fastact g g4xx series brushless servomotors

Fastact GG4xx SeriesBrushless Servomotors

Fastact G/G4xx

Moog • Fastact G/G4xx • 09/03 3

Section Page

Overview 4

Features & Benefits 5

Technical Data 6-15

Options 16-17

Accessories 17

General Info. & Notes 18

Ordering Information 19

This catalog is for users with technicalknowledge. To ensure that all necessarycharacteristics for function and safetyof the system are given, the user has tocheck the suitability of the productsdescribed herein. The products described herein aresubject to change without notice. In case of doubt, please contact Moog.

Moog is a registered trademark ofMoog Inc. and its subsidiaries. Alltrademarks as indicated herein are theproperty of Moog Inc. and itssubsidiaries.©Moog Inc. 2003. All rights reserved.All changes are reserved.For the most current information, visitwww.moog.com/servomotorsanddrives

Dimensions and tolerances in mmDimensioni meccaniche in mm

D EV

The motors described hereinare UL recognized under filenumber E 13 7630.

The motors described hereinhave successfully passedEMC tests required by ECDirective.

The motors described hereinfollow the design directivesaccording to VDE standards.

4 Moog • Fastact G/G4xx • 09/03

MOOG BRUSHLESS TECHNOLOGYFor two decades, the name Moog has been associated withbrushless servo motors and drives offering the highestdynamics, power density and reliability. The servo motorsand drives are designed as a system to deliver superior servoperformance. Moog offers a broad range of standard servomotors and drives as well as custom solutions to meet yourunique application requirements. Moog brushless servomotors and drives are found on a variety of applications;especially where dynamics, compact size and reliability areimportant.

G4XX SERIES BRUSHLESS SERVOMOTORSMoog’s G4xx Series motors are electronically commutatedsynchronous AC motors with permanent magnet fieldexcitation. G4xx Series motors are designed for highlydynamic servo applications where positioning times of 30 mSec or less are often the norm. The G4xx Series offersone of the industry’s widest power ranges with standardmodels available at continuous torque ratings from 0.2 to 75Nm (2.2 to 664 lb-in). The modular design is supported by avariety of options with Moog’s application staff capable ofsupplying fully customized solutions. All Moog servo motorsare manufactured in-house and the use of tight machiningtolerances, precision balancing and thorough productiontesting guarantee a long service life.

Moog Motor Performance CharacteristicsIn collaborating with a variety of industrial machinedesigners, Moog realizes what a critical role the applicationsizing process plays in overall machine design. With globalcompetition forcing designers to do more with less, there isan ever-increasing need to avoid unnecessary margin and”size” exactly to your application needs. It is for thesereasons that Moog specifies motor performancecharacteristics in a manner that makes them practical fordesigning your system. Motor characteristics are specifiedunder the same environmental conditions in which they willbe used, with notes clearly articulating the operatingconditions.

The motor performance characteristic contains threeelements.

The first element is the continuous torque curve. Thiscurve illustrates the motor torque available at 100% duty cycleunder the following conditions:• operation in still air with ambient temperatures up to 40°C• winding temperature at 100°C over ambient• motor front flange attached to a steel mounting plate

measuring 300 x 300 x 12 mm

The second element is the peak torque curve. This curvereflects the motor torque available with a 10% duty cycle (1out of 10 seconds). It is based on years of practical industryexperience and is useful for typical servo applications.

The third element is the motor Kt characteristic. Themotor Kt characteristic depicts stator saturation at variousoperating points and can be used to optimize sizing in lowduty cycle applications. As shown by the “t” symbol on themotor Kt line, G4xx motors can deliver a low duty cycle“impulse torque” which is typically 30% more than ratedpeak torque. While motors can be operated reliably at thisoperating point it is recommended that a member of Moog’sapplication team review the application to ensure thermalrestrictions are not violated.

Fastact G/G4xx

Torq

ue (N

m) Torque (lb .In)

0 1000 2000 3000 4000 5000 6000 7000 8000

0 5 10 15 20 25 30 35 4010

9

8

7

6

5

4

3

2

1

0

88.5

79.6

70.8

61.9

53.1

44.2

35.4

26.5

17.7

8.8

0.0

Speed (rpm)

Current (Arms)

1

2

3

OVERVIEW


Fastact G/G4xxFEATURES & BENEFITS

Superior Motor Dynamics Improves Cycle TimeThe G4xx Series motor combines a low inertia rotor with anelectromagnetic design having exceptional overloadcapacity. The result is an increase in the effective torqueavailable to accelerate and decelerate the load, enablinghigher dynamics and improved cycle times.

G4xx Series motors use a fully laminated, weight-optimized, rotor to provide a significant inertia reduction overconventional solid rotor designs. It is able to achieve a highoverload capacity through the use of high-energy raremagnets, a high pole count electrical design, and an efficientthermal construction.

Compact, Lightweight, Construction SimplifiesMachine DesignThe G4xx Series motor provides high torque in a compact,lightweight, package to achieve both high power density anda high torque-to-weight ratio. The compact, lightweight,package provides greater flexibility and often enables newcost-saving approaches to machine construction. Inapplications where the motor is mounted on a moving axisthe high torque to weight ratio allows greater payloadsand/or increased acceleration.

G4xx Series motors leverage an all aluminum motorhousing to achieve a significant weight reduction over lowcost steel housings. A robust thermal design allows morepower to be designed into a small, compact, package.

Proprietary, Low-Cogging, Design Delivers Smooth LowSpeed OperationThe G4xx Series motor includes several design enhancementsto deliver smooth slow speed performance. Theenhancements include the selection of a high pole count (8to 12 poles) electromagnetic design, a stator with non-symmetric slot count and other proprietary features tominimize cogging.

Ruggedized, Maintenance-Free, Design to Boost OverallSystem AvailabilityThe G4xx Series motor is designed and manufactured inaccordance with strict CE (VDE) standards, using ruggedizedcomponents with proven reliability in harsh thermal andshock load environments. These all combine to offer years ofreliable, maintenance-free, operation and boost overallsystem availability.

The use of high reliability resolvers, sealed life-timelubricated bearings, precision balanced rotors (Class G 6.3 ofISO 1940), reduced runout machining tolerances (Class R ofDIN 42955-R) and IP67 construction combine to extendservice life.

Flexible Design Option Ease IntegrationThe G4xx Series motor is available with the following options:• Integral holding brakes• Resolver (standard) or encoder based feedback• Plain or slot & key type shafts• Teflon shaft seal (IP68 sealing)• Convection (standard) or fan cooling (select models)

Fully Customized Designs Support UniqueApplication RequirementsFinally, our G4xx Series motors can be customized to meetyour unique needs.

The following are typical requests supported by Moog’sapplication staff:• Custom motor windings• Custom shafts and flanges• Custom frameless designs• Custom connector configurations (including pigtails)• Custom feedback devices• Custom designs for unique environments including high

temperature, high shock levels, oil and waterimmersion, areas with explosive gases and areas withelevated radiation levels.

Metal, CE Compliant Connectors

Optional Holding BrakeHigh ReliabilityResolver Feedback

Lightweight ExtrudedAluminum Housing

Proprietary Stator Design

Fully LaminatedLow Inertia Rotor

Sealed, Life-TimeLubricated, Bearings

Rare earth magnets

Fastact G/G412


TECHNICAL DATA

PERFORMANCE SPECIFICATIONS FOR STANDARD MODELS

Metric [English] G412-2xx (L05) G412-4xx (L10) G412-6xx (L20) G412-8xx (L40)

Continuous stall torque Mo Nm [lb-in] 0.25 [2.2] 0.50 [4.4] 0.95 [8.4] 1.7 [1.5]

Continuous stall current lo Arms 0.65 1.2 2.15 2.85

Peak torque Mmax Nm [lb-in] 0.50 [4.4] 1.4 [12.4] 2.6 [23] 5.0 [44.3]

Peak current lmax Arms 1.9 3.7 6.4 8.3

Nominal speed nN rpm 8100 7400 6800 6200

Nominal power PN kW [hp] 0.15 [0.20] 0.33 [0.44] 0.53 [0.71] 0.82 [1.1]

Maximum speed nmax rpm 11500 10000 9000 7000

Torque constant kT Nm/Arms [lb-in/Arms] 0.37 [3.3] 0.42 [3.7] 0.46 [4.1] 0.60 [5.3]

Motor terminal resistance Rtt Ohm 50.9 20.7 9.9 6.3

Motor inductance Ltt mH 29.7 15.7 9.1 7.2

Inertia w/o brake J kg cm2 [lb-insec2 x 10-4] 0.09 [0.80] 0.13 [1.2] 0.22 [2.0] 0.41 [3.6]

Mass w/o brake m kg [lb] 1.0 [2.2] 1.2 [2.7] 1.5 [3.3] 2.3 [5.1]

Notes: Refer to page 17 for notes on performance specifications.

Torq

ue (N

m) Torque (lb .In)

0 2000 4000 6000 8000 10000

0 1 2 3 4 5 6 7 8 9 10

2.42.22.01.81.61.41.21.00.80.60.40.20.0

21.219.517.715.914.212.410.68.87.15.33.51.80

Speed (rpm)

Current (Arms)

1

2

3

0 2000 4000 6000 8000 10000 12000

1.0

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0.0

Current (Arms)

Speed (rpm)

Torque (lb .In)Torq

ue (N

m)

8.85

7.96

7.08

6.19

5.31

4.42

3.54

2.65

1.77

0.88

0.0

0.0 0.5 1.0 1.5 2.0 2.5 3.0

3

2

1

Torq

ue (N

m) Torque (lb .In)

0 2000 4000 6000 8000

0 2 4 6 8 10 12 14 168

7

6

5

4

3

2

1

0

Speed (rpm)

Current (Arms)

70.8

61.9

53.1

44.2

35.4

26.5

17.7

8.8

0

1

2

3

Torq

ue (N

m) Torque (lb .In)

0 2000 4000 6000 8000 10000

0 1 2 3 4 5 6 7 8 9 1044.2

39.8

35.4

31.0

26.5

22.1

17.7

13.3

8.8

4.4

0

Speed (rpm)

Current (Arms)

1

2

3

5.0

4.5

4.0

3.5

3.0

2.5

2.0

1.5

1.0

0.5

0.0

G412-6xx G412-8xx


G412-2xx G412-4xx

Optional Holding Brake metric [english] Option 1 Option 2

Holding torque Nm [lb-in] 0.90 [8.0] N/A

Extra weight kg [lb] 0.18 [0.40] N/A

Inertia kg cm2 [lb-insec2 x 10-4] 0.02 [0.18] N/A

Power requirement Watt [Watt] 11.0 [11.0] N/A

For a complete list of options and accessories, see pages 16-18.

1 Continuous torquewith convection cooling

2 Peak torque3 Motor Kt

Fastact G/G412TECHNICAL DATA

:

:

POWER CONNECTOR

SIGNAL CONNECTOR

S1S3S2S4R1R2

UVW+

2

4

1

5

6

5

6

1

2

3

4

7

8

PROTECTIVE EARTH

ELECTRICALBRAKE

NTCR25 220KΩ

N/S

RESOLVERSIZE 15

TEMPERATURESENSOR

–

15

4 2

3

6

3

1

1 12

9 81

2

4

7

6

5

WIRING DIAGRAM

Maximum Permissible Shaft LoadThe maximum permissible radial loaddepends on desired service length. Thebearing load curves illustrated support anoperational life of 20,000 hours (L10h)with axial loads up to 75 N. Consult Moogfor extended service life requirements oralternate load conditions.

Notes:1. Load capacity referenced to middle

of output shaft.2. Maximum axial load during installation:

150N.

Ø 63[2.480 DIA]

Ø5.5[.217 DIA]Ø74

[2.913 DIA]

45°

KEYDIN 6885 PAGE 1 3 x 3 x 14

THREAD M2.5 x 8 DIN 13

SHAFT DIN 748 PART 3

A

A

NAMEPLATE

WITH BRAKE

20[.787]

14[.551]

3[.118]

9[.354]

17[.669]

47[1

.850

]

40[1.575]

W

X

108[4.252]

48.0[1.890]

15.0[.591]

TOLERANCE OF SHAFT EXTENSION-RUN-OUTAND OF MOUNTING FLANGE PERDIN 42955-R

A

Ø9+0.010–0.001

Ø40+0.011–0.005

[.098]

2.5

FLANGE IEC34, DIN 42948

[.35433+.00039–.00003 DIA]

+0.011–0.005[1.57480 DIA]

POWER RECEPTACLE MATES WITH MOOGP/N A63472-001 PLUG

55[2.165]

14.0[.551]

14.0[.551]

26.0 (2x)[1.024]

[.94488 +.00130+.00001 DIA]

33.1[1.303]

90° (4x)

Ø 24+.033–.0

SIGNAL RECEPTACLE MATES WITH MOOGP/N A63021-001 PLUG

Permissible Radial Force (lb)

Permissible Radial Force (N)

Mo

tor

Spee

d (

rpm

)

0.0 11 23 34 45 56 67 79 90 101 112 124 135

0 50 100 150 200 250 300 350 400 450 500 550 600

12000

11000

10000

9000

8000

7000

6000

5000

4000

3000

2000

1000

0

4x2-2xx

4x2-4xx

4x2-6xx

4x2-8xx

BEARING LOAD DIAGRAM

INSTALLATION DIAGRAM

Dimensions: mm [in]

MODEL NO. Dimension “A”

G412-2xx 109 [4.3]

G412-4xx 122 [4.8]

G412-6xx 147 [5.8]

G412-8xx 198 [7.8]


Fastact G/G413


TECHNICAL DATA

Torq

ue (N

m) Torque (lb .In)

0 1000 2000 3000 4000 5000 6000

0 5 10 15 20 25 30131211109876543210

Speed (rpm)

Current (Arms)

115.0106.297.388.579.670.861.953.144.235.426.517.78.80.0

1

2

3

Torq

ue (N

m) Torque (lb .In)

0 1000 2000 3000 4000 5000

0 5 10 15 20 25 30 35 40 45 50177

159

142

124

106

88

71

53

35

18

0

Speed (rpm)

Current (Arms)

20

18

16

14

12

10

8

6

4

2

0

1

2

3

Torq

ue (N

m) Torque (lb .In)

0 1000 2000 3000 4000 5000 6000 7000 8000

0 3 6 9 12 15 18 21 248

7

6

5

4

3

2

1

0

Speed (rpm)

Current (Arms)

70.8

61.9

53.1

44.2

35.4

26.5

17.7

8.8

0

1

2

3

Torq

ue (N

m) Torque (lb .In)

0 2000 4000 6000 8000 10000

0 1 2 3 4 5 6 7 8 9 10 11

2.42.22.01.81.61.41.21.00.80.60.40.20.0

21.219.517.715.914.212.410.68.87.15.33.51.80.0

Speed (rpm)

Current (Arms)

1

2

3


Metric [English] G413-2xx (LO5) G413-4xx (L15) G413-6xx (L25) G413-8xx (L40)

Continuous stall torque Mo Nm [lb-in] 0.60 [5.3] 1.65 [14.6] 2.55 [22.7] 3.7 [32.7]


Peak torque Mmax Nm [lb-in] 1.5 [13.3] 4.7 [41.6] 8.5 [75.2] 13.0 [115]





Torque constant kT Nm/Arms [lb-in/Arms] 0.40 [3.5] 0.53 [4.7] 0.75 [6.6] 0.90 [8.0]



Inertia w/o brake J kg cm2 [lb-insec2 x 10-4] 0.16 [1.4] 0.39 [3.5] 0.62 [5.5] 0.97 [8.6]




G413-4xxG413-2xx

G413-8xxG413-6xx


Holding torque Nm [lb-in] 2 [17.7] 4.5 [39.9]

Extra weight kg [lb] 0.20 [0.44] 0.32 [0.70]

Inertia kg cm2 [lb-insec2 x 10-4] 0.007 [0.62] 0.18 [1.59]

Power requirement Watt [Watt] 11.0 [11.0] 12.0 [12.0]






:

:

POWER CONNECTOR

SIGNAL CONNECTOR

S1S3S2S4R1R2

UVW+

2

4

1

5

6

5

6

1

2

3

4

7

8

PROTECTIVE EARTH

ELECTRICALBRAKE

NTCR25 220KΩ

N/S

RESOLVERSIZE 15

TEMPERATURESENSOR

–

15

4 2

3

6

3

1

1 12

9 81

2

4

7

6

5

WIRING DIAGRAM

4[.158]16

[.630]

NAME PLATE

WITH BRAKE

[.098]

23[.906]

9[.354]

40[1.575]

[2.36221 +.00047+.00028 DIA]

[.43307+.00047+.00005 DIA]

W54

.5[2

.146

]

22[.866]

15.0[.591]

108[4.252]

57.0[2.244]

X TOLERANCE OF SHAFT EXTENSION-RUN-OUTAND OF MOUNTING FLANGE PERDIN 42955-R

A

A

2.5

A

4 x 90°

Ø 75

[2.95

3 DIA

]

Ø 5.5[.217 DIA]

Ø 93[3.661 DIA]

45°

14[.551]

33.1[1.303]

[.94488+.00130+.00001 DIA]

26.0 (2x)[1.024]

POWER RECEPTACLE MATESWITH MOOG P/N A63472-001 PLUG

SIGNAL RECEPTACLE MATESWITH MOOGP/N A63021-001 PLUG

Ø 24+0.033–0

70[2.756]

14[.551]

FLANGE IEC 34, DIN 42948

Ø

THREAD M2.5 x 8 DIN13

11+0,012+0,001

+0,012-0,007

KEYDIN 6885 PAGE 1 4 x 4 x 16


Ø60

Maximum Permissible Shaft LoadThe maximum permissible radial loaddepends on desired service length. Thebearing load curves illustrated support anoperational life of 20,000 hours (L10h)with axial loads up to 75 N. Consult Moogfor extended service life requirements oralternate load conditions.



150 N.



Mo

tor

Spee

d (

rpm

)

0.0 11 23 34 45 67 79 90 101 112 124 135

0 50 100 150 200 250 300 350 400 450 500 550 600

12000

11000

10000

9000

8000

7000

6000

5000

4000

3000

2000

1000

0

4x3-2xx

4x3-4xx

4x3-6xx

4x3-8xx



Dimensions: mm [in]


G413-2xx 114 [4.5]

G413-4xx 140 [5.5]

G413-6xx 165 [6.5]

G413-8xx 203 [8.0]

Fastact G/G414


TECHNICAL DATA


Metric [English] G414-2xx (L05) G414-4xx (L10) G414-6xx (L20) G414-8xx (L40) G414-9xx (L60)

Continuous stall torque 1 Mo Nm [lb-in] 1.3 [11.5] 2.6 [23.0] 4.7 [41.6] 8.2 [72.6] 12.5 [110.6]

Continuous stall current 1 lo Arms 3.1 4.8 6.7 9.2 9.6

Peak torque 2 Mmax Nm [lb-in] 3.2 [26.5] 6.5 [57.5] 12.5 [110.6] 22.0 [195] 35.0 [309.8]

Peak current 2 lmax Arms 9.0 15.0 20.0 28.0 30.0

Nominal speed 4 nN rpm 5800 5500 4300 3500 2800

Nominal power 4 PN kW [hp] 0.58 [0.78] 0.95 [1.3] 1.8 [2.4] 2.3 [3.1] 2.7 [3.6]

Maximum speed 6 nmax rpm 10000 8000 5800 4700 3280

Torque constant kT Nm/Arms [lb-in/Arms] 0.42 [3.7] 0.56 [5.0] 0.8 [6.9] 0.99 [8.8] 1.3 [11.5]

Motor terminal resistance 7 Rtt Ohm 5.1 2.7 1.5 0.90 0.96

Motor inductance 7 Ltt mH 8.52 5.78 4.6 3.5 4.0

Inertia w/o brake J kg cm2 [lb-insec2 x 10-4] 1.05 [9.3] 1.55 [13.7] 2.6 [23.0] 4.7 [41.6] 6.8 [60.2]

Mass w/o brake m kg [lb] 3.0 [6.6] 3.6 [7.9] 4.7 [10.4] 6.9 [15.2] 9.1 [20.1]

Notes: 1–7 refer to page 17.

Torq

ue (N

m) Torque (lb .In)

0 1000 2000 3000 4000 5000 6000 7000 8000

0 5 10 15 20 25 30 35 4010

9

8

7

6

5

4

3

2

1

0

88.5

79.6

70.8

61.9

53.1

44.2

35.4

26.5

17.7

8.8

0.0

Speed (rpm)

Current (Arms)

1

2

3

Torq

ue (N

m) Torque (lb .In)

0 2000 4000 6000 8000 10000

0 1 2 3 4 5 6 7 8 9 105.0

4.5

4.0

3.5

3.0

2.5

2.0

1.5

1.0

0.5

0.0

44.2

39.8

35.4

31.0

26.5

22.1

17.7

13.3

8.8

4.4

0

Speed (rpm)

Current (Arms)

1

2

3

Torq

ue (N

m) Torque (lb .In)

0 10 20 30 40 50 60 70 80 90 10040

35

30

25

20

15

10

5

0

333

292

250

208

167

125

83

42

0

Speed (rpm)

Current (Arms)

0 1000 2000 3000 4000 5000

1

3

2

Torq

ue (N

m) Torque (lb .In)

0 1000 2000 3000 4000 5000 6000

0 5 10 15 20 25 30 35 40 45 50 55 6020

18

16

14

12

10

8

6

4

2

0

177

159

142

124

106

88

71

53

35

18

0

Speed (rpm)

Current (Arms)

1

2

3

G414-2xx G414-6xx


Torq

ue (N

m) Torque (lb .In)

0 500 1000 1500 2000 2500 3000 3500 4000

0 10 20 30 40 50 60 70 80605550454035302520151050

53148744239835431026522117713388440

Speed (rpm)

Current (Arms)

1

3

2

G414-9xxG414-8xx

G414-4xx


Holding torque Nm [lb-in] 9.0 [80.0] 18.0 [159.6]










:

:

POWER CONNECTOR

SIGNAL CONNECTOR

S1S3S2S4R1R2

UVW+

2

4

1

5

6

5

6

1

2

3

4

7

8

PROTECTIVE EARTH

ELECTRICALBRAKE

NTCR25 220KΩ

N/S

RESOLVERSIZE 15

TEMPERATURESENSOR

–

3

1

1 12

9 81

2

4

7

6

5

WIRING DIAGRAM

Maximum Permissible Shaft LoadThe maximum permissible radial loaddepends on desired service length. Thebearing load curves illustrated support anoperational life of 20,000 hours (L10h)with axial loads up to 150 N. ConsultMoog for extended service liferequirements or alternate loadconditions.



300 N.



Mo

tor

Spee

d (

rpm

)

0.0 23 45 68 90 112 135 157 180 202 225 247

0 100 200 300 400 500 600 700 800 900 10001100

11000

10000

9000

8000

7000

6000

5000

4000

3000

2000

1000

0

4x4-4xx

4x4-6xx

4x4-8xx

4x4-9xx

4x4-2xx


Dimensions: mm [in]


G414-2xx 133 [5.2]

G414-4xx 146 [5.8]

G414-6xx 171 [6.7]

G414-8xx 222 [8.8]

G414-9xx 273 [10.8]

Ø 9.0[.354 DIA]

[4.528 DIA]

66.3

[2.6

10]

33.1

[1.3

03]

[.378 RAD]

100.

5[3

.957

]

19.0[.748]

45°

4x90°

[1.37795 DIA]+.00154+.00001

Ø 115.0

19.0[.748]

26.0 (2x)[1.024]

POWER RECEPTACLE MATESWITH MOOGP/N A63472-001 PLUG


R 9.6

Ø 35.0+.039– 0

WITH BRAKE

A

A

40.0[1.575]

9.8[.386]

32.0[1.260]

4.0[.157]

[.748

03+.

0005

9+.

0000

9D

IA]

[3.7

4016

+.00

051

-.000

35D

IA]

Ø95

.0+0

.013

-0.0

09

NAMEPLATE

21.1[O.831]


BRAKE LABEL

3.0[.118]

59.0[3.23]

108[4.252]

W

15.0[.591]

A

X


KEYDIN 6885 PAGE1 6x6x32

THREAD M4x16 DIN 13


Ø19

.0+0

.015

+0.0

02

15

4 2

3

6

Metric [English] G415-2xx (L10) G415-4xx (L20) G415-6xx (L30) G415-8xx (L50)

Continuous stall torque Mo Nm [lb-in] 5.8 [51.3] 11.2 [99.1] 16.6 [147] 25.0 [221.3]


Peak torque Mmax Nm [lb-in] 12.2 [108] 25.8 [230] 40.0 [354] 60.0 [531]





Torque constant kT Nm/Arms [lb-in/Arms] 0.61 [5.4] 1.02 [9] 1.29 [11.4] 1.69 [15]



Inertia w/o brake J kg cm2 [lb-insec2 x 10-4] 4.6 [40.7] 8.0 [70.8] 11.5 [102] 18.4 [163]


Fastact G/G415


TECHNICAL DATA


Notes: Refer to page 17 for notes on performance specifications.To

rque

(Nm

) Torque (lb .In)

0 1000 2000 3000 4000 5000 6000 7000 8000

0 5 10 15 20 25 30 35 4010

9

8

7

6

5

4

3

2

1

0

88.5

79.6

70.8

61.9

53.1

44.2

35.4

26.5

17.7

8.8

0.0

Speed (rpm)

Current (Arms)

1

2

3

Torq

ue (N

m) Torque (lb .In)

0 1000 2000 3000 4000 5000 6000 7000

0 10 20 30 40 50 60 7020

18

16

14

12

10

8

6

4

2

0

177

159

142

124

106

88

71

53

35

18

0

Speed (rpm)

Current (Arms)

1

2

3

Torq

ue (N

m) Torque (lb .In)

0 400 800 1200 1600 2000 2400

0 10 20 30 40 50 60 70 80 90 100110120100

90

80

70

60

50

40

30

20

10

0

885

796

708

619

531

442

354

265

177

88

0

Speed (rpm)

Current (Arms)

1

2

3

Torq

ue (N

m) Torque (lb .In)

0 500 1000 1500 2000 2500 3000 3500 4000

0 10 20 30 40 50 60 70 80605550454035302520151050

53148744239835431026522117713388440

Speed (rpm)

Current (Arms)

3

2

1

G415-2xx G415-4xx

G415-6xx G415-8xx





Holding torque Nm [lb-in] 18.0 [159.6] 3.0 [266]






Fastact G/G415

:

:

POWER CONNECTOR

SIGNAL CONNECTOR

S1S3S2S4R1R2

UVW+

2

4

1

5

6

5

6

1

2

3

4

7

8

PROTECTIVE EARTH

ELECTRICALBRAKE

NTCR25 220KΩ

N/S

RESOLVERSIZE 15

TEMPERATURESENSOR

–

3

1

1 12

9 81

2

4

7

6

5

WIRING DIAGRAM

Ø 11[.433 DIA]

R 11.9[.906 RAD]

45°

4x90°

33.5[1.319]

17.3[.681]

98.8

[3.8

90]

140.

5[5

.531

]

[1.85039 DIA]+.00154+.00001

46.2

[1.8

19]

Ø 165[6.496 DIA]

71.8

[2.8

27]

26.0[1.024]

62.0[2.441]

POWER RECEPTACLE MATESWITH MOOG P/N B47736-001PLUG

SIGNAL RECEPTACLE MATESWITH MOOG P/N A63021-001PLUG

Ø 47+.039–0

25[.984]

TOLERANCE OF SHAFT EXTENSION-RUN-OUT

AND OF MOUNTING FLANGE PER

DIN 42955-R

A

NAMEPLATE

50[1.969]

12.2[.480]

3.5[.138]

59.6[2.346]

150[5.906]

BRAKE LABEL

WITH BRAKE

14.4[.567]

40[1.575]

A

W

5.0[.197]

[5.1

1811

+.00

055

-.000

42D

IA]

[.944

88+.

0005

9+.

0000

9D

IA] Ø13

0+0

.014

-0.0

11

A Ø 2

4+0

.015

+0.0

02

DIN 6885 PAGE 1 8x7x40

KEYX


THREAD M4x16 DIN 13

SHAFT DIN748 PART 3




400 N.



Mo

tor

Spee

d (

rpm

)

0.0 27.5 55.0 82.4 109.9 137.4 164.9 192.3 219.8

0 200 400 600 800 1000 1200 1400 1600 1800

7000

6000

5000

4000

3000

2000

1000

0

4x5-2xx

4x5-4xx

4x5-6xx

4x5-8xx



Dimensions: mm [in]


G415-2xx 170 [6.7]

G415-4xx 195 [7.7]

G415-6xx 220 [8.7]

G415-8xx 271 [10.7]

TECHNICAL DATA

V

U

12

W+-

Fastact G/G416


TECHNICAL DATA


Metric [English] G416-2xx (L15) G416-4xx (L30) G416-6xx (L45) G416-8xx (L60) G416-9xx (L90)

Continuous stall torque Mo Nm [lb-in] 14.0 [124] 27.0 [239] 39.0 [345] 51.0 [451] 75.0 [663.8]

Continuous stall current lo Arms 22.0 30.0 38.0 43.0 47.0

Peak torque Mmax Nm [lb-in] 37.0 [327] 73.0 [646] 108 [956] 146 [1292] 200 [1770]

Peak current lmax Arms 72.0 95.0 117 134 141

Nominal speed nN rpm 4000 3000 2500 2200 2200

Nominal power PN kW [hp] 3.8 [5.1] 4.9 [6.5] 6.7 [9.0] 7.8 [10.5] 11 [14.7]

Maximum speed nmax rpm 6300 4700 3900 3300 3000

Torque constant kT Nm/Arms [lb-in/Arms] 0.64 [5.7] 0.90 [8.0] 1.03 [9.1] 1.19 [10.5] 1.57 [13.9]

Motor terminal resistance Rtt Ohm 0.23 0.14 0.11 0.10 0.11

Motor inductance Ltt mH 1.9 1.5 1.5 1.5 1.7

Inertia w/o brake J kg cm2 [lb-insec2 x 10-4] 27.2 [241] 52.1 [461] 77.0 [682] 102 [903] 152 [1345]

Mass w/o brake m kg [lb] 15.1 [33.3] 21.1 [46.5] 27.1 [59.7] 33.1 [73.0] 40.0 [88.2]


0 1000 2000 3000 4000 5000

0 50 100 150 200 250

Speed (rpm)

885

796

708

619

531

442

354

265

177

88

0

100

90

80

70

60

50

40

30

20

10

0

Current (Arms)

Torque (lb .In)Torq

ue (N

m)

3

2

1

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

Current (Arms)0 20 40 60 80 100 120 140

50

45

40

35

30

25

20

15

10

5

0

442

396

352

308

265

217

177

132

88

44

0

Torque (lb .In)Torq

ue (N

m)

3

2

1

0 500 1000 1500 2000 2500 3000 3500Speed (rpm)

Current (Arms)

1770

1593

1416

1239

1062

885

708

531

354

177

0

200

180

160

140

120

100

80

60

40

20

0

Torque (lb in)Torq

ue (N

m)

0 50 100 150 200 250 300 350

2

3

1

.

0 500 1000 1500 2000 2500 3000 3500 4000

1416

1239

1062

885

708

531

354

177

0

160

140

120

100

80

60

40

20

0

0 50 100 150 200 250 300 350 400Current (Arms)

Speed (rpm)

Torq

ue (N

m) Torque (lb .In)

3

2

1

G416-8xx


0 500 1000 1500 2000 2500 3000 3500Speed (rpm)

0 50 100 150 200 250 300 350Current (Arms)

Torq

ue (N

m) Torque (lb .In)

300280260240220200180160140120100806040200

26552478230121241947177015931416123910628857085313541770

3

2

1

G416-6xxG416-2xx G416-4xx

G416-9xx




Holding torque Nm [lb-in] 30 [266] 72 [636]


Inertia kg cm2 [lb-insec2 x 10-4] 3.6 [31.7] 16 [142]

Power requirement Watt [Watt] 17 [17] 40 [40]




:

:

POWER CONNECTOR

SIGNAL CONNECTOR

S1S3S2S4R1R2

UVW+

2

4

1

5

6

5

6

1

2

3

4

7

8

PROTECTIVE EARTH

ELECTRICALBRAKE

NTCR25 220KΩ

N/S

RESOLVERSIZE 15

TEMPERATURESENSOR

–

3

1

1 12

9 81

2

4

7

6

5

WIRING DIAGRAM


Ø 13.5[.531 DIA]

A

A


WITH BRAKE

BRAKE LABEL

60.0[2.362]

40.0[1.575]

10.0[.394]

[1.2

5984

+.00

071

+.00

009

DIA

]

[7.0

8661

+.00

05-.0

0042

DIA

]

Ø 1

80.0

+0.0

14-0

.011

37.0[1.457]

81.5[3.209]

163.5[6.437]

17.0[.669]

W

Ø 3

2.0

+.01

8+.

002

A

45°

4x90°

26.0[1.024]

[.748 RAD]

47.4

[1.8

66]

128.

0[5

.039

]

Ø 215.0[8.465 DIA]

25.0[.984]

33.0[1.299]

[1.96850 DIA]+.00154+.00001

190.

5[7

.500

]

62.0[2.441]

R 19.0

Ø 50.0+.039–0

POWER RECEPTACLE MATESWITH MOOGP/N B47711-001 PLUG


NAMEPLATE

11.0[.433]

4.0[.157]

X


THREAD M4x16 DIN 13


KEYDIN 6885 PAGE 1 10x8x40




500 N.



Mo

tor

Spee

d (

rpm

)

0.0 45.0 90 135 180 225 270 315 360 405 450 495

0 400 800 1200 1600 2000

7000

6000

5000

4000

3000

2000

1000

0

4x6-2xx

4x6-4xx

4x6-6xx4x6-8xx

4x6-9xx


Dimensions: mm [in]


G416-2xx 187 [7.3]

G416-4xx 225 [8.9]

G416-6xx 263 [10.3]

G416-8xx 301 [11.9]

G416-9xx 377 [14.8]

V

U

12

W+-

Fastact G/G4xx


OPTIONS

Integral Holding BrakeHolding brakes are available for all standard G4xx motors.The brake is a permanent magnet style that is designed tohold the axis in position even with power removed. This isespecially useful in applications where the motor is on anaxis controlling a weight-induced load (e.g., vertical axis ona gantry robot). Note, the brake is a holding brake and is notdesigned to stop dynamic loads. The servo drive is requiredto decelerate the axis and hold position before the brake isengaged.

The integral holding brake requires a regulated 24 VDCsupply (see Motor Accessories) for proper operation. Brakepower connections are through the standard motor powerconnector. Refer to motor technical data for brake currentrequirements.

Encoder AdapterEncoder adapters are available as an option to all standardG4xx motors. The encoder adapter incorporates the industrystandard syncro flange mechanical interface providingcompatibility with incremental and absolute encoders froma variety of suppliers (Heidenhain, Stegmann, Hengstler,…etc.). The unique mechanical design allows standardencoders to be used without thermally derating motorperformance.

Moog’s G4xx motors are available with a variety ofstandard and custom options to address the uniquerequirements of your application. Moog’s motor designand application teams are continually introducing new

options to address the changing needs of the marketplace. As a result, if you need something that’s notpresently listed, don’t hesitate to contact your local salesoffice – chances are we already have it.

STANDARD OPTIONS

Fan CoolingTo supply high dynamics in high duty cycle applications,Moog offers optional fan cooling on select G4xx motormodels. Fan cooling delivers up to 50% greater continuoustorque output without increasing motor inertia.

Fans are powered by an unregulated 24 VDC supply (seeMotor Accessories) with dedicated power connector.Current requirements are 1 ADC per motor.

Fan cooling is available as an option on the followingmotors:

• G4x4-8xx• G4x4-9xx• G4x5-8xx• G4x6-8xx• G4x6-9xx

Shaft OptionsStandard G4xx motors are available with plain or slot andkey metric shafts per NEMA MG7. For custom motor shaftssuch as spline or english dimension shafts see CustomOptions.

Shaft Seal In applications where the shaft/flange mating surface isimmersed in fluids, a shaft seal is required to maintainmotor integrity. Moog offers PTFE (teflon) type shaft sealswhich have excellent operating characteristics (resistant toshrinkage and thermal stress).


Fastact G/G4xxCUSTOM OPTIONS

Motor WindingsMoog’s standard G4xx motors are designed to address theneeds of most dynamic motion control applications. However,Moog recognizes that OEMs have unique needs which cannot always be addressed by catalog products. This is whyMoog offers custom motor windings. Custom motor windingsmay be used to optimize motor performance in applicationswith non-standard bus voltages or deliver customizedperformance characteristics for applications with uniquespeed or current requirements.

Frameless OptionsIn addition to offering our compact G4xx motors in a framelesspackage, Moog’s motor design and application teams are ableto develop specialty motors meeting your uniquespecifications. Moog’s high power density design allows ourmotor to be packaged in envelopes where other motors simplywon’t fit. In addition, Moog’s design expertise includes motorsadapted for operation in extreme environments:

• Elevated Temperatures • High Shock Loads• Explosive/Flammable Gases • Radiation Zones• Underwater Application

Our G4xx frameless motor offering is based on the followingstandard stator dimensions:

Custom Shafts and FlangesTo support legacy products or meet unique applicationneeds, moog’s modular G4xx motor design is capable ofsupporting custom shafts (length, diameter or splinefittings) and custom flanges.

Custom ConnectorsMoog’s standard G4xx motors are equipped with quickconnect right angle connectors. In applications wherestraight connectors or flying leads are required, Moog canadapt the design to best meet your needs.

Custom Feedback OptionsIn addition to encoder adapter kits (see Standard Options),Moog can support requests for special feedback devices.Options presently offered include integral encoders(incremental or absolute), tachometers and hall sensors.

Custom CoatingsMoog’s standard G4xx motors are rated for spraydownenvironments. Moog is capable of coating the motors withFDA required coatings for applications in the food processingindustry.

Model Stator Outer Diameter (nominal) mm [in]G412 48.0 [1.9]G413 63.5 [2.5]G414 91.9 [3.6]G415 130 [5.1]G416 178 [7.0]

OPTIONS

ACCESSORIES

To speed your design cycle, Moog offers a variety ofaccessories which have been specified and tested forcompatibility with our motors and drives. These accessorieswill also minimize assembly activities, allowing you toreduce production time.

• Recommended Drives: see Moog’s drives catalogs• To obtain preassembled motor cables, crimp tools, power

supplies, please contact Moog staff.


Fastact G/G4xx1. Motors designed to EN 60034 (VDE 0530).2. Runout class R per DIN 42955-R.3. Rotors balanced to Class G 6.3 per ISO 1940.4. Sealing to IP65 (excluding shaft) with Moog specified

mating connectors.5. Operating ambient temperature -40 to +40°C

(up to 130°C with derated output).6. Class F winding insulation.7. Motor flange dimensions per IEC 34, NEMA MG7,

DIN 42948, ISO 286.8. Motor shaft dimensions per DIN 748.9. Motor shaft keyway per DIN 6885.10. Resolver electrical specifications as follows:

a. Resolver Type: Transmitterb. Pole Count: 2c. Input Voltage: 4 Vrmsd. Carrier frequency: 3.4 to 8 kHze. Input Current: 35 mA max.f. Transformer Ratio: 0.5

11. The following metric conversions were used:a. 1 Nm = 8.85 lb-inb. 1 N = 0.225 lbc. 1 kW = 1.34 hpd. 1 kg-cm2 = 8.85 lb-in-sec2 x 10-4

12. NTC thermistor in the winding for temperature monitoring

1. Continuous ratings based upon:a. Operation in still air with ambient temperatures at 25°C.b. Winding temperature at 100°C over ambient.c. Motor front flange attached to a steel mountingplate

measuring 300 x 300 x 12 mm.2. Peak ratings based on:

a. Duty cycle of 10% (1 out of 10 seconds).b. Iron saturation of 15% or less.

3. Kt-line show non-linearity between current and torqueat high end.

4. Nominal speed and power values at maximumcontinuous output power with conditions per note 1.

5. Maximum speed based on back EMF of 360 VDC.6. Resistance and inductance measurement based on

“cold” values (i.e., measured at 25°C).7. Current ratings are Arms per phase.8. Motor performance as measured with Moog’s T200

servo drive. Performance with other drives may vary.9. Specification tolerances are ±10%.

GENERAL INFORMATION NOTES

GENERAL INFORMATION& NOTES

Fastact G/G4xxORDERING INFORMATION


Voltage

Code Description

1 Low

6 High

Frame Size

Code Description

2 55 mm Flange

3 70 mm Flange

4 100 mm Flange

5 140 mm Flange

6 190 mm Flange

Stack Length

Code G412 G413 G414 G415 G416

2 L05 L05 L05 L10 L15

4 L10 L15 L10 L20 L30

6 L20 L25 L20 L30 L45

8 L40 L40 L40 L50 L60

9 - - L60 L70 L90

Shaft Configuration

Code Shaft End Shaft Seal

4 Keyway No

5 Keyway Yes

6 Plain No

7 Plain Yes

X Custom No

Y Custom Yes

Brake Option

Code G412 G413 G414 G415 G416

0 No No No No No

1 0,9 2 9 18 30

2 - 4,5 18 30 72

Revision Index

G4 -

Moog Inc., Electric Drives Group USA: +1-716-655-3000Italy: +39-010-96711Germany: +49-7031-622-0Japan: +81-463-55-3615For the location nearest you, contactwww.moog.com/worldwide

Fastact G/G4xx CDL7042 500-532 EN 0903

ArgentinaAustraliaAustriaBrazilChinaFinlandFranceGermanyIndiaIreland

ItalyJapanKoreaLuxembourgNorwayRussiaSingaporeSouth AfricaSpainSwedenUnited KingdomUSA

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e / D

L / 5

00

fastact g g4xx series brushless servomotors

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