Sanyo Denki Py 2 Manual
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9. SPECIFICATIONS 9－99 P50B08100D 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 3.185 N･m 32.5 kg･cm ∗ Continuous stall torque TS 3.92 N･m 40 kg･cm ∗ Instantaneous maximum stall torque TP 11.76 N･m 120 kg･cm ∗ Rated armature current IR 6.7 Arms 6.7 Arms ∗ Continuous stall armature current IS 7.5 Arms 7.5 Arms ∗ Instantaneous maximum stall armature current IP 25.7 Arms 25.7 Arms Torque constant KT 0.553 N･m/Arms 5.65 kg･cm/Arms Induced voltage constant K E φ 19.3 mV/min－1 19.3 V/krpm Phase armature resistance Rφ 0.41 Ω 0.41 Ω Electrical time constant te 5.9 msec 5.9 msec Mechanical time constant (not including sensor) tm 1.1 msec 1.1 msec Inertia (including wiring-saved INC) JM 2.651 × 10－４kg･m2(GD2/4) 2.705 g･cm･s2 Inertia (including ABS-E) JM 2.796 × 10－４kg･m2(GD2/4)2.85 g･cm･s2 Inertia (including ABS-RII) JM 2.663 × 10－４kg･m2(GD2/4) 2.717 g･cm･s2 Applicable load inertia JL 26.5 × 10－４ kg･m2(GD2/4)27.1 g･cm･s2 Weight (including wiring-saved INC) WE 5.05 kg 5.05 kg Weight (including ABS-E) WE 5.31 kg 5.31 kg Weight (including ABS-RII) WE 5.05 kg 5.05 kg Holding Brake Data Sheet (Option) Holding torque TB 2.94 or more N･m 30 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.33/0.08 A(DC) 0.33/0.08 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 t12 × 305 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 P50B08100D （1000W ） 0 2 4 6 8 10 12 14 0 1000 2000 3000 4000 5000 速度（ mi n-1） トルク（ N・ m） 過負荷特性 P50B08100D （1000W ） 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 9－100 9.2.5.5 Motor Data Sheet P6 P60B13050H 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 3000 min－1 3000 rpm ∗ Rated torque TR 2.5 N･m 25 kg･cm ∗ Continuous stall torque TS 3.0 N･m 31 kg･cm ∗ Instantaneous maximum stall torque TP 7.0 N･m 71 kg･cm ∗ Rated armature current IR 4.5 Arms 4.5 Arms ∗ Continuous stall armature current IS 5.2 Arms 5.2 Arms ∗ Instantaneous maximum stall armature current IP 15.0 Arms 15.0 Arms Torque constant KT 0.65 N･m/Arms 6.6 kg･cm/Arms Induced voltage constant K E φ 22.5 mV/min－1 22.5 V/krpm Phase armature resistance Rφ 0.64 Ω 0.64 Ω Electrical time constant te 9.1 msec 9.1 msec Mechanical time constant (not including sensor) tm 1.3 msec 1.3 msec Inertia (including wiring-saved INC) JM 2.78 × 10－４ kg･m2(GD2/4) 2.88 g･cm･s2 Inertia (including ABS-E) JM 2.85 × 10－４ kg･m2(GD2/4)2.95 g･cm･s2 Inertia (including ABS-RII) JM 2.78 × 10－４ kg･m2(GD2/4) 2.88 g･cm･s2 Applicable load inertia JL 27.8 × 10－４ kg･m2(GD2/4)28.8 g･cm･s2 Weight (including wiring-saved INC) WE 4.7 kg 4.7 kg Weight (including ABS-E) WE 4.7 kg 4.7 kg Weight (including ABS-RII) WE 4.8 kg 4.8 kg Holding Brake Data Sheet (Option) Holding torque TB 3.5 or more N･m 36 or more kg･cm Exciting voltage VB 24/90 V(DC)±10％ 24/90 V(DC)±10％ Exciting current IB 0.91/0.25 A(DC) 0.91/0.25 A(DC) Inertia JＢ 0.5 × 10－４ kg･m2(GD2/4)0.5 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 × 305 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 P60B13050H （500W ） 0 1 2 3 4 5 6 7 8 0 1000 2000 3000 4000 速度（ min-1） トルク（ N・ m） 過負荷特性 P60B13050H （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 9－101 P60B13100H 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 3000 min－1 3000 rpm ∗ Rated torque TR 5.0 N･m 51 kg･cm ∗ Continuous stall torque TS 6.0 N･m 61 kg･cm ∗ Instantaneous maximum stall torque TP 15.0 N･m 153 kg･cm ∗ Rated armature current IR 7.8 Arms 7.8 Arms ∗ Continuous stall armature current IS 8.7 Arms 8.7 Arms ∗ Instantaneous maximum stall armature current IP 23.7 Arms 23.7 Arms Torque constant KT 0.76 N･m/Arms 7.7 kg･cm/Arms Induced voltage constant K E φ 26.2 mV/min－1 26.2 V/krpm Phase armature resistance Rφ 0.31 Ω 0.31 Ω Electrical time constant te 10 msec 10 msec Mechanical time constant (not including sensor) tm 0.90 msec 0.90 msec Inertia (including wiring-saved INC) JM 5.58 × 10－４ kg･m2(GD2/4) 5.68 g･cm･s2 Inertia (including ABS-E) JM 5.65 × 10－４ kg･m2(GD2/4)5.75 g･cm･s2 Inertia (including ABS-RII) JM 5.580 × 10－４kg･m2(GD2/4) 5.680 g･cm･s2 Applicable load inertia JL 55.8 × 10－４ kg･m2(GD2/4)56.8 g･cm･s2 Weight (including wiring-saved INC) WE 6.6 kg 6.6 kg Weight (including ABS-E) WE 6.6 kg 6.6 kg Weight (including ABS-RII) WE 6.7 kg 6.7 kg Holding Brake Data Sheet (Option) Holding torque TB 9.0 or more N･m 92 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 P60B13100H （1.0kW ） 0 5 10 15 20 0 1000 2000 3000 4000 速度（ min-1） トルク（ N・ m） 過負荷特性 P60B13100H （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 9－102 P60B13150H 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 7.5 N･m 76 kg･cm ∗ Continuous stall torque TS 9.0 N･m 92 kg･cm ∗ Instantaneous maximum stall torque TP 20.0 N･m 204 kg･cm ∗ Rated armature current IR 9.4 Arms 9.4 Arms ∗ Continuous stall armature current IS 10.7 Arms 10.7 Arms ∗ Instantaneous maximum stall armature current IP 26.5 Arms 26.5 Arms Torque constant KT 0.90 N･m/Arms 9.2 kg･cm/Arms Induced voltage constant K E φ 31.4 mV/min－1 31.4 V/krpm Phase armature resistance Rφ 0.27 Ω 0.27 Ω Electrical time constant te 10 msec 10 msec Mechanical time constant (not including sensor) tm 0.82 msec 0.82 msec Inertia (including wiring-saved INC) JM 8.28 × 10－４ kg･m2(GD2/4) 8.48 g･cm･s2 Inertia (including ABS-E) JM 8.35 × 10－４ kg･m2(GD2/4)8.55 g･cm･s2 Inertia (including ABS-RII) JM 8.280 × 10－４kg･m2(GD2/4) 8.443 g･cm･s2 Applicable load inertia JL 82.8 × 10－４ kg･m2(GD2/4)84.8 g･cm･s2 Weight (including wiring-saved INC) WE 7.8 kg 7.8 kg Weight (including ABS-E) WE 7.8 kg 7.8 kg Weight (including ABS-RII) WE 8.9 kg 8.9 kg Holding Brake Data Sheet (Option) Holding torque TB 9.0 or more N･m 92 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 P60B13150H （1.5kW ） 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 P60B13150H （1.5 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 Overload characteristics Time (sec) Torque (N ･m) Output current ratio (IP/IR)
9. SPECIFICATIONS 9－103 9.2.5.6 Motor Data Sheet P8 P80B15075H Name SymbolData Unit Data Unit ∗ Rated output PR 750 W 750 W Rated revolution speed NR 2000 min－1 2000 rpm Maximum revolution speed Nmax 3000 min－1 3000 rpm ∗ Rated torque TR 3.6 N･m 37 kg･cm ∗ Continuous stall torque TS 3.7 N･m 38 kg･cm ∗ Instantaneous maximum stall torque TP 9.0 N･m 92 kg･cm ∗ Rated armature current IR 5.2 Arms 5.2 Arms ∗ Continuous stall armature current IS 5.2 Arms 5.2 Arms ∗ Instantaneous maximum stall armature current IP 13.9 Arms 13.9 Arms Torque constant KT 0.78 N･m/Arms 7.9 kg･cm/Arms Induced voltage constant K E φ 27.0 mV/min－1 27.0 V/krpm Phase armature resistance Rφ 0.44 Ω 0.44 Ω Electrical time constant te 13 msec 13 msec Mechanical time constant (not including sensor) tm 1.1 msec 1.1 msec Inertia (including wiring-saved INC) JM 5.28 × 10－４ kg･m2(GD2/4) 5.38 g･cm･s2 Inertia (including ABS-E) JM 5.35 × 10－４ kg･m2(GD2/4)5.45 g･cm･s2 Inertia (including ABS-RII) JM 5.280 × 10－４kg･m2(GD2/4) 5.383 g･cm･s2 Applicable load inertia JL 52.8 × 10－４ kg･m2(GD2/4)53.8 g･cm･s2 Weight (including wiring-saved INC) WE 6.2 kg 6.2 kg Weight (including ABS-E) WE 6.2 kg 6.2 kg Weight (including ABS-RII) WE 6.3 kg 6.3 kg Holding Brake Data Sheet (Option) Holding torque TB 9.0 or more Ｎ・ｍ 92 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 × 305 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 P80B15075H （750W ） 0 2 4 6 8 10 0 1000 2000 3000 4000 速度（ min-1） トルク（ N・ m） 過負荷特性 P80B15075H （0.75 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 9－104 P80B18120H Name SymbolData Unit Data Unit ∗ Rated output PR 1200 W 1200 W Rated revolution speed NR 2000 min－1 2000 rpm Maximum revolution speed Nmax 3000 min－1 3000 rpm ∗ Rated torque TR 5.6 N･m 57 kg･cm ∗ Continuous stall torque TS 6.5 N･m 66 kg･cm ∗ Instantaneous maximum stall torque TP 14.0 N･m 143 kg･cm ∗ Rated armature current IR 10.4 Arms 10.4 Arms ∗ Continuous stall armature current IS 10.8 Arms 10.8 Arms ∗ Instantaneous maximum stall armature current IP 26.5 Arms 26.5 Arms Torque constant KT 0.73 N･m/Arms 7.4 kg･cm/Arms Induced voltage constant K E φ 25.3 mV/min－1 25.3 V/krpm Phase armature resistance Rφ 0.22 Ω 0.22 Ω Electrical time constant te 18 msec 18 msec Mechanical time constant (not including sensor) tm 1.5 msec 1.5 msec Inertia (including wiring-saved INC) JM 12.1 × 10－４ kg･m2(GD2/4) 12.1 g･cm･s2 Inertia (including ABS-E) JM 12.2 × 10－４ kg･m2(GD2/4)12.2 g･cm･s2 Inertia (including ABS-RII) JM 12.10 × 10－４kg･m2(GD2/4) 12.34 g･cm･s2 Applicable load inertia JL 121 × 10－４ kg･m2(GD2/4)121 g･cm･s2 Weight (including wiring-saved INC) WE 10.0 kg 10.0 kg Weight (including ABS-E) WE 10.0 kg 10.0 kg Weight (including ABS-RII) WE 10.1 kg 10.1 kg Holding Brake Data Sheet (Option) Holding torque TB 9.0 or more Ｎ・ｍ 92 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 P80B18120H （1.2kW ） 0 5 10 15 0 1000 2000 3000 4000 速度（ min-1） トルク（ N・ m） 過負荷特性 P80B18120H （1.2 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 Overload characteristics Time (sec) Torque (N ･m) Output current ratio (IP/IR)
9. SPECIFICATIONS
9－105
9.2.5.7 Motor Data Sheet P3 (100V Motor)
P30B04003P
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 1.0 Arms 1.0 Arms
∗ Continuous stall armature current IS 1.1 Arms 1.1 Arms ∗ Instantaneous maximum stall
armature current IP 3.6 Arms 3.6 Arms
Torque constant KT 0.1 N･m/Arms 1.07 kg･cm/Arms
Induced voltage constant
K E
φ 3.65 mV/min－1 3.65 V/krpm
Phase armature resistance Rφ 3.04 Ω 3.04 Ω
Electrical time constant
te 1.2 msec 1.2 msec Mechanical time constant (not including sensor) tm 1.6 msec 1.6 msec
Inertia (including wiring-saved INC)
JM 0.024 × 10－４kg･m2(GD2/4) 0.025 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-RII)
WE 0.39 kg 0.39 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 × 305 mm square aluminum
plate installed
.
P30B04005P
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 1.5 Arms 1.5 Arms
∗ Continuous stall armature current IS 1.6 Arms 1.6 Arms ∗ Instantaneous maximum stall
armature current IP 5.1 Arms 5.1 Arms
Torque constant KT 0.113 N･m/Arms 1.15 kg･cm/Arms
Induced voltage constant
K E
φ 3.93 mV/min－1 3.93 V/krpm
Phase armature resistance Rφ 2.25 Ω 2.25 Ω
Electrical time constant
te 1.3 msec 1.3 msec Mechanical time constant (not including sensor) tm 1.4 msec 1.4 msec
Inertia (including wiring-saved INC)
JM 0.031 × 10－４kg･m2(GD2/4) 0.032 g･cm･s2
Inertia (including ABS-RII) JM 0.028 × 10－４kg･m2(GD2/4)0.0293 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-RII)
WE 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 t20 × 305 mm square aluminum
plate installed.
9. SPECIFICATIONS 9－106 P30B04010P 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 2.2 Arms 2.2 Arms ∗ Continuous stall armature current IS 2.4 Arms 2.4 Arms ∗ Instantaneous maximum stall armature current IP 7.4 Arms 7.4 Arms Torque constant KT 0.162 N･m/Arms 1.65 kg･cm/Arms Induced voltage constant K E φ 5.63 mV/min－1 5.63 V/krpm Phase armature resistance Rφ 1.58 Ω 1.58 Ω Electrical time constant te 1.3 msec 1.3 msec Mechanical time constant (not including sensor) tm 0.8 msec 0.8 msec Inertia (including wiring-saved INC) JM 0.051 × 10－４kg･m2(GD2/4) 0.052 g･cm･s2 Inertia (including ABS-RII) JM 0.048 × 10－４kg･m2(GD2/4)0.0493 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-RII) WE 0.59 kg 0.59 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 × 305 mm square aluminum plate installed . P30B06020P 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 7.0 kg･cm ∗ Instantaneous maximum stall torque TP 1.96 N･m 20 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 15.8 Arms 15.8 Arms Torque constant KT 0.151 N･m/Arms 1.54 kg･cm/Arms Induced voltage constant K E φ 5.28 mV/min－1 5.28 V/krpm Phase armature resistance Rφ 0.39 Ω 0.39 Ω Electrical time constant te 3.6 msec 3.6 msec Mechanical time constant (not including sensor) tm 0.71 msec 0.71 msec Inertia (including wiring-saved INC) JM 0.144 × 10－４kg･m2(GD2/4) 0.147 g･cm･s2 Inertia (including ABS-RII) JM 0.141 × 10－４kg･m2(GD2/4)0.1443 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-RII) WE 1.35 kg 1.35 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 × 305 mm square aluminum plate installed .
9. SPECIFICATIONS 9－107 9.2.5.8 Motor Data Sheet P5 (100V Motor) P50B03003P 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 0.323 N･m 3.3 kg･cm ∗ Rated armature current IR 1.0 Arms 1.0 Arms ∗ Continuous stall armature current IS 1.1 Arms 1.1 Arms ∗ Instantaneous maximum stall armature current IP 3.6 Arms 3.6 Arms Torque constant KT 0.108 N･m/Arms 1.1 kg･cm/Arms Induced voltage constant K E φ 3.79 mV/min－1 3.79 V/krpm Phase armature resistance Rφ 5.4 Ω 5.4 Ω Electrical time constant te 0.7 msec 0.7 msec Mechanical time constant (not including sensor) tm 2.0 msec 2.0 msec Inertia (including wiring-saved INC) JM 0.0197 × 10－４kg･m2(GD2/4) 0.02 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-RII) WE 0.31 kg 0.31 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 × 305 mm square aluminum plate installed . P50B04006P 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 1.3 Arms 1.3 Arms ∗ Continuous stall armature current IS 1.4 Arms 1.4 Arms ∗ Instantaneous maximum stall armature current IP 5.0 Arms 5.0 Arms Torque constant KT 0.164 N･m/Arms 1.68 kg･cm/Arms Induced voltage constant K E φ 5.74 mV/min－1 5.74 V/krpm Phase armature resistance Rφ 2.95 Ω 2.95 Ω Electrical time constant te 1.5 msec 1.5 msec Mechanical time constant (not including sensor) tm 1.5 msec 1.5 msec Inertia (including wiring-saved INC) JM 0.054 × 10－４kg･m2(GD2/4) 0.055 g･cm･s2 Inertia (including ABS-RII) JM 0.051 × 10－４kg･m2(GD2/4)0.052 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-RII) WE 0.52 kg 0.52 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 × 305 mm square aluminum plate installed .
9. SPECIFICATIONS 9－108 P50B04010P 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 1.8 Arms 1.8 Arms ∗ Continuous stall armature current IS 2.1 Arms 2.1 Arms ∗ Instantaneous maximum stall armature current IP 6.0 Arms 6.0 Arms Torque constant KT 0.195 N･m/Arms 1.99 kg･cm/Arms Induced voltage constant K E φ 6.8 mV/min－1 6.8 V/krpm Phase armature resistance Rφ 2.35 Ω 2.35 Ω Electrical time constant te 1.6 msec 1.6 msec Mechanical time constant (not including sensor) tm 1.3 msec 1.3 msec Inertia (including wiring-saved INC) JM 0.079 × 10－４kg･m2(GD2/4) 0.08 g･cm･s2 Inertia (including ABS-RII) JM 0.076 × 10－４kg･m2(GD2/4)0.0773 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-RII) WE 0.65 kg 0.65 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 × 305 mm square aluminum plate installed . P50B05005P 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 5.0 kg･cm ∗ Rated armature current IR 1.6 Arms 1.6 Arms ∗ Continuous stall armature current IS 1.6 Arms 1.6 Arms ∗ Instantaneous maximum stall armature current IP 5.0 Arms 5.0 Arms Torque constant KT 0.136 N･m/Arms 1.39 kg･cm/Arms Induced voltage constant K E φ 4.76 mV/min－1 4.76 V/krpm Phase armature resistance Rφ 2.6 Ω 2.6 Ω Electrical time constant te 2.2 msec 2.2 msec Mechanical time constant (not including sensor) tm 2.4 msec 2.4 msec Inertia (including wiring-saved INC) JM 0.063 × 10－４kg･m2(GD2/4) 0.064 g･cm･s2 Inertia (including ABS-RII) JM 0.060 × 10－４kg･m2(GD2/4)0.0613 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-RII) WE 0.61 kg 0.61 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 × 305 mm square aluminum plate installed .