>>>CTD Brushless Servo Motors

Index

Company Introduction Section 1 1

Ordering Information Section 2 2

Performance Data (Standard motor) Section 3 3

Performance Data (UL motor) Section 4 4

Performance Graphs Section 5 5

Motor Dimensions Section 6 6

Feedback Devices Section 7 7

Brake Information Section 8 8

Gearbox Motors Section 9 9

Fan Blown motors Section 10 10

Cable Assemblies Section 11 11

Motor Selection Section 12 12

Safety & Installation Section 13 13

Conversion Tables Section 14 14

Glossary

© 2003 CT Dynamics

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Company Introduction & Capability

1
Control Techniques Dynamics Limited
CT Dynamics is a British company renowned for its
innovations in the industrial servo, aerospace and defence
markets. Founded some 40 years ago it has developed a
leading position by combining two of the UK’s best servo
companies: Moore Reed and the Powerotor Division of
Evershed and Vignoles. CT Dynamics’ experience in the field
of servo and rotating components provides a strong base
from which to develop cost effective solutions for a spectrum
of applications from machine tools, mechanical handling,
pick and place machinery - through to specialised
mechanisms and actuators for the avionics industry.

CT Dynamics is a member of the Emerson group of the USA.

This gives the company access to a vast engineering design
resource in the USA, in the UK and in mainland Europe. As a
result CT Dynamics offers continuous advances in product
range, backed with the expertise and flexibility to meet the
demands of your applications - now and in the future.

1-1

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Motor UM, SL & DM

Introduction 1
The Unimotor range has been developed following extensive
research and testing of thermal dynamic theories and
practices.

This range is available in five frame sizes 75; 95; 115; 142
and 190mm, in a unique and instantly recognisable finned
design that offers extra strength, rigidity and thermal
performance. These are important features for high
performance servo systems.

Designed to operate from switched-mode three-phase AC

drive outputs with DC link volts up to 750V DC, this range
employs a registered UL approved insulation system.

There are four basic motor types, each for different drives.

UM, SL and DM motors are for 400/440V nominal AC DM Motor

drive supply voltage.
The DM motor is suitable for use with the DigitAx drive. The
EZ motors have identical mechanical construction and stator connections to U and V are interchanged to match the
feedback options, but support a different winding to suit DigitAx.
220V nominal AC drives such as Unidrive LV and Epsilon /EN
drives.
Accessories
UM, SL and DM Motors Other options

UM Motor Gearboxes - motor torque can be extended by a good

selection of factory-fitted gearboxes, available to order in a
The UM motor has been primarily designed to operate with wide variety of options.
the Unidrive and Unidrive SP, but can be used with any
suitable drive. Forced air-cooling - customer-fitted fan blown boxes
specially designed to fit the range of motors, can directly
Feedback options include resolver; or incremental, sincos enhance motor performance. (Not suitable for SL).
single-turn, sincos multi-turn optical encoders.
Custom specials - a range of special adaptations e.g. shaft
SL Motor or feedback type are already designed and may be available
where quantities justify.
The SL version is a UM motor fitted with special SLM
technology electronic feedback that operates with Control Cable assemblies - ready made power and signal cables in
Techniques’ M’Ax and MultiAx drives. This motor-drive lengths of 2-100 metres to connect motors to the
combination offers extremely high resolution, for superb appropriate drive.
system speed control. High resolution is essential for many
system applications where speed and position errors must be
miniscule.

The feedback comprises of a special Sincos encoder and SLM

electronics, both contained within the standard UM outline.
The encoder has a memory programmed with all the
essential motor characteristics necessary to automatically set
all M’Ax parameters, giving an instant ‘Plug and Play’
capability.

1-2

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
The Unimotor Concept

Heat Transfer from Radially

Finned Motor Housings
1
One of the most important features of an electric motor is its For a motor to give a performance that requires minimal de-
rated torque value per unit of motor volume. To maximise this rating, it must be designed so that it can be mounted in a
value, the motor surface must lose heat as efficiently as number of orientations. The Unimotor’s finned design ensures
possible. Additionally, servo motors must provide full torque that the motors can be mounted horizontally or vertically
at zero speed. It is not practical to use a shaft mounted fan for without significant effect on heat transfer. CT Dynamics’
cooling so the motor must keep cool through a combination of engineers derived the optimal fin thickness and spacing using
natural convection, conduction through the front flange, and a specially designed computational fluid dynamics (CFD)
radiation. model.

Figure 1

Cylindrical frame Square frame

Typical standard frame Radially finned frame

Figure 1. Naturally ventilated motors usually have a relatively smooth

frame surface. The frame is cylindrical or square, or a combination of the
two. The above illustrations show half cross sections of the various motor
types as used in the CFD model

Adding fins to a surface increases the convective cooling -

radiators are an everyday example. Axial fins are common in
forced ventilated motors. CT Dynamics has taken this concept
a stage further to develop the Unimotor range of servo motors.

1-3

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
The Unimotor Concept

Finned Motors - Designed for Horizontal

and Vertical Orientation
1
Figures 2 and 3 show charts comparing the variation between Figure 4 compares the rated torque of a range of motors with
hC (heat transfer coefficient for convection) with ∆T for the and without radial finning. The figure takes account of the
finned motor design against traditional types. The heat effect of any additional conductive cooling through the front
transfer coefficient shows a massive 100% to 200% flange and radiation. The additional convection cooling gives
improvement over conventional housings. a sizeable increase in torque for the finned motor range.

Figure 2 Figure 4

95mm Diameter Frame 142mm Diameter Frame

hc (W/m2 /0C) Rated Torque (Nm)
18 20
16 18
14 16
12 14
12
10
10
8
8
6
6
4 4
2 2
0 0
0 20 40 60 80 100 120 0 20 40 60 80 100 120 140 160
T (0C) Stator Stack Length (mm)

Figure 3 Key
190mm Diameter Frame
Finned
hc (W/m2 /0C) Standard
24
Square
22
20 Cylindrical
18
16
14
12
10
8
6
4
2
0
0 20 40 60 80 100 120
T (0C)

1-4

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Ordering Information

Ordering Information
2 Use the information given in the illustration below to create
an order code for the Unimotor. The details in the green
band are an example of an order code. CT Dynamics
recommends that you order the required mating connectors
at the time of placing your order. For further details turn to the
cables. See also the grid overleaf, which gives standard and
optional features available for each motor. If you are unsure
which motor you need see ‘Selecting the Correct Motor’.

95 UM B 30 0 C A C A A

Frame Stator Brake: Output Shaft Key: Flange Mounting or

Size: Length: 0 -Not fitted (Std) A -With key (Std) Gearbox:
75 A, 1-Brake fitted 24V B -Without key A - IEC (Std)
95 B, See Note 1 X - Gearbox
115 C,
142 D
190 E***

Motor Type: Rated speed: Connection Feedback Device: Inertia:

UM - For Unidrive 20 -2000rpm type: A -Resolver 55RSS116 A-Standard (Std)
SL - For MultiAx, M'Ax 30 -3000rpm (Std) C -Connector (Std) B- Incremental Encoder 3000 C/T B-High
EZ - 220V AC 40 -4000rpm H -Hybrid C -Incremental Encoder 4096 C/T
DM - For DigitAx* 60 -6000rpm*** G-Sin/Cos Encoder SCM60 (Obsolete)
(multi-turn)****
H-Sin/Cos Encoder SCS60 (Obsolete)
(single turn)****
M- Incremental Encoder 2048 C/T
P -CT Coder + SLM3 Electronics**
* Available with resolver feedback only.
R -Sin/Cos Encoder SRM50 (multi-turn)
**Available for SL motors only (D=SLM1 E=SLM2)
S -Sin/Cos Encoder SRS 50 (single turn)
***Not available for some motors
**** Replaced by R or S types
(Std) = standard option

Note 1: Applies to output shaft of the motor or

when gearbox fitted, output shaft of gearbox

2-1

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Ordering Information

Standard & Optional Features

This chart shows the standard and optional features
available with each motor.

Description Order Ref. Refers to Unimotor Frame Size

2
75 95 115 142 190
Motor Type UM For drives 380-480 Vac ● ● ● ● ●
EZ For drives 200-240 Vac ■ ■ ■ ■ ■
SL For M’Ax drives, 380-480 Vac ● ● ● ● ●
DM*1 For Digitax drive, 380-480 Vac ■ ■ ■ ■ ■
Stator Length A ■ ■ ■ ■ ■
B ■ ■ ■ ■ ■
C ■ ■ ■ ■ ■
D ■ ■ ■ ■ ■
E N/A ■ ■ ■ N/A
Rated Speed 10 1000 RPM ▲ ▲ ▲ ▲ ▲
20 2000 RPM ■ ■ ■ ■ ■
30 3000 RPM ● ● ● ● ●
40 4000 RPM ■ ■ ■ ■ ▲
60 6000 RPM ■ ■ ▲ ▲ N/A
Brake 0 Non fitted ● ● ● ● ●
1 Fitted 24V DC ■ ■ ■ ■ ■
Connection Type C Connector, rotatable ● ● ● ● ●
H Hybrid (Power terminal box) ▲ ▲ ▲ ▲ ▲
Output Shaft Key A With key ● ● ● ● ●
B Without key ■ ■ ■ ■ ■
X Special shaft or mechanical detail ▲ ▲ ▲ ▲ ▲
Feedback Device C/M Incremental encoder ● ● ● ● ●
P CT Coder (SL only) ■ ■ ■ ■ ■
R SIN/COS encoder SRM50 (Multi) ■ ■ ■ ■ ■
S SIN/COS encoder SRS50 (Single) ■ ■ ■ ■ ■
A Resolver 55RSS 116 ■ ■ ■ ■ ■
Flange Mounting A IEC Flange (no gearbox) ● ● ● ● ●
X Gearbox ▲ ▲ ▲ ▲ ▲
Inertia A Standard ● ● ● ● ●
B High ■ ■ ■ ■ ■
CTD/IS/2000/01 UL Insulation system ● ● ● ● ●
E215243 UL recognised motor ■ ■ ■ ■ ■
Note: E215243 UL recognised motors to be requested at time of order.

Use the codes in the Order Ref. column to build your order ● - Standard Feature
code. Choose one reference from each of the description ■ - Standard Option
categories. ▲ - Limited Availability Option
*1 The DM Motor type has resolver feedback only. N/A - Not Available

2-2

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Data (Standard motor)

Specification - UM, EZ, SL, DM (Standard Motors)

Standard motors have UL and CAN/CSA recognised Insulation Environmental

System to class H, see ‘Insulation Class’.The CTD/IS/2000/01
insulation system number on the motor number plate, Ingress Protection Motor, excluding mounting face, and
together with the xxxxx symbol, denotes this. Earlier motors with mating connectors and cables
may display this information on a separate label on the rear fitted. Ingress protection : IP65S.

3 cover.
Operating Temperature Specified performance at 0-40˚C
If the UL symbol xxxxx has “E215243” underneath, then this ambient.
indicates full motor recognition. (Refer also section 4)
Storage Temperature -20˚C to 70˚C.
Physical
Insulation Class H (180˚C) Insulation system.
Insulation Class Class H, BS EN 60034-1. The CTD/IS/2000/01 insulation
system number on the motor
Insulation System USR & CNR Class H Electrical number plate, together with the
Insulation System designated xxxxx symbol, denotes a UL
‘CTD/1S/2000/01’. recognised insulation system, file
number E214439.
Degree of Balance Rotor balanced to ISO 1940
(BS 6861) G 6.3 (half key Temperature Rise For motors with resolver feedback,
convention to ISO 8821). (Winding) 125˚C over ambient of 40˚C Max.
For motors with optical feedback,
Temperature Monitoring PTC thermistor, 170ºC switch 100˚C over ambient of 40˚C Max.
temperature.

Bearing System Preloaded ball bearings, metal

shielded, high temperature grease.

Electrical Connections Connector or terminal box for

power and brake; connector for
feedback devices and thermistor.

Flange Mounting IEC 60072-1 as standard / NEMA

MG-7 optional.

Output Shaft Plain shaft as standard. Output key

is optional (to IEC 60072-1).

3-1

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Data (Standard
Performance motor)
Data

IP65S
Nameplate Ingress Protection = IP65S (excludes front shaft seal)
Values shown for KE; KT and I0 are nominal values
relevant to motors at 20 degrees C. Stall/rated torque Insulation Class H
(M0/N) and power (PN) are for motors at continuous Windings are built to Class H standard (180ºC)
maximum ratings in a 40 degrees C ambient. Motor will have further ambient and ∆t restrictions.
Refer below.

0-40ºC / ∆125ºC
Ambient temperature range / (delta) winding
temperature increase above ambient (at full rating)
3
TCW 632s
Thermal Time-constant of copper winding with
respect to iron laminations.

3ø, 8pole, PM Servomotor nN /MAX 2000 /3265 rpm

- Indicates number of poles. This motor has 8 poles nN (nominal speed) = 2000 rpm / nMAX (maximum
or 4 pole pairs. speed) = 3265 rpm (at maximum drive supply
- Electrical frequency = (rpm/60) x (number of pole voltage [e.g. 480V and 240V] and no load or low
pairs) torque)
Note: maximum speed given for motor includes limit
190UMD201CBAXA of feedback device, but excludes drive limits.
- Motor type number – ref. Ordering information,
Section 2, page 1. f-b resolver
Feedback Device is a resolver.
Note that the X indicates that a gearbox is fitted – for Other Devices are as per the following table
gearbox details see gearbox label and section 9 of
this manual.
Feedback Type Name
VPWM 380 /480 Vac Resolver “resolver"
- for use with a VPWM (Voltage Pulse Width Incremental 4096 "4096ppr"
Modulation) Drive with supply voltage as Incremental 1024 "1024ppr"
indicated. Incremental 2048 "2048ppr"
CT Coder & SLM3 "SLM3"
Brake 24 Vdc; 1.1 A Sincos SRM50 1024 "SRM50"
Brake supply requirements Sincos SRS50 1024 "SRS50"

KE (NOM) 147V/krpm
KE ac Volts per 1000rpm with motor at 20°C

M0/N 78.0 /60.0 Nm

M0 (Stall torque) = 78.0Nm; MN (rated torque CE (Conformité Européenne) mark and reference
@ nominal speed rpm) = 60.0 Nm number.
Note: A “Declaration of Incorporation” is contained
PN 12.6kW within the Unimotor Installation Guide that
PN (Power @ nominal speed) = 12.6 kW accompanies each motor.

KT 2.40 Nm/A; I0 32.5A

KT (Torque Constant) and I0 (Maximum continuous
stall current)
Values shown are for motor magnet temperatures
at 200C.
KT maybe lower and I0 higher for typical working
conditions.

3-2

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Data (Standard motor)

CTD/IS/2000/01 Performance Definitions (Standard Motor)

UL and CAN/CSA Recognition marking for the Motor A total of four different tables are shown in two groups of
Insulation system USR and CNR Class 180(H) two. When referring to tables, please be sure to select the
electrical insulation system designated table relevant to requirements.
There are two voltage ranges:
"CTD/IS/2000/01".
1. UM, SL, DM motors for drives requiring 380-480Vac supply
The UL list number for this is E214439.
2. EZ motors for drives requiring 200-240Vac supply
Each of these is sub-divided into two temperature ranges:
Note: USR - United States Standards Recognized. a) ∆t= 1000C for motors with encoders
CNR - Canadian National Standards Recognized in b) ∆t= 1250C for motors with resolvers
3 accordance with CAN/CSA C22.2 No. 0-M91,
Appendix B. Class H - UL and CSA recognised Insulation System
Class H is a classification of the temperature rating of the
motor winding insulation system.

Class H rating has a maximum average winding (copper)

wire temperature of 180ºC.

All UM, DM, EZ and SL motors have identical insulation

systems complying with class H temperature rating
irrespective of ∆tmax.

The Insulation System designated “CTD/IS/200/01” is

recognised by the Underwriters Laboratories (UL, USA.)
and CSA (Canadian Standards Authority) for voltage and
material safety compliance.

∆t temperature
∆t temperature is the temperature difference between the
copper wires of the motor winding and the ambient air
temperature surrounding the motor.

∆tmax temperatures are allocated to CTD motors as

follows:

∆tmax = 100ºC, is applicable to all motors fitted with

optical encoder feedback due to their maximum operating
temperature. ∆tmax = 100ºC is a little lower than a Class
F winding rating for 40ºC motor ambient air temperature.
(Class F has 155ºC max average winding temperature)

∆tmax = 125ºC, is applicable to UM and DM motors

fitted with resolver feedback.
Rating corresponds to a Class H winding rating of 180ºC
For this higher ∆tmax, a larger winding current is possible,
and hence a larger torque rating.

Winding Thermal Time Constant (tc) seconds

The thermal time constant of the winding with respect to
the stator temperature as referenced in the exponential
temperature rise given by the formulae: -

Winding temperature at time t seconds = T0+T1(1 – e –t/tc)

Where T0 is initial temperature, T1 is final winding
temperature and tc = thermal time constant (seconds)

Note that temp = 63.2% of T1 when t = tc

A thermal protection trip is provided by the drive, based upon

calculations using elapsed time, current measurement, and the
parameter settings set by the user or directly from the motor map
data.
3-3

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Data (Standard motor)

UM. EZ and DM motor windings are ultimately protected by Twice the speed gives twice the output power at the same torque
thermistor devices located in the winding overhangs. These level.
thermistors must be connected to the appropriate drive inputs
via the motor feedback signal connector. (For pin allocations of Motor Efficiency
signal connectors, refer to section 7) Defined as (power out) /(power in) and expressed as a
percentage, motor efficiencies are typically >95% at full power.
The improved thermal modelling of the SL motor by the M’Ax
and MultiAx drive software renders the need for thermistors to
At no load and low torque levels, drive waveforms may distort due
be unnecessary.
to poor resolution at low current, causing iron loss, low efficiency
and an unexpected motor temperature rise.
Stall Torque
This is the maximum continuous torque within the Continuous
3
Zone at zero or low speeds. Voltage Constant (Ke) Volt (rms)/krpm
This is the phase–phase rms voltage generated at the stator
Maximum continuous torque ratings may be intermittently when the shaft is back-driven at 1000rpm with rotor at 20ºC.
exceeded for short periods provided that winding ∆tmax
temperature is not exceeded. Torque Constant (Kt) Nm/A(rms)
As for a brushed motor, a brushless commutating motor delivers
As with rated torque, the ultimate limiting factor is winding torque proportional to current, such that torque = Kt x current.
temperature rise:
Where Kt = 0.0165 x Ke (at 20ºC).
∆tmax = maximum winding temperature rise above ambient.
= 100ºC or 125ºC according to motor type
Magnets used on all motors are affected by temperature, such
For stall conditions, the heating occurs in the copper windings due to that Kt and Ke reduce with increasing temperature of magnets.
I2R losses, plus some ac ripple current loss due to the drive switching Kt and Ke reduce by 0.1% / ºC for all 75 – 142 motors; and by
frequency. 0.035% / ºC for 190 motors. Temperature of magnets may be
assumed to reach 87% of winding temperature.
Peak Torque
Peak torque is the maximum torque that can be safely applied Stall Current A rms
to the motor at any time, provided that the maximum ∆t Stall Current = (Stall Torque) / Kt
temperature limit is never exceeded. Motor label and tables quote stall current for motor windings at
200C.

Rated Torque
Rated Current A rms
This is the continuously rated torque at full rated speed.
Rated Current = (Rated Torque) / Kt
This will be less than stall torque, because as the motor turns,
magnetic lines of flux move through the stator laminations Pole Pairs
creating additional iron losses that increase with speed, also, to 75–142 motors have 6 poles = 3 pole pairs
a lesser extent, viscous friction losses are added. 190 motors have 8 poles = 4 pole pairs

Rated Speed
This is the normal maximum speed for the motor.

The motor speed can be controlled to any speed subject to

voltage limits and drive constraints as shown by the Intermittent
Zone of the graphs. (see “Speed Limit”)
A higher speed motor has fewer winding turns, but requires a higher
current to produce the same torque as a similar lower speed motor.

The induced motor voltage at rated speed and no load must be

sufficiently less than the supply voltage, to allow for additional
voltage across the resistance and inductance of windings as torque
(approx = current) is applied.

Rated Power
This is the product of rated speed (radians/sec) and torque (Nm)
expressed in Watts (W).

3-4

+44 (0)1264 387600 www.ctdynamics.com

 3

3-5
UM & SL servo motor technical specifications For 3 Phase VPWM Drives 380 - 480Vrms
v.19M, last updated: 11/3/03

0
Unimotors with Encoder Feedback Stall torque; rated torque and power relate to maximum continuous operation in a 40 C ambient
∆t = 100 degC
All data subject to +/-10% tolerance
100 DT 125 DT
Motor Frame Size (mm) 75 95 115 142 190
All Speeds Frame Length A B C D A B C D E A B C D E A B C D E A B C D
Continuous Stall Torque (Nm) 1.2 2.2 3.1 3.9 2.3 4.3 5.9 7.5 9.0 3.5 6.6 9.4 12.4 15.3 6.3 10.8 15.3 19.8 23.4 21.8 41.1 58.7 73.2
Peak Torque nominal (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4 70.2 65.4 123 176 219
High Inertia (kgcm2) 1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8 9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7 47.0 93.5 141 188 235
Standard Inertia (kgcm2) 0.6 1.0 1.5 1.9 1.4 2.5 3.6 4.7 5.8 3.2 5.5 7.8 10.0 12.3 7.8 14.1 20.5 26.8 33.1 50.0 97.0 144 191
Weight (kg) 3.0 3.7 4.4 5.1 5.0 6.1 7.2 8.3 9.5 6.5 8.2 9.9 11.6 13.2 10.9 13.2 15.5 17.8 20.5 26.0 33.0 40.0 48.0
Winding Thermal Time Const.(sec) 81 74 94 100 172 168 183 221 228 175 185 198 217 241 213 217 275 301 365 240 242 319 632
Maximum Cogging (Nm) 0.02 0.03 0.04 0.05 0.03 0.06 0.08 0.10 0.13 0.06 0.10 0.14 0.18 0.21 0.09 0.16 0.23 0.30 0.35 0.30 0.54 0.72 0.99
Kt (Nm/A) 2.40
Rated Speed 2000 (rpm)
Ke (V/krpm) 147
Rated Torque (Nm) 1.1 2.1 3.0 3.8 2.2 4.0 5.5 6.9 8.2 3.2 6.1 8.7 10.8 14.0 5.9 10.3 14.6 18.4 21.3 20.0 36.9 50.4 54.7
Stall Current (A) 0.5 1.0 1.3 1.7 1.0 1.8 2.5 3.2 3.8 1.5 2.8 4.0 5.2 6.4 2.7 4.5 6.4 8.3 9.8 9.1 17.2 24.5 30.5
Rated Power(kW) 0.23 0.44 0.63 0.80 0.46 0.84 1.15 1.45 1.72 0.67 1.28 1.82 2.26 2.93 1.24 2.16 3.06 3.85 4.46 4.19 7.73 10.6 11.5
R (ph-ph) (Ohms) 144 48.2 25.0 15.7 59.0 17.0 9.90 6.00 4.30 27.8 8.55 4.55 2.96 2.17 12.5 3.60 2.10 1.35 0.98 1.80 0.56 0.33 0.23
L (ph-ph) (mH) 214 99.2 59.2 44.7 131 54.5 36.5 25.6 18.9 94.6 40.5 25.7 18.6 14.7 58.0 29.8 18.7 13.6 10.7 28.1 13.0 8.90 6.30
Kt (Nm/A) 1.6
Rated Speed 3000 (rpm)

+44 (0)1264 387600

Ke (V/krpm) 98.0
Rated Torque (Nm) 1.1 2.0 2.8 3.5 2.0 3.9 5.4 6.8 8.1 3.0 5.5 8.1 10.4 12.6 5.4 9.0 12.2 15.8 18.0 19.2 33.0 35.0 36.8
Stall Current (A) 0.8 1.4 2.0 2.5 1.5 2.7 3.7 4.7 5.7 2.2 4.2 5.9 7.8 9.6 4.0 6.8 9.6 12.4 14.7 13.7 25.7 36.7 45.8
Rated Power(kW) 0.35 0.63 0.88 1.10 0.63 1.23 1.70 2.14 2.54 0.94 1.73 2.54 3.27 3.96 1.70 2.83 3.83 4.96 5.65 6.03 10.4 11.0 11.6
R (ph-ph) (Ohms) 60.8 20.1 10.5 7.5 24.5 6.80 4.00 2.50 2.00 12.6 3.86 2.02 1.40 1.10 5.63 1.72 0.94 0.61 0.44 0.79 0.30 0.14 0.09
L (ph-ph) (mH) 98.4 41.8 27.6 19.7 57.9 24.3 15.5 10.9 8.50 43.1 18.6 11.4 8.60 7.40 31.0 13.3 8.30 6.10 4.80 13.2 6.11 3.60 2.46
Kt (Nm/A) 1.20
Rated Speed 4000 (rpm)
Ke (V/krpm) 73.5
Rated Torque (Nm) 1.0 1.7 2.3 2.9 1.8 3.0 4.0 4.9 5.7 2.5 4.7 6.3 7.5 8.7 3.6 7.0 8.9 10.7 12.2


N/A
Stall Current (A) 1.0 1.9 2.6 3.3 2.0 3.6 5.0 6.3 7.5 3.0 5.5 7.9 10.4 12.8 5.3 9.0 12.8 16.5 19.5
Rated Power(kW) 0.42 0.71 0.96 1.21 0.75 1.26 1.68 2.05 2.39 1.05 1.97 2.64 3.14 3.64 1.51 2.93 3.73 4.48 5.11
R (ph-ph) (Ohms) 36.8 10.5 6.30 4.20 12.7 4.08 2.10 1.50 1.03 6.91 2.14 1.16 0.73 0.57 3.12 1.00 0.53 0.35 0.24
L (ph-ph) (mH) 54.9 24.8 14.9 10.8 31.5 13.6 8.50 6.30 4.80 23.5 10.2 6.60 4.70 3.90 17.6 7.50 4.70 3.60 2.70
Kt (Nm/A) 0.80
Rated Speed 6000 (rpm)
Ke (V/krpm) 49.0
Rated Torque (Nm) 0.9 1.6 2.1 2.6 1.3 2.1 2.8 3.3 3.7 2.2 4.0 5.1
N/A 2.9 4.5

N/A
Stall Current (A) 1.5 2.8 3.9 4.9 2.9 5.4 7.4 9.4 11.3 4.4 8.3 11.8 7.9 13.5
Rated Power(kW) 0.57 1.01 1.32 1.63 0.82 1.32 1.76 2.07 2.32 1.38 2.51 3.20 1.82 2.83
>>>CTD Brushless Servo Motors

R (ph-ph) (Ohms) 15.0 5.00 2.66 1.90 5.45 1.82 1.05 0.62 0.48 3.10 0.97 0.50 1.42 0.46
L (ph-ph) (mH) 24.0 10.6 6.80 4.80 14.1 6.00 3.80 2.70 2.10 15.5 4.81 2.94 7.72 3.44
The information contained in this specification is for guidance only and does not form part of any contract.
N/A Not available
Consult factory CT Dynamics Limited have an ongoing process of development and reserve the right to change the specification without notice.
Performance Data (Standard motor)

www.ctdynamics.com
 UM & DM servo motor technical specifications For 3 Phase VPWM Drives 380 - 480Vrms
v.19M, last updated: 11/3/03

Unimotors with Resolver Feedback Stall torque; rated torque and power relate to maximum continuous operation in a 40 0C ambient
∆t = 125 degC
All data subject to +/-10% tolerance
Motor Frame Size (mm) 75 95 115 142 190
All Speeds Frame Length A B C D A B C D E A B C D E A B C D E A B C D
Continuous Stall Torque (Nm) 1.3 2.4 3.4 4.4 2.5 4.6 6.5 8.3 10.0 4.0 7.3 10.5 13.9 17.6 7.3 12.5 17.7 22.9 27.0 23.2 43.2 62.8 78.0
Peak Torque nominal (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4 70.2 65.4 123 176 219
High Inertia (kgcm2) 1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8 9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7 47.0 93.5 141 188 235
2
Standard Inertia (kgcm ) 0.6 1.0 1.5 1.9 1.4 2.5 3.6 4.7 5.8 3.2 5.5 7.8 10.0 12.3 7.8 14.1 20.5 26.8 33.1 50.0 97.0 144 191
Weight (kg) 3.0 3.7 4.4 5.1 5.0 6.1 7.2 8.3 9.5 6.5 8.2 9.9 11.6 13.2 10.9 13.2 15.5 17.8 20.5 26.0 33.0 40.0 48.0
Winding Thermal Time Const.(sec) 81 74 94 100 172 168 183 221 228 175 185 198 217 241 213 217 275 301 365 240 242 319 632
Maximum Cogging (Nm) 0.02 0.03 0.04 0.05 0.03 0.06 0.08 0.10 0.13 0.06 0.10 0.14 0.18 0.21 0.09 0.16 0.23 0.30 0.35 0.30 0.54 0.72 0.99
Kt (Nm/A) 2.40
Rated Speed 2000 (rpm)
Ke (V/krpm) 147
Rated Torque (Nm) 1.2 2.3 3.3 4.2 2.3 4.3 6.0 7.6 9.1 3.7 6.8 9.8 12.3 16.6 6.8 12.0 17.0 21.4 24.9 20.8 39.0 53.0 60.0
Stall Current (A) 0.6 1.0 1.5 1.9 1.1 2.0 2.8 3.5 4.2 1.7 3.1 4.4 5.8 7.4 3.1 5.3 7.4 9.6 11.3 9.7 18.0 26.2 32.5
Rated Power(kW) 0.25 0.48 0.69 0.88 0.48 0.90 1.26 1.59 1.91 0.77 1.42 2.05 2.58 3.48 1.42 2.51 3.56 4.48 5.22 4.36 8.17 11.1 12.6
R (ph-ph) (Ohms) 144 48.2 25.0 15.7 59.0 17.0 9.90 6.00 4.30 27.8 8.55 4.55 2.96 2.17 12.5 3.60 2.10 1.35 0.98 1.80 0.56 0.33 0.23
L (ph-ph) (mH) 214 99.2 59.2 44.7 131 54.5 36.5 25.6 18.9 94.6 40.5 25.7 18.6 14.7 58.0 29.8 18.7 13.6 10.7 28.1 13.0 8.90 6.30
Kt (Nm/A) 1.60

+44 (0)1264 387600

Rated Speed 3000 (rpm)
Ke (V/krpm) 98.0
Rated Torque (Nm) 1.2 2.2 3.1 3.9 2.2 4.2 5.9 7.5 9.0 3.3 6.2 9.2 11.9 14.7 6.3 10.5 14.2 18.4 21.0 20.1 36.2 38.3 40.2
Stall Current (A) 0.9 1.5 2.2 2.8 1.6 2.9 4.1 5.2 6.3 2.5 4.6 6.6 8.7 11.0 4.6 7.9 11.1 14.4 16.9 14.5 27.0 39.3 48.8
Rated Power(kW) 0.38 0.69 0.97 1.23 0.69 1.32 1.85 2.36 2.83 1.04 1.95 2.89 3.74 4.62 1.98 3.30 4.46 5.78 6.60 6.31 11.4 12.0 12.6
R (ph-ph) (Ohms) 60.8 20.1 10.5 7.50 24.5 6.80 4.00 2.50 2.00 12.6 3.86 2.02 1.40 1.10 5.63 1.72 0.94 0.61 0.44 0.79 0.30 0.14 0.09
L (ph-ph) (mH) 98.4 41.8 27.6 19.7 57.9 24.3 15.5 10.9 8.50 43.1 18.6 11.4 8.60 7.40 31.0 13.3 8.30 6.10 4.80 13.2 6.11 3.60 2.46
Kt (Nm/A) 1.20
Rated Speed 4000 (rpm)
Ke (V/krpm) 73.5
Rated Torque (Nm) 1.1 1.9 2.6 3.3 2.0 3.2 4.4 5.5 6.6 2.9 5.4 7.3 8.6 10.0 4.2 8.2 10.4 12.5



N/A
Stall Current (A) 1.1 2.0 2.9 3.7 2.1 3.9 5.5 7.0 8.4 3.4 6.1 8.8 11.6 14.7 6.1 10.5 14.8 19.1
Rated Power(kW) 0.46 0.80 1.09 1.38 0.84 1.34 1.84 2.30 2.76 1.21 2.26 3.06 3.60 4.19 1.76 3.43 4.36 5.24
R (ph-ph) (Ohms) 36.8 10.5 6.30 4.20 12.7 4.08 2.10 1.50 1.03 6.91 2.14 1.16 0.73 0.57 3.12 1.00 0.53 0.35
L (ph-ph) (mH) 54.9 24.8 14.9 10.8 31.5 13.6 8.50 6.30 4.80 23.5 10.2 6.60 4.70 3.90 17.6 7.50 4.70 3.60
Kt (Nm/A) 0.80
Rated Speed 6000 (rpm)
Ke (V/krpm) 49.0
Rated Torque (Nm) 1.0 1.8 2.4 3.0 1.7 2.7 3.7 4.8 5.9 2.7 4.7 6.1
N/A 3.6 5.7

N/A
Stall Current (A) 1.7 3.0 4.3 5.5 3.2 5.8 8.2 10.4 12.5 5.0 9.2 13.2 9.2 15.7
Rated Power(kW) 0.63 1.13 1.51 1.88 1.07 1.70 2.32 3.02 3.71 1.70 2.95 3.83 2.26 3.58
>>>CTD Brushless Servo Motors

R (ph-ph) (Ohms) 15.0 5.00 2.66 1.90 5.45 1.82 1.05 0.62 0.48 3.10 0.97 0.50 1.42 0.46
L (ph-ph) (mH) 24.0 10.6 6.80 4.80 14.1 6.00 3.80 2.70 2.10 15.5 4.81 2.94 7.72 3.44
The information contained in this specification is for guidance only and does not form part of any contract.
N/A Not available
Consult factory CT Dynamics Limited have an ongoing process of development and reserve the right to change the specification without notice.
Performance Data (Standard motor)

www.ctdynamics.com
3-6
3
 3

3-7
EZ servo motor technical specifications For 3 Phase VPWM Drives 200 - 240Vrms
v.19M, last updated: 11/3/03

Unimotors with Encoder Feedback Stall torque; rated torque and power relate to maximum continuous operation in a 40 0C ambient
∆t = 100 degC
All data subject to +/-10% tolerance
100 DT 125 DT
Motor Frame Size (mm) 75 95 115 142 190
All Speeds Frame Length A B C D A B C D E A B C D E A B C D E A B C D
Continuous Stall Torque (Nm) 1.2 2.2 3.1 3.9 2.3 4.3 5.9 7.5 9.0 3.5 6.6 9.4 12.4 15.3 6.3 10.8 15.3 19.8 23.4 21.8 41.1 58.7 73.2
Peak Torque nominal (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4 70.2 65.4 123 176 219
High Inertia (kgcm2) 1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8 9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7 47.0 93.5 141 188 235
2
Standard Inertia (kgcm ) 0.6 1.0 1.5 1.9 1.4 2.5 3.6 4.7 5.8 3.2 5.5 7.8 10.0 12.3 7.8 14.1 20.5 26.8 33.1 50.0 97.0 144 191
Weight (kg) 3.0 3.7 4.4 5.1 5.0 6.1 7.2 8.3 9.5 6.5 8.2 9.9 11.6 13.2 10.9 13.2 15.5 17.8 20.5 26.0 33.0 40.0 48.0
Winding Thermal Time Const.(sec) 81 74 94 100 172 168 183 221 228 175 185 198 217 241 213 217 275 301 365 240 242 319 632
Maximum Cogging (Nm) 0.02 0.03 0.04 0.05 0.03 0.06 0.08 0.10 0.13 0.06 0.10 0.14 0.18 0.21 0.09 0.16 0.23 0.30 0.35 0.30 0.54 0.72 0.99
Kt (Nm/A) 1.40
Rated Speed 2000 (rpm)
Ke (V/krpm) 85.5
Rated Torque (Nm) 1.1 2.1 3.0 3.8 2.2 4.0 5.5 6.9 8.2 3.2 6.1 8.7 10.8 14.0 5.9 10.3 14.6 18.4 21.3 20.0 36.9 50.4

Continuous Stall Current (A) 0.9 1.6 2.3 2.8 1.7 3.1 4.3 5.4 6.5 2.6 4.8 6.8 8.9 11.0 4.6 7.8 11.0 14.2 16.8 15.7 29.5 42.1
Rated Power (kW) 0.23 0.44 0.63 0.80 0.46 0.84 1.15 1.45 1.72 0.67 1.28 1.82 2.26 2.93 1.24 2.16 3.06 3.85 4.46 4.19 7.73 10.6
R (ph-ph) (Ohms) 45.8 15.3 8.52 5.72 19.4 6.24 3.16 2.31 1.71 9.09 2.83 1.51 0.99 0.82 4.28 1.33 0.76 0.45 0.32 0.50 0.15 0.10
L (ph-ph) (mH) 98.8 43.4 27.9 20.2 59.2 25.8 16.0 12.6 10.1 47.3 20.6 13.1 9.54 7.86 33.7 15.1 10.3 6.96 5.58 7.98 3.32 2.73
Kt (Nm/A) 0.93

+44 (0)1264 387600

Rated Speed 3000 (rpm)
Ke (V/krpm) 57.0
Rated Torque (Nm) 1.1 2.0 2.8 3.5 2.0 3.9 5.4 6.8 8.1 3.0 5.5 8.1 10.4 12.6 5.4 9.0 12.2 15.8 N/A 19.2 33.0
N/A
Continuous Stall Current (A) 1.3 2.4 3.4 4.2 2.5 4.7 6.4 8.1 9.7 3.8 7.1 10.2 13.4 16.5 6.8 11.7 16.5 21.3 23.5 44.2
Rated Power (kW) 0.35 0.63 0.88 1.10 0.63 1.23 1.70 2.14 2.54 0.94 1.73 2.54 3.27 3.96 1.70 2.83 3.83 4.96 6.03 10.4
R (ph-ph) (Ohms) 18.9 6.26 3.50 2.38 8.03 2.68 1.57 1.03 0.77 4.01 1.30 0.73 0.47 0.37 1.90 0.59 0.31 0.20 0.25 0.08
L (ph-ph) (mH) 42.5 18.4 11.9 8.82 25.6 12.0 7.91 5.60 4.65 20.1 9.16 6.07 4.26 3.49 15.0 6.85 4.20 1.94 3.98 1.87
Kt (Nm/A) 0.72
Rated Speed 4000 (rpm)
Ke (V/krpm) 44.0
Rated Torque (Nm) 1.0 1.7 2.3 2.9 1.8 3.0 4.0 4.9 5.7 2.5 4.7 6.3 7.5
3.6 7.0
N/A N/A
Continuous Stall Current (A) 1.7 3.1 4.4 5.5 3.3 6.0 8.3 10.5 12.6 4.9 9.2 13.1 17.3 8.8 15.1
Rated Power (kW) 0.42 0.71 0.96 1.21 0.75 1.26 1.68 2.05 2.39 1.05 1.97 2.64 3.14 1.51 2.93
R (ph-ph) (Ohms) 10.2 3.39 1.92 1.48 5.15 1.64 0.92 0.62 0.43 2.62 0.82 0.44 0.29 1.20 0.36
L (ph-ph) (mH) 24.6 10.8 7.14 5.42 15.5 6.77 4.61 3.46 2.54 12.6 5.48 3.57 2.53 9.45 4.08
Kt (Nm/A) 0.47
Rated Speed 6000 (rpm)
Ke (V/krpm) 28.5
Rated Torque (Nm) 0.9 1.6 2.1 2.6 1.3 2.1 2.8 3.3
2.2 4.0
N/A N/A 2.9
N/A N/A N/A
Continuous Stall Current (A) 2.6 4.8 6.7 8.4 5.0 9.3 12.7 16.2 7.6 14.2 13.6
Rated Power (kW) 0.57 1.01 1.32 1.63 0.82 1.32 1.76 2.07 1.38 2.51 1.82
>>>CTD Brushless Servo Motors

R (ph-ph) (Ohms) 4.49 1.49 0.95 0.65 2.01 0.67 0.35 0.26 0.96 0.30 0.49
L (ph-ph) (mH) 10.7 4.73 3.10 2.33 6.41 3.01 1.77 1.40 4.80 2.09 3.96
The information contained in this specification is for guidance only and does not form part of any contract.
N/A Not available
Consult factory CT Dynamics Limited have an ongoing process of development and reserve the right to change the specification without notice.
Performance Data (Standard motor)

www.ctdynamics.com
 EZ servo motor technical specifications For 3 Phase VPWM Drives 200 - 240Vrms
v.19M, last updated: 11/3/03

0
Unimotors with Resolver Feedback Stall torque; rated torque and power relate to maximum continuous operation in a 40 C ambient
∆t = 125 degC
All data subject to +/-10% tolerance
Motor Frame Size (mm) 75 95 115 142 190
All Speeds Frame Length A B C D A B C D E A B C D E A B C D E A B C D
Continuous Stall Torque (Nm) 1.3 2.4 3.4 4.4 2.5 4.6 6.5 8.3 10.0 4.0 7.3 10.5 13.9 17.6 7.3 12.5 17.7 22.9 27.0 23.2 43.2 62.8 78.0
Peak Torque nominal (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4 70.2 65.4 123 176 219
High Inertia (kgcm2) 1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8 9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7 47.0 93.5 141 188 235
Standard Inertia (kgcm2) 0.6 1.0 1.5 1.9 1.4 2.5 3.6 4.7 5.8 3.2 5.5 7.8 10.0 12.3 7.8 14.1 20.5 26.8 33.1 50.0 97.0 144 191
Weight (kg) 3.0 3.7 4.4 5.1 5.0 6.1 7.2 8.3 9.5 6.5 8.2 9.9 11.6 13.2 10.9 13.2 15.5 17.8 20.5 26.0 33.0 40.0 48.0
Winding Thermal Time Const.(sec) 81 74 94 100 172 168 183 221 228 175 185 198 217 241 213 217 275 301 365 240 242 319 632
Maximum Cogging (Nm) 0.02 0.03 0.04 0.05 0.03 0.06 0.08 0.10 0.13 0.06 0.10 0.14 0.18 0.21 0.09 0.16 0.23 0.30 0.35 0.30 0.54 0.72 0.99
Kt (Nm/A) 1.40
Rated Speed 2000 (rpm)
Ke (V/krpm) 85.5
Rated Torque (Nm) 1.2 2.3 3.3 4.2 2.3 4.3 6.0 7.6 9.1 3.7 6.8 9.8 12.3 16.6 6.8 12.0 17.0 21.4 24.9 20.8 39.0 53.0

Stall Current (A) 1.0 1.8 2.5 3.2 1.8 3.3 4.7 6.0 7.2 2.9 5.3 7.6 10.0 12.7 5.3 9.0 12.7 16.5 19.4 16.7 31.0 45.0
Rated Power (kW) 0.25 0.48 0.69 0.88 0.48 0.90 1.26 1.59 1.91 0.77 1.42 2.05 2.58 3.48 1.42 2.51 3.56 4.48 5.22 4.36 8.17 11.1
R (ph-ph) (Ohms) 45.8 15.3 8.52 5.72 19.4 6.2 3.16 2.31 1.71 9.09 2.83 1.51 0.99 0.82 4.28 1.33 0.76 0.45 0.32 0.50 0.15 0.10
L (ph-ph) (mH) 98.8 43.4 27.9 20.2 59.2 25.8 16.0 12.6 10.1 47.3 20.6 13.1 9.54 7.86 33.7 15.1 10.30 6.96 5.58 7.98 3.32 2.73
Kt (Nm/A) 0.93
Rated Speed 3000 (rpm)

+44 (0)1264 387600

Ke (V/krpm) 57.0
Rated Torque (Nm) 1.2 2.2 3.1 3.9 2.2 4.2 5.9 7.5 9.0 3.3 6.2 9.2 11.9 14.7 6.3 10.5 14.2
N/A 20.1 36.2 N/A N/A
Stall Current (A) 1.4 2.6 3.7 4.8 2.7 5.0 7.0 9.0 10.8 4.3 7.9 11.3 15.0 19.0 7.9 13.5 19.1 25.0 46.5
Rated Power (kW) 0.38 0.69 0.97 1.23 0.69 1.32 1.85 2.36 2.83 1.04 1.95 2.89 3.74 4.62 1.98 3.30 4.46 6.31 11.4
R (ph-ph) (Ohms) 18.9 6.26 3.50 2.38 8.03 2.68 1.57 1.03 0.77 4.01 1.30 0.73 0.47 0.37 1.90 0.59 0.31 0.25 0.08
L (ph-ph) (mH) 42.5 18.4 11.9 8.82 25.6 12.0 7.91 5.60 4.65 20.1 9.16 6.07 4.26 3.49 15.0 6.85 4.20 3.98 1.87
Kt (Nm/A) 0.72
Rated Speed 4000 (rpm)
Ke (V/krpm) 44.0
Rated Torque (Nm) 1.1 1.9 2.6 3.3 2.0 3.2 4.4 5.5 6.6 2.9 5.4 7.3 8.6 N/A 4.2 8.2 N/A N/A N/A
Stall Current (A) 1.9 3.4 4.8 6.2 3.5 6.5 9.1 11.6 14.0 5.6 10.2 14.7 19.4 10.2 17.5
Rated Power (kW) 0.46 0.80 1.09 1.38 0.84 1.34 1.84 2.30 2.76 1.21 2.26 3.06 3.60 1.76 3.43
R (ph-ph) (Ohms) 10.2 3.39 1.92 1.48 5.15 1.64 0.92 0.62 0.43 2.62 0.82 0.44 0.29 1.20 0.36
L (ph-ph) (mH) 24.6 10.8 7.14 5.42 15.5 6.77 4.61 3.46 2.54 12.6 5.48 3.57 2.53 9.45 4.08
Kt (Nm/A) 0.47
Rated Speed 6000 (rpm)
Ke (V/krpm) 28.5
Rated Torque (Nm) 1.0 1.8 2.4 3.0 1.7 2.7 3.7 4.8
2.7 4.7
N/A N/A 3.6
N/A N/A N/A
Stall Current (A) 2.8 5.2 7.4 9.5 5.4 9.9 14.0 17.9 8.6 15.7 15.7
Rated Power (kW) 0.63 1.13 1.51 1.88 1.07 1.70 2.32 3.02 1.70 2.95 2.26
>>>CTD Brushless Servo Motors

R (ph-ph) (Ohms) 4.49 1.49 0.95 0.65 2.01 0.67 0.35 0.26 0.96 0.30 0.49
L (ph-ph) (mH) 10.7 4.73 3.10 2.33 6.41 3.01 1.77 1.40 4.80 2.09 3.96
The information contained in this specification is for guidance only and does not form part of any contract.
N/A Not available
Consult factory CT Dynamics Limited have an ongoing process of development and reserve the right to change the specification without notice.
Performance Data (Standard motor)

www.ctdynamics.com
3-8
3
 >>>CTD Brushless Servo Motors
Performance Data (UL motor)

Specification - UM, EZ, SL, DM (Full UL recognition)

The UL symbol xxxxx together with “E215243” file number Environmental

indicates full motor recognition by Underwriters Laboratory
(UL) in USA and by Canadian Standards Authority (CSA) in Ingress Protection Motor, excluding mounting face, and
Canada. with mating connectors and cables
fitted. Ingress protection : IP65S.
Note: Hybrid motors with terminal power connections and
certain special motor variants are not offered with full UL Operating Temperature Specified performance at 0-40˚C
recognition. ambient.

4 Physical Storage Temperature -20˚C to 70˚C.

Insulation Class Class H, BS EN 60034-1. Insulation Class H (180˚C) Insulation system.

The CTD/IS/2000/01 insulation
Insulation System USR & CNR Class H Electrical system number on the motor
Insulation System designated number plate, together with the
‘CTD/1S/2000/01’. xxxxx symbol, denotes a UL
recognised insulation system, file
Degree of Balance Rotor balanced to ISO 1940 number E214439.
(BS 6861) G 6.3 (half key
convention to ISO 8821). Temperature Rise For motors with resolver feedback
(Winding) 125˚C over ambient of 40˚C Max.
Temperature Monitoring PTC thermistor, 170ºC switch For motors with optical feedback
temperature. 100˚C over ambient of 40˚C Max.

Bearing System Preloaded ball bearings, metal

shielded, high temperature grease.

Electrical Connections Connector or terminal box for

power and brake; connector for
feedback devices and thermistor.

Flange Mounting IEC 60072-1 as standard / NEMA

MG-7 optional.

Output Shaft Plain shaft as standard. Output key

is optional (to IEC 60072-1).

4-1

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Data (UL
Performance motor)
Data

Nameplate IP65S
Ingress Protection = IP65S (excludes front shaft seal)
Values shown for KE; KT, I0, stall/rated torque (M0/N)
and power (PN) are for motor at full maximum rating Insulation Class H
in a 40 degrees C ambient. Windings are built to Class H standard (180ºC)
KE(NOM) is the motor’s back e.m.f. at 20 degrees C. Motor will have further ambient and ∆t restrictions.
Refer below.

0-40ºC / ∆125ºC
Ambient temperature range / (delta) winding
temperature increase above ambient (at full rating)

TCW 632s
Thermal Time-constant of copper winding with 4
respect to iron laminations.

3ø, 8pole, PM Servomotor nN /MAX 2000 /3265 rpm

- Indicates number of poles. This motor has 8 poles nN (nominal speed) = 2000 rpm / nMAX (maximum
or 4 pole pairs. speed) = 3265 rpm (at maximum drive supply
- Electrical frequency = (rpm/60) x (number of pole voltage and no load or low torque)
pairs) Note: maximum speed given for motor includes limit
of feedback device, but excludes drive limits.
190UMD201CBAXA
- Motor type number – ref. Ordering information, f-b resolver
Section 2, page 1. Feedback Device is a resolver.
Other Devices are as per the following table
Note that the X indicates that a gearbox is fitted – for
gearbox details see gearbox label and section 7 of
this manual. Feedback Type Name
Resolver “resolver"
VPWM 380 /480 Vac Incremental 4096 "4096ppr"
- for use with a VPWM (Voltage Pulse Width Incremental 1024 "1024ppr"
Modulation) Drive with supply voltage as Incremental 2048 "2048ppr"
indicated. CT Coder & SLM3 "SLM3"
Sincos SRM50 1024 "SRM50"
Brake 24 Vdc; 1.1 A Sincos SRS50 1024 "SRS50"
Brake supply requirements

KE (NOM) 147V/krpm
KE ac Volts per 1000rpm with motor at 20°C

M0/N 78.0 /60.0 Nm CE (Conformité Européenne) mark and reference

M0 (Stall torque) = 78.0Nm; MN (rated torque number.
@ nominal speed rpm) = 60.0 Nm Note: A “Declaration of Incorporation” is contained
within the Unimotor Installation Guide that
PN 12.6kW accompanies each motor.
PN (Power @ nominal speed) = 12.6 kW

KT (HOT) 2.24 Nm/A; I0 (HOT) 34.8 A

KT (Torque Constant) at maximum operating
temperature = 2.24 Nm/A
I0(HOT) (Stall Current at maximum operating
temperature) = 34.8 A

4-2

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Data (UL motor)

CTD/IS/2000/01 Performance Definitions

UL and CAN/CSA Recognition marking for the Motor Specifications differ for the UL motor only by presentation
Insulation system USR and CNR Class 180(H) of the performance data in the tables and upon the motor
electrical insulation system designated label. Magnetic characteristics vary with motor
temperature and the parameters shown are for worst case
"CTD/IS/2000/01".
full rating in a 40 degrees C ambient, whereas for standard
The UL list number for this is E214439
motors it has been conventional to quote nominal values
Note: USR - United States Standards Recognized.
for Kt and current. However, it should be noted that stall
CNR - Canadian National Standards Recognized in and rated torque have always been depicted as for worst
accordance with CAN/CSA C22.2 No. 0-M91, case for both standard and now UL motor versions.
Appendix B.
A total of four different tables are shown in two groups of
two. When referring to tables, please be sure to select the
4 table relevant to requirements.
There are two voltage ranges:
3. UM, SL, DM motors for drives requiring 380-480Vac supply
4. EZ motors for drives requiring 200-240Vac supply
Each of these is sub-divided into two temperature ranges:
c) ∆t= 1000C for motors with encoders
UL and CAN/CSA recognition marking for the
d) ∆t= 1250C for motors with resolvers
Unimotor types UM; SL; EZ; DM.
Class H - UL and CSA recognised Insulation System
This UL File number signifies recognition for the Class H is a classification of the temperature rating of the
complete motor motor winding insulation system.

Note: Unimotors with Hybrid boxes for motor power Class H rating has a maximum average winding (copper)
connection and “S” special designated motors are not wire temperature of 180ºC.
UL recognised and for these motors this mark will be
excluded. All UM, DM, EZ and SL motors have identical insulation
systems complying with class H temperature rating
irrespective of ∆tmax.

The Insulation System designated “CTD/IS/2000/01” is

recognised by the Underwriters Laboratories (UL, USA.)
and CSA (Canadian Standards Authority) for voltage and
material safety compliance.

∆t temperature
∆t temperature is the temperature difference between the
copper wires of the motor winding and the ambient air
temperature surrounding the motor.

∆tmax temperatures are allocated to CTD motors as

follows:

∆tmax = 100ºC, is applicable to all motors fitted with

optical encoder feedback due to their maximum operating
temperature. ∆tmax = 100ºC is a little lower than a Class
F winding rating for 40ºC motor ambient air temperature.
(Class F has 155ºC max average winding temperature)

∆tmax = 125ºC, is applicable to UM and DM motors

fitted with resolver feedback.
Rating corresponds to a Class H winding rating of 180ºC
For this higher ∆tmax, a larger winding current is possible,
and hence a larger torque rating.

4-3

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Data (UL
Performance motor)
Data

Winding Thermal Time Constant (tc) seconds Rated Speed

The thermal time constant of the winding with respect to the This is the normal maximum speed for the motor.
stator temperature as referenced in the exponential temperature
rise given by the formulae: - The motor speed can be controlled to any speed subject to
Winding temperature at time t seconds = T0+T1(1 – e –t/tc) voltage limits and drive constraints as shown by the Intermittent
Where T0 is initial temperature, T1 is final winding temperature Zone of the graphs. (see “Speed Limit”)
and tc = thermal time constant (seconds) A higher speed motor has fewer winding turns, but requires a higher
current to produce the same torque as a similar lower speed motor.
Note that temp = 63.2% of T1 when t = tc
The induced motor voltage at rated speed and no load must be
A thermal protection trip is provided by the drive, based upon calculations sufficiently less than the supply voltage, to allow for additional
using elapsed time, current measurement, and the parameter settings set voltage across the resistance and inductance of windings as torque
by the user or directly from the motor map data. (approx = current) is applied.

UM, EZ and DM motor windings are ultimately protected by

thermistor devices located in the winding overhangs. These
Rated Power
This is the product of rated speed (radians/sec) and torque (Nm)
4
thermistors must be connected to the appropriate drive inputs expressed in Watts (W).
via the motor feedback signal connector. (For pin allocations of
signal connectors, refer to section 7) Twice the speed gives twice the output power at the same torque
level.
The improved thermal modelling of the SL motor by the M’Ax
and MultiAx drive software renders the need for thermistors to
be unnecessary. Motor Efficiency
Defined as (power out) /(power in) and expressed as a
Stall Torque percentage, motor efficiencies are typically >95% at full power.
This is the maximum continuous torque within the Continuous
Zone at zero or low speeds. At no load and low torque levels, drive waveforms may distort due
to poor resolution at low current, causing iron loss, low efficiency
Maximum continuous torque ratings may be intermittently and an unexpected motor temperature rise.
exceeded for short periods provided that winding ∆tmax
temperature is not exceeded. Voltage Constant (Ke) Volt (rms)/krpm
This is the phase–phase rms voltage generated at the stator
As with rated torque, the ultimate limiting factor is winding
when the shaft is back-driven at 1000rpm with rotor at 20ºC.
temperature rise:
∆tmax = maximum winding temperature rise above ambient.
= 100ºC or 125ºC according to motor type Torque Constant (Kt) Nm/A(rms)
As for a brushed motor, a brushless commutating motor delivers
For stall conditions, the heating occurs in the copper windings due to torque proportional to current, such that torque = Kt x current.
I2R losses, plus some ac ripple current loss due to the drive switching Where Kt = 0.0165 x Ke (at 20ºC).
frequency.
Magnets used on all motors are affected by temperature, such
Peak Torque that Kt and Ke reduce with increasing temperature of magnets.
Peak torque is the maximum torque that can be safely applied Kt and Ke reduce by 0.1% / ºC for all 75 – 142 motors; and by
to the motor at any time, provided that the maximum ∆t 0.035% / ºC for 190 motors. Temperature of magnets may be
temperature is never exceeded. assumed to reach 87% of winding temperature.

Rated Torque
Stall Current A rms
This is the continuously rated torque at full rated speed.
Stall Current = (Stall Torque) / Kt
This will be less than stall torque, because as the motor turns, Motor label and tables quote stall current when motor is at full
magnetic lines of flux move through the stator laminations power in maximum ambient.
creating additional iron losses that increase with speed, also, to
a lesser extent, viscous friction losses are added. Rated Current A rms
Rated Current = (Rated Torque) / Kt

Pole Pairs
75–142 motors have 6 poles = 3 pole pairs
190 motors have 8 poles = 4 pole pairs

4-4

+44 (0)1264 387600 www.ctdynamics.com

 4

4-5
UM & SL servo motor (UL recog.) technical specifications For 3 Phase VPWM Drives 380 - 480Vrms
v.19M, last updated: 11/3/03

Unimotors with Encoder Feedback Stall torque; stall current; Kt; Ke; rated torque and power relate to maximum continuous operation in a 40 0C ambient
∆t = 100 degC, 40 degC ambient
All data subject to +/-10% tolerance
Motor Frame Size (mm) 75 95 115 142 190
All Speeds Frame Length A B C D A B C D E A B C D E A B C D E A B C D
Continuous Stall Torque (Nm) 1.2 2.2 3.1 3.9 2.3 4.3 5.9 7.5 9.0 3.5 6.6 9.4 12.4 15.3 6.3 10.8 15.3 19.8 23.4 21.8 41.1 58.7 73.2
Peak Torque (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4 70.2 65.4 123 176 219
High Inertia (kgcm2) 1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8 9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7 47.0 93.5 141 188 235
2
Standard Inertia (kgcm ) 0.6 1.0 1.5 1.9 1.4 2.5 3.6 4.7 5.8 3.2 5.5 7.8 10.0 12.3 7.8 14.1 20.5 26.8 33.1 50.0 97.0 144 191
Weight (kg) 3.0 3.7 4.4 5.1 5.0 6.1 7.2 8.3 9.5 6.5 8.2 9.9 11.6 13.2 10.9 13.2 15.5 17.8 20.5 26.0 33.0 40.0 48.0
Winding Thermal Time Const.(sec) 81 74 94 100 172 168 183 221 228 175 185 198 217 241 213 217 275 301 365 240 242 319 632
Maximum Cogging (Nm) 0.02 0.03 0.04 0.05 0.03 0.06 0.08 0.10 0.13 0.06 0.10 0.14 0.18 0.21 0.09 0.16 0.23 0.30 0.35 0.30 0.54 0.72 0.99
Rated Speed 2000 (rpm) Kt (Nm/A) 2.10 Kt (Nm/A) 2.26
Ke(NOM ) =147 V/krpm Ke (V/krpm) 129 Ke (V/krpm) 138
Rated Torque (Nm) 1.1 2.1 3.0 3.8 2.2 4.0 5.5 6.9 8.2 3.2 6.1 8.7 10.8 14.0 5.9 10.3 14.6 18.4 21.3 20.0 36.9 50.4 54.7
Continuous Stall Current (A) 0.6 1.0 1.5 1.9 1.1 2.0 2.8 3.6 4.3 1.7 3.1 4.5 5.9 7.3 3.0 5.1 7.3 9.4 11.1 9.6 18.2 26.0 32.4
Rated Power (kW) 0.23 0.44 0.63 0.80 0.46 0.84 1.15 1.45 1.72 0.67 1.28 1.82 2.26 2.93 1.24 2.16 3.06 3.85 4.46 4.19 7.73 10.6 11.5
R (ph-ph) (Ohms) 144 48.2 25.0 15.7 59.0 17.0 9.90 6.00 4.30 27.8 8.55 4.55 2.96 2.17 12.5 3.60 2.10 1.35 0.98 1.80 0.56 0.33 0.23
L (ph-ph) (mH) 214 99.2 59.2 44.7 131 54.5 36.5 25.6 18.9 94.6 40.5 25.7 18.6 14.7 58.0 29.8 18.7 13.6 10.7 28.1 13.0 8.90 6.30
Rated Speed 3000 (rpm) Kt (Nm/A) 1.40 Kt (Nm/A) 1.51

+44 (0)1264 387600

Ke(NOM) = 98 V/krpm Ke (V/krpm) 85.8 Ke (V/krpm) 92.3
Rated Torque (Nm) 1.1 2.0 2.8 3.5 2.0 3.9 5.4 6.8 8.1 3.0 5.5 8.1 10.4 12.6 5.4 9.0 12.2 15.8 18.0 19.2 33.0 35.0 36.8
Continuous Stall Current (A) 0.9 1.6 2.2 2.8 1.6 3.1 4.2 5.4 6.4 2.5 4.7 6.7 8.8 10.9 4.5 7.7 10.9 14.1 16.7 14.5 27.3 39.0 48.6
Rated Power (kW) 0.35 0.63 0.88 1.10 0.63 1.23 1.70 2.14 2.54 0.94 1.73 2.54 3.27 3.96 1.70 2.83 3.83 4.96 5.65 6.03 10.4 11.0 11.6
R (ph-ph) (Ohms) 60.8 20.1 10.5 7.5 24.5 6.80 4.00 2.50 2.00 12.6 3.86 2.02 1.40 1.10 5.63 1.72 0.94 0.61 0.44 0.79 0.30 0.14 0.09
L (ph-ph) (mH) 98.4 41.8 27.6 19.7 57.9 24.3 15.5 10.9 8.50 43.1 18.6 11.4 8.60 7.40 31.0 13.3 8.30 6.10 4.80 13.2 6.11 3.60 2.46
Rated Speed 4000 (rpm) Kt (Nm/A) 1.05 Kt (Nm/A) 1.13
Ke(NOM) = 73.5 V/krpm Ke (V/krpm) 64.4 Ke (V/krpm) 69.2
Rated Torque (Nm) 1.0 1.7 2.3 2.9 1.8 3.0 4.0 4.9 5.7 2.5 4.7 6.3 7.5 8.7 3.6 7.0 8.9 10.7 12.2


N/A
Continuous Stall Current (A) 1.1 2.1 2.9 3.7 2.2 4.1 5.6 7.1 8.6 3.3 6.3 8.9 11.8 14.6 6.0 10.3 14.6 18.8 22.3
Rated Power (kW) 0.42 0.71 0.96 1.21 0.75 1.26 1.68 2.05 2.39 1.05 1.97 2.64 3.14 3.64 1.51 2.93 3.73 4.48 5.11
R (ph-ph) (Ohms) 36.8 10.5 6.30 4.20 12.7 4.08 2.10 1.50 1.03 6.91 2.14 1.16 0.73 0.57 3.12 1.00 0.53 0.35 0.24
L (ph-ph) (mH) 54.9 24.8 14.9 10.8 31.5 13.6 8.50 6.30 4.80 23.5 10.2 6.60 4.70 3.90 17.6 7.50 4.70 3.60 2.70
Rated Speed 6000 (rpm) Kt (Nm/A) 0.70
Ke(NOM) = 49.0 V/krpm Ke (V/krpm) 42.9
Rated Torque (Nm) 0.9 1.6 2.1 2.6 1.3 2.1 2.8 3.3 3.7 2.2 4.0 5.1
N/A 2.9 4.5

N/A
Continuous Stall Current (A) 1.7 3.1 4.4 5.6 3.3 6.1 8.4 10.7 12.8 5.0 9.4 13.4 9.0 15.4
Rated Power (kW) 0.57 1.01 1.32 1.63 0.82 1.32 1.76 2.07 2.32 1.38 2.51 3.20 1.82 2.83
>>>CTD Brushless Servo Motors

R (ph-ph) (Ohms) 15.0 5.00 2.66 1.90 5.45 1.82 1.05 0.62 0.48 3.1 0.97 0.50 1.42 0.46
L (ph-ph) (mH) 24.0 10.6 6.80 4.80 14.1 6.00 3.80 2.70 2.10 15.54 4.81 2.94 7.72 3.44
The information contained in this specification is for guidance only and does not form part of any contract.
N/A Not available
Consult factory CT Dynamics Limited have an ongoing process of development and reserve the right to change the specification without notice.
Performance Data (UL motor)

www.ctdynamics.com
 UM & DM servo motor (UL recog.) technical specifications For 3 Phase VPWM Drives 380 - 480Vrms
v.19M, last updated: 11/3/03

Unimotors with Resolver Feedback Stall torque; stall current; Kt; Ke; rated torque and power relate to maximum continuous operation in a 40 0C ambient
∆t = 125 degC, 40 degC ambient
All data subject to +/-10% tolerance
Motor Frame Size (mm) 75 95 115 142 190
All Speeds Frame Length A B C D A B C D E A B C D E A B C D E A B C D
Continuous Stall Torque (Nm) 1.3 2.4 3.4 4.4 2.5 4.6 6.5 8.3 10.0 4.0 7.3 10.5 13.9 17.6 7.3 12.5 17.7 22.9 27.0 23.2 43.2 62.8 78.0
Peak Torque (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4 70.2 65.4 123 176 219
High Inertia (kgcm2) 1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8 9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7 47.0 93.5 141 188 235
Standard Inertia (kgcm2) 0.6 1.0 1.5 1.9 1.4 2.5 3.6 4.7 5.8 3.2 5.5 7.8 10.0 12.3 7.8 14.1 20.5 26.8 33.1 50.0 97.0 144 191
Weight (kg) 3.0 3.7 4.4 5.1 5.0 6.1 7.2 8.3 9.5 6.5 8.2 9.9 11.6 13.2 10.9 13.2 15.5 17.8 20.5 26.0 33.0 40.0 48.0
Winding Thermal Time Const.(sec) 81 74 94 100 172 168 183 221 228 175 185 198 217 241 213 217 275 301 365 240 242 319 632
Maximum Cogging (Nm) 0.02 0.03 0.04 0.05 0.03 0.06 0.08 0.10 0.13 0.06 0.10 0.14 0.18 0.21 0.09 0.16 0.23 0.30 0.35 0.30 0.54 0.72 0.99
Rated Speed 2000 (rpm) Kt (Nm/A) 2.06 Kt (Nm/A) 2.24
Ke(NOM ) =147 V/krpm Ke (V/krpm) 126 Ke (V/krpm) 137
Rated Torque (Nm) 1.2 2.3 3.3 4.2 2.3 4.3 6.0 7.6 9.1 3.7 6.8 9.8 12.3 16.6 6.8 12.0 17.0 21.4 24.9 20.8 39.0 53.0 60.0
Continuous Stall Current (A) 0.6 1.2 1.7 2.1 1.2 2.2 3.2 4.0 4.9 1.9 3.6 5.1 6.8 8.6 3.6 6.1 8.6 11.1 13.1 10.4 19.3 28.0 34.8
Rated Power (kW) 0.25 0.48 0.69 0.88 0.48 0.90 1.26 1.59 1.91 0.77 1.42 2.05 2.58 3.48 1.42 2.51 3.56 4.48 5.22 4.36 8.17 11.1 12.6
R (ph-ph) (Ohms) 144 48.2 25.0 15.7 59.0 17.0 9.90 6.00 4.30 27.8 8.55 4.55 2.96 2.17 12.5 3.60 2.10 1.35 0.98 1.80 0.56 0.33 0.23
L (ph-ph) (mH) 214 99.2 59.2 44.7 131 54.5 36.5 25.6 18.9 94.6 40.5 25.7 18.6 14.7 58.0 29.8 18.7 13.6 10.7 28.1 13.0 8.90 6.30
Rated Speed 3000 (rpm) Kt (Nm/A) 1.37 Kt (Nm/A) 1.49

+44 (0)1264 387600

Ke(NOM) = 98 V/krpm Ke (V/krpm) 84.0 Ke (V/krpm) 91.5
Rated Torque (Nm) 1.2 2.2 3.1 3.9 2.2 4.2 5.9 7.5 9.0 3.3 6.2 9.2 11.9 14.7 6.3 10.5 14.2 18.4 21.0 20.1 36.2 38.3 40.2
Continuous Stall Current (A) 0.9 1.8 2.5 3.2 1.8 3.4 4.7 6.1 7.3 2.9 5.3 7.7 10.1 12.8 5.3 9.1 12.9 16.7 19.7 15.5 28.9 42.0 52.2
Rated Power (kW) 0.38 0.69 0.97 1.23 0.69 1.32 1.85 2.36 2.83 1.04 1.95 2.89 3.74 4.62 1.98 3.30 4.46 5.78 6.60 6.31 11.4 12.0 12.6
R (ph-ph) (Ohms) 60.8 20.1 10.5 7.5 24.5 6.80 4.00 2.50 2.00 12.6 3.86 2.02 1.40 1.10 5.63 1.72 0.94 0.61 0.44 0.79 0.30 0.14 0.09
L (ph-ph) (mH) 98.4 41.8 27.6 19.7 57.9 24.3 15.5 10.9 8.50 43.1 18.6 11.4 8.60 7.40 31.0 13.3 8.30 6.10 4.80 13.2 6.11 3.60 2.46
Rated Speed 4000 (rpm) Kt (Nm/A) 1.03 Kt (Nm/A) 1.12
Ke(NOM) = 73.5 V/krpm Ke (V/krpm) 63.0 Ke (V/krpm) 68.6
Rated Torque (Nm) 1.1 1.9 2.6 3.3 2.0 3.2 4.4 5.5 6.6 2.9 5.4 7.3 8.6 10.0 4.2 8.2 10.4 12.5



N/A
Continuous Stall Current (A) 1.3 2.3 3.3 4.3 2.4 4.5 6.3 8.1 9.7 3.9 7.1 10.2 13.5 17.1 7.1 12.2 17.2 22.3
Rated Power (kW) 0.46 0.80 1.09 1.38 0.84 1.34 1.84 2.30 2.76 1.21 2.26 3.06 3.60 4.19 1.76 3.43 4.36 5.24
R (ph-ph) (Ohms) 36.8 10.5 6.30 4.20 12.7 4.08 2.10 1.50 1.03 6.91 2.14 1.16 0.73 0.57 3.12 1.00 0.53 0.35
Performance

L (ph-ph) (mH) 54.9 24.8 14.9 10.8 31.5 13.6 8.50 6.30 4.80 23.5 10.2 6.60 4.70 3.90 17.6 7.50 4.70 3.60
Rated Speed 6000 (rpm) Kt (Nm/A) 0.69
Ke(NOM) = 49.0 V/krpm Ke (V/krpm) 42.0
Rated Torque (Nm) 1.0 1.8 2.4 3.0 1.7 2.7 3.7 4.8 5.9 2.7 4.7 6.1
N/A 3.6 5.7

N/A
Continuous Stall Current (A) 1.9 3.5 5.0 6.4 3.6 6.7 9.5 12.1 14.6 5.8 10.7 15.3 10.7 18.2
Rated Power (kW) 0.63 1.13 1.51 1.88 1.07 1.70 2.32 3.02 3.71 1.70 2.95 3.83 2.26 3.58
>>>CTD Brushless Servo Motors

R (ph-ph) (Ohms) 15.0 5.00 2.66 1.90 5.45 1.82 1.05 0.62 0.48 3.10 0.97 0.50 1.42 0.46
Performance

L (ph-ph) (mH) 24.0 10.6 6.80 4.80 14.1 6.00 3.80 2.70 2.10 15.5 4.81 2.94 7.72 3.44
The information contained in this specification is for guidance only and does not form part of any contract.
N/A Not available
Consult factory CT Dynamics Limited have an ongoing process of development and reserve the right to change the specification without notice.
Data (UL
Data
motor)

www.ctdynamics.com
4-6
4
 4

4-7
EZ servo motor (UL recog.) technical specifications For 3 Phase VPWM Drives 200 - 240Vrms
v.19M, last updated: 11/3/03

Unimotors with Encoder Feedback Stall torque; stall current; Kt; Ke; rated torque and power relate to maximum continuous operation in a 40 0C ambient
∆t = 100 degC, 40 degC ambient
All data subject to +/-10% tolerance
Motor Frame Size (mm) 75 95 115 142 190
All Speeds Frame Length A B C D A B C D E A B C D E A B C D E A B C D
Continuous Stall Torque (Nm) 1.2 2.2 3.1 3.9 2.3 4.3 5.9 7.5 9.0 3.5 6.6 9.4 12.4 15.3 6.3 10.8 15.3 19.8 23.4 21.8 41.1 58.7 73.2
Peak Torque (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4 70.2 65.4 123 176 219
High Inertia (kgcm2) 1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8 9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7 47.0 93.5 141 188 235
2
Standard Inertia (kgcm ) 0.6 1.0 1.5 1.9 1.4 2.5 3.6 4.7 5.8 3.2 5.5 7.8 10.0 12.3 7.8 14.1 20.5 26.8 33.1 50.0 97.0 144 191
Weight (kg) 3.0 3.7 4.4 5.1 5.0 6.1 7.2 8.3 9.5 6.5 8.2 9.9 11.6 13.2 10.9 13.2 15.5 17.8 20.5 26.0 33.0 40.0 48.0
Winding Thermal Time Const.(sec) 81 74 94 100 172 168 183 221 228 175 185 198 217 241 213 217 275 301 365 240 242 319 632
Maximum Cogging (Nm) 0.02 0.03 0.04 0.05 0.03 0.06 0.08 0.10 0.13 0.06 0.10 0.14 0.18 0.21 0.09 0.16 0.23 0.30 0.35 0.30 0.54 0.72 0.99
Rated Speed 2000 (rpm) Kt (Nm/A) 1.22 Kt (Nm/A) 1.31
Ke(NOM ) = 85.5 V/krpm Ke (V/krpm) 75 Ke (V/krpm) 80
Rated Torque (Nm) 1.1 2.1 3.0 3.8 2.2 4.0 5.5 6.9 8.2 3.2 6.1 8.7 10.8 14.0 5.9 10.3 14.6 18.4 21.3 20.0 36.9 50.4

Continuous Stall Current (A) 1.0 1.8 2.5 3.2 1.9 3.5 4.8 6.1 7.4 2.9 5.4 7.7 10.1 12.5 5.2 8.8 12.5 16.2 19.1 16.6 31.3 44.7
Rated Power (kW) 0.23 0.44 0.63 0.80 0.46 0.84 1.15 1.45 1.72 0.67 1.28 1.82 2.26 2.93 1.24 2.16 3.06 3.85 4.46 4.19 7.73 10.6
R (ph-ph) (Ohms) 45.8 15.3 8.52 5.72 19.4 6.2 3.16 2.31 1.71 9.09 2.83 1.51 0.99 0.82 4.28 1.33 0.76 0.45 0.32 0.50 0.15 0.10
L (ph-ph) (mH) 98.8 43.4 27.9 20.2 59.2 25.8 16.0 12.6 10.1 47.3 20.6 13.1 9.54 7.86 33.7 15.1 10.3 6.96 5.58 7.98 3.32 2.73
Rated Speed 3000 (rpm) Kt (Nm/A) 0.82 Kt (Nm/A) 0.88

+44 (0)1264 387600

Ke(NOM) = 57 V/krpm Ke (V/krpm) 49.9 Ke (V/krpm) 53.7
Rated Torque (Nm) 1.1 2.0 2.8 3.5 2.0 3.9 5.4 6.8 8.1 3.0 5.5 8.1 10.4 12.6 5.4 9.0 12.2 15.8 N/A 19.2 33.0
N/A
Continuous Stall Current (A) 1.5 2.7 3.8 4.8 2.8 5.3 7.2 9.2 11.0 4.3 8.1 11.5 15.2 18.8 7.7 13.2 18.8 24.3 24.9 46.9
Rated Power (kW) 0.35 0.63 0.88 1.10 0.63 1.23 1.70 2.14 2.54 0.94 1.73 2.54 3.27 3.96 1.70 2.83 3.83 4.96 6.03 10.4
R (ph-ph) (Ohms) 18.9 6.26 3.50 2.38 8.03 2.68 1.57 1.03 0.77 4.01 1.30 0.73 0.47 0.37 1.90 0.59 0.31 0.20 0.25 0.08
L (ph-ph) (mH) 42.5 18.4 11.9 8.82 25.6 12.0 7.91 5.60 4.65 20.1 9.16 6.07 4.26 3.49 15.0 6.85 4.20 1.94 3.98 1.87
Rated Speed 4000 (rpm) Kt (Nm/A) 0.63
Ke(NOM) = 44.0 V/krpm Ke (V/krpm) 38.5
Rated Torque (Nm) 1.0 1.7 2.3 2.9 1.8 3.0 4.0 4.9 5.7 2.5 4.7 6.3 7.5
3.6 7.0
N/A N/A
Continuous Stall Current (A) 1.9 3.5 4.9 6.2 3.7 6.8 9.4 11.9 14.3 5.6 10.5 14.9 19.7 10.0 17.2
Rated Power (kW) 0.42 0.71 0.96 1.21 0.75 1.26 1.68 2.05 2.39 1.05 1.97 2.64 3.14 1.51 2.93
R (ph-ph) (Ohms) 10.2 3.39 1.92 1.48 5.15 1.64 0.92 0.62 0.43 2.62 0.82 0.44 0.29 1.20 0.36
L (ph-ph) (mH) 24.6 10.8 7.14 5.42 15.50 6.77 4.61 3.46 2.54 12.6 5.48 3.57 2.53 9.45 4.08
Rated Speed 6000 (rpm) Kt (Nm/A) 0.41
Ke(NOM) = 28.5 V/krpm Ke (V/krpm) 25.0
Rated Torque (Nm) 0.9 1.6 2.1 2.6 1.3 2.1 2.8 3.3
2.2 4.0
N/A N/A 2.9
N/A N/A N/A
Continuous Stall Current (A) 2.9 5.4 7.6 9.6 5.6 10.6 14.5 18.4 8.6 16.2 15.5
Rated Power (kW) 0.57 1.01 1.32 1.63 0.82 1.32 1.76 2.07 1.38 2.51 1.82
>>>CTD Brushless Servo Motors

R (ph-ph) (Ohms) 4.49 1.49 0.95 0.65 2.01 0.67 0.35 0.26 0.96 0.30 0.49
L (ph-ph) (mH) 10.7 4.73 3.10 2.33 6.41 3.01 1.77 1.40 4.80 2.09 3.96
The information contained in this specification is for guidance only and does not form part of any contract.
N/A Not available
Consult factory CT Dynamics Limited have an ongoing process of development and reserve the right to change the specification without notice.
Performance Data (UL motor)

www.ctdynamics.com
 EZ servo motor (UL recog.) technical specifications For 3 Phase VPWM Drives 200 - 240Vrms
v.19M, last updated: 11/3/03

Unimotors with Resolver Feedback Stall torque; stall current; Kt; Ke; rated torque and power relate to maximum continuous operation in a 40 0C ambient
∆t = 125 degC, 40 degC ambient
All data subject to +/-10% tolerance
Motor Frame Size (mm) 75 95 115 142 190
All Speeds Frame Length A B C D A B C D E A B C D E A B C D E A B C D
Continuous Stall Torque (Nm) 1.3 2.4 3.4 4.4 2.5 4.6 6.5 8.3 10.0 4.0 7.3 10.5 13.9 17.6 7.3 12.5 17.7 22.9 27.0 23.2 43.2 62.8 78.0
Peak Torque (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4 70.2 65.4 123 176 219
High Inertia (kgcm2) 1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8 9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7 47.0 93.5 141 188 235
2
Standard Inertia (kgcm ) 0.6 1.0 1.5 1.9 1.4 2.5 3.6 4.7 5.8 3.2 5.5 7.8 10.0 12.3 7.8 14.1 20.5 26.8 33.1 50.0 97.0 144 191
Weight (kg) 3.0 3.7 4.4 5.1 5.0 6.1 7.2 8.3 9.5 6.5 8.2 9.9 11.6 13.2 10.9 13.2 15.5 17.8 20.5 26.0 33.0 40.0 48.0
Winding Thermal Time Const.(sec) 81 74 94 100 172 168 183 221 228 175 185 198 217 241 213 217 275 301 365 240 242 319 632
Maximum Cogging (Nm) 0.02 0.03 0.04 0.05 0.03 0.06 0.08 0.10 0.13 0.06 0.10 0.14 0.18 0.21 0.09 0.16 0.23 0.30 0.35 0.30 0.54 0.72 0.99
Rated Speed 2000 (rpm) Kt (Nm/A) 1.20 Kt (Nm/A) 1.30
Ke(NOM ) = 85.5 V/krpm Ke (V/krpm) 73.3 Ke (V/krpm) 79.8
Rated Torque (Nm) 1.2 2.3 3.3 4.2 2.3 4.3 6.0 7.6 9.1 3.7 6.8 9.8 12.3 16.6 6.8 12.0 17.0 21.4 24.9 20.8 39.0 53.0

Continuous Stall Current (A) 1.1 2.0 2.8 3.7 2.1 3.8 5.4 6.9 8.4 3.3 6.1 8.8 11.6 14.7 6.1 10.5 14.8 19.1 22.6 17.8 33.1 48.2
Rated Power (kW) 0.25 0.48 0.69 0.88 0.48 0.90 1.26 1.59 1.91 0.77 1.42 2.05 2.58 3.48 1.42 2.51 3.56 4.48 5.22 4.36 8.17 11.1
R (ph-ph) (Ohms) 45.8 15.3 8.52 5.72 19.4 6.2 3.16 2.31 1.71 9.09 2.83 1.51 0.99 0.82 4.28 1.33 0.76 0.45 0.32 0.50 0.15 0.10
L (ph-ph) (mH) 98.8 43.4 27.9 20.2 59.2 25.8 16.0 12.6 10.1 47.3 20.6 13.1 9.54 7.86 33.7 15.1 10.30 6.96 5.58 7.98 3.32 2.73
Rated Speed 3000 (rpm) Kt (Nm/A) 0.80 Kt (Nm/A) 0.87

+44 (0)1264 387600

Ke(NOM) = 57 V/krpm Ke (V/krpm) 48.8 Ke (V/krpm) 53.2
Rated Torque (Nm) 1.2 2.2 3.1 3.9 2.2 4.2 5.9 7.5 9.0 3.3 6.2 9.2 11.9 14.7 6.3 10.5 14.2
N/A 20.1 36.2 N/A N/A
Continuous Stall Current (A) 1.6 3.0 4.3 5.5 3.1 5.8 8.2 10.4 12.5 5.0 9.2 13.2 17.4 22.1 9.2 15.7 22.2 26.7 49.7
Rated Power (kW) 0.38 0.69 0.97 1.23 0.69 1.32 1.85 2.36 2.83 1.04 1.95 2.89 3.74 4.62 1.98 3.30 4.46 6.31 11.4
R (ph-ph) (Ohms) 18.9 6.26 3.50 2.38 8.03 2.68 1.57 1.03 0.77 4.01 1.30 0.73 0.47 0.37 1.90 0.59 0.31 0.25 0.08
L (ph-ph) (mH) 42.5 18.4 11.9 8.82 25.6 12.0 7.91 5.60 4.65 20.1 9.16 6.07 4.26 3.49 15.0 6.85 4.20 3.98 1.87
Rated Speed 4000 (rpm) Kt (Nm/A) 0.62
Ke(NOM) = 44.0 V/krpm Ke (V/krpm) 37.7
Rated Torque (Nm) 1.1 1.9 2.6 3.3 2.0 3.2 4.4 5.5 6.6 2.9 5.4 7.3 8.6 N/A 4.2 8.2 N/A N/A N/A
Continuous Stall Current (A) 2.1 3.9 5.5 7.1 4.1 7.5 10.6 13.5 16.2 6.5 11.9 17.1 22.6 11.9 20.3
Rated Power (kW) 0.46 0.80 1.09 1.38 0.84 1.34 1.84 2.30 2.76 1.21 2.26 3.06 3.60 1.76 3.43
R (ph-ph) (Ohms) 10.2 3.39 1.92 1.48 5.15 1.64 0.92 0.62 0.43 2.62 0.82 0.44 0.29 1.20 0.36
Performance

L (ph-ph) (mH) 24.6 10.8 7.14 5.42 15.5 6.77 4.61 3.46 2.54 12.6 5.48 3.57 2.53 9.45 4.08
Rated Speed 6000 (rpm) Kt (Nm/A) 0.40
Ke(NOM) = 28.5 V/krpm Ke (V/krpm) 24.4
Rated Torque (Nm) 1.0 1.8 2.4 3.0 1.7 2.7 3.7 4.8
2.7 4.7
N/A N/A 3.6
N/A N/A N/A
Continuous Stall Current (A) 3.3 6.0 8.5 11.0 6.3 11.5 16.3 20.8 10.0 18.3 18.3
Rated Power (kW) 0.63 1.13 1.51 1.88 1.07 1.70 2.32 3.02 1.70 2.95 2.26
>>>CTD Brushless Servo Motors

R (ph-ph) (Ohms) 4.49 1.49 0.95 0.65 2.01 0.67 0.35 0.26 0.96 0.30 0.49
Performance

L (ph-ph) (mH) 10.7 4.73 3.10 2.33 6.41 3.01 1.77 1.40 4.80 2.09 3.96
The information contained in this specification is for guidance only and does not form part of any contract.
N/A Not available
Consult factory CT Dynamics Limited have an ongoing process of development and reserve the right to change the specification without notice.
Data (UL
Data
motor)

www.ctdynamics.com
4-8
4
 >>>CTD Brushless Servo Motors
Performance Graphs

95UMB300 Unimotor

How To Use Torque-Speed Curves

14
2
The performance graphs contained in this section are 12

applicable to both standard and UL motors. Each torque-

10
speed graph depicts limits of operation for a given motor. Intermittent Torque

Torque (Nm)
8

Limits of operation are shown for three categories; - 3

6
1. Continuous (or RMS) 1
2. Intermittent (short term) 4

3. Speed limit 2
Continuous Torque

Circumstances often require de-rating of motor or drive, see 0

0 1000 2000 3000 4000

“Motor De-rating” and “Test conditions” Speed (rpm)

Continuous or RMS Torque Limit (1) How to use Torque-Speed Graphs

Two levels of continuous operation are shown, one for (1) Continuous torque limit
(2) Peak torque limit
5 encoder motors where the maximum permitted winding
temperature rise ∆t = 100ºC; and one for resolver motors
(3) Speed limit

where ∆t = 125ºC. If, at 400V supply, the speed is increased beyond the limit
shown, the motor sinusoidal waveform shall have
RMS means Root Mean Square (see section 12) and gives the insufficient voltage and will clip and distort, causing
effective continuous torque compatible with repetitive inefficiency and higher temperatures. If the distortion is
torque sequences. (Most servo applications will have a increased further, the drive may loose control of the motor
repeatable sequence of events, e.g. accelerate, run, and trip.
decelerate, and pause).
For higher supply voltages, motor speed limit increases, and
Continuous / RMS torque level must be in the area depicted for lower supply voltages, motor speed limit decreases.
Continuous Zone, otherwise the motor will exceed the ∆t
limit and may overheat. Motors With 4096 ppr Encoders - Unidrive inhibits Speed
demands >3660rpm*
Intermittent / Peak Torque Limit (2) Motors With 2048 ppr Encoders - Unidrive inhibits Speed
Above the Continuous zone is an Intermittent Zone where demands >7320rpm*
the motor may be safely operated for short periods of time. * Applicable Unidrive 3.1.7 s/w onwards
Operation within the Intermittent Zone is permissible
provided that ∆t < 100ºC or ∆t < 125ºC, in accordance with Caution: Because of the high voltages generated, motors
the motor type rating. should never be back-driven at speeds > quoted
maximum speed.
Maximum peak torque is the upper limit of the Intermittent
Zone and is given by :- Plotting an Operating Point
Peak Torque (max) = 3 x Stall Torque rating for ∆t=100ºC.
To estimate whether a motor is the correct choice for a given
Maximum ∆t limit must not be exceeded at any time.
system, it is necessary to calculate or measure the RMS
torque and the RMS speed for a given system in its normal
Periods of a motor’s operating sequence may include frequent
continual stop/ start sequenced mode. This Operating Point
excursions into the Intermittent Zone. A very common reason for
may be marked on the torque-speed graph.
this is for fast acceleration and deceleration where torque levels
approaching peak torque may be required.
If RMS torque is below motor rated torque there will be no
need to consider RMS speed.
Speed Limit (3)
To the right of the graph is a sloping line depicting the If this point lies well within the Continuous Zone, then the
maximum motor speed for a 400V drive supply. For EZ motor is suitable for the application.
motors, this line corresponds to 230V drive supply.
The permitted duration of the excursion into the intermittent
This speed limit line is dependent upon the motor winding; area will depend upon the winding thermal time-constant of
the winding current and frequency, and the voltage supply to the motor and the immediate previous thermal history of events
the drive. (i.e. the motor winding temperature at the beginning of the
excursion). In certain circumstances the duration of the

5-1

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs

excursion). In certain circumstances the duration of the the choice of switching frequency.
excursion can be many minutes because the winding thermal Conversely, lower temperatures or forced air-cooling can
time-constant for larger motors may be quite long. The drive is improve continuous ratings only (not peak torque).
equipped with suitable software to estimate the thermal effects
of the motors activities, based on current and time. It is If heating effects justify, the Unidrive automatically halves
therefore important that the drive has the correct thermal time- the switching frequency (from 6, 9 or12 kHz) to protect
constant value entered as a parameter. the IGBTs. This will increase motor dissipation and
allowance should be made if such circumstance is likely.

When sizing a motor based upon load calculations for a system, When selecting an SP Unidrive to match a servo motor, use
it is advisable to allow for a contingency factor of at least 15%. ‘Heavy Duty’ drive ratings, unless only a menial continuous
function at <50% of motor speed is required.
All motor performance data is subject to a tolerance of +/-
10%.

Motor De-rating 5
The performance data shown corresponds to 40ºC maximum
ambient (surrounding air temperature) and the drive switching
frequencies shown in table 1.

Motor type Switching Frequency

75A to 142E 12kHz
190A to 190D 9kHz

Table 1. Switching Frequencies for Performance Data

Drive supply: 415V, 3 phase nominal.

The P.I.D. parameters are set so that the motor draws minimal
current at no load. Differential Gain = 0. Proportional and
Integral Gains are set for smooth running and minimised speed
overshoot under fast acceleration.

A lower switching frequency other than as shown in Table 1

or any other adverse operating condition requires that the
motor performance be de-rated.

Such circumstances include:

• Lower switching frequency setting of the drive,

(i.e.< 12khz for 75 – 142mm frame; < 9kHz for 190mm
frame), see table 2.
• ambient temperatures >40ºC
• confined space / restricted natural air flow
• inadequate thermal path for motor mounting
• motor mounted to a gearbox
• drive oversize for motor

- For motor switching frequency de-rating, see Table 2

- Most Unidrive nominal current ratings are reduced, for
the higher switching frequencies, see Unidrive manuals for
de-rating tables. As a consequence of this, there can be a
cost optimisation for the choice of motor-drive match and

5-2

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs

Switching frequency de-rating for UM MOTORS with respect to performance tables.

Table 2 Motor De-rate factor for drive switching frequency
Motor 12 kHz 9 kHz 6 kHz 4.5 kHz 3 kHz
75A 1 0.99 0.98 0.97 0.96
75B 1 0.99 0.97 0.96 0.95
75C 1 0.98 0.96 0.95 0.94
75D 1 0.98 0.95 0.94 0.93
95A 1 1.00 0.98 0.97 0.95
95B 1 0.99 0.97 0.95 0.93
95C 1 0.99 0.96 0.94 0.91
95D 1 0.98 0.95 0.92 0.89
95E 1 0.97 0.93 0.91 0.88
5 115A 1 0.99 0.97 0.96 0.94
115B 1 0.98 0.95 0.93 0.91
115C 1 0.97 0.93 0.91 0.89
115D 1 0.96 0.92 0.89 0.86
115E 1 0.95 0.90 0.87 0.84
142A 1 0.99 0.98 0.97 0.96
142B 1 0.98 0.96 0.94 0.91
142C 1 0.97 0.94 0.91 0.87
142D 1 0.97 0.91 0.88 0.84
142E 1 0.96 0.89 0.86 0.81
190A N/A 1 0.99 0.99 0.98
190B N/A 1 0.98 0.97 0.95
190C N/A 1 0.97 0.94 0.91
190D N/A 1 0.94 0.90 0.85

E.g For a 115 UMC 300 with resolver feedback run at 9kHz
Stall torque = 10.5 x 0.97 = 10.2Nm
Rated torque = 9.2 x 0.97 = 8.9Nm

Thermal Test conditions

The tests were carried at an ambient of 25ºC.
The motor under test mounted on a thermally isolated
aluminium plate of dimensions as per Table 3 below.

Motor type Aluminium

Heatsink plate
75 – 95 mm 250 x 250 x 15 mm
115 – 142 mm 350 x 350 x 20 mm
190 mm 500 x 500 x 20 mm

Table 3

5-3

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs
75/2000 RPM

75UMA200 Unimotor 75UMD200 Unimotor

75UMA200 Unimotor 75UMD200 Unimotor

4.0 14

3.5
12

3.0
10

2.5

Torque (Nm)
Torque (Nm)

Intermittent Torque
8
Intermittent Torque
2.0

6
1.5

4
1.0

Continuous Torque Continuous Torque

2
0.5

0.0 0
0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000

Speed (rpm) Speed (rpm)

5
75UMB200 Unimotor

75UMB200 Unimotor

5
Torque (Nm)

Intermittent Torque
4

Continuous Torque
1

0
0 500 1000 1500 2000 2500 3000

Speed (rpm)

75UMC200 Unimotor

75UMC200 Unimotor

10

6
Torque (Nm)

Intermittent Torque

2
Continuous Torque
1

0
0 500 1000 1500 2000 2500 3000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-4

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs
95/2000 RPM

95UMA200 Unimotor 95UMD200 Unimotor

95UMA200 Unimotor 95UMD200 Motor

8 25

20
6

5 Intermittent Torque
15

Torque (Nm)
Torque (Nm)

Intermittent Torque
4

10
3

2
5
Continuous Torque Continuous Torque
1

0 0
0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000

5 Speed (rpm) Speed (rpm)

95UMB200 Unimotor 95UME200 Unimotor

95UMB200 Unimotor 95UME200 Unimotor

14 30

12
25

10
20
Intermittent Torque
Torque (Nm)

Torque (Nm)

8 Intermittent Torque

15
6

10
4

2 Continuous Torque 5 Continuous Torque

0 0
0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000

Speed (rpm) Speed (rpm)

95UMC200 Unimotor

95UMC200 Unimotor

20

18

16

14

12
Torque (Nm)

Intermittent Torque

10

4
Continuous Torque
2

0
0 500 1000 1500 2000 2500 3000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-5

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs
115/2000 RPM

115UMA200 Unimotor 115UMD200 Unimotor

115UMA200 Unimotor 115UMD200 Unimotor

12 40

35
10

30

8
25

Torque (Nm)
Torque (Nm)

Intermittent Torque
Intermittent Torque

6 20

15
4

10

2 Continuous Torque
Continuous Torque
5

0
0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000

Speed (rpm) Speed (rpm)

5
115UMB200 Unimotor 115UME200 Unimotor

115UMB200 Unimotor 115UME200 Unimotor

22 50

20

18 40

16

14
30
Torque (Nm)
Torque (Nm)

Intermittent Torque Intermittent Torque

12

10
20
8

10
4 Continuous Torque Continuous Torque

0 0
0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000

Speed (rpm) Speed (rpm)

115UMC200 Unimotor

115UMC200 Unimotor

30

25

20
Intermittent Torque
Torque (Nm)

15

10

5 Continuous Torque

0 500 1000 1500 2000 2500 3000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-6

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs
142/2000 RPM

142UMA200 Unimotor 142UMD200 Unimotor

142UMA200 Unimotor 142UMD200 Unimotor

22 70

20
60
18

16 50

14

Torque (Nm)
Torque (Nm)

Intermittent Torque 40 Intermittent Torque

12

10
30

20
6

4
Continuous Torque 10 Continuous Torque

0 0
0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000

5 Speed (rpm) Speed (rpm)

142UMB200 Unimotor 142UME200 Unimotor

142UMB200 Unimotor 142UME200 Unimotor

35 80

70
30

60
25

50
Intermittent Torque
Torque (Nm)

Intermittent Torque
Torque (Nm)

20

40

15
30

10
20

Continuous Torque
5 Continuous Torque
10

0
0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000

Speed (rpm) Speed (rpm)

142UMC200 Unimotor

142UMC200 Unimotor

50

40

Intermittent Torque
30
Torque (Nm)

20

10
Continuous Torque

0
0 500 1000 1500 2000 2500 3000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-7

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs
190/2000 RPM

190UMA200 Unimotor 190UMD200 Unimotor

190UMA200 Unimotor 190UMD200 Unimotor

70 240

210
60

180
50

Intermittent Torque 150

Torque (Nm)
Torque (Nm)

Intermittent Torque
40

120

30
90

20
60

Continuous Torque Continuous Torque

10 30

0
0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000

Speed (rpm) Speed (rpm) 5

190UMB200 Unimotor

190UMB200 Unimotor

140

120

100
Torque (Nm)

80 Intermittent Torque

60

40

20 Continuous Torque

0
0 500 1000 1500 2000 2500 3000

Speed (rpm)

190UMC200 Unimotor

190UMC200 Unimotor

200

180

160

140

120 Intermittent Torque

Torque (Nm)

100

80

60

40
Continuous Torque
20

0
0 500 1000 1500 2000 2500 3000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-8

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs

75/3000 RPM

75UMA300 Unimotor 75UMD300 Unimotor

75UMA300 Unimotor 75UMD300 Unimotor

14
4.0

3.5 12

3.0
10

2.5 Intermittent Torque

Torque (Nm)
Torque (Nm)

8 Intermittent Torque

2.0
6
1.5

4
1.0

Continuous Torque
2 Continuous Torque
0.5

0.0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000

5 Speed (rpm) Speed (rpm)

75UMB300 Unimotor

75UMB300 Unimotor

5
Torque (Nm)

4 Intermittent Torque

Continuous Torque
1

0
0 1000 2000 3000 4000

Speed (rpm)

75UMC300 Unimotor

75UMC300 Unimotor

10

6
Torque (Nm)

Intermittent Torque

2
Continuous Torque
1

0
0 1000 2000 3000 4000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-9

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs

95/3000 RPM

95UMA300 Unimotor 95UMD300 Unimotor

95UMA300 Motor
95UMD300 Unimotor

8 25

7
20
6

5 Intermittent Torque

Torque (Nm)
15
Torque (Nm)

Intermittent Torque

10
3

2
5
Continuous Torque Continuous Torque
1

0
0 1000 2000 3000 4000 0 1000 2000 3000 4000

Speed (rpm) Speed (rpm)

5
95UMB300 Unimotor 95UME300 Unimotor

95UMB300 Unimotor 95UME300 Unimotor

14 30

12
25

10
20
Intermittent Torque
Intermittent Torque
Torque (Nm)

Torque (Nm)

15

10
4

Continuous Torque 5 Continuous Torque

2

0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000

Speed (rpm) Speed (rpm)

95UMC300 Unimotor

95UMC300 Unimotor

20

18

16

14

Intermittent Torque
Torque (Nm)

12

10

4
Continuous Torque
2

0
0 1000 2000 3000 4000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-10

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs
115/3000 RPM

115UMA300 Unimotor 115UMD300 Unimotor

115UMA300 Unimotor 115UMD300 Unimotor

12 40

35
10

30

8
Intermittent Torque 25

Torque (Nm)
Torque (Nm)

Intermittent Torque

6 20

15
4

10

2 Continuous Torque Continuous Torque

5

0
0 1000 2000 3000 4000 0 1000 2000 3000 4000

5 Speed (rpm) Speed (rpm)

115UMB300 Unimotor 115UME300 Unimotor

115UMB300 Unimotor 115UME300 Unimotor

22 50

20

18 40

16

14
30
Torque (Nm)
Torque (Nm)

Intermittent Torque Intermittent Torque

12

10
20
8

10
4
Continuous Torque Continuous Torque

0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000

Speed (rpm) Speed (rpm)

115UMC300 Unimotor

115UMC300 Unimotor

30

25

20
Intermittent Torque
Torque (Nm)

15

10

5 Continuous Torque

0 1000 2000 3000 4000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-11

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs
142/3000 RPM
142UMA300 Unimotor 142UMD300 Unimotor

142UMA300 Unimotor 142UMD300 Unimotor

20 70

18
60
16

14 50

Intermittent Torque
12

Torque (Nm)
Torque

40 Intermittent Torque
10

8 30

6
20
4
Continuous Torque

2 10
Continuous Torque

0
0 1000 2000 3000 4000
0
Speed (rpm)
0 1000 2000
Speed (rpm)
3000 4000
5
142UMB300 Unimotor 142UME300 Unimotor

142UMB300 Unimotor 142UME300 Unimotor

35 80

70
30

60
25

Intermittent Torque 50
Torque (Nm)
Torque (Nm)

20 Intermittent Torque

40

15
30

10
20

5 Continuous Torque Continuous Torque

10

-0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000

Speed (rpm) Speed (rpm)

142UMC300 Unimotor

142UMC300 Unimotor

50

40

Intermittent Torque
Torque (Nm)

30

20

10
Continuous Torque

0
0 1000 2000 3000 4000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-12

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs
190/3000 RPM

190UMA300 Unimotor 190UMD300 Unimotor

190UMA300 Unimotor 190UMD300 Unimotor

70 240

60 210

180
50

Intermittent Torque
150
Torque (Nm)

Torque (Nm)
40 Intermittent Torque

120

30
90

20
60

Continuous Torque
10 Continuous Torque
30

0
0 1000 2000 3000 4000 0 1000 2000 3000 4000

5 Speed (rpm) Speed (rpm)

190UMB300 Unimotor

190UMB300 Unimotor

140

120

100
Torque (Nm)

80 Intermittent Torque

60

40

20 Continuous Torque

0
0 1000 2000 3000 4000

Speed (rpm)

190UMC300 Unimotor

190UMC300 Unimotor

200

180

160

140

120
Torque (Nm)

Intermittent Torque

100

80

60

40
Continuous Torque
20

0
0 1000 2000 3000 4000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-13

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs

75/4000 RPM
75UMA400 Unimotor 75UMD400 Unimotor

75UMA400 Unimotor 75UMD400 Unimotor

4.0 14

3.5
12

3.0
10

2.5 Intermittent Torque

Torque (Nm)

Intermittent Torque

Torque (Nm)
8
2.0

6
1.5

4
1.0

Continuous Torque
2 Continuous Torque
0.5

0.0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Speed (rpm) Speed (rpm)
5
75UMB400 Unimotor

75UMB400 Unimotor

5
Torque (Nm)

4 Intermittent Torque

Continuous Torque
1

0
0 1000 2000 3000 4000 5000 6000

Speed (rpm)

75UMC400 Unimotor

75UMC400 Unimotor

10

6
Torque (Nm)

Intermittent Torque

2
Continuous Torque
1

0
0 1000 2000 3000 4000 5000 6000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-14

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs

95/4000 RPM

95UMA400 Unimotor 95UMD400 Unimotor

95UMA400 Unimotor 95UMD400 Unimotor

8 25

20
6

5 Intermittent Torque
15

Torque (Nm)
Torque (Nm)

Intermittent Torque

10
3

2
5
Continuous Torque Continuous Torque
1

0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000

5 Speed (rpm) Speed (rpm)

95UMB400 Unimotor 95UME400 Unimotor

95UMB400 Unimotor 95UME400 Unimotor

14 30

12
25

10
20
Intermittent Torque
Torque (Nm)

Torque (Nm)

8 Intermittent Torque

15

10
4

Continuous Torque 5
2 Continuous Torque

0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000

Speed (rpm) Speed (rpm)

95UMC400 Unimotor

95UMC400 Unimotor

20

18

16

14

12
Torque (Nm)

Intermittent Torque

10

4
Continuous Torque
2

0
0 1000 2000 3000 4000 5000 6000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-15

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs

115/4000 RPM
115UMA400 Unimotor 115UMD400 Unimotor

115UMA400 Unimotor 115UMD400 Unimotor

12 40

35
10

30

8
25
Torque (Nm)

Torque (Nm)
Intermittent Torque Intermittent Torque
6 20

15
4

10

2
Continuous Torque Continuous Torque
5

0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000

Speed (rpm) Speed (rpm)

5
115UMB400 Unimotor 115UME400 Unimotor

115UMB400 Unimotor 115UME400 Unimotor

22 50

20

18 40

16

14
30
Torque (Nm)
Torque (Nm)

Intermittent Torque Intermittent Torque

12

10
20
8

6
10
4
Continuous Torque Continuous Torque
2

0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000

Speed (rpm) Speed (rpm)

115UMC400 Unimotor

115UMC400 Unimotor

30

25

20
Torque (Nm)

Intermittent Torque

15

10

5
Continuous Torque

0 1000 2000 3000 4000 5000 6000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-16

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs

142/4000 RPM
1142UMA400 Unimotor 142UMD400 Unimotor

142UMA400 Unimotor 142UMD400 Unimotor

20 70

18
60
16

50
14

Intermittent Torque

Torque (Nm)
12
Torque (Nm)

40
Intermittent Torque
10

30
8

6 20

4
Continuous Torque 10 Continuous Torque
2

0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000

5 Speed (rpm) Speed (rpm)

142UMB400 Unimotor 142UME400 Unimotor

142UMB400 Unimotor 142UME400 Unimotor

35 80

70
30

60
25

50
Torque (Nm)

Torque (Nm)

20 Intermittent Torque Intermittent Torque

40

15
30

10
20

5 Continuous Torque Continuous Torque

10

0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000

Speed (rpm) Speed (rpm)

142UMC400 Unimotor

142UMC400 Unimotor

50

40

30 Intermittent Torque
Torque (Nm)

20

10
Continuous Torque

0
0 1000 2000 3000 4000 5000 6000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-17

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs
75/6000 RPM

75UMA600 Unimotor 75UMD600 Unimotor

75UMA600 Unimotor 75UMD600 Unimotor

14
4.0

3.5 12

3.0 10

2.5

Torque (Nm)
Intermittent Torque
Torque (Nm)

8 Intermittent Torque

2.0
6

1.5

4
1.0

Continuous Torque 2
0.5 Continuous Torque

0.0 0
0 1000 2000 3000 4000 5000 6000 7000 8000 0 1000 2000 3000 4000 5000 6000 7000 8000

Speed (rpm) Speed (rpm)

5
75UMB600 Unimotor

75UMB600 Unimotor

Intermittent Torque
Torque (Nm)

1 Continuous Torque

0
0 1000 2000 3000 4000 5000 6000 7000 8000

Speed (rpm)

75UMC600 Unimotor

75UMC600 Unimotor

10

6
Torque (Nm)

Intermittent Torque

2
Continuous Torque
1

0
0 1000 2000 3000 4000 5000 6000 7000 8000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-18

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs

95/6000 RPM
95UMA600 Unimotor 95UMD600 Unimotor

95UMA600 Unimotor 95UMD600 Unimotor

8
24

7
21

6 18

5 15 Intermittent Torque
Torque (Nm)

Torque (Nm)
Intermittent Torque
4 12

3 9

2 6

Continuous Torque 3 Continuous Torque

1

0
0 1000 2000 3000 4000 5000 6000 7000 8000 0 1000 2000 3000 4000 5000 6000 7000 8000

5 Speed (rpm) Speed (rpm)

95UMB600 Unimotor 95UME600 Unimotor

95UMB600 Unimotor 95UME600 Unimotor

14 30

12
25

10
20
Torque (Nm)

Torque (Nm)

Intermittent Torque Intermittent Torque

8

15
6

10
4

2 Continuous Torque 5
Continuous Torque

0
0
0 1000 2000 3000 4000 5000 6000 7000 8000
0 1000 2000 3000 4000 5000 6000 7000 8000
Speed (rpm) Speed (rpm)

95UMC600 Unimotor

95UMC600 Unimotor

20

18

16

14

12
Torque (Nm)

Intermittent Torque

10

4
Continuous Torque
2

0
0 1000 2000 3000 4000 5000 6000 7000 8000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-19

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs

115/6000 RPM
115UMA600 Unimotor

115UMA600 Unimotor

12

10

8
Torque (Nm)

Intermittent Torque

2
Continuous Torque

0
0 1000 2000 3000 4000 5000 6000 7000 8000

Speed (rpm)
5
115UMB600 Unimotor

115UMB600 Unimotor

22

20

18

16

14
Torque (Nm)

Intermittent Torque
12

10

4
Continuous Torque
2

0
0 1000 2000 3000 4000 5000 6000 7000 8000

Speed (rpm)

115UMC600 Unimotor

115UMC600 Unimotor

30

25

20
Intermittent Torque
Torque (Nm)

15

10

5
Continuous Torque

0 1000 2000 3000 4000 5000 6000 7000 8000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-20

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Performance Graphs

142/6000 RPM
142UMA600 Unimotor

142UMA600 Unimotor

20

18

16

14

Intermittent Torque
Torque (Nm)

12

10

4
Continuous Torque
2

5
0 1000 2000 3000 4000 5000 6000 7000 8000

Speed (rpm)

142UMB600 Unimotor

142UMB600 Unimotor

35

30

25
Torque (Nm)

20
Intermittent Torque

15

10

5
Continuous Torque

0 1000 2000 3000 4000 5000 6000 7000 8000

Speed (rpm)

All graphs are at 40˚C ambient and 400Vac drive supply

How to use torque-speed graphs see pages 2,3 & 4.

5-21

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Motor Dimensions

Outline Drawings - Frame Sizes 75 - 142

Note: Overall dimensions shown are maximum values

75.0
MODEL: SERIAL No:

8
16 9
SPEED: Ke:

7
10
P
E
INS CLASS: Kt:

15
11
12

6
POLES: STALL:

17
BRAKE:

14

5
1

13

4
2

3
CONTROL
TECHNIQUES MADE IN EC

F B
A

G
C

T R

K
S

UNIMOTOR UM

L
M
6
N

4 HOLES DIA 'H'

EQUISPACED ON J PCD Note: Power connector can be rotated

Dimensions - Frame Sizes 75 - 142

Note: Overall dimensions shown are maximum values
FRAME SIZE 75 95 115 142
Dimension / Length suffix A B C D A B C D E A B C D E A B C D E
A Length Overall (Unbraked) 211 241 271 301 222 252 282 312 342 242 272 302 332 362 225 255 285 315 345
A Length Overall (Braked) 241 271 301 331 252 282 312 342 372 272 302 332 362 392 285 315 345 375 405
B Body Length (Unbraked) 146 176 206 236 157 187 217 247 277 177 207 237 267 297 160 190 220 250 280
B Body Length (Braked) 176 206 236 266 187 217 247 277 307 207 237 267 297 327 220 250 280 310 340
C Flange Square 75.0 95.0 115.0 142.0
D Flange Thickness 7.0 9.0 11.0 12.3
E Register Diameter 60.0 (J6) 80.0 (J6) 95.0 (J6) 130.0 (J6)
F Register Length 2.4 2.9 2.9 3.4
G Power to Connect C/L 61.0 62.5 66.0 80.0
H Fixing Holes Diameter 5.8 (H14) 7.0 (H14) 10.0 (H14) 12.0 (H14)
J Fixing Hole p.c.d. 75.0 100.0 115.0 165.0
K Overall Height 126.0 146.0 166.0 193.0
L Signal Connector Height (UM) 107.0 117.0 127.0 140.0
M Signal Connector Height (SL) 88.0 98.0 108.0 121.0
N Shaft Length (front) 23.0 30.0 30.0 30.0 30.0 40.0 40.0 40.0 40.0 40.0 40.0 40.0 50.0 50.0 50.0 50.0 50.0 50.0 50.0
P Shaft Diameter (J6) 11.0 14.0 14.0 14.0 14.0 19.0 19.0 19.0 19.0 19.0 19.0 19.0 24.0 24.0 24.0 24.0 24.0 24.0 24.0
Shaft Key Dimensions
(option A)
R Key Length 14.0 22.0 22.0 22.0 22.0 32.0 32.0 32.0 32.0 32.0 32.0 32.0 40.0 40.0 40.0 40.0 40.0 40.0 40.0
S Key Height 12.4 15.9 15.9 15.9 15.9 21.4 21.4 21.4 21.4 21.4 21.4 21.4 26.9 26.9 26.9 26.9 26.9 26.9 26.9
T Key to Shaft End 3.5 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 4.0 4.0 4.0 4.0 4.0 4.0 4.0
V Key Width 4.0 5.0 5.0 5.0 5.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 8.0 8.0 8.0 8.0 8.0 8.0 8.0
Typical Weight (Kg)
Low Inertia 3.5 4.3 5.1 5.8 4.7 6.1 7.3 8.8 10.2 7.3 8.9 10.6 12.5 14.2 9.4 12.1 14.7 17.6 20.3
High Inertia 3.9 4.8 5.4 6.3 5.3 6.7 7.9 9.4 10.8 8.5 10.1 11.8 13.7 15.4 11.2 13.9 16.5 19.4 22.1
Low Inertia (braked) 3.7 4.6 5.6 6.1 5.6 7.0 8.2 9.7 11.1 8.2 9.8 11.5 13.4 15.1 11.7 14.4 17.0 19.9 22.6
High Inertia (braked) 4.2 5.1 5.9 6.6 6.2 7.6 8.8 10.3 11.7 9.4 11.0 12.7 14.6 16.3 13.5 16.2 18.8 21.7 24.4

6-1

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Motor Dimensions

Outline Drawing - Frame Size 190

Note: Overall dimensions shown are maximum values D

75.0
MODEL: SERIAL No:

8
16 9
SPEED: Ke:

7
10
P
INS CLASS: Kt:

15
11
12

6
POLES: STALL:

17

14
BRAKE:

5
1

13

4
2

3
CONTROL
TECHNIQUES MADE IN EC

F B
A

T R

K
S

UNIMOTOR UM

L
6
N
4 HOLES DIA 'H'
EQUISPACED ON J PCD
Note: Power connector can be rotated

Dimensions - Frame Size 190

FRAME SIZE 190
Dimension / Length suffix A B C D
A Length Overall (Unbraked) 273 327 381 435
A Length Overall (Braked) 327 381 435 489
B Body Length (Unbraked) 210 264 318 372
B Body Length (Braked) 264 318 372 425
C Flange Square 190.0
D Flange Thickness 14.5
E Register Diameter 180.0 (J6)
F Register Length 4.0
H Fixing Holes Diameter 14.5 (H14)
J Fixing Hole p.c.d. 215.0
K Overall Height 260.0
L Signal Connector Height 161.1
N Shaft Length (front) 58.0
P Shaft Diameter (front) 32.0(K6)
Shaft Output Key Dimensions (option A)
R Shaft Key Length 49.0
S Shaft Key Height 35.0
T Shaft Key to Shaft End 3.1
V Shaft Key Width 10.0
Typical Weight (Kg)
Low Inertia 23.2 32.0 40.8 49.5
High Inertia 25.2 34.0 42.8 51.5
Low Inertia (braked) 25.5 34.3 43.3 52.0
High Inertia (braked) 27.6 36.3 45.3 54.0

6-2

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Motor Dimensions

Outline Drawings - Frame Sizes 75 - 142 Hybrid Box

Note: Overall dimensions shown are maximum values

75.0
MODEL: SERIAL No:
SPEED: Ke:

P
INS CLASS: Kt:
POLES: STALL:
BRAKE:

CONTROL
TECHNIQUES MADE IN EC

F B
A

C
80.0 G

T R

K
S

UNIMOTOR UM

L
6

M
4 HOLES DIA ’H’ N
EQUISPACED ON J PCD

Outline Drawings - Frame Sizes190 Hybrid Box

Note: Overall dimensions shown are maximum values
D
V

75.0
MODEL: SERIAL No:
8
16 9
E
P

SPEED: Ke:
7
10

INS CLASS: Kt:

15
11
12

POLES: STALL:
17

14

BRAKE:
5
1

13

4
2

CONTROL
TECHNIQUES MADE IN EC

F B
A

C
120.0

T R
K
S

UNIMOTOR UM
L

N
4 HOLES DIA 'H'
EQUISPACED ON J PCD

All Dimensions as per page 6-1 with the exception of Dim ‘K’

FRAME SIZE 75 95 115 142 190

Dim K 136.0 155.0 175.0 202.0 279.0

6-3

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Feedback Devices

Introduction - Feedback Devices

Feedback is the essence of a servo system. The Unidrive has an incremental encoder interface as
standard, but with a suitable optional Small Options Module
High quality servo performance depends upon the rigidity of can interface to resolver or sincos (single or multi-turn) types.
the mechanics of the servo system to permit high servo gains The M’Ax and MultiAx drives operate with the SL motors
and bandwidth without resonance and instability, and upon with a special sincos-based ‘CT-Coder’ and built-in SLM
the resolution and accuracy of the feedback device. electronics.

The Unimotor offers selection of feedback types suitable for Feedback type should be chosen to suit the particular
use with the Unidrive or the M’Ax and MultiAx drives. application, and the table1 summarises the considerations.

Feedback Motor Motor Feedback Positional Absolute / Multi-turn Comments

type types ∆t ºC Resolution Accuracy Non- Volatile? available?

Resolver UM or DM 125 1.3 40 min spread Yes No Use for DigitAx Drive and with
arc min Unidrive / Unidrive SP option module
16384/ rev for high temp / harsh environment

7 Incremental optical
encoder 4096 ppr
UM
to 3000rpm
100 1.3
arc min
+/-60 sec No No Suits most applications.
Low speed control down to 1rpm
in quadrature 16384/ rev 300kHz b/w

Incremental optical UM 100 2.6 +/-60 sec No No Suits most applications.

encoder 2048 ppr > 3000rpm arc min Low speed control down to 1rpm
in quadrature 8192 / rev 300kHz b/w

Sincos optical UM 100 0.3 +/-52 sec Yes Yes Use for high resolution with
encoder 1024 arc sec Unidrive SP, Unidrive + UD52
cycles/rev 2.097x106 / rev Analogue signal is susceptible
1x105 / rev to noise distortion.
best in practice Low speed control below 1rpm
Better stability when load /
motor inertia match is poor.
Multi-turn counts 0 to 4096 max
SLM SL 100 0.16 +/-52sec Yes No Use for highest resolution with
optical ‘CT-Coder’ arc sec Limited position at M’Ax or MultiAx drives.
1024 cycles/rev 8 x 106 /rev start up Interpolation at motor and
Not multi-turn digital link to drive using SLM
technology. Better stability
when load /
motor inertia match is poor.

Table1 – Feedback selection

7-1

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Feedback Devices

Feedback Types Terminology

Resolver Absolute / Non-volatile

A passive wound component device consisting of stator and This means available position information is not lost when
rotor elements excited from an external source provided by drive power removed, even if the shaft position is rotated
the UD53 module, (Typically 6Vac, 6kHz). with the power off.

Two outputs from the stator are 6kHz signals, such that the Commutation
amplitude of each corresponds to the sine and cosine angle As with commutating brushed dc motors, all brushless ac
of the motor shaft. permanent magnet motors require commutation information
to enable the drive to synchronise with the rotor of the motor.
This is a robust absolute device of medium accuracy, capable
of withstanding high temperature. Motors fitted with these To ensure optimum torque at all rotor positions both when
are rated to higher torque value than for the other feedback stationary, and at speed, the drive is required to maintain
devices. motor current in phase with the peak of the motor’s
sinusoidal waveform. The drive must therefore know the
Incremental Encoder position of the rotor with respect to the stator at all times.
This high accuracy device has good resolution and is a
standard choice for most drives. Ideally, all feedback devices are aligned with the motor stator
during assembly. For those feedback devices that are not
Position is determined by counting steps or pulses. Two aligned, the Unidrive has an Encoder Phasing Test (#3.25)
sequences of pulses in quadrature are used so that direction that automatically creates a Phase Position (Phase Offset)
sensing may be determined and 4 x (pulses per rev) may be value (#3.28).
used for resolution. 7
Commutation Phase Offset
Commutation tracks are required to determine a coarse Most drives, including the Unidrive, provide for a “Phase
absolute position during motor start to synchronise the drive Offset” adjustment and a means of setting this to match a
waveform to the rotor shaft position. The first commutation motor with a different commutation setting.
transition defines the motor commutation position.
All UM motor feedback devices are set to match the Unidrive
A marker pulse occurring once per rev is used to zero the definition of zero offset*1, and similarly DM motor resolvers
position count. are set to match the DigitAx drive, so that the drives may
operate with zero phase offset adjustment, thus allowing
Position information is volatile – i.e. absolute position is lost interchange of motors between drives without further
when the drive or motor are powered down. adjustment.
Note that not all drives have the same zero offset definition.
Sincos Single Turn
An absolute encoder system with high resolution, that All SL motors have built-in motor map definitions including
employs a combination of absolute, sine and cosine and commutation information and are fully “plug & play” with
incremental techniques. the M’Ax and MultiAx drives.

Sincos Multi-Turn *1 Earlier motors with incremental encoders require a specific

Optional for the Sincos encoder, the encoder has additional non-zero phase offset value to be set in Unidrive
ability to count complete turns of the motor shaft (non-
volatile). This is very useful feature for many types of
machine where a “start-up set reference sequence” is
undesirable.

Note: Volatile multi- turn counting is available from most drives

for all feedback types.

CT-Coder & SLM

A high-resolution encoder combined with the SLM electronics
within the SL motor for the M’Ax and MultiAx drives gives
highest resolution and system performance.

7-2

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Feedback Devices

Encoders & Encoder Housing -

Mechanical Construction
The encoder shaft is directly coupled to the motor shaft. The Incremental Tracks
encoder body is mounted on a flexible, but torsionally rigid, At constant rotational speed, viewed facing the front of the
mount. This, together with a specially developed high motor and in clockwise rotation.
temperature plastic shield provides a thermal barrier to the
motor.
A
_
An aluminium housing covers the end of the encoder and A
permits heat generated by the encoder to dissipate to the air.
Viton seals are used between each mechanical interface and B
_
B
the whole assembly is rated to IP 65S.
INDEX
INDEX
Incremental Encoder
A+B

Three basic variants of the incremental encoders are fitted to tx1 tx2 tx3 tx4 Time τ
match the motor specification and commutation: 4096 ppr T
(pulses per revolution)- 6 pole; 2048 ppr - 6 pole; and 4096
tx< T
_ x 1.5
ppr - 8 pole. 4
The incremental encoder is the only feedback type that can
be used directly with the Unidrive without the use of a small

7 options module.
For all UM with motors with serial numbers >= 308340 Incremental Encoder Specification
(August 2001), commutation position is set to match the
Unidrive definition of zero offset with sufficient accuracy to Outputs Two true and complement square wave
permit operation with any Unidrive with commutation offset signals in quadrature
parameter #3.28 set to zero. True and complement index reference
For motors with serial numbers< 308340, enter number on pulse
motor offset label into para. #3.28 Three true and complement
commutation signals
Features Output interface To EIA422 specification (see encoder
❏ High resolution to 16384 counts with x4 logic (i.e. 4096 connections)
x 4 = 16384) for excellent speed and position control Pulses / rev 4096 ppr for 2,000 rpm and
❏ EIA422 digital differential line drivers suitable for cable 3,000 rpm motors (16,384 counts per
lengths to 100m turn) 2048 ppr for motors above
❏ Digital - for reduced noise susceptibility 3,000 rpm (8,192 counts per turn)
❏ No phase correction required for long cables (resolvers Max. output 300 kHz
may require phase angle correction depending on cable frequency
lengths and motor speeds) Max. encoder 9,000 rpm (mechanical limit)
❏ Phase and quadrature tracks (4096 or 2048 ppr) shaft speed
❏ Marker pulse Commutation 3 tracks each 3 ppr on 6 pole motors
❏ Commutation tracks to match motor signals (frame size 75mm to 142mm) or
❏ Encoder remains operative at 120ºC (100ºC maximum for 3 tracks each 4 ppr on 8 pole motors
full performance) (frame size 190mm)
❏ Directly compatible with Control Techniques’ Unidrive Operating 5.0 volts ± 10%
voltage range
Operating 50 mA - 150 mA, maximum no-load;
current 300 mA max. at 300 kHz with RS 422
loads

7-3

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Feedback Devices

Commutation Outputs voltage drop on long cables. The overall screen must be
The diagram below shows commutation outputs for 6 pole braided (not foil), for flexibility. It is important to have
commutation (3 pole pairs). The 3 phase motor sinusoidal correct screen connection at both motor and drive ends.
power from the drive runs synchronously with motor
speed at N/2 cycles per revolution; CT Dynamics recommend the use of ready-made and
tested cables for reliable and fast installation. (See Cables
where, N = number of poles. section.)

Thus, a 6 pole motor has 3 electrical power cycles per

revolution. For 8 pole motors, the encoder commutation SIGNAL CONNECTOR INCREMENTAL ENCODERS
tracks will give 4 pulses per revolution. Note that the (17 PIN)
direction sense is reversed if the polarity of S2 track is
inverted.
Connector size 1 for all motors
Commutation outputs showing relationship with
index Function Pin
Thermistor, PTC 1
INDEX Thermistor, PTC return 2
Screen 3
K S1 4
S1 inverse 5
S1 R
S2 6
S2 S S2 inverse 7
S3 8
S3 T S3 inverse
CH A
9
10
7
0 20 40 60 120 360
Index 11
Index inverse 12
CH A inverse 13
N.B. Inverse signals are not shown CH B 14
CH B inverse 15
+5V dc 16
EIA422 Outputs 0V 17

Applicable to each of the six outputs.

Unidrive speed restriction

Differential Unidrive has an encoder signal input bandwidth limit of

line driver 250 kHz and will inhibit speed demands greater than
Twisted pairs
3660rpm for a 4096 ppr encoder.
120 Unidrive SP has a bandwidth limit of 410 kHz so that an
encoder bandwidth limit of 300 kHz will prevail as the
limiting factor.
ENCODER RECEIVER The Unimotor label is now marked with maximum speed
that will reflect the speed maximum limit of the feedback
device. A 4096 ppr incremental encoder with a 300 kHz
EIA422 Interface bandwidth will have a speed limit of 4830rpm. Drive
parameter #1.06 must be set to a value equal or less than
Incremental Encoder Connections the maximum speed corresponding to this limit, see also
The figure below shows the pin allocation of the 17 pin nN/MAX, sections 3- and 4-2
Unimotor signal connector (incremental feedback).
Synchronising two encoder systems
The signal cable must comprise of 8 twisted pair in an
overall screen, with ideally the thermistor pair also A Unidrive UD51 Small Options Module enables the host
screened. Each twisted pair is allocated to a signal and its system to achieve synchronisation with an external
complement (inverse). The +5 Volts and 0 Volt pair encoder system. For further details refer to Control
should be 1.0 mm2 cross section conductor to avoid Techniques Technical Support.

7.4

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Feedback Devices

At start-up, when the shaft is stationary, absolute position is

Sincos SRS50 & SRM50 Encoders transmitted as serial digital data to the UD52 from which the
absolute position can be determined by use of the digital
Features count and by some interpolation of the 1024 sine and cosine
waveforms to give a finer resolution (Fig 1).
❑ Absolute encoder
❑ 1024 sin & cosine cycles per turn
❑ High resolution to 2 million counts per turn
❑ Very high accuracy
❑ 8 wire connection
❑ Choice of single or multi-turn Sine x
❑ Built-in non-linearity corrections x
❑ 8V operation
(set UD52 parameter # 16.15 = 1 for 8V) Cos x

Important Notes:
Previously, UM motors have been fitted with SCS60 & SCM60
encoders. These have a similar specification, but were 512
cycles / turn.
Fig 1
Unidrive must have software version 03.02.11 or higher to
function correctly with the SRS 50 or SRM 50 encoder. Fig 1

Unidrive SP does not require an options module. The following The UD52 pre-loads a quadrant counter with a quadrant
7 description applies to UD52 as required for Unidrive. count derived from the absolute count and, once loaded,
there is no further requirement to digitally read the absolute
Functional Description position from the encoder until a power-down situation
occurs.
A true absolute encoder requires encoding of the disc data
in such a way that position can be read to the full accuracy As the shaft turns, the counter increments or decrements
in any condition – notably at switch on - and at speed. In according to quadrant information easily derived from the
this case, a high frequency data line would be required to sine and cosine analogue waveforms. Additional resolution is
transmit high-resolution information at high shaft speeds. obtained from the tangent of x of a single cycle of the 1024
This can be expensive and the sincos system is an excellent cycles per rev waveforms (Fig 1)
compromise.
The UD52 is configured to create:
The Sincos system can be considered as a mixture of an
incremental encoder and an absolute encoder. ❑ parameter #16.03 – revolution count (0 –32767counts)1
❑ parameter #16.04 – encoder position, coarse
It is configured to give an absolute position via EIA485 (0 –16383 counts)
digital link, plus sine and cosine analogue 1024 cycles per ❑ parameter #16.05 – encoder position, fine (0 – 255
rev waveforms via twisted-wire pairs. counting in steps of 2)
This gives a total resolution of 16384 x 128 = 2097152
The absolute encoder inside the SRS/SRM50 determines 0 counts per turn.
– 32767 counts of position. Every eight steps of this
represent one quadrant of the 1024 sine wave. (i.e. 1024 1
For SRS50, this may be configured to be (2n-1) where
x 4 x 8 = 32768). parameter #16.13 = n (0 –15) and turn count will be
relative to start, i.e. volatile.
N.B. for absolute multi-turn SRM50 encoder, set parameter
#16.13 = 12 (for 0 –4095 counts)

7.5

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Feedback Devices

SinCos Multi-Turn
The SRM50 encoder has additional mechanical gearing and
sensors to permit absolute, non-volatile counting of turns to a
R
total of 0 - 4095 turns.
N.B. at 4095 next turn will be 0; conversely at 0 a reverse turn
REF SIN/REFCOS 10k
will indicate 4095). -
Turns are counted even when power is switched off. 120
10k
+
SIN/COS
Sine R

Cosine
Process data channel
Data out Data out

Parameter channel Recommended Receiver Circuit for Sine and Cosine

EIA485 Signals
Data in Data in

Supply voltage (8V nom.) Commutation

ENCODER DRIVE

The encoder position relative to the motor shaft has been

SRS50 & SRM50 Specification set for all UM motors with serial numbers > s/n 348340

Sine & cosine analogue outputs 1024 per rev

7
Rotor Inertia 10 gcm2 SIGNAL CONNECTOR FOR SINCOS
Max angular acceleration 0.2 x 106 rad/s2 (12 pin )
Operating torque 0.2 Nm
Code progression with clockwise Function Pin
rotation viewed on end of motor Ascending
SRM50 multi-turn counts 4096 Ref cosine 1
Positional accuracy +/-52 +EIA485 2
seconds of arc -EIA485 3
Max frequency for sine wave channels 200 kHz Cosine 4
Maximum working speed for position Sine 5
calculation 6000 rpm Ref sine 6
Bearing service life 3.6 x 109 revs Motor thermistor 7
Working temperature range -20.+115°C Motor thermistor return 8
Working voltage 7 –12 V Screen 9
Recommended voltage 8V 0V 10
Max no load operating current 80mA Not Connected 11
Data channel EIA485 8v dc 12

7-6

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Feedback Devices

Speed Loop Feedback System – specification

CT-Coder and SLM Enclosure IP65

The feedback cover of SL motors conceals the “CT- SL system:

Coder” and SLM electronics. The CT-Coder is a 1024 Shaft resolution 4194304 (222)pulses per rev
cycles per rev sincos encoder adapted to match the EIA485 data link 2.5 Mb/s, 50ns synchronisation
electronics. The high-density surface mount SLM Information transmitted
electronics packs a microprocessor; firmware; A-D over the serial
convertor; and an ASIC. Together, these enable a number communications link • Position and speed demand
of functions to be achieved including the calculation of from a motion controller
absolute position to the equivalent of 8,388,608 ppr • Position feedback to the
resolution and protocol control for the bi-directional motion controller
EIA485 data link. • Current/torque demand to the
Drive
Additional functions include temperature reference from • Parameter values (see E2-
a linear thermistor; read/write interface to the E2PROM PROM)
of the CT-Coder and a +5V dc regulator. Cycle time from drive 125µs
Power requirements 24V dc +/- 20%

CT-Coder:
Sine & cosine analogue 1024 cycles per rev or 1 cycle
outputs per rev, selectable
Max frequency of sine 100 kHz
& cosine
7 Voltage supply +5V +/-10% from SLM
regulator
Bearing life 3.6 x 109 revolutions
Working temperature 0 – 100ºC
range
Operating temperature -20 – 125ºC
Storage temperature -40 – 125ºC

FIG 1 SLM system FIG 2 SLM PIN CONNECTION

SLM Features
❏ Motor mounted speed loop system Function Pin
❏ High-precision SIN-COS encoder (CT-Coder) COM / 1
❏ Resolution to less than one eight millionth of a rev,
with 50ns synchronisation 0V 2
– Enables stable higher loop gains for ultra low ripple +24V 3
torque down to fractions of rpm Screen 4
❏ Digital signal processor
❏ High-speed, two-wire EIA485 serial communications COM 5
interface to M’Ax or MultiAx drives - no performance
degradation in noisy environments upto 4kV
❏ Only 4 wire connection + screen – lower cost
simplified wiring
❏ Cable connection up to 50m
❏ Full motor data contained within motor for instant
plug and play interchangeability
❏ Built-in error correction
❏ Motors to ∆T = 100ºC at 40ºC ambient
❏ UL approved thermal protection software

7-7

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Feedback Devices

E2PROM
There are 3 ‘object’ files stored in the E2PROM:
❑ Encoder (for CT-Coder offset correction)
❑ Motor (Motor type identification and serial number)
❑ Eze object (Motor performance parameters)

The Encoder object is protected and is preset by the encoder

manufacturer.

Motor and Eze objects are created during production set-up

and are read-only. (Update capability available to authorised
personnel only.)

The motor object may optionally be used by the customer

interface for read only information.

The Eze object contains all the actual motor data needed to
enable M’Ax or MultiAx drives to automatically set optimum
parameters for an instant system set-up.

Motor Object – specification

Motor object parameters can be accessed via the data bus.

e.g. Motor object type 1 is M’Ax COM parameter #23

M’Ax Drive MOTOR OBJECT PARAMETERS #23 - #28

7
#23 motor type 1 (see next page)
#24 motor type 2 (see next page)
#25 manufacturer ; CTD = 1
bit 0=decimal 1(0000000000000001)
#26 serial number part 1 most significant three
decimal digits
#27 serial number part 2 next significant three
decimal digits
#28 serial number part 3 least significant three
decimal digits
e.g. serial 48079
decimal
#26 000
#27 048
#28 079

SL Motor and SL Module

7-8

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Feedback Devices

Motor type1 definition Motor type2 definition

Frame size
Connector type
n 15 14 13 12 11
2n 32768 16384 8192 4096 2048 n 15 14 13
75 0 0 1 0 0 2n 32768 16384 8192
95 0 0 1 1 0 C 0 0 0
115 0 1 0 0 0
Shaft key / Special
142 0 1 0 1 0
190 0 1 1 0 0
n 12 11

SL motor type 2n 4096 2048

key 0 0

n 10 9 no key 0 1

2n 1024 512 SPECIAL 1 0

SL 0 1
Feedback device

Motor length n 10 9 8

n 8 7 6 5 2n 1024 512 256

7 2n 256 128 64 32 P 0 0 1

A 0 0 0 0
B 0 0 0 1 IEC Flange or Gearbox
C 0 0 1 0
n 7 6 5 4
D 0 0 1 1
2n 128 64 32 16
E 0 1 0 0
IEC flange, no gearbox A 0 0 0 1
Motor Rated Speed Gearbox fitted X 1 1 1 0

n 4 3 2 1
2n 16 8 4 2 SIGNAL CONNECTOR FOR SLM

1500 0 0 0 1
2000 0 0 1 0 n 3 2 1 0

2500 0 0 1 1 2n 8 4 2 1

3000 0 1 0 0 A (LOW) 0 0 0 1

3500 0 1 0 1 B (HIGH) 0 0 1 0

4000 0 1 1 0
`
4500 0 1 1 1
5000 1 0 0 0
5500 1 0 0 1
6000 1 0 1 0

Brake
n 0
2n 1
brake 1
No brake 0

7-9

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Feedback Devices

Resolver Typical Resolver Section

Consisting of a stator and a rotor, the resolver continuously

measures the angular position of the motor rotor. A resolver
is typically more robust than an encoder, but gives lower
accuracy.

Arranged in the stator are an excitation winding and two

windings, mechanically offset by 90°. The rotor winding (2
pole) is housed in the rotor. An excitation signal of
approximately 6 kHz is linked without direct contact via the
excitation winding into the rotor winding. The excitation
signal induces voltages of equal frequency into the stator
windings. The amplitudes of the induced voltages are
proportional to the cosine and sine respectively of the rotor
angle. With the aid of electronic circuits, these signals enable
the rotor position to be measured absolutely over one motor
revolution (for commutation); the value of the motor speed Resolver Circuit
to be derived by digital or analogue means, and incremental
signals for positioning guidance to be created via encoder
simulation.

The resolver itself contains no electronic components and can

withstand high temperature environments. A resolver is the
ideal reliable transmitter for use in harsh environmental
7
conditions. The resolver rotor is mounted directly on the
motor shaft, so giving a robust and accurate measurement
system for velocity and position signals.

Features
❏ Absolute position
❏ No loss of feedback information during fast transient
disturbances
❏ Robust construction
❏ High temperature motor operation to 165˚C
❏ ± 15 mins of arc accuracy

7-10

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Feedback Devices

Schematic Diagram Drive Systems

Input from
Use resolver interface when using Unidrive or Unidrive SP.
Drive Unimotors fitted with resolvers will also operate with
Twisted pairs DigitAx drive, but note rotational direction will be
Input
reversed. Unimotor type DM is available with
OSCILLATOR
compatible and rotational direction.

RESOLVER Cosine Output

RESOLVER Commutation
TO Resolvers are factory set for correct commutation position,
Sine Output DIGITAL
CONVERTER and should require no additional adjustment. However, it
is necessary to set the drive correctly by running the
resolver phase check routine.
16 bit
Digital Output
to Drive
UD 53 SMALL OPTIONS SIGNAL CONNECTOR RESOLVER
MOTOR
MODULE (DRIVE)
(12 pin) signal connector size 1 for all motors

Specification Function Pin

Excitation (high) 1
Voltage 6V Excitation (low) 2
7 Frequency 7.5 kHz
Cosine (high)
Cosine (low)
3
4
Sine (high) 5
Primary Rotor Sine (low) 6
Thermistor, ptc 7
No. of poles 2 Thermistor, ptc return 8
Not used 9
Transformation ratio 0.28 ± 10% (0.3 ± 10%for Not used 10
models after mid-2003) Not used 11
Not used 12
Phase shift -7˚ nom
N.B. Definitions applicable to both UM and
Primary current 40 mA nom DM motor types.

Input power 120 mW max

Electrical error ± 15 mins (standard)

Total null volts 30.0 mV max

Impedances Zro 73+j129 nom

Zso 116+j159 nom
Zss 95+j162 nom

Temperature range -55˚C to 155˚C

Rotor inertia 20 x 10-6 kgm2

7-11

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Brake Information

Fail Safe Parking Brakes

Any Unimotor may optionally be ordered with an internal
rear mounted parking brake. The brake works on a fail safe
principle: the brake is active when the supply voltage is
switched off and the brake is released when the supply
voltage is switched on. The table below shows the delay
times that occur when the brake is switched on or off.
Shunting the brake with an external diode to avoid switching
peaks increases the coil's decay time (tOUT) considerably.

If a motor is fitted with a fail safe brake, take care not to

expose the motor shaft to excessive torsional shocks or
resonances when the brake is engaged or disengaged. Doing
so can damage the brake.

SAFETY NOTE: The Fail-Safe Brake is for use as a holding

brake with the motor shaft stationary. Do NOT use it as TYPICAL EXAMPLE OF BRAKE MOUNTING
a dynamic brake, except for emergencies such as a
mains supply failure.

Technical Data

MOTOR VOLTS POWER STATIC RELEASE TIME BRAKE ON-TIME BRAKE ON-TIME INERTIA BACKLASH
FRAME SIZE TORQUE (Coil Energised) (Coil de-energising (Coil de-energising
no diode) with diode)
8
(mm) DC W (Nm) (ms nominal) (ms nominal) (ms nominal) (kgcm2)*2 (degrees)
75 24 6.3 2 22 24 100 0.03 0.75
95 24 16 6*1 30 20 140 0.29 0.75
115 24 16 12 40 10 60 0.49 0.75
142 24 23 20 85 30 200 1.28 0.6
190(A/B) 24 25 40 95 15 85 1.28 0.6
190(C/D) 24 25 60 120 20 150 2.50 0.6

Note that the brake response time is extended when a diode *1 Brake rating changes to 12Nm after mid-2003
is fitted across the brake coil at the driver (customer) end. *2 1kgcm2 = 1x10-4kgm2
This is usually required to protect solid state switches, or to
reduce arcing at the relay contacts

Special Brakes

Where volumes have justified it, CTD have designed a

number of custom products with customer specific brakes.
Please contact CTD if you have a requirement for a special
application.

8-1

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

Introduction

Although CTD servomotors can operate smoothly at full torque The motor-gearbox assembly comprises of the gearbox, an
from 1 rpm (sincos and SL - from small fractions of rpm) to full integral gearbox adaptor plate, and a standard CT motor.
rated speed, the addition of a gearbox can be a useful torque The motor-gearbox assembly is normally supported from the
multiplier and can also provide a better match to high inertia front face / flange of an in-line gear reducer. For a right angled
loads. gearbox, the SPK, mounting support is also to the gearbox
flange, but for the WT, mounting support is to the gearbox
A Gearbox May Help If:- frame .

❏ Load is high torque, usually below 1000rpm

Features – Gearboxes
❏ Load is high inertia
❏ Load has unusually high axial or radial loads • High quality, low backlash, low noise
❏ Small overall size with small motor • Taper bearings (not on the LP)
❏ Possible cost reduction with smaller motor & drive • Wide selection
package • Planetary gearboxes for high efficiency and low inertia
❏ Space constraints where right angle option or smaller • High strength
overall package helps • Long service life
• Ratios to 100:1 (200:1 for SPK)
For example: -
• Lifetime lubrication to suit any mounting attitude
❏ A 1.2Nm 4000rpm motor fitted with 100:1 ratio gearbox
• Gearbox IP64 protection rating
gives a continuous torque around 100Nm, albeit at a
reduced speed of 40rpm max. • To suit all 55 to 190 UM, SL, DM & EZ motors

❏ A 4,000rpm motor with a 4:1 gearbox in certain

circumstances may offer a better performance than a
2,000rpm motor alone working at 1000rpm with large
inertial load. The motor torque required for the gearbox
is 3 to 4 times less, whilst the reflected load inertia is
9 reduced by 16 (=ratio2), so that a better match of
motor/load inertia results and greater stability with higher
servo gains are possible.

What’s Available:-
CT Dynamics offers a range of gearboxes supplied fitted to any
CT motor (55 to 190 frame sizes).

If required, gearboxes can also be supplied separately.

By following a simple selection procedure, a suitable motor-

gearbox combination may be selected from specifications
provided in this section.
Gearbox specifications appended to this section are quality
planetary gearboxes and include low backlash, standard
backlash, single-stage, and two-stage with ratios up to 100:1.

Gearboxes with 90 degree angled output shafts can increase

the possible ratio permutations up to 200:1.

The gearbox output shaft can optionally be fitted with key.

9-1

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

Ordering a Motor-Gearbox

To order a gearbox, please supply the following information:

Item Example
1 Motor type number 75SLB600C*PXA
* = A for key at gearbox
output or B for no key at
gearbox output

X specifies gearbox fitted

2 Gearbox Style & Size SP75
3 Ratio 50
4 Special requests e.g. reduced backlash
(not available for LP)

Example 1 142UMB400CA1CXA with SP 140 - 20 ratio - with key

= 142UMB400CACXA-SP140-020

Example 2 115UMB300CB1SXA with SK 100 - 3 ratio - no key

= 115UMB300CBSXA-SK100-003

Example 3 75UMB300CB1CXA with SPK 075 - 14 ratio - no key

= 75UMB300CBCXA-SPK075-014

Example 4 142UMC200CB1AXA with LP 155 - 10 ratio - with key

= 142UMC200CBAXA-LP155-010
Note: LP gearboxes are always supplied with a key.
9
Example 5 95SLD400CB1PXA with PG 100 - 7 ratio - with key – reduced backlash
= 95SLD400CSxxx with PG100-007-01 + reduced backlash
Example 5 has a special request, and so is designated
as a special motor-gearbox type “xxx”, Where “xxx”
are 2 or 3 alphabetical characters

1
A - signifies a keyed gearbox output shaft.
1
B - signifies a plain gearbox output shaft.

X - indicates motor has attached gearbox.

Note: Characters G to S in this position were originally used
to indicate gear ratio. X to indicate a gearbox supersedes this.

9-2

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

Gearbox Styles & Types

Gearbox parameters for various manufacturers and gearbox • SPK

types are included at the end of the gearbox section. From this A single stage SK 90-degree bevel gear unit fitted with a 1 or
and the information below, select a gearbox type to suit 2-stage SP gearbox constitutes an SPK gearbox assembly with 2
requirements, including backlash. Reduced backlash is or 3 stages.
available by special request only where indicated.
Two stage ratios: 4 / 5 / 7 / 10 / 14 / 20
Alpha gearbox types: - Three stage ratios: 32 / 40 / 56 / 80 / 100 / 140 / 200
• SP
Torsional backlash: 2 stage: < 5 - 7 arcmin standard;
A high precision 1 or 2 stage planetary gearboxes all with low
(3 - 5 arcmin) special reduced
backlash, and front flange mounting.
3 stage: < 6 - 8 arcmin standard;
(4 - 6 arcmin) special reduced
Single stage ratios: 4 / 5 / 7 / 10
Two stage ratios: 16 / 20 / 28 / 40 / 50 / 70 / 100
Due to production handling problems, this range may be restricted
to the smaller motor sizes only. Please ask for details.
Torsional backlash: 1 stage: < 4 - 6 arcmin
2 stage: < 6 - 8 arcmin
ZF gearbox types: -
Special reduced backlash: 1 stage: < 2 - 4 arcmin
• PG
2 stage: < 4 - 6 arcmin
High precision planetary gearboxes with low-backlash and
front flange mounting.
• LP
This robust cost effective 1 or 2 stage planetary gearbox has
The PG gearbox is compatible to Alpha’s SP and has a similar
circular mounting face with spigot and tapped holes (i.e.
specification.
without flange at mounting surface).
LP Note: - Output shaft always has a key fitted (remove key if not
Single stage ratios: 4 / 5 / 7 / 10
required)
Two stage ratios: TBA
Ratios
9 Type Single Two Stage
Torsional backlash: 1 stage: < 4 - 6 arcmin standard
LP 070/090/120 3* / 5 / 7 / 10 15* / 25 / 30* /
Special reduced backlash: < 2 - 3 arcmin
50 / 100
LP 050/115 5 / 10 25 / 50 / 100
• WT
A high precision, low backlash 90-degree gearbox designed for
Torsional backlash: 1 stage: < 12 arcmin
highly dynamic servos. Highly accurate Gleason hypoid gearing
2 stage: < 15 arcmin
creates a compact single stage reduction that can permit the
high transmission ratios of a bevel gear. Gearbox and motor
Reduced backlash is not available for LP
assembly is normally supported from one of the gearbox faces.
IP64 rated.
• SK
These 90-degree bevel gear units are available with ratios of 1,
Single stage ratios: 3 / 4 / 5 / 6 / 8 / 10 / 12 / 15
2, or 3.
Torsional backlash: 1 stage: < 4 - 6 arcmin
This single stage SK can be used on its own where 90-degree
Special reduced backlash: 1 stage: < 2 - 3 arcmin
transmission is required.

Due to production handling problems, this range may be restricted

Single stage ratios: 1/2/3
to the smaller motor sizes only. Please ask for details.
Torsional backlash: < 4 – 5 arcmin

Reduced backlash is not available for SK

Due to production handling problems, this range is restricted to the

smaller motor sizes only. Please ask for details.

9-3

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

Gearbox Selection - System Requirements Full Selection Method

Tables 1 to 4 are provided for guidance, but for simplicity, To ensure all aspects are covered, follow this procedure, using
certain parameter considerations such as acceleration torque are manufacturer’s information:
omitted. Note that the process may be iterative.

To be thorough, follow the procedure commencing at Full Generally, before commencing, you will need to know: -
Selection Method (See also flow chart, Fig 2), referencing the
manufacturer’s data contained at the end of this section. ❏ If special reduced backlash is necessary

Gearbox drawings and dimensions can be found in the

❏ Gearbox Style / type. Use section Gearbox Styles &
manufacturer’s data. The motor adaptor plate is part of the
gearbox and the dimensions include this. Types for guidance.

The quantity of motor-gearbox combinations is so great that it ❏ Duty cycle rate (start/stop operations per hour)
is not possible to show combined outline drawings. A complete
motor-gearbox outline can be determined from the motor ❏ Nominal (rms) and peak acceleration torque at output
dimensions of Motor Dimensions Section, and the gearbox
dimensions of the manufacturers data at the end of this section.
❏ Estimated choice of gear ratio = i
(Choose an available ratio, best suited for the system
inertia)
Quick Selection
• Decide on Gear Ratio ❏ Estimated motor size and rated torque Tm.
First, select the gear ratio, motor and motor speed that best
matches the system for torque and inertia match. De-rate motor
by 5% and allow for the gearbox efficiency. Follow the GEARBOX SELECTION FLOW CHART, together with
To assist in the system design, use the CTSS sizing software the explanations that follow.
(Free download from controltechniques.co.uk – Drives Portal)

• Choose Gearbox Type

Select style of gearbox based upon nominal torque at output,
9
backlash requirements, mechanical arrangements and costs. Use
Tables 1 - 4 to select your gearbox.
Consider the gearbox maximum nominal (rms) input speed,
since this is often a restrictive limit. For fast acceleration or
high duty cycles, use the Full Selection Method.

9-4

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

Determine Duty Cycle

YES Duty Cycle ‡ 60% NO

OR
Running > 15min

Continuous Cyclic Shock

Determine fs

O/P Torque rms Max Accel Torque

= T2 T2B= JLαmax fs

NO NO
Choose Choose
T2 < T2N spec larger larger T2B < T2B spec
gearbox gearbox

YES YES

Determine Ratio

Speed too
Check high Choose smaller
input speed ratio and perhaps
max & nom larger motor

OK
9 Choose
Emergency
torque too
larger high Check
gearbox Emergency
Stop

OK

Check
Bearing load
if req'd

Choose Check
larger Motor torque
motor req'd

OK

Re-iterate

Selection

9-5

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

Determine Duty Cycle

Speed
n

Torque

t1 t2 t3 tR Time t

Fig 2 – Speed / torque v time - single stop/start event

Duty Cycle = (Run Time within Cycle Time) / (Cycle Time) x 100%

= (t1 + t2 + t3 …. + tN) / (t1 + t2 + t3 …+ tN + tR) x 100%

Cyclic Operation

a) High Duty Cycle De-rating

If the system operation involves stops and starts,

calculate the number of stops and starts per hour = Zh (/h)

If Zh > 1000, determine the shock factor fs from the chart, Fig 3

2,1
2,0
1,9
Shock factor fs [ - ]

1,8
1,7
1,6
9
1,5
1,4
1,3
1,2
1,1
1,0
0,9
500 1000 1500 2000 3000 4000 5000 6000 7000 8000 9000 10000

Number of cycles per hour Zh [1/h]

Fig 3

b) Max Acceleration Torque (T2B)

fs must then be used to artificially increase the output acceleration torque requirement.

e.g. max acceleration torque may be given by T2B = JLαmax fs

where JL = inertia of load ( kgm2)

αmax = max load acceleration required (rad/s2)
and fs = shock factor. (If Zh < 1000, then fs = 1)

Check that T2B is less than the maximum specified for the gearbox.

9-6

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

Continuous Operation - Nominal Output Torque Check Bearing Load

Where necessary, check maximum axial and radial loading and
Check that the calculated rms torque (T2) required at load is
tilting moments against quoted maximums.
less than the nominal output torque (T2N) specified for the
gearbox.
If this information is not shown, please refer to manufacturer.

If (T2) > (T2N), select a larger gearbox.

Calculate RMS Input Torque

Determine the Ratio (i) Refer to Motor Rating for Motor Gearbox Assembly to
calculate gearbox-input RMS torque.
Consider:-
De-rate motor by 5%.

• A high speed motor such as 3000rpm, 4000rpm or even

Ensure gearbox-input RMS torque < de-rated motor torque at
6000rpm, but do not exceed mean gearbox input speed
required RMS speed.
rating.
Other Definitions
• The inertia ratio: reflected load inertia (JL / i2) at motor to
motor inertia (JM)
Torsional Backlash

Where (JL / i2) / JM < 3 for acceleration >= 1000rad/s2 This is mainly the clearance between the gear teeth. This is
measured in arcmins at the output, with the input locked, whilst
• The required output speed applying 2% of the maximum acceleration torque.

Check Input Speed (maximum and nominal) Torsional Rigidity

a) Check that the gearbox input-speed never exceeds the Torsional rigidity or stiffness (Nm/arcmin) is a measurement of
maximum rating. an applied load at the output, against the angular deflection
with the input locked.
b) Calculate the mean input speed (n1m) A high value of torsional rigidity is desirable especially for
9 n1m = Distance travelled (forward & reverse) in one cycle
stability when a closed-loop system feedback is applied from
the output.
Total cycle time
for Fig 2, Maximum Radial Load
n1m = (0.5n1t1 + n1t2 + 0.5n1t3)
(t1 + t2 + t3 + t4) The radial load specified is referenced to a point half way along
the output shaft at a speed of 300rpm.
Check that n1m < nominal input speed rating for gearbox (n1N)
Maximum Tilting Moment
Gearbox temperature will be 90°C, based at T2N, n1N and Quantified in Nm, this is the vector amplitude resulting from the
20°C ambient. Radial and Axial loads applied together
De-rate n1N by 20% for 40°C and by 40% for 60°C ambient.
If n1m > n1N, then choose smaller ratio. A larger motor may be Protection Level
required to produce the torque.
Quoted as IP64, this means totally protected against dust and
water sprayed in all directions, limited ingress permitted.
Check Emergency Stop
Emergency stop is permitted only 1000 times in the life of a Acoustic Noise Level
gearbox. If applicable, calculate deceleration for emergency
Given in dB taken at 3000rpm at a distance of 1m.
stop. From load inertia, calculate emergency stop torque.
- Low ratios are louder
- A 2-stage gearbox is louder than 1-stage
Ensure that this does not exceed the maximum stated in the
- High torque levels are louder
manufacturer’s information.

9-7

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

Motor Rating for Motor-Gearbox Assembly

The motor must be capable of delivering the required torque, so

it is important to calculate the torque that the motor is required
to deliver.

Additionally, the motor should be de-rated by about 5% if the

gearbox is at a high temperature since the conducted heat path
via the front flange of the motor is less effective when attached
to a hot gearbox.

Torque values used in the following formulae are RMS values,

since heating effects are relevant.

Efficiency (ηN)
This is ratio of power out / power in
- Quoted for the gearbox at full load rating and nominal input
speed.

Typically, ηN = 97% for 1-stage gearboxes

Or ηN = 94% for 2-stage gearboxes

At a lower torque level and/or lower speed, efficiency will be

reduced.

Rated power in = rated power out ÷ efficiency at nominal

output torque

n1N x T1N = (n2N x T2N) / ηN

Hence T1N = T2N / i.ηN at nominal output torque

9
Where
T1N = nominal input torque rating

n1N = nominal input speed

T2N = nominal output torque rating

n2N = nominal output speed

ηN = efficiency at nominal output torque

i = n1N / n2N = gearbox ratio

For levels of output torque less than T2N, efficiency is reduced;

refer to Input Torque and Fig 2.

9-8

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

Input Torque (T1)

No Load Torque (T012)
At nominal speed, torque required at gearbox input (T1) may
be approximated by the formula: - This is the input torque required to turn the gearbox at
3000rpm input speed (or as stated), with no load attached to
(T1) = T2
( I
iηN
T
– 012
T2N ) + T012 (for T2 < = T2N) the gearbox.

For other speeds, multiply T012 by the value as shown:-

Where
T1 = estimated input torque 1000rpm T012 x 0.5 Special reduced backlash will
increase no-torque to a
T2 = actual output torque 2000rpm T012 x 0.75 higher value
T2N = nominal output torque rating 3000rpm T012 x 1
T012 = no-load torque 4000rpm T012 x 1.25
ηN = efficiency at nominal output torque 5000rpm T012 x 1.5
i = gearbox ratio 6000rpm T012 x 1.75

This is shown by the graph in Fig 2. Typically, T012 is quoted at a 20°C gear-reducer temperature.
Note the gearbox must be already “run-in”.

If T012 is not quoted, estimate a value from the formula: -

Input Torque T1

T012 = (T2B ÷ i ) x (1-ηN) / ηN.

T1N Where T2B = rated output acceleration torque

T1 Nominal speed
assumed

No-Load Torque For A New Gearbox

T012
9 When first run, a gearbox will have a higher no load torque than
quoted.
T2 T2N Output Torque
In some instances, this may require an input torque higher than
Fig 2 Input Torque
that of the motor rating and may therefore cause drive trips. To
avoid this circumstance, the gearbox should be run-in on no
load and lower speed for 24 hours.

Graph shows that (for short periods), when T2 ≥ TN, it is best to

assume that: - T1 = T2 / iηN

If no-load torque T012 is known, then T1 may be calculated for

a given output torque T2.

If no-load torque T012 is unknown, then estimate T012 by the

formula shown in No Load Torque .

However, it is probable that the input torque T1 required is close

to the value TN so that the equation T1N = T2N / i. ηN will suffice
with a margin of adjustment.

9-9

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

Gearboxes - Quick Select Tables

Tables 1- 4 show UM motor sizes tabulated against gearbox with

standard adaptor sizes, and give a good basic guide for
compatibility.

Tables 1 – 4 do not encompass all parameters.

System designers must ensure that motor and gearbox
parameters are suitable for the application.

Alpha Gearboxes

Alpha gearboxes are designated by type and size,

e.g. SP100 has 100mm g6 referencing cylinder to match hole in

mounting support.
Body diameters may exceed this value
For full dimension details refer to manufacturer’s data

LP sizes of 50; 70; 90; 120; 155 have a circular housing

corresponding to mm dimensions.

ZF Gearboxes

ZF gearboxes are designated by type and nominal output

torque.

e.g. PG25 has a 25Nm nominal output torque rating and is

compatible to the SP.
9

9-10

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

9-11

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

9-12

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

1.4

1.2

2.2

3.1

3.9

2.3

4.3

5.9

7.5

9.0

3.5

6.6

9 9.4

12.4

15.3

6.3

10.8

15.3

19.8

23.4

21.8

41.1

58.7

73.2

Table 3 - Unimotor & ZF Gearboxes - PG Selection

9-13

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

1.4

1.2

2.2

3.1

3.9

2.3

4.3

5.9

7.5

9.0

3.5

6.6

9.4
9
12.4

15.3

6.3

10.8

15.3

19.8

23.4

21.8

41.1

59.7

73.2

Table 4 - Unimotor & ZF Gearboxes - WT 90° Selection

9-14

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

Alpha SP GearboxProduct details

Adapter plate Output bearing

9 Motor

Output side
Input side sealed
sealed

Bushing for
nonstandard
motor shaft
C C
diameters

Clamping hub Output shaft

Centering

Supported driving Through

pinion holes

9-15

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors
SP Gearboxes - Technical Data
Size SP 060 SP 075 SP 100 SP 140 SP 180 SP 210 SP 240
max. T2B Nm i = 4-7 40 100 250 500 1100 1900 3400
Acceleration i = 16-70
Torque 1) i = 10/100 32 80 200 400 880 1520 2720
Emergency Stop 2) T2Not Nm i = 4-7 100 250 625 1250 2750 4750 8500
i = 16-70
i = 10/100 80 200 500 1000 2200 3800 6800
Nominal Output T2N Nm i = 4-7 25 70 170 360 550 1000 1700
Torque i = 16-70
i = 10/100 15 45 110 215 550 1000 1700
max. Input n1Max rpm 1-stage 6000 6000 4500 4000 3500 2500 2200
Speed 2-stage 4000 3500 3500
Nominal Input n1N rpm i = 4/5 3300 2900 2500 2100 1500 1200 1000
Speed 3) i = 7/10 4000 3100 2800 2600 2300 1700 1500
i = 16 4400 3500 3100 2900 2700 2100 1900
i = 50 4800 3800 3500 3200 2900 2300 2100
i = 100 5500 4500 4200 3900 3400 2900 2400
Ratios i 1-stage 4 / 5 / 7 / 10
2-stage 16 / 20 / 28 / 40 / 50 / 70 / 100
Standard jt arcmin 1-stage ≤ 6 ≤ 4
Torsional 2-stage ≤ 8 ≤ 6
Backlash Reduced jt arcmin 1-stage ≤ 4 ≤ 2
2-stage ≤ 6 ≤ 4
Torsional Rigidity Ct21 Nm/arcmin 3 8 24 45 144 ≈ 225 ≈ 350
max. Axial Load 4) F2AMax N 2300 3200 5400 9400 13500 22500 27800
max. Radial Load 4) F2RMax N 2600 3800 6000 9000 14000 18000 27000
max. Tilting Mom. M2KMax Nm 133 225 464 907 1523 2430 4226
No-load Running T012 Nm i=4 0.5 0.9 0.25 3.9 6.2
Torque 5) i = 16 0.3 0.7 1.7 2.4 9
(n1=3000 rpm) i = 100 0.2 0.4 0.7 1.1
Service Life 6) Lh h > 20.000
Efficiency with η % 1-stage ≥ 97
full load 2-stage ≥ 94
Weight m kg 1-stage 1.5 2.8 6.2 11.5 27 53 80
2-stage 1.8 3.1 7.1 14.5 29 50 70
Lubrication Synthetic oil viscosity ISO VG220
Paint Blue RAL 5002
Mounting Position advised with your order
Permissible Gear Reducer Temp. °C -10°C to + 90°C
Direction of Rotation Motor and gear reducer same direction
Degree of Gearbox Protection IP 64
Noise Level LPA dB(A) ≤ 68 ≤ 70 ≤ 72
(n1=3000 rpm)

1) 1000 cycles per hour.

2) 1000 times during the service life.
3) at 20°C ambient temperature (if you have higher ambient temperature, please reduce the n1N speed).
4) applied to the shaft centre. Conversion Table:
1 Nm = 8.85 in. lb.
5) at 20°C gear reducer temperature. 1 kgcm2 = 8.85 x 10-4 in. lb.s2
6) service life may be reduced for abnormal loads. 1 N = .225 lbf
1 kg = 2.205 lb.

9-16

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors
SP Gearboxes - DImensions
Dimensions [mm] 1 mm = 0.03937 in.

View A View B

Output shaft variations BO Mounting hole

see page 21 closed with plastic plugs

Dimensions of the
adapterplate 1) Motor shaft diameter / length
depends on the
motor

Size SP 060 SP 075 SP 100 SP 140 SP 180 SP 210 SP 240

Gear Stages 1/2 1/2 1/2 1/2 1/2 1/2 1/2
a 0.03 0.03 0.035 0.04 0.04 0.04 0.04
BO 8 15 18 20 20 20 30 / 20
C1 1xM8x1 1xM8x1 3xM12x1.5 3xM12x1.5 3xM12x1.5 3xM12x1.5 3xM12x1.5
C2 - - 1xM8x1 1xM8x1 1xM8x1 1xM8x1 1xM12x1.5
DR M5 M8 M12 M16 M20 M20 M20
D1 g6 60 70 90 130 160 180 200
9 D2 30 38 55 70 90 120 130
D3 k6 16 22 32 40 55 75 85
D4 5.5 6.6 9 11 13 17 17
D5 68 85 120 165 215 250 290
D6 3) F7 14 19 32 38 48 / 38 55 / 48 60 / 48
D10 +1 61.5 82 106 140 193 212 242
L1 2) 3) ±2 129 / 149 156 / 182.5 202 / 234.5 256.5 / 296.5 297 / 315.5 350 / 397 436 / 453.5
L2 28 36 58 82 82 105 130
L3 20 20 30 30 30 38 40
L4 6 7 10 12 15 17 20
L5 60 / 80 71 / 97.5 76 / 108.5 102 / 142 132.5 / 158 152.5 / 199.5 200 / 226
L6 3) min. 15 23 30 32 45 / 32 45 55 / 45
max. 30 40 50 60 82 / 60 82 110 / 82
L7 3) +0.5 4 4 5 6 6 6 8/6
L8 5.6 8.5 10 12.5 13 / 12.5 13 18 / 13
L11 ±1 62 76 101 141 182 212 242
L12 2 2 2 3 3 3 3
L13 3) ±1 min. 60 80 100 140 190 / 140 190 260 / 190
L18 10 12 17 19 29 / 19 29 40 / 29
L19 47.5 / 67.5 57 / 83.5 56 / 88.5 74.5 / 114.5 100.5 / 130.5 114.5 / 167.5 147 / 194
L21 3) 15 22 28 30.5 37.5 / 30.5 37.5 46 / 37.5
L22 3) +0.9 3.7 6.2 6.7 5.2 9.3 / 5.2 9.2 / 9.3 12.6 / 9.3
t 12.5 19 28 36 42 42 42
2) If you have involute toothing at the output shaft, L1 will change.
3) Dimensions depend on the motor.
9-17

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors
SP Gearboxes - Inertia
1 kgcm2 = 8.85 x 10-4 in. lb.s2
1 mm = 0.03937 in.
1 Nm = 8.85 in.lb.
Mass moments of inertia J1 [kgcm2] applies to the input

Gear reducer Motor shaft Ratio i single-stage Ratio i two-stage

size diameter [mm] 4 5 7 10 16 20 28 40 50 70 100
SP 060 ≤ 11 0.14 0.14 0.13 0.12 0.15 0.15 0.15 0.12 0.12 0.12 0.12
> 11 ≤ 14 0.17 0.17 0.16 0.15 0.19 0.19 0.19 0.15 0.15 0.15 0.15
SP 075 ≤ 11 0.52 0.44 0.38 0.35 0.48 0.47 0.47 0.34 0.34 0.34 0.34
> 11 ≤ 14 0.57 0.49 0.43 0.40 0.53 0.52 0.52 0.39 0.39 0.39 0.39
> 14 ≤ 19 0.63 0.55 0.49 0.46 0.59 0.58 0.58 0.45 0.45 0.45 0.45
SP 100 ≤ 14 1.9 1.6 1.3 1.2 1.7 1.7 1.7 1.1 1.1 1.1 1.1
> 14 ≤ 19 2.0 1.7 1.4 1.3 1.8 1.8 1.8 1.2 1.2 1.2 1.2
> 19 ≤ 24 2.7 2.4 2.1 2.0 2.5 2.5 2.5 1.9 1.9 1.9 1.9
> 24 ≤ 28 3.5 3.2 2.9 2.8 3.3 3.3 3.3 2.7 2.7 2.7 2.7
> 28 ≤ 32 4.6 4.3 4.0 3.9 4.4 4.4 4.4 3.8 4.8 3.8 3.8
SP 140 ≤ 19 5.0 4.1 3.3 2.8 4.4 4.4 4.4 2.7 2.7 2.7 2.7
> 19 ≤ 24 5.7 4.8 4.0 3.5 5.1 5.1 5.1 3.4 3.4 3.4 3.4
> 24 ≤ 32 8.4 7.5 6.7 6.2 7.8 7.8 7.8 6.1 6.1 6.1 6.1
> 32 ≤ 35 8.2 7.3 6.5 6.0 7.6 7.6 7.6 5.9 5.9 5.9 5.9
> 35 ≤ 38 10.0 9.1 8.3 7.8 9.4 9.4 9.4 7.7 7.7 7.7 7.7
SP 180 2-stage ≤ 19 - - - - 5.0 4.8 4.6 2.8 2.8 2.7 2.7
> 19 ≤ 24 - - - - 5.7 5.5 5.3 3.5 3.5 3.4 3.4
> 24 ≤ 32 - - - - 8.4 8.2 8.0 6.2 6.2 6.1 6.1
> 32 ≤ 35 - - - - 8.2 8.0 7.8 6.0 6.0 5.9 5.9
> 35 ≤ 38 - - - - 10.0 9.8 9.6 7.8 7.8 7.7 7.7
SP 180 1-stage ≤ 32 30.6 24.9 20.0 17.4 - - - - - - -
> 32 ≤ 38 31.7 26.0 21.1 18.5 - - - - - - -
> 38 ≤ 48 36.2 30.5 25.6 23.0 - - - - - - -
SP 210 2-stage ≤ 32
> 32 ≤ 38
-
-
-
-
-
-
-
-
36.3
37.4
34.5
35.6
32.3
33.4
23.1
24.3
21.9
23.0
20.2
21.3
18.9
20.0
9
> 38 ≤ 48 - - - - 42.0 40.2 37.9 28.8 27.6 25.8 24.6
SP 210 1-stage ≤ 55 75.8 63.5 52.9 47.1 - - - - - - -
SP 240 2-stage ≤ 32 - - - - 47.3 43.1 37.5 32.4 29.5 24.9 21.4
> 32 ≤ 38 - - - - 48.4 44.2 38.6 33.6 30.6 26.0 22.5
> 38 ≤ 48 - - - - 53.0 48.8 43.2 38.1 35.1 30.6 27.1
SP 240 1-stage ≤ 60 146.3 119.9 96.4 83.1 - - - - - - -

9-18

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

Alpha LP Gearbox Product Details

9-19

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

LP Gearboxes - Technical Data

Technical Data
Size LP050 LP070 LP090 LP120 LP155

ratio i =
max. 5/25/50 11,5(102) 32 (283) 80 (708) 200 (1770) 400 (3540)
Acceleration
Torque
1) T2B Nm (in.lb)
ratio i =
3*/10/15* 10,5(93) 29 (256) 72 (637) 180 (1593) 320 (2832)
30*/100

Peak Output
T2Not Nm (in.lb) 26(230) 75 (664) 190 (1682) 480 (4248) 1000 (8850)
Torque2)

ratio i =
5/25/50 5,7(50) 16 (141) 40 (354) 100 (885) 290 (2566)
Nominal
Output Torque 3) T2N Nm (in.lb)
ratio i =
3*/10/15* 5,2(46) 15 (132) 35 (309) 90 (796) 170 (1504)
30*/100

1-stage 3*/5/10
Ratio i
2-stage 15*/25/30*/50/100
max. 2400 (540)
4) F2RMax N (lbf) 650(146) 1450 (326) 4600 (1035) 7500 (1687)
Radial Load
4)
max. Axial Load F2AMax N (lbf) 700(158) 1550 (349) 1900 (428) 4000 (900) 6000 (1350)
ratio i =
5/25/50 0,9(8) 3,3 (29) 9 (80) 24 (212) 55 (484)
Torsional
Rigidity Ct21 Nm(in.lb)/ ratio i =
arcmin 3*/10/15* 0,75(6,6) 2,8 (25) 7,5 (66) 20,5 (181) 44 (387)
30*/100

1-stage ≤ 12
Torsional
Backlash jt arcmin
2-stage ≤ 15
-1
Nominal Input Speed n1N min (rpm) 4000 3700 3400 2600 2000

-1
max. Input Speed n1Max min (rpm) 8000 6000 6000 4800 3600

No-load running Torque ≤ 0,38 (≤ 3,37) ≤ 0,8 (≤ 7,1) ≤ 2,5 (≤ 22,1)

T012 Nm (in. lb) ≤ 0,05 (≤ 0,44) ≤ 0,14 (≤ 1,24)
at Nominal Input Speed

Average Lifetime Lh h

1-stage
20.000 h
9
> 97
Efficiency η %
2-stage > 95

2 1-stage 0,059 (0,000052) 0,28 (0,00025) 1,77 (0,0016) 5,42 (0,0048) 25,73 (0,022)
Mass Moments kgcm
J1 2
of Inertia (in.lbs ) 0,28 (0,00025) 1,77 (0,0016) 5,49 (0,0049)
2-stage 0,055 (0,000049) 5,33 (0,0047)

1-stage 0,77 (1,70) 1,9 (4,19) 4,1 (9,04) 9,0 (19,85) 17,5 (38,59)
Weight m kg (lb)
2-stage 0,95 (2,09) 2,2 (4,85) 5,1 (11,25) 11,2 (24,7) 21 (46,2)

Lubrication Fließfett/Flow Grease

Primer RAL 5002

Mounting Position beliebig/any

Degree of Protection IP 64

Noise Level ≤ 70 ≤ 72
LPA dB (A) ≤ 68 ≤ 74 ≤ 75
(n1 = 3000 rpm)

1) Max. Acceleration Torque for cycle operation

2) Peak Output Torque for emergency stop (max. 1000 times) Continuous Operation (S1)
3) Nominal Output Torque for continuous operation The S1-operation is permitted at nominal speed and
4) Load applied to center of output shaft, at 100 rpm
* Ratio i = 3/15/30 only for LP 70/90/120 nominal output torque. If the gearbox runs
continuously for more than 15 minutes or the duty
cycle is greater than 60%, use the continuous or S1
operation speci-fications. These specifications are
defined as nominal output torque and nominal input
speed. A gearbox temperature of 90°C should not be
exceeded. With an S1 application the motor can
overheat the gearbox. Please refer to motor
manufacturers maximum motor temperature

9-20

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

LP Gearboxes - Dimensions

Dimensions LP-Gear reducer

L9

D8

L10 L8

D9
D5 4x
4x
L10

View on ‘A’

Dimensions for Motor mounting [mm (in.)]

Size LP 050 LP 070 LP 090

D7 Pilot clearance bore * * *
D8 Bolt circle * * *
D9 Mounting thread * * *
D10 max. Motor shaft 11 (0,4331) 16 (0,6299) 24 (0,9448)

9 L10 min. Mounting plate +/-1 (+/-0,039) 50 (1,9685) 70 (2,7559) 90 (3,5433)

L11 Mounting thread depth min. 1,8 x D9
L12 Depth of clearance bore 3,5 (0,1378) 4 (0,1575) 5 (0,1969)
L13 Location of mounting bore 6 (0,2362) 5,6 (0,2205) 8,5 (0,3346)
L14 min. Motor shaft length 13 (0,5118) 15 (0,5906) 21 (0,8268)
L14 max. Motor shaft length 20 (0,7874) 25 (0,9843) 23 (0,9055) 30 (1,1811) 30 (1,1811) 40 (1,5748)
L15 Mounting plate thickness • 14 (0,5512) 19 (0,7480) 15 (0,5906) 22 (0,8661) 22 (0,8661) 32 (1,2598)
• two different kinds of mounting plate thicknesses as standard - depending on motor shaft length

Size LP 120 LP 155 1-stage LP 155 2-stage

D7 Pilot clearance bore * * *
D8 Bolt circle * * *
D9 Mounting thread * * *
D10 max. Motor shaft 32 (1,2598) 42 (1,6535) 32 (1,2598)

L10 min. Mounting plate +/-1 (+/-0,039) 120 (4,7244) 150 (5,9055) 120 (4,7244)
L11 Mounting thread depth min. 1,8 x D9
L12 Depth of clearance bore 8 (0,3150) 6 (0,2362) 8 (0,3150)
L13 Location of mounting bore 10 (0,3937) 16,5 (0,6490) 10 (0,3937)
L14 min. Motor shaft length 28 (1,1024) 35 (1,3779) 28 (1,1024)
L14 max. Motor shaft length 40 (1,5748) 50 (1,9685) 50 (1,9685) 60 (2,3622) 40 (1,5748) 50 (1,9685)
L15 Mounting plate thickness 28 (1,1024) 38 (1,4961) 36 (1,3779) 46 (1,7716) 28 (1,1024) 38 (1,4961)

*Dimensions depend on motor to be mounted

9-21

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

LP Gearboxes - Dimensions

L14

L15 L6 L7

L13

D7 D10 M D3 D6 D2 D4 D1
k6 h6

L12 L5

T
L3

L4 L2

L1

Gearbox dimensions [mm (in.)]

Size LP 050 LP 070 LP 090 LP 120 LP 155 9
D1 Gear housing 50 (1,9685) 70 (2,7559) 90 (3,5433) 120 (4,7244) 155 (6,1023)
D2 Pilot diameter h6 35 (1,3780) 52 (2,0472) 68 (2,6772) 90 (3,5433) 120 (4,7244)
D3 Output shaft diameter k6 12 (0,4724) 16 (0,6299) 22 (0,8661) 32 (1,2598) 40 (1,5748)
D4 Output flange bolt circle 44 (1,7323) 62 (2,4409) 80 (3,1496) 108 (4,2520) 140 (5,5118)
D5 Mounting thread 4x90° M4 M5 M6 M8 M10
D6 Shaft shoulder diameter 17 (0,6693) 25 (0,9843 ) 40 (1,5748) 50 (1,9685) 65 (2,5590)

1)
L1 Gear length 1-stage 75 (2,9528) 104 (4,0945) 126 (4,9606) 172 (6,7716) 219,5 (8,6417)
2)
2-stage 91 (3,5827) 124 (4,8819) 152,5(6,0039) 204,5 (8,0512) 250 (9,8425)
L2 Output shaft length 18 (0,7087) 28 (1,1024) 36 (1,4173) 58 (2,2835) 82 (3,2283)
L3 Pilot diameter width 4 (0,1575) 5 (0,1969) 5 (0,1969) 6 (0,2362) 8 (0,3150)
L4 Width 6,5 (0,2559) 8 (0,3150) 10 (0,3937) 12 (0,4724) 15 (0,5905)
L5 Mounting thread depth 8 (0,3150) 10 (0,3937) 12 (0,4724) 16 (0,6299) 20 (0,7874)
L6 Key length 14 (0,5512) 25 (0,9843) 32 (1,2598) 50 (1,9685) 70 (2,7559)
L7 Key location 2 (0,0787) 2 (0,0787) 2 (0,0787) 4 (0,1575) 6 (0,2362)
L8 Output shaft with key 13,5 (0,5315) 18 (0,7087) 24,5 (0,9646) 35 (1,3780) 43 (1,6929)
L9 Key width h9 4 (0,1575) 5 (0,1969) 6 (0,2362) 10 (0,3937) 12 (0,4724)
M Centering bore M4 M5 M8 M12 M16
T Depth of thread 8 (0,3150) 10 (0,3937) 13 (0,5118) 22 (0,8661) 32 (1,2598)

1) 1-stage ratios i = 3*, 5, 10

2) 2-stage ratios i = 15*, 25, 30*, 50, 100

* Ratio i = 3/15/30 only for LP 70/90/120

9-22

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

ZF PG Product Details

9-23

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

PG Gearboxes - Technical Data

Si z e :

Te c h n i c a l D a t a : PG PG PG PG PG
i 25 100 200 500 1200

Nominal output torque T2N (Nm) 4 25 85 170 420 1020

Also applicable for S1 operation 5 25 100 200 500 1200
7 25 85 170 420 1020
10 20 60 120 280 720

Emergency stop torque 1) T2Not (Nm) 4 100 280 560 1260 3060
5 100 330 660 1500 3600
7 80 280 560 1260 3060
10 80 200 400 840 2160

Max. acceleration torque 2) T2B (Nm) 4 50 170 340 840 2040

5 50 200 400 1000 2400
7 50 170 340 840 2040
10 40 110 220 560 1440

Max. input speed n1max (rpm) 4 5000 5000 4000 3200 2500
5 6300 6300 5000 4000 3200
7 8000 8000 6300 5000 4000
10 10000 10000 8000 6300 5000

Nominal input speed n1N (rpm) 4 3000 3000 2500 2000 1500
5 4000 4000 3000 2500 2000
7 5000 5000 4000 3000 2500
10 6000 6000 5000 4000 3000

Backlash standard (arcmin) ≤6 ≤6 ≤4 ≤4 ≤4

reduced 3) ≤3 ≤3 ≤2 ≤2 ≤2

Torsional rigidity Ct (Nm/ 3.5 8.2 24 48 149

arcmin)

Moments of inertia l1 (kg/cm2) 4

5
0.16
0.16
0.55
0.47
2.00
1.64
6.75
5.54
24.5
18.8
9
7 0.15 0.41 1.36 4.59 14.5
10 0.14 0.38 1.22 4.10 12.3

Max. axial force FA (N) 3200 4500 7000 10000 15000

Max. radial force 4) FR (N) 2700 3700 6700 9200 14000

Lifetime Lh (h) >20000 >20000 >20000 >20000 >20000

Efficiency η ≥ 97% ≥ 97% ≥ 97% ≥ 97% ≥ 97%

Weight m (kg) 1.6 2.9 5.7 11.5 27

Operating noise at Lp (dB(A)) ≤ 63 ≤ 68 ≤ 68 ≤ 72 ≤ 72

(nan = 3000 rpm

Lubrication Lifetime lubrication, closed system 1) Max 1000 times in lifetime

Surface protection Aluminium respectively steel, galvanically treated 2) De-rate for >1000 stop/starts per hour
Installation position Any, always changeable 3) Special option
Operating temperature -10°C to +90°C 4) Resultant force at centre of shaft
Direction of rotation Same as input- and output speed 5) Speed 300rpm
Type of protection IP 65

9-24

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

PG Gearbox - Dimensions
Si z e :
PG PG PG PG PG
Dimensions (mm): 25 100 200 500 1200
DR M5 M8 M12 M16 M20
D1(g6) 60 70 90 130 160
D2 20 28 40 45 60
D3(k6) 16 22 32 40 55
D4 5.5 6.6 9 11 13
D5 68 85 120 165 215
D6*(f7) min. 6 14 19 24 32
max. 14 24 32 38 48
L1* 129,5 155,7 193,1 245,6 281
L2(+0.5) 28 36 58 82 82
L3 20 20 30 30 30
L4 7.7 8 10 12,5 22
L6* 15 23 30 32 45
min. 30 42 50 60 82
L7* max. 3.5 4.5 5.5 5.3 8
L11 62 76 101 141 182
L12 2 2 2 3 3
L13* 62 80 106 141 182
L14 min. 22 28 50 70 70
L15 3 4 4 5 5
L16 5 6 10 12 16
L17 18 24,5 35 43 59
L22* 4.5 7,5 8.5 7.5 9
D7/D8/D9 Motor connection dimensions for all common
servomotors are available
B
*Dimensions depending on motor
L7

9 D8
6
L13

D7
D1
D2
D3

max. D
D9
45∞

L12
B
90 ∞ L2
L3 L22

L6
L4
L1

L15
L14
C
D5
L16

L11
D4

C
L17
A

9-25

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

ZF WT Gearbox Product Details

9-26

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors

WT Gearboxes - Technical Data

Right angle gearboxes Size

i WT WT WT WT WT WT
T e c h n i c a l d ata: 35 70 140 260 700 1400
Nominal T2N (Nm) 3-10 35 70 140 260 720 1440
output torque 12-15 25 50 95 180 510 1020
Emergency stop torque 1) T2Not (Nm) 3-10 70 140 280 520 1440 2880
12-15 50 100 190 360 1020 2040
Max. acceleration T2B (Nm) 3-10 53 105 210 390 1080 2160
torque 12-15 38 75 143 270 765 1530
Max. input speed n1max (rpm) 8000 8000 7000 6000 5000 4500

Nominal input speed n1n (rpm) 6000 6000 5000 4000 3000 2500

Backlash ϕ (arcmin) stand. ≤5 ≤5 ≤4 ≤4 ≤4 ≤4

redu .-1 ≤3 ≤3 ≤2 ≤2 ≤2 ≤2
Torsional rigidity C1 (Nm/ 3.5 7 17.5 39 103 210
arcmin)
Moments of inertia l1 (kg/cm2) 3 0.43 1.10 2.5 6.7 24 72
4 0.31 0.77 1.8 4.7 16 48
5 0.24 0.63 1.4 3.8 13 37
6 0.22 0.56 1.3 3.4 11 28
8 0.18 0.47 1.1 2.8 8.6 24
10 0.16 0.43 1.0 2.5 7.5 20
12 0.15 0.41 0.93 2.4 6.9 18
15 0.14 0.39 0.89 2.3 6.3 16

Max. axial force FA (N) 1650 2450 3600 5000 7500 11250

Max. radial force 2) FR (N) 3300 4900 7200 10000 15000 22500
9 Idling torque T01 (Nm) 3 0.044 0.079 0.114 0.190 0.390 0.729
(n1 = 3000 rpm) 10 0.024 0.043 0.065 0.101 0.189 0.311
Lifetime )
3
Lh (h) >30000 >30000 >30000 >30000 >30000 >30000

Efficiency η 3-10 ≥96% ≥96% ≥96% ≥96% ≥96% ≥96%

12-15 ≥93% ≥93% ≥93% ≥93% ≥93% ≥93%
Weight m (kg) 2,5 5 8,5 15 28 48

Operating noise at Lp (db(A)) ≤66 ≤66 ≤68 ≤68 ≤70 ≤72

nan = 3000 rpm
Lubrication Lifetime lubrication, closed system
Surface protection Prime coat RAL 9005 - dull black
Installation position Any
Operating temperature -10°C to 100°C
Direction of rotation input to output Same as motor
Type of protection IP 64

9-27

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Gearbox Motors
WT Gearbox - Dimensions
g g Side 4 f1 fs
A
s h1
h0

Ødw
0

p1
B
Øb

xb

p1

Ødw

Øds
Øv

Side A
Øk1
f2 *
p2 p2 Side 2 p1 p1 Side 5
n
k2 B
12
Ød2

p2 p2

Design 1LSV

r
Side1 Side3
q
m+0.5
l1

Ød1 *

Øw
u

Design 1L Design 3L Design 3LSV

Right angle gearboxes

Dimensions (mm):
WT
35
WT
70
WT
140
WT
260
WT
700
WT
1400
9
A 60 80 100 120 146 196
B 90 115 140 170 215 260
Ø b(g6) 89 105 125 150 195 245
g 13.5 8.5 8 8 10 10
o 9 14 18 23 32 42
p1 39 49 59 72 91 112
p2 22 27 33 40 52 70
Ø k1 6.6 9 11 14 17,5 17,5
k2 M6 M8 M10 M12 M16 M16
q 8 10 11 13 15 17
Ø d2(k6) 20 24 32 40 55 70
l2 35 40 50 60 90 110
f2 80 90 110 130 175 220
n 1.5 1.5 2 2 2 2
Ø dw(H7) 20 25 30 40 55 70
Ø ds(f7) 24 30 36 50 68 80
h0 20 22 26 29 32 34
h1 23 25 29 33 37 40
fs 71.5 79.5 93 107 127 159
Ø d1 9/11/14 11/14/19 14/19/24 19/24/32 24/32/38 32/38/48
l1 23/26/30 26/30/40 30/40/50 40/50/60 50/60/80 60/80/90
u x f1 55x130 75x168 90x191 115x220 140x260 190x335
- 90x168 115x191 140x220 190x265 260x345
75x140 90x180 115x201 140x235 190x280 -
r According to DIN 332 Form D

}
Øv
Øw PCD, spigot dia thread and centering depth
s according to respective motor data sheets
m

9-28

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Fanblown Motors

Fanblown Motor Description

Control Techniques easy to fit fan cowlings provide outstanding
performance improvements with power densities not hitherto
possible achieved in a small volume. This powerful means of
forced convection enables a higher rms torque output for the
same motor winding temperature. Cool air from the rear of the
motor is channelled through the Unimotor’s specially designed
fins bringing a substantial increase to rated and stall torque of
the motor. Peak torque remains unaffected.

The fan cowlings can be added to new or existing installations,

wherever additional power is required.

• Easy to fit - slide on and clamp

• Peak torque is unimpeded
• High power density for installations with limited space
• Encoder motors can run at ∆125ºC rating
Optimize power where thermal path is restricted, such as
gearmotor applications

Specification

• Fan Voltage - 230V ; 0.1A ; 50-60Hz

• Air Direction - from rear to front
• Fan IP Rating - IP20
• Motor/Fan Combined Performance - De-rate above 40ºC
• Cooling Air - fluff and fibre free.
If filter is to be used, performance must be de-rated.

Note 1: Not applicable for UL recognised motors.

Note 2: Not suitable for standard SL motors, because stored SL

performance data remains unchanged in the motor.
10

10-1

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Fanblown Motors

Fanblown Motor Performance

Motor Type Stall Torque (Nm) Rated Torque (Nm) for motor speeds (rpm) Motor Type
Unbraked Braked
All Speeds 2000 3000 4000 COWLING ORDER REF.

75UMA 1.4 1.4 1.4 1.3 75FB01 75FB02

75UMB 2.8 2.8 2.8 2.5 75FB02 75FB03
75UMC 4.3 4.3 4.2 3.8 75FB03 75FB04
75UMD 6.1 5.9 5.7 5.2 75FB04 75FB05
95UMA 2.9 2.7 2.6 2.4 95FB01 95FB02
95UMB 5.7 5.3 5.2 4.3 95FB02 95FB03
95UMC 8.4 8.1 8.0 6.7 95FB03 95FB04
95UMD 11.5 11.0 10.9 9.2 95FB04 95FB05
95UME 14.6 13.9 13.8 12.0 95FB05 95FB06
115UMA 4.8 4.4 4.1 3.8 115FB01 115FB02
115UMB 9.2 8.5 8.2 7.6 115FB02 115FB03
115UMC 14.0 13.2 12.8 11.2 115FB03 115FB04
115UMD 19.3 18.0 17.8 14.7 115FB04 115FB05
115UME 25.7 23.3 22.9 18.9 115FB05 115FB06
142UMA 8.5 8.0 7.5 5.7 142FB01 142FB03
142UMB 15.3 14.9 13.6 11.6 142FB02 142FB04
142UMC 22.5 22.4 20.0 16.7 142FB03 142FB05
142UMD 30.2 30.0 27.4 22.3 142FB04 142FB06
142UME 37.0* 36.0 33.8 28.0 142FB05 142FB07
190UMA 28.8 26.7 25.9 ~ 190FB01 190FB02
190UMB 55.7 54.2 50.3 ~ 190FB02 190FB03
190UMC 84.1 73.2 57.8 ~ 190FB03 190FB04
190UMD 107.6 83.8 65.9 ~ 190FB04 190FB05 10
Notes: Torque performances shown are applicable for motors with
either encoder or resolver, temperatures taken to ∆T = 125°C.

The increase in torque output will require a higher drive current.

This will require adequate power cable for the current required.

* 142UME 400 : maximum continuous stall torque is limited to

28Nm due to connector current limitation.

WARNING: Peak torque values remain as quoted for non-fan-blown

performance (section 3).

10-2

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Fanblown Motors

Fanblown Motor 75-115 Dimensions

DIM 'E' DIM 'F'

DIM `B' REF REMOVABLE
COVER PLATE

75 95 & 115 FRAME SIZE

MODEL: SERIAL
2 DIM 'K'

10 1
SPEED: Ke:

2
INS CLASS: Kt:

9
AIR FLOW

11 3
5 4
POLES: STALL:

8
12
BRAKE:

7
6
CONTROL
TECHNIQUES IN EC

WIRING DETAIL:

EARTH

TYPE LABEL NEUTRAL

DIM 'I'

LIVE

AUXILARY
EARTH POINT

DIM 'A'
DIM 'C' MAX

DIM 'G'

MODEL: SERIAL No:

FAN:
MOTORS:
DIM 'H'

TORQUE: REFER TO INSTRUCTIONS

CONTROL
TECHNIQUES MADE IN EC

UNI 2

VIEW FROM FRONT VIEW FROM REAR

DIM 'D'
CLAMP SCREW (x2)

Frame Size 75 95 115

10 Dimension/Length suffix
A Length Overall (Unbraked)
A
296
B
326 356
C
386
D
316
A B
346
C
376 406
D E
436
A
309 339
B C
369 399
D E
429
A Length Overall (Braked) 326 356 386 416 346 376 406 436 466 339 369 399 429 459
B Front Flange to Power C/L (Unbraked) 116 146 176 206 125 155 185 215 245 142 172 202 232 262
B Front Flange to Power C/L (Braked) 146 175 206 236 155 185 215 245 275 172 202 232 262 292
C Overall Height 135 max. 157 max 177 max.
D Clamp Screw to Front Flange (Unbraked) 97 112 127 142 100 115 130 145 160 128 143 158 173 188
D Clam Screw to Front Flange (Braked) 112 127 142 157 115 130 145 160 175 143 158 173 188 203
E Power C/L to Feedback Connector C/L 61.0 62.6 66.0
F Connector Box C/L to Fan Termainal Box C/L 53.8 53.8 44.4
G Height to Top of Fan Terminal Box 110.5 129.0 150.0
H Height to Top of Fan Casing 80.5 100.0 120.0
I Air Intake Clearance 40.0 40.0 40.0
K Width 115.0 135.0 159.0

10-3

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Fanblown Motors

Fanblown Motor 142-190 Outline

DIM ’B’ REF DIM ’E’

REMOVABLE COVER PLATE

DIM ’I’

190 & 142 FRAME SIZE MODEL:

FAN:
MOTORS:
SERIAL No:

TORQUE: REFER TO INSTRUCTIONS

WIRING DETAIL:
CONTROL
TECHNIQUES MADE IN EC

EARTH
AIR FLOW NEUTRAL

DIM ’K’
MODEL: SERIAL No:

8
16 9
SPEED: Ke:

7
10
INS CLASS: Kt:

15
11
12

6
POLES: STALL:

17
BRAKE:

14

5
1

13

4
2

3
CONTROL
TECHNIQUES MADE IN EC

LIVE

TYPE LABEL DIM ’F’

AUXILIARY EARTH POINT

DIM ’A’

DIM ’G’
DIM ’C’

DIM ’H’
UNIMOTOR

VIEW FROM FRONT VIEW FROM REAR

DIM ’D’
CLAMP SCREW (x2)

Fanblown Motor 142-190 Dimensions

10
Frame Size 142 190
Dimension/Length suffix A B C D E A B C D
A Length Overall (Unbraked) 303 333 363 393 423 369 423 477 531
A Length Overall (Braked) 363 393 423 153 483 423 477 531 584
B Front Flange to Power C/L (Unbraked) 111 141 171 201 231 69 123 177 231
B Front Flange to Power C/L (Braked) 171 201 231 261 291 123 177 231 285
C Overall Height 204 max. 262 max.
D Clamp Screw to Front Flange (Unbraked) 151 166 181 196 211 170 197 224 251
D Clam Screw to Front Flange (Braked) 181 196 211 226 241 197 224 251 270
E Power C/L to Feedback Connector C/L 80.0 173.0
F Connector Box C/L to Fan Termainal Box C/L 147.0 167.0
G Height to Top of Fan Terminal Box 176.0 225.0
H Height to Top of Fan Casing 147.0 196.0
I Air Intake Clearance 40.0 60.0
K Width 187.0 240.0

10-4

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Cable Assemblies

Characteristics Motor Power and Signal

Cables

Cables are an important part of a servo system installation. Not

only must the noise immunity and integrity of the cabling and
connectors be correct, but also SAFETY and EMC regulations
must be complied with to ensure successful, reliable and fail safe
operation. One of the most frequent problems experienced by
motion systems engineers is incorrect connections of the motor
to the drive.

CT Dynamics ready -made cables mean system installers can

avoid the intricate, time consuming assembly normally
associated with connecting servo systems. Installation and set-up
time are greatly reduced - there is no fiddling with wire
connections and crimp tools, and no fault finding.
The cables are made to order in lengths from 1m to 50m/100m.

DS To Conversion Cables
DS to DM power/power-brake and signal conversion cables are
available, to a maximum length of 400mm. These cables will
allow the engineer to convert from an existing DS motor
application, with system cabling, to a DM Unimotor.

Cable Range PUR Cable Features

Cable range for motor-drive combinations: ❏ Dynamic performance

❏ UM & Unidrive / Unidrive SP ❏ PUR outer sheath for oil resistance and dynamic
❏ DM & Digit’Ax performance
❏ DS & Digit’Ax ❏ Complies with DESINA coding - Orange for power, Green
❏ SL & M’Ax or MultiAx for signal
❏ EZ & Unidrive / Unidrive SP low voltage ❏ Power cable and plugs UL recognised
❏ EZ & Epsilon or EN ❏ Optimum noise immunity
❏ MM to Mini’Ax ❏ UM Encoder cable has low volt drop for long cable lengths
❏ DS to DM conversion cables and separately screened thermistor wires.
11 ❏ Brake wires are separately shielded within the power cable
Power cable variants: ❏ No need for crimp and insertion / removal tools
❏ Phase conductors 1.5mm ( 16A) to 16mm (70A)
2 2
❏ Production build gives quality and price benefits
❏ With and without brake wire pairs ❏ Production build gives quality and price benefits
❏ Motor end Connector ❏ Braided screen for greater flexibility and wear
❏ Motor end Ferrules for Hybrid box ❏ Power cables with and without brake wires
❏ Drive end is tailored to suit the drive and can be Ferrules or ❏ Cable assembly type identification label
Ring terminals

11-1

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Cable Assemblies

Cable Types for UM; EZ and SL motors

Cables with Desina colours (Power = Orange, Signal = Green)

Power
Phase & conductor Unimotor size Current Overall cable Overall cable
size Power plug rating diameter(mm) diameter(mm)
(current rating size No brake braked
Cenlec EN60204.1)
G - 1.5mm 2 (16A) 75-142 size 1 30A sockets 10.2 12.0
A - 2.5mm 2 (22A) 75-142 size 1 30A sockets 11.8 12.8
B - 4.0mm 2 (30A) 75-142 size 1 30A sockets 14.4 14.4
190 size 1.5 53A sockets
C - 6.0mm 2 (39A) 190 size 1.5 70A sockets 17.4 17.4
D - 10.0mm2 (53A) 190 size 1.5 70A sockets 20.4 20.4
E - 16.0mm 2 (70A) 190 size 1.5 70A socket 23.4 23.4
F - 1mm 2 DS Brake
(Unscreened)
Note minimum bend radius = 10x dia

Signal
Drive Type Motor Type Cable Type
Unidrive / Unidrive SP UM/DM Encoder SI;SinCos SS;Resolver
SR
Digit'Ax DS/DM Resolver SR
M'Ax / Multi'Ax SL Speed loop Module SL
Epsilon / EN / Unidrive LV EZ Encoder SI;Resolver SR
Mini'Ax MM Encoder SI

Signal – basic cable types

Cable type Cable code Overall cable
diameter(mm)
Encoder SIBA 10.9
Resolver / Sincos SRBA/SSBA 9.6 11
SLM SLBA 6.2
Low cost Encoder SIBL 8.5

11-2

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Cable Assemblies

Selecting Power Cables

Cable type - PS for motor without brakes, PB for motors with brake.
Jacket - B is for a PUR sheath and is the standard selection. A is for a PVC sheath to be used on the DS
brake cable only.
Conductor Size - Select the conductor size according to the motors STALL CURRENT.
Include forced cooling performance if applicable.
Cables of 6mm2 and above will be fitted with ring terminals only.
Ratings are for individual cables (not lashed together) in free air temperature up to 40°C - make
allowances as appropriate.
Connection detail drive end - Select the correct drive end connection for the drive in use.
Connection detail motor end - Select the correct motor end connection for the motor in use.
Length - Numbers represent the required cable length in metres. Conversion cables will be limited to
0.4m only and the length is not required in the order code.

PS B A A A 015

Cable Type : Jacket : Phase & E Conductor Size : Cable Length (Metres) :
PS - Power (Standard) A - PVC G - 1.5 mm2 16A Min - 001 (1 metre)
PB - Power (with brake) B - PUR A - 2.5 mm2 22A Max - 100 (50m for SL)
B - 4.0 mm2 30A 0.4m for DS to DM
2
C* - 6.0 mm 39A Conversion cable
D* - 10.0 mm2 53A
E* - 16.0 mm2 70A
F** - 2 x 1mm2 Unscreened

Connection Details Drive End : Connection Details Motor End :

11 Drive End Motor End

A Unidrive (Size 1-2) Ferrules A 75-142 Unimotor power connector

B Unidrive (Size 3-4) Ring terminals B 190 Unimotor power connector
6 way power extension connector C 75-142 hybrid box Ferrules
C (75-142 Unimotor male pins) D 190 hybrid box Ferrules
D M'Ax and Multi'Ax Ferrules E 75-95 DS power connector
E** DS Brake Ferrules F 115-142 DS power connector
F Unidrive SP (Size 1-2) / DigitAx Ferrules G** DS Brake connector
G Unidrive SP (Size 3-4) Ring terminals H 8 way power connector
Y 75-95 DS Conversion connector power X Cut end
Z 115-142 DS Conversion connector power
X Cut end

* Ring terminals for Drive studs only

** PVC only available on DS brake cables

11-3

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Cable Assemblies

Selecting Signal cables

Cable type - Choose the cable type to match the feedback device.
Jacket - B is for a PUR sheath and is the standard selection.
Special options - A is for standard cable. L is for the low cost 8.5mm incremental cable.
Connection detail drive end - Select the correct drive end connection for the drive in use.
Connection detail motor end - Select the correct motor end connection for the motor feedback device
in use.
Length - Numbers represent the required cable length in metres. Conversion cables will be limited to
0.4m only and the length is not required in the order code.

SI B A A A 015

Cable Type : Jacket : Special Options : Cable Length (Metres) :

SI - Incremental Encoder B - PUR A - Standard cable Min - 001 (1 metre)
SR - Resolver L - 8.5mm dia SI cable Max - 100* ( 100 metres)
SS - SinCos Encoder 50m for SLBA
SL - Drive Link (SLM only) 10m for SIBL
0.4m for DS to DM
Conversion cable

Connection Details Drive End : Connection Details Motor End :

Drive End Motor End

A Unidrive Encoder 15 pin connector A Unimotor Encoder connector 11

B Resolver/Sincos Ferrules B Unimotor Resolver connector
C Multi'Ax to 2.5A 15 pin connector C Unimotor Sincos connector (SRS/M50 only)
D Multi'Ax >2.5A 15 pin connector D SLM 5 way Amphenol connector
E M'Ax RJ45 connector E 17 way extension Encoder connector
F Epsilon Encoder 26 pin connector F 90° Unimotor Encoder connector
G 17 way extension Encoder male pins G 90° Unimotor Resolver connector
H Unidrive SP Sincos 15 pin connector H 90° Unimotor Sincos connector
Z DS Resolver conversion connector I DS Resolver connector
X Cut end J DS Resolver Ferrules
K RJ45 connector
X Cut end

*100m on incremental only if +5V tolerance can be maintained

11-4

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Cable Assemblies

Power Cable with brake PBBxAAxxx

1 5
PBBxM0xx DRIVE END MOTOR END
M’AX POWER CABLE WITH BRAKE WIRES.
PUR Conductor Function Pin 6
‘U’ Phase U 1
‘V V’ Phase V 2 2 4
Copper conductor ’Yellow/Green’ Earth 3
SIZE 1 (3)
‘W W W’ Phase W 4
Heat shrink sleeve Black Brake 5
White Brake 6
V
n/a Screen Shell
Drive End Termination + -
55.0

35.0
Identity Label
U W

SIZE 1.5

Connector Assy AS VIEWED FROM FRONT

(Motor End)
60.0 Cable length: min.=2.0 metres, max.=50 metres
2.50 19.0 30.0 Tolerence: -0.0/ + 50 mm

Power Cable without brake PSBxABxxx

1 5

11 PSBxAxxx
UM POWER CABLE WITHOUT
PUR Conductor
U
Function
Phase U 1
Pin
U
6
BRAKE WIRES 2
VV Phase V 2 V 4
Yellow/Green Earth 3 SIZE 1 (3)
WWW Phase W 4 W
N/C 5 +
V
Drive End Termination N/C 6 -
+ -
Green Screen Shell
Identity Label
80+20 -10
U W

SIZE 1.5
Cable length: min.=2.0 metres, max.=100 metres
120+20 -10 Tolerence: -0.0/ + 50 mm Connector Assy
(Motor End) AS VIEWED FROM FRONT

11-5

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Cable Assemblies

Signal cable Encoder SIBxAAxxx

INCREMENTAL SIGNAL CABLE (UNIDRIVE & UNIDRIVE SP)

Connector Assembly 1 11
1 2 3 4 5
2 10
12
6 7 8 9 10 3 13 16 9
17
14 15
11 12 13 14 15 Identity Label 4 8
5 7
6
Viewed from front
Drive End Termination Viewed from front
15 pin ’D’ type Connector

Cable length: min.=2.0 metres

Incremental Cable:-
SI BAxxxx, dia 10.9 length 100m max
SI BLxxxx, dia 8.5 length 10m max

15 Way drive 17 Way Motor

connections Encoder Plug
Pin Colour Function Pin
Body White Thermistor 0V 1
15 Brown Thermistor Signal 2
- - n/c 3
7 Green S1 4
8 Yellow S1 Inverse 5
9 Grey S2 6
10 Pink S2 Inverse 7
11 Black S3 8
12
1
Purple
Grey/Pink Band
S3 Inverse
Channel A
9
10
11
5 White/Green Band Index 11
6 Brown/Green Band Index Inverse 12
2 Red/Blue Band Channel A Inverse 13
3 Red(0.38mm2) Channel B 14
4 Blue(0.38mm2) Channel B Inverse 15
13 Red(1.0mm2) +5V 16
14 - - 17
Body Screen Screen Body

11-6

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Cable Assemblies

Signal cable Sincos SSBxBCxxx

SSBAC0xx
Connector Assembly
SINCOS SIGNAL CABLE (UNIDRIVE)

8 9 1
Identity Label
7 12 10 2

11 3
6
5 4

Viewed from front

Screen

INTERCONNECTRON 12 WAY

50
+15 Cable length: min.=2.0 metres Pin Colour Function
-0

1 RED REF Cos

2 BLUE + DATEN

3 VIOLET - DATEN

Signal cable Sincos SSBxAHxxx

SSBBC0xx Connector Assembly

SINCOS SIGNAL CABLE (UNIDRIVE) WITH 90 Deg CONNECTOR

8 9 1
Identity Label
7 12 10 2

11 3
6
5 4

11 Screen
Viewed from front

+15 Cable length: min.=2.0 metres

50
-0

11-7

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Cable Assemblies

Signal cable Resolver SRBxBBxxx

SRBAC0xx Connector Assembly

RESOLVER SIGNAL CABLE (UNIDRIVE / UNIDRIVE SP / DIGITAX)
8 9 1

7 12 10 2
Identity Label
11 3
6
5 4

Viewed from front

Screen

12 WAY MOTOR SIGNAL PLUG

50
+15
Cable length: min.=2.0 metres Pin Colour Function
-0
1 RED EXCITATION HIGH
2 ORANGE EXCITATION LOW
3 BLUE COSINE HIGH

12 Way Motor Resolver Plug 12 Way Motor SinCos Plug

Pin Colour Function Colour Function
1 Red(0.38mm2) Excitation high Red(0.38mm2) REF Cos
2 Orange Excitation low Blue(0.38mm2) +Daten
3 Blue(0.38mm2) Cos high Violet -Daten
4 Violet Cos low Orange +Cos
5 Brown Sin high Brown +Sin
6 Black Sin low Blac k REF Sin
7 Yellow Thermistor Yellow Thermistor
8 Green Thermistor Green Thermistor
9 - Screen Screen
10 - Blue(0.5mm2) 0 Volts
11 - - -
12 - Red(0.5mm2) +Volts
Body Screen Screen Screen Screen

11

11-8

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Cable Assemblies

Signal Cable SLM SLBAEDxxx (M’Ax)

Tab on underside

8
7
6
5 Viewed from front
4 Connector Assembly
3
2
1 3
2 4

Identity Label 1
5

Cable length: min.=2.0 metres

Signal Cable SLM SLBACDxxx (Multi Ax to 2.5A) SLBADDxxx (Multi Ax > 2.5A)

Viewed from front

1 2 3 4 5 6 7 8 Viewed from front

9 10 11 12 13 14 15 Connector Assembly
3
2 4

1
5
Identity Label

11

Cable length: min.=2.0 metres

D type Amphenol RJ45 Function Colour

14 1 2 Comm Brown
13 5 1 Comm White
9 3 5 +24V Yellow
10 2 6 0V Green
15 4 + Body Body Screen Screen
7+6 Connected together with 26 AWG tinned copper
wire on >2.5A option only

11-9

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Cable Assemblies

Selecting Connector Kits

CT Dynamics can supply a full range of connectors for the UM/DM/EZ and SL motors. The tables
below show the connector kits and spare sockets that are available.

Single Connector Type CTD Part No Spare Sockets

75-142 Power (30A) IM/0039/KI IM/0047/KI
190 Power ( 4mm2 cable : 53A) IM/0053/KI IM/0056/KI
190 Power (>6mm2 cable : 70A) IM/0054/KI IM/0057/KI
Encoder IM/0023/KI IM/0049/KI
Resolver/Sincos IM/0022/KI IM/0049/KI
SLM IM/0055/KI -
Resolver/Sincos 90° IM/0033KI/01 IM/0049/KI
Encoder 90° IM/0033/KI/02 IM/0049/KI
Brake - IM/0048/KI

Power/Signal Ty pe CTD Part No

75-142 Power + Encoder IM/0012/KI
75-142 Power + Resolver IM/0011/KI
75-142 Power + SLM IM/0024/KI

11

11-10

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Motor Selection

Selecting the Correct Motor

A reliable servo system will depend upon initial system design
and correct selection of motor, feedback, gearbox and drive.
To ensure success pay careful attention to the following points:

• Speed, acceleration and inertia

• Peak and rms torque
• Motor feedback type
• Gear ratios
• Drive system operational mode
• Thermal effects
• Environmental conditions
• Size
• Cost of motor-drive combination

It is necessary to estimate the root mean square (rms) torque

value of the load. Where the motor has varying duty cycles it
may be necessary to consider the worst case only. Never
exceed maximum peak torque ratings. Calculate the RMS load
torque at the motor and ensure that this is less than the motor
rated torque. Allow an additional 15% on the load for
inefficiencies and tolerances.

Choose a suitable motor within the size limitations of the

installation. The frame size and motor speed may be selected
using the performance data. Look for the rated torque at the
appropriate temperature.

Control Techniques Sizing Software (CTSS) can simulate most

systems and select suitable motors. This is highly
recommended and is available as a FREE download from
www.drivesportal.com

If you have any questions, please discuss your application with

us. This section explains some of the points in more detail.

Use the Checklist of Operating Details to make notes about the

application.

12

12-1

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Motor Selection

Checklist of Operating Details

Complete this checklist to help select which Unimotor best suits

your application requirements.

Torque Speed (Use CT sizing software to help choose the Feedback

correct motor)
● Do you want an encoder or resolver? See section
● What motor operating speed do you require (rpm)?: Feedback Devices.
(tick one) 2000 ❏ Incremental encoder ❏ Resolver ❏
3000 ❏ (Standard ) (standard) (option)
4000 ❏ Sin/cos single-turn❏ (option)
6000 ❏
Other (non standard) speed ❏ Sin/cos multi-turn❏ (option)

● What is the rms torque? (See section on Calculating

Load Torque). Decide on switching frequencies ● Do you require SLM feedback for M’Ax Drive?
for drive, and de-rate motor or drive accordingly.
Electrical Connections
● If the ambient temperature is greater than 40°C, apply
a derating factor. If the motor is mounted to a hot ● Hybrid connection type has limited availability. Choose
interface; or interfaced with low thermal mass; or high connector if possible.
thermal resistance; apply a derating factor. Torque
ratings of motors are stated in controlled conditions Connector, rotatable ❏ (standard) Hybrid ❏ (option)
mounted on a reference front plate. Details of this are
found in the performance data section. Other options

● Inertia mismatch (ratio of motor inertia to load inertia ● Do you require a gearbox?
reflected to motor shaft) can be as high as 3:1 for Yes ❏ (option) No ❏ (standard)
acceleration rates of 1000 rad/s2 for a typical system.
Larger mismatch or acceleration can be tolerated with a ● Many other custom special motors are made by CTD. If
rigid mechanical system and high resolution feedback. you require something not in this catalogue please ask.
(See www.controltechniques.com or ctdynamics.com for
● Do you require a parking brake? Technical Application Sheet or Enquiry Sheet).
Yes ❏ (option) No ❏ (standard)
12
Motor Mounting

● Does the motor fit the machine? Make allowances for

cables and connections.

● Do you require output key or plain shaft?

Output key ❏ (standard) Plain shaft ❏ (option)

NB. When gearbox is fitted, this choice applies

to the gearbox o/p shaft, as supplied by CTD.

12-2

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Motor Selection

Points To Consider
Torque and Temperature Inertia

● The maximum allowable temperature of the motor ● Ensure that the motor has correct inertia matching
windings or feedback device should not be exceeded. to suit the acceleration requirements. Consider inertia
The windings have a certain mass and hence a long load matching especially for acceleration levels above
thermal time-constant ranging from 1.5 minutes to over 1,000 rad/s2. Motors with larger frame diameters have
an hour. Dependent upon motor temperature the motor higher inertia. Higher inertia rotor options are available.
can be overdriven for shorter periods without exceeding
the temperature limitations. Set motor winding thermal Vibration
time constant into drive parameter. (Auto for SLM &
M’Ax). The parameter is used for thermal shock (I2T) ● Think about any other environmental factors that may
calculations within the drive. be important, such as vibration. See IEC60068 part 2.

● The motor winding thermal time constant should be Cables

large in comparison with the medium term periods of
high rms torque. ● Think about the cable lengths required for the
installation, and the suitability of the cables, drive and
● Ensure that the drive’s features, such as switching feedback signals involved. You should ensure
frequencies, waveforms, peak and continuous currents, compliance with both SAFETY and EMC regulations.
are suitable for the application. Low switching
frequencies of the drive will require motor derating. ● Ensure motor is mounted firmly and properly earthed.
Screen all cables to reduce system noise and EMC.
● Torque estimates should include friction and
acceleration (and hence inertia) calculations. Feedback

● Consider the motor cooling effects; for example, is the ● Recheck your choice of feedback device and the
conductive thermal path adequate? Is the compatibility of feedback.
motor mounted on a hot gearbox?
● To achieve a good system it is necessary to ensure stiff
● Ensure that the motor and drive can meet the short connections and couplings to all rotating parts, so that
term peak torque requirements. a high servo bandwidth can be achieved. This will
improve stability and enable higher servo gains to be
set, ensuring higher accuracy and positional
Braking
repeatability.

● If a load requires dynamic braking by the motor under

servo control, energy is transferred back into the
● High resolution feedback will increase stability and allow 12
greater acceleration or inertia mismatch
system. Then a pump-up effect occurs at the drive
system that raises the DC bus link voltage. To prevent Bearing loads
the link volts from rising too far, and to protect the
drive devices, brake dump resistor(s) may need to be ● Check the radial and axial loading are within the limits
fitted to the drive. Please refer to the drive system of the motor. (See bearing life calculations at the end of
manual. this section.)

● The installation may also require static parking brakes.

This is an option available on all Unimotor types.

12-3

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Motor Selection

Calculating Load Torque

Inertial loads on a common shaft may be added together.
In any application, the load consists of various torque loads plus Inertial loads may be reflected from the output of a reduction
acceleration and deceleration of inertia: gearbox to the motor by dividing the output inertia by the
square of the ratio.
Constant Torque Periods.
Periods where a torque is maintained at constant or near Total inertia = reflected inertial load at motor + motor inertia
constant motor speeds.
Torque T required to accelerate/decelerate inertia J is given by:
Acceleration & Deceleration T = JαNm
Torque is required to achieve acceleration and deceleration.
Acceleration times of less than one second can often be achieved where α = acceleration in rad/s2
using peak torque capability of the drive and motor. See the (1 rev = 2π rads)
graph below. J = inertia in kgm2

Drive current
Peak drive current RMS torque for a repetitive duty cycle:
1. Draw a graph of torque (T) against time for one complete
repetitive cycle of events (or choose the worst case of various
Max. continuous events.) Make the T axis vertical. On the same graph, draw the
drive current speed profile against time for one cycle.

Speed profile Speed

VL
Torque
Ta
Time

TL

0 Time
Note: Peak drive current may be set by drive control to the
motor's continuous current rating. If this is required, check that
Td
it is within the drive's capability. Medium periods of up to ta tL td ts
200% over current are often acceptable for the motor, provided
that the heating effects are not too rapid and that the motor One Cycle
thermal time constant is long in comparison.

2. From the above speed-torque diagram calculate the rms

Inertia formula and accelerating or decelerating torque: torque using the formula:

12 The moment of inertia J of a solid cylinder about an axis is:

√
J = Mr2 Ta2 x ta + TL2 x tL + Td2 x td
2 Trms = ta + tL + td + ts
where M = mass in kg and
r = radius in m where Ta = Acceleration Torque (Nm)
TL = Load Torque (Nm)
gearbox ratio N:1 JL Td = Deceleration Torque (Nm)
ta = Acceleration Time (sec)
tL = On load running time (sec)
reflected JL N td = Deceleration time (sec)
=
inertia N2 1 ts = Stop time (sec)
VL = Full load speed (rpm)

12-4

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Motor Selection

Example Smaller motors may use trapezoidal DC drives to power the

In an application where the torque-speed profile is as above sinusoidal brushless motors. Note: that for these Kt is quoted
with Ta = 20 Nm, TL = 5 Nm, Td = -10 Nm, ta = 20 ms, as Nm/A (dc) and currents are A (dc).
tL = 5 s, td = 30 ms, ts = 3 s and VL = 3000 rpm. Calculate
the RMS torque for this application. The Ke for a brushless three phase motor is always quoted as
Volts (rms) per Krpm, since the motor back emf is sinusoidal.

√
Trms = Motor iron loss

√
202 x 0.02 + 52 x 5 + 102 x 0.03
= 136 Motor iron loss is a heating effect produced in the motor
0.02 + 5 + 0.03 + 3
8.05 laminations. It is caused by the rotating magnetic field
Trms = 4.11 Nm cutting through the laminations. With the rotor shaft
stationary, there is no significant iron loss. For this reason,
15% tolerance required, hence RMS torque for this the continuous rating of motor stall torque is greater than the
application = 4.73Nm continuous rating of the running torque at nominal speed.

Iron loss depends on the strength of the magnetic field and

type of lamination material. As the other factors are not
under user control, more significant in the Unimotor is the
Understanding Motor Heating Effects speed of the rotor (motor shaft). An allowance is already
included in the motor data for the quoted nominal speeds.
During operation, the motor is subjected to heating effects
from several sources. Some of these are obvious; others
obscure. Whilst the motor specification allows for most of
these heating effects, others depend on the application. This Friction and Windage
section examines some of the causes of motor heating. The bearings, oil seal and air resistance to rotor speed cause
internal friction. Its effect is relatively small and is included
Motor copper loss in the data provided.
Motor copper loss is a product of RMS motor current squared
and the resistance of the motor windings. It includes ripple
current, determined by the switching frequency of the drive
and the inductance of the motor. The inductance of the
Unimotor windings is generally relatively low, so that the
maximum drive frequencies should be selected
commensurate with drive heating losses. Data in this manual
is for switching frequencies as stated in the performance data
section. If lower frequencies are used, motor performance is
reduced.

Motor copper loss also includes losses arising from waveform

distortions of either the drive or motor or both. The motor’s
back EMF waveform is sinusoidal and of low harmonic
distortion. If lower frequencies are used, the drive current
12
has higher harmonic distortion, and hence the motor
performance is reduced.

Motor current depends on the torque demanded by the load

at any instant. This is normally given by the motor torque
constant (Kt) in Nm/A. Although regarded as a constant, Kt
decreases slightly when the motor is at maximum
temperature. Note that motor ripple current exists with no
torque and even when the motor is not rotating.

12-5

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Motor Selection

Thermal Protection
An incorrect system set up can give rise to excessive motor High ambient air temperature
temperatures. This can be guarded against by use of the motor Assuming copper losses dominate, (2,000 and 3,000 rpm
thermistor protection facility. motors) the temperature rise is given by ∆T = k(torque)2,
where k is a constant. Hence, for an ambient temperature T˚C
Servo Motor/Drive system faults (>40˚C max.), derate torque using the following formula as a
Common but often unnoticed causes of motor overheating can guideline:
be created by:
New de-rated torque =
• Instability (self induced oscillation) within the overall (specified torque) x √[1 – (T – 40)/(∆twmax.)]
servo feedback system.

• Incorrect parameter settings in the drive protection where ∆twmax = winding temperature rise of
system, for example peak current, and I2T (thermal 100˚C maximum for class F (encoder).
protection calculation for the drive). 125˚C maximum for class H ratings (resolver).
T= Ambient temperature ºC
Thermistor Protection
Thermistor protection devices built into the motor windings give For example, for an ambient temperature of 76ºC and class F:
an indication of a serious overheating problem directly at the New de-rated torque = specified torque √0.64
motor windings. The thermistors do not provide an active New de-rated torque = 0.8 x (specified torque)
motor cut-out, only a passive rapid increase of resistance at the
temperature limit. This mechanism, when correctly connected
to the appropriate circuitry of the drive, protects the class H
windings of the Unimotor. Note SLM technology uses special
software to protect the motor

The installer must connect the motor thermistor outputs to the

electronic circuit in the drive to cause motor power shutdown in
the event of gross overheating. It is the installer’s responsibility
to ensure that this protection facility is properly connected and
set at the drive. Failure to ensure the correct operation of
the protection facility invalidates the motor warranty in
respect of a burnt-out winding.

Environment and Torque De-rating

The temperature of the environment into which the Unimotor is
mounted must be considered. Unimotor optimises the effects
of radiated and convected heat to the surrounding air in any
mounting orientation. The greater the housing temperature
above the surrounding air, the more efficient the process
becomes. Note that Unimotor housing temperatures are
12 typically 100˚C maximum for class F, and 125˚C maximum for
class H at continuous full rating and 40˚C ambient temperature.

Mounting arrangements
The Unimotor is specified in accordance with IEC and BS
specifications, where the motor front flange is mounted to an
aluminium plate of certain dimensions in free air at ambient
temperature. See performance specifications ‘Thermal
conductance table’. If the motor mating surface is heated from an
external source, such as a gearbox, or if the mating surface is a
poor thermal conductor, then de-rate motor torque. This can be
anywhere between 5% and 20%. Consult CT Dynamics if unsure.

12-6

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Motor Selection

Bearing Life
When selecting a motor some consideration must be made to the fn - Speed factor
loading that the required application will put on the motor shaft.
All shaft loads are transferred to the motor’s bearing system, so a
poorly selected motor could result in premature bearing failure. Speed factors for the range of Unimotor speeds are given in
Table 1.
The following equations are given as a guide for the estimation of
a motor’s bearing life in a given application. It MUST be noted
that these equations do not take into account elevated ambient Motor Speed Speed Factor
temperatures, shock loading or vibration. These conditions will (rpm) (fn)
reduce a motors bearing life and if these conditions are foreseen a
more detailed study must be carried out. 1000 0.322
2000 0.255
3000 0.223
Calculation of Bearing Life (Radial Loading) 4000 0.203
The front bearing of a motor has the highest radial loading and 4500 0.195
therefore this will determine the bearing life of the motor. 5000 0.188
6000 0.177

Table 1 - Speed factor for given motor speeds

Calculated Bearing Life

Using the information given above, the bearing life can now be
calculated using equation 2.

EQUATION 2
3
Normally P = Fr
Cr
L10 (
= 500 x fn x
P
)
A - Position of load to output shaft shoulder
B - Distance from shaft shoulder to front bearing
C - Distance between bearing centres Where:
K - Radial load applied to shaft output end
Fr - Radial load on front bearing fn - Speed factor
Fa - Axial load applied to shaft output end & front P - Bearing Load. (Newton) For pure radial load on shaft
bearing output: P = Fr
Frll - Radial load on rear bearing Cr - Basic load rating (Newton) (see Table 2)
L10 - Bearing fatigue life (hours)
Values of ‘B’ and ‘C’ for Unimotor shafts are in Table 4.
NOTE
The load applied to the shaft output end and its position will effect The L10 life is defined as the calculated fatigue life with a statistical
the radial force on the front bearing, which is calculated as follows: reliability of 90%

EQUATION 1. (A + B +C) 12
Fr = xK
C Motor Basic load Basic Static Geometry
rating Cr load rating Cor factor fo
(N) (N)

The life of a bearing is dependent upon the speed of the motor; 75UM 7650 3750 13.2
the faster the speed, the shorter the bearing life. The speed of the 95UM 12800 6600 13.1
motor is defined in the bearing life calculation as: 115UM 10100 5850 14.5
142UM 19500 11300 13.8
190UM 29100 17900 14.0
Table 2 - Basic load ratings for Unimotor

12-7

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Motor Selection
Combined Radial And Axial Loading Note: Shaft dimensions quoted are for the shortest shaft length for
each motor type, therefore bearing loads are at the maximum per
In some applications in addition to radial shaft loading an axial frame size.
load will be applied to the output shaft. Axial loads further reduce
bearing life and their effect can be calculated as follows:
Worked Examples
The same bearing life calculations are used but a new value of ‘P’
must be calculated. Example 1
A 95UMA500CACAA motor is to be used in an application where
a radial shaft load of 460 N will be applied 25.0 mm from the shaft
EQUATION 3 shoulder. What will the calculated bearing life for the motor be?

P = XFr + YFa i.e.

A = 25mm K = 460N
Where:
From Table 4:
P - Is now referred to as the Equivalent load
F - Radial load B = 15mm C = 126mm
r
F - Axial load
a
X - Radial load factor Now:
Y - Axial load factor Substituting A, B, C and K into EQUATION 1
e - Deep groove ball bearing constant

Values of X and Y are determined from Table 3. Fr = (A + B + C) x K

C

Fr = (25 + 15 + 126) x 460

126

f0 Fa e Fa Fa Fr = 606.03 N
C0r Fr ≤ e Fr > e
X Y X Y
0.172 0.19 1 0 0.56 2.30 Only pure radial load:
0.345 0.22 1 0 0.56 1.99 ... P = Fr= 606.03 N
0.689 0.26 1 0 0.56 1.71
1.03 0.28 1 0 0.56 1.55
1.38 0.30 1 0 0.56 1.45 Motor speed is 5000rpm
2.07 0.34 1 0 0.56 1.31 So from Table 1
3.45 0.38 1 0 0.56 1.15 f = 0.188
n
5.17 0.42 1 0 0.56 1.04
6.89 0.44 1 0 0.56 1.00 From Table 2
Cr= 12,800N
Table 3 - Dynamic Equivalent Load
Substituting Cr , P and f into EQUATION 2
n
Motor Type B C 3

12
(mm) (mm) (
L10 = 500 x fn x
Cr
P
)
75UM 13 114
95UM 15 126
3
115UM
142UM
15
20
143
122
(
L10 = 500 x 0.188 x 12,800
606.03
)
190UM 26 155
L10 = 31,303 Hours
Table 4 - UM Shaft Dimensions

12-8

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Motor Selection

Example 2 Example 3
It has been determined that the application in example 1 will A 142UMD200CACAA motor is to be used in an application
actually apply an additional axial load to the motor shaft of where a bearing life of 30,000 hours is required. A radial load
200 N. What will the calculated bearing life be reduced to? will be applied to the shaft via a belt at a distance of 30mm
from the shaft shoulder. What is the maximum force that can
i.e. be applied to the shaft?
Fa = 200
i.e.
From Table 2 L10 = 30,000 A = 30mm
Cor = 6600N f0 =13.1
Motor speed is 2000rpm
From example 1 ... from Table 1 fn = 0.255
Fr = 606.03N fn = 0.188 Cr = 12,800N
From Table 2 Cr = 19,500 N

Using Table 3
Rearranging EQUATION 2 for ‘P’
f0Fa
=0.397
Cor 3
L10 = 500 x (fn x
Cr
P
)
The closest value to that for Cor
=30
Fa 1/
P = fn x Cr x ( )500
L10
3

... e = 0.23
1/
Fa
Fr
=
200
606.03
= 0.33> e P = 0.255 x 19,500 x ( 500
30,000
) 3

Fa P = 1,270.16 N
Since >e
Fr
Pure radial load
... P = Fr
From Table 3
From Table 4
X = 0.56 and Y = 1.92
B = 20mm C = 122mm
Substituting X, Y, Fr and Fa into EQUATION 3
Rearrange EQUATION 1 for ‘K’
P = XFr + YFa

P = (0.56 x 606.03) + (1.92 x 200) Fr = (A + B + C) x K

C
P = 723.38N

K=
Fr x C 12
(A + B + C)
Substituting Cr , P and fn into EQUATION 2
1270.16 x 122
3 K=
L10 = 500 x (f n x
Cr
P
) (30 + 20 + 122)

K = 900N
3
L10 = 500 x ( 0.188 x 12800
723.38
)
L10 = 18,406 Hours

12-9

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Safety & Installation

Safety Allow sufficient room for cables/connector access.

Minimum cable bend radius is numerical 10 x cable
You should read this section in full before installing or using diameter.
the Motors described in this manual.

Before you install or service Unimotor servomotors you Fixing Dimensions

should be properly trained and qualified to do so. Refer to
the installation guide delivered with the motor for full
installation instructions. Follow all instructions carefully.

MINIMUM BEND RADIUS

Transportation =10 x POWER CABLE DIAMETER

MINIMUM BEND RADIUS

All servomotors have been inspected before leaving the =10 x SIGNAL CABLE
DIAMETER
factory and are packed in perfect condition. When you
receive the motor, please check it for any external damage it
DANGER CAUTION

may have received in transit. If you see anything wrong,

High Voltage This machine runs hot

UNIMOTOR UM

DO NOT USE
COVER FOR LIFTING

write out a damage notification statement in the presence of

the carrier.

Handling

Do NOT lift Unimotor by holding its encoder cover. Frame Size Fixing Hole Register No. Holes Free Holes
Care should be taken when lifting the larger frame p.c.d. (mm) (mm)
size motors, which can weigh as much as 48 kg.
Use mechanical assistance where possible. The 75 75 60.0 (J6) 4 5.8 (H14)
190mm frame size motors have lifting eyes to aid 95 100 80.0 (J6) 4 7.0 (H14)
DO NOT USE
COVER FOR LIFTING handling. 115 115 95.0 (J6) 4 10.0 (H14)
142 165 130.0 (J6) 4 12.0 (H14)
190 215 180.0 (J6) 4 14.5 (H14)
Storage

Store the motor only in an enclosed, dry, ventilated and

vibration-free place within temperature limits -20˚C to
+70˚C. Any damage caused by incorrect storage or handling
is not covered by the defects warranty.

Installation

Before you attempt any connecting or fitting

operations, make sure that the voltage supply to
the motor is off, and disconnect cables.
13
DANGER
High Voltage

Unimotor servomotors are manufactured in accordance with

IEC60072, and are sealed to IP65S. During connection care
must be taken to ensure suitable sealing for cable outlets.
The desired cable outlet direction can be achieved by
rotation of the connector, or by 90˚ increments of the
terminal box.

13-1

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Safety & Installation

During operation, the motor’s surface The motor typically operates at switching voltages of 600
temperature may exceed 100˚C. Ensure - 700V DC, even when stationary. Ensure that an earth
that no temperature sensitive devices touch wire is correctly fitted to the motor connecting pin or
the motor ’s surface. If necessary, take earth point.
precautions to prevent contact.
CAUTION
The Machine Runs Hot For motors with connections made via a terminal or
hybrid connection box, ensure that a good seal is made
between cables and the cable glands. Hybrid is denoted
The motor dissipates its heat through convection, radiation in the motor type number by an H (Hybrid) or C
and by conduction via the front flange of the motor’s body. (Connector) for connection type:
The motor should be mounted so that heat dissipation is not
reduced. This can be done by mounting the motor to a 142UME301HAAAA Hybrid box Uses a gland
suitable thermally conductive mounting surface and allowing 142UME301CAAAA Connectors No glands
space around the motor for the free circulation of air.
Ambient temperatures of between 0˚C and 40˚C are Please ensure that connections are made correctly. For
acceptable. setting up of feedback devices turn to Feedback Devices
section.
If running the motor with couplings or pulleys, ensure the
output key is correctly seated.
Drive
Do NOT use a hammer to fit couplings or
pulleys as you will damage the motor You must ensure that the drive parameters are set to
bearings. Fit them to the motor shaft using provide the motor with adequate thermal protection. The
the shaft threads provided. rating label gives the motor’s stall and rated current.
Refer to this label when you set the peak and rated
current limit for the drive. Care should be taken to ensure
PID and rated speed settings are also correct.
Remove output key
If you want to run the motor with no coupling fitted, then to
reduce the risk of injury, remove the output key first. This Drive Parameters for Unidrive
may be necessary, for example, when carrying out When first connecting a motor to a drive it is necessary to
resolver/encoder tests. set the drive parameters to match the motor. The value
of these parameters will vary with each motor type.
Earth bond
When fitting the motor, connect an earth bond strap from the All motors are delivered with commutation correctly pre-
machine to the motor body. CT Dynamics recommend that set to match CT drives.
you fit the strap to the front flange of the motor in such a way
that it will not interfere with mounting of the motor. Do not attempt the phasing (commutation) check with
motor load torque applied.
Ensure that the registration spigot is correctly located. The
motor shaft should be correctly aligned with the driven load. M’Ax and Multi’Ax Drive
It is inadvisable to fit a third bearing to the shaft without a Parameters for these drives are automatically set from
suitable end coupling. E2PROM data contained within the SLM motor.

Electrical Connection 13
Switch off the drive for at least two minutes
before disconnecting, connecting or fitting the
motor. See ‘Installation Guides’ from Control
Techniques. The motor contains a
permanent magnet rotor. As a result, a
DANGER voltage is generated at the motor terminals
High Voltage
when the rotor is turned. If the motor is
backdriven for any reason care must be
exercised to avoid electric shocks.

13-2

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Safety & Installation

Parking Brakes
Where fitted, fail safe brakes are usually 24V DC, and are not
polarity conscious. CT Dynamics recommend that you fit a
reversed polarity diode across the brake coil at the relay
contacts or semi-conductor drive, together with appropriate
R/C (Resistor/Capacitor) noise suppression.

To release the brake, the coil must be energised. The brake

can only perform a limited number of emergency braking
operations: it should not normally be used for dynamic
braking. See the section on Fail Safe Parking Brakes for brake
information.

Do not apply the brake while the shaft is

rotating except for emergency braking such as
! a mains supply failure.

Servicing
The only service you should perform is to clean the motor
surface. The bearings in the motor are greased for life. The
warranty is void if the motor is dismantled or repaired by
someone other than the manufacturer or at an approved
workshop. Should overspraying of the motor be desired,
design data can no longer be guaranteed.

13

13-3

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Conversion Tables

TORQUE SI UNIT - Newton metre (Nm) MOMENT OF SI UNIT - kilogram

INERTIA metre2 (kg m2)
To convert from: To: Multiply by:
To convert from: To: Multiply by:
lb ft Nm 1.356
lb in Nm 0.1129 lb ins2 kg m2 0.113
oz in Nm 7.062 x 10-3 oz in s2 kg m2 7.06155 x 10-2
Nm lb ft 0.7375 kg m2 lb in s2 8.85075
Nm lb in 8.857 kg m2 oz in s2 141.612
Nm oz in 141.6 kg cm2 kg m2 10-4

LINEAR SI UNIT - metres per

ACCELERATION second2 (m/s2)

FORCE SI UNIT - Newton (N) To convert from: To: Factor:

in/s2 m/s2 2.54 x 10-2
To convert from: To: Factor:
ft/s2 m/s2 0.3048
lb(f) N 4.4482 m/s2 in/s2 39.37
N lb(f) 0.22481 m/s2 ft/s2 3.2808

14

14-1

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Glossary
See also ‘Performance Definitions’

Absolute feedback Class H insulation

With the shaft in any position at motor start, the data from an A NEMA insulation specification. Class H insulation is rated to
absolute feedback mechanism always relays the position of the an operating (internal) temperature of 180°C.
shaft, even if the shaft turns when the feedback has no power
supply. A non-absolute feedback mechanism must start from a Closed loop
known rotational position, such as the index pulse. Any system that measures output and compares it with input.
The output is then adjusted to reach the desired condition. In
Acceleration motion control, this typically describes a system that uses a
The rate of change of velocity. A negative value corresponds to velocity and/or position transducer to generate correction
decreasing velocity. (Deceleration). signals.

Accuracy Cogging (Cogging torque) = peak cogging x 100%

A measure of the difference between an expected value and an rated torque
actual value. Motor accuracy is usually given as an angle A non-uniform angular velocity. Cogging results in jerking
representing the maximum deviation from expected position. motion, especially at low speeds. When an armature turns
slowly, rotation might not be uniform because of the tendency
Ambient temperature of the armature to favour certain angular positions.
The temperature of the medium, usually air, immediately See also Skewed Stator.
surrounding the motor or other device.
Commutation
Angular accuracy 1. The action of steering currents or voltages on the proper
The measure of shaft positioning accuracy on a servo, stepping motor phases that result in optimum motor torque. In
motor or any position transducer. brush type motors, the brushes and commutator
commutate electromechanically. In brushless motors,
Back EMF commutation is achieved by the switching electronics using
The voltage generated when a permanent magnet rotor rotates. rotor position information. This information is obtained
This voltage is directly proportional to motor speed and occurs from the feedback device.
whether the motor winding(s) are energized or unenergized. 2. Commutation of stepping motors is normally open loop.
Feedback from the motor is not required to hold rotor
B.EMF Harmonic Distortion position precisely.
Root sum squares of the rms values of non fundamentals as a
percentage of fundamental rms values. Continuous stall current (ICS) (Amps)
The amount of current applied to a motor (at locked rotor

√V2
2
+ V3 2 + ...+ VN 2 conditions) that results in rated temperature rise. See also
%THD= x100 Continuous stall torque
√V1
2
+ V2 2 + V3 2 + ...+ VN 2
Where terms 2...N are the voltage of the harmonics and term 1 Continuous stall torque (Tcs) (Nm)
is the voltage level of the fundamental. The amount of torque at zero speed which a motor can deliver
constantly without exceeding its thermal rating. It is
Braking resistors determined by applying DC current through two windings with
Required by drives for high dynamic systems. the rotor locked, while monitoring temperature. It is specified
See also Dynamic braking. with motor windings at maximum rated temperature, with the
motor in 40˚C ambient, mounted to a heat sink. See individual
Brushless servomotor specifications for heat sink size.
Any servomotor that operates using electronic commutation of
phase currents rather than electromechanical (brushes) Controller
commutation. Commutation is a function of rotor position. A programmed electronics interface between the drive and the
These motors typically have a permanent magnet rotor and customer’s system.
wound stator.
CSA
CE Mark Canadian Standards Authority
An EC certificate indicating that the machine that carries it
meets European approved standards. Current at peak torque (IPK) (Amps)
The amount of input current required to develop "peak
Class F insulation torque".
A NEMA insulation specification. Class F insulation is rated to
an operating (internal) temperature of 155°C.

GL-1

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Glossary

Current, Rated Feedback

The maximum allowable continuous current a motor can use A signal transferred from the output back to the input for use
without exceeding motor temperature limits. in a closed loop system.

Demagnetising current Four quadrant

The current level at which the motor magnets start A motion system that can operate in all four quadrants i.e.
demagnetizing. The effect is irreversible and changes the motor velocity in either direction and torque in either direction. The
characteristics and degrades performance. motor can therefore accelerate, run, and decelerate in either
direction.
Differential line drivers
Active electronic drivers with twin outputs, each the inverse of Friction
the other. A resistance to motion caused by a contacting surface. Friction
is either constant with varying speed (Coulomb friction) or
Differential Receiver proportional to speed (viscous friction).
Receiver amplifier to match the differential driver. Noise pick
up on both lines are rejected. Hall sensors
A feedback device in a brushless servo system that provides
Direct-on-Line information for the drive to electronically commutate the
A direct-on-line motor operates directly from the mains supply motor. A magnetized wheel and Hall effect sensors may be
without driver or invertor. used to generate the commutation signals.

Driver Harmonic Distortion - see B.EMF Harmonic Distortion

An active robust electronic device capable of transmitting
information down long cables. Hybrid stepping motor
A brushless motor that moves in discrete increments or steps.
Duty cycle The motor has a permanent magnet rotor and a wound stator.
The ratio of on time to total cycle time in a repetitive cycle. Motion derives from phase currents commutated as a function
Duty cycle (%) = (On time) / (On time + Off time) x 100 of time.

Dynamic braking Inductance (L) (Henries) (Phase-to-Phase)

A passive method of stopping a permanent magnet brushed or The electrical equivalent of mechanical inertia. It is the
brushless motor. The motor windings are shorted together property of a circuit to resist a change in current.
through a resistor so causing motor braking. Speed decreases
exponentially. See also Regeneration. Inductance (mutual)
The property that exists between two current carrying
Efficiency conductors or coils when magnetic lines of force from one link
The ratio of power output to power input. with those of the other.

Electrical time constant (te) (Seconds) Inductance (self)

The time required for current to reach 63.2% of its final value The self-inductance of a coil is the constant by which the time
for a fixed voltage level. It is given by: te=L/R where L is rate of change of the current in the coil is multiplied to give the
inductance (Henries) and R is resistance (Ohms). This is more self induced counter EMF.
relevant for direct-on-line motors, where the delay is significant
for build up torque. Inertia (Kgm2)
The property of an object to resist change in velocity unless
Encoder acted upon by an outside force. Higher inertia objects require
A feedback device that converts mechanical motion into larger torques to accelerate and decelerate. Inertia is
electronic signals. Rotary encoders, for example, output digital dependent upon the mass and shape of the object.
pulses that correspond to incremental angular motion. The
encoder consists of a glass wheel with alternating transparent Inertial match
and opaque stripes. Optical sensors detect the intensity to For most efficient operation, the system coupling ratio should
produce the digital outputs. be chosen so that the reflected inertia of the load is equal to the
rotor inertia of the motor.
Explosion proof
A classification indicating that a motor can withstand internal
explosions without bursting and will contain ignition within the
motor frame.

GL-2

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Glossary

Insulation Class Power

The rating assigned to the insulating components' maximum The rate at which work is done, measured in Watts.
temperature capability in a motor. For motion control:-
(Linear) Power = Force(N) x metres/s
Intermittent duty zone (Rotational) = torque (Nm) x radians/s
An area of the speed torque graph in which the motor may be (Electrical) = Amps x Volts
operated for short periods of time.
PTC
Mechanical time constant (tm) (Seconds) Positive temperature coefficient
The time required in a simple first order system for the motor's
speed to attain 63.2% of its final value for a fixed voltage level. Pull-out torque
It is given by: The maximum friction load, at a given inertial load, that can be
tm (secs) = 8.87 JR (Not applicable to servos) applied to the shaft of a constant speed synchronous motor
KT2 without causing the motor to lose synchronism.
where:
J is inertia in kgm2 Pulse Width Modulation (PWM)
R is resistance in ohms 1. A PWM amplifier switches the output between the positive
KT is torque constant in Nm/A and negative supply rails of the DC supply at a fixed frequency.
The duration of the on/off (mark/space) is variable. 2. Pulse
Multi-turn encoder. Width Modulation (PWM) is a switched-mode control method
A multi-turn encoder stores the number of rotations made by used in amplifiers and drives to control motor voltage and
the shaft in non-volatile memory. See also Single-turn encoder. current. By modulation of the pulse width at high frequency
switching rates, lower frequencies of any waveshape can be
NEMA generated.
National Electrical Manufacturer's Association. This American
organisation sets standards for motors and other industrial
electrical equipment. Radian
A measure of angular distance, defined as the plane angle
Neodymium-Iron-Boron (Nd-Fe-B) between two radii of a circle, which cut off a circumference arc
A rare permanent magnet material developed in the mid equal in length to the radius.
1980’s. Sintered Nd-Fe-B magnet has a higher energy density 2 π radians = 1 rev
than Samarium-Cobalt.
RDC
Non-volatile Resolver-to-Digital Converter. An electronic component that
Information is retained even when the power supply is converts the analogue signals from a resolver into a digital word
removed. representing angular position. R to D (Resolver to Digital) is
sometimes used.
Open-loop
A system in which there is no feedback. Motor motion is Regeneration (or deceleration, or when the load turns the
expected to follow the input command, but will be dependent motor)
upon the gain of the open loop series elements. During motor braking, the action in which the motor acts as a
generator. It takes kinetic energy or potential energy from the
Output key load, converts it to electrical energy, and returns it to the drive
A key at the output end of the shaft that enables connection to where it may be stored as an increased voltage charge in the
a compatible machine. For CTD motors the key is IEC 60072 d.c. capacitors. Excessive voltage must be reduced by reduction
part I compatible. of the capacitive charge by dissipating power into brake dump
resistors or to share excessive energy with other drivers by
Peak torque paralleling to other drive d.c. link voltages.
The maximum torque that a permanent magnet motor can
deliver for short periods of time. If motor peak torque is
exceeded, permanent degradation of the motor magnets may
result. The maximum peak torque is determined by the peak
current limit which is a function of the drive.

GL-3

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Glossary
Repeatability Single-turn encoder
The degree to which a parameter such as velocity or position A single-turn encoder is not equipped to count and retain the
can be duplicated. number of turns completed. See also Multi-turn encoder.

Resistance, Hot (RH) (Ohms) (Phase-to-Phase). Skewed Stator

The terminal resistance value of the motor, specified at the hot In order to reduce cogging effects to near zero, the stack of
winding temperature, which is at the motor's maximum rated laminations that form the stator is deliberately twisted or
temperature. skewed by 1 slot pitch after winding insertion.

Resolution Skewed Magnets

The smallest increment into which a parameter can be broken An alternative to skewed stator for minimal cogging.
down. For example, a 4096 line encoder has a resolution of:
1 1 Slew
4096x4 = 16384 In motion control, the portion of a move made at a constant
non-zero velocity.
Resolver
An electromagnetic feedback device that converts angular shaft Speed
position into analogue signals. These signals can be processed The linear or rotational velocity of an object in motion.
with an RDC to produce digital position information. Resolvers
are of two basic types; transformer and transmitter. A Stall Torque (Locked Rotor Torque)
transformer-type is designed for stator primary excitations and The amount of torque developed with voltage applied and
rotor secondary output. Position is determined by the phase shaft locked, or not rotating.
shift between the rotor output signal and one of the primary
excitation signals. A transmitter-type typically used in servo Step angle
systems has rotor primary excitation and stator secondary The angular distance the shaft rotates when it receives a single
outputs. Position is determined by the ratio of the cosine step command.
output amplitude to sine output amplitude.
Stiffness
Resonance The resistance to movement induced by an applied torque.
The oscillatory behaviour arising from excitation of a structure Stiffness may be described by a torque displacement curve that
or system at its natural frequency. shows the amount a motor shaft will rotate upon application of
a known external force when stopped.
RMS Current
Root Mean Square Current. In an intermittent duty cycle Synchronism
application, the RMS Current is the equivalent value of a steady A motor rotating at a speed corresponding correctly to the
state current which would produce the same motor heating applied step pulse frequency. Load torques in excess of the
over a period of time. motor's capacity (rated torque) cause a loss of synchronism. A
stepping motor is not damaged by loss of synchronism.
RMS Torque
Root Mean Square Torque. In an intermittent duty cycle Tachometer
application, the RMS Torque equals the value of steady state An electromagnetic feedback transducer which produced an
torque which would produce the same motor heating over a analogue voltage signal proportional to rotational velocity.
period of time. Tachometers can be either brushed or brushless.

Rotational velocity (rad/s) TEFC

The rate of change of rotary positionm, measured in radians/s. Totally Enclosed Fan Cooled. A type of motor enclosure.

Samarium cobalt TENV

A type of rare-earth permanent magnet material. Totally Enclosed Non-Ventilated. A type of motor enclosure.

Servo Mode Thermal resistance (RTH) (°C/Watt)

The normal setting used by drivers for servo motors, where A measure of the effectiveness with which a unit gets rid of
feedback is basically position information, from which speed heat, given as temperature rise per Watts lost.
and acceleration may be derived.
Thermal time constant (TTH) (minutes)
Settling time The time required for a motor to attain 63.2% of its final
The time required for a parameter with damped oscillations or temperature for a fixed power input.
ringing and reach its final value.

GL-4

+44 (0)1264 387600 www.ctdynamics.com

 >>>CTD Brushless Servo Motors
Glossary

Torque
A measure of the angular force that produces rotation. This
force is defined by a linear force multiplied by a radius.
Torque is given by:
Torque (N) = Force x moment (m)

Torque Constant (KT = Nm/Arms)

Expresses the relationship between input current and output
torque. For each ampère of current, a fixed amount of torque
results. KT may vary with the distortion and phase error of the
drive and will also reduce with temperature. In closed loop
systems this compensated by the feedback.

Torque Mode
An open loop current mode for a servo drive, giving a motor
torque output proportional to an input demand. Current will be
controlled by the drive, but torque value will be dependent
upon the KT value for the motor which may vary with
temperature.

Torque-to-inertia ratio
The motor's holding torque divided by the inertia J of its rotor.
The larger the ratio, the higher a motor's maximum
acceleration capability will be.
Torque = J α Where α = acceleration
rads/s2

UL
Underwriters Laboratory

Velocity
The change in position as a function of time. Velocity has both
a magnitude and sign.

Viscous Damping (KDV) (Nm/krpm)

All motors have inherent losses that result in a lower power
delivered at the output shaft than that supplied to the machine.
Losses proportional to speed (i.e. speed dependent terms such
as windage, friction, eddy current) are related through the
motor's "viscous damping" constant, measured as the slope of
the damping curve.

Volatile
Stored information will be lost when power is removed.

Voltage constant (KE) (Vrms/krpm phase to phase)

An operating motor generates a voltage proportional to speed
but opposing the applied voltage. The shape of the voltage
waveform depends upon the specific motor design. For
example, brushless motors have a trapezoidal, or sinusoidal
waveform. For sinusoidal motors, the voltage constant can be
measured from phase-to-phase at a known speed and
expressed as the back-EMF constant (KE) Vrms/krpm.

GL-5

+44 (0)1264 387600 www.ctdynamics.com