Table of Contents NT Series Motors and Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-17 Feature & Benifets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 Eb Base Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5 Ei Indexing drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-7 Ei-DN DeviceNet-ready . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8 Epsilon Drive Terminals & Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 Drive Specifications and Dimensional . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10 How to Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11 Motor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12 Motor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13-14 NT Motor Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15 Cable & Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16 Operator Interface Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17 Servo Systems Inline Gearboxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18-19 Servo Systems Shaft Coupler Ordering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20 ©Numatics 2009 Rev. 1/09 Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 2 Epsilon Drives Epsilon Compact and Economical The Epsilon Series is the most compact digital servo drive in the Numatics lineup . Designed to fit in cabinets as small as six inches (152mm) deep, with cables attached, Epsilon drives possess rugged quality and reliability . There are three sizes of each Epsilon drive: 2 Amp, 3 Amp and 5 Amp, with the largest drive delivering up to 37 lb-in continuous torque . Each drive contains a 14-segment status display, reset button, removable connectors and utilizes standard “D” type connectors . Features • 90 to 264 VAC 1Ø input power • Up to 37 lb-in continuous torque • Drive options: Base, Indexing, and Indexing with DeviceNet • Easy install, setup and operation • Compact, space saving design, six-inch (152mm) panel depth including cables • Pluggable connectors, Standard D-Shell and Screw Terminals • State-Space Observer Control, which allows 10-1 inertia mismatch out of the box, and 50-1 with tun ing • Free ServoPro software, and upgrades • Programmable, optically-isolated I/O • RS-232/485 serial communication interface using Modbus protocol • 14-segment status and diagnostic display, time-stamping of last 10 faults for easy The Epsilon is available as a base drive, the Epsilon Eb; or as troubleshooting a single-axis positioning drive, the Epsilon Ei . The Epsilon Ei • Field programmable flash memory firmware is also available as DeviceNet-ready drive, the Epsilon Ei-DN . (upgrades are free) • Auto-Tune support for any servo motor with The Epsilon is very easy to commission and program using encoder feedback ServoPro software . This Windows-based programming • 24VDC auxiliary input for logic backup environment makes extensive use of drag and drop editing, tabbed setup screens and hierarchical views . ServoPro is used to select the operating mode and motor, configure I/O, set velocity limits and torque levels, and monitor drive and I/O Status. The Base drive can be configured in seven operating modes: Analog Torque, Analog Velocity, Preset Velocity, Preset Velocity + Analog Velocity, Pulse/Pulse, Pulse/ Direction and Pulse/Quadrature. For positioning, the indexing version is your choice . The indexing drive gives you 16 Indexes with chaining and linking capability, jogging, a multitude of homing routines, and user units . Communication is done via RS-232 or RS-485 Modbus RTU. DeviceNet is available as an option on the indexing model, Ei-DN . The Epsilon is designed to run with Numatics NT motors and can easily be configured for use with any third party motor . Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 3 Epsilon Drives Epsilon Eb Base Drive Operation The Epsilon Series Eb Drive is a compact drive that is ideal for use with single and multi-axis controllers, PLCs and host controllers . The analog torque or velocity modes can be used with classic position controllers using analog outputs and encoder inputs . The pulse mode is ideal for use with low-cost PLC stepper controllers . This drive works in a variety of applications where a host control provides a command signal determining the desired motion profile. The Eb Drive is configurable for seven flexible modes of operation, and the parameters for each mode can be adjusted to tailor the drive to the specific application using Windows-based ServoPro software . Analog Torque Mode Analog Velocity Mode Standard Control Modes Digital Velocity Preset Pulse Mode ± 10 vdc • Pulse/Pulse • Pulse/Direction Digital I/O • Pulse/Quadrature Summation of Analog Velocity and Digital Velocity Features Digital Velocity Preset Analog Velocity/Torque Mode • Programmable I/O • MC • PLC • 5 optically-isolated inputs (1 dedicated) • User Logic • Position Controller • 3 optically-isolated outputs • 1 analog input ±10 VDC, 14 bit • 2 analog output ±10 VDC, 10 bit Digital I/O • Programmable encoder output, Digital I/O (up to 2,048 lines per revolution) • Separate stop and travel limit decel ramps • Torque, Travel, Following Error and Velocity Limits ± 10 vdc • 8 user defined speed presets with individual Summation of Analog Velocity accel/decel rates Pulse Mode and Digital Velocity • 2 Programmable Torque Level Outputs • PLC • PLC • In Motion Velocity Output • Master Axis • User Logic • Software Oscilliscope • Synchronized Encoder • Analog Trim Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 4 Epsilon Drives The operating mode of the drive is simply selected with one click in the Torque Mode ServoPro Detailed Setup tab . In Analog Torque Mode the drive develops a torque com- mand in proportion to the the voltage (±10 VDC) received Pulse Mode in the Analog Input . Note: Analog full scale voltage and In Pulse Mode the drive will receive pulses from a master offest are programmable . source (single-ended or differential), which can be interpret- ed in three ways: • Pulse/Pulse Application Examples Application Examples • Pulse/Direction • PLC pulse commnd outputs • With Position/Velocity Controller • Pulse/Quadrature • Electronic • Tension Control • Stepper drive replacement • Web line ratio control Velocity Mode Analog— In Analog Velocity Mode the drive develops a veloc- ity command in proportion to the voltage (±10 VDC) received on the Analog Input . Note: Analog full scale voltage and offset are programmable. Preset Velocity— In this mode one of up to eight digital veloci- ties can be selected using the digital I/O or Modbus. Each preset has its own accel/decel ramps. Application Examples • Clutch-brake replacement • Phase control with a differential • Automatic feed control for Flexible I/O Functionality machining operations The digital I/O of the drive is completely programmable with the • Spindle speed control ability to map one or more I/O functions to the I/O points. Output Functions Input Functions Velocity Summation— This mode combines the features of Drive OK Stop Analog Velocity and Preset Velocity in one mode. It allows run- At Velocity Reset ning a preset velocity and trimming it with an analog input, or Travel Limits (+) Travel Limit (+) vice versa, allowing advanced applications to be solved simply Travel Limits (-) Travel Limit (-) and elegantly without complex controllers . In Motion (+) Torque Limit Enable Application Examples In Motion (-) Torque Mode Enable • Loop/dancer arm control Power Stage Enabled Velocity Presets • Phase advance/retard Torque Limit Active Brake Release • Speed trimming Velocity Limiting Active Brake Control Fault Application Examples Brake • Loop/dancer arm control Shunt Active • Phase advance/retard Torque Level 1 & 2 Active • Speed trimming Foldback Active Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 5 Epsilon Drives Epsilon Ei Compact Indexing Drive The Epsilon Series Ei (Indexing) Drive offers user units, indexing, homing and jogging, and additional I/O in a package that is the same compact size as the base Epsilon Eb Drive . Operating information is setup via a PC . These setup parameters are easily entered and stored with the use of our feature filled Windows -based ServoPro software . The setup can be downloaded, stored on disk or printed out for documentation . The ease-of-use saves time and money during installation and makes long term support a breeze . User Units Using ServoPro, the Ei is easily programmed. Homes, Jogs and Indexes are set up using units representative of the application . This allows for an easy translation of motor revolutions to rotary, linear or other units . Once the desired user units are entered into Indexing the Units tab, all motion will be based on units specific to the The Epsilon Ei drive is easily programmed to meet a wide application—not arbitrary units requiring conversion . variety of indexing requirements, either using our ServoPro software or with a Modbus Master . Sequencing multiple indexes is possible using the chaining command . Features • 16 indexes —Incremental, Absolute, Registration, Rotary • Programmable I/O Plus, and Rotary Minus index types • 12 optically-isolated inputs • 7 optically-isolated outputs • Parameters for Distance, Velocity, Accel/Decel, Dwell • 16 indexes and Registration to Sensor or Torque Levels • Chaining Options—Counts, Repeat Counts, Repeat • Chaining index capability Forever, Stop, Start Next Index, Wait for Run Next Input • Chain indexes to home Function • Jogging and Homing • 2 jog velocities • Homing • Home to sensor • Home to marker • Home to sensor/marker • Alternate Mode • Analog Velocity • Analog Torque (with Speed Limit) • Pulse Mode • Optional DeviceNet Version—Ei-DN • User Units • Distance • Velocity • Time Scale • Acceleration Jogging The jogging function is comprised of two velocities with separate accel/decel ramps programmed in user units. • Inputs: Jog +, Jog -, Jog Fast • Parameters: Jog Velocity, Jog Fast Velocity, Accel and Decel Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 6 Epsilon Drives Homing The Homing feature set in the Ei is very extensive . The large number of parameters gives the user added flexibility and sim- plifies setting homing functions. • Home to Sensor, Marker, Sensor & Marker • If on home sensor, then back off before homing, or go for ward to next sensor • Home Offset distance relative to sensor/marker • Parameters for Velocity, Accel, Decel, Home Offset, End-of- Home Position and Limit Distance • Chain to Index Number Flexible I/O Functionality The digital I/O of the drive is completely programmable with the ability to map one or more I/O functions to the I/O points Input Functions Output Functions Index Initiate Absolute Position Valid Index Select 0 End of Index Index Select 1 End of Index Motion Index Select 2 End of Index Count Index Select 3 End of Chaining Counts Alternate Mode Run Next Index Registration Limit Distance Hit Alternate mode adds base drive capabilities to the Home Initiate Home Limit Distance Hit simple indexer. Users may acheive motions such as electronic gearing, analog signal following, and analog Home Sensor End of Home torque control using the alternate mode function while Define Home At Velocity retaining the full functionality of a powerful indexing Stop In + Motion drive . Jog + In - Motion Jog - Drive OK • Pulse Mode Jog Fast Fault In Pulse Mode the drive will receive pulses from a Travel Limit + Brake master source (single-ended or differential), which Travel Limit - Travel Limit + can be interpreted three ways: Brake Control Travel Limit - • Pulse/Pulse • Pulse/Direction Brake Release Foldback Active • Pulse/Quadrature Reset Shunt Active • Analog Velocity Mode Registration Sensor 1 Torque Limit Active Registration Sensor 2 Power Stage Enabled • In Analog Velocity Mode, the drive develops a veloc Torque Limit Enable Torque Level 1 Active ity command in proportion to the voltage (±10 VDC) Alternate Mode Enable Torque Level 2 Active received on the Analog Input . Note: Analog full scale Index In Position voltage and offset are programmable . Torque at Max Velocity • Analog Torque Mode In Analog Torque Mode, the drive develops a torque command in proportion to the voltage (±10 VDC) received on the Analog Input . Note: Analog full scale voltage and offset are programmable . Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 7 Epsilon Drives Epsilon Ei-DN DeviceNet-Ready Small size and large functionality makes the Epsilon Ei-DN a natural fit in any DeviceNet related motion application. The Ei-DN retains the same footprint as the Ei and now uses Polled I/O and Explicit Messages to change or initiate any user parameter in the drive via DeviceNet . Choose between any one of four predefined DeviceNet word setups. • Index Select Predefined (Static DeviceNet Word Block, full Ei features) • Index Select Userdefined (Dynamic DeviceNet Word Block, full Ei features) • Index Type (Position Control with Ei functionality) • Position Control (Position Control only) Change the nature of the pre-configured assembly Features blocks by simply changing the mapping of the DN bits . • Supports Explicit Messaging The DN Bits are user defined bits that can have different • Polled (8 bytes in, 8 bytes out)* I/O functions mapped to them. • Access to all Motion Parameters within Polled I/O. ServoPro includes • Up to 63 devices per network the most advanced • Baud Rate (125k, 250k, 500k) and diagnostic interface on the MacID configurable via Servo Pro or market for display of network the “one-touch” reset button data . When online, with Servo • Module and Status LEDs located on Pro, the online DeviceNet the front of the drive tab gives the user a view of • 25 milliamp DeviceNet draw the actual data that is being • Easy 5-wire terminal block for sent and received through the DeviceNet connection DeviceNet network . Watch functions turn on and off over *In and Out refers to PLC Inputs and DeviceNet right in ServoPro . Outputs Look at transmit and receive message counters, check the established connections, even look at the current baud rate, MacID and Master MacID . Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 8 Epsilon Drives Epsilon Drive Terminals and Pinouts Serial (J4) Pin Number Signal Power (J1) 3 RS-232 TX 2 RS-232 RX Terminal Signal 6 Serial +5VDC L1 AC Input L1 5 Serial OV Common L2 AC Input L2 4 RS-485+ PE AC Ground 9 RS-485- Bus + DC Bus + 1 Shield Bus - DC Bus - 7,8 No Connect Motor R Motor Power Brown Wire Motor S Motor Power Black Wire Motor T Motor Power Blue Wire Motor Power Ground A.P.S. + Logic Supply Backup +24VDC DeviceNet (Ei-DN Only) A.P.S. – Logic Supply Backup 0V Common Pin Number Signal 1 V- 2 CAN_L Digital I/O (J3) 3 Drain 4 CAN_H Pin Number Signal 5 V+ 1 Input 1 11 Input 2 2 Input 3 12 Input 4 3 Input 5* Command (J5) 13 Input 6* 4 Input 7* Pin Number Signal 14 Input 8* 15 Analog Command In + 5 Input 9* 14 Analog Command In - 15 Input 10* 8 Encoder Out A 6 Input 11* 9 Encoder Out A/ 16 Input 12* 23 Encoder Out B 10 Drive Enable 24 Encoder Out B/ 19 I/O Supply + 37 Encoder Out Z 20 I/O Supply 0V 38 Encoder Out Z/ 7 Output 1 27 Pulse In A 17 Output 2 41 Pulse In A/ 8 Output 3 26 Pulse In B 18 Output 4* 40 Pulse In B/ 9 Output 5* 25 Pulse In Z 25 Output 6* 39 Pulse In Z/ 26 Output 7* 20 Pulse In A (single ended) 21-24 No Connect 36 Pulse In B (single ended) 16 I/O Input Drive Enable *Indexing Versions Only 1 I/O Input 1 2 I/O Input 2 3 I/O Input 3 Feedback (J7) 4 I/O Input 4 19 I/O Output 1 Pin Number Signal 18 I/O Output 2 1 Motor Encoder A 17 I/O Output 3 10 Motor Encoder A/ 33 I/O Supply + 2 Motor Encoder B 34 I/O Supply + 11 Motor Encoder B/ 31 I/O Supply 0V 3 Motor Encoder Z 32 I/O Supply 0V 12 Motor Encoder Z/ 29 Analog Out 0V 4 Motor Commutation U 43 Analog Out Channel 1 + 13 Motor Commutation U/ 44 Analog Out Channel 2 + 5 Motor Commutation V 11 External Encoder +5VDC Power 14 Motor Commutation V/ 12 External Encoder Common 6 Motor Commutation W 28 +15V Power Out (10 mA) 15 Motor Commutation W/ 6 RS-485 + 7,8 Encoder +5VDC Supply 21 RS-485 - 17 Encoder 0V Common 5, 7, 10, 13, No Connect 9 Motor OverTemp 22, 35, 30 ,42 16,18-26 No Connect Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 9 Epsilon Drives Epsilon Specifications and Dimensions 5.96 0.5 [13] [151.4] 5.39 side clearance for heatsink [136.9] 5.21 A* [132.3] 1.20 1.81 Ø0.22 [30.5] [46.1] 0.20 [Ø5.6] [5.1] 1.04 [26.4] 3.00 [76.2] TIA or CO485 7.75 Cable [196.9] 8.27 7.15 [210.1] [181.6] DDS DDS, Term-H, Term-T EIO Cable 0.19 0.75 [4.8] [19.05] 0.56 B* 1.20 [14.2] [30.5] 3.50 [88.9] Cable Drive Model Dimension A Dimension B Clearance 1.84 1.85 [46.7] [46.9] *-202 2.10 [53.3] .45 [11.4] *-203 2.10 [53.3] .45 [11.4] *-205 3.56 [90.42] .70 [17.78] Regeneration I/O Supply: +10 to 30 VDC Power Requirements Internal Energy Absorption (115V) AC Input Voltage: 1Ø, 90 to 264 VAC, 47 - 63 Hz -202: 41 Joules Environmental (240 VAC for rated performance) -203: 41 Joules Rated Ambient Temperature: 32° to 104°F (0° to -205: 113 Joules 40°C) for rated performance AC Input Current Internal Energy Absorption (230V) -202: 4.3Arms (140A for 2ms inrush) -202: 18 Joules Maximum Ambient Temperature: 32° to 122°F -203: 6.5Arms (140A for 2ms inrush) -203: 18 Joules (0° to 50°C) with power derating of 3.5%/1.8F (1°C) -205: 10.8Arms(140A for 5ms inrush) -205: 48 Joules above 104°F (40°C) Output Continuous Current (RMS) External: Connection to RSR-2 with external resis Rated Altitude: 3280’ (1000m) -202: 1.8Arms tor, 20 Ohm min, 15 Arms, 2kW -203: 3Arms Maximum Altitude: For altitudes >3280’ (1000m) -205: 5Arms Drive Control Inputs derate output by 1%/328’ (100m ) Analog: (1) +/-10VDC, 14 bit, 100kOhm, Differential Output Peak Current (for 4 seconds) Vibration: 10 to 2000 Hz @ 2g -202: 3.6A Analog Max. Input Rating: Differential +/-14 VDC, -203: 6A Each Input with Reference to Analog Ground +/- Humidity: 10 to 95% non-condensing -205: 10A 14VDC Storage Temperature: -13° to 167°F Continuous Output Power Digital: (5) +10 to 30 VDC, 2.8kOhm, Sourcing, (-25° to 75°C) -202: 0.7kW Optically Isolated -203: 1.2kW Ingress Protection: IP-20 -205: 2.0kW Pulse: (1) Differential Rs-422, 2MHz/Channel, 50% Duty Cycle Serial Interface Switching Frequency 20 kHz RS-232/RS-485 Modbus RTU w/ 32-bit extension Single Ended: (1) TTL Schmitt Trigger 1MHz/Chan — 9600 to 19.2 kBaud Logic Supply Internal nel, 50% Duty Cycle Internal RS-232 to RS-485 Converter Auxiliary Logic Supply +18 to 30 VDC @ 0.5A Motor Overtemperature: 0 to +5VDC, 10kOhm, single ended Drive Weight Encoder Supply Output +5 VDC, 250 mA -202: 3.3 lb (1.5 kg) Drive Control Outputs -203: 3.3 lb (1.5 kg) System Efficency 93% Analog: (2) +/-10VDC, 10 bit, Single-ended 20mA -205: 3.7 lb (1.7 kg) Cooling Method Digital: (3) +10 to 30VDC, 150mA, Sourcing Opti DeviceNet (Optional) -202: Convection cally Isolated Power Consumption: 25mA -203: Convection Baud Rateds: 125, 250 and 500kps -205: Convection Pulse: Differential RS-422 and TTL compatible, Node Addresses: 00-63 20mA/Channel Sink or Source Messaging: Explicit and Polled I/O Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 10 NTE Motors & Drives How to Order Use one of the next few pages to configure a basic Epsilon Software is Free! system by selecting one item from each of the four ordering The Numatics ServoPro Programming software is shipped columns, and the fifth column if you are choosing a brake with every product . Software updates are free and can be motor . Items 3 through 5 require cable lengths to be provided . downloaded from our website, as are firmware updates. The basic systems represented on these pages can be customized with a variety of components depending on your Epsilon Options and Accessories needs . A guide to Epsilon Options and Accessories can be Numatics provides a complete array of options and acces- found at the end of this page . sories to complete your system . See accessories section for more information . Select System and Motor 1 Select the Epsilon drive appropriate to the needs of your Brake Relay application and operating environment, either Eb (base), Ei BRM-1 (indexing) or Ei-DN (indexing with DeviceNet support), and the size of drive, 2-Amp, 3-Amp or Breakout Board 5-Amp Epsilon (202, 203 and 205, respectively) . ECI-44, STI-EIO 2 Select a motor for your drive . The system selection matrix Auxillary Logic Supplies for NT motors is found on the next page . MLP-002-00, MLP-005-00 and MLP-010-00 Cable Ordering Options External Shunts/Resistors Motor power, feedback and brake cables are fully shielded RSR-2, ES-20-500, ES-20-1K, ES-20-2K, ES-30-1K, with IP-65 molded connectors and are available in standard ES-30-2K, MS-530-00-000 and custom lengths . For more information on these and other cables, see Cables and Accessories section . AC Line Filters 960307-01 Standard lengths of 15, 25 and 50 feet are available from stock . Non-standard lengths require additional lead time . Synchronization Encoders SCSLD-4, SCSLD-4R When ordering, replace xxx with specified length in feet (i.e. 015 = 15 ft). For applications involving continuous flexing, flex- Operator Interface ible cables are available . OIT 3 Motor power cables CMDS-xxx 16 AWG for 2-3“ motors; connector on motor end, ferrules on drive end 4 Motor Feedback Cables CFCS-xxx Connectors on both ends . 5 Motor Brake Cable CBMS-xxx Required for all motors with brake option; connec- tor on motor end only . Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 11 NTE Motors & Drives Epsilon 120-240V NT Motor Selection The NT motor is a high performance motor utilizing patented technology to maximize torque in a compact package . The NT motor uses powerful Neodymium magnets and manufactured with a segmented core to maximize stator efficiency. The NT motor has a very low inertia for applications that demand high accel and cycle rates . NT motors are available in English (NEMA 23 or 34) flanges, with or without brakes. The standard encoder resolution is 2048 lines per rev. NT motors are supplied with MS style connectors . NT Motor How To Order - - NT X X XX X XN S -NU NT Motor Series Inertia S = Standard Inertia Mounting Flange E = English Feedback Type N = Encoder Frame Size (in inches) 2 Brake Option 3 B = with brake O = without brake Motor Size 07 Connector Type 12 C = MS connectors on motor 20 30 45 For additional motor information see Motors. For additional Cable options see Cable & Accessories page 16. Drive Motor Power Cable - CMDS Motor Motor Brake Cable - CBMS (Brake Motors Only) BRM-1 + Feedback Cable - CFCS Note: NT Motor cable lengths in feet 1 2 3 4 5 Epsilon Servo Drive NT Servo Motor Motor Power Cable Feedback Cable Motor Brake Cable* (*=Eb, Ei or Ei-DN) (xxx=feet) (xxx=feet) (required w/ all brake motors) (xxx=feet) *-202-NU-000 NTE-207-CONS-NU CMDS-xxx CFCS-xxx *-202-NU-000 NTE-207-CBNS-NU CMDS-xxx CFCS-xxx CBMS-xxx *-202-NU-000 NTE-212-CONS-NU CMDS-xxx CFCS-xxx *-202-NU-000 NTE-212-CBNS-NU CMDS-xxx CFCS-xxx CBMS-xxx *-203-NU-000 NTE-212-CONS-NU CMDS-xxx CFCS-xxx *-203-NU-000 NTE-212-CBNS-NU CMDS-xxx CFCS-xxx CBMS-xxx *-205-NU-000 NTE-320-CONS-NU CMDS-xxx CFCS-xxx *-205-NU-000 NTE-320-CBNS-NU CMDS-xxx CFCS-xxx CBMS-xxx *-205-NU-000 NTE-330-CONS-NU CMDS-xxx CFCS-xxx *-205-NU-000 NTE-330-CBNS-NU CMDS-xxx CFCS-xxx CBMS-xxx *-205-NU-000 NTE-345-CONS-NU CMDS-xxx CFCS-xxx *-205-NU-000 NTE-345-CBNS-NU CMDS-xxx CFCS-xxx CBMS-xxx Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 12 NTE Motors Epsilon-NT Motor Specifications Drive Model Motor Cont.Stall Peak Stall Rated Torque Rated Max.* Encoder Inertia Motor Ke Motor Kt Motor (*=Eb,Ei or Model Torque Torque @Rated Power Operating Resolution lb-in-sec2 Vrms/krpm lb-in/Arms Weight EI-DN) lb-in lb-in Speed* lb-in HP Speed lines/rev kg-cm2 Nm/Arms lb NM Nm Nm KWatts RPM kg *-202 NT-207 7.3 15.2 6 0.48 5000 2048 0.000094 35 5.12 3 0.83 1.72 0.68 0.36 0.106 0.58 1.36 *-202 NT-212 8.7 17 8.4 0.71 5000 2048 0.000164 35 5.12 4 .98 1.92 0.95 0.53 0.185 0.58 1.82 *-203 NT-212 12.5 27 11.8 0.75 5000 2048 0.000164 35 5.12 4 1.4 3.05 1.3 0.56 0.185 0.58 1.82 *-205 NT-320 19 29 18.8 1.19 4000 2048 0.000328 29 3.50 6 2.1 3.28 2.1 0.89 0.370 0.40 8.55 *-205 NT-330 26 44 26 1.24 4000 2048 0.000438 36 5.04 7.3 2.9 4.97 2.9 0.92 0.494 0.57 3.31 *-205 NT-345 37 65 36 1.71 3000 2048 0.000668 50 7.13 10 4.2 7.34 4.1 1.28 0.754 0.81 4.54 * Rated Speed = Maximum Operating Speed Epsilon-NT Motor Speed Torque Curves * Epsilon Drive: Epsilon Eb (base), Epsilon Ei (indexing), or Epsilon Ei-DN (indexing with DeviceNet support). NT-207 with *-202 NT-212 with *-202 NT-212 with *-203 5000 5000 5000 4000 4000 4000 3000 3000 3000 2000 2000 2000 1000 1000 1000 0 0 0 lb-in 2 4 6 8 10 12 14 16 lb-in 2 4 6 8 10 12 14 16 18 lb-in 5 10 15 20 25 30 0.23 0.45 0.68 0.90 1.13 1.36 1.58 1.81 0.23 0.45 0.68 0.90 1.13 1.36 1.58 1.81 2.03 0.57 1.13 1.70 2.26 2.83 3.392 Nm Nm Nm Torque Torque Torque NT-320 with *-205 NT-330 with *-205 NT-345 with *-205 4000 4000 3000 3000 3000 2000 2000 2000 1000 1000 1000 0 0 0 lb-in 5 10 15 20 25 30 lb-in 5 10 15 20 25 30 35 40 45 lb-in 10 20 30 40 50 60 70 0.57 1.13 1.70 2.26 2.83 3.392 0.57 1.13 1.70 2.26 2.83 3.39 3.96 4.52 5.09 1.13 2.26 3.39 4.52 5.65 6.78 7.92 Nm Nm Nm Torque Torque Torque Legend Performance Specifications 120V Curve Voltage: 240 VAC Drive Frequency: 20kHz Continuous Torque Ambient Temperature: 25°C (77°F) Case Temerature: 100°C (212°F) Peak Torque All performance data listed above has a +/-10% tolerance and is subject to change at any time without notice. For more detailed information on perfor- mance data and test conditions please refer to the motor section of the catalog. For brake motor information, complete motor specifications and dimensions please refer to our motor section. Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 13 Speed (RPM) Speed (RPM) Speed (RPM) Speed (RPM) Speed (RPM) Speed (RPM) NTE Motors Servomotors NT NT Motor—240V The NT Motor is an economical, high performance motor manufactured with patented technology to maximize torque and minimize size . The NT motor uses powerful Neodymium magnets and is manufactured with a segmented core to maximize stator efficiency and further reduce size. The NT motor has a very low inertia for applications that demand high accel and cycle rates . When used with the Epsilon Drives the NT line produces from 7lb-in (0 .79Nm) to 37lb-in (4 .1Nm) of continuous torque . NT motors are available in English (NEMA 23 or 34) flanges, with or without brakes. The standard encoder resolution is 2048 lines per rev . NT motors are supplied with MS style connectors . All motors are rated IP65 . NT Motor Specifications Cont.Stall Peak Motor Motor Max.* Encoder Inertia Motor Motor Kit Motor Weight 2 Motor Current Current Resistance Inductance Operating Resolution lb-in-sec Ke Vrms/ lb-in/Arms lb Model Arms Arms Ohms mH Speed RPM lines/rev kg-cm2 krpm Nm/Arms kg 0.000094 5.12 3 NT-207 1.7 3.6 11.1 39.1 5000 2048 35 0.106 0.58 1.36 0.000164 5.12 4 NT-212 2.7 6 4.56 18.9 5000 2048 35 0.185 0.58 1.82 0.000328 3.50 6 NT-320 5.4 16.2 1.5 16.0 4000 2048 29 0.370 0.40 2.72 0.000438 5.04 7.3 NT-330 6.25 18.38 1.2 15.0 4000 2048 36 0.494 0.57 3.31 0.000668 7.13 10 NT-345 6.59 19.8 1.3 17.0 3000 2048 50 0.754 0.81 4.54 NT Holding Brake Specifications Motor Volt Current Static Torque Mechanical Mechanical Engagement Added Inertia Frame (DC) (A) lb-in (Nm) Disengagement Time-Brake Holding (ms) lb-in-sec2 (kg-cm2) Size Time-Brake Released (ms) 2" 24 0.33 20 2.26 28 14 0.000106 0.12 3" 24 0.65 88.5 10 43 13 0.000968 1.093 Motor Model NT AC Supply Voltage 240 Frame 2", 3" Flange NEMA Continuous Torque Up to 37 lb-in (4.1Nm) Peak Torque Up to 65 lb-in (7.3Nm) Rated Torque/Speed Up to 37 lb-in (4.1Nm) Standard Rated Speeds 5000, 4000, 3000 RPM Brake Optional Connectorized Standard Inertia Very Low Encoder Resolution 2048 lines/rev Insulation Class Class F, EN 60034-1, IEC 664-1 Temperature Thermostat, 155° switch Ingress Protection IP65 Approvals CE, UL Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 14 MOTOR CONN: PT02E-16-8P MATING CONN: PT06E-16-8S (-TONS and -TBNS) FLYING LEAD LENGTH: 39.37±2.00 [1000±50.8] (-LONS and -TONS) (-LBNS and TBNS) ENCODER CONN: PT02E-16-23P MATING CONN: PT06E-16-23S (-TONS and -TBNS) FLYING LEAD LENGTH: BRAKE CONN: PT02E-8-3P 39.37±2.00 [1000±50.8] MATING CONN: PT06E-8-3S (-LBNS and -TBNS) (-TBNS) J NTE Motors MOTOR CONN: PT01E-16-8P MATING CONN: PT06E-16-8S (-TONS and -TBNS) FLYING LEAD LENGTH: NT Motor Dimensions 39.37±2.00 [1000±50.8] FLYING LEAD LENGTH: (-LONS and -TONS) Motor Power CABLE ENCODER CONN: PT01E-16-23S (-LBNS and -TBNS) 3.937±2.00 [1000±50.8] 2" MATING CONN: PT06E-16-23S 3" English Dimensions ALSO AVAILABLE IN (-TONS and -TBNS) 5 FT, 10 FT, 15 FT & 20 FT LENGTHS CONSULT FACTOR NTE-207 Y NTE-212 NTE-320 NTE-330 NTE-345 MOTOR POWER CABLE IS BLUNT ENDED (NOT CONNECTOR- A Length Overall - CONS (Max) 5.55 (141) 6.55 (166.4) 5.218 (132.5) 5.818 (147.8) 7.018 (178.26) IZED) FLYING LEAD LENGTH: FEEDBACK CABLE A Length Overall - CBNS (Max) 6.95 (176.4) 7.95 (201.8) 7.24 (184) 7.84 (199.2) 9.043 (229.7) 3.937±2.00 [1000±50.8] BRAKE CONN: PTO1E-8-3P FLYING LEAD LENGTH: ENCODER CONN: HD-26 PIN D-SUB ALSO AVAILABLE IN MATING CONN: PTO6E-8-3S B Flange Square 2.27 (57.66) 2.27 (57.66) 3.42 (86.87) 3.42 (86.87) 3.42 (86.87) 5 FT, 10 FT, 15 FT & 20 FT LENGTHS 39.37±2.00 [1000±50.8] MATES TO FEEDBACK CONNECTOR ON EN DRIVE (-LBNS and -TBNS) CONSULT FACTORY (-LBNS and -TBNS) C Flange Thickness 0.3 (7.49) 0.3 (7.49) 0.3 (7.62) 0.3 (7.62) 0.3 (7.62) FLYING LEAD LENGTH: BRAKE CABLE I D Pilot Diameter 1.5 (38.1) 1.5 (38.1) 2.875 (73.03) 2.875 (73.03) 2.875 (73.03) 3.937±2.00 [1000±50.8] ALSO AVAILABLE IN BRAKE CABLE IS BLUNT ENDED (NOT CONNECTORIZED) E 5 FT, 10 FT Pilot thickness , 15 FT & 20 FT LENGTHS 0.1 (2.54) 0.1 (2.54) 0.1 (2.54) 0.1 (2.54) 0.1 (2.54) 2.50 [63.5] CONSULT FACTORY K (MIN). MAX F Bolt Hole Diameter 0.205 (5.21) 0.205 (5.21) 0.22 (5.59) 0.22 (5.59) 0.22 (5.59) J I G Bolt Circle Diameter 2.625 (66.68) 2.625 (66.68) 3.875 (98.43) 3.875 (98.43) 3.875 (98.43) 1.780 [45.21] MAX K (MIN) H Signal Connector Height - CONS (Max) 1.925 (48.89) 1.925 (48.89) 2.45 (62.24) 2.45 (62.24) 2.45 (62.24) H Signal Connector Height - CBNS (Max) 1.98 (50.4) 1.98 (50.4) 2.56 (65) 2.56 (65) 2.56 (65) J I Shaft Length 1.2 (30.7) 1.2 (30.7) 1.2 (30.7) 1.2 (30.7) 1.2 (30.7) E C J Shaft Diameter 0.375 (9.525) 0.375 (9.525) 0.5 (12.7) 0.5 (12.7) 0.5 (12.7) A .160 [4.06] E Shaft key Dimensions FLYING LEAD LENGTH: C MOTOR POWER CABLE K Keyway Length (Min) 0.7 (17.78) A 0.7 (17.78) 0.84 (21.34) 0.84 (21.34) 0.84 (21.34) 39.37±2.00 [1000±50.8] ALSO AVAILABLE IN 5 FT, 10 FT, 15 FT & 20 FT LENGTHS L Keyway Depth 0.079 (2.007) 0.079 (2.007) 0.077 (1.96) 0.077 (1.96) 0.077 (1.96) CONSULT FACTORY MOTOR POWER CABLE IS BLUNT ENDED (NOT CONNECTORIZED) FLYING LEAD LENGTH: M Keyway Width 0.126 (3.2) 0.126 (3.2) 0.127 (3.23) 0.127 (3.23) 0.127 (3.23) FEEDBACK CABLE 39.37±2.00 [1000±50.8] ALSO AVAILABLE IN 5 FT, 10 FT, 15 FT & 20 FT LENGTHS ENCODER CONN: HD-26 PIN D-SUB CONSULT FACTORY MATES TO FEEDBACK CONNECTOR ON EN DRIVE 2" NTE Motor ENCODER CONN: PT02E-16-23P FLYING LEAD LENGTH: MATING CONN: PT06E-16-23S (-CONS and -CBNS) BRAKE CABLE 39.37±2.00 [1000±50.8] BRAKE CONN: PT02E-8-3P ALSO AVAILABLE IN MATING CONN: PT06E-8-3S (-CBNS) BRAKE CABLE IS BLUNT ENDED (NOT CONNECTORIZED) 5 FT, 10 FT, 15 FT & 20 FT LENGTHS MOTOR CONN: PT02E-16-8P CONSULT FACTORY MATING CONN: PT06E-16-8S (-CONS and -CBNS) I 1.98 [50.39] MAX 2.50 [63.5] MAX K (MIN.) J J A E C A 3" NTE Motor MOTOR CONN: PT02E-16-8P MATING CONN:PT06E-16-8S (-CONS and -CBNS) BRAKE CONN: PT02E-8-3P ENCODER CONN: PT02E-16-23P MATING CONN: PT06E-8-3S MATING CONN: PT06E-16-23S (-CBNS) (-CONS and -CBNS) The dimensional information found on these pages is not to be used I for design purposes . For complete DRILLED THRU F (4) EQUALLY SPACED ON G engineering controlled drawings, 2.559 [65.01] MAX. K (MIN) please refer to numatics .com . 45° J L D M E B SQ. (MAX) C A Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 15 Servo cables & Accessories Cables-Accessories Brake Relay BRM-1 to NT Numatics builds its cables to the highest standards . Drives are BRM-1 engineered so that connections are easily accessible and, in many cases, no wiring is involved, simply plug and play . Command Cables CMDX Brake relay module, 24V 1 contact, 6 amp, DIN rail mounting. Epsilon Interface Terminals -003, -005, -015 STI-EIO Command cable; 18 pair; DB44M straight connectors on both ends . Epsilon CDRO Screw Terminal Interface, breakout board plugs directly into Epsilon drive I/O connector (J3", 13 input and 7 output lines are labeled and LEDs for easy field wiring and troubleshooting. Epsilon -005, -010 .-015 Command cable to position controller; 13 pair; 45° angle ECI-44 connector at drive (DB44M; pigtails on other end for screw terminals . Epsilon, MDS to Position Controller, PLC Standard Power Cables (NT) CMDS External connection interface terminal strip; provides a conve- nient field wire screw terminal strip for all connections available on the drive’s command connector. Requires a CMDX to con- nect to the drive . Includes labeled terminals and provisions for -015, -025, -050 DIN rail mounting . 16 AWG for 2” and 3” motors, connector on motor end, ferrules Epsilon on drive end . Fully shielded with IP-65 molded connector . Epsilon, NT External Shunts/Resistors Standard Feedback Cables ES-20-500 CFCS 20 Ohm, 0 .5kW Epsilon ES-20-1K 20 Ohm, 1kW -015, -025, -050 Epsilon Motor feedback cable, connector both ends . ES-20-2K Epsilon, NT 20 Ohm, 2kW Epsilon CFOS ES-30-1K 30 Ohm, 1kW Epsilon -015, -025, -050 ES-30-2K Motor feedback cable, connector at motor only . 30 Ohm, 2kW NT Epsilon Standard Brake Cable RSR-2 CBMS 2kW regeneration shunt regulator, 120-230 VAC, stackable. One RSR-2 with an appropriately -015, -025, -050 sized shunt resistor can Motor brake cable, molded standard duty, connector at motor increase the regenera- only . tion capacity of a drive to 2kW . Epsilon See page 11 for How To Order Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 16 Operator Interface Panel OIT-3165 The OIT-3165 is a low cost operator interface panel that gives users access to many of the parameters in the Epsilon family. The small size of the OIT-3165 allows it to fit into any panel. It features a 24-key keypad with user-definable keys and a slide-in legend. The user-definable keys allow you to configure the operator interface terminal with the exact keys that your application requires and to arrange those keys in any order . The slide-in legend allows you to label the keys with any combination of text, graphics and colors . The unit also features a bright 2 line x 20 character backlit LCD display . The OIT-3165 is CE rated, and is sealed to NEMA 4/12 when panel mounted . The OIT-3165 communicates via the Epsilon Modbus RTU driver . The OIT-3165 supports bit variables as well as 16-bit and 32-bit integers . Mechanical Material: How to order Aluminum enclosure, polyester keypad overlay . Mounting: To order a complete OIT System requires the Interface unit Panel Weight: 1 pound .45kg and OIT configuration software models listed below, plus the appropriate interface cabling depending on your application . Communication: One RS-232/RS-422/RS-485 serial port; used for both OIT OIT3165-A00 configuration from a personal computer and for communication Operator Interface Panel 2 line x 20 character LCD display, 24 with the target device . key keypd Features Catalog Number Height Width Depth • 2 Line x 20 character high contrast display OIT-3165 4.0 (101.5) 6.0 (152.4) 1.76 (44.7) • 24 user-programmable keys • Easy to use, Window-based OITware-200 configuration software • Predefined function key types OITware-200 • Supports 32 bit Modbus RTU Window configuration software for OIT panel • Up to 500 screens available • Simple recipe configuration OIT-EN-485-xxx From OIT to Drive 9pin D-sub male to RJ-45. Connects Epsilon to OIT-3165 (RS485) Specifications Power Supply User supplied 12-30 VDC power OIT-PC-232-xxx Programming supply (2 .5W) 9pin D-sub male to RJ-45. Connects PC to OIT-3165 (RS232), and used for programming the OIT . Protocols Modbus RTU D9P-D9P Environmental 9pin D-sub male to RJ-45 male adapter to interface the OIT- Protection NEMA 4/12, IP65 PC-232 to Epsilon Drive . Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 17 Servo Systems Inline Gearboxes T1 L4 L6 L3 É”D5 L7 ØD1 ØD2 ØD3 ØD4 L5 L2 L1 L8 NEMA Series NEMA 23 NEMA 34 NEMA 42 mm (in) mm (in) mm (in) L1 1-STAGE* 111 (4.37) 147 (5.79) 185 (7.28) L1 2-STAGE* 133 ((5.24) 180 (7.09) 225.5 (8.88) L1 3-STAGE* 155 (6.10) 213 (8.39) 266 (10.47) L2 25.4 (1.00) 31.8 (1.25) 38.1 (1.50) L3 19 (0.75) 27 (1.06) 29 (1.14) L4 1.6 (0.06) 1.7 (0.07) 2.4 (0.09) L5 5 (0.20) 10 (0.39) 13 (0.51) L6 - (-) 3.2 (0.125) 4.8 (0.1875) L7 - (-) 14.3 (0.5625) 18.26 (0.7188) L8 65 (2.56) 90 (3.54) 120 (4.72) D1max 11 (0.43) 19 (0.75) 24 (0.94) D2 9.252 (0.375) 12.7 (0.500) 15.875 (0.625) D3 38.1 (1.500) 73 (2.875) 55.55 (2.185) D4 66.7 (2.625) 98.4 (3.875) 125.7 (4.95) D5 5 (0.20) 5.5 (0.22) 7.1 (0.28) T1* 23 (0.91) 30 (1.18) 40 (1.57) *Value can vary depending on the motor How to Order GH I Gear Ratio Motor Frame Size Minimum 3 to 1 23 = Nema 23 5:1, 7:1, 34 = Nema 34 10:1, 20:1, 42 = Nema 42 50:1, 75:1, Maximum 1000:1 Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 18 Servo Systems NEMA Series NEMA 23 NEMA 34 NEMA 42 Rating Symbol Unit Ratio i=3 18 40 100 (159) (354) (885) 18 54 120 i=4,5,7 (159) (478) (1062) Nominal Nm 14 40 104 T2n i=10 Output Torque (lb-in) (124) (354) (920) i=100,1000 16 60 120 (142) (531) (1062) i=all other 18 60 120 ratios (159) (531) (1062) Maximum Nm 18 60 120 T2n Output Torque (lb-in) (159) (531) (1062) Max. Input n1n RPM 6000 5000 5000 Speed Nominal Input n1n RPM 3000 3000 3000 Speed 1- stage < 10 < 10 <10 Standard j arcmin 2-stage < 15 < 15 < 15 Output Backlash 3- stage < 20 < 20 <20 1 2.3 5.8 1- stage (2.2) (5) (13) kg 1.3 3.1 7.9 Weight m 2- stage (lb) (2.9) (7) (17) 1.6 3.9 10 3- stage (3.5) (9) (22) 0.176 0.542 2.54 i=3 (0.06) (0.18) (0.9) 0.159 0.424 1.76 i=4 (0.05) (0.14) (0.6) 0.15 0.379 1.48 j kgcm2 i=5 1 Mass Moment (0.05) (0.13) (0.5) (lb-in2) of Inertia 0.138 0.332 1.14 i=7,10 (0.05) (0.11) (0.4) 0.156 0.407 1.51 i=12-35 (0.05) (0.14) (0.5) 0.136 0.327 1.07 i=40-1000 (0.05) (0.11) (0.4) Ratios Available 1-stage: 3/4/5/7/10 2-stage: 12/16/20/25/35/40/50/70/100 3-stage: 120/160/200/250/350/490/700/1000 Efficiency at Maximum Loading 1-stage:90% 2-stage: 85% 3-stage: 80% Service Life >20,000 hours Operating Temperature Range -20°C to 90°C Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 19 Servo Systems Shaft Coupler Ordering 1.71 Product NEMA 23* NEMA 34** NEMA 42 All 23 frame BDU’s BSG106 SCP10623* SCP10634 — and BSG’s, BSG 106 BSG150 SCP15023* SCP15034 — 1.08 and BSG 150 with BSG200 — SCP20034 SCP20042 34 frame motor BDU50 SCP5023* SCP5034 — BDU55 SCP5523 SCP5534 — 1/4-20 SET SCREW BDU75 — SCP7534 SCP7542 2 PLACES BDU90 — SCP9034 SCP9042 BDU100 — SCP10034 SCP10042 1.98 *NOTE: Add suffix “A” for all NEMA 23, 3 Stack Motors All 34 and 42 frame Example: SCP5023A BDU’s, BSG 20034 1.36 ** Add suffix “B” for LTS 342 and 344 motors and BSG 20042 1/4-20 SET SCREW 2 PLACES Accessory Items RS232 Programming Cable for NSMC Controller and NSDP6C Motor Drive Controller Part Number PC232 10 foot length RS232 Programming Cable for SAC300-8A Part Number PCS232 5 foot length RS232 to RS485 Converter Part Number C232-485 Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 20 Epsilon Drives XV Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 22 Epsilon Drives Specifications Combination Specific Motor Data Drive Motor Cont. Stall Peak Stall Rated Torque Rated Max Encoder Inertia Motor Ke Motor Kt Motor 2 Model Model Torque Torque at Rated Power Operating Resolution (lb-in-sec )/ (Vrms/ (lb-in/Arms)/ Weight 2 (lb-in/Nm) (lb-in/Nm) Speed (lb-in/ (HP/kW) Speed (Lines Per (kg-cm ) krpm) (Nm/Arms) (lb/kg) Nm)@RPM Rev) *-202 XV-606 5.7/.64 12.6/1.42 5.7/.64 .27/.202 5000 2048 0.000161/0.182 29.2 3.717/0.42 2.4/1.11 *-203 XV-6011 11.24/1.27 23.3/2.64 11.24/1.27 .54/.399 5000 2048 0.000284/0.321 29.5 4.071/0.46 3.5/1.63 *-205 XV-8022 22.6/2.55 46.8/5.29 22.6/2.55 1.08/.802 5000 2048 0.001335/1.509 35.6 5.0445/0.57 6.9/3.15 *-205 XV-13051 50.7/5.73 122.2/13.8 50.7/5.73 .8/.6 2000 2048 0.010611/11.99 85.8 12.567/1.42 15.8/7.2 * = Eb, Ei or Ei-DN E-203 with XV-6011 E-202 with XV-606 5000 5000 4000 4000 3000 3000 2000 2000 1000 1000 0 0 05 10 15 20 25 02 4 68 10 12 14 E-205 with XV-8022 E-205 with XV-13051 5000 2000 4000 1500 3000 1000 2000 500 1000 0 0 01020 30 40 50 0 20 40 60 80 100 120 140 Legend Continuous (lb-in) Peak (lb-in) Information subject to change without notice. For ordering information or regarding your local sales office visit www.numatics.com. 23 Speed (RPM) Speed (RPM) Speed (RPM) Speed (RPM) WORLD HEADQUARTERS USA Numatics, Incorporated 46280 Dylan Drive Novi, Michigan 48377 P: 1-888-Numatics 1-888-686-2842 Canada Numatics, Ltd P: 519-452-1777 Mexico Numatics de Mexico S.A. de C.V. P: 52-222-284-6176 For a comprehensive listing of all Numatics production and distribution facilities worldwide, visit: www.numatics.com © Numatics Inc. 2008 LT-G3Catalog 1.0 10M-TGI-12/08