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AKMH Performance

This page contains performance data for AKMH servo motors. 

AKMH2x

Parameters Tol Symbol Units AKMH21 AKMH22 AKMH23 AKMH24
C E G C E G D E F D E F
Max Rated DC Bus Voltage Max Vbus Vdc 640 160 75 640 320 160 640 320 320 640 320 320
Continuous Torque (Stall) for ΔT winding = 100°C Nom Tcs Nm 0.317 0.329 0.335 0.633 0.654 0.661 0.897 0.904 0.917 1.12 1.12 1.13
lb-in 2.8 2.9 3.0 5.6 5.8 5.8 7.9 8.0 8.1 9.9 9.9 10.0
Continuous Current (Stall) Nom Ics Arms 1.31 2.56 4.04 1.18 2.33 4.09 1.88 2.36 3.67 1.90 2.39 3.34
Continuous Torque (Stall) for ΔT winding = 60°C Nom Tcs Nm 0.254 0.263 0.268 0.506 0.523 0.529 0.718 0.723 0.734 0.892 0.893 0.902
lb-in 2.2 2.3 2.4 4.5 4.6 4.7 6.4 6.4 6.5 7.9 7.9 8.0
Max Mechanical Speed Nom Nmax rpm 8000 8000 8000 8000 8000 8000 8000 8000 8000 8000 8000 8000
Peak Torque Nom Tp Nm 1.57 1.59 1.60 3.03 3.07 3.09 4.35 4.37 4.41 5.50 5.51 5.53
lb-in 13.9 14.1 14.2 26.8 27.2 27.4 38.5 38.7 39.0 48.7 48.8 48.9
Peak Current Nom Ip Arms 7.9 15.6 24.4 7.0 13.7 24.1 11.0 13.9 21.6 11.1 14.0 19.5
Torque Constant ±10% Kt Nm/Arms 0.30 0.16 0.10 0.61 0.32 0.18 0.52 0.42 0.27 0.63 0.50 0.36
lb-in/Arms 2.7 1.4 0.9 5.4 2.8 1.6 4.6 3.7 2.4 5.6 4.5 3.2
Back EMF Constant ±10% Ke V/krpm 19.5 10.2 6.6 39 20.4 11.7 33.8 27.0 17.6 40.8 32.4 23.4
Motor Constant Nom Km N-m/√W 0.069 0.070 0.070 0.11 0.11 0.11 0.14 0.15 0.15 0.17 0.18 0.17
lb-in/√W 0.61 0.62 0.62 0.99 1.00 0.98 1.28 1.30 1.29 1.5 1.6 1.5
Resistance (line-line) ±10% Rm ohm 13 3.44 1.46 20.00 5.24 1.79 8.79 5.46 2.36 9.04 5.46 2.96
Inductance (line-line)   L mH 19 5.2 2.18 35.5 9.7 3.19 17.3 11.1 4.68 18.7 11.8 6.16
Inertia (includes Resolver feedback) ±10% Jm kg-cm2 0.107 0.161 0.216 0.27
lb-in-s2 9.5E-05 1.4E-04 1.9E-04 2.4E-04

AKMH3x

Parameters Tol Symbol Units AKMH31 AKMH32 AKMH33
C E H C E H C E H
Max Rated DC Bus Voltage Max Vbus Vdc 640 320 160 640 640 320 640 640 320
Continuous Torque (Stall) for ΔT winding = 100°C Nom Tcs Nm 1.00 1.04 1.08 1.72 1.77 1.82 2.25 2.32 2.38
lb-in 8.85 9.2 9.6 15.2 15.7 16.1 19.9 20.5 21.1
Continuous Current (Stall) Nom Ics Arms 1.29 2.76 5.51 1.30 2.56 4.98 1.27 2.20 4.80
Continuous Torque (Stall) for ΔT winding = 60°C Nom Tcs Nm 0.80 0.83 0.86 1.38 1.42 1.46 1.80 1.86 1.90
lb-in 7.08 7.36 7.65 12.2 12.5 12.9 16 16 17
Max Mechanical Speed Nom Nmax rpm 8000 8000 8000 8000 8000 8000 8000 8000 8000
Peak Torque Nom Tp Nm 4.41 4.52 4.59 8.10 8.24 8.39 11.5 11.7 11.9
lb-in 39 40 41 71.7 72.9 74.3 102 103 106
Peak Current Nom Ip Arms 6.90 15.0 29.3 7.2 14.1 27.5 7.4 12.9 28.1
Torque Constant ±10% Kt Nm/Arms 0.85 0.41 0.21 1.40 0.73 0.39 1.86 1.10 0.52
lb-in/Arms 7.5 3.6 1.9 12.4 6.5 3.4 16.5 9.7 4.6
Back EMF Constant ±10% Ke V/krpm 54.5 26.1 13.7 89.8 47.1 24.8 120 70.6 33.4
Motor Constant Nom Km N-m/√W 0.15 0.15 0.15 0.23 0.24 0.24 0.29 0.30 0.30
lb-in/√W 1.3 1.4 1.3 2.1 2.1 2.1 2.6 2.6 2.7
Resistance (line-line) ±10% Rm ohm 21.4 4.76 1.31 23.8 6.32 1.71 26.6 9.03 1.98
Inductance (line-line)   L mH 37.5 8.6 2.4 46.5 12.8 3.53 53.6 18.5 4.1
Inertia (includes Resolver feedback) ±10% Jm kg-cm2 0.33 0.59 0.85
lb-in-s2 2.9E-04 5.2E-04 7.5E-04

AKMH4x

Parameters Tol Symbol Units AKMH41 AKMH42 AKMH43 AKMH44
C E H C E H J E H L E H K
Max Rated DC Bus Voltage Max Vbus Vdc 640 640 640 640 640 640 640 640 640 640 640 640 640
Continuous Torque (Stall) for ΔT winding = 100°C Nom Tcs Nm 1.85 1.90 1.94 3.19 3.27 3.40 3.43 4.56 4.68 4.59 5.64 5.77 5.76
lb-in 16.4 16.8 17.2 28.2 28.9 30.1 30.4 40.3 41.4 40.6 50.0 51.1 51.0
Continuous Current (Stall) Nom Ics Arms 1.54 2.89 5.82 1.42 2.77 6.10 8.56 2.79 5.52 11.4 2.89 5.68 10.2
Continuous Torque (Stall) for ΔT winding = 60°C Nom Tcs Nm 1.48 1.52 1.55 2.55 2.62 2.72 2.74 3.65 3.74 3.67 4.52 4.62 4.61
lb-in 13.1 13.5 13.7 22.6 23.2 24.1 24.3 32.3 33.1 32.5 40.0 40.9 40.8
Max Mechanical Speed Nom Nmax rpm 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000
Peak Torque Nom Tp Nm 6.82 6.95 7.00 12.6 12.8 13.1 13.1 18.3 18.7 18.4 23.5 23.5 23.5
lb-in 60.4 61.5 62.0 112 113 116 116 162 165 163 208 208 208
Peak Current Nom Ip Arms 7.3 14.3 28.0 7.00 13.7 30.0 42.0 13.7 27.2 55.8 14.5 28.1 50.5
Torque Constant ±10% Kt Nm/Arms 1.34 0.71 0.37 2.4 1.26 0.59 0.430 1.72 0.89 0.42 2.04 1.06 0.59
lb-in/Arms 11.9 6.3 3.3 21.2 11.2 5.3 3.78 15.2 7.9 3.8 18.1 9.4 5.2
Back EMF Constant ±10% Ke V/krpm 86.3 45.6 23.7 154 80.9 38.3 27.5 111 57.4 27.5 132 68 37.8
Motor Constant Nom Km N-m/√W 0.24 0.24 0.24 0.37 0.37 0.38 0.39 0.48 0.50 0.46 0.57 0.58 0.58
lb-in/√W 2.1 2.1 2.1 3.3 3.3 3.3 3.4 4.2 4.4 4.1 5.0 5.1 5.1
Resistance (line-line) ±10% Rm ohm 21.3 6.04 1.58 27.5 7.80 1.67 0.82 8.63 2.12 0.572 8.66 2.25 0.697
Inductance (line-line)   L mH 66.1 18.4 5.0 97.4 26.8 6.0 3.10 32.6 8.8 2.0 33.9 9.1 2.8
Inertia (includes Resolver feedback) ±10% Jm kg-cm2 0.81 1.45 2.09 2.73
lb-in-s2 7.2E-04 1.3E-03 1.9E-03 2.4E-03

AKMH5x

Parameters Tol Symbol Units AKMH51 AKMH52 AKMH53 AKMH54
E H L E H L M H L P H L P
Max Rated DC Bus Voltage Max Vbus Vdc 640 640 320 640 640 640 320 640 640 320 640 640 320
Continuous Torque (Stall) for ΔT winding = 100°C Nom Tcs Nm 3.3 3.39 3.47 6.15 6.29 6.45 6.39 8.60 8.68 8.49 10.5 10.4 10.6
lb-in 29.2 30.0 30.7 54.4 55.7 57.1 56.6 76.1 76.8 75.1 92.9 92.2 94.1
Continuous Current (Stall) Nom Ics Arms 2.28 5.02 10.0 2.43 4.81 9.5 10.7 5.29 9.43 15.2 4.35 9.82 15.3
Continuous Torque (Stall) for ΔT winding = 60°C Nom Tcs Nm 2.64 2.71 2.78 4.92 5.03 5.16 5.11 6.88 6.94 6.79 8.40 8.34 8.50
lb-in 23.8 24.0 24.6 43.5 44.5 45.7 45.2 60.9 61.5 60.1 74.3 73.8 75.3
Max Mechanical Speed Nom Nmax rpm 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000
Peak Torque Nom Tp Nm 15.0 15.0 15.2 28.9 29.1 29.5 29.4 41.8 42.0 41.7 53.3 53.3 55.1
lb-in 133 133 135 256 258 261 260 370 372 369 472 472 488
Peak Current Nom Ip Arms 13.8 30.0 59.5 15.0 29.5 58.0 65.5 33.0 59.0 95.5 27.5 62.5 98.0
Torque Constant ±10% Kt Nm/Arms 1.72 0.800 0.410 2.79 1.44 0.75 0.66 1.75 0.99 0.60 2.57 1.13 0.74
lb-in/Arms 15.2 7.1 3.6 24.7 12.7 6.64 5.8 15.5 8.76 5.31 22.7 10.0 6.5
Back EMF Constant ±10% Ke V/krpm 110 51.3 26.6 179 92.7 48.3 42.4 112 63.9 38.4 166 72.9 47.3
Motor Constant Nom Km N-m/√W 0.47 0.46 0.44 0.76 0.76 0.77 0.76 0.98 0.96 0.90 1.17 1.13 1.07
lb-in/√W 4.1 4.1 3.9 6.7 6.8 6.8 6.7 8.7 8.5 8.0 10.4 10.0 9.5
Resistance (line-line) ±10% Rm ohm 9.0 2.0 0.58 8.98 2.37 0.627 0.507 2.12 0.707 0.297 3.2 0.667 0.317
Inductance (line-line)   L mH 36.6 7.9 2.1 44.7 11.9 3.24 2.50 11.4 3.64 1.30 18.3 3.50 1.50
Inertia (includes Resolver feedback) ±10% Jm kg-cm2 3.42 6.22 9.12 11.92
lb-in-s2 3.0E-03 5.5E-03 8.1E-03 0.011

AKMH6x

Parameters Tol Symbol Units AKMH62 AKMH63 AKMH64 AKMH65
H L M H L M K L K L M
Max Rated DC Bus Voltage Max Vbus Vdc 640 640 640 640 640 640 640 640 640 640 640
Continuous Torque (Stall) for ΔT winding = 100°C Nom Tcs Nm 10.6 10.8 10.9 14.6 14.8 15.0 18.7 19.0 21.9 22.2 22.2
lb-in 93.8 96 96 129 131 133 165 168 194 196 221
Continuous Current (Stall) Nom Ics Arms 5.3 11.7 13.1 5.2 10.6 13.0 8.7 12.1 9.1 11.3 12.6
Continuous Torque (Stall) for ΔT winding = 60°C Nom Tcs Nm 8.48 8.64 8.72 11.7 11.8 12.0 15.0 15.2 17.5 17.8 17.8
lb-in 75.0 76.5 77.2 103 105 106 132 135 155 157 157
Max Mechanical Speed Nom Nmax rpm 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000
Peak Torque Nom Tp Nm 39.8 40.1 40.2 57.9 58.4 58.8 75.1 75.6 91.4 92.0 92.0
lb-in 352 355 356 512 517 520 665 669 809 814 814
Peak Current Nom Ip Arms 27.1 60.0 67.0 28.0 55.4 69.0 46.0 64.0 49.0 61.0 68.0
Torque Constant ±10% Kt Nm/Arms 2.20 1.00 0.91 3.00 1.5 1.24 2.28 1.66 2.54 2.1 1.85
lb-in/Arms 19.5 8.9 8.1 26.6 13.3 11.0 20.2 14.7 22.5 18.3 16.4
Back EMF Constant ±10% Ke V/krpm 142 65.5 58.8 195 98.2 79.9 147 107 164 133 119
Motor Constant Nom Km N-m/√W 0.99 0.95 0.97 1.3 1.3 1.3 1.6 1.5 1.8 1.8 1.7
lb-in/√W 8.7 8.4 8.6 12 11 11 14 14 16 16 15
Resistance (line-line) ±10% Rm ohm 3.32 0.757 0.587 3.45 0.957 0.627 1.43 0.767 1.37 0.92 0.747
Inductance (line-line)   L mH 25.4 5.40 4.40 28.1 7.40 4.90 11.8 6.2 11.4 7.6 6.1
Inertia (includes Resolver feedback) ±10% Jm kg-cm2 16.9 24.2 31.6 40
lb-in-s2 0.015 0.021 0.028 0.035