Servo and Stepper Motors - Parker ORIGA · motor current Host Computer I/O status high level command Stepper Motor Single Axis Machine OUTPUT SIGNAL TO MACHINE OR AUXILLARY DEVICE

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Servo and Stepper Motors

Contents

Description Page

Servo Drive & Controller Technical Specs 112-117

SI Programming 118-122

MMI-01 123-125

Motor/Torque Curves 127-130

Dimensions 131-134

Planetary Gearbox – OSP-E..BHD 135-137

Planetary Gearbox –OSP-E Belt & Ballscrew 138-140

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Typical Single Axis System With Servo Drive and ControllerConnected to a Host Computer…

Typical Single Axis System With Control and Drive in a SinglePackage Connected to a Host Computer…

Single AxisMachine

MotorController

OUTPUT SIGNAL TO MACHINE OR AUXILLARY DEVICE

INPUT SIGNAL FROM MACHINE OR AUXILLARY DEVICE

motorcurrent

HostComputer

I/O status

high levelcommand

Stepper Motor

Single AxisMachine

OUTPUT SIGNAL TO MACHINE OR AUXILLARY DEVICE

INPUT SIGNAL FROM MACHINE OR AUXILLARY DEVICE

pulse &direction

signal

motorcurrent

Servo AmpMotorController(Si-100)

HostComputer

I/O status

high levelcommand

Servo Motor

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POWER AMPLIFIER (MOTOR DRIVE) SECTION:AMPLIFIER TYPE .............................................. MOSFET, dual H-Bridge.CURRENT CONTROL ......................................... 3 state, pulse width modulated, switching at 20KHz.OUTPUT CURRENT ........................................... 0.2 to 3.5 amps: software selectable DC BUS VOLTAGE ............................................. 80 VDC.AC INPUT VOLTAGE .......................................... 110 or 220 VAC (switch selectable) 50–60 Hz.MAXIMUM OUTPUT POWER ............................ 122 Watts.IDLE CURRENT REDUCTION ............................ 0%, 25%, 50%, or 100% software selectable.MOTOR RESOLUTION ....................................... 13 resolutions. 2000, 5000, 10000, 12800, 18000, 20000,

21600, 25000, 25400, 25600, 36000, 50000, 50800.

CONTROLLER (INDEXER) SECTION: (see page 100 for Si program information)SERIAL COMMUNICATION ............................... RS-232 programming port.STATUS LED'S .................................................. DC power (red), Overtemp (yellow) and Short (yellow).INPUTS ............................................................. 8 user programmable inputs.

OUTPUTS .......................................................... 3 optically isolated outputs.PARAMETER RANGES ...................................... Distance: 1 to 16,000,000 steps. Speed: .025 to 50 revolutions per sec-

ond (in any microstep resolution). Acceleration: 1 to 3,000 rev/sec/sec.Deceleration: 1 to 3,000 rev/sec/sec (set independently from accelera-tion). Time Delays: .01 to 300 seconds. Output Pulse Widths: 2 to 500milliseconds. Iterations per loop: 1 to 65,535.

OPTIONAL OPERATOR INTERFACE (MMI) ....... NEMA 4/12 rated (splash proof & dust proof). 4 x 20 characters liquidcrystal display (LCD). 20 key membrane keypad. Overall size: 4.9 x 4.9 x1.42 inches.

SYSTEM SPECIFICATIONS:OVERALL SIZE .................................................. 2.25 x 7.80 x 5.40 inches.CHASSIS MATERIAL ......................................... Aluminum, black anodized with integral heat sink.WEIGHT ............................................................. 4 lbs.AMBIENT TEMPERATURE ................................. 0˚ to 50˚C (32˚ to 122˚F).HUMIDITY ......................................................... Maximum of 90% non-condensing.CONNECTORS ................................................... Screw terminal connectors for input power and motor, and I/O signals.MOTORS ........................................................... Can drive 4, 6 or 8 lead motors, NEMA sizes 14–42.CASE ................................................................. Steel with black paint and white epoxy silk screen. Integral heat sink,

mounting brackets & switch covers included.AGENCY APPROVAL ......................................... CE & TUV.

Technical Specifications - SI3540

• 2 dedicated limit switch inputs.• 4 general purpose inputs. Can be used for Feed to Sensor moves, homing,

branching and triggering.• 2 jog inputs, can also be used as general purpose inputs.

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POWER AMPLIFIER (MOTOR DRIVE) SECTION:AMPLIFIER TYPE .............................................. MOSFET, dual H-Bridge.CURRENT CONTROL ......................................... 3 state, pulse width modulated, switching at 20KHz.OUTPUT CURRENT ........................................... 0.5 to 5.5 amps: software selectable DC BUS VOLTAGE ............................................. 80 VDC.AC INPUT VOLTAGE .......................................... 110 or 220 VAC (switch selectable) 50–60 Hz.MAXIMUM OUTPUT POWER ............................ 440 Watts.PROTECTION CIRCUITS ................................... Short circuit and over temperature.IDLE CURRENT REDUCTION ............................ 0%, 25%, 50%, or 100% software selectable.MOTOR RESOLUTION ....................................... 13 resolutions. 2000, 5000, 10000, 12800, 18000, 20000,

21600, 25000, 25400, 25600, 36000, 50000, 50800.

CONTROLLER (INDEXER) SECTION: (see page 100 for Si program information)SERIAL COMMUNICATION ............................... RS-232 programming port.STATUS LED'S .................................................. DC power (red), Overtemp (yellow) and Short (yellow).INPUTS ............................................................. 8 user programmable inputs.

OUTPUTS .......................................................... 3 optically isolated outputs.PARAMETER RANGES ...................................... Distance: 1 to 16,000,000 steps. Speed: .025 to 50 revolutions per sec-

ond (in any microstep resolution). Acceleration: 1 to 3,000 rev/sec/sec.Deceleration: 1 to 3,000 rev/sec/sec (set independently from accelera-tion). Time Delays: .01 to 300 seconds. Output Pulse Widths: 2 to 500milliseconds. Iterations per loop: 1 to 65,535.

OPTIONAL OPERATOR INTERFACE (MMI) ....... NEMA 4/12 rated (splash proof & dust proof). 4 x 20 characters liquidcrystal display (LCD). 20 key membrane keypad. Overall size: 4.9 x 4.9 x1.42 inches.

SYSTEM SPECIFICATIONS:OVERALL SIZE .................................................. 3 x 8 x 5.3 inches.CHASSIS MATERIAL ......................................... Aluminum, black anodized with integral heat sink.WEIGHT ............................................................. 7.8 lbs.AMBIENT TEMPERATURE ................................. 0˚ to 50˚C (32˚ to 122˚F).HUMIDITY ......................................................... Maximum of 90% non-condensing.CONNECTORS ................................................... Screw terminal connectors for input power and motor, and I/O signals.MOTORS ........................................................... Can drive 4, 6 or 8 lead motors, NEMA sizes 14–42.CASE ................................................................. Steel with black paint and white epoxy silk screen. Integral heat sink,

mounting brackets & switch covers included.AGENCY APPROVAL ......................................... CE & TUV.

Technical Specifications - SI5580

• 2 dedicated limit switch inputs.• 4 general purpose inputs. Can be used for Feed to Sensor moves, homing,

branching and triggering.• 2 jog inputs, can also be used as general purpose inputs.

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Si-100

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AC INPUT POWER............................................. 110 or 220 VAC (switch selectable), 50–60 Hz.

MOTOR RESOLUTION ....................................... 16 resolutions. Steps per revolution with 1.8˚ motor: 200, 400, 1000,2000, 5000, 10000, 12800, 18000, 20000, 21600, 25000, 25400, 25600,36000, 50000, 50800.

STEP AND DIRECTION OUTPUTS ..................... 2 sourcing outputs (step+ and dir+) and 2 sinking outputs (step– anddir–). Step+ and dir+ are 2.5min., 3.4V typ. with a 20na load. Step– anddir– are 8.5V max., 0.3V typ. with a 20ma load. The step frequency is50Hz to 2.54MHz. The step duty cycle is 50% and the step rate is up-dated at 12,800Hz.

POWER SUPPLY OUTPUTS .............................. 5 and 24 VDC., 100ma max. The 24 VDC supply is isolated from the in-ternal circuitry. The 5 VDC supply is not. Each supply is protected by aself resetting fuse.

SERIAL COMMUNICATION ............................... RS-232 programming port.STATUS LED'S .................................................. Two color, normal (green), limit (red).INPUTS ............................................................. 8 inputs, 5–24 VDC, bidirectional, optically isolated.

2 dedicated limit switch inputs.4 dedicated general purpose inputs (for triggering, sensing & programbranching).2 JOG inputs (cw and ccw) can be also used as general purpose inputs.

OUTPUTS .......................................................... 3 general purpose, optically isolated outputs for interfacing to otherequipment. Can be set to a high or low voltage or programmed to send apulse by the Set Output instruction.

PARAMETER RANGES ...................................... Distance: 1 to 16,000,000 steps. Speed: .025 to 50 revolutions per sec-ond (in any microstep resolution). Acceleration: 1 to 3,000 rev/sec/sec.Deceleration: 1 to 3,000 rev/sec/sec (set independently from accelera-tion). Time Delays: .01 to 300 seconds. Output Pulse Widths: 2 to 500milliseconds. Iterations per loop: 1 to 65,535.

OPTIONAL OPERATOR INTERFACE (MMI) ....... NEMA 4X rated (splash proof & dust proof). 4 x 20 characters liquidcrystal display (LCD). 20 key membrane keypad. Overall size: 4.9 x 4.9 x1.42 inches.

SYSTEM SPECIFICATIONS:

OVERALL SIZE .................................................. 1.25 x 4 x 8 inches. See mechanical outline.CASE MATERIAL ............................................... Steel, finished with black textured paint and white silk screen.WEIGHT ............................................................. 2 lbs.AMBIENT TEMPERATURE ................................. 0˚ to 50˚C (32˚ to 122˚F).HUMIDITY ......................................................... Maximum of 90% non-condensing.CONNECTORS ................................................... Screw terminal connectors for input power and I/O signals.DRIVES .............................................................. Indexer for step and direction compatible stepper and brushless DC drives.AGENCY APPROVAL ......................................... CE & TUV.

Technical Specifications

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SI Programming

Si Programming Screens

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INDEXER PROGRAMMING:Programmable by RS-232 connection toIBM compatible PC running Windows 3.1,Windows 95, Windows 98 or Windown NT.Programming software and cable included.Programming is very easy to learn and re-quires no previous programming experience.

Programs can be up to 100 lines long.Instructions are powerful, so 100 lines canprovide the user with a sophisticated pro-gram. For example, in one program line themotor can be moved until a sensor changesstate, then fed a precise distance to a stop,delayed and returned to the starting point.Distances, delays, feed and return speeds,acceleration and deceleration parameters areall included in the single program line. Thesame move can take 10 program lines ormore on other indexers.

There are a total of 20 different instruc-tions, including input/output, branches,loops and motion commands. These in-structions can be combined to make anearly infinite variety of programs, meetingthe demands of a wide range of applications.

As you compose your program, you cantest it by downloading to a drive and execut-ing. A sophisticated control panel allows youto observe the status input and output ter-

Si Software Specifications

minals in real time, highlights the instructiothat’s executing, and allows you to pauseand single step the program.

You can even emulate the optional ManMachine Interface on-screen. This allowsyou to try out the MMI before buying one,and eliminates the need to swap cables be-tween the PC and MMI while you’re testingyour program.

You can also write programs without adrive connected to your PC and save themto your hard disk.

Once programmed, the cable can be removed and the indexer-drive will run standalone. Programs and parameters are storedinternally in nonvolatile memory. Uponpower up, the drive automatically senses thconnection to the Windows programmingsoftware. If no connection is detected, theprogram is automatically executed startingon line 1.

All Si products support an optionalNEMA 4X operator interface (MMI) that al-lows the operator to enter variables such aspeeds, distances and repeat counts. TheMMI attaches to the RS-232 programmingport, leaving all inputs and outputs free.

A CNC hand wheel is also available, al-lowing a machine operator to precise posi-tion a motor and load.

Typical Dialog Box(for setting Feed to Length instruction)

Main Programming Screen

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Microstep resolution2000-50800 steps/rev

Motor Current& Idle Current

Jog Input Settings(speed, accel rate)

Jog inputs can be assigned to other uses

CommunicationPort Setting

Limit Switch Options: normally open, normally closed, or not used & available for other uses

user defined units(inches, mm, degrees, etc)

Program WindowIndexer-Drive Type

Button to accesssupport information

Indexer-DriveFirmware Level

Indexer-Drive Control Buttons

Features of the Main Programming Screen

Features of the Program Control Panel

Virtual MMI

Program Control

Status of Inputs

Status of Outputs

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Feed to LengthA point to point move. Parameters are dis-tance, direction, speed, accel and decel.Can also change speeds at a specified dis-tance within the move.

Feed & ReturnA point to point move that returns to thestarting point after specified delay. Param-eters include distance, feed speed, returnspeed, direction, accel, decel, and return de-lay time.

Feed to PositionA move to an absolute position. Parametersare position, speed, accel and decel.

Feed & Set OutputA point to point move. An output terminalcan be turned on or off during the move, orcan be turned on, off or pulsed at the end ofthe move.

Feed to SensorMoves the motor until an input (to which asensor is connected) changes state, thenstops at a specified distance beyond thesensor. Useful for applications like dispens-ing labels or moving objects on a conveyer.A safety distance can be given; if the motormoves beyond that distance without reach-ing the sensor, the motor stops and the pro-gram branches to a specified line.

Feed to Sensor & ReturnSame as Feed to Sensor, but returns to theoriginal starting point. Additional parametersare return speed and return delay time.

Set Abs PositionAssign a value, such as 0 inches, or 10 mm,to the present motor position.

Seek HomePositions the motor at a home sensor (wiredto one of the general purpose inputs)“bouncing off” the limits if necessary.

Si Program Instructions

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Wait TimeDelays a specified amount of time. Range is.01 to 300 seconds. Adding a loop aroundthis instruction can extend the delay time toas much as 18 hours.

Wait InputPauses the program until an input, or set ofinputs, reaches a given condition. The joginputs are functional during this instruction.The Wait Input instruction can also display aprompt on the optional MMI and pause untilthe operator presses the ENTER key.

Hand WheelAllows the operator to precisely position themotor and load using an optional CNC handwheel.

MMI PromptDisplays a prompt on the optional man-ma-chine interface (MMI) panel and accepts aparameter from the operator. This param-eter is saved in nonvolatile memory and canbe used as a move speed, move distance orrepeat loop count. Speeds and distancescan be entered in user defined units such asinches or gallons. The MMI Prompt instruc-tion also allows the operator to choose asub program from a menu of up to 8 subprograms.

Go ToForces program to jump to a specific in-struction. At the least, you’ll need one ofthese at the end of your program to returnexecution to the beginning.

If InputCauses the program to branch to a givenline number if an input, or set of inputs,meets a specified condition. The If Input in-struction can also display a prompt on theoptional MMI and branch if the operatorpresses the YES key.

Set OutputSet a given output to a high or low voltagestate, or can emit a high or low pulse of 2 to500 milliseconds. This instruction is usefulfor triggering other motor controllers, relaysor cut-off knives. It can also be used to sig-nal events to another indexer or PLC.

CommentAllows the user to document the program byadding comments. Comments stay with theprogram even when downloaded to the drive.

RepeatThe beginning of a loop. Repeat a block ofinstructions a fixed number of times (up to65,535 times). Loops can be extended bynesting loops around each other (two nestedloops allow you to repeat the instructionswithin them more than 4 billion times).

End RepeatMarks the end of a repeat loop. The pro-gramming software matches these up foryou automatically. You don’t have to specifya line number. Connections are showngraphically on the screen.

Reset Repeat LoopResets a repeat loop counter to 0. Usefulfor resetting a loop that has been prema-turely terminated by an If Input instruction.

Change CurrentAllows the program to turn off the motorcurrent, resume the previous current level,or change the current setting anytime.

Si Program Instructions

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The MMI-01 is an easy to use, flexible device thatallows an operator to enter move speeds, movedistances or repeat loop counts. Messages can alsobe displayed and the program can be paused until theuser presses a key, such as ENTER, YES or NO.Program branching can be accomplished based onthe response of YES or NO.

The MMI-01 is compact, easy to install and carriesa NEMA 4/12 rating. (The 4 x 20 character display and20 key membrane keypad are sealed.)

Connection to an Si5580 or 7080i indexer drive isaccomplished by the standard programming cablethat is supplied with every drive. This cable alsosupplies power to the MMI-01 so that no additionalpower supply or wiring is needed.

Setup and programming of the MMI-01 is fast andeasy. The Si5580 and 7080i indexer drives arefurnished with the Si™ Programmer software, whichallows the user to easily program instructions for theterminal. Complex, confusing items like baud rate,parity and cursor positioning are handled automati-cally by the software.

On screen emulation of the MMI-01 by the Si™Programmer software allows a potential user to trythe MMI before purchasing one.

Features• Ideal operator interface for Si5580 and 7080i

indexer drives.• Connects directly to Si5580 and 7080i indexer

drives using the standard programming cable. Nospecial wiring required.

• Power is supplied by the drive - no additionalpower supply required.

• Easy to program using Si™ Programmer software.• Can also be used with

MC8400 machine control-ler/drive.

• 4 line, 20 character/line LCDdisplay

• 20 key keypad• NEMA 4/12 rating

(dustproof and drip proofwhen properly mounted)

• Can be surfaced mountedor flush mounted (NEMA 4/12 rating for flush mount-ing only)

MMI-01

4.90

4.90 1.38

0.133.875CENTERED

3.875CENTERED 1 2 3 › ›

4 5 6 › ›7 8 9 YES NO

. 0 SPACE BKSP ENTER

2.988

1.975

0.425

0.963

0.960

MECHANICAL OUTLINE

Programming from Si5580 or 7080i• Easy to program using Si™ Programmer software,

running on Windows 3.1 or Windows 95.• Six functions are available: 1) Display a message,

up to 60 characters 2) Display a message andpause program until operator presses ENTER key.3) Display a message, wait for operator to pressYES or NO key. branch program on YES. 4)Display message, allow operator to enter a loopcount. 5) Display message, allow operator to entera speed 6) Display message, allow operator toenter a distance

• Speeds, distances and loop counts entered by theoperator can be stored in any of eight nonvolatilememory locations for use in repeat loops andmotor moves.

Operator Interface

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There are two ways to mount the MMI-01 in your application. No matter which method you choose,you’ll need to connect the MMI-01 to your indexer-drive with the programming cable. You will not,however, need the adapter plug. The MMI-01 has the same telephone style connector as the 7080iand Si5580 drives.

Depending on how you mount the MMI-01 and cable in your application, you may find that it isdifficult to remove the cable from the back of the MMI-01. If this is the case, and you need to repro-gram the 7080i, you can use any telephone line cord as a programming cable. They are available atmost supermarkets and discount stores. Please be careful not to lose the adapter plug that connectsthe telephone cord to the COM port of your PC. The adapter is a custom made part and is only avail-able from Hoerbiger-Origa.

FLUSH MOUNTING When you remove the MMI-01 fromthe shipping carton, you will notice that it has two parts. Thefirst is a fairly thin section that contains the keypad, displayand some circuit boards. The other part is thicker and con-tains the telephone jack and a cable that connects to the thinpart.

When you flush mount the MMI-01 in a panel, only thethin section will stick out from your panel—the large portionmounts behind your panel. You’ll need to cut a precise sec-tion from your panel. There is a cardboard template in yourbox for this purpose.

If you want the MMI-01 to be dust proof and watertight,you must place the black rubber gasket between the thin art ofthe MMI-01 and your panel. Assemble the two halves usingthe eight small screws.

SURFACE MOUNTING An easier way to mount the MMI-01is to bolt the two halves together ahead of time, using theeight small screws. If you want the MMI-01 to be dust proofand watertight, put the black rubber gasket between the twohalves before screwing them together.

Then cut a hole in your panel for the cable that runs be-tween the MMI-01 and the drive. The hole must be at least5/8" in diameter for the connector to fit through. You willalso need two holes that line up with the big mounting holesin the MMI-01. The mechanical outline on page 96 showsthe location of the big mounting holes.

When you mount the MMI-01 to your panel, you willneed to use some kind of sealant to keep dust and liquid out.Silicone or latex caulking is okay, or you can make your owngasket from a sheet of compliant material rubber or RTV.

panel

MMI(front sectionand gasket)

MMI(rear section)

panel

sealant (not included)

MMI

gasket(included)

Mounting the Optional MMI-01

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Multi-Axis HubSingle RS-232 serial port

Description

The SiNet™ Hub-8 allows up to 8 indexer-drives tobe controlled from a single RS-232 serial port of aPC or PLC.

Each indexer-drive acquires a unique address fromthe port to which it is connected. This simple ad-dressing scheme minimizes the cost of the drives,and more importantly, the cost of configuring and/orreplacing drives in your system. Connections aremade with low cost, reliable telephone cabling.

Any of our popular, cost effective Si™ indexers orindexer-drives can be used with the SiNet™ Hub-8,including the stand alone Si-100 indexer, the DC input7080i and 3540i indexer-drives, and the Si3540 andSi5580 indexer-drives with built-in power supply. Bychoosing the power level and features you need foreach axis of your application, SiNet™ saves youmoney.

The SiNet™ Hub-8 is powered by the drive that's con-nected to port #1, saving you the cost and installationexpense of a separate power supply.

Our SiNet™ Command Language consists of approxi-mately 50 commands allowing a host PC or PLC toexecute relative, absolute and homing moves, makestatus inquires, sample inputs, set outputs, and more.

If your application requires just one indexer-drive tooperate in "host mode", you can connect any of theabove mentioned drives directly to your PC and in-voke the SiNet™ Command Language by respondingto a simple power up request from the drive.

Multi-Axis Stand Alone Mode

Our SiNet Programmer™ Windows software will al-low you to create and store multi-axis motion controlprograms in the SiNet™ Hub-8 and run them withoutthe PC. This new software brings the innovative easeof use and productivity of our Si Programmer™ singleaxis software to multi-axis applications. Call us foravailability.

BLOCK DIAGRAM

MECHANICAL OUTLINE

SiNet™

Hub-8

drive #1

drive #2

drive #8

HostPCor

PLC

1

2

3

4

5

6

7

8

PC/MMI

SiNet™ Hub-8

5.54"

6.50"

3.79"

6.00"

2X Ø 0.19

1.35"

0.125"

Multi-Axis Hub

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Servo and Stepper Motors

Servo Drive

Servo Motor

Stepper Motorsand Controllers

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Motor/TorqueCurves

3540 Series Torque Curves

0 5 10 15 20 25 300

20

40

60

80

100

120

5023-168 MOTORMotor Connection: parallelDrive Setting: 2.5 A/phase

40 volt supply24 volt supply

Torq

ue (

oz-i

n)

Revolutions/Second

0 10 20 30 40 500

30

60

90

120

150



Torq

ue (

oz-i

n)

Revolutions/Second

0 10 20 30 40 500

50

100

150

200



Torq

ue (

oz-i

n)

Revolutions/Second

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PulloutTorque(oz-in)

Power(watts)

TorquePower

0 5 10 15 20 25 30 35 400

50

100

150

250

200

300

0

30

60

90

150

120

180

0 10,000 20,000 30,000 40,000 50,000 60,000 70,000 80,000

Revolutions/second1/10th Steps/second



Power(watts)

TorquePower

0 5 10 15 20 25 30 35 400

100

200

300

400

50

150

250

350

0

60

120

180

240

30

90

150

210

0 10,000 20,000 30,000 40,000 50,000 60,000 70,000 80,000


5580 Series Torque CurvesFull steps/sec = Rev/sec X 200. 1/10th Steps/sec = Rev/sec x 2,000.

0 5 10 15 20 25 30 35 40100

200

300

400

500

600

5042-034 MOTORMotor Connection: ParallelDrive Setting: 5.5A/Phase

DynamicTorque(oz-in)

Revolutions/secondFull Steps/secondHalf Steps/second

0 2,000 4,000 6,000 8,0000 20,000

1,00010,000 40,000 60,000 80,000

3,000 5,000 7,00030,000 50,000 70,000



Power(watts)

TorquePower

0 5 10 15 20 25 30 35 400

20

40

60

80

120

100

0

20

40

60

80

120

100

0 10,000 20,000 30,000 40,000 50,000 60,000 70,000 80,000




Power(watts)

TorquePower

0 5 10 15 20 25 30 35 400

100

150

50

200

0

60

90

30

120

0 10,000 20,000 30,000 40,000 50,000 60,000 70,000 80,000


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Motor Dimension Drawings - Stepper Motors

.75.81± .03

A.190

.060

2 x Ø.2500 +.0000–.0005

Ø1.5 ± .002

#6-32 UNC-2B Thdx 0.25 DP (3) equally spacedon Ø1.865 BC

2 X 2.222 X 1.856

4 X Ø.205 ± .01

10' shielded cable w/connector

60˚

MOUNTINGEND

SIZE 23 FRAMEMODEL* A

(motor length)5023-167 2.05023-168 3.05023-169 4.0

2 X 3.26

10' shielded cable w/connectorØ2.875± .002

4 X Ø.216± .01

2 X 2.74

A

1.19 ± .04.19

.0631.19 ± .03

Ø 3.38MAX

2 X Ø.3750+.0000–.0005

30˚

#6-32 UNC-2B Thdx 0.25 equally spacedon Ø2.952 BC


(motor length)5034-367 2.55034-368 3.75034-369 6.1

MAX

2 X 4.20MAX

Ø2.186±.002

4 X Ø.28±.01

2 X 3.50Ø4.26 MAX

Ø.6248+.0000–.0006

Ø.5000+.0000–.0005

.062

1.25 ± .08

A

30ϒ

.32

1⁄2 - 14 NPT1.38 ± .05

10' shielded cable w/connector

4 x 6-32 UNC-2bthru equallyspaced onØ2.925 BC


(motor length)5042-034 7.7

* Part numbers listed are for single shaft. To order double shaft add “D” to the end.

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MOTORCONNECTION Minimum

Motor Holding Rotor Motor1 = series Length Torque Step Inertia Weight

Part # 2 = parallel (inches) (oz-in) Leads Angle Volts Amps Ohms mH (oz-in2/G-CM2) (Lbs.)

*5023-168 1 3.0 141.0 8 1.8 5.9 1.26 4.6 18.8 1.14/210 2.002 3.0 141.0 8 1.8 3.0 2.52 1.2 4.7 1.14/210 2.00

*5023-169 1 4.0 212.0 8 1.8 5.7 1.75 3.3 16.8 1.72/315 2.802 4.0 212.0 8 1.8 2.8 3.29 0.8 4.2 1.72/315 2.80

*5034-368 1 3.7 424.0 8 1.8 3.5 3.24 1.0 11.6 6.72/1230 5.402 3.7 424.0 8 1.8 1.8 7.07 0.3 2.9 6.72/1230 5.40

*5034-369 1 5.1 636.0 8 1.8 3.5 4.17 0.8 10.4 10.2/1870 7.702 5.1 636.0 8 1.8 1.8 8.34 0.2 2.6 10.2/1870 7.70

*5042-034 1 5.1 1591.0 8 1.8 3.8 6.70 0.6 7.6 10.2/1870 7.702 5.1 1591.0 8 1.8 1.9 13.40 0.1 1.9 10.2/1870 7.70

OTHER LENGTHS AND WINDINGS AVAILABLE UPON REQUEST

Part numbers listed are for single shaft. To order double shaft add "D" to the end.

*Optimized for microstepping and use with 160 volt drives

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Notes:1. Dimensions in mm (inches)2. Tolerances, unless otherwise specified: Angle dimension ±1°, XX decimal places ± .38 (.015), XXX decimal places ± .127 (.005)3. Motor receptacles can be rotated.

Amplifier

DIMENSIONS MT150x - SERVO MOTOR

Model "A" Max. "B" Ref "C" Ref "D" "E" Key Lengthw/brake w/o brake w/brake w/o brake w/brake w/o brake NEMA 23 NEMA 23 NEMA 23

MT(B)1506 205.23 (8.080) 160.03 (6.301) 186.97 (7.361) 141.94 (5.588) 277.11 (10.91) 231.90 (9.13) (.3750) (1.502) no keyway

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Notes:1. Dimensions in mm (inches)2. Tolerances, unless otherwise specified: Angle dimension ±1°, XX decimal places ± .38 (.015), XXX decimal places ± .127 (.005)3. Connectors rotate for models MT302. DIM "B" is too small for cable bend radius. Rotate connector 35° MIN.

DIMENSIONS MT30x - SERVO MOTOR

Model "A" Max. "B" Min. "D" "E" "F" Key Lengthw/brake w/o brake w/brake w/o brake NEMA 34 NEMA 34 NEMA 34 NEMA 34

MT(B)304 183.1 (7.210) 137.7 (5.420) 82.67 (3.255) 37.46 (1.475) (.3745-.3750) 73.00 31.75 No keyway

MT(B)306 198.6 (7.820) 153.2 (6.030) 98.16 (3.865) 52.95 (2.085) (.4995-.5000) 73.00 31.75 19

MT(B)308 231.7 (9.120) 186.2 (7.330) 131.2 (5.165) 85.97 (3.385) (.4995-.5000) 73.00 31.75 19

Stall Rated Peak Rated Std.Torque Torque Torque Speed Inertia Weight

Servo Motor Nm Nm Nm RPM Kgm2 kg

MT1506A 1.35 1.35 4.62 6000 0.0000294 2.3

MT304A 2.64 2.64 7.4 3000 0.0000808 4.3

MT304B 2.45 2.45 5.9 6000 0.0000808 4.3

MT306A 3.54 3.54 11.48 2500 0.000111 4.8

MT306B 3.5 3.5 11.52 4600 0.000111 4.8

MT308A 5.04 5.04 19.16 1500 0.0001749 6.1

MT308B 5.04 5.04 19.12 3000 0.0001749 6.1

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Motor Mounting

A A

MOUNT ASSEMBLY(TYPE MAS or MAI)

MOTOR

MOUNT ASSEMBLY(TYPE MES or MEI)

MOTOR

Motor Mount Size Type Motor Type A C D E

MES-2504 25 Belt Metric 04 95.7 70 70 70

MES-3204 32 Belt Metric 04 86.7 70 70 70

MES-5004 50 Belt Metric 04 86.7 70 90 70

MES-5008 50 Belt Metric 08 114.7 90 90 90

MEI-2523 25 Belt Nema 23 76.7 70 70 70

MEI-3234 32 Belt Nema 34 88.7 90 70 90

MEI-5034 50 Belt Nema 34 83 90 90 90

MGM-3234 32 Belt Nema 34 88.7 90 70 90

MGM-5034 50 Belt Nema 34 88.7 90 90 90

MAS-2501 25 Screw Metric 01 51.4 42 42 42

MAS-3204 32 Screw Metric 04 86.7 70 70 70

MAS-5004P 50 Screw Metric 04P** 88.7 90 90 90

MAS-5008 50 Screw Metric 08 88.7 90 90 90

MAI-2517 25 Screw Nema 17 51.4 42 42 42

MAI-3223 32 Screw Nema 23 76.7 70 70 70

MAI-5034 50 Screw Nema 34 88.7 90 90 90

MAS-5008P 50 Screw Metric 08P** 88.7 120 90 120

MEI-5042 50 Belt Nema 42 88.7 120 90 120

MAI-3101 32 Screw Nema 34 86.7 90 70 90

MAI-3234 32 Screw Nema 34 86.7 90 70 90

MEI-3223 32 Belt Nema 23 76.7 70 70 70

MAI-2523 25 Screw Nema 23 51.4 70 42 70

MGM-3223 32 Belt Nema 23 76.7 70 70 70

MGM-5034S 50 Screw Nema 34 88.7 90 90 90

MGM-3223S 32 Screw Nema 23 86.7 70 70 70

MES-3208 32 Belt Metric 08 88.7 90 90 90

Dimensions are for reference purposes onlyNema mounts match IMS stepper motors or equivalentMetric mounts match Yaskawa SGM Servo motors or equivalent*Drilled & counterbored for 4-40 socket head cap screw from opposite sideMGM = Gearbox mount

The coupling housing is the mounting base forthe motor and includes a self aligning coupling.

Motor flanges and couplings suitable for theavailable range of servo and stepper motorswill be found together with technical data anddimensions on motors and drives, see separatedata sheet.

C D E

A

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Motor Mount Size Type Motor Type G H J K

MES-2504 25 Belt Metric 04 10-32 UNF 70 50 3.5




MEI-2523 25 Belt Nema 23 10-32 UNF 66.68 38.1 2

MEI-3234 32 Belt Nema 34 10-32 UNF 98.42 73.08 2

MEI-5034 50 Belt Nema 34 10-32 UNF 98.42 73.08 2

MGM-3234 32 Belt Nema 34 10-32 UNF 98.42 73.08 2

MGM-5034 50 Belt Nema 34 10-32 UNF 98.42 73.08 2

MAS-2501 25 Screw Metric 01 M4 46 30 3

MAS-3204 32 Screw Metric 04 10-32 UNF 70 50 3.5

MAS-5004P 50 Screw Metric 04P** 10-32 UNF 90 70 3.5

MAS-5008 50 Screw Metric 08 10-32 UNF 90 70 3.5

MAI-2517 25 Screw Nema 17 * 43.8 22 2.5

MAI-3223 32 Screw Nema 23 10-32 UNF 66.68 38.1 2


MAS-5008P 50 Screw Metric 08P** M8 X125 145 110 4

MEI-5042 50 Belt Nema 42 .25-20 UNC 127 55.58 2



MEI-3223 32 Belt Nema 23 10-32 UNF 66.68 38.1 2


MGM-3223 32 Belt Nema 23 10-32 UNF 66.68 38.1 2

MGM-5034S 50 Screw Nema 34 10-32 UNF 98.42 73.08 2

MGM-3223S 32 Screw Nema 23 10-32 UNF 66.68 38.1 2


"G" x 16mm DEEPx "H" BOLT CIRCLE

øJ COUNTER BORE X "K" DEEPFOR MOTOR PILOT

E

Dimensions are for reference purposes onlyNema mounts match IMS stepper motors or equivalentMetric mounts match Yaskawa SGM Servo motors or equivalent*Drilled & counterbored for 4-40 socket head cap screw from opposite sideMGM = Gearbox mount

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A gearbox-mounting flange allows the LP series gearbox tobe mounted directly to the actuator, eliminating the need fora coupling.

Motor mounting flange and reducing bush are custom madeto suit the motor.

Please specify the motor manufacturer and model whenordering.

Note maximum shaft diameter below!

OSP-E BHD Heavy Duty Belt Gearbox SeriesLP070 LP090 LP120

(BHD25) (BHD32) (BHD50)

32 80 2005:1, 25:1, 50:1

Nm (283) (708) (1770)Nominal Output Torque T2n

(lb-in) 3:1, 10:1, 15:1, 30:1, 15 35 90100:1 (133) (310) (797)

32 80 2005:1, 25:1, 50:1

Nm (283) (708) (1770)Maximum Acceleration Torque T2B

(lb-in) 3:1, 10:1, 15:1, 30:1, 29 72 180100:1 (257) (637) (1593)

Nominal Speed n1max RPM 3700 3400 2600

Maximum Speed n1n RPM 6000 6000 4800

1-stage: 3, 5, 10 < 12Standard Output Backlash j arcmin

2-stage: 15, 25, 30, 50,< 15

100

1.9 4.1 91-stage

kg (4.2) (9) (19.8)Weight m

(lb) 2.2 5.1 11.22-stage

(4.9) (11.2) (24.7)

0.28 1.77 5.421-stage

kgcm2 (0.096) (0.604) (1.85)Mass Moment of Inertia J1

(lb-in2) 0.28 1.78 5.492-stage

(0.096) (0.608) (1.874)

mm 16 24 32Maximum Motor Shaft Diameter

(ins) 0.6299 0.9448 1.2598

1-stage: 3, 5, 10Ratios Available

2-stage: 15, 25, 30, 50, 100

1-stage: >97%Efficiency at Load

2-stage: >95%

Average Lifetime 20,000 hours

Lubrication Flow Grease

Protection Rating IP 64

PLANETARY GEARBOX FOR THEOSP-E BHD HEAVY DUTY ACTUATOR

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Gearbox

LP Series

Type Available L W Weight

LP 070*Single Stage 3, 5, 10 103 70 3.3Double Stage 25, 50, 100 123 70 3.6

LP 090*Single Stage 3, 5, 10 125 90 5.5Double Stage 25, 50, 100 151.5 90 6.5

LP 120*Single Stage 3, 5, 10 153 120 10.4Double Stage 25, 50, 100 185.5 120 12.6

*LP Gear Heads for use with BHD only

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Gearbox Mounting Flanges -See New Ordering Instructions Position 4 for Shaft Type

Description Reduction Order Number

Planetary Gear LP 070 1-stage I=3:1 80001240

LP 070 1-stage i=5:1 80001252

LP 070 1-stage i=10:1 80001253

LP70 for BHD25 LP 070 2-stage I=15:1 80001242

LP 070 2-stage i=25:1 80001254

LP 070 2-stage I=30:1 80001243

LP 070 2-stage i=50:1 80001255

LP 070 2-stage i=100:1 80001256

LP 090 1-stage I=3:1 80001244

LP 090 1-stage i=5:1 80001216

LP 090 1-stage i=10:1 80001257

LP90 for BHD32 LP 090 2-stage I-15:1 80001245

LP 090 2-stage i=25:1 80001258

LP 090 2-stage I=30:1 80001246

LP 090 2-stage i=50:1 80001259

LP 090 2-stage i=100:1 80001260

LP 120 1-stage I=3:1 80001247

LP 120 1-stage i=5:1 80001250

LP 120 1-stage i=10:1 80001261

LP120 for BHD50 LP 120 2-stage I=15:1 80001248

LP 120 2-stage i=25:1 80001262

LP 120 2-stage I=30:1 80001249

LP 120 2-stage i=50:1 80001263

LP 120 2-stage i=100:1 80001264

Order Number for OSP-E BHD Gearbox

ALWAYS STATE EXACT MOTORTYPE WHEN ORDERING GEAR!

Shaft Type

Gearbox flange to LP70 for BHD25 K,L,M,N 12311

mount the LP series LP90 for BHD32 K,L,M,N 12312

to BHD LP120 for BHD50 K,L,M,N 12313

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OSP-E Belt Gearbox Series EG

143:1, 10:1

Nm (124)Nominal Output Torque T2n

(lb-in) 265:1, 7:1

(230)

253:1, 10:1

Nm (221)Maximum Acceleration Torque T2B

(lb-in) 405:1, 7:1

(354)

Nominal Speed n1max RPM 3500

Maximum Speed n1n RPM 6000

Standard Output Backlash j arcmin 3:1 - 10:1 < 10

kg 1.0Weight m 1-stage

(lb) (2.2)

0.176i = 3

(0.06)kgcm2 0.15

Mass Moment of Inertia J1 i = 5(lb-in2) (0.051)

0.138i = 7,10

(0.047)

Ratios Available 1-stage: 3, 4, 5, 7, 10

Efficiency at Load 1-stage: 90%

Average Lifetime > 20,000 hours

Lubrication Mineral Grease EP0

Protection Rating IP 64

Operating Temperature -20°C to 90°C

A gearbox mounts directly to the actuator, eliminating theneed for a coupling.

A simple adaptor flange and bushing allows NEMA 23 and34 frame motors to be fitted.

The gearbox input shaft connects directly to the motor shaftand is secured using a split-clamping ring.

PLANETARY GEARBOX FOR THEOSP-E BELT ACTUATOR

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Actuator and Type Available L W WeightRatio Max Max Kg

25 Belt/Ball Screw 3, 5, 7, 10NEMA 23 135.3 70 1.3NEMA 34 135.3 85 1.46



Planetary Gearbox Dimensions

Note: Dimensions below include NEMA 23 or 34 flanges.

Gam Gear Heads have hollow shafts and do not require a Gear Box mount.GAM Gear Heads are not to be used on the BHD model.All above dimensions are for reference only. Consult factory for further details on all Gear Head.

Belt Actuator

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Order Number for OSP-E Belt and Ballscrew Gearbox

Order Numbers Description

25 Belt Actuator

EG00003-B2523A Gearbox 3:1 Ratio 25 Belt .250 motor shaft




EG00003-B2523 Gearbox 3:1 Ratio 25 Belt .375 motor shaft








32 Belt Actuator













50 Belt Actuator









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Documents

Servo and Stepper Motors - Parker ORIGA · motor current Host Computer I/O status high level command Stepper Motor Single Axis Machine OUTPUT SIGNAL TO MACHINE OR AUXILLARY DEVICE