1326AB Torque Plus Servomotors: Data and Dimensions for the 1391-DES Digital AC Servo Drive Speed-torque curves show the rated performance of the servomotor in a 40 degree C ambient. Motor is at full rated temperature. Torque ratings are determined with the motor mounted to a 304.8mm x 304.8mm x 25.2mm (12in. x 12in. x 1in.) mounting bracket. Motor windings are at 150 degree C with a 110 degree C rise over ambient. Motor case temperature is at approximately 100 degrees C. Important: Curves and performance data shown are for motor and 1391-DES combinations where amplifier rating is equal to or greater than the continuous stall current of the motor. All values shown below have a tolerance of ±10%. Category General Thermal Winding Parameter Continuous Stall Torque at 40°C Ambient Rated output Peak Stall Current at 40°C Continuous Stall Current at 40°C Peak Stall Current at 40°C Mechanical Time Constant at 40°C Electrical Time Constant at 40°C Rated Speed at 40°C Maximum Ambient Temperature (without derating) Insulation Class Thermal Time Constant Torque Constant at 25°C Voltage Constant RMS(L-L)at 25°C Thermal Resistance ohms(L-L)at 25°C Inductance mH(L-L)at 25°C Units N-m(lb.-in.) kW N-m(lb.-in.) amperes amperes milliseconds milliseconds rpm degrees C minutes 1326AB-A410G 2.7(24.0) 1.2 8.1(72.0) 7.1 21.3 10.0 3.4 6000 40.0 H 23 1326AB-A420E 4.5(40.0) 1.3 13.6(120.0) 7.0 21.0 9.2 3.4 4000 40.0 H 33 N-m(lb.-in.)/A volts/1000 rpm ohms millihenry 0.44(3.9) 28.5 1.61 8.4 0.082(7.23) 49.5 1.82 12.7 kg-m2(lb.-in.0.0005(0.004) s2) 10.0(22) kg(lbs.) 0.0127(0.0005) mm(in.)2 1) To obtain vibration in inches (mm)/second use the following formula: Vv = (Dp-p x rpm)/27.01 where: Dp-p = peak-peak displacement in mm (in.) Vv = Vibration velocity in mm (in.)/second rpm = motor speed 2) peak-peak displacement Mechanical Rotor Polar Moment of Inertia Motor Weight Balance1 0.0008(0.007) 12.7(28) 0.0127(0.0005) Speed-torque curves show the rated performance of the servomotor in a 40 degree C ambient. Motor is at full rated temperature. Torque ratings are determined with the motor mounted to a 304.8mm x 304.8mm x 25.2mm (12in. x 12in. x 1in.) mounting bracket. Motor windings are at 150 degree C with a 110 degree C rise over ambient. Motor case temperature is at approximately 100 degrees C. Important: Curves and performance data shown are for motor and 1391-DES combinations where amplifier rating is equal to or greater than the continuous stall current of the motor. All values shown below have a tolerance of ±10%. Category Parameter Units 1326AB-A430E 1326ABA515E General Continuous Stall Torque at 40°C Ambient N-m(lb.-in.) 6.6(58.0) 10.4(92.0) Rated output kW 1.9 3.0 Peak Stall Current at 40°C w/DES15 N-m(lb.-in.) 19.7(174.0) 20.5(181.5) Peak Stall Current at 40°C w/DES22 N-m(lb.-in.) NA 30.8(272.0) Continuous Stall Current at 40°C amperes 9.5 15.2 Peak Stall Current at 40°Cw/DES15 amperes 28.5 30 Peak Stall Current at 40°Cw/DES22 amperes NA 45 Mechanical Time Constant at 40°C milliseconds 8.6 8.2 Electrical Time Constant at 40°C milliseconds 3.4 7.5 Rated Speed at 40°C rpm 4000 4000 Thermal Maximum Ambient Temperature (without degrees C 40.0 40.0 derating) H H Insulation Class minutes 38 45 Thermal Time Constant Winding Torque Constant at 25°C N-m(lb.-in.)/A 0.82(7.24) 0.83(7.31) Voltage Constant RMS(L-L)at 25°C volts/1000 rpm 49.5 51.4 Thermal Resistance ohms(L-L)at 25°C ohms 1.08 0.707 Inductance mH(L-L)at 25°C millihenry 8.4 5.0 0.001(0.010) 0.0043(0.038) 2 2 Mechanical Rotor Polar Moment of Inertia kg-m (lb.-in.-s ) 16.8(37) 21.3(47) Motor Weight kg(lbs.) 0.0127(0.0005) 0.0127(0.0005) 1 2 Balance mm(in.) 1) To obtain vibration in inches (mm)/second use the following formula: Vv = (Dp-p x rpm)/27.01 where: Dp-p = peak-peak displacement in mm (in.) Vv = Vibration velocity in mm (in.)/second rpm = motor speed 2) peak-peak displacement Speed-torque curves show the rated performance of the servomotor in a 40 degree C ambient. Motor is at full rated temperature. Torque ratings are determined with the motor mounted to a 304.8mm x 304.8mm x 25.2mm (12in. x 12in. x 1in.) mounting bracket. Motor windings are at 150 degree C with a 110 degree C rise over ambient. Motor case temperature is at approximately 100 degrees C. Important: Curves and performance data shown are for motor and 1391-DES combinations where amplifier rating is equal to or greater than the continuous stall current of the motor. All values shown below have a tolerance of ±10%. Category General Thermal Winding Parameter Continuous Stall Torque at 40°C Ambient Rated output Peak Stall Current at 40°C w/DES22 Peak Stall Current at 40°C w/DES45 Continuous Stall Current at 40°C Peak Stall Current at 40°Cw/DES22 Peak Stall Current at 40°Cw/DES45 Mechanical Time Constant at 40°C Electrical Time Constant at 40°C Rated Speed at 40°C Maximum Ambient Temperature (without derating) Insulation Class Thermal Time Constant Torque Constant at 25°C Voltage Constant RMS(L-L)at 25°C Thermal Resistance ohms(L-L)at 25°C Inductance mH(L-L)at 25°C Units N-m(lb.-in.) kW N-m(lb.-in.) N-m(lb.-in.) amperes amperes amperes milliseconds milliseconds rpm degrees C minutes 1326AB-A520E 12.0(106.0) 3.5 28.0(248) 35.9(318) 19.2 45 57.6 7.8 7.7 4000 40.0 H 56 1326AB-A530E 18.4(163.0) 5.5 NA 55.2(489.0) 28.4 NA 90 8.6 7.4 4000 40.0 H 66 N-m(lb.-in.)/A volts/1000 rpm ohms millihenry 0.83(7.31) 49.9 0.35 3.52 0.82(7.3) 49.9 0.182 2.37 kg-m2(lb.-in.0.006(0.050) s2) 27.7(61) kg(lbs.) 0.0127(0.0005) mm(in.)2 1) To obtain vibration in inches (mm)/second use the following formula: Vv = (Dp-p x rpm)/27.01 where: Dp-p = peak-peak displacement in mm (in.) Vv = Vibration velocity in mm (in.)/second rpm = motor speed 2) peak-peak displacement Mechanical Rotor Polar Moment of Inertia Motor Weight Balance1 0.009(0.080) 34.5(76) 0.0127(0.0005) Speed-torque curves show the rated performance of the servomotor in a 40 degree C ambient. Motor is at full rated temperature. Torque ratings are determined with the motor mounted to a 304.8mm x 304.8mm x 25.2mm (12in. x 12in. x 1in.) mounting bracket. Motor windings are at 150 degree C with a 110 degree C rise over ambient. Motor case temperature is at approximately 100 degrees C. Important: Curves and performance data shown are for motor and 1391-DES combinations where amplifier rating is equal to or greater than the continuous stall current of the motor. All values shown below have a tolerance of ±10%. Category General Thermal Winding Parameter Continuous Stall Torque at 40°C Ambient Rated output Peak Stall Current at 40°C Continuous Stall Current at 40°C Peak Stall Current at 40°C Mechanical Time Constant at 40°C Electrical Time Constant at 40°C Rated Speed at 40°C Maximum Ambient Temperature (without derating) Insulation Class Thermal Time Constant Torque Constant at 25°C Voltage Constant RMS(L-L)at 25°C Thermal Resistance ohms(L-L)at 25°C Inductance mH(L-L)at 25°C Units N-m(lb.-in.) kW N-m(lb.-in.) amperes amperes milliseconds milliseconds rpm degrees C minutes N-m(lb.-in.)/A volts/1000 rpm ohms millihenry 1326AB-A740B 56.5(500) 8.3 132(1168) 38.5 90 5.4 17.6 2000 40.0 H 120 1.73(15.3) 89.5 0.162 2.85 0.032(0.29) 77.1(170) 0.0127(0.0005) kg-m2(lb.-in.s2) kg(lbs.) mm(in.)2 1) To obtain vibration in inches (mm)/second use the following formula: Vv = (Dp-p x rpm)/27.01 where: Dp-p = peak-peak displacement in mm (in.) Vv = Vibration velocity in mm (in.)/second rpm = motor speed 2) peak-peak displacement Mechanical Rotor Polar Moment of Inertia Motor Weight Balance1 Motor Dimensions The following figure provides approximate dimensions for the 1326AB 230V AC Series Motors. Flange Mount in millimeters and (inches) Catalog Number 1326AB-A410G-21 AD AG C 189 223.0 263.0 (7.44) (8.78) (10.35) 1326AB-A420E-21 without brake 246.1 280.2 320.2 (9.69) (11.03) (12.60) 1326AB-A430E-21 without brake 303.3 337.4 377.4 (11.94) (13.28) (14.86) 1326AB-Axxxx-21-K4 with optional 24V DC, 8.1 N-m (72lb.-in.)brake 1326AB-Axxxx-21-A4 with standard 90V DC, 8.1 N-m (72lb.-in.)brake ± Description without brake Shaft Runout Shaft End Pilot Eccentricity Maximum Face Runout End Milled Key Keyway (full depth) 6 x 6 x 30 30.7 0.236 x 0.236 x 1.18 (1.21) 6 x 6 x 30 30.7 0.236 x 0.236 x 1.18 (1.21) 6 x 6 x 30 30.7 0.236 x 0.236 x 1.18 (1.21) add 45mm(1.75in.) to AD, AG and C add 45mm(1.75in.) to AD, AG and C 0.04(0.0016)T.I.R. 0.127(0.005)T.I.R. 0.08(0.0032)T.I.R. 0.08(0.0032)T.I.R. Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft tolerance per DIN 42955, “N” tolerance. Flange Mount in millimeters and (inches) Catalog Number 1326AB-A410G-21 Description AD AG C without 244.1 276.6 326.6 brake (9.61) (10.89) (12.86) 1326AB-A420E-21 without 282.2 314.7 364.7 brake (11.11) (12.39) (14.36) 1326AB-A430E-21 without 364.7 397.3 447.3 brake (14.36) (15.64) (17.61) 1326AB-Axxxx-21-K5 with optional 24V DC, 8.1 N-m (72lb.-in.)brake 1326AB-Axxxx-21-A5 with standard 90V DC, 8.1 N-m (72lb.-in.)brake ± Shaft Runout Shaft End Pilot Eccentricity Maximum Face Runout End Milled Key Keyway (full depth) 8 x 7 x 40 41.0 0.135 x 0.276 x 1.57 (1.61) 8 x 7 x 40 41.0 0.315 x 0.276 x 1.57 (1.61) 8 x 7 x 40 41.0 0.315 x 0.276 x 1.57 (1.61) add 76.2mm(3.0in.) to AD, AG and C add 76.2mm(3.0in.) to AD, AG and C 0.04(0.0016)T.I.R. 0.127(0.005)T.I.R. 0.08(0.0032)T.I.R. 0.08(0.0032)T.I.R. Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft tolerance per DIN 42955, “N” tolerance. Flange Mount in millimeters and (inches) Catalog Number 1326AB-A410G-21 Description AD AG C without 324.8 426.0 424.4 brake (12.71) (14.41) (16.77) 1326AB-A420E-21 without 413.0 442.2 514.9 brake (16.26) (17.41) (20.27) 1326AB-A430E-21 without 502.7 543.8 603.8 brake (19.79) (21.41) (23.77) 1326AB-Axxxx-21-K4 with optional 24V DC, 8.1 N-m (72lb.-in.)brake 1326AB-Axxxx-21-A4 with standard 90V DC, 8.1 N-m (72lb.-in.)brake ± Shaft Runout Shaft End Pilot Eccentricity Maximum Face Runout End Milled Key Keyway (full depth) 10 x 8 x 50 50.8 (0.39 x 0.31 x 1.97) (2.00) 10 x 8 x 50 50.8 (0.39 x 0.31 x 1.97) (2.00) 10 x 8 x 50 50.8 (0.39 x 0.31 x 1.97) (2.00) add 64.0mm(2.5in.) to AD, AG and C add 64.0mm(2.5in.) to AD, AG and C 0.04(0.0016)T.I.R. 0.127(0.005)T.I.R. 0.08(0.0032)T.I.R. 0.08(0.0032)T.I.R. Dimensions are per NEMA Standards MG 7-2.4.1.3 and IEC 72-1. Shaft tolerance per DIN 42955, “N” tolerance. Dimensions are in millimeters and (inches) Cable 1326-CFUxxx Description Commutation Feedback CH1 101.6(4.0) BR2 50.8(2.0) Connector Max. Dia. 31.75(1.25) Cable Max. Dia. 10.92(0.43) 1326ES-CFUxxx4 1326-CFUTxxx Commutation Feedback(Extended Length) Commutation Feedback(High Flex) 101.6(4.0) 101.6(4.0) 50.8(2.0) 172.7(6.8) 31.75(1.25) 31.75(1.25) 10.92(0.43) 17.27(0.68) 1326ES-CFUTxxx4 1326-CPABxxx Commutation Feedback(Extended Length, High Flex) Motor Power-Series A4, A5 101.6(4.0) 127.0(5.0) 172.7(6.8) 76.2(3.0) 31.75(1.25) 31.75(1.25) 17.27(0.68) 13.84(0.55) 1326-CPABxxx4 1326-CPABTxxx Motor Power-Series A4, A5(Extended Length) Motor Power-Series A4, A5(High Flex) 127.0(5.0) 127.0(5.0) 76.2(3.0) 279.4(11.0) 31.75(1.25) 31.75(1.25) 13.84(0.55) 18.54(0.73) 1326-CPABTxxx4 1326-CPCxxx 1326ES-CPCxxx 1326-CPCTxxx 1326ES-CPCTxxx 1326-CEUxxx 1326-CVUxxx Motor Power-Series A4, A5(Extended Length, High Flex) Motor Power-Series A7 Motor Power-Series A7(Extended Length, High Flex) Motor Power-Series A7(High Flex) Motor Power-Series A7(Extended Length, High Flex) Encoder Feedback Master/Vernier 127.0(5.0) 127.0(5.0) 127.0(5.0) 127.0(5.0) 127.0(5.0) 101.6(4.0) 101.6(4.0) 279.4(11.0) 76.2(3.0) 76.2(3.0) 332.7(13.1) 332.7(13.1) 50.8(2.0) 50.8(2.0) 31.75(1.25) 31.75(1.25) 31.75(1.25) 38.10(1.50) 38.10(1.50) 31.75(1.25) 31.75(1.25) 18.54(0.73) 18.54(0.73) 18.54(0.73) 22.02(0.87) 22.02(0.87) 12.95(0.51) 13.46(0.53) 1) CH is described as the clearance to bend. 2) BR(Bend Radius) is specified for standard 1326 cable assemblies. BR may vary on user fabricated cables. For standard cable, BR is a one time flex application. Flex cables fave a much higher BR to withstand flex applications. 3) All cables should be hung or laid flat for 24 hours prior to installation. This will allow the conductors to “relax” into their natural state and guard against internal twisting. 4) 1326 commutation and power cables, standard and flex, are available in extended length of 150, 200, 250 and 300 feet (45.7, 61.0, 76.2,91.4 meters) when using a 1391-DES drive. Cable Wiring Information Pin-outs and interconnect information for the various 1326 cables are provided in this section 1326-CFUxxx, 1326ES-CFUxxx, 1326-CFUTxxx, 1326ES-CFUTxxx Commutation Cable Wire Color Black White Shield-Drain Black Red Shield-Drain Black Green Shield-Drain Braided Shield Gauge #20 #20 #20 #20 #20 #20 #20 #20 #20 #20 Connector Pin A B N/C D E N/C H G N/C N/C 1391-DES Terminal # TB1-10 TB1-9 TB1-8 TB1-7 TB1-6 TB1-5 TB1-4 TB1-3 TB1-2 TB1-1 to Ground Stud 1326-CPABxxx, 1326ES-CPABxxx, 1326-CPABTxxx, 1326ES-CPABTxxx Motor Power Cable Wire Number 1 2 3 4 5 6 7 8 9 Mylar Shield Wire Color Black Black Black Black Black Black Drain Wire Black Black Mylar Shield Gauge 12 12 12 16 16 16 16 16 16 16 Connector Pin F I B D E C G H A N/C 1391-DES Terminal # TB5-1 TB5-2 TB5-3 Brake Power(+) Thermal Switch Brake Power(-) Stud Ground Stud Ground Thermal Switch Ground Stud 1326-CPCxxx, 1326ES-CPCxxx, 1326-CPCTxxx, 1326ES-CPCTxxx Motor Power Cable Wire Number 1 2 3 4 5 6 7 8 9 Mylar Shield Wire Color Black Black Black Drain Wire Black Black Black Black Black Mylar Shield Gauge 8 8 8 12 12 16 16 16 16 16 Connector Pin D E F A B G H I C N/C 1391-DES Terminal # TB5-1 TB5-2 TB5-3 Stud Ground Stud Ground Thermal Switch Brake Power(+) Brake Power(-) Thermal Switch Ground Stud 1326-CVUxx Master/Vernier Resolver Cable Master/ Vernier Master Wire Connector Color Gauge Pin Description White 22 A Rotor 1 Black 22 B Rotor 2 2 Red 22 D Stator 1 Black 22 F Stator 3 3 Orange 22 E Stator 2 Black 22 G Rotor 1 Vernier 4 Blue 22 J Rotor 2 Black 22 K Stator 2 5 Green 22 N Stator 4 Black 22 R Stator 1 6 Violet 22 M Stator 1 Black 22 P Stator 3 Pairs 1, 2 and 3 are used with single device format resolvers (i.e. 1:1, 1:2, 1:2.5 and 1:5). Pair 1 1326-CEUxx Encoder Feedback Cable Pair 1 2 3 4 5 Wire Color Black White Black Red Black Orange Black Blue Black Green Gauge 22 22 22 22 22 22 22 22 22 22 Connector Pin H A F D J C I B F E