orque (lb-in) eak orque (m) Inertia (lb-in-sec ² ) Inertia (kgm 2 ) Motor Weight (lb) Motor Weight (kg) apped hole 3000 rpm umber of oles t (lb-in/a) = t (m/a) = e (V/k rpm) = C Rated orque (lb-in) Rated orque (m) Stall Current (A) rpm Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) t (lb-in/a) = t (m/a) = e (V/k rpm) = Optional key A Rated orque (lb-in) Rated orque (m) Stall Current (A) Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) t= 212 (100 C) winding 104 (40 C) maximum ambient; all data subject to +/-10% tolerance Stall torque, rated torque and power relate to maximum continuous operation tested in a 68 (20 C) ambient above 12 kz drive switching frequency Maximum intermittent winding temperature is 284 (140 C) Shaft iameter Code 14.0 mm Shaft imensions (in) (mm) Shaft iameter C Shaft ength ey eight ey ength ey-to-shaft nd ey Width apped ole hread Size I M5 x 0.8 apped ole epth J rame ength A C Motor imensions (in) (mm) (in) (mm) (in) (mm) Unbraked ength A raked ength A C Code Standard 075 lange imensions (in) (mm) lange hickness ilot hickness ilot iameter M Overall eight lange Square Mounting ole iameter R Mounting ole C S Motor ousing Mounting olts M5 27

5 89 mm rame Ratings and imensions Unimotor hd 89 mm rame Ratings and imensions Motor rame Size (mm) U rame ength A C A C Continuous Stall orque (lb-in) Continuous Stall orque (m) eak orque (lb-in) eak orque (m) Inertia (lb-in-sec ² ) Inertia (kgm 2 ) Motor Weight (lb) Motor Weight (kg) umber of oles t (lb-in/a) = rpm 4000 rpm 6000 rpm t (m/a) = e (V/k rpm) = Rated orque (lb-in) Rated orque (m) Stall Current (A) Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) t (lb-in/a) = t (m/a) = e (V/k rpm) = Rated orque (lb-in) Rated orque (m) Stall Current (A) Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) t (lb-in/a) = t (m/a) = e (V/k rpm) = Rated orque (lb-in) Rated orque (m) Stall Current (A) Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) t= 212 (100 C) winding 104 (40 C) maximum ambient; all data subject to +/-10% tolerance Stall torque, rated torque and power relate to maximum continuous operation tested in a 68 (20 C) ambient above 12 kz drive switching frequency Maximum intermittent winding temperature is 284 (140 C) * Motor length increases in (13 mm) for feedback options,, CA, SA and RA; motor length decreases in (10 mm) for feedback option A C eedback C and C only* Optional key 4 holes R (14) mounting C S A* apped hole rame ength A C Motor imensions (in) (mm) (in) (mm) (in) (mm) Unbraked A* ength raked ength A* lange imensions (in) (mm) lange hickness ilot hickness ilot iameter M Overall eight lange Square Mounting ole iameter R Mounting ole C S Motor ousing Mounting olts M6 Shaft imensions (in) (mm) Shaft iameter C Shaft ength ey eight ey ength ey-to-shaft nd ey Width apped ole hread Size I M6 x 1.0 apped ole epth J

6 115 mm rame Ratings and imensions Unimotor hd 115 mm rame Ratings and imensions Motor rame Size (mm) U rame ength C C Continuous Stall orque (lb-in) Continuous Stall orque (m) eak orque (lb-in) eak orque (m) Inertia (lb-in-sec ² ) Inertia (kgm 2 ) Motor Weight (lb) Motor Weight (kg) umber of oles t (lb-in/a) = rpm 3000 rpm t (m/a) = e (V/k rpm) = Rated orque (lb-in) Rated orque (m) Stall Current (A) Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) t (lb-in/a) = t (m/a) = e (V/k rpm) = Rated orque (lb-in) Rated orque (m) Stall Current (A) Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) C Optional key A* 4 holes R (14) mounting C S apped hole t= 212 (100 C) winding 104 (40 C) maximum ambient; all data subject to +/-10% tolerance Stall torque, rated torque and power relate to maximum continuous operation tested in a 68 (20 C) ambient above 12 kz drive switching frequency Maximum intermittent winding temperature is 284 (140 C) * Motor length increases in (13 mm) for feedback options,, CA, SA and RA; motor length decreases in (10 mm) for feedback option A eedback C and C only* rame ength C Motor imensions (in) (mm) (in) (mm) (in) (mm) Unbraked ength A* raked ength A* lange imensions (in) (mm) lange hickness ilot hickness ilot iameter M Overall eight lange Square Mounting ole iameter R Mounting ole C S Motor ousing Mounting olts M8 Shaft imensions (in) (mm) Shaft iameter C Shaft ength ey eight ey ength ey-to-shaft nd ey Width apped ole hread Size I M8 x 1.25 apped ole epth J

7 142 mm rame Ratings and imensions Unimotor hd 142 mm rame Ratings and imensions Motor rame Size (mm) U rame ength C C Continuous Stall orque (lb-in) Continuous Stall orque (m) rpm 1500 rpm 2000 rpm 3000 rpm eak orque (lb-in) eak orque (m) Inertia (lb-in-sec ² ) Inertia (kgm 2 ) Motor Weight (lb) Motor Weight (kg) umber of oles t (lb-in/a) = t (m/a) = 2.8 e (V/k rpm) = Rated orque (lb-in) Rated orque (m) Stall Current (A) Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) ower Connector Size 1.0 t (lb-in/a) = t (m/a) = 3.2 e (V/k rpm) = Rated orque (lb-in) Rated orque (m) Stall Current (A) Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) ower Connector Size 1.0 t (lb-in/a) = t (m/a) = e (V/k rpm) = Rated orque (lb-in) Rated orque (m) Stall Current (A) Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) ower Connector Size 1.5* 1.0 t (lb-in/a) = t (m/a) = e (V/k rpm) = Rated orque (lb-in) Rated orque (m) Stall Current (A) Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) ower Connector Size 1.5* * *hese frames use Order Code Connection ype option "J". C Optional key A 4 holes R (14) mounting C S apped hole Optional lifting aid mm (± 1) rame ength C Motor imensions (in) (mm) (in) (mm) (in) (mm) Unbraked ength A raked ength A lange imensions (in) (mm) lange hickness ilot hickness ilot iameter M Overall eight 4.1/8.1* 104/205* lange Square Mounting ole ia. R Mounting ole C S Motor ousing Mounting olts M10 Shaft imensions (in) (mm) Shaft iameter C Shaft ength ey eight ey ength ey-to-shaft nd ey Width apped ole hread Size I M12 x 1.75 apped ole epth J

8 190 mm rame Ratings and imensions Unimotor hd 190 mm rame Ratings and imensions Motor rame Size (mm) U rame ength C C Continuous Stall orque (lb-in) holes R (14) mounting C S Continuous Stall orque (m) eak orque (lb-in) eak orque (m) rpm Inertia (lb-in-sec ² ) Inertia (kgm 2 ) Motor Weight (lb) Motor Weight (kg) umber of oles t (lb-in/a) = t (m/a) = 2.8 e (V/k rpm) = Rated orque (lb-in) C apped hole Rated orque (m) Stall Current (A) rpm Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) t (lb-in/a) = t (m/a) = 3.2 e (V/k rpm) = rpm Rated orque (lb-in) Rated orque (m) Stall Current (A) Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) t (lb-in/a) = t (m/a) = e (V/k rpm) = Rated orque (lb-in) Rated orque (m) Stall Current (A) Rated ower (hp) Rated ower (kw) R (ph-ph) (Ohms) (ph-ph) (m) t= 212 (100 C) winding 104 (40 C) maximum ambient; all data subject to +/-10% tolerance Stall torque, rated torque and power relate to maximum continuous operation tested in a 68 (20 C) ambient above 12 kz drive switching frequency Maximum intermittent winding temperature is 284 (140 C) A rame ength C Motor imensions (in) (mm) (in) (mm) (in) (mm) A Unbraked ength A raked ength lange imensions (in) (mm) lange hickness ilot hickness ilot iameter M Overall eight lange Square Mounting ole iameter R Mounting ole C S Motor ousing Mounting olts M12 Shaft imensions (in) (mm) Shaft iameter C Shaft ength ey eight ey ength ey-to-shaft nd ey Width apped ole hread Size I M12 x 1.75 apped ole epth J

9 Selection Considerations Unimotor hd Selection Considerations eedback Options eedback evice Order Code eedback ype ncoder Supply Voltage SinCos Cycles or Incremental ulses per Revolution Resolution Available to osition oop eedback Accuracy Motors 7 Vrms ow AR Resolver 1 1 xcitation 5 kz (14 bit) +/- 600 arc second CR Incremental encoder 5 Vdc (14 bit) +/- 150 arc second M (Multi-urn) Inductive igh 5 Vdc 16 M (Single-urn) Absolute encoder nat x 10 5 (18 bits) +/- 480 arc second 089, 115, 142 and 190 Motors 6 Vrms A Resolver 1 1 xcitation 6 kz (14 bit) +/- 720 arc second igh CA Incremental encoder 5 Vdc ( 14 bit) +/- 60 arc second C (Multi-urn) Inductive absolute position 7-10 Vdc 32 C (Single-urn) Absolute encoder nat (19 bits) +/- 280 arc second Very high igh Optical RA (Multi-urn) SinCos encoder SA (Single-urn) Vdc 1024 or SinCos integral non-linearity +/- 45 arc second IRAC 1.04 x 10 6 (20 bits) or SinCos differential non-linearity +/- 7 arc second (total accuracy+/-52 arc second) (Multi-urn) (Single-urn) Optical Absolute encoder nat Vdc 2048 Very high Very high 2.08 x 10 6 (21 bits) 1 Resolution value shown when used with the Unidrive M resolver input or SM-Resolver Option Module (Unidrive S and igitax S) 2 Resolution value shown when used with the Unidrive M, Unidrive S or igitax S when the encoder type is set to either SC nat or SC iper, depending on the encoder - multi-turn devices have 4096 (12 bit) resolution +/-20 arc second (differential non-linearity +/- 1% signal period) Motor Selection Motor erating Adverse operating conditions require that the motor performance be derated. hese conditions include ambient temperature above 104 (40 C), motor mounting position, drive switching frequency or a drive oversized for the motor. Ambient emperatures or ambient temperatures above 104 (40 C), the torque must be derated using the following formula as a guideline for motors up to 3000 rpm. Consult factory for higher-speed motor derating information. ew derated torque = Specified torque x 1 - ([ambient temperature* - 40] / 100) *Measured in C or example, with an ambient temperature of 169 (76 C), the new derated torque will be 0.8 x specified torque. rive Switching requency Most drive current ratings are reduced at higher switching frequencies. See individual drive manuals for details. See the table below for motor derating factors (these figures are for guidance only). Switching Motor ype/rame requency kz kz /6 kz kz /12/16 kz Mounting Arrangements In general, motor torque should be derated if the motor mounting surface is heated from an external source such as a gearbox, the motor is connected to a poor thermal conductor, or the motor is mounted in a confined space with restricted air flow. 32

10 hermal est Conditions he performance data shown was recorded with an ambient temperature of 68 (20 C) and the motor mounted on a thermally-isolated aluminum plate. hermal rotection hermistor protection to 293 (145 C) is built into the motor windings and gives an indication of serious overheating problems. he installer must connect the thermistor to the drive. ailure to do so will invalidate the motor warranty if winding burns out. hermal Isolator late Motor Shaft ynometer Aluminum eatsink late Motor ype/rame (in) (mm) x 4.3 x x 110 x , x 9.8 x x 250 x to x 13.8 x x 350 x x 19.7 x x 500 x 20 Unimotor hd olding rake Specifications nvironmental Conditions Any liquids or gases that may come into contact with the motor must be confirmed to ensure compliance with the correct international standards. Motor rame Size ower Supply ower Static orque Release ime Added Inertia acklash Added Weight (mm) ( Vdc) (W) (lb-in) (m) (ms) nom. (lb-in-sec 2 ) (kgcm 2 ) egrees* (lbs) (kg) < < C C igures shown in individual motor sections are at 68 (20 C) ambient Apply a derate factor of 0.7 to standard brake torque figures if motor temperature is above 212 (100 C) *acklash will increase over time! rake Operation o not apply the brake while the motor shaft is rotating. he brake can only take a limited number of emergency braking operations and must not be used for repeated dynamic braking. Ingress rotection I65 conformance; sealed against water spray and dust when mounted and connected. 33