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Appendix C
Technical Datasheet
ELECTRICAL SPECIFICATIONS
MOTOR TYPE 3804 3806 3808 3810 units
S (1) P (1) S (1) P (1) S (1) P (1) S (1) P (1)
Peak force @ 25
o
C ambient for 1 sec 744 372 1116 558 1488 744 1860 930 N
Peak current @ 25
o
C ambient for 1 sec 20 20 20 20 20 20 20 20 A
pk
With 25 x 25 x 2.5 cm heatsink plate
Continuous stall force @ 25
o
C ambient (2) 137.3 137.3 186.9 186.9 232.1 232.1 276.2 276.2 N
Continuous stall current @ 25
o
C ambient 2.61 5.23 2.37 4.74 2.20 4.41 2.10 4.20 A
rms
3.69 7.39 3.35 6.71 3.12 6.23 2.97 5.94 A
pk
Without heatsink plate
Continuous stall force @ 25
o
C ambient (2) 120.1 168.2 212.7 255.0 N
Continuous stall current @ 25
o
C ambient 2.28 4.57 2.13 4.27 2.02 4.04 1.94 3.88 A
rms
3.23 6.46 3.01 6.03 2.86 5.72 2.74 5.49 A
pk
Force constant (sine commutation) 52.6 26.3 78.9 39.4 105.2 52.6 131.5 65.7 N/A
rms
37.2 18.6 55.8 27.9 74.4 37.2 93.0 46.5 N/A
pk
Back EMF constant (phase to phase) 43.0 21.5 64.4 32.2 85.9 42.9 107.4 53.7 V
pk
/m/s
Fundamental motor constant 14.54 14.54 17.80 17.80 20.56 20.56 22.99 22.99 N/ W
Eddy current loss 3.7 3.7 3.7 3.7 3.7 3.7 3.7 3.7 N/m/s
Sleeve cogging force 7.3 7.3 4.2 4.2 8.3 8.3 5.6 5.6 +/-N
Resistance @ 25
o
C (phase to phase) 6.77 1.69 10.16 2.54 13.54 3.38 16.93 4.23 Ohm
Resistance @ 100
o
C (phase to phase) 8.73 2.18 13.10 3.27 17.45 4.36 21.82 5.45 Ohm
Inductance @ 1kHz (phase to phase) 8.52 2.13 12.78 3.19 17.04 4.26 21.30 5.32 mH
Electrical time constant 1.26 1.26 1.26 1.26 1.26 1.26 1.26 1.26 ms
Continuous working voltage 380 380 380 380 380 380 380 380 V d.c.
Pole pitch (one electrical cycle) 71.2 71.2 71.2 71.2 71.2 71.2 71.2 71.2 mm
XTA Peak acceleration (3) 250 125 313 156 357 179 391 196 m/s
2
XTA Maximum speed (4) 4.7 4.9 3.8 5.3 3.1 4.9 2.6 4.4 m/s
XTB Peak acceleration (5) 244 122 276 138 295 147 307 154 m/s
2
XTB Maximum speed (4) 6.2 9.4 4.5 7.6 3.5 6.2 2.8 5.2 m/s
Notes
(1) S=series motor phases, P=parallel motor phases.
(2) Reduce continuous stall force to 89% at 40°C ambient.
(3) Based on a 33 mm stroke and no payload.
(4) Based on triangular move over maximum stroke and no payload.
(5) Based on a moving forcer and no payload.
Page 19
ServoTube 38 Installation Guide Appendices