Page 1
Unimotor
hd
230 V I
460
V
Compact, Powerful High Dynamic
AC
Servo
Designed for maximum
brushless
compact,
torque
high
Unimotor hd
absolute
nameplate"
can
be
read by
used
to
simplifies commissioning
performance
Motors
torque
density,
AC
Servo
motor
series provides an exceptionally
low inertia solution for applications
during rapid acceleration and deceleration profiles.
motors
encoders
data
automatically optimize
and
fitted with high resolution SinCos
are
pre-loaded with
during
the
manufacturing process. This
most
Control Techniques' brand servo drives
the
and
maintenance, ensures consistent
saves time.
the
Unimotor
that
require very
the
motor
"electronic
drive settings. This feature
hd
or
data
and
Unimotor
clll1P
The Unimotor
Digitax
maximum dynamic performance.
Key Features
• Torque range:
• High torque-to-inertia ratio for high-dynamic performance
Compact
•
• Optional holding brake
• IP65 conformance
•
Segmented
• World class performance
• Winding
Speeds
•
• Large shafts
• Multiple feedback options:
- Incremental encoder: High accuracy, medium resolution
- Absolute: Medium accuracy,
and
- SinCos/absolute: High accuracy, high resolution,
single-turn
-
HIPERFACE
supported
- Resolver: Robust for
lower accuracy, medium resolution
hd
torque
profile
ST
Servo drives providing
6.4
to
752 lb-in (0.72
and powerful
stator
design
to
suit
230
V and
include
multi-turn
2000,
3000,
to
increase torsional rigidity
and
multi-turn
(SICK)
and
extreme
is
closely matched
up
to
300%
to
85.0
460
V
4000
and
6000
medium
EnDat (Heidenhain) protocols
applications
to
peak
overload for
Nm)
rpm
resolution, single-turn
and
conditions;
Unimotor
Frame
Si
ze
ss
67
89
11
S
1
42
190
-
hd
motors
Unimotor
Contln
uous(lb-ln) -
(shown
10
with a Digitax
ST
Servo
hd Torque Range
100
Pea
k(lb-ln)
drive).
1000
Approvals
24
FM30610
RoHS
Compliant
All
Unimotor
connections
easier
cable
installation.
hd
motors
that
rotate
routing
feature
for
and
Page 2
Unimotor
hd
230 V I
Order Code information
Use
the
information below
to
create
an
order
460
code
for a
V
Uni
motor
hd
(top
row
is
an
example).
l!ID
■
•I•
■
-----
Stator
Frame
>-->-->---
>---
Motor
Siz
e Voltage
ID=
055
UD=4
06
7
089
115
142
190
NOTES:
*Halfke
*
*Holding
!Refer to 142 mm Frame
T
Add
Bolt
(11
and 14 mm are standard). ex.
Length
055-089 055-067 055-190 055-115
Frames Frames Frames Frames
230V
60V
115
142
190
yp
rovided
brakes are not designed
Grde
Diameter
Speed
A
30=
3000 rpm
60=
B
C
Frame
B
C
D
Frame
C
D
E
Frame
C
D
F
to
create a smooth shaft and balance
6000 rpm
089Frame
30=
3000 rpm
40=
4000rpm
60=
6000 rpm
115
Frame
20=
2000 rpm
30=
3000 rpm
142
Frame
10=
1000 rpm
15
= 1500 rpm
20=
2000 rpm
30=
3000 rpm
190
Frame
10=
1000 rpm
15
= 1500 rpm
20=
2000 rpm
Ratings
for
and Dimensions table for commector size data
(BCD)
and Shaft Diameter code
055EDC600BACRA
Brake Connection
(MV)
0=Not
Fitted
5
=
Brake
dynamic use
Holding
..
063110
Ty
pe
B = Power size
1.0 and
90' and w/full
Rotatable installed
142 Framel
B = Power size
1.0 and
90' and
Rotatable
Signal
Signal
Output
Shaft
A =
Keyway
F=
Keyway
w/full&
half key•
provided
I = Power size
Signal
1.5 and
90' Rotatable
190 Frame
I = Power size
1.5 and
90'
signal
Rotatable
and
for
055 frame only
CR= Incremental Encoder
(Renco)
..
key
EM=
SinCos
Multi-Tum
FM = SinCos
AR=
CR=
(Renco)
EM=
FM=
AR= Resolver
CA=
(SICK)
EC=
EB=
FB
FC = SinCos
RA=
SA=
AE
Single-Tum
Resolver
Incremental
..
SinCos
Multi-Tum
SinCos
Single-Tum ECI 1118-EnDat
Incremental Encoder
SinCos Muti-Tum
SinCos
Multi-Tum
=
SinCos
Single-Tum
Sinqle-Tum ECI 1319-EnDat
SinCos
Multi-Tum
SinCos
Single-Tum
= Resolver
Feedback Device
055Frame
4096 ppr
EQI
EO
67Frame
Encoder
089 -190
4096 ppr
EQI
Fram
es
4096 ppr
EQI
EQN
ECN
SRM
-HIPERFACE
SRS
-HIPERFACE
(R35i)
1130 -
EnDat
1118-EnDat
(R35i)
1130 -
EnDat
(CFS50)
1331 -EnDat
1325 -
EnDat
1313 -
EnDat
50
(GEN
2)
50
(GEN
2)
11114\111.'i!N
Inertia
A = Std. I 063
BCD
055 Frame
1
Shaft
Diameter
OnlyT
9.0A-C
11.0A-C
14.0A-C
The
Unimotor
the
capabilities
hd
of
series
servo
Emerson
motor
Industrial
Automation motion systems that
high
torque
in
a small
size
as
well
for
incremental
and
resolver
encoders,
motor
absolute
feedback.
expands
provide
as
support
encoders
25
Page 3
Unimotor
Motor
Frame Size
Voltage (Vrms I
Fr
ame l ength A B C A B
Continuous Stall Torque (lb-in)
Continuous Stall Torque (Nm) 0.72
Peak Torque (lb-in)
Motor Weight (kg) 1.2 1.5
n
~
Iii
Rated Torque (lb-in)
Rated Torque (Nm) 0.7 1.05 1.48 0.7 1.05
n
~
a
Rated Torque (lb-in)
Rated Torque (Nm) 0.68 0.9
hd
(mml
Peak Torque (Nm) 2.88 4.72 6.6 2.88 4.72
Inertia (lb-in-sec') 0.00012 0.00022 0.00032 0.00012 0.00022
Inertia (kgm2) 0.000014 0.000025 0.000036 0.000014 0.000025
Motor Weight (lb)
of
Number
Kt(lb-in/A) = 6.55 7.7 8.05 6.55
Kt(Nm/A) = 0.74 0.87
Ke
(V/k
rpm)=
Stall Current
Rated Power (hp) 0.29 0.44 0.62 0.29 0.44
Rated Power (kW)
R (ph-ph) (Ohms)
l (ph-phl (mH) 50.0
Kt(lb-in/A) =
Kt(Nm/A) = 0.45 0.43 0.48
Ke
(V/k
rpm)=
Stall Current
Rated Power (hp) 0.58 0.76 1.01 0.58 0.76
Rated Power (kW)
R (ph-ph) (Ohms)
l (ph-ph) (mH)
55
mm
6.37 10.44 14.6 6.37
25.49 41.78 58.42 25.49
2.64
Poles 8 8 8 8 8
45
6.2 9.29 13.1 6.2 9.29
(A)
0.97 1.36 1.81 0.97 0.79
0.22 0.33 0.46 0.22 0.33
28.0 14.12 9.53 28.0
3.98
27 26 29
6.02 7.97 10.62 6.02 7.97
(A)
1.61
0.43 0.57 0.75 0.43 0.57
8.50
16.00
Frame Ratings and Dimensions
OSSEO
1.18
3.3
52.5 55
32.00
3.81 4.25
2.74
3.55
8.20
1.65 0.72
3.96
0.91 0.74
23.0 50.0 100.0
3.44
2.38 28.00 10.70
6.30 50.00 25.00
1.8
1.2
2.64
1.2 1.5
45
6.55 6.99
0.74
45
0.68 0.9
0.97
,
10.44
1.18
41.78
3.3
13.19
1.49
45.0
0.79
47.5
1.49
90
'I
C
14.6
1.65
58.42
6.6
0.00032
0.000036
3.96
1.8
8
14.6
1.65
100
13.1
1.48
1
0.62
0.46
31.0
75.0
7.35
0.83
50
10.62
1.2
1.99
1.01
0.75
7.80
20.00
4 holes
0R
hole
depth I
(H14)
BCD
0S
equispaced on a
mounting
~}
I
Tapped
i...i
-.::..--
-~-
--'~"'
thread size
I
[JIT
D
K
H
to
B
A
Shaft
Shaft Diameter
Key-to-Shaft End
Tapped Hole Thread Size
Tapped Hole Depth
26
9.0mm
Dimensions
06)
C
0 0.790 20.0 0.906 23.0 1.181
Key
Height E 0.402 10.2 0.492 12.5
Key
length
F 0.591 15.0 0.591 15.0
c;
0.039 1.0 0.059 1.5
Key
Width (H9)
H 0.118
3.0
M4x10 M4x10
0.394 10.0 0.531 13.5
Shaft
Diameter
11.0mm 14.0mm
0.157 4.0
Code
0.629
0.886
0.142
0.197
0.492
30.0
16.0
22.0
M5x12.5
12.5
3.6
5.0
Unbraked
Braked
Mounting Hole Diameter(H14)
B
A 6.22
length
B 5.12 130 6.06 154 7.01
Mounting Hole
Terminal
A
length
3.55
90
158
Range Thickness
Pilot Thickness
Pilot Diameter 06)
Range Square
BCD
Motor Housing
Box
Width
Mounting
Bolts
4.49
114
5.43
7.17 182 8.11
K 0.276
l 0.098
M 1.584
N
3.897
p
2.165
R 0.228
s 2.480
T 2.115
MS
138
206
178
7.0
2.5
40.0
99.0
55.0
5.8
63.0
55.0
Page 4
Unimotor
hd
67
mm
Frame Ratings and Dimensions
Motor
Frame Size
Voltage
Fram
Continuous Stall Torque (lb-in) 12.8 22.6
Continuous Stall Torque (Nm)
Peak Torque (lb-in)
.
-
-
Iii
Rated Torque (lb-in)
Rated Torque (Nm)
.
!:'
>;
-
,i,
Rated Torque (lb-in)
Rated Torque (Nm)
NOTES:
•
.6.t=
212 'F (100 '
tolerance
• Stall torque, rated torque and power relate
'F (20 '
CJ
• Maximum intermittent winding
ambient
(mml
(Vrmsl
e length A B C A B C
Peak Torque (Nm)
Inertia (lb-in-sec')
Inertia (kgm') 0.000030 0.000053 0.000075 0.000030 0.000053 0.000075
Motor Weight (lb)
Motor Weight (kg)
Number
Kt
(lb-in/A)= 8.23 7.08
Kt(Nm/A) = 0.93 0.80
Ke
(V/k
Stall Current
Rated Power (hp)
Rated Power
R (ph-ph) (Ohms)
L (ph-ph) (mH)
Kt
(lb-in/A)= 4.16 7.08
Kt(Nm/A) = 0.47 0.80
Ke (V/k
Stall Current
Rated Power (hp)
Rated Power
R (ph-ph) (Ohms)
L (ph-ph) (mH)
CJ
winding 104 'F (40 '
above
0.00027 0.00047 0.00066 0.00027 0.00047 0.00066
of
Poles
rpm)=
(A)
(kW)
14.92
45.43 17.40 12.70
rpm)=
(A)
(kW)
11.06 4.35
12
kHz drive switching frequency
temperature
067ED
1.45 2.55
38.5
4.35 7.65 11.10 4.35 7.65 11.10
4.40 5.72 7.04 4.41 5.73 7.05
2.00 2.60
10
12.4 21.7
1.40 2.45
1.56
0.59 1.03 1.48 0.59 1.03 1.48
0.44 0.77 1.10 0.44 0.77 1
11.5 19.5 11.5 19.5 27.4
1.30 2.20
3.12
1.10 1.85
0.82 1.38 0.82 1.38 1.95
3.86
67.7 98.2
57.0
2.74
4.88
28.5
5.48
1.22 11.69
CJ
maximum ambient;
to
32.7
3.70
3.20
10
31.0
3.50
3.98 1.81 1.59 2.31
3.33
maximum continuous operation
is
284
'F
(140
12.8
1.45 2.55
38.5
2.00 2.60
10
10
49.0
12.4
1.40
11.69 15.20 10.70
35.18
1.30
1.81
1.10
35.18
all
data
subject
'
CJ
I ,
• , I
22.5 32.7
3.70
67.7 98.2
3.20
10
21.7
2.45
54.20 40.80
49.0
2.20
3.19
1.85 2.61
3.79
13.60 10.20
to
tested
14.16
1.60
98.0
..
/-10%
in
10
31.0
3.50
3.10
4.63
2.68
a
68
.10
OP
0
~)).
~Tapped
OT thread
Shaft Diameter C 0.551
Shaft Length
Key
Height E 0.629
Key
Length F
Key-to-Shaft
Key
Width
Tapped Hole Thread Size
Tapped Hole Depth
4 holes
equispaced on a
mounting
I
I to depth I
D 1.181
End
G 0.142
H 0.197
0R
(Hl
4}
BCD
0S
hole
size
0.964
M5x0.8
0.53 13.5
14.0
30.0
16.0
25.0
3.6
5.0
Unbraked Length
Braked Length
A 5.62 142.7 6.80 172.7 7.98 202.7
B 4.28 108.8 5.46 138.8 6.65 168.8
A 7.00 177.7 8.18 207.7 9.37 237.7
B 5.66 143.8 6.84 173.8
8.02
203.8
Flange Thickness
Pilot Thickness
Pilot Diameter
Overall Height
Flange Square
Mounting Hole Diameter
Mounting Hole
Motor Housing
Mounting Bolts
BCD
K 0.295 7.5
L
0.098
M 2.362 60.0
N 4.389 111.5
p
2.755 70.0
R
0.228
2.5
5.8
s 2.953 75.0
T 2.637 67.0
MS
27
Page 5
Unimotor
Motor
Frame Size
Voltage (Vrms)
Fr~me
Continuous Stall Torque (lb-in)
Continuous Stall Torque (Nm)
lenqth
Peak Torque (lb-in)
Peak Torque (Nm)
Inertia (lb-in-sec')
Motor Weight (lb)
Motor Weight (kg)
Number
II
El
Ke
-
Rated Torque (lb-in)
Rated Torque (Nm)
Stall Current
Rated Power (hp)
Rated Power
R (ph-ph) (Ohms)
L (ph-ph) (mH)
~
lg
~
Ke
Rated Torque (lb-in)
Rated Torque (Nm)
Stall Current
Rated Power (hp)
Rated Power
R (ph-ph) (Ohms)
L (ph-ph) (mH)
II
II
D
NOTES:
•
.6.t=
212 'F (100 '
.,.
/-10% tolerance
• Stall torque, rated torque and power relate
tested
• Maximum
Ke
Rated Torque (lb-in)
Rated Torque (Nm)
Stall Current
Rated Power (hp)
Rated Power
R (ph-ph) (Ohms)
L (ph-ph) (mH)
in a
68
'F (20 '
intermittent
hd
89
(mm)
A B C A B C
28.3 48.7 70.8 28.3 48.7
3.20
85.0 146.0 212.4
9.60 16.50 24.00 9.60 16.50 24.00
0.00077 0.00142 0.00207 0.00077 0.00142 0.00207
Inertia (kgm')
Kt
(lb-in/A)=
Kt(Nm/A) = 0.93
(V/k
Kt
(lb-in/A)= 6.2
Kt(Nm/A) = 0.70
(V/k
Kt
(lb-in/A)= 4.2
Kt(Nm/A) = 0.47 0.80
(V/k
CJ
winding 104 'F (40 '
CJ
of
Poles
rpm)=
(A)
(kW)
rpm)=
(A)
(kW)
rpm)=
(A)
(kW)
ambient
winding
0.000087 0.000161
6.8 9.2 11.7
3.30
10
26.6 42.9 61.1 26.6
3.0
3.44
1.26 2.04 2.91 1.26 2.04 2.91
0.94 1.52 2.17 0.94 1.52 2.17
3.28
21.55 11.84 7.09 65.17 38.36 21.72
25.7 40.3 56.2 25.7
2.90 4.55 6.35 2.90 4.55 6.35
4.57 7.86 11.43 2. 67 4.58 6.67
1.62 2.56 3.57 1.62 2.56
1.21 1.91 2.66 1.21 1.91 2.66
2.04
13.20 5.97
23.5
2.65
6.88 11.83 17.20 4.00 6.88 10.00
2.24
1.67 2.39
0.98 0.39 0.23 2.52 1.27 0.83
6.24 2.96 1.89 16.29 9.59 6.66
above 12 kHz drive switching frequency
temperature
mm
089ED 089UD
Frame Ratings and Dimensions
~
5.50 8.00
0.000234
4.40 5.50
10
8.2
57.0 98.0
4.85 6.
5.91 8.60 2.00
1.57 0.89 10.10 5.05
42.8
0.79 0.
4.38
28.5 49.0
33.6
3.80
3.21 4.21
CJ
maximum ambient;
to
44.3 23.5
5.00 2.65
3.14
maximum continuous operation
is
284
'F (140 '
3.20
85.0
0.000087 0.000161 0.000234
6.8
3.30
10
10 10
90
3.00
54
6.16 2.47 1.75
39.78
2.24
1.67 2.39
all
data
subject
CJ
• Motor length increases
0.512
in
feedback options
SA
and
RA;
decreases 0.394 in (10 mm)
for feedback option
5.50
146.0 212.4
9.2 11.7
4.40 5.50
14.2
1.60
42
.9 61.1
4.85 6.90
3.44
10.6
1.20
73
.5
40
.3 56.2
18.8 14.03
7.1
33.6
3.80
3.21 4.21
to
(13 mm) for
FB, EB,
motor
length
AE
70.8
8.00
10
5.00
2.68
3.57
44.3
5.00
3.14
CA,
0 (
0 M
Mounting Hole
Tapped
Tapped
4
holes
0R
(
equispaced
mounting
on
BCD
H14)
-~
C
~,,.,~h"'
, , l todepthl
7
D B
F
G
H
Optiona
l
key
IJ'------ll
Braked Length
, . I
Flange Thickness
Pilot Thickness l 0.087 2.2
Pilot Diameter
Overall Height N 5.140 130.5
Range
Square
Mounting Hole
Diameter
BCD
Motor Housing
Mounting Bolts
Shaft Diameter C 0.750
Shaft
Length
Key Hei
ght
Key
length F 1.260
Key-to-Shaft
Hole
End
KeyW
ldth
Thread Size
Ho
le Depth
ild)T
147.8 7.00 177.8 8.16
110.5 5.53 140.5 6.71
187.9
150.6 7.11 180.6
(in) (
K 0.406 10.3
M
p
R 0.276 7.0
s
T
D 1.575
E 0.850 21.5
G 0.146
H 0.236 6.0
3.150
3.583
3.940
3.504
(in)
0.670
thread
8.58
M6
M6x 1.0
size
217.9 9.76
a
0 S
8.29
mm
80.0
91.0
100.0
89.0
(mm)
19.0
40.0
32.0
3.7
17.0
207.8
170.5
247.9
210.6
)
28
Page 6
Unimotor
Motor
Frame Size
Voltage (Vrmsl
Fram
Continuous Stall Torque (lb-in)
Continuous Stall Torque (Nm) 10.20 14.60
e lenoth
Peak Torque (lb-in)
Peak Torque (Nm)
Inertia (lb-in-sec')
Motor Weight (lb)
Motor Weight (kg) 7.20
Number
~
;
~
~
Ke (V/k
Rated Torque (lb-in)
Rated Torque (Nm)
Stall Current
Rated Power (hp) 2.41
Rated Power (kW)
R (ph-ph) (Ohms)
L (ph-ph) (mH)
;
Ke (V/k
-
Rated Torque
Rated Torque (Nm) 7.70 10.50 7.70 10.50 13.60
Stall Current
Rated Power (hp) 3.25 4.43
Rated Power (kW)
R (ph-ph) (Ohms)
L (ph-ph) (mH)
hd
115
(mml
B C D B C D
90.3 129.2 166.4 90.3 129.2 166.4
270.8
30.60
0.00390
Inertia (kgm') 0.000441 0.000639 0.000838 0.000441 0.000639 0.000838
of
Poles
Kt
(lb-in/A)=
Kt(Nm/A) =
rpm)=
(A)
Kt
(lb-in/A)=
Kt(Nm/A) = 0.93
rpm)=
(I
b-in)
(A)
0.00566 0.00742 0.00391 0.00566 0.00742
15.87 19.62 23.6 15.87 19.62 23.6
10
76.1 105.3 138.1 76.1 105.3 138.1
8.60
7.29 10.43 13.43 4.25 6.08 7.83
1.80 2.49
1.40 0.77 0.61 4.41 2.41
12.84
8.2
57.0 98.0
68.2 92.9 68.2 92.9 120.4
10.97 15.70 6.38 9.13 11.75
2.42
0.58 0.39 1.83 1.21
5.40 4.01 16.93 12.72 8.65
mm
115ED 115UD
Frame Ratings and Dimensions
~
18.80 10.20 14.60 18.80
387.6
43.80 56.40
8.90 10.70 7.20 8.90 10.70
12.4
1.40 2.40
85.5
11.90 15.60
3.34
7.87 6.62 40.59 24.69 19.45
3.30
10
499.1 270.8
30.60
10
4.
3.27
38
10
8.60
2.41
1.80 2.49
3.25
2.42
387.6
43.80 56.40
21.2
147.0
11.90 15.60
3.34
14.2
1.60
4.43 5.73
3.30
499.1
10 10
4.
3.27
1.80
4.27
0.78
38
...
IEI
G
0 (
H
Optlou
lkey
\
0 M
11----ll
IC]T
4 h
oles
0 R(H14I
equlsp.1ced
on
depth
BCD
ze
I
.1
0 5
N
mounting
T•pped hole
thre.1d si
Ito
B
NOTES:
•
.6.t=
212 'F (100 '
.,./-10%
• Stall torque, rated torque and power relate
tested
• Maximum
tolerance
in a
68
intermittent
CJ
winding 104 'F (40 '
'F (20 '
CJ
ambient
winding
CJ
above 12 kHz drive switching frequency
temperature
maximum ambient;
to
maximum continuous operation
is
284
all
data
'F (140 '
CJ
•Motor length increases
0.512
in (13
feedback options FB,
SA
and
RA;
decreases
for feedback option AE
0.394
subject
mm)
motor
to
for
EB, CA,
length
in
(10 mm)
!Jraked Length
Flange Thickness
Pilot Thickness
Pilot Diameter
Overall Height
Flange Square
Mounting Hole Diameter
Mounting Hole
Motor Housing
Mounting !Jolts
Key
Tapped Hole Thread
Tapped
IJCD
I
Shaft Diameter
Length
Shaft
Key
Height
Key
length
-to-Shaft
End
KeyWldth
Size
Ho
le Depth
193.8
154.0
230.9
191.1
(
in)
K
L 0.106
M 4.33
N 6.16
p
R
0.519
4.57
0.394
s 5.12
T 4.53
(
in)
C 0.945
D 1.97
E 1.06
F 1.57
c;
H 0.315
0.209
0.79
8.81
7.24
10.27
8.70
M8x
223.8 9.
184.0 8.43
260.9 11.45
221.1
(
110.0
156.5
116.0
130.0
115.0
M8
(
1.25
99
9.89
mml
13.2
2.7
10.0
mml
24.0
50.0
27.0
40.0
5.3
8.0
20.0
253.8
214.0
290.9
251.1
29
Page 7
Unimotor
Motor
Frame Size
Voltage (Vrms I
Fr
ame Length C D
Continuous Stall Torque (lb-in) 221.3 278.8
Continuous StallTorque(Nm) 25.0 31.5
Peak Torque (lb-in) 662.9 836.4
Peak Torque (Nm) 74.9 94.5
Inertia (lb-in-sec')
Inertia (kgm') .0017 .00221
Motor Weight (lb) 25.4 33.1
Motor Weight (kg) 11.5 15.0
Number
Ke
Rated Torque (lb-in) 206.2 256.7
Rated Torque (Nm) 23.3 29.0
Stall Current
Rated Power(hp) 3.27 4.08
Rated Power
R (ph-ph) (Ohms) 1.36 0.94
L(ph-ph)(mH) 21.34 15.17
Power Connector
Ke
Rated Torque (lb-in)
Rated Torque (Nm)
Stall Current
Rated Power (hp)
Rated Power
R (ph-ph) (Ohms)
L (ph-ph) (mH)
Power Connector
Ke
Rated Torque (lb-in) 189.4 227.5
Rated Torque (Nm) 21.4 25.7
Stall Current
Rated Power (hp) 6.01 7.21
Rated Power
R (ph-ph) (Ohms)
L (ph-ph) (mH)
Power Connector
Ke
Rated Torque (lb-in) 162.8 184.9
Rated Torque (Nm) 18.4 20.9
Stall Current
Rated Power (hp) 7.75 8.81
Rated Power
R (ph-ph) (Ohms)
L (ph-ph) (mH)
Power Connector
' These frames use Order Code Connection
hd
142
(mml
.01
of
Poles 10 10
Kt
(lb-in/A)=
Kt(Nm/A)= 2.8
(V/k
rpm)=
(A)
(kW)
Size
Kt
(lb-in/A)=
Kt(Nm/A)=
(V/k
rpm)=
(A)
(kW)
Size
Kt
(lb-in/A)=
Kt(Nm/A)= 1.4
(V/k
rpm)= 85.5
(A)
(kW)
Size
Kt
(lb-in/A)= 8.23
Kt(Nm/A)= 0.93
(V/k
rpm)= 57.0
(A)
(kW)
Size
142EO
505 .01956
24.78
171.0
8.9 11.2
2.44 3.04
12.39
17.8 22.5
4.48 5.38
0.34 0.24
5.33 3.79
26.9 33.9
5.78 6.57
0.12 0.10
1.90 1.57
1.5•
Type
1.0
1.5•
mm
336.3
38.0
1008.9
114.0
.02407
.00272
40.8
18.5
305.4
34.5
13.6
4.84
3.61
0.72
12.3
261.9
29.6
27.1
8.31
6.2
0.18
3.07
option"]'.
Frame Ratings and Dimensions
•
,I
E
10
C D E
221.3 278.8 336.3
25.0 31.5 38.0
662.9 836.4 1008.9
74.9 94.5 114.0
.01505 .01956 .02407
.0017 .00221 .00272
25.4 33.1 40.8
11.5 15.0 18.5
10 10 10
28.32
3.2
196.0
197.4 238.9 280.6
22.3 27.0 31.7
7.8 9.8 11.9
4.69 5.63 6.71
3.5 4.2 5.0
1.36 0.94 0.72
21.34 15.17 12.3
1.0
21.24
2.4
147.0
189.4 227.5 261.9
21.4 25.7 29.6
10.4 13.1 15.8
6.01 7.21 8.31
4.48 5.38 6.2
0.79 0.62 0.49
12 .15 9.66 8.34
1.0
14.16
1.6
98.0
162.8 184.9 203.6
18.4 20.9 23.0
15.6 19.7 23.8
7.75 8.81 9.70
5.78 6.57 7.23
0.34 0.24 0.18
5.33 3.79 3.07
1.0
1.5•
0C
Optional
key
0 M
Pilot Thickness
Pilot Diameter
Overall Height
Flange Square
Mounting
Mounting Hole
Tapped Hole Thread Size
Tapped Hole Depth
Key-to
Hole
Key
Key
-Shaft
Key
Dia.
BCD
Height
Length
End
Width
L
M
N
p
R
s
T
D
E
F
c;
H
217.0 9.72 247.0 10.91 277.0
182.5 8.37 212.5 9.55 242.5
248.0 10.94 278.0 12.13 308.0
(in) (mm)
0.551 14.00
0.134 3.40
5.120 130.0
4.1/8.1'
5.591 142.0
0.472 12.0
6.500 165.0
5.591 142.0
(int (mm)
1.260 32.0
2.283 58.0
1.380 35.0
1.970 50.0
0.118
0.394 10.0
1.142 29.0
4 holes 0 R (Hl 4)
equispaced on a
mounting
Tapped hole
thread size
I
to
N
12.30 312.5 13.48 342.5
M10
M12x1.75
PCD
depth
J
Optional
lifting
aid205.0mm
(±
1)
104/205'
3.0
0S
30
Page 8
Unimotor
Motor
Frame
Size
(mml
Voltage (Vrmsl
Fr
ame Length C D
Continuous Stall Torque (lb-in)
Continuous Stall Torque (Nm)
Peak Torque (lb-in) 1380.7 1646.2
Peak Torque (Nm) 156.0 186.0
Inertia (lb-in-sec')
Inertia (kgm')
Motor Weight (lb)
Motor Weight (kg) 23.5 28.6
of
Number
Kt
.
-
-
-
.
-
-
.
-
-
-
NOTES:
•
6t=
212
'F
,..
/-10% tolerance
• Stall torque, rated
tested
in a 68
• Maximum
(lb-in/A)=
Kt(Nm/
Ke
(V/k
rpm)=
Rated Torque (lb-in)
Rated Torque (Nm)
Stall Current
Rated Power (hp)
Rated Power (kW)
R (ph-ph) (Ohms)
L (ph-ph) (mH)
Kt
(lb-in/A)=
Kt(Nm/
Ke
(V/k
rpm)=
Rated Torque (lb-in)
Rated Torque (Nm)
Stall Current
Rated Power (hp)
Rated Power (kW)
R (ph-ph) (Ohms)
L (ph-ph) (mH)
Kt
(lb-in/A)= 12.39
Kt(Nm/
Ke
(V/k
rpm)=
Rated Torque (lb-in) 376.2
Rated Torque (Nm)
Stall Current
Rated Power (hp)
Rated Power (kW)
R (ph-ph) (Ohms)
L (ph-ph) (mH)
(100 'C)
winding
torque
'F {20 '
C)
intennittentwinding
hd
Poles
A)
=
(A)
A)
=
(A)
A) = 1.4
(A)
104
and
power relate
ambient
190
460.2
52.0
.04833 .06275
.00546 .00709
51.8
10 10
433.7
49.0
18.6
6.88 7.
5.13 5.92
0.47
12.3
85.5
42.5
37.1
11.9
8.9
0.12
3.07
'F (40 '
above
temperature
mm
190ED
548.7
62.0
66.1
24.78
2.8
171.0
500.1
56.5
22.1
94
0.4
10.4
C)
maximum ambient;
to
maximum continuous operation
12
kHz drive switching frequency
F C
752.3
85.0
2256.9 1380.7
255.0 156.0
.09161
.0103
85.5
38.8
10 10
685.9
77.5
30.4
10.89
8.12
0.23
6.79
is
284 'F(140 'C)
Frame Ratings and Dimensions
'I
I
• ' I
D
F
460.2
548.7
752.3
52.0
62.0
85.0
1646.2
2256.9
186.0
255.0
.04833
.06275
.09161
.00546
.00709
.0103
51.8
66.1
85.5
408.9
21.24
-
-
-
376.2
-
-
-
-
-
-
23.5
46.2
16.3
9.74
7.26
0.47
12.3
2.4
147
42.5
21.7
11.9
8.9
0.34
8.2
all
data
28.6
10
28.32
3.2
196.0
462.0
52.2
19.4
11.00
8.2
0.4
10.4
subjectto
38.6
10
606.3
68.5
26.6
14.43
10.76
0.23
6.79
0C
0M
E
B'raked Length
, . I
Flange Thickness K
Pilot Thickness
Pilot Diameter M
Overall Height N
Flange Square
Mounting Hole Diameter R
Mounting Hole
Motor Housing T
Mounting
Shaft Diameter C
Key-to-Shaft End
Tapped Hole Thread Size
Tapped Hole Depth
B'CD
B'olts
I
Shaft Length D
Key
Height E
Key
Length F
Key
Width H
G
L
p
s
12.56
11.40
220.6
191.1
319.1
289.6
(inl
0.728
0.154
7.090
9.940
7.490
0.571
8.465
7.480
(inl
1.500
3.150
1.614
2.760
0.181
0.394
1.142
4
holes0R(H14)
equispaced
mounting
Tapped hole
thread
size
todepth
I
N
9.87 250.6
8.70
221.1
13.74
349.1 16.11
12.58
319.6
M12
M12xl.75
PCD
J
12.23
14.94
(mml
180.0
252.5
190.3
215.0
190.0
(mml
on
9.89
18.5
3.9
14.5
38.0
80.0
41.0
70.0
4.6
10.0
29.0
a
05
310.6
251.1
409.1
379.6
31
Page 9
Unimotor
hd Selection Considerations
Feedback Options
Feedback Device
Order Code Feedback Type
AR
CR
EM
(Multi-Tum)
FM
(Single-Turn)
Resolver'
Incremental encoder
In
ductive
Absolute encoder
EnDat'
Encoder
Supply Voltage
7Vrms
Excitation 5 kHz
5Vdc
5Vdc
SinCos
Cycles or
Incremental
Pulses per
Revolution
055-067 Motors
4096
16
Resolution
Available
Position
16384
2.62 x 105 (18 bits)
to
loop
Me
Hig
Feedback Accuracy
low
.,.
- 600 arc second
Medium
.,.
-150 arc second
Medium
-t-
/-480
arc second
AE
CA
EC(Multi-Turn)
FC
(Single-
Tum)
RA
(Multi-Tum)
SA(Single-Turn)
EB
(Multi-Tum)
FB
(Single-Turn)
NOTES:
'Resolution value shown when used with the
'Resolution value shown when used with the
SC
Hiper,
depending on the encoder-multi-tum devices
Motor
Motor
Selection
Derating
Resolver'
Incremental encoder
In
ductive
Absolute encoder
Optical
SinCos
encoder'
HIPERFACE
Optical
Absolute encoder
EnDat'
EnDat'
Unidrive
Unidrive
Adverse operating conditions require
6Vrms
Excitation 6 kHz
5Vdc
7 - 10Vdc
7 -12Vdc
3.6- 14
M resolver input or
M,
Unidrive
have
that
the
motor
Vdc
SM
SP
or Digitax
4096 (12 bit) resolution
performance be derated. These conditions include ambient
temperature
drive switching frequency
above 104
°F
(40
°C),
motor
or
a drive oversized for
mounting position,
the
motor.
4096
32
1024
2048
-Resolver Option
ST
Medium
when the encoder type
Drive Switching Frequency
Most drive current ratings are reduced
frequencies. See individual drive manuals for details.
See
for guidance only).
Medium
16384 ( 14 bit)
absolute position
524288 (19 bits)
Very
high
1.04x10'(20 bits)
Very
high
2.08x10' (21 bits)
Module
(Unidrive
is
set
the
table below for
SP
and Digitax
to
either
.,.
- 720 arc second
High
-t-
/-60 arc second
f------~_
For
SinCos
For
SinCos
differential non-linearity
(total
(differential non-linearity-t-/-
ST)
SC
En
Oat or
motor
derating factors (these figures are
M_e_d_iu_m
.,.
- 280 arc second
integral non-linearity-t-/-45 arc second
accuracy-t-/-52
-t-/
at
_~------1
High
arc second)
Very
high
-20 arc second
higher switching
-t-
/-7 arc second
1%
signal period)
Ambient Temperatures
For ambient temperatures above 104
be derated using
to
3000
up
the
following formula as a guideline for motors
rpm. Consult factory for higher-speed
information.
New
de.rated
Specified
*Measured in
torque
=
torquex b -([ambient temperature"' -40} /
•c
For example, with an ambient
new
derated
torque
will
be 0.8 x specified torque.
32
°F
(40
temperature
°C),
of
the
169
torque
motor
100)
°F
(76
must
derating
°C),
the
Switching
Frequency
3kHz 0.92 0.93 0.89 0.89 0.83 0.90
4kHz 0.93 0.94 0 .
5/6
kHz
8kHz
10/12/16
kHz
0.
95
0.95 0.95 0.96 0.88 1
0.96 0.98 0.97 0.98 0.
1 1 1 1 1 1
91
0.92 0.85 0.95
Mounting Arrangements
In
general,
mounting surface
gearbox,
the
motor
motor
the
motor
is
mounted
torque
should be derated
is
heated from an external source such as a
is
connected
in
a confined space with restricted air
to a poor
if
the
motor
thermal conductor,
91
'I
1
or
flow.
Page 10
Thermal Test Conditions
The performance
t
emperature
thermally
-isolat
data
of
68
°F
(20
ed
aluminum plate.
shown was r
°C)
and
the
ecorded with
motor
mounted
an
ambient
on
Thermal Protection
Thermist
a
windings and gives an indication
The installer must connect
to
out
or
do
so
will invalidate
.
protection
to
293
the
°F
(145
of seri
the
thermistor
motor
°()
is built into the mot
ous overheating probl
to
the
drive. Failure
warranty
if
winding burns
or
ems
.
Environmental Conditions
Any
liquids or gases
be
must
in
confirmed
ternational standards.
that
to
ensure
may
come into
compliance with
contact
with
the
corr
the
ect
motor
Brake Operation
Do
not
app
ly the brake while the mot
brake can only
ope
rations
and
take
a limi
must not
ted
number
be
used for repeated dynamic braking.
or
shaft
is
rotating . The
of
emergency braking
055 4.3
067, 089
5to 142
11
190
Unimotor
Motor Frame Size Power Supply Power Static Tor
(mml
055
067
089
11
142
190
190 F
NOTES
:
• Figures shown in individual motor sections are
Apply a de
•
'Backlash will increase
hd Holding Brake Specifications
5
C-D
ratefactor
of0.7
overtime
x4.3
X 1.06
9.8 X 9.8 X 0.6 250 X 250 X 15
13.8
X 13.8 X 0.8
19.7x19.7x0.8
(Vdcl
24
24
24
24
24
24
24
to
standard brake torque figures if mot
110x110x27
350x350x20
500x
500x20
(W
I (lb-inl
6.3 15.9 1.8 22 0.00003
10.2
23.4 88.5 10
19.5 117
25
25 592 67 120 0.00404
54.5 885 100
at
68 'F (20 'C) ambient
35.4 4
371
Ingress Protection
IP
65
conformance; sealed
mounted
ml
Release
(msl
que
(N
20 120 0.00029
42 95 0.00225
or
temperature is above 212 'F (100 'C)
and
Time
nom. (lb-in-sec'I
<50
<50
CF
connected
Added Inertia
0.00006
0.00010
0.00683
aga
.
(kgcm'I
0.
03
0.073
0.115
0.327
2.54
4.57
72
7.
inst wat
er
spray
and
Backlash Added Weight
Degrees•
0.73 0.88
0.75
0.75
0.75 2.6 1.2
0.77 6.2 2.8
0.77
0.75
dust when
(lbsl (kgl
.1
1
1.3 0.6
11
.7 5.3
11
.7 5.3
0.4
0.5
33
Loading...