Servo Dynamics - HR115 Brush Servomotors

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HR115 Brushless Series Servomotors

The HR series offers a more cost effective range of brushless servomotors with a performance range of 1.5 Nm (13lb-in) to 25 Nm (219 lb-in). The use of high grade Neodymium-Iron-Boron (NdFeB) magnets provide a peak torque to stall torque ratio that covers the majority of applications. These are available in the following frame sizes; 92, 115, 142 mm square.

Models:

Model	Technical data	Drawings
HR115	Continuous Stall Torque TENV, 3.7 - 9.8 Nm (33 - 115 lb-in)	Inches	Metrics

Technical Data:

Parameter	Unit	HR115 A6-130	HR115 A6-88	HR115 A6-64	HR115 A6-44	HR115 B6-130	HR115 B6-88	HR115 B6-64	HR115 B6-44	HR115 C6-130	HR115 C6-88	HR115 C6-64	HJ116 C6-44	HR115 E6-130	HR115 E6-88	HR115 E6-64	HJ116 E6-44
Voltage gradient no load	volts/krpm	130	88	64	44	130	88	64	44	130	88	64	44	130	88	64	44
Max.Motor EMF	line-line volts	700	530	380	260	700	530	380	260	700	530	380	260	700	530	380	260
Max. Speed	RPM	5400	6000	6000	6000	5400	6000	6000	6000	5400	6000	6000	6000	5400	6000	6000	6000
Continuous stall torque TENV	Nm	3.7	3.7	3.7	3.7	5.2	5.2	5.2	5.2	6.8	6.8	6.8	6.8	9.8	9.8	9.8	9.8
Continuous stall torque TENV	Ib-in	33	33	33	33	46	46	46	46	60	60	60	60	87	87	87	87
Peak Stall Torque	Nm	11	11	11	11	16	16	16	16	22	22	22	22	33	33	33	33
Peak Stall Torque	lb-in	97	97	97	97	140	140	140	140	190	190	190	190	290	290	290	290
Continuous stall current rms	Amps	2.4	3.6	4.9	7.2	3.4	5.1	6.9	10.1	4.5	6.6	9.1	13.2	6.4	9.5	13.1	19
Rotor Polar Moment of Inertia	Kg.cm²	2.7	2.7	2.7	2.7	3.9	3.9	3.9	3.9	5.1	5.1	5.1	5.1	7.5	7.5	7.5	7.5
(Inclusive of resolver inertia)	lb-in Sec²	0.0024	0.0024	0.0024	0.0024	0.042	0.042	0.042	0.042	0.054	0.054	0.054	0.054	0.079	0.079	0.079	0.079
Cogging Torque	Nm	0.13	0.13	0.13	0.13	0.101	0.101	0.101	0.101	0.17	0.17	0.17	0.17	0.24	0.24	0.24	0.24
Cogging Torque	lb-in	1.159	1.159	1.159	1.159	0.893	0.893	0.893	0.893	1.5	1.5	1.5	1.5	2.131	2.131	2.131	2.131
Torque constant Kt (line-line)	Nm/Amp	1.53	1.02	0.75	0.51	1.53	1.02	0.75	0.51	1.53	1.02	0.75	0.51	1.53	1.02	0.75	0.51
Torque constant Kt (line-line)	lb-in/Amp	13.5	9.0	6.6	4.5	13.5	9.0	6.6	4.5	13.5	9.0	6.6	4.5	13.5	9.0	6.6	4.5
Resistance (line-line)	Ohms	11.4	5.5	2.7	1.29	6.4	2.9	1.5	0.72	3.7	1.7	0.9	0.46	2.1	1.01	0.49	0.23
Inductance (line-line)	Millihenrys	60	28	15	6.9	39	18	9.4	4.4	28	12.6	6.7	3.2	18	8.1	4.3	2.0
Insulation Class		F	F	F	F	F	F	F	F	F	F	F	F	F	F	F	F
Max. ambient temperature	°C	40	40	40	40	40	40	40	40	40	40	40	40	40	40	40	40
Max. ambient temperature	°F	104	104	104	104	104	104	104	104	104	104	104	104	104	104	104	104
Thermal time constant	Minutes	35	35	35	35	40	40	40	40	45	45	45	45	55	55	55	55
Thermal resistance	°C/Watt	0.79	0.79	0.79	0.79	0.74	0.74	0.74	0.74	0.7	0.7	0.7	0.7	0.61	0.61	0.61	0.61
Thermal resistance	°F/Watt	1.4	1.4	1.4	1.4	1.33	1.33	1.33	1.33	1.26	1.26	1.26	1.26	1.1	1.1