gm9434h187_r1
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gm9434h187_r1

Course Number: EE 382, Fall 2009

College/University: NMT

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SERIES GM9000: We have the GM9434H187-R1 Gearmotor Data Item Parameter 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 Max. Load Standard Gears1 Max. Load High-Torque Gears1 Max. Load High-Torque, Wide Face Gears1 Symbol Units TL TL TL S0 S0 S0 S0 S0 S0 S0 S0 S0 WG WG L2 L2 ozin ozin ozin rpm rpm rpm rpm rpm rpm rpm rpm rpm % oz oz 5.9:1 175 300 N/A 1399 1189 948 1016 1300 1043...

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GM9000: SERIES We have the GM9434H187-R1 Gearmotor Data Item Parameter 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 Max. Load Standard Gears1 Max. Load High-Torque Gears1 Max. Load High-Torque, Wide Face Gears1 Symbol Units TL TL TL S0 S0 S0 S0 S0 S0 S0 S0 S0 WG WG L2 L2 ozin ozin ozin rpm rpm rpm rpm rpm rpm rpm rpm rpm % oz oz 5.9:1 175 300 N/A 1399 1189 948 1016 1300 1043 907 834 904 CW 81 5.90 N/A 11.5:1 175 300 N/A 717 610 486 521 667 535 465 427 464 CW 81 5.90 N/A 1.373 N/A 3.101 N/A 3.476 N/A 3.676 N/A 3.976 N/A 4.326 N/A 4.626 N/A 19.7:1 175 300 500 420 357 284 305 390 313 272 250 271 CCW 73 6.26 6.52 1.373 1.373 3.101 3.101 3.476 3.476 3.676 3.676 3.976 3.976 4.326 4.326 4.626 4.626 38.3:1 175 300 500 215 183 146 156 200 160 140 128 139 CCW 73 6.26 6.52 1.373 1.373 3.101 3.101 3.476 3.476 3.676 3.676 3.976 3.976 4.326 4.326 4.626 4.626 65.5:1 175 300 500 126 107 85.3 91.5 117 93.9 82 75 81 CW 66 6.62 6.88 1.373 1.373 3.101 3.101 3.476 3.476 3.676 3.676 3.976 3.976 4.326 4.326 4.626 4.626 127.8:1 175 300 500 64.6 54.9 43.8 46.9 60.0 48.1 41.9 38.5 41.7 CW 66 6.62 6.88 1.373 1.373 3.101 3.101 3.476 3.476 3.676 3.676 3.976 3.976 4.326 4.326 4.626 4.626 218.4:1 425.9:1 728.1:1 1419.8:1 2426.9:1 4732.5:1 175 300 500 37.8 32.1 25.6 27.4 35.1 28.2 24.5 22.5 24.4 CCW 59 6.98 7.24 1.373 1.373 3.101 3.101 3.476 3.476 3.676 3.676 3.976 3.976 4.326 4.326 4.626 4.626 175 300 500 19.4 16.5 13.1 14.1 18.0 14.4 12.6 11.5 12.5 CCW 59 6.98 7.24 1.373 1.373 3.101 3.101 3.476 3.476 3.676 3.676 3.976 3.976 4.326 4.326 4.626 4.626 175 300 500 11.3 9.6 7.7 8.2 10.5 8.5 7.3 6.8 7.3 CW 53 7.34 8.08 1.373 1.528 3.101 3.256 3.476 3.631 3.676 3.831 3.976 4.131 4.326 4.481 4.626 4.781 175 300 500 5.8 4.9 3.9 4.2 5.4 4.3 3.8 3.5 3.8 CW 53 7.34 8.08 1.373 1.528 3.101 3.256 3.476 3.631 3.676 3.831 3.976 4.131 4.326 4.481 4.626 4.781 175 300 N/A 3.4 2.9 2.3 2.5 3.2 2.5 2.2 2.0 2.2 CCW 48 8.18 N/A 1.528 N/A 3.256 N/A 3.631 N/A 3.831 N/A 4.131 N/A 4.481 N/A 4.781 N/A 175 300 N/A 1.7 1.5 1.2 1.3 1.6 1.3 1.1 1.0 1.1 CCW 48 8.18 N/A 1.528 N/A 3.256 N/A 3.63 N/A 3.831 N/A 4.131 N/A 4.481 N/A 4.781 N/A GM9X12, No-Load Speed GM9X32, No-Load Speed GM9X13, No-Load Speed GM9X33, No-Load Speed GM9X14, No-Load Speed GM9X34, No-Load Speed GM9X35, No-Load Speed GM9X36, No-Load Speed GM9X37, No-Load Speed Gearbox Shaft Rotation2 Gearbox Efficiency Gearbox Weight (STD & HT)3 Gearbox Weight (HTWF)4 Gearbox Length (STD & HT) Gearbox Length (HTWF) in max 1.373 in max N/A Length, GM92X2/GM94X2 (STD & HT) L 3 Length, GM92X2/GM94X2 (HTWF) L3 in max 3.101 in max N/A Length, GM92X3/GM94X3 (STD & HT) L 3 Length, GM92X3/GM94X3 (HTWF) L3 in max 3.476 in max N/A Length, GM92X4/GM94X4 (STD & HT) L 3 Length, GM92X4/GM94X4 (HTWF) L3 in max 3.676 in max N/A Length, GM9235/GM9435 (STD & HT) L 3 Length, GM9235/GM9435 (HTWF) L3 in max 3.976 in max N/A Length, GM9236/GM9436 (STD & HT) L 3 Length, GM9236/GM9436 (HTWF) L3 in max 4.326 in max N/A Length, GM9237/GM9437 (STD & HT) L 3 Length, GM9237/GM9437 (HTWF) L3 in max 4.626 in max N/A 1 Represents 2Shaft gearbox capability only. Continuous load torque capability will vary with gear ratio, motor selection, and operating conditions. rotation is designated while looking at output shaft with motor operating in a clockwise direction. 3 Standard and High Torque 4 High-Torque, Wide Face SERIES GM9000 Motor Data Item Parameter 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 Continuous Torque (Stall) 1 Peak Torque (Stall) Friction Torque No-Load Speed Armature/Rotor Inertia Electrical Time Constant Mechanical Time Constant Viscous Damping Infinite Source Impedance Viscous Damping Zero Source Impedance Symbol Units TC TP TF S0 JM ozin ozin ozin rpm ozins2 ms ms ozin/krpm ozin/krpm C C/watt min oz ozin/W in max 9X12 1.58 8.35 0.40 8251 2.2 X 10 -4 0.53 22.8 0.0086 1.00 155 22.7 7.21 6.96 1.16 1.828 9X32 2.30 13.8 0.50 7015 2.7 X 10 -4 0.63 14.4 0.0272 1.94 155 22.7 7.21 6.98 1.62 1.828 9X13 3.20 15.6 0.50 5592 3.9 X 10 -4 0.74 14.7 0.0113 2.78 155 19.1 11.1 8.98 1.94 2.203 9X33 4.70 31.6 0.60 5993 4.6 X 10 -4 0.84 9.29 0.0335 5.23 155 19.1 11.1 8.90 2.66 2.203 9X14 3.93 23.9 0.50 7666 5.4 X 10 -4 0.80 18.1 0.0125 3.11 155 17.1 12.0 10.1 2.05 2.403 9X34 6.10 41.3 0.60 6151 5.9 X 10 -4 0.85 9.25 0.0387 6.68 155 17.1 12.0 10.1 3.01 2.403 9X35 6.9 49.4 0.65 5348 7.9 X 10 -4 0.00 10.9 0.0450 7.6 155 14.7 12.9 0.0 3.21 2.703 9X36 9.5 61.8 0.80 4916 1.0 X 10 -3 1.06 8.5 0.0525 12.5 155 13.5 13.5 13.8 4.11 3.053 9X37 11.5 77.0 0.80 5331 1.2 X 10 -3 1.06 8.88 0.0550 14.4 155 11.2 13.8 15.5 4.41 3.353 E M D KD Maximum Winding Temperature Thermal Impedance Thermal Time Constant Motor Weight Motor Constant Motor Length, 92XX, 94XX MAX RTH TH WM KM L1 1Continuous torque specified at 25C ambient temperature and without additional heat sink. Model GM9XX2 Winding Data (Other windings available upon request) Item Parameter 46 47 48 49 50 51 52 Reference Voltage Torque Constant Back-EMF Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L I0 IP Units V ozin/A V/krpm mH A A 12.0 1.86 1.38 2.63 1.35 0.26 4.56 GM9X12 19.1 2.95 2.18 6.45 3.40 0.16 2.96 24.0 3.72 2.75 10.2 5.42 0.13 2.35 30.3 4.68 3.46 16.1 8.56 0.10 1.88 12.0 2.20 1.63 1.93 1.16 0.32 6.22 GM9X32 19.1 3.50 2.59 4.70 2.94 0.20 4.06 24.0 4.40 3.25 7.38 4.64 0.16 3.25 30.3 5.53 4.09 11.6 7.34 0.13 2.60 Model GM9XX3 Winding Data (Other windings available upon request) Item Parameter 53 54 55 56 57 58 59 Reference Voltage Torque Constant Back-EMF Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L I0 IP Units V ozin/A V/krpm mH A A 12.0 2.80 2.07 2.17 1.54 0.20 5.54 GM9X13 19.1 4.47 3.31 5.32 3.93 0.13 3.59 24.0 5.60 4.14 8.33 6.17 0.10 2.88 30.3 7.07 5.23 13.2 9.84 0.08 2.30 12.0 2.67 1.98 1.08 0.84 0.30 GM9X33 11.1 19.1 4.20 3.10 2.53 2.08 0.19 7.55 24.0 5.28 3.90 3.94 3.29 0.15 6.09 30.3 6.68 4.94 6.21 5.27 0.12 4.88 SERIES GM9000 Model GM9XX4 Winding Data (Other windings available upon request) Item Parameter 60 61 62 63 64 65 66 Reference Voltage Torque Constant Back-EMF Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L I0 IP Units V ozin/A V/krpm mH A A 12.0 2.06 1.53 1.10 0.81 0.29 10.9 GM9X14 19.1 3.27 2.42 2.59 2.04 0.18 7.36 24.0 4.13 3.05 4.06 3.25 0.14 5.91 30.3 5.22 3.86 6.40 5.19 0.11 4.73 12.0 2.58 1.91 0.83 0.63 0.33 14.5 GM9X34 19.1 4.07 3.01 1.89 1.56 0.21 10.1 24.0 5.17 3.82 2.96 2.51 0.16 8.11 30.3 6.50 4.81 4.62 3.97 0.13 6.55 Model GM9X35/GM9X36 Winding Data (Other windings available upon request) Item Parameter 67 68 69 70 71 72 73 Reference Voltage Torque Constant Back-EMF Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L I0 IP Units V ozin/A V/krpm mH A A 12.0 2.47 1.83 0.68 TBD 0.38 17.6 GM9X35 19.1 3.99 2.95 1.56 TBD 0.24 12.2 24.0 4.94 3.65 2.37 TBD 0.19 10.1 30.3 6.27 3.65 3.72 TBD 0.16 8.14 12.0 3.25 2.40 0.71 0.66 0.33 16.9 GM9X36 19.1 5.24 3.88 1.64 1.72 0.20 11.7 24.0 6.49 4.80 2.49 2.63 0.16 9.64 30.3 8.24 6.09 3.91 4.24 0.13 7.74 Model GM9X37 Winding Data (Other windings available upon request) Item Parameter 74 75 76 77 78 79 80 Reference Voltage Torque Constant Back-EMF Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L I0 IP Units V ozin/A V/krpm mH A A 12.0 3.00 2.22 0.55 0.49 0.37 21.7 19.1 4.72 3.49 1.20 1.21 0.23 15.9 GM9X37 24.0 6.00 4.44 1.85 1.97 0.18 12.96 30.3 7.43 5.50 2.82 3.01 0.15 10.73 SERIES GM9000 Model GM9X12 2.5 Model GM9X32 3.5 Motor Speed & Current vs. Torque (24V Winding) 2.0 8000 Motor Speed & Current vs. Torque (24V Winding) 8750 3.0 2.5 Current (A) 1.5 6400 7500 2.0 6250 1.5 1.0 4800 5000 1.0 Speed (rpm) 0.5 3200 Speed (rpm) 3750 0.5 1600 4.0 3.0 0 1.0 0.0 2.0 0.0 6.0 5.0 2500 7.0 1250 4.0 3.0 2.0 1.0 0.0 6.0 5.0 0.0 8.0 e Torqu (ozin ) 0 e Torqu (ozin ) Model GM9X13 3.5 Model GM9X33 7.0 3.0 Motor Speed & Current vs. Torque (24V Winding) 8400 Motor Speed & Current vs. Torque (24V Winding) 8750 6.0 2.5 5.0 Current (A) 7200 2.0 7500 4.0 6000 1.5 6250 3.0 4800 1.0 5000 Speed (rpm) 2.0 3600 Speed (rpm) 0.5 3750 1,0 2400 6.0 5.0 4.0 3.0 0 1.0 0.0 2.0 in) e (oz 0.0 7.0 2500 0.0 12.0 10.0 8.0 6.0 4.0 2.0 0.0 1200 1250 Torqu 0 e Torqu ) (oz in Model GM9X14 6.0 Model GM9X34 8.75 5.0 Motor Speed & Current vs. Torque (24V Winding) 1080 0 Motor Speed & Current vs. Torque (24V Winding) 1050 0 7.50 6.25 4.0 Current (A) 9000 3.0 7200 2.0 9000 5.00 7500 3.75 6000 Speed (rpm) 5400 1.0 3600 0.0 1800 8.0 6.0 0 2.0 0.0 4.0 12.0 10.0 Speed (rpm) 2.50 4500 1.25 3000 0.0 20.0 15.0 10.0 1500 e Torqu (ozin ) 0 0.0 5.0 e Torqu (ozin ) Current (A) Current (A) Current (A) SERIES GM9000 Model GM9X35 11.0 Model GM9X36 10.0 10.0 9.0 Motor Speed & Current vs. Torque (24V Winding) 5500 5000 4500 4000 3500 3000 2500 2000 1500 1000 500 20.0 0 0.0 10.0 30.0 40.0 Motor Speed & Current vs. Torque (24V Winding) 5000 4500 4000 3500 3000 9.0 8.0 7.0 6.0 5.0 4.0 3.0 8.0 7.0 6.0 5.0 4.0 Speed (rpm) Speed (rpm) 3.0 2.0 1.0 0.0 50.0 Current (A) 2500 2000 1500 1000 500 0 0.0 5.0 10.0 15.0 20.0 25.0 35.0 2.0 1.0 0.0 65.0 40.0 45.0 50.0 55.0 60.0 30.0 Torq zin ue (o ) e (oz Torqu in) Model GM9X37 15.0 Motor Speed & Current vs. Torque (24V Winding) 6000 12.5 10.0 5000 7.5 4000 5.0 Speed (rpm) 3000 2.5 2000 0.0 80.0 1000 48.0 0 16.0 0.0 32.0 64.0 e Torqu (ozin ) Current (A) Current (A) SERIES GM9000 SERIES GM9000 GM94XX Motor L3 MAX.** 2.000 DIA. +.000 - .002 .020 .010 #1 TERMINAL L2 MAX.** .750 .002 1.125 DIA. .365 TYP. .110 TYP. .075 TYP. .047 DIA. TYP. 1.580 DIA. .288 .020 TYP. .835 R. .062 .310 .218 REF. TYP. .1564 .1561 DIA. .329 .2496 .2493 DIA. #10-32 UNF-2B, .250 DP. REF. 2 HOLES 180 APART ON A 1.500 DIA B.C. .204 FLAT .002 1.065 MAX. .030 .050 .062 .500 DIA. +.000 -.002 L3 MAX.** STANDARD LEAD WIRES 22 AWG, (7X30), UL STYLE 1007/1569 18 1/2, RED & BLACK .37 GM92XX Motor L2 MAX.** Notes: Unless otherwise specified, all tolerances are to be .005 All measurements are in inches **See items 17 through 30 in gearmotor data chart R HARLEYSVILLE, PA 19438-0003 USA A DIVISION OF PENN ENGINEERING & MANUFACTURING CORP. Phone 215-256-6601 Fax 215-256-1338 http://www.pittmannet.com SERIES GM9000 L3 MAX.** + .680 MAX. .695 MAX. 1.575 GM94XX Motor with 91X0 Encoder .190 .315 .520 .350 MAX. 1.025 1.815 L3 MAX.** + .658 MAX. .695 MAX. GM92XX Motor with 91X0 Encoder .190 .315 Encoder Connection Chart PIN NO. 1 2 3 4 5 COLOR BLACK GREEN YELLOW RED BLUE CONNECTION GROUND INDEX CHANNEL A Vcc CHANNEL B Notes: Unless otherwise specified, all tolerances are to be .005 All measurements are in inches **See items 17 through 30 in gearmotor data chart R HARLEYSVILLE, PA 19438-0003 USA A DIVISION OF PENN ENGINEERING & MANUFACTURING CORP. Phone 215-256-6601 Fax 215-256-1338 http://www.wwpittmannet.com SERIES GM9000 L3 MAX.** + .680 MAX. 1.810 MAX. OPTIONAL WIRE PACKAGES AVAILABLE .520 GM94XX Motor with 90X0 Encoder PIN #1 .190 .010 .155 .245 MAX. 1.577 MAX. 2.300 DIA. .680 MAX. L3 MAX.** + .680 MAX. GM92XX Motor with 90X0 Encoder Encoder Connection Chart PIN NO. 1 2 3 4 5 COLOR BLACK GREEN YELLOW RED BLUE CONNECTION GROUND INDEX CHANNEL A Vcc CHANNEL B Notes: Unless otherwise specified, all tolerances are to be .005 All measurements are in inches **See items 17 through 30 in gearmotor data chart R HARLEYSVILLE, PA 19438-0003 USA A DIVISION OF PENN ENGINEERING & MANUFACTURING CORP. Phone 215-256-6601 Fax 215-256-1338 http://www.pittmannet.com

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.26 .24 .22 .20 .18 .16 .14 .12 0 0 0 0 0 0 0 0 0 0 0 0 0 0 North (m)0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 4 8 9 10 10 10 10 8 5 3 1 1 0 0 8 20 20 20 20 20 20 20 9 5 2 1 0 0 9 20 20
Michigan State University - PHY - 184
Lecture 34Chapter 35 ImagesReview Intensity of unpolarized light after hitting a polarizing sheet Intensity of polarized light after hitting a polarizing sheet Peak intensity is twice the average intensityI =1 2I02I = I 0 cos I peak =
Michigan State University - PHY - 184
Lecture 15Chapter 28 CircuitsReview emf device label terminal at higher V as + and lower V as Draw emf, , arrow from to + terminal + charge carriers move against E field in emf device from lower (-) to higher (+) VReview Kirchhoffs loop ru
Michigan State University - PHY - 184
Lecture 33Chapter 34 - 35 EM Waves & ImagesReview EM waves move at the speed of light, c in free space (vacuum or air) Speed of light also Velocity of wave isc = 3 10 m / s8Em c= Bmc=10 0v=k= f IntensityI = Savg energy
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Lecture 2Electric Charge Chapter 22Electric Charge (7) Review from yesterday There are 2 types of charge pos. and neg. Like charges repel; unlike charges attract Most objects are electrically neutral; there are equal numbers of neg. and pos. c
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Lecture 38Chapter 36 & 37 Interference & Diffraction 3 ways for phase difference between 2 light waves to changeReview Waves travel through media of different indexes of refraction, n Waves travel along paths of different lengths Waves are r
Michigan State University - PHY - 184
Lecture 3Electric Field Chapter 23 Examples from Chapter 22Exam Date Change The last mid-term exam has been moved from Wednesday Dec. 4th to Tuesday Dec. 3rd Have 2 days of review Dec. 4th and 6th for the final exam All mid-term exams will be
Michigan State University - PHY - 184
A B C DEEFD D D D 2D D
Michigan State University - AST - 101
SYLLABUS FOR ASTRONOMY 101, FALL 2002COURSE TITLE: WEBSITE: LOCATION: TIME: CREDITS: INSTRUCTOR: CELESTIAL CLOCKWORKS www.pa.msu.edu/abrams/AST101 Abrams Planetarium Tuesday 6:40 pm 7:40 pm 1 David Batch Abrams Planetarium 355-4676 dbatch@msu.edu
Michigan State University - PHY - 820
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Physics 831 - 2002Statistical PhysicsProblem Set 13 1. Show that Bose-Einstein condensation does not occur in an ideal 2D Bose gas of nonrelativistic particles (6 pt) 2. Consider a system of two coupled oscillators, with coordinates q1 , q2 amd mo
University of Michigan - PS - 441
Econ 441 Problem Set 2Alan Deardorff Gains and Ricardian Page 1 of 2Problem Set 2 Gains from Trade and the Ricardian Model1. Use community indifference curves as your indicator of national welfare in order to evaluate the following claim: An imp
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Worksheet #3 - PHY102 (Spr. 2004)Matrices and linear algebraLast week we did vector operations with lists. This week we introduce you to matrices, their representation using lists and to some of the matrix operations which Mathematica is able to do
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Michigan State University - PHY - 191
Uncertainty for h in Pendulum experiment h = L(1-cos ) From this we need the uncertainty in h. We can do this in steps, as in Taylor section 3.8. Start by taking y = (1-cos) so that h = L y. So we need (from Eq 3.18) h/h = { (L/L)2 + (y/y)2 } What i
Michigan State University - PHY - 431
Experiment 10:PolarizationPhys 431This lab could be called fun with polarization. (At least we hope you feel that way at the end.) The lab is divided into three parts, all of which employ polarized sheets; see below. As usual, you will have to
Michigan State University - PHY - 431
Model Write-UpThe following is an example of a very thorough write-up. In particular, the introduction beautifully summarizes the important optics and equations. Even more detail than necessary is given in every section. (In other words, your write-
Michigan State University - PHY - 820
Physics 820 homework III, due Mon Sep 20Reading: Chapter 2 Problems: 1. Goldstein, Problem 1-10. 2. Two particles, characterized by charge q1 and q2 , respectively, and by mass of m1 and m2 , move under the inuence of each other in an external unif
Michigan State University - PHY - 820
Physics 820 homework I, due Wed Sep 8Reading: Chapter 1.1-6 Problems: 1. Goldstein, Problem 1.3. 2. Goldstein, Problem 1.4. 3. Goldstein, Problem 1.8. 4. Goldstein, Problem 1.13. The velocity of escaping gases is, actually, v = 2.1 103 m/s. 5. Gol
Michigan State University - ISP - 205
AnnouncementsHomework. Set 8 now open. due late at night Friday, Dec 10(3AM Saturday Nov. 11)Isotropy of the CMB COBE satellite.Blue = 0oK Red = 4oKFinal Exam. Monday December 13. 8-10 PM. (PM = in the evening!). In the usual classroom (