MTHD Motors Catalog
Contents
1. Rating 2 Two analog inputs 14 bit each 120 240 VAC Dauerstr Spitzen str fA interface Options Cables Optional Accessories 105 15 45 AP Analog Voltage Pulse Train Ref RS232 003 3 9 Analog Voltage Pulse Train Ref CANopen USB RS232 Controller cables with flying leads 4D5 45 18 EtherCAT USB RS232 006 6 18 PB PWM Power Block 008 8 28 Standard configuration with analog input VA CDHD Length CDHD me 5 2 BE EIS REDDERE RR abel Specifications esee Apene Model Specification configuration Connectors Picture 20 48 CBL MDRFL 36 01 MDR 36 and flying 1 KIT 2A PWSPR 00 Power Mating Spring 120 240VAC P2 P3 024 24 48 CBL MDRFL 36 02 leads cable Controller I F 2 CDHD 1D5 2020 Au AC and Controller Input Power Supply CBL MDRFL 36 03 3 a CDHD 003 L i 1 1 L 1 _ ete es eA NIE CBL MDRFL 20 01 MDR 20 and flying 1 E i P rha 003 2 y IPs ES S ERD LLVAC 10 15 5060 Hz CBL MDRFL 20 02 leads cable Machine I F 2 Se OER Coa D Fewer Mang comp 120 240VAC Bere m im ES as e AC Input Power Supply CBL MDRFL 20 03 3 n CDHD 1D5 012 2 2 ao Three 1 1 VAC 10 15 50 60 Hz CDHD 003 024 24 72 4D input Three Phase 480 L L VAC 10 15 50 60 Hz CBL MDRFL 26 01 MDR 26 and flying 1 i CE Ed BENDS I2. C2 MDR36Plug 24 28 AWG 1 24 VDC return 19 24 VDC Common output Common input 2 Digital output 1 20 Digital input 2 3 Digital input 1 21 4 Equivalent encoder 22 Equivalent encoder output A output A 5 Equivalent encoder 23 Equivalent encoder output B output B 6 Equivalent encoder 24 Equivalent encoder output Z output Z 25 Ground Analog input 1 26 Analog input 1 Direction input 27 Direction input Secondary encoder B Secondary encoder B 10 Ground 28 Pulse input Secondary encoder A 11 Pulse input 29 Ground Secondary encoder A 12 30 13 Ground 31 Digital input 3 14 Digital input 4 32 Digital input 5 15 Digital input 6 33 Digital output 2 16 Digital output 3 34 17 35 Analog input 2 18 Analog input 2 36 Analog output Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 or equivalent 3M Solder Plug Junction Shell PN 10336 52F0 008 STX PN HODr00000036 00 or equivalent Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter Machine I F 20Plug 24 28 AWG 1 Secondary encoder A 11 Secondary encoder A Pulse input 4 Pulse input 2 Secondary encoder B 12 Secondary encoder B Direction input Direction input 3 Secondary encoder Z 13 Secondary encoder Z 4 Secondary encoder 5V 14 Secondary encoder ground 5 Digital input 7 15 Digital input 8 6 Digita
3. Typical System Wiring Diagram CDHD 4D5 CDHD 006 Circuit Breaker STO or Fuses Safe Torque Off Connect to 24 VDC power supply or use bypass plug Line Filter Regenerative optional Resistor optional r Magnetic Contactor To be supplied by customer Refer to EMI Suppression in the user manual Mains Daisy Chain Single Phase RS232 120 240 VAC EtherCAT or CAN Rotary Switches Drive addressing Connect to PC USB mini B cable Connect to Host Controller Voltage reference input Pulse and direction input 6x digital inputs 3x digital outputs 1x analog outputs Connect to Additional lOs 5x digital inputs 3x digital outputs 1x fault relay Secondary feedbcak Motor feedbcak Functional Ground Motor Brake optional Relay 24 VDC Power Supply Motor Power Brake Output Servo Drive Pin Assignments 120 240 VAC CDHD 1D5 CDHD 003 EtherCAT In EtherCAT Out C5 RJ45 C6 RJ45 OR OR CAN In CAN Out C5 RJ45 C6 RJ45 1 CANH 1 CANH 2 CANL 2 CANL 3 FGND 3 FGND RS232 4 4 C7 4p4c 5 5 1 RX 6 6 2 GND ISO 7 FGND 7 FGND 3 TX 8 8 4 STO Safe Torque Off P1 26 28 AWG 1 24 VDC STO enable 2 Ground 24 VDC return 3 4 Mating Connector type Crimp Housing Molex PN 436450400
4. Pin Twisted Pair Pin Signal 1 5 Serial Data Twisted Pair 14 6 Serial Data 11 1 5 VDC 24 2 0 VDC 26 9 Shield VB Battery Voltage GND Battery Ground Encoder backup battery is external to the CDHD drive Voltage must be more than 3 6 VDC The recommended battery is lithium ER3V 3 6V 1000mAh manufactured by Toshiba Corp Pin Twisted Pair Pin Signal 1 H Serial Data Twisted Pair 14 Serial Data 11 B 5 VDC 24 0 VDC 26 G Shield VB Battery Voltage GND Battery Ground Series Feedback Device Cont 7 Tamagawa 17 bit Single Turn A serial digital data encoder This single turn absolute encoder transmits absolute position data at 17 bit per revolution CDHD C4 Motor Feedback MDR 26 Pin AMP Connector Pin Twisted Pair Pin Twisted Pair o See R Resolver special order The position feedback signal is provided by the two sinusoidal secondary signals sine and cosine These secondary MT General Purpose Servo Motors CDHD C4 Motor Feedback MDR 26 Pin Mil Connector Pin 4 Twisted Pair Pin amp Twisted Pair eo signals are converted into digital signals by the drive s controller CDHD C4 Motor Feedback MDR 26 Pin AMP Connector Pin Twisted Pair Pin amp Twisted Pair Twisted Pair Resolver Ref Twisted Pair CDHD C4 Motor Feedback MDR 26 Pin Mil Connector Pi
5. CONTROLLER I F Cables Controller cables with flying leads C2 MDR36Plug 24 28 AWG 1 24 VDC return 19 24 VDC Common output Common input 2 Digital output 1 20 Digital input 2 3 Digital input 1 21 4 Equivalent encoder 22 Equivalent encoder output A output A 5 Equivalent encoder 23 Equivalent encoder output B output B 6 Equivalent encoder 24 Equivalent encoder output Z output Z 7 25 Ground 8 Analog input 1 26 Analog input 1 9 Direction input 27 Direction input Secondary encoder B Secondary encoder B 10 Ground 28 Pulse input Secondary encoder A 11 Pulse input 29 Ground Secondary encoder A 12 30 13 Ground 31 Digital input 3 14 Digital input 4 32 Digital input 5 15 Digital input 6 33 Digital output 2 16 Digital output 3 34 17 35 Analog input 2 18 Analog input 2 36 Analog output Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 or equivalent 3M Solder Plug Junction Shell PN 10336 52F0 008 STX PN HODr00000036 00 or equivalent Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter Machine I F 20Plug 24 28 AWG 1 Secondary encoder A 11 Secondary encoder A Pulse input 4 Pulse input 2 Secondary encoder B 12 Second
6. i Motor Rated Motor Model Recommended 7 Rete Outputs T Inertia Frame Peak Max Rated Rated Rated Max Max Rated Max Rotor 051 Sow Power Servo Drive d d 201 200 E PN Tinmax Mw Ne Nmax IN Imax J pee o w TE rea T Tamagawa 2500 E l 4 S01 300 2 line line input 1 or 3 phase Y Tamagawa 8192 CT E Li E T Pi 2 Iw mm N m N m N m N m rpm rpm rpm Arms Arms kg cm 06 400 W motors 401 400 ie aie ET 5 Tamagawa 15 bit multi turn 80 MTC04101C CDHD 1D5 low 42 0 960 0419 0320 0266 2400 1200 2600 094 282 0036 o7 76mm ae STE TIT TM esses Drs Rm 1 5A CDHD 1D5 2A CDHD 003 2A 4 5A CDHD 4D5 2A CDHD 006 2A 8A CDHD 008 2A 00 W motor 751 750W Un ED S M Tamagawa 17 bit muti tum 200 MT D06201C CDHD 003 Low 60 1 911 0 899 0 637 0 465 3000 2700 3700 2 10 6 30 0 164 og 80 08 102 1kw 640 VDC 480 VAC 4 Revolver 750 W motor 152 1 5kW line line input 3 phase oe 200 MT C06201C CDHD 1D5 Low 60 1 911 0 873 0 637 0 478 3000 2300 3600 1 80 5 40 0 170 86 mm 08 p 5 08 750 W motor 202 2kw B g 230 MT B07301C CDHD 003 Medium 76 2 861 1 319 0 950 0 756 2300 1900 2600 2 00 6 00 0 677 JT 302 3kW Rated Speed Brake 5 550 to 3000 W motors 442 LAAKW N Withoutbrake all motors 2 i 400 7 006401 CDHD 003 Low 60 3820 1294 1 274
7. 4 Mating Connector type Crimp Housing Molex PN 436450400 or equiv STX PN CONr1000004 09 4x Crimp Molex PN 0430300001 or equiv STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS Logic Power 24V Input P2 26 28 AWG 24 VDC logic in Ground 24 VDC return Mating Connector type Crimp Housing Molex PN 436450200 or equiv STX PN CONr1000002 03 2x Crimp Molex PN 0430300001 or equiv STX PN PINr43030000 00 AC Input and Regeneration P3 Phoenix 12 14 AWG L1 AC Phase 1 L2 AC Phase 2 L3 AC Phase 3 1 DC Bus Bi Win A B2 Regen Bus 6 B3 DC Bus Mating Connector PN SPC 5 6 STCL 7 62 1718520 STX PN CONr10000006 78 Brake P4 Phoenix 14 17 AWG 1 BR Motor Brake 2 BR Motor Brake Mating Connector PN SPC 5 2 STCL 7 62 1718481 STX PN CONr10000002 16 Motor P5 Phoenix 12 14 AWG 1 U Motor Phase U 2 V Motor Phase V 3 W Motor Phase W Mating Connector PN SPC 5 3 STCL 7 62 1718494 STX PN CONr10000003 21 5 Functional Ground PE Terminal M4 M4 ring or spade terminal USB C1 Mini B Refer to ordering information CAN EtherCAT models only KKK EtherCAT models only STX Servotronix Highlighted PN Supplied with CDHD Crimping tool Molex 0638190000 P1 P2
8. Recommended servo drive continuous and or peak intermittent current values are slightly less than motor capability The system performance will be below the motor s given values MT Series Servo Motor Performance Data 160 320 VDC Max Torque Tmax N m Rated Current Ir Arms Max Current Imax Arms Rated Torque Tr N m Rated Speed Nr RPM IDEE Max Speed RPM ted c Nr RPM Rated Output Pr W Spec Nmax RPM Constant Torque Kt N m Arms Back EMF Constant Ke V krpm Rotor Inertia Without Brake Jm X10 4 Kgem Resistance Ra 0 Inductance La mH Mechanical Time Constant Tm ms Electrical Time Constant Te ms Insulation Grade Brake Rated Voltage V Static Rubbing Torque N M Inertia x10 4 Kgem Current disipation A Time for brake funtion ms Time for brake release ms Feedback Incremental 2500 C T Incremental 8192 C T Absolute 17 bit Resolver Poles Degree of Protection Degree IP IP Oil Seal at Shaft Weight W kg Radial Force N Axial Force N Torque N m Torque N m Option IP67 NO 0 48 15 46 34 30 N A Motor speed rpm 0 6 0 2000 4000 6000 Motor speed rpm 0 96 0 94 2 82 0 32 2400 80 2600 3000 100 5000 0 38 24 44 0 04 24 00 35 00 0 90 1 46 DC 24 0 35 0 01 0 25 118 YES NO YES Option IP67 0 65 75 46 34 30 VES YES Option IP67 Option 1 03 257 74 63 70 3 82 2 50 7 5
9. Servo Drive Pin Assignments 400 480 VAC CDHD 003 CDHD 006 STX PN CONr1000004 09 4x Crimp Molex PN 0430300001 or equiv STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS 1 Logic Power 24V Input P2 26 28 AWG 24 VDC logic in 2 Ground 24 VDC return Mating Connector type Crimp Housing Molex PN 436450200 or equiv STX PN CONr1000002 03 2x Crimp Molex PN 0430300001 or equiv STX PN PINr43030000 00 1 AC Input and Regeneration P3 Phoenix 12 14 AWG L1 AC Phase 1 2 12 AC Phase 2 3 13 AC Phase 3 4 B1 DC Bus 5 B2 Regen Bus 6 B3 DC Bus Mating Connector PN SPC 5 6 STCL 7 62 1718520 STX PN CONr10000006 78 1 Brake PA Phoenix 14 17 AWG BR Motor Brake 2 BR Motor Brake Mating Connector PN SPC 5 2 STCL 7 62 1718481 STX PN CONr10000002 16 1 Motor P5 Phoenix 12 14 AWG U Motor Phase U 2 3 V Motor Phase V W Motor Phase W Mating Connector PN SPC 5 3 STCL 7 62 1718494 STX PN CONr10000003 21 Functional Ground PE Terminal MA M4 ring or spade terminal Refer to ordering information CAN and EtherCAT models only EtherCAT models only STX Servotronix Daisy Chain C8 0 1 IDC Female EtherCAT In EtherCAT Out C
10. Letter number represents the feedback device for motor ordering information T Tamagawa 2500 C T 2500 counts per motor mechanical turn Y Tamagawa 8192 C T 8192 counts per motor mechanical turn Incremental encoders with Hall sensors and index pulse A B and Z signals use the same wiring as Hall sensors U V and W On power up feedback briefly sends Hall readings and then continuously sends the A B and Z signals Pin Twisted Pair Pin Signal 1 3 Incremental A Hall U Twisted Pair 14 4 Incremental A Hall U 2 5 Incremental B Hall V Twisted Pair 15 6 Incremental B Hall V 3 7 Incremental Z4 Hall W Twisted Pair 16 8 Incremental Z Hall W 11 1 5 VDC 24 2 0 VDC 26 9 Shield Pin Twisted Pair Pin Signal 1 Incremental A Hall U Twisted Pair 14 C Incremental A Hall U 2 H Incremental B Hall V Twisted Pair 15 D Incremental B Hall V 3 G Incremental Z Hall W Twisted Pair 16 E Incremental Z Hall W 11 B 5 VDC 24 0 VDC 26 F Shield M 5 Tamagawa 15 bit multi turn special order A serial digital data encoder This is a full absolute encoder with 17 or 15 bit per revolution resolution When the battery is disconnected it functions as a full absolute encoder that transmits absolute position data at 17 or 15 bit per revolution
11. T Series General Purpose Servo Motors amp always in motion MT General Purpose Servo Motors Series The MT Series Servo Solution Contents The MT Series Servo Solution t aara a General Purpose Servo Motors Closing the price performance gap between induction motors and Dive and Motor Ccomonatons Features and 1 4 high end servo motors MT servo motors are particularly suitable uu o Navigate Catalog for price sensitive motion applications that require efficient servo Ordering TREO MTS DOLOR performance and functionality The combined MT motors and CDHD Recommended Motor Drive Systems drives deliver an economical servo solution for a variety of general n Servo Motor Performance Data purpose motion applications Servo Motor Dimensions Servo Drive Performance Data Series Optional Acces ones EN RT Input Voltage AC 120 240 VAC 400 480 CDHD Servo Drive 27 Current 0 1 5 Arms 30 Arms MT Servo Motor Frame Size 42 mm 180 mm Rated Output 50 W 4 5 kW 0 16 Nm 28 Nm MT aB 8 A e gt p 1 5A CDHD 1D5 2A 3A CDHD 003 2A 4 5A CDHD 4D5 2A 6A CDHD 006 2A S gt z A 50W MT C04051C 200W MT D06
12. 42 00 42 00 39 00 58 50 14 33 5 19 10 28 00 1100 1800 900 800 1650 1800 1800 2350 1300 2000 1150 1150 2000 3000 1500 1500 3 000 3 000 3 000 4 400 2600 4000 2220 2200 1 13 0 75 1 27 1 24 68 30 45 32 81 32 82 23 17 92 12 14 39 99 51 44 0 33 0 25 0 18 0 12 2 12 1 62 2 89 1 98 0 70 0 80 0 69 0 59 6 38 6 56 16 12 16 79 B B F F DC 24 DC 24 DC 24 DC 24 20 20 40 40 0 32 0 32 207 2 07 0 82 0 82 1 27 1 27 27 27 15 15 76 76 95 95 WES YES YES YES YES MES YES YES YES YES YES YES Option Option Option Option 8 8 8 8 IP67 IP67 IP67 IP67 Option Option Option Option 13 87 10 16 19 50 26 20 617 00 490 00 1107 40 1107 40 157 00 147 00 294 00 294 00 50 40 40 30 20 10 0 500 1000 1500 0 1000 2000 3000 4 0 500 1000 1500 0 500 1000 50 40 0 0 0 0 1000 2000 3000 0 1000 2000 3000 4000 0 500 1500 2500 0 500 1500 2500 500 1000 1500 500 1500 2500 Max Torque Rated Current Max Current Rated Torque MT Series i Rated Speed Rated Output Max Speed Rated Speed Rated Output Max Speed Constant Torque Back EMF Constant Rotor Inertia Without Brake Resistance Inductance Mechanical Time Constant Electrical Time Constant Insulation Grade Brake Feedback Poles Rated Voltage Static Rubbing Torque Inertia Current disipation Time for brake funtion Time for brake release Incremental 2500 C T Incremental 8192 C T Absol
13. 750 MT B13152A CDHD 008 Medium 130 4 42 981 21 470 4 327 9 919 500 550 650 7 45 22 35 17 920 975 MT B13152B CDHD 008 Medium 130 4 21 492 11 089 7 164 5 987 300 200 400 mb 22 71 8 880 i 5 800 MT B13152C CDHD 008 Medium 130 4 14 346 8 229 4 782 3 443 600 800 2000 7 06 21 80 6 260 a 1000 MT B13202B CDHD 010 Medium 130 4 28 635 14 107 9 545 6 608 000 150 300 9 18 27 50 12 140 5 1650 MT B13302B CDHD 013 Medium 130 4 42 981 26 147 4 327 10 911 1100 150 300 14 00 42 00 17 920 Drive and Motor Combinations 400 480 VAC O nta ct us at 1800 MT B13302C CDHD 013 Medium 130 4 28 635 19 230 9 545 7 731 800 900 2000 14 00 42 00 12 140 contact your local Servotronix distributor Complete Drive Part Number Cable Part Numbers Optional Controller Cables and Accessories Select interface options and number of analog inputs Select power and feedback cables according to Select controller cables with flying leads and kit specifications and length connectors for CDHD power stage Controller Cables Page 33 Ordering Information Page 9 Cables Page 33 Optional Accessories Page 34
14. L mm With Brake MT B13551A MT B13551A 164 8 219 3 MT B13152C 164 8 219 3 13102 MT B13102A 214 8 269 3 MT B13202B 214 8 269 3 MT B13102B MT B13102B 164 8 2193 MT B13302B 264 8 3193 MT B13152A MT B13152A 264 8 319 3 MT B13302C 214 8 269 3 MT B13152B MT B13152B 184 8 239 3 MT B13152C Dimension of Shaft and Key Size MT B13202B 5 KJ Uw EENE Option 1 22 36 35 6 6 MTB 13302C Option 2 24 35 4 8 7 409 1 15 R82 5 P C D 145 0 Without Brake With Brake Model L mm Without Brake L mm With Brake MT A18302H MT A18302H 245 311 MT A18442H due MT A18442H 274 340 P C D 9 200 12 24 Without Brake With Brake MTHD Servo Motor Model L mm Without Brake L mm With Brake MT C18452H MT C18452H 186 9 4 13 5 101 5 pcb 200 01 M8 Y 14 0 114 3 0 022 35 0 013 N p 147 3 Servo Motor Dimensions Cont Ratings Continuous Current A rms Peak Current A rms Basic Specifications Motors Current Torque Control Velocity Control Position Control HD Control Position amp Velocity or Velocity Reference Command Auto Tuning Brake Display GUI Protective Functions Compliance Standard Environment Protection Pollution Communications CANopen EtherCAT PWM RS232 USB Daisy Chain I Os First Analog Input Second Analog
15. Mating Connector type Crimp 7 E Housing PN F32FSS 02V KX B Incremental encoder A 14 Incremental encoder A STX PN CRPrsJ4F71GF 00 _ id a 1 Incremental encoder A 14 Incremental encoder A STX PN CONr10000002 10 1 SSI encoder data SSI encoder data SSI encoder data SSI encoder data 2x Crimp PN SF3F 71GF P2 0 Main AC Input STX PN PINrSF3F71GF 00 2 Incremental encoderB 15 Incremental encoder B 5 1400 14 AWG 2 Incremental encoderB 15 Incremental encoder B i i encoder clock encoder clock i encoder clock encoder clock Mating Connector type Spring SSI encoder clock SSI encoder clock TE A SSI encoder clock SSI encoder clock Not available 3 Incremental encoder Z 16 Incremental encoder Z 3 Incremental encoder 7 16 Incremental encoder Z e ET 4 Hallu 17 Hall V Sa a Ses aj ET 4 17 Hall V AC Input s Halw 18 8V supply 3 jB AC Phase 3 Ms Halwe 18 8V supply P4 JST J300 16 AWG 6 Resolver sine 19 Resolver sine Mating Connector type Crimp 6 Resolversine 19 Resolver sine Housing PN J43FSS 03V KX AC Phase 1 7 Resolver cosine 20 Resolver cosine STX PN CONr00000003 19 7 Resolver cosine 20 Resolver cosine 8 Resolver reference 21 Resolver reference 3x Crimp PN SJ4F 71GF P3 0 8 Resolver reference 21 Resolver reference AC Phase 2 p AC Phase 3 9 Sine encoder sine 22 Sine encoder sine S
16. 21 4 Equivalent encoder 22 Equivalent encoder output A output A 5 Equivalent encoder 23 Equivalent encoder output B output B 6 Equivalent encoder 24 Equivalent encoder output Z output Z 7 25 Ground 8 Analog input 1 26 Analog input 1 9 Direction input 27 Direction input Secondary encoder B Secondary encoder B 10 Ground 28 Pulse Secondary encoder A 11 Pulse input 29 Ground Secondary encoder A 12 30 13 Ground 31 Digital input 3 14 Digital input 4 32 Digital input 5 15 Digital input 6 33 Digital output 2 16 Digital output 3 34 17 35 Analog input 2 18 Analog input 2 36 Analog output Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 or equivalent 3M Solder Plug Junction Shell PN 10336 52F0 008 STX PN HODr00000036 00 or equivalent Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter Machine I F C3 MDR 20 Plug Secondary encoder 11 24 28 AWG Secondary encoder A Pulse input 4 Pulse input 2 Secondary encoder B 12 Secondary encoder B Direction input Direction input 3 Secondary encoder 7 13 Secondary encoder Z 4 Secondary encoder 5V 14 Secondary encoder ground 5 Digital input 7 15 Digital input 8 6 Digital input 9 16 Digital input 10 7 Digital input 11 17 Digital output 4 8 Digital output 5 18 Digital output 6 9 24 VDC 19 24 VDC return Common output Common
17. 3000PE STX PN CONr00000026 31 or equivalent 3M Solder Plug Junction Shell PN 10326 52F0 008 STX PN HODr00000026 00 or equivalent Mating Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter 4 40 insert threads on C2 C3 C4 MT Series Servo Drive Pin Assignments 120 240 VAC CONTROLLER VF Servo Drive Pin Assignments 120 240 VAC CONTROLLER VF C2 MDR36Plug 24 28 AWG C2 MDR36Plug 24 28 AWG CDHD 4D5 CDHD 006 1 24VDCretum 19 24 0 CDHD 008 CDHD 010 CDHD 013 1 24VDC return 19 24VDC Common output Common input Common output Common input Daisy Chain 2 Digital output 1 20 Digital input 2 Daisy Chain 2 Digital output 1 20 Digital input 2 C8 0 1 IDC Female s Dera mpn i C8 0 1 IDC Female 2 EtherCAT In EtherCAT Out 4 Equivalent encoder 22 Equivalent encoder EtherCAT In EtherCAT Out 4 Equivalent encoder 22 Equivalent encoder C5 RJ45 C6 RJ45 NELTRON 4401 10SR I amp output A output C5 RJ45 C6 RJ45 NELTRON 4401 10SR m output A output or COXOC 304A 10PSAAA03 J 5 Equivalent encoder 23 Equivalent enc
18. 327 9 545 19 100 28 000 28 600 0 266 0 465 0 478 0 756 0 819 0 934 4 431 1 750 1 790 1 826 6 136 3 997 9 919 5 987 3 443 6 608 10 911 MAS 13 453 1750 18 533 2400 3000 3000 2300 3000 1900 750 2200 2000 1700 500 1100 500 1300 1600 1000 1100 1800 900 800 900 1200 2700 2300 1900 3300 1300 500 2000 1800 1600 500 1200 550 1200 1800 1150 1150 1900 1050 1000 1100 2600 3700 3600 2600 4200 2300 800 2 00 2400 2000 700 1400 650 1400 2000 1300 1300 2000 1150 1150 1250 0 94 210 1 80 2 00 2 50 3 43 4 80 4 30 5 16 516 7 45 7 06 9 18 14 00 14 00 15 00 22 50 25 20 2 82 6 30 5 40 6 00 11 10 7 50 10 30 14 40 12 90 11 25 15 50 15 48 22 35 22 21 80 27 50 42 00 42 00 39 00 58 50 56 50 0 036 0 164 0 1 0 0 577 0 290 0 280 6 260 0 907 12 140 2 459 0 940 6 260 17 920 8 880 6 260 12 140 17 920 12 140 39 990 51 440 31 600 Recommended servo drive continuous and or peak intermittent current values are slightly less than motor capability The system performance will be below the motor s given values Recommended Motor Drive Systems 240 VAC 320 VDC bus 50 100 200 200 300 400 400 550 750 750 750 1000 1000 1500 1500 1500 2000 3000 3000 3000 4400 4500 MT Series MT C04051C MT C04101C MT D06201C MT C06201C MT B07301C MT D06401C MT C06401C MT B1355
19. device profile for drives and motion control Baud rate 0 5M 1M bit s CiA 301 application layer and the CiA 402 device profile for drives and motion control Pulse Width Modulation current command ASCII based ServoStudio HyperTerminal Baud rate 115200 bit s ASCII based ServoStudio HyperTerminal Baud rate 115200 bit s Up to 8 axes Axis address setting from 0 99 using two Rotary switches Voltage Range Voltage Range Signal Signal Signal Signal Signal Signal Signal mmm Supply Voltage Signal Signal Signal Signal Signal Signal Some features are not available on all models Check the ordering information or contact your distributor By MT Series i Servo Drive Dimensions mm 120 240 VAC 54 5 04 7 3 pls for screws M4 or 8 2pls for screws M4 or UN 8 1 150 152 4 d fa y i e filium 04 6 2pls for screws M4 or UN 8 Servo Drive Dimensions mm 400 480 VAC 4 5 3pls for screws M4 or UN 8 SY amp 164 a v 99 4 6 2pls for screws 4 or 8 RI Y i 185 B a 61 8
20. igital output P1 26 28 AWG 16 Digital output 3 34 P1 26 28 AWG 16 Digital output 3 34 17 35 Analog input 2 17 35 Analog input 2 1 24 VDC STO enable n 1 24 VDC STO enable 18 Analog input 2 36 Analog output 18 Analog input 2 36 Analog output 2 Ground 24 VDC return 2 Ground 24 VDC return Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 or equivalent 3 3M Solder Plug Junction Shell 4 PN 10336 52F0 008 STX PN HODr00000036 00 or equivalent Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 or equivalent 3M Solder Plug Junction Shell PN 10336 52F0 008 STX PN HODr00000036 00 or equivalent Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter Mating Connector type Crimp Mating Connector type Crimp Housing Molex PN 436450400 or equiv Housing Molex PN 436450400 or equiv STX PN CONr1000004 09 STX PN CONr1000004 09 Ads gm 4x Crimp Molex PN 0430300001 or equiv USB Machine I F 4x Crimp Molex PN 0430300001 or equiv f 1 USB Machine I F STX PN PINr43030000 00 C1 Mini B C3 MDR20Plug 24 28
21. mm2 16 1 3 brake CDHD 006 B CBL P2CNASO0 01 Motor power UVW cable with MIL 120 240VAC 1 E B Model Specification Connectors Picture Ordering Information MT Series MT Servo Motor MT B 8 751 MT Series Synchronous Servo Motors C 2 N Motor Bus Voltage 160 VDC 120 VAC 2 line line input 1 or 3 phase 320 VDC 240 VAC line line input 1 or 3 phase 560 VDC 380 VAC line line input 3 phase 4 640 VDC 480 VAC line line input 3 phase 1 No IP67 Inertia D C IP67 with oil seal Inertia A B C except 50 W motors D IP67 without oil seal Inertia A B C except 50 W motors Connector 3 300 mm with AMP 50 to 750 W motors A Round Military 650 to 4500 W motors Feedback Device T Tamagawa 2500 C T Y Tamagawa 8192 C T 5 Tamagawa 15 bit multi turn 7 Tamagawa 17 bit single turn M Tamagawa 17 bit multi turn 4 Revolver Special order Rated Speed Brake A 1000 rpm 550 to 1500 W motors N Without brake all motors Inertia A High inertia 3 and 4 4 kW motors B Medium inertia 300 to 3000 W motors Low inertia C 50 to 750 W and 4 5 kW motors except 550 W Low inert
22. or equiv STX PN CONr1000004 09 4x Crimp Molex PN 0430300001 or equiv STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS P2 PE JST J300 Motor Functional Ground 18 AWG 2 U Motor Phase U 3 V Motor Phase V 4 W Motor Phase W Mating Connector type Crimp Housing PN F32FSS 04V KX STX PN CONr10000004 13 4x Crimp PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector type Spring PN 04JFAT SBXGF I STX PN CONr10000004 19 Motor P2 JST J300 18 AWG 1 B1 DC Bus 2 B2 Regen Bus 3 L1 AC Phase 1 4 12 AC Phase 2 5 L1C Logic AC Phase 1 6 LC2 Logic AC Phase 2 Mating Connector type Crimp Housing PN F32FSS 06V KX STX PN CONr00000006 91 6x Crimp PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector type Spring PN 06JFAT SBXGF I STX PN CONr10000006 06 M4 ring or spade terminal Functional Ground PE Terminal M4 Daisy Chain C8 0 1 IDC Female NELTRON 4401 10SR or COXOC 304A 10PSAAA03 STX PN CONr00000010 67 1 DC Shield 2 3 RXD 4 GND 5 TXD 6 GND 7 8 9 10 USB C1 Mini B CONTROLLER I F C2 MDR36Plug 24 28 AWG 1 24 VDC return 19 24 VDC Common output Common input 2 Digital output 1 20 Digital input 2 3 Digital input 1
23. 0 15290 1900 250 2300 3000 400 4500 0 53 35 28 0 28 5 60 14 50 0 84 2 59 DC 24 0 05 0 26 32 TES MES YES Option IP67 Option 137 257 74 63 70 0 1000 2000 3000 4000 0 1000 1000 2000 3000 0 2000 4000 6000 0 2000 2000 4000 6000 YES Option NO NO 0 90 257 74 63 70 0 0 1000 3000 5000 0 0 2000 4000 6000 8000 0 0 0 0 YES Option NO NO 1 20 257 74 63 70 1000 2000 3000 4000 5000 2000 4000 6000 8000 0 0 0 0 MT B 2 86 2 00 6 00 0 95 2300 230 2600 3000 300 5200 0 50 31 67 0 68 5 00 11 60 2 07 2 32 DC 24 0 05 0 26 17 82 YES MES YES Option IP67 Option 1 82 298 90 98 00 1000 2000 3000 2000 4000 6000 0 0 0 0 YES YES YES Option IP67 Option 2 05 156 80 78 40 1000 2000 3000 2000 4000 6000 1 17 38 5 11 25 239 1700 420 2000 3000 750 4100 0 70 42 50 2 46 29 7 70 1 64 3 53 DC 24 0 13 0 82 27 76 YES MES YES Option IP67 Option 3 41 436 10 147 00 1000 2000 3000 2000 4000 6000 0 0 0 0 4 80 14 40 299 2200 550 2700 3000 750 5400 0 54 32 80 0 91 115 4 14 0 42 4 11 D
24. 000 5000 5000 4100 5000 3700 1200 4400 4200 3600 1100 2200 1150 2400 3500 2300 2400 3600 1800 1800 2000 4500 5000 6000 6000 5200 6000 4500 1600 5400 4800 4100 1400 2900 1300 2800 4000 2550 2600 4000 2220 2200 2450 0 65 0 94 2 10 1 80 2 00 3 50 2 50 3 43 4 80 4 30 3 5 5 16 5 16 7 45 7 57 7 06 9 18 14 00 14 00 15 00 22 50 25 20 1 95 2 82 6 30 5 40 6 00 11 10 7 50 10 30 14 40 12 90 11 25 15 50 15 48 235 22 71 21 80 27 50 42 00 42 00 39 00 58 50 56 50 0 029 0 036 0 164 0 1 0 0 677 0 290 0 280 6 260 0 907 12 140 2 459 12 140 6 260 172920 8 880 6 260 12 140 17920 12 140 29990 51 440 31 600 Recommended servo drive continuous and or peak intermittent current values are slightly less than motor capability The system performance will be below the motor s given values Recommended Motor Drive Systems 400 VAC 560 VDC bus 1500 MT B13152C CDHD 006 Medium 130 4 14 327 6 350 4 782 3 587 3000 3800 4000 3 95 11 85 60 260 2000 MT B13202C CDHD 006 Medium 130 4 19 080 8 440 6 360 4 540 3000 4000 4200 5 54 16 62 12 140 Recommended Motor Drive Systems 480 VAC 640 VDC bus 1500 MT B13152C CDHD 006 Medium 130 4 14 327 7 740 4 782 3 000 3000 4430 4750 3 95 11 85 6 260 2000 MT B13202C CDHD 006 Medium 130 4 19 080 9 500 6 360 3 816 3000 4700 5000 5 54 16 62 12 140
25. 00026 31 or equivalent 3M Solder Plug Junction Shell PN 10326 52F0 008 STX PN HODr00000026 00 or equivalent Mating Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter 4 40 insert threads on C2 C3 C4 CDHD Length Model Specifications connector Unit m Appearance CBL MDRFL 36 01 MDR 36 and flying C2 1 CBL MDRFL 36 02 leads cable Controller I F 2 Bex CBL MDRFL 36 03 3 CBL MDRFL 20 01 MDR 20 and flying C3 1 CBL MDRFL 20 02 leads cable Machine F 2 C CBL MDRFL 20 03 3 CBL MDRFL 26 01 MDR 26 and flying C4 CBL MDRFL 26 02 leads cable Motor feedback 2 Be Mw CBL MDRFL 26 03 3 Motor power UVW cables 120 240 VAC Motor CDHD Length Model Specifications connector configuration Unit m Appearance CBL P2AN3NO00 01 Motor power UVW cable AMP 120 240 VAC 1 CBL P2AN3NO00 02 without shield Conductor size CDHD 1D5 2 oS k CBL P2AN3N00 03 AWG mm2 18 0 8 CDHD 003 3 7 CBL P2BN3N00 01 Motor power UVW cable AMP 120 240VAC
26. 0819 3000 3300 4200 350 11 10 0 290 A eon canis i ue 550 to 3000 W motors 1500 rpm 1 to kW motors B Nm E a allmotors i j 250 MTCO6401C CDHD 003 low 60 3 820 1354 1274 0 934 1900 1300 2300 250 7 50 0 280 Motor voltage 320 VDC alee GIS as Seep For other motor output rates B3 on Een e 410 MT B13551A CDHD 4D5 Medium 130 4 15 756 6 327 5 252 4 431 750 500 800 3 43 0 30 6 260 ius Eu performan MTCO4051C 200W MT D06201C 550W 750W MT D08751C E G 80W 100W MT C04101C 250W 400W MT C06401C 500W 750W 08751 550 MT D08751C CDHD 4D5 Low 80 7 161 3 762 2 387 1 750 2200 2000 2700 4 80 4 40 0 907 400W MT D06401C 500 MT C08751C CDHD 4D5 flow 80 7 161 3 156 2387 1 790 2000 1800 2400 430 1290 12 140 t h r ct m tc h r 420 MT B08751C CDHD 4D5 Medium 86 7 161 3 407 2 387 1 826 700 600 2000 BIS 125 2 459 5 230W 300W MT B07301C 410W 550W MT B13551A 500W 1kW MT B13102A 750W 1 5kW MT B13152A d i d i 4 420W 750W 808751 550W 1kW MT B131028 975W 1 5kW MT B131528 500 MT B13102A CDHD 006 Medium 130 28 635 10 539 9 545 6 136 500 500 700 5 16 5 50 0 940 800W 1 5kW MT B13152C 550 MT B13102B CDHD 006 Medium 1304 14346 8015 4782 3382 1100 1200 1400 516 1548 6 260 yo u r a Ca t n 4 gt
27. 1 pe CBL P2BN3N00 02 without shield Conductor size CDHD 4D5 2 5 CBL P2BN3N00 03 AWG mm2 16 1 3 CDHD 006 3 CBL P2BNASOO 01 Motor power UVW cable with MIL 120 240VAC 1 CBL P2BNAS00 02 shield without brake Conductor CDHD 4D5 2 CBL P2BNASOO 03 size AWG mm2 16 1 3 CDHD 006 3 CBL P2BBASOO 01 Motor power UVW cable with MIL 120 240 1 CBL P2BBASOO 02 brake and shield Conductor CDHD 4D5 p CBL P2BBAS00 03 size AWG mm2 16 1 3 brake CDHD 006 3 CBL P2CNASO0 01 Motor power UVW cable with MIL 120 240 VAC 1 CBL P2CNASOO O2 shield without brake Conductor CDHD 008 2 CBL P2CNASO0 03 size AWG mm2 14 2 CDHD 010 3 CDHD 013 CBL P2CBAS00 01 Motor power UVW cable with MIL 120 240VAC 1 CBL P2CBASOO 02 brake and shield Conductor CDHD 008 2 CBL P2CBASO0 03 size AWG mm2 14 2 CDHD 010 3 CDHD 013 Motor feedback cables Motor CDHD Length Model Specifications connector configuration Unit m Appearance CBL F T 3 00 01 Motor feedback cable AMP All 1 CBL F T 3 00 02 with shield for Tamagawa CBL F T 3 00 03 incremental encoder 2500 C T and 8192 C T 3 CBL F 7 3 00 01 Motor feedback cable with AMP All 1 CBL F 7 3 00 02 shield for Tamagawa absolute 9 9 E CBL F 7 3 00 03 17 encoder pom 3 CBL F T A 00 01 Motor feedback cable MIL All 1 uw CBL F T A 00 02 with shield for Tamagawa J CBL F T A 00 03 incremental encoder 2500 C T 8192 3 CBL F 7 A 00 01 Motor feedback cable with M
28. 1A MT D08751C MT C08751C MT B08751C MT B13102A MT B13102B MT B13152A MT B13152B MT B13152C MT B13202B MT B13302B MT B13302C MT A18302H MT A18442H MT C18452H CDHD 1D5 CDHD 1D5 CDHD 003 CDHD 1D5 CDHD 003 CDHD 003 CDHD 003 CDHD 4D5 CDHD 4D5 CDHD 4D5 CDHD 4D5 CDHD 006 CDHD 006 CDHD 008 CDHD 008 CDHD 008 CDHD 010 CDHD 013 CDHD 013 CDHD 020 CDHD 024 CDHD 024 Low Low Low Low Medium Low Low Medium Low Low Medium Medium Medium Medium Medium Medium Medium Medium Medium High High Low 42 42 60 60 76 60 60 130 4 80 80 86 130 4 130 4 130 4 130 4 130 4 130 4 130 4 130 4 180 180 180 0 480 0 960 1 911 1 911 2 861 3 820 3 820 15 256 7 173 TEE 7 173 28 635 14 346 42 981 21 492 14 346 28 635 42 981 28 635 49 500 71 500 64 123 0 215 0 766 0 873 0 774 1 767 2 094 2 142 8 734 3 566 3 896 3 108 11 928 5 164 28 127 11 197 6 950 16 927 24 124 13 157 95 397 53 557 551695 0 160 0 320 0 637 0 637 0 950 1 274 1 274 2 391 2229 2 391 9 545 4 782 14 327 7 164 4 782 9 545 14 327 9 545 19 100 28 000 28 600 0 096 0 173 0 287 0 287 0 493 02903 0 764 2 954 1 196 1 345 1 575 6 136 2 968 9 019 4 605 3 228 6 38 6 443 NO15 17 182 15 729 3000 3000 3000 3000 3000 3000 3000 1000 3000 3000 3000 1000 2000 1000 2000 3000 2000 2000 3000 1500 1500 1500 2500 4
29. 201C 550W 750W MT D08751C 80W 100W MT C04101C 250W 400W MT C06401C 500W 750W MT C08751C E 200W MT C06201C 400W MT D06401C mY 5 230W 300W MT B07301C 410W 550W MT B13551A 500W 1kW MT B13102A 420W 750W MT B08751C 550W 1kW 13102 mo 2 Sy as Drive and Motor Combinations 400 480 VAC Servo Drive 6A CDHD 006 4D Servo Motor 1 5 kW MT B13152C 2 kW MT B13202C Medium Inertia Additional 400 480 VAC motor types are available upon request 8A CDHD 008 2A 750W 1 5kW MT B13152A 975W 1 5kW MT B13152B 800W 1 5kW MT B13152C 10A CDHD 010 2A 1kW 2kW MT B13202B 1 65kW 3kW MT B13302B 1 8kW 3kW MT B13302C 20A CDHD 020 2A 1 8kW 3kW MT A18302H 2 7kW 4 5kW MT C18452H 2 35kW 4 4kW MT A18442H MT Series Features and Benefits CDHD servo drive Hardware and software design innovations deliver superior servo performance high power density simple commissioning and extensive versatility in a cost effective package Supporting a wide range of application requirements Interfaces multiple feedback devices e O programming for any drive functionality Safe Torque Off STO Analog commands Pulse amp Direction CANopen and EtherCAT Fast firmware modifications to meet particular application needs Advanced autotuning minimizes position error and Innovative anti vibration control algorithm settling time to almost zero eliminates mecha
30. 30 MT C06401C Without Brake With Brake 300 30 MT Series Servo Motor Dimensions Cont MT D06201C MT D06201C 80 5 117 MT B08751C MT B08751C 148 183 2 MT D06401C MT D06401C 95 5 132 300 30 300 30 _ 300 30 BH a E 4 6 5 G E E LJ 300 30 Le M E T 5 o Toa a NE E 2 oo Ste o TM NN E o S _ L 0 O14 0 011 30 L Without Brake With Brake MT B07301C Motor Mating Connector for the following motors Motor Power U V W w o brake Mil MS3108A20 4S Motor Power U V W with brake Mil MS3108A20 4S Motor Feedback Mil 53108 20 185 MT D08751C Without Brake With Brake 70 0 03 MT C08751C 0 Q 19 0 013 300 30 300 30 Without Brake With Brake 405 5 30 1_ P C D 90 az A L Po P _______ TL i 6 7 Without Brake With Brake MT Series i Servo Motor Dimensions Cont Motor Mating Connector for the following motors MMotor Power U V W w o brake Mil MS3108A32 17S Motor Power U V W with brake Mil MS3108A10SL 3S Motor Feedback Mil 53108 20 185 MTHD Servo Motor Model L mm Without Brake L mm With Brake Model L mm Without Brake
31. 5 RJ45 C6 RJ45 NELTRON 4401 10SR f m or COXOC 304A 10PSAAA03 1 OR OR STX PN CONr00000010 67 r CAN In CAN Out 1 DC Shield C5 RJ45 C6 RJ45 2 1 CANH 1 CANH 3 RXD 1 2 CANL 2 CANL 4 GND 3 FGND FGND RS232 5 TXD e bij 4 4 C7 4p4c 6 GND 5 5 1 RX 7 6 6 2 GND ISO 8 7 FGND 7 FGND 3 TX 9 8 8 4 10 STO Safe Torque Off P1 26 28 AWG 1 24 VDC STO enable 2 Ground 24 VDC return 3 4 Mating Connector type Crimp USB Housing Molex PN 436450400 or equiv M C1 Mini B s 1 L 1 25 Highlighted PN Supplied with CDHD Crimping tool Molex 0638190000 P1 P2 4 40 insert threads on C2 C3 C4 CONTROLLER I F C2 MDR36Plug 24 28 AWG 1 24 VDC return 19 24 VDC Common output Common input 2 Digital output 1 20 Digital input 2 3 Digital input 1 21 4 Equivalent encoder 22 Equivalent encoder output A output A 5 Equivalent encoder 23 Equivalent encoder output B output B 6 Equivalent encoder 24 Equivalent encoder output Z output Z 25 Ground Analog input 1 26 Analog input 1 Direction input 27 Direction input Secondary encoder B Secondary encoder B 10 Ground 28 Pulse input Secondary encoder A 11 Pulse input 29 Ground Secondary encoder A 12 30 13 Ground 31 Digital input 3 14 Digital input 4 32 Digital input 5 15 Digital input 6 33 Digi
32. 5 5 49 B B DC 24 DC 24 20 20 0 32 0 32 0 82 0 82 27 27 76 76 YES YES MES NES YES WES Option Option 8 8 IP67 IP67 Option Option 10 16 6 47 813 00 617 00 196 00 157 00 1000 1 500 1300 2 11 12016 17 92 11 8 44 0 72 7 09 DC 24 20 0 32 0 82 27 76 YES WBS YES Option IP67 Option 13 87 813 00 196 00 1000 1500 0 500 1000 1500 0 1000 2000 3000 4000 500 1000 1500 0 32 0 82 27 76 YES TES VES Option 8 IP67 Option 8 08 617 00 157 00 0 500 1000 1500 0 0 1000 2000 3000 131 14 35 7 06 21 80 4 78 1600 800 2000 3000 1 500 4000 0 74 44 74 6 26 0 65 0 58 1 12 5 48 DC 24 20 0 32 0 82 27 76 YES YES YES Option IP67 Option 6 47 490 00 147 00 1000 2000 3000 2000 4000 6000 40 40 0 32 0 82 2 76 YES UES YES Option IP67 Option 10 16 617 00 157 00 1000 1500 0 0 1000 2000 3000 64 12 297 56 50 28 60 900 2 00 1250 1500 4 500 2450 1 20 72 00 3 16 0 18 2 50 0 53 13 89 YES NO YES Option 14 NO Option 15 20 1107 40 294 00 42 98 28 64 49 50 71 50 14 00 14 00 15 00 22 50
33. 6450400 or equiv STX PN CONr1000004 09 4x Crimp Molex PN 0430300001 or equiv STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS 1 Logic Power AC Input P2 Phoenix 1 AC Phase 1 16 AWG 2 12 ACPhase 2 Mating Connector PN FKC 2 5 2 STF 5 08 1873207 STX PN CONr10000002 25 1 P3 Main AC Input Phoenix L1 AC Phase 1 12 13 AWG 2 L2 AC Phase 2 3 L3 AC Phase 3 Mating Connector PN SPC 5 3 STCL 7 62 1718494 STX PN CONr10000003 21 P4 Phoenix Motor Functional Ground 10 11 AWG Motor Phase U Motor Phase V Motor Phase W Mating Connector PN SPC 5 4 STCL 7 62 1718504 STX PN CONr10000004 26 P5 Phoenix Regeneration 14 AWG Regen Bus 2 1 DC Bus Mating Connector PN SPC 5 2 STCL 7 62 1718481 STX PN CONr10000002 16 Lit L1 Functional Ground PE Terminal M4 M4 ring or spade terminal Dimpal aa rings ef Refer to ordering information CAN and EtherCAT models only EtherCAT models only Servotron Highlighted PN Supplied with CDHD USB C1 Mini B 1 a bm 1 25 Crimping tool Molex 0638190000 P1 4 40 insert threads on C2 C3 C4 CONTROLLER I F
34. AWG STX PN PINr43030000 00 res C1 Mini B C3 MDR20Plug 24 28 AWG Wired STO Wired STO STEGENIRGNETOUSDSUDAENS 1 Secondary encoder A 11 Secondary encoder A STX PN CONr00000004 AS 1 Secondary encoder 11 Secondary encoder A Pulse input Pulse input Pulse input Pulse input Motor 2 Secondary encoder B 12 Secondary encoder B Motor 1 2 Secondary encoder B 12 Secondary encoder B P2 JST J300 16 AWG Direction input Direction input P2 JST 1400 14 AWG m Direction input Direction input 1 PE Functional Ground 23 Secondary encoder 7 13 Secondary encoder Z 1 PE Functional Ground m 3 Secondary encoder Z 13 Secondary encoder Z 2 U Motor Phase U 4 Secondary encoder 5V 14 Secondary encoder ground 2 U Motor Phase U 4 Secondary encoder 5V 14 Secondary encoder ground 3 V Motor Phase V 5 Digital input 7 15 Digital input 8 3 V Motor Phase V E 5 Digital input 7 15 Digital input 8 4 W Motor Phase W 6 Digital input 9 16 Digital input 10 4 W Motor Phase W 6 Digital input 9 16 Digital input 10 Mating Connector type Crimp 7 Digital input 11 17 Digital output 4 Mating Connector type Crimp 7 Digital input 11 17 Digital output 4 Housing PN F32FSS 04V KX ERE EE Housing PN J43Fss 04V KX m EE STX PN CONr10000004 13 8 Digital output 5 18 Digital output 6 STX PN CONr10000004 18 8 Digital output 5 18 Digital output 6 4x Crimp PN SF3F 71GF P2 0 9 24 VDC 19 24 return 4x Cri
35. C 24 0 13 0 82 2 76 YES NO YES Option NO Option 2 20 436 10 147 00 1000 2000 3000 2000 4000 6000 15 76 3 43 10 30 5 25 750 410 800 1000 550 1600 1 68 101 56 6 26 3 58 18 33 11 5 12 DC 24 0 13 0 82 27 76 YES YES YES Option IP67 Option 6 47 813 00 196 00 1000 _ 0 500 1000 1500 2000 MT Series Max Torque Tmax N m Rated Current Ir Arms Max Current Imax Arms Rated Torque Tr N m Rated Speed Nr RPM jw RPM Rated Sp o O RPM Rated Output Pr W od Nmax RPM Constant Torque Kt N m Arms Back EMF Constant Ke V krpm Rotor Intertia Without Brake Jm x10 4eKgem2 Resistance Ra 0 Inductance La mH Mechanical Time Constant Tm ms Electrical Time Constant Te ms Insulation Grade 7 Rated Voltage V Static Rubbing Torque N M Inertia x10 4eKgem2 Current disipation A Time for brake funtion ms Time for brake release ms Feedback Incremental 2500 C T Incremental 8192 C T Absolute 17 bit Resolver Poles Degree of Protection Degree IP IP Oil Seal at Shaft Weight W kg Radial Force N Axial Force N Torque N m Torque N m 28 64 14 35 5 16 5 16 15 50 15 48 955 4 78 500 1100 500 550 700 1400 1000 2000 1 000 1 000 1400 2900 2 04 1 02 129 39 61 67 12 14 6 26 1 85 1 22 12 14 6 70 0 81 RO 6 5
36. IL All 1 Ns i CBL F 7 A 00 02 shield for Tamagawa absolute CBL F 7 A 00 03 17 encoder B For other cables configuration please contact us at info servotronix com MT Series Optional Accessories KIT 2A PWSPR 00 KIT 2A POWER 00 KIT 2B PWSPR 00 KIT 2B POWER 00 KIT 2C POWER 00 KIT 2D PWSPR 00 KIT 4A PWSPR 00 CDHD Power Mating Spring CDHD Power Mating Crimp CDHD Power Mating Spring CDHD Power Mating Crimp CDHD Power Mating Crimp CDHD Power Mating Spring CDHD Power Mating Spring 120 240VAC CDHD 1D5 CDHD 003 120 240VAC CDHD 1D5 CDHD 003 120 240VAC CDHD 4D5 CDHD 006 120 240VAC CDHD 4D5 CDHD 006 120 240VAC CDHD 008 CDHD 010 CDHD 013 120 240VAC CDHD 020 CDHD 024 400 480VAC CDHD 003 CDHD 006 CDHD 012 P2 P2 P3 P2 P4 P2 P3 P4 P2 P4 P5 P2 P3 P4 P5 P2 P4 P5 ALL L1 Ze Included with the product when ordered Adapter Cables Kit PC USB type A to RS232 KIT USBRS232 00 KIT 2AVBRAKE 00 CBLrOOO0USBA 00 CONr00000004 AS CONr10000004 09 PINr43030000 00 CBLrCDHDSTO0 00 ADPrCAN_D9 RJ45 Brake Circuit Kit USB Cable PC type A to Mini B 1 5m STO Jumper Connector STO Connector STO Connector Crimp 4 crimps required STO Cable 2 Wires 2m ADAPTER CAN D9 TO RJ45 C7 C1 P1 P1 P1 P1 Feedback Device
37. Input Pulse amp Direction Equivalent Encoder Output 11x Digital Inputs 6x Digital Output Analog Output Secondary Feedback Fault Output Relay Motor Feedback From Drive Incremental Encoder Hall Sensor Resolver Sine Encoder SSI Encoder Motor Temperature 1D5 003 4D5 006 008 010 012 013 020 024 RatingsInput Power Main Circuit 120 240 VAC 1 Phase 1 Phase 1 3 Phase 1 3 Phase 1 3 Phase 1 3 Phase I 3Phase 3Phase 3Phase Input Power Main Circuit 400 480 VAC 3 Phase B DC Brushless DC Brush Rotary servomotors Linear servomotors Performance Update rate 31 25 us 32 kHz Output waveform sinusoidal Step Response Time Actual current reaches command in two cycles 62 5 us up to 2 Control Loop DQ PI Feed forward Performance Update rate 125 us 8 kHz Selectable Velocity Control Loops PDFF Standard pole placement Advance pole placement Standard pole placement high frequency Pole placement with active dumping Filters First order low pass filter Double first order low pass filter Notch High pass filter Band pass filter User defined polynomial filter Performance Update rate 250 ys 4 kHz Control loop PID and feed forward Performance Update rate 250 uS 4 kHz Control Loop Non linear control algorithm provides very low tracking error zero or minimum settling time and smooth movement includes an adaptive feed forward feature that is applied at end
38. TX PN STX PN CONr10000002 10 P5 3M Solder Plug Junction Shell PN 10326 52F0 008 STX PN PN 05JFAT SBXGF I STX Servotronix E HODr00000026 00 or equivalent 2x Crimp PN SF3F 71GF P2 0 STX Servotronix Extraction tool EJ JFAJ4 P2 P3 P4 HODr00000026 00 or equivalent E3 STX PN CONr10000005 04 Highlighted PN Supplied with CDHD d z 9 oo Mating Cable STX PN CBL MDRFL 26 0x 1 2 3 meter STX PN PINrSF3F71GF 00 Highlighted PN Supplied with P5 Mating Cable STX PN CBL MDRFL 26 0x 1 2 3 meter 4 40 insert threads on C2 C3 C4 4 40 insert threads on C2 C3 C4 MT Series Servo Drive Pin Assignments 120 240 VAC CDHD 020 CDHD 024 C5 RJ45 EtherCAT In EtherCAT Out C6 RJ45 OR OR CAN In C5 RJ45 1 CANH CAN Out C6 RJ45 1 CANH CANL CANL FGND FGND RS232 C7 4p4c RX GND ISO _ Daisy Chain C8 0 1 IDC Female NELTRON 4401 10SR i or COXOC 304A 10PSAAA03 STX PN CONr00000010 67 DC Shield y c f RXD NN GND 18 GND r i a6 FGND FGND TX WN NJ Bi win e STO Safe Torque Off P1 26 28 AWG 24 VDC STO enable 2 Ground 24 VDC return 3 4 Mating Connector type Crimp Housing Molex PN 43
39. TX PN CRPrSJ4F71GF 00 9 Sine encoder sine 22 Sine encoder sine Logic AC Phase 1 Ground 10 Sine encoder cosine 23 Sine encoder cosine TUE ACI t Functional Ground 10 Sine encoder cosine 23 Sine encoder cosine Ogic Fower npu z Logic AC Phase 2 Terminal M4 11 5V supply 24 Ground 5V 8V return P5 e J300 16 HA PE Terminal M4 11 5Vsupply 24 Ground 5V 8V return M4 ring or spade terminal 12 Motor temperature 25 Motor temperature M4 ring or spade terminal 12 Motor temperature 25 Motor temperature Mating Connector type Crimp sensor sensor 1 AC Phasec 1 sensor sensor Housing PN F32FSS 05V KX 3 STX CONr00000005 03 Refer to ordering information Crimping tool Molex d 1 13 5V supply 26 Shield 2 L2C ACPhasec2 Referto ordering information Crimping tool Molex aud 20008 1 13 5V supply 26 Shield or equivalen EE lt equivalen pane M CAN and EtherCAT models only 3 Mating Connector 3M Solder Plug Connector Mating Connector type Crimp CAN and EtherCAT models only Mating Connector 3M Solder Plug Connector r 00 E ET Crimping tool YRF 880 P2 P3 PN 10126 3000PE STX PN CONr00000026 31 or equivalent Housing PN F32FSS 02V KX EtherCAT models only uu MNT alee PN 10126 3000PE STX PN CONr00000026 31 or equivalent Mating Connector type Spring Extraction tool EJJFAJ3 P2 3M Solder Plug Junction Shell PN 10326 52F0 008 S
40. ary encoder B Direction input Direction input 3 Secondary encoder Z 13 Secondary encoder Z 4 Secondary encoder 5V 14 Secondary encoder ground 5 Digital input 7 15 Digital input 8 6 Digital input 9 16 Digital input 10 7 Digital input 11 17 Digital output 4 8 Digital output 5 18 Digital output 6 9 24 VDC 19 24 VDC return Common output Common input 10 Fault relay 1 20 Fault relay 2 Mating Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 or equivalent 3M Solder Plug Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 or equivalent Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter Feedback CA MDR26Plug 24 28 AWG 1 Incremental encoder 14 Incremental encoder A SSI encoder data SSI encoder data 2 Incremental encoder B 15 Incremental encoder B SSI encoder clock SSI encoder clock 3 Incremental encoder Z 16 Incremental encoder Z 4 Hall U 17 Hall V 5 Hall W 18 8V supply 6 Resolver sine 19 Resolver sine 7 Resolver cosine 20 Resolver cosine 8 Resolver reference 21 Resolver reference 9 Sine encoder sine 22 Sine encoder sine 10 Sine encoder cosine 23 Sine encoder cosine 11 5V supply 24 Ground 5V 8V return 12 Motor temperature 25 Motor temperature sensor sensor 13 5V supply 26 Shield Mating Connector 3M Solder Plug Connector PN 10126 3000PE STX PN CONr000
41. coder B SSI encoder clock SSI encoder clock 3 Incremental encoder Z 16 Incremental encoder Z 4 Hall U 17 Hall V 5 Hall W 18 8V supply 6 Resolver sine 19 Resolver sine 7 Resolver cosine 20 Resolver cosine 8 Resolver reference 4 21 Resolver reference 9 Sine encoder sine 22 Sine encoder sine 10 Sine encoder cosine 23 Sine encoder cosine 11 5Vsupply 24 Ground 5V 8V return 12 Motor temperature 25 Motor temperature sensor sensor 13 5V supply 26 Shield Mating Connector 3M Solder Plug Connector PN 10126 3000PE STX PN CONr00000026 31 or equivalent 3M Solder Plug Junction Shell PN 10326 52F0 008 STX PN HODr00000026 00 or equivalent Mating Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter Servo Drive Pin Assignments 400 480 CDHD 012 EtherCAT In C5 RJ45 EtherCAT Out C6 RJ45 OR OR CAN In C5 RJ45 CANH CAN Out C6 RJ45 CANH CANL CANL FGND FGND RS232 C7 4p4c RX FGND FGND GND ISO Daisy Chain C8 0 1 IDC Female NELTRON 4401 10SR or COXOC 304A 10PSAAA03 STX PN CONr00000010 67 DC Shield TX BI Win Ju FN I NID HW WIN e STO Safe Torque Off P1 26 28 AWG 24 VDC STO enable 1 2 Ground 24 VDC return 3
42. e Phase 120 L L VAC 10 15 50 60 Hz Rating 120 240 VAC Dauerstr Spitzen str Aet Aet 1D5 1 5 4 5 003 3 9 4D5 4 5 18 006 6 18 008 28 010 10 28 013 13 28 020 20 48 024 24 48 400 480 VAC Cont Peak A rms A rms 003 3 9 006 6 18 012 12 24 024 24 72 030 30 90 2A Input Single Phase 240 L L VAC 10 15 50 60 Hz Input Three Phase 120 240 L L VAC 10 15 50 60 Hz AC Input Power Supply 4D Input Three Phase 400 L L VAC 10 15 50 60 Hz Input Three Phase 480 L L VAC 10 15 50 60 Hz 24 VDC input for control board power supply MT Series Recommended Motor Drive Systems S 06 05 0 4 oO O Min MAX 0 2 Mc MAX 0 1 0 Motor speed rpm Ny Np NMAX Intermittent E Continuous The system torque speed information on the following pages is designed to help you select the optimum combination of brushless servo motor drive The nominal values in this data illustrate performance for the recommended motor drive system Mmax Maximum torque of the motor Minmax Intermittent torque at maximum speed McMax Continuous torque at maximum speed MN Continuous rated torque NN Rated speed NP Speed at knee in maximum envelope intersection of motor max torque with voltage limit line Nmax Maximum speed The combination of the MT Series motors and the reliable and feature ric
43. h CDHD digital drive amplifier meets virtually any kind of application with torque from 0 16 N m to 28 N m max speed of 6000 RPM motor power rating from 50W to 4 5kW Recommended Motor Drive Systems 120 VAC 160 VDC bus 80 200 200 230 400 250 410 550 500 420 500 550 750 5 800 1000 1650 1800 1800 2350 2 00 MT C04101C MT D06201C MT C06201C MT B07301C MT D06401C MT C06401C MT B13551A MT D08751C 8751 08751 13102 13102 13152 13152 13152 13202 13302 13302 18302 18442 18452 CDHD 1D5 CDHD 003 CDHD 1D5 CDHD 003 CDHD 003 CDHD 003 CDHD 4D5 CDHD 4D5 CDHD 4D5 CDHD 4D5 CDHD 006 CDHD 006 CDHD 008 CDHD 008 CDHD 008 CDHD 010 CDHD 013 CDHD 013 CDHD 020 CDHD 024 CDHD 024 Low Low Low Medium Low Low Medium Low Low Medium Medium Medium Medium Medium Medium Medium Medium Medium High High Low 42 60 60 76 60 60 130 4 0 960 1 911 2 861 3 820 3 820 15 756 7 161 7 161 7 161 28 635 14 346 42 981 21 492 14 346 28 635 42 981 28 635 49 500 71 500 64 123 0 419 0 899 0 873 131 1 294 1 354 6 327 3 762 3 156 3 407 10 539 8 015 21 470 11 089 8 229 14 107 26 147 19230 32 497 38 981 47 288 0 320 0 637 0 637 0 950 1 274 1 274 5 252 2 381 2 387 2 387 9 545 4 182 14 327 7 164 4 182 9 545 14
44. ia D small size 200 to 750 W motors except 550 W Rated Output 051 50 W Frame Size 101 100 W 04 42 mm 201 200 W 50 to 100 W motors 301 300 w 60 mm 06 200 to 400 W motors cu ewe 1 W m eee 55 550 300 W motor 751 750W 08 80 mm MT C08 102 1kW 750W 152 1 5 kW 86 mm MT B08 08 750 W motor 202 2kw 302 3kW 13 130 4 mm 550 to 3000 W motors 442 44kW 18 180 mm 452 4 5kW 550 to 3000 W motors Motor voltage 320 VDC For other motor output rates refer to motor performance data tables H 1500 rpm 1 to 3 kW motors 2000 rpm 50 to 3000 W motors except 550 W With brake 24 VDC all motors except MT C18452H C 3000 rpm 3 to 4 5 kW motors Ordering Information CDHD Servo Drive 006 2A AP 1 CDHD Servo Drive HD Series AC and Controller Input Power Supply NN Analog Input 0 Power block 1 One analog input 16 bit 2 Two analog inputs 14 bit each Interface Options AP Analog Voltage Pulse Train Ref RS232 AF Analog Voltage Pulse Train Ref CANopen USB RS232 EC EtherCAT USB RS232 PB PWM Power Block Standard configuration with one analog input Standard configuration with two analog inputs PBO and PWM power block do not have analog input option Input Singl
45. input 10 Fault relay 1 20 Fault relay 2 Mating Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 or equivalent 3M Solder Plug Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 or equivalent Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter Feedback C4 26 Plug 24 28 AWG Refer to ordering information CAN and EtherCAT models only EtherCAT models only Servotronix Highlighted PN Supplied with CDHD Crimping tool Molex 0638190000 P1 or equivalent Crimping tool YRF 880 P2 P3 Extraction tool EJ JFAJ3 P2 P3 Key for spring J FAT OT connector 1 Incremental encoder 14 Incremental encoder A SSI encoder data SSI encoder data 2 Incremental encoder 15 Incremental encoder B SSI encoder clock SSI encoder clock 3 Incremental encoder Z 16 Incremental encoder Z 4 Hall U 17 Hall V 5 Hall W 18 8V supply 6 Resolver sine 19 Resolver sine 7 Resolver cosine 20 Resolver cosine 8 Resolver reference 4 21 Resolver reference 9 Sine encoder sine 22 Sine encoder sine 10 Sine encoder cosine 23 Sine encoder cosine 11 5Vsupply 24 Ground 5V 8V return 12 Motor temperature 25 Motor temperature sensor sensor 13 5V supply 26 Shield Mating Connector 3M Solder Plug Connector PN 10126
46. l input 9 16 Digital input 10 7 Digital input 11 17 Digital output 4 8 Digital output 5 18 Digital output 6 9 24 VDC 19 24 VDC return Common output Common input 10 Fault relay 1 20 Fault relay 2 Mating Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 or equivalent 3M Solder Plug Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 or equivalent Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter Feedback C4 26 Plug 24 28 AWG 1 Incremental encoder 14 Incremental encoder A SSI encoder data SSI encoder data 2 Incremental encoder B 15 Incremental encoder B SSI encoder clock SSI encoder clock 3 Incremental encoder Z 16 Incremental encoder Z 4 Hall U 17 Hall V 5 Hall W 18 8V supply 6 Resolver sine 19 Resolver sine 7 Resolver cosine 20 Resolver cosine 8 Resolver reference 21 Resolver reference 9 Sine encoder sine 22 Sine encoder sine 10 Sine encoder cosine 23 Sine encoder cosine 11 5V supply 24 Ground 5V 8V return 12 Motor temperature 25 Motor temperature sensor sensor 13 5V supply 26 Shield Mating Connector 3M Solder Plug Connector PN 10126 3000PE STX PN CONr00000026 31 or equivalent 3M Solder Plug Junction Shell PN 10326 52F0 008 STX PN HODr00000026 00 or equivalent Mating Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter
47. mp PN SJ4F 71GF M3 0 9 24 VDC 19 24 VDC return STX PN PINISFSF71GF 00 Common output Common input UU e Common output Common input Mating Connector type Spring i PN OAJFAT SBXGF I 10 Faultrelay 1 20 Faultrelay 2 Regeneration 10 Faultrelay 1 20 Faultrelay 2 STX PN CONr10000004 19 Mating Connector 3M Solder Plug Connector P3 JSTJ400 14 AWG Mating Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 or equivalent 3M Solder Plug Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 or equivalent Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter PN 10120 3000PE STX PN CONr00000020 38 or equivalent 3M Solder Plug Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 or equivalent Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter 1 1 DC Bus Regeneration 2 2 Regen Bus P3 JSTJ300 16AWG Mating Connector type Crimp DC Bus Housing PN J42FSC 02V KX 2 B2 Regen Bus Feedback STX PN CONr10000002 14 Feedback 2 C4 MDR 26 Plug 24 28 AWG 2x Crimp PN SJ4F 71GF M3 0 C4 26 Plug 24 28 AWG
48. n 4 Twisted Pair Pin Twisted Pair 3 Twisted Pair Resolver Ref Twisted Pair MT Series Mordi Franco Visual Communication DOC MTSERCAT EN Ver 2 2 COE l EN zi LO EN About Servotronix Servotronix Motion Control develops and manufactures standard and customized automation solutions with a focus on motion control With over 25 years of experience the company has developed four generations of high performance servo drive families and motion control solutions tailored to customer needs and designed to meet the form fit functionality and cost specifications of a wide range of applications and industries With a global customer base of leading machine builders and automation system suppliers Servotronix guiding principles are providing its customers with high quality products cost effective solutions and on time deliveries Play Video gt
49. nical resonance Engineering experience and expertise has been implemented An active non linear algorithm eliminates vibration in in a sophisticated autotuning function that performs optimal highly flexible resonant systems Commissioning is easy configurations for a difference making performance using just a few gain parameters tH d w Minimum position error Settling time of almost zero No oscillations at stand still 2 BB E With anti vibe control Without anti vibe control MT rotary brushless servo motor Closing the price performance gap between induction motors and high end servo motors MT servo motors are particularly suitable for price sensitive motion applications that require efficient servo performance and functionality Broad range of motor options 7 frame sizes e Winding options for 160 320 560 and 640 VDC Standard feedback options include incremental encoders with 2500 C T or 8192 C T and absolute encoders with up to 17 bit resolution Standard and high inertia options Optional holding brake C Up to protection class IP67 e Insulation class B 130 C or F 155 C ServoStudio wizard User friendly Servo Studio software provides step by step guidance through the setup and tuning process Setup and testing are simplified thanks to auto tuning functions and graphic representations of control loops e Excellent results
50. nput for contro Beare Power SURRY CBL MDRFL 26 02 leads cable Motor feedback 2 KIT 2B PWSPR 00 Power Mating Spring 120 240VAC P2 P3 P4 CBL MDRFL 26 03 3 e CDHD 4D5 CDHD 006 Motor power UVW cables 120 240 VAC KIT 2B POWER 00 Power Mating Crimp 120 240VAC P2 P4 CDHD 4D5 Motor CDHD Length cols Model Specifications connector configuration Unit m B KIF2C POWER O0 Power Mating Crimp 120 240VAC P2 P3 P4 PS CBL P2AN3NO0 01 Motor power UVW cable AMP 120 240VAC 1 a CDHD 008 CBL P2AN3N00 02 without shield Conductor size CDHD 1D5 2 me amm CDHD 010 CBL P2AN3N00 03 AWG mm2 18 0 8 CDHD 003 3 CDHD 013 CBL P2BN3N00 01 Motor power UVW cable AMP 120 240 VAC 1 KIT 2D PWSPR 00 Power Mating Spring 120 240VAC P2 PA PS CBL P2BN3N00 02 without shield Conductor size CDHD4D5 2 cero CDHD 020 CBL P2BN3N00 03 AWG mm2 16 1 3 CDHD 006 CDHD 024 CBL P2BNASO0 01 Motor power UVW cable with MIL 120 240 VAC 1 KIT 4A PWSPR 00 CDHD Power Mating Spring 400 480VAC P2 P3 P4 P5 CBL P2BNASO0 02 shield without brake Conductor CDHD 4D5 2 CDHD 003 CBL P2BNASO0 03 size AWG mm2 16 1 3 CDHD 006 3 CDHD 006 CDHD 012 CBL P2BBAS00 01 Motor power UVW cable with MIL 120040VAC 1 S u C S S 2 00 02 brake and shield Conductor CDHD 4D5 2 E ncluded with the product when q CBL P2BBASO0 03 size AWG
51. oder or COXOC 304A 10PSAAA03 I 5 Equivalent encoder 23 Equivalent encoder OR OR STX PN CONr00000010 67 output E output B OR OR STX CONr00000010 67 output B k 4 6 Equivalent encoder 24 Equivalent encoder EE D I k 4 6 Equivalent encoder 24 Equivalent encoder CAN In CAN Out 1 DC Shield output 2 output 2 CAN In CAN Out 1 DC Shield 1 output Z output Z 1 CANH 1 CANH 3 RXD 1 Analog input 1 26 Analog input 1 1 CANH 1 CANH 3 RXD Analog input 1 26 Analog input 1 Rd 4 i Direction input 27 Direction input 1 Direction input 27 Direction input a Secondary encoder B Secondary encoder B A e 22 Secondary encoder Secondary encoder B 3 FGND 3 FGND RS232 5 Yy y 3 FGND 3 FGND RS232 5 mp 28 i 28 i 4 4 C7 4p4c 6 GND i PF 10 Ground Pulse input Fi 5 C7 4p4c ENS i 10 Ground Pulse input Secondary encoder Secondary encoder 2 RA 11 Pulse input 29 Ground z is 11 Pulse input 29 Ground B 2 2 ONDDO 8 Secondary encoder A E 2 GAD Secondary encoder 7 FGND 7 FGND 3 TX 9 12 30 7 FGND 7 FGND 3 TX 9 12 30 8 8 4 10 13 Ground 31 Digital input 3 8 8 4 10 13 Ground 31 Digital input 3 NU 14 Digital input 4 32 Digital input 5 NO 14 Digital input 4 32 Digital input 5 NEU TEN 2 Digital i Digital 2 STO Safe Torque Off 15 Digital input 6 33 Digital output STO Safe Torque Off 15 igital input 6 33
52. of movement to achieve zero or minimum settling time Filters One second order low pass two notch filters and other filters to handle flexible and resonant systems Analog Voltage 10 VDC Serial RS232 or USB CANopen EtherCAT PWM Pulse amp Direction with electronic gearing Serial RS232 or USB CANopen EtherCAT PWM Method Automatic self configuration optimization of motor phasing wires current loop HD loop Current Velocity Command Position Command automatic inertia load measurement Method Control stops several dynamic brake and active disable options Method 7 segment LED green display drive status User Interface ServoStudio Windows based application Setting Drive Motor Feedback O motion information selection configuration Fault history display Setup wizard Expert view Under and over voltage over current drive and motor over temperature motor foldback drive foldback feedback lost not configured and more UL UL508c compliance testing in progress by TUV STO Safe Torque Off compliance testing in progress ROHS CE EMC Directive 2004 108 E standard IEC61800 3 CE Low Voltage Directive 20061951EC IEC61800 5 1 Ambient temperature Operation 0 45 C Storage 0 70 C Humidity 10 90 Altitude lt 1000m If gt 1000m derate 5 per 330m Vibration 0 5g Protection class IP20 pollution degree 2 as per IEC 60664 1 CANopen CiA 301 application layer and the CiA 402
53. tal output 2 16 Digital output 3 34 17 35 Analog input 2 18 Analog input 2 36 Analog output Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 or equivalent 3M Solder Plug Junction Shell PN 10336 52F0 008 STX PN HODr00000036 00 or equivalent Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter Machine I F MDR 20 Plug Secondary encoder A 11 24 28 AWG Secondary encoder A Pulse input Pulse input 2 Secondary encoder B 12 Secondary encoder B Direction input Direction input 3 Secondary encoder Z 13 Secondary encoder Z 4 Secondary encoder 5V 14 Secondary encoder ground 5 Digital input 7 15 Digital input 8 6 Digital input 9 16 Digital input 10 7 Digital input 11 17 Digital output 4 8 Digital output 5 18 Digital output 6 9 24 VDC 19 24 VDC return Common output Common input 10 Fault relay 1 20 Fault relay 2 Mating Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 or equivalent 3M Solder Plug Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 or equivalent Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter Feedback C4 26 Plug 24 28 AWG 1 Incremental encoder A 14 Incremental encoder A SSI encoder data SSI encoder data 2 Incremental encoder 15 Incremental en
54. ute 17 bit Resolver Degree of Protection Degree IP Oil Seal at Shaft Weight Radial Force Axial Force Tmax Imax Tr Nr Pr Nmax Pr Nmax Kt Ke Jm Ra La Tm Te N m Arms Arms N m RPM RPM RPM W RPM N m Arms V krpm x10 4eKgem2 0 mH ms ms V N M x10 4eKgem2 A ms ms kg Torque N m Torque N m 14 3 3 95 11 8 4 78 3 00 1 50 4 00 3 00 1 50 4 50 1 33 80 6 6 26 2 23 11 4 1 10 5 14 9472 D gt 5 5 0 0 0 0 0 0 1 6 DC 24 20 0 32 0 82 27 76 YES VES YES Option IP67 Option 6 47 490 147 00 00 Servo Motor Performance Data 560 640 VDC MT E 0 0 1000 3000 5000 Motor speed rpm 2000 4000 Motor speed rpm 6000 0 32 0 82 27 76 YES YES YES Option IP67 Option 10 16 490 00 147 00 0 0 1000 3000 5000 0 0 2000 4000 6000 Servo Motor Dimensions Motor Mating Connector for the following motors Motor Power U V W CAP AMP 172159 1 Crimp AMP 170362 1 Motor Feedback CAP AMP 172161 1 Crimp AMP 170361 1 Motor Brake 2 separate flying leads MT C04051C 04101 MT C06201C 50 0 025 300 30 300 30 Without Brake 300 130 Without Brake E MT C04051C ke L mm Wi h tN MT C04101C P 300
55. within minutes even for novice users e Real time data recording and plotting e Easy integration of servo axes e Plug and play motor and feedback wiring Motor Selection Select motor part number as Machine load is automatically estimated appears on the motor label using a unique Servotronix algorithm Test Quality of Motion Automatic tuning of all position loop control parameters ae m Es Uu cw ou dos m 4 Visualize the quality of motion with graphic indication of zero settling time and minimal position error EH Select Initial Combination lt Complete Motor Part Number Select power range voltage input and inertia level Select motor and matching drive from the relevant Select brake feedback and IP options voltage input table Drive and Motor Combinations Pages 2 3 Recommended Motor Drive Systems Pages 11 13 Ordering Information Page 8 4 4 MOTOTS L eae i aA B Medium inertia 300 to 3000 W motors Connector Drive and Motor Combinations 120 240 VAC Recommended Motor Drive Systems 120 VAC 160 VDC bus Bee cee co 550 W Round Military Motor Parameters e
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