Kollmorgen VLM Brushless Motor Selection Guide

Kollmorgen VLM Brushless Motor Selection Guide with AKD TM Servo Drive Systems

Kollmorgen. Every solution comes from a real understanding of the challenges facing machine designers and users. The ever-escalating demands of the marketplace mean increased pressure on machine designers and users at every turn. Time constraints. Demands for better performance. Having to think about the next-generation machine even before the current one is built. While expectations are enormous, budgets are not. Kollmorgen s innovative motion solutions and broad range of quality products help engineers not only overcome these challenges but also build truly differentiated machines. Because motion matters, it s our focus. Motion can distinctly differentiate a machine and deliver a marketplace advantage by improving its performance. This translates to overall increased efficiency on the factory floor. Perfectly deployed machine motion can make your customer s machine more reliable and efficient, enhance accuracy and improve operator safety. Motion also represents endless possibilities for innovation. We ve always understood this potential, and thus have kept motion at our core, relentlessly developing products that offer precision control of speed, accuracy and position in machines that rely on complex motion.

K O L L M O R G E N V A L U E L I N E B R U S H L E S S M O T O R S E L E C T I O N G U I D E Removing the Barriers of Design, Sourcing, and Time At Kollmorgen, we know that OEM engineers can achieve a lot more when obstacles aren t in the way. So, we knock them down in three important ways: Integrating Standard and Custom Products The optimal solution is often not clear-cut. Our application expertise allows us to modify standard products or develop totally custom solutions across our whole product portfolio so that designs can take flight. Providing Motion Solutions, Not Just Components As companies reduce their supplier base and have less engineering manpower, they need a total system supplier with a wide range of integrated solutions. Kollmorgen is in full response mode with complete solutions that combine programming software, engineering services and best-in-class motion components. Global Footprint With direct sales, engineering support, manufacturing facilities, and distributors spanning the Americas, Europe, Middle East, and Asia, we re close to OEMs worldwide. Our proximity helps speed delivery and lend support where and when they re needed. Table of Contents u AKD Servo Drive 4 u VLM Series Brushless Servomotor Benefits 8 u VLM2x Series Brushless Servomotor VLM2x General Specification VLM2x Outline Drawings & Dimensional Data VLM2x Performance Data 2 VLM2x Performance Curves 3 u VLM3x Series Brushless Servomotor 4 VLM3x General Specification 4 VLM3x Outline Drawings & Dimensional Data VLM3x Performance Data 6 VLM3x Performance Curves 7 u Bearing Fatigue and Shaft Loading 8 u Connector Options 9 u Model Nomenclature 23 u MOTIONEERING Application Engine 2 Financial and Operational Stability Kollmorgen is part of Danaher Corporation. A key driver in the growth of all Danaher divisions is the Danaher Business System, which relies on the principle of kaizen or continuous improvement. Using world-class tools, cross-disciplinary teams of exceptional people evaluate processes and develop plans that result in superior performance. www.kollmorgen.com 3

AKD Servo Drive A K D S E R V O D R I V E AKD Servo Drive Our AKD series is a complete range of Ethernet-based servo drives that are fast, feature-rich, flexible and integrate quickly and easily into any application. AKD ensures plug-and-play commissioning for instant, seamless access to everything in your machine. And, no matter what your application demands, AKD offers industry-leading servo performance, communication options, and power levels, all in a smaller footprint. This robust, technologically advanced family of drives delivers optimized performance when paired with our best-in-class components, producing higher quality results at greater speeds and more uptime. With Kollmorgen servo components, we can help you increase your machine s OEE by %. K O L L M O R G E N A KDANAHER O L L M OMOTION R G E N COMPANY K O L L M O R G E N

The Benefits of AKD Servo Drive Optimized Performance in Seconds Auto-tuning is one of the best and fastest in the industry Automatically adjusts all gains, including observers Immediate and adaptive response to dynamic loads Precise control of all motor types Compensation for stiff and compliant transmission and couplings A K D S E R V O D R I V E Greater Throughput and Accuracy Easy-to-use Graphical User Interface (GUI) for Faster Commissioning and Troubleshooting Flexible and Scalable to Meet any Application Up to 27-bit-resolution feedback yields unmatched precision and excellent repeatability Very fast settling times result from a powerful dual processor system that executes industry-leading and patent pending servo algorithms with high resolution Advanced servo techniques such as high-order observer and bi-quad filters yield industry-leading machine performance Highest bandwidth torque-and-velocity loops. Fastest digital current loop in the market Six-channel real-time software oscilloscope commissions and diagnoses quickly Multi-function Bode Plot allows users to quickly evaluate performance Auto-complete of programmable commands saves looking up parameter names One-click capture and sharing of program plots and parameter settings allow you to send machine performance data instantly Widest range of programming options in the industry 3 to 24 Arms continuous current; 9 to 48 Arms peak Very high power density enables an extremely small package True plug-and-play with all standard Kollmorgen servomotors and actuators Supports a variety of single and multi-turn feedback devices Smart Feedback Device (SFD), EnDat2.2,, BiSS, analog Sine/ Cos encoder, incremental encoder, HIPERFACE, and resolver Tightly integrated Ethernet motion buses without the need to add large hardware: EtherCAT, SynqNet, Modbus/TCP, EtherNet/IP, PROFINET, and CANopen Scalable programmability from base torque-and-velocity through multi-axis master www.kollmorgen.com

AKD Servo Drive A K D S E R V O D R I V E The AKD servo drive delivers cutting-edge technology and performance with one of the most compact footprints in the industry. These feature-rich drives provide a solution for nearly any application, from basic torque-and-velocity applications, to indexing, to multi-axis programmable motion with embedded Kollmorgen Automation Suite. The versatile AKD sets the standard for power density and performance. Micron Gearheads AKM Servomotors Kollmorgen Cartridge DDR Motors Housed Direct Drive Rotary Motors Best-in-Class Components AKD works seamlessly with Kollmorgen motors and actuators well-known for quality, reliability, and performance. Direct Drive Linear Motors* Linear Actuators Multi-Axis Precision Tables AKD Servo Drive 6 K O L L M O R G E N

H D W General Specifications Industry-leading power density Modbus/TCP A K D S E R V O D R I V E 2 / 24 Vac & 3 Phase (8-26 V) Continuous Current (Arms) Peak Current (Arms) Drive Continuous Output Power Capacity (Watts) Internal Regen (Watts) (Ohms) Height mm (in) Width mm (in) Depth mm (in) Depth with Cable Bend Radius mm (in) AKD- 36 3 9 68 (6.6) 7 (2.24) 3 (6.2) 84 (7.24) AKD- 66 6 8 2 68 (6.6) 7 (2.24) 3 (6.2) 84 (7.24) AKD- 26 2 3 4 9 (7.68) 76 (2.99) 86 (7.32) 2 (8.46) AKD- 246 24 48 8 2 8 2 (9.84) (3.94) 23 (9.6) 26 (.43) 24/48 Vac 3 Phase (87-28 V) Continuous Current (Arms) Peak Current (Arms) Drive Continuous Output Power Capacity (Watts) Internal Regen (Watts) (Ohms) Height mm (in) Width mm (in) Depth mm (in) Depth with Cable Bend Radius mm (in) AKD- 37 3 9 2 33 26 (.8) 7 (2.76) 86 (7.32) 22 (8.7) AKD- 67 6 8 4 33 26 (.8) 7 (2.76) 86 (7.32) 22 (8.7) AKD- 27 2 3 8 33 26 (.8) 7 (2.76) 86 (7.32) 22 (8.7) AKD- 247 24 48 6, 2 23 3 (2.2) (4.3) 229 (9.2) 264 (.39) S748 48 96 3, 38 (.6) 9 (7.48) 244 (9.6) 28 (.22) S772 72 4, 38 (.6) 9 (7.48) 244 (9.6) 28 (.22) Note: For complete AKD model nomenclature, refer to page 23. www.kollmorgen.com 7

V L M S E R I E S B R U S H L E S S S E R V O M O T O R VLM Series Brushless Servomotor The new VLM family of servomotors is designed for superior Torque-per-dollar for those customers looking for a low cost motor with optimal performance. With a design targeted for the most common servomotor features and offering torque ranges from.nm to almost 6Nm, VLM are able to deliver all the torque and performance of a servo while helping customers control their application costs. VLM Series Brushless Servomotors are available in both NEMA (23, 34) and Metric (6, 9mm) mounting standards with multiple shaft configurations for seamless integration into any system. Similarly, multiple feedback and cable options give customers flexibility in their system configuration without adding significant cost. K O L L M O R G E N

The Benefits of Value Line Brushless Servomotors Exceptional Quality and Value Standard Configurations To Fit Most Applications High torque per dollar Quality components No need for intermediate cables Low cost feedback options standard Low cost design 6 of the most popular size motors with 2 standard windings NEMA and Metric standard mounts S2, AKD, Flying Leads and Molex Connector options standard Good match for dynamic loads V L M S E R I E S B R U S H L E S S S E R V O M O T O R Ease of Use Smart Feedback Device, Resolver, or Encoder feedback options. Standard connector options and matching cables Smart Feedback Device that offers automatic motor recognition and setup when used with Kollmorgen drives www.kollmorgen.com 9

VLM2x Series Brushless Servomotor V L M 2 X S E R I E S B R U S H L E S S S E R V O M O T O R General Specifications NEMA 23 or 6 mm metric Designed for 2/24 Vac servo drives Windings optimized for 7, 6 and 32 Vdc Rated speeds to 6, RPM Up to 4.2 N-m peak Up to.2 N-m continuous CE, UL, cul RoHS compliant IP4 protection m and 3m lead lengths available High performance magnets for maximum torque Standard cabling option for direct connection to S2 (Hall or SFD feedback) Standard cabling option for direct connection to AKD (SFD, Resolver or Encoder feedback) K O L L M O R G E N

VLM2x Outline Drawings 4 REF. 4X "E" THRU "C" "D" [.8] 4.6 REF. [.4].4 REF. [2.28] 8 "A" "B" [.6]. [.24] 6. "Z" MAX. "X" REF. [.29] 7.3 REF. [.34] 8.6 "R" "T" FLAT DETAIL [.6] 4.2 MIN. KEYWAY DETAIL "S" V L M 2 X S E R I E S B R U S H L E S S S E R V O M O T O R VLM2x Dimensional Data (Up to 32 Vdc : Shaft Mount Option Units A Shaft Diameter A (Metric) mm -. B (NEMA) inch.37 +. -. C (Metric) mm 4 -. D (NEMA) inch.2 +. -. E (Metric) mm -. F (NEMA) inch.37 +. -. G (Metric) mm 4 -. B Shaft Length C Pilot Diameter 28. 36 -.2.8. +. -.2 3 -.2.8. +. -.2 28. 36 -.2.8. +. -.2 3 -.2 D Mtg Hole E Mtg Hole Diameter R Key Width 7.7 4. 4 -.3 S Key Length 8 -.2 T Shaft Diameter Over Key 2. -.3 Shaft Feature Key 4 x 4 x 8 2.62.2 - - - Smooth 7. -.3 2 -.2 6 -.3 Key x x 2 2.62.2 - - - Smooth 7.7 4. - - - Smooth 2.62.2 - - - Flat 7. - - - Smooth MODEL Units X Z MAX VLM2 mm 78.2 2.4 inch 3. 4.3 VLM22 mm 3.6 27.8 inch 4..3 VLM23 mm 29. 3.2 inch. 6.3 Note: For SFD Versions add. inch (2.7mm) www.kollmorgen.com

V L M 2 X S E R I E S B R U S H L E S S S E R V O M O T O R 7 Vdc 6 Vdc 32 Vdc VLM2x Performance Data Up to 32 Vdc VLM2 VLM22 VLM23 Parameters Tol Symbol Units C E C E D G Max Rated DC Bus Voltage Max Vbus Vdc 32 6 32 6 32 6 Continuous Torque (Stall) for T winding = C ➀➁ Continuous Current (Stall) for T winding = C ➀➁ Nom T cs N-m.48.47.8.83.8.8 Ib-in 4.2 4.2 7.2 7.3.4.4 Nom I cs A rms.49 2.99.69 3.34 2.4 4.9 Max Mechanical Speed ➂ Nom N max rpm 6 6 6 6 6 6 N-m.66.6 2.9 2.94 4.2 4.2 Peak Torque ➀➁ Nom Tp lb-in 4.7 4.6 2.8 26. 37.2 37.2 Peak Current Nom I p A rms 6 2 6.8 3.3 9.8 9.6 N-m -.44 -.73 -. Rated Torque (speed) ➀➁ T rtd lb-in - 3.9-6. - 8.9 Rated Speed N rtd rpm - 3-2 - 2 kw -.4 -. -.26 Rated Power (speed) ➀➁ P rtd Hp -.9 -.2 -.3 N-m.44.4.69.2.94.6 Rated Torque (speed) ➀➁ T rtd lb-in 3.9 3.6 6. 4.6 8.3.3 Rated Speed N rtd rpm 3 6 2 6 3 6 kw.6.26.8.33.3.38 Rated Power (speed) ➀➁ P rtd Hp.22.3.24.44.4. N-m.4 -. -.6 - Rated Torque (speed) ➀➁ T rtd lb-in 3.6-4. -.3 - Rated Speed N rtd rpm 6-6 - 6 - kw.26 -.32 -.38 - Rated Power (speed) ➀➁ P rtd Hp.3 -.43 -. - N-m/A Torque Constant ➀ ±% K rms.32.6.48.2.48.24 t lb-in/a rms 2.8.4 4.2 2.2 4.2 2. Back EMF Constant ➀ ±% K e V/k rpm 2.8.4 3.2 6. 3.2.6 Resistance (line-line) ➀ ±% R m ohm.4 2.6 8.8 2.3 4.7.2 Inductance (line-line) L mh 2. 3. 2. 3.2 7.7.9 Inertia (includes Resolver feedback) Weight kg-cm 2.429.633.89 J m lb-in-s 2 3.8E-4.6E-4 7.2E-4 kg.4.9 2.3 W lb 3. 4.2. N-m.8..2 Static Friction ➀ T f lb-in.7.9.22 N-m/k Viscous Damping ➀ K rpm.3.6.9 dv lb-in/k rpm.3..8 Thermal Time Constant TCT minutes 7. 2. 7. Thermal Resistance R thw-a C/W 2.4 2.8 Pole Pairs 3 3 3 Heat Sink Size x x/4 Aluminum Plate x x/4 Aluminum Plate x x/4 Aluminum Plate Notes: ➀ Motor winding temperature rise, T= C, at 4 C ambient. ➁ All data referenced to sinusoidal commutation. ➂ May be limited at some values of Vbus. ➃ Measured at 2 C. 2 K O L L M O R G E N

VLM2x Performance Curves 6 Vdc Windings 32 Vdc Windings Torque (lb-in) Torque (lb-in) VLM2E, 6 Vdc 6 4 2 8 6 4 2.7..2.7 Torque (Nm)..2 VLM2C, 32 Vdc 6 4 2 8 6 4 2 2 3 4 6 7 2 3 4 6 7 Speed (RPM) Speed (RPM) VLM22E, 6 Vdc VLM22C, 32 Vdc 3 3 2 3 2 3 2. 2. 2 2 2 2.. Torque (Nm) Torque (lb-in) Torque (lb-in).7..2.7 Torque (Nm)..2 Torque (Nm) V L M 2 X S E R I E S B R U S H L E S S S E R V O M O T O R.. Torque (lb-in) 2 3 4 6 7 2 3 4 6 7 Speed (RPM) Speed (RPM) VLM23G, 6 Vdc VLM23D, 32 Vdc 4 4. 4 3 4 3 4. 3 3. 3 2 3 2 3. 2. 2 2 2 2.... Torque (Nm). 2 3 4 6 7 2 3 4 6 7 Speed (RPM) Speed (RPM) Torque (lb-in) Torque (Nm) - Continuous Performance - Peak Performance www.kollmorgen.com 3

VLM3x Series Brushless Servomotor V L M 3 X S E R I E S B R U S H L E S S S E R V O M O T O R General Specifications NEMA 34 or 9 mm metric Designed for 2/24 Vac servo drives Windings optimized for 7, 6 and 32 Vdc Rated speeds to 6, RPM Up to.9 N-m peak Up to 4. N-m continuous CE, UL, cul RoHS compliant IP4 protection m and 3m lead lengths available High performance magnets for maximum torque Standard cabling option for direct connection to S2 (SFD or Hall feedback) Standard cabling option for direct connection to AKD (SFD, Resolver or Encoder feedback) 4 K O L L M O R G E N

VLM3x Outline Drawings V L M 3 X S E R I E S B R U S H L E S S S E R V O M O T O R VLM3x Dimensional Data (Up to 32 Vdc) : Shaft Mount Option Units A Shaft Diameter A (Metric) mm 4 -. B (NEMA) inch. +. -. C (Metric) mm 4 -. D (NEMA) inch. +. -. B Shaft Length C Pilot Diameter 3 8 +.2 -.7.2 2.87 +. -.2 3 8 +.2 -.7.2 2.87 +. -.2 D Mtg Hole E Mtg Hole Diameter R Key Width 7 -.3 3.87.28.2 -.3 S Key Length T Shaft Diameter Over Key 2 6 -.2 -.3.7 ±.. +. -.7 7 - - - Shaft Feature Key x x 2 Key /8 x /8 x 3/4 3.87.28 - - - Smooth MODEL Units X Z MAX VLM3 mm 89.4 2. inch 3. 4.42 VLM32 mm 27..2 inch..92 VLM33 mm 6.6 88.3 inch 6. 7.42 Note: For SFD Versions add. inch (2.7mm) www.kollmorgen.com

V L M 3 X S E R I E S B R U S H L E S S S E R V O M O T O R VLM3x Performance Data Up to 32 Vdc VLM3 VLM32 VLM33 Parameters Tol Symbol Units E H H J J 7 Vdc 6 Vdc 32 Vdc Max Rated DC Bus Voltage Max Vbus Vdc 32 6 32 6 32 Continuous Torque (Stall) for T winding = C ➀➁ Continuous Current (Stall) for T winding = C ➀➁ Nom T cs N-m.96.9 3. 3. 4.3 Ib-in 7.3 7.3 3.4 3. 4. Nom I cs A rms 2.84.72.26 8.43 7.23 Max Mechanical Speed ➂ Nom N max rpm 6 6 6 6 6 Peak Torque ➀➁ Nom Tp N-m 6.4 6.4 2..9.9 lb-in 6.6 6.6 6.2.3 4.7 Peak Current Nom I p A rms.3 22.9 2. 33.7 28.9 N-m -.82-3.32 - Rated Torque (speed) ➀➁ T rtd lb-in - 6. - 29.4 - Rated Speed N rtd rpm - 7 - - kw -.33 -.2 - Rated Power (speed) ➀➁ P rtd Hp -.4 -.7 - N-m.8.62 3.26 3. 3.93 Rated Torque (speed) ➀➁ T rtd lb-in.9 4.3 28.9 26.6 34.8 Rated Speed N rtd rpm 2 4 2 3 22 kw.38.68.68..93 Rated Power (speed) ➀➁ P rtd Hp..9.92.47.24 N-m.63-2.86-2.37 Rated Torque (speed) ➀➁ T rtd lb-in 4.4-2.3-2. Rated Speed N rtd rpm 4-4 - kw.68 -.3 -.24 Rated Power (speed) ➀➁ P rtd Hp.92 -.8 -.66 N-m/A Torque Constant ➀ ±% K rms.7.3.7.43.6 t lb-in/a rms 6.3 3. 6.2 3.8.8 Back EMF Constant ➀ ±% K e V/k rpm 4.9 22.6 4.2 27.9 4.9 Resistance (line-line) ➀ ±% R m ohm 4.3..6.7.8 Inductance (line-line) L mh.7 2.8..9 2.7 Inertia (includes Resolver feedback) Weight kg-cm 2.79 3.37 4.84 J m lb-in-s 2.8E-3 2.98E-3 4.28E- kg 3 4.7 6.3 W lb 6.6.4 3.9 N-m.6..7 Static Friction ➀ T f lb-in.3.33. N-m/k Viscous Damping ➀ K rpm.6.39.47 dv lb-in/k rpm.4.3.42 Thermal Time Constant TCT minutes. 2. 26 Thermal Resistance R thw-a C/W.6.2.96 Pole Pairs 3 3 3 Heat Sink Size x x/4 Aluminum Plate x x/4 Aluminum Plate x x/4 Aluminum Plate Notes: ➀ Motor winding temperature rise, T= C, at 4 C ambient. ➁ All data referenced to sinusoidal commutation. ➂ May be limited at some values of Vbus. ➃ Measured at 2 C. 6 K O L L M O R G E N

VLM3x Performance Curves 6 Vdc Windings 32 Vdc Windings Torque (lb-in) Torque (lb-in) VLM3H, 6 Vdc 6 4 3 2 6 4 3 2 Torque (Nm) VLM3E, 32 Vdc 6 4 3 2 2 3 4 2 3 4 Speed (RPM) Speed (RPM) VLM32J, 6 Vdc 2 2 VLM32H, 32 Vdc 2 8 6 4 8 6 4 Torque (Nm) Torque (lb-in) Torque (lb-in) 8 6 4 6 4 3 2 2 8 6 4 Torque (Nm) Torque (Nm) V L M 3 X S E R I E S B R U S H L E S S S E R V O M O T O R 2 2 2 2 2 3 4 Speed (RPM) 2 3 4 Speed (RPM) Torque (lb-in) 6 4 2 8 6 4 2 VLM33J, 6 Vdc 2 2 3 Speed (RPM) ----- - Continuous Performance w/molex Connectors - Continuous Performance - Peak Performance 8 6 4 2 8 6 4 2 Torque (Nm) Torque (lb-in) VLM33J, 32 Vdc 6 4 2 8 6 4 2 2 3 4 Speed (RPM) 8 6 4 2 8 6 4 2 Torque (Nm) www.kollmorgen.com 7

Bearing Fatigue and Shaft Loading B E A R I N G F A T I G U E A N D S H A F T L O A D I N G Axial Force (N) 2 22 2 7 2 7 2 RPM RPM 2 RPM 4 RPM 8 RPM VLM2 Motors 2 HOURS BEARING LIFE 2 3 4 6 7 8 9 2 3 4 6 7 Radial Force (N) Shaft Loading Motor Max. Radial Force (N) Max. Axial Force (N) VLM2 * 26 VLM3 28 33 *VLM2 with D Shaft/Mount option is limited to N due to.2 inch diameter shaft. The maximum radial load ratings reflect the following assumptions:. Motors are operated with peak torque of the longest member of the frame size. 2. Fully reversed load applied to the end of the smallest diameter standard mounting shaft extension. 3. Infinite life with 99% reliability. 4. Safety factor = 2. VLM3 Motors 2 HOURS BEARING LIFE 9 RPM 8 Axial Force (N) 7 6 4 3 RPM 2 RPM 4 RPM 2 6 RPM 2 7 2 7 2 22 2 27 3 Radial Force (N) 8 K O L L M O R G E N

Connector Options M Connector Option Power Connector Connector Part Number: Molex 39--46 (Eng No. 9-P3) Pin Function Color Phase U Blue 2 Phase V Brown 3 Phase W Violet 4 Ground Green/Yellow Shield Shield Connected to Motor Ground Internal to Motor Suggested Mating Connector Molex 39--4 Halls Feedback Connector Part Number: Molex 432- Pin Function Color + Vdc Red 2 Ground Black 3 4 Shield 6 Thermal+ Grey 7 Thermal- Violet 8 Hall U Green 9 Hall V Brown Hall W White Shield Connected to Motor Ground Internal to Motor Suggested Mating Connector Molex 432-6 6 C O N N E C T O R O P T I O N S Encoder Feedback SFD Feedback Connector Part Number: Molex 432-8 9 Connector Part Number: Molex 432-8 Pin Function Color B+ Blue 2 B- Blue/White 3 A+ Yellow 4 A- Yellow/White Z+ Orange 6 Z- Orange/White 7 Ground/Hall Ground Black 8 Thermal+ Grey 9 Thermal- Violet + Vdc Red 2 3 4 Hall U Green 6 Hall V Brown 7 Hall W White 8 Shield Pin Function Color SFD + V Red 2 SFD +V RTN Black 3 SFD COM- Green 4 SFD COM+ Brown SFD COM Shield Resolver Feedback Connector Part Number: Molex 432- Pin Function Color 2 Thermal+ Grey 3 S4 COS- Blue 4 S3 SIN- Black Reference Black/White 6 Thermal- Violet 7 S2 COS+ Yellow 8 S SIN+ Red 9 Reference+ Red/White Shield 6 6 Shield is Not Connected at Motor End Shield is Not Connected at Motor End Suggested Mating Connector Molex 432-8 Suggested Mating Connector Molex 432- www.kollmorgen.com 9

Connector Options C O N N E C T O R O P T I O N S L Flying Lead Option (No connectors) Power Leads Unterminated Shielded Cable Function Color Phase U Blue Phase V Brown Phase W Violet Ground Green/Yellow Shield 4x. REF. 4x.2 REF. Encoder Feedback Unterminated Shielded Cable Function Color A+ Yellow A- Yellow/White B+ Blue B- Blue/White Z+ Orange Z- Orange/White Thermal+ Grey Thermal- Violet + Vdc Red Ground/Hall Ground Black Hall U Green Hall V Brown Hall W White Shield.7 REF. BARE DRAIN POWER CABLE VLM2 22 AWG VLM3 8 AWG. REF..2 REF. Hall Feedback Unterminated Shielded Cable Function Color + Vdc Red Ground Black Hall U Green Hall V Brown Hall W White Thermal+ Grey Thermal- Violet Shield.7 REF. BARE DRAIN FEEDBACK CABLES 28 AWG NUMBER OF CONDUCTORS WILL VARY DEPENDING ON FEEDBACK TYPE. Resolver Feedback SFD Feedback Unterminated Shielded Cable Unterminated Shielded Cable Function Color Function Color S SIN+ Red SFD +v Red S2 COS+ Yellow SFD +v RTN Black S4 COS- Blue SFD COM- Green S3 SIN- Black SFD COM+ Brown Reference- Black/White SFD COM SHIELD Reference+ Red/White Thermal+ Grey Thermal- Violet Shield 2 K O L L M O R G E N

Connector Options F Connector Option (For Direct Connection To S2-VTS) Power Cable VLM2 22 AWG VLM3 8 AWG SFD Feedback Connector Part Number: Molex -67 Pin Function Color SFD +V Red 2 SFD +V RTN Black 3 SFD COM- Green 4 SFD COM+ Brown 6 C O N N E C T O R O P T I O N S Power Connector Halls Feedback Connector Part Number: Molex -67 Pin Function Color +V Red 2 Ground Black 3 4 Hall U Green Hall V Brown 6 Hall W White Thermal+ Grey Thermal- Violet Connector Part Number: Phoenix MSTB2,/4-STF-,8-BK Pin Function Color Ground Green/Yellow 2 Phase W Violet 3 Phase V Brown 4 Phase U Blue www.kollmorgen.com 2

Connector Options C O N N E C T O R O P T I O N S K Connector Option Power Leads (For Direct Connection To AKD) Unterminated Shielded Cable Function Phase U Phase V Phase W Ground Shield Color Blue Brown Violet Green/Yellow 4x. REF. 4x.2 REF..7 REF. BARE DRAIN POWER CABLE VLM2 22 AWG VLM3 8 AWG Resolver Feedback Connector Part Number: PIN HD D-SUB Pin Function Color 2 3 4 6 Reference+ Red/White 7 Reference- Black/White 8 Thermal+ Grey 9 Thermal- Violet 2 S SIN+ Red 3 S3 SIN- Black 4 S2 COS+ Yellow S4 COS- Blue SFD Feedback Connector Part Number: PIN HD D-SUB Pin Function Color 2 3 4 6 SFD COM+ Brown 7 SFD COM- Green 8 9 SFD +V Red SFD +V RTN Black 2 3 4 Encoder Feedback Connector Part Number: PIN HD D-SUB Pin Function Color Hall U Green 2 Hall V Brown 3 Hall W White 4 6 Z+ Orange 7 Z- Orange/White 8 Thermal+ Grey 9 Thermal- Violet + Vdc Red Ground Black & Green/White 2 A+ Yellow 3 A- Yellow/White 4 B+ Blue B- Blue/White 22 K O L L M O R G E N

Model Nomenclature M O D E L N O M E N C L A T U R E AKD Servo Drive AKD Series Version B = Base drive C = Central power supply for AKD-N (Requires CB Extention) N = Decentralized drive (Requires DB, DF, or DS Extention) P = Position indexer (motion tasking) T = AKD BASIC Language Programmable drive (Requires IC or NB Extention) M = Multi-axis Master Drive (Requires MC Extension option, and EC Connectivity option) Current Rating 3 = 3 Amp 6 = 6 Amp = kw (With Version C, this field refers to power.) 2 = 2 Amp 24 = 24 Amp Voltage AKD B 3 6 NB AN 6 = 2/24 Vac Ø/3Ø (24 Amp Drive: 24 Vac 3Ø only) 7 = 24/48 Vac 3Ø (Version C: 7 = 4/48 Vac 3Ø Version N: 7 = 6/68 Vdc) Extension Connectivity* Variants = Standard AN = Analog command CC = CANopen OR EtherCAT CN = CANopen EC = EtherCAT EI = EtherNet/IP PN - PROFINET SQ = SynqNet *Motion Tasking is included as a free upgrade with CC, CN, EC, EI and PN Drive Version Availability B, P, T P P C, M, N, P P P B CB = without extention DB = hybrid motor cable DF = additional EtherCAT port + feedback connector DS = local STO + feedback connector IC = Expanded I/O version and SD card slot ( T version drive only) NB = Without extensions Note: Options shown in bold blue text are considered standard. www.kollmorgen.com 23

Model Nomenclature M O D E L N O M E N C L A T U R E VLM Servomotor VLM Series Motor Frame Size 2 = NEMA 23 or 6 mm metric 3 = NEMA 34 or 9 mm metric Rotor Stack Length, 2, 3 VLM 3 H A L N H Options = Meter Cables 3 = 3 Meter Cables Feedback Device H = Halls Only 2 = 248 PPR Digital encoder R = Resolver C = SFD Winding Type Brake C, D, E, H, J,... N = No Brake Shaft/Mount VLM2 A, C, E, G - Metric B, D, F - NEMA VLM3 A, C - Metric B, D - NEMA Connection M = Shielded cables with Molex connectors L = Unterminated Shielded Cable F = Feedback: Shielded cable with hall effect or SFD terminated into FireWire connector (for direct connection to S2-VTS); Power: terminated with S2 Power Connector K = Feedback: Shielded cable with encoder or resolver signals terminated into pin D sub (for direct connection to AKD); Power: Unterminated Shielded Cable The VLM is one family of many servo motors offered by Kollmorgen. If you seek higher-performance, greater torque in a smaller package, or options not listed above, contact Kollmorgen to discuss the AKM and GoldLine servo motor families. Note: Options shown in bold blue text are considered standard. 24 K O L L M O R G E N

MOTIONEERING Application Engine To help select and size Kollmorgen components, this Windows -based motor-sizing program takes a systems approach to the selection of brushless DC servomotors, stepper motors and drives. MOTIONEERING application engine, available at www.kollmorgen.com, uses a project concept for the collection and saving of rotary and linear multi-axis load information. This provides the user the flexibility to sum the effects of multiple axes of motion for power supply and shunt regeneration sizing. A wide variety of linear and rotary mechanisms are provided including lead screw, rack and pinion, conveyor, nip rolls, cylinder, rotary, and direct data-entry using unique sizing algorithms and product databases criteria. The searchable database consists of hundreds of systems on product combinations including rotary housed and frameless brushless servomotors, direct drive rotary and linear brushless servomotors, linear actuators (electric cylinders, rodless actuators, and precision tables) and stepper systems. The MOTIONEERING application engine also provides versatile units-of-measure selection options for mechanism and motion profile data-entry, with the ability to convert data into other available units. Online Help explains program functions and the definition of terms and equations used in the program. M O T I O N E E R I N G A P P L I C A T I O N E N G I N E Features Group multiple mechanisms within a project organize and combine data for power supply and regeneration sizing Types of mechanisms for analysis include lead screw, rack and pinion, conveyor, nip rolls, rotary and direct drive linear motor Motion profile options include simple triangle, /3-/3-/3 trapezoidal, variable traverse trapezoidal, and more Search results display shows color highlighted solution set of options for easy evaluation of system specifications and selection Supported Operating Systems Microsoft Windows 2, XP, Vista, Windows 7 MOTIONEERING 6.4. includes NEW AKMH series Stainless Steel Motors and AKD systems at 2, 24, 4 and 48 V Designed to meet IP69K, EHEDG, 3A, and built with FDA approved food grade materials 9 frame/stack length combinations Continuous torque to 22 Nm Peak torque to 92 Nm Corrected length dimensions of some AKM servomotor & gearmotor models Corrected CH32 thermal resistance Added HIPERFACE DSL sine encoder to search field Note: Performance curves included for all servomotor systems www.kollmorgen.com 2

About Kollmorgen Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease-of-use, giving machine builders an irrefutable marketplace advantage. Application Centers Global Design & Manufacturing Global Manufacturing For assistance with your application needs in North America, contact us at: 4-633-34, support@kollmorgen.com or visit www.kollmorgen.com for a global contact list. Säro Stockholm Santa Barbara Tijuana Fond du Lac Marengo Boston Radford Lausanne Ratingen Brno Milan Istanbul Beijing Tianjin Seoul Shanghai Tokyo Nagoya Mumbai Hong Kong São Paulo Kollmorgen 23A West Rock Road Radford, VA 244 USA Phone: -4-633-34 Fax: -4-639-462 Kollmorgen Europe GmbH Pempelfurtstraße 488 Ratingen Germany Phone: +49 () 22 9394 Fax: +49 () 22 9394 3 Kollmorgen Asia China Rm 22, Scitech Tower 22 Jianguomen Wai Street Phone: +86 4 666 82 Fax: +86 6 263 Kollmorgen Aerospace and Defense West Main Street Radford, VA 244 USA Phone: -4-73-668 Fax: -4-73-679 24 Kollmorgen Corporation. All rights reserved. KM_SG_98_RevD_EN Specifications are subject to change without notice. It is the responsibility of the product user to determine the suitability of this product for a specific application. All trademarks are the property of their respective owners.