P7000 Microstepping Drives - Kollmorgen

P7000 Selection Guide

P7000 Microstepping Drives

Application Centers Global Design & Engineering CentersGlobal Manufacturing Operations

Danaher Motion - Helping you build a better machine, faster Danaher Corporation combined over 30 industry-leading brands such as Kollmorgen, Thomson, Dover, Pacific Scientific, Portescap, Neff, Seidel and Bautz to establish a customer-focused motion control manufacturing company called Danaher Motion. We offer this powerful set of integrated motion control technologies under the Danaher Motion and Thomson brand names. We are a $1B+ global motion control leader, unique in our ability to marshal decades of application experience and technical innovation to help you build better machines, faster.

Danaher Motion defines high standards of quality, innovation and technology. We enable improved machine performance and reliability while controlling costs. Our global manufacturing footprint, rapid customization and prototyping capabilities drive quick lead times. Unmatched application experience and design expertise empowers you to commission machines faster.

Consider your options in today’s market for a motion control partner. Select Danaher Motion and join a team with over 6000 employees, over 60 years of application experience and 2000+ distributor locations around the globe. Danaher Motion serves industries as diverse as semiconductor, aerospace and defense, electric vehicle systems, packaging, printing, medical and robotics. We offer an unparalleled depth and breadth of motion control product solutions through a worldwide service and support infrastructure, field service engineers and support teams available when and where you need them.

The Danaher Business System - Building sustainable competitive advantage into your business

The Danaher Business System (DBS) was established to increase the value we bring to customers. It is a mature and successful set of tools we use daily to continually improve manufacturing operations and product development processes. DBS is based on the principles of Kaizen which continuously and aggressively eliminate waste in every aspect of our business. DBS focuses the entire organization on achieving breakthrough results that create competitive advantages in quality, delivery and performance – advantages that are passed on to you. Through these advantages Danaher Motion is able to provide you faster times to market as well as unsurpassed product selection, service, reliability and productivity.

Local Support Around the Globe

www.danahermotion.com

P7000 Microstepping Drives • Selection Guide

1

New Name, Established Brands Danaher Motion’s wide range of motion control systems and components offer customers an unprecedented choice in selecting the right solution for their particular application requirements. Our product innovations have been improving the efficiency and productivity of complex manufacturing operations for over 60 years in industries as diverse as semiconductor, aerospace and defense, mobile-off-highway, packaging, medical and robotics.

Danaher Motion’s growing family of leading motion control products tells only half the story. With a worldwide service and support infrastructure, our field service engineers and support teams are available when you need them. It is part of the Danaher Corporation’s unrelenting focus on you, our customer. That’s why more and more design engineers are turning to Danaher Motion to meet their motion control requirements.

P7000 Drives and Step Motors -Choices without compromise.Our new P7000 Stepper Drives and motors provide you servo-like system performance with the cost and simplicity of a stepper solution. System selection couldn’t be easier. Choose from a select set of optimized motor drive combinations with the wide range of standard motor features you come to expect.

Looking for a little more performance?The P7000 Stepper Drive bring you a unique level of system smoothness, functionality, high-speed performance and innovation unmatched in the industry.

Continuous Improvement – It’s the Danaher Way At Danaher, we are passionate about continually improving our operations to bring increasing value to our customers. The Danaher Business System (DBS) helps us improve the efficiency of our manufacturing and product development processes. DBS is a team-based approach based on the principles of Kaizen that lets us continuously and aggressively eliminate waste in every aspect of our business operations. The DBS focuses our entire organization on achieving breakthrough results that create competitive advantage in quality, delivery and performance – advantages that we pass on to you, our customer.

Whatever your motion control requirements may be, Danaher Motion has a solution that is right for you. Our unsurpassed product selection and service means faster time to market, higher reliability and increased productivity. Let the experts at Danaher Motion put a world of motion control solutions at your fingertips.

Helping you build a better machine, faster.

Introduction


P7000 Introduction

2

P7000 Stepper DrivesDanaher Motion introduces the P7000 Series Stepper Drives. Previously unheard of stepper features allow the P7000 to provide true servo-like performance at a fraction of the cost.

The P7000 Stepper Drives are the next generation of Danaher Motion’s line of digital step motor controls. They bring you a unique level of system smoothness, functionality, high-speed performance and innovation unmatched in the industry.

Available for AC and DC operation, the compact P7000 is designed to power Danaher Motion step motors with appropriate electrical characteristics (see page 5). The AC drive has an input voltage of 120 or 240 Vac and the P7000 DC drive is rated for 20-75 Vdc. Its unique features make it an ideal solution for single or multi-axis applications that require high-speed performance or low speed smoothness.

Like all of Danaher Motion’s step motor drives the P7000 series includes optically isolated step and direction inputs. The drives are configured by either on-board switches, or via the P7000 Tools. A full line of standard stepper motors can be set up with the on-board switches. P7000 Tools is also perfect with standard Pacific Scientific stepper motors and alternative motor types or ones with a unique winding. There are a number of advanced features offered in the P7000 systems making it the best choice to meet your application requirements.

• Motor Stall Detection without feedback for use with selected step motors• Multistepping™ translates coarse input steps to smooth output micro-steps to the stepper motor• Motor Wave Shape Tuning for ultra smooth low speed operation• Mid-Band Anti-Resonance Control• Idle Current Adjustment• Optional Indexer (-PN model)• Optional Modbus Communications (-R4 model)



3

P7000 Stepper Drives (cont’d)

Stall DetectionDetects a stalled motor without the use of expensive external sensors or feedback. Reduces system cost by up to 30%.

Multistepping™Also known as auto-smoothing. The P7000 drive accepts full step pulse commands from the indexer and inserts fine micro-steps to smooth coarse low speed motion. This allows you to significantly upgrade machine performance without having to redesign machine control architecture.

Auto-TuningAdvanced current auto-tuning techniques provide outstanding low-speed smoothness. The P7000 senses the motor’s characteristics and automatically fine tunes itself to meet your high-performance needs. This reduces installation and set-up time.

Mid-Band Anti-Resonance ControlReduces negative effects of mechanical resonance, allowing you to get more out of a smaller motor and virtually eliminating nuisance stalls and machine downtime.

Current ReductionIf you do not require the motor’s full torque to hold a load at rest, you can select the right amount of current (torque) to reduce motor heating and power consumption. This increases the life of the system.

Dynamic SmoothingQuasi-S-curve algorithm reduces jerk, especially upon acceleration. Increases mechanical life of machine and reduces energy consumption.

Intelligent Indexing Option (-PN)Wizard-like P7000 helps you to develop and link motion tasks such as homing and conditional and unconditional indexing. You can be up-and-running quickly.

Modbus RTU CompatibleThe Intelligent Indexing option (-PN) supports ModBus RTU to control motion with an external interface device. External interfaces make controlling motion simple for machine operators.

P7000 Tools The position node option allows you to configure up to 63 absolute or relative moves. You can specify the moves’ distance, acceleration, velocity, and deceleration rates, or simply specify the distance and total time for the move – P7000 will perform the calculations automatically.

P7000 Introduction

Features and Benefits• Open Loop Stall Detect (OLSD) allows detection of stalled motor without the need of expensive external sensors or feedback. Saves up to 30% of system cost. • Multi-Stepping™ allows low-resolution full step input pulses to be converted to smooth micro stepping commands increasing low-speed performance of your machine.• Dynamic Smoothing™ rounds the edges of the move profile (Quasi-S curve). Minimizes jerk during acceleration increasing the mechanical life of your machine.• Xtreme Smoothing™ eliminates the effects of the motor’s natural resonance frequencies. Provides more usable torque throughout the speed range. Get more from a smaller motor instead of spending extra money on an over-sized motor.• Anti-Resonance feature provides optimum torque and nulls midrange instability.• Programmable jog function with dual speed settings.• Step and Direction (-SD) mode and optional Indexing (-PN) available. Indexing mode allows 63 independent moves.• Current reduction modes with programmable time and reduction amount increases motor life and decreases machine downtime.

www.danahermotion.com4

P7000 Features

Specifications Units P70530 P70360

Input Voltage Range Volts 20 - 75 VDC 120 or 240 VAC

Continuous Current Amps rms 5 2.5

Microstep Peak Current Amps peak 7.1 3.5

Dedicated Inputs* - +/-Enable, +/- Step & Dir*5 VDC TTL

+/-Enable, +/- Step & Dir*5 VDC TTL

Programmable Inputs* -9 Configurable, Optically Isolated*

5-24 VDC Sinkingor Sourcing

9 Configurable, Optically Isolated*5-24 VDC Sinking

or Sourcing

Fault Output, user-configurable output - Open collector 5-24 VDC Open collector 5-24 VDC

Idle Current Reduction Integer Settable 0-100% Settable 0-100%

Step Resolution - 200-50000 steps/rev 200-50000 steps/rev

Package Size W x D x HInches (mm)

1.14 x 4.4 x 4.2(29 x 111 x 107)

2.06 x 5.2 x 6.7(52.3 x 132 x 170)

Ambient Temperature Degrees C 0-45 0-45

Max Chassis Temperature Degrees C 70 70

Motor Frames - Nema 17, 23, 34, 42 Nema 23, 34, 42

Max Shaft Power Watts 300 525

Speed Range Revs/Second 0-50 0-50

Recommended Motor Inductance Range mH 2-15 50-200 (320 VDC BUS)7-30 (160 VDC BUS)

* Step and Direction inputs need current limiting resistor over 5 V, the Enable does not See Reference Guide and Installation Guide for details.

Features and Benefits (cont’d)

• Nine programmable inputs allow Jog+, Jog-, Jog Speed, End-of-Travel (EOT+, EOT-), Move Select, Soft Reset, Start Move, Start/Stop Move, Stop Move, On Edge and Home.• Fault Output and one user-configurable output 5-24 VDC.• All I/O user configurable to active high or active low operation 5-24 VDC.• Compact size reduces panel space.• Agency approvals UL recognized 508C, type R file #E137798, CE compliant, EMC standard EN61800-3 and safety EN50178.• Flash Firmware for field upgrades.• Diagnostic LEDs provide easy drive diagnostics.• RS232 Standard (Both P70360 and P70530).• RS485 ModBus RTU (slave) Option (P70360 Only) -R4 option.• Configurable software for custom applications..



5

Danaher Motion P70530Microstepping drives are…Modular, Functional and Flexible ModularThe Danaher Motion P70530 DC stepper drive is modular to support a broad range of requirements. Its compact bookshelf style footprint is ideally suited for multi axis applications. It’s common to use a single power supply as the source for multiple drives.

Functional and FlexibleThe drive is designed to power 2-phase NEMA 17–42 frame motors with appropriate electrical characteristics (see pg. 5). Regardless of brand, it can be configured to get the optimum power out of the motor. With a wide input voltage range of 20-75 VDC the P70530 is ideally suited to meet your application requirements.

The drive can be set up using on-board selector switches or via the software utility provided, P7000Tools. Current settings, Auto-Smoothing, Motor Wave Shaping, Mid-Band Anti-Resonance and current reduction are all selected through the switch settings. P7000Tools includes a Graphical User Interface to allow set-up for custom windings, third party motors, fine tuning and system archive and duplication.

The P70530 is offered in two standard versions. The P70530-SD is designed with a conventional step and direction interface. Dedicated inputs are available for Jog+/-, enable and Step/direction control. The user provides the pulse train to rotate the motor. The P70530-PN adds a position node indexing capability to the base drive. This allows the user to program up to 63 independent moves.

P70530 Outline/Dimensions [mm (in.)]

Agency ApprovalCUL, CE

P7000 DC Modular Drives - P70530

4.64(0.16)

102.95(4.053)

R. 2.29(0.09)

111.07(4.373)

106.93(4.210)

100.84(3.97)

28.78(1.133)

4.64(0.16)

102.95(4.053)

R. 2.29(0.09)

111.07(4.373)

106.93(4.210)

100.84(3.97)

28.78(1.133)

4.64(0.16)

102.95(4.053)

R. 2.29(0.09)

111.07(4.373)

106.93(4.210)

100.84(3.97)

28.78(1.133)


P70530 Wiring Diagram

P7000 DC Modular Drives - P70530


See Installation Manual for CE Compliant Installation Instructions.

J4

J5

Do NOT use J7 as an on/offswitch as hot plugging

damages the connector.

123456RS-232 TX

RS-232 TX

RS-232 RXRS-232 RX

GND

COM

M P

ORT

DC

POW

ERM

OTO

RPO

WER

12345

J6

COM

MA

ND

I/O

123456789

1011121314151617181920212223242526

STEP +STEP -DIR +DIR -ENABLE +ENABLE -FAULT +FAULT -GNDDIGITAL INPUT1 (MV SEL 1)DIGITAL INPUT2 (MV SEL 2)DIGITAL INPUT3 (MV SEL 3)DIGITAL INPUT4 (MV SEL 4)DIGITAL INPUT5 (MV SEL 4)DIGITAL INPUT6 (MV SEL 4)DIGITAL INPUT7 (EOT +)DIGITAL INPUT8 (EOT -)DIGITAL INPUT9 (HOME)+ 5 V ISOI/O COMNO CONNECTION

NO CONNECTIONRS-232 RXGNDRS-232 TX

NO CONNECTION

GND

P70530

P70530 Wiring Program

MOTOR

A -A +B -B +

EARTH GND

To avoid electricalshock, motor groundmust be connectedto protective earth.

123

J7

EARTH GND

DC+DC-MAIN POWER

20 - 75 VDC

1

2

3

4

5

6

7

8

9

10

11

12

0 1 2

34

5

6

789A

BC

D

E F

S1

S2

S2-1 Motor Selection

S2-2; 3; 4 Step Resolution

S2-5; 6; 7 Load Inertia Ratio

S2-8; 9 Dynamic Smoothing

S2-10 Current Reductions

S2-11 Multi-Stepping

S2-12 Stall Detection

S1 Motor Selection



7

Danaher Motion P70360Microstepping drives are…Packaged, Functional and Flexible PackagedThe Danaher Motion P70360 AC stepper drive is a packaged drive including an integral power supply. The P70360 AC step drive is compact yet loaded with power. With a standard input voltage of 120 or 240 VAC, this product is a perfect choice to apply anywhere throughout the world.

Functional and FlexibleThe drive is designed to power 2-phase NEMA 23-42 frame motors with appropriate electrical characteristics (see page 5). Regardless of brand, it can be configured to get the optimum power out of the motor. The P70360 accepts either a 120 or 240 VAC single-phase power source in the same package.

The drive can be set up using on-board selector switches or via the software utility provided, P7000Tools. Current settings, Auto-Smoothing, Motor Wave Shaping, Mid-Band Anti-Resonance and current reduction are all selected through the switch settings. P7000Tools includes a Graphical User Interface to allow set-up for custom windings, third party motors, fine tuning and system archive and duplication.

The P70360 is offered in three standard versions. The P70360-SD is designed with a conventional step and direction interface. Dedicated inputs are available for Jog+/-, enable and Step/direction control. The user provides the pulse train to rotate the motor. The P70360-PN adds a position node indexing capability to the base drive. This allows the user to program up to 63 independent moves. The P70360-R4 adds ModBus RTU (slave) capability which supports the use of an external interface device.

P70360 Outline/Dimensions [mm (in.)]

170(6.700)

34 (1.342)

162(6.380)

52.3 (2.060)RS 485 option adds 5.893 (0.232)

132.2(5.205)

144.8 (5.700)RS 485 optionadds 0.7 (0.03)

Agency ApprovalCUL, CE

P7000 AC Packaged Drives - P70360

170(6.700)

34 (1.342)

162(6.380)

52.3 (2.060)RS 485 option adds 5.893 (0.232)

132.2(5.205)

144.8 (5.700)RS 485 optionadds 0.7 (0.03)


J4

J5123456RS-232 TX

RS-232 TX

RS-232 RXRS-232 RX

GND

COM

M P

ORT

J6

COM

MA

ND

I/O

123456789

1011121314151617181920212223242526

STEP +STEP -DIR +DIR -ENABLE +ENABLE -FAULT +FAULT -GNDDIGITAL INPUT1 (MV SEL 1)DIGITAL INPUT2 (MV SEL 2)DIGITAL INPUT3 (MV SEL 3)DIGITAL INPUT4 (MV SEL 4)DIGITAL INPUT5 (Jog +)DIGITAL INPUT6 (Jog -)DIGITAL INPUT7 (EOT +)DIGITAL INPUT8 (EOT -)DIGITAL INPUT9 (Fault Reset)+ 5 VPULL UP/DNOUT + (Motor Moving)

NCRS-232 RXGNDRS-232 TX

OUT - (Motor Moving)

GND

12345

A -A +B -B +

EARTH GND

To avoid electrical shock, motor ground must be connected to protective earth.

AC

POW

ERM

OTO

RPO

WER

1234

J7

See Figures 1a - 1c below.

MOTOR

12345

12345

J3

J2

RS48

5PO

RTRS

485

PORT

R4 Option

See page 8 of reference guide for RS485 wiring diagram.

Use these for motors with 50-200 mh inductance.

Use these for motors with 50-200 mh inductance.

Use this for motors with 7-30 mh inductance.

Figure 1c: Connection for a 160 VDC bus.Figure 1a: Connection for a 320 VDC bus using 240 VAC. Figure 1b: Connection for a 320 VDC bus using 120 VAC.

1234

J7

EARTH GND

LINE120N

~120

1234

J7

EARTH GND

LINE240N

~240

Connecting 240 VAC to pin 3 of AC power connector damages the drive.

AC

POW

ER1234

J7

EARTH GND

LINE

120N

~120

AC

POW

ER

AC

POW

ER

P70360

P70360 Wiring Diagram

P7000 AC Packaged Drives - P70360

See Installation Manual for CE Compliant Installation Instructions.

1

2

3

4

5

6

7

8

9

10

11

12

0 1 2

34

5

6

789A

BC

D

E F

S1

S2

S2-1 Motor Selection

S2-2; 3; 4 Step Resolution

S2-5; 6; 7 Load Inertia Ratio

S2-8; 9 Dynamic Smoothing

S2-10 Current Reductions

S2-11 Multi-Stepping

S2-12 Stall Detection

S1 Motor Selection



9

P7000ToolsOur P7000Tools utility makes it easy to get your system up and running. In fact, we believe it is so intuitive that you don’t even need a manual. Just run the software and the Set Up Wizard will help you along.

P7000 Set Up WizardThe wizard quickly guides you through the mechanical configuration, drive mode, I/O settings, and indexing programs (-PN).

SW GUI and Explanation

P7000 Tools Makes Complex Set-Up/Programming Very Straight Forward

• Jog the motor with a click of your mouse.

• Simple moves can be chained together to form complex motion.

• Program up to 63 discrete move profiles.

• First you select the drive type.

• The cursor highlights the subfolder being updated.• Click on “Add New Drive” to select drive model.

• Then select your motor.


(85.85)3.38

2X 45°

4X ø (5.537) .218THRU EQUALLYSPACED ON A ø (98.425) 3.875 B.C.

K+ .0000(-0.051) - .0020

T+ .0000(-0.432) - .017

ø (73.025 ± 0.051)2.875 ± .002

(109.85)4.325

2X 45°


+0.0004.750 -0.051.1875 +.0000 -.0020

[ ]

+0.00019.050 -0.013ø.7500 +.0000 -.0005

[ ]

+0.00021.082 -0.432 .830 +.0000 -0.017

[ ]

(ø 55.524 ± 0.051)ø 2.186 ± 002

(34.93 ± 0.254)1.375 ± .010

(55.63)2.19

(22.23 ± 0.254).875 ± .010

+0.000-0.013+.0000-.0005

[ ]øD

(31.750)1.25

(1.52).06

(8.38).33

MOTOR LEADS(304.8) 12 MIN.


L MAX.

(1.52).06

(12.19).48

L MAX.

T-SERIES NEMA 23 HIGH TORQUE MOTORS

K SERIES NEMA 34 HIGH TORQUE MOTORS

Step Motor Outline Dimensions

Motor D K T L MAX

31HR 0.5 0.125 0.555 3.13

32HR 0.5 0.125 0.555 4.65

33HR 0.625 0.1875 0.705 6.17

34HR 0.625 0.1875 0.705 7.68

Motor L MAX Length

41HR 5.2

42HR 7.22

Motor A MAX Length

T2H 1.64

T21 2.21

T22 3.06

T23 4.06

(85.85)3.38

2X 45°


K+ .0000(-0.051) - .0020

T+ .0000(-0.432) - .017

ø (73.025 ± 0.051)2.875 ± .002

(109.85)4.325

2X 45°


+0.0004.750 -0.051.1875 +.0000 -.0020

[ ]

+0.00019.050 -0.013ø.7500 +.0000 -.0005

[ ]

+0.00021.082 -0.432 .830 +.0000 -0.017

[ ]

(ø 55.524 ± 0.051)ø 2.186 ± 002

(34.93 ± 0.254)1.375 ± .010

(55.63)2.19

(22.23 ± 0.254).875 ± .010

+0.000-0.013+.0000-.0005

[ ]øD

(31.750)1.25

(1.52).06

(8.38).33



L MAX.

(1.52).06

(12.19).48

L MAX.

K SERIES NEMA 42 HIGH TORQUE MOTORS


Step Motor Outline Dimensions


11

2.25(57.2) MAX

1.856(47.14)4X 1.48(37.6)

# 4-40 GNDSCREW

.750± .04(19.1±1.1)

4 MTG HOLESØ.200 (5.1)

Ø .2500 (6.350) .2495 (6.337)

DOUBLE ENDED SHAFTWITH ENCODER MOUNTING2X #4-40 UNC-2B THRUON A Ø1.812(46.03)

12” (305)MINLEAD LENGTH

#22 AWG(0.35mm2)

MAX. LENGTH

.21 (5.3)

.06 (1.5)

.003 (.077) A

.003 (.077) A

-A-.002(.0051)

OPTIONAL FLAT ON SHAFT.688 (17.5)USEABLE FLAT

.219 (5.56)

Ø1.500±.002(38.10±0.06)

.81±.02(20.6±0.06)

.2500 (6.350)

.2495 (6.337)Ø

CT-SERIES NEMA 17 HIGH TORQUE MOTORS



1.68(42.67) MAX

1.220

Ø.866 (22.00) .864 (21.95)

.790 ± .020(20.07 ± .50)

Ø .1969 (5.000).1964 (4.988)

Ø .1969 (5.000).1964 (4.988)

OPTIONAL REARSHAFT EXTENSION

12” (305) MINLEAD LENGTH#26 AWG (0.14mm2)

(31.0)

OPTIONAL MOUNTINGM MOUNT = 4 X M3 X 0.5 - 6HE MOUNT = 4 X UNC #4-40 2BTHREAD DEPTH 0.177 (4.5) MIN

MAX LENGTH

.551 ± .040(14.00 ± 1.02)

3.430(87.12) MAX

2.740(69.60)

(58.0)(4X 2.28)

4 MTG HOLESØ.223 (5.66)

#6-32 GND SCREW

DOUBLED ENDED SHAFTWITH ENCODED MOUNTING

2X #4-40 UNC-28 THRUON A Ø1.812 (46.03) B.C.

Ø.3750 (9.525).3745 (9.512)

1.19 ±.04(30.2 ±1.1)

.39 (9.9)

MAX. LENTH

12” (305) MINLEAD LENGHT#22 AWG (0.35MM2)

.003(0.077)

.003(0.077)

A

A

.08 (2)

-A-.002(0.051)

Ø .5000 (12.700) .4995 (12.687)

.555(14.10)

.125

.123(3.175)(3.124)

Ø 2.875 ±.002(73.03 ± 0.06)

1.25 ± .002(31.75 ± .51)

.88 (22)

Motor MAX Length

CT10 1.37

CT11 1.61

CT12 1.92

Motor MAX Length

CT20 1.62

CT21 2.13

CT22 3.32

Motor MAX Length

CT31 2.54

CT32 3.80

CT33 3.80


DC System Performance Curves

Nema 17 - CT SeriesBelow are speed-torque curves for the most popular Danaher Motion motors. Many additional motors and variants are available. Contact Danaher Motion for details.

0

10

20

30

40

0 10 20 30 40 50

24V

36V

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

0

10

20

30

0 10 20 30 40 50

24V

36V

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

0

10

20

30

40

50

0 10 20 30 40 50

24V

36V

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

0

10

20

30

40

50

0 10 20 30 40 50

24V

36V

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

0

20

40

60

80

0 10 20 30 40 50

24V

36V

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

0

20

40

60

80

0 10 20 30 40 50

24V

36V

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

Torq

ue (o

z*in

)

Torq

ue (o

z*in

)

Torq

ue (o

z*in

)

Torq

ue (o

z*in

)

Torq

ue (o

z*in

)

Torq

ue (o

z*in

)

CTP10xxx10 CTP10xxx16





13

Nema 23 - CT Series


Below are speed-torque curves for the most popular Danaher Motion motors. Many additional motors and variants are available. Contact Danaher Motion for details.

0

25

50

75

100

0 10 20 30 40 50

24V

36V

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

0

25

50

75

100

125

150

175

200

225

0 10 20 30 40 50

24V

36V

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

0

25

50

75

100

125

150

175

200

0 10 20 30 40

24VDC

36 VDC

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400

0

50

100

150

200

250

300

350

400

0 10 20 30 40 50

24V

36V

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

0

50

100

150

200

250

300

350

0 10 20 30 40 50

24V

36V

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

Torq

ue (o

z*in

)

Torq

ue (o

z*in

)

Torq

ue (o

z*in

)

Torq

ue (o

z*in

)

Torq

ue (o

z*in

)

CTP20xxx27 CTM21xxx39

CTP21xxx39 CTM22xxx50

CTP22xxx50


0

100

200

300

400

500

0 10 20 30 40 50

CTP31xxx72

CTM31xxx72

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

0

100

200

300

400

500

600

0 10 20 30 40 50

CTP31xxx45

CTM31xxx45

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

0

200

400

600

800

1000

0 10 20 30 40

CTP32xxx73

CTM32xxx73

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400

0

200

400

600

800

1000

0 10 20 30 40 50

CTP32xxx73

CTM32xxx73

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

0

200

400

600

800

1000

1200

1400

0 5 10 15 20 25

CTP33xxx47

CTM33xxx47

Speed (RPS)

Speed (RPM) 300 600 900 1,200 1,500

Torq

ue (o

z*in

)

Torq

ue (o

z*in

)

Torq

ue (o

z*in

)

Torq

ue (o

z*in

)

Torq

ue (o

z*in

)

CTP31xxx72/CTM31xxx72 (36V) CTP31xxx45/CTM31xxx45 (72V)

CTP32xxx73/CTM32xxx73 (36V) CTP32xxx73/CTP32xxx73 (72V)

CTP32xxx47/CTM32xxx47 (36V)

0

300

600

900

1200

1500

1800

0 10 20 30

CTP33xxx47

CTM33xxx47

Speed (RPS)

Speed (RPM) 600 1,200 1,800

Torq

ue (o

z*in

)

CTP33xxx47/CTM33xxx47 (72V)

Nema 34 - CT SeriesBelow are speed-torque curves for the most popular Danaher Motion motors. Many additional motors and variants are available. Contact Danaher Motion for details.




15

Nema 34 - K Series

Nema 42 - K Series



0

100

200

300

400

500

600

700

0 10 20 5030

72V

36V

40Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400

0

200

400

600

800

1000

1200

1400

1600

1800

0 10 20 4050

72V

36V

30Speed (RPS)

Speed (RPM) 600 1,200 1,800

0

200

400

600

800

1000

1200

1400

1600

0 10 20 30 40 50 60

72V

Speed (RPS)

Speed (RPM) 600 1,200 1,800

0

200

400

600

800

1000

1200

1400

1600

1800

2000

0 10 20 4050 60

72V

36V

30Speed (RPS)

Speed (RPM) 600 1,200 1,800

Torq

ue (o

z*in

)To

rque

(oz*

in)

Torq

ue (o

z*in

)

Torq

ue (o

z*in

)

K31HJ-L

0

200

400

600

800

1000

1200

1400

1600

1800

0 10 20 4050

72V

36V

30Speed (RPS)

Speed (RPM) 600 1,200 1,800To

rque

(oz*

in)

K32HJ-L

K33HJ-L

K41HJ-L

K34HJ-L



AC System Performance Curves

Nema 23 -CT Series

Nema 34 -CT Series

0

25

50

75

100

125

150

175

200

225

0 10 20 30 40 50

CTP21xxx04

CTM21xxx04

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

Torq

ue (o

z*in

)

CTP21xxx04/CTM21xxx04

0

50

100

150

200

250

300

350

400

0 10 20 30 40 50

CTP22xxx06

CTM22xxx06

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

Torq

ue (o

z*in

)


0

100

200

300

400

500

600

700

0 10 20 30 40 50

CTP31xxx09

CTM31xxx09

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

Torq

ue (o

z*in

)


0

200

400

600

800

1000

1200

0 10 20 30 40 50

CTP32xxx11

CTM32xxx11

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

Torq

ue (o

z*in

)


0

200

400

600

800

1000

1200

1400

1600

1800

0 10 20 30 40 50

CTP33xxx13

CTM33xxx13

Speed (RPS)

Speed (RPM) 600 1,200 1,800 2,400 3,000

Torq

ue (o

z*in

)




AC System Performance Curves


17

0

200

400

600

800

1000

1200

0 5 10 15 20 25 30

K32LG-L

Speed (RPS)

Speed (RPM) 300 600 900 1,200 1,500 1,800

Torq

ue (o

z*in

)

K32LG-L

0

200

400

600

800

1000

1200

1400

1600

1800

0 5 10 15 20 25 30

K33LG-L

Speed (RPS)

Speed (RPM) 300 600 900 1,200 1,500 1,800

Torq

ue (o

z*in

)

K33LG-L

0200400600800

100012001400160018002000

0 5 10 15 20 25 30

K34LG-L

Speed (RPS)

Speed (RPM) 300 600 900 1,200 1,500 1,800

Torq

ue (o

z*in

)

K34LG-L

0

500

1000

1500

2000

2500

3000

3500

0 5 10 15 20 25 30 35

TORQUE (OZ*IN)

K42LG-L

Speed (RPS)

Speed (RPM) 300 600 900 1,200 1,500 2,1001,800

Torq

ue (o

z*in

)

42LG-L

0

200

400

600

800

1000

1200

1400

1600

0 5 10 15 20 25 30

K41LG-L

Speed (RPS)

Speed (RPM) 300 600 900 1,200 1,500 1,800

Torq

ue (o

z*in

)

K41LG-L

0

100

200

300

400

500

600

0 5 10 15 20 25 30

K31LG-L

Speed (RPS)

Speed (RPM) 300 600 900 1,200 1,8001,800

Torq

ue (o

z*in

)

K31LG-L

Nema 34 - K SeriesBelow are speed-torque curves for the most popular Danaher Motion motors. Many additional motors and variants are available. Contact Danaher Motion for details.

Nema 42 - K Series


P7000 Motor Selection Guide

18

ConfigurationP70530 P70360

24V 36V 72V 320V

CT S

erie

s

N/A X XCTP10xxx10 N/A X XCTP11xxx17 N/A X XCTP11xxx11 N/A X XCTP12xxx26 N/A X XCTP12xxx10 N/A X X

Nema 23CTP20xxx27 N/A X XCTP20xxx17 N/A X X XCTP21xxx39 N/A X XCTP21xxx25 N/A X X XCTP21xxx15 N/A XCTP22xxx50 N/A X XCTP22xxx31 N/A X X XCTP21xxx04 N/A XCTP22xxx06 N/A X

Nema 34CTP31xxx72 N/A XCTP31xxx28 N/A X XCTP31xxx45 N/A XCTP31xxx09 N/A XCTP32xxx73 N/A X XCTP32xxx46 N/A XCTP32xxx11 N/A XCTP33xxx47 N/A X XCTP33xxx75 N/A XCTP33xxx13 N/A X

Enha

nced

CT

Seri

es

Nema 23CTM21xxx39 N/A X XCTM21xxx25 N/A X X XCTM21xxx15 N/A XCTM22xxx50 N/A X XCTM22xxx31 N/A X X XCTM21xxx04 N/A XCTM22xxx06 N/A X

Nema 34CTM31xxx72 N/A XCTM31xxx28 N/A X XCTM31xxx45 N/A XCTM31xxx09 N/A XCTM32xxx73 N/A X XCTM32xxx46 N/A XCTM32xxx11 N/A XCTM33xxx47 N/A X XCTM33xxx75 N/A XCTM33xxx13 N/A X

K Se

ries

Nema 34K31xxxJ Parallel X XK32xxxJ Parallel X XK33xxxJ Parallel X XK34xxxJ Parallel X XK31xxxG Series XK32xxxG Series XK33xxxG Series X K34xxxG Series X

Nema 42K41xxxJ Parallel X XK41xxxG Series XK42xxxG Series X

Note: If using a system above or below the specific voltage listed, please consult Danaher Motion.



19

P7000 Model Number Scheme

Stepper Drive FamilyP7 = P7000 Series

FunctionalityPN = Motion Node indexingSD = Step/Direction base driveR4 = RS485 (P70360 only)

Feedback Device SupportN = None

CustomizationOmit field for standard configurations

Current Rating03 = 2.5 Arms continuous, 3.5 Apeak (AC models only)05 = 5 Arms continuous, 7.1 Apeak (DC models only)

Voltage Range3 = 20 - 75 VDC6 = 120/240 VAC

Electrical Options0 = None

Accessories1. 106-113020-01 - Connector kit for P70360-SDN & P70360-PNN included in standard drive package at no additional cost2. P7S2-232-9D - RS232 serial communication cable (DB-9 to Mod Jack) - 6 feet, sold separately3. 768-026902-01 - Terminal Block adaptor for I/O connector, sold separately4. 106-111020-01 - Connector kit for P70530-SDN & P70530-PNN included in standard drive package at no additional cost

P7 03 6 0 - SD N - xxx

Stepper Drive FamilyP7 = P7000 Series

FunctionalityPN = Motion Node indexingSD = Step/Direction base driveR4 = RS485 (P70360 only)

Feedback Device SupportN = None

CustomizationOmit field for standard configurations

Current Rating03 = 2.5 Arms continuous, 3.5 Apeak (AC models only)05 = 5 Arms continuous, 7.1 Apeak (DC models only)

Voltage Range3 = 20 - 75 VDC6 = 120/240 VAC

Electrical Options0 = None

Accessories Included in Standard Drive Package1. 106-113020-01 - Connector kit for P70360-SDN & P70360-PNN2. 106-111020-01 - Connector kit for P70530-SDN & P70530-PNN

P7 03 6 0 - SD N - xxx

Accessories Not Included in Standard Drive Package1. 768-026902-01 - Terminal Block adaptor for I/O connector2. P7S2-232-9D - RS232 serial communication cable (DB-9 to Mod Jack) - 6 feet

Find Additional P7000 Product InformationDanaherMotion.com offers many new tools to help serve your needs. We’ve developed an intuitive Web-based system to increase your knowledge of motion control, search our vast product selection by product attribute (using our New Product Advisors), and easily locate your nearest Danaher Motion distributor or Sales office.

Visit www.DanaherMotion.com for more information and see our latest tools.

P7000 Ordering and Product Information

External power supplies available. Contact factory for selection assistance.

Figure 2: Part Number 768-026902-01


Notes

20


Page header goes here


21


USA, Canada and MexicoDanaher Motion203A West Rock RoadRadford, VA 24141 USAPhone : 1-540-633-3400Fax : 1-540-639-4162E-mail : [email protected]

United KingdomDanaher MotionChartmoor Road, Chartwell Business ParkLeighton Buzzard, BedfordshireLU7 4WG; United KingdomPhone : +44 (0)1525 243 243Fax : +44 (0)1525 243 244E-mail : [email protected]

GermanyDanaher Motion GmbHSales Office NorthWacholderstr. 40-4240489 DüsseldorfGermanyPhone : +49 (0) 203 9979 214Fax : +49 (0) 203 9979 3214E-mail : [email protected]

Danaher Motion GmbHSales Office South WestBrückenfeldstraße 26/1 75015 Bretten GermanyPhone: +49 (0) 7252 96462 10Fax: +49 (0) 7252 96462 69E-mail: [email protected]

Danaher Motion GmbHSales Office South EastKiesgräble 789129 LangenauGermanyPhone : +49 (0) 7471 62 23 23Fax : +49 (0) 7471 62 23 26E-mail : [email protected]

FranceDanaher MotionC.P 8001812, Rue Antoine Becquerel – Z.I. Sud72026 Le Mans Cedex 2FrancePhone: +33 (0) 243 50 03 30Fax : +33 (0) 243 50 03 39E-mail : [email protected]

ItalyDanaher Motion srlLargo Brughetti20030 Bovisio MasciagoItalyPhone: +39 0362 594260Fax : +39 0362 594263E-mail : [email protected]

SwedenDanaher MotionBox 9053291 09 KristianstadSwedenPhone : +46 (0) 44-24 67 00Fax : +46 (0) 44-24 40 85E-mail : [email protected]

SwitzerlandDanaher Motion SALa Pierreire 21029 Villars-Ste-CroixSwitzerlandPhone : +41 (0) 21 631 33 33Fax : +41 (0) 21 636 05 09E-mail : [email protected]

ChinaDanaher MotionRm 2205, Scitech Tower22 Jianguomen Wai StreetBeijing, China, 100004Phone: +86 10 6515 0260Fax : +86 10 6515 0263E-mail : [email protected]

JapanDanaher Motion Japan2F, Tokyu Reit Hatchobori Bldg,2-7-1 Hatchobori Chuo-ku,Tokyo 104-0032 JapanPhone: +81-3-6222-1051Fax : +81-3-6222-1055E-mail : [email protected]

Asia PacificDanaher Motion (HK) LtdUnit A, 16 Floor, 169 Electric RoadManulife Tower, North PointHong KongPhone: +852 2503 6581Fax: +852 2571 8585E-mail: [email protected]

2007

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Documents

P7000 Microstepping Drives - Kollmorgen