Synchronous Servo Motors
Automation
Synchronous Servo Motors
Catalogue: 192-060011 N5 / UK Version 5 / December 2000
192-060011 N5
Servo motors
Automation
2
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
Servo motors
Contents Synchronous servo motors manufactured by Parker Hannifin, Elektromechanik Europa ..........................................................................4 Standard servo motors of the HJ range..................................................5 Options ........................................................................................................6 Motor overview of HJ – motors .................................................................7 Dimensional drawings................................................................................8 HJ96C6-44S ....................................................................................................... 8 HJ116C6-64S / HJ116E6-88S ............................................................................ 8 HJ155A8-88S / HJ155E8-130S / HJ155G8-135S............................................... 8 HJ155G8-135S with fan ...................................................................................... 9 HJ190J8-150S with fan ....................................................................................... 9
Engine characteristics curves.................................................................10
Highly dynamic synchronous servo motors HDY................................14 Options ......................................................................................................15 Motor overview of HDY – motors ............................................................16 Dimensional drawings..............................................................................17 HDY55C4-32S .................................................................................................. 17 HDY70C4-44S / HDY70E4-44S........................................................................ 17 HDY92C4-44S / HDY92E4-44S........................................................................ 17 HDY115A6-64S / HDY115A6-88S / HDY115C6-88S / HDY115E6-88S / HDY115G6-88S ................................................................................................ 18 HDY142C6-88S / HDY142G6-88S ................................................................... 18
Motor characteristics curves...................................................................19
Connecting cable to motor .....................................................................25 Resolver cable for HJ and HDY motors ............................................................ 25 Motor cable for HJ and HDY – motors .............................................................. 26 SinCos cable for HJ and HDY motors ............................................................ 28
Order code motors ..................................................................................29 Order code cables ...................................................................................30
Automation
3
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
Servo motors
Synchronous servo motors manufactured by Parker Hannifin, Elektromechanik Europa Todays' levels of electrical drive technology mean that different specific synchronous servo motors are required depending on the application in question.
HDY synchronous servo motors The outstanding feature of the HDY synchronous servo motors is their low rotor inertia torque. Typical applications for these motors would be packaging machines, automatic press or assembly equipment, in which rapid acceleration and delay is required. 5 model sizes are available with edge lengths of 55, 70, 92, 115 and 142 in a power range of between 0.4 and 21 Nm.
HJ synchronous servo motors The motors of the HJ range have high-quality Neodym iron-boron magnets and their rotor inertia torque is 2 to 3 times higher. The shafts (with large diameters) and the design of the rotor and bearing ensure that these motors have a higher level of shaft strength. Parker's HJ synchronous servo motors have the outstanding feature of good synchronous running properties even when running at low speeds. Typical applications for these motors would be in tooling and printing machines as well as handling robots. The HJ motors have smooth surfaces and recesses in the assembly area, which is why dirt deposits are reduced to a minimum and it is very easy to fit this unit to the gearbox. Four model sizes of 96, 116, 155 and 190 are available in a power range of between 3.0 and 91 Nm. Both the HDY and HJ ranges can be fitted with a stationary/parking brake on request. As an alternative to the resolver feedback system, SinCos1 singleturn or an absolute value sensor SinCos multiturn system can be supplied. When fitted with SV drive2 and the COMPAX compact servo control unit, these motors form a drive concept for use in mains power supplies of between 230V and 460V AC.
1 2
The term SinCos stated in the motor catalogue is a registered trademark of the Stegmann company. Only supports resolver for determining motor position.
Automation
4
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HJ motors
standard synchronous servo motors
Standard servo motors of the HJ range
General characteristic data:
Version:
• Sinusoidal EMC.
• With spline
• Painted mat black.
• Spur thread HJ96: M6x15 HJ116: M8x20 HJ155: M12x30 HJ190: M12x30
• Nitrile shaft seal. • IP65 type of protection (shaft IP64). 3
• Insulation class F.
• Integrated resolver.
• Maximum ambient temperature: 40°C • Any installation position.
Area of application
• Standard flange: standard in acc. with DIN 42955; IEC72.
• Packaging machines, • shelf transport technology,
• Basic body: aluminium extruded moulding
• wood machining,
• Flange: aluminium
• handling robots, etc.
• Connector sockets can be rotated into almost any position (secured using a torque of 10 Nm ±2 Nm) • Treble torque rating is possible for up to 3 seconds. • Thermal sensor KTY84-130: arranged in the winding. Switch-off temperature of COMPAX: 150°C ±8,5° 3
with fan IP54
Automation
5
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
Servo motors
Options Stationary/parking brake The motors can be fitted with a stationary/parking brake on request. The brake is fitted in the motor housing behind the A flange (in HJ96 on the B side). This changes the mechanical dimensions of the motor. The brake is fed voltage by the motor cable.
Technical data for the 24V holding brakes: Motor
Type
HJ96 HJ116 HJ155 HJ190
Spring pressure brake
Holding torque [Nm]
Spring pressure brake Spring pressure brake Permanent solenoid brake
5,0 13,5 40,0 4 80,0
J [kgmm2] 13 40 200 3180
Power [A] 0,5 0,5 1,1 1,5
Switch times [ms] open 50 70 110 97
close 20 30 40 53
Attention: The stationary/parking brake does not permit any active braking.
Sensor system A resolver is fitted in the motors as standard. The motors can be optionally supplied with the following sensors: • SinCos singleturn encoder or • SinCos multiturn absolute value sensor Caution! It's only with SinCos model SCS60 and SCM60 Do not release rear motor cover. The SinCos is fixed by the rear motor cover. Danger! If this is released, the motor will behave in an uncontrollable manner. By using SinCos, the rated torque must be reduced about 10% for a correct dimensioning.
4
Applies at 20°C: reduces by 30% when at 120°C.
Automation
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Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HJ motors
synchronous servo motors
Motor overview of HJ – motors Motor type
HJ ...
Continual Continual Resis- InducEntire Rotor Weight stall stall cur- tance tance torque inertia torque constant5 rent M0 I0 KT J m Ω µH Nm A Nm/A kgmm2 kg
Length6 Power without / voltage ac with brake A U mm V ac
96C6-44S
3,0
5,8
1,60
3500
0,51
330
5,0
218 / 258
116C6-64S
5,0
6,7
1,80
6800
0,75
750
7,0
221 / 257
116E6-88S
7,2
7,0
1,70
7700
1,02
990
8,5
246 / 282
155A8-88S
11,5
11,2
0,77
3800
1,02
2200
13,5
237 / 276
155E8-130S
25,0
16,0
0,45
5200
1,53
6500
23,0
325 / 369
155G8-135S
32,0
21,0
0,37
4300
1,57
8600
28,0
369 / 408
155G8-135S with fan
46,0
30,0
0,37
4300
1,57
8600
31,0
432 / 471
190J8-150S
91,0
52,0
0,18
1900
1,74
21000
50,0
615
with fan
Rated speed
Rated Rated torque current
Rated power
Nrated R.P.M
Mrated Nm
Irated Aeff
Prated kW
230
4500
2,6
5,1
1,2
400
5000
2,5
4,9
1,3
230
3000
4,6
6,0
1,4
400
5000
4,0
5,0
2,1
460
5000
4,0
5,0
2,1
230
2200
6,5
6,2
1,5
400
4000
5,4
5,3
2,3
460
4600
5,0
4,7
2,5
400
4000
8,3
8,3
3,5
460
4600
7,2
7,1
3,6
400
2800
18,5
12,3
5,4
460
3200
16,9
11,7
5,7
400
2600
22,8
15,8
6,4
460
3000
20,5
13,6
6,7
400
2600
38,5
26,4
10,1
460
3000
37,2
26,1
11,3
400
2400
70,0
40,0
17,6
460
2800
58,0
34,0
17,0
Tolerance: ±10%. The general motor values have been determined in accordance with: the British standard BS4999 or the international Standard IEC34 • Overtemperature: 110K Assumed is that the air can circulate freely to all sides (mounting distance approx. 30% of the edge length)
When the rated data was determined, the following tolerances were also taken into consideration: • 10% mains power voltage. • 17V voltage drop in the final stage. • 10% voltage control reserve for controlled operation under the rated conditions. The following were not taken into consideration: • Tolerance (±10%) of torque constants, motor inductivity and motor resistance. • Temperature dependency on torque constants and motor resistance.
5 6
To determine torque: torque = 0,71 * entire torque constant * transverse current (see User Guide COMPAX) See next page.
Automation
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Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HJ motors
synchronous servo motor
Dimensional drawings HJ96C6-44S A
40
96
3 shaft 6.00 15.5 5.97 15.4 6.00 5.97
138
ø68 80.00 ø79.95
4
19.009 ø18.996
32
45°
M6x15
4 holes Ø7 equi-spaced on 100 PC DIA
HJ116C6-64S / HJ116E6-88S 116
50 3 40
5
8.000 7.964
110.000 ø109.946
ø94
158
shaft 7.00 6.91
45°
20.0 19.8 24.008 ø23.995
A
M8x20
4 holes Ø9 equi-spaced on 130 PC DIA
HJ155A8-88S / HJ155E8-130S / HJ155G8-135S 58 3.5 50
4
PG29
10.00 9.96
45°
27.0 26.8
Ø 32.011 31.994
231
8.00 7.91
155
130.00 ø129.95
ø106
shaft
M12x30
4 holes Ø11 equi-spaced on 165 PC DIA
A
You can find the CAD-files of the dimensional drawings in the "dxf and "mi" format on our homepage.
Automation
8
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HJ motors
synchronous servo motors
HJ155G8-135S with fan 180
58 3.5 160
shaft 8.00 7.91
27.0 26.8
45°
10.00 9.96
170
Ø 32.011 31.994
4
155
ø106
50
130.00 ø129.95
PG29
A
M12x30
4 holes ø11 equi-spaced on 165 PC DIA
128
HJ190J8-150S with fan PG29
80
176
4
209
190
Ø45
Ø180
14
5
70
A
45°
10 h9
8 h11
33.00 32.80
ø38 j6
shaft
4 holes ø14 equi-spaced on 215 PC DIA
M12x30
You can find the CAD-files of the dimensional drawings in the "dxf and "mi" format on our homepage.
Automation
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Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HJ motors
synchronous servo motor
Engine characteristics curves HJ96C6-44S 15
HJ96C6-44S
14 (Nm) 12
460V AC
400V AC Intermittent rating
Torque Nm
10
230V AC
8
6
4
2
Continuous rating
1000
2000
3000
4000
5000
RPM
6000
HJ116C6-64S 25 (Nm)
HJ116C6-64S 20
460V AC
Torque Nm
15
Intermittent rating 230V AC
400V AC
10
5
Continuous rating
1000
Automation
2000
3000
10
4000
5000
RPM
Parker Hannifin GmbH EMD HAUSER
6000
192-060011 N5
HJ motors
synchronous servo motors
HJ116E6-88S 30
HJ116E6-88S
(Nm) 25 Intermittent rating
Torque Nm
20
460V AC 230V AC 400V AC
15
10
5
Continuous rating
1000
2000
3000
4000
5000
RPM
6000
HJ155A8-88S 40
HJ155A8-88S
(Nm)
460V AC Intermittent rating
Torque Nm
30
400V AC
20
10
Continuous rating
1000
Automation
2000
3000
11
4000
RPM
Parker Hannifin GmbH EMD HAUSER
5000
192-060011 N5
HJ motors
synchronous servo motor
HJ155E8-130S 100
HJ155E8-130S (Nm)
80
Intermittent rating 460V AC
Torque Nm
60
400V AC
40
20
Continuous rating
1000
2000
3000
4000
RPM
5000
HJ155G8-135S 140
HJ155G8-135S
(Nm)
120
100 460V AC
Torque Nm
Intermittent rating
80 400V AC 60
40
400V AC
Continuous rating
20
460V AC
1000
Automation
3000
2000
12
4000
RPM
Parker Hannifin GmbH EMD HAUSER
5000
192-060011 N5
HJ motors
synchronous servo motors
HJ155G8-135S with fan 140
HJ155G8-135S with fan
(Nm)
120
100 460V AC
Torque Nm
Intermittent rating
80 400V AC 60
40
Continuous rating
20
2000
1000
3000
4000
RPM
5000
HJ190J8-150S with fan 280 (Nm)
HJ190J8-150S with fan
240
200
Intermittent rating
Torque Nm
400V AC
460V AC
160
120
80 400V AC
Continuous rating 460V AC
40
1000
Automation
2000
13
3000
RPM
Parker Hannifin GmbH EMD HAUSER
4000
192-060011 N5
HDY motors
synchronous servo motors
Highly dynamic synchronous servo motors HDY
General characteristic data:
Version:
• Sinusoidal EMC.
• With spline
• Painted mat black.
• Spur thread HDY55: M3x10 HDY70: M4x12 HDY92: M5x10 HDY115: M6x15 HDY142: M8x15
• Nitrile shaft seal. • IP65 type of protection (shaft IP64). • Insulation class F. • Self-cooling. Max. ambient temperature: 40°C
• Integrated resolver.
• Any installation position. • Standard flange: standard in acc. with DIN 42955; IEC72.
Area of application
• Basic body: aluminium extruded moulding
Highly dynamic applications in:
• Flange: aluminium
• packaging machines,
• Connector sockets can be turned into almost any position (secured using a torque of 10 Nm ±2 Nm)
• shelf transport plants, • wood machining, etc.
• Treble torque rating possible for up to 3s. • Thermal switch (normally closed): switches at a coil temperature of 150°C ±10°.
Automation
14
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
Options Stationary/parking brake The motors can be fitted with a stationary/parking brake on request. The brake is fitted in the motor housing behind the A flange, the mechanical dimensions of the motor only change in HDY55 and HDY70. The brake is fed voltage by the engine cable.
Technical data for 24V DC holding brakes: The values for the reinforced versions are in brackets. Motor
Holding torque [Nm]
J [kgmm2]
Power [A]
Switch times [ms] open
HDY 55 1,0 1 0.29 25 HDY 70 1,0 (2,0) 2 (4) 0.26 (0.35) 35 HDY 92 5,0 (10,0) 13 (17) 0.50 50 HDY 115 10,0 (13,5) 17 (17) 0.50 50 HDY 142 18,0 (40,0) 200 (200) 1.00 110 Attention: the stationary/parking brake does not permit active braking.
close 20 10 20 20 40
Sensor system A resolver is fitted as standard in the motors. The motors can optionally be supplied with the following sensors: • SinCos singleturn encoder or • SinCos multiturn absolute value sensor Caution! It's only with SinCos model SCS60 and SCM60 Do not release rear motor cover. The SinCos is fixed by the rear motor cover. Danger! If this is released, the motor will behave in an uncontrollable manner. By using SinCos, the rated torque must be reduced about 10% for a correct dimensioning. Altered dimensions with SinCos for HDY 55 (width and length; refer to dimensional diagram) and HDY 70 (only length): Length A with SinCos [mm] Without brake With brake
Motor HDY55C4-44S HDY70C4-44S HDY70E4-44S
172 191 218
Automation
206 218 245
15
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
Motor overview of HDY – motors Motor type
HDY ...
Continual Continual Resis- InducEntire Rotor Weight stall stall cur- tance tance torque inertia torque constant7 rent M0 I0 KT J m Ω µH Nm A Nm/A kgmm2 kg
Length8 Power without / voltage ac with brake A U mm V ac
55C4-32S
0,4
1,1
19,0 17000
0,375
24
1,4
140 / 176
70C4-44S
1,2
2,3
4,7 12100
0,51
60
2,4
158 / 185
70E4-44S
1,8
3,5
2,6
7600
0,51
80
3,2
185 / 212
92C4-44S
1,5
2,9
4,6 20000
0,51
85
4,3
230
92E4-44S
2,2
4,3
2,8 14000
0,51
118
5,2
250
115A6-64S
3,7
4,9
2,7 15000
0,75
240
6,6
235
115A6-88S
115C6-88S
115E6-88S
115G6-88S
142C6-88S
142G6-88S
3,7
6,8
9,8
13,0
11,3
21,0
3,6
6,6
9,5
12,6
11,0
20,0
5,5 28000
1,7 12600
1,01
0,63
0,76
0,29
8100
6000
8900
4000
1,02
1,02
1,02
1,02
1,02
1,02
240
460
680
900
1150
2200
6,6
9,0
11,4
13,8
14,0
21,0
235
275
315
355
295
375
Rated speed
Rated Rated torque current
Rated power
Nrated R.P.M
Mrated Nm
Irated Aeff
Prated kW
230
5000
0,35
1,04
0,18
400
5000
0,35
1,04
0,18
230
4400
1,15
2,30
0,53
400
5000
1,10
2,30
0,58
230
4400
1,75
3,40
0,81
400
5000
1,70
2,30
0,89
230
4400
1,20
2,40
0,55
400
5000
1,16
2,35
0,61
230
4400
1,85
3,70
0,85
400
5000
1,80
3,60
0,94
230
2800
3,40
4,30
1,00
400
5000
3,10
4,00
1,60
460
5000
3,10
4,00
1,60
230
2000
3,50
3,20
0,73
400
3800
3,20
3,00
1,27
460
4400
3,20
3,00
1,47
230
2000
6,00
5,80
1,25
400
3800
5,20
5,10
2,07
460
4400
4,90
4,90
2,26
400
3800
7,5
7,3
3,00
460
4400
7,0
6,9
3,23
400
3800
10,0
9,4
4,00
460
4400
9,3
9,3
4,29
400
3800
8,6
8,5
3,42
460
4400
8,3
8,3
3,82
400
3800
16,0
15,6
6,36
460
4400
15,5
15,0
7,14
The general motor values have been determined in accordance with: the British standard BS4999 or the international Standard IEC34 • Overtemperature: 110K • Tolerance: ±10%. Assumed is that the air can circulate freely to all sides (mounting distance approx. 30% of the edge length)
When the rated data was determined, the following tolerances were also taken into consideration: • 10% mains undervoltage. • 17V voltage drop in the final stage. • 10% voltage control reserve for controlled operation under rated conditions. The following were not taken into consideration: • Tolerance (±10%) of torque constant, motor inductivity and motor resistance. • Temperature dependency of torque constants and motor resistance.
7 8
To determine torque: torque = 0,71 * entire torque constant * transverse current (see User Guide COMPAX) Look at the dimensional drawings on the next page. HDY55 - and HDY70 - motors: the dimension A is only valid for motors with resolver. For motors with SinCos you will find the length A on page 1.
Automation
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Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
Dimensional drawings HDY55C4-32S with resolver 15 featherkey 97
3h9
detail: shaft
55
40j6
2,5
3h9
45°
20
4 holes 5,5 Equi-spaced on 63 PC DIA
M3x10
7,60 7,50
9j6 9
55 A
with SinCos 70 55
55 A*
55
40j6 65
104
15 featherkey
2,5 30
9 4 holes 5,5 Equi-spaced on 63 PC DIA
20
HDY70C4-44S / HDY70E4-44S 18 featherkey 112
4h9
detail: shaft
70
60j6
70 2,5
4h9
9 A
45°
23
4 holes 5,5 Equi-spaced on 75 PC DIA
M4x12
8,51 8,41
11j6
HDY92C4-44S / HDY92E4-44S 5h9
detail: shaft
134
5h9
14j6 M5x10
8 A
30
45°
11,00 10,90
92
20 featherkey
3
80j6
92
4 holes 7 Equi-spaced on 100 PC DIA
You can find the CAD-files of the dimensional drawings in the "dxf and "mi" format on our homepage.
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Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
HDY115A6-64S / HDY115A6-88S / HDY115C6-88S / HDY115E6-88S / HDY115G6-88S 30 115
featherkey
3
6h9
158
115
105
95j6
M6x15 6h9
8 A
45°
40
15,50 15,40
19j6
4 holes 9 Equi-spaced on 115 PC DIA
HDY142C6-88S / HDY142G6-88S 142
40
PG29
3,5
7h11
204
8h9
142
130j6
featherkey
M8x15
20,00 19,80
24j6
12 A
45°
50
4 holes 11 Equi-spaced on 165 PC DIA
You can find the CAD-files of the dimensional drawings in the "dxf and "mi" format on our homepage.
Automation
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Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
Motor characteristics curves HDY55C4-32S 3
HDY55C4-32S (Nm) 2,5
Torque Nm
2,0
400V AC
1,5 Intermittent rating
230V AC 1,0
0,5
Continuous rating
1000
2000
3000
4000
5000
RPM
6000
HDY70C4-44S HDY70C4-44S 5 400V AC (Nm)
Intermittent rating
Torque Nm
4
3
230V AC
2
1
Continuous rating
1000
Automation
2000
3000
19
4000
5000
RPM
Parker Hannifin GmbH EMD HAUSER
6000
192-060011 N5
HDY motors
synchronous servo motors
HDY70E4-44S HDY70E4-44S 8 (Nm) 400V AC
Intermittent rating
Torque Nm
6
230V AC
4
2
Continuous rating
1000
2000
3000
4000
5000
RPM
6000
HDY92C4-44S 6
HDY92C4-44S
(Nm) 5
400V AC Intermittent rating
Torque Nm
4
230V AC 3
2
1
Continuous rating
1000
Automation
2000
3000
20
4000
5000
RPM
6000
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
HDY92E4-44S 10
HDY92E4-44S
(Nm)
8
400V AC
Torque Nm
6
Intermittent rating
230V AC
4
2
Continuous rating
1000
2000
3000
4000
5000
RPM
6000
HDY115A6-64S HDY115A6-64S
14 (Nm) 12
10
Torque Nm
Intermittent rating
460V AC
400V AC
8 230V AC 6
4
Continuous rating 2
1000
Automation
2000
3000
4000
21
5000
RPM
6000
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
HDY115A6-88S HDY115A6-88S
14 (Nm) 12
Torque Nm
10
Intermittent rating
460V AC 8 230V AC
400V AC
6
4
Continuous rating 2
1000
2000
3000
4000
RPM
5000
6000
HDY115C6-88S 30
HDY115C6-88S
(Nm) 25
20
Torque Nm
Intermittent rating
15
460V AC 400V AC
230V AC 10
5
Continuous rating
1000
Automation
2000
3000
22
4000
5000
RPM
6000
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
HDY115E6-88S 40
HDY115E6-88S
(Nm) 35
30 Intermittent rating
Torque Nm
25
460V AC 400V AC
20
15
10
Continuous rating 5
1000
2000
3000
4000
RPM
5000
6000
HDY115G6-88S 55 (Nm)
HDY115G6-88S
50
45
40 Intermittent rating
Torque Nm
35
30 400V AC
460V AC
25
20
15
10
Continuous rating 5
1000
Automation
2000
3000
23
4000
5000
RPM
Parker Hannifin GmbH EMD HAUSER
6000
192-060011 N5
HDY motors
synchronous servo motors
HDY142C6-88S 40
HDY142C6-88S
(Nm) 35
30 Intermittent rating 25
Torque Nm
460V AC
20 400V AC
15
10
Continuous rating 5
1000
2000
3000
4000
5000
RPM
6000
HDY142G6-88S 70 (Nm)
HDY142G6-88S
60
Intermittent rating 50
Torque Nm
460V AC 400V AC
40
30
20
Continuous rating 10
1000
Automation
2000
3000
24
4000
5000
RPM
Parker Hannifin GmbH EMD HAUSER
6000
192-060011 N5
Connecting cable to motor
synchronous servo motors
Connecting cable to motor
High-flex cable Standard cable
Resolver cable
Cable sheathed REK32/..
Sensor cable (SinCos )
Motor cable With connectors: HJ96, HJ116, HDY55, HDY70, HDY92, HDY115 1.5mm2 2.5mm2 up to 13.8A up to 18.9A
With terminal boxes: HJ155, HJ190 HDY142 2.5mm2 6mm2 up to 18.9A up to 32.3A
10mm2 up to 47.3A
GBK16/..
MOK42/..
MOK43/..
MOK21/..
MOK11/..
MOK46/..
Connector set 085-301312 800-030031
085-301317 800-030031
085-301306
085-301306
125-518162 125-216800
125-518211 125-217000
125-518200
Cable 102-150200
102-150210
102-508896
102-508902
102-508902
102-150030
102-150040
7,5/38/113
10,7/107/107
13,7/137/137
13,7/137/137
16,5/124/124
22,5/168/168
GBK17/..
MOK44/..
MOK45/..
MOK14/..
MOK11/..
MOK46/..
085-301317 800-030031
085-301306
085-301306
125-518162 125-216800
125-518211 125-217000
125-518200
-
102-000020
102-000010
102-000010
102-150030
102-150040
8,0/40/64
9,2/69/69
11/82,5/82,5
11/82,5/82,5
16,5/124/124
22,5/168/168
Cable data in mm 9 8,0/80/120 Cable sheathed REK33/.. Connector set 085-301312 800-030031 Cable 102-000030 Cable data in mm
*
8,2/61,5/61,5
Resolver cable for HJ and HDY motors
Pin 1 solder side 1 2 3 4 5 6 7 8
SIN+
13
yellow
SIN-
5
green
12
brown
COS+ 9 10
COS-
11
white blue
Ref+
14
13
Ref-
4
14
+Temp (+5V) 9
pink
10
grey
11 12
15
-Temp
2x0,25
2x0,25
2x0,25
red 2x0,25
2
SIN+
gn
1
SIN-
br
11
solder side Codiernut 20° 9
COS+
ws
12
bl
10
Ref+
rt
7
Ref-
rs
8
+Temp
9
-Temp
gr
26 mm 4 mm
ge
27
REK32
8 12
1
COS-
7
10 6
2
5
3 4
11
Li2YCY 4x2x0,25 No. 102-150200 6 mm
In HJ – motors, ensure that the thermal sensor has the correct terminal arrangement.
Version in high-flex: REK33 (same layout)
Packaging Packaging of motor in accordance with connector manufacturer's specification Packaging of device • • • •
Strip 26mm sheathing off. Cut sheath down to 6 mm. Strip 4mm of insulation of ends and coat in tin. Place sheath over large area of housing (e.g. fold sheath over outer cover and fasten down by relieving tension).
*9 Cable diameter / minimum bending radius (static) / minimum bending radius (dynamic)
Automation
25
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
Connecting cable to motor
synchronous servo motors
Motor cable for HJ and HDY – motors MOK42 (max. 13,8A) 110 mm
75 mm
MOK42
30 mm
30 mm
30 mm
Shrink-fit hose standard/highflex
U V W Br. +24V Br. -24V
PE
standard/hochflex
black1/black
sw1/sw
black2/brown
sw2/br
black3/blue
sw3/bl
black4/red
sw4/rt
black5/green
sw5/gr
black6
sw6
green-yellow
gn/ge
U
2
V
6
W
4
Br+
5
Br-
Lötseite / Crimpseite 6 1
5
4
3
2
3( )
CY-JZ 7x1,5 No 102-508896
110 mm 35 mm
1
75 mm
15 mm
10 mm
Version in high-flex: MOK44 (same layout) MOK43/.. (max. 18.9A): HJ (version in high-flex: MOK45) 2
Layout corresponds to MOK42, however motor lines in 2.5 mm
Packaging Packaging of motor in accordance with connector manufacturer's specification 2
2
Contacts for 1.5 mm and 2.5 mm are supplied with the connector set.
Packaging of device Material: • 6 x crimping sleeves. • 6 cm shrink-fit hose. Procedure: • • • • • •
Strip 110 mm sheathing off cable. Cut down sheath to approx. 35 mm, loosen, fold back over outer cover (approx. 75 mm) and stick with insulating tape. Shorten sw1,sw2,sw3,sw4,sw5 approx. 15 mm ; (gn/ge approx. 15 mm longer); cut down sw6. Attach 2 x approx. 30 mm shrink-fit hose (sticky). Strip 10 mm of insulation of ends of wires and secure with crimping sleeve 1.5.
Automation
26
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
Connecting cable to motor
synchronous servo motors
MOK21 (max. 18,9A) 110 mm
75 mm
MOK21
30 mm
standard/highflex
30 mm
30 mm
Shrink-fit hose
standard/hochflex
U
black1/black
sw1/sw
U
V
black2/ brown black3/blue
sw2/br
V
sw3/bl
W
Br. +24V
black4/red
sw4/rt
Br+
Br. -24V
black5/ green black6
sw5/gr
Br-
green-yellow
gn/ge
W
PE
sw6
CY-JZ 7x2,5 No. 102-508902 110 mm
190 mm 35 mm
75 mm
20 mm
170 mm
15 mm
15 mm
10 mm
10 mm
Version in high-flex: MOK14 (same layout) MOK11 (max. 32.3A) in high-flex (same layout to MOK21, however in 6 mm2) MOK46 (max. 47.3A) in high-flex (same layout to MOK21, however in 10mm2)
Packaging Packaging of device Material: 6 x crimping sleeves. 6 cm shrink-fit hose. Procedure: • • • • • •
Strip 110 mm sheathing off cable. Cut sheath down to approx. 35 mm, loosen, fold back over outer cover (approx. 75 mm) and stick with insulating tape. Shorten sw1,sw2,sw3,sw4,sw5 ca. 15 mm (gn/ge approx. 15 mm longer) cut down sw6. Attach 2 x approx. 30 mm shrink-fit hose (sticky). Strip 10 mm of insulation off ends of wires and secure with crimping sleeves 2.5.
Packaging of motor in accordance with manufacturer's specification • • • •
Strip 190 mm sheathing of cable. Cut sheath down to approx. 170 mm, stick remaining 20 mm with insulating tape. Shorten sw1,sw2,sw3,sw4,sw5 by approx. 15 mm (gn/ge approx. 15 mm longer) cut down sw6. Strip 10 mm of insulation of ends of wires and secure with crimping sleeves 2.5.
Automation
27
Parker Hannifin GmbH EMD HAUSER
PE
192-060011 N5
Connecting cable to motor
synchronous servo motors
SinCos cable for HJ and HDY motors
27
GBK16
13
yellow
5
violet
COS+
12
brown
COS-
11
white
ST+
8
black
ST-
15
pink
rs
green
gn
SIN+
Pin 1
SIN-
solder side 1 2 3 4 5 6 7 8
9 10 11 12 13 14
Th1
9
Th2
10
15
2x0,25
2x0,25
2x0,25
2x0,25
grey
ge
1 SIN+
vio
2 SIN-
br
11 COS+
ws
12 COS-
sw
3 +485 13 -485
2
red
GND
7
blue
bl
0r
0r
2x0,5
1x0,14
11
1 12
10
2
16
13 3
9
8 K1
gr
+8V
solder- / Crimp side
9 K2
7
rt
4
8 15
10 +V
14 17 6
5
7 GND
screen at sceen contact LiYC11Y 4x2x0,25+2x0,5+0,14 No. 102-150210
Packing according as the regulation of the manufacturer
26 mm 4 mm
6 mm
8 x Crimp contacts 0.14-0.56
Version in high-flex: GBK17 (same layout)
Packaging Packaging of motor in accordance with connector manufacturer's specification Packaging of device • • • •
Strip 26mm sheathing off. Cut sheath down to 6 mm. Strip 4mm of insulation of ends and coat in tin. Place sheath over large area of housing (e.g. fold sheath over outer cover and fasten down by relieving tension).
Automation
28
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
Order code
Synchronous servo motors
Order code motors Motors
/
HJ 96C6-44S
H J
0
9
6
C
6
0
4
4 S
HJ 116C6-64S
H J
1
1
6
C
6
0
6
4 S
HJ 116E6-88S
H J
1
1
6
E
6
0
8
8 S
HJ 155A8-88S
H J
1
5
5
A
8
0
8
8 S
HJ 155E8-130S
H J
1
5
5
E
8
1
3
0 S 1
HJ 155G8-135S
H J
1
5
5
G
8
1
3
5 S 1
HJ 155G8-135S with fan
H J
1
5
5
G
8
1
3
5 S 1
...FN*...
HJ 190J8-150S with fan
H J
1
9
0
J
8
1
5
0 S
...FN*...
HDY 55C4-32S
H D Y
0
5
5
C
4
0
3
2 S
HDY 70C4-44S
H D Y
0
7
0
C
4
0
4
4 S
HDY 70E4-44S
H D Y
0
7
0
E
4
0
4
4 S
HDY 92C4-44S
H D Y
0
9
2
C
4
0
4
4 S 1
HDY 92E4-44S
H D Y
0
9
2
E
4
0
4
4 S 1
HDY 115A6-64S
H D Y
1
1
5
A
6
0
6
4 S 1
HDY 115A6-88S
H D Y
1
1
5
A
6
0
8
8 S 1
HDY 115C6-88S
H D Y
1
1
5
C
6
0
8
8 S 1
HDY 115E6-88S
H D Y
1
1
5
E
6
0
8
8 S 1
HDY 115G6-88S
H D Y
1
1
5
G
6
0
8
8 S 1
HDY 142C6-88S
H D Y
1
4
2
C
6
0
8
8 S 1
HDY 142G6-88S
H D Y
1
4
2
G
6
0
8
8 S 1
Options (please seperate two options with "/") with brake (24 Volt)
B R
SinCos Multiturn Encoder (absolute encoder)
S R M 5
0
SinCos Singleturn Encoder
S R S 5
0
* FN: Code for fan
Automation
29
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
Order code
Synchronous servo motors
Order code cables Motor cable, resolver cable, encoder cable
/
Motor cable for HJ96, HJ116, HDY55, HDY70, HDY92, HDY115 2 Motor cable 1,5mm standard (
Synchronous Servo Motors
Catalogue: 192-060011 N5 / UK Version 5 / December 2000
192-060011 N5
Servo motors
Automation
2
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
Servo motors
Contents Synchronous servo motors manufactured by Parker Hannifin, Elektromechanik Europa ..........................................................................4 Standard servo motors of the HJ range..................................................5 Options ........................................................................................................6 Motor overview of HJ – motors .................................................................7 Dimensional drawings................................................................................8 HJ96C6-44S ....................................................................................................... 8 HJ116C6-64S / HJ116E6-88S ............................................................................ 8 HJ155A8-88S / HJ155E8-130S / HJ155G8-135S............................................... 8 HJ155G8-135S with fan ...................................................................................... 9 HJ190J8-150S with fan ....................................................................................... 9
Engine characteristics curves.................................................................10
Highly dynamic synchronous servo motors HDY................................14 Options ......................................................................................................15 Motor overview of HDY – motors ............................................................16 Dimensional drawings..............................................................................17 HDY55C4-32S .................................................................................................. 17 HDY70C4-44S / HDY70E4-44S........................................................................ 17 HDY92C4-44S / HDY92E4-44S........................................................................ 17 HDY115A6-64S / HDY115A6-88S / HDY115C6-88S / HDY115E6-88S / HDY115G6-88S ................................................................................................ 18 HDY142C6-88S / HDY142G6-88S ................................................................... 18
Motor characteristics curves...................................................................19
Connecting cable to motor .....................................................................25 Resolver cable for HJ and HDY motors ............................................................ 25 Motor cable for HJ and HDY – motors .............................................................. 26 SinCos cable for HJ and HDY motors ............................................................ 28
Order code motors ..................................................................................29 Order code cables ...................................................................................30
Automation
3
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
Servo motors
Synchronous servo motors manufactured by Parker Hannifin, Elektromechanik Europa Todays' levels of electrical drive technology mean that different specific synchronous servo motors are required depending on the application in question.
HDY synchronous servo motors The outstanding feature of the HDY synchronous servo motors is their low rotor inertia torque. Typical applications for these motors would be packaging machines, automatic press or assembly equipment, in which rapid acceleration and delay is required. 5 model sizes are available with edge lengths of 55, 70, 92, 115 and 142 in a power range of between 0.4 and 21 Nm.
HJ synchronous servo motors The motors of the HJ range have high-quality Neodym iron-boron magnets and their rotor inertia torque is 2 to 3 times higher. The shafts (with large diameters) and the design of the rotor and bearing ensure that these motors have a higher level of shaft strength. Parker's HJ synchronous servo motors have the outstanding feature of good synchronous running properties even when running at low speeds. Typical applications for these motors would be in tooling and printing machines as well as handling robots. The HJ motors have smooth surfaces and recesses in the assembly area, which is why dirt deposits are reduced to a minimum and it is very easy to fit this unit to the gearbox. Four model sizes of 96, 116, 155 and 190 are available in a power range of between 3.0 and 91 Nm. Both the HDY and HJ ranges can be fitted with a stationary/parking brake on request. As an alternative to the resolver feedback system, SinCos1 singleturn or an absolute value sensor SinCos multiturn system can be supplied. When fitted with SV drive2 and the COMPAX compact servo control unit, these motors form a drive concept for use in mains power supplies of between 230V and 460V AC.
1 2
The term SinCos stated in the motor catalogue is a registered trademark of the Stegmann company. Only supports resolver for determining motor position.
Automation
4
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HJ motors
standard synchronous servo motors
Standard servo motors of the HJ range
General characteristic data:
Version:
• Sinusoidal EMC.
• With spline
• Painted mat black.
• Spur thread HJ96: M6x15 HJ116: M8x20 HJ155: M12x30 HJ190: M12x30
• Nitrile shaft seal. • IP65 type of protection (shaft IP64). 3
• Insulation class F.
• Integrated resolver.
• Maximum ambient temperature: 40°C • Any installation position.
Area of application
• Standard flange: standard in acc. with DIN 42955; IEC72.
• Packaging machines, • shelf transport technology,
• Basic body: aluminium extruded moulding
• wood machining,
• Flange: aluminium
• handling robots, etc.
• Connector sockets can be rotated into almost any position (secured using a torque of 10 Nm ±2 Nm) • Treble torque rating is possible for up to 3 seconds. • Thermal sensor KTY84-130: arranged in the winding. Switch-off temperature of COMPAX: 150°C ±8,5° 3
with fan IP54
Automation
5
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
Servo motors
Options Stationary/parking brake The motors can be fitted with a stationary/parking brake on request. The brake is fitted in the motor housing behind the A flange (in HJ96 on the B side). This changes the mechanical dimensions of the motor. The brake is fed voltage by the motor cable.
Technical data for the 24V holding brakes: Motor
Type
HJ96 HJ116 HJ155 HJ190
Spring pressure brake
Holding torque [Nm]
Spring pressure brake Spring pressure brake Permanent solenoid brake
5,0 13,5 40,0 4 80,0
J [kgmm2] 13 40 200 3180
Power [A] 0,5 0,5 1,1 1,5
Switch times [ms] open 50 70 110 97
close 20 30 40 53
Attention: The stationary/parking brake does not permit any active braking.
Sensor system A resolver is fitted in the motors as standard. The motors can be optionally supplied with the following sensors: • SinCos singleturn encoder or • SinCos multiturn absolute value sensor Caution! It's only with SinCos model SCS60 and SCM60 Do not release rear motor cover. The SinCos is fixed by the rear motor cover. Danger! If this is released, the motor will behave in an uncontrollable manner. By using SinCos, the rated torque must be reduced about 10% for a correct dimensioning.
4
Applies at 20°C: reduces by 30% when at 120°C.
Automation
6
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HJ motors
synchronous servo motors
Motor overview of HJ – motors Motor type
HJ ...
Continual Continual Resis- InducEntire Rotor Weight stall stall cur- tance tance torque inertia torque constant5 rent M0 I0 KT J m Ω µH Nm A Nm/A kgmm2 kg
Length6 Power without / voltage ac with brake A U mm V ac
96C6-44S
3,0
5,8
1,60
3500
0,51
330
5,0
218 / 258
116C6-64S
5,0
6,7
1,80
6800
0,75
750
7,0
221 / 257
116E6-88S
7,2
7,0
1,70
7700
1,02
990
8,5
246 / 282
155A8-88S
11,5
11,2
0,77
3800
1,02
2200
13,5
237 / 276
155E8-130S
25,0
16,0
0,45
5200
1,53
6500
23,0
325 / 369
155G8-135S
32,0
21,0
0,37
4300
1,57
8600
28,0
369 / 408
155G8-135S with fan
46,0
30,0
0,37
4300
1,57
8600
31,0
432 / 471
190J8-150S
91,0
52,0
0,18
1900
1,74
21000
50,0
615
with fan
Rated speed
Rated Rated torque current
Rated power
Nrated R.P.M
Mrated Nm
Irated Aeff
Prated kW
230
4500
2,6
5,1
1,2
400
5000
2,5
4,9
1,3
230
3000
4,6
6,0
1,4
400
5000
4,0
5,0
2,1
460
5000
4,0
5,0
2,1
230
2200
6,5
6,2
1,5
400
4000
5,4
5,3
2,3
460
4600
5,0
4,7
2,5
400
4000
8,3
8,3
3,5
460
4600
7,2
7,1
3,6
400
2800
18,5
12,3
5,4
460
3200
16,9
11,7
5,7
400
2600
22,8
15,8
6,4
460
3000
20,5
13,6
6,7
400
2600
38,5
26,4
10,1
460
3000
37,2
26,1
11,3
400
2400
70,0
40,0
17,6
460
2800
58,0
34,0
17,0
Tolerance: ±10%. The general motor values have been determined in accordance with: the British standard BS4999 or the international Standard IEC34 • Overtemperature: 110K Assumed is that the air can circulate freely to all sides (mounting distance approx. 30% of the edge length)
When the rated data was determined, the following tolerances were also taken into consideration: • 10% mains power voltage. • 17V voltage drop in the final stage. • 10% voltage control reserve for controlled operation under the rated conditions. The following were not taken into consideration: • Tolerance (±10%) of torque constants, motor inductivity and motor resistance. • Temperature dependency on torque constants and motor resistance.
5 6
To determine torque: torque = 0,71 * entire torque constant * transverse current (see User Guide COMPAX) See next page.
Automation
7
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HJ motors
synchronous servo motor
Dimensional drawings HJ96C6-44S A
40
96
3 shaft 6.00 15.5 5.97 15.4 6.00 5.97
138
ø68 80.00 ø79.95
4
19.009 ø18.996
32
45°
M6x15
4 holes Ø7 equi-spaced on 100 PC DIA
HJ116C6-64S / HJ116E6-88S 116
50 3 40
5
8.000 7.964
110.000 ø109.946
ø94
158
shaft 7.00 6.91
45°
20.0 19.8 24.008 ø23.995
A
M8x20
4 holes Ø9 equi-spaced on 130 PC DIA
HJ155A8-88S / HJ155E8-130S / HJ155G8-135S 58 3.5 50
4
PG29
10.00 9.96
45°
27.0 26.8
Ø 32.011 31.994
231
8.00 7.91
155
130.00 ø129.95
ø106
shaft
M12x30
4 holes Ø11 equi-spaced on 165 PC DIA
A
You can find the CAD-files of the dimensional drawings in the "dxf and "mi" format on our homepage.
Automation
8
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HJ motors
synchronous servo motors
HJ155G8-135S with fan 180
58 3.5 160
shaft 8.00 7.91
27.0 26.8
45°
10.00 9.96
170
Ø 32.011 31.994
4
155
ø106
50
130.00 ø129.95
PG29
A
M12x30
4 holes ø11 equi-spaced on 165 PC DIA
128
HJ190J8-150S with fan PG29
80
176
4
209
190
Ø45
Ø180
14
5
70
A
45°
10 h9
8 h11
33.00 32.80
ø38 j6
shaft
4 holes ø14 equi-spaced on 215 PC DIA
M12x30
You can find the CAD-files of the dimensional drawings in the "dxf and "mi" format on our homepage.
Automation
9
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HJ motors
synchronous servo motor
Engine characteristics curves HJ96C6-44S 15
HJ96C6-44S
14 (Nm) 12
460V AC
400V AC Intermittent rating
Torque Nm
10
230V AC
8
6
4
2
Continuous rating
1000
2000
3000
4000
5000
RPM
6000
HJ116C6-64S 25 (Nm)
HJ116C6-64S 20
460V AC
Torque Nm
15
Intermittent rating 230V AC
400V AC
10
5
Continuous rating
1000
Automation
2000
3000
10
4000
5000
RPM
Parker Hannifin GmbH EMD HAUSER
6000
192-060011 N5
HJ motors
synchronous servo motors
HJ116E6-88S 30
HJ116E6-88S
(Nm) 25 Intermittent rating
Torque Nm
20
460V AC 230V AC 400V AC
15
10
5
Continuous rating
1000
2000
3000
4000
5000
RPM
6000
HJ155A8-88S 40
HJ155A8-88S
(Nm)
460V AC Intermittent rating
Torque Nm
30
400V AC
20
10
Continuous rating
1000
Automation
2000
3000
11
4000
RPM
Parker Hannifin GmbH EMD HAUSER
5000
192-060011 N5
HJ motors
synchronous servo motor
HJ155E8-130S 100
HJ155E8-130S (Nm)
80
Intermittent rating 460V AC
Torque Nm
60
400V AC
40
20
Continuous rating
1000
2000
3000
4000
RPM
5000
HJ155G8-135S 140
HJ155G8-135S
(Nm)
120
100 460V AC
Torque Nm
Intermittent rating
80 400V AC 60
40
400V AC
Continuous rating
20
460V AC
1000
Automation
3000
2000
12
4000
RPM
Parker Hannifin GmbH EMD HAUSER
5000
192-060011 N5
HJ motors
synchronous servo motors
HJ155G8-135S with fan 140
HJ155G8-135S with fan
(Nm)
120
100 460V AC
Torque Nm
Intermittent rating
80 400V AC 60
40
Continuous rating
20
2000
1000
3000
4000
RPM
5000
HJ190J8-150S with fan 280 (Nm)
HJ190J8-150S with fan
240
200
Intermittent rating
Torque Nm
400V AC
460V AC
160
120
80 400V AC
Continuous rating 460V AC
40
1000
Automation
2000
13
3000
RPM
Parker Hannifin GmbH EMD HAUSER
4000
192-060011 N5
HDY motors
synchronous servo motors
Highly dynamic synchronous servo motors HDY
General characteristic data:
Version:
• Sinusoidal EMC.
• With spline
• Painted mat black.
• Spur thread HDY55: M3x10 HDY70: M4x12 HDY92: M5x10 HDY115: M6x15 HDY142: M8x15
• Nitrile shaft seal. • IP65 type of protection (shaft IP64). • Insulation class F. • Self-cooling. Max. ambient temperature: 40°C
• Integrated resolver.
• Any installation position. • Standard flange: standard in acc. with DIN 42955; IEC72.
Area of application
• Basic body: aluminium extruded moulding
Highly dynamic applications in:
• Flange: aluminium
• packaging machines,
• Connector sockets can be turned into almost any position (secured using a torque of 10 Nm ±2 Nm)
• shelf transport plants, • wood machining, etc.
• Treble torque rating possible for up to 3s. • Thermal switch (normally closed): switches at a coil temperature of 150°C ±10°.
Automation
14
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
Options Stationary/parking brake The motors can be fitted with a stationary/parking brake on request. The brake is fitted in the motor housing behind the A flange, the mechanical dimensions of the motor only change in HDY55 and HDY70. The brake is fed voltage by the engine cable.
Technical data for 24V DC holding brakes: The values for the reinforced versions are in brackets. Motor
Holding torque [Nm]
J [kgmm2]
Power [A]
Switch times [ms] open
HDY 55 1,0 1 0.29 25 HDY 70 1,0 (2,0) 2 (4) 0.26 (0.35) 35 HDY 92 5,0 (10,0) 13 (17) 0.50 50 HDY 115 10,0 (13,5) 17 (17) 0.50 50 HDY 142 18,0 (40,0) 200 (200) 1.00 110 Attention: the stationary/parking brake does not permit active braking.
close 20 10 20 20 40
Sensor system A resolver is fitted as standard in the motors. The motors can optionally be supplied with the following sensors: • SinCos singleturn encoder or • SinCos multiturn absolute value sensor Caution! It's only with SinCos model SCS60 and SCM60 Do not release rear motor cover. The SinCos is fixed by the rear motor cover. Danger! If this is released, the motor will behave in an uncontrollable manner. By using SinCos, the rated torque must be reduced about 10% for a correct dimensioning. Altered dimensions with SinCos for HDY 55 (width and length; refer to dimensional diagram) and HDY 70 (only length): Length A with SinCos [mm] Without brake With brake
Motor HDY55C4-44S HDY70C4-44S HDY70E4-44S
172 191 218
Automation
206 218 245
15
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
Motor overview of HDY – motors Motor type
HDY ...
Continual Continual Resis- InducEntire Rotor Weight stall stall cur- tance tance torque inertia torque constant7 rent M0 I0 KT J m Ω µH Nm A Nm/A kgmm2 kg
Length8 Power without / voltage ac with brake A U mm V ac
55C4-32S
0,4
1,1
19,0 17000
0,375
24
1,4
140 / 176
70C4-44S
1,2
2,3
4,7 12100
0,51
60
2,4
158 / 185
70E4-44S
1,8
3,5
2,6
7600
0,51
80
3,2
185 / 212
92C4-44S
1,5
2,9
4,6 20000
0,51
85
4,3
230
92E4-44S
2,2
4,3
2,8 14000
0,51
118
5,2
250
115A6-64S
3,7
4,9
2,7 15000
0,75
240
6,6
235
115A6-88S
115C6-88S
115E6-88S
115G6-88S
142C6-88S
142G6-88S
3,7
6,8
9,8
13,0
11,3
21,0
3,6
6,6
9,5
12,6
11,0
20,0
5,5 28000
1,7 12600
1,01
0,63
0,76
0,29
8100
6000
8900
4000
1,02
1,02
1,02
1,02
1,02
1,02
240
460
680
900
1150
2200
6,6
9,0
11,4
13,8
14,0
21,0
235
275
315
355
295
375
Rated speed
Rated Rated torque current
Rated power
Nrated R.P.M
Mrated Nm
Irated Aeff
Prated kW
230
5000
0,35
1,04
0,18
400
5000
0,35
1,04
0,18
230
4400
1,15
2,30
0,53
400
5000
1,10
2,30
0,58
230
4400
1,75
3,40
0,81
400
5000
1,70
2,30
0,89
230
4400
1,20
2,40
0,55
400
5000
1,16
2,35
0,61
230
4400
1,85
3,70
0,85
400
5000
1,80
3,60
0,94
230
2800
3,40
4,30
1,00
400
5000
3,10
4,00
1,60
460
5000
3,10
4,00
1,60
230
2000
3,50
3,20
0,73
400
3800
3,20
3,00
1,27
460
4400
3,20
3,00
1,47
230
2000
6,00
5,80
1,25
400
3800
5,20
5,10
2,07
460
4400
4,90
4,90
2,26
400
3800
7,5
7,3
3,00
460
4400
7,0
6,9
3,23
400
3800
10,0
9,4
4,00
460
4400
9,3
9,3
4,29
400
3800
8,6
8,5
3,42
460
4400
8,3
8,3
3,82
400
3800
16,0
15,6
6,36
460
4400
15,5
15,0
7,14
The general motor values have been determined in accordance with: the British standard BS4999 or the international Standard IEC34 • Overtemperature: 110K • Tolerance: ±10%. Assumed is that the air can circulate freely to all sides (mounting distance approx. 30% of the edge length)
When the rated data was determined, the following tolerances were also taken into consideration: • 10% mains undervoltage. • 17V voltage drop in the final stage. • 10% voltage control reserve for controlled operation under rated conditions. The following were not taken into consideration: • Tolerance (±10%) of torque constant, motor inductivity and motor resistance. • Temperature dependency of torque constants and motor resistance.
7 8
To determine torque: torque = 0,71 * entire torque constant * transverse current (see User Guide COMPAX) Look at the dimensional drawings on the next page. HDY55 - and HDY70 - motors: the dimension A is only valid for motors with resolver. For motors with SinCos you will find the length A on page 1.
Automation
16
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
Dimensional drawings HDY55C4-32S with resolver 15 featherkey 97
3h9
detail: shaft
55
40j6
2,5
3h9
45°
20
4 holes 5,5 Equi-spaced on 63 PC DIA
M3x10
7,60 7,50
9j6 9
55 A
with SinCos 70 55
55 A*
55
40j6 65
104
15 featherkey
2,5 30
9 4 holes 5,5 Equi-spaced on 63 PC DIA
20
HDY70C4-44S / HDY70E4-44S 18 featherkey 112
4h9
detail: shaft
70
60j6
70 2,5
4h9
9 A
45°
23
4 holes 5,5 Equi-spaced on 75 PC DIA
M4x12
8,51 8,41
11j6
HDY92C4-44S / HDY92E4-44S 5h9
detail: shaft
134
5h9
14j6 M5x10
8 A
30
45°
11,00 10,90
92
20 featherkey
3
80j6
92
4 holes 7 Equi-spaced on 100 PC DIA
You can find the CAD-files of the dimensional drawings in the "dxf and "mi" format on our homepage.
Automation
17
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
HDY115A6-64S / HDY115A6-88S / HDY115C6-88S / HDY115E6-88S / HDY115G6-88S 30 115
featherkey
3
6h9
158
115
105
95j6
M6x15 6h9
8 A
45°
40
15,50 15,40
19j6
4 holes 9 Equi-spaced on 115 PC DIA
HDY142C6-88S / HDY142G6-88S 142
40
PG29
3,5
7h11
204
8h9
142
130j6
featherkey
M8x15
20,00 19,80
24j6
12 A
45°
50
4 holes 11 Equi-spaced on 165 PC DIA
You can find the CAD-files of the dimensional drawings in the "dxf and "mi" format on our homepage.
Automation
18
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
Motor characteristics curves HDY55C4-32S 3
HDY55C4-32S (Nm) 2,5
Torque Nm
2,0
400V AC
1,5 Intermittent rating
230V AC 1,0
0,5
Continuous rating
1000
2000
3000
4000
5000
RPM
6000
HDY70C4-44S HDY70C4-44S 5 400V AC (Nm)
Intermittent rating
Torque Nm
4
3
230V AC
2
1
Continuous rating
1000
Automation
2000
3000
19
4000
5000
RPM
Parker Hannifin GmbH EMD HAUSER
6000
192-060011 N5
HDY motors
synchronous servo motors
HDY70E4-44S HDY70E4-44S 8 (Nm) 400V AC
Intermittent rating
Torque Nm
6
230V AC
4
2
Continuous rating
1000
2000
3000
4000
5000
RPM
6000
HDY92C4-44S 6
HDY92C4-44S
(Nm) 5
400V AC Intermittent rating
Torque Nm
4
230V AC 3
2
1
Continuous rating
1000
Automation
2000
3000
20
4000
5000
RPM
6000
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
HDY92E4-44S 10
HDY92E4-44S
(Nm)
8
400V AC
Torque Nm
6
Intermittent rating
230V AC
4
2
Continuous rating
1000
2000
3000
4000
5000
RPM
6000
HDY115A6-64S HDY115A6-64S
14 (Nm) 12
10
Torque Nm
Intermittent rating
460V AC
400V AC
8 230V AC 6
4
Continuous rating 2
1000
Automation
2000
3000
4000
21
5000
RPM
6000
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
HDY115A6-88S HDY115A6-88S
14 (Nm) 12
Torque Nm
10
Intermittent rating
460V AC 8 230V AC
400V AC
6
4
Continuous rating 2
1000
2000
3000
4000
RPM
5000
6000
HDY115C6-88S 30
HDY115C6-88S
(Nm) 25
20
Torque Nm
Intermittent rating
15
460V AC 400V AC
230V AC 10
5
Continuous rating
1000
Automation
2000
3000
22
4000
5000
RPM
6000
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
HDY motors
synchronous servo motors
HDY115E6-88S 40
HDY115E6-88S
(Nm) 35
30 Intermittent rating
Torque Nm
25
460V AC 400V AC
20
15
10
Continuous rating 5
1000
2000
3000
4000
RPM
5000
6000
HDY115G6-88S 55 (Nm)
HDY115G6-88S
50
45
40 Intermittent rating
Torque Nm
35
30 400V AC
460V AC
25
20
15
10
Continuous rating 5
1000
Automation
2000
3000
23
4000
5000
RPM
Parker Hannifin GmbH EMD HAUSER
6000
192-060011 N5
HDY motors
synchronous servo motors
HDY142C6-88S 40
HDY142C6-88S
(Nm) 35
30 Intermittent rating 25
Torque Nm
460V AC
20 400V AC
15
10
Continuous rating 5
1000
2000
3000
4000
5000
RPM
6000
HDY142G6-88S 70 (Nm)
HDY142G6-88S
60
Intermittent rating 50
Torque Nm
460V AC 400V AC
40
30
20
Continuous rating 10
1000
Automation
2000
3000
24
4000
5000
RPM
Parker Hannifin GmbH EMD HAUSER
6000
192-060011 N5
Connecting cable to motor
synchronous servo motors
Connecting cable to motor
High-flex cable Standard cable
Resolver cable
Cable sheathed REK32/..
Sensor cable (SinCos )
Motor cable With connectors: HJ96, HJ116, HDY55, HDY70, HDY92, HDY115 1.5mm2 2.5mm2 up to 13.8A up to 18.9A
With terminal boxes: HJ155, HJ190 HDY142 2.5mm2 6mm2 up to 18.9A up to 32.3A
10mm2 up to 47.3A
GBK16/..
MOK42/..
MOK43/..
MOK21/..
MOK11/..
MOK46/..
Connector set 085-301312 800-030031
085-301317 800-030031
085-301306
085-301306
125-518162 125-216800
125-518211 125-217000
125-518200
Cable 102-150200
102-150210
102-508896
102-508902
102-508902
102-150030
102-150040
7,5/38/113
10,7/107/107
13,7/137/137
13,7/137/137
16,5/124/124
22,5/168/168
GBK17/..
MOK44/..
MOK45/..
MOK14/..
MOK11/..
MOK46/..
085-301317 800-030031
085-301306
085-301306
125-518162 125-216800
125-518211 125-217000
125-518200
-
102-000020
102-000010
102-000010
102-150030
102-150040
8,0/40/64
9,2/69/69
11/82,5/82,5
11/82,5/82,5
16,5/124/124
22,5/168/168
Cable data in mm 9 8,0/80/120 Cable sheathed REK33/.. Connector set 085-301312 800-030031 Cable 102-000030 Cable data in mm
*
8,2/61,5/61,5
Resolver cable for HJ and HDY motors
Pin 1 solder side 1 2 3 4 5 6 7 8
SIN+
13
yellow
SIN-
5
green
12
brown
COS+ 9 10
COS-
11
white blue
Ref+
14
13
Ref-
4
14
+Temp (+5V) 9
pink
10
grey
11 12
15
-Temp
2x0,25
2x0,25
2x0,25
red 2x0,25
2
SIN+
gn
1
SIN-
br
11
solder side Codiernut 20° 9
COS+
ws
12
bl
10
Ref+
rt
7
Ref-
rs
8
+Temp
9
-Temp
gr
26 mm 4 mm
ge
27
REK32
8 12
1
COS-
7
10 6
2
5
3 4
11
Li2YCY 4x2x0,25 No. 102-150200 6 mm
In HJ – motors, ensure that the thermal sensor has the correct terminal arrangement.
Version in high-flex: REK33 (same layout)
Packaging Packaging of motor in accordance with connector manufacturer's specification Packaging of device • • • •
Strip 26mm sheathing off. Cut sheath down to 6 mm. Strip 4mm of insulation of ends and coat in tin. Place sheath over large area of housing (e.g. fold sheath over outer cover and fasten down by relieving tension).
*9 Cable diameter / minimum bending radius (static) / minimum bending radius (dynamic)
Automation
25
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
Connecting cable to motor
synchronous servo motors
Motor cable for HJ and HDY – motors MOK42 (max. 13,8A) 110 mm
75 mm
MOK42
30 mm
30 mm
30 mm
Shrink-fit hose standard/highflex
U V W Br. +24V Br. -24V
PE
standard/hochflex
black1/black
sw1/sw
black2/brown
sw2/br
black3/blue
sw3/bl
black4/red
sw4/rt
black5/green
sw5/gr
black6
sw6
green-yellow
gn/ge
U
2
V
6
W
4
Br+
5
Br-
Lötseite / Crimpseite 6 1
5
4
3
2
3( )
CY-JZ 7x1,5 No 102-508896
110 mm 35 mm
1
75 mm
15 mm
10 mm
Version in high-flex: MOK44 (same layout) MOK43/.. (max. 18.9A): HJ (version in high-flex: MOK45) 2
Layout corresponds to MOK42, however motor lines in 2.5 mm
Packaging Packaging of motor in accordance with connector manufacturer's specification 2
2
Contacts for 1.5 mm and 2.5 mm are supplied with the connector set.
Packaging of device Material: • 6 x crimping sleeves. • 6 cm shrink-fit hose. Procedure: • • • • • •
Strip 110 mm sheathing off cable. Cut down sheath to approx. 35 mm, loosen, fold back over outer cover (approx. 75 mm) and stick with insulating tape. Shorten sw1,sw2,sw3,sw4,sw5 approx. 15 mm ; (gn/ge approx. 15 mm longer); cut down sw6. Attach 2 x approx. 30 mm shrink-fit hose (sticky). Strip 10 mm of insulation of ends of wires and secure with crimping sleeve 1.5.
Automation
26
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
Connecting cable to motor
synchronous servo motors
MOK21 (max. 18,9A) 110 mm
75 mm
MOK21
30 mm
standard/highflex
30 mm
30 mm
Shrink-fit hose
standard/hochflex
U
black1/black
sw1/sw
U
V
black2/ brown black3/blue
sw2/br
V
sw3/bl
W
Br. +24V
black4/red
sw4/rt
Br+
Br. -24V
black5/ green black6
sw5/gr
Br-
green-yellow
gn/ge
W
PE
sw6
CY-JZ 7x2,5 No. 102-508902 110 mm
190 mm 35 mm
75 mm
20 mm
170 mm
15 mm
15 mm
10 mm
10 mm
Version in high-flex: MOK14 (same layout) MOK11 (max. 32.3A) in high-flex (same layout to MOK21, however in 6 mm2) MOK46 (max. 47.3A) in high-flex (same layout to MOK21, however in 10mm2)
Packaging Packaging of device Material: 6 x crimping sleeves. 6 cm shrink-fit hose. Procedure: • • • • • •
Strip 110 mm sheathing off cable. Cut sheath down to approx. 35 mm, loosen, fold back over outer cover (approx. 75 mm) and stick with insulating tape. Shorten sw1,sw2,sw3,sw4,sw5 ca. 15 mm (gn/ge approx. 15 mm longer) cut down sw6. Attach 2 x approx. 30 mm shrink-fit hose (sticky). Strip 10 mm of insulation off ends of wires and secure with crimping sleeves 2.5.
Packaging of motor in accordance with manufacturer's specification • • • •
Strip 190 mm sheathing of cable. Cut sheath down to approx. 170 mm, stick remaining 20 mm with insulating tape. Shorten sw1,sw2,sw3,sw4,sw5 by approx. 15 mm (gn/ge approx. 15 mm longer) cut down sw6. Strip 10 mm of insulation of ends of wires and secure with crimping sleeves 2.5.
Automation
27
Parker Hannifin GmbH EMD HAUSER
PE
192-060011 N5
Connecting cable to motor
synchronous servo motors
SinCos cable for HJ and HDY motors
27
GBK16
13
yellow
5
violet
COS+
12
brown
COS-
11
white
ST+
8
black
ST-
15
pink
rs
green
gn
SIN+
Pin 1
SIN-
solder side 1 2 3 4 5 6 7 8
9 10 11 12 13 14
Th1
9
Th2
10
15
2x0,25
2x0,25
2x0,25
2x0,25
grey
ge
1 SIN+
vio
2 SIN-
br
11 COS+
ws
12 COS-
sw
3 +485 13 -485
2
red
GND
7
blue
bl
0r
0r
2x0,5
1x0,14
11
1 12
10
2
16
13 3
9
8 K1
gr
+8V
solder- / Crimp side
9 K2
7
rt
4
8 15
10 +V
14 17 6
5
7 GND
screen at sceen contact LiYC11Y 4x2x0,25+2x0,5+0,14 No. 102-150210
Packing according as the regulation of the manufacturer
26 mm 4 mm
6 mm
8 x Crimp contacts 0.14-0.56
Version in high-flex: GBK17 (same layout)
Packaging Packaging of motor in accordance with connector manufacturer's specification Packaging of device • • • •
Strip 26mm sheathing off. Cut sheath down to 6 mm. Strip 4mm of insulation of ends and coat in tin. Place sheath over large area of housing (e.g. fold sheath over outer cover and fasten down by relieving tension).
Automation
28
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
Order code
Synchronous servo motors
Order code motors Motors
/
HJ 96C6-44S
H J
0
9
6
C
6
0
4
4 S
HJ 116C6-64S
H J
1
1
6
C
6
0
6
4 S
HJ 116E6-88S
H J
1
1
6
E
6
0
8
8 S
HJ 155A8-88S
H J
1
5
5
A
8
0
8
8 S
HJ 155E8-130S
H J
1
5
5
E
8
1
3
0 S 1
HJ 155G8-135S
H J
1
5
5
G
8
1
3
5 S 1
HJ 155G8-135S with fan
H J
1
5
5
G
8
1
3
5 S 1
...FN*...
HJ 190J8-150S with fan
H J
1
9
0
J
8
1
5
0 S
...FN*...
HDY 55C4-32S
H D Y
0
5
5
C
4
0
3
2 S
HDY 70C4-44S
H D Y
0
7
0
C
4
0
4
4 S
HDY 70E4-44S
H D Y
0
7
0
E
4
0
4
4 S
HDY 92C4-44S
H D Y
0
9
2
C
4
0
4
4 S 1
HDY 92E4-44S
H D Y
0
9
2
E
4
0
4
4 S 1
HDY 115A6-64S
H D Y
1
1
5
A
6
0
6
4 S 1
HDY 115A6-88S
H D Y
1
1
5
A
6
0
8
8 S 1
HDY 115C6-88S
H D Y
1
1
5
C
6
0
8
8 S 1
HDY 115E6-88S
H D Y
1
1
5
E
6
0
8
8 S 1
HDY 115G6-88S
H D Y
1
1
5
G
6
0
8
8 S 1
HDY 142C6-88S
H D Y
1
4
2
C
6
0
8
8 S 1
HDY 142G6-88S
H D Y
1
4
2
G
6
0
8
8 S 1
Options (please seperate two options with "/") with brake (24 Volt)
B R
SinCos Multiturn Encoder (absolute encoder)
S R M 5
0
SinCos Singleturn Encoder
S R S 5
0
* FN: Code for fan
Automation
29
Parker Hannifin GmbH EMD HAUSER
192-060011 N5
Order code
Synchronous servo motors
Order code cables Motor cable, resolver cable, encoder cable
/
Motor cable for HJ96, HJ116, HDY55, HDY70, HDY92, HDY115 2 Motor cable 1,5mm standard (
