DC SERVO - SANMOTION T - SANYO DENKI EUROPE - #16

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15 Specification Model T402-011 T404-012 Condition Symbol Unit (SI) Motor Rated output �™�™ PR W 23 40 Rated armature voltage �™�™ VR V 20 72 Rated torque �™�™ TR N�Em 0.074 0.13 Rated armature current �™�™ IR A 1.9 1.0 Rated rotating speed �™�™ NR min�|1 3000 Continuous stall torque �™�™ TS N�Em 0.08 0.14 Instantaneous maximum torque �™�™ TP�iN�j N�Em 0.42 0.76 Stall armature current �™�™ IS A 1.9 0.9 Instantaneous maximum armature current �™�™ IP�iN�j A 10 4.7 Maximum rotating speed Nmax min�|1 5000 Friction torque �™ Tf N�Em 0.015 0.019 Rated power rate �™�™ QR kW/S 1.2 2.1 Instantaneous maximum angular acceleration �™�™ áP rad/s2 89.4×103 90.5×103 Viscous braking constant �™ Fd N�Em/min�|1 0.003×10�|3 0.006×10�|3 Torque constant �™ KT N�Em/A 0.047 0.174 Voltage constant �™ KE V/min�|1 4.9×10�|3 18.2×10�|3 Rotor inertia JM kg¥m2 0.0047×10�|3 0.0084×10�|3 Armature winding resistance �™ Ra Ù 3.2 18.6 Armature inductance �™ Ja mH 1.1 6.6 Mechanical time constant �™ tm ms 7.1 4.8 Electrical time constant �™ te ms 0.35 0.35 Thermal time constant �™�™ tè min 15 20 Thermal resistance �™�™ Rè K/W 4.9 3.6 Heatup limit �™�™ è K 105 Mass W/M kg 0.3 0.4 Tachogenerator Coefficient of voltage generated �™ KEG V/min�|1 3×10�|3±10�“ Effective (rms) ripple �™ ås �“ 2 Peak-to-peak ripple �™ ås �“ 5 Linearity �™ äL �“ 1 Armature winding resistance �™ Ri Ù 37 Armature inductance �™ Li mH 5 Minimum load resistance �™ RL kÙ 10 Rotor inertia JTG kg¥m2 0.0011×10�|3 Mass WT kg 0.09 Holding brake Holding torque �™�™ TB N�Em „Ÿ„Ÿ„Ÿ„Ÿ Voltage �™ VB V DC „Ÿ„Ÿ„Ÿ„Ÿ Current �™ IB A „Ÿ„Ÿ„Ÿ„Ÿ Resistance �™ RB Ù „Ÿ„Ÿ„Ÿ„Ÿ Inertia JB kg¥m2 „Ÿ„Ÿ„Ÿ„Ÿ Mass WB kg „Ÿ„Ÿ„Ÿ„Ÿ Optical encoder pulse number Open collector 200 500 1000 P/R Line driver 1000 2000 2500 5000 10000 P/R Gear 1/12.5 1/25 1/50 Oil seal „Ÿ„Ÿ„Ÿ„Ÿ Motor Characteristic curve Note 1) The mark * in the“ Condition” column is a value that applies when the ambient temperature and armature winding temperature are 25�Ž .The mark * is a value that applies when the temperature has risen to the limit. 2) The figures in the above table apply when a smooth DC power supply is used at an ambient temperature of no more than 40�Ž . 3) The characteristics of the tachogenerator are based on the use of a test circuit illustrated below. 4) The values in the above table were measured when a specific device was mounted on an aluminum plate. T4 type, T5 type (200mm Height × 200mm width × 12mm thick), and T7 and T8 type (305mm Height × 305mm width × 12mm thick). 5) No encoder can be installed on a T4 type equipped with a tachogenerator. 6) Do not use a holding brake for quick braking. 7) The T404 and T406 series are compatible with products having a rated voltage ER of 24V. 8) The brake can be of the 24V type (optional). 10kÙ TG 10kÙ 0.1ìF 4000 5000 8 10 6 3000 4 2000 2 1000 0 0 0.2 0.4 0 (A) (min-1) Continuous-operation domain TorqueT (N�Em) Current la Speed N Instantaneous-operation domain Speed N (V=20V) Speed N(V=10V) Current la Repeated-operation domain 4000 5000 4 5 3 3000 2 2000 1 1000 0 0 0.2 0.4 0.6 0 (A) (min-1) TorqueT (N�Em) Current la Speed N Speed N(V=72V) Speed N (V=36V) Current la Continuous-operation domain Repeated-operation domain Instantaneous-operation domain Servo motor