Professional Documents
Culture Documents
Kollmorgen. Every solution comes from a real understanding of OEM 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. Kollmorgens 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, its our focus. Motion can distinctly differentiate a machine and deliver a marketplace advantage by improving its performance. This translates to overall increased efficiency for your application. Perfectly deployed machine motion can make your customers machine more reliable and efficient, enhance accuracy and improve operator safety. Motion also represents endless possibilities for innovation. Weve 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 KL O ML O LR MGOERNG E N
KO LLMOR GEN
D I R E C T
DR I V E
LI NE AR
M OTO R
S E L E C T IO N
G U ID E
Removing the Barriers of Design, Sourcing, and Time At Kollmorgen, we know that OEM engineers can achieve a lot more when obstacles arent 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.
Table of Contents
u Direct Drive Linear (DDL) Motor u AKD
Servo Drive 10
u Co-Engineering Capabilities 14 u Direct Drive Linear Motor Summary 15 u DDL Ironless - Non-cooled Data and Dimensions
Global Footprint
With direct sales, engineering support, manufacturing facilities, and distributors across North America, Europe, Middle East, and Asia, were close to OEMs worldwide. Our proximity helps speed delivery and lend support where and when theyre needed.
IC11 Series 40 IC22 Series 42 IC33 Series 46 IC44 Series 50 IC11 Series 54 IC22 Series 56 IC33 Series 60 IC44 Series 64
Financial and Operational Stability Kollmorgen is part of Danaher Corporation, our $13B parent company. 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.
u Ironcore Magnet Ways 68 u Wiring and Output 70 u High Flex Cable Sets 72 u Application Sizing 74 u Model Nomenclature 78 u
81
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A I D KR DE C S T E RD VR OI V D ER I LVI E N E A R M O T O R 4
K O L K LO M LO L R MG O ERNG E N
D I R E C T D R I V E L I N E A R
M O T O R
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Ironcore:
Peak force IC series: 320 to 8407 N (71.9 to 1890 lbf) Continuous force IC series: 144 to 6916 N (32.4 to 1555 lbf) Peak force ICD series: 165 to 1099 N (38 to 254 lbf) Continuous force ICD series: 57.0 to 315 N (12.8 to 70.8 lbf) Patented anti-cogging technique for minimal cogging without magnet skewing High motor constant (Km) High force density ICD series advantage: Very low profile Low attraction force Suitable to replace many Ironless applications
All Motors:
Zero contact, zero maintenance, brushless design 3 phase sinusoidal commutation Peak accelerations easily above 10 G High position accuracy and resolution Very low settling time Low thermal losses Modular magnet design
Standard Options:
Hall effect feedback Thermal protection Thermistor Thermostat (Ironcore) Supplemental air or water cooling (Ironcore) Cable options Magnet way covers for easy cleaning (Ironcore) FM approved, hazardous environment
K O L L M O R G E N
D I R E C T
Our Direct Dirve Linear (DDL) motor series are frameless permanent magnet, three phase brushless servomotors. Fundamentally, a linear motor is a rotary motor that is rolled out flat.
D R I V E
L I N E A R M O T O R O V E R V I E W
Stator
Slider
Permanent Magnets
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Ironcore Motor
Using a patented electromagnetic design, DDL linear motors have the highest rated force per size, a high Km motor constant (equals low thermal losses), and low cogging forces without the need for skewing of the magnets. The high thrust forces possible with these motors make them ideal for accelerating and moving high masses, and maintaining stiffness during machining or process forces. Ironless motors have no iron, or slots for the coils to be wound on. Therefore, these motors have zero cogging, a very light mass, and absolutely no attractive forces between the coil assembly and the magnet way. These characteristics are ideal for applications requiring very low bearing friction, high acceleration of lighter loads, and for maximizing constant velocity, even at ultra low speeds. The modular magnet ways consists of a double row of magnets to maximize the generated thrust force and to providea flux return path for the magnetic circuit.
Ironless Motor
Feedback Types
All brushless motors require feedback for commutation. The conventional rotary motor typically utilizes a resolver mounted on the rear of the motor or Hall effect devices mounted integrally in the coil windings. For a linear motor, commutation feedback can also be accomplished with a variety of methods. Digital or linear Hall effect devices are available from Kollmorgen for the DDL motor series which allow the drive electronics to commutate the linear motors in a manner identical to rotary motors. For exceptionally smooth motion requirements, sinusoidal drive electronics such as the Kollmorgen's AKD series, using digital Hall effects, provide sinusoidal drive currents to the motor for the best constant force and velocity performance. As an alternative, it is typical for linear motor applications to have a linear encoder present in the system for position feedback. It is increasingly common today for drive amplifiers, such as the AKD Digital amplifier, to derive the necessary commutation information directly from this linear encoder, either with or without supplemental digital Hall effect devices on startup. Other types of feedback used on linear motor applications include linear Inductosyns, laser interferometers, and LVDT.
K O L L M O R G E N
D I R E C T
D R I V E
No Wear or Maintenance
Linear motors have few components, therefore the need for ball screw components such as nuts, bearing blocks, couplings, motor mounts and the need to maintain these components have been eliminated. Very long life and clean operation, with no lubrication or maintenance of these parts are the result.
L I N E A R M O T O R
O V E R V I E W
G-Force measurement
Unlimited Travel
With the DDL motor series, magnet ways are made in 5 modular sections: 64mm, 128mm, 256mm, 512mm and 1024mm long. Each module can be added in unlimited numbers to any other module to allow for unlimited travel. Whether the travel required is 1mm (0.04 inches) or 100 meters (330 feet), the DDL series can accommodate the need.
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A K D S E R V O D R I V E 10
K O L K LO M LO L R MG O ERNG E N
A K D S E R V O
D R I V E
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11
Best-in-Class Components
Housed Direct Drive Rotary Motors
AKD works seamlessly with Kollmorgen motors and positioners - well-known for quality, reliability, and performance.
Linear Positioners
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K O L L M O R G E N
A K D
Modbus/TCP
D W Industry-leading power density
S E R V O D R I V E
General Specifications
120 / 240 Vac 1 & 3 (85 -265 V) Continuous Current (Arms) Peak Current (Arms) Drive Continuous Output Power Capacity (Watts)
1100
Height mm (in)
168 (6.61)
Width mm (in)
57 (2.24)
Depth mm (in)
153 (6.02)
AKD-n00306
AKD-n00606
18
2000
168 (6.61)
57 (2.24)
153 (6.02)
184 (7.24)
AKD-n01206
12
30
4000
100
15
195 (7.68)
76 (2.99)
186 (7.32)
215 (8.46)
AKD-n02406
24
48
8000
200
250 (9.84)
100 (3.94)
230 (9.06)
265 (10.43)
Height mm (in)
256 (10.08)
Width mm (in)
70 (2.76)
Depth mm (in)
186 (7.32)
AKD-n00307
100
33
AKD-n00607
18
4000
100
33
256 (10.08)
70 (2.76)
186 (7.32)
221 (8.70)
AKD-n01207
12
30
8000
100
33
256 (10.08)
70 (2.76)
186 (7.32)
221 (8.70)
AKD-n02407
24
48
16,000
200
23
310 (12.20)
105 (4.13)
229 (9.02)
264 (10.39)
AKD-n04807
48
96
32,000
400
Coming Soon
AKD-n09607
96
192
64,000
800
Coming Soon
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Co-Engineering Capabilities
C O - E N G I N E E R I N G C A P A B I L I T I E S
Because Kollmorgen offers the highest quality and broadest range of best-in-class motion components, we can supply standard, modified or customized solutions to meet any application need. We have co-engineer solutions to meet your most difficult challenges and advance your competitive position. Drawing on a wealth of knowledge and expertise, our engineering support team will work alongside with you to build a solution that differentiates your machine and improves your bottom line. Here are just few examples of how Kollmorgen delivers real value to companies likes yours:
Low cogging servomotors Advaced observers and bi-quad filters Fast control loop update rates (.67s)
Using our AKD servo drive, a next-generation CT scanning manufacturer achieved more than 50% improvement in velocity ripple to produce the most accurate and detailed medical images possible while overcoming an extremely high moment of inertia.
TM
Innovative Cartridge Direct Drive Rotary DDR motor Eliminating parts on the machine No additional wearing components
Using Kollmorgens award-winning Cartridge DDR sevomotor technology, we eliminated more than 60 parts in a die-cutting machine and increased the OEE by 25% and throughput by 20%. We helped a manufacturer of pharmaceutical packaging machines incorporate Housed DDR motors to increase the throughput by 35% and reduce scrap by more than 50% through more accurate alignment of the capsules.
Superior motor/drive system bandwidth DDR technology: eliminates gearbox 20X more accurate than geared solution
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K O L L M O R G E N
Peak Force N
1000 1100 1200 1300 1400 1500 1600 600 700 800 900
Peak Force N
120 200 300 400
(lbf)
6.81 11.2 15.2 18.6
(lbf)
27.0 45.0 67.4 89.9
D R I V E L I N E A R M O T O R
20 20 20 20
S U M M A R Y
Motor Type
IL12-100
22 22 23 23
26 26 26 26
Peak Force N
1000 1100 1200 1300 1400 1500 1600
Peak Force N
165 295 441 588
600
700
800
900
(lbf)
12.8 19.6 28.1 35.3
(lbf)
37.1 66.3 99.1 132
Motor Type
ICD05-100
34 34 34 34
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Peak Force N
Peak Force N
320 533 800 1067 1600 2135
(lbf)
32.4 59.1 92.8 129 194 269
(lbf)
71.9 120 180 240 360 480
42 42 42 43 43 43
Motor Type
IC22-200
46 46 46 47 47 47
50 50 50 51 51 51
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K O L L M O R G E N
D I R E C T
Peak Force N
10000 4000 5000 6000 7000 8000 9000
Peak Force N
315 525 798 1051 1576 2102
(lbf)
57.1 97.1 146 194 289 385
(lbf)
70.8 118 179 236 354 473
D R I V E L I N E A R M O T O R S U M M A R Y
56 56 56 57 57 57
Motor Type
IC22-200
60 60 60 61 61 61
64 64 64 65 65 65
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Symbol
Fp
Units
N lbf N
IL06-030
120 27 30.3 6.81 5.6 A1 7.1 1.8 6.1 1.3 13.7 0.35 16.8 3.8 0.27 0.6 MW 030 030L 7.3 .040 0.21 45.2 0 0 1.61 130 A4 14.2 3.6 1.5 0.33 6.9 0.17 8.4 1.9
IL06-050
200 45 49.7 11.2 8.0 A1 7.0 1.7 8.6 3.00 23.3 0.59 28.5 6.4 0.32 0.7 MW 050 12.2 0.68 0.35 63.6 0 0 1.26 130 050L 10.2 0.56 A4 14.0 3.5 2.2 0.75 11.6 0.30 14.3 3.2
IL06-075
300 68 67.6 15.2 10.2 A1 7.0 1.6 11.7 5.00 34.9 0.89 42.8 9.6 0.38 0.8 MW075 18.9 1.05 0.43 80.6 0 0 1.04 130 A4 14.0 3.2 2.9 1.25 17.5 0.44 21.4 4.8
IL06-100
400 90 82.8 18.6 12.1 A1 7.0 1.5 14.7 7.00 46.5 1.18 57.0 12.8 0.45 1.0 MW075 27.3 1.51 0.48 90.7 0 0 0.87 130 A4 14.0 2.9 3.7 1.75 23.3 0.59 28.5 6.4
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mw kg/m lb/in ms gs kN lbf C/Watt C Mc
9.4 0.51
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
K O L L M O R G E N
I L 0 6
Coil Width
Typ. Assy. Width Typ. Assy. Width "B" .6 (.024) 78.50 (3.091) 67.30 (2.650) 98.50 (3.878) 87.30 (3.437) 123.50 (4.862) 148.50 (5.846)
"T" .4 (.016)
O U T L I N E
"A"
FOR MO TO R CABLE AND HALL EFFEC T MTG. SEE DR AWING BELO W 10.8 (.427) 24.4 (.961)
57.30 (2.256) 57.30 (2.256) 77.30 (3.043) 77.30 (3.043) 102.30 (4.028) 127.30 (5.012)
25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 30.00 (1.181) 34.00 (1.339)
D R A W I N G S
4.0 (.157)
"A"
1.2 .05 (.048 .002) CLEAR ANCESET UP D IM. "B" CO IL TO MAGNET AIRGAP 0.74 REF TYP. FO R 030, -050 1.12 REF TYP. FO R -075 AND -100 "T" MAGNET WAY REF.
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
4.4 (.173)
_.3 12.2 + _ .012) (.480 + _ .3 7.7 + _ .012) (.303 + _.3 4.0 + (.157 + _ .012) _.3 6.8 + _ .012) (.268 +
3 2 1 PIN 1
OPTIONAL HALL EFFEC T AS SHOWN, MOUNTING HOLES M3 X 6.3 (.25) MIN. DP . 2 PL.
MOTOR CONNECTOR: POSITR ONIC P/N: CBD3W3M0000Z 3 PIN M ALE , SHELL SIZE 2 MALE CO NTAC TS: POSITR ONIC P/N: MS40--D 3 REMOV ABLE M ALE CONT AC TS, SIZ E 8 CO IL ASSEMBLY REF MATING CONNECTOR REFERENCE: POSITR ONIC P/N: CBD3W3F0000X 3 FEM ALE SOCKE TS, SO LD ER TYPE, SIZE 8, POSITR ONIC P/N: FS40--D SEE WIRE TABLE, PAGE 70
HALL EFFEC T CONNECTOR OPTION: POSITR ONIC P/N: MD9M2000Z 9 PIN, M ALE MATING CONNECTOR REFERENCE: POSITR ONIC P/N: MD9F2000X SEE WIRE TABLE, PAGE 70
#4-40 JA CKNUT (2) (REMOV ABLE FOR BULKHEAD MOUNTING) CO IL ASSEMBLY REF
HALL EFFEC T ASSEMBL Y 21.0 (.827) MAX. HALL EFFEC T MASS W/P* C ONNEC TO R: .05KG (.11 LB) MAX W/C* C ABLE: .03K G (.06 LB) M AX
Connector Option
Connector P1 P2 P3 P4 Length 400 (16) 200 (8) 100 (4) 1200 (48)
Note: Cables exiting motor and hall effects are not dynamic flex cables. For high life flex extension cables, see page 72
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Symbol
Fp Fc Km
Units
N lbf N lbf NW Winding Code A1 7.1 1.8 12.2 2.60 27.5 0.70 33.7 7.6
IL12-030
240 54 62.1 14.0 7.8 A2 14.2 3.7 3.1 0.65 13.8 0.35 16.9 3.8 0.42 0.9 MW 030 030L 7.3 0.40 0.21 58.2 0 0 0.804 130 A4 28.5 7.4 0.8 0.16 6.9 0.17 8.4 1.9 A1 7.0 1.6 17.2 6.00 46.5 1.18 57.0 12.8
IL12-050
400 90 88.4 19.9 11.3 A2 14.0 3.1 4.3 1.5 23.3 0.59 28.5 6.4 0.52 1.1 MW 050 12.2 0.68 0.35 78.4 0 0 0.629 130 050L 10.2 0.56 A4 28.1 6.2 1.1 0.38 11.6 0.30 14.3 3.2 A1 7.0 1.4 23.3 10.0 69.8 1.77 85.5 19.2
IL12-075
600 135 119 26.8 14.5 A2 14.0 2.8 5.8 2.5 34.9 0.89 42.8 9.6 0.65 1.4 MW075 A4 5.6 1.5 0.63 17.5 0.44 21.4 4.8
IL12-100
800 180 148 33.3 17.2 A2 2.6 7.4 3.5 46.5 1.18 57.0 12.8 A4 28.1 5.2 1.8 0.88 23.3 0.59 28.5 6.4
Mechanical Specifications
Coil Assembly Mass 15% Mc 0.77 1.7 MW100
Mw
9.4 0.51
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
K O L L M O R G E N
I L 1 2
Motor Coil
IL12-030 IL12-030 L IL12-050 IL12-050 L IL12-075 IL12-100
4.0 (.157) Mag n et Way REF.
Typ. Assy. Width Typ. Assy. Width "B" .6 (.024) 78.50 (3.091) 67.30 (2.650) 98.50 (3.878) 87.30 (3.437) 123.50 (4.862) 148.50 (5.846) "T" .4 (.016) 25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 30.00 (1.181) 34.00 (1.339)
O U T L I N E
4.5 (.176) FOR MO TO R CABLE AND HALL EFFEC T MTG. SEE DR AWING BELO W 10.8 (.427) 24.4 (.961) 23.4 (.921) BO TH SIDES 43.4 (1.709) 40.0 (1.575) 4 PL. BO TH SIDES
3.9 (.152)
16.7 (.657)
57.30 (2.256) 57.30 (2.256) 77.30 (3.043) 77.30 (3.043) 102.30 (4.028) 127.30 (5.012)
D R A W I N G S
"A"
"B"
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
4.4 (.173)
CO IL TO MAGNET AIRGAP 0.74 REF TYP. FO R 030, -050 1.12 REF TYP. FO R -075 AND -100 "T"
_.3 12.2 + _ .012) (.480 + _ .3 7.7 + _ .012) (.303 + _.3 4.0 + (.157 + _ .012) _.3 6.8 + _ .012) (.268 +
3 2 1 PIN 1
OPTIONAL HALL EFFEC T AS SHOWN, MOUNTING HOLES M3 X 6.3 (.25) MIN. DP . 2 PL.
MOTOR CONNECTOR: POSITR ONIC P/N: CBD3W3M0000Z 3 PIN M ALE , SHELL SIZE 2 MALE CO NTAC TS: POSITR ONIC P/N: MS40--D 3 REMOV ABLE M ALE CONT AC TS, SIZ E 8 CO IL ASSEMBLY REF MATING CONNECTOR REFERENCE: POSITR ONIC P/N: CBD3W3F0000X 3 FEM ALE SOCKE TS, SO LD ER TYPE, SIZE 8, POSITR ONIC P/N: FS40--D SEE WIRE TABLE, PAGE 70
HALL EFFEC T CONNECTOR OPTION: POSITR ONIC P/N: MD9M2000Z 9 PIN, M ALE MATING CONNECTOR REFERENCE: POSITR ONIC P/N: MD9F2000X SEE WIRE TABLE, PAGE 70
#4-40 JA CKNUT (2) (REMOV ABLE FOR BULKHEAD MOUNTING) CO IL ASSEMBLY REF
HALL EFFEC T ASSEMBL Y 21.0 (.827) MAX. HALL EFFEC T MASS W/P* C ONNEC TO R: .05KG (.11 LB) MAX W/C* C ABLE: .03K G (.06 LB) M AX
Connector Option
Connector P1 P2 P3 P4 Length 400 (16) 200 (8) 100 (4) 1200 (48)
Note: Cables exiting motor and hall effects are not dynamic flex cables. For high life flex extension cables, see page 72
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Symbol
Fp Fc Km
Units
N lbf N lbf NW
IL18-030
360 81 92.1 20.7 9.7 A1 7.1 1.8 18.2 3.8 41.2 1.05 50.5 11.4 A2 14.3 3.6 4.6 0.95 20.6 0.52 25.3 5.7 0.57 1.3 MW 030 030L 7.3 0.40 0.21 64.5 0 0 0.536 130 050 12.2 0.68 A3 21.4 5.5 2.0 0.42 13.7 0.35 16.8 3.8 A4 42.8 11.0 0.5 0.11 6.9 0.17 8.4 1.9 A1 7.0 1.5 25.7 9.00 69.8 1.77 85.5 19.2
IL18-050
600 135 131 29.4 13.8 A2 14.0 3.1 6.4 2.25 34.9 0.89 42.8 9.6 0.72 1.6 MW 050L 10.2 0.56 0.35 84.9 0 0 0.419 130 A3 21.0 4.6 2.9 1.00 23.3 0.59 28.5 6.4 A4 42.1 9.2 0.7 0.25 11.6 0.30 14.3 3.2
Mechanical Specifications
Coil Assembly Mass 15% Mc
Mw
9.4 0.51
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
K O L L M O R G E N
I L 1 8
Rated Perfomance
Peak Force Continuous Force @ Tmax (1) Motor Constant @ 25C
Symbol
Fp Fc Km
Units
N lbf N lbf NW
IL18-075
900 202 173 38.9 17.7 A1 7.0 1.4 35.0 15.0 105 2.66 128 28.8 A2 14.0 2.7 8.8 3.75 52.4 1.33 64.2 14.4 0.91 2.0 MW075 A3 21.0 4.0 3.9 1.67 34.9 0.89 42.8 9.6 A4 42.1 8.1 1.0 0.42 17.5 0.44 21.4 4.8 A1 7.0 1.2 44.2 21.0 140 3.55 171 38.5
IL18-100
1200 270 211 47.4 21.0 A2 14.0 2.5 11.1 5.25 69.9 1.77 85.6 19.2 1.10 2.4 MW100 27.3 1.51 0.48 111 0 0 0.29 130 A3 21.0 3.7 4.9 2.33 46.6 1.18 57.0 12.8 A4 42.1 7.4 1.2 0.58 23.3 0.59 28.5 6.4
P E R F O R M A N C E
D A T A
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mw kg/m lb/in Mc
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
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I L 1 8 O U T L I N E D R A W I N G S
Typ. Assy. Width Typ. Assy. Width "B" .6 (.024) 78.50 (3.091) 67.30 (2.650) 98.50 (3.878) 87.30 (3.437) 123.50 (4.862) 148.50 (5.846) "T" .4 (.016) 25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 30.00 (1.181) 34.00 (1.339)
4.5 (.176) FOR MOTOR CABLE AND HALL EFFECT MTG. SEE DRAWING BELOW 10.8 (.427) 24.4 (.961) 31.4 (1.236) BOTH SIDES 51.4 (2.023) 40.0 (1.575) 6 PL. BOTH SIDES
3.9 (.152)
57.30 (2.256) 57.30 (2.256) 77.30 (3.043) 77.30 (3.043) 102.30 (4.028) 127.30 (5.012)
4.0 (.157)
MAGNET WAY REF. COIL ASSEMBLY 1.2 .05 (.048 .002) CLEARANCESET UP DIM. "B" COIL TO MAGNET AIRGAP 0.74 REF TYP. FOR 030, -050 1.12 REF TYP. FOR -075 AND -100 "T"
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
"A"
4.4 (.173)
_.3 12.2 + _ .012) (.480 + _ .3 7.7 + _ .012) (.303 + _.3 4.0 + (.157 + _ .012) _.3 6.8 + _ .012) (.268 +
3 2 1 PIN 1
OPTIONAL HALL EFFEC T AS SHOWN, MOUNTING HOLES M3 X 6.3 (.25) MIN. DP . 2 PL.
MOTOR CONNECTOR: POSITR ONIC P/N: CBD3W3M0000Z 3 PIN M ALE , SHELL SIZE 2 MALE CO NTAC TS: POSITR ONIC P/N: MS40--D 3 REMOV ABLE M ALE CONT AC TS, SIZ E 8 CO IL ASSEMBLY REF MATING CONNECTOR REFERENCE: POSITR ONIC P/N: CBD3W3F0000X 3 FEM ALE SOCKE TS, SO LD ER TYPE, SIZE 8, POSITR ONIC P/N: FS40--D SEE WIRE TABLE, PAGE 70
HALL EFFEC T CONNECTOR OPTION: POSITR ONIC P/N: MD9M2000Z 9 PIN, M ALE MATING CONNECTOR REFERENCE: POSITR ONIC P/N: MD9F2000X SEE WIRE TABLE, PAGE 70
#4-40 JA CKNUT (2) (REMOV ABLE FOR BULKHEAD MOUNTING) CO IL ASSEMBLY REF
HALL EFFEC T ASSEMBL Y 21.0 (.827) MAX. HALL EFFEC T MASS W/P* C ONNEC TO R: .05KG (.11 LB) MAX W/C* C ABLE: .03K G (.06 LB) M AX
Connector Option
Connector P1 P2 P3 P4
24
Note: Cables exiting motor and hall effects are not dynamic flex cables. For high life flex extension cables, see page 72
K O L L M O R G E N
Notes
I L 1 8 O U T L I N E D R A W I N G S
w w w. k o l l m o r g e n . c o m
25
Symbol
Fp Fc Km
Units
N lbf N lbf NW Winding Code A1 7.1 1.6
IL24-030
480 108 109 24.5 11.2 A2 3.2 6.1 A3 6.4 1.5 A1 1.4
IL24-050
800 180 155 34.8 15.9 A2 2.7 8.6 A3 5.4 2.1 A1 7.0 1.2
IL24-075
1200 270 211 47.4 20.6 A2 2.5 A3 4.9 2.9 A4 9.9 A1 1.2
IL24-100
1600 360 262 58.9 24.4 A2 2.3 A3 4.6 3.7 A4 9.2 0.92
24.3 5.1
34.3
55.0 27.5 13.8 93.1 46.5 23.3 140. 69.9 34.9 17.5 186 67.4 33.7 16.9 114 15.2 7.6 0.72 1.6 MW 030 030L 7.3 0.40 0.21 68.0 0 0 0.40 130 050 12.2 0.68 0.35 88.7 0 0 0.32 130 3.8
Vpeak/in/sec L-L 1.40 0.70 0.35 2.36 1.18 0.59 3.55 1.77 0.89 0.44 4.73 2.37 1.18 0.59 57.0 28.5 171 85.6 42.8 21.4 228 114 57.0 28.5 6.4 38.5 19.2 9.6 4.8 51.3 25.6 12.8 1.42 3.1 MW100 6.4 25.6 12.8 0.92 2.0 MW 050L 10.2 0.56 18.9 1.05 0.43 105 0 0 0.26 130 27.3 1.51 0.48 115 0 0 0.22 130
Mechanical Specifications
Coil Assembly Mass 15% Mc 1.17 2.6 MW075
Mw
9.4 0.51
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
K O L L M O R G E N
I L 2 4
Coil Width
O U T L I N E
"A"
"B" .6 (.024)
78.50 (3.091) 67.30 (2.650) 98.50 (3.878) 87.30 (3.437) 123.50 (4.862) 148.50 (5.846)
"T" .4 (.016)
25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 30.00 (1.181) 34.00 (1.339)
4.5 (.176)
57.30 (2.256) 57.30 (2.256) 77.30 (3.043) 77.30 (3.043) 102.30 (4.028) 127.30 (5.012)
D R A W I N G S
MAGNET WAY REF. COIL ASSEMBLY 1.2 .05 (.048 .002) CLEARANCESET UP DIM. "B"
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
"A"
COIL TO MAGNET AIRGAP 0.74 REF TYP. FOR 030, -050 1.12 REF TYP. FOR -075 AND -100
_.3 12.2 + _ .012) (.480 + _ .3 7.7 + _ .012) (.303 + _.3 4.0 + (.157 + _ .012) _.3 6.8 + _ .012) (.268 +
3 2 1 PIN 1
OPTIONAL HALL EFFEC T AS SHOWN, MOUNTING HOLES M3 X 6.3 (.25) MIN. DP . 2 PL.
MOTOR CONNECTOR: POSITR ONIC P/N: CBD3W3M0000Z 3 PIN M ALE , SHELL SIZE 2 MALE CO NTAC TS: POSITR ONIC P/N: MS40--D 3 REMOV ABLE M ALE CONT AC TS, SIZ E 8 CO IL ASSEMBLY REF MATING CONNECTOR REFERENCE: POSITR ONIC P/N: CBD3W3F0000X 3 FEM ALE SOCKE TS, SO LD ER TYPE, SIZE 8, POSITR ONIC P/N: FS40--D SEE WIRE TABLE, PAGE 70
HALL EFFEC T CONNECTOR OPTION: POSITR ONIC P/N: MD9M2000Z 9 PIN, M ALE MATING CONNECTOR REFERENCE: POSITR ONIC P/N: MD9F2000X SEE WIRE TABLE, PAGE 70
#4-40 JA CKNUT (2) (REMOV ABLE FOR BULKHEAD MOUNTING) CO IL ASSEMBLY REF
HALL EFFEC T ASSEMBL Y 21.0 (.827) MAX. HALL EFFEC T MASS W/P* C ONNEC TO R: .05KG (.11 LB) MAX W/C* C ABLE: .03K G (.06 LB) M AX
Connector Option
Connector P1 P2 P3 P4 Length 400 (16) 200 (8) 100 (4) 1200 (48)
Note: Cables exiting motor and hall effects are not dynamic flex cables. For high life flex extension cables, see page 72
w w w. k o l l m o r g e n . c o m
27
I R O N L E S S M A G N E T W A Y S
SEE TABLE "W" M A 22.94 (.903) MAX. A 9.00 .13 (.354 .005) 18.00 .05 (.709 .002) 5.160-5.185 (.203-.204) X 6 (.236) DP. 2 PL. MARKED "A", BOTH SIDES CUSTOMER TOOLING HOLES, SEE PAGE 30 "H"
MAGNET LENGTH
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
"Z"
Magnet Way
MW030-0064 MW030L-0064 MW050-0064 MW050L-0064 MW075-0064 MW100-0064
"H" .8 (.003)
7.11 (.280) 5.69 (.224) 7.11 (.280) 5.69 (.224) 8.23 (.324) 8.23 (.324)
"W" .4 (.016)
60.20 (2.370) 49.00 (1.929) 80.20 (3.158) 69.00 (2.716) 105.20 (4.142) 130.20 (5.126)
"Z" .4 (.016)
25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 30.00 (1.181) 34.00 (1.339)
5.160-5.185 (.203-.204) X 10 (.394) DP. 2 PL. MARKED "B", CUSTOMER TOOLING HOLES, SEE PAGE 30 22.94 (.903) MAX.
C L 7.00 (.276)
Magnet Way
MW030-0064 MW030L-0064 MW050-0064 MW050L-0064 MW075-0064 MW100-0064
Hardware (Hex, Socket Head Cap) C'bore Dia. Cbore Depth Metric Inch .13 (.005) .13 (.005)
9.35 (.368) 7.80 (.307) 9.35 (.368) 7.80 (.307) 9.35 (.368) 9.35 (.368) 5.79 (.228) 5.79 (.228) 5.79 (.228) 5.79 (.228) 7.95 (.313) 9.96 (.392) M5 M4 M5 M4 M5 M5 #10 #8 #10 #8 #10 #10
MWxxx-0128
127.3 .4 (5.012 .016) SEE TABLE "W" M A 22.94 (.903) MAX. 9.00 .13 (.354 .005) 64.0 (2.520) 82.00 .05 (3.228 .002) 5.160-5.185 (.203-.204) X 10 (.394) DP. 2 PL. MARKED "B", CUSTOMER TOOLING HOLES, SEE PAGE 30 22.94 (.903) MAX. M A
5.160-5.185 (.203-.204) X 6 (.236) DP. 2 PL. MARKED "A", BOTH SIDES CUSTOMER TOOLING HOLES, SEE PAGE 30
"Z"
Magnet Way
MW030-0128 MW030L-0128 MW050-0128 MW050L-0128 MW075-0128 MW100-0128
"H" .8 (.003)
7.11 (.280) 5.69 (.224) 7.11 (.280) 5.69 (.224) 8.23 (.324) 8.23 (.324)
"W" .4 (.016)
60.20 (2.370) 49.00 (1.929) 80.20 (3.158) 69.00 (2.716) 105.20 (4.142) 130.20 (5.126)
"Z" .4 (.016)
25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 30.00 (1.181) 34.00 (1.339)
82.00 .05 (3.228 .002) C L 7.00 (.276) B B 32.0 (1.260) REF. M5 X 0.8 X 8 DP. 4 PL.
Magnet Way
MW030-0128 MW030L-0128 MW050-0128 MW050L-0128 MW075-0128 MW100-0128
Hardware (Hex, Socket Head Cap) C'bore Dia. Cbore Depth Metric Inch .13 (.005) .13 (.005)
9.35 (.368) 7.80 (.307) 9.35 (.368) 7.80 (.307) 9.35 (.368) 9.35 (.368) 5.79 (.228) 5.79 (.228) 5.79 (.228) 5.79 (.228) 7.95 (.313) 9.96 (.392) M5 M4 M5 M4 M5 M5 #10 #8 #10 #8 #10 #10
28
K O L L M O R G E N
MWxxx-0256
Magnet assemblies are modular and can be installed in multiples of same or alternate lengths (see page 30). Standard assembly lengths are shown below.
255.3 .4 (10.051 .016) MAGNETIC AIR GAP MAGNET LENGTH "H"
I R O N L E S S
SEE TABLE "W" M A 22.94 (.903) MAX. 9.00 .13 (.354 .005) M M A 5.160-5.185 (.203-.204) X 6 (.236) DP. 2 PL. MARKED "A", BOTH SIDES CUSTOMER TOOLING HOLES, SEE PAGE 30
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
M A G N E T
"Z" 64.0 (2.520) 3 PL. 210.0 .05 (8.268 .002) 5.160-5.185 (.203-.204) X 10 (.394) DP. 2 PL. MARKED "B", CUSTOMER TOOLING HOLES, SEE PAGE 30 210.0 .05 (8.268 .002)
W A Y S
Magnet Way
MW030-0256 MW030L-0256 MW050-0256 MW050L-0256 MW075-0256 MW100-0256
"H" .8 (.003)
7.11 (.280) 5.69 (.224) 7.11 (.280) 5.69 (.224) 8.23 (.324) 8.23 (.324)
"W" .4 (.016)
60.20 (2.370) 49.00 (1.929) 80.20 (3.158) 69.00 (2.716) 105.20 (4.142) 130.20 (5.126)
"Z" .4 (.016)
25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 30.00 (1.181) 34.00 (1.339)
C L 7.00 (.276)
Magnet Way
MW030-0512 MW030L-0512 MW050-0512 MW050L-0512 MW075-0512 MW100-0512
Hardware (Hex, Socket Head Cap) C'bore Dia. Cbore Depth Metric Inch .13 (.005) .13 (.005)
9.35 (.368) 7.80 (.307) 9.35 (.368) 7.80 (.307) 9.35 (.368) 9.35 (.368) 5.79 (.228) 5.79 (.228) 5.79 (.228) 5.79 (.228) 7.95 (.313) 9.96 (.392) M5 M4 M5 M4 M5 M5 #10 #8 #10 #8 #10 #10
MWxxx-0512
127.3 .4 (5.012 .016) SEE TABLE "W" M A 22.94 (.903) MAX. 9.00 .13 (.354 .005) 64.0 (2.520) 82.00 .05 (3.228 .002) 5.160-5.185 (.203-.204) X 10 (.394) DP. 2 PL. MARKED "B", CUSTOMER TOOLING HOLES, SEE PAGE 30 22.94 (.903) MAX. M A
5.160-5.185 (.203-.204) X 6 (.236) DP. 2 PL. MARKED "A", BOTH SIDES CUSTOMER TOOLING HOLES, SEE PAGE 30
"Z"
Magnet Way
MW030-0512 MW030L-0512 MW050-0512 MW050L-0512 MW075-0512 MW100-0512
"H" .8 (.003)
7.11 (.280) 5.69 (.224) 7.11 (.280) 5.69 (.224) 8.23 (.324) 8.23 (.324)
"W" .4 (.016)
60.20 (2.370) 49.00 (1.929) 80.20 (3.158) 69.00 (2.716) 105.20 (4.142) 130.20 (5.126)
"Z" .4 (.016)
25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 25.40 (1.000) 30.00 (1.181) 34.00 (1.339)
82.00 .05 (3.228 .002) C L 7.00 (.276) B B 32.0 (1.260) REF. M5 X 0.8 X 8 DP. 4 PL.
Magnet Way
MW030-0512 MW030L-0512 MW050-0512 MW050L-0512 MW075-0512 MW100-0512
Hardware (Hex, Socket Head Cap) C'bore Dia. Cbore Depth Metric Inch .13 (.005) .13 (.005)
9.35 (.368) 7.80 (.307) 9.35 (.368) 7.80 (.307) 9.35 (.368) 9.35 (.368) 5.79 (.228) 5.79 (.228) 5.79 (.228) 5.79 (.228) 7.95 (.313) 9.96 (.392) M5 M4 M5 M4 M5 M5 #10 #8 #10 #8 #10 #10
w w w. k o l l m o r g e n . c o m
ADJACENT MAGNET WAY REF. PIN, REF. 5.33 (.210) 4.83 (.190)
CUSTOMER BANKING OR MOUNTING SURFACE, REF. 7.01 (.276) REF. 46.00 (1.811) REF. RESULTANT GAP BETWEEN MAGNET ASSEMBLIES FROM PROPER PIN LOCATION. DO NOT BUTT MAGNET ASSEMBLIES. MOUNTING HARDWARE (SEE MAGNET ASSEMBLY DRAWINGS FOR HARDWARE)
Dimensions in mm (in)
ADJACENT MAGNET WAY LENGHT OPTIONAL, REF. RESULTANT GAP BETWEEN MAGNET ASSEMBLIES FROM PROPER PIN LOCATION. DO NOT BUTT MAGNET ASSEMBLIES.
5.35 (.211) 4.85 (.191) MOUNTING SCREW (SEE MAGNET ASSEMBLY DRAWINGS FOR HARDWARE)
Dimensions in mm (in)
30
K O L L M O R G E N
Notes
I R O N L E S S M A G N E T W A Y S
w w w. k o l l m o r g e n . c o m
31
Symbol
Fp Fc Km Km25
Units
N lbf N lbf N/W lbf/W N/W lbf/W Winding Code
ICD05-030
165 37.1 57.0 12.8 10.3 2.3 12.3 2.8 A1 7.9 2.1 3.2 9.1 21.8 0.55 26.7 6.0 0.62 1.4 MCD030 A5 13.7 3.7 1.1 3.0 12.6 0.32 15.4 3.5
ICD05-050
295 66.3 87.0 19.6 14.5 3.3 17.2 3.9 A1 8.5 2.0 4.5 14.4 36.3 0.92 44.5 10.0 0.95 2.1 MCD050 3.93 0.22 3.2 30.2 0.89 200 2.90 130 A5 14.7 3.4 1.5 4.8 21.0 0.53 25.7 5.8
ICD05-075
441 99.1 125 28.1 18.6 4.2 22.0 4.9 A1 8.5 1.9 6.1 21.0 54.3 1.38 66.5 15.0 1.36 3.0 MCD075 5.48 0.31 3.4 31.9 1.33 299 2.30 130 A5 14.7 3.3 2.0 7.0 31.4 0.80 38.4 8.6
ICD05-100
588 132 157 35.3 22.0 4.9 26.0 5.9 A1 8.5 1.8 7.7 27.6 72.4 1.84 88.7 19.9 1.71 3.8 MCD100 7.04 0.39 3.6 32.8 1.78 400 2.06 130 A5 14.7 3.1 2.6 9.2 41.8 1.06 51.2 11.5
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mw kg/m lbs/in ms gs kN lbf C/Watt C Mc
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
K O L L M O R G E N
O U T L I N E
DIM 'X'
M2.5 PAN HEAD SCREW, 2 PL. M2.5 X 3 mm DP "N" NUMBER OF HOLES PER MOUNTING BAR 10.3 (13/32) TYP 4 PL
D R A W I N G S
FOR MOTOR CABLE AND HALL EFFECT MTG. SEE DRAWING BELOW
9.0 (.355)
14.0 (.551)
99.0 (3.898)
# Holes "N"
3 4 5 5
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
THERMAL
MATING CONNECTOR REFERENCE: MOLEX "MICRO-FIT 3.0" PLUG: 43020-0201 MALE TERMINALS: 43031-0010 SEE WIRE TABLE, PAGE 70
MOTOR HALL EFFECT CONNECTOR OPTION: POSITRONIC P/N: MD9M2000Z 9 PIN, MALE MATING CONNECTOR REFERENCE: POSITRONIC P/N: MD9F2000X SEE WIRE TABLE, PAGE 70 PIN 5 14.0 (.551) 9.0 (.355) HALL EFFECT PIN1 MOTOR CABLE HALL EFFECT ASSEMBLY STANDARD LENGTH, SEE TABLE 26.8 (1.055) MAX. PIN 9 #4-40 JACKNUT (2) (REMOVABLE FOR BULKHEAD MOUNTING)
PIN1
MOTOR CONNECTOR: POSITRONIC P/N: CBD3W3M0000Z 3 PIN, MALE SHELL, SIZE 2 MALE CONTACTS: POSITRONIC P/N: MS40--D 3 REMOVABLE MALE CONTACTS, SIZE 8 STANDARD LENGTH, SEE TABLE COIL ASSEMBLY REF MATING CONNECTOR REFERENCE: POSITRONIC P/N: CBD3W3F0000X 3 FEMALE SOCKETS, SOLDER TYPE, SIZE 8, POSITRONIC P/N: FS40--D SEE WIRE TABLE, PAGE 70
31.7 (1.25)
HALL EFFECT MASS W/P* CONNECTOR: .07 KG (.15 LB) MAX W/C* CABLE: .03 KG (.07 LB) MAX
Connector Option
Connector P1 P2 P3 P4 Length 400 (16) 200 (8) 100 (4) 1200 (48)
Note: Cables exiting motor and hall effects are not dynamic flex cables. For high life flex extension cables, see page 72
w w w. k o l l m o r g e n . c o m
33
Symbol
Fp
Units
N lbf N lbf N/W lbf/W N/W lbf/W Winding Code A1 1.9
ICD10-030
330 74.2 104 23.4 14.6 3.3 17.3 3.9
ICD10-050
550 124 171 38.4 20.5 4.6 24.3 5.5 A8 A1 A4 3.8 A5 3.3 A8 A1
ICD10-075
824 185 246 55.3 26.4 5.9 31.3 7.0 A4 A5 A8 A1
ICD10-100
1099 247 315 70.8 31.3 7.0 37.1 8.3 A4 3.5 A5 3.1 A8 6.1
Continuous Force @ Tmax (1) Motor Constant @ 130C Motor Constant @ 25C
Fc Km Km25
2.2 3.0
5.1 1.3
9.7 2.4 42.4 10.6 14.1 3.5 55.8 13.9 18.6 4.6
Vpeak/m/s L-L 43.7 21.8 25.2 12.6 72.8 36.4 42.0 21.0 109.2 54.6 63.1 31.5 145.7 72.8 84.1 42.0 Vpeak/in/sec L-L 1.11 0.55 0.64 0.32 1.85 0.92 1.07 0.53 2.77 1.39 1.60 0.80 3.70 1.85 2.14 1.07 N/Arms lbf/Arms kg lbs kg/m lbs/in ms gs kN lbf C/Watt C 53.5 26.8 30.9 15.4 89.2 44.6 51.5 25.7 134 66.9 77.2 38.6 178 89.2 103 51.5 12.0 6.0 6.9 3.5 20.1 10.0 11.6 5.8 30.1 15.0 17.4 8.7 40.1 20.1 23.2 11.6
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mw Mc 1.1 2.5 MCD030 2.70 0.15 2.9 30.7 1.06 2.38 2.05 130 1.9 4.1 MCD050 3.93 0.22 3.2 30.7 1.78 400 1.52 130 2.7 5.9 MCD075 5.48 0.31 3.5 32.5 2.66 598 1.21 130 3.4 7.5 MCD100 7.04 0.39 3.6 33.7 3.56 800 1.04 130
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations. K O L L M O R G E N
# Holes "N"
3 4 5 5
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
MATING CONNECTOR REFERENCE: MOLEX "MICRO-FIT 3.0" PLUG: 43020-0201 MALE TERMINALS: 43031-0010 SEE WIRE TABLE, PAGE 70
THERMAL
MOTOR HALL EFFECT CONNECTOR OPTION: POSITRONIC P/N: MD9M2000Z 9 PIN, MALE MATING CONNECTOR REFERENCE: POSITRONIC P/N: MD9F2000X SEE WIRE TABLE, PAGE 70 PIN 5 14.0 (.551) 9.0 (.355) HALL EFFECT PIN1 MOTOR CABLE HALL EFFECT ASSEMBLY STANDARD LENGTH, SEE TABLE 26.8 (1.055) MAX. PIN 9 #4-40 JACKNUT (2) (REMOVABLE FOR BULKHEAD MOUNTING)
PIN1
MOTOR CONNECTOR: POSITRONIC P/N: CBD3W3M0000Z 3 PIN, MALE SHELL, SIZE 2 MALE CONTACTS: POSITRONIC P/N: MS40--D 3 REMOVABLE MALE CONTACTS, SIZE 8 STANDARD LENGTH, SEE TABLE COIL ASSEMBLY REF MATING CONNECTOR REFERENCE: POSITRONIC P/N: CBD3W3F0000X 3 FEMALE SOCKETS, SOLDER TYPE, SIZE 8, POSITRONIC P/N: FS40--D SEE WIRE TABLE, PAGE 70
31.7 (1.25)
HALL EFFECT MASS W/P* CONNECTOR: .07 KG (.15 LB) MAX W/C* CABLE: .03 KG (.07 LB) MAX
Connector Option
Connector P1 P2 P3 P4 Length 400 (16) 200 (8) 100 (4) 1200 (48)
Note: Cables exiting motor and hall effects are not dynamic flex cables. For high life flex extension cables, see page 72
w w w. k o l l m o r g e n . c o m
35
I C D M A G N E T W A Y S
5.0 (.197)
5.110-5.135 (.201-.202) THRU 2 PL. MARKED "A" FOR RECOMMENDED 5mm M6 LOCATING PINS
.25(0.010)
"W"
"J"
"H"
.25(0.010)
Type
"W"
"W2"
45.0 (1.772) 65.0 (2.559) 90.0 (3.543) 115.0 (4.528)
"J"
4.0 (.157) 4.0 (.157) 4.0 (.157) 4.0 (.157)
H"
8.25 (.325) 8.25 (.325) 8.25 (.325) 8.25 (.325)
Dimensions in mm (in)
MCD030-0064-001 55.0 (2.165) MCD050-0064-001 75.0 (2.953) MCD075-0064-001 100.0 (3.937) MCD100-0064-001 125.0 (4.921)
MCDxx-0128
127.3 .15 (5.012 .006) 6.65 (.262) 25.0 (.984) A 4.7 (.185) THRU +0.25 C'BORE 8.3 (.327) X 1.6 -0.00 (.063) DP. 4 PL. LOCATED AS SHOWN RECOMMENDED MOUNTING HARDWARE: M4 SOCKET CAP DIN 912 8-32 SOCKET CAP SCREW A 114.0 .05 (4.488 .002)
5.110-5.135 (.201-.202) THRU 2 PL. MARKED "A" FOR RECOMMENDED 5MM M6 LOCATING PINS 5.0 (.197)
"W"
.25 (0.010)
"J"
Type
"W"
"W2"
45.0 (1.772) 65.0 (2.559) 90.0 (3.543) 115.0 (4.528)
"J"
4.0 (.157) 4.0 (.157) 4.0 (.157) 4.0 (.157)
H"
8.25 (.325) 8.25 (.325) 8.25 (.325) 8.25 (.325)
Dimensions in mm (in)
MCD030-0128-001 55.0 (2.165) MCD050-0128-001 75.0 (2.953) MCD075-0128-001 100.0 (3.937) MCD100-0128-001 125.0 (4.921)
36
K O L L M O R G E N
MCDxx-0256
I C D M A G N E T
5.110-5.135 (.201-.202) THRU 2 PL. MARKED "A" FOR RECOMMENDED 5mm M6 LOCATING PINS 5.0 (.197)
W A Y S
4.7 (.185) THRU +0.25 C'BORE 8.3 (.327) X 1.6 -0.00 (.063) DP. 8 PL. LOCATED AS SHOWN RECOMMENDED MOUNTING HARDWARE: M4 SOCKET CAP DIN 912 8-32 SOCKET CAP SCREW
"J"
Type
"W"
"W2"
45.0 (1.772) 65.0 (2.559) 90.0 (3.543) 115.0 (4.528)
"J"
4.0 (.157) 4.0 (.157) 4.0 (.157) 4.0 (.157)
H"
8.25 (.325) 8.25 (.325) 8.25 (.325) 8.25 (.325)
Dimensions in mm (in)
MCD030-0256-001 55.0 (2.165) MCD050-0256-001 75.0 (2.953) MCD075-0256-001 100.0 (3.937) MCD100-0256-001 125.0 (4.921)
MCDxx-0512
511.3 .15 (20.130 .006) 6.65 (.262) 25.0 (.984) A 5.110-5.135 (.201-.202) THRU 2 PL. MARKED "A" FOR RECOMMENDED 5mm M6 LOCATING PINS
5.0 (.197)
"W2"
.08 (0.003)
4.7 (.185) THRU +0.25 C'BORE 8.3 (.327) X 1.6 -0.00 (.063) DP. 16 PL. LOCATED AS SHOWN RECOMMENDED MOUNTING HARDWARE: M4 SOCKET CAP DIN 912 8-32 SOCKET CAP SCREW "J"
Type
"W"
"W2"
45.0 (1.772) 65.0 (2.559) 90.0 (3.543) 115.0 (4.528)
"J"
4.0 (.157) 4.0 (.157) 4.0 (.157) 4.0 (.157)
H"
8.25 (.325) 8.25 (.325) 8.25 (.325) 8.25 (.325)
Dimensions in mm (in)
MCD030-0512-001 55.0 (2.165) MCD050-0512-001 75.0 (2.953) MCD075-0512-001 100.0 (3.937) MCD100-0512-001 125.0 (4.921)
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37
I C D M A G N E T W A Y S
PIN DATUM HOLES TO BE LOCATED ON SAME SIDE TO ENSURE CORRECT NORTH/SOUTH POLE ORIENTATION
Dimensions in mm (in)
"S"
Dimensions in mm (in)
Spacing Between Holes "C" 12.0 (.472) 12.0 (.472) 16.0 (.630) 20.0 (.787)
Mounting Bar Length "L" 30 (1.18) 50 (1.97) 75 (2.95) 100 (3.94) "S" 3.0 (.118) 7.0 (2.76) 5.5 (.217) 10.0 (.394)
38
K O L L M O R G E N
Notes
I C D M A G N E T W A Y S
w w w. k o l l m o r g e n . c o m
39
Symbol
Fp
Units
N lbf N lbf N/W Winding Code
IC11-030
320 71.9 144 32.4 22.5 A1 11.3 4.0 1.9 16.7 30.9 0.78 37.8 8.5 2.5 5.5 MC030 5.4 0.30 8.8 15.3 1.4 324 1.64 130 A5 19.1 6.9 0.63 5.6 17.8 0.45 21.8 4.9
IC11-050
533 120 263 59.1 32.0 A1 11.3 4.4 2.6 26.7 51.4 1.30 62.9 14.1 3.6 7.9 MC050 7.5 0.42 10.3 17.7 2.4 546 0.99 130 A5 19.1 7.6 0.87 8.9 29.7 0.75 36.3 8.2
IC11-075
800 180 413 92.8 41.4 A1 11.3 4.6 3.5 39.4 77.1 1.96 94.4 21.2 5.0 11.0 MC075 10.1 0.56 11.3 19.2 3.7 821 0.67 130 A5 19.1 8.0 1.2 13.1 44.5 1.13 54.5 12.3
IC11-100
1067 240 574 129 49.1 A1 11.3 4.8 4.4 52.0 103 2.61 126 28.3 6.5 14.3 MC100 12.7 0.71 11.8 19.6 4.9 1102 0.50 130 A5 19.1 8.2 1.5 17.3 59.3 1.51 72.7 16.3
IC11-150
1600 360 861 194 62.0 A1 11.3 4.8 6.2 77.3 154 3.92 189 42.4 9.4 20.7 MC150 20.7 1.16 12.5 20.3 7.3 1639 0.35 130 A5 19.1 8.3 2.1 25.8 89.0 2.26 109 24.5
IC11-200
2135 480 1197 269 73.0 A1 11.3 5.0 8.0 103 206 5.22 252 56.6 A5 19.1 8.6 2.7 34.2 119 3.02 145 32.7
Fc Km
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mw Mc 12.3 27.1 MC200 26.8 1.50 12.8 20.7 9.9 2214 0.25 130
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
K O L L M O R G E N
Resultant airgap = 0.9mm (.036) nominal (0.5mm (.020) minimum) when components are set up to dimension B
11.9 (.469)
I C 1 1 O U T L I N E
D R A W I N G S
FOR MOTOR CABLE AND HALL EFFECT MTG. SEE DRAWING BELOW 43.3 REF
"B"
Non-Cooled
ICXX-030 ICXX-050 ICXX-075 ICXX-100 ICXX-150 ICXX-200
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
THERMAL PROTECTION CONNECTOR: 2 PIN - MALE CONNECTOR FREE HANGING RECEPTACLE MOLEX P/N 43025-0200 2 FEMALE TERMINALS MOLEX P/N 43030-0010
MATING CONNECTOR REFERENCE: MOLEX "MICRO-FIT 3.0" PLUG: 43020-0201 MALE TERMINALS: 43031-0010 SEE WIRE TABLE, PAGE 70
MOTOR HALL EFFECT CONNECTOR OPTION: POSITRONIC P/N: MD9M2000Z 9 PIN, MALE MATING CONNECTOR REFERENCE: POSITRONIC P/N: MD9F2000X SEE WIRE TABLE, PAGE 70 PIN 5 14.0 (.551) 9.0 (.355) HALL EFFECT PIN1 MOTOR CABLE HALL EFFECT ASSEMBLY STANDARD LENGTH, SEE TABLE 26.8 (1.055) MAX. PIN 9 #4-40 JACKNUT (2) (REMOVABLE FOR BULKHEAD MOUNTING)
PIN1
MOTOR CONNECTOR: POSITRONIC P/N: CBD3W3M0000Z 3 PIN, MALE SHELL, SIZE 2 MALE CONTACTS: POSITRONIC P/N: MS40--D 3 REMOVABLE MALE CONTACTS, SIZE 8 STANDARD LENGTH, SEE TABLE COIL ASSEMBLY REF MATING CONNECTOR REFERENCE: POSITRONIC P/N: CBD3W3F0000X 3 FEMALE SOCKETS, SOLDER TYPE, SIZE 8, POSITRONIC P/N: FS40--D SEE WIRE TABLE, PAGE 70
31.7 (1.25)
HALL EFFECT MASS W/P* CONNECTOR: .07 KG (.15 LB) MAX W/C* CABLE: .03 KG (.07 LB) MAX
Connector Option
Connector P1 P2 P3 P4 Length 400 (16) 200 (8) 100 (4) 1200 (48)
Note: Cables exiting motor and hall effects are not dynamic flex cables. For high life flex extension cables, see page 72
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41
Symbol
Fp Fc Km
Units
N lbf N lbf N/W Winding Code A1 11.0 3.9 3.9 33.4 61.7 1.57 75.6 17.0
IC22-030
624 140 280 62.9 31.4
IC22-050
1039 234 526 118 44.8 A6 38.1 13.7 0.33 2.8 17.8 0.45 21.8 4.9 A1 11.0 4.4 5.3 53.4 13 2.61 126 28.3 A2 22.0 8.7 1.3 13.4 51.4 1.31 63.0 14.2 6.9 15.2 MC050 7.5 0.42 10.1 18.5 4.9 1090 0.50 130 A6 38.1 15.1 0.44 4.5 29.7 0.75 36.3 8.2 A1 11.0 4.6 7.1 78.9 154 3.92 189 42.4
IC22-075
1558 350 825 185 58.0 A2 22.0 9.2 1.8 19.7 77.1 1.96 94.4 21.2 9.6 21.2 MC075 10.1 0.56 11.1 19.9 7.3 1637 0.34 130 A6 38.1 15.9 0.59 6.6 44.5 1.13 54.5 12.3
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mc
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
K O L L M O R G E N
I C 2 2
Rated Perfomance
Peak Force Continuous Force @ Tmax (1) Motor Constant @ 25C
Symbol
Fp Fc Km
Units
N lbf N lbf N/W Winding Code A1 11.0 4.8 8.8 104 206 5.22 252 56.6
IC22-100
2077 467 1148 258 69.5
IC22-150
3117 701 1723 387 87.8 A6 38.1 16.5 0.73 8.7 59.3 1.51 72.7 16.3 A1 11.0 4.8 12.4 155 308 7.83 378 84.9 A2 22.0 9.6 3.1 38.7 154 3.92 189 42.5 18.1 39.9 MC150 20.7 1.16 12.5 21.1 14.6 3271 0.18 130 A6 38.1 16.6 1.0 12.9 89.0 2.26 109 24.5 A1 11.0 5.0 15.9 205 411 10.4 504 113
IC22-200
4156 934 2393 538 103 A2 22.0 10.0 4.0 51.3 206 5.22 252 56.6 23.7 52.2 MC200 26.8 1.50 12.9 21.5 19.7 4433 0.13 130 A6 38.1 17.3 1.3 17.1 119 3.02 145 32.7
P E R F O R M A N C E
D A T A
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mc
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
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43
I C 2 2 S E R I E S O U T L I N E D R A W I N G S
Resultant airgap = 0.9mm (.036) nominal (0.5mm (.020) minimum) when components
11.9 (.469)
"A"
are set up to dimension B in table below. (Please refer to installation manual for
22.7 (.894)
M5 X 0.8 X 8 DP. "N" NUMBER OF HOLES PER MOUNTING BAR 376. 2 .6 (14.811 .024)
FOR MOTOR CABLE AND HALL EFFECT MTG. SEE DRAWING BELOW 43.3 REF "B"
more detail)
Non-Cooled
ICXX-030 ICXX-050 ICXX-075 ICXX-100 ICXX-150 ICXX-200
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
THERMAL PROTECTION CONNECTOR: 2 PIN - MALE CONNECTOR FREE HANGING RECEPTACLE MOLEX P/N 43025-0200 2 FEMALE TERMINALS MOLEX P/N 43030-0010
MATING CONNECTOR REFERENCE: MOLEX "MICRO-FIT 3.0" PLUG: 43020-0201 MALE TERMINALS: 43031-0010 SEE WIRE TABLE, PAGE 70
MOTOR HALL EFFECT CONNECTOR OPTION: POSITRONIC P/N: MD9M2000Z 9 PIN, MALE MATING CONNECTOR REFERENCE: POSITRONIC P/N: MD9F2000X SEE WIRE TABLE, PAGE 70 14.6 (.575) 31.7 (1.25) MOTOR CABLE HALL EFFECT PIN1 HALL EFFECT ASSEMBLY PIN 5
PIN1
STANDARD LENGTH, SEE TABLE COIL ASSEMBLY REF #4-40 JACKNUT (2) (REMOVABLE FOR BULKHEAD MOUNTING) COIL ASSEMBLY REF
MOTOR CONNECTOR: POSITRONIC P/N: CBD3W3M0000Z 3 PIN, MALE SHELL, SIZE 2 MALE CONTACTS: POSITRONIC P/N: MS40--D 3 REMOVABLE MALE CONTACTS, SIZE 8
MATING CONNECTOR REFERENCE: POSITRONIC P/N: CBD3W3F0000X 3 FEMALE SOCKETS, SOLDER TYPE, SIZE 8, POSITRONIC P/N: FS40--D SEE WIRE TABLE, PAGE 70
HALL EFFECT MASS W/P* CONNECTOR: .07 KG (.15 LB) MAX W/C* CABLE: .03 KG (.07 LB) MAX
Connector Option
Connector P1 P2 P3 P4
44
Note: Cables exiting motor and hall effects are not dynamic flex cables. For high life flex extension cables, see page 72
K O L L M O R G E N
I C 2 2
S E R I E S
O U T L I N E
D R A W I N G S
Notes
w w w. k o l l m o r g e n . c o m
45
Symbol
Fp
Units
N lbf N lbf N/W Winding Code A1 11.1 4.0 5.8 50.1 92.6 2.35 113 25.5
IC33-030
944 212 431 96.9 38.5
IC33-050
1572 353 789 177 55.0
IC33-075
2358 530 1238 278 71.2
Fc Km
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mc 10.4 22.9 MC050 7.5 0.42 10.2 18.4 7.4 1652 0.33 130 14.4 31.7 MC075 10.1 0.56 11.2 19.9 11.0 2480 0.22 130
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
K O L L M O R G E N
I C 3 3
Rated Perfomance
Peak Force
Symbol
Fp
Units
N lbf N lbf N/W Winding Code A1 11.1 4.8 13.2 156 308 7.83 378 84.9
IC33-100
3144 707 1722 387 85.1
IC33-150
4716 1060 2583 581 108
IC33-200
6291 1414 3590 807 127
P E R F O R M A N C E
Fc Km
D A T A
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mw Mc 18.9 41.7 MC100 12.7 0.71 11.8 20.2 14.7 3305 0.17 130 27.3 60.2 MC150 20.7 1.16 12.5 21.0 22.1 4957 0.12 130 35.7 78.7 MC200 26.8 1.50 12.9 21.4 29.4 6609 0.084 130
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
w w w. k o l l m o r g e n . c o m
47
I C 3 3 S E R I E S O U T L I N E D R A W I N G S
Resultant airgap = 0.9mm (.036) nominal (0.5mm (.020) minimum) when components are set up to dimension B in table below. (Please refer to installation manual for more detail)
22.7 (.894)
"A"
COIL ASSEMBLY
M5 X 0.8 X 8 DP. OPTIONAL STAINLESS M5 X 0.8 X 8 DP. "N" NUMBER OF HOLES OPTIONAL STAINLESS STEEL MAGNET COVER OF HOLES "N" NUMBER PER MOUNTING BAR STEEL MAGNET COVER PER MOUNTING BAR 376. 2 .6 552. 2(14.811 .6 .024) COIL ASSEMBLY
FOR MOTOR CABLE MOTOR CABLE AND HALLFOR EFFECT MTG. AND HALL EFFECT MTG. SEE DRAWING BELOW
(21.740 .024)
"B"
Non-Cooled
ICXX-030 ICXX-050 ICXX-075 ICXX-100 ICXX-150 ICXX-200
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
THERMAL PROTECTION CONNECTOR: 2 PIN - MALE CONNECTOR FREE HANGING RECEPTACLE MOLEX P/N 43025-0200 2 FEMALE TERMINALS MOLEX P/N 43030-0010
MATING CONNECTOR REFERENCE: MOLEX "MICRO-FIT 3.0" PLUG: 43020-0201 MALE TERMINALS: 43031-0010 SEE WIRE TABLE, PAGE 70
MOTOR HALL EFFECT CONNECTOR OPTION: POSITRONIC P/N: MD9M2000Z 9 PIN, MALE MATING CONNECTOR REFERENCE: POSITRONIC P/N: MD9F2000X SEE WIRE TABLE, PAGE 70 14.6 (.575) 31.7 (1.25) MOTOR CABLE HALL EFFECT PIN1 HALL EFFECT ASSEMBLY PIN 5
PIN1
STANDARD LENGTH, SEE TABLE COIL ASSEMBLY REF #4-40 JACKNUT (2) (REMOVABLE FOR BULKHEAD MOUNTING) COIL ASSEMBLY REF
MOTOR CONNECTOR: POSITRONIC P/N: CBD3W3M0000Z 3 PIN, MALE SHELL, SIZE 2 MALE CONTACTS: POSITRONIC P/N: MS40--D 3 REMOVABLE MALE CONTACTS, SIZE 8
MATING CONNECTOR REFERENCE: POSITRONIC P/N: CBD3W3F0000X 3 FEMALE SOCKETS, SOLDER TYPE, SIZE 8, POSITRONIC P/N: FS40--D SEE WIRE TABLE, PAGE 70
HALL EFFECT MASS W/P* CONNECTOR: .07 KG (.15 LB) MAX W/C* CABLE: .03 KG (.07 LB) MAX
Connector Option
Connector P1 P2 P3 P4
48
Note: Cables exiting motor and hall effects are not dynamic flex cables. For high life flex extension cables, see page 72
K O L L M O R G E N
I C 3 3
S E R I E S
O U T L I N E
D R A W I N G S
Notes
w w w. k o l l m o r g e n . c o m
49
Symbol
Fp
Units
N lbf N lbf N/W Winding Code A1 11.1 3.9 7.8 66.8 123 3.14 151 34.0
IC44-030
1259 283 560 126 44.3
IC44-050
2096 471 1053 237 63.3
IC44-075
3144 707 1651 371 82.4
Fc Km
0.75 7.83
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mc 13.9 30.6 MC050 7.5 0.42 10.1 18.3 9.8 2203 0.25 130 19.2 42.3 MC075 10.1 0.56 11.2 19.9 14.7 3305 0.17 130
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
K O L L M O R G E N
I C 4 4
Rated Perfomance
Peak Force
Symbol
Fp
Units
N lbf N lbf N/W Winding Code A1 11.1 4.8 17.6 208 411 10.4 504 113
IC44-100
4192 942 2296 516 98.3
IC44-150
6289 1414 3445 774 124
IC44-200
8388 1885 4786 1076 146
P E R F O R M A N C E
Fc Km
D A T A
0.51 31.8 6.4 89.0 2.26 109 24.5 410 823 1008 227
20.9 10.4
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mw Mc 25.0 55.1 MC100 12.7 0.71 11.8 20.4 19.6 4406 0.13 130 36.2 79.8 MC150 20.7 1.16 12.5 21.1 29.4 6609 0.088 130
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
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51
I C 4 4 S E R I E S O U T L I N E D R A W I N G S
Resultant airgap = 0.9mm (.036) nominal (0.5mm (.020) minimum) when components are
11.9 (.469)
set up to dimension B in table below. (Please refer to installation manual for more detail)
22.7 (.894)
M5 X 0.8 X 8 DP. "N" NUMBER OF HOLES OPTIONAL STAINLESS PER MOUNTING BAR STEEL MAGNET COVER 728. 2 .6 .024) (28.669 COIL ASSEMBLY
FOR MOTOR CABLE FOR MOTOR CABLE AND MTG. HALL EFFECT MTG. AND HALL EFFECT SEE OPTIONS BELOW SEE DRAWING BELOW 43.3 REF "B"
Non-Cooled
ICXX-030 ICXX-050 ICXX-075 ICXX-100 ICXX-150 ICXX-200
58.60.1 (2.307.004) 58.60.1 (2.307.004) 58.60.1 (2.307.004) 58.60.1 (2.307.004) 60.60.1 (2.386.004) 60.60.1 (2.386.004)
2 2 3 3 5 6
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
THERMAL PROTECTION CONNECTOR: 2 PIN - MALE CONNECTOR FREE HANGING RECEPTACLE MOLEX P/N 43025-0200 2 FEMALE TERMINALS MOLEX P/N 43030-0010
MATING CONNECTOR REFERENCE: MOLEX "MICRO-FIT 3.0" PLUG: 43020-0201 MALE TERMINALS: 43031-0010 SEE WIRE TABLE, PAGE 70
MOTOR HALL EFFECT CONNECTOR OPTION: POSITRONIC P/N: MD9M2000Z 9 PIN, MALE MATING CONNECTOR REFERENCE: POSITRONIC P/N: MD9F2000X SEE WIRE TABLE, PAGE 70 14.6 (.575) 31.7 (1.25) MOTOR CABLE HALL EFFECT PIN1 HALL EFFECT ASSEMBLY PIN 5
PIN1
STANDARD LENGTH, SEE TABLE COIL ASSEMBLY REF #4-40 JACKNUT (2) (REMOVABLE FOR BULKHEAD MOUNTING) COIL ASSEMBLY REF
MOTOR CONNECTOR: POSITRONIC P/N: CBD3W3M0000Z 3 PIN, MALE SHELL, SIZE 2 MALE CONTACTS: POSITRONIC P/N: MS40--D 3 REMOVABLE MALE CONTACTS, SIZE 8
MATING CONNECTOR REFERENCE: POSITRONIC P/N: CBD3W3F0000X 3 FEMALE SOCKETS, SOLDER TYPE, SIZE 8, POSITRONIC P/N: FS40--D SEE WIRE TABLE, PAGE 70
HALL EFFECT MASS W/P* CONNECTOR: .07 KG (.15 LB) MAX W/C* CABLE: .03 KG (.07 LB) MAX
Connector Option
Connector P1 P2 P3 P4
52
Note: Cables exiting motor and hall effects are not dynamic flex cables. For high life flex extension cables, see page 72
K O L L M O R G E N
I C 4 4
S E R I E S
O U T L I N E
D R A W I N G S
Notes
w w w. k o l l m o r g e n . c o m
53
Symbol
Fp
Units
N lbf N lbf N/W Winding Code
IC11-030
315 70.8 254 57.1 19.3 A1 13.8 9.7 1.6 10.3 24.8 0.63 30.4 6.8 2.5 5.5 MC030 5.4 0.30 6.4 15.3 1.4 324 0.33 130 A5 23.9 16.9 0.53 3.4 14.3 0.36 17.6 3.9
IC11-050
525 118 432 97.1 28.6 A1 13.8 9.9 2.1 16.5 41.4 1.05 50.7 11.4 3.6 7.9 MC050 7.5 0.42 7.9 17.7 2.4 546 0.24 130 A5 23.9 17.2 0.70 5.5 23.9 0.61 29.3 6.6
IC11-075
798 179 649 146 37.3 A1 13.8 9.9 2.8 24.4 62.2 1.58 76.2 17.1 5.0 11.0 MC075 10.1 0.56 8.7 19.2 3.7 821 0.18 130 A5 23.9 17.1 0.93 8.1 35.9 0.91 44.0 9.9
IC11-100
1051 236 864 194 45.0 A1 13.8 9.9 3.5 32.1 82.9 2.11 102 22.8 6.5 14.3 MC100 12.7 0.71 9.2 19.6 4.9 1102 0.15 130 A5 23.9 17.2 1.2 10.7 47.8 1.22 58.6 13.2
IC11-150
1576 354 1285 289 55.7 A1 13.8 9.8 5.0 47.7 124 3.16 152 34.2 9.4 20.7 MC150 20.7 1.16 9.5 20.3 7.3 1639 0.10 130 A5 23.9 17.0 1.7 15.9 71.7 1.82 87.9 19.8
IC11-200
2102 473 1712 385 65.7 A1 13.8 9.8 6.4 63.3 166 4.21 203 45.7 A5 23.9 17.0 2.1 21.1 95.7 2.43 117 26.4
Fc Km
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mw Mc 12.3 27.1 MC200 26.8 1.50 9.9 20.7 9.9 2214 0.081 130
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
54
K O L L M O R G E N
C O O L E D
nominal (0.5mm (.020) minimum) when components are set up to dimension B in table below. (Please
"A" 11.9 (.469)
I C 1 1
S E R I E S
FOR MOTOR CABLE AND HALL EFFECT MTG. SEE OPTIONS BELOW 43.3 REF
22.7 (.894)
O U T L I N E
19.1 (.750)
"B"
D R A W I N G S
Cooled
ICXX-030 ICXX-050 ICXX-075 ICXX-100 ICXX-150 ICXX-200
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
THERMAL PROTECTION CONNECTOR: 2 PIN - MALE CONNECTOR FREE HANGING RECEPTACLE MOLEX P/N 43025-0200 2 FEMALE TERMINALS MOLEX P/N 43030-0010
MATING CONNECTOR REFERENCE: MOLEX "MICRO-FIT 3.0" PLUG: 43020-0201 MALE TERMINALS: 43031-0010 SEE WIRE TABLE, PAGE 70
MOTOR HALL EFFECT CONNECTOR OPTION: POSITRONIC P/N: MD9M2000Z 9 PIN, MALE MATING CONNECTOR REFERENCE: POSITRONIC P/N: MD9F2000X SEE WIRE TABLE, PAGE 70 14.6 (.575) 31.7 (1.25) MOTOR CABLE HALL EFFECT 8.4 (.331) 16.2 (.637) STANDARD LENGTH, SEE TABLE PIN 1 HALL EFFECT ASSEMBLY PIN 5 PIN 9
PIN1
STANDARD LENGTH, SEE TABLE COIL ASSEMBLY REF #4-40 JACKNUT (2) (REMOVABLE FOR BULKHEAD MOUNTING) COIL ASSEMBLY REF
MOTOR CONNECTOR: POSITRONIC P/N: CBD3W3M0000Z 3 PIN, MALE SHELL, SIZE 2 MALE CONTACTS: POSITRONIC P/N: MS40--D 3 REMOVABLE MALE CONTACTS, SIZE 8
MATING CONNECTOR REFERENCE: POSITRONIC P/N: CBD3W3F0000X 3 FEMALE SOCKETS, SOLDER TYPE, SIZE 8, POSITRONIC P/N: FS40--D SEE WIRE TABLE, PAGE 70
HALL EFFECT MASS W/P* CONNECTOR: .07 KG (.15 LB) MAX W/C* CABLE: .03 KG (.07 LB) MAX
32.0 (1.260)
Connector Option
Connector P1 P2 P3 P4 Length 400 (16) 200 (8) 100 (4) 1200 (48)
Note: Cables exiting motor and hall effects are not dynamic flex cables. For high life flex extension cables, see page 72
w w w. k o l l m o r g e n . c o m
55
Symbol
Fp Fc Km
Units
N lbf N lbf N/W Winding Code A1 13.8 9.9 3.1 20.6 49.7 1.26 60.9 13.7
IC22-030
630 142 519 117 28.3
IC22-050
1051 236 864 194 40.5 A6 47.8 34.3 0.26 1.7 14.4 0.36 17.6 4.0 A1 13.8 9.9 4.2 33.0 82.9 2.11 102 22.8 A2 27.6 19.8 1.1 8.3 41.4 1.05 50.8 11.4 6.9 15.2 MC050 7.5 0.42 7.9 18.5 4.9 1090 0.12 130 A6 47.8 34.3 0.35 2.8 23.9 0.61 29.3 6.6 A1 13.8 9.8 5.7 48.6 124 3.16 152 34.2
IC22-075
1576 354 1284 287 52.2 A2 27.6 19.6 1.4 12.2 62.2 1.58 76.2 17.1 9.6 21.2 MC075 10.1 0.56 8.5 19.9 7.3 1637 0.091 130 A6 47.8 34.0 0.48 4.1 35.9 0.91 44.0 9.9
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mc
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
K O L L M O R G E N
I C 2 2
Rated Perfomance
Peak Force Continuous Force @ Tmax (1) Motor Constant @ 25C
Symbol
Fp Fc Km
Units
N lbf N lbf N/W Winding Code A1 13.8 9.8 7.1 64.1 166 4.22 203 45.7
IC22-100
2106 473 1715 386 62.5
IC22-150
3152 709 2566 577 79.3 A6 47.8 34.0 0.59 5.3 48.0 1.22 58.7 13.2 A1 13.8 9.8 9.9 95.4 249 6.32 305 68.5 A2 27.6 19.7 2.5 23.9 124 3.16 152 34.2 18.1 39.9 MC150 20.7 1.16 9.6 21.1 14.6 3271 0.052 130 A6 47.8 34.1 0.83 8.0 71.8 1.82 87.9 19.8 A1 13.8 9.9 12.7 127 332 8.42 406 91.3
IC22-200
4204 945 3458 777 93.3 A2 27.6 19.8 3.2 31.6 166 4.21 203 45.7 23.7 52.2 MC200 26.8 1.50 10.0 21.5 19.7 4433 0.040 130 A6 47.8 34.3 1.1 10.5 95.7 2.43 117 26.4
P E R F O R M A N C E
D A T A
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mc
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
w w w. k o l l m o r g e n . c o m
57
I C 2 2 O U T L I N E D R A W I N G S
Resultant airgap = 0.9mm (.036) nominal (0.5mm (.020) minimum) when components are set up to dimension B
"A"
M5 X 0.8 X 8 DP. "N" NUMBER OF HOLES PER MOUNTING BAR 376. 2.6 (14.811 .024) 19.1 (.750)
FOR MOTOR CABLE AND HALL EFFECT MTG. SEE OPTIONS BELOW 43.3 REF "B"
Cooled
ICXX-030 ICXX-050 ICXX-075 ICXX-100 ICXX-150 ICXX-200
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
THERMAL PROTECTION CONNECTOR: 2 PIN - MALE CONNECTOR FREE HANGING RECEPTACLE MOLEX P/N 43025-0200 2 FEMALE TERMINALS MOLEX P/N 43030-0010
MATING CONNECTOR REFERENCE: MOLEX "MICRO-FIT 3.0" PLUG: 43020-0201 MALE TERMINALS: 43031-0010 SEE WIRE TABLE, PAGE 70
MOTOR HALL EFFECT CONNECTOR OPTION: POSITRONIC P/N: MD9M2000Z 9 PIN, MALE MATING CONNECTOR REFERENCE: POSITRONIC P/N: MD9F2000X SEE WIRE TABLE, PAGE 70 14.6 (.575) 31.7 (1.25) MOTOR CABLE HALL EFFECT 8.4 (.331) 16.2 (.637) STANDARD LENGTH, SEE TABLE PIN 1 HALL EFFECT ASSEMBLY PIN 5 PIN 9
PIN1
STANDARD LENGTH, SEE TABLE COIL ASSEMBLY REF #4-40 JACKNUT (2) (REMOVABLE FOR BULKHEAD MOUNTING) COIL ASSEMBLY REF
MOTOR CONNECTOR: POSITRONIC P/N: CBD3W3M0000Z 3 PIN, MALE SHELL, SIZE 2 MALE CONTACTS: POSITRONIC P/N: MS40--D 3 REMOVABLE MALE CONTACTS, SIZE 8
MATING CONNECTOR REFERENCE: POSITRONIC P/N: CBD3W3F0000X 3 FEMALE SOCKETS, SOLDER TYPE, SIZE 8, POSITRONIC P/N: FS40--D SEE WIRE TABLE, PAGE 70
HALL EFFECT MASS W/P* CONNECTOR: .07 KG (.15 LB) MAX W/C* CABLE: .03 KG (.07 LB) MAX
32.0 (1.260)
Connector Option
Connector P1 P2 P3 P4
58
Note: Cables exiting motor and hall effects are not dynamic flex cables. For high life flex extension cables, see page 72
K O L L M O R G E N
Notes
I C 2 2 O U T L I N E D R A W I N G S
w w w. k o l l m o r g e n . c o m
59
Symbol
Fp Fc Km
Units
N lbf N lbf N/W Winding Code A1 13.8 9.8 4.7 31.0 74.5 1.89 91.3 20.5
IC33-030
945 212 769 173 34.5
IC33-050
1575 354 1283 288 49.2 A5 23.9 17.0 1.6 10.3 43.0 1.09 52.7 11.9 A1 13.8 9.8 6.4 49.5 124 3.16 152 34.2 A3 41.4 29.4 0.71 5.5 41.4 1.05 50.7 11.4 10.4 22.9 MC050 7.5 0.42 7.7 18.4 7.4 1652 0.081 130 A5 23.9 17.0 2.1 16.5 71.7 1.82 87.9 19.8 A1 13.8 9.8 8.5 73.1 187 4.74 229 51.4
IC33-075
2365 532 1926 433 64.2 A3 41.4 29.4 0.94 8.1 62.2 1.58 76.2 17.1 14.4 31.7 MC075 10.1 0.56 8.6 19.9 11.0 2480 0.061 130 A5 23.9 17.0 2.8 24.4 108 2.74 132 29.7
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mc
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
K O L L M O R G E N
I C 3 3
Rated Perfomance
Peak Force Continuous Force @ Tmax (1) Motor Constant @ 25C Max. Cont. Power Dissipation
Symbol
Fp Fc Km Pc
Units
N lbf N lbf N/W W Winding Code A1 13.8 9.9 10.6 96.2 249 6.32 304 68.5
IC33-100
3152 709 2593 583 76.5 2188
IC33-150
4724 1063 3849 865 96.9 3000 A5 23.9 17.1 3.5 32.1 144 3.65 176 39.5 A1 13.8 9.8 14.9 143 373 9.47 457 103 A3 41.4 29.3 1.7 15.9 124 3.16 152 34.2 27.3 60.2 MC150 20.7 1.16 9.6 21.0 22.1 4957 0.035 130 A5 23.9 16.9 5.0 47.7 215 5.47 264 59.3 A1 13.8 9.8 19.1 190 497 12.6 609 137
IC33-200
6306 1418 5135 1154 114 3889 A3 41.4 29.5 2.1 21.1 166 4.21 203 45.7 35.7 78.7 MC200 26.8 1.50 9.9 21.4 29.4 6609 0.027 130 A5 23.9 17.0 6.4 63.3 287 7.30 352 79.1
P E R F O R M A N C E D A T A
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mc
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
w w w. k o l l m o r g e n . c o m
61
I C 3 3 O U T L I N E D R A W I N G S
Resultant airgap = 0.9mm (.036) nominal (0.5mm (.020) minimum) when components are set up to dimension B
"A"
M5 X 0.8 X 8 DP. "N" NUMBER OF HOLES PER MOUNTING BAR 552. 2 .6 (21.740 .024) 19.1 (.750)
FOR MOTOR CABLE AND HALL EFFECT MTG. SEE OPTIONS BELOW 43.3 REF "B"
Cooled
ICXX-030 ICXX-050 ICXX-075 ICXX-100 ICXX-150 ICXX-200
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
THERMAL PROTECTION CONNECTOR: 2 PIN - MALE CONNECTOR FREE HANGING RECEPTACLE MOLEX P/N 43025-0200 2 FEMALE TERMINALS MOLEX P/N 43030-0010
MATING CONNECTOR REFERENCE: MOLEX "MICRO-FIT 3.0" PLUG: 43020-0201 MALE TERMINALS: 43031-0010 SEE WIRE TABLE, PAGE 70
MOTOR HALL EFFECT CONNECTOR OPTION: POSITRONIC P/N: MD9M2000Z 9 PIN, MALE MATING CONNECTOR REFERENCE: POSITRONIC P/N: MD9F2000X SEE WIRE TABLE, PAGE 70 14.6 (.575) 31.7 (1.25) MOTOR CABLE HALL EFFECT 8.4 (.331) 16.2 (.637) STANDARD LENGTH, SEE TABLE PIN 1 HALL EFFECT ASSEMBLY PIN 5 PIN 9
PIN1
STANDARD LENGTH, SEE TABLE COIL ASSEMBLY REF #4-40 JACKNUT (2) (REMOVABLE FOR BULKHEAD MOUNTING) COIL ASSEMBLY REF
MOTOR CONNECTOR: POSITRONIC P/N: CBD3W3M0000Z 3 PIN, MALE SHELL, SIZE 2 MALE CONTACTS: POSITRONIC P/N: MS40--D 3 REMOVABLE MALE CONTACTS, SIZE 8
MATING CONNECTOR REFERENCE: POSITRONIC P/N: CBD3W3F0000X 3 FEMALE SOCKETS, SOLDER TYPE, SIZE 8, POSITRONIC P/N: FS40--D SEE WIRE TABLE, PAGE 70
HALL EFFECT MASS W/P* CONNECTOR: .07 KG (.15 LB) MAX W/C* CABLE: .03 KG (.07 LB) MAX
32.0 (1.260)
Connector Option
Connector P1 P2 P3 P4
62
Note: Cables exiting motor and hall effects are not dynamic flex cables. For high life flex extension cables, see page 72
K O L L M O R G E N
Notes
I C 3 3 O U T L I N E D R A W I N G S
w w w. k o l l m o r g e n . c o m
63
Symbol
Fp Fc Km
Units
N lbf N lbf N/W Winding Code A1 13.8 9.9 6.2 41.3 99.4 2.52 122 27.4
IC44-030
1260 283 1036 233 39.9 A2 27.6 19.7 1.6 10.3 49.7 1.26 60.9 13.7 9.6 21.2 MC030 5.4 0.30 6.7 15.9 5.9 1322 0.082 130 A3 55.2 39.5 0.39 2.6 24.8 0.63 30.4 6.8 A1 13.8 9.8 8.5 66.1 166 4.21 203 45.6
IC44-050
2101 472 1711 385 56.8 A2 27.6 19.6 2.1 16.5 82.9 2.11 102 22.8 13.9 30.6 MC050 7.5 0.42 7.8 18.3 9.8 2203 0.061 130 A3 55.2 39.1 0.53 4.1 41.4 1.05 50.8 11.4 A1 13.8 9.8 11.3 97.3 249 6.32 305 68.5
IC44-075
3154 709 2568 577 74.0 A2 27.6 19.5 2.8 24.3 124 3.16 152 34.2 19.2 42.3 MC075 10.1 0.56 8.6 19.9 14.7 3305 0.046 130 A3 55.2 39.1 0.71 6.1 62.2 1.58 76.2 17.1
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mw Mc
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
K O L L M O R G E N
I C 4 4
Rated Perfomance
Peak Force Continuous Force @ Tmax (1) Motor Constant @ 25C
Symbol
Fp Fc Km
Units
N lbf N lbf N/W Winding Code A1 13.8 9.9 14.1 128 331 8.42 406 91.3
IC44-100
4202 945 3457 777 88.3
IC44-150
6303 1417 5133 1154 112 A3 55.1 39.5 0.88 8.0 82.9 2.11 102 22.8 A1 13.8 9.8 19.8 191 497 12.6 609 137 A2 27.6 19.6 5.0 47.7 249 6.32 305 68.5 36.2 79.8 MC150 20.7 1.16 9.6 21.1 29.4 6609 0.026 130 A3 55.3 39.2 1.2 11.9 124 3.16 152 34.2 A1 13.8 9.9 25.5 253 663 16.8 812 183
IC44-200
8407 1890 6916 1555 132 A2 27.6 19.8 6.4 63.3 332 8.42 406 91.3 47.4 104 MC200 26.8 1.50 9.9 21.5 39.4 8855 0.020 130 A3 55.2 39.6 1.6 15.8 166 4.21 203 45.7
P E R F O R M A N C E
D A T A
Mechanical Specifications
Coil Assembly Mass 15% Magnetic Way Type Magnetic Way Mass 15% Mc
Notes: 1. The motor continuous rated force is measured with the motor coils achieving the motor maximum allowable temperature Tmax. 2. Alternate windings can be made available. Please consult the Kollmorgen Customer Support for design options. 3. Maximum theoretical acceleration is based on the motors peak force and the motor mass alone. Limitations due to such factors as the additional mass of the load, the bearing type and design, the shock rating of the feedback, the peak current available from the amplifier etc. must be considered to determine the achievable acceleration in each application. 4. Please see our application sizing pages in the back of this guide for more details on sizing and thermal considerations.
w w w. k o l l m o r g e n . c o m
65
I C 4 4 O U T L I N E D R A W I N G S
Resultant airgap = 0.9mm (.036) nominal (0.5mm (.020) minimum) when components are set up to dimension B
"A"
M5 X 0.8 X 8 DP. "N" NUMBER OF HOLES PER MOUNTING BAR 728. 2 .6 (28.669 .024) 19.1 (.750)
FOR MOTOR CABLE AND HALL EFFECT MTG. SEE OPTIONS BELOW 43.3 REF
"B"
Cooled
ICXX-030 ICXX-050 ICXX-075 ICXX-100 ICXX-150 ICXX-200
Notes: 1. Dimensions in mm (inches) 2. Tolerances unless otherwise specified: no decimal place 0.8 (0.3) X decimal place 0.1 (.004) XX decimal place 0.05 (0.002)
THERMAL PROTECTION CONNECTOR: 2 PIN - MALE CONNECTOR FREE HANGING RECEPTACLE MOLEX P/N 43025-0200 2 FEMALE TERMINALS MOLEX P/N 43030-0010
MATING CONNECTOR REFERENCE: MOLEX "MICRO-FIT 3.0" PLUG: 43020-0201 MALE TERMINALS: 43031-0010 SEE WIRE TABLE, PAGE 70
MOTOR HALL EFFECT CONNECTOR OPTION: POSITRONIC P/N: MD9M2000Z 9 PIN, MALE MATING CONNECTOR REFERENCE: POSITRONIC P/N: MD9F2000X SEE WIRE TABLE, PAGE 70 14.6 (.575) 31.7 (1.25) MOTOR CABLE HALL EFFECT 8.4 (.331) 16.2 (.637) STANDARD LENGTH, SEE TABLE PIN 1 HALL EFFECT ASSEMBLY PIN 5 PIN 9
PIN1
STANDARD LENGTH, SEE TABLE COIL ASSEMBLY REF #4-40 JACKNUT (2) (REMOVABLE FOR BULKHEAD MOUNTING) COIL ASSEMBLY REF
MOTOR CONNECTOR: POSITRONIC P/N: CBD3W3M0000Z 3 PIN, MALE SHELL, SIZE 2 MALE CONTACTS: POSITRONIC P/N: MS40--D 3 REMOVABLE MALE CONTACTS, SIZE 8
MATING CONNECTOR REFERENCE: POSITRONIC P/N: CBD3W3F0000X 3 FEMALE SOCKETS, SOLDER TYPE, SIZE 8, POSITRONIC P/N: FS40--D SEE WIRE TABLE, PAGE 70
HALL EFFECT MASS W/P* CONNECTOR: .07 KG (.15 LB) MAX W/C* CABLE: .03 KG (.07 LB) MAX
32.0 (1.260)
Connector Option
Connector P1 P2 P3 P4
66
Note: Cables exiting motor and hall effects are not dynamic flex cables. For high life flex extension cables, see page 72
K O L L M O R G E N
Notes
I C 4 4 O U T L I N E D R A W I N G S
w w w. k o l l m o r g e n . c o m
67
MCxxx-0064
50.0 .05 (1.968 .002) 25.0 (.984) 6.65 (.262) A A OPTIONAL STAINLESS STEEL MAGNET COVER "W2" "W" 63.3 .15 (2.492 .006) 5.110-5.135 (.201-.202) THRU 2 PL. MARKED "A" FOR RECOMMENDED 5mm M6 LOCATING PINS
Magnet assembiles are modular and can be installed in multiples of same or alternate lengths. Standard lengths are shown below. Magnetic Way Type
MC030-0064 MC050-0064 MC075-0064 MC100-0064 MC150-0064
6.6 (.260) THRU C'BORE 11.0 (.433) X 6.2 (.246) DP. 2 PL. LOCATED AS SHOWN. RECOMMENDED MOUNTING HARDWARE: M6 SOC. HD. CAP DIN 912 (1/4" SOC. HD. CAP SCREW)
7.5 (.295)
"J"
10.0 (.394) 10.0 (.394) 10.0 (.394) 10.0 (.394) 12.0 (.472) 12.0 (.472)
MC200-0064
MCxxx-0128
127.3 .15 (5.012 .006) 6.65 (.262) 25.0 (.984) A A OPTIONAL STAINLESS STEEL MAGNET COVER "W" .3
(.012)
5.110-5.135 (.201-.202) THRU 2 PL. MARKED "A" FOR RECOMMENDED 5mm M6 LOCATING PINS 7.5 (.295)
"J"
10.0 (.394) 10.0 (.394) 10.0 (.394) 10.0 (.394) 12.0 (.472) 12.0 (.472)
"W2" .10
(.004)
6.6 (.260) THRU C'BORE 11.0 (.433) X 6.2 (.246) DP. 4 PL. LOCATED AS SHOWN RECOMMENDED MOUNTING HARDWARE: M6 SOC. HD. CAP DIN 912 (1/4" SOC. HD. CAP SCREW)
"J"
"H" .2 (.008)
MCxxx-0256
5.110-5.135 (.201-.202) THRU 2 PL. MARKED "A" FOR RECOMMENDED 5mm M6 LOCATING PINS 255.3 .15 (10.051 .006) 6.65 (.262) 25.0 (.984) A
7.5 (.295)
"J"
10.0 (.394) 10.0 (.394) 10.0 (.394) 10.0 (.394) 12.0 (.472) 12.0 (.472)
"W"
.3 (.012)
"J"
"H" .2 (.008)
6.6 (.260) THRU C'BORE 11.0 (.433) X 6.2 (.246) DP. 8 PL. LOCATED AS SHOWN RECOMMENDED MOUNTING HARDWARE: M6 SOC. HD. CAP DIN 912 (1/4" SOC. HD. CAP SCREW)
68
K O L L M O R G E N
I R O N C O R E
MCxxx-0512
511.3 .15 (20.130 .006) 6.65 (.262) 25.0 (.984) A 498.0 .05 (19.606 .002) A OPTIONAL STAINLESS STEEL MAGNET COVER "W2"
.10 (.004)
7.5 (.295)
5.110-5.135 (.201-.202) THRU 2 PL. MARKED "A" FOR RECOMMENDED 5mm M6 LOCATING PINS
"J"
10.0 (.394) 10.0 (.394) 10.0 (.394) 10.0 (.394) 12.0 (.472) 12.0 (.472)
M A G N E T
"W"
.3 (.012)
6.6 (.260) THRU C'BORE 11.0 (.433) X 6.2 (.246) DP. 16 PL. LOCATED AS SHOWN RECOMMENDED MOUNTING HARDWARE: M6 SOC. HD. CAP DIN 912 (1/4" SOC. HD. CAP SCREW) "J"
W A Y S
"H" .2 (.008)
Magnet Way widths correspond to the mating coil assembly width. Magnet Way assemblies are modular and come in standard lengths: 64, 128, 256, 512 mm. Multiple magnet assemblies can be installed to obtain the desired length. Shown below is the method to mount multiple assemblies.
PIN DATUM HOLES TO BE LOCATED ON SAME SIDE TO ENSURE CORRECT NORTH/SOUTH POLE ORIENTATION
RESULTANT GAP BETWEEN MAGNET ASSEMBLIES FROM PROPER PIN LOCATION. DO NOT BUTT MAGNET ASSEMBLIES.
"C"
M5 X .8 X 8 DP. NUMBER OF HOLES PER BAR "N" WILL VARY WITH MOTOR WIDTH
"S"
"S"
7.0 (.276) 7.0 (.276) 5.5 (.217) 14.0 (.551) 11.0 (.433) 10.0 (.394)
Dimensions in mm (in) w w w. k o l l m o r g e n . c o m 69
Motor Wire Table SEE TABLE BELOW FOR AWG DIA Pin Number
1 2 3 Connector Shell Connector Shell
Hall Effect Wire Table 26 AWG 6.0 DIA (.24") Pin Number
1 2 3 4 5 Shell
Function
A B C GND Shield
Color
Gray Green Yellow Brown White Shield
Pin
1 2
Color
Black/White Black/White
Transition Point
120C (IC/ICD) 90C (IL) 120C (IC/ICD) 90C (IL)
see note 2
Notes: 1. Ground and shield connection at shell: first make/last break 2. TIC-X extender cable is shielded
WINDING CODE
ALL (A1,A2,A3,A4)
WINDING CODE
ALL (A1 - A4)
AWG
18 18 14 18 14 10
IC WIRE TABLE COOLED (AC) WINDING CODE Motor BEMF phases A,B,C relative to Hall effect devices S1,S2,S3 with coil travel direction towards the motor output cable assembly exit as shown below.
A1 A2 A3 A5 A6
COIL ASSEMBLY MAGNET WAY
AWG
18 14 10 14 12
MOTOR WINDING CONFIGURATION WITH TRAVEL DIRECTION AS SHOWN
Both Ironcore (IC) and Ironless (IL) feature the same pole pitch, which is 32 mm (360 electrical degrees).
Note: 1. The diagram above refers to both Ironless and Ironcore motors
K O L L M O R G E N
W I R I N G
A N D O U T P U T
Max Acceleration/Deceleration
Acceleration Am = Vm / ta Am = 2 / 50E-3 = 40 meter/sec2 Am g = Am/9.81 a (g) = 40 / 9.81 = 4.08 g
1. Move Profile
Triangular/Trapezoidal
2. Load
Fext - External Force only (Cutting force, etc.) Facc - Acceleration Force only Fr - Run Force at constant speed Fdec - Deceleration Force only Fam - Max. Acceleration Force Fdm - Max. Deceleration Force Fdw - Dwell Force Frms - RMS Force - Coefficient of Friction (bearing support) Ml - Load Mass Mc - Coil Mass Mcb - Counterbalance Mass Fa - Magnetic Attraction Force CB - Counterbalance of load in % q - Angle of Linear Displacement with horizontal (0= horizontal, 90 vertical) g - Gravity coefficient n - Number of motors in parallel
Units SI English N lbf N N N N N N N kg kg kg N lbf lbf lbf lbf lbf lbf lbf lbs lbs lbs lbf
V, Velocity
ta
tr
td tdw
t, time
Units Sm - Move displacement ta - Acceleration Time tr - Time run at constant speed td - Deceleration Time tdw - Dwell Time Vm - Max Velocity Am - Acceleration Dm - Deceleration SI English meters inches seconds seconds seconds seconds seconds seconds seconds seconds meter/sec. inches/sec meter/sec2 inches/sec2 meter/sec2 inches/sec2
example: Move 0.1 meter in 100 msec assuming ta = td and tr =0, (assume triangular move)
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71
Features
High Flex cable designed for dynamic, continuous flexing applications Cable track compatible Molded, high reliability connectors Oil resistant PVC jacket 105C / 600V motor cable, 105C / 300V Hall effect and thermal sensor cable CE compliant, fully shielded low impedance cable and connectors Fully tested, color coded, shipped with schematics Complete cable system for simple and reliable plug-and-play installation Standard lengths of 1, 3, 6, 9, 12 and 15 meters available. For other lengths, consult Kollmorgen Customer Support.
GRAY SHIELDED
THERMAL
Note: ACI-AKD-A for use with Heidenhain Encoders. ACI-AKD-B for use with Renishaw Encoders.
Dimensions in mm (in)
457 (18) CONNECTOR INTERFACE ADAPTER ACI 200 HALL EFFECT CABLE H1C-XX GRAY, HIGH FLEX, SHIELDED MALE CONNECTION THERM THERMAL T1C-XX BLACK, HIGH FLEX, SHIELDED MOTOR M1C-XX; M2C-XX; M3C-XX GRAY, HIGH FLEX, SHIELDED AMPLIFIER P1 = 400 (16) P2 = 200 (8) BLUE SHIELDED FEMALE CONNECTION MALE CONNECTION HALL
GRAY SHIELDED
GRAY SHIELDED
72
BLACK SHIELDED
K O L L M O THERMAL R G E N
THERMAL T1C-XX BLACK, HIGH FLEX, SHIELDED MOTOR M1C-XX; M2C-XX; M3C-XX GRAY, HIGH FLEX, SHIELDED BLUE SHIELDED P1 = 400 (16) P2 = 200 (8) P3 = 100 (4) STANDARD AVAILABLE LENGTHS BLACK NOT SHIELDED
THERMAL
SERVOSTAR AMPLIFIER
H I G H
F L E X C A B L E S E T S
GRAY SHIELDED
GRAY SHIELDED
BLACK SHIELDED
THERMAL
Dimensions in mm (in)
AWG
18 14 12 22 26
Wire Diameter
11.0mm (.430in) 12.6mm (.495in) 14.2mm (.560in) 6.0mm (.235in) 6.0mm (.235in)
Notes: 1. Cables are designed for minimum life cycle of millions of cycles under ideal conditions. Actual field application conditions may or may not produce the cable life described here in. 2. To ensure longest possible cable life under dynamic conditions, cables should be relaxed 24 hours before use by hanging freely at its mid-point. Cable is ready when very little memory is present. Cable should be installed in the plane of original flexure. Cable should be installed with lowest possible mechanical tension. Avoid torsional bending. 3. Minimum recommended dynamic bend radius is 15x largest cable diameter used in cable track; use a large bend radius whenever possible. Clearance between cables and track should be a minimum of 20% of the cable diameter. Use of a clamp or nylon cable tie that creates localized stress within the cable track must be avoided. Minimum distance from the clamping point to the start of the bend radius must be 25x the largest cable diameter used in the track. 4. Cable track manufacturer should be consulted for application assistance.
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Application Sizing
A P P L I C A T I O N S I Z I N G 74
basic foRmulas*:
We assume a general case where we have n motors solidly coupled pushing the load and a possible counterbalance weight Mcb (Mostly for vertical displacement).
Moving Weight: Number of Motors: Horizontal Move: Counterbalance Force: External Force: Friction Coefficient:
Assume same move as above with a Dwell Time of 50 ms. Run Force at Constant Speed: Acceleration Force only: Deceleration Force only: Maximum Accel Force: Maximum Decel Force: Rms Force: Fr = 0.5 9.81 0.01=0 .05 N Fa = 0.5 40 = 20 N Fd = 0.5 40 = 20 N Fam = 20 + 0.05 = 20.05 N Fdm = 20 - 0.05 = 19.95 N
Counterbalance Weight: Mcb = Ml CB/100 Acceleration Force only: Facc = [(Ml /n) (1 + CB/100) + Mc] Am Run Force at constant speed: Fr = (Ml /n + Mc) g SIN(q) + m COS(q) - (Mcb/n) g + Fa + Fext/n Deceleration Force only: Fdec = [(Ml /n) (1 + CB/100) + Mc] Dm Maximum Acceleration Force: Fam = Facc + Fr Maximum Deceleration Force: Fdm = Fdec - Fr Dwell Force: Fdw = (Ml /n+Mc) g [SIN(q)] - (Mcb/n) g RMS Force: Frms = Fam2 ta + Fr2 tr + Fdm2 td + Fdw2 tdw ta + tr + td + tdw
Motor Sizing:
If we select an ironless motor for smoothest possible move we can use Motor IL060-30A1. This motor has a coil mass of 0.21 kg and no attractive force. By adding that weight in equations above, we need an additional Force of 0.21 40 0.01= 0.084 N. So Peak Force is 20.05 + 0.08 = 28.45 N and RMS force: 23.19 N. This motor will have a safety factor of (38-23.19)100/38 = 39%.
* All calculations are given in SI units. For English units use weight in lbs instead of mass g.
A P P L I C A T I O N
Bus Voltage:
If we assume a sine wave drive with a phase advance j (degrees) and full conduction, the minimum bus voltage (see Fig. 1) is: Vb1 = 2.4 (Volts) Vb2 = KeVm Vb3 = 1.225Rm,hot x Irms Vb4 = 7.6953LIrmsVm/Pitch av = ARCTANGENT (Vb4/Vb3) Vb32 + Vb42
Thermal Considerations:
q - Coil increase of temperature Rth - Thermal Resistance Km - Motor Constant Pout - Output Power Coil Temperature rise q = Rth(Frms/Km)2 Resistance of Coil hot (copper) Rm,hot = Rambient (234.5 + qhot) (234.5 + qhot) Power Losses Plrms = q/Rth = (qhot - qambient) Rth Output Power Pout(max) = FamVm C C/W N/ W W Units SI English F F/W lbf/ W W
S I Z I N G
Vlr =
Vbre = Vb2 + VlrCOS(av + j) Vbim = Vlr SIN(av + j) Vbus = Vb1 + Vbre2 + Vbim
2
Note: If there is no Phase advance take j=0. Figure 1: Coil Temperature rise: q = 1.61(23.19/4.7)2= 39.2 C Power Losses Pl = 39.2/1.61 = 24.34 Watts Max output Power Pout(max) = 57 Watts.
VB4 VBUS VLR VB3 VB2 VB1
The Use of the Motor Constant Km: Cognizance of the heat load being generated by the linear motor is an important consideration in the application of any linear motor. Linear motors are direct drive devices, typically mounted very close to the moving load. Therefore, any heat generated by the linear motor needs to be managed to avoid affecting the process or workpiece that the moving load is carrying. The motor constant Km is a powerful parameter that can be used to determine this heat load. Km equals:
F Km = Pc
where the RMS force F is in Newtons, the RMS heat load Pc is in watts and Km is in units of N/ W
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Application Sizing
A P P L I C A T I O N S I Z I N G 76
The motor constant, KM, allows us to determine motor performance capabilities such as shown in the following two examples. In the first example, we use KM to calculate, for a given force, how many watts of generated heat are dissipated by the motors coil assembly. In the second, we use KM to determine the maximum RMS force developed by the motor when the dissipated power is limited to some value. 1. An application requires a continuous thrust force of 200 Newtons. The IC11-050 ironcore motor is a good candidate, having a continuous force rating of 276 Newtons and a KM of 32.0 N/W. Therefore, since resistance rises 1.405 times at 130C from the ambient value at 25C, and since resistance is the square root denominator of KM, we must write our equation as follows,
Force =
KM Factor
Power (dissipated) This factor vs. ambient temperature works out as: Watts 5 C 10 15 20 25 1 30 35 40 45
200 =
32.0 1.405
Watts = 54.9 This value of watts is the power or heat generated by the motor. It is interesting to note that for the same application, a larger IC11-100 ironcore motor, with a KM of 49.1 N/ W, would dissipate only 23.3 watts for the same force, F.
2. The same application requires that no more than 45 watts are to be dissipated by the motor into the surrounding structure and environment. What is the maximum RMS force that the IC11-050 motor may produce while not exceeding this power limit? Maximum RMS Force = 32.0 1.405 45 = 181 N
Therefore, if the motor delivers no more than 181 N of thrust force on an RMS basis, then this same motor will not dissipate more than 45 watts.
K O L L M O R G E N
S I Z I N G
Move
Axis Orientation horizontal Typical Move mm Typical Travel Time mm Typical Move Time seconds Maximum Speed meters/sec Minimum Speed meters/sec Max. Acceleration meters/sec2 or Accel/Decel Time seconds Dwell Time seconds More Profile trapezoidal triangular vertical in in inches/sec inches/sec inches/sec2
W O R K S H E E T
S-curve
Loads
Friction Coefficient Max Load Mass kg lb Thrust Force N lbf Is this thrust present during Accel/Decel? Yes No
Precision
Repeatability m Absolute Accuracy m Resolution m inch inch inch
Encoder Feedback
Signal Period Electronic Interpolation Yes m lines/in No If Yes, Muliplication Factor: Resolution lines/mm
Environment
Ambient Temperature C Max Permissible Temperature Rise C Clean Room Environment Yes Is Water or Air Cooling Permissible? Yes Vacuum? Yes F F No If Yes Class: No No Pressure:
50 Hz
Model Nomenclature
M O D E L N O M E N C L A T U R E 78
M1C 01
High Flex Motor Cable
M = Motor
Length in meters
01 03 06 09 12 15 = = = = = = 1 meter 3 meters 6 meters 9 meters 12 meters 15 meters
Wire Size
1C = 18 AWG for AKD 3/6 Amp amplifiers 2C = 14 AWG for AKD 12 Amp amplifiers * 3C = 12 AWG for AKD 24 Amp amplifiers *
Example: M1C - 06 High flex motor cable, terminated with connectors at motor and amplifier ends, 18 AWG, for 3 or 6 Amp AKD.
H1C 01
High Flex Hall Effect Cable
H1C = Hall Effect Example: H1C - 06 High flex Hall Effect cable, terminated with connectors at motor and amplifier ends.
Length in meters
01 03 06 09 12 15 = = = = = = 1 meter 3 meters 6 meters 9 meters 12 meters 15 meters
T1C 01
High Flex Thermal Cable
T1C = Thermal T2C = Thermal (S300, S600) Example: T1C - 06 High flex Thermal cable, terminated with connectors at motor and amplifier ends.
Length in meters
01 03 06 09 12 15 = = = = = = 1 meter 3 meters 6 meters 9 meters 12 meters 15 meters
* For application assistance regarding cable selection for these and other higher current rated amplifiers, contact a Kollmorgen Customer Support representative.
K O L L M O R G E N
M O D E L
IL 06 030 A1 AC TR XX
Coil Type
IL = Ironless ICD = Low Profile Ironcore IC = Ironcore
N O M E N C L A T U R E
Termination Option Px or Cx
Coil Series
06 = 06 Series Ironless 12 = 12 Series Ironless 18 = 18 Series Ironless 24 = 24 Series Ironless 05 = 05 Series ICD 10 = 10 Series ICD 11 = 11 Series Ironcore 22 = 22 Series Ironcore 33 = 33 Series Ironcore 44 = 44 Series Ironcore
Px = Cable with Connector: Configuration (P1) includes 400 mm (16) shielded cable with connector. P1 = 400 mm (16") P2 = 200 mm (8") P3 = 100 mm (4") P4 = 1200 mm (48") Cx = Motor cable and thermal cable with flying leads: C1 = 400 mm (16") C2 = 200 mm (8") C3 = 100 mm (4") C4 = 1200 mm (48")
Winding Code
A1 A2 A3 A4 A5 A6 A7 A8
Example: IL06030A1P1
YWindings see performance specifications Windings Ironless 6 Series motor coil, 30 mm width, A1 winding designation terminated with 16 cable with connector.
HDIL 100 XX
Hall Effect
HDIL = Digital for Ironless (Microswitch SS461A) HDIC = Digital for Ironcore (Microswitch SS461A)
Termination Option
Winding Code
100 (A1, A2, A3, A4) 200 (A5, A6, A7, A8)
Px - Cable with Connector: Configuration (P1) includes 400 mm (16) shielded cable with connector. (lengths as above) Cx - flying leads (lengths as above)
Example: HDIL100P1
Hall effect assembly with digital outputs for Ironless motor terminated with 16 cable with connector.
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Model Nomenclature
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 80
Example: MW0300128 Ironless magnet way, 30 mm magnet width, 128 mm assembly length.
L = Low Profile
(30 & 50 mm Ironless only) For standard Assemblies or Ironcore, leave blank.
Version
B = Base drive P = Position indexer (motion tasking)
Connectivity
AN = Analog command CN = CANopen EC = EtherCAT SQ = SynqNet
Current Rating
003 = 3 Amp 006 = 6 Amp 012 = 12 Amp 024 = 24 Amp
Extension
NA = Without extensions
Voltage
06 = 120/240 Vac 1/3
M O T I O N E E R I N G
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 positioners (electric cylinders, rodless positioners, and precision tables) and stepper systems. The application engine also provides versatile units-of-measure selection options for mechanism and motion profile dataentry, 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.
A P P L I C A T I O N E N G I N E
Features
Group multiple mechanisms within a project organizeand 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, 1/3-1/3-1/3 trapezoidal, variable traverse trapezoidal, and more Search results display shows color highlighted solution set ofoptions for easy evaluation of system specifications and selection
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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. For assistance with your application needs in North America, contact us at: 540-633-3545, support@kollmorgen.com or visit www.kollmorgen.com for a global contact list.
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Kollmorgen 203A West Rock Road Radford, VA 24141 USA Phone: 1-540-633-3545 Fax: 1-540-639-4162
2011 Kollmorgen Corporation. All rights reserved. KM_CA_00084_RevA_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.