Fastact H Servo Motors - Moog Inc....INTRODUCTION L-CAH1-E-170 OVERVIEW OF THE FASTACT H MOTORS...
72
WHAT MOVES YOUR WORLD BRUSHLESS MODULAR SERVOMOTORS L-CAH1-E-170 SERVOMOTORS FAS H
Transcript of Fastact H Servo Motors - Moog Inc....INTRODUCTION L-CAH1-E-170 OVERVIEW OF THE FASTACT H MOTORS...
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WHAT MOVES YOUR WORLD
BRUSHLESS MODULAR SERVOMOTORSL-CAH1-E-170
SERVOMOTORSFAS H
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L-CAH1-E-170INTRODUCTION
7
CONTENTS
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..................................................................................... 53
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L-CAH1-E-170INTRODUCTION
Moog's brushless technology
For more than 20 years, Moog has been designing and producing servomotors and drives that guarantee
range of servomotors and drives, Moog can meet
Moog servomotors and drives have been used for
Moog's Fastact H range
synchronous permanent magnet motors that stand
High dynamics, exceptional power density, optimum reliability
motors of previous ranges. In addition, they ensure
dynamism.
A wide selection of personalisation options to meet most application needs
and the drive, and system costs.
Modular design
Extraordinary power/mass ratio with the liquid-cooled version
Feedback systems
ADVANTAGES AND TECHNICAL CHARACTERISTICS
2
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L-CAH1-E-170INTRODUCTION
Technical characteristics
rare earth magnets
6 6
6 6
6
6
6 6
straight or rotating connectors
Δθground: 100,000 hours
Notes:
instructions.
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L-CAH1-E-170INTRODUCTION
OVERVIEW OF THE FASTACT H MOTORS
Model/Code Cooling Nominal torque (Nm)Maximum torque
(Nm)Rotor inertia
(kgcm2)Nominal speed
(rpm)Square Flange
(mm)
H115V2 4.1 15.9 3.92 3000, 4500, 6000 115
H115V4 8 32.1 7.52 2000, 3000, 4500 115
H115V6 11.4 48.3 11.12 2000, 3000, 4500 115
H145V2 10.7 36.7 11.2 2000, 3000, 4500 145
H145V4 73.4 21.7 2000, 3000, 4000 145
H145V6 6 110.1 32.2 2000, 3000, 4000 145
H145V8 33.5 6 42.7 2000, 3000, 4000 145
H200V2 34 2000, 3000, 4500 200
H200P2 45.5 174 1400, 2200, 3000 200
H200V3 146 135 200
H200P3 65 267 135 200
H200V4 63.4 6 177 1400, 2000, 3000 200
H200P4 360 177 200
H200V6 261 1200, 2000, 2500 200
H200P6 545 261 200
H200V8 115.2 344 1200, 1600, 2000 200
H200P8 725 344 200
H275V3 455 6 1200 275
H275V4 260 617 1000, 1500 275
H275V5 1156 1000 275
H100V2 12.5 1.77 3000, 4500, 6000 100
H100V4 5.3 24.5 3.4 3000, 4500, 6000 100
H100V6 7.7 36.5 5.05 2000, 3000, 4500 100
H100V8 10.2 6 2000, 3000, 4500 100
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L-CAH1-E-170INTRODUCTION
Model/Code Cooling Nominal torque (Nm)Maximum torque
(Nm)Rotor inertia
(kgcm2)Nominal speed
(rpm)Square Flange
(mm)
WH100V2 5.5 12.5 1.77 3000, 4500, 6000 100
WH100V4 11 24.5 3.4 3000, 4500, 6000 100
WH100V6 16.6 36.5 5.05 2000, 3000, 4500 100
WH100V8 22.6 6 2000, 3000, 4500 100
WH145V2 36.7 11.2 2000, 3000, 4500 145
WH145V4 73.4 21.7 2000, 3000, 4000 145
WH145V6 110.1 32.2 2000, 3000, 4000 145
WH145V8 77.5 6 42.7 2000, 3000, 4000 145
WH200V2 2000, 3000, 4500 200
WH200P2 6 174 1400, 2200, 3500 200
WH200V3 75.5 146 135 200
WH200P3 107.4 267 135 200
WH200V4 103.4 6 177 1400, 2000, 3000 200
WH200P4 146 360 177 200
WH200V5 131.5 220 2000, 2500, 3300 200
WH200P5 456 220 6 200
WH200V6 156.3 261 1200, 2000, 2500 200
WH200P6 227.3 545 261 1100, 1600, 2200 200
WH200V8 213.6 344 1200, 1600, 2000 200
WH200P8 725 344 200
WH275V3 340 457 6 1200, 2000 275
WH275P3 367 721 6 275
WH275V4 461 617 1000, 1500 275
WH275P4 1100 275
WH275V5 1156 1000, 1500 275
WH275P5 602 1232 1156 275
WH275P7 1712 1600 275
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L-CAH1-E-170TABLES AND CURVES
TECHNICAL DATATables and curves
Size H100 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H100-V2-030 H100-V2-045 H100-V2-060 Units
duty MOduty M 6
M 6 6 6
n 3000 4500 6000 rpm
n rpm
IO 1.77 3.0 3.5
Ip 10 16
Output p P
T 6 6
102.6 62.0
tTh sec
Winding r Rtt 16.20 5.64 4.15 Ohm
tt 74.0 27.2
Moment of rotor inertia J2
2 -4
m
1.5 1.5 1.5 mm2
- -
Optional Holding Brake Unit
2 2 -4
15
6 24
otes
Δθ6
6
0.0
17.7
35.4
53.1
70.8
88.5
106.2
123.9
141.60.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0 16.0 18.0
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
16.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
17.7
35.4
53.1
70.8
88.5
106.2
123.9
141.60.0 2.5 5.0 7.5 10.0 12.5 15.0 17.5 20.0 22.5 25.0
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
16.0
00.0
750 1500 2250 3000 3750 4500 5250 6000 6750 7500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H10
0-V
2-03
0H
100-
V2-
060
17.7
35.4
53.1
70.8
88.5
106.2
123.9
141.6
0.0
2.0
8.0
6.0
4.0
14.0
12.0
10.0
0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0 16.0 18.0 20.0 22.0 24.016.0
0.00 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H10
0-V
2-04
5
6
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L-CAH1-E-170TABLES AND CURVES
Size H100 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H100-V4-030 H100-V4-045 H100-V4-060 Units
MO 6 6 6
M 6
M 6 6 6
n 3000 4500 6000 rpm
n 6174 rpm
IO 3.62 4.5 6.1
Ip 21 26 35
P 6
T
74.5 56.2
tTh sec
Rtt 4.70 3.02 6 Ohm
tt 26.2 16.4
Moment of rotor inertia J2
2 -4
m 6 6 6
1.5 1.5 1.5 mm2
- -
Optional Holding Brake Unit
2 2 -4
15
6 24
otes
Δθ6
6
0.0
44.3
88.5
132.8
177.0
221.3
265.50.0 3.0 6.0 9.0 12.0 15.0 18.0 21.0 24.0 27.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
44.3
88.5
132.8
177.0
221.3
265.50.0 5.0 10.0 15.0 20.0 25.0 30.0 35.0 40.0 45.0 50.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
0 750 1500 2250 3000 3750 4500 5250 6000 6750 7500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H10
0-V4
-030
H10
0-V4
-060
0.0
44.3
88.5
132.8
177.0
221.3
265.50.0 3.0 6.0 9.0 12.0 15.0 18.0 21.0 24.0 27.0 30.0 33.0 36.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H10
0-V4
-045
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L-CAH1-E-170TABLES AND CURVES
Size H100 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H100-V6-020 H100-V6-030 H100-V6-045 Units
MO 6 6 6 66 6
M 6 6 6 6
M 6 6 6
n 2000 3000 4500 rpm
n 6032 rpm
IO 3.10 4.30 6.46
Ip 26
P 66
T 6 6 6 6
157.0 112.3 76.3
tTh 1500 1500 1500 sec
Rtt 7.56 1.73 Ohm
tt 23.0 10.6
Moment of rotor inertia J2
2 -4
m 6 6 6 6 6 6
1.5 1.5 1.5 mm2
- -
Optional Holding Brake Unit
2 2 -4
15
6 24
otes
Δθ6
6
0.0
44.3
88.5
132.8
177.0
221.3
265.5
309.8
354.0
398.30.0 2.5 5.0 7.5 10.0 12.5 15.0 17.5 20.0 22.5 25.0 27.5 30.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
0 250 500 750 1000 1250 1500 1750 2000 2250 2500 2750 3000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
44.3
88.5
132.8
177.0
221.3
265.5
309.8
354.0
398.30.0 5.0 10.0 15.0 20.0 25.0 30.0 35.0 40.0 45.0 50.0 55.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H10
0-V
6-02
0H
100-
V6-
045
0.0
44.3
88.5
132.8
177.0
221.3
265.5
309.8
354.0
398.30.0 4.5 9.0 13.5 18.0 22.5 27.0 31.5 36.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H10
0-V
6-03
0
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L-CAH1-E-170INTRODUCTION
Size H100 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H100-V8-020 H100-V8-030 H100-V8-045 Units
MOM 66 6 6 6 6
M
n 2000 3000 4500 rpm
n 2725 6 rpm
IO 3.66
Ip 23 32
P 6
T 6 6
6 121.2
tTh 1560 1560 1560 sec
Rtt 6.17 1.27 Ohm
tt 37.0
Moment of rotor inertia J 6 6 6 6 6 62
2 -4
m 6 6 6
1.5 1.5 1.5 mm2
- -
otes
Δθ6
6
0.0
88.5
177.0
265.5
354.0
442.5
531.00.0 3.5 7.0 10.5 14.0 17.5 21.0 24.5 28.0 31.5 35.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
0 250 500 750 1000 1250 1500 1750 2000 2250 2500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
88.5
177.0
265.5
354.0
442.5
531.00.0 6.0 12.0 18.0 24.0 30.0 36.0 42.0 48.0 54.0 60.0 66.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H10
0-V
8-02
0H
100-
V8-
045
0.0
88.5
177.0
265.5
354.0
442.5
531.00.0 6.0 12.0 18.0 24.0 30.0 36.0 42.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
0 500 1000 1500 2000 2500 3000 3500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H10
0-V
8-03
0
9
Optional Holding Brake Unit
2 2 -4
15
6 24
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L-CAH1-E-170TABLES AND CURVES
Size H115 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H115-V2-030 H115-V2-045 H115-V2-060 Units
MO 4.13 36.6 4.23 37.4 4.17 36.9
M 3.49 30 3.28 29.0 2.53 22.4
M 15.9 140.4 15.9 140 4 15.9 140.4
n 3000 4500 6000 rpm
n 3669 5556 7203 rpm
IO 2..02 3 1 4.0
Ip 8.5 12.9 16.7
P 1 1 1 47 1 55 2 07 1.59 2 13
T 04 18 1 35 1 9 04 9 2
2 4 82.8 63.9
tTh 1150 1150 1150 sec
Rtt 14.76 6.11 3.80 Ohm
tt 62.9 27.4 16.3
Moment of rotor inertia J 3.92 34 7 3.92 34 7 3.92 34.72
2 -4
m 5.6 12 4 5.6 12 4 5.6 12 4
1.5 1.5 1.5 mm2
- -
Optional Holding Brake Unit
9 79
0.52 1.1
0.55 4.92
2 -4
5
6 24
otes
Δθ6
6
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
H115-
V2-030
0.0 1.5 3.0 6.04.5 7.5 9.0 10.5 12.0 13.5
0 500 1000 1500 2000 2500 3000 3500 4000 45000.0
17.7
35.4
53.1
70.8
88.5
106.2
123.9
141.6
159.3
177.0
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
16.0
18.0
20.0
Torq
ue (N
m)
H115-
V2-045
0.0
Torq
ue (l
b-in
)
Speed (rpm)0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
16.0
18.0
20.00.0 1.5 3.0 4.5 6.0 7.5 9.0 10.5 12.0 13.5 15.0 16.5 18.0
17.7
35.4
53.1
70.8
88.5
106.2
123.9
141.6
159.3
177.0
Current (Arms)
Speed (rpm)
0.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0 16.0 18.0 20.0Current (Arms)
Torq
ue (l
b-in
)
0.0
17.7
35.4
53.1
70.8
88.5
106.2
123.9
141.6
159.3
177.0
Torq
ue (N
m)
H115-
V2-060
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
16.0
18.0
20.0
0 750 1500 2250 3000 3750 4500 5250 6000 6750 7500
Speed (rpm)
10
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L-CAH1-E-170TABLES AND CURVES
Size H115 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H115-V4-020 H115-V4-030 H115-V4-045 Units
MO 8.00 70.8 7.95 70.4 7.89 69.8
M 7.23 64.0 6.49 57.5 4.87 43.1
M 32.1 284.1 32.1 284.1 32.1 284.1
n 2000 3000 4500 rpm
n 2745 4178 5652 rpm
IO 2..93 4.4 6.0
Ip 13 19.6 26.5
P 1 51 2.03 2.04 2 74 2.3 3,08
T 2,73 24.2 79 5 9 1.33 11.7
167.6 110.1 81.4
tTh 1250 1250 sec
Rtt 8.59 3.76 2,09 Ohm
tt 52.7 22.8 12.4
Moment of rotor inertia J 7.52 66.6]2
2 -4
m 7.9 17 4 7.9 17 4 7.9 17 4
1.5 1.5 1.5 mm2
- -
Optional Holding Brake Unit
9 79
0.52 1.1
0.55 4.92
2 -4
5
6 24
otes
Δθ6
6
H115-
V4-020
Torq
ue (N
m)
H115-
V4-030
0.0
Torq
ue (l
b-in
)
0.0 0 250 500 750 1000 1250 1500 1750 2000 2250 2500 2750 3000
Speed (rpm)
4.0
32.0
8.0
40.0
12.0
24.0
16.0
28.0
20.0
Current (Arms)
0.0 1.5 3.0 4.5 6.0 7.5 9.0 10.5 12.0 13.5 15.0 16.5 18.0
35.4
70.8
106.2
141.6
177.0
0.0 3.0 6.0 9.0 12.0 15.0 18.0 21.0Current (Arms)
H115-
V4-045
0 1500 2500 3000 4500 5500 6000
Speed (rpm)
7.52 .66.6] 7.52 66.6]
36.0
354.0
212.4
247.8
283.2
318.6
Current (Arms)
Torq
ue (N
m)
3.0 6.0 12.09.0 15.0 18.0 21.0 24.0 27.0
0 500 1000 1500 2000 2500 3000 3500 4000 45000.00.0
Speed (rpm)
Torq
ue (l
b-in
)
35.4
70.8
106.2
141.6
177.0
354.0
212.4
247.8
283.2
318.6
4.0
32.0
8.0
40.0
12.0
24.0
16.0
28.0
20.0
36.0
0.0
1250
0.0
Torq
ue (l
b-in
)
35.4
70.8
106.2
141.6
177.0
354.0
212.4
247.8
283.2
318.6
Torq
ue (N
m)
0.0
4.0
32.0
8.0
40.0
12.0
24.0
16.0
28.0
20.0
36.0
50004000350020001000500
24.0 27.0 30.0 33.0 36.0
11
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L-CAH1-E-170TABLES AND CURVES
Size H115 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H115-V6-020 H115-V6-030 H115-V6-045 Units
MO 11.47 36.6 11.38 100.7
M 10.05 88 8.69 76.9 5.28 46.7
M 48.3 427.8 48.3 427.8 48.3 427.8
n 2000 3000 4500 rpm
n 2774 3754 5801 rpm
IO 4.24 5.70 8.68
Ip 20 26.5 40.9
P 2 1 2.82 2.73 3.66 2.49 3.33
T 7 23.9 2 7 7 29 11.4
165.4 122.6 79.3
tTh 1350 1350 1350 sec
Rtt 4.84 2.70 1.16 Ohm
tt 33.7 18.4 7.7
Moment of rotor inertia J 11.12 98 4 11.12 98.4 11.12 98.42
2 -4
m 10.2 22.5 10.2 22 5 10.2 22.5
1.5 1.5 1.5 mm2
- -
Optional Holding Brake Unit
9 79
0.52 1.1
0.55 4.92
2 -4
5
6 24
otes
Δθ6
6
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
H115-
V6-020
0.0 2.5 5.0 10.07.5 12.5 15.0 17.5 20.0 22.5
0 500 1000 1500 2000 2500 30000.0
106.2
53.1
212.4
265.5
318.6
371.7
424.8
159.3
477.9
0.0
60.0
Torq
ue (N
m)
H115-
V6-030
Current (Arms)
Speed (rpm)
0.0 5.0 10.0 15.0 20.0 25.0 30.0 35.0 40.0 45.0 50.0Current (Arms)
0.0
Torq
ue (N
m)
H115-
V6-045
12
25.0 27.5 30.0
6.0
12.0
18.0
24.0
30.0
36.0
42.0
48.0
54.0
0.0
60.0
6.0
12.0
18.0
24.0
30.0
36.0
42.0
48.0
54.0
0.0
6.0
Torq
ue (l
b-in
)
106.2
53.1
212.4
265.5
318.6
371.7
424.8
159.3
477.9
Torq
ue (l
b-in
)
106.2
53.1
212.4
265.5
318.6
371.7
424.8
159.3
477.9
0 500 1000 1500 2000 2500 3000 3500 4000Speed (rpm)
0.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Speed (rpm)
5000 5500
60.0
12.0
18.0
24.0
30.0
36.0
42.0
48.0
54.0
0.0 4.5 9.0 13.5 18.0 22.5 27.0 31.5 36.0531.0
531.0
531.0
27502250750 1250 1750250
55.0
11.21 99.2
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L-CAH1-E-170TABLES AND CURVES
Size H145 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H145-V2-020 H145-V2-030 H145-V2-045 Units
Nominal torque, continuous duty, locked rotor MO . 6 6 6
M
M 6 6 6
n 2000 3000 4500 rpm
n 2773 6 rpm
IO 4.01 6.0 10.0
Ip 16 24 40
P
T 66
6 110.6 66.4
tTh sec
Rtt 7.03 3.12 1.13 Ohm
tt 55.6 24.7
Moment of rotor inertia J2
2 -4
m
1.5 1.5 1.5 mm2
- -
Optional Holding Brake Unit
6 62
2 -4
6 24
otes
Δθ6
6
0.0
44.3
88.5
132.8
177.0
221.3
265.5
309.8
354.0
398.3
442.50.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0 16.0 18.0 20.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
50.0
0 280 560 840 1120 1400 1680 1960 2240 2520 2800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
44.3
88.5
132.8
177.0
221.3
265.5
309.8
354.0
398.3
442.50.0 5.0 10.0 15.0 20.0 25.0 30.0 35.0 40.0 45.0 50.0 55.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
50.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H14
5-V
2-02
0H
145-
V2-
045
0.0
44.3
88.5
132.8
177.0
221.3
265.5
309.8
354.0
398.3
442.50.0 4.0 8.0 12.0 16.0 20.0 24.0 28.0 32.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
50.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H14
5-V
2-03
0
13
-
L-CAH1-E-170TABLES AND CURVES
Size H145 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H145-V4-020 H145-V4-030 H145-V4-040 Units
MO 6 6 6
M
M 6 6 6 6 6 6
n 2000 3000 4000 rpm
n 2773 rpm
IO 7.2 13.2
Ip 32 60
P 6 6 6 6
T 6 6 6
6 110.6
tTh 1400 1400 1400 sec
Rtt 2.44 0.73 Ohm
tt 24.3 6
Moment of rotor inertia J2
2 -4
m 6 6 6
1.5 1.5 1.5 mm2
- -
Optional Holding Brake Unit
6 62
2 -4
6 24
otes
Δθ6
6
0.0
88.5
177.0
265.5
354.0
442.5
531.0
619.6
708.1
796.6
885.10.0 4.0 8.0 12.0 16.0 20.0 24.0 28.0 32.0 36.0 40.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
70.0
80.0
90.0
100.0
0 280 560 840 1120 1400 1680 1960 2240 2520 2800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
88.5
177.0
265.5
354.0
442.5
531.0
619.6
708.1
796.6
885.10.0 8.0 16.0 24.0 32.0 40.0 48.0 56.0 64.0 72.0 80.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
70.0
80.0
90.0
100.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H14
5-V4
-020
H14
5-V4
-040
0.0
88.5
177.0
265.5
354.0
442.5
531.0
619.6
708.1
796.6
885.10.0 8.0 16.0 24.0 32.0 40.0 48.0 56.0 64.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
70.0
80.0
90.0
100.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H14
5-V4
-030
14
-
L-CAH1-E-170TABLES AND CURVES
Size H145 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H145-V6-020 H145-V6-030 H145-V6-040 Units
MO 6 6 6 6 6
M 6 6
M
n 2000 3000 4000 rpm
n 2773 6 5546 rpm
IO 10.0 14.4 20
Ip 6 6 6
P 6 6 6 6 6
T 6 6 6
6 116.1
tTh 1550 1550 1550 sec
Rtt 0.66 0.35 Ohm
tt 15.4 7.5
Moment of rotor inertia J2
2 -4
m 6 6 6
1.5 1.5 2.5 mm2
- -
Optional Holding Brake Unit
6 62
2 -4
6 24
otes
Δθ6
6
0.0
132.8
265.5
398.3
531.0
663.8
796.6
929.3
1062.1
1194.80.0 6.0 12.0 18.0 24.0 30.0 36.0 42.0 48.0 54.0 60.0
0.0
15.0
30.0
45.0
60.0
75.0
90.0
105.0
120.0
135.0
0 280 560 840 1120 1400 1680 1960 2240 2520 2800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
132.8
265.5
398.3
531.0
663.8
796.6
929.3
1062.1
1194.80.0 12.0 24.0 36.0 48.0 60.0 72.0 84.0 96.0 108.0 120.0
0.0
15.0
30.0
45.0
60.0
75.0
90.0
105.0
120.0
135.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H14
5-V
6-02
0H
145-
V6-
040
0.0
132.8
265.5
398.3
531.0
663.8
796.6
929.3
1062.1
1194.80.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0
0.0
15.0
30.0
45.0
60.0
75.0
90.0
105.0
120.0
135.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H14
5V6-
030
15
-
L-CAH1-E-170TABLES AND CURVES
Size H145 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H145-V8-020 H145-V8-030 H145-V8-040 Units
MO 6 6 6 6
M 6
M 6 6 6
n 2000 3000 4000 rpm
n 2773 rpm
IO 12.6 23.6
Ip 64 6 120
P 6 6 6
T 6 6 6
6 110.6
tTh 1700 1700 1700 sec
Rtt 0.44 0.27 Ohm
tt 11.3 5.0 3.2
Moment of rotor inertia J2
2 -4
m 6 6 6
1.5 2.5 4.0 mm2
- -
otes
Δθ6
6
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.10.0 7.0 14.0 21.0 28.0 35.0 42.0 49.0 56.0 63.0 70.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
0 280 560 840 1120 1400 1680 1960 2240 2520 2800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.10.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H14
5-V
8-02
0H
145-
V8-
040
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.10.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H14
5-V
8-03
0
16
Optional Holding Brake Unit
6 62
2 -4
6 24
-
L-CAH1-E-170TABLES AND CURVES
Size H200 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H200-V2-020 H200-V2-030 H200-V2-045 Units
MOM
M
n 2000 3000 4500 rpm
n 5036 6714 rpm
IO 15.3 22.3 30.5
Ip 53
P 6 6
T
137.0 6
tTh sec
Rtt 0.41 0.22 Ohm
tt 11.4 5.0
Moment of rotor inertia J2
2 -4
m 6 6 6
4 4 6 mm2
- -
Optional Holding Brake Unit
6 62
2 -4
6 24
otes
Δθ
6 6
0.0
88.5
177.0
265.5
354.0
442.5
531.0
619.6
708.1
796.6
885.10.0 6.0 12.0 18.0 24.0 30.0 36.0 42.0 48.0 54.0 60.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
70.0
80.0
90.0
100.0
0 280 560 840 1120 1400 1680 1960 2240 2520 2800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
88.5
177.0
265.5
354.0
442.5
531.0
619.6
708.1
796.6
885.10.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0 90.0 100.0 110.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
70.0
80.0
90.0
100.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-V
2-02
0H
200-
V2-
045
0.0
88.5
177.0
265.5
354.0
442.5
531.0
619.6
708.1
796.6
885.10.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
70.0
80.0
90.0
100.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-V
2-03
0
17
-
L-CAH1-E-170TABLES AND CURVES
Size H200 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H200-P2-014 H200-P2-022 H200-P2-030 Units
MOM 6
M
n 1400 2200 3000 rpm
n 4066 rpm
IO 12.5 24.6
Ip 62 120
P 6
T 6 6 6 6
155.5 113.1
tTh sec
Rtt 1.30 0.64 0.34 Ohm
tt 4.7 2.5
Moment of rotor inertia J2
2 -4
m 6 6 6
4 4 4 mm2
- -
Optional Holding Brake Unit
6 62
2 -4
6 24
otes
Δθ
6
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.1
1770.20.0 8.0 16.0 24.0 32.0 40.0 48.0 56.0 64.0 72.0 80.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
200.0
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.1
1770.20.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
200.0
0 400 800 1200 1600 2000 2400 2800 3200 3600 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-P2
-014
H20
0-P2
-030
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.1
1770.20.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0 90.0 100.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
200.0
0 280 560 840 1120 1400 1680 1960 2240 2520 2800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-P2
-022
18
-
L-CAH1-E-170TABLES AND CURVES
Size H200 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H200-V3-020 H200-V3-030 H200-V3-039 Units
MO 6 6
M 6 6
M 6 6 6
n 2000 3000 rpm
n 4377 5252 rpm
IO 21.0 33.6
Ip 106 127
P 6
T 6
140.1 105.1 6
tTh 2050 2050 2050 sec
Rtt 0.51 0.27 0.20 Ohm
tt 6 2.7
Moment of rotor inertia J2
2 -4
m 6 6 6
4 6 6 mm2
- -
Optional Holding Brake Unit
6 62
2 -4
6 24
otes
Δθ
6 6
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.1
1770.20.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0 90.0 100.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
200.0
0 280 560 840 1120 1400 1680 1960 2240 2520 2800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.1
1770.20.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
200.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-V
3-02
0H
200-
V3-
039
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.1
1770.20.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
200.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-V
3-03
0
19
-
L-CAH1-E-170TABLES AND CURVES
Size H200 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H200-P3-014 H200-P3-018 H200-P3-022 Units
MO 6 6 6 6
M 6 6
M 6 6 6 6 6 6
n 1400 2200 rpm
n 2121 2356 rpm
IO 20.0 23.6
Ip 6 107
P 6
T 6
6 162.7
tTh 2050 2050 2050 sec
Rtt 6 0.56 0.40 Ohm
tt 4.7 3.3
Moment of rotor inertia J2
2 -4
m 6 6 6
4 4 4 mm2
- -
Optional Holding Brake Unit
6 62
2 -4
6 24
otes
Δθ
6
0.0
265.5
531.0
796.6
1062.1
1327.6
1593.1
1858.7
2124.2
2389.7
2655.20.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0 90.0 100.0
0.0
30.0
60.0
90.0
120.0
150.0
180.0
210.0
240.0
270.0
300.0
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
265.5
531.0
796.6
1062.1
1327.6
1593.1
1858.7
2124.2
2389.7
2655.20.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
30.0
60.0
90.0
120.0
150.0
180.0
210.0
240.0
270.0
300.0
0 300 600 900 1200 1500 1800 2100 2400 2700 3000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-P3
-014
H20
0-P3
-022
0.0
265.5
531.0
796.6
1062.1
1327.6
1593.1
1858.7
2124.2
2389.7
2655.20.0 12.0 24.0 36.0 48.0 60.0 72.0 84.0 96.0 108.0 120.0
0.0
30.0
60.0
90.0
120.0
150.0
180.0
210.0
240.0
270.0
300.0
0 250 500 750 1000 1250 1500 1750 2000 2250 2500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-P3
-018
20
-
L-CAH1-E-170TABLES AND CURVES
Size H200 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H200-V4-014 H200-V4-020 H200-V4-030 Units
MO 6 6 6 6
M 6 6
M 6 6 6
n 1400 2000 3000 rpm
n rpm
IO 15.7 25.4
Ip 61 141.1
P 6
T
153.5 106.3
tTh 2270 2270 2270 sec
Rtt 1.00 Ohm
tt 15.0
Moment of rotor inertia J 6 6 62
2 -4
m
4 4 6 mm2
- -
Optional Holding Brake Unit
2 2 -4
36.5
6 24
otes
Δθ
6 6
0.0
221.3
442.5
663.8
885.1
1106.3
1327.6
1548.9
1770.2
1991.4
2212.70.0 8.0 16.0 24.0 32.0 40.0 48.0 56.0 64.0 72.0 80.0
0.0
25.0
50.0
75.0
100.0
125.0
150.0
175.0
200.0
225.0
250.0
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
221.3
442.5
663.8
885.1
1106.3
1327.6
1548.9
1770.2
1991.4
2212.70.0 20.0 40.0 60.0 80.0 100.0 120.0 140.0 160.0
0.0
25.0
50.0
75.0
100.0
125.0
150.0
175.0
200.0
225.0
250.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-V4
-014
H20
0-V4
-030
0.0
221.3
442.5
663.8
885.1
1106.3
1327.6
1548.9
1770.2
1991.4
2212.70.0 12.0 24.0 36.0 48.0 60.0 72.0 84.0 96.0 108.0 120.0
0.0
25.0
50.0
75.0
100.0
125.0
150.0
175.0
200.0
225.0
250.0
0 280 560 840 1120 1400 1680 1960 2240 2520 2800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-V4
-020
21
-
L-CAH1-E-170TABLES AND CURVES
Size H200 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H200-P4-014 H200-P4-018 H200-P4-020 Units
MOM 6 6
M 6 6 6 6 6 6
n 1400 2000 rpm
n 2247 2622 rpm
IO 24.2
Ip 107 137.1 160
P
T 6
263.2 204.7 175.4
tTh 2270 2270 2270 sec
Rtt 6 0.42 0.31 Ohm
tt 6.3
Moment of rotor inertia J 6 6 62
2 -4
m
4 4 6 mm2
- -
Optional Holding Brake Unit
2 2 -4
36.5
6 24
otes
Δθ
6
0.0
354.0
708.1
1062.1
1416.1
1770.2
2124.2
2478.2
2832.2
3186.3
3540.30.0 12.0 24.0 36.0 48.0 60.0 72.0 84.0 96.0 108.0 120.0
0.0
40.0
80.0
120.0
160.0
200.0
240.0
280.0
320.0
360.0
400.0
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
354.0
708.1
1062.1
1416.1
1770.2
2124.2
2478.2
2832.2
3186.3
3540.30.0 20.0 40.0 60.0 80.0 100.0 120.0 140.0 160.0 180.0 200.0
0.0
40.0
80.0
120.0
160.0
200.0
240.0
280.0
320.0
360.0
400.0
0 300 600 900 1200 1500 1800 2100 2400 2700 3000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-P4
-014
H20
0-P4
-020
0.0
354.0
708.1
1062.1
1416.1
1770.2
2124.2
2478.2
2832.2
3186.3
3540.30.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
40.0
80.0
120.0
160.0
200.0
240.0
280.0
320.0
360.0
400.0
0 250 500 750 1000 1250 1500 1750 2000 2250 2500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-P4
-018
22
-
L-CAH1-E-170TABLES AND CURVES
Size H200 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H200-V6-012 H200-V6-020 H200-V6-025 Units
MO 6 6
M 6 6 6
M 6 6 6
n 1200 2000 2500 rpm
n 3223 rpm
IO 22.1 30.1 37.6
Ip 127
P 6 6
T 6 6
142.7
tTh 2550 2550 2550 sec
Rtt 0.32 0.20 Ohm
tt 3.1
Moment of rotor inertia J 6 6 6 6 6 62
2 -4
m 6 6 6
4 6 10 mm2
- -
Optional Holding Brake Unit
2 2 -4
36.5
6 24
otes
Δθ
6 6
0.0
309.8
619.6
929.3
1239.1
1548.9
1858.7
2168.4
2478.2
2788.0
3097.80.0 12.0 24.0 36.0 48.0 60.0 72.0 84.0 96.0 108.0
0.0
35.0
70.0
105.0
140.0
175.0
210.0
245.0
280.0
315.0
350.0
0 200 400 600 800 1000 1200 1400 1600 1800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
309.8
619.6
929.3
1239.1
1548.9
1858.7
2168.4
2478.2
2788.0
3097.80.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0 165.0 180.0
0.0
35.0
70.0
105.0
140.0
175.0
210.0
245.0
280.0
315.0
350.0
0 250 500 750 1000 1250 1500 1750 2000 2250 2500 2750 3000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-V
6-01
2H
200-
V6-
025
0.0
309.8
619.6
929.3
1239.1
1548.9
1858.7
2168.4
2478.2
2788.0
3097.80.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
35.0
70.0
105.0
140.0
175.0
210.0
245.0
280.0
315.0
350.0
0 250 500 750 1000 1250 1500 1750 2000 2250 2500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-V
6-02
0
23
-
L-CAH1-E-170TABLES AND CURVES
Size H200 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H200-P6-011 H200-P6-015 H200-P6-018 Units
MO 6
M 6 6
M
n 1100 1500 rpm
n 2313 rpm
IO 35.4
Ip 175 213
P
T
331.4 243.0
tTh 2550 2550 2550 sec
Rtt 0.66 0.33 0.23 Ohm
tt 6.6 3.5 2.4
Moment of rotor inertia J 6 6 6 6 6 62
2 -4
m 6 6 6
4 6 6 mm2
- -
Optional Holding Brake Unit
2 2 -4
36.5
6 24
otes
Δθ
6
0.0
619.6
1239.1
1858.7
2478.2
3097.8
3717.3
4336.9
4956.4
5576.0
6195.50.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
70.0
140.0
210.0
280.0
350.0
420.0
490.0
560.0
630.0
700.0
0 150 300 450 600 750 900 1050 1200 1350 1500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
619.6
1239.1
1858.7
2478.2
3097.8
3717.3
4336.9
4956.4
5576.0
6195.50.0 25.0 50.0 75.0 100.0 125.0 150.0 175.0 200.0 225.0 250.0
0.0
70.0
140.0
210.0
280.0
350.0
420.0
490.0
560.0
630.0
700.0
0 250 500 750 1000 1250 1500 1750 2000 2250 2500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-P6
-011
H20
0-P6
-018
0.0
619.6
1239.1
1858.7
2478.2
3097.8
3717.3
4336.9
4956.4
5576.0
6195.50.0 20.0 40.0 60.0 80.0 100.0 120.0 140.0 160.0 180.0 200.0
0.0
70.0
140.0
210.0
280.0
350.0
420.0
490.0
560.0
630.0
700.0
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-P6
-015
24
-
L-CAH1-E-170TABLES AND CURVES
Size H200 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H200-V8-012 H200-V8-016 H200-V8-020 Units
MOM 6 6 6
M 6 6 6
n 1200 1600 2000 rpm
n 1752 2141 2753 rpm
IO 26.6 32.3 42.3
Ip 116 141
P
T
262.6 167.1
tTh 3050 3050 3050 sec
Rtt 0.46 0.32 Ohm
tt 7.6 5.1 3.1
Moment of rotor inertia J2
2 -4
m 6 6 6 6 6 6 6 6 6
4 6 10 mm2
- -
otes
Δθ
6 6
0.0
442.5
885.1
1327.6
1770.2
2212.7
2655.2
3097.8
3540.3
3982.8
4425.40.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0
0.0
50.0
100.0
150.0
200.0
250.0
300.0
350.0
400.0
450.0
500.0
0 200 400 600 800 1000 1200 1400 1600 1800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
442.5
885.1
1327.6
1770.2
2212.7
2655.2
3097.8
3540.3
3982.8
4425.40.0 20.0 40.0 60.0 80.0 100.0 120.0 140.0 160.0 180.0 200.0
0.0
50.0
100.0
150.0
200.0
250.0
300.0
350.0
400.0
450.0
500.0
0 250 500 750 1000 1250 1500 1750 2000 2250 2500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-V
8-01
2H
200-
V8-
020
0.0
442.5
885.1
1327.6
1770.2
2212.7
2655.2
3097.8
3540.3
3982.8
4425.40.0 17.0 34.0 51.0 68.0 85.0 102.0 119.0 136.0 153.0 170.0
0.0
50.0
100.0
150.0
200.0
250.0
300.0
350.0
400.0
450.0
500.0
0 210 420 630 840 1050 1260 1470 1680 1890 2100
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-V
8-01
6
25
Optional Holding Brake Unit
2 2 -4
36.5
6 24
-
L-CAH1-E-170TABLES AND CURVES
Size H200 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H200-P8-008 H200-P8-010 H200-P8-014 Units
MO 6 6
M 6 6 6 6
M 6 6 6 6 6 6
n 1000 1400 rpm
n 1111 rpm
IO 21.5 25.1
Ip 137 160 213
P 6 6 6
T 6 6
354.7 266.1
tTh 3050 3050 3050 sec
Rtt 0.71 0.52 Ohm
tt 7.6 5.6 3.1
Moment of rotor inertia J2
2 -4
m 6 6 6 6 6 6 6 6 6
4 4 6 mm2
- -
otes
Δθ
6
0.0
885.1
1770.2
2655.2
3540.3
4425.4
5310.5
6195.5
7080.6
7965.70.0 17.0 34.0 51.0 68.0 85.0 102.0 119.0 136.0 153.0 170.0
0.0
100.0
200.0
300.0
400.0
500.0
600.0
700.0
800.0
900.0
0 120 240 360 480 600 720 840 960 1080 1200
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
885.1
1770.2
2655.2
3540.3
4425.4
5310.5
6195.5
7080.6
7965.70.0 25.0 50.0 75.0 100.0 125.0 150.0 175.0 200.0 225.0 250.0
0.0
100.0
200.0
300.0
400.0
500.0
600.0
700.0
800.0
900.0
0 180 360 540 720 900 1080 1260 1440 1620 1800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-P8
-008
H20
0-P8
-014
0.0
885.1
1770.2
2655.2
3540.3
4425.4
5310.5
6195.5
7080.6
7965.70.0 20.0 40.0 60.0 80.0 100.0 120.0 140.0 160.0 180.0 200.0
0.0
100.0
200.0
300.0
400.0
500.0
600.0
700.0
800.0
900.0
0 140 280 420 560 700 840 980 1120 1260 1400
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H20
0-P8
-010
26
Optional Holding Brake Unit
2 2 -4
36.5
6 24
-
L-CAH1-E-170TABLES AND CURVES
Size H275 - Natural cooling
Characteristics and nominal values with sinusoidal drives
Size H275-V3-012 H275-V4-010 H275-V4-015 H275-V5-010 Units
MO 6 6 6
M 6 6 6 6
M 6 6 6 6 6
n 1200 1000 1500 1000 rpm
n 6 1740 6 rpm
IO 41.7 47.5 54.6
Ip 111 126 157.5 145
P 6 6 6
T 6 6
277.5 330.5 264.4 362.4
tTh 5200 6000 6000 6 sec
Rtt 0.16 0.15 0.13 Ohm
tt 5.1 3.3
Moment of rotor inertia J 6 6 1156 2
2 -4
m 6 6 6 6 6
10 10 16 16 mm2
- -
otes Δθ 6
0.0
442.5
885.1
1327.6
1770.2
2212.7
2655.2
3097.8
3540.3
3982.8
4425.40.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
50.0
100.0
150.0
200.0
250.0
300.0
350.0
400.0
450.0
500.0
0 180 360 540 720 900 1080 1260 1440 1620 1800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
619.5
1239.1
1858.6
2478.1
3097.6
3717.2
4336.7
4956.2
5575.7
6195.30.0 18.0 36.0 54.0 72.0 90.0 108.0 126.0 144.0 162.0 180.0
0.0
70.0
140.0
210.0
280.0
350.0
420.0
490.0
560.0
630.0
700.0
0 180 360 540 720 900 1080 1260 1440 1620 1800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H27
5-V
3-01
2H
275-
V4-0
15
0.0
619.5
1239.1
1858.6
2478.1
3097.6
3717.2
4336.7
4956.2
5575.7
6195.30.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
70.0
140.0
210.0
280.0
350.0
420.0
490.0
560.0
630.0
700.0
0 150 300 450 600 750 900 1050 1200 1350 1500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
796.6
1593.1
2389.7
3186.3
3982.8
4779.4
5576.0
6372.5
7169.1
0.0 18.0 36.0 54.0 72.0 90.0 108.0 126.0 144.0 162.0 180.0
0.0
90.0
180.0
270.0
360.0
450.0
540.0
630.0
720.0
810.0
900.0
0 150 300 450 600 750 900 1050 1200 1350 1500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
H27
5-V4
-010
H27
5-V
5-01
0
27
-
L-CAH1-E-170TABLES AND CURVES
Size WH100 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH100-V2-030 WH100-V2-045 WH100-V2-060 Units
MO 6
M 6 6
M 6 6 6
n 3000 4500 6000 rpm
n 7431 6 rpm
IO 3.45 6
Ip 10 16
P 6
T
102.5 6 52.7
tTh 440 440 440 sec
Rtt 16.16 5.64 4.15 Ohm
tt 27.3
Moment of rotor inertia J2
2 -4
m
1.5 1.5 1.5 mm2
1 1 1
- -
Optional Holding Brake Unit
2 2 -4
15
6 24
otes
Δθ
6 6
0.0
17.7
35.4
53.1
70.8
88.5
106.2
123.9
141.60.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0 16.0 18.0
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
16.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
17.7
35.4
53.1
70.8
88.5
106.2
123.9
141.60.0 2.5 5.0 7.5 10.0 12.5 15.0 17.5 20.0 22.5 25.0
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
16.0
0 750 1500 2250 3000 3750 4500 5250 6000 6750 7500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
100-
V2-
030
WH
100-
V2-
060
0.0
17.7
35.4
53.1
70.8
88.5
106.2
123.9
141.60.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0 16.0 18.0 20.0 22.0 24.0
0.0
2.0
4.0
6.0
8.0
10.0
12.0
14.0
16.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
100-
V2-
045
28
-
L-CAH1-E-170TABLES AND CURVES
Size WH100 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH100-V4-030 WH100-V4-045 WH100-V4-060 Units
MO 6
M 6
M 6 6 6
n 3000 4500 6000 rpm
n 6172 rpm
IO 7.60 12.7
Ip 21 26 35
P 6 6 6
T 6 6
74.5 56.3
tTh sec
Rtt 6 3.02 6 Ohm
tt 26.3 16.5
Moment of rotor inertia J2
2 -4
m
1.5 1.5 1.5 mm2
1.5 1.5 1.5
- -
Optional Holding Brake Unit
2 2 -4
15
6 24
otes
Δθ
6 6
0.0
44.3
88.5
132.8
177.0
221.3
0.0 3.0 6.0 9.0 12.0 15.0 18.0 21.0 24.0 27.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
44.3
88.5
132.8
177.0
221.3
0.0 5.0 10.0 15.0 20.0 25.0 30.0 35.0 40.0 45.0 50.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
0 750 1500 2250 3000 3750 4500 5250 6000 6750 7500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
100-
V4-0
30W
H10
0-V4
-060
0.0
44.3
88.5
132.8
177.0
221.3
0.0 3.0 6.0 9.0 12.0 15.0 18.0 21.0 24.0 27.0 30.0 33.0 36.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
100-
V4-0
45
29
-
L-CAH1-E-170TABLES AND CURVES
Size WH100 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH100-V6-020 WH100-V6-030 WH100-V6-045 Units
MO 6 6 6 6 6
M 6 6 6
M 6 6 6
n 2000 3000 4500 rpm
n 6032 rpm
IO 6 14.25
Ip 26
P 6 6 6
T
6 112.3 76.3
tTh 520 520 520 sec
Rtt 7.56 1.73 Ohm
tt 23.0 10.6
Moment of rotor inertia J2
2 -4
m
1.5 1.5 2.5 mm2
2 2 2
- -
Optional Holding Brake Unit
2 2 -4
15
6 24
otes
Δθ
6 6
0.0
44.3
88.5
132.8
177.0
221.3
265.5
309.8
354.0
0.0 2.5 5.0 7.5 10.0 12.5 15.0 17.5 20.0 22.5 25.0 27.5 30.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
0 250 500 750 1000 1250 1500 1750 2000 2250 2500 2750 3000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
44.3
88.5
132.8
177.0
221.3
265.5
309.8
354.0
0.0 5.0 10.0 15.0 20.0 25.0 30.0 35.0 40.0 45.0 50.0 55.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
100-
V6-
020
WH
100-
V6-
045
0.0
44.3
88.5
132.8
177.0
221.3
265.5
309.8
354.0
0.0 4.5 9.0 13.5 18.0 22.5 27.0 31.5 36.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
100-
V6-
030
30
-
L-CAH1-E-170TABLES AND CURVES
Size WH100 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH100-V8-020 WH100-V8-030 WH100-V8-045 Units
MO 6 6
M 6
M
n 2000 3000 4500 rpm
n 2725 rpm
IO 12.27
Ip 23 32
P 6 6 6 6
T 6
6 121.0
tTh 550 550 550 sec
Rtt 6.17 1.27 Ohm
tt 37.0
Moment of rotor inertia J 6 6 6 6 6 62
2 -4
m
1.5 1.5 2.5 mm2
2.5 2.5 2.5
- -
otes
Δθ
6 6
0.0
88.5
177.0
265.5
354.0
442.5
0.0 3.5 7.0 10.5 14.0 17.5 21.0 24.5 28.0 31.5 35.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
0 250 500 750 1000 1250 1500 1750 2000 2250 2500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
88.5
177.0
265.5
354.0
442.5
0.0 6.0 12.0 18.0 24.0 30.0 36.0 42.0 48.0 54.0 60.0 66.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
100-
V8-
020
WH
100-
V8-
045
0.0
88.5
177.0
265.5
354.0
442.5
0.0 6.0 12.0 18.0 24.0 30.0 36.0 42.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
0 500 1000 1500 2000 2500 3000 3500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
100-
V8-
030
31
Optional Holding Brake Unit
2 2 -4
15
6 24
-
L-CAH1-E-170TABLES AND CURVES
Size WH145 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH145-V2-020 WH145-V2-030 WH145-V2-045 Units
MO 6 6 6
M
M 6 6 6
n 2000 3000 4500 rpm
n 2773 6 rpm
IO 6 10.5 17.5
Ip 16 24 40
P 6
T 6 6
6 110.6 66.4
tTh 540 540 540 sec
Rtt 7.03 3.12 1.13 Ohm
tt 55.6 24.7
Moment of rotor inertia J2
2 -4
m
1.5 1.5 2.5 mm2
2 2 2
- -
Optional Holding Brake Unit
6 62
2 -4
6 24
otes
Δθ
6 6
0.0
44.3
88.5
132.8
177.0
221.3
265.5
309.8
354.0
398.3
442.50.0 2.0 4.0 6.0 8.0 10.0 12.0 14.0 16.0 18.0 20.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
50.0
0 280 560 840 1120 1400 1680 1960 2240 2520 2800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
44.3
88.5
132.8
177.0
221.3
265.5
309.8
354.0
398.3
442.50.0 5.0 10.0 15.0 20.0 25.0 30.0 35.0 40.0 45.0 50.0 55.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
50.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
145-
V2-
020
WH
145-
V2-
045
0.0
44.3
88.5
132.8
177.0
221.3
265.5
309.8
354.0
398.3
442.50.0 4.0 8.0 12.0 16.0 20.0 24.0 28.0 32.0
0.0
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
50.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
145-
V2-
030
32
-
L-CAH1-E-170TABLES AND CURVES
Size WH145 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH145-V4-020 WH145-V4-030 WH145-V4-040 Units
MOM 6 6 6
M 6 6 6 6 6 6
n 2000 3000 4000 rpm
n 2773 rpm
IO 14.3 21.5 26.3
Ip 32 60
P
T 6 6
6 110.6
tTh 640 640 640 sec
Rtt 2.44 0.73 Ohm
tt 24.3 6
Moment of rotor inertia J2
2 -4
m
2.5 4 4 mm2
3 3 3
- -
Optional Holding Brake Unit
6 62
2 -4
6 24
otes
Δθ
6 6
0.0
88.5
177.0
265.5
354.0
442.5
531.0
619.6
708.1
796.6
885.10.0 4.0 8.0 12.0 16.0 20.0 24.0 28.0 32.0 36.0 40.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
70.0
80.0
90.0
100.0
0 280 560 840 1120 1400 1680 1960 2240 2520 2800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
88.5
177.0
265.5
354.0
442.5
531.0
619.6
708.1
796.6
885.10.0 8.0 16.0 24.0 32.0 40.0 48.0 56.0 64.0 72.0 80.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
70.0
80.0
90.0
100.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
145-
V4-0
20W
H14
5-V4
-040
0.0
88.5
177.0
265.5
354.0
442.5
531.0
619.6
708.1
796.6
885.10.0 8.0 16.0 24.0 32.0 40.0 48.0 56.0 64.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
70.0
80.0
90.0
100.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
145-
V4-0
30
33
-
L-CAH1-E-170TABLES AND CURVES
Size WH145 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH145-V6-020 WH145V6-030 WH145-V6-040 Units
MO 6 6 6
M 6 6 66
M
n 2000 3000 4000 rpm
n 2773 6 5546 rpm
IO 31.5 43.5
Ip 6 6 6
P 6
T 6 6
6 116.1
tTh 710 710 710 sec
Rtt 0.66 0.35 Ohm
tt 15.5 7.6
Moment of rotor inertia J2
2 -4
m 6 6 6
4 6 10 mm2
4 4 4
- -
Optional Holding Brake Unit
6 62
2 -4
6 24
otes
Δθ
6 6
0.0
132.8
265.5
398.3
531.0
663.8
796.6
929.3
1062.1
0.0 6.0 12.0 18.0 24.0 30.0 36.0 42.0 48.0 54.0 60.0
0.0
15.0
30.0
45.0
60.0
75.0
90.0
105.0
120.0
135.0
0 280 560 840 1120 1400 1680 1960 2240 2520 2800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
132.8
265.5
398.3
531.0
663.8
796.6
929.3
1062.1
0.0 12.0 24.0 36.0 48.0 60.0 72.0 84.0 96.0 108.0 120.0
0.0
15.0
30.0
45.0
60.0
75.0
90.0
105.0
120.0
135.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
145-
V6-
020
WH
145-
V6-
040
0.0
132.8
265.5
398.3
531.0
663.8
796.6
929.3
1062.1
0.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0
0.0
15.0
30.0
45.0
60.0
75.0
90.0
105.0
120.0
135.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
145-
V6-
030
34
-
L-CAH1-E-170TABLES AND CURVES
Size WH145 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH145-V8-020 WH145-V8-030 WH145-V8-040 Units
MO 6 6 66 6
M 66 6 6 6
M 6 6 6
n 2000 3000 4000 rpm
n 2773 rpm
IOIp 64 6 120
P
T 6 6
6 110.6
tTh sec
Rtt 0.44 0.27 Ohm
tt 11.3 5.0 3.2
Moment of rotor inertia J2
2 -4
m 6 6 6
6 10 16 mm2
5 5 5
- -
otes
Δθ
6 6
0.00.0
177.0177.0
354.0354.0
531.0531.0
708.1708.1
885.1885.1
1062.11062.1
1239.11239.1
1416.11416.1
1593.11593.10.00.0 7.07.0 14.014.0 21.021.0 28.028.0 35.035.0 42.042.0 49.049.0 56.056.0 63.063.0 70.070.0
0.00.0
20.020.0
40.040.0
60.060.0
80.080.0
100.0100.0
120.0120.0
140.0140.0
160.0160.0
180.0180.0
00 280280 560560 840840 11201120 14001400 16801680 19601960 22402240 25202520 28002800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.10.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
145-
V8-
020
WH
145-
V8-
040
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.10.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
145-
V8-
030
35
Optional Holding Brake Unit
6 62
2 -4
6 24
-
L-CAH1-E-170TABLES AND CURVES
Size WH200 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH200-V2-020 WH200-V2-030 WH200-V2-045 Units
MO 6 6 6
M 6
M
n 2000 3000 4500 rpm
n 5036 6714 rpm
IO 22.3 32.6 44.6
Ip 53
P 6
T 6 6
137.0 6
tTh 630 630 630 sec
Rtt 0.41 0.22 Ohm
tt 11.4 5.0
Moment of rotor inertia J2
2 -4
m 6 6 6
4 6 10 mm2
3 3 3
- -
Optional Holding Brake Unit
6 62
2 -4
6 24
otes
Δθ
6 6
0.0
88.5
177.0
265.5
354.0
442.5
531.0
619.6
708.1
796.6
885.10.0 6.0 12.0 18.0 24.0 30.0 36.0 42.0 48.0 54.0 60.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
70.0
80.0
90.0
100.0
0 280 560 840 1120 1400 1680 1960 2240 2520 2800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
88.5
177.0
265.5
354.0
442.5
531.0
619.6
708.1
796.6
885.10.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0 90.0 100.0 110.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
70.0
80.0
90.0
100.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
V2-
020
WH
200-
V2-
045
0.0
88.5
177.0
265.5
354.0
442.5
531.0
619.6
708.1
796.6
885.10.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0
0.0
10.0
20.0
30.0
40.0
50.0
60.0
70.0
80.0
90.0
100.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
V2-
030
36
-
L-CAH1-E-170TABLES AND CURVES
Size WH200 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH200-P2-014 WH200-P2-022 WH200-P2-035 Units
MO 6 6 6 6 6 6 6
M 6 6
M
n 1400 2200 3500 rpm
n 4066 rpm
IO 27.0 37.4
Ip 62 120
P 6
T 6 6 6 6 6
155.5 113.1
tTh 630 630 630 sec
Rtt 1.30 0.64 0.34 Ohm
tt 4.7 2.5
Moment of rotor inertia J2
2 -4
m 6 6 6
4 4 10 mm2
3 3 3
- -
Optional Holding Brake Unit
6 62
2 -4
6 24
otes
Δθ
6
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.1
1770.20.0 8.0 16.0 24.0 32.0 40.0 48.0 56.0 64.0 72.0 80.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
200.0
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.1
1770.20.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
200.0
0 400 800 1200 1600 2000 2400 2800 3200 3600 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
P2-0
14W
H20
0-P2
-035
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.1
1770.20.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0 90.0 100.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
200.0
0 280 560 840 1120 1400 1680 1960 2240 2520 2800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
P2-0
22
37
-
L-CAH1-E-170TABLES AND CURVES
Size WH200 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH200-V3-020 WH200-V3-030 WH200-V3-039 Units
MO 6 66 6
M 6 6 6 6 6
M 6 6 6
n 2000 3000 rpm
n 4377 5252 rpm
IO 33.4 45.6 53.4
Ip 106 127
P
T 6
140.1 105.1 6
tTh 700 700 700 sec
Rtt 0.51 0.27 0.20 Ohm
tt 6 2.7
Moment of rotor inertia J2
2 -4
m
6 10 16 mm2
4 4 4
- -
Optional Holding Brake Unit
6 62
2 -4
6 24
otes
Δθ
6 6
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.1
1770.20.0 10.0 20.0 30.0 40.0 50.0 60.0 70.0 80.0 90.0 100.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
200.0
0 280 560 840 1120 1400 1680 1960 2240 2520 2800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.1
1770.20.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
200.0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
V3-
020
WH
200-
V3-
039
0.0
177.0
354.0
531.0
708.1
885.1
1062.1
1239.1
1416.1
1593.1
1770.20.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0
0.0
20.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
180.0
200.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
V3-
030
38
-
L-CAH1-E-170TABLES AND CURVES
Size WH200 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH200-P3-018 WH200-P3-022 WH200-P3-035 Units
MO 6 6 6
M 6 6 666
M 6 6 6 6 6 6
n 2200 3500 rpm
n 2356 4242 rpm
IO 33.4
Ip 107
P 6 6
T 6
162.7
tTh 700 700 700 sec
Rtt 0.56 0.40 0.17 Ohm
tt 4.7 3.3 1.5
Moment of rotor inertia J2
2 -4
m
6 10 16 mm2
4 4 4
- -
Optional Holding Brake Unit
6 62
2 -4
6 24
otes
Δθ
6
0.0
265.5
531.0
796.6
1062.1
1327.6
1593.1
1858.7
2124.2
2389.7
2655.20.0 12.0 24.0 36.0 48.0 60.0 72.0 84.0 96.0 108.0 120.0
0.0
30.0
60.0
90.0
120.0
150.0
180.0
210.0
240.0
270.0
300.0
0 250 500 750 1000 1250 1500 1750 2000 2250 2500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
265.5
531.0
796.6
1062.1
1327.6
1593.1
1858.7
2124.2
2389.7
2655.20.0 22.0 44.0 66.0 88.0 110.0 132.0 154.0 176.0 198.0 220.0
0.0
30.0
60.0
90.0
120.0
150.0
180.0
210.0
240.0
270.0
300.0
0 420 840 1260 1680 2100 2520 2940 3360 3780 4200
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
P3-0
18W
H20
0-P3
-035
0.0
265.5
531.0
796.6
1062.1
1327.6
1593.1
1858.7
2124.2
2389.7
2655.20.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
30.0
60.0
90.0
120.0
150.0
180.0
210.0
240.0
270.0
300.0
0 300 600 900 1200 1500 1800 2100 2400 2700 3000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
P3-0
22
39
-
L-CAH1-E-170TABLES AND CURVES
Size WH200 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH200-V4-014 WH200-V4-020 WH200-V4-030 Units
MO 6
M 6 6 6
M 6 6 6
n 1400 2000 3000 rpm
n rpm
IO 26.4 60.6
Ip 61 141.1
P 6 6
T 6
153.5 106.3
tTh sec
Rtt 1.00 Ohm
tt 15.0
Moment of rotor inertia J 6 6 62
2 -4
m
4 10 16 mm2
5 5 5
- -
Optional Holding Brake Unit
2 2 -4
36.5
6 24
otes
Δθ
6 6
0.0
221.3
442.5
663.8
885.1
1106.3
1327.6
1548.9
1770.2
1991.4
0.0 8.0 16.0 24.0 32.0 40.0 48.0 56.0 64.0 72.0 80.0
0.0
25.0
50.0
75.0
100.0
125.0
150.0
175.0
200.0
225.0
250.0
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
221.3
442.5
663.8
885.1
1106.3
1327.6
1548.9
1770.2
1991.4
0.0 20.0 40.0 60.0 80.0 100.0 120.0 140.0 160.0
0.0
25.0
50.0
75.0
100.0
125.0
150.0
175.0
200.0
225.0
250.0
0 500 1000 1500 2000 2500 3000 3500 4000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
V4-0
14W
H20
0-V4
-030
0.0
221.3
442.5
663.8
885.1
1106.3
1327.6
1548.9
1770.2
1991.4
0.0 12.0 24.0 36.0 48.0 60.0 72.0 84.0 96.0 108.0 120.0
0.0
25.0
50.0
75.0
100.0
125.0
150.0
175.0
200.0
225.0
250.0
0 280 560 840 1120 1400 1680 1960 2240 2520 2800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
V4-0
20
40
-
L-CAH1-E-170TABLES AND CURVES
Size WH200 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH200-P4-014 WH200-P4-018 WH200-P4-027 Units
MO 6 6
M
M 6 6 6 6 6 6
n 1400 2700 rpm
n 2247 3146 rpm
IO 43.1 60.7
Ip 107 137.1
P
T 6
263.2 204.7 146.2
tTh sec
Rtt 6 0.42 0.21 Ohm
tt 6.3
Moment of rotor inertia J 6 6 62
2 -4
m
6 10 16 mm2
5 5 5
- -
Optional Holding Brake Unit
2 2 -4
36.5
6 24
otes
Δθ
6
0.0
354.0
708.1
1062.1
1416.1
1770.2
2124.2
2478.2
2832.2
3186.3
3540.30.0 12.0 24.0 36.0 48.0 60.0 72.0 84.0 96.0 108.0 120.0
0.0
40.0
80.0
120.0
160.0
200.0
240.0
280.0
320.0
360.0
400.0
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
354.0
708.1
1062.1
1416.1
1770.2
2124.2
2478.2
2832.2
3186.3
3540.30.0 22.0 44.0 66.0 88.0 110.0 132.0 154.0 176.0 198.0 220.0
0.0
40.0
80.0
120.0
160.0
200.0
240.0
280.0
320.0
360.0
400.0
0 320 640 960 1280 1600 1920 2240 2560 2880 3200
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
P4-0
14W
H20
0-P4
-027
0.0
354.0
708.1
1062.1
1416.1
1770.2
2124.2
2478.2
2832.2
3186.3
3540.30.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
40.0
80.0
120.0
160.0
200.0
240.0
280.0
320.0
360.0
400.0
0 250 500 750 1000 1250 1500 1750 2000 2250 2500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
P4-0
18
41
-
L-CAH1-E-170TABLES AND CURVES
Size WH200 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH200-V5-020 WH200-V5-025 WH200-V5-033 Units
MO 6
M 66 6
M
n 2000 2500 3300 rpm
n 6 3425 4404 rpm
IO 6 61.2
Ip 106 141
P 6 6
T 6 6
134.3 104.4
tTh sec
Rtt 0.22 0.14 Ohm
tt 6.0 3.4 1.7
Moment of rotor inertia J2
2 -4
m
10 16 25 mm2
6 6 6
- -
Optional Holding Brake Unit
2 2 -4
36.5
6 24
otes
Δθ
6 6
0.0
265.5
531.0
796.6
1062.1
1327.6
1593.1
1858.7
2124.2
2389.7
2655.20.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
30.0
60.0
90.0
120.0
150.0
180.0
210.0
240.0
270.0
300.0
0 260 520 780 1040 1300 1560 1820 2080 2340 2600
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
265.5
531.0
796.6
1062.1
1327.6
1593.1
1858.7
2124.2
2389.7
2655.20.0 22.0 44.0 66.0 88.0 110.0 132.0 154.0 176.0 198.0 220.0
0.0
30.0
60.0
90.0
120.0
150.0
180.0
210.0
240.0
270.0
300.0
0 450 900 1350 1800 2250 2700 3150 3600 4050 4500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
V5-
020
WH
200-
V5-
033
0.0
265.5
531.0
796.6
1062.1
1327.6
1593.1
1858.7
2124.2
2389.7
2655.20.0 17.0 34.0 51.0 68.0 85.0 102.0 119.0 136.0 153.0 170.0
0.0
30.0
60.0
90.0
120.0
150.0
180.0
210.0
240.0
270.0
300.0
0 350 700 1050 1400 1750 2100 2450 2800 3150 3500
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
V5-
025
42
-
L-CAH1-E-170TABLES AND CURVES
Size WH200 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH200-P5-014 WH200-P5-018 WH200-P5-026 Units
MO 6 6 6
M 66
M 6 6 6
n 1400 2600 rpm
n 1660 2263 3112 rpm
IO 40.2 56.6
Ip 174.6 240
P
T 6 6
277.1 203.2
tTh sec
Rtt 0.15 Ohm
tt 5.5 3.0 1.6
Moment of rotor inertia J2
2 -4
m
10 16 25 mm2
6 6 6
- -
Optional Holding Brake Unit
2 2 -4
36.5
6 24
otes
Δθ
6
0.0
442.5
885.1
1327.6
1770.2
2212.7
2655.2
3097.8
3540.3
3982.8
4425.40.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
50.0
100.0
150.0
200.0
250.0
300.0
350.0
400.0
450.0
500.0
0 180 360 540 720 900 1080 1260 1440 1620 1800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
442.5
885.1
1327.6
1770.2
2212.7
2655.2
3097.8
3540.3
3982.8
4425.40.0 30.0 60.0 90.0 120.0 150.0 180.0 210.0 240.0 270.0 300.0
0.0
50.0
100.0
150.0
200.0
250.0
300.0
350.0
400.0
450.0
500.0
0 320 640 960 1280 1600 1920 2240 2560 2880 3200
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
P5-0
14W
H20
0-P5
-026
0.0
442.5
885.1
1327.6
1770.2
2212.7
2655.2
3097.8
3540.3
3982.8
4425.40.0 20.0 40.0 60.0 80.0 100.0 120.0 140.0 160.0 180.0 200.0
0.0
50.0
100.0
150.0
200.0
250.0
300.0
350.0
400.0
450.0
500.0
0 230 460 690 920 1150 1380 1610 1840 2070 2300
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
P5-0
18
43
-
L-CAH1-E-170TABLES AND CURVES
Size WH200 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH200-V6-012 WH200-V6-020 WH200-V6-025 Units
MO 6
M 6 6
M 6 6 6
n 1200 2000 2500 rpm
n 3223 rpm
IO 40.4 55.2 6
Ip 127
P 6
T
142.7
tTh sec
Rtt 0.32 0.20 Ohm
tt 3.1
Moment of rotor inertia J 6 6 6 6 6 62
2 -4
m 6 6 6
10 16 16 mm2
6 6 6
- -
Optional Holding Brake Unit
2 2 -4
36.5
6 24
otes
Δθ
6 6
0.0
309.8
619.6
929.3
1239.1
1548.9
1858.7
2168.4
2478.2
2788.0
3097.80.0 12.0 24.0 36.0 48.0 60.0 72.0 84.0 96.0 108.0
0.0
35.0
70.0
105.0
140.0
175.0
210.0
245.0
280.0
315.0
350.0
0 200 400 600 800 1000 1200 1400 1600 1800
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
0.0
309.8
619.6
929.3
1239.1
1548.9
1858.7
2168.4
2478.2
2788.0
3097.80.0 20.0 40.0 60.0 80.0 100.0 120.0 140.0 160.0 180.0 200.0
0.0
35.0
70.0
105.0
140.0
175.0
210.0
245.0
280.0
315.0
350.0
0 300 600 900 1200 1500 1800 2100 2400 2700 3000
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
V6-
012
WH
200-
V6-
025
0.0
309.8
619.6
929.3
1239.1
1548.9
1858.7
2168.4
2478.2
2788.0
3097.80.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
35.0
70.0
105.0
140.0
175.0
210.0
245.0
280.0
315.0
350.0
0 260 520 780 1040 1300 1560 1820 2080 2340 2600
Current (Arms)
Torq
ue (N
m)
Torq
ue (l
b-in
)
Speed (rpm)
WH
200-
V6-
020
44
-
L-CAH1-E-170TABLES AND CURVES
Size WH200 - Liquid cooling
Characteristics and nominal values with sinusoidal drives
Size WH200-P6-011 WH200-P6-015 WH200-P6-022 Units
MOM 6
M
n 1100 1500 2200 rpm
n 2603 rpm
IO 40.4 6
Ip 175 240
P 6 6
T
331.4 243.0 176.7
tTh sec
Rtt 0.66 0.33 Ohm
tt 6.6 3.5
Moment of rotor inertia J 6 6 6 6 6 62
2 -4
m 6 6 6
10 16 25 mm2
6 6 6
- -
Optional Holding Brake Unit
2 2 -4
36.5
6 24
otes
Δθ
6
0.0
619.5
1239.1
1858.6
2478.1
3097.6
3717.2
4336.7
4956.2
5575.7
6195.30.0 15.0 30.0 45.0 60.0 75.0 90.0 105.0 120.0 135.0 150.0
0.0
70.0
140.0
210.0
280.0
350.0
420.0
490.0
560.0
630.0
700.0
0 150 300 450 600 750 900 1050 1200 1350 1500
Current (Arms)
Torq
![KFT105 - Transtecno,...1 / Torque na saída em função de P 1 / Output torque referred to P 1 Pn 1 [kW] Potencia nominal en la entrada / Potência nominal na entrada / Nominal input](https://static.fdocuments.in/doc/165x107/6083c3cd123ae41fd95e0643/kft105-transtecno-1-torque-na-sada-em-funo-de-p-1-output-torque.jpg)
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