allen-bradley 1326AB User Manual
1326AB High Performance
AC Servomotors
Product Data
Introduction This publication provides detailed information about 1326AB AC
Servomotors. The topics covered in this publication are listed below in
order of presentation.
Basic Servomotor Description page 2
Servomotor Options page 2
Catalog Number Explanations page 4
Servomotor Performance Data page 8
Special Order Motor Information (Non-Stocked Motors) page 17
Motor Dimensions page 18
Motor Options page 22
Cable Wiring Information page 28
Servomotor Application Guide page 30
Conversion Factors page 44
Product Data
1326AB AC Servomotor
Basic Servomotor Description The 1326AB Servomotors are a family of high performance, three-phase,
brushless AC synchronous motors designed by Allen-Bradley to meet the
stringent requirements of servo system applications. This series of standard
AC servomotors can be used with 1391 AC Servo Controllers. The performance parameters of these motors with selected amplifiers are listed on
page 8. The typical speed-torque curves (see page 9) depict the operational envelope of these motor and controller combinations.
Each motor has the following standard features:
• Permanent magnet rotor for increased servo response.
• Three-phase sinusoidal wound stator field for direct transfer of heat to
ambient, and smooth operation at low speeds.
• Brushless resolver supplies position, commutation & velocity feedback
information. This also provides durability in harsh environments by not
having on-board electronics in the motor. 1391 A Quad B (optional)
encoder output (up to 2048 ppr) is generated via resolver feedback.
• 100% continuous rated output torque at stall (zero rpm).
• Precision balance of 0.0005” (0.0127 mm) total peak-peak
displacement.
• Vertical shaft up or down mounting.
• TENV construction.
• IP65 rated (when used with the Shaft Seal option) to withstand harsh
environments. Motor is dust-tight and able to withstand pulsating water
jets without liquid entering the motor.
Important: 1326AB motors lose the IP 65 rating when externally
mounted encoder/resolver feedback or blower packages are used.
• Normally closed thermal switch in the motor winding (rated 115V AC at
1A, 24V DC at 1A) provides thermal overload indication.
• Environmentally sealed power and feedback cable packages. Power and
resolver feedback cables can be ordered as standard (flex), track
(multi-flex) or extended length (ES).
• MIL spec connectors are standard.
• Ferrite magnets for cost effective performance.
• UL recognized insulation system (file # E57948).
Servomotor Options Options available for the 1326AB include (option code designation or
catalog number in parenthesis):
• Integral spring-set holding brakes with 90V DC coils (-A4, -A5, -A7) or
24V DC coils (-K4, -K5, -K7).
• Brake Power Supply (1326-MOD-BPS) converts 115V AC to the
voltage needed for 90V DC brakes (-A4, -A5 and -A7).
• Shaft Oil Seal kits (1326AB-MOD-SSV-xx) for field installation of
Viton shaft seals. Motor disassembly is not required.
• NEMA Inch (-11) or IEC metric flange mount (-21) with metric shafts.
2
Product Data
1326AB AC Servomotor
Figure 1
AC Servomotor Configuration and Options
Resolver/Encoder
Secondary Feedback Packages
Blower Cooling Kits
Feedback Mounting Kits
Integral Brake
(Internal to Motor)
Viton Shaft Oil Seal
• Resolver Feedback Packages (1326AB-MOD-Vxxxx) provide 4.25”
Junction Box Kit
90V DC Brake
Power Supply
(108 mm) transducers which offer absolute/vernier or single brushless
resolver feedback for use with Allen-Bradley 8600GP, IMC rack and S
Class motion controllers.
• Junction Box Kit (1326AB-MOD-RJxx) available with axially mounted
connectors. Connector version allows the motor connectors to be
brought out axially to the motor (rather than radially) without further
wiring.
• Secondary Feedback Mounting Kits (1326AB-MOD-Mx) for field
installation of an Allen-Bradley Encoder (845H) or resolver. Using a
1326AB motor with a 1391B-ES (or 1391-DES) with A Quad B
feedback (up to 2048 ppr) eliminates the need for encoder mounting.
• Blower Cooling Kit (1326AB-MOD-G3, G4) provides air over cooling
for up to 35% more torque output on most 1326AB “C” frame motors.
The kit can be field mounted on the rear of 1326AB-Cxx motors (including motors with brakes). For motors using secondary motor
mounted feedback (1326AB-MOD-M60), use option “G4.”
• Cables for power (1326-CPxx . .) and feedback (1326-CFx . . - com-
mutation, 1326-CEx . . - encoders) are available in lengths up to 100 ft
.(30 m) for standard and high flex applications Power (1326ES-CPxx . .)
and commutation (1326ES-CFx . .) cables over 100 ft. (30 m), up to 300
ft. (90 m) are available when using 1391B-ES or 1391-DES drives only.
All kits are supplied as motor accessories and must be specified as a
separate item.
3
Product Data
1326AB AC Servomotor
1326AB Servomotor
1326 A 3
First Position Second Position Third Position
Bulletin
Number
Type
Letter
A
Description
AC
Servomotor
PM Type
Design
Description
Factory
use only
1326AB MOD
–
Fourth Position
Series
Description
Sequentially
lettered to
designate frame
diameters.
Description
Code
4.25” (108 mm)
A
5.88” (149 mm)
B
7.63” (194 mm)
C
SS V
–
Fifth Position
Motor
Length
Description
Sequentially
numbered to
indicate stack
length within
a given frame
size.
Shaft Oil Seal Kit
E
Sixth Position
Max. Op.
Speed
RPM
Std.
Code
1600
B
2000
C
3000
E
5000
G
Code
A4
A5
A7
K4
K5
K7
–
A
–
ES/DES
2000
3000
4000
6000
Description
72 lb.-in. (8.1 N-m) Holding Brake w/90V DC Coil.
120 lb.-in. (13.6 N-m) Holding Brake w/90V DC Coil.
400 lb.-in. (45.2 N-m) Holding Brake w/90V DC Coil.
72 lb.-in. (8.1 N-m) Holding Brake w/24V DC Coil.
120 lb.-in. (13.6 N-m) Holding Brake w/24V DC Coil.
400 lb.-in. (45.2 N-m) Holding Brake w/24V DC Coil.
11
Seventh Position
Mounting & Shaft
Description
Description
Code
Inch Combination
11
Face/Flange with
Keyway
21
NEMA/IEC Metric
Flange with
Keyway
–BA
A4
Eighth Position
Standard
Options
1–
First Position Second Position Third Position
Bulletin
Number
4
Type
Code
MOD
Description
Modification
Kit
1
Bulletin
Number
Shaft
Seal
“A” Series motors with brake must use 1326AB-MOD-SSV-A2.
Brake Power Supply Rectifier
1326 MOD
–
Type
Code
MOD
2
Up to 4 brakes per rectifier can be used.
Fourth Position
Material
Letter
V
Description
Modification
Kit
Description
Viton
–
Description
Code
BPS
Fifth Position
Motor
Series
for . . .
Letter
-A Series
A
-B Series
B
-C Series
C
BPS
Description
Single-phase, full-wave, screw mount rectifier
with surge suppressor network. 115V AC input,
for use with 90V DC brakes.
Sixth Position
Motor
Mounting
Number
1
2
2
1
Description
Std. Inch
Metric
Product Data
1326AB AC Servomotor
Motor Junction Box Kit
1326AB MOD RJAB
First Position Second Position Third Position
Bulletin
Number
3
The motor comes standard with IP65 plug style connectors mounted radially to the motor. This kit allows the
connectors to be brought out axially from the motor without further wiring. Kit includes Motor Junction Box
and Mounting Hardware.
–
Type Description
Description
Code
Modification
MOD
Kit
Feedback Mounting Adapter Kit
3
–
Code
Description
RJAB
For all AB-A and AB-B
Series Motors
RJBC
For all AB-B4 and AB-Cx
Series Motors
4
1326AB MOD
First Position Second Position Third Position
Bulletin
Number
–
Type
Code
MOD
Description
Modification
1
Kit
Code
M22
M23
M24
M25
M26
M40
M50
M60
–
Description
Type VC/VD 4.25” (108mm) Resolver for AB-B series motor
Type VC/VD 4.25” (108mm) Resolver for AB-C series motor
0.375” (9.5 mm) diameter heavy duty shaft extension adapter
0.625” (15.9 mm) diameter heavy duty shaft extension for Type
VC/VD 4.25” (108 mm) resolver
Foot mounting kit for M25
A-B 845H Encoder for AB-A series motor
A-B 845H Encoder for AB-B series motor
A-B 845H Encoder for AB-C series motor
M40
Mounting Adapter
Kit for . . .
4
All kits contain a feedback device mounting adapter and mounting hardware. M40, M50 and M60 include a
motor to encoder coupling. M22 and M23 do not include a coupling since it is included with the resolver
feedback device.
5
Product Data
1326AB AC Servomotor
–
VC
5
Coupling
Size
Size – Motor Shaft to Encoder Shaft
Code
3/8” to 3/8” (9.5 mm to 9.5 mm)
C1
1/4” to 3/8” (6.4 mm to 9.5 mm)
C2
Feedback Coupling
1326 MOD C1
First Position Second Position Third Position
Bulletin
Number
5
The feedback coupling is included as standard with all Feedback Mounting Adapter Kits.
1326AB MOD
First Position Second Position Third Position
–
–
Type
Description
Code
Modification
MOD
Kit
Resolver Feedback Package
–
1:1
Fourth Position
Bulletin
Number
Code
Description
VC
4.25” (108 mm) feedback package with cast housing
and single or vernier (dual) format with receiver
(Harowe 11BRW-300-F-58A or equivalent) type
resolver(s) for use with 8200, IMC 120, 121, 123.
VD
4.25” (108 mm) feedback package with cast housing
and single or vernier (dual) format with transmitter
(Harowe 11BRCX-300-C10/6 or equivalent) type
resolver(s) for use with A-B series 8600, MAX and S
Class controllers with a REC 4096 Board.
Type
Code
MOD
Description
Modification
6
Kit
Resolver Feedback
Package
Code
Description
1:1
Single device format – 1 turn of the motor shaft to 1 turn of the resolver.
1:2
Single device format – 1 turn of the motor shaft to 2 turns of the resolver.
1:2.5
Single device format – 1 turn of the motor shaft to 2.5 turns of the resolver.
1:5
Single device format – 1 turn of the motor shaft to 5 turns of the resolver.
255
Absolute master/vernier format – 1:1 input/master, 255:256 master/vernier
]
for IMC
120, 121, 123 only.
256
Absolute master/vernier format – 1:1 input/master, 256:255 master/vernier
for 8600 series and MAX, IMC S class controls with a REC 4096 Board.
424
Absolute master/vernier format – 1:1 input/master, 424:425 master/vernier
for IMC 120, 121, 123 only.
425
Absolute master/vernier format – 1:1 input/master, 425:424 master/vernier
for 8600 series and MAX, IMC S class controls with a REC 4096 Board.
800
Absolute master/vernier format – 1:1 input/master, 800:801 master/vernier
for IMC 120, 121, 123 only.
801
Absolute master/vernier format – 1:1 input/master, 801:800 master/vernier
for 8600 series controllers (is not applicable for use with MAX/S Class
controls)
Gear Ratio
Input:Resolver
6
Kit includes Resolver Feedback Package, mounting hardware and 3/8” to 3/8” (9.5 mm to 9.5mm) resolver to motor mounting coupling.
6
Blower Mod Kit
Product Data
1326AB AC Servomotor
1326AB MOD G3
Bulletin
Number
1326 C
First Position Second Position Third Position
Bulletin
Number
Description
Letter
Standard Cable
Blank
7
Extended length
ES
cable – used
with 1391B-ES
and 1391-DES
Only
–
Type
Letter
C
Description
Connector
& Cable
Assembly
Function
Letter
P
F
E
V
–
Type Description
Description
Code
Modification
MOD
Kit
Power and Feedback Cables
–
Motor Series
Code
Rear mounted blower for the C4B and
G3
C2E motors
“Saddle” type blower for the C4B motor
G4
PAB
Description
Power Connection
Commutation &
Feedback Connection
845H Encoder
All 4.25” (108 mm)
Resolver Packages
Fourth Position
Motor Size
Used On
Type
Code
Series A & B
AB
(except 1326AB-B4)
Series C &
C
1326AB-B4
All SeriesU
Fifth Position
Power Track
Cable
Letter
T
Blank
T
Description
All Series,
used for
high flex
applications
Standard
Cable
15
Sixth Position
Cable
Length
Code
Description
K
Connector Kit
(No Cable)
15
15’ (4.6 m)
30
30’ (9.1 m)
50
50’ (15.2 m)
100
100’ (30.4 m)
150
150’ (45.7 m)
200
200’ (61 m)
250
250’ (76.2 m)
300
300’ (91.4 m)
7
7
7
7
7
The Extended Length option is only available for 1326-CFUxx, CPABxx and CPCxx cables and can only be used with 1391B-ES and 1391-DES drives.
7
Product Data
1326AB AC Servomotor
Servomotor Performance Data The following section contains 1326AB performance data. Included is a
Selection List detailing the performance parameters of selected amplifier/
motor combinations, followed by typical speed-torque curves.
1391B Servo System Selection List
Continuous
Stall Torque
(lb.-in./N-m)
16/1.8
32/3.6
48/5.4
93.3/10.53
102/11.5
140/15.8
153/17.3
210/23.7
310/35.0
420/47.4
420/47.4
Peak Stall
Torque
(lb.-in./N-m)
48/5.4
96/10.84
96/10.84
186.6/21.0
204/23.0
280/31.6
306/34.6
420/47.5
568/64.1
811/91.7
840/94.8
1391B Rated
Speed
(rpm)
5000
3000
3000
3000
3000
3000
3000
3000
3000
2000
1600
Motor
Catalog Number
1326AB-A1G
1326AB-A2E
1326AB-A3E
1326AB-B2E
1326AB-B2E
1326AB-B3E
1326AB-B3E
1326AB-C2E
1326AB-C3E
1326AB-C4C
1326AB-C4B
Servo Amplifier
Catalog Number
1391B-AA15
1391B-AA15
1391B-AA15
1391B-AA15
1391B-AA22
1391B-AA22
1391B-AA45
1391B-AA45
1391B-AA45
1391B-AA45
1391B-AA45
1391B-ES/1391-DES Servo System Selection List
Continuous
Stall Torque
(lb.-in./N-m)
16/1.8
32/3.6
48/5.4
93.3/10.53
102/11.5
140/15.8
153/17.3
210/23.7
310/35.0
420/47.4
420/47.4
1
All ratings are for 40° C motor ambient,110° C case and 60° C amplifier ambient. For extended ratings at lower ambients contact Allen-Bradley.
2
The motor contains two thermal switches wired in series that will open on an overtemperature condition. They are set to open at 150° C (typical) and close at 90-100° C
(typical). Contacts are rated for 1A at 115V AC, 1A at 24V DC.
3
–10% line voltage maximum.
4
Use either 1391B-ES or 1391-DES drives.
Peak Stall
Torque
(lb.-in./N-m)
48/5.4
96/10.84
144/16.3
170.7/19.3
279/31.5
280/31.6
459/51.9
569/64.3
568/64.1
811/91.7
989/111.8
1391B Rated
Speed
(rpm)
6000
4000
4000
4000
4000
4000
4000
4000
4000
3000
2000
Motor
Catalog Number
1326AB-A1G
1326AB-A2E
1326AB-A3E
1326AB-B2E
1326AB-B2E
1326AB-B3E
1326AB-B3E
1326AB-C2E
1326AB-C3E
1326AB-C4C
1326AB-C4B
Servo Amplifier
Catalog Number
1391B-ESAA15
1391B-ESAA15
1391B-ESAA15
1391B-ESAA15
1391B-ESAA22
1391B-ESAA22
1391B-ESAA45
1391B-ESAA45
1391B-ESAA45
1391B-ESAA45
1391B-ESAA45
1, 2
4
Amperes at
Continuous
Torque
4.5
5.2
7.8
15.0
16.4
22.5
24.6
33.2
49.1
46.6
38.2
Amperes at
Continuous
Torque
4.5
5.2
7.8
15.0
16.4
22.5
24.6
33.2
49.1
46.6
38.2
Rotor
Inertia
(lb.-in.-s
0.004/0.0005
0.007/0.0008
0.010/0.001
0.05/0.006
0.05/0.006
0.08/0.009
0.08/0.009
0.14/0.015
0.22/0.024
0.29/0.032
0.29/0.032
1, 2
Rotor
Inertia
(lb.-in.-s
0.004/0.0005
0.007/0.0008
0.010/0.001
0.05/0.006
0.05/0.006
0.08/0.009
0.08/0.009
0.14/0.015
0.22/0.024
0.29/0.032
0.29/0.032
2
/kg-m2)
2
/kg-m2)
Rated
Output
(kW)
0.9
1.1
1.2
2.28
2.5
3.5
3.8
5.2
7.5
7.0
5.6
Rated
Output
(kW)
0.9
1.1
1.6
3.0
3.3
4.7
5.1
6.9
10.0
3
9.3
7.5
8
Figure 2
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
È
È
È
È
È
È
È
È
È
È
È
Typical 1326AB Speed-Torque Curve
Product Data
1326AB AC Servomotor
1391B Rated Speed
Speed
(% rated rpm)
1391B-ES/1391-DES
Rated Speed
Peak Torque with Nominal
Input Line Voltage
120
xx
ÇÇÇÇ
ÈÈ
100
ÇÇÇÇ
ÈÈ
ÇÇÇÇ
ÈÈ
80
ÇÇÇÇ
ÈÈ
ÇÇÇÇ
ÈÈ
60
ÇÇÇÇ
ÈÈ
ÇÇÇÇ
ÈÈ
40
ÇÇÇÇ
ÈÈ
ÇÇÇÇ
ÈÈ
20
ÇÇÇÇ
ÈÈ
ÇÇÇÇ
ÈÈ
0
0 40 80 120 160 200 240 280
70%
75%
70%
100 300
(Tc) (Tp)
Torque (% rated)
Intermittent OperationRated Operation
Peak Torque with
Nominal 15% Low
Input Line Voltage
1391B-ES/DES Rated Operation 1391B-ES/DES Intermittent Operation
Speed-Torque Curves
Typical speed-torque curves for the standard 1326AB servomotors are
contained on the following pages. Definitions of the terms used are
provided below.
Tc – rated torque of motor with windings at rated temperature and an
ambient of 40°C. The controller is operating in a rated ambient of 60°C.
Tp – the peak torque that can be produced by the motor/controller
combination with both at rated temperature and the motor in a 40°C
ambient and the controller in a 60°C ambient. Since 200% current torque
peaks are common in many applications for optimal controller usage, the
following curves show typical system performance. Higher peak torques
are permissible where RMS torque is less than or equal to the rated torque
(Tc). 1391B-ES/1391-DES operation is shown in the outer envelope and
will show higher speed and 300% torque capability.
Rated Speed – the operating speed of the controller and motor
combination at which a minimum of 70% of continuous rated torque (Tc)
can be developed. This point is defined with the motor at 25°C and
controller operating in a 60°C ambient.
9
Product Data
1326AB AC Servomotor
Rated Operation Area – boundary of speed-torque curve where the motor
and controller combination may operate on a servo basis without exceeding
the RMS rating of either. See page 31 for formula details.
RMS Torque =
Tpa2 x t1 + Tss2 x t2 + Tpd2 x t3 + Tr2 x t
t1 + t2 + t3 + t
4
4
Intermittent Operation Area – Boundary of speed-torque curve where
the motor and controller combination may operate in acceleration-deceleration mode without exceeding peak rating of either, provided that the duty
cycle RMS continuous torque limit is not exceeded.
Continuous Current – Rated current of motor with windings at rated
temperature and an ambient of 40°C. The controller is operating in a rated
ambient of 60°C.
Peak Current – The amount of current which can be applied to the motor
without causing damage to the motor.
Mechanical Time Constant – Time taken by the motor to reach 63% of
final speed when a step voltage is applied.
Electrical Time Constant – The time required for the motor to reach 63%
of rated current.
Max. Ambient Temperature – Maximum environmental temperature in
which the motor can be operated at rated loads without exceeding its
insulation type temperature rise limits.
Insulation Class – Designation of operating temperature limits of the
motor insulation materials.
Thermal Time Constant – Time for motor windings to reach 63% of
continuous temperature rise with constant watts loss.
Torque Constant – At the stated motor temperature the amount of torque
developed for one ampere of motor current.
Voltage Constant – Value of the generated voltage at a specified speed
when the rotor is moved mechanically in the magnetic field.
Terminal Resistance – Winding resistance.
Inductance – Winding inductance measured by a step input of zero
impedance voltage applied to the locked rotor.
Rotor Polar Moment of Inertia – Moment of inertia about the axis of
rotation.
Motor Weight – Weight of the complete motor (including brake, if
supplied) less the weight of options.
Balance – Compensation of rotor weight distribution to reduce vibrational
resonance. Motors are factory balanced under running speeds.
10
Product Data
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
È
È
È
È
È
È
È
È
È
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
È
È
È
È
È
È
È
È
È
1326AB AC Servomotor
Figure 3
1326AB-A1G and A2E Motor Performance Curves
Speed (rpm)
1326AB-A1G Motor 1326AB-A2E Motor
6000
5400
ÇÇÇ
ÈÈ
4800
ÇÇÇ
ÈÈ
4200
ÇÇÇ
ÈÈ
3600
ÇÇÇ
ÈÈ
3000
ÇÇÇ
ÈÈ
2400
ÇÇÇ
ÈÈ
1800
ÇÇÇ
ÈÈ
1200
ÇÇÇ
ÈÈ
600
ÇÇÇ
ÈÈ
0
0 1020304050
Torque (Lb.-In.)
1391B Rated
Operation
1391B Intermittent
Operation
Speed (rpm)
4000
3600
ÇÇÇ
ÈÈ
3200
ÇÇÇ
ÈÈ
2800
ÇÇÇ
ÈÈ
2400
ÇÇÇ
ÈÈ
2000
ÇÇÇ
ÈÈ
1600
ÇÇÇ
ÈÈ
1200
ÇÇÇ
ÈÈ
800
ÇÇÇ
ÈÈ
400
ÇÇÇ
ÈÈ
0
0 102030405060708090100
Torque (Lb.-In.)
1391B-ES/1391-DES
Rated Operation
1391B-ES/1391-DES
Intermittent Operation
Speed-torque curves show the rated performance of the servomotor in a 40 degree C ambient. Motor is at full rated temperature. Motor windings are at
150 degrees C with a 110 degree C rise over ambient. Motor case temperature is at approximately 100 degrees C.
Important: Curves and performance data shown are for motor and amplifier combinations where amplifier rating is equal to or greater than Ic of motor
Category
General
Parameter
Continuous Stall Torque at 40° C Ambient
Rated Output/1391B-ES, DES Rated Output
Peak Stall Torque/1391B-ES, DES Peak Stall Torque
Continuous Stall Current
Peak Stall Current/1391B-ES, DES Peak Stall Current
Mechanical Time Constant
Electrical Time Constant
3
3
3
Rated Speed/1391B-ES, DES Rated Speed
Thermal
Maximum Ambient Temperature (without derating)
Insulation Class
Thermal Time Constant
Winding
Torque Constant at 25° C
Voltage Constant RMS (L-L) at 25° C
Terminal Resistance ohms (L-L) at 25° C
Inductance mH (L-L) at 25° C
Mechanical
1
T o obtain vibration velocity in inches (mm)/second use the following formula: VV = (D
where: D
2
peak-peak displacement
3
at 40° C
Rotor Polar Moment of Inertia
Motor Weight
1
Balance
= peak-peak displacement in in. (mm)
p-p
= Vibration velocity in in. (mm)/second
V
V
rpm = motor speed
Units
lb.-in. (N-m)
3
kW
lb.-in. (N-m)
amperes
amperes
3
milliseconds
3
milliseconds
rpm
degrees C
minutes
lb.-in. (N-m)/A
volts/1000 rpm
ohms
millihenry
2
(kg-m2)
lb.-in.-s
lbs. (kg)
2
in. (mm)
x rpm) /27.01
p-p
1326AB-A1G
16.0 (1.8)
0.7/0.9
32.0 (3.6)/48.0 (5.4)
4.5
9.0/13.5
10.0
3.4
5000/6000
40.0
H
23
4.18 (0.47)
28.5
1.9
8.4
0.004 (0.0005)
22 (10.0)
0.0005 (0.0127)
1326AB-A2E
32.0 (3.6)
0.8/1.1
64.0 (7.2)/96.0 (10.8)
5.2
10.4/15.6
9.2
3.4
3000/4000
40.0
H
33
7.23 (0.82)
49.5
2.89
12.7
0.007 (0.0008)
28 (12.7)
0.0005 (0.0127)
11
Product Data
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
È
È
È
È
È
È
È
È
È
È
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
È
È
È
È
È
È
È
È
È
È
1326AB AC Servomotor
Figure 4
1326AB-A3E and B2E Motor Performance Curves
Speed (rpm) Speed (rpm)
4000
ÇÇÇ
ÈÈ
3600
ÇÇÇ
ÈÈ
3200
ÇÇÇ
ÈÈ
2800
ÇÇÇ
ÈÈ
2400
ÇÇÇ
ÈÈ
2000
ÇÇÇ
ÈÈ
1600
ÇÇÇ
ÈÈ
1200
ÇÇÇ
ÈÈ
800
ÇÇÇ
ÈÈ
400
ÇÇÇ
ÈÈ
0
0 20 40 60 80 100 120 140 160
1326AB-A3E Motor 1326AB-B2E Motor
4000
ÇÇÇ
ÈÈ
3600
ÇÇÇ
ÈÈ
3200
ÇÇÇ
ÈÈ
2800
ÇÇÇ
ÈÈ
2400
ÇÇÇ
ÈÈ
2000
ÇÇÇ
ÈÈ
1600
ÇÇÇ
ÈÈ
1200
ÇÇÇ
ÈÈ
800
ÇÇÇ
ÈÈ
400
ÇÇÇ
ÈÈ
0
0 30 60 90 120 150 180 210 240 270
Torque (Lb.-In.) Torque (Lb.-In.)
1391B Rated
Operation
1391B Intermittent
Operation
1391B-ES/1391-DES
Rated Operation
1391B-ES/1391-DES
Intermittent Operation
Speed-torque curves show the rated performance of the servomotor in a 40 degree C ambient. Motor is at full rated temperature. Motor windings are at
150 degrees C with a 110 degree C rise over ambient. Motor case temperature is at approximately 100 degrees C.
Important: Curves and performance data shown are for motor and amplifier combinations where amplifier rating is equal to or greater than Ic of motor
Category
General
Parameter
Continuous Stall Torque at 40° C Ambient
Rated Output/1391B-ES, DES Rated Output
Peak Stall Torque/1391B-ES, DES Peak Stall Torque
Continuous Stall Current
Peak Stall Current/1391B-ES, DES Peak Stall Current
Mechanical Time Constant
Electrical Time Constant
3
3
3
Rated Speed/1391B-ES, DES Rated Speed
Thermal
Maximum Ambient Temperature (without derating)
Insulation Class
Thermal Time Constant
Winding
Torque Constant at 25° C
Voltage Constant RMS (L-L) at 25° C
Terminal Resistance ohms (L-L) at 25° C
Mechanical
1
T o obtain vibration velocity in inches (mm)/second use the following formula: VV = (D
where: D
2
peak-peak displacement
3
at 40° C
12
Inductance mH (L-L) at 25° C
Rotor Polar Moment of Inertia
Motor Weight
1
Balance
= peak-peak displacement in in. (mm)
p-p
= Vibration velocity in in. (mm)/second
V
V
rpm = motor speed
Units
lb.-in. (N-m)
kW
3
lb.-in. (N-m)
amperes
3
amperes
milliseconds
3
milliseconds
rpm
degrees C
minutes
lb.-in. (N-m)/A
volts/1000 rpm
ohms
millihenry
2
(kg-m2)
lb.-in.-s
lbs. (kg)
2
in. (mm)
x rpm) /27.01
p-p
1326AB-A3E
48.0 (5.4)
1.2/1.6
96.0 (10.84)/144.0 (16.3)
7.8
15.6/23.4
8.6
3.4
3000/4000
40.0
H
38
7.24 (0.82)
49.5
1.9
8.4
0.010 (0.001)
37 (16.8)
0.0005 (0.0127)
1326AB-B2E
102.0 (11.5)
2.5/3.3
204 (23.0)/279 (31.5)
16.4
32.8/44.9
7.8
7.7
3000/4000
40.0
H
56
7.31 (0.83)
49.9
0.35
3.52
0.050 (0.006)
61 (27.7)
0.0005 (0.0127)
Product Data
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
È
È
È
È
È
È
È
È
È
È
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
È
È
È
È
È
È
È
È
È
È
1326AB AC Servomotor
Figure 5
1326AB-B3E and C2E Motor Performance Curves
Speed (rpm) Speed (rpm)
4000
ÇÇÇ
ÈÈ
3600
ÇÇÇ
ÈÈ
3200
ÇÇÇ
ÈÈ
2800
ÇÇÇ
ÈÈ
2400
ÇÇÇ
ÈÈ
2000
ÇÇÇ
ÈÈ
1600
ÇÇÇ
ÈÈ
1200
ÇÇÇ
ÈÈ
800
ÇÇÇ
ÈÈ
400
ÇÇÇ
ÈÈ
0
0 50 100 150 200 250 300 350 400 450
1326AB-B3E 1326AB-C2E
4000
ÇÇÇ
ÈÈ
3600
ÇÇÇ
ÈÈ
3200
ÇÇÇ
ÈÈ
2800
ÇÇÇ
ÈÈ
2400
ÇÇÇ
ÈÈ
2000
ÇÇÇ
ÈÈ
1600
ÇÇÇ
ÈÈ
1200
ÇÇÇ
ÈÈ
800
ÇÇÇ
ÈÈ
400
ÇÇÇ
ÈÈ
0
0 60 120 180 240 300 360 420 480 540
Torque (Lb.-In.) Torque (Lb.-In.)
1391B Rated
Operation
1391B Intermittent
Operation
1391B-ES/1391-DES
Rated Operation
1391B-ES/1391-DES
Intermittent Operation
Speed-torque curves show the rated performance of the servomotor in a 40 degree C ambient. Motor is at full rated temperature. Motor windings are at
150 degrees C with a 110 degree C rise over ambient. Motor case temperature is at approximately 100 degrees C.
Important: Curves and performance data shown are for motor and amplifier combinations where amplifier rating is equal to or greater than Ic of motor
Category
General
Parameter
Continuous Stall Torque at 40° C Ambient
Rated Output/1391B-ES, DES Rated Output
Peak Stall Torque/1391B-ES, DES Peak Stall Torque
Continuous Stall Current
Peak Stall Current/1391B-ES, DES Peak Stall Current
Mechanical Time Constant
Electrical Time Constant
3
3
3
Rated Speed/1391B-ES, DES Rated Speed
Thermal
Maximum Ambient Temperature (without derating)
Insulation Class
Thermal Time Constant
Winding
Torque Constant at 25° C
Voltage Constant RMS (L-L) at 25° C
Terminal Resistance ohms (L-L) at 25° C
Mechanical
1
T o obtain vibration velocity in inches (mm)/second use the following formula: VV = (D
where: D
2
peak-peak displacement
3
at 40° C
Inductance mH (L-L) at 25° C
Rotor Polar Moment of Inertia
Motor Weight
1
Balance
= peak-peak displacement in in. (mm)
p-p
= Vibration velocity in in. (mm)/second
V
V
rpm = motor speed
Units
lb.-in. (N-m)
kW
3
lb.-in. (N-m)
amperes
3
amperes
milliseconds
3
milliseconds
rpm
degrees C
minutes
lb.-in. (N-m)/A
volts/1000 rpm
ohms
millihenry
2
(kg-m2)
lb.-in.-s
lbs. (kg)
2
in. (mm)
x rpm) /27.01
p-p
1326AB-B3E
153.0 (17.3)
3.8/5.1
306.0 (34.6)/459.0 (51.9)
24.6
49.2/73.8
8.6
7.4
3000/4000
40.0
H
66
7.3 (0.82)
49.9
0.234
2.35
0.080 (0.009)
76 (34.5)
0.0005 (0.0127)
1326AB-C2E
210.0 (23.7)
5.2/6.9
420.0 (47.4)/569.0 (64.3)
33.2
66.4/90
5.3
13.1
3000/4000
40.0
H
71
7.44 (0.84)
50.5
0.088
1.5
0.140 (0.015)
102 (46.3)
0.0005 (0.0127)
13
Product Data
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
È
È
È
È
È
È
È
È
È
È
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
È
È
È
È
È
È
È
È
È
È
1326AB AC Servomotor
Figure 6
1326AB-C3E and C4C Motor Performance Curves
Speed (rpm)
1326AB-C3E Motor 1326AB-C4C Motor
4000
ЗЗЗЗЗ
ÈÈÈÈ
3600
ЗЗЗЗЗ
ÈÈÈÈ
3200
ЗЗЗЗЗ
ÈÈÈÈ
2800
ЗЗЗЗЗ
ÈÈÈÈ
2400
ЗЗЗЗЗ
ÈÈÈÈ
2000
ЗЗЗЗЗ
ÈÈÈÈ
1600
ЗЗЗЗЗ
ÈÈÈÈ
1200
ЗЗЗЗЗ
ÈÈÈÈ
800
ЗЗЗЗЗ
ÈÈÈÈ
400
ЗЗЗЗЗ
ÈÈÈÈ
0
0 60 120 180 240 300 360 420 480 540
Torque (Lb.-In.)
1391B Rated
Operation
1391B Intermittent
Operation
Speed (rpm)
3000
ЗЗЗЗЗ
ÈÈÈ
2700
ЗЗЗЗЗ
ÈÈÈ
2400
ЗЗЗЗЗ
ÈÈÈ
2100
ЗЗЗЗЗ
ÈÈÈ
1800
ЗЗЗЗЗ
ÈÈÈ
1500
ЗЗЗЗЗ
ÈÈÈ
1200
ЗЗЗЗЗ
ÈÈÈ
900
ЗЗЗЗЗ
ÈÈÈ
600
ЗЗЗЗЗ
ÈÈÈ
300
ЗЗЗЗЗ
ÈÈÈ
0
0 100 200 300 400 500 600 700 800
Torque (Lb.-In.)
1391B-ES/1391-DES
Rated Operation
1391B-ES/1391-DES
Intermittent Operation
Speed-torque curves show the rated performance of the servomotor in a 40 degree C ambient. Motor is at full rated temperature. Motor windings are at
150 degrees C with a 110 degree C rise over ambient. Motor case temperature is at approximately 100 degrees C.
Important: Curves and performance data shown are for motor and amplifier combinations where amplifier rating is equal to or greater than Ic of motor
Category
General
Thermal
Parameter
Continuous Stall Torque at 40° C Ambient
Rated Output/1391B-ES, DES Rated Output
Peak Stall Torque/1391B-ES, DES Peak Stall Torque
Continuous Stall Current
Peak Stall Current/1391B-ES, DES Peak Stall Current
Mechanical Time Constant
Electrical Time Constant
Rated Speed/1391B-ES, DES Rated Speed
3
3
3
3
Maximum Ambient Temperature (without derating)
3
Insulation Class
Thermal Time Constant
Winding
Torque Constant at 25° C
Voltage Constant RMS (L-L) at 25° C
Terminal Resistance ohms (L-L) at 25° C
Inductance mH (L-L) at 25° C
Mechanical
1
T o obtain vibration velocity in inches (mm)/second use the following formula: VV = (D
where: D
2
peak-peak displacement
3
at 40° C
14
Rotor Polar Moment of Inertia
Motor Weight
1
Balance
= peak-peak displacement in in. (mm)
p-p
= Vibration velocity in in. (mm)/second
V
V
rpm = motor speed
Units
lb.-in. (N-m)
kW
lb.-in. (N-m)
amperes
3
amperes
milliseconds
milliseconds
rpm
degrees C
minutes
lb.-in. (N-m)/A
volts/1000 rpm
ohms
millihenry
lb.-in.-s
lbs. (kg)
in. (mm)
2
(kg-m2)
2
x rpm) /27.01
p-p
1326AB-C3E
310.0 (35.0)
7.5/10.0
568.0 (64.1)/568.0 (64.1)
49.1
90.0/90.0
6.0
13.0
3000/4000
40.0
H
86.0
7.44 (0.84)
50.5
0.059
1.0
0.220 (0.024)
138 (62.6)
0.0005 (0.0127)
1326AB-C4C
420.0 (47.5)
7.0/9.3
811.0 (91.7)/811.0 (91.7)
46.6
90.0/90.0
5.6
13.1
2000/3000
40.0
H
95.0
10.6 (1.20)
72.4
0.09
1.54
0.290 (0.032)
170 (77.1)
0.0005 (0.0127)
Product Data
ЗЗЗЗЗ
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
Ç
ÈÈÈÈ
È
È
È
È
È
È
È
È
È
È
È
È
È
È
È
È
È
È
È
È
1326AB AC Servomotor
Figure 7
1326AB-C4B Motor Performance Curves
Speed (rpm)
1326AB-C4B Motor
2000
ÇÇÇ
800
600
400
200
ÈÈ
ÇÇÇ
ÈÈ
ÇÇÇ
ÈÈ
ÇÇÇ
ÈÈ
ÇÇÇ
ÈÈ
ÇÇÇ
ÈÈ
ÇÇÇ
ÈÈ
ÇÇÇ
ÈÈ
ÇÇÇ
ÈÈ
ÇÇÇ
ÈÈ
1800
1600
1400
1200
1000
0
0 100 200 300 400 500 600 700 800 900 1000
Torque (Lb.-In.)
1391B Rated
Operation
1391B Intermittent
Operation
1391B-ES/1391-DES
Rated Operation
1391B-ES/1391-DES
Intermittent Operation
Speed-torque curves show the rated performance of the servomotor in a 40 degree C ambient. Motor is at full rated temperature. Motor windings are at
150 degrees C with a 110 degree C rise over ambient. Motor case temperature is at approximately 100 degrees C.
Important: Curves and performance data shown are for motor and amplifier combinations where amplifier rating is equal to or greater than Ic of motor
Category
General
Thermal
Winding
Mechanical
1
T o obtain vibration velocity in inches (mm)/second use the following formula: VV = (D
where: D
2
peak-peak displacement
3
at 40° C
Parameter
Continuous Stall Torque at 40° C Ambient
Rated Output/1391B-ES, DES Rated Output
Peak Stall Torque/1391B-ES, DES Peak Stall Torque
Continuous Stall Current
Peak Stall Current/1391B-ES, DES Peak Stall Current
Mechanical Time Constant
Electrical Time Constant
Rated Speed/1391B-ES, DES Rated Speed
3
3
3
3
Maximum Ambient Temperature (without derating)
Insulation Class
Thermal Time Constant
Torque Constant at 25° C
Voltage Constant RMS (L-L) at 25° C
Terminal Resistance ohms (L-L) at 25° C
Inductance mH (L-L) at 25° C
Rotor Polar Moment of Inertia
Motor Weight
1
Balance
= peak-peak displacement in in. (mm)
p-p
= Vibration velocity in in. (mm)/second
V
V
rpm = motor speed
Units
lb.-in. (N-m)
3
3
kW
lb.-in. (N-m)
amperes
amperes
milliseconds
milliseconds
rpm
degrees C
1326AB-C4B
420.0 (47.5)
5.6/7.5
840.0 (94.8)/989.0 (111.8)
38.2
76.4/90
5.4
13.25
1600/2000
40.0
H
minutes
lb.-in. (N-m)/A
volts/1000 rpm
ohms
millihenry
lb.-in.-s
lbs. (kg)
in. (mm)
x rpm) /27.01
p-p
2
(kg-m2)
2
95.0
13.0 (1.47)
89.5
0.133
2.212
0.29 (0.032)
170 (77.1)
0.0005 (0.0127)
15
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