TETRA COMPACT. PreliminarY

TETRA COMPACT PreliminarY

TETRA COMPACT HOW TO ORDER A BRUSHLESS SERVOMOTOR TETRA COMPACT 40 SR 0.16 E 01 001 A 00.02 TETRA COMPACT TYPE WAVEFORM RATED STALL TORQUE TETRA COMPACT 40 60 80 SR = sinusoidal 0.16 0.32 0.65 1.3 1.5 2.8 TRANSDUCER TYPE E = Encoder R = Resolver H = Hall sensor WINDING CODE See data Sheet TRANSDUCER MODEL 001 = 2000ppr optical encoder 401 = 2poles Resolver 008 = 4poles Hall sensor CONNECTION TYPE A = Std. VERSION LIST 00 = Not prearranged Motor Power Company s.r.l. all rights reserved / The data can be modified without notice DATA SHEET N : 6B510000001GB Motor Power Company s.r.l. - Reggio Emilia - Italy Tel +39 0522 682710 Fax +39 0522 683552 www.motorpowergroup.com

MOTOR SPEED BRAKE THERMAL P. SERVOMOTOR TETRA COMPACT 40 SINEWAVE FORM SIMBOLS UNITS TORQUE [Nm] 0.16 0.32 TETRACOMPACT 40 0.16 TETRACOMPACT 40 0.32 01 03 07 21 01 03 07 21 Vn drive 3phase 60 Vdc [ rpm ] 5000 3000 1700 5000 3000 1700 Vn drive 3phase 100 Vdc [ rpm ] 5300 3000 1500 5000 3000 1500 Vn drive 3phase 200 Vdc [ rpm ] 5000 3000 5000 3000 Vn drive 3phase 230 Vac 1/3phase [ rpm ] 5000 Vn drive 3phase 380 Vac 3phase [ rpm ] WINDING DATA Poles number P 8 8 Continuos stall torque (*1) Cn0 [ Nm ] 0.16 0.32 Rated power at3000 rpm (*1) P [W] 50 100 Voltage constant ± 5% Ke [Vrms/Krpm] 5.7 8.5 15 5.7 8.5 15 31.8 Torque constant ± 5% Kt [Nm/Arms] 0.094 0.141 0.248 0.526 0.094 0.141 0.248 0.526 Stall current In0 [Arms] 1.7 1.15 0.65 0.3 3.4 2.3 1.3 0.6 Peak torque Cmax [ Nm ] 0.48 0.96 Peak current I cmax [Arms] 5.6 3.8 2.1 1 11.2 7.5 4.25 2 Ph/ph resistance ±10% at25 C Rff [ Ohm ] 1.78 3.95 12.3 55 0.72 1.57 4.93 21.7 Phase / phase inductance Lff [ mh ] 3.1 6.88 21.45 96 1.48 3.27 10.25 45.2 Electrical time constant Te [ ms ] 1.74 2.05 Thermal time constant Tt [ min ] 35 35 Operating temperature Tr [ C ] 0 + 40 0 + 40 Protection degree IP 65 (*) 65 (*) Insulation class F F MECHANICAL DATA Moment of inertia Jm [Kg cm 2 ] 0.02 (only rotor) 0.04 (only rotor) Max theorethical acceleration αmax [rad/s 2 ] 240000 240000 Mechanical time constant Tm Tm [ ms ] 0.9 0.7 Cogging torque Tcog [ Nm ] 4.8 *10-3 9.6 *10-3 Damping constant at 1000pm Td [ Nm ] 3.2 *10-3 4.8 *10-3 Max radial load ( at 3000rpm) Fr [ N ] 180 (applied on the shaft s middle) 180 (applied on the shaft s middle) Max axial load Fa [ N ] 30 (applied on the shaft s middle) 30 (applied on the shaft s middle) Weight M [ Kg ] 0.4 0.54 Type of thermal cut - off N To be defined Rated voltage Vn [ V ac] - Rated current In [ A ] - Operative temperature Tn [ C ] - Resetting temperature Tr [ C ] - Operative time [ ms ] - Insulation class - Type STD 2 Static torque Co [ Nm ] 2 Rated voltage Vn [ V ] 24 Vcc + 6% -10% Stabilized Rated current In [ A ] 0.46 Input power Pn [ W ] 11 Engaging time Tr [ ms ] 6 Release time Tl [ ms ] 25 (*) with oil seal mounted on the flange; (*1) Output continous ratings with 250 x 250 x 6 mm metallic heat sink flange coupling DATA SHEET N 1B510200001GB

TETRA COMPACT 40 TRANSDUCER E TYPE : ENCODER Rated voltage Vn [ V ] 5 ± 5% Rated current In [ ma ] 200 Frequency F [K Hz ] 200 Working temperature Tn [ C ] - 20 + 100 Electronic type LINE DRIVER AM 26 LS31 Rotation BIDIRECTIONAL Zero impulse N of pulses revolution 1000-2000 N commutation signals 3 Differential TRANSDUCER R TYPE : RESOLVER Rated voltage Vn [ V rms] 7 ± 5% Rated current In [ ma ] 18 Phase shift 0 Electric error ± 10 Min.sin.amplitude [mvrms] 20 Frequency F [ KHz ] 10 Poles number 2 Trasformer ratio 0.5 ± 5% Input inpendance Zro [ Ohm ] 140 Output inpendance Zss [ Ohm ] 120 Working temperature Tn [ C ] - 55 + 155 Rotor inertia Jm [Kg cm 2 ] H TYPE : HALL SENSORS Rated voltage Vn [ V ] 5 24 Rated current In [ ma ] 100 Working temperature Tn [ C ] - 20 +100 N of commutation signals 3 Common Mode DATA SHEET N 2B510200001GB

TETRA COMPACT 40 DIMENSION (mm) TYPE 0.16 0.32 A 25 26 L 51 69 φd (h7) 8 8 F - - C - - R 30 30 SAFETY BRAKE INCREASE 30 mm THE LENGHT L WIRING DIAGRAM POWER CABLE U phase WHITE V phase BLACK W phase RED Earth YELLOW-GREEN Schield BLACK RESOLVER SIGNAL CABLE Sin (s2) BLACK Sin- (s4) RED Cos (s1) Cos- (s3) YELLOW 7Vrms f=10khz RED/WHITE 0 V YELLOW/WHITE ENCODER SIGNAL CABLE 5 Vdc RED 0 V BLACK Ch A GREEN Ch /A GREEN/BLACK Ch B Ch /B /BLACK Ch Z YELLOW Ch /Z YELLOW/BLACK Ch U GREEN Ch /U GREEN/BLACK Ch V WHITE Ch /V WHITE/BLACK Ch W GREY Ch /W GREY DATA SHEET N 7B510600001GB www.motorpowergroup.com

MOTOR SPEED SERVOMOTOR THERMIAL P. BRAKE TETRA COMPACT 60 SINEWAVE FORM SIMBOLS SIMBOLI UNITS TORQUE [Nm] 0.65 1.3 TETRACOMPACT 60 0.65 TETRACOMPACT 60 1.3 01 02 07 21 07 21 15 Vn drive 3phase 60 Vdc [ rpm ] 5000 3000 1700 1700 Vn drive 3phase 100 Vdc [ rpm ] 5000 3000 1500 3000 1500 Vn drive 3phase 200 Vdc [ rpm ] 5000 3000 5000 3000 1700 Vn drive 3phase 230 Vac 1/3phase [ rpm ] 5000 5000 3000 Vn drive 3phase 380 Vac 3phase [ rpm ] 5000 WINDING DATA Poles number P 8 8 Continuos stall torque (*1) Cn0 [ Nm ] 0.65 1.3 Rated power at3000 rpm (*1) P [W] 200 400 Voltage constant ± 5% Ke [Vrms/Krpm] 5.7 8.5 15 31.8 15 31.8 55 Torque constant ± 5% Kt [Nm/Arms] 0.094 0.141 0.248 0.526 0.248 0.526 0.91 Stall current In0 [Arms] 6.9 4.6 2.62 1.25 5.25 2.5 1.24 Peak torque Cmax [ Nm ] 1.95 3.9 Peak current I cmax [Arms] 22.75 15.25 8.65 4.1 17.3 8.15 4.7 Ph/ph resistance ±10% at25 C Rff [ Ohm ] 0.29 0.64 2 9 0.66 2.94 8.82 Phase / phase inductance Lff [ mh ] 0.98 2.19 6.79 30.6 2.98 13.27 39.86 Electrical time constant Te [ ms ] 3.4 4.5 Thermal time constant Tt [ min ] 30 30 Operating temperature Tr [ C ] 0 + 40 0 + 40 Protection degree IP 65 (*) 65 (*) Insulation class F F MECHANICAL DATA Moment of inertia Jm [Kg cm 2 ] 0.12 ((only rotor) 0.21 (only rotor) Max theorethical acceleration αmax [rad/s 2 ] 162500 162500 Mechanical time constant Tm Tm [ ms ] 0.94 0.54 Cogging torque Tcog [ Nm ] 1.95 *10-2 3.9 *10-2 Damping constant at 1000pm Td [ Nm ] 1.3*10-2 2.5 *10-2 Max radial load ( at 3000rpm) Fr [ N ] 220 (applied on the shaft s middle) 220 (applied on the shaft s middle) Max axial load Fa [ N ] 70 (applied on the shaft s middle) 70 (applied on the shaft s middle) Weight M [ Kg ] 0.85 1.25 Type of thermal cut - off N To be defined Rated voltage Vn [ V ac] - Rated current In [ A ] - Operative temperature Tn [ C ] - Resetting temperature Tr [ C ] - Operative time [ ms ] - Insulation class - Type STD 2 Static torque Co [ Nm ] 2 Rated voltage Vn [ V ] 24 Vcc + 6% -10% Stabilized Rated current In [ A ] 0.46 Input power Pn [ W ] 11 Engaging time Tr [ ms ] 6 Release time Tl [ ms ] 25 (*) with oil seal mounted on the flange; (*1) Output continous ratings with 250 x 250 x 6 mm metallic heat sink flange coupling DATA SHEET N 1B510400001GB

TETRA COMPACT 60 TRANSDUCER E TYPE : ENCODER Rated voltage Vn [ V ] 5 ± 5% Rated current In [ ma ] 200 Frequency F [K Hz ] 200 Working temperature Tn [ C ] - 20 + 100 Electronic type LINE DRIVER AM 26 LS31 Rotation BIDIRATIONAL Zero impulse N of pulses revolution 1000-2000 N commutation signals 3 Differential TRANSDUCER R TYPE: RESOLVER Rated voltage Vn [ V rms] 7 ± 5% Rated current In [ ma ] 18 Phase shift 0 Electric error ± 10 Min.sin.amplitude [mvrms] 20 Frequency F [ KHz ] 10 Poles number 2 Trasformer ratio 0.5 ± 5% Input inpendance Zro [ Ohm ] 70 + j 100 Output inpendance Zss [ Ohm ] 175 + j 257 Working temperature Tn [ C ] - 55 + 155 Rotor inertia Jm [Kg cm 2 ] H TYPE : HALL SENSOR Rated voltage Vn [ V ] 5 24 Rated current In [ ma ] 100 Working temperature Tn [ C ] -20 +100 N of commutation signals 3 Common Mode DATA SHEET N 2B510400001GB

TETRA COMPACT 60 DIMENSIONS (mm) TYPE 0.65 1.3 A 23 30 L 73 98 φd (h7) 11 14 F M4 M5 C 4*4*18 5*5*25 R 25 25 SAFETY BRAKE INCREASE 30 mm THE LENGHT L WIRING DIAGRAM POWER CABLE U phase WHITE V phase BLACK W phase RED Earth YELLOW-GREEN Schield BLACK RESOLVER SIGNAL CABLE Sin (s2) BLACK Sin- (s4) RED Cos (s1) Cos- (s3) YELLOW 7Vrms f=10khz RED/WHITE 0 V YELLOW/WHITE ENCODER SIGNAL CABLE 5 Vdc RED 0 V BLACK Ch A GREEN Ch /A GREEN/BLACK Ch B Ch /B /BLACK Ch Z YELLOW Ch /Z YELLOW/BLACK Ch U BROWN Ch /U BROWN/BLACK Ch V WHITE Ch /V WHITE/BLACK Ch W GREY Ch /W GREY/BLACK DATA SHEET N 7B510600001GB www.motorpowergroup.com

MOTOR SPEED SERVOMOTORS THERMAL P. TETRA COMPACT 80 SINEWAVE FORM SIMBOLS SIMBOLI UNITS TORQUE[Nm] 1.5 2.8 TETRACOMPACT 80 1.5 TETRACOMPACT 80 2.8 07 21 15 21 15 17 Vn drive 3phase 60 Vdc [ rpm ] 2000 Vn drive 3phase 100 Vdc [ rpm ] 4300 1600 1600 Vn drive 3phase 200 Vdc [ rpm ] 5000 3200 1900 3200 1900 Vn drive 3phase 230 Vac 1/3phase [ rpm ] 5000 3000 5000 3000 1700 Vn drive 3phase380 Vac 3phase [ rpm ] 5000 5000 3000 WINDING DATA Poles number P 8 8 Continuos stall torque (*1) Cn0 [ Nm ] 1.5 2.8 Rated power at3000 rpm (*1) P [W] 470 940 Voltage constant ± 5% Ke [Vrms/Krpm] 15 31.8 55 96.7 31.8 55 96.7 Torque constant ± 5% Kt [Nm/Arms] 0.248 0.526 0.91 1.6 0.526 0.91 1.6 Stall current In0 [Arms] 6.1 2.85 1.65 0.94 5.3 3.1 1.75 Peak torque Cmax [ Nm ] 4.5 8.4 Peak current I cmax [Arms] 19.95 9.4 5.44 3.1 17.5 10.15 5.8 Ph/ph resistance ±10% at25 C Rff [ Ohm ] 0.39 1.75 5.24 16.2 0.68 2.04 6.3 Phase / phase inductance Lff [ mh ] 1.76 7.9 23.65 73.12 3.82 11.46 35.4 Electrical time constant Te [ ms ] 4.51 5.6 Thermal time constant Tt [ min ] 40 40 Operating temperature Tr [ C ] 0 + 40 0 + 40 Protection degree IP 65 (*) 65 (*) Insulation class F F MECHANICAL DATA Moment of inertia Jm [Kg cm 2 ] 0.61 (only rotor) 1.12 (only rotor) Max theorethical acceleration αmax [rad/s 2 ] 73770 75000 Mechanical time constant Tm Tm [ ms ] 0.91 0.65 Cogging torque Tcog [ Nm ] 4.5 *10-2 9 *10-2 Damping constant at 1000pm Td [ Nm ] 3 *10-2 6 *10-2 Max radial load ( at 3000rpm) Fr [ N ] 350 (applied on the shaft s middle) 350 (applied on the shaft s middle) Max axial load Fa [ N ] 110 (applied on the shaft s middle) 110(applied on the shaft s middle) Weight M [ Kg ] 2.25 3.05 Type of thermal cut - off N To be defined Rated voltage Vn [ V ac] - Rated current In [ A ] - Operative temperature Tn [ C ] - Resetting temperature Tr [ C ] - Operative time [ ms ] - Insulation class - Type STD 4.5 Static torque Co [ Nm ] 4.5 Rated voltage Vn [ V ] 24 Vcc +6% -10% Stabilized Rated current In [ A ] 0.5 Input power Pn [ W ] 12 Engaging time Tr [ ms ] 7 Release time Tl [ ms ] 35 (*) with oil seal mounted on the flange; (*1) Output continous ratings with 250 x 250 x 6 mm metallic heat sink flange coupling DATA SHEET N 1B510600001GB BRAKE

TETRA COMPACT 80 TRANSDUCER E TYPE : ENCODER Rated voltage Vn [ V ] 5 ± 5% Rated current In [ ma ] 200 Frequency F [K Hz ] 200 Working temperature Tn [ C ] - 20 + 100 Electronic type LINE DRIVER AM 26 LS31 Rotation BIDIRECTIONAL Zero impulse N of pulses revolution 1000-2000 N commutation signals 3 Differential TRNASDUCERS R TYPE : RESOLVER Rated voltage Vn [ V rms] 7 ± 5% Rated current In [ ma ] 18 Phase shift 0 Electric error ± 10 Min.sin.amplitude [mvrms] 20 Frequency F [ KHz ] 10 Poles number 2 Trasformer ratio 0.5 ± 5% Input inpendance Zro [ Ohm ] 70 + j 100 Output inpendance Zss [ Ohm ] 175 + j 257 Working temperature Tn [ C ] - 55 + 155 Rotor inertia Jm [Kg cm 2 ] H TYPE : HALL SENSORS Rated voltage Vn [ V ] 5 24 Rated current In [ ma ] 100 Working temperature Tn [ C ] -20 +100 N of commutation signals 3 Common Mode DATA SHEET N 2B510600001GB

TETRA COMPACT 80 DIMENSIONS (mm) TYPE 1.5 2.8 A 30 40 L 90 115 φd (h7) 14 19 F M5 M6 C 5*5*25 6*6*30 R 35 35 SAFETY BRAKE INCREASE 30 mm THE LENGHT L WIRING DIAGRAM POWER CABLE U phase WHITE V phase BLACK W phase RED Earth YELLOW-GREEN Schield BLACK RESOLVER SIGNAL CABLE Sin (s2) BLACK Sin- (s4) RED Cos (s1) Cos- (s3) YELLOW 7Vrms f=10khz RED/WHITE 0 V YELLOW/WHITE ENCODER SIGNAL CABLE 5 Vdc RED 0 V BLACK Ch A GREEN Ch /A GREEN/BLACK Ch B Ch /B /BLACK Ch Z YELLOW Ch /Z YELLOW/BLACK Ch U BROWN Ch /U BROWN/BLACK Ch V WHITE Ch /V WHITE/BLACK Ch W GREY Ch /W GREY/BLACK DATA SHEET N 7B510600001GB www.motorpowergroup.com