Servo Dynamics - HR92 Brush Servomotors

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HR92 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
HR92	Continuous Stall Torque TENV, 1.5 - 3.8 Nm (13.3 - 34 lb-in)	Inches	Metrics

Technical Data:

Parameter	Unit	HR92 C4-64	HR92 C4-44	HR92 C4-32	HR92 E4-64	HR92 E4-44	HR92 E4-32	HR92 G4-64	HR92 G4-44	HR92 G4-32	HR92 J4-64	HR92 J4-44	HJ116 J4-32

Voltage gradient no load	volts/krpm	64	44	32	64	44	32	64	44	32	64	44	32

Max.Motor EMF	line-line volts	380	260	190	380	260	190	380	260	190	380	260	190

Max. Speed	RPM	6000	6000	6000	6000	6000	6000	6000	6000	6000	6000	6000	6000

Continuous stall torque TENV	Nm	1.5	1.5	1.5	2.2	2.2	2.2	3	3	3	3.8	3.8	3.8
Continuous stall torque TENV	Ib-in	13.3	13.3	13.3	19	19	19	27	27	27	34	34	34

Peak Stall Torque	Nm	4.6	4.6	4.6	6.7	6.7	6.7	9.2	9.2	9.2	11.4	11.4	11.4
Peak Stall Torque	lb-in	41	41	41	59	59	59	81	81	81	101	101	101

Continuous stall current rms	Amps	2.0	2.9	4.0	2.9	4.3	5.9	4.0	5.8	8.0	3.7	5.1	7.4

Rotor Polar Moment of Inertia	Kg.cm²	0.94	0.94	0.94	1.3	1.3	1.3	1.6	1.6	1.6	2.0	2.0	2.0

(Inclusive of resolver inertia)	lb-in Sec²	0.00083	0.00083	0.00083	0.0138	0.0138	0.0138	0.0168	0.0168	0.0168	0.0216	0.0216	0.0216

Cogging Torque	Nm	0.048	0.048	0.048	0.062	0.062	0.062	0.076	0.076	0.076	0.09	0.09	0.09
Cogging Torque	lb-in	0.425	0.425	0.425	0.540	0.540	0.540	0.068	0.068	0.068	0.81	0.81	0.81

Torque constant Kt (line-line)	Nm/Amp	0.75	0.51	0.375	0.75	0.51	0.375	0.75	0.51	0.375	0.51	0.75	1.02
Torque constant Kt (line-line)	lb-in/Amp	6.6	4.5	3.3	6.6	4.5	3.3	6.6	4.5	3.3	4.5	6.6

Resistance (line-line)	Ohms	10.4	4.6	2.6	5.4	2.8	1.34	3.4	1.5	0.86	5.0	2.5	1.24

Inductance (line-line)	Millihenrys	43	20	10.8	30	14	7.5	19	8.9	4.7	29	15	7.2

Insulation Class		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
Max. ambient temperature	°F	104	104	104	104	104	104	104	104	104	104	104	104

Thermal time constant	Minutes	28	28	28	30	30	30	32	32	32	33	33	33

Thermal resistance	°C/Watt	1.34	1.34	1.34	1.09	1.09	1.09	0.99	0.99	0.99	0.83	0.83	0.83
Thermal resistance	°F/Watt	2.4	2.4	2.4	2.0	2.0	2.0	1.88	1.88	1.88	1.5	1.5	1.5

Static friction torque	Nm	0.04	0.04	0.04	0.04	0.04	0.04	0.04	0.04	0.04	0.04	0.04	0.04
Static friction torque	Ib-in	0.35	0.35	0.35	0.35	0.35	0.35	0.35	0.35	0.35	0.35	0.35	0.35

Motor weight	Kg	4.3	4.3	4.3	5.2	5.2	5.2	5.8	5.8	5.8	6.6	6.6	6.6