C H A P T E R: General Specifications
C H A P T E R: General Specifications
C H A P T E R: General Specifications
Hardware Reference
General Specifications
DR Series
Parameter Value
Performance
Repeatability ±5 arc-sec (0.00139°)
Accuracy ±30 arc-sec (0.0083°)DRA Series
±45 arc-sec (0.0125°) DRB, DRE Series
Max stepping rate 1,600,000 steps/sec
Power
Volts 115VAC 1-phase, or 230 VAC 1-phase
Range +10% to -15%
50/60 Hz
Current 20 amps max
Inputs
Command Interface
Step input Low going, low pulse, 150 nanoseconds minimum pulse width
Direction Logic high = CW rotation
Logic low = CCW rotation
Analog input ±10V command signal
Outputs
Encoder output A/B encoder output 750 kHz max
Environmental
Driver Motor
Weight 13.2 lb (6 kg) See Table
Operating 32° to 122°F (0° to 50·°C) 32° to 113°F (0° to 45·°C)
Storage -4° to 185° F ( -20° to 85°C) -4° to 185° F ( -20° to 85°C)
Humidity 20 to 90% noncondensing 20 to 85% noncondensing
No corrosive gasses. Dust free atmosphere. The Dynaserv is not waterproof, oil proof, or dust proof.
16
14
DR5015C
10
DR5010C
8
2
0
1 2 3 4 5 6 7
RPS
(N-m)
DR5000 Series A Type Motors (200V) lb-ft (N-m)
DR5000 Series B Type Motors (230V) lb-ft
800 (592) 80 (56)
DR5070B
700 (518) 70 (49)
DR5500A DR5050B
500 (370) 50 (35)
Torque
Torque
DR5400A
400 (296) 40 (28)
DR5300A DR5030B
300 (222) 30 (21)
0 0
0 0.5 1.0 1.5 2.0 2.5 0 1.0 2.0 3.0 4.0 5.0
Speed (rps) Speed (rps)
DR1300A
222 (300) 222 (300)
DR1300A
185 (250) 185 (250)
Torque
Torque
DR1200A DR1200A
148 (200) 148 (200)
DR1150A DR1150A
111 (150) 111 (150)
DR1100A DR1100A
74 (100) 74 (100)
DR1050A DR1050A
37 (50) 37 (50)
0 0
0 0.5 1.0 1.5 2.0 0 0.5 1.0 1.5 2.0
Speed (rps) Speed (rps)
lb-ft DR Series B Type Motors (120V) (N-m) lb-ft DR Series B Type Motors (240V) (N-m)
45.0 (60) 45.0 (60)
DR1060B DR1060B
Torque
DR1030B DR1030B
22.5 (30) 22.5 (30)
15 (20) 15 (20)
DR1015B DR1015B
7.5 (10) 7.5 (10)
DR1008B DR1008B
0 0
0 0.5 1.0 1.5 2.0 0 0.5 1.0 1.5 2.0
Speed (rps) Speed (rps)
DR1250E DR1250E
185 (250) 185 (250)
DR1220E DR1220E
Torque
DR1160E DR1160E
111 (150) 111 (150)
DR1130E DR1130E
74 (100) 74 (100)
DR1100E DR1100E
DR1070E DR1070E
37 (50) 37 (50)
0 0
0 0.5 1.0 1.5 2.0 0 0.5 1.0 1.5 2.0
Speed (rps) Speed (rps)
lb-ft DM Series A Type Motors (120V) (N-m) lb-ft DM Series A Type Motors (240V) (N-m)
222 (300) 222 (300)
DM1150A DM1150A
111 (150) 111 (150)
DM1100A DM1100A
74 (100) 74 (100)
DM1050A DM1050A
37 (50) 37 (50)
0 0
0 0.5 1.0 1.5 2.0 0 0.5 1.0 1.5 2.0
Speed (rps) Speed (rps)
lb-ft DM Series B Type Motors (120V) (N-m) lb-ft DM Series B Type Motors (240V) (N-m)
56 (80) 56 (80)
DM1075B DM1075B
49 (70)
49 (70)
DM1060B 42 (60)
42 (60) DM1060B
35 (50)
DM1045B
Torque
35 (50) 28 (40)
DM1045B
Torque
DM1030B
28 (40) 21 (30)
DM1030B 14 (20)
21 (30) DM1015B
7 (10)
14 (20)
DM1015B 0
0 0.5 1.0 1.5 2.0 2.5
7 (10) Speed (rps)
0
0 0.5 1.0 1.5 2.0
Speed (rps)
DR-1050/158±1
DR-1100/185±1
DR-1150/212±1
DR-1200/250±1
DR-1300/304±1 Rotor
DR-1400/358±1 Stator
DR-A Series DR-5300/309±1 Motor Cable (ø 3.2 X 4)
DR-5400/363±1
6-M8 screw depth 12 DR-5500/417±1
(Equal circular division) 6-M8 Depth 12
5 ±0.2 +2
(Equal circular division)
11 0
2
0.
0±
ø 192 -0.02
-0.05
17
0.0
-0.3
Hole ø 150 -10
2
±0.
-0.02
-0.06
0.0
-0.3
0
ø 23 ø
ø 264
ø 252
ø 215
DR-1070/183±1
DR-1100/210±1 Rotor
DR-1130/243±1
DR-1160/271±1
DR-E Series 6-M8 screw depth 12 DR-1220/327±1 Stator
6-M8 Depth 12
(Equal circular division)
(Equal circular division) DR-1250/355±1
Motor Cable
5 ±0.2 16 +2
(ø 3.2 X 4)
0
-0.02
-0.05
0.0
-0.3
-0.02
-0.06
0
-1
2
0.0
-0.3
±0.
4
ø 17
Hole ø 76
2
±0.
ø 120
04
ø 205
ø 190
ø 162
ø1
300
Encoder Cable (ø 6.8)
DR-1015B/123±1
DR-1030B/151±1
DR-1045B/179±1 Stator 6-M6 Depth 12
DR-1060B/207±1 (Equal circular division)
6-M6 screw depth 9
(Equal circular division) 4 ±0.2 6 +2
0 Motor Cable
(ø 3.2 X 4)
0.0
-0.3
Hole ø 56 -10
0.0
-0.3
-0.02
-0.05
ø120 -0.02
-0.06
0.2
0± .2
ø 13 ±0
ø 145
ø 150
2
ø 86
ø7
ø 72 +2
0.0
-0.3
0.0
-0.3
-0.02
-0.05
ø120 -0.02
-0.06
0.2
0±
Hole ø 56 -10
ø 13
ø 145
ø 145
ø 86
Rotor
Encoder Cable (ø 6.8)
Unit: mm 300
DRC Series
DRC Series
DR5015C/167±1 Stator 4-M6 Depth 13
DR5010C/140±1 (Equal circular division)
6-M5 screw depth 7
(Equal circular division) 3 ±0.2 6+0.5 Motor Cable
(ø 3.2 X 4)
0.0
-0.3
0.0
-0.3
-0.02
-0.05
-0.02
-0.06
2
±0.
Hole ø 20
ø 84
.2
±0
ø 100
ø 107
0
ø 60
ø5
ø74
Stator
-0.02
ø 200 -0.05
5
.2
±0.
2 ±0
6 0
ø 24 17
-0.02
-0.06
±0.1
ø
ø 264
+0.5
ø 230
ø.58 0.0
(ø 26.5)
(26.5)
Encoder Cable (ø 8.5)
Rotor
Motor Cable (ø 10.1)
DM1075B/194±1
DM1060B/168±1
DM Series: Type B Motor DM1045B/143±1
DM1030B/113±1 Stator
DM1015B/113±1
(28) (28)
6 M6 Depth (10) +2
3 ±0.2 11 0
2
ø 160 +0.1
±0.
ø 146
ø 25 +0.5
0.0
(ø 26.5)
(26.5)
Motor Cable (ø 10.1)
Rotor
Encoder Cable (ø 8.5)
Unit: mm
TB1 Connection
Signal
Signal Name Meaning
LINE (MN) AC input for motor/drive power
115VAC or 230VAC AC input for motor/drive power
LINE (CONT) AC input for control circuit power
115VAC or 230VAC AC input for control circuit power
GND Frame ground
TB2 Connection
Signal
Signal Name Meaning
LINE (MN) AC input for motor/drive power
115VAC or 230VAC AC input for motor/drive power
LINE (CONT) AC input for control circuit power
115VAC or 230VAC AC input for control circuit power
GND Frame ground
CN2 Connection
Signal (DR Series)
Signal Name Connector Pin # Meaning
+S0 1 Excitation Signal Output (Sine phase)
+S180 1
-S0 2 Detection Signal Input (Sine 0°)
-S180 3 Detection Signal Input (Sine 180°)
SHIELD 4 Shield
FG 5 Frame ground
+C0 6 Excitation Signal Output (Cosine phase)
+C180 6
-C0 7 Detection Signal Input (Cosine 0°)
-C180 8 Detection Signal Input (Cosine 180°)
CN2 Connection
Signal (DM Series)
Signal Name Connector Pin # Meaning
+V 1 Encoder Power Supply
GND 2 Above Signal Ground
O Signal 3 Encoder Phase 1 Signal
GND 4 Above Signal Ground
O Signal 5 Encoder Phase 1 Signal
GND 6 Above Signal Ground
ZERO 7 Detection Signal Input (Cosine 0°)
GND 8 Above Signal Ground
CLK+ 9 Encoder Sample Clock
CLK- 10 Above Signal Ground
FG 11 Frame ground
12 - 16 No Connection