Sanyo Denki Py 2 Manual
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9. SPECIFICATIONS 9－79 9.2.5.3 Motor Data Sheet P3 P30B04003D Name SymbolData Unit Data Unit ∗ Rated output PR 30 W 30 W Rated revolution speed NR 3000 min－1 3000 rpm Maximum revolution speed Nmax 4500 min－1 4500 rpm ∗ Rated torque TR 0.098 N･m 1.0 kg･cm ∗ Continuous stall torque TS 0.108 N･m 1.1 kg･cm ∗ Instantaneous maximum stall torque TP 0.322 N･m 3.3 kg･cm ∗ Rated armature current IR 0.54 Arms 0.54 Arms ∗ Continuous stall armature current IS 0.56 Arms 0.56 Arms ∗ Instantaneous maximum stall armature current IP 1.79 Arms 1.79 Arms Torque constant KT 0.2 N･m/Arms 2.08 kg･cm/Arms Induced voltage constant K E φ 7.1 mV/min－1 7.1 V/krpm Phase armature resistance Rφ 12.5 Ω 12.5 Ω Electrical time constant te 1.2 msec 1.2 msec Mechanical time constant (not including sensor) tm 1.8 msec 1.8 msec Inertia (including wiring-saved INC) JM 0.024 × 10－４kg･m2(GD2/4) 0.025 g･cm･s2 Inertia (including ABS-E) JM 0.049 × 10－４kg･m2(GD2/4)0.05 g･cm･s2 Inertia (including ABS-RII) JM 0.021 × 10－４kg･m2(GD2/4) 0.0223 g･cm･s2 Applicable load inertia JL 0.24 × 10－４ kg･m2(GD2/4)0.25 g･cm･s2 Weight (including wiring-saved INC) WE 0.3 kg 0.3 kg Weight (including ABS-E) WE 0.63 kg 0.63 kg Weight (including ABS-RII) WE 0.39 kg 0.39 kg Holding Brake Data Sheet (Option) Holding torque TB 0.098 or more N･m 1 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.26/0.07 A(DC) 0.26/0.07 A(DC) Inertia JＢ 0.0078 × 10－４kg･m2(GD2/4)0.008 g･cm･s2 Weight W 0.24 kg 0.24 kg • The mark ∗ denotes the value after a temperature rise. The others are values a 68°F. Each value is a typical one. • Each value and characteristic was measured with a radiating plate equivalent or superior to a t6 × 250 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 15A 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 P30B04003D （30W ） 0 0.1 0.2 0.3 0.4 0 1000 2000 3000 4000 5000 速度（ min-1） トルク（ N・ m） 過負荷特性 P30B04003D （30W ） 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 9－80 P30B04005D Name SymbolData Unit Data Unit ∗ Rated output PR 50 W 50 W Rated revolution speed NR 3000 min－1 3000 rpm Maximum revolution speed Nmax 4500 min－1 4500 rpm ∗ Rated torque TR 0.157 N･m 1.6 kg･cm ∗ Continuous stall torque TS 0.167 N･m 1.7 kg･cm ∗ Instantaneous maximum stall torque TP 0.49 N･m 5.0 kg･cm ∗ Rated armature current IR 0.74 Arms 0.74 Arms ∗ Continuous stall armature current IS 0.75 Arms 0.75 Arms ∗ Instantaneous maximum stall armature current IP 2.4 Arms 2.4 Arms Torque constant KT 0.235 N･m/Arms 2.4 kg･cm/Arms Induced voltage constant K E φ 8.2 mV/min－1 8.2 V/krpm Phase armature resistance Rφ 9.1 Ω 9.1 Ω Electrical time constant te 1.2 msec 1.2 msec Mechanical time constant (not including sensor) tm 1.3 msec 1.3 msec Inertia (including wiring-saved INC) JM 0.031 × 10－４kg･m2(GD2/4) 0.032 g･cm･s2 Inertia (including ABS-E) JM 0.056 × 10－４kg･m2(GD2/4)0.057 g･cm･s2 Inertia (including ABS-RII) JM 0.028 × 10－４kg･m2(GD2/4) 0.029 g･cm･s2 Applicable load inertia JL 0.31 × 10－４ kg･m2(GD2/4)0.32 g･cm･s2 Weight (including wiring-saved INC) WE 0.35 kg 0.35 kg Weight (including ABS-E) WE 0.68 kg 0.68 kg Weight (including ABS-RII) WE 0.44 kg 0.44 kg Holding Brake Data Sheet (Option) Holding torque TB 0.157 or more N･m 1.6 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.26/0.07 A(DC) 0.26/0.07 A(DC) Inertia JＢ 0.0078 × 10－４kg･m2(GD2/4)0.008 g･cm･s2 Weight W 0.24 kg 0.24 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 t6 × 250 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 15A 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 P30B04005D （50W ） 0 0.2 0.4 0.6 0 1000 2000 3000 4000 5000 速度（ min-1） トルク（ N・ m） 過負荷特性 P30B04005D （50W ） 1 10 100 1000 10000 01234 出力電流比 （IP/IR） 時間 （Sec） Instantaneous zone Continuous zone Velocity-torque characteristics Overload characteristics Time (sec) Torque (N ･m) Velocity (min−1) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－81 P30B04010D Name SymbolData Unit Data Unit ∗ Rated output PR 100 W 100 W Rated revolution speed NR 3000 min－1 3000 rpm Maximum revolution speed Nmax 4500 min－1 4500 rpm ∗ Rated torque TR 0.32 N･m 3.25 kg･cm ∗ Continuous stall torque TS 0.353 N･m 3.6 kg･cm ∗ Instantaneous maximum stall torque TP 0.98 N･m 10 kg･cm ∗ Rated armature current IR 1.1 Arms 1.1 Arms ∗ Continuous stall armature current IS 1.3 Arms 1.3 Arms ∗ Instantaneous maximum stall armature current IP 4.1 Arms 4.1 Arms Torque constant KT 0.292 N･m/Arms 2.98 kg･cm/Arms Induced voltage constant K E φ 10.2 mV/min－1 10.2 V/krpm Phase armature resistance Rφ 4.3 Ω 4.3 Ω Electrical time constant te 1.4 msec 1.4 msec Mechanical time constant (not including sensor) tm 0.7 msec 0.7 msec Inertia (including wiring-saved INC) JM 0.051 × 10－４kg･m2(GD2/4) 0.052 g･cm･s2 Inertia (including ABS-E) JM 0.076 × 10－４kg･m2(GD2/4)0.077 g･cm･s2 Inertia (including ABS-RII) JM 0.048 × 10－４kg･m2(GD2/4) 0.049 g･cm･s2 Applicable load inertia JL 0.51 × 10－４ kg･m2(GD2/4)0.52 g･cm･s2 Weight (including wiring-saved INC) WE 0.5 kg 0.5 kg Weight (including ABS-E) WE 0.83 kg 0.83 kg Weight (including ABS-RII) WE 0.59 kg 0.59 kg Holding Brake Data Sheet (Option) Holding torque TB 0.32 or more N･m 3.25 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.26/0.07 A(DC) 0.26/0.07 A(DC) Inertia JＢ 0.0078 × 10－４kg･m2(GD2/4)0.008 g･cm･s2 Weight W 0.24 kg 0.24 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 t6 × 250 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 15A 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 P30B04010D （100W ） 0 0.2 0.4 0.6 0.81 1.2 0 1000 2000 3000 4000 5000 速度（ min-1） トルク（ N・ m） 過負荷特性 P30B04010D （100W ） 1 10 100 1000 10000 01234 出力電流比 （IP/IR） 時間 （Sec） Instantaneous zone Continuous zone Velocity-torque characteristics Overload characteristics Time (sec) Torque (N ･m) Velocity (min−1) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－82 P30B06020D Name SymbolData Unit Data Unit ∗ Rated output PR 200 W 200 W Rated revolution speed NR 3000 min－1 3000 rpm Maximum revolution speed Nmax 4500 min－1 4500 rpm ∗ Rated torque TR 0.637 N･m 6.5 kg･cm ∗ Continuous stall torque TS 0.686 N･m 7 kg･cm ∗ Instantaneous maximum stall torque TP 1.96 N･m 20 kg･cm ∗ Rated armature current IR 2.2 Arms 2.2 Arms ∗ Continuous stall armature current IS 2.3 Arms 2.3 Arms ∗ Instantaneous maximum stall armature current IP 7.5 Arms 7.5 Arms Torque constant KT 0.316 N･m/Arms 3.22 kg･cm/Arms Induced voltage constant K E φ 11.0 mV/min－1 11.0 V/krpm Phase armature resistance Rφ 1.5 Ω 1.5 Ω Electrical time constant te 3.8 msec 3.8 msec Mechanical time constant (not including sensor) tm 0.63 msec 0.63 msec Inertia (including wiring-saved INC) JM 0.144 × 10－４kg･m2(GD2/4) 0.147 g･cm･s2 Inertia (including ABS-E) JM 0.169 × 10－４kg･m2(GD2/4)0.172 g･cm･s2 Inertia (including ABS-RII) JM 0.141 × 10－４kg･m2(GD2/4) 0.144 g･cm･s2 Applicable load inertia JL 1.44 × 10－４ kg･m2(GD2/4)1.47 g･cm･s2 Weight (including wiring-saved INC) WE 1.15 kg 1.15 kg Weight (including ABS-E) WE 1.37 kg 1.37 kg Weight (including ABS-RII) WE 1.35 kg 1.35 kg Holding Brake Data Sheet (Option) Holding torque TB 0.637 or more N･m 6.5 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.31/0.07 A(DC) 0.31/0.07 A(DC) Inertia JＢ 0.06 × 10－４ kg･m2(GD2/4)0.061 g･cm･s2 Weight W 0.44 kg 0.44 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 t6 × 250 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 15A 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 P30B06020D （200W ） 0 0.51 1.52 2.5 0 1000 2000 3000 4000 5000 速度（ min-1） トルク（ N・ m） 過負荷特性 P30B06020D （200W ） 1 10 100 1000 10000 01234 出力電流比 （IP/IR） 時間 （Sec） Instantaneous zone Continuous zone Velocity-torque characteristics Overload characteristics Time (sec) Torque (N ･m) Velocity (min−1) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－83 P30B06040D Name SymbolData Unit Data Unit ∗ Rated output PR 400 W 400 W Rated revolution speed NR 3000 min－1 3000 rpm Maximum revolution speed Nmax 4500 min－1 4500 rpm ∗ Rated torque TR 1.274 N･m 13 kg･cm ∗ Continuous stall torque TS 1.372 N･m 14 kg･cm ∗ Instantaneous maximum stall torque TP 3.82 N･m 39 kg･cm ∗ Rated armature current IR 2.7 Arms 2.7 Arms ∗ Continuous stall armature current IS 2.8 Arms 2.8 Arms ∗ Instantaneous maximum stall armature current IP 8.6 Arms 8.6 Arms Torque constant KT 0.533 N･m/Arms 5.44 kg･cm/Arms Induced voltage constant K E φ 18.6 mV/min－1 18.6 V/krpm Phase armature resistance Rφ 1.4 Ω 1.4 Ω Electrical time constant te 4.6 msec 4.6 msec Mechanical time constant (not including sensor) tm 0.38 msec 0.38 msec Inertia (including wiring-saved INC) JM 0.255 × 10－４kg･m2(GD2/4) 0.265 g･cm･s2 Inertia (including ABS-E) JM 0.280 × 10－４kg･m2(GD2/4)0.290 g･cm･s2 Inertia (including ABS-RII) JM 0.252 × 10－４kg･m2(GD2/4) 0.262 g･cm･s2 Applicable load inertia JL 2.55 × 10－４ kg･m2(GD2/4)2.65 g･cm･s2 Weight (including wiring-saved INC) WE 1.7 kg 1.7 kg Weight (including ABS-E) WE 1.92 kg 1.92 kg Weight (including ABS-RII) WE 1.90 kg 1.90 kg Holding Brake Data Sheet (Option) Holding torque TB 1.274 or more N･m 13 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.31/0.07 A(DC) 0.31/0.07 A(DC) Inertia JＢ 0.06 × 10－４ kg･m2(GD2/4)0.061 g･cm･s2 Weight W 0.44 kg 0.44 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 t6 × 250 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 P30B06040D （400W ） 0 1 2 3 4 5 0 1000 2000 3000 4000 5000 速度（ min-1） トルク（ N・ m） 過負荷特性 P30B06040D （400W ） 1 10 100 1000 10000 01234 出力電流比 （IP/IR） 時間 （Sec） Instantaneous zone Continuous zone Velocity-torque characteristics Overload characteristics Time (sec) Torque (N ･m) Velocity (min−1) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－84 P30B08075D Name SymbolData Unit Data Unit ∗ Rated output PR 750 W 750 W Rated revolution speed NR 3000 min－1 3000 rpm Maximum revolution speed Nmax 4500 min－1 4500 rpm ∗ Rated torque TR 2.38 N･m 24.3 kg･cm ∗ Continuous stall torque TS 2.55 N･m 26 kg･cm ∗ Instantaneous maximum stall torque TP 7.15 N･m 73 kg･cm ∗ Rated armature current IR 4.6 Arms 4.6 Arms ∗ Continuous stall armature current IS 4.8 Arms 4.8 Arms ∗ Instantaneous maximum stall armature current IP 15.0 Arms 15.0 Arms Torque constant KT 0.565 N･m/Arms 5.77 kg･cm/Arms Induced voltage constant K E φ 19.74 mV/min－1 19.74 V/krpm Phase armature resistance Rφ 0.52 Ω 0.52 Ω Electrical time constant te 8.3 msec 8.3 msec Mechanical time constant (not including sensor) tm 0.3 msec 0.3 msec Inertia (including wiring-saved INC) JM 0.635 × 10－４kg･m2(GD2/4) 0.645 g･cm･s2 Inertia (including ABS-E) JM 0.78 × 10－４ kg･m2(GD2/4)0.79 g･cm･s2 Inertia (including ABS-RII) JM 0.647 × 10－４kg･m2(GD2/4) 0.657 g･cm･s2 Applicable load inertia JL 6.35 × 10－４ kg･m2(GD2/4)6.45 g･cm･s2 Weight (including wiring-saved INC) WE 3.3 kg 3.3 kg Weight (including ABS-E) WE 3.71 kg 3.71 kg Weight (including ABS-RII) WE 3.49 kg 3.49 kg Holding Brake Data Sheet (Option) Holding torque TB 2.38 or more N･m 24.3 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.37/0.08 A(DC) 0.37/0.08 A(DC) Inertia JＢ 0.343 × 10－４kg･m2(GD2/4)0.35 g･cm･s2 Weight W 0.8 kg 0.8 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 t6 × 250 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 P30B08075D （750W ） 0 2 4 6 8 0 1000 2000 3000 4000 5000 速度（ mi n-1） トルク（ N・ m） 過負荷特性 P30B08075D （750W ） 1 10 100 1000 10000 01234 出力電流比 （IP/IR） 時間 （Sec） Instantaneous zone Continuous zone Velocity-torque characteristics Overload characteristics Time (sec) Torque (N ･m) Velocity (min−1) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－85 9.2.5.4 Motor Data Sheet P5 P50B03003D Name SymbolData Unit Data Unit ∗ Rated output PR 30 W 30 W Rated revolution speed NR 3000 min－1 3000 rpm Maximum revolution speed Nmax 4500 min－1 4500 rpm ∗ Rated torque TR 0.098 N･m 1 kg･cm ∗ Continuous stall torque TS 0.108 N･m 1.1 kg･cm ∗ Instantaneous maximum stall torque TP 0.323 N･m 3.3 kg･cm ∗ Rated armature current IR 0.5 Arms 0.5 Arms ∗ Continuous stall armature current IS 0.53 Arms 0.53 Arms ∗ Instantaneous maximum stall armature current IP 1.8 Arms 1.8 Arms Torque constant KT 0.206 N･m/Arms 2.11 kg･cm/Arms Induced voltage constant K E φ 7.2 mV/min－1 7.2 V/krpm Phase armature resistance Rφ 20.5 Ω 20.5 Ω Electrical time constant te 0.7 msec 0.7 msec Mechanical time constant (not including sensor) tm 2.1 msec 2.1 msec Inertia (including wiring-saved INC) JM 0.0197 × 10－４kg･m2(GD2/4) 0.02 g･cm･s2 Inertia (including ABS-E) JM kg･m2(GD2/4) g･cm･s2 Inertia (including ABS-RII) JM 0.0167 × 10－４kg･m2(GD2/4) 0.0173 g･cm･s2 Applicable load inertia JL 0.197 × 10－４kg･m2(GD2/4)0.2 g･cm･s2 Weight (including wiring-saved INC) WE 0.24 kg 0.24 kg Weight (including ABS-E) WE kg kg Weight (including ABS-RII) WE 0.31 kg 0.31 kg Holding Brake Data Sheet (Option) Holding torque TB 0.098 or more N･m 1 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.25/0.07 A(DC) 0.25/0.07 A(DC) Inertia JＢ 0.0021 × 10－４kg･m2(GD2/4)0.0022 g･cm･s2 Weight W 0.15 kg 0.15 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 t6 × 250 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 15A 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 P50B03003D （30W ） 0 0.050.1 0.150.2 0.250.3 0.350.4 0 1000 2000 3000 4000 5000 速度（ min-1） トルク（ N・ m） 過負荷特性 P50B03003D （30W ） 1 10 100 1000 10000 01234 出力電流比 （IP/IR） 時間 （Sec） Velocity (min−1) Instantaneous zone Continuous zone Velocity-torque characteristics P50B03003D (30W) Overload characteristics P50B03003D (30W) Time (sec) Torque (N ･m) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－86 P50B04006D Name SymbolData Unit Data Unit ∗ Rated output PR 60 W 60 W Rated revolution speed NR 3000 min－1 3000 rpm Maximum revolution speed Nmax 4500 min－1 4500 rpm ∗ Rated torque TR 0.191 N･m 1.95 kg･cm ∗ Continuous stall torque TS 0.216 N･m 2.2 kg･cm ∗ Instantaneous maximum stall torque TP 0.647 N･m 6.6 kg･cm ∗ Rated armature current IR 0.7 Arms 0.7 Arms ∗ Continuous stall armature current IS 0.76 Arms 0.76 Arms ∗ Instantaneous maximum stall armature current IP 2.7 Arms 2.7 Arms Torque constant KT 0.304 N･m/Arms 3.1 kg･cm/Arms Induced voltage constant K E φ 10.6 mV/min－1 10.6 V/krpm Phase armature resistance Rφ 10.4 Ω 10.4 Ω Electrical time constant te 1.4 msec 1.4 msec Mechanical time constant (not including sensor) tm 1.6 msec 1.6 msec Inertia (including wiring-saved INC) JM 0.054 × 10－４kg･m2(GD2/4) 0.055 g･cm･s2 Inertia (including ABS-E) JM 0.054 × 10－４kg･m2(GD2/4)0.08 g･cm･s2 Inertia (including ABS-RII) JM 0.051 × 10－４kg･m2(GD2/4) 0.0520 g･cm･s2 Applicable load inertia JL 0.54 × 10－４ kg･m2(GD2/4)0.55 g･cm･s2 Weight (including wiring-saved INC) WE 0.46 kg 0.46 kg Weight (including ABS-E) WE 0.76 kg 0.76 kg Weight (including ABS-RII) WE 0.52 kg 0.52 kg Holding Brake Data Sheet (Option) Holding torque TB 0.191 or more N･m 1.95 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.26/0.07 A(DC) 0.26/0.07 A(DC) Inertia JＢ 0.0078 × 10－４kg･m2(GD2/4)0.008 g･cm･s2 Weight W 0.24 kg 0.24 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 t6 × 250 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 15A 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 P50B04006D （60W ） 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0 1000 2000 3000 4000 5000 速度（ min-1） トルク（ N・ m） 過負荷特性 P50B04006D （60W ） 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 P50B04006D (60W) Overload characteristics P50B04006D (60W) Time (sec) Torque (N ･m) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－87 P50B04010D Name SymbolData Unit Data Unit ∗ Rated output PR 100 W 100 W Rated revolution speed NR 3000 min－1 3000 rpm Maximum revolution speed Nmax 4500 min－1 4500 rpm ∗ Rated torque TR 0.319 N･m 3.25 kg･cm ∗ Continuous stall torque TS 0.353 N･m 3.6 kg･cm ∗ Instantaneous maximum stall torque TP 0.98 N･m 10 kg･cm ∗ Rated armature current IR 1.0 Arms 1.0 Arms ∗ Continuous stall armature current IS 1.2 Arms 1.2 Arms ∗ Instantaneous maximum stall armature current IP 3.6 Arms 3.6 Arms Torque constant KT 0.333 N･m/Arms 3.4 kg･cm/Arms Induced voltage constant K E φ 11.6 mV/min－1 11.6 V/krpm Phase armature resistance Rφ 7.0 Ω 7.0 Ω Electrical time constant te 1.5 msec 1.5 msec Mechanical time constant (not including sensor) tm 1.4 msec 1.4 msec Inertia (including wiring-saved INC) JM 0.079 × 10－４kg･m2(GD2/4) 0.08 g･cm･s2 Inertia (including ABS-E) JM 0.104 × 10－４kg･m2(GD2/4)0.105 g･cm･s2 Inertia (including ABS-RII) JM 0.0760 × 10－４kg･m2(GD2/4) 0.077 g･cm･s2 Applicable load inertia JL 0.79 × 10－４ kg･m2(GD2/4)0.8 g･cm･s2 Weight (including wiring-saved INC) WE 0.59 kg 0.59 kg Weight (including ABS-E) WE 0.89 kg 0.89 kg Weight (including ABS-RII) WE 0.65 kg 0.65 kg Holding Brake Data Sheet (Option) Holding torque TB 0.319 or more N･m 3.25 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.26/0.07 A(DC) 0.26/0.07 A(DC) Inertia JＢ 0.0078 × 10－４kg･m2(GD2/4)0.008 g･cm･s2 Weight W 0.24 kg 0.24 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 t6 × 250 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 15A 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 P50B04010D （100W ） 0 0.2 0.4 0.6 0.81 1.2 0 1000 2000 3000 4000 5000 速度（ min-1） トルク（ N・ m） 過負荷特性 P50B04010D （100W ） 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 P50B04010D (100W) Overload characteristics Time (sec) Torque (N ･m) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－88 P50B05005D Name SymbolData Unit Data Unit ∗ Rated output PR 50 W 50 W Rated revolution speed NR 3000 min－1 3000 rpm Maximum revolution speed Nmax 4500 min－1 4500 rpm ∗ Rated torque TR 0.159 N･m 1.62 kg･cm ∗ Continuous stall torque TS 0.167 N･m 1.7 kg･cm ∗ Instantaneous maximum stall torque TP 0.49 N･m 5 kg･cm ∗ Rated armature current IR 0.85 Arms 0.85 Arms ∗ Continuous stall armature current IS 0.85 Arms 0.85 Arms ∗ Instantaneous maximum stall armature current IP 2.9 Arms 2.9 Arms Torque constant KT 0.249 N･m/Arms 2.54 kg･cm/Arms Induced voltage constant K E φ 8.7 mV/min－1 8.7 V/krpm Phase armature resistance Rφ 9.2 Ω 9.2 Ω Electrical time constant te 2.1 msec 2.1 msec Mechanical time constant (not including sensor) tm 2.6 msec 2.6 msec Inertia (including wiring-saved INC) JM 0.063 × 10－４kg･m2(GD2/4) 0.064 g･cm･s2 Inertia (including ABS-E) JM 0.088 × 10－４kg･m2(GD2/4)0.089 g･cm･s2 Inertia (including ABS-RII) JM 0.060 × 10－４kg･m2(GD2/4) 0.061 g･cm･s2 Applicable load inertia JL 0.63 × 10－４ kg･m2(GD2/4)0.64 g･cm･s2 Weight (including wiring-saved INC) WE 0.53 kg 0.53 kg Weight (including ABS-E) WE 0.8 kg 0.8 kg Weight (including ABS-RII) WE 0.61 kg 0.61 kg Holding Brake Data Sheet (Option) Holding torque TB 0.167 or more N･m 1.7 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.40/0.11 A(DC) 0.40/0.11 A(DC) Inertia JＢ 0.029 × 10－４kg･m2(GD2/4)0.03 g･cm･s2 Weight W 0.3 kg 0.3 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 t12 × 305 mm square aluminum plate installed. • The velocity-torque characteristics show values for a motor combined with an amplifier having 15A 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 P50B05005D （50W ） 0 0.1 0.2 0.3 0.4 0.5 0.6 0 1000 2000 3000 4000 5000 速度（ min-1） トルク（ N・ m） 過負荷特性 P50B05005D （50W ） 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)