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20 Pages
PittmanDirectDriveMotorSpecSheet
Course: ME 211, Fall 2009School: Missouri S&T
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Word Count: 2806
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LCM BULLETIN Series 8000, 9000, 14000 LO-COG DC Servo Motors Pittman brand LO-COG brush-commutated DC motors offer smooth, quiet operation and long life. Armatures are skewed to minimize magnetic cogging, even at low speeds, and windings are resin impregnated for greater reliability in incremental motion applications. An innovative cartridge brush assembly reduces audible and electrical noise and significantly...
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LCM BULLETIN Series 8000, 9000, 14000
LO-COG DC Servo Motors
Pittman brand LO-COG brush-commutated DC motors offer smooth, quiet operation and long life. Armatures are skewed to minimize magnetic cogging, even at low speeds, and windings are resin impregnated for greater reliability in incremental motion applications. An innovative cartridge brush assembly reduces audible and electrical noise and significantly improves brush life by maintaining optimum brush force throughout the life of the motor. For precision motor control, Hewlett-Packard optical encoders are available in 2 or 3 channel versions with several CPR ranges to meet your position, velocity and direction feedback needs.
Series 8000
Available in 3 lengths 7 slot armature Speeds from 7,700 to 10,650 RPM Peak Torques from 5.05 to 16.8 ozin Encoder resolutions from 96 to 1024
Construction
2 pole permanent magnet stators are constructed of ceramic magnets enclosed in heavy-gauge steel return rings Diamond turned commutators ensure maximum brush life Standard copper graphite brushes Precision ground hardened stainless steel shafts Silicon-steel laminations Self-aligning, sintered bronze bearings
Options
Custom cables Multiple shaft configurations Shaft-mounted pulleys and gears Ball bearings Multiple windings Electromechanical brakes Integrated Hewlett-Packard optical encoders Adaptors available for other encoders RFI suppression Dynamic armature balancing Customized versions available in production quantities Other brush materials available
Series 9000
Available in 6 lengths 7 slot armature Speeds from 4,900 to 8,250 RPM Peak Torques from 8.35 to 77 ozin Encoder resolutions from 96 to 2048
Series 14000
Available in 7 lengths 11 slot armature Speeds from 3,050 to 4,230 RPM Peak Torques from 62.8 to 410 ozin Encoder resolutions from 96 to 2048
Get same day shipment of sample motors for models listed in the Pittman Express Catalog (Bulletin PE).
Every Pittman motor is subjected to automated performance testing prior to shipment.
LCM-1
SERIES 8000
Motor Data
Line No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Parameter Continuous Torque (Max.) 1 Peak Torque (Stall) 2 Motor Constant No-Load Speed Friction Torque Rotor Inertia Electrical Time Constant Mechanical Time Constant Viscous Damping Infinite Source Impedance Viscous Damping Zero Source Impedance Maximum Winding Temperature Thermal Impedance Thermal Time Constant Motor Weight (Mass) Motor Length, 81XX/82XX Motor Length, 83XX/84XX Symbol TC TPK KM SNL TF JM E M D KD MAX RTH TH WM L1 L1 Units ozin (Nm) ozin (Nm) ozin/W (Nm/W) rpm (rad/s) ozin (Nm) ozins2 (kgm2) ms ms ozin/krpm (Nm/(rad/s)) ozin/krpm (Nm/(rad/s)) F (C) F/watt C/watt min oz (g) in max (mm max) in max (mm max)
and without additional heat sink.
8X22 1.6 (11.2 X 10 3) 7.4 (52.0 X 10 3) 1.12 (7.9 X 10 3) 7847 (822) 0.35 (2.5 X 10 3) 1.4 X 10 4 (9.89 X 10 7) 0.52 15.6 0.0153 (1.03 X 10 6) 0.92 (6.20 X 10 5) 311 (155) 75.9 (24.4) 7.75 4.69 (133.0) 2.070 (52.6) 2.007 (51)
8X23 2.0 (14.1 X 10 3) 10.5 (74.2 X 10 3) 1.30 (9.2 X 10 3) 8298 (869) 0.35 (2.5 X 10 3) 1.7 X 10 4 (1.20 X 10 6) 0.55 14.1 0.0176 (1.19 X 10 6) 1.25 (8.42 X 10 5) 311 (155) 72.9 (22.7) 9.00 5.05 (143.2) 2.195 (54.61) 2.132 (54.2)
8X24 2.6 (18.5 X 10 3) 16.8 (118.6 X 10 3) 1.49 (10.5 X 10 3) 10158 (1064) 0.35 (2.5 X 10 3) 2.3 X 10 4 (1.62 X 10 6) 0.54 14.7 0.0202 (1.36 X 10 6) 1.63 (1.10 X 10 4) 311 (155) 70.52 (21.4) 10.70 5.81 (164.7) 2.445 (62.1) 2.382 (60.5)
1 Continuous torque specified at 25C ambient temperature 2Theoretical values supplied for reference only.
1999 Pittman, a PennEngineering company. LO-COG, ELCOM, ELCOM SL, and ELCOM ST are brand names and trademarks for motors manufactured exclusively by Pittman.
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LCM-2
SERIES 8000
Model 8XX2 Winding Data (Other windings available upon request)
Line No. 17 18 19 20 21 22 23 Parameter Reference Voltage Torque Constant Back-EMF Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L INL IP Units V ozin/A (Nm/A) V/krpm (V/rad/s) mH A A 12.0 1.94 (13.7 X 10 3) 1.43 (13.7 X 10 3) 3.10 1.57 0.25 3.88 19.1 3.07 (21.7 X 10 3) 2.27 (21.7 X 10 3) 7.61 3.93 0.16 2.51 8X22 24.0 3.88 (27.4 X 10 3) 2.87 (27.4 X 10 3) 12.1 6.27 0.12 1.99 30.3 4.88 (34.5 X 10 3) 3.61 (34.5 X 103) 19.1 9.92 0.10 1.59
Model 8XX3 Winding Data (Other windings available upon request)
Line No. 24 25 26 27 28 29 30 Parameter Reference Voltage Torque Constant Back-EMF Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L INL IP Units V ozin/A (Nm/A) V/krpm (V/rad/s) mH A A 12.0 1.88 (13.3 X 10 3) 1.39 (13.3 X 10 3) 2.17 1.17 0.27 5.54 19.1 2.94 (20.8 X 10 3) 2.18 (20.8 X 10 3) 5.20 2.85 0.17 3.67 8X23 24.0 3.73 (26.4 X 10 3) 2.76 (26.4 X 10 3) 8.24 4.57 0.13 2.91 30.3 4.71 (33.3 X 10 3) 3.48 (33.3 X 10 3) 13.1 7.29 0.11 2.32
Model 8XX4 Winding Data (Other windings available upon request)
Line No. 31 32 33 34 35 36 37 Parameter Reference Voltage Torque Constant Back-EMF Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L INL IP Units V ozin/A (Nm/A) V/krpm (V/rad/s) mH A A 12.0 1.54 (10.9 X 10 3) 1.14 (10.9 X 10 3) 1.17 0.58 0.36 10.3 19.1 2.47 (17.5 X 10 3) 1.83 (17.5 X 10 3) 2.79 1.50 0.23 6.85 8X24 24.0 3.09 (21.9 X 10 3) 2.29 (21.9 X 10 3) 4.33 2.34 0.18 5.54 30.3 3.86 (27.3 X 10 3) 2.86 (27.3 X 10 3) 6.75 3.65 0.15 4.49
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LCM-3
SERIES 8000
Model 8X22
Motor Speed & Current vs. Torque (24V Winding)
8000 7000
2.00
Model 8X23
Motor Speed & Current vs. Torque (24V Winding)
9000
3.0
1.75
2.5
1.50
2.0
Current (A)
7500 1.5 6000
6000
1.00
5000
0.75
Speed (rpm)
Speed (rpm)
Continuous Torque
4000
0.50
4500
Continuous Torque
1.0
0.5
3000
0.25
3000 2000 6.0 ) (42.4 7.0 ) (49.5 0.00 8.0 ) (56.5 1500 6.0 ) (42.4 8.0 ) (56.5 10.0 ) (70.6 0.0 12.0 ) (84.8
1000 0 0.0 (0.0) 1.0 (7.1) 3.0 ) (21.2 4.0 ) (28.3
5.0 ) (35.4
2.0 ) (14.2
ozin ) m e Torqu (mN
0 0.0 (0.0) 2.0 ) (14.2
4.0 ) (28.3
ozin ) m e Torqu (mN
Model 8X24
Motor Speed & Current vs. Torque (24V Winding)
0 1040 9100
5.6
4.9
4.2
3.5
7800
2.8
Speed (rpm)
6500
2.1
Continuous Torque
5200
1.4
3900
0.7
2600 15.0 .9) (105
0.0 18.0 .2) (127
1300 6.0 ) (42.4
0 0.0 (0.0)
3.0 ) (21.2
oz in ) m e Torqu (mN
9.0 ) (63.6
12.0 ) (84.8
Current (A)
Current (A)
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1.25
LCM-4
SERIES 8000
81XX Motor
L1 MAX* #6-32 UNC-2B, .195(4.95) DP MAX SCREW PENETRATION (4) HOLES EQ. SP. ON A 1.000(25.40) DIA B.C. .1564(3.97) .1561(3.96) SHAFT DIA THRU LEADS 18.00 (457.2) LONG .062.002 (1.57.05) .430.020 (10.92.51) (OPTIONAL) #2-56 UNC-2B (3) HOLES EQ. SP. ON A .875 (22.23) DIA. B.C. 30 1.210 (30.73) DIA 16
45
.562 .030 (14.27.76) .500 +.000/-.002 (12.70 +.00/-.05) DIA 1.175 (29.85) DIA
.050.030 (1.27.76)
82XX Motor
.002 (.05)
.062 (1.57) #2-56 UNC-2B .400 (10.16) MAX SCREW PENETRATION (3) HOLES EQ. SP. ON A .875 (22.23) DIA. B.C. .1564 (3.97) .1561 (3.96) DIA. THRU.
L1 MAX.*
.020 (.51)
.430 (10.92)
1/2 (12.70)
16
1.175 (29.85) DIA.
LEADS 18" (457.20) TYP.
(OPTIONAL) #2-56 UNC-2B (3) HOLES EQ. SP. ON A .875 (22.23) DIA. B.C. 30
30
+.000 (.00) -.002 (.05)
.500 (12.70) DIA. 1.175 (29.85) DIA.
.030 (.76)
.030 (.76)
.562 (14.27)
.050 (1.27)
1.175 (29.85) DIA.
Notes: Unless otherwise specified, all tolerances are to be .005 (.01) All measurements are in inches (mm) *See line number 15 and 16 in the motor data chart
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LCM-5
SERIES 8000
83XX Motor
#2-56 UNC-2B .400 (10.16) MAX SCREW PENETRATION (3) HOLES EQ. SP. ON A .875 (22.23) DIA. B.C. .1564 (3.97) .1561 (3.96) DIA. THRU. 1.175 (29.85) DIA.
L1 MAX.* .110 (2.79) TYP.
.020 (.51)
.365 (9.27) (OPTIONAL) #2-56 UNC-2B (3) HOLES EQ. SP. ON A .875 (22.23) DIA. B.C. 30 .016 (.41) TYP.
.240 (6.10) #1 TERMINAL
.870 (22.10) MAX.
30
.030 (.76) .030 (.76)
+.000 (.00) -.002 (.05)
.500 (12.70) DIA. 1.175 (29.85) DIA.
.562 (14.27)
.062 (1.57) TYP.
.050 (1.27) 1.175 (29.85) DIA.
84XX Motor
#6-32 UNC-2B .195 (4.95) DP MAX. (4) HOLES EQ. SP. ON A 1.000 (25.40) DIA. B.C. 45 .1564 (3.97) .1561 (3.96) DIA. THRU. 1.175 (29.85) DIA.
L1 MAX.* .110 (2.79) TYP.
.020 (.51)
.365 (9.27) (OPTIONAL) #2-56 UNC-2B (3) HOLES EQ. SP. ON A .875 (22.23) DIA. B.C. 30 .016 (.41) TYP.
.240 (6.10) #1 TERMINAL
.870 (22.10) MAX.
+.000 (.00) -.002 (.05)
.030 (.76) .030 (.76)
.500 (12.70) DIA. 1.210 (30.73) DIA.
.562 (14.27)
.062 (1.57) TYP.
.050 (1.27) 1.175 (29.85) DIA.
Encoder Connection Chart
Pin No. 1 2 3 4 5 Color Black Green Yellow Red Blue Connection Ground Index/NC Channel A Vcc Channel B
Notes: Unless otherwise specified, all tolerances are to be .005 (.01) All measurements are in inches (mm) *See line number 15 and 16 in the motor data chart
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LCM-6
SERIES 8000
1.300 (42.39)
5 4 3 21
82XX Motor with 91X0 Encoder
L1 MAX.* 16
.002 (.05) .020 (.51)
.665 (16.89) MAX. .190 (4.83)
WITH TERMINATIONS AVAILABLE STANDARD LENGTH 20" (508)
.520 (13.21) .350 (8.89) MAX.
#2-56 UNC-2B .400 (10.16) MAX SCREW PENETRATION (3) HOLES EQ. SP. ON A .875 (22.23) DIA. B.C. .1564 (3.97) .1561 (3.96) DIA.
.062 (1.57)
.368 (9.35)
1/2 (12.70)
LEADS 18" (457.20) TYP.
1.025 (26.04) 1.675 (42.55)
30
+.000 (.00) -.002 (.05)
.500 (12.70) DIA. 1.175 (29.85) DIA.
.030 (.76)
1.175 (29.85) DIA.
.562 (14.27) 1.300 (42.39)
5 4 3 21
83XX Motor with 91X0 Encoder
.016 (.41) TYP . .240 (6.10) #2-56 UNC-2B .400 (10.16) MAX SCREW PENETRATION (3) HOLES EQ. SP. ON A .875 (22.23) DIA. B.C. .1564 (3.97) .1561 (3.96) DIA.
L1 MAX.*+ .610 MAX. (15.49)
.665 (16.89) MAX. .190 (4.83)
WITH TERMINATIONS AVAILABLE STANDARD LENGTH 20" (508)
.520 (13.21) .350 (8.89) MAX.
#1 TERMINAL
1.175 (29.85) DIA.
.110 (2.79) TYP.
.870 (22.10) MAX.
1.025 (26.04) 1.675 (42.55)
30
+.000 (.00) -.002 (.05)
.500 (12.70) DIA. 1.175 (29.85) DIA
.030 (.76)
.562 (14.27) 1.300 (42.39)
84XX Motor with 91X0 Encoder
.240 (6.10) .016 (.41) . #1 TERMINAL TYP #6-32 UNC-2B .195 (4.95) DP MAX. (4) HOLES EQ. SP. ON A 1.000 (25.40) DIA. B.C. .1564 (3.97) .1561 (3.96) DIA. L1 MAX.*+ .610 MAX. (15.49) .665 (16.89) MAX. .190 (4.83) .110 (2.79) TYP.
5 4 3 21
WITH TERMINATIONS AVAILABLE STANDARD LENGTH 20" (508)
.520 (13.21) .350 (8.89) MAX.
1.175 (29.85) DIA.
.870 (22.10) MAX.
1.025 (26.04) 1.675 (42.55)
45
+.000 (.00) -.002 (.05)
1.210 (30.73) DIA.
.500 (12.70) DIA.
.030 (.76)
.562 (14.27)
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LCM-7
SERIES 9000
Motor Data
Line No. 1 2 3 4 5 6 7 8 Parameter Continuous Torque (Max.)1 Peak Torque (Stall) 2 Motor Constant No-Load Speed Friction Torque Rotor Inertia Electrical Time Constant Mechanical Time Constant Viscous Damping Infinite Source Impedance Viscous Damping Zero Source Impedance Maximum Winding Temp. Thermal Impedance Thermal Time Constant Motor Weight (Mass) Motor Length, 92XX, 94XX Symbol TC TPK KM SNL TF JM E M D Units oz.in (N.m) oz.in (N.m) oz.in/W (N.m/W) rpm (rad/s) oz.in (N.m) oz.in-s2 (kg-m2) ms ms oz.in/krpm (N.m/rad/s) oz.in/krpm (N.m/rad/s) F (C) F/watt C/watt min oz (g) in max (mm max) 9X32 2.3 (16.2 X 10 3) 13.8 (97.5 X 10 3) 1.62 (11.4 X 10 3) 7015 (734.6) 0.5 (3.5 X 10 3) 2.7 X 10 4 (1.91 X 10 6) 0.63 14.4 0.0272 (1.83 X 10 6) 1.94 (1.31 X 10 4) 311 (155) 72.9 (22.7) 7.21 6.98 (197.9) 1.828 (46.4) 9X33 4.7 (33.2 X 10 3) 31.6 (223.2 X 10 3) 2.66 (18.8 X 10 3) 5993 (627.6) 0.6 (4.2 X 10 3) 4.6 X 10 4 (3.25 X 10 6) 0.84 9.29 0.0335 (2.25 X 10 6) 5.23 (3.53 X 10 4) 311 (155) 66.4 (19.1) 11.1 8.90 (252.3) 2.203 (56.0) 9X34 6.1 (43.1 X 10 3) 41.3 (291.7 X 10 3) 3.01 (21.3 X 10 3) 6151 (644.2) 0.6 (4.2 X 10 3) 5.9 X 10 4 (4.17 X 10 6) 0.85 9.25 0.0387 (2.61 X 10 6) 6.68 (4.50 X 10 4) 311 (155) 62.8 (17.1) 12.0 10.1 (286.3) 2.403 (61.0) 9X35 6.9 (48.7 X 10 3) 49.4 (348.9 X 10 3) 3.21 (22.7 X 10 3) 6348 (664.7) 0.65 (4.6 X 10 3) 7.9 X 10 4 (5.58 X 10 6) 0.88 10.9 0.0450 (3.03 X 10 6) 7.6 (5.12 X 10 4) 311 (155) 58.5 (14.7) 12.9 0.0 (TBD) 2.703 (69.0) 9X36 9.5 (67.1 X 10 3) 61.8 (436.4 X 10 3) 4.11 (29.0 X 10 3) 4916 (514.8) 0.8 (5.6 X 10 3) 1.0 X 10 3 (7.06 X 10 6) 1.06 8.5 0.0525 (3.54 X 10 6) 12.5 (8.42 X 10 4) 311 (155) 56.3 (13.5) 13.5 13.8 (391.2) 3.053 (78.0) 9X37 11.5 (81.2 X 10 3) 77.0 (543.8 X 10 3) 4.41 (31.1 X 10 3) 5331 (558.3) 0.80 (5.6 X 10 3) 1.2 X 10 3 (8.47 X 10 6) 1.06 8.88 0.0550 (3.71 X 10 6) 14.4 (9.71 X 10 4) 311 (155) 52.16 (11.2) 13.8 15.5 (439.4) 3.353 (85.17)
9
10
KD MAX RTH TH WM L1
11 12 13 14 15
Model 9X32 Winding Data (Other windings available upon request)
Line No. 16 17 18 19 20 21 22 Parameter Reference Voltage Torque Constant Back-EMF Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L INL IP Units V oz.in/A (N.m/A) V/krpm (V/rad/s) mH A A 12.0 2.20 (15.6 X 10 3) 1.63 (15.6 X 10 3) 1.93 1.16 0.32 6.22
and without additional heat sink.
9X32 19.1 3.50 (24.7 X 10 3) 2.59 (24.7 X 10 3) 4.70 2.94 0.20 4.06 24.0 4.40 (31.1 X 10 3) 3.25 (31.1 X 10 3) 7.38 4.64 0.16 3.25 30.3 5.53 (39.1 X 10 3) 4.09 (39.1 X 10 3) 11.6 7.34 0.13 2.60
1 Continuous torque specified at 25C ambient temperature 2Theoretical values supplied for reference only.
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LCM-8
SERIES 9000
Model 9X33 Winding Data (Other windings available upon request)
Line No. 23 24 25 26 27 28 29 Parameter Reference Voltage Torque Constant Back-EMF Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L INL IP Units V oz.in/A (N.m/A) V/krpm (V/rad/s) mH A A 12.0 2.67 (18.9 X 10 3) 1.98 (18.9 X 10 3) 1.08 0.84 0.30 11.1 19.1 4.20 (29.7 X 10 3) 3.10 (29.7 X 10 3) 2.53 2.08 0.19 7.55 9X33 24.0 5.28 (37.3 X 10 3) 3.90 (37.3 X 10 3) 3.94 3.29 0.15 6.09 30.3 6.68 (47.2 X 10 3) 4.94 (47.2 X 10 3) 6.21 5.27 0.12 4.88
Model 9X34 Winding Data (Other windings available upon request)
Line No. 30 31 32 33 34 35 36 Parameter Reference Voltage Torque Constant Back-EMF Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L INL IP Units V oz.in/A (N.m/A) V/krpm (V/rad/s) mH A A 12.0 2.58 (18.2 X 10 3) 1.91 (18.2 X 10 3) 0.83 0.63 0.33 14.5 19.1 4.07 (28.7 X 10 3) 3.01 (28.7 X 10 3) 1.89 1.56 0.21 10.1 9X34 24.0 5.17 (36.5 X 10 3) 3.82 (36.5 X 10 3) 2.96 2.51 0.16 8.11 30.3 6.50 (45.9 X 10 3) 4.81 (45.9 X 10 3) 4.62 3.97 0.13 6.55
Model 9X35 Winding Data (Other windings available upon request)
Line No. 37 38 39 40 41 42 43 Parameter Reference Voltage Torque Constant Back-EMF Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L INL IP Units V oz.in/A (N.m/A) V/krpm (V/rad/s) mH A A 12.0 2.47 (17.4 X 10 3) 1.83 (17.4 X 10 3) .68 0.51 0.38 17.6 19.1 3.99 (28.2 X 10 3) 2.95 (28.2 X 10 3) 1.56 1.34 0.24 12.2 9X35 24.0 4.94 (34.9 X 10 3) 3.65 (34.9 X 10 3) 2.37 2.04 0.19 10.1 30.3 6.27 (44.3 X 10 3) 4.64 (44.3 X 10 3) 3.72 3.30 0.16 8.14
Model 9X36/9X37 Winding Data (Other windings available upon request)
Line No. 37 38 39 40 41 42 43 Parameter Reference Voltage Torque Back-EMF Constant Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L INL IP Units V oz.in/A (N.m/A) V/krpm (V/rad/s) mH A A 12.0 19.1 9X36 24.0 30.3 12.0 19.1 9X37 24.0 30.3
3.25 5.24 6.49 8.24 (23.0 X 10 3) (37.0 X 10 3) (45.8 X 10 3) (58.2 X 10 3) 2.4 3.88 4.8 6.09 (23.0 X 10 3) (37.0 X 10 3) (45.8 X 10 3) (58.2 X 10 3) 0.71 0.66 0.33 16.9 1.64 1.72 0.20 11.7 2.49 2.63 0.16 9.64 0.55 4.24 0.13 7.74
3.00 4.72 6.00 7.43 (21.2 X 10 3) (33.3 X 10 3) (42.4 X 10 3) (52.5 X 10 3) 2.22 3.49 4.44 5.50 (21.2 X 10 3) (33.3 X 10 3) 42.4 X 10 3) (52.5 X 10 3) 1.20 0.49 0.37 21.7 1.85 1.21 0.23 15.9 2.82 1.97 0.18 12.96 3.91 3.01 0.15 10.73
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LCM-9
SERIES 9000
Model 9X32
Motor Speed & Current vs. Torque (24V Winding)
3.6
Model 9X33
Motor Speed & Current vs. Torque (24V Winding)
6.25
3.0
5.0 7200 6000 2.4
Current (A)
3.75 4800 2.50
6000 1.8
4800
Speed (rpm)
Speed (rpm)
1.2
Continuous Torque
3600
Continuous Torque
3600
1.25
0.6
2400
2400
0.0 12.0 ) (84.8 14.0 ) (98.9 1200 21.0 .3) (148
0.0 28.0 .8) (197 36.0 .3) (254
1200 6.0 ) (42.4 8.0 ) (56.5
10.0 ) (70.6
0 0.0 (0.0) 2.0 ) (14.2
4.0 ) (28.3
ozin ) m e Torqu (mN
0 0.0 (0.0)
7.0 ) (49.5
14.0 ) (98.9
ozin ) m e Torqu (mN
Model 9X34
Motor Speed & Current vs. Torque (24V Winding)
7000
8.75
7.50
6.25
6000
5.00
5000
3.75
Speed (rpm)
Continuous Torque
4000
2.50
3000
1.25
2000
0.0 40.0 .5) (282 50.0 .2) (353
1000 20.0 .3) (141 30.0 .9) (211
0 0.0 (0.0)
10.0 ) (70.6
ozin ) m e Torqu (mN
Current (A)
Current (A)
R
LCM-10
SERIES 9000
Model 9X35
Motor Speed & Current vs. Torque (24V Winding)
6600 6000 5400 4800 4200
11.0 10.0 9.0 8.0
Model 9X36
Motor Speed & Current vs. Torque (24V Winding)
5000
10.0 9.0 8.0 7.0 6.0 5.0 4.0
Current (A)
6.0 5.0 4.0
4000 3500
Speed (rpm)
Speed (rpm)
Continuous Torque
3000 2500 2000 1500 1000 500 0 0.0 (0.0) 20.0 .3) (141 40.0 .5) (282 50.0 .2) (353 60 .0 .8) (423
3.0 2.0 1.0 0.0 50.0 3.2) (35
3000 2400 1800 1200 600 0 0.0 (0.0)
Continuous Torque
3600
3.0 2.0 1.0 0.0
10.0 ) (70.6
20.0 .3) (141
30.0 .9) (211
40.0 .5) (282
ozin ) m e Torqu (mN
10.0 ) (70.6
ozin ) m e Torqu (mN
30.0 .9) (211
Model 9X37
Motor Speed & Current vs. Torque (24V Winding)
6000
15.0
12.5
10.0 5000 7.5 4000
Speed (rpm)
3000
Continuous Torque
5.0
2.5
2000 0.0 1000 48.0 ) .0 (339 64.0 ) .9 (451 80.0 ) .9 (564
0 0.0 (0.0)
16.0 ) .0 (113
32.0 ) .0 (226
ozin ) m e Torqu (mN
R
Current (A)
LCM-11
Current (A)
7.0
4500
SERIES 9000
94XX Motor
#1 TERMINAL .218 (5.54) TYP. REF. 1.065 (27.05) MAX.
.288 (7.32) .020 (.51) TYP. .835 R. (21.21)
.062 (1.58) TYP.
.002 (.05)
L1 MAX.*
.562 (14.27)
.030 (.76)
.110 (2.79) TYP. .075 (1.91) TYP.
.365 (9.27)
.010 (.25)
.047 (1.19) DIA. THRU .1564** (3.97) .1561 (3.96) DIA. TYP.
OPTIONAL MOUNTING PATTERN #6-32 UNC-2B, .350 (8.89) DP. MAX. 4 HOLES EQ. SP. ON A 1.000 (25.40) DIA. B.C.
45 #6-32 UNC-2B, .350 (8.89) DP. MAX 4 HOLES EQ. SP. ON A 1.000 (25.40) DIA. B.C.
.500 (12.7) DIA. TYP.
+.000 (.00) -.002 (.05)
.050 (1.27) .1966 ** 9XX7 shaft = 5mm .1964
.030 (.76)
1.580 (40.13) DIA.
(
)
92XX Motor
STANDARD LEAD WIRES 22 AWG, (7X30), UL STYLE 1007/1569 18 1/2, RED & BLACK .37 (9.40)
.010 (.25)
OPTIONAL MOUNTING PATTERN #6-32 UNC-2B, .180 (4.572) DP. MAX. 4 HOLES EQ. SP. ON A 1.000 (25.40) DIA. B.C.
1.580 (40.13) DIA.
Notes: Unless otherwise specified, all tolerances are to be .005 (.01) All measurements are in inches (mm) *See line number 15 in motor data chart
R
LCM-12
SERIES 9000
1.575 (40)
94XX Motor with 91X0 Encoder
L1 MAX.* + .653 MAX. (16.59) .313 (7.95)
.695 (17.65) MAX. .315 (8.00) .190 (4.83)
5 4 3 21
WITH TERMINATIONS AVAILABLE STANDARD LENGTH 20" (508)
.520 (13.21) .350 MAX. (8.89) 1.025 (26.04) 1.815 (46.10)
.015 (.38)
92XX Motor with 91X0 Encoder
.330 (8.38)
Encoder Connection Chart
Pin No. 1 2 3 4 5 Color Black Green Yellow Red Blue Connection Ground Index/NC Channel A Vcc Channel B
Notes: Unless otherwise specified, all tolerances are to be .005 (.01) All measurements are in inches (mm) *See line number 15 in motor data chart
R
LCM-13
SERIES 14000
Motor Data
Line No. Parameter 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Continuous Torque(Max.) 1 Peak Torque (Stall) 2 Motor Constant No-Load Speed Friction Torque Rotor Inertia Electrical Time Constant Mechanical Time Constant Viscous Damping Infinite Source Impedance Viscous Damping Zero Source Impedance Maximum Winding Temperature Thermal Impedance Thermal Time Constant Motor Weight (Mass) Motor Length, 1410X, 1420X Symbol TC TPK KM SNL TF JM E M D KD MAX RTH TH WM L1 Units ozin (Nm) ozin (Nm) ozin/W (Nm/W) rpm (rad/s) ozin (Nm) ozins2 (kgm2) ms ms 14XX1 10.0 (70.6 X10 3) 62.8 (.44) 14XX2 14XX3 14XX4 14XX5 14XX6 14XX7 14.0 21.0 26.0 31.0 36.5 50.0 (98.9 X 10 3) (148.3 X 10 3) (183.6 X 10 3) (218.9 X 10 3) (257.8 X 10 3) (353.1 X 10 3) 107 (.76) 159 (1.12) 204 (1.44) 225 (1.59) 284 (2.01) 410 (2.90)
4.45 5.93 7.88 (31.4 X 10 3) (41.9 X 10 3) (55.6 X 10 3) 4230 (443) 1.20 (8.5 X 10 3) 4087 (428) 1.20 (8.5 X 10 3) 3456 (362) 1.60 (11.3 X 10 3)
8.63 9.97 10.9 13.1 (60.9 X 10 3) (70.4 X 10 3) (77.0 X 10 3) (92.5 X 10 3) 3702 (388) 3056 (320) 3216 (337) 3211 (336)
1.60 2.00 2.00 2.20 (11.3 X 10 3) (14.1 X 10 3) (14.1 X 10 3) (15.5 X 10 3) 3.7 X 10 3 4.4 X 10 3 5.2 X 10 3 6.7 X 10 3 (2.61 X 10 5) (3.11 X 10 5) (3.67 X 10 5) (4.73 X 10 5) 1.58 7.04 1.63 6.27 1.62 6.19 1.50 5.50
1.6 X 10 3 2.3 X 10 3 3.0 X 10 3 (1.13 X 10 5) (1.62 X 10 5) (2.12 X 10 5) 0.91 11.4 1.47 9.26 1.64 6.84
ozin/krpm 0.17 0.17 0.18 (Nm/(rad/s)) (1.14 X 10 5) (1.14 X 10 5) (1.21 X 10 5) ozin/krpm 14.7 26.0 45.9 (Nm/(rad/s)) (9.91 X 10 4) (1.75 X 10 3) (3.09 X 10 3) F (C) F/watt C/watt min oz (g) in max (mm max) 311 (155) 49.8 (9.90) 22.0 20.8 (589.7) 2.953 (75.0) 311 (155) 48.2 (9.00) 24.0 26.0 (737.1) 3.203 (81.4) 311 (155) 46.6 (8.10) 26.0 31.2 (884.5) 3.703 (94.1)
0.18 0.19 0.19 0.25 (1.21 X 10 5) (1.28 X 10 5) (1.28 X 10 5) (1.69 X 10 5) 55.0 73.5 88.0 127.0 (3.71 X 10 3) (4.96 X 10 3) (5.93 X 10 3) (8.56 X 10 3) 311 (155) 41.3 (7.19) 26.82 35.2 (997.9) 4.078 (103.6) 311 (155) 45.1 (7.30) 29.4 39.5 (1119.8) 4.453 (113.1) 311 (155) 44.2 (6.80) 33.6 45.4 (1287.1) 4.953 (125.8) 311 (155) 41.0 (4.98) 32.3 54.5 (1545.1) 5.703 (144.9)
Model 14XX1/14XX2 Winding Data (Other windings available upon request)
Line No. 16 17 18 19 20 21 22 Parameter Reference Voltage Torque Constant Back-EMF Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L INL IP Units V ozin/A (Nm/A) V/krpm (V/rad/s) mH A A 12.0 19.1 14XX1 24.0 30.3 12.0 19.1 14XX2 24.0 30.3 3.72 5.89 7.44 9.46 (26.3 X 10 3) (41.6 X 10 3) (52.5 X 10 3) (66.8 X 10 3) 2.75 4.36 5.50 6.99 (26.3 X 10 3) (41.6 X 10 3) (52.5 X 10 3) (66.8 X 10 3) 0.72 0.63 0.52 16.7 1.76 1.59 0.33 10.8 2.79 2.54 0.26 8.60 4.45 4.10 0.20 6.80 3.90 6.16 7.80 9.85 (27.5 X 10 3) (43.5 X 10 3) (55.1 X 10 3) (69.6 X 10 3) 2.88 4.55 5.77 7.29 (27.5 X 10 3) (43.5 X 10 3) (55.1 X 10 3) (69.6 X 10 3) 0.45 0.63 0.49 26.4 1.09 1.58 0.31 17.5 1.73 2.54 0.24 13.9 2.74 4.05 0.19 11.1
1 Continuous torque specified at 25C ambient temperature 2Theoretical values supplied for reference only.
and without additional heat sink.
R
LCM-14
SERIES 14000
Model 14XX3/14XX4 Winding Data (Other windings available upon request)
Line No. 23 24 25 26 27 28 29 Parameter Reference Voltage Torque Constant Back-EMF Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L INL IP Units V ozin/A (Nm/A) V/krpm (V/rad/s) mH A A 12.0 19.1 14XX3 24.0 30.3 12.0 19.1 14XX4 24.0 30.3 4.63 7.41 9.26 11.7 (32.7 X 10 3) (52.3 X 10 3) (65.4 X 10 3) (82.6 X 10 3) 3.42 5.48 6.85 8.67 (32.7 X 10 3) (52.3 X 10 3) (65.4 X 10 3) (82.6 X 10 3) 0.37 0.56 0.48 32.7 0.89 1.45 0.30 21.5 1.38 2.26 0.24 17.4 2.19 3.63 0.19 13.9 4.33 6.86 8.67 10.8 (30.7 X 10 3) (48.5 X 10 3) (61.2 X 10 3) (76.5 X 10 3) 3.21 5.08 6.41 8.01 (30.7 X 10 3) (48.5 X 10 3) (61.2 X 10 3) (76.5 X 10 3) 0.27 0.40 0.52 43.7 0.65 1.00 0.33 29.6 1.01 1.60 0.26 23.8 1.57 2.50 0.21 19.2
Model 14XX5/14XX6 Winding Data (Other windings available upon request)
Line No. 30 31 32 33 34 35 36 Parameter Reference Voltage Torque Constant Back-EMF Constant Resistance Inductance No-Load Current Peak Current (Stall) Symbol E KT KE RT L INL IP Units V ozin/A (Nm/A) V/krpm (V/rad/s) mH A A 12.0 19.1 14XX5 24.0 30.3 12.0 19.1 14XX6 24.0 30.3 5.25 8.31 10.5 13.1 (37.1 X 10 3) (58.7 X 10 3) (74.2 X 10 3) (92.7 X 10 3) 3.88 6.15 7.76 9.71 (37.1 X 10 3) (58.7 X 10 3) (74.2 X 10 3) (92.7 X 10 3) 0.30 0.45 0.49 40.1 0.71 1.13 0.31 27.0 1.11 1.81 0.25 21.6 1.73 2.83 0.20 17.5 4.74 7.89 10.0 12.6 (33.5 X 10 3) (55.8 X 10 3) (70.6 X 10 3) (89.2 X 10 3) 3.50 5.84 7.39 9.34 (33.5 X 10 3) (55.8 X 10 3) (70.6 X 10 3) (89.2 X 10 3) 0.22 0.31 0.56 54.2 0.54 0.85 0.33 35.6 0.84 1.36 0.26 28.6 1.32 2.17 0.21 23.0
Mo...
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