kollmorgen goldline® ddr kollmorgen goldline® ddr - Robotic ...

Introduction to Danaher MotionKollmorgenKollmorgen GOLDLINE ® DDRNew Name, Established BrandsDanaher Motion’s wide range of motion control systems andcomponents offer customers an unprecedented choice in selectingthe right solution to match their particular application requirements.Our product innovations have been improving the efficiency andproductivity of complex manufacturing operations for over 60 yearsthrough trusted brand names such as Dover, Kollmorgen, PacificScientific, Portescap and Thomson in industries as diverse assemiconductor, aerospace and defense, mobile-off-highway,packaging, medical and robotics.Our growing family of leading motion control products andapplication expertise tells only half the story. With a worldwideservice and support infrastructure, our field service engineers andsupport teams are available to assist whenever they are needed.It is part of Danaher Corporation’s unrelenting focus on its customer.That’s why more and more design engineers are turning toDanaher Motion to meet their motion control requirements.In addition, Danaher Motion, through Motion Engineering (MEI),offers powerful integrated motion control solutions with its industryleading,multi-axis motion platforms and SynqNet“ communicationsnetwork for ultra-reliable machine performance. From software andcontroller, through the communications network to drives and I/Odevices, to mechanical and electro-mechanical products, DanaherMotion differentiates itself in the marketplace by designing standardand custom solutions to satisfy the most demanding applicationrequirements.Danaher Motion ValuesApplication ExpertiseBroad & Innovative Motion Control Products and SystemsCustomer FocusCustomizable Products and ServicesMotion Control Pioneers with Global Staying PowerOperational ExcellenceDANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.2Tel: 540 633 • 3400 Web site : www.DanaherMotion.com

The DDR (Direct Drive Rotary) StoryKollmorgenKollmorgen GOLDLINE ® DDRWhat is direct drive? Very simply it is the direct coupling of the torque motor(such as the Kollmorgen GOLDLINE® DDR motor) to the driven load. Thisconfiguration results in a very stiff coupling to the load, thus, eliminatingproblems associated with belts and gearboxes.The DDR Benefits:• ZERO maintenance• No belts/pulleys, no belt adjustment/replacement• No gearboxes, no lubrication required• Zero backlash and compliance• Flat, compact drive solution• One part number for mechanical drive motor(clean mechanical assembly)• Very quiet• Hollow shaftKollmorgen Large Diameter Torque MotorsThis technology has been refined into the Kollmorgen GOLDLINE DDR productline for easy installation and use and is available at short leadtimes.Kollmorgen: The DDR BirthplaceIn the early 1950’s Kollmorgen Inland Motor, in cooperation with MIT, developedthe original torque motor. This brush DC motor was used on stabilized platformsfor inertial guidance systems. The large diameter, thin ring design was ideal forthis light weight, high torque application. Over the years Kollmorgen hasdesigned torque motors for applications from missiles and tank turrets tomachine tools, injection molding machines, and semiconductor processingmachines. Our product range covers from oz-in of torque to over 20,000 N-m oftorque and over 10 feet in diameter.Kollmorgen’s 50 years of electromagnetic and electromechanical designexpertise is packed into the Kollmorgen brushless GOLDLINE DDR product line.We achieve very high torque density through both large diameter, short length,and high number of magnetic poles. Couple this with a very high resolutionfeedback device (up to 2,097,152 counts per revolution) and the KollmorgenGOLDLINE DDR becomes a high performance, zero maintenance, servo solution.Kollmorgen RBE Frameless Torque MotorsThe Kollmorgen GOLDLINE DDR is the latest in a series of product innovationsfrom the worldwide leader in DDR motor products....Kollmorgen.Kollmorgen GOLDLINE DDR Housed Torque MotorsDANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.4Tel: 540 633 • 3400 Web site : www.DanaherMotion.com

Kollmorgen GOLDLINE ® DDRKollmorgenApplications for DDR productsApplication Problem Solution BenefitsDDRBelt/pulley• Zero maintenance• No belt adjustment/replacement• No belt compliance• Better servo performance• Clean mechanical assembly• Flat profile• Quiet• Reduced number of parts• Hollow shaftMotorGearboxDDRGearmotors/right angle/in-line• Zero maintenance• No gearbox lubrication• No gearbox backlash• Better servo performance• Flat Profile• Quiet• Hollow shaftMotorDDRLarge Vertical Wheel• Zero maintenance• No belt adjustment/replacement• No belt compliance• Better servo performance• Faster index times• Clean mechanical assembly• Quiet• Reduced number of parts• Hollow shaftDDRRotary Indexer• Zero maintenance• No gearbox lubrication• No gearbox backlash• Better servo performance• Quiet• Reduced number of parts• Hollow shaftDANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.Tel : 540 633 • 3400 Web site : www.DanaherMotion.com 5

Performance Data – D06x FrameKollmorgenKollmorgen GOLDLINE ® DDR115 and 230 VACSystem Performance: Symbols Units D061A/D061M D062A/D062M D063A/D063MPeak Torque Tp lb-ft 12.5 24.2 38.0N-m 16.9 32.8 51.5Tc lb-ft 3.9 7.2 13.1Sine EncoderContinuous (1)N-m 5.3 9.8 17.7Torque 40°CTc lb-ft 4.3 8.0 14.5ResolverN-m 5.8 10.8 19.7Max. Operating Speed N max rpm 500/400 500/400 500/300230/115 V Single Phase rps 8.3/6.7 8.3/6.7 8.3/5.0Resolution – counts/rev 2,097,152 2,097,152 2,097,152Sine EncoderRepeatability – arc/sec ± 0.62 ± 0.62 ± 0.62SystemAccuracy arc/sec ± 26 ± 26 ± 26Resolution (3) – counts/rev 524,288 524,288 524,288ResolverRepeatability – arc/sec ± 2.48 ± 2.48 ± 2.48SystemAccuracy arc/sec ± 270 ± 270 ± 270Mechanical:Weight Wt lb 20.8 25.0 30.5kg 9.4 11.3 13.8Rotor Inertia Jm lb-ft-sec 2 0.0045 0.0052 0.0064kg-m 2 0.0061 0.0071 0.0086Static Friction adder Tf lb-ft 1.8 1.8 1.8for sealed units N-m 2.4 2.4 2.4Max. Dynamic Axial Compression – lbf 4,500 4,500 4,500Load (See page 20 for details) kg 2,040 2,040 2,040SYSTEM: D061A/D061M with SERVOSTAR CR06/CB06600 10SPEED (RPM)500400300200ContinuousDuty Zone115V LimitIntermittentDuty Zone230V Limit9876543SPEED (RPS)Notes:➀ For 25 0 C ambient , multiply Tc by 1.06.➁ Curves for 230V applicable to single or three phase input power.➂ Drive resolver-to-digital converter and encoder equivalent outputlimits max resolution to 524,288 counts per rev up to 187 rpm, and131,072 counts per rev above 187 rpm.➃ As with any Kollmorgen product, if there are any questions regardingthis information or application of this product, please consultCustomer Support and we will be glad to assist you.1002100 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 lb-ftTORQUE0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 N-mSYSTEM: D062A/D062M with SERVOSTAR CR06/CB0660010SYSTEM: D063A/D063M with SERVOSTAR CR06/CB0660010500400115V Limit230V Limit987500400230V Limit987SPEED (RPM)300200100ContinuousDuty ZoneIntermittentDuty Zone654321SPEED (RPS)SPEED (RPM)300200100ContinuousDuty Zone115V LimitIntermittentDuty Zone654321SPEED (RPS)TORQUE00 5 10 15 20 25 30350 4 8 12 16 20 24 28 32 36 4044 48lb-ftN-m00 5 10 15 20 25 30 35 40 45 50 lb-ftTORQUE0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 N-mDANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.8Tel: 540 633 • 3400 Web site : www.DanaherMotion.com

Kollmorgen GOLDLINE ® DDRKollmorgenPerformance Data – D08x Frame115 and 230 VACSystem Performance: Symbols Units D081A/D081M D082A/D082M D083A/D083MPeak Torque Tp lb-ft 32.0 68.0 118N-m 43.4 92.2 160Tc lb-ft 11.7 19.1 37.2Sine EncoderContinuous (1)N-m 15.9 25.9 50.4Torque 40°CTc lb-ft 13.0 21.2 41.3ResolverN-m 17.6 28.7 56.0Max. Operating Speed N max rpm 500/250 300/NA 250/NA230/115 V Single Phase rps 8.3/4.2 5.0/NA 4.2/NAResolution – counts/rev 2,097,152 2,097,152 2,097,152Sine EncoderRepeatability – arc/sec ± 0.62 ± 0.62 ± 0.62SystemAccuracy arc/sec ± 26 ± 26 ± 26Resolution (3) – counts/rev 786,432 786,432 786,432ResolverRepeatability – arc/sec ± 1.65 ± 1.65 ± 1.65SystemAccuracy arc/sec ± 140 ± 140 ± 140Mechanical:Weight Wt lb 39.5 47.5 63.6kg 17.9 21.5 28.8Rotor Inertia Jm lb-ft-sec 2 0.0106 0.0143 0.0222kg-m 2 0.0144 0.0194 0.0301Static Friction adder Tf lb-ft 2.0 2.0 2.0for sealed units N-m 2.7 2.7 2.7Max. Dynamic Axial Compression – lbf 7,400 7,400 7,400Load (See page 20 for details) kg 3,360 3,360 3,360SYSTEM: D081A/D081M with SERVOSTAR CR06/CB0660010SPEED (RPM)500400300200100ContinuousDuty Zone115V LimitIntermittentDuty Zone230V Limit987654321SPEED (RPS)Notes:➀ For 25 0 C ambient, multiply Tc by 1.06.➁ Curves for 230V applicable to single or three phase input power.➂ Drive resolver-to-digital converter and encoder equivalent output limitsmax resolution to 786,532 counts per rev up to 125 rpm, and196,608 counts per rev above 125 rpm.➃ As with any Kollmorgen product, if there are any questions regardingthis information or application of this product, please consultCustomer Support and we will be glad to assist you.005 10 15 20 25 30 35 40 lb-ftTORQUE0 5 10 15 20 25 30 35 40 45 50 55 N-mSYSTEM: D082A/D082M with SERVOSTAR CR06/CB06SPEED (RPM)35030025020015010050ContinuousDuty ZoneIntermittentDuty Zone230V Limit54321SPEED (RPS)SYSTEM: D083A/D083M with SERVOSTAR CR06/CB06SPEED (RPM)30025020015010050ContinuousDuty ZoneIntermittentDuty Zone230V Limit54321SPEED (RPS)00TORQUE010 20 30 40 5060 70 lb-ft10 20 30 40 50 60 70 80 90 100 N-m00TORQUE010 20 30 40 50 60 70 80 90 100 110 12010 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 N-mlb-ftDANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.Tel : 540 633 • 3400 Web site : www.DanaherMotion.com 9

Performance Data – D10x FrameKollmorgenKollmorgen GOLDLINE ® DDR230 VACSystem Performance: Symbols Units D101A/D101M D102A/D102M D103A/D103MPeak Torque Tp lb-ft 95.0 155 225N-m 129 210 305Tc lb-ft 25.5 46.8 85.0Sine EncoderContinuous (1)N-m 34.6 63.4 115.3Torque 40°CTc lb-ft 30.0 55.0 100ResolverN-m 40.7 74.6 136Max. Operating Speed 230V N max rpm 300 200 120rps 5.0 3.3 2.0Resolution – counts/rev 2,097,152 2,097,152 2,097,152Sine EncoderRepeatability – arc/sec ± 0.62 ± 0.62 ± 0.62SystemAccuracy arc/sec ± 26 ± 26 ± 26Resolution (3) – counts/rev 1,048,576 1,048,576 1,048,576ResolverRepeatability – arc/sec ± 1.24 ± 1.24 ± 1.24SystemAccuracy arc/sec ± 135 ± 135 ± 135Mechanical:Weight Wt lb 69.5 96.5 134kg 31.5 43.8 60.8Rotor Inertia Jm lb-ft-sec 2 0.0511 0.0732 0.129kg-m 2 0.0693 0.0992 0.175Static Friction adder Tf lb-ft 2.6 2.6 2.6for sealed units N-m 3.5 3.5 3.5Max. Dynamic Axial Compression – lbf 11,700 11,700 11,700Load (See page 20 for details) kg 5,300 5,300 5,300SYSTEM: D101A/D101M with SERVOSTAR CR10/CB10350SPEED (RPM)30025020015010050ContinuousDuty ZoneIntermittentDuty Zone230V Limit(1 phase)54321SPEED (RPS)Note:➀ For 25 0 C ambient, multiply Tc by 1.06.➁ Curves for D101, 230V applicable to single or three phase input power.Curves for D102 and D103, 230V require three phase input power.➂ Drive resolver-to-digital converter and encoder equivalent output limitsmax resolution to 1,048,576 counts per rev up to 93 rpm, and262,144 counts per rev above 94 rpm.➃ As with any Kollmorgen product, if there are any questions regardingthis information or application of this product, please consultCustomer Support and we will be glad to assist you.00TORQUE010 20 30 40 50 60 70 80 90 100 110 lb-ft10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 N-mSYSTEM: D102A/D102M with SERVOSTAR CR10/CB102504SYSTEM: D103A/D103M with SERVOSTAR CR10/CB10140SPEED (RPM)20015010050ContinuousDuty ZoneIntermittentDuty Zone230V Limit(3 phase)321SPEED (RPS)SPEED (RPM)12010080604020ContinuousDuty ZoneIntermittentDuty Zone230V Limit(3 phase)2.01.51.0.5SPEED (RPS)00TORQUE020 40 60 80 100 120 140 160 lb-ft20 40 60 80 100 120 140 160 180 200 220 N-m00TORQUE020 40 60 80 100 120 140 160 180 200 220 240 lb-ft20 40 60 80 100 120 140 160 180 200 220 240 260 280 300 320 340 N-mDANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.10Tel: 540 633 • 3400 Web site : www.DanaherMotion.com

Kollmorgen GOLDLINE ® DDRKollmorgenPerformance Data – D14x Frame230 VACSystem Performance: Symbols Units D141M D142M D143MPeak Torque Tp lb-ft 271 383 989N-m 367 519 1341Continuous (1) Sine Encoder Tc lb-ft 80 135 250Torque 40°C N-m 108 183 339Max. Operating Speed N max rpm 200 120 60230 V 3 Phase rps 3.3 2.0 1.0Resolution – counts/rev 1,048,576 1,048,576 1,048,576Sine EncoderRepeatability – arc/sec ± 1.24 ± 1.24 ± 1.24SystemAccuracy – arc/sec ± 27 ± 27 ± 27Mechanical:Weight Wt lb 131 191 323kg 59.4 86.6 146Rotor Inertia Jm lb-ft-sec 2 .120 .202 .400kg-m 2 .163 .274 .542Static Friction adder Tf lb-ft 2.6 2.6 2.6for sealed units N-m 3.5 3.5 3.5Max. Dynamic Axial Compression – lbf 12,700 12,700 12,700Load (See page 20 for details) kg 5,760 5,760 5,760SYSTEM: D141M with SERVOSTAR S614SPEED (RPM)25020015010050D141MContinuousDuty Zone230 VAC LimitIntermittentDuty Zone4.03.02.01.0SPEED (RPS)Notes:➀ For 25°C ambient, multiply by 1.06.➁ All curves assume three phase input power to SERVOSTAR 600.➂ As with any Kollmorgen product, if there are any questions regardingthis information or application of this product, please consultCustomer Support and we will be glad to assist you.00 50 100 150 200 250 300TORQUE0 40 80 120 160 200 240 280 320 360 400lb-ftN-mSYSTEM: D142M with SERVOSTAR S614160140230 VAC Limit1202.52.0SYSTEM: D143M with SERVOSTAR S620807060230 VAC Limit1.251.0SPEED (RPM)10080604020D142MContinuousDuty ZoneIntermittentDuty Zone1.51.0.5SPEED (RPS)SPEED (RPM)5040302010D143MContinuousDuty ZoneIntermittentDuty Zone.75.5.25SPEED (RPS)00 50 100 150 200 250 300 350 400 450 lb-ftTORQUE0 50 100 150 200 250 300 350 400 450 500 550 600 N-m00 200 400 600 800 1000 1200 lb-ftTORQUE0 200 400 600 800 1000 1200 1400 1600 N-mDANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.Tel : 540 633 • 3400 Web site : www.DanaherMotion.com 11

Performance Data – DH06x FrameKollmorgenKollmorgen GOLDLINE ® DDR480/400 VACSystem Performance: Symbols Units DH061A/DH061M DH062A/DH062M DH063A/DH063MPeak Torque Tp lb-ft 12.5 24.2 47.5N-m 16.9 32.8 64.4Tc lb-ft 3.9 7.2 13.1Sine EncoderContinuous (1)N-m 5.3 9.8 17.7Torque 40°CTc lb-ft 4.3 8.0 14.5ResolverN-m 5.8 10.8 19.7Max. Operating Speed N max rpm 800 800 800480/400 V 3 Phase rps 13.3 13.3 13.3Resolution – counts/rev 1,048,576 1,048,576 1,048,576Sine EncoderRepeatability – arc/sec ± 1.24 ± 1.24 ± 1.24SystemAccuracy – arc/sec ± 27 ± 27 ± 27Resolution – counts/rev 131,072 131,072 131,072ResolverRepeatability – arc/sec ± 10 ± 10 ± 10SystemAccuracy – arc/sec ± 270 ± 270 ± 270Mechanical:Weight Wt lb 20.8 25.0 30.5kg 9.4 11.3 13.8Rotor Inertia Jm lb-ft-sec 2 0.0045 0.0052 0.0064kg-m 2 0.0061 0.0071 0.0086Static Friction adder Tf lb-ft 1.8 1.8 1.8for sealed units N-m 2.4 2.4 2.4Max. Dynamic Axial Compression – lbf 4,500 4,500 4,500Load (See page 20 for details) kg 2,040 2,040 2,040SYSTEM: DH061A/DH061M with SERVOSTAR S6101000480/400 VAC Limit90015.0800700600500400DH061MDH061A10.0300200100ContinuousIntermittentDuty ZoneDuty Zone5.01.000 2 4 6 8 10 12 14 lb-ftTORQUE0 2 4 6 8 10 12 14 16 18 N-mSPEED (RPM)SPEED (RPS)SYSTEM: DH062A/DH062M with SERVOSTAR S6101000480/400 VAC Limit90015.080070060010.0DH062M DH062A500400300200100ContinuousIntermittentDuty ZoneDuty Zone5.01.000 5 10 15 20 25 30 lb-ftTORQUE0 4 8 12 16 20 24 28 32 36 40 N-mSPEED (RPM)SPEED (RPS)SYSTEM: DH063A/DH063M with SERVOSTAR S6101000480/400 VAC Limit90015.0800700600500400DH063MDH063A10.0300200100ContinuousIntermittentDuty ZoneDuty Zone5.01.000 10 20 30 40 50 60 lb-ftTORQUE0 8 16 24 32 40 48 56 64 72 80 N-mSPEED (RPM)SPEED (RPS)Notes:➀ For 25° ambient, multiply Tc by 1.06➁ All curves assume three phase 400/480 input power.➂ As with any Kollmorgen product, if there are any questions regardingthis information or application of this product, please consultCustomer Support and we will be glad to assist you.DANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.12Tel: 540 633 • 3400 Web site : www.DanaherMotion.com

Kollmorgen GOLDLINE ® DDRKollmorgenPerformance Data – DH08x Frame480/400 VACSystem Performance: Symbols Units DH081A/DH081M DH082A/DH082M DH083A/DH083MPeak Torque Tp lb-ft 37.6 77 130N-m 51.0 104 177Tc lb-ft 11.7 19.1 37.2Sine EncoderContinuous (1)N-m 15.9 25.9 50.4Torque 40°CTc lb-ft 13.0 21.2 41.3ResolverN-m 17.6 28.7 56.0Max. Operating Speed N max rpm 500/500 500/500 500/400230/115 V Single Phase rps 8.3/8.3 8.3/8.3 8.3/6.7Resolution – counts/rev 1,048,576 1,048,576 1,048,576Sine EncoderRepeatability – arc/sec ± 1.24 ± 1.24 ± 1.24SystemAccuracy – arc/sec ± 27 ± 27 ± 27Resolution – counts/rev 196,608 196,608 196,608ResolverRepeatability – arc/sec ± 6.6 ± 6.6 ± 6.6SystemAccuracy – arc/sec ± 140 ± 140 ± 140Mechanical:Weight Wt lb 39.5 47.5 63.6kg 17.9 21.5 28.8Rotor Inertia Jm lb-ft-sec 2 0.0106 0.0143 0.0222kg-m 2 0.0144 0.0194 0.0301Static Friction adder Tf lb-ft 2.0 2.0 2.0for sealed units N-m 2.7 2.7 2.7Max. Dynamic Axial Compression – lbf 7,400 7,400 7,400Load (See page 20 for details) kg 3,360 3,360 3,360SYSTEM: DH081A/DH081M with SERVOSTAR S610700SYSTEM: DH082A/DH082M with SERVOSTAR S610700600480/400 VAC Limit10.0600480/400 VAC Limit10.0SPEED (RPM)TORQUE5004003002001000DH081MContinuousDuty ZoneDH081AIntermittentDuty Zone0 5 10 15 20 25 30 35 400 5 10 15 20 25 30 35 40 45 50 55 N-m7.55.03.01.0lb-ftSPEED (RPS)SPEED (RPM)TORQUE5004003002001000DH082MContinuousDuty ZoneDH082AIntermittentDuty Zone0 10 20 30 40 50 60 70 80 900 10 20 30 40 50 60 70 80 90 100 110 120 130 N-m7.55.03.01.0lb-ftSPEED (RPS)SYSTEM: DH083A/DH083M with SERVOSTAR S610SPEED (RPM)600500400300200100ContinuousDuty ZoneDH083MDH083A400 VAC LimitIntermittentDuty Zone480 VAC Limit00 20 40 60 80 100 120 140 lb-ftTORQUE0 20 40 60 80 100 120 140 160 180 200 N-m10.07.55.02.51.0SPEED (RPS)Notes:➀ For 25° ambient, multiply Tc by 1.06➁ All curves assume three phase 400/480 input power.➂ As with any Kollmorgen product, if there are any questions regardingthis information or application of this product, please consultCustomer Support and we will be glad to assist you.DANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.Tel : 540 633 • 3400 Web site : www.DanaherMotion.com 13

Performance Data – DH10x FrameKollmorgenKollmorgen GOLDLINE ® DDR480/400 VACSystem Performance: Symbols Units DH101A/DH101M DH102A/DH102M DH103A/DH103MPeak Torque Tp lb-ft 104 186 370N-m 141 252 501Tc lb-ft 25.5 46.8 85.0Sine EncoderContinuous (1)N-m 34.6 63.4 115.3Torque 40°CTc lb-ft 30.0 55.0 100ResolverN-m 40.7 74.6 136Max. Operating Speed 230V N max rpm 300/300 300/300 250/200rps 5.0/5.0 5.0/5.0 4.2/3.3Resolution – counts/rev 1,048,576 1,048,576 1,048,576Sine EncoderRepeatability – arc/sec ± 1.24 ± 1.24 ± 1.24SystemAccuracy arc/sec ± 27 ± 27 ± 27Resolution (3) – counts/rev 262,144 262,144 262,144ResolverRepeatability – arc/sec ± 5.0 ± 5.0 ± 5.0SystemAccuracy arc/sec ± 135 ± 135 ± 135Mechanical:Weight Wt lb 69.5 96.5 134kg 31.5 43.8 60.8Rotor Inertia Jm lb-ft-sec 2 0.0511 0.0732 0.129kg-m 2 0.0693 0.0992 0.175Static Friction adder Tf lb-ft 2.6 2.6 2.6for sealed units N-m 3.5 3.5 3.5Max. Dynamic Axial Compression – lbf 11,700 11,700 11,700Load (See page 20 for details) kg 5,300 5,300 5,300SYSTEM: DH101A/DH101M with SERVOSTAR S610400SYSTEM: DH102A/DH102M with SERVOSTAR S610400350480/400 VAC Limit350480 VAC Limit3005.03005.0SPEED (RPM)250200150DH101MDH101A3.0SPEED (RPS)SPEED (RPM)250200150DH102MDH102A400 VAC Limit3.0SPEED (RPS)10050ContinuousDuty ZoneIntermittentDuty Zone1.010050ContinuousDuty ZoneIntermittentDuty Zone1.000 20 40 60 80 100 120 lb-ftTORQUE0 20 40 60 80 100 120 140 160 N-m00 20 40 60 80 100 120 140 160 180 200 lb-ftTORQUE0 30 60 90 120 150 180 210 230 260 N-mSYSTEM: DH103A/DH103M with SERVOSTAR S614SPEED (RPM)30025020015010050DH103MContinuousDuty ZoneDH103A400 VAC LimitIntermittentDuty Zone480 VAC Limit5.04.03.02.01.0SPEED (RPS)Notes:➀ For 25° ambient, multiply Tc by 1.06➁ All curves assume 3 phase 400/480 input power.➂ As with any Kollmorgen product, if there are any questions regardingthis information or application of this product, please consultCustomer Support and we will be glad to assist you.00 50 100 150 200 250 300 350 400 lb-ftTORQUE0 50 100 150 200 250 300 350 400 450 500 550 N-mDANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.14Tel: 540 633 • 3400 Web site : www.DanaherMotion.com

Kollmorgen GOLDLINE ® DDRKollmorgenPerformance Data – DH14x Frame480/400 VACSystem Performance: Symbols Units DH141M DH142M DH143MPeak Torque Tp lb-ft 271 383 989N-m 367 519 1341Continuous (1) Sine Encoder Tc lb-ft 80 135 250Torque 40°C N-m 108 183 339Max. Operating Speed N max rpm 300/300 300/250 120/120230 V 3 Phase rps 5/5 5/4.2 2/2Resolution – counts/rev 1,048,576 1,048,576 1,048,576Sine EncoderRepeatability – arc/sec ± 1.24 ± 1.24 ± 1.24SystemAccuracy – arc/sec ± 27 ± 27 ± 27Mechanical:Weight Wt lb 131 191 323kg 59.4 86.6 146Rotor Inertia Jm lb-ft-sec 2 .120 .202 .400kg-m 2 .163 .274 .542Static Friction adder Tf lb-ft 2.6 2.6 2.6for sealed units N-m 3.5 3.5 3.5Max. Dynamic Axial Compression – lbf 12,700 12,700 12,700Load (See page 20 for details) kg 5,760 5,760 5,760SYSTEM: DH141M with SERVOSTAR S614350480/400 VAC Limit3005.0SYSTEM: DH142M with SERVOSTAR S614350480 VAC Limit3005.02504.02504.0SPEED (RPM)200150100DH141MContinuousDuty ZoneIntermittentDuty Zone3.02.0SPEED (RPS)SPEED (RPM)200150100DH142MContinuousDuty Zone400 VAC LimitIntermittentDuty Zone3.02.0SPEED (RPS)501.0501.000 50 100 150 200 250 300 lb-ftTORQUE0 50 100 150 200 250 300 350 400 N-m00 50 100 150 200 250 300 350 400 450 lb-ftTORQUE0 50 100 150 200 250 300 350 400 450 500 550 600 N-mSYSTEM: DH143M with SERVOSTAR S620SPEED (RPM)16014012010080604020DH143MContinuousDuty Zone400 VAC Limit480 VAC LimitIntermittentDuty Zone2.52.01.51.0.5SPEED (RPS)Notes:➀ For 25°C ambient, multiply by 1.06.➁ All curves assume three phase 400/480V input power.➂ As with any Kollmorgen product, if there are any questions regardingthis information or application of this product, please consultCustomer Support and we will be glad to assist you.00 200 400 600 800 1000 1200 lb-ftTORQUE0 200 400 600 800 1000 1200 1400 1600 N-mDANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.Tel : 540 633 • 3400 Web site : www.DanaherMotion.com 15

Dimensions – D06x FrameKollmorgenKollmorgen GOLDLINE ® DDR"O" RING GROOVE1.88-2.03(.074-.080)Dimensions in mm (inches)POWERCONNECTORSIGNALCONNECTOR"A"40.6(1.60)"B"11.5-13.9(.45-.55)3.18-3.93(.125-.155)3.46-3.60(.136-.142)Ø139.7(5.50)67.6(2.66)NOM.42.2(1.66)175.28Ø175.246.9016.899- E -.10 (.004) GØ176(6.93)Ø107.97107.934.2514.249- G -.10 (.004) CØ175.28175.246.9016.899106(4.18)NOM.125.6(4.95)NOM.PILOTENDØ47.71-47.80(1.878-1.882).12 (.005) A- C -8X 45M6X1 X 15 (.59) MIN. DP.8 PL. ON A Ø155 (6.102) BASICØ .38 (.015)M F E M13.3-14.2(.52-.56)- F -11.2(.44)"C" REF.- B -.12 (.005) C"D"- D -.10 (.004) C- A -.07 (.003) GM6X1 X 15 (.59) MIN. DP.8 PL. ON A Ø155 (6.102) BASICØ .38 (.015)M B A M8X 452230' 8X 45M6X1 X 12 (.47) MIN. DP.8 PL. ON A Ø80 (3.150) BASICØ .38 (.015)M D C MFLANGE OPTION90 CONNECTOR OPTIONPOWER CABLEBEND RADIUS:STATIC - 127 (5.0)DYNAMIC - 191 (7.5)FEEDBACK CABLEBEND RADIUS:STATIC - 107 (4.2)DYNAMIC - 160 (6.3)83.8(3.30)NOM.68.6(2.70)NOM.8X 452230'Ø220.01219.978.6628.660- E -.10 (.004) G- F -.25 (.010) G13.3-14.2(.52-.56)147.3(5.80)NOM.106(4.18)NOM.394.97(15.55)MAX.Ø8.82-8.99 (.347-.354) THRU8 PL. ON A Ø200.0 (7.874) BASICØ .38 (.015)M F E MSTRAIGHT CONNECTOR OPTION297(11.7)MAX.Model “A” “B” “C” “D” “E”D061 91.9 37.1-40.1 129.42-130.171 32.59-134.11 Resolver Sine Encoder(3.62) (1.46-1.58) (5.095-5.125) (5.220-5.280)D062 103.4 48.6-51.5 140.85-141.601 44.02-145-54 O/ 47.71-47.80 O/ 42.88-42.98(4.07) (1.91-2.03) (5.545-5.575) (5.660-5.730) (1.878-1.882) (1.688-1.692)D063 126.2 71.4-74.4 163.71-164.46 166.88-168.40(4.97) (2.81-2.93) (6.445-6.475) (6.570-6.630)DANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.16Tel: 540 633 • 3400 Web site : www.DanaherMotion.com

Kollmorgen GOLDLINE ® DDRKollmorgenDimensions – D08x Frame"O" RING GROOVE1.88-2.03(.074-.080)Dimensions in mm (inches)POWERCONNECTORSIGNALCONNECTOR.10 (.004) G- E -Ø 217.19217.158.5518.549Ø218.4(8.60)"A"50.8(2.00)"B"11.5-13.9(.45-.55)3.18-3.93(.125-.155)Ø 133.37133.335.2515.249Ø 217.19217.158.5518.549Ø172(6.77)127.8(5.03)NOM.3.46-3.60(.136-.142)67.6(2.66)NOM.42.2(1.66)147.3(5.80)NOM..10 (.004) CØ63.45-63.55(2.498-2.502).12 (.005) A- C -Ø .38 (.015)8X 45M6X1 X 15 (.59) MIN. DP.8 PL. ON A Ø190 (7.480) BASICFLANGE OPTIONM F E M11.7-12.7(.46-.50)"C" REF."D"- F -.10 (.004) C11.2(.44)- B -.12 (.005) G- D -.10 (.004) CPILOTEND- A -.07 (.003) G8X 45M6X1 X 15 (.59) MIN. DP.8 PL. ON A Ø190 (7.480) BASICØ .38 (.015) M B A M2230'8X 45M6X1 X 15 (.59) MIN. DP.8 PL. ON A Ø100 (3.937) BASICØ .38 (.015) M D C M90 CONNECTOR OPTION- E -Ø 260.14260.0510.24210.238POWER CABLEBEND RADIUS:STATIC - 127 (5.0)DYNAMIC - 191 (7.5)FEEDBACK CABLEBEND RADIUS:STATIC - 107 (4.2)DYNAMIC - 160 (6.3)83.6(3.29)NOM.68.1(2.68)NOM.416.56(16.40)MAX.167.9(6.61)NOM.127.8(5.03)NOM.8X 452230'Ø8.82-8.99 (.347-.354) THRU8 PL. ON A Ø240.00 (9.449) BASICØ .38 (.015) M F E M11.7-12.7(.46-.50)- F -.25 (.010) GSTRAIGHT CONNECTOR OPTION297(11.7)MAX.Model “A” “B” “C” “D” “E”D081 107.7 42.7-45.7 144.66-145.41 147.83-149.35 Resolver Sine Encoder(4.24) (1.68-1.80) (5.695-5.725) (5.820-5.880)D082 128.0 63.0-66.0 164.98-165.73 168.15-169.67 O/ 63.45-63.55 O/ 42.88-42.98(5.04) (2.48-2.60) (6.495-6.525) (6.620-6.680) (2.498-2.502) (1.688-1.692)D083 168.7 71.4-74.4 163.71-164.46 166.88-168.40(6.64) (4.08-4.20) (8.095-8.125) (8.220-8.280)DANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.Tel : 540 633 • 3400 Web site : www.DanaherMotion.com 17

Dimensions – D10x FrameKollmorgenKollmorgen GOLDLINE ® DDRDimensions in mm (inches)"O" RING GROOVE1.88-2.03(.074-.080)Ø73.0772.982.8772.873.12 (.005) A- C -POWERCONNECTORSIGNALCONNECTOR.10 (.004) G- E -280.02Ø 279.9011.02511.020"A"59.7(2.35)"B".45-.55(11.5-13.9)3.6 (.14)PILOTEND177.82Ø177.787.0016.9993.46-3.60(.136-.142)Ø229.9(9.05)160.9(6.34)NOM.67.6(2.66)NOM.42.2(1.66)NOM.180.5(7.11)NOM.280.02Ø279.9011.02511.020Ø284.2(11.19)8X 45M8X1.25 X 20.3 (.80) MIN. DP.8 PL. ON A Ø250.00 (9.843) BASICØ .38 (.015)M F E M8X 4513.8-14.7(.54-.58)11.2(.44)"C" REF.- B -.12 (.005) G- A -.07 (.003) G.10 (.004) C- G -8X 452230'M8X1.25 X 20.3 (.80) MIN. DP.8 PL. ON A Ø130.00 (5.118) BASICØ .38 (.015) M D C M"D"- F -.12 (.005) G- D -.10 (.004) CM8X1.25 X 20.3 (.80) MIN. DP.8 PL. ON A Ø250.00 (9.843) BASICØ .38 (.015) M B A MFLANGE OPTION90° CONNECTOR OPTIONØ 330.06329.9412.99512.990POWER CABLEBEND RADIUS:STATIC - 127 (5.0)DYNAMIC - 191 (7.5)FEEDBACK CABLEBEND RADIUS:STATIC - 107 (4.2)DYNAMIC - 160 (6.3)83.7(3.29)NOM.68.2(2.68)NOM.449.83(17.71)MAX.200.9(7.91)NOM.160.9(6.34)NOM.8X 452230'Ø8.81-8.97 (.347-.354) THRU8 PL. ON A Ø310.00 (12.205) BASICØ .38 (.015)M F E M.10 (.004) G- E -13.8-14.7(.54-.58)- F -.25 (.010) GSTRAIGHT CONNECTOR OPTION297(11.7)MAX.Model “A” “B” “C” “D” “E”D101 110.5 36.6-39.6 152.53-153.28 155.71-157.22 Resolver Sine Encoder(4.35) (1.44-1.56) (6.005-6.035) (6.130-6.190)D102 142.2 68.4-71.3 184.28-185.03 187.46-188.97 O/ 73.07-72.98 O/ 42.88-42.98(5.60) (2.69-2.81) (7.255-7.285) (7.380-7.440) (2.877-2.873) (1.688-1.692)D103 205.7 131.9-134.8 247.78-248.53 250.96-252.47(8.10) (5.19-5.31) (9.755-9.785) (9.880-9.940)DANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.18Tel: 540 633 • 3400 Web site : www.DanaherMotion.com

Kollmorgen GOLDLINE ® DDRKollmorgenDimensions – D14x FrameDimensions in mm (inches)Ø9.07-9.24 (.357-.364) THUR12PL. ON A Ø384.99 (15.157) BASICØ.53 (.021) M F H M15°12X30°.25 (.010) C-F-18.04-18.54(.710-.730)12X30.30 (.018) C-H-.10 (.004) C-D-"A".12 (.005) C-B-"B""C"NOM.2PL."D"NOM.19.1 (.75)3.26-3.86(.128-.152)Ø361.83-361.95(14.245-14.250).12 (.005) C-A-218.1 (8.59)2PL. REF8°15°12X30°12X30°90° ROTATABLE SIGNALCONNECTOR90° ROTATABLE POWERCONNECTORM8X1.25X20.3 (.91) MIN. DEEP12PL. ON A Ø330 (12.992) BASICØ.53 (.021) M B A MM8X1.25X14.2 (.56) MIN. DEEP12PL. ON A Ø150.01 (5.906) BASICØ.53 (.021) M D G MØ177.78-177.82(6.999-7.001).10 (.005) C-G-Ø360.7(14.20)15.76-16.36(.620-.644)45°M10X1.25 X 19.1 (.75) DEEP2 PL. EQ. SPACED ON A Ø342.9 (13.50)(HOLES PROVIDED FOR LIFTING)M8X1.25 X 19.1 (.75) MIN DP12 PL. ON A Ø300.00 (11.811) BASICØ.53 (.021) M F H M15°1.88-2.03(.074-.080)Ø247.7(9.75)3.46-3.60(.136-.142)FACE MOUNT OPTION1.88-2.03(.074-.080)Ø229.9(9.05)3.46-3.60(.136-.142)Ø74.2(2.92)Ø42.88-42.97(1.688-1.692)THRU BORE.13 (.005) C90 CONNECTOR OPTION288.97(11.37)MAX.M10X1.5X.80 (20.3) MIN. DEEP2PL. EQ. SPACED ON A Ø 13.00 (330.2)12X30°Ø361.83-361.95(14.245-14.250).30 (.018) C-H-POWER CABLEBEND RADIUS:STATIC-127 (5.0)DYNAMIC-191 (7.5)FEEDBACK CABLEBEND RADIUS:STATIC-107 (4.2)DYNAMIC-160 (6.3)STRAIGHT CONNECTOR OPTION275.9(10.85)MAX.45° M10X1.25 X 19.1 (.75) DEEP2 PL. EQ. SPACED ON A Ø 337.3 (13.28)(HOLES PROVIDED FOR LIFTING)Model Number “A” “B” “C” “D”D141 155.92-157.02 152.66-153.16 75.5 76.7(6.138-6.182) (6.010-6.030) (2.97) (3.02)D142 219.42-220.52 216.16-216.66 138.9 108.5(8.638-8.682) (8.510-8.530) (5.47) (4.27)D143 346.42-347.52 343.16-343.66 266.0 172.0(13.638-13.682) (13.510-13.530) (10.47) (6.77)DANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.Tel : 540 633 • 3400 Web site : www.DanaherMotion.com 19

Technical Data/Application NotesKollmorgenKollmorgen GOLDLINE ® DDRTensionCompressionRadialForce"D"OffsetAxialForce"D""L"C L of bearingMoment Load = Force * (D + L)L = 0Maximum Moment LoadSingle BearingMoment Load = Force * DDual BearingMaximum Axial Load RatingsModel lb-ft N-m lb-ft N-m lbs kgD061 53.3 72.3 71.7 97.2D062 47.5 64.4 79.5 107.8D063 43.4 58.9 87.2 118.2D081 62.6 84.9 113.8 154.3D082 52.3 70.9 130.6 177.1D083 39.3 53.3 174.3 236.4D101 141.9 192.4 322.4 437.2D102 107.7 146 278.5 377.6D103 72.6 98.4 304.8 413.3D141 234 317 472 640D142 134 182 409 555D143 N/A N/A 391 530Compression 4500 2040Tension 932 423Compression 7400 3360Tension 819 371Compression 11700 5300Tension 1405 637Compression 11700 5300Tension 1405 637Application notes:➀ Axial load ratings dynamic values based on an L10 life rating when motor is mounted on a rigid base andrunning under normal operating conditions. For L10 life ratings for applications where high rotational accuracyis desired or operation during vibration or shock, please contact Customer Support.➁ Moment load ratings are limited by shaft deflection at the resolver;for sine encoder units please contact Customer Support.➂ Standard motor is not designed for repetitive small angle oscillations less than ± 13°.Please contact Customer Support for additional options.➃ Motor is not intended to be directly coupled to a load which has it’s own two bearing system.A flexible coupling is advised to prevent premature bearing failure in these applications.➄ Motor may be mounted in any orientation provided the axial (both tension and compression) limits are observed.All applications having moment loads in tension should be reviewed by Customer Support.➅ All bolts for mounting load and base should be used to ensure stiff coupling.ModelDim. “L” (in)D(H)06x (1.05)D(H)08x (1.21)D(H)10x (1.58)D(H)14x (1.44)System Cable Sets with SERVOSTAR ®Drive Sine Encoder ResolverSERVOSTAR CD CS-SS-SHA1HE-xx CS-SS-RHA1HE-xxSERVOSTAR S610 CS-SS-S3HG1HE-xx CS-SS-RHG1HE-xxSERVOSTAR S614 & S620 CS-SS-S3HG2HE-xx CS-SS-RHG2HE-xxDANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.20Tel: 540 633 • 3400 Web site : www.DanaherMotion.com

Kollmorgen GOLDLINE ® DDRKollmorgenSystem Ordering Information*The Kollmorgen GOLDLINE ® DDR system is comprised of three part numbers; motor, drive, and cable set.When ordering, please specify each part number.DH 08 1 M - 1 2 - 1 3 1 0 - xxxDirect Drive SeriesD = 115/230 VAC windingDH = 400/480 VAC windingMotor Frame Size06 = 6.93" O.D.08 = 8.60" O.D.10 = 11.19" O.D.14 = 14.25" O.D.Rotor Stack Length1 = Short stack2 = Mid stack3 = Long stackWinding TypeA = Std. w/ resolver 1M = Std. w/ sine encoderMounting Option1 = Face mount2 = Flange mountDesignated for SpecialsUnit Seal0 = Non-sealed unit5 = IP65 24 = IP67 2Bearing Option1 = Single bearing design2 = Dual bearing design 3Feedback Device2 = Resolver ("A" Winding Type)3 = Sine Encoder ("M" Winding Type)Shaft Option1= Straight thru bore w/ face couplingConnector Type2 = Straight3 = 90°, rotatableNotes:1 All models except D14x & DH14x.2 Resolver models only.3 Standard on D143 & DH143 models.SERVOSTAR ® CD Amplifier RatingsModel Output Continuous Output Peak AC Input Rated RatedCurrent Per Phase Current Per Line Input Input Regen.CR/CB (RMS/phase) Phase Voltage Power Power (kVA) Option@ 45°C Ambient (RMS/Phase) kW @ 480V06 6 18 (.5 sec.) 115 / 230 (1 phase) 1.1 1.4 / 2.8 ERH-2610 10 20 (2 sec.) 230 (3 phase) 3.7 4.7 ERH-26SERVOSTAR ® 600 Amplifier RatingsModel Output Continuous Output Peak Internal Power AC Input Rated Continuous ContinuousCurrent Per Phase Current Per Dissipation Line Input Inernal External(RMS/phase) Phase (Watts) Voltage Power (kVA) Regen Power Regen Power(5 sec) (3 phase) @ 480V (Watts) (Watts)S610 10 20 90 8.1 200 1,500S614 14 28 160 480/400 11.6 200 1,500S620 20 40 200 16.6 200 1,500DANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.Tel : 540 633 • 3400 Web site : www.DanaherMotion.com 21

Regen and Transformer SizingKollmorgenKollmorgen GOLDLINE ® DDRResistive Regeneration SizingShunt regeneration is required to dissipate energy that is pumped back into the DC bus duringload deceleration. The amount of shunt regeneration required is a function of the sum ofsimultaneously decelerating loads. The loads need to be defined in terms of system inertia,maximum speed, and deceleration time. In addition, the duty cycle must be known. ApplicationNote A-SU-001-H details a calculation method to determine proper regeneration sizing.30(1.18)17(.67) 5.3(.21)60(2.36)Model Watts OhmsERH-26 200 20196(7.72)175(6.89)215(8.46)13 (.51)5.3 (.21)Transformer Sizing (Required only for voltage matching)The SERVOSTAR CD can be connected to a line. Built-in soft-start circuitry protects power supply components andeliminates nuisance tripping of breakers or fuse blowing due to large in-rush currents. Transformers are only requiredfor voltage matching purposes. In this case, the transformer should have a 115 or 230 VAC secondary depending onthe operating voltage. The kVA rating of the transformer should take into account not only the servo output loadrequirements but also losses in the system and power factor. For single phase operated systems such as these, thetransformer kVA ratings should be two times the CD amplifier output power rating. For three phase systems, thetransformer kVA should be 1.5 times the CD amplifier output power rating.Model CR/CBTransformer kVA rating06 4.4 (1 phase)10 5.6 (3 phase)DANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.22Tel: 540 633 • 3400 Web site : www.DanaherMotion.com

Kollmorgen GOLDLINE ® DDRKollmorgenAmplifier DimensionsCR/CB - 06/10 DimensionsDimensions in mm (inches)"A"36.5(1.44)3X 5.5(.22)2X Ø10.0(.39)15.5 (.61)6.7(.26)163.0(6.42)2.0 (.08)SizeDim. “A”244.0(9.61)216.0(8.50)256.0(10.08)6 AMP 88.4 (3.48)10 AMP 99.0 (3.90)33.7 (1.33)S610, S614 & S620 DimensionsDimensions in mm (inches)265 (10.4)with connector:273 (10.7)275(10.8)325(12.8)Model Size Dim “A”S610 10 AMP 70 (2.8)S614 14 AMP 100 (3.9)S620 20 AMP 120 (4.7)"A"DANAHER MOTION is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS" anddisclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine the suitability of this product for a specific application. ©2004 Danaher Motion.Tel : 540 633 • 3400 Web site : www.DanaherMotion.com 23

Find additional Kollmorgen GOLDLINE ® DDR series product informationDanaherMotion.com offers many new tools to help serve your needs. We’ve developed an inuitive Web-basedsystem to increase your knowledge of motion control, search our vast product selection by product attribute(using our New Product Advisors), and easily locate your nearest Danaher Motion distributor or Sales office.Visit www.DanaherMotion.com for more information and see our latest tools.DANAHER MOTION is a trademark.Danaher Motion makes every attempt to ensure accuracy and reliability of the specifications in this publication. Specifications are subject to change without notice. Danaher Motion provides this information "AS IS"and disclaims all warranties, express or implied, including, but not limited to, implied warranties of merchantability and fitness for a particular purpose. It is the responsibility of the product user to determine thesuitability of this product for a specific application.©2004 Danaher Motion. IG 10M OCG/BH 0904 200406-08 MSDR-05.127-062404-3 N103FOR IMMEDIATE ASSISTANCE:Internet: www.DanaherMotion.comIn USA, Canada Phone: 1-540-633-3400or Mexico: Fax: 1-540-639-4162E-mail:DMAC@danahermotion.comLiterature: litrequest@danahermotion.comor write: Danaher Motion203A West Rock RoadRadford, VA 24141 USAIn UK: Phone: 0800 975 1000Sales Fax: 0800 975 1001E-mail:LMSEurope@danahermotion.comor write: Danaher Linear Motion SystemsFishleigh Road, Roundswell Business ParkBarnstapleEX31 3UD UKCatalogue request:catalogues@danahermotion.comIn Europe: Phone: +46 (0) 44 24 67 00Fax: +46 (0) 44 24 40 85E-mail:helpdesk@tollo.comor write: Danaher MotionTollo Linear ABBox 9053SE-291 09 Kristianstad Swedenor Phone: +49 (0) 70 22 504-0Fax: +49 (0) 70 22 541-68or write: Danaher Linear GmbHNürtinger Strasse 70D-72649 Wolfschlugen GermanyElsewhere: Phone: 1 (516) 883-8937Fax: 1 (516) 883-7109