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Series 4000, is a high
performance, permanent
magnet brush-type DC
servo motor for use in vari-
ous industrial direct drive or
geared servo systems
• Rugged industrial
construction
• Continuous torque
ratings up to 36 lb.-in.
—with speeds up to
3,000 RPM
• Peak torque ratings up
to 200 lb.-in.
• Low cogging for smooth
performance
• IP65 Sealing available
• Superior low speed
performance
• Numerous custom
options available
• Available with 8
standard windings
• 4.0 inch diameter motors
available in three motor
lengths
• Inertia ratings from
.0062 Lb-in-sec2
to
.012 Lb-in-sec2
• CE / UL
Performance Benefits
CMC Torque Systems specializes in
the design of high performance brush
servo motors that provide efficiency,
flexibility of application, and a long
and trouble-free service life. Our
TORQUEMASTER® 4000 series is
no exception.
With fast response, accurate control
and high torque-to-inertia ratios, you
can count on the TORQUEMASTER
4000 Series of brush servo motors to
provide smooth operation throughout
a full speed range. The 4000 Series
delivers smooth and superior low speed
performance, low cogging and
maximum power ratings with low thermal
resistance for high speed performance.
In addition, with maximum torque in a
smaller package, you can count on
better pricing for a better overall value.
When integrated with high performance
brush amplifiers, TORQUEMASTER
4000 Series brush servo motors
provide effective and highly efficient
motion control solutions for a wide
range of applications—including factory
automation, packaging, robotics,
machine tools, medical instrumentation
and more.
Design Features
TORQUEMASTER 4000 Series brush
servo motors are rated from 18.75 lb.-in.
to 36 lb.-in. with speeds and torque
stability up to 3000 RPM. They utilize
the latest in high performance
permanent magnet technology, and
are available in eight standard windings
(as well as custom windings) to meet
your most demanding applications.
Each brush servo motor in the
TORQUEMASTER 4000 Series is
ruggedly designed and manufactured
for reliable performance.
Motors can be customized to fit your
exact application with tachometers,
encoders, brakes and other options.
R
4000 SERIES
BRUSH
SERVO MOTORS
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:
SYMBOL UNITS 4025 4037 4057
TC Cont. Torque Lb-In 18.75 26.13 36
TP Peak Torque Lb-In 93.75 137.5 200
TF Static Friction Lb-In 0.94 0.94 0.94
Fi Viscous Friction Lb-In/KRPM 0.31 0.44 0.63
TR Cogging Torque Lb-In 3.5 6 8
JM
Inertia Lb-In-sec2
0.0062 0.0085 0.012
RTH Thermal Res Deg C/watt 1.7 1.4 1.1
TTH Thermal Time Minute 26 29 40
tm Mech Time Millisec 7 4.9 4.7
te Elect Time Millisec 2.14 2.4 2.7
FC Commutation (41Bar) Factor 17900 25500 33000
Wt Weight Lbs 13 15 21
Note: All values at 25°C Ambient.
WINDING
A* KT Torq. Sens. Lb-In/Amp 1.0 1.5 2.1
RA Arm. Resis. Ohms 0.14 0.17 0.22
KV Back E.M.F Volts/KRPM 12.0 17.7 24.6
FC/KT Pb Watts 1098 1067 991
B* KT Torq. Sens. Lb-In/Amp 1.3 1.9 2.7
RA Arm. Resis. Ohms 0.23 0.27 31.7
KV Back E.M.F Volts/KRPM 15.4 22.7 31.7
FC/KT Pb Watts 856 831 769
C* KT Torq. Sens. Lb-In/Amp 1.6 2.3 3.3
RA Arm. Resis. Ohms 0.35 0.42 0.56
KV Back E.M.F Volts/KRPM 18.9 27.7 38.7
FC/KT Pb Watts 699 680 630
D KT Torq. Sens. Lb-In/Amp 2.0 3.0 4.2
RA Arm. Resis. Ohms 0.57 0.68 0.90
KV Back E.M.F Volts/KRPM 24.1 35.3 49.3
FC/KT Pb Watts 549 533 495
E KT Torq. Sens. Lb-In/Amp 2.6 3.8 5.4
RA Arm. Resis. Ohms 0.92 1.10 1.45
KV Back E.M.F Volts/RPM 31.0 45.4 63.3
FC/KT Pb Watts 427 415 385
F KT Torq. Sens. Lb-In/Amp 3.2 4.7 6.6
RA Arm. Resis. Ohms 1.41 1.69 2.24
KV Back E.M.F Volts/KRPM 37.8 55.4 77.4
FC/KT Pb Watts 350 340 315
G KT Torq. Sens. Lb-In/Amp 4.1 6.0 8.3
RA Arm. Resis. Ohms 2.26 2.72 3.59
KV Back E.M.F Volts/KRPM 48.2 70.6 98.6
FC/KT Pb Watts 275 267 247
H KT Torq. Sens. Lb-In/Amp 5.2 7.7 10.7
RA Arm. Resis. Ohms 3.66 4.40 5.82
KV Back E.M.F Volts/KRPM 61.9 90.7 126.7
FC/KT Pb Watts 214 208 192
For custom designs please consult factory.
All specifications subject to change
without notice.
* A, B and C windings are designed for a 42 bar commutator only.
All other windings are designed for 21 or 42 bar commutators.
BRUSH SERVO MOTOR CHARACTERISTICS
R
4000 SERIES
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:
45˚
REF.
.517
.502
4.25
SQ
.35 THRU (4) HOLES
90˚ APART ON A
4.817 DBC
+.02
.188
.190
TAPE KEY TO SHAFT
AT FINAL ASSY.
FULL USABLE KEYWAY
1.18
3.000
2.997
DIA.
.6249
.6246
DIA.
1.69
+.03
.55
.15
+.03
+.03
“X”
“L”
MODULAR ENCODER
OPTION PACKAGE
CONNECTOR
MS3102A-20-27P
3/4 - 1/4 NPT FOR
CONDUIT FITTING
BRUSH CAP
TACH
BRUSH CAP
MOTOR
4.00
DIA.
(ENCODER)
2.10
REF.
.4998
.4995
DIA.
.003 @ 1.812 DIA. B
.005 A
.002
-A-
.003 M A M
.001
-B-
MOTOR LENGTH (In inches)
3000
3500
2000
1000
0
5 10 100
TORQUE (LB-IN)
SPEED
(RPM)
Motor: MH4025 - Winding: D
20 30 50 150
3000
3500
2000
1000
0
5 10 100
TORQUE (LB-IN)
SPEED
(RPM)
Motor: MH4037 - Winding: D
20 30 50 150
3000
3500
2000
1000
0
5 10 100
TORQUE (LB-IN)
SPEED
(RPM)
Motor: MH4057 - Winding: D
20 30 50 150 200
TORQUE PERFORMANCE CURVES
NOTE: Continuous torque specifications obtained with motor mounted to an 8.5”x12”x 0.5” aluminum plate
at 25 C° ambient.
Typical values are within ±10% of rating.
STANDARD WINDING SPEED/TORQUE CURVE DATA FOR SIZING A SERVO MOTOR
Nm = Maximum speed, continuous operation
Np = Peak speed, acceleration/deceleration and intermittent duty
Tcs = Continuous stall torque
Tp = Peak torque
All specifications subject to change without notice.
Np
Nm
Tcs Tp
TORQUE
Continuous Duty Zone
SPEED
Intermittent Duty Zone
Accel/Decel Zone
TORQUE PERFORMANCE CURVES
TORQUE SPEED CURVES OF OTHER WINDINGS AVAILABLE, CONSULT FACTORY.
*All specifications are for reference only.
Please consult the factory for certified
dimension drawings.
Standard Direction of Rotation:
CCW rotation viewed from shaft end
with red motor terminal positive with
respect to black motor terminal.
MOTOR 4025 4037 4057
Length (L) (Motor Only) 8.00 9.55 11.31
Length (X) with Optical Modular Encoder or Tachometer 8.45 9.70 11.70
Length (X) with Shaft Encoder 11.70 13.25 15.01
MECHANICAL SPECIFICATIONS*
R
4000 SERIES
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:
ORDERING INFORMATION (For Standard Options)
40 XX XX XX X X XX X X X XXX
SERIES TACH WINDINGS MODIFIERS
E = 3 v/krpm Non-Standard Features
LAM STACK F = 7 v/krpm
25 G = 15 v/krpm
37 H = 19 v/krpm
57 MOTOR WINDING
MOUNTING PLATE A thru H
A = Std ’C‘ Face
B = NEMA 56 (6.50" Dia. Flange)
C = NEMA 42
D = NEMA 56 (5.00" Square Flange)
M = Metric
S = Special
TERMINATIONS
B0 = Side Mount MS3102R-18-1P (std)
C0 = Rear Mount MS3102R-18-1P (opt)
D0 = Side Mount Term Box (opt)
E0 = 1/2 NPT Thread (opt)
F0 = Metal RSR Cord Grip (opt)
MATING CONNECTORS
B1 = Side Mount w/ Str Plug MS3106-18-1S
SEALING C1 = Rear Mount w/ Str Plug MS3106-18-1S
0 = No sealing B2 = Side Mount w/ Rt Angle Plug MS3108-18-1S
S = IP65 w/ Shaft Seal C2 = Rear Mount w/ Rt Angle Plug MS3108-18-1S
N = IP65 w/o Shaft Seal
COMMUTATION
DC = 41 Bar Commutator (std)
ENCODER
00 = None 1 = 100 CPR
A = Self Contained 2 = 500 CPR
B = Modular 3 = 1000 CPR
S = Special 4 = 1024 CPR
5 = 2500 CPR
M0 = Modular Encoder Prep
S0 = Self Contained Encoder Prep
C0 = Model 25 Prep
BRAKE
0 = None
1 = 30 lb-in 90 VDC
2 = 30 lb-in 24 VDC
S0 = Shaft Encoder Prep - Model 90
R0 = Resolver Prep - Size 21
Volts = KT x RPM + T x RA + VB
1,350 KT
Where:
KT = torque constant, oz.-in. per amp
T = load torque plus motor friction torque-oz.-in.
RA = armature resistance + brush resistance
VB = brush voltage drop = 2 volts
Note: For armature resistance at maximum temperature
rating, multiply catalog value of R by 1.5
R
BRUSH
SERVO MOTORS
Customize The 4000
Series To Your Exact
Requirements
To satisfy various applications
with cost-effective solutions, 4000
Series motors are readily available
with a wide range of standard
capabilities. Final designs are
often the result of cooperative
efforts between the customer’s
engineering department and CMC.
For assistance, call your local
CMC distributor or CMC direct. We
look forward to meeting your
custom requirements.
Ask About Other
Motion Control
Solutions & Capabilities
From Torque Systems
• Brushless TorqueMaster®
Servo Motors
• PowerMaster® Amplifiers
• Shaft-mounted DataTorque™
Encoders
• Gearboxes/Brakes
• Expert application engineering
• Complete repair & refurbishing
services
VOLTAGE EQUATION FOR MOTORS
Let A = total cycle time in seconds
thermal time constant of motors in seconds
Let B = “on” time in seconds per cycle
thermal time constant of motor in seconds
then with TR = Rated torque for 100% duty
and TMAX = Rated torque for intermittent duty
TMAX = TR x 1 - e-A 1/2
1 - e-B
MOTOR TORQUE RATING VS. SPEED
130 - RPM x TF - RPM2
x Fi
1/2
RPM x Fi
TR = .94KT RTH 1,350 1,350,000 - TF - 1000
1.5 RA
Where:
TR = rated torque (25°C ambient)-oz.-in.
KT = torque sensitivity-oz.-in./amp
RA = armature resistance
RPM = revolutions per minute
TF = static friction torque-oz.-in.
Fi = viscous friction-oz.-in.
RTH = thermal resistance
To Find: Higher Torque Rating for Intermittent Duty
4000 SERIES
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:

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Torque systems 4000_series_specsheet

  • 1. Series 4000, is a high performance, permanent magnet brush-type DC servo motor for use in vari- ous industrial direct drive or geared servo systems • Rugged industrial construction • Continuous torque ratings up to 36 lb.-in. —with speeds up to 3,000 RPM • Peak torque ratings up to 200 lb.-in. • Low cogging for smooth performance • IP65 Sealing available • Superior low speed performance • Numerous custom options available • Available with 8 standard windings • 4.0 inch diameter motors available in three motor lengths • Inertia ratings from .0062 Lb-in-sec2 to .012 Lb-in-sec2 • CE / UL Performance Benefits CMC Torque Systems specializes in the design of high performance brush servo motors that provide efficiency, flexibility of application, and a long and trouble-free service life. Our TORQUEMASTER® 4000 series is no exception. With fast response, accurate control and high torque-to-inertia ratios, you can count on the TORQUEMASTER 4000 Series of brush servo motors to provide smooth operation throughout a full speed range. The 4000 Series delivers smooth and superior low speed performance, low cogging and maximum power ratings with low thermal resistance for high speed performance. In addition, with maximum torque in a smaller package, you can count on better pricing for a better overall value. When integrated with high performance brush amplifiers, TORQUEMASTER 4000 Series brush servo motors provide effective and highly efficient motion control solutions for a wide range of applications—including factory automation, packaging, robotics, machine tools, medical instrumentation and more. Design Features TORQUEMASTER 4000 Series brush servo motors are rated from 18.75 lb.-in. to 36 lb.-in. with speeds and torque stability up to 3000 RPM. They utilize the latest in high performance permanent magnet technology, and are available in eight standard windings (as well as custom windings) to meet your most demanding applications. Each brush servo motor in the TORQUEMASTER 4000 Series is ruggedly designed and manufactured for reliable performance. Motors can be customized to fit your exact application with tachometers, encoders, brakes and other options. R 4000 SERIES BRUSH SERVO MOTORS ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
  • 2. SYMBOL UNITS 4025 4037 4057 TC Cont. Torque Lb-In 18.75 26.13 36 TP Peak Torque Lb-In 93.75 137.5 200 TF Static Friction Lb-In 0.94 0.94 0.94 Fi Viscous Friction Lb-In/KRPM 0.31 0.44 0.63 TR Cogging Torque Lb-In 3.5 6 8 JM Inertia Lb-In-sec2 0.0062 0.0085 0.012 RTH Thermal Res Deg C/watt 1.7 1.4 1.1 TTH Thermal Time Minute 26 29 40 tm Mech Time Millisec 7 4.9 4.7 te Elect Time Millisec 2.14 2.4 2.7 FC Commutation (41Bar) Factor 17900 25500 33000 Wt Weight Lbs 13 15 21 Note: All values at 25°C Ambient. WINDING A* KT Torq. Sens. Lb-In/Amp 1.0 1.5 2.1 RA Arm. Resis. Ohms 0.14 0.17 0.22 KV Back E.M.F Volts/KRPM 12.0 17.7 24.6 FC/KT Pb Watts 1098 1067 991 B* KT Torq. Sens. Lb-In/Amp 1.3 1.9 2.7 RA Arm. Resis. Ohms 0.23 0.27 31.7 KV Back E.M.F Volts/KRPM 15.4 22.7 31.7 FC/KT Pb Watts 856 831 769 C* KT Torq. Sens. Lb-In/Amp 1.6 2.3 3.3 RA Arm. Resis. Ohms 0.35 0.42 0.56 KV Back E.M.F Volts/KRPM 18.9 27.7 38.7 FC/KT Pb Watts 699 680 630 D KT Torq. Sens. Lb-In/Amp 2.0 3.0 4.2 RA Arm. Resis. Ohms 0.57 0.68 0.90 KV Back E.M.F Volts/KRPM 24.1 35.3 49.3 FC/KT Pb Watts 549 533 495 E KT Torq. Sens. Lb-In/Amp 2.6 3.8 5.4 RA Arm. Resis. Ohms 0.92 1.10 1.45 KV Back E.M.F Volts/RPM 31.0 45.4 63.3 FC/KT Pb Watts 427 415 385 F KT Torq. Sens. Lb-In/Amp 3.2 4.7 6.6 RA Arm. Resis. Ohms 1.41 1.69 2.24 KV Back E.M.F Volts/KRPM 37.8 55.4 77.4 FC/KT Pb Watts 350 340 315 G KT Torq. Sens. Lb-In/Amp 4.1 6.0 8.3 RA Arm. Resis. Ohms 2.26 2.72 3.59 KV Back E.M.F Volts/KRPM 48.2 70.6 98.6 FC/KT Pb Watts 275 267 247 H KT Torq. Sens. Lb-In/Amp 5.2 7.7 10.7 RA Arm. Resis. Ohms 3.66 4.40 5.82 KV Back E.M.F Volts/KRPM 61.9 90.7 126.7 FC/KT Pb Watts 214 208 192 For custom designs please consult factory. All specifications subject to change without notice. * A, B and C windings are designed for a 42 bar commutator only. All other windings are designed for 21 or 42 bar commutators. BRUSH SERVO MOTOR CHARACTERISTICS R 4000 SERIES ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
  • 3. 45˚ REF. .517 .502 4.25 SQ .35 THRU (4) HOLES 90˚ APART ON A 4.817 DBC +.02 .188 .190 TAPE KEY TO SHAFT AT FINAL ASSY. FULL USABLE KEYWAY 1.18 3.000 2.997 DIA. .6249 .6246 DIA. 1.69 +.03 .55 .15 +.03 +.03 “X” “L” MODULAR ENCODER OPTION PACKAGE CONNECTOR MS3102A-20-27P 3/4 - 1/4 NPT FOR CONDUIT FITTING BRUSH CAP TACH BRUSH CAP MOTOR 4.00 DIA. (ENCODER) 2.10 REF. .4998 .4995 DIA. .003 @ 1.812 DIA. B .005 A .002 -A- .003 M A M .001 -B- MOTOR LENGTH (In inches) 3000 3500 2000 1000 0 5 10 100 TORQUE (LB-IN) SPEED (RPM) Motor: MH4025 - Winding: D 20 30 50 150 3000 3500 2000 1000 0 5 10 100 TORQUE (LB-IN) SPEED (RPM) Motor: MH4037 - Winding: D 20 30 50 150 3000 3500 2000 1000 0 5 10 100 TORQUE (LB-IN) SPEED (RPM) Motor: MH4057 - Winding: D 20 30 50 150 200 TORQUE PERFORMANCE CURVES NOTE: Continuous torque specifications obtained with motor mounted to an 8.5”x12”x 0.5” aluminum plate at 25 C° ambient. Typical values are within ±10% of rating. STANDARD WINDING SPEED/TORQUE CURVE DATA FOR SIZING A SERVO MOTOR Nm = Maximum speed, continuous operation Np = Peak speed, acceleration/deceleration and intermittent duty Tcs = Continuous stall torque Tp = Peak torque All specifications subject to change without notice. Np Nm Tcs Tp TORQUE Continuous Duty Zone SPEED Intermittent Duty Zone Accel/Decel Zone TORQUE PERFORMANCE CURVES TORQUE SPEED CURVES OF OTHER WINDINGS AVAILABLE, CONSULT FACTORY. *All specifications are for reference only. Please consult the factory for certified dimension drawings. Standard Direction of Rotation: CCW rotation viewed from shaft end with red motor terminal positive with respect to black motor terminal. MOTOR 4025 4037 4057 Length (L) (Motor Only) 8.00 9.55 11.31 Length (X) with Optical Modular Encoder or Tachometer 8.45 9.70 11.70 Length (X) with Shaft Encoder 11.70 13.25 15.01 MECHANICAL SPECIFICATIONS* R 4000 SERIES ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By:
  • 4. ORDERING INFORMATION (For Standard Options) 40 XX XX XX X X XX X X X XXX SERIES TACH WINDINGS MODIFIERS E = 3 v/krpm Non-Standard Features LAM STACK F = 7 v/krpm 25 G = 15 v/krpm 37 H = 19 v/krpm 57 MOTOR WINDING MOUNTING PLATE A thru H A = Std ’C‘ Face B = NEMA 56 (6.50" Dia. Flange) C = NEMA 42 D = NEMA 56 (5.00" Square Flange) M = Metric S = Special TERMINATIONS B0 = Side Mount MS3102R-18-1P (std) C0 = Rear Mount MS3102R-18-1P (opt) D0 = Side Mount Term Box (opt) E0 = 1/2 NPT Thread (opt) F0 = Metal RSR Cord Grip (opt) MATING CONNECTORS B1 = Side Mount w/ Str Plug MS3106-18-1S SEALING C1 = Rear Mount w/ Str Plug MS3106-18-1S 0 = No sealing B2 = Side Mount w/ Rt Angle Plug MS3108-18-1S S = IP65 w/ Shaft Seal C2 = Rear Mount w/ Rt Angle Plug MS3108-18-1S N = IP65 w/o Shaft Seal COMMUTATION DC = 41 Bar Commutator (std) ENCODER 00 = None 1 = 100 CPR A = Self Contained 2 = 500 CPR B = Modular 3 = 1000 CPR S = Special 4 = 1024 CPR 5 = 2500 CPR M0 = Modular Encoder Prep S0 = Self Contained Encoder Prep C0 = Model 25 Prep BRAKE 0 = None 1 = 30 lb-in 90 VDC 2 = 30 lb-in 24 VDC S0 = Shaft Encoder Prep - Model 90 R0 = Resolver Prep - Size 21 Volts = KT x RPM + T x RA + VB 1,350 KT Where: KT = torque constant, oz.-in. per amp T = load torque plus motor friction torque-oz.-in. RA = armature resistance + brush resistance VB = brush voltage drop = 2 volts Note: For armature resistance at maximum temperature rating, multiply catalog value of R by 1.5 R BRUSH SERVO MOTORS Customize The 4000 Series To Your Exact Requirements To satisfy various applications with cost-effective solutions, 4000 Series motors are readily available with a wide range of standard capabilities. Final designs are often the result of cooperative efforts between the customer’s engineering department and CMC. For assistance, call your local CMC distributor or CMC direct. We look forward to meeting your custom requirements. Ask About Other Motion Control Solutions & Capabilities From Torque Systems • Brushless TorqueMaster® Servo Motors • PowerMaster® Amplifiers • Shaft-mounted DataTorque™ Encoders • Gearboxes/Brakes • Expert application engineering • Complete repair & refurbishing services VOLTAGE EQUATION FOR MOTORS Let A = total cycle time in seconds thermal time constant of motors in seconds Let B = “on” time in seconds per cycle thermal time constant of motor in seconds then with TR = Rated torque for 100% duty and TMAX = Rated torque for intermittent duty TMAX = TR x 1 - e-A 1/2 1 - e-B MOTOR TORQUE RATING VS. SPEED 130 - RPM x TF - RPM2 x Fi 1/2 RPM x Fi TR = .94KT RTH 1,350 1,350,000 - TF - 1000 1.5 RA Where: TR = rated torque (25°C ambient)-oz.-in. KT = torque sensitivity-oz.-in./amp RA = armature resistance RPM = revolutions per minute TF = static friction torque-oz.-in. Fi = viscous friction-oz.-in. RTH = thermal resistance To Find: Higher Torque Rating for Intermittent Duty 4000 SERIES ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: