ELECTROHYDROSTATIC PUMP UNIT

Transcription

1 EECTROHYDROSTATIC PUMP UNIT MODUAR EECTROHYDROSTATIC PUMP UNIT FOR INDUSTRIA APPICATIONS Rev. E, February 8 WHAT MOVES YOUR WORD

2 INTRODUCTION Whenever the highest levels of motion control performance and design flexibility are required, you ll find Moog expertise at work. Through collaboration, creativity and world-class technological solutions, we help you overcome your toughest engineering obstacles, enhance your machine s performance, and help take your thinking further than you ever thought possible. INTRODUCTION Performance Specifications... TECHNICA DATA... Size 9, Natural Cooling... Size 9, iquid Cooling...8 Size, Natural Cooling... Size, iquid Cooling...6 Size 8, Natural Cooling... Size 8, iquid Cooling... Size, Natural Cooling...8 Size, iquid Cooling... EECTRICA INTERFACES...6 Power Connectors...6 Signal Resolver Connector...7 ORIENTATION OF EECTRICA CONNECTORS AND IQUID COOING PORTS...7 CACUATIONS...7 MOTOR POWER CAES...8 RESOVER FEEDACK CAE...9 ORDERING CODE... CONTACT... This catalog is for users with technical knowledge. To ensure all necessary characteristics for function and safety of the system, the user has to check the suitability of the products described herein. The products described in this document are subject to change without notice. In case of doubt, please contact Moog. Moog is a registered trademark of Moog Inc. and its subsidiaries. All trademarks as indicated herein are the property of Moog Inc. and its subsidiaries. For the full disclaimer refer to For the most current information, visit or contact your local Moog office. Rev. E, February 8

3 INTRODUCTION PRODUCT OVERVIEW and Electrohydrostatic Actuation System s (EPU) are emerging as a viable option for industrial machine builders as the design combines the best of both electro-mechanical and electro-hydraulic technologies. The EPU is a highly integrated, compact alternative to traditional hydraulic solutions. Automation engineers moving toward electro-mechanical actuation in pursuit of energy efficiency and environmental cleanliness, will find an EPU an attractive option for high force density actuators. This catalog describes the Electrohydrostatic Pump Unit used in such electro-hydrostatic actuation systems, like the Moog EAS. The EPU is able to operate in or quadrant operations and has a mechanical interface, which allows to connect it directly to hydraulic cylinders or manifolds. The Moog EAS is a modular actuation system comprised of a Electrohydrostatic Pump Unit (EPU), Servo Drive (MSD) and manifold. Adding a cylinder as part of the system is also a common option. Moog s global engineering teams help customers select and integrate these building blocks into a highly customized system that serves unique application requirements across diverse industries Performance Specifications EPU Series 9 8 Maximum flow 8 l/min (. gpm) bar (, psi) bar ( psi) 8 l/min (. gpm) 6l/min (7. gpm) l/min (8.9 gpm) Maximum pressure ports A and Maximum housing pressure Pump version Radial piston pump, fixed or dual displacement Motor version rushless servo motor, natural or liquid cooled Temperature range Ambient - to +6 C ( to F) Fluid - to +8 C ( to 76 F) Seal material FKM Pilot pressure supply External Operating fluid Mineral oil according to DIN, HFD, others upon request Viscosity Allowable viscosity operational range to mm /s ( to cst) Recommended hydraulic fluid viscosity class VG 6 to VG according to ISO 8 ; Maximum viscosity mm /s during start-up with electric motor at,8 r/min System filtration NAS 68, class 9 ISO 6, class /8/; obtained with filter fineness of β = 7 Installation position Any ) Maximum housing pressure p max, p Sp = f(n) (7) () 8 (6) Housing pressure [bar (psi)] 6 (87) (8) (9) cm 8 cm cm 9 cm Installation note: To avoid pump damages the housing pressure p must not exceed the pressure in the low pressure line (pa or p) by more than bar. Design the drain line with lowest possible pressure losses.,,, Speed [r/min], ) For option N (dual displacement) only Rev. E, February 8

4 Size 9 Natural Cooling, S EHA - 9 x x xx - XX C Characteristics Table Small Medium High S EHA - 9 x x xx - S C M C H C Pump Displacement V max 9 cm (.6 in ) Maximum pump speed n max, bar (abs.) Maximum housing pressure ) p max, p Sp bar ( psi) Maximum flow Q max 8 l/min (. gpm) Maximum pressure ports A and p A, p bar (, psi) Flushing flow rate ) Q Sp - l/min (. -.8 gpm) Motor Continuous stall torque ) M Nm ( lbf ft) 9 Nm (69 lbf ft) 7 Nm ( lbf ft) Rated torque ) M n Nm (9 lbf ft) Nm ( lbf ft) Nm (8 lbf ft) Maximum torque M max Nm ( lbf ft) 9 Nm (88 lbf ft) 9 Nm (9 lbf ft) Rated speed n n, r/min, r/min Maximum speed n max Maximum speed see M = f(n) performance curve Continuous stall current I.8 A rms.6 A rms 69.7 A rms Maximum current I max A rms A rms. A rms Torque constant k t.7 Nm/A rms.77 Nm/A rms.98 Nm/A rms Voltage constant k e. V rms/ k r/min. V rms/ k r/min.6 V rms/ k r/min Thermal time constant t th,88 s, s Winding resistance at C R tt. Ω.96 Ω.7 Ω Winding inductance tt, mh,79 mh, mh Power connector Size rotatable Size. rotatable Feedback connector Signal resolver connector rotatable Thermal sensor NTC kohm EHA Unit Inertia J 8 kg cm (8. lbf ft s ). kg cm (896. lbf ft s ) 7. kg cm (7.6 lbf ft s ) Weight m. kg (. lbf) 8.7 kg (8. lbf). kg (.6 lbf) Tightening torque 8x Mx -.9 Nm+ Nm (89 lbf ft + 7 lbf ft) hexagon head Servo Drive Recommended drive size ) G9- size G9- size G9- size ) See diagram, Maximum housing pressure p max, p Sp = f(n) and installation note (see page ) ) See catalog, MODUAR MUTI-AXIS SERVO DRIVE SYSTEM (MSD) ) Operation in still air with ambient temperatures up to + C (+ F). Winding temperature measure up to + C (+ F) over ambient ) Optional via SP port Rev. E, February 8

5 Size 9 Natural Cooling, S EHA - 9 x x xx - XX C Motor Performance Curves S C M C (8) 9. (.) 9 cm [l/min (gpm)] 8. (7.) 7. (.) 66. (7.) 8 (.) (8) 9. (.) 9 cm [l/min (gpm)] 8. (7.) 7. (.) 66. (7.) 8 (.) Torque [Nm (lbf ft)] 7 (9) () (9) (7) 7 () (7) (8) (,786) 7, (,9) 6 (,9) 8, (,97) Pressure 9 cm [bar (psi)] Torque [Nm (lbf ft)] 7 (9) () (9) (7) 7 () (7) (8) (,786) 7, (,9) 6 (,9) 8, (,97) Pressure 9 cm [bar (psi)],, Speed [r/min],,,, Speed [r/min],, H C Torque [Nm (lbf ft)] (8) 7 (9) () (9) (7) 7 () (7) (8) 9. (.) 9 cm [l/min (gpm)] 8. (7.) 7. (.) 66. (7.) 8 (.) (,786) 7, (,9) 6 (,9) 8, (,97) Pressure 9 cm [bar (psi)] Continous K temperature difference over ambient, max. winding temperature C ( F) Maximum torque without field weakening Maximum torque with field weakening Continuous torque if recommended drive size is used Maximun torque with field weakening if recommended drive size is used,, Speed [r/min],, Notes: Motor performance with 6 V DC link voltage Motor performance doesn t take the pump efficiency into account Pressure difference p = p A p Rev. E, February 8

6 Size 9 Natural Cooling, S EHA - 9 x x xx - XX C Mounting Pattern 8 (.6) 6 (.8) 8. (.9) 6 (.8) 9 (.66) X MIN 7. (.87) (.87) 7. (Ø.7) A 68 (.677) X MAX (.9) 7. (.) 9 (.66) (.9) S p 68 (.677) 9. (.768) 7. (.) 6 (.8) (.6) 6 (.8) (.6) (.8) (.8). Use a spring-type pin with nominal diameter of mm (e.g. x) according to ISO 7. Area of Surface flatness: Surface roughness:. M minimum mm deep. Recommended: Use 8 hexagon head cap screws M (property class.9 minimum length mm) according to ISO 76. Tightening torque + Nm Note: Dimensions mm (inch) Pump Front View 9 (.66) 9 (.66) (.87) (.87) Xmin Xmax A 9 (9.6) Sp 6 (.8) 6 (.8) (.6) (.6) 8 x Ø. (.) M Sp Xmax Xmin Ø6 -. deep (Ø deep) A (8.6) (.) Port dimension in counter surface Port Designation Pressure [bar] Minimum Ø [mm] Maximum Ø [mm] A, Operating ports Sp Flushing port eakage port 8 9 X max Control port for maximum displacement (option N only). X min Control port for minimum displacement (option N only). Rev. E, February 8 6

7 Size 9 Natural Cooling, S EHA - 9 x x xx - XX C Installation Drawings S C. (.7). (.9) (.96) (.) 98 (.88) (6.99) 7 (.) 6 (.) 97 (.89) M C 7 (.9). (.78) (.96) H C. (.78) 7 (.9) 7 (8.6) 96 (.6) 6 (.) 97 (.89) (.96) 66 (.88) 79 (8.7) 6 (.) 97 (.89) Note: Dimensions mm (inch) Rev. E, February 8 7

8 Size 9 iquid Cooling, S EHA - 9 x x xx - XX W Characteristics Table Medium S EHA - 9 x x xx - M W H W Pump Displacement V max 9 cm (,6 in ) Maximum pump speed n max, bar (abs.) Maximum housing pressure ) p max, p Sp bar ( psi) Maximum flow Q max 8 l/min (. gpm) Maximum pressure ports A and p A, p bar (.76 psi) Flushing flow rate ) Q Sp - l/min (. -.8 gpm) Motor Continuous stall torque ) M 6 Nm (6 lbf ft) 9 Nm (67 lbf ft) Rated torque ) M n 8 Nm ( lbf ft) 8 Nm (6 lbf ft) Maximum torque M max 9 Nm (69 lbf ft) Nm ( lbf ft) Rated speed n n, r/min Maximum speed n max Maximum speed see M = f(n) performance curve Continuous stall current I 8. A rms. A rms Maximum current I max 88 A rms A rms Torque constant k t.7 Nm/A rms.68 Nm/A rms Voltage constant k e.6 V rms/ k r/min. V rms/ k r/min Thermal time constant t th 6 s s Winding resistance at C R tt.9 Ω. Ω Winding inductance tt, mh,7 mh Power connector Size. rotatable Feedback connector Signal resolver connector rotatable Thermal sensor NTC kohm Cooling water flow rate Q W - l/min (.8 -. gpm) EHA Unit Inertia J.7 kg cm (.8 lbf ft s ) 7.9 kg cm (79. lbf ft s ) Weight m 7. kg (.7 lbf) 6. kg (. lbf) Tightening torque 8x Mx -.9 Nm+ Nm (89 lbf ft + 7 lbf ft) hexagon head Servo Drive Recommended drive size ) G9- size G9-6 size High ) See diagram, Maximum housing pressure p max, p Sp = f(n) and installation note (see page ) ) See catalog, MODUAR MUTI-AXIS SERVO DRIVE SYSTEM (MSD) ) Operation in still air with ambient temperatures up to + C (+ F). Winding temperature measure up to + C (+ F) over ambient ) Optional via SP port Rev. E, February 8 8

9 TECHNICA DATA Size 9 iquid Cooling, S EHA - 9 x x xx - XX W Motor Performance Curves M W H W 9. (.) () 9 cm [l/min (gpm)] 8. (7.) 7. (.) 66. (7.) 8 (.) 9. (.) () 9 cm [l/min (gpm)] 8. (7.) 7. (.) 66. (7.) 8 (.) Torque [Nm (lbf ft)] (89) (7) 8 (9) 6 () () () (,786) 6 (,89) 98 (,87) (,9) 66 (97) Pressure 9 cm [bar (psi)] Torque [Nm (lbf ft)] (89) (7) 8 (9) 6 () () () (,786) 6 (,89) 98 (,87) (,9) 66 (97) Pressure 9 cm [bar (psi)],,,, Speed [r/min],,,, Speed [r/min] Continous K temperature difference over ambient, max. winding temperature C ( F) Maximum torque without field weakening Maximum torque with field weakening Notes: Motor performance with 6 V DC link voltage Motor performance doesn t take the pump efficiency into account Pressure difference p = p A p Rev. E, February 8 9

10 Size 9 iquid Cooling, S EHA - 9 x x xx - XX W Mounting Pattern 8 (.6) 6 (.8) 8. (.9) 6 (.8) 9 (.66) X MIN 7. (.87) (.87) 7. (Ø.7) A 68 (.677) X MAX (.9) 7. (.) 9 (.66) (.9) S p 68 (.677) 9. (.768) 7. (.) 6 (.8) (.6) 6 (.8) (.6) (.8) (.8). Use a spring-type pin with nominal diameter of mm (e.g. x) according to ISO 7. Area of Surface flatness: Surface roughness:. M minimum mm deep. Recommended: Use 8 hexagon head cap screws M (property class.9 minimum length mm) according to ISO 76. Tightening torque + Nm Note: Dimensions mm (inch) Pump Front View 9 (.66) 9 (.66) (.87) (.87) Xmin Xmax A 9 (9.6) Sp 6 (.8) 6 (.8) (.6) (.6) 8 x Ø. (.) M Sp Xmax Xmin Ø6 -. deep (Ø deep) A (8.6) (.) Port dimension in counter surface Port Designation Pressure [bar] Minimum Ø [mm] Maximum Ø [mm] A, Operating ports Sp Flushing port eakage port 8 9 X max X min Control port for maximum displacement (option N only) Control port for minimum displacement (option N only).. Rev. E, February 8

11 Size 9 iquid Cooling, S EHA - 9 x x xx - XX W Installation Drawings MO W 7. (.99) 8 (.96) (.96) (.76) 7. (.99) 8 (.96) (.96) 6 (6.99) (.8) 6 (6.99) (.8) 7 (7.98) 6 (.) 97 (.89) HO W (.96) 7 (.78) 6 (.) 97 (.89) ) Cooler outlet G/8 Note: Dimensions mm (inch) Rev. E, February 8

12 SIZE Natural Cooling, S EHA - x x xx - XX C Characteristics Table Small Medium S EHA - x x xx - S C M C Pump Displacement V max cm (,9 in ) Maximum pump speed n max,7 bar (abs.) Maximum housing pressure ) p max, p Sp bar ( psi) Maximum flow Q max 8 l/min (. gpm) Maximum pressure ports A and p A, p bar (.76 psi) Flushing flow rate ) Q Sp - l/min (.8 -. gpm) Motor Continuous stall torque ) M 9 Nm (69 lbf ft) 7 Nm ( lbf ft) Rated torque ) M n Nm ( lbf ft) Nm (8 lbf ft) Maximum torque M max 9 Nm (88 lbf ft) 9 Nm (9 lbf ft) Rated speed n n, r/min Maximum speed n max Maximum speed see M = f(n) performance curve Continuous stall current I.6 A rms 69,7 A rms Maximum current I max A rms. A rms Torque constant k t.77 Nm/A rms.98 Nm/A rms Voltage constant k e. V rms/ k r/min.6 V rms/ k r/min Thermal time constant t th, s, s Winding resistance at C R tt.96 Ω.7 Ω Winding inductance tt,79 mh, mh Power connector Size. rotatable Feedback connector Signal resolver connector rotatable Thermal sensor NTC kohm EHA Unit Inertia J 6.8 kg cm (,. lbf ft s ).7 kg cm (,9.9 lbf ft s ) Weight m. kg (. lbf) kg (7.7 lbf) Tightening torque 8x Mx -.9 Nm+ Nm (89 lbf ft + 7 lbf ft) hexagon head Servo Drive Recommended drive size ) G9- size G9- size ) See diagram, Maximum housing pressure p max, p Sp = f(n) and installation note (see page ) ) See catalog, MODUAR MUTI-AXIS SERVO DRIVE SYSTEM (MSD) ) Operation in still air with ambient temperatures up to + C (+ F). Winding temperature measure up to + C (+ F) over ambient ) Optional via SP port Rev. E, February 8

13 SIZE Natural Cooling, S EHA - x x xx - XX C Motor Performance Curves S C M C 6 (.) (9) cm [l/min (gpm)] 8 8 (.7) (.) (9.6) 6 (.) (9) cm [l/min (gpm)] 8 8 (.7) (.) (9.6) Torque [Nm (lbf ft)] (8) () (8) (8) () (7) (7) 9 (,6) 96 (,8) 98 (,) Pressure cm [bar (psi)] Torque [Nm (lbf ft)] (8) () (8) (8) () (7) (7) 9 (,6) 96 (,8) 98 (,) Pressure cm [bar (psi)],,, Speed [r/min],,, Speed [r/min] Continous K temperature difference over ambient, max. winding temperature C ( F) Maximum torque without field weakening Maximum torque with field weakening Continuous torque if recommended drive size is used Maximun torque with field weakening if recommended drive size is used Notes: Motor performance with 6 V DC link voltage Motor performance doesn t take the pump efficiency into account Pressure difference p = p A p Rev. E, February 8

14 SIZE Natural Cooling, S EHA - x x xx - XX C Mounting Pattern.. (.69) (.69) (.6) (.6) 7 (.) 68 (.677) 8 (.6) S p (.9) X MAX 7. (.89). (.86) 7. (.). Use a spring-type pin with nominal diameter of mm (e.g. x) according to ISO 7. Area of Surface flatness: (.) 68 (.677) X MIN (.9) 7. (.) 8 (.6) 6. (.) 7. (.) 7. (.89). (.86) 7. (.) Surface roughness:. M minimum mm deep. Recommended: Use 8 hexagon head cap screws M (property class.9 minimum length mm) according to ISO 76. Tightening torque + Nm Note: Dimensions mm (inch) Pump Front View. (.69). (.69) (.6) (.6) Xmin Xmax A 7 (.78) Sp 7. (.89) 7. (.89). (.86). (.86) 8 x Ø. (.) M Sp Xmax Xmin A Ø6 -. deep (Ø deep) (9.96) 9 (.) Port dimension in counter surface Port Designation Pressure [bar] Minimum Ø [mm] Maximum Ø [mm] A, Operating ports Sp Flushing port 7 eakage port. X max X min Control port for maximum displacement Control port for minimum displacement.. Rev. E, February 8

15 SIZE Natural Cooling, S EHA - x x xx - XX C Installation Drawings S C. (.7) 7 (.9) (.96) M C 9 (7.8) 7 (.9) 9 (7.8) 7 (.9) 7 (8.6) 6 (.8) (.98) (.8). (.7) 7 (.9) (.96) 66 (.88) 7 (9.68) (.98) (.8) Note: Dimensions mm (inch) Rev. E, February 8

16 SIZE iquid Cooling, S EHA - x x xx - XX W Characteristics Table Small Medium High S EHA - x x xx - S W M W H W Pump Displacement V max cm (,9 in ) Maximum pump speed n max,7 bar (abs.) Maximum housing pressure ) p max, p Sp bar ( psi) Maximum flow Q max 8 l/min (. gpm) Maximum pressure ports A and p A, p bar ( psi) Flushing flow rate ) Q Sp - l/min (.8 -. gpm) Motor Continuous stall torque ) M 6 Nm (6 lbf ft) 9 Nm (67 lbf ft) Nm ( lbf ft) Rated torque ) M n 8 Nm ( lbf ft) 8 Nm (6 lbf ft) 8 Nm (9 lbf ft) Maximum torque M max 9 Nm (69 lbf ft) Nm ( lbf ft) 9 Nm (88 lbf ft) Rated speed n n, r/min, r/min Maximum speed n max Maximum speed see M = f(n) performance curve Continuous stall current I 8. A rms. A rms 8.9 A rms Maximum current I max 88 A rms A rms A rms Torque constant k t.7 Nm/A rms.68 Nm/A rms.76 Nm/A rms Voltage constant k e.6 V rms/ k r/min. V rms/ k r/min. V rms/ k r/min Thermal time constant t th 6 s s 68 s Winding resistance at C R tt.9 Ω. Ω.96 Ω Winding inductance tt. mh.7 mh.77 mh Power connector Size. rotatable Cable ox A Feedback connector Signal resolver connector rotatable Thermal sensor NTC kohm Cooling water flow rate Q W - l/min (.8 -. gpm) EHA Unit Inertia J 7 kg cm (. lbf ft s ) Weight m 6. kg (. lbf) Tightening torque 8xMx -.9 hexagon head Servo Drive - l/min (.8 -. gpm) 8. kg cm (98.9 lbf ft s ) 7.9 kg (6.9 lbf) Nm+ Nm (89 lbf ft + 7 lbf ft) 6-8 l/min (.6 -. gpm) 7. kg cm (,7. lbf ft s ) 7.9 kg (7.88 lbf) Recommended drive size ) G9- size G9-6 size G9-7 size ) See diagram, Maximum housing pressure p max, p Sp = f(n) and installation note (see page ) ) See catalog, MODUAR MUTI-AXIS SERVO DRIVE SYSTEM (MSD) ) Operation in still air with ambient temperatures up to + C (+ F). Winding temperature measure up to + C (+ F) over ambient ) Optional via SP port Rev. E, February 8 6

17 SIZE iquid Cooling, S EHA - x x xx - XX W Motor Performance Curves S W M W 6 (.) (9) cm [l/min (gpm)] 8 8 (.7) (.) (9.6) 6 (.) (9) cm [l/min (gpm)] 8 8 (.7) (.) (9.6) (8) (8) Torque [Nm (lbf ft)] () (8) (8) () (7) (7) 9 (,6) 96 (,8) 98 (,) Pressure cm [bar (psi)] Torque [Nm (lbf ft)] () (8) (8) () (7) (7) 9 (,6) 96 (,8) 98 (,) Pressure cm [bar (psi)],,, Speed [r/min],,, Speed [r/min] H W 6 (.) (9) cm [l/min (gpm)] 8 8 (.7) (.) (9.6) Continous K temperature difference over ambient, max. winding temperature C ( F) (8) Maximum torque without field weakening Torque [Nm (lbf ft)] () (8) (8) () (7) (7) 9 (,6) 96 (,8) 98 (,) Pressure cm [bar (psi)] Maximum torque with field weakening Continuous torque if recommended drive size is used Maximun torque with field weakening if recommended drive size is used,,, Speed [r/min] Notes: Motor performance with 6 V DC link voltage Motor performance doesn t take the pump efficiency into account Pressure difference p = p A p Rev. E, February 8 7

18 SIZE iquid Cooling, S EHA - x x xx - XX W Mounting Pattern.. (.69) (.69) (.6) (.6) 7 (.) 68 (.677) 8 (.6) S p (.9) X MAX 7. (.89). (.86) 7. (.). Use a spring-type pin with nominal diameter of mm (e.g. x) according to ISO 7. Area of Surface flatness: (.) 68 (.677) X MIN (.9) 7. (.) 8 (.6) 6. (.) 7. (.) 7. (.89). (.86) 7. (.) Surface roughness:. M minimum mm deep. Recommended: Use 8 hexagon head cap screws M (property class.9 minimum length mm) according to ISO 76. Tightening torque + Nm Note: Dimensions mm (inch) Pump Front View. (.69). (.69) (.6) (.6) Xmin Xmax A 7 (.78) Sp 7. (.89) 7. (.89). (.86). (.86) 8 x Ø. (.) M Sp Xmax Xmin A Ø6 -. deep (Ø deep) (9.96) 9 (.) Port dimension in counter surface Port Designation Pressure [bar] Minimum Ø [mm] Maximum Ø [mm] A, Operating ports Sp Flushing port 7 eakage port. X max X min Control port for maximum displacement Control port for minimum displacement.. Rev. E, February 8 8

19 SIZE iquid Cooling, S EHA - x x xx - XX W Installation Drawings S W 8 (.96) 7 (.9) (.96) 6 (6.99) (.8) (.76) (.98) 7 (8.8) (.8) M W 8 (.96) 7 (.9) (.96) 6 (6.99) (.8) (.96) (.98) (.7) (.8) H W () (9.) 6. (8.99) (.9) (.) (.96) (8.6) 7 (6.7) 8 (.89) (.76) 66 (6.) (.98) (.8) Note: Dimensions mm (inch) ) Cooler outlet G/8 ) Cooler outlet G/ Rev. E, February 8 9

20 Size 8 Natural Cooling, S EHA - 8 x x xx - XX C Characteristics Table Small Medium High S EHA - 8 x x xx - S C M C H C Pump Displacement V max 8 cm (.88 in ) Maximum pump speed n max,7 bar (abs.) Maximum housing pressure ) p max, p Sp bar ( psi) Maximum flow Q max 6 l/min (7. gpm) Maximum pressure ports A and p A, p bar (.76 psi) Flushing flow rate ) Q Sp -6 l/min (. -.6 gpm) Motor Continuous stall torque ) M 7 Nm ( lbf ft) Nm (7 lbf ft) 98 Nm ( lbf ft) Rated torque ) M n Nm (8 lbf ft) 69 Nm ( lbf ft) Nm (7 lbf ft) Maximum torque M max 9 Nm (9 lbf ft).77 Nm (.89 lbf ft).97 Nm (. lbf ft) Rated speed n n, rpm 9 rpm 7 rpm Maximum speed n max Maximum speed see M = f(n) performance curve Continuous stall current I 69.7 A rms 6. A rms.6 A rms Maximum current I max. A rms 79 A rms 79 A rms Torque constant k t.98 Nm/A rms. Nm/A rms.96 Nm/A rms Voltage constant k e.6 V rms/ k r/min V rms/ k r/min.67 V rms/ k r/min Thermal time constant t th, s,9 s 6,8 s Winding resistance at C R tt.7 Ω. Ω. Ω Winding inductance tt, mh,8 mh,778 mh Power connector Size, rotatable Cable box Feedback connector Signal resolver connector rotatable Thermal sensor NTC kohm EHA Unit Inertia J.97 kg cm (,.9 lbf ft s ) 7.69 kg cm (8,97. lbf ft s ) 8. kg cm (,7. lbf ft s ) Weight m 9. kg (. lbf) 98.6 kg (7.8 lbf) 9. kg (. lbf) Tightening torque 8xMx -.9 Nm+ Nm (89 lbf ft + 7 lbf ft) hexagon head Servo Drive Recommended drive size ) G9-7 size G9-9 size 6 G9-9 size 6 ) See diagram, Maximum housing pressure p max, p Sp = f(n) and installation note (see page ) ) See catalog, MODUAR MUTI-AXIS SERVO DRIVE SYSTEM (MSD) ) Operation in still air with ambient temperatures up to + C (+ F). Winding temperature measure up to + C (+ F) over ambient ) Optional via SP port Rev. E, February 8

21 Size 8 Natural Cooling, S EHA - 8 x x xx - XX C Motor Performance Curves S C M C 8 (.6) (9) 8 cm [l/min (gpm)] 8 (.) (.7) 6 (.) (.8) 8 (.6) (9) 8 cm [l/min (gpm)] 8 (.) (.7) 6 (.) (.8) Torque [Nm (lbf ft)] 7 (6) 6 () (69) (9) () (8) (7) (,). (,6) 7 (,77) 78. (,9) Pressure 8 cm [bar (psi)] Torque [Nm (lbf ft)] 7 (6) 6 () (69) (9) () (8) (7) (,). (,6) 7 (,77) 78. (,9) Pressure 8 cm [bar (psi)],,,, Speed [r/min],,,, Speed [r/min] H C Torque [Nm (lbf ft)] 8 (.6) (9) 7 (6) 6 () (69) (9) () (8) 8 cm [l/min (gpm)] 8 (.) (.7) 6 (.) (.8) (,). (,6) 7 (,77) Pressure 8 cm [bar (psi)] Continous K temperature difference over ambient, max. winding temperature C ( F) Maximum torque without field weakening Maximum torque with field weakening Continuous torque if recommended drive size is used Maximun torque with field weakening if recommended drive size is used (7),,,, Speed [r/min] 78. (,9) Notes: Motor performance with 6 V DC link voltage Motor performance doesn t take the pump efficiency into account Pressure difference p = p A p Rev. E, February 8

22 Size 8 Natural Cooling, S EHA - 8 x x xx - XX C Mounting Pattern (.8) 8 (.6) 6 (.96) 8 (.6) Ø (.7) (.976) X MIN (.9) 6 (6.) A (.9) S p (.976). (.8) 6 (6.) X MAX (.677) Ø 6. (6.98) 6. (6.98). Use a spring-type pin with nominal diameter of mm (e.g. x) according to ISO 7. Area of Surface flatness: Surface roughness:. M minimum mm deep. Recommended: Use 8 hexagon head cap screws M (property class.9 minimum length mm) according to ISO 76. Tightening torque + Nm Note: Dimensions mm (inch) Pump Front View Xmin Xmax A (.677) Sp Ø 6-. deep A (Ø deep) 8 x Ø. (.) M Sp Xmax Xmin 9 (.6) 78 (8.88) Port dimension in counter surface Port Designation Pressure [bar] Minimum Ø [mm] Maximum Ø [mm] A, Operating ports 6 Sp Flushing port eakage port 6. 7 X max Control port for maximum displacement (option N only) 7 7, X min Control port for minimum displacement (option N only) 7 7, Rev. E, February 8

23 Size 8 Natural Cooling, S EHA - 8 x x xx - XX C Installation Drawings S C. (.7) 7 (.9) 6 (.6) (.99) 8 (7.87) (.7) 8 (7.6) 69. (6.67) 9 (7.8) 7 (.9) 6 (.88) 87 (.6) (.8) (6.) M C 666 (6.) 8 (.) (.8) (6.) Note: Dimensions mm (inch) Rev. E, February 8

24 SIZE 8 iquid Cooling, S EHA - 8 x x xx - XX W Characteristics Table Small Medium High S EHA - 8 x x xx - S W M W H W Pump Displacement V max 8 cm (.88 in ) Maximum pump speed n max,7 bar (abs.) Maximum housing pressure ) p max, p Sp bar ( psi) Maximum flow Q max 6 l/min (7. gpm) Maximum pressure ports A and p A, p bar (.76 psi) Flushing flow rate ) Q Sp -6 l/min (. -.6 gpm) Motor Continuous stall torque ) M Nm ( lbf ft) 7 Nm (67 lbf ft) 7 Nm (8 lbf ft) Rated torque ) M n 8 Nm (9 lbf ft) 89 Nm (9 lbf ft) Nm (7 lbf ft) Maximum torque M max 9 Nm (88 lbf ft) 9 Nm (9 lbf ft).77 Nm (.89 lbf ft) Rated speed n n, rpm,8 rpm Maximum speed n max Maximum speed see M = f(n) performance curve Continuous stall current I 8.9 A rms.87 A rms. A rms Maximum current I max A rms A rms 79 A rms Torque constant k t.76 Nm/A rms.97 Nm/A rms. Nm/A rms Voltage constant k e. V rms/ k r/min.6 V rms/ k r/min V rms/ k r/min Thermal time constant t th 68 s 7 s 68 s Winding resistance at C R tt.96 Ω.7 Ω. Ω Winding inductance tt.77 mh. mh.6 mh Power connector Cable box A Cable box Feedback connector Cable box Thermal sensor NTC kohm Cooling water flow rate Q W 6-8 l/min (.6 -. gpm) EHA Unit Inertia J 9.8 kg cm (,8.7 lbf ft s ) Weight m. kg (8. lbf) Tightening torque 8xMx -.9 hexagon head Servo Drive 6-8 l/min (.6 -. gpm) 6. kg cm (,. lbf ft s ) 68. kg (7.9 lbf) Nm+ Nm (89 lbf ft + 7 lbf ft) 8 l/min (. gpm),7. kg cm (,68.6 lbf ft s ) 7. kg (. lbf) Recommended drive size ) G9- size 6 G9- size 6 G9- size 6A ) See diagram, Maximum housing pressure p max, p Sp = f(n) and installation note (see page ) ) See catalog, MODUAR MUTI-AXIS SERVO DRIVE SYSTEM (MSD) ) Operation in still air with ambient temperatures up to + C (+ F). Winding temperature measure up to + C (+ F) over ambient ) Optional via SP port Rev. E, February 8

25 SIZE 8 iquid Cooling, S EHA - 8 x x xx - XX W Motor Performance Curves S W M W 8 (.6) (9) 8 cm [l/min (gpm)] 8 (.) (.7) 6 (.) (.8) 8 (.6) (9) 8 cm [l/min (gpm)] 8 (.) (.7) 6 (.) (.8) Torque [Nm (lbf ft)] 7 (6) 6 () (69) (9) () (8) (7) (,). (,6) 7 (,77) 78. (,9) Pressure 8 cm [bar (psi)] Torque [Nm (lbf ft)] 7 (6) 6 () (69) (9) () (8) (7) (,). (,6) 7 (,77) 78. (,9) Pressure 8 cm [bar (psi)],,,, Speed [r/min],,,, Speed [r/min] H W Torque [Nm (lbf ft)] 8 (.6) (9) 7 (6) 6 () (69) (9) () (8) 8 cm [l/min (gpm)] 8 (.) (.7) 6 (.) (.8) (,). (,6) 7 (,77) Pressure 8 cm [bar (psi)] Continous K temperature difference over ambient, max. winding temperature C ( F) Maximum torque without field weakening Maximum torque with field weakening Continuous torque if recommended drive size is used Maximun torque with field weakening if recommended drive size is used (7) 78. (,9),,,, Speed [r/min] Notes: Motor performance with 6 V DC link voltage Motor performance doesn t take the pump efficiency into account Pressure difference p = p A p Rev. E, February 8

26 SIZE 8 iquid Cooling, S EHA - 8 x x xx - XX W Mounting Pattern (.8) 8 (.6) 6 (.96) 8 (.6) Ø (.7) (.976) X MIN (.9) 6 (6.) A (.9) S p (.976). (.8) 6 (6.) X MAX (.677) Ø 6. (6.98) 6. (6.98). Use a spring-type pin with nominal diameter of mm (e.g. x) according to ISO 7. Area of Surface flatness: Surface roughness:. M minimum mm deep. Recommended: Use 8 hexagon head cap screws M (property class.9 minimum length mm) according to ISO 76. Tightening torque + Nm Note: Dimensions mm (inch) Pump Front View Xmin Xmax A (.677) Sp Ø 6-. deep A (Ø deep) 8 x Ø. (.) M Sp Xmax Xmin 9 (.6) 78 (8.88) Port dimension in counter surface Port Designation Pressure [bar] Minimum Ø [mm] Maximum Ø [mm] A, Operating ports 6 Sp Flushing port eakage port 6. 7 X max X min Control port for maximum displacement Control port for minimum displacement 7 7, 7 7, Rev. E, February 8 6

27 SIZE 8 iquid Cooling, S EHA - 8 x x xx - XX W Installation Drawings S W 6 (.79) (9.) 6. (8.99) 7 (6.7) (.) 8 (.89) (.) (.866) 7 (8.) (.8) (6.) M W 6 (.79) (9.) 6. (8.99) 7 (6.7) (.) 8 (.89) (.) 66 (6.) 88 (.86) (.8) (6.) H W 6 (.6) (.99) 8 (7.87) 7 (6.7) 6. (.7) Note: Dimensions mm (inch) ) Cooler outlet G/ ) Cooler outlet G/ 666 (6.) 8 (.) (.8) (6.) Rev. E, February 8 7

28 Size Natural Cooling, S EHA - x x xx - XX C Characteristics Table S EHA - x x xx - Pump Small Displacement V max cm (9.8 in ) Maximum pump speed n max,8 bar (abs.) Maximum housing pressure ) p max, p Sp bar ( psi) Maximum flow Q max l/min (7. gpm) Maximum pressure ports A and p A, p bar (.76 psi) Flushing flow rate ) Q Sp - l/min (.6 -. gpm) Motor Continuous stall torque ) M 8 Nm (8 lbf ft) Rated torque ) M n Nm ( lbf ft) Maximum torque M max Nm (.9 lbf ft) Rated speed n n 7 rpm Maximum speed n max Maximum speed see M = f(n) performance curve Continuous stall current I. A rms Maximum current I max 8 A rms Torque constant k t.96 Nm/A rms Voltage constant k e.67 V rms/ k r/min Thermal time constant t th 8,6 s Winding resistance at C R tt.9 Ω Winding inductance tt,8 mh Power connector Cable box Feedback connector Cable box Thermal sensor NTC kohm EHA Unit Inertia J kg cm (,9.9 lbf ft s ) Weight m kg (79.6 lbf) Tightening torque 8xMx -.9 Nm+ Nm (89 lbf ft + 7 lbf ft) hexagon head Servo Drive Recommended drive size ) G9-7 size 6A S C ) See diagram, Maximum housing pressure p max, p Sp = f(n) and installation note (see page ) ) See catalog, MODUAR MUTI-AXIS SERVO DRIVE SYSTEM (MSD) ) Operation in still air with ambient temperatures up to + C (+ F). Winding temperature measure up to + C (+ F) over ambient ) Optional via SP port Rev. E, February 8 8

29 Size Natural Cooling, S EHA - x x xx - XX C Motor Performance Curves S C Torque [Nm (lbf ft)] cm [l/min (gpm)], (.) (66.) (,6),8 (,7), (,), (78) 6 () (8),, Speed [r/min] 7 (99,) (,66) (,76) Pressure cm [bar (psi)] (7) Continous K temperature difference over ambient, max. winding temperature C ( F) Maximum torque without field weakening Maximum torque with field weakening Continuous torque if recommended drive size is used Maximun torque with field weakening if recommended drive size is used Notes: Motor performance with 6 V DC link voltage Motor performance doesn t take the pump efficiency into account Pressure difference p = p A p Rev. E, February 8 9

30 Size Natural Cooling, S EHA - x x xx - XX C Mounting Pattern 98 (7.79) 9 (7.677) (.) (.) X MIN 6 Ø (.6) 7 (6.77) 7 (.669) A 7 (.669) S p 7 (6.77) (.7) 6 Ø (8.68) X MAX (9.68) Ø. Use a spring-type pin with nominal diameter of mm (e.g. x) according to ISO 7. Area of Surface flatness: Surface roughness:. M minimum mm deep. Recommended: Use 8 hexagon head cap screws M (property class.9 minimum length mm) according to ISO 76. Tightening torque + Nm Note: Dimensions mm (inch) Pump Front View Xmin A Sp 9 (.) Xmax x Ø, (.) Ø 8 (.) A deep (.9) 8 Ø (9.) Ø 99 (9.66) 9 (.) M Sp Xmax Xmin Port dimension in counter surface Port Designation Pressure [bar] Minimum Ø [mm] Maximum Ø [mm] A, Operating ports 9 Sp Flushing port eakage port X max Control port for maximum displacement (option N only) X min Control port for minimum displacement (option N only) Rev. E, February 8

31 Size Natural Cooling, S EHA - x x xx - XX C Installation Drawings S C 6 (.6) (.99) 8 (7.87) (.7) 8 (7.6) 69. (6.67) 99 (9,),6 (9.76) 9 (.) (9,9) Note: Dimensions mm (inch) Rev. E, February 8

32 SIZE iquid Cooling, S EHA - x x xx - XX W Characteristics Table High S EHA - x x xx - H W Pump Displacement V max cm (9.8 in ) Maximum pump speed n max,8 bar (abs.) Maximum housing pressure ) p max, p Sp bar ( psi) Maximum flow Q max l/min (7. gpm) Maximum pressure ports A and p A, p bar (.76 psi) Flushing flow rate ) Q Sp - l/min (.6 -. gpm) Motor Continuous stall torque ) M,6 Nm (8 lbf ft) Rated torque ) M n 99 Nm ( lbf ft) Maximum torque M max, Nm (.9 lbf ft) Rated speed n n, rpm Maximum speed n max Maximum speed see M = f(n) performance curve Continuous stall current I 6. A rms Maximum current I max 8 A rms Torque constant k t.87 Nm/A rms Voltage constant k e.67 V rms/ k r/min Thermal time constant t th, s Winding resistance at C R tt.9 Ω Winding inductance tt,67 mh Power connector Cable box Feedback connector Cable box Thermal sensor NTC kohm Cooling water flow rate Q W 8 l/min (. gpm) EHA Unit Inertia J kg cm (,9.9 lbf ft s ) Weight m kg (79.6 lbf) Tightening torque 8xMx -.9 Nm+ Nm (89 lbf ft + 7 lbf ft) hexagon head Servo Drive Recommended drive size ) G9- size 6A ) See diagram, Maximum housing pressure p max, p Sp = f(n) and installation note (see page ) ) See catalog, MODUAR MUTI-AXIS SERVO DRIVE SYSTEM (MSD) ) Operation in still air with ambient temperatures up to + C (+ F). Winding temperature measure up to + C (+ F) over ambient ) Optional via SP port Rev. E, February 8

33 SIZE iquid Cooling, S EHA - x x xx - XX W Motor Performance Curves H W Torque [Nm (lbf ft)] cm [l/min (gpm)], (.) (66.) (,6),8 (,7), (,), (78) 6 () 7 (99,) (,66) (,76) Pressure cm [bar (psi)] Continous K temperature difference over ambient, max. winding temperature C ( F) Maximum torque without field weakening Maximum torque with field weakening Continuous torque if recommended drive size is used Maximun torque with field weakening if recommended drive size is used (8),, Speed [r/min] (7) Notes: Motor performance with 6 V DC link voltage Motor performance doesn t take the pump efficiency into account Pressure difference p = p A p Rev. E, February 8

34 SIZE iquid Cooling, S EHA - x x xx - XX W Mounting Pattern 98 (7.79) 9 (7.677) (.) (.) X MIN 6 Ø (.6) 7 (6.77) 7 (.669) A 7 (.669) S p 7 (6.77) (.7) 6 Ø (8.68) X MAX (9.68) Ø. Use a spring-type pin with nominal diameter of mm (e.g. x) according to ISO 7. Area of Surface flatness: Surface roughness:. M minimum mm deep. Recommended: Use 8 hexagon head cap screws M (property class.9 minimum length mm) according to ISO 76. Tightening torque + Nm Note: Dimensions mm (inch) Pump Front View Xmin A Sp 9 (.) Xmax x Ø, (.) Ø 8 (.) A deep (.9) 8 Ø (9.) Ø 99 (9.66) 9 (.) M Sp Xmax Xmin Port dimension in counter surface Port Designation Pressure [bar] Minimum Ø [mm] Maximum Ø [mm] A, Operating ports 9 Sp Flushing port eakage port X max X min Control port for maximum displacement Control port for minimum displacement Rev. E, February 8

35 SIZE iquid Cooling, S EHA - x x xx - XX W Installation Drawings H W 6 (.6) (.99) 8 (7.87) 7 (6.7) 6. (.7) 99 (9,),6 (9.76) 9 (.) (9,9) Note: Dimensions mm (inch) ) Cooler outlet G/ Rev. E, February 8

36 EECTRICA INTERFACES Power Connectors Size U V W Protective earth U phase V phase W phase PROTECTIVE EARTH N/S MOTOR Size. V + W U U V W U V W Protective earth U phase V phase W phase PROTECTIVE EARTH N/S MOTOR Cable box A U V W U V W Protective earth U phase V phase W phase PROTECTIVE EARTH N/S MOTOR Cable box U V W U V W U V W Protective earth U phase V phase W phase PROTECTIVE EARTH N/S MOTOR Signal connector For more information on connectors, please see Moog Maximum Dynamic rushless Servo Motor User Manual. Rev. E, February 8 6

37 ACKGROUND Signal Resolver Connector TEMPERATURE SENSOR S S S S R R Cos(+) Cos(-) Sin(+) Sin(-) Vref(+) Vref(-) TEMPERATURE SENSOR RESOVER MOTOR ORIENTATION OF EECTRICA CONNECTORS AND IQUID COOING PORTS - A - H G 9 - C - F - D 8 - E Note: Angle starts on port Example shows: Connector orientation = A, Cooling connection = G CACUATIONS M = V P M [Nm] = Torque V [cm ] = Displacement Δp [bar] = Pressure Difference pa-p n = Q, V n [r/min] = Speed Q [l/min] = Flow V P Rev. E, February 8 7

38 ORDERING INFORMATION MOTOR POWER CAES Ordering number C78--yyy ) ) CA98--yyy ) ) ) ) C76--yyy Continuous rated current A A 6 A Cable cross-section x mm + x. mm x 6 mm + x. mm x mm + x. mm Temperature range - to +9 C - to +9 C - to +9 C Wiring Connector Wiring Connector Wiring Connector Wiring pin pin pin U VV V VV V VV WWW W WWW W WWW PE yellow / green PE yellow / green PE yellow / green N. c. / white + N. c. / white + N. c. / white 6 N. c. / black - N. c. / black - N. c. / black Connector housing Screen Connector housing Screen Connector housing Screen Connector type Size Size. Ordering number connector only C86- CA7698- ) for standard configuration option, others upon request ) yyy stands for length in meters Standard length: m, m, m, m, m, m Further lengths upon request Rev. E, February 8 8

39 ORDERING INFORMATION RESOVER FEEDACK CAE Ordering number CO8--yyy ) Motor with encoder system Resolver Controller-end assignment = S (sub-d connector) = S = S = N. c. = PTC+ 6 = R 7 = R 8 = S 9 = PTC- Capable for energy chains Yes Minimum bend radius 9 mm Temperature range - to +8 C Cable diameter approximatly 8.8 mm Material of outer sheath Polyurethane Resistance Resistant to oil, hydrolysis and microbic attack (VDE7) Approvals U-Style,+8 C - V CSA-C.N.-M9, +7 C - V FT Ordering number connector only CA67- ) yyy stands for length in meters Standard length: m, m, m, m, m, m Further lengths upon request Rev. E, February 8 9

40 ordering information NOTES Rev. E, February 8

41 ordering information NOTES Rev. E, February 8

42 ordering information NOTES Rev. E, February 8

43 ORDERING INFORMATION ORDERING CODE Type designation Model number (assigned at the factory) S E H A A D S S Product division Standard EHA Product type Electrohydrostatic Pump Unit Displacement [cm ] A D 6 N 7 S M H 8 C W 9 S A H G Z Pump ports operating ports Fluid Mineral oil, HFD Controllers Mechanical stroke adjustment (V = constant) Dual displacement Performance class Small performance class Medium performance class High performance class Performance class Natural cooling iquid cooling Motor construction Sealing Electrical connection Angle rotatable Cable box Connector orientation for S EHA - 9 x x xx - M C or S EHA - 9 x x xx - H C Cooling connection (liquid cooling) 7 Not liquid cooled Feedback option -poles resolver Rev. E, February 8

44 MORE PRODUCTS. MORE SUPPORT. Moog designs a range of motion control products to complement those featured in this document. Moog also provides service and support for all of our products. For more information, contact the Moog facility closest to you. Australia Service info.australia@moog.com service.australia@moog.com India Service info.india@moog.com service.india@moog.com Russia Service info.russia@moog.com service.russia@moog.com razil + 7 info.brazil@moog.com service.brazil@moog.com Canada info.canada@moog.com China Service info.china@moog.com service.china@moog.com France Service info.france@moog.com service.france@moog.com Germany Service info.germany@moog.com service.germany@moog.com Hong Kong +8 6 info.hongkong@moog.com Ireland + 9 info.ireland@moog.com Italy +9 Service info.italy@moog.com service.italy@moog.com Japan info.japan@moog.com service.japan@moog.com Korea info.korea@moog.com service.korea@moog.com uxembourg + 6 info.luxembourg@moog.com The Netherlands + 6 info.thenetherlands@moog.com service.netherlands@moog.com Singapore Service info.singapore@moog.com service.singapore@moog.com South Africa info.southafrica@moog.com Spain + 9 info.spain@moog.com Sweden info.sweden@moog.com Turkey info.turkey@moog.com United Kingdom + () Service + () info.uk@moog.com service.uk@moog.com USA info.usa@moog.com service.usa@moog.com For product information, visit For service information, visit Moog is a registered trademark of Moog Inc. and its subsidiaries. All trademarks as indicated herein are the property of Moog Inc. and its subsidiaries. CANopen is a registered trademark of CAN in Automation (CiA). 7 Moog Inc. All rights reserved. All changes are reserved. Electrohydrostatic Pump Unit STAR/Publishing Rev. E, February 8, Id. CD9-en WHAT MOVES YOUR WORD