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MOTION CONTROL verificare bande eps

MOTION CONTROL - Homberger · DC Bus Voltage Udc V 320 560 320 560 320 560 320 560 320 560 Rated Torque M N Nm 2,3 3,3 4,6 6,4 8,5 Rated AC Current I N A 3,00 1,85 4,33 2,60 5,91

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Page 1: MOTION CONTROL - Homberger · DC Bus Voltage Udc V 320 560 320 560 320 560 320 560 320 560 Rated Torque M N Nm 2,3 3,3 4,6 6,4 8,5 Rated AC Current I N A 3,00 1,85 4,33 2,60 5,91

MOTION CONTROL

verificare bande eps

Page 2: MOTION CONTROL - Homberger · DC Bus Voltage Udc V 320 560 320 560 320 560 320 560 320 560 Rated Torque M N Nm 2,3 3,3 4,6 6,4 8,5 Rated AC Current I N A 3,00 1,85 4,33 2,60 5,91

Specifications are subject to change without notice 04/2007 - Daten Motore XML1_v01.doc

General Description: Options:

Compact Design Holding Brake

Rare Earth Magnets Shaft Keyway DIN 6885

Resolver Feedback

Flying Leads

Parameters Xml1-0010 Xml1-0020 Xml1-0030

DC Bus Voltage Udc V 320 320 320

Rated Torque MN Nm 0,09 0,18 0,27

Rated AC Current IN A 0,56 0,92 0,89

Stall Torque M0 Nm 0,1 0,2 0,3

Stall Current I0 A 0,58 0,97 0,95

Peak Torque Mmax Nm 0,4 0,8 1,2

Peak AC Current Imax A 2,5 4,2 4,1

Rated Speed* nN min-1

6000

Max. Mech. Speed nmax min-1

12000

Torque Constant

Voltage Constant

Resistance Ph-Ph

Inductance Ph-Ph

El. Time Constant

Therm. Constant

KT

KE

RPh

LPh

Tel

Tth

Nm/A

V/1000

Ω

mH

ms

min

0,17

10,5

38,9

9,2

0,24

18

0,21

12,5

18,9

4,5

0,24

20

0,31

19,0

22,9

6,5

0,28

22

Inertia J kgcm2

0,06 0,08 0,10

Rated Brake Torque MBr Nm 0,4

Weight w/o brake

Weight with brake

m

mBr

kg

kg

0,37

0,45

0,45

0,53

0,53

0,58

Length w/o brake

Length with brake

K

K1

mm

mm

81

111

96

126

111

141

* Windings for different rated speeds are available; parameter tolerance +/-10%

Protection Class IP64, optional IP65 or IP67

Electrical Connections Flying Leads

Thermal Protection PTC

Rated Parameters Acc. to EN 60034-1, ambient temperature TA = 40°C, cooling flange 65°C, temperature rise TR = 110 K

Motor Controller Standard winding designed for power supply Ucc = 320 VDC, different execution optional

Brushless Servomotors

XML1-xxxx series Udc = 320 VDC

Page 3: MOTION CONTROL - Homberger · DC Bus Voltage Udc V 320 560 320 560 320 560 320 560 320 560 Rated Torque M N Nm 2,3 3,3 4,6 6,4 8,5 Rated AC Current I N A 3,00 1,85 4,33 2,60 5,91

Specifications are subject to change without notice 04/2007 - Daten Motore XML2_v01.doc

General Description: Options:

Compact Design Holding Brake Rare Earth Magnets Shaft Keyway DIN 6885 Resolver Feedback Encoder Feedback Intercontec-Connectors Flying Leads

Parameters Xml2-0020 Xml2-0040 Xml2-0060 Xml2-0080

DC Bus Voltage Udc V 320 560 320 560 320 560 320 560

Rated Torque MN Nm 0,19 0,36 0,55 0,72

Rated AC Current IN A 0,60 0,48 0,88 0,51 1,18 0,70 1,47 0,86

Stall Torque M0 Nm 0,2 0,4 0,6 0,8

Stall Current I0 A 0,59 0,47 0,93 0,54 1,21 0,73 1,56 0,91

Peak Torque Mmax Nm 0,8 1,6 2,4 3,2

Peak AC Current Imax A 2,5 2,0 4,0 2,3 5,3 3,1 6,7 3,9

Rated Speed* nN min-1

4500

Max. Mech. Speed nmax min-1

12000

0,34

20,5

54,1

32,0

0,59

0,42

25,5

84,1

50,0

0,59

0,43

26,0

26,3

21,4

0,82

0,74

45,0

77,0

61,5

0,80

0,49

30,0

19,9

17,2

0,87

0,83

50,0

50,8

45,5

0,90

0,51

31,0

14,6

14,4

0,98

0,88

53,0

38,4

39,7

1,03

Torque Constant

Voltage Constant

Resistance Ph-Ph

Inductance Ph-Ph

El. Time Constant

Therm. Constant

KT

KE

RPh

LPh

Tel

Tth

Nm/A

V/1000

Ω

mH

ms

min 10 15 20 22

Inertia J kgcm2

0,06 0,08 0,11 0,13

Rated Brake Torque MBr Nm 2,0

0,90 1,06 1,21 1,36 Weight w/o brake

Weight with brake

m

mBr

kg

kg 1,05 1,21 1,36 1,51

Length w/o brake

Length with brake

K

K1

mm

mm

98

131

113

146

128

161

143

176

* Windings for different rated speeds are available; parameter tolerance +/-10%

Protection Class IP64, optional IP65 or IP67

Electrical Connections Intercontec Connectors (2 pcs)

Thermal Protection PTC, optional thermal switch (normally closed type) tripping out at 140°C, KTY or NTC

Rated Parameters Acc. to EN 60034-1, ambient temperature TA = 40°C, cooling flange 65°C, temperature rise TR = 110 K

Motor Controller Standard winding designed for power supply Ucc = 320 or 560 VDC, different execution optional

Brushless Servomotors

XML2-xxxx series Udc = 320 / 560 VDC

Page 4: MOTION CONTROL - Homberger · DC Bus Voltage Udc V 320 560 320 560 320 560 320 560 320 560 Rated Torque M N Nm 2,3 3,3 4,6 6,4 8,5 Rated AC Current I N A 3,00 1,85 4,33 2,60 5,91

Specifications are subject to change without notice 04/2007 - Daten Motore XML3_v01.doc

General Description: Options:

Compact Design Holding Brake Rare Earth Magnets Shaft Keyway DIN 6885 Resolver Feedback Encoder Feedback Intercontec-Connectors Flying Leads

Parameters Xml3-0065 Xml3-0130 Xml3-0190 Xml3-0250 Xml3-0300

DC Bus Voltage Udc V 320 560 320 560 320 560 320 560 320 560

Rated Torque MN Nm 0,6 1,15 1,6 2,15 2,5

Rated AC Current IN A 1,04 0,64 1,58 0,95 2,22 1,26 2,72 1,62 3,04 1,82

Stall Torque M0 Nm 0,65 1,3 1,9 2,5 3,0

Stall Current I0 A 1,1 0,7 1,7 1,0 2,5 1,4 3,0 1,8 3,5 2,1

Peak Torque Mmax Nm 2,6 5,2 7,6 10 12

Peak AC Current Imax A 4,6 2,8 7,2 4,3 10,7 6,1 13,0 7,7 15,0 9,0

Rated Speed* nN min-1

3000

Max. Mech. Speed nmax min-1

12000

0,61

37

28,2

33,3

1,18

0,99

60

75,0

88,0

1,17

0,78

47

12,7

21,5

1,70

1,29

78

34,5

62,0

1,80

0,76

46

6,7

13,1

1,96

1,34

81

20,9

40,4

1,93

0,83

50

5,4

11,7

2,18

1,39

84

15,0

33,2

2,21

0,86

52

4,1

9,4

2,32

1,44

87

11,6

26,7

2,30

Torque Constant

Voltage Constant

Resistance Ph-Ph

Inductance Ph-Ph

El. Time Constant

Therm. Constant

KT

KE

RPh

LPh

Tel

Tth

Nm/A

V/1000

Ω

mH

ms

min 25 30 31 32 33

Inertia J kgcm2

0,50 0,65 0,92 1,40 1,50

Rated Brake Torque MBr Nm 4,5

Weight w/o brake

Weight with brake

m

mBr

kg

kg

1,752,22

2,252,72

2,703,17

3,203,67

3,654,12

Length w/o brake

Length with brake

K

K1

mm

mm

109

142

127

160

145

178

163

196

181

214

* Windings for different rated speeds are available; parameter tolerance +/-10%

Protection Class IP64, optional IP65 or IP67

Electrical Connections Intercontec-connectors (2 pcs)

Thermal Protection PTC, optional thermal switch (normally closed type) tripping out at 140°C, KTY or NTC

Rated Parameters Acc. to EN 60034-1, ambient temperature TA = 40°C, cooling flange 65°C, temperature rise TR = 110 K

Motor Controller Standard winding designed for power supply Ucc = 320 or 560 VDC, different execution optional

Brushless Servomotors

XML3-xxxx series Udc = 320 / 560 VDC

Page 5: MOTION CONTROL - Homberger · DC Bus Voltage Udc V 320 560 320 560 320 560 320 560 320 560 Rated Torque M N Nm 2,3 3,3 4,6 6,4 8,5 Rated AC Current I N A 3,00 1,85 4,33 2,60 5,91

Specifications are subject to change without notice 04/2007 - Daten Motore XML4_v01.doc

General Description: Options:

Compact Design Holding Brake

Rare Earth Magnets Shaft Keyway DIN 6885

Resolver Feedback Encoder Feedback

Intercontec-Connectors Cannon-Connector

Parameters Xml4-0260 Xml4-0390 Xml4-0530 Xml4-0750 Xml4-0950

DC Bus Voltage Udc V 320 560 320 560 320 560 320 560 320 560

Rated Torque MN Nm 2,3 3,3 4,6 6,4 8,5

Rated AC Current IN A 3,00 1,85 4,33 2,60 5,91 3,75 8,11 4,35 10,52 6,20

Stall Torque M0 Nm 2,6 3,9 5,3 7,5 9,5

Stall Current I0 A 3,1 1,9 4,8 2,9 6,5 4,1 9,1 4,8 11,3 6,6

Peak Torque Mmax Nm 10,4 15,6 21,2 30 38

Peak AC Current Imax A 18,9 11,5 28,9 17,3 38,8 25,1 54,4 29,4 67,6 39,6

Rated Speed* nN min-1

3000

Max. Mech. Speed nmax min-1

12000

0,83

50

3,6

15,9

4,4

1,36

82

9,6

41,5

4,3

0,81

49

2,3

11,8

5,2

1,36

82

6,3

33,1

5,3

0,82

49,5

1,7

9,8

5,9

1,29

78

4,2

24,0

5,7

0,83

50

0,9

5,6

6,4

1,55

94

3,0

19,2

6,4

0,84

51

0,6

4,1

7,0

1,44

87

1,7

11,7

7,1

Torque Constant

Voltage Constant

Resistance Ph-Ph

Inductance Ph-Ph

El. Time Constant

Therm. Constant

KT

KE

RPh

LPh

Tel

Tth

Nm/A

V/1000

Ω

mH

ms

min 60 65 64 66 68

Inertia J kgcm2

1,90 2,25 2,65 4,15 6,05

Rated Brake Torque MBr Nm 9,0

Weight w/o brake

Weight with brake

m

mBr

kg

kg

4,5

5,3

5,1

5,9

5,6

6,4

7,7

8,5

10,5

11,3

Length w/o brake

Length with brake

K

K1

mm

mm

146

178

161

193

176

208

221

253

276

308

* Windings for different rated speeds are available; parameter tolerance +/-10%

Protection Class IP64, optional IP65 or IP67

Electrical Connections Intercontec-Connectors (2 pcs)

Thermal Protection PTC, optional thermal switch (normally closed type) tripping out at 140°C, KTY or NTC

Rated Parameters Acc. to EN 60034-1, ambient temperature TA = 40°C, cooling flange 65°C, temperature rise TR = 110 K

Motor Controller Standard winding designed for power supply Ucc = 320 or 560 VDC, different execution optional

Brushless Servomotors

XML4-xxxx series Udc = 320 / 560 VDC

Page 6: MOTION CONTROL - Homberger · DC Bus Voltage Udc V 320 560 320 560 320 560 320 560 320 560 Rated Torque M N Nm 2,3 3,3 4,6 6,4 8,5 Rated AC Current I N A 3,00 1,85 4,33 2,60 5,91

Specifications are subject to change without notice 04/2007 - Daten Motore XML5_v01.doc

General Description: Options:

Compact Design Holding Brake

Rare Earth Magnets Shaft Keyway DIN 6885

Resolver Feedback Encoder Feedback

Intercontec-Connectors Cannon-Connector

Parameters Xml5-0660 Xml5-1050 Xml5-1350 Xml5-1700 Xml5-2200

DC Bus Voltage Udc V 320 560 320 560 320 560 320 560 320 560

Rated Torque MN Nm 5,7 8,8 11 15 17

Rated AC Current IN A 6,8 4,0 10,5 6,3 14,5 9,5 18,5 10,0 20,2 13,0

Stall Torque M0 Nm 6,6 10,5 13,5 17 22

Stall Current I0 A 7,7 4,5 12,2 7,3 17,4 11,2 21,2 11,4 25,6 16,4

Peak Torque Mmax Nm 19,8 31,5 40,5 51 66

Peak AC Current Imax A 38 23 61 36 87 56 106 57 127 82

Rated Speed* nN min-1

3000

Max. Mech. Speed nmax min-1

9000

0,86

52

1,44

9,6

6,7

1,46

88

4,15

27,8

6,7

0,86

52

0,61

5,5

9,0

1,44

87

1,70

15,2

8,9

0,78

47

0,38

3,6

9,5

1,21

73

0,95

9,0

9,5

0,80

48,5

0,28

2,9

10,4

1,49

90

0,95

10,0

10,5

0,86

52

0,24

2,6

10,8

1,34

81

0,54

5,9

10,9

Torque Constant

Voltage Constant

Resistance Ph-Ph

Inductance Ph-Ph

El. Time Constant

Therm. Constant

KT

KE

RPh

LPh

Tel

Tth

Nm/A

V/1000

Ω

mH

ms

min 45 50 55 60 75

Inertia J kgcm2

4,0 6,2 7,3 9,5 11,7

Rated Brake Torque MBr Nm 18

Weight w/o brake

Weight with brake

m

mBr

kg

kg

7,5

9,3

10

11,8

11,2

13

13,7

15,5

16,2

18

Length w/o brake

Length with brake

K

K1

mm

mm

185

228

219

262

236

279

270

313

304

347

* Windings for different rated speeds are available; parameter tolerance +/-10%

Protection Class IP64, optional IP65 or IP67

Electrical Connections Intercontec-Connectors (2 pcs)

Thermal Protection PTC, optional thermal switch (normally closed type) tripping out at 140°C, KTY or NTC

Rated Parameters Acc. to EN 60034-1, ambient temperature TA = 40°C, cooling flange 65°C, temperature rise TR = 110 K

Motor Controller Standard winding designed for power supply Ucc = 320 or 560 VDC, different execution optional

Brushless Servomotors

XML5-xxxx series Udc = 320 / 560 VDC

Page 7: MOTION CONTROL - Homberger · DC Bus Voltage Udc V 320 560 320 560 320 560 320 560 320 560 Rated Torque M N Nm 2,3 3,3 4,6 6,4 8,5 Rated AC Current I N A 3,00 1,85 4,33 2,60 5,91

Specifications are subject to change without notice 04/2007 - Daten Motore XML6_v01.doc

General Description: Options:

Compact design Holding brake

Rare earth magnets Shaft keyway DIN 6885

Resolver feed-back Encoder feed-back

Intercontec-connectors Cannon-connector

Parameters Xml6-1350 Xml6-1900 Xml6-2200 Xml6-2900

DC Bus Voltage Udc V 320 560 320 560 320 560 320 560

Rated Torque MN Nm 13 17 19 24

Rated AC Current IN A 14,6 8,2 19,0 10,6 20,5 13,1 26,8 14,7

Stall Torque M0 Nm 13,5 19 22 29

Stall Current I0 A 14,6 8,2 20,5 11,5 22,9 14,6 31,3 17,2

Peak Torque Mmax Nm 40,5 57 66 87

Peak AC Current Imax A 62 35 87 49 97 62 132 73

Rated Speed* nN min-1

3000

Max. Mech. Speed nmax min-1

6000

0,93

56

0,34

4,2

12,4

1,65

100

1,10

13,5

12,3

0,93

56

0,19

2,8

14,7

1,65

100

0,61

9,0

14,8

0,96

58

0,17

2,6

15,3

1,51

91

0,41

6,4

15,6

0,93

56

0,09

1,7

18,9

1,69

102

0,31

5,6

18,1

Torque Constant

Voltage Constant

Resistance Ph-Ph

Inductance Ph-Ph

El. Time Constant

Therm. Constant

KT

KE

RPh

LPh

Tel

Tth

Nm/A

V/1000

Ω

mH

ms

min 45 53 60 70

Inertia J kgcm2 13,1 18,7 21,5 32,8

Rated Brake Torque MBr Nm 36

Weight w/o brake

Weight with brake

m

mBr

kg

kg

13,9

16,8

18,2

21,1

20,3

23,2

26,7

29,6

Length w/o brake

Length with brake

K

K1

mm

mm

201

254

235

288

252

305

310

356

* Windings for different rated speeds are available; parameter tolerance +/-10%

Protection Class IP64, optional IP65 or IP67

Electrical Connections Intercontec-Connectors (2 pcs)

Thermal Protection PTC, optional thermal switch (normally closed type) tripping out at 140°C, KTY or NTC

Rated Parameters Acc. to EN 60034-1, ambient temperature TA = 40°C, cooling flange 65°C, temperature rise TR = 110 K

Motor Controller Standard winding designed for power supply Ucc = 320 or 560 VDC, different execution optional

Brushless Servomotors

XML6-xxxx series Udc = 320 / 560 VDC

Page 8: MOTION CONTROL - Homberger · DC Bus Voltage Udc V 320 560 320 560 320 560 320 560 320 560 Rated Torque M N Nm 2,3 3,3 4,6 6,4 8,5 Rated AC Current I N A 3,00 1,85 4,33 2,60 5,91

Specifications are subject to change without notice 04/2007 - Daten Motore XML7_v01.doc

General Description: Options:

Compact Design Holding Brake Rare Earth Magnets Shaft Keyway DIN 6885 Resolver Feedback Encoder Feedback Intercontec-Connectors Cannon-Connector

Parameters Xml7-2700 Xml7-3200 Xml7-4000

DC Bus Voltage Udc V 320 560 320 560 320 560

Rated Torque MN Nm 21 23 26

Rated AC Current IN A 23,7 13,5 25,9 15,0 31,8 17,9

Stall Torque M0 Nm 27 32 40

Stall Current I0 A 28,1 16,0 32,8 19,0 44,0 24,7

Peak Torque Mmax Nm 81 96 120

Peak AC Current Imax A 110 62 128 74 172 96

Rated Speed* nN min-1

3000

Max. Mech. Speed nmax min-1

6000

0,96

58

0,15

2,2

9,3

1,69

102

0,43

4,4

10,2

0,98

59

0,12

1,3

10,8

1,69

102

0,35

3,8

10,9

0,91

55

0,07

0,8

11,4

1,62

98

0,23

2,7

11,7

Torque Constant

Voltage Constant

Resistance Ph-Ph

Inductance Ph-Ph

El. Time Constant

Therm. Constant

KT

KE

RPh

LPh

Tel

Tth

Nm/A

V/1000

Ω

mH

msec

min 60 67 72

Inertia J kgcm2 36 39 45

Rated Brake Torque MBr Nm 36

Weight w/o brake

Weight with brake

m

mBr

kg

kg

23,5

26,8

26,0

29,3

31,5

34,8

Length w/o brake

Length with brake

K

K1

mm

mm

242

296

257

311

287

341

* Windings for different rated speeds are available; parameter tolerance +/-10%

Protection Class IP64, optional IP65 or IP67

Electrical Connections Intercontec-Connectors (2 pcs)

Thermal Protection PTC, optional thermal switch (normally closed type) tripping out at 140°C, KTY or NTC

Rated Parameters Acc. to EN 60034-1, ambient temperature TA = 40°C, cooling flange 65°C, temperature rise TR = 110 K

Motor Controller Standard winding designed for power supply Ucc = 320 or 560 VDC, different execution optional

Brushless Servomotors

XML7-xxxx series Udc = 320 / 560 VDC

Page 9: MOTION CONTROL - Homberger · DC Bus Voltage Udc V 320 560 320 560 320 560 320 560 320 560 Rated Torque M N Nm 2,3 3,3 4,6 6,4 8,5 Rated AC Current I N A 3,00 1,85 4,33 2,60 5,91

Specifications are subject to change without notice 04/2007 - Daten Motore XML8_v01.doc

General Description: Options:

Compact Design Holding Brake Rare Earth Magnets Shaft Keyway DIN 6885 Resolver Feedback Encoder Feedback Intercontec-Connectors Terminal Box

Parameters Xml8-0400 Xml8-0680 Xml8-0930 Xml8-1150

DC Bus Voltage Udc V 560 560 560 560

Rated Torque MN Nm 30 50 70 85

Rated AC Current IN A 17,8 31,1 25,3 32,4

Stall Torque M0 Nm 40 68 93 115

Stall Current I0 A 21,8 39,9 33,1 42,1

Peak Torque Mmax Nm 120 204 279 345

Peak AC Current Imax A 85 156 129 164

Rated Speed* nN min-1

3000 2000

Max. Mech. Speed nmax min-1

3600

Torque Constant

Voltage Constant

Resistance Ph-Ph

Inductance Ph-Ph

El. Time Constant

Therm. Constant

KT

KE

RPh

LPh

Tel

Tth

Nm/A

V/1000

Ω

mH

ms

min

1,84

111

0,25

5,7

22,8

47

1,70

103

0,10

2,5

25,0

65

2,81

170

0,15

4,8

32,0

79

2,73

165

0,11

3,4

30,9

90

Inertia J kgcm2 76 114 153 190

Rated Brake Torque MBr Nm 145

Weight w/o brake

Weight with brake

m

mBr

kg

kg

41,0

50,5

56,0

65,5

73,0

82,5

89,0

98,5

Length w/o brake

Length with brake

K

K1

mm

mm

310

378

378

446

446

514

514

582

* Windings for different rated speeds are available; parameter tolerance +/-10%

Protection Class IP64, optional IP65 or IP67

Electrical Connections Intercontec-Connectors (2 pcs)

Thermal Protection PTC, optional thermal switch (normally closed type) tripping out at 140°C, KTY or NTC

Rated Parameters Acc. to EN 60034-1, ambient temperature TA = 40°C, cooling flange 65°C, temperature rise TR = 110 K

Motor Controller Standard winding designed for power supply Ucc = 560 VDC, different execution optional

Brushless Servomotors

XML8-xxxx series Udc = 560 VDC

Page 10: MOTION CONTROL - Homberger · DC Bus Voltage Udc V 320 560 320 560 320 560 320 560 320 560 Rated Torque M N Nm 2,3 3,3 4,6 6,4 8,5 Rated AC Current I N A 3,00 1,85 4,33 2,60 5,91

Agg. A

prile

2009

Homberger S.p.A. - Divisione Motion Control

Tel. +39 02 576951 - Fax +39 02 57695338E-mail: [email protected] - www.homberger.com