Explosion Proof Dynamic Brushless Servo Motors

Transcription

1 Explosion Proof Dynamic Brushless Servo Motors ExD SERIES OFFERING HIGH PERFORMANCE SERVO MOTORS FOR USE IN POTENTIALLY EXPLOSIVE ATMOSPHERES IN ACCORDANCE WITH ATEX AND IECEx Rev. C, October Explosion Proof Dynamic Brushless Servo Motors WHAT MOVES YOUR WORLD

2 Introduction Whenever the highest levels of motion control performance and design flexibility are required, you ll find Moog expertise at work. Through collaboration, creativity and world-class technological solutions, we help you overcome your toughest engineering obstacles. Enhance your machine s performance. And help take your thinking further than you ever thought possible. Table of Contents Introduction... Product Overview... Features and Benefits...5 Ordering information...45 Options...45 Ordering Code...46 Technical Features...6 Servo Motor Versions...8 Technical data...9 Size...9 Size Size Wiring Diagram...4 Bearing Load Diagrams...4 Background...4 Defining the Hazardous Location and Servo Motor Sizing...4 About Moog...4 This catalog is for users with technical knowledge. To ensure all necessary characteristics for function and safety of the system, the user has to check the suitability of the products described herein. The products described herein are subject to change without notice. In case of doubt, please contact Moog. Moog is a registered trademark of Moog Inc. and its subsidiaries. All trademarks as indicated herein are the property of Moog Inc. and its subsidiaries. For the full disclaimer refer to For the most current information, visit or contact your local Moog office. Rev. C, October

3 Introduction Product Overview Moog Brushless Technology For over two decades, the name Moog has been associated with brushless servo motors and servo drives offering the highest dynamics, power density and reliability. The products are designed as a system to deliver superior servo performance. Moog offers a broad range of standard models as well as custom solutions to meet your unique application requirements. Moog brushless servo motors and drives are found on a variety of applications; especially where dynamics, compact size and reliability are important. ExD Series Servo Motors Moog s Explosion Proof Dynamic Brushless Servo Motors (ExD Series) are electronically commutated synchronous AC motors with permanent magnet field excitation. The ExD Series Servo Motors are designed for highly dynamic applications where positioning times of ms or less are often the norm. The ExD Series Servo Motors offers one of the industry s widest power ranges. The modular design is supported by a variety of options with Moog s application engineers capable of helping you tailor the product to meet the exact specifications of your machine application. All Moog Servo Motors are manufactured in-house and the use of tight machining tolerances, precision balancing and thorough production testing guarantee a long service life. Standards These motors are certified to be in compliance with ATEX and IECEx standards: EN/IEC 679- Explosive atmospheres - Part : Equipment - General requirements EN/IEC 679- Explosive atmospheres - Part : Equipment protection by flameproof enclosures d EN/IEC 679- Explosive atmospheres - Part : Equipment dust ignition protection by enclosure t Type of Protection Flameproof d Dust tb Marking Ex II G Ex d IIC T-T6 Gb Ex II D Ex tb IIIC T C-T85 C Db IP 65/67 Reference links ATEX Certificate IECEx Certificate The ExD Series Motors are designed and tested for operation in conditions where vapors or gases form flammable or explosive environments.the flameproof housing has been tested and proven capable to withstand internal explosions without bursting or allowing ignition to reach outside the motor frame. These servo motors are certified for use in potentially explosive atmosphere in accordance with ATEX 94/9/CE directive D type protection and IECEx for II C gases, with dust protection against III C. Please refer to the Programmable Multi-Axis Servo Drive System catalog for details of our Servo Drive offering. Rev. C, October

4 Introduction Product Overview Servo Motor Stall torque Maximum torque Rated speed Rotor inertia Square flange type ) Nm (lbf in) Nm (lbf in) r/min kg cm ( -4 lbf in s ) mm (in) G-LM (L5).5 (4.6).6 (4.) 7,8.6 (.4) 7 (.8) G-LM4 (L5).9 (.) 4.9 (4.4) 6,.9 (.5) 7 (.8) G-LM6 (L5).6 (9.) 8. (7.6) 4,6.6 (5.5) 7 (.8) G-LM8 (L4).6 (8.9). (7),8.97 (8.6) 7 (.8) G-LV (L5).5 (4.6).6 (4.) 7,8.6 (.4) 7 (.8) G-LV4 (L5).9 (.) 4.9 (4.4) 6,.9 (.5) 7 (.8) G-LV6 (L5).6 (9.) 8. (7.6) 4,6.6 (5.5) 7 (.8) G-LV8 (L4).6 (8.9). (7),8.97 (8.6) 7 (.8) G-5LM (L) 5.79 (5.). (8) 4,8 4.6 (4.7) 4 (5.5) G-5LM4 (L).8 (95.9) 5.8 (8),5 8. (7.8) 4 (5.5) G-5LM6 (L) 5.7 (9) 8. (8),7.5 () 4 (5.5) G-5LM8 (L5) 5.4 (5) 6. (54), 8.4 (6) 4 (5.5) G-5LV (L) 5.79 (5.). (8) 4,8 4.6 (4.7) 4 (5.5) G-5LV4 (L).8 (95.9) 5.8 (8),5 8. (7.8) 4 (5.5) G-5LV6 (L) 5.7 (9) 8. (8),7.5 () 4 (5.5) G-5LV8 (L5) 5.4 (5) 6. (54), 8.4 (6) 4 (5.5) G-6LM (L5).9 (4) 4. (55) 4, 7.5 (4) 9 (7.5) G-6LM4 (L) 5.57 (6) (76), 5.8 (46) 9 (7.5) G-6LM6 (L45) 6.6 () 9.65 (,59), (68) 9 (7.5) G-6LM8 (L6) 47.5 (49) (,4),.7 (9) 9 (7.5) G-6LM9 (L9) 66.7 (59) 9.4 (,8), 5.8 (,7) 9 (7.5) G-6LV (L5).85 (4) 4.5 (55) 4, 7.5 (4) 9 (7.5) G-6LV4 (L) 4.95 () (76), 5.8 (46) 9 (7.5) G-6LV6 (L45) 6.4 () 9.64 (,59), (68) 9 (7.5) G-6LV8 (L6) 47. (49) 59.5 (,4),.7 (9) 9 (7.5) G-6LV9 (L9) (59) 9. (,8), 5.8 (,7) 9 (7.5) ) Motor type code [eg. G-LM (L5), see back page for ordering reference] G = Explosion proof Series Servo motor = Flange size M = Winding voltage (M = Low voltage, 5 V DC with primary PTC thermal sensor) V = Winding voltage (V = High voltage, 565 V DC with primary PTC thermal sensor) (L5) = Stack length Notes:. Nominal speed can be easily adjusted by changing the stator windings. Please contact your local Moog application engineer for information.. All the above technical data is for explosion proof motor assuming T4 temperature class at +4 C (+4 F). Rev. C, October 4

5 Introduction Features and Benefits Features Certified for use in potentially hazardous environments Feature superior motor dynamics Compact, lightweight construction and broad range of torque ratings offered Proprietary, low cogging design Ruggedized, maintenance free design with bearing greased for life Flexible design options that can be tailored to exact specifications Design that can be tailored to meet unique machine and application requirements Built in PTC thermal sensor to protect motor from overheating and IP 65/67 protection class Superior Motor Dynamics Improves Cycle Time The ExD Series Servo Motor combines a low inertia rotor with an electromagnetic design having exceptional overload capacity. The result is an increase in the effective torque available to accelerate and decelerate the load, enabling higher dynamics and improved cycle times. ExD Series Servo Motors use a fully laminated, weight optimized, rotor to provide a significant inertia reduction over conventional solid rotor designs. It is able to achieve a high overload capacity through the use of high-energy rare earth magnets, a high pole count electrical design, and an efficient thermal construction. Compact and Lightweight Construction Simplifies Machine Design The ExD Series Servo Motor provides high torque in a compact and lightweight package to achieve both high power density and a high torque-to-weight ratio. The compact and lightweight package provides greater flexibility and often enables new cost-saving approaches to machine construction. In applications where the motor is mounted on a moving axis, the high torque-toweight ratio allows greater payloads and/or increased acceleration. ExD Series Servo Motors leverage an all-aluminum motor housing to achieve a significant weight reduction over low cost steel housings. A robust thermal design allows more power to be designed into a small, compact package. Proprietary, Low-Cogging Design Delivers Smooth Low Speed Operation The ExD Series Servo Motor includes several design enhancements to deliver smooth slow speed performance. The enhancements include the selection of a high pole count (8 to poles) electromagnetic design, a stator with non-symmetric slot count and other proprietary features to minimize cogging. Benefits Offer greater safety and risk protection Improves machine cycle time Simplifies machine design and streamlines supply chain Delivers smooth low speed operation for machines Boosts overall system availability Eases integration Enables a more flexible machine design Provides greater safety and reduces downtime Ruggedized, Maintenance-Free Design to Boost Overall System Availability The ExD Series Servo Motor is designed and manufactured in accordance with strict standards, using ruggedized components with proven reliability in harsh thermal and shock load environments. These features combine to offer years of reliable, maintenance-free, operations and boost overall system availability. The use of high-reliability feedback devices, sealed lifetime lubricated bearings, precision balanced rotors (Class G6.) of ISO 94 and IP65 construction combine to extend service life. Flexible Design Option Eases Integration The ExD Series Servo Motor is available with thefollowing options: Integral holding brakes Resolver or encoder-based feedback Plain or slot and key type shafts Cable gland with cable Fully Customized Designs Support Unique Application Requirements The Moog ExD Series Servo Motors can be customized to meet your unique needs. The following are some common requests supported by Moog s application staff: Custom motor windings Custom shafts and flanges Custom feedback devices Rev. C, October 5

6 Introduction Technical Features Sizing the Servo Motor for a System With experience in a variety of industrial machinery applications, Moog s engineers understand the critical role that application sizing process plays in overall machine design. With global competition forcing machine designers to do more with less, there is an expanding need to avoid unnecessary margin and size the motors exactly to your application needs. It is for these reasons that Moog specifies motor performance characteristics in a practical manner ideal for designing your system. Motor characteristics are specified under the same environmental conditions in which they will be used, with notes clearly articulating the operating conditions. Elements of Motor Performance The motor performance characteristics contain three elements.. The continuous torque curve. This curve illustrates the motor torque available at % duty cycle under the following conditions:. The motor kt characteristic. The motor kt characteristic depicts stator saturation at various operating points and can be used to optimize sizing in low duty cycle applications. ExD Series Servo Motors can deliver a low duty cycle impulse torque which is typically to % more than rated peak torque. While motors can be operated reliably at this operating point, it is recommended that a member of Moog s application team reviews the application to ensure thermal restrictions are not violated. Operation in still air with ambient temperatures based on T code 4 Motor front flange attached to a steel mounting plate measuring x x mm (.8 x.8 x.47 in). The peak torque curve. This curve reflects the motor torque available with a % duty cycle ( out of seconds). It is based on years,4,8 4, of practical industry experience and is useful for typical servo applications. Continuous torque Maximum torque Torque constant k T , , Rev. C, October 6

7 Introduction Technical Features Cable outlet Shaft bearing B (floating bearing) Stator winding 4 Shaft bearing A (fixed bearing) 5 Flange 6 Radial shaft seal 7 Keyway (optional) 8 Shaft 9 Permanent magnets, rotor Feedback device Permanent magnet holding brake (optional) Connection strip Internal ground terminal 4 External ground terminal Rev. C, October 7

8 Introduction Servo Motor Versions General Information. Motors designed to EN 64 (VDE 5). Certified to ATEX and IECEx. Rotors balanced to Class G6. per ISO Sealing to IP65 5. Operating ambient temperature refer to box car 6. Class F winding insulation 7. Motor flange dimensions per IEC 4, NEMA MG7, IN 4948, ISO Motor shaft dimensions per DIN Motor shaft keyway per DIN 6885, IEC 7-. Feedback Sensors a) Resolver b) Encoder Incremental Absolute single-turn Absolute multi-turn. G-L, G-5L and G-6L servomotors are available in two versions: G-xLM: Designed for the use of 5 V DC link G-xLV: Designed for the use of 565 V DC link. Winding temperature sensors (standard version): PTC as per temperature class and NTC. Sealed life-time lubricated bearing 4. Cable gland optional Notes. Continuous ratings based upon: Operation in still air with ambient temperatures as indicated in the specification table. Motor front flange attached to a steel mounting plate measuring x x mm (.8 x.8 x.47 in).. Peak ratings based on: Duty cycle of % ( out of seconds).. k T -line show non-linearity between current and torque at high end. 4. Nominal speed and power values at maximum continuous output power with conditions per note 5. Resistance and inductance measurement based on cold values (i.e. measured at +5 C (+77 F)). 6. Current ratings are A rms per phase. 7. Motor performance as measured with Moog drives at 5 V DC link for the G-xLM motor and 565 V DC link for G-xLV motor. For other drives and voltage levels, please talk to you Moog local application engineers. 8. Specification tolerances are ± %. 9. The maximum speed, n max, is the maximum allowable operating speed. This speed is either limited by the voltage limiting Back E.M.F. characteristic or mechanically by centrifugal forces and/or bearingstressing, whichever value is lower. Rev. C, October 8

9 Size Low Voltage 5 V DC, Type G-LM General Characteristics Characteristics Units G-LM (L5) G-LM4 (L5) G-LM6 (L5) G-LM8 (L4) Maximum torque M max Nm (lbf in).6 (4.) 4.9 (4.4) 8. (7.6). (7) Maximum current I max A rms Maximum speed n max r/min, 8, 5,5 4,5 Torque constant k T Nm/A rms.9 (.5).5 (4.6).76 (6.7).9 (8.) (lbf in/a rms ) Voltage constant k e V rms /k r/min Thermal time constant t th s ,5 Winding resistance at 5 C R tt Ohm (77 F) (phase to phase) Winding inductance L tt mh (phase to phase) Rotor inertia with resolver J kg cm.6 (.4).9 (.5).6 (5.5).97 (8.6) ( -4 lbf in s ) Rotor inertia with encoder J kg cm.4 (.).7 (.).6 (5.).95 (8.4) ( -4 lbf in s ) Weight (without brake) m kg (lb). (4.6).7 (6). (7.) 4. (9.) Rev. C, October 9

10 Size Low Voltage 5 V DC, Type G-LM Characteristics Based on Temperature Class T and T4 Characteristics Units G-LM (L5) G-LM4 (L5) G-LM6 (L5) G-LM8 (L4) M Nm (lbf in).5 (4.6).9 (.).6 (9.).6 (8.9) at 4 C (4 F) Continuous stall current I A rms at 4 C (4 F) Rated torque at 4 C (4 F) M N Nm (lbf in).44 (.9).9 (9.6).8 (6).8 (5) Rated speed at 4 C (4 F) n N r/min 7,8 6, 4,6,8 kw (hp).59 (.5).79 ().87 (.). (.5) rated speed at 4 C (4 F) M Nm (lbf in).5 (4.4). (.8).7 (8.). (7.7) at 5 C ( F) Rated torque at 5 C ( F) M N Nm (lbf in).4 (.7). (9).7 (5.).66 (.5) Rated speed at 5 C ( F) n N r/min 7,8 6, 4,6,8 kw (hp).4 (.5).67 (.9).88 (.).58 (.4) rated speed at 5 C ( F) M Nm (lbf in).46 (4.). (.8).9 (6.9).88 (5.5) at 6 C (4 F) Rated torque at 6 C (4 F) M N Nm (lbf in).7 (.).88 (7.8).5 (.5).7 () Rated speed at 6 C (4 F) n N r/min 7,8 6, 4,6,8 kw (hp). (.4).58 (.8).7 ().94 (.) rated speed at 6 C (4 F) M Nm (lbf in).4 (.6).9 (9.6).7 (5).56 (.7) at 7 C (58 F) Rated torque at 7 C (58 F) M N Nm (lbf in). (.7).69 (6.).5 (.).97 (7.4) Rated speed at 7 C (58 F) n N r/min 7,8 6, 4,6,8 kw (hp).5 (.).455 (.6).6 (.8).78 () rated speed at 7 C (58 F) M Nm (lbf in).4 ().9 (8.).4 (.5).4 (8.9) at 8 C (76 F) Rated torque at 8 C (76 F) M N Nm (lbf in). (.9).5 (.).8 (7.).8 (.) Rated speed at 8 C (76 F) n N r/min 7,8 6, 4,6,8 rated speed at 8 C (76 F) kw (hp).8 (.). (.).4 (.5).549 (.7) Rev. C, October

11 Size Low Voltage 5 V DC, Type G-LM Characteristics Based on Temperature Class T5 Characteristics Units G-LM (L5) G-LM4 (L5) G-LM6 (L5) G-LM8 (L4) M Nm (lbf in).4 (.8).7 (.4).8 (6).74 (4.) at 4 C (4 F) Rated torque at 4 C (4 F) M N Nm (lbf in). (.9).75 (6.6).5 (.9). (8.8) Rated speed at 4 C (4 F) n N r/min 7,8 6, 4,6,8 rated speed at 4 C (4 F) kw (hp).69 (.4).495 (.7).65 (.9).84 (.) Characteristics Based on Temperature Class T6 Characteristics Units G-LM (L5) G-LM4 (L5) G-LM6 (L5) G-LM8 (L4) M Nm (lbf in). (.8).85 (7.5). (.7).99 (7.6) at 4 C (4 F) Rated torque at 4 C (4 F) M N Nm (lbf in).4 (.).59 (5.).45 (4).9 (8.) Rated speed at 4 C (4 F) n N r/min 7,8 4, 4,6,8 rated speed at 4 C (4 F) kw (hp).4 (.).47 (.).7 (.).6 (.5) Rev. C, October

12 Size High Voltage 565 V DC, Type G-LV General Characteristics Characteristics Units G-LV (L5) G-LV4 (L5) G-LV6 (L5) G-LV8 (L4) Maximum torque M max Nm (lbf in).6 (4.) 4.9 (4.4) 8. (7.6). (7) Maximum current I max A rms Maximum speed n max r/min 4,4, 6, 5,7 Torque constant k T Nm/A rms.47 (4.).7 (6.).8 (.4).7 (.) (lbf in/a rms ) Voltage constant k e V rms /k r/min Thermal time constant t th s ,5 Winding resistance at 5 C R tt Ohm (77 F) (phase to phase) Winding inductance L tt mh (phase to phase) Rotor inertia with resolver J kg cm.6 (.4).9 (.5).6 (5.5).97 (8.6) ( -4 lbf in s ) Rotor inertia with encoder J kg cm.4 (.).7 (.).6 (5.).95 (8.4) ( -4 lbf in s ) Weight (without brake) m kg (lb). (4.6).7 (6). (7.) 4. (9.) Rev. C, October

13 Size High Voltage 565 V DC, Type G-LV Characteristics Based on Temperature Class T and T4 Characteristics Units G-LV (L5) G-LV4 (L5) G-LV6 (L5) G-LV8 (L4) M Nm (lbf in).5 (4.6).9 (.).6 (9.).6 (8.9) at 4 C (4 F) Continuous stall current I A rms at 4 C (4 F) Rated torque at 4 C (4 F) M N Nm (lbf in).44 (.9).9 (9.6).8 (6).8 (5) Rated speed at 4 C (4 F) n N r/min 7,8 6, 4,6,8 kw (hp).59 (.5).79 ().87 (.). (.5) rated speed at 4 C (4 F) M Nm (lbf in).5 (4.4). (.8).7 (8.). (7.7) at 5 C ( F) Rated torque at 5 C ( F) M N Nm (lbf in).4 (.7). (9).7 (5.).66 (.5) Rated speed at 5 C ( F) n N r/min 7,8 6, 4,6,8 kw (hp).4 (.5).67 (.9).88 (.).58 (.4) rated speed at 5 C ( F) M Nm (lbf in).46 (4.). (.8).9 (6.9).88 (5.5) at 6 C (4 F) Rated torque at 6 C (4 F) M N Nm (lbf in).7 (.).88 (7.8).5 (.5).7 () Rated speed at 6 C (4 F) n N r/min 7,8 6, 4,6,8 kw (hp). (.4).58 (.8).7 ().94 (.) rated speed at 6 C (4 F) M Nm (lbf in).4 (.6).9 (9.6).7 (5).56 (.7) at 7 C (58 F) Rated torque at 7 C (58 F) M N Nm (lbf in). (.7).69 (6.).5 (.).97 (7.4) Rated speed at 7 C (58 F) n N r/min 7,8 6, 4,6,8 kw (hp).5 (.).455 (.6).6 (.8).78 () rated speed at 7 C (58 F) M Nm (lbf in).4 ().9 (8.).4 (.5).4 (8.9) at 8 C (76 F) Rated torque at 8 C (76 F) M N Nm (lbf in). (.9).5 (.).8 (7.).8 (.) Rated speed at 8 C (76 F) n N r/min 7,8 6, 4,6,8 rated speed at 8 C (76 F) kw (hp).8 (.). (.).4 (.5).549 (.7) Rev. C, October

14 Size High Voltage 565 V DC, Type G-LV Characteristics Based on Temperature Class T5 Characteristics Units G-LV (L5) G-LV4 (L5) G-LV6 (L5) G-LV8 (L4) M Nm (lbf in).4 (.8).7 (.4).8 (6).74 (4.) at 4 C (4 F) Rated torque at 4 C (4 F) M N Nm (lbf in). (.9).75 (6.6).5 (.9). (8.8) Rated speed at 4 C (4 F) n N r/min 7,8 6, 4,6,8 rated speed at 4 C (4 F) kw (hp).69 (.4).495 (.7).65 (.9).84 (.) Characteristics Based on Temperature Class T6 Characteristics Units G-LV (L5) G-LV4 (L5) G-LV6 (L5) G-LV8 (L4) M Nm (lbf in). (.8).85 (7.5). (.7).99 (7.6) at 4 C (4 F) Rated torque at 4 C (4 F) M N Nm (lbf in).4 (.).59 (5.).45 (4).9 (8.) Rated speed at 4 C (4 F) n N r/min 7,8 4, 4,6,8 rated speed at 4 C (4 F) kw (hp).4 (.).47 (.).7 (.).6 (.5) Rev. C, October 4

15 Size Motor Characteristics Type G-L Temperature Class T4 Ambient Temperature 4 C (4 F) G-LM (L5) G-LM4 (L5) , 6, 9,, 5,, 4, 6, 8,, G-LM6 (L5) G-LM8 (L4) ,4,8 4, 5,6 7,,4,8 4, 5,6 7, Continuous torque Maximum torque Torque constant k T Rev. C, October 5

16 Size Motor Characteristics Type G-L Temperature Class T4 Ambient Temperature 4 C (4 F) G-LV (L5) G-LV4 (L5) , 6, 9,, 5,, 4, 6, 8,, G-LV6 (L5) G-LV8 (L4) ,4,8 4, 5,6 7,,4,8 4, 5,6 7, Continuous torque Maximum torque Torque constant k T Rev. C, October 6

17 Size Type G-L, Dimensions 4x (.57) 9 (.5).5 (.) (.9) 6 (.6) 4 (.6) Ø 75 (.95) 4xØ 5.5 (.) Ø 9 (.66) 7 (.76) Section A-A 4 (.6) 4 (.6) 8.5 (.).5 (.49) 8 4 (.58) Detail B ( ) - Ø ( ) Ø A 4 (.57) Cable Gland 6 A A B Ø (.4 -. ) 5 Ø ( ) Sectional view for connection cable Stack length Dimension A Resolver with Brake Dimension A Encoder without Brake Dimension A Resolver without Brake mm (in) mm (in) mm (in) L5 9 (7.5) 9 (7.5) 64 (6.5) L5 6 (8.5) 6 (8.5) 9 (7.5) L5 4 (9.5) 4 (9.5) 5 (8.5) L4 79 () 79 () 5 () Alternative cable outlet Run out class as per IEC/DIN Normal class Flange 4 Name plate 5 Stripping length to be determined 6 Cable gland entry Mx.5 7 Shaft seal 8 Optional shaft key Notes: NEMA/IEC metric mounting Rev. C, October 7

18 Size 5 Low Voltage 5 V DC, Type G-5LM General Characteristics Characteristics Units G-5LM (L) G-5LM4 (L) G-5LM6 (L) G-5LM8 (L5) Maximum torque M max Nm (lbf in). (8) 5.8 (8) 8. (8) 6. (54) Maximum current I max A rms Maximum speed n max r/min 6,6 4,,,4 Torque constant k T Nm/A rms.6 (5.5). (8.9).8 (.).74 (5.4) (lbf in/a rms ) Voltage constant k e V rms /k r/min Thermal time constant t th s,59,,54, Winding resistance at 5 C R tt Ohm (77 F) (phase to phase) Winding inductance L tt mh (phase to phase) Rotor inertia with resolver J kg cm 4.6 (4.7) 8. (7.8).5 () 8.4 (6) ( -4 lbf in s ) Rotor inertia with encoder J kg cm 4.4 (8.9) 7.8 (69). () 8. (6) ( -4 lbf in s ) Weight (without brake) m kg (lb). (6.7) 4. (.5) 6.5 (6.4). (46.) Rev. C, October 8

19 Size 5 Low Voltage 5 V DC, Type G-5LM Characteristics Based on Temperature Class T and T4 Characteristics Units G-5LM (L) G-5LM4 (L) G-5LM6 (L) G-5LM8 (L5) M Nm (lbf in) 5.79 (5.).8 (95.9) 5.7 (9) 5.4 (5) at 4 C (4 F) Continuous stall current I A rms at 4 C (4 F) Rated torque at 4 C (4 F) M N Nm (lbf in) 4. (8.) 8.5 (7.).4 ().95 (85) Rated speed at 4 C (4 F) n N r/min 4,8,5,7, kw (hp).7 (.9).985 (4).54 (4.7) 4.85 (5.9) rated speed at 4 C (4 F) M Nm (lbf in) 5.47 (48.4).4 (9.6) 4.85 () 4. () at 5 C ( F) Rated torque at 5 C ( F) M N Nm (lbf in).9 (4.7) 7.9 (65.4).4 () 9. (7) Rated speed at 5 C ( F) n N r/min 4,8,5,7, kw (hp).969 (.6).77 (.6).4 (4.) 4.44 (5.4) rated speed at 5 C ( F) M Nm (lbf in) 5.5 (45.6) 9.64 (85.).98 (4).6 () at 6 C (4 F) Rated torque at 6 C (4 F) M N Nm (lbf in).47 (.7) 6.56 (58.). (9.4) 7.58 (56) Rated speed at 6 C (4 F) n N r/min 4,8,5,7, kw (hp).74 (.).4 (.).885 (.9).68 (4.9) rated speed at 6 C (4 F) M Nm (lbf in) 4.8 (4.6) 9. (79.7).7 (6).4 (87) at 7 C (58 F) Rated torque at 7 C (58 F) M N Nm (lbf in).96 (6.) 5.58 (49.4) 8.9 (78.9) 5.67 (9) Rated speed at 7 C (58 F) n N r/min 4,8,5,7, kw (hp).487 ().44 (.7).5 (.4).8 (4.4) rated speed at 7 C (58 F) M Nm (lbf in) 4. (8.) 8.5 (7.).67 () 8.87 (67) at 8 C (76 F) Rated torque at 8 C (76 F) M N Nm (lbf in).6 (8.).88 (4.) 6.7 (59.6).4 () Rated speed at 8 C (76 F) n N r/min 4,8,5,7, rated speed at 8 C (76 F) kw (hp).5 (.4).4 (.9).9 (.5).6 (.5) Rev. C, October 9

20 Size 5 Low Voltage 5 V DC, Type G-5LM Characteristics Based on Temperature Class T5 Characteristics Units G-5LM (L) G-5LM4 (L) G-5LM6 (L) G-5LM8 (L5) M Nm (lbf in) 5.9 (45.) 9.5 (84.).8 ().5 (98) at 4 C (4 F) Rated torque at 4 C (4 F) M N Nm (lbf in).5 (7.9) 5.9 (5.4) 9.47 (8.8) 6.6 (47) Rated speed at 4 C (4 F) n N r/min 4,8,5,7, rated speed at 4 C (4 F) kw (hp).58 (.).69 (.9).676 (.6).475 (4.7) Characteristics Based on Temperature Class T6 Characteristics Units G-5LM (L) G-5LM4 (L) G-5LM6 (L) G-5LM8 (L5) M Nm (lbf in) 4. (5.7) 9.5 (84.).9 (96.7) 7.68 (56) at 4 C (4 F) Rated torque at 4 C (4 F) M N Nm (lbf in).47 () 5.9 (5.4) 4.4 (9.) 7.8 (69.) Rated speed at 4 C (4 F) n N r/min 4,,5,5, rated speed at 4 C (4 F) kw (hp).646 (.9).69 (.9).56 (.5).69 (.) Rev. C, October

21 Size 5 High Voltage 565 V DC, Type G-5LV General Characteristics Characteristics Units G-5LV (L) G-5LV4 (L) G-5LV6 (L) G-5LV8 (L5) Maximum torque M max Nm (lbf in). (8) 5.8 (8) 8. (8) 6. (54) Maximum current I max A rms Maximum speed n max r/min 6, 4,9 5, 4, Torque constant k T Nm/A rms. (9.8).45 (.8).8 (.).74 (5.4) (lbf in/a rms ) Voltage constant k e V rms /k r/min Thermal time constant t th s,59,,54, Winding resistance at 5 C R tt Ohm (77 F) (phase to phase) Winding inductance L tt mh (phase to phase) Rotor inertia with resolver J kg cm 4.6 (4.7) 7.8 (69).5 () 8. (6) ( -4 lbf in s ) Rotor inertia with encoder J kg cm 4.4 (8.9) 7.8 (69). () 8. (6) ( -4 lbf in s ) Weight (without brake) m kg (lb). (6.7) 4. (.5) 6.5 (6.4). (46.) Rev. C, October

22 Size 5 High Voltage 565 V DC, Type G-5LV Characteristics Based on Temperature Class T and T4 Characteristics Units G-5LV (L) G-5LV4 (L) G-5LV6 (L) G-5LV8 (L5) M Nm (lbf in) 5.79 (5.).8 (95.9) 5.7 (9) 5.4 (5) at 4 C (4 F) Continuous stall current I A rms at 4 C (4 F) Rated torque at 4 C (4 F) M N Nm (lbf in) 4. (8.) 8.5 (7.).4 ().95 (85) Rated speed at 4 C (4 F) n N r/min 4,8,5,7, kw (hp).7 (.9).985 (4).54 (4.) 4.85 (5.9) rated speed at 4 C (4 F) M Nm (lbf in) 5.47 (48.4).4 (9.6) 4.85 () 4. () at 5 C ( F) Rated torque at 5 C ( F) M N Nm (lbf in).9 (4.7) 7.9 (65.4).4 () 9. (7) Rated speed at 5 C ( F) n N r/min 4,8,5,7, kw (hp).969 (.6).77 (.6).4 (4.) 4.44 (5.4) rated speed at 5 C ( F) M Nm (lbf in) 5.5 (45.6) 9.64 (85.).98 (4).6 () at 6 C (4 F) Rated torque at 6 C (4 F) M N Nm (lbf in).47 (.7) 6.56 (58.). (9.4) 7.58 (56) Rated speed at 6 C (4 F) n N r/min 4,8,5,7, kw (hp).74 (.).4 (.).885 (.9).68 (4.9) rated speed at 6 C (4 F) M Nm (lbf in) 4.8 (4.6) 9. (79.7).7 (6).4 (87) at 7 C (58 F) Rated torque at 7 C (58 F) M N Nm (lbf in).96 (6.) 5.58 (49.4) 8.9 (78.9) 5.67 (9) Rated speed at 7 C (58 F) n N r/min 4,8,5,7, kw (hp).487 ().44 (.7).5 (.4).8 (4.4) rated speed at 7 C (58 F) M Nm (lbf in) 4. (8.) 8.5 (7.).67 () 8.87 (67) at 8 C (76 F) Rated torque at 8 C (76 F) M N Nm (lbf in).6 (8.).88 (4.) 6.7 (59.6).4 () Rated speed at 8 C (76 F) n N r/min 4,8,5,7, rated speed at 8 C (76 F) kw (hp).5 (.4).4 (.9).9 (.5).6 (.5) Rev. C, October

23 Size 5 High Voltage 565 V DC, Type G-5LV Characteristics Based on Temperature Class T5 Characteristics Units G-5LV (L) G-5LV4 (L) G-5LV6 (L) G-5LV8 (L5) M Nm (lbf in) 5.9 (45.) 9.5 (84.).8 ().5 (98) at 4 C (4 F) Rated torque at 4 C (4 F) M N Nm (lbf in).5 (7.9) 5.9 (5.4) 9.47 (8.8) 6.6 (47) Rated speed at 4 C (4 F) n N r/min 4,8,5,7, rated speed at 4 C (4 F) kw (hp).58 (.).69 (.9).676 (.6).475 (4.7) Characteristics Based on Temperature Class T6 Characteristics Units G-5LV (L) G-5LV4 (L) G-5LV6 (L) G-5LV8 (L5) M Nm (lbf in) 4. (5.7) 7.54 (66.7).9 (96.7) 7.68 (56) at 4 C (4 F) Rated torque at 4 C (4 F) M N Nm (lbf in).47 ().5 (.) 4.4 (9.) 7.8 (69.) Rated speed at 4 C (4 F) n N r/min 4,,,5, rated speed at 4 C (4 F) kw (hp).646 (.9).84 (.).56 (.5).69 (.) Rev. C, October

24 Size 5 Motor Characteristics Type G-5L Temperature Class T4 Ambient Temperature 4 C (4 F) G-5LM (L) G-5LM4 (L) ,4,8 4, 5,6 7,,,, 4, 5, G-5LM6 (L) G-5LM8 (L5) ,,, 4, 5,,,, 4, 5, Continuous torque Maximum torque Torque constant k T Rev. C, October 4

25 Size 5 Motor Characteristics Type G-5L Temperature Class T4 Ambient Temperature 4 C (4 F) G-5LV (L) G-5LV4 (L) ,4,8 4, 5,6 7,,,, 4, 5, G-5LV6 (L) G-5LV8 (L5) ,,, 4, 5,,,, 4, 5, Continuous torque Maximum torque Torque constant k T Rev. C, October 5

26 Size 5 Type G-5L, Dimensions Ø 85 (7.8) 4x (.8) 4 (.58) 5 (.) Ø 65 (6.5) Ø (.4) 4 (5.5) 55 (.7) 4 A.5 (.4) 7.5 (.69) A A B 5 (.97) Ø ( ) Ø ( ) SECTION A-A 7 (.8) 8 (.) 7 (.6) 8 Detail B ( ) - Ø ( ) Ø Cable Gland 6 5 Sectional view for connection cable Stack length Dimension A Resolver without brake Encoder without brake mm (in) Dimension A Resolver with brake Encoder with brake mm (in) L 65 (.4) (.7) L 9 (.4) 48 (.7) L 5 (.4) 7 (4.7) L5 66 (4.4) 44 (6.7) Alternative cable outlet Run out class as per IEC/DIN Normal class Flange 4 Name plate 5 Stripping length to be determine 6 Cable gland entry Mx.5, optional M5x.5 7 Shaft seal 8 Optional shaft key Notes: NEMA/IEC metric mounting Rev. C, October 6

27 Size 6 Low Voltage 5 V DC, Type G-6LM General Characteristics Characteristics Units G-6LM (L5) Maximum torque M max Nm (lbf in) 4. (55) G-6LM4 (L) (76) G-6LM6 (L45) 9.65 (,59) G-6LM8 (L6) (,4) G-6LM9 (L9) 9.4 (,8) Maximum current I max A rms Maximum speed n max r/min 6, 4,66,9,7,6 Torque constant k T Nm/A rms (lbf in/a rms ).65 (5.8).87 (7.7).5 (9.). (.7).57 (.9) Voltage constant k e V rms /k r/min Thermal time constant t th s,698,86,775,85 4, Winding resistance at 5 C R tt Ohm (77 F) (phase to phase) Winding inductance L tt mh (phase to phase) Rotor inertia with resolver J kg cm ( -4 lbf in s ) 7.5 (4) 5.8 (46) 76.9 (68).7 (9) 5.8 (,7) Rotor inertia with encoder J kg cm ( -4 lbf in s ) 7.5 (4) 5.8 (46) 76.9 (68).7 (9) 5.8 (,7) Weight (without brake) m kg (lb) 5. (.). (46.5) 7. (59.8). (7) 44.9 (99) Rev. C, October 7

28 Size 6 Low Voltage 5 V DC, Type G-6LM Characteristics Based on Temperature Class T Characteristics Units G-6LM (L5) at 4 C (4 F) Continuous stall current at 4 C (4 F) G-6LM4 (L) G-6LM6 (L45) G-6LM8 (L6) G-6LM9 (L9) M Nm (lbf in).9 (4) 5.57 (6) 6.6 () 47.5 (49) 66.7 (59) I A rms Rated torque at 4 C (4 F) M N Nm (lbf in) 7.96 (7.5) 6.5 (46).8 (5). (76) 9.9 (5) Rated speed at 4 C (4 F) n N r/min 4,,,5,, rated speed at 4 C (4 F) at 5 C ( F) kw (hp).5 (4.5) 5.8 (6.9) 6.7 (8.) 7.88 (9.6) 8.6 (.) M Nm (lbf in).8 ().77 () 4.6 (4) (97) 65.7 (58) Rated torque at 5 C ( F) M N Nm (lbf in) 7.6 (64.).56 ().9 (8) 7.66 (45) 9.7 (5) Rated speed at 5 C ( F) n N r/min 4,,,5,, rated speed at 5 C ( F) at 6 C (4 F) kw (hp).4 (4.) 4.6 (5.7) 5.4 (7.) 6.7 (8.5) 8. (.) M Nm (lbf in).75 (4).94 ().9 (9) 4. (8) 6.4 (56) Rated torque at 6 C (4 F) M N Nm (lbf in) 6.6 (55.4).49 () 8.6 (6) 5.7 (8) 6.87 (6) Rated speed at 6 C (4 F) n N r/min 4,,,5,, rated speed at 6 C (4 F) at 7 C (58 F) kw (hp).64 (.5).9 (5.) 4.88 (6.4) 5.98 (7.9) 7.7 (.4) M Nm (lbf in).85 (96).8 (84) 9.9 (65) 9. (48) (5) Rated torque at 7 C (58 F) M N Nm (lbf in) 6.87 (6.8).76 () 8.57 (64) 4.8 ().98 () Rated speed at 7 C (58 F) n N r/min,,4,,8,7 kw (hp).4 (.).8 (4.).89 (5.) 4.68 (6.) 6.49 (8.) rated speed at 7 C (58 F) M Nm (lbf in) 9.96 (88.) 9. (69) 7.64 (45) 6. () 5.87 (468) at 8 C (76 F) Rated torque at 8 C (76 F) M N Nm (lbf in) 6.44 (57).9 (5) 7. (5).56 (). (75) Rated speed at 8 C (76 F) n N r/min,8,,8,6,5 kw (hp).889 (.5).66 (.5).4 (4.).78 (5.) (6.5) rated speed at 8 C (76 F) M Nm (lbf in) 8.9 (78.9) 6.6 (47) 4. ().5 (77) (44) at 9 C (94 F) Rated torque at 9 C (94 F) M N Nm (lbf in) 5.98 (5.9).85 (96) 5. (4) 9.7 (69) 6. () Rated speed at 9 C (94 F) n N r/min,,6,4,,5 kw (hp).44 (.9).87 (.4).6 ().596 (.5) 4.9 (5.5) rated speed at 9 C (94 F) M Nm (lbf in) 7.9 (64.5) 4.4 (8).7 (8) 7.6 (4) (95) at C ( F) Rated torque at C ( F) M N Nm (lbf in) 4. (5.4) 8.6 (76.). (5) 7. (5).6 (9) Rated speed at C ( F) n N r/min,,4,,,5 rated speed at C ( F) kw (hp).88 (.).6 (.7).5 ().79 (.4).9 (4.) Rev. C, October 8

29 Size 6 Low Voltage 5 V DC, Type G-6LM Characteristics Based on Temperature Class T4 Characteristics Units G-6LM (L5) at 4 C (4 F) Continuous stall current at 4 C (4 F) G-6LM4 (L) G-6LM6 (L45) G-6LM8 (L6) G-6LM9 (L9) M Nm (lbf in).9 (4) 5.57 (6) 6.6 () 47.5 (49) 66.7 (59) I A rms Rated torque at 4 C (4 F) M N Nm (lbf in) 7.96 (7.5) 6.5 (46).8 (5). (76) 9.9 (5) Rated speed at 4 C (4 F) n N r/min 4,,,5,, kw (hp).5 (4.5) 5.8 (6.9) 6.7 (8.) 7.88 (9.6) 8.6 (.) rated speed at 4 C (4 F) M Nm (lbf in).8 ().77 () 4.6 (4) (97) 65.7 (58) at 5 C ( F) Rated torque at 5 C ( F) M N Nm (lbf in) 7.6 (64.).56 ().9 (8) 7.66 (45) 9.7 (5) Rated speed at 5 C ( F) n N r/min 4,,,5,, rated speed at 5 C ( F) at 6 C (4 F) kw (hp).4 (4.) 4.6 (5.7) 5.4 (7.) 6.7 (8.5) 8. (.) M Nm (lbf in).6 ().44 (99).4 (87) 4.6 (75) 6. (549) Rated torque at 6 C (4 F) M N Nm (lbf in) 5.99 (5).9 () 7.4 (5).7 () 8.8 (44) Rated speed at 6 C (4 F) n N r/min 4,,,5,,8 kw (hp).59 (.4).546 (4.8) 4.54 (6.) (7.) 7.9 (9.8) rated speed at 6 C (4 F) M Nm (lbf in).85 (96).8 (84) 9.9 (65) 9. (48) (5) at 7 C (58 F) Rated torque at 7 C (58 F) M N Nm (lbf in) 6.87 (6.8).76 () 8.57 (64) 4.8 ().98 () Rated speed at 7 C (58 F) n N r/min,,4,,8,7 kw (hp).4 (.).8 (4.).89 (5.) 4.68 (6.) 6.49 (8.) rated speed at 7 C (58 F) M Nm (lbf in) 9.96 (88.) 9. (69) 7.64 (45) 6. () 5.87 (468) at 8 C (76 F) Rated torque at 8 C (76 F) M N Nm (lbf in) 6.44 (57).9 (5) 7. (5).56 (). (75) Rated speed at 8 C (76 F) n N r/min,8,,8,6,5 rated speed at 8 C (76 F) kw (hp).889 (.5).66 (.5).4 (4.).78 (5.) (6.5) Rev. C, October 9

30 Size 6 Low Voltage 5 V DC, Type G-6LM Characteristics Based on Temperature Class T5 Characteristics Units G-6LM (L5) at 4 C (4 F) G-6LM4 (L) G-6LM6 (L45) G-6LM8 (L6) G-6LM9 (L9) M Nm (lbf in). (9.) 9.8 (75) 8.64 (5) 7.4 () (485) Rated torque at 4 C (4 F) M N Nm (lbf in) 6.47 (57.).5 (7) 7.4 (5).9 (5) 4.76 (8) Rated speed at 4 C (4 F) n N r/min,7,,7,5, rated speed at 4 C (4 F) kw (hp).8 (.5).5 (.4).87 (4.).644 (4.9) 4.7 (6.) Characteristics Based on Temperature Class T6 Characteristics Units G-6LM (L5) at 4 C (4 F) G-6LM4 (L) G-6LM6 (L45) G-6LM8 (L6) G-6LM9 (L9) M Nm (lbf in) 8.96 (79.) 7. (5) 4.87 ().9 (86) 47. (49) Rated torque at 4 C (4 F) M N Nm (lbf in) 5.7 (5.5).87 (96.).86 () 8.86 (67) 6.9 () Rated speed at 4 C (4 F) n N r/min,,5,4,, rated speed at 4 C (4 F) kw (hp).56 (.7).78 (.). (.7).7 (.).9 (4.) Rev. C, October

31 Size 6 High Voltage 565 V DC, Type G-6LV General Characteristics Characteristics Units G-6LV (L5) Maximum torque M max Nm (lbf in) 4.5 (55) G-6LV4 (L) (76) G-6LV6 (L45) 9.64 (,59) G-6LV8 (L6) 59.5 (,4) G-6LV9 (L9) 9. (,8) Maximum current I max A rms Maximum speed n max r/min 7, 5,85 4,47,5,5 Torque constant k T Nm/A rms (lbf in/a rms ).98 (8.7). (.7).59 (4.). (8.8).7 (.) Voltage constant k e V rms /k r/min Thermal time constant t th s,698,86,775,85 4, Winding resistance at 5 C R tt Ohm (77 F) (phase to phase) Winding inductance L tt mh (phase to phase) Rotor inertia with resolver J kg cm ( -4 lbf in s ) 7.5 (4) 5.8 (46) 76.9 (68).7 (9) 5.8 (,7) Rotor inertia with encoder J kg cm ( -4 lbf in s ) 7.5 (4) 5.8 (46) 76.9 (68).7 (9) 5.8 (,7) Weight (without brake) m kg (lb) 5. (.). (46.5) 7. (59.8). (7) 44.9 (99) Rev. C, October

32 Size 6 High Voltage 565 V DC, Type G-6LV Characteristics Based on Temperature Class T Characteristics Units G-6LV (L5) at 4 C (4 F) Continuous stall current at 4 C (4 F) G-6LV4 (L) G-6LV6 (L45) G-6LV8 (L6) G-6LV9 (L9) M Nm (lbf in).85 (4) 4.95 () 6.4 () 47. (49) (59) I A rms Rated torque at 4 C (4 F) M N Nm (lbf in) 7.9 (7.) 6.9 (4).7 (5).6 (76) 9.89 (5) Rated speed at 4 C (4 F) n N r/min 4,,,5,, rated speed at 4 C (4 F) at 5 C ( F) kw (hp). (4.5) 5.55 (6.8) 6.66 (8.) 7.8 (9.6) 8.55 (.) M Nm (lbf in). (9).9 (5) 4.4 (4) 44.8 (97) (58) Rated torque at 5 C ( F) M N Nm (lbf in) 7. (64). (7).8 (8) 7.6 (45) 9.7 (5) Rated speed at 5 C ( F) n N r/min 4,,,5,, kw (hp).7 (4.) 4.56 (5.6) 5.6 (7.) 6.66 (8.5) 8.8 (.) rated speed at 5 C ( F) M Nm (lbf in).7 (4).8 (98).9 (9) 4.6 (8) 6.9 (56) at 6 C (4 F) Rated torque at 6 C (4 F) M N Nm (lbf in) 6.4 (55.).8 (8) 8.5 (6) 5.7 (7) 6.84 (6) Rated speed at 6 C (4 F) n N r/min 4,,,5,, kw (hp).6 (.5).86 (5.) 4.86 (6.4) 5.9 (7.9) 7.78 (.) rated speed at 6 C (4 F) M Nm (lbf in).8 (95.6). (8) 9.9 (65) 9.7 (48) (59) at 7 C (58 F) Rated torque at 7 C (58 F) M N Nm (lbf in) 6.84 (6.5).45 () 8.56 (64) 4.8 (9).96 () Rated speed at 7 C (58 F) n N r/min,,4,,8,7 kw (hp).9 (.).9 (4.).887 (5.) (6.) 6.46 (8.) rated speed at 7 C (58 F) M Nm (lbf in) 9.9 (87.8) 8.65 (65) 7.6 (44) 6.6 (9) 5.84 (468) at 8 C (76 F) Rated torque at 8 C (76 F) M N Nm (lbf in) 6.4 (56.7).59 () 6.98 (5).54 (99). (74) Rated speed at 8 C (76 F) n N r/min,8,,8,6,5 kw (hp).88 (.5).55 (.4). (4.).777 (5.) 4.87 (6.5) rated speed at 8 C (76 F) M Nm (lbf in) 8.87 (78.5) 6. (4).99 (). (77) 49.9 (44) at 9 C (94 F) Rated torque at 9 C (94 F) M N Nm (lbf in) 5.95 (5.7).57 (9.6) 5. (4) 9.5 (69) 6. () Rated speed at 9 C (94 F) n N r/min,,6,4,,5 kw (hp).44 (.9).77 (.4).5 ().594 (.5) 4.7 (5.5) rated speed at 9 C (94 F) M Nm (lbf in) 7.6 (64.) 4.8 (5).7 (8) 7.4 (4) 4. (54) at C ( F) Rated torque at C ( F) M N Nm (lbf in).98 (5.) 8.8 (74.). (5) 7.8 (5).6 (9) Rated speed at C ( F) n N r/min,,4,,,5 rated speed at C ( F) kw (hp).84 (.).9 (.6).5 ().789 (.4).9 (4.) Rev. C, October

33 Size 6 High Voltage 565 V DC, Type G-6LV Characteristics Based on Temperature Class T4 Characteristics Units G-6LV (L5) at 4 C (4 F) Continuous stall current at 4 C (4 F) G-6LV4 (L) G-6LV6 (L45) G-6LV8 (L6) G-6LV9 (L9) M Nm (lbf in).85 (4) 4.95 () 6.4 () 47. (49) (59) I A rms Rated torque at 4 C (4 F) M N Nm (lbf in) 7.9 (7.) 6.9 (4).7 (5).6 (76) 9.89 (5) Rated speed at 4 C (4 F) n N r/min 4,,,5,, kw (hp). (4.5) 5.55 (6.8) 6.66 (8.) 7.8 (9.6) 8.55 (.) rated speed at 4 C (4 F) M Nm (lbf in). (9).9 (5) 4.4 (4) 44.8 (97) (58) at 5 C ( F) Rated torque at 5 C ( F) M N Nm (lbf in) 7. (64). (7).8 (8) 7.6 (45) 9.7 (5) Rated speed at 5 C ( F) n N r/min 4,,,5,, kw (hp).7 (4.) 4.56 (5.6) 5.6 (7.) 6.66 (8.5) 8.8 (.) rated speed at 5 C ( F) M Nm (lbf in).58 ().89 (94).4 (87) 4. (74) 6. (549) at 6 C (4 F) Rated torque at 6 C (4 F) M N Nm (lbf in) 5.96 (5.8). (97.4) 7. (5).7 () 8.8 (4) Rated speed at 6 C (4 F) n N r/min 4,,,5,,8 kw (hp).497 (.).455 (4.6) 4.5 (6) 5.46 (7.) 7.5 (9.8) rated speed at 6 C (4 F) M Nm (lbf in).8 (95.6). (8) 9.9 (65) 9.7 (48) (59) at 7 C (58 F) Rated torque at 7 C (58 F) M N Nm (lbf in) 6.84 (6.5).45 () 8.56 (64) 4.8 (9).96 () Rated speed at 7 C (58 F) n N r/min,,4,,8,7 kw (hp).9 (.).9 (4.).887 (5.) (6.) 6.46 (8.) rated speed at 7 C (58 F) M Nm (lbf in) 9.9 (87.8) 8.65 (65) 7.6 (44) 6.6 (9) 5.84 (468) at 8 C (76 F) Rated torque at 8 C (76 F) M N Nm (lbf in) 6.4 (56.7).59 () 6.98 (5).54 (99). (74) Rated speed at 8 C (76 F) n N r/min,8,,8,6,5 rated speed at 8 C (76 F) kw (hp).88 (.5).55 (.4). (4.).777 (5.) 4.87 (6.5) Rev. C, October

34 Size 6 High Voltage 565 V DC, Type G-6LV Characteristics Based on Temperature Class T5 Characteristics Units G-6LV (L5) at 4 C (4 F) G-6LV4 (L) G-6LV6 (L45) G-6LV8 (L6) G-6LV9 (L9) M Nm (lbf in).8 (9) 9. (7) 8.6 (5) 7.7 () (485) Rated torque at 4 C (4 F) M N Nm (lbf in) 6.45 (57.).74 (4) 7. (5).7 (5) 4.74 (7) Rated speed at 4 C (4 F) n N r/min,7,,7,5, rated speed at 4 C (4 F) kw (hp).8 (.4).459 (.).85 (4.).64 (4.9) 4.7 (6.) Characteristics Based on Temperature Class T6 Characteristics Units G-6LV (L5) at 4 C (4 F) G-6LV4 (L) G-6LV6 (L45) G-6LV8 (L6) G-6LV9 (L9) M Nm (lbf in) 8.9 (78.9) 6.78 (49) 4.86 ().5 (85) 47.7 (48) Rated torque at 4 C (4 F) M N Nm (lbf in) 5.68 (5.).6 (9.8).85 () 8.84 (67) 6.7 () Rated speed at 4 C (4 F) n N r/min,,5,4,, rated speed at 4 C (4 F) kw (hp).5 (.7).665 (.). (.7).68 (.).7 (4.) Rev. C, October 4

35 Size 6 Motor Characteristics Type G-6L Temperature Class T4 Ambient Temperature 4 C (4 F) G-6LM (L5) G-6LM4 (L) ,4,8 4, 5,6 7,,4,8 4, 5,6 7, G-6LM6 (L45) G-6LM8 (L6) ,,, 4, 5, 8,6,4, 4, Continuous torque Maximum torque Torque constant k T Rev. C, October 5

36 Size 6 Motor Characteristics Type G-6L Temperature Class T4 Ambient Temperature 4 C (4 F) G-6LM9 (L9) ,6,4, 4, Continuous torque Maximum torque Torque constant k T Rev. C, October 6

37 Size 6 Motor Characteristics Type G-6L Temperature Class T4 Ambient Temperature 4 C (4 F) G-6LV (L5) G-6LV4 (L) ,4,8 4, 5,6 7,,4,8 4, 5,6 7, G-6LV6 (L45) G-6LV8 (L6) ,,, 4, 5, 8,6,4, 4, Continuous torque Maximum torque Torque constant k T Rev. C, October 7

38 Size 6 Motor Characteristics Type G-6L Temperature Class T4 Ambient Temperature 4 C (4 F) G-6LV9 (L9) ,6,4, 4, Continuous torque Maximum torque Torque constant k T Rev. C, October 8

39 Size 6 Type G-6L, Dimensions 4x9 5 (.8) 45 4 (.58) (.9) Ø 5 (8.47) 4xØ.6 (.54) Ø 5 (9.84) 9 (7.48) 8 (.5) 4. (.56) 5 A 4 (.6) 9 (.75) A A B 4 6 (.6) Ø ( ) Ø ( ) 8 (.) Section A-A (.9) 5 (.8) 9 Detail B ( ) - Ø ( ) Ø Cable Gland 6 Sectional view for connection cable 8 7 Stack length Dimension A Resolver without brake Encoder without brake Dimension A Resolver with brake Encoder with brake mm (in) mm (in) L5 () 89 (5.) L 69 (4.5) 47 (6.8) L45 47 (6) 465 (8.) L6 446 (7.6) 54 (9.8) L9 5 (.6) 58 (.8) Notes: NEMA/IEC metric mounting Alternative cable outlet Lifting eye bolts Run out class as per IEC/DIN Normal class 4 Flange 5 Name plate 6 Stripping length to be determine 7 Cable gland entry Mx.5 and M5x.5, optional Mx.5 8 Shaft seal 9 Optional shaft key Rev. C, October 9

40 Wiring Diagram MOTOR VOLTAGE SUPPLY U V W U V W BLACK WHITE RED POWER CONNECTION N/S BRAKE CONNECTION (OPTIONAL) VOLTAGE SUPPLY BRAKE + + BLACK RED ELECTROMAGNETIC BRAKE THERMAL SENSOR CONNECTION TEMPERATURE MONITORING DEVICE PRIMARY PTC PRIMARY PTC PRIMARY OPTIONAL CONNECTION SECONDARY THERMISTOR SECONDARY THERMISTOR OPTIONAL FEEDBACK CONNECTION CONTROLLER FEEDBACK DEVICE Rev. C, October 4

41 Bearing Load Diagrams Maximum Permissible Shaft Load G-5L The maximum permissible radial load depends on desired service life. 7,5 Permissible Radial Load [lbf] The bearing load curves display servo motor configurations (motor speed: radial loads) that support an operational life of, hours (Lh). 6, G-5Lx (L) For maximum axial loads values for individual servo motor models, see the table below. Consult Moog for extended service life requirements or alternate load conditions. Note: Load capacity referenced to middle of output shaft. 4,5, G-5Lx4 (L) G-5Lx6 (L) G-5Lx8 (L5) Type Axial load during operation [N (lbf)] Axial load during installation [N (lbf)],5 G-L 75 (7) 5 (4) G-5L (45) 4 (9) 4 8, Permissible Radial Load [N],6 G-6L 5 (56) 5 () G-L G-6L 6, Permissible Radial Load [lbf] , 9 Permissible Radial Load [lbf] ,, G-Lx (L5) 7, G-6Lx (L5), 8, 6, G-Lx4 (L5) G-Lx6 (L5) G-Lx8 (L4) 6, 4,5, G-6Lx4 (L) G-6Lx6 (L45) G-6Lx8 (L6) G-6Lx9 (L9) 4,,,5 Permissible Radial Load [N] ,,6 Permissible Radial Load [N],,4 Rev. C, October 4

42 Background Defining the Hazardous Location and Servo Motor Sizing This application note aims to provide the user with some tools and guidelines for the correct motor sizing for a new application. When a fully optimized system is required, please contact your local Moog application engineers. Its important to define the hazardous location before the selection of the motor. IEC 679- defines the methodology for classifying hazardous location. The classification could be in terms of the following points. Zone of operation Type of gas present Type of dust present Temperature rating of the motor Type of connection required (cable gland with cable length required) Type of ingress protection required. Based on the hazardous location classification, certification of motor is defined. The Moog ExD Servo Motor Series have been certified by UL for ATEX and IECEx certification wherein the certification code defines the application to be II C for gasses and III C for dust protection, with permissible maximum surface temperature range from +85 to + C (+85 to +9 F) based on ignition temperature class. In addition safety options provided to comply with hazardous environment certifications, explosion proof motors are equipped with a primary set of thermistor which is always a PTC thermal sensor. This PTC thermal sensor must be connected to a temperature monitoring device which in turn should trip the motor when a motor cross the maximum allowable temperature. For selection of temperature monitoring device contact our local application engineer. Once the hazardous location and the certification requirement of the motor have been defined, the sizing of the motor can be done. Validation may be necessary to ensure the correct thermal and electric sizing of the motor. Contact our local application engineer for additional information and support. Rev. C, October 4

43 Background About Moog Moog Inc. is a worldwide designer, manufacturer and integrator of precision control components and systems. Moog s Industrial Group designs and manufactures high performance motion control solutions combining electric, hydraulic, and hybrid technologies with expert consultative support in a range of applications including energy production and generation machinery, industrial production machinery and simulation and test equipment. We help performance-driven companies design and develop their next-generation machines. Moog Industrial Group, with fiscal year sales of USD 64 million and locations in 6 countries, is part of Moog Inc. (NYSE:MOG.A and MOG.B) which has sales of USD.47 billion. This vast scope ensures that our engineers remain close to the needs of machine builders and provide flexible design solutions and technical expertise tailored to our customers toughest challenges. Moog experts work in close collaboration with machine builders and application engineers to design motion control systems for greater productivity, higher reliability, superior connectivity, less costly maintenance and more effective operations. Our regional presence, industry knowledge and design flexibility ensures Moog motion control solutions are tailored to their environment from meeting operating regulations and performance standards, to taking machine performance to a higher level. Servo Drives Servo Motors Products At the heart of every Moog solution is an array of products engineered for precision, high performance and reliability. For more than six decades, Moog products have been specified for critical machine applications. Some are developed specifically for unique operating environments. Others are standard equipment on machines across many industries. All are continuously improved to take advantage of the latest technology breakthroughs and advancements. Servo Valves Moog products include: Servo Valves and Proportional Valves Servo Motors and Servo Drives Servo Controllers and Software Radial Piston Pumps Actuators Integrated Hydraulic Manifold Systems and Cartridge Valves Slip Rings Motion Bases Radial Piston Pumps Rev. C, October 4

44 Background About Moog Solutions Hydraulic solutions Since Bill Moog invented the first commercially viable servo valve in 95, Moog has set the standard for worldclass hydraulic technology. Today, Moog products are used in a variety of applications - providing high power, enhanced productivity and ever better performance for some of the worlds most demanding applications. Electric solutions Clean operation, low noise generation, less maintenance and reduced power consumption make Moog electric solutions ideal for applications worldwide. Moog is the ideal partner for applications where transitioning technologies requires special expertise. Flight Simulation Hybrid solutions By incorporating the advantages of existing hydraulic and electric technologies - including modular flexibility, increased efficiency and cleanliness - into innovative hybrid solutions, Moog offers new performance potential in specialized applications. Moog Global Support Moog Global Support is our promise to offer world-class Repair and Maintenance Services delivered expertly by our trained technicians. With the reliability only available from a leading manufacturer with facilities around the world, Moog offers you service and expertise you can count on to keep your equipment operating as it should. This promise offers many benefits to our customers including: Reduce your downtime by keeping critical machines running in peak performance Protect your investment by ensuring reliability, versatility and long-life of products Better plan your maintenance activities and make systematic upgrades Leverage our flexible programs to meet the unique service requirements of your facility Look to Moog for global support including: Formula One Simulation Table Flexible programs, tailored to your needs such as upgrades, preventative maintenance and annual/multiyear contracts On-site services bring the expertise to you, providing quicker commissioning, set-up and diagnostics Access to reliable services that are guaranteed to offer consistent quality anywhere in the world For more information on Moog Global Support visit Repair services using OEM parts are performed by trained technicians to the latest specifications Stock management of spare parts and products to prevent unplanned downtime Rev. C, October 44