Kollmorgen Linear ositioners Catalog N2 and C1 - C5 eries lectric Cylinders This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Kollmorgen. very solution comes from a real understanding of challenges. The ever-escalating demands of the marketplace mean increased pressure on s at every turn. Time constraints. emands for better performance. Having to think about the next-generation machine even before the current one is built. While expectations are enormous, budgets are not. Kollmorgen s innovative motion solutions and quality products help engineers not only overcome these challenges but also build truly differentiated machines. Because motion matters, it s our focus. otion can distinctly differentiate a machine and deliver a marketplace advantage by improving it s performance. This translates to overall increased efficiency on the factory floor. erfectly deployed machine motion can make your customer s floor more reliable and efficient, enhance accuracy and improve operator safety. otion also represents endless possibilities for innovation. We ve always understood this potential, and have kept motion at our core, relentlessly developing products that offer precision control of speed, accuracy and position in machines that rely on complex motion. K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
K L L G N L I N I T I N C T L G Table of Contents lectric Cylinder ervo ystems - verview 4, 5 lectric Cylinder - Features 6, 7 lectric Cylinder pecifications - verview 8 N2 eries General pecifications 9-11 C eries General pecifications 12-19 erformance ata Quick election Guide 2 erformance ummary 21-24 Thrust peed Curves N2 eries 25, 26 C1 eries 27, 28 C2 eries 29, 3 C3 eries 31-33 C4 eries 34-36 C5 eries 37-4 ervo ystem Current Calculation 41 utline rawings - lectric Cylinders N2 eries - utline rawings 42-47 N2 eries - od-nd dapters 48 C eries - utline rawings 49-54 C eries - od-nd dapters 55 ervo rive verview - election Guide 7 2 rive 71-73 3 rive 74, 75 mart rive rive/ic 61131 Control 76-79 pplication ngineering eference 8-97 ngineering eference 98-13 pplication Worksheet 14-17 rdering Information N2 eries 18, 19 rdering Information C eries 11, 111 rdering Information ervo rive ystems 2 rive 112 3 rive 113 mart rive rive/ic 61131 Control 114, 115 K motor options for lectric Cylinders 116 utline rawings - K ervomotors K1x frame 117 K2x frame 118 K4x frame 119 K5x frame 12 ptions and ccessories - lectric Cylinders 56-64 K Brushless ervo - ystem ummary K1x ervo ystems 65 K23 ervo ystems 66 K42 ervo ystems 67 K52G ervo ystems 68 K52L ervo ystems 69 www.kollmorgen.com 3 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
N2 & C eries lectric Cylinder ervo ystems L I N I T I N N2 with K23 Kollmorgen s lectric Cylinder ervo ystems provide an unprecedented level of flexibility. C2 with K23 The N2 and C eries lectric Cylinders offer an unprecedented degree of flexibility. This flexibility enables solution to be optimized for the application requirements, reducing system cost and minimizing the electric cylinder size. The flexible design of the N2 and C eries simplifies engineering design and system integration by providing an integrated gearing design of both timing belt and helical gearing. Integrated K brushless servomotor provides a system solution reducing application and engineering requirements as well as eliminates mechanical interface and interoperability issues. tepper motors are also available. tandard Configurable lectric Cylinder esigns: N2 eries C eries Transport crew Integrated Gearing ounting Types recision ballscrew (2 and 5 [rev/in] pitch) Lead screw (5 and 8 [rev/in] pitch) Timing belt (1., 1.5, 2.:1 ratios) Helical gear (2.5, 3.5, 12.:1 ratios) Inline (direct coupled) 7 arallel ounts 5 Inline ounts recision ballscrew (3 to 32 [mm/rev] lead) Lead screw (4 [mm/rev] lead) Timing belt (1., 1.5, 2.:1 ratios) Helical gear (2., 2.5, 4., 5., 7., 1.:1 ratios, model dependent) Inline (direct coupled) 8 arallel ounts 5 Inline ounts od-nd dapters 4 Types (nglish and etric) 5 Types (nglish and etric) troke Lengths tandard stroke (2 to 22.5 in) Custom stroke lengths available tandard stroke lengths C1 5 to 2 mm (7.87 in) C2 5 to 75 mm (29.5 in) C3 5 to 1 mm (39.4 in) C4 & C5 5 to 15 mm (59.1 in) ptions and ccessories lectric Cylinder accessories and time-proven options have been designed for the industrial environment to simplify system integration. ptions include limit switches, dual rod-end bearings, guide bearing, protective boot, and extended temperature ranges just to name a few. ee the option and accessory section on pages 56-64 for more details. 4 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
N2 & C eries lectric Cylinder ervo ystems The lectric Cylinders ervo ystems are offered with three Kollmorgen brushless servo drive series to provide system flexibility. Let your application and system requirements determine what solution integrates the best. ingle vendor solution for the complete electro-mechanical system ensures system interoperability and a single dedicated worldwide motion-control supplier for support. The lectric Cylinder ervo ystems are available in drive and control technologies ranging form simple and intuitive positioning drives to fully programmable IC 61131 based control systems: The lectric Cylinder ervo ystems leverage multiple Kollmorgen ervo rive/controllers and the K brushless servomotors for complete system flexibility and industry leading servo response and precision. L I N I T I N 2 115 / 23 Vac Compact rive High-erformance Base Unit: nalog torque-and-velocity, step and direction, encoder following Network ption Cards (ynqnet, -Link Network for IC 61131 Control) Indexer ption Card, imple ositioning ystem 18 motion tasks, incremental absolute positioning, Jog mode imple intuitive Graphical User Interface (GUI), no programming experience required 3 115 / 23 / 4 / 46 Vac Flexible rive Universal Control ptions & ower ange Base Unit: nalog torque and velocity, Canpen, step and direction, encoder following Network ption Card solutions evicenet, rofibus, ynqnet, thercat, C II, C III imple ositioning ystem 256 motion tasks, link motion tasks, CCL/CL control, -curve Incremental, absolute positioning, Jog mode and more achine and motion Control IC 61131 Integrated Controller/rive mart rive () 115 / 23 / 4 / 46 Vac Fully rogrammable IC 61131 based Integrated Controller/rive (1-16 axes) thernet network interface for motion that simplifies wiring, increases performance, reliability, and provides local and remote diagnostic capability xtensive library of motion control function blocks to reduce development time www.kollmorgen.com 5 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
lectric Cylinder Features L I N I T I N lectric cylinders are direct descendents of hydraulic and pneumatic cylinders. ossessing many of the same unique design characteristics that made hydraulic and pneumatic cylinders popular, electric cylinders benefit from a cleaner and simpler power transmission. ecades of electric cylinder research and development has provided machine designers with a flexible, simple and unique approach to solving rigid or pivoting linear motion applications. lectrically owered, aintenance Free Today nearly all machines incorporate panel switches, sensors, lights, displays, LCs or Cs. lectric power is nearly always available on the machine. Compressed air or hydraulic pumps are not always available or desirable. o why not simplify the machine by using the same control for all the axes of motion? multi-axis programmable motor control can give you command of both rotary and linear motion. Lastly, the maintenancefree design provides another strong reason to consider electric cylinders in your next application. traight-line Thrust Transmission Use ll vailable ower When high thrust is required, rod type cylinders have the advantage over other actuation means in that all the thrust transmitting components are in-line. This provides the simplest and most efficient means of transmitting thrust to the load. traight Line Force ath Non-Intrusive: Thrust od Can Clear ut of the Way. primary advantage of rod-type electric cylinders is the capability to extend into a work area during an operation and then retract to clear the area for subsequent operations. nother benefit of the rod-type design is that the motor and main body of the electric cylinder can be isolated from the work area. This is very useful when dealing with such hostile environments as vacuum, high temperature, or wash down applications. ounting examples bove: igid (side lug mounts) ight: ivot (clevis) ayload Bearing lide 335 ounting Flexibility s in most aspects of design, a little creativity goes a long way when attaching a cylinder to a machine. Two general types of mounting styles are available, rigid and pivoting. igid mounting options include side-tapped holes, front and rear flanges, side lugs and side angle brackets. These typically restrict motion to straight-line travel paths. ivoting mounts such as the clevis or trunnion allow the cylinder to move as a link in a dynamic assembly. There are many applications for this arc-motion conveyor diverter gates, pivoting rollers, lid lifters for chemical chambers, scissors clamps and so on. 6 6 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
lectric Cylinders re referred When: are inherently less well protected). solution. Kollmorgen offers electric cylinder drive mechanisms designed around either lead screws or ballscrews. Ballscrews, being the more efficient of the two, utilize ballnuts riding on recirculating ball bearings resulting in higher speeds, loads and cycle rates. However, the more efficient design of ballscrew technology lends it to being backdriven when power is removed if precautions are not taken (e.g., electric brakes or counter loading). Lead screws are capable of holding the load in position when power is removed, but are less efficient in operation. Kollmorgen s guide system prevents rotation of the ball / lead nut, thus eliminating any torque loading to machine linkage. C ervo Linear ositioners screws for quiet, long-life operation N2 ervo Linear ositioners L I N I T I N Typical Construction (C2 cut-away shown) Brushless servomotors (not shown) with quick disconnect cabling and a variety of feedback options. Wiper seal on polished stainless steel output tube keeps contaminants out and lubricants in. etric (I 6431) and nglish rod ends available. Ground stainless steel thrust tube for long wear and corrosion resistance. Timing belt and geared drives provide long life with a wide variety of drive ratios. ngular contact bearings ensure long life with minimal backlash. ecirculating ballscrews and lead screws provide smooth, high thrust drive. Lead screws hold load without power. Front sleeve bearing supports side loads and minimizes runout. Housing is hard-coat anodized and teflon coated for long life, permanent lubrication, resistant to corrosion, and protection of all internal components. www.kollmorgen.com 7 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
lectric Cylinder ervo ystem: pecification verview Feature N2 C1 C2 C3 C4 C5 L I N I T I N td. aximum troke Length [in (mm)] * 22.5 (571.5) 7.87 (2) 29.53 (75) 39.37 (1) 59.6 (15) 59.6 (15) Type of crew Lead Ball Ball Lead Ball Lead Ball Ball Ball Lead [displacement / rev] Nom. Lead crew iameter.2 in,.5 in.2 in,.5 in.125 in 4 mm 16, 5 mm 4 mm 16, 1, 5 mm 25, 1 mm 32, 1 mm.625 in.625 in.375 in 16 mm 16 mm 2 mm 2 mm 25 mm 32 mm Backlash [in (mm)].16 (.4).15 (.38).15 (.38).16 (.4).1 (.25).16 (.4).1 (.25).12 (.3).12 (.3) imension td. nglish NF td. etric I6431 td. Bore size 3 mm 5 mm 63 mm 8 mm 1 mm Brushless ervomotor K23, N 23 K1x, N 17 K23, N 23 K23, N 23 K42, N 34 K52, N 42 ** K42, N 34 K52, N 42 ** K42, N 34 K52, N 42 ** tepper otor Contact Factory CT12, N 17 Contact Factory ax. Thrust [lb (N)] 6 (267) 15 (667) 81 (36) 162 (72) 27 (12,) 562 (25,) ax. Velocity [in/sec (m/s)] ax. ated uty Cycle (load, speed dependent) [% ] 12 (.3) 3 (.76) 13 (.33) 9.2 (.23) 5 (1.27) 8. (.2) 5 (1.28) 52.5 (1.33) 52.5 (1.33) 5 1 1 5 1 5 1 1 1 Limit witches ptional td. perating Temperature ange [C (F)] to 6 (32 to 14) -3 to 7 (-22 to 158) oisture/ Contaminants Humid, but Not irect Contact I54 td. I65 pt. Notes * equires dual rod-end bearing option for length over 12".. C3 8 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
N2 eries lectric Cylinders: Travel Lengths Cylinder troke esignator/ffective Travel Lengths troke length designator [in] 2. 4. 6. 8. 12. *18. *24. ffective Travel Length [in] 2. 4. 6. 8. 12. 16.5 22.5 Custom travel lengths are available. Construction aterials coated Wiper seal olyurethane peed educer Versions upport Bearings Ball bearings Transport crew Versions Ballscrew Carbon steel screw Ballnut lloy steel, heat-treated ballnut Lead screw Carbon steel screw Lead nut Bronze lead nut (standard, recommended for servo system) (Lubricated polyacetal plastic drive nut also available but not recommended for use with servomotor based systems.) L I N I T I N ystem pecifications lectric Cylinder crew-nut Type itch [revs/in] crew iameter [in] fficiency [%] inimum Backdrive Load [lb] aximum Thrust [lb] aximum peed [in/s] Backlash [] epeatability [mm/3mm (in/ft)] N2-2B Ballscrew 2..625 9 1 * 552 ** 3 N2-5B Ballscrew 5..625 9 2 6 12 N2-5-BZ Bronze 5..625 4 4 6 ** 12 * Thrust limited by K23 motor/drive T peak limit. ** aximum speed and aximum Thrust specification define range of N2 series; not available on the same unit. Weight (approximate, without options) Cylinder- otor Weight [ kg ] Weight [ lbs ] N2-K23 = 2.28 +.11 x [in stroke] = 5. +.25 x [in stroke] Brushless ervomotor ervo ystem pecifications ee page 66 www.kollmorgen.com 9 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
N2 eries lectric Cylinders: roperties lectric Cylinder crew Type itch [revs/in] crew fficiency [%] Transmission atio Type fficiency [%] verall fficiency [%] L I N I T I N N2-...-1L-2B Ballscrew 2. 9 Inline/direct coupled N/ N/ 9 N2-...-1-2B Ballscrew 2. 9 1:1 Timing belt 9 81 N2-...-15-2B Ballscrew 2. 9 1.5:1 Timing belt 9 81 N2-...-2-2B Ballscrew 2. 9 2.:1 Timing belt 9 81 N2-...-25-2B Ballscrew 2. 9 2.5:1 Helical gear 7 63 N2-...-1L-5B Ballscrew 5. 9 Inline/direct coupled N/ 9 9 N2-...-1-5B Ballscrew 5. 9 1:1 Timing belt 9 81 N2-...-15-5B Ballscrew 5. 9 1.5:1 Timing belt 9 81 N2-...-2-5B Ballscrew 5. 9 2.:1 Timing belt 9 81 N2-...-25-5B Ballscrew 5. 9 2.5:1 Helical gear 7 63 N2-...-1L-5 Lead 5. 4 Inline/direct coupled N/ 4 16 N2-...-1-5 Lead 5. 4 1:1 Timing belt 9 36 N2-...-15-5 Lead 5. 4 1.5:1 Timing belt 9 36 N2-...-2-5 Lead 5. 4 2.:1 Timing belt 9 36 N2-...-25-5 Lead 5. 4 2.5:1 Helical gear 7 28 N2 eries lectric Cylinders - General pecifications N2 eries lectric Cylinder Inertia otary Inertia (eflected to otor) = + B* (troke, in) + C * (Load weight, lb) odel N2 eries atio eduction type crew B C oz-in 2 oz-in 2 / in oz-in 2 / lb N2- -1-5B 1:1.572.685.162 N2- -15-5B 1.5:1 Belt/pulley itch 5 revs/in ia.625 in.2756.345.72 Ballscrew N2- -2-5B 2:1.1689.171.41 N2- -1-2B 1:1.6532.7555.113 N2- -15-2B 1.5:1 Belt/pulley itch 2 revs/in ia.625 in.3126.3355.45 Ballscrew N2- -2-2B 2:1.1895.1899.253 N2- -1-5 1:1.6845.6845.162 N2- -15-5 1.5:1 Belt/pulley itch 5 revs/in ia.625 in.34.34.72 Lead crew N2- -2-5 2:1.171.171.41 To convert inertia units from oz-in 2 to oz-in-sec 2 1 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
N2 eries lectric Cylinders: Ballscrew Life Ballscrew life is rated in inches of travel at a given load. The values in the chart below indicates the travel life where 9% of all units in a sample will continue to work, while 1% have failed. This is similar to the B1 rating of a roller bearing mechanism. Be sure to consider acceleration loads as well as thrust, gravity and friction loads. Load (lb) 8 7 6 5 4 3 2 1 5B/2B Ballscrew Life: Load vs. Travel Life Chart L I N I T I N 1 2 3 4 6 8 1 2 3 4 6 8 1 2 6 Travel Life (x 1 inches) nvironmental peration (see ptions and ccessories section, page 6-61) Temperature oisture Contaminants 32 to 14 F, [ to 6 C] H High temperature option allows 32 to 16 F, [ to 7 C] F ub-freezing temperature option allows -2 to 15 F, [-29 to 4 C] Humid, but not direct moisture contact W Water resistant option allows some direct moisture contact Non-corrosive, non-abrasive. B rotective Boot option prevents moisture and dry contaminants from entering the cylinder through the wiper ring on the rod N2 with K23 www.kollmorgen.com 11 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C eries lectric Cylinders: Travel Lengths L I N I T I N Cylinder Travel Lengths [ mm ] C1 5 1 15 2 C2 5 1 15 2 25 3 45 6 75 C3 5 1 15 2 25 3 45 6 75 1 C4 5 1 15 2 25 3 45 6 75 1 125 15 C5 5 1 15 2 25 3 45 6 75 1 125 15 Custom strokes available in increments of 1 mm. Construction aterials Thrust Bearings ngular contact, high thrust ball bearings peed educer Versions Transport crew Versions Lead screw/lead nut Bronze; carbon steel alloy lead screw Cylinder Nominal iameter [] crew roperties Lead crew C1 (.375) 3.175 (.125) Lead [] / rev. Ballscrew C2 16 4 (.157) 5 (.197) 16 (.63 ) C3 2 4 (.157) 5 (.197) 1 (.395 ) 16 (.63) C4 25 1 (.394) 25 (.984) C5 32 1 (.394) 32 (1.259) Weight (approximate, without options) Cylinder- otor Weight [kg] Weight [lbs] C1-K11 =.864 +.162 x [mm stroke] = 1.9 +.356 x [in stroke] C1-K13 = 1.136 +.162 x [mm stroke] = 2.5 +.356 x [in stroke] C1-CT12 =.764 +.162 x [mm stroke] = 1.88 +.356 x [in stroke] C2-K23 = 4.18 +.6 x [mm stroke] = 9.2 +.33 x [in stroke] C3-K23 = 5.75 +.8 x [mm stroke] = 12.6 +.46 x [in stroke] C3-K42 = 6.7 +.8 x [mm stroke] = 14.7 +.46 x [in stroke] C4-K42 = 14.7 +.188 x [mm stroke] = 32.2 + 1.5 x [in stroke] C4-K52 = 17.1 +.188 x [mm stroke] = 37.7 + 1.5 x [in stroke] C5-K42 = 14.7 +.188 x [mm stroke] = 32.2 + 1.5 x [in stroke] C5-K52 = 17.1 +.188 x [mm stroke] = 37.7 + 1.5 x [in stroke] Brushless ervomotor Force peed Cuves ervo ystem pecifications ee page imensions tepper otor ystem pecifications and dimensions 12 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C eries lectric Cylinders: ystem pecifications - Backlash, Lead ccuracy Cylinder Lead [] Type Backlash [] /rev. Lead ccuracy [mm/3mm (in/ft)] epeatability [] C1 (.125) Ball.381 (.15) +/-.1 (+/-.4) +/-.13 (+/-.5) C2 C3 16, 5 Ball.25 (.1) +/-.5 (+/-.2) +/-.13 (+/-.5) 4 Lead.4 (.16) +/-.1 (+/-.4) +/-.13 (+/-.5) 16, 1, 5 Ball.25 (.1) +/-.5 (+/-.2) +/-.13 (+/-.5) 4 Lead.4 (.16) +/-.1 (+/-.4) +/-.13 (+/-.5) C4 25, 1 Ball.3 (.12) +/-.5 (+/-.2) +/-.13 (+/-.5) L I N I T I N C5 32, 1 Ball.3 (.12) +/-.5 (+/-.2) +/-.13 (+/-.5) C2 and C3 with K23 www.kollmorgen.com 13 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C eries lectric Cylinders: nvironmental peration L I N I T I N Temperature oisture/contaminants Consult the factory for more information. ating surfaces gasket sealed. rotected against dust and splashing water (non-corrosive, non-abrasive). Limited ingress permitted. Vent Tube Fitting: vent tube fitting is included, which can be installed to permit the Linear ositioner to aintenance Lube ort B rotective Boot (I65) ption: n optional thrust tube boot prevents moisture and dry contaminants fitting. The boot also prevents contaminant buildup on the thrust tube. Clean oom & Vacuum pplications: Kollmorgen has designed special positioners for clean room and vacuum applications. lease consult the factory if your application requires special environmental compatibility. The C eries Linear ositioner design eliminates the need for most routine maintenance. e-lubrication is required in high cycle applications. ee the C eries perator s anual for replacement parts. C4 with K42 14 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C eries lectric Cylinders: Thrust Tube Torque Capacity Thrust tube does not rotate during operation. aximum allowable torque during operation and installation is shown in the following table: Torque Capacity [lb-in (N-m)] C1 18 (2.) C2 45 (5.) C3 67 (7.5) C4 9 (1) C5 9 (1) ide Load oment (lb-in) Top or ide of Cylinder Housing xtend istance (inches) ide Load (lb) ideplay L I N I T I N Thrust Tube ide Load Capacity vs. xtension C1 * ide loading is not recomended with the C1. ide loading will reduce the C1 life. ide Load (kg) 2 15 1 5 5 1 mm 15 mm 2 mm C2 3 mm 45 mm 6 mm 75 mm 1 2 3 4 5 6 75 Thrust Tube xtension (mm) C3 C4 3 3 ide Load (kg) 2 1 5 mm 1 mm 2 mm 1 mm 3 mm 75 mm 45 mm 6 mm 2 4 6 8 1 Thrust Tube xtension [mm] ide Load (kg) 2 1 5 mm 1 mm 2 mm 1 mm 3 mm 75 mm 45 mm 6 mm 2 4 6 8 1 Thrust Tube xtension [mm] C5 3 ide Load (kg) 2 1 5 mm 1 mm 2 mm 1 mm 3 mm 75 mm 45 mm 6 mm 2 4 6 8 1 Thrust Tube xtension [mm] www.kollmorgen.com 15 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C eries lectric Cylinders: Life L I N I T I N Ballscrew Ballscrew life is rated in inches of travel at a given load. The values in the chart indicate the travel life where 9% of all units in a sample will continue to work, while 1% have failed. This is similar to the B1 rating of a roller bearing mechanism. Be sure to consider acceleration loads as well as thrust, gravity and friction loads. Lead crew Usable life for a lead screw is defined as the length of travel completed before backlash (of lead screw/nut) exceeds.2 [.5 mm]. travel life of 25 km [1 million inches] under the maximum rated load can be used as a general approximation. However, since directly dependent on application conditions (load, duty cycle, move profiles, and environment), it is difficult to predict a statistical travel life. C1-3B Ballscrew Life C2 Ballscrew Life Load (lb) 7 6 5 4 3 2 1 C1-3B Ballscrew.1.1 1 1 1 Travel Life (x 1 6 inches) Load (lb) 8 7 6 5 4 3 2 1 1 C2-5B Ballscrew C2-16B Ballscrew 1 1 Travel Life (x 1 6 inches) 1 Load (lb) 8 7 6 5 4 3 2 1 1 C3 Ballscrew Life C3-5B Ballscrew C3-16B Ballscrew 1 1 Travel Life (x 1 6 inches) 1 Load (lb) 3 25 2 15 1 5.1 C4 Ballscrew Life C4-25B Ballscrew C4-1B Ballscrew 1 1 1 Travel Life (x 1 6 inches) 1 Load (lb) 6 5 4 3 2 1.1 C5-32B Ballscrew C5 Ballscrew Life C5-1B Ballscrew 1 1 1 Travel Life (x 1 6 inches) 1 16 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C eries lectric Cylinders: C eries Linear ositioner Inertia odel C eries atio C1-...-1(L)-3B 1:1 otary Inertia (eflected to otor) = + B* (troke, in) + C * (Load, lb) eduction type crew B C ia x Lead [] lb-in-s 2 lb-in-s 2 / in lb-in-s 2 / lb 1.74-4 4.98-6 1.53-6 C1-...-2-3B 2:1 Helical gear (.375 x.125) 5.6-5 1.24-5 3.81-7 C1-...-4-3B 4:1 3.15-5 1.97-6 6.5-8 C2- -1(L)-16B 1:1 3.18-4 1.7-5 2.6-5 L I N I T I N C2- -15-16B 1.5:1 Belt/pulley 1.54-4 4.96-6 1.2-5 C2- -2-16B 2:1 16 x 16 1.1-4 2.68-6 6.51-6 C2- -5-16B 5:1 5.37-5 4.25-7 1.3-6 Helical gear C2- -1-16B 1:1 4.6-5 1.7-7 2.6-7 C2- -1(L)-5B 1:1 2.9-4 8.3-6 2.54-6 C2- -15-5B 1.5:1 Belt/pulley 1.41-4 3.84-6 1.18-6 C2- -2-5B 2:1 16 x 5 9.33-5 2.7-6 6.36-7 C2- -5-5B 5:1 5.25-5 3.29-7 1.1-7 Helical gear C2- -1-5B 1:1 4.57-5 8.29-8 2.54-8 C2- -1(L)-4 1:1 2.89-4 8.2-6 1.63-6 C2- -15-4 1.5:1 Belt/pulley 1.41-4 3.79-6 7.53-7 C2- -2-4 2:1 16 x 4 9.33-5 2.5-6 4.7-7 C2- -5-4 5:1 5.25-5 3.25-7 6.45-8 Helical gear C2- -1-4 1:1 4.57-5 8.19-8 1.626-8 C1 with K13 C2 with K23 www.kollmorgen.com 17 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C eries lectric Cylinders: L I N I T I N C eries Linear ositioner Inertia otary Inertia (eflected to otor) = + B* (troke, in) + C * (Load, lb) odel crew B C atio eduction type C 3 eries ia x Lead [] lb-in-s2 lb-in-s 2 / in lb-in-s 2 / lb C3- -1(L)-16B 1:1 1.19-3 1.18-5 2.6-5 C3- -15-16B 1.5:1 Belt/pulley 7.44-4 5.23-6 1.16-5 C3- -2-16B 2:1 16 x 16 4.78-4 2.77-6 6.12-6 C3- -5-16B 5:1 2.28-4 4.64-7 1.3-6 Helical gear C3- -7-16B 7:1 1.98-4 2.4-7 5.31-7 C3- -1(L)-1B 1:1 1.2-3 1.87-5 1.2-5 C3- -15-1B 1.5:1 Belt/pulley 7.43-4 8.33-6 4.52-6 C3- -2-1B 2:1 2 x 1 4.81-4 4.41-6 2.39-6 C3- -5-1B 5:1 2.29-4 7.38-7 4.1-7 Helical gear C3- -7-1B 7:1 1.98-4 3.82-7 2.8-7 C3- -1(L)-5B 1:1 1.2-3 1.87-5 1.2-5 C3- -15-5B 1.5:1 Belt/pulley 7.49-4 8.33-6 4.52-6 C3- -2-5B 2:1 2 x 5 4.81-4 4.41-6 2.39-6 C3- -5-5B 5:1 2.28-4 6.95-7 1. -7 Helical gear C3- -7-5B 7:1 1.97-4 3.6-7 5.19-8 C3- -1(L)-4 1:1 2.89-4 8.2-6 1.63-6 C3- -15-4 1.5:1 Belt/pulley 1.41-4 3.79-6 7.53-7 C3- -2-4 2:1 2 x 4 9.33-5 2.5-6 4.7-7 C3- -5-4 5:1 Helical gear 5.25-5 3.25-7 6.45-8 C3- -7-4 7:1 4.57-5 8.19-8 1.63-8 C3 with K23 18 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C eries lectric Cylinders: C eries Linear ositioner Inertia otary Inertia (eflected to otor) = + B* (troke, in) + C * (Load, lb) odel crew B C atio eduction type C 4 eries ia x Lead [] lb-in-s2 lb-in-s 2 / in lb-in-s 2 / lb C4- -1(L)-25B 1:1 4.91-3 7.1-5 6.36-5 C4- -15-25B 1.5:1 Belt/pulley 2.8-3 3.18-5 2.83-5 C4- -2-25B 2:1 25 x 25 2.71-3 1.75-5 1.59-5 C4- -5-25B 5:1 6.27-4 2.69-6 2.43-6 Helical gear C4- -1-25B 1:1 3.47-4 7. -7 6.35-7 L I N I T I N C4- -1(L)-1B 1:1 4.68-3 5.54-5 1.2-5 C4- -15-1B 1.5:1 Belt/pulley 2.7-3 2.46-5 4.52-6 C4- -2-1B 2:1 25 x 1 2.65-3 1.39-5 2.54-6 C4- -5-1B 5:1 6.18-4 2.12-6 3.9-7 Helical gear C4- -1-1B 1:1 3.45-4 5.53-7 1.2-7 odel crew B C atio eduction type C 5 eries ia x Lead [] lb-in-s 2 lb-in-s 2 / in lb-in-s 2 / lb C5-...-1(L)-32B 1:1 5.63-3 1.67-4 1.4-4 C5-...-15-32B 1.5:1 Belt/pulley 3.12-3 7.41-5 4.63-5 C5-...-2-32B 2:1 32 x 32 2.89-3 4.17-5 2.6-5 C5-...-5-32B 5:1 6.54-4 6.38-6 3.99-6 Helical gear C5-...-1-32B 1:1 3.55-4 1.66-6 1.4-6 C5-...-1(L)-1B 1:1 5.16-3 1.41-4 1.2-5 C5-...-15-1B 1.5:1 Belt/pulley 2.91-3 6.26-5 4.52-6 C5-...-2-1B 2:1 32 x 1 2.78-3 3.52-5 2.54-6 C5-...-5-1B 5:1 6.37-4 5.39-6 3.9-7 Helical gear C5-...-1-1B 1:1 3.5-4 1.41-6 1.2-7 www.kollmorgen.com 19 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
lectric Cylinder - ervo ystem: peed (in/sec) - Low peed L I N I T I N Thrust (cont) lb 1 2 4 6 8 1 12 5 C1-1(L)-3B / 13C C1-1(L)-3B / 13C C1-1(L)-3B / 13C C1-1(L)-3B / 13C C1-1(L)-3B / 13C C1-1(L)-3B / 13C C1-1(L)-3B / 13C 1 C1-2-3B / 13C C1-2-3B / 13C C1-2-3B / 13C C1-2-3B / 13C N2-15-5B / 23 N2-15-5B / 23 N2-15-5B / 23 15 C1-4-3B / 11C C1-4-3B / 11C N2-15-5B / 23 N2-15-5B / 23 N2-15-5B / 23 N2-15-5B / 23 N2-15-5B / 23 2 N2-25-5B / 23 N2-25-5B / 23 N2-25-5B / 23 N2-2-5B / 23 N2-15-5B / 23 C2-15-5B / 23 C2-15-5B / 23 3 N2-25-5B / 23 N2-25-5B / 23 N2-25-5B / 23 N2-2-5B / 23 C2-2-5B / 23 C3-1-5B / 42G C2-15-5B / 23 4 N2-2-5B / 23 N2-2-5B / 23 C2-2-5B / 23 N2-2-5B / 23 C3-15-5B / 42G C3-1-5B / 42G C2-15-5B / 23 5 C2-5-5B / 23 C2-5-5B / 23 C2-2-5B / 23 C2-2-5B / 23 C3-15-5B / 42G C3-1-5B / 42G C3-15-1B / 42G 6 C2-5-5B / 23 C2-5-5B / 23 C2-2-5B / 23 C2-2-5B / 23 C3-15-5B / 42G C4-1-1B / 52G C4-2-1B / 52L 7 C3-5-5B / 23 C2-5-5B / 23 C3-5-1B / 42G C3-15-5B / 42G C3-15-5B / 42G C4-1-1B / 52G C4-2-1B / 52L 8 C3-5-5B / 23 C2-5-5B / 23 C3-5-1B / 42G C3-15-5B / 42G C4-2-1B / 52L C4-2-1B / 52L C4-2-1B / 52L 9 C3-5-1B / 42G C3-5-1B / 42G C4-2-1B / 52G C3-15-5B / 42G C4-2-1B / 52L C4-2-1B / 52L C4-2-1B / 52L 1 C3-5-1B / 42G C3-5-1B / 42G C4-2-1B / 52G C4-2-1B / 52L C4-2-1B / 52L C4-2-1B / 52L C4-2-1B / 52L 11 C3-5-1B / 42G C3-5-1B / 42G C4-2-1B / 52G C4-2-1B / 52L C4-2-1B / 52L C4-2-1B / 52L C4-2-1B / 52L 12 C3-5-1B / 42G C3-5-1B / 42G C4-2-1B / 52G C4-2-1B / 52L C4-2-1B / 52L C4-2-1B / 52L 13 C4-2-1B / 52G C4-2-1B / 52G C4-2-1B / 52G C4-2-1B / 52L 14 C4-2-1B / 52G C4-2-1B / 52G C4-2-1B / 52G 15 C4-5-1B / 42G C4-2-1B / 52L peed (in/sec) - High peed 16 2 24 3 36 42 5 Thrust (cont) lb 5 N2-15-2B / 23 N2-15-2B / 23 N2-1-2B / 23 N2-1-2B / 23 C2-15-16B / 23 C2-15-16B / 23 C2-1-16B / 23 75 N2-15-2B / 23 N2-15-2B / 23 N2-1-2B / 23 N2-1-2B / 23 C2-15-16B / 23 C3-1-16B / 42G C4-1-25B / 42G 1 N2-15-2B / 23 N2-15-2B / 23 C2-2-16B / 23 C3-15-16B / 42G C3-1-16B / 42G C3-1-16B / 42G C4-1-25B / 42G 15 C2-1-5B / 23 C3-1-1B / 42G C3-15-16B / 42G C3-1-16B / 42G C3-1-16B / 42G C4-15-25B / 42G C4-1-25B / 52L 2 C3-15-1B / 42G C3-1-1B / 42G C3-15-16B / 42G C4-2-25B / 42G C4-15-25B / 52L C4-15-25B / 52L C4-1-25B / 52L 245 C3-15-1B / 42G C3-1-1B / 42G C3-15-16B / 42G C4-2-25B / 52L C4-15-25B / 52L C4-15-25B / 52L C5-15-32B / 52L 29 C3-15-1B / 42G C4-1-1B / 52L C4-2-25B / 52L C4-2-25B / 52L C4-15-25B / 52L C4-15-25B / 52L 34 C3-15-1B / 42G C4-1-1B / 52L C4-2-25B / 52L C4-2-25B / 52L C4-15-25B / 52L 4 C4-15-25B / 52G C4-1-1B / 52L C4-2-25B / 52L C4-2-25B / 52L 46 C4-15-1B / 52L C4-1-1B / 52L C4-2-25B / 52L 6 C4-15-1B / 52L C4-1-1B / 52L 775 C4-15-1B / 52L Quick election Guide eference ystems listed in charts represent the most economical package to meet the criterion. 1) elect chart for application speed range Top Chart - Low peed - peeds up to rated linear speed of 12 in/sec 2) elect system by required continuous thrust (lbs) and required rated speed (in/sec). ther applications considerations (system resolution, inertia ratio, desired safety margins, etc) may result in selection of a different system. For additional 2 system specifications see pages 71-73. For detailed force speed system curves for drives series, 2, 3 and mart rive, see pages 25-39. erformance data represents continuous thrust (lb) at rated speed (in/s). Based on 2 amplifier with 23 Vac, 3 phase supply. 2 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
ystem erformance ummary - N2, C1, C2 eries g ystem Cont Thrust @ peed eak Thrust @ peed ax Thrust lb in/s lb in/s lb 25 N2-K23- -1-5B 188 12. 6 11. 6 25 N2-K23- -15-5B 282 8. 6 8. 6 25 N2-K23- -2-5B 375 6. 6 6. 6 25 N2-K23- -25-5B 367 4.8 6 4.8 6 25 N2-K23- -1-2B 75 3. 275 25. 275 25 N2-K23- -15-2B 112 2. 415 16.7 415 25 N2-K23- -2-2B 15 15. 552 12.5 552 25 N2-K23- -25-2B 146 12. 536 1. 536 26 N2-K23- -1-5 84 12. 36 1. 36 26 N2-K23- -15-5 123 8. 46 6.6 46 26 N2-K23- -2-5 17 6. 6 5.4 6 26 N2-K23- -25-5 162 5. 596 4. 6 27 C1-K11B- -1-3B 5 13. 75 13. 75 27 C1-K11B- -2-3B 1 6. 125 6. 125 27 C1-K11B- -4-3B 15 3. 15 3. 15 27 C1-K13C- -1-3B 75 11.5 75 13. 75 27 C1-K13C- -2-3B 125 5.9 125 6. 125 28 C1-CT12 LF1-1L-3B 2 5. 75 1.4 75 28 C1-CT12 LF1-1-3B 18 5. 75 1.2 75 28 C1-CT12 LF1-2-3B 35 2.5 125.74 125 28 C1-CT12 LF1-4-3B 71 1.25 15.61 15 Continuous Thrust (lb) @ peed 1 2 3 4 5 5 75 75 2 18 35 71 84 1 112 123 125 15 146 17 162 15 188 282 375 367 L I N I T I N 29 C2-K23- -1-16B 59 5. 22 32. 22 29 C2-K23- -15-16B 85 35. 293 23.2 32 29 C2-K23- -2-16B 116 26. 251 21. 357 29 C2-K23- -5-16B 286 7.2 81 7.2 81 59 85 116 286 3 C2-K23- -1-5B 187 16. 7 1. 7 3 C2-K23- -15-5B 274 11. 81 8. 81 3 C2-K23- -2-5B 373 8.2 82 6.6 81 3 C2-K23- -5-5B 81 2.3 81 2.3 81 187 274 373 81 3 C2-K23- -1-4 15 9.2 39 7.8 39 3 C2-K23- -15-4 157 6.2 521 5.8 572 3 C2-K23- -2-4 212 4.6 455 4.6 6 3 C2-K23- -5-4 513 1.8 81 1.8 81 15 157 212 513 lotted value is continuous thrust (lb), refer to chart for the associated rated speed value. www.kollmorgen.com 21 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
ystem erformance ummary - C3 eries L I N I T I N g ystem Cont Thrust @ peed eak Thrust @ peed ax Thrust lb in/s lb in/s lb 31 C3-K23- -1-16B 62 5. 219 31.5 219 31 C3-K23- -15-16B 88 35. 33 2. 33 31 C3-K23- -2-16B 121 25. 452 12.8 452 31 C3-K23- -5-16B 244 6.3 89 6.3 9 31 C3-K23- -1-1B 96 21. 35 19.7 35 31 C3-K23- -15-1B 14 21. 525 13. 525 31 C3-K23- -2-1B 192 16. 723 1. 723 31 C3-K23- -5-1B 393 3.9 143 3.9 143 32 C3-K23- -1-5B 193 1.3 7 1.3 7 32 C3-K23- -15-5B 28 1.3 15 6. 15 32 C3-K23- -2-5B 384 8. 144 5. 144 32 C3-K23- -5-5B 784 2. 161 2. 161 62 Continuous Thrust (lb) @ peed 1 2 3 4 5 88 121 244 96 14 192 393 193 28 384 784 32 C3-K23- -1-4 85 7.9 311 7.8 311 32 C3-K23- -15-4 128 5.2 47 5.2 47 32 C3-K23- -2-4 177 3.8 64 3.8 64 32 C3-K23- -5-4 351 1.6 127 1.6 127 85 128 177 351 33 C3-K42G- -1-16B 16 42.2 61 24. 627 33 C3-K42G- -15-16B 237 28. 515 23. 725 33 C3-K42G- -5-16B 664 6.2 161 6.2 161 16 237 664 33 C3-K42G- -1-1B 255 21. 962 15.1 1 33 C3-K42G- -15-1B 378 17.6 824 14.4 159 33 C3-K42G- -5-1B 13 3.9 161 3.9 161 33 C3-K42G- -15-5B 71 1.3 162 7.74 162 255 378 13 71 Force peed Curves located on pages 31-33. lotted value is continuous thrust (lb), refer to chart for the associated rated speed value. 22 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
g ystem Cont Thrust @ peed eak Thrust @ peed ax Thrust lbs in/s lbs in/s lbs 34 C4-K42G- -1-25B 13 52. 4 35.4 4 34 C4-K42G- -15-25B 151 44. 6 23.6 6 34 C4-K42G- -2-25B 21 33. 8 17.7 8 34 C4-K42G- -5-25B 56 5.1 1958 5.1 1958 34 C4-K42G- -1-1B 26 21. 1 14.2 12 34 C4-K42G- -15-1B 378 17.5 154 9.5 154 34 C4-K42G- -2-1B 53 13.2 25 7.1 25 34 C4-K42G- -5-1B 14 2. 27 2. 27 35 C4-K52G- -1-25B 279 26.6 481 22.6 692 35 C4-K52G- -15-25B 419 17.8 88 14. 141 35 C4-K52G- -2-25B 552 13.3 925 11.8 1199 35 C4-K52G- -5-25B 1364 5.2 2374 4.4 2374 35 C4-K52G- -1-1B 698 1.6 124 9.4 174 35 C4-K52G- -15-1B 147 7.1 22 5.6 262 35 C4-K52G- -2-1B 1396 5.3 232 4.6 2698 35 C4-K52G- -5-1B 2698 2.1 2698 2.1 2698 36 C4-K52L- -1-25B 24 52.5 42 52.5 725 36 C4-K52L- -15-25B 291 46.5 741 43.1 187 36 C4-K52L- -2-25B 388 34.9 784 33. 118 36 C4-K52L- -5-25B 137 5.1 2374 5.1 2374 Continuous Thrust (lb) @ peed 32 64 96 128 16 13 15121 56 26 378 53 14 279 419 552 1364 698 147 1396 2698 24 291 388 137 L I N I T I N 36 C4-K52L- -1-1B 6 21. 155 21. 1526 36 C4-K52L- -15-1B 727 18.6 1852 17.2 2698 36 C4-K52L- -2-1B 97 13.9 196 13.2 2645 36 C4-K52L- -5-1B 2698 2.1 2698 2.1 2698 6 727 97 2698 lotted value is continuous thrust (lb), refer to chart for the associated rated speed value. www.kollmorgen.com 23 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
L I N I T I N g ystem Cont Thrust @ peed eak Thrust @ peed ax Thrust lbs in/s lbs in/s lbs 37 C5-K42G- -1-32B 87 52.5 313 45.4 313 37 C5-K42G- -15-32B 119 52.5 47 3.2 47 37 C5-K42G- -2-32B 158 42.2 627 22.7 627 37 C5-K42G- -5-32B 436 6.6 153 6.6 153 37 C5-K42G- -1-1B 268 15.2 12 14.2 12 37 C5-K42G- -15-1B 382 15.2 15 9.4 15 37 C5-K42G- -2-1B 54 13.2 2 7.1 2 37 C5-K42G- -5-1B 142 2. 4895 2. 4895 38 C5-K52G- -1-32B 216 34.2 376 28.7 541 38 C5-K52G- -15-32B 327 22.7 694 17.2 814 38 C5-K52G- -2-32B 436 17. 723 15. 145 38 C5-K52G- -5-32B 165 6.6 1854 5.7 1854 38 C5-K52G- -1-1B 7 1.6 124 9. 173 38 C5-K52G- -15-1B 15 7. 22 5.5 262 38 C5-K52G- -2-1B 1396 5.3 2238 4.5 3343 38 C5-K52G- -5-1B 344 2.1 56 1.8 56 39 C5-K52L- -1-32B 2 52.5 34 52.5 477 39 C5-K52L- -15-32B 265 52.5 58 52.5 85 39 C5-K52L- -2-32B 33 44.6 616 42. 922 39 C5-K52L- -5-32B 133 6.6 1854 6.6 1854 39 C5-K52L- -1-1B 654 15.3 118 15.3 1526 39 C5-K52L- -15-1B 727 15.3 1852 15.3 2762 39 C5-K52L- -2-1B 97 13.9 1971 13.2 295 39 C5-K52L- -5-1B 3495 2.1 562 2.1 562 Continuous Thrust (lb) @ peed 32 64 96 128 16 87 119158 436 268 382 54 142 216 327 436 165 7 15 1396 344 2 26533 133 654 727 97 3495 lotted value is continuous thrust (lb), refer to chart for the associated rated speed value. 24 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Thrust peed Curves - N2 eries N2-K23 - -1-5B TQU - N-m, lb-in..7 1.3 2. 2.7 3.3 4.. 5.9 11.8 17.7 23.6 29.5 35.4 381 15 35 12 229 9 152 6 76 3. 12 24 36 48 6 72 534 168 161 2135 2669 323 THUT - lb, N N2-K23 - -15-5B 12 24 36 48 6 72 534 168 161 2135 2669 323 THUT - lb, N 45 36 27 18 9 TQU - N-m, lb-in..4.9 1.3 1.8 2.2 2.6. 3.9 7.8 11.7 15.6 19.5 23.4 254 1 45 23 8 36 152 6 27 12 4 18 51 2 9. *46 Vac T T N2-K23 - -1-2B TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27. 33.8 4.6 953 38 45 762 3 36 572 23 27 381 15 18 191 8 9. 55 11 165 22 275 33 245 489 734 979 1223 1468 THUT - lb, N N2-K23 - -15-2B TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.6 2.4 27.2 34. 4.8 635 25 45 58 2 36 381 15 27 254 1 18 127 5 9. 83 166 249 332 415 498 369 738 118 1477 1846 2215 THUT - lb, N T T L I N I T I N N2-K23 - -2-5B 191 7.5 152 6. 114 4.5 76 3. 38 1.5.. *46 Vac TQU - N-m, lb-in..3.7 1. 1.3 1.7 2.. 3. 5.9 8.9 11.8 14.8 17.7 12 24 36 48 6 72 534 168 161 2135 2669 323 THUT - lb, N 45 36 27 18 9 T N2-K23 - -2-2B TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.6 2.3 27.1 33.9 4.7 476 19 45 381 15 36 286 11 27 191 8 18 95 4 9. 11 221 331 442 552 662 491 982 1472 1963 2454 2945 THUT - lb, N T N2-K23 - -25-5B TQU - N-m, lb-in..3.7 1. 1.4 1.7 2.1. 3. 6.1 9.1 12.1 15.2 18.2 152 122 91 61 3. 6. 4.8 3.6 2.4 1.2. 45 36 27 18 9 12 24 36 48 6 72 534 168 161 2135 2669 323 THUT - lb, N *46 Vac T N2-K23 - -25-2B TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27. 33.8 4.6 381 15 45 35 12 36 229 9 27 152 6 18 76 3 9. 17 214 322 429 536 643 447 953 143 197 2384 286 THUT - lb, N T N2-5B Ballscrew Critical peed Limit 2 4 6 8 1 12 14 16 18 2 in 2 15 1 5 in/s 51 12 152 23 254 35 356 46 457 58 mm troke Length Legend 25 km/ 1 " Life 1. 46.Vac 3 1.5 /4.5 46 Vac 5 2.1 /4.2 23 Vac 2 3. /9. 115 Vac 2 3. /9. * 46 Vac system limits are equivalent to 23 Vac system. N2-2B 35 3 25 2 15 in/s Ballscrew Critical peed Limit 2 4 6 8 1 12 14 16 18 2 in 51 12 152 23 254 35 356 46 457 mm troke Length www.kollmorgen.com 25 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Thrust peed Curves - N2 eries L I N I T I N N2-K23 - -1-5 381 15. 35 12. 229 9. 152 6. 76 3... TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27.1 33.8 4.6 61 122 184 245 36 367 272 544 817 189 1361 1633 THUT - lb, N N2-K23 - -15-5 92 184 276 368 46 552 49 818 1228 1637 246 2455 THUT - lb, N 45 36 27 18 9 TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.6 2.4 27.1 33.9 4.7 254 1 45 23 8 36 152 6 27 12 4 18 51 2 9. T T N2-K23 - -2-5 TQU - N-m, lb-in..7 1.5 2.2 3. 3.7 4.5. 6.6 13.3 19.9 26.5 33.2 39.8 191 7.5 45 152 6. 36 114 4.5 27 76 3. 18 38 1.5 9.. 12 24 36 48 6 72 534 168 161 2135 2669 323 THUT - lb, N N2-K23 - -25-5 TQU - N-m, lb-in..8 1.5 2.3 3.1 3.9 4.6. 6.8 13.7 2.5 27.3 34.1 41. 159 127 95 64 32. 6.3 5. 3.8 2.5 1.3. 4688 375 2813 1875 938 12 24 36 48 6 72 534 168 161 2135 2669 323 THUT - lb, N T T N2-5 Lead crew Critical peed Limit 2 4 6 8 1 12 14 16 18 2 in N2-5 2 15 1 5 in/s 51 12 152 23 254 35 356 46 457 58 mm troke Length Legend 25 km/ 1 " Life 1. 46.Vac 3 1.5 /4.5 46 Vac 5 2.1 /4.2 23 Vac 2 3. /9. 115 Vac 2 3. /9. 26 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Thrust peed Curves - C1 eries C1-K11B- -1-3B 381 15. 35 12. 229 9. 152 6. 76 3... *23 Vac TQU - N-m, lb-in..4.8.12.17.21.25..4.7 1.1 1.5 1.8 2.2. 15 3 45 6 75 9. 67 133 2 267 334 4 THUT - lb, N C1-K11B- -2-3B 191 7.5 153 6. 115 4.5 76 3. 38 1.5.. TQU - N-m, lb-in..3.7.1.14.17.21..3.6.9 1.2 1.5 1.8. 25 5 75 1 125 15. 111 222 334 445 556 667 72 576 432 288 144. 72 576 432 288 144. T T C1-K13C- -1-3B 381 15. 35 12. 229 9. 152 6. 76 3... TQU - N-m, lb-in..4.8.12.17.21.25..4.7 1.1 1.5 1.8 2.2. 15 3 45 6 75 9. 67 133 2 267 334 4 THUT - lb, N C1-K13C- -2-3B 191 7.5 152 6. 114 4.5 76 3. 38 1.5.. TQU - N-m, lb-in..3.7.1.14.17.21..3.6.9 1.2 1.5 1.8. 25 5 75 1 125 15. 111 222 334 445 556 667 72 576 432 288 144. 72 576 432 288 144. T T L I N I T I N *23 Vac THUT - lb, N *23 Vac THUT - lb, N C1-K11B- -4-3B 95 3.75 76 3. 57 2.25 38 1.5 19.75.. TQU - N-m, lb-in..2.4.6.8.1.12..18.37.55.74.92 1.11. 3 6 9 12 15 18. 133 267 4 534 667 81 72 576 432 288 144. T *23 Vac THUT - lb, N Ballscrew Critical peed Limit. 2. 3.9 5.9 7.9 25 2 15 1 5 in/s 5 1 15 2 troke Length mm Legend 23 Vac 2 1.5 /4.5 115 Vac 2 1.5 /4.5 * 23 Vac system limits are equivalent to 115 Vac system. www.kollmorgen.com 27 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
L I N I T I N Thrust peed Curves - C1 (w/ct tepper) eries C1-CT12 LF1-1L-3B 152 6. 122 4.8 91 3.6 61 2.4 3 1.2.. TQU - N-cm, lb-in. 3.7 7.5 11.2 15. 18.7 22.5..3.7 1. 1.3 1.7 2.. 15 3 45 6 75 9. 67 133 2 267 334 4 C1-CT12 LF1-2-3B 76 3. 61 2.4 46 1.8 3 1.2 15.6.. THUT - lb, N TQU - N-cm, lb-in. 3.5 6.9 1.4 13.9 17.3 2.8..3.6.9 1.2 1.5 1.8. 25 5 75 1 125 15. 111 222 334 445 556 667 288 23 173 115 575. 288 23 173 115 575. T T C1-CT12 LF1-1-3B 152 6. 122 4.8 91 3.6 61 2.4 3 1.2.. TQU - N-cm, lb-in. 4.2 8.3 12.5 16.7 2.8 25...4.7 1.1 1.5 1.8 2.2. 15 3 45 6 75 9. 67 133 2 267 334 4 C1-CT12 LF1-4-3B 38 1.5 3 1.2 23.9 15.6 8..3.. THUT - lb, N TQU - N-cm, lb-in. 2.1 4.2 6.2 8.3 1.4 12.5..18.37.55.74.92 1.11. 3 6 9 12 15 18. 133 267 4 534 667 81 288 23 173 115 575. 288 23 173 115 575. T T THUT - lb, N THUT - lb, N Ballscrew Critical peed Limit. 2. 3.9 5.9 7.9 25 2 15 1 5 in/s 5 1 15 2 troke Length mm Legend 36 Vdc 24 Vdc 28 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Thrust peed Curves - C2 eries C2-K23 - -1-16B 1588 62.5 127 5. 953 37.5 635 25. 318 12.5.. 1588 127 953 635 318. 62.5 5. 37.5 25. 12.5. TQU - N-m, lb-in..9 1.7 2.6 3.5 4.4 5.2. 7.7 15.5 23.2 3.9 38.7 46.4 5 1 15 2 25 3 222 445 667 89 1112 1334 THUT - lb, N C2-K23 - -15-16B TQU - N-m, lb-in..9 1.7 2.6 3.5 4.4 5.2. 6.1 12.3 18.4 24.5 3.7 36.8 58 117 175 233 292 35 222 445 667 89 1112 1334 THUT - lb, N 5953 4763 3572 2381 1191 893 7144 5358 3572 1786 T T C2-K23 - -1-5B TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27.1 33.8 4.6 58 2 696 46 16 4877 35 12 3658 23 8 2438 12 4 1219. 58 2 46 16 35 12 23 8 12 4. 14 28 42 56 7 84 623 1246 1868 2491 3114 3737 THUT - lb, N C2-K23 - -15-5B TQU - N-m, lb-in..6 1.2 1.8 2.4 3. 3.6. 5.3 1.5 15.8 21.1 26.3 31.6 16 32 48 64 8 96 712 1423 2135 2847 3559 427 THUT - lb, N 9144 7315 5486 3658 1829 T T L I N I T I N C2-K23 - -2-16B 1168 46. 935 36.8 71 27.6 467 18.4 234 9.2.. TQU - N-m, lb-in..6 1.2 1.8 2.3 2.9 3.5. 5.2 1.3 15.5 2.7 25.8 31. 67 133 2 267 333 4 297 583 89 1186 1483 1779 THUT - lb, N 8763 71 5258 355 1753 T C2-K23 - -2-5B TQU - N-m, lb-in..4.9 1.3 1.7 2.2 2.6. 3.9 7.7 11.6 15.5 19.3 23.2 365 14.4 8763 292 11.5 71 219 8.6 5258 146 5.8 355 73 2.9 1753.. 16 32 48 64 8 96 712 1423 2135 2847 3559 427 THUT - lb, N T C2-K23 - -5-16B 229 9. 183 7.2 137 5.4 91 3.6 46 1.8.. TQU - N-m, lb-in..6 1.2 1.8 2.4 3. 3.6. 5.3 1.6 15.9 21.3 26.6 31.9 165 33 495 66 825 99 667 1334 22 2669 3336 43 THUT - lb, N 4286 3429 2572 1715 857 T C2-K23 - -5-5B TQU - N-m, lb-in..2.4.5.7.9 1.1. 1.6 3.2 4.8 6.5 8.1 9.7 73 2.9 4382 58 2.3 355 44 1.7 2629 29 1.2 1753 15.6 876.. *46 Vac 16 32 48 64 8 96 712 1423 2135 2847 3559 427 THUT - lb, N T C2-16B Ballscrew Critical peed Limit. 5.9 11.8 17.7 23.6 29.5 in 5 4 3 2 1 in/s 15 3 45 6 75 mm troke Length Legend 25 km/ 1 " Life 1. 46.Vac 3 1.5 /4.5 46 Vac 5 2.1 /4.2 23 Vac 2 3. /9. 115 Vac 2 3. /9. * 46 Vac system limits are equivalent to 23 Vac system. C2-5B Ballscrew Critical peed Limit. 5.9 11.8 17.7 23.6 29.5 2 16 12 8 4 in/s 15 3 45 6 75 troke length in mm www.kollmorgen.com 29 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Thrust peed Curves - C2 eries L I N I T I N C2-K23 - -1-4 TQU - N-m, lb-in..8 1.6 2.4 3.1 3.9 4.7. 7. 13.9 2.9 27.9 34.8 41.8 286 11.5 4382 229 9.2 355 171 6.9 2629 114 4.6 1753 57 2.3 876.. 191 7.5 152 6. 114 4.5 76 3. 38 1.5.. 8 16 24 32 4 48 356 712 168 1423 1779 2135 THUT - lb, N C2-K23 - -15-4 TQU - N-m, lb-in..8 1.5 2.3 3.1 3.9 4.6. 6.8 13.6 2.4 27.3 34.1 4.9 115 23 345 46 575 69 512 123 1535 246 2558 369 THUT - lb, N 4286 3429 2572 1715 857 T T C2-K23 - -2-4 146 5.8 117 4.6 88 3.5 58 29. *46 Vac 2.3 1.2. 57 2.3 46 1.8 34 1.4 23.9 11.5.. TQU - N-m, lb-in..6 1.2 1.8 2.4 3. 3.5. 5.2 1.5 15.7 2.9 26.2 31.4 12 24 36 48 6 72 534 168 161 2135 2669 323 THUT - lb, N C2-K23 - -5-4 *46 Vac TQU - N-m, lb-in..3.7 1. 1.3 1.6 2.. 2.9 5.8 8.7 11.6 14.5 17.4 16 32 48 64 8 96 712 1423 2135 2847 3559 427 THUT - lb, N 4382 355 2629 1753 876 4286 3429 2572 1715 857 T T Critical peed (in/s) C2-4 Lead crew pecifications. 5.9 11.8 17.7 23.6 29.5 11 9 7 5 2 15 3 45 6 75 troke length in 7 56 42 28 14 mm Column Load Limit (lbs) Legend 25 km/ 1 " Life 1. 46.Vac 3 1.5 /4.5 46 Vac 5 2.1 /4.2 23 Vac 2 3. /9. 115 Vac 2 3. /9. * 46 Vac system limits are equivalent to 23 Vac system. 3 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Thrust peed Curves - C3 eries C3-K23 - -1-16B TQU - N-m, lb-in..8 1.5 2.3 3.1 3.9 4.6. 6.8 13.6 2.5 27.3 34.1 4.9 1588 62.5 5953 127 5. 4763 953 37.5 3572 635 25. 2381 318 12.5 1191.. 44 88 132 176 22 264 196 391 587 783 979 1174 THUT - lb, N C3-K23 - -15-16B TQU - N-m, lb-in..8 1.5 2.3 3.1 3.9 4.6. 6.8 13.6 2.5 27.3 34.1 4.9 1588 62.5 127 5. 953 37.5 635 25. 318 12.5.. 66 132 198 264 33 396 294 587 881 1174 1468 1761 THUT - lb, N 893 7144 5358 3572 1786 T T C3-K23 - -1-1B TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27.1 33.8 4.6 635 25 381 58 2 348 381 15 2286 254 1 1524 127 5 762. 7 14 21 28 35 42 311 623 934 1246 1557 1868 THUT - lb, N C3-K23 - -15-1B TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27.1 33.8 4.6 635 25 5715 58 2 4572 381 15 3429 254 1 2286 127 5 1143. 15 21 315 42 525 63 467 934 141 1868 2335 282 THUT - lb, N T T L I N I T I N C3-K23 - -2-16B 1111 43.8 889 35. 667 26.3 445 17.5 222 8.8.. TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27. 33.8 4.5 9 18 27 36 45 54 4 81 121 161 22 242 THUT - lb, N 8334 6668 51 3334 1667 T C3-K23 - -2-1B TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27. 33.8 4.5 635 25 58 2 381 15 254 1 127 5. 144 288 432 576 72 864 641 1281 1922 2562 323 3843 THUT - lb, N 762 696 4572 348 1524 T C3-K23 - -5-16B TQU - N-m, lb-in..8 1.5 2.3 3.1 3.9 4.6. 6.8 13.6 2.5 27.3 34.1 4.9 198 7.8 158 6.2 119 4.7 79 3.1 4 1.6.. 3691 2953 2215 1476 738 18 36 54 72 9 18 81 161 242 323 43 484 THUT - lb, N T C3-K23 - -5-1B 127 5. 12 4. 76 3. 51 2. 25 1... TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27.1 33.8 4.6 286 572 858 1144 143 1716 1272 2544 3817 589 6361 7633 THUT - lb, N 381 348 2286 1524 762 T C3-16B Ballscrew pecifications. 7.9 15.7 23.6 31.5 39.4 Critical peed (in/s) 6 5 4 3 2 1 2 4 6 8 1 troke length www.kollmorgen.com in 12 1 8 6 4 2 mm Column Load Limit (lbs) Legend C3-1B Ballscrew pecifications 25 km/ 1 " Life. 7.9 15.7 23.6 31.5 39.4 in 1. 46.Vac 3 1.5 /4.5 26 15 21 12 46 Vac 5 2.1 /4.2 16 9 11 6 23 Vac 2 3. /9. 115 Vac 2 3. /9. 5 3 2 4 6 8 1 mm troke length Critical peed (in/s) Column Load Limit (lbs) 31 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Thrust peed Curves - C3 eries L I N I T I N C3-K23 - -1-5B 318 12.5 254 1. 191 7.5 127 5. 64 2.5.. 318 12.5 254 1. 191 7.5 127 5. 64 2.5.. TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27.1 33.8 4.6 14 28 42 56 7 84 623 1246 1868 2491 3114 3737 THUT - lb, N C3-K23 - -15-5B TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27.1 33.8 4.6 21 42 63 84 15 126 934 1868 282 3737 4671 565 THUT - lb, N 381 348 2286 1524 762 5715 4572 3429 2286 1143 T T C3-K23 - -1-4 TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27. 33.8 4.5 254 1 381 23 8 348 152 6 2286 12 4 1524 51 2 762. 165 6.5 132 5.2 99 3.9 66 2.6 33 1.3.. 62 124 186 248 31 372 276 552 827 113 1379 1655 THUT - lb, N C3-K23 - -15-4 TQU - N-m, lb-in..8 1.5 2.3 3.1 3.9 4.6. 6.8 13.6 2.5 27.3 34.1 4.9 94 188 282 376 47 564 418 836 1254 1673 291 259 THUT - lb, N 3715 2972 2229 1486 743 T T C3-K23 - -2-5B TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27. 33.8 4.5 318 12.5 762 254 1. 696 191 7.5 4572 127 5. 348 64 2.5 1524.. 288 576 864 1152 144 1728 1281 2562 3843 5124 645 7687 THUT - lb, N T C3-K23 - -2-4 TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27. 33.8 4.5 122 4.8 362 98 3.8 2896 73 2.9 2172 49 1.9 1448 24 1. 724.. 128 256 384 512 64 768 569 1139 178 2277 2847 3416 THUT - lb, N T C3-K23 - -5-5B TQU - N-m, lb-in..4.9 1.3 1.7 2.2 2.6. 3.8 7.6 11.4 15.3 19.1 22.9 64 2.5 381 51 2. 348 38 1.5 2286 25 1. 1524 13.5 762.. 322 644 966 1288 161 1932 1432 2865 4297 5729 7162 8594 *46 Vac THUT - lb, N T C3-K23 - -5-4 TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27.1 33.8 4.6 51 2. 381 41 1.6 348 3 1.2 2286 2.8 1524 1.4 762.. 254 58 762 116 127 1524 113 226 339 4519 5649 6779 THUT - lb, N T 32 C3-5B Ballscrew pecifications. 7.9 15.7 23.6 31.5 39.4 13 1 8 5 3 2 4 6 8 1 troke length Critical peed (in/s) in 1875 15 1125 75 375 mm Column Load Limit (lbs) C3-4 Lead crew pecifications 25 km/ 1 " Life. 7.9 15.7 23.6 31.5 39.4 1. 46.Vac 3 1.5 /4.5 1 Legend 46 Vac 5 8 2.1 /4.2 6 23 Vac 2 3. /9. 4 2 115 Vac 2 3. /9. 2 4 6 8 1 * 46 Vac system limits are equivalent to 23 Vac system. troke length Critical peed (in/s) K L L G N in 12 1 8 6 4 2 mm Column Load Limit (lbs) This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Thrust peed Curves - C3 eries C3-K42 - -1-16B 134 52.8 172 42.2 84 31.7 536 21.1 268 1.6.. 889 35 711 28 533 21 356 14 178 7. TQU - N-m, lb-in. 2.2 4.4 6.6 8.8 11. 13.2. 19.4 38.8 58.2 77.6 97. 116.4 125 251 376 52 627 752 558 1115 1673 223 2788 3345 THUT - lb, N C3-K42 - -15-16B 145 29 435 58 725 87 645 129 1935 258 3225 387 THUT - lb, N 524 42 315 21 15 TQU - N-m, lb-in. 1.7 3.4 5.1 6.8 8.4 1.1. 15. 29.9 44.9 59.8 74.8 89.7 51 41 3 2 1 T T C3-K42 - -1-1B 667 26.3 533 21. 4 15.8 267 1.5 133 5.3.. TQU - N-m, lb-in. 2.2 4.4 6.6 8.7 1.9 13.1. 19.3 38.7 58. 77.3 96.7 116. 2 4 6 8 1 12 89 1779 2669 3559 4448 5338 THUT - lb, N C3-K42 - -15-1B TQU - N-m, lb-in. 1.5 3.1 4.6 6.2 7.7 9.3. 13.7 27.3 41. 54.6 68.3 82. 559 22. 447 17.6 335 13.2 224 8.8 112 4.4.. 212 424 636 848 16 1272 943 1886 2829 3772 4715 5658 THUT - lb, N 41 32 24 16 8 529 423 317 212 16 T T L I N I T I N C3-K42 - -5-16B TQU - N-m, lb-in. 1.4 2.8 4.1 5.5 6.9 8.3. 12.2 24.4 36.6 48.7 6.9 73.1 197 7.8 157 6.2 118 4.7 79 3.1 39 1.6.. 3691 2953 2215 1476 738 322 644 966 1288 161 1932 1432 2865 4297 5729 7162 8594 THUT - lb, N *46 Vac T C3-K42 - -5-1B 127 5. 12 4. 76 3. 51 2. 25 1... *46 Vac TQU - N-m, lb-in..9 1.7 2.6 3.4 4.3 5.2. 7.6 15.2 22.9 3.5 38.1 45.7 322 644 966 1288 161 1932 1432 2865 4297 5729 7162 8594 THUT - lb, N 381 348 2286 1524 762 T C3-K42 - -15-5B TQU - N-m, lb-in. 1.1 2.3 3.4 4.6 5.7 6.9. 1.2 2.3 3.5 4.6 5.8 6.9 318 12.5 254 1. 191 7.5 127 5. 64 2.5. 3 6 9 12 15 18 1334 2669 43 5338 6672 87 THUT - lb, N 5715 4572 3429 2286 1143 T C3-16B Ballscrew pecifications. 7.9 15.7 23.6 31.5 39.4 Critical peed (in/s) 6 5 4 3 2 1 2 4 6 8 1 troke length in 12 1 8 6 4 2 mm Column Load Limit (lbs) Legend 25 km / 1 " Life 46 5. Vac 3.9 /7.8 46. Vac 3 3. /7.5 (Ip limit) 2 4 6 23 Vac 2 6. /18. 115 Vac 2 6. /18. 115/23 Vac 3 6. /15. (Ip limit) * 46 Vac system limits are equivalent to 23 Vac system. C3-1B Ballscrew pecifications. 7.9 15.7 23.6 31.5 39.4 in Critical peed (in/s) 26 21 16 11 5 2 4 6 8 1 troke length 15 12 9 6 3 mm Column Load Limit (lbs) www.kollmorgen.com 33 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
L I N I T I N C4-K42 - -1-25B TQU - N-m, lb-in. 2.2 4.4 6.6 8.7 1.9 13.1. 19.3 38.7 58. 77.3 96.7 116. 1588 62.5 127 5. 953 37.5 635 25. 318 12.5.. 8 16 24 32 4 48 222 445 667 89 1112 1334 THUT - lb, N C4-K42 - -15-25B TQU - N-m, lb-in. 2.2 4.4 6.6 8.7 1.9 13.1. 19.4 38.7 58.1 77.4 96.8 116.1 1397 55. 1118 44. 838 33. 559 22. 279 11... 12 24 36 48 6 72 534 168 161 2135 2669 323 THUT - lb, N 381 348 2286 1524 762 529 423 318 212 16 T T C4-K42 - -1-1B TQU - N-m, lb-in. 2.2 4.4 6.6 8.7 1.9 13.1. 19.3 38.7 58. 77.4 96.7 116. 635 25. 381 58 2. 348 381 15. 2286 254 1. 1524 127 5. 762.. 2 4 6 8 1 12 89 1779 2669 3559 4448 5338 THUT - lb, N C4-K42 - -15-1B TQU - N-m, lb-in. 2.2 4.4 6.6 8.7 1.9 13.1. 19.3 38.7 58. 77.3 96.6 116. 572 22.5 5144 457 18. 4115 343 13.5 386 229 9. 257 114 4.5 129.. 3 6 9 12 15 18 1334 2669 43 5338 6672 87 THUT - lb, N T T C4-K42 - -2-25B 116 4. 813 32. 61 24. 46 16. 23 8... TQU - N-m, lb-in. 2.2 4.4 6.6 8.7 1.9 13.1. 19.3 38.7 58. 77.3 96.7 116. 16 32 48 64 8 96 712 1423 2135 2847 3559 427 THUT - lb, N 4877 391 2926 1951 975 T C4-K42 - -2-1B TQU - N-m, lb-in. 2.2 4.4 6.6 8.7 1.9 13.1. 19.3 38.7 58. 77.3 96.7 116. 413 16.3 4953 33 13. 3962 248 9.8 2972 165 6.5 1981 83 3.3 991.. 4 8 12 16 2 24 1779 3559 5338 7117 8896 1676 THUT - lb, N T C4-K42 - -5-25B TQU - N-m, lb-in. 2.2 4.5 6.7 8.9 11.2 13.4. 19.8 39.6 59.4 79.2 99. 118.8 159 6.25 127 5. 95 3.75 64 2.5 32 1.25.. 4 8 12 16 2 24 1779 3559 5338 7117 8896 1676 THUT - lb, N 195 1524 1143 762 381 T C4-K42 - -5-1B TQU - N-m, lb-in. 1.2 2.4 3.6 4.8 6. 7.2. 1.7 21.4 32.1 42.8 53.4 64.1 64 2.5 195 51 2. 1524 38 1.5 1143 25 1. 762 13.5 381.. *46 Vac 54 18 162 216 27 324 242 484 726 968 121 14412 THUT - lb, N T C4-25B Ballscew pecifications. 9.8 19.7 29.5 39.4 49.2 59.1 in Critical peed (in/s) 65 52 39 26 13 25 5 75 1 125 15 troke length 2375 19 1425 95 475 mm Column Load Limit (lbs) Legend 25 km / 1 " Life 46 5. Vac 3.9 /7.8 46. Vac 3 3. /7.5 (Ip limit) 2 4 6 23 Vac 2 6. /18. 115 Vac 2 6. /18. 115/23 Vac 3 6. /15. (Ip limit) * 46 Vac system limits are equivalent to 23 Vac system. C4-1B Ballscrew pecification. 9.8 19.7 29.5 39.4 49.2 59.1 2 16 12 8 4 25 5 75 1 125 15 troke length Critical peed (in/s) in 2375 19 1425 95 475 mm Column Load Limit (lbs) 34 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C4-K52G - -1-25B TQU - N-m, lb-in. 3.8 7.6 11.5 15.3 19.1 22.9. 33.8 67.6 11.5 135.3 169.1 22.9 1588 62.5 381 127 5. 348 953 37.5 2286 635 25. 1524 318 12.5 762.. 116 4. 813 32. 61 24. 46 16. 23 8... 14 28 42 56 7 84 623 1246 1868 2491 3114 3737 THUT - lb, N C4-K52G - -15-25B TQU - N-m, lb-in. 3.8 7.6 11.4 15.2 19. 22.8. 33.7 67.3 11. 134.7 168.3 22. 21 42 63 84 15 126 934 1868 282 3737 4671 565 THUT - lb, N 3658 2926 2195 1463 732 T T C4-K52G - -1-1B TQU - N-m, lb-in. 3.7 7.4 11.1 14.9 18.6 22.3. 32.9 65.8 98.6 131.5 164.4 197.3 635 25. 381 58 2. 348 381 15. 2286 254 1. 1524 127 5. 762.. 413 16.3 33 13. 248 9.8 165 6.5 83 3.3.. 34 68 12 136 17 24 1512 325 4537 65 7562 974 THUT - lb, N C4-K52G - -15-1B TQU - N-m, lb-in. 3.8 7.6 11.4 15.1 18.9 22.7. 33.5 67. 1.6 134.1 167.6 21.1 52 14 156 28 26 312 2313 4626 6939 9252 11565 13878 THUT - lb, N 3715 2972 2229 1486 743 T T L I N I T I N C4-K52G - -2-25B 762 3. 61 24. 457 18. 35 12. 152 6... TQU - N-m, lb-in. 3.3 6.6 9.8 13.1 16.4 19.7. 29. 58. 87. 116. 145. 174. 24 48 72 96 12 144 168 2135 323 427 5338 645 THUT - lb, N 3658 2926 2195 1463 732 T C4-K52G - -2-1B 318 12.5 254 1. 191 7.5 127 5. 64 2.5.. TQU - N-m, lb-in. 2.9 5.9 8.8 11.8 14.7 17.7. 26.1 52.2 78.3 14.4 13.5 156.6 54 18 162 216 27 324 242 484 726 968 121 14412 THUT - lb, N 381 348 2286 1524 762 T C4-K52G - -5-25B TQU - N-m, lb-in. 2.7 5.4 8.1 1.7 13.4 16.1. 23.8 47.5 71.3 95. 118.8 142.5 159 6.25 127 5. 95 3.75 64 2.5 32 1.25.. 48 96 144 192 24 195 1524 1143 762 381 288 2135 427 645 8541 1676 12811 THUT - lb, N T C4-K52G - -5-1B TQU - N-m, lb-in. 1.2 2.4 3.6 4.8 6. 7.2. 1.7 21.4 32.1 42.8 53.5 64.1 64 2.5 195 51 2. 1524 38 1.5 1143 25 1. 762 13.5 381.. *46 Vac 54 18 162 216 27 324 242 484 726 968 121 14412 THUT - lb, N T C4-25B Ballscew pecifications. 9.8 19.7 29.5 39.4 49.2 59.1 in Critical peed (in/s) 65 52 39 26 13 25 5 75 1 125 15 troke length 2375 19 1425 95 475 mm Column Load Limit (lbs) Legend 25 km / 1 " Life 5. 46 Vac. 6.3 /12.7 2 4 6 46 Vac 3 6. /12. (Ip limit) 23 Vac 2 6. /18. 115 Vac 2 6. /18. * 46 Vac system limits are equivalent to 23 Vac system. C4-1B Ballscrew pecification. 9.8 19.7 29.5 39.4 49.2 59.1 2 16 12 8 4 25 5 75 1 125 15 troke length Critical peed (in/s) in 2375 19 1425 95 475 mm Column Load Limit (lbs) www.kollmorgen.com 35 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
L I N I T I N C4-K52L- -1-25B 1588 62.5 127 5. 953 37.5 635 318. 25. 12.5. 1461 57.5 1168 46. 876 34.5 584 23. 292 11.5.. TQU - N-m, lb-in. 3.9 7.9 11.8 15.7 19.7 23.6. 34.8 69.6 14.4 139.2 174. 28.8 144 288 432 576 72 864 641 1281 1922 2562 323 3843 THUT - lb, N C4-K52L- -15-25B TQU - N-m, lb-in. 4. 8. 12. 16. 2. 24.. 35.5 7.9 16.4 141.8 177.3 212.8 22 44 66 88 11 132 979 1957 2936 3914 4893 5872 THUT - lb, N 381 348 2286 1524 762 5258 426 3155 213 152 T T C4-K52L- -1-1B 635 25. 58 2. 381 15. 254 1. 127 5... 572 22.5 457 18. 343 13.5 229 9. 114 4.5.. TQU - N-m, lb-in. 3.3 6.6 9.8 13.1 16.4 19.7. 29. 58. 87. 116. 145. 174. 3 6 9 12 15 18 1334 2669 43 5338 6672 87 THUT - lb, N C4-K52L- -15-1B TQU - N-m, lb-in. 3.9 7.9 11.8 15.7 19.7 23.6. 34.8 69.6 14.4 139.2 174. 28.8 54 18 162 216 27 324 242 484 726 968 121 14412 THUT - lb, N 381 348 2286 1524 762 5144 4115 386 257 129 T T C4-K52L- -2-25B 1143 45. 914 36. 686 27. 457 18. 229 9... TQU - N-m, lb-in. 3.3 6.6 9.8 13.1 16.4 19.7. 29. 58. 87. 116. 145. 174. 24 48 72 96 12 144 168 2135 323 427 5338 645 THUT - lb, N 5486 4389 3292 2195 197 T C4-K52L- -2-1B TQU - N-m, lb-in. 2.8 5.7 8.5 11.4 14.2 17.. 25.1 5.3 75.4 1.5 125.7 15.8 445 17.5 5334 356 14. 4267 267 1.5 32 178 7. 2134 89 3.5 167.. 52 14 156 28 26 312 2313 4626 6939 9252 11565 13878 THUT - lb, N T C4-K52L- -5-25B C4-K52L- -5-1B TQU - N-m, lb-in TQU - N-m, lb-in. 2.7 5.4 8.1 1.7 13.4 16.1. 1.2 2.4 3.6 4.8 6. 7.2. 23.8 47.5 71.3 95. 118.8 142.5. 1.7 21.4 32.1 42.8 53.5 64.1 159 6.3 195 64 2.5 195 127 5. 1524 51 2. 1524 T 95 3.8 1143 38 1.5 1143 64 2.5 762 25 1. 762 32 1.3 381 13.5 381.... 48 96 144 192 24 288 54 18 162 216 27 324 2135 427 645 8541 1676 12811 242 484 726 968 121 14412 THUT - lb, N THUT - lb, N *23 Vac *23 Vac T C4-25B Ballscew pecifications. 9.8 19.7 29.5 39.4 49.2 59.1 in Critical peed (in/s) 65 52 39 26 13 25 5 75 1 125 15 troke length 2375 19 1425 95 475 mm Column Load Limit (lbs) Legend 25 km / 1 " Life 5. 46 Vac. 6.3 /12.7 2 4 6 46 Vac 3 6. /12. (Ip limit) 23 Vac 2 6. /18. 115 Vac 2 6. /18. * 23 Vac system limits are equivalent to 115 Vac system. C4-1B Ballscrew pecification. 9.8 19.7 29.5 39.4 49.2 59.1 2 16 12 8 4 25 5 75 1 125 15 troke length Critical peed (in/s) in 2375 19 1425 95 475 mm Column Load Limit (lbs) 36 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C5-K42 - -1-32B 1588 62.5 127 5. 953 37.5 635 25. 318 12.5.. 1588 62.5 127 5. 953 37.5 635 25. 318 12.5.. TQU - N-m, lb-in. 2.1 4.2 6.3 8.4 1.5 12.6. 18.6 37.2 55.7 74.3 92.9 111.5 6 12 18 24 3 36 267 534 81 168 1334 161 THUT - lb, N C5-K42 - -15-32B TQU - N-m, lb-in. 2.1 4.2 6.3 8.4 1.5 12.6. 18.6 37.1 55.7 74.2 92.8 111.3 9 18 27 36 45 54 4 81 121 161 22 242 THUT - lb, N 2977 2381 1786 1191 595 4465 3572 2679 1786 893 T T C5-K42 - -1-1B TQU - N-m, lb-in. 2.2 4.4 6.6 8.7 1.9 13.1. 19.3 38.7 58. 77.4 96.7 116. 476 18.8 2858 381 15. 2286 286 11.3 1715 191 7.5 1143 95 3.8 572.. 2 4 6 8 1 12 89 1779 2669 3559 4448 5338 THUT - lb, N C5-K42 - -15-1B TQU - N-m, lb-in. 2.2 4.4 6.6 8.7 1.9 13.1. 19.3 38.7 58. 77.3 96.6 116. 476 18.8 381 15. 286 11.3 191 7.5 95 3.8.. 3 6 9 12 15 18 1334 2669 43 5338 6672 87 THUT - lb, N 4286 3429 2572 1715 857 T T L I N I T I N C5-K42 - -2-32B 127 5. 116 4. 762 3. 58 2. 254 1... TQU - N-m, lb-in. 2.1 4.2 6.3 8.4 1.5 12.6. 18.5 37.1 55.6 74.2 92.7 111.3 12 24 36 48 6 72 534 168 161 2135 2669 323 THUT - lb, N 4763 381 2858 195 953 T C5-K42 - -2-1B 413 16.3 33 13. 248 9.8 165 6.5 83 3.3.. TQU - N-m, lb-in. 2.2 4.4 6.6 8.7 1.9 13.1. 19.3 38.7 58. 77.3 96.7 116. 4 8 12 16 2 24 1779 3559 5338 7117 8896 1676 THUT - lb, N 4953 3962 2972 1981 991 T C5-K42 - -5-32B TQU - N-m, lb-in. 2.1 4.3 6.4 8.6 1.7 12.9. 19. 38. 57. 76. 95. 114. 191 152 114 76 38. 7.5 6. 4.5 3. 1.5. 1786 1429 172 714 357 3 6 9 12 15 18 1334 2669 43 5338 6672 87 THUT - lb, N T C5-K42 - -5-1B TQU - N-m, lb-in. 2.2 4.4 6.6 8.8 11. 13.2. 19.4 38.8 58.2 77.6 97. 116.4 64 2.5 195 51 2. 1524 38 1.5 1143 25 1. 762 13.5 381.. 98 196 294 392 49 588 4359 8719 1378 17437 21796 26156 THUT - lb, N T C5-32B 65 52 39 26 13 Ballscrew Critical peed Limit. 9.8 19.7 29.5 39.4 49.2 59.1 in/s 25 5 75 1 125 15 troke length in mm Legend 25 km / 1 " Life 46 5. Vac 3.9 /7.8 46. Vac 3 3. /7.5 (Ip limit) 2 4 6 23 Vac 2 6. /18. 115 Vac 2 6. /18. 115/23 Vac 3 6. /15. (Ip limit) C5-1B 19 15 11 8 4 Ballscrew Critical peed Limit. 9.8 19.7 29.5 39.4 49.2 59.1 in/s 25 5 75 1 125 15 troke length in mm www.kollmorgen.com 37 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
L I N I T I N C5-K52G- -1-32B TQU - N-m, lb-in. 3.8 7.7 11.5 15.4 19.2 23.1. 34. 68.1 12.1 136.1 17.2 24.2 1588 62.5 2977 127 5. 2381 953 37.5 1786 635 25. 1191 318 12.5 595.. 11 22 33 44 55 66 489 979 1468 1957 2447 2936 THUT - lb, N C5-K52G- -15-32B TQU - N-m, lb-in. 3.7 7.5 11.2 14.9 18.7 22.4. 33.1 66.2 99.2 132.3 165.4 198.5 1143 45. 914 36. 686 27. 457 18. 229 9... 16 32 48 64 8 96 712 1423 2135 2847 3559 427 THUT - lb, N 3215 2572 1929 1286 643 T T C5-K52G- -1-1B 476 18.8 381 15. 286 11.3 191 7.5 95 3.8.. 381 15. 35 12. 229 9. 152 6. 76 3... TQU - N-m, lb-in. 3.7 7.4 11.1 14.9 18.6 22.3. 32.9 65.8 98.6 131.5 164.4 197.3 34 68 12 136 17 24 1512 325 4537 65 7562 974 THUT - lb, N C5-K52G- -15-1B TQU - N-m, lb-in. 3.8 7.6 11.4 15.1 18.9 22.7. 33.5 67. 1.6 134.1 167.6 21.1 52 14 156 28 26 312 2313 4626 6939 9252 11565 13878 THUT - lb, N 2858 2286 1715 1143 572 3429 2743 257 1372 686 T T C5-K52G- -2-32B 953 37.5 762 3. 572 22.5 381 15. 191 7.5.. TQU - N-m, lb-in. 3.7 7.3 11. 14.7 18.4 22.. 32.5 65. 97.5 13. 162.4 194.9 21 42 63 84 15 126 934 1868 282 3737 4671 565 THUT - lb, N 3572 2858 2143 1429 714 T C5-K52G- -2-1B 318 12.5 254 1. 191 7.5 127 5. 64 2.5.. TQU - N-m, lb-in. 3.6 7.2 1.8 14.4 18. 21.6. 31.9 63.8 95.7 127.6 159.5 191.4 66 132 198 264 33 396 2936 5872 887 11743 14679 17615 THUT - lb, N 381 348 2286 1524 762 T C5-K52G- -5-32B TQU - N-m, lb-in. 2.6 5.2 7.7 1.3 12.9 15.5. 22.8 45.6 68.4 91.2 114.1 136.9 191 152 114 76 38. 7.5 6. 4.5 3. 1.5. 1786 1429 172 714 357 36 72 18 144 18 216 161 323 484 645 87 968 THUT - lb, N T C5-K52G- -5-1B TQU - N-m, lb-in. 2.5 5. 7.5 1. 12.5 15.. 22.2 44.3 66.5 88.7 11.9 133. 64 2.5 195 51 2. 1524 38 1.5 1143 25 1. 762 13.5 381.. 112 224 336 448 56 672 4982 9964 14946 19928 2491 29892 THUT - lb, N T C5-32B 65 52 39 26 13 Ballscrew Critical peed Limit. 9.8 19.7 29.5 39.4 49.2 59.1 in/s 25 5 75 1 125 15 troke length in mm Legend 25 km / 1 " Life 5. 46 Vac. 6.3 /12.7 2 4 6 46 Vac 3 6. /12. (Ip limit) 23 Vac 2 6. /18. 115 Vac 2 6. /18. C5-1B 19 15 11 8 4 Ballscrew Critical peed Limit. 9.8 19.7 29.5 39.4 49.2 59.1 in/s 25 5 75 1 125 15 troke length in mm 38 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C5-K52L- -1-32B TQU - N-m, lb-in. 3.5 7. 1.5 14. 17.5 21.. 31. 61.9 92.9 123.8 154.8 185.7 1524 6. 2858 1219 48. 2286 914 36. 1715 61 24. 35 12... 1 2 3 4 5 6 445 89 1334 1779 224 2669 THUT - lb, N C5-K52L- -15-32B 1143 TQU - N-m, lb-in. 4. 7.9 11.9 15.8 19.8 23.8. 35. 7.1 15.1 14.2 175.2 21.2 1588 62.5 4465 127 5. 3572 953 37.5 2679 635 25. 1786 318 12.5 893.. 17 34 51 68 85 12 756 1512 2269 325 3781 4537 THUT - lb, N 572 T T C5-K52L- -1-1B TQU - N-m, lb-in. 3.3 6.6 9.8 13.1 16.4 19.7. 29. 58. 87. 116. 145. 174. 476 18.8 2858 381 15. 2286 286 11.3 1715 191 7.5 1143 95 3.8 572.. 3 6 9 12 15 18 1334 2669 43 5338 6672 87 THUT - lb, N C5-K52L- -15-1B TQU - N-m, lb-in. 4. 8. 12. 16. 2. 24.. 35.5 7.9 16.4 141.8 177.3 212.7 476 18.8 4286 381 15. 3429 286 11.3 2572 191 7.5 1715 95 3.8 857.. 55 11 165 22 275 33 2447 4893 734 9786 12233 14679 THUT - lb, N T T L I N I T I N C5-K52L- -2-32B TQU - N-m, lb-in. 3.1 6.3 9.4 12.6 15.7 18.9. 27.8 55.7 83.5 111.3 139.2 167. 1397 55. 5239 1118 44. 4191 838 33. 3143 559 22. 296 279 11. 148.. 18 36 54 72 9 18 81 161 242 323 43 484 THUT - lb, N T C5-K52L- -2-1B TQU - N-m, lb-in. 3.2 6.3 9.5 12.7 15.8 19.. 28. 56.1 84.1 112.1 14.2 168.2 445 17.5 5334 356 14. 4267 267 1.5 32 178 7. 2134 89 3.5 167.. 58 116 174 232 29 348 258 516 774 132 129 1548 THUT - lb, N T C5-K52L- -5-32B TQU - N-m, lb-in. 2.6 5.2 7.7 1.3 12.9 15.5. 22.8 45.6 68.4 91.2 114. 136.8 316 8.5 224 173 6.8 1619 13 5.1 1214 86 3.4 43 1.7 81 45.. 36 72 18 144 18 216 161 323 484 645 87 968 THUT - lb, N *23 Vac T C5-K52L- -5-1B TQU - N-m, lb-in. 2.5 5. 7.5 1. 12.5 15.. 22.2 44.3 66.5 88.7 11.9 133. 64 2.5 195 51 2. 1524 38 1.5 1143 25 1. 762 13.5 381.. 112 224 336 448 56 672 4982 9964 14946 19928 2491 29692 THUT - lb, N T C5-32B 65 52 39 26 13 Ballscrew Critical peed Limit. 9.8 19.7 29.5 39.4 49.2 59.1 in/s 25 5 75 1 125 15 in mm Legend. 5. 25 km / 1 " Life 5 23 Vac 2 12. /3. 115 Vac 2 12. /3. C5-1B 19 15 11 8 4 Ballscrew Critical peed Limit. 9.8 19.7 29.5 39.4 49.2 59.1 in/s 25 5 75 1 125 15 in mm troke length * 23 Vac system limits are equivalent to 115 Vac system. troke length www.kollmorgen.com 39 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
NT : L I N I T I N 4 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
ervo ystem Current Calculation C3-K42 - -1-16B TQU - lb-in in/s. 19.4 38.8 58.2 77.6 97. 116.4 52.8 42.2 31.7 21.1 1.6. 125 251 376 52 627 752 THUT - lb 524 42 315 21 15 To determine the current required for a given force, calculate as follows: xample of K42G (115/23 Vac ystem) For Force, F = 627 lb (lower X axis) corresponds to Torque, T = 97. lb-in (upper X xis) T 46 Vac 3.9 /7.8 46. 5. Vac 3 3. /7.5 (Ip limit) 23 Vac 5 2 6. /18. 115 Vac 2 6. /18. 115/23 V 3 6. /15. (Ip limit) L I N I T I N 1) etermine effective K t to use. (see chart below) K t is motor constant. K t becomes non-linear (K t eff ) in the upper peak current range of the motor capacity. ue to this non-linearity the current calculation in this peak range is less accurate than for current values at or less than the continuous current rating of the motor. t eff 2) Calculate I required. otor torque is represented by T = I * K t, the motor current multiplied by the motor constant (K t or K t eff ). Thus, I required = Torque/ K t eff K11B K13C K1x 115/23 Vac 115/23 Vac Torque [lb-in (N-m)] lb-in/rms N-m/rms lb-in/rms N-m/rms <= 2.4 (.27) K11 <= 5.4 (.6) K13 > 2.4 (.27) K11 > 5.4 (.6) K13 K t 1.4.158 2.46.278 K t eff 1.16.131 2.18.246 K23 K23C K23 115/23 Vac 46 Vac Torque [lb-in (N-m)] lb-in/rms N-m/rms lb-in/rms N-m/rms <= 15 (1.69) K t 4.6.52 7.1.8 > 15 (1.69) K t eff 3.86.44 6.44.73 K42G K42 K42 115/23 Vac 46 Vac Torque [lb-in (N-m)] lb-in/rms N-m/rms lb-in/rms N-m/rms <= 45 (5.8) K t 6.5.73 11.2 1.27 > 45 (5.8) K t eff 5.39.61 9.85 1.11 K52L K52G K52 115/23 Vac 115/23/46 Vac Torque [lb-in (N-m)] lb-in/rms N-m/rms lb-in/rms N-m/rms <= 112 (12.65) K t 6.56.74 15.8 1.79 > 112 (12.65) K t eff 5.83.66 13.38 1.51 www.kollmorgen.com 41 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
N2 imensions L I N I T I N F1 Front ectangular Flange ount arallel.35 [8.9] 1.38 [34.9] T B *5.23 [133.4] *6.59 [167.5] w/brake IGHT 1.6 [27.] 4.8 [122.] 1. [25.4] 1.81 [46.] C.75 [19.1].38 [9.5].31 [7.9] 2. [5.8] F 3.38 [85.7] nglish ption F1 (inches) 2.75.34 F 1.43 * eets I 4mm bore standard etric ption F1 (mm) 72* 9* 36* tandard troke Lengths vailable inch 2. 4. 6. 8. 12. 18. 24. mm 5.8 11.6 152.4 23.2 34.8 457.2 69.6 * K23 with motor mounted connectors. B etract Length C ounting length inch 5.37 + inch 5.6 + mm 136.4 + mm 128.5 + = stroke F2 ear ectangular Flange ount arallel B T 1.6 [27.].38 [9.5].69 [17.5] *5.23 [133.4] *6.59 [167.5] w/brake 1.38 [34.9] IGHT 4.8 [122.] 1. [25.4] 2. [5.8] F F nglish ption F2 (inches) 2.75.34 1.43 etric ption F2 (mm) 72* 9* 36* 1.81 [46.].75 [19.1] 2. [5.8] * eets I 4mm bore standard C 3.38 [85.7] tandard troke Lengths vailable inch 2. 4. 6. 8. 12. 18. 24. mm 5.8 11.6 152.4 23.2 34.8 457.2 69.6 * K23 with motor mounted connectors. B etract Length C ounting length inch 5.75 + inch 5.6 + mm 146.1 + mm 128.5 + = stroke 42 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
N2 imensions F3 Front and ear ectangular Flange ount arallel B.38 [9.5] 1.38 [34.9] T *5.23 [133.4] *6.59 [167.5] w/brake IGHT.38 [9.5].31 [7.9] 1.6 [27.] L I N I T I N 4.8 [122.] 1. [25.4] F 2. [5.8] 1.81 [46.].75 [19.1] C 3.38 [85.7] tandard troke Lengths vailable inch 2. 4. 6. 8. 12. 18. 24. mm 5.8 11.6 152.4 23.2 34.8 457.2 69.6 * K23 with motor mounted connectors. B etract Length C ounting length inch 5.75 + inch 5.44 + mm 146.1 + mm 138.2 + = stroke 2 Clevis ount / 3 Clevis ount with ivot Base arallel.47 [11.9].41 [1.5] B T 1.6 [27.] 1.42 [36.1] ivot Base (3 only) ø.27 [6.9] - 4 laces ivot adius 1.7 [27.3].77 [19.5].47 [11.9] 1.59 [4.5] *5.23 [133.4] *6.59 [167.5] w/brake.69 [17.5] 1.42 [36.1] 2. [5.8] quare 1.7 [27.3].31 [7.9] 2.97 [75.4] 1.38 [35.1].58 [14.7].5 [12.7] I 4.8 [122.] 1. [25.4] 2. [5.8].5 [12.7] 1.81 [46.].75 [19.1] 2. [5.8] tandard troke Lengths vailable inch 2. 4. 6. 8. 12. 18. 24. mm 5.8 11.6 152.4 23.2 34.8 457.2 69.6 * K23 with motor mounted connectors. B inch mm = stroke etract Length 6.47 + 164.4 + www.kollmorgen.com 43 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
N2 imensions L I N I T I N 1 ide nd ngles ount arallel 2. [5.8] 1.25 [31.8] 1. [25.4] 1.38 [34.9] 1.38 [34.9].41 [1.5] B T *5.23 [133.4] *6.59 [167.5] w/brake.69 [17.5].44 [11.1] I 1.6 [27.].13 [3.2].34 [8.6] Nom 4.8 [122.].43 [1.9] 1.18 [3.1] 1. [25.4] 2. [5.8].18 [4.7] 1.81 [46.].75 [19.1].38 [9.5] C.38 [9.5] 2. [5.8] tandard troke Lengths vailable inch 2. 4. 6. 8. 12. 18. 24. mm 5.8 11.6 152.4 23.2 34.8 457.2 69.6 * K23 with motor mounted connectors. B etract Length C ounting length inch 6.75 + inch 6.69 + mm 171.5 + mm 169.9 + = stroke 2 ide Foot ount arallel *5.23 [133.4] *6.59 [167.5] w/brake 1.38 [34.9] L 4.8 [122.] 1. [25.4] IGHT.38 [9.5] 1.38 [34.9].35 [8.9] 1. [25.4] Typ.69 [17.5] B 1.6 [27.] 3.5 [88.9] 4.25 [18.] Bottom.34 [8.7] B.5 [12.7] tandard troke Lengths vailable inch 2. 4. 6. 8. 12. 18. 24. mm 5.8 11.6 152.4 23.2 34.8 457.2 69.6 * K23 with motor mounted connectors. B etract Length C ounting length inch 5.37 + inch 2.56 + mm 136.4 + mm 65. + = stroke 44 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
N2 imensions 6 ide Tapped Holes arallel *5.23 [133.4] *6.59 [167.5] w/brake 4.8 [122.] 1. [25.4] 1.38 [34.9] 1.81 [46.1] IGHT.75 [19.1].69 [17.5] 1.6 [27.] 2. [5.8] 2. [5.8] L L I N I T I N.41 [1.4].35 [8.9] C.5 [12.7].19 [4.8] Bottom B nglish ption 6 (inches).88 1/4-2 UNC x.38 deep etric ption 6 (mm) 16 6 x 1 x 8 deep tandard troke Lengths vailable inch 2. 4. 6. 8. 12. 18. 24. mm 5.8 11.6 152.4 23.2 34.8 457.2 69.6 * K23 with motor mounted connectors. B etract Length C ounting length inch 5.37 + inch 2.56 + mm 136.4 + mm 65. + = stroke 1 ide nd ngles Inline B.44 [11.1] ia.88 [22.2] *5.23 [133.4] *6.59 [167.5] w/brake I VIW.38 [9.5] 1.38 [34.9] C.69 [17.5].43 [1.9] 25.1 [31.8] 1.18 [3.1] 1.6 [27.] 2.31 [58.6] ef L.19 [4.8] 2.56 [65.].75 [19.1].13 [3.1].6 [1.5].88 [22.2].88 [22.2] tandard troke Lengths vailable inch 2. 4. 6. 8. 12. 18. 24. mm 5.8 11.6 152.4 23.2 34.8 457.2 69.6 * K23 with motor mounted connectors. B etract Length C ounting length inch 6.12 + inch 4.6 + mm 155.4+ mm 13.1+ = stroke www.kollmorgen.com 45 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
N2 imensions F1 Front Flange Inline L I N I T I N Top *5.23 [133.4] *6.59 [167.5] w/brake.88 [22.2] B 1/4-2UNC X.38 eep {2) C I VIW.31 [7.9].38 [9.5] F ia 2. [5.8] 1.6 [27.] H L nglish ption 1 (inches) etric ption F1 (mm) 2.75 72* F.34 9* G 1.43 36*.19 [4.8] 2.56 [65.].75 [19.1] 1. [25.4] G.13 [3.2] 2.25 [57.2] 3.38 *eets I 4mm bore standard 85.7* tandard troke Lengths vailable B etract Length C ounting length ounting length inch 2. 4. 6. 8. 12. 18. 24. mm 5.8 11.6 152.4 23.2 34.8 457.2 69.6 * K23 with motor mounted connectors. inch 6.12 + inch 3.44 + inch 5.81 + mm 155.4+ mm 87.4+ mm 147.5 + = stroke 6 ide Tapped Holes Inline *5.23 [133.4] *6.59 [167.5] w/brake I VIW.69 [17.5] 1. [25.4] 2. [5.8] L 2.25 [57.2].19 [4.8] 2.56 [65.].13 [3.2].75 [19.1] 2. [5.8] 2.25 [57.2] B Bottom nglish ption etric ption F (4) C.5 [12.7] 1.6 [27.] F 6 (inches).88 1/4-2 UNC x.38 deep 6 (mm) 16 6 x 1 x 8 deep tandard troke Lengths vailable inch 2. 4. 6. 8. 12. 18. 24. mm 5.8 11.6 152.4 23.2 34.8 457.2 69.6 * K23 with motor mounted connectors. B etract Length C ounting length ounting length inch 6.12 + inch 2.56 + inch 5.43 + mm 155.4+ mm 65. + mm 137.8 + = stroke 46 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
N2 imensions T4 Trunnion ounting Inline Top *5.23 [133.4] *6.59 [167.5] w/brake.88 [22.2] 1/4-2UNC X.38 eep {2) C.59 [15.] I VIW.69 [17.5] 1. [25.4] 1. [25.4] 1.6 [27.] T 4.25 [18.] L 2. [5.8] 2.25 [57.2] L I N I T I N.19 [4.8] 2.56 [65.].13 [3.2] 1.13 [28.6] 2. [5.8] B 2.25 [57.2] tandard troke Lengths vailable inch 2. 4. 6. 8. 12. 18. 24. mm 5.8 11.6 152.4 23.2 34.8 457.2 69.6 * K23 with motor mounted connectors. B etract Length C ounting length ounting length inch 6.12 + inch 3.47 + inch 5.43 + mm 155.4+ mm 88.1 + mm 137.8 + = stroke 2 ide Foot Inline *5.23 [133.4] *6.59 [167.5] w/brake T I VIW.69 [17.5].38 [9.5] 1.38 [34.9] L 1. [25.4] Typ 3.5 [88.9] 4.25 [18.] B Bottom.34 [8.7] C.5 [12.7] 1.6 [27.] tandard troke Lengths vailable inch 2. 4. 6. 8. 12. 18. 24. mm 5.8 11.6 152.4 23.2 34.8 457.2 69.6 * K23 with motor mounted connectors. B etract Length C ounting length ounting length inch 6.12 + inch 2.56 + inch 5.43 + mm 155.4+ mm 65. + mm 137.8 + = stroke www.kollmorgen.com 47 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
N2 od nd imensions FT1 Female Threads imensions in [mm] L I N I T I N.44 [11.18] 1. [25.4] Hex Ø1.6 [26.92] 5/8-18 UNF2B x.38 [9.65] FT1 FT1 FT2 5/8-18 UNF 12 x 1.25 12 x 1.75 B.38 (9.65) deep.44 (11.18) deep (thru) T1 ale Threads imensions in [mm].32 (8.13) deep.44 [11.18] 1.13 [28.7].75 [19.5] 1. [25.4] Hex Ø1.6 [26.92].625 [15.875] T1 T1 7/16-2 UNF 12 x 1.25 FC2 Clevis with in imensions in [mm] T1 od nd Jam Nut/Washer Ø.373 [.947].368 [9.347] in.55 [13.97] 1.96 [49.78] 2.35 [59.69] (2.55 [64.77] ax xtension).75 [19.5].38 [9.65].75 [19.5] 1.23 [31.24] F2 pherical Joint imensions in [mm] FT1 od nd Jam Nut/Washer +.25 Ø.625 -.5 +.635] [15.88 -.127] Bore 1.5 [38.1] 1.42 [36.1] 2.17 [55.12] (2.25 [57.15] ax xtension).5 [12.7].75 [19.5] F2 Female ye imensions in [mm] FT1 od nd Jam Nut/Washer +.2 Ø.5 -. +.51] [12.7 -.] Bronze Bushing Bore 1.5 [38.1] 2. [5.8] (2.21 [56.13] ax xtension) 1.6 [26.92] 48 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C eries imensions J F T F1 Front Flange arallel Flange dimensions in accordance with I 6431 for: Type Bore ize C1 3 mm C2 5 mm C3 63 mm C4 8 mm C5 1 mm G H I K ight N Bottom Q L troke B L C L I N I T I N B C F G H I J K C1 6. (2.36) 74. (2.91) 28. (1.1) 4. (1.57) 6.6 (.26) 48. (1.89) 82.6 (3.25) 19. (.75) 41.8 (1.65) 31.3 (1.23) - C2 9. (3.54) 114.3 (4.5) 45. (1.77) 63.5 (2.5) 9. (.35) 79.8 (3.14) 144. (5.7) 28.4 (1.12) 74.7 (2.94) 41.7 (1.64) 88.6 (3.49) C3 1. (3.94) 127. (5.) 5. (1.97) 69.1 (2.72) 9. (.35) 95.5 (3.76) 169.7 (6.7) 34.8 (1.37) *87.6/89.7 (*3.45/3.53) 49.3 (1.94) 94.2 (3.71) C4 127. (5.) 152.4 (6.) 69.9 (2.75) 96.3 (3.79) 13.5 (.53) 127. (5.) 221. (8.7) 46.1 (1.81) 111.1 (4.37) 71.9 (2.83) 15.9 (5.94) C5 15. (5.91) 186.9 (7.36) 75. (2.95) 114.3 (4.5) 14.2 (.56) 127. (5.) 221. (8.7) 46.1 (1.81) 111.1 (4.37) 71.9 (2.83) 15.9 (5.94) L N Cyl Length etract length Breather port Hex Q type C1 1.2 (.4) 38.1 (1.5) 16.8 + (4.2 + ) 117. + (4.6 + ) - - - 1. (.39) 22.2 (.88) C2 25. (.98) 56.9 (2.24) 218.5 + (8.6 + ) 243.4 + (9.58 + ) 1/8 NT 11.1 (.44) 34.8 (1.37) 9.5 (.37) 28. (1.1) C3 25. (.98) 69.6 (2.74) 246.3 + (9.7 + ) 271.1 + (1.67 + ) 1/8 NT 11.1 (.44) 41.1 (1.62) 12.7 (.5) 35. (1.38) C4 41.4 (1.63) 92.2 (3.63) 365.8 + (14.4 + ) 46.9 + (16.2 + ) 1/4 NT 14. (.55) 52.8 (2.8) 12.7 (.5) 5. (1.97) C5 35. (1.38) 92.2 (3.63) 365.8 + (14.4 + ) 46.9 + (16.2 + ) 1/4 NT 14. (.55) 52.8 (2.8) 19.1 (.75) 5. (1.97) J F T F2 ear Flange arallel G I ight L L H C Flange dimensions in accordance with I 6431 for: Type Bore ize C2 5 mm C3 63 mm C4 8 mm C5 1 mm K N Bottom Q troke B B C F G H I J K C2 9. (3.54) 114.3 (4.5) 45. (1.77) 63.5 (2.5) 9. (.35) 79.8 (3.14) 147.3 (5.8) 28.45 (1.12) 74.7 (2.94) 41.7 (1.64) 98.3 (3.87) C3 1. (3.94) 127. (5.) 5. (1.97) 69.1 (2.72) 9. (.35) 95.5 (3.76) 169.7 (6.68) 34.8 (1.37) *87.6/89.7 (*3.45/3.53) 49.3 (1.94) 16.9 (4.21) C4 127. (5.) 152.4 (6.) 69.9 (2.75) 96.3 (3.79) 13.5 (.53) 127. (5.) 221. (8.7) 46.1 (1.81) 111.1 (4.37) 71.9 (2.83) 163.5 (6.44) C5 15. (5.91) 186.9 (7.36) 75. (2.95) 114.3 (4.5) 14.2 (.56) 127. (5.) 221. (8.7) 46.1 (1.81) 111.1 (4.37) 71.9 (2.83) 169.9 (6.69) L N Cyl Length etract length Breather port Hex Q type C2 34.5 (1.36) 56.9 (2.24) 218.5 + (8.6 + ) 253. + (9.96 + ) 1/8 NT 11.1 (.44) 34.8 (1.37) 9.5 (.37) 28. (1.1) C3 37.7 (1.48) 69.6 (2.74) 246.3 + (9.7 + ) 284.3 + (11.19 + ) 1/8 NT 11.1 (.44) 41.1 (1.62) 12.7 (.5) 35. (1.38) C4 54.1 (2.13) 92.2 (3.63) 365.8 + (14.4 + ) 419.6 + (16.52 + ) 1/4 NT 14. (.55) 52.8 (2.8) 12.7 (.5) 5. (1.97) C5 54.1 (2.13) 92.2 (3.63) 365.8 + (14.4 + ) 419.6 + (16.52 + ) 1/4 NT 14. (.55) 52.8 (2.8) 19.1 (.75) 5. (1.97) www.kollmorgen.com 49 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C eries imensions I F T L I N I T I N F3 Front and ear Flanges arallel Flange dimensions in accordance with I 6431 for: Type Bore ize C2 5 mm C3 63 mm C4 8 mm C5 1 mm G H Q J ight N Bottom L K troke B L C B C F G H I J K C2 9. (3.54) 114.3 (4.5) 45. (1.77) 63.5 (2.5) 9. (.35) 79.8 (3.14) 147.3 (5.8) 74.7 (2.94) 41.7 (1.64) 98.3 (3.87) 25. (.98) C3 1. (3.94) 127. (5.) 5. (1.97) 69.1 (2.72) 9. (.35) 95.5 (3.76) 169.7 (6.68) *87.6/89.7 (*3.45/3.53) 49.3 (1.94) 16.9 (4.21) 25. (.98) C4 127. (5.) 152.4 (6.) 69.9 (2.75) 96.3 (3.79) 13.5 (.53) 127. (5.) 221. (8.7) 111.1 (4.37) 71.9 (2.83) 163.5 (6.44) 41.4 (1.63) C5 15. (5.91) 186.9 (7.36) 75. (2.95) 114.3 (4.5) 14.2 (.56) 127. (5.) 221. (8.7) 111.1 (4.37) 71.9 (2.83) 169.9 (6.69) 35.1 (1.38) L Cyl Length N etract length Breather port Hex Q type C2 56.9 (2.24) 228.1+ (8.98 + ) 253. + (9.96 + ) 1/8 NT 11.1 (.44) 34.8 (1.37) 9.5 (.37) 28. (1.1) 9.5 (.37) C3 69.6 (2.74) 259.3 + (1.21+ ) 284.3 + (11.19 + ) 1/8 NT 11.1 (.44) 41.1 (1.62) 12.7 (.5) 35. (1.38) 12.7 (.5) C4 92.2 (3.63) 387.5 + (14.9 + ) 419.6 + (16.52 + ) 1/4 NT 14. (.55) 52.8 (2.8) 12.7 (.5) 5. (1.97) 12.7 (.5) C5 92.2 (3.63) 378.5 + (14.9 + ) 419.6 + (16.52 + ) 1/4 NT 14. (.55) 52.8 (2.8) 19.1 (.75) 5. (1.97) 19.1 (.75) troke IVT B (3 only) 2 Clevis ount 3 Clevis ount with ivot Base and in arallel Flange dimensions in accordance with I 6431 for: Type Bore ize C1 3 mm C2 5 mm C3 63 mm C4 8 mm C5 1 mm B C K L N U T Top ight Q F G V H W I C B J F G H T L K 8 X ivot ngle C1 43.7 (1.72) - 41.8 (1.65) 82.6 (3.25) 48. (1.89) 5.5 (.22) 48. (1.89) 46. (1.81) 8. (.31) 3. (1.18) - 19.9/2.1 (.782/.792) 8. (.31) C2 56.9 (2.24) 34.8 (1.37) 74.7 (2.94) 144. (5.67) 79.8 (3.14) 5.4 (.21) 61.7 (2.43) 56.9 (2.24) 9.5 (.37) 25.4 (1.) 57. (2.24) 32./32.6 (1.26/1.28) 12.7 (.5) C3 69.6 (2.74) 41.1 (1.62) 87.6/89.7* (3.45/3.53*) 169.7 (6.68) 95.5 (3.76) 6.5 (.26) 76. (2.99) 69.3 (2.73) 9.5 (.37) 31.5 (1.24) 69.3 (2.73) 4./4.6 (1.58/1.6) 15.2 (.6) C4 92.2 (3.63) 52.8 (2.8) 111.1 (4.37) 221. (8.7) 127. (5.) 11.1 (.44) 98.8 (3.89) 91.4 (3.6) 15.7 (.62) 44.4 (1.75) 91.4 (3.6) 6./6.5 (2.36/2.38) 19.6 (.77) C5 92.2 (3.63) 52.8 (2.8) 111.1 (4.37) 221. (8.7) 127. (5.) 11.1 (.44) 98.8 (3.89) 91.4 (3.6) 15.7 (.62) 44.4 (1.75) 91.4 (3.6) 6./6.5 (2.36/2.38) 19.6 (.77) I J L N Q Cyl Length etract length Breather port Hex T U V W type C1 17.2 (.68) 9.86/1.1 (.388/.398) 22.2 (.88) 12.9 + (4.5 + ) 14.5 + (5.53 + ) - - - 31.3 (1.23) 2.2 (.8) 19.1 (.75) C2 15.7 (.62) 11.9/12. (.47/.472) 28. (1.1) 218.5+ (8.6 + ) 267.5 + (1.5) 1/8 NT 11.1 (.44) 98.3 (3.87) 41.7 (1.64) 34.5 (1.36) 28.5 (1.12) C3 21.8 (.86) 15.9/16. (.628/.63) 35. (1.38) 242.7+ (9.55+ ) 32.6+ (11.91 + ) 1/8 NT 11.1 (.44) 13.9 (4.9) 49.3 (1.94) 37.7 (1.48) 34.8 (1.37) C4 28.7 (1.13) 19.9/2. (.785/.787) 5. (1.97) 368.3 + (14.5 + ) 451.4+ (17.77 + ) 1/4 NT 14. (.55) 166.6 (6.56) 71.9 (2.83) 54 (2.13) 46.1 (1.81) C5 28.7 (1.13) 19.9/2. (.785/.787) 5. (1.97) 368.3 + (14.5 + ) 451.4+ (17.77 + ) 1/4 NT 14. (.55) 166.6 (6.56) 71.9 (2.83) 54 (2.13) 46.1 (1.81) (C1 only) 5 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C eries imensions H T 2 ide Lugs arallel Flange dimensions in accordance with I 6431 for: Type Bore ize C1 3 mm C2 5 mm C3 63 mm C4 8 mm C5 1 mm F G I J ight N Bottom Q K L T troke U C B L L I N I T I N B C F C1 78. (3.7) 62. (2.44) 43.7 (1.72) 8. (.31) 48. (1.89) 82.6 (3.25) 41.8 (1.65) 31.3 (1.23) - 2. (.79) 2. (.79) C2 114.3 (4.5) 85. (3.35) 56.9 (2.24) 9.5 (.37) 79.8 (3.14) 144. (5.67) 74.7 (2.94) 41.7 (1.64) 88.6 (3.49) 22.1 (.87) 22.1 (.87) C3 127. (5.) 1. (3.94) 69.6 (2.74) 12.7 (.5) 95.5 (3.76) 169.7 (6.68) 87.6/89.7 * (3.45/3.53 *) 49.3 (1.94) 94.2 (3.71) 25. (.98) 25. (.98) C4 181.1 (7.13) 14. (5.51) 92.2 (3.63) 19.1 (.75) 127. (5.) 221. (8.7) 111.1 (4.37) 71.9 (2.83) 15.9 (5.94) 38.1 (1.5) 38.1 (1.5) C5 181.1 (7.13) 14. (5.51) 92.2 (3.63) 19.1 (.75) 127. (5.) 221. (8.7) 111.1 (4.37) 71.9 (2.83) 15.9 (5.94) 38.1 (1.5) 38.1 (1.5) L N Cyl Length etract length Breather port Hex Q T U type C1 2.5 (.81) 27.1 (1.6) 96.5 + (3.79 + ) 117. + (4.6 + ) - - - 58.6 + (2.3 + ) 6.6 (.26) 1. (.39) 22.2 (.88) C2 34.5 (1.36) 38.1 (1.5) 28.8 + (8.22 + ) 243.4 + (9.58 + ) 1/8 NT 11.1 (.44) 34.8 (1.37) 144.8 + (5.7 + ) 9. (.35) 11. (.43) 28. (1.1) C3 37.7 (1.48) 47.5 (1.87) 233.4 + (9.19 + ) 271.1+ (1.67 + ) 1/8 NT 11.1 (.44) 41.1 (1.62) 158.8 + (6.25 + ) 11. (.43) 12.5 (.49) 35. (1.38) C4 54. (2.13) 65.3 (2.57) 353.1 + (13.9 + ) 46.9+ (16.2 + ) 1/4 NT 14. (.55) 52.8 (2.8) 242.6 + (9.55 + ) 18. (.71) 19.1 (.75) 5. (1.97) C5 54. (2.13) 65.3 (2.57) 353.1 + (13.9 + ) 46.9+ (16.2 + ) 1/4 NT 14. (.55) 52.8 (2.8) 242.6 + (9.55 + ) 18. (.71) 19.1 (.75) 5. (1.97) G H I B T J K 6 ide Tapped Holes arallel C ight I L J Flange dimensions in accordance with I 6431 for: Type Bore ize C1 3 mm C2 5 mm C3 63 mm C4 8 mm C5 1 mm Q F G K L Bottom N H troke B C F G H I J K Cyl Length C1 43.7 (1.72) 48. (1.89) 82.6 (3.25) 41.8 (1.65) 31.3 (1.23) - 1.5 (.41) 19.2 (.76) 2.2 (.8) 19.1 (.75) 96.5 (3.8) C2 56.9 (2.24) 79.8 (3.14) 144. (5.67) 74.7 (2.94) 41.7 (1.64) 88.6 (3.49) 22.1 (.87) 22.1 (.87) 34.5 (1.36) 28.5 (1.12) 28.8 + (8.22 + ) C3 69.6 (2.74) 95.5 (3.76) 169.7 (6.68) 87.6/89.7 * (3.45/3.53 *) 49.3 (1.94) 94.2 (3.71) 25.1 (.99) 25.1 (.99) 37.7 (1.48) 34.8 (1.37) 233.4 + (9.19 + ) C4 92.2 (3.63) 127. (5.) 221. (8.7) 111.1 (4.37) 71.9 (2.83) 15.9 (5.94) 4. (1.57) 4. (1.57) 54. (2.13) 46.1 (1.81) 353.1 + (13.9 + ) C5 92.2 (3.63) 127. (5.) 221. (8.7) 111.1 (4.37) 71.9 (2.83) 15.9 (5.94) 4. (1.57) 4. (1.57) 54. (2.13) 46.1 (1.81) 353.1 + (13.9 + ) L etract length Breather port Hex N ounting Length Q (6) (6) type Thread Thread C1 117. + (4.6 + ) - - - 58.66 + (2.31 + ) 9.94 (.39) 16. (.63) - 6 x 1-6H x 6.8 mm p 22.2 (.88) C2 243.4 + (9.58 + ) 1/8 NT 11.1 (.44) 34.8 (1.37) 144.8 + (5.7 + ) 11. (.43) 25. (.98) 5/16-18 UNC-2B x.33 p 8 x 1.25-6H x 8.4 mm p 28. (1.1) C3 271.1 + (1.67 + ) 1/8 NT 11.1 (.44) 41.1 (1.62) 158.8 + (6.25 + ) 12.5 (.49) 3. (1.18) 3/8-16 UNC-2B x.4 p 1 x 1.5-6H x 1.2 mm p 35. (1.38) C4 46.9 + (16.2 + ) 1/4 NT 14. (.55) 52.8 (2.8) 242.6 + (9.55 + ) 19.1 (.75) 4.6 (1.6) 5/8-18 UNF-2B x.55 p 16 x 2-6H x 14 mm p 5. (1.97) C5 46.9 + (16.2 + ) 1/4 NT 14. (.55) 52.8 (2.8) 242.6 + (9.55 + ) 19.1 (.75) 4.6 (1.6) 5/8-18 UNF-2B x.55 p 16 x 2-6H x 14 mm p 5. (1.97) www.kollmorgen.com 51 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C eries imensions F C T L I N I T I N T4 Trunnion arallel Flange dimensions in accordance with I 6431 for: Type Bore ize C2 5 mm C3 63 mm C4 8 mm C5 1 mm Q G ight H K L Bottom N I J troke B L B C F G H ounting Length I J C2 56.9 (2.24) 28.5 (1.12) 79.8 (3.14) 144. (5.67) 74.7 (2.94) 41.7 (1.64) 88.6 (3.49) 155.8 + (6.13 + ) 34.5 (1.36) 28.5 (1.12) C3 69.6 (2.74) 38.6 (1.52) 95.5 (3.76) 169.7 (6.68) 87.6/89.7 * (3.45/3.53 *) 49.3 (1.94) 94.2 (3.71) 171.2 + (6.74 + ) 37.7 (1.48) 34.8 (1.37) C4 92.2 (3.63) 48. (5.94) 127. (5.) 221. (8.7) 111.1 (4.37) 71.9 (2.83) 15.9 (5.94) 261.6 + (1.3 + ) 54. (2.13) 46.1 (1.81) C5 92.2 (3.63) 48. (1.89) 127. (5.) 221. (8.7) 111.1 (4.37) 71.9 (2.83) 15.9 (5.94) 261.6 + (1.3 + ) 54. (2.13) 46.1 (1.81) K Cyl Length L etract length Breather port Hex N Q type C2 28.8+ (8.22 + ) 243.4 + (9.58 + ) 1/8 NT 11.1 (.44) 34.8 (1.37) 19.1 (.75) 15.9/16. (.627/.629) 16.9 (4.21) 75. (2.95) 28. (1.1) C3 233.4+ (9.19 + ) 271.1 + (1.67 + ) 1/8 NT 11.1 (.44) 41.1 (1.62) 25. (.98) 19.9/2. (.784/.786) 129.6 (5.1) 9. (3.54) 35. (1.38) C4 353.1 + (13.9 + ) 46.9 + (16.2 + ) 1/4 NT 14. (.55) 52.8 (2.8) 31.8 (1.6) 24.9/25. (.981/.983) 181.6 (1.6) 131.8 (5.19) 5. (1.97) C5 353.1 + (13.9 + ) 46.9 + (16.2 + ) 1/4 NT 14. (.55) 52.8 (2.8) 31.8 (1.25) 24.9/25. (.981/.983) 181.6 (7.15) 131.8 (5.19) 5. (1.97) T T1 Front Flange Inline ight F H G B L C Flange dimensions in accordance with I 6431 for: Type Bore ize C1 3 mm C2 5 mm C3 63 mm C4 8 mm C5 1 mm Bottom J I K L troke N B C F G H Cyl Length C1 74. (2.91) 6. (2.36) 4. (1.57) 28. (1.1) 6.6 (.26) - 38.1 (1.5) 14.73 + (4.12 + ) C2 114.3 (4.5) 9. (3.54) 63.5 (2.5) 45. (1.77) 9. (.35) 1.7 (3.96) 56.9 (2.24) 23.5 + (9.8 + ) C3 127. (5.) 1. (3.94) 69.1 (2.72) 5. (1.97) 9. (.35) 121.3 (4.78) 69.6 (2.74) 273.4 + (1.76 + ) C4 152.4 (6.) 127. (5.) 96.3 (3.79) 69.85 (2.75) 13.5 (.53) 169.2 (6.66) 92.2 (3.63) 39.3 + (15.37 + ) C5 186.9 (7.36) 155. (6.1) 114.3 (4.5) 75. (2.95) 14.2 (.56) 169.2 (6.66) 92.2 (3.63) 39.3 + (15.37 + ) I etract length J Breather port Hex K L N type C1 115.1 + (4.53 + ) - - - 1. (.39) 22.2 (.88) 1.2 (.4) C2 255.5 + (1.6 + ) 1/8 NT 11.1 (.44) 34.8 (1.37) 9.5 (.37) 28. (1.1) 25. (.98) C3 298.3 + (11.74 + ) 1/8 NT 11.1 (.44) 41.1 (1.62) 12.7 (.5) 35. (1.38) 25. (.98) C4 425.3 + (16.74 + ) 1/4 NT 14. (.55) 52.8 (2.8) 12.7 (1.6) 5. (1.97) 41.1 (1.6) C5 425.3 + (16.74 + ) 1/4 NT 14. (.55) 52.8 (2.8) 19.1 (.75) 5. (1.97) 35. (1.38) 52 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C eries imensions H I C T 2 idelugs Inline Flange dimensions in accordance with I 6431 for: Type Bore ize C1 3 mm C2 5 mm C3 63 mm C4 8 mm C5 1 mm ight Bottom L F J K N G troke Q B L L I N I T I N B C F G H I J Cyl Length C1 78. (3.7) 62. (2.44) 43.7 (1.72) 8. (.31) - 2. (.79) 2. (.79) 2.5 (.81) 27.1 (1.6) 94.7 + (3.72 + ) C2 114.3 (4.5) 85. (3.35) 56.9 (2.24) 9.5 (.37) 1.7 (3.96) 22.1 (.87) 22.1 (.87) 34.5 (1.36) 38.1 (1.5) 22.9 + (8.7 + ) C3 127. (5.) 1. (3.94) 69.6 (2.74) 12.7 (.5) 121.3 (4.78) 25. (.98) 25. (.98) 37.7 (1.48) 47.5 (1.87) 26.5 + (1.25 + ) C4 181.1 (7.13) 14. (5.51) 92.2 (3.63) 19.1 (.75) 169.2 (6.66) 38.1 (1.5) 38.1 (1.5) 54. (2.13) 65.3 (2.57) 371.3 + (14.62 + ) C5 181.1 (7.13) 14. (5.51) 92.2 (3.63) 19.1 (.75) 169.2 (6.66) 38.1 (1.5) 38.1 (1.5) 54. (2.13) 65.3 (2.57) 371.3 + (14.62 + ) K etract length L Breather port Hex N Q type C1 115.1 + (4.53) - - - 58.76 + (2.31 + ) 6.6 (.26) 1. (.39) 22.2 (.88) C2 255.5 + (1.6 + ) 1/8 NT 11.1 (.44) 34.8 (1.37) 144.8 + (5.7 + ) 9. (.35) 11. (.43) 28. (1.1) C3 298.1 + (11.74 + ) 1/8 NT 11.1 (.44) 41.1 (1.62) 158.8 + (6.25 + ) 11. (.43) 12.5 (.49) 35. (1.38) C4 425.3 + (16.74 + ) 1/4 NT 14. (.55) 52.8 (2.8) 242.6 + (9.55 + ) 18. (.71) 19.1 (.75) 5. (1.97) C5 425.3 + (16.74 + ) 1/4 NT 14. (.55) 52.8 (2.8) 242.6 + (9.55 + ) 18. (.71) 19.1 (.75) 5. (1.97) T 6 ide Tapped Holes Inline Flange dimensions in accordance with I 6431 for: Type Bore ize C1 3 mm C2 5 mm C3 63 mm C4 8 mm C5 1 mm ight Bottom B I C G H K J N L F troke L B C F G Cyl Length H etract length I Breather port Hex type C1 43.7 (1.72) - - 19.2 (.76) 2.5 (.81) 27.1 (1.6) 94.7 + (3.72 + ) 115.1 + (4.53 + ) - - C2 56.9 (2.24) 1.7 (3.96) 22.1 (.87) 22.1 (.87) 34.5 (1.36) 28.5 (1.12) 22.9 + (8.7 + ) 255.5 + (1.6 + ) 1/8 NT 11.1 (.44) C3 69.6 (2.74) 121.3 (4.78) 25.1 (.99) 25.1 (.99) 37.7 (1.48) 34.8 (1.37) 26.5 + (1.25 + ) 298.1 + (11.74 + ) 1/8 NT 11.1 (.44) C4 92.2 (3.63) 169.2 (5.94) 4. (1.57) 4. (1.57) 54. (2.13) 46.1 (1.81) 371.3 + (14.62 + ) 425.3 + (16.74 + ) 1/4 NT 14. (.55) C5 92.2 (3.63) 169.2 (6.66) 4. (1.57) 4. (1.57) 54. (2.13) 46.1 (1.81) 371.3 + (14.62 + ) 425.3 + (16.74 + ) 1/4 NT 14. (.55) J K L N (6) N (6 C1-58.8 + (2.31 + ) 9.9 (.39) 16. (.63) - 6 x 1-6H x 6.8 mm p 22.2 (.88) C2 34.8 (1.37) 144.8 + (5.7 + ) 11. (.43) 25. (.98) 5/16-18 UNC-2B x.33 p 8 x 1.25-6H x 8.4 mm p 28. (1.1) C3 41.1 (1.62) 158.8 + (6.25 + ) 12.5 (.49) 3. (1.18) 3/8-16 UNC-2B x.4 p 1 x 1.5-6H x 1.2 mm p 35. (1.38) C4 52.8 (2.8) 242.6 + (9.55 + ) 19.1 (.75) 4.6 (1.6) 5/8-18 UNF-2B x.55 p 16 x 2-6H x 14 mm p 5. (1.97) C5 52.8 (2.8) 242.6 + (9.55 + ) 19.1 (.75) 4.6 (1.6) 5/8-18 UNF-2B x.55 p 16 x 2-6H x 14 mm p 5. (1.97) www.kollmorgen.com 53 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C eries imensions L I N I T I N T4 Trunnion ounting Inline Flange dimensions in accordance with I 6431 for: Type Bore ize C2 5 mm C3 63 mm C4 8 mm C5 1 mm ight Bottom 7.16 [181.8] 5.19 [131.8] B H J K F G C I troke L T L B C F Cyl Length G etract length C2 56.9 (2.24) 1.7 (3.96) 155.8 + (6.13 + ) 34.5 (1.36) 28.5 (1.12) 22.9 + (8.7 + ) 255.5 + (1.6 + ) C3 69.6 (2.74) 121.3 (4.78) 171.2 + (6.74 + ) 37.7 (1.48) 34.8 (1.37) 26.5 + (1.25 + ) 298.1 + (11.74 + ) C4 92.2 (3.63) 169.2 (5.94) 261.6 + (1.3 + ) 54. (2.13) 46.1 (1.81) 371.3 + (14.62 + ) 425.3 + (16.74 + ) C5 92.2 (3.63) 169.2 (6.66) 261.6 + (1.3 + ) 54. (2.13) 46.1 (1.81) 371.3 + (14.62 + ) 425.3 + (16.74 + ) H Breather port Hex I J K L type C2 1/8 NT 11.1 (.44) 34.8 (1.37) 19.1 (.75) 15.9/16. (.627/.629) 28. (1.1) C3 1/8 NT 11.1 (.44) 41.1 (1.62) 25. (.98) 19.9/2. (.784/.786) 35. (1.38) C4 1/4 NT 14. (.55) 52.8 (2.8) 31.8 (1.6) 24.9/25. (.981/.983) 5. (1.97) C5 1/4 NT 14. (.55) 52.8 (2.8) 31.8 (1.25) 24.9/25. (.981/.983) 5. (1.97) 54 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C eries od nd imensions FT1 Female Threads imensions in [mm] B B C C HX FT1 T1 ale Threads imensions in [mm] FT1 [FT1] C1 2.8 (.8) 7.6 (.3) 19. (.7) 1 x 1.25 mm - 17. (.7) C2 27.8 (1.9) 12. (.47) 25.4 (1.) 16 2. mm 5/8-18 UNF 19. (.75) C3 34.9 (1.375) 17.2 (.68) 31.8 (1.25) 16 2. mm 5/8-18 UNF 25.4 (1.) C4 5. (1.97) 2. (.79) 47.6 (1.875) 2 1.5 mm 1-14 UN 31. (1.22) C5 5. (1.97) 2. (.79) 47.6 (1.875) 24 2. mm 1-12 UNF 31. (1.22) L I N I T I N B B C HX C T1 T1 [ T1] C1 2.8 (.8) 7.6 (.3) 19 (.7) 1 x 1.25 mm - 27. (1.6) C2 27.8 (1.9) 12. (.47) 25.4 (1.) 16 2. mm 5/8-18 UNF 32. (1.26) C3 34.9 (1.375) 17.2 (.68) 31.8 (1.25) 16 2. mm 5/8-18 UNF 32. (1.26) C4 5. (1.97) 2. (.79) 47.6 (1.875) 2 1.5 mm 3/4-16 UNF 4. (1.57) C5 5. (1.97) 2. (.79) 47.6 (1.875) 24 2. mm 1-12 UNF 4. (1.57) F2 pherical Joint imensions in [mm] C B F HX B Jam Nut/Washer C F HX C1 14. (.55) 26. (1.2) 67.5 (2.66) 54.4 (2.14) 9.98/1.1 (.393/.396) 17. (.7) C2 21. (.83) 38. (1.5) 92.2 (3.63) 73.2 (2.88) 16./16.1 (.629/.633) 25.4 (1.) C3 21. (.83) 38. (1.5) 92.2 (3.63) 73.2 (2.88) 16./16.1 (.629/.633) 31.8 (1.25) C4 25. (.98) 46. (1.81) 111. (4.37) 88. (3.46) 2./2.1 (.787/.79) 47.6 (1.875) C5 31. (1.22) 6. (2.36) 138.5 (5.45) 18.5 (4.27) 24.9/25. (.979/.984) 47.6 (1.875) FC2 Clevis with in imensions in [mm] C F H HX Jam Nut/Washer G B B C F G H HX C1 2. (.78) 1 (.39) 62.9 (2.48) 5.9 (2.) 32 (1.26) 2 (.79) 9.88/1. (.389/.393) 17. (.67) C2 32. (1.26) 16. (.63) 92.2 (3.63) 73.2 (2.88) 32. (1.26) 32. (1.26) 15.9/16. (.625/.63 25.4 (1.) C3 32. (1.26) 16. (.63) 92.2 (3.63) 73.2 (2.88) 32. (1.26) 32. (1.26) 15.9/16. (.625/.63 31.8 (1.25) C4 4. (1.57) 2. (.79) 116. (4.57) 91. (3.58) 4. (1.57) 4. (1.57) 19.9/2. (.782/.787 47.6 (1.875) C5 5. (1.97) 25. (.98) 145.5 (5.73) 113.5 (4.47) 5. (1.97) 5. (1.97) 24.9/25. (.979/.984 47.6 (1.875) www.kollmorgen.com 55 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
L I N I T I N Brake ption The B and motor brake options are typically used with electric cylinders employing ball screw drive assemblies. The electrically released, spring set brake prevents backdriving when the unit is at rest, or in case of a power failure. When power is applied, the brake releases and the cylinder is free to move. When power is off, springs engage the brake to hold the load in position. The B brake is mounted directly to the ballscrew to provide holding torque, without relying on the rest of the drive train. When using a motor mounted brake the brake torque is multiplied by the belt or gear reduction, and does not interfere with certain rear mounting options. But, if the belt fails, the brake will be inoperative. B is not available with: -3, -1, -F2, -F3 B115 Wiring Connections Brake Coil C + ectifier C 115 Vac pecifications B Ballscrew Brake ption ounting Location Ballscrew (see dimensions) Voltage ptions 115 Vac (-B115), 24 Vdc (-B24), 24 Vac (-B24) Cable Type/Length C2/3/4/5 3.7 m [12 ft] with quick disconnect N2 3.7 m [12 ft] flying leads (no quick disconnect) Holding Torque C2 3.9 N-m [35 lb-in], 12.5 W electrical power C3 6.7 N-m [6 lb-in], 17 W electrical power C4/5 39.2 N-m [35 lb-in], 15 W electrical power N2 3.4 N-m [3 lb-in], 13 W electrical power crew With B ption N [lb] Without B ption N [lb] C2-16B Ball 155 [35] -5B Ball 36 [81] -4 Lead 36 [81] 36 [81] C3-16B Ball 266 [6] -1B Ball 426 [96] -5B Ball 72 [162] -4 Lead 72 [162] 72 [162] C4-25B Ball 994 [223] -1B Ball 12 [27] C5-32B Ball 777 [175] -1B Ball 248 [559] N2-2B Ball 11 [24] -5B Ball 267 [6] -5 Lead (N2-/) 267 [6] 445 [1] -5 Lead (N2-other) 267 [6] 178 [4] -8 Lead - 267 [6] Notes: applications, a brake may be necessary. repeated use as dynamic brakes. Quick-disconnect cable provided only on C models. N2 includes flying leads cable from grommet on brake can. ñ B ption otor Brake and C1 (B24) ption ounting Location ear motor shaft, opposite motor (B24) Voltage ptions 24 Vdc Cable Type/Length art of motor cable set, flying leads (B24) eries im "" in [mm] im "B" in [mm] C2 2.73 (69.3) 3.9 (78.5) C3 3.32 (84.3) 3.83 (97.3) C4 3.94 (1.) 5.58 (141.7) C5 3.94 (1.) 5.58 (141.7) Holding Torque N-m (lb-in) C1 w/b24.56 (5.) K23 1.42 (12.6) K42 5.3 (46.9) K52 14.5 (128) Holding Force (N) = Brake (N-m) 2 1 gear ratio Lead (mm/rev) xample: C3-K42G- -15-16B Holding Force = 5.3 2 1 1.5 = 312 N 16 56 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
N2 ual od-nd Bearing ption B ual od-nd Bearing ur standard N2 eries electric cylinder contains a single rodend bearing. The dual rod-end bearing (B) option increases thrust tube side load capacity and reduces undesirable thrust tube runout, while reducing the stroke by 1.5 inches. (ll C eries cylinders are equipped with a dual rod-end bearing automatically, so this option does not apply to them.) B available with: B required with: Notes: ide Load ll Kollmorgen electric cylinders are designed to withstand a limited amount of side load on the thrust tube. The thrust tube in a standard N2 eries cylinder is supported by a single rodend bearing and by a patented internal guide assembly. This bearing system has a limited capacity to handle side loads, shown in the curve below. When increased side load capacity or stiffness is required, or when moving a load that is not externally supported, the dual rod-end bearing (B) option is recommended. This option adds a second thrust tube rod-end bearing for additional support, while subtracting 1.5 inches from the available stroke. N2 models above 12 inches stroke require the B option. nother means of increasing side load capacity is to use the higher capacity C series, which includes the dual rod-end bearing in its standard configuration. tandard N2 Cylinder (ingle Bearing) B ption (ual Bearings) ctual Travel educed by 1.5 Inches unout The -B option reduces thrust tube runout by lengthening the thrust tube support bearing in the rod-end housing. Kollmorgen recommends the B option to reduce runout whenever the thrust tube is the only means of guiding the load. erformance improvement is most observable for cylinders with stroke length above 12 inches, or whenever runout is critical as the thrust tube approaches full extension. For the least amount of runout possible for a standard product, specify the B option and also increase the stroke of the cylinder while short-stroking the unit. If the load is guided externally by linear bearings, the standard bearing is preferred since it allows greater mounting misalignment and minimal friction. Top or ide of Cylinder Housing ide Load oment (in-lbs) ide Load (lbs) L I N I T I N N2 eries ide Load Capacity vs. xtended Length N 359 337 Lb 8 75 -B X xtend istance (inches) unout 311 7 289 267 65 6 election Criteria ide Load 245 222 2 178 156 133 111 89 67 44 22 55 5 45 4 35 3 25 2 15 1 5 2.5 64 TN X 12 -B 8 -B 6 -B 6, 4, 2 8 4 -B 12 18 -B 5 7.5 1 12.5 15 17.5 2 in 127 191 254 318 381 445 58 mm xtended Length B ption When using clevis or trunnion mount tandard When rigidly mounted >12 in <12 in Unguided thrust tube High side load Low runout critical Guided thrust tube (externally) www.kollmorgen.com 57 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
L I N I T I N Linear otentiometer ption L Linear otentiometer ption The L linear potentiometer option is required for operation with our nalog osition Controls, and is used in applications where analog position feedback Voltage signal is needed. The linear potentiometer resides within the cylinder housing and is energized by an external C voltage source. The potentiometer wiper arm is attached to the drive nut/guide flange assembly, and moves the same distance as the thrust tube. The signal from the linear potentiometer is an absolute voltage, proportional to linear displacement of the cylinder. L available with: imensions in [mm] B L Location C eries L Location N2/NV 1.18 [3.].5 [12.7] C Cable.17 [4.3].51 [13.] inimum Bend adius Connections Brown Black Blue ot +V Wiper Feedback GN hield Cylinder odel im. B [in (mm)] im. [in (mm)] N2 1.38 (35.1) 1.1 (25.7) C2 1.47 (37.3) 1.12 (28.5) C3 1.72 (43.7) 1.37 (34.8) C4 2.15 (54.5) 1.82 (46.1) C5 2.15 (54.5) 1.82 (46.1) * C1 linear pot option - consult factory pecifications esistance Linearity troke see table below see table below vailable in the lengths shown below. Consult factory for lengths. Cylinder odel troke [in (mm)] esistance ( ± 3%) Linearity N2 2. (5.8) 3 ±1% of full stroke 4. (12) 6 6. (152) 9 8. (23) 9 1. (254) 9 12. (35) 7 16.5 (419) 7 C2, C3, C4, C5 1.97 (5) 3 ±1% of full stroke 3.94 (1) 6 5.91 (15) 9 7.87 (2) 9 9.84 (25) 9 11.8 (3) 7 17.7 (45) 7 23.6 (6) 7 58 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Linear od Bearing ption L Linear od Bearing ption The L linear rod bearing option is used in applications where side loads are present, or when the load is not externally supported. easons for using the L Linear od Bearing are: motion of the moving load L available with: L not available with: Weight calculation: imensions in [mm] 6.811 [173.].886 [22.5] rilled Through and C'Bored for 12 ocket Head Cap crews 2 laces L I N I T I N Weight (lb f ) =.147 stroke (mm) + 7.6 lb f 2.559 [65.] 6.73 [171.] pplied ide Load N lbs 6 135 5 112 4 3 2 1 9 67 45 22.8 [.2].4 [.1] ide Load Capacity.2 [.5].4 [1.].6 [1.5].8 [2.].1 [2.5].12 [3.] ø.787 [2.] 3.82 [97.] troke + 1.77 [45.] 2.44 [62.].45 [11.4] 2.17 [55.] 1.417 4.53 1.18 [36.] [115.] [3.] 2.91 [74.] 2.36 [6.] djustable Gap to.5 [12.7] at full retract 3.9 1 7.9 11.8 15.7 2 3 4 xtension 19.7 5 23.6 in 6 mm 6.63 [154.] Twisting oment, t N-m lb-in 35 313.5 3 268 25 223 2 179.2 15 134 1 89 5 45 3.9 1 Torsional Load Capacity.12.25.4.5 7.9 11.8 15.7 2 3 4 xtension.6 19.7 5.8 23.6 in 6 mm 1.417 [36.] 2.48 [63.] 2.283 [58.] 1 x 1.5 thru from this ide and C'Bored for 8 HC from the other side. 1 x 1.5.75 [19.] deep 4 places To order the Linear od Bearing as a separate component: Linear od Bearing art Number xample: L-C2-2- L C2 2 L C2 troke in mm evision www.kollmorgen.com 59 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
rotective Boot ption L I N I T I N B rotective Boot ption With the B option, a durable polyurethane boot protects the thrust tube area from solid contaminants (dust, wood and metal shavings), and splashed liquids, etc. C eries cylinders equipped with the B are protected to the I65 standard. Note that some Kollmorgen motor options are not protected to this level. Contact Kollmorgen for assistance when special environmental protection is required. We also have special options for clean room applications, where outgassing and contamination by the cylinder are a concern. B available with: (Consult factory for C1) imensions in [mm] When fully retracted, the boot gathers on an extra length of thrust tube. The extra thrust tube length is tabulated here. L dditional verall Length Cylinder odel eries troke Length im. L dd l Length in [mm] imensions Boot iameter in [mm] C2-149 mm 1.16 [29.5] 2.5 [63.5] 15-299 1.83 [46.5] 3-449 2.54 [64.5] 45-6 3.21 [81.5] 61-75 3.75 [95.3] C3-199 mm 1.46 [37.1] 3. [76.2] 2-399 2.13 [54.] 4-599 2.83 [71.9] 6-8 3.54 [89.9] 81-1 4.6 [13.1] C4-249 mm 1.6 [4.6] 3.75 [95.3] 25-499 2.47 [62.7] 5-749 3.35 [85.1] 75-999 4.17 [15.9] 1-1249 5.5 [128.3] 125-15 5.93 [15.6] C5-249 mm 1.6 [4.6] 3.75 [95.3] 25-499 2.47 [62.7] 5-749 3.35 [85.1] 75-999 4.17 [15.9] 1-1249 5.5 [128.3] 125-15 5.93 [15.6] N2-2.57 in.75 [19.1] 2.5 [63.5] 2.58-5.8 1. [25.4] 5.9-7.59 1.3 [33.] 7.6-1.11 1.4 [35.6] 1.12-15.19 1.9 [48.3] 15.2-16.5 2.8 [71.1] rotective Boot 6 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
N2 nvironmental ptions Temperature anges (N2 eries) tandard N2 [F (C)] F Freezing [F (C)] H High Temp [F (C)] perating 2 F 32 F 15 F 14 F 16 F F ption tandard H ption torage 32 to 14-4 to 185 ( to 6 ) (-4 to 85 ) -2 to 15-4 to 185 (-29 to 41 ) (-4 to 85 ) 32 to 16-4 to 185 ( to 7 ) (-4 to 85 ) Note: F and H can not be ordered on the same cylinder. H High Temperature The H high temperature option allows operation in high temperature environments (to 16 F [7 C]) by changing certain plastic parts within the cylinder to bronze. H available with: Notes: ranges of the motor, encoder, and limit switches. F ub-freezing nvironment ption available with: Notes: operated at room temperature or above, noisy operation and increased backlash are normal. W Water esistant ption The water resistant option (W) is recommended in applications where the cylinder is exposed to light mist or occasional splashing with water or non-corrosive liquids. In addition to a sealant on all mating surfaces, a 1 foot (3 m) breather tube and fitting is provided to allow the unit to breathe from a non-contaminated dry area. r, the customer may choose to apply positive, low pressure (2-3 psi [14-2 ka]) dry air to the cylinder through this fitting. W available with: Notes: not provide a waterproof cylinder. The cylinder cannot be submerged or immersed repeatedly in water. W Breather imensions N2 eries Cylinders L I N I T I N F ub-freezing nvironment ption In extremely cold conditions the lubricating grease in the positioner thickens, rubber parts (belts and stops) stiffen, and mechanical clearances tighten. This option includes two alterations: 1. Bearing grease is replaced with a less viscous lubricant. 2. Lead nut tolerances are increased. Both thread clearance and pitch length are increased to allow for the varying coefficients of expansion between the steel lead screw and polyacetal or bronze drive nut. Back 1/8 NT Barbed Fitting 3/8" Vinyl Tubing 2.38 [6.5] inimum.59 [15.] 2.62 [66.5] ight The result is a device which can operate at these low temperatures, but with reduced life (due to the pre-worn lead nut surfaces). Contact Kollmorgen for more details. No change is necessary in ball nut models since there is steel to steel contact (same coefficient of thermal expansion). www.kollmorgen.com 61 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
ccessories L I N I T I N agnetic osition ensors Kollmorgen lectric Cylinders are equipped with position indicating magnets installed internally on both sides of the guide cylinder. Non-contacting position sensors are available to sense the magnet as it passes by. osition sensors mount directly to standard C and N2 eries cylinders. -1 are normally open switches. -2 are normally closed switches. sensors use a Hall-effect sensing element and a simple solid state electrical circuit. nd-of-travel Limits To maximize cylinder life, Kollmorgen recommends the use of end-of-travel limit switches (position sensors) with all cylinders. The purpose of an end-of-travel sensor is to signal the controller that the cylinder is about to travel beyond its normal safe operating region, and is nearing its physical end of stroke. The controller brings the cylinder to a stop to prevent physical contact, and to avoid damage to the cylinder, the load, or the machine. The sensors must be located such that an adequate stopping distance is provided between the sensing position and the physical end of stroke. Normally closed switches are generally used for end-of-travel sensing. Normally closed switches are considered fail safe because when a cable becomes accidentally severed or disconnected, motion is prevented. osition ensing rogrammable position controls use position sensors for two purposes. normally open switch is generally used to establish a home, or zero reference position. Normally closed switches are used for extend and retract end-of-travel limits. 62 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
osition ensors osition ensor pecifications -1-2 Connection Norm. open Norm. closed Led Color Yellow ed witch Type Hall-effect utput Type ourcing (N) Number of Leads 3 + hield upply Voltage 1 24 Vdc Current 7 m @ 12 Vdc; 13 m @ 24 Vdc ower.24 W utput C Voltage max 24 Vdc C Voltage max C not allowed Current max 1 m ower max 3 W perating Temperature -4 to 158 F [-2 to 7 C] torage Temperature -4 to 176 F [-2 to 8 C] rotection ating I67 pproved Yes L I N I T I N Hall-ffect witches Wiring for -1 and -2 www.kollmorgen.com 63 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
L I N I T I N osition ensors osition ensor ounting The diagrams below show sensor mounting location when cylinder magnet and sensor are physically aligned. This location is recommended as a starting point when setting up a cylinder for the first time. epending on the speed and payload of the application, switches may need to be moved inward to prevent hard-stop crash when the load travels at full speed past a limit switch. Notes: effective travel distance. Contact Kollmogen for assistance. rdering Information osition ensors odel Number escription L Wire Leads 1 ft [3 m] Quick isconnect 13 ft [4 m 1 ] -1 2-1Q 2 N.. N Hall ffect Yellow -2 2-2Q 2 N.C. N Hall ffect ed Notes: controls. These versions are offered for compatibility with devices which require N style sensors. imensions in [mm] N2 Cylinder osition ensor ounting pare Quick isconnect Cables odel Number escription Q-4 13 ft [4 m] extension cable.44 [11.2] hillips Head crew Q-9 3 ft [9 m] extension cable.39 [9.9] B NT: are p Locatio C Cylinder osition ensor ounting 1.16 [29.5] o N2 N2 NT: imensions "" and "B" are pproximate nd of troke Locations for the osition ensors. odel im "" in [mm] im "B" in [mm] N2 Lead 1. (25.4).7 (17.8) N2 Ball 1.4 (35.6).3 (7.6).44 [11.2] 1.16 [29.5].39 [9.9] B hillips Head crew NT: ime are pproxim Locations fo odel C2 erie C3 erie C4 erie C5 erie NT: imensions "" and "B" are pproximate nd of troke Locations for the osition ensors. odel im "" in [mm] im "B" in [mm] C1.748 (19.).551 (14.) C2 2.9 (73.7) 1.9 (48.3) C3 3.3 (77.) 2.23 (56.6) C4 5.39 (137.) 2.48 (63.) C5 5.39 (137.) 2.48 (63.) 64 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
K1x Brushless ervo ystems K11B 115/23 Vac ystem 2 3 mart rive rive [Ic / Ip] rms 1.5 / 4.5 3. / 9. 1.77 / 5.3 Feedback type F resolver incremental comm encoder T cont stall [lb-in (N-m)] 1.62 (.183) 1.62 (.183) 1.62 (.183) T peak stall [lb-in (N-m)] 5.22 (.59) 5.39 (.69) 5.39 (.69) max 23 Vac 8 8 8 rive 226 3361 C--.5-23- L I N I T I N otor K11B-BNC K11B-BN K11B-BN2 Cables ower V-12BN-XX C--1H-XX Feedback VF-411N-XX CF--HG-XX Unique part number per length Contact Kollmogen for assistance K13C 115/23 Vac 2 3 mart rive rive [Ic / Ip] rms 1.5 / 4.5 3. / 9. 1.77 / 5.3 Feedback type F resolver incremental comm encoder ystem T cont stall [lb-in (N-m)] 3.62 (.49) 3.62 (.49) 3.62 (.49) T peak stall [lb-in (N-m)] 9.82 (1.11) 12.9 (1.46) 11.5 (1.3) max 23 Vac 8 8 8 rive 226 3361 C--.5-23- otor K13C-BNC K13C-BN K13C-BN2 Cables ower V-12BN-XX C--1H-XX Feedback VF-411N-XX CF--HG-XX Unique part number per length Contact Kollmogen for assistance K1x echanical pecifications K11B K13C otor Inertia [lb-in-s 2 (kg-cm 2 )] (based on resolver).15 (.17).4 (.45) otor weight [lb (kg)].8 (.35) 1.4 (.63) www.kollmorgen.com 65 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
K23 Brushless ervo ystems K23 115/23 Vac L I N I T I N ystem 2 3 mart rive rive [Ic / Ip] rms 3. / 9. 3. / 9. 3.5 / 1.6 Feedback type F resolver incremental comm encoder T cont stall [lb-in (N-m)] 1.3 (1.16) 1.3 (1.16) 1.3 (1.16) T peak stall [lb-in (N-m)] 34. (3.84) 34. (3.84) 34. (3.84) max 23 Vac 57 57 57 rive 236 3361 C--1.-23- otor K23-BNC K23-BN K23-BN2 otor/brake K23-B2C K23-B2 K23-B22 Cables ower V-12BN-XX C--1H-XX ower/brake C-12BN-XX-X C--HB-XX Feedback VF-411N-XX CF--HG-XX Unique part number per length Contact Kollmogen for assistance K23C 4/46 Vac 3 mart rive rive [Ic / Ip] rms 1.5 / 4.5 2.1 / 4.2 Feedback type resolver incremental comm encoder ystem T cont stall [lb-in (N-m)] 1. (1.13) 1. (1.13) T peak stall [lb-in (N-m)] 29. (3.27) 26.8 (3.3) max 46 Vac 7 7 rive 311 C--1.3-46- otor K23C-BN K23C-BN2 otor/brake K23C-B2 K23C-B22 Cables ower ower/brake Feedback C--G1H-XX C--GHB-XX CF--HG-XX Unique part number per length Contact Kollmogen for assistance K23 echanical pecifications otor Inertia [lb-in-s 2 (kg-cm 2 )] (based on resolver) Brake Inertia [lb-in-s 2 (kg-cm 2 )] (additional).19 (.22).11 (.12) otor weight [lb (kg)] 3. (1.38) 66 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
K42G 115/23 Vac ystem 2 3 mart rive rive [Ic / Ip] rms 6. / 18. 6. / 15. 7. / 21.2 Feedback type F resolver incremental comm encoder T cont stall [lb-in (N-m)] 31.2 (3.53) 31.2 (3.53) 31.2 (3.53) T peak stall [lb-in (N-m)] 97. (11.) 85. (9.6) 97. (11.) max 23 Vac 42 42 42 rive 266 3661 C--2.-23- otor K42G-BNC K42G-BN K42G-BN2 L I N I T I N otor/brake K42G-B2C K42G-B2 K42G-B22 ower V-12BN-XX C--1H-XX Cables ower/brake C-12BN-XX-X C--HB-XX Feedback VF-411N-XX CF--HG-XX Unique part number per length Contact Kollmogen for assistance K42 4/46 Vac 3 mart rive rive Ic / Ip rms 3. / 7.5 3.9 / 7.8 Feedback type resolver incremental comm encoder ystem T cont stall [lb-in (N-m)] 3.3 (3.42) 3.3 (3.42) T peak stall [lb-in (N-m)] 74.8 (8.45) 76.8 (8.68) max 46 Vac 42 42 rive 331 C--2.4-46- otor K42-BN K42-BN2 otor/brake K42-B2 K42-B22 ower C--G1H-XX Cables ower/brake C--GHB-XX Unique part number per length Contact Kollmogen for assistance Feedback CF--HG-XX K42 echanical pecifications otor Inertia [lb-in-s 2 (kg-cm 2 )] (based on resolver) Brake Inertia [lb-in-s 2 (kg-cm 2 )] (additional).13 (1.5).6 (.68) otor weight [lb (kg)] 7.5 (3.39) www.kollmorgen.com 67 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
K52G 115/23 Vac L I N I T I N ystem 2 3 mart rive rive [Ic / Ip] rms 6. / 18. 6. / 15. 7. / 21.2 Feedback type F resolver incremental comm encoder T cont stall [lb-in (N-m)] 74.6 (8.43) 74.6 (8.43) 74.6 (8.43) T peak stall [lb-in (N-m)] 19 (21.5) 19 (21.5) 19 (21.5) max 23 Vac 192 192 192 rive 266 3661 C--2.-23- otor K52G-BNC K52G-BN K52G-BN2 otor/brake K52G-B2C K52G-B2 K52G-B22 ower V-12BN-XX C--1H-XX Cables ower/brake C-12BN-XX-X C--HB-XX Feedback VF-411N-XX CF--HG-XX Unique part number per length Contact Kollmogen for assistance K52G 4/46 Vac 3 mart rive rive Ic / Ip rms 6. / 12. 6.3 / 12.7 Feedback type resolver incremental comm encoder ystem T cont stall [lb-in (N-m)] 74.6 (8.43) 74.6 (8.43) T peak stall [lb-in (N-m)] 167 (18.9) 174 (19.7) max 46 Vac 3 3 rive 361 C--4.-46- otor K52G-BN K52G-BN2 otor/brake K52G-B2 K52G-B22 ower C--G1H-XX Cables ower/brake C--GHB-XX Unique part number per length Contact Kollmogen for assistance Feedback CF--HG-XX K52 echanical pecifications otor Inertia [lb-in-s 2 (kg-cm 2 )] (based on resolver) Brake Inertia [lb-in-s 2 (kg-cm 2 )] (additional).55 (6.2).15 (.17) otor weight [lb (kg)] 12.8 (5.8) 68 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
K52L 115/23 Vac ystem 2 rive [Ic / Ip] rms 12. / 3. Feedback type F T cont stall [lb-in (N-m)] 76.2 (8.61) T peak stall [lb-in (N-m)] 175 (19.8) V max 23 Vac 425 rive 2126 otor K52L-BNC L I N I T I N otor/brake ower K52L-B2C V-15CN-XX Cables ower/brake Feedback C-15CN-XX-X VF-411N-XX K52 echanical pecifications otor Inertia [lb-in-s 2 (kg-cm 2 )] (based on resolver) Brake Inertia [lb-in-s 2 (kg-cm 2 )] (additional).55 (6.2).15 (.17) otor weight [lb (kg)] 12.8 (5.8) 2 Indexer with C2 and K23 www.kollmorgen.com 69 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Kollmorgen ervo rive verview L I N I T I N 2 eries rive Compact rives both C and C type 3 eries rive Flexible rive both 23 & 46 Vac systems Voltage & Current pecifications Control odes Key ttributes Network/Fieldbus Feedback 2 3 mart rive Voltage Cont Current Voltage Cont Current Voltage Cont Current 2 to 9 Vdc 3. to 6. rms 115/23 Vac 3. to 1. rms 115/23 Vac 1.77 to 7. rms 115/23 Vac 1.5 to 24 rms 23/4/46 Vac 1.5 to 6. rms 23/4/46 Vac 2.1 to 39 rms ositioner - Configurable imple egistration ulse Follower - tep/irection lectronic Gearing Velocity - analog Torque - analog ost Compact Highest-erformance ost Cost-effective -Link CNopen ynqnet mart Feedback evice (F) Comcoder (w/ option card) ynqnet - ine-encoder or F L - F L (Future Comcoder, Bi, nat 2.2, 1) ositioner - Configurable imple egistration ulse Follower - tep/irection lectronic Gearing Velocity - analog Torque - analog Integrated design for C Internal regen Flexibility to requirements CNopen evicenet ynqnet therct C II rofibus esolver Comcoder ine-encoder IC 61131 - Fully rogrammable osition, Velocity, Torque modes all suppoted - switch modes on the fly dvanced otion, CING Complex egistration, aster/lave, etc Fully rogrammable achine & otion Controller calable Control ( 1 to 16 axes) -Link- edicated motion bus - "1baseT physical layer" (I82.3) odbus TU, odbus TC thernet I messaging TC/I esolver (option) Comcoder ine-encoder ual-feedback support mart rive eries Full ange from.5 kw watt to 65 kw 23 and 46 Vac systems 7 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Compact, High-erformance rive The 2 digital brushless servo drives are compact and high-performance drives. High-performance is achieved though a specialized design that uses high-resolution feedback and rapid servo loop updates that result in an industry leading bandwidth capability for the base drive. The 2 drive is available in 115/23 Vac systems with continuous current ranges from 1.5 rms to 24 rms. The 24 rms C type unit and also C supply versions are also available, but not shown in this brochure. Control odes L I N I T I N Base rive Functionality Velocity or Torque ode osition Follower otion or Fieldbus ption ynqnet Indexer Indexer/CNpen -Link IC 61131 Control pecifications 2 rive ystems 2 ystems 115/23 Vac ystems rive rive I cont / I peak rms otor Type Frame size imensions H x W x inch (mm) 226-1.5 / 4.5 K11B,13C N 17 6.9 (175) x 2.16 (54.8) x 5.18 (131.6) 236-3. / 9. K23 N 23 6.9 (175) x 2.16 (54.8) x 5.18 (131.6) 266-6. / 18. K42G N 34 K52G N 42 6.9 (175) x 2.52 (64.) x 5.18 (131.6) 2126-12. / 3. K52L N 42 6.97 (177) x 3. (76.) x 5.98 (152.) rive depth dimension does not include drive front connectors 2 ynqnet rives 2 Indexer (236, 266) www.kollmorgen.com 71 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
L I N I T I N Compact, High-erformance rive roduct Features Control Functionality Base Unit ulse Follower tep/irection aster/lave lectronic gearing ower Indexer ption Card osition mode bsolute or Incremental ositioning lectronic gearing, imple egistration Communication: - CN type, CNopen ain C upply and control logic are separate elative ove [w/ emory] elative ove [w/ emory] elative ove [w/o emory] bsolute ove elative eg ove [+ Latch] elative eg ove [- Latch] otion Task Configuration lug & lay Features ptimized erformance response, high-stiffness and quick settling Tuning is as easy as moving a slider bar for most applications. Click For dvanced ode Tuning ssistant Bandwidth [Hz] 4 Gentle Intertia atio edium tiff 1 efault ll n advanced tuning option is also available as needed for complex system requirements The 2 Indexer has a digital oscilloscope which facilitates system tuning, allowing for settling times down to or below 1 msec 72 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
The 2 Indexer is powerful and flexible, yet easy to configure with the C Tools software package. Quick tart-up with 2 C Tools oftware 2 Breakout board nhances the onboard 2 I and designed for linear application support. L I N I T I N 2 C Tools easy system duplication automatically configures motor parameters 2 Breakout board (CK-2-CNN-B1) nhancements to 2 standard I output capability (applicable for brake control) limit switches (N & type) for simplified wiring 2 Indexer igital I igital utputs (3), (1) Configurable, (1) Fault (eserved), (1) Not un (eserved) igital Input Configurable Functions (artial List) Travel Limit Two limit inputs for end-of-travel hardware limits for limiting motion BC otion elect Used for BC election of otion Task Number tart otion Task tart Input for otion Task tart Jog tart Jog Function, Jog includes programmable ccel/ec Control igital utput Configurable Functions In osition otion Task complete & within user defined position window Following rror Following error exceeded user defined value peed Compare otor peed compared (> or <) to a user defined value osition Compare bsolute otor osition greater than a user defined value www.kollmorgen.com 73 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Flexible rive with Broad Connectivity L I N I T I N 3 eries digital brushless servo amplifiers are compact and easy-touse amplifiers that offer a maximum range of flexibility to your project design. The broad connectivity allows for application of the drive in a wide-range of control architectures. Flexibility is offered through wide-voltage range including 115/23/4/46 Vac systems and multiple feedback types of incremental encoder, sineencoder, and resolver. Control odes tandard rive Functionality rive Networks ositioner 3 otion Tasks Linked or blended bsolute or Incremental ositioning aster-lave/lectronic Gearing ulse/irection Input imple egistration Velocity or Torque ode ynqnet evicenet CNpen rofibus C II therct C etup oftware Intuitive - etup oftware via 232 Windows compatible with NT/2/X systems optimization 74 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Features lug & play, automatic baud rate setting L I N I T I N pecifications: 3 rive ystems 3 ystems 115/23 Vac ystems rive rive I cont / I peak rms otor Type Frame size imensions H x W x inch (mm) 3361-3. / 9. 3661-6. / 15. K 11B, 13C N 17 K23 N 23 K42G N 34 K52G N 42 1.6 (27) x 2.8 (7) x 7.9 (2) 11. (279) x 2.8 (7) x 7.9 (2) 3 ystems 4/46 Vac ystems rive rive I cont / I peak rms otor Type Frame size imensions H x W x inch (mm) 311-1.5 / 4.5 K23C N 23 1.6 (27) x 2.8 (7) x 9.2 (235) 331-3. / 7.5 K42 N 34 361-6. / 12. K52G N 42 11. (279) x 2.8 (7) x 9.2 (235) imensions reflects maximum dimensions including panel mounting hardware. epth dimensions includes drive front mating connectors. www.kollmorgen.com 75 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
mart rive IC 61131 achine and otion Control The mart rive utilizes icro s IC 61131 programming language. L I N I T I N Variable View List nline nimation Variable Force List icro IC 61131 oftware Kollmorgen s icro software nables you to leverage decades of industry control and application experience to allow you to build a better machine, faster. icro ffers: 76 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
mart rive IC 61131 achine and otion Control Kollmorgen's mart rive servo amplifiers provide 5 W to 65 kw continuous output power in a compact, easy-to-apply package. vailable in both 23 Vac and 46 Vac systems, mart rives operate over wide line voltage range. pplication of the mart rives is simple. The integral power supply and plug-and-play cable sets simplify installation. Configuration, tuning and maintenance are intuitive using icro software with features including basic and expert parameter views, a software storage oscilloscope and auto-tuning. roduct Features L I N I T I N -Link igital Network High peed & eterministic xis Update ate is Independently elected by ervo xis dvanced Control lgorithms Bi-Quad filter allows flexibility in addressing machine resonance conditions rive I & Interfaces elay output (1) otor brake control, B+, B- screw terminals Feedback ne (F1) Incremental commutating encoder, ine-encoder (Bi, ndat 2.1) esolver (requires internally installed option card) Feedback Two (F2) Incremental commutating encoder mart rive () ystems 115/23 Vac ystems rive rive I cont / I peak rms otor Type Frame size imensions H x W x in (mm) C--.5-23- 1.1 (257) x 3.69 (93.7) x 6.12 (156) 1.77 / 5.3 K11B, 13C N 17 C--.5-23-N 1. (257) x 2.96 (75.2) x 6.12 (156) C--1.-23-1.1 (257) x 4.69 (119) x 6.12 (156) 3.5 / 1.6 K23 N 23 C--1.-23-N 1.1 (257) x 3.96 (1) x 6.12 (156) C--2.-23- K42G N 34 1.1 (257) x 4.69 (119) x 6.12 (156) 7. / 21.2 C--2.-23-N K52G N 42 1.1 (257) x 3.96 (1) x 6.12 (156) mart rive () ystems 4/46 Vac ystems rive rive I cont / I peak rms otor Type Frame size imensions H x W x in (mm) C--1.3-46- 2.1 / 4.2 K23C N 23 13.66 (347) x 4.14 (15) x 8.35 (212) C--2.4-46- 3.9 / 7.8 K42 N 34 13.66 (347) x 4.14 (15) x 8.35 (212) C--4.-46-6.3 / 12.7 K52G N 42 16.85 (428) x 4.15 (16) x 11.35 (288) Note: -N is narrow version, igital drive network slave only, space for control card removed. www.kollmorgen.com 77 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
mart rive () - IC 61131 achine and otion rive/control L I N I T I N icro rive etup and otion rogramming icro provides single point programming for logic, motion, drive commissioning, tuning, process, data management and communications. virtual connection is established through this single point to allow you to access all of the drives on the network. otor Feedback tandard feedback support for incremental encoder and sine-encoder, optional resolver feedback. uxiliary Feedback aster encoder input for use in 1 1/2 axis master/slave motion applications or use the dual-loop feedback capability to improve control. rive I/ ach C mart rive has 8 C inputs, 4 C outputs and 1 analog input that can be used in the application program. Two of the inputs are high speed for position capture and registration. The states of the drive I/ are available to the application program over the igital Network. achine Control I/ rive-esident C controller has 8 C Inputs and 8 C utputs for use in your application program. The outputs may be used as L outputs. 78 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
C Control ystem The 16, rive esident Control can control up to 16 sevo axes. It controls the drive it is installed in and up to 15 additional axes through a deterministic J45 CT5 interface. rive esident controllers are also available in 1, 2, 4 and 8 axes versions. Block I/ ptions pplications that require I/ beyond what is available on the control and the drives are easily expanded using Block I/. simple four-wire connection provides access to up to 77 I/ blocks that can be mounted locally or up to 2 feet apart. elect from our family of Block I/ modules including discrete I/, analog I/ and motion I/. L I N I T I N C ulti-mart rive Control cheme total of 16 C mart rives with 16 axes of control can be configured via a simple J45 cable connection. IC 61131 achine & otion Control Utilize icro decades of experience to leverage a rich library of application function blocks, icro's close coupling of machine I and motion provides industry-leading IC 61131 performance control. nline nimation Variable View List Variable Force List HI erial ort Connection The serial port allows you to connect to our operator interfaces, or a third-party serial device. 1/1 thernet for evice Connectivity The built-in 1/1 thernet port provides a wide variety of connectivity options. Connect to third-party devices using our C erver, odbus TC or other control protocols, transfer recipe or data files to and from the IK using TFT file transfer, share data between controls using U packets, and access your plant network. You can also simultaneously run icro over thernet either directly or remotely. www.kollmorgen.com 79 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Linear ositioning: od Type or odless L I N I T I N od Type electric cylinders are similar in configuration to a hydraulic or pneumatic actuator and are preferred when you need to position an externally supported load, move a load that pivots, retrofit a hydraulic or pneumatic actuator, or have reach in requirements. C and N2 electric cylinders (see the N2 series figure, right) use ballscrews (1) to convert rotary motion into linear motion. The motor (2) is mounted to the bearing housing (3), and the motor s power is transmitted to the screw through a gear, or timing-belt reduction (4). The screw turns and moves the ball nut (5), which is connected to a guide flange (6). The guide flange keeps the nut from rotating, by sliding through the guide cylinder (7). The thrust tube (8) is threaded on to the nut, and is supported by the sleeve bearing (9) in the rod-end housing (1). The load is attached to the rod end (11). N2 eries 4 3 1. Ballscrew 2. otor 3. Bearing Housing 1 2 5 6 4. rive Train 5. Ball Nut 6. Guide Flange 7 9 7. Guide Cylinder 8. Thrust Tube 9. leeve Bearing 1 11 8 1. od nd Housing 11. od nd odless positioners have a bearing support system and a carriage that runs the length of the body. This type of positioner is preferred when you need to save space by eliminating external guides and ways, when high speed and long stroke lengths are needed, when the shortest overall work envelope is needed, or when a multi axis Cartesian ystem is required. 2, 3 and 4 rodless positioners use a ballscrew or a transport belt to convert the motor s power to linear thrust. ictured below is a belt-drive positioner. s in the C and N2 electric cylinders, there is a timing belt, or gear reduction (1) between the motor (2) and the driven pulley (3). The transport belt (4) runs over two pulleys and each end is connected to the connector bracket (5). The connector bracket is connected to two bearing blocks (6) that ride on the recirculating ballbearing rail (7) that is mounted in the guide cylinder (8). The carriage (9) is mounted to the connector bracket and the seal strip (1) runs between them. The connector bracket lifts the seal as the carriage moves, while roller wheels (11) in the carriage push the seal back in place. 2 positioners have no bearing blocks, but instead have roller wheels for bearing support (as seen in the figure below). Four track-roller bearings run on two hardened and ground steel shafts, pressed into the extrusion. 4 11 9 5 1 2 Carriage 3 1 6 7 8 2 1. rive Train 2. otor 3. Transport ulley 4. Transport Belt 5. Connector Bracket 6. Bearing Blocks 7. Linear ail 8. Guide Cylinder 9. Carriage 1. eal trip 11. eal oller oller Bearings teel haft 8 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Linear ctuation peration: otary to Linear Conversion Linear motion systems driven by rotating electric motors commonly employ one of three rotary-to-linear conversion systems: ballscrew, belt drive, or lead screw. Ballscrew The majority of linear motion applications convert motor torque to linear thrust using ballscrews due to their ability to convert more than 9% of the motor s torque to thrust. s seen below the ballnut uses one or more circuits of recirculating steel balls which roll between the nut and ballscrew threads. Ballscrews provide an effective solution when the application requires: Ball / Lead crew crew-drive mechanisms, whether lead screw or ballscrew provide high thrust (to thousands of pounds), but are often limited by critical speed, maximum recirculation speed of ball nut circuits, or sliding friction of lead nut systems. Ballscrew L I N I T I N Lead crew The lead screw uses a plastic or bronze solid nut that slides along the threads of the screw, much like an ordinary nut and bolt. ince there are no rolling elements between the nut and the lead screw, lead screws yield only 3-5% of the motor s energy to driving the load. The remaining energy is lost to friction and dissipated as heat. This heat generation limits the duty cycle to less than 5%. great benefit of the lead screw is its ability to hold a vertical load in a power-off situation (refer to the Backdrive specifications for lead screw positioners). The lead screw is a good choice for applications requiring: Lead crew www.kollmorgen.com 81 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Linear ositioning: echanical rive Comparison L I N I T I N The following chart will help pinpoint which linear drive mechanism is right for your application. Kollmorgen offers many positioner options, such as brakes, encoders, lubrication ports, preloaded nuts, and precision ground screws, that may help you meet your specification. If these standard options do not meet your requirements, please contact Kollmorgen for information regarding custom solutions. Considerations Lead crew Ballscrew Belt rive Noise Quiet Noisy Quiet Back riving elf locking asily backdrives asily backdrives Backlash Increases with wear Constant throughout screw life Can increase with wear or stretching of belt epeatability +/-.5 to.5 +/-.5 to.5 +/-.4 uty Cycle oderate max. 5% High max. 1% High max. 1% echanical fficiency Life and echanical Wear Low lastic Nut - 5% Bronze Nut - 4% horter life due to high friction High - 9% High - 9% Longer Longer hock loads Higher Lower Low moothness mooth operation at lower speeds mooth operation at all speeds mooth operation at all speeds peeds Low High Higher Cost $$ Lowest $$$ oderate $$$ oderate 82 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Linear ositioning: echanical rive Comparison L I N I T I N Comments Lead: liding nut design provides quiet operation. Ball: Transmits audible noise as balls recirculate through nut during motion. Belt: the neoprene cover of the belt provides damping of noise. The support bearings will generate some noise. Lead: Good for vertical applications; vibration may cause position loss. Ball: ay require brake or holding device when no holding torque is applied to the screw. Belt: ay require brake or holding device when no holding torque is applied to the drive pulley. Lead: Considered worn-out when backlash exceeds.2. Typically.6 when shipped from the factory. Ball: Typically constant at.6 (lead screw/nut only). Belt: Typically at.1 when shipped. Can be adjusted to compensate for wear or stretching. Lead: Low duty cycle due to high friction from sliding surface design. Ball: High screw efficiency and low friction allow high duty cycle. Belt: High efficiency provides low heating and high duty cycle. Lead: Low efficiency sliding friction surfaces. Ball: High efficiency smooth rolling contact. Lead: echanical wear is a function of duty cycle, load and speed. Ball: Virtually no mechanical wear when operated within rated load specifications. Belt: High efficiency contributes to long life. rive belts can be easily replaced to extend system life. Lead: Better suited because of larger surface area. Ball: Brunelling of steel balls limits shock load capability. Belt: hock loads can cause fatigue and stretching of drive belts. Lead: t extreme low speeds, units have a tendency to stop/start stutter (due to friction). Ball: Generally smoother than lead through the entire speed range. Belt: 18 engagement of belt provides continuous smooth contact throughout the speed range. Lead: xtreme speeds and accelerations can generate excessive heat and deform the screw. Belt: ach revolution of the drive pulley provides several inches of travel. peeds up to 12 in/sec can be achieved. www.kollmorgen.com 83 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Linear Technology Comparison L I N I T I N For many applications, hydraulic or pneumatic linear cylinders are a better choice than their electromechanical alternatives. For example, when extremely heavy loads (>25, N [5,62 lb]) must be moved, hydraulic cylinders are usually the best solution. Installation recise ositioning Control peed eliability ower Cycle Life nvironment afe Load Holding Cost Kollmorgen lectric Cylinders ll electric operation requires simple wiring; directly compatible with other electronic controls. Cost-effective, repeatable (to ±.13 mm [±.5 in]), rigid multi-stop capabilities. olid-state microprocessor-based controls allow automatic operation of complex motion sequences. mooth, variable speed capabilities from.5 to 133 mm/sec [.2 to 52.5 in/sec]. epeatable, reproducible performance throughout useful life of product; little maintenance required. r, when very light loads must be moved rapidly and repeatedly from one fixed location to another fixed location, pneumatic cylinders may be the most economical solution. Hydraulic Cylinders equires expensive plumbing, filtering, pumps, etc. ust pay close attention to compatibility of components. equires expensive position sensing and precise electrohydraulic valving to implement; has tendency to creep. equires electronic/fluid interfaces and sometimes exotic valve designs. Hysteresis, dead zone, supply pressure and temperature changes complicate control. ifficult to control accurately. Varies with temperature and wear. tick slip can be a problem. Very contamination sensitive. Fluid sources require maintenance. eals are prone to leak. Good reliability with diligent maintenance. Up to 25, N [562 lb], 3 kw [4 hp]. Virtually unlimited force. ost powerful. Up to millions of cycles at rated load. asy to predict. tandard models rated for -2 to 16 F. Inherently clean and energy efficient. Lead screw units are self-locking if power fails. Fail-safe brakes available for ballscrew models. oderate initial cost; very low operating cost. ependent on design and seal wear; usually good. Temperature extremes can be a major problem. eals are prone to leak. Waste disposal is increasingly problematic. Complex back-up safety devices must be used. Components often cost less, but installation and maintenance are increased. Hydraulic power unit cost is high if not pre-existing. ost economical above 7.5 kw [1 hp]. neumatic Cylinders equires expensive plumbing, filtering, pumps, etc. ost difficult to achieve. equires expensive position sensing and precise valving to implement; has tendency to creep. Inherently non-linear, compressible power source severely complicates servo control. Compressibility can be an advantage in open loop operation. ore susceptible to stick slip and varying load. Well-suited for high speed applications to 5 m/sec [2 in/sec]. Very contamination sensitive. ir sources require proper filtration. Good reliability, but usually many system components are involved. Up to 5, lbs. Typically used below.75 kw [1 hp]. ependent on seal wear, usually good. Temperature extremes can be a major problem. eals prone to leak. ir-borne oil can be a problem. Complex back-up safety devices must be used. Components often cost less, but installation and maintenance are increased. ost cost-effective for low power, simple point-to-point applications. 84 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Linear Technology Comparison But when simplicity, flexibility, programmability, accuracy and reliability are important and loads are within the capacity of the technology, electromechanical solutions often are the most desirable. Further, electromechanical systems are inherently more compatible with today s automation controls. T WITHUT C I T WITHUT C FLUI LCTIC CYLIN NUTIC CTUT HYULIC CTUT Y N Y Y Y N L I N I T I N T WITHUT VLV, I H TH, CNTLLBL HL ITIN WITHUT W T IN TTU XT CCUT I-TK ITINING GUI GINT TTIN Y N N Y N TIL Y N TIL Y N N Y N N Y N N HIGH CYCL CBILITY Y Y LIIT CN B T WITHUT LIIT WITCH Y Y Y www.kollmorgen.com 85 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Linear izing Calculations: ove rofile L I N I T I N otary and linear positioner selection begins with the calculation of speed, thrust and torque requirements. In order to determine the torque required, the acceleration of the mass being moved must be calculated. move profile, or a plot of load velocity vs. time, is sketched in order to simplify the peak acceleration and peak velocity calculations. Typical achine Cycle Velocity V+ V- (1) Total distance, (2) ax velocity, Typical Cycle Time T t1 t2 t3 t4 t5 [ d tot = v X t 1 t + t 3 2 2 + 2 ] d tot v X = t ( 1 + t 3 2 ) + t 2 Next Cycle Time The ove rofile sketch contains some important information: eak acceleration is the steepest slope on the curve, in this case during t 4 or t 5. aximum velocity is at the highest or lowest point over the entire curve, here at the peak between t 4 and t 5. istance is equal to the area under the curve. rea above the time axis represents distance covered in the positive direction, while negative distance falls below this axis. The distance equation (1) is just a sum of the areas of two triangles and a rectangle. Trapezoidal and Triangular rofiles couple of assumptions can greatly simplify the general equations. For the Trapezoidal profile we assume t 1 =t 2 =t 3, and for the Triangular we assume t 3 =t 4. ubstituting these assumptions into equations (2) and (3) yields the equations shown in the figure below. For a given distance (or area), a triangular profile requires lower acceleration than the trapezoidal profile. This results in a lower thrust requirement, and in turn, a smaller motor. n the other hand, the triangular profile s peak speed is greater than the trapezoidal, so for applications where the motor speed is a limiting factor, a trapezoidal profile is usually a better choice. (3) cceleration, a = v X t CCL The figure above is an example of a typical machine cycle, and is made up of two ove rofiles; the first is an example of a trapezoidal profile, while the second is a triangular profile. The horizontal axis represents time and the vertical axis represents velocity (linear or rotary). The load accelerates for a time (t 1 ), has a constant velocity or slew section (t 2 ), and decelerates to a stop (t 3 ). There it dwells for a time, accelerates in the negative direction (t 4 ), and decelerates back to a stop (t 5 ) without a slew region. The equations needed to calculate eak Velocity and cceleration for a general trapezoidal profile are shown in the figure. triangular profile can be thought of as a trapezoidal profile where t 2 =. Trapezoidal ove rofile v max v avg Velocity (in/sec) Triangular ove rofile V max V avg Velocity (in/sec) a t 2 t 1 t 3 T (time in sec) a t 1 t 3 d tot d tot v d V = tot t tot t t 1 = t 2 = t 3 = tot 3 v d X = 1.5 tot = 1.5v t V tot d a = 4.5 tot ( t tot) 2 v V = t 1 = t 3 = v X = d tot t tot t tot 2 2d tot t tot t 2 = = 2 v V T (time in sec) a = 4d tot ( t tot) 2 = 2v X t tot 86 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Linear izing Calculations: ove rofile xample 1 Calculate the peak acceleration and velocity for an object that needs to move 3 inches in 2.5 seconds. ssume a Trapezoidal rofile. olution v max 2.5 sec. d = 3 in. tot xample 3 This is an example of a case when triangular and trapezoidal move profiles are not adequate approximations. ssume a maximum positioner speed is 6 inches/sec. ketch a move profile that will complete a 1 inch move in 2 seconds. What is the minimum allowable acceleration rate in inches/sec 2? olution v Triangular Trapezoidal ctual equired ove L I N I T I N v V = 3 in 2.5 sec = 12 in/sec t v X = 1.5 d tot t tot = 18 in/sec d a = 4.5 tot = 21.6 in/sec ( t tot) 2 2 xample 2 Calculate, in radians/sec, the peak acceleration and velocity for an cylinder that needs to move 5 revolutions in.4 seconds. ssume a Triangular rofile. olution Triangular v V = 1 in 2 sec = 5 in/sec v X = 2 v V = 1 in/sec (v X > 6 in/sec too fast) Trapezoidal v X = 1.5 v V = 7.5 in/sec (v X > 6 in/sec too fast) These are too fast, so we need to find t 1 as follows: v max 5 revs equired rofile ( t 1 + t 3) ( 2 ) d tot = v X + t 2 d tot = 5 revs 2 rad rev v V = 31.42 rad in.4 sec = 78.55 v rad X = 2 v V = 157.1 sec d a = 4 tot = 785.5 rad T2 sec2.4 sec. = 31.42 rad rad sec d = + t 2 = t tot + 2 2 v X ( ) solving for t 2, ( ) ( ) t d tot t tot 2 sec 2 = 2 1 in v = X 2 6 in/sec 2 2 t 2 = 1.33 sec ( t tot t 2) Now assume t 1 = t 3, so t 1 = (t tot - t 2 )/2 =.33 sec. Finally, calculate acceleration v a = X = 6 in/sec = 18 t.33 sec 1 t 2 2 in sec2 www.kollmorgen.com 87 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Linear izing Calculations: Thrust Calculation L I N I T I N Thrust Calculation The thrust required to move a mass a given distance within a given time may be calculated by summing all of the forces that act on the mass. These forces generally fall within the following four categories: Gravity is important when something is being raised or lowered in a system. Lifting a mass vertically is one example, as is sliding something on an incline. Friction forces exist in almost all systems and must be considered. pplied forces come from springs, other positioners, magnets, etc., and are the forces that act on the mass other than friction, gravity, and the positioner s thrust. The spring shown in the figure below is an example of an pplied force. ositioner thrust is the required force, and is what we need to determine. F positioner W L F friction The figure above shows a general case where the force required by positioner must be determined. ll of the above forces are included, and it is important to note that all of these forces can change over time, so the thrust must be calculated for each section of the move profile. The worst case thrust and speed required should be used to pick the appropriate positioner. ll of these forces added up ( ) must be equal to mass acceleration, or: F = m a, or, (1) W ( t ) F positioner F applied F friction F gravity =ma= a (2) g ( ) W F positioner = t g a+f applied +F friction +F gravity (3) where W t = W load + W positioner (4) F friction = W L cos, F gravity = W L sin F gravity and F applied W positioner becomes important when the acceleration force, (W t /g)a, is a significant part of the thrust calculation. For simplicity, start by neglecting this weight, and calculate the required thrust without it. fter selecting a positioner, add its mass to the mass of the load and recalculate. To make these equations clear, lets begin with an example. xample 1 We would like to move a 2 lb weight a distance of 1 inches in 2 seconds. The mass slides up and incline with a friction coefficient of.1 at an angle of 45. There is a spring that will be in contact with the mass during the last.5 inch of travel and has a spring rate of 1 lb/in. What is the maximum thrust and velocity? olution We need to look at the thrust requirement during each part of the move, and find the points of maximum thrust and maximum speed. Choosing a trapezoidal profile we calculate that v max is 7.5 in/sec and the peak acceleration is 11.25 in/sec 2 (see ove rofile ection). cceleration ection: a = 2 lb/386 in/sec 2 11.25 in/sec 2 = 5.83 lb F applied = lb F friction = [2 lb cos (45)].1 = 14.14 lb F gravity = 2 lb sin (45) = 141.4 lb F total = 161 lb lew ection: a = lb (since a=) F applied = lb F friction = [2 lb cos (45)].1 = 14.14 lb F gravity = 2 lb sin (45) = 141.4 lb F total = 156 lb eceleration ection: a = 2 lb/386 in/sec 2-11.25 in/sec 2 = -5.83 lb F applied = K x =.5 in 1 lb/in =5 lb (worst case) F friction = [2 lb cos (45)].1 = 14.14 lb F gravity = 2 lb sin (45) = 141.4 lb F total = 2 lb o the worst case required thrust is 2 lb. nd the worst case velocity is 7.5 in/sec. 88 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Linear izing Calculations: Thrust Calculation ositioner ass In applications where the acceleration force, (W t /g)a, is a significant part of the required thrust, the positioner mass must be considered in the thrust calculation. fter a positioner is chosen, the positioner weight (linear inertia), W positioner, is added to the weight of the load. W positioner can be determined using the tables and equation in the positioner data section. To illustrate, we will use the previous example. 1. The first step is to pick a linear positioner with the above thrust and speed capability. ne such positioner is an C3-K42-2-16B-3. This is an C3 lectric Cylinder with a K42 motor, a 2:1 gear reduction, a 16 mm lead ballscrew, and a 3 mm stroke. 2. The next step is to look up the effective ositioner Linear Inertia in the tables located in the particular positioner section (do not include the load term in the equation). n entry from this table can be seen in the table below. The K42 motor inertia is.13 in-lb-sec 2. The effective positioner weight, calculated from the table is 297 lb. 3. The final step is to add this weight to the weight of the load, W L, and recalculate the peak thrust required for each section of the move profile (do not add this weight to the gravity or friction terms): cceleration ection: a = 447 lb/386 in/sec 2 11.25 in/sec 2 = 13.3 lb F total = 169 lb lew ection: a = lb (since a=) eceleration ection: a = 447 lb/386 in/sec 2-11.25 in/sec 2 ) = -13.3 lb F total = 193 lb We can see from this calculation that the addition of this extra acceleration weight increases the thrust required during acceleration, but reduces the peak thrust required during deceleration. The C3-K42-2-16B-3 will work in the application. Vertical and Horizontal Cases In a vertical system, is 9, sin9 = 1, and F gravity is equal to W L. ince cos9 =, F friction =. W L F positioner = (W t /g)a + F applied + F gravity F positioner = (W t /g)a + F applied + W L In a horizontal system, sin =, so gravity would play no part (F gravity = ), and cos =1, so F friction would be equal to W L, or 5 lb. F positioner = (W t /g)a + F applied + F friction F positioner = (W t /g)a + F applied + W L Thrust For all ervomotor applications, the Thrust needs to be calculated. This thrust must fall within the continuous duty region of the linear positioner. Use the following equation when calculating Thrust: F T F T = W L F T CC F T VL F T C F T FF t t V t t off (F T CC ) 2 t a + (F T VL ) 2 t v + (F T C ) 2 t d + (F T FF ) 2 t off ta + tv + td + toff Thrust rofile ove rofile L I N I T I N C eries Linear ositioner Inertia otary Inertia (eflected to otor) = + B* (troke, in) + C * (Load, lb) odel crew B C atio eduction type C 3 eries ia x Lead (mm) lb-in sec 2 lb-in sec 2 / in lb-in sec 2 / lb C3- -1-16B 1:1 1.188-3 1.176-5 2.64-5 C3- -15-16B 1.5:1 Belt/pulley 7.435-4 5.228-6 1.157-5 C3- -2-16B 2:1 16 x 16 4.779-4 2.765-6 6.121-6 C3- -5-16B 5:1 2.28-4 4.635-7 1.26-6 Helical gear C3- -7-16B 7:1 1.975-4 2.41-7 5.314-7 K42 echanical pecifications otor Inertia (based on resolver).13 lb-in-sec 2 www.kollmorgen.com 89 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
L I N I T I N Linear izing Calculations: uty Cycle uty Cycle is the ratio of motor-on time to total cycle time and is used to determine the acceptable level of running time so that the thermal limits of the motor or positioner components are not exceeded. Inefficiencies cause a temperature rise in a system, and when the temperature reaches a critical point, components fail. Letting the system to rest idle during the cycle allows these system components to cool. uty Cycle is limited by lead screw and motor thermal limits. Use the following equation and example to determine uty Cycle: uty Cycle = N TI N TI + FF TI 1 xample: ove Cycle V 3 sec N Time uty Cycle = 3 sec 1 3 + 1 sec = 75% 1 sec ff Time Lead screw Limitations Cylinders with lead screws have sliding friction surfaces and are limited to a maximum 5% duty cycle regardless of motor capability. The friction in the lead screw causes rapid heating, and continuous operation is likely to end in a ruined nut or screw. For positioner with ballscrews the motor is the only duty-cycle limitation when used within the listed speed vs. thrust curves in the catalog. otor Type lectric motors incur heat losses via a number of paths, namely, friction, ohmic (I 2 ) losses in copper windings, hysteresis and eddy current induction in magnetic core materials, and proximity and/or skin effect in windings. s a result duty cycle can be limited by the motor winding temperature limitations. ervomotors Linear ositioners using K series motors must have their peak (Fpeak) and continuous (F ) thrust requirements determined to establish their safe operation within an application. F can be determined using the Thrust equation in the Thrust Calculation section. lotting F on the positioner peed vs. Thrust curve indicates the allowable uty Cycle. For ballscrew positioners, F must fall within the continuous duty region, while for lead screws it must fall in the 5% duty region. Fpeak must fall within remaining operating envelope. The speed vs. thrust curve below is an example of proper servo electric cylinder sizing. C3-K23-xxx-1-1B TQU - N-m, lb-in..8 1.5 2.3 3.1 3.8 4.6. 6.8 13.5 2.3 27.1 33.8 4.6 635 25 381 58 2 348 381 15 2286 VX 254 1 1524 127 5 F 762 FK. 7 14 21 28 35 42 311 623 934 1246 1557 1868 T 9 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Linear otion Terminology: Linear ositioner recision arameter efinition ominating Factors bsolute ccuracy epeatability esolution The maximum error between expected and actual position. The ability of a positioning system to return to a location during operation when approaching from the same direction, at the same speed and deceleration rate. The smallest positioning increment achievable. In digital control systems, resolution is the smallest specifiable position increment. assembly) L I N I T I N Backlash The amount of play (lost motion) between a set of moveable parts. ccuracy and epeatability ssume three linear positioning systems each attempt five moves from an absolute zero position to absolute position. The individual end positions of each move are charted on a linear scale below to demonstrate their accuracy and repeatability by displaying their proximities to the expected position. Ideal ystem tart osition otion xpected osition No rror ystem 1 ove 1 ove 2 ove 3 ove 4 ove 5 ystem 2 ove 1 ove 2 ove 3 ove 4 ove 5 ystem 3 ove 1 ove 2 ove 3 ove 4 ove 5 tart osition xpected osition egree of ccuracy egree of epeatability Comment High High ystem 1 is both accurate and repeatable, the end positions are tightly grouped together and are close to the expected position. Low High ystem 2 is inaccurate but repeatable, the end positions are tightly grouped around a point but are not close to the expected position. Low Low ystem 3 is neither accurate nor repeatable, the end positions are not tightly grouped and are not close to the expected position. www.kollmorgen.com 91 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
L I N I T I N Linear otion Terminology: Linear ositioner recision Backlash The clearance between elements in a drive train or lead screw assembly which produces a mechanical dead band or dead space when changing directions, is known as the backlash in a system. In most mechanical systems, some degree of backlash is necessary to reduce friction and wear. In a Kollmorgen Linear ositioner ystem, system backlash will typically be.1.15 inches. Usually.6.8 is attributed to the ballscrew / lead screw assembly. For ballscrews this will remain constant throughout the life of a cylinder, while for lead screws it will increase with wear. educing the ffects of Backlash 1. pproach a stop position from the same direction. 2. pply a constant linear force on the cylinder thrust tube or carriage. This is done automatically for cylinders used in vertical orientations with a backdriving load. 3. For programmable positioning devices it is possible to program out backlash by specifying a small incremental move (enough to take out the backlash) prior to making your normal moves in a particular direction. 4. Use a preloaded nut on a ballscrew to counteract the backlash. Contact Kollmorgen about the precision ground screw option which reduces backlash in the drive nut. 5. n inline positioner with the motor directly coupled to the ballscrew has less backlash than parallel or reverse parallel units which utilize a gear train or drive belt/pulley. rimary ources of Backlash 1. Ballscrew/Lead screw ssembly 2. rive Train (Gears, Timing Belt/ulley) Backlash Ballnut Backlash 3. Timing Belt/ulley Backlash 4. Coupling Backlash 92 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Linear otion Terminology: Critical peed and Column Loading Critical peed ll ballscrew systems have a rotational speed limit where harmonic vibrations occur. With Kollmorgen cylinders, this limit is a function of unsupported ballscrew length. peration beyond this critical speed will cause the ballscrew to vibrate (whip violently) eventually bending or warping the screw. Column trength ll ballscrews have a maximum column loading limit which causes the screw to compress as load increases. In Kollmorgen cylinders this limit is a function of unsupported lead screw length. xceeding this limit will cause the ballscrew to buckle and become permanently damaged. etermining the Limits Critical peed and Column Loading information for each screw type (i.e. 2B, 5, 8, 5B ) can be found at the bottom of each erformance page in the particular linear positioner s section. C4-K52G- -15-1B Compression (column) Load TQU - N-m, lb-in. 3.8 7.6 11.4 15.1 18.9 22.7. 33.5 67. 1.6 134.1 167.6 21.1 413 16.3 33 13. 248 165 83. 9.8 6.5 3.3. 52 14 156 28 26 312 2313 4626 6939 9252 11565 13878 THUT - lb, N L 3715 2972 2229 1486 743 T Column Load Limit Thrust Load Column peed Limit Linear ositioners L I N I T I N xample Find the Column Load and Critical peed limits for an C4-1B, 42 inch stroke electric cylinder. The positioner data can be found in the 3B ection. eading off the chart at the bottom of page, the limits are 4 lb and 3.6 in/sec. The usable speed/thrust is restricted to less than these values as seen in the modified speed vs. thrust curve. Thrust peed Curves - C4 eries C4-K52G - -1-25B TQU - N-m, lb-in. 3.8 7.6 11.5 15.3 19.1 22.9. 33.8 67.6 11.5 135.3 169.1 22.9 1588 62.5 381 127 5. 348 953 37.5 2286 635 25. 1524 318 12.5 762.. 14 28 42 56 7 84 623 1246 1868 2491 3114 3737 THUT - lb, N C4-K52G - -15-25B TQU - N-m, lb-in. 3.8 7.6 11.4 15.2 19. 22.8. 33.7 67.3 11. 134.7 168.3 22. 116 4. 3658 813 32. 2926 61 24. 2195 46 16. 1463 23 8. 732.. 21 42 63 84 15 126 934 1868 282 3737 4671 565 THUT - lb, N C4-K52G - -2-25B TQU - N-m, lb-in. 3.3 6.6 9.8 13.1 16.4 19.7. 29. 58. 87. 116. 145. 174. 762 3. 3658 61 24. 2926 457 18. 2195 35 12. 1463 152 6. 732.. T T T C4-K52G - -1-1B TQU - N-m, lb-in. 3.7 7.4 11.1 14.9 18.6 22.3. 32.9 65.8 98.6 131.5 164.4 197.3 635 25. 381 58 2. 348 381 15. 2286 254 1. 1524 127 5. 762.. 34 68 12 136 17 1512 325 4537 65 7562 24 974 THUT - lb, N C4-K52G - -15-1B TQU - N-m, lb-in. 3.8 7.6 11.4 15.1 18.9 22.7. 33.5 67. 1.6 134.1 167.6 21.1 413 16.3 3715 33 13. 2972 248 9.8 2229 165 6.5 1486 83 3.3 743.. 52 14 156 28 26 312 2313 4626 6939 9252 11565 13878 THUT - lb, N C4-K52G - -2-1B TQU - N-m, lb-in. 2.9 5.9 8.8 11.8 14.7 17.7. 26.1 52.2 78.3 14.4 13.5 156.6 318 12.5 381 254 1. 348 191 7.5 2286 127 5. 1524 64 2.5 762.. T T T 24 48 72 96 12 168 2135 323 427 5338 144 645 THUT - lb, N 54 18 162 216 27 324 242 484 726 968 121 14412 THUT - lb, N C4-1B Ballscrew pecification. 9.8 19.7 29.5 39.4 49.2 59.1 2 16 12 8 4 25 5 75 1 125 15 troke length Critical peed (in/s) in 2375 19 1425 95 475 mm Column Load Limit (lbs) C4-25B Critical peed (in/s C4-K52G - -5-25B 65 52 39 26 13 TQU - N-m, lb-in. 2.7 5.4 8.1 1.7 13.4 16.1. 23.8 47.5 71.3 95. 118.8 142.5 159 6.25 195 127 5. 1524 95 3.75 1143 64 2.5 762 32 1.25 381.. 48 96 144 192 24 288 2135 427 645 8541 1676 12811 THUT - lb, N Ballscew pecifications. 9.8 19.7 29.5 39.4 49.2 59.1 25 5 75 1 125 15 troke length in 2375 19 1425 95 475 mm Column Load Limit (lb T Legend 25 km / 1 " Life 5. 46 VC. 6.3 /12.7 2 4 6 46 VC 3 6. /12. (Ip limit) 23 VC 2 6. /18. 115 VC 2 6. /18. C4-K52G - -5-1B TQU - N-m, lb-in. 1.2 2.4 3.6 4.8 6. 7.2. 1.7 21.4 32.1 42.8 53.5 64.1 64 2.5 195 51 2. 1524 38 1.5 1143 25 1. 762 13.5 381.. 54 18 162 216 27 324 242 484 726 968 121 14412 THUT - lb, N C4-1B Ballscrew pecification. 9.8 19.7 29.5 39.4 49.2 59.1 * 46 VC ystem performance limits of 46 VC system is equivalent to 23 VC system due to mechanical limits. www.danahermotion.com 31 *46VC Critical peed (in/s) 2 16 12 8 4 25 5 75 1 125 15 troke length in T 2375 19 1425 95 475 mm Column Load Limit (lb www.kollmorgen.com 93 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Linear ositioner nvironmental Considerations L I N I T I N nvironmental conditions are an important design consideration when selecting a Kollmorgen Linear ositioner. Kollmorgen units are self-contained systems which are protected from direct contact with harsh environments by an aluminum housing with a durable anodized and epoxy coated surface finish. However, extreme conditions can have an adverse effect on cylinder operation and life. Factors such as extreme temperature, liquids or abrasive contaminants (gaining internal access) can impede performance and cause premature wear of mechanical parts. eview the information below when sizing your application to choose appropriate options or protective measures. rimary nvironmental Factors od Type Temperature article and Liquid Contaminants direct water (or any liquid) contact. Liquid or moisture can gain access into the housing, eventually corroding internal components. against dust and light water sprays and splashing. rotective Boot ption The B option is available for C electric cylinders and increases the positioner s resistance to liquids. The diagram to the right shows a typical installation of an C with the B option. This option protects the positioner to I65. Note that some motor options are not protected to this level. The B option is not available with -series odless positioners. Custom nvironmental ptions Kollmorgen has over 3 years experience designing custom linear positioners. We have designed fully encapsulated linear positioners for Corrosive, Food rocessing, and Washdown environments, and have experience designing for Cleanroom compatible environments. Call Kollmorgen for more information regarding custom environmental options. C lectric Cylinder Thrust Tube rotective Boot 94 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Introduction to otion Control Technology any different components are used in a variety of combinations to create a complete motion control or positioning system. Kollmorgen offers the broadest range of products spanning the complete spectrum from mechanical linear positioners to microstepping and brushless servo drives to programmable motion controllers. successful application C or LC otion Control rive depends on choosing the right combination of positioner, motor, drive, and control technology. ore than one technology may meet the requirements of your application. In this case, factors such as performance, cost, flexibility, and simplicity may determine your selection. otor Feedback evice echanical ystem L I N I T I N Host Computer rogrammable Controller rogrammable otion Controller Limit witch Control icrostepping rive Brushless ervo rive C otor Brushless ervo tep otor Linear ervomotor ncoder Linear otentiometer Linear ositioner Linear ositioning Table irect rive Linear otor otary Table Gearhead www.kollmorgen.com 95 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
otary ystem election: izing and Calculations L I N I T I N This section provides useful information for calculating your application s mechanical requirements, and selecting the proper motor and drive to meet your needs. To insure the proper motor/drive system is selected, follow these steps: 1. ketch the move profile and calculate acceleration, deceleration and maximum velocity required to make the desired move. 2. elect mechanical drive mechanism to be used and calculate inertia, friction and load torque using formulas for the mechanical drive mechanism. 3. etermine peak and continuous () torque requirements for the application. 4. elect a system choose the appropriate motor and drive combination that meets all of the application requirements. 1. ove rofile efer to the ove rofile section on page 84 to determine your peak velocity and acceleration. otary distance units should be radians. Time units are seconds. NT: 1 rev = 2 radians. xample: We need to move a total distance of 1 revolutions in 1 second using a 1/3, 1/3, 1/3 trapezoidal move profile. What is the distance (d tot ), peak velocity ( max ) and acceleration ( ) required to make the move. max avg Velocity (in/sec) 3. eak Torque and Torque equirements To find the peak and torque required by the motor to make the move successfully, the eflected Torque, T L, is added to the Torque required to accelerate (or decelerate) the load. T L includes all external forces, such as gravity, friction, and applied forces. The equations for peak torque and torque required are: J T K = T L + [ T e ] T = 4. electing a ystem nce the above torques have been calculated, a safety factor needs to be added. The safety margin varies with the motor type desired. afety argin T 2 t + T L 2 t + T 2 t t c (Torque vail) (Torque eq.) ( ) (Torque eq.) = x 1 ervo ystems For servo systems, a torque safety margin of at least 2% is recommended. The peak torque required by the application must fall within the peak torque rating of the motor at the peak speed. You must also calculate the torque based on your application s duty cycle. The torque must fall within the continuous area of the speed torque curve at the peak speed of the application. t a t max t v (time in sec) t d Total distance, d rad tot = 63 rad rev 1.5 d ax velocity, tot max = t = = 95 tot 1 rad sec Torque 2% afety argin eak eak Torque equired 4.5 d cceleration, = tot = = 284 ( rad t sec tot) 2 12 2. echanical rive echanisms The system equations on the following page will help you calculate the reflected inertia (J), reflected applied loads (T), motor speed ( ), and acceleration ( ), based on the move requirements that were determined in step one. 2% afety argin Continuous peed Torque equired 96 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
otary ystem election: Calculations Inertia olid Cylinder Inertia Hollow Cylinder Tangential (Conveyor, ack and inion, etc.) F t, V L, a T t T t W L 2 W B L 1 L 2, J G2 F t L, L,, J L, W L F t L, L,, J L, W L 3, J G3 1, J G1 = L = L = V L 1 = L = L = a 1 L I N I T I N W L = L 2 J J T = J L + J otor T J L 1 W 2 L 2 g W L = L [ 2 2-2 1 ] J T = J L + J otor J L = [ 2 1 W L 2 + 2 1 ] 2 g W J L L + W B 2 g 1 J T = J otor + J L + J G1 + J G2 2 + J 1 G3 3 ( ) ( ) 1 2 2 T L F t = F Friction + F pplied + F Gravity T L = F t T t F t = F Friction + F pplied + F Gravity T L = F t 2 + T t F t = F Friction + Fpplied + FGravity T L = F t 1 e Leadscrew Gear Box F T, V L, a W L N: 1, J J s, T L, p L J L, V L, L T t F t J = 2 pv L = 2 pa J.12 L 4 (for steel) J L = W 2 L 1 g 2 p J T = J L + J + J otor = V L N = L N J L = J L N 2 J T = J L + J educer + J otor Gear educers Follow these guidelines when selecting an IC precision gearhead: 1. Be sure your application's peak torque is less than the maximum momentary torque rating of the gearhead. Be sure to multiply the motor's torque by the gearhead efficiency and gear ratio when determining output torque from the reducer. T F t = F Friction + F pplied + F Gravity F T L = t + T L e F t = F Friction + F pplied + F Gravity T L = (F t T t e 2. Be sure your application's torque is less than the rated continuous torque of the gearhead. Units a = acceleration rate (rad/sec 2 ) = rotary acceleration (rad/sec 2 ) = diameter e = efficiency of mechanism F t = total load force including friction, gravity, or other external forces (oz) g = gravity = 386 in/sec 2 J = rotary inertia (oz-in-sec 2 ) J T = total inertia seen by motor (oz-in-sec 2 ) J L = reflected load inertia (oz-in-sec 2 ) L = length (in) = material density (oz/in 3 ) p = pitch of screw (rev/in) = radius (in) t = acceleration time (sec) T = acceleration torque (oz-in) t = deceleration time (sec) T = deceleration torque (oz-in) T L = preload torque of lead screw (oz-in) t = running time (sec) T = running torque (oz-in) T L = reflected load torque due to friction, gravity, or other external forces (oz-in) V L = linear velocity of load (in/sec) = rotary velocity (rad/sec) W = weight (oz) www.kollmorgen.com 97 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
otion Control Terminology L I N I T I N bsolute ove move referenced from a fixed absolute zero position. cceleration The change in velocity as a function of time, going from a lower speed to a higher speed. ccuracy n absolute measurement defining the difference between expected and actual position. C (Lead crew) screw which uses a threaded screw design with sliding surfaces between the screw and nut. ssembly lectric Cylinder self contained system which converts rotary motion (from a motor) to linear motion. CII (merican tandard Code for Information Interchange) code which assigns a number to each numeral and letter of the alphabet. This allows information to be transmitted between machines as a series of binary numbers. Backdrive Tendency of a cylinder to creep out of its set position due to an applied load or force. Backlash The amount of play (lost motion) between a set of moveable parts when changing the direction of travel. Typically seen in drive trains, ball/lead screws, & bearings. Ballscrew screw assembly which uses a ball nut which houses one or more circuits of recirculating steel balls which roll between the nut and screw. Baud ate The number of binary bits transmitted per second on a serial communication link such as 232C. BC (Binary Coded ecimal) binary numbering system in which the decimal digits to 9 are represented by a 4 bit binary number. Binary Numbering system in which the base is two, each number being expressed in the powers of two, by or 1. Bearing support device which allows a smooth, low friction motion between two surfaces loaded against each other. Bushing cylindrical metal sleeve inserted into a machine part to reduce friction between moving parts. Closed Loop positioning system which employs feedback information to regulate the output response. Cogging otor torque variations which occur at low speeds due to a weak magnetic field. Critical peed otational speed of a ball screw at which vibrations (whipping) will occur. Current The flow of charge through a conductor. Cycle ne complete extension and retraction of a cylinder. eceleration The change in velocity as a function of time, going from a higher speed to a lower speed. rive atio The ratio of motor revolutions per ball/ lead screws revolution. rive Train The arrangement by which the motor is coupled to the ball/lead screws. Typically provided by gears, timing belt/pulley or direct coupling. uty Cycle The ratio of motor on time and total cycle time within a given cycle of operation. well Time Time within a move cycle where no motion occurs uty otor N Time (%) = X 1% Cycle Total Cycle Time (lectrically rasable rogrammable ead nly emory) Non-volatile data storage chip. fficiency atio of output power vs. input power. I (lectromagnetic Interference) lectrical disturbances which interfere with proper transmission of electrical signals, also known as lectrical noise. ncoder n electromechanical device which produces discrete electrical pulses directly related to the angular position of the input shaft, providing high resolution feedback data on position, velocity, and direction. Force The action of one body on another which tends to change the state of motion of that body. Typically described in terms of magnitude, direction, and point of application. Friction The resistance to motion of two surfaces that touch. Helical Gear Gears with teeth that spiral around the gear. Incremental ove move referenced from the current set position. Inertia roperty of an object that resists a change in motion. It is dependent on the mass and shape of the object. The greater an object s mass, the greater its inertia, and the more force is necessary to accelerate and decelerate. Lead The linear distance a nut will travel with one revolution of the ball / lead screw. 98 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
otion Control Terminology crew ssembly evice which converts rotary motion to linear motion. ass The quantity of matter that an object contains. icroprocessor device that incorporates many or all functions of a computer in a single integrated circuit. Used to perform calculations and logic required to do motion or process control. oment (Load) otational forces applied to a linear axis, typically expressed as yaw, pitch, and roll. otion rofile method of describing a move operation in terms of time, position, and velocity. Typically velocity is characterized as a function of time or distance which results in a triangular or trapezoidal profile. otor device which converts electrical energy into mechanical energy. Non-Volatile emory emory that does not lose information on loss of power. pen Collector (NN) n output signal which is provided by a transistor where the open collector output acts like a switch closure to ground when activated. pen Loop positioning system which does not employ feedback information. ptically Coupled n interface circuit that transmits a signal with no direct electrical connection except for the logic ground. ptical Isolation n interface circuit that transmits a signal with no direct electrical connection. vershoot The amount by which a parameter being controlled exceeds the desired value. Typically referring to velocity or position in servo systems. I (roportional, Integral, and erivative) efers to a group of gain parameters used for tuning or optimizing the response of a closed loop positioning system. itch The number of revolutions a Ball / Lead crew must turn for the nut to travel one inch (single start only). LC (rogrammable Logic Controller) programmable device which utilizes ladder logic to control a bank of inputs and outputs which are interfaced to external devices. ower How much work is done in a specific amount of time. W (ulse Width odulation) type of adjustable frequency drive output where the drive s output voltage is always a constant amplitude and by chopping (pulse width modulating) the average output power is controlled. (andom ccess emory) memory chip that can be read from and written to. Used as a medium for temporary information storage. ata is lost after power loss. epeatability The ability of a positioning system to return to an exact location during operation (from the same direction with the same load and speed). esistance The opposition to the flow of charge through a conductor. esolution The smallest positioning increment achievable. In digitally programmed systems it is the smallest specifiable positioning increment. esonance scillatory behavior in a mechanical body when operated or subjected to a periodic force occurring at its natural frequency. (ead nly emory) memory chip that can be read but not altered. 232C method of erial Communication where data is encoded and transmitted on a single line in a sequential time format. ervomotor motor which is used in closed loop systems where feedback is used to control motor velocity, position, or torque. pur Gear Gears with teeth straight and parallel to the axis of rotation. tepper otor otor which translates electrical pulses into precise mechanical movements. Through appropriate drive circuitry, controlling the rate and quantity of pulses will control the motor s velocity and position. Thrust The measurement of linear force. Torque measure of angular force which produces rotational motion. TTL (Transistor-Transistor-Logic) efers to a family of integrated circuit devices used for control. Typically use voltage levels from 5-12 Vdc. Velocity (peed) The change in position as a function of time. Voltage ifference in electrical potential between two points. Weight Force of gravity acting on a body. etermined by multiplying the mass of the object by the acceleration due to gravity. L I N I T I N www.kollmorgen.com 99 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Conversion Tables Torque L I N I T I N B dyne-cm gm-cm oz-in kg-cm lb-in N-m lb-ft kg-m dyne-cm 1 1.19x1-2 1.416x1-5 1.197x1-6 8.85x1-7 1-7 7.375x1-6 1.19x1-6 gm-cm 98.665 1 1.388x1-2 1-3 8.679x1-4 9.86x1-5 7.233x1-5 1-5 oz-in 7.61x1 4 72.7 1 7.2x1-2 6.25x1-2 7.61x1-3 5.28x1-3 7.2x1-4 kg-cm 9.86x1 5 1 13.877 1.8679 9.86x1-2 7.233x1-2 1-2 lb-in 1.129x1 6 1.152x1 3 16 1.152 1.112 8.333x1-2 1.152x1-2 N-m 1 7 1.19x1 4 141.612 1.197 8.85 1.737.12 lb-ft 1.355x1 7 1.382x1 4 192 13.825 12 1.355 1.138 kg-m 9.86x1 7 1 5 1.388x1 3 1 86.796 9.86 7.233 1 Inertia (otary) B lb-ft-s 2 or gm-cm 2 oz-in 2 gm-cm-s 2 kg-cm 2 lb-in 2 oz-in-s 2 lb-ft 2 kg-cm-s 2 lb-in-s 2 slug-ft-s 2 gm-cm 2 1 5.46x1-2 1.1x1-3 1-3 3.417x1-4 1.41x1-5 2.37x1-6 1.1x1-4 8.85x1-7 7.37x1-4 oz-in 2 182.9 1.186.182.625 2.59x1-3 4.34x1-4 1.86x1-4 1.61x1-4 1.34x1-5 gm-cm-s 2 98.6 5.36 1.986.335 1.38x1-2 2.32x1-3 1-3 8.67x1-4 7.23x1-5 kg-cm 2 1 5.46 1.19 1.3417 1.41x1-2 2.37x1-3 1.19x1-3 8.85x1-4 7.37x1-5 lb-in 2 2.92x1 3 16 2.984 2.925 1 4.14x1-2 6.94x1-3 2.96x1-3 2.59x1-3 2.15x1-4 oz-in-s 2 7.6x1 4 386.8 72. 7.615 24.13 1.1675 7.2x1-2 6.25x1-2 5.2x1-3 lb-ft 2 4.21x1 5 234 429.71 421.4 144 5.967 1.4297.3729 3.1x1-2 kg-cm-s 2 9.8x1 5 5.36x1 3 1 98.66 335.1 13.887 2.327 1.8679 7.23x1-2 lb-in-s 2 1.129x1 4 6.177x1 3 1.152x1 3 1.129x1 3 386.8 16 2.681 1.152 1 8.33x1-2 lb-ft-s 2 or 1.355x1 7 7.41x1 4 1.38x1 4 1.35x1 4 4.63x1 3 192 32.17 13.825 12 1 slug-ft 2 1 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Conversion Tables ngular Velocity Linear Velocity B B deg/s rad/s rpm rps deg/s 1 1.75 x 1-2.167 2.78 x 1-3 rad/s 57.3 1 9.55.159 rpm 6.15 1 1.67 x 1-2 rps 36 6.28 6 1 in/min ft/min in/sec ft/sec mm/sec m/sec in/min 1.833.167 1.39 x1-3.42 4.2 x1-4 ft/min 12 1.2.167 5.8 5.8 x1-3 in/sec 6 5 1.83 25.4.254 ft/sec 72 6 12 1 34.8.348 cm/sec 23.62 1.97.3937.328 1.1 m 2362.2 196.9 39.37 3.281 1 1 L I N I T I N bbreviated Terms C = Celsius cm = centimeter F = Fahrenheit ft = foot g = gravity gm = gram gm(f) = gram force hp = Horse ower in = inch kg = kilogram kg(f) = kilogram force kw = Kilowatt lb(f) = pound force lb(m) = pound mass min = minute mm = millimeter m = meter N = Newton oz(f) = ounce force oz(m) = ounce mass rad = radians rpm = revs per minute rps = revs per second s = seconds etric refixes Name bbreviation ultiple Giga G 1 9 1,,, ega 1 6 1,, Kilo k 1 3 1, Hecto h 1 2 1 deka da 1 1 1 1 1 deci d 1-1.1 centi c 1-2.1 milli m 1-3.1 micro μ 1-6.1 nano n 1-9.1 www.kollmorgen.com 11 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
Conversion Tables L I N I T I N (To convert from to B, multiply by entry in table) Length B in ft micron ( m) mm cm m in 1.833 2.54x1 4 25.4 2.54.254 ft 12 1 3.48x1 5 34.8 3.48.348 micron( m) 3.937x1-7 3.281x1-6 1.1 1.x1-4 1.x1-6 mm.3937.328 1 1.1.1 cm.3937.3281 1.x1 4 1 1.1 m 39.37 3.281 1.x1 6 1 1 1 ass B gm kg slug lb(m) oz(m) gm 1.1 6.852x1-5 2.25x1-3.3527 kg 1 1 6.852x1-2 2.25 35.274 slug 1459 14.59 1 32.2 514.72 lb(m) 453.6.45359.311 1 16 oz(m) 28.35.2835 1.94x1-3.625 1 Force B lb(f) N dyne oz(f) kg(f) gm(f) lb(f) 1 4.4482 4.448 x 1 5 16.45359 453.6 N.22481 1 1. 3.5967.1197 dyne 2.248 x1-6.1 1 3.59x1-5 98.6 oz(f).625.2781 2.78x1 4 1.2835 28.35 kg(f) 2.25 9.8665 35.274 1 1 gm(f) 2.25x1-3 1.2x1-3.3527.1 1 Note: lb(f) = 1slug x 1 ft/s 2 N = 1kg x 1 m/s 2 dyne = 1gm x 1 cm/s 2 ower B Watts kw hp(english) hp(metric) ft-lb/s in-lb/s Watts 1 1 x 1-3 1.34 x 1-3 1.36 x 1-3.74 8.88 kw 1 1 1.34 1.36 738 888 hp(english) 746.746 1 1.1 55 66 hp(metric) 736.736.986 1 543 6516 ft-lb/s 1.35 1.36 x 1-3 1.82 x 1-3 1.84 x 1-3 1 12 in-lb/s.113 1.13 x 1-4 1.52 x 1-4 1.53 x 1-4 8.3 x 1-2 1 12 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
N and aterial pecifications aterial ensities oz/in 3 lb/in 3 gm/cm 3 luminum 1.57.98 2.72 Brass 4.96.31 8.6 Bronze 4.72.295 8.17 Copper 5.15.322 8.91 lastic.64.4 1.11 teel 4.48.28 7.75 Hard Wood.46.29.8 oft Wood.28.18.48 Friction Coefficients (liding) μ s teel on teel.58 teel on teel (Greased).15 luminum on teel.45 Copper on teel.36 Brass on teel.4 lastic on teel.2 Linear Bearings.1 L I N I T I N echanism fficiencies Lead crew (Bronze Nut).4 Lead crew (lastic Nut).5 Ball crew.9 Helical Gear.7 pur Gear.6 Timing Belt/ulley.9 Temperature F = (1.8 x C) + 32 C =.555 ( F - 32) Gravity (cceleration Constant) g = 386 in/s 2 = 32.2 ft/s 2 = 9.8 m/s 2 N tandard otor imensions N N N N imension (in) 17 23 34 42 otor haft iameter.197.25.375.625 B otor haft Length*.945.81 1.25 1.38 C ilot iameter.866 1.5 2.875 2.186 ilot Length*.8.62.62.62 ounting Bolt Circle 1.725 2.625 3.875 4.95 F Bolt Hole ize.127.195.218.218 * These dimensions can be less than value indicated. Ø +. [.] -.5 [.] ØC ØF Hole (4x) qually paced on a "" ia B.C. B www.kollmorgen.com 13 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
pplication Worksheet L I N I T I N For selection assistance, fill out this form below and email to Kollmorgen at contactus@kollmorgen.com or send a fax at 1-54-639-4162. repared By Name Company hone Fax mail repared For Name Company hone Fax -mail ddress ddress User s primary business Type of machine Kollmorgen product to be used on Current Kollmorgen user? Yes No roject Time Frame roposal Volume equirements Next 12 months: Build prototype Year 2: In production Year 3: ction equired emo ecommend product rice quotation Call me to discuss 1 lease include drawings, comments or additional information on separate pages. 14 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
pplication Worksheet lectric Cylinder or odless ositioner Loads ayload Weight lbs ayload xternally upported, by (rails, etc.) Hold osition: fter move ower off Carriage Loads (odless only) p r y ide Load in-lb in-lb in-lb lbs r F s y F n p rientation Vertical Horizontal Inclined (angle from horizontal plane) L I N I T I N otion Travel peed (WC=Worst-Case ove) recision troke Length equired in (= usable travel distance + min. 2 inches for limit switches) hortest ove in WC istance in Time for WC sec or ax. peed in /sec in. peed in /sec Complete ove rofile Chart (see p. 1) epeatability ccuracy ax. Backlash esolution traightness / Flatness in in in in in Thrust Calculation (ee ngineering ection in this catalog for assistance) Thrust Thrust = Force CCLT + Force FICTIN + Force GVITY + Force XTNL lb = lb + lb + lb + lb uty Cycle/Life uty Cycle Total Cycle Time sec. um of ove Times sec. Complete ove rofile Chart (see page 1) xtend/etract Cycles per day ove istance per cycle equired Life Units: Inches eters Cycles onths Years inimum Life aintenance/ Lube Interval nvironment perating Temperature Normal 32-14 F [-6 C] High Temp. Low Temp. F / C F / C Contaminants (Check all that apply) olid: non-abrasive coarse chips abrasive fine dust Conditions Washdown utdoor Vacuum Cleanroom Liquid: ripping ist / pray plashing High ressure Non-corrosive Corrosive www.kollmorgen.com 15 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
pplication Worksheet L I N I T I N ove rofile Graph your most demanding cycle, include accel/decel, velocity and dwell times. You may also want to indicate load variations and I/ changes during the cycle. Label axes with proper scale and units. peed ( ) ( ) Time or istance otor Type referred ervo tepper ther xes of otion ingle ultiple # ynchronized Interface Fieldbus LC Computer nalog I/ 232 igital I/ Control ther perator Keypad/LC isplay ushbuttons HI ize ( H x W ): upply Voltage 11 Vac 22 Vac 4 Vac 48 Vac ther Control ethod otion or Fieldbus Network anual Jog igital (tep & irection) nalog Torque Limit witches rogrammable (Basic) nalog Velocity nalog osition IC61131 Control Feedback equired ncoder Linear otentiometer ther esolution equired Input Functions escription of pplication utput Functions 16 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
NT : L I N I T I N www.kollmorgen.com 17 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
rdering Information N2 eries L I N I T I N 1 2 3 4 5 6 7 8 9 1 Base Unit 1. N2 I N2 otor 2. T TY K23 K23-Fxxx- Brushless ervo K23C K23C-Fxxx- Brushless ervo X Customer-upplied otor (motor described in ptions element of part number) 3. T TIN B otatable I65 connectors C.5 m shielded cables w/ I65 connectors N No Brake 2 24 Vdc ower-ff Holding Brake esolver 2 248 L Incremental Comm ncoder C F (mart Feedback evice) 4. IV TI 1 1.:1 rive Belt/ulley 15 1.5:1 rive Belt/ulley 2 2.:1 rive Belt/ulley 25 2.5:1 Helical Gears 35 3.5:1 Helical Gears 12 12.:1 Helical Gears 1L 1.:1 Inline Coupling (irect 1:1 coupling is the only ratio available for Inline odels) 5. CW ITCH, TY 2B 2 rev/inch ballscrew 5B 5 rev/inch ballscrew 5 5 rev/inch lead screw 8 8 rev/inch lead screw otor ptions rive atio crew itch troke Length Cylinder ounting od nd 6. TK LNGTH 2 2 inch total stroke 4 4 inch total stroke 6 6 inch total stroke 8 8 inch total stroke 12 12 inch total stroke 18 18 inch total stroke (requires -B option, effective stroke is 16.5") 24 24 inch total stroke (requires -B option, effective stroke is 22.5") nn.n Custom stroke lengths available in.1 inch increments 7. CYLIN UNTING F1 Front ectangular Flange F2 ear ectangular Flange F3 Front & ear ectangular Flange 2 ear ouble Clevis (without ivot Base) 3 ear ouble Clevis with ivot Base 1 ide nd ngle 2 ide Lugs 6 ide Tapped Holes (metric) 6 ide Tapped Holes (nglish) T4 Trunion 8. N FC2 Clevis (includes T1) F2 pherical Joint (includes FT1) FT1 Female Thread (metric) FT1 Female Thread (nglish)) T1 ale Thread (metric) T1 ale Thread (nglish)) ptions N2 - K23 - BN - 15-5B - 8-2 - FT1 - - C Cable ption 9. TIN (add multiple in the following sequence) B ual Front Bearing B24 24 Vdc Brake on lead screw (not available with 1L ratio, or with F2, F3, 1, 2, 3 mounting options) B115 115 Vac Brake on lead screw (not available with 1L ratio, or with F2, F3, 1, 2, 3 mounting options) B rotective Boot W Water esistent F ub-freezing Temperature H High Temperature rep L Linear otentiometer (only valid for std lengths) otor od Codes for X (customer supplied) otors also found in "ption" portion of art Number. Consult Kollmorgen. otor od codes (customer supplied and customer installed) I6X N2 for K23X-FXXX 1. CBL C No cable supplied, motor includes connectors. efault for all K motor; elect cable as an accessory. 18 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
1-5 Base odel Number Choose the model with sufficient speed and thrust with a comfortable safety margin. efer to the peed vs. Thrust curves. C cylinders with gear or timing belt drive reductions have the motor mounted parallel to the screw. Inline models have the motor coupled directly to the screw with no reduction. 6. troke Length tandard lengths are listed, and custom lengths are also available. To maximize cylinder life, the thrust tube should not impact the physical end-of-travel on either end. xtra travel length is necessary to decelerate the load to a stop when an end-of-travel limit switch is encountered. This extra travel distance depends on load and speed. 7. Cylinder ounting pecify any one of these cylinder mounting options. imensional drawings are on pages 42-47. 3 ear Clevis (2 omits pivot base) T4 Trunnion ivot ount Caution: When utilizing a pivot mounting option (2, 3 or T4) in conjunction with a pivot rod end (F2 or FC2), it is recommended that the electric cylinder be extended only to 9 95% of its full stroke. This increases the system s rigidity and extends the life of the guide bearings and rod seal. 8. od nds L I N I T I N Cylinder base mount options -1,-2, -3, -F2, -F3 cannot be ordered with inline models. F1 Front Flange F2 ear Flange F3 Both Flanges 1 ide nd ngles 2 ide Lugs Four rod end types are available: FT1 or FT1 Female Thread T1 or T1 ale Thread F2 pherical Joint FC2 Clevis 9. ther ptions ee ptions and ccessories ection for complete specifications. * Limit sensors are sold as accessories www.kollmorgen.com 19 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
rdering Information C eries L I N I T I N 1 2 3 4 5 6 7 8 9 1 Base Unit 1. C I C1 C2 C3 C4 C5 otor otor ptions rive atio 2. T TY vailable CT12 CT12xLF1 tepper otor C1 K11B K11B-NCxx- Brushless ervo C1 K13C K13C-NCxx- Brushless ervo C1 K23 K23-Fxxx- Brushless ervo C2, C3 K23C K23C-Fxxx- Brushless ervo C2, C3 K42G K42G-Kxxx- Brushless ervo C3, C4, C5 K42 K42-Kxxx- Brushless ervo C3, C4, C5 K52G K52G-Kxxx- Brushless ervo C4, C5 K52L K52L-Kxxx- Brushless ervo C4, C5 X Customer-upplied otor C2, C3, C4, C5 (motor described in ptions element of part number) 5. CW L, TY vailable 3B.125 in/rev ballscrew C1 5B 5 mm/rev ballscrew C2,.C3 1B 1 mm/rev ballscrew C3, C4, C5 16B 16 mm/rev ballscrew C2, C3 25B 25 mm/rev ballscrew C4 32B 32 mm/rev ballscrew C5 4 4 mm/rev lead screw C2, C3 crew Lead 6. TK LNGTH vailable 5 5 mm total stroke ll 1 1 mm total stroke ll 15 15 mm total stroke ll 2 2 mm total stroke ll 25 25 mm total stroke C2, C3, C4, C5 3 3 mm total stroke C2, C3, C4, C5 45 45 mm total stroke C2, C3, C4, C5 6 6 mm total stroke C2, C3, C4, C5 75 75 mm total stroke C2, C3, C4, C5 1 1 mm total stroke C3, C4, C5 125 125 mm total stroke C4, C5 15 15 mm total stroke C4, C5 nnn Custom stroke lengths available in 1 mm increments troke Length Cylinder ounting 7. CYLIN UNTING vailable F1 Front ectangular Flange C1, C2, C3, C5 F1 Front ectangular Flange (nglish) C4 only F1 Front ectangular Flange (etric) C4 only F2 ear ectangular Flange C2, C3, C5 F2 ear ectangular Flange (nglish) C4 only F2 ear ectangular Flange (etric) C4 only F3 Front & ear ectangular Flange C2, C3, C5 F3 Front & ear ectangular Flange C4 only F3 Front & ear ectangular Flange C4 only 2 ear ouble Clevis (without ivot Base) ll 3 ear ouble Clevis with ivot Base ll 1 ide nd ngle ll 2 ide Lugs ll 6 ide Tapped Holes (metric) ll 6 ide Tapped Holes (nglish) C2, C3, C4, C5 T4 Trunnion C2, C3, C4, C5 8. N vailable 3. T TIN vailable FC2 Clevis (includes T1) ll B otatable I65 connectors K2 F2 pherical Joint (includes FT1) ll C.5 m shielded cables w/ I65 connectors K1, K2 C otatable I65 connectors K4, K5 FT1 Female Thread (metric) ll N No Brake K1, K2, K4, K5 FT1 Female Thread (nglish) C2, C3, C4, C5 2 24 Vdc ower-ff Holding Brake K2, K4, K5 T1 ale Thread (metric) ll esolver K1, K2, K4, K5 T1 ale Thread (nglish) C2, C3, C4, C5 2 248 L Incremental Comm ncoder K1, K2, K4, K5 L Linear od Bearing (C2 only) C F (mart Feedback evice) K1, K2, K4, K5 mit field for CT12 CT12 9. TIN (add multiple in the following sequence, omit if no options) B24 24 Vdc Brake on actuator (C1 only, not available with 1L ratio, 4. IV TI vailable or 1 mounting options) 1 1.:1 rive Belt/ulley (C1 - Helical) ll B24 24 Vdc Brake on ballscrew (not available with C1 or 1L ratio, 15 1.5:1 rive Belt/ulley C2, C3, C4, C5 or with F2(x), F3(x), 1, 2(x), 3(x) mounting options) 2 2.:1 rive Belt/ulley (C1 - Helical) Not valid for C3-K42 B115 115 Vac Brake on ballscrew (not available with C1 or 1L ratio, 4 4.:1 Helical Gears C1 only or with F2(x), F3(x), 1, 2(x), 3(x) mounting options) 5 5.:1 Helical Gears C2, C3, C4, C5 7 7.:1 Helical Gears C3 only B rotective Boot* 1 1.:1 Helical Gears C2, C4, C5 L Linear otentiometer (only valid thru 6 mm stroke, std lengths)* 1L 1.:1 Inline Coupling ll 17X N 17 mount less motor (C1 only) (irect 1:1 coupling is the only ratio available for Inline odels) 1. CBL C No cable supplied, motor includes connectors. efault for all K motor; select cable as an accessory. * Consult factory for C1 od nd ptions C2 - K23 - BN - 1-5B - 3-2 - FT1 - - C Cable ption otor od Codes for X (customer supplied) motors also found in "ption" portion of art Number. Contact Kollmorgen. otor od codes (customer supplied and customer installed) I67X C1 for K1XX-NXXX I6X C2, C3 for K23X-FXXX I61X C3, C4, C5 for K42X-KXXX I62X C4, C5 for K51X-KXXX or K52X-KXXX 11 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
1-5 Base odel Number Choose the model with sufficient speed and thrust with a comfortable safety margin. efer to the peed vs. Thrust curves. C cylinders with gear or timing belt drive reductions have the motor mounted parallel to the screw. Inline models have the motor coupled directly to the screw with no reduction. 6. troke Length tandard lengths are listed, and custom lengths are also available. To maximize cylinder life, the thrust tube should not impact the physical end-of-travel on either end. xtra travel length is necessary to decelerate the load to a stop when an end-of-travel limit switch is encountered. This extra travel distance depends on load and speed. 7. Cylinder ounting pecify any one of these cylinder mounting options. imensional drawings are on pages 49-54. 3 ear Clevis (2 omits pivot base) T4 Trunnion ivot ount Caution: When utilizing a pivot mounting option (2, 3 or T4) in conjunction with a pivot rod end (F2 or FC2), it is recommended that the electric cylinder be extended only to 9 95% of its full stroke. This increases the system s rigidity and extends the life of the guide bearings and rod seal. 8. od nds L I N I T I N Cylinder base mount options -1,-2, -3, -F2, -F3 cannot be ordered with inline models. F1 Front Flange F2 ear Flange F3 Both Flanges 1 ide nd ngles 2 ide Lugs Four rod end types are available: FT1 or FT1 Female Thread T1 or T1 ale Thread F2 pherical Joint FC2 Clevis 9. ther ptions ee ptions and ccessories ection on pages 56-64. * Limit sensors are sold as accessories www.kollmorgen.com 111 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
L I N I T I N 2 ystems 115/23 Vac rive I cont / I peak rms otor Type Frame size 216-1.5 / 4.5 K1xx N 17 236-3. / 9. K23 N 23 236-3. / 9. K42 N 34 266-6. / 18. K42G N 34 2669 6. / 18. K52G, H N 42 2126-12. / 3. K52L N 42 Control ptions - VT Base Unit: nalog Velocity & Torque, ulse Input Follower (tep/ir & aster ncoder) - CN Indexer / CNpen ption Card - ynqnet Network ption Card, std J45 connectors - ynqnet Network ption Card, icro- connectors -L -Link, IC 61131 Control xample 236-CN 2 115/23 Vac, 3, Indexer ption Card 2 Indexer (236, 266) Connector Kits (Base Unit) CK-2--C ating connector for input power (J1) for base unit 226, 236 and 266 drives CK-2--CL ating connector for input control power (J1) for base unit 2126 drive CK-2-I-C ating connectors for I/ (J4) and input power (J1) for base unit 226, 236 and 266 drives CK-2-I-CL ating connectors for I/ (J4) and input control power (J1) for base unit 2126 drive CK-2-I-C-TB Terminal block adapter for I/ (J4) connector and input power (J1) mating connector for base unit 226, 236 and 266 drives CK-2-I-CL-TB Terminal block adapter for I/ (J4) connector and input control power (J1) mating connector for base unit 2126 drive 768-2692-1 Terminal block adapter for base unit I/ connector (J4) H26 Connector Kits (ption Cards) CK-2-CNN-B1 ystem Breakout Board for Indexer, in ail mount, screw-terminals. 14-in Y-cable for 2 I connectors J13 H15 and J4 H26. CK-2-CNN Indexer option card mating connectors: Canpen or evicnet(j11), I/(J12), Feedback(J13) CK-2-CNN-TB Indexer option card mating connectors: Canpen or evicnet(j11), Terminal block adapter for I/(J12), Feedback(J13) CK-2-Q ynqnet option card mating connectors for I/(J13) and Feedback(J14) H15 CK-2-Q-TB ynqnet option card mating connectors, terminal block adapters for I/(J13) and Feedback(J14) both H15 768-1692-1 Terminal block adapter for single H15 connector for option cards (Indexer, ynqnet) ccessories 72-232-9 232 serial communication cable B9 to odjack - 6 feet Feedback cables VF-411N-XX CF-111N-XX-X Feedback cable (Value Line) : uro I65 connector to I1394 connector at 2 rive for F Feedback cable (erformance Line) : uro I65 connector to I1394 connector at 2 rive for F ower only cables V-12BN-XX V-15CN-XX C-12N-XX-X C-15CCN-XX-X ower cable (Value Line) : uro I65 connector to 2 drive crimp-pin pluggable connector for 22, 23, 26 rive ower cable (Value Line) : uro I65 connector to 2 drive crimp-pin pluggable connector for 212 rive ower cable (erformance Line) : uro I65 connector to 2 drive crimp-pin pluggable connector for 22, 23, 26 rive ower cable (erformance Line) : uro I65 connector to 2126 drive ower/brake cables C-12BN-XX-X ower/brake cable (erformance Line) : uro I65 connector to 2 rive ( 22, 23, 26 rive) C-15CN-XX-X ower/brake cable (erformance Line) : uro I65 connector to 2126 drive Note: Use XX to designate cable length in whole meters and -X to order half meter increments. xample CF-C111N-3-5 epresents a 3.5 meter cable 112 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
3 ystems 115/23 Vac ystems rive I cont / I peak rms otor Type Frame size 3361-3. / 9. K1xx N 17 3361-3. / 9. K23 N 23 3361-3. / 9. K42 N 34 3661-6. / 15. K42G N 34 K52G N 42 3 ystems 4/46 Vac ystems rive I cont / I peak rms otor Type Frame size 311-1.5 / 4.5 K23C N 23 331-3. / 7.5 K42 N 34 361-6. / 12. K52G N 42 L I N I T I N Control ptions - CB CNpen aster - N evicenet - C thercat - I xtended I/ - B robibus - C II - N No option card xample 311-B 3, 1.5, 23-46 Vac, rofibus option card Feedback Cables CF--HG-XX CF--CHG-XX CF--3HG-XX ower only Cables C--1H-XX C--G1H-XX ower/brake Cables C--HB-XX C--GHB-XX Notes: xample esolver feedback cable, uro I65 connectors to 9 pin sub connector at 3 rive (X2) Commutating ncoder feedback cable, uro I65 connectors to 15 pin sub connector at 3 rive (X1) ine-ncoder feedback cable, uro I65 connectors to 15 pin sub connector at 3 rive (X1) ower cable, 115/23 Vac system, uro I65 to rive screw-terminal connector (X9) ower cable, 38/4/46 Vac system, uro I65 to rive screw-terminal connector (X9) ower/brake cable, 115/23 Vac system, uro I65 to rive screw-terminal connector (X9) ower/brake cable, 38/4/46 Vac system, uro I65 to rive screw-terminal connector (X9) Filters and chokes are not needed for motor cable lengths less than 25 meters. Includes provisions for C Use XX to designate cable length in meters. 1 meter length, 3 meter, 6 meter, etc in 3 meter increments up to 75 meters C--HB-9 represents a 9. meter cable www.kollmorgen.com 113 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
lectric Cylinder ervo ystems - mart rive () mart rive () ystems 115/23 Vac L I N I T I N rive art Number I cont / I peak rms otor Type Frame size C--.5-23-.3.461 K11B 1.77 / 5.3 C--.5-23-N.132.898 K13C N 17 C--1.-23-.3.462 C--1.-23-N.3.459 3.5 / 1.6 K23 N 23 C--2.-23-.3.463 K42G N 34 7. / 21.2 C--2.-23-N.3.46 K52G N 42 Note: -N is narrow version, igital drive network slave only, space for control card removed. mart rive () ystems 4/46 Vac ystems rive art Number I cont / I peak rms otor Type Frame size C--1.3-46-.3.464 2.1 / 4.2 K23C N 23 C--2.4-46-.3.465 3.9 / 7.8 K42 N 34 C--4.-46-.3.466 6.3 / 12.7 K52G N 42 Control ptions Control Card art Number escription C-1.3.164 1 xis Controller, igital I/ (8 / 8 ), erial port (232/422/485) C-2.3.165 2 xis Controller, igital I/ (8 / 8 ), erial port (232/422/485), thernet, Block I/ interface C-4.3.166 4 xis Controller, igital I/ (8 / 8 ), erial port (232/422/485), thernet, Block I/ interface C-8.3.518 8 xis Controller, igital I/ (8 / 8 ), erial port (232/422/485), thernet, Block I/ interface C-16.3.167 16 xis Controller, igital I/ (8 / 8 ), erial port (232/422/485), thernet, Block I/ interface Note: Control card installs into - type rive. Feedback cables - Flex ated uro I65 connector type Length [m} art Number Type 3.132.8435 6.132.861 9.132.862 3.132.8438 6.132.8614 9.132.8615 3.132.845 6.132.8631 9.132.8632 Incremental commutating encoder ine-ncoder Bi or nat 2.2, 1 esolver ower/brake cables - Flex ated uro I65 connector type Length [m] art Number Type 3.132.8545 6.132.8581 9.132.8553 16 WG for K23, K42, K52G For additional cable length options, perator Interfaces, Block I and other accessories, see icro Integrated olution Brochure online. 114 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
lectric Cylinder ervo ystems - mart rive () mart rive () ystems ccessories Control Card I/ (C5) - Connection ptions Length art Number escription 1 meter.132.8257 3 meters.132.8258 9 meters.132.8259 1 meter.132.8254 3 meters.132.8255 9 meters.132.8256 Interface Cable, igital I/ connector (C5) H26 to flying leads (Figure 1) Interface Cable, igital I/ connector (C5) to Breakout box, (2) H26 connectors (Figure 2) Use with cable above.132.8253 Breakout box (in-rail mount) for I/ connector (C5) L I N I T I N (Figure 1) I/ Connector (C5) to Flying Lead Cable (Figure 2) Interface Cable to Break-ut Box rive I/ - Connection ptions Length art Number escription 1 meter.132.732 3 meters.132.734 9 meters.132.735 Interface Cable, rive I/ connector (I) H26 to flying leads 1 meter.132.6982 3 meters.132.6984 9 meters.132.6985 Use with cable above.132.6973 Interface Cable, rive I/ connector (I) to Breakout box, (2) H26 connectors Breakout box (in-rail mount) for rive I/ connector (I) (Figure 3, 4).132.6971 crew terminal adapter, rive I/, rive mounted (Figure 3) crew terminal adapter H 26 pin rive I/ (Figure 4) Connector shown on drive www.kollmorgen.com 115 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
lternate K ervomotor and lectric Cylinder ystems For use when K motor is not included as part of lectric Cylinder model number. L I N I T I N lectric Cylinder K Frame K otor odel # * llowable K stack lengths Kollmorgen otor ount Code xample otor N2 K2 K2XX-FXXX K 21, 22, 23 I6 K23-FCNC- C1 K1 K1XX-NXXX K 11, 13 I67 K11B-NCNC- C2 K2 K2XX-FXXX K 21, 22, 23 I6 K23-FCNC- C3 K2 K2XX-FXXX K 21, 22, 23 I6 K23-FCNC- C3 K4 K4XX-KXXX K 41, 42 I61 K42G-KCN- C4 K4 K4XX-KXXX K 41, 42, 43, 44 I61 K42G-KCN- C4 K5 K5XX-KXXX K 51, 52 I62 K52G-KCN2- C5 K4 K4XX-KXXX K 41, 42, 43, 44 I61 K44G-KCN- C5 K5 K5XX-KXXX K 51, 52 I62 K52G-KCN2- * Based on maximum torque capacity, consult factory for other combinations eview application for inertia mismatch when considering motor options lternate K odel Number for use with lectric Cylinders K 4 2 - K C N - K eries otor Frame ize 1, 2, 3, 4, 5 otor tack Length 1, 2, 3, 4 Winding Type, B, C,, etc. ount Code N = K1 with C1 F = K2 with N2, C2, C3 K = K4 with C3, C4, C5 K = K52 with C4, C5 Connectors C =.5 meter shielded cables with (uro) I65 connectors (K1, 2) C = otor-mounted rotatable (uro) I65 connectors (K3, 4, 5) B = ual otor-mounted rotatable (uro) I65 connectors (K 2 only) =.5 meter shielded cables with I2 molex connectors (K1, 2, 3, 4 models less than 6. amps rms) Customization / eal = tandard motor w/o shaft seal 1 = tandard motor w/ shaft seal Feedback evice 2 - = 248 digital encoder w/ commutation - = esolver C - = 2 F mart Feedback = ingle-turn bsolute ine ncoder B = ulti-turn bsolute ine ncoder Brake 2 = 24 Vdc brake (K2, 3, 4, 5 models) N = No brake 116 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
imensional ata - K1x Frame +.3 4X C ----------- THU +.11 [ -. ] (----------- 16.5 ) [.65] J U -- K (----------- 21.13 ) [.832] IN. Z X. Y X. (X) CNNCT ( ----------- 32.3 ) [1.272] IN. NC NLY (----------- 11 ) [.43] ( ----------- 19 ) [.75] NC NLY (----------- 5 ) [19.7] IN. L I N I T I N ( ----------- 4 ) [1.575] (45 ) V 2.5 -.25 ------------------------- +. [.98 -.1 ] (----------- 4. [.158]) (----------- 11.2 [.44] ) W ( ----------- 15 ) [.5911] NC NLY K1x Frame imensions ounting Code C F H J K L N N 4.3 [.169] 3 -.21 46. 8. -.15 25. [1.811 +. [1.811] [.984] -.8 ] [.315 +. -.6 ] (X) Y X Z X (W/ BK) L 56.1 [2.21] 69.6 [2.74] 79. [3.11] K11 94.1 [3.7] 17.6 [4.24] 117. [4.61] K13 roduct designed in metric. nglish conversions provided for reference only. www.kollmorgen.com 117 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
imensional ata - K2x Frame L I N I T I N K21 (76.1 [3.]) K22 (95.1 [3.74]) K23 (114.1 [4.49]) K24 (133.1 [5.24]) +.3 K 4X C ----------- THU +.11 [ -. ] (----------- 16 [.64] ) J U -- W CNNCT ( ----------- 39 ) [1.535] FBCK CNNCT ( ----------- 28 ) [1.12] (o ----------- 58 [2.283]) (45 ) H 2.5 -.25 ------------------------- +. [.98 -.1 ] V (----------- 7 ) [.27] X X. Y X. Z X. W K2x Frame imensions ounting Code C H J K U V W F 5.1 [.21] 38.1 66.68 8.64 9.525 + -.5 -.13 2.57 ±.25 [1.5 +. ] [2.625] [.34] [.375 +. ] [.81 ±.1] -.2 -.5.51 [.2].1 [.4].1 [.4] (X X) ( C Connector ption W/ esolver) Y X Z X (W/ BK) L 86.2 [3.39] 95.4 [3.76] 129.5 [5.1] K21 15.2 [4.14] 114.4 [4.5] 148.5 [5.85] K22 124.2 [4.89] 133.4 [5.25] 167.5 [6.59] K23 143.2 [5.64] 152.4 [6.] 186.5 [7.34] K24 roduct designed in metric. nglish conversions provided for reference only. 118 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
+.3 4X C ----------- THU +.11 [ -. ] J U -- K Z X. Y X. (X) 22 (-----------) [.87] FBCK CNNCT W CNNCT 39 ( ----------- ) [1.535] 84 ( ----------- ) [3.37] 31 ( ----------- ) [1.22] L I N I T I N (45 ) V H 3. -.25 ------------------------- +. [.118 -.1 ] W 8. (-----------) [.32] HWN WITH C CNNCT TIN ( ----------- 39 ) [1.535] W N F FBCK CNNCT K41 (13.1 [4.6]) K42 (132.1 [5.2]) K43 (161.1 [6.34]) K44 (19.1 [7.48]) (----------- 32.3 ) [1.27] IN. (----------- 5 ) [19.7] IN. (----------- 18 ) [.79] CNNCT (----------- 19 ) [.75] HWN WITH CNNCT TIN HWN WITH CNNCT TIN L N K4x Frame imensions ounting Code C H J K L N U V W K 5.54 [.218] 73.25 -.51 98.43 12.7 -.13 31.75 ±.25 14.9 3.175 -.43 -.5 19.5 ±.25 [2.875 +. [3.875] [1.25 ±.1] [.75 ±.1] -.2 ] [.5 +. ] [.555 +. ] [.125 +. -.5 -.17 -.2 ].51 [.2.1 [.4].1 [.4] (X) Y X Z X (W/ BK) L 96.4 [3.8] 118.8 [4.68] 152.3 [6.] K41 125.4 [4.94] 147.8 [5.82] 181.3 [7.14] K42 154.4 [6.8] 176.8 [6.96] 21.3 [8.28] K43 183.4 [7.22] 25.8 [8.1] 239.3 [9.42] K44 roduct designed in metric. nglish conversions provided for reference only. www.kollmorgen.com 119 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
L I N I T I N +.36 4X C ----------- THU +.14 [ -. ] J U -- K Z X. Y X. (X) (----------- 25 ) [.98] FBCK CNNCT W CNNCT ( ----------- 39 ) [1.535] ( ----------- 31 ) [1.22] ( ----------- 18 ) [4.252] (45 ) V 9. (-----------) [.36] 3. -.25 --------------------- +. [.118 -.1 ] W L N K5x Frame imensions ounting Code C J K L N U V W K 8.33 [.328] 55.563 + 125.73 15.875 +. 44.45 13.16 +. 4.737 +.51 34.9 +.25 -.51 -.13 -.1 -. -.25.51 [2.1874 +. ] [4.95] [.625 +. ] [1.75] [.518 +. ] [.1865 +.2 ] [1.375 +.1 ] [.2] -.2 -.5 -.4 -. -.1.1 [.4].1 [.4] Z X IN NC (N BK) Z X IN NC (W/ BK) (X) Y X Z X (W/ BK) L 146. [5.75] 189. [7.44] 15.3 [4.15] 127.5 [5.2] 172.5 [6.79] K51 177. [6.97] 22. [8.66] 136.3 [5.37] 158.5 [6.24] 23.5 [8.1] K52 roduct designed in metric. nglish conversions provided for reference only. 12 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
NT : This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
L I N I T I N aro tockholm Fond du Lac arengo Lausanne üsseldorf Brno ilan an Jose anta Barbara Juarez ittsburgh adford Tel viv mericas urope sia 36 irect ales & pplication ngineers pplication Centers 122 K L L G N This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
emoving the Barriers of esign, ourcing andtime t Kollmorgen we know that engineers can achieve a lot more when obstacles aren t in the way. o, we knock them down in three important ways: Integrating tandard and Custom roducts The optimal solution is often not clear-cut. ur application expertise allows us to modify standard products or develop totally custom solutions across our whole product portfolio so that designs can take flight. L I N I T I N roviding olutions, Not Just Components s companies reduce their supplier base and have less engineering manpower, they need single-source vendors with a wide range of integrated solutions. Kollmorgen is in full response mode with complete solutions that combine programming software, engineering services and best-in-class motion components. Tokyo Nagoya Global Footprint With direct sales, engineering support, manufacturing facilities and distributors across the U.., urope, iddle ast and sia, we re close to s worldwide. ur proximity helps speed delivery and lend support where and when they re needed. umbai hanghai Kluang Financial and perational tability Kollmorgen is part of anaher otion, a $1B+ global platform of anaher Corporation, its $13B parent company. key driver in the growth of all anaher divisions is the anaher Business ystem, which relies on the principle of kaizen or continuous improvement. Using world-class tools, crossdisciplinary teams of exceptional people evaluate process and develop plans that result in superior performance. www.kollmorgen.com 123 This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123
bout Kollmorgen pplication Centers Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease-of-use, giving machine builders an irrefutable marketplace advantage. ÊÊ L> Ê iã } ÊÊ > Õv>VÌÕÀ } ÊÊ L> Ê > Õv>VÌÕÀ } For assistance with your application needs, contact us at: 54-633-3545, contactus@kollmorgen.com or visit www.kollmorgen.com tockholm aro Fond du Lac arengo üsseldorf Lausanne Brno ilan Tianjin an Jose adford anta Barbara Tijuana Juarez Beijing Tel viv Tokyo Nagoya hanghai umbai Hong Kong Kluang Kollmorgen 23 West ock oad adford, V 24141 U hone: 1-54-633-3545 Fax: 1-54-639-4162 29 Kollmorgen Corporation. ll rights reserved. K_C_4_ev_N pecifications are subject to change without notice. It is the responsibility of the product user to determine the suitability of this product for a specific application. ll trademarks are the property of their respective owners. This document provided by Barr-Thorp lectric Co., Inc. 8-473-9123