Unimotor rochure ontrol Techniques ynamics rushless Servo Motors
UNIMOTOR haracteristics Introducing Unimotor Unimotor is a range of brushless servo motors from T ynamics They are three phase, 6 or 8 pole, permanent magnet motors exhibiting a sinusoidal back MF characteristic The motors supply high torque with either low or high rotor inertia and minimal cogging torque The unique finned motor housing is a high-strength aluminium alloy casting, that improves heat dissipation by conduction, radiation and convection The single-piece integral construction permits accurate bearing to housing alignment and maintains air gap concentricity This arrangement optimises torque output and reduces cogging torque The compact design gives increased torsional stiffness Laminations and coils are optimised both for high efficiency and to provide low harmonic distortion in the airgap flux ombined with the high energy magnets, and a choice of rotor inertia, these features provide superb dynamic performance to suit all requirements The integral housing and front flange design increases thermal dissipation and improves sealing (IP65 standard, when mounted and connected) Standard Features Unique 'finned' design - high thermal dissipation ncoder for high precision feedback integral commutation PT thermistors for thermal monitoring and overload protection Low inertia is standard for fast acceleration I mounting flange Key shaft is standard IP65 standard (when connected) - sealed against water spray and dust Low cogging torque & TH (Total Harmonic istortion) Rotor assembly balanced to ISO 1940 grade 6 High standard of mechanical design and precision manufacture - for improved performance and quality Winding insulation is to lass H earing system designed for prolonged motor life Modular construction marked UL and S recognised insulation system Incremental optical encoder 4096 ppr up to 3000 rpm Incremental optical encoder 2048 ppr above 3000 rpm Optional Features bsolute encoder - 4096 multi-turns Resolver feedback for high temperature applications Sine/osine encoder for high resolution (single and multi-turn) High inertia option Plain shaft (non keyed) Gearbox options rake SLM technology UL recognised motor 2
Specification Physical Insulation lass lass H, S N 60034-1 imensional ccuracy I 60072-1, lass N (normal class), egree of alance Rotor balanced to ISO 1940 (S 6861) G 63 (half key convention to ISO 8821) Temperature Monitoring PT thermistor, 170 switch temperature nvironmental Ingress Protection Operating Temperature Storage Temperature Insulation lass Motor fitted with mating connector and cable: IP65 Speed up to 6000 rpm: IP65 Specified performance at 40 ambient -20 to 70 H (180 ) earing System lectrical onnections Preloaded ball bearings onnector or hybrid box for power and brake; connector for feedback devices and thermistor Temperature Rise Relative Humidity 125 over ambient of 40 Max 100 over ambient of 40 Typical 90% Non condensing Flange Mounting I 60072-1 as standard Output Shaft Output key is standard (to I 60072-1) Plain shaft is optional Optional Products T ynamics offers a number of products, which add power, flexibility and value to the Unimotor range: able ssemblies T ynamics cable assemblies simplify motor connection and reduce installation time Made to order in lengths up to 100 metres, they have a PUR sheath for high resistance to oil, grease and solvents and have an excellent dynamic performance Gearmotors Gearmotors deliver greater torque output whilst maintaining high standards of precision and reliability They may be mounted in any orientation and are available with single or double stage gearbox options Fan owling Kits Fan cowlings force cool air through the fins on the Unimotor housing to increase torque output by up to 70% vailable to fit all frame sizes, the units, which may be retrofitted, maximise power density in tight places For further information please contact T ynamics 3
MOL: SP: INS LSS: POLS: RK: THNIQUS ONTROL SRIL No: Ke: Kt: STLL: M IN 1 2 16 9 3 8 UNIMOTOR imensions Outline rawings - Frame Sizes 75-142 13 17 11 12 10 15 14 4 7 6 5 F G T R S M K P 750 V UNIMOTOR UM L N 4 HOLS I 'H' QUISP ON J P imensions - Frame Sizes 75-142 FRM SIZ 75 95 115 142 imension / Length suffix Length Overall (Unbraked) 211 241 271 301 222 252 282 312 342 242 272 302 332 362 225 255 285 315 345 Length Overall (raked) 241 271 301 331 252 282 312 342 372 272 302 332 362 392 285 315 345 375 405 ody Length (Unbraked) 146 176 206 236 157 187 217 247 277 177 207 237 267 297 160 190 220 250 280 ody Length (raked) 176 206 236 266 187 217 247 277 307 207 237 267 297 327 220 250 280 310 340 Flange Square 750 950 1150 1420 Flange Thickness 70 90 110 123 Register iameter 600 (J6) 800 (J6) 950 (J6) 1300 (J6) F Register Length 24 29 29 34 G Power to onnect /L 610 625 660 800 H Fixing Holes iameter 58 (H14) 70 (H14) 100 (H14) 120 (H14) J Fixing Hole pcd 750 1000 1150 1650 K Overall Height 1260 1460 1660 1930 L Signal onnector Height (UM) 1070 1170 1270 1400 M Signal onnector Height (SL) 880 980 1080 1210 N Shaft Length (front) 230 300 300 300 300 400 400 400 400 400 400 400 500 500 500 500 500 500 500 P Shaft iameter (front) 110 140 140 140 140 190 190 190 190 190 190 190 240 240 240 240 240 240 240 Shaft Key imensions (option ) R Key Length 140 220 220 220 220 320 320 320 320 320 320 320 400 400 400 400 400 400 400 S Key Height 124 159 159 159 159 214 214 214 214 214 214 214 269 269 269 269 269 269 269 T Key to Shaft nd 35 30 30 30 30 30 30 30 30 30 30 30 40 40 40 40 40 40 40 V Key Width 40 50 50 50 50 60 60 60 60 60 60 60 80 80 80 80 80 80 80 4
MOL: SP: INS LSS: POLS: RK: ONTROL THNIQUS SRIL No: Ke: Kt: STLL: M IN 11 10 12 16 9 17 1 2 13 3 14 7 6 Outline rawings - Frame Size 190 15 8 4 5 V T R L K P 750 F S UNIMOTOR UM 4 HOLS I 'H' QUISP ON J P N imensions - Frame Size 190 FRM SIZ 190 imension / Length suffix Length Overall (Unbraked) 273 327 381 435 Length Overall (raked) 327 381 435 489 ody Length (Unbraked) 210 264 318 372 ody Length (raked) 264 318 372 425 Flange Square 1900 Flange Thickness 145 Register iameter 1800 (J6) F Register Length 40 H Fixing Holes iameter 145 (H14) J Fixing Hole pcd 2150 K Overall Height 2600 L Signal onnector Height 1611 N Shaft Length (front) 580 P Shaft iameter (front) 320 Shaft Output Key imensions (option ) R Shaft Key Length 490 S Shaft Key Height 350 T Shaft Key to Shaft nd 31 V Shaft Key Width 100 5
UNIMOTOR haracteristics Ordering Information Use the information given in the illustration below to create an order code for a Unimotor The details in the green band are an example of an order reference ORR RFRN XMPL 95 UM 30 0 Frame Size: 75 95 115 142 190 Motor Type: UM - For Unidrive SL - For Multix, M x M - For S igitx* Stator Length:,,,, Rated Speed: 20-2000 rpm 30-3000 rpm (Std) 40-4000 rpm 60-6000 rpm*** rake: 0 - Not fitted 1 - rake fitted 24V * vailable with resolver feedback only ** vailable for SL Motors only ( = SLM1, = SLM2) *** Not available for some motors **** Replaced by R or S types Note 1: pplies to output shaft of the motor or when gearbox fitted, output shaft of gearbox onnection Type: - onnector (Std) H - Hybrid Output Shaft Key: - With key - Without key See Note 1 Flange Mounting or Gearbox: - I - High Precision X - Gearbox Inertia: - Standard - High Feedback evice: - Resolver 55RSS116 - Incremental ncoder 3000 /T - Incremental ncoder 4096 /T G - Sin/os ncoder SM60 (obsolete) (multi-turn)**** H - Sin/os ncoder SS60 (obsolete) (single turn)**** M - Incremental ncoder 2048 /T P - T oder + SLM3 lectronics** R - Sin/os ncoder SRM50 (muli-turn) S - Sin/os ncoder SRS50 (single turn)
Unimotor technical specifications For 3 Phase VPWM rives 380-480Vrms v18m, last updated: 6/3/03 Unimotors with ncoder Feedback Stall torque; rated torque and power relate to maximum continuous operation in a 40 0 ambient t = 100 deg ll data subject to +/-10% tolerance Motor Frame Size (mm) 75 95 115 142 ll Speeds Frame Length 100 T 125 T ontinuous Stall Torque (Nm) 12 22 31 39 23 43 59 75 90 35 66 94 124 153 63 108 153 198 234 218 411 587 732 Peak Torque nominal (Nm) 36 66 93 117 69 129 177 225 270 105 198 282 372 459 189 324 459 594 702 654 123 176 219 High Inertia (kgcm2) 12 16 21 25 35 45 56 67 78 97 120 143 166 188 216 280 343 407 470 935 141 188 235 Standard Inertia (kgcm2) 06 10 15 19 14 25 36 47 58 32 55 78 100 123 78 141 205 268 331 500 970 144 191 Weight (kg) 30 37 44 51 50 61 72 83 95 65 82 99 116 132 109 132 155 178 205 260 330 400 480 Winding Thermal Time onst(sec) 81 74 94 100 172 168 183 221 228 175 185 198 217 241 213 217 275 301 365 240 242 319 632 Maximum ogging (Nm) 002 003 004 005 003 006 008 010 013 006 010 014 018 021 009 016 023 030 035 030 054 072 099 Rated Speed 2000 (rpm) Kt (Nm/) 240 Ke (V/krpm) 147 Rated Torque (Nm) 11 21 30 38 22 40 55 69 82 32 61 87 108 140 59 103 146 184 213 200 369 504 547 Stall urrent () 05 10 13 17 10 18 25 32 38 15 28 40 52 64 27 45 64 83 98 91 172 245 305 Rated Power(kW) 023 044 063 080 046 084 115 145 172 067 128 182 226 293 124 216 306 385 446 419 773 106 115 R (ph-ph) (Ohms) 144 482 250 157 590 170 990 600 430 278 855 455 296 217 125 360 210 135 098 180 056 033 023 L (ph-ph) (mh) 214 992 592 447 131 545 365 256 189 946 405 257 186 147 580 298 187 136 107 281 130 890 630 Rated Speed 3000 (rpm) Kt (Nm/) 16 Ke (V/krpm) 980 Rated Torque (Nm) 11 20 28 35 20 39 54 68 81 30 55 81 104 126 54 90 122 158 180 192 330 350 368 Stall urrent () 08 14 20 25 15 27 37 47 57 22 42 59 78 96 40 68 96 124 147 137 257 367 458 Rated Power(kW) 035 063 088 110 063 123 170 214 254 094 173 254 327 396 170 283 383 496 565 603 104 110 116 R (ph-ph) (Ohms) 608 201 105 75 245 680 400 250 200 126 386 202 140 110 563 172 094 061 044 079 030 014 009 L (ph-ph) (mh) 984 418 276 197 579 243 155 109 850 431 186 114 860 740 310 133 830 610 480 132 611 360 246 Rated Speed 4000 (rpm) Kt (Nm/) 120 Ke (V/krpm) 735 Rated Torque (Nm) 10 17 23 29 18 30 40 49 57 25 47 63 75 87 36 70 89 107 122 N/ Stall urrent () 10 19 26 33 20 36 50 63 75 30 55 79 104 128 53 90 128 165 195 Rated Power(kW) 042 071 096 121 075 126 168 205 239 105 197 264 314 364 151 293 373 448 511 R (ph-ph) (Ohms) 368 105 630 420 127 408 210 150 103 691 214 116 073 057 312 100 053 035 024 L (ph-ph) (mh) 549 248 149 108 315 136 850 630 480 235 102 660 470 390 176 750 470 360 270 Rated Speed 6000 (rpm) Kt (Nm/) 080 Ke (V/krpm) 490 Rated Torque (Nm) 09 16 21 26 13 21 28 33 37 22 40 51 N/ 29 45 N/ Stall urrent () 15 28 39 49 29 54 74 94 113 44 83 118 79 135 Rated Power(kW) 057 101 132 163 082 132 176 207 232 138 251 320 182 283 R (ph-ph) (Ohms) 150 500 266 190 545 182 105 062 048 310 097 050 142 046 L (ph-ph) (mh) 240 106 680 480 141 600 380 270 210 155 481 294 772 344 The information contained in this specification is for guidance only and does not form part of any contract 190 N/ Not available onsult factory T ynamics Limited have an ongoing process of development and reserve the right to change the specification without notice 06/03/03