Direct Drive Brushless Servo Systems - Pebart

48Automation

Parker HannifinElectromechanical DivisionOffenburg, Germany & Poole, UK

1600.228.02

Servo Catalogue Dynaserv direct drive servo

Direct Drive Brushless ServoSystemsEach Dynaserv system consists of a brushless servo motor,microprocessor based drive, power supply and a brushlessresolver or encoder for position feedback. The primarybenefit of the Dynaserv System is high accuracy and torquewithout speed reducers. Additional advantages include:

■ Faster settling time than a traditional servo motor andspeed reducer system

■ Smooth rotation at slow speeds

■ A flat speed/torque curve for high controllability

■ Ability to operate in a position, speed or torquecontrol mode

■ Built-in test mode simplifies optimum tuning

■ Can be prepared to operate in class 10 clean roomapplications

DR Series■ Brushless resolver feedback

■ 13 models; 150, 200 or 250mm diameter

■ Resolutions to 819,200 steps/rev

■ Torques to 400Nm

■ Repeatability of ±5 arc seconds

■ Speeds to 2 rps

DR5000 Series■ Brushless resolver feedback

■ 4 models, 150 or 250mm diameter


■ Torques to 500 Nm


■ Speeds to 4 rps

DM Series■ Incremental encoder feedback

■ 7 models; 150 or 250mm diameter

■ Resolutions to 1,024,000 steps/rev



■ Speeds to 2 rps

Multiple control modesThe Dynaserv System allows the user to operate in one ofthree modes of control:

Position control – up to 1,024,000 steps/revSpeed control – ±10V velocity command inputTorque control – stable response at ±8V input

This type of flexibility combined with a high torque/weightratio, high accuracy, faster settling times, high torque at highspeed, smooth rotation, optimum tuning and clean operationall add up to a cost effective high-performance alternative totraditional motor and speed reducer combinations.

Model TypesWhen selecting the model type, the decision comes downto a trade-off between resolution, accuracy, speed andcost. This table can be used to match specific applicationrequirements to the correct direct drive motor. Bear inmind that these ratings are relative, i.e. the lowest accuracyDynaserv is still very accurate by normal motor standards.

DM DR DR5000Series Series Series

Power Lowest Medium HighestAccuracy Highest Medium LowestMotor Weight Lowest Medium HighestResolution Highest Medium LowestCost Medium Lowest HighestSpeed Lowest Medium Highest

Inertia MatchingWhen selecting the right Dynaserv for your application, theinertia match between the motor and load is the criticalfactor. The specifications listed in this section are for a 30:1load to rotor inertia ratio. The following table lists themaximum recommended ratios for specific applicationtypes.

Max inertia ratioApplication Type (Jload /Jmotor )

High throughput applications 5-10(printing machines, chip mounting)

General high speed applications 20-30(SCARA robot, transfer arms)

High speed but balanced load 50-100applications(Rotary Index, Rotary Tables)

High accuracy, slow speed 100-200applications (measuring equipment)

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Servo Catalogue

Feed-to-LengthThe Dynaserv system eliminates the need for gear reductionand allows for direct control of the nip roll in most feed-to-length applications. The ability to effectively control loads upto 100 times its own rotor inertia allows the Dynaserv to beapplied in a variety of machines. The net result of specifyinga Dynaserv system is increased repeatability of the feedmaterial.

Dynaserv applications

Indexing/Rotary PositioningThe Dynaserv has high accelerations lending itself to highspeed point-to-point positioning applications requiring lowcycle time. In scanning and inspection applications theoutstanding low speed performance will be of merit.

Assembly■ Base machine

■ Pick and place

■ Inserter/mounter

Robots■ Handling

■ Clean room

■ Universal

Transport■ Turn table

■ Belt conveyor

■ Three dimensionalwarehouse

Inspection and Measuring■ 3Dmeasuring

■ Goniometer

■ Non-destructive x-ray

Work■ Machining centre work

table

■ Press roll feed

■ Grinder table

Commercial■ Printing machines

■ Medical equipment

■ Follow-up equipment

Material HandlingBy attaching a small arm or linkage to the Dynaserv, veryhigh velocities an be attained. This type of design has beenused on a wide variety of equipment, such as a chipmounting machine. On this machine accuracies of 30 arc-sec are maintained with very high arm speed.

RoboticsDynaserv direct drive motors were first developed to driveSCARA (Selective Compliance Assembly Robot Arm) inapplications requiring repetitive and physically taxingoperations.

Feeder

Printed circuit board

Dynaserv motor for armDynaserv motor

for X axis

Roll Feeder

Rotary table for assembly

Tool turret

Peripherals for robot

SCARA robot for assembly

Dynaserv direct drive servo

50Automation


1600.228.02

Servo Catalogue

Accessories■ Parker Compumotor Controllers

The Dynaserv is compatible with all CompumotorIndexers and Servo Controllers.

■ Bases

Mounting bases to simplify mounting to a flat surface(DR-B Series only except DR1008B).

■ Dynamic Braking

Capacitor type or Speed-switching type for eachmotor size.

■ Precision Machining

Axial and radial run-out of .01, .02 or .005 mm isavailable on most Dynaserv models. Standard axialand radial run-out for all motors is 0.1 mm.

■ Mechanical Braking

Most motors can be ordered with mechanical brakesfor power down or emergency use.

DR Direct Drive BrushlessServo SystemThe Dynaserv DR Series provides the user with a highperformance direct drive servo system with resolverfeedback. Each model includes a direct drive motor, integralresolver, microprocessor based drive and a 3 metre motor-to-drive cable.

The DR Series motor is brushless and without gearsallowing for long, maintenance-free operation. The crossroller bearing design can support up to 4 tonnes ofcompression load and 400 Nm of overhung load. Thecentre hole in the motor is up to 150mm in diameter andcan be used to simplify system wiring.

The user can elect to operate the DR Series in either aposition, velocity or torque mode. In the position mode, thedrive accepts step and direction input from a CompumotorIndexer or user supplied pulse source. Operating in thevelocity or torque mode requires a ±10 volt input.

High performance closed loop operation is obtained with asophisticated I-PD digital and analogue control algorithm.The analogue velocity loop provides high bandwidth forexcellent system response. The digital position loopsimplifies position control and optimizes system accuracy.A built-in test mode and position/velocity monitors allow forconvenient and efficient tuning.

The DR Drive is fully protected against open and shortcircuits, overcurrent, overvoltage and overtemperature. Aseven segment LED indicator provide the user with thestatus and diagnostic information from the front panel.

Features

■ Brushless direct drive motor with 3 metre cable

■ 13 models available in 150 or 250mm diameters

■ Resolver feedback



■ Supports 4 tonnes of compression load

■ Microprocessor control of I-PD control algorithm

■ Analogue velocity loop/digital position loop

■ Built-in test mode for easy tuning

■ Diagnostic LED display

■ Step and direction input/position control

■ ±10V input/torque or velocity control

■ Gain settings can be changed “on the fly”

■ Easily prepared for class 10 clean room standards

■ Configurable position accuracy to reduce systemsettling time

■ Complete system, ready for operation

Compumotor

DYNASERV

CN1

LINE(CONT)~115 VAC

LINE(MN)~

115 VAC

GND

fc

ON

OFFTEST

LIM

V

V

V

A

B

C

GND

AC GAIN

DC GAIN

VEL

CN2

TB1

∫

POSW

AGNDTORQ

POSN

8

MOTOR

110 ±190

±0.057 ±0.5

297 ±1

108 ±1

250 ±1

239 ±0.05

215 ±1

DR series drive

Dynaserv DR direct drive servo

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Servo Catalogue

Parameter Value

PerformanceRepeatability ±5 arc-sec (0.00139°)Accuracy ±30 arc-sec (0.0083°) DRA Series, ±45 arc-sec (0.0125°) DRB DRE SeriesMax stepping rate 1,600,000 steps/sec

PowerVolts 230VAC 1-phase, or 115VAC 1-phaseRange +10% to -15%Current 20 amps max

InputsCommand interface

Step input Low going low , 150 nanoseconds minimum pulse widthDirection Logic high = CW rotation

Logic low = CCW rotationAnalogue input ±10V command signal

OutputsEncoder output A/B encoder output 750 kHz max

Environmental Driver MotorWeight 6 kg See Table BelowOperating 0° to 50°C 0° to 45°CStorage -20° to 85°C -20° to 85°CHumidity 20 to 90% noncondensing 20 to 85% noncondensing

No corrosive gases. Dust free atmosphere. The Dynaserv is not waterproof, oil proof or dust proof.

DR Series Model Model Model ModelMotor Data 1100A 1200A 1300A 1400A

Peak torque Nm 100 200 300 400Rated speed (230/115VAC) rps 1.0/1.0 1.0/0.5 0.5/0.25 0.5/0.25Maximum power consumption

kVA (230/115VAC) 2.9/1.4 3.5/1.7 3.7/1.8 3.7/1.8Rotor inertia kg-m2 x 10-3 200 285 340 400Maximum resolution 819,200 819,200 819,200 819,200Motor weight* kg 31 46 57 68Maximum axial load**Compression kN 40 40 40 40Tension kN 20 20 20 20Maximum overhung load** Nm 400 400 400 400* Drive weight is 6 kg ** For alternating loads, multiply these values by 0.3

Dynaserv DR specifications

DR Series Model Model Model Model Model Model Model Model ModelMotor Data 1008B 1015B 1030B 1045B 1060B 1070E 1100E 1130E 1160EPeak torque Nm 8 15 30 45 60 70 100 130 160Rated speed (230/115VAC) rps 2.0/2.0 2.0/2.0 2.0/1.5 2.0/1.0 1.5/1.0 2.0/1.5 1.5/1.0 1.0/0.5 1.0/0.5Maximum power (230/115VAC)consumption kVA 0.8/0.4 1.2/0.6 2.0/1.0 2.0/1.0 2.0/1.0 2.4/1.2 2.6/1.3 2.8/1.4 3.2/1.6Rotor inertia kg-m2 x 10-3 15 21 24 26 33 85 100 125 140Max resolution 507,904 507,904 507,904 507,904 507,904 614,400 614,400 614,400 614,400Motor weight* kg 6 9 11 13 16 22 26 32 36Maximum axial load** Compression kN 30 30 30 30 30 40 40 40 40 Tension kN 10 10 10 10 10 20 20 20 20Maximum overhung load** Nm 200 200 200 200 200 400 400 400 400

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Servo Catalogue Dynaserv DR performance data

Torque/Speed Curves

The torque/speed curves represent peak torque available, continuous torques are approximately two thirds of the peak value.

N-m

0

Tor

que

Speed-RPS Speed-RPS

00 0.5 1.0 1.5 2.0

Speed-RPS0 0.5 1.0 1.5 2.0

50

100

150

200

250

300

N-m

350

400

50

100

150

200

250

300

350

400

50

100

150

200

250

300

050

100

150

200

250

300

DR1160E

DR1130E

DR1100E

DR1070E

Tor

que

Tor

que

N-m

N-m

N-m

0

Tor

que

DR-A Series – 115V

0 0.5 1.0 1.5 2.0

DR-A Series – 230V

0

Tor

que

10

20

30

40

N-m

50

60

0

10

20

30

40

50

60DR-B Series – 115V

DR-E Series – 115V

Speed-RPS0 0.5 1.0 1.5 2.0

DR-B Series – 230V

Speed-RPS

0 0.5 1.0 1.5 2.0

DR-E Series – 230V

Speed-RPS

0 0.5 1.0 1.5 2.0

DR1060B

DR1045B

DR1030B

DR1015B

DR1008B

DR1160E

DR1130E

DR1100E

DR1070E

DR1060B

DR1045B

DR1030B

DR1015B

DR1008B

DR1400A

DR1300A

DR1200A

DR1100A

DR1300A

DR1200A

DR1100A

Tor

que

DR1400A

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Servo Catalogue Dynaserv DR motor dimensions

DR-A Series

DR Series Motor Dimensions

DR-B Series

DR-E Series

Model ADR1100A 185 ± 1DR1200A 250 ± 1DR1300A 304 ± 1DR1400A 358 ± 1

Model ADR1070E 183 ± 1DR1100E 210 ± 1DR1130E 243 ± 1DR1160E 271 ± 1

A

Rotor StatorMotor cable

Resolver3048

252 +0/-0.3

215 -0.02/-0.0

150 +0/-1.0

5± 0.2

11 +2.0/-0

192 -0.02/-0.05

264 +0/-0.03

170 ± 0.2230 ± 0.2

6 equi-spaced holestapped M8 x 12 deep


StatorMotor cable

Resolver

A

3048

Rotor

6 equi-spaced holestapped M6 x 9 for all

but DR1008B

150 +0/-0.3

72 ± 0.2

86 -0.02/-0.05

6 +2.0/-0 for all but DR1008B3.4 +0.5/-0 for DR1008B

4 ± 0.2DR1008B only:

For allbut DR1008B:

3 ± 0.2

120 -0.02/-0.06

58 +0/-1.0

145 +0/-0.3

130 ± 0.2

6 equi-spaced holestapped M5 x 5 for

DR10089B


Rotor

Stator

Motor cable

Resolver


A6 equi-spaced holes

tapped M8 x 12 deep

3048

174 ± 0.2 5 ± 0.216 +2.0/-0

190 +0/-0.3

162 -0.02/-0.06

80 +0/-1.0120 -0.02/-0.05

205 +0/-0.3

104 ± 0.2

Model ADR1008B 85 ± 1DR1015B 123 ± 1DR1030B 151 ± 1DR1045B 179 ± 1DR1060B 207 ± 1

54Automation


1600.228.02

Servo Catalogue

DR5000 Direct Drive BrushlessServo SystemThe Dynaserv DR5000 Series is a high power direct drivesystem that is based on the design of the DR Series. TheDR5000 Series is capable of approximately 2-3 times thespeed of the DR series while delivering comparable torque.Each DR5000 System comes complete with motor, integralresolver, and a microprocessor based drive.

The DR5000 Series can be operated in position, velocity ortorque mode. In position mode the DR5000 accepts Stepand Direction Input, making it compatible with CompumotorIndexers. For operation with a servo controller the driveaccepts a ±10V signal representing velocity or torque. Apseudo-encoder output is available from the drive,eliminating the need for additional feedback devices.

The DR5000 series motor is brushless and gearless,allowing for a long, maintenance free life. The cross rollerbearing design can support up to 4 tonnes of compressionload and 400Nm of overhung load. The hole in motor centreis up to 150mm in diameter, simplifying system cabling.

The DR5000 incorporates an I-PD algorithm that delivershigh performance closed loop control. The velocity loop isanalogue for a very high bandwidth. The digital position loopsimplifies position control and maximizes system accuracy.A built-in test mode is available for convenient and efficienttuning.

The DR5000 drive is fully protected against open and shortcircuits, overcurrent, overvoltage, and overtemperature. Asingle character front panel display puts status anddiagnostic information at your fingertips.

Features■ Brushless direct drive motor

■ Up to 3 kW output

■ 4 models available in 150 or 250mm diameter

■ Resolver feedback

■ Torques to 500Nm


■ Supports 4 tonnes compression load

■ Microprocessor control of I-PD Algorithm



■ Diagnostic display

■ Step and direction input for position control

■ ±10V input for velocity control

■ Gain settings can be changed on the fly

■ Can be prepared for Class 10 clean room operation

Accessories■ Compumotor Controllers - the Dynaserv is

compatible with all Compumotor Indexers andServo Controllers.

■ Bases - mounting bases to simplify mounting to aflat surface (DR-B Series only).

■ Dynamic Braking - capacitor type or Speed-switching type for each motor size.

■ Precision Machining - axial and radial run-out of.01, .02 or .005 mm is available on most Dynaservmodels. Standard axial and radial run-out for allmotors is 0.1mm.

■ Mechanical Braking - most motors can be orderedwith mechanical brakes for power down, oremergency use.

Compumotor

DYNASERV

CN1

LINE(CONT)~115 VAC

LINE(MN)~

115 VAC

GND

fc

ON

OFFTEST

LIM

V

V

V

A

B

C

GND

AC GAIN

DC GAIN

VEL

CN2

TB1

∫

POSW

AGNDTORQ

POSN

8

MOTOR

110 ±190

±0.057 ±0.5297 ±1

108 ±1

250 ±1239

±0.05

215 ±1

250 ± 1.02

239 ± 0.7

230

85

2207 2

302

215

85

DR5000A drive DR5000B drive

Dynaserv DR5000 direct drive servo

55Automation


1600.228.02

Servo Catalogue

DR5000 Series–Motor Data 5030B 5070B 5300A 5500A

Peak torque Nm 30 70 300 500

Rated speed rps 5 5 1.5 1.5

Rotor inertia (kgm2)x10-3 27 36 340 460

Resolution Steps/rev 278,528 278,528 425,984 425,984

Motor weight kg 13.5 18 55 75

Maximum axial load* Compression kN 30 30 40 40 Tension kn 10 10 20 20

Maximum overhung load* Nm 20 200 400 400

Maximum power consumption kVA 2 4 5.5 7.5

* For alternating loads, multiply these values by 0.3

Parameter Value

Performance DR5000 “A” 250mm DR5000 “B” 150mmRepeatability ±5 arc-sec ±10 arc-sec

Accuracy ±45 arc-sec ±90 arc-sec

Max stepping rate 1,600,000 steps/sec 1,400,000 steps/sec

PowerVolts 200 VAC, 3 Phase, 50/60 Hz 230 VAC, 1 Phase, 50/60 Hz

Range +5% to -15% +5% to -15%

Current 20 Amps 20 Amps

Inputs (all models)Command interface Step and direction–Position control ±10V DC–Velocity control

Step input low going pulse, 150 nanosecond minimum pulse width

Direction Logic high = CW rotation

Logic low = CCW rotation

Analogue input ±10V DC max

Other inputs 5 to 24 volts pullup

(gain selection, servo on, etc.)

Outputs (all models)Encoder output A, B Quadrature signal (400kHz max)

Z Channel–"A": 104 pulses/rev–"B": 68 pulses/rev

Other outputs (in position, alarm, etc.) TTL

Environmental Driver MotorWeight

DR5000A 11 kg See Table below

DR5000B 6 kg See Table below

Operating

Temperature 0 to 50°C 0 to 45°CHumidity 20 to 90% Non-condensing 20 to 85% Non-condensing

Storage

Temperature -20 to 85°C -20 to 85°CHumidity 20 to 90% Non-condensing 20 to 85% Non-condensing

Environment No corrosive gases. Dust free atmosphere.The Dynaserv is not waterproof, oil proof or dust proof.

Dynaserv DR5000 specifications

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Servo Catalogue Dynaserv DR5000 specifications

230

5

A

Rotor StatorMotor cable

170

Resolver3048

13

264

192252

215

150



Speed, rps

Torq

ue

00

1.0 2.0 3.0 4.0

10

20

30

40

50

60

70

DR5030B

80N-m

5.0

DR5070B

DR5000B Series-230 VAC

Torque/Speed CurvesThe torque/speed curves represent peak torque available, continuous torques are approximately two-thirds of the peak value.

Speed, rps

Torq

ue

0 0.5 1.0 1.5 2.0

100

200

300

400

500

600

700

DR5500A

DR5300A

800N-m

2.5

DR5000A Series-200 VAC

DR5000 Motor Dimensions

DR5000-A Series

Model ADR5300A 309 ± 1

DR5500A 417 ± 1DR5000-B Series

Model ADR5030B 184 ± 1

DR5070B 240 ± 1

4

ARotor Stator

Motor cable

Resolver3048

8

150145

56

12086

130



72

57Automation


1600.228.02

Servo Catalogue Dynaserv DM direct drive servo

DM Direct Drive BrushlessServo SystemThe Dynaserv DM Series is a high performance direct driveservo system with optical encoder feedback. Each DMModel consists of a brushless direct drive motor, integralencoder, microprocessor based drive and a 3 metre motor-to-drive cable.

The DM Series can be operated in either a position, velocityor torque mode. In the position mode the drive accepts stepand direction input. Operating in the velocity or torque moderequires a ±10 volt input. Dynaserv systems are compatiblewith Compumotor indexers and servo controllers.

The DM Series motor is brushless and without gears,allowing for long maintenance-free operation. The crossroller bearing design can support up to 4 tonnes ofcompression load and 400 Nm of overhung load. The centrehole in the motor is up to 58mm in diameter and can beused to simplify system wiring.

The drive is fully protected against open and short circuits,overcurrent, overvoltage and overtemperature. A sevensegment LED indicator provides the user with status anddiagnostic information from the front panel.

High performance closed loop operation is obtained with asophisticated I-PD digital and analogue control algorithm.The analogue velocity loop provides high bandwidth forexcellent system response. The digital position loopsimplifies position control and optimizes system accuracy.A built-in test mode and position/velocity monitors allow forconvenient and efficient tuning.

Features■ Brushless direct drive motor with 3 metre cable

■ 7 models available in 150 or 250mm diameters

■ Incremental encoder feedback


■ Resolutions to 1,024,000 steps/rev

■ Supports 4 tonnes of compression load

■ Microprocessor control of I-PD control algorithm



■ Diagnostic LED display

■ Step and direction input/position control

■ ±10V input/torque or velocity control

■ Gain settings can be changed "on the fly"

■ Easily prepared for class 10 clean room standards

■ Configurable position accuracy to reduce systemsettling time

■ Complete system, ready for operation

Accessories■ Compumotor Controllers - the Dynaserv is

compatible with all Compumotor Indexers and ServoControllers.

■ Precision Machining - axial and radial run-out of .01,.02 or .005 mm is available on most Dynaservmodels. Standard axial and radial run-out for allmotors is 0.1mm.

■ Mechanical Braking - most motors can be orderedwith mechanical brakes for power down oremergency use.

■ Dynamic Braking - capacitor type or speed-switching type for each motor size.

Compumotor

DYNASERV

CN1

LINE(CONT)~115 VAC

LINE(MN)~

115 VAC

GND

fc

ON

OFFTEST

LIM

V

V

V

A

B

C

GND

AC GAIN

DC GAIN

VEL

CN2

TB1

∫

POSW

AGNDTORQ

POSN

8

MOTOR

110 ±190

±0.057 ±0.5297 ±1

108 ±1

250 ±1239

±0.05

215 ±1

DM series drive

58Automation


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Servo Catalogue Dynaserv DM specifications

Parameter ValuePerformance

Repeatability ±2 arc-sec (0.00056°)Accuracy ±25 arc-sec (0.0069°)Max stepping rate 1,600,000 steps/sec

PowerVolts 230 VAC, 1 phase or 115 VAC, 1 phaseRange +10% to -15%Current 20 Amps max

InputsCommand interface

Step input low going low pulse, 150 nanosecond minimum pulse widthDirection Logic high = CW rotation, Logic low = CCW rotationAnalogue input ±10V command signal

OutputsEncoder output A/B encoder output 393 kHz max

Environmental Driver MotorWeight 6kg See motor dataOperating 0° to 50°C 0° to 45°CStorage -20° to 85°C -20° to 85°CHumidity 20 to 90% Non-condensing 20 to 85% Non-condensingEnvironment No corrosive gases. Dust free atmosphere.

The Dynaserv is not water proof, oil proof or dust proof.

Torque/Speed Curves

The torque/speed curves represent peak torque available, continuous torques are approximately two-thirds of the peak value.

Speed, rps0 0.5 1.0 1.5 2.0

N-m

50

100

150

200

250

300

50

100

150

200

250

300

DM1200A

DM1150A

DM1100A

DM1050A

Tor

que

DM-A Series – 115 VAC DM-A Series – 230 VAC

Speed, rps

00

Tor

que

0 0.5 1.0 1.5 2.0

N-m

DM1200A

DM1150A

DM1100A

DM1050A

Speed, rps

Tor

que

N-m

0

10

20

30

40

50

60

70

80DM-B Series – 115 VAC DM-B Series – 230 VAC

Speed, rps

Tor

que

0 0.5 1.0 1.5 2.0

DM1045B

DM1030B

DM1015B

N-m

2.50

0 0.5 1.0 1.5 2.0

10

20

30

40

50

60

70

DM1045B

DM1030B

DM1015B

80

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Servo Catalogue Dynaserv DM motor specifications

DM-B Series

DM Series – Motor Data

DM Series Motor Dimensions

Model ADM1050A 113 ± 1DM1100A 138 ± 1DM1050A 163 ± 1DM1200A 188 ± 1

Model ADM1015B 92 ± 1DM1130B 118 ± 1DM1045B 143 ± 1



246

58

Stator

105

Rotor

264

230

200

3.0

3048

48 48

26.5

170

A

146

Stator

113

A

Rotor

26.5

116

9.325

136

160

28 28

104

26.5

3048



Model Model Model Model Model Model Model1015B 1030B 1045B 1050A 1100A 1150A 1200A

Peak torque(Nm) 15 30 45 50 100 150 200

Rated speed rps - 230VAC 2.0 2.0 2.0 1.0 1.0 1.0 1.0

- 115VAC 2.0 2.0 1.0 1.0 1.0 0.5 0.5

Rotor inertia kgm2 x 10-3 12 15 19 96 11 142 167

Maximum steps/rev 655,360 655,360 655,360 1,024,000 1,024,000 1,024,000 1,024,000

Motor weight kg 5.5 7.5 9.5 14.5 19 24 29

Maximum axial load* Compression kN 30 30 30 40 40 40 40 Tension kN 10 10 10 20 20 20 20

Maximum overhung load* Nm 200 200 200 400 400 400 400

Power Consumption load Max 230/115VAC, kVA 1.8/0.9 2.3/1.2 2.3/1.2 2.8/1.4 3.1/1.6 3.5/1.7 3.5/1.7

* For alternating loads, multiply these values by 0.3

DM-A Series

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Direct Drive Brushless Servo Systems - Pebart