SmartStep servo motors
183
Cylindrical servo motors
Torque and rotation speed characteristics
Flat servo motors
The following graphs show the characteristics with a 3 m standard cable and R7D-AP
@
H servo driver (200 VAC input)
Item
R7M-A03030-
@
R7M-A05030-
@
R7M-A10030-
@
R7M-A20030-
@
R7M-A40030-
@
R7M-A75030-
@
Rated output
30 W
50 W
100 W
200 W
400 W
750 W
Rated torque
0.095 N
⋅
m
0.159 N
⋅
m
0.318 N
⋅
m
0.637 N
⋅
m
1.27 N
⋅
m
2.39 N
⋅
m
Rated rotation speed
3,000 r/min
3,000 r/min
3,000 r/min
3,000 r/min
3,000 r/min
3,000 r/min
Momentary maximum rotation speed
4,500 r/min
4,500 r/min
4,500 r/min
4,500 r/min
4,500 r/min
4,500 r/min
Momentary maximum torque
0.29 N
⋅
m
0.48 N
⋅
m
0.96 N
⋅
m
1.91 N
⋅
m
3.82 N
⋅
m
7.1 N
⋅
m
Rated current
0.42 A (rms)
0.6 A (rms)
0.87 A (rms)
2.0 A (rms)
2.6 A (rms)
4.4 A (rms)
Momentary maximum current
1.3 A (rms)
1.9 A (rms)
2.8 A (rms)
6.0 A (rms)
8.0 A (rms)
13.9 A (rms)
Rotor inertia
1.7
×
10
-6
kg
⋅
m
2
2.2
×
10
-6
kg
⋅
m
2
3.6
×
10
-6
kg
⋅
m
2
1.19
×
10
-5
kg
⋅
m
2
1.87
×
10
-5
kg
⋅
m
2
6.67
×
10
-5
kg
⋅
m
2
Power rate
5.31 kW/s
11.5 kW/s
28.1 kW/s
34.1 kW/s
86.3 kW/s
85.6 kW/s
Allowable radial load
68 N
68 N
78 N
245 N
245 N
392 N
Allowable thrust load
54 N
54 N
54 N
74 N
74 N
147 N
Weight
Without brake
0.3 kg
0.4 kg
0.5 kg
1.1 kg
1.7 kg
3.4 kg
With brake
0.6 kg
0.7 kg
0.8 kg
1.6 kg
2.2 kg
4.3 kg
Encoder resolution
2,000 pulses/revolution for phase-A and phase-B, 1 pulse/revolution for phase-Z
Radiation shield dimensions
t6
×
250 mm square
Brake
specifications
Brake inertia
0.85
×
10
-6
kg
⋅
m
2
0.85
×
10
-6
kg
⋅
m
2
0.85
×
10
-6
kg
⋅
m
2
6.4
×
10
-6
kg
⋅
m
2
6.4
×
10
-6
kg
⋅
m
2
1.7
×
10
-5
kg
⋅
m
2
Excitation voltage
24 VDC
±
10% V
Power consumption (at 20
°
C)
6 W
6 W
6 W
7 W
7 W
7.7 W
Current consumption (at 20
°
C) 0.25 A
0.25 A
0.25 A
0.29 A
0.29 A
0.32 A
Static friction torque
0.2 N
⋅
m min.
0.2 N
⋅
m min.
0.34 N
⋅
m min.
1.47 N
⋅
m min.
1.47 N
⋅
m min.
2.45 N
⋅
m min.
Attraction time
30 ms max.
30 ms max.
30 ms max.
60 ms max.
60 ms max.
60 ms max.
Release time
60 ms max.
60 ms max.
60 ms max.
20 ms max.
20 ms max.
20 ms max.
Backlash
1
°
1
°
1
°
1
°
1
°
1
°
Rating
Continuous
Continuous
Continuous
Continuous
Continuous
Continuous
Insulation grade
Type F
Type F
Type F
Type F
Type F
Type F
Applicable servo driver (R7D-)
APA3H
APA5H
AP01H
AP02H
AP04H
AP08H
0.2
1000
2000
3000
0.96
(3725)
0.318
0.318
0.8
0.222
4000
5000
0
0.4
0.6
0.8
1.0
0.96
(N·m)
(r/min)
0.5
1.0
1.5
1000
2000
3000
1.91
(3600)
0.637
0.637
1.4
0.452
4000
5000
0
2.0
1.91
(N·m)
(r/min)
1.0
2.0
3.0
1000
2000
3000
1.27
1.27
1.77
1.22
0.89
4000
5000
0
4.0
3.82
(N·m)
(r/min)
2.0
4.0
6.0
1000
2000
3000
(2500)
7.1
(3200)
2.39
2.39
1.54
1.64
2.45
4000
5000
0
8.0
7.1
(N·m)
(r/min)
3.82
(3250)
(2350)
R7M-AP20030 (200 W)
R7M-AP75030 (750 W)
Repeated usage
Continuous usage
Repeated usage
Continuous usage
Repeated usage
Continuous usage
Repeated usage
Single-phase
200 VAC input
3-phase
200 VAC input
R7M-AP10030 (100 W)
R7M-AP40030 (400 W)
Continuous usage
Y203-EN2-02-Katalog.book Seite 183 Mittwoch, 24. Mai 2006 2:22 14
