with SERVOSTAR CD & 6 drives s Technical Publication
The DDR (Direct Drive Rotary) Story Kollmorgen GOLDLINE DDR What is direct drive? Very simply it is the direct coupling of the torque motor (such as the Kollmorgen GOLDLINE DDR motor) to the driven load. This configuration results in a very stiff coupling to the load, thus, eliminating problems associated with belts and gearboxes. The DDR Benefits: ZERO maintenance No belts/pulleys, no belt adjustment/replacement No gearboxes, no lubrication required Zero backlash and compliance Flat, compact drive solution One part number for mechanical drive motor (clean mechanical assembly) Very quiet Hollow shaft Kollmorgen Large Diameter Torque Motors This technology has been refined into the Kollmorgen GOLDLINE DDR product line for easy installation and use and is available at short leadtimes. Kollmorgen: The DDR Birthplace In the early 195 s Kollmorgen Inland Motor, in cooperation with MIT, developed the original torque motor. This brush DC motor was used on stabilized platforms for inertial guidance systems. The large diameter, thin ring design was ideal for this light weight, high torque application. Over the years Kollmorgen has designed torque motors for applications from missiles and tank turrets to machine tools, injection molding machines, and semiconductor processing machines. Our product range covers from oz-in of torque to over 2, N-m of torque and over 1 feet in diameter. Kollmorgen s 5 years of electromagnetic and electromechanical design expertise is packed into the Kollmorgen brushless GOLDLINE DDR product line. We achieve very high torque density through both large diameter, short length, and high number of magnetic poles. Couple this with a very high resolution feedback device (up to 2,97,152 counts per revolution) and the Kollmorgen GOLDLINE DDR becomes a high performance, zero maintenance, servo solution. The Kollmorgen GOLDLINE DDR is the latest in a series of product innovations from the worldwide leader in DDR motor products...kollmorgen. Kollmorgen RBE Frameless Torque Motors Kollmorgen GOLDLINE DDR Housed Torque Motors 2
Kollmorgen GOLDLINE DDR Applications for Kollorgen GOLDLINE DDR Products Application Problem Solution Benefits Belt/pulley Zero maintenance No belt adjustment/replacement No belt compliance Better servo performance Clean mechanical assembly Flat profile Quiet Reduced number of parts Hollow shaft Gearmotors/right angle/in-line Motor Gearbox Zero maintenance No gearbox lubrication No gearbox backlash Better servo performance Flat Profile Quiet Hollow shaft Large Vertical Wheel Motor Zero maintenance No belt adjustment/replacement No belt compliance Better servo performance Faster index times Clean mechanical assembly Quiet Reduced number of parts Hollow shaft Rotary Indexer Zero maintenance No gearbox lubrication No gearbox backlash Better servo performance Quiet Reduced number of parts Hollow shaft 3
Introduction Superior Performance by Design Kollmorgen GOLDLINE DDR Peak Torque vs. Speed Speed Up to 8 RPM 18 RPM Kollmorgen GOLDLINE DDR (Peak Torque) Additional Kollmorgen GOLDLINE DDR Capability Kollmorgen s GOLDLINE DDR is designed for very high torque density. It s unique electromagnetic design provides much more speed/torque area than conventional variable reluctance motors. This curve shows the increased speed and torque available from a Kollmorgen GOLDLINE DDR motor system. This results in faster indexing times and higher throughput. ~ 2-6 RPM Typical Variable Reluctance Motor Peak Torque Peak Torque SERVOSTAR: The Common Drive Design Solution One drive... Many types of motors... The Kollmorgen SERVOSTAR line of digital amplifiers provides you with the ultimate in flexibility and simplicity. Now, you have the freedom to design the best solution, whether rotary or linear, for your specific application. No need to match the motor to the amplifier. No custom electronics required. No hassles with learning, stocking, and supporting several drive types. Get outstanding system performance while saving time and money. Kollmorgen offers the broadest range of motor technologies in the industry and a common drive platform that makes using the best electromechanical solution easy for you. Use SERVOSTAR amplifiers with the Kollmorgen GOLDLINE DDR, PLATINUM DDL linear, RBE frameless direct drive or the industry standard Kollmorgen GOLDLINE XT or B series rotary servo s. The common drive design solution will make your life a little easier. Only from Kollmorgen. 4
Kollmorgen GOLDLINE DDR The Kollmorgen GOLDLINE DDR D81 with face mount Cable Set Kollmorgen GOLDLINE DDR Model D(H)61 D(H)62 D(H)63 D(H)81 D(H)82 D(H)83 D(H)11 D(H)12 D(H)13 MAXIMUM SPEED BY MODEL 23/4/48 V 23 V 4/48 V 23 V 4 V 48 V 115 V 23 V 4 V 48 V 115 V 23 V 4/48 V 115 V 23 V 4/48 V 115 V 23 V 4/48 V 115 V 23/4/48 V 23 V 4/48 V 23 V 4 V 48 V D(H)141 23 V 4/48 V D(H)142 23 V 4 V 48 V D(H)143 23 V 4/48 V 1 2 3 4 5 6 7 8 RPM 1 2 3 4 5 6 7 8 9 1 11 12 13RPS Features Kollmorgen GOLDLINE DDR Series Motors Elimination of gearbox Elimination of belts High torque density permanent magnet design provides more speed and torque vs variable reluctance motors Large through bore SERVOSTAR CR6/CB6 Benefits Kollmorgen GOLDLINE DDR Model D(H)61 D(H)62 D(H)63 D(H)81 D(H)82 D(H)83 D(H)11 D(H)12 D(H)13 Zero maintenance, smoother velocity, higher bandwidth, quiet (reduced, audible noise) Zero maintenance, higher bandwidth Faster indexing, lower heat generation Run process fluids, pneumatics, and electrical through center of motor PEAK AND CONTINUOUS BY MODEL 4.3 / 12.5 lb-ft 8. / 24.2 lb-ft 14.5 / 38. lb-ft 13. / 37. lb-ft 21.2 / 77. lb-ft 41.3 / 13 lb-ft 3 / 14 lb-ft 55 / 186 lb-ft CONTINUOUS 1 / 37 lb-ft D(H)141 8 / 271 lb-ft D(H)142 135 / 383 lb-ft D(H)143 25 / 989 lb-ft 5 1 15 2 25 3 35 4 1 lb-ft 5 1 15 2 25 3 35 4 45 5 55 135 N-m RECOMMENDED MOTOR/DRIVE SYSTEMS ServoDrive Standard Motor Cable Set Cable Set s (Resolver) (Sine Encoder) SERVOSTAR CD D61, D62, D63 6 amp D81, D82, D83, D11 CS-SS-RHAHE-xx CS-SS-S3HA1HE-xx SERVOSTAR CD D12, D13 1 amp SERVOSTAR 6 DH61, DH62, 1 amp DH63, DH81, DH82, DH83, DH11, DH12 CS-SS-RHG1HE-xx CS-SS-S3HG1HE-xx SERVOSTAR 6 D141, D142, 14 amp DH13, DH141, DH142 CS-SS-RHG2HE-xx CS-SS-S3HG2HE-xx SERVOSTAR 6 D143, DH143 2 amp PEAK Speeds up to 8 rpm High Position Resolution (up to 2,97,152 counts per revolution) Wide range of size and torque Peak torque up to 99 lb-ft Axial loading up to 12,7 lbs Moment loading up to 472 lb-ft Mix/match motors/drives More than just an indexer, DDR can be used for continuous velocity applications Repeatability down to ±.62 arc.sec Cover any DDR application Rapid indexing of large inertia loads Can carry heavy loads for indexing Operate motor with significant offset loads No serial number matching of motor/drive MOTOR OUTSIDE / INSIDE DIAMETERS BY MODEL D(H)6x D(H)8x D(H)1x D(H)14x 5
Performance Data D6x Frame Kollmorgen GOLDLINE DDR Performance: Symbols Units D61A/61M D62A/62M D63A/63M Peak Torque Tp lb-ft 12.5 24.2 38. N-m 16.9 32.8 51.5 (1) Torque 4 C Tc lb-ft 3.9 7.2 13.1 N-m 5.3 9.8 17.7 Tc lb-ft 4.3 8. 14.5 N-m 5.8 1.8 19.7 Max Operating Speed N max rpm 5/4 5/4 5/3 23/115 V Single Phase rps 8.3/6.7 8.3/6.7 8.3/5. Sine Encoder Resolver Sine Encoder Resolver 115 AND 23 VAC Resolution - counts/rev 2,97,152 2,97,152 2,97,152 Repeatability - arc/sec ±.62 ±.62 ±.62 Accuracy arc/sec ±26 ±26 ±26 Resolution (3) - counts/rev 524,288 524,288 524,288 Repeatability - arcsec ±2.48 ±2.48 ±2.48 Accuracy arc/sec ±27 ±27 ±27 Mechanical: Weight Wt lb 2.8 25. 3.5 kg 9.4 11.3 13.8 Rotor Inertia Jm lb-ft-sec 2.45.52.64 kg-m 2.61.71.86 Static Friction adder Tf lb-ft 1.8 1.8 1.8 for sealed units N-m 2.4 2.4 2.4 Max. Dynamic Axial Compression - lbf 4,5 4,5 4,5 Load (See page 18 for details)kg 2,4 2,4 2,4 SYSTEM: D61A/D61M with SERVOSTAR CR6/CB6 6 1 9 5 8 115V Limit 23V Limit 7 4 6 3 5 2 1 4 3 2 1 Notes: 1. For 25 C ambient, multiply Tc by 1.6. 2. Curves for 23V applicable to single or three phase input power. 3. Drive resolver-to-digital converter and encoder equivalent output limits max resolution to 524,288 counts per rev up to 187 rpm, and 131,72 counts per rev above 187 rpm. 4. As with any Kollmorgen product, if there are any questions regarding this information or application of this product, please consult Customer Support and we will be glad to assist you. 1 2 3 4 5 6 7 8 9 1 11 12 13 14 15 lb-ft 1 2 3 4 5 6 7 8 9 1 11 12 13 14 15 16 17 18 19 2 N-m SYSTEM: D62A/D62M with SERVOSTAR CR6/CB6 6 5 4 3 2 1 115V Limit 23V Limit 5 1 15 2 25 3 35 lb-ft 4 8 12 16 2 24 28 32 36 4 44 48 N-m 1 9 8 7 6 5 4 3 2 1 SYSTEM: D63A/D63M with SERVOSTAR CR6/CB6 6 5 4 3 2 1 115V Limit 23V Limit 5 1 15 2 25 3 35 4 45 5 lb-ft 5 1 15 2 25 3 35 4 45 5 55 6 65 7 N-m 1 9 8 7 6 5 4 3 2 1 6
Kollmorgen GOLDLINE DDR Performance Data D8x Frame 115 AND 23 VAC Performance: Symbols Units D81A/D81M D82A/D82M D83A/D83M Peak Torque Tp lb-ft 32. 68. 118 N-m 43.4 92.2 16 (1) Torque 4 C Tc lb-ft 11.7 19.1 37.2 N-m 15.9 25.9 5.4 Tc lb-ft 13. 21.2 41.3 N-m 17.6 28.7 56. Max Operating Speed N max rpm 5/25 3/NA 25/NA 23/115 V Single Phase rps 8.3/4.2 5./NA 4.2/NA Sine Encoder Resolver Sine Encoder Resolver Resolution - counts/rev@rpm 2,97,152 2,97,152 2,97,152 Repeatability - arc/sec ±.62 ±.62 ±.62 Accuracy arc/sec ±26 ±26 ±26 Resolution (3) - counts/rev@rpm 786,432 786,432 786,432 Repeatability - arcsec ±1.65 ±1.65 ±1.65 Accuracy arc/sec ±14 ±14 ±14 Mechanical: Weight Wt lb 39.5 47.5 63.6 kg 17.9 21.5 28.8 Rotor Inertia Jm lb-ft-sec 2.16.143.222 kg-m 2.144.194.31 Static Friction adder Tf lb-ft 2. 2. 2. for sealed units N-m 2.7 2.7 2.7 Max. Dynamic Axial Compression - lbf 7,4 7,4 7,4 Load (See page 18 for details)kg 3,36 3,36 3,36 SYSTEM: D81A/D81M with SERVOSTAR CR6/CB6 6 5 4 3 2 1 115V Limit 23V Limit 5 1 15 2 25 3 35 4 lb-ft 5 1 15 2 25 3 35 4 45 5 55 N-m 1 9 8 7 6 5 4 3 2 1 Notes: 1. For 25 C ambient, multiply Tc by 1.6. 2. Curves for 23V applicable to single or three phase input power. 3. Drive resolver-to-digital converter and encoder equivalent output limits max resolution to 786,532 counts per rev up to 125 rpm, and 196,68 counts per rev above 125 rpm. 4. As with any Kollmorgen product, if there are any questions regarding this information or application of this product, please consult Customer Support and we will be glad to assist you. SYSTEM: D82A/D82M with SERVOSTAR CR6/CB6 35 3 25 2 15 1 5 23V Limit 5 4 3 2 1 SYSTEM: D83A/D83M with SERVOSTAR CR6/CB6 3 25 2 15 1 5 23V Limit 5 4 3 2 1 1 2 3 4 5 6 7 lb-ft 1 2 3 4 5 6 7 8 9 1 N-m 1 2 3 4 5 6 7 8 9 1 11 12 1 2 3 4 5 6 7 8 9 1 11 12 13 14 15 16 17 N-m lb-ft 7
Performance Data D1x Frame Kollmorgen GOLDLINE DDR Performance: Symbols Units D11A/D11M D12A/D12M D13A/D13M Peak Torque Tp lb-ft 95. 155 225 N-m 129 21 35 Tc lb-ft 25.5 46.8 85. Sine Encoder (1) N-m 34.6 63.4 115.3 Torque 4 C Resolver Tc lb-ft 3. 55. 1 N-m 4.7 74.6 136 Max Operating Speed 23V N max rpm 3 2 12 Sine Encoder Resolver 23 VAC rps (1 phase) 5. (3 phase) 3.3 (3 phase) 2. Resolution - counts/rev 2,97,152 2,97,152 2,97,152 Repeatability - arc/sec ±.62 ±.62 ±.62 Accuracy arc/sec ±26 ±26 ±26 Resolution (3) - counts/rev 1,48,576 1,48,576 1,48,576 Repeatability - arcsec ±1.24 ±1.24 ±1.24 Accuracy arc/sec ±135 ±135 ±135 Mechanical: Weight Wt lb 69.5 96.5 134 kg 31.5 43.8 6.8 Rotor Inertia Jm lb-ft-sec 2.511.732.129 kg-m 2.693.992.175 Static Friction adder Tf lb-ft 2.6 2.6 2.6 for sealed units N-m 3.5 3.5 3.5 Max. Dynamic Axial Compression - lbf 11,7 11,7 11,7 Load (See page 18 for details)kg 5,3 5,3 5,3 SYSTEM: D11A/D11M with SERVOSTAR CR6/CB6 35 3 25 2 15 1 5 23V Limit (1 phase) 5 4 3 2 1 Note: 1. For 25 C ambient, multiply Tc by 1.6. 2. Curves for D11, 23V applicable to single or three phase input power. Curves for D12 and D13, 23V require three phase input power. 3. Drive resolver-to-digital converter and encoder equivalent output limits max resolution to 1,48,576 counts per rev up to 93 rpm, and 262,144 counts per rev above 94 rpm. 4. As with any Kollmorgen product, if there are any questions regarding this information or application of this product, please consult Customer Support and we will be glad to assist you. 1 2 3 4 5 6 7 8 9 1 11 lb-ft 1 2 3 4 5 6 7 8 9 1 11 12 13 14 15 N-m SYSTEM: D12A/D12M with SERVOSTAR CR1/CB1 25 2 15 1 5 23V Limit (3 phase) 4 3 2 1 SYSTEM: D13A/D13M with SERVOSTAR CR1/CB1 14 12 1 8 6 4 2 23V Limit (3 phase) 2. 1.5 1..5 2 4 6 8 1 12 14 16 lb-ft 2 4 6 8 1 12 14 16 18 2 22 N-m 2 4 6 8 1 12 14 16 18 2 22 24 lb-ft 2 4 6 8 1 12 14 16 18 2 22 24 26 28 3 32 34 N-m 8
Kollmorgen GOLDLINE DDR Performance Data D14x Frame 23 VAC Performance: Symbols Units D141M D142M D143M Peak Torque Tp lb-ft 271 383 989 N-m 367 519 1341 (1) Sine Encoder Tc lb-ft 8 135 25 Torque 4 C N-m 18 183 339 Max Operating Speed N max rpm 2 12 6 23 V 3 Phase rps 3.3 2. 1. Sine Encoder Resolution - counts/rev 1,48,576 1,48,576 1,48,576 Repeatability - arc.sec ±1.24 ±1.24 ±1.24 Accuracy - arc.sec ±27 ±27 ±27 Mechanical: Weight Wt lb 131 191 323 kg 59.4 86.6 146 Rotor Inertia Jm lb-ft-sec 2.12.22.4 kg-m 2.163.274.542 Static Friction adder Tf lb-ft 2.6 2.6 2.6 for sealed units N-m 3.5 3.5 3.5 Max. Dynamic Axial Compression - lbf 12,7 12,7 12,7 Load (See page 18 for details)kg 5,76 5,76 5,76 SYSTEM: D141M with SERVOSTAR S614 25 2 15 1 5 D141M 23 VAC Limit 4. 3. 2. 1. Notes: 1. For 25 C ambient, multiply by 1.6. 2. All curves assume three phase input power to SERVOSTAR 6. 3. As with any Kollmorgen product, if there are any questions regarding this information or application of this product, please consult Customer Support and we will be glad to assist you. 5 1 15 2 25 3 4 8 12 16 2 24 28 32 36 4 lb-ft N-m SYSTEM: D142M with SERVOSTAR S614 16 14 12 1 8 6 4 2 D142M 23 VAC Limit 5 1 15 2 25 3 35 4 45 lb-ft 5 1 15 2 25 3 35 4 45 5 55 6 N-m 2.5 2. 1.5 1..5 SYSTEM: D143M with SERVOSTAR S62 8 7 6 5 4 3 2 1 D143M 23 VAC Limit 2 4 6 8 1 12 lb-ft 2 4 6 8 1 12 14 16 N-m 1.25 1..75.5.25 9
Performance Data DH6x Frame Kollmorgen GOLDLINE DDR Performance: Symbols Units DH61A/DH61M DH62A/DH62M DH63A/DH63M Peak Torque Tp lb-ft 12.5 24.2 47.5 N-m 16.9 32.8 64.4 (1) Torque 4 C Sine Encoder Tc lb-ft 3.9 7.2 13.1 N-m 5.3 9.8 17.7 Resolver Tc lb-ft 4.3 8. 14.5 N-m 5.8 1.8 19.7 Max Operating Speed N max rpm 8 8 8 48/4 V 3 Phase rps 13.3 13.3 13.3 Sine Encoder Resolver 48/4 VAC Resolution - counts/rev 1,48,576 1,48,576 1,48,576 Repeatability - arc.sec ±1.24 ±1.24 ±1.24 Accuracy - arc.sec ±27 ±27 ±27 Resolution - counts/rev 131,72 131,72 131,72 Repeatability - arc.sec ±1 ±1 ±1 Accuracy - arc.sec ±27 ±27 ±27 Mechanical: Weight Wt lb 2.8 25. 3.5 kg 9.4 11.3 13.8 Rotor Inertia Jm lb-ft-sec 2.45.52.64 kg-m 2.61.71.86 Static Friction adder Tf lb-ft 1.8 1.8 1.8 for sealed units N-m 2.4 2.4 2.4 Max. Dynamic Axial Compression - lbf 4,5 4,5 4,5 Load (See page 18 for details)kg 2,4 2,4 2,4 1 9 8 7 48/4 VAC Limit 15. 6 DH61M 5 4 DH61A 1. 3 2 1 5. 1. 2 4 6 8 1 12 14 lb-ft 2 4 6 8 1 12 14 16 18 N-m SYSTEM: DH61A/DH61M with SERVOSTAR S61 1 9 8 7 48/4 VAC Limit 15. 6 DH62M 5 4 DH62A 1. 3 2 1 5. 1. 5 1 15 2 25 3 lb-ft 4 8 12 16 2 24 28 32 36 4 N-m SYSTEM: DH62A/DH62M with SERVOSTAR S61 1 9 8 7 48/4 VAC Limit 15. 6 DH63M 5 4 DH63A 1. 3 2 1 5. 1. 1 2 3 4 5 6 lb-ft 8 16 24 32 4 48 56 64 72 8 N-m SYSTEM: DH63A/DH63M with SERVOSTAR S61 Notes: 1. For 25 ambient, multiply Tc by 1.6 2. All curves assume three phase 4/48 input power. 3. As with any Kollmorgen product, if there are any questions regarding this information or application of this product, please consult Customer Support and we will be glad to assist you. 1
Kollmorgen GOLDLINE DDR Performance Data DH8x Frame Performance: Symbols Units DH81A/DH81M DH82A/DH82M DH83A/DH83M Peak Torque Tp lb-ft 37.6 77 13 N-m 51. 14 177 (1) Torque 4 C Sine Encoder Tc lb-ft 11.7 19.1 37.2 N-m 15.9 25.9 5.4 Resolver Tc lb-ft 13. 21.2 41.3 N-m 17.6 28.7 56. Max Operating Speed N max rpm 5/5 5/5 5/4 48/4 V 3 Phase rps 8.3/8.3 8.3/8.3 8.3/6.7 Sine Encoder Resolver 48/4 VAC Resolution - counts/rev 1,48,576 1,48,576 1,48,576 Repeatability - arc.sec ±1.24 ±1.24 ±1.24 Accuracy - arc.sec ±27 ±27 ±27 Resolution - counts/rev 196,68 196,68 196,68 Repeatability - arc.sec ±6.6 ±6.6 ±6.6 Accuracy - arc.sec ±14 ±14 ±14 Mechanical: Weight Wt lb 39.5 47.5 63.6 kg 17.9 21.5 28.8 Rotor Inertia Jm lb-ft-sec 2.16.143.222 kg-m 2.144.194.31 Static Friction adder Tf lb-ft 2. 2. 2. for sealed units N-m 2.7 2.7 2.7 Max. Dynamic Axial Compression - lbf 7,4 7,4 7,4 Load (See page 18 for details)kg 3,36 3,36 3,36 SYSTEM: DH81A/DH81M with SERVOSTAR S61 7 SYSTEM: DH82A/DH82M with SERVOSTAR S61 7 6 48/4 VAC Limit 1. 6 48/4 VAC Limit 1. 5 4 DH81M DH81A 3 2 5. 3. 1 1. 5 1 15 2 25 3 35 4 lb-ft 5 1 15 2 25 3 35 4 45 5 55 N-m 7.5 5 7.5 4 DH82M DH82A 3 2 5. 3. 1 1. 1 2 3 4 5 6 7 8 9 lb-ft 1 2 3 4 5 6 7 8 9 1 11 12 13 N-m 6 1. 48 VAC Limit 5 7.5 4 4 VAC Limit 3 5. DH83M DH83A 2 2.5 1 1. 2 4 6 8 1 12 14 lb-ft 2 4 6 8 1 12 14 16 18 2 N-m SYSTEM: DH83A/DH83M with SERVOSTAR S61 Notes: 1. For 25 ambient, multiply Tc by 1.6 2. All curves assume three phase 4/48 input power. 3. As with any Kollmorgen product, if there are any questions regarding this information or application of this product, please consult Customer Support and we will be glad to assist you. 11
Performance Data DH1x Frame Kollmorgen GOLDLINE DDR Performance: Symbols Units DH11A/DH11M DH12A/DH12M DH13A/DH13M Peak Torque Tp lb-ft 14 186 37 N-m 141 252 51 (1) Torque 4 C Sine Encoder Tc lb-ft 25.5 46.8 85. N-m 34.6 63.4 115.3 Resolver Tc lb-ft 3. 55. 1 N-m 4.7 74.6 136 Max Operating Speed N max rpm 3/3 3/3 25/2 48/4 V 3 Phase rps 5./5. 5./5. 4.2/3.3 Sine Encoder Resolver 48/4 VAC Resolution - counts/rev 1,48,576 1,48,576 1,48,576 Repeatability - arc.sec ±1.24 ±1.24 ±1.24 Accuracy - arc.sec ±27 ±27 ±27 Resolution - counts/rev 262,144 262,144 262,144 Repeatability - arc.sec ±5. ±5. ±5. Accuracy - arc.sec ±135 ±135 ±135 Mechanical: Weight Wt lb 69.5 96.5 134 kg 31.5 43.8 6.8 Rotor Inertia Jm lb-ft-sec 2.511.732.129 kg-m 2.693.992.175 Static Friction adder Tf lb-ft 2.6 2.6 2.6 for sealed units N-m 3.5 3.5 3.5 Max. Dynamic Axial Compression - lbf 11,7 11,7 11,7 Load (See page 18 for details)kg 5,3 5,3 5,3 SYSTEM: DH11A/DH11M with SERVOSTAR S61 SYSTEM: DH12A/DH12M with SERVOSTAR S61 4 4 35 48/4 VAC Limit 35 48 VAC Limit 3 5. 3 5. 25 2 15 DH11M DH11A 3. 25 2 15 DH12M DH12A 4 VAC Limit 3. 1 5 1. 1 5 1. 2 4 6 8 1 12 lb-ft 2 4 6 8 1 12 14 16 N-m 2 4 6 8 1 12 14 16 18 2 lb-ft 3 6 9 12 15 18 21 23 26 N-m SYSTEM: DH13A/DH13M with SERVOSTAR S614 3 25 2 15 1 5 DH13M DH13A 4 VAC Limit 48 VAC Limit 5. 4. 3. 2. 1. Notes: 1. For 25 ambient, multiply Tc by 1.6 2. All curves assume 3 phase 4/48 input power. 3. As with any Kollmorgen product, if there are any questions regarding this information or application of this product, please consult Customer Support and we will be glad to assist you. 5 1 15 2 25 3 35 4 lb-ft 5 1 15 2 25 3 35 4 45 5 55 N-m 12
Kollmorgen GOLDLINE DDR Performance Data DH14x Frame 48/4 VAC Performance: Symbols Units DH141M DH142M DH143M Peak Torque Tp lb-ft 271 383 989 (1) N-m 367 519 1341 Sine Encoder Tc lb-ft 8 135 25 N-m 18 183 339 Torque 4 C Max Operating Speed N max rpm 3/3 3/25 12/12 48/4 V 3 Phase rps 5/5 5/4.2 2/2 Sine Encoder Resolution - counts/rev 1,48,576 1,48,576 1,48,576 Repeatability - arc.sec ±1.24 ±1.24 ±1.24 Accuracy - arc.sec ±27 ±27 ±27 Mechanical: Weight Wt lb 131 191 323 kg 59.4 86.6 146 Rotor Inertia Jm lb-ft-sec 2.12.22.4 kg-m 2.163.274.542 Static Friction adder Tf lb-ft 2.6 2.6 2.6 for sealed units N-m 3.5 3.5 3.5 Max. Dynamic Axial Compression - lbf 12,7 12,7 12,7 Load (See page 18 for details)kg 5,76 5,76 5,76 SYSTEM: DH141M with SERVOSTAR S614 SYSTEM: DH142M with SERVOSTAR S614 35 3 48/4 VAC Limit 5. 35 3 48 VAC Limit 5. 25 2 15 1 5 DH141M 4. 3. 2. 1. 25 2 15 1 5 DH142M 4 VAC Limit 4. 3. 2. 1. 5 1 15 2 25 3 lb-ft 5 1 15 2 25 3 35 4 N-m 5 1 15 2 25 3 35 4 45 lb-ft 5 1 15 2 25 3 35 4 45 5 55 6 N-m SYSTEM: DH143M with SERVOSTAR S62 16 48 VAC Limit 14 12 2.5 2. Notes: 1. For 25 C ambient, multiply by 1.6. 2. All curves assume three phase 4/48V input power. 3. As with any Kollmorgen product, if there are any questions regarding this information or application of this product, please consult Customer Support and we will be glad to assist you. 1 8 6 DH143M 4 VAC Limit 1.5 1. 4 2.5 2 4 6 8 1 12 lb-ft 2 4 6 8 1 12 14 16 N-m 13
Dimensions D6x Frame Kollmorgen GOLDLINE DDR Dimensions in mm (inches) POWER CONNECTOR SIGNAL CONNECTOR 175.28 175.24 6.91 6.899 - E -.1 (.4) G 176 (6.93) "A" 4.6 (1.6) "B" "O" RING GROOVE 1.88-2.3 (.74-.8) 11.5-13.9 (.45-.55) 3.18-3.93 (.125-.155) 175.28 17.97 175.24 17.93 6.91 4.251 6.899 4.249 - G -.1 (.4) C 3.46-3.6 (.136-.142) 139.7 (5.5) 16 (4.18) 67.6 (2.66) 42.2 (1.66) 125.6 (4.95) 47.71-47.8 (1.878-1.882).12 (.5) A - C - 13.3-14.2 (.52-.56) M6X1 X 15 (.59) MIN. DP. 8 PL. ON A 155 (6.12) BASIC.38 (.15) M F E M FLANGE OPTION - F - 11.2 (.44) "C" REF. - B -.12 (.5) C "D" - D -.1 (.4) C PILOT END - A -.7 (.3) G 22 3' M6X1 X 15 (.59) MIN. DP. 8 PL. ON A 155 (6.12) BASIC.38 (.15) M B A M M6X1 X 12 (.47) MIN. DP. 8 PL. ON A 8 (3.15) BASIC.38 (.15) M D C M 9 CONNECTOR OPTION POWER CABLE BEND RADIUS: STATIC - 127 (5.) DYNAMIC - 191 (7.5) FEEDBACK CABLE BEND RADIUS: STATIC - 17 (4.2) DYNAMIC - 16 (6.3) 83.8 (3.3) 68.6 (2.7) 22 3' 22.1 219.97 8.662 8.66 - E -.1 (.4) G - F -.25 (.1) G 13.3-14.2 (.52-.56) 147.3 (5.8) 16 (4.18) 394.97 (15.55) MAX. 8.82-8.99 (.347-.354) THRU 8 PL. ON A 2. (7.874) BASIC.38 (.15) M F E M STRAIGHT CONNECTOR OPTION 297 (11.7) MAX. Model A B C D E Resolver Sine Encoder D61 91.9 37.1-4.1 129.42-13.171 32.59-134.11 (3.62) (1.46-1.58) (5.95-5.125) (5.22-5.28) D62 13.4 48.6-51.5 14.85-141.61 44.2-145.54 47.71-47.8 42.88-42.98 (4.7) (1.91-2.3) (5.545-5.575) (5.67-5.73) (1.878-1.882) (1.688-1.692) D63 126.2 71.4-74.4 163.71-164.46 166.88-168.4 (4.97) (2.81-2.93) (6.445-6.475) (6.57-6.63) 14
Kollmorgen GOLDLINE DDR Dimensions D8x Frame Dimensions in mm (inches) POWER CONNECTOR SIGNAL CONNECTOR.1 (.4) G - E - 217.19 217.15 8.551 8.549 218.4 (8.6) "A" 5.8 (2.) "B" "O" RING GROOVE 11.5-13.9 (.45-.55) 3.18-3.93 (.125-.155) 217.19 217.15 8.551 8.549 133.37 133.33 5.251 5.249.1 (.4) C 1.88-2.3 (.74-.8) 172 (6.77) 127.8 (5.3) 3.46-3.6 (.136-.142) 67.6 (2.66) 42.2 (1.66) 147.3 (5.8) 63.45-63.55 (2.498-2.52).12 (.5) A - C - 11.7-12.7 (.46-.5) M6X1 X 15 (.59) MIN. DP. 8 PL. ON A 19 (7.48) BASIC.38 (.15) M F E M FLANGE OPTION "D" - F -.1 (.4) C 11.2 (.44) "C" REF. - B -.12 (.5) G - D -.1 (.4) C PILOT END - A -.7 (.3) G 22 3' M6X1 X 15 (.59) MIN. DP. 8 PL. ON A 1 (3.937) BASIC.38 (.15) M D C M M6X1 X 15 (.59) MIN. DP. 8 PL. ON A 19 (7.48) BASIC.38 (.15) M B A M 9 CONNECTOR OPTION - E - 26.14 26.5 1.242 1.238 POWER CABLE BEND RADIUS: STATIC - 127 (5.) DYNAMIC - 191 (7.5) FEEDBACK CABLE BEND RADIUS: STATIC - 17 (4.2) DYNAMIC - 16 (6.3) 83.6 (3.29) 68.1 (2.68) 416.56 (16.4) MAX. 167.9 (6.61) 127.8 (5.3) 22 3' 8.82-8.99 (.347-.354) THRU 8 PL. ON A 24. (9.449) BASIC.38 (.15) M F E M 11.7-12.7 (.46-.5) - F -.25 (.1) G STRAIGHT CONNECTOR OPTION 297 (11.7) MAX. Model A B C D E Resolver Sine Encoder D81 17.7 42.7-45.7 144.66-145.41 147.83-149.35 (4.24) (1.68-1.8) (5.695-5.725) (5.82-5.88) D82 128. 63.-66. 164.98-165.73 168.15-169.67 63.45-63.55 42.88-42.98 (5.4) (2.48-2.6) (6.495-6.525) (6.62-6.68) (2.498-2.52) (1.688-1.692) D83 168.7 13.7-16.6 25.62-26.37 28.79-21.31 (6.64) (4.8-4.2) (8.95-8.125) (8.22-8.28) 15
Dimensions D1x Frame Kollmorgen GOLDLINE DDR Dimensions in mm (inches) 73.7 72.98 2.877 2.873.12 (.5) A - C - POWER CONNECTOR SIGNAL CONNECTOR.1 (.4) G - E - 28.2 279.9 11.25 11.2 "A" 59.7 (2.35) "O" RING GROOVE "B" 229.9.45-.55 (9.5) (11.5-13.9) 3.6 (.14) PILOT END 177.82 177.78 7.1 6.999 1.88-2.3 (.74-.8) 3.46-3.6 (.136-.142) 16.9 (6.34) 67.6 (2.66) 42.2 (1.66) 18.5 (7.11) 284.2 (11.19) 28.2 279.9 11.25 11.2 M8X1.25 X 2.3 (.8) MIN. DP. 8 PL. ON A 25. (9.843) BASIC.38 (.15) M F E M 13.8-14.7 (.54-.58) 11.2 (.44) "C" REF. - B -.12 (.5) G - A -.7 (.3) G.1 (.4) C - G - 22 3' M8X1.25 X 2.3 (.8) MIN. DP. 8 PL. ON A 13. (5.118) BASIC.38 (.15) M D C M "D" - F -.12 (.5) G - D -.1 (.4) C M8X1.25 X 2.3 (.8) MIN. DP. 8 PL. ON A 25. (9.843) BASIC.38 (.15) M B A M FLANGE OPTION 9 CONNECTOR OPTION 33.6 329.94 12.995 12.99 POWER CABLE BEND RADIUS: STATIC - 127 (5.) DYNAMIC - 191 (7.5) FEEDBACK CABLE BEND RADIUS: STATIC - 17 (4.2) DYNAMIC - 16 (6.3) 83.7 (3.29) 68.2 (2.68) 449.83 (17.71) MAX. 2.9 (7.91) 16.9 (6.34) 22 3' 8.81-8.97 (.347-.354) THRU 8 PL. ON A 31. (12.25) BASIC.38 (.15) M F E M.1 (.4) G - E - 13.8-14.7 (.54-.58) - F -.25 (.1) G STRAIGHT CONNECTOR OPTION 297 (11.7) MAX. Model A B C D E Resolver Sine Encoder D11 11.5 36.6-39.6 152.53-153.28 155.71-157.22 (4.35) (1.44-1.56) (6.5-6.35) (6.13-6.19) D12 142.2 68.4-71.3 184.28-185.3 187.46-188.97 73.7-72.98 42.88-42.98 (5.6) (2.69-2.81) (7.255-7.285) (7.38-7.44) (2.877-2.873) (1.688-1.692) D13 25.7 131.9-134.8 247.78-248.53 25.96-252.47 (8.1) (5.19-5.31) (9.755-9.785) (9.88-9.94) 16
Kollmorgen GOLDLINE DDR Dimensions D14x Frame Dimensions in mm (inches) Model Number A B C D D141 155.92-157.2 152.66-153.16 75.5 76.7 (6.138-6.182) (6.1-6.3) (2.97) (3.2) D142 219.42-22.52 216.16-216.66 138.9 18.5 (8.638-8.682) (8.51-8.53) (5.47) (4.27) D143 346.42-347.52 343.16-343.66 266. 172. (13.638-13.682) ( 13.51-13.53) (1.47) (6.77) 17
Mechanical Data/Application Notes Kollmorgen GOLDLINE DDR Tension Compression Offset Axial Force Moment Load = Force * D Radial Force L= Maximum Moment Load Single Bearing Dual Bearing Model lb-ft N-m lb-ft N-m D61 53.3 72.3 71.7 97.2 D62 47.5 64.4 79.5 17.8 D63 43.4 58.9 87.2 118.2 D81 62.6 84.9 113.8 154.3 D82 52.3 7.9 13.6 177.1 D83 39.3 53.3 174.3 236.4 D11 141.9 192.4 322.4 437.2 D12 17.7 146 278.5 377.6 D13 72.6 98.4 34.8 413.3 D141 234 317 472 64 D142 134 182 49 555 D143 N/A N/A 391 53 Maximum Axial Load Ratings lbs kg Compression 45 24 Tension 932 423 Compression 74 336 Tension 819 371 Compression 117 53 Tension 145 637 Compression 117 53 Tension 145 637 "D" All numbers are based on L1 life rating. "L" LC of bearing Moment Load = Force * (D + L) Model Dim. L (in) D(H)6x (1,5) D(H)8x (1.21) D(H)1x (1.58) D(H)14x (1.44) Application notes: 1. Axial load ratings dynamic values based on an L1 life rating when motor is mounted on a rigid base and running under normal operating conditions. For L1 life ratings for applications where high rotational accuracy is desired or operation during vibration or shock, please contact Customer Support. 2. Moment load ratings are limited by shaft deflection at the resolver; for sine encoder units please contact Customer Support. 3. Standard motor is not designed for repetitive small angle oscillations less than ± 13. Please contact Customer Support for additional options. 4. Motor is not intended to be directly coupled to a load which has it s own two bearing system. A flexible coupling is advised to prevent premature bearing failure in these applications. 5. Motor may be mounted in any orientation provided the axial (both tension and compression) limits are observed. All applications having moment loads in tension should be reviewed by Customer Support. 6. All bolts for mounting load and base should be used to ensure stiff coupling. 18
Kollmorgen GOLDLINE DDR Ordering Information The Kollmorgen GOLDLINE DDR system is comprised of three part numbers; motor, drive, and cable set. When ordering, please specify each part number. Kollmorgen GOLDLINE DDR Motor: D H 8 1 M - 1 2-1 3 1 - xxx Direct Drive Motor Voltage Level H - 4/48 VAC Blank - 115/23 VAC Sequential Specials (Omit if not special) Frame Size 6-6.93 OD Unit Seal Option 8-8.6 OD - Non-sealed unit 1-11.19 OD 14-14.25 OD 5 - IP65 sealing* 7 - IP67 sealing* Stack Length 1 - Short stack Bearing Option 2 - Mid stack 1 - Single bearing design 3 - Long stack 2 - Dual bearing design (standard on 143 models) Winding Letter 9 - Special bearing A - standard winding (resolver) (not avail. on D14 model) M- standard winding (sine encoder) Feedback Option 2 - Resolver Mounting Option 3 - Sine Encoder 1 - Face mount 9 - Special feedback 2 - Flange mount Shaft Option Connector Option 1 - Straight thru bore with face coupling 2 - Straight connectors 9 - Special 3-9 Degree, rotatable connectors * IP65 and IP67 not currently available on sine encoder equipped motors from D(H)6 - D(H)1. SERVOSTAR CD Amplifier Ratings Model Output Output Peak AC Input Rated Rated Regen. Current Per Phase Current Per Line Input Input Option CR/CB (RMS/phase) Phase Voltage Power (kw) Power (kva) @45 C Ambient (RMS/phase) 6 6 18 (.5 sec.)115 / 23 (1 phase) 1.1 1.4 / 2.8 ERH-26 1 1 2 (2 sec.)23 (3 phase) 3.7 4.7 ERH-26 SERVOSTAR 6 Amplifier Ratings Model Output Output Peak Internal Power AC Input Rated Current Per Phase Current Per Dissipation Line Input Internal External (RMS/phase) Phase (Watts) Voltage Power (kva) Regen Power Regen Power (5 sec) (3 phase) @ 48V (Watts) (Watts) S61 1 2 9 8.1 2 1,5 S614 14 28 16 48/4 11.6 2 1,5 S62 2 4 2 16.6 2 1,5 Cable Sets with SERVOSTAR Drive Sine Encoder Resolver SERVOSTAR CD CS-SS-SHA1HE-xx CS-SS-RHA1HE-xx SERVOSTAR S61 CS-SS-S3HG1HE-xx CS-SS-RHG1HE-xx SERVOSTAR S614 & S62 CS-SS-S3HG2HE-xx CS-SS-RHG2HE-xx Lengths available: 1m, 3m, 6m, 9m, and 3m increments to max recommended cable length of 75m for resolver and 39m for sine encoder. See SERVOSTAR Technical Documentation Online at: http://www.motionvillage.com 19
Danaher Motion Customer Support Center 431 Kishwaukee Street Rockford, Il 6119 Tel: 815-226-2222 Fax: 815-226-38 Support email: Rockford.customerservice@DanaherMotion.com Resistive Regeneration Sizing Shunt regeneration is required to dissipate energy that is pumped back into the DC bus during load deceleration. The amount of shunt regeneration required is a function of the sum of simultaneously decelerating loads. The loads need to be defined in terms of system inertia, maximum speed, and deceleration time. In addition, the duty cycle must be known. Application Note A-SU-1-H details a calculation method to determine proper regeneration sizing. Transformer Sizing (Required only for voltage matching) The SERVOSTAR CD can be connected to a line. Built-in soft-start circuitry protects power supply components and eliminates nuisance tripping of breakers or fuse blowing due to large in-rush currents. Transformers are only required for voltage matching purposes. In this case, the transformer should have a 115 or 23 VAC secondary depending on the operating voltage. The kva rating of the transformer should take into account not only the servo output load requirements but also losses in the system and power factor. For single phase operated systems such as these, the transformer kva ratings should be two times the CD amplifier output power rating. For three phase systems, the transformer kva should be 1.5 times the CD amplifier output power rating. 196 (7.72) Model Watts Ohms ERH-26 2 2 3 (1.18) 17 (.67) 5.3 (.21) 175 (6.89) 6 (2.36) 215 (8.46) Amplifier Dimensions Model CR/CB Transformer kva rating 6 4.4 (1 phase) 1 5.6 (3 phase) 13 (.51) 5.3 (.21) Resistive Regen ERH-26 CR/CB - 6/1 S61, S614 & S62 "A" 36.5 (1.44) 3X 5.5 (.22) 2X 1. (.39) 15.5 (.61) 244. (9.61) 6.7 (.26) 216. (8.5) 163. (6.42) 2. (.8) 256. (1.8) 275 (1.8) 265 (1.4) with connector: 273 (1.7) 325 (12.8) "A" 33.7 (1.33) Size Dim. A 6 AMP 88.4 (3.48) 1 AMP 99. (3.9) Dimensions in mm (inches) Model Size Dim. A S61 1 AMP 7 (2.8) S614 14 AMP 1 (3.9) S62 2 AMP 12 (4.7) 5MIGBH-DM1242 May 23