1326AB Torque Plus Servomotors: Data and Dimensions for the

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