CARTRIDGE DDR S3/S6 Direct Drive Systems
Table of Contents Why Direct Drive Technology? 2 Mounting Requirements The DDR Story 3 C4x 27 What s a Cartridge Motor? 4 Cx 27 Technical Performance Data C6x 27 C4X,6,7 C9x 28 Cx 8,9,1 C13x 28 C6x 11,12,13 Machine Interface Summary C9x 14, C4x 29 C13x 16,17,18,19 Cx 29 Outline Drawings C6x 29 C4x 2 C9x 29 Cx 21 C13x 29 C6x 22 C9x 23,24 CDDR System Summary 3 C13x 2,26 Ordering Guide 31 Why Direct Drive? Simplification. Performance. Productivity. With a Direct Drive Solution your machine design is simplified, eliminating noisy mechanical transmissions and the performance limitations that go with them. Direct coupling of the torque motor to the load allows improvements in machine throughput that would never be achievable with a compliance ridden mechanical transmission. Expensive maintenance can also be eliminated since no belts or pulleys need to be adjusted, no gearboxes need to be lubricated your machine keeps running, providing the throughput your customers demand from your machine! Why Cartridge DDR? The Cartridge DDR is the next step in the evolution of Direct Drive solutions! The advantages of direct drive can now be applied in even more applications with greater ease. Multiple bearing alignments are not a concern as the Cartridge design makes it even easier to integrate onto your machine, utilizing your existing bearing structure! Now you can realize the benefits of direct drive in a package that mounts just like a conventional servomotor. Conventional Motor Systems Conventional servo systems with mechanical transmissions limit servo performance and reliability. They typically suffer from bulkier designs due to use of transmissions, belt / pulley adjustments and replacements, and more extensive maintenance all of which costs time and money. Conventional Motor Systems Integration Costs Positioning inaccuracy from transmission compliance Mounting and alignment of gearbox / belt / bracket Servo tuning difficulties caused by compliance and backlash Pulley installation and tensioning Oversize motor for inertia matching Extra components clutch, output shaft feedback device Motor / gearbox mounting Bracket High parts count Purchasing and BOM Inventory and Inspection Coordinate multiple lead times Life Cycle Costs Machine maintenance Belt tensioning and replacement Gearbox lubrication and replacement Increasing backlash due to wearing gears Costs to support field failures Unscheduled down time Belt breakage Belt slippage Gearbox failure Reduced throughput due to compliance and settling time CARTRIDGE DDR Solution
CARTRIDGE DDR Motors The DDR (Direct Drive Rotary) Story What is direct drive? Very simply it is the direct coupling of a torque motor to the driven load. This configuration results in a very stiff mechanical connection to the load, thus, eliminating problems associated with couplings, belts and gearboxes. DDR Advantages: Increased bandwidth - Allowing greater machine throughput Increased quality - Up to times more accurate Simplified design - Elimination of parts, faster build cycle Increased machine run time - Elimination of belts and pulleys Decreased maintenance - No gearboxes to lubricate/leak Quiet operation - Reduction of machine noise, perception of quality! Kollmorgen: The DDR Birthplace In the early 19 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 medical imaging, machine tools, injection molding, converting, and semiconductor processing machines. Our product range covers from.3 to over 2, of torque and over 3 meters in diameter. Danaher Motion Story By combining industry leading brands such as Kollmorgen, Thomson, and Dover, Danaher Corporation established a customer focused motion control manufacturer known as Danaher Motion. Danaher Corporation s unrelenting focus on customer satisfaction is lead by the Danaher Business System, a business management system designed to achieve world class excellence in quality, delivery, cost and innovation. With a worldwide service and support infrastructure, our field service engineers and support teams are available when you need them. Three DDR Product Categories Kollmorgen s years of electromagnetic and electromechanical design expertise combined with Danaher Motion's quality and service, allowed us to refine and expand DDR technology into three product categories for easy installation, use, and short lead times. The three product categories are Frameless DDR, Housed GOLDLINE DDR, and the CARTRIDGE DDR. This allows you to select the right DDR solution for your application. F Series Frameless DDR Frameless motors include a rotor and stator as separate components which are integrated into, ride on the bearings of, and become a part of the driven load. Frameless motors offer the most compact and light weight DDR solution available. The F series are Danaher Motion's latest Frameless DDR product. They provide excellent torque/volume with the use of a proprietary neodymium-iron magnet rotor structure and skewed armature assembly. The F series is the first UL recognized parts set available on the market. This provides machinery manufacturers the benefits of UL component ratings for easier agency approval on their machine. Danaher Motion GOLDLINE DDR The Danaher Motion GOLDLINE DDR is a housed motor assembly featuring a factory aligned highresolution feedback device and precision bearings that allow it to function as the core of rotary indexing and rate table applications. The system can also be used as a flexible indexer, providing programmable, rapid indexing far exceeding the throughput and accuracy of conventional mechanical or variable reluctance technology indexers. CARTRIDGE DDR (Patented) The CARTRIDGE DDR motor is the first in the industry to combine the space-saving and performance advantages of Frameless DDR technology with the ease of installation of a fullframe motor. Consisting of a rotor, stator, and factory-aligned high-resolution feedback device, the CARTRIDGE DDR motor uses the machine s bearings to support the rotor. An innovative compression coupling engages the rotor to the load and the frame of the CARTRIDGE DDR mounts to the machine with a bolt circle and pilot diameter just like a conventional servo motor saving space and design time and simplifying the overall system. CARTRIDGE DDR Motor Frameless Motors DDR Applications DDR Format Frameless DDR Housed GOLDLINE DDR CARTRIDGE DDR (patented) Where Used Applications where size and weight must be absolutely minimized Applications where the load rides on the motor's bearings such as indexing or rate tables Any application with existing bearings GOLDLINE DDR Housed Motors
What is a CARTRIDGE DDR Motor? The CARTRIDGE DDR motor is the newest addition to the Danaher Moton line of DDR products. The CARTRIDGE DDR motor does not have bearings. It mounts to a machine using the machine s existing bearings to support the motor s rotor. The frame of the CARTRIDGE DDR motor mounts to a pilot and bolt circle on the machine frame much like a conventional motor. The rotor engages to the load using an innovative compression coupling, which effectively makes the motor s rotor and the load one piece, eliminating any compliance between the motor and the load. The CARTRIDGE DDR motor brings a quantum leap in cost effectiveness and ease of application when compared to any other direct drive configuration. Compared to the months of engineering and days of installation of a frameless motor and feedback device, the CARTRIDGE DDR requires a simple shaft and pilot configuration and as little as minutes from shipping container to operation. Thanks to the CARTRIDGE DDR motor, a significantly broader range of motion applications will benefit from the performance and reliability advantages of direct drive. How does the CARTRIDGE DDR Mount to a Machine? It is a simple and quick procedure to mount a CARTRIDGE DDR motor to a machine: Slide the CARTRIDGE DDR motor onto machine shaft Bolt CARTRIDGE DDR motor housing to machine frame compression coupling Remove/store shipping hardware Connect cables and run the motor! CARTRIDGE DDR Standard Features: Assembles as quickly as minutes frame sizes, multiple lengths Continuos torque from 4.6 to 1 Peak torque from 11.3 to 117 Absolute position sine encoder with maximum resolution of 2,97,2 counts per revolution System configuration with SERVOSTAR 3/6 digital drives UL and CE agency certification Proprietary electromagnetic design provides higher torque per volume Power Connector (Feedback connector not shown) Absolute Sine Encoder CARTRIDGE DDR Options: 23/4/48 VAC windings available High and low speed windings Hollow shaft available on C9x and C13x models, provides a 1.26 inch (32mm) through bore to allow process or wiring to run through the center of the motor. Provision for mounting a rotary union to the shaft and housing is included. See pages 23 to 26 for details. Km (Nm/sqrt(watt)) 2 2 1 End Cover Density Danaher Motion CARTRIDGE DDR Conventional DDR UP to % increase! Shipping Set Screw Compression Coupling Compression Coupling Bolt Customer Shaft Customer Pilot CARTRIDGE DDR Application Considerations: Inertia matching Since the CARTRIDGE DDR motor is directly connected to the machine, inertial matching is not required as it is on a conventional motor. With direct drive, inertia miss match of 2 to 1 is common and miss match of 1 to 1 has been demonstrated. Mounting Orientation The CARTRIDGE DDR motor can be mounted with any orientation including either a horizontal or vertical shaft. Proprietary electromagnetic design gives CARTRIDGE DDR motors more torque per volume than conventional DDR technology. 4 6 8 1 12 14 Volume in inˆ3
CARTRIDGE DDR Motors System Performance at 24 VAC C4xA CARTRIDGE DDR Motor with S3 Series Drive Amplifier System Performance Symbol Units C41A C42A C43A C44A Continuous 1 C Rise 123 Cont. Line Current Ic amps RMS 2.73 4.68 4.73 4.91 3.37 4.7 6.8 8.2 8.2 11.1 1.3 13.9 Continuous 7 C Rise 123 2.93 3.97.3 7.19 7.14 9.68 9.14 12.4 Cont. Line Current --- 2.38 4.8 4.13 4.37 Peak 9.9 12.3 16.4 22.2 22.1 3. 27.6 37.4 Peak Line Current Ip amps RMS 8.2 14. 14.2 14.7 Maximum Speed N max RPM 17 17 12 Weight Rotor Inertia Wt Jm lb kg (f) 9. 4.8 oz-in-sec 2 kg-cm 2.83.86 12..67.126 8.87 16. 7.26.168 11.9 19. 8.84.211 14.9 SYSTEM: C41A WITH S33 AT AT 24 24 VAC VAC SYSTEM: SYSTEM: C42A C42A WITH WITH S36 S36 AT AT 24 24 VAC VAC 1 14 12 2 2 8 6 4 1 8 6 Continuous 1 o C Rise 1 2 1 Continuous 1 o C Rise 2 4 2 Continuous 7 o C Rise 2 7 1 12 17 2 Continuous 7 o C Rise 2 7 1 12 17 SYSTEM: C43A C43A WITH WITH S36 S36 AT AT 24 24 VAC VAC SYSTEM: C44A C44A WITH WITH S36 S36 AT AT 24 24 VAC VAC 2 2 1 3 3 2 2 Continuous 1 o C Rise 1 Continuous 7 o C Rise 2 4 6 8 1 12 14 3 2 2 1 4 3 3 2 Continuous 1 o C Rise 2 1 Continuous 7 o C Rise 2 4 6 8 1 12 Notes: 1. At 4 C Ambient. 2. Increase by 1.6 times for 2 C Ambient. 3. Temperature rise assumes a 12 x 12 x. inch Aluminum mounting plate or equivalent.
System Performance at 4/48 VAC CH4xA CARTRIDGE DDR Motor with S3 Series Drive Amplifier System Performance Symbol Units CH41A CH42A CH43A CH44A Continuous 1 C Rise 123 Cont. Line Current Ic amps RMS 2.73 4.68 4.73 4.9 3.37 4.6 6.9 8.26 8.2 11.1 1.2 13.9 Continuous 7 C Rise 123 2.93 3.97.3 7.19 7.14 9.68 9.14 12.4 Cont. Line Current --- 2.38 4.8 4.13 4.3 Peak 8.33 11.3 14. 19. 18.7 2.3 23.3 31.6 Peak Line Current Ip amps RMS 7. 12. 12. 12. Maxumum Speed (4 V) Maxumum Speed (48 V) N max RPM 2 2 2 2 22 2 18 22 Weight Rotor Inertia Wt Jm lb kg (f) 9. 4.8 oz-in-sec 2 kg-cm 2.83.86 12..67.126 8.87 16. 7.26.168 11.9 19. 8.84.211 14.9 SYSTEM: CH41A WITH S33 S33 AT AT 4/48 VAC VAC SYSTEM: CH42A WITH S36 AT 4/48 VAC 8 6 4 2 12 1 8 6 4 2 Continuous 7 o C Rise Continuous 1 o C Rise 1 2 2 3 14 12 1 8 6 4 2 2 18 16 14 12 1 Continuous 1 o C Rise 8 6 4 2 Continuous 7 o C Rise 1 2 2 3 SYSTEM: CH43A WITH S36 AT AT 4/48 VAC VAC SYSTEM: CH44A WITH S36 AT 4/48 VAC 2 1 3 2 2 1 Continuous 1 o C Rise 4 VAC Limit Continuous 7 o C Rise 1 2 2 3 2 2 1 3 4 VAC Limit 3 2 2 Continuous 1 o C Rise 1 Continuous 7 o C Rise 1 2 2 6 Notes: 1. At 4 C Ambient. 2. Increase by 1.6 times for 2 C Ambient. 3. Temperature rise assumes a 12 x 12 x. inch Aluminum mounting plate or equivalent.
CARTRIDGE DDR Motors System Performance at 24 VAC C4xB CARTRIDGE DDR Motor (High Speed Winding) with S3 / S6 Series Drive Amplifiers System Performance Symbol Units C41B C42B C43B C44B Continuous 1 C Rise 123 Cont. Line Current Ic amps RMS 4.69 9.19 9. 9.3 3.33 4.2 6.23 8.4 8.23 11.2 1.4 14.1 Continuous 7 C Rise 123 2.91 3.94.43 7.36 7.17 9.73 9.22 12. Cont. Line Current --- 4.9 8.1 7.98 8. Peak (S3) 9.1 12.2 12.8 17.3 16.9 22.9 2.6 28. Peak (S6) 16.8 22.8 22.2 3.2 28. 37.9 Peak Line Current Ip amps RMS 14.1 27.6 27. 28.6 Maximum Speed N max RPM 2 2 2 2 Weight Rotor Inertia Wt Jm lb kg (f) 9. 4.8 oz-in-sec 2 kg-cm 2.83.86 12..67.126 8.87 16. 7.26.168 11.9 19. 8.84.211 14.9 SYSTEM: C41B WITH S36 S36 AT AT 24 24 VAC SYSTEM: C42B WITH S61-3 // S31 AT 24 VAC 1 8 14 12 1 2 2 2 S31 Limit 6 4 2 8 Continuous 1 o C Rise 6 4 2 Continuous 7 o C Rise 1 2 2 3 1 1 Continuous 1 o C Rise Continuous 7 o C Rise 1 2 2 3 SYSTEM: C43B WITH S61-3 / S31 AT 24 VAC SYSTEM: C44B WITH S61-3 / S31 AT 24 VAC 2 2 1 3 3 S31 Limit 2 2 Continuous 1 o C Rise 1 Continuous 7 o C Rise 1 2 2 3 3 2 2 1 4 3 3 2 2 S31 Limit Continuous 1 o C Rise 1 Continuous 7 o C Rise 2 7 1 12 17 2 22 Notes: 1. At 4 C Ambient. 2. Increase by 1.6 times for 2 C Ambient. 3. Temperature rise assumes a 12 x 12 x. inch Aluminum mounting plate or equivalent. 7
System Performance at 24 VAC CxA CARTRIDGE DDR Motor with S3 / S6 Series Drive Amplifiers System Performance Symbol Units C1A C2A C3A C4A Continuous 1 C Rise 123 Cont. Line Current Ic amps RMS 4.78 9.94 9.28 9.82 8.66 11.7 12. 17.. 21. 18.4 24.9 Continuous 7 C Rise 123 7.4 1.2 1.9 14.8 13. 18.3 16.1 21.8 Cont. Line Current --- 4.17 8.67 8.1 8.62 Peak (S3) 22.3 3.2 24.8 33.6 32.4 43.9 36.3 49.2 Peak (S6) 32.1 43. 39.9 4.1 47.1 63.8 Peak Line Current Ip amps RMS 12.9 26.8 2.1 26. Maximum Speed N max RPM 12 18 13 12 Weight Rotor Inertia Wt Jm lb kg (f) 18. 8.39 oz-in-sec 2 kg-cm 2.388 27.4 23. 1.7.8 3.9 29. 13.2.628 44.3 34..4.748 2.8 SYSTEM: C1A WITH S36 AT 24 VAC SYSTEM: C2A WITH S61-3 / S31 AT 24 VAC 3 2 3 2 2 2 Continuous 1 o C Rise 1 1 Continuous 7 o C Rise 3 3 2 2 1 4 4 3 3 2 2 1 S31 Limit Continuous 1 o C Rise Continuous 7 o C Rise 2 4 6 8 1 12 14 2 4 6 8 1 12 14 16 18 2 SYSTEM: C3A WITH S61-3 // S31 AT 24 VAC SYSTEM: C4A WITH S61-3 / S31 AT 24 VAC 4 3 2 1 6 S31 Limit 4 3 Continuous 1 o C Rise 2 1 Continuous 7 o C Rise 2 4 6 8 1 12 14 16 4 3 2 1 7 6 S31 Limit 4 Continuous 1 o C Rise 3 2 1 Continuous 7 o C Rise 2 4 6 8 1 12 14 8 Notes: 1. At 4 C Ambient. 2. Increase by 1.6 times for 2 C Ambient. 3. Temperature rise assumes a 18 x 18 x. inch Aluminum mounting plate or equivalent.
CARTRIDGE DDR Motors System Performance at 4/48 VAC CHxA CARTRIDGE DDR Motor with S3 / S6 Series Drive Amplifiers System Performance Symbol Units CH1A CH2A CH3A CH4A Continuous 1 C Rise 123 Cont. Line Current Ic amps RMS 4.78 9.94 9.28 9.82 8.66 11.7 12. 17.. 21. 18.4 24.9 Continuous 7 C Rise 123 7.4 1.2 1.9 14.8 13. 18.3 16.1 21.8 Cont. Line Current --- 4.17 8.67 8.1 8.62 Peak (S3) 2.7 28. Peak (S6) 32.1 43. 39.9 4.1 47.1 63.8 Peak Line Current Ip amps RMS 12. 26.8 2.1 26. Maxumum Speed (4 V) Maxumum Speed (48 V) N max RPM 21 2 2 2 23 2 21 2 Weight Rotor Inertia Wt Jm lb kg (f) 18. 8.39 oz-in-sec 2 kg-cm 2.388 27.4 23. 1.7.8 3.9 29. 13.2.628 44.3 34..4.748 2.8 SYSTEM: CH1A WITH S36 AT 4/48 VAC SYSTEM: CH2A WITH S61-3 AT 4/48 VAC 2 1 3 2 2 Continuous 1 o C Rise 4 VAC Limit 3 3 2 2 4 4 3 3 2 2 Continuous 1 o C Rise 1 Continuous 7 o C Rise 1 2 2 3 1 1 Continuous 7 o C Rise 1 2 2 3 SYSTEM: CH3A WITH S61-3 AT 4/48 VAC SYSTEM: CH4A WITH S61-3 AT 4/48 VAC 4 3 2 1 6 4 3 2 Continuous 1 o C Rise 1 Continuous 7 o C Rise 1 2 2 3 Notes: 1. At 4 C Ambient. 2. Increase by 1.6 times for 2 C Ambient. 3. Temperature rise assumes a 18 x 18 x. inch Aluminum mounting plate or equivalent. 4 VAC Limit 7 4 VAC Limit 6 4 3 2 1 4 3 2 Continuous 1 o C Rise 1 Continuous 7 o C Rise 1 2 2 3 9
System Performance at 24 VAC CxB CARTRIDGE DDR Motor (high speed winding) with S3 / S6 Series Drive Amplifiers System Performance Symbol Units C1B C2B C3B C4B Continuous 1 C Rise 123 Cont. Line Current Ic amps RMS 9.34 13.6 18.4 17.4 8.77 11.9 12.3 16.7 14.9 2.2 17.6 23.8 Continuous 7 C Rise 123 7.63 1.4 1.7 14. 12.9 17.6.4 2.9 Cont. Line Current --- 8. 11.9 16..3 Peak (S3) 18.2 24.6 Peak (S6) 22.6 3.6 31. 42.7 31.3 42. 39. 2.8 Peak Line Current Ip amps RMS 2.2 36.7 4. 4. Maximum Speed N max RPM 24 2 2 23 Weight Rotor Inertia Wt Jm lb kg (f) 18. 8.39 oz-in-sec 2 kg-cm 2.388 27.4 23. 1.7.8 3.9 29. 13.2.628 44.3 34..4.748 2.8 SYSTEM: C1B WITH S61-3 / S31 / S31 AT AT 24 24 VAC SYSTEM: SYSTEM: C2B C2B WITH WITH S62 S62 AT AT 24 24 VAC VAC 2 2 1 3 3 2 2 1 S31 Limit Continuous 1 o C Rise Continuous 7 o C Rise 3 3 2 2 1 4 4 3 3 2 2 1 Continuous 1 o C Rise Continuous 7 o C Rise 1 2 2 1 2 2 3 SYSTEM: C3B WITH S62 AT AT 24 VAC SYSTEM: C4B WITH S62 AT AT 24 VAC 3 3 2 2 1 4 4 3 3 2 Continuous 1 o C Rise 2 1 Continuous 7 o C Rise 1 2 2 3 4 3 2 1 6 4 3 Continuous 1 o C Rise 2 1 Continuous 7 o C Rise 2 7 1 12 17 2 22 2 Notes: 1. At 4 C Ambient. 2. Increase by 1.6 times for 2 C Ambient. 3. Temperature rise assumes a 18 x 18 x. inch Aluminum mounting plate or equivalent. 1
CARTRIDGE DDR Motors System Performance at 24 VAC C6xA CARTRIDGE DDR Motor with S3 / S6 Series Drive Amplifiers System Performance Symbol Units C61A C62A C63A Continuous 1 C Rise 123 Cont. Line Current Ic amps RMS 1. 14.7 14.1 24.9 33.8 3.3 47.8 4. 61. Continuous 7 C Rise 123 21.7 29.4 3.7 41.7 39.2 3.2 Cont. Line Current --- 8.72 12.9 12.3 Peak (S3) 48. 6.7 Peak (S6) 64.1 86.8 9.7 123 116 7 Peak Line Current Ip amps RMS 27. 39.8 38. Maximum Speed N max RPM 9 9 7 Weight Rotor Inertia Wt Jm lb kg (f) 41. 18.6 oz-in-sec 2 kg-cm 2 1.33 94.1 2. 23.6 1.78 126 63. 29. 2.23 7 SYSTEM: C61A C61A WITH WITH S61-3 AT AT 24 24 VAC VAC SYSTEM: C62A C62A WITH WITH S62 S62 AT AT 24 24 VAC VAC 7 6 4 3 2 1 1 9 8 S31 Limit 7 6 Continuous 1 o C Rise 4 3 2 Continuous 7 o C Rise 1 1 2 3 4 6 7 8 9 1 1 8 6 4 2 14 12 1 8 Continuous 1 o C Rise 6 4 2 Continuous 7 o C Rise 1 2 3 4 6 7 8 9 1 SYSTEM: C63A WITH S62 S62 AT AT 24 24 VAC 12 1 8 6 4 2 18 16 14 12 1 8 Continuous 1 o C Rise 6 4 2 Continuous 7 o C Rise 1 2 3 4 6 7 8 Notes: 1. At 4 C Ambient. 2. Increase by 1.6 times for 2 C Ambient. 3. Temperature rise assumes a 18 x 18 x. inch Aluminum mounting plate or equivalent. 11
System Performance at 4 / 48 VAC CH6x CARTRIDGE DDR Motor with S6 Series Drive Amplifier System Performance Symbol Units CH61A CH62A CH63A CH63B Continuous 1 C Rise 123 Cont. Line Current Ic amps RMS 1. 14.7 14.1 19.8 24.9 33.8 3.3 47.8 4. 61. 43. 9. Continuous 7 C Rise 123 21.7 29.4 3.7 41.7 39.2 3.2 37.9 1.4 Cont. Line Current --- 8.72 12.9 12.3 17.3 Peak (S6) 64.1 86.8 9.7 123 116 7 84.9 1 Peak Line Current Ip amps RMS 27. 39.8 38. 4. Maxumum Speed (4 V) Maxumum Speed (48 V) N max RPM 16 19 16 2 12 18 22 Weight Rotor Inertia Wt Jm lb kg (f) 41. 18.6 oz-in-sec 2 kg-cm 2 1.33 94.1 2. 23.6 1.78 126 63. 29. 2.23 7 63. 29. 2.23 7 SYSTEM: CH61A WITH S61-3 AT 4/48 VAC SYSTEM: CH61A WITH S61-3 AT 4/48 VAC SYSTEM: CH62A WITH S62 AT 4/48 VAC SYSTEM: CH62A WITH S62 AT 4/48 VAC 7 6 4 3 2 1 1 9 8 7 6 4 3 2 1 4 VAC Limit Continuous 1 o C Rise Continuous 7 o C Rise 1 8 6 4 2 14 12 1 8 6 4 2 4 VAC Limit Continuous 1 o C Rise Continuous 7 o C Rise 2 4 6 8 1 12 14 16 18 2 2 4 6 8 1 12 14 16 18 2 22 12 1 8 6 4 2 16 14 12 1 8 6 4 2 SYSTEM: CH63A WITH S62 AT 4/48 VAC 4 VAC Limit Continuous 1 o C Rise Continuous 7 o C Rise 1 8 6 4 2 14 12 1 8 6 4 2 SYSTEM: CH63B WITH S62 AT 4/48 VAC 4 VAC Limit Continuous 1 o C Rise Continuous 7 o C Rise 2 4 6 8 1 12 14 16 2 7 1 12 17 2 22 Notes: 1. At 4 C Ambient. 2. Increase by 1.6 times for 2 C Ambient. 3. Temperature rise assumes a 18 x 18 x. inch Aluminum mounting plate or equivalent. 12
CARTRIDGE DDR Motors System Performance at 24 VAC C6xB CARTRIDGE DDR Motor (high speed winding) with S6 Series Drive Amplifier System Performance Symbol Units C61B C62B C63B Continuous 1 C Rise 123 Cont. Line Current Ic amps RMS 19.7 2. 19.8 24.1 32.6 32.9 44.7 43. 9. Continuous 7 C Rise 123 21. 28.4 29.9 4. 37.9 1.4 Cont. Line Current --- 17.2 18.2 17.3 Peak (S6) 47.3 64.1 64.1 86.9 84.9 1 Peak Line Current Ip amps RMS 4. 4. 4. Maximum Speed N max RPM 19 14 Weight Rotor Inertia Wt Jm lb kg (f) 41. 18.6 oz-in-sec 2 kg-cm 2 1.33 94.1 2. 23.6 1.78 126 63. 29. 2.23 7 SYSTEM: SYSTEM: C61B C61B WITH WITH S62 S62 AT AT 24 24 VAC VAC SYSTEM: C62B WITH S62 AT AT 24 VAC 4 3 2 1 7 6 4 3 2 1 Continuous 1 o C Rise Continuous 7 o C Rise 6 4 3 2 1 9 8 7 6 4 3 2 1 Continuous 1 o C Rise Continuous 7 o C Rise 2 4 6 8 1 12 14 16 18 2 2 4 6 8 1 12 14 16 SYSTEM: C63B WITH S62 AT 24 VAC 8 12 1 6 4 2 8 Continuous 1 o C Rise 6 4 Continuous 7 o C Rise 2 2 4 6 8 1 12 Notes: 1. At 4 C Ambient. 2. Increase by 1.6 times for 2 C Ambient. 3. Temperature rise assumes a 18 x 18 x. inch Aluminum mounting plate or equivalent. 13
System Performance at 23 VAC C9xA CARTRIDGE DDR Motor with S62 Drive Amplifiers System Performance Symbol Units C91A C92A C93A Continuous 11 C Rise Cont. Line Current Ic amps RMS 12.8.3 17.4 37..2 74.8 11 17 14 Continuous 8 C Rise 33. 44.7 66.6 9.2 9. 129 Cont. Line Current --- 11.4 13.7.6 Peak 88.2 12 17 231 228 39 Peak Line Current Ip amps RMS 4. 4. 4. Maximum Speed N max RPM 6 4 3 Weight Wt lb kg (f) 61. 27.7 91. 41.3 12 4.4 Rotor Inertia Jm -sec2 kg-m2.21.28.3.47.49.66 SYSTEM: C91A WITH S62 AT 23 VAC SYSTEM: C92A WITH S62 AT 23 VAC Continuous 11 o C Rise Continuous 11 o C Rise Continuous 8 o C Rise Continuous 8 o C Rise SYSTEM: C93A WITH S62 AT 23 VAC Continuous 11 o C Rise Continuous 8 o C Rise Notes: 1. At 4 C Ambient. 2. Increase by 1.6 times for 2 C Ambient. 3. Temperature rise assumes a 16 x 16 x.7 inch Aluminum mounting plate or equivalent. 14
CARTRIDGE DDR Motors System Performance at 4 /48 VAC CH9xA CARTRIDGE DDR Motor with S62 Drive Amplifier System Performance Symbol Units CH91A CH92A CH93A Continuous 11 C Rise 37..2 74.8 11 17 14 Cont. Line Current Ic amps RMS 12.8.3 17.4 Continuous 8 C Rise 33. 44.7 66.6 9.2 9. 129 Cont. Line Current --- 11.4 13.7.6 Peak 88.2 12 17 231 228 39 Peak Line Current Ip amps RMS 4. 4. 4. Maximum Speed (4V) Maximum Speed (48V) N max RPM 12 7 9 6 Weight Wt lb kg (f) 61. 27.7 91. 41.3 12 4.4 Rotor Inertia Jm -sec2 kg-m2.21.28.3.47.49.66 SYSTEM: CH91A WITH S62 AT 4/48 VAC SYSTEM: CH92A WITH S62 AT 4/48 VAC Continuous 11 o C Rise 4 VAC Limit 48 VAC Limit Continuous 11 o C Rise 4 VAC Limit 48 VAC Limit Continuous 8 o C Rise Continuous 8 o C Rise SYSTEM: CH93A WITH S62 AT 4/48 VAC Continuous 11 o C Rise Continuous 8 o C Rise 4 VAC Limit 48 VAC Limit Notes: 1. At 4 C Ambient. 2. Increase by 1.6 times for 2 C Ambient. 3. Temperature rise assumes a 16 x 16 x.7 inch Aluminum mounting plate or equivalent.
System Performance at 23 VAC C13xA CARTRIDGE DDR Motor with S62 Drive Amplifier System Performance Symbol Units C131A C132A C133A Continuous 11 C Rise Cont. Line Current Ic amps RMS.6 13.9 16.8 139 188 266 361 372 4 Continuous 8 C Rise 123 167 236 32 33 447 Cont. Line Current --- 13.8 12.4 14.9 Peak 287 389 9 8 7 116 Peak Line Current Ip amps RMS 4. 4. 4. Maximum Speed N max RPM 22 11 9 Weight Wt lb kg (f) 14 63. 223 11 292 132 Rotor Inertia Jm -sec2 kg-m2.91.124.166.22.223.32 SYSTEM: C131A WITH S62 AT 23 VAC SYSTEM: C132A WITH S62 AT 23 VAC Continuous 11 o C Rise Continuous 11 o C Rise Continuous 8 o C Rise Continuous 8 o C Rise SYSTEM: C133A WITH S62 AT 23 VAC Continuous 11 o C Rise Continuous 8 o C Rise Notes: 1. At 4 C Ambient. 2. Increase by 1.6 times for 2 C Ambient. 3. Temperature rise assumes a 2 x 2 x.7 inch Aluminum mounting plate or equivalent. 16
CARTRIDGE DDR Motors System Performance at 4 /48 VAC CH13xA CARTRIDGE DDR Motor with S62 Drive Amplifier System Performance Symbol Units CH131A CH132A CH133A Continuous 11 C Rise 139 188 266 361 372 4 Cont. Line Current Ic amps RMS.6 13.9 16.8 Continuous 8 C Rise 123 167 236 32 33 447 Cont. Line Current --- 13.8 12.4 14.9 Peak 287 389 9 86 7 116 Peak Line Current Ip amps RMS 4. 4. 4. Maximum Speed (4V) Maximum Speed (48V) N max RPM 4 2 2 16 2 Weight Wt lb kg (f) 14 63. 223 11 292 132 Rotor Inertia Jm -sec2 kg-m2.91.124.166.22.223.32 SYSTEM: CH131A WITH S62 AT 4/48 VAC SYSTEM: CH132A WITH S62 AT 4/48 VAC 4 VAC Limit 48 VAC Limit 4 VAC Limit 48 VAC Limit Continuous 11 o C Rise Continuous 11 o C Rise Continuous 8 o C Rise Continuous 8 o C Rise SYSTEM: CH133A WITH S62 AT 4/48 VAC 4 VAC Limit 48 VAC Limit Continuous 11 o C Rise Continuous 8 o C Rise Notes: 1. At 4 C Ambient. 2. Increase by 1.6 times for 2 C Ambient. 3. Temperature rise assumes a 2 x 2 x.7 inch Aluminum mounting plate or equivalent. 17
System Performance at 23 VAC C13xB CARTRIDGE DDR Motor (High Speed Winding) with S64 Drive Amplifier System Performance Symbol Units C131B C132B C133B Continuous 11 C Rise 14 19 266 361 376 1 Cont. Line Current Ic amps RMS 29.2 29.6 32.7 Continuous 8 C Rise 124 168 236 32 333 41 Cont. Line Current --- 2.9 26.3 29. Peak 292 396 6 79 7 117 Peak Line Current Ip amps RMS 8. 8. 8. Maximum Speed N max RPM 4 22 17 Weight Wt lb kg (f) 14 63. 223 11 292 132 Rotor Inertia Jm -sec2 kg-m2.91.124.166.22.223.32 SYSTEM: C131B WITH S64 AT 23 VAC SYSTEM: C132B WITH S64 AT 23 VAC Continuous 11 o C Rise Continuous 11 o C Rise Continuous 8 o C Rise Continuous 8 o C Rise SYSTEM: C133B WITH S64 AT 23 VAC Continuous 11 o C Rise Continuous 8 o C Rise Notes: 1. At 4 C Ambient. 2. Increase by 1.6 times for 2 C Ambient. 3. Temperature rise assumes a 2 x 2 x.7 inch Aluminum mounting plate or equivalent. 18
CARTRIDGE DDR Motors System Performance at 4 /48 VAC CH13xB CARTRIDGE DDR Motor (High Speed Winding) with S64 Drive Amplifier System Performance Symbol Units CH131B CH132B CH133B Continuous 11 C Rise 14 19 266 361 372 1 Cont. Line Current Ic amps RMS 29.2 29.6 32.7 Continuous 8 C Rise 124 168 236 32 333 41 Cont. Line Current --- 2.9 26.3 29. Peak 292 396 6 79 7 117 Peak Line Current Ip amps RMS 8. 8. 8. Maximum Speed (4V) Maximum Speed (48V) N max RPM 8 1 4 3 4 Weight Wt lb kg (f) 14 63. 223 11 292 132 Rotor Inertia Jm -sec2 kg-m2.91.124.166.22.223.32 SYSTEM: CH131B WITH S64 AT 4/48 VAC SYSTEM: CH132B WITH S64 AT 4/48 VAC 4 VAC Limit 48 VAC Limit 4 VAC Limit 48 VAC Limit Continuous 11 o C Rise Continuous 11 o C Rise Continuous 8 o C Rise Continuous 8 o C Rise SYSTEM: CH133B WITH S64 AT 4/48 VAC 4 VAC Limit 48 VAC Limit Continuous 11 o C Rise Continuous 8 o C Rise Notes: 1. At 4 C Ambient. 2. Increase by 1.6 times for 2 C Ambient. 3. Temperature rise assumes a 2 x 2 x.7 inch Aluminum mounting plate or equivalent. 19
C4X POWER CONNECTOR (ROTATABLE) POWER CONNECTOR (ROTATABLE) SHIPPING ALIGNMENT PIN COUPLING ACCESS PORT, SEAL SHIPPING SCREW ALIGNMENT PROVIDED PIN COUPLING ACCESS PORT, SEAL SCREW PROVIDED 22. [.866] 22. [.866] SIGNAL CONNECTOR (ROTATABLE) SIGNAL CONNECTOR (ROTATABLE) "B" ±.26 [.1] 12. [.472] 19. [.748] 12. [.472] 19. [.748] 79.6 [3.136] 2 PL 44. [1.72] "A" ±.2 [.2] "B" ±.26 [.1]. [.197] -RING PROVIDED Ø92. +.13 -.9 3.622 +. -.3 -D- Ø9. +.36.34 +.141 -. 4 PL AS SHOWN 4 PL AS SHOWN ON A Ø13. [.118] ON BASIC A Ø13. [.118] 4 BASIC Ø.2[.9] M Ø.2[.9] D M D 3X 9 18. [4.2] Ø9. +.36.34 +.141 -. 41. [1.61] 3X 9 18. [4.2] 41. [1.61] 6.4 [2.22] 4 6.4 [2.22] 31. [1.22]. [.61] 93.26 MAX [3.672] 2 PL 31. [1.22]. [.61] B ALTERNATE COUPLING ACCESS PORT ALTERNATE ALIGNMENT PIN LOCAION 93.26 MAX [3.672] 2 PL B ALTERNATE COUPLING ACCESS PORT ALTERNATE ALIGNMENT PIN LOCAION 9. [.3] 4.4 +-.81 [.173+-.318] ROTOR COUPLING M6 ROTOR SOCKET COUPLING M6 SOCKET HEAD CAP SCREW, HEAD CAP SCREW, FOR ASSEMBLY, USE FOR mmassembly, USE mm HEX DRIVER AND TORQUE HEX DRIVER AND TORQUE TO 12.4 Nm [11 IN- LB] TO 12.4 Nm [11 IN- LB] 18. [4.2] 8. [2.3] MAX 3 PL 18. [4.2] 8. [2.3] MAX 3 PL B B Dim A Dim B mm [inches] mm [inches] C41 C42 C43 C44 171 [6.72] 17 [4.22] 22 [7.94] 138 [.44] 233 [9.16] 169 [6.66] 264 [1.4] 2 [7.88] For machine interface detail, see page 27 2
CARTRIDGE DDR Motors CX POWER CONNECTOR (ROTATABLE) SIGNAL CONNECTOR (ROTATABLE) 19. [.748] 12. [.472] POWER CONNECTOR (ROTATABLE) SIGNAL CONNECTOR (ROTATABLE) 19. SHIPPING [.748] ALIGNMENT PIN 12. [.472] 3. [1.181] "B" ±.26 [.1] M6 x 1. x 9. [.3] DP TAPPED HOLES PROVIDED FOR LIFTING 2 PL SHIPPING COUPLING ACCESS PORT, ALIGNMENT SEAL SCREW PIN PROVIDED 3. [1.181] "A" ±.2 [.2] W 44. [1.72] "B" ±.26 [.1] "A" ±.2 [.2] M6 x 1. x 9. [.3] DP TAPPED HOLES PROVIDED FOR LIFTING 2 PL COUPLING ACCESS PORT, SEAL SCREW PROVIDED. [.197] Ø11. +.36.433 Ø11. +.14 -. +.36 4 PL AS SHOWN ON A Ø16. [6.496].433 BASIC +.14 -. Ø.2[.1] 4 4 PL M AS D SHOWN ON A Ø16. [6.496] BASIC Ø.2[.1] M D 4 31. [1.22]. 31. [.61] [1.22]. [.61] 94.6 [3.727] 2 PL 118. +.14 -.11 4.647 +. -.4 -D- 3X 9 1. [2.3] 138. ±.8 [.433 ±.31] 3X 9 1. [2.3] 138. ±.8 [.433 ±.31] 18.26 MAX [4.262] 2 PL 18.26 MAX [4.262] ALTERNATE COUPLING ACCESS 2 PL PORT ALTERNATE COUPLING ACCESS PORT ALTERNATE ALIGNMENT PIN LOCAION ALTERNATE ALIGNMENT PIN LOCAION -RING PROVIDED 12. [.47] 2.94 ±.83 [.116 ±.32] ROTOR COUPLING M8 SOCKET HEAD CAP SCREW, FOR ASSEMBLY, USE 6mm HEX ROTOR DRIVER COUPLING AND TORQUE M8 SOCKET TO 29.8 HEAD Nm [22 CAP FT- SCREW, LB] FOR ASSEMBLY, USE 6mm HEX DRIVER AND TORQUE TO 29.8 Nm [22 FT- LB] 138. ±.8 [.433 ±.31] 138. ±.8 [.433 ±.31] 76.8 [2.99] MAX 3 PL 76.8 [2.99] MAX 3 PL Dim A Dim B mm [inches] mm [inches] C1 C4 C3 C4 19 [7.67] 131 [.14] 22 [8.6] 6 [6.12] 24 [9.63] 181 [7.11] 27 [1.6] 26 [8.9] For machine interface detail, see page 27 21
C6X POWER CONNECTOR (ROTATABLE) M8 x 1.2 x 11. [.43] DP TAPPED HOLES PROVIDED FOR LIFTING 2 PL 12. [.472] 19. [.748] POWER CONNECTOR (ROTATABLE) M8 x 1.2 x 11. [.43] DP TAPPED HOLES PROVIDED FOR LIFTING 2 PL SHIPPING 12. ALIGNMENT [.472] PIN 19. 42. [.748] [1.673] SIGNAL CONNECTOR (ROTATABLE) "B" ±.26 [.1] COUPLING ACCESS PORT, SEAL SCREW PROVIDED SHIPPING ALIGNMENT PIN 42. [1.673] COUPLING ACCESS PORT, SEAL SCREW PROVIDED SIGNAL CONNECTOR (ROTATABLE) 36.4 [1.433] "A" ±.2 [.2] "B" ±.26 [.1]. [.197] Ø13. Ø13. +.43 +.43 -. -..3 +.169.3 +.169 -. -. 4 PL AS 4 SHOWN PL AS SHOWN ON A Ø2. ON A [8.46] Ø2. BASIC [8.46] BASIC Ø.2[.1] Ø.2[.1] M D M D 4 4 4. 4. [1.772] [1.772] 22. 22. [.886] [.886] 119.6 [4.711] 2 PL -RING PROVIDED 164. +.14 -.11 6.467 +. -.4 -D- IDED 3X 9 3X 9 74. [2.91] 74. [2.91] 188. ±1. 188. ±1. [7.42 ±.393] [7.42 ±.393] 133.26 133.26 MAX MAX [.262] [.262] 2 PL 2 PL ALTERNATE ALTERNATE COUPLING COUPLING ACCESS PORT ACCESS PORT ALTERNATE ALTERNATE ALIGNMENT ALIGNMENT PIN PIN LOCAION LOCAION ROTOR COUPLING ROTOR COUPLING M8 SOCKET M8 SOCKET HEAD CAP HEAD SCREW, CAP SCREW, FOR ASSEMBLY, FOR ASSEMBLY, USE 6mmUSE 6mm 2.94 ±.83 HEX DRIVER HEX AND DRIVER TORQUE AND TORQUE TO 29.8 Nm [22 FT- LB] 6] TO 29.8 Nm [22 FT- LB] [.116 ±.326] 14. [.] 98.8 98.8 [3.881] [3.881] MAX, 3 PL MAX, 3 PL 188. ±.8 188. ±.8 [7.42 ±.39] [7.42 ±.39] Dim A Dim B mm [inches] mm [inches] C61 C62 C63 226 [8.9] 166 [6.2] 26 [1.2] 2 [7.86] 294 [11.6] 234 [9.2] For machine interface detail, see page 27 22
CARTRIDGE DDR Motors C(H)9X without Through Bore "A".9 [2.3] "B". [.38] 9.68.6 [24.91.2] 3.7 [ 9,3] Ø 9.444-9.449 [239,88-24,] -E- 9.68.6 [24.91.2].2 [ 6,4] 3.9 [ 78,6] 1.4 [ 36,8] M X.8 THD X.9 [.] DP 6 PL AS SHOWN ON A Ø9. [23] BASIC Ø.11 [.28] E.2 [ 6,4]. [ 12,7] 3.2 [ 82,] 1.6 [ 26,92] POWER CONNECTOR (2) M8 LIFTING EYEBOLTS PROVIDED.88.8 [22.42.16] 7.18 [182.37] MAX.77 [ 146,6].88 [ 149,4] SIGNAL CONNECTOR COMPRESSION COUPLING 4X 9 36 4 PL M1 X 1. THD THRU, 4 PL AS SHOWN FOR JACKING PURPOSES O-RING PROVIDED FOR SEALING 4 Ø.1 [14] THRU, 4 PL AS SHOWN, ON A Ø11.417 [29] BASIC SPOTFACE Ø1.13 [28.7]X.6 [1.] MAX DP, 4 PL AS SHOWN 6X 6 O-RING C93 MODEL ONLY.66 [ 16,8] Dim A Dim B mm [inches] mm [inches] C(H)91 C(H)92 C(H)93 24 [7.99] 163 [6.4] 23 [9.94] 212 [8.36] 32 [11.9] 262 [1.3] For machine interface detail, see page 28 23
C(H)9X with Through Bore "A".9 [2.3] "B". [.38] Ø 9.444-9.449 [239.88-24.] -E- 9.68.6 [24.91.2].2 [ 6.4] 9.68.6 [24.91.2] 3.9 [ 78.6] 1.4 [ 36.8] M X.8 THD X.9 [.] DP 6 PL AS SHOWN ON A Ø9. [23] BASIC Ø.11 [.28] E.2 [ 6.4]. [ 12.7] 3.7 [ 9.3] 3.2 [ 82.] 1.6 [ 26.92] POWER CONNECTOR (2) M8 LIFTING EYEBOLTS PROVIDED 7.18 [182.37] MAX.77 [ 146.6].88 [ 149.4] Ø 1.26-1.262 [32.1-32.] SIGNAL CONNECTOR -F-.88.8 [22.42.16] COMPRESSION COUPLING 4X 9 36 4 PL M1 X 1. THD THRU 4 PL AS SHOWN FOR JACKING PURPOSES O-RING PROVIDED FOR SEALING 4 Ø.1 [14] THRU, 4 PL AS SHOWN, ON A Ø11.417 [29] BASIC SPOTFACE Ø1.13 [28.7]X.6 [1.] MAX DP, 4 PL AS SHOWN 6X 6 M X.8 THD X.9 [.] DP, 4 PL AS SHOWN ON A Ø1.614 [41.] BASIC Ø.11[.28] F. [ 12.7] O-RING C93 MODEL ONLY "C".66 [ 16.8] C(H)91 C(H)92 C(H)93 Dim A Dim B Dim C mm [inches] mm [inches] mm [inches] 24 [7.99] 163 [6.4] 176 [6.92] 23 [9.94] 212 [8.36] 22 [8.87] 32 [11.9] 262 [1.3] 27 [1.8] For machine interface detail, see page 28 24
CARTRIDGE DDR Motors C(H)13X without Through Bore Ø 13.77-13.82 [344,86-344,98] -E- 13.78.6} [3.1.2] 13.78.6 [3.1.2] 3.88 [ 98,6].87 [ 22,1] 3. [ 76,2] M X.8 THD X.9 [.] DEEP, 6 PL AS SHOWN ON A Ø13.11 [333] BASIC Ø.11 [.28] E.2 [ 6,4].38 [ 9,7] "A".9 [2.3] "B". [.38] 4.2 [ 18] 1.6 [ 26,92] 3.38 [ 8,8] POWER CONNECTOR (2) M1 LIFTING EYEBOLTS PROVIDED 1..8 [2.42.16] 4 PL 1.9 [26.3] 8.18 [ 27,8] 7.87 [ 199,9] SIGNAL CONNECTOR 4X 9 37 4 PL M12 X 1.7 THD THRU, 4 PL AS SHOWN FOR JACKING PURPOSES 4 Ø.689 [17.] THRU, 4 PL AS SHOWN, ON A Ø16.142 [41] BASIC SPOTFACE Ø1.38 [3.1]X.6 [1.] MAX DP, 4 PL AS SHOWN 6X 6 COMPRESSION COUPLING C133 ONLY COMPRESSION COUPLING 1.2 [ 38,6] C(H)131 C(H)132 C(H)133 Dim A Dim B mm [inches] mm [inches] 231 [9.11] 191 [7.2] 31 [11.8] 26 [1.2] 32 [11.9] 329 [13.] For machine interface detail, see page 28 2
C(H)13X with Through Bore Ø 13.77-13.82 [344,86-344,98] -E- M X.8 THD X.9 [.], DEEP, 6 PL AS SHOWN ON A Ø13.11 [333] BASIC Ø.11 [.28] E "A".9 [2.3] "B". [.38] 13.78.6 [3.1.2] 13.78.6 [3.1.2] 3.88 [ 98,6].87 [ 22,1] 3. [ 76,2].2 [ 6,4].38 [ 9,7] 4.2 [ 18] 3.37 [ 8,6] 1.6 [ 26,92] POWER CONNECTOR (2) M1 LIFTING EYEBOLTS PROVIDED 1..8 [2.42.16] 4 PL 1.9 [26.3] 8.18 [ 27,8] 7.87 [ 199,9] SIGNAL CONNECTOR Ø 1.26-1.262 [ 32,1-32,] -F- 37 4 PL M12 X 1.7 THD THRU 4 PL AS SHOWN FOR JACKING PURPOSES COMPRESSION COUPLING C133 ONLY 4 Ø.689 [17.] THRU, 4 PL AS SHOWN, ON A Ø16.142 [41] BASIC SPOTFACE Ø1.38 [3.1]X.6 [1.] MAX DP, 4 PL AS SHOWN 6X 6 M X.8 THD X.9 [.] DP, 4 PL AS SHOWN ON A Ø1.614 [41.] BASIC Ø.11[.28] F. [ 12,7] COMPRESSION COUPLING "C" 1.2 [ 38,6] Dim A Dim B Dim C mm [inches] mm [inches] mm [inches] C(H)131 C(H)132 C(H)133 231 [9.11] 191 [7.2] 182 [7.18] 31 [11.8] 26 [1.2] 21 [9.9] 32 [11.9] 329 [13.] 32 [12.6] For machine interface detail, see page 28 26
CARTRIDGE DDR Motors Machine Mounting Requirements for C4x, Cx and C6x This drawing details the machine interface configuration for mounting the C4, C, and C6 Cartridge DDR motors. It is important to maintain specified tolerance, concentricity and run out to insure proper operation and longevity of the Cartridge DDR motor. Axial Shaft Movement 1. [.9] B 4.13[.] A D "E" ±1. [.9].1 [.4] A. MIN. [.22] -C- BERING AXIS OF ROTATION During operation, the shaft which the Cartridge DDR motor is mounted to shall not move axially more than +/-.13 mm [. inch]. Shaft Material The shaft material can be steel or stainless steel. A.76.13[.] C -A- [.3] CHAMFER DEPTH 2. 1.6 [.63] C.1 [.4] A Machine Dimensions Dimensions Model Min. A Max. Min. B Max Min. C Max Min. D Max. Min. E Max. C(H)41 32.98-33. [1.2987-1.2992] 31.98-32. [1.293-1.298] 92.4-92.9 [3.6237-3.62] 16.6-17.4 [.6 -.68] 9.8-62.8 [4.271-4.389] C(H)42 32.98-33. [1.2987-1.2992] 31.98-32. [1.293-1.298] 92.4-92.9 [3.6237-3.62] 47.6-48.4 [1.87-1.9] 9.8-93.8 [3.371-3.689] C(H)43 32.98-33. [1.2987-1.2992] 31.98-32. [1.293-1.298] 92.4-92.9 [3.6237-3.62] 78.6-79.4 [3.9-3.12] 121.8-124.8 [4.791-4.99] C(H)44 32.98-33. [1.2987-1.2992] 31.98-32. [1.293-1.298] 92.4-92.9 [3.6237-3.62] 19.6-11.4 [4.3-4.34] 2.8 -.8 [6.11-6.129] C(H)1 4.98-46. [1.8-1.811] 44.98-4. [1.77-1.772] 118.4-118.9 [4.6473-4.6492] 34.6-3.4 [1.36-1.39] 8. - 83. [3.171-3.289] C(H)2 4.98-46. [1.8-1.811] 44.98-4. [1.77-1.772] 118.4-118.9 [4.6473-4.6492] 9.6-6.4 [2.34-2.37]. - 18. [4.1-4.269] C(H)3 4.98-46. [1.8-1.811] 44.98-4. [1.77-1.772] 118.4-118.9 [4.6473-4.6492] 84.6-8.4 [3.33-3.36] 13. - 133. [.141 -.29] C(H)4 4.98-46. [1.8-1.811] 44.98-4. [1.77-1.772] 118.4-118.9 [4.6473-4.6492] 19.6-11.4 [4.3-4.34]. - 8. [6.121-6.239] C(H)61 71.98-72. [2.834-2.83] 7.98-71. [2.794-2.79] 164.4-164.9 [6.483-6.462] 48.6-49.4 [1.9-1.94] 12. -. [4.31-4.149] C(H)62 71.98-72. [2.834-2.83] 7.98-71. [2.794-2.79] 164.4-164.9 [6.483-6.462] 82.6-83.4 [3.2-3.28] 136. - 139. [.371 -.489] C(H)63 71.98-72. [2.834-2.83] 7.98-71. [2.794-2.79] 164.4-164.9 [6.483-6.462] 116.6-117.4 [4.9-4.62] 17. - 173. [6.711-6.829] Dimensions are in Millimeters / [Inches] 27
Machine Mounting Requirements for C9x and C13x These drawings detail the machine interface configuration for mounting the CARTRIDGE DDR motor. It is important to maintain specified tolerance, concentricity, and run out to insure proper operation and longevity of the CARTRIDGE DDR motor. Axial Shaft Movement Note there is a static and dynamic call out for axial length. The static tolorance is the allowable variance of the shaft before the motor is mounted. The dynamic tolarance is the allowable movement of the shaft after the motor is mounted and during operation. C(H)9x Dim A Dim B Dim C inches [mm] inches [mm] inches [mm] C(H)91 C(H)92 C(H)93 1.73 [43.94].38 [9.7] 3.4 [89.92] 3.47 [88.14].94 [23.9].28 [134.11] 4.91 [124.71] 1. [2.4] 6.72 [17.69] Shaft Material The shaft material must have a minimum yield strength of, PSI. This suggests the material shall be cold rolled steel with a minimum.3% carbon content. Shaft Key The C9x and C13x CARTRIDGE DDR motors are provided with a key. If the materials and dimensions on this page and the compression coupling torque procedure on page 18 are strictly followed, then the key is not needed. The key is provided as a safety precaution to avoid severe damage to the CARTRIDGE DDR motor and to the machine it is mounted to that can result if the compression coupling is not properly engaged during operation. No key is used on the C4x, Cx and C6x. Heat Dissipation The CARTRIDGE DDR motor is a source of heat connected directly to the machine frame. For applications which are sensitive to heat generation, the continuous torque rating of the CARTRIDGE DDR must be reduced. To facilitate heat sensitive applications, CARTRIDGE DDR motors have dual continuous torque ratings, 11 C rise for maximum capacity and 8 C rise for de-rated capacity. C(H)13x Dim A Dim B Dim C Dim D inches [mm] inches [mm] inches [mm] inches [mm] C(H)131 C(H)132 C(H)133.37 [9.4] 1.9 [4.39] 1.8 [27.4] 4.49 [114.].7 [19.1] 3.3 [83.82] 1.71 [43.4] 6.61 [167.89] 1.6 [4.6] 4.67 [118.62] 2.26 [7.4] 9.98 [23.49] 28
CARTRIDGE DDR Motors Cartridge DDR Machine Interface Summary Due to the large range of continuous and peak torques for the CDDR series, the mechanical mounting and coupling to the machine varies. The chart below provides a quick summary. Cross Section of C4x, Cx, C6x Cross Section of C9x, C13x Coupling Technology Parameter C4x, Cx, C6x C9x, C13x Single bolt split hub, access front motor Multi-bolt compression, access from rear of motor Mounting Requirements Shaft TIR." [.13mm]." [.38mm] Perpendicularity of Machine Mounting Face.4" [.1mm].2" [.1mm] Concentricity of Machine Pilot to Shaft.4" [.1mm].2" [.1mm] Shipping Hardware Alignment bolt & cap screw 4 set screws & 4 shipping bolts Mounting Procedure Procedure # M-RT-S19-7 Procedure # M-RT-19-7 29
CDDR System Summary Cartridge DDR Motors 24 Volt Systems Cables 4 / 48 Volt Systems Performance Chart Page S3 Drives S6 Drives Performance Cont. Peak Maximum S3361 S3661 S3161 S331 S361 S61-3 S62 S64 () () Speed C41A 4.7 3.37 12.3 9.9 17 C41B 7 4.2 3.33 12.2 9.1 2 C42A 8.2 6.8 22.2 16.4 17 C42B 7 8.4 6.23 22.8 1 16.8 1 2 C43A 11.1 8.2 3. 22.1 12 C43B 7 11.2 8.23 3.2 1 22.2 1 2 C44A 13.9 1.3 37.4 27.6 C44B 7 14.1 1.4 37.9 1 28. 1 2 C1A 8 11.7 8.66 3.2 22.3 12 C1B 1 11.9 8.77 3.6 1 22.6 1 24 C2A 8 17. 12. 43. 1 32.1 1 18 C2B 1 16.7 12.3 42.7 31. 2 C3A 8 21.. 4.1 1 39.9 1 13 C3B 1 2.2 14.9 42. 31.3 2 C4A 8 24.9 18.4 63.8 1 47.1 1 12 C4B 1 23.8 17.6 2.8 39. 23 C61A 11 33.8 24.9 86.8 1 64.1 1 9 C61B 13 32.6 24.1 64.1 47.3 19 C62A 11 47.8 3.3 123 9.7 9 C62B 13 44.7 32.9 86.9 64.1 14 C63A 11 61. 4. 7 116 7 C63B 13 9. 43. 1 84.9 C91A 14.2 37. 12 88.2 6 C92A 14 11 74.8 231 17 4 C93A 14 14 17 39 228 3 C131A 16 188 139 389 287 22 C131B 18 19 14 396 292 4 C132A 16 361 266 8 9 11 C132B 18 361 266 79 6 22 C133A 16 4 372 116 7 9 C133B 18 1 376 117 7 17 CH41A 6 4.6 3.37 11.3 8.33 2 CH42A 6 8.26 6.9 19. 14. 2 CH43A 6 11.1 8.2 2.3 18.7 2 2 CH44A 6 13.9 1.2 31.6 23.3 22 2 CH1A 9 11.7 8.66 28. 2.7 2 2 CH2A 9 17. 12. 43. 32.1 2 CH3A 9 21.. 4.1 39.9 2 2 CH4A 9 24.9 18.4 63.8 47.1 2 2 CH61A 12 33.8 24.9 86.8 64.1 19 2 CH62A 12 47.8 3.3 123 9.7 2 2 CH63A 12 61. 4. 7 116 2 CH63B 12 9. 43. 1 84.9 22 2 CH91A.2 37. 12 88.2 2 CH92A 11 74.8 231 17 9 2 CH93A 14 17 39 228 6 2 CH131A 17 188 139 389 287 2 CH131B 19 19 14 396 292 1 2 CH132A 17 361 266 9 2 2 CH132B 19 361 266 79 6 2 CH133A 17 4 372 116 7 2 2 CH133B 19 1 376 117 7 4 2 CS-SS-S3HR1HE-xx 3 CS-SS-S3HG1HE-xx 3 CS-SS-S3HG2HE-xx 3 CS-SS-S3HM4JE-xx 3 Notes: 1 Peak torque with S61-3. For peak torque with S31 see performance curve. 2 Maximum speed at 48 Vac. For maximum speed at 4 Vac see performance curve. 3 xx is cable length in meters 3
CARTRIDGE DDR Motors CARTRIDGE DDR Ordering Guide C 9 1 A - 1 1-1 1 S - xxx Product Family C=23 Volt CH=4/48 Volt Frame Size Field 4 = 4.2 Sq. Housing =.43 Sq. Housing 6 = 7.4 Sq. Housing 9 = 9.68 Sq. Housing 13 = 13.78 Sq. Housing Stack Length Field 1 = Short Stack 2 = Mid Stack 3 = Long Stack 4 = Extra Long Stack (4 and Frame sizes only) Winding Letter Field A = Standard Winding B = High Speed Winding (Only availabe on C4x, Cx, C6x, CH63, C13x, CH13x) Mounting Option Field 1 = Std. Flange Mount Connector Option Field 1 = Side Connector Option (9 and 13 Frame sizes only) 2 = Rear Connector Option (9 and 13 Frame sizes only) 3 = 9 Rotatable Connectors (4, and 6 Frame sizes only) Sequential number for specials (Unique description within a frame size) Agency Certification Option Field Blank = UL/CE Certification S = Non-UL Unit Seal Option Field = Sealed (Shaft Option 1 - IP64 Rating when customer seals interface side) (Shaft Option 2 or 3 - IP6 Rating when customer seals interface side) Bearing Option Field = No Bearing Design (Standard - Integral Shipping Clamp Provided) Feedback Option Field 1 = Sine Encoder (C9 and C13) 3 = Sine Encoder (C4, C and C6) Shaft Field 1 = Hollow with Compression Coupling and Key (9 and 13 Frame sizes only) 2 = Solid with Compression Coupling, and Key (9 and 13 Frame sizes only) 3 = Solid with Split Ring Coupling, and no Key (4,, and 6 Frame sizes only) S3/S6 Ordering Guide SERVOSTAR Family Series 3 = S3 6 = S6 Current Rating (Cont. Arms per Phase) 3 = 3. amps 6 = 6. amps 1 = 1. amps 2 = 2. amps (S6 only) 4 = 4. amps (S6 only) S 3 3 - NA Option NA = No option card DN = DeviceNet option card installed EI = Extended I/O option card installed MN = Single axis controller option card installed PB = PROFIBUS option card installed SE = SERCOS option card installed Configuration = Standard (Not available on S3 or S64) 1 = AS option (Safety Relay) (Standard on S3 and S64) Voltage Option = 28/48 (Not available with S31) 6 = 12/24 (S3 only) 31
USA, CANADA or MEXICO Danaher Motion 23A West Rock Road Radford, VA 24141 USA Phone: 1-4-633-34 Fax: 1-4-639-4162 E-mail: DMAC@danahermotion.com Literature: LitRequest@danahermotion.com ASIA China Danaher Motion Rm 22, Scitech Tower 22 Jianguomen Wai Street Beijing, China, 14 Phone: +86 1 6 26 Fax: +86 1 6 263 E-mail: chinainfo@danahermotion.com.cn Japan Danaher Motion Japan 3F, 2nd Nagaoka Bldg 2-8-, Hacchobori, Chuo-ku Tokyo 14-32 Japan Phone: +81-3-6222-1 Fax: +81-3-6222- E-mail: info@danahermotion.com EUROPE France Danaher Motion C.P. 818 12, Rue Antoine Becquerel - Z.I. Sud F-7226 Le Mans Cedex 2 France Phone: +33 () 243 3 3 Fax: +33 () 243 3 39 E-mail: sales.france@tollo.com Germany Danaher Motion GmbH Wacholderstr. 4-42 D-4489 Düsseldorf Germany Phone: +49 () 23 9979- Fax: +49 () 23 9979- E-mail: sales.germany@danahermotion.net Italy Danaher Motion srl Largo Brughetti ZI 23 Bovisio Masciago (MI) Italy Phone: +39 362 9 42 6 Fax: +39 362 9 42 63 E-mail: info@danahermotion.it Sweden Danaher Motion Box 93 SE-2919 Kristianstad Sweden Phone: +46 () 44 24 67 Fax: +46 () 44 24 4 8 E-mail: helpdesk@tollo.com UK Danaher Motion Chartmoor Road, Chartwell Business Park Leighton Buzzard, Bedfordshire LU7 4WG. UK Phone: +44 () 2 243 243 Fax: +44 () 2 243 244 E-mail: uksales@danahermotion.com Job No. PS ML 17 271-2 N17 27 Danaher Motion(tm). All rights reserved. Information & specifications subject to change at any time. All trademarks property of their respective owners.