Sanyo Denki Py 2 Manual
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9. SPECIFICATIONS 9－69 P10B13150H Name SymbolData Unit Data Unit ∗ Rated output PR 1500 W 1500 W Rated revolution speed NR 2000 min－1 2000 rpm Maximum revolution speed Nmax 3000 min－1 3000 rpm ∗ Rated torque TR 7.4 N･m 75 kg･cm ∗ Continuous stall torque TS 8.8 N･m 90 kg･cm ∗ Instantaneous maximum stall torque TP 18.6 N･m 190 kg･cm ∗ Rated armature current IR 11.2 Arms 11.2 Arms ∗ Continuous stall armature current IS 12.0 Arms 12.0 Arms ∗ Instantaneous maximum stall armature current IP 26.5 Arms 26.5 Arms Torque constant KT 0.83 N･m/Arms 8.5 kg･cm/Arms Induced voltage constant K E φ 28.9 mV/min－1 28.9 V/krpm Phase armature resistance Rφ 0.32 Ω 0.32 Ω Electrical time constant te 5.3 msec 5.3 msec Mechanical time constant (not including sensor) tm 4.9 msec 4.9 msec Inertia (including wiring-saved INC) JM 35.08 × 10－４kg･m2(GD2/4) 36.08 g･cm･s2 Inertia (including ABS-E) JM 35.1 × 10－４ kg･m2(GD2/4)36.1 g･cm･s2 Inertia (including ABS-RII) JM 35.08 × 10－４kg･m2(GD2/4) 36.08 g･cm･s2 Applicable load inertia JL JM × 5 kg･m2(GD2/4)JM × 5 g･cm･s2 Weight (including wiring-saved INC) WE 16.1 kg 16.1 kg Weight (including ABS-E) WE 16.0 kg 16.0 kg Weight (including ABS-RII) WE 16.2 kg 16.2 kg Holding Brake Data Sheet (Option) Holding torque TB 8.8 or more N･m 90 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.86/0.25 A(DC) 0.86/0.25 A(DC) Inertia JＢ 0.5 × 10－４ ㎏･㎡(GD2/4) 0.5 g･cm･s2 Weight W 1.5 kg 1.5 kg • The mark ∗ denotes the value after a temperature rise. The others are values at 68°F. Each value is a typical one. • Each value and characteristic was measured with a radiating plate equivalent or superior to a t20 × 400 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 50A capacity and 200V AC, 3-phase power supply voltage. When power supply voltage is below 200V AC, the instantaneous zone drops. 速度－トルク特性 P10B13150H （1.5kW ） 0 5 10 15 20 0 1000 2000 3000 4000 速度（ min-1） トルク（ N・ m） 過負荷特性 P10B13150H （1.5 ｋW ） 1 10 100 1000 10000 01234 出力電流比 （IP/IR） 時間 （Sec） Instantaneous zone Continuous zone Velocity (min−1) Velocity-torque characteristics Overload characteristics Time (sec) Torque (N ･m) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－70 P10B13050B Name SymbolData Unit Data Unit ∗ Rated output PR 500 W 500 W Rated revolution speed NR 2000 min－1 2000 rpm Maximum revolution speed Nmax 2000 min－1 2000 rpm ∗ Rated torque TR 2.4 N･m 24 kg･cm ∗ Continuous stall torque TS 2.9 N･m 30 kg･cm ∗ Instantaneous maximum stall torque TP 8.8 N･m 90 kg･cm ∗ Rated armature current IR 2.9 Arms 2.9 Arms ∗ Continuous stall armature current IS 3.4 Arms 3.4 Arms ∗ Instantaneous maximum stall armature current IP 11.0 Arms 11.0 Arms Torque constant KT 0.98 N･m/Arms 10.0 kg･cm/Arms Induced voltage constant K E φ 34.3 mV/min－1 34.3 V/krpm Phase armature resistance Rφ 2.43 Ω 2.43 Ω Electrical time constant te 3.2 msec 3.2 msec Mechanical time constant (not including sensor) tm 9.0 msec 9.0 msec Inertia (including wiring-saved INC) JM 12.08 × 10－４kg･m2(GD2/4) 12.08 g･cm･s2 Inertia (including ABS-E) JM 12.1 × 10－４ kg･m2(GD2/4)12.1 g･cm･s2 Inertia (including ABS-RII) JM 12.08 × 10－４kg･m2(GD2/4) 12.08 g･cm･s2 Applicable load inertia JL JＭ × 5 kg･m2(GD2/4)JＭ × 5 g･cm･s2 Weight (including wiring-saved INC) WE 7.6 kg 7.6 kg Weight (including ABS-E) WE 7.5 kg 7.5 kg Weight (including ABS-RII) WE 7.7 kg 7.7 kg Holding Brake Data Sheet (Option) Holding torque TB 8.8 or more N･m 90 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.86/0.25 A(DC) 0.86/0.25 A(DC) Inertia JＢ 0.5 × 10－４ kg･m2(GD2/4)0.5 g･cm･s2 Weight W 1.5 kg 1.5 kg • The mark ∗ denotes the value after a temperature rise. The others are values at 68°F. Each value is a typical one. • Each value and characteristic was measured with a radiating plate equivalent or superior to a t20 × 300 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 30A capacity and 200V AC, 3-phase power supply voltage. When power supply voltage is below 200V AC, the instantaneous zone drops. 速度－トルク特性 P10B13050B （500W ） 0 2 4 6 8 10 0 500 1000 1500 2000 2500 速度（ min-1） トルク（ N・ m） 過負荷特性 P10B13050B （0.5 ｋW ） 1 10 100 1000 10000 01234 出力電流比 （IP/IR） 時間 （Sec） Instantaneous zone Continuous zone Velocity (min−1) Velocity-torque characteristics Overload characteristics Time (sec) Torque (N ･m) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－71 P10B13100B Name SymbolData Unit Data Unit ∗ Rated output PR 1000 W 1000 W Rated revolution speed NR 2000 min－1 2000 rpm Maximum revolution speed Nmax 2000 min－1 2000 rpm ∗ Rated torque TR 4.7 N･m 48 kg･cm ∗ Continuous stall torque TS 5.9 N･m 60 kg･cm ∗ Instantaneous maximum stall torque TP 15.2 N･m 155 kg･cm ∗ Rated armature current IR 4.8 Arms 4.8 Arms ∗ Continuous stall armature current IS 5.2 Arms 5.2 Arms ∗ Instantaneous maximum stall armature current IP 14.6 Arms 14.6 Arms Torque constant KT 1.27 N･m/Arms 13.0 kg･cm/Arms Induced voltage constant K E φ 44.6 mV/min－1 44.6 V/krpm Phase armature resistance Rφ 1.32 Ω 1.32 Ω Electrical time constant te 4.5 msec 4.5 msec Mechanical time constant (not including sensor) tm 5.9 msec 5.9 msec Inertia (including wiring-saved INC) JM 25.08 × 10－４kg･m2(GD2/4) 25.08 g･cm･s2 Inertia (including ABS-E) JM 25.1 × 10－４ kg･m2(GD2/4)25.1 g･cm･s2 Inertia (including ABS-RII) JM 25.08 × 10－４kg･m2(GD2/4) 25.08 g･cm･s2 Applicable load inertia JL JＭ × 5 kg･m2(GD2/4)JＭ × 5 g･cm･s2 Weight (including wiring-saved INC) WE 11.7 kg 11.7 kg Weight (including ABS-E) WE 11.6 kg 11.6 kg Weight (including ABS-RII) WE 11.8 kg 11.8 kg Holding Brake Data Sheet (Option) Holding torque TB 8.8 or more N･m 90 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.86/0.25 A(DC) 0.86/0.25 A(DC) Inertia JＢ 0.5 × 10－４ kg･m2(GD2/4)0.5 g･cm･s2 Weight W 1.5 kg 1.5 kg • The mark ∗ denotes the value after a temperature rise. The others are values at 68°F. Each value is a typical one. • Each value and characteristic was measured with a radiating plate equivalent or superior to a t20 × 400 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 30A capacity and 200V AC, 3-phase power supply voltage. When power supply voltage is below 200V AC, the instantaneous zone drops. 速度－トルク特性 P10B13100B （1.0kW ） 0 5 10 15 20 0 500 1000 1500 2000 2500 速度（ min-1） トルク（ N・ m） 過負荷特性 P10B13100B （1.0 ｋW ） 1 10 100 1000 10000 01234 出力電流比 （IP/IR） 時間 （Sec） Instantaneous zone Continuous zone Velocity (min−1) Velocity-torque characteristics Overload characteristics Time (sec) Torque (N ･m) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－72 P10B13150B Name SymbolData Unit Data Unit ∗ Rated output PR 1500 W 1500 W Rated revolution speed NR 2000 min－1 2000 rpm Maximum revolution speed Nmax 2000 min－1 2000 rpm ∗ Rated torque TR 7.4 N･m 75 kg･cm ∗ Continuous stall torque TS 8.8 N･m 90 kg･cm ∗ Instantaneous maximum stall torque TP 19.6 N･m 200 kg･cm ∗ Rated armature current IR 6.9 Arms 6.9 Arms ∗ Continuous stall armature current IS 7.9 Arms 7.9 Arms ∗ Instantaneous maximum stall armature current IP 17.9 Arms 17.9 Arms Torque constant KT 1.34 N･m/Arms 13.7 kg･cm/Arms Induced voltage constant K E φ 47.0 mV/min－1 47.0 V/krpm Phase armature resistance Rφ 0.84 Ω 0.84 Ω Electrical time constant te 5.3 msec 5.3 msec Mechanical time constant (not including sensor) tm 4.9 msec 4.9 msec Inertia (including wiring-saved INC) JM 35.08 × 10－４kg･m2(GD2/4) 36.08 g･cm･s2 Inertia (including ABS-E) JM 35.1 × 10－４ kg･m2(GD2/4)36.1 g･cm･s2 Inertia (including ABS-RII) JM 35.08 × 10－４kg･m2(GD2/4) 36.08 g･cm･s2 Applicable load inertia JL JＭ × 5 kg･m2(GD2/4)JＭ × 5 g･cm･s2 Weight (including wiring-saved INC) WE 16.1 kg 16.1 kg Weight (including ABS-E) WE 16.1 kg 16.0 kg Weight (including ABS-RII) WE 16.2 kg 16.2 kg Holding Brake Data Sheet (Option) Holding torque TB 8.8 or more N･m 90 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.86/0.25 A(DC) 0.86/0.25 A(DC) Inertia JＢ 0.5 × 10－４ kg･m2(GD2/4)0.5 g･cm･s2 Weight W 1.5 kg 1.5 kg • The mark ∗ denotes the value after a temperature rise. The others are values at 68°F. Each value is a typical one. • Each value and characteristic was measured with a radiating plate equivalent or superior to a t20 × 400 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 50A capacity and 200V AC, 3-phase power supply voltage. When power supply voltage is below 200V AC, the instantaneous zone drops. 速度－トルク特性 P10B13150B （1.5kW ） 0 5 10 15 20 25 0 500 1000 1500 2000 2500 速度（ min-1） トルク（ N・ m） 過負荷特性 P10B13150B （1.5 ｋW ） 1 10 100 1000 10000 01234 出力電流比 （IP/IR） 時間 （Sec） Instantaneous zone Continuous zone Velocity (min−1) Velocity-torque characteristics P10B13150B (1.5kW) Overload characteristics P10B13150B (1.5kW) Time (sec) Torque (N ･m) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－73 P10B18200B Name SymbolData Unit Data Unit ∗ Rated output PR 2000 W 2000 W Rated revolution speed NR 2000 min－1 2000 rpm Maximum revolution speed Nmax 2000 min－1 2000 rpm ∗ Rated torque TR 9.3 N･m 95 kg･cm ∗ Continuous stall torque TS 11.8 N･m 120 kg･cm ∗ Instantaneous maximum stall torque TP 29.4 N･m 300 kg･cm ∗ Rated armature current IR 9.5 Arms 9.5 Arms ∗ Continuous stall armature current IS 11.1 Arms 11.1 Arms ∗ Instantaneous maximum stall armature current IP 26.5 Arms 26.5 Arms Torque constant KT 1.32 N･m/Arms 13.5 kg･cm/Arms Induced voltage constant K E φ 46.0 mV/min－1 46.0 V/krpm Phase armature resistance Rφ 0.50 Ω 0.50 Ω Electrical time constant te 7.5 msec 7.5 msec Mechanical time constant (not including sensor) tm 6.3 msec 6.3 msec Inertia (including wiring-saved INC) JM 73.08 × 10－４kg･m2(GD2/4) 74.08 g･cm･s2 Inertia (including ABS-E) JM 73.1 × 10－４ kg･m2(GD2/4)74.1 g･cm･s2 Inertia (including ABS-RII) JM 73.08 × 10－４kg･m2(GD2/4) 74.08 g･cm･s2 Applicable load inertia JL JＭ × 5 kg･m2(GD2/4)JＭ × 5 g･cm･s2 Weight (including wiring-saved INC) WE 23.1 kg 23.1 kg Weight (including ABS-E) WE 23.0 kg 23.0 kg Weight (including ABS-RII) WE 23.2 kg 23.2 kg Holding Brake Data Sheet (Option) Holding torque TB 32.4 or more N･m 330 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 1.4/0.37 A(DC) 1.4/0.37 A(DC) Inertia JＢ 3.4 × 10－４ kg･m2(GD2/4)3.5 g･cm･s2 Weight W 5.0 kg 5.0 kg • The mark ∗ denotes the value after a temperature rise. The others are values at 68°F. Each value is a typical one. • Each value and characteristic was measured with a radiating plate equivalent or superior to a t20 × 470 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 50A capacity and 200V AC, 3-phase power supply voltage. When power supply voltage is below 200V AC, the instantaneous zone drops. 速度－トルク特性 P10B18200B （2.0kW ） 0 10 20 30 40 0 500 1000 1500 2000 2500 速度（ min-1） トルク（ N・ m） 過負荷特性 P10B18200B （2.0 ｋW ） 1 10 100 1000 10000 01 234 出力電流比 （IP/IR） 時間 （Sec） Instantaneous zone Continuous zone Velocity (min−1) Velocity-torque characteristics P10B18200B (2.0kW) Overload characteristics P10B13150B (1.5kW) Time (sec) Torque (N ･m) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－74 9.2.5.2 Motor Data Sheet P2 P20B10100H Name SymbolData Unit Data Unit ∗ Rated output PR 1000 W 1000 W Rated revolution speed NR 3000 min－1 3000 rpm Maximum revolution speed Nmax 3000 min－1 3000 rpm ∗ Rated torque TR 3.19 N･m 32.5 kg･cm ∗ Continuous stall torque TS 3.92 N･m 40 kg･cm ∗ Instantaneous maximum stall torque TP 10.3 N･m 10.5 kg･cm ∗ Rated armature current IR 4.1 Arms 4.1 Arms ∗ Continuous stall armature current IS 4.7 Arms 4.7 Arms ∗ Instantaneous maximum stall armature current IP 14 Arms 14 Arms Torque constant KT 0.89 N･m/Arms 9.1 kg･cm/Arms Induced voltage constant K E φ 31.2 mV/min－1 31.2 V/krpm Phase armature resistance Rφ 1.6 Ω 1.6 Ω Electrical time constant te 10 msec 10 msec Mechanical time constant (not including sensor) tm 0.89 msec 0.89 msec Inertia (including wiring-saved INC) JM 1.55 × 10－４ kg･m2(GD2/4) 1.58 g･cm･s2 Inertia (including ABS-E) JM 1.57 × 10－４ kg･m2(GD2/4)1.6 g･cm･s2 Inertia (including ABS-RII) JM 1.55 × 10－４ kg･m2(GD2/4) 1.58 g･cm･s2 Applicable load inertia JL 15.5 × 10－４ kg･m2(GD2/4)15.8 g･cm･s2 Weight (including wiring-saved INC) WE 5.4 kg 5.4 kg Weight (including ABS-E) WE 5.3 kg 5.3 kg Weight (including ABS-RII) WE 5.5 kg 5.5 kg Holding Brake Data Sheet (Option) Holding torque TB 3.92 or more N･m 40 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.60/0.16 A(DC) 0.60/0.16 A(DC) Inertia JＢ 0.15 × 10－４ kg･m2(GD2/4)0.15 g･cm･s2 Weight W 1.3 kg 1.3 kg • The mark ∗ denotes the value after a temperature rise. The others are values at 68°F. Each value is a typical one. • Each value and characteristic was measured with a radiating plate equivalent or superior to a t20 × 400 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 30A capacity and 200V AC, 3-phase power supply voltage. When power supply voltage is below 200V AC, the instantaneous zone drops. 速度－トルク特性 P20B10100H （1.0kW ） 0 2 4 6 8 10 12 0 1000 2000 3000 4000 速度（ min-1） トルク（ N・ m） 過負荷特性 P20B10100H （1.0kW ） 1 10 100 1000 10000 01 234 出力電流比 （IP/IR） 時間 （Sec） Instantaneous zone Continuous zone Velocity (min−1) Velocity-torque characteristics P20B10100H (1.0kW) Overload characteristics P20B10100H (1.0kW) Time (sec) Torque (N ･m) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－75 P20B10150H Name SymbolData Unit Data Unit ∗ Rated output PR 1500 W 1500 W Rated revolution speed NR 3000 min－1 3000 rpm Maximum revolution speed Nmax 3000 min－1 3000 rpm ∗ Rated torque TR 4.79 N･m 48.8 kg･cm ∗ Continuous stall torque TS 4.90 N･m 50 kg･cm ∗ Instantaneous maximum stall torque TP 17.7 N･m 180 kg･cm ∗ Rated armature current IR 6.5 Arms 6.5 Arms ∗ Continuous stall armature current IS 6.3 Arms 6.3 Arms ∗ Instantaneous maximum stall armature current IP 25 Arms 25 Arms Torque constant KT 0.83 N･m/Arms 8.5 kg･cm/Arms Induced voltage constant K E φ 29.0 mV/min－1 29.0 V/krpm Phase armature resistance Rφ 0.67 Ω 0.67 Ω Electrical time constant te 13 msec 13 msec Mechanical time constant (not including sensor) tm 0.57 msec 0.57 msec Inertia (including wiring-saved INC) JM 2.04 × 10－４ kg･m2(GD2/4) 2.08 g･cm･s2 Inertia (including ABS-E) JM 2.06 × 10－４ kg･m2(GD2/4)2.1 g･cm･s2 Inertia (including ABS-RII) JM 2.04 × 10－４ kg･m2(GD2/4) 2.08 g･cm･s2 Applicable load inertia JL 20.4 × 10－４ kg･m2(GD2/4)20.8 g･cm･s2 Weight (including wiring-saved INC) WE 6.5 kg 6.5 kg Weight (including ABS-E) WE 6.4 kg 6.4 kg Weight (including ABS-RII) WE 6.6 kg 6.6 kg Holding Brake Data Sheet (Option) Holding torque TB 7.84 or more N･m 80 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.83/0.22 A(DC) 0.83/0.22 A(DC) Inertia JＢ 0.40 × 10－４ kg･m2(GD2/4)0.39 g･cm･s2 Weight W 1.5 kg 1.5 kg • The mark ∗ denotes the value after a temperature rise. The others are values at 68°F. Each value is a typical one. • Each value and characteristic was measured with a radiating plate equivalent or superior to a t20 × 400 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 50A capacity and 200V AC, 3-phase power supply voltage. When power supply voltage is below 200V AC, the instantaneous zone drops. 速度－トルク特性 P20B10150D （1.5kW ） 0 5 10 15 20 0 1000 2000 3000 4000 5000 速度（ min -1） トルク（N ・m ） 過負荷特性 P20B10150H （1.5kW ） 1 10 100 1000 10000 01 234 出力電流比 （IP/IR） 時間 （Sec） Instantaneous zone Continuous zone Velocity (min−1) Velocity-torque characteristics P20B10150H (1.5kW) Overload characteristics P20B10150H (1.5kW) Time (sec) Torque (N ･m) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－76 P20B10200H Name SymbolData Unit Data Unit ∗ Rated output PR 2000 W 2000 W Rated revolution speed NR 3000 min－1 3000 rpm Maximum revolution speed Nmax 3000 min－1 3000 rpm ∗ Rated torque TR 6.37 N･m 65 kg･cm ∗ Continuous stall torque TS 7.36 N･m 75 kg･cm ∗ Instantaneous maximum stall torque TP 19.6 N･m 200 kg･cm ∗ Rated armature current IR 8.5 Arms 8.5 Arms ∗ Continuous stall armature current IS 9.3 Arms 9.3 Arms ∗ Instantaneous maximum stall armature current IP 26.5 Arms 26.5 Arms Torque constant KT 0.85 N･m/Arms 8.7 kg･cm/Arms Induced voltage constant K E φ 30.0 mV/min－1 30.0 V/krpm Phase armature resistance Rφ 0.50 Ω 0.50 Ω Electrical time constant te 13 msec 13 msec Mechanical time constant (not including sensor) tm 0.56 msec 0.56 msec Inertia (including wiring-saved INC) JM 2.83 × 10－４ kg･m2(GD2/4) 2.88 g･cm･s2 Inertia (including ABS-E) JM 2.85 × 10－４ kg･m2(GD2/4)2.9 g･cm･s2 Inertia (including ABS-RII) JM 2.83 × 10－４ kg･m2(GD2/4) 2.88 g･cm･s2 Applicable load inertia JL 28.3 × 10－４ kg･m2(GD2/4)28.8 g･cm･s2 Weight (including wiring-saved INC) WE 8.7 kg 8.7 kg Weight (including ABS-E) WE 8.6 kg 8.6 kg Weight (including ABS-RII) WE 8.8 kg 8.8 kg Holding Brake Data Sheet (Option) Holding torque TB 7.84 or more N･m 80 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.83/0.22 A(DC) 0.83/0.22 A(DC) Inertia JＢ 0.40 × 10－４ kg･m2(GD2/4)0.39 g･cm･s2 Weight W 1.5 kg 1.5 kg • The mark ∗ denotes the value after a temperature rise. The others are values at 68°F. Each value is a typical one. • Each value and characteristic was measured with a radiating plate equivalent or superior to a t20 × 470 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 50A capacity and 200V AC, 3-phase power supply voltage. When power supply voltage is below 200V AC, the instantaneous zone drops. 速度－トルク特性 P20B10200H （2.0kW ） 0 5 10 15 20 25 0 1000 2000 3000 4000 速度（ min-1） トルク（ N・ m） 過負荷特性 P20B10200H （2.0kW ） 1 10 100 1000 10000 01 234 出力電流比 （IP/IR） 時間 （Sec） Instantaneous zone Continuous zone Velocity (min−1) Velocity-torque characteristics Overload characteristics Time (sec) Torque (N ･m) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－77 P20B10100D Name SymbolData Unit Data Unit ∗ Rated output PR 1000 W 1000 W Rated revolution speed NR 3000 min－1 3000 rpm Maximum revolution speed Nmax 4500 min－1 4500 rpm ∗ Rated torque TR 3.19 N･m 32.5 kg･cm ∗ Continuous stall torque TS 3.92 N･m 40 kg･cm ∗ Instantaneous maximum stall torque TP 10.3 N･m 105 kg･cm ∗ Rated armature current IR 6.9 Arms 6.9 Arms ∗ Continuous stall armature current IS 8.0 Arms 8.0 Arms ∗ Instantaneous maximum stall armature current IP 23.2 Arms 23.2 Arms Torque constant KT 0.53 N･m/Arms 5.4 kg･cm/Arms Induced voltage constant K E φ 18.6 mV/min－1 18.6 V/krpm Phase armature resistance Rφ 0.51 Ω 0.51 Ω Electrical time constant te 11 msec 11 msec Mechanical time constant (not including sensor) tm 0.80 msec 0.80 msec Inertia (including wiring-saved INC) JM 1.55 × 10－４ kg･m2(GD2/4) 1.58 g･cm･s2 Inertia (including ABS-E) JM 1.57 × 10－４ kg･m2(GD2/4)1.6 g･cm･s2 Inertia (including ABS-RII) JM 1.55 × 10－４ kg･m2(GD2/4) 1.58 g･cm･s2 Applicable load inertia JL 15.5 × 10－４ kg･m2(GD2/4)15.8 g･cm･s2 Weight (including wiring-saved INC) WE 5.4 kg 5.4 kg Weight (including ABS-E) WE 5.3 kg 5.3 kg Weight (including ABS-RII) WE 5.5 kg 5.5 kg Holding Brake Data Sheet (Option) Holding torque TB 3.92 or more N･m 40 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.60/0.16 A(DC) 0.60/0.16 A(DC) Inertia JＢ 0.15 × 10－４ kg･m2(GD2/4)0.15 g･cm･s2 Weight W 1.3 kg 1.3 kg • The mark ∗ denotes the value after a temperature rise. The others are values at 68°F. Each value is a typical one. • Each value and characteristic was measured with a radiating plate equivalent or superior to a t20 × 400 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 50A capacity and 200V AC, 3-phase power supply voltage. When power supply voltage is below 200V AC, the instantaneous zone drops. 速度－トルク特性 P20B10100D （1.0kW ） 0 2 4 6 8 10 12 0 1000 2000 3000 4000 5000 速度（ min-1） トルク（ N・ m） 過負荷特性 P20B10100D （1.0kW ） 1 10 100 1000 10000 01 234 出力電流比 （IP/IR） 時間 （Sec） Instantaneous zone Continuous zone Velocity (min−1) Velocity-torque characteristics P20B10100D (1.0kW) Overload characteristics P20B10100D (1.0kW) Time (sec) Torque (N ･m) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－78 P20B10150D Name SymbolData Unit Data Unit ∗ Rated output PR 1500 W 1500 W Rated revolution speed NR 3000 min－1 3000 rpm Maximum revolution speed Nmax 4500 min－1 4500 rpm ∗ Rated torque TR 4.79 N･m 48.8 kg･cm ∗ Continuous stall torque TS 4.90 N･m 50 kg･cm ∗ Instantaneous maximum stall torque TP 14.7 N･m 150 kg･cm ∗ Rated armature current IR 8.4 Arms 8.4 Arms ∗ Continuous stall armature current IS 8.1 Arms 8.1 Arms ∗ Instantaneous maximum stall armature current IP 26.5 Arms 26.5 Arms Torque constant KT 0.65 N･m/Arms 6.6 kg･cm/Arms Induced voltage constant K E φ 22.6 mV/min－1 22.6 V/krpm Phase armature resistance Rφ 0.42 Ω 0.42 Ω Electrical time constant te 13 msec 13 msec Mechanical time constant (not including sensor) tm 0.59 msec 0.59 msec Inertia (including wiring-saved INC) JM 2.04 × 10－４ kg･m2(GD2/4) 2.08 g･cm･s2 Inertia (including ABS-E) JM 2.06 × 10－４ kg･m2(GD2/4)2.1 g･cm･s2 Inertia (including ABS-RII) JM 2.04 × 10－４ kg･m2(GD2/4) 2.08 g･cm･s2 Applicable load inertia JL 20.4 × 10－４ kg･m2(GD2/4)20.8 g･cm･s2 Weight (including wiring-saved INC) WE 6.5 kg 6.5 kg Weight (including ABS-E) WE 6.4 kg 6.4 kg Weight (including ABS-RII) WE 6.6 kg 6.6 kg Holding Brake Data Sheet (Option) Holding torque TB 7.84 or more N･m 80 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.83/0.22 A(DC) 0.83/0.22 A(DC) Inertia JＢ 0.40 × 10－４ kg･m2(GD2/4)0.39 g･cm･s2 Weight W 1.5 kg 1.5 kg • The mark ∗ denotes the value after a temperature rise. The others are values at 68°F. Each value is a typical one. • Each value and characteristic was measured with a radiating plate equivalent or superior to a t20 × 400 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 50A capacity and 200V AC, 3-phase power supply voltage. When power supply voltage is below 200V AC, the instantaneous zone drops. 速度－トルク特性 P20B10150D （1.5kW ） 0 5 10 15 20 0 1000 2000 3000 4000 5000 速度（ min -1） トルク（N ・m ） 過負荷特性 P20B10150D （1.5kW ） 1 10 100 1000 10000 01 234 出力電流比 （IP/IR） 時間 （Sec） Instantaneous zone Continuous zone Velocity (min−1) Velocity-torque characteristics P20B10150D (1.5kW) Overload characteristics P20B10150D (1.5kW) Time (sec) Torque (N ･m) Output current ratio (IP/IR)