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ER115 Rotary Motors

ER115 -

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Motor Stator - T4 Ratings 1A8 1B8 118 138 158 168 2A8 2B8 238 258 268 338 358 368
RMS Sinusoidal Commutation
Continuous Motor Torque* lbf-in
(Nm)		 49.7
(5.61)		 49.7
(5.61)		 50.5
(5.70)		 50.5
(5.70)		 50.6
(5.72)		 50.5
(5.70)		 83.3
(9.41)		 83.3
(9.41)		 84.0
(9.49)		 82.5
(9.32)		 84.0
(9.49)		 117.3
(13.25)		 117.6
(13.29)		 120.4
(13.60)
Peak Motor Torque lbf-in
(Nm)		 99.3
(11.22)		 99.3
(11.22)		 101.0
(11.41)		 101.0
(11.41)		 101.2
(11.44)		 100.9
(11.40)		 166.6
(18.82)		 166.6
(18.82)		 168.0
(18.98)		 165.0
(18.64)		 168.0
(18.98)		 234.6
(26.50)		 253.3
(26.58)		 240.8
(21.21)
Torque Constant* (Kt) (+/- 10% @ 80 degrees C lbf-in/A
(Nm/A)		 5.3
(0.60)		 5.3
(0.6)		 4.3
(0.5)		 8.7
(1.0)		 15.7
(1.8)		 17.4
(2.0)		 5.3
(0.6)		 5.3
(0.6)		 8.7
(1.0)		 15.9
(1.8)		 17.4
(2.0)		 8.5
(1.0)		 15.9
(1.8)		 17.6
(2.0)
Cont. Current Rating* A 10.5 10.5 13.0 6.5 3.6 3.2 17.6 17.6 10.8 5.8 5.4 15.4 8.3 7.7
Peak Current Rating A 21.0 21.0 26.0 13.0 7.2 6.5 35.2 35.2 21.6 11.6 10.8 30.8 16.6 15.3
Trapezoidal Commutation
Continuous Motor Torque* lbf-in
(Nm)		 47.4
(5.36)		 47.4
(5.36)		 48.2
(5.45)		 48.2
(5.45)		 48.3
(5.46)		 48.2
(5.45)		 79.5
(8.99)		 79.5
(8.99)		 80.2
(9.06)		 78.8
(8.90)		 80.2
(9.06)		 112.0
(12.66)		 112.3
(12.69)		 115.0
(12.99)
Peak Motor Torque lbf-in
(Nm)		 94.8
(10.7)		 94.8
(10.7)		 96.4
(10.9)		 96.4
(10.9)		 96.7
(10.9)		 96.4
(10.9)		 159.1
(18.0)		 159.1
(18.0)		 160.4
(18.1)		 157.6
(17.8)		 160.4
(18.1)		 224.0
(25.3)		 224.7
(25.4)		 230.0
(26.0)
Torque Constant* (Kt) (+/- 10% @ 80 degrees C lbf-in/A
(Nm/A)		 4.12
(0.47)		 4.12
(0.47)		 3.39
(0.38)		 6.78
(0.77)		 12.22
(1.38)		 13.55
(1.53)		 4.12
(0.47)		 4.12
(0.47)		 6.78
(0.77)		 13.27
(1.40)		 13.55
(1.53)		 6.63
(0.75)		 12.37
(1.40)		 13.7
(1.55)
Cont. Current Rating Amps 12.85 12.85 15.90 7.95 4.42 3.97 21.55 21.55 13.23 7.12 6.61 18.88 10.14 9.38
Peak Current Rating Amps 25.69 25.69 31.81 15.90 8.84 7.95 43.10 43.10 26.46 14.23 13.23 37.76 20.29 18.76
Motor Stator Data
Voltage Constant* (Ke) (+/- 10% @ 80 degrees C) Vrms/krpm 51.1 51.1 42.0 83.9 151.4 167.9 53.1 51.1 83.9 153.3 167.9 82.1 153.3 169.7
Voltage Constant (Ke) (+/- 10% @ 80 degrees C) Vpk/krpm 36.1 36.1 29.7 59.4 107.1 118.7 36.1 36.1 59.4 108.4 118.7 58.1 108.4 120.0
Pole Configuration xx 8 8 8 8 8 8 8 8 8 8 8 8 8 8
Resistance (L-L)
(+/- 5% @ 80 degrees C)		 Ohms 0.31 0.31 0.20 0.80 2.60 3.21 0.13 0.13 0.34 1.17 1.35 0.20 0.69 0.81
Inductance (L-L)
(+/- 15% @ 80 degrees C)		 mH 4.8 4.8 3.3 13.0 42.4 52.1 2.3 2.3 6.3 21.1 25.3 4.0 13.9 17.1
Armature Inertia lbf-in-sec2
(kg-cm2)		 0.00555
(6.27)		 0.00833
(9.42)		 0.01112
(12.56)
Mechanical Time Constant (tm) ms min 0.53 0.53 0.51 0.51 0.51 0.51 0.28 0.28 0.27 0.28 0.27 0.21 0.20 0.20
Mechanical Time Constant (tm) ms max 15.73 15.73 16.26 16.26 16.34 16.25 18.41 18.41 18.72 18.06 18.72 20.08 20.19 21.16
Electrical Time Constant (te) ms 2.7 2.7 2.8 2.7 2.7 2.5 3.2 3.2 3.3 3.3 3.3 3.7 3.3 3.3
Damping Constant lbf-in/krpm
(Nm/krpm)		 0.21
(0.024)		 0.21
(0.024)		 0.21
(0.024)		 0.21
(0.024)		 0.21
(0.024)		 0.21
(0.024)		 0.35
(0.040)		 0.35
(0.040)		 0.35
(0.040)		 0.35
(0.040)		 0.35
(0.040)		 0.40
0.045		 0.40
0.045		 0.40
0.045
Friction Torque lbf-in
(Nm)		 0.56
(0.063)		 0.56
(0.063)		 0.56
(0.063)		 0.56
(0.063)		 0.56
(0.063)		 0.56
(0.063)		 1.00
(0.113)		 1.00
(0.113)		 1.00
(0.113)		 1.00
(0.113)		 1.00
(0.113)		 1.20
(0.136)		 1.20
(0.136)		 1.20
(0.136)
Bus Voltage Vrms 24 VDC 48 VDC 115 230 400 460 24 VDC 48 VDC 230 400 460 230 400 460
Speed @ Bus Voltage RPM 300 750 3000 3000 3000 3000 300 750 3000 3000 3000 3000 3000 3000
Motor Wire Insulation xx Class 180H
Insulation System Voltage Rating
460
Class Temp degrees C
T4 = 135 T3B = 180
Environmental Rating
IP65

All ratings at 80 degrees Celsius.

For amplifiers with peak sinusoidal ratings, multiply RMS sinusoidal Kt by 0.707 and current by 1.414.

For T3B temperature class, multiply Kt and Ke ratings by 0.83; continuous current by 1.245; continuous torque by 1.095.

Ratio  Max

Static Load

 Output Torque @ Speed for 10,000 Hour Life
1000 RPM 2000 RPM 3000 RPM
4:1 4696 (530.4) 1392 (157.3) 1132 (127.9) 1000 (112.9)
5:1 4066 (459.4) 1445 (163.3) 1175 (132.8) 1040 (117.5)
10:1 2545 (287.5) 1660 (187.6) 1350 (152.6) 1200 (135.6)
16:1 4696 (530.4) 2112 (238.6) 1714 (193.0) 1518 (171.0)
20:1 4696 (530.4) 2240 (253.1) 1840 (207.9) 1620 (183.0)
25:1 4066 (459.4) 2350 (265.5) 1900 (214.7) 1675 (189.2)
40:1 4696 (530.4) 2800 (316.4) 2240 (253.1) 2000 (225.9)
50:1 4066 (459.4) 2900 (327.7) 2350 (265.5) 2100 (237.3)
100:1 2545 (287.5) 2500 (282.5) 2500 (282.5) 2400 (271.2)
ER115 RPM
Input Distance from Face (mm) units 50 100 250 500 1000
5.00 lbf (N) 1388 (6174) 1102 (4900) 812 (3611) 644 (2866) 511 (2275)
10.00 lbf (N) 1240 (5515) 984 (4377) 725 (3225) 576 (2560) 457 (456)
15.00 lbf (N) 1120 (4983) 889 (3955) 655 (2914) 520 (2313) 413 (1836)
20.00 lbf (N) 1022 (4544) 811 (3607) 598 (2658) 474 (2109) 376 (1674)
25.00 lbf (N) 939 (4177) 745 (3315) 549 (2443) 436 (1939) 346 (1539)
30.00 lbf (N) 869 (3864) 689 (3067) 508 (2260) 403 (1794) 320 (1424)
35.00 lbf (N) 808 (3595) 642 (2854) 473 (2103) 375 (1669) 298 (1325)
40.00 lbf (N) 756 (3361) 600 (2668) 442 (1966) 351 (1560) 278 (1238)

Other Products

ER115 Rotary Motors

ER Series Motor File Name

MOTOR VOLTAGE / 1 STACK LENGTH
ER115 Ratios 115 Vrms 230 Vrms 460 Vrms
4:1, 16:1 ER111804 ER113804 ER116804
5:1, 20:1, 25:1 ER111805 ER113805 ER116805
10:1, 40:1, 50:1, 100:1 ER111810 ER113810 ER116810
MOTOR VOLTAGE / 2 STACK LENGTH
ER115 Ratios 115 Vrms 230 Vrms 460 Vrms
4:1, 16:1 ER121804 ER123804 ER126804
5:1, 20:1, 25:1 ER121805 ER123805 ER126805
10:1, 40:1, 50:1, 100:1 ER121810 ER123810 ER126810
MOTOR VOLTAGE / 3 STACK LENGTH
ER115 Ratios 115 Vrms 230 Vrms 460 Vrms
4:1, 16:1 ER131804 ER133804 ER136804
5:1, 20:1, 25:1 ER131805 ER133805 ER136805
10:1, 40:1, 50:1, 100:1 ER131810 ER133810 ER136810

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