RBE (H) Series Motors: Data Publication
RBE (H) Series Motors: Data Publication
RBE (H) Series Motors: Data Publication
Data
Publication
The RBE series brushless motors provide a wide range of flexible motor solutions for frameless
DDR (Direct Drive Rotary) motor applications.
These motors come in either housed (RBEH) or frameless (RBE) mechanical configurations. The
Housed models come with stainless steel shafts and can include any combination of Hall sensors,
encoder, or resolver as rotor position feedback devices.
The frameless configuration is supplied as two separate components (rotor and stator) and does not
include a shaft, bearings, or endbells. Frameless motors are integrated directly with the load where
the same bearings which support the load also support the motor. This configuration eliminates
shaft, bearings, endbells, and couplings offering reduced volume, weight, complexity and also
results in improved servo stiffness and quicker response. Frameless motors can include integral
Hall sensors and additional position feedback devices such as encoders or resolvers would be
added as separate components.
RBE(H) Motor Series
INTRODUCTION
Brushless systems offer distinct mechanical advantages over The field assembly or rotor typically consists of permanent
conventional systems. Placement of brushless windings into magnet poles bonded to a flux carrying yoke ring. The mag-
the outer stationary member and field magnets onto the inner net material selected will depend upon the application.
rotating member allows significant reductions in rotor iner- Available magnet materials include Samarium Cobalt and
tia and increases in acceleration. Winding heat can be trans- the new high energy Neodymium-Iron-Boron compounds.
ferred directly from the outer member into adjacent heat For high speed applications, a magnet retaining band can be
sinks. Cooling and efficiency are improved. Generally, placed around the rotor to insure mechanical integrity.
brushless systems can provide extra performance while sur-
viving a great variety of operating conditions and offer Rotor Position Feedback
improved efficiency and heat dissipation. Kollmorgen’s
brushless motors are available frameless or housed and are High performance Brushless DC systems require rotor posi-
easily matched with Kollmorgen servo amplifiers. As new tion feedback to the amplifier to perform the commutation
technologies emerge, Kollmorgen will continue providing function, which is required for the Brushless DC motor to
the very finest motion control system components. rotate. Kollmorgen Brushless DC motor systems typically
will include one of the following rotor feedback configura-
Brushless Motor System Components tions: Hall sensors, encoder, or resolver. Hall sensors have
the advantage that they are an integral part of the Armature
There are four basic components in a brushless motor drive and therefore do not require the customer to integrate a sep-
system. They are the Armature, the Field, the Rotor Position arate feedback device. For frameless motor applications
Feedback and the Servo Amplifier. which require a resolver or encoder, the customer will often
need to add these as separate components in their system.
The Armature
Servo Amplifier
The armature is the wound member of the motor and consists
of a three phase windings wound on a laminated iron core. The servo amplifier is required for a brushless motor to
The armature is the outer member and is stationary. It con- rotate. The servo amplifier acquires the rotor position feed-
sists of low loss laminations bonded into a core which may back. This information is used to direct current into the
have skewed winding slots. The core and slots are electri- appropriate windings of the Armature to develop torque. As
cally insulated prior to inserting the winding. The winding the Rotor rotates, the Servo Amplifier uses the Rotor Posi-
consists of series of coils for each motor phase. Phase inter- tion Feedback to redirect the current into a different winding
connections are made inside the winding, resulting in a phase, as necessary to continue to generate torque as the
“wye” or “delta” connection. With a three wire termination, rotor rotates. The Servo amplifier will typically close an
there is no reason for the customer to require either a “wye” internal current loop. Optionally, the Servo amplifier can
or “delta” internal connection. Three leads are typically use the Rotor Position Feedback to control the velocity and /
brought out for connection to the amplifier. or the position of the motor.
2 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
INTRODUCTION
Kollmorgen brushless motors can be supplied either frame- Brushless motors are not commutated mechanically, such as
less or housed. A housed motor includes a shaft, bearings, with a commutator and brushes, but electronically based on
and endbells along with any feedback devices, into an inte- rotor magnet position information. Kollmorgen six step
gral assembly. This is the classical motor configuration. The amplifiers are designed to utilize Hall device position signals
customer mounts the motor housing into the desired system for commutation. Hall devices mounted onto the stator con-
and provides a mechanical coupling to the motor shaft. The vey rotor magnet position to the amplifier. This position
coupling can be a direct shaft coupling, gearing, or belts / information is necessary for commutation which changes the
pulleys. In many applications, the customer mounts the load direction of current flow in the proper motor windings at the
directly to the motor shaft with the motor bearings support- proper time. The Hall devices are accurately aligned with
ing the load. Frameless motors are supplied as two separate the stator winding back EMF at the factory on all motors
components; the Rotor (Field) and Stator (Armature). The supplied with Hall devices.
Frameless motor does not include shaft, bearings, or end-
bells. Frameless motors are used in applications where the The Hall device and Motor Phase Output diagram shows
customer desires to minimize the size and weight of the proper alignment of the three Hall device outputs with the
motor and / or obtain the maximum dynamic performance. three motor back EMF waveforms. Externally rotating the
Since the load is often supported on its own bearing struc- motor field generates a back EMF voltage in each phase,
ture, the Frameless motor can be integrated directly onto the which is used to align the Hall sensor in the optimum posi-
system / load shaft and be suspended on the same bearings tion. Current supplied to each phase will correspond with
as the load. the Hall device switching points.
This eliminates the need for an additional shaft, bearings, External motor phase connections are labeled A, B, and C,
endbells, and any coupling between the motor shaft and the “V-AB” refers to the back EMF voltage produced across
load. An advantage of Frameless motors is that, since there leads A and B. “V-BC” and “V-CA” denote voltages pro-
is no coupling between the shaft and the load, torsional play duced across leads B and C and across C and A respectively.
between the motor and load is minimized resulting in Corresponding Hall device outputs are labeled “H-AB”, “H-
improved dynamic performance. Another advantage of BC”, and “H-CA”.
Frameless motors is that inertia matching between the motor
and load, which is typically required for housed motor appli- Kollmorgen sinusoidal amplifiers are designed to utilize
cations, is not a critical requirement for Frameless motor resolver or encoder / Hall sensor position information for
applications, since the motor and load are one inertial mass. commutation. This feedback may be customer supplied or
factory supplied for housed brushless motors. Feedback
System Performance and Communication selection will vary depending on the motor selected and the
application. Motor selection for a sinusoidal system may
Careful selection of system components optimizes brushless require factory consultation to assure performance goals are
system performance. Kollmorgen offers brushless compo- met. Although six step commutation systems can provide
nents for two kinds of brushless systems: six step (trape- torque with ripple as low as five or six percent, sinusoidal
zoidal) and sinusoidal. Selection should be made based on system torque ripple can approach values of one percent.
the application and on the performance requirements. For Amplifiers for both system types are pulse width modulated.
most servo applications, a six step sequence is appropriate
unless very smooth operation under load at slow speed is
required. For such applications, sinusoidal amplifiers with
selected brushless motors offer exceptionally smooth opera-
tion with low torque ripple.
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 3
RBE(H) Motor Series
INTRODUCTION
Motor Parameters
Motor parameters are listed on the individual data page for This ratio is useful during the initial selection of a motor,
each motor. These parameters are dependent upon the size because it indicates the ability of a motor to convert electrical
and shape of the model, but are independent of the winding power into torque. A common use of Km is to determine
used. Following is a brief description of the motor parameters. how much power a motor will dissipate in order to generate
a certain amount of torque by using the following equation:
Maximum Continuous Output Power at 25°C Ambient
(HP Rated). This is the maximum continuous power output Watts Dissipated = Torque^2 / Km^2
based on a 130°C temperature rise and a standard aluminum
heat sink. (Standard heat sink size is listed just above the Thermal Resistance (Rth) is the ratio of winding temperature
continuous performance curves). The maximum continuous rise to average power losses continuously dissipated from
power output can be increased if additional cooling is provided. the stator. Motor Rth values assume a standard aluminum
heat sink which is specified above the continuous speed
Speed at Rated Power (N Rated) is the speed at which the torque curve for each RBE(H) series. Customer supplied
maximum continuous power is output. supplemental cooling can reduce the Rth value significantly
resulting in increased continuous speed and torque operation.
Maximum Mechanical Speed (N Max) is the maximum
speed which will not compromise rotor integrity. Viscus Damping (Fi) is the torque loss due to rotational
losses, mostly eddy current, which is proportional to speed.
Continuous Stall Torque at 25°C Ambient (Tc) is the A lower Fi indicates less loss during high speed operation.
maximum constant torque without rotation resulting in a
steady state winding temperature rise of 130°C with the Maximum Static Friction (Tf) is the sum of the retarding
standard aluminum heat sink. The size of the standard heat torques at start-up or at stall within the motor. In a frameless
sink is listed above the continuous performance curve for brushless motor, retarding torques consist of magnetic
each RBE(H) series. The continuous stall torque can be frictional torque and cogging torque. Housed motor TF
increased if additional cooling is provided. includes bearing and other retarding torques.
Peak Torque (Tp) is the maximum torque available from a Maximum Cogging Torque (Tcog) is a torque disturbance
given size of motor and is the torque the motor will provide based on the magnets in the field attraction to the teeth in the
when peak current Ip is provided. Peak torque is based on armature. Cogging torque is minimized in the motor design
the maximum current density in the winding and is available by strategic selection of slot / pole combinations and by
for a maximum duration of 10 seconds. skewing the laminations in the armature.
Maximum Torque for Linear KT (Tsl) is the maximum Number of Poles (P) is the number of magnetic poles in the
torque for which Kt will be greater than 90 percent of Kt at field. The electrical cycles per revolution is equal to the
low torque. As the torque increases above Tsl, Kt will drop number of poles to the number of poles divided by 2.
below 90 percent of Kt at low torque and an incremental
increase in current will yield a reduced increase in torque.
Km = Tp/(Pp)^.5
4 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
INTRODUCTION
Winding Constants
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 5
RBE(H) Motor Series
RBE(H) 00410 MOTOR SERIES PERFORMANCE DATA
2000
1500
1000
500
00410 00411 00412
0
0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 oz-in
TORQUE
0 1.0 2.0 3.0 N-cm
6 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
DIMENSIONS
RBE-0041X-X00
4.318 "A"
(.170) 7.62
MAX. (.300)
(.035) MAX.
.89
MTG.
REQ'T
"B"
RBEH-0041X-X00
1.57 (.062)
.97 (.038)
3X 120°
-B-
Notes:
1) Shaft end play: with a 1 lb reversing load, the axial displacement shall be .015-.152 (.0006-.006). MODEL RBEH- RBEH- RBEH-
2) For a C.C.W. rotation, as viewed from pilot end, energize per excitation sequence table. NUMBER 00410 00411 00412
3) V-AB, V-BC and V-CA is back EMF of motor phases AB, BC and CA respectively, aligned with sensor “A” 31.50 37.85 44.20
output as shown for C.C.W. rotation only. Dimension (1.240) (1.490) (1.740)
RBE/RBEH LEADWIRE
Motor Leads: #26 AWG type “ET” Teflon coated Sensor Leads: #26 AWG type “ET” Teflon coated
per MIL-W-16878, 3 leads, 152 (6.00) min lg. ea. per MIL-W-16878, 5 leads, 152 (6.00) min lg. ea.
1-black, 1-white, 1-red. 1-yellow, 1-green, 1-orange, 1-blue, 1-brown.
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 7
RBE(H) Motor Series
RBE(H) 00510 MOTOR SERIES PERFORMANCE DATA
30000
25000
SPEED (RPM)
20000
15000
10000
5000
00510 00511 00512 00513
0
0 2.0 4.0 6.0 8.0 10.0 12.0 14.0 oz-in
TORQUE
0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.0 9.0 10.0 N-cm
8 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
DIMENSIONS
RBE-0051X-X00
"A"
4.83
(.190) 9.14
-A- MAX. (.360)
MAX.
MTG. REQ'T
Ø 26.67 Ø 25.40
26.64 (1.000) Ø12.70
(.500)
Ø4.80 (.189)
4.78 (.188)
(1.050) MAX.
(1.049) 2 PL.
.89
(.035)
MTG.
REQ'T "B"
MODEL RBE- RBE- RBE- RBE-
Dimensions in mm (inches). NUMBER 00510 00511 00512 00513
Product designed in inches. “A” 5.72 12.19 18.80 25.4
Metric conversions provided for reference only. Dimension (0.225) (0.480) (0.740) (1.000)
Notes: “B” 12.07 18.54 25.15 31.75
1) For a C.W. rotation, as viewed from lead end, energize per excitation sequence table. Dimension (0.475) (0.730) (0.990) (1.250)
2) V-AB, V-BC and V-CA is back EMF of motor phases AB, BC and CA respectively, aligned with
sensor output as shown for C.W. rotation only. Tolerance ± .010 on “A” Dimension.
RBEH-0051X-X00
#4-40 X 3.05 (.12) MIN. DP.
4 PL. ON A Ø 26.97 (1.062) BASIC
4.757
Ø 4.750
(.1873)
(.1870)
2 PL.
19.05
Ø 35.43 Ø
19.02
(1.395) (.750) 4X 90°
MAX. (.749)
1.52
(.060)
9.65 (.380) "A" 12.70
8.13 (.320) MAX. (.50)
Dimensions in mm (inches).
Product designed in inches.
Metric conversions provided for reference only.
RBE/RBEH LEADWIRE
Motor Leads: #26 AWG Teflon coated per MIL-W- Sensor Leads: #28 AWG type Teflon coated
22759/11, 3 leads, 152 (6.00) min lg. ea. 1-black, per MIL-W-22759/11, 5 leads, 152 (6.00) min lg. ea.
1-white, 1-red. 1-yellow, 1-green, 1-orange, 1-blue, 1-brown.
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 9
RBE(H) Motor Series
RBE(H) 00710 MOTOR SERIES PERFORMANCE DATA
25000
20000
SPEED (RPM)
15000
10000
5000
00710 00711 00712 00713 00714
0
0 5 10 15 20 25 30 35 40 oz-in
TORQUE
0 5 10 15 20 25 30 N-cm
10 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
DIMENSIONS
RBE-0071X-X00
“A”
10.16 (.400)
5.08 Max. -A-
.10 (.004) A (.200)
Max.
Mtg. Req't
Ø35.31
Ø35.81 (1.390)
(1.410) Max.
Max. 2 pl.
2 pl. Ø20.32 6.388 (.2515)
Ø 6.363 (.2505) Ø 37.80 (1.488)
(0.800) 37.77 (1.487)
Min.
0.89 (.035)
Mtg. Reg't Dimensions in mm (inches).
“B”
Product designed in inches.
Metric conversions provided for reference only.
RBEH-0071X-X00
-B-
1.52 (.060)
#6-32 X 4.8 (.19)
13.46 (.530) “A” 15.75 (.620) deep, 4 holes on a
11.94 (.470) MAX. 14.73 (.580) Ø38.10 (1.500) Basic
-A-
Ø .38 (.015) M A B M
Dimensions in mm (inches).
Notes:
Product designed in inches.
1) Shaft end play: with a 6 lb reversing load, the axial displacement shall be .013-.15
Metric conversions provided for reference only.
(.0005-.006).
2) For a C.C.W. rotation, as viewed from pilot end, energize per excitation sequence table.
3) V-AB, V-BC and V-CA is back EMF of motor phases AB, BC and CA respectively,
MODEL RBEH- RBEH- RBEH- RBEH- RBEH-
NUMBER 00710 00711 00712 00713 00714
aligned with sensor output as shown for C.C.W. rotation only.
“A” 39.83 46.18 52.53 58.88 66.50
Dimension (1.568) (1.818) (2.068) (2.318) (2.618)
RBE/RBEH LEADWIRE
Motor Leads: #24 AWG Teflon coated per MIL-W- Sensor Leads: #26 AWG type “ET” Teflon coated
22759/11, 3 leads, 152 (6.00) min lg. ea. 1-black, per MIL-W-16878, 5 leads, 152 (6.00) min lg. ea.
1-white, 1-red. 1-blue, 1-brown, 1-green, 1-orange, 1-yellow.
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 11
RBE(H) Motor Series
RBE(H) 01210 MOTOR SERIES PERFORMANCE DATA
Motor Parameters Symbols Units 01210 01211 01212 01213 01214 01215
Max Cont. Output Power HP Rated HP 0.142 0.204 0.243 0.272 0.290 0.310
at 25°C amb. P Rated Watts 106 152 181 203 216 231
Speed at Rated Power N Rated RPM 13800 9680 8100 7152 6230 5100
Max Mechanical Speed N Max RPM 18000 18000 18000 18000 18000 18000
Continuous Stall Torque Tc oz-in 16.4 31.6 43.5 54.8 66.2 90.4
at 25°C amb. N-m 0.115 0.223 0.307 0.387 0.467 0.639
Peak Torque Tp oz-in 48.4 114 168 222 282 435
N-m 0.342 0.806 1.18 1.57 1.99 3.07
Max Torque Tsl oz-in 48.4 114 168 222 282 435
for Linear KT N-m 0.342 0.806 1.18 1.57 1.99 3.07
Motor Constant Tm oz-in/ W 4.00 7.12 9.50 11.7 13.9 18.4
N-m/ W 0.028 0.050 0.067 0.083 0.098 0.130
Thermal Resistance* Rth °C/Watt 4.25 3.86 3.68 3.55 3.44 3.27
Viscous Damping Fi oz-in/RPM 1.30E-04 2.96E-04 4.46E-04 5.97E-04 7.78E-04 1.20E-03
N-m/RPM 9.18E-07 2.09E-06 3.15E-06 4.22E-06 5.49E-06 8.48E-06
Max Static Friction Tf oz-in 1.70 2.13 2.53 2.92 3.40 4.50
N-m 0.0120 0.015 0.018 0.021 0.024 0.032
Max Cogging Torque Tcog oz-in 0.41 0.66 0.88 1.10 1.37 2.00
Peak to Peak N-m 0.0029 0.0046 0.0062 0.0078 0.0097 0.014
Inertia Jmf oz-in-sec2 7.30E-04 1.20E-03 1.70E-03 2.10E-03 2.70E-03 4.00E-03
Frameless Kg-m2 5.15E-06 8.47E-06 1.20E-05 1.48E-05 1.91E-05 2.82E-05
Motor Weight Wtf oz 4.5 7.2 9.6 12.1 15.1 22.0
Kg 1.26E-01 2.03E-01 2.74E-01 3.44E-01 4.28E-01 6.24E-01
Inertia Jmh oz-in-sec2 7.60E-04 1.30E-03 1.80E-03 2.20E-03 2.80E-03 4.20E-03
Housed Kg-m2 5.37E-06 9.18E-06 1.27E-05 1.55E-05 1.98E-05 2.97E-05
Motor Weight Wth oz 11.3 14.2 16.8 19.5 22.6 30.0
Kg 3.20E-01 4.02E-01 4.77E-01 5.52E-01 6.41E-01 8.50E-01
No. of poles P 8 8 8 8 8 8
12000
10000
8000
6000
4000
2000
01210 01211 01212 01213 01214 01215
0
0 10 20 30 40 50 60 70 80 90 100 oz-in
TORQUE
0 10 20 30 40 50 60 70 N-cm
12 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
DIMENSIONS
RBE-0121X-X00
“A”
10.16 (.400)
Max.
.10 (.004) A 5.08
Mtg. Req't (.200) -A-
Max.
Ø46.61
(1.835)
Ø47.88 Max.
(1.885) 2 pl. 9.563 (.3765) 49.20 (1.937)
Ø 9.538 (.3755) Ø 49.15 (1.935)
Max. Ø30.73
2 pl. (1.210)
Min.
RBEH-0121X-X00
-B-
RBE/RBEH LEADWIRE
Motor Leads: #20 AWG Teflon coated per MIL-W- Sensor Leads: #26 AWG type “ET” Teflon coated
22759/11, 3 leads, 152 (6.00) min lg. ea. 1-black, per MIL-W-16878, 5 leads, 152 (6.00) min lg. ea.
1-red, 1-white. 1-blue, 1-brown, 1-green, 1-orange, 1-yellow.
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 13
RBE(H) Motor Series
RBE(H) 01510 MOTOR SERIES PERFORMANCE DATA
Motor Parameters Symbols Units 01510 01511 01512 01513 01514 01515 01516
Max Cont. Output Power HP Rated HP 0.127 0.176 0.210 0.240 0.264 0.284 0.307
at 25°C amb. P Rated Watts 95 131 157 179 197 212 229
Speed at Rated Power N Rated RPM 7450 5400 4550 4050 3570 3400 2970
Max Mechanical Speed N Max RPM 16500 16500 16500 16500 16500 16500 16500
Continuous Stall Torque Tc oz-in 27.4 54.3 71.9 91.3 114 127 154
at 25°C amb. N-m 0.193 0.384 0.508 0.645 0.808 0.897 1.085
Peak Torque Tp oz-in 78.6 162 234 313 403 540 610
N-m 0.555 1.15 1.66 2.21 2.85 3.81 4.31
Max Torque Tsl oz-in 78.6 162 234 313 403 540 610
for Linear KT N-m 0.555 1.16 1.66 2.21 2.85 3.81 4.31
Motor Constant Km oz-in/ W 6.38 11.6 14.8 18.2 22.1 24.1 28.6
N-m/ W 0.0451 0.0819 0.105 0.128 0.156 0.170 0.202
Thermal Resistance* Rth °C/Watt 4.10 3.55 3.30 3.13 2.95 2.85 2.72
Viscous Damping Fi oz-in/RPM 2.74E-04 1.05E-03 1.76E-03 2.47E-03 3.32E-03 3.88E-03 5.30E-03
N-m/RPM 1.94E-06 7.43E-06 1.24E-05 1.74E-05 2.34E-05 2.74E-05 3.74E-05
Max Static Friction Tf oz-in 2.00 2.93 3.77 4.62 5.63 6.31 8.00
N-m 0.0141 0.021 0.027 0.033 0.040 0.045 0.057
Max Cogging Torque Tcog oz-in 0.950 1.22 1.47 1.71 2.01 2.21 2.70
Peak to Peak N-m 0.00671 0.00862 0.0104 0.0121 0.0142 0.0156 0.019
Inertia Jmf oz-in-sec2 2.10E-03 3.60E-03 4.90E-03 6.20E-03 7.70E-03 8.80E-03 1.14E-02
Frameless Kg-m2 1.48E-05 2.54E-05 3.46E-05 4.38E-05 5.44E-05 6.21E-05 8.05E-05
Motor Weight Wtf oz 6.30 10.5 14.3 18.1 22.7 25.8 33.4
Kg 1.79E-01 2.98E-01 4.06E-01 5.14E-01 6.44E-01 7.30E-01 9.47E-01
Inertia Jmh oz-in-sec2 2.20E-03 3.70E-03 5.00E-03 6.30E-03 7.80E-03 8.90E-03 1.15E-02
Housed Kg-m2 1.55E-05 2.61E-05 3.53E-05 4.45E-05 5.51E-05 6.28E-05 8.12E-05
Motor Weight Wth oz 19.0 23.5 27.5 31.6 36.4 39.7 47.8
Kg 5.39E-01 6.65E-01 7.80E-01 8.95E-01 1.03E+00 1.13E+00 1.38E+00
No. of poles P 12 12 12 12 12 12 12
10000
8000
SPEED (RPM)
6000
4000
2000
01510 01511 01512 01513 01514 01515 01516
0
0 20 40 60 80 100 120 140 160 180 oz-in
TORQUE
0 20 40 60 80 100 120 N-cm
14 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
DIMENSIONS
RBE-0151X-X00
"A"
5.08
(.200)
MAX. 10.16 (.400)
MAX.
MTG. REQ'T
.89 (.035)
MTG. REQ'T
"B"
Dimensions in mm (inches).
Product designed in inches.
Metric conversions provided for reference only.
Notes:
MODEL RBE- RBE- RBE- RBE- RBE- RBE- RBE-
NUMBER 01510 01511 01512 01513 01514 01515 01516
1) For a C.W. rotation, as viewed from lead end, energize per
excitation sequence table. “A” 5.72 12.7 19.05 25.4 33.02 38.1 50.8
2) V-AB, V-BC and V-CA is back EMF of motor phases AB, BC Dimension (0.225) (0.500) (0.750) (1.000) (1.300) (1.500) (2.000)
and CA respectively, aligned with sensor output as shown for “B” 12.07 19.05 25.4 31.75 39.37 44.45 57.15
C.W. rotation only. Dimension (0.475) (0.750) (1.000) (1.250) (1.550) (1.750) (2.250)
3) Mounting surface is between Ø 60.35 (2.376) and Ø 59.06
(2.325) on both sides. Tolerance ± .010 on “A” Dimension.
RBEH-0151X-X00
-A-
Ø12.695
12.687
(.4998)
(.4995)
Ø12.695 (.4998)
12.687 (.4995)
Ø 71.63
(2.820)
Ø44.45 MAX.
44.40
(1.750) #10-32 X 7.87 (.31) DP.
(1.748) 4 HOLES ON A Ø59.18 (2.330) BASIC
2.03
19.94 (.785) (.080)
18.16 (.715) 25.91
24.89
(1.020) 4X 90°
"A"
MAX. (.980)
Dimensions in mm (inches).
Product designed in inches.
Metric conversions provided for reference only.
Notes:
1) Shaft end play: with a 11 lb reversing load, the axial displace- MODEL RBEH- RBEH- RBEH- RBEH- RBEH- RBEH- RBEH-
ment shall be .013-.15 (.0005-.006). NUMBER 01510 01511 01512 01513 01514 01515 01516
2) For a C.C.W. rotation, as viewed from pilot end, energize per “A” 47.75 54.74 61.09 67.44 75.06 80.14 92.84
excitation sequence table. Dimension (1.880) (2.155) (2.405) (2.655) (2.955) (3.155) (3.655)
3) V-AB, V-BC and V-CA is back EMF of motor phases AB, BC
and CA respectively, aligned with sensor output as shown for
C.C.W. rotation only.
RBE/RBEH LEADWIRE
Motor Leads: #20 AWG Teflon coated per MIL-W- Sensor Leads: #26 AWG type “ET” Teflon coated
22759/11, 3 leads, 152 (6.00) min lg. ea. 1-black, per MIL-W-16878, 5 leads, 152 (6.00) min lg. ea.
1-red, 1-white. 1-blue, 1-brown, 1-green, 1-orange, 1-yellow.
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 15
RBE(H) Motor Series
RBE(H) 01810 MOTOR SERIES PERFORMANCE DATA
Motor Parameters Symbols Units 01810 01811 01812 01813 01814 01815
Max Cont. Output Power HP Rated HP 0.280 0.402 0.488 0.572 0.611 0.646
at 25°C amb. P Rated Watts 209 300 364 427 456 482
Speed at Rated Power N Rated RPM 7040 5250 4350 3850 3520 3230
Max Mechanical Speed N Max RPM 14000 14000 14000 14000 14000 14000
Continuous Stall Torque Tc oz-in 60.8 121 173 218 262 305
at 25°C amb. N-m 0.429 0.856 1.22 1.54 1.85 2.16
Peak Torque Tp oz-in 216 430 654 871 1069 1297
N-m 1.53 3.04 4.62 6.15 7.55 9.16
Max Torque Tsl oz-in 136 273 413 554 679 825
for Linear KT N-m 0.96 1.93 2.92 3.91 4.80 5.83
Motor Constant Km oz-in/ W 11.0 19.6 26.5 32.8 37.8 43.1
N-m/ W 0.077 0.139 0.187 0.231 0.267 0.304
Thermal Resistance* Rth °C/Watt 2.55 2.11 1.91 1.83 1.70 1.62
Viscous Damping Fi oz-in/RPM 9.00E-04 1.83E-03 2.71E-03 3.56E-03 4.39E-03 5.30E-03
N-m/RPM 6.36E-06 1.29E-05 1.91E-05 2.52E-05 3.10E-05 3.74E-05
Max Static Friction Tf oz-in 3.10 4.49 5.81 7.09 8.33 9.70
N-m 0.0219 0.032 0.041 0.050 0.059 0.069
Max Cogging Torque Tcog oz-in 1.50 1.79 2.08 2.35 2.61 2.90
Peak to Peak N-m 0.0106 0.0127 0.0147 0.0166 0.0184 0.020
Inertia Jmf oz-in-sec2 5.10E-03 8.70E-03 1.22E-02 1.55E-02 1.88E-02 2.23E-02
Frameless Kg-m2 3.60E-05 6.14E-05 8.62E-05 1.09E-04 1.33E-04 1.57E-04
Motor Weight Wtf oz 12.0 19.8 27.2 34.5 41.4 49.1
Kg 3.40E-01 5.61E-01 7.72E-01 9.77E-01 1.17E+00 1.39E+00
Inertia Jmh oz-in-sec2 5.30E-03 8.80E-03 1.24E-02 1.58E-02 1.91E-02 2.27E-02
Housed Kg-m2 3.74E-05 6.21E-05 8.76E-05 1.12E-04 1.35E-04 1.60E-04
Motor Weight Wth oz 30.0 38.2 46.0 53.6 60.9 69.0
Kg 8.50E-01 1.08E+00 1.30E+00 1.52E+00 1.73E+00 1.96E+00
No. of poles P 12 12 12 12 12 12
10000
8000
SPEED (RPM)
6000
4000
2000
01810 01811 01812 01813 01814 01815
0
0 50 100 150 200 250 300 350 oz-in
TORQUE
0 40 80 120 160 200 240 N-cm
16 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
DIMENSIONS
RBE-0181X-X00
.89 (.035) “A”
Mtg. Req't .10 (.004) A
6.35 (.250) Mtg. Req't.
Max. -A-
Ø 75.97
75.92
(2.991)
Ø46.99 (2.989)
(1.850)
Min. Ø73.41
(2.890)
Max.
Ø74.68 2 pl.
(2.940)
Max.
2 pl. 12.738
Ø 12.713
(.5015)
.25 (.010) (.5005)
x 45° Dimensions in mm (inches).
2 pl. Product designed in inches.
“B” Metric conversions provided for reference only.
10.16 (.400)
Max.
MODEL RBE- RBE- RBE- RBE- RBE- RBE-
NUMBER 01810 01811 01812 01813 01814 01815
Notes: “A” 6.99 15.24 23.11 30.73 38.10 46.23
1) For a C.W. rotation, as viewed from lead end, energize per excitation
Dimension (0.275) (0.600) (0.910) (1.210) (1.500) (1.820)
sequence table.
2) V-AB, V-BC and V-CA is back EMF of motor phases AB, BC and CA “B” 13.34 21.59 29.46 37.08 44.45 52.58
respectively, aligned with sensor output as shown for C.W. rotation only. Dimension (0.525) (0.850) (1.160) (1.460) (1.750) (2.070)
3) Mounting surface is between Ø 74.68 (2.940) and Ø 75.95 (2.990) on both
sides.
Tolerance ± .010 on “A” Dimension.
RBEH-0181X-X00
26.11 2.03
24.69 (.080)
(1.028)
"A" 32.13 (1.265) 4X 90°
(.972)
Max. 31.37 (1.235)
-B-
Dimensions in mm (inches).
Notes: Product designed in inches.
1) Shaft end play: with a 9 lb reversing load, the axial displacement shall Metric conversions provided for reference only.
be .013-.15 (.0005-.006).
2) For a C.C.W. rotation, as viewed from pilot end, energize per excitation MODEL RBEH- RBEH- RBEH- RBEH- RBEH- RBEH-
sequence table. NUMBER 01810 01811 01812 01813 01814 01815
3) V-AB, V-BC and V-CA is back EMF of motor phases AB, BC and CA “A” 47.17 55.42 63.30 70.92 78.28 86.41
respectively, aligned with sensor output as shown for C.C.W. rotation only. Dimension (1.857) (2.182) (2.492) (2.792) (3.082) (3.402)
RBE/RBEH LEADWIRE
Motor Leads: #20 AWG Teflon coated per MIL-W- Sensor Leads: #26 AWG type “ET” Teflon coated
22759/11, 3 leads, 152 (6.00) min lg. ea. 1-black, per MIL-W-16878, 5 leads, 152 (6.00) min lg. ea.
1-red, 1-white. 1-blue, 1-brown, 1-green, 1-orange, 1-yellow.
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 17
RBE(H) Motor Series
RBE(H) 02110 MOTOR SERIES PERFORMANCE DATA
Motor Parameters Symbols Units 02110 02111 02112 02113 02114 02115
Max Cont. Output Power HP Rated HP 0.323 0.672 0.761 0.854 0.944 1.07
at 25°C amb. P Rated Watts 241 501 568 637 704 796
Speed at Rated Power N Rated RPM 5300 4242 3500 3050 2770 2650
Max Mechanical Speed N Max RPM 12000 12000 12000 12000 12000 12000
Continuous Stall Torque Tc lb-ft 0.703 1.23 1.77 2.20 2.69 3.20
at 25°C amb. N-m 0.952 1.67 2.40 2.99 3.64 4.33
Peak Torque Tp lb-ft 1.87 3.37 5.10 6.80 8.27 10.2
N-m 2.55 4.57 6.92 9.22 11.2 13.8
Max Torque Tsl lb-ft 1.26 2.56 3.75 5.00 6.37 7.49
for Linear KT N-m 1.72 3.47 5.08 6.78 8.64 10.2
Motor Constant Tm lb-ft/ W 0.102 0.175 0.243 0.293 0.345 0.394
N-m/ W 0.139 0.237 0.329 0.396 0.467 0.534
Thermal Resistance* Rth °C/Watt 1.70 1.60 1.50 1.40 1.30 1.20
Viscous Damping Fi lb-ft/RPM 1.04E-05 2.36E-05 3.59E-05 4.82E-05 6.06E-05 7.29E-05
N-m/RPM 1.41E-05 3.19E-05 4.87E-05 6.54E-05 8.21E-05 9.88E-05
Max Static Friction Tf lb-ft 0.026 0.052 0.077 0.10 0.13 0.15
N-m 0.035 0.071 0.104 0.136 0.171 0.203
Max Cogging Torque Tcog lb-ft 0.016 0.039 0.061 0.082 0.104 0.125
Peak to Peak N-m 0.022 0.053 0.083 0.111 0.141 0.169
Inertia Jmf lb-ft-sec2 5.50E-05 9.70E-05 1.40E-04 1.74E-04 2.13E-04 2.66E-04
Frameless Kg-m2 7.46E-05 1.32E-04 1.90E-04 2.36E-04 2.89E-04 3.61E-04
Motor Weight Wtf lb 1.29 2.21 3.07 3.94 4.80 5.66
Kg 0.585 1.00 1.41 1.77 2.18 2.59
Inertia Jmh lb-ft-sec2 5.60E-05 1.10E-04 1.41E-04 1.75E-03 2.14E-04 2.62E-04
Housed Kg-m2 7.59E-05 1.49E-04 1.91E-04 2.37E-03 2.90E-04 3.55E-04
Motor Weight Wth lb 2.00 3.22 4.37 5.51 6.66 7.80
Kg 0.907 1.46 2.00 2.50 3.04 3.54
No. of poles P 12 12 12 12 12 12
5000
4000
3000
2000
1000
02110 02111 02112 02113 02114 02115
0
0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 lb-ft
TORQUE
0 1 2 3 4 N-m
18 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
DIMENSIONS
RBE-0211X-X00
"A"
10.16 (.400)
6.35 (.250) MAX.
MAX.
MTG. REQ'T
Ø 92.20
(3.630)
Ø 92.71 MAX.
(3.650) Ø 54.61 15.913 (.6265) 2 PL.
MAX. (2.150) Ø15.888 (.6255)
26.80 (1.055) R.
2 PL. MIN.
MIN. Ø 94.74 (3.730)
94.69 (3.728)
3 PL.
.89 (.035)
MTG.
REQ'T
Dimensions in mm (inches).
"B" Product designed in inches.
Metric conversions provided for reference only.
RBEH-0211X-00
15.870 (.6248)
Ø 15.862 (.6245) 15.870 (.6248)
Ø 15.862 (.6245)
69.85
Ø
69.80 Ø 108.46
4X 90°
(2.750) (4.270)
(2.748) MAX.
2.54 (.100)
26.29 (1.035)
24.51 (.965) 32.39 (1.275)
"A" 31.12 (1.225)
MAX. 1/4-20 X 9.65 (.38) DP.
4 HOLES ON A
Ø 97.79 (3.850) BASIC
Dimensions in mm (inches).
Ø .38 (.015)
Product designed in inches.
Metric conversions provided for reference only.
Notes:
1) Shaft end play: with a 18 lb reversing load, the axial displacement shall
be .013-.13 (.0005-.005).
2) For a C.C.W. rotation, as viewed from pilot end, energize per excitation
MODEL RBEH- RBEH- RBEH- RBEH- RBEH- RBEH-
sequence table.
NUMBER 02110 02111 02112 02113 02114 02115
3) V-AB, V-BC and V-CA is back EMF of motor phases AB, BC and CA “A” 57.86 68.02 77.55 87.07 96.60 106.12
respectively, aligned with sensor output as shown for C.C.W. rotation only. Dimension (2.278) (2.678) (3.053) (3.428) (3.803) (4.178)
RBE/RBEH LEADWIRE
Motor Leads: #18 AWG Teflon coated per MIL-W- Sensor Leads: #26 AWG type “ET” Teflon coated
22759/11, 3 leads, 152 (6.00) min lg. ea. 1-black, per MIL-W-16878, 5 leads, 152 (6.00) min lg. ea.
1-red, 1-white. 1-blue, 1-brown, 1-green, 1-orange, 1-yellow.
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 19
RBE(H) Motor Series
RBE(H) 03010 MOTOR SERIES PERFORMANCE DATA
Motor Parameters Symbols Units 03010 03011 03012 03013 03014 03015 03016
Max Cont. Output Power HP Rated HP 0.863 1.12 1.32 1.48 1.49 1.60 1.61
at 25°C amb. P Rated Watts 644 832 981 1107 1110 1190 1200
Speed at Rated Power N Rated RPM 3000 2230 1830 1630 1460 1320 1200
Max Mechanical Speed N Max RPM 8300 8300 8300 8300 8300 8300 8300
Continuous Stall Torque Tc lb-ft 2.21 3.73 5.75 7.04 8.22 9.83 11.3
at 25°C amb. N-m 3.00 5.06 7.81 9.55 11.1 13.3 15.3
Peak Torque Tp lb-ft 15.2 23.7 43.0 56.3 68.8 85.1 101
N-m 20.6 32.2 58.3 76.3 93.2 115 137
Max Torque Tsl lb-ft 6.26 11.7 18.9 24.7 30.1 37.3 41.8
for Linear KT N-m 8.49 15.9 25.6 33.5 40.9 50.6 56.7
Motor Constant Km lb-ft/ W 0.308 0.482 0.707 0.846 0.958 1.13 1.27
N-m/ W 0.418 0.653 0.958 1.15 1.30 1.53 1.73
Thermal Resistance* Rth °C/Watt 1.55 1.32 1.20 1.14 1.07 1.03 1.00
Viscous Damping Fi lb-ft/RPM 5.06E-05 8.44E-05 1.21E-04 1.55E-04 1.86E-04 2.26E-04 2.58E-04
N-m/RPM 6.86E-05 1.14E-04 1.64E-04 2.10E-04 2.52E-04 3.06E-04 3.50E-04
Max Static Friction Tf lb-ft 0.0938 0.171 0.255 0.332 0.401 0.493 0.566
N-m 0.127 0.231 0.345 0.450 0.544 0.668 0.767
Max Cogging Torque Tcog lb-ft 0.0521 0.103 0.159 0.210 0.257 0.317 0.366
Peak to Peak N-m 0.0706 0.140 0.216 0.285 0.348 0.430 0.496
Inertia Jmf lb-ft-sec2 2.03E-04 3.54E-04 5.16E-04 6.67E-04 8.02E-04 9.84E-04 1.13E-03
Frameless Kg-m2 2.75E-04 4.80E-04 7.00E-04 9.04E-04 1.09E-03 1.33E-03 1.53E-03
Motor Weight Wtf lb 3.25 5.36 7.68 9.79 11.7 14.2 16.2
Kg 1.41 2.43 3.48 4.44 5.31 6.45 7.37
Inertia Jmh lb-ft-sec2 3.33E-04 5.78E-04 8.44E-04 1.09E-03 1.31E-03 1.61E-03 1.84E-03
Housed Kg-m2 4.52E-04 7.84E-04 1.14E-03 1.48E-03 1.78E-03 2.18E-03 2.49E-03
Motor Weight Wth lb 7.56 10.1 13.0 15.5 17.9 20.9 23.4
Kg 3.43 4.60 5.90 7.05 8.10 9.50 10.6
No. of poles P 12 12 12 12 12 12 12
4000
3000
SPEED (RPM)
2000
1000
20 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
DIMENSIONS
RBE-0301X-X00
“A”
10.16 Max. 15.24 (.600) -A-
(.400) Max.
.10 (.004) A
Mtg. Req't
128.93
Ø124.97 Ø 128.88
Max. (5.076)
2 pl. (5.074)
(4.920) Ø 50.85 Ø120.65
50.80
(4.750)
Ø77.47 (2.002) Max.
Min. (2.000) 38.23 R 2 pl.
(3.050) Min.
3 pl.
(1.505)
.89 (.035)
Mtg. Req't “B”
Dimensions in mm (inches).
Product designed in inches.
Metric conversions provided for reference only.
MODEL RBE- RBE- RBE- RBE- RBE- RBE- RBE-
Notes: NUMBER 03010 03011 03012 03013 03014 03015 03016
1) For a C.W. rotation, as viewed from lead end, energize per “A” 13.34 26.67 41.275 54.61 66.68 82.55 95.25
excitation sequence table.
Dimension (0.525) (1.050) (1.625) (2.150) (2.625) (3.250) (3.750)
2) V-AB, V-BC and V-CA is back EMF of motor phases AB, BC
and CA respectively, aligned with sensor output as shown for “B” 19.69 33.02 47.63 60.96 73.02 88.90 101.6
C.W. rotation only. Dimension (0.775) (1.300) (1.875) (2.400) (2.875) (3.500) (4.000)
3) Mounting surface is between Ø 124.97 (4.920) and Ø 128.91
(5.075) on both sides.
Tolerance ± .010 on “A” Dimension.
RBEH-0301X-00
Ø142.24
Ø15.870 (.6248) Ø15.870 (.6248) (5.600)
15.862 (.6245) 15.862 (.6245) Max.
88.90 4 x 90°
Ø 88.85
(3.500)
(3.498)
-B-
Notes:
Dimensions in mm (inches).
1) Shaft end play: with a 24 lb reversing load, the axial displace-
Product designed in inches.
ment shall be .013-.13 (.0005-.0050).
Metric conversions provided for reference only.
2) For a C.C.W. rotation, as viewed from pilot end, energize per
excitation sequence table. MODEL RBEH- RBEH- RBEH- RBEH- RBEH- RBEH- RBEH-
3) V-AB, V-BC and V-CA is back EMF of motor phases AB, BC NUMBER 03010 03011 03012 03013 03014 03015 03016
and CA respectively, aligned with sensor output as shown for “A” 71.63 84.96 99.57 112.90 124.97 140.84 153.54
C.C.W. rotation only. Dimension (2.820) (3.345) (3.920) (4.445) (4.920) (5.545) (6.045)
RBE/RBEH LEADWIRE
Motor Leads: #18 AWG Teflon coated per MIL-W- Sensor Leads: #26 AWG type “ET” Teflon coated
22759/11, 3 leads, 152 (6.00) min lg. ea. 1-black, per MIL-W-16878, 5 leads, 152 (6.00) min lg. ea.
1-red, 1-white. 1-blue, 1-brown, 1-green, 1-orange, 1-yellow.
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 21
RBE(H) Motor Series
RBE(H) 04510 MOTOR SERIES PERFORMANCE DATA
3000
2500
2000
1500
1000
500 04510 04511 04512
0
0 2 4 6 8 10 12 14 16 18 lb-ft
TORQUE
0 4 8 12 16 20 24 N-m
22 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
DIMENSIONS
RBE-0451X-X00
“A” Lead to exit
15.24 (.600) within this area
Max. -A-
15.24 (.600) 40°
.10 (.004) A
Max.
Mounting
requirement
160°
180.34
Ø 180.26 178.69
Ø120.65 Ø120.65
(4.750) (7.100) 178.31
Ø175.39 (4.750) (7.097) (7.035)
Min. Min. 84.79
(6.905) 82.58 (7.020)
Max. Ø 82.55 84.28
(3.252) Ø170.18 (3.338)
2 pl. (6.700)
(3.250) (3.318)
Max. 2 pl.
.89 (.035)
Mounting 57.28 (2.255) R
Ref. 3 pl. 3.23 (.127)
requirement 3.18 (.125)
“B” 2 pl.
RBEH-0451X-X00
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 23
RBE(H) Motor Series
RBE(H) 06210 MOTOR SERIES PERFORMANCE DATA
3000
SPEED (RPM)
2000
1000
24 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
DIMENSIONS
RBE-0621X-X00
“A” Leads to exit
40° within this area.
19.05 (.750)
19.05 (.750) Max.
Max.
-A-
.10 (.004) A
Mounting req't.
239.17
Ø 239.09
Ø163.83 (9.416) 160°
Ø163.83 237.49
(6.450) (9.413) 122.81 237.11
120.66 (6.450)
Min. Ø120.65 Min. 122.43 (9.350)
Ø233.81 (4.752) (4.835) (9.335)
(9.205) (4.750) (4.820)
Ø224.79
Max. 2 pl. 78.87 R (8.850)
(3.105)
Ref. 3 pl. Max.
2 pl.
RBEH-0621X-X00
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 25
RBE(H) Motor Series
PERFORMANCE CURVES
RBE-00410-A RBE-00412-A
40000 25000
35000
28 Volt Bus 20000
30000
28 Volt Bus
25000
SPEED (RPM)
SPEED (RPM)
15000
20000
15000 10000
0 0
0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 oz-in 0 2 4 6 8 10 12 oz-in
TORQUE TORQUE
0 0.5 1.0 1.5 2.0 2.5 N-cm 0 1 2 3 4 5 6 7 8 9 N-cm
26 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
PERFORMANCE CURVES
RBE-00510-A00 RBE-00510-B00
35000 30000
30000
25000
28 Volt Bus
25000 28 Volt Bus
20000
SPEED (RPM)
SPEED (RPM)
20000
15000
15000
10000
10000
Continuous Intermittent
Continuous Intermittent
Duty Zone Duty Zone
Duty Zone Duty Zone 5000
5000
0 0
0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 oz-in 0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 oz-in
TORQUE TORQUE
0 1 2 3 4 5 N-cm 0 1 2 3 4 5 N-cm
RBE-00513-A00 RBE-00513-C00
25000 20000
18000
20000 16000 70 Volt Bus
SPEED (RPM)
15000 12000
48 Volt Bus
10000
10000 28 Volt Bus 8000
6000 28 Volt Bus
5000 4000
Continuous Intermittent Continuous Intermittent
Duty Zone Duty Zone 2000 Duty Zone Duty Zone
0 0
0 5 10 15 20 25 30 35 oz-in 0 5 10 15 20 25 30 35 oz-in
TORQUE TORQUE
0 5 10 15 20 25 N-cm 0 5 10 15 20 25 N-cm
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 27
RBE(H) Motor Series
PERFORMANCE CURVES
RBE-00710-A00 RBE-00710-B00
25000 18000
16000
20000 14000
28 Volt Bus
28 Volt Bus 12000
SPEED (RPM)
SPEED (RPM)
15000
10000
8000
10000
6000
RBE-00714-B00 RBE-00714-C00
9000 16000
8000 14000
7000 70 Volt Bus 70 Volt Bus
12000
6000
10000
SPEED (RPM)
SPEED (RPM)
28 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
PERFORMANCE CURVES
RBE-01210-B00 RBE-01210-C00
16000 16000
14000 14000
12000 12000
48 Volt Bus 28 Volt Bus
10000 10000
SPEED (RPM)
SPEED (RPM)
8000 8000
4000 4000
Continuous Intermittent
Continuous Intermittent Duty Zone Duty Zone
2000 Duty Zone Duty Zone 2000
0 0
0 5 10 15 20 25 30 35 40 45 50 oz-in 0 5 10 15 20 25 30 35 40 45 50 oz-in
TORQUE TORQUE
0 5 10 15 20 25 30 35 N-cm 0 5 10 15 20 25 30 35 N-cm
RBE-01215-B00 RBE-01215-C00
5000 6000
4500
5000
4000 100 Volt Bus
3500 48 Volt Bus
4000
SPEED (RPM)
SPEED (RPM)
3000
70 Volt Bus
2500 3000
2000 28 Volt Bus
2000
1500 48 Volt Bus
1000 Continuous Intermittent
Continuous Intermittent 1000 Duty Zone Duty Zone
500 Duty Zone Duty Zone
0 0
0 50 100 150 200 250 300 350 400 450 oz-in 0 50 100 150 200 250 300 350 400 450 oz-in
TORQUE TORQUE
0 50 100 150 200 250 300 350 N-cm 0 50 100 150 200 250 300 350 N-cm
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 29
RBE(H) Motor Series
PERFORMANCE CURVES
RBE-01510-B RBE-01510-C
14000 12000
12000 10000
SPEED (RPM)
SPEED (RPM)
8000
6000
6000
4000
4000 Continuous Intermittent
28 Volt Bus
Duty Zone Duty Zone
2000 Continuous Intermittent 2000
Duty Zone Duty Zone
0 0
0 10 20 30 40 50 60 70 80 oz-in 0 10 20 30 40 50 60 70 80 oz-in
TORQUE TORQUE
0 10 20 30 40 50 60 N-cm 0 10 20 30 40 50 60 N-cm
RBE-01516-B RBE-01516-C
4500 4500
4000 4000
3500 3500
3000 170 Volt Bus 3000 70 Volt Bus
SPEED (RPM)
SPEED (RPM)
2500 2500
2000 2000
1500 1500
70 Volt Bus 28 Volt Bus
1000 1000
Continuous Intermittent Continuous Intermittent
500 500
Duty Zone Duty Zone Duty Zone Duty Zone
0 0
0 100 200 300 400 500 600 700 oz-in 0 100 200 300 400 500 600 700 oz-in
TORQUE TORQUE
0 100 200 300 400 500 N-cm 0 100 200 300 400 500 N-cm
30 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
PERFORMANCE CURVES
RBE-01810-B RBE-01810-C
12000 12000
10000 10000
8000 8000
170 Volt Bus 70 Volt Bus
SPEED (RPM)
SPEED (RPM)
6000 6000
4000 4000
70 Volt Bus 28 Volt Bus
2000 Continuous Intermittent 2000
Continuous Intermittent
Duty Zone Duty Zone Duty Zone Duty Zone
0 0
0 50 100 150 200 250 oz-in 0 50 100 150 200 250 oz-in
TORQUE TORQUE
0 50 100 150 200 N-cm 0 50 100 150 200 N-cm
RBE-01815-B RBE-01815-C
4500 3000
4000
2500
3500
3000 300 Volt Bus 2000 300 Volt Bus
SPEED (RPM)
SPEED (RPM)
2500
1500
2000
170 Volt Bus
1500 1000
1000 170 Volt Bus
Continuous Intermittent 500 Continuous Intermittent
500 Duty Zone Duty Zone Duty Zone Duty Zone
0 0
0 200 400 600 800 1000 1200 1400 oz-in 0 200 400 600 800 1000 1200 1400 oz-in
TORQUE TORQUE
0 200 400 600 800 1000 N-cm 0 200 400 600 800 1000 N-cm
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 31
RBE(H) Motor Series
PERFORMANCE CURVES
RBE-02110-B RBE-02110-C
8000 8000
7000 7000
6000 6000
5000 5000
SPEED (RPM)
SPEED (RPM)
300 Volt Bus 300 Volt Bus
4000 4000
3000 3000
170 Volt Bus 170 Volt Bus
2000 2000
Continuous Intermittent
1000 Duty Zone Duty Zone 1000 Continuous Intermittent
Duty Zone Duty Zone
0 0
0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0 lb-ft 0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0 lb-ft
TORQUE TORQUE
0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0 2.2 2.4 2.6 2.8 N-m 0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0 2.2 2.4 2.6 2.8 N-m
RBE-02115-A RBE-02115-C
3500 1200
3000 1000
2500
800
SPEED (RPM)
SPEED (RPM)
2000
170 Volt Bus
600
1500 300 Volt Bus
400
1000
70 Volt Bus
170 Volt Bus
500 Intermittent 200
Continuous
Duty Zone Duty Zone Continuous Intermittent
Duty Zone Duty Zone
0 0
0 2 4 6 8 10 12 lb-ft 0 2 4 6 8 10 12 lb-ft
TORQUE TORQUE
0 2 4 6 8 10 12 14 16 N-m 0 2 4 6 8 10 12 14 16 N-m
32 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
PERFORMANCE CURVES
RBE-03010-A RBE-03016-B
8000 1600
7000 1400
6000 1200
300 Volt Bus
5000 1000
SPEED (RPM)
SPEED (RPM)
300 Volts
4000 800
RBE-03016-C
600
500
400
SPEED (RPM)
300
300 Volt Bus
200
Cont. 170 Volt Bus
Duty
100 Zone Intermittent
Duty Zone
0
0 10 20 30 40 50 60 70 80 90 lb-ft
TORQUE
0 20 40 60 80 100 120 N-m
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 33
RBE(H) Motor Series
PERFORMANCE CURVES
RBE-06210-A RBE-06210-B
4500 2000
4000 1800
3500 1600
1400
3000
SPEED (RPM)
SPEED (RPM)
1200
2500
1000
2000
300 Volt Bus 800 300 Volt Bus
1500
170 Volt Bus 600
1000 170 Volt Bus
400
Continuous Intermittent Continuous Intermittent
500 Duty Zone Duty Zone 200 Duty Zone Duty Zone
0 0
0 5 10 15 20 25 30 35 40 45 lb-ft 0 5 10 15 20 25 30 35 40 45 lb-ft
TORQUE TORQUE
0 10 20 30 40 50 60 N-m 0 10 20 30 40 50 60 N-m
RBE-06212-B RBE-06212-C
2500 1000
900
2000 800
700
SPEED (RPM)
SPEED (RPM)
1500 600
500
300 Volt Bus 300 Volt Bus
1000 400
34 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
PERFORMANCE CURVES
RBE-04510-B RBE-04510-C
3000 4500
4000
2500
3500
2000 3000
SPEED (RPM)
SPEED (RPM)
2500
1500
2000 170 Volt Bus
300 Volt Bus
1000 1500
170 Volt Bus
1000
500 Continuous Intermittent
Continuous Intermittent 500 Duty Zone Duty Zone
Duty Zone Duty Zone
0 0
0 5 10 15 20 25 lb-ft 0 5 10 15 20 25 lb-ft
TORQUE TORQUE
0 5 10 30 N-m 0 5 10 30 N-m
RBE-04512-A RBE-04512-C
3000 1800
1600
2500
1400
2000 1200
SPEED (RPM)
SPEED (RPM)
1000
1500
300 Volt Bus 800 300 Volt Bus
1000 170 Volt Bus 600 170 Volt Bus
400
500 Continuous Intermittent
Continuous Intermittent 200
Duty Zone Duty Zone Duty Zone Duty Zone
0 0
0 10 20 30 40 50 60 70 80 lb-ft 0 10 20 30 40 50 60 70 80 lb-ft
TORQUE TORQUE
0 10 20 30 40 50 60 70 80 90 100 110 N-m 0 10 20 30 40 50 60 70 80 90 100 110 N-m
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 35
RBE(H) Motor Series
OPTIONS — RBEH-0071X
BRAKE OPTION
-Fail-safe brake
44.6 Add to std. max. length -48 oz-in holding torque
(1.75)
-Release voltage of 24 VDC (0.13 Amps)
Dimensions in mm (inches).
Product designed in inches.
Metric conversions provided for reference only.
RESOLVER OPTION
ENCODER OPTION
36 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
OPTIONS — RBEH-0121X
BRAKE OPTION
-Fail-safe brake
38.35
Add to std. max. length
-48 oz-in holding torque
(1.510) -Release voltage of 24 VDC (0.13 Amps)
Dimensions in mm (inches).
Product designed in inches.
Metric conversions provided for reference only.
RESOLVER OPTION
ENCODER OPTION
Dimensions in mm (inches).
Product designed in inches. Index option not yet available for
Metric conversions provided for reference only. resolutions marked by *
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 37
RBE(H) Motor Series
OPTIONS — RBEH-0151X
BRAKE OPTION
-Fail-safe brake
45.97
(1.810) -240 oz-in holding torque
Add to std. max. length -Release voltage of 24 VDC (0.30 Amps)
Dimensions in mm (inches).
Product designed in inches.
Metric conversions provided for reference only.
RESOLVER OPTION
ENCODER OPTION
Dimensions in mm (inches).
Product designed in inches.
Index option not yet available for
Metric conversions provided for reference only.
resolutions marked by *
38 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
OPTIONS — RBEH-0181X
BRAKE OPTION
-Fail-safe brake
45.21
(1.780)
Add to std. max. length -240 oz-in holding torque
-Release voltage of 24 VDC (0.30 Amps)
Dimensions in mm (inches).
Product designed in inches.
Metric conversions provided for reference only.
RESOLVER OPTION
ENCODER OPTION
Dimensions in mm (inches).
Product designed in inches.
Metric conversions provided for reference only. Index option not yet available for
resolutions marked by *
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 39
RBE(H) Motor Series
OPTIONS — RBEH-0211X
BRAKE OPTION
-Fail-safe brake
57.2 -4.2 lb-ft holding torque
(2.25) Add to std. max. length
-Release voltage of 24 VDC (0.39 Amps)
Dimensions in mm (inches).
Product designed in inches.
Metric conversions provided for reference only.
RESOLVER OPTION
ENCODER OPTION
Dimensions in mm (inches).
Product designed in inches.
Index option not yet available for
Metric conversions provided for reference only.
resolutions marked by *
40 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
OPTIONS — RBEH-0301X
BRAKE OPTION
-Fail-safe brake
55.4 -4.2 lb-ft holding torque
(2.18)
Add to std. -Release voltage of 24 VDC (0.39 Amps)
max. length Dimensions in mm (inches).
Product designed in inches.
Metric conversions provided for reference only.
RESOLVER OPTION
ENCODER OPTION
Dimensions in mm (inches).
Product designed in inches. Index option not yet available for
Metric conversions provided for reference only. resolutions marked by *
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 41
RBE(H) Motor Series
COMMUTATION AND CONNECTION DIAGRAMS
VOLTS
1 2 3 4 5 6
V – AB
SENSOR WIRING DIAGRAM IN PHASE WITH V – AB
5
BLUE H – AB
(+5 TO 24 V DC)
R R R 0
V – BC
H H H
AB BC CA
5
BROWN ORANGE YELLOW
OUTPUT OUTPUT OUTPUT H – BC
IN PHASE WITH V – BC
PHASE - AB PHASE - BC PHASE - CA 0
GREEN V – CA
(GROUND)
5
H – CA
IN PHASE WITH V – CA
0
42 w w w. D a n a h e r M o t i o n . c o m • 815-226-2222
RBE(H) Motor Series
ORDERING INFORMATION
RBE(H) B - 012 12 - A 00
Mechanical Deviations
TYPE 00 - Standard
RB - Frameless Brushless Motor
RBE - Frameless
Brushless Motor Winding
with Hall Sensors A, B, C, etc.
RBEH - Housed
Brushless Motor Stack Length
with Hall Sensors 10, 11, 12, etc.
w w w. D a n a h e r M o t i o n . c o m • 815-226-2222 43
Danaher Motion Customer Support Center
4301 Kishwaukee Street
Rockford, Il 61109
Tel: 815-226-2222
Fax: 815-226-3080
Support eMail: [email protected]
Internet: www.DanaherMotion.com
5MIGBH-DM1019
May 2003