Servo Dynamics - HR142 Brush Servomotors

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HR142 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
HR142	Continuous Stall Torque TENV, 11.3 - 25 Nm (100 - 220 lb-in)	Inches	Metrics

Technical Data:

Parameter	Unit	HR142 C6-130	HR142 C6-88	HR142 C6-64	HR142 C6-44	HR142 E6-180	HR142 E6-130	HR142 E6-88	HR142 E6-64	HR142 G6-180	HR142 G6-130	HR142 G6-88	HR142 G6-64	HR142 J6-260	HR142 J6-180	HR142 J6-130
Voltage gradient no load	volts/krpm	130	88	64	44	180	130	88	64	180	130	88	64	260	180	130
Max.Motor EMF	line-line volts	700	530	380	260	700	700	530	380	700	700	530	380	700	700	700
Max. Speed	RPM	5400	6000	6000	6000	3900	5400	6000	6000	3900	5400	6000	6000	2700	3900	5400
Continuous stall torque TENV	Nm	11.3	11.3	11.3	11.3	16	16	16	16	21	21	21	21	25	25	25
Continuous stall torque TENV	Ib-in	100	100	100	100	140	140	140	140	186	186	186	186	220	220	220
Peak Stall Torque	Nm	30	30	30	30	45	45	45	45	60	60	60	60	76	76	76
Peak Stall Torque	lb-in	270	270	270	270	400	400	400	400	530	530	530	530	670	670	670
Continuous stall current rms	Amps	7.4	11	15	11.5	7.6	10.5	16	21	10	13.8	20	28	8.2	11.9	16
Rotor Polar Moment of Inertia	Kg.cm²	11.5	11.5	11.5	11.5	17	17	17	17	22	22	22	22	27	27	27
(Inclusive of resolver inertia)	lb-in Sec²	0.0102	0.0102	0.0102	0.0102	0.18	0.18	0.18	0.18	0.228	0.228	0.228	0.228	0.288	0.288	0.288
Cogging Torque	Nm	0.24	0.24	0.24	0.24	0.34	0.34	0.34	0.34	0.43	0.43	0.43	0.43	0.52	0.52	0.52
Cogging Torque	lb-in	2.124	2.124	2.124	2.124	3.0	3.0	3.0	3.0	3.805	3.805	3.805	3.805	4.576	4.576	4.576
Torque constant Kt (line-line)	Nm/Amp	1.53	1.02	0.75	0.51	2.1	1.53	1.02	0.75	2.1	1.53	1.02	0.75	3.03	2.1	1.53
Torque constant Kt (line-line)	lb-in/Amp	13.5	9.0	6.6	4.5	18.6	13.5	9.0	6.6	18.6	13.5	9.0	6.6	27	12.3	6.3
Resistance (line-line)	Ohms	1.7	0.76	0.43	0.2	1.9	0.9	0.42	0.2	1.24	0.6	0.29	0.15	1.8	0.88	0.43
Inductance (line-line)	Millihenrys	19	8.9	4.7	2.2	22	11.8	5.3	2.8	16	8.4	4.0	2.1	25	12.3	6.3
Insulation Class		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
Max. ambient temperature	°F	104	104	104	104	104	104	104	104	104	104	104	104	104	104	104
Thermal time constant	Minutes	50	50	50	50	55	55	55	55	60	60	60	60	65	65	65
Thermal resistance	°C/Watt	0.57	0.57	0.57	0.57	0.53	0.53	0.53	0.53	0.45	0.45	0.45	0.45	0.43	0.43	0.43
Thermal resistance	°F/Watt	1.02	1.02	1.02	1.02	0.96	0.96	0.96	0.96	0.81	0.81	0.81	0.81	0.78	0.78	0.78
Static friction torque	Nm	0.12	0.12	0.12	0.12	0.12	0.12	0.12	0.12	0.12	0.12	0.12