ABB servo motors

9C series for ABB high performance machinery drives

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ABB servo motors

Matched drive and motor combination

The 9C series servo motor and the ABB high performance machinery drive ACSM1 provide a compact and powerful package for machine building and other applications requiring high precision.

ABB high performance machinery drives

ABB high performance machinery drives provide speed, torque and motion control for demanding applications. They can control induction, synchronous and asynchronous servo and high torque motors with a variety of feedback devices. The compact hardware and various control arrangements ensure optimum solutions for many different needs.

ABB servo motors

The 9C series of ABB servo motors is ideal for operation with the ABB high performance machinery drives. The motors are manufactured using the most advanced technology: Concentrated windings Encapsulation of windings with epoxy resin under vacuum Special composite magnetic material Modular structure Smart solution on connections Low cogging torque Feature
9C series AC synchronous servo motors Concentrated windings Encapsulation of windings with epoxy resin under vacuum Special composite material Soft Magnetic Composite Modular structure Flexible connection methods Low energy consumption Extremely compact

Advantage

Benet
Reduced running costs Space savings, easy to t in restricted spaces High product reliability Higher nominal speed Short delivery time Maximum connection exibility Time savings Cost savings Efcient space usage High acceleration in very heavy duty cycle Cost-effective and very reliable solution in harsh environmental conditions Very high performance Holding brake without any backlash Suitable for dynamic emergency braking Wide exibility, one motor for two different applications Guaranteed quality of nal installation Motors available on customer site in a few days

Motor winding partial discharge free up to 3 kV Uniform temperature on the motor windings Low losses in high frequency More variants with standard components Connectors easy to turn back to front Easy-to-use plug-in connectors or cost-effective internal connections Excellent torque/dimensions ratio High dynamic performance Resolver Optical multiturn SinCos encoder, Endat 2.1

High stall and rated torque Very low rotor inertia Most common feedback devices available Optional integrated holding brake with high dynamic characteristics Shaft with keyway - delivery contains half and full key Ready-made power and feedback cables Motors delivered from centralized stock

Permanent magnet brake Spring holding brake Full key for belt and pulley transmission or half key for friction coupling transmission Complete package solution Well organized logistics

ABB

3AUA0000030840 REV B EN 14.4.2008

Technical specications

9C series technical details

Type Continuous Current at Rated torque at continuous torque 5) torque zero 1) 3) 5) speed
5)

Rated current
1) 3) 5)

Rated speed

Rated Mechanical Peak Current Torque frequency rated torque at peak constant 1) 2) 3) power torque
5) 1) 3)

Tcs [Nm] 9C1.1.30.. ..M 9C1.2.30.. ..M 9C1.3.30.. ..M 9C1.4.30.. ..M 9C1.1.60.. ..M 9C1.2.60.. ..M 9C1.3.60.. ..M 9C1.4.60.. ..M 9C4.1.30.. ..M 9C4.2.30.. ..M 9C4.3.30.. ..M 9C4.4.30.. ..M 9C4.1.40.. ..M 9C4.2.40.. ..M 9C4.3.40.. ..M 9C4.4.40.. ..M 9C5.2.20.. ..M 9C5.3.20.. ..M 9C5.4.20.. ..M 9C5.6.20.. ..M 9C5.2.30.. ..M 9C5.3.30.. ..M 9C5.4.30.. ..M 9C5.6.30.. ..M
1) 2) 3) 4) 5)

Ics [A] 1.3 1.8 2.7 3.3 2.1 3.6 5.2 6.5 3.0 5.0 6.0 8.2 4.0 6.9 7.8 10.0 5.9 9.0 11.6 12.8 9.0 12.1 15.1 19.2

Trat [Nm] 1.3 2 2.8 3.5 1.2 1.6 2.3 2.5 3.9 6.1 6.9 7.5 3.7 5.4 5.8 6.3 10.3 14.8 17.1 22.0 9.0 12.4 14.0 18.0

Irat [A] 1.4 1.7 2.5 2.9 2.0 2.7 3.9 4.1 2.8 4.3 4.6 5.4 3.6 5.2 5.1 5.5 5.2 7.6 8.9 9.9 6.9 8.6 9.4 12.1

nrat [r/min] 3000 3000 3000 3000 6000 6000 6000 6000 3000 3000 3000 3000 4000 4000 4000 4000 2000 2000 2000 2000 3000 3000 3000 3000

frat [Hz] 250 250 250 250 500 500 500 500 250 250 250 250 333 333 333 333 166.7 166.7 166.7 166.7 250 250 250 250

Prat [kW] 0.41 0.63 0.88 1.10 0.75 1.01 1.45 1.57 1.23 1.92 2.17 2.36 1.55 2.26 2.43 2.64 2.16 3.10 3.58 4.61 2.83 3.90 4.40 5.65

Tpk [Nm] 4.1 6.9 9.6 12.6 4.1 6.9 9.6 12.6 12.9 22.5 28.2 36.0 12.9 22.5 28.2 36.0 36.9 55.2 70.5 90.0 36.9 55.2 70.5 90.0

Ipk [A] 4.5 6.1 9.0 11.1 7.1 12.1 17.3 21.6 9.8 16.7 19.9 27.3 13.2 23.1 26.1 33.3 19.7 29.9 38.6 42.7 30.0 40.3 50.2 64.1

kT [Nm/A] 1.147 1.440 1.350 1.440 0.720 0.720 0.702 0.738 1.654 1.704 1.786 1.665 1.232 1.232 1.365 1.365 2.365 2.328 2.306 2.661 1.552 1.730 1.774 1.774

Moment B.e.m.f. between of inertia of rotor 3) phases at rated speed 1) 2) 3) V JM [V] [kgcm2] 208 261 245 261 261 261 255 268 300 309 324 302 298 298 330 330 286.0 281.5 278.9 321.8 281.5 313.7 321.8 321.8 0.57 1.04 1.51 1.99 0.57 1.04 1.51 1.99 4.0 7.6 11.1 14.7 4.0 7.6 11.1 14.7 21.8 31.6 41.4 61.0 21.8 31.6 41.4 61.0

Moment Weight 3) 4) of inertia of rotor + brake 3) JM with brake W [kgcm2] [kg] 0.62 1.09 1.56 2.04 0.62 1.09 1.56 2.04 4.7 8.3 11.8 15.4 4.7 8.3 11.8 15.4 23.6 33.4 43.2 62.8 23.6 33.4 43.2 62.8 3.0 3.9 4.8 5.7 3.0 3.9 4.8 5.7 4.1 7.0 9.9 12.8 4.1 7.0 9.9 12.8 16 20 24 32 16 20 24 32

1.4 2.3 3.2 4.2 1.4 2.3 3.2 4.2 4.3 7.5 9.4 12.0 4.3 7.5 9.4 12.0 12.3 18.4 23.5 30.0 12.3 18.4 23.5 30.0

Voltage and current values shown in table are RMS values. All parts of motor at 20 C. Tolerance 10%. Weight without a holding brake. Please refer to table on page 5 for the weight of the brake. Duty type S1, ambient temperature 40 C, mounted on steel ange (dim. 300 x 300 x 20 mm), altitude 1000 m above sea level.

3AUA0000030840 REV B EN 14.4.2008

ABB

Technical specications

General specications
9C series AC synchronous servo motors Mounting Cooling Motor pole pairs Operating temperature range Storage temperature range Operating humidity range Insulation class Thermal protection Compliance Degree of protection Motor feedback IMB5, V1, V3 IC-0041 (EN 60034-6) 5 0 to 40C, up to 50 C (derating of 1% per 1 C must be applied above 40 C) -30 to 85 C 85% max w/o condensation F PTC CE, UL pending Body: IP65 Shaft: IP54 standard, IP64 with oil seal Resolver, one pole pair, size 15. Optical encoder, 1Vpp 512 signal periods per revolution, absolute position, multiturn (Endat) 4096 revolutions. Inductive encoder, 1Vpp 32 signal periods per revolution, absolute position, multiturn (Endat) 4096 revolutions.

Optional holding brake specication

Motor type Rated voltage [VDC] 24 24 24 Input power [W] 6.3 19.5 28.0 Input current [A] 0.26 0.81 1.17 Braking torque [Nm] 2.5 16 30 Armature release time [ms] 50 70 75 Armature pull-in time [ms] 30 30 30 Inertia Weight (Approx.) [kg] 0.5 1.1 1.8

9C1 9C4 9C5

[kgcm2] 0.102 0.73 1.82

Note: Release and pull-in time values apply with ABB varistor 5248 122-256 wired into electrical circuit.

ABB

3AUA0000030840 REV B EN 14.4.2008

Dimensions

9C1
LB 98.5 26.5 N4 Holes 7 35.5 0.08 A 30 15 3 0.035 A

100 90 = =

3 90

0.08 A

Motor size LB with resolver [mm] LB with encoder [mm] LB with brake [mm] LB with brake + encoder [mm]

9C1.1 142 171 171 200

9C1.2 176 205 205 234

9C1.3 210 239 239 268

9C1.4 244 273 273 302

9C4
LB 83 10 N4 Holes 10 37 0.1 A 20 3 A 0.04 40

3.5 118

Key Type UNI 6604 - 6x6x30

0.1 A

Motor size LB with resolver [mm] LB with encoder [mm] LB with brake [mm] LB with brake + encoder [mm]

9C4.1 146 175.5 175.5 205

9C4.2 180 209.5 209.5 239

9C4.3 214 243.5 243.5 273

9C4.4 248 277.5 277.5 307

19 j6

95 j6

90 = =

118

115

155

80 j6

80

14 k6

115.5

3AUA0000030840 REV B EN 14.4.2008

ABB

Dimensions

9C5
LB 90 N4 Holes 12 17 0.10 A E/2 3.5 0.04 A E

37

186

D j6

90 = =

165

150

GD 148

0.10 A

Motor size LB with resolver [mm] LB with encoder [mm] D shaft diameter [mm] E shaft length [mm] GD keyway depth [mm] F keyway width [mm] Key type

9C5.2 261 261 24 50 4 8

9C5.3 295 295 24 50 4 8

9C5.4 329 329 32 58 5 10

9C5.6 397 397 32 58 5 10

UNI6604 - 8x7x40

UNI6604 - 10x8x36

130 j6

ABB

3AUA0000030840 REV B EN 14.4.2008

Motor speed/torque curves

9C1.1Torque curve

9C1.2 Torque curve

Torque [Nm]

Torque [Nm]

6000 r/min 3000 r/min

3000 r/min

6000 r/min

Speed [r/min]

Speed [r/min]

9C1.3 Torque curve

9C1.4 Torque curve

Torque [Nm]

Torque [Nm]

6000 r/min 3000 r/min

6000 r/min 3000 r/min

Speed [r/min]

Speed [r/min]

9C4.1 Torque curve

9C4.2 Torque curve

4000 r/min

4000 r/min

Torque [Nm]

Torque [Nm]

3000 r/min

3000 r/min

Speed [r/min] A Continuous operation zone B Intermittent operation zone

Speed [r/min]

Note! All performance data is measured at duty type S1, ambient temperature 40 C, mounted on steel ange (dim. 300 x 300 x 20 mm), altitude 1000 m above sea level.

ABB

3AUA0000030840 REV B EN 14.4.2008

13

Motor speed/torque curves

9C4.3 Torque curve 4000 r/min

9C4.4 Torque curve 4000 r/min

Torque [Nm]

Speed [r/min]

Torque [Nm]

3000 r/min

3000 r/min

Speed [r/min]

9C5.2 Torque curve

9C5.3 Torque curve

3000 r/min

3000 r/min

Torque [Nm]

2000 r/min

Torque [Nm]

2000 r/min

Speed [r/min]

Speed [r/min]

9C5.4 Torque curve

9C5.6 Torque curve

3000 r/min
Torque [Nm] Torque [Nm]

3000 r/min

2000 r/min

2000 r/min

Speed [r/min] A Continuous operation zone B Intermittent operation zone

Speed [r/min]

Note! All performance data is measured at duty type S1, ambient temperature 40 C, mounted on steel ange (dim. 300 x 300 x 20 mm), altitude 1000 m above sea level.

14

3AUA0000030840 REV B EN 14.4.2008

ABB