COMPARISON OF PERFORMANCE FEATURES

Transcription

1 SERVODISC CATALOG

2 A new dimension in performance If you are involved with high performance servomotor applications, there is an important motor technology which you should know about. It s the technology found in ServoDisc motors from Kollmorgen. What separates the ServoDisc motor from conventional DC servos is its ironless disc armature. As we shall see, this difference enables ServoDisc motors to deliver a level of performance, in both incremental motion and continuous speed applications, which is not attainable with conventional ironcore motor designs. In addition to performance advantages, ServoDisc motors have a unique compact shape that can be an attractive alternative when solving tight packaging problems. Ironcore Motor ROTATION Unique ironless design In a conventional slot-wound servomotor, the armature is constructed from a heavy, laminated ironcore wound with coils of wire. In a ServoDisc motor, the armature has no iron. Instead, it is constructed from several layers of copper conductors in a unique flat-disc configuration. Not only are the armature designs completely different, so is the shape and internal construction. In a conventional servo, the permanent magnets are mounted on the motor shell creating a radial magnetic field, perpendicular to the shaft (Fig. 1). Because the magnet pairs are so far apart, the iron core of the armature is needed to contain and focus the lines of magnetic flux. Motors of this type are typically long, thin and heavy. In a ServoDisc motor, the magnets are mounted on the end plates creating an axial magnetic field, parallel to the shaft. S N S N ServoDisc Motor A conventional ironcore motor uses a radial design with magnets placed concentrically around the shaft in such a way as to produce a radial magnetic field. (Fig. 1) The armature consists of slotted steel laminations wound with coils of wire which interact with the magnetic field to produce torque. As the motor rotates a commutator automatically maintains the correct current flow. A ServoDisc motor uses entirely different physical construction. The motor is designed with the magnetic field aligned axially, parallel to the shaft. (Fig. 2) The conductors in the armature have a current flow which is perpendlcular to the magnetic field (radial to the shaft). This produces a torque perpendicular to both the magnetic field and the current (the left-hand rule). This force rotates the shaft. This construction approach is much more efficient than the radial design of conventional ironcore motors and eliminates the heavy iron armature and the electrical losses associated with it. The large number of commutations possible with Kollmorgen s unique flat armature produce dramatically smoother torque output. This leads to a very small air gap be tween the magnets, separated only by the thickness of the disc armature - a very clean and effective design approach. is created when the current flowing radially through the copper conductors interacts directly with the field of the permanent magnets (Fig. 2). This configuration is a very efficient way of producing torque. These different approaches produce dramatically different motors (Fig. 3). Outdistances other DC servos The iron-free ServoDisc armature provides some significant performance advantages for motion control applications. COMPARISON OF PERFORMANCE FEATURES Radians/sec 2 (Thousands) Conventional Ironcore Motor Rare Earth Ironcore Motor ServoDisc Motor Percentage of Full +5% +4% +3% +2% +1% -1% -2% -3% -4% -5% Conventional Ironcore 4% + Low cogging Ironcore + 1.5% ServoDisc "" cogging Size The ServoDisc armature is much smaller and lighter than bulky ironcore designs of equivalent output. Acceleration ServoDisc motors accelerate up to 1 times faster than conventional servo motors. Cogging The ironless ServoDisc armature has absolutely no cogging at any speed of operation.

3 Faster acceleration The thin, low-inertia armature design leads to exceptional torque-to-inertia ratios. This translates into blazing acceleration (Fig. 4). A typical ServoDisc motor can accelerate from to 3 rpm in only 6 degrees of rotation. In some applications, the entire move can be performed in less than 1 milliseconds. This means shorter cycle times, more moves per second and higher throughput. For incremental motion applications, this translates into higher productivity and more profitability. Milliseconds Conventional Ironcore Motor Rare Earth Ironcore Motor ServoDisc Motor Speed (RPM) Conventional Ironcore Speed (RPM) (oz-in) (7A) ServoDisc 5 1 (oz-in) (7A) Continuous Peak Conventional Ironcore Motor High Performance Ironcore Motor ServoDisc Motor Electrical Time Constant A very low electrical time constant results in torque much sooner than with conventional wire-wound motors. -Speed Curves With full torque from to full speed, ServoDisc motors solidly outperform conventional motors. Peak Capability High peak torque capability means more throughput than is available from standard servos.

4 Perfectly smooth rotation If you rotate a conventional motor when it is unpowered, you will notice that it pulls into certain preferred positions. This occurs when the iron laminations in the arma ture line up with the permanent magnets on the stator. This phenomenon is called cogging. It also occurs when the motor is powered and shows up as torque disturbances which can be a serious problem in critical applications. The ServoDisc armature, being ironless, is not attracted by the magnets and. consequently, has intrinsically zero cogging (Fig. 5). The result is ultra-smooth rotation at any speed. Long brush life Because there is no iron, there is nearly no inductance. The result is no arcing, because there is no stored energy in the armature to be dissipated during commutation. In an ironcore motor. a lot of energy is stored in the magnetic field of each coil. When this field collapses, the energy may be discharged by arcing to the brushes. Arcing, not friction, is the major cause of brush wear. The elimination of arcing leads to very long brush life in most applications. In fact, depending on the application, it is possible for the brushes to last as long as the bearings. High speed capability No arcing also means no commutation limits due to speed. In a conventional motor, arcing increases as speed increases and eventually causes motor operation to become erratic. ServoDisc motors do not suffer from this problem and can run to 4 rpm and above. Instantaneous torque Low inductance provides another advantage...low electrical time constant. This is a measure of how long it takes for current to flow into the armature. For ServoDisc motors, this is much less than one millisecond (Fig. 6). This means full torque almost instantly; a key to fast moves and accurate tracking. Extra torque on call For rapid acceleration and deceleration, higher than normal torque is usually required. To produce this temporary peak torque, a peak current is applied to the motor. In an iron-core design, the magnetic field of the armature can interact with and demagnetize the permanent magnets. Because of this effect, peak current is generally limited to 2 or 3 times the continuous current rating. With the non-magnetic ServoDisc armature and axial magnetic field, this problem is virtually eliminated. Most ServoDisc motors are rated for peak current of 1 times the continuous rating (Fig. 8). Sizes for every application ServoDisc motors use a very well behaved technology. As a result, products have been developed which cover a wide range of package sizes and power levels. Motors are presently available with torques from 1 oz-in to 2 lb-ft and power outputs from 3 watts to 4.5 kilowatts. This means a product match for nearly every application. Easy to design in The disc armature design leads to a unique flat motor package. This is generally easier to design in than much longer conventional motors. From a performance standpoint, this shape provides closer physical coupling and better torsional stiffness. These key factors can optimize your mechanical design. Full torque from to 4 rpm In a conventional motor there are losses associated with rotating the iron armature in a magnetic field. These losses increase with speed, so as the motor goes faster, it uses more and more of its available torque just to keep itself turning. Consequently, less torque is left to deliver to the output shaft (Fig. 7A). ServoDisc motors do not have these iron-associated losses and, as a result, deliver more torque over their entire speed range. In fact, the torque is almost constant from to 4 rpm (Fig. 7B). Compare this performance with the torque-speed characteristics of a conventional motor. When sizing a conventional motor, the torque drop-off with speed may require you to select the next higher size to get sufficient torque at high speed. You will never have this problem with a ServoDisc motor.

5 TABLE OF CONTENTS Kollmorgen ServoDisc Kollmorgen PLATINUM Series 6 U-Series 14 S-Series 26 Ferrite Series 31 Ferrite Kit Series 39 N-Series 43 JR-Series 48 Gearmotor Series 56 Accurex Gearmotor Series 57 Revex Gearmotor Series 6 Indurex Gearmotor Series 68 Ferrite Series 7 Kollmorgen Motion Technologies Group Commack, New York SERVO 5

6

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25 U-Series ServoDisc INTRODUCTION Options: -- Integral tachometers -- External tachometers -- Optical encoders -- Fail-safe brakes Compatible Products KXA Plus Amplifier EM19 Linear Amplifier 39 to 42 oz-in (27-284)N-cm continuous torque Motor Lengths Less Than to 7.37 OD Round Frame Optional Tachometer and Encoder Feedback U-Series ServoDisc motors employ the unique Kollmorgen flat disc armature. The ironless, low inertia armature delivers high acceleration and zero cogging in an excpetionally compact package. Extremely good speed control with zero cogging and low RFI Long brush life Flat ServoDisc motors are ideal for many applications: -- Save space and weight in applications requiring a low profile motor -- Large torsional stiffness for precision control of speed and acceleration 14 Kollmorgen Motion Technologies Group Commack, New York SERVO

26 PERFORMANCE DATA U-Series ServoDisc Performance Specifications Symbol Units U9M4LR U9M4 U9M4A U9M4H U9M4HA U9M4HA-2 oz-in Peak T p N-cm Rated Speed N RPM oz-in Rated 25 C T 25 N-cm oz-in Rated 4 C T 4 N-cm Rated Power Output P Watts Maximum Recommended Speed Nmax RPM oz-in Continous Stall T s N-cm Cogging T c oz-in Electrical Specifications Rated Terminal Voltage E Volts Rated Continuous Current I Amps Peak Current I p Amps Continuous Stall Current I s Amps Winding Specifications Terminal Resistance ± 1% R t Ohms Armature Resistance ± 1% R a Ohms Back EMF Constant ± 1% K e V/KRPM Constant ± 1% Kt oz-in/amp N-cm/Amp oz-in/krpm Viscous Damping Constant K d N-cm/KRPM Armature Inductance L µh <25 <1 <1 <1 <1 <1 Temperature Coefficient of KE C %/ C Rise Number of Cummutator Bars Z Mechanical Specifications oz-in-sec Moment of Inertia J m kg-m oz-in Static Friction T f N-cm Weight W lbs kg Diameter D in mm Length LG in mm Figure of Merit Peak Acceleration A p krad/s Mechanical Time Constant T m ms Electrical Time Constant T e ms <.14 <.15 <.9 <.15 <.9 <.9 Continuous Power Rate P c kw/sec Thermal Specifications Thermal Resistance at Rated Speed RAAR C/Watt Thermal Resistance at Stall RAAS C/Watt Forced Air Thermal Resistance: with 2. lbs/min Forced Air RAA3 C/Watt Notes: 1) All values are based upon a 15 C armature temperature limit and with the motor mounted on an 8 x 16 x 3/8 aluminum heatsink with no forced air cooling. Other voltages, speeds, and torques, and duty cycles are achievable as long as the mzx armature temperature of 15 C is not exceeded. 2) Mass air flow (lbs/min) = air volume (CFM) x air density (lbs/ft 3 ). 3) Terminal resistance is measured at 4. amps. RT varies as a function of applied current. Kollmorgen Motion Technologies Group Commack, New York SERVO 15

27 U-Series ServoDisc PERFORMANCE DATA Performance Specifications Symbol Units U12M4LR U12M4 U12M4A U12M4H U12M4HA U16M4 U16M4H oz-in Peak T p N-cm Rated Speed N RPM oz-in Rated 25 C T 25 N-cm oz-in Rated 4 C T 4 N-cm Rated Power Output P Watts Maximum Recommended Speed Nmax RPM oz-in Continous Stall T s N-cm Cogging T c oz-in Electrical Specifications Rated Terminal Voltage E Volts Rated Continuous Current I Amps Peak Current I p Amps Continuous Stall Current I s Amps Winding Specifications Terminal Resistance ± 1% R t Ohms Armature Resistance ± 1% R a Ohms Back EMF Constant ± 1% K e V/KRPM oz-in/amp Constant ± 1% K t N-cm/Amp oz-in/krpm Viscous Damping Constant K d N-cm/KRPM Armature Inductance L µh <25 <1 <1 <1 <1 <1 <85 Temperature Coefficient of KE C %/ C Rise Number of Cummutator Bars Z Mechanical Specifications oz-in-sec Moment of Inertia J m kg-m oz-in Static Friction T f N-cm lbs Weight W kg in Diameter D Length LG mm in mm Figure of Merit Peak Acceleration A p krad/s Mechanical Time Constant T m ms Electrical Time Constant T e ms <.15 <.16 <.1 <.1 <.1 <.14 <.11 Continuous Power Rate P c kw/sec Thermal Specifications Thermal Resistance at Rated Speed RAAR C/Watt Thermal Resistance at Stall RAAS C/Watt Forced Air Thermal Resistance: with 2. lbs/min Forced Air RAA3 C/Watt ) Unless otherwise noted, all specifications above apply at 25 C. 5) Peak torque and current is calculated based on max pulse duration of 5 millisecond and a 1% duty cycle. 6) The operating current can be calculated as: I = ( torque + TF + KD x N/1) / KT. 7) The operating voltage can be calculated as: V = KE x (N/1) + RT x I. 16 Kollmorgen Motion Technologies Group Commack, New York SERVO

28 E= E= PERFORMANCE DATA U-Series ServoDisc U9M4LR-STD 4 U9M4HA-STD 4 E= E= E= E= E= E= 9.45 Air Flow = 2. lb/min Air Flow =.4 lb/min 2 1 E= E= 26.2 Air Flow =.4 lb/min Air Flow =.8 lb/min Air Flow =.8 lb/min Air Flow = 2. lb/min oz-in N-cm oz-in N-cm U9M4H-STD 4 E= U9M4HA-2 STD 4 E= E= 5.6 E= 3.4 Air Flow = 2. lb/min 2 1 E= Air Flow =.4 lb/min Air Flow =.8 lb/min 2 1 E= 2.2 Air Flow =.4 lb/min oz-in N-cm Air Flow =.8 lb/min oz-in N-cm Air Flow = 2. lb/min U9M4-STD 4 U12M4LR-STD 4 E= 24.5 E= 26 V E= 21 V 2. lb/min 3 E= E= E= E= 16 V E= 11 V.4 lb/min.8 lb/min Air Flow =.4 lb/min Air Flow = 2. lb/min Air Flow =.8 lb/min oz-in N-cm (oz-in) (n-cm) Notes: A. All curves are drawn for a fixed armature temperature of 15 C. D. Determine the required cooling by locating the desired operating point on the B. The motor can be operated at any point on the graph below appropriate Constant cooling curve. 4 RPM. Higher speeds can be obtained for short periods of time. E. The operating current can be calculated as: Contact a Kollmorgen Sales Office for more details. I = ( torque + TF + KD x N/1) / KT. C. Determine voltage required for a desired combination of speed and F. The operating voltage can be calculated as: torque by locating it on the appropriate Constant terminal-voltage curve. V = KE x N/1 + RT x I. Kollmorgen Motion Technologies Group Commack, New York SERVO 17

29 U-Series ServoDisc PERFORMANCE DATA U12M4H-STD 4 U12M4A 4 E= 77 V E= 46.4 E= 62 V 3 3 E= E= 47 V E= 32 V 2 E= E= lb/min (oz-in) (n-cm).8 lb/min 2. lb/min 1 Air Flow =.4 lb/min Air Flow =.8 lb/min oz-in N-cm Air Flow = 2. lb/min U12M4-STD U16M4H 4 4 E= E= E= E= E= E= E= 94 E= 63 1 Air Flow =.4 lb/min Air Flow =.8 lb/min Air Flow = 2. lb/min 1 Air Flow =.4 lb/min Air Flow =.8 lb/min oz-in N-cm oz-in N-cm U12M4HA-STD 4 U16M4 4 E= 11 E= 65 V E= 81 V E= E= 49 V E= 33 V.4 lb/min.8 lb/min 2 E= 61 E= lb/min Air Flow =.4 lb/min Air Flow =.8 lb/min (oz-in) (n-cm) oz-in N-cm Notes: A. All curves are drawn for a fixed armature temperature of 15 C. D. Determine the required cooling by locating the desired operating point on the B. The motor can be operated at any point on the graph below appropriate Constant cooling curve. 4 RPM. Higher speeds can be obtained for short periods of time. E. The operating current can be calculated as: Consult a Kollmorgen Sales Office for more details. I = ( torque + TF + KD x N/1) / KT. C. Determine voltage required for a desired combination of speed and F. The operating voltage can be calculated as: torque by locating it on the appropriate Constant terminal-voltage curve. V = KE x N/1 + RT x I. 18 Kollmorgen Motion Technologies Group Commack, New York SERVO

30 DIMENSIONS U-Series ServoDisc U9M4 "A" TAP U9 & U12 X.21 (5.334) DP U16 X.25 DP 4 HOLES EQUALLY SPACED ON "B" DIA B.C. SEE NOTE 7 AND FLAT.1. X.5 LONG (.254) (12.7) TYP BOTH ENDS MOTOR LEADS NO. 18 AWG 12 IN. ± 1 IN. LG SEE NOTE 7 AND 8 45 ±5.53 DIA TYP 4 PLACES "C" DIA BOTH ENDS.19 (4.83) TYP "E" DIA "D" DIA "K" DIA 45 "G".22 (5.56) NO UNC - 2A THD 2 TERMINALS WITH NUTS L "F" "H" "J".5 (12.7) Dimensions in inches. Motors designed to English dimensions, note the metric equivalent. Motor A B Dia C Dia D Dia E Dia F G H J K Dia L Types Tap ± ±.1 ± 1/32 ±.1 ± 1/32 ± 1/32 Ref < ± 1/ U9M4LR (92.86).4995 (12.68) (84.9) 4.37 (11.99) 1 1 /4 (31.75).6 (1.52) 1 27 /32 (46.83) 1 3 /16 (3.16) 1.66 (42.16) 26 1 /2 U9M (92.86).4995 (12.68) (84.9) 4.37 (11.99) 1 1 /4 (31.75).6 (1.52) 1 27 /32 (46.83) 1 3 /16 (3.16) 1.66 (42.16) 26 1 /2 U9M4A (92.86).4995 (12.68) (84.9) 4.37 (11.99) 1 1 /4 (31.75).6 (1.52) 1 27 /32 (46.83) 1 3 /16 (3.16) 1.66 (42.16) 26 1 /2 U9M4H (92.86).4995 (12.68) (84.9) 4.37 (11.99) 1 1 /4 (31.75).6 (1.52) 2 13 /32 (61.11) 1 3 /16 (3.16) 1.66 (42.16) 26 1 /2 U9M4HA (92.86).4995 (12.68) (84.9) 4.37 (11.99) 1 1 /4 (31.75).6 (1.52) 2 13 /32 (61.11) 1 3 /16 (3.16) 1.66 (42.16) 26 1 /2 U9M4HA (92.86).3745 (9.51) (84.9) 4.37 (11.99) 1 1 /4 (31.75).6 (1.52) 2 25 /64 (6.72) 1 3 /16 (3.16) 1.66 (42.16) 26 1 /2 U9M4HA (92.86).3745 (9.51) (84.9) 4.37 (11.99) 1 1 /4 (31.75).6 (1.52) 2 25 /64 (6.72) 1 3 /16 (3.16) 1.66 (42.16) 26 1 /2 U12M4LR (123.82).4995 (12.68) 4.5 (114.3) 5.5 (139.7) 1 1 /4 (31.75).6 (1.52) 2 7 /64 (53.57) 1 3 /16 (3.16) 2.22 (56.38) 26 U12M (123.82).4995 (12.68) 4.5 (114.3) 5.5 (139.7) 1 1 /4 (31.75).6 (1.52) 2 7 /64 (53.57) 1 3 /16 (3.16) 2.22 (56.38) 26 U12M4A (123.82).4995 (12.68) 4.5 (114.3) 5.5 (139.7) 1 1 /4 (31.75).6 (1.52) 2 7 /64 (53.57) 1 3 /16 (3.16) 2.22 (56.38) 26 U12M4H (123.82).4995 (12.68) 4.5 (114.3) 5.5 (139.7) 1 /4 (31.75).6 (1.52) 2 25 /32 (7.64) 1 3 /16 (3.16) 2.22 (56.38) 26 U12M4HA (123.82).4995 (12.68) 4.5 (114.3) 5.5 (139.7) 1 /4 (31.75).6 (1.52) 2 25 /32 (7.64) 1 3 /16 (3.16) 2.22 (56.38) 26 U16M4 1/ (168.27).7496 (19.3) (155.54) 7.37 (187.19) 1 1 /4 (31.75).9 (2.28) 2 9 /16 (65.8) 1 5 /32 (29.36) 2.83 (71.88) 24 U16M4H 1/ (168.27).7496 (19.3) (155.54) 7.37 (187.19) 1 1 /4 (31.75).9 (2.28) 3.81 (76.96) 1.15 (29.21) 2.83 (71.88) 24 Kollmorgen Motion Technologies Group Commack, New York SERVO 19

31 U-Series ServoDisc DIMENSIONS MECHANICAL SPECIFICATIONS Notes: 1. Dia -A- runout not to exceed.1 in per in. 2. Pilot Dia -B- concentric to -A- within.3 in T.I.R. 3. Mounting surface -S- perpendicular to -A- within:.5 for U9M Series.7 for U12M Series.1 for U16M4. 4. end play.1 Max under a thrust in the direction shown of: 1 lbs for U9M and U12 Series 15 lbs for U16M4. 5. Max pure radial load, 1 from surface S : 18 lbs for U9HA-1 and -2, 25 lbs for U9M and U12M, 6 lbs for U12H and HA and 85 lbs for rated speed. 6. Max pure axial load is 8 lbs for U9HA-1 and -2, 11 lbs for U9M and U12M, 55 lbs for U12H and HA and 75 lbs for U16M. 7. Radial lead termination optional. 8. For U12M4H and U12M4HA, radial termination is standard. 2 Kollmorgen Motion Technologies Group Commack, New York SERVO

32 PERFORMANCE DATA (with Integral Tachometer) U-Series ServoDisc Performance Specifications Symbol Units U9M4T U9M4HT U12M4T U12M4HT U16M4T U16M4HT Peak T oz-in p N-cm Rated Speed N RPM Rated 25 C T oz-in N-cm Rated 4 C T oz-in N-cm Rated Power Output P Watts Maximum Recommended Speed Nmax RPM Continous Stall T oz-in s N-cm Cogging T c oz-in Electrical Specifications Rated Terminal Voltage E Volts Rated Continuous Current I Amps Peak Current I p Amps Continuous Stall Current I s Amps Winding Specifications Terminal Resistance ± 1% R t Ohms Armature Resistance ± 1% R a Ohms Back EMF Constant ± 1% K e V/KRPM Constant ± 1% K oz-in/amp t N-cm/Amp Viscous Damping Constant K oz-in/krpm d N-cm/kRPM Armature Inductance L µh <1 <1 <1 <1 <1 <85 Temperature Coefficient of KE C %/ C Rise Number of Cummutator Bars Z Mechanical Specifications Moment of Inertia J oz-in-sec m kg-cm Average Friction T oz-in f N-cm Weight W lbs kg Diameter D in mm Length LG in mm Figure of Merit Peak Acceleration A p krad/s Mechanical Time Constant T m ms Electrical Time Constant T e ms <.15 <.15 <.16 <.16 <.14 <.11 Continuous Power Rate P c kw/sec Thermal Specifications Thermal Resistance at Rated Speed RAAR C/Watt Thermal Resistance at Stall RAAS C/Watt Forced Air Thermal Resistance: with 2. lbs/min Forced Air RAA3 C/Watt Tachometer Specifications Output Voltage V Volts/KRPM Maximum Ripple Peak to Peak V rh % Linearity of Output Voltage LIN % Notes: 1) All values are based upon a 15 C armature temperature limit and with the motor 5) Peak torque and current is calculated based on max pulse duration of 5 milliseconds and mounted on an 8 x 16 x 3/8 aluminum heatsink with no forced air cooling. Other a 1% duty cycle. voltages, speeds, and torques, and duty cycles are achievable as long as the max 6) The operating current can be calculated as: I = ( torque + TF + KD x N/1) / KT. armature temperature of 15 C is not exceeded. 7) The operating voltage can be calculated as: V = KE x (N/1) + RT x I. 2) Mass air flow (lbs/min) = air volume (CFM) x air density (lbs/ft 3 ). 8) Tachometer ripple measured with a resistive load of 1 kohm and a single low pass filter 3) Terminal resistance is measured at 4. amps. RT varies as a function of applied current. with 3db cut off at 5 Hz. 4) Unless otherwise noted, all specifications above apply at 25 C. 9) Tachometer minimum load resistance of 5 ohms. Kollmorgen Motion Technologies Group Commack, New York SERVO 21

33 E= 4.43 U-Series ServoDisc PERFORMANCE DATA (with Integral Tachometer) U9M4T 4 U12M4T 4 E=22.83 E= E= 5.53 E= E= E= 3.32 E= 2.21 Air Flow =.8 lb/min Air Flow = 2. lb/min Air Flow = 2. lb/min Air Flow =.4 lb/min Air Flow =.8 lb/min Air Flow =.4 lb/min oz-in N-cm oz-in N-cm U9M4HT 4 E= U12M4HT 4 E= E= E= E= E= E= E= Air Flow = 2. lb/min Air Flow =.4 lb/min Air Flow =.8 lb/min oz-in N-cm Air Flow =.4 lb/min Air Flow =.8 lb/min oz-in N-cm Air Flow = 2. lb/min U16M4HT U16M4T 4 3 E= 116 E= E= 76 E= 95 2 E= 87 E= 58 2 E= 57 E= 38 Air Flow =.8 lb/min Air Flow =.4 lb/min Air Flow =.4 lb/min Air Flow =.8 lb/min Air Flow = 2. lb/min oz-in N-cm oz-in N-cm Notes: A. All curves are drawn for a fixed armature temperature of 15 C. D. Determine the required cooling by locating the desired operating point on the B. The motor can be operated at any point on the graph below appropriate Constant cooling curve. 4 RPM. Higher speeds can be obtained for short periods of time. E. The operating current can be calculated as: Consult a Kollmorgen Sales Office for more details. I = ( torque + TF + KD x N/1) / KT. C. Determine voltage required for a desired combination of speed and F. The operating voltage can be calculated as: torque by locating it on the appropriate Constant terminal-voltage curve. V = KE x N/1 + RT x I. 22 Kollmorgen Motion Technologies Group Commack, New York SERVO

34 DIMENSIONS (with Integral Tachometer) U-Series ServoDisc U9M4T 45 ± 5 P N TACH LEADS NO. 2 AWG 12 (34.8) ± 1 (25.4) "M" MOTOR LEADS NO. 18 AWG 12 (34.8) ± 1 (25.4) SEE NOTE 7.3 (.79) MAX "M" RAD "C" DIA BOTH ENDS +.1 FLAT.1. X.5 LONG (.254) (12.7) TYP BOTH ENDS.19 (4.83) TYP "E" DIA SEE NOTE (9.5) DIA 2 PL (REF) "D" DIA "A" TAP X.21 (U9 & U12) DP.25 DP (U16) 4 HOLES EQL SPACED ON "B" DIA B.C "G".22 (5.56) NO UNC - 2A THD 2 TERMINALS WITH NUTS SEE NOTE 8.5 (12.7).53 (13.46) DIA TYP 4 PL "F" "H" "J" Dimensions in inches. 45 "K" DIA L Motors designed to English dimensions, note the metric equivalent. Motor A B Dia C Dia D Dia E Dia F G H J K Dia L Types Tap ± ±.1 ± 1/32 ±.1 ± 1/32 ± 1/32 Ref < ± 1/ U9M4T (92.86).4995 (12.68) (84.9) 4.37 (11.99) 1.22 (3.98).6 (1.52) 1 55 /64 (47.22) 1.2 (3.48) 1.66 (42.16) 26 1 /2 U9M44HT (92.86).4995 (12.68) (84.9) 4.37 (11.99) 1/.6 (1.52) 2 13 /32 (61.11) 1 3 /16 (46.3) 1.66 (42.16) 26 1 /2 U12M4T (123.82).4995 (12.68) 4.5 (114.3) 5.5 (139.7) 1.23 (31.24).6 (1.52) 2 7 /64 (56.35) (3.35) 2.22 (56.38) 26 U12M4HT (123.82).4995 (12.68) 4.5 (114.3) 5.5 (139.7) 1 7 /32 (3.95).6 (1.52) 2 13 /16 (71.43) 1 13 /16 (46.3) 2.22 (56.38) 26 U16M4T 1/ (168.27).7496 (19.3) (155.54) 7.37 (187.19) 1.23 (31.24).9 (2.28) 2.98 (78.74) 1.15 (29.21) 2.83 (71.88) 24 U16M4HT 1/ (168.27).7496 (19.3) (155.54) 7.37 (187.19) 1.23 (31.24).9 (2.28) 2.98 (78.74) 1.17 (29.21) 2.83 (71.88) 24 Notes: 1. Dia -A- runout not to exceed.1 in per in. 5. Max pure radial load, 1 from surface S : 2. Pilot Dia -B- concentric to -A- within.3 in T.I.R. 25 lbs for U9 and U12M4T Series, 6 lbs for U12HT 3. Mounting surface -S- perpendicular to -A- within: and 85 lbs for U16M4T at rated speed..5 for U9M Series 6. Max pure axial load is 11 lbs for U9 and U12MT,.7 for U12M Series 55 lbs for U12HT and 75 lbs for U16MT..1 for U16M4. 7. Radial lead termination optional. 4. end play.1 Max under a thrust in the direction shown of: 8. For U12M4HT, radial termination is standard. Screw terminals are optional. 1 lbs for U9M4 and U12M4 Series, and 15 lbs for U16M4. Kollmorgen Motion Technologies Group Commack, New York SERVO 23

35 U-Series ServoDisc SYSTEM PERFORMANCE (with separate Integral Tachometer) Add-on tachometers are available mounted directly to the motor shaft to provide velocity without magnetic coupling between motor and tachometer. Type U6T High Precision Analog Tachometer (Shown in typical mounting to U9M4 motor) Type 9FA4T Low Cost Analog Tachometer (Shown in typical mounting to U9M4 motor) TACH LEADS NO. 22 AWG 18 (457.2) ± 1.69 (17.5) 9 FA4T TACH LEADS NO. 22 AWG 18 (457.2) ± (85.7) 3.9 (23.) 4.38 (111.3) U6 TACH 2.19 (55.6).69 (17.5).36 (9.1) Dimensions in inches Characteristics (at 25 C) Units Type U6T Type 9FA4T Output Voltage Volts/kRPM Ripple Voltage Max (P-P) (1) at 1 RPM % at 5 RPM % at 1 RPM % Linearity of Output Voltage (rated at 36 RPM) %.5.6 Bi-directional Tol (diff. in output Volts/kRPM) % Output Impedance (resistive) ohms Temperature Coefficient Output Voltage %/ C Rise Load Resistance (recommended Min) ohms Tachometer Inertia oz-in-sec No of Commutator Bars Measured with a resistive load of 1 kohm and a single-pole low pass filter with 3db cut off at 5 Hz. Calculated ripple frequency = ZT x N/6. For encoder specifications (M23 only), please reference feedback section. 24 Kollmorgen Motion Technologies Group Commack, New York SERVO

36 PLATINUM REFERENCE GUIDE U-Series ServoDisc Kollmorgen also offers the PLATINUM Series motors, a new generation of ServoDisc motors. These motors offer increased life, reliability and performance, and may be used as a direct replacement for the U-Series motors. This reference guide shows suggested equivalent PLATINUM and U-Series, S-Series, and N-Series motors currently offered by Kollmorgen. PLATINUM Series U9D Motors Motor Model Number Equivalent PLATINUM Model Number Standard Series Winding Standard Parallel Winding Ke V (Volts) I (Amps) Ke V (Volts) I (Amps) U9M4 U9D-A U9D-B U9D-C U9M4H U9D-D S9M4H U9D-E N9M4 U9D-F Motors with Integral Tachometers Motor Model Number Equivalent PLATINUM Model Number Standard Series Winding Standard Parallel Winding Ke V (Volts) I (Amps) Ke V (Volts) I (Amps) U9M4T U9DT-A U9DT-B U9DT-C U9M4HT U9DT-D S9M4HT U9DT-E N9M4T U9DT-F PLATINUM Series U12D Motors Motor Model Number Equivalent PLATINUM Model Number Standard Series Winding Standard Parallel Winding Ke V (Volts) I (Amps) Ke V (Volts) I (Amps) U12M4 U12D-A U12D-B N12M4 U12D-C U12D-D JR12 U12D-E U12M4H U12D-F Motors with Integral Tachometers Motor Model Number Equivalent PLATINUM Model Number Standard Series Winding Standard Parallel Winding Ke V (Volts) I (Amps) Ke V (Volts) I (Amps) U12M4T U12DT-A U12DT-B U12M4HT U12DT-C U12DT-D U12M4HT U12DT-E U12DT-F Kollmorgen Motion Technologies Group Commack, New York SERVO 25

37 S-Series ServoDisc INTRODUCTION Options: -- Tachometers -- Optical encoders -- Fail-Safe brakes -- Rugged housing and mil-type connectors Compatible Product KXA Plus Amplifier 21 to 85 oz-in (15-6 N-cm) Continuous 3.39 to 4.37 OD Round Frame Motor Lengths Less Than 2 Optional Rugged Housing Optional Tachometer or Encoder Feedback and Failsafe Brakes S-Series ServoDisc motors employ the unique Kollmorgen flat disc armature. The ironless, low inertia armature delivers high acceleration and zero cogging in an exceptionally compact package. Rugged housings and mil-type connectors added to S-Series motors protect the motors and optional integral components such as encoders, tachometers and fail-safe brakes. They have been designed for harsh industrial evnironments where protection from damaging elements is essential. Extremely good speed control with zero cogging and low RFI Long brush life Flat ServoDisc motors are ideal for many applications: -- Save space and weight in applications requiring a low profile motor -- Large torsional stiffness for precision control of speed and acceleration 26 Kollmorgen Motion Technologies Group Commack, New York SERVO

38 PERFORMANCE DATA S-Series ServoDisc S6M4H S9M4H Performance Specifications Symbol Units (S6M4HI) (S9M4HI) Peak T p oz-in N-cm Rated Speed N RPM 3 3 oz-in Rated 25 C T 25 N-cm 15 6 oz-in Rated 4 C T 4 N-cm Rated Power Output P Watts Maximum Recommended Speed Nmax RPM 6 6 oz-in 2 85 Continuous Stall T s N-cm 14 6 Cogging T c oz-in Electrical Specifications Rated Terminal Voltage E Volts Rated Continuous Current I Amps Peak Current I p Amps Continuous Stall Current I s Amps Winding Specifications Terminal Resistance ± 1% R t Ohms Armature Resistance ± 1% R a Ohms Back EMF Constant ± 1% K e V/KRPM Constant ± 1% K t oz-in/amp N-cm/Amp Viscous Damping Constant Kd oz-in/krpm N-cm/KRPM.1.9 Armature Inductance L µh <1 <1 Temperature Coefficient of KE C %/ C Rise Number of Cummutator Bars Z Mechanical Specifications oz-in-sec Moment of Inertia J m kg-cm oz-in.9 4. Static Friction T f N-cm lbs 2.1, (2.73) 5.42, (6.7) Weight W kg.95, (1.24) 2.5, (3.84) in Diameter D Length LG mm in 1.61, (4.23) 2.28, (5.19) mm 4.9, (17.4) 57.9, (131.8) Figures of Merit Peak Acceleration A p krad/s Mechanical Time Constant T m ms Electrical Time Constant T e ms <.11 <.15 Continuous Power Rate P c kw/sec Thermal Specifications Thermal Resistance at Rated Speed RAAR C/Watt Thermal Resistance at Stall RAAS C/Watt Tachometer Specifications Output Voltage V Volts/KRPM Maximum Ripple Peak to Peak V rh % Linearity of Output Voltage LIN %.6.6 Minimum Load Resistance R l Ohms Kollmorgen Motion Technologies Group Commack, New York SERVO 27

39 S-Series ServoDisc PERFORMANCE DATA S6M4H & S6M4HI 4 S9M4H & S9M4HI 4 E = E = 35.3 E = E = E = E = E = Air Flow =.4 lb/min Air Flow =.6 lb/min 1 Air Flow =.4 lb/min Air Flow =.6 lb/min oz-in N-cm oz-in N-cm Notes: 1. All curves are drawn for a fixed armature temperature of 3. Determine voltage required for a desired combination of 15 C. speed and torque by estimating it as a line parallel to one of 2. The motor can be operated at any point on the graph below the constant terminal voltage (E) lines. 4 RPM. Higher speeds are possible for some applica- 4. The operating current can be calculated as: tions. Contact a Kollmorgen Sales Office for more details. I = ( torque + KD 3 N/1) / KT. 5. The operating voltage can be calculated as: V = KE 3 N/1 + RT 3 I. 28 Kollmorgen Motion Technologies Group Commack, New York SERVO

40 DIMENSIONS S-Series ServoDisc S6M4H MOTOR LEADS.56 (14.2) 3 5 LABEL, COMPUTER PRINT NO.4-4 UNC-2B TAP x.18 (4.6) DEEP 2 HOLES EQ.SP. ON fl (46.) B.C. fl 3.39 (86.1) fl (8.) fl (8.) fl (44.4) fl (82.3) NAMEPLATE 15 CHAMFER.2 (.51) x 45 NO.8-32 UNC-2B TAPx.17 (4.3) DEEP 3 HOLES EQ.SP. ON fl (54.) B.C..6 (1.5) (7.9) (2.) (4.9) 3/4 45 TYP NO.4-4 UNC-2B TAP x.18 (4.6) DEEP 4 HOLES EQ.SP. ON fl 3.14 (76.6) B.C. Motor/ Motor/ Motor/Brake Motor Tachometer Brake Tachometer Without inch A Encoder mm With inch B Encoder mm Loading - S6M4H & S6M4HI - Radial 1 7/8 from -S- - Axial 7.5 lbs any direction 4.5 kg kg S6M4HI MOTOR LEADS.56 (14.2) 3 5 NO.4-4 UNC-2B TAP x.18 (4.6) DEEP 2 HOLES EQ.SP. ON fl (46.2) B.C. fl 3.39 (86.1) fl (8.) fl (8.) fl (44.4) fl (82.3) 15 NO 8 32 UNC 2B TAP 17 DEEP CHAMFER.2 (.51) x (1.5) (7.9) (2.) -. A NO.4-4 UNC-2B TAP x.18 (4.6) DEEP 4 HOLES EQ SP ON fl 3 14 (76 6) B C Motor/ Motor/ Motor/Brake Motor Tachometer Brake Tachometer Without inch A Encoder mm With inch A Encoder mm Motor Connector - Amphenol/Bendix PT 2A-12-8P Encoder Connector - Amphenol/Bendix PT 2A-12-1P Kollmorgen Motion Technologies Group Commack, New York SERVO 29

41 S-Series ServoDisc DIMENSIONS S9M4H MOTOR LEADS FLAT.1 (.25) DEEP X.5 (12.7) LONG fl (12.7).75 (19.) REAR SHAFT fl 4.37 (111.) fl (84.1) fl (12.7) +. fl (14.7) NO.8-32 UNC-2B TAPx.21 (5.3) DEEP 3 HOLES EQ.SP. ON fl (92.9) B.C. CHAMFER.2 (.51) x 45.6 (1.5).6 (1.5) A (31.8) B NO.4-4 UNC-2B TAP x.25 (6.3) DEEP 4 HOLES EQ.SP. ON fl (1.5) B.C. Motor/ Motor/ Motor/Brake Motor Tachometer Brake Tachometer Without inch A Encoder mm With inch B Encoder mm Loading - S9M4H & S9M4HI - Radial 25 1 from -S- - Axial 25 lbs any direction 11.4 kg kg S9M4HI fl 3.39 (86.1) fl (44.4) -.2 fl (8.) 15 CHAMFER.2 (.51) x 45 NO.8-32 UNC-2B TAPx.17 DEEP 3 HOLES EQ.SP. ON fl (54.) B.C..6 (1.5) A.2 Motor/ Motor/ Motor/Brake Motor Tachometer Brake Tachometer Without inch A Encoder mm With inch A Encoder mm Motor Connector - MS312A16S-IP Encoder Connector - MS312A18-1P 3 Kollmorgen Motion Technologies Group Commack, New York SERVO

42 INTRODUCTION Ferrite Series ServoDisc Options: -- Tachometers -- Encoders -- Fail-safe brakes Compatible Products KXA Plus Amplifier EM19 Linear Amplifier 16 to 56 oz-in (11-4 N-cm) Continuous 4. to 5.1 OD Round Frame Ultrathin Pancake Motor Ferrite Series ServoDisc motors employ the unique Kollmorgen flat disc armature and ultraflat package to create a low cost ServoDisc motor. Extremely good speed control with zero cogging and low RFI Very long brush life Flat ServoDisc motors are ideal for many applications: -- Save space and weight in applications requiring a low profile motor -- Large torsional stiffness for precision control of speed and acceleration Low inertia, DC servomotor Low axial profile High-pulse torque capability No cogging even at low operating speeds Kollmorgen Motion Technologies Group Commack, New York SERVO 31

43 Ferrite Series ServoDisc PERFORMANCE DATA 12FLR/12FLRB/ 12F/12FB/ 12FV/12FVB/ Performance Specifications Symbol Units 9F/9FS 9FST 12FLRS 12FS 12FVS Peak T oz-in p N-cm Rated Speed N RPM Rated 25 C T oz-in N-cm Rated 4 C T oz-in N-cm Rated Power Output P Watts Maximum Recommended Speed Nmax RPM Continous Stall T oz-in s N-cm Cogging T c oz-in Electrical Specifications Rated Terminal Voltage E Volts Rated Continuous Current I Amps Peak Current I p Amps Continuous Stall Current I s Amps Winding Specifications Terminal Resistance ± 1% R t Ohms Armature Resistance ± 1% R a Ohms Back EMF Constant ± 1% K e V/kRPM Constant ± 1% K oz-in/amp t N-cm/Amp Viscous Damping Constant K oz-in/krpm d N-cm/KRPM Armature Inductance L µh <.3 <.1 <.3 <.5 <.3 Temperature Coefficient of KE C %/ C Rise Number of Cummutator Bars Z Mechanical Specifications Moment of Inertia J oz-in-sec m kg-cm Average Friction T oz-in f N-cm Weight W lbs kg Diameter D in mm Length LG in mm Figure of Merit Peak Acceleration A p krad/s Mechanical Time Constant T m ms Electrical Time Constant T e ms <.5 <.16 <.12 <.7.34 Continuous Power Rate P c kw/sec Thermal Specifications Thermal Resistance at Rated Speed RAAR C/Watt Thermal Resistance at Stall RAAS C/Watt Tachometer Specifications Output Voltage V Volts/KRPM 1.1 Maximum Ripple Peak to Peak V rh % 5. Linearity of Output Voltage LIN %.14 Notes: 1. All values are based upon a 15 C armature temperature limit and with the motor 5. Peak torque and current is calculated based on max pulse duration of 5 milliseconds and mounted on an 8 x 16 x 3/8 aluminum heatsink with no forced air cooling. Other a 1% duty cycle. voltages, speeds, and torques, and duty cycles are achievable as long as the max 6. The operating current can be calculated as: I = ( torque + TF + KD x N/1) / KT. armature temperature of 15 C is not exceeded. 7. The operating voltage can be calculated as: V = KE x (N/1) + RT x I. 2. Mass air flow (lbs/min) = air volume (CFM) x air density (lbs/ft 3 ). 8. Tachometer ripple measured with a resistive load of 1 kohm and a single low pass filter 3. Terminal resistance is measured at 4. amps. RT varies as a function of applied with 3db cut off at 5 Hz. current. 9. Tachometer minimum measured with a resistance of 37 ohms. 4. Unless otherwise noted, all specifications above apply at 25 C. 1. Bidirectional tolerance of tachometer will not exceed 3%. 32 Kollmorgen Motion Technologies Group Commack, New York SERVO

44 PERFORMANCE DATA Ferrite Series ServoDisc Performance Specifications Symbol Units 9FHB-44 Peak T oz-in 267 p N-cm 188 Rated Speed N RPM 3 Rated 25 C T oz-in N-cm 15 Rated 4 C T oz-in 19 4 N-cm 13 Rated Power Output P Watts 47 Maximum Recommended Speed Nmax RPM Continous Stall T oz-in 21 s N-cm 15 Cogging T c oz-in Electrical Specifications Rated Terminal Voltage E Volts 15.2 Rated Continuous Current I Amps 7.26 Peak Current I p Amps 78 Continuous Stall Current I s Amps 6.9 Winding Specifications Terminal Resistance ± 1% R t Ohms.78 Armature Resistance ± 1% R a Ohms.51 Back EMF Constant ± 1% K e V/KRPM 2.9 Constant ± 1% K oz-in/amp 3.92 t N-cm/Amp 2.77 Viscous Damping Constant K oz-in/krpm.5 d N-cm/KRPM.35 Armature Inductance L µh <.3 Temperature Coefficient of KE C %/ C Rise -.19 Number of Cummutator Bars Z 117 Mechanical Specifications Moment of Inertia J oz-in-sec 2.64 m kg-cm Average Friction T oz-in 3. f N-cm 2.1 Weight W lbs 1.3 kg.59 Diameter OD in 4.96 mm 126 Length LG in.76 mm 19 Figure of Merit Peak Acceleration A p krad/s Mechanical Time Constant T m ms 29.4 Electrical Time Constant T e ms <.6 Continuous Power Rate P c kw/sec.5 Thermal Specifications Thermal Resistance at Rated Speed RAAR C/Watt 2. Thermal Resistance at Stall RAAS C/Watt 2.52 Tachometer Specifications Output Voltage V Volts/KRPM Maximum Ripple Peak to Peak V rh % Linearity of Output Voltage LIN % Notes: 1. These are based upon the least of the demagnetization limit, the structural limit and 3. Measured at 4. Amps. It varies slightly with current due to variations in brush contact the thermal limit. It is calculated for max. pulse duration of 5 millisec and 1% drop. duty cycle. (For thermal limit). 4. Maximum Permissible Dissipation = (15 - Amb. Temp. C)/RAA. 2. All values are based upon 15 C armature temperature and with the motor mounted Total Motor Losses = RT x I (TF + TD) x N/1where TD = KD x N/1. on an aluminum plate (8 x 16 x 3/8 ) with no forced cooling. Other voltages, 5. Peak Acceleration with Load = (TP - Reflected Load Frict.)/(JM + Reflected Load Inertia). speeds and torques are achievalbe as long as armature temp. is kept below 15 C RPM is for reference purposes only. Motor can be run at higher speeds. Continuous operation above 4 RPM is possible for some applications. Contact a Kollmorgen Sales Office for more details. Kollmorgen Motion Technologies Group Commack, New York SERVO 33

45 E = 21.6 Ferrite Series PERFORMANCE DATA 9F/9FS 4 12F/12FB/12FS 4 E = E = 15. E = 18. E = 9. E = E = E = oz-in N-cm oz-in N-cm 9FST/9FGT/9FGHDT 4 12FLR/12FLRB/12FLRS 4 E = 11.7 E = 13. E = 14.4 V 3 E = 12 V 3 E = 9. 2 E = 9 V E = 6 V 2 E = (oz-in) (n-cm) oz-in N-cm 12FV/12FVB/12FVS 4 9FHB-44 4 E = 16.5 VV E = 15.2 V E = 14V E = 12 V E = 12V E = 9V 2 E = 9 V 1 1 E = 6 V (oz-in) (n-cm) Notes: A. All curves are drawn for a fixed armature temperature of 15 C. D. The operating current can be calculated as: B. The motor can be operated at any point on the graph below 4 RPM. I = ( torque + TF + KD x N/1)/KT. Higher speeds are possible for some applications. Contact a Kollmorgen E. The operating voltage can be calculated as: Sales Office for more details. V = KE x N/1 + RT x I. C. Determine voltage required for a desired combination of speed and torque by estimating it as a line parallel to one of the constant terminal voltage (E) lines (oz-in) (n-cm) 34 Kollmorgen Motion Technologies Group Commack, New York SERVO

46 PERFORMANCE DATA Ferrite Series ServoDisc 12FLRHS FHS-2 4 E = 12. E = 15. E = 24. E = E = 9. 3 E = E = 6. 2 E = oz-in N-cm oz-in N-cm 12FVHS-2 4 E = E = E = 12. E = oz-in N-cm Notes: A. All curves are drawn for a fixed armature temperature of 15 C. D. The operating current can be calculated as: B. The motor can be operated at any point on the graph below 4 RPM. I = ( torque + TF + KD x N/1)/KT. Higher speeds are possible for some applications. Contact a Kollmorgen E. The operating voltage can be calculated as: Sales Office for more details. V = KE x N/1 + RT x I. C. Determine voltage required for a desired combination of speed and torque by estimating it as a line parallel to one of the constant terminal voltage (E) lines. Kollmorgen Motion Technologies Group Commack, New York SERVO 35

47 Ferrite Series ServoDisc DIMENSIONS Motor Types: 9F, 12F, 12 FLR, 12FV AND 12FB, 12FLRB, 12FVB MOTOR LEADS 18 AWG, 6 IN. 1 IN LONG C mm.25 C mm.25 L G I (B.C.) 22.5 H F MAX K (DIA) 135 fl.578 (14.7) 2 PLACES ON fl 2.22 (56.4) BC J D E A B 45 Motor Units A B C D E F G H I J K L Types (optional) 9F 12F, 12FLR, 12FV, 12FLRB, 12FVB in mm in mm Motor Types: 9FS, 12FS, 12FLRS, 12FVS MOTOR LEADS 18 AWG, 6 IN. 1 IN LONG C mm.25 C mm.25 L G I (B.C.) 22.5 H F MAX K (DIA) 135 fl.578 (14.7) 2 PLACES ON fl 2.22 (56.4) BC J D E A B 45 Motor Units A B C D E F G H I J K L Types (optional) 9FS 12FS, 12FLRS, 12FVS in mm in mm Kollmorgen Motion Technologies Group Commack, New York SERVO

48 DIMENSIONS Ferrite Series ServoDisc 9FHB-44 NO. 18 AWG LEAD WIRES GREEN AND BLUE12" ± 1" LONG.656 (16.7).672 (17.1).94 DIA HOLE.38 FROM SHAFT END (49.4) TYP DO NOT BANK UP AGAINST "E" RING.859 (21.8) 1.25 DIA (31.8) TYP (28.5) TYP 3 (57.) REF 3.96 (99.2) DIA.95 (2.4).65 (1.6).125 (3.2) (15) (6.1) DIA (8.) (26.2) (41.3).275 (7.) DIA THRU 4 HOLES LOCATED AS SHOWN Notes: 1. diameter A runout not to exceed.1 in. per in. of shaft length. 3. loading information for either pure radial or pure thrust loads: 2. For CCW rotation as viewed from shaft end of motor green lead (+) A. Maximum recommended radial shaft load 3 lbs. located 1/4 positive, blue lead (-) negative. from shaft end. B. Maximum recommended thrust load on shaft 3 lbs. 12F Series MOTOR LEADS 18 AWG, 6 IN. 1 IN LONG C mm.25 C mm.25 L G I (B.C.) 22.5 H F MAX K (DIA) 135 fl.578 (14.7) 2 PLACES ON fl 2.22 (56.4) BC J D E A B 45 Notes: 1. runout.1 in. of shaft length A and B. 2. For CW rotation as viewed from MTG end of motor red lead (+) positive, black lead (-) negative. 3. loading for either pure radial or pure thrust A. Diameter -A-, max recommended radial shaft load is 7 lbs. located 1 1/8 in. from surface S. B. Max recommended thrust load on shaft is 1 lbs. Kollmorgen Motion Technologies Group Commack, New York SERVO 37

49 Ferrite Series ServoDisc DIMENSIONS Motor with Encoder and Motor Prepared for Encoder "C".73 (18.5) ENCODER KIT MOUNTING SURFACE "B" 2.25 "A" (57.) Motor Types Units A B C D 9FS in / mm / FS, 12FLRS, in / FVS mm / NO. 4-4 UNC-28 TAP THRU 2 PL ON A (46.) DIA B.C. TO MOUNT ENCODER KIT STD ENCODER OUTLINE.81 (2.5) Note: Other Windings/Voltages available. "C".36 (9.1) End Play Run Out Motor Types Radial Load Axial Load Under Axial Load in per in lbs kg lbs kg in mm of Length 9F FS F, 12FLR, 12FV FB, 12FLRB, 12FVB FS, 12FLRS, 12FVS MOTOR SELECTION FOR FERRITE SERIES Motor with Integral Motor Types Motor Alone Motor with Rear Motor Prep. Optical Encoder Type M23 for Encoder (5 lines Max) 9F, 12F, 12FLR, 12FV Lowest cost YES (option) NO NO 12FB, 12FLRB, 12FVB 9FS, 12FS, 12FLRS, 12FVS Front spindle Ball bearings Rear spindle Ball bearings YES (option) NO NO YES (option) YES (option) YES (option) FERRITE MOTOR WITH INTEGRAL TACHOMETER MOTOR LEADS.797 (2.24) NO. 18 AWG. 6" 1" LONG.31 (7.87).188 (4.76) 1.5 (38.1) TACHOMETER LEADS NO.22 AWG. 6" 1" LONG (18.26).43 (1.92) (26.16) 22 THRU, 4 HOLES EQUALLY SPACED ON 4.33 DIA B.C. 4 MAX.3 X 45 CHAMFER.281 (7.14) 2 PL.141 (3.57).563 (14.29) (12.7) (79.38) R.125 (3.18).36 (9.13) 2 PLCS AK64BS 'POP' RIVET 2 PL REF. SURFACE S FLUSH TO BELOW FLUSH.563 (14.3) 2 PL ON 2. DIA B.C. REF. 38 Kollmorgen Motion Technologies Group Commack, New York SERVO

50 INTRODUCTION Ferrite Kit Series ServoDisc The designer of precision equipment has a low cost yet a technically smart solution to drive it. Coupling costs and alignment problems are eliminated. The total package is compact. The applications of these motors are wide in range. One of the key advantages is the compact design, where in many cases, it is important where space is limited. An encoder-mount is available for these motors to accept a kit encoder in order to close a digital control loop. Some typical applications are listed below: Use your own high-performance precision spindle A cost-effective solution to drive high-precision machines Zero cogging design, smooth rotation at low speeds Constant torque over a wide speed range 17 to 13 oz-in (12-73 N-cm) Continuous 4.72 to 8.47 OD Round Frame Direct Drive, No Coupling Space-Saving Design Putting Together Your Own High-Performance DC Motor Compatible Products KXA Plus Amplifier EM19 Linear Amplifier Designers who want to save both time and cost can obtain all these advantages by assembling the kit motor. The inherent simplicity of design leads to a highly simple mechanical structure that the user can put together himself or build into his own drive system. The motor consists of two components: the flat ServoDisc armature and the end bell with magnet and brushes. The armature is available in several types depending on the application. For example, armatures for low voltages or low inertia can be used when required. The magnet in the stamped end bell is a ring of ceramic ferrite material which has been precharged to produce eight alternately polarized magentic poles. Unlike Alnico permanent magnetic material, the ferrite is a type of permanent magnet that retains its magnetism even without a keeper or flux-return path. Because of the use of the integral drive shaft rather than a separate motor shaft and bearings, there is no mechanical coupling and a minimum of torsional resonance. There is less bearing friction with increased efficiency and no problems due to shaft misalignment. In effect, the motor is assembled onto the drive system. Kollmorgen Motion Technologies Group Commack, New York SERVO 39

51 Ferrite Kit Series ServoDisc MOTOR PERFORMANCE DATA Performance Specifications Symbol Units 9FP 12FP 12FVP 12FLRP 16FP Peak T oz-in p N-cm Rated Speed N RPM Rated 25 C T oz-in N-cm Rated 4 C T oz-in N-cm Rated Power Output P Watts Maximum Recommended Speed Nmax RPM Continous Stall T oz-in s N-cm Cogging T c oz-in Electrical Specifications Rated Terminal Voltage E Volts Rated Continuous Current I Amps Peak Current I p Amps Continuous Stall Current I s Amps Winding Specifications Terminal Resistance ± 1% R t Ohms Armature Resistance ± 1% R a Ohms Back EMF Constant ± 1% K e V/kRPM Constant ± 1% K oz-in/amp t N-cm/Amp Viscous Damping Constant K oz-in/krpm d N-cm/KRPM Armature Inductance L µh <.3 <.5 <.3 <.3 <.85 Temperature Coefficient of KE C %/ C Rise Number of Cummutator Bars Z Mechanical Specifications Moment of Inertia J oz-in-sec m kg-cm Average Friction T oz-in f N-cm Weight W lbs kg Diameter D in mm Length LG in mm Figure of Merit Peak Acceleration A p krad/s Mechanical Time Constant T m ms Electrical Time Constant T e ms <.5 <.7.34 <.12 <.11 Continuous Power Rate P c kw/sec Thermal Specifications Thermal Resistance at Rated Speed RAAR C/Watt Thermal Resistance at Stall RAAS C/Watt Notes: 1. All values are based upon a 15 C armature temperature limit and with the motor 4. Unless otherwise noted, all specifications above apply at 25 C. mounted on an 8 x 16 x 3/8 aluminum heatsink with no forced air cooling. Other 5. Peak torque and current is calculated based on max pulse duration of 5 milliseconds and voltages, speeds, and torques, and duty cycles are achievable as long as the max a 1% duty cycle. armature temperature of 15 C is not exceeded. 6. The operating voltage can be calculated as: I = ( torque + TF + KD x N/1) / KT. 2. Mass air flow (lbs/min) = air volume (CFM) x air density (lbs/ft 3 ). 7. The operating voltage can be calculated as: V = KE x (N/1) + RT x I. 3. Terminal resistance is measured at 4. amps. RT varies as a function of applied current. 4 Kollmorgen Motion Technologies Group Commack, New York SERVO

52 E = 12 V MOTOR PERFORMANCE DATA Ferrite Kit Series ServoDisc 9FP 4 12FP 4 E = 12. E = 14.6 E = 21.6 V 3 3 E = 18 V E = 9. 2 E = 6. 2 E = 15V E = 12 V oz-in N-cm oz-in N-cm 12FVP 12FLRP 4 4 E = 11.7 E = 16.5 V E = 14 V E = E = 9. 2 E = 9 V 2 E = oz-in N-cm oz-in N-cm 16FP 4 E = 39. E = E = 3. 2 E = oz-in N-cm Notes: A. All curves are drawn for a fixed armature temperature of 15 C. D. The operating current can be calculated as: B. The motor can be operated at any point on the graph below 4 RPM. I = ( torque + TF + KD x N/1)/KT. Higher speeds are possible for some applications. Contact a Kollmorgen E. The operating voltage can be calculated as: Sales Office for more details. V = KE x N/1 + RT x I. C. Determine voltage required for a desired combination of speed and torque by estimating it as a line parallel to one of the constant terminal voltage (E) lines. Kollmorgen Motion Technologies Group Commack, New York SERVO 41

53 Ferrite Kit Series ServoDisc MOTOR PERFORMANCE DATA KIT MOTOR DIMENSIONS PLATE, FLUX RETURN H BC HUB REF B A HB C T Models 9FP 12F Series 16FP A B C BC H (8 holes) HB T Dimensions in inches OPTION: Mounting Surface on End Bell for Optical Encoder 42 Kollmorgen Motion Technologies Group Commack, New York SERVO

54 INTRODUCTION N-Series ServoDisc Neodymium magnet technology Fast Acceleration for higher throughput Extremely good speed control, zero cogging and low RFI Long brush life Flat ServoDisc motors are ideal for many applications: -- Save space and weight in applications requiring a low profile motor -- Large torsional stiffness for precision control of speed and acceleration Options: -- With or without integral tachometer -- Optical encoder -- Brake 69 to 143 oz-in (36-11 N-cm) Continuous 4.37 to 5.5 OD Round Frame Optional Tachometer and Endcoder Feedback Ultrathin Compact Size for Easy Design Integration Compatible Products KXA Plus Amplifier EM19 Linear Amplifier N-Series ServoDisc motors employ the unique Kollmorgen flat disc armature and high-energy neodymium-iron-boron magnets resulting in an ultra-thin motor. The ironless, low inertia armature delivers high acceleration and zero cogging. Kollmorgen Motion Technologies Group Commack, New York SERVO 43

55 N-Series ServoDisc PERFORMANCE DATA Performance Specifications Symbol Units N9M4 N9M4T N9M4LR N9M4LRT N12M4 N12M4T N12M4LR N12M4LRT Peak T oz-in p N-cm Rated Speed N RPM Rated 25 C T oz-in N-cm Rated 4 C T oz-in N-cm Rated Power Output P Watts Maximum Recommended Speed Nmax RPM Continous Stall T oz-in s N-cm Cogging T c oz-in Electrical Specifications Rated Terminal Voltage E Volts Rated Continuous Current I Amps Peak Current I p Amps Continuous Stall Current I s Amps Winding Specifications Terminal Resistance ± 1% R t Ohms Armature Resistance ± 1% R a Ohms Back EMF Constant ± 1% K e V/KRPM Constant ± 1% K oz-in/amp t N-cm/Amp Viscous Damping Constant K oz-in/krpm d N-cm/KRPM Armature Inductance L µh <.3 <.3 <.3 <.3 <.5 <.5 <.5 <.5 Temperature Coefficient of KE C %/ C Rise Number of Cummutator Bars Z Mechanical Specifications Moment of Inertia J oz-in-sec m kg-cm Static Friction T oz-in f N-cm Weight W lbs kg Diameter D in mm Length LG in mm Figure of Merit Peak Acceleration A p krad/s Mechanical Time Constant T m ms Electrical Time Constant T e ms <.5 <.5 <.17 <.17 <.7 <.7 <.27 <.27 Continuous Power Rate P c kw/sec Thermal Specifications Thermal Resistance at Rated Speed RAAR C/Watt Thermal Resistance at Stall RAAS C/Watt Tachometer Specifications Output Voltage V Volts/KRPM Maximum Ripple Peak to Peak V rh % Linearity of Output Voltage LIN % Minimum Load Resistance R l Ohms Notes: 1. All values are based upon a 15 C armature temperature limit and with the motor 5. Peak torque and current is calculated based on max pulse duration of 5 milliseconds and mounted on an 8 x 16 x 3/8 aluminum heatsink with no forced air cooling. Other a 1% duty cycle. voltages, speeds, and torques, and duty cycles are achievable as long as the max 6. The operating voltage can be calculated as: I = ( torque + TF + KD x N/1) / KT. armature temperature of 15 C is not exceeded. 7. The operating voltage can be calculated as: V = KE x (N/1) + RT x I. 2. Mass air flow (lbs/min) = air volume (CFM) x air density (lbs/ft 3 ). 8. Tachometer ripple measured with a resistive load of 1 kohm and a single low pass filter 3. Terminal resistance is measured at 4. amps. RT varies as a function of applied current. with 3db cut off at 5 Hz. 4. Unless otherwise noted, all specifications above apply at 25 C. 9. Bidirectional tolerance of tachometer will not exceed 3%. 44 Kollmorgen Motion Technologies Group Commack, New York SERVO

56 E = 3. E= 17. N-Series ServoDisc PERFORMANCE DATA N9M4 4 N9M4T 4 3 E = E = 24. E = E = 18. E = E = 18. E = oz-in N-cm oz-in N-cm N12M4 N12M4T 4 E = 48. E = 6. 4 E = 48. E = 6. 3 E = E = E = E = oz-in N-cm oz-in N-cm N9M4LR N9M4LRT 4 4 E= 15. E= 18. E= E= E= E= 9. 2 E= oz-in N-cm oz-in N-cm Kollmorgen Motion Technologies Group Commack, New York SERVO 45

57 N-Series ServoDisc DIMENSIONS N12M4LR 4 E= 31. N12M4LRT 4 E= 27. E= 25. E= E= 19. E= E= 17. E= oz-in N-cm oz-in N-cm Notes: A. All curves are drawn for a fixed armature temperature of 15 C. D. The operating current can be calculated as: B. The motor can be operated at any point on the graph below 4 RPM. I = ( torque + TF + KD x N/1)/KT. Higher speeds are possible for some applications. Contact a Kollmorgen E. The operating voltage can be calculated as: Sales Office for more details. V = KE x N/1 + RT x I. C. Determine voltage required for a desired combination of speed and torque by estimating it as a line parallel to one of the constant terminal voltage (E) lines. N9M4/N9M4T DIA -.5 (12.687) (BOTH ENDS) (31.7) MOTOR LEADS NO.18 AWG 18 IN. 1 IN. LONG FLAT.1 -. DP X.5 LONG (66.7) DIA 4.37 (11.9) DIA NO. 8-32NC-2B x.17 (4.32) DP 4 HOLES EQUALLY SPACED ON A 3.65 (92.86) DIA B.C. CHAMFER.3 (.76) x (2.8) N9M4:.94 (23.9) N9M4T:.95 (24.1).75 (19.) NO.6-32 THRU BOLT 4 PLACES REF NO. 4-4 UNC-2B X.19 (4.8) DP. 2 HOLES EQUALLY SPACED ON A (46.) DIA BC 46 Kollmorgen Motion Technologies Group Commack, New York SERVO

58 PERFORMANCE DATA N-Series ServoDisc N12M4/N12M4T DIA -.5 (12.687) (BOTH ENDS) (31.7) MOTOR LEADS NO.18 AWG 18 IN. 1 IN. LONG FLAT.1 -. DP X.5 LONG (114.3) DIA 5.5 (139.7) DIA NO NF-2B x.17 (4.32) DP 4 HOLES EQUALLY SPACED ON A (123.8) DIA B.C. CHAMFER.3 (.76) x (8.1) N12M4: 1.6 (26.9) N12M4T: 1.11 (28.2).75 (19.) NO.6-32 THRU BOLT 4 PLACES REF NO. 4-4 UNC-2B X.13 (3.3) DP. 2 HOLES EQUALLY SPACED ON A (46.) DIA BC Kollmorgen Motion Technologies Group Commack, New York SERVO 47

59 JR-Series ServoDisc INTRODUCTION Mechanical time constants as low as 3 ms NEMA and IEC mounting available UL recognized versions available Options: -- Tachometers -- Optical encoders -- Fail-safe brakes -- Resolvers -- Gear reducers Compatible Products KXA Plus Amplifier 12 to 298 lb-in ( N-cm) Continuous 5.5 to OD Round Frame Optional Tachometer and Encoder Feedback Rugged Industrial Package JR-Series ServoDisc motors employ the unique Kollmorgen flat disc armature in an industrial grade housing resulting in a low profile alternative to conventional servomotors. Extremely good speed control with zero cogging and low RFI Long brush life Flat ServoDisc motors are ideal for many applications: -- Save space and weight in applications requiring a low profile motor -- Large torsional stiffness for precision control of speed and acceleration -- Military style ms connectors 48 Kollmorgen Motion Technologies Group Commack, New York SERVO

60 PERFORMANCE DATA JR-Series ServoDisc Performance Specifications Symbol Units JR12M4CH JR16M4CH JR16M4CH-1 JR16M4CHLR-1 JR16M4CHLR-2 JR24M4CH JR25M6CH JR33M6CH Peak T lb-in p N-cm Rated Speed N RPM Rated 25 C T lb-in N-cm Rated 4 C T lb-in N-cm Rated Power Output P Watts Horsepower HP Maximum Recommended Speed Nmax RPM Continous Stall T lb-in s N-cm Cogging T c oz-in Electrical Specifications Rated Terminal Voltage E Volts Rated Continuous Current I Amps Peak Current I p Amps Continuous Stall Current I s Amps Winding Specifications Terminal Resistance ± 1% R t Ohms Armature Resistance ± 1% R a Ohms Back EMF Constant ± 1% K e V/KRPM Constant ± 1% K oz-in/amp t N-cm/Amp Viscous Damping Constant K oz-in/krpm d N-cm/KRPM Armature Inductance L µh <45 <85 <14 <4 <5 <45 <4 <75 Temperature Coefficient of KE C %/ C Rise Number of Cummutator Bars Z Mechanical Specifications Moment of Inertia J oz-in-sec m kg-cm Static Friction T oz-in f N-cm Weight W lbs kg Diameter D in mm Length LG in mm Figure of Merit Peak Acceleration A p krad/s Mechanical Time Constant T m ms Electrical Time Constant T e ms <.14 <.14 <.8 <.8 <.2 <.4 <.31 <.56 Continuous Power Rate P c kw/sec Thermal Specifications Mounted on Aluminum Heatsink 8 x16 x 3 /8 16 x16 x 3 /8 16 x16 x 3 /8 16 x16 x 3 /8 16 x16 x 3 /8 21 x21 x 3 /8 21 x21 x 3 /8 21 x21 x 3 /8 Thermal Resistance at Rated Speed RAAR C/Watt Thermal Resistance at Stall RAAS C/Watt Forced Air Thermal Resistance: with 2. lbs/min Forced Air RAA3 C/Watt Notes: 1. All values are based upon a 15 C armature temperature limit and with the motor 4. Unless otherwise noted, all specifications above apply at 25 C. mounted on an aluminum heatsink with no forced air cooling. Other voltages, 5. Peak torque and current is calculated based on max pulse duration of 5 milliseconds and speeds, and torques, and duty cycles are achievable as long as the max armature a 1% duty cycle. temperature of 15 C is not exceeded. 6. The operating current can be calculated as: I = ( + TF + KD x N/1) / KT. 2. Mass air flow (lbs/min) = air volume (CFM) x air density (lbs/ft 3 ). 7. The operating voltage can be calculated as: V = KE x (N/1) + RT x I. 3. Terminal resistance is measured at 4. amps. RT varies as a function of applied current. Kollmorgen Motion Technologies Group Commack, New York SERVO 49

61 JR-Series ServoDisc PERFORMANCE DATA JR12M4CH 4 3 E = 64 E = 78 JR16M4CH 4 3 E = 16 E = E = 48 E = 32 2 E = 96 E = 64 1 Airflow =.4 lb/min Airflow =.8 lb/min 1 Airflow =.4 lb/min Airflow =.8 lb/min oz-in N-cm oz-in N-cm JR16M4CH-1 4 E = 27 JR16M4CHLR-1 4 E = 15 E = 166 E = E = 125 E = 84 2 E = 63 E = 42 1 Airflow =.4 lb/min Airflow =.8 lb/min 1 Airflow =.4 lb/min Airflow =.8 lb/min oz-in N-cm oz-in N-cm JR16M4CHLR-2 4 E = 27. JR24M4CH 4 E = E = E = E = 17. E = E = 14 E = 7 1 Airflow =.4 lbs/min Airflow =.8 lbs/min Airflow = 2. lbs/min 1 Airflow =.4 lb/min oz-in N-cm oz-in N-cm 5 Kollmorgen Motion Technologies Group Commack, New York SERVO

62 PERFORMANCE DATA JR-Series ServoDisc JR25M6CH 4 E = 187 JR33M6CH 4 E = E = 15 E = 113 E = E = 25 E = 2 E = 15 Airflow =.4 lb/min oz-in N-cm oz-in N-cm Notes: A. All curves are drawn for a fixed armature temperature of 15 C. D. Determine the required cooling by locating the desired operating B. The motor can be operated at any point on the graph below 4 RPM. point on the appropriate Constant cooling curve. Higher speeds can be obtained for short periods of time. Contact a terminal voltage (E) lines. Kollmorgen Sales Office for more details. E. The operating current can be calculated as: C. Determine voltage required for a desired combination of speed and I = ( torque + TF + KD x N/1) / KT. torque by locating it on the appropriate constant terminal voltage F. The operating voltage can be calculated as: curve. V = KE x N/1 + RT x I. Kollmorgen Motion Technologies Group Commack, New York SERVO 51

63 JR-Series ServoDisc DIMENSIONS JR12M4CH 4.75 (12.7) DIA (76.2) DIA -B (12.7) DIA -A- FLAT.47 (1.2) DP x 1.5 (38.1) LONG (96.) DIA MAX 5.5 (139.7) DIA (122.6) DIA MAX 4.75 (12.7) DIA MAX (115.9) DIA MAX 2.5 (63.5) DIA TYP 45 1/4-2 UNC-2B x.37 (9.4) DP TAP 4 HOLES EQUALLY SPACED ON 3.75 (95.3) DIA BC (4.1) (42.9).3 -S (72.4).3 TYP 4 PLCS (99.8) (146.6) 2.5 (63.5) MAX (169.7) (215.6) 2.5 (63.5) MAX 2.5 (63.5) MAX JR16M4CH/CH-1/CHLR-1/CHLR-2 +. AM STD SQUARE KEY 4.5 (114.3) -.3 DIA.188 (4.8) X 1.38 (35.1)LONG B- (121.8) (15.9) -.5 DIA DIA MAX (135.33) DIAMAX 6.56 (166.6) DIA -A (187.3) DIA 5.78 (129.) DIA MAX 4.69 (117.1) DIA MAX 2.5 (63.5) DIA TYP (17.9) UNC-2B X.61 (15.5) DP TAP 4 HOLES EQUALLY SPACED ON DIA BC (4.1) S TYP 4 PLACES (161.) 2.5 (63.5) MAX (184.2) (23.1) 2.5 (63.5) MAX 2.5 (63.5) MAX Notes: 1a. For JR12M4CH Nema 48C Face Mount shown (Square Flange Mount and Face Mount per IEC-72 also available). Motor weight: 8. lbs. 1b. All others: Nema 56C Face Mount shown (Square Flange Mount and Face Mount per IEC-72 also available). Motor weight: 17.5 lbs. 2. diameter A runout not to exceed.1 in/in measured fromsurface S. 3. Pilot diameter B runout to A within.3 in TIR. 4. Mounting surface S runout to A within.6 in TIR. 5. For clockwise rotation as viewed from mounting end of motor: Pin A (+) positive, Pin B (-) negative, Case Ground: Pin C. Connector MS312A-1SL-3P and Mating Connector MS316A-1SL-3S supplied. 6. For clockwise rotation as viewed from mounting end of motor: Pin A (+) positive, Pin B (-) negative, Case Ground: Pin G. Tachometer output: Pin C (+) positive, Pin D (-) negative. Brake output: Pin E (+) positive, Pin F (-) negative. Connector MS312A-16S-1P and Mating Connector MS316A-16S-1S supplied. 7. For clockwise rotation as viewed from mounting end of motor: Pin A (+) positive, Pin B (-) negative, Case Ground: Pin C. Connector MS312A-2-19P and Mating Connector MS316A-2-19S supplied. Encoder Connections Function Pin Output A A Output B B Index C V+ D Common F Case Ground G Connector MS312A-18-1P and Mating Connector MS316A-18-1S supplied. 52 Kollmorgen Motion Technologies Group Commack, New York SERVO

64 DIMENSIONS JR-Series ServoDisc JR24M4CH AM STD SQUARE KEY.25 (6.4) x 1.5 (38.1)LONG (215.9) -.3 DIA -B- 5/16-24 UNF-2B x.75 (19.1) DP. TAP (285.) DIA (28.6) DIA -A (281.8) DIA (187.3) DIA (142.9) (135.3).516 (13.1) DIA MAX DIA MAX 5.78 (129.) DIA MAX (12.3) DIA MAX 2.5 (63.5) DIA TYP (241.3) DIA 1/2-13 UNC-2B x.75 (19.1) DP TAP 4 HOLES EQUALLY SPACED ON 7.25 (184.2) DIA BC.27 + (6.9) P- (31.4) (126.2) (63.5) (71.9) (171.8) MAX (126.6) TYP 3 PLCS -S (233.8) (257.2) (311.9) 2.5 (63.5) MAX 2.5 (63.5) MAX JR25M6CH AM STD SQUARE KEY.25 (6.4) x 1.5 (38.1)LONG (215.9) -.3 DIA -B- 5/16-24 UNF-2B x.75 (19.1) DP. TAP (285.) DIA (28.6) DIA -A-.547 (13.9) (281.8) DIA (187.3) DIA (142.9) (135.3) DIA MAX DIA MAX 5.78 (129.) DIA MAX (12.3) DIA MAX 2.5 (63.5) DIA TYP (241.3) DIA + (6.9) P- (31.4) (151.6) (71.9) (196.9) 1/2-13 UNC-2B x.75 (19.1) DP TAP 4 HOLES EQUALLY SPACED ON 7.25 (184.2) DIA BC -S- 2.5 (63.5) MAX (151.6) TYP 3 PLCS (258.8) (281.8) (336.6) 2.5 (63.5) MAX 2.5 (63.5) MAX Notes: 1. Nema 182ATC Face Mount shown (Square Flange Mount and Face Mount per IEC-72 also available). 2. diameter A runout not te exceed.1 in/in measured from surface S. 3. Pilot diameter B runout to A within.3 in TIR. 4. Mounting surfaces P and S runout to A within.6 in TIR. 5. For clockwise rotation as viewed from mounting end of motor: Pin A (+) positive, Pin B (-) negative, Case Ground: Pin C. Connector MS312A-16-1P and Mating Connector MS316A-16-1S supplied. 6. For clockwise rotation as viewed from mounting end of motor: Pin A (+) positive, Pin B (-) negative, Case Ground: Pin C. Brake output: Pin D (+) positive, Pin E (-) negative. Connector MS312A-18-11P and Mating Connector MS316A-18-11S supplied. Tachometer output (separate connector): Pin A (+) positive, Pin B (-) negative. Connector MS312A-1SL-3P (3S for JR24M4CH) and Mating Connector MS316A-1SL-3S supplied. 7a. JR24M4CH motor weight: 5 lbs. 7b. JR25M6CH motor weight: 7 lbs. Encoder Connections Function Pin Output A A Output B B Index C V+ D Common F Case Ground G Connector MS312A-18-1P and Mating Connector MS316A-18-1S supplied. Kollmorgen Motion Technologies Group Commack, New York SERVO 53

65 JR-Series ServoDisc DIMENSIONS JR33 AM STD SQUARE KEY.375 (9.5) x 1.5 (38.1) LONG (39.7) DIA -A DIA (3.) -B (19.4) FACE MOUNT.2 + (5.1).1 SQUARE FLANGE (412.8) DIA DIA MAX (327.) DIA MAX DIA MAX 12.5 DIA MAX (323.9) (32.7) (317.5) 2.5 (63.5) DIA TYP (44.8) DIA (43.8) (19.5) -.3 FLANGE MOUNT 5/16-18 UNC-2B x.62 (15.7) DP TAP 6 HOLES EQUALLY SPACED ON (336.6)DIA BC (91.3) FACE MOUNT -S (176.6) -.3 FACE MOUNT 3/8-16 UNC-2B x.5 (12.7) DP TYP 3 PLCS SEE NOTE (77.) FLANGE MOUNT -S- 1. MAX TYP 2.5 (63.5) (254.) MAX MAX TYP (311.2) (346.1) MAX TYP (4.1) MAX TYP 2.5 (63.5) MAX 2.5 (63.5) MAX Notes: 1. Face Mount shown (Square Flange Mount also available). 2. diameter A runout not to exceed.1 in/in measured from surface S. 3. Pilot diameter B runout to A within.3 in TIR. 4. Mounting surface S runout to A within.1 in TIR. 5. For clockwise rotation as viewed from mounting end of motor: Pin A (+) positive, Pin B (-) negative, Case Ground: Pin C. Connector MS316A-16-1P and Mating Connector MS316A-16-1S supplied. 6. For clockwise rotations as viewed from mounting end of motor: Pin A (+) positive, Pin B (-) negative, Case Ground: Pin G. Brake output: Pin D (+) positive, Pin E (-) negative. Connector MS312A-18-11P and Mating Connector MS316A-18-11S supplied. Tachometer output (separate connector): Pin A (+) positive, Pin B (-) negative. Connector MS312A-1SL-3P and Mating Connector MS316A-1SL-3S supplied. 7. Connectors are rotated 12 CW from true position as viewed from rear of motor. 8. Lifting Eyes shipped loose (Eyes not shown) to be mounted in 3 /8-16 tapped holes if required (Face Mount). On Square Flange Mount 4, Lifting Eyes also mounted on Flange (not shown). 9. Motor weight: 195 lbs. Encoder Connections Function Pin Output A A Output B B Index C V+ D Common F Case Ground G Connector MS312A-18-1P and Mating Connector MS316A-18-1S supplied. Max Loads Pure Radial Load Pure From Axial Load Mounting (lb) (lb) Face (in) JR12M4CH JR16M4CH JR24M4CH JR25M4CH J Kollmorgen Motion Technologies Group Commack, New York SERVO

66 OPTIONS JR-Series ServoDisc F9T TACHOMETER PARAMETER JR12, JR16 JR24, JR25 1. Emf/1 RPM open circuit (KE) (V) 3 +5%-% 6.* 2. Bi-directional tolerance (% KE) ± 1.5 ± 1 3. Residual ripple peak to peak (%) 4* 2** 4. Linearity referred to 36 RPM (% 3.6KE) Output impedance (ohm) Rotor moment of inertia (J) (oz-in-sec 2 ) Friction (oz-in) Temperature range ( C) -25 to to Max speed (RPM) Weight (lb) *Measure with a resistive load of 1 kohm and a single-pole low pass filter with 3db cut off at 2 khz. Optional voltage gradients available are: 7, 9, 1 and 19 Volts/kRPM. **Measured with the recommended purely resistive load. BRAKE 1. DC Voltage (V) Input Power (W) 25 Max 27 Max 3. Holding (in-lbs) Inertia (oz-in-sec 2 ) Weight (lb) BA25I ENCODER (See BA25I data sheet for more detailed information.) Note: 1. Brakes are electrically released. 2. Above brakes are intended to be used in emergency situatins (loss of power supply) or to hold the motor shaft when the motor is at standstill. Other voltages available. 1. Moment of Inertia (oz-in-sec 2 ) 3. x 1-4 Max 3. x 1-4 Max 2. Starting (oz-in Max) Max Speed (RPM) Power Supply Required 15 ma 15 ma 5. Output TTL (CMOS also available) Logic <.7VDC Logic <.7VDC Logic 1 >2.4VDC Logic 1 >2.4VDC 6. Number of Outputs Dual Channel A and B in phase Dual Channel A and B in phase quadrature with index channel. quadrature with index channel. 7. Cycles Per Revolution Standards available: 1, Standards available: 1, 125, 2, 25, 36, 5, , 2, 25, 36, 5, 512 1, 124, 12, 18, 2 1, 124, 12, 18, 2 248, , Max data rate (khz) Temperature range ( C) -25 to to Weight (lb) RESOLVER 1. Size 11 Resolver 2. Weight (lb).5.5 Notes: Resolver prepared with cover, MS connector, clamps and coupling. For details, contact a Kollmorgen Sales Office. Kollmorgen Motion Technologies Group Commack, New York SERVO 55

67 Gearmotor Series ServoDisc INTRODUCTION -- Exact reduction ratios: 1:1 up to 1:1 (other ratios optional) -- Continuous output torque up to 264 in-lbs -- Compact and lightweight -- Gearhead can be sold separately (consult an Kollmorgen Sales Office) -- IP55 environmental sealing and prep for resolver are available 8 to 264 in-lb (.9 to 294 N-M) Continuous Stall Virtually Zero to Medium Backlash Models Compact, Inline Packaging Powered by High-Performance DC ServoDisc Motors Kollmorgen provides an assortment of gearmotors. Characteristics of all these products include high-torque-toweight ratios, smooth constant torque and fast acceleration. The Accurex series, with virtually zero backlash, is designed with a minimum of moving parts for extremely reliable operation The Revex series uses proven spur gear technology to produce a wide range of exact gear ratios with a maximum of 5 arc minutes of backlash The Indurex series provides fully reversible helical gearing which results in an exceptional gearmotor actuator The low voltage Ferrite series is the flattest design, ideal for battery-powered applications ACCUREX -- Virtually zero backlash for high-position accuracy -- Continuous output torque up to 5 in-lb -- Heavy duty bearing design -- Harmonic drive components for simplicity, high reliability and compact shape -- Exact reduction ratios: 6, 8, 1, 12 and 16:1 -- High torque capacity in single-stage ratio -- IP55 environmental sealing and prep for resolver are available INDUREX -- Low backlash; less than 2 arc-minutes -- Compact ultraquiet design -- Industrial compact design -- Reduction ratios 3.67:1 up to 98.87:1 -- Continuous output torque up to 258 in-lbs -- IP55 environmental sealing and prep for resolver are available FERRITE -- Flat shape and lighweight for easy design intergration -- Reduction ratios from 15:1 to 15:1 -- Continuous output torque up to 2 in-lbs -- Suitable for battery operation: 12 or 24 Volts -- Constant torque over the entire speed range -- Zero cogging for smooth operation -- Low inertia produces rapid, accurate response to command signals Options: -- Tachometers or encoders -- Fail-safe brakes Compatible Products KXA Plus Amplifier EM19 Linear Amplifier REVEX -- Extremely low backlash; less than 5 arc-minutes -- High-torsional stiffness to ensure high accuracy and repeatability in positioning applications 56 Kollmorgen Motion Technologies Group Commack, New York SERVO

68 Accurex Gearmotor Series ServoDisc PERFORMANCE DATA Rated Speed Continuous Peak Motor Voltage Motor Current Gearmotor Types (RPM) (in-lb/n-m) (in-lb/n-m) Gear Ratio (Volts) (amps) 1. S6M4H/H6D /6 3/34 6: S9M4H/H9D /31 57/64 6: S6M4H/H6D /8 3/34 8: S9M4H/H9D /39 57/64 8: S6M4H/H6D /1 4/45 1: S9M4H/H9D /49 77/87 1: S6M4H/H6D /12 4/45 12: S6M4H/H6D /16 4/45 16: S9M4H/H9D /57 99/112 12: S6M4H/H6D S9M4H/H9D Units (all ratios) (all ratios) 1. Max Inertia (2) oz-in-sec g-cm Radial Load lbs Distance from Mounting Surface in 1 1/8 1 1/2 3. Axial Load lbs Basic Weight (3) lbs Basic Length (3) in Motor electrical and mechanical specifications are subject to change without notice. Please consult a Kollmorgen Sales Office. Notes: 1. Mounted on 8 x 16 x 3/8 aluminum heatsink. 4. For vertical orientation, a grease cartridge is recommended. 2. Motor plus gearhead, measured at motor shaft. 5. Gearmotors can be mounted in any position. 3. Weights and lengths will vary with options. Kollmorgen Motion Technologies Group Commack, New York SERVO 57

69 Accurex Gearmotor Series ServoDisc DIMENSIONS S6M4H/H6D (4.8) (21.3) (19.).75 (19.1) NO. 66 WOODRUFF KEY (123.8) DIA (7.99) TYP 6 TYP (44.4) 2.79 (7.9) DIA DIA (82.3) 3.24 (86.1) DIA CHAMFER.2 X NO UNC-2B TAP X.38 (9.7) DP (11.9) 6 HOLES EQUALLY SPACED ON 2.5 (63.5) DIA BC (41.3) (3.7) (138.1).8 (2.) 1.84 (46.8).75 (19.1) NO. 4-4 UNC-2B TAP X.18 (4.6) DP CHAMFER.2 X 45 4 HOLES EQUALLY SPACED ON 3.12 (76.5) DIA BC NO. 4-4 UNC-2B TAP X.18 (4.6) DP 2 HOLES EQUALLY SPACED ON (46.) DIA BC S9M4H/H9D (4.8) (22.2) 1.5 (38) (53.9) 3.49 (88.6) DIA DIA (14.8) 4.37 (111.) DIA NO UNC-2B TAP X.38 (9.7) DP 6 HOLES EQUALLY SPACED ON 2.5 (63.5) DIA BC CHAMFER.2 X (44.5) (4.8) 4.28 (18.7) 6.81 ±.6 (173.).6 (1.6).75 (19.1) NO UNC-2B TAP X.25 (6.4) DP 4 HOLES EQUALLY SPACED ON (1.5) DIA BC NO UNC-2B TAP X.25 (6.4) DP 3 HOLES EQUALLY SPACED ON 3.25 (82.6) DIA BC Notes: 1. Illustrations show basic motor lengths only. Lengths will vary with options. 2. Mating connectors are supplied with Industrial versions. 58 Kollmorgen Motion Technologies Group Commack, New York SERVO

70 Accurex Gearmotor Series ServoDisc OPTIONS TACHOMETER SPECIFICATIONS Tachometer/Motor Types S6T/S6M4H S9A4T/S9M4H 1. Output Voltage (Volts/kRPM) Max Ripple Peak to Peak (%)* Linearity Referred to 36 RPM (%) Bi-directional Tolerance (%) Output Impedance (ohm) <5 <5 6. Moment of Inertia (oz-in-sec 2 ) Temperature Coefficient (%/ C Rise) Recommended Load Resistance (ohms) Friction (oz-in) Weight (lb) *With 5 Hz low pass filter. BRAKE SPECIFICATIONS Motor Types S6M4H S9M4H 1. DC Voltage (Volts) Input 2 C Nominal (Watts) Holding (in-lbs) 3 Min. 8 Min. 4. Inertia (oz-in-sec 2 ) Weight (lb) Notes: 1. Brakes are electrically released. 2. Brakes are intended for power loss situations or to hold motor when at a standstill. M23 ENCODER SPECIFICATIONS (for all motors) (See Encoder Section for more detailed information.) 1. Resolution Up to 254 Cycles Per Revolution (5 for sinewave) 2. Frequency Response (khz) 1 3. Output Format Quadrature Channels and Index 4. Phasing 9 ± 2 Max 5. Output Levels (5, 12 and 15 Volts) TTL and CMOS Compatible 6. Input Power 5, 12 and 15 Volts 15 ma Max 7. Moment of Inertia (oz-in-sec 2 ).1 8. Weight 2. oz Typical CONNECTION SPECIFICATIONS (circular MS style mating connector available as industrial version) Notes: S6M4HI uses Pin K. S9M4HI uses Pin I. *Additional outputs for complementary models. **Split supply for amplified sinewave. Motor/Tach or Motor/Tach/Brake (for clockwise rotation) S6M4HI/S9M4HI Lead Pin (+) Motor Lead A (-) Motor Lead B (+) Tach Lead C (-) Tach Lead D (+) Brake Lead E (-) Brake Lead F Case Ground G Encoder M23 S6M4HI/S9M4HI Function Pin Channel A A Channel B B Channel I C V+ D Common F Case Ground G Channel A* H Channel B* I/K (1) Channel I* J +15V** H -15V** I/K (1) Kollmorgen Motion Technologies Group Commack, New York SERVO 59

71 Revex Gearmotor Series ServoDisc PERFORMANCE DATA Rated Speed Continuous Peak ** Motor Voltage Motor Current Gearmotor Types (RPM) (in-lb/n-m) (in-lb/n-m) Gear Ratio (Volts) (amps) 1. S6M4H/GH /1.4 5/59.6 1: U9M4T/GH9-1* 3 27/3.1 13/11.7 1: U9M4/GH / /13 1: N9M4/GH / /18.4 1: U9M4HT/GH9-1* 3 45/ /2.2 1: S9M4H/GH / /33.5 1: U12M4T/GH12-1* 3 64/ /29.1 1: U12M4/GH /8.5 31/34 1: U12M4HT/GH12-1* 3 93/ /42 1: U12M4H/GH / /47.2 1: JR12M4CH/GH / /47.5 1: JR16M4CH/GH / /73.4 1: S6M4H/GH /3.1 1/11.3 2: U9M4T/GH9-2* 15 52/5.8 27/23.3 2: U9M4/GH /6.8 24/27.1 2: N9M4/GH / /36.7 2: U9M4HT/GH9-2* 15 9/ /4.4 2: S9M4H/GH / /56 2: U12M4T/GH12-2* / /58.2 2: U12M4/GH /17 62/68 2: U12M4HT/GH12-2* /2.9 74/87.6 2: U12M4H/GH / /94.5 2: JR12M4CH/GH / /95 2: JR16M4CH/GH / /294 2: S6M4H/GH / /18 4: U9M4T/GH9-4* 75 18/ /46.7 4: U9M4/GH / /93 4: N9M4/GH /18 636/71.8 4: U9M4HT/GH9-4* / /77 4: S9M4H/GH / /77 4: U12M4T/GH12-4* / / : U12M4/GH / /133 4: U12M4HT/GH12-4* / /162 4: U12M4H/GH / /162 4: JR12M4CH/GH / / : JR16M4CH/GH / /294 4: S6M4H/GH / /2 6: U9M4T/GH9-6* 5 161/ /7 6: U9M4/GH / /82 6: N9M4/GH /27 726/82 6: U9M4HT/GH9-6* 5 248/28 725/82 6: S9M4H/GH /33 725/82 6: U12M4T/GH12-6* 5 378/ / : U12M4/GH /5 1548/175 6: U12M4HT/GH12-6* 5 544/ /175 6: U12M4H/GH /175 6: JR12M4CH/GH / /175 6: JR16M4CH/GH / /184 6: S6M4H/GH /9 195/22 1: U9M4T/GH9-1* 3 258/ /9 1: U9M4/GH / /9 1: N9M4/GH /36 796/9 1: U9M4HT/GH9-1* 3 318/36 796/9 1: S9M4H/GH /36 796/9 1: U12M4T/GH12-1* 3 63/ /192 1: U12M4/GH / /192 1: U12M4HT/GH12-1* 3 681/ /192 1: U12M4H/GH / /192 1: JR12M4CH/GH / /192 1: JR16M4CH/GH / /441 1: *Smallest axial length for gearmotor with tachometer. **For short duration only. 6 Kollmorgen Motion Technologies Group Commack, New York SERVO

72 Revex Gearmotor Series ServoDisc DIMENSIONS S-SERIES (S6) MOTOR LEADS NO.2 AWG 18 IN. 1 IN.LG.563 (14.3).8 (2.).75 (19.1) (8.) 3 5 M5 HOLE fl3.38 (85.9) fl (12.) -A- fl (45.) -.1 -B- fl2.2 (55.9) fl (82.3) -.1 fl3.39 (86.1) M5 THREAD x 1mm DP 3 HOLES EQ SP ON fl2.125 (54.) B.C. 1.3 (33.) -S-.354 REF.8 (2.) "A" "C" "B" (MAX) (2.) Motor/Brake S6M4H/GH6 Motor Motor/Tachometer Motor/Brake Tachometer A Without Encoder in mm B in (max) With Encoder mm S6M4H/GH6 1:1 4:1 and S6M4HI/GH6 2:1 6:1 1:1 in C mm M5 HOLE (12.) (86) (45.) -.1 M5 x 1 mm TAP 3 HOLES EQUALLY SPACED ON (54) DIA BC 1.3 (33.).8 (2.) "C" "A" NOTE: Mating connectors are supplied. A A Motor/Brake S6M4HI/GH9 Motor Motor/Tachometer Motor/Brake Tachometer Without Encoder in mm With Encoder in mm Motor Connector - Amphenol/Bendix PT 2A-12-8P Encoder Connector - Amphenol/Bendix PT 2A-12-1P Kollmorgen Motion Technologies Group Commack, New York SERVO 61

73 Revex Gearmotor Series ServoDisc DIMENSIONS S-SERIES (S9) (17.91).1875 (4.75) SQ. KEY 4.33 (11) (84.1) -.2 MOTOR LEADS NO. 18 AWG 12" ± 1" LONG (15.862).75 (19.) REAR SHAFT DIA (12.7) DIA (14.8).6 (1.5).6 (1.5) 1.25 NO.1-32 UNF-2B x.47 (11.9) DEEP TAP (31.8) 3.94 (1) "A" 4 HOLES EQ.SP. ON (92.9) DIA B.C. NO.6-32 UNC-2B TAP x.25 (6.3) DEEP "B" OPTIONAL 4 HOLES LOCATED AS SHOWN ON MAX ENCODER A (1.5) DIA B.C. Motor/Brake S9M4H/GH9 Motor Motor/Tachometer Motor/Brake Tachometer A Without Encoder in mm B in (max) With Encoder mm (17.91).1875 (4.75) SQ. KEY 4.33 (11) (84.1) (15.9) 4.37 (111.) NO.1-32 UNF-2B x.47 DEEP TAP 4 HOLES EQ.SP. ON (92.9) DIA B.C..6 (1.5) 1.25 (31.8) 3.94 (1) A NOTE: Mating connectors are supplied. A A Motor/Brake S9M4HI/GH9 Motor Motor/Tachometer Motor/Brake Tachometer Without Encoder in mm With Encoder in mm Motor Connector - MS312A16S-IP Encoder Connector - MS312A18-IP 62 Kollmorgen Motion Technologies Group Commack, New York SERVO

74 Revex Gearmotor Series ServoDisc DIMENSIONS U-SERIES (17.91).1875 (4.75) SQ. KEY 4.33 (11) (84.1) (15.9) -.5 TACH MODEL ONLY TACH LEADS NO. 22 AWG 12" + 1" LONG DIA -.5 (12.7) 4.37 (111.) MOTOR/ TACHOMETER 1.25 NO.1-32 UNF-2B x.47 (11.9) DEEP TAP (31.8) 4 HOLES EQ.SP ON (92.9) DIA B.C..6 (1.5) 3.94 (1) "B1" (3.15) Gearmotor B1 B2 B3 B4 in U9M4/GH9 mm U9M4T/GH9 U9M4HT/GH9 in mm in mm "B2" MOTOR/ ENCODER (21.1).1875 (4.8) SQ KEY 4.5 (114.3) TACH MODEL ONLY TACH LEADS NO. 22 AWG 12" + 1" LONG DIA (12.7) (15) 5.5 (139.7) "B3" MAX (19.) 1.29 (32.8).1 (2.5) 4.69 (119.) "B1" (3.15) MOTOR/ TACHOMETER/ ENCODER Gearmotor B1 B2 B3 B4 in U12M4/GH12 mm U12M4H/GH12 U12M4T/GH12 U12M4HT/GH12 in mm in mm in mm "B4" MAX Kollmorgen Motion Technologies Group Commack, New York SERVO 63

75 Revex Gearmotor Series ServoDisc DIMENSIONS JR12/GH (21.1) (4.8) /16 x 3/16 x 1. (25.4)LONG AMERICAN STD SQUARE KEY, 416 CRES ACCESS PLUG NO. & LOCATION OPTIONAL LABEL, SCHEMATIC DIAGRAM MOTOR CONNECTOR MS312A-1SL-3P 5.5 MOTOR DIA (139.7) DIA (96.) (1.) -.5 DIA. JR16/GH16.3 x 45 CHAMFER NO.1-32UNF-2B x.47 (11.9) DP TAP 4 HOLES EQUALLY SPACED ON (123.8) DIA BC (32.7) (29.2).1 (2.5) (114.3) -.1 DIA -B DIA (15.1) DIA -.5 (19.) -A- -S-.354 REF (9.) 4.69 REF (119.1).394 REF (1.) 3.29 ±.3 B MAX (22.7) :1 - (23.813) DIA :1 thru 1:1 - (28.562) DIA 3/8-16 UNC-2B X.87 (22.1) DP TAP 4 HOLES EQUALLY SPACED ON MOTOR/DC TACH CONNECTOR (215) DIA BC OIL FILLER/BREATHER PLUG MS312A-16S-1P 1/4 X 1/4 X 1.5 LONG GEARHEAD AMERICAN STD SQUARE KEY 45 LABEL,SCHEMATIC DIAGRAM PLUG,SEALED-REF COUPLING ACCESS HOLE :1 - (26.54) :1 thru 1: (31.39) OIL DRAIN PLUG 9.65 DIA (245) OIL LEVEL INDICATOR PLUG.3 X 45 CHAMFER.472 A B1 7 3/8 CLAMP,SYNCHRO MS /64 1: :1 thru :1 64. MOTOR/BRAKE MOTOR/TACHOMETER/ENCODER OR OR MOTOR/TACHOMETER MOTOR/ENCODER MOTOR/TACHOMETER/BRAKE MOTOR/ENCODER/BRAKE MOTOR/TACHOMETER/BRAKE/ENCODER "B2" "B3" "B4" "B5" "B6" Gearmotor JR12M4CH/GH12 JR16M4CH/GH16 A B 1:1 2:1 4:1 6:1 1: in mm in mm Kollmorgen Motion Technologies Group Commack, New York SERVO

76 Revex Gearmotor Series ServoDisc DIMENSIONS N-SERIES (N9) MOTOR LEADS NO.18 AWG 18 (457.2) in 1 (25.4) in LONG.531 (13.5) (4.76) (21.1) fl (19.) SLEEVING fl5.91 (15.1).2 fl (114.3) fl2.2 (55.9) fl5.49 (139.5) NO.1-32 UNF-2B X.47 (12) DP TAP 4 HOLES EQUALLY SPACED ON (123.8) DIA BC (29.2) (32.7).1 (2.5) 4.69 REF (119).35 REF (9.) (33.7) 1.5 MAX (26.7) Motor/Brake N9M4/GH9/M23 Motor Motor/Tachometer Motor/Brake Tachometer A Without Encoder in mm B in (max) With Encoder mm Kollmorgen Motion Technologies Group Commack, New York SERVO 65

77 Revex Gearmotor Series ServoDisc DIMENSIONS N-SERIES (N12) MOTOR LEADS NO.18 AWG 18 (457.2) in 1 (25.4) in LONG.531 (13.5) (4.76) (21.1) fl (19.) SLEEVING fl5.91 (15.1).2 fl (114.3) fl2.2 (55.9) fl5.49 (139.5) NO.1-32 UNF-2B X.47 (12) DP TAP 4 HOLES EQUALLY SPACED ON (123.8) DIA BC (29.2) (32.7).1 (2.5) 4.69 REF (119).35 REF (9.) (33.7) 1.5 MAX (26.7) Motor/Brake N12M4/GH12/M23 Motor Motor/Tachometer Motor/Brake Tachometer A Without Encoder in mm B in (max) With Encoder mm Units GH6 GH9 GH12 GH16 1. Max Inertia (2) oz-in-sec 2 1.9x x x x1-3 g-cm Radial Load lbs Distance from Mounting Surface in Axial Load lbs Basic Weight (3) lbs Basic Lenght (3) in Notes: 1. Mounted on 8 x 16 x 3/8 aluminum heatsink. 3. Weights and lengths will vary with options. 2. Motor plus gearhead, measured at motor shaft. 4. Gearmotors can be mounted in any position. 66 Kollmorgen Motion Technologies Group Commack, New York SERVO

78 Revex Gearmotor Series ServoDisc OPTIONS TACHOMETER SPECIFICATIONS Tachometer/Motor Types 9FA4T/U-Series F9T/JR-Series 1. Output voltage (Volts/kRPM) Max ripple peak to peak (%)* Linearity referred to 36 RPM (%) Bi-directional tolerance (%) 3.% Output impedance (ohm) Moment of inertia (oz-in-sec 2 ) Temperature coefficient (%/ C Rise) Recommended load resistance (ohms) 25 Min. 2 Min. *With 5 Hz low pass filter. BRAKE SPECIFICATIONS Brake Types/Motor Types BRK/JR-Series 1. DC voltage (Volts) (9V in option) Input 2 C nominal (Watts) 25 Max 3. Holding torque (in-lb) Additional inertia (oz-in-sec 2 ).64 Notes: 1. Brakes are electrically released. 2. Brakes are intended for power loss situations or to hold motor when at a standstill. ENCODER SPECIFICATIONS (For U-Series, use Model #M23 for JR-Series; use Model #BA251.) (See Feedback Section for more detailed information.) 1. Resolution Up to 254 cycles per revolution 2. Frequency response (khz) 1 3. Output format Quadrature channels and index 4. Phasing 9 ± 2 max 5. Output levels (5, 12 and 15 Volts) TTL and CMOS compatible 6. Input power 5, 12, and 15 volts 15 ma max 7. Moment of inertia (oz-in-sec 2 ) M23.1 BA Kollmorgen Motion Technologies Group Commack, New York SERVO 67

79 Indurex Gearmotor Series ServoDisc PERFORMANCE DATA Rated Speed Continuous Peak Motor Voltage Motor Current Gearmotor Types (RPM) (in-lb/n-m) (in-lb./n-m) Gear Ratio (Volts) (amps) 1. JR24M4CH/KR / / : JR24M4CH/KR / / : JR24M4CH/KR / / : JR24M4CH/KR / / : JR16M4CH/KR /3.4 86/ : JR24M4CH/KR / / : JR24M4CH/KR /169 37/ : JR16M4CH/KR / / : JR16M4CH/KR / : JR16M4CH/KR / / : JR16M4CH/KR /232 6/ : JR16M4CH/KR / / : Units JR16M4CH/KR16 JR24M4CH/KR16 1. Max Inertia (2) oz-in-sec kg-cm Radial Load lb Distance from Mounting Surface in Axial Load (5) lb Basic Weight (3) lb Basic Lenght (3) in Notes: 1. Mounted on 16 x 16 x 3/8 (JR16), 21 x 21 x 1/2 (JR24) 3. Weights and lengths will vary with options. aluminum heatsink. 4. Gearmotors can be mounted in any position. 2. Motor plus gearhead, measured at motor shaft. 5. Axial Load combined with specified Radial Load. 68 Kollmorgen Motion Technologies Group Commack, New York SERVO

80 Indurex Gearmotor Series ServoDisc OPTIONS JR16M4CH/JR24M4CH AMERICAN STD.25 SQUARE KEY (6.4) 1 1/2-2" LONG CONNECTOR MS312A1SL-3P Gearmotor A* B in JR16M4CH mm JR24M4CH in mm *Dimension will change depending on options chosen. fl7.281 (184.9) 1/16 3/8-16 UNC-2B X.7 (17.8) DEEP TAP 4 HOLES EQUALLY SPACED ON (215.).15 (.381) DIA BC (31.4) fl (25.).63 fl (13.) fl (28.6) (3.2) (157.2).63 A fl (121.8) B fl.3935 (1.) (63.5) TACHOMETER SPECIFICATIONS Tachometer Types F9T W6T6 W6T19 1. Output voltage (Volts/kRPM) Max ripple peak to peak (%)* Linearity referred to 36 RPM (%) Bi-directional tolerance (%) ±1.5 ±1 ±1 5. Output impedance (ohms) Moment of inertia (oz-in-sec 2 ) Temperature coefficient (%/ C Rise) Recommended load resistance (ohms) 2 Min. 35 Min. 26 Min. 9. Friction torque (oz-in) Weight (lb) *With 5 Hz low pass filter. BRAKE SPECIFICATIONS Motor Types JR16M4CH JR24M4CH 1. DC voltage (Volts) (9V in option) Input 2 C nominal (Watts) 25 Max 27 Max 3. Holding torque (in-lb) Additional inertia (oz-in-sec 2 ) Disengagement time (millisec) Engagement time (millisec) Weight (lb) Notes: 1. Brakes are electrically released. 2. Brakes are intended for power loss situations or to hold motor when at a standstill. BA251 ENCODER SPECIFICATIONS (See Feedback Section for more detailed information.) 1. Resolution Up to 254 cycles per revolution (5 for sinewave) 2. Frequency response (khz) 1 3. Output format Quadrature channels and index 4. Phasing 9 ± 2 max 5. Output levels (5, 12 and 15 Volts) TTL and CMOS compatible 6. Input power 5, 12, and 15 volts 15 ma max 7. Moment of inertia (oz-in-sec 2 ) Weight 17 oz (max) Kollmorgen Motion Technologies Group Commack, New York SERVO 69

81 Ferrite Series ServoDisc PERFORMANCE DATA Rated Speed Continuous Peak Motor Voltage Motor Current Gearmotor Types (RPM) (in-lb/n-m) (in-lb/n-m) Gear Ratio (Volts) (amps) 1:1 9FGCHD/1: / : :1 9FGCHDT/1: /.8 32/ : :1 9FGT/15: /.9 16/ : FG/15: /1.1 16/ : FGHDT/15:1 2 12/1.4 36/ : FGHD/15: /1.5 36/ : FGCHD/15: /1.4 38/ : FGCHDT/15: /1.4 38/ : FGT/15: /3.2 68/ : FG/15: /3.5 68/ : :1 9FGT/25: /1.5 26/2.9 24: FG/25: /1.9 26/2.9 24: FGHDT/25: /2.2 62/ : FGHD/25: /2.5 62/ : FGCHD/25: /2.3 69/ : FGCHDT/25: /2.2 65/ : FGT/25: /4.8 13/ : FG/25: /5.3 13/ : :1 12FGT/37: / / : FG/37: / / : :1 9FGHDT/5: / / : FGHD/5: / / : FGT/5: /3.1 49/ : FG/5: /3.8 49/ : FGCHD/5: / / : FGCHDT/5: / / : FGT/5:1 6 87/9.8 21/ : FG/5:1 6 97/11 21/ : :1 9FGT/8: /5 59/ : FGHDT/8: / / : FG/8: /6 59/ : FGHD/8: / / : FGCHD/8:1 38 6/ : FGCHDT/8: /6.4 12/ : FGT/8: / / : FG/8: / / : :1 9FGT/1:1 31 5/5.6 94/ : FG.1: /6.7 94/ : FGHDT/1:1 3 71/8. 151/ : FGHD/1: / / : FGCHD/1:1 3 6/ : FGCHDT/1:1 3 6/6.8 12/ : FGT/1: / / : FG/1: / / : :1 9FG/15: /6.7 94/ : FGT/15: /6.7 94/ : FGHD/15:1 2 92/ / : FGHDT/15:1 2 92/ / : FGCHD/15:1 2 6/ : FGCHDT/15:1 2 6/6.8 12/ : FG/15:1 21 2/ / : FGT/15:1 21 2/ / : Legend: FG - Gearmotor FGT - Gearmotor, Integral Tachometer FGHD - Gearmotor, Heavy Duty FGHDT - Gearmotor, Heavy Duty, Integral Tachometer GFCHD - Gearmotor, Compact Heavy Duty 7 Kollmorgen Motion Technologies Group Commack, New York SERVO

82 PERFORMANCE DATA Ferrite Series ServoDisc Units 9FG 9FGT 9FGHD 9FGCHD 9FGHDT 12FG 12FGT 1. Maximum Inertia (2) oz-in-sec g-cm Radial lb to Distance from Mounting Surf. in Axial Load lb to Basic Weight (3) lb Basic Lenght (3) in Motor electrical and mechanical specifications are subject to change without notice. Please consult a Kollmorgen Sales Office. Notes: 1. Mounted on 8 x 16 x 3/8 aluminum heatsink. 3. Weights and lengths will vary with options. Please consult a Kollmorgen Sales Office. 2. Motor plus gearhead, measured at motor shaft. 4. Gearmotors can be mounted in any position. FERRITE GEARMOTOR OPTIONS Rear Extension Prepared for Encoder M23 Optical Encoder (See Options Section for details) Intergal Analog Tachometer Brake Kollmorgen Motion Technologies Group Commack, New York SERVO 71

83 Ferrite Series ServoDisc DIMENSIONS 9FG, 9FGT (48.82) (32.54) (9.53) TYP 4 PLCS fl (9.53) (25.4) -.62 FLAT.3 (.76) DP x.688 (17.48) LONG.219 (5.56) fl.75 (19.5) (29.36) NO.8-32 UNC-2B x.375 (9.53) DP TAP 4 HOLES EQUALLY SPACED ON fl4.33 (11) B.C. CHAMFER.3x45.15 (.38) 4 PLCS.281 (7.14) Dimensions in inches. Models 9FG 9FGT A 1.92 ±.6 2. ±.6 B 1.28 ± ±.6 9FGHD, 9FGCHD, 9FGHDT (Heavy Duty and Compact Models).3 (.76) X.688 (17.46) LG FLAT MOTOR LEADS - 18 AWG 6 IN. 1 IN. LONG 1.5 (38.1) (GEARHEAD) +. fl (9.53) (29.36) NO.8-32UNC-2B x.344 (8.74) DP 4 PLCS EQ SP ON fl 4.33 (19.98) B.C. 3. TACH LEADS 22 AWG 6 IN. 1 IN. LONG.2 (.51) X 45 CHAMFER (25.4) -.62 TACH.281 (7.14) (58.34) fl 4.75 (12.65) Dimensions in inches. Models 9FGHD 9FGCHD 9FGHDT A 2.81 ± ± ±.6 B 2.19 ± ± ±.6 C (DIA) FG, 12FGT.1875 (4.76) (SQUARE KEY) (34.93) (63.7) (19.5).156 (3.96) MOTOR LEADS 18 AWG, 6" 1"LONG fl 6 (152.4) (17.88) -.17 fl (15.88) -.1 fl (33.35) (34.93) CHAMFER.3 (.76) x 45 TACH 21 2 NO UNC-2B X.5 (12.7) DEEP TACH LEADS 22 AWG, 6" 1" LONG RAD TYP 4 PLACES EQ SP ON fl 5.5 (139.7) B.C..5 (12.7) 4 PLACES.3 (.76) TYP 4 PLACES (95.25) (12.7).313 (7.94) Dimensions in inches. Models 12FG 12FGT A 3.75 ± ±.6 72 Kollmorgen Motion Technologies Group Commack, New York SERVO

84 DIMENSIONS - Rear Extension Ferrite Series ServoDisc 9FG, 9FGT (32.54) (48.82) (12.7) (19.5).375 (9.53) TYP 4 PLCS fl (9.53) (25.4) -.62 FLAT.3 (.76) DP x.688 (17.48) LONG.219 (5.56) +. fl (6.32) fl.75 (19.5) (29.36) fl2.25 (57.15) NO.8-32 UNC-2B x.375 (9.53) DP TAP 4 HOLES EQUALLY SPACED ON fl4.33 (11) B.C. CHAMFER.3x45.15 (.38) 4 PLCS.125 (3.18) Dimensions in inches. Models 9FG 9FGT A 1.92 ±.6 2. ±.6 B 1.28 ± ±.6 C 1.6 ± ±.6 9FGHD, 9FGHDT, 9FGCHD (Heavy Duty and Compact Models).3 (.76) X.688 (17.46) LG FLAT MOTOR LEADS - 18 AWG 6 IN. 1 IN. LONG 1.5 (38.1) (GEARHEAD) +. fl (9.53) (29.36) 3. TACH LEADS 22 AWG 6 IN. 1 IN. LONG NO.8-32UNC-2B x.344 (8.74) DP 4 PLCS EQ SP ON fl 4.33 (19.98) B.C..2 (.51) X 45 CHAMFER (25.4) -.62 TACH.281 (7.14) (58.34).3144 (7.99) C fl 4.75 (12.65) Dimensions in inches. Models 9FGHD 9FGHDT 9FGCHD 9FGCHDT A 2.81 ± ± B 2.19 ± ± C 1.23 ± ± D (DIA) FG, 12FGT (4.76) -.2 (SQUARE KEY) (34.93) (63.7) (19.5).156 (3.96) MOTOR LEADS 18 AWG, 6" 1"LONG fl 6 (152.4) (17.88) -.17 fl (15.88) -.1 CHAMFER.3 (.76) X 45 fl (33.35) (34.93) CHAMFER.3 (.76) x 45 TACH fl.3144 (7.99) Dimensions in inches. TACH LEADS 22 AWG, 6" 1" LONG Models 12FG 12FGT NO UNC-2B X.5 (12.7) DEEP RAD TYP 4 PLACES EQ SP ON fl 5.5 (139.7) B.C..5 (12.7) 4 PLACES.3 (.76) TYP 4 PLACES (95.25) (12.7) B A 3.75 ± ±.6 B 1.6 ± ±.6 Kollmorgen Motion Technologies Group Commack, New York SERVO 73

85 Ferrite Series SeroDisc DIMENSIONS - Prepared for Encoder 9FG, 9FGT (32.54) (48.82) (12.7) (19.5).375 (9.53) TYP 4 PLCS fl (9.53) (25.4) -.62 FLAT.3 (.76) DP x.688 (17.48) LONG.219 (5.56) +. fl (6.32) fl.75 (19.5) (29.36) NO.8-32 UNC-2B x.375 (9.53) DP TAP CHAMFER.3x45.15 (.38) 4 PLCS.125 (3.18) fl2.25 (57.15) Dimensions in inches. Models 9FG 9FGT A 1.92 ±.6 2. ±.6 B 1.28 ± ±.6 4 HOLES EQUALLY SPACED ON fl4.33 (11) B.C. 9FGHD, 9FGCHD, 9FGHDT, 9FGCHDT (Heavy Duty and Compact Models).3 (.76) X.688 (17.46) LG FLAT MOTOR LEADS - 18 AWG 6 IN. 1 IN. LONG 1.5 (38.1) (GEARHEAD) +. fl (9.53) (29.36) 3..2 (.51) X 45 CHAMFER TACH.25 (6.35) fl 2.25 (57.15) fl 4.75 (12.65) TACH LEADS AWG 6 IN. 1 IN. LONG -.6 (19.3) NO.8-32UNC-2B x.344 (8.74) DP 4 PLCS EQ SP ON fl 4.33 (19.98) B.C (25.4) (58.34).125 (3.18).5 (12.7) Dimensions in inches. Models 9FGHD 9FGCHD 9FGHDT 9FGCHDT A 2.81 ± ± ± B 2.19 ± ± ± C (DIA) FG, 12FGT (4.76) -.2 (SQUARE KEY) (34.93) (63.7) (19.5).156 (3.96) MOTOR LEADS 18 AWG, 6" 1"LONG fl 6 (152.4) (17.88) -.17 fl (15.88) -.1 CHAMFER.3 (.76) X 45 fl (33.35) (34.93) CHAMFER.3 (.76) x 45 TACH fl.3144 (7.99) NO UNC-2B X.5 (12.7) DEEP TACH LEADS 22 AWG, 6" 1" LONG RAD TYP 4 PLACES EQ SP ON fl 5.5 (139.7) B.C..5 (12.7) 4 PLACES.3 (.76) TYP 4 PLACES (95.25) (12.7).5 (12.7).125 (3.18).76 (19.3).6 +. Dimensions in inches. Models 12FG 12FGT A 3.75 ± ±.6 74 Kollmorgen Motion Technologies Group Commack, New York SERVO

86 DIMENSIONS - with Encoder Ferrite Series ServoDisc 9FG, 9FGT.375 (9.53) TYP 4 PLCS fl (9.53) (25.4) -.62 FLAT.3 (.76) DP x.688 (17.48) LONG (32.54) (48.82) (12.7) 1.5 (26.67).219 (5.56) fl.75 (19.5) (29.36) NO.8-32 UNC-2B x.375 (9.53) DP TAP CHAMFER.3x45.15 (.38) 4 PLCS.125 (3.18) fl2.25 (57.15) Dimensions in inches. Models 9FG 9FGT A 1.92 ±.6 2. ±.6 B 1.28 ± ±.6 4 HOLES EQUALLY SPACED ON fl4.33 (11) B.C. 9FGHD, 9FGHDT, 9FGCHD (Heavy Duty Models).3 (.76) X.688 (17.46) LG FLAT MOTOR LEADS - 18 AWG 6 IN. 1 IN. LONG ENCODER LEADS-24 AWG 18 IN. 1 IN. LONG 1.5 (38.1) (GEARHEAD) +. fl (9.53) (29.36) 3. TACH LEADS 22 AWG 6 IN. 1 IN. LONG NO.8-32UNC-2B x.344 (8.74) DP 4 PLCS EQ SP ON fl 4.33 (19.98) B.C..2 (.51) X 45 CHAMFER (25.4) -.62 TACH (58.34).13 (3.3).5 (12.7) fl 2.2 (55.88) fl 4.75 (12.65).95 (24.13) MAX Dimensions in inches. Models 9FGHD 9FGHDT 9FGCHD 9FGCHDT A 2.81 ± ± B 2.19 ± ± C (DIA) FG, 12FGT (4.76) -.2 (SQUARE KEY) (34.93) (63.7) (19.5).156 (3.96) MOTOR LEADS 18 AWG, 6" 1"LONG fl 6 (152.4) (17.88) -.17 fl (15.88) -.1 fl (33.35) (34.93) 21 2 CHAMFER.3 (.76) x 45 TACH NO UNC-2B X.5 (12.7) DEEP TACH LEADS 22 AWG, 6" 1" LONG RAD TYP 4 PLACES EQ SP ON fl 5.5 (139.7) B.C..5 (12.7) 4 PLACES.3 (.76) TYP 4 PLACES (95.25) (12.7).5 (12.7).125 (3.18) 1.5 (26.67) Dimensions in inches. Models 12FG 12FGT A 3.75 ± ±.6 Kollmorgen Motion Technologies Group Commack, New York SERVO 75

87 Disk armature technology brings new dimensions of performance to dc servo motor applications Where it works best Certain types of applications are naturals for ServoDisc technology. Let s look at the categories where the benefits are the greatest. a) Fast moves Incremental motion (rapid, repetitive moves) is a natural for the outstanding acceleration of these products. If you need to make many moves a second, this is the right technology. If you must get to speed quickly or stop quickly, ServoDisc will do it best. b) Smooth Rotation ServoDisc products are perfect when precise and smooth speed control is required. Applications such as tape or film handling or recording, machining, rotating mirrors or scanners. The total lack of cogging and the rapid response of these motors gives near perfect rotation. c) Operation over a wide speed range If you need 1 rpm, then 1, then 4, no other product can deliver the precise rotation, constant torque and trouble-free commutation which are characteristic of ServoDisc products. Low speed is not limited by cogging and high speed is not limited by arcing and commutation problems. d) Compact Size When space is at a premium, the unique ServoDisc package may be the answer. Its flat profile and high power output make it easier to design in than conventional motors. This may be just the edge you need to put your design ahead of the competition. A Track Record of Success The unique technology and superior performance of the ServoDisc motor make it the best choice for a tremendous range of servo applications. Increased throughout, better accuracy, improved packaging, longer life; these are just a few of the benefits that can be realized with this exciting technology. a) Automation and robotics Speed and acceleration capabilities separate ServoDisc motors from the conventional motor pack. Apply these products to packaging, sorting, labeling, component insertion, precision winding any application where throughput is critical. Compact size and high torque make these motors ideal for robot axis drives. Compact ServoDisc precision gearmotors combine exceptional performance with innovative packaging. The same features make them great for robotic positioning tables. b) Instrumentation Superior technology is called for when performance and accuracy are critical. Inspection equipment, x-y stages, chromatography equipment, ultrasonic and optical scanners, plotters, shutter actuation all of these applications can benefit from the rapid response and precise motion which is characteristic of ServoDisc products. c) Process control Extraordinary responsiveness and cog-free rotation have earned ServoDisc products an important niche in process control applications. They can deliver fast, accurate metering of chemicals or fluids. The unparalled smoothness is perfect for handling continuous materials such as tape, film, paper, textiles or optical fibers. In fact any application involving continuous webs is a natural for this technology. Which accounts for its extensive use in the film, paper, printing and textile industries. Textile applications also include fabric cutting and stitching equipment. d) Information handling No cogging and the ability to maintain precise speed and phase lock are perfect features for audio, video, analog and digital recording. ServoDisc motors have an impressive track record in tape mastering and duplication equipment, instrumentation recorders and studio-grade recording equipment. They have also made their mark in the growing video disk industry. e) Biomedical equipment Portability, reliability and superior performance have made a name for ServoDisc motors in many medical life-support analysis applications. Blood pumps, blood analyzers, kidney dialysis, respirators and ultrasonic scanners are all candidates for this advanced technology. f) Semiconductor manufacturing ServoDisc motors are an excellent match for the demanding performance requirements of the semiconductor manufacturing industry. For die and wire bonding, wafer handling, cleaning, testing and dicing, and laser trimming, the high throughput, perfectly smooth rotation and precision of these motors can really crank up productivity. g) Business automation Demand is increasing inthe business community for increased performance and productivity from office automation equipment. The application of ServoDisc technology to check sorters, imprinters, document readers, high speed printers and collating equipment has answered the call. h) Military applications Rugged design, reliability, long life, compact packaging and outstanding performance have put ServoDisc products in the front lines. Gun turrets, gun loaders, fire control drives, smoke generators and antenna rotation drives are just some of the applications where we serve.