9- N Servo motors Contents Synchronous servo motors manufactured by Parker Hannifin, Electromechanical Division... Standard servo motors of the HJ range... Options... Motor overview of HJ motors...7 Dimensional drawings... HJ9C-S... HJC-S / HJE-S... HJA-S / HJE-S / HJG-S... HJG-S with fan... 9 HJ9J-S with fan... 9 Speed/Torque curves... Highly dynamic servo motors HDY... Options... Motor overview of HDY motors... Dimensional drawings...7 HDYC-S... 7 HDY7C-S / HDY7E-S... 7 HDY9C-S / HDY9E-S... 7 HDYA-S / HDYA-S / HDYC-S / HDYE-S / HDYG-S... HDYC-S / HDYG-S... Speed/Torque curves...9 Connecting cable to motor... Resolver cable for HJ and HDY motors... Motor cable for HJ and HDY motors... SinCos cable for HJ and HDY motors... Order code motors...9 Order code cables... Parker Hannifin GmbH
9- N Servo motors Synchronous servo motors manufactured by Parker Hannifin, Electromechanical Division Todays' levels of electrical drive technology mean that different specific synchronous servo motors are required depending on the application in question. HDY servo motors The outstanding feature of the HDY synchronous servo motors is their low rotor inertia torque. Typical applications for these motors would be packaging machines, automatic press or assembly equipment, in which rapid acceleration and delay is required. model sizes are available with mounting standards of, 7, 9, and mm in a power range of between. and Nm. HJ servo motors The motors of the HJ range have high-quality Neodym iron-boron magnets and their rotor inertia torque is to times higher. The shafts (with large diameters) and the design of the rotor and bearing ensure that these motors have a higher level of shaft strength. Parker's HJ synchronous servo motors have the outstanding feature of good synchronous running properties even when running at low speeds. Typical applications for these motors would be in tooling and printing machines as well as handling robots. The HJ motors have smooth surfaces and recesses in the assembly area, which is why dirt deposits are reduced to a minimum and it is very easy to fit this unit to the gearbox. Four model sizes of 9,, and 9 mm are available in a power range of between. and 9 Nm. Both the HDY and HJ ranges can be fitted with a stationary/parking brake on request. As an alternative to the resolver feedback system, SinCos singleturn or an absolute value sensor SinCos multiturn system can be supplied. When fitted with SV drive and the COMPAX compact servo control unit, these motors form a drive concept for use in mains power supplies of between V and V AC. The term SinCos stated in the motor catalogue is a registered trademark of the Stegmann company. Only supports resolver for determining motor position. Parker Hannifin GmbH
9- N HJ motors Standard servo motors of the HJ range General characteristic data: Sinusoidal EMC. Painted mat black. Nitrile shaft seal. IP type of protection (shaft IP). Insulation class F. Maximum ambient temperature: C Any installation position. Standard flange: standard in acc. with DIN 9; IEC7. Basic body: aluminium extruded moulding Flange: aluminium Connector sockets can be rotated into almost any position (secured using a torque of Nm ± Nm) Triple torque rating is possible for up to seconds. Thermal sensor KTY-: arranged in the winding. Switch-off temperature of COMPAX: C ±. Version: With spline Spur thread HJ9: Mx HJ: Mx HJ: Mx HJ9: Mx Integrated resolver. Area of application Packaging machines, shelf transport technology, wood machining, handling robots, etc. with fan IP Parker Hannifin GmbH
9- N Servo motors Options Stationary/parking brake The motors can be fitted with a stationary/parking brake on request. The brake is fitted in the motor housing behind the A flange (in HJ9 on the B side). This changes the mechanical dimensions of the motor. The brake is fed voltage by the motor cable. Technical data for the V holding brakes: Motor Type Holding J [kgmm ] Power [A] Switch times [ms] torque [Nm] open close HJ9 Spring pressure brake.. HJ Spring pressure brake.. 7 HJ Spring pressure brake.. HJ9 Permanent solenoid brake.. 97 Attention: The stationary/parking brake does not permit any active braking. Sensor system A resolver is fitted in the motors as standard. The motors can be optionally supplied with the following sensors: SinCos singleturn encoder or SinCos multiturn absolute value sensor By using SinCos, the rated torque must be reduced about % for a correct sizing. Applies at C: reduces by % when at C. Parker Hannifin GmbH
9- N HJ motors Motor overview of HJ motors Motor type Continual stall torque Continual stall current Resistance Inductance Entire torque constant Rotor Weight Length Power inertia without / voltage with brake ac Rated speed Rated torque Rated current Rated power M I Ω µh K T J m A U N rated M rated I rated P rated HJ... Nm A Nm/A kgmm kg mm V ac R.P.M Nm A eff kw 9C-S..... /.....9. C-S..7..7 7 7. / 7......... E-S 7. 7..7 77. 99. /...... A-S...77.. 7 / 7 E-S..... / 9 G-S...7.7. 9 / G-S...7.7. / 7 with fan 9J-S 9... 9.7. with fan Tolerance: ±%..... 7. 7......9.7.7..... 7. 7...7.......7.. 7. 7. The general motor values have been determined in accordance with: the British standard BS999 or the international Standard IEC Overtemperature: K Assumed is that the air can circulate freely to all sides (mounting distance approx. % of the edge length) When the rated data was determined, the following tolerances were also taken into consideration: % mains power voltage. 7V voltage drop in the final stage. % voltage control reserve for controlled operation under the rated conditions. The following were not taken into consideration: Tolerance (±%) of torque constants, motor inductivity and motor resistance. Temperature dependency on torque constants and motor resistance. To determine torque: torque =.7 * entire torque constant * transverse current (see User Guide COMPAX) See next page. 7 Parker Hannifin GmbH
ø9.9 ø 9- N HJ motors Dimensional drawings HJ9C-S A 9 ø. ø79.9..97 shaft...97. 9.9 ø.99 Mx holes Ø7 equi-spaced on PC DIA HJC-S / HJE-S A shaft 7..9. 9. ø9. ø9.9. 7.9. ø.99 Mx holes Ø9 equi-spaced on PC DIA HJA-S / HJE-S / HJG-S. M shaft.. 7.9 9.9. 7.. Ø..99 Mx A holes Ø equi-spaced on PC DIA You can find the CAD-files of the dimensional drawings in the "dxf" format on our homepage. Parker Hannifin GmbH
ø9.9 ø 9- N HJ motors HJG-S with fan M. shaft. 7. 7.9 9.9. 7.. Ø..99 Mx A holes ø equi-spaced on PC DIA HJ9J-S with fan M Ø Ø 9 7 9 7 A shaft holes ø equi-spaced on PC DIA h.. ø j h9 Mx You can find the CAD-files of the dimensional drawings in the "dxf" format on our homepage. 9 Parker Hannifin GmbH
9- N HJ motors HJ MOTORS ( VAC) HJ9C-S / SV or COMPAXS 7.... 9.. SV performance is limited to rpm HJC-S / SV or COMPAXS 9. 7... HJ MOTORS ( VAC) HJ9C-S / SV or COMPAXM...9 HJE-S / SV or COMPAXS. 7. 9. 7.... SV performance is limited to rpm HJ9C-S / SV or COMPAXS 7.....9. SV performance is limited to rpm HJC-S / SV or COMPAXM 7...7..9. SV performance is limited to rpm HJC-S / SV or COMPAXS 7. 9. 7... SV performance is limited to rpm HJC-S / SV or COMPAXM. 7 9. 7... SV performance is limited to rpm Parker Hannifin GmbH
9- N HJ motors HJ MOTORS ( VAC) HJC-S / SV or COMPAXS.. 7 9. 7... SV performance is limited to rpm HJE-S / SV or COMPAXS. 7. 9. 7... SV performance is limited to rpm HJE-S / SV or COMPAXM 9. 7... SV performance is limited to rpm HJE-S / SV or COMPAXM 7.. 7. 7.. SV performance is limited to rpm HJE-S / SV or COMPAXS. HJA-S / SV or COMPAXM 7. 7.. 9.. 7. 7... SV performance is limited to rpm. HJA-S / SV or COMPAXS.. 7.. 9... HJA-S / SV or COMPAXM 7.... 7.. 9... Parker Hannifin GmbH
9- N HJ motors HJ MOTORS ( VAC) HJE-S / SV or COMPAXM 7 7.... 7.. 7. 9.. 7 HJE-S / COMPAXM 7.... 7.. 7. 9.. HJG-S / SV or COMPAXM 9. HJG-S / COMPAXM,7. 7.. 7. 9. 7.. 7. 7. 7... HJG-S/FN / SV or COMPAXM 9. HJG-S/FN / COMPAXM,7. 7.. 7. 7. 9. 7.. 7. 7... HJ9J-S/FN / SV or COMPAXM 9. HJ9J-S/FN / COMPAXM,7. 7.. 7.,7.,7. 7. 7. 7... Parker Hannifin GmbH
9- N HDY motors Highly dynamic servo motors HDY General characteristic data: Sinusoidal EMC. Painted mat black. Nitrile shaft seal. IP type of protection (shaft IP). Insulation class F. Self-cooling. Max. ambient temperature: C Any installation position. Standard flange: standard in acc. with DIN 9; IEC7. Basic body: aluminium extruded moulding Flange: aluminium Connector sockets can be turned into almost any position (secured using a torque of Nm ± Nm) Triple torque rating possible for up to seconds. Thermal switch (normally closed): switches at a coil temperature of C ±. Version: With spline Spur thread HDY: Mx HDY7: Mx HDY9: Mx HDY: Mx HDY: Mx Integrated resolver. Area of application Highly dynamic applications in: packaging machines, shelf transport plants, wood machining, etc. Parker Hannifin GmbH
9- N HDY motors Options Stationary/parking brake The motors can be fitted with a stationary/parking brake on request. The brake is fitted in the motor housing behind the A flange, the mechanical dimensions of the motor only change in HDY and HDY7. The brake is fed voltage by the motor cable. Technical data for V DC holding brakes: The values for the reinforced versions are in brackets. Motor Holding J [kgmm ] Power [A] Switch times [ms] torque [Nm] open close HDY..9 HDY 7. (.) (). (.) HDY 9. (.) (7). HDY. (.) 7 (7). HDY. (.) (). Attention: the stationary/parking brake does not permit active braking. Sensor system A resolver is fitted as standard in the motors. The motors can optionally be supplied with the following sensors: SinCos singleturn encoder or SinCos multiturn absolute value sensor By using SinCos, the rated torque must be reduced about % for a correct sizing. Altered dimensions with SinCos for HDY (width and length; refer to dimensional diagram) and HDY 7 (only length): Motor Length A with SinCos [mm] Without brake With brake HDYC-S 7 HDY7C-S 9 HDY7E-S Parker Hannifin GmbH
9- N HDY motors Motor overview of HDY motors Motor type Continual Continual Resistanctance Induc- Entire Rotor Weight Length Power Rated Rated Rated Rated stall stall current torque inertia without / voltage speed torque current power torque constant 7 with brake ac M I K T J m A U N rated M rated I rated P rated HDY... Nm A Ω µh Nm/A kgmm kg mm V ac R.P.M Nm A eff kw C-S.. 9. 7.7. / 7...... 7C-S...7.. /...... 7E-S... 7.. /.7...7..9 9C-S..9......... 9E-S.......7....9 A-S.7.9.7.7.......... A-S.7.......7...7...7 C-S...7. 9. 7......7.9.9. E-S 9. 9.... 7. 7.. 7..9. G-S.... 9.. 9.. 9. 9..9 C-S...7 9.. 9...... G-S...9.. 7..... 7. The general motor values have been determined in accordance with: the British standard BS999 or the international Standard IEC Overtemperature: K Tolerance: ±%. Assumed is that the air can circulate freely to all sides (mounting distance approx. % of the edge length) When the rated data was determined, the following tolerances were also taken into consideration: % mains undervoltage. 7V voltage drop in the final stage. % voltage control reserve for controlled operation under rated conditions. The following were not taken into consideration: Tolerance (±%) of torque constant, motor inductivity and motor resistance. Temperature dependency of torque constants and motor resistance. 7 To determine torque: torque =.7 * entire torque constant * transverse current (see User Guide COMPAX) Look at the dimensional drawings on the next page. HDY - and HDY7 - motors: the dimension A is only valid for motors with resolver. For motors with SinCos you will find the length A on page. Parker Hannifin GmbH
9- N HDY motors Dimensional drawings HDYC-S with resolver, featherkey j 97 detail: shaft h9 h9 9 holes, A Equi-spaced on PC DIA 9j Mx 7, 7, with SinCos, featherkey 7 j A* 9 holes, Equi-spaced on PC DIA HDY7C-S / HDY7E-S 7, featherkey detail: shaft h9 h9 j 7 j A 9 holes, Equi-spaced on 7 PC DIA Mx,, HDY9C-S / HDY9E-S 9 featherkey detail: shaft h9 h9 j 9 j Mx,,9 A holes 7 Equi-spaced on PC DIA You can find the CAD-files of the dimensional drawings in the "dxf" format on our homepage. Parker Hannifin GmbH
9- N HDY motors HDYA-S / HDYA-S / HDYC-S / HDYE-S / HDYG-S featherkey Mx h9 h9 9j 9j A holes 9 Equi-spaced on PC DIA,, HDYC-S / HDYG-S, M Mx featherkey 7h h9 j j A holes Equi-spaced on PC DIA, 9, You can find the CAD-files of the dimensional drawings in the "dxf" format on our homepage. 7 Parker Hannifin GmbH
9- N HDY motors Motor characteristics curves HDY MOTORS ( VAC). HDYC-S / COMPAXSL. HDYC-S / SV or COMPAXS.....7...9.9....7...9.9............. HDY7C-S / COMPAXSL....9..... SV performance is limited to rpm HDY7C-S / SV or COMPAXS.............9... SV performance is limited to rpm. HDY7E-S / COMPAXSL. HDY7E-S / SV or COMPAXS........9.....9... SV performance is limited to rpm. HDY9C-S / COMPAXSL. HDY9C-S / SV or COMPAXS........9....9... SV performance is limited to rpm Parker Hannifin GmbH
9- N HDY motors HDY MOTORS ( VAC) HDY9E-S / SV or COMPAXS 7.....9. SV performance is limited to rpm HDYA-S / SV or COMPAXS 9. 7... HDYA-S / SV or COMPAXS.7 9. 7... HDYC-S / SV or COMPAXS. 7. 9. 7... HDY MOTORS ( VAC) HDYC-S / SV or COMPAXM HDYC-S / SV or COMPAXS.........7.9 7...7.7.. SV performance is limited to rpm HDY7C-S / SV or COMPAXM HDY7C-S / SV or COMPAXS.............9... SV performance is limited to rpm HDY7E-S / SV or COMPAXM. HDY7E-S / SV or COMPAXS.....9.9. SV performance is limited to rpm. SV performance is limited to rpm 9 Parker Hannifin GmbH
9- N HDY motors HDY MOTORS ( VAC) HDY9C-S / SV or COMPAXM. HDY9C-S / SV or COMPAXS....9.9. SV performance is limited to rpm HDY9E-S / SV or COMPAXM...9. SV performance is limited to rpm. SV performance is limited to rpm HDY9E-S / SV or COMPAXS 7.....9. SV performance is limited to rpm HDYA-S / SV or COMPAXM 7.....9. SV performance is limited to rpm HDYA-S / SV or COMPAXS 7. 9. 7... SV performance is limited to rpm HDYA-S / SV or COMPAXM 9. HDYA-S / SV or COMPAXS 7. 7.. 9. 7... SV performance is limited to rpm. SV performance is limited to rpm Parker Hannifin GmbH
9- N HDY motors HDY MOTORS ( VAC) HDYC-S / SV or COMPAXM 9. 7... SV performance is limited to rpm HDYC-S / SV or COMPAXM 7. HDYC-S / SV or COMPAXS. 7. 9. 7... SV performance is limited to rpm HDYC-S / SV or COMPAXS.. 7. 7. 7.. 9... SV performance is limited to rpm. SV performance is limited to rpm HDYE-S / SV or COMPAXM 7. HDYE-S / SV or COMPAXS.. 7. 7.. 7.. 9... SV performance is limited to rpm. SV performance is limited to rpm HDYG-S / SV or COMPAXM 7. HDYG-S / SV or COMPAXS.. 7. 7.. 7.. 9... SV performance is limited to rpm. SV performance is limited to rpm Parker Hannifin GmbH
9- N HDY motors HDY MOTORS ( VAC) HDYG-S / SV or COMPAXM. HDYC-S / SV or COMPAXM 7. 7.. 7.. 7. 7. 9.. SV performance is limited to rpm HDYC-S / SV or COMPAXS.. 7... 9... SV performance is limited to rpm. SV performance is limited to rpm HDYC-S / SV or COMPAXM... 7.. 9... SV performance is limited to rpm HDYG-S / SV or COMPAXM 7. HDYG-S / SV or COMPAXS.. 7. 7.. 7.. 9... SV performance is limited to rpm SV performance is limited to rpm HDYG-S / SV or COMPAXM.. 7.. 7. 9.. SV performance is limited to rpm 7 HDYG-S /COMPAXM... 7. 7. 9.. Parker Hannifin GmbH
9- N Connecting cable to motor Connecting cable to motor Standard cable High-flex cable Resolver cable Sensor cable (SinCos ) Motor cable With connectors: HJ9, HJ, HDY, HDY7, HDY9, HDY.mm.mm up to.a up to.9a With terminal boxes: HJ, HJ9 HDY.mm up to.9a mm up to.a mm up to 7.A Cable sheathed REK/.. GBK/.. MOK/.. MOK/.. MOK/.. MOK/.. MOK/.. Connector set - -7 - - - - - - - - -7 Cable - - -9-9 -9 - - Cable data in mm 9.// 7.//.7/7/7.7/7/7.7/7/7.//.// Cable sheathed REK/.. GBK7/.. MOK/.. MOK/.. MOK/.. MOK/.. MOK/.. Connector set - - -7 - - - - - - -7 - Cable - - - - - - - Cable data in mm *././..// 9./9/9 /./. /./..//.// Resolver cable for HJ and HDY motors REK Pin solder side 9 7 yellow ge SIN+ x. SIN+ solder side green gn SIN- SIN- Codiernut brown br COS+ x. 9 COS+ white ws COS- COS- 7 blue bl Ref+ x. Ref+ red rt Ref- 7 Ref- 9 pink rs +Temp (+V) x. +Temp grey gr -Temp 9 -Temp 7 mm LiYCY xx. No. - mm mm In HJ motors, ensure that the thermal sensor has the correct terminal arrangement. Version in high-flex: REK (same layout) Packaging Packaging of motor in accordance with connector manufacturer's specification Packaging of device Strip mm sheathing off. Cut sheath down to mm. Strip mm of insulation of ends and coat in tin. Place sheath over large area of housing (e.g. fold sheath over outer cover and fasten down by relieving tension). * 9 Cable diameter / minimum bending radius (static) / minimum bending radius (dynamic) Parker Hannifin GmbH
9- N Connecting cable to motor Motor cable for HJ and HDY motors MOK (max..a) mm 7 mm MOK mm mm Shrink-fit hose mm standard/highflex standard/hochflex U V W Br. +V Br. -V black/black black/brown black/blue black/red black/green black sw/sw sw/br sw/bl sw/rt sw/gr sw U V W Br+ Br- Lötseite / Crimpseite PE green-yellow gn/ge ( ) mm CY-JZ 7x. No -9 mm 7 mm mm mm Version in high-flex: MOK (same layout) MOK/.. (max..9a): HJ (version in high-flex: MOK) Layout corresponds to MOK, however motor lines in. mm Packaging Packaging of motor in accordance with connector manufacturer's specification Contacts for. mm and. mm are supplied with the connector set. Packaging of device Material: x crimping sleeves. cm shrink-fit hose. Procedure: Strip mm sheathing off cable. Cut down sheath to approx. mm, loosen, fold back over outer cover (approx. 7 mm) and stick with insulating tape. Shorten sw,sw,sw,sw,sw approx. mm ; (gn/ge approx. mm longer); cut down sw. Attach x approx. mm shrink-fit hose (sticky). Strip mm of insulation of ends of wires and secure with crimping sleeve.. Parker Hannifin GmbH
9- N Connecting cable to motor MOK (max..9a) mm 7 mm MOK U mm standard/highflex black/black mm mm Shrink-fit hose standard/hochflex sw/sw U V W black/ brown black/blue sw/br sw/bl V W Br. +V black/red sw/rt Br+ Br. -V black/ green black sw/gr sw Br- PE green-yellow gn/ge PE CY-JZ 7x. No. -9 mm mm mm 7 mm 9 mm mm 7 mm mm mm mm Version in high-flex: MOK (same layout) MOK (max..a) in high-flex (same layout to MOK, however in mm ) MOK (max. 7.A) in high-flex (same layout to MOK, however in mm ) Packaging Packaging of device Material: x crimping sleeves. cm shrink-fit hose. Procedure: Strip mm sheathing off cable. Cut sheath down to approx. mm, loosen, fold back over outer cover (approx. 7 mm) and stick with insulating tape. Shorten sw,sw,sw,sw,sw ca. mm (gn/ge approx. mm longer) cut down sw. Attach x approx. mm shrink-fit hose (sticky). Strip mm of insulation off ends of wires and secure with crimping sleeves.. Packaging of motor in accordance with manufacturer's specification Strip 9 mm sheathing of cable. Cut sheath down to approx. 7 mm, stick remaining mm with insulating tape. Shorten sw,sw,sw,sw,sw by approx. mm (gn/ge approx. mm longer) cut down sw. Strip mm of insulation of ends of wires and secure with crimping sleeves.. Parker Hannifin GmbH
9- N Connecting cable to motor SinCos cable for HJ and HDY motors GBK 7 Pin solder side 9 7 ST+ black x. sw + ST- pink rs - Th 9 green x. gn K Th grey gr 9 K SIN+ yellow x. ge SIN+ SIN- violet vio SIN- COS+ brown x. br COS+ COS- white ws COS- +V red x. rt +V GND 7 blue bl 7 GND r x. r solder- / Crimp side 9 7 7 mm LiYCY xx.+x.+. No. - screen at sceen contact Packing according as the regulation of the manufacturer mm mm x Crimp contacts.-. Version in high-flex: GBK7 (same layout) Packaging Packaging of motor in accordance with connector manufacturer's specification Packaging of device Strip mm sheathing off. Cut sheath down to mm. Strip mm of insulation of ends and coat in tin. Place sheath over large area of housing (e.g. fold sheath over outer cover and fasten down by relieving tension). Parker Hannifin GmbH
9- N Order code Order code motors Motors / HJ 9C-S H J 9 C S HJ C-S H J C S HJ E-S H J E S HJ A-S H J A S HJ E-S H J E S HJ G-S H J G S HJ G-S with fan H J G S...FN*... HJ 9J-S with fan H J 9 J S...FN*... HDY C-S H D Y C S HDY 7C-S H D Y 7 C S HDY 7E-S H D Y 7 E S HDY 9C-S H D Y 9 C S HDY 9E-S H D Y 9 E S HDY A-S H D Y A S HDY A-S H D Y A S HDY C-S H D Y C S HDY E-S H D Y E S HDY G-S H D Y G S HDY C-S H D Y C S HDY G-S H D Y G S Options (please separate two options with "/") with brake ( Volt) B R SinCos Multiturn Encoder (absolute encoder) S R M SinCos Singleturn Encoder S R S * FN: Code for fan 7 Parker Hannifin GmbH
9- N Order code Order code cables Motor cable, resolver cable, encoder cable / Motor cable for HJ9, HJ, HDY, HDY7, HDY9, HDY Motor cable.mm standard (<.A) M O K Motor cable.mm highly flexible (<.A) M O K Motor cable.mm standard (<.9A) M O K Motor cable.mm highly flexible (<.9A) M O K Motor cable for HJ, HJ9, HDY Motor cable.mm standard (<.9A) M O K Motor cable.mm highly flexible (<.9A) M O K Motor cable for HJ, HJ9, HDY Motor cable mm highly flexible (= standard) (<.A) M O K Motor cable for HJ, HJ9, HDY Motor cable mm highly flexible (= standard) (<7.A) M O K Resolver cable (identical for all motors) Resolver cable standard R E K Resolver cable highly flexible R E K Encoder cable (identical for all motors) Encoder cable (SInCos ) standard G B K Encoder cable (SInCos ) highly flexible G B K 7 Length of ready-made cables see following table Example: requested length m 9 Length [m]... 7........... Code 7 9 Lengths indicated in bold print are preferred. Parker Hannifin GmbH