DUM 6
DUF 6
Servomotors
Rated continuous torques
from 0.4 Nm to 63 Nm
Operating Manual
2
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
These operating instructions are
applicable to servomotors
DUM 6- ......
DUF 6- ......
Edition: 12 March 2019 V 20
WITTUR Electric Drives GmbH reserves the right to
correct or change the contents of this information and
product details without prior notice. No liability can be
accepted for damage, injuries or outlay arising therefrom. We cannot warrant the correctness and completeness of the details.
Offenburger Str. 3
D-01189 Dresden
Germany
Tel. +49 (0 ) 3 51-40 44-0
Fax +49 (0 ) 3 51-40 44-1 11
info.wed@wittur.com
www.wittur-edrives.de
3
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
Contents
Safety instructions 4
EC Declaration of Conformity 5
Overview 6
Basic features 7
S
peed-torque characteristic 8
Standards, codes and regulations 8
Construction, definitions 9
Drive end 9
Direction of rotation 9
Nameplate 9
Symbols 9
Installation and operation 10
Degree of protection 10
Cooling, altitude, ambient conditions 10
Shaft ends 11
Holding brake 11
Winding, insulation system 12
Separately driven fan 12
Conductor size 12
Speed and shaft position measuring system / resolver 12
Monitoring the winding temperature 13
Transport and packaging 14
Storage 15
Maintenance 15
Safety instructions 15
Maintenance intervals 15
Permissible axial and radial forces 16
Axial forces 16
Radial forces 17
Connection system DUM/F 6-A...D 18
Accessories 18
Connection system DUM/F 6-E 19
Accessories 19
Type code 20
Technical data DUM 6-A... 22
Technical data DUM 6-C... 24
Technical data DUM 6-D... 26
Technical data DUM 6-E... 28
Technical data DUF 6-C... 30
Technical data DUF 6-D... 32
Technical data DUF 6-E... 34
4
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
Only qualified personnel are allowed to perform any planning, installation or maintenance work.
The personnel must be trained for the job and must be familiar with the installation, assembly, commissioning and operation of the
product.
The instructions given in this manual or any other instructions supplied must always be observed.
Safety instructions
The motors of the series DUM/F 6 are designed for use in commercial plants. They comply with the harmonised standards of the
series VDE 0530 /EN 60034. They are not to be operated in hazardous areas unless expressly permitted (note additional reference).
The local conditions on site shall comply with the nameplate data. During operation (even at zero speed), the motors possess dangerous live and moving parts and may have hot surfaces. Only qualified and competent specialist personnel are allowed to handle, connect, commission and maintain the motors. (Observe VDE 0105; IEC 364). Improper conduct may result in serious injury to
persons and property.
In this manual, the following pictograms are used to mark warnings and important notes.
means that death or serious injury to persons or property will occur unless the appropriate precautions are
taken.
means that death or serious injury to persons or property may occur unless the appropriate precautions are
taken.
means that slight injury or damage to persons or property may occur unless the appropriate precautions are
taken.
· Remove power to the machine before starting any work on the motors.
· Check the proper functioning of the brake (if provided) after installing the motor.
· Repairs may only be carried out by the manufacturer or an authorised repair agency. Unauthorised opening
and tampering may lead to bodily injury and property damage and may entail the loss of warranty rights.
· Before commissioning motors with a shaft key, secure the key to ensure that it cannot be thrown out if this is
not already prevented by driving elements such as a belt pulley, coupling, etc.
· The motors are not designed for direct connection to the three-phase system but are to be operated via an
electronic power converter. Direct connection to the system may destroy the motor.
· Surface temperatures of more than 100°C may occur on the motors. Therefore, no temperature-sensitive
parts must be allowed to come into contact or be attached to them. Protection against accidental contact
should be provided, if required.
· The optional holding brake is only designed for a limited number of emergency brakings. Never use it as a
working brake.
· On motors with plug connector and built-in brake, it is the user's responsibility to install the varistor provided
to control the brake.
· Connect the winding temperature sensor and evaluate its signal by means of a suitable circuitry. The temperature sensor protects the motor from thermal overload if the temperature change is slow. It does not, however, provide an allround protection. Therefore, additional measures such as monitoring I
2
t by the converter
electronic system are required to protect the motor from fastarising thermal overload.
· Dangerous voltages are applied at the terminals of synchronous motors when the rotor is turning.
5
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
6
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
Overview
Motor type
S
tall torque
R
ated torque at
10 min
-1
1.000 min-11.500 min-12.000 min-13.000 min-14.000 min-16.000 min
-1
M
d10
[Nm] MdN[Nm] MdN[Nm] MdN[Nm] MdN[Nm] MdN[Nm] MdN[Nm]
self-cooling
DUM 6-A1 0,48 0,43
DUM 6-A2 0,68 0,62
DUM 6-A3 0,89 0,80
DUM 6-A4 1,17 1,05
DUM 6-C1 4,0 3,8 3,5 3,1
DUM 6-C2 5,8 5,5 4,8 4,2
DUM 6-C3 7,2 6,9 6,4 5,7
DUM 6-C4 8,6 8,3 7,6 6,8
DUM 6-D1 8,3 8,0 7,6 6,8
DUM 6-D2 11,8 11,5 11,0 9,5
DUM 6-D3 15,6 15,0 14,0 11,9
DUM 6-D4 18,8 18,0 16,9 13,7
DUM 6-E1 23,7 23,0 19,0 14,0
DUM 6-E2 35,5 34,4 28,0 19,0
DUM 6-E3 48,5 47,0 40,0 27,0
enforced-cooling
DUF 6-C1 5,2 5,2 4,7 4,2
DUF 6-C2 7,7 7,4 6,4 5,6
DUF 6-C3 9,5 9,3 8,6 7,7
DUF 6-C4 11,4 11,2 10,3 9,2
DUF 6-D1 11,0 10,8 10,3 9,1
DUF 6-D2 15,6 15,6 14,9 12,8
DUF 6-D3 20,6 20,2 18,9 16,1
DUF 6-D4 24,8 24,3 22,8 18,5
DUF 6-E1 30,8 30 28 24
DUF 6-E2 45,8 45 40 34
DUF 6-E3 63 62 57 48
7
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
Standard Options
Construction type IM B5 (IM V1, IMV3)
Degree of protection IP 65
Shaft exit IP 64 IP 65
Motor type permanent-field synchronous servomotor
Magnet material neodymium-iron-boron
Rated data for duty S1 (continuous operation)
Vibrational severity B
Flange accuracy N R
Thermal class 155 (F); wire insulation class 180 (H)
Winding protection
thermistor (PTC) 150°C (with
reinforced insulation to EN 50178)
KTY 84; KTY 83;
miniature thermal-delay switch
Connection to system connector (rotatable, speedTEC -compatible)
Measuring system connection connector (rotatable, speedTEC - compatible)
Measuring system resolver absolute sine-cosine encoder
Cooling self-cooling enforced cooling
Brake - permantent-field holdig brake
Paint finish RAL 9005 (dull black) special paints
Bearings
radial deep-groove ball bearing, life-lubricated (locating bearing at D-end)
Shaft end plain shaft end
key (to DIN 6885)
balanced with half-key
Ambient temperature range from -15°C to +40°C
Max. rel. humidity 90% at 20°C (no moisture condensation)
UL-file number E 234 973
Basic features
8
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
Speed-torque characteristic
M
M
max
M
d0
M
dN
n
N
n
S1-105K
n
max
U
DC
continuous duty
intermittend duty
M
d
0
Stall torque
Thermal limiting torque of the motor at standstill (n =0min-1). This torque can be
delivered for any length of time (S1).
M
d10
Stall torque
Thermal limiting torque of the motor at n > 10min
-
1
. This torque can be delivered for
any length of time (S1).
M
m
ax.
Max. torque Maximum permissible torque which the motor can deliver for short periods.
MdN Rated torque Thermal limiting torque of the motor at rated speed with duty S1
I
d
N
Rated current Rated current of the motor (at nNand M
d
N
)
nN Rated speed Rated motor speed
n
max.
Max. speed Maximum permissible motor speed
UDC D.c. link voltage
The d.c. link voltage determines the maximum available output voltage of the converter and thus the motor speed which can be achieved.
Definitions
Standards, codes and regulations
The servomotors of the
DUM/F 6 series are designed
in accordance with IEC recommendations and the applicable VDE and DIN standards
(see table opposite).
The motors are manufactured
in accordance with the international quality standard
ISO 9001.
Title DIN/VDE EN IEC
Rotating electrical machines;
rating and performance
DIN VDE 0530 Part 1 EN 60 034-1 IEC 600 34-1
Terminal markings and direction of
rotation
DIN VDE 0530 Part 8 EN 60 034-8 IEC 600 34-8
Classification of types of construction and mounting arrangements
DIN VDE 0530 Part 7 EN 60 034-7 IEC 600 34-7
Methods of cooling DIN VDE 0530 Part 6 EN 60 034-6 IEC 600 34-6
Classification of degrees of protection by enclosures
DIN VDE 0530 Part 5 EN 60 034-5 IEC 600 34-5
Mechanical vibration of certain
machines – Measurement, evaluation and limits of vibration severity
DIN VDE 0530 Part 14 EN 60 034-14 IEC 600 34-14
Noise limits DIN VDE 0530 Part 9 EN 60 034-9 IEC 600 34-9
Cylindrical shaft ends for rotating
electrical machinery
DIN 748 Part 3 IEC600 72
9
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
The servomotors of the DUM/F 6 series are 6- or 8-pole permanent-field synchronous motors with a sine-wave induced voltage. A new compact coil technique ensures a high power density of the motors.
Construction, definitions
D
E
NDE
M
d0
Stall torque (at n =0min-1) I
d0
Current at stall torque (at n =0min-1)
M
d10
Stall torque (at n >10 min-1) I
d10
Current at stall torque (at n > 10min-1)
M
dN
Rated torque I
dN
Rated current
P
dN
Rated power n
N
Rated speed
R
u-v
Phase-to-phase winding resistance (at 20°C) L
u-v
Phase-to-phase winding inductance
p Number of pole pairs k
e
Voltage constant
M
max
Max. permissible torque I
max
Max. permissible current
n
max
Max. permissible speed J
L
Rotor inertia
m Motor weight f
N
Rated frequency
F
A
Axial force F
Q
Radial force
R
S
Phase resistance (at 20°C)) L
S
Phase inductance
Drive end
In DIN EN 60034-7, the two ends of a motor are
defined as follows:
DE: Drive end of the motor
NDE: Non-drive end of the motor
When the motor terminals U1, V1, W1 are connected to a supply voltage L1, L2, L3 (with this same
phase order) the motor rotates clockwise when
viewed facing the D-end.
Direction of rotation
Nameplate
Symbols
10
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
The motors of the DUM/F6 series are generally designed to meet degree of protection IP65 as specified in DIN EN 60034-5.
See table below for the respective sealing.
Shaft sealing
Degree of
p
rotection
User information
Diaphragm seal (standard) IP 64
Exposure to moisture in the shaft and flange area must be kept to a minimum.
Please contact us, if the motor is mounted with the "shaft end
upward“ (IM V3, IM V19, IM V36).
Shaft outlet is not dustproof.
Rotary shaft seal (option) IP 65 Suitable for the installation of non-sealed gear units to seal against oil.
Lubrication of the rotary shaft seal
When using a rotary shaft seal, note that the sealing lip needs to be sufficiently lubricated and cooled with a
high-quality mineral oil such as SAE 20 to ensure the proper functioning of the seal. Sufficient lubricant supply
is required for proper heat dissipation.
If the shaft seal is greased, the maximum permissible motor speed may need to be reduced.
Regular regreasing is imperative!
Excessive peripheral speeds destroy the sealing lip and its protective function is no longer guaranteed.
The rated power (rated torque) applies to continuous
operation (duty type S1) at a coolant temperature of
40°C and an altitude of up to 1,000 m a.s.l. It is determined by using defined aluminium test flanges.
If the motor flange is thermally insulated, it is not able
to dissipate the motor heat. This requires a reduction of
the rated motor torque.
At higher temperatures or altitudes, the overload capability of the motors is reduced (see table opposite).
Motor type Test flange dimensions
DUM 6-A 200 x 100 x 10
DUM/F 6-C 232 x 300 x 19
DUM/F 6-D 370 x 370 x 19
DUM/F 6-E 410 x 396 x 23
Surface temperatures of more than 100°C may occur on the motors. Therefore, no temperature-sensitive parts
must be allowed to come into contact or be attached to them.
If the motor is equipped with a separately driven fan, connect the fan properly and check the direction of rotation (arrow on the fan housing). Make sure that the rotation of the fan wheel is not obstructed.
The different cycle frequencies of the electronic converter output stages may require the motor to be derated,
resulting from an increased harmonic content.
A.s.l. Coolant temperature [°C]
[m] <30 30-40 45 50 55 60
1000 1.07 1.00 0.96 0.92 0.87 0.82
1500 1.04 0.97 0.93 0.89 0.84 0.79
2000 1.00 0.94 0.90 0.86 0.82 0.77
2500 0.96 0.90 0.86 0.83 0.78 0.74
3000 0.92 0.86 0.82 0.79 0.75 0.70
3500 0.88 0.82 0.79 0.75 0.71 0.67
4000 0.82 0.77 0.74 0.71 0.67 0.63
Installation and operation
Degree of protection
Cooling, altitude, ambient conditions
11
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
Motors of the DUM/F 6 series have cylindrical shaft ends to DIN 748. As an option, the shaft end is also available with a
keyway to DIN 6885, Part 1.
Use suitable devices for mounting and pulling off driving elements such as gears, pulleys, couplings, etc. Support the
device at the DE shaft end.
Do not expose the motor to any impacts or blows.
The optional built-in holding brake is used to fix the motor shaft when the motor is at rest or de-energised. It is a permanent-field single-disc brake which operates on the closed-circuit principle, i.e. the brake is effective when the motor is deenergised, thus brakig the motor shaft.
The holding brake is not a working brake.
Holding brakes are operated on d.c. current. The nominal voltage is 24 V. They can be connected to a central d.c. voltage
supply. Overvoltages, even transient, are not permitted since they deteriorate the permanent magnets irreversibly. The
excitation current ripple must be less than 20 % to ensure reliable opening of the brake and prevent disturbing humming
noises.
If the excitation current of the holding brake
is switched off on the d.c. side, a voltage
peak occurs which can be higher than
1,000 V. It is caused by the inductance of the
holding brake. A varistor R should be connected in parallel to the coil to prevent this
voltage peak. Recommended type:
Q69-X3022 (S 14 K 30).
Since the holding brakes are permanent-magnet brakes, be sure to observe the correct polarity of the d.c. voltage, otherwise the brake will not open.
Modern (field-oriented) frequency converters are able to produce a high torque even at low motor speeds. If
the converter has a sufficient current reserve, a multiple of the rated motor torque can be produced. In this
case the motor shaft may turn even if the holding brake is applied, because the holding torque of the brake is
exceeded.
Suppressor circuit
+
-
U
Haltebremse
holding brake
Shaft ends
Holding brake
Motor type
Shaft end Keyway
D1 L1 B L2 L3
DUM 6-A
Ø9k6
20 3 12 4
DUM/F 6-C Ø 19 k6 40 6 32 4
DUM/F 6-D Ø 24 k6 50 8 40 5
DUM/F 6-E Ø 32k6 58 10 50 5
L
1
B
L
2
L
3
D1
12
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
The motors are not designed for direct connection to the three-phase system but have to be operated via an
electronic converter. Direct connection to the system may destroy the motor.
Winding, insulation system
The insulation materials we use ensure insulation class 155 (F) to DIN EN 60034. Therefore, the winding temperature rise
may be max. 105 K at a coolant temperature of + 40°C. We also use insulation materials with the temperature profile TI 200
of class 180 (H) to increase the reliability of the motors.
The insulation system of the motors is designed such that they can be connected to a converter with a maximum d.c. link
voltage U
link
max. up to max. 700 Volt.
Note: U
l
ink max.
is the maximum value of the d.c. link voltage which is only transient and approximately equivalent to the
inception voltage of the braking chopper or of the energy recovery unit.
The maximum permissible rate of voltage rise (dU/dt) at the motor terminals may be max. 4 kV/µs. The overvoltage at the
motor terminals must not exceed 1.56 kV. It may be necessary to use motor current filters or reactors to achieve these
values.
Separately driven fan
The motors DUF are forced-air-cooled by an axial fan. The connection data are given on the motor nameplate. The necessary terminal plug is included in the delivery of the motor.
Conductor size
The recommended values for the dimensioning of the conductor cross-sections are given in the table. They are specified in
DIN VDE 0113 (EN 60 204) "Electrical equipment of industrial
machines" for the current carrying capacity of PVC-insulated
cables with copper conductor routed in cable ducts. The maximum permissible ambient temperature is +40 °C.
Motor type Rated voltage Rated torque Degree of protection
DUF 6-C...
230 V (+6%/-10%) 50/60 Hz 0.07 A IP 54
DUF 6-D...
230 V (+6%/-10%) 50/60 Hz 0.12 A IP 54
DUF 6-E...
3x400 V (+6%/-10%) 50/60 Hz 0,15 A IP 44
Conductor size
[mm
2
]
perm. maximum
current [A]
0.75 7.8
1.0 9.6
1.5 14.4
2.5 18.3
4.0 25.0
6.0 32.0
10.0 43.0
16.0 58.0
The DUM 6 motors are equipped with 2-pole resolvers, size 15, for speed and shaft position control..
Speed and shaft position measuring system / resolver
The measuring system of synchronous motors (DUM 6) must be adjusted to the respective converter. Any misadjustment may lead to uncontrolled motor response or complete failure of the motor.
Note: 2-pole resolvers are installed as standard. Other resolver pole numbers or other measuring systems are available
(e.g. absolute sine-cosine encoders).
Technical data
Number of poles 2
Transformation ratio 0.5±5%
Input voltage/frequency 7V / 10 kHz
Input current 65 mA max.
Electrical error ±10’ max.
Phase displacement 0° nom.
R1
R2
S1
S3
S4
S2
rot/weiß
red/white
sw/wß od. ge/wß
bk/white or ye/white
gelb
yellow
blau
blue
rot
red
schwarz
black
S1: Cos high
S2: Sin high
S3: Cos low S4: Sin low
R1: Excitation high R2: Excitation low
U
S1-S3
= K * U
R1-R2
* cos υ
U
S2-S4
= K * U
R1-R2
* sin υ
13
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
The evaluation of the temperature sensor belongs to the monitoring of the motor winding. The temperature
sensor follows rapid temperature changes only with delay. Especially the windings of small motors (DUM 6-Ax)
are very sensitive to overload.
PTC thermistors are installed as standard in the DE winding head to protect the winding from thermal overload when the
temperature change is slow (temperature change in minutes or hours).
The maximum operating voltage of the PTC thermistors must not exceed 30V-.
Due to the non-ideal thermal coupling, the temperature sensor follows rapid winding temperature changes only with delay,
thus being unable to protect the winding if the thermal overload of the motor is transient and high. Therefore, additional
protection is required (such as monitoring I
2
x t by the converter electronic system) to protect the motor from fast-rising ther-
mal overload.
Monitoring the winding temperature
DUM 6-A
with single PTC thermistor STM 150E
DUM/F 6-C; DUM/F 6-D and DUM/F 6-E
with triplex PTC thermistor STM 150D
1 x 4000
1 x 1330
1 x 550
1 x 250
-20°C
130°C
145°C
150°C
155°C
165°C
Widerstand / Resistance [Ω]
Temperatur / Temperature
3 x 4000
3 x 1330
3 x 550
3 x 250
-20°C
130°C
145°C
150°C
155°C
165°C
Widerstand / Resistance [Ω]
Temperatur / Temperature
Note: The built-in PTC thermistor is the basic version. Other temperature detectors such as KTY 84 or miniature thermal
time-delay switches are available as an option.
0
1
2
3
4
0 5 10 15 20 25
Zeit /
time
t [s]
I / I
d0
D
UM 6-Ax (betriebswarm / at operating temperature)
DUM 6-Ax (kalt / cold)
empfohlene Stromgrenze / recommended current limit
The characteristics apply in case of a failure. They must not be applied for normal motor operation.
The r.m.s. value of the motor current is not permitted to exceed the nominal continuous current IdNwithin any
cycle!
The maximum motor current must be limited to ensure that the temperature sensor trips quickly enough. (See the following
diagrams to adjust the recommended current limits.) If a higher current limit needs to be adjusted, the current must not
exceed the current-time values shown in the characteristics and the motor max. current I
max
.
14
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
The packaging and transport technologies are dependent on the shipping conditions. The following types of packaging are
provided:
• Folding boxes
• Covered and steel-strapped flat pallets (transport by lorry)
• Special pallets
• Special packaging in wooden cases
The motors should always be shipped so that no damage can occur in transit.
Transport and packaging
Avoid any impacts, sharp sudden movements and strong vibrations during transport. Operate the crane only at
creeping speed to lift or place down the motors. This prevents damage to the bearings or the machine.
The motors leave the factory in a faultless condition after being tested.
Make a visual check for any external damage immediately upon their arrival on site. If any damage caused in transit is
found, make a notice of claim in the presence of the forwarder. In addition, report the damage to the manufacturer at the
latest within one week. Do not put these motors into operation.
0
1
2
3
4
0 5 10 15 20 25
Zeit /
time
t [s]
I / I
d0
DUM 6-Cx (betriebswarm / at operating temperature)
D
UM 6-Cx (kalt / cold)
empfohlene Stromgrenze / recommended current limit
0
1
2
3
4
0 5 1
0
1
5
2
0
2
5
3
0
Zeit /
time
t [s]
I / I
d0
DUM 6-Dx (betriebswarm / at operating temperature)
DUM 6-Dx (kalt / cold)
e
mpfohlene Stromgrenze / recommended current limit
0
1
2
3
4
0 10 20 30 40 50 60
Zeit /
time
t [s]
I / I
d0
DUM 6-Ex (betriebswarm / at operating temperature)
DUM 6-Ex (kalt / cold)
empfohlene Stromgrenze / recommended current limit
0
1
2
3
4
0 5 10 15 20 25
Zeit /
time
t [s]
I / I
d0
DUF 6-Cx (betriebswarm / at operating temperature)
DUF 6-Cx (kalt / cold)
e
mpfohlene Stromgrenze / recommended current limit
0
1
2
3
4
0 5 1
0
1
5
2
0
2
5
3
0
Zeit /
time
t [s]
I / I
d0
DUF 6-Dx (betriebswarm / at operating temperature)
DUF 6-Dx (kalt / cold)
empfohlene Stromgrenze / recommended current limit
0
1
2
3
4
0 10 20 30 40 50
Zeit /
time
t [s]
I / I
d0
DUF 6-Ex (betriebswarm / at operating temperature)
DUF 6-Ex (kalt / cold)
empfohlene Stromgrenze / recommended current limit
15
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
Maintenance
Repairs may only be carried out by the manufacturer or an authorised repair agency. Unauthorised opening
and tampering may lead to injuries to persons and property and may lead to a loss of warranty rights.
Before starting any work on the motors, and particularly before opening any covers of active parts, make sure that the
motor and plant have been properly isolated.
This refers also to any additional or auxiliary circuits.
The " 5 safety rules" to be applied according to DIN VDE 0105 are:
• Disconnect the motor.
• Lock it against unintentional restarting.
• Verify the safe isolation from supply.
• Earth and short (with voltages above 1,000V).
• Safeguard or cover adjacent live parts.
Safety instructions
Careful and regular maintenance and inspections are required to recognise and remedy troubles in good time, before they
lead to major damage.
Since the operating conditions of the motors differ considerably, only general maintenance intervals to ensure trouble-free
operation can be specified. They need to be adapted to the local conditions such as the actual level of contamination, number of starts, load, etc.
• Clean the motor, depending on the local level of contamination.
• Retighten the electrical and mechanical connections. Check for deterioration of running smoothness or bearing noise:
after approx. 500 operating hours, but after 1 year at the latest.
• With rotary shaft seal option only: Regrease the rotary shaft seal depending on the operating mode every 50 to 500
operating hours (applies only to grease lubrication!).
Maintenance intervals
If the motors are not installed immediately after their arrival, they should be properly stored.
Store the motors only in closed, dry, dust-free, well-ventilated and vibration-free rooms. Damp rooms are unsuitable for
storage! Do not remove the anti-corrosive coat from the shaft ends, flange surfaces, etc. Check it at certain intervals
depending on the ambient conditions, and touch up, if required.
Take care that no vibrations occur in storage to prevent the anti-friction bearings from being damaged. It is advisable to
turn the rotor several times at certain intervals to prevent corrosion of the bearings.
After prolonged storage (>3 months), rotate the motor in both directions at a low speed (£ 100 min
-1
) to allow the grease to
distribute evenly in the bearings.
Storage
16
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
Permissible axial and radial forces
The maximum permissible axial and radial forces must not be exceeded in
order to ensure smooth running of the motor.
Axial forces
The following forces F
Apermiss.
are permitted in axial direction with the radial
force FQacting simultaneously
Depending on the mounting arrangement of the motors and the
direction of the effective axial force F
A
, the rotor inertial force
FGand the force of the ondular washer FWmust be taken into
consideration. The total effective axial force F
Ages.
is calculated
as shown in the above figure.
F
A
F
A
F
A
F
A
F
A
F
A
F
A
ges.
= FA+F
W
F
A ges.
= F
A
F
A ges.
= FA+FG+FWF
A ges.
= FA-F
G
F
A
ges.
= FA-FG+F
W
F
A
ges.
= FA+F
G
Constructin type B5 V1 V3
l
x
F
A
F
Q
DUM/F 6-C1
110
13
DUM/F 6-C2 17
DUM/F 6-C3 20
DUM/F 6-C4 24
DUM/F 6-D1
150
25
DUM/F 6-D2 31
DUM/F 6-D3 37
DUM/F 6-D4 43
DUM/F 6-E1
435
65
DUM/F 6-E2 80
DUM/F 6-E3 95
Motor type FW[N] FG[N]
DUM 6-A1
90
2
DUM 6-A2 3
DUM 6-A3 4
DUM 6-A4 5
Motortyp
Axial forces F
Apermiss.
[N] at speeds n [min
-
1
] (with F
Q
¹
0)
1,000 1,500 2,000 3,000 4,000 4,500 6,000 9,000
DUM 6-A1
130 105 95 80 70
DUM 6-A2
DUM 6-A3
DUM 6-A4
DUM/F 6-C1
310 260 230 200
DUM/F 6-C2
DUM/F 6-C3
DUM/F 6-C4
DUM/F 6-D1
330 280 240
DUM/F 6-D2
DUM/F 6-D3
DUM/F 6-D4
DUM/F 6-E1
890 780 700 590 520
DUM/F 6-E2
DUM/F 6-E3
17
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
Radial forces
The endurance strength of the shaft and the bearing life are decisive for the permissible radial load.
Taking the endurance strength into consideration, FQis not permitted to be exceeded even during
dynamic processes (acceleration, braking).
DUM 6-A
100
150
200
250
300
3
50
400
450
5
00
0 10203040
x [mm]
F
Q
[N]
2
0
0
0
r
p
m
3
0
0
0
r
p
m
4
0
00
r
pm
4
000
r
pm
600
0 r
p
m
9
0
0
0
r
p
m
DUM/F 6-C DUM/F 6-D DUM/F 6-E
60
0
0
r
p
m
400
0 r
p
m
40
0
0
r
pm
2000
r
p
m
300
0 r
p
m
300
400
500
600
700
800
900
1000
1100
1200
1300
1
400
0 102030405060
x [mm]
F
Q
[N]
only for:
DUM/F-C1 with / without brake
DUM/F-C2 with / without brake
DUM/F-C3 without brake
only for:
DUM/F-C3 with brake
DUM/F-C4 with / without brake
400
600
800
1000
1200
1400
1600
1800
2000
2
200
2
400
0 20406080
x [mm]
F
Q
[N]
4500
rpm
4500
rpm
2
0
0
0
rp
m
300
0
r
p
m
1
0
0
0
rp
m
1
5
0
0
r
p
m
1000
1500
2000
2500
3000
3500
4000
0 20406080
x [mm]
FQ [N]
1
0
0
0
r
pm
1
5
0
0
r
p
m
2
00
0
r
p
m
3
00
0
r
pm
4
00
0
r
p
m
18
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
Connection system DUM/F 6-A...D
Encoder connection Connection to system Fan connection
Socket type
12-pin
rotatable angle socket
8-pin
rotatable angle socket
Connector plug
(2-pole + ground wire)
Recommended connector A ST A021 FR0112 0035000 B STA 108FR05 080036 000 included in delivery
Pinning configuration
(view of motor connecting
pins)
5
6
12
7
8
1
3
11
4
10
2
P
9
1
A
B
C
D
2
3
4
1
2
1 = L1
2 = N
= PE
Pin assignment
1 - U1
2 - PE
3 - W1
4 - V1
A - brake + (if any)
B - brake – (if any)
C - temperature detector +
D - temperature detector -
1 - S4 SIN 2 - S1 COS +
5 - R1 REF +
7 - R2 REF -
10 - S2 SIN +
11 - S3 COS -
Accessories
Encoder connection Connection to system
Cable sets
(shielded, trailing:
to customer spec.)
Cable connector
12-pin connector
A ST A 021FR01 120035 000
8-pin connector
B ST A 108FR05 080036 000
1 - L1
2 - N
3 - PE
19
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
Connection system DUM/F 6-E
Encoder connection Connection to system
Socket type
12-pin
rotatable angle socket
8-pin
rotatable angle socket
Connector plug
(3-pole + ground wire)
Recommended connector A ST A021 FR0112 0035000 C ST A264 FR48 45 0001 000 included in delivery
Pinning configuration
(
view of motor connecting
pins)
5
6
12
7
8
1
3
11
4
10
2
P
9
2
1
U
W
V
+
-
1 = U
2 = V
3 = W
= PE
1
2
3
Pin assignment
U - U1
V - V1
W - W1
PE - PE
+ - brake + (if any)
- - brake – (if any)
1 - temperature detector +
2 - temperature detector -
1 - S4 SIN 2 - S1 COS +
5 - R1 REF +
7 - R2 REF 10 - S2 SIN +
11 - S3 COS -
Accessories
Encoder connection Connection to system
Cable sets
(shielded, trailing:
to customer spec.)
Cable connector
12-pin connector
A ST A 021FR01 120035 000
8-pin connector
C ST A264 FR48 45 0001 000
1 - U
2 - V
3 - W
4 - PE
20
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
Type code
Example: DU M 6- A 3 - 2 0 R9 6 - 000 A
DU B3 6- Z2 Z3 - X1 X2 X3 X4 - X5 X7
B3: Construction type::
M
– flange, self-cooling
F
– flange, enforced-cooling
Z2: Mounting window:
A - 55 mm C - 95 mm
D
- 127 mm D - 194 mm
Z3: Overall length:
1, 2, 3, 4
X1: Voltage variant:
2 - for supply voltages UNfrom 400 V
X2: Holding brake:
0
– no brake
4 - permanent-field holding brake
X3: Measuring system:
A8 - ECI/EQI 1300 (Heidenhain)
A
A - AD 34 (Hengstler)
I8 - ERN 1387 (Heidenhain)
I
N - ERN 1185 (Heidenhain)
IR - SRS 50/52K (Sick-Stegmann)
I
W - SKS /SKM 36 (Sick-Stegmann)
R9 - Resolver Size 15 (2, 6 or 8-pole)
X4: Rated speed:
0 - 1,000 min
-1
1 - 1,500 min
-1
2 - 2,000 min
-1
3 - 3,000 min
-1
4 - 4,000 min
-1
6 - 6,000 min
-1
X5: Modifications:
000 - Standard
X7: Measuring system type, pin assignment (together with X3):
A - with X3 = R9: 2-pole resolver; standard pin assignment
21
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
DUM 6-A1
22
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
Technical data DUM 6-A...
Measuring systems (X3):
R9 Resolver Size 15 (2- or 6-poe)
IN ERN 1185 (Heidenhain)
IW SKS/SKM 36 (Sick-Stegmann)
1)
at operating temperature
2)
at 20°C
3)
with resolver size 15 (X3=R9), without holding brake
for supply voltages UNfrom 400 V
Motor type
DUM 6-A1- DUM 6-A2- DUM 6-A3- DUM 6-A4-
2xx6 2xx6 2xx6 2xx6
Stall torque M
d0
[Nm] 0.47 0.66 0.87 1.14
Current at stall torque I
d0
[A] 0.94 1.24 1.43 1.55
Stall torque
>10min
-1
M
d10
[Nm] 0.48 0.68 0.89 1.17
Current at stall torque I
d
10
[A] 1.02 1.28 1.48 1.70
Number of poles 2p 6
Nominal rating
Rated torque M
d
N
[Nm] 0.43 0.62 0.80 1.05
Rated current I
dN
[A] 0.93 1.16 1.44 1.64
Rated speed n
N
[min-1] 6000 6000 6000 6000
Rated power P
dN
[kW] 0.27 0.39 0.50 0.66
Voltage constant
1)
ke[V/1000min-1] 31.2 34.1 35.8 41.5
Winding resistance
2)
R
u-v
[W]
37.4 24.0 17.8 12.6
Winding inductance L
u-v
[mH] 19.0 13.1 11.5 9.6
Max. valuese
Max. torque M
max
[Nm] 2.1 2.9 3.8 5.0
Max. current (peak value) I
max
[A] 4.5 5.6 6.9 8.0
Max. speed n
max
[min-1] 9,000
Mechanical data
3)
Inertia J
L
[kgcm2] 0.13 0.18 0,.23 0.34
Weight m [kg] 1.0 1.2 1.4 1.9
Overall length l
38
[mm] 121 133 145 170
23
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
M 3x9
Holding brake
Holding torque M
Br
[Nm] 2.0
Rated voltage U
Br
[V] 24
Rated current (20°C) I
Br
[A] 0.46
Weight m [kg] 0.18
Rotor inertia JBr[kgcm2] 0.07
Dimensions
Speed-torque characteristics
DUM 6 - A 1
0,0
0,3
0,6
0,9
1,2
1,5
1,8
2,1
2,4
0 1500 3000 4500 6000 7500 9000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
M
max
DUM 6 - A 2
0,0
0,4
0,8
1,2
1,6
2
,0
2,4
2,8
3,2
0 1500 3000 4500 6000 7500 9000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
M
max
DUM 6 - A 3
0,0
0,5
1,0
1,5
2,0
2,5
3,0
3,5
4,0
0 1500 3000 4500 6000 7500 9000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
M
max
DUM 6 - A 4
0,0
1,0
2,0
3,0
4,0
5
,0
6,0
0 1500 3000 4500 6000 7500 9000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
M
max
w
ithout holding brake
w
ith holding brake
with resolver (R9) with encoder (IN / IW) with resolver (R9) with encoder (IN / IW)
Motor type l
38
r l
38
r l
38
r l
38
r
DUM 6-A1 121 105 156 136 145 129 180 160
DUM 6-A2 133 117 168 148 157 141 192 172
DUM 6-A3 145 129 180 160 169 153 204 184
DUM 6-A4 170 153 205 185 194 178 229 209
DUM 6-C1
24
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
Technical data DUM 6-C...
Measuring systems (X3):
A8 ECI/EQI 1300 (Heidenhain)
I8 ERN1387 (Heidenhain)
IR SRS/SRM 50 (Sick-Stegmann)
IW SKS/SKM 36 (Sick-Stegmann)
R9 Resolver Size 15 (2- or 6-pole)
1)
at operating temperature
2)
at 20°C
3)
with resolver size 15 (X3=R9), without holding brake
for supply voltages UNfrom 400 V
Motor type
DUM 6-C1- DUM6-C2- DUM 6-C3- DUM 6-C4-
2xx2 2xx3 2xx4 2xx2 2xx3 2xx4 2xx2 2xx3 2xx4 2xx2 2xx3 2xx4
Stall torque M
d0
[Nm] 3.9 5.7 7.1 8.5
Current at stall torque I
d0
[A] 2.5 3.1 3.9 3.8 5.0 6.1 5.7 7.0 8.8 5.5 8.5 10.7
Stall torque
>10min
-1
M
d10
[Nm] 4.0 5.8 7.2 8.6
Current at stall torque I
d
10
[A] 2.5 3.1 3.9 3.8 5.1 6.2 4.5 5.5 6.9 4.3 6.7 8.4
Number of poles 2p 8
Nominal rating
Rated torque M
d
N
[Nm] 3.8 3.5 3.1 5.5 4.8 4.2 6.9 6.4 5.7 8.3 7.6 6.8
Rated current I
dN
[A] 2.5 2.8 3.1 3.7 4.2 4.5 4.3 4.9 5.5 4.2 6.0 6.6
Rated speed n
N
[min-1] 2000 3000 4000 2000 3000 4000 2000 3000 4000 2000 3000 4000
Rated power P
dN
[kW] 0.8 1.1 1.3 1.2 1.5 1.8 1.4 2.0 2.4 1.7 2.4 2.8
Voltage constant
1)
ke[V/1000min-1] 98.3 78.9 62.9 92.5 69.4 57.0 97.9 79.5 63.4 122 79.1 63.3
Winding resistance
2)
R
u-v
[W]
11.6 7.4 4.7 6.1 3.6 2.4 4.4 2.9 1.8 5.3 2.2 1.4
Winding inductance L
u-v
[mH] 29.5 19.0 12.1 16.5 9.3 6.3 13.5 8.9 5.7 20.0 8.4 5.4
Max. values
Max. torque M
max
[Nm] 12 17.5 22 26
Max. current (peak value) I
max
[A] 8.4 10.5 13.2 12.6 16.8 20.4 16.2 20.0 25.1 15.3 23.8 29.6
Max. speed n
max
[min-1] 6000
Mechanical data
3)
Inertia J
L
[kgcm2] 2.7 3.7 4.7 6.0
Weight m [kg] 4.8 6.3 7.4 8.6
Overall length l
38
[mm] 178 206 234 262
25
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
M 6x16
Holding brake
Holding torque M
Br
[Nm] 10
Rated voltage U
Br
[V] 24
Rated current (20°C) I
Br
[A] 0.71
Weight m [kg] 0.57
Rotor inertia JBr[kgcm2] 1.01
Speed-torque characteristics
Dimensions
w
ithout holding brake
w
ith holding brake
with resolver (R9) with encoder (A8, I8, IR, IW) with resolver (R9) with encoder (A8, I8, IR, IW)
Motortyp l
38
r l
38
r l
38
r l
38
r
DUM 6-C1 178 158 220 193 214 194 256 229
DUM 6-C2 206 186 248 221 242 222 284 257
DUM 6-C3 234 214 276 249 270 250 312 285
DUM 6-C4 262 242 304 277 298 278 340 313
DUM 6 - C 1
0
2
4
6
8
10
12
0 1000 2000 3000 4000 5000 6000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
2xx2
M
max
2xx3
2xx4
DUM 6 - C 2
0
3
6
9
1
2
15
18
0 1000 2000 3000 4000 5000 6000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
2xx2
M
max
2xx3
2xx4
DUM 6 - C 3
0
4
8
12
1
6
20
24
0 1000 2000 3000 4000 5000 6000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
2xx2
M
m
ax
2xx3
2xx4
DUM 6 - C 4
0
5
10
15
2
0
25
30
0 1000 2000 3000 4000 5000 6000
Drehzahl / Speed [rpm]
Moment / T orque [Nm]
S1
2xx2
M
m
ax
2xx3
2xx4
DUM 6-D1
26
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
Technical data DUM 6-D...
Measuring systems (X3):
A8 ECI/EQI 1300 (Heidenhain)
I8 ERN1387 (Heidenhain)
IR SRS/SRM 50 (Sick-Stegmann)
IW SKS/SKM 36 (Sick-Stegmann)
R9 Resolver Size 15 (2- or 6-pole)
1)
at operating temperature
2)
at 20°C
3)
with resolver size 15 (X3=R9), without holding brake
for supply voltages UNfrom 400 V
Motor type
DUM 6-D1- DUM6-D2- DUM 6-D3- DUM 6-D4-
2xx1 2xx2 2xx3 2xx1 2xx2 2xx3 2xx1 2xx2 2xx3 2xx1 2xx2 2xx3
Stall torque M
d0
[Nm] 8.2 11.6 15.3 18.4
Current at stall torque I
d0
[A] 3.6 4.6 6.0 5.6 6.9 8.9 6.8 8.8 11.2 8.2 10.4 14.0
Stall torque
>10min
-1
M
d10
[Nm] 8.3 11.8 15.6 18.8
Current at stall torque I
d
10
[A] 3.3 4.2 5.5 5.1 6.2 8.1 6.1 7.9 10.2 7.4 9.5 12.7
Number of poles 2p 8
Nominal rating
Rated torque M
d
N
[Nm] 8.0 7.6 6.8 11.5 11.0 9.5 15.0 14.0 11.9 18.0 16.9 13.7
Rated current I
dN
[A] 3.3 4.0 4.6 5.1 6.0 6.7 6.1 7.3 8.0 7.4 8.8 9.6
Rated speed n
N
[min-1] 1500 2000 3000 1500 2000 3000 1500 2000 3000 1500 2000 3000
Rated power P
dN
[kW] 1.3 1.6 2.1 1.8 2.3 3.0 2.4 2.9 3.8 2.8 3.5 4.3
Voltage constant
1)
ke[V/1000min-1] 150 118 90.3 138 112 86.9 151 117 91.0 150 118 87.9
Winding resistance
2)
R
u-v
[W]
8.0 4.9 3.0 4.0 2.6 1.6 3.2 2.0 1.2 2.4 1.5 0.9
Winding inductance L
u-v
[mH] 35.0 21.5 12.7 19.0 12.6 7.5 15.3 9.2 5.6 9.4 5.8 3.2
Max. values
Max. torque M
max
[Nm] 25 36 47 57
Max. current (peak value) I
max
[A] 12.1 15.5 20.1 19.0 23.3 30.1 22.7 29.4 37.7 27.2 35.3 47.4
Max. speed n
max
[min-1] 4500
Mechanical data
3)
Inertia J
L
[kgcm2] 7.9 11.2 14.4 19.5
Weight m [kg] 10.0 11.9 14.0 18.0
Overall length l
38
[mm] 203 233 263 293
27
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
M
8x19
Holding brake
Holding torque M
Br
[Nm] 22
Rated voltage U
Br
[V] 24
Rated current (20°C) I
Br
[A] 0.83
Weight m [kg] 1.15
Rotor inertia JBr[kgcm2] 2.76
Speed-torque characteristics
Dimensions
DUM 6 - D 1
0
5
10
15
20
25
30
0 1000 2000 3000 4000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
2xx1
M
max
2xx2
2xx3
DUM 6 - D 2
0
7
14
21
28
35
42
0 1000 2000 3000 4000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
2xx1
M
max
2xx2
2xx3
DUM 6 - D 3
0
8
16
24
32
40
4
8
0 1000 2000 3000 4000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
2xx1
M
max
2xx2
2xx3
DUM 6 - D 4
0
10
20
30
4
0
50
60
0 1000 2000 3000 4000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
2
xx1
M
max
2xx2
2xx3
w
ithout holding brake
w
ith holding brake
with resolver (R9) with encoder (A8, I8, IR, IW) with resolver (R9) with encoderr (A8, I8, IR, IW)
Motor type l
38
r l
38
r l
38
r l
38
r
DUM 6-D1 203 182 245 217 237 216 279 251
DUM 6-D2 233 212 275 247 267 246 309 281
DUM 6-D3 263 242 305 277 297 276 339 311
DUM 6-D4 293 272 335 307 327 306 369 341
DUM 6-E1
28
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
Technical data DUM 6-E...
for supply voltages UNfrom 400 V
Motor type
DUM 6-E1- DUM 6-E2- DUM 6-E3-
2xx0 2xx2 2xx3 2xx0 2xx2 2xx3 2xx0 2xx2 2xx3
Stall torque M
d0
[Nm] 23,5 35,0 48,0
Current at stall torque I
d0
[A] 7,6 12,7 16,9 10,9 19,3 24,8 16,1 27,7 38,2
Stall torque
>10min
-1
M
d10
[Nm] 23,7 35,5 48,5
Current at stall torque I
d
10
[A] 7,0 11,7 15,5 10,0 17,7 22,8 14,8 25,4 35,0
Number of poles 2p 8
Nominal rating
Rated torque M
d
N
[Nm] 23 19 14 34 28 19 47 40 27
Rated current I
dN
[A] 6,9 9,7 9,4 9,8 14,2 12,4 14,5 20,8 19,6
Rated speed n
N
[min-1] 1000 2000 3000 1000 2000 3000 1000 2000 3000
Rated power P
dN
[kW] 2,4 4,0 4,4 3,6 5,8 6,0 4,9 8,3 8,4
Voltage constant
1)
ke[V/1000min-1] 206,0 120,5 90,4 212,1 119,1 93,0 198,9 116,7 82,5
Winding resistance
2)
R
u-v
[W]
2,31 0,79 0,5 1,42 0,44 0,27 0,87 0,3 0,15
Winding inductance L
u-v
[mH] 38,9 13,3 7,5 26,1 8,2 5,0 17,3 5,9 3,0
Max. values
Max. torque M
max
[Nm] 65 106 145
Max. current (peak value) I
max
[A] 23,3 39,3 52,2 36,3 64,1 81,7 53,2 90,4 127,0
Max. speed n
max
[min-1] 4000
Mechanical data
3)
Inertia J
L
[kgcm2] 57 79 102
Weight m [kg] 29 34 39
Overall length l
38
[mm] 266 294 322
Measuring systems (X3):
A8 ECI/EQI 1300 (Heidenhain)
AA AD 34 (Hengstler)
I8 ERN1387 (Heidenhain)
IR SRS/SRM 50 (Sick-Stegmann)
IW SKS/SKM 36 (Sick-Stegmann)
R9 Resolver Size 15 (2- oder 8-polig)
1)
at operating temperature
2)
at 20°C
3)
with resolver size 15 (X3=R9), without holding brake
29
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
DUM 6 - E 1
0
15
30
45
60
75
90
0 1000 2000 3000 4000
Drehzahl / Speed [rpm]
Moment / Torque [Nm
S1
2
xx0
M
max
2
xx2
2xx3
DUM 6 - E 2
0
20
40
60
80
100
120
0 1000 2000 3000 4000
Drehzahl / Speed [rpm]
Moment / Torque [Nm]
S1
2xx0
M
max
2xx2
2xx3
DUM 6 - E 3
0
30
60
90
120
1
50
180
0 1000 2000 3000 4000
Drehzahl / Speed [rpm]
Moment / Torque [Nm]
S1
2xx0
M
max
2xx2
2xx3
M 12x28
Holding brake
Holding torque M
Br
[Nm] 70
Rated voltage U
Br
[V] 24
Rated current (20°C) I
Br
[A] 1.5
Weight m [kg] 3.4
Rotor inertia JBr[kgcm2] 20.1
Speed-torque characteristics
without holding brake with holding brake
w
ith resolver (R9)
w
ith encoderr (A8, AA, I8, IR, IW)
w
ith resolver (R9)
w
ith encoderr (A8, AA, I8, IR, IW)
Motor type l
38
r l
38
r l
38
r l
38
r
DUM 6-E1 266 237 293 264 300 271 327 298
DUM 6-E2 294 265 321 292 328 299 355 326
DUM 6-E3 322 293 349 320 356 327 383 354
Dimensions
DUF 6-C3
30
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
Technical data DUF 6-C...
for supply voltages UNfrom 400 V
Motor type
DUF 6-C1- DUF6-C2- DUF 6-C3- DUF 6-C4-
2xx2 2xx3 2xx4 2xx2 2xx3 2xx4 2xx2 2xx3 2xx4 2xx2 2xx3 2xx4
Stall torque M
d0
[Nm] 5.0 7.4 9.2 11.1
Current at stall torque I
d0
[A] 3.2 4.0 5.0 4.9 6.5 7.9 7.4 9.1 11.4 7.1 11.0 13.7
Stall torque
>10min
-1
M
d10
[Nm] 52 7.7 9.5 11.4
Current at stall torque I
d
10
[A] 3.3 4.1 5.2 5.0 6.7 8.2 5.9 7.3 9.1 5.6 8.7 10.9
Number of poles 2p 8
Nominal rating
Rated torque M
d
N
[Nm] 5.2 4.7 4.2 7.4 6.4 5.6 9.3 8.6 7.7 11.2 10.3 9.2
Rated current I
dN
[A] 3.3 3.8 4.2 4.9 5.7 6.1 5.8 6.7 7.5 5.7 8.0 8.9
Rated speed n
N
[min-1] 2000 3000 4000 2000 3000 4000 2000 3000 4000 2000 3000 4000
Rated power P
dN
[kW] 1.1 1.5 1.8 1.6 2.0 2.4 1.9 2.7 3.2 2.3 3.2 3.8
Voltage constant
1)
ke[V/1000min-1] 98.3 78.9 62.9 92.5 69.4 57.0 97.9 79.5 63.4 122 79.1 63.3
Winding resistance
2)
R
u-v
[W]
11.6 7.4 4.7 6.1 3.6 2.4 4.4 2.9 1.8 5.3 2.2 1.4
Winding inductance L
u-v
[mH] 29.5 19.0 12.1 16.5 9.3 6.3 13.5 8.9 5.7 20.0 8.4 5.4
Max. values
Max. torque M
max
[Nm] 12 17.5 22 26
Max. current (peak value) I
max
[A] 8.4 10.5 13.2 12.6 16.8 20.4 16.2 20.0 25.1 15.3 23.8 29.6
Max. speed n
max
[min-1] 6000
Mechanical data
3)
Inertia J
L
[kgcm2] 2.7 3.7 4.7 6.0
Weight m [kg] 6.3 7.8 9.0 10.4
Overall length l
39
[mm] 259 287 315 343
Measuring systems (X3):
A8 ECI/EQI 1300 (Heidenhain)
I8 ERN1387 (Heidenhain)
IR SRS/SRM 50 (Sick-Stegmann)
IW SKS/SKM 36 (Sick-Stegmann)
R9 Resolver Size 15 (2- or 6-pole)
1)
at operating temperature
2)
at 20°C
3)
with resolver size 15 (X3=R9), without holding brake
31
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
Holding brake
Holding torque M
Br
[Nm] 10
Rated voltage U
Br
[V] 24
Rated current (20°C) I
Br
[A] 0.71
Weight m [kg] 0.57
Rotor inertia JBr[kgcm2] 1.01
Dimensions
Speed-torque characteristics
w
ithout holding brake
w
ith holding brake
with resolver (R9) with encoderr (A8, I8, IR, IW) with resolver (R9) with encoderr (A8, I8, IR, IW)
Motor type l
39
r l
39
r l
39
r l
39
r
DUF 6-C1 259 158 301 193 295 194 337 229
DUF 6-C2 287 186 329 221 323 222 365 257
DUF 6-C3 315 214 357 249 351 250 393 285
DUF 6-C4 343 242 385 277 379 278 421 313
DUF 6 - C 1
0
2
4
6
8
1
0
1
2
0 1000 2000 3000 4000 5000 6000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
2xx2
M
max
2xx3
2xx4
DUF 6 - C 2
0
3
6
9
12
15
18
0 1000 2000 3000 4000 5000 6000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
2xx2
M
max
2xx3
2xx4
DUF 6 - C 3
0
4
8
1
2
16
20
24
0 1000 2000 3000 4000 5000 6000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
2xx2
M
max
2xx3
2xx4
DUF 6 - C 4
0
5
10
15
20
25
3
0
0 1000 2000 3000 4000 5000 6000
Drehzahl / Speed [rpm]
Moment / T orque [Nm]
S1
2
xx2
M
max
2xx3
2xx4
M 6x16
DUF 6-D2
32
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
Technical data DUF 6-D...
for supply voltages UNfrom 400 V
Motor type
DUF 6-D1- DUF6-D2- DUF 6-D3- DUF 6-D4-
2xx1 2xx2 2xx3 2xx1 2xx2 2xx3 2xx1 2xx2 2xx3 2xx1 2xx2 2xx3
Stall torque M
d0
[Nm] 10.6 15.1 19.9 23.9
Current at stall torque I
d0
[A] 4.7 6.0 7.9 7.3 9.0 11.6 8.8 11.4 14.6 10.7 13.6 18.2
Stall torque
>10min
-1
M
d10
[Nm] 11.0 15.6 20.6 24.8
Current at stall torque I
d
10
[A] 4.4 5.6 7.2 6.7 8.2 10.6 8.1 10.5 13.4 9.8 12.5 16.7
Number of poles 2p 8
Nominal rating
Rated torque M
d
N
[Nm] 10.8 10.3 9.1 15.6 14.9 12.8 20.2 18.9 16.1 24.3 22.8 18.5
Rated current I
dN
[A] 4.4 5.4 6.2 6.9 8.1 9.1 8.2 9.9 10.9 9.9 11.9 12.9
Rated speed n
N
[min-1] 1500 2000 3000 1500 2000 3000 1500 2000 3000 1500 2000 3000
Rated power P
dN
[kW] 1.7 2.2 2.9 2.4 3.1 4.0 3.2 4.0 5.1 3.8 4.8 5.8
Voltage constant
1)
ke[V/1000min-1] 150 118 90.3 138 112 86.9 151 117 91.0 150 118 87.9
Winding resistance
2)
R
u-v
[W]
8.0 4.9 3.0 4.0 2.6 1.6 3.2 2.0 1.2 2.4 1.5 0.9
Winding inductance L
u-v
[mH] 35.0 21.5 12.7 19.0 12.6 7.5 15.3 9.2 5.6 9.4 5.8 3.2
Max. values
Max. torque M
max
[Nm] 25 36 47 57
Max. current (peak value) I
max
[A] 12.1 15.5 20.1 19.0 23.3 30.1 22.7 29.4 37.7 27.2 35.3 47.4
Max. speed n
max
[min-1] 4500
Mechanical data
3)
Inertia J
L
[kgcm2] 7.9 11.2 14.4 19.5
Weight m [kg] 11.9 13.8 16.2 20.4
Overall length l
39
[mm] 285 315 345 375
Measuring systems (X3):
A8 ECI/EQI 1300 (Heidenhain)
I8 ERN1387 (Heidenhain)
IR SRS/SRM 50 (Sick-Stegmann)
IW SKS/SKM 36 (Sick-Stegmann)
R9 Resolver Size 15 (2- or 6-pole)
1)
at operating temperature
2)
at 20°C
3)
with resolver size 15 (X3=R9), without holding brake
33
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
Holding brake
Holding torque M
Br
[Nm] 22
Rated voltage U
Br
[V] 24
Rated current (20°C) I
Br
[A] 0.83
Weight m [kg] 1.15
Rotor inertia JBr[kgcm2] 2.76
w
ithout holding brake
w
ith holding brake
with resolver (R9) with encoderr (A8, I8, IR, IW) with resolver (R9) with encoderr (A8, I8, IR, IW)
Motor type l
39
r l
39
r l
39
r l
39
r
DUF 6-D1 285 182 327 217 319 216 361 251
DUF 6-D2 315 212 357 247 349 246 391 281
DUF 6-D3 345 242 387 277 379 276 421 311
DUF 6-D4 375 272 417 307 409 306 451 341
Dimensions
Speed-torque characteristics
DUF 6 - D 1
0
5
10
1
5
20
25
30
0 1000 2000 3000 4000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
2xx1
M
max
2xx2
2xx3
DUF 6 - D 2
0
7
14
21
28
35
42
0 1000 2000 3000 4000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
2xx1
M
max
2xx2
2xx3
DUF 6 - D 3
0
8
16
24
32
40
4
8
0 1000 2000 3000 4000
Drehzahl / Spe ed [rpm]
Moment / T orque [Nm]
S1
2xx1
M
max
2
xx2
2
xx3
DUF 6 - D 4
0
10
20
30
40
5
0
60
0 1000 2000 3000 4000
Drehzahl / Speed [rpm]
Moment / T orque [Nm]
S1
2xx1
M
max
2
xx2
2
xx3
M 8x19
DUF 6-E1
34
Operating Manual DUM/F 6-Servomotors V 20 Edition: 12 March · 2019
Technical data DUF 6-E...
Measuring systems (X3):
A8 ECI/EQI 1300 (Heidenhain)
AA AD 34 (Hengstler)
I8 ERN1387 (Heidenhain)
IR SRS/SRM 50 (Sick-Stegmann)
IW SKS/SKM 36 (Sick-Stegmann)
R9 Resolver Size 15 (2- oder 8-polig)
1)
at operating temperature
2)
at 20°C
3)
with resolver size 15 (X3=R9), without holding brake
for supply voltages UNfrom 400 V
Motor type
DUF 6-E1- DUF 6-E2- DUF 6-E3-
2xx0 2xx2 2xx3 2xx0 2xx2 2xx3 2xx0 2xx2 2xx3
Stall torque M
d0
[Nm] 30,6 45,5 62,5
Current at stall torque I
d0
[A] 9,9 17,1 22,8 14,4 25,5 32,5 21,4 36,9 51,6
Stall torque
>10min
-1
M
d10
[Nm] 30,8 45,8 63,0
Current at stall torque I
d
10
[A] 9,1 15,1 20,2 13,0 23,0 29,6 19,2 33,0 45,6
Number of poles 2p 8
Nominal rating
Rated torque M
d
N
[Nm] 30 28 24 45 40 34 62 57 48
Rated current I
dN
[A] 9,3 14,4 16,6 13,3 21,0 22,3 19,9 30,8 36,2
Rated speed n
N
[min-1] 1000 2000 3000 1000 2000 3000 1000 2000 3000
Rated power P
dN
[kW] 3,1 5,8 7,6 4,7 8,4 10,6 6,5 11,9 15,2
Voltage constant
1)
ke[V/1000min-1] 206,0 120,5 90,4 212,1 119,1 93,0 198,9 116,7 82,5
Winding resistance
2)
R
u-v
[W]
2,31 0,79 0,5 1,42 0,44 0,27 0,87 0,3 0,15
Winding inductance L
u-v
[mH] 38,9 13,3 7,5 26,1 8,2 5,0 17,3 5,9 3,0
Max. values
Max. torque M
max
[Nm] 65 106 145
Max. current (peak value) I
max
[A] 23,3 39,3 52,2 36,3 64,1 81,7 53,2 90,4 127,0
Max. speed n
max
[min-1] 4000
Mechanical data
3)
Inertia J
L
[kgcm2] 57 79 102
Weight m [kg] 32 37 42
Overall length l
39
[mm] 380 414 448
35
V 20 Edition: 12 March · 2019 Operating Manual DUM/F 6-Servomotors
DUF 6 - E 1
0
15
30
45
6
0
75
90
0 1000 2000 3000 4000
Drehzahl / Speed [rpm]
Moment / Torque [Nm]
S1
2xx0
M
max
2xx2
2xx3
DUF 6 - E 2
0
20
40
60
8
0
100
1
20
0 1000 2000 3000 4000
Drehzahl / Speed [rpm]
Moment / Torque [Nm]
S1
2
xx0
M
max
2
xx2
2xx3
DUF 6 - E 3
0
30
60
90
120
150
180
0 1000 2000 3000 4000
Drehzahl / Speed [rpm]
Moment / Torque [Nm]
S1
2xx0
M
m
ax
2xx2
2xx3
M 12x28
Speed-torque characteristics
Dimensions
without holding brake with holding brake
with resolver (R9) with encoderr (A8, AA, I8, IR, IW) with resolver (R9) with encoderr (A8, AA, I8, IR, IW)
Motor type l
39
r l
39
r l
39
r l
39
r
DUF 6-E1 380 237 407 264 414 271 441 298
DUF 6-E2 408 265 435 292 442 299 469 326
DUF 6-E3 436 293 463 320 470 327 497 354
Holding brake
Holding torque M
Br
[Nm] 70
Rated voltage U
Br
[V] 24
Rated current (20°C) I
Br
[A] 1.5
Weight m [kg] 3.4
Rotor inertia JBr[kgcm2] 20.1
Operating Manual DUM/F 6-Servomotors V20 Edition: 12 March · 2019
Offenburger Str. 3
D-01189 Dresden
Germany
Tel. +49 (0) 3 51-40 44-0
Fax +49 (0) 3 51-40 44-1 11
info.wed@wittur.com
www.wittur-edrives.de
Loading...